Communication between OROCOS components via Ethernet network about rtt

[snrkiwi]

Hey David

We do this one way, though I'm sure there are others ...

CORBA Deployer 1
Component 1 of type Foo
Port A - connection name Snafu

CORBA Deployer 2
Component 1 of type CORBA
Component 2 of type Bar
Port B - connection name Snafu

What the "CORBA" component type does is to automagically create a proxy of Component 1 inside Deployer 2, complete with all ports, properties, etc. Then Component 2 makes a connection to the "local" proxy's port, and the underlying magic actually connects the Deployer2:Component2:PortB port to the Deployer1:Component1:PortA port. You need to run the CORBA name server somewhere, and have both deployers registering with it.

I think that there is a basic example buried in the online Orocos doc's, though been a while since I've looked.

Hopefully this helps point you in a direction

Cheers
Stephen

[davidDS96]

Hi Stephen,

Thank you for your clear answer. I managed to connect OROCOS components over a network using CORBA.
Actually it was much easier than I expected.

Thank you very much!

Kind regards,
David

[davidDS96]

Hello @snrkiwi,

After getting the CORBA implementation working, I was trying to implement a state machine architecture with the built-in OROCOS functions using a OPS file. The code in the OPS file can be found below:

For the client side:

import("ocl");
require("print");
loadComponent("controller", "CORBA");
loadComponent("safety", "CORBA");

safety.setPeriod(0.001);
controller.setPeriod(0.01);

StateMachine fsm {
    var bool could_config = false;
    var bool emergency_pressed = false;

    initial state PREOP{    
        entry {
            print.ln("In pre-operational state");
            could_config = safety.configure() && controller.configure();
            if could_config then {
                print.ln("Configured");
                connect("safety.emergencyOut", "controller.emergency_stop", cp);
                safety.start();
		controller.start();
		safety.resetRed();
		safety.resetGreen();
		safety.setOrange();
            }
        }
	transition emergency_stop( emergency_pressed ) if (emergency_pressed ) select FAILURE;
    }

    state OPERATION{
        entry {
           print.ln("In operational state");
            safety.resetOrange();
            safety.setGreen();          
        }
        transitions {
		if safety.emergencyOut.last() == true then select failure;
        }
    }

    final state FAILURE {
        entry {
            print.ln("In failure state now.");
            safety.resetOrange();
           safety.resetGreen();
            safety.setRed();
        }
    }
}

RootMachine fsm deployApp;
deployApp.activate();
deployApp.start();

For the server side:

path("/usr/local/lib/orocos");

import("ocl"),
import("MotorController");
import("IOSafety");

loadComponent("motorController", "MotorController");
loadComponent("safety", "IOSafety");

server("controller", true);
server("safety", true);

However, I still get errors in my deployer terminal that the InputPort was not found.

Does anyone know how to solve this issue?

Kind regards,
David