simspark-devel — Discussion about Spark development

[simspark-devel] Textures of Nao ?

[Yuan X. <xuy...@gm...>]

Hi Joschka,

Feng told me that you are working on textures for Nao.
It will be great if the robot have the same looking as webots!
I know you are very busy on your research working,
can we ( Feng and me ) do something help about it?

-- 
Best wishes!

Xu Yuan
School of Automation
Southeast University, Nanjing, China

mail:   xuy...@gm...
          xy...@ya...
web:   http://xuyuan.cn.googlepages.com
--------------------------------------------------

Re: [simspark-devel] Question about check & init SDL

[Joschka B. <jos...@am...>]

Hi Yuan,

On Apr 14, 2008, at 11:24 PM, Yuan Xu wrote:

> Hi Hedayat,
>
>>
>> You're welcome. A little testing till now. Two issues now:
>> 1. if I run simspark and monitorspark and then connect an agent,   
>> the agent
>> won't appear in correct color (it's gray instead of blue). If I  
>> close the
>> monitorspark and run it again, it's OK.
>> 2. Sometimes when I connect the first agent, monitorspark  crashes.
>>
>
>
> Thanks for your feedback
> I have fixed the two problem, could you test that again?
>
> And I noticed that the monitor (internal and external) can not draw
> the number of soccerbot056 and soccerbot055 now ;-(, I test some
> version from CVS, it seems that after some changes about textures
> around March 28 cause it. ( To Joschka, could you test that? )
>

Sorry, my bad. I changed the OBJ importer so now we need to rotate the  
torso in order for the textures to show up correctly (please see the  
rotation of the soccerbotcomp torso). I'll take a look soon (I'm a  
little busy this week).

>
>
>> The comment above the following code says that video should be  
>> initialized
>> for input system to work. BTW, by removing the last four lines the  
>> window
>> won't appear. So I think it's safe to retain SDL initialization here.
>>
>
> It also works for me, but Markus said that the input system needs  
> the window.

I think as long as the SDL has been initialized before input is  
generated, it should not be a problem.

Cheers,
Joschka

Re: [simspark-devel] Joint limit implement

[Joschka B. <jos...@am...>]

Hi Feng,

On Apr 15, 2008, at 10:15 PM, Feng Xue wrote:

> Hi Joschka,
>
>     I decide to do the joint limit in this way:
>
>     First, When setting the min and max angles, add a buffer in it.  
> Then the min and max angles that really set in ode are [min-buf, max 
> +buf].
>
>     Second, in hingeeffector.cpp, function Realize(..), check the  
> required speed, if the speed will make the angle go out of the range  
> [min, max], then the required speed will be ignored or replaced by a  
> reasonable speed.
>

This sounds like a reasonable solution.

>     Now, the idea will not make effect if min is -180 or max is 180.  
> Luckily, the max abs value of all the limited angles of nao is below  
> 120.
>
>     I have test it in my machine. It seems good. Because it will  
> violate the "kernel code" and the "generic thing", so I ask for your  
> advice

Could you maybe post your code, or upload it somewhere for review if  
it is too long to include in an email? It would make it easier to  
examine your solution.

Thank you,
Joschka

Re: [simspark-devel] (no subject)

[Joschka B. <jos...@am...>]

Hi Feng,

On Apr 16, 2008, at 3:38 PM, Feng Xue wrote:

> Hi Joschka,
>
>    Do we need to install hands on Nao? If so, what kind of hands  
> will it be? The hands of the real Nao are very complex, it may slow  
> down server performance.

I don't think we need real hands. I think the Webots model doesn't  
model the hands in detail either, right?

If we realize we need them, we can still add them later I think, but  
right now, I don't see the necessity.

Cheers,
Joschka

[simspark-devel] (no subject)

[Feng X. <hen...@ma...>]

Hi Joschka,

   Do we need to install hands on Nao? If so, what kind of hands will it be? The hands of the real Nao are very complex, it may slow down server performance.
 

Best Regards!



Feng Xue
2008-04-16

Re: [simspark-devel] integrated_agent_v3

[Ben <lgp...@16...>]

Hi Markus and all:

> I have a question: can we make the library zeitgeist, kerosin, oxygen
> as dll in windows?
>However on windows only symbols 
>(i.e. function names and members) that are explicitly declared are 
>exported (i.e. visible from outside the .dll). So declaring all required 
>symbols as DLL-Export is quite a lot of work.
  Yes, it's really a lot of work, however, I make one avaible here[1].

  I use '#define SHARED_LIB_COMPILE' in 'windows/sparkconfig.h',
add 'CLASS_EXPORT' before all the classes needed, and It works.
  There is only one technical issue:
   when there is a static member in a class(to be export), for example,
in salt::Matrix (mIdentity),  salt.dll is produced, but when zeitgeist links
to salt, there is a unresovled symbol of 'mIdentity'.
  I have to add an additional file like this to define it:
    #include <salt/matrix.h>

    using namespace salt;

    float Matrix::mIdentity[16]=
    {
        1.0, 0.0, 0.0, 0.0,
        0.0, 1.0, 0.0, 0.0,
        0.0, 0.0, 1.0, 0.0,
        0.0, 0.0, 0.0, 1.0
    };

  Is there any other solution?

Best wishes!
Ben

 [1] www.apollo3d.cn/download/winserver_dll.rar

Re: [simspark-devel] Question about check & init SDL

[Yuan X. <xuy...@gm...>]

Hi Hedayat,


>
>  Thanks! Yes, they are fixed now.
>

Good to hear that ;D

>
>  I don't remember what Markus has said :(
>  >From what is explained in the code, I thought that what is important in
> video system initialization (which is still there). Does it need window
> setup too?!
>

Yes, maybe Markus didn't CC the mail to the mail-list.

But, I have to comment out all the video initialization for running
the server remotely (i.e. via ssh).
and it seems OK here ;-)


>  And another thing, Isn't the current monitorLoggerStep (and the old monitor
> interval) too large? With something around half of this, the logs will be a
> bit more smooth.
>

Maybe, user can set the value as they wish.


-- 
Best wishes!

Xu Yuan
School of Automation
Southeast University, Nanjing, China

mail:   xuy...@gm...
          xy...@ya...
web:   http://xuyuan.cn.googlepages.com
--------------------------------------------------

Re: [simspark-devel] Question about check & init SDL

[Hedayat V. <hed...@ai...>]

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<span>Hi Yuan,<br>
<br>
<style type="text/css">blockquote {color: navy !important; background-color: RGB(245,245,245) !important; padding: 0 15 10 15 !important; margin: 15 0 0 0; border-left: #1010ff 2px solid;}  blockquote blockquote {color: maroon !important; background-color: RGB(235,235,235) !important; border-left-color:maroon !important}  blockquote blockquote blockquote {color: green !important; background-color: RGB(225,225,225) !important; border-left-color:teal !important}  blockquote blockquote blockquote blockquote {color: purple !important; background-color: RGB(215,215,215) !important; border-left-color: purple !important}  blockquote blockquote blockquote blockquote blockquote {color: teal !important; background-color: RGB(205,205,205) !important; border-left-color: green !important}</style><i><b>"Yuan
Xu" <a class="moz-txt-link-rfc2396E" href="mailto:xuy...@gm...">&lt;xuy...@gm...&gt;</a></b></i> wrote on 04/14/2008 06:54:44 PM:</span><br>
<blockquote   style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;"   cite="mid:18a...@ma..."   type="cite">
  <pre wrap="">Hi Hedayat,
  </pre>
  <blockquote type="cite">
    <pre wrap=""> You're welcome. A little testing till now. Two issues now:
 1. if I run simspark and monitorspark and then connect an agent,  the agent
won't appear in correct color (it's gray instead of blue). If I close the
monitorspark and run it again, it's OK.
 2. Sometimes when I connect the first agent, monitorspark  crashes.
    </pre>
  </blockquote>
  <pre wrap=""><!---->
Thanks for your feedback
I have fixed the two problem, could you test that again?
  </pre>
</blockquote>
Thanks! Yes, they are fixed now.<br>
<br>
<blockquote   style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;"   cite="mid:18a...@ma..."   type="cite">
  <pre wrap="">...</pre>
  <blockquote type="cite">
    <pre wrap=""> The comment above the following code says that video should be initialized
for input system to work. BTW, by removing the last four lines the window
won't appear. So I think it's safe to retain SDL initialization here.
    </pre>
  </blockquote>
  <pre wrap=""><!---->
It also works for me, but Markus said that the input system needs the window.
  </pre>
</blockquote>
I don't remember what Markus has said :( <br>
&gt;From what is explained in the code, I thought that what is important in
video system initialization (which is still there). Does it need window
setup too?!<br>
<br>
And another thing, Isn't the current monitorLoggerStep (and the old
monitor interval) too large? With something around half of this, the
logs will be a bit more smooth. <br>
<br>
Thanks again,<br>
Hedayat<br>
<blockquote   style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;"   cite="mid:18a...@ma..."   type="cite">
  <pre wrap="">

  </pre>
</blockquote>
</body>
</html>

[simspark-devel] Interesting!

[Hedayat V. <hed...@ai...>]

<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html style="direction: ltr;">
<head>
</head>
<body style="direction: ltr;" bgcolor="#ffffff" text="#000000">
<p style="margin-bottom: 0cm; margin-top: 0pt;">Hi Joschka, Mahdi and
all,</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">Have a look at here:
<a class="moz-txt-link-freetext" href="https://build.opensuse.org/">https://build.opensuse.org/</a></p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">And:
<a class="moz-txt-link-freetext" href="http://en.opensuse.org/Build_Service/Deb_builds">http://en.opensuse.org/Build_Service/Deb_builds</a></p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">It seems interesting!
At least for our RPM repository it'll enable us to support many
distros. While it supports debian too, it might be problematic (when
using apt-get update) according to the second link. </p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">Good luck,</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;">Hedayat</p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><br>
</p>
</body>
</html>

Re: [simspark-devel] Question about check & init SDL

[Yuan X. <xuy...@gm...>]

Hi Hedayat,

>
>  You're welcome. A little testing till now. Two issues now:
>  1. if I run simspark and monitorspark and then connect an agent,  the agent
> won't appear in correct color (it's gray instead of blue). If I close the
> monitorspark and run it again, it's OK.
>  2. Sometimes when I connect the first agent, monitorspark  crashes.
>


Thanks for your feedback
I have fixed the two problem, could you test that again?

And I noticed that the monitor (internal and external) can not draw
the number of soccerbot056 and soccerbot055 now ;-(, I test some
version from CVS, it seems that after some changes about textures
around March 28 cause it. ( To Joschka, could you test that? )



>  The comment above the following code says that video should be initialized
> for input system to work. BTW, by removing the last four lines the window
> won't appear. So I think it's safe to retain SDL initialization here.
>

It also works for me, but Markus said that the input system needs the window.


-- 
Best wishes!

Xu Yuan
School of Automation
Southeast University, Nanjing, China

mail:   xuy...@gm...
          xy...@ya...
web:   http://xuyuan.cn.googlepages.com
--------------------------------------------------

Re: [simspark-devel] [Sserver-three-d] Fw: [sserver-commits] CVS:rcsoccersim/rcssserver3D/lib/oxygen/physicsserverspace.cpp, 1

[Markus R. <rol...@un...>]

Hi,

Joschka wrote:
[...]
>
> Just another question on this: if some parts of Nao are completely
> enclosed in others, wouldn't it be a solution just not to add
> colliders for these bodies? Or does ODE not allow this (don't remember

Feng Xue wrote:
>     Great idea! I was somehow blind with this great feature of ODE!
>     I will change the code ASAP.

the point is that ODE bodies and geoms are two separate concepts. ODE
simulates the movement of bodies given the sum of forces that act upon
any given body during each step.

A collider (geom in ODE terms) is used to detect a collision. This
collision is then resolved (i.e. the two colliding bodies are pushed
apart) with some force.

If you don't assign a collider to a body, there will never act a force
upon it (apart from forces that are added from within the program
through effectors or similar).

cheers,
Markus

Re: [simspark-devel] [Sserver-three-d] Fw: [sserver-commits] CVS:rcsoccersim/rcssserver3D/lib/oxygen/physicsserverspace.cpp, 1

[Feng X. <hen...@ma...>]

Hi Joschka,

    Great idea! I was somehow blind with this great feature of ODE!
    I will change the code ASAP.

Thanks a lot!



Feng Xue
2008-04-14



Sent By： Joschka Boedecker
Sent At： 2008-04-14 12:58:03
Sent To： Feng Xue
CC To： simspark-devel
Topic： Re: [Sserver-three-d] Fw: [sserver-commits] CVS:rcsoccersim/rcssserver3D/lib/oxygen/physicsserverspace.cpp, 1

Hi Feng,
On Apr 12, 2008, at 4:38 PM, Markus Rollmann wrote:
> Hi,
>
> Feng Xue wrote:
>>    Yes, the nao model has been modeled like that(some bodyparts are  
>> in
>> some bodyparts totally). And if I use universal joint instead, it
>> is probably okay. But the universal joint is not equal to two hinge
>> joints and is hard to control for the joint limits according to  
>> current
>> work. Besides, refering to Webots' implemention, they use hinge  
>> joint on
>> all the joints too.
>
> I still don't see why it is necessary that two geoms are constantly
> colliding by design in the nao robot model. But if that's a  
> requirement,
> so be it.
Just another question on this: if some parts of Nao are completely  
enclosed in others, wouldn't it be a solution just not to add  
colliders for these bodies? Or does ODE not allow this (don't remember  
now)?
Cheers,
Joschka

Re: [simspark-devel] Nao process

[Joschka B. <jos...@am...>]

Hi Feng,

On Apr 12, 2008, at 6:38 PM, Feng Xue wrote:
> Hi Joschka,
>
> The nao model is 90% done and teams can do some research on it now.  
> Do you think it is time to write a letter to 3d-maillist to summary  
> my recent jobs and call for the tests?
>

I think it's a good idea. The earlier teams have a chance to work with  
the model, the better.

>
>     By the way, there are 2 issues about nao.
>     First, the joint limits. I have sent a letter to mail-list to  
> call for ideas.

I'm not sure what the best solution is to this either, see my previous  
mail. We could try to find out how other people deal with this issue  
maybe.

>      Second, the implement of disable inner collision of nao. It is  
> not perfect according to Markus' suggestions. I know I am in a hurry  
> and always modify the codes rewritten not by me. I am fresh, so  
> please forgive my precipitance.

It's okay, don't worry. But please keep Markus' advice in mind and  
first propose changes on core components here on the mailing list and/ 
or start making changes in a separate branch of the CVS. This branch  
can then be merged into the trunk once it's carefully reviewed and  
tested.

>     My destination is building a stable model and a perfect  
> simulator to against Webots and Microsoft's RoboticsStudio. They  
> both hold a nao simulation for RoboCup2008! Compare 3d with them, I  
> think we only have one advantage, the number of teams. Lots of  
> complaint, please forgive again.

We appreciate your help :-) I'm looking forward to seeing the new Nao  
robot in action soon :-D

Cheers,
Joschka

Re: [simspark-devel] pixel camera perceptor

[Joschka B. <jos...@am...>]

Hi Yuan,

On Apr 10, 2008, at 10:07 PM, Yuan Xu wrote:

>
> I think we may implement the 'pixel camera perceptors server' which
> receives scene messages from simspark (just likes the external
> monitor) and renders images for connected robots.
> Then we can run a 'pixel camera perceptors server' in machines that  
> runs robots.
> In this case, the simulation runs in multi-machines.
> What do you think about it?

Yes, that's a nice idea :-) I think they are using a similar setup in  
the RoboCup Rescue virtual robots competition (using USARSim). But  
first I'll have to get started on the camera implementation anyways  
which will probably take some time (can't spare much time on this  
right now) ;-)

Cheers,
Joschka

Re: [simspark-devel] The joint limits issues

[Joschka B. <jos...@am...>]

Hi Feng,

On Apr 11, 2008, at 10:38 PM, Feng Xue wrote:
> Hi all,
>
>     The joint limits feature in ode is not very good. If a joint  
> angle is not between the min and max(typically caused by errors),  
> and you are trying to make the joint angle return to the normal,  
> then, a large force is produced and it will cause a "jumping  
> motion". Though I used the fudgefactor to reduce the force, it is  
> not as perfect as what I expected.
>
>     So, I decide to write some codes in hingeeffector.cpp to check  
> the velocity sent by agent so that if the velocity may cause a "out  
> of range joint angle", I can disable it or reduce the velocity. Is  
> there any other ideas?

I think this is also the way that Yuan went when he worked on the  
joint limits last year. Yuan, do you have any advice on this?

Cheers,
Joschka

Re: [simspark-devel] [Sserver-three-d] Fw: [sserver-commits] CVS:rcsoccersim/rcssserver3D/lib/oxygen/physicsserverspace.cpp, 1.16, 1.17 space.h, 1.

[Joschka B. <jos...@am...>]

Hi Feng,

On Apr 12, 2008, at 4:38 PM, Markus Rollmann wrote:
> Hi,
>
> Feng Xue wrote:
>>    Yes, the nao model has been modeled like that(some bodyparts are  
>> in
>> some bodyparts totally). And if I use universal joint instead, it
>> is probably okay. But the universal joint is not equal to two hinge
>> joints and is hard to control for the joint limits according to  
>> current
>> work. Besides, refering to Webots' implemention, they use hinge  
>> joint on
>> all the joints too.
>
> I still don't see why it is necessary that two geoms are constantly
> colliding by design in the nao robot model. But if that's a  
> requirement,
> so be it.

Just another question on this: if some parts of Nao are completely  
enclosed in others, wouldn't it be a solution just not to add  
colliders for these bodies? Or does ODE not allow this (don't remember  
now)?

Cheers,
Joschka

Re: [simspark-devel] Another problem of nao:sensors

[Joschka B. <jos...@am...>]

Hi Feng,

On Apr 14, 2008, at 1:23 PM, Feng Xue wrote:

>
>     Ben reminds me that I forget the visionperceptor in nao.rsg, so  
> I remember that lots of sensors that equipped on Nao have not  
> implemented. Here is a list of all the sensors of Nao:
>     32 x hall effect sensors

As far as I know, these are used to measure the joint angles, so they  
are somewhat equivalent to our HingePerceptors. It would be  
interesting to measure these sensors and get accurate statistics in  
the future though.

>     8 x FSR, 4 in each foot (use FRP instead?)

Yes, I think we can use FRP instead for now. But we need some  
statistics of the real sensors in the future here, too, I think.

>     2 x gyro meters
>     3 x accelerometers

We currently only have the GyroRatePerceptor  which returns the  
angular velocity of the body it is attached to (actually, we could  
change the name to just be "gyro", because it essentially _is_ a gyro  
sensor). We could make another sensor that delivers the linear  
acceleration of the body it is attached to, that would correspond to  
an accelerometer (correct me if I'm wrong). We might use the ODE  
dBodyGetLinearVel (or better: its wrapper in the Body class in oxygen)  
and figure out the acceleration in successive steps.

Another problem is that these sensors are usually very noisy, and we  
don't employ any noise at all yet. Yet again, we should gather  
realistic statistics.

>     2 x bumpers

Well, we have the touch sensors, but I'm not completely sure whether  
they are equivalent to these bumpers :-/

>     2 channels sonar (This is cool!)
>

Oh really? I didn't know that!

>
>     Do all of them should be implemented?

I'd say for now it would be great if someone could implement the  
accelerometer and the sonar (maybe we can find some specs/statistics  
about sonar sensors on the internet).

I wanted to mention one other thing: I guess it's time we think about  
downward-compatibility. I mean, we should take care not to change the  
existing perceptors/effectors so that older binaries will still be  
usable (this is one of the great features of the 2D simulator :-) ).  
Maybe we can come up with a naming convention, or sth. like that.

Cheers,
Joschka

[simspark-devel] Another problem of nao:sensors

[Feng X. <hen...@ma...>]

Hi Joschka,

    Ben reminds me that I forget the visionperceptor in nao.rsg, so I remember that lots of sensors that equipped on Nao have not implemented. Here is a list of all the sensors of Nao:
    32 x hall effect sensors
    8 x FSR, 4 in each foot (use FRP instead?)
    2 x gyro meters
    3 x accelerometers
    2 x bumpers
    2 channels sonar (This is cool!)
   
    Do all of them should be implemented?    

Cheers!



Feng Xue
2008-04-14

Re: [simspark-devel] integrated_agent_v3

[Joschka B. <jbo...@un...>]

Hi Ben,

On Apr 13, 2008, at 7:34 AM, Ben wrote:
>
> Finally, how to output the cvs commit into 'ChangeLog'?
> Thanks.

Emacs has a nice front-end to work with cvs, called PCL-CVS. You can  
use it to first write your ChangeLog entries and then use them  
automatically when you commit your files from within PCL-CVS. It's  
quite convenient to use :-) Have a look at [1] to get started.

Cheers,
Joschka

[1] http://www.gnu.org/software/emacs/manual/html_node/pcl-cvs/index.html

Re: [simspark-devel] integrated_agent_v3

[Markus R. <rol...@un...>]

Hi,

Hedayat Vatankhah wrote:
> But (well, I wonder if I'm getting too sensitive about this :( ), it 
> might be better to find a way to avoid the overhead of calling a virtual 
> function?! (Sorry again,  I think I'm going too far in this direction! 
> Is it really a overhead which I should think about?)

I think this is a quite light weight solution and has the benefit that 
the syntax stays the same, so you just write GetLog() and receive the 
correct LogServer instance.

If we install multiple LogServer instances there has to be a way to get 
the correct one. Hiding this behind one standard function call allows 
use to keep this logic in one place and change our minds later what 
LogServer instance we use and where to install them.

cheers,
Markus

Re: [simspark-devel] integrated_agent_v3

[Hedayat V. <hed...@ai...>]

Hi Markus,
Glad to hear that! :)
But (well, I wonder if I'm getting too sensitive about this :( ), it 
might be better to find a way to avoid the overhead of calling a virtual 
function?! (Sorry again,  I think I'm going too far in this direction! 
Is it really a overhead which I should think about?)

Thanks a lot,
Hedayat

/*Markus Rollmann <rol...@un...>*/ wrote on 04/13/2008 
02:30:51 PM:
> Hedayat Vatankhah wrote:
> [...]
>>> The downside is we cannot provide different loglevels (i.e. debug, 
>>> normal etc. for one agent channel). One possibility would be to 
>>> provide multiple bases like eAgentNormal, eAgentDebug etc. and 
>>> offset them. This could be hidden behind a nice interface like 
>>> "GetLog()->AgentDebug(agentId)"
>> Or maybe each agent should have it's own LogServer instance?!
>
> I like that idea... We could install a LogServer instance below each 
> Behavior class. Further the Object::GetLog() function should become 
> vritual (see zeitgeist\object.h). Called from within a behavior class 
> it would return the LogServer instance assigned to the agent, (maybe a 
> direct child) and return the default LogServer instance otherwise.
>
>> Also notice that priority levels should be powers of 2. So, (at least 
>> currently) we can have at most 32 priority levels.
>
> Your're right. Id didn't notice that. I favor the idea of separate 
> LogServcer instances (or a similar concept)
>
> cheers,
> Markus
>

Re: [simspark-devel] integrated_agent_v3

[Hedayat V. <hed...@ai...>]

Hi Ben,

/*Ben <lgp...@16...>*/ wrote on 04/13/2008 02:57:48 AM:
> Hi Hedayat:
>
>   It's  great!
>
>   Why not come into my head? :)
Thanks! :-[

Good luck,
Hedayat
>
> Best wishes!
> Ben
>  
>

Re: [simspark-devel] Question about check & init SDL

[Hedayat V. <hed...@ai...>]

<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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<p>Hi Yuan,<span></span></p>
<p style="margin-bottom: 0cm; margin-top: 0pt;"><span></span></p>
<span><br>
<style type="text/css">blockquote {color: navy !important; background-color: RGB(245,245,245) !important; padding: 0 15 10 15 !important; margin: 15 0 0 0; border-left: #1010ff 2px solid;}  blockquote blockquote {color: maroon !important; background-color: RGB(235,235,235) !important; border-left-color:maroon !important}  blockquote blockquote blockquote {color: green !important; background-color: RGB(225,225,225) !important; border-left-color:teal !important}  blockquote blockquote blockquote blockquote {color: purple !important; background-color: RGB(215,215,215) !important; border-left-color: purple !important}  blockquote blockquote blockquote blockquote blockquote {color: teal !important; background-color: RGB(205,205,205) !important; border-left-color: green !important}</style><i><b>"Yuan
Xu" <a class="moz-txt-link-rfc2396E" href="mailto:xuy...@gm...">&lt;xuy...@gm...&gt;</a></b></i>
wrote on 04/13/2008 05:51:38 AM:</span><br>
<blockquote   style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;"   cite="mid:18a...@ma..."   type="cite">
  <pre wrap="">Hi Hedayat,

 &gt;  Hi Yuan,
 &gt;  I'll check it ASAP.

Thanks.
  </pre>
</blockquote>
You're welcome. A little testing till now. Two issues now:<br>
1. if I run simspark and monitorspark and then connect an agent,  the
agent won't appear in correct color (it's gray instead of blue). If I
close the monitorspark and run it again, it's OK.<br>
2. Sometimes when I connect the first agent, monitorspark  crashes.<br>
<br>
This is what I get from gdb:<br>
Program received signal SIGSEGV, Segmentation fault.<br>
[Switching to Thread -1208244496 (LWP 25167)]<br>
0x0615dc50 in __dynamic_cast () from /usr/lib/libstdc++.so.6<br>
(gdb) bt<br>
#0  0x0615dc50 in __dynamic_cast () from /usr/lib/libstdc++.so.6<br>
#1  0x0021c779 in boost::shared_dynamic_cast&lt;oxygen::BaseNode,
zeitgeist::Leaf&gt;<br>
    (r=@0x860983c) at /usr/include/boost/shared_ptr.hpp:209<br>
#2  0x00549410 in RubySceneImporter::ReadDeltaGraph (this=0x80c0978, <br>
    sexp=0x8561518, root=@0xbfe3e8a8)<br>
    at
../../../rcssserver3D/plugin/rubysceneimporter/rubysceneimporter.cpp:873<br>
#3  0x00549327 in RubySceneImporter::ReadDeltaGraph (this=0x80c0978, <br>
    sexp=0x8560348, root=@0xbfe3e938)<br>
    at
../../../rcssserver3D/plugin/rubysceneimporter/rubysceneimporter.cpp:882<br>
#4  0x00549327 in RubySceneImporter::ReadDeltaGraph (this=0x80c0978, <br>
    sexp=0x8546288, root=@0xbfe3e9ac)<br>
    at
../../../rcssserver3D/plugin/rubysceneimporter/rubysceneimporter.cpp:882<br>
#5  0x0054aea3 in RubySceneImporter::ParseScene (this=0x80c0978, <br>
    scene=0x8608cd4 "(RDS 0
1)((nd)(nd(nd))(nd(nd))(nd(nd))(nd)(nd(nd))(nd(nd))(nd(nd))(nd)(nd(nd))(nd(nd))(nd(nd))(nd(nd))(nd(nd))(nd(nd))(nd(nd))(nd(nd))(nd(nd))(nd(nd))(nd(nd))(nd(nd(nd)(nd(nd)(nd(nd)))))(nd(nd(nd)(nd("...,
size=548, <br>
    root=@0xbfe3e9f4, parameter=@0xbfe3e9ec)<br>
    at
../../../rcssserver3D/plugin/rubysceneimporter/rubysceneimporter.cpp:223<br>
#6  0x00544298 in RubySceneImporter::ParseScene (this=0x80c0978, <br>
    scene=@0xbfe3ea9c, root=@0xbfe3ea88, parameter=@0xbfe3ea80)<br>
    at
../../../rcssserver3D/plugin/rubysceneimporter/rubysceneimporter.cpp:173<br>
#7  0x005adf7a in SparkMonitorClient::ParseMessage (this=0x80ab3c8, <br>
    msg=@0xbfe3eaf4)<br>
    at
../../../rcssserver3D/plugin/sparkmonitor/sparkmonitorclient.cpp:235<br>
#8  0x005ae74c in SparkMonitorClient::StartCycle (this=0x80ab3c8)<br>
    at
../../../rcssserver3D/plugin/sparkmonitor/sparkmonitorclient.cpp:109<br>
#9  0x002c3323 in oxygen::SimulationServer::ControlEvent
(this=0x80c47b8, <br>
    event=oxygen::SimulationServer::CE_StartCycle)<br>
    at
../../../rcssserver3D/lib/oxygen/simulationserver/simulationserver.cpp:270<br>
#10 0x002c5aab in oxygen::SimulationServer::Cycle (this=0x80c47b8, <br>
    inputCtr=@0xbfe3ebcc)<br>
    at
../../../rcssserver3D/lib/oxygen/simulationserver/simulationserver.cpp:348<br>
#11 0x002c4e46 in oxygen::SimulationServer::Run (this=0x80c47b8,
argc=1, <br>
    argv=0xbfe3ed34)<br>
    at
../../../rcssserver3D/lib/oxygen/simulationserver/simulationserver.cpp:330<br>
#12 0x08049346 in main (argc=1, argv=0xbfe3ed34)<br>
    at ../../../rcssserver3D/app/monitorspark/main.cpp:141<br>
<br>
<br>
<blockquote   style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;"   cite="mid:18a...@ma..."   type="cite">
  <pre wrap="">I just wander whether we can remove the follow codes in inputsystemsdl.cpp:

 00082     if (!SDL_WasInit(SDL_INIT_VIDEO))
 00083     {
 00084         if (SDL_Init(SDL_INIT_VIDEO | SDL_INIT_NOPARACHUTE) &lt; 0)
 00085         {
 00086             GetLog()-&gt;Error() &lt;&lt; "ERROR: (InputSystemSDL) SDL
 not initialized!\n";
 00087             return false;
 00088         }
 00089         SDL_SetVideoMode(0,0,0,0);
 00090         static SDL_SysWMinfo pInfo;
 00091         SDL_VERSION(&amp;pInfo.version);
 00092         SDL_GetWMInfo(&amp;pInfo);

 It works in my system without these codes,
 but I am not sure in other system.
  </pre>
</blockquote>
The comment above the following code says that video should be
initialized for input system to work. BTW, by removing the last four
lines the window won't appear. So I think it's safe to retain SDL
initialization here.<br>
<br>
Thanks,<br>
Hedayat<br>
<br>
<blockquote   style="border-left: 2px solid rgb(16, 16, 255); color: navy; background-color: rgb(245, 245, 245); padding-left: 15px;"   cite="mid:18a...@ma..."   type="cite">
  <pre wrap="">

 --
 Best wishes!

 Xu Yuan
 School of Automation
 Southeast University, Nanjing, China

 mail:   <a class="moz-txt-link-abbreviated"   href="mailto:xuy...@gm...">xuy...@gm...</a>
          <a class="moz-txt-link-abbreviated"   href="mailto:xy...@ya...">xy...@ya...</a>
 web:   <a class="moz-txt-link-freetext"   href="http://xuyuan.cn.googlepages.com">http://xuyuan.cn.googlepages.com</a>
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  </pre>
</blockquote>
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Re: [simspark-devel] Question about check & init SDL

[Yuan X. <xuy...@gm...>]

Hi Markus,

>
>  how do you disable the internal monitor? You should comment out
> sparkSetupRendering() and sparkSetupRendering() in monitorspark.rb to do
> thi.
>

Yes, I commented out the sparkSetupRendering() in simspark.rb.
The OpenGL is disabled,
but the SDL will initialize the video while inputsystemsdl
initialization in current code.
So there is still a window there.


>
>  you want to use InputSystemSDL without the OpenGLSystemSDL? This should
> already work. It checks if SDL was setup properly. So you could init SDL in
> your own custom way and the load the InputSystemSDL plugin.
>

The current code make sure the SDL_WasInit(SDL_INIT_VIDEO).

Maybe we can pass parameter to the inputsdl initialization,
or comment out the checking code in inputsdl (just like rcssserver3d-0.5.6).

What do you think about it?


-- 
Best wishes!

Xu Yuan
School of Automation
Southeast University, Nanjing, China

mail:   xuy...@gm...
          xy...@ya...
web:   http://xuyuan.cn.googlepages.com
--------------------------------------------------

Re: [simspark-devel] Question about check & init SDL

[Markus R. <rol...@un...>]

Yuan Xu wrote:
> Hi all,
> 
> I have made the external monitor working.
> It works well in my system, would you test it if you have time? Thanks.
> 
> However, I have a problem while disabling the internal monitor,
> the SDL window are still there.

how do you disable the internal monitor? You should comment out 
sparkSetupRendering() and sparkSetupRendering() in monitorspark.rb to do 
thi.


[...]
> I do not know whether these new code is useful in other platforms,
> can we comment them out without any problem?

you want to use InputSystemSDL without the OpenGLSystemSDL? This should 
already work. It checks if SDL was setup properly. So you could init SDL 
in your own custom way and the load the InputSystemSDL plugin.

cheers,
Markus