Changes have been pushed for the project "Fawkes Robotics Software Framework".
Gitweb: http://git.fawkesrobotics.org/fawkes.git Trac: http://trac.fawkesrobotics.org The branch, timn/clips-agent has been updated to a703a0b53d15de1dbf63e48277b6b08f98d5a5c6 (commit) from 8c813828ee32610a262653d357b23443d8ab4cf2 (commit) http://git.fawkesrobotics.org/fawkes.git/timn/clips-agent Those revisions listed above that are new to this repository have not appeared on any other notification email; so we list those revisions in full, below. - *Log* --------------------------------------------------------------- commit a703a0b53d15de1dbf63e48277b6b08f98d5a5c6 Author: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> AuthorDate: Mon Jan 14 15:41:28 2013 +0100 Commit: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> CommitDate: Mon Jan 14 15:41:28 2013 +0100 clips-agent: do not open skiller interface in sim mode Do neither open skiller interface nor try to acquire exclusive skiller control in sim mode. This allows to run the agent completely without the skiller. http://git.fawkesrobotics.org/fawkes.git/commit/a703a0b http://trac.fawkesrobotics.org/changeset/a703a0b - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - *Summary* ----------------------------------------------------------- src/plugins/clips-agent/clips_agent_thread.cpp | 51 +++++++++++++----------- 1 files changed, 28 insertions(+), 23 deletions(-) - *Diffs* ------------------------------------------------------------- - *commit* a703a0b53d15de1dbf63e48277b6b08f98d5a5c6 - - - - - - - - - - Author: Tim Niemueller <niemuel...@kbsg.rwth-aachen.de> Date: Mon Jan 14 15:41:28 2013 +0100 Subject: clips-agent: do not open skiller interface in sim mode src/plugins/clips-agent/clips_agent_thread.cpp | 51 +++++++++++++----------- 1 files changed, 28 insertions(+), 23 deletions(-) _Diff for modified files_: diff --git a/src/plugins/clips-agent/clips_agent_thread.cpp b/src/plugins/clips-agent/clips_agent_thread.cpp index af059e6..74399fa 100644 --- a/src/plugins/clips-agent/clips_agent_thread.cpp +++ b/src/plugins/clips-agent/clips_agent_thread.cpp @@ -50,6 +50,8 @@ ClipsAgentThread::~ClipsAgentThread() void ClipsAgentThread::init() { + skiller_if_ = NULL; + cfg_auto_start_ = false; cfg_assert_time_each_loop_ = false; cfg_skill_sim_time_ = 2.0; @@ -71,15 +73,17 @@ ClipsAgentThread::init() cfg_clips_dir_ = std::string(SRCDIR) + "/clips/"; - skiller_if_ = blackboard->open_for_reading<SkillerInterface>("Skiller"); + if (! cfg_skill_sim_) { + skiller_if_ = blackboard->open_for_reading<SkillerInterface>("Skiller"); - if (! skiller_if_->has_writer()) { - blackboard->close(skiller_if_); - throw Exception("Skiller has no writer, aborting"); - - } else if (skiller_if_->exclusive_controller() != 0) { - blackboard->close(skiller_if_); - throw Exception("Skiller already has a different exclusive controller"); + if (! skiller_if_->has_writer()) { + blackboard->close(skiller_if_); + throw Exception("Skiller has no writer, aborting"); + + } else if (skiller_if_->exclusive_controller() != 0) { + blackboard->close(skiller_if_); + throw Exception("Skiller already has a different exclusive controller"); + } } switch_if_ = blackboard->open_for_reading<SwitchInterface>("Clips Agent Start"); @@ -128,21 +132,22 @@ ClipsAgentThread::finalize() void ClipsAgentThread::loop() { - skiller_if_->read(); - - if (! cfg_skill_sim_ && - (skiller_if_->exclusive_controller() == 0) && skiller_if_->has_writer()) - { - if (ctrl_recheck_) { - logger->log_info(name(), "Acquiring exclusive skiller control"); - SkillerInterface::AcquireControlMessage *msg = - new SkillerInterface::AcquireControlMessage(); - skiller_if_->msgq_enqueue(msg); - ctrl_recheck_ = false; - } else { - ctrl_recheck_ = true; + if (! cfg_skill_sim_) { + skiller_if_->read(); + + if ((skiller_if_->exclusive_controller() == 0) && skiller_if_->has_writer()) + { + if (ctrl_recheck_) { + logger->log_info(name(), "Acquiring exclusive skiller control"); + SkillerInterface::AcquireControlMessage *msg = + new SkillerInterface::AcquireControlMessage(); + skiller_if_->msgq_enqueue(msg); + ctrl_recheck_ = false; + } else { + ctrl_recheck_ = true; + } + return; } - return; } if (! started_) { @@ -162,7 +167,7 @@ ClipsAgentThread::loop() Time now(clock); if (! active_skills_.empty()) { - skiller_if_->read(); + if (! cfg_skill_sim_) skiller_if_->read(); std::list<std::string> finished_skills; std::map<std::string, SkillExecInfo>::iterator as; -- Fawkes Robotics Framework http://www.fawkesrobotics.org _______________________________________________ fawkes-commits mailing list fawkes-commits@lists.kbsg.rwth-aachen.de https://lists.kbsg.rwth-aachen.de/listinfo/fawkes-commits
