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Print graph & transaction on optimization failure #321

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efernandez
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@efernandez efernandez commented Mar 28, 2023

Context

I got into an issue where the optimization failed. I've not been able to find the root cause. If it happens again, the graph and transaction at the time of failure would be extremely useful.

Motivation

Note that when the optimization fails we shutdown the node, so even if we notify the fuse publishers, there's no guarantee they have time to actually publish the graph and transaction. Even in that case, I usually throttle the graph publication because it has a significant overhead. I can re-create the graphs later, using the transactions, but that's a bit tedious. If we get the graph and transaction printed right away in the FATAL log message, I hope we can easily figure out the root cause, which I believe it's related to the transaction callback logic and a corner case with the transactions timestamps that we're stilling failing to handle properly.

@efernandez efernandez requested a review from svwilliams March 28, 2023 21:23
@efernandez efernandez self-assigned this Mar 28, 2023
@efernandez efernandez added the enhancement New feature or request label Mar 28, 2023
@svwilliams svwilliams requested a review from carlos-m159 March 28, 2023 23:46
@svwilliams svwilliams merged commit bb25c35 into locusrobotics:devel Jul 5, 2023
@efernandez efernandez deleted the improve-logs-on-optimization-failure branch July 5, 2023 15:00
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3 participants