Re: Running simulation > 10Hz

On 04/18/2013 08:13 AM, ulle wrote:
> Hi
>
> I don't think the client buffer is overflowing since I have to wait for
> Read() to execute. I tried to set the replace rules for all my proxies (i.e.
> myRangerProxy.SetReplaceRule(true, -1, -1) ) but I see no change.
> I have tried to use the ReadIfWaiting() function, but I only obtain the same
> messages a hundred times or so before a new message is available.
> Ok, good clarification regarding the log file, thanks.
>
> Just to make sure I got the repos right. I use
> https://playerstage.svn.sourceforge.net/svnroot/playerstage/code/player/trunk
> https://github.com/rtv/Stage.git
> https://github.com/pauldreik/Stage.git (Some updated bumper functionalities
> by Paul Dreik, a former coworker)
>
> Have any of you out there succeeded in obtaining measurements at around
> 100Hz or faster?
>
> Regards,
> Ulrik
>


I tried to reproduce your results using simple.{cfg,world}, trying to 
decipher from previous emails which settings were being used, and using 
the latest git master of Stage and svn trunk of Player.  It looks like 
when I set Stage's interval_sim to 10 and the pioneer model's 
update_interval to 10, I do see dropouts in position2d timestamps 
received by the Position2dProxy using the sample program at the bottom 
of this mail.  If I add client.SetDataMode(PLAYER_DATAMODE_PUSH), the 
dropouts go away.  The difference between the two modes is explained in [1].

I was also able to set the speedup flag to -1 in the world file, and 
still didn't see dropouts from my sample program with Stage's realtime 
factor hovering around 3.5.

Rich

[1] 
http://playerstage.sourceforge.net/doc/Player-svn/player/group__libplayerc__datamodes.html

Sample program:
#include <libplayerc++/playerc++.h>

using namespace PlayerCc;

int main (int argc, char *argv[])
{
         PlayerClient robot("localhost", 6665);
         Position2dProxy pp(&robot, 0);
         // Setting the datamode to PUSH gets rid of dropouts
         robot.SetDataMode(PLAYER_DATAMODE_PUSH);

         while(!pp.IsValid()){
                 robot.Read();
         }

         for(;;) {
                 robot.ReadIfWaiting();
                 if (pp.IsFresh()) {
                         pp.NotFresh();
                         std::cout << pp.GetDataTime() << ", " << 
robot.GetOverflowCount() << std::endl;
                 }
         }
}


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