cloe
cloe copied to clipboard
eclipse
Plugins only recognized if defined in last json file
Given the following 3 config files:
- first_cloe_config.json:
{
"version": "4",
"include": ["second_cloe_config.json"]
}
- second_cloe_config.json:
{
"version": "4",
"include": ["third_cloe_config.json"],
"plugins": [
{
"path": "path/to/my_plugin.so"
}
]
}
- third_cloe_config.json:
{
"version": "4",
(...)
}
When calling cloe-engine run first_cloe_config.json, the plugin defined in second_cloe_config.json is not recognized. The same happens if I define the plugin in first_cloe_config.json However, if I define the plugin in third_cloe_config.json, the plugin is recognized.
Is this desired behavior?
Hi @c276, thanks for raising this issue! When you say, "is not recognized", what do mean?
- Is the plugin ignored?
- Is the plugin not found?
- Are you using relative paths for your plugin?
- See the output of
cloe-engine dump first_cloe_config.jsonto check your assumptions.
Note that if you are using a relative path in your config file, it is relative from the config file that specifies it.
Hi @cassava, thanks for your reply. I'll try to make the issue clearer: With "is not recognized", I mean it is not loaded and it is not attempted to be loaded. Also, I use absolute paths. I enhanced my example files to show the error:
- I moved controller_basic.so from
/usr/local/lib/cloe(where I installed cloe) to/urs/local/libso that it is not recognized by cloe automatically - All config files are at the same location.
- first_cloe_config.json:
{
"version": "4",
"include": [
"second_cloe_config.json"
],
"simulators": [
{
"binding": "minimator",
"args": {
"vehicles": [
"ego"
]
}
}
],
"vehicles": [
{
"name": "default",
"from": {
"simulator": "minimator",
"index": 0
}
}
],
"server": {
"listen": false
}
}
- second_cloe_config.json:
{
"version": "4",
"include": [
"third_cloe_config.json"
],
"plugins": [
{
"path": "/usr/local/lib/controller_basic.so"
}
]
}
- third_cloe_config.json:
{
"version": "4",
"controllers": [
{
"binding": "basic",
"vehicle": "default"
}
],
"triggers": [
{
"event": "start",
"action": "log=info: Running smoketest."
},
{
"event": "start",
"action": "realtime_factor=-1"
},
{
"event": "time=${DURATION-10}",
"action": "succeed"
}
],
"logging": [
{
"name": "basic",
"level": "trace"
}
]
}
- output (at location of config files):
❯ cloe-engine dump first_cloe_config.json
third_cloe_config.json:/controllers/0: unknown factory: basic
In JSON segment:
{
"binding": "basic",
"vehicle": "default"
}
With following JSON schema:
{
"oneOf": [
{
"additionalProperties": false,
"properties": {
"args": null,
"binding": {
"const": "demo_printer",
"description": "name of factory"
},
"name": {
"description": "globally unique identifier for controller",
"pattern": "^[a-zA-Z_][a-zA-Z0-9_]*$",
"type": "string"
},
"vehicle": {
"description": "vehicle controller is assigned to",
"type": "string"
}
},
"required": [
"binding"
],
"type": "object"
},
{
"additionalProperties": false,
"properties": {
"args": {
"additionalProperties": false,
"properties": {
"halt_progress_at": {
"description": "time in ns at which to halt all progress",
"maximum": 9223372036854775807,
"minimum": -9223372036854775808,
"type": "integer"
},
"progress_per_step": {
"description": "progress to make each step",
"maximum": 9223372036854775807,
"minimum": -9223372036854775808,
"type": "integer"
}
},
"type": "object"
},
"binding": {
"const": "demo_stuck",
"description": "name of factory"
},
"name": {
"description": "globally unique identifier for controller",
"pattern": "^[a-zA-Z_][a-zA-Z0-9_]*$",
"type": "string"
},
"vehicle": {
"description": "vehicle controller is assigned to",
"type": "string"
}
},
"required": [
"binding"
],
"type": "object"
},
{
"additionalProperties": false,
"properties": {
"args": {
"additionalProperties": false,
"properties": {
"components": {
"description": "array of components to be extracted",
"items": {
"type": "string"
},
"type": "array"
},
"output_file": {
"description": "file path to write groundtruth output to",
"type": "string"
},
"output_type": {
"description": "type of output file to write",
"enum": [
"json.bz2",
"json.gz",
"json.zip",
"json",
"msgpack.bz2",
"msgpack.gz",
"msgpack.zip",
"msgpack"
],
"type": "string"
}
},
"type": "object"
},
"binding": {
"const": "gndtruth_extractor",
"description": "name of factory"
},
"name": {
"description": "globally unique identifier for controller",
"pattern": "^[a-zA-Z_][a-zA-Z0-9_]*$",
"type": "string"
},
"vehicle": {
"description": "vehicle controller is assigned to",
"type": "string"
}
},
"required": [
"binding"
],
"type": "object"
},
{
"additionalProperties": false,
"properties": {
"args": null,
"binding": {
"const": "nop",
"description": "name of factory"
},
"name": {
"description": "globally unique identifier for controller",
"pattern": "^[a-zA-Z_][a-zA-Z0-9_]*$",
"type": "string"
},
"vehicle": {
"description": "vehicle controller is assigned to",
"type": "string"
}
},
"required": [
"binding"
],
"type": "object"
},
{
"additionalProperties": false,
"properties": {
"args": {
"additionalProperties": false,
"properties": {
"init_phase": {
"description": "time during which initialization is performed",
"maximum": 9223372036854775807,
"minimum": -9223372036854775808,
"type": "integer"
},
"lane_sensor_components": {
"description": "array of lane-sensor components to be checked",
"items": {
"type": "string"
},
"type": "array"
}
},
"type": "object"
},
"binding": {
"const": "virtue",
"description": "name of factory"
},
"name": {
"description": "globally unique identifier for controller",
"pattern": "^[a-zA-Z_][a-zA-Z0-9_]*$",
"type": "string"
},
"vehicle": {
"description": "vehicle controller is assigned to",
"type": "string"
}
},
"required": [
"binding"
],
"type": "object"
}
]
}
However, if I move the plugin definition in the third file, it works:
- second_cloe_config.json:
{
"version": "4",
"include": [
"third_cloe_config.json"
]
}
- third_cloe_config.json
{
"version": "4",
"plugins": [
{
"path": "/usr/local/lib/controller_basic.so"
}
],
"controllers": [
{
"binding": "basic",
"vehicle": "default"
}
],
"triggers": [
{
"event": "start",
"action": "log=info: Running smoketest."
},
{
"event": "start",
"action": "realtime_factor=-1"
},
{
"event": "time=${DURATION-10}",
"action": "succeed"
}
],
"logging": [
{
"name": "basic",
"level": "trace"
}
]
}
- output:
❯ cloe-engine dump first_cloe_config.json
{
"controllers": [
{
"binding": "basic",
"vehicle": "default"
}
],
"defaults": {
"components": [],
"controllers": [],
"simulators": []
},
"engine": {
"hooks": {
"post_disconnect": [],
"pre_connect": []
},
"ignore": [],
"keep_alive": false,
"output": {
"clobber": true,
"files": {
"config": "config.json",
"result": "result.json",
"triggers": "triggers.json"
},
"path": "${CLOE_SIMULATION_UUID}"
},
"plugin_path": [
"/usr/local/lib/cloe",
"/usr/lib/cloe"
],
"plugins": {
"allow_clobber": true,
"ignore_failure": false,
"ignore_missing": false
},
"polling_interval": 100,
"registry_path": "/home/dockeruser/.local/share/cloe/registry",
"security": {
"enable_command_action": false,
"enable_hooks_section": true,
"enable_include_section": true,
"max_include_depth": 64
},
"triggers": {
"ignore_source": false
},
"watchdog": {
"default_timeout": 90000,
"mode": "off",
"state_timeouts": {
"ABORT": 90000,
"CONNECT": 300000,
"DISCONNECT": 600000,
"STOP": 300000
}
}
},
"logging": [
{
"level": "trace",
"name": "basic"
}
],
"plugins": [
{
"path": "/usr/local/lib/controller_basic.so"
}
],
"server": {
"api_prefix": "/api",
"listen": false,
"listen_address": "127.0.0.1",
"listen_port": 8080,
"listen_threads": 10,
"static_prefix": ""
},
"simulation": {
"abort_on_controller_failure": true,
"controller_retry_limit": 1000,
"controller_retry_sleep": 1,
"model_step_width": 20000000
},
"simulators": [
{
"args": {
"vehicles": [
"ego"
]
},
"binding": "minimator"
}
],
"triggers": [
{
"action": "log=info: Running smoketest.",
"event": "start",
"source": "filesystem",
"sticky": false
},
{
"action": "realtime_factor=-1",
"event": "start",
"source": "filesystem",
"sticky": false
},
{
"action": "succeed",
"event": "time=10",
"source": "filesystem",
"sticky": false
}
],
"vehicles": [
{
"components": {},
"from": {
"index": 0,
"simulator": "minimator"
},
"name": "default"
}
],
"version": "4"
}