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Re: [Java-player-users] DataFormatException
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From: Jorge S. S. <jsa...@gm...> - 2011-09-05 08:45:08
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Hello Salvatore,
I think the problem is that your player server is sending uncompressed maps
to javaclient, but javaclient expects compressed ones by default. Just try
to set the first constant on javaclient/structures/PlayerConstants.java as
false
/**
* Informs Javaclient interfaces whether to expect compressed or
* uncompressed data from Player server.
* This is Java counterpart to the HAVE_Z playerc configuration flag.
*/
public static final boolean PLAYER_USE_COMPRESED_DATA = false; // true;
Please check also if you have configured player with the CMake
variable HAVE_Z unset or set as false.
Hope this helps!
Jorge
2011/9/5 Salvatore Famoso <ei...@gm...>
> Hello everyone,
>
> i am trying to write an application using player/stage/javaclient, where
> amongst other stuff, i want a robot to be able to go to a specific given
> position in the map.
> For this part, i tried following the navigator example, changing a few
> things, so as not to get the goal point from mouse input,
> but given otherwise (through a jade datastore).
> I also use the same configuration (only adjusted appropriately for a
> greater number of robots), and the same cave.png as map file (although other
> didn't make any difference).
> i have no problem with passing the goal-point, however, i have a problem
> with the map interface
> i keep getting a DataFormatException.
> I have tried commenting out various pieces of the code, sa as to find some
> version that doesn't give me that exception, but all i got in the end was,
> practically almost all the code out, and still the exception.
> i tried the debugging mode, and all i found was that it's in the same
> thread every time, but couldn't find where in the code i use the exception
> is fired, only that it happens in the map interface.
> The same DataFormatException is thrown when trying the javaclient example
> itself.
> below, is the part of the code i use (with some system.out's to see if the
> execution reaches specific points of the code), as well as
> the associated output, and the stack trace i get for the thread that gives
> the exception when i try the debug mode.
> i use player 3.0.2, stage 4.0.0, the latest javaclient libraries from svn,
> and java 1.7.0 (although the same was happening when using java 1.6.0), and
> fedora 15.
>
> If anyone has any idea what could be the cause, or how i could find it, i
> would be obliged, as i've spent several days (and nights) over this and feel
> like i've reached a dead end...
>
>
> code:
>
> planner = navigationAgent.getPlanner();
> map = navigationAgent.getMap();
> System.out.println("Robot " + myAgent.getName() + " my map =
> " + map.toString());
> loc = navigationAgent.getLocalization();
>
> mapInfo = new PlayerMapInfo();
>
>
>
> }
>
> public void action() {
>
> //code to get the goal-point
> ......
> System.out.println("Robot " + myAgent.getLocalName()
> + " my event transporter received Pose = " +
> point);
>
> //setting the position interface
> .....
>
> System.out.println("Robot " + myAgent.getName() + " New Goal
> : ("
> + point.getPx() + "," + point.getPy() + ","
> + point.getPa() + ")");
> planner.setGoal(point);
>
> map.getDeviceAccess();
>
> map.requestMapInformation();
> System.out.println("Robot " + myAgent.getName() + " " +
> map.isDataReady());
> map.getDeviceAccess();
>
> map.getDeviceDriverName();
> map.getTimestamp();
> map.requestMapInformation();
> map.readMapInfo();
> System.out.println("Robot " + myAgent.getName() + "
> map.getDeviceDriverName() " + map.getDeviceDriverName());
> System.out.println("Robot " + myAgent.getName() + "
> map.getTimestamp() " + map.getTimestamp());
> while (map.isDataReady() == false) {
> try {
> map.requestMapInformation();
> System.out.println("Robot " +
> myAgent.getName() + " map.isDataReady() " + map.isDataReady());
> Thread.sleep(20);
> } catch (InterruptedException e) {
> e.printStackTrace();
> }
> }
>
> mapInfo = map.getData();
> System.out.println("Robot " + myAgent.getName() + " MapInfo
> = " + mapInfo.toString());
> System.out.println("Robot " + myAgent.getName() + " Map data
> ready!");
> // Request map description and wait until it is ready
> int w = mapInfo.getWidth();
> System.out.println("Robot " + myAgent.getName() + " new
> PlayerMapData()");
> PlayerMapData pmd = new PlayerMapData();
> pmd.setWidth(mapInfo.getWidth());
> pmd.setHeight(mapInfo.getHeight());
> pmd.setRow(0);
> pmd.setCol(0);
> System.out.println("Robot " + myAgent.getName() + "
> pmd.toString()" + pmd.toString());
> map.requestMapData(pmd);
> System.out.println("Robot " + myAgent.getName() + "
> map.isGridDataReady()" + map.isGridDataReady());
>
> while (map.isGridDataReady() == false) {
> try {
> Thread.sleep(20);
> } catch (InterruptedException e) {
> e.printStackTrace();
> }
> }
> map.requestMapDataVector();
>
> PlayerMapData mapData = map.getGridData();
>
> int imgWidth = mapInfo.getWidth();
> int imgHeight = mapInfo.getHeight();
>
> if (imgWidth * imgHeight != mapData.getData_count()) {
> System.err
> .println("NavigatorExample: map grid
> size and given data not matching");
> System.exit(1);
> }
>
> currStatus = NavStatus.NEW_GOAL;
> System.out.println("Robot " + myAgent.getName() + " Current
> Status : "
> + currStatus);
>
>
> //and code continues similar to the navigator example as far
> as the navigation is concerned
> .....
>
>
>
> the corresponding output is :
>
>
> Robot Navigation1@testPlatform my map = javaclient3.MapInterface@be4ae
> Robot Navigation1 my event transporter received Pose = PlayerPose2d {
> -2.12, -2.81, 2.06}
> Robot Navigation1@testPlatform New Goal : (-2.12,-2.81,2.06)
> Robot Navigation1@testPlatform false
> Robot Navigation1@testPlatform map.getDeviceDriverName() mapfile
> Robot Navigation1@testPlatform map.getTimestamp() 0.0
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform map.isDataReady() false
> Robot Navigation1@testPlatform MapInfo =
> javaclient3.structures.map.PlayerMapInfo@19776d7
> Robot Navigation1@testPlatform Map data ready!
> Robot Navigation1@testPlatform new PlayerMapData()
> Robot Nav...@te...String()javaclient3.structures.map.PlayerMapData@17f1661
> Robot Navigation1@testPlatform map.isGridDataReady()false
> Sep 04, 2011 4:40:25 AM javaclient3.PlayerException <init>
> SEVERE: [Map] : Error uncompressing payload:
> java.util.zip.DataFormatException: incorrect header check
> Exception in thread "Thread-27" javaclient3.PlayerException: [Map] : Error
> uncompressing payload: java.util.zip.DataFormatException: incorrect header
> check
> at javaclient3.MapInterface.handleResponse(MapInterface.java:334)
> at
> javaclient3.PlayerClient.handleRequestsDevice(PlayerClient.java:1197)
> at javaclient3.PlayerClient.read(PlayerClient.java:891)
> at javaclient3.PlayerClient.read(PlayerClient.java:827)
> at javaclient3.PlayerClient.run(PlayerClient.java:268)
> Caused by: java.util.zip.DataFormatException: incorrect header check
> at java.util.zip.Inflater.inflateBytes(Native Method)
> at java.util.zip.Inflater.inflate(Inflater.java:256)
> at java.util.zip.Inflater.inflate(Inflater.java:274)
> at javaclient3.MapInterface.handleResponse(MapInterface.java:253)
> ... 4 more
>
>
>
> thread 27 stack trace:
>
> Thread [Thread-27] (Suspended (exception DataFormatException))
> Inflater.inflateBytes(long, byte[], int, int) line: not available
> [native method]
> Inflater.inflate(byte[], int, int) line: 256
> Inflater.inflate(byte[]) line: 274
> MapInterface.handleResponse(PlayerMsgHdr) line: 253
> PlayerClient.handleRequestsDevice(PlayerMsgHdr) line: 1197
> PlayerClient.read(int, int) line: 891
> PlayerClient.read() line: 827
> PlayerClient.run() line: 268
>
>
>
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