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modiy

This commit is contained in:
zhangshuai 2019-04-28 15:15:53 +08:00
parent 7e41222cfa
commit 85c423e5ea
1 changed files with 146 additions and 140 deletions
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34
Gazebo_Distributed_MPI/gazebo/physics/World.cc
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@ -275,8 +275,14 @@ void World::Load(sdf::ElementPtr _sdf)
if (this->dataPtr->sdf->HasElement("distribution"))
{
sdf::ElementPtr distributionElem = this->dataPtr->sdf->GetElement("distribution");
// int myid = 0;
int nproc;
char proc_name[MPI_MAX_PROCESSOR_NAME];
int nameLength;
MPI_Comm_rank(MPI_COMM_WORLD, &this->gazeboLocalID);
MPI_Comm_size(MPI_COMM_WORLD, &nproc);
MPI_Get_processor_name(proc_name, &nameLength);
printf("Gazebo, Iam host %s with rank %d of %d\n", proc_name, this->gazeboLocalID, nproc);
this->flag = distributionElem->Get<int>("flag");
std::cout << "================= gazebo_local_ID: " << this->gazeboLocalID << "\t Flag: " << this->flag << " =================" << std::endl;
@ -902,10 +908,10 @@ void World::Update()
if (1 == this->flag)
{
// Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME
#ifdef USE_COUNT_TIME
gettimeofday(&tv, NULL);
cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
#endif
#endif
// Added by zhangshuai 2019.04.03 for count time ----End
MPI_Status *status = (MPI_Status *)malloc(sizeof(MPI_Status) * (this->distribution->GetGazeboCount()));
@ -934,17 +940,17 @@ void World::Update()
}
// Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME
#ifdef USE_COUNT_TIME
gettimeofday(&tv, NULL);
before_tcpTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
#endif
#endif
// Added by zhangshuai 2019.04.03 for count time ----End
// Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME
#ifdef USE_COUNT_TIME
gettimeofday(&tv, NULL);
cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
#endif
#endif
// Added by zhangshuai 2019.04.03 for count time ----End
//send poses to another process
@ -974,17 +980,17 @@ void World::Update()
}
// Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME
#ifdef USE_COUNT_TIME
gettimeofday(&tv, NULL);
tcpTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
#endif
#endif
// Added by zhangshuai 2019.04.03 for count time ----End
// Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME
// Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME
gettimeofday(&tv, NULL);
cur_time = (double)tv.tv_sec + (double)tv.tv_usec / 1.e6;
#endif
#endif
// Added by zhangshuai 2019.04.03 for count time ----End
//receive and get information from other processes
@ -1031,10 +1037,10 @@ void World::Update()
}
// Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME
#ifdef USE_COUNT_TIME
gettimeofday(&tv, NULL);
after_tcpTime += (double)tv.tv_sec + (double)tv.tv_usec / 1.e6 - cur_time;
#endif
#endif
// Added by zhangshuai 2019.04.03 for count time ----End
// MPI_Waitall(this->distribution->GetGazeboCount(), request, status);