Revision: 7502
http://playerstage.svn.sourceforge.net/playerstage/?rev=7502&view=rev
Author: hsujohnhsu
Date: 2009-03-17 01:06:00 +0000 (Tue, 17 Mar 2009)
Log Message:
-----------
option to run headless (w/o rendering engine at all) for remote launching
gazebo.
Modified Paths:
--------------
code/gazebo/branches/ogre-1.4.9/server/main.cc
Modified: code/gazebo/branches/ogre-1.4.9/server/main.cc
===================================================================
--- code/gazebo/branches/ogre-1.4.9/server/main.cc 2009-03-17 01:04:14 UTC
(rev 7501)
+++ code/gazebo/branches/ogre-1.4.9/server/main.cc 2009-03-17 01:06:00 UTC
(rev 7502)
@@ -115,6 +115,7 @@
unsigned int optServerId = 0;
bool optServerForce = true;
bool optGuiEnabled = true;
+bool optRenderEngineEnabled = true;
double optTimeout = -1;
unsigned int optMsgLevel = 1;
int optTimeControl = 1;
@@ -131,6 +132,7 @@
fprintf(stderr, " -d <-1:9> : Verbose mode: -1 = none, 0 = critical
(default), 9 = all)\n");
fprintf(stderr, " -t <sec> : Timeout and quit after <sec> seconds\n");
fprintf(stderr, " -g : Run without a GUI\n");
+ fprintf(stderr, " -r : Run without a rendering engine\n");
fprintf(stderr, " -l <logfile> : Log to indicated file.\n");
fprintf(stderr, " -n : Do not do any time control\n");
fprintf(stderr," -p : Run without physics engine\n");
@@ -156,7 +158,7 @@
{
FILE *tmpFile;
int ch;
- char *flags = (char*)("l:hd:s:fgxt:nqp");
+ char *flags = (char*)("l:hd:s:fgxt:nqpr");
// Get letter options
while ((ch = getopt(argc, argv, flags)) != -1)
@@ -196,6 +198,10 @@
optGuiEnabled = false;
break;
+ case 'r':
+ optRenderEngineEnabled = false;
+ break;
+
case 'p':
optPhysicsEnabled = false;
break;
@@ -247,6 +253,14 @@
int main(int argc, char **argv)
{
+
+ // force a cpu affinity for CPU 0, this slow down sim by about 4X
+ // cpu_set_t cpuSet;
+ // CPU_ZERO(&cpuSet);
+ // CPU_SET(0, &cpuSet);
+ // sched_setaffinity( 0, sizeof(cpuSet), &cpuSet);
+
+
//Application Setup
if (ParseArgs(argc, argv) != 0)
return -1;
@@ -260,6 +274,7 @@
}
gazebo::Simulator::Instance()->SetGuiEnabled( optGuiEnabled );
+ gazebo::Simulator::Instance()->SetRenderEngineEnabled(
optRenderEngineEnabled );
//Load the simulator
try
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