Revision: 6456
http://playerstage.svn.sourceforge.net/playerstage/?rev=6456&view=rev
Author: rtv
Date: 2008-05-23 11:59:01 -0700 (Fri, 23 May 2008)
Log Message:
-----------
added -g flag to disable GUI from cmdline
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/fasr.cc
code/stage/trunk/libstage/main.cc
code/stage/trunk/libstage/stage.cc
code/stage/trunk/worlds/fasr.world
Modified: code/stage/trunk/examples/ctrl/fasr.cc
===================================================================
--- code/stage/trunk/examples/ctrl/fasr.cc 2008-05-23 14:31:55 UTC (rev
6455)
+++ code/stage/trunk/examples/ctrl/fasr.cc 2008-05-23 18:59:01 UTC (rev
6456)
@@ -52,7 +52,6 @@
robot->work_get = 0;
robot->work_put = 0;
- //robot->flag = new StgFlag( stg_color_pack( 1,1,0,0.5 ), 3 );
robot->pos = (StgModelPosition*)mod;
robot->laser = (StgModelLaser*)mod->GetModel( "laser:0" );
Modified: code/stage/trunk/libstage/main.cc
===================================================================
--- code/stage/trunk/libstage/main.cc 2008-05-23 14:31:55 UTC (rev 6455)
+++ code/stage/trunk/libstage/main.cc 2008-05-23 18:59:01 UTC (rev 6456)
@@ -4,31 +4,56 @@
Here is where I describe the Stage standalone program.
*/
+#include <getopt.h>
-//#include "config.h"
#include "stage_internal.hh"
const char* PACKAGE = "Stage";
const char* VERSION = "3.dev";
+/* options descriptor */
+static struct option longopts[] = {
+ { "gui", no_argument, NULL, 'g' },
+ // { "fast", no_argument, NULL, 'f' },
+ { NULL, 0, NULL, 0 }
+};
+
+
int main( int argc, char* argv[] )
{
- printf( "%s %s\n", PACKAGE, VERSION );
-
- if( argc < 2 )
+ printf( "%s %s ", PACKAGE, VERSION );
+
+ int ch=0, optindex=0;
+ bool usegui = true;
+
+ while ((ch = getopt_long(argc, argv, "gf", longopts, &optindex)) != -1)
{
- printf( "Usage: %s <worldfile>", PACKAGE );
- exit(0);
+ switch( ch )
+ {
+ case 0: // long option given
+ printf( "option %s given", longopts[optindex].name );
+ break;
+ case 'g':
+ usegui = false;
+ printf( "[GUI disabled]" );
+ break;
+ case '?':
+ break;
+ default:
+ printf("unhandled option %c\n", ch );
+ }
}
+
+ puts("");// end the first start-up line
// initialize libstage
Stg::Init( &argc, &argv );
- StgWorldGui world(800, 700, argv[0]);
+ StgWorld* world = usegui ? new StgWorldGui(800, 700, argv[0]) : new
StgWorld();
- world.Load( argv[1] );
+ world->Load( argv[argc-1] );
- while( ! world.TestQuit() )
- world.RealTimeUpdate();
+ while( ! world->TestQuit() )
+ world->RealTimeUpdate();
}
Modified: code/stage/trunk/libstage/stage.cc
===================================================================
--- code/stage/trunk/libstage/stage.cc 2008-05-23 14:31:55 UTC (rev 6455)
+++ code/stage/trunk/libstage/stage.cc 2008-05-23 18:59:01 UTC (rev 6456)
@@ -427,7 +427,6 @@
int y, x;
for(y = 0; y < img_height; y++)
{
- puts("");
for(x = 0; x < img_width; x++)
{
// skip blank (white) pixels
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2008-05-23 14:31:55 UTC (rev 6455)
+++ code/stage/trunk/worlds/fasr.world 2008-05-23 18:59:01 UTC (rev 6456)
@@ -5,21 +5,18 @@
# defines Pioneer-like robots
include "pioneer.inc"
-
# defines 'map' object used for floorplans
include "map.inc"
-
# defines sick laser
include "sick.inc"
-
# set the resolution of the underlying raytrace model in meters
resolution 0.02
interval_sim 100 # simulation timestep in milliseconds
-interval_real 0 # real-time interval between simulation updates in
milliseconds
-paused 1
+interval_real 10 # real-time interval between simulation updates in
milliseconds
+paused 0
# configure the GUI window
window
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