From 855d2ff6cdba3d65b7bc9fb4347aae1c04966521 Mon Sep 17 00:00:00 2001
From: Raphael Grimm <raphael.grimm@kit.edu>
Date: Thu, 13 Sep 2018 10:18:49 +0200
Subject: [PATCH] Add more verbose output to RobotUnitModuleControlThread
---
.../RobotUnitModuleControlThread.cpp | 28 +++++++++++++++----
1 file changed, 23 insertions(+), 5 deletions(-)
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
index 78ef92cb4..5be64094f 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
@@ -272,11 +272,12 @@ namespace armarx
{
rtGetThreadTimingsSensorDevice().rtMarkRtHandleInvalidTargetsStart();
bool oneIsInvalid = 0;
- for (std::size_t i = 0; i < rtGetControlDevices().size(); ++i)
+ const auto& cdevs = rtGetControlDevices();
+ for (std::size_t i = 0; i < cdevs.size(); ++i)
{
if (!rtGetActivatedJointControllers().at(i)->rtIsTargetVaild())
{
- ARMARX_ERROR << "INVALID TARGET: " << rtGetControlDevices().at(i)->getDeviceName();
+ ARMARX_RT_LOGF_ERROR("INVALID TARGET for JointController (idx = %lu) '%s'", i, cdevs.at(i)->rtGetDeviceName().c_str());
rtDeactivateAssignedNJointControllerBecauseOfError(i, false);
oneIsInvalid = true;
}
@@ -322,6 +323,10 @@ namespace armarx
{
if (nJointCtrl->rtGetErrorState())
{
+ ARMARX_RT_LOGF_ERROR(
+ "NJointController '%s' requested deactivation while activating it",
+ nJointCtrl->rtGetInstanceName().c_str()
+ );
rtDeactivateNJointControllerBecauseOfError(nJointCtrlIndex, false);
activeControllersChanged = true;
}
@@ -332,16 +337,28 @@ namespace armarx
auto duration = TimeUtil::GetTime(true) - start;
if (nJointCtrl->rtGetErrorState())
{
+ ARMARX_RT_LOGF_ERROR(
+ "NJointController '%s' requested deactivation while running it",
+ nJointCtrl->rtGetInstanceName().c_str()
+ );
rtDeactivateNJointControllerBecauseOfError(nJointCtrlIndex, false);
activeControllersChanged = true;
}
if (static_cast<std::size_t>(duration.toMicroSeconds()) > nJointCtrl->rtGetNumberOfUsedControlDevices() * usPerDevUntilError)
{
- ARMARX_ERROR << deactivateSpam(5) << "The NJointController " << nJointCtrl->getClassName() << " took " << duration.toMicroSeconds() << " µs to run!";
+ ARMARX_RT_LOGF_ERROR(
+ "The NJointController '%s' took %ld µs to run!",
+ nJointCtrl->rtGetInstanceName().c_str(),
+ duration.toMicroSeconds()
+ ).deactivateSpam(5);
}
else if (static_cast<std::size_t>(duration.toMicroSeconds()) > nJointCtrl->rtGetNumberOfUsedControlDevices() * usPerDevUntilWarn)
{
- ARMARX_WARNING << deactivateSpam(5) << "The NJointController " << nJointCtrl->getClassName() << " took " << duration.toMicroSeconds() << " µs to run!";
+ ARMARX_RT_LOGF_WARNING(
+ "The NJointController '%s' took %ld µs to run!",
+ nJointCtrl->rtGetInstanceName().c_str(),
+ duration.toMicroSeconds()
+ ).deactivateSpam(5);
}
}
}
@@ -434,7 +451,7 @@ namespace armarx
": no NJoint controller controls this device (name = "
<< rtGetControlDevices().at(ctrlDevIndex)->getDeviceName()
<< ", ControlMode = " << rtGetActivatedJointControllers().at(ctrlDevIndex)->getControlMode() << ")!" << "\n"
- << VAROUT(ctrlDevIndex) << "\n"
+ << VAROUT(ctrlDevIndex) << "\nrtGetActivatedJointControllers\n"
<< ARMARX_STREAM_PRINTER
{
for (std::size_t i = 0; i < rtGetActivatedJointControllers().size(); ++i)
@@ -590,6 +607,7 @@ namespace armarx
void ControlThread::rtCommitActivatedControllers()
{
+ ARMARX_RT_LOGF_DEBUG("RT: activated controllers changed");
ControlThreadDataBufferAttorneyForControlThread::CommitActivatedControllers(this);
}
--
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