On 12/16/2013 07:28 PM, Christian Rauch wrote:
I set the priority by:
task("seekur_drv","aria::Task").priority(99)
which does not affect the result (still delays).
The aria::Task is periodic (100ms) and the camera_ids::Task is
triggered in the updateHook after a new image arrives.
As far as I remember if you miss to process all new data in the update
hook your update hook is not triggered again and you have to trigger
yourself.
A good way of doing it would be to process data until a limit is reached
and when trigger yourself to not block the hook for too long.
while(_port.read(m_data) == RTT::NewData)
{
...
if(time > threshold)
{
((RTT::TaskContext*)p)->getActivity()->trigger();
break;
}
}
Alex
As the camera Logger is writing with approx. 10 MB/s (and CPU load is
below 20%) which is far away from the HDD limit (~60MB/s) and this
whole issue does not occur when running the cameras with logger in
syskit and the aria::Task outside syskit, I assume that this is not a
hardware related issue.
As this problem for now seems to occur only when running both tasks
(aria, camera_ids) within the bundle; what are the options to change
the scheduling by syskit? Does syskit change the behaviour of how
processes are scheduled by the OS in any way?
Regards,
Christian
Am 16.12.2013 16:21, schrieb Matthias Goldhoorn:
Several things could happen:
The logger consumes too much time to get out the images, caused by a
slow hdd.
Try to increase the priority level of the pioneer task within your
deployment to make this more urgent from the point of scheduling.
Matthias
P.S. i assume you task is periodic
On 16.12.2013 16:17, Christian Rauch wrote:
Hi,
I am using the aria task within syskit as a device which is supposed to
be called every 100ms. The aria task uses an additional thread
provided by the aria driver to communicate with the robot.
If I run that task from the syskit shell without additional sensors the
updateHook gets called as expected. If I add one or more cameras
(camera_ids) with loggers it happens that the updateHook gets stuck
for some time:
{{{
[DEBUG] - aria::updateHook at: 1386784751.580.629
[DEBUG] - aria::updateHook at: 1386784751.680.668
[DEBUG] - aria::updateHook at: 1386784751.780.542
ArRobotPacketReceiver::receivePacket: bad packet, bad checksum
Warning: Task 'Packet Handler' took 1213 ms to run (longer than the 250
warning time)
Warning: ArRobot sync tasks too long at 1213 ms, (100 ms normal 250 ms
warning)
[DEBUG] - aria::updateHook at: 1386784753.673.374
[DEBUG] - aria::updateHook at: 1386784753.677.372
[DEBUG] - aria::updateHook at: 1386784753.681.379
[DEBUG] - aria::updateHook at: 1386784753.685.211
[DEBUG] - aria::updateHook at: 1386784753.689.226
[DEBUG] - aria::updateHook at: 1386784753.697.023
[DEBUG] - aria::updateHook at: 1386784753.701.405
[DEBUG] - aria::updateHook at: 1386784753.705.386
[DEBUG] - aria::updateHook at: 1386784753.709.383
[DEBUG] - aria::updateHook at: 1386784753.713.216
[DEBUG] - aria::updateHook at: 1386784753.717.292
[DEBUG] - aria::updateHook at: 1386784753.721.253
[DEBUG] - aria::updateHook at: 1386784753.725.392
[DEBUG] - aria::updateHook at: 1386784753.729.400
[DEBUG] - aria::updateHook at: 1386784753.733.392
ArRobotPacketReceiver::receivePacket: bad packet, bad checksum
[DEBUG] - aria::updateHook at: 1386784753.737.227
[DEBUG] - aria::updateHook at: 1386784753.741.226
[DEBUG] - aria::updateHook at: 1386784753.745.274
[DEBUG] - aria::updateHook at: 1386784753.749.305
[DEBUG] - aria::updateHook at: 1386784753.781.249
[DEBUG] - aria::updateHook at: 1386784753.881.453
[DEBUG] - aria::updateHook at: 1386784753.981.492
[DEBUG] - aria::updateHook at: 1386784754.081.523
[DEBUG] - aria::updateHook at: 1386784754.181.392
[DEBUG] - aria::updateHook at: 1386784754.281.428
[DEBUG] - aria::updateHook at: 1386784754.381.462
}}}
For some reason this problem does no longer occur as soon as the camera
loggers are stopped. It also does not occur when the aria Task is
started outside of syskit by using the default deployment and the
TaskInspector or the orocos.rb API.
It looks like the whole task is blocked somehow (the updateHook is not
really taking that much processing time).
Any ideas where this might come from and why this only occurs when
running both tasks with loggers in syskit?
Regards,
Christian
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Space and Underwater Robotic
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
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