Are you using master?
If you are using next the next commit after the merge phase should fix
this problem.
We had this a while ago.
Best,
Matthias
On 14.03.2014 18:25, Christian Rauch wrote:
Hello,
we have a simulation composition (AriaSim) using some simulated devices.
If we start this and an additional composition connected to simulated
devices we get sometimes (not reproducible) this error message:
{{{
Syskit[FATAL]:
/home/christian/rock_virgo_next/tools/syskit/lib/syskit/network_generation/engine.rb:526:in
`block (2 levels) in validate_generated_network': device locomotion is
assigned to both Simulation::MarsActuator{1}:0x69a7f58{driver_dev =>
device(Dev::Simulation::Mars::Actuator, :as => locomotion), conf =>
[locomotion], locomotion_actuators_mappings => [1, 2, 3, 4]}[] and
Simulation::MarsActuator{1}:0x73ca0a8{driver_dev =>
device(Dev::Simulation::Mars::Actuator, :as => locomotion), conf =>
[locomotion], locomotion_actuators_mappings => [1, 2, 3, 4]}[], but
the tasks have mismatching inputs (Syskit::SpecError)
}}}
Where locomotion is a simulated devices defined by:
{{{
define_simulated_device("locomotion", Dev::Simulation::Mars::Actuator)
do |dev|
::Simulation::MarsActuator.dispatch('locomotion_actuators',
(1..4).to_a ).
use_deployments(/mars_locomotion/).
with_arguments(dev.arguments).
with_conf('locomotion')
end
locomotion_dev.period 0.01
}}}
and used in:
{{{
define 'aria', Virgo::AriaSim.use(
'actuators' => locomotion_def,
[...]
)
}}}
In the network graph (see attached *.dot file) one can see that the
simulation composition (Virgo::AriaSim) is started twice, and
therefore also the Simulation::MarsActuator::Cmp.
I guess that is not correct.
It might be, that this problem does not occur when a second
composition is started accessing a simulated device, but then it
happens later when a third, ... composition is started.
=> Any ideas why this happens and only happens randomly?
Our guess was to prevent the creation of multiple AriaSim instances by
setting it as a driver by:
{{{
class AriaSim < Syskit::Composition
[...]
driver_for Dev::Platforms::MobileRoboticsSim, :as=>'ariasimdev'
end
}}}
Which results in the error:
{{{
Syskit[FATAL]: cannot find a device to tie to 1 task(s)
Syskit[FATAL]: for Virgo::AriaSim:0x64e5380{}[]
Syskit[FATAL]: no candidates for Virgo::AriaSim:ariasimdev
Syskit[FATAL]: Engine#resolve failed
}}}
=> So the second question is if a composition could be set as a driver
and if so, how?
Regards,
Christian
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--
Dipl.-Inf. Matthias Goldhoorn
Space and Underwater Robotic
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
Robert-Hooke-Straße 1
28359 Bremen, Germany
Zentrale: +49 421 178 45-6611
Besuchsadresse der Nebengeschäftstelle:
Robert-Hooke-Straße 5
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E-Mail: [email protected]
Weitere Informationen: http://www.informatik.uni-bremen.de/robotik
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