Revision: 8224
http://playerstage.svn.sourceforge.net/playerstage/?rev=8224&view=rev
Author: rtv
Date: 2009-08-25 18:58:06 +0000 (Tue, 25 Aug 2009)
Log Message:
-----------
better fix for removing update events on zero subscriptions
Modified Paths:
--------------
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/world.cc
code/stage/trunk/webstage/CMakeLists.txt
code/stage/trunk/webstage/webstage.cc
code/stage/trunk/worlds/benchmark/expand_swarm.cc
code/stage/trunk/worlds/benchmark/hospital.world
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-08-25 10:44:06 UTC (rev 8223)
+++ code/stage/trunk/libstage/model.cc 2009-08-25 18:58:06 UTC (rev 8224)
@@ -665,12 +665,9 @@
void Model::Update( void )
{
- CallCallbacks( &hooks.update );
-
- last_update = world->sim_time;
-
- if( subs > 0 )
- world->Enqueue( event_queue_num, World::Event::UPDATE, interval, this
);
+ CallCallbacks( &hooks.update );
+ last_update = world->sim_time;
+ world->Enqueue( event_queue_num, World::Event::UPDATE, interval, this );
}
@@ -790,7 +787,6 @@
}
// set up the next event
- if( subs > 0 ) // TODO XX ?
world->Enqueue( 0, World::Event::ENERGY, interval_energy, this );
}
@@ -851,11 +847,8 @@
if( trail.size() > trail_length )
trail.pop_front();
}
-
- //if( ! velocity.IsZero() )
-
- if( subs > 0 )// TODO XX ?
- world->Enqueue( 0, World::Event::POSE, interval_pose, this );
+
+ world->Enqueue( 0, World::Event::POSE, interval_pose, this );
}
Model* Model::GetUnsubscribedModelOfType( const std::string& type ) const
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-08-25 10:44:06 UTC (rev 8223)
+++ code/stage/trunk/libstage/world.cc 2009-08-25 18:58:06 UTC (rev 8224)
@@ -477,12 +477,15 @@
{
// printf( "@ %llu next event <%s %llu %s>\n", sim_time, ev.TypeStr(
ev.type ), ev.time, ev.mod->Token() );
queue.pop();
+
// only update events are allowed in queues other than zero
if( queue_num > 0 && ev.type != Event::UPDATE )
- PRINT_WARN1( "event type %d in async queue", queue_num );
+ PRINT_WARN1( "event type %d in async queue", queue_num );
- //process the event and move to the next
- ev.Execute();
+ if( ev.mod->subs > 0 ) // no subscriptions means the event is
discarded
+ ev.Execute(); // simulate the event
+
+ // and move to the next
ev = queue.top();
}
}
@@ -536,14 +539,14 @@
// world callbacks
CallUpdateCallbacks();
-
- ++updates;
-
+
if( show_clock && ((this->updates % show_clock_interval) == 0) )
{
printf( "\r[Stage: %s]", ClockString().c_str() );
fflush( stdout );
}
+
+ ++updates;
return false;
}
Modified: code/stage/trunk/webstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/webstage/CMakeLists.txt 2009-08-25 10:44:06 UTC (rev
8223)
+++ code/stage/trunk/webstage/CMakeLists.txt 2009-08-25 18:58:06 UTC (rev
8224)
@@ -1,19 +1,8 @@
MESSAGE( STATUS "Configuring webstage" )
-#include(FindPkgConfig)
-
-#pkg_search_module( LIBXML2 REQUIRED libxml-2.0)
-#IF( LIBXML2_FOUND )
-# MESSAGE( STATUS ${INDENT} "libxml version ${LIBXML2_VERSION} detected at
${LIBXML2_PREFIX}" )
-#ELSE( LIBXML2_FOUND )
-# MESSAGE( ${INDENT} "libxml2 not detected" )
-#ENDIF( LIBXML2_FOUND )
-
-#include_directories( ${LIBXML2_INCLUDE_DIRS} )
-
add_executable( webstage webstage.cc )
-target_link_libraries( webstage ${WEBSIM_LIBRARIES} stage )
+target_link_libraries( webstage ${WEBSIM_LIBRARIES} event stage )
INSTALL(TARGETS webstage
RUNTIME DESTINATION bin
Modified: code/stage/trunk/webstage/webstage.cc
===================================================================
--- code/stage/trunk/webstage/webstage.cc 2009-08-25 10:44:06 UTC (rev
8223)
+++ code/stage/trunk/webstage/webstage.cc 2009-08-25 18:58:06 UTC (rev
8224)
@@ -49,19 +49,29 @@
return true;
}
- virtual bool ClockRunFor( double usec )
+ virtual bool ClockRunFor( uint32_t msec )
{
puts( "[WebStage] Clock tick" );
-
+
world->paused = true;
- // when paused, the world will run while steps > 0, decrementing
- // steps each cycle.
- // TODO
- world->steps = 1;//(usec * 1e6) / world->GetSimInterval();
+ world->sim_interval = msec * 1e3; // usec
+ world->Update();
return true;
}
+ virtual bool GetModelType( const std::string& name, std::string& type )
+ {
+ Stg::Model* mod = world->GetModel( name.c_str() );
+
+ if( ! mod )
+ return false;
+
+ type = mod->GetModelType();
+ return true;
+ }
+
+
void Push( const std::string& name )
{
Stg::Model* mod = world->GetModel( name.c_str() );
@@ -193,7 +203,7 @@
Model*mod = world->GetModel( name.c_str() );
if(mod){
- stg_model_type_t type = mod->GetModelType();
+ std::string type = mod->GetModelType();
if(type == "position") {
websim::Pose p;
@@ -333,232 +343,249 @@
return true;
}
-virtual bool GetModelPVA(const std::string& name,
- websim::Time&
t,
- websim::Pose&
p,
-
websim::Velocity& v,
-
websim::Acceleration& a,
- std::string&
error)
-{
- //printf( "get model name:%s\n", name.c_str() );
+ virtual bool GetModelPVA(const std::string& name,
+
websim::Time& t,
+
websim::Pose& p,
+
websim::Velocity& v,
+
websim::Acceleration& a,
+
std::string& error)
+ {
+ //printf( "get model name:%s\n", name.c_str() );
- t = GetTime();
+ t = GetTime();
- Model* mod = world->GetModel( name.c_str() );
- if( mod )
- {
- Stg::Pose sp = mod->GetPose();
- p.x = sp.x;
- p.y = sp.y;
- p.z = sp.z;
- p.a = sp.a;
+ Model* mod = world->GetModel( name.c_str() );
+ if( mod )
+ {
+ Stg::Pose sp = mod->GetPose();
+ p.x = sp.x;
+ p.y = sp.y;
+ p.z = sp.z;
+ p.a = sp.a;
- Stg::Velocity sv = mod->GetVelocity();
- v.x = sv.x;
- v.y = sv.y;
- v.z = sv.z;
- v.a = sv.a;
- }
- else
- printf( "Warning: attempt to set PVA for unrecognized model \"%s\"\n",
- name.c_str() );
+ Stg::Velocity sv = mod->GetVelocity();
+ v.x = sv.x;
+ v.y = sv.y;
+ v.z = sv.z;
+ v.a = sv.a;
+ }
+ else
+ printf( "Warning: attempt to set PVA for unrecognized model
\"%s\"\n",
+ name.c_str() );
- return true;
-}
-/*
- virtual bool GetLaserData(const std::string& name,
- websim::Time& t,
- uint32_t& resolution,
- double& fov,
- websim::Pose& p,
- std::vector<double>& ranges,
- std::string& error,
- void* parent){
+ return true;
+ }
+ /*
+ virtual bool GetLaserData(const std::string& name,
+ websim::Time& t,
+ uint32_t& resolution,
+ double& fov,
+ websim::Pose& p,
+ std::vector<double>& ranges,
+ std::string& error,
+ void* parent){
- t = GetTime();
+ t = GetTime();
- Model* mod = world->GetModel( name.c_str() );
- if( mod )
- {
- ModelLaser* laser = (ModelLaser*)mod->GetModel("laser:0");
+ Model* mod = world->GetModel( name.c_str() );
+ if( mod )
+ {
+ ModelLaser* laser = (ModelLaser*)mod->GetModel("laser:0");
- if(laser){
- uint32_t sample_count=0;
- ModelLaser::Sample* scan = laser->GetSamples( &sample_count );
- assert(scan);
+ if(laser){
+ uint32_t sample_count=0;
+ ModelLaser::Sample* scan = laser->GetSamples( &sample_count );
+ assert(scan);
- ModelLaser::Config cfg = laser->GetConfig();
- resolution = cfg.resolution;
- fov = cfg.fov;
+ ModelLaser::Config cfg = laser->GetConfig();
+ resolution = cfg.resolution;
+ fov = cfg.fov;
- for(unsigned int i=0;i<sample_count;i++)
- ranges.push_back(scan[i].range);
- }else{
+ for(unsigned int i=0;i<sample_count;i++)
+ ranges.push_back(scan[i].range);
+ }else{
- printf( "Warning: attempt to get laser data for unrecognized laser model of
model \"%s\"\n",
- name.c_str() );
- return false;
+ printf( "Warning: attempt to get laser data for unrecognized laser
model of model \"%s\"\n",
+ name.c_str() );
+ return false;
- }
+ }
- }
- else{
- printf( "Warning: attempt to get laser data for unrecognized model \"%s\"\n",
- name.c_str() );
- return false;
- }
+ }
+ else{
+ printf( "Warning: attempt to get laser data for unrecognized model
\"%s\"\n",
+ name.c_str() );
+ return false;
+ }
- return true;
+ return true;
- }
- virtual bool GetRangerData(const std::string& name,
- websim::Time& t,
- std::vector<websim::Pose>& p,
- std::vector<double>& ranges,
- std::string& response,
- xmlNode* parent){
- t = GetTime();
+ }
+ virtual bool GetRangerData(const std::string& name,
+ websim::Time& t,
+ std::vector<websim::Pose>& p,
+ std::vector<double>& ranges,
+ std::string& response,
+ xmlNode* parent){
+ t = GetTime();
- Model* mod = world->GetModel( name.c_str() );
- if( mod )
- {
- ModelRanger* ranger = (ModelRanger*)mod->GetModel("ranger:0");
+ Model* mod = world->GetModel( name.c_str() );
+ if( mod )
+ {
+ ModelRanger* ranger = (ModelRanger*)mod->GetModel("ranger:0");
- if(ranger){
- uint32_t count = ranger->sensors.size();
- for(unsigned int i=0;i<count;i++)
- ranges.push_back(ranger->sensors[i].range);
-
//std::copy(ranger->samples,ranger->samples+ranger->sensor_count,ranges.begin());
+ if(ranger){
+ uint32_t count = ranger->sensors.size();
+ for(unsigned int i=0;i<count;i++)
+ ranges.push_back(ranger->sensors[i].range);
+
//std::copy(ranger->samples,ranger->samples+ranger->sensor_count,ranges.begin());
- for(unsigned int i=0;i<count;i++){
- websim::Pose pos;
- Pose rpos;
- rpos = ranger->sensors[i].pose;
- pos.x = rpos.x;
- pos.y = rpos.y;
- pos.z = rpos.z;
- pos.a = rpos.a;
- p.push_back(pos);
- }
+ for(unsigned int i=0;i<count;i++){
+ websim::Pose pos;
+ Pose rpos;
+ rpos = ranger->sensors[i].pose;
+ pos.x = rpos.x;
+ pos.y = rpos.y;
+ pos.z = rpos.z;
+ pos.a = rpos.a;
+ p.push_back(pos);
+ }
- }else{
+ }else{
- printf( "Warning: attempt to get ranger data for unrecognized ranger model
of model \"%s\"\n",
- name.c_str() );
- return false;
- }
- }
- else{
- printf( "Warning: attempt to get ranger data for unrecognized model
\"%s\"\n",
- name.c_str() );
- return false;
- }
+ printf( "Warning: attempt to get ranger data for unrecognized ranger
model of model \"%s\"\n",
+ name.c_str() );
+ return false;
+ }
+ }
+ else{
+ printf( "Warning: attempt to get ranger data for unrecognized model
\"%s\"\n",
+ name.c_str() );
+ return false;
+ }
- return true;
+ return true;
- }*/
+ }*/
-virtual bool GetModelGeometry(const std::string& name,
-
double& x,
-
double& y,
-
double& z,
-
websim::Pose& center,
-
std::string& response)
-{
- if(name == "sim"){
+ virtual bool GetModelGeometry(const std::string& name,
+
double& x,
+
double& y,
+
double& z,
+
websim::Pose& center,
+
std::string& response)
+ {
+ if(name == "sim"){
- stg_bounds3d_t ext = world->GetExtent();
+ stg_bounds3d_t ext = world->GetExtent();
- x = ext.x.max - ext.x.min;
- y = ext.y.max - ext.y.min;
- z = ext.z.max - ext.z.min;
+ x = ext.x.max - ext.x.min;
+ y = ext.y.max - ext.y.min;
+ z = ext.z.max - ext.z.min;
- }
- else
- {
- Model* mod = world->GetModel(name.c_str());
- if(mod){
- Geom ext = mod->GetGeom();
+ }
+ else
+ {
+ Model* mod = world->GetModel(name.c_str());
+ if(mod){
+ Geom ext = mod->GetGeom();
- x = ext.size.x;
- y = ext.size.y;
- z = ext.size.z;
- center.x = ext.pose.x;
- center.y = ext.pose.y;
- center.a = ext.pose.a;
+ x = ext.size.x;
+ y = ext.size.y;
+ z = ext.size.z;
+ center.x = ext.pose.x;
+ center.y = ext.pose.y;
+ center.a = ext.pose.a;
+ }
+ else
+ {
+ printf("Warning: attemp to get the extent of
unrecognized model \"%s\"\n", name.c_str());
+ return false;
+ }
}
- else
- {
- printf("Warning: attemp to get the extent of
unrecognized model \"%s\"\n", name.c_str());
- return false;
- }
- }
- return true;
-}
+ return true;
+ }
-static int CountRobots(Model * mod, int* n ){
+ static int CountRobots(Model * mod, int* n ){
- if(n && mod->GetModelType() == MODEL_TYPE_POSITION)
- (*n)++;
+ if(n && mod->GetModelType() == "position")
+ (*n)++;
- return 0;
-}
+ return 0;
+ }
-virtual bool GetNumberOfRobots(unsigned int& n)
-{
+ virtual bool GetNumberOfRobots(unsigned int& n)
+ {
- world->ForEachDescendant((stg_model_callback_t)CountRobots, &n);
- return true;
+ world->ForEachDescendant((stg_model_callback_t)CountRobots, &n);
+ return true;
-}
-/*
- virtual bool GetModelTree()
- {
+ }
+ /*
+ virtual bool GetModelTree()
+ {
- // world->ForEachDescendant((stg_model_callback_t)printname, NULL);
+ // world->ForEachDescendant((stg_model_callback_t)printname,
NULL);
- return true;
- }
-*/
-virtual bool GetSayStrings(std::vector<std::string>& sayings)
-{
- unsigned int n=0;
- this->GetNumberOfRobots(n);
+ return true;
+ }
+ */
+ virtual bool GetSayStrings(std::vector<std::string>& sayings)
+ {
+ unsigned int n=0;
+ this->GetNumberOfRobots(n);
- for(unsigned int i=0;i<n;i++){
- char temp[128];
- sprintf(temp,"position:%d",i);
- Model *mod = world->GetModel(temp);
- if(mod->GetSayString() != "")
- {
+ for(unsigned int i=0;i<n;i++){
+ char temp[128];
+ sprintf(temp,"position:%d",i);
+ Model *mod = world->GetModel(temp);
+ if(mod->GetSayString() != "")
+ {
- std::string str = temp;
- str += " says: \" ";
- str += mod->GetSayString();
- str += " \" ";
+ std::string str = temp;
+ str += " says: \" ";
+ str += mod->GetSayString();
+ str += " \" ";
- sayings.push_back(str);
+ sayings.push_back(str);
- }
+ }
+ }
+
+ return true;
}
- return true;
-}
+ virtual websim::Time GetTime()
+ {
+ stg_usec_t stgtime = world->SimTimeNow();
-virtual websim::Time GetTime()
-{
- stg_usec_t stgtime = world->SimTimeNow();
+ websim::Time t;
+ t.sec = stgtime / 1e6;
+ t.usec = stgtime - (t.sec * 1e6);
+ return t;
+ }
+
+ // add an FLTK event loop update to WebSim's implementation
+ virtual void Wait()
+ {
+ Fl::check();
+
+ while( unacknowledged_ticks || unacknowledged_pushes ||
ticks_remaining )
+ {
+ printf( "event loop in wait (%d %d %d)\n",
+ unacknowledged_ticks,
unacknowledged_pushes, ticks_remaining );
- websim::Time t;
- t.sec = stgtime / 1e6;
- t.usec = stgtime - (t.sec * 1e6);
- return t;
-}
-
+ event_loop( EVLOOP_NONBLOCK );
+
+ puts( "fl::check\n" );
+ Fl::check();
+ }
+ }
+
};
@@ -636,20 +663,22 @@
// todo? check for changes?
// send my updates
ws.Push();
- //puts( "pushes done" );
+ //puts( "push done" );
- // tell my friends to start simulating
- ws.Go();
+ // run one step of the simulation
+ ws.Tick();
- // puts( "go done" );
+ //puts( "tick done" );
// update Stage
world->Update();
//puts( "update done" );
+
+ Fl::check();
- // wait for goes from all my friends
+ // wait until everyone report simulation step done
ws.Wait();
- //puts( "wait done" );
+ puts( "wait done" );
}
printf( "Webstage done.\n" );
Modified: code/stage/trunk/worlds/benchmark/expand_swarm.cc
===================================================================
--- code/stage/trunk/worlds/benchmark/expand_swarm.cc 2009-08-25 10:44:06 UTC
(rev 8223)
+++ code/stage/trunk/worlds/benchmark/expand_swarm.cc 2009-08-25 18:58:06 UTC
(rev 8224)
@@ -39,7 +39,8 @@
// subscribe to the ranger, which we use for navigating
robot->ranger = (ModelRanger*)mod->GetModel( "ranger:0" );
assert( robot->ranger );
-
+
+
// ask Stage to call into our ranger update function
robot->ranger->AddUpdateCallback( (stg_model_callback_t)RangerUpdate, robot
);
Modified: code/stage/trunk/worlds/benchmark/hospital.world
===================================================================
--- code/stage/trunk/worlds/benchmark/hospital.world 2009-08-25 10:44:06 UTC
(rev 8223)
+++ code/stage/trunk/worlds/benchmark/hospital.world 2009-08-25 18:58:06 UTC
(rev 8224)
@@ -43,6 +43,7 @@
color "random"
ranger( pose [ 0 0 -0.050 0 ]
+ alwayson 1
scount 12
spose[0] [0 0 0]
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