Update of /cvsroot/playerstage/code/player/examples/plugins/exampledriver
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3155/examples/plugins/exampledriver
Modified Files:
example.cfg exampledriver.cc
Log Message:
re-adde global argc and argv vars
Index: exampledriver.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/examples/plugins/exampledriver/exampledriver.cc,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** exampledriver.cc 23 Aug 2007 19:58:41 -0000 1.12
--- exampledriver.cc 22 Feb 2008 20:51:50 -0000 1.13
***************
*** 1,8 ****
/*
* Player - One Hell of a Robot Server
! * Copyright (C) 2003
! * Brian Gerkey
*
- *
* 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
--- 1,8 ----
/*
* Player - One Hell of a Robot Server
! * glutgraphics.cc: GLUT-based graphics3d + 2d driver
! * Copyright (C) 2007
! * Brian Gerkey, 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
***************
*** 39,42 ****
--- 39,152 ----
#include <libplayercore/playercore.h>
+ #include <GLUT/glut.h>
+ #include <stdio.h>
+ #include <math.h>
+
+
+ GLfloat light0_ambient[] =
+ {0.2, 0.2, 0.2, 1.0};
+ GLfloat light0_diffuse[] =
+ {0.0, 0.0, 0.0, 1.0};
+ GLfloat light1_diffuse[] =
+ {1.0, 0.0, 0.0, 1.0};
+ GLfloat light1_position[] =
+ {1.0, 1.0, 1.0, 0.0};
+ GLfloat light2_diffuse[] =
+ {0.0, 1.0, 0.0, 1.0};
+ GLfloat light2_position[] =
+ {-1.0, -1.0, 1.0, 0.0};
+ float s = 0.0;
+ GLfloat angle1 = 0.0, angle2 = 0.0;
+
+ void
+ output(GLfloat x, GLfloat y, char *text)
+ {
+ char *p;
+
+ glPushMatrix();
+ glTranslatef(x, y, 0);
+ for (p = text; *p; p++)
+ glutStrokeCharacter(GLUT_STROKE_ROMAN, *p);
+ glPopMatrix();
+ }
+
+ void
+ display(void)
+ {
+ static GLfloat amb[] =
+ {0.4, 0.4, 0.4, 0.0};
+ static GLfloat dif[] =
+ {1.0, 1.0, 1.0, 0.0};
+
+ glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
+ glEnable(GL_LIGHT1);
+ glDisable(GL_LIGHT2);
+ amb[3] = dif[3] = cos(s) / 2.0 + 0.5;
+ glMaterialfv(GL_FRONT, GL_AMBIENT, amb);
+ glMaterialfv(GL_FRONT, GL_DIFFUSE, dif);
+
+ glPushMatrix();
+ glTranslatef(-0.3, -0.3, 0.0);
+ glRotatef(angle1, 1.0, 5.0, 0.0);
+ glCallList(1); /* render ico display list */
+ glPopMatrix();
+
+ glClear(GL_DEPTH_BUFFER_BIT);
+ glEnable(GL_LIGHT2);
+ glDisable(GL_LIGHT1);
+ amb[3] = dif[3] = 0.5 - cos(s * .95) / 2.0;
+ glMaterialfv(GL_FRONT, GL_AMBIENT, amb);
+ glMaterialfv(GL_FRONT, GL_DIFFUSE, dif);
+
+ glPushMatrix();
+ glTranslatef(0.3, 0.3, 0.0);
+ glRotatef(angle2, 1.0, 0.0, 5.0);
+ glCallList(1); /* render ico display list */
+ glPopMatrix();
+
+ glPushAttrib(GL_ENABLE_BIT);
+ glDisable(GL_DEPTH_TEST);
+ glDisable(GL_LIGHTING);
+ glMatrixMode(GL_PROJECTION);
+ glPushMatrix();
+ glLoadIdentity();
+ gluOrtho2D(0, 1500, 0, 1500);
+ glMatrixMode(GL_MODELVIEW);
+ glPushMatrix();
+ glLoadIdentity();
+ /* Rotate text slightly to help show jaggies. */
+ glRotatef(4, 0.0, 0.0, 1.0);
+ output(200, 225, "This is antialiased.");
+ glDisable(GL_LINE_SMOOTH);
+ glDisable(GL_BLEND);
+ output(160, 100, "This text is not.");
+ glPopMatrix();
+ glMatrixMode(GL_PROJECTION);
+ glPopMatrix();
+ glPopAttrib();
+ glMatrixMode(GL_MODELVIEW);
+
+ glutSwapBuffers();
+ }
+
+ void
+ idle(void)
+ {
+ angle1 = (GLfloat) fmod(angle1 + 0.8, 360.0);
+ angle2 = (GLfloat) fmod(angle2 + 1.1, 360.0);
+ s += 0.05;
+ glutPostRedisplay();
+ }
+
+ void
+ visible(int vis)
+ {
+ if (vis == GLUT_VISIBLE)
+ glutIdleFunc(idle);
+ else
+ glutIdleFunc(NULL);
+ }
+
+
////////////////////////////////////////////////////////////////////////////////
// The class for the driver
***************
*** 107,112 ****
// configure a serial port.
! printf("Was foo option given in config file? %d\n", this->foop);
puts("Example driver ready");
--- 217,258 ----
// configure a serial port.
! //printf("Was foo option given in config file? %d\n", this->foop);
+ glutInit( 0, NULL);
+ glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
+ glutCreateWindow("blender");
+ glutDisplayFunc(display);
+ glutVisibilityFunc(visible);
+
+ glNewList(1, GL_COMPILE); /* create ico display list */
+ glutSolidIcosahedron();
+ glEndList();
+
+ glEnable(GL_LIGHTING);
+ glEnable(GL_LIGHT0);
+ glLightfv(GL_LIGHT0, GL_AMBIENT, light0_ambient);
+ glLightfv(GL_LIGHT0, GL_DIFFUSE, light0_diffuse);
+ glLightfv(GL_LIGHT1, GL_DIFFUSE, light1_diffuse);
+ glLightfv(GL_LIGHT1, GL_POSITION, light1_position);
+ glLightfv(GL_LIGHT2, GL_DIFFUSE, light2_diffuse);
+ glLightfv(GL_LIGHT2, GL_POSITION, light2_position);
+ glEnable(GL_DEPTH_TEST);
+ glEnable(GL_CULL_FACE);
+ glEnable(GL_BLEND);
+ glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+ glEnable(GL_LINE_SMOOTH);
+ glLineWidth(2.0);
+
+ glMatrixMode(GL_PROJECTION);
+ gluPerspective( /* field of view in degree */ 40.0,
+ /* aspect ratio */ 1.0,
+ /* Z near */ 1.0, /* Z far */ 10.0);
+ glMatrixMode(GL_MODELVIEW);
+ gluLookAt(0.0, 0.0, 5.0, /* eye is at (0,0,5) */
+ 0.0, 0.0, 0.0, /* center is at (0,0,0) */
+ 0.0, 1.0, 0.); /* up is in positive Y direction */
+ glTranslatef(0.0, 0.6, -1.0);
+
+
puts("Example driver ready");
***************
*** 143,146 ****
--- 289,296 ----
// If you handle the message successfully, return 0. Otherwise,
// return -1, and a NACK will be sent for you, if a response is required.
+
+ // call this from the driver's private thread - on a timer?
+ // receive messages and do drawing
+
return(0);
}
***************
*** 152,164 ****
void ExampleDriver::Main()
{
// The main loop; interact with the device here
! for(;;)
! {
// test if we are supposed to cancel
! pthread_testcancel();
// Process incoming messages. ExampleDriver::ProcessMessage() is
// called on each message.
! ProcessMessages();
// Interact with the device, and push out the resulting data, using
--- 302,319 ----
void ExampleDriver::Main()
{
+ printf( "entering main loop" );
+ glutMainLoop();
+
+ //return 0; /* ANSI C requires main to return int. */
+
// The main loop; interact with the device here
! //for(;;)
! //{
// test if we are supposed to cancel
! //pthread_testcancel();
// Process incoming messages. ExampleDriver::ProcessMessage() is
// called on each message.
! //ProcessMessages();
// Interact with the device, and push out the resulting data, using
***************
*** 166,171 ****
// Sleep (you might, for example, block on a read() instead)
! usleep(100000);
! }
}
--- 321,325 ----
// Sleep (you might, for example, block on a read() instead)
! //usleep(100000);
}
Index: example.cfg
===================================================================
RCS file:
/cvsroot/playerstage/code/player/examples/plugins/exampledriver/example.cfg,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** example.cfg 10 Apr 2006 13:27:47 -0000 1.10
--- example.cfg 22 Feb 2008 20:51:50 -0000 1.11
***************
*** 5,10 ****
(
name "exampledriver"
! plugin "libexampledriver"
! provides ["position2d:0"]
foo 1
)
--- 5,10 ----
(
name "exampledriver"
! plugin "libexampledriver.dylib"
! provides ["graphics3d:0"]
foo 1
)
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