Revision: 7931
http://playerstage.svn.sourceforge.net/playerstage/?rev=7931&view=rev
Author: rtv
Date: 2009-06-30 22:03:37 +0000 (Tue, 30 Jun 2009)
Log Message:
-----------
more STLization and cleaner update_list & thread model
Modified Paths:
--------------
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_getset.cc
code/stage/trunk/libstage/model_load.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/libstage/worldgui.cc
code/stage/trunk/worlds/fasr.world
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-06-29 22:58:45 UTC (rev 7930)
+++ code/stage/trunk/libstage/model.cc 2009-06-30 22:03:37 UTC (rev 7931)
@@ -209,7 +209,7 @@
log_state(false),
map_resolution(0.1),
mass(0),
- on_update_list( false ),
+ // on_update_list( false ),
on_velocity_list( false ),
parent(parent),
pose(),
@@ -224,15 +224,16 @@
thread_safe( false ),
trail( g_array_new( false, false, sizeof(stg_trail_item_t) )),
type(type),
+ update_list_num( -1 ),
used(false),
velocity(),
watts(0.0),
- watts_give(0.0),
- watts_take(0.0),
+ watts_give(0.0),
+ watts_take(0.0),
wf(NULL),
wf_entity(0),
world(world),
- world_gui( dynamic_cast<WorldGui*>( world ) )
+ world_gui( dynamic_cast<WorldGui*>( world ) )
{
//assert( modelsbyid );
assert( world );
@@ -291,17 +292,17 @@
void Model::StartUpdating()
{
- if( ! on_update_list )
- {
- on_update_list = true;
- world->StartUpdatingModel( this );
- }
+ if( update_list_num < 0 )
+ update_list_num = world->UpdateListAdd( this );
}
void Model::StopUpdating()
{
- on_update_list = false;
- world->StopUpdatingModel( this );
+ if( update_list_num >= 0 )
+ {
+ world->UpdateListRemove( this );
+ update_list_num = -1;
+ }
}
// this should be called after all models have loaded from the
Modified: code/stage/trunk/libstage/model_getset.cc
===================================================================
--- code/stage/trunk/libstage/model_getset.cc 2009-06-29 22:58:45 UTC (rev
7930)
+++ code/stage/trunk/libstage/model_getset.cc 2009-06-30 22:03:37 UTC (rev
7931)
@@ -212,16 +212,17 @@
if( on_velocity_list && vel.IsZero() )
{
- world->StopUpdatingModelPose( this );
+ world->VelocityListRemove( this );
on_velocity_list = false;
}
if( (!on_velocity_list) && (!vel.IsZero()) )
{
- world->StartUpdatingModelPose( this );
+ world->VelocityListAdd( this );
on_velocity_list = true;
}
+ // todo ?
//CallCallbacks( &this->velocity );
}
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2009-06-29 22:58:45 UTC (rev
7930)
+++ code/stage/trunk/libstage/model_load.cc 2009-06-30 22:03:37 UTC (rev
7931)
@@ -201,11 +201,11 @@
LoadDataBaseEntries( wf, wf_entity );
if (vis.gravity_return)
- {
- Velocity vel = GetVelocity();
- this->SetVelocity( vel );
- world->StartUpdatingModel( this );
- }
+ {
+ Velocity vel = GetVelocity();
+ this->SetVelocity( vel );
+ StartUpdating();
+ }
if( wf->PropertyExists( wf_entity, "friction" ))
{
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-06-29 22:58:45 UTC (rev 7930)
+++ code/stage/trunk/libstage/stage.hh 2009-06-30 22:03:37 UTC (rev 7931)
@@ -233,6 +233,9 @@
/** Obtain the components of a color */
void stg_color_unpack( stg_color_t col,
double* r,
double* g, double* b, double* a );
+
+ //typedef std::vector<Model*> ModelPtrVec;
+ //typedef std::vector<Model&> ModelRefVec;
/** specify a rectangular size */
class Size
@@ -823,19 +826,19 @@
friend class Canvas; // allow Canvas access to our private members
protected:
- std::vector<Model*> children;
+ std::vector<Model*> children;
bool debug;
- GList* puck_list;
+ GList* puck_list;
char* token;
-
+
void Load( Worldfile* wf, int section );
void Save( Worldfile* wf, int section );
public:
-
+
/** get the children of the this element */
- std::vector<Model*>& GetChildren(){ return children;}
-
+ std::vector<Model*>& GetChildren(){ return children;}
+
/** recursively call func( model, arg ) for each descendant */
void ForEachDescendant( stg_model_callback_t func, void* arg );
@@ -952,19 +955,18 @@
bool show_clock; ///< iff true, print the sim time on stdout
unsigned int show_clock_interval; ///< updates between clock xoutputs
GMutex* thread_mutex; ///< protect the worker thread management stuff
- //GThreadPool *threadpool; ///<worker threads for updating some sensor
models in parallel
int total_subs; ///< the total number of subscriptions to all models
- GList* velocity_list; ///< Models with non-zero velocity and should have
their poses updated
+ std::vector<Model*> velocity_list; ///< Models with non-zero velocity
and should have their poses updated
unsigned int worker_threads; ///< the number of worker threads to use
unsigned int threads_working; ///< the number of worker threads not yet
finished
GCond* threads_start_cond; ///< signalled to unblock worker threads
GCond* threads_done_cond; ///< signalled by last worker thread to unblock
main thread
-
- /** Keep a list of all models with detectable fiducials. This
- avoids searching the whole world for fiducials.
*/
- std::set<Model*> models_with_fiducials;
-
+
+ /** Keep a list of all models with detectable fiducials. This
+ avoids searching the whole world for fiducials. */
+ std::set<Model*> models_with_fiducials;
+
protected:
std::list<std::pair<stg_world_callback_t,void*> > cb_list; ///< List
of callback functions and arguments
@@ -978,8 +980,7 @@
std::map<stg_point_int_t,SuperRegion*> superregions;
SuperRegion* sr_cached; ///< The last superregion looked up by this world
- std::vector<Model*> nonreentrant_update_list; ///< It is NOT safe to
call these model's Update() in parallel
- std::vector<std::vector<Model*> > reentrant_update_lists; ///< It is
safe to call these model's Update() in parallel
+ std::vector<std::vector<Model*> > update_lists;
long unsigned int updates; ///< the number of simulated time steps
executed so far
Worldfile* wf; ///< If set, points to the worldfile used to create this
world
@@ -1098,13 +1099,13 @@
/** Returns true iff the current time is greater than the time we
should quit */
bool PastQuitTime();
-
- void StartUpdatingModel( Model* mod );
- void StopUpdatingModel( Model* mod );
+
+ int UpdateListAdd( Model* mod );
+ void UpdateListRemove( Model* mod );
- void StartUpdatingModelPose( Model* mod );
- void StopUpdatingModelPose( Model* mod );
-
+ void VelocityListAdd( Model* mod );
+ void VelocityListRemove( Model* mod );
+
static gpointer update_thread_entry( std::pair<World*,int>* info );
public:
@@ -1808,7 +1809,7 @@
bool log_state; ///< iff true, model state is logged
stg_meters_t map_resolution;
stg_kg_t mass;
- bool on_update_list;
+ //bool on_update_list;
bool on_velocity_list;
/** Pointer to the parent of this model, possibly NULL. */
@@ -1868,6 +1869,9 @@
bool thread_safe;
GArray* trail;
stg_model_type_t type;
+ /** The index into the world's vector of update lists. Initially
+ -1, to indicate that it is not on a list yet. */
+ int update_list_num;
bool used; ///< TRUE iff this model has been returned by
GetUnusedModelOfType()
Velocity velocity;
stg_watts_t watts;///< power consumed by this model
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-06-29 22:58:45 UTC (rev 7930)
+++ code/stage/trunk/libstage/world.cc 2009-06-30 22:03:37 UTC (rev 7931)
@@ -91,7 +91,7 @@
show_clock_interval( 100 ), // 10 simulated seconds using defaults
thread_mutex( g_mutex_new() ),
total_subs( 0 ),
- velocity_list( NULL ),
+ velocity_list(),
worker_threads( 0 ),
threads_working( 0 ),
threads_start_cond( g_cond_new() ),
@@ -109,8 +109,7 @@
sim_time( 0 ),
superregions(),
sr_cached(NULL),
- nonreentrant_update_list(),
- reentrant_update_lists(1),
+ update_lists(1),
updates( 0 ),
wf( NULL ),
paused( false )
@@ -179,7 +178,7 @@
//puts( "worker thread awakes" );
// loop over the list of rentrant models for this thread
- FOR_EACH( it, world->reentrant_update_lists[thread_instance] )
+ FOR_EACH( it, world->update_lists[thread_instance] )
{
Model* mod = *it;
//printf( "thread %d updating model %s (%p)\n",
thread_instance, mod->Token(), mod );
@@ -343,12 +342,12 @@
if( worker_threads > 0 )
{
- reentrant_update_lists.resize( worker_threads );
+ update_lists.resize( worker_threads + 1 );
// kick off count threads.
for( unsigned int t=0; t<worker_threads; t++ )
{
- std::pair<World*,int> *p = new std::pair<World*,int>(
this, t );
+ std::pair<World*,int> *p = new std::pair<World*,int>(
this, t+1 );
g_thread_create(
(GThreadFunc)World::update_thread_entry,
p,
false,
@@ -406,9 +405,8 @@
g_hash_table_remove_all( models_by_name );
- reentrant_update_lists.clear();
- nonreentrant_update_list.clear();
-
+ update_lists.resize(1);
+
g_list_free( ray_list );
ray_list = NULL;
@@ -533,31 +531,24 @@
return false;
dirty = true; // need redraw
-
- // upate all positions first
- LISTMETHOD( velocity_list, Model*, UpdatePose );
+ // upate all positions first
+ FOR_EACH( it, velocity_list )
+ (*it)->UpdatePose();
+
// test all models that supply charge to see if they are touching
// something that takes charge
LISTMETHOD( charge_list, Model*, UpdateCharge );
// then update all models on the update lists
- FOR_EACH( it, nonreentrant_update_list )
+ FOR_EACH( it, update_lists[0] )
{
//printf( "thread MAIN updating model %s\n", (*it)->Token() );
(*it)->UpdateIfDue();
}
- //printf( "nonre list length %d\n", g_list_length( nonreentrant_update_list
) );
- //printf( "re list length %d\n", g_list_length( reentrant_update_list ) );
-
- if( worker_threads == 0 ) // do all the work in this thread
+ if( worker_threads > 0 )
{
- FOR_EACH( it, reentrant_update_lists[0] )
- (*it)->UpdateIfDue();
- }
- else // use worker threads
- {
g_mutex_lock( thread_mutex );
threads_working = worker_threads;
// unblock the workers - they are waiting on this condition var
@@ -576,11 +567,11 @@
// TODO: allow threadsafe callbacks to be called in worker
// threads
-
+
// now call all the callbacks in each list
- FOR_EACH( it1, reentrant_update_lists )
- FOR_EACH( it2, *it1 )
- (*it2)->CallUpdateCallbacks();
+ for( unsigned int i=1; i<update_lists.size(); i++ )
+ FOR_EACH( it, update_lists[i] )
+ (*it)->CallUpdateCallbacks();
}
if( show_clock && ((this->updates % show_clock_interval) == 0) )
@@ -1076,45 +1067,36 @@
g_hash_table_insert( option_table, (void*)opt->htname, opt );
}
-void World::StartUpdatingModel( Model* mod )
-{
- //printf( "Adding model %s to update list ", mod->Token() );
+int World::UpdateListAdd( Model* mod )
+{
+ int index = 0;
- int index = worker_threads > 0 ? mod->id%worker_threads : 0;
+ if( mod->thread_safe && worker_threads > 0 )
+ index = (random() % worker_threads) + 1;
+ update_lists[index].push_back( mod );
- // if( mod->thread_safe )
- // printf( "reentrant[ %d ]\n", index );
- // else
- // printf( " nonreentrant\n" );
+ //printf( "update_list[%d] added model %s\n", index, mod->Token() );
- // choose the right update list
- std::vector<Model*>& vec = mod->thread_safe ? reentrant_update_lists[index]
: nonreentrant_update_list;
- // and add the model if not in the list already
- if( find( vec.begin(), vec.end(), mod ) == vec.end() )
- vec.push_back( mod );
+ return index;
}
-void World::StopUpdatingModel( Model* mod )
+void World::UpdateListRemove( Model* mod )
{
- int index = worker_threads > 0 ? mod->id%worker_threads : 0;
-
// choose the right update list
- std::vector<Model*>& vec = mod->thread_safe ? reentrant_update_lists[index]
: nonreentrant_update_list;
+ std::vector<Model*>& vec = update_lists[ mod->update_list_num ];
// and erase the model from it
vec.erase( remove( vec.begin(), vec.end(), mod ));
}
-void World::StartUpdatingModelPose( Model* mod )
+void World::VelocityListAdd( Model* mod )
{
- if( ! g_list_find( velocity_list, mod ) )
- velocity_list = g_list_append( velocity_list, mod );
+ velocity_list.push_back( mod );
}
-void World::StopUpdatingModelPose( Model* mod )
+void World::VelocityListRemove( Model* mod )
{
- // TODO XX figure out how to handle velcoties a bit better
- //velocity_list = g_list_remove( velocity_list, mod );
+ velocity_list.erase( remove( velocity_list.begin(), velocity_list.end(), mod
));
}
stg_usec_t World::SimTimeNow(void)
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2009-06-29 22:58:45 UTC (rev
7930)
+++ code/stage/trunk/libstage/worldgui.cc 2009-06-30 22:03:37 UTC (rev
7931)
@@ -856,18 +856,13 @@
std::set<Option*, Option::optComp> options;
std::vector<Option*> modOpts;
- FOR_EACH( it1, reentrant_update_lists )
+ FOR_EACH( it1, update_lists )
FOR_EACH( it2, (*it1) )
{
modOpts = (*it2)->getOptions();
options.insert( modOpts.begin(), modOpts.end() );
}
- FOR_EACH( it, nonreentrant_update_list )
- {
- modOpts = (*it)->getOptions();
- options.insert( modOpts.begin(), modOpts.end() );
- }
drawOptions.assign( options.begin(), options.end() );
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-06-29 22:58:45 UTC (rev 7930)
+++ code/stage/trunk/worlds/fasr.world 2009-06-30 22:03:37 UTC (rev 7931)
@@ -11,7 +11,7 @@
paused 1
# time to pause (in GUI mode) or quit (in headless mode) the simulation
-quit_time 360 # 1 hour of simulated time
+quit_time 3600 # 1 hour of simulated time
resolution 0.02
@@ -21,11 +21,11 @@
# configure the GUI window
window
(
- size [ 788.000 842.000 ]
+ size [ 600.000 600.000 ]
- center [ -0.067 -0.907 ]
+ center [ 0.250 -0.680 ]
rotate [ 0 0 ]
- scale 40.786
+ scale 30.643
show_data 1
show_flags 1
@@ -133,7 +133,7 @@
define autorob pioneer2dx
(
- sicklaser( samples 320 range_max 5 laser_return 2 watts 30 )
+ sicklaser( samples 32 range_max 5 laser_return 2 watts 30 )
ctrl "fasr"
joules 100000
joules_capacity 400000
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