Revision: 7998
http://playerstage.svn.sourceforge.net/playerstage/?rev=7998&view=rev
Author: rtv
Date: 2009-07-11 22:57:40 +0000 (Sat, 11 Jul 2009)
Log Message:
-----------
webstage updates
Modified Paths:
--------------
code/stage/trunk/CMakeLists.txt
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/libstage/worldgui.cc
code/stage/trunk/webstage/webstage.cc
code/stage/trunk/worlds/fasr.world
code/stage/trunk/worlds/pioneer_flocking.world
Modified: code/stage/trunk/CMakeLists.txt
===================================================================
--- code/stage/trunk/CMakeLists.txt 2009-07-11 22:51:27 UTC (rev 7997)
+++ code/stage/trunk/CMakeLists.txt 2009-07-11 22:57:40 UTC (rev 7998)
@@ -31,45 +31,47 @@
# Determine the operating system in detail
INCLUDE (${PROJECT_CMAKE_DIR}/internal/FindOS.cmake)
-# Enable -Wall by default
+
+# Enable -Wall by default unless on Win or Solaris
IF (NOT PROJECT_OS_WIN AND NOT PROJECT_OS_SOLARIS)
# Using -Wall on Windows causes MSVC to produce thousands of warnings in
its
# own standard headers, dramatically slowing down the build.
- #SET (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O3 -g -Wall")
- #SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -g -Wall")
- SET (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -g -Wall")
- SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -Wall")
+ SET (WALL "-Wall" )
ENDIF (NOT PROJECT_OS_WIN AND NOT PROJECT_OS_SOLARIS)
+#####################################
+# Build type cflags
+SET (CMAKE_CXX_FLAGS_RELEASE " -O3 -DNDEBUG ${WALL} " CACHE INTERNAL "C Flags
for release" FORCE)
+SET (CMAKE_CXX_FLAGS_DEBUG " -ggdb ${WALL} " CACHE INTERNAL "C Flags for
debug" FORCE)
+SET (CMAKE_CXX_FLAGS_PROFILE " -O3 -ggdb -pg ${WALL} " CACHE INTERNAL "C Flags
for profile" FORCE)
+
+#####################################
+# Set the default build type
+IF (NOT CMAKE_BUILD_TYPE)
+ SET (CMAKE_BUILD_TYPE "release" CACHE STRING
+ "Choose the type of build, options are: release (default) debug profile"
FORCE)
+ENDIF (NOT CMAKE_BUILD_TYPE)
+STRING(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE)
+
+MESSAGE( STATUS "Build type ${CMAKE_BUILD_TYPE}" )
+
ENABLE_TESTING()
# Create the pkgconfig file
CONFIGURE_FILE (${CMAKE_CURRENT_SOURCE_DIR}/stage.pc.in
${CMAKE_CURRENT_BINARY_DIR}/stage.pc @ONLY)
INSTALL (FILES ${CMAKE_CURRENT_BINARY_DIR}/stage.pc DESTINATION lib/pkgconfig/)
-# Create the config.h file
SET(RGBFILE ${CMAKE_INSTALL_PREFIX}/share/stage/rgb.txt )
+# Create the config.h file
# config.h belongs with the source (and not in CMAKE_CURRENT_BINARY_DIR as in
Brian's original version)
CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/config.h.in
${CMAKE_CURRENT_SOURCE_DIR}/config.h
@ONLY)
-# Enable -Wall by default
-#SET (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -O2 -Wall")
-#SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O2 -Wall")
-SET (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
-SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
-
message( STATUS "Checking for libtool" )
find_path( LTDL_INCLUDE_DIR ltdl.h DOC "Libtool include dir" )
find_library( LTDL_LIB ltdl DOC "Libtool lib" )
-#IF (${LTDL_LIB} STREQUAL "LTDL_LIB-NOTFOUND")
-# message( FATAL_ERROR "libtool library not found, aborting" )
-#ELSE (${LTDL_LIB} STREQUAL "LTDL_LIB-NOTFOUND")
-# message( STATUS " found" )
-#ENDIF (${LTDL_LIB} STREQUAL "LTDL_LIB-NOTFOUND")
-
include_directories(
${OPENGL_INCLUDE_DIR}
${LTDL_INCLUDE_DIR}
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-07-11 22:51:27 UTC (rev 7997)
+++ code/stage/trunk/libstage/stage.hh 2009-07-11 22:57:40 UTC (rev 7998)
@@ -885,10 +885,12 @@
void CallUpdateCallbacks(); ///< Call all calbacks in cb_list,
removing any that return true;
- bool paused; ///< the world only updates when this is false
-
public:
+ bool paused; ///< the world only updates when this is false or steps > 0
+ unsigned int steps; ///< When paused, stage updates while steps >
+ ///0, decrementing steps with
each update.
+
void Start(){ paused = false; };
void Stop(){ paused = true; };
void TogglePause(){ paused = !paused; };
@@ -1413,7 +1415,6 @@
stg_usec_t interval_real; ///< real-time interval between updates - set
this to zero for 'as fast as possible
Fl_Menu_Bar* mbar;
OptionsDlg* oDlg;
- unsigned int steps;
bool pause_time;
stg_usec_t real_time_of_last_update;
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-07-11 22:51:27 UTC (rev 7997)
+++ code/stage/trunk/libstage/world.cc 2009-07-11 22:57:40 UTC (rev 7998)
@@ -112,7 +112,8 @@
update_lists(1),
updates( 0 ),
wf( NULL ),
- paused( false )
+ paused( false ),
+ steps(0)
{
if( ! Stg::InitDone() )
{
@@ -523,8 +524,16 @@
return true;
}
- if( paused )
- return false;
+ if( paused )
+ {
+ if( steps < 1 )
+ return true;
+ else
+ {
+ --steps;
+ printf( "world::update (steps remaining %d)\n", steps );
+ }
+ }
dirty = true; // need redraw
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2009-07-11 22:51:27 UTC (rev
7997)
+++ code/stage/trunk/libstage/worldgui.cc 2009-07-11 22:57:40 UTC (rev
7998)
@@ -335,18 +335,8 @@
pause_time = true;
}
- bool val = true;
+ bool val = World::Update();
- if( paused )
- {
- if( steps > 0 )
- {
- val = World::Update();
- --steps;
- }
- }
- else
- val = World::Update();
stg_usec_t interval;
stg_usec_t timenow;
@@ -363,7 +353,7 @@
double sleeptime = (double)interval_real - (double)interval;
- if( paused ) sleeptime = 20000; // spare the CPU if we're paused
+ if( paused ) sleeptime = 50000; // spare the CPU if we're paused
// printf( "real %.2f interval %.2f sleeptime %.2f\n",
// (double)interval_real,
@@ -627,6 +617,7 @@
void WorldGui::onceCb( Fl_Widget* w, WorldGui* worldGui )
{
+ puts( "ONCE" );
worldGui->paused = true;
worldGui->steps = 1; // number of steps to run
}
Modified: code/stage/trunk/webstage/webstage.cc
===================================================================
--- code/stage/trunk/webstage/webstage.cc 2009-07-11 22:51:27 UTC (rev
7997)
+++ code/stage/trunk/webstage/webstage.cc 2009-07-11 22:57:40 UTC (rev
7998)
@@ -37,16 +37,30 @@
virtual bool ClockStart()
{
+ puts( "[WebStage] Clock start" );
world->Start();
return true;
}
virtual bool ClockStop()
{
+ puts( "[WebStage] Clock stop" );
world->Stop();
return true;
}
+ virtual bool ClockRunFor( double usec )
+ {
+ puts( "[WebStage] Clock tick" );
+
+ world->paused = true;
+ // when paused, the world will run while steps > 0, decrementing
+ // steps each cycle.
+ world->steps = (usec * 1e6) / world->GetSimInterval();
+
+ return true;
+ }
+
void Push( const std::string& name )
{
Stg::Model* mod = world->GetModel( name.c_str() );
@@ -590,7 +604,7 @@
//printf( "WebStage built on %s %s\n", PROJECT, VERSION );
std::string fedfilename = "";
- std::string host = "192.168.1.210";
+ std::string host = "localhost";
unsigned short port = 8000;
int ch=0, optindex=0;
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-07-11 22:51:27 UTC (rev 7997)
+++ code/stage/trunk/worlds/fasr.world 2009-07-11 22:57:40 UTC (rev 7998)
@@ -15,7 +15,6 @@
resolution 0.02
-# extra threads may speed things up a little here depending on available CPU
cores & workload
threads 0
# configure the GUI window
Modified: code/stage/trunk/worlds/pioneer_flocking.world
===================================================================
--- code/stage/trunk/worlds/pioneer_flocking.world 2009-07-11 22:51:27 UTC
(rev 7997)
+++ code/stage/trunk/worlds/pioneer_flocking.world 2009-07-11 22:57:40 UTC
(rev 7998)
@@ -10,9 +10,10 @@
paused 1
+# low resolution gives fast raytracing. set this only as small as you need for
your application
resolution 0.1
-# this is very helpful if you have multiple CPUs
+# this is very helpful if you have multiple CPUs - a good value is <number of
CPU cores> - 1
# threads 7
# configure the GUI window
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