On 01/18/2011 02:46 PM, Dominick Vanthienen wrote:
>
>
>
> On 01/18/2011 12:44 PM, Peter Soetens wrote:
>> On Monday 17 January 2011 13:09:59 Dominick Vanthienen wrote:
>>> On 01/17/2011 12:22 PM, Peter Soetens wrote:
>>>> On Monday 17 January 2011 12:10:23 Peter Soetens wrote:
>>>>> On Monday 17 January 2011 11:53:36 Dominick Vanthienen wrote:
>>>>>> Dear all,
>>>>>>
>>>>>> I try to execute a scripts but even the basic things fail?!
>>>>>>
>>>>>> An example I tried:
>>>>>>
>>>>>> in deployer.xml I load a script :
>>>>>>
>>>>>> <struct name="Deployer" type="OCL::DeploymentComponent">
>>>>>> <simple name="AutoStart" type="boolean"><value>1<value><simple>
>>>>>>

>>>>>> <simple name="Service" type="string"><value>scripting<value><simple>
>>>>>> <simple name="RunScript"
>>>>>> type="string"><value>../scripts/init.ops<value><simple> -->
>>>>>> <struct>
>>>>>>
>>>>>> in this init.ops file is this content: (AutoUnload being a property of
>>>>>> the deployer component
>>>>>> program bla{
>>>>>>
>>>>>> AutoUnload = false;
>>>>>>
>>>>>> }
>>>>> Your component is not periodic, so the script will only executed when
>>>>> the component is triggered, or a period is set. Try for example:
>>>>>
>>>>> program bla{
>>>>>
>>>>> setPeriod(0.1)
>>>>> AutoUnload = false;
>>>>>
>>>>> }
>>>>>
>>>>> I had a patch that warns when a program script is loaded in a non
>>>>> periodic component. Maybe it's only "LoadProgramScript" that warns for
>>>>> this and not RunScript. I'll take a look at it.
>>>> Yep. I've pushed a better solution that will warn in each case to the
>>>> toolchain-2.2 branch.
>>> Thanks a lot!
>>>
>>> Now I have a different problem with scripts...
>>> I load a script (in the same way as above, but in a component with a
>>> periodic activity) with this content:
>>>
>>> export void loadFSM(){
>>> CartesianMotion.use_pose = false;
>>> return
>>> }
>>>
>>> When call the function, it blocks my program: I can type things, but it
>>> doesn't respond to it.
>>> I tried 'export function loadFSM' and with or without a void or bool
>>> return statement, but it doesn't do anything.
>>>
>> I have fixed this issue on the toolchain-2.2 branch of RTT. That together with
>> the parse error I mentioned in the other mail.
>>
>> Thanks for the testing !
>>
>> Peter
> Thanks!
> But...
> I just tested it:
> When I do ordinarry stuff like
>
> export bool startFSM(){
> CartesianMotion.use_pose=false;
> return true;
> }
>
> it works.
> But when I try to activate (and start) my state machine:
> export bool startFSM(){
> CartesianMotion.use_pose=false;
> Test.activate();
> return true;
> }
> it doesn't work: he returns nothing and doesn't do the activate (I
> placed a print.ln in between to check)
> He just hangs, I can't type anything in the taskBrowser. (see below, log
> in attachement)
solved: same problem as in other scripting problem: PeriodicActivity=>
Activity and the latest toolchain 2.2 version does the trick!
> Nick
>
> (gdb) run
> Starting program:
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/bin/deployer-gnulinux
> -lwarning -s cartesian_velocity.xml
> [Thread debugging using libthread_db enabled]
> [New Thread 0xb6d47b70 (LWP 17818)]
> [New Thread 0xb6546b70 (LWP 17819)]
> [New Thread 0xb1e95b70 (LWP 17820)]
> 3.760 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler
> type to SCHED_OTHER for non-privileged users..
> [New Thread 0xb1694b70 (LWP 17821)]
> [New Thread 0xb0e93b70 (LWP 17822)]
> 3.762 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler
> type to SCHED_OTHER for non-privileged users..
> [New Thread 0xb0692b70 (LWP 17823)]
> 3.763 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler
> type to SCHED_OTHER for non-privileged users..
> [New Thread 0xafe91b70 (LWP 17824)]
> 3.764 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler
> type to SCHED_OTHER for non-privileged users..
> [New Thread 0xaf690b70 (LWP 17825)]
> 3.765 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler
> type to SCHED_OTHER for non-privileged users..
> [New Thread 0xaee8fb70 (LWP 17826)]
> [New Thread 0xae68eb70 (LWP 17827)]
> 3.767 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler
> type to SCHED_OTHER for non-privileged users..
> [New Thread 0xade8db70 (LWP 17828)]
> 3.768 [ Warning][DeploymentComponent::loadComponents] Lowering scheduler
> type to SCHED_OTHER for non-privileged users..
> [New Thread 0xad68cb70 (LWP 17829)]
> [Thread 0xb1e95b70 (LWP 17820) exited]
> [Thread 0xb0e93b70 (LWP 17822) exited]
> [Thread 0xb0692b70 (LWP 17823) exited]
> [Thread 0xafe91b70 (LWP 17824) exited]
> [Thread 0xaf690b70 (LWP 17825) exited]
> [Thread 0xae68eb70 (LWP 17827) exited]
> [Thread 0xade8db70 (LWP 17828) exited]
> [Thread 0xad68cb70 (LWP 17829) exited]
> [New Thread 0xad68cb70 (LWP 17830)]
> Switched to : Deployer
>
> This console reader allows you to browse and manipulate TaskContexts.
> You can type in an operation, expression, create or change variables.
> (type 'help' for instructions and 'ls' for context info)
>
> TAB completion and HISTORY is available ('bash' like)
>
> Deployer [R]> ls
>
> Listing TaskContext Deployer[R] :
>
> Configuration Properties:
> string RTT_COMPONENT_PATH =
> /home/u0065688/src/svn/robotics-ros/packages/orocos_toolchain_ros/ocl/lib/orocos
> (Locations to look for components. Use a colon or semi-colon separated
> list of paths. Defaults to the environment variable with the same name.)
> bool AutoUnload = true (Stop, cleanup and
> unload all components loaded by the DeploymentComponent when it is
> destroyed.)
> string Target = gnulinux (The Orocos Target
> component suffix. Will be used in import statements to find matching
> components. Only change this if you know what you are doing.)
>
> Provided Interface:
> Attributes :
> bool Valid = true
> int ORO_SCHED_RT = 1
> int ORO_SCHED_OTHER = 0
> int LowestPriority = 1
> int HighestPriority = 99
>
> Operations : activate addPeer cleanup cleanupComponents
> clearConfiguration configure configureComponents connect connectPeers
> connectPorts connectServices connectTwoPorts createStream
> displayComponentTypes error getComponentTypes getPeriod import
> inFatalError inRunTimeError isActive isConfigured isRunning kickOut
> kickOutAll kickOutComponent kickStart loadComponent loadComponents
> loadConfiguration loadConfigurationString loadLibrary loadService path
> removePeer runScript setActivity setMasterSlaveActivity setPeriod
> setPeriodicActivity setSequentialActivity setSlaveActivity start
> startComponents stop stopComponents stream trigger unloadComponent
> unloadComponents update
>
> Data Flow Ports: (none)
>
> Services:
> scripting ( Orocos Scripting service. Use this service in order
> to load or query programs or state machines. )
>
> Requires Operations : (none)
> Requests Services : (none)
>
> Peers : CartesianMotion[S] CartesianTrajectoryGenerator[S]
> FixedObject[R] KukaLWR[R] Reporter[S] Robot[S] Scene[S] Solver[S]
> SuperVisor[R]
> Deployer [R]> cd SuperVisor
> Switched to : SuperVisor
> SuperVisor [R]> ls
>
> Listing TaskContext SuperVisor[R] :
>
> Configuration Properties: (none)
>
> Provided Interface:
> Attributes : (none)
> Operations : activate cleanup configure error getPeriod
> inFatalError inRunTimeError isActive isConfigured isRunning setPeriod
> start startFSM stop trigger update
>
> Data Flow Ports: (none)
>
> Services:
> Test ( )
> scripting ( Orocos Scripting service. Use this service in order
> to load or query programs or state machines. )
>
> Requires Operations : (none)
> Requests Services : (none)
> StateMachines: Test[I]
>
> Peers : CartesianMotion[S] CartesianTrajectoryGenerator[S]
> FixedObject[R] KukaLWR[R] Reporter[S] Robot[S] Scene[S] Solver[S]
> SuperVisor [R]> startFSM
>
>
>
>
>
> ^Z =>I've to kill it myself
> Program received signal SIGTSTP, Stopped (user).
> 0xb7fe1424 in __kernel_vsyscall ()
> (gdb) q
>
>

On Tuesday 18 January 2011 14:46:58 Dominick Vanthienen wrote:
> On 01/18/2011 12:44 PM, Peter Soetens wrote:
> > On Monday 17 January 2011 13:09:59 Dominick Vanthienen wrote:
> >> On 01/17/2011 12:22 PM, Peter Soetens wrote:
> >>> On Monday 17 January 2011 12:10:23 Peter Soetens wrote:
> >>>> On Monday 17 January 2011 11:53:36 Dominick Vanthienen wrote:
> >>>>> Dear all,
> >>>>>
> >>>>> I try to execute a scripts but even the basic things fail?!
> >>>>>
> >>>>> An example I tried:
> >>>>>
> >>>>> in deployer.xml I load a script :
> >>>>>
> >>>>> <struct name="Deployer" type="OCL::DeploymentComponent">
> >>>>> <simple name="AutoStart" type="boolean"><value>1<value><simple>
> >>>>>

> >>>>> <simple name="Service"
> >>>>> type="string"><value>scripting<value><simple> <simple
> >>>>> name="RunScript"
> >>>>> type="string"><value>../scripts/init.ops<value><simple> -->
> >>>>> <struct>
> >>>>>
> >>>>> in this init.ops file is this content: (AutoUnload being a property
> >>>>> of the deployer component
> >>>>> program bla{
> >>>>>
> >>>>> AutoUnload = false;
> >>>>>
> >>>>> }
> >>>>
> >>>> Your component is not periodic, so the script will only executed when
> >>>> the component is triggered, or a period is set. Try for example:
> >>>>
> >>>> program bla{
> >>>>
> >>>> setPeriod(0.1)
> >>>> AutoUnload = false;
> >>>>
> >>>> }
> >>>>
> >>>> I had a patch that warns when a program script is loaded in a non
> >>>> periodic component. Maybe it's only "LoadProgramScript" that warns for
> >>>> this and not RunScript. I'll take a look at it.
> >>>
> >>> Yep. I've pushed a better solution that will warn in each case to the
> >>> toolchain-2.2 branch.
> >>
> >> Thanks a lot!
> >>
> >> Now I have a different problem with scripts...
> >> I load a script (in the same way as above, but in a component with a
> >> periodic activity) with this content:
> >>
> >> export void loadFSM(){
> >>
> >> CartesianMotion.use_pose = false;
> >> return
> >>
> >> }
> >>
> >> When call the function, it blocks my program: I can type things, but it
> >> doesn't respond to it.
> >> I tried 'export function loadFSM' and with or without a void or bool
> >> return statement, but it doesn't do anything.
> >
> > I have fixed this issue on the toolchain-2.2 branch of RTT. That together
> > with the parse error I mentioned in the other mail.
> >
> > Thanks for the testing !
> >
> > Peter
>
> Thanks!
> But...
> I just tested it:
> When I do ordinarry stuff like
>
> export bool startFSM(){
> CartesianMotion.use_pose=false;
> return true;
> }
>
> it works.
> But when I try to activate (and start) my state machine:
> export bool startFSM(){
> CartesianMotion.use_pose=false;
> Test.activate();
> return true;
> }
> it doesn't work: he returns nothing and doesn't do the activate (I
> placed a print.ln in between to check)
> He just hangs, I can't type anything in the taskBrowser. (see below, log
> in attachement)

Can you run my test program in attachment and try to figure out why mine works
and yours doesn't ?

rosrun ocl deployer-gnulinux -s test-auto-start.ops -ldebug

Peter