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Make RobotStateComponent more efficient

Closed Rainer Kartmann requested to merge optimized_RSC into master

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  • Rainer Kartmann assigned to @RainerKartmann

    assigned to @RainerKartmann

  • Rainer Kartmann requested review from @barcode

    requested review from @barcode

  • GitLab Importer added 19 commits

    added 19 commits

    Compare with previous version

    By ARMAR-6 on 2021-03-04T13:03:16 (imported from GitLab)

  • GitLab Importer added 2 commits

    added 2 commits

    • 14565e50 - (RK, FP) RobotToArViz: Fix addRobot() not being guarded by hasRobot()
    • fad7536d - (RK) ObjectPoseObserver: Fix bug in remote gui re-creation

    Compare with previous version

    By ARMAR-6 on 2021-03-04T13:34:55 (imported from GitLab)

  • Author Maintainer

    In our (@paus.fabian and @RainerKartmann), the RSC crashed. While only components were running, it seemed to work fine. When we triggered the statechart (Bring me the spraybottle), it crashed. Maybe due to the high stress?

    This is the log we could secure:

    terminate called after throwing an instance of 'IceUtil::NullHandleException'
      what():  /usr/include/IceUtil/Handle.h:46: ::IceUtil::NullHandleException
    [31240][14:44:59.701][RobotStateComponent][Application::HandlerFault(int)]: Error: Abort
    Backtrace:
    
    Error: Abort
    Backtrace:
    
    Backtrace:
    1       0x7f28e1101f51 armarx::Application::HandlerFault(int) + 961
    2       0x7f28dfbce040 /lib/x86_64-linux-gnu/libc.so.6(+0x3f040) [0x7f28dfbce040]
    3       0x7f28dfbcdfb7 gsignal + 199
    4       0x7f28dfbcf921 abort + 321
    5       0x7f28e0224957 /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x8c957) [0x7f28e0224957]
    6       0x7f28e022aae6 /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x92ae6) [0x7f28e022aae6]
    7       0x7f28e022ab21 /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x92b21) [0x7f28e022ab21]
    8       0x7f28e022ad54 /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x92d54) [0x7f28e022ad54]
    9       0x7f28e2973288 /home/armar-user/repos/RobotAPI/build/lib/libRobotAPIRobotStateComponent.so.0(+0x2a288) [0x7f28e2973288]
    10      0x7f28e2978a2b /home/armar-user/repos/RobotAPI/build/lib/libRobotAPIRobotStateComponent.so.0(+0x2fa2b) [0x7f28e2978a2b]
    11      0x7f28e29886bd armarx::detail::RobotStateComponentWorker::getRobotSnapshot(armarx::detail::RobotStateComponentWorker::Job&) + 1101
    12      0x7f28e298d1bf armarx::detail::RobotStateComponentWorker::work() + 2943
    13      0x7f28e02556df /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0xbd6df) [0x7f28e02556df]
    14      0x7f28e05286db /lib/x86_64-linux-gnu/libpthread.so.0(+0x76db) [0x7f28e05286db]
    15      0x7f28dfcb071f clone + 63
    Backtrace:
    1       0x7f28e10a14fd armarx::LogSender::log(armarx::MessageTypeT, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >) + 4509
    2       0x7f28e10a2274 armarx::LogSender::flush() + 132
    3       0x7f28e10a25d8 armarx::LogSender::~LogSender() + 648
    4       0x7f28e109c516 std::_Sp_counted_ptr<armarx::LogSender*, (__gnu_cxx::_Lock_policy)2>::_M_dispose() + 22
    5       0x5649e1024407 std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() + 71
    6       0x7f28e1102000 armarx::Application::HandlerFault(int) + 1136
    7       0x7f28dfbce040 /lib/x86_64-linux-gnu/libc.so.6(+0x3f040) [0x7f28dfbce040]
    8       0x7f28dfbcdfb7 gsignal + 199
    9       0x7f28dfbcf921 abort + 321
    10      0x7f28e0224957 /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x8c957) [0x7f28e0224957]
    11      0x7f28e022aae6 /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x92ae6) [0x7f28e022aae6]
    12      0x7f28e022ab21 /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x92b21) [0x7f28e022ab21]
    13      0x7f28e022ad54 /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0x92d54) [0x7f28e022ad54]
    14      0x7f28e2973288 /home/armar-user/repos/RobotAPI/build/lib/libRobotAPIRobotStateComponent.so.0(+0x2a288) [0x7f28e2973288]
    15      0x7f28e2978a2b /home/armar-user/repos/RobotAPI/build/lib/libRobotAPIRobotStateComponent.so.0(+0x2fa2b) [0x7f28e2978a2b]
    16      0x7f28e29886bd armarx::detail::RobotStateComponentWorker::getRobotSnapshot(armarx::detail::RobotStateComponentWorker::Job&) + 1101
    17      0x7f28e298d1bf armarx::detail::RobotStateComponentWorker::work() + 2943
    18      0x7f28e02556df /usr/lib/x86_64-linux-gnu/libstdc++.so.6(+0xbd6df) [0x7f28e02556df]
    19      0x7f28e05286db /lib/x86_64-linux-gnu/libpthread.so.0(+0x76db) [0x7f28e05286db]
    20      0x7f28dfcb071f clone + 63
    Edited by Rainer Kartmann
  • Rainer Kartmann assigned to @barcode

    assigned to @barcode

  • Rainer Kartmann requested review from @RainerKartmann

    requested review from @RainerKartmann

  • Rainer Kartmann requested review from @paus.fabian

    requested review from @paus.fabian

  • Rainer Kartmann unassigned @RainerKartmann

    unassigned @RainerKartmann

  • Rainer Kartmann removed review request for @barcode

    removed review request for @barcode

  • how can i reproduce this error in simulation? otherwise i can't debug this

  • Raphael Grimm assigned to @RainerKartmann and unassigned @barcode

    assigned to @RainerKartmann and unassigned @barcode

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