RE: [Java-player-users] Javaclient2 java.lang.ClassCastException: javaclient2.LaserInterface dirty fix

[Marques, H. G <hg...@es...>]

Hi...

 I found the reason why it was given the exception. the reason was that =
in the method readAll of PlayerClient when the test is.available was =
being made some times there was nothing. Since I'm really in a hurry I =
made a sort of dirty fix that you might want to have a look:

********************* code

    public void readAll () {

    	if (isThreaded) return;
        try {
            int i=3D0;                    // Added by HGM
            while(is.available() =3D=3D 0){ // Added by HGM
                if (i>10000) break;     // Added by HGM
                i++;                    // Added by HGM
            }                           // Added by HGM

            while (is.available() !=3D 0){
                if (read () =3D=3D PLAYER_MSGTYPE_SYNCH){
                    break;
                }
            }
        } catch (IOException e) {
        	throw new PlayerException ("[PlayerClient]: Error reading =
data",e);
    	}
//        while (read () !=3D PLAYER_MSGTYPE_SYNCH);
    }

****************************** end code

regards...
Hugo

----------------------------------------------------
Hugo Gravato Marques, University of Essex, PhD Student
PHONE: +44 (0)7854917241, England or +351 962482416, Portugal
ADDRESS: University of Essex, Department of Computer Science,
Wivenhoe Park, Colchester Essex, CO4 3SQ, UK
WEB: http://privatewww.essex.ac.uk/~hgmarq/



=20



-----Original Message-----
From: jav...@li... on behalf of =
Marques, Hugo G
Sent: Sat 04/03/2006 18:17
To: jav...@li...
Subject: RE: [Java-player-users] InterfacePosition2D
=20

Hello...=20

thanks for the reply... I've double checked my code and there is no =
refences (not even in the classpath) to javaclient1.6.5. I already =
manage to control the robot's movement but the method setSpeed(int,int) =
is in my code of javaclient2:

    public void setSpeed (int speed, int turnrate) {
    	PlayerPose pp =3D new PlayerPose ();
    	pp.setPx (speed);
    	pp.setPa (turnrate);
        setVelocity (pp, 1);
    }

I agree with you that it should not be there has it looks compliant with =
the previous version but in fact the speed and turnrate are different =
now...

I also tried to investigate a bit further the ClassCastException and I =
believe that the mistake is on the player (or stage) side. It seems to =
me that  there are variables not properly instantiated and that is =
somteimes it works and sometimes don't... the PlayerClient code looks =
fine to me...=20

actually the error only happens when I receive only this message from =
stage:
Player v.2.0.0

Rather than:

Player v.2.0.0
selected devices [localhost:6666]:
 6666:position2d:0 (stage)
 6666:sonar:0 (stage)
 6666:laser:0 (stage)
 6666:blobfinder:0 (stage)
 6666:fiducial:0 (stage)

I hope this helps... once again thanks...
Hugo






----------------------------------------------------
Hugo Gravato Marques, University of Essex, PhD Student
PHONE: +44 (0)7854917241, England or +351 962482416, Portugal
ADDRESS: University of Essex, Department of Computer Science,
Wivenhoe Park, Colchester Essex, CO4 3SQ, UK
WEB: http://privatewww.essex.ac.uk/~hgmarq/



=20



-----Original Message-----
From: jav...@li... on behalf of Radu =
Bogdan Rusu
Sent: Sat 04/03/2006 09:30
To: jav...@li...
Subject: Re: [Java-player-users] InterfacePosition2D
=20
Hi Hugo,


Marques, Hugo G wrote:

>Hi...
> =20
>
I just woke up, so I didn't have a chance to look at the problem yet=20
(will do soon), but...

>Apart from this error I was wondering how can I make the robot move =
smoother and slower since even with setSpeed(1,1) it drives too fast... =
At the moment I can't actually control the direction of the movement... =
How can I solve this?
> =20
>
This is not good... setSpeed was removed in Javaclient2 completely!=20
Instead we have setVelocity (PlayerPose,int). PlayerPose has float=20
structures so no need to send integers. Are you using a mix between=20
Javaclient 1.6.5 and Javaclient2 ?

>Cheers,
>Hugo
> =20
>
Cheers back :)
Radu.

--=20
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen




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