Field index out of range while writing messages #66
Comments
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Hello,are you using the library directly or through mavp2p? if you are using the library directly, which dialect are you using? |
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I am using the library directly. Mavp2p is not involved. We're using a custom dialect that extends common and ardupilotmega along with some custom messages. |
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Also, I've made sure that I'm using the dialect-import v2.0.4 to generate the go files along gomavlib v2.0.4 for the runtime. |
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The crash you posted appears because the message you pass to WriteMessage is not the same of the one contained inside Dialect{}. |
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Even I thought so and had tried to debug it from my side before posting it here. Before this I was using this version of gomavlib: github.com/aler9/gomavlib@v0.0.0-20220505052330-0c59caeb7516 After seeing the crash in 2.0.4, I shifted back to the version mentioned above, regenerated the old go files and everything was working fine. I've been using the above mentioned version for over a year now and it works stably. But I'll try to have a look at my custom messages again to see if I've made a mistake. |
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The difficulty of debugging this issue also lays in a design flaw of the library: WriteMessageAll() can't return errors since writing is asynchronous, so the only way to report errors is to crash the library |
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Anyway, the crash needs to be replicated before it can be solved. |
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I am using the WriteFrameAll() function, I guess that has the same flaw.
I understand. I'll try to reproduce the problem and share the code. |
package main
import (
"fmt"
"log"
"math"
"time"
"github.com/bluenviron/gomavlib/v2"
"github.com/bluenviron/gomavlib/v2/pkg/dialects/common"
)
func main() {
nodeA := newNode(8120)
defer nodeA.Close()
nodeB := newNode(8220)
defer nodeB.Close()
nodeC := newNode(8320)
defer nodeC.Close()
go func() {
fmt.Println("nodeA: starting routing")
for event := range nodeA.Events() {
switch evt := event.(type) {
case *gomavlib.EventChannelOpen:
log.Println("nodeA: channel open")
case *gomavlib.EventChannelClose:
log.Println("nodeA: channel close")
case *gomavlib.EventParseError:
log.Println("nodeA: parse error")
case *gomavlib.EventFrame:
frame := evt.Frame
nodeB.WriteFrameAll(frame)
nodeC.WriteFrameAll(frame)
}
}
}()
go func() {
fmt.Println("nodeB: starting routing")
for event := range nodeB.Events() {
switch evt := event.(type) {
case *gomavlib.EventChannelOpen:
log.Println("nodeB: channel open")
case *gomavlib.EventChannelClose:
log.Println("nodeB: channel close")
case *gomavlib.EventParseError:
log.Println("nodeB: parse error")
case *gomavlib.EventFrame:
frame := evt.Frame
nodeA.WriteFrameAll(frame)
nodeC.WriteFrameAll(frame)
}
}
}()
go func() {
fmt.Println("nodeC: starting routing")
for event := range nodeC.Events() {
switch evt := event.(type) {
case *gomavlib.EventChannelOpen:
log.Println("nodeC: channel open")
case *gomavlib.EventChannelClose:
log.Println("nodeC: channel close")
case *gomavlib.EventParseError:
log.Println("nodeC: parse error")
case *gomavlib.EventFrame:
frame := evt.Frame
nodeA.WriteFrameAll(frame)
nodeB.WriteFrameAll(frame)
}
}
}()
for {
time.Sleep(time.Duration(math.MaxInt64))
}
}
func newNode(port uint32) *gomavlib.Node {
node, err := gomavlib.NewNode(gomavlib.NodeConf{
Endpoints: []gomavlib.EndpointConf{
gomavlib.EndpointTCPServer{Address: fmt.Sprintf("0.0.0.0:%d", port)},
},
Dialect: common.Dialect,
OutVersion: gomavlib.V2,
OutSystemID: 2,
OutComponentID: 5,
HeartbeatDisable: true,
})
if err != nil {
log.Panicf("cannot create mavlink node: %s", err)
}
return node
} |
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I noticed that the crash does not occur when there were only 2 nodes. It started occurring when I created 3 nodes. In my application I have multiple such nodes. If you have mavlink-router and some SITL instance installed on your system, then you can use these commands to connect to the application: |
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The logs: |
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I'm sorry, I made a small mistake in the code I had posted earlier. I have updated the comment. |
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The reason why the crash happens is that passing the same |
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Oh, that makes sense. I guess because the writing is happening in different coroutines, wrapping the WriteFrameAll() in a mutex lock won't fix it. Can you please suggest a way in which I can send the frames to multiple nodes?? |
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this is fixed in v2.1.0. |
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Thanks a lot @aler9 for fixing this! |
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This issue is being locked automatically because it has been closed for more than 6 months. |
I have an application that needs to route messages between a few endpoints based on some criteria. When I was using older versions of gomavlib it used to work great. But after updating recently, I have started seeing crashes. The routing works fine for some time but the crash occurs randomly in a few seconds.
I have added the crash logs:
The text was updated successfully, but these errors were encountered: