[openrtm-users 01158] Re: Clean-up of OpenRTM application - SOLVED

[Steffen Wittmeier]

Hello,

I found the bug. It was in one of our components.

Thanks for the support.


Regards,
Steffen Wittmeier

On 03/11/2010 06:42 PM, Steffen Wittmeier wrote:
> Hello,
>
> this patch fixed a segmentation fault that I had when shutting down the
> application. It did not, however, help with the omniorb error message. I
> already figured out that the "omni_thread_fatal" message only appears
> when the manager is run in non-blocking mode.
>
> Do I need to do anything else on clean-up? I found this on the web:
> http://www.omniorb-support.com/pipermail/omniorb-list/2005-June/026811.html
>
> Thanks,
> Steffen Wittmeier
>
> On 03/10/2010 06:14 AM, kurihara shinji wrote:
>> Hello,
>>
>> Please try to apply the patch attached to the mailing list
>> "[openrtm-users 01149]".
>> or
>> Please check out the source of the latest version from the following
>> repositories.
>>
>> http://openrtp.jp/openrtm/svn/OpenRTM-aist/branches/RELENG_1_0/OpenRTM-aist
>>
>>
>>
>> Regards,
>> Shinji Kurihara
>>
>> On Mon, 08 Mar 2010 18:04:32 +0100
>> Steffen Wittmeier<steffen.wittmeier ＠ in.tum.de> wrote:
>>
>>> Hi,
>>>
>>> I am building a robot simulator application based on OpenRTM components
>>> (so that the simulator can smoothly be integrated with the real robot
>>> which also uses RTCs).
>>>
>>> The simulator GUI is using Qt and the main window as well as the
>>> individual widgets are derived from QMainWindow and QWidget,
>>> respectively, as well as from RTC::DataFlowComponentBase. Hence, every
>>> widget is a RTC and a GUI widget at the same time.
>>>
>>> This approach works quite well and I can even delete individual
>>> widgets/RTC at run-time by catching the widget close event and calling
>>> exit() on the component.
>>>
>>> However, I am having troubles with cleaning-up the application on
>>> closing. I am always getting the following error:
>>>
>>> terminate called after throwing an instance of 'omni_thread_fatal'
>>> Aborted
>>>
>>> What would be the right way of destructing the RTCs? I already updated
>>> to OpenRTM 1.0 as the destructors were not called when I used OpenRTM
>>> 0.42.
>>>
>>> Any help is appreciated...
>>>
>>>
>>> Here's a snapshot of the code that I am using:
>>> int
>>> main(int argc, char** argv)
>>> {
>>> RTC::Manager* manager;
>>> manager = RTC::Manager::init(argc, argv);
>>>
>>> // Initialize manager
>>> manager->init(argc, argv);
>>>
>>> // Set module initialization procedure
>>> // that's where I create the basic components of the GUI
>>> // (MainWindow, Model, Controller, LogManager)
>>> manager->setModuleInitProc(createComponents);
>>>
>>> // Activate manager and register to naming service
>>> manager->activateManager();
>>>
>>> // run the manager in non-blocking mode
>>> manager->runManager(true);
>>>
>>> // Qt main loop
>>> application.exec();
>>>
>>> // when the main loop exits, clean up components
>>> // compMainWindow, compEcceosController, etc. are handles
>>> // to the component, they are of type RTC::RtcBase*
>>> if (compMainWindow != 0)
>>> {
>>> std::cout<< "Exiting main window"<< std::endl;
>>> compMainWindow->exit();
>>> }
>>>
>>> if (compEcceosController != 0)
>>> {
>>> std::cout<< "Exiting controller"<< std::endl;
>>> compEcceosController->exit();
>>> }
>>>
>>> if (compEcceosModel != 0)
>>> {
>>> std::cout<< "Exiting model"<< std::endl;
>>> compEcceosModel->exit();
>>> }
>>>
>>> if (compLogManager != 0)
>>> {
>>> std::cout<< "Exiting log manager"<< std::endl;
>>> //compLogManager->exit();
>>> }
>>>
>>> manager->terminate();
>>>
>>> return 0;
>>> }
>>>
>>
>>
>

-- 
Steffen Wittmeier
Lehrstuhl für Informatik VI
Technische Universität München
Boltzmannstraße 3, 85748 Garching

Telefon : +89 289-18100
Telefax : +89 289-18107
E-Mail  : steffen.wittmeier ＠ in.tum.de
Internet: http://www6.in.tum.de/