Revision: 7101
http://playerstage.svn.sourceforge.net/playerstage/?rev=7101&view=rev
Author: gerkey
Date: 2008-10-16 08:57:01 +0000 (Thu, 16 Oct 2008)
Log Message:
-----------
Commented out bogus warning about empty queue after waiting.
Fixed apparent bug in amcl's data queuing.
Modified Paths:
--------------
code/player/trunk/libplayercore/device.cc
code/player/trunk/server/drivers/localization/amcl/amcl.cc
Modified: code/player/trunk/libplayercore/device.cc
===================================================================
--- code/player/trunk/libplayercore/device.cc 2008-10-16 07:48:50 UTC (rev
7100)
+++ code/player/trunk/libplayercore/device.cc 2008-10-16 08:57:01 UTC (rev
7101)
@@ -288,12 +288,11 @@
Message* msg = NULL;
if(threaded)
{
- // HACK: this loop should not be neccesary!
// pthread_cond_wait does not garuntee no false wake up, so maybe it is.
// test driver is still subscribed to prevent deadlocks on server shutdown
while(driver->subscriptions > 0 && !(msg = resp_queue->Pop()))
{
- PLAYER_WARN("empty queue after waiting!");
+ //PLAYER_WARN("empty queue after waiting!");
resp_queue->Wait(); // this is a cancelation point
}
}
Modified: code/player/trunk/server/drivers/localization/amcl/amcl.cc
===================================================================
--- code/player/trunk/server/drivers/localization/amcl/amcl.cc 2008-10-16
07:48:50 UTC (rev 7100)
+++ code/player/trunk/server/drivers/localization/amcl/amcl.cc 2008-10-16
08:57:01 UTC (rev 7101)
@@ -877,6 +877,9 @@
{
data = this->Pop();
assert(data);
+ // Catch the pose and timestamp of the discarded action data
+ pose = ((AMCLOdomData*) data)->pose;
+ ts = data->time;
delete data;
}
// avoid a busy loop while waiting for a sensor reading to
@@ -1324,7 +1327,11 @@
pf_vector_t pose;
this->Lock();
+ pthread_mutex_lock(&this->best_hyp_lock);
+ pose = this->best_hyp;
+ pthread_mutex_unlock(&this->best_hyp_lock);
+ /*
max_weight = -1;
for (i = 0; i < this->hyp_count; i++)
{
@@ -1336,11 +1343,14 @@
pose = hyp->pf_pose_mean;
}
}
+ */
this->Unlock();
+ /*
if (max_weight < 0.0)
return;
+ */
// Shift the robot figure
rtk_fig_origin(this->robot_fig, pose.v[0], pose.v[1], pose.v[2]);
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