Re: robot_params for P2DX

On Mon, 20 Sep 2010, Rich Mattes wrote:

> Hi Paul,
>
> The p2os patch in question came from one of the guys at MobileRobots, I went
> ahead and applied it because the description said it added support for new
> devices.  I don't have access to a Pioneer myself, so unfortunately I can't
> verify whether or not the patch breaks things.
>
> The next time a big patch like this comes up which has the potential to
> break some of the more widely used drivers, I'll solicit the developers
> mailing list and ask if people would test it against their hardware before I
> apply it.  I think waiting about a week after an announcement should be
> sufficient.  Is that a workable resolution?
>
> Thanks,
>

Hi Rich,

I don't know, I feel like I'm the last one who uses such old P2DX model. 
Guys at MobileRobots may don't even realise that their upstream code 
breaks things on older equipment.
I looked at previous patch that address P2DX problems (2832758) and see 
that now situation is different. The RangeConvFactor field is of type 
double (as it should be) while multiplication result is still zero. Seems 
like initial variables for this structure that are set in robot_params.cc 
are shifted (there are couple of places with zeros around), I think 
robot_params.cc authors should use better notation for avoiding this 
problem, it may look like:
struct file_operations fops =
{
 	.read = device_read,
 	.write = device_write,
 	.open = device_open,
 	.release = device_release
};
I need to find some time to confirm that the problem lies here.

Paul

> Rich
>
> -----Original Message-----
> From: Paul Osmialowski [mailto:[email protected]]
> Sent: Monday, September 20, 2010 6:00 AM
> To: [email protected]
> Subject: [Playerstage-developers] robot_params for P2DX
>
> Hello,
>
> Recent changes in robot_params.* for P2OS driver caused usual problem on
> P2DX: sonar readings are silently converted to ints which results in array
> full of zeros, so nothing can be read from sonar device. This happens
> everytime anyone upgrade robot_params.* files, so then I need to prepare
> patch that reverts sonar reading capabilities.
> Can we do anything to prevent such situations in the future?
>
> Cheers,
> Paul
>
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