Number of simulated UAV : 6
Number of components launched on the same computer : 31

One genomix process is trying to load all components.

Matlab error at connect component n°15 in setup script :

'''
Error using genomix_server
{"ex":"::genom::mwerr","detail":{"what":"S_gcomLib_TOO_MANY_LETTERS"}}

Error in genomix.client/load (line 110)
      module = genomix_server('get', self.id, ['/load/' client], args);

Error in initialize_robot (line 185)
maneuver = client.load('maneuver', '--name', strcat('maneuver_mk',num2str(quad_number)));
'''



By setting a breakpoint right befor this error, I extracted the corresponding log form the genomixd -v -v command :
'''
17:48:49.800502:genomixd: sock16b5a90: received "get /load/maneuver?s=s4&argv=--name%20maneuver_mk3 HTTP/1.0"
17:48:49.800679:genomixd: sock16b5a90: received ""
17:48:49.800735:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.800804:genomixd: sock16b5a90: get /load/maneuver s=s4 argv=--name maneuver_mk3
17:48:49.800907:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//maneuver.so: loaded
17:48:49.801150:genomixd: sock16b5a90: reply status 404: {"ex":"::genom::mwerr","detail":{"what":"S_gcomLib_TOO_MANY_LETTERS"}}
17:48:49.804752:genomixd: sock16b5a90: received "get /module/nhfc_mk3/clean/3?s=s4 HTTP/1.0"
17:48:49.804920:genomixd: sock16b5a90: received ""
17:48:49.804971:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.805028:genomixd: sock16b5a90: get /module/nhfc_mk3/clean/3 s=s4
17:48:49.805093:genomixd: sock16b5a90: reply status 200: 
17:48:49.807109:genomixd: sock16b5a90: received "get /module/nhfc_mk3/clean/0?s=s4 HTTP/1.0"
17:48:49.807232:genomixd: sock16b5a90: received ""
17:48:49.807287:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.807367:genomixd: sock16b5a90: get /module/nhfc_mk3/clean/0 s=s4
17:48:49.807451:genomixd: sock16b5a90: reply status 200: 
17:48:49.810509:genomixd: sock16b5a90: received "get /module/mikrokopter_mk3/clean/0?s=s4 HTTP/1.0"
17:48:49.810860:genomixd: sock16b5a90: received ""
17:48:49.810953:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.811064:genomixd: sock16b5a90: get /module/mikrokopter_mk3/clean/0 s=s4
17:48:49.811233:genomixd: sock16b5a90: reply status 200: 
17:48:49.815491:genomixd: sock16b5a90: received "get /module/mikrokopter_mk3/clean/2?s=s4 HTTP/1.0"
17:48:49.815677:genomixd: sock16b5a90: received ""
17:48:49.815735:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.815809:genomixd: sock16b5a90: get /module/mikrokopter_mk3/clean/2 s=s4
17:48:49.815890:genomixd: sock16b5a90: reply status 200: 
17:48:49.817513:genomixd: sock16b5a90: received "get /module/pom_mk3/clean/0?s=s4 HTTP/1.0"
17:48:49.817654:genomixd: sock16b5a90: received ""
17:48:49.817727:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.817797:genomixd: sock16b5a90: get /module/pom_mk3/clean/0 s=s4
17:48:49.817873:genomixd: sock16b5a90: reply status 200: 
17:48:49.818283:genomixd: sock16b5a90: received "get /module/pom_mk3/clean/2?s=s4 HTTP/1.0"
17:48:49.818384:genomixd: sock16b5a90: received ""
17:48:49.818431:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.818500:genomixd: sock16b5a90: get /module/pom_mk3/clean/2 s=s4
17:48:49.818569:genomixd: sock16b5a90: reply status 200: 
17:48:49.820439:genomixd: sock16b5a90: received "get /module/nhfc_mk3/clean/2?s=s4 HTTP/1.0"
17:48:49.820585:genomixd: sock16b5a90: received ""
17:48:49.820660:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.820750:genomixd: sock16b5a90: get /module/nhfc_mk3/clean/2 s=s4
17:48:49.820829:genomixd: sock16b5a90: reply status 200: 

'''
All i noticed is that instead of 
sock16b5a90: reply status 201: maneuver_mk3
we have
sock16b5a90: reply status 404: {"ex":"::genom::mwerr","detail":{"what":"S_gcomLib_TOO_MANY_LETTERS"}}



And bellow is the whole genomix -v -v log

'''
17:48:30.422503:genomixd: accepting connections on port 8080
17:48:36.588378:genomixd: connection from 127.0.0.1:44058 on sock158cae0
17:48:36.588867:genomixd: sock158cae0: received "get /version HTTP/1.0"
17:48:36.589024:genomixd: sock158cae0: received ""
17:48:36.589066:genomixd: sock158cae0: processing request on sock158cae0
17:48:36.589581:genomixd: sock158cae0: get /version
17:48:36.589735:genomixd: sock158cae0: reply status 200: 1.6.2
17:48:36.589842:genomixd: sock158cae0: received "get /session/start?s= HTTP/1.0"
17:48:36.589895:genomixd: sock158cae0: received ""
17:48:36.589921:genomixd: sock158cae0: processing request on sock158cae0
17:48:36.589956:genomixd: sock158cae0: get /session/start s=
17:48:36.590071:genomixd: sock158cae0: new session s1
17:48:36.590108:genomixd: sock158cae0: reply status 200: s1
17:48:36.590300:genomixd: connection from 127.0.0.1:44060 on sock158c6e0
17:48:36.590424:genomixd: sock158c6e0: received "get /session/listen?s=s1 HTTP/1.0"
17:48:36.590622:genomixd: sock158c6e0: received ""
17:48:36.590697:genomixd: sock158c6e0: processing request on sock158c6e0
17:48:36.590778:genomixd: sock158c6e0: get /session/listen s=s1
17:48:36.591114:genomixd: sock158c6e0: listening session s1
17:48:36.591420:genomixd: sock158c6e0: set to streaming mode
17:48:36.592304:genomixd: sock158cae0: received "get /rpath//opt/openrobots/lib/genom/pocolibs/plugins?s=s1 HTTP/1.0"
17:48:36.592412:genomixd: sock158cae0: received ""
17:48:36.592452:genomixd: sock158cae0: processing request on sock158cae0
17:48:36.592490:genomixd: sock158cae0: get /rpath//opt/openrobots/lib/genom/pocolibs/plugins s=s1
17:48:36.592555:genomixd: sock158cae0: reply status 200: /opt/openrobots/lib/genom/pocolibs/plugins
17:48:36.600559:genomixd: sock158cae0: received "get /load/joystick?s=s1&argv= HTTP/1.0"
17:48:36.600707:genomixd: sock158cae0: received ""
17:48:36.600774:genomixd: sock158cae0: processing request on sock158cae0
17:48:36.600829:genomixd: sock158cae0: get /load/joystick s=s1 argv=
17:48:36.601517:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//joystick.so: loaded
17:48:36.602091:genomixd: sock158cae0: reply status 201: joystick
17:48:36.602645:genomixd: sock158cae0: received "get /module/joystick/info?s=s1 HTTP/1.0"
17:48:36.602734:genomixd: sock158cae0: received ""
17:48:36.602772:genomixd: sock158cae0: processing request on sock158cae0
17:48:36.602811:genomixd: sock158cae0: get /module/joystick/info s=s1
17:48:36.602861:genomixd: sock158cae0: reply status 200: {"name":"joystick","instance":"joystick","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"device_list":{"input":{ },"output":{ "device_list":{ "kind":"sequence","type":{ "kind":"string","length":32 } } },"meta":{ }},"rename":{"input":{ "name":{ "kind":"string","length":32 },"newname":{ "kind":"string","length":32 } },"output":{ },"meta":{ }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"device":{"simple":0,"data":{ "device":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"buttons":{ "kind":"sequence","length":16,"type":{ "kind":"boolean" } },"axes":{ "kind":"sequence","length":16,"type":{ "kind":"short" } } } } },"meta":{}}}}
17:48:36.670058:genomixd: connection from 127.0.0.1:44062 on sock1739bb0
17:48:36.670212:genomixd: sock1739bb0: received "get /version HTTP/1.0"
17:48:36.670299:genomixd: sock1739bb0: received ""
17:48:36.670354:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:36.670410:genomixd: sock1739bb0: get /version
17:48:36.670464:genomixd: sock1739bb0: reply status 200: 1.6.2
17:48:36.670584:genomixd: sock1739bb0: received "get /session/start?s= HTTP/1.0"
17:48:36.670662:genomixd: sock1739bb0: received ""
17:48:36.670713:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:36.670768:genomixd: sock1739bb0: get /session/start s=
17:48:36.670815:genomixd: sock1739bb0: new session s2
17:48:36.670859:genomixd: sock1739bb0: reply status 200: s2
17:48:36.671084:genomixd: connection from 127.0.0.1:44064 on sock172d280
17:48:36.671266:genomixd: sock172d280: received "get /session/listen?s=s2 HTTP/1.0"
17:48:36.671337:genomixd: sock172d280: received ""
17:48:36.671376:genomixd: sock172d280: processing request on sock172d280
17:48:36.671427:genomixd: sock172d280: get /session/listen s=s2
17:48:36.671477:genomixd: sock172d280: listening session s2
17:48:36.671514:genomixd: sock172d280: set to streaming mode
17:48:36.672166:genomixd: sock1739bb0: received "get /rpath//opt/openrobots/lib/genom/pocolibs/plugins?s=s2 HTTP/1.0"
17:48:36.672260:genomixd: sock1739bb0: received ""
17:48:36.672299:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:36.672355:genomixd: sock1739bb0: get /rpath//opt/openrobots/lib/genom/pocolibs/plugins s=s2
17:48:36.672419:genomixd: sock1739bb0: reply status 200: 
17:48:36.684202:genomixd: sock1739bb0: received "get /load/mrsim?s=s2&argv=--name%20mrsim_mk1 HTTP/1.0"
17:48:36.684339:genomixd: sock1739bb0: received ""
17:48:36.684393:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:36.684456:genomixd: sock1739bb0: get /load/mrsim s=s2 argv=--name mrsim_mk1
17:48:36.684779:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//mrsim.so: loaded
17:48:36.684920:genomixd: sock1739bb0: reply status 201: mrsim_mk1
17:48:36.685289:genomixd: sock1739bb0: received "get /module/mrsim_mk1/info?s=s2 HTTP/1.0"
17:48:36.685380:genomixd: sock1739bb0: received ""
17:48:36.685423:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:36.685478:genomixd: sock1739bb0: get /module/mrsim_mk1/info s=s2
17:48:36.685547:genomixd: sock1739bb0: reply status 200: {"name":"mrsim","instance":"mrsim_mk1","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"set_gps_period":{"input":{ "gpsp":{ "kind":"double" } },"output":{ },"meta":{ }},"set_external_disturbance":{"input":{ "disturb":{ "kind":"struct","type":{ "force":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" } } },"torque":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" } } },"zmin":{ "kind":"double" },"zmax":{ "kind":"double" },"noise":{ "kind":"double" },"period":{ "kind":"double" } } } },"output":{ },"meta":{ }},"get_external_disturbance":{"input":{ },"output":{ "disturb":{ "kind":"struct","type":{ "force":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" } } },"torque":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" } } },"zmin":{ "kind":"double" },"zmax":{ "kind":"double" },"noise":{ "kind":"double" },"period":{ "kind":"double" } } } },"meta":{ }},"set_pty":{"input":{ "device":{ "kind":"string","length":64 } },"output":{ },"meta":{ }},"set_state":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"yaw":{ "kind":"double" },"pitch":{ "kind":"double" },"roll":{ "kind":"double" },"vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } },"output":{ },"meta":{ }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"gps":{"simple":1,"data":{ "gps":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}},"state":{"simple":1,"data":{ "state":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}}}}
17:48:36.705741:genomixd: sock1739bb0: received "get /module/mrsim_mk1/send/set_pty?s=s2&input=%7b%22device%22%3a%22/tmp/mikrokopter_1%22%7d HTTP/1.0"
17:48:36.705895:genomixd: sock1739bb0: received ""
17:48:36.705948:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:36.706005:genomixd: sock1739bb0: get /module/mrsim_mk1/send/set_pty s=s2 input={"device":"/tmp/mikrokopter_1"}
17:48:36.706197:genomixd: sock1739bb0: reply status 200: 0
17:48:36.709295:genomixd: s2: event: request; data: {"id":"mrsim_mk1::0","status":"sent"}
17:48:36.709382:genomixd: s2: pushing to sock172d280 event request
17:48:36.710358:genomixd: s2: event: request; data: {"id":"mrsim_mk1::0","status":"done","output":{}}
17:48:36.710457:genomixd: s2: pushing to sock172d280 event request
17:48:36.737515:genomixd: sock1739bb0: received "get /module/mrsim_mk1/send/set_state?s=s2&input=%7b%22x%22%3a0%2c%22y%22%3a0%2c%22z%22%3a0.25%2c%22yaw%22%3a0%2c%22pitch%22%3a0%2c%22roll%22%3a0%2c%22vx%22%3a0%2c%22vy%22%3a0%2c%22vz%22%3a0%2c%22wx%22%3a0%2c%22wy%22%3a0%2c%22wz%22%3a0%7d HTTP/1.0"
17:48:36.737690:genomixd: sock1739bb0: received ""
17:48:36.737844:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:36.737918:genomixd: sock1739bb0: get /module/mrsim_mk1/send/set_state s=s2 input={"x":0,"y":0,"z":0.25,"yaw":0,"pitch":0,"roll":0,"vx":0,"vy":0,"vz":0,"wx":0,"wy":0,"wz":0}
17:48:36.738016:genomixd: sock1739bb0: reply status 200: 1
17:48:36.745608:genomixd: s2: event: request; data: {"id":"mrsim_mk1::1","status":"sent"}
17:48:36.745727:genomixd: s2: pushing to sock172d280 event request
17:48:36.745867:genomixd: s2: event: request; data: {"id":"mrsim_mk1::1","status":"done","output":{}}
17:48:36.745922:genomixd: s2: pushing to sock172d280 event request
17:48:36.751131:genomixd: sock1739bb0: received "get /module/mrsim_mk1/clean/0?s=s2 HTTP/1.0"
17:48:36.751252:genomixd: sock1739bb0: received ""
17:48:36.751301:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:36.751368:genomixd: sock1739bb0: get /module/mrsim_mk1/clean/0 s=s2
17:48:36.751517:genomixd: sock1739bb0: reply status 200: 
17:48:36.757662:genomixd: sock1739bb0: received "get /load/mikrokopter?s=s2&argv=-i%20mikrokopter_mk1 HTTP/1.0"
17:48:36.757871:genomixd: sock1739bb0: received ""
17:48:36.757929:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:36.757994:genomixd: sock1739bb0: get /load/mikrokopter s=s2 argv=-i mikrokopter_mk1
17:48:36.758372:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//mikrokopter.so: loaded
17:48:36.758484:genomixd: sock1739bb0: reply status 201: mikrokopter_mk1
17:48:36.758772:genomixd: sock1739bb0: received "get /module/mikrokopter_mk1/info?s=s2 HTTP/1.0"
17:48:36.758935:genomixd: sock1739bb0: received ""
17:48:36.759041:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:36.759217:genomixd: sock1739bb0: get /module/mikrokopter_mk1/info s=s2
17:48:36.759459:genomixd: sock1739bb0: reply status 200: {"name":"mikrokopter","instance":"mikrokopter_mk1","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"get_sensor_rate":{"input":{ },"output":{ "rate":{ "kind":"struct","type":{ "imu":{ "kind":"double" },"motor":{ "kind":"double" },"battery":{ "kind":"double" } } } },"meta":{ "rate":{ "items":{ "imu":{ "doc":"Accelerometer and gyroscopes measurement frequency" },"motor":{ "doc":"Various motor data measurement frequency" },"battery":{ "doc":"Battery level measurement frequency" } } } }},"set_sensor_rate":{"input":{ "rate":{ "kind":"struct","type":{ "imu":{ "kind":"double" },"motor":{ "kind":"double" },"battery":{ "kind":"double" } } } },"output":{ },"meta":{ "rate":{ "items":{ "imu":{ "doc":"Accelerometer and gyroscopes measurement frequency","default":1000 },"motor":{ "doc":"Various motor data measurement frequency","default":50 },"battery":{ "doc":"Battery level measurement frequency","default":1 } } } }},"get_battery":{"input":{ },"output":{ "battery":{ "kind":"struct","type":{ "min":{ "kind":"double" },"max":{ "kind":"double" },"level":{ "kind":"double" } } } },"meta":{ "battery":{ "items":{ "min":{ "doc":"Minimum acceptable battery voltage" },"max":{ "doc":"Full battery voltage" },"level":{ "doc":"Current battery voltage" } } } }},"set_battery_limits":{"input":{ "min":{ "kind":"double" },"max":{ "kind":"double" } },"output":{ },"meta":{ "min":{ "doc":"Minimum acceptable battery voltage","default":14 },"max":{ "doc":"Full battery voltage","default":16.7 } }},"get_imu_calibration":{"input":{ },"output":{ "imu_calibration":{ "kind":"struct","type":{ "gscale":{ "kind":"array","length":9,"type":{ "kind":"double" } },"gbias":{ "kind":"array","length":3,"type":{ "kind":"double" } },"gstddev":{ "kind":"array","length":3,"type":{ "kind":"double" } },"ascale":{ "kind":"array","length":9,"type":{ "kind":"double" } },"abias":{ "kind":"array","length":3,"type":{ "kind":"double" } },"astddev":{ "kind":"array","length":3,"type":{ "kind":"double" } } } } },"meta":{ "imu_calibration":{ "items":{ "gscale":{ "doc":"Gyroscopes 3�3 scaling matrix (row major)" },"gbias":{ "doc":"Gyroscopes bias vector" },"gstddev":{ "doc":"Gyroscopes measurement noise" },"ascale":{ "doc":"Accelerometers 3�3 scaling matrix (row major)" },"abias":{ "doc":"Accelerometers bias vector" },"astddev":{ "doc":"Accelerometers measurement noise" } } } }},"set_imu_calibration":{"input":{ "imu_calibration":{ "kind":"struct","type":{ "gscale":{ "kind":"array","length":9,"type":{ "kind":"double" } },"gbias":{ "kind":"array","length":3,"type":{ "kind":"double" } },"gstddev":{ "kind":"array","length":3,"type":{ "kind":"double" } },"ascale":{ "kind":"array","length":9,"type":{ "kind":"double" } },"abias":{ "kind":"array","length":3,"type":{ "kind":"double" } },"astddev":{ "kind":"array","length":3,"type":{ "kind":"double" } } } } },"output":{ },"meta":{ "imu_calibration":{ "items":{ "gscale":{ "doc":"Gyroscopes 3�3 scaling matrix (row major)" },"gbias":{ "doc":"Gyroscopes bias vector" },"gstddev":{ "doc":"Gyroscopes measurement noise" },"ascale":{ "doc":"Accelerometers 3�3 scaling matrix (row major)" },"abias":{ "doc":"Accelerometers bias vector" },"astddev":{ "doc":"Accelerometers measurement noise" } } } }},"get_imu_filter":{"input":{ },"output":{ "imu_filter":{ "kind":"struct","type":{ "enable":{ "kind":"boolean" },"gain":{ "kind":"double" },"Q":{ "kind":"double" } } } },"meta":{ }},"set_imu_filter":{"input":{ "imu_filter":{ "kind":"struct","type":{ "enable":{ "kind":"boolean" },"gain":{ "kind":"double" },"Q":{ "kind":"double" } } } },"output":{ },"meta":{ }},"set_ramp":{"input":{ "ramp":{ "kind":"double" } },"output":{ },"meta":{ }},"connect":{"input":{ "serial":{ "kind":"array","length":2,"type":{ "kind":"string","length":64 } },"baud":{ "kind":"unsigned long" } },"output":{ },"meta":{ "serial":{ "doc":"Serial devices","items":{ "0":{ "doc":"Main serial device","default":"/dev/ttyUSB0" },"1":{ "doc":"Optional second serial device","default":"" } } },"baud":{ "doc":"Baud rate","default":115200 } }},"disconnect":{"input":{ },"output":{ },"meta":{ }},"monitor":{"input":{ },"output":{ },"meta":{ }},"disable_motor":{"input":{ "motor":{ "kind":"unsigned short" } },"output":{ },"meta":{ }},"enable_motor":{"input":{ "motor":{ "kind":"unsigned short" } },"output":{ },"meta":{ }},"calibrate_imu":{"input":{ "tstill":{ "kind":"double" },"nposes":{ "kind":"unsigned short" } },"output":{ },"meta":{ "tstill":{ "doc":"Duration in seconds of standstill positions","default":2 },"nposes":{ "doc":"Number of different standstill positions","default":10 } }},"set_zero":{"input":{ },"output":{ },"meta":{ }},"start":{"input":{ },"output":{ },"meta":{ }},"servo":{"input":{ },"output":{ },"meta":{ }},"set_velocity":{"input":{ "desired":{ "kind":"sequence","length":8,"type":{ "kind":"double" } } },"output":{ },"meta":{ "desired":{ "doc":"Propeller velocities" } }},"set_throttle":{"input":{ "desired":{ "kind":"sequence","length":8,"type":{ "kind":"double" } } },"output":{ },"meta":{ "desired":{ "doc":"Propeller throttles" } }},"stop":{"input":{ },"output":{ },"meta":{ }},"log":{"input":{ "path":{ "kind":"string","length":64 },"decimation":{ "kind":"unsigned long" } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/mikrokopter.log" },"decimation":{ "doc":"Reduced logging frequency","default":1 } }},"log_stop":{"input":{ },"output":{ },"meta":{ }},"log_info":{"input":{ },"output":{ "miss":{ "kind":"unsigned long" },"total":{ "kind":"unsigned long" } },"meta":{ "miss":{ "doc":"Missed log entries" },"total":{ "doc":"Total log entries" } }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"rotor_measure":{"simple":1,"data":{ "rotor_measure":{ "kind":"struct","type":{ "rotor":{ "kind":"sequence","length":8,"type":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"emerg":{ "kind":"boolean" },"spinning":{ "kind":"boolean" },"starting":{ "kind":"boolean" },"disabled":{ "kind":"boolean" },"velocity":{ "kind":"double" },"throttle":{ "kind":"double" },"consumption":{ "kind":"double" },"energy_level":{ "kind":"double" } } } } } } },"meta":{}},"imu":{"simple":1,"data":{ "imu":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}}}}
17:48:36.830487:genomixd: sock1739bb0: received "get /module/mikrokopter_mk1/send/connect?s=s2&input=%7b%22serial%22%3a%5b%22/tmp/mikrokopter_1%22%2c%22%22%5d%2c%22baud%22%3a500000%7d HTTP/1.0"
17:48:36.830610:genomixd: sock1739bb0: received ""
17:48:36.830652:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:36.830709:genomixd: sock1739bb0: get /module/mikrokopter_mk1/send/connect s=s2 input={"serial":["/tmp/mikrokopter_1",""],"baud":500000}
17:48:36.830808:genomixd: sock1739bb0: reply status 200: 0
17:48:36.830922:genomixd: s2: event: request; data: {"id":"mikrokopter_mk1::0","status":"sent"}
17:48:36.830966:genomixd: s2: pushing to sock172d280 event request
17:48:37.182791:genomixd: s2: event: request; data: {"id":"mikrokopter_mk1::0","status":"done","output":{}}
17:48:37.182979:genomixd: s2: pushing to sock172d280 event request
17:48:37.213350:genomixd: sock1739bb0: received "get /module/mikrokopter_mk1/send/set_sensor_rate?s=s2&input=%7b%22rate%22%3a%7b%22imu%22%3a1000%2c%22motor%22%3a50%2c%22battery%22%3a1%7d%7d HTTP/1.0"
17:48:37.213718:genomixd: sock1739bb0: received ""
17:48:37.213881:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.214078:genomixd: sock1739bb0: get /module/mikrokopter_mk1/send/set_sensor_rate s=s2 input={"rate":{"imu":1000,"motor":50,"battery":1}}
17:48:37.214322:genomixd: sock1739bb0: reply status 200: 1
17:48:37.221026:genomixd: s2: event: request; data: {"id":"mikrokopter_mk1::1","status":"done","output":{}}
17:48:37.221320:genomixd: s2: pushing to sock172d280 event request
17:48:37.235446:genomixd: sock1739bb0: received "get /module/mrsim_mk1/clean/1?s=s2 HTTP/1.0"
17:48:37.235625:genomixd: sock1739bb0: received ""
17:48:37.235697:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.235789:genomixd: sock1739bb0: get /module/mrsim_mk1/clean/1 s=s2
17:48:37.235888:genomixd: sock1739bb0: reply status 200: 
17:48:37.244261:genomixd: sock1739bb0: received "get /module/mikrokopter_mk1/send/connect_port?s=s2&input=%7b%22local%22%3a%22rotor_input%22%2c%22remote%22%3a%22nhfc_mk1/rotor_input%22%7d HTTP/1.0"
17:48:37.244421:genomixd: sock1739bb0: received ""
17:48:37.244476:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.244548:genomixd: sock1739bb0: get /module/mikrokopter_mk1/send/connect_port s=s2 input={"local":"rotor_input","remote":"nhfc_mk1/rotor_input"}
17:48:37.244666:genomixd: sock1739bb0: reply status 200: 2
17:48:37.247948:genomixd: s2: event: request; data: {"id":"mikrokopter_mk1::2","status":"done","output":{}}
17:48:37.248074:genomixd: s2: pushing to sock172d280 event request
17:48:37.260019:genomixd: sock1739bb0: received "get /load/pom?s=s2&argv=--name%20pom_mk1 HTTP/1.0"
17:48:37.260170:genomixd: sock1739bb0: received ""
17:48:37.260220:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.260288:genomixd: sock1739bb0: get /load/pom s=s2 argv=--name pom_mk1
17:48:37.260689:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//pom.so: loaded
17:48:37.260826:genomixd: sock1739bb0: reply status 201: pom_mk1
17:48:37.261094:genomixd: sock1739bb0: received "get /module/pom_mk1/info?s=s2 HTTP/1.0"
17:48:37.261215:genomixd: sock1739bb0: received ""
17:48:37.261262:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.261313:genomixd: sock1739bb0: get /module/pom_mk1/info s=s2
17:48:37.261384:genomixd: sock1739bb0: reply status 200: {"name":"pom","instance":"pom_mk1","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"get_history_length":{"input":{ },"output":{ "history_length":{ "kind":"unsigned short" } },"meta":{ }},"set_history_length":{"input":{ "history_length":{ "kind":"unsigned short" } },"output":{ },"meta":{ }},"get_process_noise":{"input":{ },"output":{ "max_jerk":{ "kind":"double" },"max_dw":{ "kind":"double" } },"meta":{ "max_jerk":{ "doc":"Maximum jerk" },"max_dw":{ "doc":"Maximum angular acceleration" } }},"set_process_noise":{"input":{ "max_jerk":{ "kind":"double" },"max_dw":{ "kind":"double" } },"output":{ },"meta":{ "max_jerk":{ "doc":"Maximum jerk","default":200 },"max_dw":{ "doc":"Maximum angular acceleration","default":50 } }},"add_measurement":{"input":{ "port":{ "kind":"string","length":128 } },"output":{ },"meta":{ "port":{ "doc":"Input port name" } }},"replay":{"input":{ "path":{ "kind":"string","length":128 } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"pom-measurements.log" } }},"set_position":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"roll":{ "kind":"double" },"pitch":{ "kind":"double" },"yaw":{ "kind":"double" } },"output":{ },"meta":{ }},"log_state":{"input":{ "path":{ "kind":"string","length":64 },"decimation":{ "kind":"unsigned long" } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/pom.log" },"decimation":{ "doc":"Reduced logging frequency","default":1 } }},"log_measurements":{"input":{ "path":{ "kind":"string","length":64 } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/pom-measurements.log" } }},"log_stop":{"input":{ },"output":{ },"meta":{ }},"log_info":{"input":{ },"output":{ "state_miss":{ "kind":"double" },"measurements_miss":{ "kind":"double" } },"meta":{ "state_miss":{ "doc":"Missed log state rate" },"measurements_miss":{ "doc":"Missed log measurements rate" } }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"frame":{"simple":0,"data":{ "frame":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}}}}
17:48:37.312411:genomixd: sock1739bb0: received "get /module/pom_mk1/send/connect_port?s=s2&input=%7b%22local%22%3a%22measure/imu%22%2c%22remote%22%3a%22mikrokopter_mk1/imu%22%7d HTTP/1.0"
17:48:37.312518:genomixd: sock1739bb0: received ""
17:48:37.312551:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.312608:genomixd: sock1739bb0: get /module/pom_mk1/send/connect_port s=s2 input={"local":"measure/imu","remote":"mikrokopter_mk1/imu"}
17:48:37.312684:genomixd: sock1739bb0: reply status 200: 0
17:48:37.313428:genomixd: s2: event: request; data: {"id":"pom_mk1::0","status":"done","output":{}}
17:48:37.313492:genomixd: s2: pushing to sock172d280 event request
17:48:37.315818:genomixd: sock1739bb0: received "get /module/pom_mk1/send/add_measurement?s=s2&input=%7b%22port%22%3a%22imu%22%7d HTTP/1.0"
17:48:37.315931:genomixd: sock1739bb0: received ""
17:48:37.315976:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.316050:genomixd: sock1739bb0: get /module/pom_mk1/send/add_measurement s=s2 input={"port":"imu"}
17:48:37.316122:genomixd: sock1739bb0: reply status 200: 1
17:48:37.316227:genomixd: s2: event: request; data: {"id":"pom_mk1::1","status":"sent"}
17:48:37.316272:genomixd: s2: pushing to sock172d280 event request
17:48:37.316700:genomixd: s2: event: request; data: {"id":"pom_mk1::1","status":"done","output":{}}
17:48:37.316743:genomixd: s2: pushing to sock172d280 event request
17:48:37.318267:genomixd: sock1739bb0: received "get /module/mikrokopter_mk1/clean/1?s=s2 HTTP/1.0"
17:48:37.318350:genomixd: sock1739bb0: received ""
17:48:37.318381:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.318419:genomixd: sock1739bb0: get /module/mikrokopter_mk1/clean/1 s=s2
17:48:37.318465:genomixd: sock1739bb0: reply status 200: 
17:48:37.321313:genomixd: sock1739bb0: received "get /module/pom_mk1/send/connect_port?s=s2&input=%7b%22local%22%3a%22measure/state%22%2c%22remote%22%3a%22mrsim_mk1/state%22%7d HTTP/1.0"
17:48:37.321450:genomixd: sock1739bb0: received ""
17:48:37.321493:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.321550:genomixd: sock1739bb0: get /module/pom_mk1/send/connect_port s=s2 input={"local":"measure/state","remote":"mrsim_mk1/state"}
17:48:37.321640:genomixd: sock1739bb0: reply status 200: 2
17:48:37.322053:genomixd: s2: event: request; data: {"id":"pom_mk1::2","status":"done","output":{}}
17:48:37.322117:genomixd: s2: pushing to sock172d280 event request
17:48:37.325027:genomixd: sock1739bb0: received "get /module/pom_mk1/send/add_measurement?s=s2&input=%7b%22port%22%3a%22state%22%7d HTTP/1.0"
17:48:37.325148:genomixd: sock1739bb0: received ""
17:48:37.325203:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.325282:genomixd: sock1739bb0: get /module/pom_mk1/send/add_measurement s=s2 input={"port":"state"}
17:48:37.325361:genomixd: sock1739bb0: reply status 200: 3
17:48:37.330393:genomixd: s2: event: request; data: {"id":"pom_mk1::3","status":"done","output":{}}
17:48:37.330480:genomixd: s2: pushing to sock172d280 event request
17:48:37.331846:genomixd: sock1739bb0: received "get /module/pom_mk1/clean/1?s=s2 HTTP/1.0"
17:48:37.331959:genomixd: sock1739bb0: received ""
17:48:37.332001:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.332062:genomixd: sock1739bb0: get /module/pom_mk1/clean/1 s=s2
17:48:37.332116:genomixd: sock1739bb0: reply status 200: 
17:48:37.335248:genomixd: sock1739bb0: received "get /load/nhfc?s=s2&argv=--name%20nhfc_mk1 HTTP/1.0"
17:48:37.335382:genomixd: sock1739bb0: received ""
17:48:37.335418:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.335461:genomixd: sock1739bb0: get /load/nhfc s=s2 argv=--name nhfc_mk1
17:48:37.335893:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//nhfc.so: loaded
17:48:37.336003:genomixd: sock1739bb0: reply status 201: nhfc_mk1
17:48:37.336555:genomixd: sock1739bb0: received "get /module/nhfc_mk1/info?s=s2 HTTP/1.0"
17:48:37.336660:genomixd: sock1739bb0: received ""
17:48:37.336704:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.336758:genomixd: sock1739bb0: get /module/nhfc_mk1/info s=s2
17:48:37.336832:genomixd: sock1739bb0: reply status 200: {"name":"nhfc","instance":"nhfc_mk1","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"set_saturation":{"input":{ "sat":{ "kind":"struct","type":{ "x":{ "kind":"double" },"v":{ "kind":"double" },"ix":{ "kind":"double" } } } },"output":{ },"meta":{ }},"set_servo_gain":{"input":{ "gain":{ "kind":"struct","type":{ "Kpxy":{ "kind":"double" },"Kpz":{ "kind":"double" },"Kqxy":{ "kind":"double" },"Kqz":{ "kind":"double" },"Kvxy":{ "kind":"double" },"Kvz":{ "kind":"double" },"Kwxy":{ "kind":"double" },"Kwz":{ "kind":"double" },"Kixy":{ "kind":"double" },"Kiz":{ "kind":"double" } } } },"output":{ },"meta":{ }},"set_mass":{"input":{ "mass":{ "kind":"double" } },"output":{ },"meta":{ }},"set_vlimit":{"input":{ "vmin":{ "kind":"double" },"vmax":{ "kind":"double" } },"output":{ },"meta":{ }},"set_servo_geom":{"input":{ "d":{ "kind":"double" },"kf":{ "kind":"double" },"c":{ "kind":"double" } },"output":{ },"meta":{ }},"set_servo_emerg":{"input":{ "emerg":{ "kind":"struct","type":{ "descent":{ "kind":"double" },"dx":{ "kind":"double" },"dq":{ "kind":"double" },"dv":{ "kind":"double" },"dw":{ "kind":"double" } } } },"output":{ },"meta":{ }},"get_servo_parameters":{"input":{ },"output":{ "servo":{ "kind":"struct","type":{ "sat":{ "kind":"struct","type":{ "x":{ "kind":"double" },"v":{ "kind":"double" },"ix":{ "kind":"double" } } },"gain":{ "kind":"struct","type":{ "Kpxy":{ "kind":"double" },"Kpz":{ "kind":"double" },"Kqxy":{ "kind":"double" },"Kqz":{ "kind":"double" },"Kvxy":{ "kind":"double" },"Kvz":{ "kind":"double" },"Kwxy":{ "kind":"double" },"Kwz":{ "kind":"double" },"Kixy":{ "kind":"double" },"Kiz":{ "kind":"double" } } },"mass":{ "kind":"double" },"vmin":{ "kind":"double" },"vmax":{ "kind":"double" },"fmin":{ "kind":"double" },"fmax":{ "kind":"double" },"d":{ "kind":"double" },"kf":{ "kind":"double" },"c":{ "kind":"double" },"ramp":{ "kind":"double" },"emerg":{ "kind":"struct","type":{ "descent":{ "kind":"double" },"dx":{ "kind":"double" },"dq":{ "kind":"double" },"dv":{ "kind":"double" },"dw":{ "kind":"double" } } } } } },"meta":{ }},"get_desired":{"input":{ },"output":{ "desired":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{ }},"servo":{"input":{ },"output":{ },"meta":{ }},"set_state":{"input":{ "pos":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } },"vel":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } },"acc":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"output":{ },"meta":{ "pos":{ "doc":"Position" },"vel":{ "doc":"Velocity" },"acc":{ "doc":"Acceleration" } }},"set_position":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"yaw":{ "kind":"double" } },"output":{ },"meta":{ }},"set_current_position":{"input":{ },"output":{ },"meta":{ }},"stop":{"input":{ },"output":{ },"meta":{ }},"log":{"input":{ "path":{ "kind":"string","length":64 },"decimation":{ "kind":"unsigned long" } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/nhfc.log" },"decimation":{ "doc":"Reduced logging frequency","default":1 } }},"log_stop":{"input":{ },"output":{ },"meta":{ }},"log_info":{"input":{ },"output":{ "miss":{ "kind":"unsigned long" },"total":{ "kind":"unsigned long" } },"meta":{ "miss":{ "doc":"Missed log entries" },"total":{ "doc":"Total log entries" } }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"rotor_input":{"simple":1,"data":{ "rotor_input":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"control":{ "kind":"enum","values":["::or_rotorcraft::velocity","::or_rotorcraft::throttle"] },"desired":{ "kind":"sequence","length":8,"type":{ "kind":"double" } } } } },"meta":{}}}}
17:48:37.392371:genomixd: sock1739bb0: received "get /module/nhfc_mk1/send/set_mass?s=s2&input=%7b%22mass%22%3a1%7d HTTP/1.0"
17:48:37.392480:genomixd: sock1739bb0: received ""
17:48:37.392514:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.392561:genomixd: sock1739bb0: get /module/nhfc_mk1/send/set_mass s=s2 input={"mass":1}
17:48:37.392658:genomixd: sock1739bb0: reply status 200: 0
17:48:37.392793:genomixd: s2: event: request; data: {"id":"nhfc_mk1::0","status":"done","output":{}}
17:48:37.392840:genomixd: s2: pushing to sock172d280 event request
17:48:37.395348:genomixd: sock1739bb0: received "get /module/pom_mk1/clean/3?s=s2 HTTP/1.0"
17:48:37.395463:genomixd: sock1739bb0: received ""
17:48:37.395502:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.395545:genomixd: sock1739bb0: get /module/pom_mk1/clean/3 s=s2
17:48:37.395587:genomixd: sock1739bb0: reply status 200: 
17:48:37.397536:genomixd: sock1739bb0: received "get /module/nhfc_mk1/send/set_servo_gain?s=s2&input=%7b%22gain%22%3a%7b%22Kpxy%22%3a26%2c%22Kpz%22%3a32.5%2c%22Kqxy%22%3a4.2%2c%22Kqz%22%3a0.42%2c%22Kvxy%22%3a10.5%2c%22Kvz%22%3a14%2c%22Kwxy%22%3a0.42%2c%22Kwz%22%3a0.042%2c%22Kixy%22%3a0%2c%22Kiz%22%3a0%7d%7d HTTP/1.0"
17:48:37.397644:genomixd: sock1739bb0: received ""
17:48:37.397698:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.397748:genomixd: sock1739bb0: get /module/nhfc_mk1/send/set_servo_gain s=s2 input={"gain":{"Kpxy":26,"Kpz":32.5,"Kqxy":4.2,"Kqz":0.42,"Kvxy":10.5,"Kvz":14,"Kwxy":0.42,"Kwz":0.042,"Kixy":0,"Kiz":0}}
17:48:37.397826:genomixd: sock1739bb0: reply status 200: 1
17:48:37.397927:genomixd: s2: event: request; data: {"id":"nhfc_mk1::1","status":"done","output":{}}
17:48:37.397961:genomixd: s2: pushing to sock172d280 event request
17:48:37.399718:genomixd: sock1739bb0: received "get /module/nhfc_mk1/clean/0?s=s2 HTTP/1.0"
17:48:37.399829:genomixd: sock1739bb0: received ""
17:48:37.399860:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.399921:genomixd: sock1739bb0: get /module/nhfc_mk1/clean/0 s=s2
17:48:37.399973:genomixd: sock1739bb0: reply status 200: 
17:48:37.401400:genomixd: sock1739bb0: received "get /module/nhfc_mk1/send/set_servo_emerg?s=s2&input=%7b%22emerg%22%3a%7b%22descent%22%3a2%2c%22dx%22%3a0.1%2c%22dq%22%3a1%2c%22dv%22%3a0.1%2c%22dw%22%3a1%7d%7d HTTP/1.0"
17:48:37.401519:genomixd: sock1739bb0: received ""
17:48:37.401564:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.401626:genomixd: sock1739bb0: get /module/nhfc_mk1/send/set_servo_emerg s=s2 input={"emerg":{"descent":2,"dx":0.1,"dq":1,"dv":0.1,"dw":1}}
17:48:37.401706:genomixd: sock1739bb0: reply status 200: 0
17:48:37.401872:genomixd: s2: event: request; data: {"id":"nhfc_mk1::0","status":"done","output":{}}
17:48:37.401908:genomixd: s2: pushing to sock172d280 event request
17:48:37.403742:genomixd: sock1739bb0: received "get /module/nhfc_mk1/clean/1?s=s2 HTTP/1.0"
17:48:37.403857:genomixd: sock1739bb0: received ""
17:48:37.403900:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.403957:genomixd: sock1739bb0: get /module/nhfc_mk1/clean/1 s=s2
17:48:37.404018:genomixd: sock1739bb0: reply status 200: 
17:48:37.405588:genomixd: sock1739bb0: received "get /module/nhfc_mk1/send/set_saturation?s=s2&input=%7b%22sat%22%3a%7b%22x%22%3a0.1%2c%22v%22%3a0.1%2c%22ix%22%3a0.1%7d%7d HTTP/1.0"
17:48:37.405696:genomixd: sock1739bb0: received ""
17:48:37.405729:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.405802:genomixd: sock1739bb0: get /module/nhfc_mk1/send/set_saturation s=s2 input={"sat":{"x":0.1,"v":0.1,"ix":0.1}}
17:48:37.405876:genomixd: sock1739bb0: reply status 200: 1
17:48:37.406012:genomixd: s2: event: request; data: {"id":"nhfc_mk1::1","status":"done","output":{}}
17:48:37.406061:genomixd: s2: pushing to sock172d280 event request
17:48:37.407714:genomixd: sock1739bb0: received "get /module/nhfc_mk1/clean/0?s=s2 HTTP/1.0"
17:48:37.407872:genomixd: sock1739bb0: received ""
17:48:37.407927:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.407979:genomixd: sock1739bb0: get /module/nhfc_mk1/clean/0 s=s2
17:48:37.408043:genomixd: sock1739bb0: reply status 200: 
17:48:37.410894:genomixd: sock1739bb0: received "get /module/nhfc_mk1/send/connect_port?s=s2&input=%7b%22local%22%3a%22state%22%2c%22remote%22%3a%22pom_mk1/frame/robot%22%7d HTTP/1.0"
17:48:37.411464:genomixd: sock1739bb0: received ""
17:48:37.411649:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.411822:genomixd: sock1739bb0: get /module/nhfc_mk1/send/connect_port s=s2 input={"local":"state","remote":"pom_mk1/frame/robot"}
17:48:37.411908:genomixd: sock1739bb0: reply status 200: 0
17:48:37.412061:genomixd: s2: event: request; data: {"id":"nhfc_mk1::0","status":"done","output":{}}
17:48:37.412107:genomixd: s2: pushing to sock172d280 event request
17:48:37.415964:genomixd: sock1739bb0: received "get /module/nhfc_mk1/send/connect_port?s=s2&input=%7b%22local%22%3a%22reference%22%2c%22remote%22%3a%22maneuver_mk1/desired%22%7d HTTP/1.0"
17:48:37.416094:genomixd: sock1739bb0: received ""
17:48:37.416134:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.416193:genomixd: sock1739bb0: get /module/nhfc_mk1/send/connect_port s=s2 input={"local":"reference","remote":"maneuver_mk1/desired"}
17:48:37.416290:genomixd: sock1739bb0: reply status 200: 2
17:48:37.416479:genomixd: s2: event: request; data: {"id":"nhfc_mk1::2","status":"done","output":{}}
17:48:37.416535:genomixd: s2: pushing to sock172d280 event request
17:48:37.422361:genomixd: sock1739bb0: received "get /module/nhfc_mk1/send/set_position?s=s2&input=%7b%22x%22%3a0%2c%22y%22%3a0%2c%22z%22%3a0.25%2c%22yaw%22%3a1%7d HTTP/1.0"
17:48:37.422508:genomixd: sock1739bb0: received ""
17:48:37.422555:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.422618:genomixd: sock1739bb0: get /module/nhfc_mk1/send/set_position s=s2 input={"x":0,"y":0,"z":0.25,"yaw":1}
17:48:37.422711:genomixd: sock1739bb0: reply status 200: 3
17:48:37.424762:genomixd: s2: event: request; data: {"id":"nhfc_mk1::3","status":"done","output":{}}
17:48:37.425329:genomixd: s2: pushing to sock172d280 event request
17:48:37.428054:genomixd: sock1739bb0: received "get /module/nhfc_mk1/clean/1?s=s2 HTTP/1.0"
17:48:37.428176:genomixd: sock1739bb0: received ""
17:48:37.428221:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:37.428284:genomixd: sock1739bb0: get /module/nhfc_mk1/clean/1 s=s2
17:48:37.428463:genomixd: sock1739bb0: reply status 200: 
17:48:39.585679:genomixd: sock1739bb0: received "get /load/maneuver?s=s2&argv=--name%20maneuver_mk1 HTTP/1.0"
17:48:39.585868:genomixd: sock1739bb0: received ""
17:48:39.585926:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:39.586001:genomixd: sock1739bb0: get /load/maneuver s=s2 argv=--name maneuver_mk1
17:48:39.586512:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//maneuver.so: loaded
17:48:39.586679:genomixd: sock1739bb0: reply status 201: maneuver_mk1
17:48:39.590061:genomixd: sock1739bb0: received "get /module/maneuver_mk1/info?s=s2 HTTP/1.0"
17:48:39.590704:genomixd: sock1739bb0: received ""
17:48:39.591010:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:39.591291:genomixd: sock1739bb0: get /module/maneuver_mk1/info s=s2
17:48:39.591387:genomixd: sock1739bb0: reply status 200: {"name":"maneuver","instance":"maneuver_mk1","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"set_bounds":{"input":{ "xmin":{ "kind":"double" },"xmax":{ "kind":"double" },"ymin":{ "kind":"double" },"ymax":{ "kind":"double" },"zmin":{ "kind":"double" },"zmax":{ "kind":"double" },"yawmin":{ "kind":"double" },"yawmax":{ "kind":"double" } },"output":{ },"meta":{ }},"set_velocity_limit":{"input":{ "v":{ "kind":"double" },"w":{ "kind":"double" } },"output":{ },"meta":{ }},"set_acceleration_limit":{"input":{ "a":{ "kind":"double" },"dw":{ "kind":"double" } },"output":{ },"meta":{ }},"set_jerk_limit":{"input":{ "j":{ "kind":"double" },"ddw":{ "kind":"double" } },"output":{ },"meta":{ }},"set_snap_limit":{"input":{ "s":{ "kind":"double" },"dddw":{ "kind":"double" } },"output":{ },"meta":{ }},"get_limits":{"input":{ },"output":{ "xmin":{ "kind":"double" },"xmax":{ "kind":"double" },"ymin":{ "kind":"double" },"ymax":{ "kind":"double" },"zmin":{ "kind":"double" },"zmax":{ "kind":"double" },"yawmin":{ "kind":"double" },"yawmax":{ "kind":"double" },"v":{ "kind":"double" },"w":{ "kind":"double" },"a":{ "kind":"double" },"dw":{ "kind":"double" },"j":{ "kind":"double" },"ddw":{ "kind":"double" },"s":{ "kind":"double" },"dddw":{ "kind":"double" } },"meta":{ }},"set_current_state":{"input":{ },"output":{ },"meta":{ }},"take_off":{"input":{ "height":{ "kind":"double" },"duration":{ "kind":"double" } },"output":{ },"meta":{ }},"goto":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"yaw":{ "kind":"double" },"duration":{ "kind":"double" } },"output":{ },"meta":{ }},"waypoint":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"yaw":{ "kind":"double" },"vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wz":{ "kind":"double" },"ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" },"duration":{ "kind":"double" } },"output":{ },"meta":{ }},"velocity":{"input":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wz":{ "kind":"double" },"ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" },"duration":{ "kind":"double" } },"output":{ },"meta":{ }},"replay":{"input":{ "filename":{ "kind":"string","length":128 } },"output":{ },"meta":{ "filename":{ "doc":"Log file name","default":"maneuver.log" } }},"wait":{"input":{ },"output":{ },"meta":{ }},"stop":{"input":{ },"output":{ },"meta":{ }},"get_reference":{"input":{ },"output":{ "reference":{ "kind":"struct","type":{ "pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"vel":{ "kind":"array","length":6,"type":{ "kind":"double" } },"acc":{ "kind":"array","length":6,"type":{ "kind":"double" } },"jer":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } },"meta":{ }},"log":{"input":{ "path":{ "kind":"string","length":64 },"decimation":{ "kind":"unsigned long" } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/maneuver.log" },"decimation":{ "doc":"Reduced logging frequency","default":1 } }},"log_stop":{"input":{ },"output":{ },"meta":{ }},"log_info":{"input":{ },"output":{ "miss":{ "kind":"unsigned long" },"total":{ "kind":"unsigned long" } },"meta":{ "miss":{ "doc":"Missed log entries" },"total":{ "doc":"Total log entries" } }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"desired":{"simple":1,"data":{ "desired":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}}}}
17:48:39.648827:genomixd: sock1739bb0: received "get /module/maneuver_mk1/send/connect_port?s=s2&input=%7b%22local%22%3a%22state%22%2c%22remote%22%3a%22pom_mk1/frame/robot%22%7d HTTP/1.0"
17:48:39.648987:genomixd: sock1739bb0: received ""
17:48:39.649076:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:39.649159:genomixd: sock1739bb0: get /module/maneuver_mk1/send/connect_port s=s2 input={"local":"state","remote":"pom_mk1/frame/robot"}
17:48:39.649281:genomixd: sock1739bb0: reply status 200: 0
17:48:39.649495:genomixd: s2: event: request; data: {"id":"maneuver_mk1::0","status":"done","output":{}}
17:48:39.649566:genomixd: s2: pushing to sock172d280 event request
17:48:39.653600:genomixd: sock1739bb0: received "get /module/maneuver_mk1/send/set_bounds?s=s2&input=%7b%22xmin%22%3a-10%2c%22xmax%22%3a10%2c%22ymin%22%3a-10%2c%22ymax%22%3a10%2c%22zmin%22%3a0%2c%22zmax%22%3a10%2c%22yawmin%22%3a-12%2c%22yawmax%22%3a12%7d HTTP/1.0"
17:48:39.653811:genomixd: sock1739bb0: received ""
17:48:39.653867:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:39.653932:genomixd: sock1739bb0: get /module/maneuver_mk1/send/set_bounds s=s2 input={"xmin":-10,"xmax":10,"ymin":-10,"ymax":10,"zmin":0,"zmax":10,"yawmin":-12,"yawmax":12}
17:48:39.654063:genomixd: sock1739bb0: reply status 200: 1
17:48:39.654573:genomixd: s2: event: request; data: {"id":"maneuver_mk1::1","status":"done","output":{}}
17:48:39.654670:genomixd: s2: pushing to sock172d280 event request
17:48:39.657354:genomixd: sock1739bb0: received "get /module/maneuver_mk1/clean/0?s=s2 HTTP/1.0"
17:48:39.657504:genomixd: sock1739bb0: received ""
17:48:39.657549:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:39.657613:genomixd: sock1739bb0: get /module/maneuver_mk1/clean/0 s=s2
17:48:39.657670:genomixd: sock1739bb0: reply status 200: 
17:48:40.161782:genomixd: sock1739bb0: received "get /module/mikrokopter_mk1/send/get_battery?s=s2&input=%7b%7d HTTP/1.0"
17:48:40.161942:genomixd: sock1739bb0: received ""
17:48:40.161990:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:40.162061:genomixd: sock1739bb0: get /module/mikrokopter_mk1/send/get_battery s=s2 input={}
17:48:40.162169:genomixd: sock1739bb0: reply status 200: 1
17:48:40.162372:genomixd: s2: event: request; data: {"id":"mikrokopter_mk1::1","status":"done","output":{"battery":{"min":14,"max":16.8,"level":16}}}
17:48:40.162436:genomixd: s2: pushing to sock172d280 event request
17:48:40.168456:genomixd: sock1739bb0: received "get /module/nhfc_mk1/clean/3?s=s2 HTTP/1.0"
17:48:40.168601:genomixd: sock1739bb0: received ""
17:48:40.168655:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:40.168750:genomixd: sock1739bb0: get /module/nhfc_mk1/clean/3 s=s2
17:48:40.168831:genomixd: sock1739bb0: reply status 200: 
17:48:40.169417:genomixd: sock1739bb0: received "get /module/mikrokopter_mk1/clean/1?s=s2 HTTP/1.0"
17:48:40.169537:genomixd: sock1739bb0: received ""
17:48:40.169589:genomixd: sock1739bb0: processing request on sock1739bb0
17:48:40.169658:genomixd: sock1739bb0: get /module/mikrokopter_mk1/clean/1 s=s2
17:48:40.169746:genomixd: sock1739bb0: reply status 200: 
17:48:40.175059:genomixd: connection from 127.0.0.1:44066 on sock170b180
17:48:40.175279:genomixd: sock170b180: received "get /version HTTP/1.0"
17:48:40.175380:genomixd: sock170b180: received ""
17:48:40.175437:genomixd: sock170b180: processing request on sock170b180
17:48:40.175511:genomixd: sock170b180: get /version
17:48:40.175578:genomixd: sock170b180: reply status 200: 1.6.2
17:48:40.175816:genomixd: sock170b180: received "get /session/start?s= HTTP/1.0"
17:48:40.175912:genomixd: sock170b180: received ""
17:48:40.175963:genomixd: sock170b180: processing request on sock170b180
17:48:40.176043:genomixd: sock170b180: get /session/start s=
17:48:40.176108:genomixd: sock170b180: new session s3
17:48:40.176164:genomixd: sock170b180: reply status 200: s3
17:48:40.176597:genomixd: connection from 127.0.0.1:44068 on sock172db80
17:48:40.176755:genomixd: sock172db80: received "get /session/listen?s=s3 HTTP/1.0"
17:48:40.176874:genomixd: sock172db80: received ""
17:48:40.176922:genomixd: sock172db80: processing request on sock172db80
17:48:40.176996:genomixd: sock172db80: get /session/listen s=s3
17:48:40.177071:genomixd: sock172db80: listening session s3
17:48:40.177135:genomixd: sock172db80: set to streaming mode
17:48:40.180126:genomixd: sock170b180: received "get /rpath//opt/openrobots/lib/genom/pocolibs/plugins?s=s3 HTTP/1.0"
17:48:40.180448:genomixd: sock170b180: received ""
17:48:40.180511:genomixd: sock170b180: processing request on sock170b180
17:48:40.180598:genomixd: sock170b180: get /rpath//opt/openrobots/lib/genom/pocolibs/plugins s=s3
17:48:40.180690:genomixd: sock170b180: reply status 200: 
17:48:40.184342:genomixd: sock170b180: received "get /load/mrsim?s=s3&argv=--name%20mrsim_mk2 HTTP/1.0"
17:48:40.184530:genomixd: sock170b180: received ""
17:48:40.184610:genomixd: sock170b180: processing request on sock170b180
17:48:40.184686:genomixd: sock170b180: get /load/mrsim s=s3 argv=--name mrsim_mk2
17:48:40.184793:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//mrsim.so: loaded
17:48:40.184912:genomixd: sock170b180: reply status 201: mrsim_mk2
17:48:40.185194:genomixd: sock170b180: received "get /module/mrsim_mk2/info?s=s3 HTTP/1.0"
17:48:40.185327:genomixd: sock170b180: received ""
17:48:40.185383:genomixd: sock170b180: processing request on sock170b180
17:48:40.185449:genomixd: sock170b180: get /module/mrsim_mk2/info s=s3
17:48:40.185535:genomixd: sock170b180: reply status 200: {"name":"mrsim","instance":"mrsim_mk2","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"set_gps_period":{"input":{ "gpsp":{ "kind":"double" } },"output":{ },"meta":{ }},"set_external_disturbance":{"input":{ "disturb":{ "kind":"struct","type":{ "force":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" } } },"torque":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" } } },"zmin":{ "kind":"double" },"zmax":{ "kind":"double" },"noise":{ "kind":"double" },"period":{ "kind":"double" } } } },"output":{ },"meta":{ }},"get_external_disturbance":{"input":{ },"output":{ "disturb":{ "kind":"struct","type":{ "force":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" } } },"torque":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" } } },"zmin":{ "kind":"double" },"zmax":{ "kind":"double" },"noise":{ "kind":"double" },"period":{ "kind":"double" } } } },"meta":{ }},"set_pty":{"input":{ "device":{ "kind":"string","length":64 } },"output":{ },"meta":{ }},"set_state":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"yaw":{ "kind":"double" },"pitch":{ "kind":"double" },"roll":{ "kind":"double" },"vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } },"output":{ },"meta":{ }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"gps":{"simple":1,"data":{ "gps":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}},"state":{"simple":1,"data":{ "state":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}}}}
17:48:40.197488:genomixd: sock170b180: received "get /module/mrsim_mk2/send/set_pty?s=s3&input=%7b%22device%22%3a%22/tmp/mikrokopter_2%22%7d HTTP/1.0"
17:48:40.197650:genomixd: sock170b180: received ""
17:48:40.197719:genomixd: sock170b180: processing request on sock170b180
17:48:40.197814:genomixd: sock170b180: get /module/mrsim_mk2/send/set_pty s=s3 input={"device":"/tmp/mikrokopter_2"}
17:48:40.197926:genomixd: sock170b180: reply status 200: 0
17:48:40.199171:genomixd: s3: event: request; data: {"id":"mrsim_mk2::0","status":"sent"}
17:48:40.199288:genomixd: s3: pushing to sock172db80 event request
17:48:40.199579:genomixd: s3: event: request; data: {"id":"mrsim_mk2::0","status":"done","output":{}}
17:48:40.199670:genomixd: s3: pushing to sock172db80 event request
17:48:40.205176:genomixd: sock170b180: received "get /module/mrsim_mk2/send/set_state?s=s3&input=%7b%22x%22%3a0%2c%22y%22%3a2%2c%22z%22%3a0.25%2c%22yaw%22%3a0%2c%22pitch%22%3a0%2c%22roll%22%3a0%2c%22vx%22%3a0%2c%22vy%22%3a0%2c%22vz%22%3a0%2c%22wx%22%3a0%2c%22wy%22%3a0%2c%22wz%22%3a0%7d HTTP/1.0"
17:48:40.205366:genomixd: sock170b180: received ""
17:48:40.205431:genomixd: sock170b180: processing request on sock170b180
17:48:40.205530:genomixd: sock170b180: get /module/mrsim_mk2/send/set_state s=s3 input={"x":0,"y":2,"z":0.25,"yaw":0,"pitch":0,"roll":0,"vx":0,"vy":0,"vz":0,"wx":0,"wy":0,"wz":0}
17:48:40.205658:genomixd: sock170b180: reply status 200: 1
17:48:40.205861:genomixd: s3: event: request; data: {"id":"mrsim_mk2::1","status":"sent"}
17:48:40.205924:genomixd: s3: pushing to sock172db80 event request
17:48:40.207216:genomixd: s3: event: request; data: {"id":"mrsim_mk2::1","status":"done","output":{}}
17:48:40.207338:genomixd: s3: pushing to sock172db80 event request
17:48:40.209505:genomixd: sock170b180: received "get /module/mrsim_mk2/clean/0?s=s3 HTTP/1.0"
17:48:40.209673:genomixd: sock170b180: received ""
17:48:40.209741:genomixd: sock170b180: processing request on sock170b180
17:48:40.209825:genomixd: sock170b180: get /module/mrsim_mk2/clean/0 s=s3
17:48:40.209918:genomixd: sock170b180: reply status 200: 
17:48:40.214190:genomixd: sock170b180: received "get /load/mikrokopter?s=s3&argv=-i%20mikrokopter_mk2 HTTP/1.0"
17:48:40.214338:genomixd: sock170b180: received ""
17:48:40.214409:genomixd: sock170b180: processing request on sock170b180
17:48:40.214495:genomixd: sock170b180: get /load/mikrokopter s=s3 argv=-i mikrokopter_mk2
17:48:40.214580:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//mikrokopter.so: loaded
17:48:40.214688:genomixd: sock170b180: reply status 201: mikrokopter_mk2
17:48:40.214977:genomixd: sock170b180: received "get /module/mikrokopter_mk2/info?s=s3 HTTP/1.0"
17:48:40.215077:genomixd: sock170b180: received ""
17:48:40.215132:genomixd: sock170b180: processing request on sock170b180
17:48:40.215208:genomixd: sock170b180: get /module/mikrokopter_mk2/info s=s3
17:48:40.215353:genomixd: sock170b180: reply status 200: {"name":"mikrokopter","instance":"mikrokopter_mk2","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"get_sensor_rate":{"input":{ },"output":{ "rate":{ "kind":"struct","type":{ "imu":{ "kind":"double" },"motor":{ "kind":"double" },"battery":{ "kind":"double" } } } },"meta":{ "rate":{ "items":{ "imu":{ "doc":"Accelerometer and gyroscopes measurement frequency" },"motor":{ "doc":"Various motor data measurement frequency" },"battery":{ "doc":"Battery level measurement frequency" } } } }},"set_sensor_rate":{"input":{ "rate":{ "kind":"struct","type":{ "imu":{ "kind":"double" },"motor":{ "kind":"double" },"battery":{ "kind":"double" } } } },"output":{ },"meta":{ "rate":{ "items":{ "imu":{ "doc":"Accelerometer and gyroscopes measurement frequency","default":1000 },"motor":{ "doc":"Various motor data measurement frequency","default":50 },"battery":{ "doc":"Battery level measurement frequency","default":1 } } } }},"get_battery":{"input":{ },"output":{ "battery":{ "kind":"struct","type":{ "min":{ "kind":"double" },"max":{ "kind":"double" },"level":{ "kind":"double" } } } },"meta":{ "battery":{ "items":{ "min":{ "doc":"Minimum acceptable battery voltage" },"max":{ "doc":"Full battery voltage" },"level":{ "doc":"Current battery voltage" } } } }},"set_battery_limits":{"input":{ "min":{ "kind":"double" },"max":{ "kind":"double" } },"output":{ },"meta":{ "min":{ "doc":"Minimum acceptable battery voltage","default":14 },"max":{ "doc":"Full battery voltage","default":16.7 } }},"get_imu_calibration":{"input":{ },"output":{ "imu_calibration":{ "kind":"struct","type":{ "gscale":{ "kind":"array","length":9,"type":{ "kind":"double" } },"gbias":{ "kind":"array","length":3,"type":{ "kind":"double" } },"gstddev":{ "kind":"array","length":3,"type":{ "kind":"double" } },"ascale":{ "kind":"array","length":9,"type":{ "kind":"double" } },"abias":{ "kind":"array","length":3,"type":{ "kind":"double" } },"astddev":{ "kind":"array","length":3,"type":{ "kind":"double" } } } } },"meta":{ "imu_calibration":{ "items":{ "gscale":{ "doc":"Gyroscopes 3�3 scaling matrix (row major)" },"gbias":{ "doc":"Gyroscopes bias vector" },"gstddev":{ "doc":"Gyroscopes measurement noise" },"ascale":{ "doc":"Accelerometers 3�3 scaling matrix (row major)" },"abias":{ "doc":"Accelerometers bias vector" },"astddev":{ "doc":"Accelerometers measurement noise" } } } }},"set_imu_calibration":{"input":{ "imu_calibration":{ "kind":"struct","type":{ "gscale":{ "kind":"array","length":9,"type":{ "kind":"double" } },"gbias":{ "kind":"array","length":3,"type":{ "kind":"double" } },"gstddev":{ "kind":"array","length":3,"type":{ "kind":"double" } },"ascale":{ "kind":"array","length":9,"type":{ "kind":"double" } },"abias":{ "kind":"array","length":3,"type":{ "kind":"double" } },"astddev":{ "kind":"array","length":3,"type":{ "kind":"double" } } } } },"output":{ },"meta":{ "imu_calibration":{ "items":{ "gscale":{ "doc":"Gyroscopes 3�3 scaling matrix (row major)" },"gbias":{ "doc":"Gyroscopes bias vector" },"gstddev":{ "doc":"Gyroscopes measurement noise" },"ascale":{ "doc":"Accelerometers 3�3 scaling matrix (row major)" },"abias":{ "doc":"Accelerometers bias vector" },"astddev":{ "doc":"Accelerometers measurement noise" } } } }},"get_imu_filter":{"input":{ },"output":{ "imu_filter":{ "kind":"struct","type":{ "enable":{ "kind":"boolean" },"gain":{ "kind":"double" },"Q":{ "kind":"double" } } } },"meta":{ }},"set_imu_filter":{"input":{ "imu_filter":{ "kind":"struct","type":{ "enable":{ "kind":"boolean" },"gain":{ "kind":"double" },"Q":{ "kind":"double" } } } },"output":{ },"meta":{ }},"set_ramp":{"input":{ "ramp":{ "kind":"double" } },"output":{ },"meta":{ }},"connect":{"input":{ "serial":{ "kind":"array","length":2,"type":{ "kind":"string","length":64 } },"baud":{ "kind":"unsigned long" } },"output":{ },"meta":{ "serial":{ "doc":"Serial devices","items":{ "0":{ "doc":"Main serial device","default":"/dev/ttyUSB0" },"1":{ "doc":"Optional second serial device","default":"" } } },"baud":{ "doc":"Baud rate","default":115200 } }},"disconnect":{"input":{ },"output":{ },"meta":{ }},"monitor":{"input":{ },"output":{ },"meta":{ }},"disable_motor":{"input":{ "motor":{ "kind":"unsigned short" } },"output":{ },"meta":{ }},"enable_motor":{"input":{ "motor":{ "kind":"unsigned short" } },"output":{ },"meta":{ }},"calibrate_imu":{"input":{ "tstill":{ "kind":"double" },"nposes":{ "kind":"unsigned short" } },"output":{ },"meta":{ "tstill":{ "doc":"Duration in seconds of standstill positions","default":2 },"nposes":{ "doc":"Number of different standstill positions","default":10 } }},"set_zero":{"input":{ },"output":{ },"meta":{ }},"start":{"input":{ },"output":{ },"meta":{ }},"servo":{"input":{ },"output":{ },"meta":{ }},"set_velocity":{"input":{ "desired":{ "kind":"sequence","length":8,"type":{ "kind":"double" } } },"output":{ },"meta":{ "desired":{ "doc":"Propeller velocities" } }},"set_throttle":{"input":{ "desired":{ "kind":"sequence","length":8,"type":{ "kind":"double" } } },"output":{ },"meta":{ "desired":{ "doc":"Propeller throttles" } }},"stop":{"input":{ },"output":{ },"meta":{ }},"log":{"input":{ "path":{ "kind":"string","length":64 },"decimation":{ "kind":"unsigned long" } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/mikrokopter.log" },"decimation":{ "doc":"Reduced logging frequency","default":1 } }},"log_stop":{"input":{ },"output":{ },"meta":{ }},"log_info":{"input":{ },"output":{ "miss":{ "kind":"unsigned long" },"total":{ "kind":"unsigned long" } },"meta":{ "miss":{ "doc":"Missed log entries" },"total":{ "doc":"Total log entries" } }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"rotor_measure":{"simple":1,"data":{ "rotor_measure":{ "kind":"struct","type":{ "rotor":{ "kind":"sequence","length":8,"type":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"emerg":{ "kind":"boolean" },"spinning":{ "kind":"boolean" },"starting":{ "kind":"boolean" },"disabled":{ "kind":"boolean" },"velocity":{ "kind":"double" },"throttle":{ "kind":"double" },"consumption":{ "kind":"double" },"energy_level":{ "kind":"double" } } } } } } },"meta":{}},"imu":{"simple":1,"data":{ "imu":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}}}}
17:48:40.275343:genomixd: sock170b180: received "get /module/mikrokopter_mk2/send/connect?s=s3&input=%7b%22serial%22%3a%5b%22/tmp/mikrokopter_2%22%2c%22%22%5d%2c%22baud%22%3a500000%7d HTTP/1.0"
17:48:40.275516:genomixd: sock170b180: received ""
17:48:40.275579:genomixd: sock170b180: processing request on sock170b180
17:48:40.275646:genomixd: sock170b180: get /module/mikrokopter_mk2/send/connect s=s3 input={"serial":["/tmp/mikrokopter_2",""],"baud":500000}
17:48:40.275762:genomixd: sock170b180: reply status 200: 0
17:48:40.275943:genomixd: s3: event: request; data: {"id":"mikrokopter_mk2::0","status":"sent"}
17:48:40.276024:genomixd: s3: pushing to sock172db80 event request
17:48:40.687013:genomixd: s3: event: request; data: {"id":"mikrokopter_mk2::0","status":"done","output":{}}
17:48:40.687146:genomixd: s3: pushing to sock172db80 event request
17:48:40.691473:genomixd: sock170b180: received "get /module/mikrokopter_mk2/send/set_sensor_rate?s=s3&input=%7b%22rate%22%3a%7b%22imu%22%3a1000%2c%22motor%22%3a50%2c%22battery%22%3a1%7d%7d HTTP/1.0"
17:48:40.691693:genomixd: sock170b180: received ""
17:48:40.691760:genomixd: sock170b180: processing request on sock170b180
17:48:40.691846:genomixd: sock170b180: get /module/mikrokopter_mk2/send/set_sensor_rate s=s3 input={"rate":{"imu":1000,"motor":50,"battery":1}}
17:48:40.691986:genomixd: sock170b180: reply status 200: 1
17:48:40.693311:genomixd: s3: event: request; data: {"id":"mikrokopter_mk2::1","status":"done","output":{}}
17:48:40.693430:genomixd: s3: pushing to sock172db80 event request
17:48:40.695455:genomixd: sock170b180: received "get /module/mrsim_mk2/clean/1?s=s3 HTTP/1.0"
17:48:40.695630:genomixd: sock170b180: received ""
17:48:40.695692:genomixd: sock170b180: processing request on sock170b180
17:48:40.695770:genomixd: sock170b180: get /module/mrsim_mk2/clean/1 s=s3
17:48:40.695863:genomixd: sock170b180: reply status 200: 
17:48:40.703316:genomixd: sock170b180: received "get /module/mikrokopter_mk2/send/connect_port?s=s3&input=%7b%22local%22%3a%22rotor_input%22%2c%22remote%22%3a%22nhfc_mk2/rotor_input%22%7d HTTP/1.0"
17:48:40.703530:genomixd: sock170b180: received ""
17:48:40.703591:genomixd: sock170b180: processing request on sock170b180
17:48:40.703662:genomixd: sock170b180: get /module/mikrokopter_mk2/send/connect_port s=s3 input={"local":"rotor_input","remote":"nhfc_mk2/rotor_input"}
17:48:40.703794:genomixd: sock170b180: reply status 200: 2
17:48:40.705406:genomixd: s3: event: request; data: {"id":"mikrokopter_mk2::2","status":"done","output":{}}
17:48:40.705506:genomixd: s3: pushing to sock172db80 event request
17:48:40.709889:genomixd: sock170b180: received "get /load/pom?s=s3&argv=--name%20pom_mk2 HTTP/1.0"
17:48:40.710033:genomixd: sock170b180: received ""
17:48:40.710093:genomixd: sock170b180: processing request on sock170b180
17:48:40.710192:genomixd: sock170b180: get /load/pom s=s3 argv=--name pom_mk2
17:48:40.710333:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//pom.so: loaded
17:48:40.710490:genomixd: sock170b180: reply status 201: pom_mk2
17:48:40.710907:genomixd: sock170b180: received "get /module/pom_mk2/info?s=s3 HTTP/1.0"
17:48:40.711060:genomixd: sock170b180: received ""
17:48:40.711127:genomixd: sock170b180: processing request on sock170b180
17:48:40.711233:genomixd: sock170b180: get /module/pom_mk2/info s=s3
17:48:40.711355:genomixd: sock170b180: reply status 200: {"name":"pom","instance":"pom_mk2","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"get_history_length":{"input":{ },"output":{ "history_length":{ "kind":"unsigned short" } },"meta":{ }},"set_history_length":{"input":{ "history_length":{ "kind":"unsigned short" } },"output":{ },"meta":{ }},"get_process_noise":{"input":{ },"output":{ "max_jerk":{ "kind":"double" },"max_dw":{ "kind":"double" } },"meta":{ "max_jerk":{ "doc":"Maximum jerk" },"max_dw":{ "doc":"Maximum angular acceleration" } }},"set_process_noise":{"input":{ "max_jerk":{ "kind":"double" },"max_dw":{ "kind":"double" } },"output":{ },"meta":{ "max_jerk":{ "doc":"Maximum jerk","default":200 },"max_dw":{ "doc":"Maximum angular acceleration","default":50 } }},"add_measurement":{"input":{ "port":{ "kind":"string","length":128 } },"output":{ },"meta":{ "port":{ "doc":"Input port name" } }},"replay":{"input":{ "path":{ "kind":"string","length":128 } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"pom-measurements.log" } }},"set_position":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"roll":{ "kind":"double" },"pitch":{ "kind":"double" },"yaw":{ "kind":"double" } },"output":{ },"meta":{ }},"log_state":{"input":{ "path":{ "kind":"string","length":64 },"decimation":{ "kind":"unsigned long" } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/pom.log" },"decimation":{ "doc":"Reduced logging frequency","default":1 } }},"log_measurements":{"input":{ "path":{ "kind":"string","length":64 } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/pom-measurements.log" } }},"log_stop":{"input":{ },"output":{ },"meta":{ }},"log_info":{"input":{ },"output":{ "state_miss":{ "kind":"double" },"measurements_miss":{ "kind":"double" } },"meta":{ "state_miss":{ "doc":"Missed log state rate" },"measurements_miss":{ "doc":"Missed log measurements rate" } }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"frame":{"simple":0,"data":{ "frame":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}}}}
17:48:40.764952:genomixd: sock170b180: received "get /module/pom_mk2/send/connect_port?s=s3&input=%7b%22local%22%3a%22measure/imu%22%2c%22remote%22%3a%22mikrokopter_mk2/imu%22%7d HTTP/1.0"
17:48:40.765134:genomixd: sock170b180: received ""
17:48:40.765231:genomixd: sock170b180: processing request on sock170b180
17:48:40.765335:genomixd: sock170b180: get /module/pom_mk2/send/connect_port s=s3 input={"local":"measure/imu","remote":"mikrokopter_mk2/imu"}
17:48:40.765472:genomixd: sock170b180: reply status 200: 0
17:48:40.765681:genomixd: s3: event: request; data: {"id":"pom_mk2::0","status":"done","output":{}}
17:48:40.765773:genomixd: s3: pushing to sock172db80 event request
17:48:40.768641:genomixd: sock170b180: received "get /module/pom_mk2/send/add_measurement?s=s3&input=%7b%22port%22%3a%22imu%22%7d HTTP/1.0"
17:48:40.768824:genomixd: sock170b180: received ""
17:48:40.768901:genomixd: sock170b180: processing request on sock170b180
17:48:40.769005:genomixd: sock170b180: get /module/pom_mk2/send/add_measurement s=s3 input={"port":"imu"}
17:48:40.769136:genomixd: sock170b180: reply status 200: 1
17:48:40.770035:genomixd: s3: event: request; data: {"id":"pom_mk2::1","status":"sent"}
17:48:40.770122:genomixd: s3: pushing to sock172db80 event request
17:48:40.770978:genomixd: s3: event: request; data: {"id":"pom_mk2::1","status":"done","output":{}}
17:48:40.771066:genomixd: s3: pushing to sock172db80 event request
17:48:40.772439:genomixd: sock170b180: received "get /module/mikrokopter_mk2/clean/1?s=s3 HTTP/1.0"
17:48:40.772608:genomixd: sock170b180: received ""
17:48:40.772666:genomixd: sock170b180: processing request on sock170b180
17:48:40.772744:genomixd: sock170b180: get /module/mikrokopter_mk2/clean/1 s=s3
17:48:40.772845:genomixd: sock170b180: reply status 200: 
17:48:40.776249:genomixd: sock170b180: received "get /module/pom_mk2/send/connect_port?s=s3&input=%7b%22local%22%3a%22measure/state%22%2c%22remote%22%3a%22mrsim_mk2/state%22%7d HTTP/1.0"
17:48:40.776411:genomixd: sock170b180: received ""
17:48:40.776467:genomixd: sock170b180: processing request on sock170b180
17:48:40.776539:genomixd: sock170b180: get /module/pom_mk2/send/connect_port s=s3 input={"local":"measure/state","remote":"mrsim_mk2/state"}
17:48:40.776680:genomixd: sock170b180: reply status 200: 2
17:48:40.777314:genomixd: s3: event: request; data: {"id":"pom_mk2::2","status":"done","output":{}}
17:48:40.777411:genomixd: s3: pushing to sock172db80 event request
17:48:40.780123:genomixd: sock170b180: received "get /module/pom_mk2/send/add_measurement?s=s3&input=%7b%22port%22%3a%22state%22%7d HTTP/1.0"
17:48:40.780370:genomixd: sock170b180: received ""
17:48:40.780450:genomixd: sock170b180: processing request on sock170b180
17:48:40.780535:genomixd: sock170b180: get /module/pom_mk2/send/add_measurement s=s3 input={"port":"state"}
17:48:40.780684:genomixd: sock170b180: reply status 200: 3
17:48:40.781200:genomixd: s3: event: request; data: {"id":"pom_mk2::3","status":"sent"}
17:48:40.781295:genomixd: s3: pushing to sock172db80 event request
17:48:40.785142:genomixd: s3: event: request; data: {"id":"pom_mk2::3","status":"done","output":{}}
17:48:40.785329:genomixd: s3: pushing to sock172db80 event request
17:48:40.790084:genomixd: sock170b180: received "get /module/pom_mk2/clean/1?s=s3 HTTP/1.0"
17:48:40.790251:genomixd: sock170b180: received ""
17:48:40.790313:genomixd: sock170b180: processing request on sock170b180
17:48:40.790395:genomixd: sock170b180: get /module/pom_mk2/clean/1 s=s3
17:48:40.790470:genomixd: sock170b180: reply status 200: 
17:48:40.795562:genomixd: sock170b180: received "get /load/nhfc?s=s3&argv=--name%20nhfc_mk2 HTTP/1.0"
17:48:40.795726:genomixd: sock170b180: received ""
17:48:40.795791:genomixd: sock170b180: processing request on sock170b180
17:48:40.795872:genomixd: sock170b180: get /load/nhfc s=s3 argv=--name nhfc_mk2
17:48:40.795979:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//nhfc.so: loaded
17:48:40.796161:genomixd: sock170b180: reply status 201: nhfc_mk2
17:48:40.796996:genomixd: sock170b180: received "get /module/nhfc_mk2/info?s=s3 HTTP/1.0"
17:48:40.797130:genomixd: sock170b180: received ""
17:48:40.797188:genomixd: sock170b180: processing request on sock170b180
17:48:40.797287:genomixd: sock170b180: get /module/nhfc_mk2/info s=s3
17:48:40.797411:genomixd: sock170b180: reply status 200: {"name":"nhfc","instance":"nhfc_mk2","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"set_saturation":{"input":{ "sat":{ "kind":"struct","type":{ "x":{ "kind":"double" },"v":{ "kind":"double" },"ix":{ "kind":"double" } } } },"output":{ },"meta":{ }},"set_servo_gain":{"input":{ "gain":{ "kind":"struct","type":{ "Kpxy":{ "kind":"double" },"Kpz":{ "kind":"double" },"Kqxy":{ "kind":"double" },"Kqz":{ "kind":"double" },"Kvxy":{ "kind":"double" },"Kvz":{ "kind":"double" },"Kwxy":{ "kind":"double" },"Kwz":{ "kind":"double" },"Kixy":{ "kind":"double" },"Kiz":{ "kind":"double" } } } },"output":{ },"meta":{ }},"set_mass":{"input":{ "mass":{ "kind":"double" } },"output":{ },"meta":{ }},"set_vlimit":{"input":{ "vmin":{ "kind":"double" },"vmax":{ "kind":"double" } },"output":{ },"meta":{ }},"set_servo_geom":{"input":{ "d":{ "kind":"double" },"kf":{ "kind":"double" },"c":{ "kind":"double" } },"output":{ },"meta":{ }},"set_servo_emerg":{"input":{ "emerg":{ "kind":"struct","type":{ "descent":{ "kind":"double" },"dx":{ "kind":"double" },"dq":{ "kind":"double" },"dv":{ "kind":"double" },"dw":{ "kind":"double" } } } },"output":{ },"meta":{ }},"get_servo_parameters":{"input":{ },"output":{ "servo":{ "kind":"struct","type":{ "sat":{ "kind":"struct","type":{ "x":{ "kind":"double" },"v":{ "kind":"double" },"ix":{ "kind":"double" } } },"gain":{ "kind":"struct","type":{ "Kpxy":{ "kind":"double" },"Kpz":{ "kind":"double" },"Kqxy":{ "kind":"double" },"Kqz":{ "kind":"double" },"Kvxy":{ "kind":"double" },"Kvz":{ "kind":"double" },"Kwxy":{ "kind":"double" },"Kwz":{ "kind":"double" },"Kixy":{ "kind":"double" },"Kiz":{ "kind":"double" } } },"mass":{ "kind":"double" },"vmin":{ "kind":"double" },"vmax":{ "kind":"double" },"fmin":{ "kind":"double" },"fmax":{ "kind":"double" },"d":{ "kind":"double" },"kf":{ "kind":"double" },"c":{ "kind":"double" },"ramp":{ "kind":"double" },"emerg":{ "kind":"struct","type":{ "descent":{ "kind":"double" },"dx":{ "kind":"double" },"dq":{ "kind":"double" },"dv":{ "kind":"double" },"dw":{ "kind":"double" } } } } } },"meta":{ }},"get_desired":{"input":{ },"output":{ "desired":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{ }},"servo":{"input":{ },"output":{ },"meta":{ }},"set_state":{"input":{ "pos":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } },"vel":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } },"acc":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"output":{ },"meta":{ "pos":{ "doc":"Position" },"vel":{ "doc":"Velocity" },"acc":{ "doc":"Acceleration" } }},"set_position":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"yaw":{ "kind":"double" } },"output":{ },"meta":{ }},"set_current_position":{"input":{ },"output":{ },"meta":{ }},"stop":{"input":{ },"output":{ },"meta":{ }},"log":{"input":{ "path":{ "kind":"string","length":64 },"decimation":{ "kind":"unsigned long" } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/nhfc.log" },"decimation":{ "doc":"Reduced logging frequency","default":1 } }},"log_stop":{"input":{ },"output":{ },"meta":{ }},"log_info":{"input":{ },"output":{ "miss":{ "kind":"unsigned long" },"total":{ "kind":"unsigned long" } },"meta":{ "miss":{ "doc":"Missed log entries" },"total":{ "doc":"Total log entries" } }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"rotor_input":{"simple":1,"data":{ "rotor_input":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"control":{ "kind":"enum","values":["::or_rotorcraft::velocity","::or_rotorcraft::throttle"] },"desired":{ "kind":"sequence","length":8,"type":{ "kind":"double" } } } } },"meta":{}}}}
17:48:40.853442:genomixd: sock170b180: received "get /module/nhfc_mk2/send/set_mass?s=s3&input=%7b%22mass%22%3a1%7d HTTP/1.0"
17:48:40.853571:genomixd: sock170b180: received ""
17:48:40.853621:genomixd: sock170b180: processing request on sock170b180
17:48:40.853693:genomixd: sock170b180: get /module/nhfc_mk2/send/set_mass s=s3 input={"mass":1}
17:48:40.853794:genomixd: sock170b180: reply status 200: 0
17:48:40.853915:genomixd: s3: event: request; data: {"id":"nhfc_mk2::0","status":"done","output":{}}
17:48:40.853962:genomixd: s3: pushing to sock172db80 event request
17:48:40.855368:genomixd: sock170b180: received "get /module/pom_mk2/clean/3?s=s3 HTTP/1.0"
17:48:40.855494:genomixd: sock170b180: received ""
17:48:40.855543:genomixd: sock170b180: processing request on sock170b180
17:48:40.855607:genomixd: sock170b180: get /module/pom_mk2/clean/3 s=s3
17:48:40.855694:genomixd: sock170b180: reply status 200: 
17:48:40.857205:genomixd: sock170b180: received "get /module/nhfc_mk2/send/set_servo_gain?s=s3&input=%7b%22gain%22%3a%7b%22Kpxy%22%3a26%2c%22Kpz%22%3a32.5%2c%22Kqxy%22%3a4.2%2c%22Kqz%22%3a0.42%2c%22Kvxy%22%3a10.5%2c%22Kvz%22%3a14%2c%22Kwxy%22%3a0.42%2c%22Kwz%22%3a0.042%2c%22Kixy%22%3a0%2c%22Kiz%22%3a0%7d%7d HTTP/1.0"
17:48:40.857356:genomixd: sock170b180: received ""
17:48:40.857412:genomixd: sock170b180: processing request on sock170b180
17:48:40.857471:genomixd: sock170b180: get /module/nhfc_mk2/send/set_servo_gain s=s3 input={"gain":{"Kpxy":26,"Kpz":32.5,"Kqxy":4.2,"Kqz":0.42,"Kvxy":10.5,"Kvz":14,"Kwxy":0.42,"Kwz":0.042,"Kixy":0,"Kiz":0}}
17:48:40.857556:genomixd: sock170b180: reply status 200: 1
17:48:40.857678:genomixd: s3: event: request; data: {"id":"nhfc_mk2::1","status":"done","output":{}}
17:48:40.857732:genomixd: s3: pushing to sock172db80 event request
17:48:40.859274:genomixd: sock170b180: received "get /module/nhfc_mk2/clean/0?s=s3 HTTP/1.0"
17:48:40.859416:genomixd: sock170b180: received ""
17:48:40.859469:genomixd: sock170b180: processing request on sock170b180
17:48:40.859528:genomixd: sock170b180: get /module/nhfc_mk2/clean/0 s=s3
17:48:40.859589:genomixd: sock170b180: reply status 200: 
17:48:40.862781:genomixd: sock170b180: received "get /module/nhfc_mk2/send/set_servo_emerg?s=s3&input=%7b%22emerg%22%3a%7b%22descent%22%3a2%2c%22dx%22%3a0.1%2c%22dq%22%3a1%2c%22dv%22%3a0.1%2c%22dw%22%3a1%7d%7d HTTP/1.0"
17:48:40.863102:genomixd: sock170b180: received ""
17:48:40.863549:genomixd: sock170b180: processing request on sock170b180
17:48:40.863717:genomixd: sock170b180: get /module/nhfc_mk2/send/set_servo_emerg s=s3 input={"emerg":{"descent":2,"dx":0.1,"dq":1,"dv":0.1,"dw":1}}
17:48:40.863821:genomixd: sock170b180: reply status 200: 0
17:48:40.866959:genomixd: s3: event: request; data: {"id":"nhfc_mk2::0","status":"done","output":{}}
17:48:40.867323:genomixd: s3: pushing to sock172db80 event request
17:48:40.869542:genomixd: sock170b180: received "get /module/nhfc_mk2/clean/1?s=s3 HTTP/1.0"
17:48:40.869664:genomixd: sock170b180: received ""
17:48:40.869704:genomixd: sock170b180: processing request on sock170b180
17:48:40.869760:genomixd: sock170b180: get /module/nhfc_mk2/clean/1 s=s3
17:48:40.869845:genomixd: sock170b180: reply status 200: 
17:48:40.870804:genomixd: sock170b180: received "get /module/nhfc_mk2/send/set_saturation?s=s3&input=%7b%22sat%22%3a%7b%22x%22%3a0.1%2c%22v%22%3a0.1%2c%22ix%22%3a0.1%7d%7d HTTP/1.0"
17:48:40.870902:genomixd: sock170b180: received ""
17:48:40.870948:genomixd: sock170b180: processing request on sock170b180
17:48:40.871002:genomixd: sock170b180: get /module/nhfc_mk2/send/set_saturation s=s3 input={"sat":{"x":0.1,"v":0.1,"ix":0.1}}
17:48:40.871078:genomixd: sock170b180: reply status 200: 1
17:48:40.871200:genomixd: s3: event: request; data: {"id":"nhfc_mk2::1","status":"done","output":{}}
17:48:40.871249:genomixd: s3: pushing to sock172db80 event request
17:48:40.872496:genomixd: sock170b180: received "get /module/nhfc_mk2/clean/0?s=s3 HTTP/1.0"
17:48:40.872610:genomixd: sock170b180: received ""
17:48:40.872648:genomixd: sock170b180: processing request on sock170b180
17:48:40.872706:genomixd: sock170b180: get /module/nhfc_mk2/clean/0 s=s3
17:48:40.872777:genomixd: sock170b180: reply status 200: 
17:48:40.874094:genomixd: sock170b180: received "get /module/nhfc_mk2/send/connect_port?s=s3&input=%7b%22local%22%3a%22state%22%2c%22remote%22%3a%22pom_mk2/frame/robot%22%7d HTTP/1.0"
17:48:40.874213:genomixd: sock170b180: received ""
17:48:40.874257:genomixd: sock170b180: processing request on sock170b180
17:48:40.874327:genomixd: sock170b180: get /module/nhfc_mk2/send/connect_port s=s3 input={"local":"state","remote":"pom_mk2/frame/robot"}
17:48:40.874408:genomixd: sock170b180: reply status 200: 0
17:48:40.874566:genomixd: s3: event: request; data: {"id":"nhfc_mk2::0","status":"done","output":{}}
17:48:40.874617:genomixd: s3: pushing to sock172db80 event request
17:48:40.877627:genomixd: sock170b180: received "get /module/nhfc_mk2/send/connect_port?s=s3&input=%7b%22local%22%3a%22reference%22%2c%22remote%22%3a%22maneuver_mk2/desired%22%7d HTTP/1.0"
17:48:40.877787:genomixd: sock170b180: received ""
17:48:40.877826:genomixd: sock170b180: processing request on sock170b180
17:48:40.877874:genomixd: sock170b180: get /module/nhfc_mk2/send/connect_port s=s3 input={"local":"reference","remote":"maneuver_mk2/desired"}
17:48:40.877963:genomixd: sock170b180: reply status 200: 2
17:48:40.878089:genomixd: s3: event: request; data: {"id":"nhfc_mk2::2","status":"done","output":{}}
17:48:40.878142:genomixd: s3: pushing to sock172db80 event request
17:48:40.881042:genomixd: sock170b180: received "get /module/nhfc_mk2/send/set_position?s=s3&input=%7b%22x%22%3a0%2c%22y%22%3a2%2c%22z%22%3a0.25%2c%22yaw%22%3a0%7d HTTP/1.0"
17:48:40.881186:genomixd: sock170b180: received ""
17:48:40.881238:genomixd: sock170b180: processing request on sock170b180
17:48:40.881289:genomixd: sock170b180: get /module/nhfc_mk2/send/set_position s=s3 input={"x":0,"y":2,"z":0.25,"yaw":0}
17:48:40.881373:genomixd: sock170b180: reply status 200: 3
17:48:40.882540:genomixd: s3: event: request; data: {"id":"nhfc_mk2::3","status":"done","output":{}}
17:48:40.882634:genomixd: s3: pushing to sock172db80 event request
17:48:40.884035:genomixd: sock170b180: received "get /module/nhfc_mk2/clean/1?s=s3 HTTP/1.0"
17:48:40.884179:genomixd: sock170b180: received ""
17:48:40.884229:genomixd: sock170b180: processing request on sock170b180
17:48:40.884283:genomixd: sock170b180: get /module/nhfc_mk2/clean/1 s=s3
17:48:40.884356:genomixd: sock170b180: reply status 200: 
17:48:43.201989:genomixd: sock170b180: received "get /load/maneuver?s=s3&argv=--name%20maneuver_mk2 HTTP/1.0"
17:48:43.202161:genomixd: sock170b180: received ""
17:48:43.202246:genomixd: sock170b180: processing request on sock170b180
17:48:43.202322:genomixd: sock170b180: get /load/maneuver s=s3 argv=--name maneuver_mk2
17:48:43.202433:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//maneuver.so: loaded
17:48:43.202559:genomixd: sock170b180: reply status 201: maneuver_mk2
17:48:43.205800:genomixd: sock170b180: received "get /module/maneuver_mk2/info?s=s3 HTTP/1.0"
17:48:43.206165:genomixd: sock170b180: received ""
17:48:43.206266:genomixd: sock170b180: processing request on sock170b180
17:48:43.206389:genomixd: sock170b180: get /module/maneuver_mk2/info s=s3
17:48:43.206598:genomixd: sock170b180: reply status 200: {"name":"maneuver","instance":"maneuver_mk2","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"set_bounds":{"input":{ "xmin":{ "kind":"double" },"xmax":{ "kind":"double" },"ymin":{ "kind":"double" },"ymax":{ "kind":"double" },"zmin":{ "kind":"double" },"zmax":{ "kind":"double" },"yawmin":{ "kind":"double" },"yawmax":{ "kind":"double" } },"output":{ },"meta":{ }},"set_velocity_limit":{"input":{ "v":{ "kind":"double" },"w":{ "kind":"double" } },"output":{ },"meta":{ }},"set_acceleration_limit":{"input":{ "a":{ "kind":"double" },"dw":{ "kind":"double" } },"output":{ },"meta":{ }},"set_jerk_limit":{"input":{ "j":{ "kind":"double" },"ddw":{ "kind":"double" } },"output":{ },"meta":{ }},"set_snap_limit":{"input":{ "s":{ "kind":"double" },"dddw":{ "kind":"double" } },"output":{ },"meta":{ }},"get_limits":{"input":{ },"output":{ "xmin":{ "kind":"double" },"xmax":{ "kind":"double" },"ymin":{ "kind":"double" },"ymax":{ "kind":"double" },"zmin":{ "kind":"double" },"zmax":{ "kind":"double" },"yawmin":{ "kind":"double" },"yawmax":{ "kind":"double" },"v":{ "kind":"double" },"w":{ "kind":"double" },"a":{ "kind":"double" },"dw":{ "kind":"double" },"j":{ "kind":"double" },"ddw":{ "kind":"double" },"s":{ "kind":"double" },"dddw":{ "kind":"double" } },"meta":{ }},"set_current_state":{"input":{ },"output":{ },"meta":{ }},"take_off":{"input":{ "height":{ "kind":"double" },"duration":{ "kind":"double" } },"output":{ },"meta":{ }},"goto":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"yaw":{ "kind":"double" },"duration":{ "kind":"double" } },"output":{ },"meta":{ }},"waypoint":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"yaw":{ "kind":"double" },"vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wz":{ "kind":"double" },"ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" },"duration":{ "kind":"double" } },"output":{ },"meta":{ }},"velocity":{"input":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wz":{ "kind":"double" },"ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" },"duration":{ "kind":"double" } },"output":{ },"meta":{ }},"replay":{"input":{ "filename":{ "kind":"string","length":128 } },"output":{ },"meta":{ "filename":{ "doc":"Log file name","default":"maneuver.log" } }},"wait":{"input":{ },"output":{ },"meta":{ }},"stop":{"input":{ },"output":{ },"meta":{ }},"get_reference":{"input":{ },"output":{ "reference":{ "kind":"struct","type":{ "pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"vel":{ "kind":"array","length":6,"type":{ "kind":"double" } },"acc":{ "kind":"array","length":6,"type":{ "kind":"double" } },"jer":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } },"meta":{ }},"log":{"input":{ "path":{ "kind":"string","length":64 },"decimation":{ "kind":"unsigned long" } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/maneuver.log" },"decimation":{ "doc":"Reduced logging frequency","default":1 } }},"log_stop":{"input":{ },"output":{ },"meta":{ }},"log_info":{"input":{ },"output":{ "miss":{ "kind":"unsigned long" },"total":{ "kind":"unsigned long" } },"meta":{ "miss":{ "doc":"Missed log entries" },"total":{ "doc":"Total log entries" } }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"desired":{"simple":1,"data":{ "desired":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}}}}
17:48:43.262434:genomixd: sock170b180: received "get /module/maneuver_mk2/send/connect_port?s=s3&input=%7b%22local%22%3a%22state%22%2c%22remote%22%3a%22pom_mk2/frame/robot%22%7d HTTP/1.0"
17:48:43.262587:genomixd: sock170b180: received ""
17:48:43.262635:genomixd: sock170b180: processing request on sock170b180
17:48:43.262696:genomixd: sock170b180: get /module/maneuver_mk2/send/connect_port s=s3 input={"local":"state","remote":"pom_mk2/frame/robot"}
17:48:43.262815:genomixd: sock170b180: reply status 200: 0
17:48:43.263001:genomixd: s3: event: request; data: {"id":"maneuver_mk2::0","status":"done","output":{}}
17:48:43.263071:genomixd: s3: pushing to sock172db80 event request
17:48:43.266629:genomixd: sock170b180: received "get /module/maneuver_mk2/send/set_bounds?s=s3&input=%7b%22xmin%22%3a-10%2c%22xmax%22%3a10%2c%22ymin%22%3a-10%2c%22ymax%22%3a10%2c%22zmin%22%3a0%2c%22zmax%22%3a10%2c%22yawmin%22%3a-12%2c%22yawmax%22%3a12%7d HTTP/1.0"
17:48:43.266837:genomixd: sock170b180: received ""
17:48:43.266905:genomixd: sock170b180: processing request on sock170b180
17:48:43.266985:genomixd: sock170b180: get /module/maneuver_mk2/send/set_bounds s=s3 input={"xmin":-10,"xmax":10,"ymin":-10,"ymax":10,"zmin":0,"zmax":10,"yawmin":-12,"yawmax":12}
17:48:43.267078:genomixd: sock170b180: reply status 200: 1
17:48:43.267603:genomixd: s3: event: request; data: {"id":"maneuver_mk2::1","status":"done","output":{}}
17:48:43.267663:genomixd: s3: pushing to sock172db80 event request
17:48:43.269761:genomixd: sock170b180: received "get /module/maneuver_mk2/clean/0?s=s3 HTTP/1.0"
17:48:43.269905:genomixd: sock170b180: received ""
17:48:43.269971:genomixd: sock170b180: processing request on sock170b180
17:48:43.270054:genomixd: sock170b180: get /module/maneuver_mk2/clean/0 s=s3
17:48:43.270170:genomixd: sock170b180: reply status 200: 
17:48:43.772187:genomixd: sock170b180: received "get /module/mikrokopter_mk2/send/get_battery?s=s3&input=%7b%7d HTTP/1.0"
17:48:43.772336:genomixd: sock170b180: received ""
17:48:43.772398:genomixd: sock170b180: processing request on sock170b180
17:48:43.772471:genomixd: sock170b180: get /module/mikrokopter_mk2/send/get_battery s=s3 input={}
17:48:43.772582:genomixd: sock170b180: reply status 200: 1
17:48:43.772778:genomixd: s3: event: request; data: {"id":"mikrokopter_mk2::1","status":"done","output":{"battery":{"min":14,"max":16.8,"level":16}}}
17:48:43.772837:genomixd: s3: pushing to sock172db80 event request
17:48:43.775563:genomixd: sock170b180: received "get /module/nhfc_mk2/clean/3?s=s3 HTTP/1.0"
17:48:43.775693:genomixd: sock170b180: received ""
17:48:43.775740:genomixd: sock170b180: processing request on sock170b180
17:48:43.775806:genomixd: sock170b180: get /module/nhfc_mk2/clean/3 s=s3
17:48:43.775869:genomixd: sock170b180: reply status 200: 
17:48:43.776256:genomixd: sock170b180: received "get /module/mikrokopter_mk2/clean/1?s=s3 HTTP/1.0"
17:48:43.776345:genomixd: sock170b180: received ""
17:48:43.776391:genomixd: sock170b180: processing request on sock170b180
17:48:43.776451:genomixd: sock170b180: get /module/mikrokopter_mk2/clean/1 s=s3
17:48:43.776522:genomixd: sock170b180: reply status 200: 
17:48:43.780254:genomixd: connection from 127.0.0.1:44072 on sock16b5a90
17:48:43.780444:genomixd: sock16b5a90: received "get /version HTTP/1.0"
17:48:43.780529:genomixd: sock16b5a90: received ""
17:48:43.780589:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:43.780651:genomixd: sock16b5a90: get /version
17:48:43.780709:genomixd: sock16b5a90: reply status 200: 1.6.2
17:48:43.780914:genomixd: sock16b5a90: received "get /session/start?s= HTTP/1.0"
17:48:43.780991:genomixd: sock16b5a90: received ""
17:48:43.781034:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:43.781090:genomixd: sock16b5a90: get /session/start s=
17:48:43.781139:genomixd: sock16b5a90: new session s4
17:48:43.781198:genomixd: sock16b5a90: reply status 200: s4
17:48:43.781520:genomixd: connection from 127.0.0.1:44074 on sock170aa00
17:48:43.781662:genomixd: sock170aa00: received "get /session/listen?s=s4 HTTP/1.0"
17:48:43.781742:genomixd: sock170aa00: received ""
17:48:43.781790:genomixd: sock170aa00: processing request on sock170aa00
17:48:43.781851:genomixd: sock170aa00: get /session/listen s=s4
17:48:43.781915:genomixd: sock170aa00: listening session s4
17:48:43.781962:genomixd: sock170aa00: set to streaming mode
17:48:43.782754:genomixd: sock16b5a90: received "get /rpath//opt/openrobots/lib/genom/pocolibs/plugins?s=s4 HTTP/1.0"
17:48:43.782910:genomixd: sock16b5a90: received ""
17:48:43.782962:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:43.783024:genomixd: sock16b5a90: get /rpath//opt/openrobots/lib/genom/pocolibs/plugins s=s4
17:48:43.783102:genomixd: sock16b5a90: reply status 200: 
17:48:43.787560:genomixd: sock16b5a90: received "get /load/mrsim?s=s4&argv=--name%20mrsim_mk3 HTTP/1.0"
17:48:43.787726:genomixd: sock16b5a90: received ""
17:48:43.787780:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:43.787847:genomixd: sock16b5a90: get /load/mrsim s=s4 argv=--name mrsim_mk3
17:48:43.787943:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//mrsim.so: loaded
17:48:43.788086:genomixd: sock16b5a90: reply status 201: mrsim_mk3
17:48:43.788879:genomixd: sock16b5a90: received "get /module/mrsim_mk3/info?s=s4 HTTP/1.0"
17:48:43.789000:genomixd: sock16b5a90: received ""
17:48:43.789052:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:43.789122:genomixd: sock16b5a90: get /module/mrsim_mk3/info s=s4
17:48:43.789205:genomixd: sock16b5a90: reply status 200: {"name":"mrsim","instance":"mrsim_mk3","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"set_gps_period":{"input":{ "gpsp":{ "kind":"double" } },"output":{ },"meta":{ }},"set_external_disturbance":{"input":{ "disturb":{ "kind":"struct","type":{ "force":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" } } },"torque":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" } } },"zmin":{ "kind":"double" },"zmax":{ "kind":"double" },"noise":{ "kind":"double" },"period":{ "kind":"double" } } } },"output":{ },"meta":{ }},"get_external_disturbance":{"input":{ },"output":{ "disturb":{ "kind":"struct","type":{ "force":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" } } },"torque":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" } } },"zmin":{ "kind":"double" },"zmax":{ "kind":"double" },"noise":{ "kind":"double" },"period":{ "kind":"double" } } } },"meta":{ }},"set_pty":{"input":{ "device":{ "kind":"string","length":64 } },"output":{ },"meta":{ }},"set_state":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"yaw":{ "kind":"double" },"pitch":{ "kind":"double" },"roll":{ "kind":"double" },"vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } },"output":{ },"meta":{ }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"gps":{"simple":1,"data":{ "gps":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}},"state":{"simple":1,"data":{ "state":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}}}}
17:48:43.797522:genomixd: sock16b5a90: received "get /module/mrsim_mk3/send/set_pty?s=s4&input=%7b%22device%22%3a%22/tmp/mikrokopter_3%22%7d HTTP/1.0"
17:48:43.797632:genomixd: sock16b5a90: received ""
17:48:43.797678:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:43.797749:genomixd: sock16b5a90: get /module/mrsim_mk3/send/set_pty s=s4 input={"device":"/tmp/mikrokopter_3"}
17:48:43.797862:genomixd: sock16b5a90: reply status 200: 0
17:48:43.798006:genomixd: s4: event: request; data: {"id":"mrsim_mk3::0","status":"sent"}
17:48:43.798053:genomixd: s4: pushing to sock170aa00 event request
17:48:43.799354:genomixd: s4: event: request; data: {"id":"mrsim_mk3::0","status":"done","output":{}}
17:48:43.799433:genomixd: s4: pushing to sock170aa00 event request
17:48:43.803261:genomixd: sock16b5a90: received "get /module/mrsim_mk3/send/set_state?s=s4&input=%7b%22x%22%3a1%2c%22y%22%3a1%2c%22z%22%3a0.25%2c%22yaw%22%3a0%2c%22pitch%22%3a0%2c%22roll%22%3a0%2c%22vx%22%3a0%2c%22vy%22%3a0%2c%22vz%22%3a0%2c%22wx%22%3a0%2c%22wy%22%3a0%2c%22wz%22%3a0%7d HTTP/1.0"
17:48:43.803902:genomixd: sock16b5a90: received ""
17:48:43.804160:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:43.804302:genomixd: sock16b5a90: get /module/mrsim_mk3/send/set_state s=s4 input={"x":1,"y":1,"z":0.25,"yaw":0,"pitch":0,"roll":0,"vx":0,"vy":0,"vz":0,"wx":0,"wy":0,"wz":0}
17:48:43.804414:genomixd: sock16b5a90: reply status 200: 1
17:48:43.804816:genomixd: s4: event: request; data: {"id":"mrsim_mk3::1","status":"sent"}
17:48:43.804881:genomixd: s4: pushing to sock170aa00 event request
17:48:43.806577:genomixd: s4: event: request; data: {"id":"mrsim_mk3::1","status":"done","output":{}}
17:48:43.806689:genomixd: s4: pushing to sock170aa00 event request
17:48:43.808354:genomixd: sock16b5a90: received "get /module/mrsim_mk3/clean/0?s=s4 HTTP/1.0"
17:48:43.809020:genomixd: sock16b5a90: received ""
17:48:43.809101:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:43.809173:genomixd: sock16b5a90: get /module/mrsim_mk3/clean/0 s=s4
17:48:43.809266:genomixd: sock16b5a90: reply status 200: 
17:48:43.811318:genomixd: sock16b5a90: received "get /load/mikrokopter?s=s4&argv=-i%20mikrokopter_mk3 HTTP/1.0"
17:48:43.811486:genomixd: sock16b5a90: received ""
17:48:43.811549:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:43.811622:genomixd: sock16b5a90: get /load/mikrokopter s=s4 argv=-i mikrokopter_mk3
17:48:43.811733:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//mikrokopter.so: loaded
17:48:43.811885:genomixd: sock16b5a90: reply status 201: mikrokopter_mk3
17:48:43.812100:genomixd: sock16b5a90: received "get /module/mikrokopter_mk3/info?s=s4 HTTP/1.0"
17:48:43.812194:genomixd: sock16b5a90: received ""
17:48:43.812247:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:43.812307:genomixd: sock16b5a90: get /module/mikrokopter_mk3/info s=s4
17:48:43.812407:genomixd: sock16b5a90: reply status 200: {"name":"mikrokopter","instance":"mikrokopter_mk3","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"get_sensor_rate":{"input":{ },"output":{ "rate":{ "kind":"struct","type":{ "imu":{ "kind":"double" },"motor":{ "kind":"double" },"battery":{ "kind":"double" } } } },"meta":{ "rate":{ "items":{ "imu":{ "doc":"Accelerometer and gyroscopes measurement frequency" },"motor":{ "doc":"Various motor data measurement frequency" },"battery":{ "doc":"Battery level measurement frequency" } } } }},"set_sensor_rate":{"input":{ "rate":{ "kind":"struct","type":{ "imu":{ "kind":"double" },"motor":{ "kind":"double" },"battery":{ "kind":"double" } } } },"output":{ },"meta":{ "rate":{ "items":{ "imu":{ "doc":"Accelerometer and gyroscopes measurement frequency","default":1000 },"motor":{ "doc":"Various motor data measurement frequency","default":50 },"battery":{ "doc":"Battery level measurement frequency","default":1 } } } }},"get_battery":{"input":{ },"output":{ "battery":{ "kind":"struct","type":{ "min":{ "kind":"double" },"max":{ "kind":"double" },"level":{ "kind":"double" } } } },"meta":{ "battery":{ "items":{ "min":{ "doc":"Minimum acceptable battery voltage" },"max":{ "doc":"Full battery voltage" },"level":{ "doc":"Current battery voltage" } } } }},"set_battery_limits":{"input":{ "min":{ "kind":"double" },"max":{ "kind":"double" } },"output":{ },"meta":{ "min":{ "doc":"Minimum acceptable battery voltage","default":14 },"max":{ "doc":"Full battery voltage","default":16.7 } }},"get_imu_calibration":{"input":{ },"output":{ "imu_calibration":{ "kind":"struct","type":{ "gscale":{ "kind":"array","length":9,"type":{ "kind":"double" } },"gbias":{ "kind":"array","length":3,"type":{ "kind":"double" } },"gstddev":{ "kind":"array","length":3,"type":{ "kind":"double" } },"ascale":{ "kind":"array","length":9,"type":{ "kind":"double" } },"abias":{ "kind":"array","length":3,"type":{ "kind":"double" } },"astddev":{ "kind":"array","length":3,"type":{ "kind":"double" } } } } },"meta":{ "imu_calibration":{ "items":{ "gscale":{ "doc":"Gyroscopes 3�3 scaling matrix (row major)" },"gbias":{ "doc":"Gyroscopes bias vector" },"gstddev":{ "doc":"Gyroscopes measurement noise" },"ascale":{ "doc":"Accelerometers 3�3 scaling matrix (row major)" },"abias":{ "doc":"Accelerometers bias vector" },"astddev":{ "doc":"Accelerometers measurement noise" } } } }},"set_imu_calibration":{"input":{ "imu_calibration":{ "kind":"struct","type":{ "gscale":{ "kind":"array","length":9,"type":{ "kind":"double" } },"gbias":{ "kind":"array","length":3,"type":{ "kind":"double" } },"gstddev":{ "kind":"array","length":3,"type":{ "kind":"double" } },"ascale":{ "kind":"array","length":9,"type":{ "kind":"double" } },"abias":{ "kind":"array","length":3,"type":{ "kind":"double" } },"astddev":{ "kind":"array","length":3,"type":{ "kind":"double" } } } } },"output":{ },"meta":{ "imu_calibration":{ "items":{ "gscale":{ "doc":"Gyroscopes 3�3 scaling matrix (row major)" },"gbias":{ "doc":"Gyroscopes bias vector" },"gstddev":{ "doc":"Gyroscopes measurement noise" },"ascale":{ "doc":"Accelerometers 3�3 scaling matrix (row major)" },"abias":{ "doc":"Accelerometers bias vector" },"astddev":{ "doc":"Accelerometers measurement noise" } } } }},"get_imu_filter":{"input":{ },"output":{ "imu_filter":{ "kind":"struct","type":{ "enable":{ "kind":"boolean" },"gain":{ "kind":"double" },"Q":{ "kind":"double" } } } },"meta":{ }},"set_imu_filter":{"input":{ "imu_filter":{ "kind":"struct","type":{ "enable":{ "kind":"boolean" },"gain":{ "kind":"double" },"Q":{ "kind":"double" } } } },"output":{ },"meta":{ }},"set_ramp":{"input":{ "ramp":{ "kind":"double" } },"output":{ },"meta":{ }},"connect":{"input":{ "serial":{ "kind":"array","length":2,"type":{ "kind":"string","length":64 } },"baud":{ "kind":"unsigned long" } },"output":{ },"meta":{ "serial":{ "doc":"Serial devices","items":{ "0":{ "doc":"Main serial device","default":"/dev/ttyUSB0" },"1":{ "doc":"Optional second serial device","default":"" } } },"baud":{ "doc":"Baud rate","default":115200 } }},"disconnect":{"input":{ },"output":{ },"meta":{ }},"monitor":{"input":{ },"output":{ },"meta":{ }},"disable_motor":{"input":{ "motor":{ "kind":"unsigned short" } },"output":{ },"meta":{ }},"enable_motor":{"input":{ "motor":{ "kind":"unsigned short" } },"output":{ },"meta":{ }},"calibrate_imu":{"input":{ "tstill":{ "kind":"double" },"nposes":{ "kind":"unsigned short" } },"output":{ },"meta":{ "tstill":{ "doc":"Duration in seconds of standstill positions","default":2 },"nposes":{ "doc":"Number of different standstill positions","default":10 } }},"set_zero":{"input":{ },"output":{ },"meta":{ }},"start":{"input":{ },"output":{ },"meta":{ }},"servo":{"input":{ },"output":{ },"meta":{ }},"set_velocity":{"input":{ "desired":{ "kind":"sequence","length":8,"type":{ "kind":"double" } } },"output":{ },"meta":{ "desired":{ "doc":"Propeller velocities" } }},"set_throttle":{"input":{ "desired":{ "kind":"sequence","length":8,"type":{ "kind":"double" } } },"output":{ },"meta":{ "desired":{ "doc":"Propeller throttles" } }},"stop":{"input":{ },"output":{ },"meta":{ }},"log":{"input":{ "path":{ "kind":"string","length":64 },"decimation":{ "kind":"unsigned long" } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/mikrokopter.log" },"decimation":{ "doc":"Reduced logging frequency","default":1 } }},"log_stop":{"input":{ },"output":{ },"meta":{ }},"log_info":{"input":{ },"output":{ "miss":{ "kind":"unsigned long" },"total":{ "kind":"unsigned long" } },"meta":{ "miss":{ "doc":"Missed log entries" },"total":{ "doc":"Total log entries" } }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"rotor_measure":{"simple":1,"data":{ "rotor_measure":{ "kind":"struct","type":{ "rotor":{ "kind":"sequence","length":8,"type":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"emerg":{ "kind":"boolean" },"spinning":{ "kind":"boolean" },"starting":{ "kind":"boolean" },"disabled":{ "kind":"boolean" },"velocity":{ "kind":"double" },"throttle":{ "kind":"double" },"consumption":{ "kind":"double" },"energy_level":{ "kind":"double" } } } } } } },"meta":{}},"imu":{"simple":1,"data":{ "imu":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}}}}
17:48:43.877949:genomixd: sock16b5a90: received "get /module/mikrokopter_mk3/send/connect?s=s4&input=%7b%22serial%22%3a%5b%22/tmp/mikrokopter_3%22%2c%22%22%5d%2c%22baud%22%3a500000%7d HTTP/1.0"
17:48:43.878113:genomixd: sock16b5a90: received ""
17:48:43.878164:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:43.878244:genomixd: sock16b5a90: get /module/mikrokopter_mk3/send/connect s=s4 input={"serial":["/tmp/mikrokopter_3",""],"baud":500000}
17:48:43.878349:genomixd: sock16b5a90: reply status 200: 0
17:48:43.878495:genomixd: s4: event: request; data: {"id":"mikrokopter_mk3::0","status":"sent"}
17:48:43.878538:genomixd: s4: pushing to sock170aa00 event request
17:48:44.211754:genomixd: s4: event: request; data: {"id":"mikrokopter_mk3::0","status":"done","output":{}}
17:48:44.211842:genomixd: s4: pushing to sock170aa00 event request
17:48:44.215156:genomixd: sock16b5a90: received "get /module/mikrokopter_mk3/send/set_sensor_rate?s=s4&input=%7b%22rate%22%3a%7b%22imu%22%3a1000%2c%22motor%22%3a50%2c%22battery%22%3a1%7d%7d HTTP/1.0"
17:48:44.215411:genomixd: sock16b5a90: received ""
17:48:44.215471:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.215538:genomixd: sock16b5a90: get /module/mikrokopter_mk3/send/set_sensor_rate s=s4 input={"rate":{"imu":1000,"motor":50,"battery":1}}
17:48:44.215626:genomixd: sock16b5a90: reply status 200: 1
17:48:44.217136:genomixd: s4: event: request; data: {"id":"mikrokopter_mk3::1","status":"done","output":{}}
17:48:44.217255:genomixd: s4: pushing to sock170aa00 event request
17:48:44.218936:genomixd: sock16b5a90: received "get /module/mrsim_mk3/clean/1?s=s4 HTTP/1.0"
17:48:44.219067:genomixd: sock16b5a90: received ""
17:48:44.219128:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.219205:genomixd: sock16b5a90: get /module/mrsim_mk3/clean/1 s=s4
17:48:44.219296:genomixd: sock16b5a90: reply status 200: 
17:48:44.224250:genomixd: sock16b5a90: received "get /module/mikrokopter_mk3/send/connect_port?s=s4&input=%7b%22local%22%3a%22rotor_input%22%2c%22remote%22%3a%22nhfc_mk3/rotor_input%22%7d HTTP/1.0"
17:48:44.224438:genomixd: sock16b5a90: received ""
17:48:44.224516:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.224612:genomixd: sock16b5a90: get /module/mikrokopter_mk3/send/connect_port s=s4 input={"local":"rotor_input","remote":"nhfc_mk3/rotor_input"}
17:48:44.224728:genomixd: sock16b5a90: reply status 200: 2
17:48:44.227715:genomixd: s4: event: request; data: {"id":"mikrokopter_mk3::2","status":"done","output":{}}
17:48:44.227830:genomixd: s4: pushing to sock170aa00 event request
17:48:44.230952:genomixd: sock16b5a90: received "get /load/pom?s=s4&argv=--name%20pom_mk3 HTTP/1.0"
17:48:44.231072:genomixd: sock16b5a90: received ""
17:48:44.231127:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.231215:genomixd: sock16b5a90: get /load/pom s=s4 argv=--name pom_mk3
17:48:44.231323:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//pom.so: loaded
17:48:44.231433:genomixd: sock16b5a90: reply status 201: pom_mk3
17:48:44.231656:genomixd: sock16b5a90: received "get /module/pom_mk3/info?s=s4 HTTP/1.0"
17:48:44.231727:genomixd: sock16b5a90: received ""
17:48:44.231776:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.231821:genomixd: sock16b5a90: get /module/pom_mk3/info s=s4
17:48:44.231886:genomixd: sock16b5a90: reply status 200: {"name":"pom","instance":"pom_mk3","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"get_history_length":{"input":{ },"output":{ "history_length":{ "kind":"unsigned short" } },"meta":{ }},"set_history_length":{"input":{ "history_length":{ "kind":"unsigned short" } },"output":{ },"meta":{ }},"get_process_noise":{"input":{ },"output":{ "max_jerk":{ "kind":"double" },"max_dw":{ "kind":"double" } },"meta":{ "max_jerk":{ "doc":"Maximum jerk" },"max_dw":{ "doc":"Maximum angular acceleration" } }},"set_process_noise":{"input":{ "max_jerk":{ "kind":"double" },"max_dw":{ "kind":"double" } },"output":{ },"meta":{ "max_jerk":{ "doc":"Maximum jerk","default":200 },"max_dw":{ "doc":"Maximum angular acceleration","default":50 } }},"add_measurement":{"input":{ "port":{ "kind":"string","length":128 } },"output":{ },"meta":{ "port":{ "doc":"Input port name" } }},"replay":{"input":{ "path":{ "kind":"string","length":128 } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"pom-measurements.log" } }},"set_position":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"roll":{ "kind":"double" },"pitch":{ "kind":"double" },"yaw":{ "kind":"double" } },"output":{ },"meta":{ }},"log_state":{"input":{ "path":{ "kind":"string","length":64 },"decimation":{ "kind":"unsigned long" } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/pom.log" },"decimation":{ "doc":"Reduced logging frequency","default":1 } }},"log_measurements":{"input":{ "path":{ "kind":"string","length":64 } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/pom-measurements.log" } }},"log_stop":{"input":{ },"output":{ },"meta":{ }},"log_info":{"input":{ },"output":{ "state_miss":{ "kind":"double" },"measurements_miss":{ "kind":"double" } },"meta":{ "state_miss":{ "doc":"Missed log state rate" },"measurements_miss":{ "doc":"Missed log measurements rate" } }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"frame":{"simple":0,"data":{ "frame":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{}}}}
17:48:44.281797:genomixd: sock16b5a90: received "get /module/pom_mk3/send/connect_port?s=s4&input=%7b%22local%22%3a%22measure/imu%22%2c%22remote%22%3a%22mikrokopter_mk3/imu%22%7d HTTP/1.0"
17:48:44.281953:genomixd: sock16b5a90: received ""
17:48:44.282008:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.282085:genomixd: sock16b5a90: get /module/pom_mk3/send/connect_port s=s4 input={"local":"measure/imu","remote":"mikrokopter_mk3/imu"}
17:48:44.282191:genomixd: sock16b5a90: reply status 200: 0
17:48:44.282416:genomixd: s4: event: request; data: {"id":"pom_mk3::0","status":"done","output":{}}
17:48:44.282486:genomixd: s4: pushing to sock170aa00 event request
17:48:44.284969:genomixd: sock16b5a90: received "get /module/pom_mk3/send/add_measurement?s=s4&input=%7b%22port%22%3a%22imu%22%7d HTTP/1.0"
17:48:44.285115:genomixd: sock16b5a90: received ""
17:48:44.285169:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.285246:genomixd: sock16b5a90: get /module/pom_mk3/send/add_measurement s=s4 input={"port":"imu"}
17:48:44.285355:genomixd: sock16b5a90: reply status 200: 1
17:48:44.285516:genomixd: s4: event: request; data: {"id":"pom_mk3::1","status":"sent"}
17:48:44.285564:genomixd: s4: pushing to sock170aa00 event request
17:48:44.285745:genomixd: s4: event: request; data: {"id":"pom_mk3::1","status":"done","output":{}}
17:48:44.285800:genomixd: s4: pushing to sock170aa00 event request
17:48:44.287712:genomixd: sock16b5a90: received "get /module/mikrokopter_mk3/clean/1?s=s4 HTTP/1.0"
17:48:44.287854:genomixd: sock16b5a90: received ""
17:48:44.287905:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.287968:genomixd: sock16b5a90: get /module/mikrokopter_mk3/clean/1 s=s4
17:48:44.288044:genomixd: sock16b5a90: reply status 200: 
17:48:44.290104:genomixd: sock16b5a90: received "get /module/pom_mk3/send/connect_port?s=s4&input=%7b%22local%22%3a%22measure/state%22%2c%22remote%22%3a%22mrsim_mk3/state%22%7d HTTP/1.0"
17:48:44.290279:genomixd: sock16b5a90: received ""
17:48:44.290326:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.290402:genomixd: sock16b5a90: get /module/pom_mk3/send/connect_port s=s4 input={"local":"measure/state","remote":"mrsim_mk3/state"}
17:48:44.290502:genomixd: sock16b5a90: reply status 200: 2
17:48:44.291715:genomixd: s4: event: request; data: {"id":"pom_mk3::2","status":"done","output":{}}
17:48:44.291785:genomixd: s4: pushing to sock170aa00 event request
17:48:44.293977:genomixd: sock16b5a90: received "get /module/pom_mk3/send/add_measurement?s=s4&input=%7b%22port%22%3a%22state%22%7d HTTP/1.0"
17:48:44.294147:genomixd: sock16b5a90: received ""
17:48:44.294204:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.294281:genomixd: sock16b5a90: get /module/pom_mk3/send/add_measurement s=s4 input={"port":"state"}
17:48:44.294375:genomixd: sock16b5a90: reply status 200: 3
17:48:44.299135:genomixd: s4: event: request; data: {"id":"pom_mk3::3","status":"sent"}
17:48:44.299259:genomixd: s4: pushing to sock170aa00 event request
17:48:44.302530:genomixd: s4: event: request; data: {"id":"pom_mk3::3","status":"done","output":{}}
17:48:44.302663:genomixd: s4: pushing to sock170aa00 event request
17:48:44.304769:genomixd: sock16b5a90: received "get /module/pom_mk3/clean/1?s=s4 HTTP/1.0"
17:48:44.304920:genomixd: sock16b5a90: received ""
17:48:44.304968:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.305028:genomixd: sock16b5a90: get /module/pom_mk3/clean/1 s=s4
17:48:44.305101:genomixd: sock16b5a90: reply status 200: 
17:48:44.307750:genomixd: sock16b5a90: received "get /load/nhfc?s=s4&argv=--name%20nhfc_mk3 HTTP/1.0"
17:48:44.307886:genomixd: sock16b5a90: received ""
17:48:44.307933:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.307986:genomixd: sock16b5a90: get /load/nhfc s=s4 argv=--name nhfc_mk3
17:48:44.308075:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//nhfc.so: loaded
17:48:44.308215:genomixd: sock16b5a90: reply status 201: nhfc_mk3
17:48:44.308422:genomixd: sock16b5a90: received "get /module/nhfc_mk3/info?s=s4 HTTP/1.0"
17:48:44.308502:genomixd: sock16b5a90: received ""
17:48:44.308540:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.308598:genomixd: sock16b5a90: get /module/nhfc_mk3/info s=s4
17:48:44.308685:genomixd: sock16b5a90: reply status 200: {"name":"nhfc","instance":"nhfc_mk3","services":{"abort_activity":{"input":{ "activity":{ "kind":"unsigned long" } },"output":{ },"meta":{ "activity":{ "doc":"Activity id" } }},"connect_port":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local input port" },"remote":{ "doc":"Output port to connect to" } }},"connect_service":{"input":{ "local":{ "kind":"string","length":128 },"remote":{ "kind":"string","length":128 } },"output":{ },"meta":{ "local":{ "doc":"Local service name" },"remote":{ "doc":"Remote service name" } }},"kill":{"input":{ },"output":{ },"meta":{ }},"set_saturation":{"input":{ "sat":{ "kind":"struct","type":{ "x":{ "kind":"double" },"v":{ "kind":"double" },"ix":{ "kind":"double" } } } },"output":{ },"meta":{ }},"set_servo_gain":{"input":{ "gain":{ "kind":"struct","type":{ "Kpxy":{ "kind":"double" },"Kpz":{ "kind":"double" },"Kqxy":{ "kind":"double" },"Kqz":{ "kind":"double" },"Kvxy":{ "kind":"double" },"Kvz":{ "kind":"double" },"Kwxy":{ "kind":"double" },"Kwz":{ "kind":"double" },"Kixy":{ "kind":"double" },"Kiz":{ "kind":"double" } } } },"output":{ },"meta":{ }},"set_mass":{"input":{ "mass":{ "kind":"double" } },"output":{ },"meta":{ }},"set_vlimit":{"input":{ "vmin":{ "kind":"double" },"vmax":{ "kind":"double" } },"output":{ },"meta":{ }},"set_servo_geom":{"input":{ "d":{ "kind":"double" },"kf":{ "kind":"double" },"c":{ "kind":"double" } },"output":{ },"meta":{ }},"set_servo_emerg":{"input":{ "emerg":{ "kind":"struct","type":{ "descent":{ "kind":"double" },"dx":{ "kind":"double" },"dq":{ "kind":"double" },"dv":{ "kind":"double" },"dw":{ "kind":"double" } } } },"output":{ },"meta":{ }},"get_servo_parameters":{"input":{ },"output":{ "servo":{ "kind":"struct","type":{ "sat":{ "kind":"struct","type":{ "x":{ "kind":"double" },"v":{ "kind":"double" },"ix":{ "kind":"double" } } },"gain":{ "kind":"struct","type":{ "Kpxy":{ "kind":"double" },"Kpz":{ "kind":"double" },"Kqxy":{ "kind":"double" },"Kqz":{ "kind":"double" },"Kvxy":{ "kind":"double" },"Kvz":{ "kind":"double" },"Kwxy":{ "kind":"double" },"Kwz":{ "kind":"double" },"Kixy":{ "kind":"double" },"Kiz":{ "kind":"double" } } },"mass":{ "kind":"double" },"vmin":{ "kind":"double" },"vmax":{ "kind":"double" },"fmin":{ "kind":"double" },"fmax":{ "kind":"double" },"d":{ "kind":"double" },"kf":{ "kind":"double" },"c":{ "kind":"double" },"ramp":{ "kind":"double" },"emerg":{ "kind":"struct","type":{ "descent":{ "kind":"double" },"dx":{ "kind":"double" },"dq":{ "kind":"double" },"dv":{ "kind":"double" },"dw":{ "kind":"double" } } } } } },"meta":{ }},"get_desired":{"input":{ },"output":{ "desired":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"intrinsic":{ "kind":"boolean" },"pos":{ "kind":"optional","type":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } } },"pos_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":28,"type":{ "kind":"double" } } } } },"vel":{ "kind":"optional","type":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } } },"vel_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":21,"type":{ "kind":"double" } } } } },"acc":{ "kind":"optional","type":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"acc_cov":{ "kind":"optional","type":{ "kind":"struct","type":{ "cov":{ "kind":"array","length":6,"type":{ "kind":"double" } } } } } } } },"meta":{ }},"servo":{"input":{ },"output":{ },"meta":{ }},"set_state":{"input":{ "pos":{ "kind":"struct","type":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"qw":{ "kind":"double" },"qx":{ "kind":"double" },"qy":{ "kind":"double" },"qz":{ "kind":"double" } } },"vel":{ "kind":"struct","type":{ "vx":{ "kind":"double" },"vy":{ "kind":"double" },"vz":{ "kind":"double" },"wx":{ "kind":"double" },"wy":{ "kind":"double" },"wz":{ "kind":"double" } } },"acc":{ "kind":"struct","type":{ "ax":{ "kind":"double" },"ay":{ "kind":"double" },"az":{ "kind":"double" } } } },"output":{ },"meta":{ "pos":{ "doc":"Position" },"vel":{ "doc":"Velocity" },"acc":{ "doc":"Acceleration" } }},"set_position":{"input":{ "x":{ "kind":"double" },"y":{ "kind":"double" },"z":{ "kind":"double" },"yaw":{ "kind":"double" } },"output":{ },"meta":{ }},"set_current_position":{"input":{ },"output":{ },"meta":{ }},"stop":{"input":{ },"output":{ },"meta":{ }},"log":{"input":{ "path":{ "kind":"string","length":64 },"decimation":{ "kind":"unsigned long" } },"output":{ },"meta":{ "path":{ "doc":"Log file name","default":"/tmp/nhfc.log" },"decimation":{ "doc":"Reduced logging frequency","default":1 } }},"log_stop":{"input":{ },"output":{ },"meta":{ }},"log_info":{"input":{ },"output":{ "miss":{ "kind":"unsigned long" },"total":{ "kind":"unsigned long" } },"meta":{ "miss":{ "doc":"Missed log entries" },"total":{ "doc":"Total log entries" } }}},"ports":{"genom_state":{"simple":1,"data":{ "genom_state":{ "kind":"struct","type":{ "task":{ "kind":"sequence","type":{ "kind":"struct","type":{ "name":{ "kind":"string","length":64 },"rusage":{ "kind":"struct","type":{ "cycles":{ "kind":"unsigned long" },"timings":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } },"load":{ "kind":"struct","type":{ "last":{ "kind":"float" },"max":{ "kind":"float" },"avg":{ "kind":"float" } } } } },"activity":{ "kind":"sequence","type":{ "kind":"struct","type":{ "id":{ "kind":"unsigned long" },"name":{ "kind":"string","length":64 } } } } } } },"digest":{ "kind":"string","length":33 },"date":{ "kind":"string","length":31 },"version":{ "kind":"string","length":32 } } } },"meta":{}},"rotor_input":{"simple":1,"data":{ "rotor_input":{ "kind":"struct","type":{ "ts":{ "kind":"struct","type":{ "sec":{ "kind":"unsigned long" },"nsec":{ "kind":"unsigned long" } } },"control":{ "kind":"enum","values":["::or_rotorcraft::velocity","::or_rotorcraft::throttle"] },"desired":{ "kind":"sequence","length":8,"type":{ "kind":"double" } } } } },"meta":{}}}}
17:48:44.362297:genomixd: sock16b5a90: received "get /module/nhfc_mk3/send/set_mass?s=s4&input=%7b%22mass%22%3a1%7d HTTP/1.0"
17:48:44.362469:genomixd: sock16b5a90: received ""
17:48:44.362515:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.362574:genomixd: sock16b5a90: get /module/nhfc_mk3/send/set_mass s=s4 input={"mass":1}
17:48:44.362671:genomixd: sock16b5a90: reply status 200: 0
17:48:44.362828:genomixd: s4: event: request; data: {"id":"nhfc_mk3::0","status":"done","output":{}}
17:48:44.362877:genomixd: s4: pushing to sock170aa00 event request
17:48:44.364463:genomixd: sock16b5a90: received "get /module/pom_mk3/clean/3?s=s4 HTTP/1.0"
17:48:44.364594:genomixd: sock16b5a90: received ""
17:48:44.364643:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.364702:genomixd: sock16b5a90: get /module/pom_mk3/clean/3 s=s4
17:48:44.364775:genomixd: sock16b5a90: reply status 200: 
17:48:44.367143:genomixd: sock16b5a90: received "get /module/nhfc_mk3/send/set_servo_gain?s=s4&input=%7b%22gain%22%3a%7b%22Kpxy%22%3a26%2c%22Kpz%22%3a32.5%2c%22Kqxy%22%3a4.2%2c%22Kqz%22%3a0.42%2c%22Kvxy%22%3a10.5%2c%22Kvz%22%3a14%2c%22Kwxy%22%3a0.42%2c%22Kwz%22%3a0.042%2c%22Kixy%22%3a0%2c%22Kiz%22%3a0%7d%7d HTTP/1.0"
17:48:44.367300:genomixd: sock16b5a90: received ""
17:48:44.367368:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.367437:genomixd: sock16b5a90: get /module/nhfc_mk3/send/set_servo_gain s=s4 input={"gain":{"Kpxy":26,"Kpz":32.5,"Kqxy":4.2,"Kqz":0.42,"Kvxy":10.5,"Kvz":14,"Kwxy":0.42,"Kwz":0.042,"Kixy":0,"Kiz":0}}
17:48:44.367546:genomixd: sock16b5a90: reply status 200: 1
17:48:44.367678:genomixd: s4: event: request; data: {"id":"nhfc_mk3::1","status":"done","output":{}}
17:48:44.367726:genomixd: s4: pushing to sock170aa00 event request
17:48:44.369367:genomixd: sock16b5a90: received "get /module/nhfc_mk3/clean/0?s=s4 HTTP/1.0"
17:48:44.369498:genomixd: sock16b5a90: received ""
17:48:44.369546:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.369604:genomixd: sock16b5a90: get /module/nhfc_mk3/clean/0 s=s4
17:48:44.369680:genomixd: sock16b5a90: reply status 200: 
17:48:44.370837:genomixd: sock16b5a90: received "get /module/nhfc_mk3/send/set_servo_emerg?s=s4&input=%7b%22emerg%22%3a%7b%22descent%22%3a2%2c%22dx%22%3a0.1%2c%22dq%22%3a1%2c%22dv%22%3a0.1%2c%22dw%22%3a1%7d%7d HTTP/1.0"
17:48:44.370976:genomixd: sock16b5a90: received ""
17:48:44.371018:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.371084:genomixd: sock16b5a90: get /module/nhfc_mk3/send/set_servo_emerg s=s4 input={"emerg":{"descent":2,"dx":0.1,"dq":1,"dv":0.1,"dw":1}}
17:48:44.371192:genomixd: sock16b5a90: reply status 200: 0
17:48:44.371337:genomixd: s4: event: request; data: {"id":"nhfc_mk3::0","status":"done","output":{}}
17:48:44.371403:genomixd: s4: pushing to sock170aa00 event request
17:48:44.374189:genomixd: sock16b5a90: received "get /module/nhfc_mk3/clean/1?s=s4 HTTP/1.0"
17:48:44.374314:genomixd: sock16b5a90: received ""
17:48:44.374358:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.374407:genomixd: sock16b5a90: get /module/nhfc_mk3/clean/1 s=s4
17:48:44.374470:genomixd: sock16b5a90: reply status 200: 
17:48:44.375610:genomixd: sock16b5a90: received "get /module/nhfc_mk3/send/set_saturation?s=s4&input=%7b%22sat%22%3a%7b%22x%22%3a0.1%2c%22v%22%3a0.1%2c%22ix%22%3a0.1%7d%7d HTTP/1.0"
17:48:44.375756:genomixd: sock16b5a90: received ""
17:48:44.375808:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.375866:genomixd: sock16b5a90: get /module/nhfc_mk3/send/set_saturation s=s4 input={"sat":{"x":0.1,"v":0.1,"ix":0.1}}
17:48:44.375938:genomixd: sock16b5a90: reply status 200: 1
17:48:44.376079:genomixd: s4: event: request; data: {"id":"nhfc_mk3::1","status":"done","output":{}}
17:48:44.376127:genomixd: s4: pushing to sock170aa00 event request
17:48:44.379457:genomixd: sock16b5a90: received "get /module/nhfc_mk3/clean/0?s=s4 HTTP/1.0"
17:48:44.379965:genomixd: sock16b5a90: received ""
17:48:44.380243:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.380483:genomixd: sock16b5a90: get /module/nhfc_mk3/clean/0 s=s4
17:48:44.380869:genomixd: sock16b5a90: reply status 200: 
17:48:44.382836:genomixd: sock16b5a90: received "get /module/nhfc_mk3/send/connect_port?s=s4&input=%7b%22local%22%3a%22state%22%2c%22remote%22%3a%22pom_mk3/frame/robot%22%7d HTTP/1.0"
17:48:44.382994:genomixd: sock16b5a90: received ""
17:48:44.383046:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.383109:genomixd: sock16b5a90: get /module/nhfc_mk3/send/connect_port s=s4 input={"local":"state","remote":"pom_mk3/frame/robot"}
17:48:44.383192:genomixd: sock16b5a90: reply status 200: 0
17:48:44.383440:genomixd: s4: event: request; data: {"id":"nhfc_mk3::0","status":"done","output":{}}
17:48:44.383496:genomixd: s4: pushing to sock170aa00 event request
17:48:44.386684:genomixd: sock16b5a90: received "get /module/nhfc_mk3/send/connect_port?s=s4&input=%7b%22local%22%3a%22reference%22%2c%22remote%22%3a%22maneuver_mk3/desired%22%7d HTTP/1.0"
17:48:44.386832:genomixd: sock16b5a90: received ""
17:48:44.386884:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.386955:genomixd: sock16b5a90: get /module/nhfc_mk3/send/connect_port s=s4 input={"local":"reference","remote":"maneuver_mk3/desired"}
17:48:44.387045:genomixd: sock16b5a90: reply status 200: 2
17:48:44.387185:genomixd: s4: event: request; data: {"id":"nhfc_mk3::2","status":"done","output":{}}
17:48:44.387249:genomixd: s4: pushing to sock170aa00 event request
17:48:44.391399:genomixd: sock16b5a90: received "get /module/nhfc_mk3/send/set_position?s=s4&input=%7b%22x%22%3a1%2c%22y%22%3a1%2c%22z%22%3a0.25%2c%22yaw%22%3a0%7d HTTP/1.0"
17:48:44.391529:genomixd: sock16b5a90: received ""
17:48:44.391572:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.391620:genomixd: sock16b5a90: get /module/nhfc_mk3/send/set_position s=s4 input={"x":1,"y":1,"z":0.25,"yaw":0}
17:48:44.391766:genomixd: sock16b5a90: reply status 200: 3
17:48:44.393587:genomixd: s4: event: request; data: {"id":"nhfc_mk3::3","status":"done","output":{}}
17:48:44.393897:genomixd: s4: pushing to sock170aa00 event request
17:48:44.399753:genomixd: sock16b5a90: received "get /module/nhfc_mk3/clean/1?s=s4 HTTP/1.0"
17:48:44.399955:genomixd: sock16b5a90: received ""
17:48:44.400007:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:44.400084:genomixd: sock16b5a90: get /module/nhfc_mk3/clean/1 s=s4
17:48:44.400146:genomixd: sock16b5a90: reply status 200: 
17:48:49.800502:genomixd: sock16b5a90: received "get /load/maneuver?s=s4&argv=--name%20maneuver_mk3 HTTP/1.0"
17:48:49.800679:genomixd: sock16b5a90: received ""
17:48:49.800735:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.800804:genomixd: sock16b5a90: get /load/maneuver s=s4 argv=--name maneuver_mk3
17:48:49.800907:genomixd: /opt/openrobots/lib/genom/pocolibs/plugins//maneuver.so: loaded
17:48:49.801150:genomixd: sock16b5a90: reply status 404: {"ex":"::genom::mwerr","detail":{"what":"S_gcomLib_TOO_MANY_LETTERS"}}
17:48:49.804752:genomixd: sock16b5a90: received "get /module/nhfc_mk3/clean/3?s=s4 HTTP/1.0"
17:48:49.804920:genomixd: sock16b5a90: received ""
17:48:49.804971:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.805028:genomixd: sock16b5a90: get /module/nhfc_mk3/clean/3 s=s4
17:48:49.805093:genomixd: sock16b5a90: reply status 200: 
17:48:49.807109:genomixd: sock16b5a90: received "get /module/nhfc_mk3/clean/0?s=s4 HTTP/1.0"
17:48:49.807232:genomixd: sock16b5a90: received ""
17:48:49.807287:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.807367:genomixd: sock16b5a90: get /module/nhfc_mk3/clean/0 s=s4
17:48:49.807451:genomixd: sock16b5a90: reply status 200: 
17:48:49.810509:genomixd: sock16b5a90: received "get /module/mikrokopter_mk3/clean/0?s=s4 HTTP/1.0"
17:48:49.810860:genomixd: sock16b5a90: received ""
17:48:49.810953:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.811064:genomixd: sock16b5a90: get /module/mikrokopter_mk3/clean/0 s=s4
17:48:49.811233:genomixd: sock16b5a90: reply status 200: 
17:48:49.815491:genomixd: sock16b5a90: received "get /module/mikrokopter_mk3/clean/2?s=s4 HTTP/1.0"
17:48:49.815677:genomixd: sock16b5a90: received ""
17:48:49.815735:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.815809:genomixd: sock16b5a90: get /module/mikrokopter_mk3/clean/2 s=s4
17:48:49.815890:genomixd: sock16b5a90: reply status 200: 
17:48:49.817513:genomixd: sock16b5a90: received "get /module/pom_mk3/clean/0?s=s4 HTTP/1.0"
17:48:49.817654:genomixd: sock16b5a90: received ""
17:48:49.817727:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.817797:genomixd: sock16b5a90: get /module/pom_mk3/clean/0 s=s4
17:48:49.817873:genomixd: sock16b5a90: reply status 200: 
17:48:49.818283:genomixd: sock16b5a90: received "get /module/pom_mk3/clean/2?s=s4 HTTP/1.0"
17:48:49.818384:genomixd: sock16b5a90: received ""
17:48:49.818431:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.818500:genomixd: sock16b5a90: get /module/pom_mk3/clean/2 s=s4
17:48:49.818569:genomixd: sock16b5a90: reply status 200: 
17:48:49.820439:genomixd: sock16b5a90: received "get /module/nhfc_mk3/clean/2?s=s4 HTTP/1.0"
17:48:49.820585:genomixd: sock16b5a90: received ""
17:48:49.820660:genomixd: sock16b5a90: processing request on sock16b5a90
17:48:49.820750:genomixd: sock16b5a90: get /module/nhfc_mk3/clean/2 s=s4
17:48:49.820829:genomixd: sock16b5a90: reply status 200: 

'''