Revision: 7469
http://playerstage.svn.sourceforge.net/playerstage/?rev=7469&view=rev
Author: rtv
Date: 2009-03-13 02:49:05 +0000 (Fri, 13 Mar 2009)
Log Message:
-----------
parsing and clock sync now working
Modified Paths:
--------------
code/websim/examples/simple.cc
code/websim/examples/world.fed
code/websim/src/confederate.cc
code/websim/src/parser.cc
code/websim/src/puppet.cc
code/websim/src/websim.cc
code/websim/src/websim.hh
Modified: code/websim/examples/simple.cc
===================================================================
--- code/websim/examples/simple.cc 2009-03-13 00:46:58 UTC (rev 7468)
+++ code/websim/examples/simple.cc 2009-03-13 02:49:05 UTC (rev 7469)
@@ -34,7 +34,8 @@
const
websim::Acceleration& a,
std::string& error)
{
- printf( "set model PVA name:%s\n", name.c_str() );
+ printf( "set model PVA name:%s\n", name.c_str() );
+
return true;
}
@@ -52,20 +53,24 @@
int main( int argc, char** argv )
{
- MinWebSim mws( argv[1], argv[2], atoi(argv[3]) );
+ std::string filename = argv[1];
+ std::string host = argv[2];
+ unsigned short port = atoi( argv[3] );
+
+ MinWebSim mws( filename, host, port );
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" );
+ if( port == 8000 )
+ {
+ 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 );
+
+ //usleep(100);
+
+ mws.SetPuppetPVA( "monkey", p, v, a );
+ }
+ mws.Update();
}
}
Modified: code/websim/examples/world.fed
===================================================================
--- code/websim/examples/world.fed 2009-03-13 00:46:58 UTC (rev 7468)
+++ code/websim/examples/world.fed 2009-03-13 02:49:05 UTC (rev 7469)
@@ -1,11 +1,14 @@
[federation]
-deckard:8000=websimple
-gort:8000=webgazebo
+deckard:8000=master
+deckard:8001=slave1
+deckard:8002=slave2
+deckard:8003=slave3
-[websimple]
-chunky=webgazebo:pioneer2dx
-punky=webgazebo:pioneer2dx
+[master]
+monkey=slave1:pioneer2dx;slave2:pioneer2dx;slave3:pioneer2dx
+chunky=slave1:pioneer2dx;slave2:pioneer2dx;slave3:pioneer2dx
+punky=slave1:pioneer2dx;slave2:pioneer2dx;slave3:pioneer2dx
Modified: code/websim/src/confederate.cc
===================================================================
--- code/websim/src/confederate.cc 2009-03-13 00:46:58 UTC (rev 7468)
+++ code/websim/src/confederate.cc 2009-03-13 02:49:05 UTC (rev 7469)
@@ -59,12 +59,10 @@
&remote_host,
&remote_port );
- // build the canonical name for this confederate
- //char buf[512];
- //snprintf( buf, 512, "%s:%u", remote_host, remote_port );
- //name = strdup(buf);
+ printf( "\t\tConfederate %s constructed \n", name.c_str() );
- printf( "\t\tConfederate %s constructed \n", name.c_str() );
+ if( uri != ws->hostportname )
+ ws->tick_count_expected++;
}
WebSim::Confederate::~Confederate()
@@ -88,15 +86,6 @@
void WebSim::Confederate::AddPuppet( Puppet* puppet,
std::string prototype )
{
- // send a create message
- //printf( "Creating puppet \"%s\" on %s using prototype \"%s\"\n",
- // puppet->name,
- // 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);
@@ -117,7 +106,7 @@
// a successful response sets puppet->created to true
while( ! puppet->created )
- event_loop( EVLOOP_NONBLOCK ); // loops until the request has completed
+ event_loop( EVLOOP_ONCE ); // loops until the request has completed
puppet_list =
g_list_append( puppet_list, puppet );
@@ -125,13 +114,21 @@
void WebSim::Confederate::PuppetPushCallback( evhttp_request* req, void* arg )
{
+ if( req == NULL )
+ {
+ puts( "[websim] warning: broken connection waiting for push
reply." );
+ return;
+ }
+
cb_chunk_t* ch = (cb_chunk_t*)arg;
-
+ assert(ch);
+
if( req->response_code == 200 )
{
- --ch->conf->ws->unacknowledged_pushes;
- printf( "puppet push for \"%s\" acked OK. Outstanding pushes
%u\n",
- ch->name.c_str(),
ch->conf->ws->unacknowledged_pushes );
+ ch->conf->ws->unacknowledged_pushes--;
+
+ //printf( "puppet push for \"%s\" acked OK. Outstanding pushes
%u\n",
+ // ch->name.c_str(), ch->conf->ws->unacknowledged_pushes
);
}
else
{
@@ -139,6 +136,8 @@
printf( "code: %d\n", req->response_code );
printf( "response: %s\n", req->input_buffer->buffer );
}
+
+ delete ch;
}
int WebSim::Confederate::Push( std::string name, Pose p, Velocity v,
Acceleration a )
@@ -148,12 +147,12 @@
name.c_str() );
// compose a struct to send into the callback
- cb_chunk_t ch;
- ch.name = name;
- ch.conf = this;
+ cb_chunk_t* ch = new cb_chunk_t();
+ ch->name = name;
+ ch->conf = this;
struct evhttp_request* er =
- evhttp_request_new( PuppetPushCallback, &ch );
+ evhttp_request_new( PuppetPushCallback, ch );
assert(er);
char buf[512];
@@ -166,7 +165,7 @@
v.x, v.y, v.z, v.r, v.p, v.a,
a.x, a.y, a.z, a.r, a.p, a.a );
- printf( "Emitting: http://%s%s\n";, this->name.c_str(), buf );
+ // printf( "Emitting: http://%s%s\n";, this->name.c_str(), buf );
++ws->unacknowledged_pushes; // decremented when reply is received
@@ -183,13 +182,19 @@
void WebSim::Confederate::TickReplyCb( evhttp_request* req, void* arg )
{
+ if( req == NULL )
+ {
+ puts( "[websim] warning: broken connection waiting for tick
reply." );
+ return;
+ }
+
WebSim* ws = (WebSim*)arg;
if( req->response_code == 200 )
{
- --ws->unacknowledged_pushes;
- printf( "tick acked OK. Outstanding pushes %u\n",
- ws->unacknowledged_pushes );
+ --ws->unacknowledged_ticks;
+ //printf( "tick ACK. Outstanding ticks %u\n",
+ // ws->unacknowledged_ticks );
}
else
{
@@ -203,15 +208,15 @@
int WebSim::Confederate::Tick()
{
// construct and send a tick message
- printf( "Confederate %s clock tick\n",
- name.c_str() );
+ //printf( "Confederate %s clock tick\n",
+ // name.c_str() );
- ++ws->unacknowledged_pushes;
-
struct evhttp_request* er =
evhttp_request_new( TickReplyCb, ws );
assert(er);
+ ++ws->unacknowledged_ticks; // decremented when reply is received
+
int ret = evhttp_make_request( http_con, er, EVHTTP_REQ_GET,
"/sim/clock/tick" );
if( ret != 0 )
{
Modified: code/websim/src/parser.cc
===================================================================
--- code/websim/src/parser.cc 2009-03-13 00:46:58 UTC (rev 7468)
+++ code/websim/src/parser.cc 2009-03-13 02:49:05 UTC (rev 7469)
@@ -30,17 +30,14 @@
#include <string>
#include <iostream>
-// we#include <yaml.h> // YAML parser
+#include "websim.hh"
+
using namespace std;
-
-#include "websim.hh"
using namespace websim;
-WebSim::Parser::Parser( WebSim* ws, std::string filename ) :
- ws( ws )
-{
-
+void WebSim::LoadFederationFile( std::string filename )
+{
GError* err = NULL;
GKeyFile* keyfile = g_key_file_new();
g_key_file_load_from_file( keyfile,
@@ -74,21 +71,21 @@
*fedkeyp, logicalname );
string hosturi = *fedkeyp;
- Confederate* conf = new Confederate( ws, hosturi );
+ Confederate* conf = new Confederate( this, hosturi );
assert(conf);
// copy the hash table key so we can delete the original below
- g_hash_table_insert( ws->confederates, strdup(logicalname),
conf );
+ g_hash_table_insert( confederates, strdup(logicalname), conf );
}
- cout << "Looking up logical name for myself " << ws->hostportname << endl;
+ cout << "Looking up logical name for myself " << hostportname << endl;
// now we have made all the confederates.
// Let's look up the confederate for this instance
// read the array of entries for this host
gchar* mylogicalname = g_key_file_get_string( keyfile,
"federation",
-
ws->hostportname.c_str(),
+
hostportname.c_str(),
&err );
cout << "my logical name is " << mylogicalname << endl;
@@ -123,7 +120,7 @@
*modelp );
else
{
- Puppet* pup = new Puppet( ws, *modelp );
+ Puppet* pup = new Puppet( this, *modelp );
// for each puppet
for( char** puppetp = puppets;
@@ -139,18 +136,21 @@
std::string confstr =
pupstr.substr( 0, pos );
std::string typestr =
pupstr.substr( pos+1 );
- Confederate* conf =
ws->GetConfederate( confstr );
- assert( conf );
-
- pup->AddConfederate( conf,
typestr );
+ Confederate* conf =
GetConfederate( confstr );
+ if( conf == NULL )
+ {
+ printf( "[websim]
error: request to export %s/%s to unspecified server %s\n",
+
mylogicalname, *modelp, confstr.c_str() );
+ }
+ else
+ {
+ pup->AddConfederate(
conf, typestr );
+ }
}
}
}
}
- // XX
- exit( 0 );
-
// free the key array
g_strfreev( fedkeys );
}
Modified: code/websim/src/puppet.cc
===================================================================
--- code/websim/src/puppet.cc 2009-03-13 00:46:58 UTC (rev 7468)
+++ code/websim/src/puppet.cc 2009-03-13 02:49:05 UTC (rev 7469)
@@ -35,7 +35,8 @@
WebSim::Puppet::Puppet( WebSim* ws, std::string name ) :
ws( ws ),
name( name ),
- created( false )
+ created( false ),
+ confederates( NULL )
{
g_hash_table_insert( ws->puppets, (void*)this->name.c_str(), this );
printf( "Puppet \"%s\" constructed\n", this->name.c_str() );
Modified: code/websim/src/websim.cc
===================================================================
--- code/websim/src/websim.cc 2009-03-13 00:46:58 UTC (rev 7468)
+++ code/websim/src/websim.cc 2009-03-13 02:49:05 UTC (rev 7469)
@@ -40,6 +40,7 @@
WebSim::WebSim(const std::string& _fedfile,
const std::string& _host,
unsigned short _port) :
+ ticks_remaining(0),
tick_count_expected(0),
fedfile(_fedfile),
host(_host),
@@ -47,7 +48,9 @@
puppets( g_hash_table_new( g_str_hash, g_str_equal ) ),
confederates( g_hash_table_new( g_str_hash, g_str_equal ) ),
logical_hosts( g_hash_table_new( g_str_hash, g_str_equal ) ),
- unacknowledged_pushes(0)
+ unacknowledged_pushes(0),
+ unacknowledged_ticks(0),
+ total_ticks(0)
{
char buf[512];
@@ -76,7 +79,7 @@
if( fedfile != "" )
{
printf( "[websim] Loading federation file %s\n",
_fedfile.c_str() );
- Parser p( this, _fedfile.c_str() );
+ LoadFederationFile( _fedfile.c_str() );
}
puts("[websim] Ready");
@@ -96,11 +99,11 @@
if( confname != ws->hostportname ) // don't tick myself
{
- printf( "ticking conf %s\n", conf->name.c_str() );
+ // printf( "ticking conf %s\n", conf->name.c_str() );
conf->Tick();
}
- else
- printf( "NOT ticking myself %s\n", conf->name.c_str() );
+ //else
+ // printf( "NOT ticking myself %s\n", conf->name.c_str() );
}
void
@@ -108,16 +111,22 @@
{
// tick all my confederates
ForEachConfederate( Confederate::TickCb, this );
+
+ ticks_remaining = tick_count_expected;
+ do
+ {
+// printf( "Update: ticks pending %d/%d ACKS( tick %u push %u)\n",
+// ticks_remaining, tick_count_expected,
+// unacknowledged_ticks,
+// unacknowledged_pushes );
+
+ if(tick_count_expected || unacknowledged_pushes )
+ event_loop(EVLOOP_ONCE);
+ else
+ event_loop(EVLOOP_NONBLOCK);
+ } while( ticks_remaining );
- tick_count = 0;
- do
- {
- if(tick_count_expected || unacknowledged_pushes )
- event_loop(EVLOOP_ONCE);
- else
- event_loop(EVLOOP_NONBLOCK);
- } while(tick_count < tick_count_expected);
- tick_count = 0;
+ printf( "STEP %lu\n", total_ticks++ );
}
void
@@ -227,7 +236,7 @@
{
if(action == "tick")
{
- tick_count++;
+ ticks_remaining--;
response = "Ticked the clock";
return true;
}
Modified: code/websim/src/websim.hh
===================================================================
--- code/websim/src/websim.hh 2009-03-13 00:46:58 UTC (rev 7468)
+++ code/websim/src/websim.hh 2009-03-13 02:49:05 UTC (rev 7469)
@@ -52,92 +52,95 @@
class WebSim
{
- public:
- WebSim(const std::string& _fedfile,
- const std::string& _host,
- unsigned short _port);
- virtual ~WebSim();
+public:
+ WebSim(const std::string& _fedfile,
+ const std::string& _host,
+ unsigned short _port);
- void Update();
-
- // Interface to be implemented by simulators
- virtual bool CreateModel(const std::string& name,
- const std::string& type,
- std::string& response) = 0;
- virtual bool DeleteModel(const std::string& name,
- std::string& response) = 0;
- virtual bool SetModelPVA(const std::string& name,
- const Pose& p,
- const Velocity& v,
- const Acceleration& a,
- std::string& response) = 0;
- virtual bool GetModelPVA(const std::string& name,
- Pose& p,
- Velocity& v,
- Acceleration& a,
- std::string& response) = 0;
-
+ virtual ~WebSim();
+
+ void LoadFederationFile( std::string filename );
+
+ void Update();
+
+ // Interface to be implemented by simulators
+ virtual bool CreateModel(const std::string& name,
+ const
std::string& type,
+
std::string& response) = 0;
+ virtual bool DeleteModel(const std::string& name,
+
std::string& response) = 0;
+ virtual bool SetModelPVA(const std::string& name,
+ const
Pose& p,
+ const
Velocity& v,
+ const
Acceleration& a,
+
std::string& response) = 0;
+ virtual bool GetModelPVA(const std::string& name,
+ Pose& p,
+
Velocity& v,
+
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,
- const std::string &d);
-
-
+
+protected:
+ void StringSplit(const std::string &s,
+ std::vector<std::string> &t,
+ const std::string &d);
+
+
// Number of ticks we require before exiting Update()
int tick_count_expected;
- // Number of ticks we've received since the last Update()
- int tick_count;
+ // Number of ticks remaining before we can quit update
+ int ticks_remaining;
- private:
- std::string fedfile;
- std::string host;
- std::string hostportname; // format "host:port" to uniquely identify this
instance
- unsigned short port;
-
- struct evhttp* eh;
-
- // Static, so that it can be passed as a callback to libevent
- static void EventCallback(evhttp_request* req, void* arg);
-
- bool GetValue(std::string& value,
- struct evkeyvalq* query_args,
- const std::string& key);
- 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,
- std::string uri,
- std::string& response);
- void DeleteKeyVal(struct evkeyvalq* query_args);
-
-
- // forward decare
+private:
+ std::string fedfile;
+ std::string host;
+ std::string hostportname; // format "host:port" to uniquely identify this
instance
+ unsigned short port;
+
+ struct evhttp* eh;
+
+ // Static, so that it can be passed as a callback to libevent
+ static void EventCallback(evhttp_request* req, void* arg);
+
+ bool GetValue(std::string& value,
+ struct evkeyvalq* query_args,
+ const std::string& key);
+ 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,
+ std::string uri,
+ std::string& response);
+ void DeleteKeyVal(struct evkeyvalq* query_args);
+
+
+ // forward decare
class Confederate;
-
+
// manage an object we control on some federated simulators
class Puppet
{
private:
WebSim* ws;
-
+
public:
Puppet( WebSim* ws, std::string name );
@@ -159,7 +162,7 @@
void AddConfederate( Confederate* conf,
std::string
prototype );
};
-
+
// manage a federated simulator
class Confederate
{
@@ -198,37 +201,12 @@
// list of pointers to Puppet objects that are hosted on this
// connection - can iterate over these to update all puppets
GList* puppet_list;
-
+
// unique ID for this confederate in format "hostname:port", used as
// hash table key
std::string name;
};
- class Parser
- {
- private:
- //yaml_event_t event;
- //yaml_parser_t parser;
- WebSim* ws;
-
- // void parse_failed( std::string message );
-// void next_event( std::string msg );
-// void expect( yaml_event_type_t event_type, std::string msg );
-// void parse_puppet_mapping( Puppet* pup );
-// void parse_puppet_mapping_sequence( Puppet* pup );
-// void parse_model_mapping( std::string host );
-// void parse_model_mapping_sequence( std::string host );
-// void parse_host_mapping();
-// void parse_logical_host();
-// void parse_logical_host_sequence();
-
-
- // Confederate* GetConfederate( std::string name, std::string
uri);
-
- public:
- Parser( WebSim* ws, std::string filename );
- };
-
private:
// static const unsigned short DEFAULT_PORT;
static const std::string package;
@@ -241,6 +219,11 @@
// counts the number of status messages sent and replies not yet received
unsigned int unacknowledged_pushes;
+ // counts the number of clock ticks sent and replies not yet received
+ unsigned int unacknowledged_ticks;
+
+ unsigned long total_ticks;
+
/** Get a puppet by name */
Puppet* GetPuppet( std::string name );
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