Revision: 8598
http://playerstage.svn.sourceforge.net/playerstage/?rev=8598&view=rev
Author: hsujohnhsu
Date: 2010-03-22 21:59:24 +0000 (Mon, 22 Mar 2010)
Log Message:
-----------
This stemmed from trying start the world paused (-u) with dynamically spawned
models.
The model->Init() call does not need to be done when Loading through
World::Load() but
needs to be done when calling through ProcessEntitiesToLoad(). Here are the
fixes:
* moved pause to after init in main.cc
* add a bool flag "initModel" to LoadEntities/LoadModel.
Modified Paths:
--------------
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/World.hh
code/gazebo/trunk/server/main.cc
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2010-03-20 02:22:39 UTC (rev 8597)
+++ code/gazebo/trunk/server/World.cc 2010-03-22 21:59:24 UTC (rev 8598)
@@ -209,7 +209,9 @@
gzthrow("Unable to create physics engine\n");
}
- this->LoadEntities(rootNode, NULL, false);
+ // last bool is initModel, init model is not needed as Init()
+ // is called separately from main.cc
+ this->LoadEntities(rootNode, NULL, false, false);
/*std::vector<Model*>::iterator miter;
for (miter = this->models.begin(); miter != this->models.end(); miter++)
@@ -441,7 +443,7 @@
///////////////////////////////////////////////////////////////////////////////
// Load a model
-void World::LoadEntities(XMLConfigNode *node, Model *parent, bool
removeDuplicate)
+void World::LoadEntities(XMLConfigNode *node, Model *parent, bool
removeDuplicate, bool initModel)
{
XMLConfigNode *cnode;
Model *model = NULL;
@@ -451,7 +453,7 @@
// Check for model nodes
if (node->GetNSPrefix() == "model")
{
- model = this->LoadModel(node, parent, removeDuplicate);
+ model = this->LoadModel(node, parent, removeDuplicate, initModel);
this->addEntitySignal(model);
}
}
@@ -459,7 +461,7 @@
// Load children
for (cnode = node->GetChild(); cnode != NULL; cnode = cnode->GetNext())
{
- this->LoadEntities( cnode, model, removeDuplicate );
+ this->LoadEntities( cnode, model, removeDuplicate, initModel);
}
}
@@ -501,7 +503,8 @@
continue;
}
- this->LoadEntities( xmlConfig->GetRootNode(), NULL, true);
+ // last bool is initModel, yes, init model after loading it
+ this->LoadEntities( xmlConfig->GetRootNode(), NULL, true, true);
delete xmlConfig;
}
this->toLoadEntities.clear();
@@ -554,7 +557,7 @@
////////////////////////////////////////////////////////////////////////////////
// Load a model
-Model *World::LoadModel(XMLConfigNode *node, Model *parent, bool
removeDuplicate)
+Model *World::LoadModel(XMLConfigNode *node, Model *parent, bool
removeDuplicate, bool initModel)
{
Pose3d pose;
Model *model = new Model(parent);
@@ -569,8 +572,14 @@
// Add the model to our list
this->models.push_back(model);
- if (Simulator::Instance()->GetSimTime() > 0)
- model->Init();
+ // If calling LoadEntity()->LoadModel()from Simulator::Load()->World::Load()
+ // GetWorldInitialized() is false, in this case, model->Init() is
+ // called later directly from main.cc through Simulator::Init()
+ // on the other hand
+ // LoadEntity()->LoadModel() is also called from ProcessEntitesToLoad(),
+ // in this case, GetWorldInitialized should return true, and we want
+ // to call model->Init() here
+ if (initModel) model->Init();
if (parent != NULL)
model->Attach(node->GetChild("attach"));
Modified: code/gazebo/trunk/server/World.hh
===================================================================
--- code/gazebo/trunk/server/World.hh 2010-03-20 02:22:39 UTC (rev 8597)
+++ code/gazebo/trunk/server/World.hh 2010-03-22 21:59:24 UTC (rev 8598)
@@ -138,7 +138,7 @@
/// \param parent Parent of the model to load
/// \param removeDuplicate Remove existing model of same name
public: void LoadEntities(XMLConfigNode *node, Model *parent,
- bool removeDuplicate);
+ bool removeDuplicate,bool initModel);
/// \brief Insert an entity into the world. This function pushes the model
// (encoded as an XML string) onto a list. The Graphics Thread will then
@@ -252,7 +252,7 @@
/// \param parent The parent model
/// \param removeDuplicate Remove existing model of same name
/// \return The model that was created
- private: Model *LoadModel(XMLConfigNode *node, Model *parent, bool
removeDuplicate);
+ private: Model *LoadModel(XMLConfigNode *node, Model *parent, bool
removeDuplicate,bool initModel);
/// \brief Set the model pose and the pose of it's attached children
/// \param model The model to set
Modified: code/gazebo/trunk/server/main.cc
===================================================================
--- code/gazebo/trunk/server/main.cc 2010-03-20 02:22:39 UTC (rev 8597)
+++ code/gazebo/trunk/server/main.cc 2010-03-22 21:59:24 UTC (rev 8598)
@@ -279,7 +279,6 @@
gazebo::Simulator::Instance()->Load(worldFileName, optServerId);
gazebo::Simulator::Instance()->SetTimeout(optTimeout);
gazebo::Simulator::Instance()->SetPhysicsEnabled(optPhysicsEnabled);
- gazebo::Simulator::Instance()->SetPaused(optPaused);
}
catch (gazebo::GazeboError e)
{
@@ -293,6 +292,7 @@
try
{
gazebo::Simulator::Instance()->Init();
+ gazebo::Simulator::Instance()->SetPaused(optPaused);
}
catch (gazebo::GazeboError e)
{
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