RE: [Playerstage-developers] multidriver example plugin broken?

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Found a slight problem with the Makefile.am for Player when I was trying
to load the plugins.

The original line read:

player_LDFLAGS =3D -Wl --export-dynamic #-rdynamic

and I believe it should read:

player_LDFLAGS =3D -Wl,-export-dynamic

Without this working correctly, you get an Undefined Symbol error when
you try to load a plugin.  The second line fixes the problem for me.
I'm using Debian with gcc 3.3.3.

Cheers,

bk

-----Original Message-----
From: pla...@li...
[mailto:pla...@li...] On Behalf Of
ahoward
Sent: Wednesday, October 27, 2004 5:49 PM
To: pla...@li...
Subject: RE: [Playerstage-developers] multidriver example plugin broken?

Hi Brad:

I've fixed the multidriver example code and config file and checked them
back in.  If you're working from anonymous CVS, the changes may take a
while to reach those servers.

Regarding the config file syntax, you can do something like this:

driver (
	name "s626driver"
	provides ["dio:0"
                "motorA::motor:0"
                "motorB::motor:1"]
	plugin "libs626driver.so"
	motorA_param "foo"
	motorB_param "bar"
	)

The "motorA/B" bit is just an arbitrary key to keep the two motor
interfaces unique.  And yes, the double colon is significant; the syntax
for specifying devices is: [key:port:type:index], but you can omit the
port if you are happy with the default value.

	A.

On Wed, 27 Oct 2004, Kratochvil, Bradley Eugene wrote:

> Hello,
>
> Thanks for the quick reply.  That answered part of my question, but
not
> all :)  I think I may have initially been unclear.
>
> My question was more about what to do with the two of the same sensor
> interfaces that are part of the same mixed mode driver.  Thus,
>
> # Motor control
> motor:0 (plugin "libs626driver.so"
>          driver "s626_motor" motor_id 0
>          encoder_count           128
>          gear_ratio              231
>          position_kp             80.000
>          position_ki             02.000
>          position_kd             00.250
>         )
> motor:1 (plugin "libs626driver.so"
>          driver "s626_motor" motor_id 1
>          encoder_count           256
>          gear_ratio              1119
>          position_kp             50.000
>          position_ki             01.000
>          position_kd             00.000
>         )
>
> >From what I've figured out so far:
>
> # NEW:
> driver (
> 	name "s626driver"
> 	provides ["dio:0"
>                 "motor:0"
>                 "motor:1"]
> 	plugin "libs626driver.so"
> 	)
>
> Is this correct?  If so, what is the best way to supply different
> configure parameters to motor 1 and 0?
>
> Best regards,
>
> Brad
>
> -----Original Message-----
> From: pla...@li...
> [mailto:pla...@li...] On Behalf
Of
> Mr Allwyn Fernandes
> Sent: Wednesday, October 27, 2004 5:11 PM
> To: pla...@li...
> Subject: Re: [Playerstage-developers] multidriver example plugin
broken?
>
> Hi Brad,
>
> Not sure about the plugin code, but I think the config file now needs
to
> look
> like this:
>
> # Digital IO
> # OLD:
> #dio:0 ( plugin "libs626driver.so"
> #        driver "s626_dio" )
> # NEW:
> driver (
> 	name "s626_dio"
> 	provides ["dio:0"]
> 	plugin "libs626driver.so"
> 	)
>
> As far as I have been keeping track, that includes all the semantic
> changes to
> the config file.
>
> Hope that helps...
>
> Cheers,
> Allwyn.
>
> On Thursday 28 October 2004 00:47, Kratochvil, Bradley Eugene wrote:
> > Hello all,
> >
> > It's been a while since I've worked on the Player CVS, and I'm just
> > getting back into the swing of things.  I've noticed that quite a
few
> > changes have occurred with writing drivers.
> >
> > So, the first thing I wanted to do was update an old mixed mode
plugin
> > driver that we use to work with the new standards, but I ran into a
> > couple of problems.
> >
> > The examples/plugins/multidriver project doesn't seem to compile.
It
> > complains about ParseDeviceIds not being found.  I've determined
that
> > the reason for this is that it has been deprecated.  I've started on
> the
> > track to fixing this, but I thought that maybe someone else had a
> > working version of this.  If not, any ideas which driver is the most
> > similar to the multidriver (and working), so that I can fix it and
> check
> > it back in.
> >
> > On a related note, what is the proper way to write a configure file
> for
> > a mixed mode driver that has multiple instances of the same
interface
> > (which need different configuration parameters).
> >
> > For instance, I could previously use the following:
> >
> > # Digital IO
> > dio:0 ( plugin "libs626driver.so"
> >         driver "s626_dio" )
> > # Motor control
> > motor:0 (plugin "libs626driver.so"
> >          driver "s626_motor" motor_id 0
> >          encoder_count           128
> >          gear_ratio              231
> >          position_kp             80.000
> >          position_ki             02.000
> >          position_kd             00.250
> >         )
> > motor:1 (plugin "libs626driver.so"
> >          driver "s626_motor" motor_id 1
> >          encoder_count           256
> >          gear_ratio              1119
> >          position_kp             50.000
> >          position_ki             01.000
> >          position_kd             00.000
> >         )
> >
> > But now, I'm not sure how to go about something like this.  Any
> pointers
> > are greatly appreciated.
> >
> > Best regards,
> >
> > Brad
> >
> >
> >
> > -------------------------------------------------------
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>
> --
> Allwyn Fernandes
> Monash University
> School of Applied Sciences and Engineering
> Gippsland, Australia
>
> Mobile: +61 414 470 392
>
>
>
> -------------------------------------------------------
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>
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Andrew Howard                           email: ah...@po...
Department of Computer Science          http:
www-robotics.usc.edu/~ahoward
University of Southern California       phone: 1 (213) 740 6416
Los Angeles, CA, U.S.A. 90089-0781      fax:   1 (213) 821 5696
    << Insert pithy saying here >>>

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