Hi, some further tests on the real hardware showed, that the 2.1.2 version of player has a regression of no longer be able to connect to a real Pioneer 3-AT robot.
The problem is within the checksum code for the p2os driver and was already fixed upstream in svn revisions 7539 and 7543. I have attached the dpatch, generated out of the upstream changes, that I am currently using. Please include this two changes (maybe through the new upstream release you are asking for). TIA Daniel
#! /bin/sh /usr/share/dpatch/dpatch-run ## 04-fixp2oschecksum.dpatch by <[email protected]> ## ## All lines beginning with `## DP:' are a description of the patch. ## DP: Cherry pick upstream svn commits 7539 and 7543 to fix ## DP: checksum calculation in the p2os driver @DPATCH@ diff -Nur player-2.1.2.orig/server/drivers/mixed/p2os/packet.cc player-2.1.2/server/drivers/mixed/p2os/packet.cc --- player-2.1.2.orig/server/drivers/mixed/p2os/packet.cc 2009-01-15 19:56:08.000000000 +0100 +++ player-2.1.2/server/drivers/mixed/p2os/packet.cc 2009-07-15 17:24:11.000000000 +0200 @@ -56,14 +56,10 @@ bool P2OSPacket::Check() { - short chksum; - chksum = CalcChkSum(); + unsigned short recv_chksum = static_cast<unsigned short> (CalcChkSum() & 0xffff); + unsigned short pkt_chksum = (static_cast<unsigned short>(packet[size-2]) << 8) | packet[size-1]; - if ( chksum == (packet[size-2] << 8 | packet[size-1])) - return(true); - - - return(false); + return recv_chksum == pkt_chksum; } int P2OSPacket::CalcChkSum() { @@ -136,7 +132,7 @@ } int P2OSPacket::Build( unsigned char *data, unsigned char datasize ) { - short chksum; + unsigned short chksum; size = datasize + 5; @@ -152,7 +148,7 @@ memcpy( &packet[3], data, datasize ); - chksum = CalcChkSum(); + chksum = static_cast<unsigned short> (CalcChkSum() & 0xffff); packet[3+datasize] = chksum >> 8; packet[3+datasize+1] = chksum & 0xFF;
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