Revision: 8225
http://playerstage.svn.sourceforge.net/playerstage/?rev=8225&view=rev
Author: hsujohnhsu
Date: 2009-08-26 06:08:55 +0000 (Wed, 26 Aug 2009)
Log Message:
-----------
fix race condition errors:
* call msync() for opening mmap, seems to need it mostly running on slow file
systems such as nfs.
* remove toAddModels, add to models queue directly at spawn time.
simplify code:
* removed ProcessMessages() and call UpdateSimulationIface() directly.
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/Iface.cc
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/World.hh
Modified: code/gazebo/trunk/libgazebo/Iface.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Iface.cc 2009-08-25 18:58:06 UTC (rev
8224)
+++ code/gazebo/trunk/libgazebo/Iface.cc 2009-08-26 06:08:55 UTC (rev
8225)
@@ -288,6 +288,12 @@
// Map the mmap file
this->mMap = mmap(0, this->size, PROT_READ | PROT_WRITE, MAP_SHARED,
this->mmapFd, 0);
+ // flushes changes made to the in-core copy of a mmap file
+ if (msync( this->mMap, this->size, MS_SYNC))
+ {
+ stream << "error msync mmap: " << strerror(errno);
+ throw(stream.str());
+ }
if (this->mMap == MAP_FAILED)
{
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-08-25 18:58:06 UTC (rev
8224)
+++ code/gazebo/trunk/server/Simulator.cc 2009-08-26 06:08:55 UTC (rev
8225)
@@ -676,7 +676,7 @@
nanosleep(&req, &rem);
// Process all incoming messages from simiface
- world->ProcessMessages();
+ world->UpdateSimulationIface();
if (this->timeout > 0 && this->GetRealTime() > this->timeout)
{
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-08-25 18:58:06 UTC (rev 8224)
+++ code/gazebo/trunk/server/World.cc 2009-08-26 06:08:55 UTC (rev 8225)
@@ -218,7 +218,6 @@
if (this->openAL)
this->openAL->Init();
- this->toAddModels.clear();
this->toDeleteModels.clear();
this->toLoadEntities.clear();
@@ -304,13 +303,6 @@
}
////////////////////////////////////////////////////////////////////////////////
-// Process messages
-void World::ProcessMessages()
-{
- this->UpdateSimulationIface();
-}
-
-////////////////////////////////////////////////////////////////////////////////
// Finilize the world
void World::Fini()
{
@@ -477,13 +469,10 @@
this->SetModelPose(model, model->GetInitPose());
// Add the model to our list
- if (Simulator::Instance()->GetSimTime() == 0)
- this->models.push_back(model);
- else
- {
+ this->models.push_back(model);
+
+ if (Simulator::Instance()->GetSimTime() > 0)
model->Init();
- this->toAddModels.push_back(model);
- }
if (parent != NULL)
model->Attach(node->GetChild("attach"));
@@ -1257,16 +1246,8 @@
this->simIface->Unlock();
-
- std::vector< Model* >::iterator miter;
-
- // Copy the newly created models into the main model vector
- std::copy(this->toAddModels.begin(), this->toAddModels.end(),
- std::back_inserter(this->models));
- this->toAddModels.clear();
-
-
// Remove and delete all models that are marked for deletion
+ std::vector< Model* >::iterator miter;
for (miter=this->toDeleteModels.begin();
miter!=this->toDeleteModels.end(); miter++)
{
Modified: code/gazebo/trunk/server/World.hh
===================================================================
--- code/gazebo/trunk/server/World.hh 2009-08-25 18:58:06 UTC (rev 8224)
+++ code/gazebo/trunk/server/World.hh 2009-08-26 06:08:55 UTC (rev 8225)
@@ -176,8 +176,6 @@
/// \brief Get whether to view as wireframe
public: bool GetShowPhysics();
- public: void ProcessMessages();
-
/// Set to true to show bounding boxes
private: bool showBoundingBoxes;
@@ -202,7 +200,7 @@
private: void SetModelPose(Model *model , Pose3d pose);
/// \brief Update the simulation iface
- private: void UpdateSimulationIface();
+ public: void UpdateSimulationIface();
/// \brif Get the names of interfaces defined in the tree of a model
private: void GetInterfaceNames(Entity* m, std::vector<std::string>& list);
@@ -216,9 +214,6 @@
/// List of all the registered geometries
private: std::vector< Geom* > geometries;
- /// List of models to add into the world
- private: std::vector< Model* > toAddModels;
-
/// List of models to delete from the world
private: std::vector< Model* > toDeleteModels;
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