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mavconn transmission hangs on high packet count #72

Closed
2 tasks done
vooon opened this issue Jul 31, 2014 · 10 comments
Closed
2 tasks done

mavconn transmission hangs on high packet count #72

vooon opened this issue Jul 31, 2014 · 10 comments
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bug
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Version 0.7.0

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@vooon
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vooon commented Jul 31, 2014

When i start debug image_pub (extras) plugin i build that chain:

uvc_camera -ros-> gcs_image_bridge -mavlink-> mavros

rosrun uvc_camera uvc_camera_node image_raw:=/mavlink/gcs_image
rosrun mavros_extras gcs_image_bridge _gcs_url:=tcp-l://
rosrun mavros mavros_node _fcu_url:=tcp:// _gcs_url:='' /mavlink/to:=/mav1t /mavlink/from:=/mav1f

Connection done, but no data transfers until mavros sends some data (e.g. mavsafety arm). After that it works some time and hangs again.

I also tried this with UDP (udp://@localhost & udp://:14550@) and serial (using socat PTY PTY), and it breaks with same symptoms.

My guesses:

  1. Improper use of libev (strace shows EPOLLOUT state on socket)
  • Check libev usage
  • Try do same with mavconn 0.6 (write simple test)
@vooon vooon added this to the Version 0.7.0 milestone Jul 31, 2014
@vooon vooon added the bug label Jul 31, 2014
vooon added a commit that referenced this issue Jul 31, 2014
@vooon
test: And hand test for mavconn hangs.
cf61bd5 
Issue #72.
vooon added a commit that referenced this issue Jul 31, 2014
@vooon
test: Enable send tests.
add5eba 
Issue #72.
@vooon
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vooon commented Jul 31, 2014

Checked 0.6, it works fine. While same test with newer library hangs.

@vooon
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vooon commented Jul 31, 2014

I can't find why it don't work. I think better that i can do is return to boost asio, but with new url and buffer features.
And limit it usage in mavconn only.

vooon added a commit that referenced this issue Aug 1, 2014
@vooon
mavconn: Revert MAVConnUDP back to Boost.ASIO.
cd81244 
Also starting to change boost threads and mutexes to C++11.
Issue #72.
vooon added a commit that referenced this issue Aug 1, 2014
@vooon
test: Fix send_message tests. Use C++11.
100bcd9 
Issue #72.
vooon added a commit that referenced this issue Aug 1, 2014
@vooon
mavconn: Revert MAConnSerial back to Boost.ASIO.
4a9f6a9 
Issue #72.
vooon added a commit that referenced this issue Aug 1, 2014
@vooon
mavconn: Port MAVConnTCPClient to Boost.ASIO.
31092e7 
Also it disables MAVConnTCPServer before i rewrite it.
Issue #72.
vooon added a commit that referenced this issue Aug 1, 2014
@vooon
mavconn: Port MAVConnTCPServer to Boost.ASIO.
4ab00de 
TCP send test fails.
Issue #72.
vooon added a commit that referenced this issue Aug 1, 2014
@vooon
mavconn: Remove libev default loop thread.
9862962 
Issue #72.
vooon added a commit that referenced this issue Aug 1, 2014
@vooon
mavconn: Cleanup boost threads.
7311b71 
I will use C++11 standard libs.
Issue #72.
@vooon vooon mentioned this issue Aug 1, 2014
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@vooon
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vooon commented Aug 1, 2014

I decide return to ASIO.

  • serial
  • udp
  • tcp
  • tcp-l

@TSC21
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TSC21 commented Aug 1, 2014

Seems a good option to me 👍

@vooon
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vooon commented Aug 1, 2014

Get some errors with tcp-l. Also unit test get segfault on buildfarm.

@TSC21
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TSC21 commented Aug 1, 2014

Yep seems to be #74 related.

vooon added a commit that referenced this issue Aug 1, 2014
@vooon
Remove libev from package.
bbbcda9 
Issue #72.
@vooon
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vooon commented Aug 1, 2014

@TSC21 Yep, its related.

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vooon commented Aug 3, 2014

TCP-L: don't send data back!
UDP: fails with std::system_error: Resource deadlock avoide.

vooon added a commit that referenced this issue Aug 4, 2014
@vooon
mavconn: Fix TCP server.
c3da1f6 
Issue #72.
vooon added a commit that referenced this issue Aug 4, 2014
@vooon
mavconn: Remove new MsgBuffer dup. Message drop if closed.
50fb933 
Issue #72.
vooon added a commit that referenced this issue Aug 4, 2014
@vooon
mavconn: Fix TCP server client deletion.
1f01916 
Issue #72.
vooon added a commit that referenced this issue Aug 4, 2014
@vooon
mavconn: Emit port_closed after thread stop.
9331f11 
Also use tx state flag, improve error messages and move io post out of
critical section.

Issue #72.
@vooon
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vooon commented Aug 4, 2014

The work almost done, but i get strange error pure virtual method called.

vooon added a commit that referenced this issue Aug 4, 2014
@vooon
test: Split open_url test to individual tests.
292276e 
Also removed tcp client deletion on close, heisenbug here.
Issue #72.
vooon added a commit that referenced this issue Aug 4, 2014
@vooon
test: Add tcp client reconnect test.
2e86463 
Issue #72.
@vooon vooon mentioned this issue Aug 5, 2014
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vooon commented Aug 5, 2014

Seems that now it works. But i still don't know the source of pure virtual method called.

I close this global issue.

@vooon vooon closed this as completed Aug 5, 2014
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