Revision: 7520
http://playerstage.svn.sourceforge.net/playerstage/?rev=7520&view=rev
Author: hsujohnhsu
Date: 2009-03-17 01:37:53 +0000 (Tue, 17 Mar 2009)
Log Message:
-----------
* update rate control for Controller.
* some debug outputs.
Modified Paths:
--------------
code/gazebo/branches/ogre-1.4.9/server/controllers/Controller.cc
code/gazebo/branches/ogre-1.4.9/server/controllers/Controller.hh
Modified: code/gazebo/branches/ogre-1.4.9/server/controllers/Controller.cc
===================================================================
--- code/gazebo/branches/ogre-1.4.9/server/controllers/Controller.cc
2009-03-17 01:35:30 UTC (rev 7519)
+++ code/gazebo/branches/ogre-1.4.9/server/controllers/Controller.cc
2009-03-17 01:37:53 UTC (rev 7520)
@@ -34,6 +34,8 @@
#include "World.hh"
#include "Controller.hh"
#include "Simulator.hh"
+#include "PhysicsEngine.hh"
+#include "Global.hh"
using namespace gazebo;
@@ -43,6 +45,7 @@
{
Param::Begin(&this->parameters);
this->nameP = new ParamT<std::string>("name","",1);
+ this->alwaysOnP = new ParamT<bool>("alwaysOn", false, 0);
this->updatePeriodP = new ParamT<double>("updateRate", 10, 0);
Param::End();
@@ -60,6 +63,7 @@
{
this->Fini();
delete this->nameP;
+ delete this->alwaysOnP;
delete this->updatePeriodP;
}
@@ -75,10 +79,17 @@
this->typeName = node->GetName();
this->nameP->Load(node);
+
+ this->alwaysOnP->Load(node);
+
this->updatePeriodP->Load(node);
- this->updatePeriod = 1.0 / (this->updatePeriodP->GetValue() + 1e-6);
- this->lastUpdate = -1e6;
+ double updateRate = this->updatePeriodP->GetValue();
+ if (updateRate == 0)
+ this->updatePeriod = 0.0; // no throttling if updateRate is 0
+ else
+ this->updatePeriod = 1.0 / updateRate;
+ this->lastUpdate = Simulator::Instance()->GetSimTime();
childNode = node->GetChildByNSPrefix("interface");
@@ -178,12 +189,30 @@
/// Update the controller. Called every cycle.
void Controller::Update()
{
- if (this->IsConnected())
+ if (this->IsConnected() || this->alwaysOnP->GetValue())
{
- if (lastUpdate + updatePeriod <= Simulator::Instance()->GetSimTime())
+ // round time difference to this->physicsEngine->GetStepTime()
+ double physics_dt = World::Instance()->GetPhysicsEngine()->GetStepTime();
+
+ // if (this->GetName() == std::string("p3d_base_controller"))
+ // std::cout << " sim update: " << this->GetName()
+ // << " , " << Simulator::Instance()->GetSimTime() - lastUpdate
+ // << " , " << lastUpdate
+ // << " , " << updatePeriod
+ // << " i1 " <<
round((Simulator::Instance()->GetSimTime()-lastUpdate)/physics_dt)
+ // << " i2 " << round(updatePeriod/physics_dt)
+ // << std::endl;
+#ifdef TIMING
+ double tmpT1 = Simulator::Instance()->GetWallTime();
+#endif
+ if
(round((Simulator::Instance()->GetSimTime()-lastUpdate-updatePeriod)/physics_dt)
>= 0)
{
this->UpdateChild();
lastUpdate = Simulator::Instance()->GetSimTime();
+#ifdef TIMING
+ double tmpT2 = Simulator::Instance()->GetWallTime();
+ std::cout << " Controller::Update() Name (" << this->GetName()
<< ") dt (" << tmpT2-tmpT1 << ")" << std::endl;
+#endif
}
}
}
@@ -210,6 +239,10 @@
{
std::vector<Iface*>::const_iterator iter;
+ // if the alwaysOn flag is true, this controller is connected
+ if (this->alwaysOnP->GetValue())
+ return true;
+
for (iter=this->ifaces.begin(); iter!=this->ifaces.end(); iter++)
{
if ((*iter)->GetOpenCount() > 0)
Modified: code/gazebo/branches/ogre-1.4.9/server/controllers/Controller.hh
===================================================================
--- code/gazebo/branches/ogre-1.4.9/server/controllers/Controller.hh
2009-03-17 01:35:30 UTC (rev 7519)
+++ code/gazebo/branches/ogre-1.4.9/server/controllers/Controller.hh
2009-03-17 01:37:53 UTC (rev 7520)
@@ -105,6 +105,9 @@
/// \brief The entity that owns this controller
protected: Entity *parent;
+ /// \breif flag to keep controllers updating continuously
+ protected: ParamT<bool> *alwaysOnP;
+
/// \brief Update period
protected: double updatePeriod;
protected: ParamT<double> *updatePeriodP;
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