[Java-player-users] Problems doing analog IO with javaclient2

[Ed C. E. <ep...@zd...>]

I can't get analog IO to work with javaclient2

I have a Phidget interface kit.
LV-MaxSonar -EZ1s
I can get it to work under C++ but not Java. I couldn't find an example for
doing analog IO. I am probably doing something wrong. See below for working
C++ and not working Java code (annotations embedded with *** prefix). The
player cfg file is also listed.

Player 2.1.0rc1
Javaclient2 2.0.1
Java version 6 update 5 1.6.0-05
Fedora core 5
Eclipse 3.1.2

C++ code
---------------------------------------------------------------------

#include <iostream>
#include <libplayerc++/playerc++.h>

int
main(int argc, char *argv[])
{
  using namespace PlayerCc;

  PlayerClient    robot("localhost");
  AioProxy        ap(&robot,0);
  int             i = 0;

  // Read the 8 digital inputs
  for(i=0; i<30; i++)
  {
    robot.Read();
    std::cout << ap[1] << "  " <<
                 ap[2] << "  " <<
                 ap[3] << "  " <<
                 ap[4] << "  " <<
                 ap[5] << "  " <<
                 ap[6] << "  " <<
    std::endl;
    sleep(1);
  }
}

Java code
----------------------------------------------------------------------------
----

import javaclient2.PlayerException;
import javaclient2.PlayerClient;
import javaclient2.structures.PlayerConstants;
import javaclient2.AIOInterface;
import javaclient2.structures.PlayerMsgHdr;
import javaclient2.structures.aio.PlayerAioData;

public class PhidgetSensorTest3 
{
  final static long   serialVersionUID = 1L;
  final static int    NO_READINGS      = 6;
  final static int    FIRST_INDEX      = 1;
  final static float  MAX_RANGE        = 1;

  public static void main(String[] args)
  {
      PlayerClient  myPlayerClient = null;
	AIOInterface  mySonar        = null;
	PlayerAioData sonarData      = null;
	float[]       reading        = null;

	try
	{
	  myPlayerClient  = new PlayerClient ("localhost", 6665);
	  mySonar = myPlayerClient.requestInterfaceAIO(0,
PlayerConstants.PLAYER_OPEN_MODE); 
	}
	catch (PlayerException e)
	{
	  System.err.println ("PhidgetSensorTest3::main Error connecting to
Player");
	  System.err.println ("  [" + e.toString() + " ]");
	  System.exit(1);
	}
      System.out.println("PhidgetSensorTest3::main connected");
		    
 	try
	{
	  Thread.sleep(1000);
	}
	catch (InterruptedException e)
	{}
	System.out.println("PhidgetSensorTest3::main request data");
      myPlayerClient.requestData();
//	System.out.println("PhidgetSensorTest3::main read all");
//	myPlayerClient.readAll();
//    PlayerMsgHdr sonarHeader = new PlayerMsgHdr();
//    System.out.println("PhidgetSensorTest3::main read data");
//    mySonar.readData(sonarHeader);
 	try
	{
	  Thread.sleep(1000);
	}
	catch (InterruptedException e)
	{}
      if (!mySonar.isDataReady())
        System.out.println("PhidgetSensorTest3::main not ready");  *** this
line prints
      System.out.println("PhidgetSensorTest3::main get data");
      sonarData = mySonar.getData();
      System.out.println("PhidgetSensorTest3::main get voltages");
      reading = sonarData.getVoltages ();     *** null pointer error because
sonarData is null
		    /*
		    System.out.println("--- SonarViewPhidget::paint loop");
  		    for (int i=FIRST_INDEX; i<NO_READINGS; i++)
		    {
		      float f = reading[i];
		      System.out.println (f);
		    }
		    */
      System.out.println("PhidgetSensorTest3::main exit");
  }
}

phidgetIFK.cfg ---------------------------------------------------------

# Use only the interfaces needed: if you don't need to write things to the
screen, or there is none, just
# provide aio and dio, without speech
# To get the serial number, use: lsusb -v |grep iSerial.*3  , or use "serial
-1" to connect to the first available phidget

driver
(
  name "phidgetIFK"
  #provides ["aio:0" "dio:0" "speech:0"]
  provides ["aio:0" "dio:0"]
  serial -1
  alwayson 1
  samplingrate 16
  alarmtime 21
)