OpenRTM-aist (C++): チケット
https://www.openrtm.org/redmine/
https://www.openrtm.org/redmine/redmine/favicon.ico
2019-01-08T13:03:33Z
Redmine for OpenRTM-aist
Redmine
機能 #4650 (新規): CSPポートを実装する
https://www.openrtm.org/redmine/issues/4650
2019-01-08T13:03:33Z
n-ando
Noriaki.Ando@gmail.com
<p>CSPのチャネルを疑似的に実現するポートを実装する。</p>
バグ #4618 (担当): 実行コンテキストが停止状態にも関わらず動作し続ける
https://www.openrtm.org/redmine/issues/4618
2018-09-28T00:53:21Z
n-miyamoto
n-miyamoto@aist.go.jp
<p>実行コンテキストがis_running関数でfalseを返すにもかかわらずsvc関数のループが停止しない。<br />Pythonは停止しているようなので、C++の実装に問題がある。</p>
バグ #4557 (新規): コネクタを2本以上接続できない
https://www.openrtm.org/redmine/issues/4557
2018-06-13T17:21:37Z
n-miyamoto
n-miyamoto@aist.go.jp
<p>1つのInPortにコネクタを2本以上接続するとエラーが発生することがある。<br />現状、発生条件が不明のため調査を行う。</p>
機能 #4542 (新規): rtc.confとcomponent.confの明確な切り分け
https://www.openrtm.org/redmine/issues/4542
2018-05-26T01:05:33Z
n-ando
Noriaki.Ando@gmail.com
<p>rtc.confとcomponent.confの明確な切り分け<br />→ Builder</p>
バグ #4526 (新規): trunkソースのautogenが通らない
https://www.openrtm.org/redmine/issues/4526
2018-05-09T20:00:18Z
n.kawauchi
n.kawauchi@aist.go.jp
<pre>
$ ./build/autogen
:
src/ext/sdo/observer/Makefile.am:75: error: ENABLE_OBSERVER does not appear in AM_CONDITIONAL
src/ext/sdo/observer/Makefile.am:86: warning: variable 'nodist_libComponentObserverConsumer_la_LIBADD' is defined but no program or
src/ext/sdo/observer/Makefile.am:86: library has 'libComponentObserverConsumer_la' as canonical name (possible typo)
src/ext/sdo/observer/Makefile.am:83: warning: variable 'nodist_libComponentObserverConsumer_la_LDFLAGS' is defined but no program or
src/ext/sdo/observer/Makefile.am:83: library has 'libComponentObserverConsumer_la' as canonical name (possible typo)
src/ext/sdo/observer/Makefile.am:84: warning: variable 'nodist_libComponentObserverConsumer_la_DEPENDENCIES' is defined but no program or
src/ext/sdo/observer/Makefile.am:84: library has 'libComponentObserverConsumer_la' as canonical name (possible typo)
src/lib/rtm/Makefile.am:145: error: ENABLE_OBSERVER does not appear in AM_CONDITIONAL
</pre>
機能 #4522 (新規): updateConnectorsを実行するかrtc.confで設定できるようにしてほしい
https://www.openrtm.org/redmine/issues/4522
2018-04-25T07:15:07Z
n-miyamoto
n-miyamoto@aist.go.jp
<p>PortBaseのget_port_profile関数等で、updateConnectors関数などでポートのオブジェクトの存在確認を行って存在しない場合はコネクタを切断する処理がありますが、updateConnectors関数を実行されると不都合なケースもあるため設定できるように可能であれば変更する。</p>
<p>例えば以下のようにマシン1でファイアーウォールが有効、マシン2でファイアウォールが無効の場合に、Push型接続のためマシン1のRTCが接続するためデータの通信はできますが、マシン2側でupdateConnectorsが呼び出されるとファイアウォールにブロックされるため動作が停止してしまいます。</p>
<p><img src="https://www.openrtm.org/redmine/attachments/download/2892/s_rtc_1.png" alt="" /></p>
機能 #4512 (新規): ComponentObserverからデータポートの入出力を通知するイベントを発行する
https://www.openrtm.org/redmine/issues/4512
2018-04-09T04:47:02Z
n-ando
Noriaki.Ando@gmail.com
<p>ComponentObserverからデータポートの入出力を通知するイベントを発行する</p>
バグ #4489 (新規): マスターマネージャから多言語のコンポーネントを起動できない。
https://www.openrtm.org/redmine/issues/4489
2018-03-22T04:44:30Z
katami
<p>RTSEから多言語(python、Java)のコンポーネントを起動すると「FAILED to create taget RTC」が表示されてRTCが起動できない。</p>
バグ #4482 (新規): WindowsでCMake実行後に生成したINSTALLのプロジェクトのビルド時にファイルをコピーするディレクトリ
https://www.openrtm.org/redmine/issues/4482
2018-03-09T12:42:22Z
n-miyamoto
n-miyamoto@aist.go.jp
<p>Visual StudioでINSTALLのプロジェクトをビルドすると以下のように、「1.2.0Components」というディレクトリに実行ファイルがコピーされてしまう。</p>
<pre>
-- Installing: C:/Program Files/OpenRTM-aist/1.2.0Components/c++/Category/test5/test5/test5.lib
-- Installing: C:/Program Files/OpenRTM-aist/1.2.0Components/c++/Category/test5/test5/test5.dll
-- Installing: C:/Program Files/OpenRTM-aist/1.2.0Components/c++/Category/test5/test5/test5Comp.exe
-- Installing: C:/Program Files/OpenRTM-aist/1.2.0Components/c++/Category/test5/test5/RTC.xml
</pre>
<p>環境変数%OPENRTM_DIR%の問題なのか、RTC Builderの問題なのか不明のため調査を行う。</p>
バグ #4446 (新規): Throughputコンポーネントで計測した時間の最小値が10000になる問題
https://www.openrtm.org/redmine/issues/4446
2018-01-29T11:48:25Z
n-miyamoto
n-miyamoto@aist.go.jp
<p>Throughputコンポーネントの以下の部分でtmpが最大値max_latencyに格納される場合、最小値min_latencyの値は変化しない。<br />このため常に最大値max_latencyが更新され続けるとmin_latencyにはデフォルトの10000となってしまうことがあるため修正する。</p>
<pre>
if (tmp > max_latency) { max_latency = tmp; }
else if (tmp < min_latency) { min_latency = tmp; }
</pre>
整備 #4431 (担当): ソースコードの整形
https://www.openrtm.org/redmine/issues/4431
2018-01-23T05:12:49Z
n-miyamoto
n-miyamoto@aist.go.jp
<p>Visual Studioで編集した部分のソースコードのインデントを修正する。</p>
<p>Artistic Style等ツールを使用する。</p>
<p>- <a class="external" href="http://astyle.sourceforge.net/">http://astyle.sourceforge.net/</a></p>
バグ #4410 (新規): Address Sanitizerがheap use after freeを検出
https://www.openrtm.org/redmine/issues/4410
2018-01-09T00:31:30Z
kanehiro
f-kanehiro@aist.go.jp
<p>再現性がないのですが、Address Sanitizerがheap use after freeを検出しましたので報告しておきます。<br />releng_1_1を使用しています。<br /><pre>
==9380==ERROR: AddressSanitizer: heap-use-after-free on address 0x6060003f19b0 at pc 0x7f5a71ab3779 bp 0x7f5a996636e0 sp 0x7f5a996636d0
READ of size 8 at 0x6060003f19b0 thread T12
#0 0x7f5a71ab3778 in RTC_Utils::StateMachine<RTC::LifeCycleState, RTC::PeriodicExecutionContext::DFPBase, RTC_Utils::StateHolder<RTC::LifeCycleState>, void (RTC::PeriodicExecutionContext::DFPBase::*)(RTC_Utils::StateHolder<RTC::LifeCycleState> const&)>::worker() /home/jenkinshrg/openrtp/include/openrtm-1.1/rtm/StateMachine.h:698
#1 0x7f5a71ab3778 in RTC::PeriodicExecutionContext::DFPBase::worker() /home/jenkinshrg/openrtp/include/openrtm-1.1/rtm/PeriodicExecutionContext.h:978
#2 0x7f5a71ab3778 in RTC::PeriodicExecutionContext::invoke_worker::operator()(RTC::PeriodicExecutionContext::Comp&) /home/jenkinshrg/openrtp/include/openrtm-1.1/rtm/PeriodicExecutionContext.h:1467
#3 0x7f5a71ab3778 in RTC::PeriodicExecutionContext::invoke_worker std::for_each<__gnu_cxx::__normal_iterator<RTC::PeriodicExecutionContext::Comp*, std::vector<RTC::PeriodicExecutionContext::Comp, std::allocator<RTC::PeriodicExecutionContext::Comp> > >, RTC::PeriodicExecutionContext::invoke_worker>(__gnu_cxx::__normal_iterator<RTC::PeriodicExecutionContext::Comp*, std::vector<RTC::PeriodicExecutionContext::Comp, std::allocator<RTC::PeriodicExecutionContext::Comp> > >, __gnu_cxx::__normal_iterator<RTC::PeriodicExecutionContext::Comp*, std::vector<RTC::PeriodicExecutionContext::Comp, std::allocator<RTC::PeriodicExecutionContext::Comp> > >, RTC::PeriodicExecutionContext::invoke_worker) /usr/include/c++/5/bits/stl_algo.h:3767
#4 0x7f5a71ab3778 in cnoid::ChoreonoidExecutionContext::tick() /home/jenkinshrg/src/choreonoid/src/OpenRTMPlugin/ChoreonoidExecutionContext.cpp:35
#5 0x7f5a727ac94e in omni::omniOrbPOA::dispatch(omniCallDescriptor&, omniLocalIdentity*) (/usr/lib/libomniORB4.so.1+0xe494e)
#6 0x7f5a72791938 in omniLocalIdentity::dispatch(omniCallDescriptor&) (/usr/lib/libomniORB4.so.1+0xc9938)
#7 0x7f5a7279fa64 in omniObjRef::_invoke(omniCallDescriptor&, bool) (/usr/lib/libomniORB4.so.1+0xd7a64)
#8 0x7f5a70b4c8fc in OpenRTM::_objref_ExtTrigExecutionContextService::tick() ../../../../src/lib/rtm/idl/OpenRTMSK.cc:509
#9 0x7f5a71b1e2a8 in cnoid::BodyRTCItem::control() /home/jenkinshrg/src/choreonoid/src/OpenRTMPlugin/deprecated/BodyRTCItem.cpp:378
#10 0x7f5a6f25fa43 in cnoid::SimulatorItemImpl::concurrentControlLoop() /home/jenkinshrg/src/choreonoid/src/BodyPlugin/SimulatorItem.cpp:2081
#11 0x7f5aa62e1c7f (/usr/lib/x86_64-linux-gnu/libstdc++.so.6+0xb8c7f)
#12 0x7f5aa5a336b9 in start_thread (/lib/x86_64-linux-gnu/libpthread.so.0+0x76b9)
#13 0x7f5aa5d503dc in clone (/lib/x86_64-linux-gnu/libc.so.6+0x1073dc)
0x6060003f19b0 is located 16 bytes inside of 64-byte region [0x6060003f19a0,0x6060003f19e0)
freed by thread T14 (QThread) here:
#0 0x7f5aab09bcaa in operator delete[](void*) (/usr/lib/x86_64-linux-gnu/libasan.so.2+0x99caa)
#1 0x7f5a70951acf in RTC_Utils::StateMachine<RTC::LifeCycleState, RTC::PeriodicExecutionContext::DFPBase, RTC_Utils::StateHolder<RTC::LifeCycleState>, void (RTC::PeriodicExecutionContext::DFPBase::*)(RTC_Utils::StateHolder<RTC::LifeCycleState> const&)>::~StateMachine() ../../../src/lib/rtm/StateMachine.h:305
#2 0x7f5a70951acf in RTC::PeriodicExecutionContext::DFPBase::~DFPBase() ../../../src/lib/rtm/PeriodicExecutionContext.h:724
#3 0x7f5a70951acf in RTC::PeriodicExecutionContext::DFP<_CORBA_ObjRef_Var<OpenRTM::_objref_DataFlowComponent, OpenRTM::DataFlowComponent_Helper> >::~DFP() ../../../src/lib/rtm/PeriodicExecutionContext.h:1047
#4 0x7f5a70951acf in RTC::PeriodicExecutionContext::Comp::~Comp() ../../../src/lib/rtm/PeriodicExecutionContext.h:1376
#5 0x7f5a70951acf in void std::_Destroy<RTC::PeriodicExecutionContext::Comp>(RTC::PeriodicExecutionContext::Comp*) /usr/include/c++/5/bits/stl_construct.h:93
#6 0x7f5a70951acf in void std::_Destroy_aux<false>::__destroy<RTC::PeriodicExecutionContext::Comp*>(RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*) /usr/include/c++/5/bits/stl_construct.h:103
#7 0x7f5a70951acf in void std::_Destroy<RTC::PeriodicExecutionContext::Comp*>(RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*) /usr/include/c++/5/bits/stl_construct.h:126
#8 0x7f5a70951acf in void std::_Destroy<RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp>(RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*, std::allocator<RTC::PeriodicExecutionContext::Comp>&) /usr/include/c++/5/bits/stl_construct.h:151
#9 0x7f5a70951acf in std::vector<RTC::PeriodicExecutionContext::Comp, std::allocator<RTC::PeriodicExecutionContext::Comp> >::_M_insert_aux(__gnu_cxx::__normal_iterator<RTC::PeriodicExecutionContext::Comp*, std::vector<RTC::PeriodicExecutionContext::Comp, std::allocator<RTC::PeriodicExecutionContext::Comp> > >, RTC::PeriodicExecutionContext::Comp const&) /usr/include/c++/5/bits/vector.tcc:392
previously allocated by thread T14 (QThread) here:
#0 0x7f5aab09b6b2 in operator new[](unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.2+0x996b2)
#1 0x7f5a70950842 in RTC_Utils::StateMachine<RTC::LifeCycleState, RTC::PeriodicExecutionContext::DFPBase, RTC_Utils::StateHolder<RTC::LifeCycleState>, void (RTC::PeriodicExecutionContext::DFPBase::*)(RTC_Utils::StateHolder<RTC::LifeCycleState> const&)>::StateMachine(int) ../../../src/lib/rtm/StateMachine.h:291
#2 0x7f5a70950842 in RTC::PeriodicExecutionContext::DFPBase::DFPBase(int) ../../../src/lib/rtm/PeriodicExecutionContext.h:692
#3 0x7f5a70950842 in RTC::PeriodicExecutionContext::DFP<_CORBA_ObjRef_Var<OpenRTM::_objref_DataFlowComponent, OpenRTM::DataFlowComponent_Helper> >::DFP(_CORBA_ObjRef_Var<OpenRTM::_objref_DataFlowComponent, OpenRTM::DataFlowComponent_Helper>, int) ../../../src/lib/rtm/PeriodicExecutionContext.h:1071
#4 0x7f5a70950842 in RTC::PeriodicExecutionContext::Comp::Comp(RTC::PeriodicExecutionContext::Comp const&) ../../../src/lib/rtm/PeriodicExecutionContext.h:1379
#5 0x7f5a70950842 in void std::_Construct<RTC::PeriodicExecutionContext::Comp, RTC::PeriodicExecutionContext::Comp>(RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp const&) /usr/include/c++/5/bits/stl_construct.h:83
#6 0x7f5a70950842 in RTC::PeriodicExecutionContext::Comp* std::__uninitialized_copy<false>::__uninit_copy<RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*>(RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*) /usr/include/c++/5/bits/stl_uninitialized.h:75
#7 0x7f5a70950842 in RTC::PeriodicExecutionContext::Comp* std::uninitialized_copy<RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*>(RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*) /usr/include/c++/5/bits/stl_uninitialized.h:126
#8 0x7f5a70950842 in RTC::PeriodicExecutionContext::Comp* std::__uninitialized_copy_a<RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp>(RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*, std::allocator<RTC::PeriodicExecutionContext::Comp>&) /usr/include/c++/5/bits/stl_uninitialized.h:281
#9 0x7f5a70950842 in RTC::PeriodicExecutionContext::Comp* std::__uninitialized_move_if_noexcept_a<RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*, std::allocator<RTC::PeriodicExecutionContext::Comp> >(RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*, RTC::PeriodicExecutionContext::Comp*, std::allocator<RTC::PeriodicExecutionContext::Comp>&) /usr/include/c++/5/bits/stl_uninitialized.h:304
#10 0x7f5a70950842 in std::vector<RTC::PeriodicExecutionContext::Comp, std::allocator<RTC::PeriodicExecutionContext::Comp> >::_M_insert_aux(__gnu_cxx::__normal_iterator<RTC::PeriodicExecutionContext::Comp*, std::vector<RTC::PeriodicExecutionContext::Comp, std::allocator<RTC::PeriodicExecutionContext::Comp> > >, RTC::PeriodicExecutionContext::Comp const&) /usr/include/c++/5/bits/vector.tcc:370
Thread T12 created by T0 here:
#0 0x7f5aab038253 in pthread_create (/usr/lib/x86_64-linux-gnu/libasan.so.2+0x36253)
#1 0x7f5aa62e1dc2 in std::thread::_M_start_thread(std::shared_ptr<std::thread::_Impl_base>, void (*)()) (/usr/lib/x86_64-linux-gnu/libstdc++.so.6+0xb8dc2)
Thread T14 (QThread) created by T0 here:
#0 0x7f5aab038253 in pthread_create (/usr/lib/x86_64-linux-gnu/libasan.so.2+0x36253)
#1 0x7f5aa6630f89 in QThread::start(QThread::Priority) (/usr/local/Trolltech/Qt-4.8.6/lib/libQtCore.so.4+0x85f89)
SUMMARY: AddressSanitizer: heap-use-after-free /home/jenkinshrg/openrtp/include/openrtm-1.1/rtm/StateMachine.h:698 RTC_Utils::StateMachine<RTC::LifeCycleState, RTC::PeriodicExecutionContext::DFPBase, RTC_Utils::StateHolder<RTC::LifeCycleState>, void (RTC::PeriodicExecutionContext::DFPBase::*)(RTC_Utils::StateHolder<RTC::LifeCycleState> const&)>::worker()
Shadow bytes around the buggy address:
0x0c0c800762e0: fd fd fd fd fd fd fd fd fa fa fa fa fd fd fd fd
0x0c0c800762f0: fd fd fd fd fa fa fa fa fd fd fd fd fd fd fd fd
0x0c0c80076300: fa fa fa fa fd fd fd fd fd fd fd fd fa fa fa fa
0x0c0c80076310: fd fd fd fd fd fd fd fd fa fa fa fa fd fd fd fd
0x0c0c80076320: fd fd fd fd fa fa fa fa fd fd fd fd fd fd fd fd
=>0x0c0c80076330: fa fa fa fa fd fd[fd]fd fd fd fd fd fa fa fa fa
0x0c0c80076340: fd fd fd fd fd fd fd fd fa fa fa fa fd fd fd fd
0x0c0c80076350: fd fd fd fd fa fa fa fa fd fd fd fd fd fd fd fd
0x0c0c80076360: fa fa fa fa fd fd fd fd fd fd fd fd fa fa fa fa
0x0c0c80076370: fd fd fd fd fd fd fd fd fa fa fa fa fd fd fd fd
0x0c0c80076380: fd fd fd fd fa fa fa fa fd fd fd fd fd fd fd fd
Shadow byte legend (one shadow byte represents 8 application bytes):
Addressable: 00
Partially addressable: 01 02 03 04 05 06 07
Heap left redzone: fa
Heap right redzone: fb
Freed heap region: fd
Stack left redzone: f1
Stack mid redzone: f2
Stack right redzone: f3
Stack partial redzone: f4
Stack after return: f5
Stack use after scope: f8
Global redzone: f9
Global init order: f6
Poisoned by user: f7
Container overflow: fc
Array cookie: ac
Intra object redzone: bb
ASan internal: fe
==9380==ABORTING
</pre></p>
機能 #4402 (新規): coilにNICのアドレスが変更されたことを通知するクラスを作成
https://www.openrtm.org/redmine/issues/4402
2017-12-29T06:43:52Z
n-ando
Noriaki.Ando@gmail.com
<p>coilにNICのアドレスが変更されたことを通知するクラスを作成する。</p>
機能 #4401 (新規): omniORBにIPアドレス変更時にオブジェクトリファレンスを動的に変更する機能を追加する
https://www.openrtm.org/redmine/issues/4401
2017-12-29T06:29:59Z
n-ando
Noriaki.Ando@gmail.com
機能 #4395 (新規): イベント出力ポートの検討
https://www.openrtm.org/redmine/issues/4395
2017-12-15T01:25:31Z
n-ando
Noriaki.Ando@gmail.com
<p>イベント出力ポート<br />イベント名+データ<br />というイベントそのものを出力するタイプのOutPortの導入を検討。</p>