Revision: 7485
http://playerstage.svn.sourceforge.net/playerstage/?rev=7485&view=rev
Author: rtv
Date: 2009-03-14 20:19:28 +0000 (Sat, 14 Mar 2009)
Log Message:
-----------
webstage demo working
Modified Paths:
--------------
code/stage/trunk/libstage/stage.hh
code/stage/trunk/webstage/webstage.cc
code/stage/trunk/webstage/world.fed
code/stage/trunk/worlds/fasr.world
code/stage/trunk/worlds/fasr_slave.world
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-03-14 20:19:06 UTC (rev 7484)
+++ code/stage/trunk/libstage/stage.hh 2009-03-14 20:19:28 UTC (rev 7485)
@@ -234,7 +234,7 @@
{/*empty*/}
/** default constructor uses default non-zero values */
- Size() : x( 0.1 ), y( 0.1 ), z( 0.1 )
+ Size() : x( 0.4 ), y( 0.4 ), z( 1.0 )
{/*empty*/}
void Load( Worldfile* wf, int section, const char* keyword );
Modified: code/stage/trunk/webstage/webstage.cc
===================================================================
--- code/stage/trunk/webstage/webstage.cc 2009-03-14 20:19:06 UTC (rev
7484)
+++ code/stage/trunk/webstage/webstage.cc 2009-03-14 20:19:28 UTC (rev
7485)
@@ -203,37 +203,33 @@
puts( "entering main loop" );
- ws.Go();
- ws.Wait();
+// ws.Go();
+// ws.Wait();
- puts( "through the sync" );
+// puts( "through the sync" );
//close program once time has completed
bool quit = false;
while( ! quit )
{
+ // todo? check for changes?
+ // send my updates
+ ws.ForEachPuppet( WebStage::UpdatePuppetCb, (void*)&ws );
+ //puts( "pushes done" );
+
// tell my friends to start simulating
ws.Go();
- // todo - loop here to drain libevent's output?
-
- puts( "go done" );
-
+
+ // puts( "go done" );
+
// update Stage
world->Update();
+ //puts( "update done" );
- puts( "update done" );
-
- // todo? check for changes?
- // send my updates
- ws.ForEachPuppet( WebStage::UpdatePuppetCb, (void*)&ws );
-
- puts( "pushes done" );
-
// wait for goes from all my friends
ws.Wait();
-
- puts( "wait done" );
+ //puts( "wait done" );
}
printf( "Webstage done.\n" );
Modified: code/stage/trunk/webstage/world.fed
===================================================================
--- code/stage/trunk/webstage/world.fed 2009-03-14 20:19:06 UTC (rev 7484)
+++ code/stage/trunk/webstage/world.fed 2009-03-14 20:19:28 UTC (rev 7485)
@@ -1,34 +1,42 @@
[federation]
-localhost:8000=master
-localhost:8001=slave
+localhost:8000=pete
+localhost:8001=dud
-[master]
-position:0=slave:position
-position:1=slave:position
-position:2=slave:position
-position:3=slave:position
-position:4=slave:position
-position:5=slave:position
-position:6=slave:position
-position:7=slave:position
-position:8=slave:position
-position:9=slave:position
-position:10=slave:position
-position:11=slave:position
-position:12=slave:position
-position:13=slave:position
-position:14=slave:position
-position:15=slave:position
+[pete]
+position:0=dud:model
+position:1=dud:model
+position:2=dud:model
+position:3=dud:model
+position:4=dud:model
+position:5=dud:model
+position:6=dud:model
+position:7=dud:model
+position:8=dud:model
+position:9=dud:model
+position:10=dud:model
+position:11=dud:model
+position:12=dud:model
+position:13=dud:model
+position:14=dud:model
+position:15=dud:model
-#[slave]
-#rob0=master:position
-#rob1=master:position
-#rob2=master:position
-#rob3=master:position
-#rob4=master:position
-#rob5=master:position
-#rob6=master:position
-#rob7=master:position
+[dud]
+rob00=pete:model
+rob01=pete:model
+rob02=pete:model
+rob03=pete:model
+rob04=pete:model
+rob05=pete:model
+rob06=pete:model
+rob07=pete:model
+rob08=pete:model
+rob09=pete:model
+rob10=pete:model
+rob11=pete:model
+rob12=pete:model
+rob13=pete:model
+rob14=pete:model
+rob15=pete:model
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-03-14 20:19:06 UTC (rev 7484)
+++ code/stage/trunk/worlds/fasr.world 2009-03-14 20:19:28 UTC (rev 7485)
@@ -8,7 +8,7 @@
interval_sim 100 # simulation timestep in milliseconds
interval_real 0 # real-time interval between simulation updates in
milliseconds
-paused 1
+paused 0
resolution 0.02
Modified: code/stage/trunk/worlds/fasr_slave.world
===================================================================
--- code/stage/trunk/worlds/fasr_slave.world 2009-03-14 20:19:06 UTC (rev
7484)
+++ code/stage/trunk/worlds/fasr_slave.world 2009-03-14 20:19:28 UTC (rev
7485)
@@ -7,14 +7,14 @@
include "sick.inc"
interval_sim 100 # simulation timestep in milliseconds
-interval_real 20 # real-time interval between simulation updates in
milliseconds
-paused 1
+interval_real 0 # real-time interval between simulation updates in
milliseconds
+paused 0
resolution 0.02
# threads may speed things up here depending on available CPU cores & workload
-# threadpool 0
- threadpool 16
+threadpool 0
+# threadpool 16
# configure the GUI window
@@ -22,9 +22,9 @@
(
size [ 788.000 842.000 ]
- center [ 0.240 -0.382 ]
+ center [ -0.354 -0.807 ]
rotate [ 0 0 ]
- scale 35.648
+ scale 38.889
pcam_loc [ 0 -4.000 2.000 ]
pcam_angle [ 70.000 0 ]
@@ -72,7 +72,7 @@
define autorob pioneer2dx
(
- sicklaser( samples 361 range_max 5 laser_return 2 watts 30 )
+ sicklaser( samples 16 range_max 5 laser_return 2 watts 30 )
ctrl "fasr"
joules 100000
joules_capacity 400000
@@ -176,13 +176,20 @@
#autorob( pose [7.122 4.175 0 -31.440] )
#autorob( pose [5.944 6.951 0 2.937] )
-autorob( name "rob0" pose [6.800 5.897 0 -103.060] )
-autorob( name "rob1" pose [6.405 5.291 0 -103.060] )
-autorob( name "rob2" pose [5.974 5.725 0 -103.060] )
-autorob( name "rob3" pose [4.151 7.272 0 53.540] )
-autorob( name "rob4" pose [6.545 7.459 0 2.937] )
-autorob( name "rob5" pose [7.237 7.533 0 34.450] )
-autorob( name "rob6" pose [3.875 6.533 0 134.717] )
-autorob( name "rob7" pose [3.944 4.674 0 -103.060] )
-autorob( name "rob8" pose [4.634 6.897 0 -103.060] )
+autorob( name "rob00" pose [-4.954 -5.324 0 -103.060] )
+autorob( name "rob01" pose [-5.770 -4.443 0 -103.060] )
+autorob( name "rob02" pose [-2.217 -5.496 0 -103.060] )
+autorob( name "rob03" pose [-3.928 -4.145 0 53.540] )
+autorob( name "rob04" pose [-3.133 -1.518 0 2.937] )
+autorob( name "rob05" pose [-2.441 -1.444 0 34.450] )
+autorob( name "rob06" pose [-6.560 -2.472 0 134.717] )
+autorob( name "rob07" pose [-3.602 -6.799 0 -103.060] )
+autorob( name "rob08" pose [-2.968 -5.334 0 -103.060] )
+autorob( name "rob09" pose [-4.673 -4.005 0 -103.060] )
+autorob( name "rob10" pose [-0.073 -5.913 0 -103.060] )
+autorob( name "rob11" pose [-1.027 -5.520 0 -103.060] )
+autorob( name "rob12" pose [-6.441 -5.071 0 -103.060] )
+autorob( name "rob13" pose [0.039 -7.091 0 -103.060] )
+autorob( name "rob14" pose [-4.842 -6.586 0 -103.060] )
+autorob( name "rob15" pose [-2.878 -3.080 0 -103.060] )
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