Revision: 8836
http://playerstage.svn.sourceforge.net/playerstage/?rev=8836&view=rev
Author: natepak
Date: 2010-07-28 15:38:26 +0000 (Wed, 28 Jul 2010)
Log Message:
-----------
Added more improvements to wx
Modified Paths:
--------------
code/gazebo/branches/wx/libgazebo/Server.cc
code/gazebo/branches/wx/server/Param.hh
code/gazebo/branches/wx/server/Simulator.cc
code/gazebo/branches/wx/server/Simulator.hh
code/gazebo/branches/wx/server/World.cc
code/gazebo/branches/wx/server/World.hh
code/gazebo/branches/wx/server/physics/PhysicsEngine.cc
code/gazebo/branches/wx/server/physics/PhysicsEngine.hh
code/gazebo/branches/wx/server/physics/bullet/BulletPhysics.cc
code/gazebo/branches/wx/server/physics/bullet/BulletPhysics.hh
code/gazebo/branches/wx/server/physics/ode/ODEPhysics.cc
code/gazebo/branches/wx/server/physics/ode/ODEPhysics.hh
code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc
code/gazebo/branches/wx/server/wx/SimulationFrame.cc
code/gazebo/branches/wx/server/wx/SimulationFrame.hh
Modified: code/gazebo/branches/wx/libgazebo/Server.cc
===================================================================
--- code/gazebo/branches/wx/libgazebo/Server.cc 2010-07-27 14:49:44 UTC (rev
8835)
+++ code/gazebo/branches/wx/libgazebo/Server.cc 2010-07-28 15:38:26 UTC (rev
8836)
@@ -61,6 +61,24 @@
// Destroy a server
Server::~Server()
{
+ if (rmdir(this->filename.c_str()))
+ {
+ std::cerr << "Error deleting directory\n";
+ /*if (errno == EEXIST)
+ {
+ errStream << "directory [" << this->filename
+ << "] already exists (previous crash?)"
+ << "remove the directory and re-run gazebo";
+ throw(errStream.str());
+ }
+ else
+ {
+ errStream << "failed to create [" << this->filename << "] : ["
+ << strerror(errno) << "]";
+ throw(errStream.str());
+ }
+ */
+ }
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/wx/server/Param.hh
===================================================================
--- code/gazebo/branches/wx/server/Param.hh 2010-07-27 14:49:44 UTC (rev
8835)
+++ code/gazebo/branches/wx/server/Param.hh 2010-07-28 15:38:26 UTC (rev
8836)
@@ -118,7 +118,7 @@
public: T GetValue() const;
/// \brief Set the value of the parameter
- public: void SetValue(const T &value);
+ public: void SetValue(const T &value, bool callback=false);
public: inline T operator*() const {return value;}
@@ -238,9 +238,12 @@
//////////////////////////////////////////////////////////////////////////////
/// Set the value of the parameter
template<typename T>
- void ParamT<T>::SetValue(const T &v)
+ void ParamT<T>::SetValue(const T &v, bool callback)
{
this->value = v;
+
+ if (callback)
+ this->changeSignal(this->value);
}
}
Modified: code/gazebo/branches/wx/server/Simulator.cc
===================================================================
--- code/gazebo/branches/wx/server/Simulator.cc 2010-07-27 14:49:44 UTC (rev
8835)
+++ code/gazebo/branches/wx/server/Simulator.cc 2010-07-28 15:38:26 UTC (rev
8836)
@@ -97,8 +97,7 @@
////////////////////////////////////////////////////////////////////////////////
// Constructor
Simulator::Simulator()
-: xmlFile(NULL),
- gui(NULL),
+: gui(NULL),
renderEngine(NULL),
gazeboConfig(NULL),
loaded(false),
@@ -111,6 +110,7 @@
renderUpdates(0),
stepInc(false),
userQuit(false),
+ physicsQuit(false),
guiEnabled(true),
renderEngineEnabled(true),
physicsEnabled(true),
@@ -133,12 +133,6 @@
this->gazeboConfig = NULL;
}
- if (this->xmlFile)
- {
- delete this->xmlFile;
- this->xmlFile = NULL;
- }
-
if (this->render_mutex)
{
delete this->render_mutex;
@@ -166,13 +160,6 @@
if (!this->loaded)
return;
- if (this->gui)
- {
- delete this->gui;
- this->gui = NULL;
- }
-
-
gazebo::World::Instance()->Close();
if (this->renderEngineEnabled)
@@ -193,14 +180,14 @@
}
// Load the world file
- this->xmlFile=new gazebo::XMLConfig();
+ XMLConfig *xmlFile=new gazebo::XMLConfig();
try
{
if (worldFileName.size())
- this->xmlFile->Load(worldFileName);
+ xmlFile->Load(worldFileName);
else
- this->xmlFile->LoadString(defaultWorld);
+ xmlFile->LoadString(defaultWorld);
}
catch (GazeboError e)
{
@@ -226,7 +213,6 @@
if (this->renderEngineEnabled)
OgreAdaptor::Instance()->Load(rootNode);
-
// Create and initialize the Gui
if (this->renderEngineEnabled && this->guiEnabled)
{
@@ -250,15 +236,10 @@
}
// Create the GUI
- if (childNode || !rootNode)
+ if (!this->gui && (childNode || !rootNode))
{
this->gui = new SimulationApp();
this->gui->Load();
-
- /*this->gui = new Gui(x, y, width, height, "Gazebo");
- this->gui->Load(childNode);
- this->gui->CreateCameras();
- */
}
}
catch (GazeboError e)
@@ -310,8 +291,6 @@
}
this->loaded=true;
-
- //OgreAdaptor::Instance()->PrintSceneGraph();
}
////////////////////////////////////////////////////////////////////////////////
@@ -405,6 +384,31 @@
}
////////////////////////////////////////////////////////////////////////////////
+// Stop the physics engine
+void Simulator::StopPhysics()
+{
+ this->physicsQuit = true;
+ if (this->physicsThread)
+ {
+ this->physicsThread->join();
+ delete this->physicsThread;
+ this->physicsThread = NULL;
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Start the physics engine
+void Simulator::StartPhysics()
+{
+ if (this->physicsThread)
+ this->StopPhysics();
+
+ this->physicsQuit = false;
+ this->physicsThread = new boost::thread(
+ boost::bind(&Simulator::PhysicsLoop, this));
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Main simulation loop, when this loop ends the simulation finish
void Simulator::Run()
{
@@ -416,8 +420,7 @@
struct timespec timeSpec;
double freq = 80.0;
- this->physicsThread = new boost::thread(
- boost::bind(&Simulator::PhysicsLoop, this));
+ this->StartPhysics();
if (this->gui)
this->gui->Run();
@@ -451,7 +454,7 @@
}
}
- this->physicsThread->join();
+ this->StopPhysics();
}
void Simulator::GraphicsUpdate()
@@ -709,7 +712,7 @@
struct timespec req, rem;
- while (!this->userQuit)
+ while (!this->physicsQuit)
{
//DiagnosticTimer timer("PhysicsLoop Timer ");
Modified: code/gazebo/branches/wx/server/Simulator.hh
===================================================================
--- code/gazebo/branches/wx/server/Simulator.hh 2010-07-27 14:49:44 UTC (rev
8835)
+++ code/gazebo/branches/wx/server/Simulator.hh 2010-07-28 15:38:26 UTC (rev
8836)
@@ -131,6 +131,12 @@
/// \brief Simulator finished by the user
public: void SetUserQuit();
+ /// \brief Stop the physics engine
+ public: void StopPhysics();
+
+ /// \brief Start the physics engine
+ public: void StartPhysics();
+
/// \brief Return true if the step has incremented
public: bool GetStepInc() const;
@@ -237,6 +243,7 @@
//The user has somewhat signaled the end of the program
private: bool userQuit;
+ private: bool physicsQuit;
/// True if the GUI is enabled
private: bool guiEnabled;
Modified: code/gazebo/branches/wx/server/World.cc
===================================================================
--- code/gazebo/branches/wx/server/World.cc 2010-07-27 14:49:44 UTC (rev
8835)
+++ code/gazebo/branches/wx/server/World.cc 2010-07-28 15:38:26 UTC (rev
8836)
@@ -110,12 +110,6 @@
this->physicsEngine = NULL;
}
- if (this->server)
- {
- delete this->server;
- this->server =NULL;
- }
-
try
{
if (this->simIface)
@@ -129,6 +123,12 @@
gzthrow(e);
}
+ if (this->server)
+ {
+ delete this->server;
+ this->server =NULL;
+ }
+
if (this->factory)
{
delete this->factory;
@@ -163,22 +163,28 @@
boost::bind(&World::PauseSlot, this, _1) );
// Create the server object (needs to be done before models initialize)
- this->server = new libgazebo::Server();
+ if (this->server == NULL)
+ {
+ this->server = new libgazebo::Server();
- try
- {
- this->server->Init(serverId, true );
+ try
+ {
+ this->server->Init(serverId, true );
+ }
+ catch ( std::string err)
+ {
+ gzthrow (err);
+ }
}
- catch ( std::string err)
- {
- gzthrow (err);
- }
// Create the simulator interface
try
{
- this->simIface = new libgazebo::SimulationIface();
- this->simIface->Create(this->server, "default" );
+ if (!this->simIface)
+ {
+ this->simIface = new libgazebo::SimulationIface();
+ this->simIface->Create(this->server, "default" );
+ }
}
catch (std::string err)
{
@@ -186,10 +192,11 @@
}
// Create the default factory
- this->factory = new Factory();
+ if (!this->factory)
+ this->factory = new Factory();
// Create the graphics iface handler
- if (Simulator::Instance()->GetRenderEngineEnabled())
+ if (!this->graphics && Simulator::Instance()->GetRenderEngineEnabled())
{
this->graphics = new GraphicsIfaceHandler();
this->graphics->Load("default");
@@ -208,6 +215,12 @@
if (Simulator::Instance()->GetPhysicsEnabled() && physicsNode)
{
+ if (this->physicsEngine)
+ {
+ delete this->physicsEngine;
+ this->physicsEngine = NULL;
+ }
+
this->physicsEngine = PhysicsFactory::NewPhysicsEngine(
physicsNode->GetName());
if (this->physicsEngine == NULL)
gzthrow("Unable to create physics engine\n");
@@ -438,6 +451,16 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Remove all entities from the world
+void World::Clear()
+{
+ std::vector<Model*>::iterator iter;
+ for (iter = this->models.begin(); iter != this->models.end(); iter++)
+ this->DeleteEntity((*iter)->GetCompleteScopedName());
+ this->ProcessEntitiesToDelete();
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Get the number of parameters
unsigned int World::GetParamCount() const
{
@@ -1849,3 +1872,10 @@
(*iter)->Print("");
}
}
+
+////////////////////////////////////////////////////////////////////////////////
+// Get the server id
+int World::GetServerId() const
+{
+ return this->server->serverId;
+}
Modified: code/gazebo/branches/wx/server/World.hh
===================================================================
--- code/gazebo/branches/wx/server/World.hh 2010-07-27 14:49:44 UTC (rev
8835)
+++ code/gazebo/branches/wx/server/World.hh 2010-07-28 15:38:26 UTC (rev
8836)
@@ -110,6 +110,9 @@
/// Finilize the world
public: void Fini();
+ /// \brief Remove all entities from the world
+ public: void Clear();
+
/// \brief Get the number of parameters
public: unsigned int GetParamCount() const;
@@ -245,6 +248,9 @@
/// \brief Print entity tree
public: void PrintEntityTree();
+ /// \brief Get the server id
+ public: int GetServerId() const;
+
/// \brief Save the state of the world
private: void SaveState();
Modified: code/gazebo/branches/wx/server/physics/PhysicsEngine.cc
===================================================================
--- code/gazebo/branches/wx/server/physics/PhysicsEngine.cc 2010-07-27
14:49:44 UTC (rev 8835)
+++ code/gazebo/branches/wx/server/physics/PhysicsEngine.cc 2010-07-28
15:38:26 UTC (rev 8836)
@@ -43,6 +43,8 @@
{
Param::Begin(&this->parameters);
this->gravityP = new ParamT<Vector3>("gravity",Vector3(0.0, -9.80665, 0.0),
0);
+ this->gravityP->Callback(&PhysicsEngine::SetGravity, this);
+
this->updateRateP = new ParamT<double>("updateRate", 0.0, 0);
this->stepTimeP = new ParamT<Time>("stepTime",0.025,0);
Param::End();
@@ -116,13 +118,6 @@
}
////////////////////////////////////////////////////////////////////////////////
-/// Set the gavity vector
-void PhysicsEngine::SetGravity(Vector3 gravity) const
-{
- this->gravityP->SetValue(gravity);
-}
-
-////////////////////////////////////////////////////////////////////////////////
/// Get the time between each update cycle
double PhysicsEngine::GetUpdateRate() const
{
Modified: code/gazebo/branches/wx/server/physics/PhysicsEngine.hh
===================================================================
--- code/gazebo/branches/wx/server/physics/PhysicsEngine.hh 2010-07-27
14:49:44 UTC (rev 8835)
+++ code/gazebo/branches/wx/server/physics/PhysicsEngine.hh 2010-07-28
15:38:26 UTC (rev 8836)
@@ -131,7 +131,7 @@
public: Vector3 GetGravity() const;
/// \brief Set the gavity vector
- public: void SetGravity(Vector3 gravity) const;
+ public: virtual void SetGravity(const gazebo::Vector3 &gravity) = 0;
/// \brief Get the time between each update cycle
/// \return seconds between updates
Modified: code/gazebo/branches/wx/server/physics/bullet/BulletPhysics.cc
===================================================================
--- code/gazebo/branches/wx/server/physics/bullet/BulletPhysics.cc
2010-07-27 14:49:44 UTC (rev 8835)
+++ code/gazebo/branches/wx/server/physics/bullet/BulletPhysics.cc
2010-07-28 15:38:26 UTC (rev 8836)
@@ -302,3 +302,11 @@
pose.rot.z, pose.rot.u) );
return trans;
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Set the gavity vector
+void BulletPhysics::SetGravity(const gazebo::Vector3 &gravity)
+{
+ this->gravityP->SetValue(gravity);
+ this->dynamicsWorld->setGravity(btVector3(gravity.x, gravity.y, gravity.z));
+}
Modified: code/gazebo/branches/wx/server/physics/bullet/BulletPhysics.hh
===================================================================
--- code/gazebo/branches/wx/server/physics/bullet/BulletPhysics.hh
2010-07-27 14:49:44 UTC (rev 8835)
+++ code/gazebo/branches/wx/server/physics/bullet/BulletPhysics.hh
2010-07-28 15:38:26 UTC (rev 8836)
@@ -146,6 +146,9 @@
public: btDynamicsWorld *GetDynamicsWorld() const
{return this->dynamicsWorld;}
+ /// \brief Set the gavity vector
+ public: virtual void SetGravity(const gazebo::Vector3 &gravity);
+
//private: btAxisSweep3 *broadPhase;
private: btBroadphaseInterface *broadPhase;
private: btDefaultCollisionConfiguration *collisionConfig;
Modified: code/gazebo/branches/wx/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/branches/wx/server/physics/ode/ODEPhysics.cc 2010-07-27
14:49:44 UTC (rev 8835)
+++ code/gazebo/branches/wx/server/physics/ode/ODEPhysics.cc 2010-07-28
15:38:26 UTC (rev 8836)
@@ -639,6 +639,14 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Set the gavity vector
+void ODEPhysics::SetGravity(const gazebo::Vector3 &gravity)
+{
+ this->gravityP->SetValue(gravity);
+ dWorldSetGravity(this->worldId, gravity.x, gravity.y, gravity.z);
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Handle a collision
void ODEPhysics::CollisionCallback( void *data, dGeomID o1, dGeomID o2)
{
Modified: code/gazebo/branches/wx/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/branches/wx/server/physics/ode/ODEPhysics.hh 2010-07-27
14:49:44 UTC (rev 8835)
+++ code/gazebo/branches/wx/server/physics/ode/ODEPhysics.hh 2010-07-28
15:38:26 UTC (rev 8836)
@@ -143,6 +143,9 @@
/// \brief Set the step type
public: virtual void SetStepType(const std::string type);
+ /// \brief Set the gavity vector
+ public: virtual void SetGravity(const gazebo::Vector3 &gravity);
+
/// \brief access functions to set ODE parameters
public: void SetWorldCFM(double cfm);
/// \brief access functions to set ODE parameters
Modified: code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc 2010-07-27
14:49:44 UTC (rev 8835)
+++ code/gazebo/branches/wx/server/rendering/OgreAdaptor.cc 2010-07-28
15:38:26 UTC (rev 8836)
@@ -112,6 +112,9 @@
/// Load the parameters for Ogre
void OgreAdaptor::Load(XMLConfigNode *rootNode)
{
+ if (this->root)
+ return;
+
// Make the root
try
{
Modified: code/gazebo/branches/wx/server/wx/SimulationFrame.cc
===================================================================
--- code/gazebo/branches/wx/server/wx/SimulationFrame.cc 2010-07-27
14:49:44 UTC (rev 8835)
+++ code/gazebo/branches/wx/server/wx/SimulationFrame.cc 2010-07-28
15:38:26 UTC (rev 8836)
@@ -1,6 +1,9 @@
#include <wx/aui/aui.h>
#include <stack>
+#include "GazeboError.hh"
+#include "GazeboMessage.hh"
+#include "XMLConfig.hh"
#include "propgrid/propgrid.h"
#include "OgreCamera.hh"
#include "CameraManager.hh"
@@ -18,6 +21,7 @@
using namespace gazebo;
+
class EntityTreeItemData : public wxTreeItemData
{
public: std::string name;
@@ -33,10 +37,18 @@
wxMenuBar *menuBar = new wxMenuBar;
wxMenu *fileMenu = new wxMenu;
- wxMenuItem *item = fileMenu->Append(wxID_EXIT, wxT("&Quit\tCtrl-Q") );
- Connect(item->GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnQuit), NULL, this);
+ wxMenuItem *openItem = fileMenu->Append(ID_OPEN, wxT("&Open\tCtrl-O") );
+ Connect(openItem->GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnOpen), NULL, this);
+ wxMenuItem *saveItem = fileMenu->Append(ID_SAVE, wxT("&Save\tCtrl-S") );
+ Connect(saveItem->GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnSave), NULL, this);
+ wxMenuItem *resetItem = fileMenu->Append(ID_RESET, wxT("&Reset\tCtrl-R") );
+ Connect(resetItem->GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnReset), NULL, this);
+
+ wxMenuItem *quitItem = fileMenu->Append(wxID_EXIT, wxT("&Quit\tCtrl-Q") );
+ Connect(quitItem->GetId(), wxEVT_COMMAND_MENU_SELECTED,
wxCommandEventHandler(SimulationFrame::OnQuit), NULL, this);
+
menuBar->Append( fileMenu, _("&File") );
SetMenuBar( menuBar );
@@ -193,6 +205,74 @@
}
////////////////////////////////////////////////////////////////////////////////
+void SimulationFrame::OnOpen(wxCommandEvent & WXUNUSED(event))
+{
+ wxFileDialog* openDialog = new wxFileDialog(
+ this, _("Choose a file to open"), wxEmptyString, wxEmptyString,
+ _("world files (*.world; *.xml)|*.world;*.xml"), wxFD_OPEN,
wxDefaultPosition);
+
+ // Creates a "open file" dialog with 4 file types
+ if (openDialog->ShowModal() == wxID_OK)
+ {
+ std::string doc( openDialog->GetPath().mb_str() );
+
+ // Load the world file
+ XMLConfig *xmlFile = new gazebo::XMLConfig();
+
+ try
+ {
+ xmlFile->Load(doc);
+ }
+ catch (GazeboError e)
+ {
+ gzthrow("The XML config file can not be loaded, please make sure is a
correct file\n" << e);
+ }
+
+ XMLConfigNode *rootNode(xmlFile->GetRootNode());
+ //Create the world
+ try
+ {
+ Simulator::Instance()->StopPhysics();
+ //World::Instance()->Clear();
+ Simulator::Instance()->Load( doc, World::Instance()->GetServerId() );
+ Simulator::Instance()->StartPhysics();
+ }
+ catch (GazeboError e)
+ {
+ gzthrow("Failed to load the World\n" << e);
+ }
+ }
+
+ // Clean up after ourselves
+ openDialog->Destroy();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+void SimulationFrame::OnSave(wxCommandEvent & WXUNUSED(event))
+{
+ wxFileDialog* saveDialog = new wxFileDialog(
+ this, _("Choose a file to save"), wxEmptyString, wxEmptyString,
+ _("world files (*.world; *.xml)|*.world;*.xml"), wxFD_SAVE,
wxDefaultPosition);
+
+ // Creates a "open file" dialog with 4 file types
+ if (saveDialog->ShowModal() == wxID_OK)
+ {
+ std::string doc( saveDialog->GetPath().mb_str() );
+
+ Simulator::Instance()->Save( doc );
+ }
+
+}
+
+////////////////////////////////////////////////////////////////////////////////
+void SimulationFrame::OnReset(wxCommandEvent & WXUNUSED(event))
+{
+ // stop simulation when this is happening
+ boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMRMutex());
+ World::Instance()->Reset();
+}
+
+////////////////////////////////////////////////////////////////////////////////
void SimulationFrame::OnToolClicked( wxCommandEvent &event )
{
int id = event.GetId();
Modified: code/gazebo/branches/wx/server/wx/SimulationFrame.hh
===================================================================
--- code/gazebo/branches/wx/server/wx/SimulationFrame.hh 2010-07-27
14:49:44 UTC (rev 8835)
+++ code/gazebo/branches/wx/server/wx/SimulationFrame.hh 2010-07-28
15:38:26 UTC (rev 8836)
@@ -15,8 +15,10 @@
class SimulationFrame : public wxFrame
{
enum ToolbarButtons {PLAY, PAUSE, STEP, BOX, SPHERE, CYLINDER,
DIRECTIONAL, POINT, SPOT, CURSOR};
+ enum MenuIds {ID_OPEN, ID_SAVE, ID_RESET};
public: SimulationFrame(wxWindow *parent);
+
public: virtual ~SimulationFrame();
/// \brief Create the cameras
@@ -29,6 +31,9 @@
private: void OnPause(bool pause);
private: void OnQuit(wxCommandEvent &event);
+ private: void OnOpen(wxCommandEvent &event);
+ private: void OnSave(wxCommandEvent &event);
+ private: void OnReset(wxCommandEvent &event);
private: void OnToolClicked( wxCommandEvent &event );
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
The Palm PDK Hot Apps Program offers developers who use the
Plug-In Development Kit to bring their C/C++ apps to Palm for a share
of $1 Million in cash or HP Products. Visit us here for more details:
http://p.sf.net/sfu/dev2dev-palm
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
