Update of /cvsroot/playerstage/code/stage/libstage
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv487
Modified Files:
Tag: opengl
Makefile.manual blockgrid.cc model.cc model_laser.cc
model_ranger.cc stage.hh stest.cc typetable.cc world.cc
worldgtk.cc
Log Message:
moved internal timing to microseconds
Index: stest.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stest.cc,v
retrieving revision 1.1.2.11
retrieving revision 1.1.2.12
diff -C2 -d -r1.1.2.11 -r1.1.2.12
*** stest.cc 31 Oct 2007 03:55:11 -0000 1.1.2.11
--- stest.cc 1 Nov 2007 07:18:53 -0000 1.1.2.12
***************
*** 21,30 ****
double turnrate = DTOR(60);
! int randint;
! int randcount = 0;
! int avoidcount = 0;
! int obs = FALSE;
! int POPSIZE = 50;
int main( int argc, char* argv[] )
--- 21,35 ----
double turnrate = DTOR(60);
! typedef struct
! {
! StgModelLaser* laser;
! StgModelPosition* position;
! StgModelRanger* ranger;
! int randcount ;
! int avoidcount;
! bool obs;
! } robot_t;
! const int POPSIZE = 10;
int main( int argc, char* argv[] )
***************
*** 39,45 ****
// initialize libstage
! StgWorldGtk::Init( &argc, &argv );
StgWorldGtk world;
world.Load( argv[1] );
--- 44,53 ----
// initialize libstage
! //StgWorld::Init( &argc, &argv );
! //StgWorld world;
+ StgWorldGtk::Init( &argc, &argv );
StgWorldGtk world;
+
world.Load( argv[1] );
***************
*** 62,114 ****
//char* robotname = argv[2];
! // // generate the name of the laser attached to the robot
! //char lasername[64];
! //snprintf( lasername, 63, "%s.laser:0", robotname );
!
! // // generate the name of the sonar attached to the robot
! // char rangername[64];
! // snprintf( rangername, 63, "%s.ranger:0", robotname );
!
! char namebuf[256];
!
!
!
! //StgModelPosition* position = (StgModelPosition*)world.GetModel(
"MyWorld:0.position:0" );
! //assert(position);
!
! //StgModelLaser* laser =
(StgModelLaser*)world.GetModel("MyWorld:0.position:0.laser:0" );
! //assert( laser );
!
! StgModelPosition* positions[POPSIZE];
! StgModelLaser* lasers[POPSIZE];
!
! for( int i=0; i<POPSIZE; i++ )
! {
! sprintf( namebuf, "MyWorld:0.position:%d", i+1 );
! positions[i] = (StgModelPosition*)world.GetModel( namebuf );
! assert(positions[i]);
! positions[i]->Subscribe();
! sprintf( namebuf, "MyWorld:0.position:%d.laser:0", i+1 );
! lasers[i] = (StgModelLaser*)world.GetModel( namebuf );
! assert(lasers[i]);
! lasers[i]->Subscribe();
! }
!
! // StgModelRanger* ranger = (StgModelRanger*)world.GetModel( rangername );
! // assert(ranger);
!
! // // subscribe to the laser - starts it collecting data
!
! //position->Subscribe();
! //laser->Subscribe();
!
! //position->Print( "Subscribed to model" );
! //laser->Print( "Subscribed to model" );
! //ranger->Print( "Subscribed to model" );
! //printf( "Starting world clock..." ); fflush(stdout);
// start the clock
! //world.Start();
//puts( "done" );
--- 70,100 ----
//char* robotname = argv[2];
! char namebuf[256];
! robot_t robots[POPSIZE];
!
! for( int i=0; i<POPSIZE; i++ )
! {
! robots[i].randcount = 0;
! robots[i].avoidcount = 0;
! robots[i].obs = false;
! sprintf( namebuf, "MyWorld.position:%d", i );
! robots[i].position = (StgModelPosition*)world.GetModel( namebuf );
! assert(robots[i].position);
! robots[i].position->Subscribe();
!
! sprintf( namebuf, "MyWorld.position:%d.laser:0", i );
! robots[i].laser = (StgModelLaser*)world.GetModel( namebuf );
! assert(robots[i].laser);
! robots[i].laser->Subscribe();
! sprintf( namebuf, "MyWorld.position:%d.ranger:0", i );
! robots[i].ranger = (StgModelRanger*)world.GetModel( namebuf );
! assert(robots[i].ranger);
! robots[i].ranger->Subscribe();
! }
!
// start the clock
! world.Start();
//puts( "done" );
***************
*** 120,125 ****
// StgModelLaser* laser = lasers[1];
! //while( world.RealTimeUpdate() )
! while( world.Update() )
{
// nothing
--- 106,111 ----
// StgModelLaser* laser = lasers[1];
! while( world.RealTimeUpdate() )
! // while( world.Update() )
{
// nothing
***************
*** 127,207 ****
//if( ! world.RealTimeUpdate() )
//break;
!
for( int i=0; i<POPSIZE; i++ )
{
! StgModelPosition* position = positions[i];
! StgModelLaser* laser = lasers[i];
// get some laser data
! size_t laser_sample_count = laser->sample_count;
! stg_laser_sample_t* laserdata = laser->samples;
!
if( laserdata == NULL )
continue;
! // THIS IS ADAPTED FROM PLAYER'S RANDOMWALK C++ EXAMPLE
!
! /* See if there is an obstacle in front */
! obs = FALSE;
! for( unsigned int i = 0; i < laser_sample_count; i++)
! {
! if(laserdata[i].range < minfrontdistance)
! obs = TRUE;
! }
! if(obs || avoidcount )
! {
! newspeed = 0;
! /* once we start avoiding, continue avoiding for 2 seconds */
! /* (we run at about 10Hz, so 20 loop iterations is about 2 sec) */
! if(!avoidcount)
! {
! avoidcount = 15;
! randcount = 0;
! // find the minimum on the left and right
! double min_left = 1e9;
! double min_right = 1e9;
! for( unsigned int i=0; i<laser_sample_count; i++ )
! {
! if(i>(laser_sample_count/2) && laserdata[i].range <
min_left)
! min_left = laserdata[i].range;
! else if(i<(laser_sample_count/2) && laserdata[i].range <
min_right)
! min_right = laserdata[i].range;
! }
!
! if( min_left < min_right)
! newturnrate = -turnrate;
! else
! newturnrate = turnrate;
}
!
! avoidcount--;
}
- else
- {
- avoidcount = 0;
- newspeed = speed;
! /* update turnrate every 3 seconds */
! if(!randcount)
! {
! /* make random int tween -20 and 20 */
! randint = rand() % 41 - 20;
!
! newturnrate = DTOR(randint);
! randcount = 50;
! }
! randcount--;
}
!
! position->Do( newspeed, 0, newturnrate );
}
!
! }
!
//#endif
--- 113,189 ----
//if( ! world.RealTimeUpdate() )
//break;
!
for( int i=0; i<POPSIZE; i++ )
{
! //robots[i].ranger->Print( NULL );
// get some laser data
! size_t laser_sample_count = robots[i].laser->sample_count;
! stg_laser_sample_t* laserdata = robots[i].laser->samples;
!
if( laserdata == NULL )
continue;
! // THIS IS ADAPTED FROM PLAYER'S RANDOMWALK C++ EXAMPLE
! /* See if there is an obstacle in front */
! robots[i].obs = FALSE;
! for( unsigned int l = 0; l < laser_sample_count; l++)
! {
! if(laserdata[l].range < minfrontdistance)
! robots[i].obs = TRUE;
! }
!
! if( robots[i].obs || robots[i].avoidcount )
! {
! newspeed = 0;
! /* once we start avoiding, continue avoiding for 2 seconds */
! /* (we run at about 10Hz, so 20 loop iterations is about 2 sec) */
! if( ! robots[i].avoidcount)
! {
! robots[i].avoidcount = 15;
! robots[i].randcount = 0;
! // find the minimum on the left and right
! double min_left = 1e9;
! double min_right = 1e9;
! for( unsigned int i=0; i<laser_sample_count; i++ )
! {
! if(i>(laser_sample_count/2) && laserdata[i].range < min_left)
! min_left = laserdata[i].range;
! else if(i<(laser_sample_count/2) && laserdata[i].range <
min_right)
! min_right = laserdata[i].range;
}
!
! if( min_left < min_right)
! newturnrate = -turnrate;
! else
! newturnrate = turnrate;
}
! robots[i].avoidcount--;
! }
! else
! {
! robots[i].avoidcount = 0;
! newspeed = speed;
!
! /* update turnrate every 3 seconds */
! if(! robots[i].randcount)
! {
! /* make random int tween -20 and 20 */
! newturnrate = DTOR(rand() % 41 - 20);
! robots[i].randcount = 50;
}
! robots[i].randcount--;
}
!
! robots[i].position->Do( newspeed, 0, newturnrate );
! //robots[i].position->Do( 0, 0, 10 );
! }
! }
//#endif
Index: model_ranger.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_ranger.cc,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** model_ranger.cc 13 Oct 2007 07:42:55 -0000 1.1.2.2
--- model_ranger.cc 1 Nov 2007 07:18:53 -0000 1.1.2.3
***************
*** 77,94 ****
#include <math.h>
! #include "model.hh"
! #include "gui.h"
! #include <GL/gl.h>
#define STG_RANGER_WATTS 2.0 // ranger power consumption
! StgModelRanger::StgModelRanger( stg_world_t* world,
StgModel* parent,
stg_id_t id,
! CWorldFile* wf )
! : StgModel( world, parent, id, wf )
{
PRINT_DEBUG2( "Constructing StgModelRanger %d (%s)\n",
! id, wf->GetEntityType( id ) );
// Set up sensible defaults
--- 77,92 ----
#include <math.h>
! #include "stage.hh"
#define STG_RANGER_WATTS 2.0 // ranger power consumption
! StgModelRanger::StgModelRanger( StgWorld* world,
StgModel* parent,
stg_id_t id,
! char* typestr )
! : StgModel( world, parent, id, typestr )
{
PRINT_DEBUG2( "Constructing StgModelRanger %d (%s)\n",
! id, typestr );
// Set up sensible defaults
***************
*** 154,157 ****
--- 152,157 ----
StgModel::Load();
+ CWorldFile* wf = world->wf;
+
if( wf->PropertyExists(id, "scount" ) )
{
***************
*** 217,224 ****
}
! int ranger_raytrace_match( StgModel* mod, StgModel* hitmod )
{
// Ignore myself, my children, and my ancestors.
! return( hitmod->RangerReturn() && !mod->IsRelated( hitmod ) );
}
--- 217,225 ----
}
! int ranger_raytrace_match( StgBlock* block, StgModel* finder )
{
// Ignore myself, my children, and my ancestors.
! return( block->mod->RangerReturn() && !block->mod->IsRelated( finder ) );
! //return true;
}
***************
*** 239,269 ****
{
// get the sensor's pose in global coords
! stg_pose_t pz;
! memcpy( &pz, &sensors[t].pose, sizeof(pz) );
! this->LocalToGlobal( &pz );
! double range = sensors[t].bounds_range.max;
int r;
for( r=0; r<sensors[t].ray_count; r++ )
{
! double angle_per_ray = sensors[t].fov / sensors[t].ray_count;
! double ray_angle = -sensors[t].fov/2.0 + angle_per_ray * r +
angle_per_ray/2.0;
!
! stg_meters_t hitrange, hitx, hity;
! // if the ray hits anything, 'range' will be changed
! if( stg_first_model_on_ray( pz.x, pz.y, pz.z + 0.01, // TODO: UNHACK
! pz.a + ray_angle,
! sensors[t].bounds_range.max,
! world->matrix,
! PointToBearingRange,
! ranger_raytrace_match,
! this,
! &hitrange, &hitx, &hity ) )
! {
! if( hitrange < range )
! range = hitrange;
! }
--- 240,274 ----
{
// get the sensor's pose in global coords
! //stg_pose_t pz;
! //memcpy( &pz, &sensors[t].pose, sizeof(pz) );
! //this->LocalToGlobal( &pz );
! double range;
int r;
for( r=0; r<sensors[t].ray_count; r++ )
{
! //double angle_per_ray = sensors[t].fov / sensors[t].ray_count;
! //double ray_angle = -sensors[t].fov/2.0 + angle_per_ray * r +
angle_per_ray/2.0;
! range = Raytrace( &sensors[t].pose,
! sensors[t].bounds_range.max,
! (stg_block_match_func_t)ranger_raytrace_match,
! this,
! NULL );
!
! // // if the ray hits anything, 'range' will be changed
! // if( stg_first_model_on_ray( pz.x, pz.y, pz.z + 0.01, // TODO: UNHACK
! // pz.a + ray_angle,
! // sensors[t].bounds_range.max,
! // world->matrix,
! // PointToBearingRange,
! // ranger_raytrace_match,
! // this,
! // &hitrange, &hitx, &hity ) )
! // {
! // if( hitrange < range )
! // range = hitrange;
! // }
***************
*** 284,288 ****
sensors[t].range = range;
//sensors[t].error = TODO;
!
}
--- 289,293 ----
sensors[t].range = range;
//sensors[t].error = TODO;
!
}
***************
*** 348,352 ****
}
! void StgModelRanger::DListData( void )
{
// recreate the display list for this data
--- 353,357 ----
}
! void StgModelRanger::DataVisualize( void )
{
// recreate the display list for this data
***************
*** 360,368 ****
// now get on with rendering the ranger data
! glPolygonMode( GL_FRONT_AND_BACK,
! world->win->show_alpha ? GL_FILL : GL_LINES );
! push_color_rgba( 0, 1, 0, 0.2 ); // transparent pale green
render_rangers( sensors, sensor_count );
! pop_color();
// restore state
--- 365,373 ----
// now get on with rendering the ranger data
! glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
! // world->win->show_alpha ? GL_FILL :
GL_LINES );
! PushColor( 0, 1, 0, 0.2 ); // transparent pale green
render_rangers( sensors, sensor_count );
! PopColor();
// restore state
Index: model_laser.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model_laser.cc,v
retrieving revision 1.1.2.8
retrieving revision 1.1.2.9
diff -C2 -d -r1.1.2.8 -r1.1.2.9
*** model_laser.cc 31 Oct 2007 03:55:11 -0000 1.1.2.8
--- model_laser.cc 1 Nov 2007 07:18:53 -0000 1.1.2.9
***************
*** 31,35 ****
#define STG_DEFAULT_LASER_FOV M_PI
#define STG_DEFAULT_LASER_SAMPLES 180
! #define STG_DEFAULT_LASER_INTERVAL_MS 200
#define STG_DEFAULT_LASER_RESOLUTION 1
--- 31,35 ----
#define STG_DEFAULT_LASER_FOV M_PI
#define STG_DEFAULT_LASER_SAMPLES 180
! #define STG_DEFAULT_LASER_INTERVAL_MS 100
#define STG_DEFAULT_LASER_RESOLUTION 1
***************
*** 82,86 ****
// sensible laser defaults
! update_interval_ms = STG_DEFAULT_LASER_INTERVAL_MS;
laser_return = LaserVisible;
--- 82,86 ----
// sensible laser defaults
! interval = 1e3 * STG_DEFAULT_LASER_INTERVAL_MS;
laser_return = LaserVisible;
***************
*** 103,110 ****
// don't allocate sample buffer memory until Startup()
samples = NULL;
-
- dl_debug_laser = glGenLists( 1 );
- glNewList( dl_debug_laser, GL_COMPILE );
- glEndList();
}
--- 103,106 ----
***************
*** 116,119 ****
--- 112,124 ----
}
+ void StgModelLaser::InitGraphics()
+ {
+ StgModel::InitGraphics();
+
+ dl_debug_laser = glGenLists( 1 );
+ glNewList( dl_debug_laser, GL_COMPILE );
+ glEndList();
+ }
+
void StgModelLaser::SetSampleCount( unsigned int count )
{
Index: model.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/model.cc,v
retrieving revision 1.1.2.10
retrieving revision 1.1.2.11
diff -C2 -d -r1.1.2.10 -r1.1.2.11
*** model.cc 31 Oct 2007 03:55:11 -0000 1.1.2.10
--- model.cc 1 Nov 2007 07:18:53 -0000 1.1.2.11
***************
*** 221,237 ****
//SetVelocity( &this->velocity );
! this->last_update_ms = 0;
! this->update_interval_ms = 10;
// now we can add the basic square shape
this->AddBlockRect( -0.5,-0.5,1,1 );
!
! // GL
! this->dl_body = glGenLists( 1 );
! this->dl_data = glGenLists( 1 );
! //this->dl_debug = glGenLists( 1 );
! //this->dl_raytrace = glGenLists( 1 );
! this->dl_grid = glGenLists(1);
!
PRINT_DEBUG2( "finished model %s (%d).",
this->token,
--- 221,230 ----
//SetVelocity( &this->velocity );
! this->last_update = 0;
! this->interval = 1e4; // 10msec
// now we can add the basic square shape
this->AddBlockRect( -0.5,-0.5,1,1 );
!
PRINT_DEBUG2( "finished model %s (%d).",
this->token,
***************
*** 239,242 ****
--- 232,243 ----
}
+ void StgModel::InitGraphics()
+ {
+ this->dl_body = glGenLists(1);
+ this->dl_data = glGenLists(1);
+ this->dl_grid = glGenLists(1);
+ }
+
+
StgModel::~StgModel( void )
{
***************
*** 583,587 ****
//PRINT_DEBUG1( "%s.Map()", token );
! if( this->debug )
{
double scale = 1.0 / world->ppm;
--- 584,588 ----
//PRINT_DEBUG1( "%s.Map()", token );
! if( world->graphics && this->debug )
{
double scale = 1.0 / world->ppm;
***************
*** 594,598 ****
((StgBlock*)it->data)->Map();
! if( this->debug )
glPopMatrix();
}
--- 595,599 ----
((StgBlock*)it->data)->Map();
! if( world->graphics && this->debug )
glPopMatrix();
}
***************
*** 685,701 ****
}
- // void StgModel::UpdateTreeIfDue( void )
- // {
- // if( this->world->sim_time_ms >=
- // (this->last_update_ms + this->update_interval_ms) )
- // this->Update();
-
- // LISTMETHOD( this->children, StgModel*, UpdateTreeIfDue );
- // }
-
void StgModel::UpdateIfDue( void )
{
if( world->sim_time >=
! (last_update_ms + update_interval_ms) )
this->Update();
}
--- 686,693 ----
}
void StgModel::UpdateIfDue( void )
{
if( world->sim_time >=
! (last_update + interval) )
this->Update();
}
***************
*** 713,717 ****
CallCallbacks( &update );
! last_update_ms = world->sim_time;
}
--- 705,709 ----
CallCallbacks( &update );
! last_update = world->sim_time;
}
***************
*** 753,758 ****
}
-
-
void StgModel::Draw( void )
{
--- 745,748 ----
***************
*** 1293,1297 ****
// convert msec to sec
! double interval = (double)world->interval_sim / 1e3;
--- 1283,1287 ----
// convert msec to sec
! double interval = (double)world->interval_sim / 1e6;
Index: world.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/world.cc,v
retrieving revision 1.1.2.12
retrieving revision 1.1.2.13
diff -C2 -d -r1.1.2.12 -r1.1.2.13
*** world.cc 31 Oct 2007 03:55:11 -0000 1.1.2.12
--- world.cc 1 Nov 2007 07:18:53 -0000 1.1.2.13
***************
*** 56,60 ****
#include <locale.h>
! //#define DEBUG
#include "stage.hh"
--- 56,60 ----
#include <locale.h>
! #define DEBUG
#include "stage.hh"
***************
*** 63,67 ****
const stg_msec_t STG_DEFAULT_WORLD_INTERVAL_REAL = 100; ///< real time
between updates
const stg_msec_t STG_DEFAULT_WORLD_INTERVAL_SIM = 100; ///< duration of sim
timestep
- const stg_msec_t STG_DEFAULT_MAX_SLEEP = 20;
// TODO: fix the quadtree code so we don't need a world size
--- 63,66 ----
***************
*** 136,151 ****
assert(token);
this->token = (char*)malloc(STG_TOKEN_MAX);
! snprintf( this->token, STG_TOKEN_MAX, "%s:%d", token, this->id );
this->quit = false;
this->updates = 0;
this->wf = NULL;
this->models_by_id = g_hash_table_new( g_int_hash, g_int_equal );
this->models_by_name = g_hash_table_new( g_str_hash, g_str_equal );
this->sim_time = 0;
! this->interval_sim = interval_sim;
! this->interval_real = interval_real;
! this->interval_sleep_max = STG_DEFAULT_MAX_SLEEP;
this->real_time_start = RealTimeNow();
this->real_time_next_update = 0;
--- 135,152 ----
assert(token);
this->token = (char*)malloc(STG_TOKEN_MAX);
! snprintf( this->token, STG_TOKEN_MAX, "%s", token );//this->id );
this->quit = false;
this->updates = 0;
this->wf = NULL;
+ this->graphics = false; // subclasses that provide GUIs should
+ // change this
this->models_by_id = g_hash_table_new( g_int_hash, g_int_equal );
this->models_by_name = g_hash_table_new( g_str_hash, g_str_equal );
this->sim_time = 0;
! this->interval_sim = 1e3 * interval_sim;
! this->interval_real = 1e3 * interval_real;
!
this->real_time_start = RealTimeNow();
this->real_time_next_update = 0;
***************
*** 162,167 ****
this->total_subs = 0;
! this->paused = false;
this->destroy = false;
}
--- 163,172 ----
this->total_subs = 0;
! this->paused = true;
this->destroy = false;
+
+ for( unsigned int i=0; i<INTERVAL_LOG_LEN; i++ )
+ this->interval_log[i] = this->interval_real;
+ this->real_time_now = 0;
}
***************
*** 186,213 ****
}
-
void StgWorld::ClockString( char* str, size_t maxlen )
{
! long unsigned int days = this->sim_time / (24*3600000);
! long unsigned int hours = this->sim_time / 3600000;
! long unsigned int minutes = (this->sim_time % 3600000) / 60000;
! long unsigned int seconds = (this->sim_time % 60000) / 1000; // seconds
! long unsigned int msec = this->sim_time % 1000; // milliseconds
! if( days > 0 )
! snprintf( str, maxlen, "Time: %lu:%lu:%02lu:%02lu.%03lu\tsubs: %d %s",
! days, hours, minutes, seconds, msec,
! this->total_subs,
! this->paused ? "--PAUSED--" : "" );
! else if( hours > 0 )
! snprintf( str, maxlen, "Time: %lu:%02lu:%02lu.%03lu\tsubs: %d %s",
hours, minutes, seconds, msec,
! this->total_subs,
! this->paused ? "--PAUSED--" : "" );
else
! snprintf( str, maxlen, "Time: %02lu:%02lu.%03lu\tsubs: %d %s",
minutes, seconds, msec,
! this->total_subs,
! this->paused ? "--PAUSED--" : "" );
}
--- 191,221 ----
}
void StgWorld::ClockString( char* str, size_t maxlen )
{
! uint32_t hours = sim_time / 3600000000;
! uint32_t minutes = (sim_time % 3600000000) / 60000000;
! uint32_t seconds = (sim_time % 60000000) / 1000000;
! uint32_t msec = (sim_time % 1000000) / 1000;
! // find the average length of the last few realtime intervals;
! stg_usec_t average_real_interval = 0;
! for( uint32_t i=0; i<INTERVAL_LOG_LEN; i++ )
! average_real_interval += interval_log[i];
! average_real_interval /= INTERVAL_LOG_LEN;
!
! double localratio = (double)interval_sim / (double)average_real_interval;
!
! if( hours > 0 )
! snprintf( str, maxlen, "Time: %uh%02um%02u.%03us\t[%.1f]\tsubs: %d %s",
hours, minutes, seconds, msec,
! localratio,
! total_subs,
! paused ? "--PAUSED--" : "" );
else
! snprintf( str, maxlen, "Time: %02um%02u.%03us\t[%.1f]\tsubs: %d %s",
minutes, seconds, msec,
! localratio,
! total_subs,
! paused ? "--PAUSED--" : "" );
}
***************
*** 229,241 ****
wf->ReadString( entity, "name", token );
! this->interval_real =
! wf->ReadInt( entity, "interval_real", this->interval_real );
! this->interval_sim =
! wf->ReadInt( entity, "interval_sim", this->interval_sim );
- this->interval_sleep_max =
- wf->ReadInt( entity, "interval_sleep_max", this->interval_sleep_max );
-
this->ppm =
1.0 / wf->ReadFloat( entity, "resolution", this->ppm );
--- 237,246 ----
wf->ReadString( entity, "name", token );
! this->interval_real = 1e3 *
! wf->ReadInt( entity, "interval_real", this->interval_real/1e3 );
! this->interval_sim = 1e3 *
! wf->ReadInt( entity, "interval_sim", this->interval_sim/1e3 );
this->ppm =
1.0 / wf->ReadFloat( entity, "resolution", this->ppm );
***************
*** 314,333 ****
}
! stg_msec_t StgWorld::RealTimeNow(void)
{
struct timeval tv;
gettimeofday( &tv, NULL ); // slow system call: use sparingly
! return (stg_msec_t)( tv.tv_sec*1000 + tv.tv_usec/1000 );
}
! stg_msec_t StgWorld::RealTimeSinceStart(void)
{
! stg_msec_t timenow = RealTimeNow();
! stg_msec_t diff = timenow - real_time_start;
!
! //PRINT_DEBUG3( "timenow %lu start %lu diff %lu", timenow, real_time_start,
diff );
! return diff;
! //return( RealTimeNow() - real_time_start );
}
--- 319,338 ----
}
! stg_usec_t StgWorld::RealTimeNow()
{
struct timeval tv;
gettimeofday( &tv, NULL ); // slow system call: use sparingly
!
! return( tv.tv_sec*1000000 + tv.tv_usec );
}
! stg_usec_t StgWorld::RealTimeSinceStart()
{
! stg_usec_t timenow = RealTimeNow();
!
! // subtract the start time from the current time to get the elapsed
! // time
! return timenow - real_time_start;
}
***************
*** 335,365 ****
{
// sleep until it's time to update
! stg_msec_t timenow = 0;
! for( timenow = RealTimeSinceStart();
! timenow < real_time_next_update;
! timenow = RealTimeSinceStart() )
{
! stg_msec_t sleeptime = real_time_next_update - timenow; // must be >0
!
! PRINT_DEBUG3( "timenow %lu nextupdate %lu sleeptime %lu",
! timenow, real_time_next_update, sleeptime );
!
! usleep( sleeptime * 1000 ); // sleep for few microseconds
}
!
! #ifdef DEBUG
! printf( "[%u %lu %lu] ufreq:%.2f\n",
! this->id,
! this->sim_time,
! this->updates,
! //this->interval_sim,
! //this->real_interval_measured,
! //(double)this->interval_sim / (double)this->real_interval_measured,
! this->updates/(timenow/1e3));
!
! fflush(stdout);
! #endif
!
! real_time_next_update = timenow + interval_real;
}
--- 340,361 ----
{
// sleep until it's time to update
! stg_usec_t timenow = RealTimeSinceStart();
!
! /* printf( "\ntimesincestart %llu interval_real %llu interval_sim %llu
real_time_next_update %llu\n",
! timenow,
! interval_real,
! interval_sim,
! real_time_next_update );
! */
!
! if( timenow < real_time_next_update )
{
! usleep( real_time_next_update - timenow );
}
!
! interval_log[updates%INTERVAL_LOG_LEN] = timenow - real_time_now;
!
! real_time_now = timenow;
! real_time_next_update += interval_real;
}
***************
*** 369,373 ****
{
//PRINT_DEBUG( "StgWorld::Update()" );
!
// update any models that are due to be updated
for( GList* it=this->update_list; it; it=it->next )
--- 365,379 ----
{
//PRINT_DEBUG( "StgWorld::Update()" );
!
! if( interval_real > 0 || updates % 100 == 0 )
! {
! char str[64];
! ClockString( str, 64 );
! //printf( "Stage timestep: %lu simtime: %lu\n",
! // updates, sim_time );
! printf( "\r%s", str );
! fflush(stdout);
! }
!
// update any models that are due to be updated
for( GList* it=this->update_list; it; it=it->next )
***************
*** 408,411 ****
--- 414,418 ----
}
+
void StgWorld::AddModelName( StgModel* mod )
{
***************
*** 413,431 ****
}
- // void stg_world_print( StgWorld* world )
- // {
- // printf( " world %d:%s (%d models)\n",
- // world->id,
- // world->token,
- // g_hash_table_size( world->models ) );
-
- // g_hash_table_foreach( world->models, model_print_cb, NULL );
- // }
-
- // void world_print_cb( gpointer key, gpointer value, gpointer user )
- // {
- // stg_world_print( (StgWorld*)value );
- // }
-
StgModel* StgWorld::GetModel( const char* name )
{
--- 420,423 ----
***************
*** 440,542 ****
}
- //#define NBITS 6
-
- // int bigtest( int x, int y, int z,
- // void* arg1, void* arg2 )
- // {
- // glRecti( x<<NBITS,y<<NBITS, (x+1)<<NBITS,(y+1)<<NBITS );
- // return FALSE;
- // }
-
- // typedef struct
- // {
- // StgWorld* world;
- // StgModel* finder;
- // StgModel* hit;
- // int32_t x, y, z; // leave point
- // stg_block_match_func_t func;
- // const void* arg;
- // } _raytrace_info_t;
-
- // int raytest( int32_t x, int32_t y, int32_t z,
- // _raytrace_info_t* rti )
- // {
- // //glRecti( x,y, x+1,y+1 );
-
- // // for each block recorded at his location
- // for( GSList* list = rti->world->bgrid->GetList( x, y );
- // list;
- // list = list->next )
- // {
- // StgBlock* block = (StgBlock*)list->data;
- // assert( block );
-
- // // if this block does not belong to the searching model and it
- // // matches the predicate and it's in the right z range
- // if( block && (block->mod != rti->finder) &&
- // (*rti->func)( block, rti->arg ) )//&&
- // //z >= block->zmin &&
- // // z < block->zmax )
- // {
- // // a hit!
- // rti->hit = block->mod;
- // rti->x = x;
- // rti->y = y;
- // rti->z = z;
- // return TRUE;
- // }
- // }
-
- // return FALSE;
- // }
-
-
- // stg_meters_t StgWorld::Raytrace( StgModel* finder,
- // stg_pose_t* pose,
- // stg_meters_t max_range,
- // stg_block_match_func_t func,
- // const void* arg,
- // StgModel** hit_model )
- // {
- // // find the global integer bitmap address of the ray
- // int32_t x = (int32_t)((pose->x+width/2.0)*ppm);
- // int32_t y = (int32_t)((pose->y+height/2.0)*ppm);
-
- // // and the x and y offsets of the ray
- // int32_t dx = (int32_t)(ppm*max_range * cos(pose->a));
- // int32_t dy = (int32_t)(ppm*max_range * sin(pose->a));
-
- // glPushMatrix();
- // glTranslatef( -width/2.0, -height/2.0, 0 );
- // glScalef( 1.0/ppm, 1.0/ppm, 0 );
-
- // _raytrace_info_t rinfo;
- // rinfo.world = this;
- // rinfo.finder = finder;
- // rinfo.func = func;
- // rinfo.arg = arg;
- // rinfo.hit = NULL;
-
- // if( stg_line_3d( x, y, 0,
- // dx, dy, 0,
- // (stg_line3d_func_t)raytest,
- // &rinfo ) )
- // {
- // glPopMatrix();
-
- // *hit_model = rinfo.hit;
-
- // // how far away was that strike?
- // return hypot( (rinfo.x-x)/ppm, (rinfo.y-y)/ppm );
- // }
-
-
- // glPopMatrix();
- // // return the range from ray start to object strike
-
- // // hit nothing, so return max range
- // return max_range;
- // }
-
stg_meters_t StgWorld::Raytrace( StgModel* finder,
stg_pose_t* pose,
--- 432,435 ----
***************
*** 559,565 ****
int32_t dz = 0;
! // glPushMatrix();
// glTranslatef( -width/2.0, -height/2.0, 0 );
// glScalef( 1.0/ppm, 1.0/ppm, 0 );
// line 3d algorithm adapted from Cohen's code from Graphics Gems IV
--- 452,459 ----
int32_t dz = 0;
! // glPushMatrix();
// glTranslatef( -width/2.0, -height/2.0, 0 );
// glScalef( 1.0/ppm, 1.0/ppm, 0 );
+ // PushColor( 1,0,0,1 );
// line 3d algorithm adapted from Cohen's code from Graphics Gems IV
***************
*** 571,599 ****
n = ax+ay+az;
while ( n-- )
{
! for( GSList* list = bgrid->GetList( x, y );
! list;
! list = list->next )
{
! StgBlock* block = (StgBlock*)list->data;
! assert( block );
!
! // if this block does not belong to the searching model and it
! // matches the predicate and it's in the right z range
! if( block && (block->mod != finder) &&
! (*func)( block, arg ) &&
! pose->z >= block->zmin &&
! pose->z < block->zmax )
{
- // a hit!
- //glPopMatrix();
! *hit_model = block->mod;
! // how far away was that strike?
! return hypot( (x-xstart)/ppm, (y-ystart)/ppm );
}
}
!
if ( exy < 0 ) {
if ( exz < 0 ) {
--- 465,528 ----
n = ax+ay+az;
+ uint32_t bbx_last = 0;
+ uint32_t bby_last = 0;
+ uint32_t bbx = 0;
+ uint32_t bby = 0;
+
+ const uint32_t NBITS = bgrid->numbits;
+
+ bool lookup_list = true;
+
while ( n-- )
{
! // todo - avoid calling this multiple times for a single
! // bigblock.
!
! bbx = x>>NBITS;
! bby = y>>NBITS;
!
! // if we just changed grid square
! if( ! ((bbx == bbx_last) && (bby == bby_last)) )
{
! // if this square has some contents, we need to look it up
! lookup_list = !(bgrid->BigBlockOccupancy(bbx,bby) < 1 );
!
! bbx_last = bbx;
! bby_last = bby;
! }
!
! if( lookup_list )
! {
! for( GSList* list = bgrid->GetList(x,y);
! list;
! list = list->next )
{
!
! StgBlock* block = (StgBlock*)list->data;
! assert( block );
!
! // if this block does not belong to the searching model and it
! // matches the predicate and it's in the right z range
! if( block && (block->mod != finder) &&
! (*func)( block, arg ) &&
! pose->z >= block->zmin &&
! pose->z < block->zmax )
! {
! //glPopMatrix();
!
! // a hit!
! if( hit_model )
! *hit_model = block->mod;
! // how far away was that strike?
! return hypot( (x-xstart)/ppm, (y-ystart)/ppm );
! }
}
}
! // else
! // {
! // glRecti( x,y, x+1, y+1 );
! // }
!
if ( exy < 0 ) {
if ( exz < 0 ) {
***************
*** 619,624 ****
//glPopMatrix();
- // return the range from ray start to object strike
-
// hit nothing, so return max range
return max_range;
--- 548,551 ----
***************
*** 743,747 ****
_render_info_t rinfo;
rinfo.grid = bgrid;
! rinfo.block - block;
// TODO - could be a little bit faster - currently considers each
--- 670,674 ----
_render_info_t rinfo;
rinfo.grid = bgrid;
! rinfo.block = block;
// TODO - could be a little bit faster - currently considers each
Index: typetable.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/typetable.cc,v
retrieving revision 1.1.2.3
retrieving revision 1.1.2.4
diff -C2 -d -r1.1.2.3 -r1.1.2.4
*** typetable.cc 31 Oct 2007 03:55:11 -0000 1.1.2.3
--- typetable.cc 1 Nov 2007 07:18:53 -0000 1.1.2.4
***************
*** 9,12 ****
--- 9,13 ----
{ "laser", StgModelLaser::Create },
{ "position", StgModelPosition::Create },
+ { "ranger", StgModelRanger::Create },
{ NULL, NULL } // this must be the last entry
};
Index: blockgrid.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/blockgrid.cc,v
retrieving revision 1.1.2.4
retrieving revision 1.1.2.5
diff -C2 -d -r1.1.2.4 -r1.1.2.5
*** blockgrid.cc 31 Oct 2007 03:55:11 -0000 1.1.2.4
--- blockgrid.cc 1 Nov 2007 07:18:53 -0000 1.1.2.5
***************
*** 1,12 ****
#include "stage.hh"
! static const uint32_t NBITS = 6;
! static const uint32_t NSIZE = 1<<NBITS;
! static const uint32_t NSQR = NSIZE*NSIZE;
! static const uint32_t MASK = NSIZE-1;
!
StgBlockGrid::StgBlockGrid( uint32_t width, uint32_t height )
{
this->width = width;
this->height = height;
--- 1,12 ----
#include "stage.hh"
! const uint32_t NBITS = 5;
! const uint32_t NSIZE = 1<<NBITS;
! const uint32_t NSQR = NSIZE*NSIZE;
! const uint32_t MASK = NSIZE-1;
StgBlockGrid::StgBlockGrid( uint32_t width, uint32_t height )
{
+ this->numbits = NBITS;
this->width = width;
this->height = height;
***************
*** 106,114 ****
}
! // uint32_t StgBlockGrid::BigBlockOccupancy( uint32_t bbx, uint32_t bby )
! // {
! // //glRecti( bbx<<NBITS, bby<<NBITS,(bbx+1)<<NBITS,(bby+1)<<NBITS );
! // return map[ bbx + bby*bwidth].counter;
! // }
GSList* StgBlockGrid::GetList( uint32_t x, uint32_t y )
--- 106,114 ----
}
! uint32_t StgBlockGrid::BigBlockOccupancy( uint32_t bbx, uint32_t bby )
! {
! //glRecti( bbx<<NBITS, bby<<NBITS,(bbx+1)<<NBITS,(bby+1)<<NBITS );
! return map[ bbx + bby*bwidth].counter;
! }
GSList* StgBlockGrid::GetList( uint32_t x, uint32_t y )
Index: Makefile.manual
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/Makefile.manual,v
retrieving revision 1.1.2.5
retrieving revision 1.1.2.6
diff -C2 -d -r1.1.2.5 -r1.1.2.6
*** Makefile.manual 31 Oct 2007 03:55:11 -0000 1.1.2.5
--- Makefile.manual 1 Nov 2007 07:18:53 -0000 1.1.2.6
***************
*** 20,23 ****
--- 20,24 ----
model_position.o \
model_props.o \
+ model_ranger.o \
stage.o \
stest.o \
***************
*** 27,33 ****
worldfile.o
- # model_ranger.o
- # model_position.o
-
CPPFLAGS= -g -Wall -I.. -I../replace `pkg-config --cflags gtkglext-1.0`
LIBS= `pkg-config --libs gtkglext-1.0`
--- 28,31 ----
Index: stage.hh
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/stage.hh,v
retrieving revision 1.1.2.12
retrieving revision 1.1.2.13
diff -C2 -d -r1.1.2.12 -r1.1.2.13
*** stage.hh 31 Oct 2007 03:55:11 -0000 1.1.2.12
--- stage.hh 1 Nov 2007 07:18:53 -0000 1.1.2.13
***************
*** 161,167 ****
--- 161,173 ----
typedef double stg_radians_t;
+ /** time structure */
+ typedef struct timeval stg_time_t;
+
/** Milliseconds: unit of (short) time */
typedef unsigned long stg_msec_t;
+ /** Microseconds: unit of (very short) time */
+ typedef uint64_t stg_usec_t;
+
/** Kilograms: unit of mass */
typedef double stg_kg_t; // Kilograms (mass)
***************
*** 262,270 ****
/** Returns the real (wall-clock) time in milliseconds since the
epoch. */
! stg_msec_t stg_realtime( void );
/** Returns the real (wall-clock) time in milliseconds since the
simulation started. */
! stg_msec_t stg_realtime_since_start( void );
--- 268,276 ----
/** Returns the real (wall-clock) time in milliseconds since the
epoch. */
! //stg_msec_t stg_realtime( void );
/** Returns the real (wall-clock) time in milliseconds since the
simulation started. */
! //stg_msec_t stg_realtime_since_start( void );
***************
*** 1142,1146 ****
GHashTable* child_types;
char* token;
-
bool debug;
--- 1148,1151 ----
***************
*** 1177,1184 ****
stg_bigblock_t* map;
! GTrashStack* trashstack;
public:
! uint32_t width, height, bwidth, bheight;
StgBlockGrid( uint32_t width, uint32_t height );
~StgBlockGrid();
--- 1182,1190 ----
stg_bigblock_t* map;
! GTrashStack* trashstack;
! uint32_t width, height, bwidth, bheight;
public:
! uint32_t numbits;
StgBlockGrid( uint32_t width, uint32_t height );
~StgBlockGrid();
***************
*** 1195,1209 ****
/// WORLD CLASS
class StgWorld : public StgAncestor
{
protected:
! stg_msec_t real_time_next_update;
! stg_msec_t real_time_start;
static bool init_done;
bool quit; // quit this world ASAP
static bool quit_all; // quit all worlds ASAP
private:
--- 1201,1221 ----
+
+
+ const uint32_t INTERVAL_LOG_LEN = 32;
+
/// WORLD CLASS
class StgWorld : public StgAncestor
{
protected:
! stg_usec_t real_time_next_update;
! stg_usec_t real_time_start;
static bool init_done;
+
bool quit; // quit this world ASAP
static bool quit_all; // quit all worlds ASAP
+
private:
***************
*** 1237,1242 ****
virtual ~StgWorld( void );
! stg_msec_t RealTimeNow(void);
! stg_msec_t RealTimeSinceStart(void);
void PauseUntilNextUpdateTime(void);
--- 1249,1257 ----
virtual ~StgWorld( void );
! bool graphics;
!
! stg_usec_t real_time_now;
! stg_usec_t RealTimeNow(void);
! stg_usec_t RealTimeSinceStart(void);
void PauseUntilNextUpdateTime(void);
***************
*** 1263,1268 ****
CWorldFile* wf; ///< If set, points to the worldfile used to create this
world
! stg_msec_t sim_time; ///< the current sim time in this world in ms
! stg_msec_t wall_last_update; ///< the real time of the last update in ms
long unsigned int updates; ///< the number of simulated time steps executed
so far
--- 1278,1283 ----
CWorldFile* wf; ///< If set, points to the worldfile used to create this
world
! stg_usec_t sim_time; ///< the current sim time in this world in ms
! stg_usec_t wall_last_update; ///< the real time of the last update in ms
long unsigned int updates; ///< the number of simulated time steps executed
so far
***************
*** 1270,1278 ****
bool dirty; ///< iff true, a gui redraw would be required
! stg_msec_t interval_real; ///< real-time interval between updates - set
this to zero for 'as fast as possible
! stg_msec_t interval_sleep_max;
! stg_msec_t interval_sim; ///< temporal resolution: milliseconds that elapse
between simulated time steps
! //stg_msec_t real_interval_measured;
int total_subs; ///< the total number of subscriptions to all models
double ppm; ///< the resolution of the world model in pixels per meter
--- 1285,1294 ----
bool dirty; ///< iff true, a gui redraw would be required
! stg_usec_t interval_real; ///< real-time interval between updates - set
this to zero for 'as fast as possible
! stg_usec_t interval_sleep_max;
! stg_usec_t interval_sim; ///< temporal resolution: milliseconds that elapse
between simulated time steps
+ stg_usec_t interval_log[INTERVAL_LOG_LEN];
+
int total_subs; ///< the total number of subscriptions to all models
double ppm; ///< the resolution of the world model in pixels per meter
***************
*** 1285,1290 ****
StgModel* GetModel( const char* name );
! void AddModel( StgModel* mod );
! void RemoveModel( StgModel* mod );
void AddModelName( StgModel* mod );
--- 1301,1306 ----
StgModel* GetModel( const char* name );
! virtual void AddModel( StgModel* mod );
! virtual void RemoveModel( StgModel* mod );
void AddModelName( StgModel* mod );
***************
*** 1375,1380 ****
int subs; //< the number of subscriptions to this model
! stg_msec_t update_interval_ms; //< time between updates in ms
! stg_msec_t last_update_ms; //< time of last update in ms
stg_bool_t disabled; //< if non-zero, the model is disabled
--- 1391,1396 ----
int subs; //< the number of subscriptions to this model
! stg_usec_t interval; //< time between updates in ms
! stg_usec_t last_update; //< time of last update in ms
stg_bool_t disabled; //< if non-zero, the model is disabled
***************
*** 1423,1427 ****
virtual void DataVisualize( void );
virtual void DrawSelected(void);
!
virtual void PushColor( stg_color_t col )
{ world->PushColor( col ); }
--- 1439,1445 ----
virtual void DataVisualize( void );
virtual void DrawSelected(void);
! virtual void InitGraphics(void); // called by a world that supports
! // graphics
!
virtual void PushColor( stg_color_t col )
{ world->PushColor( col ); }
***************
*** 1813,1816 ****
--- 1831,1836 ----
GlColorStack colorstack;
+ virtual void AddModel( StgModel* mod );
+
private:
GList* selected_models; ///< a list of models that are currently selected
by the user
***************
*** 1954,1962 ****
//#endif
! #define MILLION 1e6
! #define BILLION 1e9
#ifndef M_PI
! #define M_PI 3.14159265358979323846
#endif
--- 1974,1983 ----
//#endif
! #define THOUSAND (1e3)
! #define MILLION (1e6)
! #define BILLION (1e9)
#ifndef M_PI
! #define M_PI (3.14159265358979323846)
#endif
***************
*** 2122,2125 ****
--- 2143,2147 ----
virtual void Print( char* prefix );
virtual void DataVisualize( void );
+ virtual void InitGraphics(void);
void SetSampleCount( unsigned int count );
***************
*** 2307,2312 ****
// constructor
StgModelRanger( StgWorld* world,
! StgModel* parent,
! stg_id_t id, CWorldFile* wf );
// destructor
--- 2329,2335 ----
// constructor
StgModelRanger( StgWorld* world,
! StgModel* parent,
! stg_id_t id,
! char* typestr );
// destructor
***************
*** 2318,2325 ****
virtual void Load( void );
virtual void Print( char* prefix );
! virtual void DListData( void );
size_t sensor_count;
stg_ranger_sensor_t* sensors;
};
--- 2341,2358 ----
virtual void Load( void );
virtual void Print( char* prefix );
! virtual void DataVisualize( void );
size_t sensor_count;
stg_ranger_sensor_t* sensors;
+
+ // static wrapper for the constructor - all models must implement
+ // this method and add an entry in typetable.cc
+ static StgModel* Create( StgWorld* world,
+ StgModel* parent,
+ stg_id_t id,
+ char* typestr )
+ {
+ return (StgModel*)new StgModelRanger( world, parent, id, typestr );
+ }
};
Index: worldgtk.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Attic/worldgtk.cc,v
retrieving revision 1.1.2.9
retrieving revision 1.1.2.10
diff -C2 -d -r1.1.2.9 -r1.1.2.10
*** worldgtk.cc 31 Oct 2007 03:55:11 -0000 1.1.2.9
--- worldgtk.cc 1 Nov 2007 07:18:53 -0000 1.1.2.10
***************
*** 115,119 ****
#include <gdk-pixbuf/gdk-pixdata.h>
! //#define DEBUG
#include "stage.hh"
--- 115,119 ----
#include <gdk-pixbuf/gdk-pixdata.h>
! #define DEBUG
#include "stage.hh"
***************
*** 128,131 ****
--- 128,132 ----
#endif
+ static const stg_msec_t STG_DEFAULT_REDRAW_INTERVAL = 100;
// only models that have fewer rectangles than this get matrix
***************
*** 528,531 ****
--- 529,534 ----
PRINT_DEBUG( "Constructing StgWorldGtk" );
+ this->graphics = true;
+
// Create a top-level window
frame = gtk_window_new(GTK_WINDOW_TOPLEVEL);
***************
*** 622,626 ****
// neatly into the window.
scale = width; //(1 to 1)
- //scale = 0.2 * width; //(1 to 1)
memset( &click_point, 0, sizeof(click_point));
--- 625,628 ----
***************
*** 664,668 ****
this->timer_handle = 0;
! this->redraw_interval = 100; //msec
// CREATE THE MENUS
--- 666,670 ----
this->timer_handle = 0;
! this->redraw_interval = STG_DEFAULT_REDRAW_INTERVAL; //msec
// CREATE THE MENUS
***************
*** 732,739 ****
// show the window
gtk_widget_show_all(frame);
-
- /* // install the timeout callback that renders the window */
- /* win->redraw_interval = STG_DEFAULT_REDRAW_INTERVAL; */
- /* win->timeout_id = g_timeout_add( win->redraw_interval, timeout, world );
*/
}
--- 734,737 ----
***************
*** 1423,1426 ****
--- 1421,1437 ----
wf->ReadInt(wf_section, "redraw_interval", redraw_interval );
+ const stg_msec_t lowbound = 10;
+ if( redraw_interval < lowbound )
+ {
+ PRINT_WARN2( "redraw_interval of %lu is probably too low "
+ "to be practical. Setting to %lu msec instead.",
+ redraw_interval, lowbound );
+
+ redraw_interval = lowbound;
+ }
+
+ // there's no point redrawing faster than the world updates
+ //redraw_interval = MAX( redraw_interval, interval_real );
+
if( timer_handle > 0 )
g_source_remove( timer_handle );
***************
*** 1442,1447 ****
PRINT_DEBUG1( "%s.Save()", token );
- StgWorld::Save();
-
int width, height;
gtk_window_get_size( GTK_WINDOW(frame), &width, &height );
--- 1453,1456 ----
***************
*** 1473,1476 ****
--- 1482,1487 ----
gtk_toggle_action_get_active(
GTK_TOGGLE_ACTION(tog->action) ));
}
+
+ StgWorld::Save();
}
***************
*** 1503,1506 ****
--- 1514,1522 ----
}
+ void StgWorldGtk::AddModel( StgModel* mod )
+ {
+ mod->InitGraphics();
+ StgWorld::AddModel( mod );
+ }
***************
*** 1665,1670 ****
StgWorld::Update(); // ignore return value
! if( dirty )
! Draw();
while( gtk_events_pending() )
--- 1681,1686 ----
StgWorld::Update(); // ignore return value
! //if( dirty )
! //Draw();
while( gtk_events_pending() )
***************
*** 1880,1883 ****
--- 1896,1900 ----
// draw the models
+ //puts( "WORLD DRAW" );
GList* it;
for( it=children; it; it=it->next )
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