Revision: 7467
http://playerstage.svn.sourceforge.net/playerstage/?rev=7467&view=rev
Author: natepak
Date: 2009-03-12 23:37:08 +0000 (Thu, 12 Mar 2009)
Log Message:
-----------
Updates to the threading
Modified Paths:
--------------
code/branches/federation/gazebo/SConstruct
code/branches/federation/gazebo/build.py
code/branches/federation/gazebo/libgazebo/gazebo.h
code/branches/federation/gazebo/player/GazeboTime.cc
code/branches/federation/gazebo/server/gui/StatusBar.cc
code/branches/federation/gazebo/server/physics/Body.cc
code/branches/federation/gazebo/server/physics/Geom.cc
code/branches/federation/gazebo/server/rendering/OgreCreator.cc
Modified: code/branches/federation/gazebo/SConstruct
===================================================================
--- code/branches/federation/gazebo/SConstruct 2009-03-12 21:52:35 UTC (rev
7466)
+++ code/branches/federation/gazebo/SConstruct 2009-03-12 23:37:08 UTC (rev
7467)
@@ -37,7 +37,8 @@
'msg' : 'Error: Ogre3d and development files are required, but not\
found. ',
'flags' : '',
- 'web' : 'http://www.ogre3d.org'
+ 'web' : 'http://www.ogre3d.org',
+ 'required' : True
},
'ODE' : {
@@ -46,7 +47,8 @@
'msg' : 'Error: ODE and development files are required, but not\
found.',
'flags' : '',
- 'web' : 'http://www.ode.org'
+ 'web' : 'http://www.ode.org',
+ 'required' : True
},
'OpenAL' : {
@@ -54,7 +56,8 @@
'check' : 'openal',
'msg' : 'Warning: OpenAL not found. 3D audio will be disbled',
'flags' : ['-DHAVE_OPENAL'],
- 'web' : 'http://www.openal.org'
+ 'web' : 'http://www.openal.org',
+ 'required' : False
},
'XFT' : {
@@ -62,7 +65,8 @@
'check' : 'xft',
'msg' : 'Error: ',
'flags' : '',
- 'web' : 'http://www.xft.org'
+ 'web' : 'http://www.xft.org',
+ 'required' : True
},
'avformat' : {
@@ -71,7 +75,8 @@
'msg' : 'Warning: FFMpeg pkg-config not found. MP3 decoding\
is disabled',
'flags' : '',
- 'web' : 'http://ffmpeg.mplayerhq.hu/'
+ 'web' : 'http://ffmpeg.mplayerhq.hu/',
+ 'required' : False
},
'avcodec' : {
@@ -80,7 +85,8 @@
'msg' : 'Warning: FFMpeg pkg-config not found. MP3 decoding is\
disabled',
'flags' : '',
- 'web' : 'http://ffmpeg.mplayerhq.hu/'
+ 'web' : 'http://ffmpeg.mplayerhq.hu/',
+ 'required' : False
},
'XML2' : {
@@ -89,7 +95,8 @@
'msg' : 'Error: libxml2 and development files are required, but\
not found.',
'flags' : '',
- 'web' : 'http://www.xmlsoft.org'
+ 'web' : 'http://www.xmlsoft.org',
+ 'required' : True
},
'FLTK' : {
@@ -99,42 +106,48 @@
'msg' : 'Error: libfltk & development files are required, but not\
found.',
'flags' : '',
- 'web' : 'http://www.fltk.org'
+ 'web' : 'http://www.fltk.org',
+ 'required' : True
},
'Player' : {
'pkgcfg' : 'pkg-config --cflags --libs playerc++',
'check' : 'playerc++',
'msg' : 'Warning: Player not found, bindings will not be built.',
'flags' : ['-DHAVE_PLAYER'],
- 'web' : 'http://playerstage.sourceforge.net'
+ 'web' : 'http://playerstage.sourceforge.net',
+ 'required' : False
},
'event' : {
'header' : 'event.h',
'lib' : 'event',
'msg' : 'Warning: libevent not found. Webgazebo will no be
built.',
'flags' : ['-DHAVE_EVENT'],
- 'web' : 'http://www.monkey.org/~provos/libevent/'
+ 'web' : 'http://www.monkey.org/~provos/libevent/',
+ 'required' : False
},
'yaml' : {
'header' : 'yaml.h',
'lib' : 'yaml',
'msg' : 'Warning: yaml not found. Webgazebo will not be built.',
'flags' : ['-DHAVE_YAML'],
- 'web' : 'http://www.yaml.org'
+ 'web' : 'http://www.yaml.org',
+ 'required' : False
},
'websim' : {
'pkgcfg' : 'pkg-config --cflags --libs websim',
'check' : 'websim',
'msg' : 'Warning: websim not found. Webgazebo will not be
built.',
'flags' : ['-DHAVE_WEBSIM'],
- 'web' : 'http://www.playerstage.sourceforge.net'
+ 'web' : 'http://www.playerstage.sourceforge.net',
+ 'required' : False
},
'glib' : {
'pkgcfg' : 'pkg-config --cflags --libs glib-2.0',
'check' : 'glib-2.0',
'msg' : 'Warning: glib not found. Webgazebo will not be built.',
'flags' : '',
- 'web' : 'http://www.gtk.org'
+ 'web' : 'http://www.gtk.org',
+ 'required' : False
},
}
@@ -165,6 +178,8 @@
SHCXXCOMSTR = 'Compiling $TARGET',
SHCCCOMSTR = 'Compiling $TARGET',
SHLINKCOMSTR = 'Linking $TARGET',
+
+ HAS_ERROR = False,
)
@@ -225,6 +240,10 @@
Config(env, packages)
+if env['HAS_ERROR'] == True:
+ print "Build failed due to missing packages. See above errors"
+ Exit()
+
#######
# Export the environment
#######
Modified: code/branches/federation/gazebo/build.py
===================================================================
--- code/branches/federation/gazebo/build.py 2009-03-12 21:52:35 UTC (rev
7466)
+++ code/branches/federation/gazebo/build.py 2009-03-12 23:37:08 UTC (rev
7467)
@@ -138,6 +138,7 @@
header=''
lib=''
check=''
+ requred = True
if packages[key].has_key('pkgcfg'):
pkgcfg = packages[key]['pkgcfg']
@@ -151,6 +152,10 @@
if packages[key].has_key('check'):
check = packages[key]['check']
+ if packages[key].has_key('required'):
+ required = packages[key]['required']
+
+
msg = packages[key]['msg']
web = packages[key]['web']
flags = packages[key]['flags']
@@ -164,8 +169,8 @@
valid = False
print ' !!' + msg + key + ' not found.'
print ' See: ' + web
- if msg.find('Error') > 0:
- Exit(1)
+ if required:
+ env['HAS_ERROR'] = True;
# Try parsing the pkg-config
if docfg and pkgcfg:
@@ -182,8 +187,8 @@
print "Unable to parse config ["+pkgcfg+"]"
print ' !!' + msg + key + ' not found.'
print ' See: ' + web
- if msg.find('Error') > 0:
- Exit(1)
+ if required:
+ env['HAS_ERROR'] = True;
elif header and lib:
if not conf.CheckLibWithHeader(lib, header, 'c'):
valid = False
Modified: code/branches/federation/gazebo/libgazebo/gazebo.h
===================================================================
--- code/branches/federation/gazebo/libgazebo/gazebo.h 2009-03-12 21:52:35 UTC
(rev 7466)
+++ code/branches/federation/gazebo/libgazebo/gazebo.h 2009-03-12 23:37:08 UTC
(rev 7467)
@@ -379,7 +379,7 @@
/// Number of times the interface has been opened
public: int openCount;
- public: float time;
+ public: double time;
public: int version;
Modified: code/branches/federation/gazebo/player/GazeboTime.cc
===================================================================
--- code/branches/federation/gazebo/player/GazeboTime.cc 2009-03-12
21:52:35 UTC (rev 7466)
+++ code/branches/federation/gazebo/player/GazeboTime.cc 2009-03-12
23:37:08 UTC (rev 7467)
@@ -48,7 +48,7 @@
int GazeboTime::GetTime(struct timeval* time)
{
time->tv_sec = (int) floor(GazeboClient::sim->data->simTime);
- time->tv_usec = (int) floor(fmod(GazeboClient::sim->data->simTime, 1.0) *
1e6);
+ time->tv_usec = (int) floor(fmod((double)GazeboClient::sim->data->simTime,
(double)1.0) * 1e6);
return 0;
}
@@ -60,7 +60,7 @@
struct timeval ts;
ts.tv_sec = (int) floor(GazeboClient::sim->data->simTime);
- ts.tv_usec = (int) floor(fmod(GazeboClient::sim->data->simTime, 1.0) * 1e6);
+ ts.tv_usec = (int) floor(fmod((double)GazeboClient::sim->data->simTime,
(double)1.0) * 1e6);
*time = ts.tv_sec + ts.tv_usec/1e6;
Modified: code/branches/federation/gazebo/server/gui/StatusBar.cc
===================================================================
--- code/branches/federation/gazebo/server/gui/StatusBar.cc 2009-03-12
21:52:35 UTC (rev 7466)
+++ code/branches/federation/gazebo/server/gui/StatusBar.cc 2009-03-12
23:37:08 UTC (rev 7467)
@@ -44,22 +44,22 @@
y += 5;
this->box(FL_UP_BOX);
- this->fps = new Fl_Value_Output(x,y,40,20,"FPS");
+ this->fps = new Fl_Value_Output(x,y,35,20,"FPS");
this->fps->precision(0);
- x = this->fps->x() + this->fps->w() + 80;
- this->realTime = new Fl_Value_Output(x,y,55,20,"Real Time");
+ x = this->fps->x() + this->fps->w() + 95;
+ this->percent = new Fl_Value_Output(x,y,65,20,"% Real Time");
+ this->percent->precision(2);
+
+ x = this->percent->x() + this->percent->w() + 80;
+ this->realTime = new Fl_Value_Output(x,y,55,20,"Real Time (sec)");
this->realTime->precision(2);
- x = this->realTime->x() + this->realTime->w() + 80;
- this->percent = new Fl_Value_Output(x,y,55,20,"% Real Time");
- this->percent->precision(2);
-
- x = this->percent->x() + this->percent->w() + 75;
- this->simTime = new Fl_Value_Output(x,y,55,20,"Sim Time");
+ x = this->realTime->x() + this->realTime->w() + 85;
+ this->simTime = new Fl_Value_Output(x,y,65,20,"Sim Time (sec)");
this->simTime->precision(2);
- x = this->simTime->x() + this->simTime->w() + 90;
+ x = this->simTime->x() + this->simTime->w() + 100;
this->pauseTime = new Fl_Value_Output(x,y,55,20,"Pause Time");
this->pauseTime->precision(2);
@@ -87,19 +87,29 @@
void StatusBar::Update()
{
float avgFPS = 0;
+ float percent = 0;
+ float sim = 0;
avgFPS = this->gui->GetAvgFPS();
+ percent = 100. * (Simulator::Instance()->GetSimTime() /
Simulator::Instance()->GetRealTime());
+ sim = Simulator::Instance()->GetSimTime();
+ if (sim > 9999)
+ {
+ sim /= 60;
+ this->simTime->lable("Sim Time (min)");
+ }
+
//this->iterations->value(Simulator::Instance()->GetIterations());
this->fps->value(avgFPS);
- this->percent->value(Simulator::Instance()->GetSimTime() /
Simulator::Instance()->GetRealTime());
+ this->percent->value(percent);
if (Simulator::Instance()->GetRealTime() - this->realTime->value() > 0.1)
{
this->realTime->value(Simulator::Instance()->GetRealTime());
}
- this->simTime->value(Simulator::Instance()->GetSimTime());
+ this->simTime->value();
this->pauseTime->value(Simulator::Instance()->GetPauseTime());
}
Modified: code/branches/federation/gazebo/server/physics/Body.cc
===================================================================
--- code/branches/federation/gazebo/server/physics/Body.cc 2009-03-12
21:52:35 UTC (rev 7466)
+++ code/branches/federation/gazebo/server/physics/Body.cc 2009-03-12
23:37:08 UTC (rev 7467)
@@ -328,7 +328,7 @@
// Set the pose of the body
void Body::SetPose(const Pose3d &_pose)
{
- boost::recursive_mutex::scoped_lock lock(*this->mutex);
+ //boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (this->IsStatic())
{
@@ -365,7 +365,7 @@
// Return the pose of the body
Pose3d Body::GetPose() const
{
- boost::recursive_mutex::scoped_lock lock(*this->mutex);
+ //boost::recursive_mutex::scoped_lock lock(*this->mutex);
/*if (this->IsStatic())
return this->staticPose;
@@ -378,7 +378,7 @@
// Update the pose of the body
void Body::UpdatePose()
{
- boost::recursive_mutex::scoped_lock lock(*this->mutex);
+ //boost::recursive_mutex::scoped_lock lock(*this->mutex);
this->pose.pos = this->GetPosition();
this->pose.rot = this->GetRotation();
Modified: code/branches/federation/gazebo/server/physics/Geom.cc
===================================================================
--- code/branches/federation/gazebo/server/physics/Geom.cc 2009-03-12
21:52:35 UTC (rev 7466)
+++ code/branches/federation/gazebo/server/physics/Geom.cc 2009-03-12
23:37:08 UTC (rev 7467)
@@ -313,7 +313,7 @@
// Set the pose relative to the body
void Geom::SetPose(const Pose3d &newPose, bool updateCoM)
{
- boost::recursive_mutex::scoped_lock lock(*this->mutex);
+ //boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (this->placeable && this->geomId)
{
@@ -346,7 +346,7 @@
{
Pose3d pose;
- boost::recursive_mutex::scoped_lock lock(*this->mutex);
+ //boost::recursive_mutex::scoped_lock lock(*this->mutex);
if (this->placeable && this->geomId)
{
@@ -380,7 +380,7 @@
void Geom::SetPosition(const Vector3 &pos)
{
Pose3d pose;
- boost::recursive_mutex::scoped_lock lock(*this->mutex);
+ //boost::recursive_mutex::scoped_lock lock(*this->mutex);
pose = this->GetPose();
pose.pos = pos;
@@ -392,7 +392,7 @@
void Geom::SetRotation(const Quatern &rot)
{
Pose3d pose;
- boost::recursive_mutex::scoped_lock lock(*this->mutex);
+ //boost::recursive_mutex::scoped_lock lock(*this->mutex);
pose = this->GetPose();
pose.rot = rot;
Modified: code/branches/federation/gazebo/server/rendering/OgreCreator.cc
===================================================================
--- code/branches/federation/gazebo/server/rendering/OgreCreator.cc
2009-03-12 21:52:35 UTC (rev 7466)
+++ code/branches/federation/gazebo/server/rendering/OgreCreator.cc
2009-03-12 23:37:08 UTC (rev 7467)
@@ -703,9 +703,6 @@
Geom *geom = dynamic_cast<Geom*>(owner);
- if (owner->GetName() == "box1_geom")
- std::cout << "Pose[" << owner->GetPose() << "]\n";
-
if (geom || !owner->GetParent())
vis->SetPose(owner->GetPose());
else
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