[Playerstage-commit] SF.net SVN: playerstage: [6367] code/player/trunk/server/drivers/planner/ wavefront

[gerkey]

Revision: 6367
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6367&view=rev
Author:   gerkey
Date:     2008-04-18 18:58:34 -0700 (Fri, 18 Apr 2008)

Log Message:
-----------
took out debug statements

Modified Paths:
--------------
    code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
    code/player/trunk/server/drivers/planner/wavefront/wavefront.cc

Modified: code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/plan_plan.c      
2008-04-18 22:50:59 UTC (rev 6366)
+++ code/player/trunk/server/drivers/planner/wavefront/plan_plan.c      
2008-04-19 01:58:34 UTC (rev 6367)
@@ -249,7 +249,7 @@
 
   if(!cell->plan_next)
   {
-    puts("never found start");
+    //puts("never found start");
     return(-1);
   }
   else

Modified: code/player/trunk/server/drivers/planner/wavefront/wavefront.cc
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/wavefront.cc     
2008-04-18 22:50:59 UTC (rev 6366)
+++ code/player/trunk/server/drivers/planner/wavefront/wavefront.cc     
2008-04-19 01:58:34 UTC (rev 6367)
@@ -868,7 +868,7 @@
   tdiff = MAX(0.0, this->cycletime - (currt-loopstart));
   if(tdiff == 0.0)
     PLAYER_WARN("Wavefront missed deadline and not sleeping; check machine 
load");
-  usleep((unsigned int)rint(tdiff));
+  usleep((unsigned int)rint(tdiff*1e6));
 }
 
 
@@ -885,6 +885,7 @@
   bool rotate_waypoint=false;
   bool replan;
   int rotate_dir=0;
+  bool printed_warning=false;
 
   pthread_setcanceltype(PTHREAD_CANCEL_DEFERRED,NULL);
 
@@ -1003,14 +1004,23 @@
                          this->localize_y, this->scan_maxrange) < 0))
       {
         if(!new_goal && (this->plan->path_count != 0))
-           puts("Wavefront: local plan failed");
+          puts("Wavefront: local plan failed");
 
         // Create a global plan
         if(plan_do_global(this->plan, this->localize_x, this->localize_y, 
                           this->target_x, this->target_y) < 0)
-          puts("Wavefront: global plan failed");
+        {
+          if(!printed_warning)
+          {
+            puts("Wavefront: global plan failed");
+            printed_warning = true;
+          }
+        }
         else
+        {
           this->new_goal = false;
+          printed_warning = false;
+        }
       }
 
       if(this->graphics2d_id.interf && this->plan->lpath_count)


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