Merge branch 'refs/heads/devel'

Core/libMOOS/App/MOOSApp.cpp

@@ -440,6 +440,7 @@ bool CMOOSApp::GetFlagFromCommandLineOrConfigurationFile(std::string sOption,boo
     }
     if(bF)
     {
+        //std::cerr<<"found in config file:"<<sOption<<"\n";
         return bFlag;
     }
     return false;
@@ -671,7 +672,7 @@ void CMOOSApp::DoBanner()
 
 	if(GetMOOSTimeWarp()!=1.0)
 		MOOSTrace("\t|-Time Warp @ %.1f \n",GetMOOSTimeWarp());
-	if(m_Comms.GetCommsControlTimeWarpScaleFactor()>0.0)
+	if(m_Comms.GetCommsControlTimeWarpScaleFactor()>0.0  && GetMOOSTimeWarp()>1.0)
 	    MOOSTrace("\t|-Time Warp delay @ %.1f ms \n",m_Comms.GetCommsControlTimeWarpScaleFactor()*GetMOOSTimeWarp());
 
 

Core/libMOOS/App/include/MOOS/libMOOS/App/MOOSApp.h

@@ -676,7 +676,14 @@ class CMOOSApp
      response times. It is not recommended for general use*/
     bool UseMailCallBack();
 
-
+    /**
+     * look for  a parameter in the mission file and on the command line. If found in both command line
+     * wins. It is (default) assumed "--" is prepended on command line. So foo=xx in mission file appears as
+     * --foo=xx on command line
+     * @param sOption name of parameter
+     * @param var variable to be returned
+     * @param bPrependMinusMinusForCommandLine if true then add "--" to command line
+     */
     template <class T>
     bool GetParameterFromCommandLineOrConfigurationFile(std::string sOption, T & var,bool bPrependMinusMinusForCommandLine=true);
 

Core/libMOOS/CMakeLists.txt

@@ -113,13 +113,22 @@ IF (DETECT_CLOCK_DRIFT)
 ENDIF (DETECT_CLOCK_DRIFT)
 MARK_AS_ADVANCED(DETECT_CLOCK_DRIFT)
 
-# Removed the extra field that was added to the MOOS message protocol in October 2009.
+# Remove the extra field that was added to the MOOS message protocol in October 2009.
 OPTION(DISABLE_AUX_SOURCE "Disable the AUX_SRC field in MOOS messages.  Only change this if you know what it is!" OFF)
 IF (DISABLE_AUX_SOURCE)
   ADD_DEFINITIONS(-DDISABLE_AUX_SOURCE)
 ENDIF (DISABLE_AUX_SOURCE)
 MARK_AS_ADVANCED(DISABLE_AUX_SOURCE)
 
+
+set(TIME_WARP_AGGLOMERATION_CONSTANT  0.0 CACHE STRING "comms agglomeration scale factor for high time warps")
+IF (${TIME_WARP_AGGLOMERATION_CONSTANT} GREATER 0.0)
+  ADD_DEFINITIONS(-DTIME_WARP_AGGLOMERATION_CONSTANT=${TIME_WARP_AGGLOMERATION_CONSTANT})
+ENDIF ()
+MARK_AS_ADVANCED(TIME_WARP_AGGLOMERATION_CONSTANT)
+
+
+
 OPTION(ENABLE_V10_COMPATIBILITY  "Enable compatibility for source which includes pre V10 headers " OFF)
 OPTION(ENABLE_V10_IVP_COMPATIBILITY  "Enable compatibility for source which includes pre V10 headers as expected by IvP " OFF)
 MARK_AS_ADVANCED(ENABLE_V10_IVP_COMPATIBILITY)

Core/libMOOS/Comms/MOOSAsyncCommClient.cpp

@@ -45,6 +45,8 @@
 #include "MOOS/libMOOS/Comms/MOOSAsyncCommClient.h"
 #include "MOOS/libMOOS/Comms/XPCTcpSocket.h"
 
+
+
 namespace MOOS {
 
 #define TIMING_MESSAGE_PERIOD 1.0
@@ -67,7 +69,7 @@ MOOSAsyncCommClient::MOOSAsyncCommClient() {
     m_dfOutGoingDelay = 0.0;
     m_bPostNewestToFront = false;
 
-    SetCommsControlTimeWarpScaleFactor(0.1);
+//    SetCommsControlTimeWarpScaleFactor(0.0);
 }
 ///default destructor
 MOOSAsyncCommClient::~MOOSAsyncCommClient() {
@@ -312,6 +314,8 @@ bool MOOSAsyncCommClient::DoWriting() {
 
 }
 
+
+
 bool MOOSAsyncCommClient::MonitorAndLimitWriteSpeed()
 {
     double WarpDelayMS = 0.0;
@@ -320,7 +324,7 @@ bool MOOSAsyncCommClient::MonitorAndLimitWriteSpeed()
     double TimeWarp =GetMOOSTimeWarp();
     if(TimeWarp>1.0)
     {
-        WarpDelayMS=TimeWarp*0.1;
+        WarpDelayMS=TimeWarp*GetCommsControlTimeWarpScaleFactor();
     }
     double TotalDelay = std::max(m_dfOutGoingDelay*1000,WarpDelayMS);
     unsigned int sleep_ms =

Core/libMOOS/Comms/MOOSCommClient.cpp

@@ -75,6 +75,10 @@ using namespace std;
 // Construction/Destruction
 //////////////////////////////////////////////////////////////////////
 
+#define MAX_TIME_WARP_AGGLOMERATION_CONSTANT 10.0
+#ifndef TIME_WARP_AGGLOMERATION_CONSTANT
+#define TIME_WARP_AGGLOMERATION_CONSTANT 0.2
+#endif
 
 
 
@@ -123,7 +127,7 @@ CMOOSCommClient::CMOOSCommClient()
 	//assume an old DB
 	m_bDBIsAsynchronous = false;
 
-	SetCommsControlTimeWarpScaleFactor(0.0);
+	SetCommsControlTimeWarpScaleFactor(TIME_WARP_AGGLOMERATION_CONSTANT);
 
     SetVerboseDebug(false);
 
@@ -1732,8 +1736,14 @@ bool CMOOSCommClient::UpdateMOOSSkew(double dfRqTime, double dfTxTime, double df
 
 bool CMOOSCommClient::SetCommsControlTimeWarpScaleFactor(double dfSF)
 {
-    if(dfSF<0.0|| dfSF>1.0)
+
+    if(dfSF<0.0|| dfSF>MAX_TIME_WARP_AGGLOMERATION_CONSTANT)
+    {
+        std::cerr<<MOOS::ConsoleColours::Red();
+        std::cerr<<"Warning: Comms Scale factor out of range (0:10.0\n";
+        std::cerr<<MOOS::ConsoleColours::reset();
         return false;
+    }
 
     m_dfOutGoingDelayTimeWarpScaleFactor = dfSF;
     return true;
@@ -1780,15 +1790,15 @@ bool CMOOSCommClient::ControlClientCommsStatusMonitoring(bool bEnable)
     return true;
 }
 
-bool CMOOSCommClient::GetClientCommsStatus(const std::string & sClient, MOOS::ClientCommsStatus & Status)
+bool CMOOSCommClient::GetClientCommsStatus(const std::string & sClient, MOOS::ClientCommsStatus & TheStatus)
 {
     MOOS::ScopedLock L(m_ClientStatusLock);
     std::map<std::string , MOOS::ClientCommsStatus>::iterator q = m_ClientStatuses.find(sClient);
 
     if (q==m_ClientStatuses.end())
         return false;
 
-    Status = q->second;
+    TheStatus = q->second;
 
     return true;
 }

Core/libMOOS/Comms/XPCGetProtocol.cpp

@@ -30,44 +30,75 @@
 //
 //////////////////////////    END_GPL    //////////////////////////////////
 #include "MOOS/libMOOS/Comms/XPCGetProtocol.h"
+#include "MOOS/libMOOS/Utils/MOOSScopedLock.h"
+
+CMOOSLock _ProtocolLock;
 
 XPCGetProtocol::XPCGetProtocol(const char *_sName)
 {
+    MOOS::ScopedLock L(_ProtocolLock);
+
 #ifdef UNIX
        cIteratorFlag = 0;
 #endif
+
        // Retrieves the protocol structure by name
        protocolPtr = getprotobyname(_sName);
-       if (protocolPtr == NULL)
-       {
-             XPCException exceptObject("Could Not Get Protocol By Name");
-             throw exceptObject;
-             return;
-        }
+
 }
 
 XPCGetProtocol::XPCGetProtocol(int _iProtocol)
 {
+        MOOS::ScopedLock L(_ProtocolLock);
+
 #ifdef UNIX
         cIteratorFlag = 0;
 #endif
-#ifdef __linux
-        // Retrieves the protocol structure by number
-        char buf[1024];
 
-        getprotobynumber_r(_iProtocol,&protocol,
-                          buf, sizeof(buf), &protocolPtr);
-
-
-        //protocolPtr = getprotobynumber_r(_iProtocol);//thread safe fix suggested by Mark Moseley
-#else
         // Retrieves the protocol structure by number
         protocolPtr = getprotobynumber(_iProtocol);
-#endif
         if (protocolPtr == NULL)
         {
               XPCException exceptObject("Could Not Get Protocol By Number");
               throw exceptObject;
               return;
         }
 }
+
+XPCGetProtocol::~XPCGetProtocol()
+{
+    MOOS::ScopedLock L(_ProtocolLock);
+#ifdef UNIX
+        endprotoent();
+#endif
+}
+
+
+#ifdef UNIX
+    void XPCGetProtocol::vOpenProtocolDb()
+    {
+        MOOS::ScopedLock L(_ProtocolLock);
+
+        endprotoent();
+        cIteratorFlag = 1;
+        setprotoent(1);
+    }
+
+    // Iterates through the list of protocols
+    char XPCGetProtocol::cGetNextProtocol()
+    {
+        MOOS::ScopedLock L(_ProtocolLock);
+
+        if (cIteratorFlag == 1)
+        {
+            if ((protocolPtr = getprotoent()) == NULL)
+                return 0;
+            else
+                return 1;
+        }
+        return 0;
+    }
+#endif
+
+
+

Core/libMOOS/Comms/include/MOOS/libMOOS/Comms/MOOSCommClient.h

@@ -415,7 +415,7 @@ class CMOOSCommClient  :public CMOOSCommObject
     void EnableCommsStatusMonitoring(bool bEnable);
 
     /** query the comms status of some other client*/
-    bool GetClientCommsStatus(const std::string & sClient, MOOS::ClientCommsStatus & Status);
+    bool GetClientCommsStatus(const std::string & sClient, MOOS::ClientCommsStatus & TheStatus);
 
     /** get all client statuses */
     void GetClientCommsStatuses(std::list<MOOS::ClientCommsStatus> & Statuses);

Core/libMOOS/Comms/include/MOOS/libMOOS/Comms/XPCGetProtocol.h

@@ -41,9 +41,6 @@ class XPCGetProtocol
 {
 #ifdef UNIX
     char cIteratorFlag;        // Protocol database iteration flag
-#ifdef __linux
-    struct protoent protocol;
-#endif
 #endif
     struct protoent *protocolPtr;    // Pointer to protocol database entry
 public:
@@ -61,35 +58,15 @@ class XPCGetProtocol
     // Constructor.  Returns the protoent structure given the protocol number
     XPCGetProtocol(int _iProtocol);
 
-    // Desstructor closes the database connection  
-        ~XPCGetProtocol()
-        {
-#ifdef UNIX
-                endprotoent();
-#endif
-        }
+    // Destructor closes the database connection
+    ~XPCGetProtocol();
 
-    // Opens the protocol database and sets the cIteratorFlag to true
 #ifdef UNIX
-    void vOpenProtocolDb()
-    {
-        endprotoent();
-        cIteratorFlag = 1;
-        setprotoent(1);
-    }    
+    // Opens the protocol database and sets the cIteratorFlag to true
+    void vOpenProtocolDb();
 
     // Iterates through the list of protocols
-    char cGetNextProtocol()
-    {
-        if (cIteratorFlag == 1)
-        {
-            if ((protocolPtr = getprotoent()) == NULL)
-                return 0;
-            else
-                return 1;
-        }
-        return 0;
-    } 
+    char cGetNextProtocol();
 #endif
 
     // Returns the protocol name