Revision: 8285
http://playerstage.svn.sourceforge.net/playerstage/?rev=8285&view=rev
Author: rtv
Date: 2009-10-11 01:57:26 +0000 (Sun, 11 Oct 2009)
Log Message:
-----------
rolled back event queue to make things more simple and faster
Modified Paths:
--------------
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-10-07 22:30:38 UTC (rev 8284)
+++ code/stage/trunk/libstage/model.cc 2009-10-11 01:57:26 UTC (rev 8285)
@@ -674,14 +674,19 @@
{
//printf( "Startup model %s\n", this->token );
//printf( "model %s using queue %d\n", token, event_queue_num );
+
+ // if we're thread safe, we can use an event queue >0
+ if( thread_safe )
+ event_queue_num = world->GetEventQueue( this );
+
+ // put my first update request in the world's queue
+ world->Enqueue( event_queue_num, interval, this );
+
+ world->active_velocity.insert( this );
- // put my first events in the world's queue
- world->Enqueue( event_queue_num, World::Event::UPDATE, interval, this );
- world->Enqueue( 0, World::Event::POSE, interval_pose, this );
if( FindPowerPack() )
- world->Enqueue( 0, World::Event::ENERGY, interval_energy, this );
+ world->active_energy.insert( this );
-
CallCallbacks( &hooks.startup );
}
@@ -690,6 +695,9 @@
//printf( "Shutdown model %s\n", this->token );
CallCallbacks( &hooks.shutdown );
+ world->active_energy.erase( this );
+ world->active_velocity.erase( this );
+
// allows data visualizations to be cleared.
NeedRedraw();
}
@@ -699,7 +707,7 @@
{
CallCallbacks( &hooks.update );
last_update = world->sim_time;
- world->Enqueue( event_queue_num, World::Event::UPDATE, interval, this );
+ world->Enqueue( event_queue_num, interval, this );
}
@@ -819,7 +827,7 @@
}
// set up the next event
- world->Enqueue( 0, World::Event::ENERGY, interval_energy, this );
+ //world->Enqueue( 0, World::Event::ENERGY, interval_energy, this );
}
void Model::CommitTestedPose()
@@ -856,6 +864,9 @@
void Model::UpdatePose( void )
{
+ if( velocity.IsZero() )
+ return;
+
if( disabled )
return;
@@ -881,8 +892,6 @@
if( trail.size() > trail_length )
trail.pop_front();
}
-
- world->Enqueue( 0, World::Event::POSE, interval_pose, this );
}
Model* Model::GetUnsubscribedModelOfType( const std::string& type ) const
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-10-07 22:30:38 UTC (rev 8284)
+++ code/stage/trunk/libstage/stage.hh 2009-10-11 01:57:26 UTC (rev 8285)
@@ -969,27 +969,25 @@
class Event
{
public:
- typedef enum {POSE, ENERGY, UPDATE } type_t;
- Event( type_t type, stg_usec_t time, Model* mod )
- : type(type), time(time), mod(mod) {}
+ Event( stg_usec_t time, Model* mod )
+ : time(time), mod(mod) {}
- type_t type;
stg_usec_t time; // time that event occurs
Model* mod; // model to update
/** Update the model appropriately, based on the event type. */
- void Execute();
- static const char* TypeStr( type_t type );
+ //void Execute();
+ //static const char* TypeStr( type_t type );
bool operator<( const Event& other ) const;
bool operator==( const Event& other ) const;
};
std::vector<std::priority_queue<Event> > event_queues;
- void Enqueue( unsigned int queue_num, Event::type_t type, stg_usec_t
delay, Model* mod );
+ void Enqueue( unsigned int queue_num, stg_usec_t delay, Model* mod );
- /** The sim time of the next event in the queue. */
- uint32_t event_pending_count;
+ std::set<Model*> active_energy;
+ std::set<Model*> active_velocity;
/** The amount of simulated time to run for each call to Update() */
stg_usec_t sim_interval;
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-10-07 22:30:38 UTC (rev 8284)
+++ code/stage/trunk/libstage/world.cc 2009-10-11 01:57:26 UTC (rev 8285)
@@ -499,12 +499,8 @@
// printf( "@ %llu next event <%s %llu %s>\n", sim_time, ev.TypeStr(
ev.type ), ev.time, ev.mod->Token() );
queue.pop();
- // only update events are allowed in queues other than zero
- if( queue_num > 0 && ev.type != Event::UPDATE )
- PRINT_WARN1( "event type %d in async queue", queue_num );
-
if( ev.mod->subs > 0 ) // no subscriptions means the event is
discarded
- ev.Execute(); // simulate the event
+ ev.mod->Update(); // update the model
// and move to the next
ev = queue.top();
@@ -520,17 +516,11 @@
if( PastQuitTime() )
return true;
- if( event_pending_count < 1 )
- {
- PRINT_WARN( "event queue(s) empty." );
- return false;
- }
-
sim_time += sim_interval;
// handle the zeroth queue synchronously in the main thread
ConsumeQueue( 0 );
-
+
// handle all the remaining queues asynchronously in worker threads
if( worker_threads > 0 )
{
@@ -560,7 +550,13 @@
// world callbacks
CallUpdateCallbacks();
-
+
+ FOR_EACH( it, active_velocity )
+ (*it)->UpdatePose();
+
+ FOR_EACH( it, active_energy )
+ (*it)->UpdateCharge();
+
if( show_clock && ((this->updates % show_clock_interval) == 0) )
{
printf( "\r[Stage: %s]", ClockString().c_str() );
@@ -1061,12 +1057,11 @@
//LogEntry::Print();
}
-void World::Enqueue( unsigned int queue_num, Event::type_t type, stg_usec_t
delay, Model* mod )
+void World::Enqueue( unsigned int queue_num, stg_usec_t delay, Model* mod )
{
//printf( "enqueue at %llu %p %s\n", sim_time + delay, mod, mod->Token() );
- event_queues[queue_num].push( Event( type, sim_time + delay, mod ) );
- ++event_pending_count;
+ event_queues[queue_num].push( Event( sim_time + delay, mod ) );
}
@@ -1077,50 +1072,18 @@
if( time > other.time )
return true;
- if( time == other.time )
- {
- if( type > other.type )
- return true;
+// if( time == other.time )
+// {
+// if( type > other.type )
+// return true;
- if( type == other.type )
- {
- if( mod < other.mod ) // tends to do children first
- return true;
- }
- }
+// if( type == other.type )
+// {
+// if( mod < other.mod ) // tends to do children first
+// return true;
+// }
+// }
return false;
}
-
-const char* World::Event::TypeStr( type_t type )
-{
- switch( type )
- {
- case POSE: return "POSE";
- case ENERGY: return "ENERGY";
- case UPDATE: return "UPDATE";
- default: return "<unknown>";
- }
-}
-
-void World::Event::Execute()
-{
- switch( type )
- {
- case UPDATE:
- mod->Update();
- break;
-
- case POSE:
- mod->UpdatePose();
- break;
-
- case ENERGY:
- mod->UpdateCharge();
- break;
-
- default:
- PRINT_WARN1( "unknown event type %d", type );
- }
-}
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