java-player-users — General discussions on how to use Javaclient

Re: [Java-player-users] JavaClient for Player/stage 2.1.x ?

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

Actually I haven't. When I started coding JavaClient, the swig interfaces that we were using for the python library were 
crap.

Personally I don't like wrappers all that much, but hey, if it works, and people are happy, why not :)

Radu.

Tung Nguyen wrote:
> Hi Radu and Leo,
> 
> Thanks for your replies to my previous question, I really appreciate 
> them. I have another question for you though:
> I'd like to know if using JNI to wrap around the player C (or C++)  
> client lib is another feasible/reasonable solution for communicating 
> with the player server.
> I saw elsewhere people were considering using either JNI or CORBA for 
> this purpose.
> 
> I guess you guys have already considered this option instead of writing 
> a java client completely from the ground up. If this is true, I would 
> really like to know the drawbacks of the JNI approach (if it's 
> reasonable at all) as opposed to writing a client from scratch 
> (JavaClient2).
> 
> Thanks,
> 
> Tung,
> 
> 
> 
> ------------------------------------------------------------------------
> 
> -------------------------------------------------------------------------
> This SF.Net email is sponsored by the Moblin Your Move Developer's challenge
> Build the coolest Linux based applications with Moblin SDK & win great prizes
> Grand prize is a trip for two to an Open Source event anywhere in the world
> http://moblin-contest.org/redirect.php?banner_id=100&url=/
> 
> 
> ------------------------------------------------------------------------
> 
> _______________________________________________
> Java-player-users mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users

Re: [Java-player-users] JavaClient for Player/stage 2.1.x ?

[Tung N. <ng....@gm...>]

Hi Radu and Leo,

Thanks for your replies to my previous question, I really appreciate them. I
have another question for you though:
I'd like to know if using JNI to wrap around the player C (or C++)  client
lib is another feasible/reasonable solution for communicating with the
player server.
I saw elsewhere people were considering using either JNI or CORBA for this
purpose.

I guess you guys have already considered this option instead of writing a
java client completely from the ground up. If this is true, I would really
like to know the drawbacks of the JNI approach (if it's reasonable at all)
as opposed to writing a client from scratch (JavaClient2).

Thanks,

Tung,

Re: [Java-player-users] JavaClient for Player/stage 2.1.x ?

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

Hi
Yes, as Radu said, free time is more expensive than pure uranium nowadays. I
have some modifications, and have to do some more before the end of year as
a requirement for my own development. Hope to have enough time to make
changes "stable" and "readable" to be able to commit them. I'm afraid is the
best I can say. Don't know exactly which information you need to make an
informed decision. Just ask. As you could have noticed, the list is not very
active, but we are still alive, although without much free time.

Hope to be of any help.

Bests
Leo

2008/11/2 Radu Bogdan Rusu <ru...@cs...>

> Hi,
>
> Well, unfortunately we have no news regarding the Javaclient migration to
> 2.x (SVN). Due to lack of free time, I am
> unable to commit to add the code which would account for the new changes in
> Player SVN, and it looks like Leo is also
> very busy.
>
> As usual, patches and submissions are more than welcome to keep the project
> alive! Otherwise, it might take a few more
> months before I can sit down and make the necessary adjustments to
> Javaclient. :(
>
> Cheers,
> Radu.
>
> Tung Nguyen wrote:
> > Hi everyone,
> >
> > My group is considering using the JavaClient in our coming project.
> > And right now JavaClient is our most promising option. However, we would
> > like to know if the Java Client is ready to be used with Player/stage
> > 2.1.x yet.
> >
> > I saw Leo's post back in April about the upgrade from JavaClient (for
> > P/S 2.0.x) to JC(for P/S 2.1.x), but haven't heard any news since then.
> > My group needs to decide by the end of next week (we're kind of rushing
> > due to an unexpected technical requirement), so I really need an answer.
> >
> > Thank you, everyone
> >
>
> -------------------------------------------------------------------------
> This SF.Net email is sponsored by the Moblin Your Move Developer's
> challenge
> Build the coolest Linux based applications with Moblin SDK & win great
> prizes
> Grand prize is a trip for two to an Open Source event anywhere in the world
> http://moblin-contest.org/redirect.php?banner_id=100&url=/
> _______________________________________________
> Java-player-users mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-users
>



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

Re: [Java-player-users] JavaClient for Player/stage 2.1.x ?

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

Hi,

Well, unfortunately we have no news regarding the Javaclient migration to 2.x (SVN). Due to lack of free time, I am 
unable to commit to add the code which would account for the new changes in Player SVN, and it looks like Leo is also 
very busy.

As usual, patches and submissions are more than welcome to keep the project alive! Otherwise, it might take a few more 
months before I can sit down and make the necessary adjustments to Javaclient. :(

Cheers,
Radu.

Tung Nguyen wrote:
> Hi everyone,
> 
> My group is considering using the JavaClient in our coming project.
> And right now JavaClient is our most promising option. However, we would 
> like to know if the Java Client is ready to be used with Player/stage 
> 2.1.x yet.
> 
> I saw Leo's post back in April about the upgrade from JavaClient (for 
> P/S 2.0.x) to JC(for P/S 2.1.x), but haven't heard any news since then.
> My group needs to decide by the end of next week (we're kind of rushing 
> due to an unexpected technical requirement), so I really need an answer.
> 
> Thank you, everyone
> 

[Java-player-users] JavaClient for Player/stage 2.1.x ?

[Tung N. <ng....@gm...>]

Hi everyone,

My group is considering using the JavaClient in our coming project.
And right now JavaClient is our most promising option. However, we would
like to know if the Java Client is ready to be used with Player/stage 2.1.x
yet.

I saw Leo's post back in April about the upgrade from JavaClient (for P/S
2.0.x) to JC(for P/S 2.1.x), but haven't heard any news since then.
My group needs to decide by the end of next week (we're kind of rushing due
to an unexpected technical requirement), so I really need an answer.

Thank you, everyone


PS: Please disregard my earlier email, I'm new to using the mailing list.

[Java-player-users] User Account Registration for java-player-users

[Tung N. <ng....@gm...>]

Hi,

I'd like to register as a member of java-player-users mailing list.

Thanks,

T

Re: [Java-player-users] [PlayerClient]: Error reading header: java.io.EOFException

[maniabee <man...@gm...>]

Ok, I fixed that when I figured out that I needed a different  "driver block"
in the cfg file for sonar... it shouldn't be in the same block with
position2d.

Next problem was that position3d interface, which substitutes now the
position2d in my experiment, gave me problems using setSpeed function in my
code. What I did then is changing the constant in the code of setVelocity
function in Position3DInterface.java to PLAYER_POSITION3D_CMD_SET_VEL (in
place of the 2nd constant in sendHeader call), so that the 1st line of try
block ,it looks like that...

sendHeader (PLAYER_MSGTYPE_CMD, PLAYER_POSITION3D_CMD_SET_VEL, 24+4);

This is the way I got setSpeed working...

Now, I try to request Laser Interface but it seems to give me errors as
well. Actually, I get an
"error reading header" because of the laser request... Has anybody had the
same problem? Should it be a matter of my cfg file again? I post it

driver
(
name "gazebo"
provides ["simulation:0"]
plugin "libgazeboplugin"
server_id "default"
)

driver
(
name "gazebo"
provides ["position3d:0"]
gz_id "robot1"
)

driver
(
name "gazebo"
provides ["sonar:0"]
gz_id "sonar1"
)


driver
(
name "gazebo"
provides ["laser:0"]
gz_id "laser1"
)







maniabee wrote:
> 
> What I forgot to put..is the reply of Player..when running the java
> program..
> 
> accepted client 0 on port 6665, fd 6
> gz_iface.c:214 opening /tmp/gazebo-root-0/position.robot1 060 304
> Segmentation fault (core dumped)
> 
> 
> 
> 
> maniabee wrote:
>> 
>> Hello, 
>> 
>> I am a newbie...so maybe my problem is very cliche. I have been using
>> Player 2.0.3/Gazebo 0.7.0 (and sometimes Stage 2.0.3) I tried the example
>> the SpaceWandererExample as it is, once with Stage ...and once with
>> Gazebo. With Stage it works fine, but with Gazebo it outputs 
>> 
>> SpaceWandererExample: > Error connecting to Player:
>>     [ javaclient2.PlayerException: [PlayerClient]: Error reading header:
>> java.io.EOFException ]
>> 
>> after that, I added the following in the catch loop, which showed that
>> posi and soni device is null, they're never created
>> 
>> if (robot == null){System.err.println("Server null");}
>> if (posi == null){ System.err.println("posi null");}
>> if (soni == null){System.err.println("soni null");}
>> 
>> My cfg is
>> 
>> driver
>> (
>> name "gazebo"
>> provides ["simulation:0"]
>> plugin "libgazeboplugin"
>> server_id "default"
>> )
>> driver
>> (
>> name "gazebo"
>> provides ["position2d:0" "sonar:0"]
>> gz_id "robot1"
>> )
>> 
>> and my world includes
>> 
>> <model:Pioneer2DX>
>> 	<id>robot1</id>
>> 	<xyz>0 0 0.200</xyz>
>> 	<model:SickLMS200>
>> 		<id>laser1</id>
>> 		<xyz>0.0 0.0 0.00</xyz>
>> 	</model:SickLMS200>
>> </model:Pioneer2DX>
>> 
>> The procedure I follow is 
>> a)gazebo *.world
>> b)player *.cfg
>> c)java -classpath . SpaceWandererExample (from within the
>> Javaclient/class)
>> 
>> each run...outputs the following
>> a)** Gazebo 0.7.0    etc...**
>> using display [:0.0]
>> rendering: [GLX offscreen] direct [no] RGBA [8 8 8 8] depth [24]
>> server id [0]
>> b)* Part of the Player/Stage/Gazebo Project
>> [http://playerstage.sourceforge.net].
>> * Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew Howard,
>> * Nate Koenig, and contributors. Released under the GNU General Public
>> License.
>> * Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and
>> you
>> * are welcome to redistribute it under certain conditions; see COPYING
>> * for details.
>> 
>> trying to load /home/mania/thesis/examples/hopeworks/./libgazeboplugin...
>> trying to load /usr/local/lib/libgazeboplugin...
>> success
>> invoking player_driver_init()...
>> 
>>  ** Gazebo plugin v0.7.0 etc**
>> success
>>   Gazebo Plugin driver creating 1 device
>>     6665.31.0 is  a simulation interface.
>> gz_client.c:122 opening /tmp/gazebo-root-0
>> gz_iface.c:214 opening /tmp/gazebo-root-0/sim.default 060 180
>>   Gazebo Plugin driver creating 2 devices
>>     6665.4.0 is  a position2d interface.
>>     6665.5.0 is  a sonar interface.
>> Listening on ports: 6665
>> 
>> c)Player v.2.0.3
>> selected devices [localhost:6665]:
>>  6665:simulation:0 (gazebo)
>>  6665:position2d:0 (gazebo)
>>  6665:sonar:0 (gazebo)
>> posi null (-- this is because of the added system.err.print...)
>> soni null  (--and this too...)
>> SpaceWandererExample: > Error connecting to Player:
>>     [ javaclient2.PlayerException: [PlayerClient]: Error reading header:
>> java.io.EOFException ]
>> 
>> I am wondering..devices are created correctly when using Stage and not
>> when using Gazebo...since the code is the same..is something wrong with
>> my world and cfg files or there is incompatibility between gazebo 0.7? I
>> saw that examples were tested with Gazebo 0.6... What is more, I haven't
>> found a complete example with Javaclient2 using Gazebo, please if there
>> is sth could anybody let me know? 
>> 
>> Thank u in advance, 
>> Manya 
>> 
>> 
> 
> 

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Re: [Java-player-users] [PlayerClient]: Error reading header: java.io.EOFException

[maniabee <man...@gm...>]

What I forgot to put..is the reply of Player..when running the java program..

accepted client 0 on port 6665, fd 6
gz_iface.c:214 opening /tmp/gazebo-root-0/position.robot1 060 304
Segmentation fault (core dumped)




maniabee wrote:
> 
> Hello, 
> 
> I am a newbie...so maybe my problem is very cliche. I have been using
> Player 2.0.3/Gazebo 0.7.0 (and sometimes Stage 2.0.3) I tried the example
> the SpaceWandererExample as it is, once with Stage ...and once with
> Gazebo. With Stage it works fine, but with Gazebo it outputs 
> 
> SpaceWandererExample: > Error connecting to Player:
>     [ javaclient2.PlayerException: [PlayerClient]: Error reading header:
> java.io.EOFException ]
> 
> after that, I added the following in the catch loop, which showed that
> posi and soni device is null, they're never created
> 
> if (robot == null){System.err.println("Server null");}
> if (posi == null){ System.err.println("posi null");}
> if (soni == null){System.err.println("soni null");}
> 
> My cfg is
> 
> driver
> (
> name "gazebo"
> provides ["simulation:0"]
> plugin "libgazeboplugin"
> server_id "default"
> )
> driver
> (
> name "gazebo"
> provides ["position2d:0" "sonar:0"]
> gz_id "robot1"
> )
> 
> and my world includes
> 
> <model:Pioneer2DX>
> 	<id>robot1</id>
> 	<xyz>0 0 0.200</xyz>
> 	<model:SickLMS200>
> 		<id>laser1</id>
> 		<xyz>0.0 0.0 0.00</xyz>
> 	</model:SickLMS200>
> </model:Pioneer2DX>
> 
> The procedure I follow is 
> a)gazebo *.world
> b)player *.cfg
> c)java -classpath . SpaceWandererExample (from within the
> Javaclient/class)
> 
> each run...outputs the following
> a)** Gazebo 0.7.0    etc...**
> using display [:0.0]
> rendering: [GLX offscreen] direct [no] RGBA [8 8 8 8] depth [24]
> server id [0]
> b)* Part of the Player/Stage/Gazebo Project
> [http://playerstage.sourceforge.net].
> * Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew Howard,
> * Nate Koenig, and contributors. Released under the GNU General Public
> License.
> * Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and
> you
> * are welcome to redistribute it under certain conditions; see COPYING
> * for details.
> 
> trying to load /home/mania/thesis/examples/hopeworks/./libgazeboplugin...
> trying to load /usr/local/lib/libgazeboplugin...
> success
> invoking player_driver_init()...
> 
>  ** Gazebo plugin v0.7.0 etc**
> success
>   Gazebo Plugin driver creating 1 device
>     6665.31.0 is  a simulation interface.
> gz_client.c:122 opening /tmp/gazebo-root-0
> gz_iface.c:214 opening /tmp/gazebo-root-0/sim.default 060 180
>   Gazebo Plugin driver creating 2 devices
>     6665.4.0 is  a position2d interface.
>     6665.5.0 is  a sonar interface.
> Listening on ports: 6665
> 
> c)Player v.2.0.3
> selected devices [localhost:6665]:
>  6665:simulation:0 (gazebo)
>  6665:position2d:0 (gazebo)
>  6665:sonar:0 (gazebo)
> posi null (-- this is because of the added system.err.print...)
> soni null  (--and this too...)
> SpaceWandererExample: > Error connecting to Player:
>     [ javaclient2.PlayerException: [PlayerClient]: Error reading header:
> java.io.EOFException ]
> 
> I am wondering..devices are created correctly when using Stage and not
> when using Gazebo...since the code is the same..is something wrong with my
> world and cfg files or there is incompatibility between gazebo 0.7? I saw
> that examples were tested with Gazebo 0.6... What is more, I haven't found
> a complete example with Javaclient2 using Gazebo, please if there is sth
> could anybody let me know? 
> 
> Thank u in advance, 
> Manya 
> 
> 

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[Java-player-users] [PlayerClient]: Error reading header: java.io.EOFException

[maniabee <man...@gm...>]

Hello, 

I am a newbie...so maybe my problem is very cliche. I have been using Player
2.0.3/Gazebo 0.7.0 (and sometimes Stage 2.0.3) I tried the example the
SpaceWandererExample as it is, once with Stage ...and once with Gazebo. With
Stage it works fine, but with Gazebo it outputs 

SpaceWandererExample: > Error connecting to Player:
    [ javaclient2.PlayerException: [PlayerClient]: Error reading header:
java.io.EOFException ]

after that, I added the following in the catch loop, which showed that posi
and soni device is null, they're never created

if (robot == null){System.err.println("Server null");}
if (posi == null){ System.err.println("posi null");}
if (soni == null){System.err.println("soni null");}

My cfg is

driver
(
name "gazebo"
provides ["simulation:0"]
plugin "libgazeboplugin"
server_id "default"
)
driver
(
name "gazebo"
provides ["position2d:0" "sonar:0"]
gz_id "robot1"
)

and my world includes

<model:Pioneer2DX>
	<id>robot1</id>
	<xyz>0 0 0.200</xyz>
	<model:SickLMS200>
		<id>laser1</id>
		<xyz>0.0 0.0 0.00</xyz>
	</model:SickLMS200>
</model:Pioneer2DX>

The procedure I follow is 
a)gazebo *.world
b)player *.cfg
c)java -classpath . SpaceWandererExample (from within the Javaclient/class)

each run...outputs the following
a)** Gazebo 0.7.0    etc...**
using display [:0.0]
rendering: [GLX offscreen] direct [no] RGBA [8 8 8 8] depth [24]
server id [0]
b)* Part of the Player/Stage/Gazebo Project
[http://playerstage.sourceforge.net].
* Copyright (C) 2000 - 2006 Brian Gerkey, Richard Vaughan, Andrew Howard,
* Nate Koenig, and contributors. Released under the GNU General Public
License.
* Player comes with ABSOLUTELY NO WARRANTY.  This is free software, and you
* are welcome to redistribute it under certain conditions; see COPYING
* for details.

trying to load /home/mania/thesis/examples/hopeworks/./libgazeboplugin...
trying to load /usr/local/lib/libgazeboplugin...
success
invoking player_driver_init()...

 ** Gazebo plugin v0.7.0 etc**
success
  Gazebo Plugin driver creating 1 device
    6665.31.0 is  a simulation interface.
gz_client.c:122 opening /tmp/gazebo-root-0
gz_iface.c:214 opening /tmp/gazebo-root-0/sim.default 060 180
  Gazebo Plugin driver creating 2 devices
    6665.4.0 is  a position2d interface.
    6665.5.0 is  a sonar interface.
Listening on ports: 6665

c)Player v.2.0.3
selected devices [localhost:6665]:
 6665:simulation:0 (gazebo)
 6665:position2d:0 (gazebo)
 6665:sonar:0 (gazebo)
posi null (-- this is because of the added system.err.print...)
soni null  (--and this too...)
SpaceWandererExample: > Error connecting to Player:
    [ javaclient2.PlayerException: [PlayerClient]: Error reading header:
java.io.EOFException ]

I am wondering..devices are created correctly when using Stage and not when
using Gazebo...since the code is the same..is something wrong with my world
and cfg files or there is incompatibility between gazebo 0.7? I saw that
examples were tested with Gazebo 0.6... What is more, I haven't found a
complete example with Javaclient2 using Gazebo, please if there is sth could
anybody let me know? 

Thank u in advance, 
Manya 

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[Java-player-users] Problems doing analog IO with javaclient2

[Ed C. E. <ep...@zd...>]

I can't get analog IO to work with javaclient2

I have a Phidget interface kit.
LV-MaxSonar -EZ1s
I can get it to work under C++ but not Java. I couldn't find an example for
doing analog IO. I am probably doing something wrong. See below for working
C++ and not working Java code (annotations embedded with *** prefix). The
player cfg file is also listed.

Player 2.1.0rc1
Javaclient2 2.0.1
Java version 6 update 5 1.6.0-05
Fedora core 5
Eclipse 3.1.2

C++ code
---------------------------------------------------------------------

#include <iostream>
#include <libplayerc++/playerc++.h>

int
main(int argc, char *argv[])
{
  using namespace PlayerCc;

  PlayerClient    robot("localhost");
  AioProxy        ap(&robot,0);
  int             i = 0;

  // Read the 8 digital inputs
  for(i=0; i<30; i++)
  {
    robot.Read();
    std::cout << ap[1] << "  " <<
                 ap[2] << "  " <<
                 ap[3] << "  " <<
                 ap[4] << "  " <<
                 ap[5] << "  " <<
                 ap[6] << "  " <<
    std::endl;
    sleep(1);
  }
}

Java code
----------------------------------------------------------------------------
----

import javaclient2.PlayerException;
import javaclient2.PlayerClient;
import javaclient2.structures.PlayerConstants;
import javaclient2.AIOInterface;
import javaclient2.structures.PlayerMsgHdr;
import javaclient2.structures.aio.PlayerAioData;

public class PhidgetSensorTest3 
{
  final static long   serialVersionUID = 1L;
  final static int    NO_READINGS      = 6;
  final static int    FIRST_INDEX      = 1;
  final static float  MAX_RANGE        = 1;

  public static void main(String[] args)
  {
      PlayerClient  myPlayerClient = null;
	AIOInterface  mySonar        = null;
	PlayerAioData sonarData      = null;
	float[]       reading        = null;

	try
	{
	  myPlayerClient  = new PlayerClient ("localhost", 6665);
	  mySonar = myPlayerClient.requestInterfaceAIO(0,
PlayerConstants.PLAYER_OPEN_MODE); 
	}
	catch (PlayerException e)
	{
	  System.err.println ("PhidgetSensorTest3::main Error connecting to
Player");
	  System.err.println ("  [" + e.toString() + " ]");
	  System.exit(1);
	}
      System.out.println("PhidgetSensorTest3::main connected");
		    
 	try
	{
	  Thread.sleep(1000);
	}
	catch (InterruptedException e)
	{}
	System.out.println("PhidgetSensorTest3::main request data");
      myPlayerClient.requestData();
//	System.out.println("PhidgetSensorTest3::main read all");
//	myPlayerClient.readAll();
//    PlayerMsgHdr sonarHeader = new PlayerMsgHdr();
//    System.out.println("PhidgetSensorTest3::main read data");
//    mySonar.readData(sonarHeader);
 	try
	{
	  Thread.sleep(1000);
	}
	catch (InterruptedException e)
	{}
      if (!mySonar.isDataReady())
        System.out.println("PhidgetSensorTest3::main not ready");  *** this
line prints
      System.out.println("PhidgetSensorTest3::main get data");
      sonarData = mySonar.getData();
      System.out.println("PhidgetSensorTest3::main get voltages");
      reading = sonarData.getVoltages ();     *** null pointer error because
sonarData is null
		    /*
		    System.out.println("--- SonarViewPhidget::paint loop");
  		    for (int i=FIRST_INDEX; i<NO_READINGS; i++)
		    {
		      float f = reading[i];
		      System.out.println (f);
		    }
		    */
      System.out.println("PhidgetSensorTest3::main exit");
  }
}

phidgetIFK.cfg ---------------------------------------------------------

# Use only the interfaces needed: if you don't need to write things to the
screen, or there is none, just
# provide aio and dio, without speech
# To get the serial number, use: lsusb -v |grep iSerial.*3  , or use "serial
-1" to connect to the first available phidget

driver
(
  name "phidgetIFK"
  #provides ["aio:0" "dio:0" "speech:0"]
  provides ["aio:0" "dio:0"]
  serial -1
  alwayson 1
  samplingrate 16
  alarmtime 21
)

Re: [Java-player-users] Changhe world at runtime

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

This is not really the correct list for this question since your problem is
with the stage simulator not the Javaclient.  However currently I don't
think there is any way to archive what you are asking, however with some
modification to the simulator it would be possible.  Try the stage mailing
list for further help with this.

Thanks
John Oliver



Pilar wrote:
> 
> Hi! I have a doubt... I don't know if it's possible to change the world
> properties at runtime... I need that some pioneers switch its property of
> reflect fiducial at runtime, i. e., sometimes they are "visible" to
> fiducial sensors and sometimes they don't. If it's possible... how could I
> do that? 
> 
> Thank you, Pilar.
> 

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[Java-player-users] Changhe world at runtime

[Pilar <pcs...@ud...>]

Hi! I have a doubt... I don't know if it's possible to change the world
properties at runtime... I need that some pioneers switch its property of
reflect fiducial at runtime, i. e., sometimes they are "visible" to fiducial
sensors and sometimes they don't. If it's possible... how could I do that? 

Thank you, Pilar.
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Re: [Java-player-users] Complete freeze of stage?

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

I really would like to but first I need to have a talk with Radu and a few
minutes to organize all the code. Right now it's not usable, neither
integrable as it need a complete rewrite of the player proxies.

We talked about having a new branch where definetly anyone could help to
reach the 2.1 compatibility, leaving the 2.0 branch as is for backwards
compatibility.

I will try to fix some parts and organize all the stuff asap, maybe for the
next week or so.

Sorry for any inconvencience ...

Bests
Leo

2008/5/5 Anthony M. Harrison <amh...@gm...>:

> After reverting to the normal threading model of the java-client, I'm
> able to push the simulation past the four minute barrier, but it then
> freezes again after around six minutes.
>
> It looks as though this is a player issue as others have encountered
> it (
> http://www.nabble.com/Re%3A-request%2C-reg%3A-non-trivial-problem-tt11237170.html#a11241196
> ). The fix? Go to 2.1 (argh)
>
> I looked in the public SVN repo and saw that there has been no
> activity related to 2.1, but Leo has commented that work for 2.1
> compat is on going (presumably on local hard drives). If that code
> were to be committed, others who are stuck in a holding pattern might
> be able to assist (myself most definitely included).
>
> Leo, would you mind taking a few moments to bring folks up to date and
> make that code available?
>
>   ...
>   Anthony M. Harrison, PhD
>   http://anthonymharrison.com/
>   http://jactr.org/
>
>
>
> -------------------------------------------------------------------------
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**************************************
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Re: [Java-player-users] Complete freeze of stage?

[Anthony M. H. <amh...@gm...>]

After reverting to the normal threading model of the java-client, I'm  
able to push the simulation past the four minute barrier, but it then  
freezes again after around six minutes.

It looks as though this is a player issue as others have encountered  
it (http://www.nabble.com/Re%3A-request%2C-reg%3A-non-trivial-problem-tt11237170.html#a11241196 
). The fix? Go to 2.1 (argh)

I looked in the public SVN repo and saw that there has been no  
activity related to 2.1, but Leo has commented that work for 2.1  
compat is on going (presumably on local hard drives). If that code  
were to be committed, others who are stuck in a holding pattern might  
be able to assist (myself most definitely included).

Leo, would you mind taking a few moments to bring folks up to date and  
make that code available?

   ...
   Anthony M. Harrison, PhD
   http://anthonymharrison.com/
   http://jactr.org/

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Re: [Java-player-users] Complete freeze of stage?

[Anthony M. H. <amh...@gm...>]

Oops, forgot the details.

Yes, I'm using 2.0.4 (not going near 2.1 until the java client is  
updated). Running on OS X.. (trying to get access to a linux box to  
test it there).

I am running in PUSH mode (default), with only the main thread calling  
readAll() before delegating to the parallelized processors who just  
query the interfaces for their data (if available).

On the error front, player (-d 9) is surprisingly quiet, but the log  
output itself is locked up:

...
playertcp.cc:550 warning : skipping message from 4:0 with unsupported  
type 4:6
playertcp.cc:550 warning : skipping message from 4:0 with unsupported  
type 4:6
playertcp.cc:550 warning : skipping message from 4:0 with unsupported  
type

That warning is repeated numerous times, still tracking down what it  
is.. (interface position2D, message ACK:DATA_FREQ?) - but it's  
interesting that the lock up prevents it from even finishing the last  
line (probably just not flushing the warnings).

With javaclient debugging on:

[PlayerClient][Debug] Type = PLAYER_MSGTYPE_RESP_ACK/4 , with payload  
size = 0 for 31:0
[PlayerClient][Debug] Type = PLAYER_MSGTYPE_RESP_ACK/4 , with payload  
size = 0 for 31:0
[PlayerClient][Debug] Type = PLAYER_MSGTYPE_RESP_ACK/4 , with payload  
size = 0 for 31:0
[PlayerClient][Debug] Type = PLAYER_MSGTYPE_RESP_ACK/4 , with payload  
size = 0 for 31:0
[PlayerClient][Debug] Type = PLAYER_MSGTYPE_RESP_ACK/4 , with payload  
size = 0 for 31:0
[PlayerClient][Debug] Type = PLAYER_MSGTYPE_RESP_ACK/4 , with payload  
size = 0 for 31:0
[PlayerClient][Debug] Type = PLAYER_MSGTYPE_RESP_ACK/4 , with payload  
size = 0 for 31:0
[PlayerClient][Debug] Type = PLAYER_MSGTYPE_RESP_ACK/4 , with payload  
size = 0 for 31:0

Which are in response to the positioning of 10 objects through the  
simulation interface (but only 8 of them are acknowledged).

I'm at a loss right now. I'd rather not revert to the threading model  
of javaclient since it's so wasteful of threads (and I'm fighting the  
urge to reimplement the io in a nonblocking manner).



   ...
   Anthony M. Harrison, PhD
   http://anthonymharrison.com/
   http://jactr.org/

Re: [Java-player-users] Complete freeze of stage?

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

I am afraid I have never experienced anything like this. First question
would be what version of player/stage are you using? If you read back
through the mail archives people have been having issues with player/stage
2.1, so you may want to downgrade your player/stage version until this is
resolved.

Otherwise if there is any more information such as error messages from P/S
you could provide it would be helpful.

I wasn't entirely sure from what you said if multiple executors were reading
from a given port,  since if you have the system in PULL mode multiple
clients reading the same port could also cause issues.

thanks

John


2008/4/30 Anthony Harrison <ant...@nr...>:

> I'm not entirely sure where this problem is being caused, but here's
> the situation:
>
> I've got stage configured with two robots and a connection to the
> simulation interface. After about five minutes stage freezes up
> entirely and the javaclients do as well (freezing on readAll()). (but
> my other code continues to chug along).
>
> What makes this interesting is that after killing the javaclients,
> stage resumes, which leads me to believe a communications buffer might
> be flooded.
>
> Has anyone experienced something similar?
>
> Now I am doing things a tad differently. First, I'm not running
> threaded. Instead I'm using executors to parallelize a large amount of
> the processing. At the top of each iteration, readAll() is called for
> each bot, and then separate executors do the sensor processing. After
> all the sensors are processed then new commands are issued (on the
> same thread that did the reading so there is no concern about sending
> munged commands due to different threads writing to the port).
>
> The PlayerClients are instantiated as normal but I make no calls to
> runThreaded() or setNotThreaded() (since it defaults to not threaded).
>
>
>
>
>  ...
>  Anthony M. Harrison, PhD
>  Cognitive Robotics & Human-Robot Interaction
>  Naval Research Laboratory
>
>
> -------------------------------------------------------------------------
> This SF.net email is sponsored by the 2008 JavaOne(SM) Conference
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[Java-player-users] Complete freeze of stage?

[Anthony H. <ant...@nr...>]

I'm not entirely sure where this problem is being caused, but here's  
the situation:

I've got stage configured with two robots and a connection to the  
simulation interface. After about five minutes stage freezes up  
entirely and the javaclients do as well (freezing on readAll()). (but  
my other code continues to chug along).

What makes this interesting is that after killing the javaclients,  
stage resumes, which leads me to believe a communications buffer might  
be flooded.

Has anyone experienced something similar?

Now I am doing things a tad differently. First, I'm not running  
threaded. Instead I'm using executors to parallelize a large amount of  
the processing. At the top of each iteration, readAll() is called for  
each bot, and then separate executors do the sensor processing. After  
all the sensors are processed then new commands are issued (on the  
same thread that did the reading so there is no concern about sending  
munged commands due to different threads writing to the port).

The PlayerClients are instantiated as normal but I make no calls to  
runThreaded() or setNotThreaded() (since it defaults to not threaded).




  ...
  Anthony M. Harrison, PhD
  Cognitive Robotics & Human-Robot Interaction
  Naval Research Laboratory

Re: [Java-player-users] Incompatable Interfaces

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

Hi John,

John Oliver wrote:
> We have been getting a number of these issues on the mailing lists due
> to the incompatibility between 2.1 and javaclient2. I read from Leo
> Nomdedeu that a solution is being worked on. Could I ask what the form
> of this solution is? Due to the fact that player seems to change its
> protocols quite often if we change the classes to fit the current spec
> is it not quite likely we will be back in the same position in a year
> or so when things change again. 

The current incompatibilities are due to the fact that Javaclient2 was written for Player 2.0.x. The current changes in 
Player 2.1 were long awaited by anyone who ever wanted to design a custom interface, or, simply reduce the amount of 
bandwidth/data it had to transfer (e.g. camera images where always an issue with Player - not anymore! :) ).

Leo is bravely taking a hit at upgrading Javaclient2, and I will try to help maintain it more in the near future as 
well. It would be great if more people could contribute though - especially since we seem to have quite a few users out 
there.

We don't need to worry about more incompatibilities and changes between Player and Javaclient. We're not going to change 
the current Player interfaces anytime soon, so once we upgrade to 2.1 we should be fine for some (long) time.

> I notice that the pack functions for the communications in player are
> generated at compile time using a python script (playerxdrgen.py).
> Could we not modify this to allow us to generate the java side too thus
> allowing us to keep player and Javaclient in sync without manually
> making the changes?

That's what Leo is working on. So far we had to modify and test each interface manually, and that worked fine at the 
beginning since their number was "maintainable". Nowadays we just have too many, and a scriptable solution which 
generates them automatically is the right choice.

> Unfortunately I do not have too much time to attempt this myself,
> however I was wanting to gauge reaction to see if this was the current
> approach or if anyone thinks this is possible.
> 
> Thanks
> John Oliver

I know how that feels. I'm trapped in the same loophole... Still, e-mailing ideas and suggestions does help.

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

[Java-player-users] Incompatable Interfaces

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

We have been getting a number of these issues on the mailing lists due
to the incompatibility between 2.1 and javaclient2. I read from Leo
Nomdedeu that a solution is being worked on. Could I ask what the form
of this solution is? Due to the fact that player seems to change its
protocols quite often if we change the classes to fit the current spec
is it not quite likely we will be back in the same position in a year
or so when things change again. 

I notice that the pack functions for the communications in player are
generated at compile time using a python script (playerxdrgen.py).
Could we not modify this to allow us to generate the java side too thus
allowing us to keep player and Javaclient in sync without manually
making the changes?

Unfortunately I do not have too much time to attempt this myself,
however I was wanting to gauge reaction to see if this was the current
approach or if anyone thinks this is possible.

Thanks
John Oliver

Re: [Java-player-users] P/S 2.1, Javaclient2 and PTZInterface

[Maria S. <mar...@go...>]

Hi Leo,
many thanks for your reply!
Before I got your message I somehow managed to control the PTZ and 
bascially set it to any position I want, though it still is impossible 
to read from it. Well, for my purposes that was sufficient... though of 
course it is not satisfactory state at all.
I'm sure you guys work very hard on the new version, so many thanks for 
that in advance! I just thought I'd let you know what effects I noticed 
so far...
cheers, maria


Leo Nomdedeu schrieb:
> As you allready know, P/S2.1 and the actual Javaclient are not compatible at
> all. The messages sent by the PS server have been modified since 2.0.5 so
> the javaclient proxies are trying to decode diferent size messages. This
> leads to strange behaviours, basically due to the fact that javaclient is
> unable to decode those messages.
>
> I guess you can read and send the first command but no more because somehow
> those messages have not been changed, or at least not too much, but this is
> a lotery ...
>
> We will release a new version ASAP, but unfortunately right now we simply
> have no more than 24 hours a day. We are trying to get 36h/day days but days
> are not cooperating ... ;)
>
> Bests
> Leo
>
> 2008/4/22, Maria Staudte <mar...@go...>:
>   
>> Hi,
>>
>> I think I've read similar questions on the list but no answers to them
>> so I try again:
>>
>> I understood that P/S 2.1 and Javaclient are to some extend but not
>> fully compatible, right!?
>> So with these software versions I simply try to control a pan-tilt-unit.
>> My problem is that I can read from the ptz once, then move it to a
>> desired position and then I can never read from it again, it loops
>> forever... surely this can't be a version problem!?
>>
>> Here's the (very simple) code:
>>
>>
>> /        // read actual position data
>>         System.out.println(robot.readAll());
>>
>>         while (!head.isDataReady()) {
>>             robot.readAll();
>>         }
>>
>>         PlayerPtzData data = head.getData();
>>
>>         float acttilt = data.getTilt();
>>         float actpan = data.getPan();
>>
>>         System.out.println("actual pos ["+actpan+","+acttilt+"]");
>>         System.out.println("moving to ["+pangoal+","+tiltgoal+"]");
>>
>>         // create a data structure that contains new position data and
>> pass to ptz-interface
>>         PlayerPtzCmd direction = new PlayerPtzCmd();
>>
>>         direction.setPan(pangoal);
>>         direction.setTilt(tiltgoal);
>>
>>         head.setPTZ(direction);
>>
>>         // now read new/actual position data
>>         System.out.println(robot.readAll());
>>
>>         while (!head.isDataReady()) {
>>             robot.readAll();
>>         }
>>
>>         PlayerPtzData nextData = head.getData();
>>         actpan = nextData.getPan();
>>         acttilt = nextData.getTilt();
>>         System.out.println("final pos ["+actpan+","+acttilt+"]");
>> /
>>
>>
>> If anyone can help me here, that would be great.
>>
>> Thanks,
>> Maria
>>
>>
>> -------------------------------------------------------------------------
>> This SF.net email is sponsored by the 2008 JavaOne(SM) Conference
>> Don't miss this year's exciting event. There's still time to save $100.
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>>     
>
>
>
>   
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>
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Re: [Java-player-users] P/S 2.1, Javaclient2 and PTZInterface

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

As you allready know, P/S2.1 and the actual Javaclient are not compatible at
all. The messages sent by the PS server have been modified since 2.0.5 so
the javaclient proxies are trying to decode diferent size messages. This
leads to strange behaviours, basically due to the fact that javaclient is
unable to decode those messages.

I guess you can read and send the first command but no more because somehow
those messages have not been changed, or at least not too much, but this is
a lotery ...

We will release a new version ASAP, but unfortunately right now we simply
have no more than 24 hours a day. We are trying to get 36h/day days but days
are not cooperating ... ;)

Bests
Leo

2008/4/22, Maria Staudte <mar...@go...>:
>
> Hi,
>
> I think I've read similar questions on the list but no answers to them
> so I try again:
>
> I understood that P/S 2.1 and Javaclient are to some extend but not
> fully compatible, right!?
> So with these software versions I simply try to control a pan-tilt-unit.
> My problem is that I can read from the ptz once, then move it to a
> desired position and then I can never read from it again, it loops
> forever... surely this can't be a version problem!?
>
> Here's the (very simple) code:
>
>
> /        // read actual position data
>         System.out.println(robot.readAll());
>
>         while (!head.isDataReady()) {
>             robot.readAll();
>         }
>
>         PlayerPtzData data = head.getData();
>
>         float acttilt = data.getTilt();
>         float actpan = data.getPan();
>
>         System.out.println("actual pos ["+actpan+","+acttilt+"]");
>         System.out.println("moving to ["+pangoal+","+tiltgoal+"]");
>
>         // create a data structure that contains new position data and
> pass to ptz-interface
>         PlayerPtzCmd direction = new PlayerPtzCmd();
>
>         direction.setPan(pangoal);
>         direction.setTilt(tiltgoal);
>
>         head.setPTZ(direction);
>
>         // now read new/actual position data
>         System.out.println(robot.readAll());
>
>         while (!head.isDataReady()) {
>             robot.readAll();
>         }
>
>         PlayerPtzData nextData = head.getData();
>         actpan = nextData.getPan();
>         acttilt = nextData.getTilt();
>         System.out.println("final pos ["+actpan+","+acttilt+"]");
> /
>
>
> If anyone can help me here, that would be great.
>
> Thanks,
> Maria
>
>
> -------------------------------------------------------------------------
> This SF.net email is sponsored by the 2008 JavaOne(SM) Conference
> Don't miss this year's exciting event. There's still time to save $100.
> Use priority code J8TL2D2.
>
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>



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

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