Revision: 8631
http://playerstage.svn.sourceforge.net/playerstage/?rev=8631&view=rev
Author: natepak
Date: 2010-04-27 16:23:21 +0000 (Tue, 27 Apr 2010)
Log Message:
-----------
Fixed a thread bug, and a shutdown bug
Modified Paths:
--------------
code/gazebo/trunk/cmake/SearchForStuff.cmake
code/gazebo/trunk/config.h.in
code/gazebo/trunk/libgazebo/SimIface.cc
code/gazebo/trunk/libgazebo/gz.h
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/controllers/ControllerFactory.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.hh
code/gazebo/trunk/server/rendering/RTShaderSystem.cc
code/gazebo/trunk/tools/gazebomodel.cc
code/gazebo/trunk/worlds/pioneer2dx.world
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/trunk/cmake/SearchForStuff.cmake 2010-04-27 15:07:08 UTC
(rev 8630)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake 2010-04-27 16:23:21 UTC
(rev 8631)
@@ -399,26 +399,28 @@
########################################
# Find libdl
-FIND_PATH(libdl_include_dir dlfcn.h /usr/include /usr/local/include)
-IF (NOT libdl_include_dir)
- MESSAGE (STATUS "Looking for dlfcn.h - not found")
- MESSAGE (STATUS "Warning: Unable to find libdl, plugins will not be
supported.")
- SET (libdl_include_dir /usr/include)
-ELSE (NOT libdl_include_dir)
- MESSAGE (STATUS "Looking for dlfcn.h - found")
-ENDIF (NOT libdl_include_dir)
+find_path(libdl_include_dir dlfcn.h /usr/include /usr/local/include)
+if (NOT libdl_include_dir)
+ message (STATUS "Looking for dlfcn.h - not found")
+ message (STATUS "Warning: Unable to find libdl, plugins will not be
supported.")
+ set (libdl_include_dir /usr/include)
+else (NOT libdl_include_dir)
+ message (STATUS "Looking for dlfcn.h - found")
+endif (NOT libdl_include_dir)
-FIND_LIBRARY(libdl_library dl /usr/lib /usr/local/lib)
-IF (NOT libdl_library)
- MESSAGE (STATUS "Looking for libdl - not found")
- MESSAGE (STATUS "Warning: Unable to find libdl, plugins will not be
supported.")
-ELSE (NOT libdl_library)
- MESSAGE (STATUS "Looking for libdl - found")
-ENDIF (NOT libdl_library)
+find_library(libdl_library dl /usr/lib /usr/local/lib)
+if (NOT libdl_library)
+ message (STATUS "Looking for libdl - not found")
+ message (STATUS "Warning: Unable to find libdl, plugins will not be
supported.")
+else (NOT libdl_library)
+ message (STATUS "Looking for libdl - found")
+endif (NOT libdl_library)
-IF (libdl_library AND libdl_include_dir)
+if (libdl_library AND libdl_include_dir)
SET (HAVE_DL TRUE)
-ENDIF (libdl_library AND libdl_include_dir)
+else (libdl_library AND libdl_include_dir)
+ SET (HAVE_DL FALSE)
+endif (libdl_library AND libdl_include_dir)
########################################
# Find assimp
Modified: code/gazebo/trunk/config.h.in
===================================================================
--- code/gazebo/trunk/config.h.in 2010-04-27 15:07:08 UTC (rev 8630)
+++ code/gazebo/trunk/config.h.in 2010-04-27 16:23:21 UTC (rev 8631)
@@ -7,9 +7,10 @@
#define GAZEBO_VERSION "${GAZEBO_VERSION}"
-#cmakedefine HAVE_OPENAL
-#cmakedefine HAVE_FFMPEG
-#cmakedefine HAVE_LTDL
-#cmakedefine ENABLE_SHADOWS
-#cmakedefine INCLUDE_BULLET
-#cmakedefine INCLUDE_ODE
+#cmakedefine HAVE_OPENAL 1
+#cmakedefine HAVE_FFMPEG 1
+#cmakedefine HAVE_LTDL 1
+#cmakedefine HAVE_DL 1
+#cmakedefine ENABLE_SHADOWS 1
+#cmakedefine INCLUDE_BULLET 1
+#cmakedefine INCLUDE_ODE 1
Modified: code/gazebo/trunk/libgazebo/SimIface.cc
===================================================================
--- code/gazebo/trunk/libgazebo/SimIface.cc 2010-04-27 15:07:08 UTC (rev
8630)
+++ code/gazebo/trunk/libgazebo/SimIface.cc 2010-04-27 16:23:21 UTC (rev
8631)
@@ -39,10 +39,6 @@
/// Destroy an interface
SimulationIface::~SimulationIface()
{
- if (this->goAckThread)
- delete this->goAckThread;
- this->goAckThread = NULL;
-
this->data = NULL;
}
@@ -95,6 +91,26 @@
}
//////////////////////////////////////////////////////////////////////////////
+/// Close the interface
+void SimulationIface::Close()
+{
+ printf("Close\n");
+
+ //stop BlockThread
+ if (this->goAckThread)
+ {
+ this->goAckThread->interrupt(); //ask thread to stop
+ this->GoAckPost();
+ this->goAckThread->join(); //wait till it's stopped
+ delete this->goAckThread;
+ }
+ this->goAckThread = NULL;
+
+
+ Iface::Close();
+}
+
+//////////////////////////////////////////////////////////////////////////////
// Destroy the interface (server)
void SimulationIface::Destroy()
{
@@ -128,15 +144,28 @@
////////////////////////////////////////////////////////////////////////////////
void SimulationIface::BlockThread()
{
+ printf("Block thread start\n");
+ try
+ {
+ while (true)
+ {
+ // Wait for Gazebo to send a Post
+ this->GoAckWait();
- while (true)
+ //are we getting interrupted?
+ boost::this_thread::interruption_point();
+
+ // Signal the callback function
+ this->goAckSignal();
+ }
+ }
+ catch (boost::thread_interrupted const &)
{
- // Wait for Gazebo to send a Post
- this->GoAckWait();
+ fprintf(stderr, "blockthread: thread got interrupted....\n");
+ return;
+ }
- // Signal the callback function
- this->goAckSignal();
- }
+ printf("Block thread end\n");
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/libgazebo/gz.h
===================================================================
--- code/gazebo/trunk/libgazebo/gz.h 2010-04-27 15:07:08 UTC (rev 8630)
+++ code/gazebo/trunk/libgazebo/gz.h 2010-04-27 16:23:21 UTC (rev 8631)
@@ -505,10 +505,12 @@
/// \brief id String id
public: virtual void Create(Server *server, std::string id);
+ /// \brief Close the interface
+ public: virtual void Close();
+
/// \brief Destroy the interface (server)
public: virtual void Destroy();
-
/// \brief Open a simulation interface
/// \param client Pointer to the client
/// \param id String name of the client
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2010-04-27 15:07:08 UTC (rev
8630)
+++ code/gazebo/trunk/server/Simulator.cc 2010-04-27 16:23:21 UTC (rev
8631)
@@ -84,7 +84,6 @@
// Destructor
Simulator::~Simulator()
{
-
if (this->gazeboConfig)
{
delete this->gazeboConfig;
@@ -334,6 +333,9 @@
{
gazebo::World::Instance()->Fini();
+ if (this->renderEngineEnabled)
+ gazebo::OgreAdaptor::Instance()->Fini();
+
this->Close();
}
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2010-04-27 15:07:08 UTC (rev 8630)
+++ code/gazebo/trunk/server/World.cc 2010-04-27 16:23:21 UTC (rev 8631)
@@ -1446,8 +1446,11 @@
case SimulationRequestData::GO:
{
+ int sec = req->runTime/1000;
+ int nsec = (req->runTime - sec) * 1e9;
+
this->simPauseTime = Simulator::Instance()->GetSimTime()
- + Time(req->runTime);
+ + Time(sec, nsec);
Simulator::Instance()->SetPaused(false);
break;
Modified: code/gazebo/trunk/server/controllers/ControllerFactory.cc
===================================================================
--- code/gazebo/trunk/server/controllers/ControllerFactory.cc 2010-04-27
15:07:08 UTC (rev 8630)
+++ code/gazebo/trunk/server/controllers/ControllerFactory.cc 2010-04-27
16:23:21 UTC (rev 8631)
@@ -75,7 +75,6 @@
{
#ifdef HAVE_DL
- std::cerr << "\n\n\n\n\USING DL\n\n\n\n";
void* handle = dlopen(plugin.c_str(), RTLD_LAZY|RTLD_GLOBAL);
if (!handle)
{
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-04-27 15:07:08 UTC
(rev 8630)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-04-27 16:23:21 UTC
(rev 8631)
@@ -104,7 +104,6 @@
delete this->drawGridP;
delete this->skyMaterialP;
- RTShaderSystem::Instance()->Fini();
}
////////////////////////////////////////////////////////////////////////////////
@@ -294,6 +293,13 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Finalize
+void OgreAdaptor::Fini()
+{
+ RTShaderSystem::Instance()->Fini();
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Save
void OgreAdaptor::Save(std::string &prefix, std::ostream &stream)
{
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.hh
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.hh 2010-04-27 15:07:08 UTC
(rev 8630)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.hh 2010-04-27 16:23:21 UTC
(rev 8631)
@@ -88,6 +88,9 @@
/// \brief Initialize ogre
public: void Init(XMLConfigNode *rootNode);
+
+ /// \brief Finalize
+ public: void Fini();
/// \brief Save Ogre settings
public: void Save(std::string &prefix, std::ostream &stream);
Modified: code/gazebo/trunk/server/rendering/RTShaderSystem.cc
===================================================================
--- code/gazebo/trunk/server/rendering/RTShaderSystem.cc 2010-04-27
15:07:08 UTC (rev 8630)
+++ code/gazebo/trunk/server/rendering/RTShaderSystem.cc 2010-04-27
16:23:21 UTC (rev 8631)
@@ -47,25 +47,6 @@
/// Destructor
RTShaderSystem::~RTShaderSystem()
{
-#if OGRE_VERSION_MAJOR >= 1 && OGRE_VERSION_MINOR >= MINOR_VERSION
- // Restore default scheme.
-
Ogre::MaterialManager::getSingleton().setActiveScheme(Ogre::MaterialManager::DEFAULT_SCHEME_NAME);
-
- // Unregister the material manager listener.
- if (this->materialMgrListener != NULL)
- {
- Ogre::MaterialManager::getSingleton().removeListener(
- this->materialMgrListener);
- this->materialMgrListener = NULL;
- }
-
- // Finalize RTShader system.
- if (this->shaderGenerator != NULL)
- {
- Ogre::RTShader::ShaderGenerator::finalize();
- this->shaderGenerator = NULL;
- }
-#endif
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/tools/gazebomodel.cc
===================================================================
--- code/gazebo/trunk/tools/gazebomodel.cc 2010-04-27 15:07:08 UTC (rev
8630)
+++ code/gazebo/trunk/tools/gazebomodel.cc 2010-04-27 16:23:21 UTC (rev
8631)
@@ -141,7 +141,9 @@
while (!feof(file))
{
char buffer[256];
- fgets(buffer, 256, file);
+ if (fgets(buffer, 256, file) == NULL)
+ std::cerr << "Unable to read file\n";
+
if (feof(file))
break;
stream << buffer;
@@ -240,7 +242,8 @@
char str[1024];
while (!feof(stdin))
{
- fgets(str, 1024, stdin);
+ if (fgets(str, 1024, stdin)==NULL)
+ std::cerr << "Unable to read file\n";
if (feof(stdin))
break;
std::string p = str;
Modified: code/gazebo/trunk/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/trunk/worlds/pioneer2dx.world 2010-04-27 15:07:08 UTC (rev
8630)
+++ code/gazebo/trunk/worlds/pioneer2dx.world 2010-04-27 16:23:21 UTC (rev
8631)
@@ -101,7 +101,7 @@
</include>
-->
- <model:physical name="pioneer2dx_model1">
+ <model:physical name="pioneer2dx_model">
<xyz>0 0 1.145</xyz>
<rpy>0.0 0.0 90.0</rpy>
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