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[simspark-svn] SF.net SVN: simspark:[256] trunk/spark
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From: <he...@us...> - 2011-03-24 16:21:43
|
Revision: 256
http://simspark.svn.sourceforge.net/simspark/?rev=256&view=rev
Author: hedayat
Date: 2011-03-24 16:21:36 +0000 (Thu, 24 Mar 2011)
Log Message:
-----------
* Prepared for a new release (updating version numbers)
* Added a new timer architecture based on a TimerSystem concept. It is now handled completely separate from SimControlNodes.
* Added TimerSystemBoost which is based on Boost timing facilities.
Modified Paths:
--------------
trunk/spark/CMakeLists.txt
trunk/spark/ChangeLog
trunk/spark/lib/oxygen/CMakeLists.txt
trunk/spark/lib/oxygen/oxygen.cpp
trunk/spark/lib/oxygen/oxygen.h
trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp
trunk/spark/lib/oxygen/simulationserver/simulationserver.h
trunk/spark/lib/oxygen/simulationserver/simulationserver_c.cpp
trunk/spark/plugin/CMakeLists.txt
trunk/spark/spark/spark.rb
Added Paths:
-----------
trunk/spark/lib/oxygen/simulationserver/timersystem.h
trunk/spark/lib/oxygen/simulationserver/timersystem_c.cpp
trunk/spark/plugin/timersystemboost/
trunk/spark/plugin/timersystemboost/CMakeLists.txt
trunk/spark/plugin/timersystemboost/export.cpp
trunk/spark/plugin/timersystemboost/timersystemboost.cpp
trunk/spark/plugin/timersystemboost/timersystemboost.h
trunk/spark/plugin/timersystemboost/timersystemboost_c.cpp
Modified: trunk/spark/CMakeLists.txt
===================================================================
--- trunk/spark/CMakeLists.txt 2011-03-23 09:57:11 UTC (rev 255)
+++ trunk/spark/CMakeLists.txt 2011-03-24 16:21:36 UTC (rev 256)
@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 2.6)
project(simspark CXX C)
-set(PACKAGE_VERSION "0.2.1")
+set(PACKAGE_VERSION "0.2.2")
########## check for headerfiles/libraries ##########
include(CheckIncludeFile)
@@ -143,11 +143,11 @@
set(SALT_SO_VERSION 0)
set(SALT_VERSION ${SALT_SO_VERSION}.3.2)
set(ZEITGEIST_SO_VERSION 3)
-set(ZEITGEIST_VERSION ${ZEITGEIST_SO_VERSION}.1.1)
-set(OXYGEN_SO_VERSION 4)
+set(ZEITGEIST_VERSION ${ZEITGEIST_SO_VERSION}.1.2)
+set(OXYGEN_SO_VERSION 5)
set(OXYGEN_VERSION ${OXYGEN_SO_VERSION}.0.0)
-set(KEROSIN_SO_VERSION 1)
-set(KEROSIN_VERSION ${KEROSIN_SO_VERSION}.1.1)
+set(KEROSIN_SO_VERSION 2)
+set(KEROSIN_VERSION ${KEROSIN_SO_VERSION}.0.0)
set(SPARK_SO_VERSION 0)
set(SPARK_VERSION ${SPARK_SO_VERSION}.0.1)
set(RCSSNET_SO_VERSION 0)
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2011-03-23 09:57:11 UTC (rev 255)
+++ trunk/spark/ChangeLog 2011-03-24 16:21:36 UTC (rev 256)
@@ -1,3 +1,42 @@
+2011-03-24 Hedayat Vatankhah <hed...@gm...>
+
+ * plugin/timersystemboost/timersystemboost.h:
+ * plugin/timersystemboost/timersystemboost.cpp:
+ * plugin/timersystemboost/timersystemboost_c.cpp:
+ * plugin/timersystemboost/export.cpp:
+ * plugin/timersystemboost/CMakeLists.txt:
+ - Added TimerSystemBoost which uses Boost facilities for timing
+
+ * plugin/CMakeLists.txt:
+ - Added timersystemboost to the list of plugins
+ - Reordering the list of plugins to make it sorted again
+
+ * CMakeLists.txt:
+ - Prepare for 0.2.2 release: changed the version number and update library
+ versions
+
+ * spark/spark.rb:
+ - Disable old style timer and add sparkSetupTimer() function for
+ setting up a timer system
+
+ * lib/oxygen/simulationserver/simulationserver.h:
+ * lib/oxygen/simulationserver/simulationserver.cpp:
+ * lib/oxygen/simulationserver/simulationserver_c.cpp:
+ - Use TimerSystem for timing
+ - Added InitTimerSystem() to setup a timer system for simulation server
+ - Fixed a few spelling errors
+ - Added SyncTime() method which is responsible for updating mSumDeltaTime
+ using a TimerSystem or simulator's internal clock.
+ - Using Step() in multi-threaded mode in addition to the single threaded
+ mode. Looks like that there is no need to differentiate any more.
+
+ * lib/oxygen/oxygen.cpp:
+ * lib/oxygen/oxygen.h:
+ * lib/oxygen/CMakeLists.txt:
+ * lib/oxygen/simulationserver/timersystem.h:
+ * lib/oxygen/simulationserver/timersystem_c.cpp:
+ - Added a new TimerSystem mechanism to control simulator timing
+
2011-03-23 Hedayat Vatankhah <hed...@gm...>
* RELEASE:
Modified: trunk/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- trunk/spark/lib/oxygen/CMakeLists.txt 2011-03-23 09:57:11 UTC (rev 255)
+++ trunk/spark/lib/oxygen/CMakeLists.txt 2011-03-24 16:21:36 UTC (rev 256)
@@ -110,6 +110,7 @@
simulationserver/netmessage.h
simulationserver/netbuffer.h
simulationserver/traincontrol.h
+ simulationserver/timersystem.h
geometryserver/geometryserver.h
geometryserver/meshexporter.h
geometryserver/meshimporter.h
@@ -260,6 +261,7 @@
simulationserver/netbuffer.cpp
simulationserver/traincontrol.cpp
simulationserver/traincontrol_c.cpp
+ simulationserver/timersystem_c.cpp
geometryserver/geometryserver.h
geometryserver/geometryserver.cpp
geometryserver/geometryserver_c.cpp
Modified: trunk/spark/lib/oxygen/oxygen.cpp
===================================================================
--- trunk/spark/lib/oxygen/oxygen.cpp 2011-03-23 09:57:11 UTC (rev 255)
+++ trunk/spark/lib/oxygen/oxygen.cpp 2011-03-24 16:21:36 UTC (rev 256)
@@ -44,6 +44,7 @@
zg.GetCore()->RegisterClassObject(new CLASS(MonitorControl), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(MonitorLogger), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(TrainControl), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(TimerSystem), "oxygen/");
// geometry
zg.GetCore()->RegisterClassObject(new CLASS(GeometryServer), "oxygen/");
Modified: trunk/spark/lib/oxygen/oxygen.h
===================================================================
--- trunk/spark/lib/oxygen/oxygen.h 2011-03-23 09:57:11 UTC (rev 255)
+++ trunk/spark/lib/oxygen/oxygen.h 2011-03-24 16:21:36 UTC (rev 256)
@@ -90,6 +90,7 @@
#include <oxygen/simulationserver/monitorcontrol.h>
#include <oxygen/simulationserver/monitorlogger.h>
#include <oxygen/simulationserver/traincontrol.h>
+#include <oxygen/simulationserver/timersystem.h>
#include <oxygen/geometryserver/geometryserver.h>
#include <oxygen/geometryserver/meshexporter.h>
Modified: trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp 2011-03-23 09:57:11 UTC (rev 255)
+++ trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp 2011-03-24 16:21:36 UTC (rev 256)
@@ -21,6 +21,7 @@
*/
#include "simulationserver.h"
#include "simcontrolnode.h"
+#include "timersystem.h"
#include <zeitgeist/logserver/logserver.h>
#include <signal.h>
#include <algorithm>
@@ -183,6 +184,33 @@
return true;
}
+/** creates and registers a new TimerSystem to the SimulationServer */
+bool SimulationServer::InitTimerSystem(const std::string& className)
+{
+ if (mTimerSystem)
+ {
+ GetLog()->Error() << "(SimulationServer) ERROR: "
+ << "Another timer system already in use!\n";
+ return false;
+ }
+
+ mTimerSystem = shared_dynamic_cast<TimerSystem>(GetCore()->New(className));
+ SetAutoTimeMode(false);
+
+ if (!mTimerSystem)
+ {
+ GetLog()->Error() << "(SimulationServer) ERROR: "
+ << "Unable to create '" << className << "'\n";
+ return false;
+ }
+
+ GetLog()->Normal()
+ << "(SimulationServer) TimerSystem '"
+ << className << "' registered\n";
+
+ return true;
+}
+
boost::shared_ptr<SimControlNode>
SimulationServer::GetControlNode(const string& controlName)
{
@@ -237,7 +265,6 @@
mSimTime += mSumDeltaTime;
mSumDeltaTime = 0;
}
-// usleep(10000);
}
void SimulationServer::ControlEvent(EControlEvent event)
@@ -305,6 +332,11 @@
mArgV = argv;
ControlEvent(CE_Init);
+
+ if (mTimerSystem)
+ {
+ mTimerSystem->Initialize();
+ }
}
void SimulationServer::Run(int argc, char** argv)
@@ -312,25 +344,26 @@
Init(argc, argv);
GetLog()->Normal() << "(SimulationServer) entering runloop\n";
- boost::shared_ptr<SimControlNode> inputCtr = GetControlNode("InputControl");
-
- if ( mMultiThreads )
+ if ( !mAutoTime && !mTimerSystem )
{
- GetLog()->Normal()<< "(SimulationServer) running in multi-threads\n";
- RunMultiThreaded(inputCtr);
+ GetLog()->Error()<< "(SimulationServer) ERROR: can not get"
+ " any TimerSystem objects.\n";
}
else
{
- GetLog()->Normal()<< "(SimulationServer) running in single thread\n";
- if ( !mAutoTime && inputCtr.get() == 0 )
+ if ( mMultiThreads )
{
- GetLog()->Error()<< "(SimulationServer) ERROR: can not get InputControl\n";
+ GetLog()->Normal()<< "(SimulationServer) running in "
+ "multi-threaded mode\n";
+ RunMultiThreaded();
}
else
{
+ GetLog()->Normal()<< "(SimulationServer) running in single "
+ "thread mode\n";
while (! mExit)
{
- Cycle(inputCtr);
+ Cycle();
}
}
}
@@ -338,7 +371,7 @@
Done();
}
-void SimulationServer::Cycle(boost::shared_ptr<SimControlNode> &inputCtr)
+void SimulationServer::Cycle()
{
++mCycle;
@@ -347,26 +380,18 @@
ControlEvent(CE_ActAgent);
Step();
- if (mAutoTime)
- {
- AdvanceTime(mSimStep);
- }
- else
- {
- if (inputCtr.get() != 0)
- {
- while (int(mSumDeltaTime*100) < int(mSimStep*100))
- {
- inputCtr->StartCycle();// advance the time
- }
- }
- }
+ SyncTime();
ControlEvent(CE_EndCycle);
}
void SimulationServer::Done()
{
+ if (mTimerSystem)
+ {
+ mTimerSystem->Finalize();
+ }
+
ControlEvent(CE_Done);
mArgC = 0;
@@ -392,17 +417,8 @@
return mSceneServer.get();
}
-void SimulationServer::RunMultiThreaded(boost::shared_ptr<SimControlNode> &inputCtr)
+void SimulationServer::RunMultiThreaded()
{
- if (mSimStep == 0)
- {
- GetLog()->Error() << "(SimulationServer) ERROR: multi-threaded "
- << "mode supports descreet simulations only.\n";
- return;
- }
-
- boost::thread_group ctrThrdGroup;
-
// count valid SimControlNodes.
int count = 1;
for ( TLeafList::iterator iter=begin(); iter != end(); ++iter )
@@ -413,6 +429,7 @@
mThreadBarrier = new barrier(count);
// create new threads for each SimControlNode
+ boost::thread_group ctrThrdGroup;
for ( TLeafList::iterator iter=begin(); iter != end(); ++iter )
{
boost::shared_ptr<SimControlNode> ctrNode = shared_dynamic_cast<SimControlNode>(*iter);
@@ -433,51 +450,19 @@
mThreadBarrier->wait();
if (mExit)
mExitThreads = true;
-
- // Wait for SimControlNodes' acts at the begining of a cycle
+
+ // Wait for SimControlNodes' acts at the beginning of a cycle
mThreadBarrier->wait();
- finalDelta = initDelta = mSumDeltaTime;
+ Step();
+ SyncTime();
- mSceneServer->PrePhysicsUpdate(mSimStep);
- mSceneServer->PhysicsUpdate(mSimStep);
-
- if (mAutoTime)
- {
- AdvanceTime(mSimStep);
- }
-
- else
- {
- if (inputCtr.get() != 0)
- {
- while (int(mSumDeltaTime*100) < int(mSimStep*100))
- {
- inputCtr->StartCycle();// advance the time
- }
- }
- }
-
- UpdateDeltaTimeAfterStep(finalDelta);
-
- float finalStep = mSimStep;
- while (int(finalDelta*100) >= int(mSimStep*100))
- {
- mSceneServer->PhysicsUpdate(mSimStep);
- UpdateDeltaTimeAfterStep(finalDelta);
- finalStep += mSimStep;
- }
- mSceneServer->PostPhysicsUpdate();
- mGameControlServer->Update(finalStep);
- mSimTime += finalStep;
-
if (renderControl
&& renderControl->GetTime() - mSimTime < 0.005f )
renderControl->EndCycle();
// End Cycle
- mThreadBarrier->wait();
- mSumDeltaTime -= initDelta - finalDelta;
+ mThreadBarrier->wait();
}
// wait for threads
@@ -493,16 +478,15 @@
return;
}
- bool isInputControl = (controlNode->GetName() == "InputControl");
bool isRenderControl = (controlNode->GetName() == "RenderControl");
bool newCycle = false;
while (!mExitThreads)
{
mThreadBarrier->wait();
-
+
newCycle = false;
- if ( controlNode->GetTime() - mSimTime <= 0.005f && !isInputControl)
+ if ( controlNode->GetTime() - mSimTime <= 0.005f)
{
newCycle = true;
controlNode->StartCycle();
@@ -552,3 +536,16 @@
else
deltaTime -= mSimStep;
}
+
+inline void SimulationServer::SyncTime()
+{
+ if (mAutoTime)
+ {
+ AdvanceTime(mSimStep);
+ }
+ else
+ {
+ mTimerSystem->WaitFromLastQueryUntil(mSimStep - mSumDeltaTime);
+ AdvanceTime(mTimerSystem->GetTimeSinceLastQuery());
+ }
+}
Modified: trunk/spark/lib/oxygen/simulationserver/simulationserver.h
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/simulationserver.h 2011-03-23 09:57:11 UTC (rev 255)
+++ trunk/spark/lib/oxygen/simulationserver/simulationserver.h 2011-03-24 16:21:36 UTC (rev 256)
@@ -32,6 +32,7 @@
namespace oxygen
{
class SimControlNode;
+class TimerSystem;
class OXYGEN_API SimulationServer : public zeitgeist::Node
{
@@ -90,6 +91,10 @@
SimulationServer */
bool InitControlNode(const std::string& className, const std::string& name);
+ /** creates a new TimerSystem of type \param className to be used as
+ * the simulator's internal timer */
+ bool InitTimerSystem(const std::string& className);
+
/** sets the auto time mode of the SimulationServer. if set to
true the SimulationServer automatically advances the
simulation mSimStep time every cycle, this is the default
@@ -114,8 +119,9 @@
/** init the runloop and all registered control nodes */
virtual void Init(int argc = 0, char** argv = 0);
- /** go through on cycle of the runloop, i.e. sense, act, step */
- virtual void Cycle(boost::shared_ptr<SimControlNode> &inputCtr);
+ /** go through on cycle of the runloop (single threaded mode), i.e. sense,
+ * act, step */
+ virtual void Cycle();
/** shutdown server and all registered control nodes */
virtual void Done();
@@ -131,7 +137,7 @@
/** returns the cached GameControlServer reference */
boost::shared_ptr<GameControlServer> GetGameControlServer();
- /** returns thr cached SceneServer reference */
+ /** returns the cached SceneServer reference */
boost::shared_ptr<SceneServer> GetSceneServer();
/** returns the current simulation cycle */
@@ -167,15 +173,20 @@
static void CatchSignal(int sig_num);
/** the multi-threaded runloop of the simulation */
- void RunMultiThreaded(boost::shared_ptr<SimControlNode> &inputCtr);
+ void RunMultiThreaded();
/** the thread function which controls a single SimControlNode in
* multi-threaded mode. */
void SimControlThread(boost::shared_ptr<SimControlNode> controlNode);
- /** updates mSumDeltaTime after a step in descreet simulations */
+ /** updates mSumDeltaTime after a step in discreet simulations */
void UpdateDeltaTimeAfterStep(float &deltaTime);
+ /** updates the accumulated time since last simulation step using the
+ * specified timing method: it might use simulator's own clock (if mAutoTime
+ * is true) or a TimerSystem provided using InitTimerSystem() */
+ void SyncTime();
+
protected:
/** the argc parameter passed to Run() */
int mArgC;
@@ -230,6 +241,9 @@
/** barrier object for synchronizing threads in multi-threaded mode */
boost::barrier *mThreadBarrier;
+
+ /** the timer system to control the simulation */
+ boost::shared_ptr<TimerSystem> mTimerSystem;
};
DECLARE_CLASS(SimulationServer);
Modified: trunk/spark/lib/oxygen/simulationserver/simulationserver_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/simulationserver_c.cpp 2011-03-23 09:57:11 UTC (rev 255)
+++ trunk/spark/lib/oxygen/simulationserver/simulationserver_c.cpp 2011-03-24 16:21:36 UTC (rev 256)
@@ -45,10 +45,24 @@
return false;
}
- return obj->InitControlNode(inClassName,inName);
+ return obj->InitControlNode(inClassName, inName);
}
+FUNCTION(SimulationServer,initTimerSystem)
+{
+ string inClassName;
+ if (
+ (in.GetSize() != 1) ||
+ (! in.GetValue(in[0],inClassName))
+ )
+ {
+ return false;
+ }
+
+ return obj->InitTimerSystem(inClassName);
+}
+
FUNCTION(SimulationServer, getTime)
{
return obj->GetTime();
@@ -156,6 +170,7 @@
DEFINE_BASECLASS(zeitgeist/Node);
DEFINE_FUNCTION(quit);
DEFINE_FUNCTION(initControlNode);
+ DEFINE_FUNCTION(initTimerSystem);
DEFINE_FUNCTION(getTime);
DEFINE_FUNCTION(resetTime);
DEFINE_FUNCTION(setSimStep);
Added: trunk/spark/lib/oxygen/simulationserver/timersystem.h
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/timersystem.h (rev 0)
+++ trunk/spark/lib/oxygen/simulationserver/timersystem.h 2011-03-24 16:21:36 UTC (rev 256)
@@ -0,0 +1,59 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ This file is part of rcssserver3D
+ Thu Mar 24 2011
+ Copyright (C) 2003-1011 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef OXYGEN_TIMERSYSTEM_H
+#define OXYGEN_TIMERSYSTEM_H
+
+#include <zeitgeist/class.h>
+#include <zeitgeist/leaf.h>
+
+namespace oxygen
+{
+/** \class TimerSystem defines the interface for an external timer to control
+ * the simulation.
+ */
+class TimerSystem: public zeitgeist::Leaf
+{
+public:
+ /** initialize the timer system. It is called once at the beginning of a
+ * simulation.
+ */
+ virtual void Initialize() = 0;
+
+ /** \return the elapsed time since the last call of this function or since
+ * the initialization for the first call.
+ */
+ virtual float GetTimeSinceLastQuery() = 0;
+
+ /** waits until \param deadline seconds is passed since the last call to
+ * GetTimeSinceLastQuery(). If that is already passed, it'll return
+ * immediately.
+ */
+ virtual void WaitFromLastQueryUntil(float deadline) = 0;
+
+ /** this is called at the end of the simulation */
+ virtual void Finalize() {}
+};
+
+DECLARE_ABSTRACTCLASS(TimerSystem);
+
+} // namespace oxygen
+
+#endif // OXYGEN_TIMERSYSTEM_H
Added: trunk/spark/lib/oxygen/simulationserver/timersystem_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/timersystem_c.cpp (rev 0)
+++ trunk/spark/lib/oxygen/simulationserver/timersystem_c.cpp 2011-03-24 16:21:36 UTC (rev 256)
@@ -0,0 +1,28 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ This file is part of rcssserver3D
+ Thu Mar 24 2011
+ Copyright (C) 2003-1011 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include "timersystem.h"
+
+using namespace oxygen;
+
+void CLASS(TimerSystem)::DefineClass()
+{
+ DEFINE_BASECLASS(zeitgeist/Leaf);
+}
Modified: trunk/spark/plugin/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/CMakeLists.txt 2011-03-23 09:57:11 UTC (rev 255)
+++ trunk/spark/plugin/CMakeLists.txt 2011-03-24 16:21:36 UTC (rev 256)
@@ -11,25 +11,26 @@
add_subdirectory(accelerometer)
add_subdirectory(agentsynceffector)
+add_subdirectory(collisionperceptor)
add_subdirectory(filesystemstd)
add_subdirectory(filesystemzip)
add_subdirectory(forceeffector)
add_subdirectory(gyrorateperceptor)
add_subdirectory(inputsdl)
+add_subdirectory(inputwx)
add_subdirectory(objimporter)
add_subdirectory(odeimps)
add_subdirectory(openglsyssdl)
+add_subdirectory(openglsyswx)
add_subdirectory(perfectvisionperceptor)
-add_subdirectory(collisionperceptor)
-add_subdirectory(sexpparser)
add_subdirectory(rosimporter)
add_subdirectory(rubysceneimporter)
+add_subdirectory(sexpparser)
add_subdirectory(sparkmonitor)
add_subdirectory(sparkagent)
add_subdirectory(sceneeffector)
add_subdirectory(soundsystemfmod)
-add_subdirectory(inputwx)
-add_subdirectory(openglsyswx)
+add_subdirectory(timersystemboost)
if (APPLE)
if (DEVEL)
add_subdirectory(imageperceptor)
Added: trunk/spark/plugin/timersystemboost/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/timersystemboost/CMakeLists.txt (rev 0)
+++ trunk/spark/plugin/timersystemboost/CMakeLists.txt 2011-03-24 16:21:36 UTC (rev 256)
@@ -0,0 +1,18 @@
+########### next target ###############
+
+set(timersystemboost_LIB_SRCS
+ export.cpp
+ timersystemboost.cpp
+ timersystemboost_c.cpp
+ timersystemboost.h
+)
+
+add_library(timersystemboost MODULE ${timersystemboost_LIB_SRCS})
+
+target_link_libraries(timersystemboost ${spark_libs})
+
+if (NOT APPLE)
+ set_target_properties(timersystemboost PROPERTIES VERSION 0.0.0 SOVERSION 0)
+endif (NOT APPLE)
+
+install(TARGETS timersystemboost DESTINATION ${LIBDIR}/${CMAKE_PROJECT_NAME})
Added: trunk/spark/plugin/timersystemboost/export.cpp
===================================================================
--- trunk/spark/plugin/timersystemboost/export.cpp (rev 0)
+++ trunk/spark/plugin/timersystemboost/export.cpp 2011-03-24 16:21:36 UTC (rev 256)
@@ -0,0 +1,27 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ This file is part of rcssserver3D
+ Thu Mar 24 2011
+ Copyright (C) 2003-1011 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include "timersystemboost.h"
+#include <zeitgeist/zeitgeist.h>
+
+ using namespace oxygen;
+ZEITGEIST_EXPORT_BEGIN()
+ ZEITGEIST_EXPORT(TimerSystemBoost);
+ZEITGEIST_EXPORT_END()
Added: trunk/spark/plugin/timersystemboost/timersystemboost.cpp
===================================================================
--- trunk/spark/plugin/timersystemboost/timersystemboost.cpp (rev 0)
+++ trunk/spark/plugin/timersystemboost/timersystemboost.cpp 2011-03-24 16:21:36 UTC (rev 256)
@@ -0,0 +1,52 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ This file is part of rcssserver3D
+ Thu Mar 24 2011
+ Copyright (C) 2003-1011 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include "timersystemboost.h"
+#include <boost/date_time/posix_time/posix_time.hpp>
+#include <zeitgeist/logserver/logserver.h>
+
+using namespace oxygen;
+
+void TimerSystemBoost::Initialize()
+{
+ mLastQueryTime = boost::get_system_time();
+}
+
+float TimerSystemBoost::GetTimeSinceLastQuery()
+{
+ boost::system_time currentTime = boost::get_system_time();
+ boost::posix_time::time_duration timeDiff = currentTime - mLastQueryTime;
+ mLastQueryTime = currentTime;
+ return timeDiff.total_milliseconds() / 1000.0f;
+}
+
+void TimerSystemBoost::WaitFromLastQueryUntil(float deadline)
+{
+ int milliseconds = round(deadline * 1000);
+// GetLog()->Debug() << "(TimerSystemBoost) Waiting for " << deadline
+// << " seconds or " << milliseconds << " millisecs\n";
+ boost::thread::sleep(mLastQueryTime +
+ boost::posix_time::milliseconds(milliseconds));
+// GetLog()->Debug() << "CURRENT TIME: " << boost::get_system_time() << '\n';
+}
+
+//void TimerSystemBoost::Finalize()
+//{
+//}
Added: trunk/spark/plugin/timersystemboost/timersystemboost.h
===================================================================
--- trunk/spark/plugin/timersystemboost/timersystemboost.h (rev 0)
+++ trunk/spark/plugin/timersystemboost/timersystemboost.h 2011-03-24 16:21:36 UTC (rev 256)
@@ -0,0 +1,62 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ This file is part of rcssserver3D
+ Thu Mar 24 2011
+ Copyright (C) 2003-1011 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef OXYGEN_BOOSTTIMERSYSTEM_H
+#define OXYGEN_BOOSTTIMERSYSTEM_H
+
+#include <boost/thread/thread.hpp>
+#include <oxygen/simulationserver/timersystem.h>
+
+namespace oxygen
+{
+/** \class TimerSystemBoost is a timer system based on Boost timing facilities
+ */
+class TimerSystemBoost: public TimerSystem
+{
+public:
+ /** initialize the timer system. It is called once at the beginning of a
+ * simulation.
+ */
+ virtual void Initialize();
+
+ /** \return the elapsed time since the last call of this function or since
+ * the initialization for the first call.
+ */
+ virtual float GetTimeSinceLastQuery();
+
+ /** waits until \param deadline seconds is passed since the last call to
+ * GetTimeSinceLastQuery(). If that is already passed, it'll return
+ * immediately.
+ */
+ virtual void WaitFromLastQueryUntil(float deadline);
+
+ /** this is called at the end of the simulation */
+ virtual void Finalize() {}
+
+private:
+ /** the last time GetTimeSinceLastQuery is called or zero on Initialize() */
+ boost::system_time mLastQueryTime;
+};
+
+DECLARE_CLASS(TimerSystemBoost);
+
+} // namespace oxygen
+
+#endif // OXYGEN_BOOSTTIMERSYSTEM_H
Added: trunk/spark/plugin/timersystemboost/timersystemboost_c.cpp
===================================================================
--- trunk/spark/plugin/timersystemboost/timersystemboost_c.cpp (rev 0)
+++ trunk/spark/plugin/timersystemboost/timersystemboost_c.cpp 2011-03-24 16:21:36 UTC (rev 256)
@@ -0,0 +1,28 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ This file is part of rcssserver3D
+ Thu Mar 24 2011
+ Copyright (C) 2003-1011 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include "timersystemboost.h"
+
+using namespace oxygen;
+
+void CLASS(TimerSystemBoost)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/TimerSystem);
+}
Modified: trunk/spark/spark/spark.rb
===================================================================
--- trunk/spark/spark/spark.rb 2011-03-23 09:57:11 UTC (rev 255)
+++ trunk/spark/spark/spark.rb 2011-03-24 16:21:36 UTC (rev 256)
@@ -10,7 +10,7 @@
$scenePath = '/usr/scene/'
$serverPath = '/sys/server/'
-# (Inputsystem)
+# (Input system)
#
# the default InputSystem used to read keyboard, mouse and timer input
@@ -19,9 +19,15 @@
# the name of the default bundle that contains the default InputSystem
$defaultInputSystemBundle = 'inputsdl'
-# if simulator should run in real time rather than simulation time
-$useRealTime = true
+# (Timer system)
+#
+# the default TimerSystem used to control the simulation timing
+$defaultTimerSystem = 'TimerSystemBoost'
+
+# the name of the default bundle that contains the default TimerSystem
+$defaultTimerSystemBundle = 'timersystemboost'
+
# (OpenGL rendering)
#
@@ -394,7 +400,7 @@
inputServer.init(inputSystem)
# add devices
- inputServer.createDevice('Timer')
+ #inputServer.createDevice('Timer')
inputServer.createDevice('Keyboard')
inputServer.createDevice('Mouse')
end
@@ -411,10 +417,27 @@
# set timing mode (real time vs simulation time)
inputControl = get($serverPath+'simulation/InputControl')
if (inputControl != nil)
- inputControl.setAdvanceTime($useRealTime)
+ inputControl.setAdvanceTime(false)
end
end
+def sparkSetupTimer(timerSystem = $defaultTimerSystem)
+ print "(spark.rb) sparkSetupTimer\n"
+ print "(spark.rb) using TimerSystem '" + timerSystem + "'\n"
+
+ # setup the Boost timer system
+ if (timerSystem == $defaultTimerSystem)
+ importBundle($defaultTimerSystemBundle)
+ end
+
+ #
+ # register timer system to the simulation server
+ simulationServer = sparkGetSimulationServer()
+ if (simulationServer != nil)
+ simulationServer.initTimerSystem(timerSystem)
+ end
+end
+
def sparkSetupTrain()
#print "(spark.rb) sparkSetupTrain\n"
#
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