[Rock-dev] Fullfill several conrol-loops with one controller?

[Sylvain Joyeux]

On 07/02/2013 01:59 PM, Matthias Goldhoorn wrote:
> Just had the case that an joystick provides several "controller" modes.
> How can i get the mapping within syskit:
>
>
>    6         Base::ControlLoop.declare 'RawCommand', 'controldev/RawCommand'
>    7         Base::ControlLoop.declare 'FourWheel', 
> 'controldev/FourWheelCommand'
>    8
>    9         device_type 'Joystick' do
>   10             provides Base::Motion2DControllerSrv
>   11             provides Base::RawCommandControllerSrv
>   12         end
>   13         device_type 'CANJoystick' do
>   14             provides Base::Motion2DControllerSrv
>   15             provides Base::RawCommandControllerSrv
>   16         end
>
> error:
> 13:53:20.972 (Roby) 
> /home/goldhoorn/dev-avalon/tools/syskit/lib/syskit/models/data_service.rb:160:in 
> `block in provides': invalid port mapping command_out => command_out in 
> #<Syskit::Models::DeviceModel:0x00000005dc35c0>.provides(Base::RawCommandControllerSrv): 
> port command_out on #<Syskit::Models::DeviceModel:0x00000005dc35c0> is 
> of type /controldev/RawCommand and command_out on 
> Base::RawCommandControllerSrv is of type /base/MotionCommand2D 
> (Syskit::SpecError)
Could you give the whole backtrace ?


On a related note:
 - the joystick device does NOT provide
Motion2DControllerSrv/RawCommandControllerSrv. This is a feature of our
joystick task.
 - look at bundles/rock/orogen/controldev.rb, this particular modelling
is already done there (might be incomplete, but there is at least
something).

-- 
Sylvain Joyeux (Dr.Ing.)
Senior Researcher

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