Revision: 7724
http://playerstage.svn.sourceforge.net/playerstage/?rev=7724&view=rev
Author: hsujohnhsu
Date: 2009-05-27 02:54:33 +0000 (Wed, 27 May 2009)
Log Message:
-----------
trying different mutex configs.
Modified Paths:
--------------
code/gazebo/branches/threads/server/Global.hh
code/gazebo/branches/threads/server/Simulator.cc
code/gazebo/branches/threads/server/Simulator.hh
code/gazebo/branches/threads/server/World.cc
code/gazebo/branches/threads/server/rendering/OgreCreator.cc
Modified: code/gazebo/branches/threads/server/Global.hh
===================================================================
--- code/gazebo/branches/threads/server/Global.hh 2009-05-26 18:13:32 UTC
(rev 7723)
+++ code/gazebo/branches/threads/server/Global.hh 2009-05-27 02:54:33 UTC
(rev 7724)
@@ -80,4 +80,6 @@
#define ROUND(x) ( (int)( floor((x)+0.5) ) )
+#define TIMING
+
#endif
Modified: code/gazebo/branches/threads/server/Simulator.cc
===================================================================
--- code/gazebo/branches/threads/server/Simulator.cc 2009-05-26 18:13:32 UTC
(rev 7723)
+++ code/gazebo/branches/threads/server/Simulator.cc 2009-05-27 02:54:33 UTC
(rev 7724)
@@ -77,7 +77,9 @@
selectedEntity(NULL),
selectedBody(NULL)
{
- this->mutex = new boost::recursive_mutex();
+ this->pr_mutex = new boost::recursive_mutex();
+ this->cr_mutex = new boost::recursive_mutex();
+ this->mr_mutex = new boost::recursive_mutex();
this->p_mutex = new boost::mutex();
this->c_mutex = new boost::mutex();
this->m_mutex = new boost::mutex();
@@ -104,12 +106,24 @@
this->xmlFile = NULL;
}
- if (this->mutex)
+ if (this->pr_mutex)
{
- delete this->mutex;
- this->mutex = NULL;
+ delete this->pr_mutex;
+ this->pr_mutex = NULL;
}
+ if (this->cr_mutex)
+ {
+ delete this->cr_mutex;
+ this->cr_mutex = NULL;
+ }
+
+ if (this->mr_mutex)
+ {
+ delete this->mr_mutex;
+ this->mr_mutex = NULL;
+ }
+
if (this->gui)
{
delete this->gui;
@@ -686,23 +700,34 @@
/*********************************************/
while (!this->userQuit)
{
+#ifdef TIMING
+ double tmpT1 = this->GetWallTime();
+#endif
+
// thread control
{
boost::lock_guard<boost::mutex> c_lock(*this->c_mutex);
this->run_collision=true;
+ }
+ this->c_cond->notify_all();
+
+ {
boost::lock_guard<boost::mutex> m_lock(*this->m_mutex);
this->run_models=true;
}
- this->c_cond->notify_all();
this->m_cond->notify_all();
// wait for c and m threads to finish
- boost::unique_lock<boost::mutex> p_lock(*this->p_mutex);
- while (this->run_collision||this->run_models)
{
- this->p_cond->wait(p_lock);
+ //bool run_physics = false;
+ boost::unique_lock<boost::mutex> p_lock(*this->p_mutex);
+ //while (!run_physics)
+ while (this->run_collision || this->run_models)
+ {
+ this->p_cond->wait(p_lock);
+ }
}
@@ -727,8 +752,7 @@
// lock mutex and update physics
{
- boost::recursive_mutex::scoped_lock lock(*this->mutex);
- //world->Update();
+ //boost::recursive_mutex::scoped_lock lock(*this->pr_mutex);
world->UpdatePhysics();
}
@@ -751,21 +775,34 @@
}
// // thread control
+#ifdef TIMING
+ double tmpT2 = this->GetWallTime();
+ std::cout << " Simulator::PhysicsLoop() DT(" << tmpT2-tmpT1 << ")" <<
std::endl;
+#endif
}
- // // get ready to quit
- // this->cp_mutex->unlock();
- // this->mp_mutex->unlock();
+}
+////////////////////////////////////////////////////////////////////////////////
+/// Get the simulator mutex
+boost::recursive_mutex *Simulator::GetCRMutex()
+{
+ return this->cr_mutex;
+}
+////////////////////////////////////////////////////////////////////////////////
+/// Get the simulator mutex
+boost::recursive_mutex *Simulator::GetMRMutex()
+{
+ return this->mr_mutex;
}
////////////////////////////////////////////////////////////////////////////////
/// Get the simulator mutex
-boost::recursive_mutex *Simulator::GetMutex()
+boost::recursive_mutex *Simulator::GetPRMutex()
{
- return this->mutex;
+ return this->pr_mutex;
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/threads/server/Simulator.hh
===================================================================
--- code/gazebo/branches/threads/server/Simulator.hh 2009-05-26 18:13:32 UTC
(rev 7723)
+++ code/gazebo/branches/threads/server/Simulator.hh 2009-05-27 02:54:33 UTC
(rev 7724)
@@ -183,7 +183,9 @@
public: Body *GetParentBody( Entity *entity ) const;
/// \brief Get the simulator mutex
- public:boost::recursive_mutex *GetMutex();
+ public:boost::recursive_mutex *GetPRMutex();
+ public:boost::recursive_mutex *GetMRMutex();
+ public:boost::recursive_mutex *GetCRMutex();
/// \brief Function to run gui. Used by guiThread
private: void PhysicsLoop();
@@ -257,7 +259,9 @@
private: boost::thread *modelsThread;
// mutex between rendering and (physics,collision,models update)
- private: boost::recursive_mutex *mutex;
+ private: boost::recursive_mutex *cr_mutex;
+ private: boost::recursive_mutex *pr_mutex;
+ private: boost::recursive_mutex *mr_mutex;
// mutex for physics, collisions, models update sequence control
private: boost::mutex *c_mutex;
Modified: code/gazebo/branches/threads/server/World.cc
===================================================================
--- code/gazebo/branches/threads/server/World.cc 2009-05-26 18:13:32 UTC
(rev 7723)
+++ code/gazebo/branches/threads/server/World.cc 2009-05-27 02:54:33 UTC
(rev 7724)
@@ -302,6 +302,7 @@
if (!Simulator::Instance()->IsPaused() &&
Simulator::Instance()->GetPhysicsEnabled())
{
+ //boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetPRMutex());
this->physicsEngine->UpdatePhysics();
}
@@ -326,19 +327,15 @@
Simulator* simulator = Simulator::Instance();
- // initialize
- //std::cout << "C: locking pc" << std::endl;
- //simulator->GetPC()->lock(); // make sure pc is locked before releasing
c_init
- //std::cout << "C: unlocking c_init" << std::endl;
- //simulator->GetCInit()->unlock(); // unlock c_init so main thread can begin
-
while (!simulator->GetUserQuit())
{
- boost::unique_lock<boost::mutex> lock(*simulator->GetC());
- while (!simulator->RunCollision())
{
- simulator->GetCCond()->wait(lock);
+ boost::unique_lock<boost::mutex> lock(*simulator->GetC());
+ while (!simulator->RunCollision())
+ {
+ simulator->GetCCond()->wait(lock);
+ }
}
#ifdef TIMING
@@ -348,24 +345,16 @@
if (!Simulator::Instance()->IsPaused() &&
Simulator::Instance()->GetPhysicsEnabled())
{
- boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMutex());
+ //boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetCRMutex());
this->physicsEngine->UpdateCollision();
}
#ifdef TIMING
double tmpT2 = Simulator::Instance()->GetWallTime();
- std::cout << " World::Update() Collision DT(" << tmpT2-tmpT1 << ")" <<
std::endl;
+ //std::cout << " World::Update() Collision DT(" << tmpT2-tmpT1 << ")" <<
std::endl;
#endif
// thread control
- // std::cout << "C: unlocking pc" << std::endl;
- // simulator->GetPC()->unlock();
- // std::cout << "C: locking cp" << std::endl;
- // simulator->GetCP()->lock();
- // std::cout << "C: locking pc" << std::endl;
- // simulator->GetPC()->lock();
- // std::cout << "C: unlocking cp" << std::endl;
- // simulator->GetCP()->unlock();
{
boost::lock_guard<boost::mutex> p_lock(*simulator->GetP());
simulator->CollisionDone();
@@ -382,15 +371,15 @@
Simulator* simulator = Simulator::Instance();
- // initialize
-
while (!simulator->GetUserQuit())
{
- boost::unique_lock<boost::mutex> lock(*simulator->GetM());
- while (!simulator->RunModels())
{
- simulator->GetMCond()->wait(lock);
+ boost::unique_lock<boost::mutex> lock(*simulator->GetM());
+ while (!simulator->RunModels())
+ {
+ simulator->GetMCond()->wait(lock);
+ }
}
#ifdef TIMING
@@ -398,7 +387,7 @@
#endif
{
- boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMutex());
+ boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMRMutex());
// Update all the models
std::vector< Model* >::iterator miter;
for (miter=this->models.begin(); miter!=this->models.end(); miter++)
@@ -516,7 +505,7 @@
// Add a new entity to the world
void World::InsertEntity( std::string xmlString)
{
- boost::recursive_mutex::scoped_lock lock(*Simulator::Instance()->GetMutex());
+ //boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMRMutex());
this->toLoadEntities.push_back( xmlString );
}
@@ -524,7 +513,9 @@
// Load all the entities that have been queued
void World::ProcessEntitiesToLoad()
{
- boost::recursive_mutex::scoped_lock lock(*Simulator::Instance()->GetMutex());
+ //boost::recursive_mutex::scoped_lock
pr_lock(*Simulator::Instance()->GetPRMutex());
+ //boost::recursive_mutex::scoped_lock
cr_lock(*Simulator::Instance()->GetCRMutex());
+ boost::recursive_mutex::scoped_lock
mr_lock(*Simulator::Instance()->GetMRMutex());
std::vector< std::string >::iterator iter;
for (iter = this->toLoadEntities.begin();
Modified: code/gazebo/branches/threads/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/branches/threads/server/rendering/OgreCreator.cc
2009-05-26 18:13:32 UTC (rev 7723)
+++ code/gazebo/branches/threads/server/rendering/OgreCreator.cc
2009-05-27 02:54:33 UTC (rev 7724)
@@ -756,7 +756,7 @@
}
{
- boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMutex());
+ boost::recursive_mutex::scoped_lock
mr_lock(*Simulator::Instance()->GetMRMutex());
// Update the visuals
for (viter = this->visuals.begin(); viter != this->visuals.end(); viter++)
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
Register Now for Creativity and Technology (CaT), June 3rd, NYC. CaT
is a gathering of tech-side developers & brand creativity professionals. Meet
the minds behind Google Creative Lab, Visual Complexity, Processing, &
iPhoneDevCamp as they present alongside digital heavyweights like Barbarian
Group, R/GA, & Big Spaceship. http://p.sf.net/sfu/creativitycat-com
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
