simspark-devel — Discussion about Spark development

Re: [simspark-devel] integrated_agent_v3

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

Hi,

Ben schrieb:
> I have make a update of integrated_agent[1], please have a look, 
> thank you!

thanks Ben for your work. I looked at the source code and it's getting 
better ;-)

I have some comments:

Concerning the base behavior class.

- I wonder if it's better to give the prdicate list directly to the 
think method of the behavior class. In the current implementation the 
predicates are collected, then converted into a string. The behavior 
class then parses the string back into predicates. That's much overhead.

The TrainControl::EndCycle() method get's the senselist from the 
agentaspect. This could be passed on to the behavior class directly.

- Some technical issues. If you hold a reference to another node in the 
system please use the CachedPath template together with the 
RegisterCachedPath() method (for the mTrainControl reference). Same for 
the mTrainControl reference in the TrainControl class.

- I think we should change the behavior class to cach the command string 
it sends. I.e. move the mCmdMsg member and the SetCmdMsg() member to the 
base class and change the think(...) to return void. In this way it is 
possible to use the ruby interface for behavior classes that are not 
derived from the soccerbehavior, i.e make it available to other simulations.

Concerning the base behavior class.

- You are using cerrs and stdouts to give agent responses instead of the 
Logserver (i.e. GetLog()->Normal() << "msg"). Maybe we should introduce 
a new log channel for agent responses?

- don't run the debug.rb script from SoccerbotBehavior. This should only 
be done from classes that derive from SoccerbotBehavior. I.e. it is 
specific to your agent implementation.

Concerning the TrainControl class

- I think we could use a std::set<shared_ptr<Client> TClientSet instead 
of the TClientList. This makes searching for a client instance easier 
(operator == and < are defined for shared_ptr) and makes sure that each 
behavior instance is registered only once.

- I think we should rename the mClientSize member that reflects its 
purpose, maybe to mNextClientId?

> I have a question: can we make the library zeitgeist, kerosin, oxygen
> as dll in windows?

I don't think it is possible without some changes. The problem is that 
the different libraries are dependent on each other and access 
implementation details from each other. 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.

In contrast Linux and MacOs work the other way round. By default _all_ 
symbols are visible. On these platforms it's therefore no problem to 
load our libraries dynamically.

cheers,
Markus

> [1] www.apollo3d.cn/download/integrated_agent_v3.tar.gz

[simspark-devel] problem with OpenGL setup (Mac OS X)

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

Hi all,

I updated my local rcssserver3D source tree from CVS today, compiled,  
and did make install. The code compiles without problems (Mac OS X  
10.5.2), but when I try to start simspark, it crashes on setup of the  
OpenGL stuff:

(spark.rb) sparkSetupRendering
(spark.rb) using OpenGLSystem 'OpenGLSystemSDL'
(spark.rb) creating kerosin/OpenGLServer instance at /sys/server/opengl
Reading symbols for shared libraries . done
2008-04-01 11:18:32.194 simspark[82783:813] ***  
_NSAutoreleaseNoPool(): Object 0x85aac0 of class NSCFNumber  
autoreleased with no pool in place - just leaking
Stack: (0x9168712f 0x91593ec2 0x95c79de1 0x93f98b78 0x93f974f9  
0x93fa7736 0x95cd61aa 0x95cd43b0 0x95cd40f5 0x95cd3aa4 0x95cd35e3  
0x95cd15df 0xb2676 0xa930b....*a lot more of this...*

in gdb, the backtrace looks like this:

Program received signal SIGTRAP, Trace/breakpoint trap.
0x948740f4 in ___TERMINATING_DUE_TO_UNCAUGHT_EXCEPTION___ ()
(gdb) bt
#0  0x948740f4 in ___TERMINATING_DUE_TO_UNCAUGHT_EXCEPTION___ ()
#1  0x93f9c0fb in objc_exception_throw ()
#2  0x95d6fb81 in -[NSWindow _commonAwake] ()
#3  0x95c8b683 in -[NSWindow  
_commonInitFrame:styleMask:backing:defer:] ()
#4  0x95c8ab41 in -[NSWindow  
_initContent:styleMask:backing:defer:contentView:] ()
#5  0x95c8a4fe in -[NSWindow  
initWithContentRect:styleMask:backing:defer:] ()
#6  0x000b551f in -[SDL_QuartzWindow  
initWithContentRect:styleMask:backing:defer:] ()
#7  0x000b2c8c in QZ_SetVideoMode ()
#8  0x000a964e in SDL_SetVideoMode ()
#9  0x00a511e5 in OpenGLSystemSDL::Init (this=0x849fd0) at  
openglsystemsdl.cpp:144
#10 0x001314ac in kerosin::OpenGLServer::Init (this=0x849b90,  
openGLSysName=@0xbfffe0d8) at openglserver/openglserver.cpp:132
#11 0x001320ca in init (obj=0x849b90, in=@0xbfffe138) at openglserver/ 
openglserver_c.cpp:16
#12 0x00580483 in thisCall (objPointer=17381153, functionName=9484720,  
args=2691109104) at scriptserver/scriptserver.cpp:158
#13 0x005ce057 in rb_with_disable_interrupt () at stl_vector.h:123
#14 0x005d718c in rb_eval_string_wrap () at stl_vector.h:123
#15 0x005d7d6a in rb_eval_string_wrap () at stl_vector.h:123
#16 0x005d50da in rb_eval_string_wrap () at stl_vector.h:123
#17 0x005d795f in rb_eval_string_wrap () at stl_vector.h:123
#18 0x005d7d6a in rb_eval_string_wrap () at stl_vector.h:123
#19 0x005ded91 in rb_Array () at stl_vector.h:123
#20 0x005d7ca4 in rb_eval_string_wrap () at stl_vector.h:123
#21 0x005d50da in rb_eval_string_wrap () at stl_vector.h:123
#22 0x005d795f in rb_eval_string_wrap () at stl_vector.h:123
#23 0x005d7d6a in rb_eval_string_wrap () at stl_vector.h:123
#24 0x005d50da in rb_eval_string_wrap () at stl_vector.h:123
#25 0x005e2af2 in rb_apply () at stl_vector.h:123
#26 0x005e3371 in rb_eval_string () at stl_vector.h:123
#27 0x005cd3f5 in rb_protect () at stl_vector.h:123
#28 0x005cd457 in rb_eval_string_protect () at stl_vector.h:123
#29 0x0057f03b in zeitgeist::RbEvalStringWrap (str=@0xa06710f0,  
error=@0xbffff30c) at scriptserver/rubywrapper.cpp:32
#30 0x0057f098 in zeitgeist::ScriptServer::Eval (this=0x80b220,  
command=@0xa06710f0) at scriptserver/scriptserver.cpp:293
#31 0x005811e4 in zeitgeist::ScriptServer::Run (this=0x80b220,  
file=@0xbffff398) at scriptserver/scriptserver.cpp:277
#32 0x0058136b in ~shared_count [inlined] () at scriptserver/ 
scriptserver.cpp:286
#33 ~shared_ptr [inlined] () at detail/shared_count.hpp:209
#34 ~shared_ptr [inlined] () at detail/shared_count.hpp:131
#35 zeitgeist::ScriptServer::Run (this=0x80b220, fileName=@0xbffff408)  
at shared_ptr.hpp:286
#36 0x000025b8 in ~shared_ptr [inlined] () at main.cpp:101
#37 ~shared_count [inlined] () at detail/shared_count.hpp:131
#38 ~shared_ptr [inlined] () at detail/shared_count.hpp:209
#39 SimSpark::InitApp (this=0xbffff4bc, argc=1, argv=0xbffff564) at  
detail/shared_count.hpp:101
#40 0x0000f25c in spark::Spark::Init (this=0xbffff4bc, argc=1,  
argv=0xbffff564) at spark.cpp:118
#41 0x00002063 in main (argc=1, argv=0xbffff564) at main.cpp:118
(gdb)

It seems like the OpenGLSystem::Init method has problems setting the  
video mode or sth. like that. This is weird, because nothing changed  
on my system and the code was running before the update today (I'm not  
sure when I did make install on the whole source tree last time, but  
it was running for sure 2 weeks ago).

Is anybody aware of changes in the last 2 weeks that could cause this  
(I didn't find anything obvious in the ChangeLog and SF is giving me  
internal server error messages when I try to access the sserver- 
commits archive)? Is anybody having similar problems?

Any ideas are appreciated!

Thanks,
Joschka

P.S.: I tried a fresh checkout too, with the same result.

Re: [simspark-devel] Integrated_agent_draft

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

Hi all,

Ben wrote:
> 1. Where should 'Behavior' be installed in the object hierarchy? 
> TrainControl should be able to enum all the behaviors.

It should go below 'user/agent/' I think.

> 2. Dynamic connect and disconnect? Should the integrated agent be
> like the one in AgentControl, in which agents' connection is dynamic.
> 

What does it mean for an integrated agent to be dynamic?

Behavior nodes could register to the TrainControl (in their OnLink()).
The traincontrol then uses the GameControl Server to create an
AgentAspect (mGameControlServer->AgentConnect). As Hedayat already wrote
the agent then use their init effector to construct themselves.

When the behavior node is uninstalled it's OnUnlink unregisters from the
TrainControl. The TrainControl then disconnects the agent
(mGameControlServer->AgentConnect).

In this way behavior nodes could be installed an uninstalled at any time.

> 3. Write an interface class to provide internal information, such as
>  transformation, joints. The information can be used by scenario
> training or some learning algorithms.

This internal information is specific to the soccer simulation. We 
should implement it but put it in a derived class, something like 
SoccerBehavior that is a specialized behavior. The base behavior soukd 
only contain the mechanism to register with the TrainControl and some 
Send/Receive message api.

As Hedayat already noted the setup of training situation should be done 
using the TrainerCommandParser interface that is already there.

cheers,
Markus

Re: [simspark-devel] Integrated_agent_draft

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

Hi, all:    

2008-03-29，"Hedayat Vatankhah" <hed...@ai...>:
>Yes, thinking is parallel. But generating agents' percepts and parsing
>their commands are not (and maybe network communication to some
>extent). It might be better to have them running in parallel too. What
>do you think?
  I think so.

I get some issue to be discussed, please have a look of the updated source here[1].

  1. Where should 'Behavior' be installed in the object hierarchy?
     TrainControl should be able to enum all the behaviors.
  2. Dynamic connect and disconnect?
     Should the integrated agent be like the one in AgentControl, in which
     agents' connection is dynamic.
  3. Write an interface class to provide internal information, such as transformation,
      joints.
     The information can be used by scenario training or some learning algorithms.

Best wishes!
Ben

[1] http://www.apollo3d.cn/download/integrated_agent_v2.tar.gz

[simspark-devel] Fwd:[Sserver-three-d] Error with FRP in server 0.5.7

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

Hi all,

     The same problem happens on me too. Maybe it is a "divide 0" problem, I
guesss.

     By the way, when using multi-thread, the agent cycle is 0.04s. 
     And I found another ode error. Yuan said it is because that if one of the
thread trys to call ode function when another thread is doing the physics update,
ode will fail. Typically, it happens when both of the beam command and joint speed
command are valid in a cycle.  

>From: C B <kam...@ya...>
>Reply-To: 
>To: sse...@li...
>Subject: [Sserver-three-d] Error with FRP in server 0.5.7
>Date:Sat, 29 Mar 2008 05:37:12 -0500 (CDT)
>
>
>Hello,
>I am testing our agent in the new server 0.5.7 and
>sometimes I get a wrong message in the FRP, like:
>
>(FRP(n lf)(c nan nan nan)(f 0.00 0.00 0.00))
>
>I was not receiving this message in 0.5.6.
>Previous messages to that message are valid messages.
>
>Also, it seems like there is some kind of "noise"
>in FRP, for example I am receiving this for some
>sequential simulation steps:
>
>(FRP(n rf)(c -0.08 -0.10 -0.05)(f 0.28 0.42 12.27))
>(FRP(n lf)(c 0.08 -0.10 -0.05)(f -0.28 0.41 12.27))
>
>(FRP(n rf)(c 0.08 0.10 -0.05)(f -0.30 -0.41 12.20))
>(FRP(n lf)(c -0.08 0.10 -0.05)(f 0.29 -0.42 12.19))
>
>(FRP(n rf)(c -0.08 -0.10 -0.05)(f 0.28 0.42 12.28))
>(FRP(n lf)(c 0.08 -0.10 -0.05)(f -0.26 0.42 12.35))
>
>As you can see, the sign of some numbers varies from
>message to message, both on the point and the force.
>
>Best regards,
>Carlos Bustamante
>Borregos3D
>
>
>
>
>     
__________________________________________________________________________________
__
>¡Capacidad ilimitada de almacenamiento en tu correo!
>No te preocupes más por el espacio de tu cuenta con Correo Yahoo!:               
      
>http://correo.yahoo.com.mx/
>
>-------------------------------------------------------------------------
>Check out the new SourceForge.net Marketplace.
>It's the best place to buy or sell services for
>just about anything Open Source.
>http://ad.doubleclick.net/clk;164216239;13503038;w?http://sf.net/marketplace
>_______________________________________________
>Sserver-three-d mailing list
>Sse...@li...
>https://lists.sourceforge.net/lists/listinfo/sserver-three-d

Re: [simspark-devel] Integrated_agent_draft

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

Hi Ben,

/*Ben <lgp...@16...>*/ wrote on 03/28/2008 08:02:47 PM:
> Hi Hedayat:
>
> ...
> >3. I should think a little more about it! But it might be better to
> >control all of the agents using TrainControl. For multi-threaded
> >running, [..]
> When the thinking of agents' behaviors are runnig in other machines
> (AgentControl itself do not do the thinking), we can consider the agents
> of AgentControl as 'multi-threads', is that right?
Yes, thinking is parallel. But generating agents' percepts and parsing 
their commands are not (and maybe network communication to some extent). 
It might be better to have them running in parallel too. What do you think?

Cheers,
Hedayat

>
> Thanks!
>
> Best wishes!
> Ben
>
>
> ------------------------------------------------------------------------
> �� �� �� ǿ �� �� --- �� �� �� �� �� �� ��166 �� �� �� ͬ ʱ �� �� 
> <http://event.mail.163.com/chanel/click.htm?from=NO_26&domain=163> 

[simspark-devel] Rule tests using agent's bounding box

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

<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html>
<head>
</head>
<body bgcolor="#ffffff" text="#000000">
Hi all,<br>
I've committed the improved rule tests. I did a little testing and it
seems that they are OK, but it would be nice if you test it too. Thanks
in advance.<br>
<br>
Finally, it would be nice if somebody fix this:<br>
<a class="moz-txt-link-freetext" href="http://sourceforge.net/tracker/index.php?func=detail&aid=1905865&group_id=24184&atid=380760">http://sourceforge.net/tracker/index.php?func=detail&amp;aid=1905865&amp;group_id=24184&amp;atid=380760</a><br>
<br>
Good luck,<br>
Hedayat<br>
</body>
</html>

Re: [simspark-devel] Integrated_agent_draft

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

Hi Hedayat:

>1. I think it is better for the agent's to be initialized with the init
>command themselves[...].
>2. It might be better to remove functions like DropBall and
>MoveAndRotateAgent from TrainControl[...]
  Yes, it's right, I'll work on it.

>3. I should think a little more about it! But it might be better to
>control all of the agents using TrainControl. For multi-threaded
>running, [...]
  When the thinking of agents' behaviors are runnig in other machines
(AgentControl itself do not do the thinking), we can consider the agents
of AgentControl as 'multi-threads', is that right?

Thanks!

Best wishes!
Ben

Re: [simspark-devel] Integrated_agent_draft

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

Hi,
I should admit that I have not looked to your code thoroughly enough (so 
please excuse me if I'm wrong!). But some comments for now:
1. I think it is better for the agent's to be initialized with the init 
command themselves, like what the current agents do (so they will be 
initialized with the init effector).

2. It might be better to remove functions like DropBall and 
MoveAndRotateAgent from TrainControl. A separate method for integrating 
agents with TrainerCommandParser might be better.

3. I should think a little more about it! But it might be better to 
control all of the agents using TrainControl. For multi-threaded 
running, we could apply the same strategy to AgentControl and 
TrainControl classes. It might be even better to use completely separate 
classes for multi-threaded running. Well, sorry! I should think before 
talking!! :)

Thanks a lot, and welcome to MC (also to Feng Xue!) :)
Hedayat

/*Ben <lgp...@16...>*/ wrote on 03/28/2008 07:28:21 AM:
> Hi, Markus:
>
> >The problems I see are hardcoded dependencies to the soccer simulation:
> >For example the TrainControl sets up a 'robot part map' and provides
> >functions to drop the ball etc. The behavior class implements functions
> >[...]
> Yes, we should consider the development in the aspect of pure 'train'.
>
> And I think there are some other problems:
> 1. one instance of TrainControl is correspond to one agent?
> Should we make TrainControl to manage all the agents just like 
> AgentControl,
> or in order to get some speed improvements in multi-threads mode, we do
> one-to-one .
>
> 2. some actions and decision can be written in Ruby script, they are 
> executed every cycle, there exists problem for ruby script is only 
> considered for initialization.
> For example, in 'Sparkmonitor::UpdateCached', 'ClearNodeCache' is 
> called when after running scripts whick result in the failure of logger.
>
> Best wishes!
> Ben
>

Re: [simspark-devel] Integrated_agent_draft

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

Hi, Markus:

>The problems I see are hardcoded dependencies to the soccer simulation: 
>For example the TrainControl sets up a 'robot part map' and provides 
>functions to drop the ball etc. The behavior class implements functions 
>[...]
 Yes, we should consider the development in the aspect of pure 'train'.

And I think there are some other problems:
  1.  one instance of TrainControl is correspond to one agent?
    Should we make TrainControl to manage all the agents just like AgentControl,
   or in order to get some speed improvements in multi-threads mode, we do  
   one-to-one .

 2. some actions and decision can be written in Ruby script, they are executed every cycle, there exists problem for ruby script is only considered for initialization.
    For example, in 'Sparkmonitor::UpdateCached', 'ClearNodeCache' is called when after running scripts whick result in the failure of logger.

Best wishes!
Ben

Re: [simspark-devel] Integrated_agent_draft

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

Hi,

Ben wrote:
>   I just make a draft version of integrated agent, and it is downloadable
> at [1]. Please let me know if there is any problem.
> 
>   I think we can have a discussion of the integration idea after testing 
> this one :-)
[...]

thanks for poviding this source. So on to the discussion... ;-)

I did not compile or test it but looked in to the source. What you 
provide is a SimControlNode called TrainControl. There is one 
TrainControl registered for each internal agent instance. The agent 
itself is registered as one behavior instance to each TrainControl instance.

Is that the basic structure? It seems ok so far.

The problems I see are hardcoded dependencies to the soccer simulation: 
For example the TrainControl sets up a 'robot part map' and provides 
functions to drop the ball etc. The behavior class implements functions 
to parse sensors that are typically installed in the soccer bot.

I think we should remove any dependency to the soccer simulation from 
the TrainControl and Basebehavior class and provide a derived soccer 
SoccerBehavior class in the soccer bundle as a basis for agent implementors.

cheers,
Markus

[simspark-devel] Integrated_agent_draft

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

Hi, all:

  I just make a draft version of integrated agent, and it is downloadable
at [1]. Please let me know if there is any problem.

  I think we can have a discussion of the integration idea after testing this one :-)

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

Best wish!
Ben

 

Re: [simspark-devel] preview of rcssserver3d-0.5.7

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

Hey Markus,

On Mar 25, 2008, at 5:42 AM, Markus Rollmann wrote:
> Hi,
>
> Joschka Boedecker wrote:
>> On Mar 24, 2008, at 3:19 PM, Yuan Xu wrote:
> [...]
>> * I had conflicting typedefs in /usr/local/include/ode/config.h and  
>> a  system header (again, this was no problem in Tiger). I didn't  
>> know an  elegant workaround for the problem right away, so I had to  
>> comment out  the 'typedef unsigned short uint32' in the ODE config  
>> header; this  way, the code compiles, but this hack is -- of course  
>> -- not  satisfactory :-( Does anybody have a good idea how to  
>> prevent this  conflict?
>
> If the problem is caused by #defines then updating the physicsserver/ 
> odewrapper.h for MacOS is the right place to put the fix.
>
> A typedef in the ode config file can not be modified directly via  
> the preprocessor. But you could rename the offending typedef via the  
> preprocessor like '#define uint32 dummy' in the odewrapper before  
> inlcuding ode.h (be sure to undefine uint32 after the include)

Great, this worked, thanks :-) Good luck with the win32 stuff!

Cheers,
Joschka

Re: [simspark-devel] preview of rcssserver3d-0.5.7

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

<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html style="direction: ltr;">
<head>
  <meta content="text/html;charset=UTF-8" http-equiv="Content-Type">
</head>
<body style="direction: ltr;" bgcolor="#ffffff" text="#000000">
Hi!<br>
Well, I think I know the problem ;) This is because currently
PrePhysicsUpdate is called in parallel to SimControlThreads and in FRP
this function clears mContactList. This problem was mentioned by Yuan
before, but I didn't applied the fix since it would need 2 more wait
functions (which might have a negative effect on the performance). OK,
I'll enable the fix. Would you please check the current CVS head to see
if the problem is really fixed?<br>
<br>
(This problem can be fixed by modifying FRP itself, but the problem
might appear elsewhere in future.)<br>
<br>
Any suggestions for a better structure? (Yuan has proposed a change in
the structure, but it could slightly modify the server behavior in
multi-threaded mode).<br>
<br>
Thanks,<br>
Hedayat<br>
<br>
<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>Hesham
<a class="moz-txt-link-rfc2396E" href="mailto:hes...@gm...">&lt;hes...@gm...&gt;</a></b></i> wrote on 03/25/2008 02:01:28
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:1d7...@ma..."   type="cite">Hi<br>
  <br>
I get this error on my system in the multi-threaded mode, some times
after a few secs some times after a few minutes. Any idea what's the
problem? (I'm using ODE 0.9)<br>
  <br>
Program received signal SIGSEGV, Segmentation fault.<br>
[Switching to Thread 0xb5a7fb90 (LWP 9138)]<br>
ForceResistancePerceptor::Percept (this=0x825ee38, predList=@0xb5a7f1a4)<br>
    at forceresistanceperceptor.cpp:79<br>
79                  Vector3f forceVec(i-&gt;second.f1[0],
i-&gt;second.f1[1], i-&gt;second.f1[2]);<br>
(gdb) bt<br>
#0  ForceResistancePerceptor::Percept (this=0x825ee38,
predList=@0xb5a7f1a4)<br>
    at forceresistanceperceptor.cpp:79<br>
#1  0xb78a7d85 in oxygen::AgentAspect::QueryPerceptors (this=0xb3984ad8)<br>
    at agentaspect/agentaspect.cpp:96<br>
#2  0xb79096c8 in oxygen::AgentControl::EndCycle (this=0x80914a8)<br>
    at simulationserver/agentcontrol.cpp:166<br>
#3  0xb78ff4ee in oxygen::SimulationServer::SimControlThread
(this=0x80a9818, <br>
    controlNode=@0xb5a7f304) at
simulationserver/simulationserver.cpp:557<br>
#4  0xb7903912 in
boost::detail::function::void_function_obj_invoker0&lt;boost::_bi::bind_t&lt;void,
boost::_mfi::mf1&lt;void, oxygen::SimulationServer,
boost::shared_ptr&lt;oxygen::SimControlNode&gt; &gt;,
boost::_bi::list2&lt;boost::_bi::value&lt;oxygen::SimulationServer*&gt;,
boost::_bi::value&lt;boost::shared_ptr&lt;oxygen::SimControlNode&gt;
&gt; &gt; &gt;, void&gt;::invoke (function_obj_ptr=<br>
      {obj_ptr = 0x8141f10, const_obj_ptr = 0x8141f10, func_ptr =
0x8141f10, data = "\020"}) at
/usr/include/boost/bind/mem_fn_template.hpp:149<br>
#5  0xb761302c in boost::function0&lt;void,
std::allocator&lt;boost::function_base&gt; &gt;::operator() () from
/usr/lib/libboost_thread-mt.so.1.33.1<br>
#6  0xb7612c42 in ?? () from /usr/lib/libboost_thread-mt.so.1.33.1<br>
#7  0xb7e21192 in start_thread () from /lib/libpthread.so.0<br>
#8  0xb747c02e in clone () from /lib/libc.so.6<br>
  <br>
Cheers,<br>
Hesham<br>
  <br>
  <div><span class="gmail_quote">On 24/03/2008, <b   class="gmail_sendername">Yuan Xu</b> &lt;<a moz-do-not-send="true"   href="mailto:xuy...@gm...">xuy...@gm...</a>&gt; wrote:</span>
  <blockquote class="gmail_quote"   style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">Hi
all,<br>
    <br>
I updated the new preview of rcssserver3d-0.5.7 in<br>
    <a moz-do-not-send="true"   href="http://xuyuan.cn.googlepages.com/rcssserver3d-0.5.7-preview.tar.gz">http://xuyuan.cn.googlepages.com/rcssserver3d-0.5.7-preview.tar.gz</a><br>
    <br>
Could you take a look at it?<br>
if there is not any problem, I will publish it tomorrow.<br>
    <br>
Thanks,<br>
Xu Yuan<br>
    <br>
    <br>
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  </blockquote>
  </div>
  <br>
  <pre wrap="">
<hr size="4" width="90%">
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Re: [simspark-devel] preview of rcssserver3d-0.5.7

[Hesham <hes...@gm...>]

Hi

I get this error on my system in the multi-threaded mode, some times after a
few secs some times after a few minutes. Any idea what's the problem? (I'm
using ODE 0.9)

Program received signal SIGSEGV, Segmentation fault.
[Switching to Thread 0xb5a7fb90 (LWP 9138)]
ForceResistancePerceptor::Percept (this=0x825ee38, predList=@0xb5a7f1a4)
    at forceresistanceperceptor.cpp:79
79                  Vector3f forceVec(i->second.f1[0], i->second.f1[1], i->
second.f1[2]);
(gdb) bt
#0  ForceResistancePerceptor::Percept (this=0x825ee38, predList=@0xb5a7f1a4)
    at forceresistanceperceptor.cpp:79
#1  0xb78a7d85 in oxygen::AgentAspect::QueryPerceptors (this=0xb3984ad8)
    at agentaspect/agentaspect.cpp:96
#2  0xb79096c8 in oxygen::AgentControl::EndCycle (this=0x80914a8)
    at simulationserver/agentcontrol.cpp:166
#3  0xb78ff4ee in oxygen::SimulationServer::SimControlThread
(this=0x80a9818,
    controlNode=@0xb5a7f304) at simulationserver/simulationserver.cpp:557
#4  0xb7903912 in
boost::detail::function::void_function_obj_invoker0<boost::_bi::bind_t<void,
boost::_mfi::mf1<void, oxygen::SimulationServer,
boost::shared_ptr<oxygen::SimControlNode> >,
boost::_bi::list2<boost::_bi::value<oxygen::SimulationServer*>,
boost::_bi::value<boost::shared_ptr<oxygen::SimControlNode> > > >,
void>::invoke (function_obj_ptr=
      {obj_ptr = 0x8141f10, const_obj_ptr = 0x8141f10, func_ptr = 0x8141f10,
data = "\020"}) at /usr/include/boost/bind/mem_fn_template.hpp:149
#5  0xb761302c in boost::function0<void,
std::allocator<boost::function_base> >::operator() () from
/usr/lib/libboost_thread-mt.so.1.33.1
#6  0xb7612c42 in ?? () from /usr/lib/libboost_thread-mt.so.1.33.1
#7  0xb7e21192 in start_thread () from /lib/libpthread.so.0
#8  0xb747c02e in clone () from /lib/libc.so.6

Cheers,
Hesham

On 24/03/2008, Yuan Xu <xuy...@gm...> wrote:
>
> Hi all,
>
> I updated the new preview of rcssserver3d-0.5.7 in
> http://xuyuan.cn.googlepages.com/rcssserver3d-0.5.7-preview.tar.gz
>
> Could you take a look at it?
> if there is not any problem, I will publish it tomorrow.
>
> Thanks,
> Xu Yuan
>
>
> -------------------------------------------------------------------------
> This SF.net email is sponsored by: Microsoft
> Defy all challenges. Microsoft(R) Visual Studio 2008.
> http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
> _______________________________________________
> Simspark Generic Physical MAS Simulator
> simspark-devel mailing list
> sim...@li...
> https://lists.sourceforge.net/lists/listinfo/simspark-devel
>

Re: [simspark-devel] preview of rcssserver3d-0.5.7

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

Hi,

Joschka Boedecker wrote:
> On Mar 24, 2008, at 3:19 PM, Yuan Xu wrote:
[...]
> * I had conflicting typedefs in /usr/local/include/ode/config.h and a  
> system header (again, this was no problem in Tiger). I didn't know an  
> elegant workaround for the problem right away, so I had to comment out  
> the 'typedef unsigned short uint32' in the ODE config header; this  
> way, the code compiles, but this hack is -- of course -- not  
> satisfactory :-( Does anybody have a good idea how to prevent this  
> conflict?

If the problem is caused by #defines then updating the 
physicsserver/odewrapper.h for MacOS is the right place to put the fix.

A typedef in the ode config file can not be modified directly via the 
preprocessor. But you could rename the offending typedef via the 
preprocessor like '#define uint32 dummy' in the odewrapper before 
inlcuding ode.h (be sure to undefine uint32 after the include)

I have some more #defines and typedef prepared that are necessary for 
the win32 port and add to the preproccessor fun... I'll wait with these 
commits until after the release.

cheers,
Markus

Re: [simspark-devel] preview of rcssserver3d-0.5.7

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

Hi Sander,

On Mar 25, 2008, at 1:32 AM, Sander van Dijk wrote:

> [...]
>
> On Mon, Mar 24, 2008 at 3:54 PM, Joschka Boedecker <jos...@am... 
> > wrote:
> ODE INTERNAL ERROR 2: The centre of mass must be at the origin. in
> dBodySetMass()
> (Core) caught signal 6
> (Core) exit
>
> Does anybody know what could cause this? I had this running without
> problems before.
>
> Again I don't get this problem.. And indeed weird that you get this  
> now all of a sudden. Could you try adding the following after line  
> 280 of lib/oxygen/physicsserver/body.ccp:
>
> bodyMass.c[0] = bodyMass.c[1] = bodyMass.c[2] = 0;
>
> If it's due to rounding errors this should help.

I just tried and it worked like a charm :-) I already committed the  
changes to the repository. Thanks a lot!

Cheers,
Joschka

Re: [simspark-devel] preview of rcssserver3d-0.5.7

[Sander v. D. <sgv...@gm...>]

Hi,

Everything seems to work fine here. I just had to install libmng-dev, which
isn't checked for in configure aparently.

On Mon, Mar 24, 2008 at 3:54 PM, Joschka Boedecker <
jos...@am...> wrote:

> ODE INTERNAL ERROR 2: The centre of mass must be at the origin. in
> dBodySetMass()
> (Core) caught signal 6
> (Core) exit
>
> Does anybody know what could cause this? I had this running without
> problems before.
>

Again I don't get this problem.. And indeed weird that you get this now all
of a sudden. Could you try adding the following after line 280 of
lib/oxygen/physicsserver/body.ccp:

bodyMass.c[0] = bodyMass.c[1] = bodyMass.c[2] = 0;

If it's due to rounding errors this should help.

Regards,

Sander

Re: [simspark-devel] preview of rcssserver3d-0.5.7

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

Hi all,

On Mar 24, 2008, at 3:19 PM, Yuan Xu wrote:

> I updated the new preview of rcssserver3d-0.5.7 in
> http://xuyuan.cn.googlepages.com/rcssserver3d-0.5.7-preview.tar.gz
>

Thanks for putting together the release preview, Yuan!

> Could you take a look at it?
> if there is not any problem, I will publish it tomorrow.

I tested the code and came across a few issues, but I think they're  
all Mac OS X (Leopard) related:

* I had to add an include to lib/oxygen/simulationserver/ 
netmessage.cpp to provide otherwise missing types (I didn't have the  
problem in Tiger).

* I added the directory 'macosX' to EXTRA_DIST in the top-most  
Makefile.am; I couldn't compile the code without the files in that  
directory

* I had conflicting typedefs in /usr/local/include/ode/config.h and a  
system header (again, this was no problem in Tiger). I didn't know an  
elegant workaround for the problem right away, so I had to comment out  
the 'typedef unsigned short uint32' in the ODE config header; this  
way, the code compiles, but this hack is -- of course -- not  
satisfactory :-( Does anybody have a good idea how to prevent this  
conflict?

* I noticed that the user's manual is missing the references; maybe it  
was created without running Bibtex? Also, there are still some things  
missing and incorrect in the manual (I know for sure that the table  
with dimensions of the Soccerbot is still wrong, I didn't have time to  
correct it yet :-( ), so we should maybe tell people that this is  
still work in progress (but feedback is welcome of course :-) ).

After successful compilation, I could run the server without problems,  
but when I connected agentspark (using the composite bodies), I got  
the same error as reported by Feng Xue on the sserver-three-d list  
today (using ODE 0.9):

ODE INTERNAL ERROR 2: The centre of mass must be at the origin. in  
dBodySetMass()
(Core) caught signal 6
(Core) exit

Does anybody know what could cause this? I had this running without  
problems before.

Cheers,
Joschka

Re: [simspark-devel] preview of rcssserver3d-0.5.7

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

<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html style="direction: ltr;">
<head>
  <meta content="text/html;charset=UTF-8" http-equiv="Content-Type">
</head>
<body style="direction: ltr;" bgcolor="#ffffff" text="#000000">
Hi,<br>
I've tried to get it, but unfortunately my downloaded files were
corrupted. I'll try to get it again. This is the same as the current
CVS head right? Anyways, releasing a release candidate version (e.g.
for one week testing) might be a good idea.<br>
<br>
Thanks,<br>
Hedayat<br>
<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 03/24/2008 10:49:46 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 all,

I updated the new preview of rcssserver3d-0.5.7 in
<a class="moz-txt-link-freetext" href="http://xuyuan.cn.googlepages.com/rcssserver3d-0.5.7-preview.tar.gz">http://xuyuan.cn.googlepages.com/rcssserver3d-0.5.7-preview.tar.gz</a>

Could you take a look at it?
if there is not any problem, I will publish it tomorrow.

Thanks,
Xu Yuan

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Re: [simspark-devel] preview of rcssserver3d-0.5.7

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

Hi all,

I updated the new preview of rcssserver3d-0.5.7 in
http://xuyuan.cn.googlepages.com/rcssserver3d-0.5.7-preview.tar.gz

Could you take a look at it?
if there is not any problem, I will publish it tomorrow.

Thanks,
Xu Yuan

Re: [simspark-devel] preview of rcssserver3d-0.5.7

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

Hi Hesham,

> I tested it in both single-threaded and multi-threaded modes, apparently
> there is no problem. I ran it in multi-threaded mode with the multi-threaded
> ODE, now it's really fast, 1GB and 2GH dual-core for 9 agents I get
> "Skipping remaining time" once in a while. I guess on a fast computer for
> this year it's possible to have 5x5 games.
>

Good news!
I am interesting in multi-threaded ODE, could you give me a guide how
to install＆use it?

> By the way, doc directory is not updated in the package (like rsgedit.txt
> and .tex files are not there), not sure but I guess in this version they
> should be added.
>

I have added them, do you think we are ready to release the rcssserver3d-0.5.7?

Cheers,
Xu Yuan

Re: [simspark-devel] preview of rcssserver3d-0.5.7

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

Hi!
You're right. I'll fix it.

Thanks a lot,
Hedayat

/*Ben <lgp...@16...>*/ wrote on 03/23/2008 12:00:39 AM:
> Hi Yuan:
>
>    I find that the 'EndCycle' is not limited by simstep in multithreads
>
> mode. May be there need a correction :-)
>
> Best wishes!
> Ben
>
> ��2008-03-23��"Yuan Xu" <xuy...@gm...> ��
>
>     Hi all,
>
>     I prepared the preview of rcssserver3d-0.5.7,
>     could you download it from
>     http://xuyuan.cn.googlepages.com/rcssserver3d-0.5.7-preview.tar.gz
>     and test it?
>
>     Thanks!
>     Xu Yuan
>
>         
>
>
>
> ------------------------------------------------------------------------
> �� �� �� ǿ �� �� --- �� �� �� �� �� �� ��166 �� �� �� ͬ ʱ �� �� 
> <http://event.mail.163.com/chanel/click.htm?from=NO_26&domain=163>
> ------------------------------------------------------------------------
>
> -------------------------------------------------------------------------
> This SF.net email is sponsored by: Microsoft
> Defy all challenges. Microsoft(R) Visual Studio 2008.
> http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
>   
> ------------------------------------------------------------------------
>
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> simspark-devel mailing list
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> https://lists.sourceforge.net/lists/listinfo/simspark-devel
>   

Re: [simspark-devel] preview of rcssserver3d-0.5.7

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

Hi Yuan:

   I find that the 'EndCycle' is not limited by simstep in multithreads 

mode. May be there need a correction :-)

Best wishes!
Ben


在2008-03-23，"Yuan Xu" <xuy...@gm...> 写道：

Hi all,

I prepared the preview of rcssserver3d-0.5.7,
could you download it from
http://xuyuan.cn.googlepages.com/rcssserver3d-0.5.7-preview.tar.gz
and test it?

Thanks!
Xu Yuan

Re: [simspark-devel] preview of rcssserver3d-0.5.7

[Hesham <hes...@gm...>]

Hi Yuan,

I tested it in both single-threaded and multi-threaded modes, apparently
there is no problem. I ran it in multi-threaded mode with the multi-threaded
ODE, now it's really fast, 1GB and 2GH dual-core for 9 agents I get
"Skipping remaining time" once in a while. I guess on a fast computer for
this year it's possible to have 5x5 games.

By the way, doc directory is not updated in the package (like
rsgedit.txtand .tex files are not there), not sure but I guess in this
version they
should be added.

Cheers,
Hesham

On 22/03/2008, Yuan Xu <xuy...@gm...> wrote:
>
> Hi all,
>
> I prepared the preview of rcssserver3d-0.5.7,
> could you download it from
> http://xuyuan.cn.googlepages.com/rcssserver3d-0.5.7-preview.tar.gz
> and test it?
>
> Thanks!
>
> Xu Yuan
>