Re: [Java-player-users] Re: how to start P/S with java code?

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

Hellos,

fly roadto wrote:

> Hi all,
> I am sorry to send two more repearted messages to the server (e.g. 
> "questions about using java code with simulator" and "how to use the 
> simulator with java code"). Becasue i sent this thread the day before 
> yesterday, but couldn't see any new one from the mailing list. So im 
> so fool to send two more. Could the administrator cancel the two more 
> ones please?
> and i have one more question. when i ran the code as follow:
>        PlayerClient player = new PlayerClient("localhost",6665);
>        PositionInterface post = player.requestInterfacePosition(0, 
> 'r');    //a, r or w
>        SimulationInterface simulation = 
> player.requestInterfaceSimulation(0, 'r');
>        player.runThreaded(-1, -1);
>        //now loop this stuff...
>        player.readAll();

You don't need to call player.readAll() if you run the Javaclient in 
threaded mode.

>        //update the global data so every behaviour can access it
>
>        simulation.set2DPose("pioneer", 1000, 1000, 0);
>        simulation.get2DPose("pioneer");
>
>        int currentX = simulation.getSimulationPose2D().getX();
>        int currentY = simulation.getSimulationPose2D().getY();
>        int currentYaw = simulation.getSimulationPose2D().getTheta();
>
>        System.out.println("Position  (" + currentX + "/"+ currentY + 
> ") Angle " +
>                "is " + currentYaw + "   ");
> and the result is like this:
>       [PlayerClient] : Got response for device 4(stage) with access: r
>       [PlayerClient] : Got response for device 31(stage) with access: r
>       Exception in thread "main" java.lang.NullPointerException
>              at robotsimulation.Test1.main(Test1.java:36)
>       [Simulation] : Handling NAR of size = 0
>
> it seems the currentX, Y, Yaw don't get any return value from  
> getSimulationPose2D(). but i want to get the value of pose of the 
> robot in the simulator. any one get ideas?

You need to check isPose2DReady() in a loop before reading the new pose 
with getSimulationPose2D(). Example:
    while (!isPose2DReady ());
    PlayerSimulationPose2D pose = getSimulationPose2D ();
    System.out.println ("Position  (" + pose.getX () + "/"+ pose.getY () 
+ ") Angle is " + pose.getTheta () + "   ");

> thanks very much

You're welcome. Don't hesitate to send your questions here in case you 
encounter more problems.

>
> Jun
>
Cheers,
Radu.

--
| Radu Bogdan Rusu | http://www.rbrusu.com
| Intelligent Autonomous Systems Group
| Technische Universitaet Muenchen