Revision: 7481
http://playerstage.svn.sourceforge.net/playerstage/?rev=7481&view=rev
Author: rtv
Date: 2009-03-14 01:12:23 +0000 (Sat, 14 Mar 2009)
Log Message:
-----------
much more functionality - currently fighting a race condition - do not use
Modified Paths:
--------------
code/websim/examples/world.fed
code/websim/src/confederate.cc
code/websim/src/parser.cc
code/websim/src/websim.cc
code/websim/src/websim.hh
Modified: code/websim/examples/world.fed
===================================================================
--- code/websim/examples/world.fed 2009-03-13 21:50:24 UTC (rev 7480)
+++ code/websim/examples/world.fed 2009-03-14 01:12:23 UTC (rev 7481)
@@ -6,9 +6,9 @@
deckard:8003=slave3
[master]
-monkey=slave1:pioneer2dx;slave2:pioneer2dx;slave3:pioneer2dx
-chunky=slave1:pioneer2dx;slave2:pioneer2dx;slave3:pioneer2dx
-punky=slave1:pioneer2dx;slave2:pioneer2dx;slave3:pioneer2dx
+monkey=slave1:pioneer2dx;slave2:pioneer2dx
+chunky=slave1:pioneer2dx;slave2:pioneer2dx
+punky=slave1:pioneer2dx;slave2:pioneer2dx
Modified: code/websim/src/confederate.cc
===================================================================
--- code/websim/src/confederate.cc 2009-03-13 21:50:24 UTC (rev 7480)
+++ code/websim/src/confederate.cc 2009-03-14 01:12:23 UTC (rev 7481)
@@ -33,6 +33,39 @@
#include "websim.hh"
using namespace websim;
+void greetingCb( evhttp_request* req, void* arg )
+{
+ if( req == NULL )
+ {
+ puts( "[websim] warning: broken connection waiting for greeting
reply." );
+ return;
+ }
+
+ bool* created = (bool*)arg;
+
+ printf( "cb created %p %d\n", created, *created );
+
+ switch( req->response_code )
+ {
+ case 0: // host not available - we just retry
+ putchar('.'); fflush(stdout);
+ break;
+ case 200: // OK
+ (*created) = true;
+ break;
+ case 400:
+ printf( "[websim] server responds to greeting with error (400):
%s.\n",
+ req->input_buffer->buffer );
+ break;
+ default:
+ printf( "[websim] unknown greeting response code (%u): %s.\n",
+ req->response_code,
+ req->input_buffer->buffer );
+ break;
+ }
+}
+
+
WebSim::Confederate::Confederate( WebSim* ws,
std::string uri ) :
ws(ws),
@@ -62,8 +95,49 @@
printf( "\t\tConfederate %s constructed \n", name.c_str() );
- if( uri != ws->hostportname )
- ws->tick_count_expected++;
+ // greet the server - loop until reply is received
+
+ bool created = false;
+
+ struct timeval last;
+ last.tv_sec = 0;
+ last.tv_usec = 0;
+
+ while( ! created )
+ {
+ struct evhttp_request* er =
+ evhttp_request_new( greetingCb, &created );
+ assert(er);
+
+ struct timeval now;
+ gettimeofday( &now, NULL );
+
+ if( now.tv_sec > last.tv_sec )
+ {
+ std::string buf = "/sim/greet/dummy";
+
+ printf( "emit created %p %u\n", &created, created );
+ printf( "Emitting: http://%s/%s\n";, name.c_str(),
buf.c_str() );
+
+ int ret = evhttp_make_request( http_con, er,
EVHTTP_REQ_GET, buf.c_str());
+ if( ret != 0 )
+ {
+ printf( "make request returned error %d\n",
ret );
+ exit(0);
+ }
+
+ last.tv_sec = now.tv_sec;
+ }
+
+ // loop until something happens or a short time passes
+ struct timeval tv;
+ tv.tv_sec=1;
+ tv.tv_usec=0;
+ event_loopexit( &tv );
+ event_loop( EVLOOP_ONCE ); // loops until the request has
completed
+ }
+
+ ws->tick_count_expected++;
}
WebSim::Confederate::~Confederate()
@@ -127,7 +201,8 @@
if( req->response_code == 200 )
{
ch->conf->ws->unacknowledged_pushes--;
-
+ ch->conf->ws->EscapeLoopIfDone();
+
//printf( "puppet push for \"%s\" acked OK. Outstanding pushes
%u\n",
// ch->name.c_str(), ch->conf->ws->unacknowledged_pushes
);
}
@@ -143,9 +218,9 @@
int WebSim::Confederate::Push( std::string name, Pose p, Velocity v,
Acceleration a )
{
- printf( "\tconfederate %s pushing state of \"%s\"\n",
- this->name.c_str(),
- name.c_str() );
+ //printf( "\tconfederate %s pushing state of \"%s\"\n",
+ // this->name.c_str(),
+ // name.c_str() );
// compose a struct to send into the callback
cb_chunk_t* ch = new cb_chunk_t();
@@ -194,8 +269,10 @@
if( req->response_code == 200 )
{
--ws->unacknowledged_ticks;
- //printf( "tick ACK. Outstanding ticks %u\n",
- // ws->unacknowledged_ticks );
+ ws->EscapeLoopIfDone();
+
+ printf( "tick ACK. Outstanding ticks %u\n",
+ ws->unacknowledged_ticks );
}
else
{
@@ -224,9 +301,6 @@
printf( "send tick returned error %d\n", ret );
exit(0);
}
-
-
-
return 0;
}
Modified: code/websim/src/parser.cc
===================================================================
--- code/websim/src/parser.cc 2009-03-13 21:50:24 UTC (rev 7480)
+++ code/websim/src/parser.cc 2009-03-14 01:12:23 UTC (rev 7481)
@@ -78,11 +78,15 @@
*fedkeyp, logicalname );
string hosturi = *fedkeyp;
- Confederate* conf = new Confederate( this, hosturi );
- assert(conf);
-
- // copy the hash table key so we can delete the original below
- g_hash_table_insert( confederates, strdup(logicalname), conf );
+
+ if( hosturi != hostportname ) // don't conf with myself
+ {
+ Confederate* conf = new Confederate( this, hosturi );
+ assert(conf);
+
+ // copy the hash table key so we can delete the
original below
+ g_hash_table_insert( confederates,
strdup(logicalname), conf );
+ }
}
cout << "Looking up logical name for myself " << hostportname << endl;
Modified: code/websim/src/websim.cc
===================================================================
--- code/websim/src/websim.cc 2009-03-13 21:50:24 UTC (rev 7480)
+++ code/websim/src/websim.cc 2009-03-14 01:12:23 UTC (rev 7481)
@@ -37,12 +37,10 @@
const std::string WebSim::package = "WebSim";
const std::string WebSim::version = "0.1";
-WebSim::WebSim(const std::string& _fedfile,
- const std::string& _host,
- unsigned short _port) :
+WebSim::WebSim( const std::string& _host,
+ const unsigned short _port) :
tick_count_expected(0),
ticks_remaining(0),
- fedfile(_fedfile),
host(_host),
port(_port),
puppets( g_hash_table_new( g_str_hash, g_str_equal ) ),
@@ -74,14 +72,6 @@
evhttp_set_gencb(eh, &WebSim::EventCallback, (void*)this);
puts("Done.");
- // if a federation file was specified, we parse it to populate the
- // WebSim with confederates and puppets.
- if( fedfile != "" )
- {
- printf( "[websim] Loading federation file %s\n",
_fedfile.c_str() );
- LoadFederationFile( _fedfile.c_str() );
- }
-
puts("[websim] Ready");
}
@@ -93,40 +83,26 @@
void WebSim::Confederate::TickCb( std::string name, Confederate* conf, void*
arg )
{
- WebSim* ws = (WebSim*)arg;
-
- std::string confname = conf->name;
-
- if( confname != ws->hostportname ) // don't tick myself
- {
- // printf( "ticking conf %s\n", conf->name.c_str() );
- conf->Tick();
- }
- //else
- // printf( "NOT ticking myself %s\n", conf->name.c_str() );
+ conf->Tick();
}
-void
-WebSim::Update()
+void
+WebSim::Go()
{
// tick all my confederates
- ForEachConfederate( Confederate::TickCb, this );
-
+ ForEachConfederate( Confederate::TickCb, NULL );
+}
+
+void
+WebSim::Wait()
+{
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 );
- printf( "STEP %lu\n", total_ticks++ );
+ // a callback will jump out of this loop when we've heard Ticks from
+ // all confederates
+ event_dispatch();
+
+ //printf( "STEP %lu\n", total_ticks++ );
}
void
@@ -194,6 +170,18 @@
}
}
+void WebSim::EscapeLoopIfDone()
+{
+ // if we're done waiting for things we can bail out of the event loop
+
+ printf( "testing %d %d %d\n", ticks_remaining, unacknowledged_pushes,
unacknowledged_ticks );
+ if( ! (ticks_remaining || unacknowledged_pushes || unacknowledged_ticks) )
+ {
+ puts( "OUTTA HERE" );
+ event_loopbreak();
+ }
+}
+
bool
WebSim::HandleSimRequest(const std::string& prop,
const std::string& action,
@@ -202,55 +190,64 @@
{
// 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: Missing name and/or type argument for
sim/factor/create";
- return false;
- }
-
- return(CreateModel(name, type, response));
- }
- else if(action == "create")
- {
- std::string name, type;
- if(!GetValue(name, kv, "name"))
- {
- response = "ERROR: Missing name argument for sim/factor/create";
- return false;
- }
-
- return(DeleteModel(name, response));
- }
- else
- {
- response = "ERROR: Unknown action " + action + " for sim/factory";
- return false;
- }
- }
+ {
+ 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;
+ }
+
+ return(CreateModel(name, type, response));
+ }
+ else if(action == "create")
+ {
+ std::string name, type;
+ if(!GetValue(name, kv, "name"))
+ {
+ response = "ERROR: Missing name argument for
sim/factor/create";
+ return false;
+ }
+
+ return(DeleteModel(name, response));
+ }
+ else
+ {
+ response = "ERROR: Unknown action " + action + " for
sim/factory";
+ return false;
+ }
+ }
else if(prop == "clock")
- {
- if(action == "tick")
- {
- ticks_remaining--;
- response = "Ticked the clock";
- return true;
- }
- else
- {
- response = "ERROR: Unknown action " + action + " for sim/clock";
- return false;
- }
- }
+ {
+ if(action == "tick")
+ {
+ ticks_remaining--;
+ response = "Ticked the clock";
+
+ EscapeLoopIfDone();
+ return true;
+ }
+ else
+ {
+ response = "ERROR: Unknown action " + action + " for
sim/clock";
+ return false;
+ }
+ }
+ else if(prop == "greet") // action is the name of the greeting server
+ {
+ // TODO - check to see if this server was anticipated
+ response = "Greetings " + action;
+ printf( "[websim] WebSim peer %s connected\n", action.c_str() );
+ return true;
+ }
else
- {
- response = "ERROR: Unknown property " + prop + " for sim";
- return false;
- }
+ {
+ response = "ERROR: Unknown property " + prop + " for sim";
+ return false;
+ }
}
bool
@@ -424,7 +421,9 @@
// We require 3 path components: model/property/action
StringSplit(bare_uri, uri_parts, "/");
- // There should be 4 parts, with the first one empty
+
+
+ // otherwise there should be 4 parts, with the first one empty
if(uri_parts.size() != 4)
{
response = "Must be 3 slash-separated parts in the URI";
Modified: code/websim/src/websim.hh
===================================================================
--- code/websim/src/websim.hh 2009-03-13 21:50:24 UTC (rev 7480)
+++ code/websim/src/websim.hh 2009-03-14 01:12:23 UTC (rev 7481)
@@ -53,15 +53,18 @@
class WebSim
{
public:
- WebSim(const std::string& _fedfile,
- const std::string& _host,
- unsigned short _port);
+ WebSim( const std::string& _host,
+ const unsigned short _port);
virtual ~WebSim();
void LoadFederationFile( std::string filename );
- void Update();
+ /** Wait for go signals from all confederates */
+ void Wait();
+
+ /** Send go signals to all confederates */
+ void Go();
// Interface to be implemented by simulators
virtual bool CreateModel(const std::string& name,
@@ -90,14 +93,15 @@
std::vector<std::string> &t,
const std::string &d);
-
+ void EscapeLoopIfDone();
+
+
// Number of ticks we require before exiting Update()
int tick_count_expected;
// Number of ticks remaining before we can quit update
int ticks_remaining;
-private:
- std::string fedfile;
+protected:
std::string host;
std::string hostportname; // format "host:port" to uniquely identify this
instance
unsigned short port;
@@ -224,6 +228,7 @@
unsigned long total_ticks;
+public:
/** Get a puppet by name */
Puppet* GetPuppet( std::string name );
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