Revision: 7404
http://playerstage.svn.sourceforge.net/playerstage/?rev=7404&view=rev
Author: gerkey
Date: 2009-03-09 19:14:49 +0000 (Mon, 09 Mar 2009)
Log Message:
-----------
Added duplicate model-checking to the Load step. When loaded from a world
file, duplicates cause an abort; from factory, new model overwrites old
one. Working on performance test client for webgazebo.
Modified Paths:
--------------
code/branches/federation/gazebo/server/Model.cc
code/branches/federation/gazebo/server/Model.hh
code/branches/federation/gazebo/server/World.cc
code/branches/federation/gazebo/server/World.hh
code/branches/federation/gazebo/server/controllers/factory/Factory.cc
code/branches/federation/gazebo/webgazebo/SConscript
code/branches/federation/gazebo/webgazebo/WebGazebo.cc
code/branches/federation/gazebo/webgazebo/WebGazebo.hh
code/branches/federation/gazebo/webgazebo/main.cc
code/branches/federation/gazebo/worlds/federation.world
Added Paths:
-----------
code/branches/federation/gazebo/webgazebo/client.cc
Modified: code/branches/federation/gazebo/server/Model.cc
===================================================================
--- code/branches/federation/gazebo/server/Model.cc 2009-03-09 08:36:48 UTC
(rev 7403)
+++ code/branches/federation/gazebo/server/Model.cc 2009-03-09 19:14:49 UTC
(rev 7404)
@@ -117,12 +117,29 @@
////////////////////////////////////////////////////////////////////////////////
// Load the model
-int Model::Load(XMLConfigNode *node)
+int Model::Load(XMLConfigNode *node, bool removeDuplicate)
{
XMLConfigNode *childNode;
Pose3d pose;
+ Model* dup;
this->nameP->Load(node);
+ // Look for existing models by the same name
+ if((dup = World::Instance()->GetModelByName(this->nameP->GetValue())) !=
NULL)
+ {
+ if(!removeDuplicate)
+ {
+ gzthrow("Duplicate model name" + this->nameP->GetValue() + "\n");
+ }
+ else
+ {
+ // Delete the existing one (this should only be reached when called
+ // via the factory interface).
+ printf("Queuing duplicate model %s (%p) for deletion\n",
this->nameP->GetValue().c_str(), dup);
+ World::Instance()->DeleteEntity(this->nameP->GetValue().c_str());
+ }
+ }
+
this->staticP->Load(node);
this->canonicalBodyNameP->Load(node);
@@ -203,18 +220,18 @@
// Import the python module
if (this->pName)
{
- this->pModule.reset(PyImport_Import(this->pName));
- Py_DECREF(this->pName);
+ this->pModule.reset(PyImport_Import(this->pName));
+ Py_DECREF(this->pName);
}
// Get the Update function from the module
if (this->pModule)
{
- this->pFuncUpdate.reset(PyObject_GetAttrString(this->pModule, "Update"));
- if (this->pFuncUpdate && !PyCallable_Check(this->pFuncUpdate))
- this->pFuncUpdate = NULL;
+ this->pFuncUpdate.reset(PyObject_GetAttrString(this->pModule, "Update"));
+ if (this->pFuncUpdate && !PyCallable_Check(this->pFuncUpdate))
+ this->pFuncUpdate = NULL;
}
- */
+ */
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/branches/federation/gazebo/server/Model.hh
===================================================================
--- code/branches/federation/gazebo/server/Model.hh 2009-03-09 08:36:48 UTC
(rev 7403)
+++ code/branches/federation/gazebo/server/Model.hh 2009-03-09 19:14:49 UTC
(rev 7404)
@@ -63,7 +63,8 @@
public: virtual ~Model();
/// \brief Load the model
- public: int Load(XMLConfigNode *node);
+ /// \param removeDuplicate Remove existing model of same name
+ public: int Load(XMLConfigNode *node, bool removeDuplicate);
/// \brief Save the model
public: void Save(std::string &prefix, std::ostream &stream);
Modified: code/branches/federation/gazebo/server/World.cc
===================================================================
--- code/branches/federation/gazebo/server/World.cc 2009-03-09 08:36:48 UTC
(rev 7403)
+++ code/branches/federation/gazebo/server/World.cc 2009-03-09 19:14:49 UTC
(rev 7404)
@@ -136,7 +136,7 @@
this->physicsEngine = new ODEPhysics(); //TODO: use exceptions here
- this->LoadEntities(rootNode, NULL);
+ this->LoadEntities(rootNode, NULL, false);
/*std::vector<Model*>::iterator miter;
for (miter = this->models.begin(); miter != this->models.end(); miter++)
@@ -302,7 +302,7 @@
///////////////////////////////////////////////////////////////////////////////
// Load a model
-int World::LoadEntities(XMLConfigNode *node, Model *parent)
+int World::LoadEntities(XMLConfigNode *node, Model *parent, bool
removeDuplicate)
{
XMLConfigNode *cnode;
Model *model = NULL;
@@ -312,14 +312,14 @@
// Check for model nodes
if (node->GetNSPrefix() == "model")
{
- model = this->LoadModel(node, parent);
+ model = this->LoadModel(node, parent, removeDuplicate);
}
}
// Load children
for (cnode = node->GetChild(); cnode != NULL; cnode = cnode->GetNext())
{
- if (this->LoadEntities( cnode, model ) != 0)
+ if (this->LoadEntities( cnode, model, removeDuplicate ) != 0)
return -1;
}
@@ -343,14 +343,14 @@
////////////////////////////////////////////////////////////////////////////////
// Load a model
-Model *World::LoadModel(XMLConfigNode *node, Model *parent)
+Model *World::LoadModel(XMLConfigNode *node, Model *parent, bool
removeDuplicate)
{
Pose3d pose;
Model *model = new Model(parent);
//model->SetParent(parent);
// Load the model
- if (model->Load( node ) != 0)
+ if (model->Load( node, removeDuplicate ) != 0)
return NULL;
// Set the model's pose (relative to parent)
Modified: code/branches/federation/gazebo/server/World.hh
===================================================================
--- code/branches/federation/gazebo/server/World.hh 2009-03-09 08:36:48 UTC
(rev 7403)
+++ code/branches/federation/gazebo/server/World.hh 2009-03-09 19:14:49 UTC
(rev 7404)
@@ -95,8 +95,9 @@
/// \brief Load all entities
/// \param node XMLConfg node pointer
/// \param parent Parent of the model to load
+ /// \param removeDuplicate Remove existing model of same name
/// \return 0 on success
- public: int LoadEntities(XMLConfigNode *node, Model *parent);
+ public: int LoadEntities(XMLConfigNode *node, Model *parent, bool
removeDuplicate);
/// \brief Delete an entity by name
/// \param name The name of the entity to delete
@@ -156,8 +157,9 @@
/// \brief Load a model
/// \param node Pointer to the XMLConfig node
/// \param parent The parent model
+ /// \param removeDuplicate Remove existing model of same name
/// \return The model that was created
- private: Model *LoadModel(XMLConfigNode *node, Model *parent);
+ private: Model *LoadModel(XMLConfigNode *node, Model *parent, bool
removeDuplicate);
/// \brief Set the model pose and the pose of it's attached children
/// \param model The model to set
Modified: code/branches/federation/gazebo/server/controllers/factory/Factory.cc
===================================================================
--- code/branches/federation/gazebo/server/controllers/factory/Factory.cc
2009-03-09 08:36:48 UTC (rev 7403)
+++ code/branches/federation/gazebo/server/controllers/factory/Factory.cc
2009-03-09 19:14:49 UTC (rev 7404)
@@ -112,7 +112,7 @@
}
// Add the new models into the World
- World::Instance()->LoadEntities( xmlConfig->GetRootNode(), NULL );
+ World::Instance()->LoadEntities( xmlConfig->GetRootNode(), NULL, true );
// Cleanup
delete xmlConfig;
Modified: code/branches/federation/gazebo/webgazebo/SConscript
===================================================================
--- code/branches/federation/gazebo/webgazebo/SConscript 2009-03-09
08:36:48 UTC (rev 7403)
+++ code/branches/federation/gazebo/webgazebo/SConscript 2009-03-09
19:14:49 UTC (rev 7404)
@@ -49,6 +49,7 @@
)
webgazebo = exeEnv.Program('webgazebo', 'main.cc')
+client = exeEnv.Program('client', 'client.cc')
env.Install(install_prefix+'/lib', sharedLib)
#env.Install(install_prefix+'/lib', staticLib)
Modified: code/branches/federation/gazebo/webgazebo/WebGazebo.cc
===================================================================
--- code/branches/federation/gazebo/webgazebo/WebGazebo.cc 2009-03-09
08:36:48 UTC (rev 7403)
+++ code/branches/federation/gazebo/webgazebo/WebGazebo.cc 2009-03-09
19:14:49 UTC (rev 7404)
@@ -1,14 +1,50 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+/* Desc: HTTP portal to libgazebo
+ * Author: Brian Gerkey
+ * Date: 9 March 2009
+ * SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
+ */
+
#include "WebGazebo.hh"
+#include <fstream>
+
#include <stdio.h>
#include <assert.h>
#include <stdlib.h>
#include <time.h>
+#include <string.h>
#include <boost/lexical_cast.hpp>
#include "../server/Quatern.hh"
+// TODO:
+// - make ghost models not collide, fall, etc.
+// - add SetState
+// - expose URI command to run for 1 tick
+// - do performance test
+
WebGazebo::WebGazebo(std::string _host, int _port, double dtol, double atol) :
host(_host), port(_port), sq_dist_tol(dtol*dtol), sq_ang_tol(atol*atol)
{
@@ -29,9 +65,11 @@
fflush(stdout);
this->client = new gazebo::Client();
this->simIface = new gazebo::SimulationIface();
+ this->factoryIface = new gazebo::FactoryIface();
this->client->ConnectWait(0, GZ_CLIENT_ID_USER_FIRST);
// Open the Simulation Interface; let exceptions leak out
this->simIface->Open(this->client, "default");
+ this->factoryIface->Open(this->client, "factory_iface");
// Get the list of models
if(!GetModelList())
throw("Failed to get list of models from Gazebo");
@@ -58,23 +96,37 @@
bool WebGazebo::HasModel(const std::string& name)
{
- std::map<std::string,int>::const_iterator it = models.find(name);
- return it != models.end();
+ // TODO
+ //std::map<std::string,int>::const_iterator it = models.find(name);
+ //return it != models.end();
+ return true;
}
bool
WebGazebo::GetPose(std::string model, gazebo::Pose& pose)
{
- // Discard any leftover responses;
+ // Discard any leftover responses
this->simIface->data->responseCount = 0;
// Ask Gazebo
this->simIface->GetPose3d(model.c_str());
// Wait for the response
+ double timeout = 3.0;
+ struct timeval t0, t1;
+ gettimeofday(&t0, NULL);
struct timespec sleeptime = {0, 10000000};
while(this->simIface->data->responseCount == 0)
+ {
+ gettimeofday(&t1, NULL);
+ if(((t1.tv_sec + t1.tv_usec/1e6) - (t0.tv_sec + t0.tv_usec/1e6))
+ > timeout)
+ {
+ puts("Timeout");
+ return false;
+ }
nanosleep(&sleeptime, NULL);
+ }
assert(this->simIface->data->responseCount == 1);
pose = this->simIface->data->responses[0].modelPose;
@@ -152,170 +204,255 @@
}
bool
-WebGazebo::HandleURI(const std::string& model,
- const std::string& prop,
- const std::string& action,
- struct evkeyvalq* kv,
- std::string& response)
+WebGazebo::GetModel(const std::string& name,
+ const std::string& type,
+ std::string& xmldata,
+ std::string& response)
{
- // The special simulation model
- if(model == "sim")
+ // Search GAZEBO_MODEL_PATH for a matching .model file
+ const char* gmpath = getenv("GAZEBO_MODEL_PATH");
+ if(!gmpath)
{
- // The special factory property
- if(prop == "factory")
+ response = "ERROR: GAZEBO_MODEL_PATH is not set";
+ return false;
+ }
+
+ std::vector<std::string> gmpath_parts;
+ StringSplit(gmpath, gmpath_parts, ":");
+ for(unsigned int i=0; i<gmpath_parts.size(); i++)
+ {
+ std::string p = gmpath_parts[0] + "/" + type + ".model";
+ if(access(p.c_str(), F_OK) == 0)
{
- if(action == "create")
- {
- std::string name, type;
- if(!GetValue(name, kv, "name") ||
- !GetValue(type, kv, "type"))
- {
- response = "ERROR: Missing name and/or type argument for
sim/factor/create";
- return false;
- }
+ std::ifstream ifs(p.c_str());
+ xmldata = std::string((std::istreambuf_iterator<char>(ifs)),
+ std::istreambuf_iterator<char>());
- printf("[webgazebo] Creating model %s of type %s\n",
- name.c_str(), type.c_str());
- response = "[webgazebo] Creating model " + name + " of type " + type;
- return true;
- }
- else
+ // HACK: rename with a VERY crude textual replacement
+ std::string tag1 = "<model:physical";
+ std::string tag2 = "name=\"";
+ int i = xmldata.find(tag1);
+ if(i < 0)
+ return false;
+ i = xmldata.find(tag2, i);
+ if(i < 0)
+ return false;
+ int j = xmldata.find("\"", i+tag2.length());
+ xmldata.replace(i,j-i+1,std::string("name=\"" + name + "\""));
+ return true;
+ }
+ }
+
+ response = "ERROR: Could not find file " + type + ".model";
+ return false;
+}
+
+bool
+WebGazebo::CreateModel(const std::string& xmldata,
+ std::string& response)
+{
+ struct timespec sleeptime = {0, 10000000};
+ for(;;)
+ {
+ this->factoryIface->Lock(1);
+ if(!strcmp((const char*)this->factoryIface->data->newModel,""))
+ {
+ strcpy((char*)this->factoryIface->data->newModel, xmldata.c_str());
+ factoryIface->Unlock();
+ return true;
+ }
+ else
+ {
+ factoryIface->Unlock();
+ nanosleep(&sleeptime, NULL);
+ }
+ }
+}
+
+bool
+WebGazebo::HandleSimRequest(const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ // The special factory property
+ if(prop == "factory")
+ {
+ if(action == "create")
+ {
+ std::string name, type;
+ if(!GetValue(name, kv, "name") ||
+ !GetValue(type, kv, "type"))
{
- response = "ERROR: Unknown action " + action + " for sim/factory";
+ response = "ERROR: Missing name and/or type argument for
sim/factor/create";
return false;
}
+
+ std::string xmldata;
+ if(!GetModel(name, type, xmldata, response))
+ return false;
+ if(!CreateModel(xmldata, response))
+ return false;
+ response = std::string("Created model of type ") + type;
+ return true;
}
else
{
- response = "ERROR: Unknown property " + prop + " for sim";
+ response = "ERROR: Unknown action " + action + " for sim/factory";
return false;
}
}
- // Everything else must be an existing model
else
{
- printf("[webgazebo] got request for %s:%s:%s\n",
- model.c_str(),
- prop.c_str(),
- action.c_str());
- if(HasModel(model))
+ response = "ERROR: Unknown property " + prop + " for sim";
+ return false;
+ }
+}
+
+bool
+WebGazebo::HandleModelRequest(const std::string& model,
+ const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ printf("[webgazebo] got request for %s:%s:%s\n",
+ model.c_str(),
+ prop.c_str(),
+ action.c_str());
+ if(HasModel(model))
+ {
+ if(action == "get")
{
- if(action == "get")
+ if(prop == "pose")
{
- if(prop == "pose")
+ gazebo::Pose p;
+ if(GetPose(model, p))
{
- gazebo::Pose p;
- if(GetPose(model, p))
- {
- char buf[1024];
- snprintf(buf, sizeof(buf),
- "Got %s's pose: (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)",
- model.c_str(),
- p.pos.x, p.pos.y, p.pos.z,
- p.roll, p.pitch, p.yaw);
- response = buf;
- return true;
- }
- else
- {
- response = "ERROR: Failed to get pose for model " + model;
- return false;
- }
+ char buf[1024];
+ snprintf(buf, sizeof(buf),
+ "Got %s's pose: (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)",
+ model.c_str(),
+ p.pos.x, p.pos.y, p.pos.z,
+ p.roll, p.pitch, p.yaw);
+ response = buf;
+ return true;
}
else
{
- response = "ERROR: Unknown property " + prop + " for model " + model;
+ response = "ERROR: Failed to get pose for model " + model;
return false;
}
}
- else if(action == "set")
+ else
{
- if(prop == "pose")
+ response = "ERROR: Unknown property " + prop + " for model " + model;
+ return false;
+ }
+ }
+ else if(action == "set")
+ {
+ if(prop == "pose")
+ {
+ std::string sx, sy, sz, sroll, spitch, syaw;
+
+ // Get pose first, fill in what the caller provided
+ gazebo::Pose p, q;
+ if(!GetPose(model, p))
{
- std::string sx, sy, sz, sroll, spitch, syaw;
+ response = "Failed to get pose before setting it";
+ return false;
+ }
+ try
+ {
+ q = p;
+ if(GetValue(sx, kv, "x"))
+ p.pos.x = boost::lexical_cast<float>(sx);
+ if(GetValue(sy, kv, "y"))
+ p.pos.y = boost::lexical_cast<float>(sy);
+ if(GetValue(sz, kv, "z"))
+ p.pos.z = boost::lexical_cast<float>(sz);
+ if(GetValue(sroll, kv, "roll"))
+ p.roll = boost::lexical_cast<float>(sroll);
+ if(GetValue(spitch, kv, "pitch"))
+ p.pitch = boost::lexical_cast<float>(spitch);
+ if(GetValue(syaw, kv, "yaw"))
+ p.yaw = boost::lexical_cast<float>(syaw);
+ }
+ catch(boost::bad_lexical_cast e)
+ {
+ response = std::string("Failed to parse input value(s): ") +
+ e.what();
+ return false;
+ }
- // Get pose first, fill in what the caller provided
- gazebo::Pose p, q;
- if(!GetPose(model, p))
- {
- response = "Failed to get pose before setting it";
- return false;
- }
- try
- {
- q = p;
- if(GetValue(sx, kv, "x"))
- p.pos.x = boost::lexical_cast<float>(sx);
- /*
- if(GetValue(sy, kv, "y"))
- p.pos.y = boost::lexical_cast<float>(sy);
- */
- if(GetValue(sz, kv, "z"))
- p.pos.z = boost::lexical_cast<float>(sz);
- if(GetValue(sroll, kv, "roll"))
- p.roll = boost::lexical_cast<float>(sroll);
- if(GetValue(spitch, kv, "pitch"))
- p.pitch = boost::lexical_cast<float>(spitch);
- if(GetValue(syaw, kv, "yaw"))
- p.yaw = boost::lexical_cast<float>(syaw);
- }
- catch(boost::bad_lexical_cast e)
- {
- response = std::string("Failed to parse input value(s): ") +
- e.what();
- return false;
- }
+ if(SetPose(model, p))
+ {
+ char buf[1024];
+ snprintf(buf, sizeof(buf),
+ "Set %s's pose: (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)",
+ model.c_str(),
+ p.pos.x, p.pos.y, p.pos.z,
+ p.roll, p.pitch, p.yaw);
+ response = buf;
- if(SetPose(model, p))
- {
- char buf[1024];
- snprintf(buf, sizeof(buf),
- "Set %s's pose: (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)",
- model.c_str(),
- p.pos.x, p.pos.y, p.pos.z,
- p.roll, p.pitch, p.yaw);
- response = buf;
+ // Check tolerances, and complain if they're exceeded
+ if(!CheckTolerances(p,q))
+ response += "\nWARNING: Pose change exceeded tolerance";
- // Check tolerances
- if(!CheckTolerances(p,q))
- response += "\nWARNING: Pose change exceeded tolerance";
-
- return true;
- }
- else
- {
- response = "ERROR: Failed to get pose for model " + model;
- return false;
- }
+ return true;
}
else
{
- response = "ERROR: Unknown property " + prop + " for model " + model;
+ response = "ERROR: Failed to get pose for model " + model;
return false;
}
}
else
{
- response = "ERROR: Unknown action " + action;
+ response = "ERROR: Unknown property " + prop + " for model " + model;
return false;
}
}
else
{
- response = "ERROR: No such model " + model;
+ response = "ERROR: Unknown action " + action;
return false;
}
}
+ else
+ {
+ response = "ERROR: No such model " + model;
+ return false;
+ }
}
+bool
+WebGazebo::HandleURI(const std::string& model,
+ const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ // The special simulation model
+ if(model == "sim")
+ {
+ return HandleSimRequest(prop, action, kv, response);
+ }
+ // Everything else must be an existing model
+ else
+ {
+ return HandleModelRequest(model, prop, action, kv, response);
+ }
+}
+
+// Handle all incoming URI requests
void
WebGazebo::EventCallback(evhttp_request* req, void* arg)
{
WebGazebo* obj = (WebGazebo*)arg;
printf("[webgazebo] Got request:%s:\n", req->uri);
- printf("[webgazebo] Decoded:%s:\n", evhttp_decode_uri(req->uri));
-
// Pull out query args
struct evkeyvalq query_args;
@@ -324,36 +461,29 @@
struct evbuffer* eb = evbuffer_new();
assert(eb);
+ int response_code;
+ std::string response_string;
std::string model, prop, action, response;
if(!obj->ParseURI(model, prop, action, req->uri, response))
{
- evbuffer_add_printf(eb, "%s\n", response.c_str());
- evhttp_send_reply(req, 400, "Invalid request", eb);
- return;
+ response_code = 400;
+ response_string = "Invalid request";
}
-
- if(!obj->HandleURI(model, prop, action, &query_args, response))
+ else if(!obj->HandleURI(model, prop, action, &query_args, response))
{
- evbuffer_add_printf(eb, "%s\n", response.c_str());
- evhttp_send_reply(req, 400, "Invalid request", eb);
- return;
+ response_code = 400;
+ response_string = "Invalid request";
}
+ else
+ {
+ response_code = 200;
+ response_string = "OK";
+ }
- /*
- std::string model = "pioneer2dx_model1";
- gazebo::Pose p;
- assert(obj->GetPose(&p, model));
- evbuffer_add_printf(eb, "<html><head><title>WebGazebo</title></head><body>");
- evbuffer_add_printf(eb, "<h1>WebGazebo!</h1>");
- evbuffer_add_printf(eb, "%s's pose: (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)",
- model.c_str(),
- p.pos.x, p.pos.y, p.pos.z,
- p.roll, p.pitch, p.yaw);
- evbuffer_add_printf(eb, "</body></html>");
- */
-
evbuffer_add_printf(eb, "%s\n", response.c_str());
- evhttp_send_reply(req, 200, "OK", eb);
+ printf("[webgazebo] Sending reply: %d %s\n",
+ response_code, response_string.c_str());
+ evhttp_send_reply(req, response_code, response_string.c_str(), eb);
evbuffer_free(eb);
}
Modified: code/branches/federation/gazebo/webgazebo/WebGazebo.hh
===================================================================
--- code/branches/federation/gazebo/webgazebo/WebGazebo.hh 2009-03-09
08:36:48 UTC (rev 7403)
+++ code/branches/federation/gazebo/webgazebo/WebGazebo.hh 2009-03-09
19:14:49 UTC (rev 7404)
@@ -1,3 +1,30 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+/* Desc: HTTP portal to libgazebo
+ * Author: Brian Gerkey
+ * Date: 9 March 2009
+ * SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
+ */
+
#include <string>
#include <vector>
#include <map>
@@ -32,6 +59,7 @@
gazebo::Client *client;
gazebo::SimulationIface *simIface;
+ gazebo::FactoryIface *factoryIface;
// Available models
std::map<std::string,int> models;
@@ -42,6 +70,8 @@
bool CheckTolerances(gazebo::Pose p, gazebo::Pose q);
bool GetModelList();
bool HasModel(const std::string& name);
+ bool CreateModel(const std::string& xmldata,
+ std::string& response);
bool GetPose(std::string model, gazebo::Pose& pose);
bool SetPose(std::string model, const gazebo::Pose& pose);
void StringSplit(const std::string &s,
@@ -50,11 +80,24 @@
bool GetValue(std::string& value,
struct evkeyvalq* query_args,
const std::string& key);
+ bool GetModel(const std::string& name,
+ const std::string& type,
+ std::string& xmldata,
+ std::string& response);
bool HandleURI(const std::string& model,
const std::string& prop,
const std::string& action,
struct evkeyvalq* kv,
std::string& response);
+ bool HandleSimRequest(const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response);
+ bool HandleModelRequest(const std::string& model,
+ const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response);
bool ParseURI(std::string& model,
std::string& prop,
std::string& action,
Added: code/branches/federation/gazebo/webgazebo/client.cc
===================================================================
--- code/branches/federation/gazebo/webgazebo/client.cc
(rev 0)
+++ code/branches/federation/gazebo/webgazebo/client.cc 2009-03-09 19:14:49 UTC
(rev 7404)
@@ -0,0 +1,89 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+/* Desc: Performance test for HTTP portal to libgazebo
+ * Author: Brian Gerkey
+ * Date: 9 March 2009
+ * SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
+ */
+
+#include <stdio.h>
+#include <assert.h>
+#include <stdlib.h>
+#include <sys/time.h>
+
+// These headers must be included prior to the libevent headers
+#include <sys/types.h>
+#include <sys/queue.h>
+
+// libevent
+#include <event.h>
+#include <evhttp.h>
+
+struct timeval g_t0, g_t1;
+
+// Callback that's invoked when the request is done and we have the
+// response
+void
+cb(evhttp_request* req, void* arg)
+{
+ gettimeofday(&g_t1, NULL);
+ if(req->response_code != 200)
+ printf("Got non-OK response code: %d\n", req->response_code);
+
+ printf("Response:\n%s", req->input_buffer->buffer);
+
+ double dt = ((g_t1.tv_sec + g_t1.tv_usec/1e6) -
+ (g_t0.tv_sec + g_t0.tv_usec/1e6));
+ printf("Elapsed time: %.6f\n", dt);
+ exit(0);
+}
+
+#define USAGE "USAGE: client <URI>"
+
+int
+main(int argc, char** argv)
+{
+ const char* uri;
+
+ if(argc != 2)
+ {
+ puts(USAGE);
+ exit(1);
+ }
+
+ uri = argv[1];
+
+ struct evhttp_connection* ec;
+ struct evhttp_request* er;
+
+ event_init();
+
+ ec = evhttp_connection_new("localhost", 8000);
+ assert(ec);
+
+ gettimeofday(&g_t0, NULL);
+ er = evhttp_request_new(cb, NULL);
+ int ret = evhttp_make_request(ec, er, EVHTTP_REQ_GET, uri);
+ event_dispatch();
+
+ return 0;
+}
Modified: code/branches/federation/gazebo/webgazebo/main.cc
===================================================================
--- code/branches/federation/gazebo/webgazebo/main.cc 2009-03-09 08:36:48 UTC
(rev 7403)
+++ code/branches/federation/gazebo/webgazebo/main.cc 2009-03-09 19:14:49 UTC
(rev 7404)
@@ -1,3 +1,30 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+/* Desc: HTTP portal to libgazebo
+ * Author: Brian Gerkey
+ * Date: 9 March 2009
+ * SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
+ */
+
#include "webgazebo/WebGazebo.hh"
#include <stdlib.h>
Modified: code/branches/federation/gazebo/worlds/federation.world
===================================================================
--- code/branches/federation/gazebo/worlds/federation.world 2009-03-09
08:36:48 UTC (rev 7403)
+++ code/branches/federation/gazebo/worlds/federation.world 2009-03-09
19:14:49 UTC (rev 7404)
@@ -48,6 +48,12 @@
<shadowTechnique>stencilAdditive</shadowTechnique>
</rendering:ogre>
+ <model:empty name="factory_model">
+ <controller:factory name="factory_controller">
+ <interface:factory name="factory_iface"/>
+ </controller:factory>
+ </model:empty>
+
<!-- Ground Plane -->
<model:physical name="plane1_model">
<xyz>0 0 0</xyz>
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