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

[Shane H. <sr...@ny...>]

Hi Radu -

Thanks for the quick and thorough response.

> 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

It looks like the second case is what's happening - after I send the 
PLAYER_FIDUCIAL_GET_FOV via getFOV() something apparently goes awry; 
PlayerDevice .handleNARMessage() gets called.  So something is 
apparently going wrong, but no real error msg gets printed, just "Need 
to handle a NAR message." 

Output in my stage simulator gave me an error message, so I dug through 
the stage source code and found that requests are processed in 
fiducialfinderdevice.cc, in the UpdateConfig function.  It appears that 
Stage 1.3.5 only handles the PLAYER_FIDUCIAL_GET_GEOM msg, not the 
GET_FOV msg getFOV() is sending.

I assume from this that the getFOV() sort of functionality is only 
supported in editions of Stage later than 1.3.5?

Shane

I started digging through the player/stage code and found that it

Do you know where I might be able to trace   gets some sort of

>
> 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
>
>
>