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Recovering sample acceptance checking bookkeeping across a crash (Universal Robots UR5e)

SaraAbbott0026 · 2026年5月22日 17:49 UTC

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SA
SaraAbbott0026
I'm fixing our startup bookkeeping after a crash between sending a sample acceptance checking request and saving its result. The setup uses Universal Robots UR5e in a bench cell recording per-item inspection jobs, with a reference plate. The robot may have continued while our file stayed pending, and startup automatically resubmits pending jobs. That state currently covers both unsubmitted and uncertain work

14 条回复

LE
LeoCarter0971

What is the last durable entry for this attempt? Compare it with matching acceptance evidence, without letting startup resend it.

11
SA
SaraAbbott0026

Our last durable entry is submission intent. Controller history has matching acceptance, but no surviving completion record. I've kept it out of the resend queue

3
LE
LeoCarter0971

@SaraAbbott0026 Preserve the uncertain attempt and use matching evidence for reconciliation. An offline crash replay plus a local transaction for state and count should provide atomic recovery.

15
JA
JackAllen0341

Atomic locally. That transaction can't include the controller accepting a request. The gap that caused this still exists.

21
LE
LeoCarter0971

You're right to distinguish those. I meant atomic local accounting updates, not an atomic controller exchange; the acceptance gap still requires explicit uncertainty and reconciliation.

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SA
SaraAbbott0026

So persist intent first, but don't treat intent as proof of sending? That's where our pending label got stretched beyond usefulness

15
LE
LeoCarter0971

Yes. Intent is durable local evidence of a plan. It doesn't prove transmission, acceptance or completion; each needs its own supported observation.

7
TO
TobyChen1188

If there's no acceptance saved locally, why not call it unsubmitted? Isn't that the only record startup can use?

21
LE
LeoCarter0971

Acceptance can happen before your local save. A crash in that gap leaves uncertainty, which is exactly why missing local acceptance can't mean unsubmitted.

23
HA
HanaArcher0361

On my ledger, we simulated crashes before send but forgot the gap after remote acceptance. All the restart tests passed for the easy half.

9
SA
SaraAbbott0026

@HanaArcher0361 I'll put our replay break exactly in that gap. Startup should retain uncertainty and emit no replacement request

13
JA
JackAllen0341

And what evidence ends uncertainty? A matching acceptance still doesn't tell you the inspection finished.

6
SA
SaraAbbott0026

For completion, matching completion evidence. Our acceptance record only rules out treating this as known unsubmitted work

16
LE
LeoCarter0971

When matching evidence resolves the result, retain its source with the update and keep the interruption history, allowing someone else to follow the reconciliation.

20

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