[robocup-msrs] Problem while using the SimulatedRobuDOG service

[George Chrysanthakopoulos]

Hi please make sure you have the latest package from robosoft. They had uploaded one that used the wrong resolution when requesting camera frames, so the sim webcam always returned fault.

You can specify the correct frame dimensions (use 320x240), in the QueryFrame operation, if you want to directly fix this in the soccer player code below.

Thank you
g

From: robocup-msrs-bounces at cc.gatech.edu [mailto:robocup-msrs-bounces at cc.gatech.edu] On Behalf Of Zemat
Sent: Tuesday, May 29, 2007 12:40 AM
To: robocup-msrs at cc.gatech.edu
Subject: [robocup-msrs] Problem while using the SimulatedRobuDOG service

Hi,

I have been trying to use the robudogsoccerplayer project but the simulation seems to be unable to correctly get the current frame.

While executing the next lines of code in SimpleRobuDOGSoccerPlayer.cs, line 461:

Activate(Arbiter.Choice(
                query.ResponsePort,
                delegate(webcam.QueryFrameResponse rsp)
                {
                    _lastFrame = rsp.Frame;
                    // tell our webcam to update its frame
                    _robotCam.Post(new webcam.UpdateFrame());

                    // now run some internal recognition to determine if we see the ball
                    // and if we do, where to go.
                    // Also determine where the opponent goal is.
                    SpawnIterator(ProcessFrameAndDetermineBehavior);
                },
                delegate(Fault f)
                {
                    _lastFrame.Initialize();
                    LogError( LogGroups.Console, "Could not query webcam frame", f);
                    StartWebCamTimer();
                }));

The simulation keeps using the delegate(Fault f) delegate which implies a failure to get the current frame. Now, there appears to be an extra bug here since _lastFrame.Initialize(); throws a NullReferenceException.

Anybody has an idea of why the service keeps failing to get the webcam image?

By the way, the simulatedsoccer.robudog.fourplayers.manifest.xml file, which is used by the robudogtutorial1 project, incorretly uses the http://schemas.microsoft.com/robotics/2007/02/simplesoccerplayer.html schema as contract for the robudogsoccerplayer service when it should be using the http://schemas.tempuri.org/2007/05/robudogtutorial1.html schema instead, causing it to use the simplesoccerplayer service instead of the RobuDOGTutorial1 service.

Regards,
Juan Bernardo Tamez
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