Revision: 6765
http://playerstage.svn.sourceforge.net/playerstage/?rev=6765&view=rev
Author: rtv
Date: 2008-07-04 15:58:26 -0700 (Fri, 04 Jul 2008)
Log Message:
-----------
fixed model name prefix and window title bar
Modified Paths:
--------------
code/stage/trunk/libstage/CMakeLists.txt
code/stage/trunk/libstage/ancestor.cc
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model_laser.cc
code/stage/trunk/libstage/model_load.cc
code/stage/trunk/libstage/model_position.cc
code/stage/trunk/libstage/stage.cc
code/stage/trunk/libstage/stest.cc
code/stage/trunk/libstage/test.cc
code/stage/trunk/libstage/world.cc
code/stage/trunk/libstage/worldfile.cc
code/stage/trunk/libstage/worldfile.hh
code/stage/trunk/libstage/worldgui.cc
Modified: code/stage/trunk/libstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstage/CMakeLists.txt 2008-07-04 22:10:13 UTC (rev
6764)
+++ code/stage/trunk/libstage/CMakeLists.txt 2008-07-04 22:58:26 UTC (rev
6765)
@@ -65,6 +65,9 @@
add_executable( test test.cc )
target_link_libraries( test stage )
+add_executable( stest stest.cc )
+target_link_libraries( stest stage )
+
INSTALL(TARGETS stagebinary stage
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib
Modified: code/stage/trunk/libstage/ancestor.cc
===================================================================
--- code/stage/trunk/libstage/ancestor.cc 2008-07-04 22:10:13 UTC (rev
6764)
+++ code/stage/trunk/libstage/ancestor.cc 2008-07-04 22:58:26 UTC (rev
6765)
@@ -28,9 +28,17 @@
// poke a name into the child
char* buf = new char[TOKEN_MAX];
- snprintf( buf, TOKEN_MAX, "%s.%s:%d",
- token, typetable[mod->type].token,
child_type_counts[mod->type] );
-
+
+ if( token ) // if this object has a name, use it
+ snprintf( buf, TOKEN_MAX, "%s.%s:%d",
+ token,
+ typetable[mod->type].token,
+ child_type_counts[mod->type] );
+ else
+ snprintf( buf, TOKEN_MAX, "%s:%d",
+ typetable[mod->type].token,
+ child_type_counts[mod->type] );
+
//printf( "%s generated a name for my child %s\n", token, buf );
mod->SetToken( buf );
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/canvas.cc 2008-07-04 22:58:26 UTC (rev 6765)
@@ -275,50 +275,52 @@
return 1;
case FL_PUSH: // button pressed
- StgModel* mod = getModel( startx, starty );
- startx = Fl::event_x();
- starty = Fl::event_y();
- selectedModel = false;
- switch( Fl::event_button() )
+ {
+ StgModel* mod = getModel( startx, starty );
+ startx = Fl::event_x();
+ starty = Fl::event_y();
+ selectedModel = false;
+ switch( Fl::event_button() )
+ {
+ case 1:
+ if( mod ) {
+ // clicked a model
+ if ( Fl::event_state( FL_SHIFT ) ) {
+ // holding shift, toggle selection
+ if ( selected( mod ) )
+ unSelect( mod );
+ else {
+ select( mod );
+ selectedModel = true; // selected a model
+ }
+ }
+ else {
+ if ( !selected( mod ) ) {
+ // clicked on an unselected model while
+ // not holding shift, this is the new
+ // selection
+ unSelectAll();
+ select( mod );
+ }
+ selectedModel = true; // selected a model
+ }
+ }
+ else {
+ // clicked on empty space, unselect all
+ unSelectAll();
+ }
+ return 1;
+ case 3:
{
- case 1:
- if( mod ) {
- // clicked a model
- if ( Fl::event_state( FL_SHIFT ) ) {
- // holding shift, toggle selection
- if ( selected( mod ) )
- unSelect( mod );
- else {
- select( mod );
- selectedModel = true; //
selected a model
- }
- }
- else {
- if ( !selected( mod ) ) {
- // clicked on an unselected
model while
- // not holding shift, this is
the new
- // selection
- unSelectAll();
- select( mod );
- }
- selectedModel = true; // selected a
model
- }
- }
- else {
- // clicked on empty space, unselect all
- unSelectAll();
- }
- return 1;
- case 3:
- {
- // leave selections alone
- // rotating handled within FL_DRAG
- return 1;
+ // leave selections alone
+ // rotating handled within FL_DRAG
+ return 1;
}
- default:
- return 0;
- }
-
+ default:
+ return 0;
+ }
+ }
+
case FL_DRAG: // mouse moved while button was pressed
{
int dx = Fl::event_x() - startx;
@@ -964,7 +966,6 @@
glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
}
-
if( perspectiveCam == true ) {
if( showFollow && last_selection ) {
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2008-07-04 22:10:13 UTC (rev
6764)
+++ code/stage/trunk/libstage/model_laser.cc 2008-07-04 22:58:26 UTC (rev
6765)
@@ -77,11 +77,11 @@
*/
StgModelLaser::StgModelLaser( StgWorld* world,
-
StgModel* parent )
+ StgModel* parent )
: StgModel( world, parent, MODEL_TYPE_LASER )
{
PRINT_DEBUG2( "Constructing StgModelLaser %d (%s)\n",
- id, typestr );
+ id, typestr );
// sensible laser defaults
interval = DEFAULT_INTERVAL_MS * (int)thousand;
@@ -157,8 +157,8 @@
}
static bool laser_raytrace_match( StgBlock* testblock,
-
StgModel* finder,
-
const void* dummy )
+ StgModel* finder,
+ const void* dummy )
{
// Ignore the model that's looking and things that are invisible to
// lasers
@@ -188,20 +188,20 @@
rayorg.a = bearing;
Raytrace( rayorg,
- range_max,
- laser_raytrace_match,
- NULL,
- &sample,
- true ); // z testing enabled
+ range_max,
+ laser_raytrace_match,
+ NULL,
+ &sample,
+ true ); // z testing enabled
samples[t].range = sample.range;
// if we hit a model and it reflects brightly, we set
// reflectance high, else low
if( sample.block && ( sample.block->Model()->GetLaserReturn() >=
LaserBright ) )
- samples[t].reflectance = 1;
+ samples[t].reflectance = 1;
else
- samples[t].reflectance = 0;
+ samples[t].reflectance = 0;
// todo - lower bound on range
bearing += sample_incr;
@@ -211,22 +211,22 @@
if( resolution > 1 )
{
for( unsigned int t=resolution; t<sample_count; t+=resolution )
- for( unsigned int g=1; g<resolution; g++ )
- {
- if( t >= sample_count )
- break;
+ for( unsigned int g=1; g<resolution; g++ )
+ {
+ if( t >= sample_count )
+ break;
- // copy the rightmost sample data into this
point
- memcpy( &samples[t-g],
- &samples[t-resolution],
- sizeof(stg_laser_sample_t));
+ // copy the rightmost sample data into this point
+ memcpy( &samples[t-g],
+ &samples[t-resolution],
+ sizeof(stg_laser_sample_t));
- double left = samples[t].range;
- double right = samples[t-resolution].range;
+ double left = samples[t].range;
+ double right = samples[t-resolution].range;
- // linear range interpolation between the left
and right samples
- samples[t-g].range =
(left-g*(left-right)/resolution);
- }
+ // linear range interpolation between the left and right samples
+ samples[t-g].range = (left-g*(left-right)/resolution);
+ }
}
data_dirty = true;
@@ -310,7 +310,7 @@
if ( ! (showLaserData || showLaserStrikes) )
return;
- glPushMatrix();
+ glPushMatrix();
// we only regenerate the list if there's new data
if( 1 /* (temp hack) data_dirty*/ )
@@ -318,17 +318,14 @@
data_dirty = false;
glNewList( data_dl, GL_COMPILE );
- //glEnableClientState( GL_VERTEX_ARRAY );
+ //glEnableClientState( GL_VERTEX_ARRAY );
glTranslatef( 0,0, geom.size.z/2.0 ); // shoot the laser beam out at the
right height
-
- PushColor( 0, 0, 1, 0.5 );
-
- glPointSize( 4.0 );
-
- // DEBUG - draw the origin of the laser beams
- glBegin( GL_POINTS );
- glVertex2f( 0,0 );
- glEnd();
+
+ // DEBUG - draw the origin of the laser beams
+ //glPointSize( 4.0 );
+ //glBegin( GL_POINTS );
+ //glVertex2f( 0,0 );
+ //glEnd();
// pack the laser hit points into a vertex array for fast rendering
static float* pts = NULL;
@@ -337,59 +334,48 @@
pts[0] = 0.0;
pts[1] = 0.0;
-
- glVertexPointer( 2, GL_FLOAT, 0, pts );
-
+ PushColor( 0, 0, 1, 0.5 );
+
for( unsigned int s=0; s<sample_count; s++ )
- {
- double ray_angle = (s * (fov / (sample_count-1))) -
fov/2.0;
- pts[2*s+2] = (float)(samples[s].range * cos(ray_angle)
);
- pts[2*s+3] = (float)(samples[s].range * sin(ray_angle)
);
+ {
+ double ray_angle = (s * (fov / (sample_count-1))) - fov/2.0;
+ pts[2*s+2] = (float)(samples[s].range * cos(ray_angle) );
+ pts[2*s+3] = (float)(samples[s].range * sin(ray_angle) );
- // if the sample is unusually bright, draw a little
blob
- if( samples[s].reflectance > 0 )
- {
- glBegin( GL_POINTS );
- glVertex2f( pts[2*s+2], pts[2*s+3] );
- glEnd();
-
- // why doesn't this work?
- //glDrawArrays( GL_POINTS, 2*s+2, 1 );
- }
+ // if the sample is unusually bright, draw a little blob
+ if( samples[s].reflectance > 0 )
+ {
+ glBegin( GL_POINTS );
+ glVertex2f( pts[2*s+2], pts[2*s+3] );
+ glEnd();
+ }
- }
+ }
PopColor();
-
glDepthMask( GL_FALSE );
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
// draw the filled polygon in transparent blue
- PushColor( 0, 0, 1, 0.1 );
-
-
+ PushColor( 0, 0, 1, 0.1 );
+ glVertexPointer( 2, GL_FLOAT, 0, pts );
glDrawArrays( GL_POLYGON, 0, sample_count+1 );
-
- // reset
PopColor();
- if( showLaserStrikes )
- {
- // draw the beam strike points in black
- PushColor( 0, 0, 0, 1.0 );
- glPointSize( 1.0 );
- glDrawArrays( GL_POINTS, 0, sample_count+1 );
- PopColor();
- }
+ if( showLaserStrikes )
+ {
+ // draw the beam strike points in black
+ PushColor( 0, 0, 0, 1.0 );
+ glPointSize( 1.0 );
+ glDrawArrays( GL_POINTS, 0, sample_count+1 );
+ PopColor();
+ }
glDepthMask( GL_TRUE );
-
-
- //glDisableClientState( GL_VERTEX_ARRAY );
glEndList();
} // end if ( data_dirty )
glCallList( data_dl );
- glPopMatrix();
+ glPopMatrix();
}
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2008-07-04 22:10:13 UTC (rev
6764)
+++ code/stage/trunk/libstage/model_load.cc 2008-07-04 22:58:26 UTC (rev
6765)
@@ -1,19 +1,14 @@
#ifndef _GNU_SOURCE
#define _GNU_SOURCE
#endif
+
#include <limits.h>
#include <libgen.h> // for dirname()
#include <string.h>
-#include "stage_internal.hh"
-
-//#define DEBUG 1
-
#include <ltdl.h>
-void FooInit( StgModel* );
-void FooUpdate( StgModel* );
+#include "stage_internal.hh"
-
void StgModel::Load()
{
assert( wf );
@@ -21,349 +16,349 @@
PRINT_DEBUG1( "Model \"%s\" loading...", token );
- if( wf->PropertyExists( wf_entity, "debug" ) )
+ if( wf->PropertyExists( wf_entity, "debug" ) )
+ {
+ PRINT_WARN2( "debug property specified for model %d %s\n",
+ wf_entity, this->token );
+ this->debug = wf->ReadInt( wf_entity, "debug", this->debug );
+ }
+
+ if( wf->PropertyExists( wf_entity, "name" ) )
+ {
+ char *name = (char*)wf->ReadString(wf_entity, "name", NULL );
+ if( name )
{
- PRINT_WARN2( "debug property specified for model %d %s\n",
- wf_entity, this->token );
- this->debug = wf->ReadInt( wf_entity, "debug", this->debug );
+ //printf( "changed %s to %s\n", this->token, token );
+ this->token = strdup( name );
+ world->AddModel( this ); // add this name to the world's table
}
+ else
+ PRINT_ERR1( "Name blank for model %s. Check your worldfile\n",
this->token );
- if( wf->PropertyExists( wf_entity, "name" ) )
- {
- char *name = (char*)wf->ReadString(wf_entity, "name", NULL );
- if( name )
- {
- //printf( "changed %s to %s\n", this->token, token );
- this->token = strdup( name );
- world->AddModel( this ); // add this name to the
world's table
- }
- else
- PRINT_ERR1( "Name blank for model %s. Check your
worldfile\n", this->token );
+ // add this name to the table
- // add this name to the table
+ }
- }
+ //PRINT_WARN1( "%s::Load", token );
- //PRINT_WARN1( "%s::Load", token );
+ if( wf->PropertyExists( wf_entity, "origin" ) )
+ {
+ stg_geom_t geom = GetGeom();
+ geom.pose.x = wf->ReadTupleLength(wf_entity, "origin", 0, geom.pose.x );
+ geom.pose.y = wf->ReadTupleLength(wf_entity, "origin", 1, geom.pose.y );
+ geom.pose.a = wf->ReadTupleAngle(wf_entity, "origin", 2, geom.pose.a );
+ this->SetGeom( geom );
+ }
- if( wf->PropertyExists( wf_entity, "origin" ) )
- {
- stg_geom_t geom = GetGeom();
- geom.pose.x = wf->ReadTupleLength(wf_entity, "origin", 0,
geom.pose.x );
- geom.pose.y = wf->ReadTupleLength(wf_entity, "origin", 1,
geom.pose.y );
- geom.pose.a = wf->ReadTupleAngle(wf_entity, "origin", 2,
geom.pose.a );
- this->SetGeom( geom );
- }
+ if( wf->PropertyExists( wf_entity, "origin4" ) )
+ {
+ stg_geom_t geom = GetGeom();
+ geom.pose.x = wf->ReadTupleLength(wf_entity, "origin4", 0, geom.pose.x );
+ geom.pose.y = wf->ReadTupleLength(wf_entity, "origin4", 1, geom.pose.y );
+ geom.pose.z = wf->ReadTupleLength(wf_entity, "origin4", 2, geom.pose.z );
+ geom.pose.a = wf->ReadTupleAngle(wf_entity, "origin4", 3, geom.pose.a );
+ this->SetGeom( geom );
+ }
- if( wf->PropertyExists( wf_entity, "origin4" ) )
- {
- stg_geom_t geom = GetGeom();
- geom.pose.x = wf->ReadTupleLength(wf_entity, "origin4", 0,
geom.pose.x );
- geom.pose.y = wf->ReadTupleLength(wf_entity, "origin4", 1,
geom.pose.y );
- geom.pose.z = wf->ReadTupleLength(wf_entity, "origin4", 2,
geom.pose.z );
- geom.pose.a = wf->ReadTupleAngle(wf_entity, "origin4", 3,
geom.pose.a );
- this->SetGeom( geom );
- }
+ if( wf->PropertyExists( wf_entity, "size" ) )
+ {
+ stg_geom_t geom = GetGeom();
+ geom.size.x = wf->ReadTupleLength(wf_entity, "size", 0, geom.size.x );
+ geom.size.y = wf->ReadTupleLength(wf_entity, "size", 1, geom.size.y );
+ this->SetGeom( geom );
+ }
- if( wf->PropertyExists( wf_entity, "size" ) )
- {
- stg_geom_t geom = GetGeom();
- geom.size.x = wf->ReadTupleLength(wf_entity, "size", 0,
geom.size.x );
- geom.size.y = wf->ReadTupleLength(wf_entity, "size", 1,
geom.size.y );
- this->SetGeom( geom );
- }
+ if( wf->PropertyExists( wf_entity, "size3" ) )
+ {
+ stg_geom_t geom = GetGeom();
+ geom.size.x = wf->ReadTupleLength(wf_entity, "size3", 0, geom.size.x );
+ geom.size.y = wf->ReadTupleLength(wf_entity, "size3", 1, geom.size.y );
+ geom.size.z = wf->ReadTupleLength(wf_entity, "size3", 2, geom.size.z );
+ this->SetGeom( geom );
+ }
- if( wf->PropertyExists( wf_entity, "size3" ) )
- {
- stg_geom_t geom = GetGeom();
- geom.size.x = wf->ReadTupleLength(wf_entity, "size3", 0,
geom.size.x );
- geom.size.y = wf->ReadTupleLength(wf_entity, "size3", 1,
geom.size.y );
- geom.size.z = wf->ReadTupleLength(wf_entity, "size3", 2,
geom.size.z );
- this->SetGeom( geom );
- }
+ if( wf->PropertyExists( wf_entity, "pose" ))
+ {
+ stg_pose_t pose = GetPose();
+ pose.x = wf->ReadTupleLength(wf_entity, "pose", 0, pose.x );
+ pose.y = wf->ReadTupleLength(wf_entity, "pose", 1, pose.y );
+ pose.a = wf->ReadTupleAngle(wf_entity, "pose", 2, pose.a );
+ this->SetPose( pose );
+ }
- if( wf->PropertyExists( wf_entity, "pose" ))
- {
- stg_pose_t pose = GetPose();
- pose.x = wf->ReadTupleLength(wf_entity, "pose", 0, pose.x );
- pose.y = wf->ReadTupleLength(wf_entity, "pose", 1, pose.y );
- pose.a = wf->ReadTupleAngle(wf_entity, "pose", 2, pose.a );
- this->SetPose( pose );
- }
+ if( wf->PropertyExists( wf_entity, "pose4" ))
+ {
+ stg_pose_t pose = GetPose();
+ pose.x = wf->ReadTupleLength(wf_entity, "pose4", 0, pose.x );
+ pose.y = wf->ReadTupleLength(wf_entity, "pose4", 1, pose.y );
+ pose.z = wf->ReadTupleLength(wf_entity, "pose4", 2, pose.z );
+ pose.a = wf->ReadTupleAngle( wf_entity, "pose4", 3, pose.a );
- if( wf->PropertyExists( wf_entity, "pose4" ))
- {
- stg_pose_t pose = GetPose();
- pose.x = wf->ReadTupleLength(wf_entity, "pose4", 0, pose.x );
- pose.y = wf->ReadTupleLength(wf_entity, "pose4", 1, pose.y );
- pose.z = wf->ReadTupleLength(wf_entity, "pose4", 2, pose.z );
- pose.a = wf->ReadTupleAngle( wf_entity, "pose4", 3, pose.a );
+ this->SetPose( pose );
+ }
- this->SetPose( pose );
- }
+ if( wf->PropertyExists( wf_entity, "velocity" ))
+ {
+ stg_velocity_t vel = GetVelocity();
+ vel.x = wf->ReadTupleLength(wf_entity, "velocity", 0, vel.x );
+ vel.y = wf->ReadTupleLength(wf_entity, "velocity", 1, vel.y );
+ vel.a = wf->ReadTupleAngle(wf_entity, "velocity", 3, vel.a );
+ this->SetVelocity( vel );
- if( wf->PropertyExists( wf_entity, "velocity" ))
- {
- stg_velocity_t vel = GetVelocity();
- vel.x = wf->ReadTupleLength(wf_entity, "velocity", 0, vel.x );
- vel.y = wf->ReadTupleLength(wf_entity, "velocity", 1, vel.y );
- vel.a = wf->ReadTupleAngle(wf_entity, "velocity", 3, vel.a );
- this->SetVelocity( vel );
+ if( vel.x || vel.y || vel.z || vel.a )
+ world->StartUpdatingModel( this );
+ }
- if( vel.x || vel.y || vel.z || vel.a )
- world->StartUpdatingModel( this );
- }
+ if( wf->PropertyExists( wf_entity, "velocity4" ))
+ {
+ stg_velocity_t vel = GetVelocity();
+ vel.x = wf->ReadTupleLength(wf_entity, "velocity4", 0, vel.x );
+ vel.y = wf->ReadTupleLength(wf_entity, "velocity4", 1, vel.y );
+ vel.z = wf->ReadTupleLength(wf_entity, "velocity4", 2, vel.z );
+ vel.a = wf->ReadTupleAngle(wf_entity, "velocity4", 3, vel.a );
+ this->SetVelocity( vel );
+ }
- if( wf->PropertyExists( wf_entity, "velocity4" ))
- {
- stg_velocity_t vel = GetVelocity();
- vel.x = wf->ReadTupleLength(wf_entity, "velocity4", 0, vel.x );
- vel.y = wf->ReadTupleLength(wf_entity, "velocity4", 1, vel.y );
- vel.z = wf->ReadTupleLength(wf_entity, "velocity4", 2, vel.z );
- vel.a = wf->ReadTupleAngle(wf_entity, "velocity4", 3, vel.a );
- this->SetVelocity( vel );
- }
+ if( wf->PropertyExists( wf_entity, "boundary" ))
+ {
+ this->SetBoundary( wf->ReadInt(wf_entity, "boundary", this->boundary ));
+ }
- if( wf->PropertyExists( wf_entity, "boundary" ))
+ if( wf->PropertyExists( wf_entity, "color" ))
+ {
+ stg_color_t col = 0xFFFF0000; // red;
+ const char* colorstr = wf->ReadString( wf_entity, "color", NULL );
+ if( colorstr )
{
- this->SetBoundary( wf->ReadInt(wf_entity, "boundary",
this->boundary ));
- }
+ if( strcmp( colorstr, "random" ) == 0 )
+ {
+ col = (uint32_t)random();
+ col |= 0xFF000000; // set the alpha channel to max
+ }
+ else
+ col = stg_lookup_color( colorstr );
- if( wf->PropertyExists( wf_entity, "color" ))
- {
- stg_color_t col = 0xFFFF0000; // red;
- const char* colorstr = wf->ReadString( wf_entity, "color", NULL
);
- if( colorstr )
- {
- if( strcmp( colorstr, "random" ) == 0 )
- {
- col = (uint32_t)random();
- col |= 0xFF000000; // set the alpha channel to
max
- }
- else
- col = stg_lookup_color( colorstr );
+ this->SetColor( col );
+ }
+ }
- this->SetColor( col );
- }
- }
+ if( wf->PropertyExists( wf_entity, "color_rgba" ))
+ {
+ double red = wf->ReadTupleFloat( wf_entity, "color_rgba", 0, 0);
+ double green = wf->ReadTupleFloat( wf_entity, "color_rgba", 1, 0);
+ double blue = wf->ReadTupleFloat( wf_entity, "color_rgba", 2, 0);
+ double alpha = wf->ReadTupleFloat( wf_entity, "color_rgba", 3, 0);
- if( wf->PropertyExists( wf_entity, "color_rgba" ))
- {
- double red = wf->ReadTupleFloat( wf_entity, "color_rgba", 0,
0);
- double green = wf->ReadTupleFloat( wf_entity, "color_rgba", 1,
0);
- double blue = wf->ReadTupleFloat( wf_entity, "color_rgba", 2,
0);
- double alpha = wf->ReadTupleFloat( wf_entity, "color_rgba", 3,
0);
+ this->SetColor( stg_color_pack( red, green, blue, alpha ));
+ }
- this->SetColor( stg_color_pack( red, green, blue, alpha ));
- }
+ if( wf->PropertyExists( wf_entity, "bitmap" ) )
+ {
+ const char* bitmapfile = wf->ReadString( wf_entity, "bitmap", NULL );
+ assert( bitmapfile );
- if( wf->PropertyExists( wf_entity, "bitmap" ) )
+ char full[_POSIX_PATH_MAX];
+
+ if( bitmapfile[0] == '/' )
+ strcpy( full, bitmapfile );
+ else
{
- const char* bitmapfile = wf->ReadString( wf_entity, "bitmap",
NULL );
- assert( bitmapfile );
+ char *tmp = strdup(wf->filename);
+ snprintf( full, _POSIX_PATH_MAX,
+ "%s/%s", dirname(tmp), bitmapfile );
+ free(tmp);
+ }
- char full[_POSIX_PATH_MAX];
+ PRINT_DEBUG1( "attempting to load image %s", full );
- if( bitmapfile[0] == '/' )
- strcpy( full, bitmapfile );
- else
- {
- char *tmp = strdup(wf->filename);
- snprintf( full, _POSIX_PATH_MAX,
- "%s/%s", dirname(tmp), bitmapfile );
- free(tmp);
- }
-
- PRINT_DEBUG1( "attempting to load image %s", full );
-
- stg_rotrect_t* rects = NULL;
- unsigned int rect_count = 0;
- unsigned int width, height;
- if( stg_rotrects_from_image_file( full,
+ stg_rotrect_t* rects = NULL;
+ unsigned int rect_count = 0;
+ unsigned int width, height;
+ if( stg_rotrects_from_image_file( full,
&rects,
&rect_count,
&width, &height ) )
- {
- PRINT_ERR1( "failed to load rects from image file
\"%s\"",
- full );
- return;
- }
+ {
+ PRINT_ERR1( "failed to load rects from image file \"%s\"",
+ full );
+ return;
+ }
- this->UnMap();
- this->ClearBlocks();
+ this->UnMap();
+ this->ClearBlocks();
- //printf( "found %d rects\n", rect_count );
+ //printf( "found %d rects\n", rect_count );
- if( rects && (rect_count > 0) )
- {
- //puts( "loading rects" );
- for( unsigned int r=0; r<rect_count; r++ )
- this->AddBlockRect( rects[r].pose.x,
rects[r].pose.y,
- rects[r].size.x,
rects[r].size.y );
+ if( rects && (rect_count > 0) )
+ {
+ //puts( "loading rects" );
+ for( unsigned int r=0; r<rect_count; r++ )
+ this->AddBlockRect( rects[r].pose.x, rects[r].pose.y,
+ rects[r].size.x, rects[r].size.y );
- if( this->boundary )
- {
- // add thin bounding blocks
- double epsilon = 0.01;
- this->AddBlockRect(0,0, epsilon, height );
- this->AddBlockRect(0,0, width, epsilon );
- this->AddBlockRect(0, height-epsilon, width,
epsilon );
- this->AddBlockRect(width-epsilon,0, epsilon,
height );
- }
+ if( this->boundary )
+ {
+ // add thin bounding blocks
+ double epsilon = 0.01;
+ this->AddBlockRect(0,0, epsilon, height );
+ this->AddBlockRect(0,0, width, epsilon );
+ this->AddBlockRect(0, height-epsilon, width, epsilon );
+ this->AddBlockRect(width-epsilon,0, epsilon, height );
+ }
- StgBlock::ScaleList( this->blocks, &this->geom.size );
- this->Map();
- this->NeedRedraw();
+ StgBlock::ScaleList( this->blocks, &this->geom.size );
+ this->Map();
+ this->NeedRedraw();
- g_free( rects );
- }
+ g_free( rects );
+ }
- //printf( "model %s block count %d\n",
- // token, g_list_length( blocks ));
- }
+ //printf( "model %s block count %d\n",
+ // token, g_list_length( blocks ));
+ }
- if( wf->PropertyExists( wf_entity, "blocks" ) )
- {
- int blockcount = wf->ReadInt( wf_entity, "blocks", -1 );
+ if( wf->PropertyExists( wf_entity, "blocks" ) )
+ {
+ int blockcount = wf->ReadInt( wf_entity, "blocks", -1 );
- this->UnMap();
- this->ClearBlocks();
+ this->UnMap();
+ this->ClearBlocks();
- //printf( "expecting %d blocks\n", blockcount );
+ //printf( "expecting %d blocks\n", blockcount );
- char key[256];
- for( int l=0; l<blockcount; l++ )
- {
- snprintf(key, sizeof(key), "block[%d].points", l);
- int pointcount = wf->ReadInt(wf_entity,key,0);
+ char key[256];
+ for( int l=0; l<blockcount; l++ )
+ {
+ snprintf(key, sizeof(key), "block[%d].points", l);
+ int pointcount = wf->ReadInt(wf_entity,key,0);
- //printf( "expecting %d points in block %d\n",
- //pointcount, l );
+ //printf( "expecting %d points in block %d\n",
+ //pointcount, l );
- stg_point_t* pts = stg_points_create( pointcount );
+ stg_point_t* pts = stg_points_create( pointcount );
- int p;
- for( p=0; p<pointcount; p++ ) {
- snprintf(key, sizeof(key),
"block[%d].point[%d]", l, p );
+ int p;
+ for( p=0; p<pointcount; p++ ) {
+ snprintf(key, sizeof(key), "block[%d].point[%d]", l, p );
- pts[p].x = wf->ReadTupleLength(wf_entity, key,
0, 0);
- pts[p].y = wf->ReadTupleLength(wf_entity, key,
1, 0);
+ pts[p].x = wf->ReadTupleLength(wf_entity, key, 0, 0);
+ pts[p].y = wf->ReadTupleLength(wf_entity, key, 1, 0);
- //printf( "key %s x: %.2f y: %.2f\n",
- // key, pt.x, pt.y );
- }
+ //printf( "key %s x: %.2f y: %.2f\n",
+ // key, pt.x, pt.y );
+ }
- // block Z axis
- snprintf(key, sizeof(key), "block[%d].z", l);
+ // block Z axis
+ snprintf(key, sizeof(key), "block[%d].z", l);
- stg_meters_t zmin =
- wf->ReadTupleLength(wf_entity, key, 0, 0.0 );
+ stg_meters_t zmin =
+ wf->ReadTupleLength(wf_entity, key, 0, 0.0 );
- stg_meters_t zmax =
- wf->ReadTupleLength(wf_entity, key, 1, 1.0 );
+ stg_meters_t zmax =
+ wf->ReadTupleLength(wf_entity, key, 1, 1.0 );
- // block color
- stg_color_t blockcol = this->color;
- bool inherit_color = true;
+ // block color
+ stg_color_t blockcol = this->color;
+ bool inherit_color = true;
- snprintf(key, sizeof(key), "block[%d].color", l);
+ snprintf(key, sizeof(key), "block[%d].color", l);
- const char* colorstr = wf->ReadString( wf_entity, key,
NULL );
- if( colorstr )
- {
- blockcol = stg_lookup_color( colorstr );
- inherit_color = false;
- }
+ const char* colorstr = wf->ReadString( wf_entity, key, NULL );
+ if( colorstr )
+ {
+ blockcol = stg_lookup_color( colorstr );
+ inherit_color = false;
+ }
- this->AddBlock( pts, pointcount, zmin, zmax, blockcol,
inherit_color );
+ this->AddBlock( pts, pointcount, zmin, zmax, blockcol, inherit_color
);
- stg_points_destroy( pts );
- }
+ stg_points_destroy( pts );
+ }
- StgBlock::ScaleList( this->blocks, &this->geom.size );
+ StgBlock::ScaleList( this->blocks, &this->geom.size );
- if( this->boundary )
- {
- // add thin bounding blocks
- double epsilon = 0.001;
- double width = geom.size.x;
- double height = geom.size.y;
- this->AddBlockRect(-width/2.0, -height/2.0, epsilon,
height );
- this->AddBlockRect(-width/2.0, -height/2.0, width,
epsilon );
- this->AddBlockRect(-width/2.0, height/2.0-epsilon,
width, epsilon );
- this->AddBlockRect(width/2.0-epsilon, -height/2.0,
epsilon, height );
- }
+ if( this->boundary )
+ {
+ // add thin bounding blocks
+ double epsilon = 0.001;
+ double width = geom.size.x;
+ double height = geom.size.y;
+ this->AddBlockRect(-width/2.0, -height/2.0, epsilon, height );
+ this->AddBlockRect(-width/2.0, -height/2.0, width, epsilon );
+ this->AddBlockRect(-width/2.0, height/2.0-epsilon, width, epsilon );
+ this->AddBlockRect(width/2.0-epsilon, -height/2.0, epsilon, height );
+ }
- this->Map();
- }
+ this->Map();
+ }
- if( wf->PropertyExists( wf_entity, "mass" ))
- this->SetMass( wf->ReadFloat(wf_entity, "mass", this->mass ));
+ if( wf->PropertyExists( wf_entity, "mass" ))
+ this->SetMass( wf->ReadFloat(wf_entity, "mass", this->mass ));
- if( wf->PropertyExists( wf_entity, "fiducial_return" ))
- this->SetFiducialReturn( wf->ReadInt( wf_entity,
"fiducial_return", this->fiducial_return ));
+ if( wf->PropertyExists( wf_entity, "fiducial_return" ))
+ this->SetFiducialReturn( wf->ReadInt( wf_entity, "fiducial_return",
this->fiducial_return ));
- if( wf->PropertyExists( wf_entity, "fiducial_key" ))
- this->SetFiducialKey( wf->ReadInt( wf_entity, "fiducial_key",
this->fiducial_key ));
+ if( wf->PropertyExists( wf_entity, "fiducial_key" ))
+ this->SetFiducialKey( wf->ReadInt( wf_entity, "fiducial_key",
this->fiducial_key ));
- if( wf->PropertyExists( wf_entity, "obstacle_return" ))
- this->SetObstacleReturn( wf->ReadInt( wf_entity,
"obstacle_return", this->obstacle_return ));
+ if( wf->PropertyExists( wf_entity, "obstacle_return" ))
+ this->SetObstacleReturn( wf->ReadInt( wf_entity, "obstacle_return",
this->obstacle_return ));
- if( wf->PropertyExists( wf_entity, "ranger_return" ))
- this->SetRangerReturn( wf->ReadInt( wf_entity, "ranger_return",
this->ranger_return ));
+ if( wf->PropertyExists( wf_entity, "ranger_return" ))
+ this->SetRangerReturn( wf->ReadInt( wf_entity, "ranger_return",
this->ranger_return ));
- if( wf->PropertyExists( wf_entity, "blob_return" ))
- this->SetBlobReturn( wf->ReadInt( wf_entity, "blob_return",
this->blob_return ));
+ if( wf->PropertyExists( wf_entity, "blob_return" ))
+ this->SetBlobReturn( wf->ReadInt( wf_entity, "blob_return",
this->blob_return ));
- if( wf->PropertyExists( wf_entity, "laser_return" ))
- this->SetLaserReturn(
(stg_laser_return_t)wf->ReadInt(wf_entity, "laser_return", this->laser_return
));
+ if( wf->PropertyExists( wf_entity, "laser_return" ))
+ this->SetLaserReturn( (stg_laser_return_t)wf->ReadInt(wf_entity,
"laser_return", this->laser_return ));
- if( wf->PropertyExists( wf_entity, "gripper_return" ))
- this->SetGripperReturn( wf->ReadInt( wf_entity,
"gripper_return", this->gripper_return ));
+ if( wf->PropertyExists( wf_entity, "gripper_return" ))
+ this->SetGripperReturn( wf->ReadInt( wf_entity, "gripper_return",
this->gripper_return ));
- if( wf->PropertyExists( wf_entity, "gui_nose" ))
- this->SetGuiNose( wf->ReadInt(wf_entity, "gui_nose",
this->gui_nose ));
+ if( wf->PropertyExists( wf_entity, "gui_nose" ))
+ this->SetGuiNose( wf->ReadInt(wf_entity, "gui_nose", this->gui_nose ));
- if( wf->PropertyExists( wf_entity, "gui_grid" ))
- this->SetGuiGrid( wf->ReadInt(wf_entity, "gui_grid",
this->gui_grid ));
+ if( wf->PropertyExists( wf_entity, "gui_grid" ))
+ this->SetGuiGrid( wf->ReadInt(wf_entity, "gui_grid", this->gui_grid ));
- if( wf->PropertyExists( wf_entity, "gui_outline" ))
- this->SetGuiOutline( wf->ReadInt(wf_entity, "gui_outline",
this->gui_outline ));
+ if( wf->PropertyExists( wf_entity, "gui_outline" ))
+ this->SetGuiOutline( wf->ReadInt(wf_entity, "gui_outline",
this->gui_outline ));
- if( wf->PropertyExists( wf_entity, "gui_movemask" ))
- this->SetGuiMask( wf->ReadInt(wf_entity, "gui_movemask",
this->gui_mask ));
+ if( wf->PropertyExists( wf_entity, "gui_movemask" ))
+ this->SetGuiMask( wf->ReadInt(wf_entity, "gui_movemask", this->gui_mask ));
- if( wf->PropertyExists( wf_entity, "map_resolution" ))
- this->SetMapResolution( wf->ReadFloat(wf_entity,
"map_resolution", this->map_resolution ));
+ if( wf->PropertyExists( wf_entity, "map_resolution" ))
+ this->SetMapResolution( wf->ReadFloat(wf_entity, "map_resolution",
this->map_resolution ));
- if( wf->PropertyExists( wf_entity, "ctrl" ))
- {
- char* lib = (char*)wf->ReadString(wf_entity, "ctrl", NULL );
+ if( wf->PropertyExists( wf_entity, "ctrl" ))
+ {
+ char* lib = (char*)wf->ReadString(wf_entity, "ctrl", NULL );
- if( !lib )
- puts( "Error - NULL library name" );
- else
- LoadControllerModule( lib );
- }
+ if( !lib )
+ puts( "Error - NULL library name" );
+ else
+ LoadControllerModule( lib );
+ }
- if( wf->PropertyExists( wf_entity, "say" ))
- this->Say( wf->ReadString(wf_entity, "say", NULL ));
+ if( wf->PropertyExists( wf_entity, "say" ))
+ this->Say( wf->ReadString(wf_entity, "say", NULL ));
- // call any type-specific load callbacks
- this->CallCallbacks( &this->load_hook );
+ // call any type-specific load callbacks
+ this->CallCallbacks( &this->load_hook );
- // MUST BE THE LAST THING LOADED
- if( wf->PropertyExists( wf_entity, "alwayson" ))
- {
- if( wf->ReadInt( wf_entity, "alwayson", 0) > 0 )
- Startup();
- }
+ // MUST BE THE LAST THING LOADED
+ if( wf->PropertyExists( wf_entity, "alwayson" ))
+ {
+ if( wf->ReadInt( wf_entity, "alwayson", 0) > 0 )
+ Startup();
+ }
- if( this->debug )
- printf( "Model \"%s\" is in debug mode\n", token );
+ if( this->debug )
+ printf( "Model \"%s\" is in debug mode\n", token );
- PRINT_DEBUG1( "Model \"%s\" loading complete", token );
+ PRINT_DEBUG1( "Model \"%s\" loading complete", token );
}
@@ -372,70 +367,70 @@
assert( wf );
assert( wf_entity );
- PRINT_DEBUG1( "Model \"%s\" saving...", token );
+ PRINT_DEBUG1( "Model \"%s\" saving...", token );
- PRINT_DEBUG4( "saving model %s pose %.2f %.2f %.2f",
- this->token,
- this->pose.x,
- this->pose.y,
- this->pose.a );
+ PRINT_DEBUG4( "saving model %s pose %.2f %.2f %.2f",
+ this->token,
+ this->pose.x,
+ this->pose.y,
+ this->pose.a );
- // right now we only save poses
- wf->WriteTupleLength( wf_entity, "pose", 0, this->pose.x);
- wf->WriteTupleLength( wf_entity, "pose", 1, this->pose.y);
- wf->WriteTupleAngle( wf_entity, "pose", 2, this->pose.a);
+ // right now we only save poses
+ wf->WriteTupleLength( wf_entity, "pose", 0, this->pose.x);
+ wf->WriteTupleLength( wf_entity, "pose", 1, this->pose.y);
+ wf->WriteTupleAngle( wf_entity, "pose", 2, this->pose.a);
- wf->WriteTupleLength( wf_entity, "pose3", 0, this->pose.x);
- wf->WriteTupleLength( wf_entity, "pose3", 1, this->pose.y);
- wf->WriteTupleLength( wf_entity, "pose3", 2, this->pose.z);
- wf->WriteTupleAngle( wf_entity, "pose3", 3, this->pose.a);
+ wf->WriteTupleLength( wf_entity, "pose3", 0, this->pose.x);
+ wf->WriteTupleLength( wf_entity, "pose3", 1, this->pose.y);
+ wf->WriteTupleLength( wf_entity, "pose3", 2, this->pose.z);
+ wf->WriteTupleAngle( wf_entity, "pose3", 3, this->pose.a);
- // call any type-specific save callbacks
- this->CallCallbacks( &this->save_hook );
+ // call any type-specific save callbacks
+ this->CallCallbacks( &this->save_hook );
- PRINT_DEBUG1( "Model \"%s\" saving complete.", token );
+ PRINT_DEBUG1( "Model \"%s\" saving complete.", token );
}
void StgModel::LoadControllerModule( char* lib )
{
- printf( "[Ctrl \"%s\"", lib );
- fflush(stdout);
+ printf( "[Ctrl \"%s\"", lib );
+ fflush(stdout);
- /* Initialise libltdl. */
- int errors = lt_dlinit();
- assert(errors==0);
+ /* Initialise libltdl. */
+ int errors = lt_dlinit();
+ assert(errors==0);
- char* stagepath = getenv("STAGEPATH");
- if( stagepath == NULL )
- stagepath = ".";
+ char* stagepath = getenv("STAGEPATH");
+ if( stagepath == NULL )
+ stagepath = (char*)".";
- lt_dlsetsearchpath( stagepath );
+ lt_dlsetsearchpath( stagepath );
- lt_dlhandle handle = NULL;
+ lt_dlhandle handle = NULL;
- if(( handle = lt_dlopenext( lib ) ))
- {
- printf( "]" );
+ if(( handle = lt_dlopenext( lib ) ))
+ {
+ printf( "]" );
- this->initfunc = (ctrlinit_t*)lt_dlsym( handle, "Init" );
- if( this->initfunc == NULL )
- {
- printf( "Libtool error: %s. Something is wrong with
your plugin. Quitting\n",
- lt_dlerror() ); // report the error
from libtool
- exit(-1);
- }
- }
- else
+ this->initfunc = (ctrlinit_t*)lt_dlsym( handle, "Init" );
+ if( this->initfunc == NULL )
{
- printf( "Libtool error: %s. Can't open your plugin controller.
Quitting\n",
- lt_dlerror() ); // report the error from libtool
-
- PRINT_ERR1( "Failed to open \"%s\". Check that it can be found
by searching the directories in your STAGEPATH environment variable, or the
current directory if STAGEPATH is not set.]\n", lib );
- exit(-1);
+ printf( "Libtool error: %s. Something is wrong with your plugin.
Quitting\n",
+ lt_dlerror() ); // report the error from libtool
+ exit(-1);
}
+ }
+ else
+ {
+ printf( "Libtool error: %s. Can't open your plugin controller.
Quitting\n",
+ lt_dlerror() ); // report the error from libtool
- fflush(stdout);
+ PRINT_ERR1( "Failed to open \"%s\". Check that it can be found by
searching the directories in your STAGEPATH environment variable, or the
current directory if STAGEPATH is not set.]\n", lib );
+ exit(-1);
+ }
+
+ fflush(stdout);
}
Modified: code/stage/trunk/libstage/model_position.cc
===================================================================
--- code/stage/trunk/libstage/model_position.cc 2008-07-04 22:10:13 UTC (rev
6764)
+++ code/stage/trunk/libstage/model_position.cc 2008-07-04 22:58:26 UTC (rev
6765)
@@ -170,12 +170,11 @@
// specified
est_origin = this->GetGlobalPose();
- keyword = "localization_origin";
if( wf->PropertyExists( wf_entity, keyword ) )
{
- est_origin.x = wf->ReadTupleLength( wf_entity, keyword, 0,
est_origin.x );
- est_origin.y = wf->ReadTupleLength( wf_entity, keyword, 1,
est_origin.y );
- est_origin.a = wf->ReadTupleAngle( wf_entity,keyword, 2,
est_origin.a );
+ est_origin.x = wf->ReadTupleLength( wf_entity,
"localization_origin", 0, est_origin.x );
+ est_origin.y = wf->ReadTupleLength( wf_entity,
"localization_origin", 1, est_origin.y );
+ est_origin.a = wf->ReadTupleAngle( wf_entity,
"localization_origin", 2, est_origin.a );
// compute our localization pose based on the origin and true
pose
stg_pose_t gpose = this->GetGlobalPose();
@@ -195,15 +194,14 @@
}
// odometry model parameters
- keyword = "odom_error";
if( wf->PropertyExists( wf_entity, keyword ) )
{
integration_error.x =
- wf->ReadTupleLength( wf_entity, keyword, 0,
integration_error.x );
+ wf->ReadTupleLength( wf_entity, "odom_error", 0,
integration_error.x );
integration_error.y =
- wf->ReadTupleLength( wf_entity, keyword, 1,
integration_error.y );
+ wf->ReadTupleLength( wf_entity, "odom_error", 1,
integration_error.y );
integration_error.a
- = wf->ReadTupleAngle( wf_entity, keyword, 2,
integration_error.a );
+ = wf->ReadTupleAngle( wf_entity, "odom_error", 2,
integration_error.a );
}
// choose a localization model
Modified: code/stage/trunk/libstage/stage.cc
===================================================================
--- code/stage/trunk/libstage/stage.cc 2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/stage.cc 2008-07-04 22:58:26 UTC (rev 6765)
@@ -193,7 +193,7 @@
if( file == NULL )
{
- char* searchfiles[] = {
+ const char* searchfiles[] = {
"./rgb.txt",
#ifdef RGBFILE
RGBFILE,
@@ -205,7 +205,7 @@
searchfiles[i];
i++ )
{
- char* filename = searchfiles[i];
+ const char* filename = searchfiles[i];
PRINT_DEBUG1( "Attempting to open \"%s\"", filename );
if( (file = fopen( filename, "r")) )
break; // opened a file ok - jump out of for
loop
Modified: code/stage/trunk/libstage/stest.cc
===================================================================
--- code/stage/trunk/libstage/stest.cc 2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/stest.cc 2008-07-04 22:58:26 UTC (rev 6765)
@@ -25,8 +25,8 @@
StgModelLaser* laser;
StgModelPosition* position;
StgModelRanger* ranger;
- StgModelFiducial* fiducial;
- StgModelBlobfinder* blobfinder;
+ //StgModelFiducial* fiducial;
+ //StgModelBlobfinder* blobfinder;
} robot_t;
#define VSPEED 0.4 // meters per second
@@ -58,16 +58,16 @@
for( int i=0; i<POPSIZE; i++ )
{
- char* base = "r";
+ const char* base = "r";
sprintf( namebuf, "%s%d", base, i );
robots[i].position = (StgModelPosition*)world.GetModel( namebuf
);
assert(robots[i].position);
robots[i].position->Subscribe();
- robots[i].laser = (StgModelLaser*)
- robots[i].position->GetUnsubscribedModelOfType( "laser"
);
- assert(robots[i].laser);
- robots[i].laser->Subscribe();
+ // robots[i].laser = (StgModelLaser*)
+// robots[i].position->GetUnsubscribedModelOfType(
MODEL_TYPE_LASER );
+// assert(robots[i].laser);
+ //robots[i].laser->Subscribe();
// robots[i].fiducial = (StgModelFiducial*)
// robots[i].position->GetUnsubscribedModelOfType(
"fiducial" );
@@ -75,7 +75,7 @@
// robots[i].fiducial->Subscribe();
robots[i].ranger = (StgModelRanger*)
- robots[i].position->GetUnsubscribedModelOfType(
"ranger" );
+ robots[i].position->GetUnsubscribedModelOfType(
MODEL_TYPE_RANGER );
assert(robots[i].ranger);
robots[i].ranger->Subscribe();
@@ -86,11 +86,10 @@
}
// start the clock
- //world.Start();
- //puts( "done" );
+ //world.Start();readltime //puts( "done" );
- while( ! world.TestQuit() )
- if( world.RealTimeUpdate() )
+ while( 1 )
+ if( world.Update() )
// if( world.Update() )
for( int i=0; i<POPSIZE; i++ )
{
Modified: code/stage/trunk/libstage/test.cc
===================================================================
--- code/stage/trunk/libstage/test.cc 2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/test.cc 2008-07-04 22:58:26 UTC (rev 6765)
@@ -14,13 +14,13 @@
wg->Update();
}
-void test( char* str, double a, double b )
+void test( const char* str, double a, double b )
{
if( fabs(a-b) > epsilon )
printf( "FAIL %s expected %.3f saw %.3f\n", str, a, b );
}
-void test( char* str, stg_pose_t a, stg_pose_t b )
+void test( const char* str, stg_pose_t a, stg_pose_t b )
{
if( fabs(a.x-b.x) > epsilon )
printf( "POSE FAIL %s expected pose.x %.3f saw pose.x %.3f\n", str,
a.x, b.x );
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2008-07-04 22:10:13 UTC (rev 6764)
+++ code/stage/trunk/libstage/world.cc 2008-07-04 22:58:26 UTC (rev 6765)
@@ -449,145 +449,152 @@
stg_raytrace_sample_t* sample,
bool ztest )
{
+ // printf( "raytracing at [ %.2f %.2f %.2f %.2f ] for %.2f \n",
+// pose.x,
+// pose.y,
+// pose.z,
+// pose.a,
+// range );
+
// initialize the sample
- memcpy( &sample->pose, &pose, sizeof(stg_pose_t)); // pose stays fixed
- sample->range = range; // we might change this below
- sample->block = NULL; // we might change this below
+ sample->pose = pose;
+ sample->range = range; // we might change this below
+ sample->block = NULL; // we might change this below
+
+ // find the global integer bitmap address of the ray
+ int32_t x = (int32_t)(pose.x*ppm);
+ int32_t y = (int32_t)(pose.y*ppm);
+ int32_t z = 0;
+
+ int32_t xstart = x;
+ int32_t ystart = y;
+
+ // and the x and y offsets of the ray
+ int32_t dx = (int32_t)(ppm*range * cos(pose.a));
+ int32_t dy = (int32_t)(ppm*range * sin(pose.a));
+ int32_t dz = 0;
+
+ // if( finder->debug )
+ // RecordRay( pose.x,
+ // pose.y,
+ // pose.x + range.max * cos(pose.a),
+ // pose.y + range.max * sin(pose.a) );
+
+ // fast integer line 3d algorithm adapted from Cohen's code from
+ // Graphics Gems IV
+ int n, sx, sy, sz, exy, exz, ezy, ax, ay, az, bx, by, bz;
+ sx = sgn(dx); sy = sgn(dy); sz = sgn(dz);
+ ax = abs(dx); ay = abs(dy); az = abs(dz);
+ bx = 2*ax; by = 2*ay; bz = 2*az;
+ exy = ay-ax; exz = az-ax; ezy = ay-az;
+ n = ax+ay+az;
+
+ // printf( "Raytracing from (%d,%d,%d) steps (%d,%d,%d) %d\n",
+ // x,y,z, dx,dy,dz, n );
+
+ // superregion coords
+ stg_point_int_t lastsup;
+ lastsup.x = INT_MAX; // an unlikely first raytrace
+ lastsup.y = INT_MAX;
+
+ stg_point_int_t lastreg = {0,0};
+ lastsup.x = INT_MAX; // an unlikely first raytrace
+ lastsup.y = INT_MAX;
+
+ SuperRegion* sr = NULL;
+ Region* r = NULL;
+
+ //puts( "RAYTRACE" );
+
+ while ( n-- )
+ {
+ // superregion coords
+ stg_point_int_t sup;
+ sup.x = x >> SRBITS;
+ sup.y = y >> SRBITS;
+
+ // printf( "pixel [%d %d]\tS[ %d %d ]\t",
+ // x, y, sup.x, sup.y );
- // find the global integer bitmap address of the ray
- int32_t x = (int32_t)(pose.x*ppm);
- int32_t y = (int32_t)(pose.y*ppm);
- int32_t z = 0;
+ if( ! (sup.x == lastsup.x && sup.y == lastsup.y ))
+ {
+ sr = (SuperRegion*)g_hash_table_lookup( superregions, (void*)&sup );
+ lastsup = sup; // remember these coords
+ }
- int32_t xstart = x;
- int32_t ystart = y;
+ if( sr )
+ {
+ // find the region coords inside this superregion
+ stg_point_int_t reg;
+ reg.x = (x - ( sup.x << SRBITS)) >> RBITS;
+ reg.y = (y - ( sup.y << SRBITS)) >> RBITS;
- // and the x and y offsets of the ray
- int32_t dx = (int32_t)(ppm*range * cos(pose.a));
- int32_t dy = (int32_t)(ppm*range * sin(pose.a));
- int32_t dz = 0;
+ // printf( "R[ %d %d ]\t", reg.x, reg.y );
- // if( finder->debug )
- // RecordRay( pose.x,
- // pose.y,
- // pose.x + range.max * cos(pose.a),
- // pose.y + range.max * sin(pose.a) );
+ if( ! (reg.x == lastreg.x && reg.y == lastreg.y ))
+ {
+ r = sr->GetRegion( reg.x, reg.y );
+ lastreg = reg;
+ }
- // fast integer line 3d algorithm adapted from Cohen's code from
- // Graphics Gems IV
- int n, sx, sy, sz, exy, exz, ezy, ax, ay, az, bx, by, bz;
- sx = sgn(dx); sy = sgn(dy); sz = sgn(dz);
- ax = abs(dx); ay = abs(dy); az = abs(dz);
- bx = 2*ax; by = 2*ay; bz = 2*az;
- exy = ay-ax; exz = az-ax; ezy = ay-az;
- n = ax+ay+az;
+ if( r && r->count )
+ {
+ // compute the pixel offset inside this region
+ stg_point_int_t cell;
+ cell.x = x - ((sup.x << SRBITS) + (reg.x << RBITS));
+ cell.y = y - ((sup.y << SRBITS) + (reg.y << RBITS));
- // printf( "Raytracing from (%d,%d,%d) steps (%d,%d,%d) %d\n",
- // x,y,z, dx,dy,dz, n );
+ // printf( "C[ %d %d ]\t", cell.x, cell.y );
- // superregion coords
- stg_point_int_t lastsup;
- lastsup.x = INT_MAX; // an unlikely first raytrace
- lastsup.y = INT_MAX;
+ for( GSList* list = r->GetCell( cell.x, cell.y )->list;
+ list;
+ list = list->next )
+ {
+ StgBlock* block = (StgBlock*)list->data;
+ assert( block );
- stg_point_int_t lastreg = {0,0};
- lastsup.x = INT_MAX; // an unlikely first raytrace
- lastsup.y = INT_MAX;
-
- SuperRegion* sr = NULL;
- Region* r = NULL;
-
- //puts( "RAYTRACE" );
-
- while ( n-- )
- {
- // superregion coords
- stg_point_int_t sup;
- sup.x = x >> SRBITS;
- sup.y = y >> SRBITS;
-
- // printf( "pixel [%d %d]\tS[ %d %d ]\t",
- // x, y, sup.x, sup.y );
-
- if( ! (sup.x == lastsup.x && sup.y == lastsup.y ))
- {
- sr = (SuperRegion*)g_hash_table_lookup( superregions,
(void*)&sup );
- lastsup = sup; // remember these coords
+ // if this block does not belong to the searching model and it
+ // matches the predicate and it's in the right z range
+ if( //block && (block->Model() != finder) &&
+ (ztest ? block->IntersectGlobalZ( pose.z ) : true) &&
+ (*func)( block, mod, arg ) )
+ {
+ // a hit!
+ sample->block = block;
+ sample->range = hypot( (x-xstart)/ppm, (y-ystart)/ppm );
+ return;
+ }
}
+ }
+ }
- if( sr )
- {
- // find the region coords inside this superregion
- stg_point_int_t reg;
- reg.x = (x - ( sup.x << SRBITS)) >> RBITS;
- reg.y = (y - ( sup.y << SRBITS)) >> RBITS;
+ // printf( "\t step %d n %d pixel [ %d, %d ] block [ %d %d ]
index [ %d %d ] \n",
+ // //coarse [ %d %d ]\n",
+ // count++, n, x, y, blockx, blocky, b_dx, b_dy );
- // printf( "R[ %d %d ]\t", reg.x, reg.y );
-
- if( ! (reg.x == lastreg.x && reg.y == lastreg.y ))
- {
- r = sr->GetRegion( reg.x, reg.y );
- lastreg = reg;
- }
-
- if( r && r->count )
- {
- // compute the pixel offset inside this region
- stg_point_int_t cell;
- cell.x = x - ((sup.x << SRBITS) + (reg.x <<
RBITS));
- cell.y = y - ((sup.y << SRBITS) + (reg.y <<
RBITS));
-
- // printf( "C[ %d %d ]\t", cell.x, cell.y );
-
- for( GSList* list = r->GetCell( cell.x, cell.y
)->list;
- list;
- list = list->next )
- {
- StgBlock* block = (StgBlock*)list->data;
- assert( block );
-
- // if this block does not belong to the
searching model and it
- // matches the predicate and it's in
the right z range
- if( //block && (block->Model() !=
finder) &&
- (ztest ?
block->IntersectGlobalZ( pose.z ) : true) &&
- (*func)( block, mod,
arg ) )
- {
- // a hit!
- sample->block = block;
- sample->range = hypot(
(x-xstart)/ppm, (y-ystart)/ppm );
- return;
- }
- }
- }
- }
-
- // printf( "\t step %d n %d pixel [ %d, %d ] block [ %d
%d ] index [ %d %d ] \n",
- // //coarse [ %d %d ]\n",
- // count++, n, x, y, blockx, blocky, b_dx, b_dy );
-
- // increment our pixel in the correct direction
- if ( exy < 0 ) {
- if ( exz < 0 ) {
- x += sx; exy += by; exz += bz;
- }
- else {
- z += sz; exz -= bx; ezy += by;
- }
- }
- else {
- if ( ezy < 0 ) {
- z += sz;
- exz -= bx; ezy += by;
- }
- else {
- y += sy; exy -= bx; ezy -= bz;
- }
- }
- // puts("");
+ // increment our pixel in the correct direction
+ if ( exy < 0 ) {
+ if ( exz < 0 ) {
+ x += sx; exy += by; exz += bz;
}
+ else {
+ z += sz; exz -= bx; ezy += by;
+ }
+ }
+ else {
+ if ( ezy < 0 ) {
+ z += sz;
+ exz -= bx; ezy += by;
+ }
+ else {
+ y += sy; exy -= bx; ezy -= bz;
+ }
+ }
+ // puts("");
+ }
- // hit nothing
- return;
+ // hit nothing
+ return;
}
static void _save_cb( gpointer key, gpointer data, gpointer user )
Modified: code/stage/trunk/libstage/worldfile.cc
===================================================================
--- code/stage/trunk/libstage/worldfile.cc 2008-07-04 22:10:13 UTC (rev
6764)
+++ code/stage/trunk/libstage/worldfile.cc 2008-07-04 22:58:26 UTC (rev
6765)
@@ -1402,7 +1402,7 @@
}
-bool Worldfile::PropertyExists( int section, char* token )
+bool Worldfile::PropertyExists( int section, const char* token )
{
return( this->GetProperty( section, token ) ? true : false );
}
Modified: code/stage/trunk/libstage/worldfile.hh
===================================================================
--- code/stage/trunk/libstage/worldfile.hh 2008-07-04 22:10:13 UTC (rev
6764)
+++ code/stage/trunk/libstage/worldfile.hh 2008-07-04 22:58:26 UTC (rev
6765)
@@ -268,7 +268,7 @@
// returns true iff the property exists in the file, so that you can
// be sure that GetProperty() will work
- bool PropertyExists( int section, char* token );
+ bool PropertyExists( int section, const char* token );
// Set the value of an property.
private: void SetPropertyValue( CProperty* property, int index, const char
*value);
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2008-07-04 22:10:13 UTC (rev
6764)
+++ code/stage/trunk/libstage/worldgui.cc 2008-07-04 22:58:26 UTC (rev
6765)
@@ -115,20 +115,25 @@
#endif
StgWorldGui::StgWorldGui(int W,int H,const char* L) :
- Fl_Window(W,H,L)
+ Fl_Window(W,H,L )
{
//size_range( 100,100 ); // set minimum window size
oDlg = NULL;
graphics = true;
paused = false;
+ // improve the title bar to say "Stage: <worldfile name>"
+ std::string title = "Stage: ";
+ title += L;
+ label( title.c_str() );
+
interval_real = (stg_usec_t)thousand * DEFAULT_INTERVAL_REAL;
for( unsigned int i=0; i<INTERVAL_LOG_LEN; i++ )
this->interval_log[i] = this->interval_real;
// build the menus
- mbar = new Fl_Menu_Bar(0,0, W, 30);// 640, 30);
+ mbar = new Fl_Menu_Bar(0,0, W, 30);
mbar->textsize(12);
canvas = new StgCanvas( this,0,30,W,H-30 );
@@ -166,6 +171,7 @@
delete canvas;
}
+
void StgWorldGui::Load( const char* filename )
{
PRINT_DEBUG1( "%s.Load()", token );
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