Agent has crashed when using UXR_REUSE flag on entity's creation #331
Comments
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Is your entity created so it can be replaced? |
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It works when using UXR_REPLACE mode |
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In order to use |
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I thought the entities has existed, because it's normal at the first running, but Agent crashed after trying again. |
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Please provide full code to replicate this issue so we can reproduce the error. |
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this is examples/RequestAdder/main.c, I change UXR_REPLACE to UXR_REUSE: // Copyright 2017 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <uxr/client/client.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <inttypes.h>
#define STREAM_HISTORY 8
#define BUFFER_SIZE UXR_CONFIG_UDP_TRANSPORT_MTU* STREAM_HISTORY
void on_reply(
uxrSession* session,
uxrObjectId object_id,
uint16_t request_id,
uint16_t reply_id,
ucdrBuffer* ub,
uint16_t length,
void* args)
{
(void) session;
(void) object_id;
(void) request_id;
(void) length;
(void) args;
uint64_t result;
ucdr_deserialize_uint64_t(ub, &result);
#ifdef WIN32
printf("Reply received: %I64u [id: %d]\n", result, reply_id);
#else
printf("Reply received: %" PRIu64 " [id: %d]\n", result, reply_id);
#endif /* ifdef WIN32 */
}
int main(
int args,
char** argv)
{
if (3 > args || 0 == atoi(argv[2]))
{
printf("usage: program [-h | --help] | ip port [key]\n");
return 0;
}
char* ip = argv[1];
char* port = argv[2];
uint32_t key = (args == 4) ? (uint32_t)atoi(argv[3]) : 0xAAAABBBB;
// Transport
uxrUDPTransport transport;
if (!uxr_init_udp_transport(&transport, UXR_IPv4, ip, port))
{
printf("Error at init transport.\n");
return 1;
}
// Session
uxrSession session;
uxr_init_session(&session, &transport.comm, key);
uxr_set_reply_callback(&session, on_reply, false);
if (!uxr_create_session(&session))
{
printf("Error at init session.\n");
return 1;
}
// Streams
uint8_t output_reliable_stream_buffer[BUFFER_SIZE];
uxrStreamId reliable_out = uxr_create_output_reliable_stream(&session, output_reliable_stream_buffer, BUFFER_SIZE,
STREAM_HISTORY);
uint8_t input_reliable_stream_buffer[BUFFER_SIZE];
uxrStreamId reliable_in = uxr_create_input_reliable_stream(&session, input_reliable_stream_buffer, BUFFER_SIZE,
STREAM_HISTORY);
// Create entities
uxrObjectId participant_id = uxr_object_id(0x01, UXR_PARTICIPANT_ID);
const char* participant_xml = "<dds>"
"<participant>"
"<rtps>"
"<name>default_xrce_participant</name>"
"</rtps>"
"</participant>"
"</dds>";
uint16_t participant_req = uxr_buffer_create_participant_xml(&session, reliable_out, participant_id, 0,
participant_xml, UXR_REUSE);
// participant_xml, UXR_REPLACE);
uxrObjectId requester_id = uxr_object_id(0x01, UXR_REQUESTER_ID);
const char* requester_xml = "<dds>"
"<requester profile_name=\"my_requester\""
"service_name=\"service_name\""
"request_type=\"request_type\""
"reply_type=\"reply_type\">"
"</requester>"
"</dds>";
uint16_t requester_req = uxr_buffer_create_requester_xml(&session, reliable_out, requester_id, participant_id,
requester_xml, UXR_REUSE);
// requester_xml, UXR_REPLACE);
// Send create entities message and wait its status
uint8_t status[2];
uint16_t requests[2] = {
participant_req, requester_req
};
if (!uxr_run_session_until_all_status(&session, 1000, requests, status, 2))
{
printf("Error at create entities: participant: %i requester: %i\n", status[0], status[1]);
return 1;
}
// Request replies
uxrDeliveryControl delivery_control = {
0
};
delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
uxr_buffer_request_data(&session, reliable_out, requester_id, reliable_in,
&delivery_control);
// Write requests
bool connected = true;
uint32_t count = 0;
while (connected)
{
uint8_t request[2 * 4] = {
0
};
ucdrBuffer ub;
ucdr_init_buffer(&ub, request, sizeof(request));
ucdr_serialize_uint32_t(&ub, count);
ucdr_serialize_uint32_t(&ub, count);
uint16_t request_id = uxr_buffer_request(&session, reliable_out, requester_id, request, sizeof(request));
printf("Request sent: (%d + %d) [id: %d]\n", count, count, request_id);
connected = uxr_run_session_time(&session, 1000);
++count;
}
return 0;
}
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Which version of the Micro XRCE-DDS Agent and Client are you using? I have just replicated your code and I have found no error. Please provide complete replication instructions. |
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Client version: 2.2.0 |
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Hello @bhlt I have found the bug, we are working on it here: eProsima/Micro-XRCE-DDS-Agent#318 I will notify when we merge it |
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Thanks @pablogs9 |
Change creation mode from UXR_REPLACE to UXR_RESUE in RequestAdder example, then the DDS Agent has been aborted when I run this example app secondly!!!
Modify:
runing twice, Agent is aborted, as below:
the Agent backtrace is:
Can tell me what the problem is?
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