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working on improved multithreaded updates - currently segfauklts when…
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… thread count is > 0
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rtv committed Jun 26, 2009
1 parent e2e8d03 commit 448ad9f
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Showing 11 changed files with 504 additions and 448 deletions.
4 changes: 2 additions & 2 deletions CMakeLists.txt
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Expand Up @@ -35,8 +35,8 @@ INCLUDE (${PROJECT_CMAKE_DIR}/internal/FindOS.cmake)
IF (NOT PROJECT_OS_WIN AND NOT PROJECT_OS_SOLARIS)
# Using -Wall on Windows causes MSVC to produce thousands of warnings in its
# own standard headers, dramatically slowing down the build.
SET (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall")
SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
SET (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -g -Wall")
SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -Wall")
ENDIF (NOT PROJECT_OS_WIN AND NOT PROJECT_OS_SOLARIS)

ENABLE_TESTING()
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2 changes: 1 addition & 1 deletion libstage/model.cc
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Expand Up @@ -725,7 +725,7 @@ void Model::CallUpdateCallbacks( void )
{
// if we were updated this timestep, call the callbacks
if( last_update == world->sim_time )
CallCallbacks( &hooks.update );
CallCallbacks( &hooks.update );
}

stg_meters_t Model::ModelHeight() const
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56 changes: 36 additions & 20 deletions libstage/model_callbacks.cc
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@@ -1,35 +1,41 @@
#include "stage.hh"
using namespace Stg;

// int key_gen( Model* mod, void* address )
// {
// return ((int*)address) - ((int*)mod);
// }

void Model::AddCallback( void* address,
stg_model_callback_t cb,
void* user )
stg_model_callback_t cb,
void* user )
{
///int* key = (int*)g_new( int, 1 );
//*key = key_gen( this, address );

GList* cb_list = (GList*)g_hash_table_lookup( callbacks, address );

//printf( "installing callback in model %s with key %p\n",
// token, address );

// add the callback & argument to the list
cb_list = g_list_prepend( cb_list, new stg_cb_t( cb, user ) );

// and replace the list in the hash table
g_hash_table_insert( callbacks, address, cb_list );
// // treat update callbacks specially as they are so frequently called
// if( address == &hooks.update )
// {
// // a dedicated vector avoids a hash table lookup
// update_callbacks.push_back( std::pair<stg_model_callback_t,void*>( cb, user ) );
// }
// else
{
GList* cb_list = (GList*)g_hash_table_lookup( callbacks, address );

//printf( "installing callback in model %s with key %p\n",
// token, address );

// add the callback & argument to the list
cb_list = g_list_prepend( cb_list, new stg_cb_t( cb, user ) );

// and replace the list in the hash table
g_hash_table_insert( callbacks, address, cb_list );
}
}


int Model::RemoveCallback( void* member,
stg_model_callback_t callback )
{
//int key = key_gen( this, member );

// XX TODO
// if( address == &hooks.update )
// {
// std::erase( std::remove( update_callbacks.begin(); update_callbacks.end(),

GList* cb_list = (GList*)g_hash_table_lookup( callbacks, member );

Expand Down Expand Up @@ -72,6 +78,16 @@ void Model::CallCallbacks( void* address )
{

assert( address );

// // avoid a hash table lookup for
// if( address == &hooks.update )
// {
// FOR_EACH( it, update_callbacks )
// (it->first)( this, it->second );

// return;
// }


//int key = key_gen( this, address );

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160 changes: 80 additions & 80 deletions libstage/model_laser.cc
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Expand Up @@ -74,9 +74,9 @@ Option ModelLaser::Vis::showBeams( "Laser beams", "show_laser_beams", "", false,


ModelLaser::ModelLaser( World* world,
Model* parent )
Model* parent )
: Model( world, parent, MODEL_TYPE_LASER ),
vis( world ),
vis( world ),
sample_count( DEFAULT_SAMPLES ),
samples(),
range_max( DEFAULT_MAXRANGE ),
Expand All @@ -85,7 +85,7 @@ ModelLaser::ModelLaser( World* world,
{

PRINT_DEBUG2( "Constructing ModelLaser %d (%s)\n",
id, typestr );
id, typestr );

// Model data members
interval = DEFAULT_INTERVAL_MS * (int)thousand;
Expand Down Expand Up @@ -153,8 +153,8 @@ void ModelLaser::SetConfig( Config& cfg )
}

static bool laser_raytrace_match( Model* hit,
Model* finder,
const void* dummy )
Model* finder,
const void* dummy )
{
// Ignore the model that's looking and things that are invisible to
// lasers
Expand All @@ -176,7 +176,7 @@ void ModelLaser::Update( void )
// make the first and last rays exactly at the extremes of the FOV
double sample_incr( fov / MAX(sample_count-1,1) );

// find the global origin of our first emmitted ray
// find the global origin of our first emmitted ray
Pose rayorg( geom.pose );
rayorg.z += geom.size.z/2.0;
rayorg.a = bearing;
Expand All @@ -188,39 +188,39 @@ void ModelLaser::Update( void )
// trace the ray, incrementing its heading for each sample
for( unsigned int t(0); t<sample_count; t += resolution )
{
stg_raytrace_result_t r( world->Raytrace( ray ) );
samples[t].range = r.range;
stg_raytrace_result_t r( world->Raytrace( ray ) );
samples[t].range = r.range;

// if we hit a model and it reflects brightly, we set
// reflectance high, else low
if( r.mod && ( r.mod->vis.laser_return >= LaserBright ) )
samples[t].reflectance = 1;
samples[t].reflectance = 1;
else
samples[t].reflectance = 0;
samples[t].reflectance = 0;

// point the ray to the next angle
ray.origin.a += sample_incr;
// point the ray to the next angle
ray.origin.a += sample_incr;
}

// we may need to interpolate the samples we skipped
if( resolution > 1 )
{
for( unsigned int t( resolution); t<sample_count; t+=resolution )
for( unsigned int g(1); g<resolution; g++ )
{
if( t >= sample_count )
break;
for( unsigned int g(1); g<resolution; g++ )
{
if( t >= sample_count )
break;

// copy the rightmost sample data into this point
samples[t-g] = samples[t-resolution];
// copy the rightmost sample data into this point
samples[t-g] = samples[t-resolution];

double left( samples[t].range );
double right( samples[t-resolution].range );
double left( samples[t].range );
double right( samples[t-resolution].range );

// linear range interpolation between the left and right samples
samples[t-g].range = (left-g*(left-right)/resolution);
}
}
// linear range interpolation between the left and right samples
samples[t-g].range = (left-g*(left-right)/resolution);
}
}

MapFromRoot();

Expand Down Expand Up @@ -251,12 +251,12 @@ void ModelLaser::Print( char* prefix )

printf( "\tRanges[ " );
for( unsigned int i=0; i<sample_count; i++ )
printf( "%.2f ", samples[i].range );
printf( "%.2f ", samples[i].range );
puts( " ]" );

printf( "\tReflectance[ " );
for( unsigned int i=0; i<sample_count; i++ )
printf( "%.2f ", samples[i].reflectance );
printf( "%.2f ", samples[i].reflectance );
puts( " ]" );
}

Expand Down Expand Up @@ -289,18 +289,18 @@ void ModelLaser::Vis::Visualize( Model* mod, Camera* cam )
{
ModelLaser* laser( dynamic_cast<ModelLaser*>(mod) );

const std::vector<Sample>& samples( laser->GetSamples() );
const std::vector<Sample>& samples( laser->GetSamples() );

size_t sample_count( samples.size() );
size_t sample_count( samples.size() );

glPushMatrix();
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );

glTranslatef( 0,0, laser->GetGeom().size.z/2.0 ); // shoot the laser beam out at the right height

// pack the laser hit points into a vertex array for fast rendering
static std::vector<GLfloat> pts;
pts.resize( 2 * (sample_count+1) );
static std::vector<GLfloat> pts;
pts.resize( 2 * (sample_count+1) );

pts[0] = 0.0;
pts[1] = 0.0;
Expand All @@ -310,76 +310,76 @@ void ModelLaser::Vis::Visualize( Model* mod, Camera* cam )
glPointSize( 2 );

for( unsigned int s(0); s<sample_count; s++ )
{
double ray_angle = (s * (laser->fov / (sample_count-1))) - laser->fov/2.0;
pts[2*s+2] = (float)(samples[s].range * cos(ray_angle) );
pts[2*s+3] = (float)(samples[s].range * sin(ray_angle) );
{
double ray_angle = (s * (laser->fov / (sample_count-1))) - laser->fov/2.0;
pts[2*s+2] = (float)(samples[s].range * cos(ray_angle) );
pts[2*s+3] = (float)(samples[s].range * sin(ray_angle) );

// if the sample is unusually bright, draw a little blob
if( samples[s].reflectance > 0 )
{
glBegin( GL_POINTS );
glVertex2f( pts[2*s+2], pts[2*s+3] );
glEnd();
}
}
// if the sample is unusually bright, draw a little blob
if( samples[s].reflectance > 0 )
{
glBegin( GL_POINTS );
glVertex2f( pts[2*s+2], pts[2*s+3] );
glEnd();
}
}

glVertexPointer( 2, GL_FLOAT, 0, &pts[0] );

laser->PopColor();

if( showArea )
{
// draw the filled polygon in transparent blue
laser->PushColor( 0, 0, 1, 0.1 );
glDrawArrays( GL_POLYGON, 0, sample_count+1 );
laser->PopColor();
//glDepthMask( GL_TRUE );
}
{
// draw the filled polygon in transparent blue
laser->PushColor( 0, 0, 1, 0.1 );
glDrawArrays( GL_POLYGON, 0, sample_count+1 );
laser->PopColor();
//glDepthMask( GL_TRUE );
}

glDepthMask( GL_TRUE );

if( showStrikes )
{
// draw the beam strike points
laser->PushColor( 0, 0, 1, 0.8 );
glDrawArrays( GL_POINTS, 0, sample_count+1 );
laser->PopColor();
}
{
// draw the beam strike points
laser->PushColor( 0, 0, 1, 0.8 );
glDrawArrays( GL_POINTS, 0, sample_count+1 );
laser->PopColor();
}

if( showFov )
{
for( unsigned int s(0); s<sample_count; s++ )
{
double ray_angle((s * (laser->fov / (sample_count-1))) - laser->fov/2.0);
pts[2*s+2] = (float)(laser->range_max * cos(ray_angle) );
pts[2*s+3] = (float)(laser->range_max * sin(ray_angle) );
}
{
for( unsigned int s(0); s<sample_count; s++ )
{
double ray_angle((s * (laser->fov / (sample_count-1))) - laser->fov/2.0);
pts[2*s+2] = (float)(laser->range_max * cos(ray_angle) );
pts[2*s+3] = (float)(laser->range_max * sin(ray_angle) );
}

glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
laser->PushColor( 0, 0, 1, 0.5 );
glDrawArrays( GL_POLYGON, 0, sample_count+1 );
laser->PopColor();
// glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
}
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
laser->PushColor( 0, 0, 1, 0.5 );
glDrawArrays( GL_POLYGON, 0, sample_count+1 );
laser->PopColor();
// glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
}

if( showBeams )
{
laser->PushColor( 0, 0, 1, 0.5 );
glBegin( GL_LINES );
{
laser->PushColor( 0, 0, 1, 0.5 );
glBegin( GL_LINES );

for( unsigned int s(0); s<sample_count; s++ )
{
for( unsigned int s(0); s<sample_count; s++ )
{

glVertex2f( 0,0 );
double ray_angle((s * (laser->fov / (sample_count-1))) - laser->fov/2.0);
glVertex2f( samples[s].range * cos(ray_angle),
samples[s].range * sin(ray_angle) );
glVertex2f( 0,0 );
double ray_angle((s * (laser->fov / (sample_count-1))) - laser->fov/2.0);
glVertex2f( samples[s].range * cos(ray_angle),
samples[s].range * sin(ray_angle) );

}
glEnd();
laser->PopColor();
}
glEnd();
laser->PopColor();
}

glPopMatrix();
}
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2 changes: 1 addition & 1 deletion libstage/model_position.cc
View file
Expand Up @@ -98,7 +98,7 @@ ModelPosition::ModelPosition( World* world,
id, typestr );

// assert that Update() is reentrant for this derived model
thread_safe = true;
thread_safe = false;

// no power consumed until we're subscribed
this->SetWatts( 0 );
Expand Down

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