On 01/18/2011 03:58 PM, Peter Soetens wrote:
> On Tuesday 18 January 2011 15:09:33 Dominick Vanthienen wrote:
>> Hi,
>>
>> I've this statemachine, where I try to invoke an operation.
>> When I do so, it hangs, in a similar way as in my previous mail.
>> (blocking, I can't type anything in the taskBrowser OR a crash (see below))
>> He executes the operation when I type the command in the taskBrowser.
> I'm assuming you're using the latest toolchain-2.2 ?
yes, latest pull this morning
>> the state machine:
>>
>> state ControliTaSCScene{
>> entry{
>> print.ln("hello 3")
>> Scene.CartesianMotion_Wy_global=1.0
>> yield
>> print.ln("hello 4") //he will print this line!
>>
>> CartesianTrajectoryGenerator.moveTo(KDL.Frame(KDL.Vector(0.1,0.0,0.1),KDL.R
>> otation()),5.0) //this is the line he doesn't want to execute
> Could it be that moveTo is executed (the C++ function returns), but the script
> does not continue ?
moveTo is not executed (the first line is to log something)
>> print.ln("hello 5") //he never get to this line :(
>> }
>> exit{
>> Scene.CartesianMotion_Wy_global=0.0
>> CartesianTrajectoryGenerator.stop()
>> Scene.stop()
>> CartesianMotion.stop()
>> KukaLWR.stop()
>> }
>> transition if stopRobot==true then select StopRobot
>> }
>>
>> expected behavior (this is the same state machine, but without the
>> operation call, I call it manually)
>> ---------------------------------------------------------------------------
>> -------------------------------------------------------
>>
>> SuperVisor [R]> Test.activate
>> hello 1
>> = true
>>
>> SuperVisor [R]> Test.start
>> = true
>>
>> SuperVisor [R]> hello 2
>> hello 3
>> hello 4
>> hello 5
>>
>> SuperVisor [R]>
>> CartesianTrajectoryGenerator.moveTo(KDL.Frame(KDL.Vector(0.1,0.0,0.1),KDL.R
>> otation()),5.0) = true
>>
>> behavior with the operation call in the script: (log in attachement)
>> -------------------------------------------------------------
>> SuperVisor [R]> Test.activate
>> hello 1
>> = true
>>
>> SuperVisor [R]> Test.start
>>
>> (when it doesn't crash, he prints hello 2, 3 and 4 here)
> I'll need the valgrind output and the RTT compiled with 'Debug' instead.
> Which Linux distribution + which architecture are you using ?
Linux pma-09-053 2.6.35-22-generic-pae #33-Ubuntu SMP Sun Sep 19
22:14:14 UTC 2010 i686 GNU/Linux

No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 10.10
Release: 10.10
Codename: maverick

> Could you try to compile the *first* test program suggested here:
> https://partner-bugzilla.redhat.com/show_bug.cgi?id=593396
> and run it for a few minutes ?
> g++ test-free.cpp -o test-free -g -lpthread
when I run this program, it doesn't show anything in my shell, even
after a while
what should it do?
do I have to run it in a certain folder?
>> *** glibc detected ***
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
>> eployer-gnulinux: invalid fastbin entry (free): 0x0812ba28 ***
>> ======= Backtrace: =========
>> /lib/libc.so.6(+0x6c501)[0xb78a3501]
>> /lib/libc.so.6(+0x6dd70)[0xb78a4d70]
>> /lib/libc.so.6(cfree+0x6d)[0xb78a7e5d]
>> /usr/lib/libstdc++.so.6(_ZdlPv+0x21)[0xb7a82441]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/insta
>> ll/lib/orocos/plugins/librtt-scripting-gnulinux.so.2.2.0(_ZN5boost6detail17
>> sp_counted_impl_pINS_6spirit7classic11basic_chsetIcEEE7disposeEv+0x20)[0xb7
>> 6189b0]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/lib/
>> liborocos-log4cpp-gnulinux.so.2.2.0(_ZN5boost6detail12shared_countD1Ev+0x38
>> )[0xb7faf998]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/inst
>> all/lib/orocos/plugins/librtt-scripting-gnulinux.so.2.2.0(_ZN3RTT9scripting
>> 12CommonParserC1Ev+0xf8c)[0xb76de94c]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/inst
>> all/lib/orocos/plugins/librtt-scripting-gnulinux.so.2.2.0(_ZN3RTT9scripting
>> 6Parser19parseValueStatementERKSsPNS_11TaskContextE+0x1c8)[0xb76a8528]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/lib/
>> liborocos-taskbrowser-gnulinux.so.2.2.0(_ZN3OCL11TaskBrowser11evalCommandER
>> Ss+0x392)[0xb7dd48f2]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/lib/
>> liborocos-taskbrowser-gnulinux.so.2.2.0(_ZN3OCL11TaskBrowser4loopEv+0xe6a)[
>> 0xb7ddbd7a]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/
>> deployer-gnulinux(main+0x3b2)[0x80528f2]
>> /lib/libc.so.6(__libc_start_main+0xe7)[0xb784dce7]
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
>> eployer-gnulinux[0x8052471] ======= Memory map: ========
>> 08048000-08061000 r-xp 00000000 08:07 4591240
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
>> eployer-gnulinux 08061000-08062000 r--p 00018000 08:07 4591240
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
>> eployer-gnulinux 08062000-08063000 rw-p 00019000 08:07 4591240
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/d
>> eployer-gnulinux 08063000-0813f000 rw-p 00000000 00:00 0 [heap]
>> ace8c000-ace8d000 ---p 00000000 00:00 0
>> ace8d000-ad68d000 rw-p 00000000 00:00 0
>> ad68d000-ad68e000 ---p 00000000 00:00 0
>> ad68e000-ade8e000 rw-p 00000000 00:00 0
>> ade8e000-ade8f000 ---p 00000000 00:00 0
>> ade8f000-ae68f000 rw-p 00000000 00:00 0
>> ae68f000-ae690000 ---p 00000000 00:00 0
>> ae690000-aee90000 rw-p 00000000 00:00 0
>> aee90000-aee91000 ---p 00000000 00:00 0
>> aee91000-af691000 rw-p 00000000 00:00 0
>> b0e94000-b0e95000 ---p 00000000 00:00 0
>> b0e95000-b1695000 rw-p 00000000 00:00 0
>> b1b00000-b1d00000 r--p 00000000 08:05 139259
>> /usr/lib/locale/locale-archive
>> b1d00000-b1d34000 rw-p 00000000 00:00 0
>> b1d34000-b1e00000 ---p 00000000 00:00 0
>> b1e96000-b1f98000 r-xp 00000000 08:07 3674652
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/trajectory
>> _generators/lib/orocos/libcartesiangeneratorpos-gnulinux.so
>> b1f98000-b1fa1000 r--p 00101000 08:07 3674652
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/trajectory
>> _generators/lib/orocos/libcartesiangeneratorpos-gnulinux.so
>> b1fa1000-b1fa2000 rw-p 0010a000 08:07 3674652
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/trajectory
>> _generators/lib/orocos/libcartesiangeneratorpos-gnulinux.so
>> b1fa2000-b21a4000 r-xp 00000000 08:07 3674735
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/liblasermotion-gnulinux.so b21a4000-b21b5000 r--p 00201000
>> 08:07 3674735
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/liblasermotion-gnulinux.so b21b5000-b21b6000 rw-p 00212000
>> 08:07 3674735
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/liblasermotion-gnulinux.so b21b6000-b2234000 r-xp 00000000
>> 08:07 3674701
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/liblissajousgenerator-gnulinux.so b2234000-b2238000 r--p
>> 0007e000 08:07 3674701
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/liblissajousgenerator-gnulinux.so b2238000-b2239000 rw-p
>> 00082000 08:07 3674701
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/liblissajousgenerator-gnulinux.so b2239000-b22ab000 r-xp
>> 00000000 08:07 3674732
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/libnaxesvelocitycontroller-gnulinux.so b22ab000-b22af000
>> r--p 00072000 08:07 3674732
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/libnaxesvelocitycontroller-gnulinux.so b22af000-b22b0000
>> rw-p 00076000 08:07 3674732
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/libnaxesvelocitycontroller-gnulinux.so b22b0000-b2302000
>> r-xp 00000000 08:07 3674423
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/libdummyKukaLWR-gnulinux.so b2302000-b2305000 r--p 00051000
>> 08:07 3674423
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/libdummyKukaLWR-gnulinux.so b2305000-b2306000 rw-p 00054000
>> 08:07 3674423
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/lissajous_
>> lwr/lib/orocos/libdummyKukaLWR-gnulinux.so b2306000-b2a64000 r-xp 00000000
>> 08:07 3937181
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/stacks/oro
>> cos_kinematics_dynamics/kdl_rtt_plugin/lib/orocos/types/libkdl_rtt_plugin-g
>> nulinux.so b2a64000-b2a9c000 r--p 0075d000 08:07 3937181
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/stacks/oro
>> cos_kinematics_dynamics/kdl_rtt_plugin/lib/orocos/types/libkdl_rtt_plugin-g
>> nulinux.so b2a9c000-b2a9f000 rw-p 00795000 08:07 3937181
>> /home/u0065688/src/svn/robotics-ros/packages/private-kul-ros-pkg/stacks/oro
>> cos_kinematics_dynamics/kdl_rtt_plugin/lib/orocos/types/libkdl_rtt_plugin-g
>> nulinux.so Program received signal SIGABRT, Aborted.
>> 0xb7fe1424 in __kernel_vsyscall ()
>> (gdb) bt
>> #0 0xb7fe1424 in __kernel_vsyscall ()
>> #1 0xb7861941 in raise (sig=6) at
>> ../nptl/sysdeps/unix/sysv/linux/raise.c:64
>> #2 0xb7864e42 in abort () at abort.c:92
>> #3 0xb7899305 in __libc_message (do_abort=2, fmt=0xb79712c0 "*** glibc
>> detected *** %s: %s: 0x%s ***\n") at
>> ../sysdeps/unix/sysv/linux/libc_fatal.c:189
>> #4 0xb78a3501 in malloc_printerr (action=<value optimized out>, str=0x6
>> <Address 0x6 out of bounds>, ptr=0x812ba28) at malloc.c:6283
>> #5 0xb78a4d70 in _int_free (av=<value optimized out>, p=<value
>> optimized out>) at malloc.c:4795
>> #6 0xb78a7e5d in __libc_free (mem=0x812ba28) at malloc.c:3738
>> #7 0xb7a82441 in operator delete(void*) () from /usr/lib/libstdc++.so.6
>> #8 0xb76189b0 in
>> checked_delete<boost::spirit::classic::basic_chset >> (this=0x812a518) at /usr/include/boost/checked_delete.hpp:34
>> #9
>> boost::detail::sp_counted_impl_p<boost::spirit::classic::basic_chset >>
>> >::dispose (this=0x812a518) at
>>
>> /usr/include/boost/smart_ptr/detail/sp_counted_impl.hpp:78
>> #10 0xb7faf998 in release (this=0xbfffe254, __in_chrg=<value optimized
>> out>) at
>> /usr/include/boost/smart_ptr/detail/sp_counted_base_gcc_x86.hpp:145 #11
>> boost::detail::shared_count::~shared_count (this=0xbfffe254,
>> __in_chrg=<value optimized out>) at
>> /usr/include/boost/smart_ptr/detail/shared_count.hpp:217
>> #12 0xb76de94c in ~shared_ptr (this=0xbfffe5d8) at
>> /usr/include/boost/smart_ptr/shared_ptr.hpp:169
>> #13 ~chset (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/utility/impl/chset.ipp:164
>> #14 ~unary (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:57
>> #15 ~kleene_star (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/kleene_star.hpp:45
>> #16 ~compressed_pair_imp (this=0xbfffe5d8) at
>> /usr/include/boost/detail/compressed_pair.hpp:73
>> #17 ~compressed_pair (this=0xbfffe5d8) at
>> /usr/include/boost/detail/compressed_pair.hpp:348
>> #18 ~binary (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:114
>> #19 ~sequence (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/sequence.hpp:46
>> #20 ~unary (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:57
>> #21 ~contiguous (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/directives.hpp:36
>> #22 ~unary (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:57
>> #23 ~action (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/actions.hpp:85
>> #24 ~compressed_pair_imp (this=0xbfffe5d8) at
>> /usr/include/boost/detail/compressed_pair.hpp:73
>> #25 ~compressed_pair (this=0xbfffe5d8) at
>> /usr/include/boost/detail/compressed_pair.hpp:348
>> #26 ~binary (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/composite.hpp:114
>> #27 ~difference (this=0xbfffe5d8) at
>> /usr/include/boost/spirit/home/classic/core/composite/difference.hpp:47
>> #28 RTT::scripting::CommonParser::CommonParser (this=0xbfffe5d8)
>> at
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/rtt/s
>> cripting/CommonParser.cpp:121 #29 0xb76a8528 in
>> RTT::scripting::Parser::parseValueStatement
>> (this=0xbfffe824, _s=..., tc=0x80c5cb0)
>> at
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/rtt/rtt/s
>> cripting/Parser.cpp:208 #30 0xb7dd48f2 in OCL::TaskBrowser::evalCommand
>> (this=0xbfffea68, comm=...) at
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/taskb
>> rowser/TaskBrowser.cpp:1349 #31 0xb7ddbd7a in OCL::TaskBrowser::loop
>> (this=0xbfffea68) at
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/taskb
>> rowser/TaskBrowser.cpp:844 #32 0x080528f2 in main (argc=<value optimized
>> out>, argv=0xbfffee64) at
>> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/
>> deployer.cpp:162
> Peter
>