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Re: [Playerstage-users] Thread support not included
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From: T.sahar <tri...@ya...> - 2011-01-27 06:56:38
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Hi,
In the output I have found:
checking whether the Boost::signals library is available...yes
checking whether the Boost::Thread library is available...no
How can I correct this??
Sahar
Rich Mattes-2 wrote:
>
> This particular example uses the PlayerC++ boost support. Did you build
> PlayerC++ against boost? You can check by looking at the cmake or output,
> you should see something like:
>
> ==== Client Libraries ====
> ...
> -- PlayerC++ client library will be built with Boost::Thread support.
> -- PlayerC++ client library will be built with Boost::Signals support.
>
>
> Rich
>
>> -----Original Message-----
>> From: T.sahar [mailto:tri...@ya...]
>> Sent: Wednesday, January 26, 2011 6:35 AM
>> To: pla...@li...
>> Subject: [Playerstage-users] Thread support not included
>>
>>
>> Hi,
>>
>> I have used the following "goto.cc " file:
>> #include <libplayerc++/playerc++.h>
>>
>> #include <iostream>
>> #include <stdlib.h> // for atof()
>> #if !defined (WIN32)
>> #include <unistd.h>
>> #endif
>>
>>
>> #include <math.h>
>> #include <string>
>>
>> #include <boost/signal.hpp>
>> #include <boost/bind.hpp>
>>
>> #define USAGE \
>> "USAGE: goto [-x <x>] [-y <y>] [-h <host>] [-p <port>] [-m]\n" \
>> " -x <x>: set the X coordinate of the target to <x>\n"\
>> " -y <y>: set the Y coordinate of the target to <y>\n"\
>> " -h <host>: connect to Player on this host\n" \
>> " -p <port>: connect to Player on this TCP port\n" \
>> " -m : turn on motors (be CAREFUL!)"
>>
>> PlayerCc::PlayerClient* robot;
>> PlayerCc::Position2dProxy* pp;
>> PlayerCc::SonarProxy* sp;
>>
>> bool gMotorEnable(false);
>> bool gGotoDone(false);
>> std::string gHostname(PlayerCc::PLAYER_HOSTNAME);
>> uint32_t gPort(PlayerCc::PLAYER_PORTNUM);
>> uint32_t gIndex(0);
>> uint32_t gDebug(0);
>> uint32_t gFrequency(10); // Hz
>>
>> player_pose2d_t gTarget = {0, 0, 0};
>>
>> void
>> print_usage(int argc, char** argv)
>> {
>> std::cout << USAGE << std::endl;
>> }
>>
>> int
>> parse_args(int argc, char** argv)
>> {
>> const char* optflags = "h:p:i:d:u:x:y:m";
>> int ch;
>>
>> while(-1 != (ch = getopt(argc, argv, optflags)))
>> {
>> switch(ch)
>> {
>> /* case values must match long_options */
>> case 'h':
>> gHostname = optarg;
>> break;
>> case 'p':
>> gPort = atoi(optarg);
>> break;
>> case 'i':
>> gIndex = atoi(optarg);
>> break;
>> case 'd':
>> gDebug = atoi(optarg);
>> break;
>> case 'u':
>> gFrequency = atoi(optarg);
>> break;
>> case 'x':
>> gTarget.px = atof(optarg);
>> break;
>> case 'y':
>> gTarget.py = atof(optarg);
>> break;
>> case 'm':
>> gMotorEnable = true;
>> break;
>> case '?':
>> case ':':
>> default:
>> print_usage(argc, argv);
>> return (-1);
>> }
>> }
>>
>> return (0);
>> }
>>
>> /*
>> * very bad goto. target is arg (as pos_t*)
>> *
>> * sets global 'gGotoDone' when it's done
>> */
>> void
>> position_goto(player_pose2d_t target)
>> {
>> using namespace PlayerCc;
>>
>> double dist, angle;
>>
>> dist = sqrt((target.px - pp->GetXPos())*
>> (target.px - pp->GetXPos()) +
>> (target.py - pp->GetYPos())*
>> (target.py - pp->GetYPos()));
>>
>> angle = atan2(target.py - pp->GetYPos(),
>> target.px - pp->GetXPos());
>>
>> double newturnrate = 0;
>> double newspeed = 0;
>>
>> if (fabs(rtod(angle)) > 10.0)
>> {
>> newturnrate = limit((angle/M_PI) * 40.0, -40.0, 40.0);
>> newturnrate = dtor(newturnrate);
>> }
>> else
>> newturnrate = 0.0;
>>
>> if (dist > 0.05)
>> {
>> newspeed = limit(dist * 0.200, -0.2, 0.2);
>> }
>> else
>> newspeed = 0.0;
>>
>> if (fabs(newspeed) < 0.01)
>> gGotoDone = true;
>>
>> pp->SetSpeed(newspeed, newturnrate);
>>
>> }
>>
>> /*
>> * sonar avoid.
>> * policy:
>> * if(object really close in front)
>> * backup and turn away;
>> * else if(object close in front)
>> * stop and turn away
>> */
>> void
>> sonar_avoid(void)
>> {
>> double min_front_dist = 0.500;
>> double really_min_front_dist = 0.300;
>> bool avoid = false;
>>
>> double newturnrate = 10.0;
>> double newspeed = 10.0;
>>
>> if ((sp->GetScan(2) < really_min_front_dist) ||
>> (sp->GetScan(3) < really_min_front_dist) ||
>> (sp->GetScan(4) < really_min_front_dist) ||
>> (sp->GetScan(5) < really_min_front_dist))
>> {
>> avoid = true;
>> std::cerr << "really avoiding" << std::endl;
>> newspeed = -0.100;
>> }
>> else if((sp->GetScan(2) < min_front_dist) ||
>> (sp->GetScan(3) < min_front_dist) ||
>> (sp->GetScan(4) < min_front_dist) ||
>> (sp->GetScan(5) < min_front_dist))
>> {
>> avoid = true;
>> std::cerr << "avoiding" << std::endl;
>> newspeed = 0;
>> }
>>
>> if(avoid)
>> {
>> if ((sp->GetScan(0) + sp->GetScan(1)) < (sp->GetScan(6) +
>> sp->GetScan(7)))
>> newturnrate = PlayerCc::dtor(30);
>> else
>> newturnrate = PlayerCc::dtor(-30);
>> }
>>
>> if(newspeed < 10.0 && newturnrate < 10.0)
>> pp->SetSpeed(newspeed, newturnrate);
>> }
>>
>> template<typename T>
>> void
>> Print(T t)
>> {
>> std::cout << *t << std::endl;
>> }
>>
>> int
>> main(int argc, char **argv)
>> {
>> try
>> {
>> using namespace PlayerCc;
>>
>> parse_args(argc,argv);
>>
>> // Connect to Player server
>> robot = new PlayerClient(gHostname, gPort);
>>
>> // Request sensor data
>> pp = new Position2dProxy(robot, gIndex);
>> sp = new SonarProxy(robot, gIndex);
>>
>> if(gMotorEnable)
>> pp->SetMotorEnable(true);
>>
>> // output the data
>> pp->ConnectReadSignal(boost::bind(&Print<Position2dProxy*>, pp));
>> sp->ConnectReadSignal(boost::bind(&Print<SonarProxy*>, sp));
>>
>> // callback to avoid obstacles whenever we have new sonar data
>> sp->ConnectReadSignal(&sonar_avoid);
>>
>> // start the read thread
>> robot->StartThread();
>> std::cout << "goto starting, target: " << gTarget.px
>> << ", " << gTarget.py << std::endl;
>>
>> for (;;)
>> {
>> position_goto(gTarget);
>> if (gGotoDone)
>> robot->StopThread();
>>
>> timespec sleep = {0, 100000000}; // 100 ms
>> nanosleep(&sleep, NULL);
>> }
>> }
>> catch (PlayerCc::PlayerError e)
>> {
>> std::cerr << e << std::endl;
>> return -1;
>> }
>>
>> return(0);
>> }
>>
>> When I run the file (./goto), the robot doesn't move and this error
>> appears:
>> PlayerClient::StartThread(-1) : Thread support not included
>>
>> Is there any missing instruction into the code???
>> Please help me,
>>
>> Sahar
>>
>>
>>
>> --
>> View this message in context: http://old.nabble.com/Thread-support-not-
>> included-tp30765654p30765654.html
>> Sent from the playerstage-users mailing list archive at Nabble.com.
>>
>>
>> -----------------------------------------------------------------------
>> -------
>> Special Offer-- Download ArcSight Logger for FREE (a $49 USD value)!
>> Finally, a world-class log management solution at an even better price-
>> free!
>> Download using promo code Free_Logger_4_Dev2Dev. Offer expires
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>> http://p.sf.net/sfu/arcsight-sfd2d
>> _______________________________________________
>> Playerstage-users mailing list
>> Pla...@li...
>> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>
>
> ------------------------------------------------------------------------------
> Special Offer-- Download ArcSight Logger for FREE (a $49 USD value)!
> Finally, a world-class log management solution at an even better
> price-free!
> Download using promo code Free_Logger_4_Dev2Dev. Offer expires
> February 28th, so secure your free ArcSight Logger TODAY!
> http://p.sf.net/sfu/arcsight-sfd2d
> _______________________________________________
> Playerstage-users mailing list
> Pla...@li...
> https://lists.sourceforge.net/lists/listinfo/playerstage-users
>
>
--
View this message in context: http://old.nabble.com/Thread-support-not-included-tp30765654p30774666.html
Sent from the playerstage-users mailing list archive at Nabble.com.
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