[Playerstage-users] Switching the sonar on/off during runtime

[Wu H. <wu....@gm...>]

Hi

I am trying to get the pioneer sonar to switch on and off at certain
requirements. I am using player 2.1.2 and playerc++ proxy.

My code is as follows
-----------------------------------------------------------------------------------

PlayerClient robot (gHostname, gPort);
SonarProxy *sonarP;


robot.StartThread();

for (;;)
{
    if (onSonar)
    {
        robot.StopThread();
        sonarP = new SonarProxy(&robot,0);
        onSonar = false;
        robot.StartThread();
    }

   if (offSonar)
    {
        robot.StopThread();
        delete(sonarP);
        offSonar = false;
        robot.StartThread();
    }

 //other stuff here....
}

-----------------------------------------------------------------------------------------------

The failure point comes after the delete sonar portion and when the robot
thread starts to read. The error returned is

*playerc warning   : warning : Failed to dispatch data message: subtype 1
address: 16777343:6665:sonar:0
terminate called after throwing an instance of 'PlayerCc::PlayerError'
size: 8Aborted*


Any help will be well appreciated. Thanks


-- 
Wu Hengxin
Institute for Infocomm Research
A*star