java-player-developers — Developers list

[Java-player-developers] Updating Javaclient to use Player 3

[Jorge S. S. <jsa...@gm...>]

Hello Sean,

Thank you a lot for your help. As I'm just updating the interfaces I
use (or I plan to use),
I propose you to update the interfaces you need (or you think are more
urgently needed) and
that are not already ported to player 3. This means all interfaces
that remain with the tag:

 * @version
 * <ul>
 *      <li>v2.0 - Player 2.0 supported
 * </ul>

(in fact the big majority, as you can see).

Please do not work on PlannerInterface nor LocalizeInterface, and I'm
just now working on them.
I'm also preparing a RangerInterface that I'll commit when finished.

To update an interface just means to verify it reads and writes the
data expected/provided by
Player server. There also new commands on player 3 that of course are
not still implemented on
javaclient.

To upload changes, I suppose the project responsible can authorize you
to commit on SVN server,
or if you prefer, send me the modified files and I'll commit them.

Let me know if you need any support, or you have different ideas of how to do.

Best regards,
Jorge



> Hello Jorge, et al.
>
> I just saw the posting about JavaClietn 3 and would like to offer any
> assistance that I might be to get the project updated to Player 3.x.
>
> I can code, test, document, etc. as needed.
>
> Respectfully,
>
> Sean Stallbaum

[Java-player-developers] Updating Javaclient to use Player 3

[Sean S. <sea...@gm...>]

Hello Jorge, et al.

I just saw the posting about JavaClietn 3 and would like to offer any
assistance that I might be to get the project updated to Player 3.x.

I can code, test, document, etc. as needed.

Respectfully,

Sean Stallbaum

[Java-player-developers] Updating Javaclient to use Player 3

[Jorge S. S. <jsa...@gm...>]

Hello all,

We are updating javaclient to make it works with the latest
player/stage versions. By now, just a few interfaces have been updated
(IR, sonar, position2D, gripper, Graphics2D and power), but some
others should also work with no modifications. The new coded is
available on SVN as javaclient3 branch: update to this branch only if
you wont to use javaclient with player 3! (it will not work with
player 2). You will probably find a lot of incompatibilities with
player 3, so please report them and we will try to correct them. Or
much better, correct them by yourself and send us a patch! Any help
will be very, very welcomed.

Best regards,
Jorge

[Java-player-developers] problem with setPosition function at Position2dInterface

[pabloCS <pab...@al...>]

Hello!

I'm Pablo, from the Jaume I University of Castello, Spain

I'm using the javaclient2 with player 2.1.2 and I'd modified several files
for adapting it to the player 2.1 version (overall changing float to double
and the size of the messages) and it works perfectly with the position2d,
laser, sonar, map and camera interfaces (because I just need these ones).

My problem comes when i call to the setPosition function
(PLAYER_POSITION2D_CMD_POS command), the robot do the first movement of
approximation and then it stops.

I compared it with the same function on playerv, and the server read the
same message (type, content and size) in both cases, so the problem seems is
not the message, maybe the connection.

My question is: I saw that player server use non-blocking socket connection,
and the Socket class used in javaclient is blocking. I'm trying to modify
again javaclient with the SocketChannel class (non-blocking) but I'm not
sure of it will work.

I'm in a right way, or maybe my problem is due to other questions?

If someone can help me or guide me I would appreciate any collaboration or
suggestion.

PS: when I'll finished it I could share a new version of javaclient2.1,
although just with the named interfaces.
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Re: [Java-player-developers] Interested in java-player

[Leo N. <leo...@gm...>]

I have a person working on it but we have not released any release yet.
Right now we are trying to generate automatically the library from player
source code in order to avoid further problems with communications whenever
p/s changes anything. This will also reduce maintenance if we are able to
reach our goal.

We have finally an active development so I will get back to you all as soon
as possible.

Bests
Leo

2009/2/17 Giri_Nathan <Gir...@md...>

>
> Hi Leo,
>
> Were you able to make any progress with your problems? I guess I am in the
> same situation now. I would like to get some tips on what needs to be
> changed on the java client 2 side to make it work with player 2.1.
>
>
> Leo Nomdedeu wrote:
> >
> > Hi all
> >
> > My name is Leo Nomdedeu, from Spain. I'm new to this list.
> > I'm working on an european project where we decided to use P/S some time
> > ago. Now I face the need to use java-client to control a set of mobile
> > robots using P/S. I'm havin some trubles with some interfaces, e.g.
> > Planner
> > giving wrong x,y data (a,x,y) instead of (x,y,a), graphics not drawing
> > (decoding failed in stage), position turning in place instead of going to
> > the position designed, etc.
> > I wish to aid as much as possible with this player-client, and I have
> > allready made some simple modifications from my own but I cannot be sure
> > if
> > this modifications are good or not due to I do not have access (aka, I
> > have
> > not found) to any information on the current XDR messages Player is
> > waiting
> > for. ¿Is there any place I can look at to get such info?
> >
> > An other question I have. ¿Is the Java-Client project alive? I mean, I
> > have
> > not seen much activity in the mailing lists from 2006 year to now ...
> >
> > I wish to continue my development in Java as I have several years of
> > expertise with this language, so I'm ready to work in the java-client
> > project if needed. It's better than having to work in C ...
> >
> > Wainting for your answers...
> > Leo
> >
> > --
> > **************************************
> > Leonardo Nomdedeu Calvente
> > leo...@gm...
> >
> > -------------------------------------------------------------------------
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> >
> >
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-- 
**************************************
Leonardo Nomdedeu Calvente
leo...@gm...

Re: [Java-player-developers] Interested in java-player

[Giri_Nathan <Gir...@md...>]

Hi Leo,

Were you able to make any progress with your problems? I guess I am in the
same situation now. I would like to get some tips on what needs to be
changed on the java client 2 side to make it work with player 2.1.


Leo Nomdedeu wrote:
> 
> Hi all
> 
> My name is Leo Nomdedeu, from Spain. I'm new to this list.
> I'm working on an european project where we decided to use P/S some time
> ago. Now I face the need to use java-client to control a set of mobile
> robots using P/S. I'm havin some trubles with some interfaces, e.g.
> Planner
> giving wrong x,y data (a,x,y) instead of (x,y,a), graphics not drawing
> (decoding failed in stage), position turning in place instead of going to
> the position designed, etc.
> I wish to aid as much as possible with this player-client, and I have
> allready made some simple modifications from my own but I cannot be sure
> if
> this modifications are good or not due to I do not have access (aka, I
> have
> not found) to any information on the current XDR messages Player is
> waiting
> for. ¿Is there any place I can look at to get such info?
> 
> An other question I have. ¿Is the Java-Client project alive? I mean, I
> have
> not seen much activity in the mailing lists from 2006 year to now ...
> 
> I wish to continue my development in Java as I have several years of
> expertise with this language, so I'm ready to work in the java-client
> project if needed. It's better than having to work in C ...
> 
> Wainting for your answers...
> Leo
> 
> -- 
> **************************************
> Leonardo Nomdedeu Calvente
> leo...@gm...
> 
> -------------------------------------------------------------------------
> This SF.net email is sponsored by: Splunk Inc.
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> 

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[Java-player-developers] Robot doesn't move - sonar reference is null

[Oscar J. R. L. <ojr...@ho...>]

Hi all,

I am startirg using JavaClient for Player Stage.
I have downloaded the Javaclient 2.0.1 version and I am trying to run the examples (space wanderer, wall follower, etc.) but it seems like something is wrong.

When I try to debug the application, the PlayerClient object is created succesfully, so I suppose the connection to player server is ok, and the requestInterfacePosition2D is ok also.

however, when the PlayerClient object tries to call requestInterfaceSonar method, it returns a null reference. The same happens with laser and other devices.
I changed the method invocation order, so I call first the requestInterfaceSonar(0, PlayerConstants.PLAYER_OPEN_MODE) method, and after that I call the requestInterfacePosition2D (0, PlayerConstants.PLAYER_OPEN_MODE) method. In this way, the PlayerClient returns an interface for the sonar finally.

Nevertheles, the robot does't move in spite of it sets a velocity of 0.2 en each step. The position is always the same, it is not updated, so it get the same sonar readings. I have set the MotorPower to enabe anyway. I am using a Player Stage simulation, not a real-world robot.

Thank you very much for your help!
regards

Oscar 


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Re: [Java-player-developers] Interested in java-player

[Radu B. R. <ru...@cs...>]

Dear Leo,

Yup. I tend to think that almost all interfaces are affected by the same bug. Decoding XDR packages is pretty 
straightforward, and the only thing that you need to do is look at the interface definition in Player. Then you see that 
for a float you need 4 bytes, an int 4 bytes... etc.. I used http://www.faqs.org/rfcs/rfc1014.html for Javaclient 2.0.

Now, the problem is... one should use Player CVS in order to modify Javaclient SVN, otherwise it all becomes a big mess.

I am happy to know that you're interested. Have a look and see whether you can modify the interfaces which fail for you 
(you can look at the latest commits, like the one from yesterday on SonarInterface which fixed a bug thanks to Alejandro 
Pustowka's report), and then contact me later privately and I'll set you up with access rights on the repository.

Cheers,
Radu.

Leo Nomdedeu wrote:
> Dear Radu
> 
> As I said, I'm willing to help, and, if needed, mantain the javaclient.
> Right now I face some problems working with jc, as, for example, the planner
> and the localize interfaces, for example, have both the same "bug", that is,
> player sends an extra integer, and as it is not contemplated in the XDR
> decoding (in the handle response routine), the PlayerPose information you
> get is shifted one 4 bytes field, and so, you get Px = bugos data, Py =
> realPx, Pa=RealPy, and RealPa is lost in the space ;)
> 
> The same thing, but just at the inverse order, happends in the
> Graphics2dInterface. When coding, it adds twice the point_count, and so all
> the data is shifted when Player receives it (and obviously, the polyline is
> far from being what you thought it should be.
> 
> As I said, I have no source of information about the correcness of the XDR
> messages, and I can only try to intercept with ethereal, or digg into the C
> client, and, as you will know, it's not the very straigth forward way to
> work ... ¿could you be so kind to provide me some sort of documentation
> about the XDR messages?
> 
> Fortunatelly, I need jc for my PhD, so, I will be very active, I think ;)
> 
> Bests
> Leo
> 
> 2007/11/14, Radu Bogdan Rusu <ru...@cs...>:
>>
>> Dear Leo,
>>
>> Thank you for your interest in Javaclient and well, the whole Player
>> project ! =)
>>
>> You are right, the Javaclient project is very inactive at the moment, and
>> a few interfaces need to have their XDR
>> decoding routines fixed. It's a matter of hours (patching + testing), but
>> unfortunately, my time is very limited these
>> days, and, as I am not using Javaclient in my research work for now, I am
>> unable to make those corrections myself at
>> this point. Most of my efforts have gone towards the Player project itself
>> as a whole, and well, my PhD thesis. =)
>>
>> Therefore, any help would be highly appreciated, not just for me or for
>> the project, but for the entire community who
>> uses it and would like to use it in the future.
>>
>> Let me know if you want to help, and I can guide you through some of its
>> internals (not that big of a deal anyway as
>> I've tried to make everything pretty straightforward).
>>
>> Cheers,
>> Radu.
>>
>> Leo Nomdedeu wrote:
>>> Hi all
>>>
>>> My name is Leo Nomdedeu, from Spain. I'm new to this list.
>>> I'm working on an european project where we decided to use P/S some time
>>> ago. Now I face the need to use java-client to control a set of mobile
>>> robots using P/S. I'm havin some trubles with some interfaces, e.g.
>> Planner
>>> giving wrong x,y data (a,x,y) instead of (x,y,a), graphics not drawing
>>> (decoding failed in stage), position turning in place instead of going
>> to
>>> the position designed, etc.
>>> I wish to aid as much as possible with this player-client, and I have
>>> allready made some simple modifications from my own but I cannot be sure
>> if
>>> this modifications are good or not due to I do not have access (aka, I
>> have
>>> not found) to any information on the current XDR messages Player is
>> waiting
>>> for. ¿Is there any place I can look at to get such info?
>>>
>>> An other question I have. ¿Is the Java-Client project alive? I mean, I
>> have
>>> not seen much activity in the mailing lists from 2006 year to now ...
>>>
>>> I wish to continue my development in Java as I have several years of
>>> expertise with this language, so I'm ready to work in the java-client
>>> project if needed. It's better than having to work in C ...
>>>
>>> Wainting for your answers...
>>> Leo
>> --
>> | Radu Bogdan Rusu | http://rbrusu.com/
>> | http://www9.cs.tum.edu/people/rusu/
>> | Intelligent Autonomous Systems
>> | Technische Universitaet Muenchen
>>
> 
> 
> 
> 
> ------------------------------------------------------------------------
> 
> -------------------------------------------------------------------------
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> Still grepping through log files to find problems?  Stop.
> Now Search log events and configuration files using AJAX and a browser.
> Download your FREE copy of Splunk now >> http://get.splunk.com/
> 
> 
> ------------------------------------------------------------------------
> 
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> Java-player-developers mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-developers

-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

Re: [Java-player-developers] Interested in java-player

[Leo N. <leo...@gm...>]

Dear Radu

As I said, I'm willing to help, and, if needed, mantain the javaclient.
Right now I face some problems working with jc, as, for example, the planne=
r
and the localize interfaces, for example, have both the same "bug", that is=
,
player sends an extra integer, and as it is not contemplated in the XDR
decoding (in the handle response routine), the PlayerPose information you
get is shifted one 4 bytes field, and so, you get Px =3D bugos data, Py =3D
realPx, Pa=3DRealPy, and RealPa is lost in the space ;)

The same thing, but just at the inverse order, happends in the
Graphics2dInterface. When coding, it adds twice the point_count, and so all
the data is shifted when Player receives it (and obviously, the polyline is
far from being what you thought it should be.

As I said, I have no source of information about the correcness of the XDR
messages, and I can only try to intercept with ethereal, or digg into the C
client, and, as you will know, it's not the very straigth forward way to
work ... =BFcould you be so kind to provide me some sort of documentation
about the XDR messages?

Fortunatelly, I need jc for my PhD, so, I will be very active, I think ;)

Bests
Leo

2007/11/14, Radu Bogdan Rusu <ru...@cs...>:
>
>
> Dear Leo,
>
> Thank you for your interest in Javaclient and well, the whole Player
> project ! =3D)
>
> You are right, the Javaclient project is very inactive at the moment, and
> a few interfaces need to have their XDR
> decoding routines fixed. It's a matter of hours (patching + testing), but
> unfortunately, my time is very limited these
> days, and, as I am not using Javaclient in my research work for now, I am
> unable to make those corrections myself at
> this point. Most of my efforts have gone towards the Player project itsel=
f
> as a whole, and well, my PhD thesis. =3D)
>
> Therefore, any help would be highly appreciated, not just for me or for
> the project, but for the entire community who
> uses it and would like to use it in the future.
>
> Let me know if you want to help, and I can guide you through some of its
> internals (not that big of a deal anyway as
> I've tried to make everything pretty straightforward).
>
> Cheers,
> Radu.
>
> Leo Nomdedeu wrote:
> > Hi all
> >
> > My name is Leo Nomdedeu, from Spain. I'm new to this list.
> > I'm working on an european project where we decided to use P/S some tim=
e
> > ago. Now I face the need to use java-client to control a set of mobile
> > robots using P/S. I'm havin some trubles with some interfaces, e.g.
> Planner
> > giving wrong x,y data (a,x,y) instead of (x,y,a), graphics not drawing
> > (decoding failed in stage), position turning in place instead of going
> to
> > the position designed, etc.
> > I wish to aid as much as possible with this player-client, and I have
> > allready made some simple modifications from my own but I cannot be sur=
e
> if
> > this modifications are good or not due to I do not have access (aka, I
> have
> > not found) to any information on the current XDR messages Player is
> waiting
> > for. =BFIs there any place I can look at to get such info?
> >
> > An other question I have. =BFIs the Java-Client project alive? I mean, =
I
> have
> > not seen much activity in the mailing lists from 2006 year to now ...
> >
> > I wish to continue my development in Java as I have several years of
> > expertise with this language, so I'm ready to work in the java-client
> > project if needed. It's better than having to work in C ...
> >
> > Wainting for your answers...
> > Leo
> --
> | Radu Bogdan Rusu | http://rbrusu.com/
> | http://www9.cs.tum.edu/people/rusu/
> | Intelligent Autonomous Systems
> | Technische Universitaet Muenchen
>



--=20
**************************************
Leonardo Nomdedeu Calvente
leo...@gm...

Re: [Java-player-developers] Interested in java-player

[Radu B. R. <ru...@cs...>]

Dear Leo,

Thank you for your interest in Javaclient and well, the whole Player project ! =)

You are right, the Javaclient project is very inactive at the moment, and a few interfaces need to have their XDR 
decoding routines fixed. It's a matter of hours (patching + testing), but unfortunately, my time is very limited these 
days, and, as I am not using Javaclient in my research work for now, I am unable to make those corrections myself at 
this point. Most of my efforts have gone towards the Player project itself as a whole, and well, my PhD thesis. =)

Therefore, any help would be highly appreciated, not just for me or for the project, but for the entire community who 
uses it and would like to use it in the future.

Let me know if you want to help, and I can guide you through some of its internals (not that big of a deal anyway as 
I've tried to make everything pretty straightforward).

Cheers,
Radu.

Leo Nomdedeu wrote:
> Hi all
> 
> My name is Leo Nomdedeu, from Spain. I'm new to this list.
> I'm working on an european project where we decided to use P/S some time
> ago. Now I face the need to use java-client to control a set of mobile
> robots using P/S. I'm havin some trubles with some interfaces, e.g. Planner
> giving wrong x,y data (a,x,y) instead of (x,y,a), graphics not drawing
> (decoding failed in stage), position turning in place instead of going to
> the position designed, etc.
> I wish to aid as much as possible with this player-client, and I have
> allready made some simple modifications from my own but I cannot be sure if
> this modifications are good or not due to I do not have access (aka, I have
> not found) to any information on the current XDR messages Player is waiting
> for. ¿Is there any place I can look at to get such info?
> 
> An other question I have. ¿Is the Java-Client project alive? I mean, I have
> not seen much activity in the mailing lists from 2006 year to now ...
> 
> I wish to continue my development in Java as I have several years of
> expertise with this language, so I'm ready to work in the java-client
> project if needed. It's better than having to work in C ...
> 
> Wainting for your answers...
> Leo
-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

Re: [Java-player-developers] CameraInterface patch

[Radu B. R. <ru...@cs...>]

fixed in SVN! thanks and sorry it took so long.

Cheers,
Radu.

David Leonardo wrote:
> Hi, I've been working in an application that uses CameraInterface.java and i
> found a bug with the JPEG compressed images payload, it wasn't the same in
> every package, obviously. So, when a package arrived, the first 32 (28+4)
> bytes were decoded correctly, but when the image bytes were read,
> apparently, didn't match with the imageCount previously obtained, so the
> next frame never synchronized and there wasn't data ready.
> 
> With the non-compressed images worked fine, because the length of the
> imagecount was always the same.
> 
> To fix it, i modified the readData method in the CameraInterface.java,
> replacing  the buffer's length with the header payload size less 32 (28+4)
> bytes previously read, so it always matched, for compress and non-compress
> images.
> 
> // Buffer for reading image
> 
> //buffer = new byte[PLAYER_CAMERA_IMAGE_SIZE];
> buffer = new byte[ header.getSize()-32];
> 
> //is.readFully (buffer, 0, imageCount);
> is.readFully (buffer, 0, header.getSize()-32);
> 
> pcdata.setImage (buffer);
> 
> 
> It works fine, or like people say in my country, "al peluche".
> 
> 
> 
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> 
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-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

[Java-player-developers] Interested in java-player

[Leo N. <leo...@gm...>]

Hi all

My name is Leo Nomdedeu, from Spain. I'm new to this list.
I'm working on an european project where we decided to use P/S some time
ago. Now I face the need to use java-client to control a set of mobile
robots using P/S. I'm havin some trubles with some interfaces, e.g. Planner
giving wrong x,y data (a,x,y) instead of (x,y,a), graphics not drawing
(decoding failed in stage), position turning in place instead of going to
the position designed, etc.
I wish to aid as much as possible with this player-client, and I have
allready made some simple modifications from my own but I cannot be sure if
this modifications are good or not due to I do not have access (aka, I have
not found) to any information on the current XDR messages Player is waiting
for. =BFIs there any place I can look at to get such info?

An other question I have. =BFIs the Java-Client project alive? I mean, I ha=
ve
not seen much activity in the mailing lists from 2006 year to now ...

I wish to continue my development in Java as I have several years of
expertise with this language, so I'm ready to work in the java-client
project if needed. It's better than having to work in C ...

Wainting for your answers...
Leo

--=20
**************************************
Leonardo Nomdedeu Calvente
leo...@gm...

[Java-player-developers] CameraInterface patch

[David L. <dal...@gm...>]

Hi, I've been working in an application that uses CameraInterface.java and i
found a bug with the JPEG compressed images payload, it wasn't the same in
every package, obviously. So, when a package arrived, the first 32 (28+4)
bytes were decoded correctly, but when the image bytes were read,
apparently, didn't match with the imageCount previously obtained, so the
next frame never synchronized and there wasn't data ready.

With the non-compressed images worked fine, because the length of the
imagecount was always the same.

To fix it, i modified the readData method in the CameraInterface.java,
replacing  the buffer's length with the header payload size less 32 (28+4)
bytes previously read, so it always matched, for compress and non-compress
images.

// Buffer for reading image

//buffer = new byte[PLAYER_CAMERA_IMAGE_SIZE];
buffer = new byte[ header.getSize()-32];

//is.readFully (buffer, 0, imageCount);
is.readFully (buffer, 0, header.getSize()-32);

pcdata.setImage (buffer);


It works fine, or like people say in my country, "al peluche".

-- 
+++++++++++++++++++++++++++++++++++++++
                  David Leonardo Acosta Molano
                        Móvil 300 620 56 08
                            Cali - Colombia
+++++++++++++++++++++++++++++++++++++++

Re: [Java-player-developers] SpeechInterface patch

[Radu B. R. <ru...@cs...>]

Hi John,

Thanks for the patch. I will have a look at it and integrate it ASAP.

Maybe it's time for a Javaclient 2.0.2 too ? With all the latest patches, it certainly 
would seem right.

R.

John Oliver wrote:
> Ive been having problems with the speechInterface.  Here is a patch(or rather
> the whole file again) I have come up with.  Seems to work fine with player
> 2.0.2.  Let me know if anyone has any issues with it.
> 
> http://www.nabble.com/user-files/258/SpeechInterface.java
> SpeechInterface.java 
> 
> Thanks
> John Oliver

-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

[Java-player-developers] SpeechInterface patch

[John O. <joh...@gm...>]

Ive been having problems with the speechInterface.  Here is a patch(or rather
the whole file again) I have come up with.  Seems to work fine with player
2.0.2.  Let me know if anyone has any issues with it.

http://www.nabble.com/user-files/258/SpeechInterface.java
SpeechInterface.java 

Thanks
John Oliver
-- 
View this message in context: http://www.nabble.com/SpeechInterface-patch-tf2084414.html#a5743409
Sent from the java-player-developers forum at Nabble.com.

Re: [Java-player-developers] MapInterface

[Radu B. R. <ru...@cs...>]

Patched and committed to the SVN repository.

Thanks Kurt!

Best,
R.

Kurt Konolige wrote:
> Folks, here's a new diff for MapInterface.java, fixing a problem with 
> compressed map tiles.  The previous version didn't uncompress the tile; 
> this version uses Java's ZLIB classes to do it.  Tested with Player 2.0.2.
> 
> Cheers --Kurt
> 
> 
> ------------------------------------------------------------------------
> 
> Index: MapInterface.java
> ===================================================================
> --- MapInterface.java	(revision 68)
> +++ MapInterface.java	(working copy)
> @@ -34,6 +34,8 @@
>  import javaclient2.structures.map.PlayerMapData;
>  import javaclient2.structures.map.PlayerMapDataVector;
>  
> +import java.util.zip.*;
> +
>  /**
>   * The map interface provides acces to an occupancy grid map. This interface returns no data 
>   * and accepts no commands. The map is delivered in tiles, via a sequence of configuration 
> @@ -147,14 +149,15 @@
>       */
>      public void requestMapData (PlayerMapData pmd) {
>          try {
> -        	sendHeader (PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_DATA, 20);
> -        	XdrBufferEncodingStream xdr = new XdrBufferEncodingStream (20);
> +        	sendHeader (PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_DATA, 24);
> +        	XdrBufferEncodingStream xdr = new XdrBufferEncodingStream (24);
>          	xdr.beginEncoding (null, 0);
>          	xdr.xdrEncodeInt (pmd.getCol    ());
>          	xdr.xdrEncodeInt (pmd.getRow    ());
>          	xdr.xdrEncodeInt (pmd.getWidth  ());
>          	xdr.xdrEncodeInt (pmd.getHeight ());
>          	xdr.xdrEncodeInt (0);
> +        	xdr.xdrEncodeInt (0);
>          	xdr.endEncoding ();
>          	os.write (xdr.getXdrData (), 0, xdr.getXdrLength ());
>          	xdr.close ();
> @@ -203,12 +206,13 @@
>                  }
>                  case PLAYER_MAP_REQ_GET_DATA: {
>                  	// Buffer for reading col, row, width, height, data_count
> -                	byte[] buffer = new byte[20];
> +		  // NOTE: extra 4 bytes are also returned
> +                	byte[] buffer = new byte[24];
>                  	// Read col, row, width, height, data_count
> -                	is.readFully (buffer, 0, 20);
> -                	
> -                	pmdata = new PlayerMapData (); 
> -                	
> +                	is.readFully (buffer, 0, 24);
> +
> +                	pmdata = new PlayerMapData ();
> +
>                  	// Begin decoding the XDR buffer
>                  	XdrBufferDecodingStream xdr = new XdrBufferDecodingStream (buffer);
>                  	xdr.beginDecoding ();
> @@ -224,13 +228,31 @@
>                  	buffer = new byte[PLAYER_MAP_MAX_TILE_SIZE];
>                  	// Read data
>                  	is.readFully (buffer, 0, pmdata.getData_count ());
> -                	pmdata.setData (new String (buffer).toCharArray ());
> -                	
> -                	// Take care of the residual zero bytes
> -                	if ((pmdata.getData_count () % 4) != 0)
> -                		is.readFully (buffer, 0, 4 - (pmdata.getData_count () % 4));
> -                	
> -                	readyPmdata = true;
> +
> +			try
> +			  {
> +			    byte [] outbuffer = new byte[PLAYER_MAP_MAX_TILE_SIZE];
> +			    Inflater decomp = new Inflater();
> +			    decomp.reset();
> +			    // NOTE: need to offset input buffer by 4 bytes
> +			    decomp.setInput(buffer,0,pmdata.getData_count());
> +			    int len = decomp.inflate(outbuffer);
> +			    pmdata.setData (new String (outbuffer).toCharArray ());
> +
> +			    // Take care of the residual zero bytes
> +			    if ((pmdata.getData_count () % 4) != 0)
> +			      is.readFully (buffer, 0, 4 - (pmdata.getData_count () % 4));
> +
> +			    // Reset data count
> +			    pmdata.setData_count(len);
> +			    System.err.println("Map decompress: "+pmdata.getData_count()+" bytes");
> +			    readyPmdata = true;
> +			  }
> +			catch (Exception ex)
> +			  {
> +			    ex.printStackTrace();
> +			  }
> +
>                  	break;
>                  }
>                  case PLAYER_MAP_REQ_GET_VECTOR: {
> 
> 
> ------------------------------------------------------------------------
> 
> Using Tomcat but need to do more? Need to support web services, security?
> Get stuff done quickly with pre-integrated technology to make your job easier
> Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo
> http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642
> 
> 
> ------------------------------------------------------------------------
> 
> _______________________________________________
> Java-player-developers mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-developers

-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

[Java-player-developers] MapInterface

[Kurt K. <kon...@AI...>]

Folks, here's a new diff for MapInterface.java, fixing a problem with 
compressed map tiles.  The previous version didn't uncompress the tile; 
this version uses Java's ZLIB classes to do it.  Tested with Player 2.0.2.

Cheers --Kurt

[Java-player-developers] diff for MapInterface

[Kurt K. <kon...@AI...>]

Folks, I've attached a diff which allows MapInterface.java to send a 
correctly-formatted PLAYER_MAP_REQ_GET_DATA request.  As for the return, 
which can be jpegged, I don't think it's correct...

Cheers --Kurt

Re: [Java-player-developers] patch for PlayerClient.close()

[Kurt K. <kon...@AI...>]

It would be ok to send the close request, but it would have to be done 
without waiting for a reply, I guess.  I haven't looked at the Player 
code to make sure.  At any rate, this is just a quick fix to make it 
work, I'll update it correctly later.

Cheers --Kurt

Radu Bogdan Rusu wrote:
> Thanks a lot Kurt, I just applied it to the repository.
> 
> Everything looks fine at first glance, but I wonder if closing the 
> sockets directly without unsubscribing will cause any nasty effects on 
> the Player side for some devices.
> 
> Best,
> Radu.
> 
> Kurt Konolige wrote:
>> This function hangs when talking to Stage (haven't tried it with a 
>> real robot).  It's waiting for a response to a device close request, 
>> which Stage never sends.  Took out the close request, just shut down 
>> the I/O, which closes the Stage connection.  Also added setNotThreaded 
>> code to wait for thread to exit.
>>
>> Patch is against the latest SVN.
>>
>> Cheers --Kurt

Re: [Java-player-developers] patch for PlayerClient.close()

[Radu B. R. <ru...@cs...>]

Thanks a lot Kurt, I just applied it to the repository.

Everything looks fine at first glance, but I wonder if closing the 
sockets directly without unsubscribing will cause any nasty effects on 
the Player side for some devices.

Best,
Radu.

Kurt Konolige wrote:
> This function hangs when talking to Stage (haven't tried it with a 
> real robot).  It's waiting for a response to a device close request, 
> which Stage never sends.  Took out the close request, just shut down 
> the I/O, which closes the Stage connection.  Also added setNotThreaded 
> code to wait for thread to exit.
>
> Patch is against the latest SVN.
>
> Cheers --Kurt
> ------------------------------------------------------------------------
>
> Index: PlayerClient.java
> ===================================================================
> --- PlayerClient.java	(revision 67)
> +++ PlayerClient.java	(working copy)
> @@ -97,6 +97,7 @@
>      // Timeout for packets
>  //    private long    timeout = 100;
>      private boolean isThreaded;
> +    private boolean isRunning;
>      
>      // current data mode
>      private int     datamode = PLAYER_DATAMODE_PUSH;
> @@ -109,6 +110,10 @@
>       */
>      public PlayerClient (String serverName, int portNumber) {
>          try {
> +	    // init
> +	    isThreaded = false;
> +	    isRunning = false;
> +
>              // initialize network connection
>              socket = new Socket (serverName, portNumber);
>              // open the proper streams (I/O)
> @@ -167,21 +172,25 @@
>       * with the Player server.
>       */
>      public void close () {
> -        try {
> -        	for (int i = 0; i < deviceList.size (); i++) {
> -        		PlayerDevice pd = (PlayerDevice)deviceList.get (i);
> -        		requestDeviceAccess (pd.getDeviceAddress ().getInterf (), 
> -        	    					 pd.getDeviceAddress ().getIndex (), 
> -        	    					 PLAYER_CLOSE_MODE);
> -        	    readAll ();
> -        	}
> +        try 
> +	  {
> +  /*
> +	    for (int i = 0; i < deviceList.size (); i++) 
> +	      {
> +		PlayerDevice pd = (PlayerDevice)deviceList.get (i);
> +		requestDeviceAccess (pd.getDeviceAddress ().getInterf (), 
> +				     pd.getDeviceAddress ().getIndex (), 
> +				     PLAYER_CLOSE_MODE);
> +		readAll ();
> +	      }
> +  */
>          	
>              // close all sockets
> -        	os.close     ();
> +            this.setNotThreaded ();
> +	    os.close     ();
>              buffer.close ();
>              is.close     ();
>              socket.close ();
> -            this.setNotThreaded ();
>          } catch (IOException e) {
>          	throw new PlayerException 
>          		("[PlayerClient]: Error in PlayerClient stop: " + 
> @@ -191,9 +200,14 @@
>  
>      /**
>       * Change the mode Javaclient runs to non-threaded.
> +     * NOTE: waits for thread to stop
>       */
>      public void setNotThreaded() {
> +	if (!isThreaded)
> +	    return;
>      	isThreaded = false;
> +	while (isRunning == true) // wait to exit run thread
> +	    try { Thread.sleep (10); } catch (Exception e) { }
>      }
>      
>      /**
> @@ -216,6 +230,7 @@
>       * Start the Javaclient thread. Ran automatically from runThreaded ().
>       */
>      public void run () {
> +	isRunning = true;
>          try {
>              while (isThreaded) {
>              	if (this.datamode == PLAYER_DATAMODE_PULL) {
> @@ -236,6 +251,8 @@
>              }
>          } catch (InterruptedException e) { throw new PlayerException (e); }
>  //    	} catch (IOException e) { throw new PlayerException (e); }
> +
> +	isRunning = false;	// sync with setNotThreaded
>      }
>  	 
>      /**
>   

-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

[Java-player-developers] patch for PlayerClient.close()

[Kurt K. <kon...@AI...>]

This function hangs when talking to Stage (haven't tried it with a real 
robot).  It's waiting for a response to a device close request, which 
Stage never sends.  Took out the close request, just shut down the I/O, 
which closes the Stage connection.  Also added setNotThreaded code to 
wait for thread to exit.

Patch is against the latest SVN.

Cheers --Kurt

[Java-player-developers] CVS->SVN

[Radu B. R. <ru...@cs...>]

Hi all,

Just wanted to let you know that I migrated the project to SVN from CVS 
on SourceForge. CVS has been down so many times and has so many issues 
that it's just not worthy to keep on using it, especially since SF has a 
SVN option now.

While the CVS code will still be accessible (I am not removing it for 
now), it won't be updated anymore. Please use the instructions from: 
http://sourceforge.net/svn/?group_id=135304 to access it. I will also 
put an announcement on the main web page.

I'll also see if Brian would like to convert Player/Stage to SVN as well.

Thanks,
Radu.

-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

[Java-player-developers] CVS changes

[Radu B. R. <ru...@cs...>]

Hellos,

Some changes (if you haven't followed the P/S users/developers threads 
recently) have occurred to Javaclient2's way of dealing with data:
a) non-threaded mode
In a non-threaded mode (default, or when the client sets the 
<PlayerClient>.setNotThreaded () explicitly), the user must call 
<PlayerClient>.readAll (); whenever he wants to get new data from the 
Player server.
b) threaded mode
In a threaded mode (when the client calls the <PlayerClient>.runThreaded 
(...); method), the calls are automatically read by the PlayerClient 
thread, so all the incoming data will be placed automatically in the 
structures of the respective interfaces.

Besides these two basic operating modes (which are Javaclient-specific), 
the Player server itself has two ways of sending data to the client: 
PUSH and PULL.

Right now the default is PUSH, thus, you can consider that besides the 
two options (a and b) mentioned above, we have two more:
c) non-threaded mode, PULL mode
The difference between this mode and a) is that the user must call:
<PlayerClient>.requestDataDeliveryMode 
(PlayerConstants.PLAYER_DATAMODE_PUSH);
<PlayerClient>.readAll ();

and optionally:
<PlayerClient>.requestAddReplaceRule (-1, -1, 
PlayerConstants.PLAYER_MSGTYPE_DATA, -1, 1);
<PlayerClient>.readAll ();

The requestAddReplaceRule is important for those cases where you 
encounter "warning : tried to push onto a full message queue" messages 
on the Player side. Basically it enables the new mechanism available in 
Player2 and tries to deal with those situations where the link between 
the server and the client is slow or the data is produced really fast, 
and the client gets delayed data. So, an AddReplaceRule with the type 
PLAYER_MSGTYPE_DATA will replace data with newer versions, ensuring that 
the client gets data as up to date as possible.

d) threaded mode, PULL mode
Same as in case c), the client has to issue the requestDataDeliveryMode 
and requestAddReplaceRule (optionally) explicitly. The difference is 
that readAll () is not needed here, since the PlayerClient thread will 
take care of it. So:
<PlayerClient>.requestDataDeliveryMode 
(PlayerConstants.PLAYER_DATAMODE_PUSH);
and optionally:
<PlayerClient>.requestAddReplaceRule (-1, -1, 
PlayerConstants.PLAYER_MSGTYPE_DATA, -1, 1);
.... suffices.

For any other questions don't hesitate to e-mail here on the java-player 
lists, or directly on playerstage (if the question is not Javaclient2 
generic).

Cheers,
Radu.

-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

[Java-player-developers] Javaclient2 alpha at SF (CVS)

[Radu B. R. <ru...@cs...>]

Hellos,

First of all, sorry for the cross-post.

For those who are interested in programing Player/Stage with Java, I 
just committed an alpha (well, maybe beta) version of the new 
Javaclient2. I personally tested a big number of interfaces against 
Stage CVS, but I would really appreciate any additional tests and bug 
reports.

In a couple of days, I will post the new examples (already available on 
SF), modified for Javaclient2 & Player/Stage2. If anyone wants to 
contribute something to the tree (code, documentation, ideas, examples), 
now would be a good time.

I would like to synchronize the release of Javaclient2 with the one for 
P/S, thus minimizing the impact of changing from 1.x to 2.x for our Java 
users.

Thanks,
Radu.

-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen

Re: [Java-player-developers] Need to propagate exceptions, not hide them.

[Radu B. R. <ru...@cs...>]

Hi Gareth,

Got your mail. Thanks ;) I will look at it and try to include the 
changes asap.

I just posted the RFID patch to 
http://www9.cs.tum.edu/people/rusu/playerstage/ and sent a message to 
the ps mailing lists. If anybody has problems running it or building 
Javaclient applications that use the RFIDInterface, please let me know.

Best regards,
Radu.

Gareth Randall wrote:

>Note to list:
>
>I've sent Radu a GNU tar.gz of my changes.
>
>This is what I've done:
>
>1. Changed all occurrences of catch(Exception e) to only catch the
>specific exception that can be thrown.
>
>2. Changed all cases of catch(Exception e) followed by a
>System.err.println to throw an exception instead. The caller can log
>the exception if desired.
>
>3. Rewrote dangerous catching of NullPointerException.
>
>4. Handled InterruptedException in Thread methods.
>
>Yours,
>
>Gareth Randall
>  
>

-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen