bool
av::Distributed::isOwned() const
{
#if defined(AVANGO_DISTRIBUTION_SUPPORT)
return (!isDistributed() || (netCreator() == netNode()->netEID()));
#else
return true;
#endif
}
void
av::Distributed::notifyLocalChange()
{
if (!isDistributed())
{
return;
}
Link<Distributed> tmp(this);
mNetInfo->mNode->updateDistributedObject(tmp);
}
void MpiCommunicator::fini()
{
VT_FUNC_I( "MpiCommunicator::fini" );
// Already running?
if ( ! m_hasBeenInitialized ) {
return;
}
// First the generic cleanup:
GenericCommunicator::fini();
// Cleanup of mpi specific stuff:
delete m_channel;
m_channel = NULL;
if( ! ( isDistributed() || m_customComm ) ) {
MPI_Finalize();
}
}
MemoryType::MemoryType(Location _addr, size_t _size, AllocKind ak, long blsz, const SourceInfo& _pos)
: startAddress(_addr), origin(ak), allocPos(_pos), typedata(), initdata(_size), blocksize(blsz)
{
assert(_size && getSize());
RuntimeSystem& rs = RuntimeSystem::instance();
if ( diagnostics::message(diagnostics::memory) )
{
std::stringstream msg;
Address addrlimit = endAddress();
msg << " ***** Allocate Memory :: [" << _addr
<< ", " << addrlimit << ")"
<< " size = " << _size
<< " blocksize = " << blocksize
<< " distributed = " << isDistributed()
<< " @ (" << _pos.src_line << ", " << _pos.rted_line << ")";
rs.printMessage(msg.str());
}
}
void startNodes(void)
{
//start coordinator
AU_UAV_ROS::StartCoordinator coordsrv;
coordsrv.request.indicator = "start coordinator";
while (initiateCoordinator.call(coordsrv) == false)
{
ROS_INFO("starting coordinator...");
}
//start simulator
AU_UAV_ROS::StartSimulator simsrv;
simsrv.request.indicator = "start simulator";
while (initiateSimulator.call(simsrv) == false)
{
ROS_INFO("starting simulator....");
}
//start collision avoidance if the distributed simulator is not running
if (!isDistributed())
{
AU_UAV_ROS::StartCollisionAvoidance casrv;
casrv.request.indicator = "start collision avoidance";
while (initiateCollisionAvoidance.call(casrv) == false)
{
ROS_INFO("starting collision avoidance...");
}
}
//start XbeeIO
AU_UAV_ROS::StartXbeeIO xbeesrv;
xbeesrv.request.indicator = "start xbee io";
while (initiateXbeeIO.call(xbeesrv) == false)
{
ROS_INFO("starting XbeeIO");
}
}
