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From: <he...@us...> - 2011-03-27 22:01:40
|
Revision: 266
http://simspark.svn.sourceforge.net/simspark/?rev=266&view=rev
Author: hedayat
Date: 2011-03-27 22:01:34 +0000 (Sun, 27 Mar 2011)
Log Message:
-----------
Only print error messages on stderr to prevent excessive logging
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/rcssmonitor3d/rcssmonitor3d.rb
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2011-03-27 21:47:57 UTC (rev 265)
+++ trunk/rcssserver3d/ChangeLog 2011-03-27 22:01:34 UTC (rev 266)
@@ -1,3 +1,8 @@
+2011-03-28 Hedayat Vatankhah <hed...@gm...>
+
+ * rcssmonitor3d/rcssmonitor3d.rb:
+ - only log error messages to output (a small cleanup for 0.6.5 release)
+
2011-03-26 Hedayat Vatankhah <hed...@gm...>
* NEWS:
Modified: trunk/rcssserver3d/rcssmonitor3d/rcssmonitor3d.rb
===================================================================
--- trunk/rcssserver3d/rcssmonitor3d/rcssmonitor3d.rb 2011-03-27 21:47:57 UTC (rev 265)
+++ trunk/rcssserver3d/rcssmonitor3d/rcssmonitor3d.rb 2011-03-27 22:01:34 UTC (rev 266)
@@ -41,7 +41,7 @@
#
sparkResetLogging()
-sparkLogAllToCerr()
+sparkLogErrorToCerr()
# sparkLogAllToFile('./spark.txt')
# sparkLogDebugToCerr()
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2011-03-27 21:48:03
|
Revision: 265
http://simspark.svn.sourceforge.net/simspark/?rev=265&view=rev
Author: hedayat
Date: 2011-03-27 21:47:57 +0000 (Sun, 27 Mar 2011)
Log Message:
-----------
* Fixed log player running issues
Modified Paths:
--------------
trunk/spark/ChangeLog
trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.cpp
trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.h
trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver_c.cpp
trunk/spark/spark/spark.rb
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2011-03-26 02:16:36 UTC (rev 264)
+++ trunk/spark/ChangeLog 2011-03-27 21:47:57 UTC (rev 265)
@@ -1,3 +1,25 @@
+2011-03-28 Hedayat Vatankhah <hed...@gm...>
+
+ * plugin/sparkmonitor/sparkmonitorlogfileserver.cpp
+ (SparkMonitorLogFileServer::StartCycle):
+ - don't do anything in StartCycle() before time 0.1. it is a workaround a
+ random crash which might be because of some kind of initialization delay
+
+ * spark/spark.rb:
+ - set adjust speed mode for both monitor and log player to prevent
+ waisting any time trying to catch up in physics update (which they don't
+ have at all)!
+
+2011-03-27 Hedayat Vatankhah <hed...@gm...>
+
+ * plugin/sparkmonitor/sparkmonitorlogfileserver.h:
+ * plugin/sparkmonitor/sparkmonitorlogfileserver.cpp:
+ * plugin/sparkmonitor/sparkmonitorlogfileserver_c.cpp:
+ - call mActiveScene's SetModified() and UpdateCache() so that it shows the
+ field again
+ - remove mStepDelay, it is not needed as the timing is controlled by the
+ simulation server
+
2011-03-26 Hedayat Vatankhah <hed...@gm...>
* plugin/sexpparser/sexpparser.h:
Modified: trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.cpp
===================================================================
--- trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.cpp 2011-03-26 02:16:36 UTC (rev 264)
+++ trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.cpp 2011-03-27 21:47:57 UTC (rev 265)
@@ -42,7 +42,6 @@
{
mPause = false;
mForwardStep = false;
- mStepDelay = 0;
mBackwardPlayback = false;
mSexpMemory = init_sexp_memory();
}
@@ -112,6 +111,9 @@
void SparkMonitorLogFileServer::StartCycle()
{
+ // work around a random crash!
+ if (GetTime() < 0.1)
+ return;
if (mPause && !mForwardStep)
{
@@ -139,12 +141,6 @@
ParseMessage(msg);
}
-#ifdef WIN32
- Sleep(mStepDelay / 1000);
-#else
- usleep(mStepDelay);
-#endif
-
mForwardStep = false;
}
@@ -229,6 +225,7 @@
}
mActiveScene = mSceneServer->GetActiveScene();
+ mActiveScene->UpdateCache();
if (mActiveScene.get() == 0)
{
@@ -271,6 +268,7 @@
mSceneImporter->ParseScene(string(pcont->lastPos),
mManagedScene,
boost::shared_ptr<ParameterList>());
+ mActiveScene->SetModified(true);
destroy_sexp(mSexpMemory, sexp_custom);
destroy_continuation(mSexpMemory, pcont);
Modified: trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.h
===================================================================
--- trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.h 2011-03-26 02:16:36 UTC (rev 264)
+++ trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.h 2011-03-27 21:47:57 UTC (rev 265)
@@ -62,9 +62,6 @@
/** backward play the log file back */
void BackwardPlayback();
- /** set the length of delay between steps */
- void SetStepDelay(int delay){ mStepDelay = delay; }
-
protected:
/** parses a received message */
void ParseMessage(const std::string& msg);
@@ -107,9 +104,6 @@
/** line numbers storage */
std::stack<unsigned> linePositions;
- /** the length of delay between seteps */
- int mStepDelay;
-
bool mBackwardPlayback;
/** cached reference to the script server */
Modified: trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver_c.cpp
===================================================================
--- trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver_c.cpp 2011-03-26 02:16:36 UTC (rev 264)
+++ trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver_c.cpp 2011-03-27 21:47:57 UTC (rev 265)
@@ -40,25 +40,9 @@
return true;
}
-FUNCTION(SparkMonitorLogFileServer, setStepDelay)
-{
- int inDelay;
-
- if (
- (in.GetSize() != 1) ||
- (! in.GetValue(in[0], inDelay))
- )
- {
- return false;
- }
-
- obj->SetStepDelay(inDelay);
- return true;
-}
-
FUNCTION(SparkMonitorLogFileServer, pauseMode)
{
- if (in.GetSize() != 0)
+ if (in.GetSize() != 0)
{
return false;
}
@@ -69,7 +53,7 @@
FUNCTION(SparkMonitorLogFileServer, stepForward)
{
- if (in.GetSize() != 0)
+ if (in.GetSize() != 0)
{
return false;
}
@@ -80,7 +64,7 @@
FUNCTION(SparkMonitorLogFileServer, stepBackward)
{
- if (in.GetSize() != 0)
+ if (in.GetSize() != 0)
{
return false;
}
@@ -91,7 +75,7 @@
FUNCTION(SparkMonitorLogFileServer, playBackward)
{
- if (in.GetSize() != 0)
+ if (in.GetSize() != 0)
{
return false;
}
@@ -109,5 +93,4 @@
DEFINE_FUNCTION(stepForward);
DEFINE_FUNCTION(stepBackward);
DEFINE_FUNCTION(playBackward);
- DEFINE_FUNCTION(setStepDelay);
}
Modified: trunk/spark/spark/spark.rb
===================================================================
--- trunk/spark/spark/spark.rb 2011-03-26 02:16:36 UTC (rev 264)
+++ trunk/spark/spark/spark.rb 2011-03-27 21:47:57 UTC (rev 265)
@@ -198,6 +198,10 @@
simulationServer = sparkGetSimulationServer()
if (simulationServer != nil)
simulationServer.setMultiThreads(false)
+
+ # set auto speed adjust mode.
+ simulationServer.setAdjustSpeed(true)
+ simulationServer.setMaxStepsPerCyle(1)
end
monitorClient = sparkCreate('SparkMonitorClient', $serverPath+'simulation/SparkMonitorClient')
@@ -229,6 +233,10 @@
if (simulationServer != nil)
simulationServer.setMultiThreads(false)
+ # set auto speed adjust mode.
+ simulationServer.setAdjustSpeed(true)
+ simulationServer.setMaxStepsPerCyle(1)
+
monitorClient = sparkCreate('SparkMonitorLogFileServer', $serverPath+'simulation/SparkMonitorLogFileServer')
monitorClient.setFileName($logPlayerFile)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2011-03-26 02:16:43
|
Revision: 264
http://simspark.svn.sourceforge.net/simspark/?rev=264&view=rev
Author: hedayat
Date: 2011-03-26 02:16:36 +0000 (Sat, 26 Mar 2011)
Log Message:
-----------
* S-Expression library is now thread-safe. It was the source of crashes in multi-threaded mode
Modified Paths:
--------------
trunk/spark/ChangeLog
trunk/spark/plugin/rubysceneimporter/rubysceneimporter.cpp
trunk/spark/plugin/rubysceneimporter/rubysceneimporter.h
trunk/spark/plugin/sexpparser/sexpparser.cpp
trunk/spark/plugin/sexpparser/sexpparser.h
trunk/spark/plugin/sparkmonitor/sparkmonitorclient.cpp
trunk/spark/plugin/sparkmonitor/sparkmonitorclient.h
trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.cpp
trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.h
trunk/spark/utility/sfsexp/io.c
trunk/spark/utility/sfsexp/parser.c
trunk/spark/utility/sfsexp/sexp.c
trunk/spark/utility/sfsexp/sexp.h
trunk/spark/utility/sfsexp/sexp_ops.c
trunk/spark/utility/sfsexp/sexp_ops.h
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/ChangeLog 2011-03-26 02:16:36 UTC (rev 264)
@@ -1,5 +1,24 @@
2011-03-26 Hedayat Vatankhah <hed...@gm...>
+ * plugin/sexpparser/sexpparser.h:
+ * plugin/sexpparser/sexpparser.cpp:
+ * plugin/rubysceneimporter/rubysceneimporter.h:
+ * plugin/rubysceneimporter/rubysceneimporter.cpp:
+ * plugin/sparkmonitor/sparkmonitorclient.h:
+ * plugin/sparkmonitor/sparkmonitorclient.cpp:
+ * plugin/sparkmonitor/sparkmonitorlogfileserver.h:
+ * plugin/sparkmonitor/sparkmonitorlogfileserver.cpp:
+ - updated to be compatible with the reentrant s-expression library
+
+ * utility/sfsexp/sexp.h:
+ * utility/sfsexp/sexp.c:
+ * utility/sfsexp/parser.c:
+ * utility/sfsexp/io.c:
+ * utility/sfsexp/sexp_ops.c:
+ * utility/sfsexp/sexp_ops.h:
+ - s-expression library is now reentrant and thread-safe. solves many
+ crashes in multi-threaded mode
+
* NEWS:
* RELEASE:
- updated for 0.2.2 release
Modified: trunk/spark/plugin/rubysceneimporter/rubysceneimporter.cpp
===================================================================
--- trunk/spark/plugin/rubysceneimporter/rubysceneimporter.cpp 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/plugin/rubysceneimporter/rubysceneimporter.cpp 2011-03-26 02:16:36 UTC (rev 264)
@@ -86,10 +86,12 @@
mUpdateSceneDict = false;
InitTranslationTable();
+ mSexpMemory = init_sexp_memory();
}
RubySceneImporter::~RubySceneImporter()
{
+ destroy_sexp_memory(mSexpMemory);
}
void RubySceneImporter::SetUnlinkOnCompleteScenes(bool unlink)
@@ -180,7 +182,8 @@
{
// parse s-expressions
pcont_t* pcont = init_continuation(const_cast<char*>(scene));
- sexp_t* sexp = iparse_sexp(const_cast<char*>(scene),size,pcont);
+ sexp_t* sexp = iparse_sexp(mSexpMemory,
+ const_cast<char*>(scene), size, pcont);
// read scene magic and version
if (
@@ -190,16 +193,16 @@
(mVersionMinor != 1)
)
{
- destroy_sexp(sexp);
- destroy_continuation(pcont);
+ destroy_sexp(mSexpMemory, sexp);
+ destroy_continuation(mSexpMemory, pcont);
return false;
}
// advance to next sexpression- the scene graph
PushParameter(parameter);
- destroy_sexp(sexp);
- sexp = iparse_sexp(const_cast<char*>(scene),size,pcont);
+ destroy_sexp(mSexpMemory, sexp);
+ sexp = iparse_sexp(mSexpMemory, const_cast<char*>(scene), size, pcont);
if (sexp == 0)
{
@@ -223,8 +226,8 @@
ReadDeltaGraph(sexp,root) :
ReadGraph(sexp,root);
- destroy_sexp(sexp);
- destroy_continuation(pcont);
+ destroy_sexp(mSexpMemory, sexp);
+ destroy_continuation(mSexpMemory, pcont);
InvokeMethods();
PopParameter();
@@ -489,7 +492,7 @@
{
return false;
}
- }
+ }
else
{
if (! EvalParameter(sexp->list, atom))
Modified: trunk/spark/plugin/rubysceneimporter/rubysceneimporter.h
===================================================================
--- trunk/spark/plugin/rubysceneimporter/rubysceneimporter.h 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/plugin/rubysceneimporter/rubysceneimporter.h 2011-03-26 02:16:36 UTC (rev 264)
@@ -140,6 +140,9 @@
/** the abbreviaton table */
TTranslationTable mTranslationTable;
+
+ /** the s-expression library memory management object */
+ sexp_mem_t *mSexpMemory;
};
DECLARE_CLASS(RubySceneImporter);
Modified: trunk/spark/plugin/sexpparser/sexpparser.cpp
===================================================================
--- trunk/spark/plugin/sexpparser/sexpparser.cpp 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/plugin/sexpparser/sexpparser.cpp 2011-03-26 02:16:36 UTC (rev 264)
@@ -30,10 +30,12 @@
SexpParser::SexpParser()
: BaseParser()
{
+ mSexpMemory = init_sexp_memory();
}
SexpParser::~SexpParser()
{
+ destroy_sexp_memory(mSexpMemory);
}
boost::shared_ptr<PredicateList>
@@ -49,16 +51,18 @@
char* c = const_cast<char*>(input.c_str());
pcont_t* pcont = init_continuation(c);
- sexp_t* sexp = iparse_sexp(c,static_cast<int>(input.size()),pcont);
+ sexp_t* sexp = iparse_sexp(mSexpMemory, c, static_cast<int>(input.size()),
+ pcont);
while (sexp != 0)
{
SexpToPredicate(predList,sexp);
- destroy_sexp(sexp);
- sexp = iparse_sexp(c,static_cast<int>(input.size()),pcont);
+ destroy_sexp(mSexpMemory, sexp);
+ sexp = iparse_sexp(mSexpMemory, c, static_cast<int>(input.size()),
+ pcont);
}
- destroy_continuation(pcont);
+ destroy_continuation(mSexpMemory, pcont);
return predList;
}
Modified: trunk/spark/plugin/sexpparser/sexpparser.h
===================================================================
--- trunk/spark/plugin/sexpparser/sexpparser.h 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/plugin/sexpparser/sexpparser.h 2011-03-26 02:16:36 UTC (rev 264)
@@ -48,6 +48,10 @@
void PredicateToString(std::stringstream& ss,
const oxygen::Predicate& predicate);
+
+private:
+ /** the s-expression library memory management object */
+ sexp_mem_t *mSexpMemory;
};
DECLARE_CLASS(SexpParser);
Modified: trunk/spark/plugin/sparkmonitor/sparkmonitorclient.cpp
===================================================================
--- trunk/spark/plugin/sparkmonitor/sparkmonitorclient.cpp 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/plugin/sparkmonitor/sparkmonitorclient.cpp 2011-03-26 02:16:36 UTC (rev 264)
@@ -38,10 +38,12 @@
SparkMonitorClient::SparkMonitorClient() : NetClient()
{
+ mSexpMemory = init_sexp_memory();
}
SparkMonitorClient::~SparkMonitorClient()
{
+ destroy_sexp_memory(mSexpMemory);
}
void SparkMonitorClient::OnLink()
@@ -192,7 +194,7 @@
mActiveScene = mSceneServer->GetActiveScene();
mActiveScene->UpdateCache();
-
+
if (mActiveScene.get() == 0)
{
return;
@@ -220,12 +222,12 @@
char* msgBuf = const_cast<char*>(msg.c_str());
pcont_t* pcont = init_continuation(msgBuf);
- sexp_t* sexp_custom = iparse_sexp(msgBuf,msg.size(),pcont);
+ sexp_t* sexp_custom = iparse_sexp(mSexpMemory, msgBuf, msg.size(), pcont);
if (sexp_custom == 0)
{
- destroy_sexp(sexp_custom);
- destroy_continuation(pcont);
+ destroy_sexp(mSexpMemory, sexp_custom);
+ destroy_continuation(mSexpMemory, pcont);
return;
}
@@ -234,9 +236,9 @@
mSceneImporter->ParseScene(string(pcont->lastPos),
mManagedScene,
boost::shared_ptr<ParameterList>());
-
+
mActiveScene->SetModified(true);
- destroy_sexp(sexp_custom);
- destroy_continuation(pcont);
+ destroy_sexp(mSexpMemory, sexp_custom);
+ destroy_continuation(mSexpMemory, pcont);
}
Modified: trunk/spark/plugin/sparkmonitor/sparkmonitorclient.h
===================================================================
--- trunk/spark/plugin/sparkmonitor/sparkmonitorclient.h 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/plugin/sparkmonitor/sparkmonitorclient.h 2011-03-26 02:16:36 UTC (rev 264)
@@ -72,6 +72,9 @@
/** the root node of the managed scene */
boost::shared_ptr<oxygen::BaseNode> mManagedScene;
+
+ /** the s-expression library memory management object */
+ sexp_mem_t *mSexpMemory;
};
DECLARE_CLASS(SparkMonitorClient);
Modified: trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.cpp
===================================================================
--- trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.cpp 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.cpp 2011-03-26 02:16:36 UTC (rev 264)
@@ -44,10 +44,12 @@
mForwardStep = false;
mStepDelay = 0;
mBackwardPlayback = false;
+ mSexpMemory = init_sexp_memory();
}
SparkMonitorLogFileServer::~SparkMonitorLogFileServer()
{
+ destroy_sexp_memory(mSexpMemory);
}
void SparkMonitorLogFileServer::OnLink()
@@ -136,7 +138,7 @@
{
ParseMessage(msg);
}
-
+
#ifdef WIN32
Sleep(mStepDelay / 1000);
#else
@@ -225,7 +227,7 @@
{
return;
}
-
+
mActiveScene = mSceneServer->GetActiveScene();
if (mActiveScene.get() == 0)
@@ -255,12 +257,12 @@
char* msgBuf = const_cast<char*>(msg.c_str());
pcont_t* pcont = init_continuation(msgBuf);
- sexp_t* sexp_custom = iparse_sexp(msgBuf,msg.size(),pcont);
+ sexp_t* sexp_custom = iparse_sexp(mSexpMemory, msgBuf, msg.size(), pcont);
if (sexp_custom == 0)
{
- destroy_sexp(sexp_custom);
- destroy_continuation(pcont);
+ destroy_sexp(mSexpMemory, sexp_custom);
+ destroy_continuation(mSexpMemory, pcont);
return;
}
@@ -270,8 +272,8 @@
mManagedScene,
boost::shared_ptr<ParameterList>());
- destroy_sexp(sexp_custom);
- destroy_continuation(pcont);
+ destroy_sexp(mSexpMemory, sexp_custom);
+ destroy_continuation(mSexpMemory, pcont);
}
void
Modified: trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.h
===================================================================
--- trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.h 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.h 2011-03-26 02:16:36 UTC (rev 264)
@@ -114,6 +114,9 @@
/** cached reference to the script server */
boost::shared_ptr<zeitgeist::ScriptServer> mScriptServer;
+
+ /** the s-expression library memory management object */
+ sexp_mem_t *mSexpMemory;
};
DECLARE_CLASS(SparkMonitorLogFileServer);
Modified: trunk/spark/utility/sfsexp/io.c
===================================================================
--- trunk/spark/utility/sfsexp/io.c 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/utility/sfsexp/io.c 2011-03-26 02:16:36 UTC (rev 264)
@@ -66,17 +66,17 @@
/**
*
*/
-void destroy_iowrap(sexp_iowrap_t *iow) {
+void destroy_iowrap(sexp_mem_t *smem, sexp_iowrap_t *iow) {
if (iow == NULL) return; /* idiot */
- destroy_continuation(iow->cc);
+ destroy_continuation(smem, iow->cc);
free(iow);
}
/**
*
*/
-sexp_t *read_one_sexp(sexp_iowrap_t *iow) {
+sexp_t *read_one_sexp(sexp_mem_t *smem, sexp_iowrap_t *iow) {
sexp_t *sx = NULL;
if (iow->cnt == 0) {
@@ -84,7 +84,7 @@
if (iow->cnt == 0) return NULL;
}
- iow->cc = cparse_sexp(iow->buf,iow->cnt,iow->cc);
+ iow->cc = cparse_sexp(smem, iow->buf,iow->cnt,iow->cc);
while (iow->cc->last_sexp == NULL) {
if (iow->cc->error != 0) {
@@ -97,7 +97,7 @@
if (iow->cnt == 0)
return NULL;
- iow->cc = cparse_sexp(iow->buf,iow->cnt,iow->cc);
+ iow->cc = cparse_sexp(smem, iow->buf,iow->cnt,iow->cc);
}
sx = iow->cc->last_sexp;
Modified: trunk/spark/utility/sfsexp/parser.c
===================================================================
--- trunk/spark/utility/sfsexp/parser.c 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/utility/sfsexp/parser.c 2011-03-26 02:16:36 UTC (rev 264)
@@ -70,48 +70,33 @@
parse_data_t;
/**
- * parse_data_t stack - similar malloc prevention to sexp_t_cache.
- */
-faststack_t *pd_cache;
-
-/**
- * The global <I>sexp_t_cache</I> is a faststack implementing a cache of
- * pre-alloced s-expression element entities. Odds are a user should never
- * touch this. If you do, you're on your own. This is used internally by
- * the parser and related code to store unused but allocated sexp_t elements.
- * This should be left alone and manipulated only by the sexp_t_allocate and
- * sexp_t_deallocate functions. Touching the stack is bad.
- */
-faststack_t *sexp_t_cache;
-
-/**
* sexp_t allocation
*/
#ifdef _NO_MEMORY_MANAGEMENT_
sexp_t *
-sexp_t_allocate() {
+sexp_t_allocate(smem) {
sexp_t *sx = (sexp_t *) calloc(1, sizeof(sexp_t));
assert(sx != NULL);
return(sx);
}
#else
sexp_t *
-sexp_t_allocate() {
+sexp_t_allocate(sexp_mem_t *smem) {
sexp_t *sx;
stack_lvl_t *l;
- if (sexp_t_cache == NULL) {
- sexp_t_cache = make_stack();
+ if (smem->sexp_t_cache == NULL) {
+ smem->sexp_t_cache = make_stack();
sx = (sexp_t *)malloc(sizeof(sexp_t));
assert(sx != NULL);
sx->next = sx->list = NULL;
} else {
- if (empty_stack(sexp_t_cache)) {
+ if (empty_stack(smem->sexp_t_cache)) {
sx = (sexp_t *)malloc(sizeof(sexp_t));
assert(sx != NULL);
sx->next = sx->list = NULL;
} else {
- l = pop(sexp_t_cache);
+ l = pop(smem->sexp_t_cache);
sx = (sexp_t *)l->data;
}
}
@@ -130,8 +115,8 @@
}
#else
void
-sexp_t_deallocate(sexp_t *s) {
- if (sexp_t_cache == NULL) sexp_t_cache = make_stack();
+sexp_t_deallocate(sexp_mem_t *smem, sexp_t *s) {
+ if (smem->sexp_t_cache == NULL) smem->sexp_t_cache = make_stack();
if (s == NULL) return;
@@ -142,39 +127,39 @@
s->val = NULL;
- sexp_t_cache = push(sexp_t_cache, s);
+ smem->sexp_t_cache = push(smem->sexp_t_cache, s);
}
#endif
/**
* cleanup the sexp library. Note this is implemented HERE since we need
- * to know about pd_cache, which is local to this file.
+ * to know about smem->pd_cache, which is local to this file.
*/
#ifdef _NO_MEMORY_MANAGEMENT_
void sexp_cleanup() {
}
#else
-void sexp_cleanup() {
+void sexp_cleanup(sexp_mem_t *smem) {
stack_lvl_t *l;
- if (pd_cache != NULL) {
- l = pd_cache->top;
+ if (smem->pd_cache != NULL) {
+ l = smem->pd_cache->top;
while (l != NULL) {
free(l->data);
l = l->below;
}
- destroy_stack(pd_cache);
- pd_cache = NULL;
+ destroy_stack(smem->pd_cache);
+ smem->pd_cache = NULL;
}
- if (sexp_t_cache != NULL) {
- l = sexp_t_cache->top;
+ if (smem->sexp_t_cache != NULL) {
+ l = smem->sexp_t_cache->top;
while (l != NULL) {
free(l->data);
l = l->below;
}
- destroy_stack(sexp_t_cache);
- sexp_t_cache = NULL;
+ destroy_stack(smem->sexp_t_cache);
+ smem->sexp_t_cache = NULL;
}
}
#endif
@@ -183,20 +168,20 @@
* allocation
*/
parse_data_t *
-pd_allocate() {
+pd_allocate(sexp_mem_t *smem) {
parse_data_t *p;
stack_lvl_t *l;
- if (pd_cache == NULL) {
- pd_cache = make_stack();
+ if (smem->pd_cache == NULL) {
+ smem->pd_cache = make_stack();
p = (parse_data_t *)malloc(sizeof(parse_data_t));
assert(p!=NULL);
} else {
- if (empty_stack(pd_cache)) {
+ if (empty_stack(smem->pd_cache)) {
p = (parse_data_t *)malloc(sizeof(parse_data_t));
assert(p!=NULL);
} else {
- l = pop(pd_cache);
+ l = pop(smem->pd_cache);
p = (parse_data_t *)l->data;
}
}
@@ -208,10 +193,10 @@
* de-allocation
*/
void
-pd_deallocate(parse_data_t *p) {
- if (pd_cache == NULL) pd_cache = make_stack();
+pd_deallocate(sexp_mem_t *smem, parse_data_t *p) {
+ if (smem->pd_cache == NULL) smem->pd_cache = make_stack();
- pd_cache = push(pd_cache, p);
+ smem->pd_cache = push(smem->pd_cache, p);
}
/**
@@ -220,7 +205,7 @@
* buffers, stacks, etc..
*/
void
-destroy_continuation (pcont_t * pc)
+destroy_continuation (sexp_mem_t *smem, pcont_t * pc)
{
stack_lvl_t *lvl;
parse_data_t *lvl_data;
@@ -244,11 +229,11 @@
*/
if (lvl_data != NULL) {
lvl_data->lst = NULL;
- destroy_sexp(lvl_data->fst);
+ destroy_sexp(smem, lvl_data->fst);
lvl_data->fst = NULL;
/* free(lvl_data); */
- pd_deallocate(lvl_data);
+ pd_deallocate(smem, lvl_data);
lvl->data = lvl_data = NULL;
}
@@ -283,17 +268,17 @@
* than one will act up.
*/
sexp_t *
-parse_sexp (char *s, int len)
+parse_sexp (sexp_mem_t *smem, char *s, int len)
{
pcont_t *pc = NULL;
sexp_t *sx = NULL;
if (len < 1 || s == NULL) return NULL; /* empty string - return */
- pc = cparse_sexp (s, len, pc);
+ pc = cparse_sexp (smem, s, len, pc);
sx = pc->last_sexp;
- destroy_continuation(pc);
+ destroy_continuation(smem, pc);
return sx;
}
@@ -343,7 +328,7 @@
* repeated calls.
*/
sexp_t *
-iparse_sexp (char *s, int len, pcont_t *cc) {
+iparse_sexp (sexp_mem_t *smem, char *s, int len, pcont_t *cc) {
pcont_t *pc;
sexp_t *sx = NULL;
@@ -356,7 +341,7 @@
}
/* call the parser */
- pc = cparse_sexp(s,len,cc);
+ pc = cparse_sexp(smem, s,len,cc);
if (cc->last_sexp != NULL) {
sx = cc->last_sexp;
@@ -376,7 +361,7 @@
* Continuation based parser - the guts of the package.
*/
pcont_t *
-cparse_sexp (char *str, int len, pcont_t *lc)
+cparse_sexp (sexp_mem_t *smem, char *str, int len, pcont_t *lc)
{
char *t, *s;
register unsigned int binexpected = 0;
@@ -567,7 +552,7 @@
/* open paren */
depth++;
- sx = sexp_t_allocate();
+ sx = sexp_t_allocate(smem);
assert(sx!=NULL);
elts++;
sx->ty = SEXP_LIST;
@@ -577,7 +562,7 @@
if (stack->height < 1)
{
- data = pd_allocate();
+ data = pd_allocate(smem);
assert(data!=NULL);
data->fst = data->lst = sx;
push (stack, data);
@@ -592,7 +577,7 @@
data->lst = sx;
}
- data = pd_allocate();
+ data = pd_allocate(smem);
assert(data!=NULL);
data->fst = data->lst = NULL;
push (stack, data);
@@ -637,7 +622,7 @@
data = (parse_data_t *) lvl->data;
sx = data->fst;
/* free (data); */
- pd_deallocate(data);
+ pd_deallocate(smem, data);
lvl->data = NULL;
if (stack->top != NULL)
@@ -672,7 +657,7 @@
data = (parse_data_t *) lvl->data;
sx = data->fst;
/* free (data); */
- pd_deallocate(data);
+ pd_deallocate(smem, data);
lvl->data = NULL;
}
cc->last_sexp = sx;
@@ -707,7 +692,7 @@
vcur[0] = '\0';
val_used++;
- sx = sexp_t_allocate();
+ sx = sexp_t_allocate(smem);
assert(sx!=NULL);
elts++;
sx->ty = SEXP_VALUE;
@@ -839,7 +824,7 @@
vcur[0] = '\0';
val_used++;
- sx = sexp_t_allocate();
+ sx = sexp_t_allocate(smem);
assert(sx!=NULL);
elts++;
sx->ty = SEXP_VALUE;
@@ -994,7 +979,7 @@
{
state = 1;
vcur[0] = '\0';
- sx = sexp_t_allocate();
+ sx = sexp_t_allocate(smem);
assert(sx!=NULL);
elts++;
sx->ty = SEXP_VALUE;
@@ -1165,7 +1150,7 @@
if (binread == binexpected) {
/* state = 1 -- create a sexp_t and head back */
- sx = sexp_t_allocate();
+ sx = sexp_t_allocate(smem);
assert(sx!=NULL);
elts++;
sx->ty = SEXP_VALUE;
@@ -1239,7 +1224,7 @@
data = (parse_data_t *) lvl->data;
sx = data->fst;
/* free (data); */
- pd_deallocate(data);
+ pd_deallocate(smem, data);
lvl->data = NULL;
}
cc->last_sexp = sx;
Modified: trunk/spark/utility/sfsexp/sexp.c
===================================================================
--- trunk/spark/utility/sfsexp/sexp.c 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/utility/sfsexp/sexp.c 2011-03-26 02:16:36 UTC (rev 264)
@@ -41,27 +41,41 @@
#define snprintf _snprintf
#endif
+sexp_mem_t *init_sexp_memory()
+{
+ sexp_mem_t *smem = malloc(sizeof(sexp_mem_t));
+ smem->pd_cache = NULL;
+ smem->sexp_t_cache = NULL;
+ return smem;
+}
+
+void destroy_sexp_memory(sexp_mem_t *smem)
+{
+ if (smem)
+ free(smem);
+}
+
/**
* Recursively walk an s-expression and free it.
*/
void
-destroy_sexp (sexp_t * s)
+destroy_sexp (sexp_mem_t *smem, sexp_t * s)
{
if (s == NULL)
return;
if (s->ty == SEXP_LIST)
- destroy_sexp (s->list);
+ destroy_sexp (smem, s->list);
if (s->ty == SEXP_VALUE && s->val != NULL)
free(s->val);
s->val = NULL;
- destroy_sexp (s->next);
+ destroy_sexp (smem, s->next);
s->next = s->list = NULL;
- sexp_t_deallocate(s);
+ sexp_t_deallocate(smem, s);
}
/**
@@ -69,7 +83,7 @@
* representation of the s-expression. Fills the buffer.
*/
int
-print_sexp (char *buf, int size, sexp_t * sx)
+print_sexp (sexp_mem_t *smem, char *buf, int size, sexp_t * sx)
{
int retval;
int sz;
@@ -86,7 +100,7 @@
return -1;
}
- fakehead = sexp_t_allocate();
+ fakehead = sexp_t_allocate(smem);
assert(fakehead!=NULL);
/* duplicate the head to prevent going down a sx->next path
@@ -302,7 +316,7 @@
}
destroy_stack (stack);
- sexp_t_deallocate(fakehead);
+ sexp_t_deallocate(smem, fakehead);
return retval;
}
@@ -312,7 +326,7 @@
* representation of the s-expression. Fills the buffer.
*/
int
-print_sexp_cstr (CSTRING **s, sexp_t *sx, int ss, int gs)
+print_sexp_cstr (sexp_mem_t *smem, CSTRING **s, sexp_t *sx, int ss, int gs)
{
int retval;
char *tc;
@@ -333,7 +347,7 @@
_s = snew(ss);
sgrowsize(gs);
- fakehead = sexp_t_allocate();
+ fakehead = sexp_t_allocate(smem);
assert(fakehead!=NULL);
/* duplicate the head to prevent going down a sx->next path
@@ -457,7 +471,7 @@
retval = _s->curlen;
destroy_stack (stack);
- sexp_t_deallocate(fakehead);
+ sexp_t_deallocate(smem, fakehead);
return retval;
}
@@ -465,8 +479,8 @@
/**
* Allocate a new sexp_t element representing a list.
*/
-sexp_t *new_sexp_list(sexp_t *l) {
- sexp_t *sx = sexp_t_allocate();
+sexp_t *new_sexp_list(sexp_mem_t *smem, sexp_t *l) {
+ sexp_t *sx = sexp_t_allocate(smem);
sx->ty = SEXP_LIST;
@@ -482,8 +496,8 @@
/**
* allocate a new sexp_t element representing a value
*/
-sexp_t *new_sexp_atom(char *buf, int bs) {
- sexp_t *sx = sexp_t_allocate();
+sexp_t *new_sexp_atom(sexp_mem_t *smem, char *buf, int bs) {
+ sexp_t *sx = sexp_t_allocate(smem);
sx->ty = SEXP_VALUE;
Modified: trunk/spark/utility/sfsexp/sexp.h
===================================================================
--- trunk/spark/utility/sfsexp/sexp.h 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/utility/sfsexp/sexp.h 2011-03-26 02:16:36 UTC (rev 264)
@@ -200,6 +200,24 @@
/* STRUCTURES */
/*============*/
+typedef struct sexp_mem
+{
+ /**
+ * parse_data_t stack - similar malloc prevention to sexp_t_cache.
+ */
+ faststack_t *pd_cache;
+
+ /**
+ * The global <I>sexp_t_cache</I> is a faststack implementing a cache of
+ * pre-alloced s-expression element entities. Odds are a user should never
+ * touch this. If you do, you're on your own. This is used internally by
+ * the parser and related code to store unused but allocated sexp_t elements.
+ * This should be left alone and manipulated only by the sexp_t_allocate and
+ * sexp_t_deallocate functions. Touching the stack is bad.
+ */
+ faststack_t *sexp_t_cache;
+} sexp_mem_t;
+
/**
* An s-expression is represented as a linked structure of elements,
* where each element is either an <I>atom</I> or <I>list</I>. An
@@ -550,14 +568,14 @@
* sexp_t_deallocate to deallocate them and put them in the pool.</I>
* Also, if the stack has not been initialized yet, this does so.
*/
- sexp_t *sexp_t_allocate();
+ sexp_t *sexp_t_allocate(sexp_mem_t *smem);
/**
* given a malloc'd sexp_t element, put it back into the already-allocated
* element stack. This method will allocate a stack if one has not been
* allocated already.
*/
- void sexp_t_deallocate(sexp_t *s);
+ void sexp_t_deallocate(sexp_mem_t *smem, sexp_t *s);
/**
* In the event that someone wants us to release ALL of the memory used
@@ -565,7 +583,7 @@
* this, the caches will be persistent for the lifetime of the library
* user.
*/
- void sexp_cleanup();
+ void sexp_cleanup(sexp_mem_t *smem);
/**
* print a sexp_t struct as a string in the LISP style. If the buffer
@@ -575,7 +593,7 @@
* value is -1 and the contents of the buffer should not be assumed to
* contain any useful information.
*/
- int print_sexp(char *loc, int size, sexp_t *e);
+ int print_sexp(sexp_mem_t *smem, char *loc, int size, sexp_t *e);
/**
* print a sexp_t structure to a buffer, growing it as necessary instead
@@ -583,17 +601,17 @@
* to tune for performance reasons are <tt>ss</tt> and <tt>gs</tt> - the
* buffer start size and growth size.
*/
- int print_sexp_cstr(CSTRING **s, sexp_t *e, int ss, int gs);
+ int print_sexp_cstr(sexp_mem_t *smem, CSTRING **s, sexp_t *e, int ss, int gs);
/**
* Allocate a new sexp_t element representing a list.
*/
- sexp_t *new_sexp_list(sexp_t *l);
+ sexp_t *new_sexp_list(sexp_mem_t *smem, sexp_t *l);
/**
* allocate a new sexp_t element representing a value
*/
- sexp_t *new_sexp_atom(char *buf, int bs);
+ sexp_t *new_sexp_atom(sexp_mem_t *smem, char *buf, int bs);
/**
* create an initial continuation for parsing the given string
@@ -604,7 +622,7 @@
* destroy a continuation. This involves cleaning up what it contains,
* and cleaning up the continuation itself.
*/
- void destroy_continuation (pcont_t * pc);
+ void destroy_continuation (sexp_mem_t *smem, pcont_t * pc);
/**
* create an IO wrapper structure around a file descriptor.
@@ -614,7 +632,7 @@
/**
* destroy an IO wrapper structure
*/
- void destroy_iowrap(sexp_iowrap_t *iow);
+ void destroy_iowrap(sexp_mem_t *smem, sexp_iowrap_t *iow);
/**
* given and IO wrapper handle, read one s-expression off of it. this
@@ -622,24 +640,24 @@
* guarantee that under the covers an IO read actually is occuring.
* returning null implies no s-expression was able to be read.
*/
- sexp_t *read_one_sexp(sexp_iowrap_t *iow);
+ sexp_t *read_one_sexp(sexp_mem_t *smem, sexp_iowrap_t *iow);
/**
* wrapper around parser for compatibility.
*/
- sexp_t *parse_sexp(char *s, int len);
+ sexp_t *parse_sexp(sexp_mem_t *smem, char *s, int len);
/**
* wrapper around parser for friendlier continuation use
* pre-condition : continuation (cc) is NON-NULL!
*/
- sexp_t *iparse_sexp(char *s, int len, pcont_t *cc);
+ sexp_t *iparse_sexp(sexp_mem_t *smem, char *s, int len, pcont_t *cc);
/**
* given a LISP style s-expression string, parse it into a set of
* connected sexp_t structures.
*/
- pcont_t *cparse_sexp(char *s, int len, pcont_t *pc);
+ pcont_t *cparse_sexp(sexp_mem_t *smem, char *s, int len, pcont_t *pc);
/**
* given a sexp_t structure, free the memory it uses (and recursively free
@@ -649,8 +667,11 @@
* pre-allocated elements. This is an optimization to speed up the
* parser to eliminate wasteful free and re-malloc calls.
*/
- void destroy_sexp(sexp_t *s);
+ void destroy_sexp(sexp_mem_t *smem, sexp_t *s);
+ sexp_mem_t *init_sexp_memory();
+ void destroy_sexp_memory(sexp_mem_t *smem);
+
/* this is for C++ users */
#ifdef __cplusplus
}
Modified: trunk/spark/utility/sfsexp/sexp_ops.c
===================================================================
--- trunk/spark/utility/sfsexp/sexp_ops.c 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/utility/sfsexp/sexp_ops.c 2011-03-26 02:16:36 UTC (rev 264)
@@ -121,12 +121,12 @@
/**
* Copy an s-expression.
*/
-sexp_t *copy_sexp(sexp_t *s) {
+sexp_t *copy_sexp(sexp_mem_t *smem, sexp_t *s) {
sexp_t *snew;
if (s == NULL) return NULL;
- snew = sexp_t_allocate();
+ snew = sexp_t_allocate(smem);
assert(snew != NULL);
snew->ty = s->ty;
@@ -143,11 +143,11 @@
strcpy(snew->val,s->val);
snew->list = NULL;
} else {
- snew->list = copy_sexp(s->list);
+ snew->list = copy_sexp(smem, s->list);
}
snew->line = s->line;
- snew->next = copy_sexp(s->next);
+ snew->next = copy_sexp(smem, s->next);
return snew;
}
@@ -156,31 +156,31 @@
* Cons: Concatenate two s-expressions together, without references to the
* originals.
*/
-sexp_t *cons_sexp(sexp_t *r, sexp_t *l) {
+sexp_t *cons_sexp(sexp_mem_t *smem, sexp_t *r, sexp_t *l) {
sexp_t *cr, *cl, *t;
- cr = copy_sexp(r);
+ cr = copy_sexp(smem, r);
if (cr->ty == SEXP_VALUE) {
fprintf(stderr,"Cannot cons non-lists.\n");
- destroy_sexp(cr);
+ destroy_sexp(smem, cr);
return NULL;
} else {
t = cr->list;
while (t != NULL && t->next != NULL) t = t->next;
}
- cl = copy_sexp(l);
+ cl = copy_sexp(smem, l);
if (cl->ty == SEXP_LIST) {
if (t != NULL && cl != NULL) {
t->next = cl->list;
/* free(cl); */ /* memory leak fix: SMJ, 4/24/2002 */
- sexp_t_deallocate(cl);
+ sexp_t_deallocate(smem, cl);
}
} else {
fprintf(stderr,"Cannot cons non-lists.\n");
- destroy_sexp(cr);
- destroy_sexp(cl);
+ destroy_sexp(smem, cr);
+ destroy_sexp(smem, cl);
return NULL;
}
@@ -190,7 +190,7 @@
/**
* car: similar to head, except this is a copy and not just a reference.
*/
-sexp_t *car_sexp(sexp_t *s) {
+sexp_t *car_sexp(sexp_mem_t *smem, sexp_t *s) {
sexp_t *cr, *ocr;
/* really dumb - calling on null */
@@ -206,14 +206,14 @@
}
/* ocr = (sexp_t *)malloc(sizeof(sexp_t));*/
- ocr = sexp_t_allocate();
+ ocr = sexp_t_allocate(smem);
assert(ocr != NULL);
ocr->ty = SEXP_LIST;
ocr->next = NULL;
/* allocate the new sexp_t */
/* cr = (sexp_t *)malloc(sizeof(sexp_t)); */
- cr = sexp_t_allocate();
+ cr = sexp_t_allocate(smem);
assert(cr != NULL);
ocr->list = cr;
@@ -226,7 +226,7 @@
} else {
cr->ty = SEXP_LIST;
cr->next = NULL;
- cr->list = copy_sexp(s->list->list);
+ cr->list = copy_sexp(smem, s->list->list);
}
return ocr;
@@ -235,7 +235,7 @@
/**
* cdr: similar to tail, except this is a copy and not just a reference.
*/
-sexp_t *cdr_sexp(sexp_t *s) {
+sexp_t *cdr_sexp(sexp_mem_t *smem, sexp_t *s) {
sexp_t *cd;
/* really dumb */
@@ -251,12 +251,12 @@
}
/* cd = (sexp_t *)malloc(sizeof(sexp_t)); */
- cd = sexp_t_allocate();
+ cd = sexp_t_allocate(smem);
assert(cd != NULL);
cd->ty = SEXP_LIST;
cd->next = NULL;
- cd->list = copy_sexp(s->list->next);
+ cd->list = copy_sexp(smem, s->list->next);
cd->line = s->line;
return cd;
}
Modified: trunk/spark/utility/sfsexp/sexp_ops.h
===================================================================
--- trunk/spark/utility/sfsexp/sexp_ops.h 2011-03-25 22:43:15 UTC (rev 263)
+++ trunk/spark/utility/sfsexp/sexp_ops.h 2011-03-26 02:16:36 UTC (rev 264)
@@ -47,22 +47,22 @@
/*========*/
/* MACROS */
/*========*/
-
+
/**
* Return the head of a list \a s by reference, not copy.
*/
#define hd_sexp(s) ((s)->list)
-
+
/**
* Return the tail of a list \a s by reference, not copy.
*/
-#define tl_sexp(s) ((s)->list->next)
-
+#define tl_sexp(s) ((s)->list->next)
+
/**
* Return the element following the argument \a s.
*/
#define next_sexp(s) ((s)->next)
-
+
/**
* Reset the continuation \a c by setting the \c lastPos pointer to
* \c NULL.
@@ -71,11 +71,11 @@
/**
* Find an atom in a sexpression data structure and return a pointer to
- * it. Return NULL if the string doesn't occur anywhere as an atom.
+ * it. Return NULL if the string doesn't occur anywhere as an atom.
* This is a depth-first search algorithm.
*/
sexp_t *find_sexp(char *name, sexp_t *start);
-
+
/**
* Breadth first search for s-expressions. Depth first search will find
* the first occurance of a string in an s-expression by basically finding
@@ -93,30 +93,30 @@
* to the end of the ->next linked list from that point.
*/
int sexp_list_length(sexp_t *sx);
-
+
/**
* Copy an s-expression. This is a deep copy - so the resulting s-expression
* shares no pointers with the original. The new one can be changed without
* damaging the contents of the original.
*/
- sexp_t *copy_sexp(sexp_t *s);
-
+ sexp_t *copy_sexp(sexp_mem_t *smem, sexp_t *s);
+
/**
* Cons: Concatenate two s-expressions together, without references to the
* originals.
*/
- sexp_t *cons_sexp(sexp_t *r, sexp_t *l);
-
+ sexp_t *cons_sexp(sexp_mem_t *smem, sexp_t *r, sexp_t *l);
+
/**
* car: Like hd(), but returning a copy of the head, not a reference to it.
*/
- sexp_t *car_sexp(sexp_t *s);
-
+ sexp_t *car_sexp(sexp_mem_t *smem, sexp_t *s);
+
/**
* cdr: Like tl(), but returning a copy of the tail, not a reference to it.
*/
- sexp_t *cdr_sexp(sexp_t *s);
-
+ sexp_t *cdr_sexp(sexp_mem_t *smem, sexp_t *s);
+
#ifdef __cplusplus
}
#endif
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|
|
From: <he...@us...> - 2011-03-25 22:43:21
|
Revision: 263
http://simspark.svn.sourceforge.net/simspark/?rev=263&view=rev
Author: hedayat
Date: 2011-03-25 22:43:15 +0000 (Fri, 25 Mar 2011)
Log Message:
-----------
* updated RELEASE and NEWS for 0.2.2 release
* A small cleanup: SimulationServer::AdvanceTime() is now protected and InputControl don't try to advance time be default
Modified Paths:
--------------
trunk/spark/ChangeLog
trunk/spark/NEWS
trunk/spark/RELEASE
trunk/spark/lib/kerosin/inputserver/inputcontrol.cpp
trunk/spark/lib/oxygen/simulationserver/simulationserver.h
trunk/spark/spark/spark.rb
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2011-03-25 22:36:19 UTC (rev 262)
+++ trunk/spark/ChangeLog 2011-03-25 22:43:15 UTC (rev 263)
@@ -1,3 +1,22 @@
+2011-03-26 Hedayat Vatankhah <hed...@gm...>
+
+ * NEWS:
+ * RELEASE:
+ - updated for 0.2.2 release
+
+ * lib/kerosin/inputserver/inputcontrol.cpp (InputControl::InputControl):
+ - turn off advancing the time by InputControl(since it no longer works in
+ the new timing system). In fact, all timing code should be removed from
+ InputControl/InputSystem/InputServer and InputSystemSDL.
+
+ * spark/spark.rb:
+ - removed the code to turn off InputControl's timing functionality as it
+ is off be default now
+
+ * lib/oxygen/simulationserver/simulationserver.h (SimulationServer):
+ - made AdvanceTime() method protected: it is not expected to be called
+ externally anymore
+
2011-03-25 Hedayat Vatankhah <hed...@gm...>
* lib/oxygen/simulationserver/simulationserver.h (SimulationServer):
Modified: trunk/spark/NEWS
===================================================================
--- trunk/spark/NEWS 2011-03-25 22:36:19 UTC (rev 262)
+++ trunk/spark/NEWS 2011-03-25 22:43:15 UTC (rev 263)
@@ -1,3 +1,21 @@
+[0.2.2]
+This release features many small enhancements which will benefit users.
+It contains many bug fixes and performance improvements, in addition to
+fixing some compilation issues. The behavior of ACC perceptor has been slightly
+changed, and the multi-threaded mode should work without any known bugs.
+Support for the camera sensor is improved too. More details are as follows:
+
+- ACC sensor provides raw data without any pre-processing
+ -- You can apply the following filter to 'RawACC' value received from the
+ simulator to get ACC value as what you'd receive in previous versions:
+ ACC = 0.9 * ACC + (0.1) * RawACC
+- Using base64 encoding for camera perceptor
+- Fixed bugs in multi-threaded mode.
+- Compilation fixes
+- HingePerceptor can report torque
+- Better Performance
+- New timing system result in more cleaner code and prevent wasting CPU time
+
[0.2.1]
This release of simspark is prepared for RoboCup 2010 competitions in Singapore.
In this release you can find some bug and compilation fixes, improved Windows
Modified: trunk/spark/RELEASE
===================================================================
--- trunk/spark/RELEASE 2011-03-25 22:36:19 UTC (rev 262)
+++ trunk/spark/RELEASE 2011-03-25 22:43:15 UTC (rev 263)
@@ -7,11 +7,15 @@
Support for the camera sensor is improved too. More details are as follows:
- ACC sensor provides raw data without any pre-processing
+ -- You can apply the following filter to 'RawACC' value received from the
+ simulator to get ACC value as what you'd receive in previous versions:
+ ACC = 0.9 * ACC + (0.1) * RawACC
- Using base64 encoding for camera perceptor
- Fixed bugs in multi-threaded mode.
- Compilation fixes
- HingePerceptor can report torque
- Better Performance
+- New timing system result in more cleaner code and prevent wasting CPU time
You can get the package on the Simspark page on SourceForge
at http://sourceforge.net/projects/simspark/
Modified: trunk/spark/lib/kerosin/inputserver/inputcontrol.cpp
===================================================================
--- trunk/spark/lib/kerosin/inputserver/inputcontrol.cpp 2011-03-25 22:36:19 UTC (rev 262)
+++ trunk/spark/lib/kerosin/inputserver/inputcontrol.cpp 2011-03-25 22:43:15 UTC (rev 263)
@@ -35,7 +35,7 @@
mDeltaTime = 0;
mHorSens = 0.3f;
mVertSens = 0.3f;
- mAdvanceTime = true;
+ mAdvanceTime = false;
mMouseLook = false;
}
@@ -229,11 +229,12 @@
}
}
- if (mAdvanceTime)
- {
- // pass the delta time on to the SimulationServer
- GetSimulationServer()->AdvanceTime(mDeltaTime);
- }
+ // No longer works
+// if (mAdvanceTime)
+// {
+// // pass the delta time on to the SimulationServer
+// GetSimulationServer()->AdvanceTime(mDeltaTime);
+// }
}
float
Modified: trunk/spark/lib/oxygen/simulationserver/simulationserver.h
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/simulationserver.h 2011-03-25 22:36:19 UTC (rev 262)
+++ trunk/spark/lib/oxygen/simulationserver/simulationserver.h 2011-03-25 22:43:15 UTC (rev 263)
@@ -58,7 +58,7 @@
public:
SimulationServer();
- ~SimulationServer();
+ virtual ~SimulationServer();
/** exits the simulation on the next simulation step */
static void Quit();
@@ -78,11 +78,6 @@
/** returns the simulation time step */
virtual float GetSimStep();
- /** increases the accumulated time since the last simulation step,
- but does not step the simulation
- */
- virtual void AdvanceTime(float deltaTime);
-
/** returns the accumulated time since the last simulation step
*/
virtual float GetSumDeltaTime();
@@ -158,6 +153,11 @@
protected:
virtual void OnLink();
+ /** increases the accumulated time since the last simulation step,
+ but does not step the simulation
+ */
+ virtual void AdvanceTime(float deltaTime);
+
/** advances the simulation mSumDeltaTime seconds. If mSimStep is
nonzero this is done in discrete steps */
virtual void Step();
Modified: trunk/spark/spark/spark.rb
===================================================================
--- trunk/spark/spark/spark.rb 2011-03-25 22:36:19 UTC (rev 262)
+++ trunk/spark/spark/spark.rb 2011-03-25 22:43:15 UTC (rev 263)
@@ -413,12 +413,6 @@
# add the input control node
simulationServer.initControlNode('kerosin/InputControl','InputControl')
end
-
- # set timing mode (real time vs simulation time)
- inputControl = get($serverPath+'simulation/InputControl')
- if (inputControl != nil)
- inputControl.setAdvanceTime(false)
- end
end
def sparkSetupTimer(timerSystem = $defaultTimerSystem)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2011-03-25 22:36:25
|
Revision: 262
http://simspark.svn.sourceforge.net/simspark/?rev=262&view=rev
Author: hedayat
Date: 2011-03-25 22:36:19 +0000 (Fri, 25 Mar 2011)
Log Message:
-----------
Updated RELEASE and NEWS notes for 0.6.5 release
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/NEWS
trunk/rcssserver3d/RELEASE
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2011-03-25 00:54:16 UTC (rev 261)
+++ trunk/rcssserver3d/ChangeLog 2011-03-25 22:36:19 UTC (rev 262)
@@ -1,3 +1,9 @@
+2011-03-26 Hedayat Vatankhah <hed...@gm...>
+
+ * NEWS:
+ * RELEASE:
+ - updated for 0.6.5 release
+
2011-03-25 Hedayat Vatankhah <hed...@gm...>
* rcssserver3d/CMakeLists.txt:
Modified: trunk/rcssserver3d/NEWS
===================================================================
--- trunk/rcssserver3d/NEWS 2011-03-25 00:54:16 UTC (rev 261)
+++ trunk/rcssserver3d/NEWS 2011-03-25 22:36:19 UTC (rev 262)
@@ -1,3 +1,35 @@
+[0.6.5]
+This release comes with a number of enhancements and some bug fixes. Most
+notably, the automated referee is improved to prevent many agents to collide
+with each other which is required for running games with more players. Also, to
+better suite the field for running 9 vs 9 games, the field size is increased
+and it is 21x14 now. There are some visual improvements and minor enhancements
+to improve the general experience with the simulator. Finally, simspark.rb is
+renamed to rcssserver3d.rb for more consistency.
+
+* New touch rules:
+The automated referee now enforces two new rules to better prevent crowding and
+a high number of collisions in 9 vs 9 games:
+- If an agent is in touch with more than 2 agents (including himself), and he
+ wasn't in such a situation in the previous time step - which means he is the
+ last to join the group - he is relocated outside of the field.
+- If it is not clear which agent joined the group last, e.g. when 3 players
+ were all separate at time t, but were all touching each other in time t + 1,
+ an agent is chosen at random for relocation.
+
+* Other Enhancements:
+- Visual improvements in rcssmonitor3d: new field texture, colored team names
+ and scores
+- Set different agent and monitor ports with --agent-port and --server-port
+- Bigger field size: 21x14
+- Updated PDF documentation
+- Bug fixes, specially in the automated referee
+- New Trainer command (killsim) to terminate the simulator
+- Compilation fixes
+- Nao robots now sense visual information about field lines by default
+- Now you should change the value of enableRealTimeMode variable in
+ rcssserver3d.rb if you want to turn off using real time mode
+
[0.6.4]
This release is supposed to be the final version of rcssserver3d for
RoboCup 2010 in Singapore. The release includes a referee patch contributed
Modified: trunk/rcssserver3d/RELEASE
===================================================================
--- trunk/rcssserver3d/RELEASE 2011-03-25 00:54:16 UTC (rev 261)
+++ trunk/rcssserver3d/RELEASE 2011-03-25 22:36:19 UTC (rev 262)
@@ -5,7 +5,8 @@
with each other which is required for running games with more players. Also, to
better suite the field for running 9 vs 9 games, the field size is increased
and it is 21x14 now. There are some visual improvements and minor enhancements
-to improve the general experience with the simulator.
+to improve the general experience with the simulator. Finally, simspark.rb is
+renamed to rcssserver3d.rb for more consistency.
* New touch rules:
The automated referee now enforces two new rules to better prevent crowding and
@@ -27,6 +28,8 @@
- New Trainer command (killsim) to terminate the simulator
- Compilation fixes
- Nao robots now sense visual information about field lines by default
+- Now you should change the value of enableRealTimeMode variable in
+ rcssserver3d.rb if you want to turn off using real time mode
You can get the package on the Simspark page on SourceForge
at http://sourceforge.net/projects/simspark/
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2011-03-25 00:54:23
|
Revision: 261
http://simspark.svn.sourceforge.net/simspark/?rev=261&view=rev
Author: hedayat
Date: 2011-03-25 00:54:16 +0000 (Fri, 25 Mar 2011)
Log Message:
-----------
* Added TimerSystemSDL
* Added Id SVN keyword to the new files
* Some cleanups
Modified Paths:
--------------
trunk/spark/ChangeLog
trunk/spark/lib/kerosin/inputserver/us.scan.rb
trunk/spark/lib/oxygen/simulationserver/simulationserver.h
trunk/spark/plugin/CMakeLists.txt
trunk/spark/plugin/timersystemboost/timersystemboost.cpp
Added Paths:
-----------
trunk/spark/plugin/timersystemsdl/
trunk/spark/plugin/timersystemsdl/CMakeLists.txt
trunk/spark/plugin/timersystemsdl/export.cpp
trunk/spark/plugin/timersystemsdl/timersystemsdl.cpp
trunk/spark/plugin/timersystemsdl/timersystemsdl.h
trunk/spark/plugin/timersystemsdl/timersystemsdl_c.cpp
Property Changed:
----------------
trunk/spark/lib/oxygen/simulationserver/timersystem.h
trunk/spark/lib/oxygen/simulationserver/timersystem_c.cpp
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/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2011-03-25 00:29:08 UTC (rev 260)
+++ trunk/spark/ChangeLog 2011-03-25 00:54:16 UTC (rev 261)
@@ -1,3 +1,22 @@
+2011-03-25 Hedayat Vatankhah <hed...@gm...>
+
+ * lib/oxygen/simulationserver/simulationserver.h (SimulationServer):
+ - modify SetAutoTimeMode() documents to reflect new changes
+
+ * plugin/timersystemboost/timersystemboost.cpp:
+ - small cleanups
+
+ * plugin/timersystemsdl/timersystemsdl.h:
+ * plugin/timersystemsdl/timersystemsdl.cpp:
+ * plugin/timersystemsdl/timersystemsdl_c.cpp:
+ * plugin/timersystemsdl/export.cpp:
+ * plugin/timersystemsdl/CMakeLists.txt:
+ - added TimerSystemSDL based on inputsdl/timersdl implementation to replace
+ it.
+
+ * lib/kerosin/inputserver/us.scan.rb:
+ - added a missing comma!
+
2011-03-24 Hedayat Vatankhah <hed...@gm...>
* spark/CMakeLists.txt:
Modified: trunk/spark/lib/kerosin/inputserver/us.scan.rb
===================================================================
--- trunk/spark/lib/kerosin/inputserver/us.scan.rb 2011-03-25 00:29:08 UTC (rev 260)
+++ trunk/spark/lib/kerosin/inputserver/us.scan.rb 2011-03-25 00:54:16 UTC (rev 261)
@@ -65,7 +65,7 @@
theInputSystem.addCode (Input.IC_KP8, 'kp8', '8'[0], '8'[0], 0);
theInputSystem.addCode (Input.IC_KP9, 'kp9', '9'[0], '9'[0], 0);
theInputSystem.addCode (Input.IC_KP_DECIMAL, 'kp_decimal', '.'[0], '.'[0], 0);
- theInputSystem.addCode (Input.IC_KP_DIVIDE, 'kp_divide' '/'[0], '/'[0], 0);
+ theInputSystem.addCode (Input.IC_KP_DIVIDE, 'kp_divide', '/'[0], '/'[0], 0);
theInputSystem.addCode (Input.IC_KP_MULTIPLY,'kp_multiply', '*'[0], '*'[0], 0);
theInputSystem.addCode (Input.IC_KP_MINUS, 'kp_minus', '-'[0], '-'[0], 0);
theInputSystem.addCode (Input.IC_KP_PLUS, 'kp_plus', '+'[0], '+'[0], 0);
Modified: trunk/spark/lib/oxygen/simulationserver/simulationserver.h
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/simulationserver.h 2011-03-25 00:29:08 UTC (rev 260)
+++ trunk/spark/lib/oxygen/simulationserver/simulationserver.h 2011-03-25 00:54:16 UTC (rev 261)
@@ -98,8 +98,8 @@
/** 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
- mode. Otherwise a registered ControlNode takes the
- responsibility to do so (by calling AdvanceTime regularly)
+ mode. Otherwise a TimerSystem must provide SimulationServer with
+ timing features.
*/
void SetAutoTimeMode(bool set);
Property changes on: trunk/spark/lib/oxygen/simulationserver/timersystem.h
___________________________________________________________________
Added: svn:keywords
+ Id
Property changes on: trunk/spark/lib/oxygen/simulationserver/timersystem_c.cpp
___________________________________________________________________
Added: svn:keywords
+ Id
Modified: trunk/spark/plugin/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/CMakeLists.txt 2011-03-25 00:29:08 UTC (rev 260)
+++ trunk/spark/plugin/CMakeLists.txt 2011-03-25 00:54:16 UTC (rev 261)
@@ -31,6 +31,7 @@
add_subdirectory(sceneeffector)
add_subdirectory(soundsystemfmod)
add_subdirectory(timersystemboost)
+add_subdirectory(timersystemsdl)
if (APPLE)
if (DEVEL)
add_subdirectory(imageperceptor)
Property changes on: trunk/spark/plugin/timersystemboost/CMakeLists.txt
___________________________________________________________________
Added: svn:keywords
+ Id
Property changes on: trunk/spark/plugin/timersystemboost/export.cpp
___________________________________________________________________
Added: svn:keywords
+ Id
Modified: trunk/spark/plugin/timersystemboost/timersystemboost.cpp
===================================================================
--- trunk/spark/plugin/timersystemboost/timersystemboost.cpp 2011-03-25 00:29:08 UTC (rev 260)
+++ trunk/spark/plugin/timersystemboost/timersystemboost.cpp 2011-03-25 00:54:16 UTC (rev 261)
@@ -40,10 +40,11 @@
void TimerSystemBoost::WaitFromLastQueryUntil(float deadline)
{
int milliseconds = round(deadline * 1000);
+ boost::thread::sleep(mLastQueryTime +
+ boost::posix_time::milliseconds(milliseconds));
+
// 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';
}
Property changes on: trunk/spark/plugin/timersystemboost/timersystemboost.cpp
___________________________________________________________________
Added: svn:keywords
+ Id
Property changes on: trunk/spark/plugin/timersystemboost/timersystemboost.h
___________________________________________________________________
Added: svn:keywords
+ Id
Property changes on: trunk/spark/plugin/timersystemboost/timersystemboost_c.cpp
___________________________________________________________________
Added: svn:keywords
+ Id
Added: trunk/spark/plugin/timersystemsdl/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/timersystemsdl/CMakeLists.txt (rev 0)
+++ trunk/spark/plugin/timersystemsdl/CMakeLists.txt 2011-03-25 00:54:16 UTC (rev 261)
@@ -0,0 +1,19 @@
+########### next target ###############
+
+set(timersystemsdl_LIB_SRCS
+ export.cpp
+ timersystemsdl.cpp
+ timersystemsdl_c.cpp
+ timersystemsdl.h
+)
+
+include_directories(${SDL_INCLUDE_DIR})
+add_library(timersystemsdl MODULE ${timersystemsdl_LIB_SRCS})
+
+target_link_libraries(timersystemsdl ${spark_libs})
+
+if (NOT APPLE)
+ set_target_properties(timersystemsdl PROPERTIES VERSION 0.0.0 SOVERSION 0)
+endif (NOT APPLE)
+
+install(TARGETS timersystemsdl DESTINATION ${LIBDIR}/${CMAKE_PROJECT_NAME})
Property changes on: trunk/spark/plugin/timersystemsdl/CMakeLists.txt
___________________________________________________________________
Added: svn:keywords
+ Id
Added: trunk/spark/plugin/timersystemsdl/export.cpp
===================================================================
--- trunk/spark/plugin/timersystemsdl/export.cpp (rev 0)
+++ trunk/spark/plugin/timersystemsdl/export.cpp 2011-03-25 00:54:16 UTC (rev 261)
@@ -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 "timersystemsdl.h"
+#include <zeitgeist/zeitgeist.h>
+
+ using namespace oxygen;
+ZEITGEIST_EXPORT_BEGIN()
+ ZEITGEIST_EXPORT(TimerSystemSDL);
+ZEITGEIST_EXPORT_END()
Property changes on: trunk/spark/plugin/timersystemsdl/export.cpp
___________________________________________________________________
Added: svn:keywords
+ Id
Added: trunk/spark/plugin/timersystemsdl/timersystemsdl.cpp
===================================================================
--- trunk/spark/plugin/timersystemsdl/timersystemsdl.cpp (rev 0)
+++ trunk/spark/plugin/timersystemsdl/timersystemsdl.cpp 2011-03-25 00:54:16 UTC (rev 261)
@@ -0,0 +1,73 @@
+/* -*- 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 "timersystemsdl.h"
+#include <zeitgeist/logserver/logserver.h>
+#include <SDL.h>
+
+using namespace oxygen;
+
+void TimerSystemSDL::Initialize()
+{
+ if (!SDL_WasInit(SDL_INIT_TIMER))
+ {
+ if (SDL_Init(SDL_INIT_TIMER) < 0)
+ {
+ GetLog()->Error() << "ERROR: (TimerSystemSDL) SDL Timer not initialized!\n";
+ }
+ }
+
+ mLastTicks = SDL_GetTicks();
+}
+
+float TimerSystemSDL::GetTimeSinceLastQuery()
+{
+ unsigned int ticks = SDL_GetTicks();
+
+ // FIXME: ticks might wrap
+ unsigned int timeDiff = ticks - mLastTicks;
+ mLastTicks = ticks;
+
+ return timeDiff / 1000.0f;
+}
+
+void TimerSystemSDL::WaitFromLastQueryUntil(float deadline)
+{
+ int milliseconds = round(deadline * 1000);
+ int expectedTime = mLastTicks + milliseconds;
+
+ int delayTime = expectedTime - SDL_GetTicks();
+ while (delayTime > 0)
+ {
+ SDL_Delay(delayTime);
+ // sometimes, even with the above SDL_Delay() call we will not reach
+ // the desired delay; so we check if we've actually reched the desired
+ // time
+ delayTime = expectedTime - SDL_GetTicks();
+ }
+
+// GetLog()->Debug() << "(TimerSystemSDL) Waiting for " << deadline
+// << " seconds or " << milliseconds << " millisecs\n";
+// GetLog()->Debug() << "CURRENT TIME: " << SDL_GetTicks() << '\n';
+}
+
+//void TimerSystemSDL::Finalize()
+//{
+//}
Property changes on: trunk/spark/plugin/timersystemsdl/timersystemsdl.cpp
___________________________________________________________________
Added: svn:keywords
+ Id
Added: trunk/spark/plugin/timersystemsdl/timersystemsdl.h
===================================================================
--- trunk/spark/plugin/timersystemsdl/timersystemsdl.h (rev 0)
+++ trunk/spark/plugin/timersystemsdl/timersystemsdl.h 2011-03-25 00:54:16 UTC (rev 261)
@@ -0,0 +1,61 @@
+/* -*- 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_SDLTIMERSYSTEM_H
+#define OXYGEN_SDLTIMERSYSTEM_H
+
+#include <oxygen/simulationserver/timersystem.h>
+
+namespace oxygen
+{
+/** \class TimerSystemSDL is a timer system based on SDL timing facilities
+ */
+class TimerSystemSDL: 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() */
+ unsigned long mLastTicks;
+};
+
+DECLARE_CLASS(TimerSystemSDL);
+
+} // namespace oxygen
+
+#endif // OXYGEN_SDLTIMERSYSTEM_H
Property changes on: trunk/spark/plugin/timersystemsdl/timersystemsdl.h
___________________________________________________________________
Added: svn:keywords
+ Id
Added: trunk/spark/plugin/timersystemsdl/timersystemsdl_c.cpp
===================================================================
--- trunk/spark/plugin/timersystemsdl/timersystemsdl_c.cpp (rev 0)
+++ trunk/spark/plugin/timersystemsdl/timersystemsdl_c.cpp 2011-03-25 00:54:16 UTC (rev 261)
@@ -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 "timersystemsdl.h"
+
+using namespace oxygen;
+
+void CLASS(TimerSystemSDL)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/TimerSystem);
+}
Property changes on: trunk/spark/plugin/timersystemsdl/timersystemsdl_c.cpp
___________________________________________________________________
Added: svn:keywords
+ Id
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2011-03-25 00:29:14
|
Revision: 260
http://simspark.svn.sourceforge.net/simspark/?rev=260&view=rev
Author: hedayat
Date: 2011-03-25 00:29:08 +0000 (Fri, 25 Mar 2011)
Log Message:
-----------
Renamed simspark.rb to rcssserver3d.rb for consistency.
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/doc/users/rcssmonitor3d.tex
trunk/rcssserver3d/rcssserver3d/CMakeLists.txt
trunk/rcssserver3d/rcssserver3d/main.cpp
Added Paths:
-----------
trunk/rcssserver3d/rcssserver3d/rcssserver3d.rb
Removed Paths:
-------------
trunk/rcssserver3d/rcssserver3d/simspark.rb
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2011-03-24 20:25:24 UTC (rev 259)
+++ trunk/rcssserver3d/ChangeLog 2011-03-25 00:29:08 UTC (rev 260)
@@ -1,3 +1,11 @@
+2011-03-25 Hedayat Vatankhah <hed...@gm...>
+
+ * rcssserver3d/CMakeLists.txt:
+ * rcssserver3d/main.cpp:
+ * rcssserver3d/rcssserver3d.rb:
+ * doc/users/rcssmonitor3d.tex:
+ - rename: simspark.rb -> rcssserver3d.rb
+
2011-03-24 Hedayat Vatankhah <hed...@gm...>
* plugin/soccer/CMakeLists.txt:
Modified: trunk/rcssserver3d/doc/users/rcssmonitor3d.tex
===================================================================
--- trunk/rcssserver3d/doc/users/rcssmonitor3d.tex 2011-03-24 20:25:24 UTC (rev 259)
+++ trunk/rcssserver3d/doc/users/rcssmonitor3d.tex 2011-03-25 00:29:08 UTC (rev 260)
@@ -7,7 +7,7 @@
\section{Internal Monitor}
The internal monitor implementation is part of the SimSpark server. It
-is enabled in the \texttt{simspark.rb} setup script by enabling the
+is enabled in the \texttt{rcssserver3d.rb} setup script by enabling the
rendering and input plugins of the server. To do so please uncomment
the lines \texttt{sparkSetupRendering()} and
\texttt{sparkSetupInput()}, i.e. remove the leading \texttt{'\#'} comment markers.
Modified: trunk/rcssserver3d/rcssserver3d/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/rcssserver3d/CMakeLists.txt 2011-03-24 20:25:24 UTC (rev 259)
+++ trunk/rcssserver3d/rcssserver3d/CMakeLists.txt 2011-03-25 00:29:08 UTC (rev 260)
@@ -27,7 +27,7 @@
########### install files ###############
-install(FILES simspark.rb soccersim.rb naosoccersim.rb
+install(FILES rcssserver3d.rb soccersim.rb naosoccersim.rb
internalsoccermonitor.rb internalsoccerbindings.rb
DESTINATION ${DATADIR}/${CMAKE_PROJECT_NAME})
Modified: trunk/rcssserver3d/rcssserver3d/main.cpp
===================================================================
--- trunk/rcssserver3d/rcssserver3d/main.cpp 2011-03-24 20:25:24 UTC (rev 259)
+++ trunk/rcssserver3d/rcssserver3d/main.cpp 2011-03-25 00:29:08 UTC (rev 260)
@@ -47,7 +47,7 @@
public:
SimSpark(const std::string& relPathPrefix) :
Spark(relPathPrefix),
- mScriptPath("simspark.rb")
+ mScriptPath("rcssserver3d.rb")
{};
/** called once after Spark finished it's init */
@@ -84,7 +84,7 @@
<< "\nusage: rcssserver3d [options] [script]\n"
<< "\noptions:\n"
<< " --help\t\t\t print this message.\n"
- << " --script-path PATH\t set the script path (simspark.rb path).\n"
+ << " --script-path PATH\t set the script path (rcssserver3d.rb path).\n"
<< "--agent-port PORTNUM\t port for agents to connect to.\n"
<< "--server-port PORTNUM\t port for monitors to connect to.\n"
<< "\n";
Copied: trunk/rcssserver3d/rcssserver3d/rcssserver3d.rb (from rev 257, trunk/rcssserver3d/rcssserver3d/simspark.rb)
===================================================================
--- trunk/rcssserver3d/rcssserver3d/rcssserver3d.rb (rev 0)
+++ trunk/rcssserver3d/rcssserver3d/rcssserver3d.rb 2011-03-25 00:29:08 UTC (rev 260)
@@ -0,0 +1,84 @@
+#
+# rcssserver3d.rb
+#
+
+# toggle log file recording
+$recordLogfile = false
+
+# toggle the internal monitor
+$enableInternalMonitor = false
+
+# toggle the real time mode
+$enableRealTimeMode = true
+
+sparkSetupServer()
+if ($enableInternalMonitor)
+ sparkSetupRendering()
+end
+sparkSetupInput()
+
+if ($enableRealTimeMode)
+ sparkSetupTimer()
+end
+
+# sparkAddFPSCamera($scenePath+'camera',
+# -10,-10,5,15,248,4,false,2,10,10)
+
+# let spark create a default camera
+if ($enableInternalMonitor)
+ sparkAddFPSCamera(
+ $scenePath+'camera',
+ x = 0,
+ y = -4,
+ z = 0.6,
+ vAngle = 10.0,
+ hAngle = 10.0,
+ maxSpeed = 1.5,
+ accel = 40.0,
+ drag = 4,
+ addCollider = false,
+ colliderRadius = 2.0
+ )
+end
+
+# setup default input bindings
+run "scripts/bindings.rb"
+
+# setup default materials common to all simulations
+run "scripts/materials.rb"
+
+#
+# uncomment for logging setup (see spark.rb for reference)
+#
+
+sparkResetLogging()
+sparkLogErrorToCerr()
+#sparkLogAllToCerr()
+#sparkLogAllToFile('spark.txt')
+#sparkLogDebugToCerr()
+
+#
+# uncomment any of the following to run a simulation
+#
+
+# create an arena with a bunch of boxes and spheres
+# scene = get($scenePath)
+# scene.importScene('rsg/boxspheres/simspark.rsg')
+
+# create an arena to test various joint bodies
+# scene = get($scenePath)
+# scene.importScene('rsg/jointtest/simspark.rsg')
+
+# source soccersim.rb to run the soccer simulation
+#run "soccersim.rb"
+run "naosoccersim.rb"
+
+# setup the integrated agent
+#sparkSetupTrain()
+#addIntegratedAgent('SoccerbotBehavior',1)
+
+# setup game state info rendering for the internal monitor
+# source soccersim.rb to run the soccer simulation
+if ($enableInternalMonitor)
+ run "internalsoccermonitor.rb"
+end
Deleted: trunk/rcssserver3d/rcssserver3d/simspark.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/simspark.rb 2011-03-24 20:25:24 UTC (rev 259)
+++ trunk/rcssserver3d/rcssserver3d/simspark.rb 2011-03-25 00:29:08 UTC (rev 260)
@@ -1,84 +0,0 @@
-#
-# simspark.rb
-#
-
-# toggle log file recording
-$recordLogfile = false
-
-# toggle the internal monitor
-$enableInternalMonitor = false
-
-# toggle the real time mode
-$enableRealTimeMode = true
-
-sparkSetupServer()
-if ($enableInternalMonitor)
- sparkSetupRendering()
-end
-sparkSetupInput()
-
-if ($enableRealTimeMode)
- sparkSetupTimer()
-end
-
-# sparkAddFPSCamera($scenePath+'camera',
-# -10,-10,5,15,248,4,false,2,10,10)
-
-# let spark create a default camera
-if ($enableInternalMonitor)
- sparkAddFPSCamera(
- $scenePath+'camera',
- x = 0,
- y = -4,
- z = 0.6,
- vAngle = 10.0,
- hAngle = 10.0,
- maxSpeed = 1.5,
- accel = 40.0,
- drag = 4,
- addCollider = false,
- colliderRadius = 2.0
- )
-end
-
-# setup default input bindings
-run "scripts/bindings.rb"
-
-# setup default materials common to all simulations
-run "scripts/materials.rb"
-
-#
-# uncomment for logging setup (see spark.rb for reference)
-#
-
-sparkResetLogging()
-sparkLogErrorToCerr()
-#sparkLogAllToCerr()
-#sparkLogAllToFile('spark.txt')
-#sparkLogDebugToCerr()
-
-#
-# uncomment any of the following to run a simulation
-#
-
-# create an arena with a bunch of boxes and spheres
-# scene = get($scenePath)
-# scene.importScene('rsg/boxspheres/simspark.rsg')
-
-# create an arena to test various joint bodies
-# scene = get($scenePath)
-# scene.importScene('rsg/jointtest/simspark.rsg')
-
-# source soccersim.rb to run the soccer simulation
-#run "soccersim.rb"
-run "naosoccersim.rb"
-
-# setup the integrated agent
-#sparkSetupTrain()
-#addIntegratedAgent('SoccerbotBehavior',1)
-
-# setup game state info rendering for the internal monitor
-# source soccersim.rb to run the soccer simulation
-if ($enableInternalMonitor)
- run "internalsoccermonitor.rb"
-end
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2011-03-24 20:25:30
|
Revision: 259
http://simspark.svn.sourceforge.net/simspark/?rev=259&view=rev
Author: hedayat
Date: 2011-03-24 20:25:24 +0000 (Thu, 24 Mar 2011)
Log Message:
-----------
* Removing FindDevIL in favor of cmake's own module
* Do not print error message for unused variables
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/plugin/soccer/CMakeLists.txt
trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateitem.cpp
trunk/rcssserver3d/plugin/soccermonitor/CMakeLists.txt
trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
Removed Paths:
-------------
trunk/rcssserver3d/cmake/FindDevIL.cmake
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2011-03-24 18:08:49 UTC (rev 258)
+++ trunk/rcssserver3d/ChangeLog 2011-03-24 20:25:24 UTC (rev 259)
@@ -1,5 +1,18 @@
2011-03-24 Hedayat Vatankhah <hed...@gm...>
+ * plugin/soccer/CMakeLists.txt:
+ * plugin/soccermonitor/CMakeLists.txt:
+ - fixed to use CMake's own FindDevIL module
+
+ * plugin/soccer/gamestateaspect/gamestateitem.cpp
+ (GameStateItem::GetInitialPredicates):
+ - do not try to send obsolete variables: AgentMass and AgentMaxSpeed
+
+ * rcssserver3d/naosoccersim.rb:
+ - added MaxTouchGroupSize variable
+ - added a BorderSize variable to stop simulator from complaining for
+ missing variable
+
* CMakeLists.txt:
- updated PACKAGE_VERSION to 0.6.5 for the next release
Deleted: trunk/rcssserver3d/cmake/FindDevIL.cmake
===================================================================
--- trunk/rcssserver3d/cmake/FindDevIL.cmake 2011-03-24 18:08:49 UTC (rev 258)
+++ trunk/rcssserver3d/cmake/FindDevIL.cmake 2011-03-24 20:25:24 UTC (rev 259)
@@ -1,124 +0,0 @@
-# -Try to find DevIL (developer image) library
-# formerly known as OpenIL, see
-# http://openil.sourceforge.net
-#
-# Once run this will define:
-#
-# DevIL_FOUND
-# DevIL_INCLUDE_DIR
-# DevIL_LIBRARIES
-#
-# Jan Woetzel 12/2005.
-#
-# www.mip.informatik.uni-kiel.de/~jw
-# --------------------------------
-
-# base dirs:
-SET(DevIL_POSSIBLE_ROOT_PATHS
- ${DevIL_ROOT_DIR}
- $ENV{DevIL_ROOT_DIR}
- ${DevIL_DIR}
- $ENV{DevIL_DIR}
- ${DEVIL_DIR}
- $ENV{DEVIL_DIR}
- ${DEVIL_HOME}
- $ENV{DEVIL_HOME}
- "$ENV{EXTERN_LIBS_DIR}/DevIL"
- $ENV{EXTRA_DIR}
- $ENV{EXTRA}
- $ENV{ProgramFiles}/DevIL
- /usr/local/
- /usr/
- /opt/net/gcc41/DevIL
- /opt/net/gcc33/DevIL
- C:/library/DevIL
- "C:/Program Files/DevIL"
- "C:/Program Files (x86)/DevIL"
- C:/DevIL
- )
-
-# appended
-SET(DevIL_POSSIBLE_INCDIR_SUFFIXES
- include
- DevIL/include )
-SET(DevIL_POSSIBLE_LIBDIR_SUFFIXES
- lib
- lib64
- )
-
-
-
-FIND_PATH(DevIL_INCLUDE_DIR
- NAMES IL/il.h
- PATHS ${DevIL_POSSIBLE_ROOT_PATHS}
- PATH_SUFFIXES ${DevIL_POSSIBLE_INCDIR_SUFFIXES} )
-#MESSAGE("DBG DevIL_INCLUDE_DIR=${DevIL_INCLUDE_DIR}")
-
-
-FIND_LIBRARY(DevIL_LIBRARY_IL
- NAMES DevIL devil DevIL IL
- PATHS ${DevIL_POSSIBLE_ROOT_PATHS}
- PATH_SUFFIXES ${DevIL_POSSIBLE_LIBDIR_SUFFIXES} )
-#MESSAGE("DBG DevIL_LIBRARY_IL=${DevIL_LIBRARY_IL}")
-
-FIND_LIBRARY(DevIL_LIBRARY_ILU
- NAMES ILU ilu Ilu
- PATHS ${DevIL_POSSIBLE_ROOT_PATHS}
- PATH_SUFFIXES ${DevIL_POSSIBLE_LIBDIR_SUFFIXES} )
-#MESSAGE("DBG DevIL_LIBRARY_ILU=${DevIL_LIBRARY_ILU}")
-
-FIND_LIBRARY(DevIL_LIBRARY_ILUT
- NAMES ILUT ilu Ilut
- PATHS ${DevIL_POSSIBLE_ROOT_PATHS}
- PATH_SUFFIXES ${DevIL_POSSIBLE_LIBDIR_SUFFIXES} )
-#MESSAGE("DBG DevIL_LIBRARY_ILUT=${DevIL_LIBRARY_ILUT}")
-
-
-
-# --------------------------------
-
-IF (DevIL_INCLUDE_DIR)
- IF (DevIL_LIBRARY_IL)
- IF (DevIL_LIBRARY_ILU)# AND DevIL_LIBRARY_ILUT)
-
- SET(DevIL_FOUND TRUE)
- SET(DevIL_LIBRARIES
- ${DevIL_LIBRARY_IL}
- ${DevIL_LIBRARY_ILU})
- IF (DevIL_LIBRARY_ILUT)
- SET(DevIL_LIBRARIES ${DevIL_LIBRARIES} ${DevIL_LIBRARY_ILUT})
- ENDIF (DevIL_LIBRARY_ILUT)
-
- # get the link directory for rpath to be used with LINK_DIRECTORIES:
- GET_FILENAME_COMPONENT(DevIL_LINK_DIRECTORIES ${DevIL_LIBRARY_IL} PATH)
-
- ENDIF(DevIL_LIBRARY_ILU)# AND DevIL_LIBRARY_ILUT)
- ENDIF(DevIL_LIBRARY_IL)
-ENDIF (DevIL_INCLUDE_DIR)
-
-
-MARK_AS_ADVANCED(
- DevIL_INCLUDE_DIR
- DevIL_LIBRARY_IL
- DevIL_LIBRARY_ILU
- DevIL_LIBRARY_ILUT
- DevIL_LIBRARIES
- )
-
-
-# ==========================================
-IF(NOT DevIL_FOUND)
- # make FIND_PACKAGE friendly
- IF(NOT DevIL_FIND_QUIETLY)
- IF(DevIL_FIND_REQUIRED)
- MESSAGE(FATAL_ERROR "DevIL required, please specify it's location.")
- ELSE(DevIL_FIND_REQUIRED)
- MESSAGE(STATUS "ERROR: DevIL was not found.")
- ENDIF(DevIL_FIND_REQUIRED)
- ENDIF(NOT DevIL_FIND_QUIETLY)
-ENDIF(NOT DevIL_FOUND)
-
-# backward compatibility
-SET(DEVIL_FOUND ${DevIL_FOUND})
-SET(DEVIL_LIBRARIES ${DevIL_LIBRARIES})
-SET(DEVIL_INCLUDE_DIR ${DevIL_INCLUDE_DIR})
Modified: trunk/rcssserver3d/plugin/soccer/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/plugin/soccer/CMakeLists.txt 2011-03-24 18:08:49 UTC (rev 258)
+++ trunk/rcssserver3d/plugin/soccer/CMakeLists.txt 2011-03-24 20:25:24 UTC (rev 259)
@@ -126,7 +126,7 @@
)
include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${FREETYPE_INCLUDE_DIRS}
- ${DevIL_INCLUDE_DIR})
+ ${IL_INCLUDE_DIR})
add_library(soccer MODULE ${soccer_LIB_SRCS} ${soccer_LIB_HDRS})
Modified: trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateitem.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateitem.cpp 2011-03-24 18:08:49 UTC (rev 258)
+++ trunk/rcssserver3d/plugin/soccer/gamestateaspect/gamestateitem.cpp 2011-03-24 20:25:24 UTC (rev 259)
@@ -75,9 +75,9 @@
PutFloatParam("WaitBeforeKickOff",pList);
// agent parameter
- PutFloatParam("AgentMass",pList);
+// PutFloatParam("AgentMass",pList);
PutFloatParam("AgentRadius",pList);
- PutFloatParam("AgentMaxSpeed",pList);
+// PutFloatParam("AgentMaxSpeed",pList);
// ball parameter
PutFloatParam("BallRadius",pList);
Modified: trunk/rcssserver3d/plugin/soccermonitor/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/plugin/soccermonitor/CMakeLists.txt 2011-03-24 18:08:49 UTC (rev 258)
+++ trunk/rcssserver3d/plugin/soccermonitor/CMakeLists.txt 2011-03-24 20:25:24 UTC (rev 259)
@@ -19,7 +19,7 @@
)
include_directories(${CMAKE_SOURCE_DIR}/plugin ${FREETYPE_INCLUDE_DIRS}
- ${DevIL_INCLUDE_DIR})
+ ${IL_INCLUDE_DIR})
add_library(soccermonitor MODULE ${soccermonitor_LIB_SRCS}
${soccermonitor_LIB_HDRS})
Modified: trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2011-03-24 18:08:49 UTC (rev 258)
+++ trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2011-03-24 20:25:24 UTC (rev 259)
@@ -50,6 +50,7 @@
addSoccerVar('GoalKickDist', 1.0)
addSoccerVar('AutomaticKickOff', false)
addSoccerVar('WaitBeforeKickOff', 2.0)
+addSoccerVar('BorderSize', 0.0) # prevent complaining about missing variable
# agent parameters
addSoccerVar('AgentRadius', 0.4)
@@ -59,12 +60,13 @@
addSoccerVar('BallMass',0.026)
# soccer rule parameters
-addSoccerVar('RuleGoalPauseTime',3.0)
-addSoccerVar('RuleKickInPauseTime',1.0)
-addSoccerVar('RuleHalfTime',5.0 * 60)
-addSoccerVar('RuleDropBallTime',15)
+addSoccerVar('RuleGoalPauseTime', 3.0)
+addSoccerVar('RuleKickInPauseTime', 1.0)
+addSoccerVar('RuleHalfTime', 5.0 * 60)
+addSoccerVar('RuleDropBallTime', 15)
addSoccerVar('SingleHalfTime', false)
-addSoccerVar('UseOffside',false)
+addSoccerVar('UseOffside', false)
+addSoccerVar('MaxTouchGroupSize', 2)
# auto ref parameters FCP 2010
addSoccerVar('NotStandingMaxTime',30)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2011-03-24 18:08:56
|
Revision: 258
http://simspark.svn.sourceforge.net/simspark/?rev=258&view=rev
Author: hedayat
Date: 2011-03-24 18:08:49 +0000 (Thu, 24 Mar 2011)
Log Message:
-----------
Removing our own FindDevIL and relying on CMake's own module
Modified Paths:
--------------
trunk/spark/CMakeLists.txt
trunk/spark/ChangeLog
trunk/spark/lib/kerosin/CMakeLists.txt
trunk/spark/spark/CMakeLists.txt
trunk/spark/test/fonttest/CMakeLists.txt
trunk/spark/test/inputtest/CMakeLists.txt
trunk/spark/test/scenetest/CMakeLists.txt
Removed Paths:
-------------
trunk/spark/cmake/FindDevIL.cmake
Modified: trunk/spark/CMakeLists.txt
===================================================================
--- trunk/spark/CMakeLists.txt 2011-03-24 16:29:33 UTC (rev 257)
+++ trunk/spark/CMakeLists.txt 2011-03-24 18:08:49 UTC (rev 258)
@@ -201,7 +201,7 @@
install(DIRECTORY "${Boost_LIBRARY_DIRS}/" DESTINATION ${THLIBDIR}
FILES_MATCHING PATTERN "*.dll")
- string(REGEX REPLACE "(.*)\\.lib" "\\1.dll" DevIL_DLL "${DevIL_LIBRARY_IL}")
+ string(REGEX REPLACE "(.*)\\.lib" "\\1.dll" DevIL_DLL "${IL_LIBRARIES}")
if (EXISTS ${DevIL_DLL})
install(PROGRAMS ${DevIL_DLL} DESTINATION ${THLIBDIR})
endif (EXISTS ${DevIL_DLL})
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2011-03-24 16:29:33 UTC (rev 257)
+++ trunk/spark/ChangeLog 2011-03-24 18:08:49 UTC (rev 258)
@@ -1,5 +1,12 @@
2011-03-24 Hedayat Vatankhah <hed...@gm...>
+ * spark/CMakeLists.txt:
+ * lib/kerosin/CMakeLists.txt:
+ * test/fonttest/CMakeLists.txt:
+ * test/inputtest/CMakeLists.txt:
+ * test/scenetest/CMakeLists.txt:
+ - fixed to use CMake's own FindDevIL module
+
* plugin/timersystemboost/timersystemboost.h:
* plugin/timersystemboost/timersystemboost.cpp:
* plugin/timersystemboost/timersystemboost_c.cpp:
Deleted: trunk/spark/cmake/FindDevIL.cmake
===================================================================
--- trunk/spark/cmake/FindDevIL.cmake 2011-03-24 16:29:33 UTC (rev 257)
+++ trunk/spark/cmake/FindDevIL.cmake 2011-03-24 18:08:49 UTC (rev 258)
@@ -1,124 +0,0 @@
-# -Try to find DevIL (developer image) library
-# formerly known as OpenIL, see
-# http://openil.sourceforge.net
-#
-# Once run this will define:
-#
-# DevIL_FOUND
-# DevIL_INCLUDE_DIR
-# DevIL_LIBRARIES
-#
-# Jan Woetzel 12/2005.
-#
-# www.mip.informatik.uni-kiel.de/~jw
-# --------------------------------
-
-# base dirs:
-SET(DevIL_POSSIBLE_ROOT_PATHS
- ${DevIL_ROOT_DIR}
- $ENV{DevIL_ROOT_DIR}
- ${DevIL_DIR}
- $ENV{DevIL_DIR}
- ${DEVIL_DIR}
- $ENV{DEVIL_DIR}
- ${DEVIL_HOME}
- $ENV{DEVIL_HOME}
- "$ENV{EXTERN_LIBS_DIR}/DevIL"
- $ENV{EXTRA_DIR}
- $ENV{EXTRA}
- $ENV{ProgramFiles}/DevIL
- /usr/local/
- /usr/
- /opt/net/gcc41/DevIL
- /opt/net/gcc33/DevIL
- C:/library/DevIL
- "C:/Program Files/DevIL"
- "C:/Program Files (x86)/DevIL"
- C:/DevIL
- )
-
-# appended
-SET(DevIL_POSSIBLE_INCDIR_SUFFIXES
- include
- DevIL/include )
-SET(DevIL_POSSIBLE_LIBDIR_SUFFIXES
- lib
- lib64
- )
-
-
-
-FIND_PATH(DevIL_INCLUDE_DIR
- NAMES IL/il.h
- PATHS ${DevIL_POSSIBLE_ROOT_PATHS}
- PATH_SUFFIXES ${DevIL_POSSIBLE_INCDIR_SUFFIXES} )
-#MESSAGE("DBG DevIL_INCLUDE_DIR=${DevIL_INCLUDE_DIR}")
-
-
-FIND_LIBRARY(DevIL_LIBRARY_IL
- NAMES DevIL devil DevIL IL
- PATHS ${DevIL_POSSIBLE_ROOT_PATHS}
- PATH_SUFFIXES ${DevIL_POSSIBLE_LIBDIR_SUFFIXES} )
-#MESSAGE("DBG DevIL_LIBRARY_IL=${DevIL_LIBRARY_IL}")
-
-FIND_LIBRARY(DevIL_LIBRARY_ILU
- NAMES ILU ilu Ilu
- PATHS ${DevIL_POSSIBLE_ROOT_PATHS}
- PATH_SUFFIXES ${DevIL_POSSIBLE_LIBDIR_SUFFIXES} )
-#MESSAGE("DBG DevIL_LIBRARY_ILU=${DevIL_LIBRARY_ILU}")
-
-FIND_LIBRARY(DevIL_LIBRARY_ILUT
- NAMES ILUT ilu Ilut
- PATHS ${DevIL_POSSIBLE_ROOT_PATHS}
- PATH_SUFFIXES ${DevIL_POSSIBLE_LIBDIR_SUFFIXES} )
-#MESSAGE("DBG DevIL_LIBRARY_ILUT=${DevIL_LIBRARY_ILUT}")
-
-
-
-# --------------------------------
-
-IF (DevIL_INCLUDE_DIR)
- IF (DevIL_LIBRARY_IL)
- IF (DevIL_LIBRARY_ILU)# AND DevIL_LIBRARY_ILUT)
-
- SET(DevIL_FOUND TRUE)
- SET(DevIL_LIBRARIES
- ${DevIL_LIBRARY_IL}
- ${DevIL_LIBRARY_ILU})
- IF (DevIL_LIBRARY_ILUT)
- SET(DevIL_LIBRARIES ${DevIL_LIBRARIES} ${DevIL_LIBRARY_ILUT})
- ENDIF (DevIL_LIBRARY_ILUT)
-
- # get the link directory for rpath to be used with LINK_DIRECTORIES:
- GET_FILENAME_COMPONENT(DevIL_LINK_DIRECTORIES ${DevIL_LIBRARY_IL} PATH)
-
- ENDIF(DevIL_LIBRARY_ILU)# AND DevIL_LIBRARY_ILUT)
- ENDIF(DevIL_LIBRARY_IL)
-ENDIF (DevIL_INCLUDE_DIR)
-
-
-MARK_AS_ADVANCED(
- DevIL_INCLUDE_DIR
- DevIL_LIBRARY_IL
- DevIL_LIBRARY_ILU
- DevIL_LIBRARY_ILUT
- DevIL_LIBRARIES
- )
-
-
-# ==========================================
-IF(NOT DevIL_FOUND)
- # make FIND_PACKAGE friendly
- IF(NOT DevIL_FIND_QUIETLY)
- IF(DevIL_FIND_REQUIRED)
- MESSAGE(FATAL_ERROR "DevIL required, please specify it's location.")
- ELSE(DevIL_FIND_REQUIRED)
- MESSAGE(STATUS "ERROR: DevIL was not found.")
- ENDIF(DevIL_FIND_REQUIRED)
- ENDIF(NOT DevIL_FIND_QUIETLY)
-ENDIF(NOT DevIL_FOUND)
-
-# backward compatibility
-SET(DEVIL_FOUND ${DevIL_FOUND})
-SET(DEVIL_LIBRARIES ${DevIL_LIBRARIES})
-SET(DEVIL_INCLUDE_DIR ${DevIL_INCLUDE_DIR})
Modified: trunk/spark/lib/kerosin/CMakeLists.txt
===================================================================
--- trunk/spark/lib/kerosin/CMakeLists.txt 2011-03-24 16:29:33 UTC (rev 257)
+++ trunk/spark/lib/kerosin/CMakeLists.txt 2011-03-24 18:08:49 UTC (rev 258)
@@ -118,11 +118,11 @@
)
include_directories(${CMAKE_SOURCE_DIR}/lib ${FREETYPE_INCLUDE_DIRS}
- ${DevIL_INCLUDE_DIR} ${SDL_INCLUDE_DIR} ${OPENGL_INCLUDE_DIR})
+ ${IL_INCLUDE_DIR} ${SDL_INCLUDE_DIR} ${OPENGL_INCLUDE_DIR})
add_library(kerosin ${kerosin_LIB_SRCS} ${kerosin_LIB_HDRS})
-target_link_libraries(kerosin ${FREETYPE_LIBRARIES} ${DevIL_LIBRARIES}
+target_link_libraries(kerosin ${FREETYPE_LIBRARIES} ${IL_LIBRARIES}
${SDL_LIBRARY} ${OPENGL_LIBRARIES} ${kerosin_require_libs})
set_target_properties(kerosin PROPERTIES VERSION ${KEROSIN_VERSION}
Modified: trunk/spark/spark/CMakeLists.txt
===================================================================
--- trunk/spark/spark/CMakeLists.txt 2011-03-24 16:29:33 UTC (rev 257)
+++ trunk/spark/spark/CMakeLists.txt 2011-03-24 18:08:49 UTC (rev 258)
@@ -6,7 +6,7 @@
)
include_directories(${CMAKE_SOURCE_DIR}/lib ${CMAKE_SOURCE_DIR}/utility ${FREETYPE_INCLUDE_DIRS}
- ${DevIL_INCLUDE_DIR})
+ ${IL_INCLUDE_DIR})
add_library(spark ${spark_LIB_SRCS})
Modified: trunk/spark/test/fonttest/CMakeLists.txt
===================================================================
--- trunk/spark/test/fonttest/CMakeLists.txt 2011-03-24 16:29:33 UTC (rev 257)
+++ trunk/spark/test/fonttest/CMakeLists.txt 2011-03-24 18:08:49 UTC (rev 258)
@@ -6,7 +6,7 @@
)
include_directories(${SDL_INCLUDE_DIR} ${FREETYPE_INCLUDE_DIRS}
- ${DevIL_INCLUDE_DIR})
+ ${IL_INCLUDE_DIR})
add_executable(fonttest ${fonttest_SRCS})
Modified: trunk/spark/test/inputtest/CMakeLists.txt
===================================================================
--- trunk/spark/test/inputtest/CMakeLists.txt 2011-03-24 16:29:33 UTC (rev 257)
+++ trunk/spark/test/inputtest/CMakeLists.txt 2011-03-24 18:08:49 UTC (rev 258)
@@ -6,7 +6,7 @@
)
include_directories(${SDL_INCLUDE_DIR} ${FREETYPE_INCLUDE_DIRS}
- ${DevIL_INCLUDE_DIR})
+ ${IL_INCLUDE_DIR})
add_executable(inputtest ${inputtest_SRCS})
Modified: trunk/spark/test/scenetest/CMakeLists.txt
===================================================================
--- trunk/spark/test/scenetest/CMakeLists.txt 2011-03-24 16:29:33 UTC (rev 257)
+++ trunk/spark/test/scenetest/CMakeLists.txt 2011-03-24 18:08:49 UTC (rev 258)
@@ -9,7 +9,7 @@
)
include_directories(${SDL_INCLUDE_DIR} ${FREETYPE_INCLUDE_DIRS}
- ${DevIL_INCLUDE_DIR})
+ ${IL_INCLUDE_DIR})
if (NOT WIN32)
add_executable(scenetest ${scenetest_SRCS})
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2011-03-24 16:29:41
|
Revision: 257
http://simspark.svn.sourceforge.net/simspark/?rev=257&view=rev
Author: hedayat
Date: 2011-03-24 16:29:33 +0000 (Thu, 24 Mar 2011)
Log Message:
-----------
* Preparing for the next release
* Using the new timer system
* Adding a macro containing simulator version, used in rcssserver3d instead of the hard coded one
Modified Paths:
--------------
trunk/rcssserver3d/CMakeLists.txt
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/rcssmonitor3d/rcssmonitor3d.rb
trunk/rcssserver3d/rcssserver3d/main.cpp
trunk/rcssserver3d/rcssserver3d/simspark.rb
trunk/rcssserver3d/rcssserver3d_config.h.cmake
Modified: trunk/rcssserver3d/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/CMakeLists.txt 2011-03-24 16:21:36 UTC (rev 256)
+++ trunk/rcssserver3d/CMakeLists.txt 2011-03-24 16:29:33 UTC (rev 257)
@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 2.6)
project(rcssserver3d CXX C)
-set(PACKAGE_VERSION "0.6.4")
+set(PACKAGE_VERSION "0.6.5")
########## check for headerfiles/libraries ##########
include(CheckIncludeFile)
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2011-03-24 16:21:36 UTC (rev 256)
+++ trunk/rcssserver3d/ChangeLog 2011-03-24 16:29:33 UTC (rev 257)
@@ -1,26 +1,41 @@
+2011-03-24 Hedayat Vatankhah <hed...@gm...>
+
+ * CMakeLists.txt:
+ - updated PACKAGE_VERSION to 0.6.5 for the next release
+
+ * rcssserver3d_config.h.cmake:
+ - added a RCSS_VERSION constant to store rcssserver3d version
+
+ * rcssserver3d/main.cpp (SimSpark::PrintGreeting):
+ - use RCSS_VERSION instead of the hard coded version number
+
+ * rcssserver3d/simspark.rb:
+ * rcssmonitor3d/rcssmonitor3d.rb:
+ - use the new sparkSetupTimer()
+
2011-03-23 Hedayat Vatankhah <hed...@gm...>
* RELEASE:
- - Updated release information for the next release
+ - updated release information for the next release
* data/rsg/agent/nao/naoneckhead.rsg:
- - Enable sensing field lines by default
+ - enable sensing field lines by default
2011-02-10 Sander van Dijk <sgv...@gm...>
* rcssserver3d/rcssserver3d/main.cpp
- - Set different agent and monitor ports with --agent-posrt and --server-port
+ - set different agent and monitor ports with --agent-posrt and --server-port
* /trunk/rcssserver3d/data/textures/rcs-naofield.png
- - New field texture
+ - new field texture
2011-01-13 Hedayat Vatankhah <hed...@gm...>
* cmake/UseLATEX.cmake:
- - Updated to version 1.7.2
+ - updated to version 1.7.2
* plugin/soccermonitor/CMakeLists.txt:
- - Link OpenGL libraries to fix MacOSX compile issue(Thanks to Giuliani)
+ - link OpenGL libraries to fix MacOSX compile issue(Thanks to Giuliani)
2010-12-14 Yuan Xu <xu...@in...>
* rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp
@@ -72,7 +87,7 @@
* rcssserver3d/naosoccersim.rb:
* plugin/soccer/soccerruleaspect/soccerruleaspect.h:
* plugin/soccer/soccerruleaspect/soccerruleaspect.cpp:
- - Added the simple referee patch from FCPortugal team (thanks to
+ - added the simple referee patch from FCPortugal team (thanks to
Luis Paulo Reis)
2010-02-28 Marian Buchta <mar...@gm...>
@@ -446,5 +461,5 @@
* plugin/soccer/pantilteffector/pantilteffector.cpp:
* plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp:
* plugin/soccer/agentstateperceptor/agentstateperceptor.cpp:
- - Replaced make_shared() with .lock() function call.(fixed compilation
+ - replaced make_shared() with .lock() function call.(fixed compilation
error with recent boost versions.)
Modified: trunk/rcssserver3d/rcssmonitor3d/rcssmonitor3d.rb
===================================================================
--- trunk/rcssserver3d/rcssmonitor3d/rcssmonitor3d.rb 2011-03-24 16:21:36 UTC (rev 256)
+++ trunk/rcssserver3d/rcssmonitor3d/rcssmonitor3d.rb 2011-03-24 16:29:33 UTC (rev 257)
@@ -4,6 +4,7 @@
sparkSetupRendering()
sparkSetupInput()
+sparkSetupTimer()
if ($logPlayerMode == true)
sparkSetupMonitorLogPlayer()
Modified: trunk/rcssserver3d/rcssserver3d/main.cpp
===================================================================
--- trunk/rcssserver3d/rcssserver3d/main.cpp 2011-03-24 16:21:36 UTC (rev 256)
+++ trunk/rcssserver3d/rcssserver3d/main.cpp 2011-03-24 16:29:33 UTC (rev 257)
@@ -69,7 +69,8 @@
void SimSpark::PrintGreeting()
{
GetLog()->Normal()
- << "rcssserver3d (formerly simspark), a monolithic simulator 0.6.1\n"
+ << "rcssserver3d (formerly simspark), a monolithic simulator "
+ RCSS_VERSION"\n"
<< "Copyright (C) 2004 Markus Rollmann, \n"
<< "Universität Koblenz.\n"
<< "Copyright (C) 2004-2009, "
@@ -131,7 +132,7 @@
return false;
}
}
-
+
}
return true;
Modified: trunk/rcssserver3d/rcssserver3d/simspark.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/simspark.rb 2011-03-24 16:21:36 UTC (rev 256)
+++ trunk/rcssserver3d/rcssserver3d/simspark.rb 2011-03-24 16:29:33 UTC (rev 257)
@@ -8,12 +8,19 @@
# toggle the internal monitor
$enableInternalMonitor = false
+# toggle the real time mode
+$enableRealTimeMode = true
+
sparkSetupServer()
if ($enableInternalMonitor)
sparkSetupRendering()
end
sparkSetupInput()
+if ($enableRealTimeMode)
+ sparkSetupTimer()
+end
+
# sparkAddFPSCamera($scenePath+'camera',
# -10,-10,5,15,248,4,false,2,10,10)
Modified: trunk/rcssserver3d/rcssserver3d_config.h.cmake
===================================================================
--- trunk/rcssserver3d/rcssserver3d_config.h.cmake 2011-03-24 16:21:36 UTC (rev 256)
+++ trunk/rcssserver3d/rcssserver3d_config.h.cmake 2011-03-24 16:29:33 UTC (rev 257)
@@ -4,4 +4,6 @@
#cmakedefine HAVE_ARPA_INET_H 1
-#define RCSS_BUNDLE_PATH "${BUNDLE_PATH}"
\ No newline at end of file
+#define RCSS_BUNDLE_PATH "${BUNDLE_PATH}"
+
+#define RCSS_VERSION "${PACKAGE_VERSION}"
\ No newline at end of file
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
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"
#
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2011-03-23 09:57:17
|
Revision: 255
http://simspark.svn.sourceforge.net/simspark/?rev=255&view=rev
Author: hedayat
Date: 2011-03-23 09:57:11 +0000 (Wed, 23 Mar 2011)
Log Message:
-----------
Updated Release information
Modified Paths:
--------------
trunk/spark/ChangeLog
trunk/spark/RELEASE
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2011-03-23 09:12:27 UTC (rev 254)
+++ trunk/spark/ChangeLog 2011-03-23 09:57:11 UTC (rev 255)
@@ -1,3 +1,8 @@
+2011-03-23 Hedayat Vatankhah <hed...@gm...>
+
+ * RELEASE:
+ - Updated release information for the next release
+
2010-12-15 Yuan Xu <xu...@in...>
* plugin/imageperceptor/CMakeLists.txt
* plugin/imageperceptor/export.cpp
Modified: trunk/spark/RELEASE
===================================================================
--- trunk/spark/RELEASE 2011-03-23 09:12:27 UTC (rev 254)
+++ trunk/spark/RELEASE 2011-03-23 09:57:11 UTC (rev 255)
@@ -1,18 +1,17 @@
-RELEASE News of simspark-0.2.1
+RELEASE News of simspark-0.2.2
-This release of simspark is prepared for RoboCup 2010 competitions in Singapore.
-In this release you can find some bug and compilation fixes, improved Windows
-support and some new features such as the potential of using different
-physical simulation engines.
+This release features many small enhancements which will benefit users.
+It contains many bug fixes and performance improvements, in addition to
+fixing some compilation issues. The behavior of ACC perceptor has been slightly
+changed, and the multi-threaded mode should work without any known bugs.
+Support for the camera sensor is improved too. More details are as follows:
-* New features:
- - The core physics system does no longer depend on ODE (Thanks to Andreas).
- ODE implementation is now provided as a plugin.
-
-* Fixes:
- - Compilation fixes on newer compilers (VS 2010)
- - Fixed some bugs on 64 bit systems and in multi-threaded mode. It is (hopefully)
- possible to run multi-threaded games while logging is enabled
+- ACC sensor provides raw data without any pre-processing
+- Using base64 encoding for camera perceptor
+- Fixed bugs in multi-threaded mode.
+- Compilation fixes
+- HingePerceptor can report torque
+- Better Performance
You can get the package on the Simspark page on SourceForge
at http://sourceforge.net/projects/simspark/
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2011-03-23 09:12:33
|
Revision: 254
http://simspark.svn.sourceforge.net/simspark/?rev=254&view=rev
Author: hedayat
Date: 2011-03-23 09:12:27 +0000 (Wed, 23 Mar 2011)
Log Message:
-----------
Enable sensing field lines in RestrictedVisionPerceptor
Update release notes for the next release
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/RELEASE
trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2011-03-21 22:27:45 UTC (rev 253)
+++ trunk/rcssserver3d/ChangeLog 2011-03-23 09:12:27 UTC (rev 254)
@@ -1,3 +1,11 @@
+2011-03-23 Hedayat Vatankhah <hed...@gm...>
+
+ * RELEASE:
+ - Updated release information for the next release
+
+ * data/rsg/agent/nao/naoneckhead.rsg:
+ - Enable sensing field lines by default
+
2011-02-10 Sander van Dijk <sgv...@gm...>
* rcssserver3d/rcssserver3d/main.cpp
Modified: trunk/rcssserver3d/RELEASE
===================================================================
--- trunk/rcssserver3d/RELEASE 2011-03-21 22:27:45 UTC (rev 253)
+++ trunk/rcssserver3d/RELEASE 2011-03-23 09:12:27 UTC (rev 254)
@@ -1,26 +1,32 @@
-RELEASE News of rcssserver3d-0.6.4
+RELEASE News of rcssserver3d-0.6.5
-This release is supposed to be the final version of rcssserver3d for
-RoboCup 2010 in Singapore. The release includes a referee patch contributed
-by FCPortugal team which enforces some rules to avoid crowding of many players
-in a small area and to penalize ill-behaved players. Additionally, this
-release comes with some more facilities for a human referee to control the game
-and individual players in the field.
+This release comes with a number of enhancements and some bug fixes. Most
+notably, the automated referee is improved to prevent many agents to collide
+with each other which is required for running games with more players. Also, to
+better suite the field for running 9 vs 9 games, the field size is increased
+and it is 21x14 now. There are some visual improvements and minor enhancements
+to improve the general experience with the simulator.
-* New keys in rcssmonitor3d:
-- n: Cycle through agents. A red marker disc shows which agent is currently
- selected
-- e: Clear selection
-- lctrl+s: Go into specific-agent-selection-mode. A specific agent can now be
- selected by pressing l or r and then a number. So the sequence 'lctrl+s, l, 4'
- selects the agent with uniform number 4 of the left team
-- m: Move selected agent FreeKickDist meters back
-- x: Kill selected agent
+* New touch rules:
+The automated referee now enforces two new rules to better prevent crowding and
+a high number of collisions in 9 vs 9 games:
+- If an agent is in touch with more than 2 agents (including himself), and he
+ wasn't in such a situation in the previous time step - which means he is the
+ last to join the group - he is relocated outside of the field.
+- If it is not clear which agent joined the group last, e.g. when 3 players
+ were all separate at time t, but were all touching each other in time t + 1,
+ an agent is chosen at random for relocation.
-* Other changes:
-- Improved referee to enforce more fair games
-- Visual Studio 2010 compilation fixes
-- Agents can sense field lines if enabled (currently disabled)
-
+* Other Enhancements:
+- Visual improvements in rcssmonitor3d: new field texture, colored team names
+ and scores
+- Set different agent and monitor ports with --agent-port and --server-port
+- Bigger field size: 21x14
+- Updated PDF documentation
+- Bug fixes, specially in the automated referee
+- New Trainer command (killsim) to terminate the simulator
+- Compilation fixes
+- Nao robots now sense visual information about field lines by default
+
You can get the package on the Simspark page on SourceForge
at http://sourceforge.net/projects/simspark/
Modified: trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg 2011-03-21 22:27:45 UTC (rev 253)
+++ trunk/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg 2011-03-23 09:12:27 UTC (rev 254)
@@ -92,6 +92,7 @@
(setStaticSenseAxis false)
(addNoise true)
(setInterval 3)
+ (setSenseLine true)
)
;; (nd Transform
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sgv...@us...> - 2011-03-21 22:27:52
|
Revision: 253
http://simspark.svn.sourceforge.net/simspark/?rev=253&view=rev
Author: sgvandijk
Date: 2011-03-21 22:27:45 +0000 (Mon, 21 Mar 2011)
Log Message:
-----------
- New touch rules
Modified Paths:
--------------
trunk/rcssserver3d/data/rsg/agent/nao/contactjointhandler.rsg
trunk/rcssserver3d/plugin/soccer/CMakeLists.txt
trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h
trunk/rcssserver3d/plugin/soccer/export.cpp
trunk/rcssserver3d/plugin/soccer/soccerbase/soccerbase.h
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
Added Paths:
-----------
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h
trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp
Modified: trunk/rcssserver3d/data/rsg/agent/nao/contactjointhandler.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/contactjointhandler.rsg 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/data/rsg/agent/nao/contactjointhandler.rsg 2011-03-21 22:27:45 UTC (rev 253)
@@ -16,4 +16,8 @@
(setContactSlipMode true)
(setContactSlip 5e-3)
)
-)
\ No newline at end of file
+ (nd AgentCollisionHandler
+ (setName handler)
+ )
+
+)
Modified: trunk/rcssserver3d/plugin/soccer/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/plugin/soccer/CMakeLists.txt 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/CMakeLists.txt 2011-03-21 22:27:45 UTC (rev 253)
@@ -46,6 +46,7 @@
hmdp_effector/hmdpperceptor.h
hmdp_effector/naospecific.h
line/line.h
+ agentcollisionhandler/agentcollisionhandler.h
)
set(soccer_LIB_SRCS
@@ -120,6 +121,8 @@
hmdp_effector/naospecific.cpp
line/line.cpp
line/line_c.cpp
+ agentcollisionhandler/agentcollisionhandler.cpp
+ agentcollisionhandler/agentcollisionhandler_c.cpp
)
include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${FREETYPE_INCLUDE_DIRS}
Added: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp (rev 0)
+++ trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.cpp 2011-03-21 22:27:45 UTC (rev 253)
@@ -0,0 +1,60 @@
+#include "agentcollisionhandler.h"
+#include <oxygen/agentaspect/agentaspect.h>
+
+using namespace oxygen;
+
+void AgentCollisionHandler::OnLink()
+{
+}
+
+void AgentCollisionHandler::HandleCollision(boost::shared_ptr<Collider> collidee, GenericContact& contact)
+{
+ if (!mAgentState.get())
+ {
+ mAgentState = FindAgentState(this);
+ if (!mAgentState.get())
+ {
+ GetLog()->Error() <<
+ "(AgentCollisionHandler) Could not find own AgentState\n";
+ return;
+ }
+ }
+
+ boost::shared_ptr<AgentState> other = FindAgentState(collidee.get());
+ if (other.get())
+ {
+ boost::shared_ptr<TouchGroup> myGroup = mAgentState->GetTouchGroup();
+ boost::shared_ptr<TouchGroup> otherGroup = other->GetTouchGroup();
+
+ // Check if not already in same group
+ if (myGroup == otherGroup)
+ return;
+
+ // Insert agents into group with lowest index
+ // This ensures assignment uniqueness
+ if (myGroup < otherGroup)
+ {
+ myGroup->insert(otherGroup->begin(), otherGroup->end());
+ otherGroup->clear();
+ other->SetTouchGroup(myGroup);
+ }
+ else
+ {
+ otherGroup->insert(myGroup->begin(), myGroup->end());
+ myGroup->clear();
+ mAgentState->SetTouchGroup(otherGroup);
+ }
+ }
+}
+
+boost::shared_ptr<AgentState> AgentCollisionHandler::FindAgentState(BaseNode* node)
+{
+ boost::shared_ptr<AgentAspect> agentAspect
+ = node->FindParentSupportingClass<AgentAspect>().lock();
+ if (!agentAspect.get())
+ {
+ return boost::shared_ptr<AgentState>();
+ }
+
+ return boost::shared_static_cast<AgentState>(agentAspect->FindChildSupportingClass<AgentState>(true));
+}
Added: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h (rev 0)
+++ trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler.h 2011-03-21 22:27:45 UTC (rev 253)
@@ -0,0 +1,62 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: recorderhandler.h 176 2010-02-25 12:19:37Z a-held $
+
+ 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 AGENTCOLLISIONHANDLER_H
+#define AGENTCOLLISIONHANDLER_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/collisionhandler.h>
+#include <oxygen/physicsserver/collider.h>
+#include <agentstate/agentstate.h>
+#include <boost/enable_shared_from_this.hpp>
+
+/** \class AgentCollisionHandler is a CollisionHandler that passes
+ collision information of the Collider it belongs to to the owning
+ AgentState.
+*/
+class AgentCollisionHandler : public oxygen::CollisionHandler
+{
+public:
+ AgentCollisionHandler() : oxygen::CollisionHandler() {};
+ virtual ~AgentCollisionHandler() {};
+
+ virtual void OnLink();
+
+ /** Adds to collision list if \collidee is part of another agent
+
+ \param collidee is the geom ID of the colliders collision
+ partner
+
+ \param holds the contact points between the two affected geoms
+ as returned from the ODE dCollide function
+ */
+ virtual void HandleCollision
+ (boost::shared_ptr<oxygen::Collider> collidee, oxygen::GenericContact& contact);
+
+private:
+ boost::shared_ptr<AgentState> FindAgentState(BaseNode* node);
+
+ boost::shared_ptr<AgentState> mAgentState;
+};
+
+ DECLARE_CLASS(AgentCollisionHandler);
+
+#endif // AGENTCOLLISIONHANDLER_H
Added: trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp (rev 0)
+++ trunk/rcssserver3d/plugin/soccer/agentcollisionhandler/agentcollisionhandler_c.cpp 2011-03-21 22:27:45 UTC (rev 253)
@@ -0,0 +1,30 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: recorderhandler_c.cpp 176 2010-02-25 12:19:37Z a-held $
+
+ 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 "agentcollisionhandler.h"
+
+void CLASS(AgentCollisionHandler)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/CollisionHandler);
+}
+
+
Modified: trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2011-03-21 22:27:45 UTC (rev 253)
@@ -36,7 +36,8 @@
mHearDecay(2), mHearMateCap(2),
mHearOppCap(2), mIfSelfMsg(false),
mIfMateMsg(false), mIfOppMsg(false),
- mSelected(false)
+ mSelected(false),
+ mOldTouchGroup(new TouchGroup), mTouchGroup(new TouchGroup)
{
// set mID and mUniformNumber into a joint state
SetUniformNumber(0);
@@ -258,3 +259,28 @@
{
mSelected = false;
}
+
+void
+AgentState::NewTouchGroup()
+{
+ mOldTouchGroup = mTouchGroup;
+ mTouchGroup = boost::shared_ptr<TouchGroup>(new TouchGroup());
+}
+
+boost::shared_ptr<TouchGroup>
+AgentState::GetOldTouchGroup()
+{
+ return mOldTouchGroup;
+}
+
+void
+AgentState::SetTouchGroup(boost::shared_ptr<TouchGroup> group)
+{
+ mTouchGroup = group;
+}
+
+boost::shared_ptr<TouchGroup>
+AgentState::GetTouchGroup()
+{
+ return mTouchGroup;
+}
Modified: trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2011-03-21 22:27:45 UTC (rev 253)
@@ -30,6 +30,10 @@
class RigidBody;
}
+class AgentState;
+
+typedef std::set<boost::shared_ptr<AgentState> > TouchGroup;
+
class AgentState : public ObjectState
{
//
@@ -91,10 +95,27 @@
bool GetMessage(std::string& msg, float& direction, bool teamMate);
bool GetSelfMessage(std::string& msg);
+ /** Whether agent is selected */
bool IsSelected() const;
+
+ /** Select agent */
void Select(bool s = true);
+
+ /** Unselect agent */
void UnSelect();
+ /** Backup old touch group and create new empty one */
+ void NewTouchGroup();
+
+ /** Get the touch group of the previous step */
+ boost::shared_ptr<TouchGroup> GetOldTouchGroup();
+
+ /** Get the current touch group */
+ boost::shared_ptr<TouchGroup> GetTouchGroup();
+
+ /** Set the current touch group */
+ void SetTouchGroup(boost::shared_ptr<TouchGroup> group);
+
protected:
/** team index */
TTeamIndex mTeamIndex;
@@ -138,7 +159,12 @@
/** is there any message from oponnent */
bool mIfOppMsg;
+ /** is this agent selected */
bool mSelected;
+
+ boost::shared_ptr<TouchGroup> mOldTouchGroup;
+ boost::shared_ptr<TouchGroup> mTouchGroup;
+
protected:
virtual void UpdateHierarchyInternal();
virtual void OnUnlink();
Modified: trunk/rcssserver3d/plugin/soccer/export.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/export.cpp 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/export.cpp 2011-03-21 22:27:45 UTC (rev 253)
@@ -54,6 +54,7 @@
#include "hmdp_effector/hmdpeffector.h"
#include "hmdp_effector/hmdpperceptor.h"
#include "line/line.h"
+#include "agentcollisionhandler/agentcollisionhandler.h"
ZEITGEIST_EXPORT_BEGIN()
ZEITGEIST_EXPORT(SoccerControlAspect);
@@ -90,5 +91,6 @@
ZEITGEIST_EXPORT(HMDPPerceptor);
ZEITGEIST_EXPORT(HMDPEffector);
ZEITGEIST_EXPORT(Line);
+ ZEITGEIST_EXPORT(AgentCollisionHandler);
ZEITGEIST_EXPORT_END()
Modified: trunk/rcssserver3d/plugin/soccer/soccerbase/soccerbase.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerbase/soccerbase.h 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/soccerbase/soccerbase.h 2011-03-21 22:27:45 UTC (rev 253)
@@ -62,7 +62,7 @@
class SoccerBase
{
public:
- typedef std::list<boost::shared_ptr<AgentState> > TAgentStateList;
+ typedef std::vector<boost::shared_ptr<AgentState> > TAgentStateList;
typedef std::map<int, boost::shared_ptr<AgentState> > TAgentStateMap;
public:
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2011-03-21 22:27:45 UTC (rev 253)
@@ -30,6 +30,7 @@
#include <gamestateaspect/gamestateaspect.h>
#include <ballstateaspect/ballstateaspect.h>
#include <agentstate/agentstate.h>
+#include <algorithm>
using namespace oxygen;
using namespace boost;
@@ -63,6 +64,7 @@
mMinOppDistance(0), // min dist for closest Opponent to ball in order to use repositions for 2nd, 3rd player
mMin2PlDistance(0), // min dist for second closest of team before being repositioned
mMin3PlDistance(0), // min dist for third closest of team before being repositioned
+ mMaxTouchGroupSize(1000),
mMaxFaultTime(0.0) // maximum time allowed for a player to commit a positional fault before being repositioned
{
mFreeKickPos = Vector3f(0.0,0.0,mBallRadius);
@@ -98,12 +100,18 @@
CalculateDistanceArrays(TI_RIGHT); // Calculates distance arrays for right team
AnalyseFaults(TI_LEFT); // Analyses simple faults for the left team
AnalyseFaults(TI_RIGHT); // Analyses simple faults for the right team
+ AnalyseTouchGroups(TI_LEFT);
+ AnalyseTouchGroups(TI_RIGHT);
// Only apply rules during play-on
if (playMode == PM_PlayOn)
{
ClearPlayersAutomatic(TI_LEFT); // enforce standing and not overcrowding rules for left team
ClearPlayersAutomatic(TI_RIGHT); // enforce standing and not overcrowding rules for right team
}
+
+ // Reset touch groups
+ ResetTouchGroups(TI_LEFT);
+ ResetTouchGroups(TI_RIGHT);
}
}
@@ -129,7 +137,7 @@
// Process agent state: standing, sitted, laying down, ...
void
-SoccerRuleAspect::processAgentState(salt::Vector3f pos, int unum, TTeamIndex idx)
+SoccerRuleAspect::ProcessAgentState(salt::Vector3f pos, int unum, TTeamIndex idx)
{
float groundZVal = 0.15; //bellow this player is on the ground
float middleZVal = 0.25; //abovce this player is standing (or trying...)
@@ -184,7 +192,7 @@
{
if (idx == TI_NONE || mBallState.get() == 0)
return;
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
return;
@@ -196,7 +204,7 @@
ownGoalPos = Vector3f(mFieldLength/2.0, 0.0, 0.0);
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
numPlInsideOwnArea[idx] = 0;
closestPlayer[idx] = 1;
@@ -246,7 +254,7 @@
playerInsideOwnArea[unum][idx] = 0;
// Process agent state: standing, sitted, laying down, ...
- processAgentState(agentPos, unum, idx);
+ ProcessAgentState(agentPos, unum, idx);
}
// compute rank of distance to ball
@@ -255,6 +263,42 @@
SimpleOrder(distGArr, ordGArr, idx);
}
+void SoccerRuleAspect::AnalyseTouchGroups(TTeamIndex idx)
+{
+ if (idx == TI_NONE || mBallState.get() == 0)
+ return;
+ SoccerBase::TAgentStateList agent_states;
+ if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
+ return;
+
+ random_shuffle(agent_states.begin(), agent_states.end());
+ SoccerBase::TAgentStateList::iterator i = agent_states.begin();
+ for (; i != agent_states.end(); ++i)
+ {
+ // Wasn't touching before, joined group making group too large
+ if ((*i)->GetOldTouchGroup()->size() == 1 && (*i)->GetTouchGroup()->size() > mMaxTouchGroupSize)
+ {
+ playerFaultTime[(*i)->GetUniformNumber()][idx]++;
+ // Remove player from touch group so no more agents are replaced
+ (*i)->GetTouchGroup()->erase(*i);
+ }
+ }
+}
+
+void SoccerRuleAspect::ResetTouchGroups(TTeamIndex idx)
+{
+ SoccerBase::TAgentStateList agent_states;
+ if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
+ return;
+
+ SoccerBase::TAgentStateList::const_iterator i;
+ for (i = agent_states.begin(); i != agent_states.end(); i++)
+ {
+ (*i)->NewTouchGroup();
+ (*i)->GetTouchGroup()->insert(*i);
+ }
+}
+
// Analyse Faults and Creates Fault Time Array
void SoccerRuleAspect::AnalyseFaults(TTeamIndex idx)
{
@@ -316,14 +360,15 @@
salt::Vector3f SoccerRuleAspect::RepositionOutsidePos(salt::Vector3f posIni, int unum, TTeamIndex idx)
{
- salt::Vector3f pos;
- float fac=1.0;
- if (unum > 6) unum = 7 -unum; //because of teams that use numbers 7-11
- if (posIni.y()<1.5) fac = 1.0; else fac = -1.0; //for visualization purposes
- if (idx==TI_LEFT) pos = Vector3f(-(7-unum)*0.6, 6.5*fac, 1.0);
- else pos = Vector3f((7-unum)*0.6, 6.5*fac, 1.0);
- //cout << "*********Player Repos Num: " << unum << " Team: " << idx << " Pos: " << pos << endl;
- return pos;
+ salt::Vector3f pos;
+ // Choose x side based on team
+ float xFac = idx == TI_LEFT ? -0.6 : 0.6;
+ // Choose side on oppisite side of field
+ float yFac = posIni.y() < 0 ? 1.0 : -1.0;
+
+ pos = Vector3f(xFac * (7 - unum), (mFieldWidth / 2 + 0.5) * yFac, 1.0);
+
+ return pos;
}
@@ -334,20 +379,20 @@
if (idx == TI_NONE || mBallState.get() == 0)
return;
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
return;
salt::Vector3f ballPos = mBallBody->GetPosition();
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
SoccerBase::GetTransformParent(**i, agent_aspect);
Vector3f agentPos = agent_aspect->GetWorldTransform().Pos();
- int unum = (*i)->GetUniformNumber();
+ int unum = (*i)->GetUniformNumber();
if (playerFaultTime[unum][idx] > mMaxFaultTime / 0.02)
{
// I am not a very good soccer player... I am violating the rules...
@@ -367,13 +412,13 @@
{
if (idx == TI_NONE || mBallState.get() == 0) return;
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
return;
salt::BoundingSphere sphere(pos, radius);
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
SoccerBase::GetTransformParent(**i, agent_aspect);
@@ -412,12 +457,12 @@
float min_dist, TTeamIndex idx)
{
if (idx == TI_NONE || mBallState.get() == 0) return;
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
return;
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
SoccerBase::GetTransformParent(**i, agent_aspect);
@@ -457,7 +502,7 @@
ClearPlayers(Vector3f(0,0,0), mFreeKickDist, mFreeKickMoveDist,opp);
// move the kick off team to own half field and the center circle
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
return;
@@ -470,7 +515,7 @@
}
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
float freeKickDist2 = mFreeKickDist*mFreeKickDist;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
@@ -504,12 +549,12 @@
SoccerRuleAspect::ClearSelectedPlayers()
{
float min_dist = mFreeKickMoveDist;
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE))
return;
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
SoccerBase::GetTransformParent(**i, agent_aspect);
@@ -1256,6 +1301,7 @@
SoccerBase::GetSoccerVar(*this,"MinOppDistance",mMinOppDistance);
SoccerBase::GetSoccerVar(*this,"Min2PlDistance",mMin2PlDistance);
SoccerBase::GetSoccerVar(*this,"Min3PlDistance",mMin3PlDistance);
+ SoccerBase::GetSoccerVar(*this,"MaxTouchGroupSize",mMaxTouchGroupSize);
//SoccerBase::GetSoccerVar(*this,"MaxFaultTime",mMaxFaultTime);
@@ -1284,13 +1330,13 @@
SoccerRuleAspect::Broadcast(const string& message, const Vector3f& pos,
int number, TTeamIndex idx)
{
- TAgentStateList agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
{
return;
}
- TAgentStateList opponent_agent_states;
+ SoccerBase::TAgentStateList opponent_agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), opponent_agent_states,
SoccerBase::OpponentTeam(idx)))
{
@@ -1308,7 +1354,7 @@
boost::shared_ptr<RigidBody> agent_body;
for (
- TAgentStateList::const_iterator it = agent_states.begin();
+ SoccerBase::TAgentStateList::const_iterator it = agent_states.begin();
it != agent_states.end();
it++
)
@@ -1653,13 +1699,13 @@
boost::shared_ptr<AgentState> agentState)
{
if (idx == TI_NONE || mBallState.get() == 0) return;
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
return;
salt::BoundingSphere sphere(pos, radius);
boost::shared_ptr<oxygen::Transform> agent_aspect;
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
if (agentState == (*i))
@@ -1704,11 +1750,11 @@
void
SoccerRuleAspect::ResetAgentSelection()
{
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
if (SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE))
{
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
(*i)->UnSelect();
}
@@ -1717,13 +1763,13 @@
void
SoccerRuleAspect::SelectNextAgent()
{
- std::list<boost::shared_ptr<AgentState> > agent_states;
+ SoccerBase::TAgentStateList agent_states;
bool selectNext = false;
if (SoccerBase::GetAgentStates(*mBallState.get(), agent_states, TI_NONE) && agent_states.size() > 0)
{
boost::shared_ptr<AgentState> first = agent_states.front();
- std::list<boost::shared_ptr<AgentState> >::const_iterator i;
+ SoccerBase::TAgentStateList::const_iterator i;
for (i = agent_states.begin(); i != agent_states.end(); ++i)
{
if ((*i)->IsSelected())
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2011-03-14 23:16:57 UTC (rev 252)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2011-03-21 22:27:45 UTC (rev 253)
@@ -76,36 +76,44 @@
*/
//salt::Vector3f RepositionInsidePos(salt::Vector3f initPos, int unum, TTeamIndex idx, float distance);
- /** New rules for repositioning players that commit faults
- */
- void ClearPlayersAutomatic(TTeamIndex idx);
+ /** New rules for repositioning players that commit faults
+ */
+ void ClearPlayersAutomatic(TTeamIndex idx);
- /** Calculates distance arrays needed for repositioning players
- */
- void CalculateDistanceArrays(TTeamIndex idx);
+ /** Calculates distance arrays needed for repositioning players
+ */
+ void CalculateDistanceArrays(TTeamIndex idx);
- /** Calculates ordering on a distance vector */
- void SimpleOrder(float dArr[][3], int oArr[][3], TTeamIndex idx);
+ /** Calculates ordering on a distance vector */
+ void SimpleOrder(float dArr[][3], int oArr[][3], TTeamIndex idx);
- /** Agent state concerining standing, laying down on the ground are processed
- */
- void processAgentState(salt::Vector3f pos, int unum, TTeamIndex idx);
+ /** Agent state concerining standing, laying down on the ground are processed
+ */
+ void ProcessAgentState(salt::Vector3f pos, int unum, TTeamIndex idx);
- /** Reset the fault time counter for all players and also other counters
- */
- void ResetFaultCounter(TTeamIndex idx);
+ /** Reset the fault time counter for all players and also other counters
+ */
+ void ResetFaultCounter(TTeamIndex idx);
- /** Reset the fault time counter for a given player
- */
- void ResetFaultCounterPlayer(int unum, TTeamIndex idx);
+ /** Reset the fault time counter for a given player
+ */
+ void ResetFaultCounterPlayer(int unum, TTeamIndex idx);
- /**Analyse Faults from players and increase fault counter of offending players
- */
- void AnalyseFaults(TTeamIndex idx);
+ /**Analyse Faults from players and increase fault counter of offending players
+ */
+ void AnalyseFaults(TTeamIndex idx);
- /** Automatic Referee that clears players that violate the rules
- */
- void AutomaticSimpleReferee(TPlayMode playMode);
+ /** Check whether too many agents are touching
+ */
+ void AnalyseTouchGroups(TTeamIndex idx);
+
+ /** Reset the touch groups
+ */
+ void ResetTouchGroups(TTeamIndex idx);
+
+ /** Automatic Referee that clears players that violate the rules
+ */
+ void AutomaticSimpleReferee(TPlayMode playMode);
/** broadcast a said message to all players
\param message said message-
@@ -302,6 +310,8 @@
float mMinOppDistance;
/** maximum number of players of the defending team that may be inside own penalty area */
int mMaxPlayersInsideOwnArea;
+ /** maximum number of players that may be in a single touch group */
+ int mMaxTouchGroupSize;
/** maximum time allowed for a player to commit a positional fault before being repositioned */
int mMaxFaultTime;
/* Useful arrays for dealing with agent state an faults */
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sgv...@us...> - 2011-03-14 23:17:04
|
Revision: 252
http://simspark.svn.sourceforge.net/simspark/?rev=252&view=rev
Author: sgvandijk
Date: 2011-03-14 23:16:57 +0000 (Mon, 14 Mar 2011)
Log Message:
-----------
- New field size
- Players thrown out of panelty area, and wrong kickin side switch bug should be fixed
Modified Paths:
--------------
trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
Modified: trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2011-03-04 00:46:44 UTC (rev 251)
+++ trunk/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2011-03-14 23:16:57 UTC (rev 252)
@@ -86,17 +86,25 @@
void
SoccerRuleAspect::AutomaticSimpleReferee(TPlayMode playMode)
{
- if (playMode != PM_PlayOn) {
- ResetFaultCounter(TI_LEFT); ResetFaultCounter(TI_RIGHT); //only using automatic refereing in PlayOn
- }
- else {
- CalculateDistanceArrays(TI_LEFT); // Calculates distance arrays for left team
- CalculateDistanceArrays(TI_RIGHT); // Calculates distance arrays for right team
- AnalyseFaults(TI_LEFT); // Analyses simple faults for the left team
- AnalyseFaults(TI_RIGHT); // Analyses simple faults for the right team
- ClearPlayersAutomatic(TI_LEFT); // enforce standing and not overcrowding rules for left team
- ClearPlayersAutomatic(TI_RIGHT); // enforce standing and not overcrowding rules for right team
+ // Reset counters before kickoff
+ if (playMode == PM_BeforeKickOff)
+ {
+ ResetFaultCounter(TI_LEFT);
+ ResetFaultCounter(TI_RIGHT);
}
+ else
+ {
+ CalculateDistanceArrays(TI_LEFT); // Calculates distance arrays for left team
+ CalculateDistanceArrays(TI_RIGHT); // Calculates distance arrays for right team
+ AnalyseFaults(TI_LEFT); // Analyses simple faults for the left team
+ AnalyseFaults(TI_RIGHT); // Analyses simple faults for the right team
+ // Only apply rules during play-on
+ if (playMode == PM_PlayOn)
+ {
+ ClearPlayersAutomatic(TI_LEFT); // enforce standing and not overcrowding rules for left team
+ ClearPlayersAutomatic(TI_RIGHT); // enforce standing and not overcrowding rules for right team
+ }
+ }
}
@@ -123,42 +131,44 @@
void
SoccerRuleAspect::processAgentState(salt::Vector3f pos, int unum, TTeamIndex idx)
{
- float groundZVal = 0.15; //bellow this player is on the ground
- float middleZVal = 0.25; //abovce this player is standing (or trying...)
+ float groundZVal = 0.15; //bellow this player is on the ground
+ float middleZVal = 0.25; //abovce this player is standing (or trying...)
- //increase player not standing if it is not in upward position and inside of field
- if (pos.z() < middleZVal && fabs(pos.y())< mFieldWidth/2 + 0.1) {
- playerNotStanding[unum][idx]++;
- playerStanding[unum][idx]=0; //player not standing
- }
+ //increase player not standing if it is not in upward position and inside of field
+ if (pos.z() < middleZVal && fabs(pos.y())< mFieldWidth / 2 + 0.1)
+ {
+ playerNotStanding[unum][idx]++;
+ playerStanding[unum][idx] = 0; //player not standing
+ }
- //increase player near ground if it is very low and inside of field
- if (pos.z() < groundZVal && fabs(pos.y())< mFieldWidth/2 + 0.1) {
- playerGround[unum][idx]++;
- }
+ //increase player near ground if it is very low and inside of field
+ if (pos.z() < groundZVal && fabs(pos.y())< mFieldWidth / 2 + 0.1)
+ {
+ playerGround[unum][idx]++;
+ }
- //increase player standing or at least trying... Reset ground
- if (pos.z() >= middleZVal) {
- playerStanding[unum][idx]++;
- playerGround[unum][idx]=0;
- }
+ //increase player standing or at least trying... Reset ground
+ if (pos.z() >= middleZVal)
+ {
+ playerStanding[unum][idx]++;
+ playerGround[unum][idx] = 0;
+ }
- //Player standing for some cycles (0.5 seconds) reset not standing count
- if (playerStanding[unum][idx] > 0.5/0.02) {
- playerNotStanding[unum][idx]=0;
- }
-
-// if (playerGround[unum][idx] > 0/0.02)
-// cout << "On the Ground Unum" << unum << " Team: " << idx << " Time: " << playerGround[unum][idx] <<
-// " z= " << pos.z() << endl; //debug
+ //Player standing for some cycles (0.5 seconds) reset not standing count
+ if (playerStanding[unum][idx] > 0.5 / 0.02) {
+ playerNotStanding[unum][idx] = 0;
+ }
}
// Calculates ordering on a distance vector
void SoccerRuleAspect::SimpleOrder(float dArr[][3], int oArr[][3], TTeamIndex idx)
{
- for(int t1=1; t1<=10; t1++)
- for(int t2=t1+1; t2<=11; t2++)
- if (dArr[t1][idx] >= dArr[t2][idx]) oArr[t1][idx]++; else oArr[t2][idx]++;
+ for(int t1 = 1; t1 <= 10; t1++)
+ for(int t2 = t1 + 1; t2 <= 11; t2++)
+ if (dArr[t1][idx] >= dArr[t2][idx])
+ oArr[t1][idx]++;
+ else
+ oArr[t2][idx]++;
// DEBUG
// if (dArr[1][idx]<1000.0) {
@@ -172,53 +182,71 @@
// Calculate Distance arrays and ordering to the ball and own goal
void SoccerRuleAspect::CalculateDistanceArrays(TTeamIndex idx)
{
- if (idx == TI_NONE || mBallState.get() == 0) return;
+ if (idx == TI_NONE || mBallState.get() == 0)
+ return;
std::list<boost::shared_ptr<AgentState> > agent_states;
- if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx)) return;
+ if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
+ return;
salt::Vector3f ballPos = mBallBody->GetPosition();
- salt::Vector3f ownGoalPos = Vector3f(-mFieldLength/2.0, 0.0, 0.0);
- if (idx==TI_RIGHT) ownGoalPos = Vector3f(mFieldLength/2.0, 0.0, 0.0); //own goal position
+ salt::Vector3f ownGoalPos;
+ if (idx == TI_LEFT)
+ ownGoalPos = Vector3f(-mFieldLength/2.0, 0.0, 0.0);
+ else
+ ownGoalPos = Vector3f(mFieldLength/2.0, 0.0, 0.0);
+
boost::shared_ptr<oxygen::Transform> agent_aspect;
std::list<boost::shared_ptr<AgentState> >::const_iterator i;
- numPlInsideOwnArea[idx] = 0; closestPlayer[idx]=1; closestPlayerDist[idx]=1000.0;
- for(int t=1; t<=11; t++) {
- distArr[t][idx]=1000.0; ordArr[t][idx]=1; distGArr[t][idx]=1000.0; ordGArr[t][idx]=1;
+ numPlInsideOwnArea[idx] = 0;
+ closestPlayer[idx] = 1;
+ closestPlayerDist[idx] = 1000.0;
+ for(int t = 1; t <= 11; t++)
+ {
+ distArr[t][idx]=1000.0;
+ ordArr[t][idx]=1;
+ distGArr[t][idx]=1000.0;
+ ordGArr[t][idx]=1;
}
- for (i = agent_states.begin(); i != agent_states.end(); ++i) {
+ for (i = agent_states.begin(); i != agent_states.end(); ++i)
+ {
SoccerBase::GetTransformParent(**i, agent_aspect);
Vector3f agentPos = agent_aspect->GetWorldTransform().Pos();
int unum = (*i)->GetUniformNumber();
- distArr[unum][idx] = sqrt((agentPos.x()-ballPos.x())*(agentPos.x()-ballPos.x()) +
- (agentPos.y()-ballPos.y())*(agentPos.y()-ballPos.y()));
- distGArr[unum][idx] = sqrt((agentPos.x()-ownGoalPos.x())*(agentPos.x()-ownGoalPos.x()) +
- (agentPos.y()-ownGoalPos.y())*(agentPos.y()-ownGoalPos.y()));
+ distArr[unum][idx] = sqrt((agentPos.x()-ballPos.x())*(agentPos.x()-ballPos.x()) +
+ (agentPos.y()-ballPos.y())*(agentPos.y()-ballPos.y()));
+ distGArr[unum][idx] = sqrt((agentPos.x()-ownGoalPos.x())*(agentPos.x()-ownGoalPos.x()) +
+ (agentPos.y()-ownGoalPos.y())*(agentPos.y()-ownGoalPos.y()));
// determine closest player
- if (distArr[unum][idx] < closestPlayerDist[idx]) {
- closestPlayerDist[idx] = distArr[unum][idx]; closestPlayer[idx] = unum;
- }
+ if (distArr[unum][idx] < closestPlayerDist[idx])
+ {
+ closestPlayerDist[idx] = distArr[unum][idx];
+ closestPlayer[idx] = unum;
+ }
// save player inside area state in previous cycle
- prevPlayerInsideOwnArea[unum][idx] = playerInsideOwnArea[unum][idx];
+ prevPlayerInsideOwnArea[unum][idx] = playerInsideOwnArea[unum][idx];
// determine number of players inside area and set inside area state of player
if (idx == TI_LEFT && mLeftPenaltyArea.Contains(Vector2f(agentPos.x(), agentPos.y())) ||
- idx == TI_RIGHT && mRightPenaltyArea.Contains(Vector2f(agentPos.x(), agentPos.y()))) {
- numPlInsideOwnArea[idx]++;
- playerInsideOwnArea[unum][idx] = 1;
+ idx == TI_RIGHT && mRightPenaltyArea.Contains(Vector2f(agentPos.x(), agentPos.y())))
+ {
+ numPlInsideOwnArea[idx]++;
+ playerInsideOwnArea[unum][idx] = 1;
- //goalie is not repositioned when inside own area...
- if (unum == 1) {
- distGArr[unum][idx] = 0.0;
- }
- }
- else playerInsideOwnArea[unum][idx] = 0;
+ //goalie is not repositioned when inside own area...
+ if (unum == 1)
+ {
+ distGArr[unum][idx] = 0.0;
+ }
+ }
+ else
+ playerInsideOwnArea[unum][idx] = 0;
// Process agent state: standing, sitted, laying down, ...
- processAgentState(agentPos, unum, idx);
+ processAgentState(agentPos, unum, idx);
}
// compute rank of distance to ball
@@ -230,75 +258,58 @@
// Analyse Faults and Creates Fault Time Array
void SoccerRuleAspect::AnalyseFaults(TTeamIndex idx)
{
- TTeamIndex idx2; if (idx == TI_LEFT) idx2 = TI_RIGHT; else idx2 = TI_LEFT; //Other team
- for(int unum=1; unum<=11; unum++) {
-
- //I am the third closest player but i am too near the ball (and not the goalie)
- if ( unum!=1 && closestPlayerDist[idx2] < mMinOppDistance &&
- (distArr[unum][idx] <= mMin3PlDistance+0.01 && ordArr[unum][idx] == 3))
- {
- playerFaultTime[unum][idx]++; //increase player fault time
- //cout << "Min3Dist " << mMin3PlDistance << " activated - player " << unum << " to be repositioned \n";
- }
- else
- //I am the second closest player but i am too near the ball (and not the goalie)
- if( unum!=1 && closestPlayerDist[idx2] < mMinOppDistance &&
- distArr[unum][idx] <= mMin2PlDistance+0.01 && ordArr[unum][idx] == 2 )
- {
- playerFaultTime[unum][idx]++; //increase player fault time
- //cout << "Min2Dist " << mMin2PlDistance << " activated - player " << unum << " to be repositioned \n";
- }
- else
- // too many players inside my own penalty area and Im am the last one to enter or
- // the last one to enter was the goalie and I am the one further away from own goal
- if( (numPlInsideOwnArea[idx] > mMaxPlayersInsideOwnArea && unum !=1 && playerInsideOwnArea[unum][idx] == 1 &&
- (prevPlayerInsideOwnArea[unum][idx] == 0 ||
- prevPlayerInsideOwnArea[1][idx] == 0 &&
- playerInsideOwnArea[1][idx] == 1 &&
- mMaxPlayersInsideOwnArea + 1 == ordGArr[unum][idx])))
- {
- playerFaultTime[unum][idx]++; //increase player fault time
- //cout << "MaxPlInPenalty " << mMaxPlayersInsideOwnArea << " activated - player "
- // << unum << " to be repositioned " << " ord " << ordGArr[unum][idx] << "\n";
- }
- else
- //I am a field player and on the ground for too much time
- if ( unum!=1 && playerGround[unum][idx] > mGroundMaxTime/0.02 )
- {
- playerFaultTime[unum][idx]++; //increase player fault time
- //cout << "GroundMaxTime " << mGroundMaxTime << " activated - player "
- // << unum << " to be repositioned " << "\n";
- }
- else
- // I am a field player and I am not standing for too much time
- if( unum!=1 && playerNotStanding[unum][idx] > mNotStandingMaxTime/0.02 )
- {
- playerFaultTime[unum][idx]++; //increase player fault time
- //cout << "StandMaxTime " << mNotStandingMaxTime << " activated - player "
- // << unum << " to be repositioned " << "\n";
- }
+ TTeamIndex idx2;
+ if (idx == TI_LEFT)
+ idx2 = TI_RIGHT;
+ else
+ idx2 = TI_LEFT; //Other team
- else
- //I am the goalie and I am on the ground for too much time
- if ( unum==1 &&
- playerGround[unum][idx] > mGoalieGroundMaxTime/0.02 )
- {
- playerFaultTime[unum][idx]++; //increase player fault time
- //cout << "GoalieGroundMaxTime " << mGoalieGroundMaxTime << " activated - player "
- // << unum << " to be repositioned " << "\n";
- }
- else
- //I am the goalie and I and not standing for too much time
- if ( unum == 1 && playerNotStanding[unum][idx] > mGoalieNotStandingMaxTime/0.02)
- {
- playerFaultTime[unum][idx]++; //increase player fault time
- //cout << "GoalieStandMaxTime " << mGoalieNotStandingMaxTime << " activated - player "
- // << unum << " to be repositioned " << "\n";
- }
- else {
- playerFaultTime[unum][idx]=0; //reset player fault time
- }
-
+ for(int unum=1; unum<=11; unum++)
+ {
+ // I am the third closest player but i am too near the ball (and not the goalie)
+ if (unum != 1 && closestPlayerDist[idx2] < mMinOppDistance &&
+ (distArr[unum][idx] <= mMin3PlDistance + 0.01 && ordArr[unum][idx] == 3))
+ {
+ playerFaultTime[unum][idx]++;
+ }
+ // I am the second closest player but i am too near the ball (and not the goalie)
+ else if(unum != 1 && closestPlayerDist[idx2] < mMinOppDistance &&
+ distArr[unum][idx] <= mMin2PlDistance + 0.01 && ordArr[unum][idx] == 2 )
+ {
+ playerFaultTime[unum][idx]++;
+ }
+ // Too many players inside my own penalty area and Im am the last one to enter or
+ // the last one to enter was the goalie and I am the one further away from own goal
+ else if((numPlInsideOwnArea[idx] > mMaxPlayersInsideOwnArea && unum != 1 && playerInsideOwnArea[unum][idx] == 1 &&
+ (prevPlayerInsideOwnArea[unum][idx] == 0 ||
+ (prevPlayerInsideOwnArea[1][idx] == 0 && playerInsideOwnArea[1][idx] == 1 && mMaxPlayersInsideOwnArea + 1 == ordGArr[unum][idx]))))
+ {
+ playerFaultTime[unum][idx]++;
+ }
+ // I am a field player and on the ground for too much time
+ else if (unum != 1 && playerGround[unum][idx] > mGroundMaxTime / 0.02)
+ {
+ playerFaultTime[unum][idx]++;
+ }
+ // I am a field player and I am not standing for too much time
+ else if(unum!=1 && playerNotStanding[unum][idx] > mNotStandingMaxTime / 0.02)
+ {
+ playerFaultTime[unum][idx]++;
+ }
+ // I am the goalie and I am on the ground for too much time
+ else if (unum == 1 && playerGround[unum][idx] > mGoalieGroundMaxTime / 0.02)
+ {
+ playerFaultTime[unum][idx]++;
+ }
+ // I am the goalie and I and not standing for too much time
+ else if (unum == 1 && playerNotStanding[unum][idx] > mGoalieNotStandingMaxTime / 0.02)
+ {
+ playerFaultTime[unum][idx]++;
+ }
+ else
+ {
+ playerFaultTime[unum][idx]=0;
+ }
}
}
@@ -320,28 +331,32 @@
void
SoccerRuleAspect::ClearPlayersAutomatic(TTeamIndex idx)
{
- if (idx == TI_NONE || mBallState.get() == 0) return;
+ if (idx == TI_NONE || mBallState.get() == 0)
+ return;
std::list<boost::shared_ptr<AgentState> > agent_states;
- if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx)) return;
+ if (! SoccerBase::GetAgentStates(*mBallState.get(), agent_states, idx))
+ return;
salt::Vector3f ballPos = mBallBody->GetPosition();
boost::shared_ptr<oxygen::Transform> agent_aspect;
std::list<boost::shared_ptr<AgentState> >::const_iterator i;
- for (i = agent_states.begin(); i != agent_states.end(); ++i) {
+ for (i = agent_states.begin(); i != agent_states.end(); ++i)
+ {
SoccerBase::GetTransformParent(**i, agent_aspect);
Vector3f agentPos = agent_aspect->GetWorldTransform().Pos();
int unum = (*i)->GetUniformNumber();
- if (playerFaultTime[unum][idx] > mMaxFaultTime/0.02) {
- // I am not a very good soccer player... I am violating the rules...
+ if (playerFaultTime[unum][idx] > mMaxFaultTime / 0.02)
+ {
+ // I am not a very good soccer player... I am violating the rules...
salt::Vector3f new_pos = RepositionOutsidePos(ballPos, unum, idx);
- //Calculate my Reposition pos outside of the field
+ //Calculate my Reposition pos outside of the field
SoccerBase::MoveAgent(agent_aspect, new_pos);
- //Oh my God!! I am flying!! I am going outside of the field
- ResetFaultCounterPlayer(unum, idx);
- //cout << "*********Player Repos Num: " << unum << " Team: " << team << " Pos: " << new_pos << endl;
+ //Oh my God!! I am flying!! I am going outside of the field
+ ResetFaultCounterPlayer(unum, idx);
+ //cout << "*********Player Repos Num: " << unum << " Team: " << team << " Pos: " << new_pos << endl;
}
}
}
@@ -665,7 +680,7 @@
// after the first agent touches the ball move to PM_PLAY_ON. the
// time when the agent last touches the ball must be after the
- // change to the KickIn mode
+ // change to the KickIn mode *plus* pause time
boost::shared_ptr<AgentAspect> agent;
TTime time;
if (! mBallState->GetLastCollidingAgent(agent,time))
@@ -675,7 +690,7 @@
}
TTime lastChange = mGameState->GetLastModeChange();
- if (time > lastChange)
+ if (time > lastChange + mKickInPauseTime)
{
mGameState->SetPlayMode(PM_PlayOn);
GetLog()->Error() << "ERROR: (SoccerRuleAspect) " << "Set Playmode to playon\n";
@@ -745,7 +760,7 @@
}
TTime lastChange = mGameState->GetLastModeChange();
- if (time > lastChange)
+ if (time > lastChange + mKickInPauseTime)
{
mGameState->SetPlayMode(PM_PlayOn);
GetLog()->Error() << "ERROR: (SoccerRuleAspect) " << "Set Playmode to playon\n";
@@ -794,7 +809,7 @@
TTime lastChange = mGameState->GetLastModeChange();
// if the team with the goal kick touched the ball and the ball is
// outside the penalty area, we switch to play on.
- if (time > lastChange)
+ if (time > lastChange + mKickInPauseTime)
{
Vector2f pos(mBallBody->GetPosition().x(),
mBallBody->GetPosition().y());
@@ -840,7 +855,7 @@
// after the first agent touches the ball move to PM_PLAY_ON. the
// time when the agent last touches the ball must be after the
- // change to the KickIn mode
+ // change to the KickIn mode *plus* pause time
boost::shared_ptr<AgentAspect> agent;
TTime time;
if (! mBallState->GetLastCollidingAgent(agent,time))
@@ -849,7 +864,7 @@
}
TTime lastChange = mGameState->GetLastModeChange();
- if (time > lastChange)
+ if (time > lastChange + mKickInPauseTime)
{
mGameState->SetPlayMode(PM_PlayOn);
} else
Modified: trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2011-03-04 00:46:44 UTC (rev 251)
+++ trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2011-03-14 23:16:57 UTC (rev 252)
@@ -37,8 +37,8 @@
end
# the soccer field dimensions in meters
-addSoccerVar('FieldLength', 18.0)
-addSoccerVar('FieldWidth', 12.0)
+addSoccerVar('FieldLength', 21.0)
+addSoccerVar('FieldWidth', 14.0)
addSoccerVar('FieldHeight', 40.0)
addSoccerVar('GoalWidth', 2.1)
addSoccerVar('GoalDepth', 0.6)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sgv...@us...> - 2011-03-04 00:46:53
|
Revision: 251
http://simspark.svn.sourceforge.net/simspark/?rev=251&view=rev
Author: sgvandijk
Date: 2011-03-04 00:46:44 +0000 (Fri, 04 Mar 2011)
Log Message:
-----------
- Start of RCCMonitor (needs different name perhaps): gives agent state info
Modified Paths:
--------------
branches/rcctrainer/rcssserver3d/plugin/soccer/CMakeLists.txt
branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.h
branches/rcctrainer/rcssserver3d/plugin/soccer/export.cpp
branches/rcctrainer/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
Added Paths:
-----------
branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/
branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.cpp
branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.h
branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor_c.cpp
Modified: branches/rcctrainer/rcssserver3d/plugin/soccer/CMakeLists.txt
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/CMakeLists.txt 2011-03-02 19:40:24 UTC (rev 250)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/CMakeLists.txt 2011-03-04 00:46:44 UTC (rev 251)
@@ -46,6 +46,7 @@
hmdp_effector/hmdpperceptor.h
hmdp_effector/naospecific.h
line/line.h
+ rccmonitor/rccmonitor.h
)
set(soccer_LIB_SRCS
@@ -120,6 +121,8 @@
hmdp_effector/naospecific.cpp
line/line.cpp
line/line_c.cpp
+ rccmonitor/rccmonitor.cpp
+ rccmonitor/rccmonitor_c.cpp
)
include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${FREETYPE_INCLUDE_DIRS}
Modified: branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2011-03-02 19:40:24 UTC (rev 250)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.cpp 2011-03-04 00:46:44 UTC (rev 251)
@@ -154,9 +154,10 @@
}
void
-AgentState::AddSelfMessage(const string& msg)
+AgentState::AddSelfMessage(const string& msg, float timeStamp)
{
mSelfMsg = msg;
+ mSelfMsgTimeStamp = timeStamp;
mIfSelfMsg = true;
}
@@ -200,9 +201,9 @@
}
bool
-AgentState::GetSelfMessage(string& msg)
+AgentState::GetSelfMessage(string& msg, bool check)
{
- if (! mIfSelfMsg)
+ if (check && ! mIfSelfMsg)
{
return false;
}
@@ -213,6 +214,12 @@
return true;
}
+float
+AgentState::GetSelfMessageTimeStamp()
+{
+ return mSelfMsgTimeStamp;
+}
+
void
AgentState::UpdateHierarchyInternal()
{
Modified: branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.h
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2011-03-02 19:40:24 UTC (rev 250)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2011-03-04 00:46:44 UTC (rev 251)
@@ -85,12 +85,13 @@
/** Add a new message to the list */
void AddMessage(const std::string& msg, float direction, bool teamMate);
- void AddSelfMessage(const std::string& msg);
+ void AddSelfMessage(const std::string& msg, float timeStamp);
/** Get the first message from the list */
bool GetMessage(std::string& msg, float& direction, bool teamMate);
- bool GetSelfMessage(std::string& msg);
-
+ bool GetSelfMessage(std::string& msg, bool check = true);
+ float GetSelfMessageTimeStamp();
+
bool IsSelected() const;
void Select(bool s = true);
void UnSelect();
@@ -111,6 +112,9 @@
/** self message */
std::string mSelfMsg;
+ /** time stamp of self message */
+ float mSelfMsgTimeStamp;
+
/** team-mate's message */
std::string mMateMsg;
float mMateMsgDir;
Modified: branches/rcctrainer/rcssserver3d/plugin/soccer/export.cpp
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/export.cpp 2011-03-02 19:40:24 UTC (rev 250)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/export.cpp 2011-03-04 00:46:44 UTC (rev 251)
@@ -54,6 +54,7 @@
#include "hmdp_effector/hmdpeffector.h"
#include "hmdp_effector/hmdpperceptor.h"
#include "line/line.h"
+#include "rccmonitor/rccmonitor.h"
ZEITGEIST_EXPORT_BEGIN()
ZEITGEIST_EXPORT(SoccerControlAspect);
@@ -90,5 +91,6 @@
ZEITGEIST_EXPORT(HMDPPerceptor);
ZEITGEIST_EXPORT(HMDPEffector);
ZEITGEIST_EXPORT(Line);
+ ZEITGEIST_EXPORT(RCCMonitor);
ZEITGEIST_EXPORT_END()
Added: branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.cpp
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.cpp (rev 0)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.cpp 2011-03-04 00:46:44 UTC (rev 251)
@@ -0,0 +1,476 @@
+
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: RCCMonitor.cpp 246 2011-02-18 18:44:14Z sgvandijk $
+
+ 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 "rccmonitor.h"
+#include <zeitgeist/logserver/logserver.h>
+#include <kerosin/sceneserver/singlematnode.h>
+#include <kerosin/materialserver/material.h>
+#include <oxygen/monitorserver/monitorcmdparser.h>
+#include <oxygen/sceneserver/sceneserver.h>
+#include <sstream>
+
+using namespace kerosin;
+using namespace oxygen;
+using namespace zeitgeist;
+using namespace boost;
+using namespace salt;
+using namespace std;
+
+RCCMonitor::RCCMonitor() : oxygen::MonitorSystem()
+{
+ mFullState = true;
+}
+
+RCCMonitor::~RCCMonitor()
+{
+}
+
+void RCCMonitor::ClearNodeCache()
+{
+ mNodeCache.clear();
+}
+
+void RCCMonitor::UpdateCached()
+{
+ MonitorSystem::UpdateCached();
+ ClearNodeCache();
+}
+
+void RCCMonitor::OnLink()
+{
+ // setup SceneServer reference
+ mSceneServer = shared_dynamic_cast<SceneServer>
+ (GetCore()->Get("/sys/server/scene"));
+
+ if (mSceneServer.get() == 0)
+ {
+ GetLog()->Error()
+ << "(RCCMonitor) ERROR: SceneServer not found\n";
+ }
+
+}
+
+void RCCMonitor::OnUnlink()
+{
+ mSceneServer.reset();
+ mActiveScene.reset();
+ ClearNodeCache();
+}
+
+void RCCMonitor::ParseMonitorMessage(const std::string& data)
+{
+ // pass the received string on to all installed CommandParsers
+ TLeafList items;
+ ListChildrenSupportingClass<MonitorCmdParser>(items);
+
+ for (
+ TLeafList::iterator iter = items.begin();
+ iter != items.end();
+ ++iter
+ )
+ {
+ shared_static_cast<MonitorCmdParser>(*iter)
+ ->ParseMonitorMessage(data);
+ }
+}
+
+string RCCMonitor::GetMonitorInfo(const PredicateList& pList)
+{
+ stringstream ss;
+ mFullState = false;
+ DescribeCustomPredicates(ss,pList);
+ DescribeActiveScene(ss);
+
+ return ss.str();
+}
+
+string RCCMonitor::GetMonitorHeaderInfo(const PredicateList& pList)
+{
+ stringstream ss;
+ mFullState = true;
+ ClearNodeCache();
+ DescribeCustomPredicates(ss,pList);
+ DescribeActiveScene(ss);
+
+ return ss.str();
+}
+
+void RCCMonitor::DescribeCustomPredicates(stringstream& ss,const PredicateList& pList)
+{
+ ss << "(";
+
+ for (
+ PredicateList::TList::const_iterator iter = pList.begin();
+ iter != pList.end();
+ ++iter
+ )
+ {
+ const Predicate& pred = (*iter);
+
+ ss << "(";
+ ss << pred.name;
+
+ const ParameterList& paramList = pred.parameter;
+ ParameterList::TVector::const_iterator pIter = paramList.begin();
+
+ std::string param;
+ while (
+ (pIter != paramList.end()) &&
+ (paramList.AdvanceValue(pIter, param))
+ )
+ {
+ ss << " ";
+ ss << param;
+ }
+
+ ss << ")";
+ }
+
+ ss << ")";
+}
+
+void RCCMonitor::DescribeBaseNode(stringstream& ss)
+{
+ if (mFullState)
+ {
+ ss << "(nd BN";
+ } else
+ {
+ ss << "(nd";
+ }
+}
+
+void RCCMonitor::DescribeLight(stringstream& ss, boost::shared_ptr<Light> light)
+{
+ if (! mFullState)
+ {
+ return DescribeBaseNode(ss);
+ }
+
+ ss << "(nd Light ";
+
+ const RGBA& diff = light->GetDiffuse();
+ ss << "(setDiffuse " << diff.r() << " " << diff.g() << " "
+ << diff.b() << " " << diff.a() << ") ";
+
+ const RGBA& amb = light->GetAmbient();
+ ss << "(setAmbient " << amb.r() << " " << amb.g() << " "
+ << amb.b() << " " << amb.a() << ") ";
+
+ const RGBA& spec = light->GetSpecular();
+ ss << "(setSpecular " << spec.r() << " " << spec.g() << " "
+ << spec.b() << " " << spec.a() << ")";
+}
+
+void RCCMonitor::DescribeTransform(stringstream& ss, NodeCache& entry, boost::shared_ptr<Transform> transform)
+{
+ if (mFullState)
+ {
+ ss << "(nd TRF";
+ } else
+ {
+ ss << "(nd";
+ }
+
+ // include transform data only for fullstate or a modified
+ // transform node
+ const float precision = 0.005f;
+ const Matrix& mat = transform->GetLocalTransform();
+
+ bool update = false;
+
+ if (mFullState)
+ {
+ update = true;
+ } else
+ {
+ const salt::Matrix& old = entry.transform;
+
+ for (int i=0;i<16;++i)
+ {
+ const float d = fabs(old.m[i] - mat.m[i]);
+
+ if (d > precision)
+ {
+ update = true;
+ break;
+ }
+ }
+ }
+
+ if (update)
+ {
+ ss << " (SLT";
+
+ for (int i=0;i<16;++i)
+ {
+ ss << " " << mat.m[i];
+ }
+
+ ss << ")";
+
+ // update cache
+ entry.transform = mat;
+ }
+}
+
+void RCCMonitor::DescribeMesh(stringstream& ss, boost::shared_ptr<StaticMesh> mesh)
+{
+ boost::shared_ptr<SingleMatNode> singleMat =
+ shared_dynamic_cast<SingleMatNode>(mesh);
+
+ if (singleMat.get() != 0)
+ {
+ ss << "(nd SMN";
+ } else
+ {
+ ss << "(nd StaticMesh";
+ }
+
+ if (mFullState || mesh->VisibleToggled())
+ if (mesh->IsVisible())
+ ss << " (setVisible 1)";
+ else
+ ss << " (setVisible 0)";
+
+ if (! mFullState)
+ return;
+
+ if (mesh->IsTransparent())
+ {
+ ss << " (setTransparent)";
+ }
+
+ ss << " (load " << mesh->GetMeshName();
+
+ const ParameterList& params = mesh->GetMeshParameter();
+ for (
+ ParameterList::TVector::const_iterator iter = params.begin();
+ iter != params.end();
+ ++iter
+ )
+ {
+ string str;
+ params.GetValue(iter,str);
+ ss << " " << str;
+ }
+
+ ss << ")";
+
+ const Vector3f& scale = mesh->GetScale();
+
+ ss << " (sSc "
+ << scale[0] << " "
+ << scale[1] << " "
+ << scale[2] << ")";
+
+ if (singleMat.get() != 0)
+ {
+ boost::shared_ptr<Material> mat = singleMat->GetMaterial();
+ if (mat.get() != 0)
+ {
+ ss << " (sMat " << mat->GetName() << ")";
+ }
+ }
+ else{
+ std::vector<std::string> mats = mesh->GetMaterialNames();
+ if ( !mats.empty() ){
+ ss<<"(resetMaterials";
+ for(std::vector<std::string>::const_iterator iter = mats.begin();
+ mats.end() != iter; ++iter){
+ ss<<' '<<*iter;
+ }
+ ss<<')';
+ }
+ }
+}
+
+void RCCMonitor::DescribeAgentState(stringstream& ss, NodeCache& entry, boost::shared_ptr<AgentState> agentstate)
+{
+ if (mFullState)
+ {
+ ss << "(nd AS ";
+ }
+ else
+ {
+ ss << "(nd ";
+ }
+
+ int t = agentstate->GetTeamIndex();
+ int u = agentstate->GetUniformNumber();
+
+ if (mFullState || entry.ints["team"] != t || entry.ints["unum"] != u)
+ {
+ ss << "(team " << (t == TI_LEFT ? "Left" : t == TI_RIGHT ? "Right" : "None") << ")"
+ << "(unum " << u << ")";
+ entry.ints["team"] = t;
+ entry.ints["unum"] = u;
+ }
+
+ string msg;
+ agentstate->GetSelfMessage(msg, false);
+
+ if (msg != "" && agentstate->GetSelfMessageTimeStamp() != entry.floats["say"])
+ {
+ ss << "(say " << msg << ")";
+ entry.floats["say"] = agentstate->GetSelfMessageTimeStamp();
+ }
+}
+
+RCCMonitor::NodeCache* RCCMonitor::LookupNode(boost::shared_ptr<BaseNode> node)
+{
+ if (node.get() == 0)
+ {
+ assert(false);
+ return 0;
+ }
+
+ TNodeCacheMap::iterator iter = mNodeCache.find(node);
+ if (iter != mNodeCache.end())
+ {
+ return &((*iter).second);
+ }
+
+ boost::shared_ptr<Transform> transform
+ = shared_dynamic_cast<Transform>(node);
+
+ if (transform.get() != 0)
+ {
+ mNodeCache[node]
+ = NodeCache(NT_TRANSFORM, transform->GetLocalTransform());
+
+ return &(mNodeCache[node]);
+ }
+
+ boost::shared_ptr<StaticMesh> mesh
+ = shared_dynamic_cast<StaticMesh>(node);
+ if (mesh.get() != 0)
+ {
+ mNodeCache[node] = NodeCache(NT_STATICMESH);
+ return &(mNodeCache[node]);
+ }
+
+ boost::shared_ptr<Light> light
+ = shared_dynamic_cast<Light>(node);
+ if (light.get() != 0)
+ {
+ mNodeCache[node] = NodeCache(NT_LIGHT);
+ return &(mNodeCache[node]);
+ }
+
+ boost::shared_ptr<AgentState> agentstate
+ = shared_dynamic_cast<AgentState>(node);
+ if (agentstate.get() != 0)
+ {
+ mNodeCache[node] = NodeCache(NT_AGENTSTATE);
+ return &(mNodeCache[node]);
+ }
+
+ // treat every other node type as a BaseNode
+ mNodeCache[node] = NodeCache(NT_BASE);
+
+ return &(mNodeCache[node]);
+}
+
+bool RCCMonitor::DescribeNode(stringstream& ss, boost::shared_ptr<BaseNode> node)
+{
+ NodeCache* entry = LookupNode(node);
+ if (entry == 0)
+ {
+ // skip node
+ assert(false);
+ return false;
+ }
+
+ switch (entry->type)
+ {
+ default:
+ assert(false);
+ // fall through
+
+ case NT_BASE:
+ // skip node
+ return false;
+
+ case NT_TRANSFORM:
+ DescribeTransform
+ (ss, (*entry), shared_static_cast<Transform>(node));
+ return true;
+
+ case NT_STATICMESH:
+ DescribeMesh
+ (ss, shared_static_cast<StaticMesh>(node));
+ return true;
+
+ case NT_LIGHT:
+ DescribeLight
+ (ss, shared_static_cast<Light>(node));
+ return true;
+
+ case NT_AGENTSTATE:
+ DescribeAgentState
+ (ss, (*entry), shared_static_cast<AgentState>(node));
+ return true;
+ }
+}
+
+void RCCMonitor::DescribeActiveScene(stringstream& ss)
+{
+ if (mSceneServer.get() == 0)
+ {
+ return;
+ }
+
+ mActiveScene = mSceneServer->GetActiveScene();
+
+ if (mActiveScene.get() != 0)
+ {
+ if (mFullState)
+ {
+ ss << "(RSG 0 1)";
+ } else
+ {
+ ss << "(RDS 0 1)";
+ }
+
+ ss << "(";
+ DescribeScene(ss,mActiveScene);
+ ss << ")";
+ }
+}
+
+void RCCMonitor::DescribeScene(stringstream& ss, boost::shared_ptr<BaseNode> node)
+{
+ bool closeParen = DescribeNode(ss, node);
+
+ TLeafList baseNodes = node->GetBaseNodeChildren();
+ for (TLeafList::iterator i = baseNodes.begin(); i!= baseNodes.end(); ++i)
+ {
+ boost::shared_ptr<BaseNode> baseNode = shared_dynamic_cast<BaseNode>(*i);
+ DescribeScene(ss,baseNode);
+ }
+
+ if (closeParen)
+ {
+ ss << ")";
+ }
+}
Added: branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.h
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.h (rev 0)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor.h 2011-03-04 00:46:44 UTC (rev 251)
@@ -0,0 +1,159 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: sparkmonitor.h 3 2008-11-21 02:38:08Z hedayat $
+
+ 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 RCCMONITOR_H__
+#define RCCMONITOR_H__
+
+#include <oxygen/monitorserver/monitorsystem.h>
+#include <oxygen/sceneserver/sceneserver.h>
+#include <oxygen/sceneserver/scene.h>
+#include <oxygen/sceneserver/transform.h>
+#include <kerosin/sceneserver/staticmesh.h>
+#include <kerosin/sceneserver/light.h>
+#include <oxygen/physicsserver/body.h>
+#include <agentstate/agentstate.h>
+
+class RCCMonitor : public oxygen::MonitorSystem
+{
+public:
+ enum ENodeType
+ {
+ NT_BASE = 0,
+ NT_TRANSFORM,
+ NT_STATICMESH,
+ NT_LIGHT,
+ NT_AGENTSTATE
+ };
+
+ struct NodeCache
+ {
+ public:
+ ENodeType type;
+
+ /** the last local transform matrix sent to the client */
+ salt::Matrix transform;
+
+ /** the last values of int types sent to the client */
+ std::map<std::string, int> ints;
+
+ /** the last values of int types sent to the client */
+ std::map<std::string, float> floats;
+
+ /** the last values of string types sent to the client */
+ std::map<std::string, std::string> strings;
+
+ public:
+ NodeCache(ENodeType nt = NT_BASE)
+ : type(nt)
+ {
+ }
+
+ NodeCache(ENodeType nt, const salt::Matrix& t)
+ : type(nt), transform(t)
+ {
+ }
+ };
+
+ typedef std::map<boost::shared_ptr<oxygen::BaseNode>, NodeCache> TNodeCacheMap;
+
+public:
+ RCCMonitor();
+ virtual ~RCCMonitor();
+
+ /** If a monitor sends information to the world model, this
+ * function is called to process it.
+ * @param data data sent from monitor to monitorsystem via SPADES.
+ */
+ void ParseMonitorMessage(const std::string& data);
+
+ /** This function will be called periodically to get information
+ * about the current state of the world.
+ * \param items holds a list of additional name value pairs. These
+ * predicates are collected from MonitorItem objects registered to
+ * the MonitorServer. The monitor should transfer them to the
+ * client if possible.
+ */
+ virtual std::string GetMonitorInfo(const oxygen::PredicateList& pList);
+
+ /** This function is called once for every MonitorSystem each time
+ * a new client connects. It should return any header/setup
+ * information that is needed.
+ * \param items holds a list of additional name value
+ * pairs. These predicates are collected from MonitorItem objects
+ * registered to the MonitorServer. The monitor should transfer
+ * them to the client if possible.
+ */
+ virtual std::string GetMonitorHeaderInfo(const oxygen::PredicateList& pList);
+
+ /** update variables from a script */
+ virtual void UpdateCached();
+
+protected:
+ virtual void OnLink();
+ virtual void OnUnlink();
+
+ void ClearNodeCache();
+
+ /** This function looks the cached node entry in the node
+ cache. The entry is added to the cache if it does not exist
+ */
+ NodeCache* LookupNode(boost::shared_ptr<oxygen::BaseNode> node);
+
+ void DescribeCustomPredicates(std::stringstream& ss,const oxygen::PredicateList& pList);
+ void DescribeActiveScene(std::stringstream& ss);
+ void DescribeScene(std::stringstream& ss,
+ boost::shared_ptr<oxygen::BaseNode> node);
+
+ /** This function writes the s-expression for the given node to
+ the given strinstream, omitting the closing parentheses. It
+ returns false if the node is skipped and no description is
+ created. Skipped nodes are invisible scene graph nodes.
+ */
+ bool DescribeNode(std::stringstream& ss,
+ boost::shared_ptr<oxygen::BaseNode> node);
+ void DescribeBaseNode(std::stringstream& ss);
+ void DescribeTransform(std::stringstream& ss, NodeCache& entry,
+ boost::shared_ptr<oxygen::Transform> transform);
+ void DescribeMesh(std::stringstream& ss,
+ boost::shared_ptr<kerosin::StaticMesh> mesh);
+ void DescribeLight(std::stringstream& ss,
+ boost::shared_ptr<kerosin::Light> light);
+ void DescribeAgentState(std::stringstream& ss, NodeCache& entry,
+ boost::shared_ptr<AgentState>);
+
+protected:
+ /** cached reference to the SceneServer */
+ boost::shared_ptr<oxygen::SceneServer> mSceneServer;
+
+ /** cached reference to the current active scene */
+ boost::shared_ptr<oxygen::Scene> mActiveScene;
+
+ /** true, if the full state is generated */
+ bool mFullState;
+
+ /** cached node type and state */
+ TNodeCacheMap mNodeCache;
+};
+
+DECLARE_CLASS(RCCMonitor);
+
+#endif // RCCMONITOR_H__
+
Added: branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor_c.cpp
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor_c.cpp (rev 0)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/rccmonitor/rccmonitor_c.cpp 2011-03-04 00:46:44 UTC (rev 251)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: sparkmonitor_c.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ 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 "rccmonitor.h"
+
+void
+CLASS(RCCMonitor)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/BaseParser);
+}
+
Modified: branches/rcctrainer/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- branches/rcctrainer/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2011-03-02 19:40:24 UTC (rev 250)
+++ branches/rcctrainer/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2011-03-04 00:46:44 UTC (rev 251)
@@ -1300,7 +1300,7 @@
{
if ( (*it)->GetUniformNumber() == number)
{
- (*it)->AddSelfMessage(message);
+ (*it)->AddSelfMessage(message, mGameState->GetTime());
continue;
}
SoccerBase::GetTransformParent(*(*it), transform_parent);
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|
|
From: <sgv...@us...> - 2011-03-02 19:40:30
|
Revision: 250
http://simspark.svn.sourceforge.net/simspark/?rev=250&view=rev
Author: sgvandijk
Date: 2011-03-02 19:40:24 +0000 (Wed, 02 Mar 2011)
Log Message:
-----------
- rcctrainer branch
Added Paths:
-----------
branches/rcctrainer/
Property changes on: branches/rcctrainer
___________________________________________________________________
Added: svn:ignore
+ .project
Added: svn:mergeinfo
+ /branches/agentselection:195-206
/branches/treehole:175
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|
|
From: <sgv...@us...> - 2011-03-02 18:04:58
|
Revision: 249
http://simspark.svn.sourceforge.net/simspark/?rev=249&view=rev
Author: sgvandijk
Date: 2011-03-02 18:04:51 +0000 (Wed, 02 Mar 2011)
Log Message:
-----------
- killsim command to kill the server through trainer protocol
Modified Paths:
--------------
trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
Modified: trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2011-03-02 17:22:58 UTC (rev 248)
+++ trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2011-03-02 18:04:51 UTC (rev 249)
@@ -50,7 +50,7 @@
mCommandMap["select"] = CT_SELECT;
mCommandMap["kill"] = CT_KILL;
mCommandMap["repos"] = CT_REPOS;
-
+ mCommandMap["killsim"] = CT_KILLSIM;
// setup team index map
// Originally team sides were "L","R" and "N"
// But this seems to be unused
@@ -120,6 +120,15 @@
GetLog()->Error() << "ERROR: (TrainerCommandParser) Unable to get GameControlServer\n";
}
+ mSimServer = shared_dynamic_cast<SimulationServer>
+ (GetCore()->Get("/sys/server/simulation"));
+
+ if (mGameControl.get() == 0)
+ {
+ GetLog()->Error() << "ERROR: (TrainerCommandParser) Unable to get SimulationServer\n";
+ }
+
+
}
void TrainerCommandParser::OnUnlink()
@@ -212,6 +221,9 @@
case CT_REPOS:
ParseReposCommand(predicate);
break;
+ case CT_KILLSIM:
+ ParseKillSimCommand(predicate);
+ break;
default:
return false;
}
@@ -699,3 +711,7 @@
}
}
+void TrainerCommandParser::ParseKillSimCommand(const oxygen::Predicate & predicate)
+{
+ mSimServer->Quit();
+}
Modified: trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h
===================================================================
--- trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2011-03-02 17:22:58 UTC (rev 248)
+++ trunk/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.h 2011-03-02 18:04:51 UTC (rev 249)
@@ -32,6 +32,7 @@
#include <salt/vector.h>
#include <soccertypes.h>
#include <soccerruleaspect/soccerruleaspect.h>
+#include <oxygen/simulationserver/simulationserver.h>
namespace oxygen
{
@@ -52,7 +53,8 @@
CT_ACK,
CT_SELECT,
CT_KILL,
- CT_REPOS
+ CT_REPOS,
+ CT_KILLSIM
};
typedef std::map<std::string, ECommandType> TCommandMap;
@@ -123,6 +125,12 @@
predicate
*/
void ParseReposCommand(const oxygen::Predicate & predicate);
+
+ /** parses and executes the killsim command contained in the given
+ predicate
+ */
+ void ParseKillSimCommand(const oxygen::Predicate & predicate);
+
protected:
TCommandMap mCommandMap;
@@ -138,7 +146,9 @@
boost::shared_ptr<oxygen::BaseParser> mSexpParser;
//! cached reference to the game control server
boost::shared_ptr<oxygen::GameControlServer> mGameControl;
-
+ //! cached reference to the simulation server
+ boost::shared_ptr<oxygen::SimulationServer> mSimServer;
+
bool mGetAck;
std::string mAckString;
};
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|
|
From: <sgv...@us...> - 2011-03-02 17:23:06
|
Revision: 248
http://simspark.svn.sourceforge.net/simspark/?rev=248&view=rev
Author: sgvandijk
Date: 2011-03-02 17:22:58 +0000 (Wed, 02 Mar 2011)
Log Message:
-----------
- Take out accidental joint feedback request
- Some initialisation
- Readd inputControl loop (at correct place)
Modified Paths:
--------------
trunk/spark/lib/oxygen/monitorserver/monitorserver.cpp
trunk/spark/lib/oxygen/sceneserver/scene.cpp
trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp
trunk/spark/lib/oxygen/simulationserver/simulationserver.h
trunk/spark/plugin/odeimps/odehingejoint.cpp
Modified: trunk/spark/lib/oxygen/monitorserver/monitorserver.cpp
===================================================================
--- trunk/spark/lib/oxygen/monitorserver/monitorserver.cpp 2011-02-26 00:09:51 UTC (rev 247)
+++ trunk/spark/lib/oxygen/monitorserver/monitorserver.cpp 2011-03-02 17:22:58 UTC (rev 248)
@@ -30,7 +30,7 @@
using namespace boost;
using namespace std;
-MonitorServer::MonitorServer() : Node()
+MonitorServer::MonitorServer() : Node(), mDataCycle(0)
{
}
Modified: trunk/spark/lib/oxygen/sceneserver/scene.cpp
===================================================================
--- trunk/spark/lib/oxygen/sceneserver/scene.cpp 2011-02-26 00:09:51 UTC (rev 247)
+++ trunk/spark/lib/oxygen/sceneserver/scene.cpp 2011-03-02 17:22:58 UTC (rev 248)
@@ -26,7 +26,7 @@
using namespace salt;
using namespace zeitgeist;
-Scene::Scene() : BaseNode(), mModified(false), mModifiedNum(0)
+Scene::Scene() : BaseNode(), mModified(false), mModifiedNum(0), mLastCacheUpdate(0)
{
}
Modified: trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp 2011-02-26 00:09:51 UTC (rev 247)
+++ trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp 2011-03-02 17:22:58 UTC (rev 248)
@@ -312,15 +312,16 @@
Init(argc, argv);
GetLog()->Normal() << "(SimulationServer) entering runloop\n";
+ boost::shared_ptr<SimControlNode> inputCtr = GetControlNode("InputControl");
+
if ( mMultiThreads )
{
GetLog()->Normal()<< "(SimulationServer) running in multi-threads\n";
- RunMultiThreaded();
+ RunMultiThreaded(inputCtr);
}
else
{
GetLog()->Normal()<< "(SimulationServer) running in single thread\n";
- boost::shared_ptr<SimControlNode> inputCtr = GetControlNode("InputControl");
if ( !mAutoTime && inputCtr.get() == 0 )
{
GetLog()->Error()<< "(SimulationServer) ERROR: can not get InputControl\n";
@@ -391,7 +392,7 @@
return mSceneServer.get();
}
-void SimulationServer::RunMultiThreaded()
+void SimulationServer::RunMultiThreaded(boost::shared_ptr<SimControlNode> &inputCtr)
{
if (mSimStep == 0)
{
@@ -428,19 +429,34 @@
{
++mCycle;
+ // Signal start of cycle
mThreadBarrier->wait();
if (mExit)
mExitThreads = true;
+
// Wait for SimControlNodes' acts at the begining of a cycle
-
mThreadBarrier->wait();
finalDelta = initDelta = mSumDeltaTime;
mSceneServer->PrePhysicsUpdate(mSimStep);
mSceneServer->PhysicsUpdate(mSimStep);
+
if (mAutoTime)
- AdvanceTime(mSimStep);
+ {
+ AdvanceTime(mSimStep);
+ }
+
+ else
+ {
+ if (inputCtr.get() != 0)
+ {
+ while (int(mSumDeltaTime*100) < int(mSimStep*100))
+ {
+ inputCtr->StartCycle();// advance the time
+ }
+ }
+ }
UpdateDeltaTimeAfterStep(finalDelta);
@@ -454,11 +470,13 @@
mSceneServer->PostPhysicsUpdate();
mGameControlServer->Update(finalStep);
mSimTime += finalStep;
+
if (renderControl
&& renderControl->GetTime() - mSimTime < 0.005f )
renderControl->EndCycle();
- mThreadBarrier->wait();
+ // End Cycle
+ mThreadBarrier->wait();
mSumDeltaTime -= initDelta - finalDelta;
}
@@ -484,7 +502,7 @@
mThreadBarrier->wait();
newCycle = false;
- if ( controlNode->GetTime() - mSimTime <= 0.005f )
+ if ( controlNode->GetTime() - mSimTime <= 0.005f && !isInputControl)
{
newCycle = true;
controlNode->StartCycle();
Modified: trunk/spark/lib/oxygen/simulationserver/simulationserver.h
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/simulationserver.h 2011-02-26 00:09:51 UTC (rev 247)
+++ trunk/spark/lib/oxygen/simulationserver/simulationserver.h 2011-03-02 17:22:58 UTC (rev 248)
@@ -167,7 +167,7 @@
static void CatchSignal(int sig_num);
/** the multi-threaded runloop of the simulation */
- void RunMultiThreaded();
+ void RunMultiThreaded(boost::shared_ptr<SimControlNode> &inputCtr);
/** the thread function which controls a single SimControlNode in
* multi-threaded mode. */
Modified: trunk/spark/plugin/odeimps/odehingejoint.cpp
===================================================================
--- trunk/spark/plugin/odeimps/odehingejoint.cpp 2011-02-26 00:09:51 UTC (rev 247)
+++ trunk/spark/plugin/odeimps/odehingejoint.cpp 2011-03-02 17:22:58 UTC (rev 248)
@@ -32,7 +32,7 @@
{
dWorldID ODEWorld = (dWorldID) worldID;
dJointID ODEJoint = dJointCreateHinge(ODEWorld, 0);
- dJointSetFeedback( ODEJoint, &mFeedback );
+ //dJointSetFeedback( ODEJoint, &mFeedback );
return (long) ODEJoint;
}
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|
|
From: <sgv...@us...> - 2011-02-26 00:09:59
|
Revision: 247
http://simspark.svn.sourceforge.net/simspark/?rev=247&view=rev
Author: sgvandijk
Date: 2011-02-26 00:09:51 +0000 (Sat, 26 Feb 2011)
Log Message:
-----------
- Use ode-config --libs flags
Modified Paths:
--------------
trunk/rcssserver3d/cmake/FindODE.cmake
trunk/spark/cmake/FindODE.cmake
Modified: trunk/rcssserver3d/cmake/FindODE.cmake
===================================================================
--- trunk/rcssserver3d/cmake/FindODE.cmake 2011-02-18 18:44:14 UTC (rev 246)
+++ trunk/rcssserver3d/cmake/FindODE.cmake 2011-02-26 00:09:51 UTC (rev 247)
@@ -24,6 +24,12 @@
OUTPUT_STRIP_TRAILING_WHITESPACE
RESULT_VARIABLE ODE_CONFIG_RESULT
)
+ EXECUTE_PROCESS(
+ COMMAND ${ODE_CONFIG} --libs
+ OUTPUT_VARIABLE ODE_CONFIG_LIBS
+ OUTPUT_STRIP_TRAILING_WHITESPACE
+ RESULT_VARIABLE ODE_CONFIG_RESULT
+ )
ELSE(COMMAND EXECUTE_PROCESS)
EXEC_PROGRAM(${ODE_CONFIG} ARGS "--cflags"
OUTPUT_VARIABLE ODE_CONFIG_CFLAGS
@@ -33,6 +39,10 @@
OUTPUT_VARIABLE ODE_CONFIG_PREFIX
RETURN_VALUE ODE_CONFIG_RESULT
)
+ EXEC_PROGRAM(${ODE_CONFIG} ARGS "--libs"
+ OUTPUT_VARIABLE ODE_CONFIG_LIBS
+ RETURN_VALUE ODE_CONFIG_RESULT
+ )
ENDIF(COMMAND EXECUTE_PROCESS)
# Parse the include flags.
@@ -48,9 +58,12 @@
SET(ODE_EXTRA_CFLAGS ${ODE_EXTRA_CFLAGS} "${flag}")
ENDIF("${flag}" MATCHES "^-D")
ENDFOREACH(flag)
+
+ SET(ODE_EXTRA_LDFLAGS ${ODE_CONFIG_LIBS})
ELSE("${ODE_CONFIG_RESULT}" MATCHES "^0$")
MESSAGE("Error running ${ODE_CONFIG}: [${ODE_CONFIG_RESULT}]")
ENDIF("${ODE_CONFIG_RESULT}" MATCHES "^0$")
+
ENDIF(ODE_CONFIG)
FIND_PATH(ODE_INCLUDE_DIR ode/ode.h
@@ -99,6 +112,13 @@
SET(ODE_CFLAGS CACHE STRING "Additional ODE flags")
ENDIF (ODE_EXTRA_CFLAGS)
+ IF (ODE_EXTRA_LDFLAGS)
+ SET(ODE_LDFLAGS ${ODE_EXTRA_LDFLAGS} CACHE STRING "Additional ODE linker flags")
+ MESSAGE(STATUS "Found additional linker flags for ODE: ${ODE_LDFLAGS}")
+ ELSE (ODE_EXTRA_LDFLAGS)
+ SET(ODE_CFLAGS CACHE STRING "Additional ODE linker flags")
+ ENDIF (ODE_EXTRA_LDFLAGS)
+
IF(ODE_INCLUDE_DIR)
MESSAGE(STATUS "Found ODE include dir: ${ODE_INCLUDE_DIR}")
ELSE(ODE_INCLUDE_DIR)
Modified: trunk/spark/cmake/FindODE.cmake
===================================================================
--- trunk/spark/cmake/FindODE.cmake 2011-02-18 18:44:14 UTC (rev 246)
+++ trunk/spark/cmake/FindODE.cmake 2011-02-26 00:09:51 UTC (rev 247)
@@ -24,6 +24,12 @@
OUTPUT_STRIP_TRAILING_WHITESPACE
RESULT_VARIABLE ODE_CONFIG_RESULT
)
+ EXECUTE_PROCESS(
+ COMMAND ${ODE_CONFIG} --libs
+ OUTPUT_VARIABLE ODE_CONFIG_LIBS
+ OUTPUT_STRIP_TRAILING_WHITESPACE
+ RESULT_VARIABLE ODE_CONFIG_RESULT
+ )
ELSE(COMMAND EXECUTE_PROCESS)
EXEC_PROGRAM(${ODE_CONFIG} ARGS "--cflags"
OUTPUT_VARIABLE ODE_CONFIG_CFLAGS
@@ -33,6 +39,10 @@
OUTPUT_VARIABLE ODE_CONFIG_PREFIX
RETURN_VALUE ODE_CONFIG_RESULT
)
+ EXEC_PROGRAM(${ODE_CONFIG} ARGS "--libs"
+ OUTPUT_VARIABLE ODE_CONFIG_LIBS
+ RETURN_VALUE ODE_CONFIG_RESULT
+ )
ENDIF(COMMAND EXECUTE_PROCESS)
# Parse the include flags.
@@ -48,9 +58,12 @@
SET(ODE_EXTRA_CFLAGS ${ODE_EXTRA_CFLAGS} "${flag}")
ENDIF("${flag}" MATCHES "^-D")
ENDFOREACH(flag)
+
+ SET(ODE_EXTRA_LDFLAGS ${ODE_CONFIG_LIBS})
ELSE("${ODE_CONFIG_RESULT}" MATCHES "^0$")
MESSAGE("Error running ${ODE_CONFIG}: [${ODE_CONFIG_RESULT}]")
ENDIF("${ODE_CONFIG_RESULT}" MATCHES "^0$")
+
ENDIF(ODE_CONFIG)
FIND_PATH(ODE_INCLUDE_DIR ode/ode.h
@@ -99,6 +112,13 @@
SET(ODE_CFLAGS CACHE STRING "Additional ODE flags")
ENDIF (ODE_EXTRA_CFLAGS)
+ IF (ODE_EXTRA_LDFLAGS)
+ SET(ODE_LDFLAGS ${ODE_EXTRA_LDFLAGS} CACHE STRING "Additional ODE linker flags")
+ MESSAGE(STATUS "Found additional linker flags for ODE: ${ODE_LDFLAGS}")
+ ELSE (ODE_EXTRA_LDFLAGS)
+ SET(ODE_CFLAGS CACHE STRING "Additional ODE linker flags")
+ ENDIF (ODE_EXTRA_LDFLAGS)
+
IF(ODE_INCLUDE_DIR)
MESSAGE(STATUS "Found ODE include dir: ${ODE_INCLUDE_DIR}")
ELSE(ODE_INCLUDE_DIR)
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|
|
From: <sgv...@us...> - 2011-02-18 18:44:21
|
Revision: 246
http://simspark.svn.sourceforge.net/simspark/?rev=246&view=rev
Author: sgvandijk
Date: 2011-02-18 18:44:14 +0000 (Fri, 18 Feb 2011)
Log Message:
-----------
- spark.rb possible to be loaded locally
- Taken out confusing output, output errors that are warnings with Warning
- BaseNode keeps cache of BoseNode children (takes out loads of fynamic casting)
- HingePerceptor can report torque
- Fix multithreaded mode
Modified Paths:
--------------
trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp
trunk/spark/lib/oxygen/agentaspect/agentaspect.cpp
trunk/spark/lib/oxygen/agentaspect/agentaspect.h
trunk/spark/lib/oxygen/gamecontrolserver/gamecontrolserver.cpp
trunk/spark/lib/oxygen/geometryserver/geometryserver.cpp
trunk/spark/lib/oxygen/monitorserver/monitorserver.cpp
trunk/spark/lib/oxygen/physicsserver/hingejoint.cpp
trunk/spark/lib/oxygen/physicsserver/hingejoint.h
trunk/spark/lib/oxygen/physicsserver/int/hingejointint.h
trunk/spark/lib/oxygen/sceneserver/basenode.cpp
trunk/spark/lib/oxygen/sceneserver/basenode.h
trunk/spark/lib/oxygen/sceneserver/scene.cpp
trunk/spark/lib/oxygen/sceneserver/scene.h
trunk/spark/lib/oxygen/sceneserver/sceneserver.cpp
trunk/spark/lib/oxygen/simulationserver/monitorcontrol.cpp
trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp
trunk/spark/lib/zeitgeist/scriptserver/scriptserver.cpp
trunk/spark/plugin/odeimps/odehingejoint.cpp
trunk/spark/plugin/odeimps/odehingejoint.h
trunk/spark/plugin/sparkagent/hingeperceptor.cpp
trunk/spark/plugin/sparkagent/hingeperceptor.h
trunk/spark/plugin/sparkmonitor/sparkmonitor.cpp
trunk/spark/plugin/sparkmonitor/sparkmonitorclient.cpp
trunk/spark/spark/spark.cpp
trunk/spark/spark/spark.rb
Modified: trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp
===================================================================
--- trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -861,4 +861,4 @@
void RestrictedVisionPerceptor::SetSenseLine(bool sense)
{
mSenseLine = sense;
-}
\ No newline at end of file
+}
Modified: trunk/spark/lib/oxygen/agentaspect/agentaspect.cpp
===================================================================
--- trunk/spark/lib/oxygen/agentaspect/agentaspect.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/agentaspect/agentaspect.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -21,6 +21,7 @@
*/
#include "agentaspect.h"
#include <zeitgeist/logserver/logserver.h>
+#include <oxygen/sceneserver/scene.h>
using namespace boost;
using namespace oxygen;
@@ -38,11 +39,20 @@
{
}
+void
+AgentAspect::UpdateCacheInternal()
+{
+ GetLog()->Debug() << "(AgentAspect) Updating cache\n";
+
+ UpdateEffectorMap();
+
+ mPerceptors.clear();
+ ListChildrenSupportingClass<Perceptor>(mPerceptors,true);
+}
+
bool
AgentAspect::RealizeActions(boost::shared_ptr<ActionObject::TList> actions)
{
- UpdateEffectorMap();
-
for (
ActionObject::TList::iterator iter = actions->begin();
iter != actions->end();
@@ -79,15 +89,13 @@
{
mPerceptorCycle++;
// build list of perceptors, searching recursively
- TLeafList perceptors;
- ListChildrenSupportingClass<Perceptor>(perceptors,true);
boost::shared_ptr<PredicateList> predList(new PredicateList());
// query the perceptors for new data
for (
- TLeafList::iterator iter = perceptors.begin();
- iter != perceptors.end();
+ TLeafList::iterator iter = mPerceptors.begin();
+ iter != mPerceptors.end();
++iter
)
{
@@ -167,6 +175,7 @@
}
return added;
+
}
bool AgentAspect::IsSynced() const
Modified: trunk/spark/lib/oxygen/agentaspect/agentaspect.h
===================================================================
--- trunk/spark/lib/oxygen/agentaspect/agentaspect.h 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/agentaspect/agentaspect.h 2011-02-18 18:44:14 UTC (rev 246)
@@ -65,6 +65,8 @@
/** looks up the effector corresponding to a predicate */
virtual boost::shared_ptr<Effector> GetEffector(const std::string predicate) const;
+ void UpdateCacheInternal();
+
//! @return the unique ID for the agent aspect
inline int ID() const { return mID; }
@@ -83,6 +85,9 @@
private:
int mID;
+ /** cache of the agent's effectors */
+ TLeafList mPerceptors;
+
/** indicates how many times the QueryPerceptors be called */
unsigned int mPerceptorCycle;
Modified: trunk/spark/lib/oxygen/gamecontrolserver/gamecontrolserver.cpp
===================================================================
--- trunk/spark/lib/oxygen/gamecontrolserver/gamecontrolserver.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/gamecontrolserver/gamecontrolserver.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -155,12 +155,20 @@
aspect->SetName(name.str());
scene->AddChildReference(aspect);
+
mAgentMap[id] = aspect;
+ bool ok = aspect->Init(mCreateEffector,id);
+ if (ok)
+ {
+ aspect->UpdateCache();
+ scene->UpdateCache(false);
+ }
+
// mark the scene as modified
scene->SetModified(true);
- return aspect->Init(mCreateEffector,id);
+ return ok;
}
bool GameControlServer::AgentDisappear(int id)
@@ -178,13 +186,12 @@
// remove the AgentAspect from the Scene and our map. The
// AgentAspect does all the necessary cleanup
boost::shared_ptr<Scene> scene = GetActiveScene();
+
if (scene.get() != 0)
{
(*iter).second->UnlinkChildren();
(*iter).second->Unlink();
- // mark the scene as modified
- scene->SetModified(true);
} else
{
GetLog()->Error()
@@ -194,6 +201,9 @@
mAgentMap.erase(id);
+ // mark the scene as modified
+ scene->SetModified(true);
+
GetLog()->Debug() << "(GameControlServer) An agent disconnected (id: "
<< id << ")\n";
@@ -257,9 +267,7 @@
// construct an ActionList using the registered effectors
boost::shared_ptr<ActionObject::TList> actionList(new ActionObject::TList());
- // update the map of effectors below the agentaspect
boost::shared_ptr<AgentAspect> aspect = (*iter).second;
- aspect->UpdateEffectorMap();
for
(
Modified: trunk/spark/lib/oxygen/geometryserver/geometryserver.cpp
===================================================================
--- trunk/spark/lib/oxygen/geometryserver/geometryserver.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/geometryserver/geometryserver.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -63,7 +63,7 @@
importer->SetName(importerName);
AddChildReference(importer);
- GetLog()->Normal()
+ GetLog()->Debug()
<< "(GeometryServer) MeshImporter '" << importerName << "' registered\n";
return true;
@@ -139,7 +139,7 @@
mesh->SetName(name);
}
- GetLog()->Normal() << "(GeometryServer) imported mesh '" << meshName
+ GetLog()->Debug() << "(GeometryServer) imported mesh '" << meshName
<< " with '" << importer->GetName() << "'\n";
if (mesh.get() == 0 || mesh->GetVertexCount() == 0)
@@ -183,14 +183,14 @@
}
mMeshMap[name] = mesh;
- GetLog()->Normal() << "(GeometryServer) mesh " << name << " registered\n";
+ GetLog()->Debug() << "(GeometryServer) mesh " << name << " registered\n";
TLeafList exporters;
ListChildrenSupportingClass<MeshExporter>(exporters);
for (TLeafList::const_iterator bi = exporters.begin(); bi != exporters.end(); ++bi)
{
- GetLog()->Normal() << "(GeometryServer) additionally registered mesh "
+ GetLog()->Debug() << "(GeometryServer) additionally registered mesh "
<< name << " via MeshExporter '" << (*bi)->GetName() << "'\n";
boost::shared_ptr<MeshExporter> mb = shared_static_cast<MeshExporter>(*bi);
mb->RegisterMesh(mesh);
@@ -213,7 +213,7 @@
exporter->SetName(name);
AddChildReference(exporter);
- GetLog()->Normal() << "(GeometryServer) MeshExporter '" << name << "' registered\n";
+ GetLog()->Debug() << "(GeometryServer) MeshExporter '" << name << "' registered\n";
return true;
}
Modified: trunk/spark/lib/oxygen/monitorserver/monitorserver.cpp
===================================================================
--- trunk/spark/lib/oxygen/monitorserver/monitorserver.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/monitorserver/monitorserver.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -44,8 +44,8 @@
if (mSimulationServer.expired())
{
- GetLog()->Error()
- << "(MonitorServer) ERROR: SimulationServer not found.\n";
+ GetLog()->Warning()
+ << "(MonitorServer) WARNING: SimulationServer not found.\n";
}
}
Modified: trunk/spark/lib/oxygen/physicsserver/hingejoint.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/hingejoint.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/physicsserver/hingejoint.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -134,6 +134,11 @@
return mHingeJointImp->GetAngleRate(mJointID);
}
+float HingeJoint::GetTorque() const
+{
+ return mHingeJointImp->GetTorque(mJointID);
+}
+
void HingeJoint::SetParameter(int parameter, float value){
mJointImp->SetParameter(parameter, value, mJointID);
}
Modified: trunk/spark/lib/oxygen/physicsserver/hingejoint.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/hingejoint.h 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/physicsserver/hingejoint.h 2011-02-18 18:44:14 UTC (rev 246)
@@ -69,6 +69,9 @@
/** returns the time derivate of the hinge angle */
float GetAngleRate() const;
+ /** returns the torque on the joint */
+ float GetTorque() const;
+
/** Sets a parameter value of this joint*/
void SetParameter(int parameter, float value);
Modified: trunk/spark/lib/oxygen/physicsserver/int/hingejointint.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/int/hingejointint.h 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/physicsserver/int/hingejointint.h 2011-02-18 18:44:14 UTC (rev 246)
@@ -67,6 +67,9 @@
/** returns the time derivate of the hinge angle */
virtual float GetAngleRate(long jointID) const = 0;
+
+ /** returns the torque on the joint */
+ virtual float GetTorque(long jointID) const = 0;
};
} //namespace oxygen
Modified: trunk/spark/lib/oxygen/sceneserver/basenode.cpp
===================================================================
--- trunk/spark/lib/oxygen/sceneserver/basenode.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/sceneserver/basenode.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -84,12 +84,30 @@
{
}
+Leaf::TLeafList BaseNode::GetBaseNodeChildren()
+{
+ return mBaseNodeChildren;
+}
+
+void BaseNode::UpdateCache(bool recursive)
+{
+ UpdateBaseNodeChildren();
+ UpdateCacheInternal();
+
+ if (recursive)
+ {
+ // perform update on hierarchy
+ for (TLeafList::iterator i = mBaseNodeChildren.begin(); i!= mBaseNodeChildren.end(); ++i)
+ {
+ shared_static_cast<BaseNode>(*i)->UpdateCache();
+ }
+ }
+}
+
void BaseNode::PrePhysicsUpdate(float deltaTime)
{
// perform update on hierarchy
- TLeafList baseNodes;
- ListChildrenSupportingClass<BaseNode>(baseNodes);
- for (TLeafList::iterator i = baseNodes.begin(); i!= baseNodes.end(); ++i)
+ for (TLeafList::iterator i = mBaseNodeChildren.begin(); i!= mBaseNodeChildren.end(); ++i)
{
shared_static_cast<BaseNode>(*i)->PrePhysicsUpdate(deltaTime);
}
@@ -104,9 +122,7 @@
void BaseNode::PostPhysicsUpdate()
{
// perform update on hierarchy
- TLeafList baseNodes;
- ListChildrenSupportingClass<BaseNode>(baseNodes);
- for (TLeafList::iterator i = baseNodes.begin(); i!= baseNodes.end(); ++i)
+ for (TLeafList::iterator i = mBaseNodeChildren.begin(); i!= mBaseNodeChildren.end(); ++i)
{
shared_static_cast<BaseNode>(*i)->PostPhysicsUpdate();
}
@@ -128,9 +144,7 @@
mWorldBoundingBox.TransformBy(worldTransform);
// perform update on hierarchy
- TLeafList baseNodes;
- ListChildrenSupportingClass<BaseNode>(baseNodes);
- for (TLeafList::iterator i = baseNodes.begin(); i!= baseNodes.end(); ++i)
+ for (TLeafList::iterator i = mBaseNodeChildren.begin(); i!= mBaseNodeChildren.end(); ++i)
{
boost::shared_ptr<BaseNode> node = shared_static_cast<BaseNode>(*i);
node->UpdateHierarchy();
@@ -178,6 +192,12 @@
{
}
+void BaseNode::UpdateBaseNodeChildren()
+{
+ mBaseNodeChildren.clear();
+ ListChildrenSupportingClass<BaseNode>(mBaseNodeChildren);
+}
+
const salt::AABB3& BaseNode::GetWorldBoundingBox() const
{
return mWorldBoundingBox;
Modified: trunk/spark/lib/oxygen/sceneserver/basenode.h
===================================================================
--- trunk/spark/lib/oxygen/sceneserver/basenode.h 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/sceneserver/basenode.h 2011-02-18 18:44:14 UTC (rev 246)
@@ -83,8 +83,14 @@
/** returns the world bounding box of this node */
const salt::AABB3& GetWorldBoundingBox() const;
+ /** get the cached BaseNode children of this node */
+ TLeafList GetBaseNodeChildren();
+
// scene graph update passes
+ /** updates internal cache */
+ virtual void UpdateCache(bool recursive = true);
+
/** updates internal state before physics calculation */
void PrePhysicsUpdate(float deltaTime);
@@ -123,6 +129,9 @@
etc..) */
virtual void UpdateHierarchyInternal();
+ virtual void UpdateCacheInternal() {}
+
+ void UpdateBaseNodeChildren();
//
// Members
//
@@ -138,6 +147,8 @@
/** world bounding box */
salt::AABB3 mWorldBoundingBox;
+
+ TLeafList mBaseNodeChildren;
};
DECLARE_CLASS(BaseNode);
Modified: trunk/spark/lib/oxygen/sceneserver/scene.cpp
===================================================================
--- trunk/spark/lib/oxygen/sceneserver/scene.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/sceneserver/scene.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -34,6 +34,16 @@
{
}
+void Scene::UpdateCacheInternal()
+{
+ mLastCacheUpdate = mModifiedNum;
+}
+
+int Scene::GetLastCacheUpdate()
+{
+ return mLastCacheUpdate;
+}
+
const salt::Matrix& Scene::GetWorldTransform() const
{
return mIdentityMatrix;
@@ -58,4 +68,3 @@
{
return mModifiedNum;
}
-
Modified: trunk/spark/lib/oxygen/sceneserver/scene.h
===================================================================
--- trunk/spark/lib/oxygen/sceneserver/scene.h 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/sceneserver/scene.h 2011-02-18 18:44:14 UTC (rev 246)
@@ -69,12 +69,19 @@
/** return how many times the scene was modified */
int GetModifiedNum();
+ /** return he modification count at the last update */
+ int GetLastCacheUpdate();
protected:
+ void UpdateCacheInternal();
+
/** true, if the scene is modified */
bool mModified;
/** how many times the scene was modified */
int mModifiedNum;
+
+ /** the modification count at the last update */
+ int mLastCacheUpdate;
};
DECLARE_CLASS(Scene);
Modified: trunk/spark/lib/oxygen/sceneserver/sceneserver.cpp
===================================================================
--- trunk/spark/lib/oxygen/sceneserver/sceneserver.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/sceneserver/sceneserver.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -41,7 +41,7 @@
int SceneServer::mTransformMark = 0;
SceneServer::SceneServer() : Node()
-{
+{
}
SceneServer::~SceneServer()
@@ -95,6 +95,9 @@
}
mPhysicsServer->UpdateCache(mActiveScene.get());
+
+ if (mActiveScene->GetLastCacheUpdate() != mActiveScene->GetModifiedNum())
+ mActiveScene->UpdateCache();
}
void SceneServer::OnUnlink()
@@ -181,6 +184,7 @@
}
UpdateCache();
+
++mTransformMark;
mActiveScene->PrePhysicsUpdate(deltaTime);
@@ -257,7 +261,7 @@
if (importer->ImportScene(file,root,parameter))
{
- GetLog()->Normal()
+ GetLog()->Debug()
<< "(SceneServer) imported scene file '"
<< file << " with '"
<< importer->GetName()
@@ -378,7 +382,7 @@
importer->SetName(importerName);
AddChildReference(importer);
- GetLog()->Normal()
+ GetLog()->Debug()
<< "(SceneServer) SceneImporter '" << importerName << "' registered\n";
return true;
Modified: trunk/spark/lib/oxygen/simulationserver/monitorcontrol.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/monitorcontrol.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/simulationserver/monitorcontrol.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -62,6 +62,7 @@
}
string header = mMonitorServer->GetMonitorHeaderInfo();
+
mNetMessage->PrepareToSend(header);
SendClientMessage(client->addr,header);
@@ -90,10 +91,19 @@
string info;
boost::shared_ptr<Scene> scene = GetActiveScene();
if (scene.get() != 0
- && scene->GetModifiedNum() > mFullStateLogged )
+ && scene->GetModifiedNum() > mFullStateLogged)
{
- mFullStateLogged = scene->GetModifiedNum();
- info = mMonitorServer->GetMonitorHeaderInfo();
+ if (scene->GetLastCacheUpdate() == scene->GetModifiedNum())
+ {
+ mFullStateLogged = scene->GetModifiedNum();
+ info = mMonitorServer->GetMonitorHeaderInfo();
+ }
+ else
+ {
+ GetLog()->Debug()
+ << "(MonitorControl) Scene is modified, but hasn't updated cache yet. Doing nothing.\n";
+ return;
+ }
}
else
{
Modified: trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/oxygen/simulationserver/simulationserver.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -427,10 +427,12 @@
while (!mExitThreads)
{
++mCycle;
+
mThreadBarrier->wait();
if (mExit)
mExitThreads = true;
// Wait for SimControlNodes' acts at the begining of a cycle
+
mThreadBarrier->wait();
finalDelta = initDelta = mSumDeltaTime;
@@ -480,6 +482,7 @@
while (!mExitThreads)
{
mThreadBarrier->wait();
+
newCycle = false;
if ( controlNode->GetTime() - mSimTime <= 0.005f )
{
@@ -489,14 +492,9 @@
controlNode->ActAgent();
controlNode->SetSimTime(mSimTime);
}
+
mThreadBarrier->wait();
- if (isInputControl)
- {
- while (int(mSumDeltaTime*100) < int(mSimStep*100))
- controlNode->StartCycle(); // advance the time
- }
-
// wait for physics update
mThreadBarrier->wait();
if (!isRenderControl && newCycle)
Modified: trunk/spark/lib/zeitgeist/scriptserver/scriptserver.cpp
===================================================================
--- trunk/spark/lib/zeitgeist/scriptserver/scriptserver.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/lib/zeitgeist/scriptserver/scriptserver.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -258,7 +258,7 @@
void
ScriptServer::UpdateCachedAllNodes()
{
- GetLog()->Normal() << "(ScriptServer) updating cached script variables\n";
+ GetLog()->Debug() << "(ScriptServer) updating cached script variables\n";
GetCore()->GetRoot()->UpdateCached();
}
@@ -480,7 +480,7 @@
{
// run the init script in the sourceDir
string sourcePath = sourceDir + salt::RFile::Sep() + name;
- GetLog()->Normal() << "(ScriptServer) Running " << sourcePath << "... " << endl;
+ GetLog()->Debug() << "(ScriptServer) Running " << sourcePath << "... " << endl;
boost::shared_ptr<salt::StdFile> file(new(salt::StdFile));
if (! file->Open(sourcePath.c_str()))
@@ -493,7 +493,7 @@
return eError;
} else
{
- GetLog()->Normal() << "(ScriptServer) Script ended OK " << sourcePath << endl;
+ GetLog()->Debug() << "(ScriptServer) Script ended OK " << sourcePath << endl;
}
// copy it to the destDir
@@ -504,7 +504,7 @@
string destPath = destDir + salt::RFile::Sep() + name;
- GetLog()->Normal() << "Copying " << sourcePath
+ GetLog()->Debug() << "Copying " << sourcePath
<< " to " << destPath << endl;
stringstream s;
@@ -579,7 +579,7 @@
return false;
}
- GetLog()->Normal() << "(ScriptServer) Created Directory '"
+ GetLog()->Debug() << "(ScriptServer) Created Directory '"
<< dotDir << "'\n";
return true;
@@ -589,6 +589,9 @@
ScriptServer::RunInitScript(const string &fileName, const string &relPath,
EInitScriptType type)
{
+ GetLog()->Debug() << "(ScriptServer) Attempting to run init script '"
+ << fileName << "'\n";
+
string dotDir;
bool validDotDir =
(type == IS_USERLOCAL) &&
@@ -607,56 +610,52 @@
if (validDotDir)
{
+ // Trying dot-dir in home directory
result = RunInitScriptInternal(dotDir, fileName, false);
- }
+ if (result == eOK)
+ {
+ GetLog()->Debug() << "(ScriptServer) : Ran init script '"
+ << dotDir << salt::RFile::Sep() << fileName << "'\n";
+ return true;
+ }
+ else if (result == eError)
+ {
+ GetLog()->Error() << "(ScriptServer) ERROR: Found error in init script '"
+ << dotDir << salt::RFile::Sep() << fileName << "'\n";
+ return false;
+ }
- if (result == eOK)
- {
- GetLog()->Debug() << "(ScriptServer) : Ran init script '"
- << dotDir << salt::RFile::Sep() << fileName << "'\n";
- return true;
- }
-
- if (result == eNotFound)
- {
GetLog()->Debug() << "(ScriptServer) : Did not find init script '"
- << dotDir << salt::RFile::Sep() << fileName << "'\n";
+ << dotDir << salt::RFile::Sep() << fileName << "'\n";
}
- else if (result == eError)
- {
- GetLog()->Error() << "(ScriptServer) ERROR: Found error in init script '"
- << dotDir << salt::RFile::Sep() << fileName << "'\n";
- return false;
- }
- //
+
+ // Trying package data directory
result = RunInitScriptInternal(pkgdatadir, fileName, validDotDir, dotDir);
-
if (result == eOK)
{
GetLog()->Debug() << "(ScriptServer) : Ran init script '"
<< pkgdatadir << salt::RFile::Sep() << fileName << "'\n";
return true;
}
-
- if (result == eNotFound)
- {
- GetLog()->Debug() << "(ScriptServer) : Did not find init script '"
- << pkgdatadir << salt::RFile::Sep() << fileName << "'\n";
- }
else if (result == eError)
{
GetLog()->Error() << "(ScriptServer) ERROR: Found error in init script '"
<< pkgdatadir << salt::RFile::Sep() << fileName << "'\n";
+ return false;
}
+ GetLog()->Debug() << "(ScriptServer) : Did not find init script '"
+ << pkgdatadir << salt::RFile::Sep() << fileName << "'\n";
+ // Trying relative path to cwd
result = RunInitScriptInternal(mRelPathPrefix+relPath, fileName, validDotDir, dotDir);
- if (result == eNotFound)
+ if (result == eOK)
{
- GetLog()->Error() << "(ScriptServer) ERROR: Cannot locate init script '"
- << fileName << "'\n";
+ GetLog()->Debug() << "(ScriptServer) : Ran init script '"
+ << mRelPathPrefix+relPath << salt::RFile::Sep() << fileName << "'\n";
+ return true;
}
else if (result == eError)
{
@@ -664,5 +663,7 @@
<< mRelPathPrefix+relPath << salt::RFile::Sep() << fileName << "'\n";
}
+ GetLog()->Error() << "(ScriptServer) ERROR: Cannot locate init script '"
+ << fileName << "'\n";
return (result == eOK);
}
Modified: trunk/spark/plugin/odeimps/odehingejoint.cpp
===================================================================
--- trunk/spark/plugin/odeimps/odehingejoint.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/plugin/odeimps/odehingejoint.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -32,6 +32,7 @@
{
dWorldID ODEWorld = (dWorldID) worldID;
dJointID ODEJoint = dJointCreateHinge(ODEWorld, 0);
+ dJointSetFeedback( ODEJoint, &mFeedback );
return (long) ODEJoint;
}
@@ -86,3 +87,10 @@
dJointID ODEJoint = (dJointID) jointID;
return gRadToDeg(dJointGetHingeAngleRate(ODEJoint));
}
+
+float HingeJointImp::GetTorque(long jointID) const
+{
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointFeedback* fb = dJointGetFeedback(ODEJoint);
+ return dLENGTH(fb->t1) + dLENGTH(fb->t2);
+}
Modified: trunk/spark/plugin/odeimps/odehingejoint.h
===================================================================
--- trunk/spark/plugin/odeimps/odehingejoint.h 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/plugin/odeimps/odehingejoint.h 2011-02-18 18:44:14 UTC (rev 246)
@@ -38,6 +38,10 @@
salt::Vector3f GetAxis(long jointID);
float GetAngle(long jointID) const;
float GetAngleRate(long jointID) const;
+ float GetTorque(long jointID) const;
+private:
+ dJointFeedback mFeedback;
+
};
DECLARE_CLASS(HingeJointImp);
Modified: trunk/spark/plugin/sparkagent/hingeperceptor.cpp
===================================================================
--- trunk/spark/plugin/sparkagent/hingeperceptor.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/plugin/sparkagent/hingeperceptor.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -48,6 +48,13 @@
axisElement.AddValue(mJoint->GetAngleRate());
}
+void HingePerceptor::InsertAxisTorque(Predicate& predicate)
+{
+ ParameterList& axisElement = predicate.parameter.AddList();
+ axisElement.AddValue(string("tq"));
+ axisElement.AddValue(mJoint->GetTorque());
+}
+
bool HingePerceptor::Percept(boost::shared_ptr<oxygen::PredicateList> predList)
{
if (mJoint.get() == 0)
@@ -65,6 +72,7 @@
InsertAxisAngle(predicate);
//InsertAxisRate(predicate);
-
+ //InsertAxisTorque(predicate);
+
return true;
}
Modified: trunk/spark/plugin/sparkagent/hingeperceptor.h
===================================================================
--- trunk/spark/plugin/sparkagent/hingeperceptor.h 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/plugin/sparkagent/hingeperceptor.h 2011-02-18 18:44:14 UTC (rev 246)
@@ -35,6 +35,7 @@
protected:
void InsertAxisAngle(oxygen::Predicate& predicate);
void InsertAxisRate(oxygen::Predicate& predicate);
+ void InsertAxisTorque(oxygen::Predicate& predicate);
};
DECLARE_CLASS(HingePerceptor);
Modified: trunk/spark/plugin/sparkmonitor/sparkmonitor.cpp
===================================================================
--- trunk/spark/plugin/sparkmonitor/sparkmonitor.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/plugin/sparkmonitor/sparkmonitor.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -415,17 +415,13 @@
{
bool closeParen = DescribeNode(ss, node);
- for (TLeafList::iterator i = node->begin(); i!= node->end(); ++i)
+ TLeafList baseNodes = node->GetBaseNodeChildren();
+ for (TLeafList::iterator i = baseNodes.begin(); i!= baseNodes.end(); ++i)
{
boost::shared_ptr<BaseNode> baseNode = shared_dynamic_cast<BaseNode>(*i);
- if (baseNode.get() == 0)
- {
- continue;
- }
-
DescribeScene(ss,baseNode);
}
-
+
if (closeParen)
{
ss << ")";
Modified: trunk/spark/plugin/sparkmonitor/sparkmonitorclient.cpp
===================================================================
--- trunk/spark/plugin/sparkmonitor/sparkmonitorclient.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/plugin/sparkmonitor/sparkmonitorclient.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -191,7 +191,8 @@
}
mActiveScene = mSceneServer->GetActiveScene();
-
+ mActiveScene->UpdateCache();
+
if (mActiveScene.get() == 0)
{
return;
@@ -233,6 +234,8 @@
mSceneImporter->ParseScene(string(pcont->lastPos),
mManagedScene,
boost::shared_ptr<ParameterList>());
+
+ mActiveScene->SetModified(true);
destroy_sexp(sexp_custom);
destroy_continuation(pcont);
Modified: trunk/spark/spark/spark.cpp
===================================================================
--- trunk/spark/spark/spark.cpp 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/spark/spark.cpp 2011-02-18 18:44:14 UTC (rev 246)
@@ -109,7 +109,7 @@
(
"spark.rb",
"lib/spark",
- ScriptServer::IS_COMMON
+ ScriptServer::IS_USERLOCAL
);
UpdateCached();
Modified: trunk/spark/spark/spark.rb
===================================================================
--- trunk/spark/spark/spark.rb 2011-02-11 22:53:50 UTC (rev 245)
+++ trunk/spark/spark/spark.rb 2011-02-18 18:44:14 UTC (rev 246)
@@ -188,8 +188,6 @@
end
def sparkSetupMonitor
- print "(spark.rb) sparkSetupMonitor\n"
-
# add the agent control node
simulationServer = sparkGetSimulationServer()
if (simulationServer != nil)
@@ -205,7 +203,8 @@
else if ($monitorType == 'tcp')
monitorClient.setClientTypeTCP()
else
- print "(spark.rb) unknown monitor socket type "
+ print "(spark.rb) sparkSetupMonitor\n"
+ print "(spark.rb) ERROR: unknown monitor socket type "
print $monitorType
print "\n"
end
@@ -218,7 +217,7 @@
end
def sparkSetupMonitorLogPlayer
- print "(spark.rb) sparkSetupMonitorLogPlayer\n"
+ #print "(spark.rb) sparkSetupMonitorLogPlayer\n"
simulationServer = sparkGetSimulationServer()
if (simulationServer != nil)
@@ -241,7 +240,7 @@
# simulation specific monitor processing
#
def sparkRegisterCustomMonitor(className)
- print "(spark.rb) sparkRegisterCustomMonitor " + className + "\n"
+ #print "(spark.rb) sparkRegisterCustomMonitor " + className + "\n"
sparkGetSimulationServer()
sparkCreate(className, $serverPath+'simulation/SparkMonitorClient/'+className)
end
@@ -251,7 +250,7 @@
# application specific render logic
#
def sparkRegisterCustomRender(className)
- print "(spark.rb) sparkRegisterCustomRender " + className + "\n"
+ #print "(spark.rb) sparkRegisterCustomRender " + className + "\n"
sparkGetSimulationServer()
sparkCreate(className, $serverPath+'simulation/RenderControl/'+className)
end
@@ -261,7 +260,7 @@
# application specific input processing
#
def sparkRegisterCustomInput(className)
- print "(spark.rb) sparkRegisterCustomInput " + className + "\n"
+ #print "(spark.rb) sparkRegisterCustomInput " + className + "\n"
sparkGetSimulationServer()
sparkCreate(className, $serverPath+'simulation/InputControl/'+className)
end
@@ -271,13 +270,12 @@
# commands received from a monitor client
#
def sparkRegisterMonitorCmdParser(className)
- print "(spark.rb) sparkRegisterMonitorCmdParser " + className + "\n"
+ #print "(spark.rb) sparkRegisterMonitorCmdParser " + className + "\n"
sparkGetMonitorServer()
sparkCreate(className, $serverPath+'monitor/SparkMonitor/'+className)
end
def sparkSetupServer
- print "(spark.rb) sparkSetupServer\n"
# add the agent control node
simulationServer = sparkGetSimulationServer()
@@ -306,7 +304,8 @@
else if ($agentType == 'tcp')
agentControl.setServerTypeTCP()
else
- print "(spark.rb) unknown agent socket type "
+ print "(spark.rb) sparkSetupServer\n"
+ print "(spark.rb) ERROR: unknown agent socket type "
print $agentType
print "\n"
end
@@ -321,7 +320,8 @@
else if ($serverType == 'tcp')
monitorControl.setServerTypeTCP()
else
- print "(spark.rb) unknown monitor socket type "
+ print "(spark.rb) sparkSetupServer\n"
+ print "(spark.rb) ERROR: unknown monitor socket type "
print $serverType
print "\n"
end
@@ -416,7 +416,7 @@
end
def sparkSetupTrain()
- print "(spark.rb) sparkSetupTrain\n"
+ #print "(spark.rb) sparkSetupTrain\n"
#
# register train control node to the simulation server
@@ -504,7 +504,7 @@
# deregisters all output stream
def sparkResetLogging()
- print "(spark.rb) sparkResetLogging removing all log targets\n";
+ #print "(spark.rb) sparkResetLogging removing all log targets\n";
logServer = get($serverPath+'log')
if (logServer != nil)
@@ -513,11 +513,21 @@
end
+# logs all normal output to cout
+def sparkLogNormalToCout()
+ sparkEnableLog(':cout', 'eNormal')
+end
+
# logs all error output to cerr
def sparkLogErrorToCerr()
sparkEnableLog(':cerr', 'eError')
end
+# logs all warning output to cerr
+def sparkLogWarningToCerr()
+ sparkEnableLog(':cerr', 'eWarning')
+end
+
# logs all debug output to cerr
def sparkLogDebugToCerr()
sparkEnableLog(':cerr', 'eDebug')
@@ -552,12 +562,12 @@
# setup spark
#
-print "(spark.rb) setup\n"
+#print "(spark.rb) setup\n"
#import the implementations of the desired physics engine
#currently supported: odeimps (uses Open Dynamics Engine)
importBundle 'odeimps'
-print "(spark.rb) using ODE, to change the physics engine go to line 559 in spark.rb\n"
+#print "(spark.rb) using ODE, to change the physics engine go to line 559 in spark.rb\n"
#
# set up logging
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|
|
From: <sgv...@us...> - 2011-02-11 22:53:56
|
Revision: 245
http://simspark.svn.sourceforge.net/simspark/?rev=245&view=rev
Author: sgvandijk
Date: 2011-02-11 22:53:50 +0000 (Fri, 11 Feb 2011)
Log Message:
-----------
- Use ode-config to find ODE. Helps find locally installed ODE
- Use HINTS instead of PATHS for finding simspark, so SPARK_DIR has preference over default paths
Modified Paths:
--------------
trunk/rcssserver3d/cmake/FindODE.cmake
trunk/rcssserver3d/cmake/FindSpark.cmake
trunk/spark/cmake/FindODE.cmake
Modified: trunk/rcssserver3d/cmake/FindODE.cmake
===================================================================
--- trunk/rcssserver3d/cmake/FindODE.cmake 2011-02-10 18:40:37 UTC (rev 244)
+++ trunk/rcssserver3d/cmake/FindODE.cmake 2011-02-11 22:53:50 UTC (rev 245)
@@ -18,11 +18,21 @@
OUTPUT_STRIP_TRAILING_WHITESPACE
RESULT_VARIABLE ODE_CONFIG_RESULT
)
+ EXECUTE_PROCESS(
+ COMMAND ${ODE_CONFIG} --prefix
+ OUTPUT_VARIABLE ODE_CONFIG_PREFIX
+ OUTPUT_STRIP_TRAILING_WHITESPACE
+ RESULT_VARIABLE ODE_CONFIG_RESULT
+ )
ELSE(COMMAND EXECUTE_PROCESS)
EXEC_PROGRAM(${ODE_CONFIG} ARGS "--cflags"
OUTPUT_VARIABLE ODE_CONFIG_CFLAGS
RETURN_VALUE ODE_CONFIG_RESULT
)
+ EXEC_PROGRAM(${ODE_CONFIG} ARGS "--prefix"
+ OUTPUT_VARIABLE ODE_CONFIG_PREFIX
+ RETURN_VALUE ODE_CONFIG_RESULT
+ )
ENDIF(COMMAND EXECUTE_PROCESS)
# Parse the include flags.
@@ -44,22 +54,25 @@
ENDIF(ODE_CONFIG)
FIND_PATH(ODE_INCLUDE_DIR ode/ode.h
+ ${ODE_CONFIG_PREFIX}/include
/usr/include
/usr/local/include
- $ENV{OGRE_HOME}/include # OGRE SDK on WIN32
+ $ENV{ODE_HOME}/include
$ENV{INCLUDE}
C:/library/ode/include
"C:/Program Files/ode/include"
"C:/Program Files (x86)/ode/include"
C:/ode/include
+ NO_DEFAULT_PATH
)
FIND_LIBRARY(ODE_LIBRARY
NAMES ode ode_double ode_single
PATHS
+ ${ODE_CONFIG_PREFIX}/lib
/usr/lib
/usr/lib64
/usr/local/lib
- $ENV{OGRE_HOME}/lib # OGRE SDK on WIN32
+ $ENV{ODE_HOME}/lib
C:/library/ode/lib/
"C:/Program Files/ode/lib/"
"C:/Program Files (x86)/ode/lib/"
@@ -68,6 +81,7 @@
releaselib
ReleaseDoubleDLL ReleaseDoubleLib
ReleaseSingleDLL ReleaseSingleLib
+ NO_DEFAULT_PATH
)
IF (WIN32)
Modified: trunk/rcssserver3d/cmake/FindSpark.cmake
===================================================================
--- trunk/rcssserver3d/cmake/FindSpark.cmake 2011-02-10 18:40:37 UTC (rev 244)
+++ trunk/rcssserver3d/cmake/FindSpark.cmake 2011-02-11 22:53:50 UTC (rev 245)
@@ -30,12 +30,12 @@
SET(SPARK_DIR $ENV{SPARK_DIR} "C:/Program Files/simspark" "C:/Program Files (x86)/simspark" "C:/library/simspark")
FIND_PATH(SPARK_INCLUDE_DIR spark/spark.h
- PATHS ${SPARK_DIR}
+ HINTS ${SPARK_DIR}
PATH_SUFFIXES simspark include/simspark)
SET(SPARK_NAMES spark spark_debug)
FIND_LIBRARY(SPARK_LIBRARY NAMES ${SPARK_NAMES}
- PATHS ${SPARK_DIR}
+ HINTS ${SPARK_DIR}
PATH_SUFFIXES simspark lib/simspark)
GET_FILENAME_COMPONENT(SPARK_LIB_DIR ${SPARK_LIBRARY} PATH)
@@ -60,12 +60,12 @@
ENDIF (SALT_INCLUDE_DIR)
FIND_PATH(SALT_INCLUDE_DIR salt/salt.h
- PATHS ${SPARK_DIR}
+ HINTS ${SPARK_DIR}
PATH_SUFFIXES simspark include/simspark)
SET(SALT_NAMES salt salt_debug)
FIND_LIBRARY(SALT_LIBRARY NAMES ${SALT_NAMES}
- PATHS ${SPARK_DIR}
+ HINTS ${SPARK_DIR}
PATH_SUFFIXES simspark lib/simspark)
# handle the QUIETLY and REQUIRED arguments and set SALT_FOUND to TRUE if
@@ -89,12 +89,12 @@
ENDIF (ZEITGEIST_INCLUDE_DIR)
FIND_PATH(ZEITGEIST_INCLUDE_DIR zeitgeist/zeitgeist.h
- PATHS ${SPARK_DIR}
+ HINTS ${SPARK_DIR}
PATH_SUFFIXES simspark include/simspark)
SET(ZEITGEIST_NAMES zeitgeist zeitgeist_debug)
FIND_LIBRARY(ZEITGEIST_LIBRARY NAMES ${ZEITGEIST_NAMES}
- PATHS ${SPARK_DIR}
+ HINTS ${SPARK_DIR}
PATH_SUFFIXES simspark lib/simspark)
# handle the QUIETLY and REQUIRED arguments and set ZEITGEIST_FOUND to TRUE if
@@ -118,12 +118,12 @@
ENDIF (OXYGEN_INCLUDE_DIR)
FIND_PATH(OXYGEN_INCLUDE_DIR oxygen/oxygen.h
- PATHS ${SPARK_DIR}
+ HINTS ${SPARK_DIR}
PATH_SUFFIXES simspark include/simspark)
SET(OXYGEN_NAMES oxygen oxygen_debug)
FIND_LIBRARY(OXYGEN_LIBRARY NAMES ${OXYGEN_NAMES}
- PATHS ${SPARK_DIR}
+ HINTS ${SPARK_DIR}
PATH_SUFFIXES simspark lib/simspark)
# handle the QUIETLY and REQUIRED arguments and set OXYGEN_FOUND to TRUE if
@@ -147,12 +147,12 @@
ENDIF (KEROSIN_INCLUDE_DIR)
FIND_PATH(KEROSIN_INCLUDE_DIR kerosin/kerosin.h
- PATHS ${SPARK_DIR}
+ HINTS ${SPARK_DIR}
PATH_SUFFIXES simspark include/simspark)
SET(KEROSIN_NAMES kerosin kerosin_debug)
FIND_LIBRARY(KEROSIN_LIBRARY NAMES ${KEROSIN_NAMES}
- PATHS ${SPARK_DIR}
+ HINTS ${SPARK_DIR}
PATH_SUFFIXES simspark lib/simspark)
# handle the QUIETLY and REQUIRED arguments and set KEROSIN_FOUND to TRUE if
@@ -176,12 +176,12 @@
ENDIF (RCSSNET3D_INCLUDE_DIR)
FIND_PATH(RCSSNET3D_INCLUDE_DIR rcssnet/addr.hpp
- PATHS ${SPARK_DIR}
+ HINTS ${SPARK_DIR}
PATH_SUFFIXES simspark include/simspark)
SET(RCSSNET3D_NAMES rcssnet3D rcssnet3D_debug)
FIND_LIBRARY(RCSSNET3D_LIBRARY NAMES ${RCSSNET3D_NAMES}
- PATHS ${SPARK_DIR}
+ HINTS ${SPARK_DIR}
PATH_SUFFIXES simspark lib/simspark)
# handle the QUIETLY and REQUIRED arguments and set RCSSNET3D_FOUND to TRUE if
Modified: trunk/spark/cmake/FindODE.cmake
===================================================================
--- trunk/spark/cmake/FindODE.cmake 2011-02-10 18:40:37 UTC (rev 244)
+++ trunk/spark/cmake/FindODE.cmake 2011-02-11 22:53:50 UTC (rev 245)
@@ -18,11 +18,21 @@
OUTPUT_STRIP_TRAILING_WHITESPACE
RESULT_VARIABLE ODE_CONFIG_RESULT
)
+ EXECUTE_PROCESS(
+ COMMAND ${ODE_CONFIG} --prefix
+ OUTPUT_VARIABLE ODE_CONFIG_PREFIX
+ OUTPUT_STRIP_TRAILING_WHITESPACE
+ RESULT_VARIABLE ODE_CONFIG_RESULT
+ )
ELSE(COMMAND EXECUTE_PROCESS)
EXEC_PROGRAM(${ODE_CONFIG} ARGS "--cflags"
OUTPUT_VARIABLE ODE_CONFIG_CFLAGS
RETURN_VALUE ODE_CONFIG_RESULT
)
+ EXEC_PROGRAM(${ODE_CONFIG} ARGS "--prefix"
+ OUTPUT_VARIABLE ODE_CONFIG_PREFIX
+ RETURN_VALUE ODE_CONFIG_RESULT
+ )
ENDIF(COMMAND EXECUTE_PROCESS)
# Parse the include flags.
@@ -44,6 +54,7 @@
ENDIF(ODE_CONFIG)
FIND_PATH(ODE_INCLUDE_DIR ode/ode.h
+ ${ODE_CONFIG_PREFIX}/include
/usr/include
/usr/local/include
$ENV{ODE_HOME}/include
@@ -52,10 +63,12 @@
"C:/Program Files/ode/include"
"C:/Program Files (x86)/ode/include"
C:/ode/include
+ NO_DEFAULT_PATH
)
FIND_LIBRARY(ODE_LIBRARY
NAMES ode ode_double ode_single
PATHS
+ ${ODE_CONFIG_PREFIX}/lib
/usr/lib
/usr/lib64
/usr/local/lib
@@ -68,6 +81,7 @@
releaselib
ReleaseDoubleDLL ReleaseDoubleLib
ReleaseSingleDLL ReleaseSingleLib
+ NO_DEFAULT_PATH
)
IF (WIN32)
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|
|
From: <sgv...@us...> - 2011-02-10 18:40:43
|
Revision: 244
http://simspark.svn.sourceforge.net/simspark/?rev=244&view=rev
Author: sgvandijk
Date: 2011-02-10 18:40:37 +0000 (Thu, 10 Feb 2011)
Log Message:
-----------
- ChangeLog
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2011-02-10 18:37:19 UTC (rev 243)
+++ trunk/rcssserver3d/ChangeLog 2011-02-10 18:40:37 UTC (rev 244)
@@ -1,3 +1,11 @@
+2011-02-10 Sander van Dijk <sgv...@gm...>
+
+ * rcssserver3d/rcssserver3d/main.cpp
+ - Set different agent and monitor ports with --agent-posrt and --server-port
+
+ * /trunk/rcssserver3d/data/textures/rcs-naofield.png
+ - New field texture
+
2011-01-13 Hedayat Vatankhah <hed...@gm...>
* cmake/UseLATEX.cmake:
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|
|
From: <sgv...@us...> - 2011-02-10 18:37:25
|
Revision: 243
http://simspark.svn.sourceforge.net/simspark/?rev=243&view=rev
Author: sgvandijk
Date: 2011-02-10 18:37:19 +0000 (Thu, 10 Feb 2011)
Log Message:
-----------
- Set different agent and monitor ports with --agent-posrt and --server-port
- New field texture
Modified Paths:
--------------
trunk/rcssserver3d/data/textures/rcs-naofield.png
trunk/rcssserver3d/rcssserver3d/main.cpp
Modified: trunk/rcssserver3d/data/textures/rcs-naofield.png
===================================================================
(Binary files differ)
Modified: trunk/rcssserver3d/rcssserver3d/main.cpp
===================================================================
--- trunk/rcssserver3d/rcssserver3d/main.cpp 2011-01-13 16:49:48 UTC (rev 242)
+++ trunk/rcssserver3d/rcssserver3d/main.cpp 2011-02-10 18:37:19 UTC (rev 243)
@@ -84,6 +84,8 @@
<< "\noptions:\n"
<< " --help\t\t\t print this message.\n"
<< " --script-path PATH\t set the script path (simspark.rb path).\n"
+ << "--agent-port PORTNUM\t port for agents to connect to.\n"
+ << "--server-port PORTNUM\t port for monitors to connect to.\n"
<< "\n";
}
@@ -91,7 +93,7 @@
{
for( int i = 1; i < argc; i++)
{
- if(strcmp( argv[1], "--help" ) == 0)
+ if(strcmp( argv[i], "--help" ) == 0)
{
PrintHelp();
return false;
@@ -107,6 +109,29 @@
return false;
}
}
+ else if (strcmp(argv[i], "--agent-port") == 0)
+ {
+ i++;
+ if (i < argc)
+ GetScriptServer()->Eval(string("$agentPort = ") + argv[i]);
+ else
+ {
+ PrintHelp();
+ return false;
+ }
+ }
+ else if (strcmp(argv[i], "--server-port") == 0)
+ {
+ i++;
+ if (i < argc)
+ GetScriptServer()->Eval(string("$serverPort = ") + argv[i]);
+ else
+ {
+ PrintHelp();
+ return false;
+ }
+ }
+
}
return true;
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|
|
From: <he...@us...> - 2011-01-13 16:49:55
|
Revision: 242
http://simspark.svn.sourceforge.net/simspark/?rev=242&view=rev
Author: hedayat
Date: 2011-01-13 16:49:48 +0000 (Thu, 13 Jan 2011)
Log Message:
-----------
Updated UseLATEX
Fixed a compile issue on Mac (Thanks to Luca Giuliani)
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/cmake/UseLATEX.cmake
trunk/rcssserver3d/plugin/soccermonitor/CMakeLists.txt
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2010-12-19 19:18:59 UTC (rev 241)
+++ trunk/rcssserver3d/ChangeLog 2011-01-13 16:49:48 UTC (rev 242)
@@ -1,3 +1,11 @@
+2011-01-13 Hedayat Vatankhah <hed...@gm...>
+
+ * cmake/UseLATEX.cmake:
+ - Updated to version 1.7.2
+
+ * plugin/soccermonitor/CMakeLists.txt:
+ - Link OpenGL libraries to fix MacOSX compile issue(Thanks to Giuliani)
+
2010-12-14 Yuan Xu <xu...@in...>
* rcssserver3d/plugin/soccer/restrictedvisionperceptor/restrictedvisionperceptor.cpp
* rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
Modified: trunk/rcssserver3d/cmake/UseLATEX.cmake
===================================================================
--- trunk/rcssserver3d/cmake/UseLATEX.cmake 2010-12-19 19:18:59 UTC (rev 241)
+++ trunk/rcssserver3d/cmake/UseLATEX.cmake 2011-01-13 16:49:48 UTC (rev 242)
@@ -1,6 +1,6 @@
# File: UseLATEX.cmake
# CMAKE commands to actually use the LaTeX compiler
-# Version: 1.7.0
+# Version: 1.7.2
# Author: Kenneth Moreland (kmorel at sandia dot gov)
#
# Copyright 2004 Sandia Corporation.
@@ -49,6 +49,10 @@
# auxclean: Deletes <name>.aux. This is sometimes necessary
# if a LaTeX error occurs and writes a bad aux file.
#
+# The dvi target is added to the ALL. That is, it will be the target
+# built by default. If the DEFAULT_PDF argument is given, then the
+# pdf target will be the default instead of dvi.
+#
# If the argument MANGLE_TARGET_NAMES is given, then each of the
# target names above will be mangled with the <tex_file> name. This
# is to make the targets unique if ADD_LATEX_DOCUMENT is called for
@@ -58,8 +62,15 @@
#
# History:
#
-# 1.7.0 Added DEPENDS options (thanks to Theodore Papadopoulp).
+# 1.7.2.1 (By Hedayat) Do not add anything to default ALL target
#
+# 1.7.2 Use ps2pdf to convert eps to pdf to get around the problem with
+# ImageMagick dropping the bounding box (thanks to Lukasz Lis).
+#
+# 1.7.1 Fixed some dependency issues.
+#
+# 1.7.0 Added DEPENDS options (thanks to Theodore Papadopoulo).
+#
# 1.6.1 Ported the makeglossaries command to CMake and embedded the port
# into UseLATEX.cmake.
#
@@ -71,16 +82,16 @@
# specify tex files without the .tex extension is removed. The removed
# function is of dubious value anyway.
#
-# When copying input files, skip over any file that exists in the
-# binary directory but does not exist in the source directory with the
-# assumption that these files were added by some other mechanism. I
-# find this useful when creating large documents with multiple
-# chapters that I want to build separately (for speed) as I work on
-# them. I use the same boilerplate as the starting point for all
-# and just copy it with different configurations. This was what the
-# separate ADD_LATEX_DOCUMENT method was supposed to originally be for.
-# Since its external use is pretty much deprecated, I removed that
-# documentation.
+# When copying input files, skip over any file that exists in the
+# binary directory but does not exist in the source directory with the
+# assumption that these files were added by some other mechanism. I
+# find this useful when creating large documents with multiple
+# chapters that I want to build separately (for speed) as I work on
+# them. I use the same boilerplate as the starting point for all
+# and just copy it with different configurations. This was what the
+# separate ADD_LATEX_DOCUMENT method was supposed to originally be for.
+# Since its external use is pretty much deprecated, I removed that
+# documentation.
#
# 1.4.1 Copy .sty files along with the other class and package files.
#
@@ -375,6 +386,30 @@
ENDIF (LATEX_OUTPUT_PATH)
ENDMACRO(LATEX_GET_OUTPUT_PATH)
+MACRO(LATEX_ADD_CONVERT_COMMAND output_path input_path output_extension
+ input_extension flags)
+ SET (converter ${IMAGEMAGICK_CONVERT})
+ SET (convert_flags "")
+ # ImageMagick has broken eps to pdf conversion
+ # use ps2pdf instead
+ IF (${input_extension} STREQUAL ".eps" AND ${output_extension} STREQUAL ".pdf")
+ IF (PS2PDF_CONVERTER)
+ SET (converter ${PS2PDF_CONVERTER})
+ SET (convert_flags "-dEPSCrop ${flags}")
+ ELSE (PS2PDF_CONVERTER)
+ MESSAGE(SEND_ERROR "Using postscript files with pdflatex requires ps2pdf for conversion.")
+ ENDIF (PS2PDF_CONVERTER)
+ ELSE (${input_extension} STREQUAL ".eps" AND ${output_extension} STREQUAL ".pdf")
+ SET (convert_flags ${flags})
+ ENDIF (${input_extension} STREQUAL ".eps" AND ${output_extension} STREQUAL ".pdf")
+
+ ADD_CUSTOM_COMMAND(OUTPUT ${output_path}
+ COMMAND ${converter}
+ ARGS ${convert_flags} ${input_path} ${output_path}
+ DEPENDS ${input_path}
+ )
+ENDMACRO(LATEX_ADD_CONVERT_COMMAND)
+
# Makes custom commands to convert a file to a particular type.
MACRO(LATEX_CONVERT_IMAGE output_files input_file output_extension convert_flags
output_extensions other_files)
@@ -389,12 +424,9 @@
LATEX_LIST_CONTAINS(is_type ${extension} ${output_extensions})
IF (is_type)
IF (convert_flags)
- ADD_CUSTOM_COMMAND(OUTPUT ${output_dir}/${output_file}
- COMMAND ${IMAGEMAGICK_CONVERT}
- ARGS ${input_dir}/${input_file} ${convert_flags}
- ${output_dir}/${output_file}
- DEPENDS ${input_dir}/${input_file}
- )
+ LATEX_ADD_CONVERT_COMMAND(${output_dir}/${output_file}
+ ${input_dir}/${input_file} ${output_extension} ${extension}
+ "${convert_flags}")
SET(${output_files} ${${output_files}} ${output_dir}/${output_file})
ELSE (convert_flags)
# As a shortcut, we can just copy the file.
@@ -419,12 +451,9 @@
# If we still need to convert, do it.
IF (do_convert)
- ADD_CUSTOM_COMMAND(OUTPUT ${output_dir}/${output_file}
- COMMAND ${IMAGEMAGICK_CONVERT}
- ARGS ${input_dir}/${input_file} ${convert_flags}
- ${output_dir}/${output_file}
- DEPENDS ${input_dir}/${input_file}
- )
+ LATEX_ADD_CONVERT_COMMAND(${output_dir}/${output_file}
+ ${input_dir}/${input_file} ${output_extension} ${extension}
+ "${convert_flags}")
SET(${output_files} ${${output_files}} ${output_dir}/${output_file})
ENDIF (do_convert)
ENDIF (is_type)
@@ -493,20 +522,20 @@
LATEX_LIST_CONTAINS(use_config ${file} ${LATEX_CONFIGURE})
IF (use_config)
CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/${file}
- ${output_dir}/${file}
- @ONLY
- )
+ ${output_dir}/${file}
+ @ONLY
+ )
ADD_CUSTOM_COMMAND(OUTPUT ${output_dir}/${file}
- COMMAND ${CMAKE_COMMAND}
- ARGS ${CMAKE_BINARY_DIR}
- DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/${file}
- )
+ COMMAND ${CMAKE_COMMAND}
+ ARGS ${CMAKE_BINARY_DIR}
+ DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/${file}
+ )
ELSE (use_config)
ADD_CUSTOM_COMMAND(OUTPUT ${output_dir}/${file}
- COMMAND ${CMAKE_COMMAND}
- ARGS -E copy ${CMAKE_CURRENT_SOURCE_DIR}/${file} ${output_dir}/${file}
- DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/${file}
- )
+ COMMAND ${CMAKE_COMMAND}
+ ARGS -E copy ${CMAKE_CURRENT_SOURCE_DIR}/${file} ${output_dir}/${file}
+ DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/${file}
+ )
ENDIF (use_config)
ELSE (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${file})
IF (EXISTS ${output_dir}/${file})
@@ -671,31 +700,45 @@
COMMAND ${CMAKE_COMMAND} -E chdir ${output_dir}
${PDFLATEX_COMPILER} ${PDFLATEX_COMPILER_FLAGS} ${LATEX_MAIN_INPUT})
+ # Add commands and targets for building dvi outputs.
+ ADD_CUSTOM_COMMAND(OUTPUT ${output_dir}/${LATEX_TARGET}.dvi
+ COMMAND ${make_dvi_command}
+ DEPENDS ${make_dvi_depends}
+ )
IF (LATEX_DEFAULT_PDF)
- ADD_CUSTOM_TARGET(${dvi_target} ${make_dvi_command}
- DEPENDS ${make_dvi_depends})
+ ADD_CUSTOM_TARGET(${dvi_target}
+ DEPENDS ${output_dir}/${LATEX_TARGET}.dvi)
ELSE (LATEX_DEFAULT_PDF)
- ADD_CUSTOM_TARGET(${dvi_target} ALL ${make_dvi_command}
- DEPENDS ${make_dvi_depends})
+ ADD_CUSTOM_TARGET(${dvi_target}
+ DEPENDS ${output_dir}/${LATEX_TARGET}.dvi)
ENDIF (LATEX_DEFAULT_PDF)
+ # Add commands and targets for building pdf outputs (with pdflatex).
IF (PDFLATEX_COMPILER)
+ ADD_CUSTOM_COMMAND(OUTPUT ${output_dir}/${LATEX_TARGET}.pdf
+ COMMAND ${make_pdf_command}
+ DEPENDS ${make_pdf_depends}
+ )
IF (LATEX_DEFAULT_PDF)
- ADD_CUSTOM_TARGET(${pdf_target} ${make_pdf_command}
- DEPENDS ${make_pdf_depends})
+ ADD_CUSTOM_TARGET(${pdf_target}
+ DEPENDS ${output_dir}/${LATEX_TARGET}.pdf)
ELSE (LATEX_DEFAULT_PDF)
- ADD_CUSTOM_TARGET(${pdf_target} ${make_pdf_command}
- DEPENDS ${make_pdf_depends})
+ ADD_CUSTOM_TARGET(${pdf_target}
+ DEPENDS ${output_dir}/${LATEX_TARGET}.pdf)
ENDIF (LATEX_DEFAULT_PDF)
ENDIF (PDFLATEX_COMPILER)
IF (DVIPS_CONVERTER)
+ ADD_CUSTOM_COMMAND(OUTPUT ${output_dir}/${LATEX_TARGET}.ps
+ COMMAND ${CMAKE_COMMAND} -E chdir ${output_dir}
+ ${DVIPS_CONVERTER} ${DVIPS_CONVERTER_FLAGS} -o ${LATEX_TARGET}.ps ${LATEX_TARGET}.dvi
+ DEPENDS ${output_dir}/${LATEX_TARGET}.dvi)
ADD_CUSTOM_TARGET(${ps_target}
- ${CMAKE_COMMAND} -E chdir ${output_dir}
- ${DVIPS_CONVERTER} ${DVIPS_CONVERTER_FLAGS} -o ${LATEX_TARGET}.ps ${LATEX_TARGET}.dvi
- )
- ADD_DEPENDENCIES(${ps_target} ${dvi_target})
+ DEPENDS ${output_dir}/${LATEX_TARGET}.ps)
IF (PS2PDF_CONVERTER)
+ # Since both the pdf and safepdf targets have the same output, we
+ # cannot properly do the dependencies for both. When selecting safepdf,
+ # simply force a recompile every time.
ADD_CUSTOM_TARGET(${safepdf_target}
${CMAKE_COMMAND} -E chdir ${output_dir}
${PS2PDF_CONVERTER} ${PS2PDF_CONVERTER_FLAGS} ${LATEX_TARGET}.ps ${LATEX_TARGET}.pdf
Modified: trunk/rcssserver3d/plugin/soccermonitor/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/plugin/soccermonitor/CMakeLists.txt 2010-12-19 19:18:59 UTC (rev 241)
+++ trunk/rcssserver3d/plugin/soccermonitor/CMakeLists.txt 2011-01-13 16:49:48 UTC (rev 242)
@@ -24,7 +24,7 @@
add_library(soccermonitor MODULE ${soccermonitor_LIB_SRCS}
${soccermonitor_LIB_HDRS})
-target_link_libraries(soccermonitor ${spark_libs})
+target_link_libraries(soccermonitor ${spark_libs} ${OPENGL_LIBRARIES})
if (NOT APPLE)
set_target_properties(soccermonitor PROPERTIES VERSION 1.0.0 SOVERSION 1)
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