Make RobotStateComponent more efficient
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69a37d8e...60542181 - 18 commits from branch
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- 46f7f49c - Merge branch 'master' into optimized_RSC
By ARMAR-6 on 2021-03-04T13:03:16 (imported from GitLab)
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69a37d8e...60542181 - 18 commits from branch
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
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