Change requests
If you do not have edit right, then send a mail to jca@elektro.dtu.dk (Christian Andersen)
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AU Robot Servers: Bugs and new requests
Arrays and strings in rule syntax
1 dec 2008: strings and arrays should be possible as global/local variables
rule state - omits structs
1 dec 2008: The rule state do not print value of struct-type local variables
if (a = b)
1 dec 2008: A compare (a==b) typed as (a=b) makes protection error (in rule based syntax)
case statement
1 dec 2008: A case statement would be nice in the rule-based language
barcode
15 may 2008: The barcode (getGMK command) does not seem to rely on image size when calculating the x-coordinate for the barcode guidemark.
Probably right, I will check and change as needed / Christian
automatic test
Automated regression test on all classes :) (holidays is overrated anyway)
process manager
3 aug 2007: A process manager is needed to ensure all needed servers including smrdemo is running and functional.
/ Fabio?
HTML client
3 aug 2007: HTML applet to monitor and control robot.
reply: Anders Beck may have a skeleton solution.
Improved obstacle avoidance
3 aug 2007: Obstacle avoidance (auavoid plugin 1.77) fails to find solution on complex problems, or fails to find best solution.
Road drive
3 aug 2007: Road drive (auroaddrive plugin 1.72) is not tested on real roads.
Fixed/closed issues
3 sug 2007: The ausmr-plugin version 1.77 stops (server goes into deadlock) when the 'smr connect' command is issued. In version 1.77 start and connect are automatic when the plugin is loaded. Work around: make a 'smr hup' (hangup) to stop automatic reconnect to smrdemo and then a 'smr connect' to restart automatic reconnect.
Ulmsserver version 1.96-1.97 makes random segmentation faults, not in the loaded modules but in the server itself inbetween module calls. This is esspecially true with a very little modified version of the AuEfLine module in combination with a scanpush command. We suspect that only modules that actally uses the laser data is bugged. - reply: test in progress (ok after 2 hours) / christian
14 may 2008: U2Dline & U2Dlined functions getOnLine() returns 0, eventhough it is stated that they actually return the distance from the point to the line! - reply: no it returns a position lx,ly in the two output parameters as intended. The return value was set to 0, but is now changed to void / christian)
13 september 2007: A replay plugin manager is needed, so that a <replay step laser> can be issued to step one replay line from the laser logfile, and advance other replay logfiles to the same time - e.g. robot pose (posehist) and image log. Cureently laser replay is implemented only and a laser scan update triggers a pose update (either implicit from the laser logfile or from a pose history logfile). Replay of global variable changes are missing (replaying changes due to manual intervention, scripted changes or due to sensed data).
3 aug 2007: Smrcl command drive (ausmr plugin 1.77) is not tested much, but seems to work, NB! after a sequence of smrcl commands you should issue an 'idle' (smr cmd="idle") or in sequenser script: "smr.do('idle') : false" or a seq add="smr.do('idle') : false". This prevents the mmr from beeing unstable (too much slag in wheels)
3 aug 2007 (in version 1.78): Server (ulmsserver version 1.76) often makes a 'segmentation fault' during shut-down. (valid for userver too, when a number of plugins were loaded).
8 mar 2008: (in version 1.91) IEEE-1394 interface is missing in camera server (ucamserver 1.68).
8 mar 2008: (in version 1.83) Status for pose history streaming should be available (including source channel: smrdemo client number or otherwise).
