[Fawkes Git] branch/fzwilling/skiller-two-skills-called-use-last: 34 revs updated. (0.5.0-3226-g98b00c2)

Tim Niemueller niemueller at kbsg.rwth-aachen.de
Wed Sep 21 14:55:47 CEST 2016


Changes have been pushed for the project "Fawkes Robotics Software Framework".

Gitweb: http://git.fawkesrobotics.org/fawkes.git
Trac:   http://trac.fawkesrobotics.org

The branch, fzwilling/skiller-two-skills-called-use-last has been updated
  discards  bf9122b427903d03b5907a4c7177d33d1af832ca (commit)
  discards  8ce059365c185811610de51c75e9ebfd90d85099 (commit)
  discards  28621e28f8a0617fe58757e3356141a469304161 (commit)
  discards  b2f2d87bd5288c651e8426aa2eafa7a34408e4a1 (commit)
  discards  71b60ea0dbc63be456143f0b9f08b71780655de8 (commit)
  discards  38f1f7a18357dbee272bc68c7e572768c87ff155 (commit)
  discards  bed84c0ea7d9a60812209f9a32c3d04ce8cb98cd (commit)
  discards  4fe72c26926b29109deda44c39389d8e6f5ac10e (commit)
  discards  b2f096ba0ef43132675151721cd57a154169bc60 (commit)
  discards  84568886f6ebfed689ea64f8f010468de63d6c5c (commit)
  discards  4f6b39cc4b758f051ea907c9d6db5532ca34fe14 (commit)
  discards  3ba3a9f8fffea84fcb3d11113d052d8f746ba2b4 (commit)
  discards  f1856600e85634ba1ca203f0382c106c88e0b0e3 (commit)
  discards  909353843d1358053ff4f0c58e4026a5ad55eebe (commit)
  discards  30810872687f9b1136fbd8b3175ccdfff8fd7de2 (commit)
  discards  8fe984ba9ce01faa96544a0dd5878b58e654f37a (commit)
  discards  6e1885f4606b6f3475a39ec88e9d09a41533e2ad (commit)
  discards  762f9af309d8f46821b838547c10433798c95362 (commit)
  discards  497f55ae030e177b181cb894c1dceb3d9b7aa788 (commit)
  discards  029d9a2eb5c0e301b8dd096ca866ce545ecc2437 (commit)
        to  98b00c217b98d54e2d72d7b25fa605c26397b3b2 (commit)
       via  f9006042ffd611987ecbd0be2957ceb74f2cd809 (commit)
       via  fbd017e6d951add369a328bc70254f3a2e6cbef7 (commit)
       via  be0d51841964dac7712c800c5d3c5ec736b87aa4 (commit)
       via  f20bb944e9378c8c80b55dc808644efc59474f8e (commit)
       via  c0628c938cfb3e5b124d051ce8b95e812b301d75 (commit)
       via  6c5fb4ccb10e7e812c2e1484bb5d159a456129e8 (commit)
       via  178d47a21e8a73f5d088f625d6683f0b9819aba6 (commit)
       via  4d304d55c22701c72156e7217e72d1693ba0fd93 (commit)
       via  4c89e43dc5f52e04c2407fa051810f9d8223e32b (commit)
       via  290aca7087bc4abe31fac9b3cd5f4da565ccd4e3 (commit)
       via  f176683092190d1bece9d3807f64524e4a695132 (commit)
       via  2ce3913f102bb83183249ea820a5c14d95225017 (commit)
       via  29065d07336dce0b47efd0a149b3923d069f1b0e (commit)
       via  915487019aca3ce434cb05f70c4b47c7385d8822 (commit)
       via  65366915d16be30268c75994aa359b249258b19b (commit)
       via  e0ef2c5584b51dbd0c91c5c054a3f579da01b21f (commit)
       via  f65f948b2e3f0d8abdd6df04aa26c9012573713f (commit)
       via  b9fcd71f0b42de5057fac513b4feda0887bf3f5d (commit)
       via  bbf38b5f75f982320fc5375f99bc4836e34797d0 (commit)
       via  2557ab7f599814e63bdb9eb6980077e5d192cd14 (commit)
       via  64b629ba3d52bcd0e65c90eb60b46778d7de18fa (commit)
       via  e4fe9b6e90bdb61332f860c3a18a977f5933a138 (commit)
       via  4b78bb5dfd243cede563e16837da260cf7e57e1a (commit)
       via  9ca67ee723f8c47886377f23163c6a6fcbe986a5 (commit)
       via  50ece8964d871ebc27c0eddc0fe9eb2af5b356d0 (commit)
       via  0114a00db996072fefd4a94dfb8b9df601f3fa94 (commit)
       via  0fc8e4150162a60ae8211f9238db6f5f770fe22b (commit)
       via  c9d50b6de5255b7e7eb4774bf3d423a2cc457593 (commit)
       via  b16e59cb9dff9d0017fbdc08b25eb6fc64caaf7d (commit)
       via  d951b71774f982b3fb9236a7b60da79069c8e476 (commit)
       via  b05502ff124197d8a71289e62f5c03fbb223586a (commit)
       via  f47342e4b45958fafe492c087bbdb50fa989f638 (commit)
       via  2bc87d58113921bc60bfd3647035827774190e41 (commit)

This update added new revisions after undoing existing revisions.  That is
to say, the old revision is not a strict subset of the new revision.  This
situation occurs when you --force push a change and generate a repository
containing something like this:

 * -- * -- B -- O -- O -- O (bf9122b427903d03b5907a4c7177d33d1af832ca)
            \
             N -- N -- N (98b00c217b98d54e2d72d7b25fa605c26397b3b2)

When this happens we assume that you've already had alert emails for all
of the O revisions, and so we here report only the revisions in the N
branch from the common base, B.

http://git.fawkesrobotics.org/fawkes.git/fzwilling/skiller-two-skills-called-use-last

Those revisions listed above that are new to this repository have
not appeared on any other notification email; so we list those
revisions in full, below.

- *Log* ---------------------------------------------------------------
commit 98b00c217b98d54e2d72d7b25fa605c26397b3b2
Author:     Frederik Zwilling <zwilling at kbsg.rwth-aachen.de>
AuthorDate: Thu Jun 30 10:39:43 2016 +0200
Commit:     Tim Niemueller <niemueller at kbsg.rwth-aachen.de>
CommitDate: Wed Sep 21 14:55:39 2016 +0200

    skiller: when multiple exec_skill msgs are enqueued use last one
    
    When multiple exec_skill messages are enqueued, the skiller has to
    decide which one to use. Now we use the last one instead of the first
    one because this is a similar behavior compared to calling multiple
    skills with a small time step in between so the skiller starts executing
    the first and switches to the second when receiving the message a later
    loop iteration.
    
    This also solves some issues in the CLIPS agent calling two skills to
    fast without a timeout in between.

http://git.fawkesrobotics.org/fawkes.git/commit/98b00c2
http://trac.fawkesrobotics.org/changeset/98b00c2

- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -


- *Summary* -----------------------------------------------------------
 src/libs/utils/math/angle.h                        |    2 +-
 .../colli/drive_modes/forward_omni_drive_mode.cpp  |    2 +-
 src/plugins/colli/search/og_laser.cpp              |    2 +-
 src/plugins/laser-filter/filter_thread.cpp         |  104 ++++++++++---------
 src/plugins/laser-filter/filter_thread.h           |    9 +-
 src/plugins/laser-filter/filters/1080to360.cpp     |   10 +-
 src/plugins/laser-filter/filters/1080to360.h       |    5 +-
 src/plugins/laser-filter/filters/720to360.cpp      |   10 +-
 src/plugins/laser-filter/filters/720to360.h        |    3 +-
 src/plugins/laser-filter/filters/cascade.cpp       |    8 +-
 src/plugins/laser-filter/filters/cascade.h         |    3 +-
 src/plugins/laser-filter/filters/circle_sector.cpp |   12 ++-
 src/plugins/laser-filter/filters/circle_sector.h   |    5 +-
 src/plugins/laser-filter/filters/deadspots.cpp     |   14 ++-
 src/plugins/laser-filter/filters/deadspots.h       |    7 +-
 src/plugins/laser-filter/filters/filter.cpp        |   16 ++-
 src/plugins/laser-filter/filters/filter.h          |    5 +-
 src/plugins/laser-filter/filters/map_filter.cpp    |   14 ++-
 src/plugins/laser-filter/filters/map_filter.h      |   11 +-
 src/plugins/laser-filter/filters/max_circle.cpp    |   10 +-
 src/plugins/laser-filter/filters/max_circle.h      |    4 +-
 src/plugins/laser-filter/filters/min_circle.cpp    |   10 +-
 src/plugins/laser-filter/filters/min_circle.h      |    4 +-
 src/plugins/laser-filter/filters/min_merge.cpp     |   82 ++++++++++++----
 src/plugins/laser-filter/filters/min_merge.h       |   26 ++++-
 src/plugins/laser-filter/filters/projection.cpp    |    4 +-
 src/plugins/laser-filter/filters/projection.h      |    3 +-
 src/plugins/laser-filter/filters/reverse_angle.cpp |    8 +-
 src/plugins/laser-filter/filters/reverse_angle.h   |    3 +-
 src/plugins/laser-lines/laser-lines-thread.cpp     |   97 ++++++++++++-------
 src/plugins/laser-lines/laser-lines-thread.h       |   12 ++-
 .../navgraph_generator_thread.cpp                  |    4 +
 src/plugins/navgraph/visualization_thread.cpp      |   38 +++++---
 33 files changed, 343 insertions(+), 204 deletions(-)


- *Diffs* -------------------------------------------------------------

- *commit* 98b00c217b98d54e2d72d7b25fa605c26397b3b2 - - - - - - - - - -
Author:  Frederik Zwilling <zwilling at kbsg.rwth-aachen.de>
Date:    Thu Jun 30 10:39:43 2016 +0200
Subject: skiller: when multiple exec_skill msgs are enqueued use last one

 src/lua/skiller/fawkes/init.lua |   53 +++++++++++++++++++--------------------
 1 files changed, 26 insertions(+), 27 deletions(-)

_Diff for modified files_:
diff --git a/src/lua/skiller/fawkes/init.lua b/src/lua/skiller/fawkes/init.lua
index 9d73bb3..f43d329 100644
--- a/src/lua/skiller/fawkes/init.lua
+++ b/src/lua/skiller/fawkes/init.lua
@@ -121,34 +121,33 @@ function process_skiller_messages()
 			elseif mtype == "ExecSkillMessage" then
 				 if skiller_if:exclusive_controller() == m:sender_id() then
 						if skill_enqueued then
-							 print_warn("More than one skill string enqueued, ignoring successive string (%s).",
-													m:skill_string())
-						else
-							 print_debug("%s wants me to execute '%s'", m:sender_thread_name(), m:skill_string())
-
-							 if sksf then
-									print_info("Aborting execution of previous skill string '%s' for new goal",
-														 skiller_if:skill_string())
-									skillenv.reset_all()
-							 end
-
-							 skiller_if:set_skill_string(m:skill_string())
-							 skiller_if:set_msgid(m:id())
-							 write_skiller_if = true
-
-							 skill_enqueued = true
-							 sksf, err = loadstring(m:skill_string())
-							 if sksf then
-									skillenv.reset_all()
-									local sandbox = skillenv.gensandbox()
-									setfenv(sksf, sandbox)
-									skiller_if:set_status(SkillerInterface.S_RUNNING)
-							 else
-									local errstr = string.format("%s|%s", m:skill_string(), err)
-									print_error("Failed to compile skill string: " .. errstr)
-									skiller_if:set_status(SkillerInterface.S_FAILED)
-							 end
+							 print_warn("More than one skill string enqueued, ignoring previous string (%s).",
+                                                                    skiller_if:skill_string())
 						end
+            print_debug("%s wants me to execute '%s'", m:sender_thread_name(), m:skill_string())
+
+            if sksf then
+               print_info("Aborting execution of previous skill string '%s' for new goal",
+                          skiller_if:skill_string())
+               skillenv.reset_all()
+            end
+
+            skiller_if:set_skill_string(m:skill_string())
+            skiller_if:set_msgid(m:id())
+            write_skiller_if = true
+
+            skill_enqueued = true
+            sksf, err = loadstring(m:skill_string())
+            if sksf then
+               skillenv.reset_all()
+               local sandbox = skillenv.gensandbox()
+               setfenv(sksf, sandbox)
+               skiller_if:set_status(SkillerInterface.S_RUNNING)
+            else
+               local errstr = string.format("%s|%s", m:skill_string(), err)
+               print_error("Failed to compile skill string: " .. errstr)
+               skiller_if:set_status(SkillerInterface.S_FAILED)
+            end
 				 else
 						print_warn("%s tries to exec while not controller", m:sender_thread_name())
 				 end




-- 
Fawkes Robotics Framework                 http://www.fawkesrobotics.org


More information about the fawkes-commits mailing list