Revision: 8582
http://playerstage.svn.sourceforge.net/playerstage/?rev=8582&view=rev
Author: hsujohnhsu
Date: 2010-03-11 23:10:54 +0000 (Thu, 11 Mar 2010)
Log Message:
-----------
old check for ConnectWait() has a race condition.
update to use the same check Server.cc is using to see if gazebo is running.
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/Client.cc
Modified: code/gazebo/trunk/libgazebo/Client.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Client.cc 2010-03-11 23:08:56 UTC (rev
8581)
+++ code/gazebo/trunk/libgazebo/Client.cc 2010-03-11 23:10:54 UTC (rev
8582)
@@ -39,6 +39,7 @@
#include <sys/sem.h>
#include <sstream>
#include <iostream>
+#include <signal.h>
#include "gz.h"
@@ -84,7 +85,6 @@
void Client::ConnectWait(int serverId, int clientId)
{
bool simulationIfaceIsValid = false;
- gazebo::SimulationIface simulationIface;
while (!simulationIfaceIsValid)
{
@@ -113,6 +113,11 @@
}
}
+ // this is essentially the same check in Server.cc that looks
+ // for running gazebo with the given pid
+ // but we might catch gazebo in a booting-up state where
+ // the interfaces ae not setup quite yet completely
+ // Iface fail to work correctly
char *tmpdir;
char *user;
// Get the tmp dir
@@ -127,57 +132,47 @@
// Figure out the directory name
stream << tmpdir << "/gazebo-" << user << "-" << this->serverId;
-
this->filename = stream.str();
- //std::cout << "opening " << this->filename << "\n";
-
- // Connect to gazebo::SimulationIface and check for changing realTime,
- // if simulationIface->data->realTime is not changing, the server might
- // be stale leftovers from previous gazebo crash,
- // disconnect and reconnect client
- try
+ // check to see if there is already a directory created.
+ struct stat astat;
+ if (stat(this->filename.c_str(), &astat) == 0)
{
- simulationIface.Open(this,"default");
- // check realTime for updates
- simulationIface.Lock(1);
- double simTime0 = simulationIface.data->realTime;
- simulationIface.Unlock();
- double simTime1 = simTime0;
+ // directory already exists, check gazebo.pid to see if
+ // another gazebo is already running.
- struct timeval tv;
- gettimeofday(&tv, NULL);
- double start_time = tv.tv_sec + tv.tv_usec * 1e-6;
- double current_time = start_time;
- const double timeout = 1; // timeout, disconnect and reconnect client
- while(current_time - start_time < timeout)
+ std::string pidfn = this->filename + "/gazebo.pid";
+
+ FILE *fp = fopen(pidfn.c_str(), "r");
+ if(fp)
{
- usleep(200000);
- simulationIface.Lock(1);
- simTime1 = simulationIface.data->realTime;
- simulationIface.Unlock();
- if (simTime1 != simTime0)
+ int pid = 0;
+ int result = fscanf(fp, "%d", &pid);
+ fclose(fp);
+
+ if (pid != 0)
{
- simulationIfaceIsValid = true;
- break;
+ if(kill(pid, 0) == 0)
+ {
+ // a gazebo process is still alive.
+ simulationIfaceIsValid = true;
+ // it might however, still being booted up, so we need to check
somehow
+ // or is it?
+ }
+ else
+ {
+ // the gazebo process is not alive. wait
+ usleep(1000);
+ }
}
- //std::cout << "realTime has not changed, retrying
SimulationIface->data->realTime:" << simTime1 << " : " << simTime0 << std::endl;
- gettimeofday(&tv, NULL);
- current_time = tv.tv_sec + tv.tv_usec * 1e-6;
}
- if (!simulationIfaceIsValid)
- {
- this->Disconnect();
- }
}
- catch (std::string e)
- {
- stream << "Error Opening SimulationIface [" << e << "]\n";
- throw(stream.str());
- }
+
+ if (!simulationIfaceIsValid)
+ this->Disconnect();
+ //std::cout << "opening " << this->filename << "\n";
}
- simulationIface.Close();
}
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