[Personalrobots-commit] SF.net SVN: personalrobots:[4131] pkg/trunk

[<hsu...@us...>]

Revision: 4131
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4131&view=rev
Author:   hsujohnhsu
Date:     2008-09-10 01:36:28 +0000 (Wed, 10 Sep 2008)

Log Message:
-----------
final touches to upgrading gazebo again.
fancier gui window, view body properties.
fix to pass IsConnected() call from controllers back to sensor UpdateChild() calls.

Modified Paths:
--------------
    pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
    pkg/trunk/3rdparty/opende/Makefile
    pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Camera.cc

Modified: pkg/trunk/3rdparty/gazebo/gazebo_patch.diff
===================================================================
--- pkg/trunk/3rdparty/gazebo/gazebo_patch.diff	2008-09-10 01:26:30 UTC (rev 4130)
+++ pkg/trunk/3rdparty/gazebo/gazebo_patch.diff	2008-09-10 01:36:28 UTC (rev 4131)
@@ -997,6 +997,17 @@
    {
      if (lastUpdate + updatePeriod <= Simulator::Instance()->GetSimTime())
      {
+@@ -210,6 +219,10 @@
+ {
+   std::vector<Iface*>::const_iterator iter;
+ 
++  // if the alwaysOn flag is true, this controller is connected
++  if (this->alwaysOnP->GetValue())
++    return true;
++
+   for (iter=this->ifaces.begin(); iter!=this->ifaces.end(); iter++)
+   {
+     if ((*iter)->GetOpenCount() > 0)
 Index: server/controllers/ptz/generic/Generic_PTZ.cc
 ===================================================================
 --- server/controllers/ptz/generic/Generic_PTZ.cc	(revision 7016)

Modified: pkg/trunk/3rdparty/opende/Makefile
===================================================================
--- pkg/trunk/3rdparty/opende/Makefile	2008-09-10 01:26:30 UTC (rev 4130)
+++ pkg/trunk/3rdparty/opende/Makefile	2008-09-10 01:36:28 UTC (rev 4131)
@@ -2,7 +2,7 @@
 WITH_DRAWSTUFF = yes
 
 CFG_OPTIONS = --with-arch=nocona --enable-release --disable-asserts --with-pic --enable-double-precision
-SVN_REVISION = -r 1542
+SVN_REVISION = -r 1550
 
 ifeq ($(WITH_DRAWSTUFF), yes)
 CFG_OPTIONS += --with-drawstuff=X11

Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Camera.cc
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Camera.cc	2008-09-10 01:26:30 UTC (rev 4130)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/Ros_Camera.cc	2008-09-10 01:36:28 UTC (rev 4131)
@@ -107,7 +107,9 @@
 void Ros_Camera::UpdateChild()
 {
 
-  this->PutCameraData();
+  // do this first so there's chance for sensor to run 1 frame after activate
+  if (this->myParent->IsActive())
+    this->PutCameraData();
 #if 0
   // do this first so there's chance for sensor to run 1 frame after activate
   if (this->myParent->IsActive())
@@ -181,6 +183,7 @@
   src = this->myParent->GetImageData(0);
   dst = data->image;
 
+  //std::cout << " updating camera " << this->topicName << " " << data->image_size << std::endl;
   // TODO: can skip copy to Iface if Iface is not used
   if (src)
   {


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