Re: [Java-player-users] More fiducial interface problems

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

Hi Shane,

The configuration request/reply mechanism in the Player server works 
like this:
- first you send a configuration request of type PLAYER_MSGTYPE_REQ 
(PLAYER_FIDUCIAL_GET_FOV in our case) to Player
- then Player will reply back with a message of type 
PLAYER_MSGTYPE_RESP_ACK (if everything went ok) or 
PLAYER_MSGTYPE_RESP_NACK otherwise

FiducialInterface.getFOV () sends a configuration request with 
PLAYER_FIDUCIAL_GET_FOV. The reply of the Player server is caught by 
PlayerClient.read (), which in turn will call 
FiducialInterface.handleResponse () if the type of the messaged that 
returned is ACK. FiducialInterface.handleResponse () checks to see if 
the reply came back for the configuration request 
PLAYER_FIDUCIAL_GET_FOV, and then it fills in those attributes with 
their appropriate values.

The order of operations for your program should be:
- getFOV ();
- check if isFOVReady () is true
- if fovReady is true, then get the values you need using getMinRage (), 
getMaxRange () and getViewAngle ().

In case you send the request but you do not get any reply back, it could 
be an internal Player problem. But it's okay, we can have a look there 
as well, to see what the problem is.

I hope this helps,
Radu.

Shane Hoversten wrote:

> Hi everyone -
>
> Back to fiducials.  When I call FiducialInterface.getViewAngle() and 
> getMax() and getMin() I'm always getting zeroes.  Looking at the code 
> I see that all of these things start off as zero and are updated when 
> handleResponse() gets the PLAYER_FIDUCIAL_GET_FOV msg.  This msg is 
> presumably received in reponse to the PLAYER_FIDUCIAL_GET_FOV msg 
> which is generated by the call to getFOV().  Right?  Or is this 
> another cut and paste error?  Should these both be the same msg?
>
> To put it another way: I call getFOV() but the P_F_G_F msg is never 
> received in response, and so javaclient never updates the values.  Am 
> I doing something wrong, or is this a bug?
>
> Thanks for any help,
>
> Shane


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