Revision: 8271
http://playerstage.svn.sourceforge.net/playerstage/?rev=8271&view=rev
Author: rtv
Date: 2009-09-30 17:42:49 +0000 (Wed, 30 Sep 2009)
Log Message:
-----------
fixed problems that broke things when creating models dynamically from
controllers. temporarily disabled multiple threads, until I figure out a clean
way to do that
Modified Paths:
--------------
code/stage/trunk/examples/ctrl/CMakeLists.txt
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_load.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/worlds/fasr.world
Added Paths:
-----------
code/stage/trunk/examples/ctrl/dynamic.cc
Modified: code/stage/trunk/examples/ctrl/CMakeLists.txt
===================================================================
--- code/stage/trunk/examples/ctrl/CMakeLists.txt 2009-09-30 16:59:13 UTC
(rev 8270)
+++ code/stage/trunk/examples/ctrl/CMakeLists.txt 2009-09-30 17:42:49 UTC
(rev 8271)
@@ -8,6 +8,7 @@
wander_pioneer
pioneer_flocking
rasterize
+ dynamic
)
# need plaer's wavefront planning library for this one
Added: code/stage/trunk/examples/ctrl/dynamic.cc
===================================================================
--- code/stage/trunk/examples/ctrl/dynamic.cc (rev 0)
+++ code/stage/trunk/examples/ctrl/dynamic.cc 2009-09-30 17:42:49 UTC (rev
8271)
@@ -0,0 +1,21 @@
+#include "stage.hh"
+using namespace Stg;
+
+
+// Stage calls this when the model starts up
+extern "C" int Init( Model* mod )
+{
+ printf( "Creating 100 models" );
+
+ for( int i=0; i<100; i++ )
+ {
+ Model* child = mod->GetWorld()->CreateModel( mod, "model" );
+ assert(child);
+
+ child->SetPose( Pose::Random( -1, 1, -1, 1 ) );
+ child->SetGeom( Geom( Pose(), Size( 0.1, 0.1, 0.1 ) ));
+ child->SetColor( Color(0,0,1,1) );
+ }
+ return 0; //ok
+}
+
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-09-30 16:59:13 UTC (rev 8270)
+++ code/stage/trunk/libstage/model.cc 2009-09-30 17:42:49 UTC (rev 8271)
@@ -343,37 +343,13 @@
world->RemoveModel( this );
}
-// this should be called after all models have loaded from the
-// worldfile - it's a chance to do any setup now that all models are
-// in existence
-void Model::Init()
-{
- // init is called after the model is loaded
- blockgroup.CalcSize();
- // remove any old cruft rendered during startup
- UnMap();
- Map();
-
- // find the queue for update events: zero if thread safe, else we
- // ask the world to assign us to a queue
- event_queue_num = thread_safe ? world->GetEventQueue( this ) : 0;
-
+void Model::InitControllers()
+{
CallCallbacks( &hooks.init );
+}
- if( alwayson )
- Subscribe();
-}
-void Model::InitRecursive()
-{
- // must init children first
- FOR_EACH( it, children )
- (*it)->InitRecursive();
-
- Init();
-}
-
void Model::AddFlag( Flag* flag )
{
if( flag )
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2009-09-30 16:59:13 UTC (rev
8270)
+++ code/stage/trunk/libstage/model_load.cc 2009-09-30 17:42:49 UTC (rev
8271)
@@ -226,13 +226,17 @@
trail_interval = wf->ReadInt( wf_entity, "trail_interval",
trail_interval );
this->alwayson = wf->ReadInt( wf_entity, "alwayson", alwayson );
-
+ if( alwayson )
+ Subscribe();
+
// call any type-specific load callbacks
this->CallCallbacks( &hooks.load );
-
-
+
+ // we may well have changed blocks or geometry
+ blockgroup.CalcSize();
+ UnMapWithChildren();
MapWithChildren();
-
+
if( this->debug )
printf( "Model \"%s\" is in debug mode\n", token.c_str() );
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-09-30 16:59:13 UTC (rev 8270)
+++ code/stage/trunk/libstage/stage.hh 2009-09-30 17:42:49 UTC (rev 8271)
@@ -786,10 +786,16 @@
bool destroy;
bool dirty; ///< iff true, a gui redraw would be required
+ /** pointers to the models in the world, indexed by id */
+ //std::map<unsigned int, Model*> models_by_id;
+
+ /** Pointers to all the models in this world. */
+ std::set<Model*> models;
+
/** pointers to the models that make up the world, indexed by name. */
std::map<std::string, Model*> models_by_name;
- /** pointers to the models that make up the world, indexed by
worldfiel entry index */
+ /** pointers to the models that make up the world, indexed by
worldfile entry index */
std::map<int,Model*> models_by_wfentity;
/** Keep a list of all models with detectable fiducials. This
@@ -1840,7 +1846,7 @@
std::string GetSayString(){return std::string(say_string);}
/** Returns a pointer to the model identified by name, or NULL if
- it doesn't exist in this world. */
+ it doesn't exist in this model. */
Model* GetChild( const std::string& name ) const;
class Visibility
@@ -2044,10 +2050,13 @@
/** save the state of the model to the current world file */
virtual void Save();
- /** Should be called after all models are loaded, to do any
last-minute setup */
- void Init();
- void InitRecursive();
+ // Should be called after all models are loaded, to do any last-minute
setup */
+ //void Init();
+ //void InitRecursive();
+ /** Call Init() for all attached controllers. */
+ void InitControllers();
+
void AddFlag( Flag* flag );
void RemoveFlag( Flag* flag );
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-09-30 16:59:13 UTC (rev 8270)
+++ code/stage/trunk/libstage/world.cc 2009-09-30 17:42:49 UTC (rev 8271)
@@ -103,6 +103,7 @@
// private
destroy( false ),
dirty( true ),
+ models(),
models_by_name(),
models_with_fiducials(),
ppm( ppm ), // raytrace resolution
@@ -216,8 +217,20 @@
return NULL;
}
+void World::AddModel( Model* mod )
+{
+ models.insert( mod );
+ models_by_name[mod->token] = mod;
+}
+
+void World::AddModelName( Model* mod, const std::string& name )
+{
+ models_by_name[name] = mod;
+}
+
void World::RemoveModel( Model* mod )
{
+ models.erase( mod );
models_by_name.erase( mod->token );
}
@@ -289,7 +302,7 @@
// configure the model with properties from the world file
mod->Load(wf, entity );
- // record the model we created for this worlfile entry
+ // record the model we created for this worldfile entry
models_by_wfentity[entity] = mod;
}
@@ -370,8 +383,9 @@
LoadModel( wf, entity );
}
- FOR_EACH( it, children )
- (*it)->InitRecursive();
+ // call all controller init functions
+ FOR_EACH( it, models )
+ (*it)->InitControllers();
putchar( '\n' );
}
@@ -549,17 +563,8 @@
return false;
}
-void World::AddModel( Model* mod )
-{
- models_by_name[mod->token] = mod;
-}
-void World::AddModelName( Model* mod, const std::string& name )
-{
- models_by_name[name] = mod;
-}
-
unsigned int World::GetEventQueue( Model* mod )
{
if( worker_threads < 1 )
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-09-30 16:59:13 UTC (rev 8270)
+++ code/stage/trunk/worlds/fasr.world 2009-09-30 17:42:49 UTC (rev 8271)
@@ -46,7 +46,7 @@
color "green"
pose [ -7.000 -7.000 0 0 ]
name "source"
- ctrl "source"
+ ctrl "dynamic"
)
zone
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