On Thu, Nov 19, 2009 at 23:52, <alex [dot] stark [..] ...> wrote:
> I am having trouble executing the program script which comes with the controller-1 exercise solution.
>
>  Automatic.scripting.loadPrograms("../deployment/program.ops")
>  Automatic.the_program.start()

This is from the taskbrowser ?

>
> Does not step through the whole program, and freezes after the first "move".

Does

list the_program
<code>
show the E> marker at the first move line ?
 
> Stepping and so on results in errors / failures.
 
The move will only succeed if the TaskContext Automatic is running.
You can simulate the program with
doing the move from the taskbrowser: move(5.0)
 
will give you feedback of where the command got stuck.
 
Peter

Doesn't. At least for me. For instance, step was being changed to an ever smaller value, so the termination tolerance went down. As a result it "reached its target" and then "unreached it".

Also, on my version the program wouldn't load. A couple of diffs are shown below.

/Alex

 --- orocos/rtt-exercises-1.10.0/controller-1-solution/components/automatic/Automatic.hpp    2009-02-09 02:12:38.000000000 -0800
 +++ components/automatic/Automatic.hpp    2009-11-20 08:59:54.000000000 -0800
 @@ -23,6 +23,7 @@
      {
      protected:
          double target, step;
 +            double baseStep;
          bool target_reached;
          Command<bool(double)> move;
          Event<void(double)> atposition;
 @@ -30,13 +31,14 @@
          DataPort7 input;
  
          bool move_impl(double d) {
 +                    step = baseStep;
              target = input.Get() + d;
  
              // step and d must have same sign.
              if ( d * step < 0)
                  step = -step;
  
 -            if ( d < step ) {
 +                        if ( fabs(d) < fabs(step) ) {
                  output.Set(target);
                  log(Info) << "Did instant move to target "<< target <<endlog();
                  return true;
 @@ -48,7 +50,7 @@
          }
  
          bool atpos_impl(double d) {
 -            if ( output.Get() - target < step && output.Get() - target > -step )
 +                    if ( fabs(output.Get() - target) < baseStep )
                  return true;
              return false;
          }
 @@ -56,7 +58,8 @@
      public:
          Automatic(const std::string& name) :
              TaskContext(name, PreOperational),
 -            target(0.0), step(0.0), target_reached(true),
 +                        target(0.0), step(0.0)
 +                        , baseStep(0.0), target_reached(true),
              move("move",&Automatic::move_impl, &Automatic::atpos_impl, this),
              atposition("atposition"),
              output("output"),
 @@ -90,7 +93,8 @@
  
          bool startHook() {
              // set our interpolation step to 1 unit/s.
 -            step = this->getPeriod();
 +                        baseStep = this->getPeriod();
 +                        step = 0.0;
  
              return true;
          }
 
 
 
 
 
 --- orocos/rtt-exercises-1.10.0/controller-1-solution/deployment/program.ops    2009-09-15 01:33:52.000000000 -0700
 +++ deployment/program.ops    2009-11-20 08:21:33.000000000 -0800
 @@ -17,11 +17,14 @@
        * Now change the script to repeat the a-b-c-d movement 5 times.
        */
  
 -     for( int i = 0; i < 5; ++i) {
 -         do move(5.0);
 -         do move(-30.0);
 -         do move(50.0);
 -         do move(-300.0);
 -         do move(0.0);
 +     for (
 +          var int i = 0;
 +          i < 5;
 +           set i = i+1 ) {
 +               do move(5.0)
 +         do move(-30.0)
 +         do move(50.0)
 +         do move(-300.0)
 +         do move(0.0)
       }
   }

list the_program
<code>
show the E> marker at the first move line ?
 
> Stepping and so on results in errors / failures.
 
The move will only succeed if the TaskContext Automatic is running.
You can simulate the program with
doing the move from the taskbrowser: move(5.0)
 
will give you feedback of where the command got stuck.
 
Peter
[/quote]