Revision: 7987
http://playerstage.svn.sourceforge.net/playerstage/?rev=7987&view=rev
Author: hsujohnhsu
Date: 2009-07-10 22:33:41 +0000 (Fri, 10 Jul 2009)
Log Message:
-----------
check SimulationIface.data->realTime when doing Client::ConnectWait() making
sure that Client is not connected to a stale server from gazebo crash.
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/Client.cc
Modified: code/gazebo/trunk/libgazebo/Client.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Client.cc 2009-07-10 21:37:00 UTC (rev
7986)
+++ code/gazebo/trunk/libgazebo/Client.cc 2009-07-10 22:33:41 UTC (rev
7987)
@@ -41,7 +41,6 @@
#include "gazebo.h"
-
using namespace gazebo;
////////////////////////////////////////////////////////////////////////////////
@@ -83,50 +82,100 @@
// Connect to the server
void Client::ConnectWait(int serverId, int clientId)
{
- std::ostringstream stream;
- char *tmpdir;
- char *user;
+ bool simulationIfaceIsValid = false;
- // Check client id
- if (clientId >= 0 && clientId >= 16)
+ while (!simulationIfaceIsValid)
{
- stream << "invalid client ID [" << clientId << "]";
- throw(stream.str());
- }
+ std::ostringstream stream;
+ // Check client id
+ if (clientId >= 0 && clientId >= 16)
+ {
+ stream << "invalid client ID [" << clientId << "]";
+ throw(stream.str());
+ }
- this->serverId = serverId;
- this->clientId = clientId;
+ this->serverId = serverId;
+ this->clientId = clientId;
- // Initialize semaphores
- if (this->clientId >= 0)
- {
+ // Initialize semaphores
+ if (this->clientId >= 0)
+ {
+ try
+ {
+ this->SemInit();
+ }
+ catch (std::string e)
+ {
+ std::cerr << "Error[" << e << "]\n";
+ throw(e);
+ }
+ }
+
+ char *tmpdir;
+ char *user;
+ // Get the tmp dir
+ tmpdir = getenv("TMP");
+ if (!tmpdir)
+ tmpdir = (char*)"/tmp";
+
+ // Get the user
+ user = getenv("USER");
+ if (!user)
+ user = (char*)"nobody";
+
+ // Figure out the directory name
+ stream << tmpdir << "/gazebo-" << user << "-" << this->serverId;
+
+ this->filename = stream.str();
+
+ std::cout << "opening " << this->filename << "\n";
+
+ // Connect to gazebo::SimulationIface and check for changing realTime,
+ // if simulationIface->data->realTime is not changing, the server might
+ // be stale leftovers from previous gazebo crash,
+ // disconnect and reconnect client
+ gazebo::SimulationIface simulationIface;
try
{
- this->SemInit();
+ simulationIface.Open(this,"default");
}
catch (std::string e)
{
- std::cerr << "Error[" << e << "]\n";
- throw(e);
+ std::cerr << "Error Opening SimulationIface [" << e << "]\n";
+ exit(0);
}
+ // check realTime for updates
+ simulationIface.Lock(1);
+ double simTime0 = simulationIface.data->realTime;
+ simulationIface.Unlock();
+ double simTime1 = simTime0;
+
+ struct timeval tv;
+ gettimeofday(&tv, NULL);
+ double start_time = tv.tv_sec + tv.tv_usec * 1e-6;
+ double current_time = start_time;
+ const double timeout = 1; // timeout, disconnect and reconnect client
+ while(current_time - start_time < timeout)
+ {
+ usleep(200000);
+ simulationIface.Lock(1);
+ simTime1 = simulationIface.data->realTime;
+ simulationIface.Unlock();
+ if (simTime1 != simTime0)
+ {
+ simulationIfaceIsValid = true;
+ break;
+ }
+ //std::cout << "realTime has not changed, retrying
SimulationIface->data->realTime:" << simTime1 << " : " << simTime0 << std::endl;
+ gettimeofday(&tv, NULL);
+ current_time = tv.tv_sec + tv.tv_usec * 1e-6;
+ }
+ if (!simulationIfaceIsValid)
+ {
+ this->Disconnect();
+ }
}
- // Get the tmp dir
- tmpdir = getenv("TMP");
- if (!tmpdir)
- tmpdir = (char*)"/tmp";
-
- // Get the user
- user = getenv("USER");
- if (!user)
- user = (char*)"nobody";
-
- // Figure out the directory name
- stream << tmpdir << "/gazebo-" << user << "-" << this->serverId;
-
- this->filename = stream.str();
-
- std::cout << "opening " << this->filename << "\n";
}
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