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utexas-bwi / concert_scheduling

Scheduler support packages for the Robotics in Concert project
http://wiki.ros.org/concert_scheduling
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Not processing newly allocatable resources #16

Closed stonier closed 10 years ago

stonier commented 10 years ago

If a new resource is discovered on concert_client_changes, it doesn't proceed to allocate that resource and finally grant a request that is waiting.

I'm digging around for more information now and will update back here.

jack-oquin commented 10 years ago

I think I just forgot to implement that part.

jack-oquin commented 10 years ago

This is now stopping the turtle_concert test from working.

jack-oquin commented 10 years ago

@stonier: with the 2ff7a43 work-around your turtle concert test works for me: 

rocon_launch turtle_concert turtle.concert --screen scheduler_type:=simple

That is not a proper fix, it just comments out moving requests to the blocked queue.

I'll leave this issue open until reschedule() can move elements to and from the blocked queue.

stonier commented 10 years ago

ok.

jack-oquin commented 10 years ago

I think this is fixed now by 4990830, but the test coverage is not great.

I managed to trigger the desired conditions by hand.

It works with the turtle.concert test, but my current turtle_concert version does not seem to trigger those conditions right now, so that does not prove much.

stonier commented 10 years ago

Ooops, just noticed that 10s sleep I put in turtle_concert/scripts/turtle_pond.py made it to github. I just removed it in https://github.com/robotics-in-concert/rocon_tutorials/commit/e1078aa0475e68af6d931486b50f3dc7027a90e0 and are probably seeing the conditions you were missing:

[INFO] [WallTime: 1397665102.214527] Request queued: 42d7215e-1108-4ebf-898d-8347a04cf58d
[INFO] [WallTime: 1397665102.214921] Request queued: 66bb7bf5-f2b3-4e5f-a453-f0ab2df0b9bf
[INFO] [WallTime: 1397665102.511510] reschedule ready queue: 
 id: e57b5cb9-2dd4-47d1-bed1-a77bf20c6269
  seq: 0
  request: id: 42d7215e-1108-4ebf-898d-8347a04cf58d
    priority: 0
    resources: 
      rocon:/#turtle_concert/turtle_stroll
    status: 2
 id: e57b5cb9-2dd4-47d1-bed1-a77bf20c6269
  seq: 1
  request: id: 66bb7bf5-f2b3-4e5f-a453-f0ab2df0b9bf
    priority: 0
    resources: 
      rocon:/#turtle_concert/turtle_stroll
    status: 2
[INFO] [WallTime: 1397665102.512002] Request blocked: 42d7215e-1108-4ebf-898d-8347a04cf58d
[INFO] [WallTime: 1397665102.512359] Request blocked: 66bb7bf5-f2b3-4e5f-a453-f0ab2df0b9bf
[INFO] [WallTime: 1397665103.890025] Conductor: retrieving client information [guimul]
...
[INFO] [WallTime: 1397665104.226288] Conductor : new client found [guimul]
[INFO] [WallTime: 1397665104.231330] Conductor: retrieving client information [kobuki]
...
[INFO] [WallTime: 1397665104.562343] Conductor : new client found [kobuki]
[INFO] [WallTime: 1397665104.578751] Conductor : invited [kobuki][kobuki12f7421206364dc8b9ebd2724ce6804b]
[INFO] [WallTime: 1397665104.595358] Conductor : invited [guimul][guimul82967bada15746a2946f59302e89f519]
...
[INFO] [WallTime: 1397665107.950989] Conductor : new clients are ready for action ['kobuki', 'guimul']
[INFO] [WallTime: 1397665108.511614] request 42d7215e-1108-4ebf-898d-8347a04cf58d no longer blocked
[INFO] [WallTime: 1397665108.512093] request 66bb7bf5-f2b3-4e5f-a453-f0ab2df0b9bf no longer blocked
[INFO] [WallTime: 1397665109.393186] Request granted: 42d7215e-1108-4ebf-898d-8347a04cf58d
...
[INFO] [WallTime: 1397665110.282509] Request granted: 66bb7bf5-f2b3-4e5f-a453-f0ab2df0b9bf

All looks good! :neckbeard:

jack-oquin commented 10 years ago

Thanks!

I updated rocon_tutorials and ran it again. That did trigger the appropriate condition, just as above.

Closing now.