[Playerstage-commit] SF.net SVN: playerstage:[7432] code/branches/federation/gazebo/webgazebo

[<ge...@us...>]

Revision: 7432
          http://playerstage.svn.sourceforge.net/playerstage/?rev=7432&view=rev
Author:   gerkey
Date:     2009-03-10 06:52:24 +0000 (Tue, 10 Mar 2009)

Log Message:
-----------
webgazebo that works with websim; working on state machine

Modified Paths:
--------------
    code/branches/federation/gazebo/webgazebo/WebGazebo.cc
    code/branches/federation/gazebo/webgazebo/WebGazebo.hh
    code/branches/federation/gazebo/webgazebo/main.cc

Modified: code/branches/federation/gazebo/webgazebo/WebGazebo.cc
===================================================================
--- code/branches/federation/gazebo/webgazebo/WebGazebo.cc	2009-03-10 06:02:26 UTC (rev 7431)
+++ code/branches/federation/gazebo/webgazebo/WebGazebo.cc	2009-03-10 06:52:24 UTC (rev 7432)
@@ -258,3 +258,16 @@
   response = "DeleteModel not implemented";
   return false;
 }
+
+void
+WebGazebo::GoCallback()
+{
+  puts("GoCallback");
+}
+
+bool
+WebGazebo::Go(double t)
+{
+  this->simIface->Go((unsigned int)rint(t/1e6), 
+                     boost::bind(&WebGazebo::GoCallback, this));
+}

Modified: code/branches/federation/gazebo/webgazebo/WebGazebo.hh
===================================================================
--- code/branches/federation/gazebo/webgazebo/WebGazebo.hh	2009-03-10 06:02:26 UTC (rev 7431)
+++ code/branches/federation/gazebo/webgazebo/WebGazebo.hh	2009-03-10 06:52:24 UTC (rev 7432)
@@ -45,6 +45,8 @@
               const std::string& host, int port,
               double dtol, double atol);
     virtual ~WebGazebo();
+
+    bool Go(double t);
     
     // Interface to be implemented by simulators
     virtual bool CreateModel(const std::string& name, 
@@ -65,6 +67,8 @@
 
   private:
     double sq_dist_tol, sq_ang_tol;
+    boost::condition goMutex;
+    boost::condition goCond;
 
     gazebo::Client *client;
     gazebo::SimulationIface *simIface;
@@ -78,4 +82,5 @@
                   const std::string& type,
                   std::string& xmldata,
                   std::string& response);
+    void GoCallback();
 };

Modified: code/branches/federation/gazebo/webgazebo/main.cc
===================================================================
--- code/branches/federation/gazebo/webgazebo/main.cc	2009-03-10 06:02:26 UTC (rev 7431)
+++ code/branches/federation/gazebo/webgazebo/main.cc	2009-03-10 06:52:24 UTC (rev 7432)
@@ -29,7 +29,7 @@
 
 #include <stdlib.h>
 
-#define USAGE "USAGE: webgazebo -f <file.fed> [-h <host>] [-p <port>] [-d <dtol>] [-a <atol>]\n"
+#define USAGE "USAGE: webgazebo [-f <file.fed>] [-h <host>] [-p <port>] [-d <dtol>] [-a <atol>]\n"
 
 #define DEFAULT_PORT 8000
 #define DEFAULT_HOST "localhost"
@@ -50,16 +50,12 @@
     exit(1);
   }
 
-  try
+  WebGazebo wg(g_fedfile, g_host, g_port, g_dtol, g_atol);
+
+  for(;;)
   {
-    WebGazebo wg(g_fedfile, g_host, g_port, g_dtol, g_atol);
     wg.Update();
   }
-  catch(std::string e)
-  {
-    fprintf(stderr, "Gazebo exception:\n %s\n", e.c_str());
-    exit(1);
-  }
 
   return 0;
 }
@@ -108,9 +104,6 @@
         return false;
     }
   }
-  
-  if((g_fedfile.size() == 0) || (g_host.size() == 0) || (g_port == 0))
-    return false;
 
   return true;
 }


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