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[Personalrobots-commit] SF.net SVN: personalrobots:[8206] pkg/trunk
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From: <rdi...@us...> - 2008-12-16 22:49:31
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Revision: 8206
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=8206&view=rev
Author: rdiankov
Date: 2008-12-16 22:41:28 +0000 (Tue, 16 Dec 2008)
Log Message:
-----------
several openraveros server bug fixes
Modified Paths:
--------------
pkg/trunk/3rdparty/openrave/Makefile
pkg/trunk/openrave_planning/openraveros/octave/openraveros_createsession.m
pkg/trunk/openrave_planning/openraveros/octave/openraveros_startup.m
pkg/trunk/openrave_planning/openraveros/octave/orBodySetTransform.m
pkg/trunk/openrave_planning/openraveros/octave/orEnvLoadScene.m
pkg/trunk/openrave_planning/openraveros/octave/orEnvRayCollision.m
pkg/trunk/openrave_planning/openraveros/src/session.h
Modified: pkg/trunk/3rdparty/openrave/Makefile
===================================================================
--- pkg/trunk/3rdparty/openrave/Makefile 2008-12-16 22:26:28 UTC (rev 8205)
+++ pkg/trunk/3rdparty/openrave/Makefile 2008-12-16 22:41:28 UTC (rev 8206)
@@ -2,7 +2,7 @@
SVN_DIR = openrave_svn
# Should really specify a revision
-SVN_REVISION = -r 557
+SVN_REVISION = -r 559
SVN_URL = https://openrave.svn.sourceforge.net/svnroot/openrave
include $(shell rospack find mk)/svn_checkout.mk
Modified: pkg/trunk/openrave_planning/openraveros/octave/openraveros_createsession.m
===================================================================
--- pkg/trunk/openrave_planning/openraveros/octave/openraveros_createsession.m 2008-12-16 22:26:28 UTC (rev 8205)
+++ pkg/trunk/openrave_planning/openraveros/octave/openraveros_createsession.m 2008-12-16 22:41:28 UTC (rev 8206)
@@ -49,13 +49,18 @@
end
session = [];
-[localid,res] = rosoct_create_session(sessionserver,req);
+while(1)
+ [localid,res] = rosoct_create_session(sessionserver,req);
+
+ if( ~isempty(localid) && ~isempty(res) )
+ if( res.sessionid==0 )
+ error('bad session id');
+ end
+ session.id = localid;
+ session.server = sessionserver;
+ session.uuid = res.sessionid;
+ return;
+ end
-if( ~isempty(localid) && ~isempty(res) )
- if( res.sessionid==0 )
- error('bad session id');
- end
- session.id = localid;
- session.server = sessionserver;
- session.uuid = res.sessionid;
+ sleep(0.2); % give some time
end
Modified: pkg/trunk/openrave_planning/openraveros/octave/openraveros_startup.m
===================================================================
--- pkg/trunk/openrave_planning/openraveros/octave/openraveros_startup.m 2008-12-16 22:26:28 UTC (rev 8205)
+++ pkg/trunk/openrave_planning/openraveros/octave/openraveros_startup.m 2008-12-16 22:41:28 UTC (rev 8206)
@@ -57,15 +57,20 @@
if( createsession && isempty(openraveros_globalsession) )
req = openraveros_openrave_session();
req.viewer = viewer; % default viewer
- [localid,res] = rosoct_create_session(sessionserver,req);
-
- if( ~isempty(localid) && ~isempty(res) )
- if( res.sessionid==0 )
- error('bad session id');
+ while(1)
+ [localid,res] = rosoct_create_session(sessionserver,req);
+
+ if( ~isempty(localid) && ~isempty(res) )
+ if( res.sessionid==0 )
+ error('bad session id');
+ end
+ openraveros_globalsession.id = localid;
+ openraveros_globalsession.server = sessionserver;
+ openraveros_globalsession.uuid = res.sessionid;
+ %%display(sprintf('created openraveros session uuid %d',res.sessionid));
+ return;
end
- openraveros_globalsession.id = localid;
- openraveros_globalsession.server = sessionserver;
- openraveros_globalsession.uuid = res.sessionid;
- %display(sprintf('created openraveros session uuid %d',res.sessionid));
+
+ sleep(0.2); % give some time
end
end
Modified: pkg/trunk/openrave_planning/openraveros/octave/orBodySetTransform.m
===================================================================
--- pkg/trunk/openrave_planning/openraveros/octave/orBodySetTransform.m 2008-12-16 22:26:28 UTC (rev 8205)
+++ pkg/trunk/openrave_planning/openraveros/octave/orBodySetTransform.m 2008-12-16 22:41:28 UTC (rev 8206)
@@ -13,7 +13,7 @@
if(nargin >= 3)
R = openraveros_rotfromquat(varargin{3});
req.transform.m(1:9) = R(:);
- req.transform.m(10:12) = trans(:);
+ req.transform.m(10:12) = varargin{2};
elseif(nargin == 2)
t = varargin{2};
req.transform.m(1:12) = t(:);
Modified: pkg/trunk/openrave_planning/openraveros/octave/orEnvLoadScene.m
===================================================================
--- pkg/trunk/openrave_planning/openraveros/octave/orEnvLoadScene.m 2008-12-16 22:26:28 UTC (rev 8205)
+++ pkg/trunk/openrave_planning/openraveros/octave/orEnvLoadScene.m 2008-12-16 22:41:28 UTC (rev 8206)
@@ -8,7 +8,7 @@
% scene alone and loads in addition to it.
function success = orEnvLoadScene(filename, ClearScene)
-session = openraveros_getglobalsession();
+session = openraveros_getglobalsession()
req = openraveros_env_loadscene();
req.filename = filename;
if( exist('ClearScene','var') )
Modified: pkg/trunk/openrave_planning/openraveros/octave/orEnvRayCollision.m
===================================================================
--- pkg/trunk/openrave_planning/openraveros/octave/orEnvRayCollision.m 2008-12-16 22:26:28 UTC (rev 8205)
+++ pkg/trunk/openrave_planning/openraveros/octave/orEnvRayCollision.m 2008-12-16 22:41:28 UTC (rev 8206)
@@ -20,8 +20,8 @@
req.rays = cell(numrays,1);
for i = 1:numrays
req.rays{i} = openraveros_Ray();
- req.rays{i}.position(1:3) = {rays(1,i),rays(2,i),rays(3,i)};
- req.rays{i}.direction(1:3) = {rays(4,i),rays(5,i),rays(6,i)};
+ req.rays{i}.position(1:3) = rays(1:3,i);
+ req.rays{i}.direction(1:3) = rays(4:6,i);
end
if( exist('bodyid','var') )
Modified: pkg/trunk/openrave_planning/openraveros/src/session.h
===================================================================
--- pkg/trunk/openrave_planning/openraveros/src/session.h 2008-12-16 22:26:28 UTC (rev 8205)
+++ pkg/trunk/openrave_planning/openraveros/src/session.h 2008-12-16 22:41:28 UTC (rev 8206)
@@ -36,7 +36,7 @@
{ \
SessionState state = getstate(req); /* need separate copy in order to guarantee thread safety */ \
if( !state._pserver ) { \
- ROS_INFO("failed to find session for service %s\n", #srvname); \
+ ROS_INFO("failed to find session for service %s", #srvname); \
return false; \
} \
return state._pserver->srvname##_srv(req,res); \
@@ -280,7 +280,6 @@
if( !!_pviewer ) {
_penvViewer->AttachViewer(_pviewer.get());
_pviewer->ViewerSetSize(1024,768);
- usleep(100000); // give it some time to initialize
}
if( !_pviewer )
@@ -300,7 +299,6 @@
_penvViewer->AttachViewer(NULL);
_pviewer.reset();
_penvViewer = NULL;
- usleep(200000); // give some time for destruction
_conditionViewer.notify_all();
}
}
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