Revision: 7395
http://playerstage.svn.sourceforge.net/playerstage/?rev=7395&view=rev
Author: natepak
Date: 2009-03-09 02:59:16 +0000 (Mon, 09 Mar 2009)
Log Message:
-----------
Added thread stuff to simiface
Modified Paths:
--------------
code/branches/federation/gazebo/examples/libgazebo/simiface/simiface.cc
code/branches/federation/gazebo/libgazebo/SimIface.cc
code/branches/federation/gazebo/libgazebo/gazebo.h
Modified:
code/branches/federation/gazebo/examples/libgazebo/simiface/simiface.cc
===================================================================
--- code/branches/federation/gazebo/examples/libgazebo/simiface/simiface.cc
2009-03-09 02:20:29 UTC (rev 7394)
+++ code/branches/federation/gazebo/examples/libgazebo/simiface/simiface.cc
2009-03-09 02:59:16 UTC (rev 7395)
@@ -54,11 +54,10 @@
usleep(90000000);
}*/
- printf("Go\n");
- simIface->Go(100);
- printf("Go Done\n");
+ simIface->Go(10e6);
+ usleep(100000000);
// Example of resetting the simulator
// simIface->Reset();
//usleep(1000000);
Modified: code/branches/federation/gazebo/libgazebo/SimIface.cc
===================================================================
--- code/branches/federation/gazebo/libgazebo/SimIface.cc 2009-03-09
02:20:29 UTC (rev 7394)
+++ code/branches/federation/gazebo/libgazebo/SimIface.cc 2009-03-09
02:59:16 UTC (rev 7395)
@@ -1,33 +1,31 @@
#include <boost/thread/thread.hpp>
+#include <boost/signal.hpp>
#include <boost/bind.hpp>
#include <string.h>
#include "gazebo.h"
using namespace gazebo;
-void SimulationIface::BlockThread(unsigned int ms)
+void SimulationIface::BlockThread()
{
- printf("Run thread\n");
- boost::this_thread::sleep(boost::posix_time::milliseconds(ms));
- printf("Run thread done\n");
+ usleep(this->blockTimeUs);
+ //signal();
}
////////////////////////////////////////////////////////////////////////////////
/// Tell gazebo to execute for a specified amount of time
-void SimulationIface::Go(unsigned int ms)
+void SimulationIface::Go(unsigned int us)
{
this->Lock(1);
SimulationRequestData *request =
&(this->data->requests[this->data->requestCount++]);
request->type = SimulationRequestData::GO;
- request->runTime = ms;
+ request->runTime = us;
this->Unlock();
- printf("Create Thread\n");
-/* boost::thread *thread = new boost::thread(
- boost::bind(&SimulationIface::BlockThread, this, boost::_1)(100) );
- */
+ this->blockTimeUs = us;
- printf("Thread created\n");
+ boost::thread *thread = new boost::thread(
+ boost::bind(&SimulationIface::BlockThread, this));
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/branches/federation/gazebo/libgazebo/gazebo.h
===================================================================
--- code/branches/federation/gazebo/libgazebo/gazebo.h 2009-03-09 02:20:29 UTC
(rev 7394)
+++ code/branches/federation/gazebo/libgazebo/gazebo.h 2009-03-09 02:59:16 UTC
(rev 7395)
@@ -493,7 +493,8 @@
const Vec3 &linearVel, const Vec3 &angularVel,
const Vec3 &linearAccel, const Vec3 &angularAccel );
- private: void BlockThread(unsigned int ms);
+ private: void BlockThread();
+ private: unsigned int blockTimeUs;
/// Pointer to the simulation data
public: SimulationData *data;
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