[Java-player-users] PlannerInterface never returns isDone

[Sebastian R. <seb...@go...>]

Hi,

I am testing a the PlannerInterface.

Setting a goal and driving there is okay (with Stage and Player wavefront driver).

But I never get acknowledged when the goal is done.
My code is as follows:

if (((javaclient3.PlannerInterface) device).isDataReady()) {
				// request recent planner data
				ppd = ((javaclient3.PlannerInterface) device).getData ();
				...
					// Check if goal is achieved
					if (ppd.getDone() == new Integer(1).byteValue())
						isDone = true; 	// <== IT NEVER REACHES HERE
					else
						isDone = false;
					}


What I see is that in the PlannerInterface needs to be called to update the planner data:

 public synchronized void readData (PlayerMsgHdr header) {
...
            switch (header.getSubtype ()) {
                case PLAYER_PLANNER_DATA_STATE: {
				
That does happen when the Planner Device is idle, i.e. no goal is set. But as soon as I set a goal
this function is called less and less again until no call at all is made and hence the isDone flag is never set.

I can set a Position in parallel (in the Playernav utility) though and the function comes back to life again.

I am using PlayerClient in PUSH mode.

Why is there no more planner data refresh after setting a goal?

Any suggestions?

Sebastian