Revision: 7360
http://playerstage.svn.sourceforge.net/playerstage/?rev=7360&view=rev
Author: rtv
Date: 2009-03-03 18:40:23 +0000 (Tue, 03 Mar 2009)
Log Message:
-----------
fixed thread pool implementation
Modified Paths:
--------------
code/stage/trunk/CMakeLists.txt
code/stage/trunk/config.h.in
code/stage/trunk/libstage/model_gripper.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/libstage/worldgui.cc
code/stage/trunk/worlds/fasr.world
Modified: code/stage/trunk/CMakeLists.txt
===================================================================
--- code/stage/trunk/CMakeLists.txt 2009-03-02 02:06:19 UTC (rev 7359)
+++ code/stage/trunk/CMakeLists.txt 2009-03-03 18:40:23 UTC (rev 7360)
@@ -14,6 +14,8 @@
OPTION (BUILD_LSPTEST "Build Player plugin tests" OFF)
OPTION (CPACK_CFG "[release building] generate CPack configuration files" OFF)
+OPTION (BUILD_GUI "WARNING: turning this off breaks the build right now. Build
FLTK-based GUI. If OFF, build a gui-less Stage useful e.g. for headless compute
clusters." ON )
+
cmake_minimum_required( VERSION 2.4 FATAL_ERROR )
IF (CMAKE_MAJOR_VERSION EQUAL 2 AND NOT CMAKE_MINOR_VERSION LESS 6)
@@ -75,6 +77,10 @@
MESSAGE( ${INDENT} "Libpng not detected" )
ENDIF( LIBPNG_FOUND )
+MESSAGE( STATUS "BUILD_GUI is ${BUILD_GUI}" )
+
+IF( BUILD_GUI )
+
## the FLTK package script is not useful - it finds an X11-based FLTK on OS X.
## so we can't do this stuff
#find_package( FLTK REQUIRED )
@@ -125,6 +131,8 @@
SET (FLTK_FOUND TRUE)
+ENDIF( BUILD_GUI )
+
#MESSAGE( ${INDENT} "Checking for OpenGL" )
find_package( OpenGL REQUIRED )
IF( NOT OPENGL_GLU_FOUND )
@@ -157,6 +165,8 @@
# SET(APPLE_LIBRARIES
"-Wl,-dylib_file,/System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGL.dylib:/System/Library/Frameworks/OpenGL.framework/Versions/A/Libraries/libGL.dylib")
#ENDIF (APPLE)
+MESSAGE( STATUS "Installation directory
CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}" )
+
# all targets need these include directories
include_directories( .
libstage
Modified: code/stage/trunk/config.h.in
===================================================================
--- code/stage/trunk/config.h.in 2009-03-02 02:06:19 UTC (rev 7359)
+++ code/stage/trunk/config.h.in 2009-03-03 18:40:23 UTC (rev 7360)
@@ -6,5 +6,7 @@
#define APIVERSION "@APIVERSION@"
#define INSTALL_PREFIX "@CMAKE_INSTALL_PREFIX@"
+#cmakedefine BUILD_GUI
+
#endif
Modified: code/stage/trunk/libstage/model_gripper.cc
===================================================================
--- code/stage/trunk/libstage/model_gripper.cc 2009-03-02 02:06:19 UTC (rev
7359)
+++ code/stage/trunk/libstage/model_gripper.cc 2009-03-03 18:40:23 UTC (rev
7360)
@@ -93,6 +93,9 @@
FixBlocks();
+ // Update() is not reentrant
+ thread_safe = false;
+
// default size
Geom geom;
geom.pose.x = 0.0;
@@ -205,6 +208,8 @@
void ModelGripper::Update()
{
+ //return;
+
// no work to do if we're unsubscribed
if( subs < 1 )
{
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-03-02 02:06:19 UTC (rev 7359)
+++ code/stage/trunk/libstage/stage.hh 2009-03-03 18:40:23 UTC (rev 7360)
@@ -897,7 +897,11 @@
stg_usec_t sim_time; ///< the current sim time in this world in ms
GHashTable* superregions;
SuperRegion* sr_cached; ///< The last superregion looked up by this world
- GList* update_list; ///< Models that have a subscriber or controller, and
need to be updated
+ // GList* update_list; ///< Models that have a subscriber or controller,
and need to be updated
+
+ GList* reentrant_update_list; ///< It is safe to call these model's
Update() in parallel
+ GList* nonreentrant_update_list; ///< It is NOT safe to call these model's
Update() in parallel
+
long unsigned int updates; ///< the number of simulated time steps
executed so far
Worldfile* wf; ///< If set, points to the worldfile used to create this
world
@@ -984,25 +988,13 @@
/** Returns true iff the current time is greater than the time we
should quit */
bool PastQuitTime();
+
+ void StartUpdatingModel( Model* mod );
+ void StopUpdatingModel( Model* mod );
- void StartUpdatingModel( Model* mod )
- {
- if( ! g_list_find( update_list, mod ) )
- update_list = g_list_append( update_list, mod );
- }
+ void StartUpdatingModelPose( Model* mod );
+ void StopUpdatingModelPose( Model* mod );
- void StopUpdatingModel( Model* mod )
- { update_list = g_list_remove( update_list, mod ); }
-
- void StartUpdatingModelPose( Model* mod )
- {
- if( ! g_list_find( velocity_list, mod ) )
- velocity_list = g_list_append( velocity_list, mod );
- }
-
- void StopUpdatingModelPose( Model* mod )
- { velocity_list = g_list_remove( velocity_list, mod ); }
-
static void update_thread_entry( Model* mod, World* world );
public:
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-03-02 02:06:19 UTC (rev 7359)
+++ code/stage/trunk/libstage/world.cc 2009-03-03 18:40:23 UTC (rev 7360)
@@ -102,7 +102,9 @@
superregions( g_hash_table_new( (GHashFunc)PointIntHash,
(GEqualFunc)PointIntEqual ) ),
sr_cached(NULL),
- update_list( NULL ),
+ // update_list( NULL ),
+ reentrant_update_list( NULL ),
+ nonreentrant_update_list( NULL ),
updates( 0 ),
wf( NULL )
{
@@ -377,8 +379,11 @@
g_hash_table_remove_all( models_by_name );
- g_list_free( update_list );
- update_list = NULL;
+ g_list_free( reentrant_update_list );
+ reentrant_update_list = NULL;
+
+ g_list_free( nonreentrant_update_list );
+ nonreentrant_update_list = NULL;
g_list_free( ray_list );
ray_list = NULL;
@@ -432,29 +437,27 @@
// something that takes charge
LISTMETHOD( charge_list, Model*, UpdateCharge );
- // then update all sensors
+ // then update all models on the update lists
+ LISTMETHOD( nonreentrant_update_list, Model*, UpdateIfDue );
+
if( worker_threads == 0 ) // do all the work in this thread
{
- LISTMETHOD( update_list, Model*, UpdateIfDue );
+ LISTMETHOD( reentrant_update_list, Model*, UpdateIfDue );
}
else // use worker threads
{
// push the update for every model that needs it into the thread pool
- for( GList* it = update_list; it; it=it->next )
+ for( GList* it = reentrant_update_list; it; it=it->next )
{
Model* mod = (Model*)it->data;
if( mod->UpdateDue() )
{
- if( mod->thread_safe ) // do update in a
worker thread
- {
- g_mutex_lock( thread_mutex );
- update_jobs_pending++;
- g_mutex_unlock( thread_mutex );
- g_thread_pool_push( threadpool,
mod, NULL );
- }
- else
- mod->Update(); // do update in this
thread
+ // printf( "updating model %s in WORKER
thread\n", mod->Token() );
+ g_mutex_lock( thread_mutex );
+ update_jobs_pending++;
+ g_mutex_unlock( thread_mutex );
+ g_thread_pool_push( threadpool, mod, NULL );
}
}
@@ -953,3 +956,41 @@
{
g_hash_table_insert( option_table, (void*)opt->htname, opt );
}
+
+void World::StartUpdatingModel( Model* mod )
+{
+ //if( ! g_list_find( update_list, mod ) )
+ // update_list = g_list_append( update_list, mod );
+
+ if( mod->thread_safe )
+ {
+ if( ! g_list_find( reentrant_update_list, mod ) )
+ reentrant_update_list = g_list_append( reentrant_update_list,
mod );
+ }
+ else
+ {
+ if( ! g_list_find( nonreentrant_update_list, mod ) )
+ nonreentrant_update_list = g_list_append(
nonreentrant_update_list, mod );
+ }
+}
+
+void World::StopUpdatingModel( Model* mod )
+{
+ // update_list = g_list_remove( update_list, mod );
+
+ if( mod->thread_safe )
+ reentrant_update_list = g_list_remove( reentrant_update_list, mod );
+ else
+ nonreentrant_update_list = g_list_remove( nonreentrant_update_list,
mod );
+}
+
+void World::StartUpdatingModelPose( Model* mod )
+{
+ if( ! g_list_find( velocity_list, mod ) )
+ velocity_list = g_list_append( velocity_list, mod );
+}
+
+void World::StopUpdatingModelPose( Model* mod )
+{
+ velocity_list = g_list_remove( velocity_list, mod );
+}
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2009-03-02 02:06:19 UTC (rev
7359)
+++ code/stage/trunk/libstage/worldgui.cc 2009-03-03 18:40:23 UTC (rev
7360)
@@ -845,11 +845,17 @@
std::set<Option*, Option::optComp> options;
std::vector<Option*> modOpts;
- for( GList* it=update_list; it; it=it->next )
+ for( GList* it=reentrant_update_list; it; it=it->next )
{
modOpts = ((Model*)it->data)->getOptions();
options.insert( modOpts.begin(), modOpts.end() );
}
+
+ for( GList* it=nonreentrant_update_list; it; it=it->next )
+ {
+ modOpts = ((Model*)it->data)->getOptions();
+ options.insert( modOpts.begin(), modOpts.end() );
+ }
drawOptions.assign( options.begin(), options.end() );
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-03-02 02:06:19 UTC (rev 7359)
+++ code/stage/trunk/worlds/fasr.world 2009-03-03 18:40:23 UTC (rev 7360)
@@ -13,8 +13,8 @@
resolution 0.02
# threads may speed things up here depending on available CPU cores & workload
- threadpool 0
-# threadpool 3
+# threadpool 0
+ threadpool 0
# configure the GUI window
@@ -72,7 +72,7 @@
define autorob pioneer2dx
(
- sicklaser( samples 32 range_max 5 laser_return 2 watts 30 )
+ sicklaser( samples 16 range_max 5 laser_return 2 watts 30 )
ctrl "fasr"
joules 100000
joules_capacity 400000
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