[Playerstage-users] Finding the Player delay

[Brandon S. <si...@sp...>]

How can I read the time between when data was sent to the server and
when it was read by the client.

I see that when using the C++ Client Library, there is the option to use
the class

ClientProxy (PlayerClient *pc, unsigned short req_device, unsigned short
req_index, unsigned char req_access= 'c')

, which has the public attributes senttime and receivedtime.  However, I
do not understand how I can use this to explicitly read these times for
each device that I am reading data from. If my proxy object were the
SonarProxy  with the name "sp", could I then access these by using
sp.senttime and sp.receivedtime since the PlayerClient is friends with
ClientProxy, or do I need to first instantiate a new object of type
ClientProxy?


An example would be best, especially if you can add it to the example
for the C++ Client Library:


int main(int argc, char *argv[]) 
{
  PlayerClient robot("localhost");
  SonarProxy sp(&robot,0,'r');
  PositionProxy pp(&robot,0,'w');

  double newturnrate,newspeed;

  for(int i=0;i<1000;i++)  
  {
    if(robot.Read())
      exit(1);

    // print out sonars for fun
    sp.Print();

    // do simple collision avoidance
    if((sp.ranges[0] + sp.ranges[1]) < 
       (sp.ranges[6] + sp.ranges[7])) 
      newturnrate = DTOR(-20); // turn 20 degrees per second
    else
      newturnrate = DTOR(20);

    if(sp.ranges[3] < 0.500) 
      newspeed = 0;
    else 
      newspeed = 0.100;

    // command the motors
    pp.SetSpeed(newspeed,newturnrate);
  }
}

Thanks for your help.

Sincerely,
Brandon Sights
si...@sp...