Revision: 7491
http://playerstage.svn.sourceforge.net/playerstage/?rev=7491&view=rev
Author: natepak
Date: 2009-03-17 00:18:30 +0000 (Tue, 17 Mar 2009)
Log Message:
-----------
Throttle the gui update to 30hz
Modified Paths:
--------------
code/branches/federation/gazebo/SConstruct
code/branches/federation/gazebo/server/Simulator.cc
code/branches/federation/gazebo/worlds/bandit.world
Modified: code/branches/federation/gazebo/SConstruct
===================================================================
--- code/branches/federation/gazebo/SConstruct 2009-03-17 00:01:48 UTC (rev
7490)
+++ code/branches/federation/gazebo/SConstruct 2009-03-17 00:18:30 UTC (rev
7491)
@@ -173,11 +173,13 @@
CXXCOMSTR = 'Compiling $TARGET',
CCCOMSTR = 'Compiling $TARGET',
LINKCOMSTR = 'Linking $TARGET',
+ ARCOMSTR = 'Linking $TARGET',
# Shared object compile strings
SHCXXCOMSTR = 'Compiling $TARGET',
SHCCCOMSTR = 'Compiling $TARGET',
SHLINKCOMSTR = 'Linking $TARGET',
+ SHARCOMSTR = 'Linking $TARGET',
HAS_ERROR = False,
)
Modified: code/branches/federation/gazebo/server/Simulator.cc
===================================================================
--- code/branches/federation/gazebo/server/Simulator.cc 2009-03-17 00:01:48 UTC
(rev 7490)
+++ code/branches/federation/gazebo/server/Simulator.cc 2009-03-17 00:18:30 UTC
(rev 7491)
@@ -286,6 +286,9 @@
/// Main simulation loop, when this loop ends the simulation finish
void Simulator::MainLoop()
{
+ double currTime, lastTime;
+ double freq = 30.0;
+
this->physicsThread = new boost::thread(
boost::bind(&Simulator::PhysicsLoop, this));
if (this->gui)
@@ -293,8 +296,24 @@
// Update the gui
while (!this->userQuit)
{
- this->gui->Update();
- usleep(1000);
+ currTime = this->GetWallTime();
+ if ( currTime - lastTime > 1/freq)
+ {
+ lastTime = this->GetWallTime();
+ this->gui->Update();
+ currTime = this->GetWallTime();
+
+ //printf("Curr Time[%f] LastTime[%f] Period[%f] %f]\n",currTime,
lastTime, 1/freq, currTime-lastTime);
+ if (currTime - lastTime < 1/freq)
+ {
+ usleep((1/freq - (currTime - lastTime)) * 1e6);
+ }
+ }
+ else
+ {
+ //printf("Now Here[%f]\n",1/freq - (currTime - lastTime));
+ usleep((1/freq - currTime - lastTime) * 1e6);
+ }
}
}
@@ -545,8 +564,7 @@
boost::recursive_mutex::scoped_lock lock(*this->mutex);
world->Update();
}
-
- usleep(100);
+ usleep(1);
}
// Process all incoming messages from simiface
Modified: code/branches/federation/gazebo/worlds/bandit.world
===================================================================
--- code/branches/federation/gazebo/worlds/bandit.world 2009-03-17 00:01:48 UTC
(rev 7490)
+++ code/branches/federation/gazebo/worlds/bandit.world 2009-03-17 00:18:30 UTC
(rev 7491)
@@ -16,7 +16,7 @@
<verbosity>5</verbosity>
<physics:ode>
- <stepTime>0.003</stepTime>
+ <stepTime>0.03</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>10e-5</cfm>
<erp>0.3</erp>
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