Make sure the transformer publisher is starte in regular scripts. #5

goldhoorn · 2015-08-20T12:24:41Z

We had a few times that the transformer does not work correctly when
bundles are not used. The problem was that the broadcaster did not
get started. This PR automatically starts the broadcaster if this
was not done before.

goldhoorn · 2015-08-20T12:25:08Z

As usual i'm open for better solutions.

doudou · 2015-08-20T13:34:58Z

To me, this says: we should all use bundles. Once and for all. This forest of "if we have a bundle" or "if we don't" is beyond annoying.

goldhoorn · 2015-08-20T17:15:46Z

Seriously?
I am not willing and strongly against dropping the lowest layer

doudou · 2015-08-20T17:47:16Z

Misread the diff ... the functionality does make sense ... sorry for the noise.

The implementation, on the other hand ... See my comments.

doudou · 2015-08-20T17:47:36Z

rock/runtime.rb

            Orocos::Process.run(options) do
                @broadcaster = Orocos.name_service.get(name)
                yield
            end
+            else
+                start_time = Time.new
+                Thread.new do


This is a dangling, never-ending thread. Horrible.

goldhoorn · 2015-08-21T06:14:04Z

I updated the PR, but there is still a problem left, the process which was launced by Orocos.run (the transformer) did not get stopped automatically. If i run a script and ctrl+c the transformer is still running.

Even if i call stop_broadcaster the broadcaster (task) get stopped but the process is still alive.
How can i do a good cleanup here?

doudou · 2015-08-21T11:57:51Z

If you want to stop things automatically, use the block version. That's the whole point of having a block construct used that way in Ruby: that whatever-cleanup-is-required is done.

Orocos.run when called without a block returns the set of processes that have been started. Pass them to Orocos.guard the same way than Orocos.run-with-a-block does (see https://github.com/rock-core/tools-orocosrb/blob/master/lib/orocos/process.rb#L829), or check Orocos.guard if you really really want to do it manually.

goldhoorn · 2015-08-21T12:16:04Z

Do i need a thread in this case?
As i see the guard needs a block to be given and the guards itself blocks?!

doudou · 2015-08-21T13:34:35Z

Let's walk one step back

The only way you can guarantee cleanup is by having a form

begin
   < do stuff >
ensure
   < do cleanup >
end

which is essentially what Orocos.run with block / Orocos.guard do. Why isn't that good enough for you ?

goldhoorn · 2015-08-24T06:19:24Z

updated, hope this is what you have expected.

You first mentioned that i should use Orocos.run without a block. So i don't need a thread anymore. Then you suggested Orocos.guard for which i need a thread. This is what confuses me.

We had a few times that the transformer does not work correctly when bundles are not used. The problem was that the broadcaster did not get started. This PR automatically starts the broadcaster if this was not done before.

doudou · 2015-08-24T12:34:41Z

Why do you NEED a block-less version ?

doudou · 2015-08-24T12:35:07Z

(and, you know how much I like threads, no ?)

doudou · 2015-08-24T13:09:19Z

OK. This is getting too far.

You want automated "under the scene" start/stop of the transformer broadcaster ? Use Bundles.run.

You want to start the broadcaster manually and get automated stop ? Use the block form of start_broadcaster.

Otherwise, you have to do your own cleanup.

doudou · 2015-08-24T16:06:35Z

And all of these are process objects. They are asynchronous. You can kill them by, you know, looking into the Process API and finding out that kill is what Orocos.run and Orocos.guard do !

goldhoorn · 2015-08-24T16:20:56Z

I only want to recover behaviour how it is documented. And still dont know what your solution would be. And yes i still will keepborocos.run support for the Transformers....

doudou · 2015-08-25T16:19:10Z

I only want to recover behaviour how it is documented.

That is probably the root of the misunderstanding, then. What "documented behaviour" are you referring to ?

goldhoorn · 2015-08-26T05:00:39Z

Ok so let's restart here

My thougts on this PR

i want to keep the Orocos.run layer fully functional, because i don't want to 'force' people to use bundles.
This page mentions howto setup the transformer with Orocos.run syntax, Vizkit is not mentioned and the broadcaster is fully internal (unknown to me in the first place) This is why i assuming "follow this tutorial, everything is working"
I tried to "hide" the start/setup from the user because i don't want to add more user calls/ i want to make the broadcaster working based on the doc (because i assumed it should work)

regarding Orocos.run <-> Bundles.run:

This is a larger discussion, it's not a orocos.rb thing in the end, it's the way how far plugins should use automate things.

We have two ways:

add a way to start the broadcaster nicely and mention this in the doc
do automation like/similar i proposed

I don't care so much when plugin do "magic" the scope is really limited to the plugin itself, thats why i would say it's not nice but okay here. It we would have a ruby-based deployer this would make it easier and not require such threads.

summary

When you @doudou still want to go for 1. i would like to ask other dev's on the ML for a base-decision if you are fine with that. It's more a design principle at this point. If we go for 1) i don't reject and i will rework this PR and the DOC. But i would prefer 2.

2maz · 2015-10-21T08:18:30Z

I would go with 1) in order to have a clear (in the sense of understandable for users) startup of the transformer in orocos scripts.

goldhoorn · 2015-10-21T08:29:51Z

Then i have no idea howto start the broadcaster nicely (without having a large overhead like the functions i propose) but i'm open for solutions...

doudou · 2015-10-21T10:05:38Z

What I am again wondering is why the current API bad for you

Orocos.transformer.start_broadcaster do
   Orocos.run or other similar things
end

doudou · 2015-10-21T10:06:26Z

Wrong button .. sorry

goldhoorn · 2015-10-21T10:14:30Z

Don't know this before...

On 21.10.2015 12:05, Sylvain Joyeux wrote:

|Orocos.transformer.start_broadcaster do
Orocos.run or other similar things
end|

Dipl.-Inf. Matthias Goldhoorn
Space and Underwater Robotic

Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
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28359 Bremen, Germany

Zentrale: +49 421 178 45-6611

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E-Mail: matthias.goldhoorn@informatik.uni-bremen.de

Weitere Informationen: http://www.informatik.uni-bremen.de/robotik

goldhoorn · 2015-10-21T11:53:02Z

I created a Issue on the doc (for now) and close this

doudou reviewed Aug 20, 2015
View reviewed changes

goldhoorn force-pushed the start_broadcaster branch from e2acd43 to ab1b3b6 Compare August 21, 2015 06:12

goldhoorn force-pushed the start_broadcaster branch from ab1b3b6 to c559872 Compare August 24, 2015 06:19

doudou closed this Oct 21, 2015

doudou reopened this Oct 21, 2015

goldhoorn mentioned this pull request Oct 21, 2015

Update the doc for the transformer rock-core/base-doc#43

Open

goldhoorn closed this Oct 21, 2015

doudou deleted the start_broadcaster branch October 21, 2015 15:38

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Make sure the transformer publisher is starte in regular scripts. #5

Make sure the transformer publisher is starte in regular scripts. #5

goldhoorn commented Aug 20, 2015

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goldhoorn commented Oct 21, 2015

Make sure the transformer publisher is starte in regular scripts. #5

Make sure the transformer publisher is starte in regular scripts. #5

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goldhoorn commented Aug 26, 2015

Ok so let's restart here

My thougts on this PR

regarding Orocos.run <-> Bundles.run:

summary

2maz commented Oct 21, 2015

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goldhoorn commented Oct 21, 2015