Robotics Service Bus

NAO is sending images and a prorgram

humavips@HUMAVIPS:~/work$ ~/work/RSB-0.7/bin/rsb_videoreceiver
1348146353274 rsb.transport.socket.BusServer [WARN]: Send failure (Connection reset by peer); will close connection later
1348146353276 rsb.transport.socket.BusServer [WARN]: Send failure (Connection reset by peer); will close connection later
1348146353280 rsb.transport.socket.BusConnection [WARN]: Receive failure (error asio.misc:2) or incomplete message body (received 25341 bytes); closing connection
1348146353291 rsb.transport.socket.BusConnection [WARN]: Receive failure (error asio.misc:2) or incomplete message body (received 510 bytes); closing connection
Segmentation fault

0x00007ffff5c0956b in std::string::assign(std::string const&) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
(gdb) bt
#0  0x00007ffff5c0956b in std::string::assign(std::string const&) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#1  0x00007ffff77f8a09 in rsb::protocol::Notification::set_data(std::string const&) () from /usr/lib/librsbcore.so.0.7.3
#2  0x00007ffff78873d3 in rsb::transport::socket::eventToNotification(rsb::protocol::Notification&, boost::shared_ptr<rsb::Event> const&, std::string const&, std::string const&) ()
   from /usr/lib/librsbcore.so.0.7.3
#3  0x00007ffff7855e82 in rsb::transport::socket::BusConnection::sendEvent(boost::shared_ptr<rsb::Event>, std::string const&) () from /usr/lib/librsbcore.so.0.7.3
#4  0x00007ffff786b2ea in rsb::transport::socket::BusServer::handleIncoming(boost::shared_ptr<rsb::Event>, boost::shared_ptr<rsb::transport::socket::BusConnection>) () from /usr/lib/librsbcore.so.0.7.3
#5  0x00007ffff7856c0b in rsb::transport::socket::BusConnection::handleReadBody(boost::system::error_code const&, unsigned long, unsigned long) () from /usr/lib/librsbcore.so.0.7.3
#6  0x00007ffff78602b1 in void boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>::call<boost::shared_ptr<rsb::transport::socket::BusConnection>, boost::system::error_code const, unsigned long, unsigned long>(boost::shared_ptr<rsb::transport::socket::BusConnection>&, void const*, boost::system::error_code const&, unsigned long&, unsigned long&) const () from /usr/lib/librsbcore.so.0.7.3
#7  0x00007ffff785ff08 in void boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>::operator()<boost::shared_ptr<rsb::transport::socket::BusConnection> >(boost::shared_ptr<rsb::transport::socket::BusConnection>&, boost::system::error_code const&, unsigned long, unsigned long) const () from /usr/lib/librsbcore.so.0.7.3
#8  0x00007ffff785f647 in void boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> >::operator()<boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list2<boost::system::error_code const&, unsigned long const&> >(boost::_bi::type<void>, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>&, boost::_bi::list2<boost::system::error_code const&, unsigned long const&>&, int) () from /usr/lib/librsbcore.so.0.7.3
#9  0x00007ffff785f194 in void boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > >::operator()<boost::system::error_code, unsigned long>(boost::system::error_code const&, unsigned long const&) () from /usr/lib/librsbcore.so.0.7.3
#10 0x00007ffff785e890 in boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >::operator()(boost::system::error_code const&, unsigned long, int) () from /usr/lib/librsbcore.so.0.7.3
#11 0x00007ffff7861256 in boost::asio::detail::binder2<boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >, boost::system::error_code, unsigned long>::operator()() () from /usr/lib/librsbcore.so.0.7.3
#12 0x00007ffff78611f1 in void boost::asio::asio_handler_invoke<boost::asio::detail::binder2<boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >, boost::system::error_code, unsigned long> >(boost::asio::detail::binder2<boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >, boost::system::error_code, unsigned long>, ...) () from /usr/lib/librsbcore.so.0.7.3
#13 0x00007ffff78610f2 in void boost_asio_handler_invoke_helpers::invoke<boost::asio::detail::binder2<boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >, boost::system::error_code, unsigned long>, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >(boost::asio::detail::binder2<boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >, boost::system::error_code, unsigned long> const&, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > >&) () from /usr/lib/librsbcore.so.0.7.3
#14 0x00007ffff7860ea5 in void boost::asio::detail::asio_handler_invoke<boost::asio::detail::binder2<boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >, boost::system::error_code, unsigned long>, boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >(boost::asio::detail::binder2<boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detai---Type <return> to continue, or q <return> to quit---
l::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >, boost::system::error_code, unsigned long> const&, boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >*) () from /usr/lib/librsbcore.so.0.7.3
#15 0x00007ffff7860d03 in void boost_asio_handler_invoke_helpers::invoke<boost::asio::detail::binder2<boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >, boost::system::error_code, unsigned long>, boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > > >(boost::asio::detail::binder2<boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >, boost::system::error_code, unsigned long> const&, boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > >&) () from /usr/lib/librsbcore.so.0.7.3
#16 0x00007ffff7860a07 in boost::asio::detail::reactive_socket_recv_op<boost::asio::mutable_buffers_1, boost::asio::detail::read_op<boost::asio::basic_stream_socket<boost::asio::ip::tcp, boost::asio::stream_socket_service<boost::asio::ip::tcp> >, boost::asio::mutable_buffers_1, boost::asio::detail::transfer_all_t, boost::_bi::bind_t<void, boost::_mfi::mf3<void, rsb::transport::socket::BusConnection, boost::system::error_code const&, unsigned long, unsigned long>, boost::_bi::list4<boost::_bi::value<boost::shared_ptr<rsb::transport::socket::BusConnection> >, boost::arg<1> (*)(), boost::arg<2> (*)(), boost::_bi::value<unsigned int> > > > >::do_complete(boost::asio::detail::task_io_service*, boost::asio::detail::task_io_service_operation*, boost::system::error_code, unsigned long) ()
   from /usr/lib/librsbcore.so.0.7.3
#17 0x00007ffff78739a3 in boost::asio::detail::task_io_service_operation::complete(boost::asio::detail::task_io_service&) () from /usr/lib/librsbcore.so.0.7.3
#18 0x00007ffff78744a3 in boost::asio::detail::task_io_service::do_one(boost::asio::detail::scoped_lock<boost::asio::detail::posix_mutex>&, boost::asio::detail::task_io_service::idle_thread_info*) ()
   from /usr/lib/librsbcore.so.0.7.3
#19 0x00007ffff78741bc in boost::asio::detail::task_io_service::run(boost::system::error_code&) () from /usr/lib/librsbcore.so.0.7.3
#20 0x00007ffff787479f in boost::asio::io_service::run() () from /usr/lib/librsbcore.so.0.7.3
#21 0x00007ffff787ea9e in boost::_mfi::mf0<unsigned long, boost::asio::io_service>::operator()(boost::asio::io_service*) const () from /usr/lib/librsbcore.so.0.7.3
#22 0x00007ffff787ea0f in unsigned long boost::_bi::list1<boost::_bi::value<boost::asio::io_service*> >::operator()<unsigned long, boost::_mfi::mf0<unsigned long, boost::asio::io_service>, boost::_bi::list0>(boost::_bi::type<unsigned long>, boost::_mfi::mf0<unsigned long, boost::asio::io_service>&, boost::_bi::list0&, long) () from /usr/lib/librsbcore.so.0.7.3
#23 0x00007ffff787e9bd in boost::_bi::bind_t<unsigned long, boost::_mfi::mf0<unsigned long, boost::asio::io_service>, boost::_bi::list1<boost::_bi::value<boost::asio::io_service*> > >::operator()() ()
   from /usr/lib/librsbcore.so.0.7.3
#24 0x00007ffff787e868 in boost::detail::thread_data<boost::_bi::bind_t<unsigned long, boost::_mfi::mf0<unsigned long, boost::asio::io_service>, boost::_bi::list1<boost::_bi::value<boost::asio::io_service*> > > >::run() () from /usr/lib/librsbcore.so.0.7.3
#25 0x00007ffff6e82ba9 in thread_proxy () from /usr/lib/libboost_thread.so.1.46.1
#26 0x00007ffff6c60efc in start_thread () from /lib/x86_64-linux-gnu/libpthread.so.0
#27 0x00007ffff569159d in clone () from /lib/x86_64-linux-gnu/libc.so.6
#28 0x0000000000000000 in ?? ()

(gdb) info threads
  Id   Target Id         Frame 
  17   Thread 0x7fffde390700 (LWP 19940) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  16   Thread 0x7fffdeb91700 (LWP 19939) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  15   Thread 0x7fffdf392700 (LWP 19938) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  14   Thread 0x7fffdfb93700 (LWP 19937) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  13   Thread 0x7fffe0394700 (LWP 19936) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  12   Thread 0x7fffe0b95700 (LWP 19935) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  11   Thread 0x7fffe1396700 (LWP 19934) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  10   Thread 0x7fffe1b97700 (LWP 19933) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  9    Thread 0x7fffe2398700 (LWP 19932) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  8    Thread 0x7fffe2b99700 (LWP 19931) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  7    Thread 0x7fffe339a700 (LWP 19930) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  6    Thread 0x7fffe3b9b700 (LWP 19929) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  5    Thread 0x7fffe439c700 (LWP 19928) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  4    Thread 0x7fffe4b9d700 (LWP 19927) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
  3    Thread 0x7fffe539e700 (LWP 19926) "rsb_videoreceiv" 0x00007ffff6c6504c in pthread_cond_wait@@GLIBC_2.3.2 () from /lib/x86_64-linux-gnu/libpthread.so.0
* 2    Thread 0x7fffe5b9f700 (LWP 19925) "rsb_videoreceiv" 0x00007ffff5c0956b in std::string::assign(std::string const&) () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
  1    Thread 0x7ffff7fa5960 (LWP 19922) "rsb_videoreceiv" 0x00007ffff5c20e93 in ?? () from /usr/lib/x86_64-linux-gnu/libstdc++.so.6