Revision: 7447
http://playerstage.svn.sourceforge.net/playerstage/?rev=7447&view=rev
Author: rtv
Date: 2009-03-10 09:40:49 +0000 (Tue, 10 Mar 2009)
Log Message:
-----------
working on examples and client
Modified Paths:
--------------
code/websim/src/confederate.cc
code/websim/src/parser.cc
code/websim/src/websim.cc
code/websim/src/websim.hh
Added Paths:
-----------
code/websim/examples/
code/websim/examples/Makefile
code/websim/examples/simple.cc
code/websim/examples/world.fed
Added: code/websim/examples/Makefile
===================================================================
--- code/websim/examples/Makefile (rev 0)
+++ code/websim/examples/Makefile 2009-03-10 09:40:49 UTC (rev 7447)
@@ -0,0 +1,3 @@
+
+simple: simple.cc
+ g++ -g -W -Wall -I/home/vaughan/gzfed/include `pkg-config --cflags
glib-2.0` simple.cc -o $@ `pkg-config --libs glib-2.0`
-L/home/vaughan/gzfed/lib -lwebsim -lyaml -lstdc++
\ No newline at end of file
Added: code/websim/examples/simple.cc
===================================================================
--- code/websim/examples/simple.cc (rev 0)
+++ code/websim/examples/simple.cc 2009-03-10 09:40:49 UTC (rev 7447)
@@ -0,0 +1,71 @@
+#include "websim/websim.hh"
+
+class MinWebSim : public websim::WebSim
+{
+public:
+ MinWebSim(const std::string& fedfile,
+ const std::string& host, int port ) :
+ websim::WebSim( fedfile, host, port )
+ {
+ }
+
+ virtual ~MinWebSim()
+ {}
+
+ // Interface to be implemented by simulators
+ virtual bool CreateModel(const std::string& name,
+ const
std::string& type,
+
std::string& error)
+ {
+ printf( "create model name:%s type:%s\n", name.c_str(), type.c_str()
);
+ return true;
+ }
+
+ virtual bool DeleteModel(const std::string& name,
+
std::string& error)
+ {
+ printf( "deletee model name:%s \n", name.c_str() );
+ return true;
+ }
+
+ virtual bool SetModelPVA(const std::string& name,
+ const
websim::Pose& p,
+ const
websim::Velocity& v,
+ const
websim::Acceleration& a,
+
std::string& error)
+ {
+ printf( "set model PVA name:%s\n", name.c_str() );
+ return true;
+ }
+
+ virtual bool GetModelPVA(const std::string& name,
+
websim::Pose& p,
+
websim::Velocity& v,
+
websim::Acceleration& a,
+
std::string& error)
+ {
+ printf( "get model name:%s\n", name.c_str() );
+ return true;
+ }
+};
+
+
+int main( int argc, char** argv )
+{
+ MinWebSim mws( argv[1], argv[2], atoi(argv[3]) );
+
+ while( 1 )
+ {
+ websim::Pose p( 0,0,0,0,0,0 );
+ websim::Velocity v( 0,0,0,0,0,0 );
+ websim::Acceleration a( 0,0,0,0,0,0 );
+
+ //sleep(1);
+
+ mws.SetPuppetPVA( "monkey", p, v, a );
+
+ mws.Update();
+
+ puts( "websim update returned" );
+ }
+}
Added: code/websim/examples/world.fed
===================================================================
--- code/websim/examples/world.fed (rev 0)
+++ code/websim/examples/world.fed 2009-03-10 09:40:49 UTC (rev 7447)
@@ -0,0 +1,30 @@
+# sourcehost:
+# - modelname1:
+# - desthost: prototype
+
+gort:
+ - monkey:
+ - "localhost 8001": pioneer2dx
+
+# - punky:
+# - localhost: pioneer2dx
+# - chunky:
+# - localhost: pioneer2dx
+# - funky:
+# - localhost: pioneer2dx
+
+
+# - roy: pioneer
+# - "priss 8888": pioneer
+# - pioneer2dx_model2:
+# - deckard: pioneer
+# - pioneer2dx_model3:
+# - deckard: pioneer
+
+#"tenner 9999":
+# - pr2_1:
+# - deckard: pr2
+
+#priss:
+# - pr2_1:
+# - "deckard 1234": pr2
Modified: code/websim/src/confederate.cc
===================================================================
--- code/websim/src/confederate.cc 2009-03-10 09:40:23 UTC (rev 7446)
+++ code/websim/src/confederate.cc 2009-03-10 09:40:49 UTC (rev 7447)
@@ -32,7 +32,7 @@
using namespace websim;
WebSim::Confederate::Confederate( WebSim* ws, const char* host, unsigned short
port ) :
- unacknowledged_pushes( 0 ),
+ ws(ws),
puppet_list( NULL )
{
if(! (http_con = evhttp_connection_new( host, port )) )
@@ -84,6 +84,9 @@
// name,
// prototype );
+ // the server needs to wait for ticks from this connected server
+ ++ws->tick_count_expected;
+
struct evhttp_request* er =
evhttp_request_new( PuppetCreationCallback, puppet );
assert(er);
@@ -116,9 +119,9 @@
if( req->response_code == 200 )
{
- --ch->conf->unacknowledged_pushes;
+ --ch->conf->ws->unacknowledged_pushes;
printf( "puppet push for \"%s\" acked OK. Outstanding pushes
%u\n",
- ch->name, ch->conf->unacknowledged_pushes );
+ ch->name, ch->conf->ws->unacknowledged_pushes
);
}
else
{
@@ -155,7 +158,7 @@
printf( "Emitting: http://%s%s\n";, this->name, buf );
- ++unacknowledged_pushes; // decremented when reply is received
+ ++ws->unacknowledged_pushes; // decremented when reply is received
int ret = evhttp_make_request( http_con, er, EVHTTP_REQ_GET, buf );
if( ret != 0 )
@@ -164,17 +167,50 @@
exit(0);
}
- while( unacknowledged_pushes )
- event_loop( EVLOOP_NONBLOCK ); // loops until the request has completed
-
return 0;
}
-int WebSim::Confederate::RunStep()
+
+void WebSim::Confederate::TickReplyCb( evhttp_request* req, void* arg )
{
+ WebSim* ws = (WebSim*)arg;
+
+ if( req->response_code == 200 )
+ {
+ --ws->unacknowledged_pushes;
+ printf( "tick acked OK. Outstanding pushes %u\n",
+ ws->unacknowledged_pushes );
+ }
+ else
+ {
+ printf( "bad response regarding tick\n" );
+ printf( "code: %d\n", req->response_code );
+ printf( "response: %s\n", req->input_buffer->buffer );
+ }
+}
+
+
+int WebSim::Confederate::Tick()
+{
// construct and send a tick message
printf( "Confederate %s clock tick\n",
name );
+
+ ++ws->unacknowledged_pushes;
+
+ struct evhttp_request* er =
+ evhttp_request_new( PuppetPushCallback, ws );
+ assert(er);
+
+ int ret = evhttp_make_request( http_con, er, EVHTTP_REQ_GET,
"/sim/clock/tick" );
+ if( ret != 0 )
+ {
+ printf( "send tick returned error %d\n", ret );
+ exit(0);
+ }
+
+
+
return 0;
}
Modified: code/websim/src/parser.cc
===================================================================
--- code/websim/src/parser.cc 2009-03-10 09:40:23 UTC (rev 7446)
+++ code/websim/src/parser.cc 2009-03-10 09:40:49 UTC (rev 7447)
@@ -74,6 +74,9 @@
char lookup[256];
snprintf( lookup, 256, "%s:%u", host, port );
+ assert( ws );
+ assert( ws->confederates );
+
Confederate* conf = (Confederate*)
g_hash_table_lookup( ws->confederates, lookup );
@@ -138,7 +141,8 @@
string model = (char*)event.data.scalar.value;
Puppet* pup = NULL;
-
+
+ cout << "host " << host << " hostportname " << ws->hostportname << endl;
if( host == ws->hostportname )
pup = new Puppet( ws, model.c_str() );
@@ -180,7 +184,7 @@
{
string host = (const
char*)event.data.scalar.value;
- // cout << "HOST " << host << endl;
+ cout << "HOST " << host << endl;
Confederate* conf = GetConfederate(
host.c_str() );
parse_model_mapping_sequence( conf->name );
Modified: code/websim/src/websim.cc
===================================================================
--- code/websim/src/websim.cc 2009-03-10 09:40:23 UTC (rev 7446)
+++ code/websim/src/websim.cc 2009-03-10 09:40:49 UTC (rev 7447)
@@ -43,7 +43,10 @@
tick_count_expected(0),
fedfile(_fedfile),
host(_host),
- port(_port)
+ port(_port),
+ puppets( g_hash_table_new( g_str_hash, g_str_equal ) ),
+ confederates( g_hash_table_new( g_str_hash, g_str_equal ) ),
+ unacknowledged_pushes(0)
{
// Set up the HTTP server
// Not sure whether it's safe to do this more that once in one process
@@ -66,7 +69,10 @@
// if a federation file was specified, we parse it to populate the
// WebSim with confederates and puppets.
if( fedfile != "" )
- Parser p( this, _fedfile.c_str() );
+ {
+ printf( "[websim] Loading federation file %s\n",
_fedfile.c_str() );
+ Parser p( this, _fedfile.c_str() );
+ }
puts("[websim] Ready");
}
@@ -77,13 +83,21 @@
// No event_fini() to call...
}
+void WebSim::Confederate::TickCb( const char* name, Confederate* conf, void*
arg )
+{
+ conf->Tick();
+}
+
void
WebSim::Update()
{
+ // tick all my confederates
+ ForEachConfederate( Confederate::TickCb, NULL );
+
tick_count = 0;
do
{
- if(tick_count_expected)
+ if(tick_count_expected || unacknowledged_pushes )
event_loop(EVLOOP_ONCE);
else
event_loop(EVLOOP_NONBLOCK);
@@ -399,3 +413,46 @@
return true;
}
+
+WebSim::Puppet* WebSim::GetPuppet( const char* name )
+{
+ return( (Puppet*)g_hash_table_lookup( WebSim::puppets, name ) );
+}
+
+WebSim::Confederate* WebSim::GetConfederate( const char* name )
+{
+ return( (Confederate*)g_hash_table_lookup( WebSim::confederates, name ) );
+}
+
+bool
+WebSim::SetPuppetPVA( const std::string& name,
+ Pose& p,
+ Velocity& v,
+ Acceleration& a )
+{
+ Puppet* pup = GetPuppet( name.c_str() );
+
+ if( pup )
+ {
+ pup->Push( p,v,a );
+ return true;
+ }
+
+ printf( "[websim] warning: attempt to set puppet PVA on non-existent puppet
\"%s\"\n",
+ name.c_str() );
+ return false;
+}
+
+ void WebSim::ForEachConfederate( void(*cb)(const char*,
WebSim::Confederate*, void*), void* arg )
+{
+ g_hash_table_foreach( WebSim::confederates,
+ (GHFunc)cb,
+ arg );
+}
+
+void WebSim::ForEachPuppet( void(*cb)(const char*, WebSim::Puppet*, void*),
void* arg )
+{
+ g_hash_table_foreach( WebSim::puppets,
+ (GHFunc)cb,
+ arg );
+}
Modified: code/websim/src/websim.hh
===================================================================
--- code/websim/src/websim.hh 2009-03-10 09:40:23 UTC (rev 7446)
+++ code/websim/src/websim.hh 2009-03-10 09:40:49 UTC (rev 7447)
@@ -77,6 +77,11 @@
Acceleration& a,
std::string& response) = 0;
+ bool SetPuppetPVA( const std::string& name,
+ Pose& p,
+ Velocity& v,
+ Acceleration& a );
+
protected:
void StringSplit(const std::string &s,
std::vector<std::string> &t,
@@ -154,7 +159,7 @@
void AddConfederate( Confederate* conf,
const char*
prototype );
};
-
+
// manage a federated simulator
class Confederate
{
@@ -172,9 +177,6 @@
static void PuppetCreationCallback( evhttp_request* req, void* arg );
static void PuppetPushCallback( evhttp_request* req, void* arg );
- // counts the number of status messages sent and replies not yet
received
- unsigned int unacknowledged_pushes;
-
WebSim* ws;
public:
@@ -186,7 +188,12 @@
int Push( const char* name, Pose p, Velocity v, Acceleration a );
- int RunStep();
+ static void TickCb( const char* name, Confederate* conf, void* arg );
+ static void TickReplyCb( evhttp_request* req, void* arg );
+
+
+ // send a tick request to this host
+ int Tick();
// list of pointers to Puppet objects that are hosted on this
// connection - can iterate over these to update all puppets
@@ -230,11 +237,20 @@
GHashTable* puppets;
GHashTable* confederates;
+ // counts the number of status messages sent and replies not yet received
+ unsigned int unacknowledged_pushes;
+
/** Get a puppet by name */
Puppet* GetPuppet( const char* name );
/** Get a confederate by name in format "host:port" */
Confederate* GetConfederate( const char* name );
+
+ /** For each confederate, call the callback function */
+ void ForEachConfederate( void(*cb)(const char*, Confederate*, void*), void*
arg );
+
+ /** For each puppet, call the callback function */
+ void ForEachPuppet( void(*cb)(const char*, Puppet*, void*), void* arg );
};
class Pose
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