From 49ee29dea2c215f5519645c8cebfc09bec843f6d Mon Sep 17 00:00:00 2001 From: Martin Dlouhy Date: Tue, 14 Jul 2020 20:12:35 +0200 Subject: [PATCH 1/2] zmqrouter.py - increase register time to 10s Otherwise it fails on Eduro: root@voyage:/home/robot/git/osgar# python -m subt run config/eduro-subt-estop-lora.json --side right --speed 0.3 --walldist 0.3 --timeout 30 --note "test master with processes" 2020-07-14 16:28:47,499 osgar.zmqrouter INFO recording... 2020-07-14 16:28:47,502 osgar.zmqrouter INFO /home/robot/git/osgar/logs/eduro-subt-estop-lora-200714_162847.log File "/home/robot/git/osgar/osgar/zmqrouter.py", line 60, in record router.register_nodes(modules.keys(), timeout=datetime.timedelta(seconds=1)) File "/home/robot/git/osgar/osgar/zmqrouter.py", line 121, in register_nodes for packet in self.receive(timeout=timeout): File "/home/robot/git/osgar/osgar/zmqrouter.py", line 174, in receive raise RuntimeError("timeout") 2020-07-14 16:28:49,013 osgar.zmqrouter ERROR timeout 2020-07-14 16:28:49,015 osgar.zmqrouter INFO exception requested stop --- osgar/zmqrouter.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/osgar/zmqrouter.py b/osgar/zmqrouter.py index 71e9ec1a3..fd72a3314 100644 --- a/osgar/zmqrouter.py +++ b/osgar/zmqrouter.py @@ -57,7 +57,7 @@ def record(config, log_prefix=None, log_filename=None, duration_sec=None): modules[module_name] = subprocess.Popen([sys.executable, "-c", program]) try: - router.register_nodes(modules.keys(), timeout=datetime.timedelta(seconds=1)) + router.register_nodes(modules.keys(), timeout=datetime.timedelta(seconds=10)) links = config['robot']['links'] for link_from, link_to in links: router.connect(link_from, link_to) From 8165f5766c8252b752941bd14bbd1a9e09e73576 Mon Sep 17 00:00:00 2001 From: Martin Dlouhy Date: Tue, 28 Jul 2020 19:41:50 +0200 Subject: [PATCH 2/2] eduro-subt-estop-lora.json - remove slots --- config/eduro-subt-estop-lora.json | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/config/eduro-subt-estop-lora.json b/config/eduro-subt-estop-lora.json index 871fa6f40..6f6dcf806 100644 --- a/config/eduro-subt-estop-lora.json +++ b/config/eduro-subt-estop-lora.json @@ -31,19 +31,19 @@ }, "eduro": { "driver": "eduro", - "in": ["slot_can", "slot_desired_speed"], + "in": ["can", "desired_speed"], "out": ["can", "encoders", "emergency_stop", "pose2d", "buttons", "voltage"], "init": {} }, "can": { "driver": "can", - "in": ["slot_raw", "slot_can"], + "in": ["raw", "can"], "out": ["can", "raw"], "init": {"speed": "250k", "canopen":true} }, "serial": { "driver": "serial", - "in": ["slot_raw"], + "in": ["raw"], "out": ["raw"], "init": {"port": "/dev/ttyS0", "speed": 115200, "rtscts":true, "reset":true} @@ -119,12 +119,12 @@ "init": {"port": "/dev/lora", "speed": 115200} } }, - "links": [["serial.raw", "can.slot_raw"], - ["can.raw", "serial.slot_raw"], - ["eduro.can", "can.slot_can"], - ["can.can", "eduro.slot_can"], + "links": [["serial.raw", "can.raw"], + ["can.raw", "serial.raw"], + ["eduro.can", "can.can"], + ["can.can", "eduro.can"], ["eduro.encoders", "app.encoders"], - ["app.desired_speed", "eduro.slot_desired_speed"], + ["app.desired_speed", "eduro.desired_speed"], ["lidar_tcp.raw", "lidar.raw"], ["lidar.raw", "lidar_tcp.raw"], ["slope_lidar_tcp.raw", "slope_lidar.raw"],