Revision: 8216
http://playerstage.svn.sourceforge.net/playerstage/?rev=8216&view=rev
Author: rtv
Date: 2009-08-22 01:38:22 +0000 (Sat, 22 Aug 2009)
Log Message:
-----------
fixed event queuing bug when unsubscribing & subscribing
Modified Paths:
--------------
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_fiducial.cc
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-08-21 22:35:30 UTC (rev 8215)
+++ code/stage/trunk/libstage/model.cc 2009-08-22 01:38:22 UTC (rev 8216)
@@ -790,6 +790,7 @@
}
// set up the next event
+ if( subs > 0 ) // TODO XX ?
world->Enqueue( 0, World::Event::ENERGY, interval_energy, this );
}
@@ -852,7 +853,9 @@
}
//if( ! velocity.IsZero() )
- world->Enqueue( 0, World::Event::POSE, interval_pose, this );
+
+ if( subs > 0 )// TODO XX ?
+ world->Enqueue( 0, World::Event::POSE, interval_pose, this );
}
Model* Model::GetUnsubscribedModelOfType( const std::string& type ) const
Modified: code/stage/trunk/libstage/model_fiducial.cc
===================================================================
--- code/stage/trunk/libstage/model_fiducial.cc 2009-08-21 22:35:30 UTC (rev
8215)
+++ code/stage/trunk/libstage/model_fiducial.cc 2009-08-22 01:38:22 UTC (rev
8216)
@@ -18,12 +18,6 @@
#include "worldfile.hh"
using namespace Stg;
-static const stg_meters_t DEFAULT_RANGEMIN = 0.0;
-static const stg_meters_t DEFAULT_RANGEMAXID = 5.0;
-static const stg_meters_t DEFAULT_RANGEMAXANON = 8.0;
-static const stg_radians_t DEFAULT_FOV = M_PI;
-static const stg_watts_t DEFAULT_WATTS = 10.0;
-
//TODO make instance attempt to register an option (as customvisualizations do)
Option ModelFiducial::showData( "Fiducials", "show_fiducial", "", true, NULL );
Option ModelFiducial::showFov( "Fiducial FOV", "show_fiducial_fov", "", false,
NULL );
@@ -72,10 +66,10 @@
const std::string& type ) :
Model( world, parent, type ),
fiducials(),
- max_range_anon( DEFAULT_RANGEMAXANON ),
- max_range_id( DEFAULT_RANGEMAXID ),
- min_range( DEFAULT_RANGEMIN ),
- fov( DEFAULT_FOV ),
+ max_range_anon( 8.0 ),
+ max_range_id( 5.0 ),
+ min_range( 0.0 ),
+ fov( M_PI ),
heading( 0 ),
key( 0 )
{
@@ -178,32 +172,36 @@
// him->Token() );
// if it was him, we can see him
- if( hitmod == him )
- {
- Geom hisgeom( him->GetGeom() );
-
- // record where we saw him and what he looked like
- Fiducial fid;
- fid.mod = him;
- fid.range = range;
- fid.bearing = dtheta;
- fid.geom.x = hisgeom.size.x;
- fid.geom.y = hisgeom.size.y;
- fid.geom.a = normalize( hispose.a - mypose.a);
-
- // store the global pose of the fiducial (mainly for the GUI)
- fid.pose = hispose;
+ if( hitmod != him )
+ return;
- // if he's within ID range, get his fiducial.return value, else
- // we see value 0
- fid.id = range < max_range_id ? hitmod->vis.fiducial_return :
0;
-
- PRINT_DEBUG2( "adding %s's value %d to my list of fiducials",
- him->Token(),
him->vis.fiducial_return );
-
- fiducials.push_back( fid );
- }
-}
+ assert( range >= 0 );
+
+ // passed all the tests! record the fiducial hit
+
+ Geom hisgeom( him->GetGeom() );
+
+ // record where we saw him and what he looked like
+ Fiducial fid;
+ fid.mod = him;
+ fid.range = range;
+ fid.bearing = dtheta;
+ fid.geom.x = hisgeom.size.x;
+ fid.geom.y = hisgeom.size.y;
+ fid.geom.a = normalize( hispose.a - mypose.a);
+
+ // store the global pose of the fiducial (mainly for the GUI)
+ fid.pose = hispose;
+
+ // if he's within ID range, get his fiducial.return value, else
+ // we see value 0
+ fid.id = range < max_range_id ? hitmod->vis.fiducial_return : 0;
+
+ PRINT_DEBUG2( "adding %s's value %d to my list of fiducials",
+ him->Token(),
him->vis.fiducial_return );
+
+ fiducials.push_back( fid );
+}
///////////////////////////////////////////////////////////////////////////
// Update the beacon data
@@ -220,10 +218,8 @@
// reset the array of detected fiducials
fiducials.clear();
- for( std::set<Model*>::iterator it(
world->models_with_fiducials.begin() );
- it != world->models_with_fiducials.end();
- ++it )
- AddModelIfVisible( *it );
+ FOR_EACH( it, world->models_with_fiducials )
+ AddModelIfVisible( *it );
}
void ModelFiducial::Load( void )
@@ -272,9 +268,9 @@
glLineStipple( 1, 0x00FF );
// draw lines to the fiducials
- for( unsigned int f=0; f<fiducials.size(); f++ )
+ FOR_EACH( it, fiducials )
{
- Fiducial& fid = fiducials[f];
+ Fiducial& fid = *it;
double dx = fid.range * cos( fid.bearing);
double dy = fid.range * sin( fid.bearing);
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