rtcryo の副作用に起因する rtresurrect の問題

From 東京都立産業技術研究センター　佐々木さん

rtresurrect ends up with the following error message and doesn't restore configuration parameters specified in a system profile saved with rtcryo.

rtresurrect: No such configuration set: default

Workaround: A. Execute rtresurrect 3 times with the same system profile. B. Alternatively, make all the RT components composing the system have some `conf.default' properties at initialization even if the configuration parameters are not used

Test environment:

Ubuntu 12.04 LTS (x86_64)
rtshell (GitHub commit 4f3d49d83d0a20282c35b04ce3c35faad670aacf)
rtsprofile (GitHub commit 23ff6f62aada7fefe0930bf5f1afde4017dbf6c0)
rtctree (GitHub commit 630de13e64b0549eb9b49a111f2c223a6149eb1c)
OpenRTM-aist 1.1.0 (x86_64)
OpenRTM-aist-Python 1.1.0-RC1
Python 2.7.3
omniorb 4.1.6-1

How to reproduce the problem:

# 設定 & 保存, Config. and save
  [00]$ rtcwd /localhost/foo.host_cxt
  [01]$ cd /usr/share/openrtm-1.1/example
  [02]$ ./ConsoleInComp &  # --> job spec %1
  [03]$ ./ConsoleOutComp & # --> job spec %2
  [04]$ cd ~/test/
  [05]$ python DoodleDoo.py # --> job spec %3,
   # --> DoodleDoo は 2個の config set を持つ (default と mode1) RTC
   #     ( DoodleDoo is an RTC that has 2 config sets, default and mode1. )

  [06]$ rtcon ConsoleIn0.rtc:out DoodleDoo0.rtc:in
  [07]$ rtcon rtcon DoodleDoo0.rtc:out ConsoleOut0.rtc:in
  [08]$ rtcat -ll ConsoleInComp |grep conf
   # --> この時点では conf.default なし
   #     (No `conf.default' at this point)

  [09]$ rtcryo -x -o test_sys.xml localhost
   # --> test_sys.xml に ConsoleIn につき rts:activeConfigurationSet="default" 指定なし
   #    (`rts:activeConfigurationSet="default"' not specified for ConsoleIn in test_sys.xml)

  [10]$ rtcat -ll ConsoleInComp |grep conf
   # --> この時点では conf.default あり (rtcryo の副作用による)
   #      (`conf.default' added at this point because of side effects of rtcryo)

  [11]$ rtconf DoodleDoo0.rtc -s mode1 act
  [12]$ rtconf DoodleDoo0.rtc
      +default
      +mode1*

  [14]$ rtcryo -x -o test_sys2.xml localhost
   # --> test_sys2.xml に ConsoleIn につき rts:activeConfigurationSet="default" 指定あり
   #    (`rts:activeConfigurationSet="default"' specified for ConsoleIn in test_sys.xml)

  # 復元, resurrection
  [15]$ kill -9 %1 %2 %3
  [16]$ cd /usr/share/openrtm-1.1/example
  [17]$ ./ConsoleInComp &  
  [18]$ ./ConsoleOutComp & 
  [19]$ cd ~/test/
  [20]$ python DoodleDoo.py
  [21]$ rtresurrect test_sys2.xml 
      rtresurrect: No such configuration set: default
   # --> NoConfSetError 例外が発生する,
   #     (NoConfSetError exception was raised)
   #     at /usr/local/lib/python2.7/dist-packages/rtshell/actions.py, Line 318

  [22]$ rtconf DoodleDoo0.rtc 
      +default
      +mode1
   # --> どちらの config set も active でない
   #     (no active config set)

  [23]$ rtresurrect test_sys2.xml 
      rtresurrect: No such configuration set: default
  [24]$ rtconf DoodleDoo0.rtc 
      +default
      +mode1*
   # --> NoConfSetError 例外は発生するが DoodleDoo の設定は 復元される
   #     ( NoConfSetError exception was raised, but the config set 
   #      for DoodleDoo was restored.)

  [25]$ rtresurrect test_sys2.xml
   # --> もう一度実行すると エラーメッセージがでない (No error message)

Causes: ConsoleIn doesn't have the conf.default' property at start [02]. But rtcryo has side effects to add theconf.default' property to the component [08]-[10]. On executing rtcryo after changing config parameters in DoodleDoo, it saves the active config set specification for ConsoleIn in test_sys2.xml [14].

Because ConsoleIn doesn't have the `conf.default' property at restart [17], executing rtresurrect with test_sys2.xml will raise NoConfSetError [21].

NoConfSetError exception raised for ConsoleIn keeps DoodleDoo away from configuration restoration since "DoodleDoo" is after "ConsoleIn" in order of actions taken by rtresurrect [22]. see /usr/local/lib/python2.7/dist-packages/rtshell/rtresurrect.py, Line 236.

DoodleDoo.py (test component):

#!/usr/bin/env python
# -*- coding: utf-8 -*- 
# -*- Python -*-

import sys
sys.path.append(".")

import RTC
import OpenRTM_aist

module_spec = [
  "implementation_id", "DoodleDoo", 
  "type_name",         "DoodleDoo", 
  "description",       "DoodleDoo", 
  "version",           "0.1", 
  "vendor",            "xxxx", 
  "category",          "test", 
  "activity_type",     "DataFlowComponent", 
  "max_instance",      "10", 
  "language",          "Python", 
  "lang_type",         "SCRIPT",
  "conf.default.coeff", "10",
  "conf.mode1.coeff",  "5",
  ""]

# //////////////////////////////////////////////////////////////////////////////
#!
#
class DoodleDoo(OpenRTM_aist.DataFlowComponentBase):
  def __init__(self, manager):
      OpenRTM_aist.DataFlowComponentBase.__init__(self, manager)
      self._coeff = [5]

  def makeInPort(self, name, data):
      port = OpenRTM_aist.InPort(name, data)
      self.addInPort(name, port)      
      return port

  def makeOutPort(self, name, data):
      port = OpenRTM_aist.OutPort(name, data)
      self.addOutPort(name, port)      
      return port

  def onInitialize(self):
      self._d_in = RTC.TimedLong(RTC.Time(0,0), 0)
      self._inIn = self.makeInPort("in", self._d_in)
      self._d_out = RTC.TimedLong(RTC.Time(0,0), 0)
      self._outOut = self.makeOutPort("out", self._d_out)

      self.bindParameter("coeff", self._coeff, str(self._coeff[0]))

      return RTC.RTC_OK

  def onActivated(self, ec_id):
      return RTC.RTC_OK

  def onDeactivated(self, ec_id):
      return RTC.RTC_OK

  def onExecute(self, ec_id):
      if self._inIn.isNew():
          self._inIn.read()
          self._d_out.data = self._coeff[0] * self._d_in.data
          OpenRTM_aist.setTimestamp(self._d_out)
          self._outOut.write()
      return RTC.RTC_OK

def DoodleDooInit(manager):
    profile = OpenRTM_aist.Properties(defaults_str=module_spec)
    manager.registerFactory(profile,
                            DoodleDoo,
                            OpenRTM_aist.Delete)

def MyModuleInit(manager):
    DoodleDooInit(manager)
    comp = manager.createComponent("DoodleDoo")

def main():
    mgr = OpenRTM_aist.Manager.init(sys.argv)
    mgr.setModuleInitProc(MyModuleInit)
    mgr.activateManager()
    mgr.runManager()

if __name__ == '__main__':
    main()

gbiggs / rtshell

rtcryo の副作用に起因する rtresurrect の問題 #24