Thanks for your email. As I am using gRPC to connect to a machine and run
it, you will not be able to replicate it. But you can do teamviewer with me
for a few mins and I think you can understand the problem easily. I ran
the Valgard and it gave me so many lines of messages. Few of them are below:
==8357== 432,208 (155,457 direct, 276,751 indirect) bytes in 23 blocks are
definitely lost in loss record 9,329 of 9,336
==8357== at 0x483B7F3: malloc (in
/usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==8357== by 0x60349A: gpr_malloc (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x6035E1: gpr_malloc_aligned (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x60769B: (anonymous namespace)::ArenaStorage(unsigned long)
(in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x607761: grpc_core::Arena::CreateWithAlloc(unsigned long,
unsigned long) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x299B62: grpc_call_create(grpc_call_create_args const*,
grpc_call**) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x2A30A9: grpc_channel_create_call_internal(grpc_channel*,
grpc_call*, unsigned int, grpc_completion_queue*, grpc_pollset_set*,
grpc_mdelem, grpc_mdelem, long) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x2A3B53: grpc_channel_create_registered_call (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x1CBEF5:
grpc::Channel::CreateCallInternal(grpc::internal::RpcMethod const&,
grpc::ClientContext*, grpc::CompletionQueue*, unsigned long) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x1CC29D:
grpc::Channel::CreateCall(grpc::internal::RpcMethod const&,
grpc::ClientContext*, grpc::CompletionQueue*) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x1A7157:
grpc::ClientAsyncResponseReader<RobotExample::ChangeVariableResponse>*
grpc::internal::ClientAsyncResponseReaderHelper::Create<RobotExample::ChangeVariableResponse,
RobotExample::ChangeVariableRequest, google::protobuf::MessageLite,
google::protobuf::MessageLite>(grpc::ChannelInterface*,
grpc::CompletionQueue*, grpc::internal::RpcMethod const&,
grpc::ClientContext*, RobotExample::ChangeVariableRequest const&)
(async_unary_call.h:97)
==8357== by 0x1A2AD8:
RobotExample::Robot::Stub::PrepareAsyncChangeVariableRaw(grpc::ClientContext*,
RobotExample::ChangeVariableRequest const&, grpc::CompletionQueue*) (
robot.grpc.pb.cc:69)
==8357==
==8357== 493,952 (7,680 direct, 486,272 indirect) bytes in 16 blocks are
definitely lost in loss record 9,330 of 9,336
==8357== at 0x483BE63: operator new(unsigned long) (in
/usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==8357== by 0x192030:
SetVariableRequestHandler::SetVariableRequestHandler(RobotExample::ChangeVariableRequest_varName,
long, grpc::CompletionQueue*, RobotExample::Robot::Stub*) (rpc.h:18)
==8357== by 0x18FC32:
MainWindow::on_horizontalSlider_Vel_JobMode_sliderMoved(int)
(mainwindow.cpp:1693)
==8357== by 0x17976D: MainWindow::qt_static_metacall(QObject*,
QMetaObject::Call, int, void**) (moc_mainwindow.cpp:279)
==8357== by 0x179955: MainWindow::qt_metacall(QMetaObject::Call, int,
void**) (moc_mainwindow.cpp:330)
==8357== by 0x57E928B: QMetaObject::activate(QObject*, int, int, void**)
(in /usr/lib/x86_64-linux-gnu/libQt5Core.so.5.12.8)
==8357== by 0x4B139D4: QAbstractSlider::sliderMoved(int) (in
/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357== by 0x4B1439C: QAbstractSlider::setSliderPosition(int) (in
/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357== by 0x4BBF682: QSlider::mouseMoveEvent(QMouseEvent*) (in
/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357== by 0x4A5E2B5: QWidget::event(QEvent*) (in
/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357== by 0x4BC030A: QSlider::event(QEvent*) (in
/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357== by 0x4A1BA65: QApplicationPrivate::notify_helper(QObject*,
QEvent*) (in /usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357==
==8357== 524,288 bytes in 1 blocks are still reachable in loss record 9,331
of 9,336
==8357== at 0x483DFAF: realloc (in
/usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==8357== by 0x67A3F3F: g_realloc (in
/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.6400.6)
==8357== by 0x676C78A: ??? (in
/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.6400.6)
==8357== by 0x676CB99: g_array_append_vals (in
/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.6400.6)
==8357== by 0xA716A68: ??? (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA716464: ??? (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA7179CC: gtk_css_provider_load_from_file (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA717A8C: gtk_css_provider_load_from_path (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA717DB7: ??? (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA85811A: ??? (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA85B754: ??? (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA7E7A07: ??? (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357==
==8357== 890,928 bytes in 1 blocks are still reachable in loss record 9,332
of 9,336
==8357== at 0x483DFAF: realloc (in
/usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==8357== by 0x67A3F3F: g_realloc (in
/usr/lib/x86_64-linux-gnu/libglib-2.0.so.0.6400.6)
==8357== by 0xA71B72B: ??? (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA717122: ??? (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA7179CC: gtk_css_provider_load_from_file (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA717A8C: gtk_css_provider_load_from_path (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA717DB7: ??? (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA85811A: ??? (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA85B754: ??? (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xA7E7A07: ??? (in
/usr/lib/x86_64-linux-gnu/libgtk-3.so.0.2404.16)
==8357== by 0xAE97F02: g_cclosure_marshal_VOID__OBJECTv (in
/usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0.6400.6)
==8357== by 0xAE94A55: ??? (in
/usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0.6400.6)
==8357==
==8357== 895,288 (2,800 direct, 892,488 indirect) bytes in 25 blocks are
definitely lost in loss record 9,333 of 9,336
==8357== at 0x483BE63: operator new(unsigned long) (in
/usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==8357== by 0x18FC11:
MainWindow::on_horizontalSlider_Vel_JobMode_sliderMoved(int)
(mainwindow.cpp:1693)
==8357== by 0x17976D: MainWindow::qt_static_metacall(QObject*,
QMetaObject::Call, int, void**) (moc_mainwindow.cpp:279)
==8357== by 0x179955: MainWindow::qt_metacall(QMetaObject::Call, int,
void**) (moc_mainwindow.cpp:330)
==8357== by 0x57E928B: QMetaObject::activate(QObject*, int, int, void**)
(in /usr/lib/x86_64-linux-gnu/libQt5Core.so.5.12.8)
==8357== by 0x4B139D4: QAbstractSlider::sliderMoved(int) (in
/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357== by 0x4B1439C: QAbstractSlider::setSliderPosition(int) (in
/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357== by 0x4BBF682: QSlider::mouseMoveEvent(QMouseEvent*) (in
/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357== by 0x4A5E2B5: QWidget::event(QEvent*) (in
/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357== by 0x4BC030A: QSlider::event(QEvent*) (in
/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357== by 0x4A1BA65: QApplicationPrivate::notify_helper(QObject*,
QEvent*) (in /usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357== by 0x4A25342: QApplication::notify(QObject*, QEvent*) (in
/usr/lib/x86_64-linux-gnu/libQt5Widgets.so.5.12.8)
==8357==
==8357== 1,744,268 (30,750 direct, 1,713,518 indirect) bytes in 82 blocks
are definitely lost in loss record 9,334 of 9,336
==8357== at 0x483B7F3: malloc (in
/usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==8357== by 0x60349A: gpr_malloc (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x6035E1: gpr_malloc_aligned (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x607850: grpc_core::Arena::AllocZone(unsigned long) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x1DF251: grpc_core::Arena::Alloc(unsigned long) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x2B8A1C: grpc_core::ChunkedVector<grpc_linked_mdelem,
10ul>::Chunk*
grpc_core::Arena::New<grpc_core::ChunkedVector<grpc_linked_mdelem,
10ul>::Chunk>() (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x2B88F4: grpc_core::ChunkedVector<grpc_linked_mdelem,
10ul>::AppendSlot() (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x2B8865: grpc_linked_mdelem*
grpc_core::ChunkedVector<grpc_linked_mdelem, 10ul>::EmplaceBack<>() (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x2B8831:
grpc_core::MetadataMap<grpc_core::GrpcTimeoutMetadata,
grpc_core::TeMetadata>::Append(grpc_mdelem) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x406757:
grpc_core::ParsedMetadata<grpc_core::MetadataMap<grpc_core::GrpcTimeoutMetadata,
grpc_core::TeMetadata> >::VTable const*
grpc_core::ParsedMetadata<grpc_core::MetadataMap<grpc_core::GrpcTimeoutMetadata,
grpc_core::TeMetadata> >::MdelemVtable<false>()::{lambda(long,
grpc_core::MetadataMap<grpc_core::GrpcTimeoutMetadata,
grpc_core::TeMetadata>*)#2}::operator()(long,
grpc_core::MetadataMap<grpc_core::GrpcTimeoutMetadata,
grpc_core::TeMetadata>*) const (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x4067BD:
grpc_core::ParsedMetadata<grpc_core::MetadataMap<grpc_core::GrpcTimeoutMetadata,
grpc_core::TeMetadata> >::VTable const*
grpc_core::ParsedMetadata<grpc_core::MetadataMap<grpc_core::GrpcTimeoutMetadata,
grpc_core::TeMetadata> >::MdelemVtable<false>()::{lambda(long,
grpc_core::MetadataMap<grpc_core::GrpcTimeoutMetadata,
grpc_core::TeMetadata>*)#2}::_FUN(long,
grpc_core::MetadataMap<grpc_core::GrpcTimeoutMetadata,
grpc_core::TeMetadata>*) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x409070:
grpc_core::ParsedMetadata<grpc_core::MetadataMap<grpc_core::GrpcTimeoutMetadata,
grpc_core::TeMetadata>
>::SetOnContainer(grpc_core::MetadataMap<grpc_core::GrpcTimeoutMetadata,
grpc_core::TeMetadata>*) const (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357==
==8357== 2,014,182 bytes in 298 blocks are indirectly lost in loss record
9,335 of 9,336
==8357== at 0x483B7F3: malloc (in
/usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==8357== by 0x60349A: gpr_malloc (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x6035E1: gpr_malloc_aligned (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x60769B: (anonymous namespace)::ArenaStorage(unsigned long)
(in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x607761: grpc_core::Arena::CreateWithAlloc(unsigned long,
unsigned long) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x299B62: grpc_call_create(grpc_call_create_args const*,
grpc_call**) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x2A30A9: grpc_channel_create_call_internal(grpc_channel*,
grpc_call*, unsigned int, grpc_completion_queue*, grpc_pollset_set*,
grpc_mdelem, grpc_mdelem, long) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x2A3B53: grpc_channel_create_registered_call (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x1CBEF5:
grpc::Channel::CreateCallInternal(grpc::internal::RpcMethod const&,
grpc::ClientContext*, grpc::CompletionQueue*, unsigned long) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x1CC29D:
grpc::Channel::CreateCall(grpc::internal::RpcMethod const&,
grpc::ClientContext*, grpc::CompletionQueue*) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x1A7157:
grpc::ClientAsyncResponseReader<RobotExample::ChangeVariableResponse>*
grpc::internal::ClientAsyncResponseReaderHelper::Create<RobotExample::ChangeVariableResponse,
RobotExample::ChangeVariableRequest, google::protobuf::MessageLite,
google::protobuf::MessageLite>(grpc::ChannelInterface*,
grpc::CompletionQueue*, grpc::internal::RpcMethod const&,
grpc::ClientContext*, RobotExample::ChangeVariableRequest const&)
(async_unary_call.h:97)
==8357== by 0x1A2AD8:
RobotExample::Robot::Stub::PrepareAsyncChangeVariableRaw(grpc::ClientContext*,
RobotExample::ChangeVariableRequest const&, grpc::CompletionQueue*) (
robot.grpc.pb.cc:69)
==8357==
==8357== 2,237,175 bytes in 305 blocks are indirectly lost in loss record
9,336 of 9,336
==8357== at 0x483B7F3: malloc (in
/usr/lib/x86_64-linux-gnu/valgrind/vgpreload_memcheck-amd64-linux.so)
==8357== by 0x60349A: gpr_malloc (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x6035E1: gpr_malloc_aligned (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x607850: grpc_core::Arena::AllocZone(unsigned long) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x1DF251: grpc_core::Arena::Alloc(unsigned long) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x237C27:
grpc_core::SubchannelCall::Create(grpc_core::SubchannelCall::Args,
grpc_error**) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x1DA93B:
grpc_core::ClientChannel::LoadBalancedCall::CreateSubchannelCall() (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x1DAEFE:
grpc_core::ClientChannel::LoadBalancedCall::PickDone(void*, grpc_error*)
(in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x1DAFBE:
grpc_core::ClientChannel::LoadBalancedCall::PickSubchannel(void*,
grpc_error*) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x1D9F67:
grpc_core::ClientChannel::LoadBalancedCall::StartTransportStreamOpBatch(grpc_transport_stream_op_batch*)
(in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x226B4C: grpc_core::(anonymous
namespace)::RetryFilter::CallData::StartTransportStreamOpBatch(grpc_transport_stream_op_batch*)
(in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357== by 0x2260A6: grpc_core::(anonymous
namespace)::RetryFilter::CallData::StartTransportStreamOpBatch(grpc_call_element*,
grpc_transport_stream_op_batch*) (in
/home/vishal/Documents/GitHub/scara_robot_vishal/src/examples/build-masterUI_example-Desktop_Qt_6_2_3_GCC_64bit-Debug/scara_robot_UI)
==8357==
==8357== LEAK SUMMARY:
==8357== definitely lost: 330,247 bytes in 224 blocks
==8357== indirectly lost: 4,643,921 bytes in 1,851 blocks
==8357== possibly lost: 688,630 bytes in 457 blocks
==8357== still reachable: 3,378,860 bytes in 28,997 blocks
==8357== of which reachable via heuristic:
==8357== length64 : 5,392 bytes in 91
blocks
==8357== newarray : 3,192 bytes in 56
blocks
==8357== multipleinheritance: 128 bytes in 1 blocks
==8357== suppressed: 0 bytes in 0 blocks
==8357==
==8357== For lists of detected and suppressed errors, rerun with: -s
==8357== ERROR SUMMARY: 217 errors from 217 contexts (suppressed: 2 from 2)
thanks
Vishal
On Thu, 26 May 2022 at 03:55, '[email protected]' via grpc.io <
[email protected]> wrote:
> I see a couple of new operation without free in your code. So you may want
> to clean your code first and use MSAN or Valgrind to track down which
> objects are not freed.
> If you think that gRPC has its own memory leak, please give us a small
> repro we can run so that we can investigate it further.
> On Tuesday, May 17, 2022 at 1:01:15 AM UTC-7 Vishal Kaushik wrote:
>
>> Hi,
>> I am facing sever memory leak while using gRPC on my machine. If anyone
>> has any idea what is wrong in my code, please help:
>> *SERVER CODE:*
>> /** \file
>> * \brief Example code for Simple Open EtherCAT master
>> *
>> * Usage : simple_test [ifname1]
>> * ifname is NIC interface, f.e. eth0
>> *
>> * This is a minimal test.
>> *
>> * (c)Arthur Ketels 2010 - 2011
>> */
>>
>> #include <grpc/support/log.h>
>> #include <grpcpp/channel.h>
>> #include <grpcpp/client_context.h>
>> #include <grpcpp/create_channel.h>
>> #include <grpcpp/grpcpp.h>
>> #include <grpcpp/server.h>
>> #include <grpcpp/server_builder.h>
>> #include <grpcpp/server_context.h>
>>
>> #include <iostream>
>> #include <memory>
>> #include <sstream>
>> #include <string>
>> #include <thread>
>>
>> #include "absl/memory/memory.h"
>> #include "robot.grpc.pb.h"
>>
>> using grpc::Server;
>> using grpc::ServerAsyncResponseWriter;
>> using grpc::ServerAsyncWriter;
>>
>> using grpc::ServerBuilder;
>> using grpc::ServerCompletionQueue;
>> using grpc::ServerContext;
>> using grpc::Status;
>> using RobotExample::Robot;
>> using RobotExample::RobotStatus;
>> using RobotExample::RobotStatusRequest;
>>
>> #include <inttypes.h>
>> #include <stdio.h>
>> #include <string.h>
>>
>> #include "etherCatConfig.h"
>> #include "ethercat.h"
>>
>> #define EC_TIMEOUTMON 500
>>
>> char IOmap[4096];
>> OSAL_THREAD_HANDLE thread1;
>> int expectedWKC;
>> boolean needlf;
>> volatile int wkc;
>> boolean inOP;
>> uint8 currentgroup = 0;
>>
>> volatile int64_t current_time = 0;
>>
>> int64_t g_ControlWord = 0;
>> int64_t g_ModesOfOperation = 0;
>> int64_t g_ProfileAcceleration = 0;
>> int64_t g_ProfileDeceleration = 0;
>> int64_t g_ProfileVelocity = 0;
>> int64_t g_TargetVelocity = 0;
>> int64_t g_TargetPosition = 0;
>> int64_t g_MaxProfileVelocity = 0;
>> int64_t g_positive_torquee_limit = 0;
>> int64_t g_negative_torquee_limit = 0;
>>
>> int64_t g_ControlWord_2 = 0;
>> int64_t g_ModesOfOperation_2 = 0;
>> int64_t g_ProfileAcceleration_2 = 0;
>> int64_t g_ProfileDeceleration_2 = 0;
>> int64_t g_ProfileVelocity_2 = 0;
>> int64_t g_TargetVelocity_2 = 0;
>> int64_t g_TargetPosition_2 = 0;
>> int64_t g_MaxProfileVelocity_2 = 0;
>> int64_t g_positive_torquee_limit_2 = 0;
>> int64_t g_negative_torquee_limit_2 = 0;
>>
>> int64_t g_ControlWord_3 = 0;
>> int64_t g_ModesOfOperation_3 = 0;
>> int64_t g_ProfileAcceleration_3 = 0;
>> int64_t g_ProfileDeceleration_3 = 0;
>> int64_t g_ProfileVelocity_3 = 0;
>> int64_t g_TargetVelocity_3 = 0;
>> int64_t g_TargetPosition_3 = 0;
>> int64_t g_MaxProfileVelocity_3 = 0;
>> int64_t g_positive_torquee_limit_3 = 0;
>> int64_t g_negative_torquee_limit_3 = 0;
>>
>> int64_t g_ControlWord_4 = 0;
>> int64_t g_ModesOfOperation_4 = 0;
>> int64_t g_ProfileAcceleration_4 = 0;
>> int64_t g_ProfileDeceleration_4 = 0;
>> int64_t g_ProfileVelocity_4 = 0;
>> int64_t g_TargetVelocity_4 = 0;
>> int64_t g_TargetPosition_4 = 0;
>> int64_t g_MaxProfileVelocity_4 = 0;
>> int64_t g_positive_torquee_limit_4 = 0;
>> int64_t g_negative_torquee_limit_4 = 0;
>>
>>
>> int64_t g_IOSensors_Channel_9_Output = 0;
>> int64_t g_IOSensors_Channel_10_Output = 0;
>> int64_t g_IOSensors_Channel_11_Output = 0;
>> int64_t g_IOSensors_Channel_12_Output = 0;
>>
>> class RequestHandlerBase {
>> public:
>> virtual void Proceed(bool succes) = 0;
>> };
>>
>> class GetStatusHandler : public RequestHandlerBase {
>> public:
>> // Take in the "service" instance (in this case representing an
>> asynchronous
>> // server) and the completion queue "cq" used for asynchronous
>> communication
>> // with the gRPC runtime.
>> GetStatusHandler(Robot::AsyncService* service, ServerCompletionQueue* cq)
>> : service_(service),
>> cq_(cq),
>> responder_(&ctx_),
>> status_(CREATE),
>> number_(0) {
>> // Invoke the serving logic right away.
>> Proceed();
>> }
>>
>> void Proceed(bool succes = true) override {
>> if (status_ == CREATE) {
>> // Make this instance progress to the PROCESS state.
>> status_ = PROCESS;
>>
>> service_->RequestgetStatus(&ctx_, &request_, &responder_, cq_, cq_, this
>> );
>> } else if (status_ == PROCESS) {
>> // each CallData object should create only one new CallData
>> if (number_ == 0) {
>> std::cout << new GetStatusHandler(service_, cq_) << std::endl;
>> number_++;
>> }
>>
>> /*if (number_++ >= 10000) // we want to send the response 3 times (for
>> whatever reason)
>> {
>> status_ = FINISH;
>> responder_.Finish(Status::OK, this);
>> std::cout << "finished\n";
>>
>> }
>> else*/
>> {
>> if (succes) {
>>
>> InputsProcessImage * input = &g_inputsProcessImage;
>> //reinterpret_cast<InputsProcessImage*>(&g_outputsProcessImage);
>> status_reply_.set_current_position(input->
>> Joint1_1st_transmit_PDO_Mapping_Position_actual_value);
>> status_reply_.set_status(input->
>> Joint1_1st_transmit_PDO_Mapping_Statusword);
>> status_reply_.set_modes_of_operation(input->
>> Joint1_1st_transmit_PDO_Mapping_Modes_of_operation_display);
>> status_reply_.set_modes_of_operation_2(input->
>> Joint2_1st_transmit_PDO_Mapping_Modes_of_operation_display);
>> status_reply_.set_modes_of_operation_3(input->
>> Joint3_1st_transmit_PDO_Mapping_Modes_of_operation_display);
>> status_reply_.set_modes_of_operation_4(input->
>> Joint4_1st_transmit_PDO_Mapping_Modes_of_operation_display);
>>
>> status_reply_.set_error_code_1(input->
>> Joint1_1st_transmit_PDO_Mapping_Error_code);
>>
>> //status_reply_.set_current_speed(input->joint1_1st_Transmit_PDO_mapping_Velocity_Actual_Value);
>>
>> status_reply_.set_current_position_2(input->
>> Joint2_1st_transmit_PDO_Mapping_Position_actual_value);
>> status_reply_.set_status_2(input->
>> Joint2_1st_transmit_PDO_Mapping_Statusword);
>>
>> //status_reply_.set_modes_of_operation_2(input->joint2_1st_Transmit_PDO_mapping_Mode_of_Operation_Display);
>> status_reply_.set_error_code_2(input->
>> Joint2_1st_transmit_PDO_Mapping_Error_code);
>>
>> //status_reply_.set_current_speed_2(input->joint2_1st_Transmit_PDO_mapping_Velocity_Actual_Value);
>>
>> status_reply_.set_current_position_3(input->
>> Joint3_1st_transmit_PDO_Mapping_Position_actual_value);
>> status_reply_.set_status_3(input->
>> Joint3_1st_transmit_PDO_Mapping_Statusword);
>>
>> //status_reply_.set_modes_of_operation_2(input->joint2_1st_Transmit_PDO_mapping_Mode_of_Operation_Display);
>> status_reply_.set_error_code_3(input->
>> Joint3_1st_transmit_PDO_Mapping_Error_code);
>>
>> //status_reply_.set_current_speed_2(input->joint2_1st_Transmit_PDO_mapping_Velocity_Actual_Value);
>>
>> status_reply_.set_current_position_4(input->
>> Joint4_1st_transmit_PDO_Mapping_Position_actual_value);
>> status_reply_.set_status_4(input->
>> Joint4_1st_transmit_PDO_Mapping_Statusword);
>>
>> //status_reply_.set_modes_of_operation_2(input->joint2_1st_Transmit_PDO_mapping_Mode_of_Operation_Display);
>> status_reply_.set_error_code_4(input->
>> Joint4_1st_transmit_PDO_Mapping_Error_code);
>>
>> //status_reply_.set_current_speed_2(input->joint2_1st_Transmit_PDO_mapping_Velocity_Actual_Value);
>>
>>
>> status_reply_.set_current_time(current_time);
>>
>> responder_.Write(status_reply_, this);
>> } else {
>> status_ = FINISH;
>> }
>> }
>>
>> }
>>
>> else {
>> std::cout << "bye\n";
>> delete this;
>> }
>> }
>>
>> private:
>> // The means of communication with the gRPC runtime for an asynchronous
>> // server.
>> Robot::AsyncService* service_;
>> // The producer-consumer queue where for asynchronous server
>> notifications.
>> ServerCompletionQueue* cq_;
>> // Context for the rpc, allowing to tweak aspects of it such as the use
>> // of compression, authentication, as well as to send metadata back to the
>> // client.
>> ServerContext ctx_;
>>
>> // What we get from the client.
>> RobotStatusRequest request_;
>> // What we send back to the client.
>> RobotStatus status_reply_;
>>
>> // The means to get back to the client.
>> ServerAsyncWriter<RobotStatus> responder_;
>>
>> // Let's implement a tiny state machine with the following states.
>> enum CallStatus { CREATE, PROCESS, FINISH, WRITE };
>> CallStatus status_; // The current serving state.
>> int number_;
>> };
>>
>> class ChangeVariableHandler : public RequestHandlerBase {
>> public:
>> ChangeVariableHandler(Robot::AsyncService* service, ServerCompletionQueue
>> * cq)
>> : service_(service), cq_(cq), responder_(&ctx_), status_(CREATE) {
>> Proceed();
>> }
>>
>> void Proceed(bool ok = true) override {
>> if (status_ == CREATE) {
>> status_ = PROCESS;
>> service_->RequestChangeVariable(&ctx_, &request_, &responder_, cq_, cq_,
>> this);
>> } else if ((status_ == PROCESS) && ok) {
>> new ChangeVariableHandler(service_, cq_);
>>
>> bool operation_ok = true;
>> std::cout << "received request " << request_.name() << " value " <<
>> request_.i64_value() << std::endl ;
>>
>> switch (request_.name()) {
>> case 0:
>> g_ControlWord = request_.i64_value();
>> break;
>> case 1:
>> g_ModesOfOperation = request_.i64_value();
>> break;
>> case 2:
>> g_ProfileAcceleration = request_.i64_value();
>> break;
>> case 3:
>> g_ProfileDeceleration = request_.i64_value();
>> break;
>> case 4:
>> g_ProfileVelocity = request_.i64_value();
>> break;
>> case 5:
>> g_TargetVelocity = request_.i64_value();
>> break;
>> case 6:
>> g_TargetPosition = request_.i64_value();
>> break;
>> case 7:
>> g_MaxProfileVelocity = request_.i64_value();
>> break;
>> case 8:
>> g_positive_torquee_limit = request_.i64_value();
>> break;
>> case 9:
>> g_negative_torquee_limit = request_.i64_value();
>> break;
>>
>> case 10:
>> g_ControlWord_2 = request_.i64_value();
>> break;
>> case 11:
>> g_ModesOfOperation_2 = request_.i64_value();
>> break;
>> case 12:
>> g_ProfileAcceleration_2 = request_.i64_value();
>> break;
>> case 13:
>> g_ProfileDeceleration_2 = request_.i64_value();
>> break;
>> case 14:
>> g_ProfileVelocity_2 = request_.i64_value();
>> break;
>> case 15:
>> g_TargetVelocity_2 = request_.i64_value();
>> break;
>> case 16:
>> g_TargetPosition_2 = request_.i64_value();
>> break;
>> case 17:
>> g_MaxProfileVelocity_2 = request_.i64_value();
>> break;
>> case 18:
>> g_positive_torquee_limit_2 = request_.i64_value();
>> break;
>> case 19:
>> g_negative_torquee_limit_2 = request_.i64_value();
>> break;
>>
>>
>> case 20:
>> g_ControlWord_3 = request_.i64_value();
>> break;
>> case 21:
>> g_ModesOfOperation_3 = request_.i64_value();
>> break;
>> case 22:
>> g_ProfileAcceleration_3 = request_.i64_value();
>> break;
>> case 23:
>> g_ProfileDeceleration_3 = request_.i64_value();
>> break;
>> case 24:
>> g_ProfileVelocity_3 = request_.i64_value();
>> break;
>> case 25:
>> g_TargetVelocity_3 = request_.i64_value();
>> break;
>> case 26:
>> g_TargetPosition_3 = request_.i64_value();
>> break;
>> case 27:
>> g_MaxProfileVelocity_3 = request_.i64_value();
>> break;
>> case 28:
>> g_positive_torquee_limit_3 = request_.i64_value();
>> break;
>> case 29:
>> g_negative_torquee_limit_3 = request_.i64_value();
>> break;
>>
>> case 44:
>> g_ControlWord_4 = request_.i64_value();
>> break;
>> case 45:
>> g_ModesOfOperation_4 = request_.i64_value();
>> break;
>> case 46:
>> g_ProfileAcceleration_4 = request_.i64_value();
>> break;
>> case 47:
>> g_ProfileDeceleration_4 = request_.i64_value();
>> break;
>> case 48:
>> g_ProfileVelocity_4 = request_.i64_value();
>> break;
>> case 49:
>> g_TargetVelocity_4 = request_.i64_value();
>> break;
>> case 50:
>> g_TargetPosition_4 = request_.i64_value();
>> break;
>> case 51:
>> g_MaxProfileVelocity_4 = request_.i64_value();
>> break;
>> case 52:
>> g_positive_torquee_limit_4 = request_.i64_value();
>> break;
>> case 53:
>> g_negative_torquee_limit_4 = request_.i64_value();
>> break;
>>
>>
>>
>>
>>
>> case 30:
>> g_IOSensors_Channel_9_Output = request_.i64_value();
>> case 31:
>> g_IOSensors_Channel_10_Output = request_.i64_value();
>> case 32:
>> g_IOSensors_Channel_11_Output = request_.i64_value();
>> case 33:
>> g_IOSensors_Channel_12_Output = request_.i64_value();
>>
>> default:
>> operation_ok = false;
>> break;
>> }
>>
>> reply_.set_ok(operation_ok);
>>
>> status_ = FINISH;
>> responder_.Finish(reply_, Status::OK, this);
>> } else {
>> GPR_ASSERT(status_ == FINISH);
>> delete this;
>> }
>> }
>>
>> private:
>> Robot::AsyncService* service_;
>> ServerCompletionQueue* cq_;
>> ServerContext ctx_;
>>
>> RobotExample::ChangeVariableRequest request_;
>> RobotExample::ChangeVariableResponse reply_;
>> ServerAsyncResponseWriter<RobotExample::ChangeVariableResponse>
>> responder_;
>> enum CallStatus { CREATE, PROCESS, FINISH };
>> CallStatus status_; // The current serving state.
>> };
>>
>> class ServerImpl final {
>> public:
>> ~ServerImpl() {
>> server_->Shutdown();
>> // Always shutdown the completion queue after the server.
>> cq_->Shutdown();
>> }
>>
>> // There is no shutdown handling in this code.
>> void Run() {
>> std::string server_address("0.0.0.0:50051");
>>
>> ServerBuilder builder;
>> // Listen on the given address without any authentication mechanism.
>> builder.AddListeningPort(server_address, grpc::InsecureServerCredentials
>> ());
>> // Register "service_" as the instance through which we'll communicate
>> with
>> // clients. In this case it corresponds to an *asynchronous* service.
>> builder.RegisterService(&service_);
>> // Get hold of the completion queue used for the asynchronous
>> communication
>> // with the gRPC runtime.
>> cq_ = builder.AddCompletionQueue();
>> // Finally assemble the server.
>> server_ = builder.BuildAndStart();
>> std::cout << "Server listening on " << server_address << std::endl;
>>
>> // Proceed to the server's main loop.
>>
>> new GetStatusHandler(&service_, cq_.get());
>>
>> new ChangeVariableHandler(&service_, cq_.get());
>> }
>>
>> void communication_cyle() {
>> void* tag = 0; // uniquely identifies a request.
>> bool ok;
>> int got_event;
>> auto now = std::chrono::system_clock::now();
>>
>> std::unordered_map<void*, bool> map;
>> do {
>> got_event = cq_->AsyncNext(&tag, &ok, now);
>> if (got_event == ServerCompletionQueue::GOT_EVENT) map[tag] = ok;
>>
>> } while (got_event == ServerCompletionQueue::GOT_EVENT);
>>
>> for (const auto& elt : map) {
>> static_cast<RequestHandlerBase*>(elt.first)->Proceed(elt.second);
>> }
>> }
>>
>> private:
>> std::unique_ptr<ServerCompletionQueue> cq_;
>> Robot::AsyncService service_;
>> std::unique_ptr<Server> server_;
>> };
>>
>> int read_physical_addresses(int slave_count)
>> {
>> for(int i = 1 ; i <= slave_count ; i++)
>> {
>> int16_t data;
>> wkc = ecx_APRD(ecx_context.port, -i+1, 16, sizeof(data),
>> &data,EC_TIMEOUTRET3);
>> if ( wkc <= 0 )
>> {
>> printf("error reading slave %d physicaladdress", i);
>> return -1;
>> }
>> ecx_context.slavelist[i].configadr = data ;
>> print_data(&data,2,"reading adress");
>>
>> }
>>
>> return 0;
>> }
>>
>> int main(int argc, char* argv[])
>> {
>>
>> printf("SOEM (Simple Open EtherCAT Master)\nSimple test\n");
>> if (argc < 2)
>> {
>> printf("Usage: simple_test ifname1\nifname = eth0 for example\n");
>> return -1;
>> }
>>
>> const char * ifname = argv[1];
>>
>> ServerImpl grpc_server;
>> grpc_server.Run();
>>
>> /* initialise SOEM, bind socket to ifname */
>> if (!ec_init(ifname))
>> {
>> printf("No socket connection on %s\nExecute as root\n", ifname);
>> return -1;
>> }
>>
>> if (ec_config_init(FALSE) <= 0)
>> {
>> printf("error ec_config_init\n");
>> return -1;
>> }
>>
>> printf("%d slaves found and configured.\n", ec_slavecount);
>>
>>
>>
>> memset(&g_inputsProcessImage, 0, sizeof(InputsProcessImage) );
>> memset(&g_outputsProcessImage, 0, sizeof(OutputsProcessImage) );
>>
>> if ( init_ethercat_master(IP_TRANSITION) < 0 )
>> return-1;
>>
>> if ( init_ethercat_slaves(IP_TRANSITION) < 0 )
>> return -1;
>>
>>
>> if ( read_physical_addresses(ec_slavecount) < 0 )
>> return-1;
>>
>> if ( init_coe(PS_TRANSITION) < 0 )
>> return -1;
>> ec_configdc();
>>
>> // ec_dcsync0(1,true,1000000,0);
>> // ec_dcsync0(2,true,1000000,0);
>>
>> osal_usleep(100 * 1000);
>>
>> if ( init_ethercat_slaves(PS_TRANSITION) < 0 )
>> return -1;
>>
>> osal_usleep(100 * 1000);
>>
>> if ( init_ethercat_slaves(SO_TRANSITION) < 0 )
>> return -1;
>>
>> if ( init_coe(SO_TRANSITION) < 0 )
>> return -1;
>>
>> while (1)
>> {
>>
>> g_outputsProcessImage.Joint1_1st_receive_PDO_Mapping_Controlword =
>> g_ControlWord;
>> g_outputsProcessImage.Joint1_1st_receive_PDO_Mapping_Modes_of_operation
>> = g_ModesOfOperation;
>> g_outputsProcessImage.Joint1_1st_receive_PDO_Mapping_Target_velocity =
>> g_TargetVelocity;
>> g_outputsProcessImage.Joint1_1st_receive_PDO_Mapping_Profile_velocity =
>> g_ProfileVelocity;
>> g_outputsProcessImage.Joint1_1st_receive_PDO_Mapping_Target_position =
>> g_TargetPosition;
>> g_outputsProcessImage.Joint1_1st_receive_PDO_Mapping_Max_profile_velocity
>> = g_MaxProfileVelocity;
>> g_outputsProcessImage.Joint1_1st_receive_PDO_Mapping_Profile_acceleration
>> = g_ProfileAcceleration;
>> g_outputsProcessImage.Joint1_1st_receive_PDO_Mapping_Profile_deceleration
>> = g_ProfileDeceleration;
>> g_outputsProcessImage.Joint2_1st_receive_PDO_Mapping_Controlword =
>> g_ControlWord_2;
>> g_outputsProcessImage.Joint2_1st_receive_PDO_Mapping_Modes_of_operation
>> = g_ModesOfOperation_2;
>> g_outputsProcessImage.Joint2_1st_receive_PDO_Mapping_Target_velocity =
>> g_TargetVelocity_2;
>> g_outputsProcessImage.Joint2_1st_receive_PDO_Mapping_Profile_velocity =
>> g_ProfileVelocity_2;
>> g_outputsProcessImage.Joint2_1st_receive_PDO_Mapping_Target_position =
>> g_TargetPosition_2;
>> g_outputsProcessImage.Joint2_1st_receive_PDO_Mapping_Max_profile_velocity
>> = g_MaxProfileVelocity_2;
>> g_outputsProcessImage.Joint2_1st_receive_PDO_Mapping_Profile_acceleration
>> = g_ProfileAcceleration_2;
>> g_outputsProcessImage.Joint2_1st_receive_PDO_Mapping_Profile_deceleration
>> = g_ProfileDeceleration_2;
>>
>> g_outputsProcessImage.Joint3_1st_receive_PDO_Mapping_Controlword =
>> g_ControlWord_3;
>> g_outputsProcessImage.Joint3_1st_receive_PDO_Mapping_Modes_of_operation
>> = g_ModesOfOperation_3;
>> g_outputsProcessImage.Joint3_1st_receive_PDO_Mapping_Target_velocity =
>> g_TargetVelocity_3;
>> g_outputsProcessImage.Joint3_1st_receive_PDO_Mapping_Profile_velocity =
>> g_ProfileVelocity_3;
>> g_outputsProcessImage.Joint3_1st_receive_PDO_Mapping_Target_position =
>> g_TargetPosition_3;
>> g_outputsProcessImage.Joint3_1st_receive_PDO_Mapping_Max_profile_velocity
>> = g_MaxProfileVelocity_3;
>> g_outputsProcessImage.Joint3_1st_receive_PDO_Mapping_Profile_acceleration
>> = g_ProfileAcceleration_3;
>> g_outputsProcessImage.Joint3_1st_receive_PDO_Mapping_Profile_deceleration
>> = g_ProfileDeceleration_3;
>>
>>
>> g_outputsProcessImage.Joint4_1st_receive_PDO_Mapping_Controlword =
>> g_ControlWord_4;
>> g_outputsProcessImage.Joint4_1st_receive_PDO_Mapping_Modes_of_operation
>> = g_ModesOfOperation_4;
>> g_outputsProcessImage.Joint4_1st_receive_PDO_Mapping_Target_velocity =
>> g_TargetVelocity_4;
>> g_outputsProcessImage.Joint4_1st_receive_PDO_Mapping_Profile_velocity =
>> g_ProfileVelocity_4;
>> g_outputsProcessImage.Joint4_1st_receive_PDO_Mapping_Target_position =
>> g_TargetPosition_4;
>> g_outputsProcessImage.Joint4_1st_receive_PDO_Mapping_Max_profile_velocity
>> = g_MaxProfileVelocity_4;
>> g_outputsProcessImage.Joint4_1st_receive_PDO_Mapping_Profile_acceleration
>> = g_ProfileAcceleration_4;
>> g_outputsProcessImage.Joint4_1st_receive_PDO_Mapping_Profile_deceleration
>> = g_ProfileDeceleration_4;
>>
>>
>>
>> gen_send_cyclic_cmd(OP_STATE);
>>
>> //check for slave states
>> grpc_server.communication_cyle();
>> current_time++;
>>
>> //print_data(&g_inputsProcessImage, sizeof(InputsProcessImage) ,
>> "Inputs:" );
>> osal_usleep(1000);
>>
>>
>> }
>>
>> printf("End program\n");
>> return 0;
>> }
>>
>>
>> *CLIENT CODE:*
>> //client configurations
>> stub_ = Robot::NewStub( grpc::CreateChannel("localhost:50051", grpc::
>> InsecureChannelCredentials()) ); timer_ = new QTimer(this); context_ =
>> new ClientContext(); RobotStatusRequest request; stream_rpc_ = stub_->
>> AsyncgetStatus(context_, request, &cq_, (void*)10); stream_rpc_->Finish(&
>> status_, (void*)2); //subscriber button click event code finishd timer_->
>> start(1);
>>
>> //to pass the data to grpc server
>> auto * req2 = new SetVariableRequestHandler(RobotExample::
>> ChangeVariableRequest_varName_ControlWord, 6, &cq_, stub_.get() );
>>
>> class SetVariableRequestHandler { public: SetVariableRequestHandler(
>> RobotExample::ChangeVariableRequest_varName name, int64_t value , grpc::
>> CompletionQueue * cq, RobotExample::Robot::Stub * stub) { RobotExample::
>> ChangeVariableRequest request; request.set_i64_value( value ); request.
>> set_name(name); rpc_ = stub->AsyncChangeVariable(new grpc::ClientContext
>> () , request, cq ); rpc_->Finish(&changeVariableResponse_, &status_, (
>> void*)this);
>>
>> }
>> void proceed(bool ok) {
>> }
>> private: grpc::Status status_; std::unique_ptr< ::grpc::
>> ClientAsyncResponseReader< ::RobotExample::ChangeVariableResponse>> rpc_;
>> RobotExample::ChangeVariableResponse changeVariableResponse_; };
>>
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