Revision: 8731
http://playerstage.svn.sourceforge.net/playerstage/?rev=8731&view=rev
Author: natepak
Date: 2010-05-29 17:04:31 +0000 (Sat, 29 May 2010)
Log Message:
-----------
Added ability to load plugins from the command line
Modified Paths:
--------------
code/gazebo/branches/simpar/libgazebo/SimIface.cc
code/gazebo/branches/simpar/libgazebo/gz.h
code/gazebo/branches/simpar/server/GazeboConfig.cc
code/gazebo/branches/simpar/server/Simulator.cc
code/gazebo/branches/simpar/server/Simulator.hh
code/gazebo/branches/simpar/server/World.cc
code/gazebo/branches/simpar/tools/gazebomodel.cc
code/gazebo/branches/simpar/worlds/pioneer2dx.world
Added Paths:
-----------
code/gazebo/branches/simpar/plugins/
code/gazebo/branches/simpar/plugins/CMakeLists.txt
code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
code/gazebo/branches/simpar/plugins/pioneer_spiral.hh
Modified: code/gazebo/branches/simpar/libgazebo/SimIface.cc
===================================================================
--- code/gazebo/branches/simpar/libgazebo/SimIface.cc 2010-05-29 16:47:21 UTC
(rev 8730)
+++ code/gazebo/branches/simpar/libgazebo/SimIface.cc 2010-05-29 17:04:31 UTC
(rev 8731)
@@ -1001,3 +1001,23 @@
assert(this->data->responseCount == 1);
return data->responses[0].strValue;
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Add a handler
+void SimulationIface::AddHandler(const std::string &name)
+{
+ this->Lock(1);
+
+ this->data->responseCount = 0;
+ SimulationRequestData *request;
+
+ request = &(this->data->requests[this->data->requestCount++]);
+ request->type = SimulationRequestData::ADD_HANDLER;
+ memset(request->strValue, 0, 512);
+ strncpy(request->strValue, name.c_str(), 512);
+ request->strValue[511] = '\0';
+
+ this->Unlock();
+}
+
+
Modified: code/gazebo/branches/simpar/libgazebo/gz.h
===================================================================
--- code/gazebo/branches/simpar/libgazebo/gz.h 2010-05-29 16:47:21 UTC (rev
8730)
+++ code/gazebo/branches/simpar/libgazebo/gz.h 2010-05-29 17:04:31 UTC (rev
8731)
@@ -454,7 +454,8 @@
SET_STEP_TYPE,
GET_STEP_TYPE,
APPLY_FORCE,
- APPLY_TORQUE
+ APPLY_TORQUE,
+ ADD_HANDLER
};
public: Type type;
@@ -685,6 +686,9 @@
/// \brief Get the step type
public: std::string GetStepType();
+ /// \brief Add a handler
+ public: void AddHandler(const std::string &name);
+
private: void BlockThread();
/// \brief Wait for a return message
Added: code/gazebo/branches/simpar/plugins/CMakeLists.txt
===================================================================
--- code/gazebo/branches/simpar/plugins/CMakeLists.txt
(rev 0)
+++ code/gazebo/branches/simpar/plugins/CMakeLists.txt 2010-05-29 17:04:31 UTC
(rev 8731)
@@ -0,0 +1,27 @@
+project(benchmarks)
+
+cmake_minimum_required( VERSION 2.4 FATAL_ERROR )
+
+if(COMMAND cmake_policy)
+ cmake_policy(SET CMP0003 NEW)
+ cmake_policy(SET CMP0004 NEW)
+endif(COMMAND cmake_policy)
+
+include (FindPkgConfig)
+
+if (PKG_CONFIG_FOUND)
+ pkg_check_modules(GAZEBO gazeboserver)
+ include_directories(${GAZEBO_INCLUDE_DIRS})
+ link_directories(${GAZEBO_LIBRARY_DIRS})
+endif (PKG_CONFIG_FOUND)
+
+set (plugins pioneer_spiral )
+
+foreach (src ${plugins})
+ set_source_files_properties(${src}.cc PROPERTIES COMPILE_FLAGS
${GAZEBO_CFLAGS})
+ add_library(${src} SHARED ${src}.cc)
+ target_link_libraries(${src} gazebo ${GAZEBO_LINK_LIBS} )
+ set_target_properties(${src} PROPERTIES SKIP_BUILD_RPATH TRUE)
+ set_target_properties(${src} PROPERTIES LINK_FLAGS "${GAZEBO_LDFLAGS}")
+ install (TARGETS ${src} DESTINATION
${CMAKE_INSTALL_PREFIX}/share/gazebo/plugins/)
+endforeach (src ${benchmarks})
Added: code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
===================================================================
--- code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
(rev 0)
+++ code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-29
17:04:31 UTC (rev 8731)
@@ -0,0 +1,38 @@
+#include <boost/bind.hpp>
+#include "pioneer_spiral.hh"
+
+using namespace gazebo;
+
+GZ_REGISTER_HANDLER("PioneerSpiral", PioneerSpiral)
+
+PioneerSpiral::PioneerSpiral() : Handler()
+{
+}
+
+PioneerSpiral::~PioneerSpiral()
+{
+}
+
+void PioneerSpiral::Load()
+{
+
+ std::string model_name = "pioneer2dx_model";
+ this->robot = (Model*)World::Instance()->GetEntityByName(model_name);
+
+ if (this->robot)
+ {
+ this->robot->GetVisualNode()->SetRibbonTrail(true);
+ this->leftWheel = (Body*)this->robot->GetChild("left_wheel");
+ this->rightWheel = (Body*)this->robot->GetChild("right_wheel");
+
+ World::Instance()->ConnectWorldUpdateStartSignal(
+ boost::bind(&PioneerSpiral::UpdateCB, this));
+ }
+ else
+ std::cerr << "Unable to find model[" << model_name << "]\n";
+}
+
+void PioneerSpiral::UpdateCB()
+{
+ this->leftWheel->SetTorque(Vector3(0,0,0.5));
+}
Added: code/gazebo/branches/simpar/plugins/pioneer_spiral.hh
===================================================================
--- code/gazebo/branches/simpar/plugins/pioneer_spiral.hh
(rev 0)
+++ code/gazebo/branches/simpar/plugins/pioneer_spiral.hh 2010-05-29
17:04:31 UTC (rev 8731)
@@ -0,0 +1,25 @@
+#ifndef pioneer_spiral_hh
+#define pioneer_spiral_hh
+
+#include <gazebo/gazeboserver.hh>
+
+namespace gazebo
+{
+ class Model;
+
+ class PioneerSpiral : public Handler
+ {
+ public: PioneerSpiral();
+ public: virtual ~PioneerSpiral();
+
+ public: void Load();
+
+ public: void UpdateCB();
+
+ private: Model *robot;
+ private: Body *leftWheel;
+ private: Body *rightWheel;
+ };
+}
+
+#endif
Modified: code/gazebo/branches/simpar/server/GazeboConfig.cc
===================================================================
--- code/gazebo/branches/simpar/server/GazeboConfig.cc 2010-05-29 16:47:21 UTC
(rev 8730)
+++ code/gazebo/branches/simpar/server/GazeboConfig.cc 2010-05-29 17:04:31 UTC
(rev 8731)
@@ -84,6 +84,7 @@
{
gzmsg(5) << "Gazebo Path[" << node->GetValue() << "]\n";
this->gazeboPaths.push_back(node->GetValue());
+ this->AddPluginPaths(node->GetValue()+"/plugins");
node = node->GetNext("gazeboPath");
}
}
@@ -108,6 +109,7 @@
if ( !gazebo_resource_path )
{
this->gazeboPaths.push_back("/usr/local/share/gazebo");
+ this->AddPluginPaths("/usr/local/share/gazebo/plugins");
}
if ( !ogre_resource_path )
Modified: code/gazebo/branches/simpar/server/Simulator.cc
===================================================================
--- code/gazebo/branches/simpar/server/Simulator.cc 2010-05-29 16:47:21 UTC
(rev 8730)
+++ code/gazebo/branches/simpar/server/Simulator.cc 2010-05-29 17:04:31 UTC
(rev 8731)
@@ -299,11 +299,7 @@
XMLConfigNode *handlerNode = rootNode->GetChild("handler");
while (handlerNode != NULL)
{
- std::string plugin = handlerNode->GetString("plugin","",1);
- std::cout << "Handler[" << plugin << "]\n";
- Handler *handler = Handler::Create(plugin);
- this->handlers.push_back(handler);
-
+ this->AddHandler(handlerNode->GetString("plugin","",1));
handlerNode = handlerNode->GetNext("handler");
}
@@ -313,6 +309,15 @@
}
////////////////////////////////////////////////////////////////////////////////
+// Add a handler
+void Simulator::AddHandler(const std::string &name)
+{
+ Handler *handler = Handler::Create(name);
+ handler->Load();
+ this->handlers.push_back(handler);
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Initialize the simulation
void Simulator::Init()
{
@@ -328,10 +333,6 @@
gzthrow("Failed to Initialize the World\n" << e);
}
- std::vector<Handler*>::iterator iter;
- for (iter = this->handlers.begin(); iter != this->handlers.end(); iter++)
- (*iter)->Load();
-
// This is not a debug line. This is useful for external programs that
// launch Gazebo and wait till it is ready
std::cout << "Gazebo successfully initialized" << std::endl;
Modified: code/gazebo/branches/simpar/server/Simulator.hh
===================================================================
--- code/gazebo/branches/simpar/server/Simulator.hh 2010-05-29 16:47:21 UTC
(rev 8730)
+++ code/gazebo/branches/simpar/server/Simulator.hh 2010-05-29 17:04:31 UTC
(rev 8731)
@@ -171,6 +171,9 @@
/// \brief Get the state of the simulation
public: State GetState() const;
+ /// \brief Add a handler
+ public: void AddHandler(const std::string &plugin);
+
/// \brief Connect a boost::slot the the pause signal
public: template<typename T>
void ConnectPauseSignal( T subscriber )
Modified: code/gazebo/branches/simpar/server/World.cc
===================================================================
--- code/gazebo/branches/simpar/server/World.cc 2010-05-29 16:47:21 UTC (rev
8730)
+++ code/gazebo/branches/simpar/server/World.cc 2010-05-29 17:04:31 UTC (rev
8731)
@@ -1596,6 +1596,11 @@
break;
}
+ case libgazebo::SimulationRequestData::ADD_HANDLER:
+ {
+ Simulator::Instance()->AddHandler(req->strValue);
+ break;
+ }
case libgazebo::SimulationRequestData::GO:
{
Modified: code/gazebo/branches/simpar/tools/gazebomodel.cc
===================================================================
--- code/gazebo/branches/simpar/tools/gazebomodel.cc 2010-05-29 16:47:21 UTC
(rev 8730)
+++ code/gazebo/branches/simpar/tools/gazebomodel.cc 2010-05-29 17:04:31 UTC
(rev 8731)
@@ -128,6 +128,17 @@
}
}
+ public: void AddHandler()
+ {
+ if (this->params.size() < 2)
+ std::cerr << "Missing pluing filename\n";
+ else
+ {
+ this->simIface->AddHandler(params[1]);
+ }
+
+ }
+
//////////////////////////////////////////////////////////////////////////////
// Spawn a new model into the world
public: void Spawn()
@@ -226,6 +237,8 @@
this->Spawn();
else if (params[0] == "set")
this->Set();
+ else if (params[0] == "handler")
+ this->AddHandler();
else
std::cerr << "Unknown command[" << this->params[0] << "]\n";
}
Modified: code/gazebo/branches/simpar/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-29 16:47:21 UTC
(rev 8730)
+++ code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-29 17:04:31 UTC
(rev 8731)
@@ -18,8 +18,6 @@
<verbosity>4</verbosity>
- <handler plugin="libtest.so"/>
-
<physics:ode>
<stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
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