On Aug 25, 2009, at 15:30 , Peter Müller wrote:

> Hi,
> I recently followed the wiki tutorial and finished my Toolkit &
> CorbaPlugin (good tutorial).
> I tested both briefly and wanted to apply it to a simple Qt GUI for
> visualization of some data.
> However I am stuck on a couple of problems:
> 1.
> What is the best way to start a simple TaskContext class for
> receiving and sending data.
> Right now I just wanted to put something like that into the main:
> int main(int argc, char *argv[])
> {
> QApplication a(argc, argv);
> RTT::Toolkit::Import( Streamable::StreamToolkit );
> RTT::Toolkit::Import( Streamable::Corba::corbaStreamablePlugin );
>
> OrocosHMI hmi ("QtHMI"); // w should
>
> PeriodicActivity hmi_activity(ORO_SCHED_OTHER, 0, 1.0 / 5,
> hmi.engine());
>
> ControlTaskServer::InitOrb(argc, argv);
> ControlTaskServer::Create( &hmi );
> ControlTaskServer::ThreadOrb();
>
> hmi.configure();
> hmi_activity.start();
>
> OrocosGUI w();
> w.show();
> return a.exec();
> }
>
> Will that even work (I know hmi and w don't have a reference to each
> other)? Could someone describe a good way for a simple setup?

We do it a little differently. We only have components running within
a remote deployer, and create proxies for the components within the
GUI application. We then use the proxies to connect proxy methods,
ports, etc, and use those locally. We went away from using the above
approach, but it was so long ago that I don't remember why.

Something like this ...

	try
	{	
		deployer = RTT::Corba::ControlTaskProxy::Create( name );
	}
	catch (...)
	{
		// error handling
	}
 
	// find the required peers
	hmi = deployer->getPeer("HMI");
	if (0 == hmi)
	{
		// error handling
	}
 
	...
 
	remotePort	= peer->ports()->getPort(name);							
	if (NULL != remotePort)												
	{																	
		theport.connectTo(remotePort);									
		if (!theport.ready())											
		{																
			// error handling
		}																
	}
 
	// and similarly for methods, etc.
 
	// you can later use the ports with
	someport.Set(KDL::Frame());

> 2.
> More importantly I get compile errors as soon as I try to include
> anything regarding RTT etc.
> My .pro file looks like this:
> Temp_Dir = /home/peter
> TEMPLATE = app
> TARGET = OrocosGUI
> QT += core \
> gui
> HEADERS += src/OrocosCommunication/OrocosHMI.h \
> src/orocosgui.h \
> src/components/Components.h \
> src/components/ISimpleDashboard.h \
> src/components/RenderArea.h
> SOURCES += src/OrocosCommunication/OrocosHMI.cpp \
> src/main.cpp \
> src/orocosgui.cpp \
> src/components/Components.cpp \
> src/components/RenderArea.cpp
> FORMS +=
> RESOURCES +=
>
> QMAKE_CXXFLAGS += -DOROCOS_TARGET=gnulinux
>
> INCLUDEPATH += /usr/local/include \
> /usr/local/include/rtt/corba \
> $${Temp_Dir}/OrocosApp
>
> LIBS += -L/usr/local/lib \
> -lorocos-deployment-corba-gnulinux \
> -lorocos-deployment-gnulinux \
> -lorocos-reporting-gnulinux \
> -lorocos-helloworld-gnulinux \
> -lorocos-timer-gnulinux \
> -lorocos-taskbrowser-gnulinux \
> -lorocos-ocl-common-gnulinux \
> -lorocos-rtt-corba-gnulinux \
> -lorocos-rtt-gnulinux \
> -lpthread \
> -L$${Temp_Dir}/OrocosApp/build \
> -lStreamableToolkit-gnulinux \
> -L$${Temp_Dir}/OrocosApp/build/corba \
> -lStreamableToolkit-corba-gnulinux
>
>
> If I don't include any RTT header everything compiles and starts
> fine. So I must have some error in that .pro...I guess.
> Is there something wrong?
> I wouldn't even mind to change to a cmake Qt project but I have
> little clue with
> cmake (just enough to edit existing stuff).

We use CMake exclusively, and don't use qmake. Can't help you here.
Stephen

Hi,

I recently followed the wiki tutorial and finished my Toolkit & CorbaPlugin (good tutorial).

I tested both briefly and wanted to apply it to a simple Qt GUI for visualization of some data.

However I am stuck on a couple of problems:

1.

What is the best way to start a simple TaskContext class for receiving and sending data. 

Right now I just wanted to put something like that into the main:

int main(int argc, char *argv[])

{

    QApplication a(argc, argv);

    RTT::Toolkit::Import( Streamable::StreamToolkit  );

    RTT::Toolkit::Import( Streamable::Corba::corbaStreamablePlugin  );

    OrocosHMI hmi ("QtHMI"); // w should

    PeriodicActivity  hmi_activity(ORO_SCHED_OTHER, 0, 1.0 / 5, hmi..engine());

    ControlTaskServer::InitOrb(argc, argv);

    ControlTaskServer::Create( &hmi );

    ControlTaskServer::ThreadOrb();

    hmi.configure();

    hmi_activity.start();

    OrocosGUI w();

    w.show();

    return a.exec();

}

Will that even work (I know hmi and w don't have a reference to each
other)? Could someone describe a good way for a simple setup?

2.

More importantly I get compile errors as soon as I try to include anything regarding RTT etc.

My .pro file looks like this:

Temp_Dir = /home/peter

TEMPLATE = app

TARGET = OrocosGUI

QT += core \

    gui

HEADERS += src/OrocosCommunication/OrocosHMI.h \

    src/orocosgui.h \

    src/components/Components.h \

    src/components/ISimpleDashboard.h \

    src/components/RenderArea.h

SOURCES += src/OrocosCommunication/OrocosHMI.cpp \

    src/main.cpp \

    src/orocosgui.cpp \

    src/components/Components.cpp \

    src/components/RenderArea.cpp

FORMS +=

RESOURCES +=

QMAKE_CXXFLAGS += -DOROCOS_TARGET=gnulinux

INCLUDEPATH += /usr/local/include \

    /usr/local/include/rtt/corba \

    $${Temp_Dir}/OrocosApp

LIBS += -L/usr/local/lib \

    -lorocos-deployment-corba-gnulinux \

    -lorocos-deployment-gnulinux \

    -lorocos-reporting-gnulinux \

    -lorocos-helloworld-gnulinux \

    -lorocos-timer-gnulinux \

    -lorocos-taskbrowser-gnulinux \

    -lorocos-ocl-common-gnulinux \

    -lorocos-rtt-corba-gnulinux \

    -lorocos-rtt-gnulinux \

    -lpthread \

    -L$${Temp_Dir}/OrocosApp/build \

    -lStreamableToolkit-gnulinux \

    -L$${Temp_Dir}/OrocosApp/build/corba \

    -lStreamableToolkit-corba-gnulinux

If I don't include any RTT header everything compiles and starts fine. So I must have some error in that .pro...I guess.

Is there something wrong?

I wouldn't even mind to change to a cmake Qt project but I have little clue with

cmake (just enough to edit existing stuff).

Well, that were my 2 problems. Hope someone can help out.

Thanks,

Peter