Update of /cvsroot/playerstage/code/player/utils/playerv
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv20455/utils/playerv
Modified Files:
Makefile.am playerv.c playerv.h registry.c
Added Files:
dev_vectormap.c
Log Message:
added vectormap interface
added postgis vectormap driver
Thanks to Ben Morelli for these changes
Index: registry.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/registry.c,v
retrieving revision 1.28
retrieving revision 1.29
diff -C2 -d -r1.28 -r1.29
*** registry.c 20 May 2007 00:30:15 -0000 1.28
--- registry.c 20 Aug 2007 19:42:49 -0000 1.29
***************
*** 164,167 ****
--- 164,177 ----
break;
+ case PLAYER_VECTORMAP_CODE:
+ device->proxy = vectormap_create(mainwnd, opt, client,
+ device->addr.index,
+ device->drivername,
+ device->subscribe);
+ device->fndestroy = (fndestroy_t) vectormap_destroy;
+ device->fnupdate = (fnupdate_t) vectormap_update;
+ break;
+
+
#if 0
case PLAYER_LOCALIZE_CODE:
--- NEW FILE: dev_vectormap.c ---
/*
* PlayerViewer
* Copyright (C) Andrew Howard 2002
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
*/
/***************************************************************************
* Desc: Map interface
* Author: Richard Vaughan, based on similar code by Andrew Howard
* Date: 5 March 2005
* CVS: $Id: dev_vectormap.c,v 1.1 2007/08/20 19:42:49 thjc Exp $
***************************************************************************/
#include <assert.h>
#include <stdlib.h>
#include <string.h>
#include "playerv.h"
// Update the map configuration
void vectormap_update_config(vectormap_t *map);
// Draw the map
void vectormap_draw(vectormap_t *map);
// Draw a single map feature
void vectormap_draw_feature(vectormap_t *map, GEOSGeom geom);
// Create a map device
vectormap_t *vectormap_create(mainwnd_t *mainwnd, opt_t *opt, playerc_client_t
*client,
int index, const char *drivername, int subscribe)
{
char label[64];
char section[64];
vectormap_t *map;
map = malloc(sizeof(vectormap_t));
map->proxy = playerc_vectormap_create(client, index);
map->drivername = strdup(drivername);
map->datatime = 0;
snprintf(section, sizeof(section), "vectormap:%d", index);
// Construct the menu
snprintf(label, sizeof(label), "vectormap:%d (%s)", index, map->drivername);
map->menu = rtk_menu_create_sub(mainwnd->device_menu, label);
map->subscribe_item = rtk_menuitem_create(map->menu, "Subscribe", 1);
// Set the initial menu state
rtk_menuitem_check(map->subscribe_item, subscribe);
// Construct figures
map->fig = rtk_fig_create(mainwnd->canvas, NULL, 1);
printf("Created figure: %p\n", map->fig);
return map;
}
// Destroy a map device
void vectormap_destroy(vectormap_t *map)
{
if (map->proxy->info.subscribed)
playerc_vectormap_unsubscribe(map->proxy);
playerc_vectormap_destroy(map->proxy);
rtk_fig_destroy(map->fig);
free(map->drivername);
free(map);
return;
}
// Update a map device
void vectormap_update(vectormap_t *map)
{
unsigned ii;
// Update the device subscription
if (rtk_menuitem_ischecked(map->subscribe_item))
{
if (!map->proxy->info.subscribed)
{
if (playerc_vectormap_subscribe(map->proxy, PLAYER_OPEN_MODE) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
// get the map info
playerc_vectormap_get_map_info( map->proxy );
// download intial map
for (ii = 0; ii < map->proxy->layers_count; ++ii)
{
playerc_vectormap_get_layer_info( map->proxy, ii );
}
for (ii = 0; ii < map->proxy->layers_count; ++ii)
{
playerc_vectormap_get_layer_data( map->proxy, ii );
}
vectormap_draw( map );
}
}
else
{
if (map->proxy->info.subscribed)
if (playerc_vectormap_unsubscribe(map->proxy) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
}
rtk_menuitem_check(map->subscribe_item, map->proxy->info.subscribed);
// Dont draw the map.
if(map->proxy->info.subscribed)
rtk_fig_show(map->fig, 1);
else
rtk_fig_show(map->fig, 0);
}
//extern GEOSGeometry GEOS_DLL *GEOSGeomFromWKB_buf(const unsigned char *wkb,
size_t size);
// Draw the map scan
void vectormap_draw(vectormap_t *map)
{
unsigned ii, jj;
GEOSGeom feature;
printf("Calling draw on vectormap\n");
rtk_fig_show(map->fig, 1);
rtk_fig_clear(map->fig);
puts( "map draw" );
// draw map data
uint32_t colour = 0xFF0000;
for (ii = 0; ii < map->proxy->layers_count; ++ii)
{
// get a different colour for each layer the quick way, will duplicate
after 6 layers
colour = colour >> 4 & colour << 24;
rtk_fig_color_rgb32(map->fig, colour);
// render the features
for (jj = 0; jj < map->proxy->layers[ii]->features_count; ++jj)
{
feature = playerc_vectormap_get_feature_data( map->proxy, ii, jj );
if (feature)
vectormap_draw_feature(map, feature);
}
}
// draw map extent
rtk_fig_color_rgb32( map->fig, 0xFF0000 );
double xCenter = map->proxy->extent.x1 - (map->proxy->extent.x1 -
map->proxy->extent.x0)/2;
double yCenter = map->proxy->extent.y1 - (map->proxy->extent.y1 -
map->proxy->extent.y0)/2;
rtk_fig_rectangle(
map->fig,
xCenter,
yCenter,
0,
map->proxy->extent.x1 - map->proxy->extent.x0,
map->proxy->extent.y1 - map->proxy->extent.y0,
0
);
return;
}
void vectormap_draw_feature(vectormap_t *map, GEOSGeom geom)
{
#ifdef HAVE_GEOS
GEOSCoordSeq seq;
unsigned numcoords;
unsigned ii;
double x,y,x2,y2;
switch (GEOSGeomTypeId(geom))
{
case GEOS_POINT:
seq = GEOSGeom_getCoordSeq(geom);
GEOSCoordSeq_getX(seq, 00, &x);
GEOSCoordSeq_getY(seq, 00, &y);
rtk_fig_point( map->fig, x, y );
break;
case GEOS_LINESTRING:
case GEOS_LINEARRING:
printf("Got a line string\n");
seq = GEOSGeom_getCoordSeq(geom);
if(GEOSCoordSeq_getSize(seq, &numcoords))
{
GEOSCoordSeq_getX(seq, ii, &x2);
GEOSCoordSeq_getY(seq, ii, &y2);
printf("first point: %f %f\n", x2,y2);
if (numcoords < 2)
{
rtk_fig_point( map->fig, x2, y2 );
}
else
{
for (ii = 1; ii < numcoords; ++ii)
{
x = x2;
y = y2;
GEOSCoordSeq_getX(seq, ii, &x2);
GEOSCoordSeq_getY(seq, ii, &y2);
printf("drawing line from %f,%f to %f,%f\n",x,y,x2,y2);
rtk_fig_line( map->fig, x, y ,x2, y2);
}
}
}
break;
case GEOS_POLYGON:
vectormap_draw_feature(map,GEOSGetExteriorRing(geom));
for (ii = 0; ii < GEOSGetNumInteriorRings(geom); ++ii)
{
vectormap_draw_feature(map,GEOSGetInteriorRingN(geom,ii));
}
break;
case GEOS_MULTIPOINT:
case GEOS_MULTILINESTRING:
case GEOS_MULTIPOLYGON:
case GEOS_GEOMETRYCOLLECTION:
for (ii = 0; ii < GEOSGetNumGeometries(geom); ++ii)
{
vectormap_draw_feature(map,GEOSGetGeometryN(geom,ii));
}
break;
default:
PRINT_ERR1("unknown feature type: %d", GEOSGeomTypeId(geom));
}
#else
printf("lib GEOS was not available at build time so features will not be
rendered\n");
#endif
}
Index: playerv.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/playerv.h,v
retrieving revision 1.49
retrieving revision 1.50
diff -C2 -d -r1.49 -r1.50
*** playerv.h 20 May 2007 00:30:15 -0000 1.49
--- playerv.h 20 Aug 2007 19:42:49 -0000 1.50
***************
*** 820,822 ****
--- 820,858 ----
+ /***************************************************************************
+ * Vector Map device
+ ***************************************************************************/
+
+ // Vector Map device info
+ typedef struct
+ {
+ // Driver name
+ char *drivername;
+
+ // Map device proxy
+ playerc_vectormap_t *proxy;
+
+ // Timestamp on most recent data
+ double datatime;
+
+ // Menu stuff
+ rtk_menu_t *menu;
+ rtk_menuitem_t *subscribe_item;
+ // Figures
+ rtk_fig_t *fig;
+
+ } vectormap_t;
+
+
+ // Create a map device
+ vectormap_t *vectormap_create(mainwnd_t *mainwnd, opt_t *opt,
playerc_client_t *client,
+ int index, const char *drivername, int subscribe);
+
+ // Destroy a map device
+ void vectormap_destroy(vectormap_t *map);
+
+ // Update a map device
+ void vectormap_update(vectormap_t *map);
+
+
#endif
Index: Makefile.am
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/Makefile.am,v
retrieving revision 1.43
retrieving revision 1.44
diff -C2 -d -r1.43 -r1.44
*** Makefile.am 20 May 2007 00:30:15 -0000 1.43
--- Makefile.am 20 Aug 2007 19:42:49 -0000 1.44
***************
*** 5,9 ****
EXTRA_DIST = playerv-laser-blobfinder-ptz.jpg playerv-sonar.jpg
! AM_CPPFLAGS = -I$(top_srcdir) -I$(top_srcdir)/client_libs @GTK_CFLAGS@
bin_PROGRAMS = $(PLAYERV)
--- 5,9 ----
EXTRA_DIST = playerv-laser-blobfinder-ptz.jpg playerv-sonar.jpg
! AM_CPPFLAGS = -I$(top_srcdir) -I$(top_srcdir)/client_libs @GTK_CFLAGS@
bin_PROGRAMS = $(PLAYERV)
***************
*** 16,20 ****
opt.c \
opt.h \
! dev_aio.c \
dev_blobfinder.c \
dev_bumper.c \
--- 16,20 ----
opt.c \
opt.h \
! dev_aio.c \
dev_blobfinder.c \
dev_bumper.c \
***************
*** 30,34 ****
dev_wifi.c \
dev_gripper.c \
! dev_ranger.c
#dev_localize.c
--- 30,35 ----
dev_wifi.c \
dev_gripper.c \
! dev_ranger.c \
!
dev_vectormap.c
#dev_localize.c
***************
*** 36,38 ****
$(top_builddir)/libplayerxdr/libplayerxdr.la \
$(top_builddir)/libplayercore/libplayererror.la
! playerv_LDADD = $(top_builddir)/client_libs/libplayerc/libplayerc.la
$(top_builddir)/libplayerxdr/libplayerxdr.la
$(top_builddir)/libplayercore/libplayererror.la -lrtk -L$(top_builddir)/rtk2
-lrtk @GTK_LIBS@
--- 37,43 ----
$(top_builddir)/libplayerxdr/libplayerxdr.la \
$(top_builddir)/libplayercore/libplayererror.la
! playerv_LDADD = $(top_builddir)/client_libs/libplayerc/libplayerc.la \
! $(top_builddir)/libplayerxdr/libplayerxdr.la \
! $(top_builddir)/libplayercore/libplayererror.la \
! $(top_builddir)/libplayercore/libplayerutils.la \
! -lrtk -L$(top_builddir)/rtk2 -lrtk @GTK_LIBS@ @GEOS_LIBS@
Index: playerv.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/playerv.c,v
retrieving revision 1.48
retrieving revision 1.49
diff -C2 -d -r1.48 -r1.49
*** playerv.c 20 May 2007 00:30:15 -0000 1.48
--- playerv.c 20 Aug 2007 19:42:49 -0000 1.49
***************
*** 257,261 ****
// See if the device should be subscribed immediately.
snprintf(section, sizeof(section), "%s:%d",
! playerc_lookup_name(device->addr.interf), device->addr.index);
device->subscribe = opt_get_int(opt, section, "", 0);
device->subscribe = opt_get_int(opt, section, "subscribe",
device->subscribe);
--- 257,261 ----
// See if the device should be subscribed immediately.
snprintf(section, sizeof(section), "%s:%d",
! interf_to_str(device->addr.interf), device->addr.index);
device->subscribe = opt_get_int(opt, section, "", 0);
device->subscribe = opt_get_int(opt, section, "subscribe",
device->subscribe);
***************
*** 263,267 ****
{
snprintf(section, sizeof(section), "%s",
! playerc_lookup_name(device->addr.interf));
device->subscribe = opt_get_int(opt, section, "", device->subscribe);
device->subscribe = opt_get_int(opt, section, "subscribe",
device->subscribe);
--- 263,267 ----
{
snprintf(section, sizeof(section), "%s",
! interf_to_str(device->addr.interf));
device->subscribe = opt_get_int(opt, section, "", device->subscribe);
device->subscribe = opt_get_int(opt, section, "subscribe",
device->subscribe);
***************
*** 295,299 ****
device = devices + i;
snprintf(section, sizeof(section), "%s:%d",
! playerc_lookup_name(device->addr.interf), device->addr.index);
printf("%-16s %-40s", section, device->drivername);
if (device->proxy)
--- 295,299 ----
device = devices + i;
snprintf(section, sizeof(section), "%s:%d",
! interf_to_str(device->addr.interf), device->addr.index);
printf("%-16s %-40s", section, device->drivername);
if (device->proxy)
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