Revision: 6367
http://playerstage.svn.sourceforge.net/playerstage/?rev=6367&view=rev
Author: gerkey
Date: 2008-04-18 18:58:34 -0700 (Fri, 18 Apr 2008)
Log Message:
-----------
took out debug statements
Modified Paths:
--------------
code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
code/player/trunk/server/drivers/planner/wavefront/wavefront.cc
Modified: code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
2008-04-18 22:50:59 UTC (rev 6366)
+++ code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
2008-04-19 01:58:34 UTC (rev 6367)
@@ -249,7 +249,7 @@
if(!cell->plan_next)
{
- puts("never found start");
+ //puts("never found start");
return(-1);
}
else
Modified: code/player/trunk/server/drivers/planner/wavefront/wavefront.cc
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/wavefront.cc
2008-04-18 22:50:59 UTC (rev 6366)
+++ code/player/trunk/server/drivers/planner/wavefront/wavefront.cc
2008-04-19 01:58:34 UTC (rev 6367)
@@ -868,7 +868,7 @@
tdiff = MAX(0.0, this->cycletime - (currt-loopstart));
if(tdiff == 0.0)
PLAYER_WARN("Wavefront missed deadline and not sleeping; check machine
load");
- usleep((unsigned int)rint(tdiff));
+ usleep((unsigned int)rint(tdiff*1e6));
}
@@ -885,6 +885,7 @@
bool rotate_waypoint=false;
bool replan;
int rotate_dir=0;
+ bool printed_warning=false;
pthread_setcanceltype(PTHREAD_CANCEL_DEFERRED,NULL);
@@ -1003,14 +1004,23 @@
this->localize_y, this->scan_maxrange) < 0))
{
if(!new_goal && (this->plan->path_count != 0))
- puts("Wavefront: local plan failed");
+ puts("Wavefront: local plan failed");
// Create a global plan
if(plan_do_global(this->plan, this->localize_x, this->localize_y,
this->target_x, this->target_y) < 0)
- puts("Wavefront: global plan failed");
+ {
+ if(!printed_warning)
+ {
+ puts("Wavefront: global plan failed");
+ printed_warning = true;
+ }
+ }
else
+ {
this->new_goal = false;
+ printed_warning = false;
+ }
}
if(this->graphics2d_id.interf && this->plan->lpath_count)
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