Revision: 7545
http://playerstage.svn.sourceforge.net/playerstage/?rev=7545&view=rev
Author: rtv
Date: 2009-03-25 17:56:06 +0000 (Wed, 25 Mar 2009)
Log Message:
-----------
made update callbacks thread safe, added Model::GetId() and disabled
wavefront-based fasr_plan demo
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/CMakeLists.txt
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_getset.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/worlds/fasr.world
Modified: code/stage/trunk/examples/ctrl/CMakeLists.txt
===================================================================
--- code/stage/trunk/examples/ctrl/CMakeLists.txt 2009-03-25 17:31:27 UTC
(rev 7544)
+++ code/stage/trunk/examples/ctrl/CMakeLists.txt 2009-03-25 17:56:06 UTC
(rev 7545)
@@ -8,9 +8,9 @@
)
# need plaer's wavefront planning library for this one
-if( PLAYER_FOUND )
- SET( PLUGINS ${PLUGINS} fasr_plan )
-endif( PLAYER_FOUND )
+#if( PLAYER_FOUND )
+# SET( PLUGINS ${PLUGINS} fasr_plan )
+#endif( PLAYER_FOUND )
# create a library module for each plugin and link libstage to each
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-03-25 17:31:27 UTC (rev 7544)
+++ code/stage/trunk/libstage/model.cc 2009-03-25 17:56:06 UTC (rev 7545)
@@ -665,7 +665,10 @@
void Model::UpdateIfDue( void )
{
if( UpdateDue() )
- Update();
+ {
+ Update();
+ CallUpdateCallbacks();
+ }
}
bool Model::UpdateDue( void )
@@ -699,11 +702,16 @@
*/
}
+ //CallCallbacks( &hooks.update );
+ //last_update = world->sim_time;
+}
+
+void Model::CallUpdateCallbacks( void )
+{
CallCallbacks( &hooks.update );
last_update = world->sim_time;
}
-
stg_meters_t Model::ModelHeight()
{
stg_meters_t m_child = 0; //max size of any child
Modified: code/stage/trunk/libstage/model_getset.cc
===================================================================
--- code/stage/trunk/libstage/model_getset.cc 2009-03-25 17:31:27 UTC (rev
7544)
+++ code/stage/trunk/libstage/model_getset.cc 2009-03-25 17:56:06 UTC (rev
7545)
@@ -1,6 +1,7 @@
#include "stage.hh"
using namespace Stg;
+
void Model::SetGeom( Geom geom )
{
UnMapWithChildren();
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-03-25 17:31:27 UTC (rev 7544)
+++ code/stage/trunk/libstage/stage.hh 2009-03-25 17:56:06 UTC (rev 7545)
@@ -1720,7 +1720,8 @@
bool UpdateDue( void );
void UpdateIfDue();
-
+ void CallUpdateCallbacks( void );
+
void DrawBlocksTree();
virtual void DrawBlocks();
void DrawBoundingBox();
@@ -1938,7 +1939,10 @@
void SetFiducialKey( int key );
stg_color_t GetColor(){ return color; }
-
+
+ /** return a model's unique process-wide identifier */
+ uint32_t GetId() { return id; }
+
// stg_laser_return_t GetLaserReturn(){ return laser_return; }
/** Change a model's parent - experimental*/
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-03-25 17:31:27 UTC (rev 7544)
+++ code/stage/trunk/libstage/world.cc 2009-03-25 17:56:06 UTC (rev 7545)
@@ -475,6 +475,9 @@
while( update_jobs_pending )
g_cond_wait( worker_threads_done, thread_mutex );
g_mutex_unlock( thread_mutex );
+
+ // now call all the callbacks - ignores dueness, but not a big
deal
+ LISTMETHOD( reentrant_update_list, Model*, CallUpdateCallbacks );
}
this->sim_time += this->interval_sim;
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-03-25 17:31:27 UTC (rev 7544)
+++ code/stage/trunk/worlds/fasr.world 2009-03-25 17:56:06 UTC (rev 7545)
@@ -13,8 +13,8 @@
resolution 0.02
# threads may speed things up here depending on available CPU cores & workload
-# threadpool 8
- threadpool 0
+ threadpool 8
+# threadpool 0
# configure the GUI window
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