Revision: 7892
http://playerstage.svn.sourceforge.net/playerstage/?rev=7892&view=rev
Author: rtv
Date: 2009-06-24 22:54:06 +0000 (Wed, 24 Jun 2009)
Log Message:
-----------
reverted to 3-part URI scheme. added some identification API
Modified Paths:
--------------
code/gazebo/trunk/webgazebo/WebGazebo.cc
code/gazebo/trunk/webgazebo/WebGazebo.hh
code/gazebo/trunk/webgazebo/http.cc
code/gazebo/trunk/webgazebo/main.cc
Modified: code/gazebo/trunk/webgazebo/WebGazebo.cc
===================================================================
--- code/gazebo/trunk/webgazebo/WebGazebo.cc 2009-06-24 22:39:26 UTC (rev
7891)
+++ code/gazebo/trunk/webgazebo/WebGazebo.cc 2009-06-24 22:54:06 UTC (rev
7892)
@@ -38,11 +38,13 @@
#include "Quatern.hh"
WebGazebo::WebGazebo(const std::string& fedfile,
- const std::string& host, unsigned short port,
- double dtol, double atol) :
- websim::WebSim(host, port),
- sq_dist_tol(dtol*dtol),
- sq_ang_tol(atol*atol)
+ const std::string& host,
+ unsigned short port,
+ double dtol,
+ double atol) :
+ websim::WebSim(host, port),
+ sq_dist_tol(dtol*dtol),
+ sq_ang_tol(atol*atol)
{
// Hook up to Gazebo
printf("[webgazebo] Opening Gazebo simulation interface...");
@@ -55,8 +57,8 @@
// Open the Simulation Interface; let exceptions leak out
this->simIface->Open(this->client, "default");
puts( "(opened sim interface)" );
- //this->factoryIface->Open(this->client, "factory_iface");
- //puts( "(opened factory interface)" );
+ this->factoryIface->Open(this->client, "factory_model::factory_iface");
+ puts( "(opened factory interface)" );
puts("Done.");
puts("[webgazebo] Ready");
@@ -68,6 +70,7 @@
delete this->simIface;
delete this->client;
}
+
/** Get the current simulation time */
websim::Time
Modified: code/gazebo/trunk/webgazebo/WebGazebo.hh
===================================================================
--- code/gazebo/trunk/webgazebo/WebGazebo.hh 2009-06-24 22:39:26 UTC (rev
7891)
+++ code/gazebo/trunk/webgazebo/WebGazebo.hh 2009-06-24 22:54:06 UTC (rev
7892)
@@ -25,18 +25,9 @@
* SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
*/
-#include <string>
-#include <map>
+#include <gazebo.h>
+#include <websim.hh>
-// These headers must be included prior to the libevent headers
-#include <sys/types.h>
-#include <sys/queue.h>
-
-// libgazebo;
-#include "gazebo.h"
-
-#include "websim.hh"
-
class WebGazebo : public websim::WebSim
{
public:
@@ -45,19 +36,29 @@
double dtol, double atol);
virtual ~WebGazebo();
- bool Go(double t);
-
- // Interface to be implemented by simulators
+ bool Go(double t);
+
+ // start WebSim Interface
============================================================
+
+ virtual std::string IdentificationString()
+ { return "WebGazebo"; }
+
+ virtual std::string VersionString()
+ { return "0.1"; }
+
virtual bool CreateModel(const std::string& name,
const std::string& type,
std::string& error);
+
virtual bool DeleteModel(const std::string& name,
std::string& error);
+
virtual bool SetModelPVA(const std::string& name,
const websim::Pose& p,
const websim::Velocity& v,
const websim::Acceleration& a,
std::string& error);
+
virtual bool GetModelPVA(const std::string& name,
websim::Time &t,
websim::Pose& p,
@@ -65,42 +66,46 @@
websim::Acceleration& a,
std::string& error);
- virtual bool GetModelType(const std::string& name, std::string& type){return
true;}
+ virtual bool GetModelType(const std::string& name, std::string& type)
+ {return true;}
-
-
virtual bool GetModelData(const std::string& name,
-
std::string& response,
-
websim::Format format,
- void*
xmlnode );
-
+ std::string& response,
+ websim::Format format,
+ void* xmlnode );
-
virtual bool GetModelChildren(const std::string& model,
-
std::vector<std::string>& children){return true;}
+ std::vector<std::string>& children)
+ {return true;}
virtual bool GetModelExtent(const std::string& name,
double& bx,
double& by,
double& bz,
websim::Pose& center,
- std::string& response) {return true;}
-
- virtual bool GetNumberOfRobots(unsigned int& n) {return true;}
+ std::string& response)
+ {return true;}
- virtual bool GetSayStrings(std::vector<std::string>& sayings) {return true;}
-
-
+ virtual bool GetNumberOfRobots(unsigned int& n)
+ {return true;}
+
+ virtual bool GetSayStrings(std::vector<std::string>& sayings)
+ {return true;}
+
/** Get the current simulation time */
virtual websim::Time GetTime();
-private:
+ // end WebSim Interface
============================================================
+
+
+private: // all private members are specific to WebGazebo
+
double sq_dist_tol;
double sq_ang_tol;
-
+
boost::mutex goMutex;
boost::condition goCond;
-
+
gazebo::Client *client;
gazebo::SimulationIface *simIface;
gazebo::FactoryIface *factoryIface;
Modified: code/gazebo/trunk/webgazebo/http.cc
===================================================================
--- code/gazebo/trunk/webgazebo/http.cc 2009-06-24 22:39:26 UTC (rev 7891)
+++ code/gazebo/trunk/webgazebo/http.cc 2009-06-24 22:54:06 UTC (rev 7892)
@@ -30,19 +30,23 @@
}
int
-main(void)
+main( int argc, char* argv[] )
{
- struct evhttp_connection* ec;
- struct evhttp_request* er;
-
+ // initialize libevent
event_init();
-
- ec = evhttp_connection_new("localhost", 8000);
+
+ struct evhttp_connection* ec( evhttp_connection_new("localhost", 8000) );
assert(ec);
+
+ struct evhttp_request* er(evhttp_request_new(cb, NULL));
+ assert( er );
+
+ char* request = (char*)"";
- er = evhttp_request_new(cb, NULL);
+ if( argc == 1 && argv[1] )
+ request = argv[1];
- int ret = evhttp_make_request(ec, er, EVHTTP_REQ_GET, "/foo");
+ int ret = evhttp_make_request(ec, er, EVHTTP_REQ_GET, request );
printf("ret: %d\n", ret);
event_dispatch();
Modified: code/gazebo/trunk/webgazebo/main.cc
===================================================================
--- code/gazebo/trunk/webgazebo/main.cc 2009-06-24 22:39:26 UTC (rev 7891)
+++ code/gazebo/trunk/webgazebo/main.cc 2009-06-24 22:54:06 UTC (rev 7892)
@@ -51,6 +51,7 @@
}
WebGazebo wg(g_fedfile, g_host, g_port, g_dtol, g_atol);
+ wg.Startup( true );
for(;;)
{
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