Revision: 8425
http://playerstage.svn.sourceforge.net/playerstage/?rev=8425&view=rev
Author: natepak
Date: 2009-11-20 04:49:22 +0000 (Fri, 20 Nov 2009)
Log Message:
-----------
Fixes to the time slider
Modified Paths:
--------------
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/Simulator.hh
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/World.hh
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2009-11-20 02:52:19 UTC (rev
8424)
+++ code/gazebo/trunk/server/Simulator.cc 2009-11-20 04:49:22 UTC (rev
8425)
@@ -421,6 +421,11 @@
void Simulator::SetPaused(bool p)
{
boost::recursive_mutex::scoped_lock lock(*this->mutex);
+
+ if (this->pause == p)
+ return;
+
+ this->pauseSignal(p);
this->pause = p;
}
@@ -647,7 +652,7 @@
if (!this->IsPaused() || this->GetStepInc())
{
this->simTime += step;
- this->SetPaused(false);
+ //this->SetPaused(false);
if (this->GetStepInc())
userStepped = true;
Modified: code/gazebo/trunk/server/Simulator.hh
===================================================================
--- code/gazebo/trunk/server/Simulator.hh 2009-11-20 02:52:19 UTC (rev
8424)
+++ code/gazebo/trunk/server/Simulator.hh 2009-11-20 04:49:22 UTC (rev
8425)
@@ -28,6 +28,7 @@
#include <string>
#include <boost/thread.hpp>
+#include <boost/signal.hpp>
#include "SingletonT.hh"
@@ -175,6 +176,13 @@
/// \brief Get the state of the simulation
public: State GetState() const;
+ /// \brief Connect a boost::slot the the pause signal
+ public: template<typename T>
+ void ConnectPauseSignal( T subscriber )
+ {
+ pauseSignal.connect(subscriber);
+ }
+
/// \brief Function to run gui. Used by guiThread
private: void PhysicsLoop();
@@ -240,11 +248,15 @@
private: State state;
+ private: boost::signal<void (bool)> pauseSignal;
+
//Singleton implementation
private: friend class DestroyerT<Simulator>;
private: friend class SingletonT<Simulator>;
+
};
+
/// \}
}
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-11-20 02:52:19 UTC (rev 8424)
+++ code/gazebo/trunk/server/World.cc 2009-11-20 04:49:22 UTC (rev 8425)
@@ -76,7 +76,7 @@
this->worldStates.resize(10000);
this->worldStatesInsertIter = this->worldStates.begin();
- this->worldStatesEndIter = this->worldStates.end()-1;
+ this->worldStatesEndIter = this->worldStates.begin();
this->worldStatesCurrentIter = this->worldStatesInsertIter;
}
@@ -145,6 +145,9 @@
// Load the world
void World::Load(XMLConfigNode *rootNode, unsigned int serverId)
{
+ Simulator::Instance()->ConnectPauseSignal(
+ boost::bind(&World::PauseSlot, this, _1) );
+
// Create the server object (needs to be done before models initialize)
this->server = new Server();
@@ -286,8 +289,6 @@
{
if (Simulator::Instance()->GetSimTime() >= this->simPauseTime)
{
- //printf("SimTime[%f] PauseTime[%f]\n",
Simulator::Instance()->GetSimTime(), this->simPauseTime);
-
this->simPauseTime = 0;
Simulator::Instance()->SetPaused(true);
@@ -1356,8 +1357,11 @@
{
this->worldStatesEndIter++;
if (this->worldStatesEndIter == this->worldStates.end())
+ {
this->worldStatesEndIter = this->worldStates.begin();
+ }
}
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -1391,19 +1395,29 @@
this->worldStatesCurrentIter = this->worldStatesInsertIter;
- int i = (int)(this->worldStates.size() * (1.0-pos));
+ int diff = this->worldStatesInsertIter - this->worldStatesEndIter;
+ int i = (int)(diff * (1.0-pos));
+
if (this->worldStatesCurrentIter == this->worldStates.begin())
this->worldStatesCurrentIter = this->worldStates.end()--;
- for (;i>=0;i--, this->worldStatesCurrentIter--)
+ for (;i>=0; i--, this->worldStatesCurrentIter--)
{
+ if (this->worldStatesCurrentIter == this->worldStatesEndIter)
+ break;
+
if (this->worldStatesCurrentIter == this->worldStates.begin())
this->worldStatesCurrentIter = this->worldStates.end()-1;
-
- if (this->worldStatesCurrentIter == this->worldStatesEndIter)
- break;
}
this->SetState(this->worldStatesCurrentIter);
}
+
+////////////////////////////////////////////////////////////////////////////////
+// Pause callback
+void World::PauseSlot(bool p)
+{
+ if (!p)
+ this->worldStatesInsertIter = this->worldStatesCurrentIter;
+}
Modified: code/gazebo/trunk/server/World.hh
===================================================================
--- code/gazebo/trunk/server/World.hh 2009-11-20 02:52:19 UTC (rev 8424)
+++ code/gazebo/trunk/server/World.hh 2009-11-20 04:49:22 UTC (rev 8425)
@@ -200,6 +200,9 @@
/// \breif Set the state of the world to the pos pointed to by the iterator
private: void SetState(std::deque<WorldState>::iterator iter);
+ /// \brief Pause callback
+ private: void PauseSlot(bool p);
+
/// Set to true to show bounding boxes
private: bool showBoundingBoxes;
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