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[simspark-svn] SF.net SVN: simspark:[96] trunk/spark
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From: <he...@us...> - 2009-10-31 09:39:50
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Revision: 96
http://simspark.svn.sourceforge.net/simspark/?rev=96&view=rev
Author: hedayat
Date: 2009-10-31 09:39:27 +0000 (Sat, 31 Oct 2009)
Log Message:
-----------
Add SO_REUSEADDR option to the Socket class and use it in simspark
Send senses after receiving action commands from the agents
Modified Paths:
--------------
trunk/spark/ChangeLog
trunk/spark/RELEASE
trunk/spark/lib/oxygen/simulationserver/agentcontrol.cpp
trunk/spark/lib/oxygen/simulationserver/agentcontrol.h
trunk/spark/lib/oxygen/simulationserver/netcontrol.cpp
trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp
trunk/spark/lib/oxygen/simulationserver/simulationserver.h
trunk/spark/utility/rcssnet/socket.cpp
trunk/spark/utility/rcssnet/socket.hpp
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2009-10-26 07:24:44 UTC (rev 95)
+++ trunk/spark/ChangeLog 2009-10-31 09:39:27 UTC (rev 96)
@@ -1,3 +1,24 @@
+2009-10-31 Hedayat Vatankhah <he...@gr...>
+
+ * lib/oxygen/simulationserver/simulationserver.h:
+ * lib/oxygen/simulationserver/simulationserver.cpp:
+ - prevent a deadlock case (on exit) in multi-threaded mode
+
+ * lib/oxygen/simulationserver/agentcontrol.h:
+ * lib/oxygen/simulationserver/agentcontrol.cpp:
+ - send senses in SenseAgent method, so that they'll be sent after receiving
+ commands from the agents. this will ensure that any commands sent after
+ sending senses will be executed in the next cycle, which results in a
+ more deterministic behaviour
+
+2009-10-30 Hedayat Vatankhah <he...@gr...>
+
+ * lib/oxygen/simulationserver/netcontrol.cpp (NetControl::InitSimulation):
+ - try to set REUSEADDR flag to reuse local addresses.
+
+ * utility/rcssnet/socket.cpp (Socket::setReuseAddr):
+ - added the new function
+
2009-08-25 Marian Buchta <mar...@gm...>
* plugin/openglsyswx/CMakeLists.txt:
Modified: trunk/spark/RELEASE
===================================================================
--- trunk/spark/RELEASE 2009-10-26 07:24:44 UTC (rev 95)
+++ trunk/spark/RELEASE 2009-10-31 09:39:27 UTC (rev 96)
@@ -1,15 +1,17 @@
-RELEASE News of simspark-0.1.2
+RELEASE News of simspark-0.1.3 (in progress)
-This release brings some bugfixes, better performance and also better Windows
-support. A Windows installer will be available too. This is the first version
-which runs in multi-threaded mode by default. The multi-threaded mode is still
-in early stages, and it can be improved cosiderably in future.
+SOME INTERESTING COMMENTS!
Main changes of this release are:
- - improved Windows support, including Windows Installer.
- - Multi-threaded mode now works, and is the default mode when running simspark
- - Performance improvements
- - Fixed a bug in networking code, which were introduced in 0.1.1
+ - Compilation fixes
+ - Improved Windows support
+ - Simspark should always accept connections. No more "Connection refused"
+ messages and the need to wait for simspark's network port to be freed!
+ - Simspark will now collect received commands right before sending
+ sense data of the last cycle. So, any commands which is sent by agents
+ after receiving new sense data will be executed in the next cycle, not the
+ current one. This results in a more deterministic behavior, and agents'
+ efficiency should not change between remote and local runs considerably.
You can get the package on the Simspark page on SourceForge
at http://sourceforge.net/projects/simspark/
Modified: trunk/spark/lib/oxygen/simulationserver/agentcontrol.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/agentcontrol.cpp 2009-10-26 07:24:44 UTC (rev 95)
+++ trunk/spark/lib/oxygen/simulationserver/agentcontrol.cpp 2009-10-31 09:39:27 UTC (rev 96)
@@ -51,6 +51,10 @@
void AgentControl::ClientConnect(shared_ptr<Client> client)
{
+ // Make sure that there is enough space in sense message cache vector
+ if (client->id >= mClientSenses.size())
+ mClientSenses.resize(client->id+1);
+
if (mGameControlServer.get() == 0)
{
return;
@@ -61,6 +65,8 @@
void AgentControl::ClientDisconnect(shared_ptr<Client> client)
{
+ mClientSenses[client->id].clear();
+
if (mGameControlServer.get() == 0)
{
return;
@@ -124,6 +130,23 @@
}
}
+void AgentControl::SenseAgent()
+{
+ int clientID;
+ for (
+ TAddrMap::iterator iter = mClients.begin();
+ iter != mClients.end();
+ ++iter
+ )
+ {
+ clientID = iter->second->id;
+ if (!mClientSenses[clientID].empty())
+ {
+ SendClientMessage(iter->second, mClientSenses[clientID]);
+ }
+ }
+}
+
void AgentControl::EndCycle()
{
NetControl::EndCycle();
@@ -146,17 +169,14 @@
return;
}
- // generate senses for all agents and send them to the
- // corresponding net clients
- int idx = 0;
- vector<string> sensesArray(mClients.size());
+ // generate senses for all agents
for (
TAddrMap::iterator iter = mClients.begin();
iter != mClients.end();
- ++iter, idx++
+ ++iter
)
{
- shared_ptr<Client>& client = (*iter).second;
+ const shared_ptr<Client> &client = (*iter).second;
shared_ptr<AgentAspect> agent =
mGameControlServer->GetAgentAspect(client->id);
@@ -166,27 +186,12 @@
}
shared_ptr<PredicateList> senseList = agent->QueryPerceptors();
- sensesArray[idx] = parser->Generate(senseList);
- if (sensesArray[idx].empty())
+ mClientSenses[client->id] = parser->Generate(senseList);
+ if (mClientSenses[client->id].empty())
{
continue;
}
- mNetMessage->PrepareToSend(sensesArray[idx]);
+ mNetMessage->PrepareToSend(mClientSenses[client->id]);
}
-
- // sending the senses
- idx = 0;
- for (
- TAddrMap::iterator iter = mClients.begin();
- iter != mClients.end();
- ++iter, idx++
- )
- {
- if (!sensesArray[idx].empty())
- {
- SendClientMessage(iter->second, sensesArray[idx]);
- }
-
- }
}
Modified: trunk/spark/lib/oxygen/simulationserver/agentcontrol.h
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/agentcontrol.h 2009-10-26 07:24:44 UTC (rev 95)
+++ trunk/spark/lib/oxygen/simulationserver/agentcontrol.h 2009-10-31 09:39:27 UTC (rev 96)
@@ -47,7 +47,10 @@
GameControlServer */
virtual void StartCycle();
- /** generates and sends sense updates to all connected agents */
+ /** sends sense updates to all connected agents */
+ virtual void SenseAgent();
+
+ /** generates sense updates for all connected agents */
virtual void EndCycle();
protected:
@@ -56,6 +59,8 @@
protected:
/** cached reference to the GameControlServer */
CachedPath<GameControlServer> mGameControlServer;
+
+ std::vector<std::string> mClientSenses;
};
DECLARE_CLASS(AgentControl);
Modified: trunk/spark/lib/oxygen/simulationserver/netcontrol.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/netcontrol.cpp 2009-10-26 07:24:44 UTC (rev 95)
+++ trunk/spark/lib/oxygen/simulationserver/netcontrol.cpp 2009-10-31 09:39:27 UTC (rev 96)
@@ -159,6 +159,15 @@
return;
}
+ ret = mSocket->setReuseAddr(true);
+
+ if (ret < 0)
+ {
+ GetLog()->Warning()
+ << "(NetControl) failed to enable reuse of server socket "
+ << "with '" << strerror(errno) << "'\n";
+ }
+
try
{
mSocket->bind(mLocalAddr);
Modified: trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp 2009-10-26 07:24:44 UTC (rev 95)
+++ trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp 2009-10-31 09:39:27 UTC (rev 96)
@@ -45,7 +45,8 @@
}
SimulationServer::SimulationServer() :
- Node(), mAdjustSpeed(false), mMaxStepsPerCycle(3), mThreadBarrier(0)
+ Node(), mAdjustSpeed(false), mExitThreads(false), mMaxStepsPerCycle(3),
+ mThreadBarrier(0)
{
mSimTime = 0.0f;
mSimStep = 0.2f;
@@ -422,14 +423,15 @@
shared_ptr<SimControlNode> renderControl = GetControlNode("RenderControl");
float initDelta, finalDelta;
- while (true)
+ while (!mExitThreads)
{
++mCycle;
mThreadBarrier->wait();
+ if (mExit)
+ mExitThreads = true;
+ // Wait for SimControlNodes' acts at the begining of a cycle
mThreadBarrier->wait();
- if (mExit) // this check should be here so that all threads will quit
- break;
finalDelta = initDelta = mSumDeltaTime;
mSceneServer->PrePhysicsUpdate(mSimStep);
@@ -452,6 +454,7 @@
if (renderControl
&& renderControl->GetTime() - mSimTime < 0.005f )
renderControl->EndCycle();
+
mThreadBarrier->wait();
mSumDeltaTime -= initDelta - finalDelta;
}
@@ -473,7 +476,7 @@
bool isRenderControl = (controlNode->GetName() == "RenderControl");
bool newCycle = false;
- while ( true )
+ while (!mExitThreads)
{
mThreadBarrier->wait();
newCycle = false;
@@ -486,8 +489,6 @@
controlNode->SetSimTime(mSimTime);
}
mThreadBarrier->wait();
- if (mExit)
- break;
if (isInputControl)
{
Modified: trunk/spark/lib/oxygen/simulationserver/simulationserver.h
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/simulationserver.h 2009-10-26 07:24:44 UTC (rev 95)
+++ trunk/spark/lib/oxygen/simulationserver/simulationserver.h 2009-10-31 09:39:27 UTC (rev 96)
@@ -220,6 +220,11 @@
/** skips physical simulation for some time to catch up real time */
bool mAdjustSpeed;
+ /** in multi-threaded mode, this indicates that all threads should be
+ * terminated.
+ */
+ bool mExitThreads;
+
/** determines the number of allowed steps per cycle when mAdjustSpeed is true */
int mMaxStepsPerCycle;
Modified: trunk/spark/utility/rcssnet/socket.cpp
===================================================================
--- trunk/spark/utility/rcssnet/socket.cpp 2009-10-26 07:24:44 UTC (rev 95)
+++ trunk/spark/utility/rcssnet/socket.cpp 2009-10-31 09:39:27 UTC (rev 96)
@@ -304,7 +304,22 @@
return -1;
}
- Socket::SocketDesc
+ int
+ Socket::setReuseAddr( bool on )
+ {
+ if( isOpen() )
+ {
+ int doreuse = on;
+ return setsockopt( getFD(), SOL_SOCKET,
+ SO_REUSEADDR,
+ (const char*)&doreuse,
+ sizeof( int ) );
+ }
+ errno = EPERM;
+ return -1;
+ }
+
+ Socket::SocketDesc
Socket::getFD() const
{ return ( isOpen() ? *(m_handle.get()) : Socket::INVALIDSOCKET ); }
Modified: trunk/spark/utility/rcssnet/socket.hpp
===================================================================
--- trunk/spark/utility/rcssnet/socket.hpp 2009-10-26 07:24:44 UTC (rev 95)
+++ trunk/spark/utility/rcssnet/socket.hpp 2009-10-31 09:39:27 UTC (rev 96)
@@ -95,6 +95,9 @@
int
setBroadcast( bool on = true );
+ int
+ setReuseAddr( bool on = true );
+
SocketDesc
getFD() const;
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