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MPI_ALLGATHERV test3

This commit is contained in:
zhangshuai 2019-05-30 10:06:18 +08:00
parent cf29f6c2bd
commit cb35012c7d
1 changed files with 19 additions and 11 deletions
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30
Gazebo_Distributed_MPI/gazebo/physics/World.cc
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@ -920,8 +920,9 @@ void World::Update()
char *sendBuffer;
char *receiveBuffer;
int bufferLen[tmp_gazebo_count];
int displs[tmp_gazebo_count];
int *bufferLen = new int[tmp_gazebo_count];
int *displs = new int[tmp_gazebo_count];
int receiveBufferLen = 0;
for (int tmp_gazebo_id = 0; tmp_gazebo_id < tmp_gazebo_count; tmp_gazebo_id++)
@ -937,14 +938,14 @@ void World::Update()
modelPose->set_name(tmp_model_name);
// if (this->gazeboLocalID == tmp_gazebo_id)
// {
modelPose->set_id(this->GetModel(tmp_model_name)->GetLink("canonical")->GetId());
modelPose->mutable_position()->set_x(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().pos.x);
modelPose->mutable_position()->set_y(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().pos.y);
modelPose->mutable_position()->set_z(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().pos.z);
modelPose->mutable_orientation()->set_x(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.x);
modelPose->mutable_orientation()->set_y(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.y);
modelPose->mutable_orientation()->set_z(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.z);
modelPose->mutable_orientation()->set_w(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.w);
modelPose->set_id(this->GetModel(tmp_model_name)->GetLink("canonical")->GetId());
modelPose->mutable_position()->set_x(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().pos.x);
modelPose->mutable_position()->set_y(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().pos.y);
modelPose->mutable_position()->set_z(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().pos.z);
modelPose->mutable_orientation()->set_x(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.x);
modelPose->mutable_orientation()->set_y(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.y);
modelPose->mutable_orientation()->set_z(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.z);
modelPose->mutable_orientation()->set_w(this->GetModel(tmp_model_name)->GetLink("canonical")->GetWorldPose().rot.w);
// }
tmp_model_name.clear();
@ -964,6 +965,9 @@ void World::Update()
for (int k = 0; k < tmp_gazebo_id; k++)
displs[tmp_gazebo_id] = displs[tmp_gazebo_id] + bufferLen[k];
std::cout << "*************$$$$$$$$$ bufferLen:" << bufferLen[tmp_gazebo_id] << " $$$$$$$$$$***************" << std::endl;
std::cout << "*************$$$$$$$$$ displs: " << displs[tmp_gazebo_id] << " $$$$$$$$$$***************" << std::endl;
if (this->gazeboLocalID == tmp_gazebo_id)
{
sendBuffer = new char[bufferLen[tmp_gazebo_id] + 1];
@ -980,6 +984,8 @@ void World::Update()
receiveBuffer = new char[receiveBufferLen + 1];
receiveBuffer[receiveBufferLen] = '\0';
std::cout << "*************$$$$$$$$$ bufferLen:" << receiveBufferLen << " $$$$$$$$$$***************" << std::endl;
// Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME
gettimeofday(&tv, NULL);
@ -1031,7 +1037,7 @@ void World::Update()
{
math::Pose tmp_pose;
std::string tmp_model_name = modelPoseListReceive.pose(i).name();
// std::string tmp_model_name = this->distribution->GetGazeboIDPtr(1)->GetModelName(i);
std::cout << "*************$$$$$$$$$ model_name:" << tmp_model_name << " $$$$$$$$$$***************" << std::endl;
tmp_pose.pos.x = modelPoseListReceive.pose(i).position().x();
tmp_pose.pos.y = modelPoseListReceive.pose(i).position().y();
tmp_pose.pos.z = modelPoseListReceive.pose(i).position().z();
@ -1047,6 +1053,8 @@ void World::Update()
delete[] sendBuffer;
delete[] receiveBuffer;
delete[] bufferLen;
delete[] displs;
// Added by zhangshuai 2019.04.03 for count time ----Begin
#ifdef USE_COUNT_TIME