Changes have been pushed for the repository "fawkes.git". (Fawkes Robotics Software Framework)
Clone: g...@git.fawkesrobotics.org:fawkes.git Gitweb: http://git.fawkesrobotics.org/fawkes.git Trac: http://trac.fawkesrobotics.org The branch, common/current has been updated to f6f56eb1653a253e59b0f1866607ff3de0c61028 (commit) via 2ab6397468e03b8481e2bd6c7f1cf0f317edb7a1 (commit) via 774e1a6ed394da3593d563345e4d433d01117c4b (commit) via f8669b51b331334a2522e5224d332aaf91be5387 (commit) via 8da89a2c83f5b572dc4cef2cb2c2b07de694221a (commit) via 3174aee196e951aba26d633b1fc6bd1df6cc0d93 (commit) via d8061bf3ad52fd693d30b6fe113d795b404424f4 (commit) via 97c71b2e6159fd9c125784e69047de9f007516cc (commit) via fb6eae30219a5d253ead96ae064252459f4e4ffd (commit) from a50d85f1c3ba7403ba3616e8c473c13ecab84f4d (commit) http://git.fawkesrobotics.org/fawkes.git/common/current Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit fb6eae30219a5d253ead96ae064252459f4e4ffd Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Tue Jun 19 15:24:49 2018 -0400 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Tue Jun 19 15:24:49 2018 -0400 mainapp: send warnings about looptime to debug log, do not warn http://git.fawkesrobotics.org/fawkes.git/commit/fb6eae3 http://trac.fawkesrobotics.org/changeset/fb6eae3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 97c71b2e6159fd9c125784e69047de9f007516cc Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Tue Jun 19 15:25:11 2018 -0400 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Tue Jun 19 15:25:11 2018 -0400 syncpoint: send warnings about timeouts to debug log, do not warn http://git.fawkesrobotics.org/fawkes.git/commit/97c71b2 http://trac.fawkesrobotics.org/changeset/97c71b2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit d8061bf3ad52fd693d30b6fe113d795b404424f4 Merge: a50d85f 97c71b2 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Tue Jun 19 15:26:20 2018 -0400 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Tue Jun 19 15:26:20 2018 -0400 Merge remote-tracking branch 'origin/thofmann/mute-looptime-warnings' into current http://git.fawkesrobotics.org/fawkes.git/commit/d8061bf http://trac.fawkesrobotics.org/changeset/d8061bf - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 3174aee196e951aba26d633b1fc6bd1df6cc0d93 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Wed Jun 20 16:52:09 2018 -0400 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Wed Jun 20 16:52:09 2018 -0400 robot memory: requery the oplog when failing to read it Do not only catch the exception, but also requery it, as the oplog cursor is probably dead. http://git.fawkesrobotics.org/fawkes.git/commit/3174aee http://trac.fawkesrobotics.org/changeset/3174aee - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 8da89a2c83f5b572dc4cef2cb2c2b07de694221a Merge: d8061bf 3174aee Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Wed Jun 20 16:53:10 2018 -0400 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Wed Jun 20 16:53:10 2018 -0400 Merge remote-tracking branch 'origin/thofmann/robot-memory-lock-thread-safety' into current http://git.fawkesrobotics.org/fawkes.git/commit/8da89a2 http://trac.fawkesrobotics.org/changeset/8da89a2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit f8669b51b331334a2522e5224d332aaf91be5387 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Thu Jun 21 02:36:11 2018 -0400 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Thu Jun 21 02:36:11 2018 -0400 clips-executive: do not wait until unlocking a resource completes Instead, directly proceed and clean up the goal. http://git.fawkesrobotics.org/fawkes.git/commit/f8669b5 http://trac.fawkesrobotics.org/changeset/f8669b5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 774e1a6ed394da3593d563345e4d433d01117c4b Merge: 8da89a2 f8669b5 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Thu Jun 21 09:11:24 2018 -0400 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Thu Jun 21 09:11:24 2018 -0400 Merge remote-tracking branch 'origin/thofmann/cx-do-not-wait-on-unlock' into current http://git.fawkesrobotics.org/fawkes.git/commit/774e1a6 http://trac.fawkesrobotics.org/changeset/774e1a6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit 2ab6397468e03b8481e2bd6c7f1cf0f317edb7a1 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Thu Jun 21 12:12:31 2018 -0400 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Thu Jun 21 12:12:31 2018 -0400 clips-executive: reject goals requiring resource with pending unlock http://git.fawkesrobotics.org/fawkes.git/commit/2ab6397 http://trac.fawkesrobotics.org/changeset/2ab6397 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - commit f6f56eb1653a253e59b0f1866607ff3de0c61028 Merge: 774e1a6 2ab6397 Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> AuthorDate: Thu Jun 21 12:13:20 2018 -0400 Commit: Till Hofmann <hofm...@kbsg.rwth-aachen.de> CommitDate: Thu Jun 21 12:13:20 2018 -0400 Merge remote-tracking branch 'origin/thofmann/cx-do-not-wait-on-unlock' into current http://git.fawkesrobotics.org/fawkes.git/commit/f6f56eb http://trac.fawkesrobotics.org/changeset/f6f56eb - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/libs/baseapp/main_thread.cpp | 2 +- src/libs/syncpoint/syncpoint.cpp | 6 ++-- .../clips-executive/clips/resource-locks.clp | 22 +++++++++++++++---- src/plugins/robot-memory/event_trigger_manager.cpp | 4 ++- 4 files changed, 24 insertions(+), 10 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* fb6eae30219a5d253ead96ae064252459f4e4ffd - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Tue Jun 19 15:24:49 2018 -0400 Subject: mainapp: send warnings about looptime to debug log, do not warn src/libs/baseapp/main_thread.cpp | 2 +- 1 files changed, 1 insertions(+), 1 deletions(-) _Diff for modified files_: diff --git a/src/libs/baseapp/main_thread.cpp b/src/libs/baseapp/main_thread.cpp index a2c1a5f..954e517 100644 --- a/src/libs/baseapp/main_thread.cpp +++ b/src/libs/baseapp/main_thread.cpp @@ -386,7 +386,7 @@ FawkesMainThread::loop() // give some extra 10% to eliminate frequent false warnings due to regular // time jitter (TimeWait might not be all that precise) if (loop_time > 1.1 * __desired_loop_time_sec) { - __multi_logger->log_warn("FawkesMainThread", "Loop time exceeded, " + __multi_logger->log_debug("FawkesMainThread", "Loop time exceeded, " "desired: %f sec (%u usec), actual: %f sec", __desired_loop_time_sec, __desired_loop_time_usec, loop_time); - *commit* 97c71b2e6159fd9c125784e69047de9f007516cc - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Tue Jun 19 15:25:11 2018 -0400 Subject: syncpoint: send warnings about timeouts to debug log, do not warn src/libs/syncpoint/syncpoint.cpp | 6 +++--- 1 files changed, 3 insertions(+), 3 deletions(-) _Diff for modified files_: diff --git a/src/libs/syncpoint/syncpoint.cpp b/src/libs/syncpoint/syncpoint.cpp index 0ff8c07..c38e070 100644 --- a/src/libs/syncpoint/syncpoint.cpp +++ b/src/libs/syncpoint/syncpoint.cpp @@ -581,7 +581,7 @@ SyncPoint::is_pending(string component) { void SyncPoint::handle_default(string component, WakeupType type) { - logger_->log_warn(component.c_str(), + logger_->log_debug(component.c_str(), "Thread time limit exceeded while waiting for syncpoint '%s'. " "Time limit: %f sec.", get_identifier().c_str(), @@ -593,11 +593,11 @@ SyncPoint::handle_default(string component, WakeupType type) it != bad_components_.end(); it++) { bad_components_string += " " + *it; } - logger_->log_warn(component.c_str(), "bad components:%s", + logger_->log_debug(component.c_str(), "bad components:%s", bad_components_string.c_str()); } else if (bad_components_.size() == 1) { - logger_->log_warn(component.c_str(), "bad component: %s", + logger_->log_debug(component.c_str(), "bad component: %s", bad_components_.begin()->c_str()); } else if (type == SyncPoint::WAIT_FOR_ALL) { - *commit* d8061bf3ad52fd693d30b6fe113d795b404424f4 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Tue Jun 19 15:26:20 2018 -0400 Subject: Merge remote-tracking branch 'origin/thofmann/mute-looptime-warnings' into current src/libs/baseapp/main_thread.cpp | 2 +- src/libs/syncpoint/syncpoint.cpp | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) _Diff for modified files_: - *commit* 3174aee196e951aba26d633b1fc6bd1df6cc0d93 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Wed Jun 20 16:52:09 2018 -0400 Subject: robot memory: requery the oplog when failing to read it src/plugins/robot-memory/event_trigger_manager.cpp | 4 +++- 1 files changed, 3 insertions(+), 1 deletions(-) _Diff for modified files_: diff --git a/src/plugins/robot-memory/event_trigger_manager.cpp b/src/plugins/robot-memory/event_trigger_manager.cpp index 6860ed7..a59a735 100644 --- a/src/plugins/robot-memory/event_trigger_manager.cpp +++ b/src/plugins/robot-memory/event_trigger_manager.cpp @@ -81,6 +81,7 @@ void EventTriggerManager::check_events() for(EventTrigger *trigger : triggers) { + bool ok = true; try { while(trigger->oplog_cursor->more()) { @@ -91,8 +92,9 @@ void EventTriggerManager::check_events() } } catch (mongo::DBException &e) { logger_->log_error(name.c_str(), "Error while reading the oplog"); + ok = false; } - if(trigger->oplog_cursor->isDead()) + if(!ok || trigger->oplog_cursor->isDead()) { if (cfg_debug_) logger_->log_debug(name.c_str(), "Tailable Cursor is dead, requerying"); - *commit* 8da89a2c83f5b572dc4cef2cb2c2b07de694221a - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Wed Jun 20 16:53:10 2018 -0400 Subject: Merge remote-tracking branch 'origin/thofmann/robot-memory-lock-thread-safety' into current src/plugins/robot-memory/event_trigger_manager.cpp | 4 +++- 1 files changed, 3 insertions(+), 1 deletions(-) _Diff for modified files_: - *commit* f8669b51b331334a2522e5224d332aaf91be5387 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Thu Jun 21 02:36:11 2018 -0400 Subject: clips-executive: do not wait until unlocking a resource completes .../clips-executive/clips/resource-locks.clp | 11 ++++++----- 1 files changed, 6 insertions(+), 5 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/resource-locks.clp b/src/plugins/clips-executive/clips/resource-locks.clp index b352c56..448ff0e 100644 --- a/src/plugins/clips-executive/clips/resource-locks.clp +++ b/src/plugins/clips-executive/clips/resource-locks.clp @@ -136,16 +136,17 @@ then (printout warn "Unlocking resource " ?res crlf) (mutex-unlock-async (resource-to-mutex ?res)) + (assert (unlock-pending (resource-to-mutex ?res))) ) ) + (modify ?g (acquired-resources)) ) (defrule resource-locks-unlock-done - ?m <- (mutex (name ?res) (request UNLOCK) (response UNLOCKED)) - ?g <- (goal (acquired-resources $?acq - &:(member$ (mutex-to-resource ?res) ?acq))) + ?up <- (unlock-pending ?res) + ?m <- (mutex (request UNLOCK) (response UNLOCKED)) => - (modify ?g (acquired-resources - (delete-member$ ?acq (mutex-to-resource ?res)))) + (printout info "Unlocking " ?res " completed" crlf) (modify ?m (request NONE) (response NONE)) + (retract ?up) ) - *commit* 774e1a6ed394da3593d563345e4d433d01117c4b - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Thu Jun 21 09:11:24 2018 -0400 Subject: Merge remote-tracking branch 'origin/thofmann/cx-do-not-wait-on-unlock' into current .../clips-executive/clips/resource-locks.clp | 11 ++++++----- 1 files changed, 6 insertions(+), 5 deletions(-) _Diff for modified files_: - *commit* 2ab6397468e03b8481e2bd6c7f1cf0f317edb7a1 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Thu Jun 21 12:12:31 2018 -0400 Subject: clips-executive: reject goals requiring resource with pending unlock .../clips-executive/clips/resource-locks.clp | 11 +++++++++++ 1 files changed, 11 insertions(+), 0 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-executive/clips/resource-locks.clp b/src/plugins/clips-executive/clips/resource-locks.clp index 448ff0e..eae4e27 100644 --- a/src/plugins/clips-executive/clips/resource-locks.clp +++ b/src/plugins/clips-executive/clips/resource-locks.clp @@ -68,6 +68,17 @@ (modify ?g (mode FINISHED) (outcome REJECTED)) ) +(defrule resource-locks-reject-if-unlock-pending + ?g <- (goal (mode COMMITTED) + (id ?goal-id) + (acquired-resources) + (required-resources $?req)) + (unlock-pending ?mutex&:(member$ (mutex-to-resource ?mutex) ?req)) + => + (printout warn "Rejecting goal " ?goal-id ", pending unlock on " ?mutex crlf) + (modify ?g (mode FINISHED) (outcome REJECTED)) +) + (defrule resource-locks-lock-acquired ?m <- (mutex (name ?res) (request LOCK) (response ACQUIRED)) ?g <- (goal (mode COMMITTED) - *commit* f6f56eb1653a253e59b0f1866607ff3de0c61028 - - - - - - - - - - Author: Till Hofmann <hofm...@kbsg.rwth-aachen.de> Date: Thu Jun 21 12:13:20 2018 -0400 Subject: Merge remote-tracking branch 'origin/thofmann/cx-do-not-wait-on-unlock' into current .../clips-executive/clips/resource-locks.clp | 11 +++++++++++ 1 files changed, 11 insertions(+), 0 deletions(-) _Diff for modified files_: -- Fawkes Robotics Framework http://www.fawkesrobotics.org _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
