Re: [Java-player-users] readAll necessary?

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

Hey Shane,

- runThreaded () calls read () automatically, as can be seen in this 
snippet of code (3rd line of run ()):
    /**
     * Start a threaded copy of Javaclient.
     * @param millis number of miliseconds to sleep between calls
     * @param nanos number of nanoseconds to sleep between calls
     */
    public void runThreaded (long millis, int nanos) {
        if (isThreaded) {
            System.err.println ("[PlayerClient] : A second call for 
runThreaded, ignoring!");
            return;
        }
        this.millis = millis;
        this.nanos  = nanos;
        isThreaded  = true;
        this.start ();
    }
   
    /**
     * Start the Javaclient thread. Ran automatically from runThreaded ().
     */
    public void run () {
        try {
            while (isThreaded) {
                while (read () != PLAYER_MSGTYPE_SYNCH && isThreaded);
                if (millis < 0)
                    Thread.yield ();
                else
                    if (nanos <= 0)
                        Thread.sleep (millis);
                    else
                        Thread.sleep (millis, nanos);
            }
        } catch (Exception e) { e.printStackTrace (); }
    }
- setNotThreaded () just sets isThreaded to false, so you have to call 
readAll () manually:
    /**
     * Change the mode Javaclient runs to non-threaded.
     */
    public void setNotThreaded() {
        isThreaded = false;
    }
    /**
     * Read the Player server replies in non-threaded mode.
     */
    public void readAll () {
        if (isThreaded) return;
        while (read () != PLAYER_MSGTYPE_SYNCH);
    }

If you send me your piece of code, I can have a quick look at it 
probably today or tomorrow (not THAT busy today :) and send you a 
corrected version back. Who knows, maybe we discovered another bug in 
FiducialInterface (I haven't really used it).


What I normally do is ... connect to Player, request the interfaces, 
then start the client in threaded mode, and then I control the robot in 
an infinite while loop (with the appropriate sleep of course). Can you 
check the examples that I just uploaded to the Javaclient web page 
please, and see if they can help?


Cheers,
Radu.

Shane Hoversten wrote:

> Hey all -
>
> I've been confused for awhile about reading data using javaclient.  If 
> I do a runThreaded() do I ever need to explicitly readData()?  So far, 
> w/respect to sensors, things have mostly "just worked."  But now I'm 
> having these goofy intermittent problems (w/ fiducials again, of 
> course) where sometimes I get meaningful rotation readings, and 
> sometimes I get nothing.  There seems to be no rhyme or reason to how 
> this is working, and of course considering the series of problems I've 
> had with fiducials it could be just more of the same bugs that crop up 
> w/ 1.3.5.  But it strikes me that it could be something more fundamental.
>
> So - can someone give me a quick explanation of how and when to read 
> interface data?
>
> Thanks,
>
> Shane
>
>
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-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen