PRC on mac export to .src?

[canadasushi]

Hello everyone,

I got the PRC working on my mac on a community version, thanks you Johannes. However I cannot find the component to export the path to .src and .dat file. Is this not yet available in mac? If so, does the windows version have it? Would I need a full license for that? It would be great if I there is a rough documentation of kukaPRC with list of components for questions like this.

Thank you in advance.
LG Chris

[Johannes @ Robots in Architecture]

Hi Chris,

In the PRC settings, you just need to tick the Save File box. The default directory is your Desktop, but you can change it in the settings as well.

Please let me know if that works! As PRC is in very active development, it might also be a bug or one of the many safety measures of macOS, if it's blocking the file generation. If there are issues, I'll try to resolve them ASAP.

Best,
Johannes

[canadasushi]

Hello Johannes,

Thank you! The save file box worked well. And the core, simulation and server works very well.

Two things to note was that when I left the simulation on the loop, the server quickly ran out of memory and crashed. Looks like an issue with garbage collection.

The other issue for my application specifically, the automatically added headers were not compatible with the KSS version that I had and it was not possible to edit those (you can only add by custom header).

LG
Chris

[Johannes @ Robots in Architecture]

Hi Chris,

Hmm.. That's weird, thanks a lot for letting me know! I'll look into these things ASAP, however I need some more details to troubleshoot.

In my experience memory shouldn't be a problem, unless you have several millions of robot frames. And garbage collection usually prevents these things in managed languages, not causes them. GC may just introduce lag while it's working.

That being said, it's totally possible that there is a bug that is causing the issues. Do you have a specific file I could look at? And what is "quickly" in that context? Like within a few minutes?

There is a drop-down for selecting your KSS version as there are some slight compatibility changes between them. What KSS version are you running and what kind of error are you getting?

Best,
Johannes

[canadasushi]

Hello Johannes,

I could not recreate the same issue since I changed many stuff since. However to my memory, it was about 5 minutes since I left the simulation on the loop on the background. I think it could be anything that led to this crash but I only signalled it because in the "your system ran out of application memory" popup, the PRC server was taking like 40Gb. So its more like a memory leak.


I am running KSS2.3 on a KRC1 and moving files via usb/floppy. And the error that I was getting was "File description cannot be processed". I just went through line by line to test which one triggers it.

Some parts in the default header were changed as such

&ACCESS RVP -> &ACCESS RV
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) -> INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )

PDAT_ACT = {VEL 10,ACC 100,APO_DIST 40} ->

PDAT_ACT = PDEFAULT
PDAT_ACT.VEL = 10
PDAT_ACT.ACC = 100
PDAT_ACT.APO_DIST = 40

FDAT_ACT = {TOOL_NO 2,BASE_NO 0,IPO_FRAME #BASE} ->

FDAT_ACT = FHOME
FDAT_ACT.TOOL_NO = 2
FDAT_ACT.BASE_NO = 0
FDAT_ACT.IPO_FRAME = #BASE

BAS (#PTP_PARAMS, 10) -> BAS (#PTP_DAT)
added BAS (#FRAMES )

at some point I just let the AI do the manual look up so it may not be totally accurate but this fix at least works well.

Best,
Chris

[Johannes @ Robots in Architecture]

Hi Chris,

Ah, that is super valuable information with the old controller generation. We had an option for that in KUKA|prc, but I never needed it in PRC so far. I have now backported it in the most recent release that I just uploaded at https://portal.robotsinarchitecture.org/download. It's now an option in the KSS-KRL code generation settings ("KRC1-KRC2 Legacy"). I've also attached an example SRC file - please check if that is accepted.

Regarding the memory leak, that is still very weird. We had a browser bug where a tiny indicator was taking up quite a lot of CPU/GPU capacity that has since been fixed, but it didn't touch the memory to my knowledge. My tendency would be to blame it on Eto and/or its WebView as it interfaces with native libraries and memory can get stuck more easily. What you could try is launching PRC.Server without the UI wrapping it. So in macOS, open a terminal and put in that command:

Code Select Expand

/Applications/PRC.Server.app/Contents/MacOS/PRC.Server --headlessIt will then only show the terminal interface and you can access the UI from your browser via

Code Select Expand

https://127.0.0.1:5001/
If you come across that again, please let me know.

All the best,
Johannes