[Playerstage-users] Re : Re: something wrong with boost multi-thread programming (brice rebsamen)

[chyujian <iam...@gm...>]

maybe I could describe the problem a bit more specifically, I modified
my code this afternoon, and added the -lboost_thread argument specially,
but resulted in the same compile fault. This time I attach the compile
error message as well, and to my surprise the compiler said the fault
was yielded at the last line of the function Move.

And this time I paste all my original code at the last of this mail, as
well as the compile error. Actually I don't understand what does that
error mean, the boost is a bit hard for me.

By the way, there is a question I am always wondering:
Can I encapsulate the bundles of functions of Player into some
subthreads of my own robot class as I currently do?


###.h file###
class Robot
{
  private:
boost::thread * readThread;
  public:
Robot();
~Robot();
void Read();
void Move();

};

### .cc file ###
Robot::Robot()
{
readThread = new boost::thread(&Robot::Read);
/* I hope the read task to be implemented in a single
independent thread. But once I set up the Read thread, I could
not even  pass the compile. How can I encapsulate the read task
into a single thread?
*/

}

void Robot::Read()
{
while(true)
  { /*read data from low level devices,
via the robot's PlayerClient object(not explicitly showed in 
this mail)
  */
  }
}

void Robot::Move()
{ /* set the velocity via the position2d device mounted on Robot*/   }




###################################################
# hereafter I paste all my original codes and 
# the compile error: two files compiled by g++ 4.4.5
###################################################

### the header file RobWen.h ###
// Initially by Chyujian
// Last modified by Chyujian
// Last modi date

#include <map>
#include <string>
#include <vector>
using namespace std;
#include <boost/thread/thread.hpp>
#include <libplayerc++/playerc++.h>
using namespace PlayerCc;

#ifndef WEN_HEADER
#define WEN_HEADER

class RobWen
{
private:
PlayerClient *client; 
Position2dProxy *position2d;
SonarProxy *sonar;
LaserProxy *laser;
boost::thread *readThread;
//boost::thread *moveThread;

public:
RobWen();
~RobWen();
void Read();
void Move(double lineSpeed);
};
#endif // WEN_HEADER

### the RobWen.cc file ###
// Initialy by Chyujian
// Last modified by Chyujian
// Lsst modidate 

#include <iostream>
using namespace std;
#include <boost/thread/thread.hpp>
#include "RobWen.h"


RobWen::RobWen()
{
client = new PlayerClient("localhost", 6665);
position2d = new Position2dProxy(client, 0);
sonar = new SonarProxy(client, 0);
laser = new LaserProxy(client, 0 );

readThread = new boost::thread(&RobWen::Read);
}
RobWen::~RobWen()
{
delete laser;
delete sonar;
delete position2d;
delete client;

delete readThread;
}


void RobWen::Read()
{
while(true)
{
RobWen::client->Read();
}
return;
}

void RobWen::Move(double lineSpeed)
{
RobWen::position2d->SetSpeed(lineSpeed, 0 , 0);
return;
}

### compile command and error message ###
g++ -c -o RobWen_edit RobWen_edit.cc -lboost_thread `pkg-config --cflags
--libs playerc++` 

In file included from /usr/include/boost/thread/thread.hpp:22,
                 from RobWen.cc:7:
/usr/include/boost/thread/detail/thread.hpp: In member function ‘void
boost::detail::thread_data<F>::run() [with F = void (RobWen::*)()]’:
RobWen.cc:44:   instantiated from here
/usr/include/boost/thread/detail/thread.hpp:56: error: must use ‘.*’ or
‘->*’ to call pointer-to-member function in
‘((boost::detail::thread_data<void
(RobWen::*)()>*)this)->boost::detail::thread_data<void (RobWen::*)()>::f
(...)’, e.g. ‘(... ->* ((boost::detail::thread_data<void
(RobWen::*)()>*)this)->boost::detail::thread_data<void
(RobWen::*)()>::f) (...)’