Update of /cvsroot/playerstage/code/stage/libstageplugin
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv14241/libstageplugin
Modified Files:
Tag: opengl
p_driver.cc p_simulation.cc p_sonar.cc
Log Message:
experimenting with trail visualizations. also fixed 2.5D raytracing. tracking
down disappearing robot bug
Index: p_driver.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/p_driver.cc,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** p_driver.cc 27 Nov 2007 05:36:02 -0000 1.1.2.2
--- p_driver.cc 29 Nov 2007 07:59:00 -0000 1.1.2.3
***************
*** 155,160 ****
const char* copyright_notice =
"\n * Part of the Player Project [http://playerstage.sourceforge.net]\n";
! " * Copyright 2000-2006 Richard Vaughan, Brian Gerkey, Andrew Howard \n"
! " * and contributors. Released under the GNU General Public License v2.\n"
" **\n";
--- 155,160 ----
const char* copyright_notice =
"\n * Part of the Player Project [http://playerstage.sourceforge.net]\n";
! " * Copyright 2000-2007 Richard Vaughan, Brian Gerkey and contributors.\n"
! " * Released under the GNU General Public License v2.\n"
" **\n";
***************
*** 186,190 ****
Driver* StgDriver_Init(ConfigFile* cf, int section)
{
- puts( "HELLO WORLD" );
// Create and return a new instance of this driver
return ((Driver*) (new StgDriver(cf, section)));
--- 186,189 ----
***************
*** 214,276 ****
}
- // // find a model to attach to a Player interface
- // StgModel* model_match( StgModel* mod,
- // player_devaddr_t *addr,
- // char* typestr,
- // GPtrArray* devices )
- // {
- // //printf( "model_match %s[%s] for [%s]\n",
- // // mod->Token(), mod->TypeStr(), typestr );
-
- // // if( strcmp( mod->TypeStr(), typestr ) == 0 )
- // // return mod;
-
- // // //printf( "searching children\n" );
-
- // // // else try the children
- // // StgModel* match=NULL;
-
- // // // for each model in the child list
- // // GList* it;
- // // int i=0;
- // // for( it=mod->Children(); it; it=it->next )
- // // {
- // // // recurse
- // // match =
- // // model_match( (StgModel*)it->data,
- // // addr, typestr, devices );
- // // if( match )
- // // {
- // // // if mod appears in devices already, it can not be used now
- // // //printf( "[inspecting %d devices used already]",
devices->len );
-
- // // for( int i=0; i<(int)devices->len; i++ )
- // // {
- // // InterfaceModel* interface =
- // // (InterfaceModel*)g_ptr_array_index( devices, i );
-
- // // //printf( "comparing %p and %p (%d.%d.%d)\n", mod,
record->mod,
- // // // record->id.port, record->id.code,
record->id.index );
-
- // // // if we have this type of interface on this model
already, it's no-go.
- // // if( match == interface->mod && interface->addr.interf ==
addr->interf )
- // // {
- // // //printf( "[MODEL ALREADY HAS AN INTERFACE]" );
- // // //return NULL;
- // // match = NULL;
- // // }
- // // }
- // // // if we found a match, we're done searching
- // // //return match;
- // // if( match ) return match;
- // // }
- // // i++;
- // // }
-
- // return NULL;
- // }
-
-
-
Interface::Interface( player_devaddr_t addr,
StgDriver* driver,
--- 213,216 ----
***************
*** 337,346 ****
int device_count = cf->GetTupleCount( section, "provides" );
! if( !player_quiet_startup )
! {
! printf( " Stage driver creating %d %s\n",
! device_count,
! device_count == 1 ? "device" : "devices" );
! }
for( int d=0; d<device_count; d++ )
--- 277,286 ----
int device_count = cf->GetTupleCount( section, "provides" );
! //if( !player_quiet_startup )
! // {
! //printf( " Stage driver creating %d %s\n",
! // device_count,
! // device_count == 1 ? "device" : "devices" );
! // }
for( int d=0; d<device_count; d++ )
***************
*** 357,361 ****
if( !player_quiet_startup )
{
! printf( " %d.%s.%d is ",
player_addr.robot,
interf_to_str(player_addr.interf),
--- 297,301 ----
if( !player_quiet_startup )
{
! printf( " Stage plugin: %d.%s.%d is ",
player_addr.robot,
interf_to_str(player_addr.interf),
***************
*** 486,490 ****
return base_model;
! printf( "found base model %s\n", base_model->Token() );
// we find the first model in the tree that is the right
--- 426,430 ----
return base_model;
! // printf( "found base model %s\n", base_model->Token() );
// we find the first model in the tree that is the right
Index: p_simulation.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/p_simulation.cc,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** p_simulation.cc 27 Nov 2007 05:36:02 -0000 1.1.2.2
--- p_simulation.cc 29 Nov 2007 07:59:00 -0000 1.1.2.3
***************
*** 119,123 ****
StgDriver::world = new StgWorldGui( 700,700, "Player/Stage" );
assert(StgDriver::world);
!
StgDriver::world->Load( fullname );
//printf( " done.\n" );
--- 119,124 ----
StgDriver::world = new StgWorldGui( 700,700, "Player/Stage" );
assert(StgDriver::world);
!
! puts("");
StgDriver::world->Load( fullname );
//printf( " done.\n" );
Index: p_sonar.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstageplugin/Attic/p_sonar.cc,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.3
diff -C2 -d -r1.1.2.2 -r1.1.2.3
*** p_sonar.cc 27 Nov 2007 05:36:02 -0000 1.1.2.2
--- p_sonar.cc 29 Nov 2007 07:59:00 -0000 1.1.2.3
***************
*** 57,60 ****
--- 57,63 ----
StgModelRanger* mod = (StgModelRanger*)this->mod;
+ if( mod->samples == NULL )
+ return;
+
player_sonar_data_t sonar;
memset( &sonar, 0, sizeof(sonar) );
***************
*** 74,78 ****
for( unsigned int i=0; i<sensor_count; i++ )
! sonar.ranges[i] = mod->sensors[i].range;
}
}
--- 77,81 ----
for( unsigned int i=0; i<sensor_count; i++ )
! sonar.ranges[i] = mod->samples[i];
}
}
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