Revision: 7957
http://playerstage.svn.sourceforge.net/playerstage/?rev=7957&view=rev
Author: natepak
Date: 2009-07-08 18:26:15 +0000 (Wed, 08 Jul 2009)
Log Message:
-----------
Added CPack stuff
Modified Paths:
--------------
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/player/SimulationInterface.cc
code/gazebo/trunk/server/World.cc
Added Paths:
-----------
code/gazebo/trunk/COPYING
code/gazebo/trunk/cmake/DissectVersion.cmake
Removed Paths:
-------------
code/gazebo/trunk/build.py
Modified: code/gazebo/trunk/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/CMakeLists.txt 2009-07-06 13:51:39 UTC (rev 7956)
+++ code/gazebo/trunk/CMakeLists.txt 2009-07-08 18:26:15 UTC (rev 7957)
@@ -7,6 +7,7 @@
PROJECT (Gazebo)
STRING (TOLOWER ${PROJECT_NAME} PROJECT_NAME_LOWER)
+
SET (GAZEBO_VERSION 0.9.0)
MESSAGE (STATUS "${PROJECT_NAME} version ${GAZEBO_VERSION}")
@@ -41,6 +42,8 @@
SET (gazebo_cmake_dir ${PROJECT_SOURCE_DIR}/cmake CACHE PATH
"Location of CMake scripts")
+INCLUDE (${gazebo_cmake_dir}/DissectVersion.cmake)
+
#####################################
# Build type cflags
SET (CMAKE_C_FLAGS_RELEASE " -O3 -DNDEBUG -Wall " CACHE INTERNAL "C Flags for
release" FORCE)
@@ -96,4 +99,19 @@
MESSAGE (STATUS "Install path: ${CMAKE_INSTALL_PREFIX}")
ENDIF (BUILD_GAZEBO)
+# Cpack stuff
+INCLUDE (InstallRequiredSystemLibraries)
+SET (CPACK_PACKAGE_NAME "${PROJECT_NAME}")
+SET (CPACK_PACKAGE_VERSION_MAJOR "${GAZEBO_MAJOR_VERSION}")
+SET (CPACK_PACKAGE_VERSION_MINOR "${GAZEBO_MINOR_VERSION}")
+SET (CPACK_PACKAGE_VERSION_PATCH "${GAZEBO_REVISION_VERSION}")
+SET (CPACK_PACKAGE_DESCRIPTION_SUMMARY "Gazebo robot simulator")
+SET (CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME_LOWER}-${GAZEBO_VERSION}")
+SET (CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME_LOWER}-${GAZEBO_VERSION}")
+SET (CPACK_RESOURCE_FILE_LICENSE "${PROJECT_SOURCE_DIR}/COPYING")
+SET (CPACK_GENERATOR "TBZ2")
+SET (CPACK_SOURCE_GENERATOR "TBZ2")
+LIST (APPEND CPACK_SOURCE_IGNORE_FILES "/.svn/;.swp$;/build/")
+INCLUDE (CPack)
+
GAZEBOSERVER_RESET_LISTS()
Added: code/gazebo/trunk/COPYING
===================================================================
--- code/gazebo/trunk/COPYING (rev 0)
+++ code/gazebo/trunk/COPYING 2009-07-08 18:26:15 UTC (rev 7957)
@@ -0,0 +1,340 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.
+ 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The licenses for most software are designed to take away your
+freedom to share and change it. By contrast, the GNU General Public
+License is intended to guarantee your freedom to share and change free
+software--to make sure the software is free for all its users. This
+General Public License applies to most of the Free Software
+Foundation's software and to any other program whose authors commit to
+using it. (Some other Free Software Foundation software is covered by
+the GNU Library General Public License instead.) You can apply it to
+your programs, too.
+
+ When we speak of free software, we are referring to freedom, not
+price. Our General Public Licenses are designed to make sure that you
+have the freedom to distribute copies of free software (and charge for
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+ GNU GENERAL PUBLIC LICENSE
+ TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+ 0. This License applies to any program or other work which contains
+a notice placed by the copyright holder saying it may be distributed
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+
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+ Ty Coon, President of Vice
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+proprietary programs. If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library. If this is what you want to do, use the GNU Library General
+Public License instead of this License.
Deleted: code/gazebo/trunk/build.py
===================================================================
--- code/gazebo/trunk/build.py 2009-07-06 13:51:39 UTC (rev 7956)
+++ code/gazebo/trunk/build.py 2009-07-08 18:26:15 UTC (rev 7957)
@@ -1,253 +0,0 @@
-import sys
-import SCons.Util
-import SCons.SConf as SConf
-import string
-import os
-import re
-
-version = '0.8-pre3'
-
-#
-# Function used to test for ODE library, and TriMesh support
-#
-ode_test_source_file = """
-#include <ode/ode.h>
-int main()
-{
- dGeomTriMeshDataCreate();
- return 0;
-}
-"""
-
-def CreateRelease():
- os.system('scons -c')
- sysCmd = 'mkdir gazebo-'+version
- os.system(sysCmd)
- sysCmd = "cp -r server Media doc examples libgazebo player worlds SConstruct
AUTHORS ChangeLog NEWS README TODO build.py gazebo-"+version
- os.system(sysCmd)
- sysCmd = "find gazebo-"+version+"/. -name .svn -exec rm -rf {} \;
2>>/dev/null"
- os.system(sysCmd)
- print 'Creating tarball gazebo-'+version+'.tar.gz'
- sysCmd = 'tar czf gazebo-'+version+'.tar.gz gazebo-'+version
- os.system(sysCmd)
- sysCmd = "rm -rf gazebo-"+version
- os.system(sysCmd)
-
-
-def CheckPkgConfig(context, version):
- context.Message( 'Checking for pkg-config... ' )
- ret = context.TryAction('pkg-config --atleast-pkgconfig-version=%s' %
version)[0]
- context.Result( ret )
- return ret
-
-def CheckPkg(context, name):
- context.Message( 'Checking for %s...' % name)
- pkg_config_cmd = "pkg-config"
- if os.environ.has_key("PKG_CONFIG_PATH"):
- pkg_config_cmd = "PKG_CONFIG_PATH="+os.environ["PKG_CONFIG_PATH"]+"
pkg-config"
- action = '%s --exists \'%s\'' % (pkg_config_cmd, name);
-
- ret = context.TryAction(action)[0]
- context.Result(ret)
- return ret
-
-def CheckODELib(context):
- context.Message('Checking for ODE trimesh support...')
- oldLibs = context.env['LIBS']
- context.env.Replace(LIBS='ode')
- result = context.TryLink(ode_test_source_file, '.cpp')
- context.Result(result)
- context.env.Replace(LIBS=oldLibs)
- return result
-
-#
-# Create the pkg-config file
-#
-def createPkgConfig(target,source, env):
- f = open(str(target[0]), 'wb')
- prefix = source[0].get_contents()
- f.write('prefix=' + prefix + '\n')
- f.write('Name: gazebo\n')
- f.write('Description: Simplified interface to Player\n')
- f.write('Version:' + version + '\n')
- f.write('Requires: OGRE\n')
- f.write('Libs: -L' + prefix + '/lib -lgazeboServer -lode\n')
- f.write('Cflags: -I' + prefix + '/include\n')
- f.close()
-
-#
-# Create the .gazeborc file
-#
-def createGazeborc(target, source, env):
- f = open(str(target[0]),'wb')
- prefix=source[0].get_contents()
- ogre=commands.getoutput('pkg-config --variable=plugindir OGRE')
- f.write('<?xml version="1.0"?>\n')
- f.write('<gazeborc>\n')
- f.write(' <gazeboPath>' + prefix + '/share/gazebo</gazeboPath>\n')
- f.write(' <ogrePath>' + ogre + '</ogrePath>\n')
- f.write(' <RTTMode>PBuffer</RTTMode>\n')
- f.write('</gazeborc>\n')
- f.close()
- # Use a python command because scons won't copy files to a home directory
- if not os.path.exists(os.environ['HOME']+'/.gazeborc'):
- os.system('cp gazeborc ~/.gazeborc')
-
-
-
-
-#
-# Add optimizations to compiler flags based on the architecture
-#
-#TODO:search architecture
-def optimize_for_cpu(env):
- cpuAtr = ['mmx', 'sse', 'sse2', 'sse3', '3dnow']
- line_atr =""
- if (os.path.isfile("/proc/cpuinfo")):
- f_proc = open("/proc/cpuinfo")
- for line in f_proc:
- if (re.match('flags', line)):
- for atr in cpuAtr:
- if (re.search(atr, line) and not re.search(atr, line_atr)):
- line_atr+= "-m" + atr + " "
-
- env['CCFLAGS'] += Split (line_atr)
- print "detected CPU atributes: " +line_atr
-
-
-def Config(env, packages):
- simpleEnv = Environment(CC="g++")
-
- # Setup the configuration environment.
- conf = Configure(simpleEnv, custom_tests = {'CheckODELib' : CheckODELib,
- 'CheckPkgConfig' : CheckPkgConfig,
- 'CheckPkg' : CheckPkg})
-
- print '\n=== 3rd Party Dependency Checks === '
-
- # Check for pkg-config
- if not conf.CheckPkgConfig(PKG_CONFIG_VERSION):
- print ' Error: pkg-config version >= ' + PKG_CONFIG_VERSION + ' not
found.'
- Exit(1)
-
- #
- # Parse all the pacakge configurations
- #
- for key in packages:
- pkgcfg =''
- header=''
- lib=''
- check=''
- requred = True
-
- if packages[key].has_key('pkgcfg'):
- pkgcfg = packages[key]['pkgcfg']
-
- if packages[key].has_key('header'):
- header = packages[key]['header']
-
- if packages[key].has_key('lib'):
- lib = packages[key]['lib']
-
- if packages[key].has_key('check'):
- check = packages[key]['check']
-
- if packages[key].has_key('required'):
- required = packages[key]['required']
-
-
- msg = packages[key]['msg']
- web = packages[key]['web']
- flags = packages[key]['flags']
-
- docfg = True
- valid = True
-
- # Check for the package
- if check and not conf.CheckPkg(check):
- docfg = False
- valid = False
- print ' !!' + msg + key + ' not found.'
- print ' See: ' + web
- if required:
- env['HAS_ERROR'] = True;
-
- # Try parsing the pkg-config
- if docfg and pkgcfg:
- try:
- if not check:
- print "Checking for "+key+"...",
- if os.environ.has_key("PKG_CONFIG_PATH"):
- pkgcfg = "PKG_CONFIG_PATH="+os.environ["PKG_CONFIG_PATH"]+" "+pkgcfg;
- env.ParseConfig(pkgcfg)
- if not check:
- print 'yes'
- except OSError,e:
- valid = False
- if not check:
- print 'no'
- print "Unable to parse config ["+pkgcfg+"]"
- print ' !!' + msg + key + ' not found.'
- print ' See: ' + web
- if required:
- env['HAS_ERROR'] = True;
- elif header and lib:
- if not conf.CheckLibWithHeader(lib, header, 'c'):
- valid = False
- print msg
- else:
- env.Append(LIBS = lib)
- valid = True
-
- # If valid so far, apply any flags to the environment
- if valid:
- env.Append(CCFLAGS = flags)
-
- # Check for trimesh support in ODE
- #if not conf.CheckODELib():
- # print ' Error: ODE not compiled with trimesh support.'
- # Exit(1)
-
- if not conf.CheckCHeader('avformat.h'):
- if conf.CheckCHeader('libavformat/avformat.h'):
- env.Append( CCFLAGS = '-DSPECIAL_LIBAVFORMAT')
- else:
- print "Unable to find libavformat"
-
- if not conf.CheckCHeader('avcodec.h'):
- if conf.CheckCHeader('libavcodec/avcodec.h'):
- env.Append( CCFLAGS = '-DSPECIAL_LIBAVCODEC')
- else:
- print "Unable to find libavcodec"
-
-
- simpleEnv = conf.Finish()
-
- #simpleenv = Environment(CPPPATH="/usr/include/AL")
- #simpleconf = Configure(simpleenv)
- #
- ## Test for libtool
- #if not simpleconf.CheckLibWithHeader('ltdl','ltdl.h','CXX'):
- # print " Warning: Failed to find ltdl, no plugin support will be included"
- # env["HAVE_LTDL"]=False
- #else:
- # env["HAVE_LTDL"]=True
- # env.Append(CCFLAGS = " -DHAVE_LTDL")
- # env.Append(LIBS = "ltdl")
-
- #if not simpleconf.CheckHeader('boost/signal.hpp',language='C++'):
- # print "Error: Boost signals not found. Please install."
- # Exit(0)
- #
- #simpleconf.Finish()
-
- # # Check for boost_python
- #if not conf.CheckLibWithHeader('boost_python', 'boost/python.hpp', 'C'):
- # print 'Did not find libboost_python exiting'
- # Exit(1)
- #else:
- # conf.env.Append(LIBS="boost_python")
-
- print '=== Done ===\n'
-
-
Added: code/gazebo/trunk/cmake/DissectVersion.cmake
===================================================================
--- code/gazebo/trunk/cmake/DissectVersion.cmake
(rev 0)
+++ code/gazebo/trunk/cmake/DissectVersion.cmake 2009-07-08 18:26:15 UTC
(rev 7957)
@@ -0,0 +1,5 @@
+# Find version components
+STRING (REGEX REPLACE "^([0-9]+).*" "\\1" GAZEBO_MAJOR_VERSION
"${GAZEBO_VERSION}")
+STRING (REGEX REPLACE "^[0-9]+\\.([0-9]+).*" "\\1" GAZEBO_MINOR_VERSION
"${GAZEBO_VERSION}")
+STRING (REGEX REPLACE "^[0-9]+\\.[0-9]+\\.([0-9]+)" "\\1"
GAZEBO_REVISION_VERSION ${GAZEBO_VERSION})
+STRING (REGEX REPLACE "^[0-9]+\\.[0-9]+\\.[0-9]+(.*)" "\\1"
GAZEBO_CANDIDATE_VERSION ${GAZEBO_VERSION})
Modified: code/gazebo/trunk/player/SimulationInterface.cc
===================================================================
--- code/gazebo/trunk/player/SimulationInterface.cc 2009-07-06 13:51:39 UTC
(rev 7956)
+++ code/gazebo/trunk/player/SimulationInterface.cc 2009-07-08 18:26:15 UTC
(rev 7957)
@@ -275,7 +275,6 @@
}
this->iface->Unlock();
}
-
}
else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_SIMULATION_CMD_PAUSE,
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-07-06 13:51:39 UTC (rev 7956)
+++ code/gazebo/trunk/server/World.cc 2009-07-08 18:26:15 UTC (rev 7957)
@@ -999,65 +999,68 @@
case SimulationRequestData::GET_INTERFACE_TYPE:
{
- //printf("Model Type Request\n");
- std::vector<std::string> list;
-
- response->type = req->type;
+ //printf("Model Type Request\n");
+ std::vector<std::string> list;
+
+ response->type = req->type;
strcpy( response->modelName, req->modelName);
- std::vector<Model*>::iterator miter;
+ std::vector<Model*>::iterator miter;
- for (miter=models.begin(); miter!=models.end(); miter++)
- GetInterfaceNames((*miter), list);
-
- std::string mname = req->modelName;
- unsigned int i=mname.find(".");
- while(i!= std::string::npos){
-
- mname.erase(i,1);
- mname.insert(i,"::");
- i= mname.find(".");
- }
-
-
- std::vector<std::string> candids;
+ for (miter=models.begin(); miter!=models.end(); miter++)
+ GetInterfaceNames((*miter), list);
- for(unsigned int j=0;j<list.size();j++){
+ std::string mname = req->modelName;
+ unsigned int i=mname.find(".");
- int ind = list[j].find(mname);
- if(ind==0 && ind!=std::string::npos && list[j].size() >
mname.size()){
-
candids.push_back(list[j].substr(ind+mname.size(),list[j].size()-ind-mname.size()));
- }
- }
+ while(i!= std::string::npos)
+ {
+ mname.erase(i,1);
+ mname.insert(i,"::");
+ i= mname.find(".");
+ }
- /*for(unsigned int ii=0;ii<candids.size();ii++)
- printf("candidatetypes: %s\n",candids[ii].c_str());*/
+ std::vector<std::string> candids;
- for(i=0; i<candids.size(); i++){
- if(candids[i][0]=='>'){
+ for(unsigned int j=0;j<list.size();j++)
+ {
+ size_t ind = list[j].find(mname);
+ if( ind==0 && ind != std::string::npos &&
+ list[j].size() > mname.size())
+ {
+ candids.push_back(list[j].substr(ind+mname.size(),
+ list[j].size()-ind-mname.size()) );
+ }
+ }
-
strcpy(response->strValue,candids[i].substr(2,candids[i].size()-2).c_str());
- response->strValue[511]='\0';
- i=candids.size()+5;
-
- }
- }
-
- if(strcmp(response->strValue,"irarray")==0){
- strcpy(response->strValue,"ranger");
- response->strValue[511]='\0';
- }
+ /*for(unsigned int ii=0;ii<candids.size();ii++)
+ printf("candidatetypes: %s\n",candids[ii].c_str());*/
- if(i<candids.size()+4) // the model is not an interface
- {
+ for(i=0; i<candids.size(); i++)
+ {
+ if(candids[i][0]=='>')
+ {
+ strcpy(response->strValue,
+ candids[i].substr(2,candids[i].size()-2).c_str());
+ response->strValue[511]='\0';
+ i=candids.size()+5;
+ }
+ }
- strcpy(response->strValue,"unkown");
- response->strValue[511]='\0';
+ if(strcmp(response->strValue,"irarray")==0)
+ {
+ strcpy(response->strValue,"ranger");
+ response->strValue[511]='\0';
+ }
- }
+ if(i<candids.size()+4) // the model is not an interface
+ {
+ strcpy(response->strValue,"unkown");
+ response->strValue[511]='\0';
+ }
- //printf("-> modeltype: %s \n", response->modelType);
+ //printf("-> modeltype: %s \n", response->modelType);
- response++;
+ response++;
this->simIface->data->responseCount += 1;
break;
@@ -1065,109 +1068,95 @@
case SimulationRequestData::GET_MODEL_INTERFACES:
{
-
- //printf("Requested the children\n");
- //printf("-> %s", req->modelName);
-
-
- response->nChildInterfaces=0;
- //std::vector<Entity*>::iterator iter;
- std::vector<std::string> list;
-
- response->type = req->type;
+ response->nChildInterfaces=0;
+ std::vector<std::string> list;
+
+ response->type = req->type;
strcpy( response->modelName, req->modelName);
- std::vector<Model*>::iterator miter;
+ std::vector<Model*>::iterator miter;
- for (miter=models.begin(); miter!=models.end(); miter++)
- GetInterfaceNames((*miter), list);
- /*
- for(unsigned int ii=0;ii<list.size();ii++)
- printf("interface: %s\n",list[ii].c_str());
- */
- // removing the ">>type" from the end of each interface names
- for(unsigned int jj=0;jj<list.size();jj++){
- unsigned int index = list[jj].find(">>");
- if(index !=std::string::npos)
- list[jj].replace(index,list[jj].size(),"");
- //printf("-->> %s \n",list[jj].c_str());
- }
-
-
- if(strcmp((char*)req->modelName,"")==0){
+ for (miter=models.begin(); miter!=models.end(); miter++)
+ GetInterfaceNames((*miter), list);
- std::vector<std::string> chlist;
- for(unsigned int i=0;i<list.size();i++){
-
- std::string str = list[i].substr(0,list[i].find("::"));
- std::vector<std::string>::iterator itr;
- itr = std::find(chlist.begin(),chlist.end(), str);
+ // removing the ">>type" from the end of each interface names
+ for(unsigned int jj=0;jj<list.size();jj++)
+ {
+ unsigned int index = list[jj].find(">>");
+ if(index !=std::string::npos)
+ list[jj].replace(index,list[jj].size(),"");
+ }
- if(itr!=chlist.end() || str=="")
- continue;
+ if(strcmp((char*)req->modelName,"")==0)
+ {
+ std::vector<std::string> chlist;
+ for(unsigned int i=0;i<list.size();i++)
+ {
- chlist.push_back(str);
-
strcpy(response->childInterfaces[response->nChildInterfaces++],str.c_str());
-
response->childInterfaces[response->nChildInterfaces-1][511]='\0';
- }
-
+ std::string str = list[i].substr(0,list[i].find("::"));
+ std::vector<std::string>::iterator itr;
+ itr = std::find(chlist.begin(),chlist.end(), str);
- }else{
-
-
- std::vector<std::string> newlist;
- std::string mname = (char*)req->modelName;
-
- unsigned int i=mname.find(".");
- while(i>-1){
-
- mname.erase(i,1);
- mname.insert(i,"::");
- i= mname.find(".");
- }
-
- for(unsigned int j=0;j<list.size();j++){
+ if(itr!=chlist.end() || str=="")
+ continue;
- unsigned int ind = list[j].find(mname);
- if(ind==0 && ind!=std::string::npos &&
list[j].size() > mname.size()){
-
newlist.push_back(list[j].substr(ind+mname.size()+2,list[j].size()-ind-mname.size()-2));
- }
- }
-
- /*for(unsigned int ii=0;ii<newlist.size();ii++)
- printf("child interface:
%s\n",newlist[ii].c_str());
-*/
- std::vector<std::string> chlist;
- for( i=0;i<newlist.size();i++){
-
- unsigned int indx = newlist[i].find("::");
- indx =
(indx==std::string::npos)?newlist[i].size():indx;
- std::string str = newlist[i].substr(0,indx);
- std::vector<std::string>::iterator itr;
- itr = std::find(chlist.begin(),chlist.end(),
str);
+ chlist.push_back(str);
+ strcpy(response->childInterfaces[response->nChildInterfaces++],
+ str.c_str());
+
response->childInterfaces[response->nChildInterfaces-1][511]='\0';
+ }
+ }
+ else
+ {
+ std::vector<std::string> newlist;
+ std::string mname = (char*)req->modelName;
- if(itr!=chlist.end() || str=="")
- continue;
+ size_t i=mname.find(".");
+ while( i != std::string::npos)
+ {
+ mname.erase(i,1);
+ mname.insert(i,"::");
+ i= mname.find(".");
+ }
- chlist.push_back(str);
- // Adding the parent name to the child name e.g
"parent.child"
- str=mname+"::"+str;
+ for(unsigned int j=0;j<list.size();j++)
+ {
+ unsigned int ind = list[j].find(mname);
+ if(ind==0 && ind!=std::string::npos &&
+ list[j].size() > mname.size())
+ {
+ newlist.push_back(list[j].substr(ind+mname.size()+2,
+ list[j].size()-ind-mname.size()-2));
+ }
+ }
-
strcpy(response->childInterfaces[response->nChildInterfaces++],str.c_str());
-
response->childInterfaces[response->nChildInterfaces-1][511]='\0';
- }
+ std::vector<std::string> chlist;
+ for( i=0;i<newlist.size();i++)
+ {
+ unsigned int indx = newlist[i].find("::");
+ indx = (indx==std::string::npos)?newlist[i].size():indx;
+ std::string str = newlist[i].substr(0,indx);
+ std::vector<std::string>::iterator itr;
+ itr = std::find(chlist.begin(),chlist.end(), str);
-
+ if(itr!=chlist.end() || str=="")
+ continue;
-
-
- }
+ chlist.push_back(str);
+ // Adding the parent name to the child name e.g "parent.child"
+ str=mname+"::"+str;
- response++;
- this->simIface->data->responseCount += 1;
+ strcpy(response->childInterfaces[response->nChildInterfaces++],
+ str.c_str());
+
response->childInterfaces[response->nChildInterfaces-1][511]='\0';
+ }
+ }
-
+ response++;
+ this->simIface->data->responseCount += 1;
+
break;
}
+
case SimulationRequestData::GO:
{
this->simPauseTime = Simulator::Instance()->GetSimTime()
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