On Sunday 17 April 2011 21:58:35 gprizzi [..] ... wrote:
> Dear Sirs,
>
> I am trying to configure and start components from an Orocos script.
> I am working with toolchain 2.3.1.
> I looked at the tutorial "Configuring and starting Components from an
> Orocos script" on Orocos web site and I wrote the following "startup.ops"
> script.
>
>
> program loadmyapp
> {
> path("/usr/local/lib/orocos")
> import("rosetta")
> import("ocl")
> require("print")
> loadComponent("indControllerInput1","rosetta::IndControllerInputInterface")
> loadComponent("behDefArm1","rosetta::BehaviorActivation")
> setActivity("indControllerInput1",0.01,HighestPriority,ORO_SCHED_RT)
> setActivity("behDefArm1",0.1,HighestPriority,ORO_SCHED_RT)
>
> var ConnPolicy cp_1
>
> cp_1.type = DATA
> cp_1.size = 1
> cp_1.lock_policy = LOCKED
>
> connect("indCtrlInputInt1.RobotArmPosition","behDefArm1.RobotArmPosition",
> cp_1) if ( behDefArm1.configure() == false ) // line
> 19 print.ln("behDefArm1 configuration failed!")
> else {
> print.ln("starting components")
> indControllerInput1.start()
> behDefArm1.start()
> }
> }
>
>
> To test my script I run deployer-xenomai and using it I issued the
> commands:
>
> .provide scripting
> scripting.loadPrograms("startup.ops")

loadPrograms has been deprecated. Use 'runScript' instead. runScript does not
require a program {} section and can execute top level scripts too. It
accepts all scripting syntax - top-level, program, function and state machine.

>
> I get the following error:
>
> Deployer [S]> scripting.loadPrograms("startup.ops")
> 160.354 [ ERROR ][ProgramLoader::loadProgram] startup.ops :Parse error at
> line 19: Service or Task "Deployer" has no Peer or Service behDefArm1 (or
> Deployer was not found at all). = false
>
> I am doing something wrong.
>
> Can you help me to undesrtand the right way I have to follow to write a
> script that can load my components, connect, configure and run them?
>
> I can't understand for instance how I can use behDefArm1 as an object and
> invoke on it the method configure without having defined it.

Top-level scripts are executed line-by-line, so you can load a component on
line 1 and use it on line 2. In program {} scripts, it is first fully parsed,
and then executed. So in that case, you can not load a component in line 1 and
then use it on line 2, since the loading only happens at program run-time.

>
> Thank you.
>
> G. Rizzi

Peter

2011/4/17 gprizzi [..] ... <gprizzi [..] ...>:
>  Dear Sirs,
>
>  I am trying to configure and start components from an Orocos script.
>  I am working with toolchain 2.3.1.
>  I looked at the tutorial "Configuring and starting Components from an
> Orocos script" on Orocos web site
>  and I wrote the following "startup.ops" script.
>
>
> program loadmyapp
> {
> path("/usr/local/lib/orocos")
> import("rosetta")
> import("ocl")
> require("print")
> loadComponent("indControllerInput1","rosetta::IndControllerInputInterface")
>
> loadComponent("behDefArm1","rosetta::BehaviorActivation")
> setActivity("indControllerInput1",0.01,HighestPriority,ORO_SCHED_RT)
> setActivity("behDefArm1",0.1,HighestPriority,ORO_SCHED_RT)
>
> var ConnPolicy cp_1
>
> cp_1.type = DATA
> cp_1.size = 1
> cp_1.lock_policy = LOCKED
>
> connect("indCtrlInputInt1.RobotArmPosition","behDefArm1.RobotArmPosition",
> cp_1)
> if ( behDefArm1.configure() == false )                     // line 19
>    print.ln("behDefArm1 configuration failed!")
> else {
>       print.ln("starting components")
>       indControllerInput1.start()
>       behDefArm1.start()
>    }
> }
>
>
> To test my script I run deployer-xenomai and using it I issued the commands:
>
>  .provide scripting
> scripting.loadPrograms("startup.ops")

An alternative is to not define the script as a program (remove the
first 2 lines and the last) and start it together with the deployer
using the -s option

deployer-xenomai -s startup.ops

>
> I get the following error:
>
> Deployer [S]> scripting.loadPrograms("startup.ops")
> 160.354 [ ERROR  ][ProgramLoader::loadProgram] startup.ops :Parse error at
> line 19: Service or Task "Deployer" has no Peer or Service behDefArm1 (or
> Deployer was not found at all).
>  = false
>
> I am doing something wrong.

I guess the deployer probably failed to set-up the behDefArm1 object
in the first place here:
"loadComponent("behDefArm1","rosetta::BehaviorActivation")  "

Did the package build properly?
Did the deployer manage to import the package libraries?
Did it manage to create the behDefArm1 component?

You can have a look at the deployer output messages in debug mode
(-ldebug option)

>
> Can you help me to undesrtand the right way I have to follow to write a
> script that can load my components, connect, configure and run them?

You're on the right path :)

>
> I can't understand for instance how I can use behDefArm1 as an object and
> invoke on it the method configure without having defined it.

You d0 define it here:

"loadComponent("behDefArm1","rosetta::BehaviorActivation") "

Regards,

Steven

>
> Thank you.
>
> G. Rizzi
>
>