On Monday 11 August 2008 14:50:07 Johannes wrote:
> Thanks for the reply!
>
> I'm trying to call the function "static int rev(const float aW[6], float
> w[6],const Trans& t);" form another thread. "Trans" is a other class and
> represents something like your KDL::Frame.

So this is a 'C' function or a class function ?

I don't think I have a unit test for the const float[6] case. It's not the
const Trans& causing it, because that is tested. However, from a
multithreaded point of view, the 't' reference will not be protected when the
owner TaskContext changes it after the Method call and the calling
TaskContext reads it. Methods do not offer any protection in multi-threaded
environments.

>
> So this is how I do it:
> In my Header file:
> class Math : public RTT::TaskContext {
> private:
> RTT::Method M_rev;

This is illegal ?! You should have written:

RTT::Method M_rev;

> .... }
>
> The constructor:
> Math::Math(std::string n) : TaskContext(n)
> , M_rev ("rev", &Math::rev , this) {

If rev is static, I don't see how the 'this' is accepted. static class
functions do not require an object. For static function, you'd write
M_rev("rev", &Math::rev)

> ....
> this->methods()->addMethod( &M_rev, "rev", "const float", "aW","const
> float", "nW", "Trans&", " Transformation"); ...
> }
>
> Now I want to Call the method from another Thread:
>
>
> {....
> float jo[6], j[6];
> Trans &p;
>
> RTT::Method math_rev = math->methods()->getMethod("rev");

Same as above: You should have written:

RTT::Method math_rev = ...

>
> l = math_rev (jo, j, p);
> ....}
>
> If I try to compile I get an error:
> Fehler: keine Übereinstimmung für Aufruf von »(RTT::Method) (float [6],
> float [6], const Trans&)« That says something like that: Can't find
> corresponding call
> (RTT::Method) (float [6], float [6], const Trans&)

A first thing I would try is to drop the 'const' from the float argument (both
in Method and 'rev' function) and see if that helps. But from your code it
looks like you have more issues than this one which must be solved first.

Peter

On Mon, 11 Aug 2008, Johannes wrote:

>
> I'm trying to call the function "static int rev(const float aW[6], float
> w[6],const Trans& t);" form another thread.

Okay, I see. In most operating systems, different threads do not share
their private data (stack, locally constructed data, etc), so passing a
pointer (to a function or data structure on that stack) can be
meaningless... This is one of the consequences of "component-based
programming" :-)

Herman

> "Trans" is a other class and
> represents something like your KDL::Frame.
> So this is how I do it:
> In my Header file: class Math : public RTT::TaskContext {
> private:
> RTT::Method M_rev;
> .... }
>
> The constructor: Math::Math(std::string n) : TaskContext(n)
> , M_rev ("rev", &Math::rev , this) {
> ....
> this->methods()->addMethod( &M_rev, "rev", "const float", "aW","const float",
> "nW", "Trans&", " Transformation");
> ...
> }
>
> Now I want to Call the method from another Thread:
>
> {....
> float jo[6], j[6];
> Trans &p;
>
> RTT::Method math_rev = math->methods()->getMethod("rev");
>
> l = math_rev (jo, j, p);
> ....}
>
> If I try to compile I get an error:
> Fehler: keine Übereinstimmung für Aufruf von »(RTT::Method) (float [6], float
> [6], const Trans&)«
> That says something like that: Can't find corresponding call (RTT::Method)
> (float [6], float [6], const Trans&)
>
>
> Thanks,
> Johannes
>