Investigate OpenModelica FMU segfaults in model with dampers #5
Comments
traversaro
changed the title
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Apparently the problem is with models with dampers:
model CompliantTransmission
Modelica.Blocks.Interfaces.RealInput actuatorInput annotation(
Placement(visible = true, transformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Interfaces.RealInput jointPosition annotation(
Placement(visible = true, transformation(origin = {120, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 180), iconTransformation(origin = {120, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 180)));
Modelica.Blocks.Interfaces.RealInput jointVelocity annotation(
Placement(visible = true, transformation(origin = {118, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 180), iconTransformation(origin = {118, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 180)));
Modelica.Blocks.Interfaces.RealOutput jointTorque annotation(
Placement(visible = true, transformation(origin = {110, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Components.AngleToTorqueAdaptor angleToTorqueAdaptor1(use_a = false, use_w = true) annotation(
Placement(visible = true, transformation(origin = {41, 0}, extent = {{-21, -20}, {21, 20}}, rotation = 180)));
Modelica.Mechanics.Rotational.Sources.Torque torque1 annotation(
Placement(visible = true, transformation(origin = {-76, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Math.Gain invertSign(k = -1) annotation(
Placement(visible = true, transformation(origin = {70, 16}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Components.Spring spring1(c = 10) annotation(
Placement(visible = true, transformation(origin = {4, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Components.Inertia inertia annotation(
Placement(visible = true, transformation(origin = {-46, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Components.Damper damper1 annotation(
Placement(visible = true, transformation(origin = {-20, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
equation
connect(damper1.flange_a, inertia.flange_b) annotation(
Line(points = {{-30, 0}, {-36, 0}, {-36, 0}, {-36, 0}}));
connect(damper1.flange_b, spring1.flange_a) annotation(
Line(points = {{-10, 0}, {-6, 0}, {-6, 0}, {-6, 0}}));
connect(torque1.flange, inertia.flange_a) annotation(
Line(points = {{-66, 0}, {-56, 0}}));
connect(spring1.flange_b, angleToTorqueAdaptor1.flange) annotation(
Line(points = {{14, 0}, {36, 0}, {36, 0}, {36, 0}}));
connect(invertSign.y, jointTorque) annotation(
Line(points = {{82, 16}, {90, 16}, {90, 60}, {110, 60}, {110, 60}}, color = {0, 0, 127}));
connect(angleToTorqueAdaptor1.tau, invertSign.u) annotation(
Line(points = {{48, 16}, {58, 16}, {58, 16}, {58, 16}}, color = {0, 0, 127}));
connect(actuatorInput, torque1.tau) annotation(
Line(points = {{-120, 0}, {-88, 0}}, color = {0, 0, 127}));
connect(jointPosition, angleToTorqueAdaptor1.phi) annotation(
Line(points = {{120, -60}, {80.5, -60}, {80.5, -16}, {49, -16}}, color = {0, 0, 127}));
connect(jointVelocity, angleToTorqueAdaptor1.w) annotation(
Line(points = {{118, 0}, {79.5, 0}, {79.5, -6}, {49, -6}}, color = {0, 0, 127}));
annotation(
uses(Modelica(version = "3.2.2")));
end CompliantTransmission; |
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@triccyx If you get some similar problem, check this issue. |
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I have a crash. But I suspect it is not the same. I don't use dumpers. The stack doesn't show anything after the last gazebo::physics::World::RunLoop(). |
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Which version of OpenModelica are you using? In my case, it was easy to reproduce the crash also using the |
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I'm using OMEdit 1.12.0. |
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Can you verify if it also fails with |
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Ok for FMPy.
For generating I used the gui with platforms = {\"static\"} and fmuType="Model
exchange and cosimulation", I can revert to your option that I guess is
fmuType="cosimulation only"
For my problem, I suspect I have problems locating the fmu files from
gzserver command line. I'm investigating
…On Thu, 19 Jul 2018 at 10:34, Silvio Traversaro ***@***.***> wrote:
Can you verify if it also fails with FMPy ? In that way we can identify
that the problem is in OpenModelica. Which option did you use for
converting the Model in FMU? In the tests I used the options
buildModelFMU(${_OCM_MODEL_NAME}, fmuType = \"cs\", platforms =
{\"static\"}); (see
https://github.com/robotology/gazebo-fmi/blob/master/cmake/FMIUtils.cmake#L65)
.
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You should add the directory containing the FMUs in |
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yes all right with the file but still crash.
…On Thu, 19 Jul 2018 at 10:44, Silvio Traversaro ***@***.***> wrote:
For my problem, I suspect I have problems locating the fmu files from
gzserver command line. I'm investigating
You should add the directory containing the FMUs in GAZEBO_RESOURCE_PATH .
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|
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Problems in using FMPy: python -m fmpy.gui |
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However |
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In this case gdb can't help as the command fmpy is not an exe |
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Yes, |
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Ok but before I want to try with a very simple fmu |
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As B plan ... for next week |
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I guess JModelica.org, but I never tried it. |
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buildModelFMU(Gazebo,"2","cs","",{"static","x86_64-linux-gnu"},true) but with dynamic linkage is much better: at least do something. |
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Now I will remove the gear that usually gives problems |
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Unexpected behaviour. |
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Going back to the fmu with motor we have a problem (similar to the dumper?)
and then crash. Perhaps the problem is due to wrong inputs to the motor. We can try to change the gain in PID |
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@triccyx I replied on that specific model on Redmine. |
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I had similar problem with a simple FMU that I prepared to test #17 . The Modelica model is the following:
model StiffTransmission
Modelica.Blocks.Interfaces.RealInput actuatorInput annotation(
Placement(visible = true, transformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-120, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Interfaces.RealInput jointPosition annotation(
Placement(visible = true, transformation(origin = {120, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 180), iconTransformation(origin = {120, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 180)));
Modelica.Blocks.Interfaces.RealInput jointVelocity annotation(
Placement(visible = true, transformation(origin = {120, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 180), iconTransformation(origin = {120, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 180)));
Modelica.Blocks.Interfaces.RealOutput jointTorque annotation(
Placement(visible = true, transformation(origin = {110, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {110, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Components.AngleToTorqueAdaptor angleToTorqueAdaptor1(use_a = true, use_w = true) annotation(
Placement(visible = true, transformation(origin = {41, 0}, extent = {{-21, -20}, {21, 20}}, rotation = 180)));
Modelica.Mechanics.Rotational.Sources.Torque torque1 annotation(
Placement(visible = true, transformation(origin = {-76, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Math.Gain invertSign(k = -1) annotation(
Placement(visible = true, transformation(origin = {70, 60}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Components.Inertia inertia(J = 0.01) annotation(
Placement(visible = true, transformation(origin = {-10, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Interfaces.RealInput jointAcceleration annotation(
Placement(visible = true, transformation(origin = {120, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 180), iconTransformation(origin = {120, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 180)));
equation
connect(inertia.flange_b, angleToTorqueAdaptor1.flange) annotation(
Line(points = {{0, 0}, {36, 0}}));
connect(torque1.flange, inertia.flange_a) annotation(
Line(points = {{-66, 0}, {-20, 0}}));
connect(jointAcceleration, angleToTorqueAdaptor1.a) annotation(
Line(points = {{120, 20}, {80, 20}, {80, 6}, {50, 6}, {50, 6}}, color = {0, 0, 127}));
connect(angleToTorqueAdaptor1.tau, invertSign.u) annotation(
Line(points = {{48, 16}, {53, 16}, {53, 60}, {58, 60}}, color = {0, 0, 127}));
connect(invertSign.y, jointTorque) annotation(
Line(points = {{81, 60}, {110, 60}}, color = {0, 0, 127}));
connect(jointVelocity, angleToTorqueAdaptor1.w) annotation(
Line(points = {{120, -20}, {83.5, -20}, {83.5, -6}, {49, -6}}, color = {0, 0, 127}));
connect(actuatorInput, torque1.tau) annotation(
Line(points = {{-120, 0}, {-88, 0}}, color = {0, 0, 127}));
connect(jointPosition, angleToTorqueAdaptor1.phi) annotation(
Line(points = {{120, -60}, {80.5, -60}, {80.5, -16}, {49, -16}}, color = {0, 0, 127}));
annotation(
uses(Modelica(version = "3.2.2")));
end StiffTransmission;With OpenModelica 1.12, the FMU was segfaulting with this backtrace (obtained with valgrind): With the nightly OpenModelica 1.13.0~dev-1195-g6d891ea , everything works fine, so I guess that the fixes mentioned in https://trac.openmodelica.org/OpenModelica/ticket/4135 were effective in this case. I guess for the time being we should just document that OpenModelica >= 1.13 is required to avoid stability issues in generated FMUs . |
While developing the transmission for the examples, for several Modelica models the relative FMU generated by OpenModelica 1.12 was segfault, both if used through the FMILibrary of through FMPy .
I guess this problem was connected to https://trac.openmodelica.org/OpenModelica/ticket/4135 .
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