Update of /cvsroot/playerstage/code/stage/libstage
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv637/libstage
Modified Files:
Makefile.am TODO model.cc stage.hh typetable.cc worldfile.cc
Log Message:
added stall sensor and visualization
Index: model.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/model.cc,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** model.cc 3 Mar 2008 07:01:12 -0000 1.10
--- model.cc 1 Apr 2008 23:57:41 -0000 1.11
***************
*** 183,187 ****
this->say_string = NULL;
this->subs = 0;
!
this->geom.size.x = STG_DEFAULT_MOD_GEOM_SIZEX;
this->geom.size.y = STG_DEFAULT_MOD_GEOM_SIZEX;
--- 183,188 ----
this->say_string = NULL;
this->subs = 0;
! this->stall = false;
!
this->geom.size.x = STG_DEFAULT_MOD_GEOM_SIZEX;
this->geom.size.y = STG_DEFAULT_MOD_GEOM_SIZEX;
***************
*** 208,212 ****
this->flag_list = NULL;
!
bzero( &this->velocity, sizeof(velocity));
--- 209,215 ----
this->flag_list = NULL;
!
! this->blinkenlights = g_ptr_array_new();
!
bzero( &this->velocity, sizeof(velocity));
***************
*** 247,250 ****
--- 250,274 ----
// anything else to do here?
+
+ // try some things out;
+ stg_blinkenlight_t* b = new stg_blinkenlight_t;
+ b->pose.x = 0;
+ b->pose.y = 0;
+ b->pose.z = 0.4;
+ b->pose.a = 0;
+ b->enabled = true;
+ b->color = stg_color_pack( 1,1,0,0 );
+ b->size = 0.1;
+
+ //AddBlinkenlight( b );
+
+ stg_blinkenlight_t* c = new stg_blinkenlight_t;
+ c->pose.x = 0.1;
+ c->pose.y = 0;
+ c->pose.z = 0.4;
+ c->pose.a = 0;
+ c->enabled = false;
+ c->color = stg_color_pack( 1,1,0,0 );
+ c->size = 0.1;
}
***************
*** 889,894 ****
--- 913,925 ----
DrawFlagList();
+ if( blinkenlights )
+ DrawBlinkenlights();
+
+ if( stall )
+ gl_draw_string( 0,0,0.5, "!" );
+
// shift up the CS to the top of this model
gl_coord_shift( 0,0, this->geom.size.z, 0 );
+
// recursively draw the tree below this model
***************
*** 903,908 ****
glPushMatrix();
-
-
GLUquadric* quadric = gluNewQuadric();
glTranslatef(0,0,1); // jump up
--- 934,937 ----
***************
*** 946,949 ****
--- 975,1013 ----
}
+ void StgModel::DrawBlinkenlights()
+ {
+ glPushMatrix();
+
+ GLUquadric* quadric = gluNewQuadric();
+ //glTranslatef(0,0,1); // jump up
+ //stg_pose_t gpose = GetGlobalPose();
+ //glRotatef( 180 + rtod(-gpose.a),0,0,1 );
+
+ glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
+
+ for( int i=0; i<blinkenlights->len; i++ )
+ {
+ stg_blinkenlight_t* b =
+ (stg_blinkenlight_t*)g_ptr_array_index( blinkenlights, i );
+ assert(b);
+
+ glTranslatef( b->pose.x, b->pose.y, b->pose.z );
+
+ PushColor( b->color );
+
+ if( b->enabled )
+ gluQuadricDrawStyle( quadric, GLU_FILL );
+ else
+ gluQuadricDrawStyle( quadric, GLU_LINE );
+
+ gluSphere( quadric, b->size/2.0, 8,8 );
+
+ PopColor();
+ }
+
+ gluDeleteQuadric( quadric );
+ glPopMatrix();
+ }
+
void StgModel::DrawPicker( void )
{
***************
*** 1366,1369 ****
--- 1430,1435 ----
if( hitthing )
{
+ // XX
+ SetStall( true );
//printf( "hit %s at %.2f %.2f\n",
// hitthing->Token(), hitx, hity );
***************
*** 1374,1377 ****
--- 1440,1446 ----
else
{
+ // XX
+ SetStall( false );
+
stg_pose_t newpose;
stg_pose_sum( &newpose, &this->pose, &p );
Index: typetable.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/typetable.cc,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** typetable.cc 15 Jan 2008 01:16:49 -0000 1.2
--- typetable.cc 1 Apr 2008 23:57:41 -0000 1.3
***************
*** 12,15 ****
--- 12,16 ----
{ "fiducial", StgModelFiducial::Create },
{ "blobfinder", StgModelBlobfinder::Create },
+ { "blinkenlight", StgModelBlinkenlight::Create },
{ NULL, NULL } // this must be the last entry
};
Index: Makefile.am
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/Makefile.am,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** Makefile.am 3 Mar 2008 06:02:26 -0000 1.10
--- Makefile.am 1 Apr 2008 23:57:41 -0000 1.11
***************
*** 35,38 ****
--- 35,39 ----
model_ranger.cc \
model_blobfinder.cc \
+ model_blinkenlight.cc \
model_props.cc \
resource.cc \
Index: stage.hh
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/stage.hh,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** stage.hh 4 Mar 2008 02:09:56 -0000 1.14
--- stage.hh 1 Apr 2008 23:57:41 -0000 1.15
***************
*** 844,847 ****
--- 844,857 ----
};
+
+ typedef struct
+ {
+ int enabled;
+ stg_pose_t pose;
+ stg_meters_t size; ///< rendered as a sphere with this diameter
+ stg_color_t color;
+ stg_msec_t period; ///< duration of a complete cycle
+ double duty_cycle; ///< mark/space ratio
+ } stg_blinkenlight_t;
typedef struct
***************
*** 1235,1238 ****
--- 1245,1251 ----
GList* flag_list;
+
+ GPtrArray* blinkenlights;
+ void DrawBlinkenlights();
public:
***************
*** 1266,1270 ****
void DrawFlagList();
!
virtual void PushColor( stg_color_t col )
{ world->PushColor( col ); }
--- 1279,1293 ----
void DrawFlagList();
!
! void AddBlinkenlight( stg_blinkenlight_t* b )
! {
! g_ptr_array_add( this->blinkenlights, b );
! }
!
! void ClearBlinkenlights()
! {
! g_ptr_array_set_size( this->blinkenlights, 0 );
! }
!
virtual void PushColor( stg_color_t col )
{ world->PushColor( col ); }
***************
*** 1837,1847 ****
// there is currently no energy command packet
- // BLINKENLIGHT -------------------------------------------------------
-
- //typedef struct
- //{
- //int enable;
- //stg_msec_t period;
- //} stg_blinkenlight_t;
// LASER MODEL --------------------------------------------------------
--- 1860,1863 ----
***************
*** 2138,2141 ****
--- 2154,2190 ----
}
};
+
+ // BLINKENLIGHT MODEL ----------------------------------------------------
+ class StgModelBlinkenlight : public StgModel
+ {
+ private:
+ double dutycycle;
+ bool enabled;
+ double period;
+ bool on;
+
+ public:
+
+ StgModelBlinkenlight( StgWorld* world,
+ StgModel* parent,
+ stg_id_t id,
+ char* typestr );
+
+ ~StgModelBlinkenlight();
+
+ virtual void Load();
+ virtual void Update();
+ virtual void Draw( uint32_t flags );
+
+ // static wrapper for the constructor - all models must implement
+ // this method and add an entry in typetable.cc
+ static StgModel* Create( StgWorld* world,
+ StgModel* parent,
+ stg_id_t id,
+ char* typestr )
+ {
+ return (StgModel*)new StgModelBlinkenlight( world, parent, id, typestr
);
+ }
+ };
// POSITION MODEL --------------------------------------------------------
Index: worldfile.cc
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/worldfile.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** worldfile.cc 21 Feb 2008 23:40:13 -0000 1.3
--- worldfile.cc 1 Apr 2008 23:57:41 -0000 1.4
***************
*** 549,552 ****
--- 549,554 ----
AddToken(TokenEOL, "\n", include);
+ //DumpTokens();
+
// Read tokens from the file
if (!LoadTokens(infile, include + 1))
***************
*** 556,559 ****
--- 558,566 ----
return false;
}
+
+ // consume the rest of the include line XX a bit of a hack - assumes
+ // that an include is the last thing on a line
+ while ( ch != '\n' )
+ ch = fgetc(file);
free(fullpath);
Index: TODO
===================================================================
RCS file: /cvsroot/playerstage/code/stage/libstage/TODO,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** TODO 22 Feb 2008 21:20:47 -0000 1.4
--- TODO 1 Apr 2008 23:57:41 -0000 1.5
***************
*** 7,10 ****
--- 7,11 ----
* 3d collision detection broken - e.g. fancypioneer2dx
* [OSX only - FLTK bug?] loading window size constrains maximum window size
+ * alpha properly done
INCOMPLETE
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