Apparently when using the Java DBus bindings the event names are somehow lost. So the following did not work :

eventFilter.ListenEventName("Event"); //As seen in many examples (e.g. python). This does not work eventFilter.ListenEventName("ForwardPressed"); //Does not work either

However referring to event IDs works :

//This works. The order of events reflects the one in Aseba Studio (see first post) eventFilter.ListenEvent(new UInt16(0)); //RightPressed eventFilter.ListenEvent(new UInt16(1)); //LeftPressed eventFilter.ListenEvent(new UInt16(2)); //ForwardPressed eventFilter.ListenEvent(new UInt16(3)); //BackwardPressed

If someone knows why the event names are lost upon arrival on DBus (they aren't even visible in the asebamedulla logs) I'd be interested to know :)

I have an external program (Java) that runs on a linux machine and listens to global events sent by Thymio-II over DBus (Session) using asebamedulla.

The Aseba program that runs on Thymio-II is very simple. When each of the 4 direction buttons (forward, backward, left, right) is pressed a global event is emitted.

onevent button.left emit LeftPressed onevent button.right emit RightPressed onevent button.backward emit BackwardPressed onevent button.forward emit ForwardPressed

The global events are defined in Aseba Studio in the following order:

RightPressed LeftPressed ForwardPressed BackwardPressed

The problems that I am facing right now are :

1. Only the first defined event (in this case RightPressed) is visible on DBus. If I define ForwardPressed first in Aseba Studio then only this event will be visible on DBus….
2. All 4 events are visible in Aseba Studio, but only the first on DBus ..
3. The event name is lost when it arrives on DBus, all I see is a question mark "?" as can be seen in the output of the dbus-monitor command

#A RightPressed global event signal on DBus signal sender=:1.144 -> dest=(null destination) serial=42 path=/events_filters/0; interface=ch.epfl.mobots.EventFilter; member=Event uint16 0 string "?" #This should be RightPressed array [ ]

While the output of asebamedulla -v -d "ser:name=Thymio-II" does show a message for each button pressed. But only one seems to go through DBus …

[Wed May 20 21:45:19 2015 099] 0 user message from 1 : user message of size 0 : #This is a RightPressed event. It is visible on Dbus #The following are NOT visible on DBus [Wed May 20 21:45:20 2015 082] 0x1 user message from 1 : user message of size 0 : #This is a LeftPressed event [Wed May 20 21:45:23 2015 175] 0x2 user message from 1 : user message of size 0 : #This is a ForwardPressed event [Wed May 20 21:45:23 2015 769] 0x3 user message from 1 : user message of size 0 : #This is a BackwardPressed event

I have read what documentation I could find including the paper "Aseba meets DBus", I also had a look at the python code examples.

In the program I do create an EvenFilter and I do receive the signals for one of the global events.

It looks like I'm missing a subscription to the other global events, but I don't know how ?

I also don't understand why the event's name is lost in the DBus signal ?

Any help will greately be appreciated.

My aim is to contribute a Java client, I'm almost there :)

P.S. Une réponse en français me convient parfaitement :)

Merci d'avance !