Re: [Playerstage-users] PlannerInterface never returns isDone

[Rich M. <jp...@gm...>]

On 1/31/2011 2:50 PM, Sebastian Rockel wrote:
> Hi,
>
> I am testing the PlannerInterface with JavaClient3.
>
> Setting a goal and driving there is okay (with Stage and Player wavefront driver).
>
> But I never get acknowledged when the goal is done.
>
>
> What I see is that when the planner IF is idle, i.e. no goal is set, there is regularly a message coming from the player server:
> PLAYER_PLANNER_DATA_STATE
>
> That's good.
>
> But as soon as I set a goal the message rate (of planner data state) will drop to no message of that type when actually the robot hast reached its goal.
> That means that the isDone flag will not be updated anymore and my client is waiting forever.
>
>
> I can set a Position in parallel (in the Playernav utility) though and the suddenly the message will be received again in my client.
> (I don't understand this)
>
> I am using PlayerClient in PUSH mode.
>
> The message flow in JavaClient for the planner data is (at least in idle):
>
> header.getType () ==PLAYER_MSGTYPE_DATA
> header.getAddr ().getInterf () != PLAYER_PLAYER_CODE
> header.getSubtype () ==  PLAYER_PLANNER_DATA_STATE:
>
> Is there any explanation for that behavior?
>
> Thanks for any ideas.
>
> I looked in the Playernav code but since it is using the C client libs, the event handling there is different (but working).
>
> Sebastian
>
Have you confirmed that wavefront is still publishing the 
PLAYER_PLANNER_DATA_STATE message via playerprint or playerc/c++ when 
the java client is missing the messages?  It could be an implementation 
bug in wavefront.

Rich