[Playerstage-commit] SF.net SVN: playerstage:[8899] code/gazebo/trunk/server/Simulator.cc

[hsujohnhsu]

Revision: 8899
          http://playerstage.svn.sourceforge.net/playerstage/?rev=8899&view=rev
Author:   hsujohnhsu
Date:     2010-09-13 22:21:20 +0000 (Mon, 13 Sep 2010)

Log Message:
-----------
moving time update inside same model rendering and deletion mutex lock as 
world->update() call.  this is motivated by potentially synchronizing camera 
sensor update call.

Modified Paths:
--------------
    code/gazebo/trunk/server/Simulator.cc

Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc       2010-09-13 07:45:52 UTC (rev 
8898)
+++ code/gazebo/trunk/server/Simulator.cc       2010-09-13 22:21:20 UTC (rev 
8899)
@@ -483,7 +483,7 @@
 /// Set whether the simulation is paused
 void Simulator::SetPaused(bool p)
 {
-  boost::recursive_mutex::scoped_lock lock(*this->GetMRMutex());
+  boost::recursive_mutex::scoped_lock model_render_lock(*this->GetMRMutex());
 
   if (this->pause == p)
     return;
@@ -553,7 +553,7 @@
 
////////////////////////////////////////////////////////////////////////////////
 void Simulator::SetStepInc(bool step)
 {
-  boost::recursive_mutex::scoped_lock lock(*this->GetMRMutex());
+  boost::recursive_mutex::scoped_lock model_render_lock(*this->GetMRMutex());
   this->stepInc = step;
   this->stepSignal(step);
 
@@ -671,23 +671,23 @@
   {
     //DiagnosticTimer timer("PhysicsLoop Timer ");
 
+    {
+      boost::recursive_mutex::scoped_lock 
model_render_lock(*this->GetMRMutex());
+      boost::recursive_mutex::scoped_lock 
model_delete_lock(*this->GetMDMutex());
 
-    currTime = this->GetRealTime();
+      currTime = this->GetRealTime();
 
-    userStepped = false;
-    if (this->IsPaused())
-      this->pauseTime += step;
-    else
-      this->simTime += step;
+      userStepped = false;
+      if (this->IsPaused())
+        this->pauseTime += step;
+      else
+        this->simTime += step;
 
-    if (this->GetStepInc())
-      userStepped = true;
+      if (this->GetStepInc())
+        userStepped = true;
 
-    lastTime = this->GetRealTime();
+      lastTime = this->GetRealTime();
 
-    {
-      boost::recursive_mutex::scoped_lock lock(*this->GetMRMutex());
-      boost::recursive_mutex::scoped_lock 
model_delete_lock(*this->GetMDMutex());
       world->Update();
     }
 


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