Revision: 7660
http://playerstage.svn.sourceforge.net/playerstage/?rev=7660&view=rev
Author: robotos
Date: 2009-05-14 13:50:38 +0000 (Thu, 14 May 2009)
Log Message:
-----------
we are not using integers as error detectors but exceptions so change functions
to return void
Modified Paths:
--------------
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/Model.hh
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/Simulator.hh
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/World.hh
code/gazebo/trunk/server/XMLConfig.cc
code/gazebo/trunk/server/XMLConfig.hh
code/gazebo/trunk/server/controllers/imu/Generic_Imu.cc
code/gazebo/trunk/server/gui/Gui.cc
code/gazebo/trunk/server/main.cc
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-05-14 13:35:55 UTC (rev 7659)
+++ code/gazebo/trunk/server/Model.cc 2009-05-14 13:50:38 UTC (rev 7660)
@@ -151,7 +151,7 @@
////////////////////////////////////////////////////////////////////////////////
// Load the model
-int Model::Load(XMLConfigNode *node, bool removeDuplicate)
+void Model::Load(XMLConfigNode *node, bool removeDuplicate)
{
XMLConfigNode *childNode;
Pose3d pose;
@@ -249,7 +249,6 @@
this->graphicsHandler = new GraphicsIfaceHandler();
this->graphicsHandler->Load(this->GetName(), this);
- return 0;
// Get the name of the python module
/*this->pName.reset(PyString_FromString(node->GetString("python","",0).c_str()));
@@ -363,7 +362,7 @@
////////////////////////////////////////////////////////////////////////////////
// Initialize the model
-int Model::Init()
+void Model::Init()
{
std::map<std::string, Body* >::iterator biter;
std::map<std::string, Controller* >::iterator contIter;
@@ -385,12 +384,12 @@
this->sceneNode->attachObject(this->mtext);
*/
- return this->InitChild();
+ this->InitChild();
}
////////////////////////////////////////////////////////////////////////////////
// Update the model
-int Model::Update()
+void Model::Update()
{
std::map<std::string, Body* >::iterator bodyIter;
std::map<std::string, Controller* >::iterator contIter;
@@ -466,21 +465,21 @@
<< tmpT5-tmpT4 << ")" << std::endl;
std::cout << " Models::Update() (" << this->GetName()
<< ") Total DT (" << tmpT5-tmpT1 << ")" << std::endl;
- return update_error;
+ gzthrow( update_error );
#else
- return this->UpdateChild();
+ this->UpdateChild();
#endif
- return this->UpdateChild();
+ this->UpdateChild();
}
////////////////////////////////////////////////////////////////////////////////
// Finalize the model
-int Model::Fini()
+void Model::Fini()
{
std::map<std::string, Body* >::iterator biter;
std::map<std::string, Controller* >::iterator contIter;
@@ -502,7 +501,7 @@
this->graphicsHandler = NULL;
}
- return this->FiniChild();
+ this->FiniChild();
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/Model.hh
===================================================================
--- code/gazebo/trunk/server/Model.hh 2009-05-14 13:35:55 UTC (rev 7659)
+++ code/gazebo/trunk/server/Model.hh 2009-05-14 13:50:38 UTC (rev 7660)
@@ -71,32 +71,32 @@
/// \brief Load the model
/// \param removeDuplicate Remove existing model of same name
- public: int Load(XMLConfigNode *node, bool removeDuplicate);
+ public: void Load(XMLConfigNode *node, bool removeDuplicate);
/// \brief Save the model
public: void Save(std::string &prefix, std::ostream &stream);
/// \brief Initialize the model
- public: int Init();
+ public: void Init();
/// \brief Update the model
/// \param params Update parameters
- public: int Update();
+ public: void Update();
/// \brief Finalize the model
- public: int Fini();
+ public: void Fini();
/// \brief Reset the model
public: void Reset();
/// \brief Initialize the child model
- protected: virtual int InitChild() {return 0;}
+ protected: virtual void InitChild() {}
/// \brief Update the child model
- protected: virtual int UpdateChild() {return 0;}
+ protected: virtual void UpdateChild() {}
/// \brief Finilaize thie child model
- protected: virtual int FiniChild() {return 0;}
+ protected: virtual void FiniChild() {}
/// \brief Get the type of the model
public: const std::string &GetType() const;
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-05-14 13:35:55 UTC (rev
7659)
+++ code/gazebo/trunk/server/Simulator.cc 2009-05-14 13:50:38 UTC (rev
7660)
@@ -245,15 +245,20 @@
////////////////////////////////////////////////////////////////////////////////
/// Initialize the simulation
-int Simulator::Init()
+void Simulator::Init()
{
this->startTime = this->GetWallTime();
//Initialize the world
- if (gazebo::World::Instance()->Init() != 0)
- return -1;
+ try
+ {
+ gazebo::World::Instance()->Init();
+ }
+ catch (GazeboError e)
+ {
+ gzthrow("Failed to Initialize the World\n" << e);
+ }
- return 0;
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/Simulator.hh
===================================================================
--- code/gazebo/trunk/server/Simulator.hh 2009-05-14 13:35:55 UTC (rev
7659)
+++ code/gazebo/trunk/server/Simulator.hh 2009-05-14 13:50:38 UTC (rev
7660)
@@ -77,7 +77,7 @@
public: void Save(const std::string& filename=std::string());
/// \brief Initialize the simulation
- public: int Init( );
+ public: void Init( );
/// \brief Finalize the simulation
public: void Fini( );
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-05-14 13:35:55 UTC (rev 7659)
+++ code/gazebo/trunk/server/World.cc 2009-05-14 13:50:38 UTC (rev 7660)
@@ -187,7 +187,7 @@
////////////////////////////////////////////////////////////////////////////////
// Initialize the world
-int World::Init()
+void World::Init()
{
std::vector< Model* >::iterator miter;
@@ -212,12 +212,11 @@
this->graphics->Init();
- return 0;
}
////////////////////////////////////////////////////////////////////////////////
// Update the world
-int World::Update()
+void World::Update()
{
if (this->simPauseTime > 0)
@@ -270,7 +269,6 @@
std::cout << " World::Update() Physics engine DT(" << tmpT4-tmpT2 << ")" <<
std::endl;
#endif
- return 0;
}
////////////////////////////////////////////////////////////////////////////////
@@ -282,7 +280,7 @@
////////////////////////////////////////////////////////////////////////////////
// Finilize the world
-int World::Fini()
+void World::Fini()
{
std::vector< Model* >::iterator miter;
@@ -303,7 +301,7 @@
this->simIface->Destroy();
}
catch (std::string e)
- {
+ {
gzmsg(-1) << "Problem destroying simIface[" << e << "]\n";
}
@@ -320,8 +318,6 @@
#ifdef HAVE_OPENAL
OpenAL::Instance()->Fini();
#endif
-
- return 0;
}
////////////////////////////////////////////////////////////////////////////////
@@ -341,7 +337,7 @@
///////////////////////////////////////////////////////////////////////////////
// Load a model
-int World::LoadEntities(XMLConfigNode *node, Model *parent, bool
removeDuplicate)
+void World::LoadEntities(XMLConfigNode *node, Model *parent, bool
removeDuplicate)
{
XMLConfigNode *cnode;
Model *model = NULL;
@@ -358,12 +354,9 @@
// Load children
for (cnode = node->GetChild(); cnode != NULL; cnode = cnode->GetNext())
{
- if (this->LoadEntities( cnode, model, removeDuplicate ) != 0)
- return -1;
+ this->LoadEntities( cnode, model, removeDuplicate );
}
-
- return 0;
}
////////////////////////////////////////////////////////////////////////////////
@@ -393,8 +386,7 @@
//model->SetParent(parent);
// Load the model
- if (model->Load( node, removeDuplicate ) != 0)
- return NULL;
+ model->Load( node, removeDuplicate );
// Set the model's pose (relative to parent)
this->SetModelPose(model, model->GetInitPose());
Modified: code/gazebo/trunk/server/World.hh
===================================================================
--- code/gazebo/trunk/server/World.hh 2009-05-14 13:35:55 UTC (rev 7659)
+++ code/gazebo/trunk/server/World.hh 2009-05-14 13:50:38 UTC (rev 7660)
@@ -74,16 +74,13 @@
public: void Save(std::string &prefix, std::ostream &stream);
/// Initialize the world
- /// \return 0 on success
- public: int Init();
+ public: void Init();
/// Update the world
- /// \return 0 on success
- public: int Update();
+ public: void Update();
/// Finilize the world
- /// \return 0 on success
- public: int Fini();
+ public: void Fini();
/// Retun the libgazebo server
/// \return Pointer the the libgazebo server
@@ -117,8 +114,7 @@
/// \param node XMLConfg node pointer
/// \param parent Parent of the model to load
/// \param removeDuplicate Remove existing model of same name
- /// \return 0 on success
- public: int LoadEntities(XMLConfigNode *node, Model *parent, bool
removeDuplicate);
+ public: void LoadEntities(XMLConfigNode *node, Model *parent, bool
removeDuplicate);
/// \brief Delete an entity by name
/// \param name The name of the entity to delete
Modified: code/gazebo/trunk/server/XMLConfig.cc
===================================================================
--- code/gazebo/trunk/server/XMLConfig.cc 2009-05-14 13:35:55 UTC (rev
7659)
+++ code/gazebo/trunk/server/XMLConfig.cc 2009-05-14 13:50:38 UTC (rev
7660)
@@ -88,14 +88,17 @@
////////////////////////////////////////////////////////////////////////////
// Save config back into file
-int XMLConfig::Save(const std::string &filename )
+void XMLConfig::Save(const std::string &filename )
{
int result=0;
if (filename == std::string())
result=xmlSaveFileEnc(this->filename.c_str(), this->xmlDoc, "UTF-8");
else
result=xmlSaveFileEnc(filename.c_str(), this->xmlDoc, "UTF-8");
- return result;
+ if ( result != 0)
+ {
+ gzthrow( "Error saving the XML file back to the disk " );
+ }
}
Modified: code/gazebo/trunk/server/XMLConfig.hh
===================================================================
--- code/gazebo/trunk/server/XMLConfig.hh 2009-05-14 13:35:55 UTC (rev
7659)
+++ code/gazebo/trunk/server/XMLConfig.hh 2009-05-14 13:50:38 UTC (rev
7660)
@@ -63,7 +63,7 @@
/// \brief Save config back into file
/// Set filename to NULL to save back into the original file
- public: int Save(const std::string &filename );
+ public: void Save(const std::string &filename );
/// \brief Get the root node
public: XMLConfigNode *GetRootNode() const;
Modified: code/gazebo/trunk/server/controllers/imu/Generic_Imu.cc
===================================================================
--- code/gazebo/trunk/server/controllers/imu/Generic_Imu.cc 2009-05-14
13:35:55 UTC (rev 7659)
+++ code/gazebo/trunk/server/controllers/imu/Generic_Imu.cc 2009-05-14
13:50:38 UTC (rev 7660)
@@ -30,7 +30,6 @@
#include "Global.hh"
#include "XMLConfig.hh"
-#include "Model.hh"
#include "World.hh"
#include "gazebo.h"
#include "GazeboError.hh"
Modified: code/gazebo/trunk/server/gui/Gui.cc
===================================================================
--- code/gazebo/trunk/server/gui/Gui.cc 2009-05-14 13:35:55 UTC (rev 7659)
+++ code/gazebo/trunk/server/gui/Gui.cc 2009-05-14 13:50:38 UTC (rev 7660)
@@ -97,6 +97,9 @@
OgreCreator::Instance()->CreateWindow(this, 1, 1);
this->hasFocus = true;
+
+ Fl::check();
+ Fl::wait(0.3);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/main.cc
===================================================================
--- code/gazebo/trunk/server/main.cc 2009-05-14 13:35:55 UTC (rev 7659)
+++ code/gazebo/trunk/server/main.cc 2009-05-14 13:50:38 UTC (rev 7660)
@@ -297,7 +297,7 @@
{
std::cerr << "Error Loading Gazebo" << std::endl;
std::cerr << e << std::endl;
- gazebo::Simulator::Instance()->Fini();
+ gazebo::Simulator::Instance()->Close();
return -1;
}
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