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<div class="moz-cite-prefix">On 06/21/2013 02:31 PM, Stefan Haase
wrote:<br>
</div>
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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' <br>
</div>
</blockquote>
</div>
</blockquote>
A non-yet-documented because not-so-tested feature I implemented a
while ago is the ability to use the same syntax than Orocos.run in
use_deployment:<br>
<br>
Syskit.conf.use_deployment 'trajectory_follower::Task' =>
'trajectory_follower'<br>
<br>
For consistency reason, you can use the class names as well<br>
<br>
Syskit.conf.use_deployment TrajectoryFollower::Task =>
'trajectory_follower'<br>
<br>
The :valgrind and :gdb options should work as well (
<meta http-equiv="content-type" content="text/html;
charset=ISO-8859-1">
<a
href="http://rock-robotics.org/master/documentation/runtime/debugging.html">http://rock-robotics.org/master/documentation/runtime/debugging.html</a>)<br>
<br>
Syskit.conf.use_deployment TrajectoryFollower::Task =>
'trajectory_follower'<br>
<br>
Again: this is EXPERIMENTAL. Please tell the ML if you have any
problem, and if it works ;-)<br>
<br>
<blockquote
cite="mid:CAKHP_R8USd73jHwnH2cTmi_J+NPcd-NvR9ncU1aWwmLqO2t3pg@mail.gmail.com"
type="cite">
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<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>
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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>
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40px;border:none;padding:0px">
<div style="">export
sbot_actuator_child.cmd_sbot_actuators_port</div>
</blockquote>
</div>
</blockquote>
This will and should not work. Syskit, at the point of the export,
does NOT know that there are extra ports, and therefore cannot
export them.<br>
<br>
I'll be writing a documentation page for that ... I've attached how
it is done for the hbridge as an example for now. Keep in mind that
the "new" hbridge is more complicated as we need to setup two
dispatches per device (one for the sensing and one for the
actuation). This is why I created this Hbridge.system helper
function.<br>
<br>
Sylvain
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