Revision: 6614
http://playerstage.svn.sourceforge.net/playerstage/?rev=6614&view=rev
Author: rtv
Date: 2008-06-16 20:24:37 -0700 (Mon, 16 Jun 2008)
Log Message:
-----------
improving external API. mainly running and updating worlds. also increased
speed a bit
Modified Paths:
--------------
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/main.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_laser.cc
code/stage/trunk/libstage/model_load.cc
code/stage/trunk/libstage/stage.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/test.cc
code/stage/trunk/libstage/world.cc
code/stage/trunk/libstage/worldgui.cc
code/stage/trunk/worlds/fasr.world
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-06-17 03:08:57 UTC (rev 6613)
+++ code/stage/trunk/libstage/canvas.cc 2008-06-17 03:24:37 UTC (rev 6614)
@@ -13,11 +13,11 @@
void StgCanvas::TimerCallback( StgCanvas* c )
{
- c->redraw();
-
- Fl::repeat_timeout(((double)c->interval/1000),
- (Fl_Timeout_Handler)StgCanvas::TimerCallback,
- c);
+ c->redraw();
+
+ Fl::repeat_timeout(((double)c->interval/1000),
+
(Fl_Timeout_Handler)StgCanvas::TimerCallback,
+ c);
}
@@ -47,10 +47,10 @@
showflags = STG_SHOW_CLOCK | STG_SHOW_BLOCKS | STG_SHOW_GRID |
STG_SHOW_DATA;
- // start the timer that causes regular redraws
- Fl::add_timeout( ((double)interval/1000),
- (Fl_Timeout_Handler)StgCanvas::TimerCallback,
- this);
+ // // start the timer that causes regular redraws
+ Fl::add_timeout( ((double)interval/1000),
+
(Fl_Timeout_Handler)StgCanvas::TimerCallback,
+ this);
}
StgCanvas::~StgCanvas()
@@ -133,7 +133,7 @@
//printf("Clicked rByte: 0x%X, gByte: 0x%X, bByte: 0x%X, aByte:
0x%X\n", rByte, gByte, bByte, aByte);
//printf("-->model Id = 0x%X\n", modelId);
- StgModel* mod = (StgModel*)g_hash_table_lookup( StgModel::modelsbyid,
(void*)modelId );
+ StgModel* mod = StgModel::LookupId( modelId );
//printf("%p %s %d %x\n", mod, mod ? mod->Token() : "(none)", id, id );
@@ -208,6 +208,7 @@
camera.scale( Fl::event_dy(),
Fl::event_x(), w(), Fl::event_y(), h() );
}
invalidate();
+ redraw();
}
return 1;
@@ -226,6 +227,7 @@
}
invalidate();
+ redraw();
}
else if( Fl::event_state( FL_ALT ) )
{
@@ -319,6 +321,8 @@
}
startx = Fl::event_x();
starty = Fl::event_y();
+
+ redraw();
return 1; // end case FL_DRAG
case FL_RELEASE: // mouse button released
@@ -347,9 +351,9 @@
world->TogglePause();
break;
case ' ': // space bar
-
camera.resetAngle();
- invalidate();
+ //invalidate();
+ redraw();
break;
case FL_Left: camera.move( -10, 0 ); break;
case FL_Right: camera.move( 10, 0 );; break;
@@ -565,7 +569,7 @@
// if( loaded_texture == true && use_perspective_camera == true )
// return;
- if (!valid() || world->dirty )
+ if (!valid() )
{
valid(1);
FixViewport(w(), h());
Modified: code/stage/trunk/libstage/main.cc
===================================================================
--- code/stage/trunk/libstage/main.cc 2008-06-17 03:08:57 UTC (rev 6613)
+++ code/stage/trunk/libstage/main.cc 2008-06-17 03:24:37 UTC (rev 6614)
@@ -42,12 +42,16 @@
puts("");// end the first start-up line
+
+ // XX TODO
+
// initialize libstage
Stg::Init( &argc, &argv );
// arguments at index optindex and later are not options, so they
// must be world file names
+
bool loaded_world_file = false;
while( optindex < argc )
{
@@ -56,19 +60,18 @@
const char* worldfilename = argv[optindex];
StgWorldGui* world = new StgWorldGui( 400, 300,
worldfilename );
world->Load( worldfilename );
- world->Start();
loaded_world_file = true;
}
optindex++;
}
- if( loaded_world_file == false ) {
- // replace this with a loading dialog/window
- StgWorldGui* world = new StgWorldGui( 400, 300 );
- }
+// if( loaded_world_file == false ) {
+// // replace this with a loading dialog/window
+// StgWorldGui* world = new StgWorldGui( 400, 300 );
+// }
-
-
- StgWorldGui::Run(); // run all the simulations
+
+ while(true)
+ StgWorld::UpdateAll();
}
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2008-06-17 03:08:57 UTC (rev 6613)
+++ code/stage/trunk/libstage/model.cc 2008-06-17 03:24:37 UTC (rev 6614)
@@ -258,6 +258,8 @@
if( callbacks ) g_hash_table_destroy( callbacks );
+ g_hash_table_remove( StgModel::modelsbyid, (void*)id );
+
world->RemoveModel( this );
}
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2008-06-17 03:08:57 UTC (rev
6613)
+++ code/stage/trunk/libstage/model_laser.cc 2008-06-17 03:24:37 UTC (rev
6614)
@@ -17,23 +17,21 @@
#include "stage_internal.hh"
// DEFAULT PARAMETERS FOR LASER MODEL
-static const bool DEFAULT_LASER_FILLED = true;
-static const stg_watts_t DEFAULT_LASER_WATTS = 17.5; // laser power consumption
-static const stg_meters_t DEFAULT_LASER_SIZEX = 0.15;
-static const stg_meters_t DEFAULT_LASER_SIZEY = 0.15;
-static const stg_meters_t DEFAULT_LASER_SIZEZ = 0.2;
-static const stg_meters_t DEFAULT_LASER_MINRANGE = 0.0;
-static const stg_meters_t DEFAULT_LASER_MAXRANGE = 8.0;
-static const stg_radians_t DEFAULT_LASER_FOV = M_PI;
-static const unsigned int DEFAULT_LASER_SAMPLES = 180;
-static const stg_msec_t DEFAULT_LASER_INTERVAL_MS = 100;
-static const unsigned int DEFAULT_LASER_RESOLUTION = 1;
+const bool StgModelLaser::DEFAULT_FILLED = true;
+const stg_watts_t StgModelLaser::DEFAULT_WATTS = 17.5;
+const stg_size_t StgModelLaser::DEFAULT_SIZE = {0.15, 0.15, 0.2 };
+const stg_meters_t StgModelLaser::DEFAULT_MINRANGE = 0.0;
+const stg_meters_t StgModelLaser::DEFAULT_MAXRANGE = 8.0;
+const stg_radians_t StgModelLaser::DEFAULT_FOV = M_PI;
+const unsigned int StgModelLaser::DEFAULT_SAMPLES = 180;
+const stg_msec_t StgModelLaser::DEFAULT_INTERVAL_MS = 100;
+const unsigned int StgModelLaser::DEFAULT_RESOLUTION = 1;
-static const char LASER_GEOM_COLOR[] = "blue";
-//static const char LASER_BRIGHT_COLOR[] = "blue";
-//static const char LASER_CFG_COLOR[] = "light steel blue";
-//static const char LASER_COLOR[] = "steel blue";
-//static const char LASER_FILL_COLOR[] = "powder blue";
+const char StgModelLaser::DEFAULT_GEOM_COLOR[] = "blue";
+//const char BRIGHT_COLOR[] = "blue";
+//const char CFG_COLOR[] = "light steel blue";
+//const char COLOR[] = "steel blue";
+//const char FILL_COLOR[] = "powder blue";
/**
@ingroup model
@@ -83,24 +81,22 @@
id, typestr );
// sensible laser defaults
- interval = 1e3 * DEFAULT_LASER_INTERVAL_MS;
+ interval = 1e3 * StgModelLaser::DEFAULT_INTERVAL_MS;
laser_return = LaserVisible;
stg_geom_t geom;
memset( &geom, 0, sizeof(geom));
- geom.size.x = DEFAULT_LASER_SIZEX;
- geom.size.y = DEFAULT_LASER_SIZEY;
- geom.size.z = DEFAULT_LASER_SIZEZ;
+ geom.size = StgModelLaser::DEFAULT_SIZE;
SetGeom( geom );
// set default color
- SetColor( stg_lookup_color(LASER_GEOM_COLOR));
+ SetColor( stg_lookup_color(DEFAULT_GEOM_COLOR));
- range_min = DEFAULT_LASER_MINRANGE;
- range_max = DEFAULT_LASER_MAXRANGE;
- fov = DEFAULT_LASER_FOV;
- sample_count = DEFAULT_LASER_SAMPLES;
- resolution = DEFAULT_LASER_RESOLUTION;
+ range_min = DEFAULT_MINRANGE;
+ range_max = DEFAULT_MAXRANGE;
+ fov = DEFAULT_FOV;
+ sample_count = DEFAULT_SAMPLES;
+ resolution = DEFAULT_RESOLUTION;
// don't allocate sample buffer memory until Update() is called
samples = NULL;
@@ -237,7 +233,7 @@
PRINT_DEBUG( "laser startup" );
// start consuming power
- SetWatts( DEFAULT_LASER_WATTS );
+ SetWatts( StgModelLaser::DEFAULT_WATTS );
}
void StgModelLaser::Shutdown( void )
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2008-06-17 03:08:57 UTC (rev
6613)
+++ code/stage/trunk/libstage/model_load.cc 2008-06-17 03:24:37 UTC (rev
6614)
@@ -33,7 +33,7 @@
{
//printf( "changed %s to %s\n", this->token, token );
this->token = strdup( name );
- world->AddModelName( this ); // add this name to the
world's table
+ 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 );
Modified: code/stage/trunk/libstage/stage.cc
===================================================================
--- code/stage/trunk/libstage/stage.cc 2008-06-17 03:08:57 UTC (rev 6613)
+++ code/stage/trunk/libstage/stage.cc 2008-06-17 03:24:37 UTC (rev 6614)
@@ -23,6 +23,7 @@
stg_typetable_entry_t Stg::typetable[MODEL_TYPE_COUNT];
+
void Stg::Init( int* argc, char** argv[] )
{
PRINT_DEBUG( "Stg::Init()" );
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-06-17 03:08:57 UTC (rev 6613)
+++ code/stage/trunk/libstage/stage.hh 2008-06-17 03:24:37 UTC (rev 6614)
@@ -84,13 +84,18 @@
/** The Stage library uses its own namespace */
namespace Stg
{
+ // foreward declare
+ class StgCanvas;
+ class Worldfile;
+ class StgWorld;
+ class StgModel;
+
/** Initialize the Stage library */
void Init( int* argc, char** argv[] );
/** returns true iff Stg::Init() has been called. */
bool InitDone();
-
-
+
/** Create unique identifying numbers for each type of model, and a
count of the number of types. */
typedef enum {
@@ -106,9 +111,6 @@
// types
} stg_model_type_t;
- // foreward declare
- class StgCanvas;
- class Worldfile;
/// Copyright string
const char COPYRIGHT[] =
@@ -971,8 +973,15 @@
friend class StgTime;
friend class StgCanvas;
+public:
+ static void UpdateAll();
+
private:
+ static GList* world_list;
+ /** Update all existing worlds */
+
+
static bool quit_all; // quit all worlds ASAP
static unsigned int next_id; //< initialized to zero, used tob
//allocate unique sequential world ids
@@ -1010,8 +1019,9 @@
GList* velocity_list; ///< a list of models that have non-zero
velocity, for efficient updating
stg_usec_t sim_time; ///< the current sim time in this world in ms
- stg_usec_t wall_last_update; ///< the real time of the last update in ms
+ //stg_usec_t wall_last_update; ///< the real time of the last update in ms
+
long unsigned int updates; ///< the number of simulated time steps
executed so far
bool dirty; ///< iff true, a gui redraw would be required
@@ -1026,7 +1036,6 @@
bool paused; ///< the world only updates when this is false
GList* update_list; //< the descendants that need Update() called
- void AddModelName( StgModel* mod );
void StartUpdatingModel( StgModel* mod );
void StopUpdatingModel( StgModel* mod );
@@ -1055,9 +1064,10 @@
void RemoveBlock( int x, int y, StgBlock* block );
-protected:
+public:
stg_usec_t interval_real; ///< real-time interval between updates -
set this to zero for 'as fast as possible
+protected:
GHashTable* superregions;
static void UpdateCb( StgWorld* world);
@@ -1099,8 +1109,8 @@
stg_usec_t SimTimeNow(void){ return sim_time;} ;
stg_usec_t RealTimeNow(void);
stg_usec_t RealTimeSinceStart(void);
- void PauseUntilNextUpdateTime(void);
- void IdleUntilNextUpdateTime( int (*idler)(void) );
+ //void PauseUntilNextUpdateTime(void);
+ // void IdleUntilNextUpdateTime( int (*idler)(void) );
void AddBlock( StgBlock* block );
void RemoveBlock( StgBlock* block );
@@ -1130,7 +1140,7 @@
/** Returns a pointer to the model identified by ID, or NULL if
nonexistent */
- StgModel* GetModel( const stg_id_t id );
+ //StgModel* GetModel( const stg_id_t id );
/** Returns a pointer to the model identified by name, or NULL if
nonexistent */
@@ -1176,7 +1186,15 @@
static uint32_t count;
static GHashTable* modelsbyid;
+
public:
+
+ /** Look up a model pointer by a unique model ID */
+ static StgModel* LookupId( uint32_t id )
+ {
+ return (StgModel*)g_hash_table_lookup( modelsbyid, (void*)id );
+ }
+
/** unique process-wide identifier for this model */
uint32_t id;
@@ -1804,8 +1822,6 @@
// FLTK Gui includes
#include <FL/Fl.H>
-//#include <FL/Fl_Box.H>
-//#include <FL/Fl_Double_Window.H>
#include <FL/Fl_Gl_Window.H>
#include <FL/Fl_Menu_Bar.H>
#include <FL/Fl_Menu_Button.H>
@@ -2003,15 +2019,13 @@
StgCanvas* canvas;
Fl_Menu_Bar* mbar;
+ stg_usec_t real_time_of_last_update;
+
public:
StgWorldGui(int W,int H,const char*L=0);
~StgWorldGui();
- /** Start the simulation and GUI. Does not return */
- static void Run();
- void Start();
- void Stop();
- void Cycle();
+ virtual bool Update();
virtual void Load( const char* filename );
virtual void UnLoad();
@@ -2169,6 +2183,18 @@
class StgModelLaser : public StgModel
{
private:
+ // DEFAULT PARAMETERS FOR LASER MODEL
+ static const bool DEFAULT_FILLED;
+ static const stg_watts_t DEFAULT_WATTS;
+ static const stg_size_t DEFAULT_SIZE;
+ static const stg_meters_t DEFAULT_MINRANGE;
+ static const stg_meters_t DEFAULT_MAXRANGE;
+ static const stg_radians_t DEFAULT_FOV;
+ static const unsigned int DEFAULT_SAMPLES;
+ static const stg_msec_t DEFAULT_INTERVAL_MS;
+ static const unsigned int DEFAULT_RESOLUTION;
+ static const char DEFAULT_GEOM_COLOR[];
+
int dl_debug_laser;
stg_laser_sample_t* samples;
Modified: code/stage/trunk/libstage/test.cc
===================================================================
--- code/stage/trunk/libstage/test.cc 2008-06-17 03:08:57 UTC (rev 6613)
+++ code/stage/trunk/libstage/test.cc 2008-06-17 03:24:37 UTC (rev 6614)
@@ -8,8 +8,10 @@
void interact( StgWorldGui* wg )
{
- for( int i=0; i<100; i++ )
- wg->Cycle();
+ //for( int i=0; i<100; i++ )
+ // wg->Cycle();
+
+ wg->Update();
}
void test( char* str, double a, double b )
@@ -180,5 +182,6 @@
// }
- StgWorldGui::Run();
+ while(true)
+ world.Update();
}
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2008-06-17 03:08:57 UTC (rev 6613)
+++ code/stage/trunk/libstage/world.cc 2008-06-17 03:24:37 UTC (rev 6614)
@@ -57,6 +57,7 @@
// static data members
unsigned int StgWorld::next_id = 0;
bool StgWorld::quit_all = false;
+GList* StgWorld::world_list = NULL;
static guint PointIntHash( stg_point_int_t* pt )
{
@@ -84,6 +85,14 @@
delete sr;
}
+void StgWorld::UpdateAll()
+{
+ assert( StgWorld::world_list );
+
+ for( GList* it = StgWorld::world_list; it; it=it->next )
+ ((StgWorld*)it->data)->Update();
+}
+
StgWorld::StgWorld( const char* token,
stg_msec_t interval_sim,
stg_msec_t interval_real,
@@ -102,8 +111,8 @@
PRINT_WARN( "Stg::Init() must be called before a StgWorld is
created." );
exit(-1);
}
-
- // this->id = StgWorld::next_id++;
+ StgWorld::world_list = g_list_append( StgWorld::world_list, this );
+
this->ray_list = NULL;
this->quit_time = 0;
@@ -159,6 +168,8 @@
g_hash_table_destroy( models_by_name );
g_free( token );
+
+ world_list = g_list_remove( world_list, this );
}
@@ -399,54 +410,6 @@
return timenow - real_time_start;
}
-void StgWorld::PauseUntilNextUpdateTime( void )
-{
- // sleep until it's time to update
- stg_usec_t timenow = RealTimeSinceStart();
-
- /* printf( "\ntimesincestart %llu interval_real %llu interval_sim %llu
real_time_next_update %llu\n",
- timenow,
- interval_real,
- interval_sim,
- real_time_next_update );
- */
-
- if( timenow < real_time_next_update )
- {
- usleep( real_time_next_update - timenow );
- }
-
- interval_log[updates%INTERVAL_LOG_LEN] = timenow - real_time_now;
-
- real_time_now = timenow;
- real_time_next_update += interval_real;
-}
-
-void StgWorld::IdleUntilNextUpdateTime( int (*idler)(void) )
-{
- // sleep until it's time to update
- stg_usec_t timenow;
-
- /* printf( "\ntimesincestart %llu interval_real %llu interval_sim %llu
real_time_next_update %llu\n",
- timenow,
- interval_real,
- interval_sim,
- real_time_next_update );
- */
-
- while( (timenow = RealTimeSinceStart()) < real_time_next_update )
- {
- (*idler)();
- usleep( 1000 );
- }
-
- interval_log[updates%INTERVAL_LOG_LEN] = timenow - real_time_now;
-
- real_time_now = timenow;
- real_time_next_update += interval_real;
-}
-
-
#define DEBUG 1
bool StgWorld::Update()
@@ -474,27 +437,13 @@
stg_usec_t timenow = RealTimeSinceStart();
interval_log[updates%INTERVAL_LOG_LEN] = timenow - real_time_now;
-
- //interval_log[updates%INTERVAL_LOG_LEN] = timenow - real_time_now;
-
real_time_now = timenow;
- //real_time_next_update += interval_real;
return true;
}
void StgWorld::AddModel( StgModel* mod )
{
- //PRINT_DEBUG3( "World %s adding model %d %s to hash tables ",
- // token, mod->id, mod->Token() );
-
- //g_hash_table_insert( this->models_by_id, (gpointer)mod->Id(), mod );
- AddModelName( mod );
-}
-
-
-void StgWorld::AddModelName( StgModel* mod )
-{
g_hash_table_insert( this->models_by_name, (gpointer)mod->Token(), mod
);
}
@@ -509,13 +458,6 @@
return mod;
}
-// StgModel* StgWorld::GetModel( const stg_id_t id )
-// {
-// PRINT_DEBUG1( "looking up model id %d in models_by_id", id );
-// return (StgModel*)g_hash_table_lookup( this->models_by_id, (gpointer)id
);
-// }
-
-
void StgWorld::RecordRay( double x1, double y1, double x2, double y2 )
{
float* drawpts = new float[4];
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2008-06-17 03:08:57 UTC (rev
6613)
+++ code/stage/trunk/libstage/worldgui.cc 2008-06-17 03:24:37 UTC (rev
6614)
@@ -511,50 +511,38 @@
return StgWorld::Save( filename );
}
-void StgWorld::UpdateCb( StgWorld* world )
-{
- world->Update();
- // need to reinstantiatethe timeout each time
- Fl::repeat_timeout( world->interval_real/1e6,
- (Fl_Timeout_Handler)UpdateCb, world );
-}
-
-static void idle_callback( StgWorld* world )
+bool StgWorldGui::Update()
{
- world->Update();
-}
+ if( real_time_of_last_update == 0 )
+ real_time_of_last_update = RealTimeNow();
+
+ bool val = StgWorld::Update();
+
+ stg_usec_t interval;
+ stg_usec_t timenow;
+
+ do { // we loop over updating the GUI, sleeping if there's any spare
+ // time
+ Fl::check();
-void StgWorldGui::Start()
-{
- // if a non-zero interval was requested, call Update() after that
- // interval
- if( interval_real > 0 )
- Fl::add_timeout( interval_real/1e6,
(Fl_Timeout_Handler)UpdateCb, this );
- else // otherwise call Update() whenever there's no GUI work to do
- Fl::add_idle( (Fl_Timeout_Handler)idle_callback, this );
+ timenow = RealTimeNow();
+ interval = timenow - real_time_of_last_update; // guaranteed to be >= 0
+
+ double sleeptime = (double)interval_real - (double)interval;
+
+ if( sleeptime > 0 )
+ usleep( MIN(sleeptime,100000) ); // check the GUI at 10Hz min
+
+ } while( interval < interval_real );
+
+
+ real_time_of_last_update = timenow;
+
+ return val;
}
-void StgWorldGui::Stop()
-{
- Fl::remove_timeout( (Fl_Timeout_Handler)UpdateCb, this );
- Fl::remove_idle( (Fl_Timeout_Handler)idle_callback, this );
-}
-
-
-void StgWorldGui::Run()
-{
- Fl::run();
-}
-
-void StgWorldGui::Cycle()
-{
- if( Fl::ready() )
- Fl::check();
-}
-
-
void StgWorldGui::DrawTree( bool drawall )
{
g_hash_table_foreach( superregions, (GHFunc)SuperRegion::Draw_cb, NULL
);
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2008-06-17 03:08:57 UTC (rev 6613)
+++ code/stage/trunk/worlds/fasr.world 2008-06-17 03:24:37 UTC (rev 6614)
@@ -15,7 +15,7 @@
resolution 0.02
interval_sim 100 # simulation timestep in milliseconds
-interval_real 0 # real-time interval between simulation updates in
milliseconds
+interval_real 20 # real-time interval between simulation updates in
milliseconds
paused 1
# configure the GUI window
@@ -26,7 +26,7 @@
rotate [ 0.000 0.000 ]
scale 33.306
show_data 0
- interval 100
+ #interval 10
)
# load an environment bitmap
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