Update of /cvsroot/playerstage/code/stage/libstageplugin
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30787/libstageplugin
Modified Files:
Tag: opengl
Makefile.am p_driver.cc p_driver.h p_graphics3d.cc p_laser.cc
p_position.cc p_simulation.cc stg_time.cc
Removed Files:
Tag: opengl
stg_time.h
Log Message:
plugin works again
Index: p_graphics3d.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/p_graphics3d.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
*** p_graphics3d.cc 8 Jan 2008 00:30:12 -0000 1.1.2.3
--- p_graphics3d.cc 14 Jan 2008 22:35:46 -0000 1.1.2.4
***************
*** 1,7 ****
/*
! * Player - One Hell of a Robot Server
! * Copyright (C) 2004, 2005 Richard Vaughan
*
- *
* 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
--- 1,6 ----
/*
! * Stage
! * Copyright (C) Richard Vaughan
*
* 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
***************
*** 37,44 ****
#endif
- //#include <gl.h>
- //#include <glu.h>
- //#include <glext.h>
-
//extern GList* dl_list;
--- 36,39 ----
***************
*** 125,129 ****
void* data)
{
-
// TODO queue *all* commands so that tranformations and clearing are
// done synchronously
--- 120,123 ----
***************
*** 205,210 ****
// move into the relevant model's coordinate frame
! stg_pose_t gpose;
! mod->GetGlobalPose( &gpose );
glPushMatrix();
--- 199,203 ----
// move into the relevant model's coordinate frame
! stg_pose_t gpose = mod->GetGlobalPose();
glPushMatrix();
Index: p_driver.h
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/p_driver.h,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** p_driver.h 27 Nov 2007 05:36:02 -0000 1.1.2.2
--- p_driver.h 14 Jan 2008 22:35:46 -0000 1.1.2.3
***************
*** 8,13 ****
#include <libplayercore/playercore.h>
! #include "../libstage/stage.hh"
! #include "stg_time.h"
#define DRIVER_ERROR(X) printf( "Stage driver error: %s\n", X )
--- 8,12 ----
#include <libplayercore/playercore.h>
! #include "../libstage/stage_internal.hh"
#define DRIVER_ERROR(X) printf( "Stage driver error: %s\n", X )
***************
*** 15,18 ****
--- 14,18 ----
// foward declare;
class Interface;
+ class StgTime;
class StgDriver : public Driver
***************
*** 304,307 ****
--- 304,324 ----
};
+ /** Replaces Player's real time clock object */
+ class StTime : public PlayerTime
+ {
+ private:
+ StgDriver* driver;
+
+ public:
+ // Constructor
+ StTime( StgDriver* driver );
+
+ // Destructor
+ virtual ~StTime();
+
+ // Get the simulator time
+ int GetTime(struct timeval* time);
+ int GetTimeDouble(double* time);
+ };
Index: p_position.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/p_position.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
*** p_position.cc 8 Jan 2008 00:30:12 -0000 1.1.2.4
--- p_position.cc 14 Jan 2008 22:35:46 -0000 1.1.2.5
***************
*** 87,93 ****
player_position2d_cmd_pos_t* pcmd = (player_position2d_cmd_pos_t*)data;
- stg_position_cmd_t scmd;
- memset( &scmd, 0, sizeof(scmd));
-
mod->GoTo( pcmd->vel.px, pcmd->vel.py, pcmd->vel.pa );
return 0;
--- 87,90 ----
***************
*** 102,108 ****
player_position2d_cmd_car_t* pcmd = (player_position2d_cmd_car_t*)data;
- stg_position_cmd_t scmd;
- memset( &scmd, 0, sizeof(scmd));
-
mod->SetSpeed( pcmd->velocity, 0, pcmd->angle );
return 0;
--- 99,102 ----
***************
*** 116,121 ****
if(hdr->size == 0)
{
! stg_geom_t geom;
! this->mod->GetGeom( &geom );
// fill in the geometry data formatted player-like
--- 110,114 ----
if(hdr->size == 0)
{
! stg_geom_t geom = this->mod->GetGeom();
// fill in the geometry data formatted player-like
***************
*** 285,289 ****
player_position2d_data_t ppd;
! memset( &ppd, 0, sizeof(ppd) );
// pack the data into player format
--- 278,282 ----
player_position2d_data_t ppd;
! bzero( &ppd, sizeof(ppd) );
// pack the data into player format
***************
*** 294,298 ****
ppd.pos.pa = mod->est_pose.a;
! stg_velocity_t v = mod->Velocity();
ppd.vel.px = v.x;
--- 287,291 ----
ppd.pos.pa = mod->est_pose.a;
! stg_velocity_t v = mod->GetVelocity();
ppd.vel.px = v.x;
Index: p_laser.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/p_laser.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
*** p_laser.cc 24 Dec 2007 11:20:37 -0000 1.1.2.4
--- p_laser.cc 14 Jan 2008 22:35:46 -0000 1.1.2.5
***************
*** 180,188 ****
if(hdr->size == 0)
{
! stg_geom_t geom;
! this->mod->GetGeom( &geom );
! stg_pose_t pose;
! this->mod->GetPose( &pose);
// fill in the geometry data formatted player-like
--- 180,186 ----
if(hdr->size == 0)
{
! stg_geom_t geom = this->mod->GetGeom();
! stg_pose_t pose = this->mod->GetPose();
// fill in the geometry data formatted player-like
Index: p_driver.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/p_driver.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
*** p_driver.cc 8 Jan 2008 00:30:12 -0000 1.1.2.4
--- p_driver.cc 14 Jan 2008 22:35:46 -0000 1.1.2.5
***************
*** 28,32 ****
// DOCUMENTATION ------------------------------------------------------------
! /** @defgroup player libstageplugin - Stage plugin driver for Player
<b>libstageplugin</b> is a plugin for Player that allows Player
--- 28,32 ----
// DOCUMENTATION ------------------------------------------------------------
! /** @defgroup player libstageplugin - simulation driver for Player
<b>libstageplugin</b> is a plugin for Player that allows Player
***************
*** 151,155 ****
#include "p_driver.h"
- //#include "zoo_driver.h"
const char* copyright_notice =
--- 151,154 ----
Index: Makefile.am
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/Makefile.am,v
retrieving revision 1.1.2.3
retrieving revision 1.1.2.4
diff -C2 -d -r1.1.2.3 -r1.1.2.4
*** Makefile.am 24 Dec 2007 11:20:37 -0000 1.1.2.3
--- Makefile.am 14 Jan 2008 22:35:46 -0000 1.1.2.4
***************
*** 30,34 ****
# p_power.cc
# p_graphics2d.cc
- # p_graphics3d.cc
# p_bumper.cc
# p_fiducial.cc
--- 30,33 ----
--- stg_time.h DELETED ---
Index: p_simulation.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/p_simulation.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
*** p_simulation.cc 8 Jan 2008 00:30:12 -0000 1.1.2.4
--- p_simulation.cc 14 Jan 2008 22:35:46 -0000 1.1.2.5
***************
*** 49,55 ****
#define DEBUG
#include <libplayercore/globals.h> // for player_argc & player_argv
#include "p_driver.h"
- #include <libgen.h> // for dirname(3)
// these are Player globals
--- 49,56 ----
#define DEBUG
+ #include <libgen.h> // for dirname(3)
#include <libplayercore/globals.h> // for player_argc & player_argv
+
#include "p_driver.h"
// these are Player globals
***************
*** 74,85 ****
//puts( "InterfaceSimulation constructor" );
! // boot libstage, requesting halt on any glib/gtk/gnome problem
! // int argc = 2;
! // char* argv[2];
! // argv[0] = "player";
! // argv[1] = "--g-fatal-warnings";
! // stg_init( argc, argv );
!
! StgWorld::Init( &player_argc, &player_argv );
const char* worldfile_name = cf->ReadString(section, "worldfile", NULL );
--- 75,79 ----
//puts( "InterfaceSimulation constructor" );
! Stg::Init( &player_argc, &player_argv );
const char* worldfile_name = cf->ReadString(section, "worldfile", NULL );
***************
*** 117,121 ****
// worldfile
! StgDriver::world = new StgWorldGui( 700,700, "Player/Stage" );
assert(StgDriver::world);
--- 111,115 ----
// worldfile
! StgDriver::world = new StgWorldGui( 800,840, "Player/Stage" );
assert(StgDriver::world);
***************
*** 133,138 ****
// steal the global clock - a bit aggressive, but a simple approach
! if( GlobalTime ) delete GlobalTime;
! assert( (GlobalTime = new StgTime( driver ) ));
// start the simulation
--- 127,133 ----
// steal the global clock - a bit aggressive, but a simple approach
!
! // if( GlobalTime ) delete GlobalTime;
! //assert( (GlobalTime = new StgTime( driver ) ));
// start the simulation
Index: stg_time.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/stg_time.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
*** stg_time.cc 27 Nov 2007 05:36:02 -0000 1.1.2.2
--- stg_time.cc 14 Jan 2008 22:35:46 -0000 1.1.2.3
***************
*** 27,38 ****
///////////////////////////////////////////////////////////////////////////
-
- #include "../libstage/stage.hh"
- #include "stg_time.h"
- #include "math.h"
#include "p_driver.h"
// Constructor
! StgTime::StgTime( StgDriver* driver )
{
assert(driver);
--- 27,35 ----
///////////////////////////////////////////////////////////////////////////
#include "p_driver.h"
+ #include "math.h"
// Constructor
! StTime::StTime( StgDriver* driver )
{
assert(driver);
***************
*** 42,46 ****
// Destructor
! StgTime::~StgTime()
{
return;
--- 39,43 ----
// Destructor
! StTime::~StTime()
{
return;
***************
*** 48,52 ****
// Get the simulator time
! int StgTime::GetTime(struct timeval* time)
{
PRINT_DEBUG( "get time" );
--- 45,49 ----
// Get the simulator time
! int StTime::GetTime(struct timeval* time)
{
PRINT_DEBUG( "get time" );
***************
*** 56,61 ****
StgWorld* world = driver->world;
! time->tv_sec = (int)floor(world->sim_time / 1e6);
! time->tv_usec = (int)rint(fmod(world->sim_time,1e6) * 1e6);
PRINT_DEBUG2( "time now %ld sec %ld usec", time->tv_sec, time->tv_usec );
--- 53,59 ----
StgWorld* world = driver->world;
! stg_usec_t usec = world->SimTimeNow();
! time->tv_sec = (int)floor(usec/million);
! time->tv_usec = (int)rint(fmod(usec,million) * million);
PRINT_DEBUG2( "time now %ld sec %ld usec", time->tv_sec, time->tv_usec );
***************
*** 64,68 ****
}
! int StgTime::GetTimeDouble(double* time)
{
PRINT_DEBUG( "get time (double)" );
--- 62,66 ----
}
! int StTime::GetTimeDouble(double* time)
{
PRINT_DEBUG( "get time (double)" );
***************
*** 72,76 ****
StgWorld* world = driver->world;
! *time = world->sim_time / 1e6;
PRINT_DEBUG1( "time now %f sec ", *time);
--- 70,74 ----
StgWorld* world = driver->world;
! *time = world->SimTimeNow() / million;
PRINT_DEBUG1( "time now %f sec ", *time);
-------------------------------------------------------------------------
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