From 03a973f1a46e22adc2461ad48323c48b97140566 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Fri, 2 Mar 2018 16:16:34 +0100
Subject: [PATCH] Remove URDF caching based on file timestamp.
---
.../gepetto/viewer/corba/windows-manager.hh | 16 ----
src/windows-manager.cpp | 84 +++++--------------
2 files changed, 20 insertions(+), 80 deletions(-)
diff --git a/include/gepetto/viewer/corba/windows-manager.hh b/include/gepetto/viewer/corba/windows-manager.hh
index 424e014..21874f7 100644
--- a/include/gepetto/viewer/corba/windows-manager.hh
+++ b/include/gepetto/viewer/corba/windows-manager.hh
@@ -61,13 +61,6 @@ namespace graphics {
}
};
- struct UrdfFile {
- std::string filename;
- time_t modTime;
- UrdfFile (const std::string& f);
- UrdfFile () {}
- };
-
DEF_CLASS_SMART_PTR(WindowsManager)
class WindowsManager
@@ -82,9 +75,6 @@ namespace graphics {
typedef std::map <std::string, WindowID> WindowIDMap_t;
WindowIDMap_t windowIDmap_;
- typedef std::map <std::string, UrdfFile> UrdfFileMap_t;
- UrdfFileMap_t urdfFileMap_;
-
private:
typedef std::vector <WindowManagerPtr_t> WindowManagerVector_t;
typedef std::vector<NodeConfiguration> NodeConfigurations_t;
@@ -106,14 +96,8 @@ namespace graphics {
NodePtr_t find (const std::string name, GroupNodePtr_t group = GroupNodePtr_t());
void initParent(NodePtr_t node, GroupNodePtr_t parent);
void threadRefreshing(WindowManagerPtr_t window);
- bool urdfUpToDate (const std::string nodeName,
- const std::string filename);
bool loadUDRF(const std::string& urdfName, const std::string& urdfPath,
bool visual, bool linkFrame);
- void registerUrdfNode (const std::string nodeName,
- const std::string filename);
- bool urdfNodeMustBeAdded (const std::string& nodeName,
- const std::string& filename);
protected:
/**
diff --git a/src/windows-manager.cpp b/src/windows-manager.cpp
index d5fec37..b456392 100644
--- a/src/windows-manager.cpp
+++ b/src/windows-manager.cpp
@@ -300,32 +300,6 @@ namespace graphics {
}
}
- UrdfFile::UrdfFile (const std::string& f)
- : filename (urdfParser::getFilename(f)) {
- struct stat buffer;
- if (stat (filename.c_str(), &buffer) != 0) {
- perror (filename.c_str());
- modTime = 0;
- }
- modTime = buffer.st_mtime;
- }
-
- bool WindowsManager::urdfUpToDate (const std::string nodeName,
- const std::string filename)
- {
- UrdfFileMap_t::const_iterator it = urdfFileMap_.find (nodeName);
- if (it == urdfFileMap_.end())
- return false;
- UrdfFile uf (filename);
- return it->second.modTime == uf.modTime;
- }
-
- void WindowsManager::registerUrdfNode (const std::string nodeName,
- const std::string filename)
- {
- urdfFileMap_[nodeName] = UrdfFile (filename);
- }
-
//Public functions
bool WindowsManager::setRate (const int& rate)
@@ -905,22 +879,6 @@ namespace graphics {
return true;
}
- bool WindowsManager::urdfNodeMustBeAdded (const std::string& nodeName,
- const std::string& filename)
- {
- if (nodes_.find (nodeName) != nodes_.end ()) {
- if (urdfUpToDate (nodeName, filename)) {
- std::cout << "Urdf already loaded: " << nodeName << std::endl;
- return false;
- } else {
- // Erase existing node.
- std::cout << "Urdf deleted: " << nodeName << std::endl;
- deleteNode (nodeName, false);
- }
- }
- return true;
- }
-
bool WindowsManager::addURDF (const std::string& urdfName,
const std::string& urdfPath)
{
@@ -964,31 +922,29 @@ namespace graphics {
bool WindowsManager::loadUDRF(const std::string& urdfName,
const std::string& urdfPath, bool visual, bool linkFrame)
{
- if (urdfNodeMustBeAdded (urdfName, urdfPath)) {
- GroupNodePtr_t urdf =
- urdfParser::parse (urdfName, urdfPath, visual, linkFrame);
- osgFrameMutex().lock();
- addGroup (urdfName, urdf, true);
- NodePtr_t link;
- for (std::size_t i=0; i< urdf->getNumOfChildren (); i++) {
- link = urdf->getChild (i);
- GroupNodePtr_t groupNode (dynamic_pointer_cast
- <GroupNode> (link));
- if (groupNode) {
- addGroup(link->getID(), groupNode, urdf);
- for (std::size_t j=0; j < groupNode->getNumOfChildren (); ++j) {
- NodePtr_t object (groupNode->getChild (j));
- addNode(object->getID (), object, groupNode);
- }
- } else {
- addNode(link->getID(), link, urdf);
+ RETURN_FALSE_IF_NODE_EXISTS(urdfName);
+
+ GroupNodePtr_t urdf =
+ urdfParser::parse (urdfName, urdfPath, visual, linkFrame);
+ osgFrameMutex().lock();
+ addGroup (urdfName, urdf, true);
+ NodePtr_t link;
+ for (std::size_t i=0; i< urdf->getNumOfChildren (); i++) {
+ link = urdf->getChild (i);
+ GroupNodePtr_t groupNode (dynamic_pointer_cast
+ <GroupNode> (link));
+ if (groupNode) {
+ addGroup(link->getID(), groupNode, urdf);
+ for (std::size_t j=0; j < groupNode->getNumOfChildren (); ++j) {
+ NodePtr_t object (groupNode->getChild (j));
+ addNode(object->getID (), object, groupNode);
}
+ } else {
+ addNode(link->getID(), link, urdf);
}
- registerUrdfNode (urdfName, urdfPath);
- osgFrameMutex().unlock();
- return true;
}
- return false;
+ osgFrameMutex().unlock();
+ return true;
}
bool WindowsManager::addToGroup (const std::string& nodeName,
--
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