Update of /cvsroot/playerstage/code/stage/libstage
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv12579
Modified Files:
Makefile.manual block.cc canvas.cc model.cc model_fiducial.cc
model_laser.cc model_load.cc model_position.cc model_ranger.cc
stage.cc stage.hh world.cc worldgui.cc
Added Files:
gl.cc
Log Message:
fixed geometry bug where origin was ignored by blocks. cleaned up some API and
added global grid drawing that tracks world extent
Index: worldgui.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/worldgui.cc,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** worldgui.cc 1 Feb 2008 03:11:02 -0000 1.4
--- worldgui.cc 18 Feb 2008 03:52:30 -0000 1.5
***************
*** 93,96 ****
--- 93,98 ----
#include "stage_internal.hh"
+ #include "region.hh"
+
#include <FL/Fl_Image.H>
#include <FL/Fl_Shared_Image.H>
***************
*** 114,140 ****
static const char* MITEM_VIEW_ARROWS = "View/Trails/Arrows";
- // transform the current coordinate frame by the given pose
- void Stg::gl_coord_shift( double x, double y, double z, double a )
- {
- glTranslatef( x,y,z );
- glRotatef( rtod(a), 0,0,1 );
- }
-
- // transform the current coordinate frame by the given pose
- void Stg::gl_pose_shift( stg_pose_t* pose )
- {
- gl_coord_shift( pose->x, pose->y, pose->z, pose->a );
- }
-
- // TODO - this could be faster, but we don't draw a lot of text
- void Stg::gl_draw_string( float x, float y, float z, char *str )
- {
- char *c;
- glRasterPos3f(x, y,z);
- for (c=str; *c != '\0'; c++)
- glutBitmapCharacter( GLUT_BITMAP_HELVETICA_12, *c);
- }
-
- /////
void dummy_cb(Fl_Widget*, void* v)
--- 116,119 ----
***************
*** 199,202 ****
--- 178,183 ----
: Fl_Window(0,0,W,H,L)
{
+ //size_range( 100,100 ); // set minimum window size
+
graphics = true;
***************
*** 259,264 ****
int width = (int)wf->ReadTupleFloat(wf_section, "size", 0, w() );
int height = (int)wf->ReadTupleFloat(wf_section, "size", 1, h() );
! size( width,height ); // resize this window
canvas->panx = wf->ReadTupleFloat(wf_section, "center", 0, canvas->panx );
canvas->pany = wf->ReadTupleFloat(wf_section, "center", 1, canvas->pany );
--- 240,248 ----
int width = (int)wf->ReadTupleFloat(wf_section, "size", 0, w() );
int height = (int)wf->ReadTupleFloat(wf_section, "size", 1, h() );
! // on OS X this behaves badly - prevents the Window manager resizing
! //larger than this size.
! //size( width,height );
+
canvas->panx = wf->ReadTupleFloat(wf_section, "center", 0, canvas->panx );
canvas->pany = wf->ReadTupleFloat(wf_section, "center", 1, canvas->pany );
***************
*** 341,347 ****
bool StgWorldGui::RealTimeUpdate()
{
! // puts( "RTU" );
! bool updated = StgWorld::RealTimeUpdate();
! Fl::check(); // may redraw the window
return updated;
}
--- 325,329 ----
bool StgWorldGui::RealTimeUpdate()
{
! bool updated = StgWorld::RealTimeUpdateWithIdler( Fl::check);
return updated;
}
***************
*** 349,355 ****
bool StgWorldGui::Update()
{
- // puts( "RTU" );
bool updated = StgWorld::Update();
Fl::check(); // may redraw the window
return updated;
}
--- 331,347 ----
bool StgWorldGui::Update()
{
bool updated = StgWorld::Update();
Fl::check(); // may redraw the window
return updated;
}
+
+ void StgWorldGui::DrawTree( bool drawall )
+ {
+ g_hash_table_foreach( superregions, (GHFunc)SuperRegion::Draw_cb, NULL );
+ }
+
+ void StgWorldGui::DrawFloor()
+ {
+ g_hash_table_foreach( superregions, (GHFunc)SuperRegion::Floor_cb, NULL );
+ }
+
Index: stage.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/stage.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** stage.cc 15 Jan 2008 01:16:49 -0000 1.2
--- stage.cc 18 Feb 2008 03:52:30 -0000 1.3
***************
*** 312,315 ****
--- 312,329 ----
}
+ // returns the resultant of vector [p1] and [p2]
+ stg_pose_t Stg::pose_sum( stg_pose_t p1, stg_pose_t p2 )
+ {
+ double cosa = cos(p1.a);
+ double sina = sin(p1.a);
+
+ stg_pose_t result;
+ result.x = p1.x + p2.x * cosa - p2.y * sina;
+ result.y = p1.y + p2.x * sina + p2.y * cosa;
+ result.z = p1.z + p2.z;
+ result.a = normalize(p1.a + p2.a);
+
+ return result;
+ }
// pb_* functions are only used inside this file
Index: model_laser.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/model_laser.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** model_laser.cc 15 Jan 2008 01:16:49 -0000 1.2
--- model_laser.cc 18 Feb 2008 03:52:30 -0000 1.3
***************
*** 92,96 ****
geom.size.y = DEFAULT_LASER_SIZEY;
geom.size.z = DEFAULT_LASER_SIZEZ;
! SetGeom( &geom );
// set default color
--- 92,96 ----
geom.size.y = DEFAULT_LASER_SIZEY;
geom.size.z = DEFAULT_LASER_SIZEZ;
! SetGeom( geom );
// set default color
Index: model.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/model.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** model.cc 12 Feb 2008 02:53:53 -0000 1.3
--- model.cc 18 Feb 2008 03:52:30 -0000 1.4
***************
*** 169,172 ****
--- 169,175 ----
bzero( &pose, sizeof(pose));
+ pose.x = 5; // prevent creating uncessary superregions
+ pose.y = 5;
+
bzero( &global_pose, sizeof(global_pose));
***************
*** 280,285 ****
stg_raytrace_sample_t* sample )
{
! LocalToGlobal( &pose );
! world->Raytrace( pose,
range,
func,
--- 283,288 ----
stg_raytrace_sample_t* sample )
{
! //LocalToGlobal( &pose );
! world->Raytrace( LocalToGlobal(pose),
range,
func,
***************
*** 310,315 ****
uint32_t sample_count )
{
! LocalToGlobal( &pose );
! world->Raytrace( pose,
range,
fov,
--- 313,318 ----
uint32_t sample_count )
{
! //LocalToGlobal( &pose );
! world->Raytrace( LocalToGlobal(pose),
range,
fov,
***************
*** 444,448 ****
// set the model's velocity in the global frame
! void StgModel::SetGlobalVelocity( stg_velocity_t* gv )
{
stg_pose_t gpose = GetGlobalPose();
--- 447,451 ----
// set the model's velocity in the global frame
! void StgModel::SetGlobalVelocity( stg_velocity_t gv )
{
stg_pose_t gpose = GetGlobalPose();
***************
*** 450,460 ****
double cosa = cos( gpose.a );
double sina = sin( gpose.a );
!
stg_velocity_t lv;
! lv.x = gv->x * cosa + gv->y * sina;
! lv.y = -gv->x * sina + gv->y * cosa;
! lv.a = gv->a;
! this->SetVelocity( &lv );
}
--- 453,463 ----
double cosa = cos( gpose.a );
double sina = sin( gpose.a );
!
stg_velocity_t lv;
! lv.x = gv.x * cosa + gv.y * sina;
! lv.y = -gv.x * sina + gv.y * cosa;
! lv.a = gv.a;
! this->SetVelocity( lv );
}
***************
*** 496,513 ****
}
!
// convert a pose in this model's local coordinates into global
// coordinates
// should one day do all this with affine transforms for neatness?
! void StgModel::LocalToGlobal( stg_pose_t* pose )
{
! stg_pose_t pz;
! memcpy( &pz, pose, sizeof(stg_pose_t));
!
! stg_pose_t origin = GetGlobalPose();
!
! stg_pose_sum( pose, &origin, &pz );
}
void StgModel::MapWithChildren()
--- 499,527 ----
}
!
// convert a pose in this model's local coordinates into global
// coordinates
// should one day do all this with affine transforms for neatness?
! stg_pose_t StgModel::LocalToGlobal( stg_pose_t pose )
{
! return pose_sum( pose_sum( geom.pose, GetGlobalPose()), pose );
}
+ stg_point3_t StgModel::LocalToGlobal( stg_point3_t point )
+ {
+ stg_pose_t pose;
+ pose.x = point.x;
+ pose.y = point.y;
+ pose.z = point.z;
+ pose.a = 0;
+
+ pose = LocalToGlobal( pose );
+
+ point.x = pose.x;
+ point.y = pose.y;
+ point.z = pose.z;
+
+ return point;
+ }
void StgModel::MapWithChildren()
***************
*** 867,929 ****
void StgModel::DrawGrid( void )
{
! PushColor( 0,0,0,0.1 );
!
! double dx = geom.size.x;
! double dy = geom.size.y;
! double sp = 1.0;
!
! int nx = (int) ceil((dx/2.0) / sp );
! int ny = (int) ceil((dy/2.0) / sp );
!
! if( nx == 0 ) nx = 1.0;
! if( ny == 0 ) ny = 1.0;
!
! glBegin(GL_LINES);
!
! // draw the bounding box first
! glVertex2f( -nx, -ny );
! glVertex2f( nx, -ny );
!
! glVertex2f( -nx, ny );
! glVertex2f( nx, ny );
!
! glVertex2f( nx, -ny );
! glVertex2f( nx, ny );
!
! glVertex2f( -nx,-ny );
! glVertex2f( -nx, ny );
!
!
! int i;
! for (i = -nx+1; i < nx; i++)
! {
! glVertex2f( i * sp, - dy/2 );
! glVertex2f( i * sp, + dy/2 );
! }
! for (i = -ny+1; i < ny; i++)
! {
! glVertex2f( - dx/2, i * sp );
! glVertex2f( + dx/2, i * sp );
! }
!
! glEnd();
!
! PushColor( 0,0,0,0.3);
!
! char str[16];
!
! for (i = -nx+1; i < nx; i++)
! {
! snprintf( str, 16, "%d", (int)i );
! gl_draw_string( -dx/2.0 + -0.2 + (nx + i * sp), -0.2 , 0.01, str );
! }
! for (i = -ny+1; i < ny; i++)
! {
! snprintf( str, 16, "%d", (int)i );
! gl_draw_string( -0.2, -dy/2.0 + -0.2 + (ny + i * sp) , 0.01, str );
! }
!
! PopColor();
PopColor();
}
--- 881,894 ----
void StgModel::DrawGrid( void )
{
! stg_bounds3d_t vol;
! vol.x.min = -geom.size.x/2.0;
! vol.x.max = geom.size.x/2.0;
! vol.y.min = -geom.size.y/2.0;
! vol.y.max = geom.size.y/2.0;
! vol.z.min = 0;
! vol.z.max = geom.size.z;
! PushColor( 0,0,1,0.4 );
! gl_draw_grid(vol);
PopColor();
}
***************
*** 934,941 ****
}
! void StgModel::SetVelocity( stg_velocity_t* vel )
{
! assert(vel);
! memcpy( &this->velocity, vel, sizeof(stg_velocity_t));
if( ! this->on_velocity_list && velocity_is_nonzero( & this->velocity ) )
--- 899,905 ----
}
! void StgModel::SetVelocity( stg_velocity_t vel )
{
! this->velocity = vel;
if( ! this->on_velocity_list && velocity_is_nonzero( & this->velocity ) )
***************
*** 967,985 ****
}
! void StgModel::SetPose( stg_pose_t* pose )
{
//PRINT_DEBUG5( "%s.SetPose(%.2f %.2f %.2f %.2f)",
// this->token, pose->x, pose->y, pose->z, pose->a );
- assert(pose);
-
// if the pose has changed, we need to do some work
! if( memcmp( &this->pose, pose, sizeof(stg_pose_t) ) != 0 )
{
UnMapWithChildren();
! memcpy( &this->pose, pose, sizeof(stg_pose_t));
! this->pose.a = normalize(this->pose.a);
//double hitx, hity;
--- 931,950 ----
}
! void StgModel::SetPose( stg_pose_t pose )
{
//PRINT_DEBUG5( "%s.SetPose(%.2f %.2f %.2f %.2f)",
// this->token, pose->x, pose->y, pose->z, pose->a );
// if the pose has changed, we need to do some work
! if( memcmp( &this->pose, &pose, sizeof(stg_pose_t) ) != 0 )
{
UnMapWithChildren();
+
+ pose.a = normalize( pose.a );
+ this->pose = pose;
! //memcpy( &this->pose, &pose, sizeof(stg_pose_t));
! //this->pose.a = normalize(this->pose.a);
//double hitx, hity;
***************
*** 1000,1005 ****
if( dx || dy || dz || da )
{
! stg_pose_t pose;
! GetPose( &pose );
pose.x += dx;
pose.y += dy;
--- 965,969 ----
if( dx || dy || dz || da )
{
! stg_pose_t pose = GetPose();
pose.x += dx;
pose.y += dy;
***************
*** 1007,1022 ****
pose.a += da;
! SetPose( &pose );
}
}
! void StgModel::AddToPose( stg_pose_t* pose )
{
! assert( pose );
! this->AddToPose( pose->x, pose->y, pose->z, pose->a );
}
! void StgModel::SetGeom( stg_geom_t* geom )
{
//printf( "MODEL \"%s\" SET GEOM (%.2f %.2f %.2f)[%.2f %.2f]\n",
--- 971,985 ----
pose.a += da;
! SetPose( pose );
}
}
! void StgModel::AddToPose( stg_pose_t pose )
{
! this->AddToPose( pose.x, pose.y, pose.z, pose.a );
}
! void StgModel::SetGeom( stg_geom_t geom )
{
//printf( "MODEL \"%s\" SET GEOM (%.2f %.2f %.2f)[%.2f %.2f]\n",
***************
*** 1025,1035 ****
// geom->size.x, geom->size.y );
- assert(geom);
-
UnMap();
! memcpy( &this->geom, geom, sizeof(stg_geom_t));
! StgBlock::ScaleList( blocks, &geom->size );
body_dirty = true;
--- 988,996 ----
// geom->size.x, geom->size.y );
UnMap();
! this->geom = geom;
! StgBlock::ScaleList( blocks, &geom.size );
body_dirty = true;
***************
*** 1143,1154 ****
}
- void StgModel::GetPose( stg_pose_t* dest )
- {
- assert(dest);
- memcpy( dest, &this->pose, sizeof(stg_pose_t));
- }
-
// set the pose of model in global coordinates
! void StgModel::SetGlobalPose( stg_pose_t* gpose )
{
if( this->parent == NULL )
--- 1104,1109 ----
}
// set the pose of model in global coordinates
! void StgModel::SetGlobalPose( stg_pose_t gpose )
{
if( this->parent == NULL )
***************
*** 1160,1166 ****
{
stg_pose_t lpose;
! memcpy( &lpose, gpose, sizeof(lpose) );
this->parent->GlobalToLocal( &lpose );
! this->SetPose( &lpose );
}
--- 1115,1121 ----
{
stg_pose_t lpose;
! memcpy( &lpose, &gpose, sizeof(lpose) );
this->parent->GlobalToLocal( &lpose );
! this->SetPose( lpose );
}
***************
*** 1255,1264 ****
// shift the edge ray vector by the local change in pose
! stg_pose_t raypose;
! stg_pose_sum( &raypose, posedelta, &edgepose );
// raytrace in local coordinates
stg_raytrace_sample_t sample;
! Raytrace( raypose,
range,
(stg_block_match_func_t)collision_match,
--- 1210,1219 ----
// shift the edge ray vector by the local change in pose
! // stg_pose_t raypose;
! // stg_pose_sum( &raypose, posedelta, &edgepose );
// raytrace in local coordinates
stg_raytrace_sample_t sample;
! Raytrace( pose_sum( *posedelta, edgepose),
range,
(stg_block_match_func_t)collision_match,
***************
*** 1325,1329 ****
stg_pose_t newpose;
stg_pose_sum( &newpose, &this->pose, &p );
! this->SetPose( &newpose );
}
--- 1280,1284 ----
stg_pose_t newpose;
stg_pose_sum( &newpose, &this->pose, &p );
! this->SetPose( newpose );
}
Index: block.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/block.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** block.cc 1 Feb 2008 03:11:01 -0000 1.3
--- block.cc 18 Feb 2008 03:52:30 -0000 1.4
***************
*** 141,145 ****
glDepthMask(GL_FALSE);
DrawTop();
! //DrawSides();
glDepthMask(GL_TRUE);
--- 141,145 ----
glDepthMask(GL_FALSE);
DrawTop();
! //DrawSides(); // skip this in 2d mode - faster!
glDepthMask(GL_TRUE);
***************
*** 165,183 ****
// update the global coordinate list
! stg_pose_t gpose;
! bzero(&gpose,sizeof(gpose));
for( unsigned int p=0; p<pt_count; p++ )
{
! gpose.x = pts[p].x;
! gpose.y = pts[p].y;
! gpose.z = zmin;
! mod->LocalToGlobal( &gpose );
!
! //pts_global[p].x =
(int32_t)floor((gpose.x+mod->World()->width/2.0)*ppm);
! //pts_global[p].y =
(int32_t)floor((gpose.y+mod->World()->height/2.0)*ppm);
! pts_global[p].x = (int32_t)floor(gpose.x*ppm);
! pts_global[p].y = (int32_t)floor(gpose.y*ppm);
PRINT_DEBUG2("loc [%.2f %.2f]",
--- 165,182 ----
// update the global coordinate list
!
! stg_point3_t global;
for( unsigned int p=0; p<pt_count; p++ )
{
! stg_point3_t local;
! local.x = pts[p].x;
! local.y = pts[p].y;
! local.z = zmin;
! global = mod->LocalToGlobal( local );
!
! pts_global[p].x = (int32_t)floor(global.x*ppm);
! pts_global[p].y = (int32_t)floor(global.y*ppm);
PRINT_DEBUG2("loc [%.2f %.2f]",
***************
*** 192,197 ****
// store the block's global vertical bounds for inspection by the
// raytracer
! global_zmin = gpose.z;
! global_zmax = gpose.z + (zmax-zmin);
stg_render_info_t render_info;
--- 191,196 ----
// store the block's global vertical bounds for inspection by the
// raytracer
! global_zmin = global.z;
! global_zmax = global.z + (zmax-zmin);
stg_render_info_t render_info;
Index: world.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/world.cc,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** world.cc 12 Feb 2008 02:53:53 -0000 1.6
--- world.cc 18 Feb 2008 03:52:30 -0000 1.7
***************
*** 51,61 ****
#include "stage_internal.hh"
- const double STG_DEFAULT_WORLD_PPM = 50; // 2cm pixels
- 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 uint32_t RBITS = 6; // regions contain (2^RBITS)^2 pixels
- const uint32_t SBITS = 5; // superregions contain (2^SBITS)^2 regions
- const uint32_t SRBITS = RBITS+SBITS;
// static data members
--- 51,56 ----
#include "stage_internal.hh"
+ #include "region.hh"
// static data members
***************
*** 63,67 ****
bool StgWorld::quit_all = false;
-
static guint PointIntHash( stg_point_int_t* pt )
{
--- 58,61 ----
***************
*** 74,226 ****
}
- typedef struct
- {
- GSList* list;
- } stg_cell_t;
-
- class Stg::Region
- {
- friend class SuperRegion;
-
- private:
- static const uint32_t REGIONWIDTH = 1<<RBITS;
- static const uint32_t REGIONSIZE = REGIONWIDTH*REGIONWIDTH;
-
- stg_cell_t cells[REGIONSIZE];
-
- public:
- uint32_t count; // number of blocks rendered into these cells
-
- Region()
- {
- bzero( cells, REGIONSIZE * sizeof(stg_cell_t));
- count = 0;
- }
-
- stg_cell_t* GetCell( int32_t x, int32_t y )
- {
- uint32_t index = x + (y*REGIONWIDTH);
- assert( index >=0 );
- assert( index < REGIONSIZE );
- return &cells[index];
- }
-
- // add a block to a region cell specified in REGION coordinates
- void AddBlock( StgBlock* block, int32_t x, int32_t y, unsigned int* count2 )
- {
- stg_cell_t* cell = GetCell( x, y );
- cell->list = g_slist_prepend( cell->list, block );
- block->RecordRenderPoint( &cell->list, cell->list, &this->count, count2
);
- count++;
- }
- };
-
-
- class Stg::SuperRegion
- {
- friend class StgWorld;
-
- private:
- static const uint32_t SUPERREGIONWIDTH = 1<<SBITS;
- static const uint32_t SUPERREGIONSIZE = SUPERREGIONWIDTH*SUPERREGIONWIDTH;
-
- Region regions[SUPERREGIONSIZE];
- uint32_t count; // number of blocks rendered into these regions
-
- stg_point_int_t origin;
-
- public:
-
- SuperRegion( int32_t x, int32_t y )
- {
- count = 0;
- origin.x = x;
- origin.y = y;
- //regions = new Region[SUPERREGIONSIZE];
- }
-
- ~SuperRegion()
- {
- //delete [] regions;
- }
-
- // get the region x,y from the region array
- Region* GetRegion( int32_t x, int32_t y )
- {
- int32_t index = x + (y*SUPERREGIONWIDTH);
- assert( index >=0 );
- assert( index < (int)SUPERREGIONSIZE );
- return ®ions[ index ];
- }
-
- // add a block to a cell specified in superregion coordinates
- void AddBlock( StgBlock* block, int32_t x, int32_t y )
- {
- GetRegion( x>>RBITS, y>>RBITS )
- ->AddBlock( block,
- x - ((x>>RBITS)<<RBITS),
- y - ((y>>RBITS)<<RBITS),
- &count);
- count++;
- }
-
- // callback wrapper for Draw()
- static void Draw_cb( gpointer dummykey,
- SuperRegion* sr,
- gpointer dummyval )
- {
- sr->Draw();
- }
-
- void Draw()
- {
- glPushMatrix();
- glTranslatef( origin.x<<SRBITS, origin.y<<SRBITS,0 );
-
- glColor3f( 1,0,0 );
-
- for( unsigned int x=0; x<SUPERREGIONWIDTH; x++ )
- for( unsigned int y=0; y<SUPERREGIONWIDTH; y++ )
- {
- Region* r = GetRegion(x,y);
-
- for( unsigned int p=0; p<Region::REGIONWIDTH; p++ )
- for( unsigned int q=0; q<Region::REGIONWIDTH; q++ )
- if( r->cells[p+(q*Region::REGIONWIDTH)].list )
- glRecti( p+(x<<RBITS), q+(y<<RBITS),
- 1+p+(x<<RBITS), 1+q+(y<<RBITS) );
- }
-
- // outline regions
- glColor3f( 0,1,0 );
- for( unsigned int x=0; x<SUPERREGIONWIDTH; x++ )
- for( unsigned int y=0; y<SUPERREGIONWIDTH; y++ )
- glRecti( x<<RBITS, y<<RBITS,
- (x+1)<<RBITS, (y+1)<<RBITS );
-
- // outline superregion
- glColor3f( 0,0,1 );
- glRecti( 0,0, 1<<SRBITS, 1<<SRBITS );
-
- glPopMatrix();
- }
-
- static void Floor_cb( gpointer dummykey,
- SuperRegion* sr,
- gpointer dummyval )
- {
- sr->Floor();
- }
-
- void Floor()
- {
- glPushMatrix();
- glTranslatef( origin.x<<SRBITS, origin.y<<SRBITS,0 );
- glRecti( 0,0, 1<<SRBITS, 1<<SRBITS );
- glPopMatrix();
- }
-
-
- };
SuperRegion* StgWorld::CreateSuperRegion( int32_t x, int32_t y )
--- 68,71 ----
***************
*** 250,254 ****
double ppm )
{
! Initialize( token, interval_sim, interval_real, ppm );//, width, height );
}
--- 95,99 ----
double ppm )
{
! Initialize( token, interval_sim, interval_real, ppm );
}
***************
*** 294,303 ****
(GEqualFunc)PointIntEqual );
- //this->CreateSuperRegion( -2, -2 );
-
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;
--- 139,148 ----
(GEqualFunc)PointIntEqual );
this->total_subs = 0;
this->paused = true;
this->destroy = false;
!
! bzero( &this->extent, sizeof(this->extent));
!
for( unsigned int i=0; i<INTERVAL_LOG_LEN; i++ )
this->interval_log[i] = this->interval_real;
***************
*** 498,501 ****
--- 343,372 ----
}
+ void StgWorld::IdleUntilNextUpdateTime( int (*idler)(void) )
+ {
+ // 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 );
+ */
+
+ while( timenow < real_time_next_update )
+ {
+ (*idler)();
+ usleep( 10000 );
+ timenow = RealTimeSinceStart();
+ }
+
+ interval_log[updates%INTERVAL_LOG_LEN] = timenow - real_time_now;
+
+ real_time_now = timenow;
+ real_time_next_update += interval_real;
+ }
+
+
bool StgWorld::Update()
{
***************
*** 533,536 ****
--- 404,417 ----
}
+ bool StgWorld::RealTimeUpdateWithIdler( int (*idler)(void) )
+
+ {
+ //PRINT_DEBUG( "StageWorld::RealTimeUpdate()" );
+ bool updated = Update();
+ IdleUntilNextUpdateTime( idler );
+
+ return updated;
+ }
+
void StgWorld::AddModel( StgModel* mod )
{
***************
*** 781,790 ****
void StgWorld::Reload( void )
{
- // can't reload the file yet - need to hack on the worldfile class.
- //wf->load( NULL );
-
- // ask every model to load itself from the file database
- //g_hash_table_foreach( this->models_by_id, stg_model_reload_cb, NULL );
-
ForEachModel( _reload_cb, NULL );
}
--- 662,665 ----
***************
*** 826,829 ****
--- 701,716 ----
//printf( "Creating super region [ %d %d ]\n", sup.x, sup.y );
sr = rinfo->world->CreateSuperRegion( sup.x, sup.y );
+
+ // the bounds of the world have changed
+ stg_point3_t pt;
+ pt.x = (sup.x << SRBITS) / rinfo->world->ppm;
+ pt.y = (sup.y << SRBITS) / rinfo->world->ppm;
+ pt.z = 0;
+ rinfo->world->Extend( pt ); // lower left corner of the new superregion
+
+ pt.x = ((sup.x+1) << SRBITS) / rinfo->world->ppm;
+ pt.y = ((sup.y+1) << SRBITS) / rinfo->world->ppm;
+ pt.z = 0;
+ rinfo->world->Extend( pt ); // top right corner of the new superregion
}
***************
*** 842,852 ****
}
! void StgWorld::DrawTree( bool drawall )
! {
! g_hash_table_foreach( superregions, (GHFunc)SuperRegion::Draw_cb, NULL );
! }
!
! void StgWorld::DrawFloor()
{
! g_hash_table_foreach( superregions, (GHFunc)SuperRegion::Floor_cb, NULL );
}
--- 729,739 ----
}
! void StgWorld::Extend( stg_point3_t pt )
{
! extent.x.min = MIN( extent.x.min, pt.x);
! extent.x.max = MAX( extent.x.max, pt.x );
! extent.y.min = MIN( extent.y.min, pt.y );
! extent.y.max = MAX( extent.y.max, pt.y );
! extent.z.min = MIN( extent.z.min, pt.z );
! extent.z.max = MAX( extent.z.max, pt.z );
}
--- NEW FILE: gl.cc ---
#include "stage_internal.hh"
// transform the current coordinate frame by the given pose
void Stg::gl_coord_shift( double x, double y, double z, double a )
{
glTranslatef( x,y,z );
glRotatef( rtod(a), 0,0,1 );
}
// transform the current coordinate frame by the given pose
void Stg::gl_pose_shift( stg_pose_t* pose )
{
gl_coord_shift( pose->x, pose->y, pose->z, pose->a );
}
// TODO - this could be faster, but we don't draw a lot of text
void Stg::gl_draw_string( float x, float y, float z, char *str )
{
char *c;
glRasterPos3f(x, y,z);
for (c=str; *c != '\0'; c++)
glutBitmapCharacter( GLUT_BITMAP_HELVETICA_12, *c);
}
void Stg::gl_draw_grid( stg_bounds3d_t vol )
{
glBegin(GL_LINES);
for( int i = floor(vol.x.min); i < vol.x.max; i++)
{
glVertex2f( i, vol.y.min );
glVertex2f( i, vol.y.max );
}
for( int i = floor(vol.y.min); i < vol.y.max; i++)
{
glVertex2f( vol.x.min, i );
glVertex2f( vol.x.max, i );
}
glEnd();
char str[16];
for( int i = floor(vol.x.min); i < vol.x.max; i++)
{
snprintf( str, 16, "%d", (int)i );
gl_draw_string( i, 0, 0.01, str );
}
for( int i = floor(vol.y.min); i < vol.y.max; i++)
{
snprintf( str, 16, "%d", (int)i );
gl_draw_string( 0, i, 0.01, str );
}
}
Index: model_load.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/model_load.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** model_load.cc 15 Jan 2008 01:16:49 -0000 1.2
--- model_load.cc 18 Feb 2008 03:52:30 -0000 1.3
***************
*** 44,48 ****
geom.pose.y = wf->ReadTupleLength(this->id, "origin", 1, geom.pose.y );
geom.pose.a = wf->ReadTupleAngle(this->id, "origin", 2, geom.pose.a );
! this->SetGeom( &geom );
}
--- 44,48 ----
geom.pose.y = wf->ReadTupleLength(this->id, "origin", 1, geom.pose.y );
geom.pose.a = wf->ReadTupleAngle(this->id, "origin", 2, geom.pose.a );
! this->SetGeom( geom );
}
***************
*** 54,58 ****
geom.pose.z = wf->ReadTupleLength(this->id, "origin4", 2, geom.pose.z );
geom.pose.a = wf->ReadTupleAngle(this->id, "origin4", 3, geom.pose.a );
! this->SetGeom( &geom );
}
--- 54,58 ----
geom.pose.z = wf->ReadTupleLength(this->id, "origin4", 2, geom.pose.z );
geom.pose.a = wf->ReadTupleAngle(this->id, "origin4", 3, geom.pose.a );
! this->SetGeom( geom );
}
***************
*** 62,66 ****
geom.size.x = wf->ReadTupleLength(this->id, "size", 0, geom.size.x );
geom.size.y = wf->ReadTupleLength(this->id, "size", 1, geom.size.y );
! this->SetGeom( &geom );
}
--- 62,66 ----
geom.size.x = wf->ReadTupleLength(this->id, "size", 0, geom.size.x );
geom.size.y = wf->ReadTupleLength(this->id, "size", 1, geom.size.y );
! this->SetGeom( geom );
}
***************
*** 71,75 ****
geom.size.y = wf->ReadTupleLength(this->id, "size3", 1, geom.size.y );
geom.size.z = wf->ReadTupleLength(this->id, "size3", 2, geom.size.z );
! this->SetGeom( &geom );
}
--- 71,75 ----
geom.size.y = wf->ReadTupleLength(this->id, "size3", 1, geom.size.y );
geom.size.z = wf->ReadTupleLength(this->id, "size3", 2, geom.size.z );
! this->SetGeom( geom );
}
***************
*** 80,84 ****
pose.y = wf->ReadTupleLength(this->id, "pose", 1, pose.y );
pose.a = wf->ReadTupleAngle(this->id, "pose", 2, pose.a );
! this->SetPose( &pose );
}
--- 80,84 ----
pose.y = wf->ReadTupleLength(this->id, "pose", 1, pose.y );
pose.a = wf->ReadTupleAngle(this->id, "pose", 2, pose.a );
! this->SetPose( pose );
}
***************
*** 91,95 ****
pose.a = wf->ReadTupleAngle( this->id, "pose4", 3, pose.a );
! this->SetPose( &pose );
}
--- 91,95 ----
pose.a = wf->ReadTupleAngle( this->id, "pose4", 3, pose.a );
! this->SetPose( pose );
}
***************
*** 100,104 ****
vel.y = wf->ReadTupleLength(this->id, "velocity", 1, vel.y );
vel.a = wf->ReadTupleAngle(this->id, "velocity", 3, vel.a );
! this->SetVelocity( &vel );
}
--- 100,104 ----
vel.y = wf->ReadTupleLength(this->id, "velocity", 1, vel.y );
vel.a = wf->ReadTupleAngle(this->id, "velocity", 3, vel.a );
! this->SetVelocity( vel );
}
***************
*** 110,114 ****
vel.z = wf->ReadTupleLength(this->id, "velocity4", 2, vel.z );
vel.a = wf->ReadTupleAngle(this->id, "velocity4", 3, vel.a );
! this->SetVelocity( &vel );
}
--- 110,114 ----
vel.z = wf->ReadTupleLength(this->id, "velocity4", 2, vel.z );
vel.a = wf->ReadTupleAngle(this->id, "velocity4", 3, vel.a );
! this->SetVelocity( vel );
}
Index: model_ranger.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/model_ranger.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** model_ranger.cc 15 Jan 2008 01:16:49 -0000 1.2
--- model_ranger.cc 18 Feb 2008 03:52:30 -0000 1.3
***************
*** 111,115 ****
stg_geom_t geom;
memset( &geom, 0, sizeof(geom)); // no size
! this->SetGeom( &geom );
samples = NULL;
--- 111,115 ----
stg_geom_t geom;
memset( &geom, 0, sizeof(geom)); // no size
! this->SetGeom( geom );
samples = NULL;
Index: model_position.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/model_position.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** model_position.cc 15 Jan 2008 01:16:49 -0000 1.2
--- model_position.cc 18 Feb 2008 03:52:30 -0000 1.3
***************
*** 96,100 ****
stg_velocity_t vel;
memset( &vel, 0, sizeof(vel));
! this->SetVelocity( &vel );
this->SetBlobReturn( TRUE );
--- 96,100 ----
stg_velocity_t vel;
memset( &vel, 0, sizeof(vel));
! this->SetVelocity( vel );
this->SetBlobReturn( TRUE );
***************
*** 391,395 ****
// this->velocity.a );
! this->SetVelocity( &vel );
}
--- 391,395 ----
// this->velocity.a );
! this->SetVelocity( vel );
}
Index: model_fiducial.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/model_fiducial.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** model_fiducial.cc 15 Jan 2008 01:16:49 -0000 1.2
--- model_fiducial.cc 18 Feb 2008 03:52:30 -0000 1.3
***************
*** 76,80 ****
stg_geom_t geom;
memset( &geom, 0, sizeof(geom));
! SetGeom( &geom );
// default parameters
--- 76,80 ----
stg_geom_t geom;
memset( &geom, 0, sizeof(geom));
! SetGeom( geom );
// default parameters
Index: Makefile.manual
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Makefile.manual,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** Makefile.manual 1 Feb 2008 03:11:01 -0000 1.4
--- Makefile.manual 18 Feb 2008 03:52:30 -0000 1.5
***************
*** 11,14 ****
--- 11,15 ----
block.cc \
canvas.cc \
+ gl.cc \
glcolorstack.cc \
model.cc \
Index: stage.hh
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/stage.hh,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** stage.hh 1 Feb 2008 03:11:01 -0000 1.5
--- stage.hh 18 Feb 2008 03:52:30 -0000 1.6
***************
*** 276,279 ****
--- 276,287 ----
double max; //< largest value in range
} stg_bounds_t;
+
+ /** bound a volume along the x,y,z axes */
+ typedef struct
+ {
+ stg_bounds_t x; //< volume extent along x axis
+ stg_bounds_t y; //< volume extent along y axis
+ stg_bounds_t z; //< volume extent along z axis
+ } stg_bounds3d_t;
/** bound a range of range values, from min to max
***************
*** 298,308 ****
} stg_fov_t;
!
! /** define a point on the plane */
typedef struct
{
stg_meters_t x, y;
} stg_point_t;
!
/** define an integer point on the plane
--- 306,321 ----
} stg_fov_t;
!
! /** define a point on a 2d plane */
typedef struct
{
stg_meters_t x, y;
} stg_point_t;
!
! /** define a point in 3d space */
! typedef struct
! {
! stg_meters_t x, y, z;
! } stg_point3_t;
/** define an integer point on the plane
***************
*** 470,473 ****
--- 483,489 ----
copy the result into result. */
void stg_pose_sum( stg_pose_t* result, stg_pose_t* p1, stg_pose_t* p2 );
+
+ /** returns the sum of [p1] + [p2], in [p1]'s coordinate system */
+ stg_pose_t pose_sum( stg_pose_t p1, stg_pose_t p2 );
// PRETTY PRINTING -------------------------------------------------
***************
*** 511,514 ****
--- 527,531 ----
+ void gl_draw_grid( stg_bounds3d_t vol );
void gl_pose_shift( stg_pose_t* pose );
void gl_coord_shift( double x, double y, double z, double a );
***************
*** 979,983 ****
Worldfile* wf; ///< If set, points to the worldfile used to create this
world
bool graphics;
! //StgBlockGrid* bgrid;
public:
--- 996,1003 ----
Worldfile* wf; ///< If set, points to the worldfile used to create this
world
bool graphics;
! stg_bounds3d_t extent;
!
! /** Enlarge the bounding volume to include this point */
! void Extend( stg_point3_t pt );
public:
***************
*** 998,1001 ****
--- 1018,1022 ----
stg_usec_t RealTimeSinceStart(void);
void PauseUntilNextUpdateTime(void);
+ void IdleUntilNextUpdateTime( int (*idler)(void) );
stg_usec_t GetSimInterval(){ return interval_sim; };
***************
*** 1008,1011 ****
--- 1029,1034 ----
virtual bool Update(void);
virtual bool RealTimeUpdate(void);
+ virtual bool RealTimeUpdateWithIdler( int (*idler)(void) );
+
virtual void AddModel( StgModel* mod );
virtual void RemoveModel( StgModel* mod );
***************
*** 1026,1038 ****
StgModel* GetModel( const stg_id_t id );
StgModel* GetModel( const char* name );
!
GList* GetRayList(){ return ray_list; };
void ClearRays();
- void DrawTree( bool leaves );
- void DrawFloor();
void ClockString( char* str, size_t maxlen );
void ForEachModel( GHFunc func, void* arg )
{ g_hash_table_foreach( models_by_id, func, arg ); };
--- 1049,1061 ----
StgModel* GetModel( const stg_id_t id );
StgModel* GetModel( const char* name );
!
GList* GetRayList(){ return ray_list; };
void ClearRays();
void ClockString( char* str, size_t maxlen );
+ stg_bounds3d_t GetExtent(){ return extent; };
+
void ForEachModel( GHFunc func, void* arg )
{ g_hash_table_foreach( models_by_id, func, arg ); };
***************
*** 1273,1277 ****
/* set the velocity of a model in the global coordinate system */
! void SetGlobalVelocity( stg_velocity_t* gvel );
/** subscribe to a model's data */
--- 1296,1300 ----
/* set the velocity of a model in the global coordinate system */
! void SetGlobalVelocity( stg_velocity_t gvel );
/** subscribe to a model's data */
***************
*** 1282,1295 ****
/** set the pose of model in global coordinates */
! void SetGlobalPose( stg_pose_t* gpose );
/** set a model's velocity in its parent's coordinate system */
! void SetVelocity( stg_velocity_t* vel );
/** set a model's pose in its parent's coordinate system */
! void SetPose( stg_pose_t* pose );
/** add values to a model's pose in its parent's coordinate system */
! void AddToPose( stg_pose_t* pose );
/** add values to a model's pose in its parent's coordinate system */
--- 1305,1318 ----
/** set the pose of model in global coordinates */
! void SetGlobalPose( stg_pose_t gpose );
/** set a model's velocity in its parent's coordinate system */
! void SetVelocity( stg_velocity_t vel );
/** set a model's pose in its parent's coordinate system */
! void SetPose( stg_pose_t pose );
/** add values to a model's pose in its parent's coordinate system */
! void AddToPose( stg_pose_t pose );
/** add values to a model's pose in its parent's coordinate system */
***************
*** 1297,1301 ****
/** set a model's geometry (size and center offsets) */
! void SetGeom( stg_geom_t* src );
/** set a model's geometry (size and center offsets) */
--- 1320,1324 ----
/** set a model's geometry (size and center offsets) */
! void SetGeom( stg_geom_t src );
/** set a model's geometry (size and center offsets) */
***************
*** 1318,1324 ****
/** Get the pose of a model in its parent's coordinate system */
- void GetPose( stg_pose_t* dest );
-
- /** Get the pose of a model in its parent's coordinate system */
stg_pose_t GetPose(){ return pose; }
--- 1341,1344 ----
***************
*** 1448,1452 ****
world coordinate system. Overwrites [pose] with the new
coordinate. */
! void LocalToGlobal( stg_pose_t* pose );
/** returns the first descendent of this model that is unsubscribed
--- 1468,1480 ----
world coordinate system. Overwrites [pose] with the new
coordinate. */
! //void LocalToGlobal( stg_pose_t* pose );
!
! /** Return the global pose (i.e. pose in world coordinates) of a
! pose specified in the model's local coordinate system */
! stg_pose_t LocalToGlobal( stg_pose_t pose );
!
! /** Return the 3d point in world coordinates of a 3d point
! specified in the model's local coordinate system */
! stg_point3_t LocalToGlobal( stg_point3_t local );
/** returns the first descendent of this model that is unsubscribed
***************
*** 1586,1589 ****
--- 1614,1618 ----
void DrawRays();
void ClearRays();
+ void DrawGlobalGrid();
public:
***************
*** 1654,1657 ****
--- 1683,1689 ----
virtual void PopColor()
{ canvas->PopColor(); }
+
+ void DrawTree( bool leaves );
+ void DrawFloor();
};
Index: canvas.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/canvas.cc,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** canvas.cc 12 Feb 2008 02:53:53 -0000 1.6
--- canvas.cc 18 Feb 2008 03:52:30 -0000 1.7
***************
*** 97,101 ****
glEnable(GL_DITHER);
! glClearColor ( 0.7, 0.7, 0.8, 1.0);
if( mod ) // we clicked on a root model
--- 97,102 ----
glEnable(GL_DITHER);
! //glClearColor ( 0.7, 0.7, 0.8, 1.0);
! glClearColor ( 1,1,1,1 );
if( mod ) // we clicked on a root model
***************
*** 322,325 ****
--- 323,333 ----
}
+ void StgCanvas::DrawGlobalGrid()
+ {
+ PushColor( 0,0,0,0.2 );
+ gl_draw_grid( world->GetExtent() );
+ PopColor();
+ }
+
void StgCanvas::draw()
{
***************
*** 332,336 ****
// set gl state that won't change every redraw
! glClearColor ( 0.7, 0.7, 0.8, 1.0);
glDisable(GL_LIGHTING);
glEnable (GL_DEPTH_TEST);
--- 340,345 ----
// set gl state that won't change every redraw
! //glClearColor ( 0.7, 0.7, 0.8, 1.0);
! glClearColor ( 1,1,1,1 );
glDisable(GL_LIGHTING);
glEnable (GL_DEPTH_TEST);
***************
*** 347,351 ****
gl_font( FL_HELVETICA, 12 );
! double zclip = 20 * scale; //hypot(world->Width(), world->Height()) *
scale;
double pixels_width = w();
double pixels_height = h();
--- 356,360 ----
gl_font( FL_HELVETICA, 12 );
! //double zclip = 20 * scale; //hypot(world->Width(), world->Height()) *
scale;
double pixels_width = w();
double pixels_height = h();
***************
*** 356,362 ****
glOrtho( -pixels_width/2.0, pixels_width/2.0,
-pixels_height/2.0, pixels_height/2.0,
! -zclip, zclip );
// set the modelview matrix
--- 365,373 ----
+ stg_bounds3d_t extent = world->GetExtent();
+
glOrtho( -pixels_width/2.0, pixels_width/2.0,
-pixels_height/2.0, pixels_height/2.0,
! extent.y.min*scale, extent.y.max*scale );
// set the modelview matrix
***************
*** 367,371 ****
glScalef( scale, scale, scale );
glTranslatef( -panx/scale, -pany/scale, 0 );
!
glRotatef( rtod(-stheta), fabs(cos(sphi)), 0, 0 );
glRotatef( rtod(sphi), 0,0,1 ); // rotate about z - yaw
--- 378,383 ----
glScalef( scale, scale, scale );
glTranslatef( -panx/scale, -pany/scale, 0 );
! // .. from here
!
glRotatef( rtod(-stheta), fabs(cos(sphi)), 0, 0 );
glRotatef( rtod(sphi), 0,0,1 ); // rotate about z - yaw
***************
*** 413,426 ****
// draw the world size rectangle in white, using the polygon offset
// so it doesn't z-fight with the models
! glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
! glEnable(GL_POLYGON_OFFSET_FILL);
! glPolygonOffset(1.0, 1.0);
! glColor3f( 1,1,1 );
!
glPushMatrix();
glScalef( 1.0/world->Resolution(), 1.0/world->Resolution(), 0 );
! ((StgWorldGui*)world)->DrawFloor();
! glDisable(GL_POLYGON_OFFSET_FILL);
if( (showflags & STG_SHOW_QUADTREE) || (showflags & STG_SHOW_OCCUPANCY) )
--- 425,440 ----
// draw the world size rectangle in white, using the polygon offset
// so it doesn't z-fight with the models
! //glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
! //glEnable(GL_POLYGON_OFFSET_FILL);
! //glPolygonOffset(1.0, 1.0);
! //glColor3f( 1,1,1 );
! //colorstack.Push(1,1,1);
!
glPushMatrix();
glScalef( 1.0/world->Resolution(), 1.0/world->Resolution(), 0 );
! //((StgWorldGui*)world)->DrawFloor();
!
! //glDisable(GL_POLYGON_OFFSET_FILL);
if( (showflags & STG_SHOW_QUADTREE) || (showflags & STG_SHOW_OCCUPANCY) )
***************
*** 444,447 ****
--- 458,464 ----
glPopMatrix();
+ if( showflags & STG_SHOW_GRID )
+ DrawGlobalGrid();
+
for( GList* it=selected_models; it; it=it->next )
((StgModel*)it->data)->DrawSelected();
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