diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
index e0131a416855174e5571d22d9e44cfac50f76954..88cf11c532113f593f4dfa9056e4469fbc9a7992 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControlThread.cpp
@@ -853,7 +853,7 @@ namespace armarx::RobotUnitModule
}
SensorAndControl& sc = _module<ControlThreadDataBuffer>().rtGetSensorAndControlBuffer();
- sc.writeTimestamp = IceUtil::Time::now(); // this has to be in real time
+ sc.writeTimestamp = armarx::rtNow(); // this has to be in real time
sc.sensorValuesTimestamp = sensorValuesTimestamp;
sc.timeSinceLastIteration = timeSinceLastIteration;
ARMARX_CHECK_EQUAL(rtGetSensorDevices().size(), sc.sensors.size());
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
index 6f0001391b69aa246edc781fee744997f214f988..e53bb97efcc50b5571512f6149706c44c7501cea 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleControllerManagement.cpp
@@ -95,8 +95,11 @@ namespace armarx::RobotUnitModule
std::stringstream ss;
ss << "Requested controller class '" << className
<< "' unknown! Known classes:" << NJointControllerRegistry::getKeys()
- << " (If this class exists in a different lib then load it via "
- "loadLibFromPath(path) or loadLibFromPackage(package, lib))";
+ << " (If this class exists in a different lib then load it in the property "
+ "definitions of the RT-unit. DO NOT load it via "
+ "loadLibFromPath(path) or loadLibFromPackage(package, lib)) (see "
+ "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/"
+ "issues/85)";
ARMARX_ERROR << ss.str();
throw InvalidArgumentException{ss.str()};
}
@@ -303,6 +306,9 @@ namespace armarx::RobotUnitModule
ControllerManagement::loadLibFromPath(const std::string& path, const Ice::Current&)
{
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
+ ARMARX_WARNING << "Do not use this function as it has implications on the RT thread (see "
+ "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/"
+ "documentation/-/issues/85)";
const bool result = getArmarXManager()->loadLibFromPath(path);
ARMARX_INFO << "loadLibFromPath('" << path << "') -> " << result;
return result;
@@ -314,6 +320,9 @@ namespace armarx::RobotUnitModule
const Ice::Current&)
{
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
+ ARMARX_WARNING << "Do not use this function as it has implications on the RT thread (see "
+ "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/"
+ "documentation/-/issues/85)";
const bool result = getArmarXManager()->loadLibFromPackage(package, lib);
ARMARX_INFO << "loadLibFromPackage('" << package << "', '" << lib << "') -> " << result;
return result;
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
index ee8522d21984cbf6936bd1b2c259e37850398d7f..725bb380ed3638ac9ad71102375c0c4a4a0c8f5d 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp
@@ -50,14 +50,14 @@ namespace armarx::RobotUnitModule::details
void
start()
{
- t -= IceUtil::Time::now();
+ t -= armarx::rtNow();
++n;
}
void
stop()
{
- t += IceUtil::Time::now();
+ t += armarx::rtNow();
}
double
@@ -562,11 +562,11 @@ namespace armarx::RobotUnitModule
ARMARX_TRACE;
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
std::lock_guard<std::mutex> guard{rtLoggingMutex};
- const auto now = IceUtil::Time::now();
+ const auto now = armarx::rtNow();
// entries are removed last
//remove backlog entries
- const auto start_time_remove_backlog_entries = IceUtil::Time::now();
+ const auto start_time_remove_backlog_entries = armarx::rtNow();
{
if (rtLoggingBacklogEnabled)
{
@@ -579,10 +579,9 @@ namespace armarx::RobotUnitModule
}
}
//log all
- const auto start_time_log_all = IceUtil::Time::now();
+ const auto start_time_log_all = armarx::rtNow();
details::DoLoggingDurations dlogdurs;
{
- ARMARX_TRACE;
if (!rtLoggingEntries.empty() || !rtDataStreamingEntry.empty())
{
ARMARX_DEBUG << deactivateSpam() << "Number of logs " << rtLoggingEntries.size()
@@ -617,7 +616,7 @@ namespace armarx::RobotUnitModule
ARMARX_DEBUG << ::deactivateSpam() << "the last " << backlog.size()
<< " iterations are stored";
//flush all files
- const auto start_time_flush_all_files = IceUtil::Time::now();
+ const auto start_time_flush_all_files = armarx::rtNow();
{
for (auto& pair : rtLoggingEntries)
{
@@ -626,7 +625,7 @@ namespace armarx::RobotUnitModule
}
//remove entries
- const auto start_time_remove_entries = IceUtil::Time::now();
+ const auto start_time_remove_entries = armarx::rtNow();
{
ARMARX_TRACE;
std::vector<std::string> toRemove;
@@ -646,7 +645,7 @@ namespace armarx::RobotUnitModule
}
}
//deal with data streaming
- const auto start_time_data_streaming = IceUtil::Time::now();
+ const auto start_time_data_streaming = armarx::rtNow();
{
ARMARX_TRACE;
std::vector<RobotUnitDataStreaming::ReceiverPrx> toRemove;
@@ -671,7 +670,7 @@ namespace armarx::RobotUnitModule
}
}
// clang-format off
- const auto end_time = IceUtil::Time::now();
+ const auto end_time = armarx::rtNow();
const auto time_total = (end_time - now).toMilliSecondsDouble();
ARMARX_DEBUG_S << deactivateSpam(1)
<< "rtlogging time required: " << time_total << "ms\n"
@@ -1150,12 +1149,12 @@ void
Logging::DataStreamingEntry::send(const RobotUnitDataStreaming::ReceiverPrx& r, std::uint64_t msgId)
{
ARMARX_TRACE;
- const auto start_send = IceUtil::Time::now();
+ const auto start_send = armarx::rtNow();
const auto num_timesteps = result.size();
updateCalls.emplace_back(r->begin_update(result, static_cast<Ice::Long>(msgId)));
- const auto start_clear = IceUtil::Time::now();
+ const auto start_clear = armarx::rtNow();
clearResult();
- const auto end = IceUtil::Time::now();
+ const auto end = armarx::rtNow();
ARMARX_DEBUG_S << "Logging::DataStreamingEntry::send"
<< "\n update " << (start_clear - start_send).toMilliSecondsDouble() << "ms ("
<< num_timesteps << " timesteps)"
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
index 5d51c4ca2474c8e46bd3be0140ae45ec9e877e55..4b9a12a21520e58e87f0038c808715be940b8584 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp
@@ -255,7 +255,7 @@ namespace armarx::RobotUnitModule
{
ARMARX_TRACE;
throwIfInControlThread(BOOST_CURRENT_FUNCTION);
- const auto beg = TimeUtil::GetTime(true);
+ const auto beg = armarx::rtNow();
StringVariantBaseMap ctrlDevMap;
@@ -314,7 +314,7 @@ namespace armarx::RobotUnitModule
}
}
- const auto end = TimeUtil::GetTime(true);
+ const auto end = armarx::rtNow();
return new TimedVariant{TimestampVariant{end - beg}, lastControlThreadTimestamp};
}
@@ -476,6 +476,7 @@ namespace armarx::RobotUnitModule
getProperty<std::string>("DebugDrawerUpdatesTopicName").getValue();
debugObserverTopicName = getProperty<std::string>("DebugObserverTopicName").getValue();
+ observerEnablePublishing = getProperty<bool>("ObserverEnablePublishing").getValue();
observerPublishSensorValues = getProperty<bool>("ObserverPublishSensorValues").getValue();
observerPublishControlTargets =
getProperty<bool>("ObserverPublishControlTargets").getValue();
@@ -575,7 +576,10 @@ namespace armarx::RobotUnitModule
[&] { publish({}); }, publishPeriodMs, false, getName() + "_PublisherTask");
ARMARX_INFO << "starting publisher with timestep " << publishPeriodMs;
publisherTask->setDelayWarningTolerance(10 * publishPeriodMs);
- publisherTask->start();
+ if (observerEnablePublishing)
+ {
+ publisherTask->start();
+ }
}
void
diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
index 9f061fd02cad06539fb919e32087912f72713f6e..ffa451eb40630cf7f54e9e4966a93575d6c2fb98 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.h
@@ -58,6 +58,10 @@ namespace armarx::RobotUnitModule
defineOptionalProperty<std::size_t>(
"PublishPeriodMs", 10, "Milliseconds between each publish");
+ defineOptionalProperty<bool>("ObserverEnablePublishing",
+ true,
+ "Whether the publishing thread is started or not",
+ PropertyDefinitionBase::eModifiable);
defineOptionalProperty<bool>("ObserverPublishSensorValues",
true,
"Whether sensor values are send to the observer",
@@ -271,6 +275,8 @@ namespace armarx::RobotUnitModule
/// @brief Whether \ref SensorValueBase "SensorValues" should be published to the observers
std::atomic_bool observerPublishSensorValues;
+ /// @brief Whether the publishing thread should be started or not
+ std::atomic_bool observerEnablePublishing;
/// @brief Whether \ref ControlTargetBase "ControlTargets" should be published to the observers
std::atomic_bool observerPublishControlTargets;
/// @brief Whether \ref Timing information should be published to the observers
diff --git a/source/RobotAPI/components/units/RobotUnit/util/RtTiming.h b/source/RobotAPI/components/units/RobotUnit/util/RtTiming.h
index 2fa3ffe573037a4c7b27b55a5a8fe43129156c7b..78c86b83633a83ccaf0d73238da632271b956889 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/RtTiming.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/RtTiming.h
@@ -40,7 +40,7 @@ namespace armarx
{
using namespace rt_timing::constants;
struct timespec ts;
- clock_gettime(CLOCK_MONOTONIC, &ts);
+ clock_gettime(CLOCK_MONOTONIC_RAW, &ts);
return IceUtil::Time::microSeconds(ts.tv_sec * seconds2MicroSeconds +
ts.tv_nsec / nanoSeconds2MicroSeconds);
}
@@ -50,9 +50,8 @@ namespace armarx
//! \ingroup VirtualTime
//! Prints duration with comment in front of it, yet only once per second.
#define RT_TIMING_END_COMMENT(name, comment) \
- ARMARX_RT_LOGF_INFO( \
- "%s - duration: %.3f ms", comment, (armarx::rtNow() - name).toMilliSecondsDouble()) \
- .deactivateSpam(1);
+ printf( \
+ "%s - duration: %.3f ms \n", comment, (armarx::rtNow() - name).toMilliSecondsDouble());
//! \ingroup VirtualTime
//! Prints duration
#define RT_TIMING_END(name) RT_TIMING_END_COMMENT(name, #name)
diff --git a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
index f59b430191bb535cf527d0d3a624849102385756..32bfba607c2147414e9e61bc8ddd8ea50e9be4d6 100644
--- a/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
+++ b/source/RobotAPI/interface/units/RobotUnit/RobotUnitInterface.ice
@@ -284,7 +284,9 @@ module armarx
void deactivateAndDeleteNJointControllers(Ice::StringSeq controllerInstanceNames)throws InvalidArgumentException, LogicError;
//loading libs
+ ["deprecate:loadLibFromPath(string path) has dangerous implications on the RT thread. Use the scenario config instead to load additional libraries. See https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/issues/85"]
bool loadLibFromPath(string path);
+ ["deprecate:loadLibFromPackage(string package, string libname) has dangerous implications on the RT thread. Use the scenario config instead to load additional libraries. See https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar7/documentation/-/issues/85"]
bool loadLibFromPackage(string package, string libname);
};
interface RobotUnitSelfCollisionCheckerInterface