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On 21.06.2013 14:31, Stefan Haase wrote:
<blockquote
cite="mid:CAKHP_R8USd73jHwnH2cTmi_J+NPcd-NvR9ncU1aWwmLqO2t3pg@mail.gmail.com"
type="cite">
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<div style="">Hi guys,</div>
<div style=""><br>
</div>
<div style="">maybe already discussed, but I have not found
anything until now.</div>
<div style=""><br>
</div>
<div style="">1. How can I use default deployments within
syskit?</div>
<div style="">Is there another way than doing this:</div>
<blockquote style="margin:0px 0px 0px
40px;border:none;padding:0px">
<div style="">Syskit.conf.use_deployment
'orogen_default_trajectory_follower__Task' </div>
</blockquote>
<div style=""><br>
</div>
<div style="">2. How can I use the dynamic ports of the
MarsActuators module?</div>
<div style="">I have to export the dynamic ports which are
created by the MarsActuators dispatch function.</div>
<div style="">
The dispatch function has to be called before the
configureHook, so I do this within</div>
<div style="">the models/orogen/simulation.rb using
'sbot_actuators' for actuator_set_name:</div>
<blockquote style="margin:0px 0px 0px
40px;border:none;padding:0px">
<div style="">
<div style="">class Simulation::MarsActuator</div>
</div>
<div style="">
<div style=""> argument :actuator_set_name</div>
</div>
<div style="">
<div style=""> argument :indices</div>
</div>
<div style="">
<div style=""> </div>
</div>
<div style="">
<div style=""> def configure</div>
</div>
<div style="">
<div style=""> if not
orocos_task.dispatch(self.actuator_set_name, self.indices)</div>
</div>
<div style="">
<div style=""> puts "Could not dispatch the
actuator set #{self.actuator_set_name}"</div>
</div>
<div style="">
<div style=""> end</div>
</div>
<div style="">
<div style=""> super</div>
</div>
<div style="">
<div style=""> end</div>
</div>
<div style="">
<div style="">end</div>
</div>
</blockquote>
<div style=""><br>
</div>
<div style="">
Nevertheless, the export </div>
<blockquote style="margin:0px 0px 0px
40px;border:none;padding:0px">
<div style="">export
sbot_actuator_child.cmd_sbot_actuators_port</div>
</blockquote>
fails with
<div>
<blockquote class="gmail_quote" style="margin:0px 0px 0px
0.8ex;border-left-width:1px;border-left-color:rgb(204,204,204);border-left-style:solid;padding-left:1ex">=
port cmd_sbot_actuators of child sbot_actuator of
Simulation::Spacebot does not exist<br>
| Available ports are:<br>
| Simulation::MarsActuator<br>
| <br>
| (out)state[/int32_t]<br>
= Backtrace<br>
| ./models/blueprints/spacebot_simulation.rb:31:in
`<class:Spacebot>',<br>
| ./models/blueprints/spacebot_simulation.rb:9:in
`<module:Simulation>',<br>
| ./models/blueprints/spacebot_simulation.rb:7:in `<top
(required)>',<br>
| /opt/software_spacebot/tools/syskit/bin/syskit:16:in
`<main>'<br>
= </blockquote>
<div><br>
</div>
Best regards,</div>
<div>Stefan<br clear="all">
</div>
</div>
</blockquote>
The dispatch command should work this way.<br>
Have you made sure that the dispatch get's really called on the
Task?<br>
Maybe add some debugg output to your models/orogen/simulation.rb
file.<br>
The DynamicPorts should be connectable like normal ones.<br>
Regarding the "available ports" output it might be that dynamic
ports currently not displayed here.<br>
<br>
Matthias<br>
<blockquote
cite="mid:CAKHP_R8USd73jHwnH2cTmi_J+NPcd-NvR9ncU1aWwmLqO2t3pg@mail.gmail.com"
type="cite">
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-- <br>
Dipl.-Inf. Stefan Haase<br>
Space Robotics and Animation<br>
<br>
Standort Bremen:<br>
DFKI GmbH<br>
Robotics Innovation Center<br>
Robert-Hooke-Straße 5<br>
28359 Bremen, Germany<br>
<br>
Phone: +49 (0)421 178 45-4108<br>
Fax: +49 (0)421 178 45-4150<br>
E-Mail: <a moz-do-not-send="true"
href="mailto:Stefan.Haase@dfki.de" target="_blank">Stefan.Haase@dfki.de</a><br>
<br>
Weitere Informationen: <a moz-do-not-send="true"
href="http://www.dfki.de/robotik" target="_blank">http://www.dfki.de/robotik</a><br>
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</blockquote>
<br>
<br>
<pre class="moz-signature" cols="72">--
Dipl.-Inf. Matthias Goldhoorn
Space and Underwater Robotic
Universität Bremen
FB 3 - Mathematik und Informatik
AG Robotik
Robert-Hooke-Straße 5
28359 Bremen, Germany
Tel.: +49 421 178 45-4193
Zentrale: +49 421 178 45-6550
Fax: +49 421 178 45-4150
E-Mail: <a class="moz-txt-link-abbreviated" href="mailto:matthias.goldhoorn@uni-bremen.de">matthias.goldhoorn@uni-bremen.de</a>
Weitere Informationen: <a class="moz-txt-link-freetext" href="http://www.informatik.uni-bremen.de/robotik">http://www.informatik.uni-bremen.de/robotik</a></pre>
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