Revision: 8512
http://playerstage.svn.sourceforge.net/playerstage/?rev=8512&view=rev
Author: hsujohnhsu
Date: 2010-01-15 09:51:24 +0000 (Fri, 15 Jan 2010)
Log Message:
-----------
added another mutex for model deletion
Modified Paths:
--------------
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/Simulator.hh
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2010-01-15 09:49:23 UTC (rev
8511)
+++ code/gazebo/trunk/server/Simulator.cc 2010-01-15 09:51:24 UTC (rev
8512)
@@ -74,7 +74,8 @@
selectedEntity(NULL),
selectedBody(NULL)
{
- this->mutex = new boost::recursive_mutex();
+ this->render_mutex = new boost::recursive_mutex();
+ this->model_delete_mutex = new boost::recursive_mutex();
this->startTime = this->GetWallTime();
}
@@ -95,12 +96,18 @@
this->xmlFile = NULL;
}
- if (this->mutex)
+ if (this->render_mutex)
{
- delete this->mutex;
- this->mutex = NULL;
+ delete this->render_mutex;
+ this->render_mutex = NULL;
}
+ if (this->model_delete_mutex)
+ {
+ delete this->model_delete_mutex;
+ this->model_delete_mutex = NULL;
+ }
+
if (this->gui)
{
delete this->gui;
@@ -356,13 +363,14 @@
if (this->renderEngineEnabled)
OgreAdaptor::Instance()->UpdateCameras();
+ if (this->renderEngineEnabled)
+ World::Instance()->GraphicsUpdate();
+
currTime = this->GetWallTime();
World::Instance()->ProcessEntitiesToLoad();
+ World::Instance()->ProcessEntitiesToDelete();
- if (this->renderEngineEnabled)
- World::Instance()->GraphicsUpdate();
-
if (currTime - lastTime < 1/freq)
{
Time sleepTime = ( Time(1.0/freq) - (currTime - lastTime));
@@ -410,7 +418,7 @@
/// Set whether the simulation is paused
void Simulator::SetPaused(bool p)
{
- boost::recursive_mutex::scoped_lock lock(*this->mutex);
+ boost::recursive_mutex::scoped_lock lock(*this->GetMRMutex());
if (this->pause == p)
return;
@@ -480,7 +488,7 @@
////////////////////////////////////////////////////////////////////////////////
void Simulator::SetStepInc(bool step)
{
- boost::recursive_mutex::scoped_lock lock(*this->mutex);
+ boost::recursive_mutex::scoped_lock lock(*this->GetMRMutex());
this->stepInc = step;
}
@@ -653,7 +661,8 @@
lastTime = this->GetRealTime();
{
- boost::recursive_mutex::scoped_lock lock(*this->mutex);
+ boost::recursive_mutex::scoped_lock lock(*this->GetMRMutex());
+ boost::recursive_mutex::scoped_lock
model_delete_lock(*this->GetMDMutex());
world->Update();
}
@@ -712,10 +721,17 @@
/// Get the simulator mutex
boost::recursive_mutex *Simulator::GetMRMutex()
{
- return this->mutex;
+ return this->render_mutex;
}
////////////////////////////////////////////////////////////////////////////////
+/// Get the simulator mutex
+boost::recursive_mutex *Simulator::GetMDMutex()
+{
+ return this->model_delete_mutex;
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Get the state of the simulation
Simulator::State Simulator::GetState() const
{
Modified: code/gazebo/trunk/server/Simulator.hh
===================================================================
--- code/gazebo/trunk/server/Simulator.hh 2010-01-15 09:49:23 UTC (rev
8511)
+++ code/gazebo/trunk/server/Simulator.hh 2010-01-15 09:51:24 UTC (rev
8512)
@@ -171,9 +171,12 @@
/// \brief Get the body that contains the entity
public: Body *GetParentBody( Entity *entity ) const;
- /// \brief Get the simulator mutex
+ /// \brief Get the simulator mutex for rendering lock
public:boost::recursive_mutex *GetMRMutex();
+ /// \brief Get the simulator mutex for model deletion lock
+ public:boost::recursive_mutex *GetMDMutex();
+
/// \brief Get the state of the simulation
public: State GetState() const;
@@ -245,7 +248,8 @@
/// Thread in which to run the gui
private: boost::thread *physicsThread;
- private: boost::recursive_mutex *mutex;
+ private: boost::recursive_mutex *render_mutex;
+ private: boost::recursive_mutex *model_delete_mutex;
private: State state;
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