Hi Pascal, this is strange, please try to reorder your header files to
#include "anyserial.h" #include "ifDKAircraftInterface.h" #include <QApplication> or to: #include "ifDKAircraftInterface.h" #include "anyserial.h" #include <QApplication> BTW, does your anyserial includes anything from MICO/CORBA? Do you use inside it `using namespace CORBA'? Also please try to use PI's codec API as your college Andreas does. Cheers, Karel -- Karel Gardas kgar...@objectsecurity.com ObjectSecurity Ltd. http://www.objectsecurity.com ld1bp...@unibw.de wrote: > Hallo Karel, > thank you very much for your support. The anyobject Any variable contains > all data coming from a complex structure (struct) defined in two specific > IDL files: commonBasicTypes.idl and AircraftInterface.idl. Here are the > files: > > --- commonBasicTypes.idl --- > > #ifndef __COMMONBASICTYPES_IDL__ > #define __COMMONBASICTYPES_IDL__ > > struct SGeoPos > { > double lat_wgs84; // degrees > double lon_wgs84; // degrees > double alt_wgs84_m; > }; > > typedef sequence <SGeoPos> LGeoPos; > > struct S2dPos // e.g. referring to a pos in an OpenGL display > { > double x; // normally -1.0 to +1.0 > double y; // normally -1.0 to +1.0 > }; > > typedef sequence <S2dPos> L2dPos; > > struct STime > { > long hour; > long min; > long sec; > double ms; // milliseconds > }; > > > /** > Operation modes of a flight management system > */ > enum EFMSMode > { > FMS_MODE_OFFLINE, //!< FMS is offline (caused by operator > or > "end-of-track") > FMS_MODE_TEMPORARY_OFFLINE, //!< The FMS is offline for batch > processing > FMS_MODE_LNAV, //!< horizontal navigation only > FMS_MODE_VNAV, //!< horizontal and vertical > navigation, no speed control > FMS_MODE_VNAV_SPEED //!< HNAV + VNAV + speed control > }; > > // Different approach modes for waypoints. > enum EWPMode > { > WAYPOINT_MODE_TRACK, //!< The default: Use the waypoint as > "fly-by" > navigation hint. > WAYPOINT_MODE_OVERFLY, //!< Fly over the waypoint. No > pre-turning is > allowed. > WAYPOINT_MODE_HOVER, //!< Hover at the waypoint. The FMS is > not allowed > to advance to the next waypoint. This is only supported for rotorcrafts. > WAYPOINT_MODE_CIRCLE //!< Circle around the waypoint. The > FMS is not > allowed to advance to the next waypoint. > }; > > enum EWaypointType > { > WAYPOINTTYPE_UNKNOWN, > WAYPOINTTYPE_GROUND, > WAYPOINTTYPE_AIR, > WAYPOINTTYPE_TRAJECTORY //more to come > }; > > enum EDesiredTurnMode > { > TURNMODE_TURNFLYBY, > TURNMODE_TURNFLYOVER, > TURNMODE_TURNFLYOVERINTERCEPT > }; > > struct STurnModeConstraint > { > boolean constraintDefined; > EDesiredTurnMode eTurnMode; > }; > > struct SPositionConstraint > { > boolean constraintDefined; > double allowedLateralDeviation_m; > }; > > enum EAltitudeType > { > ALTTYPE_WGS84, > ALTTYPE_AGL, > ALTTYPE_MSL, > ALTTYPE_FL > }; > > struct SAltitudeConstraint > { > boolean constraintDefined; > boolean preferdAltSet; > double preferedAlt_m; > EAltitudeType ePreferdAltType; > boolean maxAltSet; > double maxAlt_m; > EAltitudeType eMaxAltType; > boolean minAltSet; > double minAlt_m; > EAltitudeType eMinAltType; > }; > > struct STimeConstraint > { > boolean constraintDefined; > STime sTargetTime; > long timeEarly_s; > long timeLate_s; > }; > > struct SWaypoint > { > boolean initialized; // A waypoint is valid if this flag is true. > long id; // Unique ID for identification > string name; // The name of this waypoint. > SGeoPos sPos; // The WGS84 coordinates of the waypoint > boolean hasHeading; // If set to true, the waypoint has an ingress > heading. e.g. for VOR navigation or corridor entrance. > double heading_rad; // If hasHeading is true, then this is the ingress > heading for the waypoint. > double ingress_speed_m_s; // Ingress speed in meter per second for this > waypoint. > double circle_radius_m; // Circle radius in meter (only valid, > if mode = > WAYPOINT_MODE_CIRCLE) > boolean circle_clockwise; // true for clockwise, false for > counter-clockwise (only valid, if mode = WAYPOINT_MODE_CIRCLE) > EWPMode mode; > EWaypointType eWaypointType; > STurnModeConstraint sTurnModeConstraint; // TODO: shift constraints to > routenplaner_cmd_qe > SPositionConstraint sPositionConstraint; > SAltitudeConstraint sAltitudeConstraint; > STimeConstraint sTimeConstraint; > }; > > typedef sequence<SWaypoint> LWaypoint; > > typedef sequence<long> LWpId; > > struct SRoute > { > boolean initialized; // A Route is valid if this flag is true. > long id; // Unique ID for identification > string name; > //long nextRoutepointId; // only for MiRA integration. moved to > SFMSOutput->sCurrentRoute.routepointIndex > //LWaypoint lWaypoint; // only for MiRA integration. moved to > SRouteData->lWaypoint > LWpId lWpId; // For the new FMS a route consists of waypoint ids. > Waypoints are stored separately. The order of the waypoints corresponds > to the sequence order > }; > > typedef sequence<SRoute> LRoute; > > typedef sequence<long> LRouteIds; > > #endif > > > ---- AircraftInterface.idl --- > > #ifndef AIRCRAFTINTERFACE_IDL > #define AIRCRAFTINTERFACE_IDL > > #include "commonBasicTypes.idl" > > enum EAircraftType > { > AIRCRAFTTYPE_PLANE, > AIRCRAFTTYPE_HELI > }; > > > struct SIdentification > { > short id; //id specified by the scenario simulation (and send to x-plane > via the d-sim control plugin) > string name; > string identifier; //military or civil aircraft identifier > EAircraftType eAircraftType; > //EAircraftModel eAircraftModel; > boolean isManned; > }; > > > struct SAircraftAttitude > { > double phi_rad; // roll > double theta_rad; // pitch > double psi_rad_magN; // yaw > double psi_rad_trueN; // yaw > }; > > struct SAircraftRates > { > //in flugzeugkoordinaten > double p_rad_s; // phi_dot > double q_rad_s; // theta_dot > double r_rad_s; // psi_dot > }; > > struct SAircraftAccelerations > { > //in flugzeugkoordinaten > double x_m_s_s; > double y_m_s_s; > double z_m_s_s; > }; > > struct SAircraftVelocities > { > double north_m_s; > double east_m_s; > double vertical_m_s; > double ias_m_s; > double cas_m_s; > double tas_m_s; > double gs_m_s; > }; > > struct SFlightMechanics > { > SGeoPos sPos; > SAircraftAttitude sAtt; > SAircraftRates sRat; > SAircraftAccelerations sAcc; > SAircraftVelocities sVel; > double magneticVariation_rad; > }; > > struct SRotorState > { > double rpm_rad_s; > double torque_nm; > double maxTorque_nm; //used for % calculation of the torque; > }; > > enum EEngineOperatingState > { > ENGINESTATE_ON, > ENGINESTATE_OFF, > ENGINESTATE_STARTUP > }; > > struct SEngineState > { > double rpm_rad_s; > double torque_nm; > double maxTorque_nm; // used for % calculation of the > torque > double curFuelConsumption_kg_s; > EEngineOperatingState eOpState; > }; > > enum EGearState > { > GEAR_UP, > GEAR_DOWN, > GEAR_TRANSIT > }; > > struct SGearState > { > EGearState nose; > EGearState right; > EGearState left; > }; > > struct SSystemData > { > SRotorState sRotor; > long noOfEngines; > sequence<SEngineState,2> sEngine; > SGearState sGear; > double flaps; //-1 .. +1 > double spoiler; //-1 .. +1 > double break; //-1 .. +1 > }; > > struct SCurrentInput > { > double roll; //-1 .. +1 > double pitch; //-1 .. +1 > double yaw; //-1 .. +1 > double collective; //-1 .. +1 > double throttle1; //-1 .. +1 0= no power +1 100% power > double throttle2; //-1 .. +1 0= no power +1 100% power > double trimRoll; //-1 .. +1 > double trimPitch; //-1 .. +1 > double trimYaw; //-1 .. +1 > double trimCollective; //-1 .. +1 > double flaps; //-1 .. +1 -> 0 = neutral (in) +1= down -1 = up ???????? > double brakes; //-1 .. +1 > double spoiler; > boolean gearUp; > }; > > struct SSateliteState > { > boolean l1Locked; > boolean l2Locked; > }; > > struct SGPSHealth > { > double pdop_m; // positional dilution of precision > double hdop_m; // horizontal dilution of precision > long noSat; // number of satellites > sequence<SSateliteState,20> sSateliteState; > long itow_ms; // international time of week > }; > > struct SSystemHealth > { > SGPSHealth sGPS; > boolean destroyed; // true => the aircraft is lost > }; > > struct SBaroData > { > double pressure_hPa; > double qnh_hPa; > double alt_m; > }; > > struct SSensorics > { > boolean hasGroundContact; > double airTemp_celsius; > SBaroData sBaroData; > double radarAlt_m; > double sonarAlt_m; > double laserAlt_m; > }; > > struct SWindData > { > double speed_m_s; > double dir_rad_magN; > double dir_rad_trueN; > }; > > struct SWeatherData > { > SWindData sWind; > }; > > struct SAircraftInterface > { > SIdentification sId; > SFlightMechanics sFm; > SSystemData sSystem; > SSystemHealth sHealth; > SSensorics sSensorics; > SWeatherData sWeather; > SCurrentInput sCurrentInput; > double simTime; > }; > > #endif > > > Here is the also the source cpp file I wrote and used to simulate a > serialization process variables of type SAircraftInterface > (AircraftInterface.idl): > > > --- codec_test.cpp --- > > #include <QApplication> > > #include "anyserial.h" > > #include "ifDKAircraftInterface.h" > > using namespace std; > > int main( int argc, char *argv[]) > { > SAircraftInterface_var aci_src, aci_dst; > CORBA::Any anyobject_src, anyobject_dst; > OctetSeq sequence; > > QApplication app(argc, argv); > > aci_src = new SAircraftInterface; > aci_dst = new SAircraftInterface; > > //identification > aci_src->sId.name="MiRA 1"; > aci_src->sId.isManned = true; > aci_src->sId.eAircraftType = AIRCRAFTTYPE_HELI; > > //position > aci_src->sFm.sPos.lat_wgs84 = 10.0; > aci_src->sFm.sPos.lon_wgs84 = 20.0; > aci_src->sFm.sPos.alt_wgs84_m = 5.0; > > // Convert anyobject_src to an octet sequence using MICO internal codec > anyobject_src <<= *aci_src; > anyobject_src >> sequence; > > // Show octet sequence length > cout << "sequence.length: " << sequence.length() << endl; > > // Try to convert octet sequence to anyobject_dst using MICO internal > codec > try > { > anyobject_dst << sequence; > anyobject_dst >>= *aci_dst; > cout << "aci.name: " << aci_dst->sId.name << endl; > cout << "Sequence converted back to object of type Any." << > endl; > } > catch (...) > { > cout << "Error trying to convert sequence back to object of > type Any." > << endl; > } > > return ( 0 ); > } > > Using this small testing program I discovered two important things: > > 1. If you remove the line where QApplication is called the try section > works and the result is of 4016 octet for the sequence generated by the > codec; > > 2. If you leave the line where QAppliaction is called the try section > works well only when the two lines where aci_src and aci_dst variables are > allocated through the new operator have been placed before the > QApplication, otherwise an exception is catched and the sequence results > of 3748 octet, exactely 268 octet less than normal, as I already specified > in my previous e-mail. > > Note please also that: > > 1. anyserial.h contains this definition: > > void operator>> ( const Any& anyobject, OctetSeq& dataseq) > > 2. ifDKAircraftInterface.h has been generated with the Mico idl compiler > on the base of this interface: > > #ifndef __IFDKAircraftInterface_IDL__ > #define __IFDKAircraftInterface_IDL__ > > #include "AircraftInterface.idl" > > interface ifDKAircraftInterface > { > SAircraftInterface ReadData ( ); > void WriteData ( in SAircraftInterface var ); > long long GetVersion ( ); > }; > > #endif // #ifndef __IFDKAircraftInterface_IDL__ > > > Many Thanks in advance, > Pasquale Zarcone > > > >> Hello, >> >> what exactly does your anyobject Any variable contain? The strange thing >> is that you are only able to duplicate the issue when you use Qt... >> >> Cheers, >> Karel >> >> Andreas Benzler wrote: >>> Hallo, >>> I´m using a client-server model based on Mico and I defined an idl >>> interface like this: >>> >>> interface ifRec >>> { >>> long Register( in string name, in string ns ); >>> void WriteData( in long id, in any data ); >>> void SetEnv( in string Key, in string Value ); >>> void Rec(); >>> void Break(); >>> void Resume(); >>> void Replay( in double speed ); >>> void Stop(); >>> long Load( in string filename ); >>> }; >>> >>> The WriteData function uses the parameter "data" of type Any, which >>> represents a structure (struct) containing other structures inside, and >>> I >>> get a run-time error whenever a client calls this function. The client >>> has >>> been compiled with Qt and uses the QApplication function. I discovered >>> that the run-time error it´s based on the problem that the object of >>> type >>> Any is codified in the wrong way from Mico during the serialization >>> process only when the QApplication function is used in the client code >>> and >>> also when the tree´s depth of the structures codified in the Any object >>> is >>> too big, otherwise no run-time error comes up and the octet sequence >>> that >>> represents the object, made by the Mico serialization process, has the >>> correct length. I also discovered that the difference between the octet >>> sequence with and without using QApplication is fixed and always 268 >>> bytes >>> (more bytes without QApplication) and it does not depend on the >>> complexity >>> of the structure that the Any object represents. I discovered this last >>> detail simulating a serialization process of the Any object using the >>> available Mico internal codec. I tried to compile the system with the >>> two >>> Mico versions 2.3.11 and 2.3.13, both versions compiled specifying also >>> the >>> --with-qt=<qt-path> directive for the configure script, but I have same >>> problems. >>> >>> Here is also the Mico codec I used to simulate the serialization >>> process: >>> >>> void operator>> ( const Any& anyobject, OctetSeq& dataseq) >>> { >>> // Codec >>> ORB_var orb; >>> Object_var obj; >>> IOP::CodecFactory_var cf; >>> IOP::Encoding enc2; >>> IOP::Codec_ptr codec_ptr; >>> >>> // Generate codec based on CodecFactory >>> int argc = 1; >>> char* argv[1]; >>> argv[0] = "anyserial"; >>> orb = ORB_init( argc, argv, "mico-local-orb" ); >>> obj = orb->resolve_initial_references("CodecFactory"); >>> cf = IOP::CodecFactory::_narrow(obj); >>> enc2.format = IOP::ENCODING_CDR_ENCAPS; >>> enc2.major_version = 1; >>> enc2.minor_version = 2; >>> codec_ptr = cf->create_codec(enc2); >>> >>> // Encode anyobject and generate a new octet sequence >>> OctetSeq_var newdataseq_ptr = codec_ptr->encode(anyobject); >>> int length = newdataseq_ptr->length(); >>> >>> // Copy generated octet sequence into dataseq >>> dataseq.length(length); >>> >>> for (int i=0; i<length; i++) >>> dataseq[i] = (*newdataseq_ptr)[i]; >>> } >>> >>> Any and OctetSeq types are exactly CORBA::Any and CORBA::OctetSeq types >>> defined in MICO. >>> >>> Could please anyone help to understand why Mico has this strange >>> behavior >>> and eventually to find a solution? >>> >>> Many Thanks in advance, >>> Pasquale Zarcone >>> >>> Because the mail did not come trough with my colleges account I post >>> this message on his behalf >>> >>> Andreas >>> _______________________________________________ >>> Mico-devel mailing list >>> Mico-devel@mico.org >>> http://www.mico.org/mailman/listinfo/mico-devel >>> >> >> -- >> Karel Gardas kgar...@objectsecurity.com >> ObjectSecurity Ltd. http://www.objectsecurity.com >> _______________________________________________ >> Mico-devel mailing list >> Mico-devel@mico.org >> http://www.mico.org/mailman/listinfo/mico-devel >> > > > -- Karel Gardas kgar...@objectsecurity.com ObjectSecurity Ltd. http://www.objectsecurity.com _______________________________________________ Mico-devel mailing list Mico-devel@mico.org http://www.mico.org/mailman/listinfo/mico-devel
