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flexivrobotics / flexiv_rdk

RDK (robotic development kit) for Flexiv robots. Supports C++ and Python. Compatible with Linux, macOS, and Windows.
Apache License 2.0
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[BUG] Python API - [flexiv::Robot] getPrimitiveStates: No response from server #54

Closed Knoose closed 2 months ago

Knoose commented 2 months ago

Version information

Describe the bug When parsing the pt_states, the internal robot server fails to update the primitive states.

Steps to reproduce

  1. Issue Slide Zig Zag primitive
  2. Poll for pt_states
  3. See error

Example Command and output:

pt_states = robot.getPrimitiveStates()
RuntimeError: [flexiv::Robot] getPrimitiveStates: No response from server

Relevant Log Lines:

[2024-05-22 04:28:59.251633][error] [General]300000: Fault. Primitive states triple buffer shouldn't be empty [2024-05-22 04:28:59.251643][trace] /home/flexiv/sw/flexiv_sw/flexiv/lib/FlexivRdk/FlexivRdkServer/Src/RpcServer.cpp:179 @ sendPtStates.

[2024-05-22 04:28:59.251643][error] [General]300000: Fault. [2024-05-22 04:28:59.251643][trace] /home/flexiv/sw/flexiv_sw/flexiv/lib/FlexivRdk/FlexivRdkServer/Src/RpcServer.cpp:507 @ process.

[2024-05-22 04:29:02.845823][debug] contact lost count > 1500 [2024-05-22 04:29:02.955823][debug] contact lost count > 1500 [2024-05-22 04:29:03.256003][debug] [RDK] [RPC Server] Restarting ... [2024-05-22 04:29:03.256013][debug] [RDK] [RPC Server] Created new socket handle [2024-05-22 04:29:03.256033][debug] [RDK] [RPC Server] Listening on: [0.0.0.0:19802] [2024-05-22 04:29:03.256063][debug] [RDK] [Commands Server] Restarting ... [2024-05-22 04:29:03.256073][debug] [RDK] [Commands Server] Created new socket handle [2024-05-22 04:29:03.256083][debug] [RDK] [Commands Server] Listening on: [0.0.0.0:19801] [2024-05-22 04:29:03.256683][debug] [State Machine] Transit system state from [WORKING_EXTERNAL_AUTO] to [STOPPED_EXTERNAL_AUTO]

Expected behavior Server to constantly output pt_states data.

Additional context Seems similar to https://github.com/flexivrobotics/flexiv_rdk/issues/47

Log File RobotControlApp_2024-05-21_06-46-29.log

pzhu-flexiv commented 2 months ago

@Knoose It seems you are calling getPrimitiveStates() too fast. If this function is called faster than 1kHz, then there will be no new data available to get. Please reduce the frequency of call to getPrimitiveStates().

Knoose commented 2 months ago

Did the older RDK clients protect against this unsafe behavior? Prior to this update, we never observed this issue and our integration layer has not changed.

pzhu-flexiv commented 2 months ago

@Knoose This behavior is due to an added protection against bug #47, added in v0.10.