[robocup-msrs] Answers to questions

[George Chrysanthakopoulos]

Excellent.

Now, I need to repeat maybe something obvious:
This manual movement of entities is not allowed during the competition. Your players should only send messages to each other or to the motion control service and webcam service the referee gives them.

We will only enforce this restriction during the actual games (the DSS runtime can log all messages received/sent from any service)

Thanx
g


From: Cesar Flores [mailto:cesar7 at gmail.com]
Sent: Wednesday, June 27, 2007 10:45 PM
To: George Chrysanthakopoulos
Cc: Nikos Vlassis; robocup-msrs at cc.gatech.edu
Subject: Re: [robocup-msrs] Answers to questions

Thanks, this solved my problem. I can now move the objects from the code :)

César Flores

On 6/27/07, George Chrysanthakopoulos < georgioc at microsoft.com<mailto:georgioc at microsoft.com>> wrote:

Hi Cesar, you are doing the right things. To calls these APIs, add this namespace:



using Microsoft.Robotics.Simulation.Physics;



And also add the PhysicsEngine.dll to your references in your C# project.









From: robocup-msrs-bounces at cc.gatech.edu<mailto:robocup-msrs-bounces at cc.gatech.edu> [mailto: robocup-msrs-bounces at cc.gatech.edu<mailto:robocup-msrs-bounces at cc.gatech.edu>] On Behalf Of Cesar Flores
Sent: Tuesday, June 26, 2007 10:17 PM
To: Nikos Vlassis
Cc: robocup-msrs at cc.gatech.edu<mailto:robocup-msrs at cc.gatech.edu>
Subject: Re: [robocup-msrs] Answers to questions



I had the same error. In fact, I fixed some lines of Kyle code. I show you next.

using simengine = Microsoft.Robotics.Simulation.Engine;

In start method:

_notificationTarget = new simengine.SimulationEnginePort();

simengine.EntitySubscribeRequestType esrt = new simengine.EntitySubscribeRequestType ();

esrt.Name = "blueteam/field/2/simulatedsoccerplayer/robotmotioncontrol"; // for example

esrt.Subscriber = ServiceInfo.Service;

simengine.SimulationEngine.GlobalInstancePort.Subscribe(esrt, _notificationTarget);



MainPortInterleave.CombineWith(new Interleave ( new TeardownReceiverGroup(),

    new ExclusiveReceiverGroup(

        Arbiter.Receive<simengine.InsertSimulationEntity>(true, _notificationTarget, InsertEntityNotificationHandler),

        Arbiter.Receive<simengine.DeleteSimulationEntity>(true, _notificationTarget, DeleteEntityNotificationHandler)

    ),

    new ConcurrentReceiverGroup()));



And the next methods:

simengine.VisualEntity _entity;

void InsertEntityNotificationHandler(simengine. InsertSimulationEntity ins)

{

    _entity = (simengine.VisualEntity)ins.Body;

}

void DeleteEntityNotificationHandler(simengine.DeleteSimulationEntity del)

{

    _entity = null;

}

Finally for knowing the position of the robot use kyle code directly. For another entity I repeated the code subtituying esrt.Name with another service name (SoccerBall for example). I think that this works for knowing the parameters of almost all entities in the field. But I test only for robodug and ball. However I can not move yet the robodug, not also the ball with kyle code because I have compilation errors. For example for the ball the system says that Microsoft.Robotics.Simulation.Physics.PhysicsEntity does not contain a definition for 'IsKinematic' and not also for SetPose when I try the next:

void MoveInternal( Vector3 position)

{

    _entityball.PhysicsEntity.IsKinematic = true;

    _entityball.PhysicsEntity.SetPose(new Pose(position));

}


Any Ideas?


César Flores
Borregos Msrs


I can't move the ball or the robodug directly in the code with kyle code.

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