KAREL abort all is blocked by program that needs to be aborted

hoitzing · December 2, 2022 at 10:43 AM

I need to be able to run a KAREL program continuously in the background, that listens for a KAREL variable (or perhaps we will look into using a flag for this) that signifies an abort all request. Using a background logic program would be perfect, but KAREL programs sadly cannot be used here. I have tried to use a hot start autoexec program that calls a 'listener' KAREL program with the infinite loop, however this autoexec program still blocks the execution of other KAREL/TP programs which we need for the robot's regular functionality (TPIF-013 Other program is running). I am not sure what other options I have to implement this functionality, all options seems to get stuck on the fact that a program that is running and needs to be aborted blocks the execution of the abort_all program... Any suggestions would be appreciated.

hermann · December 2, 2022 at 2:21 PM

Quote from hoitzing

.. I have tried to use a hot start autoexec program that calls a 'listener' KAREL program with the infinite loop,..

How does the program call the listener Karel? "call" or "run"?

hoitzing · December 2, 2022 at 2:49 PM

It's a KAREL program so it doesn't use either, but it spawns the listener program using "start_task".

hoitzing · December 2, 2022 at 2:51 PM

Update: I have been testing with using the UI[4] with $shell_cfg.$use_abort enabled, which looks promising. Hopefully this will provide a solution that makes the stated problem obsolete.

rf103 · December 3, 2022 at 11:45 AM

Quote from hoitzing

It's a KAREL program so it doesn't use either, but it spawns the listener program using "start_task".

that doesn't really start a program I believe. It calls the function which happens to exist in a different program.

You need to use RUN_TASK.

hoitzing · December 5, 2022 at 4:36 PM

Quote from rf103

You need to use RUN_TASK.

My bad, I misread and put 'start_task' accidentally, which doesn't even exist in the documentation. I used RUN_TASK indeed, with a blocking program as a result.

rf103 · December 5, 2022 at 8:29 PM Best Answer

The parent would stick around, which is probably what you call blocking.

According to the manual:

If you want the child task to be completely independent of the parent, a KAREL program can initiate

another task using the KCL or KCL_NOWAIT built-ins to issue a KCL>RUN command

hoitzing · December 6, 2022 at 1:20 PM

Quote from rf103

a KAREL program can initiate another task using the KCL or KCL_NOWAIT built-ins to issue a KCL>RUN command

You are correct, this seems to be what I'm looking for. However, I can't seem to get a KCL call in the KAREL script right. When I'm trying to call a sample KAREL-program 'hello_world.pc' I get status results unequal to 0.

KCL('LOAD PROG hello_world', status) -> returns 2014

KCL('RUN hello_world', status) -> returns 24003 (probably because it wasn't loaded correctly)

Now I can't find any help regarding these return values online, so I'm still stuck.

hermann · December 6, 2022 at 1:53 PM

What compiler directives does your P

program have?

Code

%NOLOCKGROUP
-- %LOCKGROUP =1
%NOABORT=ERROR+COMMAND
%NOPAUSE=ERROR+COMMAND+TPENABLE
%NOBUSYLAMP

hoitzing · December 6, 2022 at 3:55 PM

I'm using the following directives, in both the 'autoexec/hotstart' (parent) program and the 'hello_world' (child) program it calls.

Code

%NOLOCKGROUP
%NOABORT=ERROR+COMMAND+TPENABLE
%NOPAUSE=ERROR+COMMAND+TPENABLE

rf103 · December 10, 2022 at 9:44 AM

Quote from hoitzing

When I'm trying to call a sample KAREL-program 'hello_world.pc' I get status results unequal to 0.
KCL('LOAD PROG hello_world', status) -> returns 2014

2014 is file-014 which is "file not found".

According to the manual again:

Purpose: Loads a p-code file from the default storage device and default directory into memory using

the specified or default file name. The file type is assumed to be ``.PC.''

If file_spec is not specified, the default program is used. If the default has not been set, then the

message, ``Default program name not set,'' will be displayed.

Note For R-30iB Plus, R-30iB, and R-30iB Mate controllers, the KAREL option must be

installed on the robot controller in order to load KAREL programs.

hermann · December 10, 2022 at 6:04 PM

Have you seen this thread:

Thread

Background programs

I'm getting stuck on setting up some background programs that I want to run on boot. One is a TP program, the other a KAREL program.

I've tried adding each of them to the Cold Start Autoexec option under SYSTEM>CONFIG. No dice. Nothing happens when I cold boot the robot -- no errors show up in the alarm history, the programs just don't run.

I also tried creating a CF file that would load and run both programs, and put it into the Autoexec option. Same (lack of) result.

Then I tried going to…

SkyeFire

October 22, 2020 at 12:36 AM

hoitzing · December 13, 2022 at 9:20 AM

Quote from rf103

2014 is file-014 which is "file not found".

Is there any error code conversion table available? I have tried looking for it but could not find it online.

Regarding the use of the load function; when I already have the .PC file in the controller's memory (but not loaded as the active program), do I need to load the file before I can run it using RUN?

hoitzing · December 13, 2022 at 9:23 AM

Quote from hermann

Have you seen this thread:

Thread

Background programs

I'm getting stuck on setting up some background programs that I want to run on boot. One is a TP program, the other a KAREL program.

I've tried adding each of them to the Cold Start Autoexec option under SYSTEM>CONFIG. No dice. Nothing happens when I cold boot the robot -- no errors show up in the alarm history, the programs just don't run.

I also tried creating a CF file that would load and run both programs, and put it into the Autoexec option. Same (lack of) result.

Then I tried going to…

SkyeFire

October 22, 2020 at 12:36 AM

Yes I have found this, but the issue in that thread is not what I am running into. I can run a KAREL program as a hot_start program without issues, the problem arises when I want to call another program from this hot_start-ed program.

Weronika · December 13, 2022 at 1:42 PM

Quote from hoitzing

I need to be able to run a KAREL program continuously in the background, that listens for a KAREL variable (or perhaps we will look into using a flag for this) that signifies an abort all request. Using a background logic program would be perfect, but KAREL programs sadly cannot be used here. I have tried to use a hot start autoexec program that calls a 'listener' KAREL program with the infinite loop, however this autoexec program still blocks the execution of other KAREL/TP programs which we need for the robot's regular functionality (TPIF-013 Other program is running). I am not sure what other options I have to implement this functionality, all options seems to get stuck on the fact that a program that is running and needs to be aborted blocks the execution of the abort_all program... Any suggestions would be appreciated.

What is your $SCR.$MAXNUMTASK variable? Maybe increasing this variable and using autoexec will solve your problem.

hoitzing · December 13, 2022 at 1:47 PM

Quote from Weronika

What is your $SCR.$MAXNUMTASK variable?

It is currently set to 4, and I cannot change it ('variable/field write-protected). Since it is already 4 and I'm only running the autoexec program and its child, I don't expect this is the issue (but correct me if I'm wrong).

Weronika · December 13, 2022 at 2:29 PM

The maximum number of user programs which can be run simultaneously. You can change it in controlled start. I had similar problem and it helped me, but if your variable is set to 4 maybe its not the problem. What does your code look like?

hoitzing · December 13, 2022 at 2:45 PM

The auto-exec program is as follows:

Code

-- hot_start_prg.kl
PROGRAM hot_start_prg
%NOLOCKGROUP
%NOABORT=ERROR+COMMAND+TPENABLE
%NOPAUSE=ERROR+COMMAND+TPENABLE
VAR
status : INTEGER
request : STRING[40]
BEGIN
    request = 'LOAD PROG test_bg'
    KCL(request, status)
    WRITE(request, ' -- st: ', status, '.', CR)

    request = 'RUN test_bg'
    KCL(request, status)
    WRITE(request, ' -- st: ', status, '.', CR)
END hot_start_prg

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And the program 'test_bg' that I try to call is for now a simple program I use to debug the functionality:

Code

-- test_bg.kl
PROGRAM test_bg
%NOLOCKGROUP
%NOABORT=ERROR+COMMAND+TPENABLE
%NOPAUSE=ERROR+COMMAND+TPENABLE
VAR
counter, status : INTEGER
BEGIN -- program
WRITE('BEGINNING TEST_BG', CR)
counter = 0
WHILE TRUE DO
    counter = counter + 1
    DELAY 500
    SET_INT_REG(196, counter, status)
ENDWHILE
END test_bg -- program

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Both programs build successfully and their .pc files are in the controller's memory in roboguide.

hermann · December 13, 2022 at 5:47 PM

Easy solution: don't call a different program. Why don't you start the 'test_bg' direct by autostart.

And by the way: it's a good idea to change the WHILE TRUE with a test for a flag or something else to be able to stop the background program. Otherwise testing will be a bit fiddly.

hermann · December 14, 2022 at 10:41 AM

Quote from hoitzing

Yes I have found this, but the issue in that thread is not what I am running into. I can run a KAREL program as a hot_start program without issues, the problem arises when I want to call another program from this hot_start-ed program.

In that thread there is described a solution with assigning a macro to a flag, and start the macro by setting this flag, this works with starting TP or Karel programs from a autostart routine, and the foreground task is not blocked by those background tasks.

KAREL abort all is blocked by program that needs to be aborted

Background programs

Background programs

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