[Playerstage-users] Re: XXX bytes leftover on write() to client

[Fred L. <ff...@ab...>]

Luis Jesus Manso writes:
 > Hi Fred
 >=20
 > >I"m not sure about that one.  I think it is due to your "think-proc=
ess-act"
 > >loop being too slow and not reading all the info sent to you by pla=
yer.  I
 > >used to have that too.  Switching to explicit pull mode solved it:
 > >
 > >robot.SetDataMode(PLAYER_DATAMODE_PULL_ALL);
 > >
 > >and then:
 > >
 > >robot.RequestData();
 > >robot.Read();
 >=20
 > I've just tried it. I've added=20
 > clientproxy->SetDataMode(PLAYER_DATAMODE_PULL_ALL); after the connec=
tion and=20
 > launch a thread to refresh the robot state:
 >=20
 > void *refresh(void *ptr) {
 >   PlayerClient *robot;
 >   robot =3D (PlayerClient *)ptr;
 >=20
 >   for(;;) {
 >     usleep(100000);
 >     robot->RequestData();
 >     robot->Read();
 >   }
 > }
 >=20
 > The result is (from the client):
 >=20
 > Unknown protocol
 > WARNING: player_read() errored
 > player_write(): write() errored.: Descriptor de fichero err=F3neo
 > player_write(): write() errored.: Descriptor de fichero err=F3neo
 > player_write(): write() errored.: Descriptor de fichero err=F3neo
 > Unknown protocol
 > WARNING: player_read() errored
 > player_write(): write() errored.: Descriptor de fichero err=F3neo
 > player_write(): write() errored.: Descriptor de fichero err=F3neo
 > player_write(): write() errored.: Descriptor de fichero err=F3neo
 > Unknown protocol
 > WARNING: player_read() errored

I'm not sure why you want to run that in a thread and what errors mean =
(not
the Portuguese (?) but what they actually mean) but here's what I've go=
t:

-----------------------------
   /* Connect to the Player server */
   PlayerClient robot(robotHost.c_str(), playerPort);

   if(strlen(authKey))
   {
      if(robot.Authenticate(authKey))
      {
         puts("Authentication failed.");
         quit(1);
      }
   }

   SonarProxy sp(&robot, 0);
   PositionProxy pp(&robot, 0, 'a');

   if (pp.GetAccess() =3D=3D 'e')
   {
      puts("Error getting position device access!");
      quit(1);
   }

   if (pp.SelectVelocityControl(1) =3D=3D -1)
   {
      puts("Error while changing velocity control.");
   }

   sp.ChangeAccess('r');
   if (sp.GetAccess() =3D=3D 'e')
   {
      puts("Error getting sonar device access!.");
      quit(1);
   }

   // maybe turn on the motors
   if (turnOnMotors && pp.SetMotorState(1))
      quit(1);

   robot.SetDataMode(PLAYER_DATAMODE_PULL_ALL);

   if(robot.RequestData())
      exit(1);
   if(robot.Read())
      exit(1);

------------------
and that works.  Basically, whenever you want to Read(), you first
RequestData().

Hope this helps.

Fred

P.S. What version of player are you using?  I use 1.5.