Re: Orocos Program

On Monday 17 May 2004 15:27, Andrea Consonni wrote:
> > you want to introduce a constructor like :
> >
> > var Double6D d6 = Double6D(0.,1.,2.,3.,4.,5.)
>
> Exactly!
>
> > you need a 'sixfold' operator ( a function object with 6 parameters )
>
> to do
>
> > the inline construction. The vector constructor uses a TernaryOperator
>
> (See
>
> > Operators.hpp and Operators.cxx). A '[]' operator might be handy too,
>
> bounds
>
> > checking can be done during the program parsing.
>
> For now, we have only interested to define a Double6D variable and pass
> it to
> the Generator MoveTo method.

ok.

> > What do you think ?
>
> We have done some tests using first aproach, but they don't work :-(
> We have added the following instruction:
>
> 1) In "Types.cxx", we have written:
>      data["double6D"] = new TemplateTypeInfo<Double6D>();

this is ok.

>
> 2) In "parser-common.hpp" file, added "double6D" to keywords;

this is optional, but ok.

>
> 3) In "Operators.cxx" we have written the following function (for now we
> only
>    pass a parameter and create a Double6D with the same value for each
>    element):
>
>    Double6D double6Dd( double d )
>    {
>      Double6D d6d;
>      for (int i=0; i<6; i++)
>        d6d[i] = d;
>      return d6d;
>    }

Ok.

>
>    Besides, we have added:
>      add( newUnaryOperator( "double6Dd", std::ptr_fun( &double6Dd ) ) );

ok

>
> 4) In "ExpressionParser.hpp" file we have added "double6Dexp" and
>    "double6Dctor" as attributes;

ok

>
> 5) In "ExpressionParser.cxx" file we have added:
>    - BOOST_SPIRIT_DEBUG_RULE( double6Dexp );
>    - BOOST_SPIRIT_DEBUG_RULE( double6Dctor );
>    - constructorexp =
>         framector
>
>       | vectorctor
>       | double6Dctor
>       | rotationctor;
>
>    - double6Dctor = (
>         str_p( "double6D" )
>
>       >> '('
>       >> expression
>       >> ')' )[ bind( &ExpressionParser::seen_unary, this, "double6Dd" )
>
> ];

ok

>
> We don't have any compile errors, but when we start our program
>
>   program {
>     var double6D Command = double6D(1.0)
>   }
>
> we have the following parser error: "Value "double6D" is not defined..."

Hmm. Could you send me a patch so that i can test it for myself ? This is not 
the kind of error you would expect :-).

>
> What is our problem? Thanks for help.
>
> >> PS: About the release 0.14.2, it's all right :-)
> >
> > Ah finally ! thanks :-)
>
> Sorry, but we think to have found other two problems:
>
> 1) In "HMIConsoleInput.hpp" and "HMIConsoleOutput.hpp" files we think you
> have
>    forgot to write "using namespace ORO_Execution". In your examples you
> don't
>    have any compile errors because you have included
> "CartesianNSComponents.hpp" before those two files. In
> "CartesianNSComponents.hpp" you have written
>
>    "using namespace ORO_Execution" within of "namespace ORO_ControlKernel"
> so
>    all works. If someone (as we) doesn't know this and includes
>    "HMIConsoleInput.hpp" and "HMIConsoleOutput.hpp" before he has included
> some
>    files which contains that instruction, he has very strange compile
> error, much difficult to find.

I'll fix it, sorry for that.

>
> 2) The StartupComponents struct in configuration xml file contains the list
> of
>    components which must be selected when the kernel is started. However,
> we
>    have noted that the componentStartup hook of these components isn't
> executed. Why?

This is strange, this works in the motion_tracking kernel for example. 
Possible mistakes are :
* A spelling error in the xml file (you must specify the unique name given
in the constructor of your component)
* Did you check if the loading of the component returned true ? Did
the start() method return true ?
* Is the function signature correct ? (compile with -Wall)
   virtual bool componentStartup();

Peter
-- 
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Peter Soetens, Research Assistent                  http://www.orocos.org
Katholieke Universiteit Leuven
Division Production Engineering,                      tel. +32 16 322773
Machine Design and Automation                         fax. +32 16 322987
Celestijnenlaan 300B                   [email protected]
B-3001 Leuven Belgium                 http://www.mech.kuleuven.ac.be/pma
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