Alex Hill wrote:
We are not using ActiveMQ/VHMsg I highly recommend using the mainline trunk, with an ActiveMQ server, if you're doing controller level development. There have been several changes and bug fixes since CADIA release their code. I am pushing to get both code-bases released into the same repository so we can begin merging, but there have been minor issues toward that end (at no fault of the CADIA group).
The indt and controller_duration()-outdt are used as the ready and relax sync points for a controller. These names carried over from MotionEngine work before SmartBody existed. Is there an easy way to start logging/printfs that will let me debug the times the scheduler has come up with? We've been discussion logging frameworks for a the majority of this year, but the core developers have differing opinions that, combined with time limitations, have lead to an impasse. You can find a very early draft spec in lib\vhcl\src\vhcl_log.cpp, but we are not yet using it in anything. I have also looked closely at the Apache Log4C++, as I am a Java developer by heart who is very familiar with the Java logging APIs. But there are problems with that also. However, due to our intention to split SmartBody-lib into a dynamically linked library usable in multiple application frameworks, we probably need a SmartBody specific logging interface that any developer can bind their own logging implementation to. I just added Logging API to the short term roadmap. Anm |
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