Update of /cvsroot/playerstage/code/stage/libstage
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23085
Modified Files:
Makefile ctrl.cc main.cc model.cc model_load.cc stage.hh
Log Message:
refined inline controller implementation
Index: model.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/model.cc,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** model.cc 20 Feb 2008 06:03:58 -0000 1.5
--- model.cc 21 Feb 2008 03:35:05 -0000 1.6
***************
*** 217,221 ****
this->initfunc = NULL;
! this->updatefunc = NULL;
// now we can add the basic square shape
--- 217,221 ----
this->initfunc = NULL;
! //this->updatefunc = NULL;
// now we can add the basic square shape
***************
*** 243,247 ****
void StgModel::Init()
{
! if( initfunc && updatefunc )
Subscribe();
--- 243,247 ----
void StgModel::Init()
{
! if( initfunc )
Subscribe();
***************
*** 678,683 ****
//puts( "UPDATE" );
! if( updatefunc )
! updatefunc( this );
CallCallbacks( &update );
--- 678,683 ----
//puts( "UPDATE" );
! // if( updatefunc )
! // updatefunc( this );
CallCallbacks( &update );
***************
*** 1444,1445 ****
--- 1444,1461 ----
return NULL;
}
+
+ StgModel* StgModel::GetModel( const char* modelname )
+ {
+ // construct the full model name and look it up
+ char* buf = new char[TOKEN_MAX];
+ snprintf( buf, TOKEN_MAX, "%s.%s", this->token, modelname );
+
+ StgModel* mod = world->GetModel( buf );
+
+ if( mod == NULL )
+ PRINT_WARN1( "Model %s not found", buf );
+
+ delete[] buf;
+
+ return mod;
+ }
Index: ctrl.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/ctrl.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** ctrl.cc 20 Feb 2008 06:03:58 -0000 1.1
--- ctrl.cc 21 Feb 2008 03:35:05 -0000 1.2
***************
*** 2,29 ****
using namespace Stg;
! extern "C" void Init( StgModel* mod );
! extern "C" void Update( StgModel* mod );
!
! StgModelPosition* pos = NULL;
! StgModelLaser* laser = NULL;
! // Stage calls this once when the model starts up
! void Init( StgModel* mod )
{
puts( "Init controller" );
! pos = (StgModelPosition*)mod;
! laser = (StgModelLaser*)mod->GetUnsubscribedModelOfType( "laser" );
! assert( laser );
! laser->Subscribe();
}
! // Stage calls this once per simulation update
! void Update( StgModel* mod )
{
!
! pos->SetSpeed( 0.1, 0, 0.1 );
}
--- 2,47 ----
using namespace Stg;
! typedef struct
! {
! StgModelPosition* pos;
! StgModelLaser* laser;
! } robot_t;
+ int LaserUpdate( StgModel* mod, robot_t* robot );
+ int PositionUpdate( StgModel* mod, robot_t* robot );
! // Stage calls this when the model starts up
! extern "C" int Init( StgModel* mod )
{
puts( "Init controller" );
! robot_t* robot = new robot_t;
! robot->pos = (StgModelPosition*)mod;
! robot->laser = (StgModelLaser*)mod->GetModel( "laser:0" );
!
! assert( robot->laser );
! robot->laser->Subscribe();
!
! robot->laser->AddUpdateCallback( (stg_model_callback_t)LaserUpdate, robot );
! robot->pos->AddUpdateCallback( (stg_model_callback_t)PositionUpdate, robot
);
!
! return 0; //ok
}
! int LaserUpdate( StgModel* mod, robot_t* robot )
{
! robot->pos->SetSpeed( 0.1, 0, 0.1 );
! return FALSE; // run again
! }
!
! int PositionUpdate( StgModel* mod, robot_t* robot )
! {
! stg_pose_t pose = robot->pos->GetPose();
!
! printf( "Pose: [%.2f %.2f %.2f %.2f]\n",
! pose.x, pose.y, pose.z, pose.a );
!
! return FALSE; // run again
}
Index: main.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/main.cc,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** main.cc 20 Feb 2008 06:03:58 -0000 1.1
--- main.cc 21 Feb 2008 03:35:05 -0000 1.2
***************
*** 4,8 ****
int main( int argc, char* argv[] )
{
! printf( %s %s\n", PACKAGE, VERSION );
if( argc < 2 )
--- 4,8 ----
int main( int argc, char* argv[] )
{
! printf( "%s %s\n", PACKAGE, VERSION );
if( argc < 2 )
Index: model_load.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/model_load.cc,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** model_load.cc 20 Feb 2008 06:03:58 -0000 1.4
--- model_load.cc 21 Feb 2008 03:35:05 -0000 1.5
***************
*** 397,406 ****
assert( this->initfunc );
! this->updatefunc = (ctrlupdate_t*)lt_dlsym( handle, "Update" );
! if( this->updatefunc == NULL )
! {
! puts( lt_dlerror() );
! }
! assert( this->updatefunc );
//this->Subscribe(); // causes the model to startup and update
--- 397,406 ----
assert( this->initfunc );
! // this->updatefunc = (ctrlupdate_t*)lt_dlsym( handle, "Update" );
! // if( this->updatefunc == NULL )
! // {
! // puts( lt_dlerror() );
! // }
! // assert( this->updatefunc );
//this->Subscribe(); // causes the model to startup and update
Index: stage.hh
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/stage.hh,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** stage.hh 20 Feb 2008 06:03:58 -0000 1.7
--- stage.hh 21 Feb 2008 03:35:05 -0000 1.8
***************
*** 1067,1072 ****
} stg_trail_item_t;
! typedef void ctrlinit_t( StgModel* mod );
! typedef void ctrlupdate_t( StgModel* mod );
// MODEL CLASS
--- 1067,1072 ----
} stg_trail_item_t;
! typedef int ctrlinit_t( StgModel* mod );
! //typedef void ctrlupdate_t( StgModel* mod );
// MODEL CLASS
***************
*** 1224,1228 ****
ctrlinit_t* initfunc;
! ctrlupdate_t* updatefunc;
public:
--- 1224,1228 ----
ctrlinit_t* initfunc;
! //ctrlupdate_t* updatefunc;
public:
***************
*** 1278,1281 ****
--- 1278,1282 ----
const char* TypeStr(){ return this->typestr; }
StgModel* Parent(){ return this->parent; }
+ StgModel* GetModel( const char* name );
bool Stall(){ return this->stall; }
int GuiMask(){ return this->gui_mask; };
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