protocol error: 120 Invalid handle or no handle provided

[kalectro]

After running the released version (1.2.0) for more than 5 hours, I receive the protocol error protocol error: 120 Invalid handle or no handle provided This is printed every 60 seconds and no scan data is published. According to the data sheet https://files.pepperl-fuchs.com/webcat/navi/productInfo/doct/doct3469f.pdf?v=20201005101009 this error should be printed when a scan_output command is sent with a bad handle.

The way I understand the code, the scan_output command is sent once so I do not know where this could come from.

[hsd-dev]

@ptruka any idea about the possible reasons for this?

[ptruka]

@kalectro Thanks for creating the issue. Can you give us some information about your device? (Part No, HW/FW Version)

[hsd-dev]

The way I understand the code, the scan_output command is sent once so I do not know where this could come from.

https://github.com/PepperlFuchs/pf_lidar_ros_driver/blob/aebe0a190b77e3502db4c15d4533ca39de885a8f/src/pf_driver/src/ros/ros_main.cpp#L71-L74

In case of a network failure, the driver tries to reconnect to the device. As far as I remember, there is a limit on the number of times the device can provide new handles. @ptruka correct me if I am wrong.

Has the driver tried to reconnect during this 5 hours run?

[kalectro]

@ptruka is there a way to read this information from the device through ROS? @ipa-hsd There is nothing printed by the r2000_node

[/r2000_node WARNING 1676938854.268373]: Shutdown request received.
[/r2000_node WARNING 1676938854.268851]: Reason given for shutdown: [user request]
[/r2000_node INFO 1676938854.479136]: disconnecting...
[/r2000_node INFO 1676938854.480536]: disconnecting...
[/r2000_node INFO 1676938854.482594]: disconnecting...
[/r2000_node INFO 1676938855.068263]: Device found: OMD30M-R2000-B23-V1V1D-HD-1L
[/r2000_node INFO 1676938855.095618]: Device state changed to Initialized
[/r2000_node INFO 1676938855.149217]: Device state changed to Running
[/r2000_node INFO 1676957815.357771]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676957875.153960]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676957935.154558]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676957995.154212]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676958055.153542]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676958115.155341]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676958175.154177]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676958235.153918]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676958295.153639]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676958355.154243]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676958415.154233]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676958475.153575]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676958535.153705]: protocol error: 120 Invalid handle or no handle provided
[/r2000_node INFO 1676958595.154092]: protocol error: 120 Invalid handle or no handle provided

[ptruka]

not via ROS, but you could curl:

curl "http://[scanner-ip]/cmd/get_parameter?list=product;part;revision_fw;revision_hw"

[hsd-dev]

[/r2000_node WARNING 1676938854.268373]: Shutdown request received.
[/r2000_node WARNING 1676938854.268851]: Reason given for shutdown: [user request]
[/r2000_node INFO 1676938854.479136]: disconnecting...
[/r2000_node INFO 1676938855.068263]: Device found: OMD30M-R2000-B23-V1V1D-HD-1L
[/r2000_node INFO 1676938855.095618]: Device state changed to Initialized

This looks a bit weird. Why is it reconnecting after the user tried to shutdown? Does this happen often or only during long operation? Can you print out the info_->handle here?

https://github.com/PepperlFuchs/pf_lidar_ros_driver/blob/aebe0a190b77e3502db4c15d4533ca39de885a8f/src/pf_driver/src/pf/pf_interface.cpp#L94

[kalectro]

@ipa-hsd we use the respawn=True argument in our launch files, this is expected behavior. I manually killed the node to test https://github.com/PepperlFuchs/pf_lidar_ros_driver/pull/106

@ptruka "product":"OMD30M-R2000-B23-V1V1D-HD-1L", "part":"305986", "revision_fw":"1.62", "revision_hw":"1.72",

[hsd-dev]

So the time difference between

[/r2000_node INFO 1676938855.149217]: Device state changed to Running

and

[/r2000_node INFO 1676957815.357771]: protocol error: 120 Invalid handle or no handle provided

is 5 hours?

[kalectro]

yes

[ptruka]

I assume there is a problem in relation with the watchdog. we are on it.

[ptruka]

@kalectro The issue should be fixed. Please report if you observe this behavior again. I will close the issue at the end of next week if there is no further problem.

Thanks for your contribution

[MichaelGrupp]

Thanks for the fast fix! Is this going to be included in a (patch) release in the near future?

[ptruka]

Hello @MichaelGrupp yes, I try to make it this week.

Closing this Issue