Re: [Playerstage-users] opaque proxy

[Toby C. <tco...@pl...>]

The opaque data structure does not automatically allocate space to store the
data in.
player_opaque_data_t Odata;
you need to allocate this space before you call GetData.

Toby

On 10/01/2008, Yee Chui Ching <ych...@ya...> wrote:
>
> driver
> (
>   name "stage"
>   provides ["6665:position2d:0" "6665:laser:0"
> "6665:fiducial:0" ]
>   model "robot1"
> )
>
> driver
> (
>    name "relay"
>    provides ["6665:opaque:0"]
> )
>
>
> driver
> (
>   name "stage"
>   provides ["6666:position2d:0" "6666:laser:0"
> "6666:fiducial:0" ]
>   model "robot2"
> )
>
> Is this the way to configure .cfg file to make robot2
> become client and robot1 become server?
>
>
> For client program:
>
> typedef struct
> {
>   int id;
> } num_t;
>
> int main(int argc, char** argv)
> {
>    PlayerClient robot(gHostname, gPort);
>
>    if ( robot.GetPort() != 6665)
>    {
>         PlayerClient robot1 ("localhost", 6665);
>         op1 =  new OpaqueProxy (&robot1, 0);
>    }
>
>    if ( robot.GetPort() == 6665)
>         op =  new OpaqueProxy (&robot, 0);
>
>     num_t* Onum;
>     player_opaque_data_t Odata;
>     Onum = reinterpret_cast<num_t*>(Odata.data);
>
>     robot.Read();
>
>         if ( robot.GetPort() == 6665)
>         {
>                Onum->id = 1;
>                op->SendCmd(&Odata);  // send data
>         }
>
>         else if ( robot.GetPort() == 6666)
>         {
>              for (int g=0; g<50;g++)
>              {
>                 robot.Read();
>                 op1->GetData(Odata.data);
>                 cout << Onum->id <<endl;
>              }
>         }
> }
>
> I run both robot1 and robot2 using the same code
> above, it get error for robot2 : Segmentation fault
> (core dumped).
>
> Then, i delete "op1->GetData(Odata.data);" , robot2
> can run but cannot receive data sent by robot1,
> results got form robot2 is all "0"s instead "1".
>
> Is it robot2 can get data without using opaque member
> function? how it do that? or i missing some important
> communication linkage between these 2 robots?
>
> Thanks lots...
>
>
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