Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[9471] pkg/trunk (Page 22)

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Revision: 9471
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=9471&view=rev
Author:   vijaypradeep
Date:     2009-01-15 01:32:18 +0000 (Thu, 15 Jan 2009)

Log Message:
-----------
Started prototyping a realtime scheduling framework

Added Paths:
-----------
    pkg/trunk/sandbox/
    pkg/trunk/sandbox/rt_scheduler/
    pkg/trunk/sandbox/rt_scheduler/CMakeLists.txt
    pkg/trunk/sandbox/rt_scheduler/Makefile
    pkg/trunk/sandbox/rt_scheduler/include/
    pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/
    pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/oracle.h
    pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/ports.h
    pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/rt_node.h
    pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/scheduler.h
    pkg/trunk/sandbox/rt_scheduler/manifest.xml
    pkg/trunk/sandbox/rt_scheduler/src/
    pkg/trunk/sandbox/rt_scheduler/src/run_test.cpp

Added: pkg/trunk/sandbox/rt_scheduler/CMakeLists.txt
===================================================================

--- pkg/trunk/sandbox/rt_scheduler/CMakeLists.txt	                        (rev 0)
+++ pkg/trunk/sandbox/rt_scheduler/CMakeLists.txt	2009-01-15 01:32:18 UTC (rev 9471)
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+rospack(rt_scheduler)
+
+#rospack_add_library(rt_scheduler                     )
+
+rospack_add_executable(run_test src/run_test.cpp)
+#target_link_libraries(run_test rt_scheduler)
+
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
\ No newline at end of file

Added: pkg/trunk/sandbox/rt_scheduler/Makefile
===================================================================
--- pkg/trunk/sandbox/rt_scheduler/Makefile	                        (rev 0)
+++ pkg/trunk/sandbox/rt_scheduler/Makefile	2009-01-15 01:32:18 UTC (rev 9471)
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk

Added: pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/oracle.h
===================================================================
--- pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/oracle.h	                        (rev 0)
+++ pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/oracle.h	2009-01-15 01:32:18 UTC (rev 9471)
@@ -0,0 +1,81 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+//! \author Vijay Pradeep
+
+#ifndef RT_SCHEDULER_ORACLE_H_
+#define RT_SCHEDULER_ORACLE_H_
+
+#include <vector>
+#include <utility>
+#include <string>
+
+#include "rt_scheduler/rt_node.h"
+#include "rt_scheduler/ports.h"
+
+namespace rt_scheduler
+{
+
+class Oracle
+{
+public:
+  Oracle()
+  {  }
+
+  ~Oracle()
+  {  }
+
+  void registerPort(OutputPort<int>* port, const std::string& name)
+  {
+    std::pair< std::string, OutputPort<int>* > entry(name, port) ;
+    ports_.push_back(entry) ;
+  }
+
+  void find(OutputPort<int>* &port, const std::string& name)
+  {
+    port = NULL ;
+    for (unsigned int i=0; i < ports_.size(); i++)
+    {
+      if (ports_[i].first == name)
+        port = ports_[i].second ;
+    }
+  }
+
+private:
+  std::vector< std::pair<std::string, OutputPort<int>* > > ports_ ;
+} ;
+
+}
+
+#endif /* RT_SCHEDULER_ORACLE_H_ */

Added: pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/ports.h
===================================================================
--- pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/ports.h	                        (rev 0)
+++ pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/ports.h	2009-01-15 01:32:18 UTC (rev 9471)
@@ -0,0 +1,94 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+//! \author Vijay Pradeep
+
+#ifndef RT_SCHEDULER_PORTS_H_
+#define RT_SCHEDULER_PORTS_H_
+
+#include "rt_scheduler/rt_node.h"
+
+namespace rt_scheduler
+{
+
+template<class T>
+class OutputPort
+{
+public:
+  OutputPort(RtNode* owner) { owner_ = owner ; }
+
+//private
+  T data_ ;
+  RtNode* owner_ ;
+} ;
+
+template<class T>
+class InputPort
+{
+public:
+  InputPort(RtNode* owner)
+  {
+    owner_ = owner ;
+    output_port_ = NULL ;
+    id_ = owner_->generateID() ;
+  }
+
+  bool getData(T& data)
+  {
+    if (output_port_)
+    {
+      data = output_port_->data_ ;
+      return true ;
+    }
+    else
+      return false ;
+  }
+
+  void Link(OutputPort<T>* output_port)
+  {
+    output_port_ = output_port ;
+    owner_->updateDep(id_, output_port_->owner_) ;
+  }
+
+//private
+  OutputPort<T>* output_port_ ;
+  RtNode* owner_ ;
+  unsigned int id_ ;
+} ;
+
+}
+
+
+
+#endif /* RT_SCHEDULER_PORTS_H_ */

Added: pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/rt_node.h
===================================================================
--- pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/rt_node.h	                        (rev 0)
+++ pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/rt_node.h	2009-01-15 01:32:18 UTC (rev 9471)
@@ -0,0 +1,80 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+//! \author Vijay Pradeep
+
+#ifndef RT_SCHEDULER_RT_NODE_H_
+#define RT_SCHEDULER_RT_NODE_H_
+
+#include <string>
+#include <vector>
+#include <utility>
+
+namespace rt_scheduler
+{
+
+class RtNode
+{
+public:
+  RtNode() { }
+  RtNode(std::string name) : name_(name) { } ;
+  virtual ~RtNode() { } ;
+  virtual bool update() = 0 ;
+
+  unsigned int generateID()
+  {
+    unsigned int next_id = deps_.size() ;
+    deps_.push_back(NULL) ;
+    printf("%s: Adding port ID #%u\n", name_.c_str(), next_id) ;
+    return next_id ;
+  }
+
+  void updateDep(unsigned int id, RtNode* dep_node)
+  {
+    deps_[id] = dep_node ;
+  }
+
+  std::string name_ ;
+
+//private:
+  std::vector< RtNode* > deps_ ;
+  std::vector<unsigned int> exec_order_ ;
+
+} ;
+
+}
+
+
+
+#endif /* RT_SCHEDULER_RT_NODE_H_ */

Added: pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/scheduler.h
===================================================================
--- pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/scheduler.h	                        (rev 0)
+++ pkg/trunk/sandbox/rt_scheduler/include/rt_scheduler/scheduler.h	2009-01-15 01:32:18 UTC (rev 9471)
@@ -0,0 +1,101 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+//! \author Vijay Pradeep
+
+#ifndef RT_SCHEDULER_SCHEDULER_H_
+#define RT_SCHEDULER_SCHEDULER_H_
+
+
+
+#include <vector>
+
+#include "rt_scheduler/rt_node.h"
+
+
+
+namespace rt_scheduler
+{
+
+class Scheduler : public rt_scheduler::RtNode
+{
+public:
+  Scheduler()
+  {  }
+
+  ~Scheduler()
+  {  }
+
+  void add(RtNode* node)
+  {
+    node_list_.push_back(node) ;
+    printf("Adding %s to scheduler\n", node->name_.c_str()) ;
+  }
+
+  bool update()
+  {
+    bool success = true ;
+    for (unsigned int i=0; i < exec_order_.size(); i++)
+    {
+      printf("Updating Node #%u: %s\n", exec_order_[i], node_list_[exec_order_[i]]->name_.c_str()) ;
+      success = success && node_list_[exec_order_[i]]->update() ;
+    }
+    return success ;
+  }
+
+  // A super dumb, dangerous scheduler
+  void updateExecutionOrder()
+  {
+    printf("Dependencies:\n") ;
+    for (unsigned int i=0; i<node_list_.size(); i++)
+    {
+      for (unsigned int j=0; j<node_list_[i]->deps_.size(); j++)
+        printf("  %s -> %s\n", node_list_[i]->name_.c_str(), node_list_[i]->deps_[j]->name_.c_str()) ;
+    }
+
+
+    exec_order_.resize(node_list_.size()) ;
+    for (unsigned int i=0; i<exec_order_.size(); i++)
+      exec_order_[i] = i ;
+  }
+
+private:
+  std::vector<RtNode*> node_list_ ;
+  std::vector<unsigned int> exec_order_ ;
+
+} ;
+
+}
+
+#endif /* RT_SCHEDULER_SCHEDULER_H_ */

Added: pkg/trunk/sandbox/rt_scheduler/manifest.xml
===================================================================
--- pkg/trunk/sandbox/rt_scheduler/manifest.xml	                        (rev 0)
+++ pkg/trunk/sandbox/rt_scheduler/manifest.xml	2009-01-15 01:32:18 UTC (rev 9471)
@@ -0,0 +1,6 @@
+<package>
+  <description>Vijay's prototype idea of a reatime (single thread) scheduler</description>
+  <author>Vijay Pradeep</author>
+  <license>BSD</license>
+  <review status="Experimental" notes=""/>
+</package>

Added: pkg/trunk/sandbox/rt_scheduler/src/run_test.cpp
===================================================================
--- pkg/trunk/sandbox/rt_scheduler/src/run_test.cpp	                        (rev 0)
+++ pkg/trunk/sandbox/rt_scheduler/src/run_test.cpp	2009-01-15 01:32:18 UTC (rev 9471)
@@ -0,0 +1,188 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+*  Copyright (c) 2008, Willow Garage, Inc.
+*  All rights reserved.
+*
+*  Redistribution and use in source and binary forms, with or without
+*  modification, are permitted provided that the following conditions
+*  are met:
+*
+*   * Redistributions of source code must retain the above copyright
+*     notice, this list of conditions and the following disclaimer.
+*   * Redistributions in binary form must reproduce the above
+*     copyright notice, this list of conditions and the following
+*     disclaimer in the documentation and/or other materials provided
+*     with the distribution.
+*   * Neither the name of the Willow Garage nor the names of its
+*     contributors may be used to endorse or promote products derived
+*     from this software without specific prior written permission.
+*
+*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+*  POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+//! \author Vijay Pradeep
+
+#include <cstdio>
+
+#include "rt_scheduler/rt_node.h"
+#include "rt_scheduler/ports.h"
+#include "rt_scheduler/scheduler.h"
+#include "rt_scheduler/oracle.h"
+using namespace rt_scheduler ;
+
+class Talker : public rt_scheduler::RtNode
+{
+public:
+  Talker(int start, int inc) : out_(this)
+  {
+    state_ = start ;
+    inc_ = inc ;
+  }
+
+  ~Talker()
+  { }
+
+  bool update()
+  {
+    state_ += inc_ ;
+    out_.data_ = state_ ;
+    printf("%s: out = %i\n", name_.c_str(), out_.data_) ;
+    return true ;
+  }
+
+  OutputPort<int> out_ ;
+  int state_ ;
+  int inc_ ;
+} ;
+
+class Adder : public rt_scheduler::RtNode
+{
+public:
+  Adder(Oracle& oracle, std::string name) : rt_scheduler::RtNode(name), in_A_(this),
+                                            in_B_(this), out_(this)
+  {
+    oracle.registerPort(&out_, name+"/out") ;
+  }
+
+  ~Adder()
+  { }
+
+  bool update()
+  {
+    int a,b ;
+    if (in_A_.getData(a))
+      printf("  Got data from Port A: %i\n", a) ;
+    else
+    {
+      printf("  Error accessing Port A\n") ;
+      return false ;
+    }
+    if (in_B_.getData(b))
+      printf("  Got data from Port B: %i\n", b) ;
+    else
+    {
+      printf("  Error accessing Port B\n") ;
+      return false ;
+    }
+
+    int result = a+b ;
+
+    out_.data_ = result ;
+
+    printf("  Result: %i\n", result) ;
+
+    return true ;
+  }
+
+  InputPort<int> in_A_ ;
+  InputPort<int> in_B_ ;
+  OutputPort<int> out_ ;
+} ;
+
+class Doubler : public rt_scheduler::RtNode
+{
+public:
+  Doubler(std::string name) : rt_scheduler::RtNode(name), in_(this)
+  {
+
+  }
+
+  ~Doubler()
+  { }
+
+  bool update()
+  {
+    int a ;
+    if (in_.getData(a))
+      printf("  Got data from Port: %i\n", a) ;
+    else
+    {
+      printf("  Error accessing Port\n") ;
+      return false ;
+    }
+
+    int result = 2*a ;
+
+
+    printf("  Result: %i\n", result) ;
+
+    return true ;
+  }
+
+  InputPort<int> in_ ;
+} ;
+
+
+int main(int argc, char** argv)
+{
+  // Initialize
+  Oracle oracle ;
+
+  Talker talker_A(5,2) ;
+  Talker talker_B(10,-1) ;
+  Adder adder(oracle, "Adder") ;
+  Doubler doubler("Doubler") ;
+
+  talker_A.name_ = "TalkerA" ;
+  talker_B.name_ = "TalkerB" ;
+
+  // Connect ports together
+  adder.in_A_.Link(&talker_A.out_) ;
+  adder.in_B_.Link(&talker_B.out_) ;
+
+  OutputPort<int>* port ;
+  oracle.find(port, "Adder/out") ;
+  if(port != NULL)
+    doubler.in_.Link(port) ;
+  else
+    printf("Oracle could not find port") ;
+
+  // Add to the scheduler
+  Scheduler scheduler ;
+  scheduler.add(&talker_A) ;
+  scheduler.add(&talker_B) ;
+  scheduler.add(&adder) ;
+  scheduler.add(&doubler) ;
+
+  scheduler.updateExecutionOrder() ;
+
+  while(true)
+  {
+    scheduler.update() ;
+    getchar() ;
+  }
+
+  return 0 ;
+}


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Thread: [Personalrobots-commit] SF.net SVN: personalrobots:[9471] pkg/trunk (Page 22)

personalrobots-commit