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Update semaphore and EcexutionContext. #970

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Apr 8, 2016
Merged

Update semaphore and EcexutionContext. #970

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3d017f6
[rtc/RobotHardware/robot.[cpp,h] ,rtc/SequencePlayer/SequencePlayer.[…
snozawa Apr 7, 2016
ed0499e
[ec/hrpEC/hrpEC-common.cpp, hrpEC.h] Add ordinaly debug message for p…
snozawa Apr 7, 2016
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[rtc/RobotHardware/robot.[cpp,h] ,rtc/SequencePlayer/SequencePlayer.[… 
…cpp,h], rtc/StateHolder/StateHolder.[cpp,h]] Use semaphore.h instead of interprocess_semaphore because we do not use interprocess_semaphore specific functionality. On old OS, interprocess_semaphore cannot be used (boost version <= 1.35.0). This commit is related with the discussion : #969
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@snozawa
snozawa committed Apr 7, 2016
commit 3d017f6f5eb3ddcdc6ea67ade93495ee9d2def7f
15 changes: 8 additions & 7 deletions rtc/RobotHardware/robot.cpp
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Expand Up @@ -19,8 +19,9 @@
using namespace hrp;


robot::robot(double dt) : m_fzLimitRatio(0), m_maxZmpError(DEFAULT_MAX_ZMP_ERROR), m_calibRequested(false), m_pdgainsFilename("PDgains.sav"), wait_sem(0), m_reportedEmergency(true), m_dt(dt), m_accLimit(0)
robot::robot(double dt) : m_fzLimitRatio(0), m_maxZmpError(DEFAULT_MAX_ZMP_ERROR), m_calibRequested(false), m_pdgainsFilename("PDgains.sav"), m_reportedEmergency(true), m_dt(dt), m_accLimit(0)
{
sem_init(&wait_sem, 0, 0);
m_rLegForceSensorId = m_lLegForceSensorId = -1;
}

Expand Down Expand Up @@ -145,7 +146,7 @@ void robot::startInertiaSensorCalibration()

inertia_calib_counter=CALIB_COUNT;

wait_sem.wait();
sem_wait(&wait_sem);
}

void robot::startForceSensorCalibration()
Expand All @@ -162,15 +163,15 @@ void robot::startForceSensorCalibration()

force_calib_counter=CALIB_COUNT;

wait_sem.wait();
sem_wait(&wait_sem);
}

void robot::initializeJointAngle(const char *name, const char *option)
{
m_calibJointName = name;
m_calibOptions = option;
m_calibRequested = true;
wait_sem.wait();
sem_wait(&wait_sem);
}

void robot::calibrateInertiaSensorOneStep()
Expand Down Expand Up @@ -228,7 +229,7 @@ void robot::calibrateInertiaSensorOneStep()
}
#endif

wait_sem.post();
sem_post(&wait_sem);
}
}
}
Expand All @@ -252,7 +253,7 @@ void robot::calibrateForceSensorOneStep()
write_force_offset(j, force_sum[j].data());
}

wait_sem.post();
sem_post(&wait_sem);
}
}
}
Expand Down Expand Up @@ -284,7 +285,7 @@ void robot::oneStep()
::initializeJointAngle(m_calibJointName.c_str(),
m_calibOptions.c_str());
m_calibRequested = false;
wait_sem.post();
sem_post(&wait_sem);
}
}

Expand Down
4 changes: 2 additions & 2 deletions rtc/RobotHardware/robot.h
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Expand Up @@ -2,7 +2,7 @@
#define __ROBOT_H__

#include <boost/array.hpp>
#include <boost/interprocess/sync/interprocess_semaphore.hpp>
#include <semaphore.h>
#include <hrpModel/Body.h>

/**
Expand Down Expand Up @@ -335,7 +335,7 @@ class robot : public hrp::Body
std::string m_calibJointName, m_calibOptions;
std::string m_pdgainsFilename;
bool m_reportedEmergency;
boost::interprocess::interprocess_semaphore wait_sem;
sem_t wait_sem;
double m_dt;
std::vector<double> m_commandOld, m_velocityOld;
hrp::Vector3 G;
Expand Down
10 changes: 5 additions & 5 deletions rtc/SequencePlayer/SequencePlayer.cpp
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Expand Up @@ -55,14 +55,14 @@ SequencePlayer::SequencePlayer(RTC::Manager* manager)
m_optionalDataOut("optionalData", m_optionalData),
m_SequencePlayerServicePort("SequencePlayerService"),
// </rtc-template>
m_waitSem(0),
m_robot(hrp::BodyPtr()),
m_debugLevel(0),
m_error_pos(0.0001),
m_error_rot(0.001),
m_iteration(50),
dummy(0)
{
sem_init(&m_waitSem, 0, 0);
m_service0.player(this);
m_clearFlag = false;
m_waitFlag = false;
Expand Down Expand Up @@ -232,14 +232,14 @@ RTC::ReturnCode_t SequencePlayer::onExecute(RTC::UniqueId ec_id)
if (m_waitFlag){
m_gname = "";
m_waitFlag = false;
m_waitSem.post();
sem_post(&m_waitSem);
}
}
if (m_seq->isEmpty()){
m_clearFlag = false;
if (m_waitFlag){
m_waitFlag = false;
m_waitSem.post();
sem_post(&m_waitSem);
}
}else{
Guard guard(m_mutex);
Expand Down Expand Up @@ -335,7 +335,7 @@ void SequencePlayer::waitInterpolation()
std::cerr << __PRETTY_FUNCTION__ << std::endl;
}
m_waitFlag = true;
m_waitSem.wait();
sem_wait(&m_waitSem);
}

bool SequencePlayer::waitInterpolationOfGroup(const char *gname)
Expand All @@ -345,7 +345,7 @@ bool SequencePlayer::waitInterpolationOfGroup(const char *gname)
}
m_gname = gname;
m_waitFlag = true;
m_waitSem.wait();
sem_wait(&m_waitSem);
return true;
}

Expand Down
4 changes: 2 additions & 2 deletions rtc/SequencePlayer/SequencePlayer.h
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Expand Up @@ -10,7 +10,7 @@
#ifndef SEQUENCEPLAYER_H
#define SEQUENCEPLAYER_H

#include <boost/interprocess/sync/interprocess_semaphore.hpp>
#include <semaphore.h>
#include <rtm/Manager.h>
#include <rtm/DataFlowComponentBase.h>
#include <rtm/CorbaPort.h>
Expand Down Expand Up @@ -181,7 +181,7 @@ class SequencePlayer
private:
seqplay *m_seq;
bool m_clearFlag, m_waitFlag;
boost::interprocess::interprocess_semaphore m_waitSem;
sem_t m_waitSem;
hrp::BodyPtr m_robot;
std::string m_gname;
unsigned int m_debugLevel;
Expand Down
12 changes: 6 additions & 6 deletions rtc/StateHolder/StateHolder.cpp
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Expand Up @@ -54,15 +54,15 @@ StateHolder::StateHolder(RTC::Manager* manager)
m_TimeKeeperServicePort("TimeKeeperService"),
// </rtc-template>
m_timeCount(0),
m_waitSem(0),
m_timeSem(0),
dummy(0)
{

m_service0.setComponent(this);
m_service1.setComponent(this);
m_requestGoActual = false;

sem_init(&m_waitSem, 0, 0);
sem_init(&m_timeSem, 0, 0);
}

StateHolder::~StateHolder()
Expand Down Expand Up @@ -253,7 +253,7 @@ RTC::ReturnCode_t StateHolder::onExecute(RTC::UniqueId ec_id)

if (m_requestGoActual){
m_requestGoActual = false;
m_waitSem.post();
sem_post(&m_waitSem);
}

if (m_basePosIn.isNew()){
Expand Down Expand Up @@ -321,7 +321,7 @@ RTC::ReturnCode_t StateHolder::onExecute(RTC::UniqueId ec_id)

if (m_timeCount > 0){
m_timeCount--;
if (m_timeCount == 0) m_timeSem.post();
if (m_timeCount == 0) sem_post(&m_timeSem);
}

return RTC::RTC_OK;
Expand Down Expand Up @@ -367,7 +367,7 @@ void StateHolder::goActual()
{
std::cout << "StateHolder::goActual()" << std::endl;
m_requestGoActual = true;
m_waitSem.wait();
sem_wait(&m_waitSem);
}

void StateHolder::getCommand(StateHolderService::Command &com)
Expand All @@ -388,7 +388,7 @@ void StateHolder::getCommand(StateHolderService::Command &com)
void StateHolder::wait(CORBA::Double tm)
{
m_timeCount = tm/m_dt;
m_timeSem.wait();
sem_wait(&m_timeSem);
}

extern "C"
Expand Down
4 changes: 2 additions & 2 deletions rtc/StateHolder/StateHolder.h
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Expand Up @@ -10,7 +10,7 @@
#ifndef NULL_COMPONENT_H
#define NULL_COMPONENT_H

#include <boost/interprocess/sync/interprocess_semaphore.hpp>
#include <semaphore.h>
#include <rtm/Manager.h>
#include <rtm/DataFlowComponentBase.h>
#include <rtm/CorbaPort.h>
Expand Down Expand Up @@ -165,7 +165,7 @@ class StateHolder

private:
int m_timeCount;
boost::interprocess::interprocess_semaphore m_waitSem, m_timeSem;
sem_t m_waitSem, m_timeSem;
bool m_requestGoActual;
double m_dt;
int dummy;
Expand Down