Revision: 7503
http://playerstage.svn.sourceforge.net/playerstage/?rev=7503&view=rev
Author: hsujohnhsu
Date: 2009-03-17 01:10:29 +0000 (Tue, 17 Mar 2009)
Log Message:
-----------
added more function calls for getting sim and wall clock time.
Modified Paths:
--------------
code/gazebo/branches/ogre-1.4.9/server/World.cc
code/gazebo/branches/ogre-1.4.9/server/World.hh
Modified: code/gazebo/branches/ogre-1.4.9/server/World.cc
===================================================================
--- code/gazebo/branches/ogre-1.4.9/server/World.cc 2009-03-17 01:06:00 UTC
(rev 7502)
+++ code/gazebo/branches/ogre-1.4.9/server/World.cc 2009-03-17 01:10:29 UTC
(rev 7503)
@@ -27,6 +27,7 @@
#include <assert.h>
#include <sstream>
#include <fstream>
+#include <sys/time.h> //gettimeofday
#include "Global.hh"
#include "GazeboError.hh"
@@ -57,6 +58,10 @@
this->server = NULL;
this->simIface = NULL;
+ this->simTime = 0.0;
+ this->pauseTime = 0.0;
+ this->startTime = 0.0;
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -172,6 +177,7 @@
this->physicsEngine->Init();
+ this->startTime = this->GetWallTime();
this->toAddModels.clear();
this->toDeleteModels.clear();
@@ -182,10 +188,15 @@
// Update the world
int World::Update()
{
- std::vector< Model* >::iterator miter;
- std::vector< Model* >::iterator miter2;
+ this->simTime += this->physicsEngine->GetStepTime();
+
+#ifdef TIMING
+ double tmpT1 = this->GetWallTime();
+#endif
+
// Update all the models
+ std::vector< Model* >::iterator miter;
for (miter=this->models.begin(); miter!=this->models.end(); miter++)
{
if (*miter)
@@ -194,14 +205,47 @@
}
}
+#ifdef TIMING
+ double tmpT2 = this->GetWallTime();
+ std::cout << " World::Update() ALL Models update DT(" << tmpT2-tmpT1 << ")"
<< std::endl;
+#endif
+// if using threads, the sim time is actually a bit slower,
+// with pr2_wg, the collision time is roughly 1ms, so is the time it takes to
setup a new thread
+// models update takes about 1.7ms, not much gain here by making them into 2
threads.
+
+ // if (!Simulator::Instance()->IsPaused() &&
+ // Simulator::Instance()->GetPhysicsEnabled())
+ // {
+ // this->physicsEngine->UpdateCollision();
+ // }
+
+#ifdef TIMING
+ double tmpT3 = this->GetWallTime();
+ std::cout << " World::Update() Collision DT(" << tmpT3-tmpT2 << ")" <<
std::endl;
+#endif
+
if (!Simulator::Instance()->IsPaused() &&
Simulator::Instance()->GetPhysicsEnabled())
{
- this->physicsEngine->Update();
+ this->physicsEngine->UpdatePhysics();
}
+ else
+ {
+ this->pauseTime += this->physicsEngine->GetStepTime();
+ }
+#ifdef TIMING
+ double tmpT4 = this->GetWallTime();
+ std::cout << " World::Update() Physics engine DT(" << tmpT4-tmpT3 << ")" <<
std::endl;
+#endif
+
this->UpdateSimulationIface();
+#ifdef TIMING
+ double tmpT5 = this->GetWallTime();
+ std::cout << " World::Update() Iface DT(" << tmpT5-tmpT4 << ")" << std::endl;
+#endif
+
// Copy the newly created models into the main model vector
std::copy(this->toAddModels.begin(), this->toAddModels.end(),
std::back_inserter(this->models));
@@ -219,6 +263,12 @@
this->toDeleteModels.clear();
+#ifdef TIMING
+ double tmpT6 = this->GetWallTime();
+ std::cout << " World::Update() add/del models dt(" << tmpT6-tmpT5 << ")" <<
std::endl;
+#endif
+
+
return 0;
}
@@ -273,6 +323,41 @@
return this->physicsEngine;
}
+////////////////////////////////////////////////////////////////////////////////
+// Get the simulation time
+double World::GetSimTime() const
+{
+ return this->simTime;
+}
+////////////////////////////////////////////////////////////////////////////////
+// Get the pause time
+double World::GetPauseTime() const
+{
+ return this->pauseTime;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the start time
+double World::GetStartTime() const
+{
+ return this->startTime;
+}
+////////////////////////////////////////////////////////////////////////////////
+/// Get the real time (elapsed time)
+double World::GetRealTime() const
+{
+ return this->GetWallTime() - this->startTime;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the wall clock time
+double World::GetWallTime() const
+{
+ struct timeval tv;
+ gettimeofday(&tv, NULL);
+ return tv.tv_sec + tv.tv_usec * 1e-6;
+}
+
///////////////////////////////////////////////////////////////////////////////
// Load a model
int World::LoadEntities(XMLConfigNode *node, Model *parent)
Modified: code/gazebo/branches/ogre-1.4.9/server/World.hh
===================================================================
--- code/gazebo/branches/ogre-1.4.9/server/World.hh 2009-03-17 01:06:00 UTC
(rev 7502)
+++ code/gazebo/branches/ogre-1.4.9/server/World.hh 2009-03-17 01:10:29 UTC
(rev 7503)
@@ -92,6 +92,26 @@
/// \return Pointer to the physics engine
public: PhysicsEngine *GetPhysicsEngine() const;
+ /// Get the simulation time
+ /// \return The simulation time
+ public: double GetSimTime() const;
+
+ /// Get the pause time
+ /// \return The pause time
+ public: double GetPauseTime() const;
+
+ /// Get the start time
+ /// \return The start time
+ public: double GetStartTime() const;
+
+ /// Get the real time (elapsed time)
+ /// \return The real time
+ public: double GetRealTime() const;
+
+ /// \brief Get the wall clock time
+ /// \return The wall clock time
+ public: double GetWallTime() const;
+
/// \brief Load all entities
/// \param node XMLConfg node pointer
/// \param parent Parent of the model to load
@@ -186,8 +206,12 @@
/// Simulation interface
private: SimulationIface *simIface;
+ /// Current simulation time
+ private: double simTime, pauseTime, startTime;
+
private: friend class DestroyerT<World>;
private: friend class SingletonT<World>;
+
};
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