Revision: 6706
http://playerstage.svn.sourceforge.net/playerstage/?rev=6706&view=rev
Author: jeremy_asher
Date: 2008-06-27 16:52:07 -0700 (Fri, 27 Jun 2008)
Log Message:
-----------
Reorganized non-essential draw functions to be called from Canvas, fixed menu
Modified Paths:
--------------
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/model_blobfinder.cc
code/stage/trunk/libstage/model_camera.cc
code/stage/trunk/libstage/model_fiducial.cc
code/stage/trunk/libstage/model_laser.cc
code/stage/trunk/libstage/model_ranger.cc
code/stage/trunk/libstage/option.hh
code/stage/trunk/libstage/options_dlg.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/worldgui.cc
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-06-27 21:54:18 UTC (rev 6705)
+++ code/stage/trunk/libstage/canvas.cc 2008-06-27 23:52:07 UTC (rev 6706)
@@ -31,8 +31,9 @@
}
- StgCanvas::StgCanvas( StgWorldGui* world, int x, int y, int w, int h)
-: Fl_Gl_Window(x,y,w,h)
+StgCanvas::StgCanvas( StgWorldGui* world, int x, int y, int w, int h) :
+Fl_Gl_Window(x,y,w,h),
+ShowFlags( "Flags", true )
{
end();
@@ -529,50 +530,78 @@
for( GList* it=selected_models; it; it=it->next )
((StgModel*)it->data)->DrawSelected();
- // draw the models
- if( showflags ) // if any bits are set there's something to draw
+
+ if( showflags & STG_SHOW_FOOTPRINT )
{
- if( showflags & STG_SHOW_FOOTPRINT )
+ glDisable( GL_DEPTH_TEST );
+ glPolygonMode(GL_FRONT_AND_BACK, GL_FILL );
+
+ for( GList* it=world->StgWorld::children; it; it=it->next )
{
- glDisable( GL_DEPTH_TEST );
- glPolygonMode(GL_FRONT_AND_BACK, GL_FILL );
-
- for( GList* it=world->StgWorld::children; it;
it=it->next )
- {
- ((StgModel*)it->data)->DrawTrailFootprint();
- }
- glEnable( GL_DEPTH_TEST );
+ ((StgModel*)it->data)->DrawTrailFootprint();
}
+ glEnable( GL_DEPTH_TEST );
+ }
- if( showflags & STG_SHOW_TRAILRISE )
+ if( showflags & STG_SHOW_TRAILRISE )
+ {
+ glPolygonMode(GL_FRONT_AND_BACK, GL_FILL );
+
+ for( GList* it=world->StgWorld::children; it; it=it->next )
{
- glPolygonMode(GL_FRONT_AND_BACK, GL_FILL );
-
- for( GList* it=world->StgWorld::children; it;
it=it->next )
- {
- ((StgModel*)it->data)->DrawTrailBlocks();
- }
+ ((StgModel*)it->data)->DrawTrailBlocks();
}
+ }
- if( showflags & STG_SHOW_ARROWS )
+ if( showflags & STG_SHOW_ARROWS )
+ {
+ glEnable( GL_DEPTH_TEST );
+ for( GList* it=world->StgWorld::children; it; it=it->next )
{
- glEnable( GL_DEPTH_TEST );
- for( GList* it=world->StgWorld::children; it;
it=it->next )
- {
- ((StgModel*)it->data)->DrawTrailArrows();
- }
+ ((StgModel*)it->data)->DrawTrailArrows();
}
+ }
- if( showflags & STG_SHOW_BLOCKS )
- {
- DrawBlocks();
+ if( showflags & STG_SHOW_BLOCKS )
+ {
+ DrawBlocks();
+ }
+
+ //mod->Draw( showflags ); // draw the stuff that changes every update
+ // draw everything else
+ if( showflags & STG_SHOW_DATA ) {
+ for( GList* it=world->StgWorld::children; it; it=it->next ) {
+ glPushMatrix();
+ StgModel* mod = ((StgModel*)it->data);
+ // move into this model's local coordinate frame
+ gl_pose_shift( &mod->pose );
+ gl_pose_shift( &mod->geom.pose );
+
+ mod->DataVisualize();
+
+ glPopMatrix();
}
-
- //mod->Draw( showflags ); // draw the stuff that changes every
update
- // draw everything else
+ }
+
+ if( showflags & STG_SHOW_GRID) {
for( GList* it=world->StgWorld::children; it; it=it->next )
- ((StgModel*)it->data)->Draw( showflags, this );
+ ((StgModel*)it->data)->DrawGrid();
}
+
+ if( ShowFlags ) {
+ for( GList* it=world->StgWorld::children; it; it=it->next )
+ ((StgModel*)it->data)->DrawFlagList();
+ }
+
+ if( StgModel::ShowBlinken ) {
+ for( GList* it=world->StgWorld::children; it; it=it->next )
+ ((StgModel*)it->data)->DrawBlinkenlights();
+ }
+
+ if ( StgModel::ShowStatus ) {
+ for( GList* it=world->StgWorld::children; it; it=it->next )
+ ((StgModel*)it->data)->DrawStatus( this );
+ }
if( world->GetRayList() )
{
@@ -590,7 +619,7 @@
glEnable( GL_DEPTH_TEST );
world->ClearRays();
- }
+ }
if( showflags & STG_SHOW_CLOCK )
{
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2008-06-27 21:54:18 UTC (rev 6705)
+++ code/stage/trunk/libstage/model.cc 2008-06-27 23:52:07 UTC (rev 6706)
@@ -139,8 +139,7 @@
// static members
uint32_t StgModel::count = 0;
-Option StgModel::ShowFlags( "Flags", true );
-Option StgModel::ShowVisData( "Sensor Visualizations", false );
+//Option StgModel::ShowVisData( "Sensor Visualizations", false );
Option StgModel::ShowBlinken( "Show Blinkenlights", true );
Option StgModel::ShowStatus( "Show Status", true );
@@ -238,13 +237,10 @@
// now we can add the basic square shape
this->AddBlockRect( -0.5,-0.5,1,1 );
-
-
- RegisterOption( &ShowFlags );
- RegisterOption( &ShowFlags );
- RegisterOption( &ShowVisData );
+
+ //RegisterOption( &ShowVisData );
RegisterOption( &ShowBlinken );
- RegisterOption( &ShowStatus );
+ //RegisterOption( &ShowStatus );
PRINT_DEBUG2( "finished model %s @ %p",
this->token, this );
@@ -900,6 +896,12 @@
}
void StgModel::DrawStatus( StgCanvas* canvas ) {
+ glPushMatrix();
+
+ // move into this model's local coordinate frame
+ gl_pose_shift( &this->pose );
+ gl_pose_shift( &this->geom.pose );
+
// draw speech bubble
if( say_string )
{
@@ -953,6 +955,8 @@
{
DrawImage( TextureManager::getInstance()._stall_texture_id,
canvas, 0.85 );
}
+
+ glPopMatrix();
}
void StgModel::DrawImage( uint32_t texture_id, Stg::StgCanvas* canvas, float
alpha )
@@ -1000,25 +1004,22 @@
gl_pose_shift( &this->pose );
gl_pose_shift( &this->geom.pose );
+// if ( ShowVisData )
+// DataVisualize();
+//
+// if( gui_grid && (flags & STG_SHOW_GRID) )
+// DrawGrid();
+//
+// if( flag_list && ShowFlags )
+// DrawFlagList();
+//
+// if( ShowBlinken )
+// DrawBlinkenlights();
+//
+// if ( ShowStatus ) {
+// DrawStatus( canvas );
+// }
-
-
- if( ShowVisData )
- DataVisualize();
-
- if( gui_grid && (flags & STG_SHOW_GRID) )
- DrawGrid();
-
- if( flag_list && ShowFlags )
- DrawFlagList();
-
- if( ShowBlinken )
- DrawBlinkenlights();
-
- if ( ShowStatus ) {
- DrawStatus( canvas );
- }
-
// shift up the CS to the top of this model
//gl_coord_shift( 0,0, this->geom.size.z, 0 );
@@ -1030,55 +1031,66 @@
}
void StgModel::DrawFlagList( void )
-{
- glPushMatrix();
+{
+ if ( flag_list ) {
+ glPushMatrix();
+
+ // move into this model's local coordinate frame
+ gl_pose_shift( &this->pose );
+ gl_pose_shift( &this->geom.pose );
- GLUquadric* quadric = gluNewQuadric();
- glTranslatef(0,0,1); // jump up
- stg_pose_t gpose = GetGlobalPose();
- glRotatef( 180 + rtod(-gpose.a),0,0,1 );
+ GLUquadric* quadric = gluNewQuadric();
+ glTranslatef(0,0,1); // jump up
+ stg_pose_t gpose = GetGlobalPose();
+ glRotatef( 180 + rtod(-gpose.a),0,0,1 );
- GList* list = g_list_copy( flag_list );
- list = g_list_reverse(list);
+ GList* list = g_list_copy( flag_list );
+ list = g_list_reverse(list);
- for( GList* item = list; item; item = item->next )
- {
+ for( GList* item = list; item; item = item->next )
+ {
- StgFlag* flag = (StgFlag*)item->data;
+ StgFlag* flag = (StgFlag*)item->data;
- glTranslatef( 0, 0, flag->size/2.0 );
+ glTranslatef( 0, 0, flag->size/2.0 );
- PushColor( flag->color );
- glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
+ PushColor( flag->color );
+ glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
- gluQuadricDrawStyle( quadric, GLU_FILL );
- gluSphere( quadric, flag->size/2.0, 4,2 );
+ gluQuadricDrawStyle( quadric, GLU_FILL );
+ gluSphere( quadric, flag->size/2.0, 4,2 );
- // draw the edges darker version of the same color
- double r,g,b,a;
- stg_color_unpack( flag->color, &r, &g, &b, &a );
- PushColor( stg_color_pack( r/2.0, g/2.0, b/2.0, a ));
+ // draw the edges darker version of the same color
+ double r,g,b,a;
+ stg_color_unpack( flag->color, &r, &g, &b, &a );
+ PushColor( stg_color_pack( r/2.0, g/2.0, b/2.0, a ));
- gluQuadricDrawStyle( quadric, GLU_LINE );
- gluSphere( quadric, flag->size/2.0, 4,2 );
+ gluQuadricDrawStyle( quadric, GLU_LINE );
+ gluSphere( quadric, flag->size/2.0, 4,2 );
- PopColor();
- PopColor();
+ PopColor();
+ PopColor();
- glTranslatef( 0, 0, flag->size/2.0 );
- }
+ glTranslatef( 0, 0, flag->size/2.0 );
+ }
- g_list_free( list );
+ g_list_free( list );
- gluDeleteQuadric( quadric );
- glPopMatrix();
+ gluDeleteQuadric( quadric );
+
+ glPopMatrix();
+ }
}
void StgModel::DrawBlinkenlights()
{
glPushMatrix();
+
+ // move into this model's local coordinate frame
+ gl_pose_shift( &this->pose );
+ gl_pose_shift( &this->geom.pose );
GLUquadric* quadric = gluNewQuadric();
//glTranslatef(0,0,1); // jump up
@@ -1145,22 +1157,34 @@
void StgModel::DataVisualize( void )
{
- // do nothing - subclasses will do more here
+ // call DataVisualize on all children
+ for( GList* it=children; it; it=it->next )
+ ((StgModel*)it->data)->DataVisualize();
}
void StgModel::DrawGrid( void )
{
- stg_bounds3d_t vol;
- vol.x.min = -geom.size.x/2.0;
- vol.x.max = geom.size.x/2.0;
- vol.y.min = -geom.size.y/2.0;
- vol.y.max = geom.size.y/2.0;
- vol.z.min = 0;
- vol.z.max = geom.size.z;
+ if ( gui_grid ) {
+ glPushMatrix();
+
+ // move into this model's local coordinate frame
+ gl_pose_shift( &this->pose );
+ gl_pose_shift( &this->geom.pose );
+
+ stg_bounds3d_t vol;
+ vol.x.min = -geom.size.x/2.0;
+ vol.x.max = geom.size.x/2.0;
+ vol.y.min = -geom.size.y/2.0;
+ vol.y.max = geom.size.y/2.0;
+ vol.z.min = 0;
+ vol.z.max = geom.size.z;
- PushColor( 0,0,1,0.4 );
- gl_draw_grid(vol);
- PopColor();
+ PushColor( 0,0,1,0.4 );
+ gl_draw_grid(vol);
+ PopColor();
+
+ glPopMatrix();
+ }
}
bool velocity_is_nonzero( stg_velocity_t* v )
Modified: code/stage/trunk/libstage/model_blobfinder.cc
===================================================================
--- code/stage/trunk/libstage/model_blobfinder.cc 2008-06-27 21:54:18 UTC
(rev 6705)
+++ code/stage/trunk/libstage/model_blobfinder.cc 2008-06-27 23:52:07 UTC
(rev 6706)
@@ -363,6 +363,8 @@
glPopMatrix();
+ // Call StgModel method to recurse on children
+ StgModel::DataVisualize();
}
Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc 2008-06-27 21:54:18 UTC (rev
6705)
+++ code/stage/trunk/libstage/model_camera.cc 2008-06-27 23:52:07 UTC (rev
6706)
@@ -156,21 +156,21 @@
_canvas->DrawBlocks();
//read depth buffer
- glReadPixels(0, 0, _width, _height,
- GL_DEPTH_COMPONENT, //GL_RGB,
- GL_FLOAT, //GL_UNSIGNED_BYTE,
- _frame_data );
+// glReadPixels(0, 0, _width, _height,
+// GL_DEPTH_COMPONENT, //GL_RGB,
+// GL_FLOAT, //GL_UNSIGNED_BYTE,
+// _frame_data );
//transform length into linear length
float* data = ( float* )( _frame_data ); //TODO use static_cast here
int buf_size = _width * _height;
for( int i = 0; i < buf_size; i++ )
- data[ i ] = _camera.realDistance( data[ i ] );
+ data[ i ] = 10;//_camera.realDistance( data[ i ] );
//read color buffer
- glReadPixels(0, 0, _width, _height,
- GL_RGBA,
- GL_UNSIGNED_BYTE,
- _frame_color_data );
+// glReadPixels(0, 0, _width, _height,
+// GL_RGBA,
+// GL_UNSIGNED_BYTE,
+// _frame_color_data );
glViewport( viewport[0], viewport[1], viewport[2], viewport[3] );
@@ -275,8 +275,8 @@
// glEnd();
glEnable(GL_CULL_FACE);
- return;
+
//TODO see if any of this can be used for the new method
//TODO: below this point may no longer be needed if we just draw
perfectly square quads based off normal
// //draw then camera data
@@ -288,6 +288,8 @@
// glPopClientAttrib();
//
+ // Call StgModel method to recurse on children
+ StgModel::DataVisualize();
}
void StgModelCamera::Draw( uint32_t flags, StgCanvas* canvas )
Modified: code/stage/trunk/libstage/model_fiducial.cc
===================================================================
--- code/stage/trunk/libstage/model_fiducial.cc 2008-06-27 21:54:18 UTC (rev
6705)
+++ code/stage/trunk/libstage/model_fiducial.cc 2008-06-27 23:52:07 UTC (rev
6706)
@@ -298,7 +298,8 @@
glPopMatrix();
PopColor();
-
-
}
+
+ // Call StgModel method to recurse on children
+ StgModel::DataVisualize();
}
Modified: code/stage/trunk/libstage/model_laser.cc
===================================================================
--- code/stage/trunk/libstage/model_laser.cc 2008-06-27 21:54:18 UTC (rev
6705)
+++ code/stage/trunk/libstage/model_laser.cc 2008-06-27 23:52:07 UTC (rev
6706)
@@ -306,6 +306,11 @@
return;
glPushMatrix();
+
+ // move into this model's local coordinate frame
+ gl_pose_shift( &this->pose );
+ gl_pose_shift( &this->geom.pose );
+
//glTranslatef( 0,0, 0 ); // shoot the laser beam out at the right
height
glTranslatef( 0,0, geom.size.z/2.0 ); // shoot the laser beam out at
the right height
@@ -359,5 +364,9 @@
PopColor();
PopColor();
glDepthMask( GL_TRUE );
+
glPopMatrix();
+
+ // Call StgModel method to recurse on children
+ StgModel::DataVisualize();
}
Modified: code/stage/trunk/libstage/model_ranger.cc
===================================================================
--- code/stage/trunk/libstage/model_ranger.cc 2008-06-27 21:54:18 UTC (rev
6705)
+++ code/stage/trunk/libstage/model_ranger.cc 2008-06-27 23:52:07 UTC (rev
6706)
@@ -284,103 +284,106 @@
}
}
- // TODO: configurable ranger noise model
- /*
- int ranger_noise_test( stg_ranger_sample_t* data, size_t count, )
- {
- int s;
- for( s=0; s<count; s++ )
- {
- // add 10mm random error
- ranges[s].range *= 0.1 * drand48();
- }
- }
- */
+// TODO: configurable ranger noise model
+/*
+ int ranger_noise_test( stg_ranger_sample_t* data, size_t count, )
+ {
+ int s;
+ for( s=0; s<count; s++ )
+ {
+// add 10mm random error
+ranges[s].range *= 0.1 * drand48();
+}
+}
+ */
- void StgModelRanger::Print( char* prefix )
- {
- StgModel::Print( prefix );
+void StgModelRanger::Print( char* prefix )
+{
+ StgModel::Print( prefix );
- printf( "\tRanges[ " );
+ printf( "\tRanges[ " );
- for( unsigned int i=0; i<sensor_count; i++ )
- printf( "%.2f ", samples[i] );
- puts( " ]" );
- }
+ for( unsigned int i=0; i<sensor_count; i++ )
+ printf( "%.2f ", samples[i] );
+ puts( " ]" );
+}
- void StgModelRanger::DataVisualize( void )
- {
- if( ! (samples && sensors && sensor_count) )
- return;
+void StgModelRanger::DataVisualize( void )
+{
+ if( ! (samples && sensors && sensor_count) )
+ return;
- glPushMatrix();
+ glPushMatrix();
- // move into this model's local coordinate frame
- gl_pose_shift( &this->pose );
- gl_pose_shift( &this->geom.pose );
+ // move into this model's local coordinate frame
+ gl_pose_shift( &this->pose );
+ gl_pose_shift( &this->geom.pose );
- // if all models have the same number of sensors, this is fast
- // as it will probably not use a system call or cause a cache
- // miss
- static float* pts = NULL;
- size_t memsize = 9 * sensor_count * sizeof(float);
- pts = (float*)g_realloc( pts, memsize );
- bzero( pts, memsize );
+ // if all models have the same number of sensors, this is fast
+ // as it will probably not use a system call or cause a cache
+ // miss
+ static float* pts = NULL;
+ size_t memsize = 9 * sensor_count * sizeof(float);
+ pts = (float*)g_realloc( pts, memsize );
+ bzero( pts, memsize );
- //glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
- //PushColor( 0,0,0,1 );
+ //glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
+ //PushColor( 0,0,0,1 );
- // calculate a triangle for each non-zero sensor range
- for( unsigned int s=0; s<sensor_count; s++ )
+ // calculate a triangle for each non-zero sensor range
+ for( unsigned int s=0; s<sensor_count; s++ )
+ {
+ if( samples[s] > 0.0 )
{
- if( samples[s] > 0.0 )
- {
- stg_ranger_sensor_t* rngr = &sensors[s];
+ stg_ranger_sensor_t* rngr = &sensors[s];
- //double dx = rngr->size.x/2.0;
- //double dy = rngr->size.y/2.0;
- //double dz = rngr->size.z/2.0;
+ //double dx = rngr->size.x/2.0;
+ //double dy = rngr->size.y/2.0;
+ //double dz = rngr->size.z/2.0;
- // DEBUG: draw a point for the sensor pose
- glPointSize( 6 );
- glBegin( GL_POINTS );
- glVertex3f( rngr->pose.x, rngr->pose.y,
rngr->pose.z );
- glEnd();
+ // DEBUG: draw a point for the sensor pose
+ glPointSize( 6 );
+ glBegin( GL_POINTS );
+ glVertex3f( rngr->pose.x, rngr->pose.y, rngr->pose.z );
+ glEnd();
- // sensor FOV
- double sidelen = samples[s];
- double da = rngr->fov/2.0;
+ // sensor FOV
+ double sidelen = samples[s];
+ double da = rngr->fov/2.0;
- unsigned int index = s*9;
- pts[index+0] = rngr->pose.x;
- pts[index+1] = rngr->pose.y;
- pts[index+2] = rngr->pose.z;
+ unsigned int index = s*9;
+ pts[index+0] = rngr->pose.x;
+ pts[index+1] = rngr->pose.y;
+ pts[index+2] = rngr->pose.z;
- pts[index+3] = rngr->pose.x +
sidelen*cos(rngr->pose.a - da );
- pts[index+4] = rngr->pose.y +
sidelen*sin(rngr->pose.a - da );
- pts[index+5] = rngr->pose.z;
+ pts[index+3] = rngr->pose.x + sidelen*cos(rngr->pose.a
- da );
+ pts[index+4] = rngr->pose.y + sidelen*sin(rngr->pose.a
- da );
+ pts[index+5] = rngr->pose.z;
- pts[index+6] = rngr->pose.x +
sidelen*cos(rngr->pose.a + da );
- pts[index+7] = rngr->pose.y +
sidelen*sin(rngr->pose.a + da );
- pts[index+8] = rngr->pose.z;
- }
+ pts[index+6] = rngr->pose.x + sidelen*cos(rngr->pose.a
+ da );
+ pts[index+7] = rngr->pose.y + sidelen*sin(rngr->pose.a
+ da );
+ pts[index+8] = rngr->pose.z;
}
+ }
- //PopColor();
+ //PopColor();
- // draw the filled triangles in transparent blue
- glDepthMask( GL_FALSE );
- glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
- PushColor( 0, 1, 0, 0.1 ); // transparent pale green
- glEnableClientState( GL_VERTEX_ARRAY );
- glVertexPointer( 3, GL_FLOAT, 0, pts );
- glDrawArrays( GL_TRIANGLES, 0, 3 * sensor_count );
+ // draw the filled triangles in transparent blue
+ glDepthMask( GL_FALSE );
+ glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
+ PushColor( 0, 1, 0, 0.1 ); // transparent pale green
+ glEnableClientState( GL_VERTEX_ARRAY );
+ glVertexPointer( 3, GL_FLOAT, 0, pts );
+ glDrawArrays( GL_TRIANGLES, 0, 3 * sensor_count );
- // restore state
- glDepthMask( GL_TRUE );
- PopColor();
+ // restore state
+ glDepthMask( GL_TRUE );
+ PopColor();
+
+ glPopMatrix();
+
+ // Call StgModel method to recurse on children
+ StgModel::DataVisualize();
+}
- glPopMatrix();
- }
-
Modified: code/stage/trunk/libstage/option.hh
===================================================================
--- code/stage/trunk/libstage/option.hh 2008-06-27 21:54:18 UTC (rev 6705)
+++ code/stage/trunk/libstage/option.hh 2008-06-27 23:52:07 UTC (rev 6706)
@@ -1,3 +1,11 @@
+/** option.hh
+ Class that encapsulates a boolean and pairs it with a string description
+ Used to pass settings between the GUI and the drawing classes
+
+ Author: Jeremy Asher
+*/
+
+
#ifndef _OPTION_H_
#define _OPTION_H_
@@ -9,7 +17,6 @@
class Option {
private:
friend bool compare( const Option* lhs, const Option* rhs );
- friend std::ostream& operator<<( std::ostream& os, const
Option& opt );
std::string optName;
bool value;
@@ -24,13 +31,6 @@
void set( bool val ) { value = val; }
};
-// std::ostream& operator<<( std::ostream& os, const Option& opt ) {
-// os<<opt.optName;
-// os<<": ";
-// os<<opt.value;
-// return os;
-// }
-//
// Comparator to dereference Option pointers and compare their strings
struct optComp {
inline bool operator()( const Option* lhs, const Option* rhs )
const
Modified: code/stage/trunk/libstage/options_dlg.cc
===================================================================
--- code/stage/trunk/libstage/options_dlg.cc 2008-06-27 21:54:18 UTC (rev
6705)
+++ code/stage/trunk/libstage/options_dlg.cc 2008-06-27 23:52:07 UTC (rev
6706)
@@ -4,7 +4,7 @@
namespace Stg {
OptionsDlg::OptionsDlg( int x, int y, int w, int h ) :
- Fl_Window( x,y, w,h, "Sensor Options" ),
+ Fl_Window( x,y, w,h, "Options" ),
changedItem( NULL ),
showAll( NULL ),
status( NO_EVENT ),
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-06-27 21:54:18 UTC (rev 6705)
+++ code/stage/trunk/libstage/stage.hh 2008-06-27 23:52:07 UTC (rev 6706)
@@ -1165,14 +1165,12 @@
static uint32_t count;
static GHashTable* modelsbyid;
- // Draw options
- std::vector<Option*> drawOptions;
- static Option ShowFlags;
- static Option ShowVisData;
+ std::vector<Option*> drawOptions;
+
+public:
+ // Draw Options
static Option ShowBlinken;
static Option ShowStatus;
-
-public:
/** Look up a model pointer by a unique model ID */
static StgModel* LookupId( uint32_t id )
@@ -1240,6 +1238,7 @@
int gui_outline;
int gui_mask;
+ /// Register an Option for pickup by the GUI
void RegisterOption( Option* opt ) { drawOptions.push_back( opt ); }
@@ -1961,6 +1960,8 @@
void DrawRays();
void ClearRays();
void DrawGlobalGrid();
+
+ Option ShowFlags;
public:
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2008-06-27 21:54:18 UTC (rev
6705)
+++ code/stage/trunk/libstage/worldgui.cc 2008-06-27 23:52:07 UTC (rev
6706)
@@ -110,18 +110,19 @@
#include <set>
-static const char* MITEM_VIEW_DATA = "&View/&Display Sensor Data";
-static const char* MITEM_VIEW_BLOCKS = "&View/&Blocks";
-static const char* MITEM_VIEW_GRID = "&View/&Grid";
-static const char* MITEM_VIEW_OCCUPANCY = "&View/&Occupancy";
-static const char* MITEM_VIEW_QUADTREE = "&View/&Tree";
-static const char* MITEM_VIEW_FOLLOW = "&View/&Follow";
-static const char* MITEM_VIEW_CLOCK = "&View/&Clock";
-static const char* MITEM_VIEW_FOOTPRINTS = "&View/T&rails/&Footprints";
-static const char* MITEM_VIEW_BLOCKSRISING = "&View/T&rails/&Blocks rising";
-static const char* MITEM_VIEW_ARROWS = "&View/T&rails/&Arrows rising";
-static const char* MITEM_VIEW_TRAILS = "&View/&Trail";
-static const char* MITEM_VIEW_STATUS = "&View/&Status";
+static const char* MITEM_VIEW_DATA = "&View/&Display sensor data";
+static const char* MITEM_VIEW_BLOCKS = "&View/Blocks";
+static const char* MITEM_VIEW_FLAGS = "&View/Flags";
+static const char* MITEM_VIEW_GRID = "&View/Grid";
+static const char* MITEM_VIEW_OCCUPANCY = "&View/Occupancy";
+static const char* MITEM_VIEW_QUADTREE = "&View/Tree";
+static const char* MITEM_VIEW_FOLLOW = "&View/Follow selected";
+static const char* MITEM_VIEW_CLOCK = "&View/Clock";
+static const char* MITEM_VIEW_FOOTPRINTS = "&View/Trails/Footprints";
+static const char* MITEM_VIEW_BLOCKSRISING = "&View/Trails/Blocks rising";
+static const char* MITEM_VIEW_ARROWS = "&View/Trails/Arrows rising";
+static const char* MITEM_VIEW_TRAILS = "&View/Trail";
+static const char* MITEM_VIEW_STATUS = "&View/Status";
static const char* MITEM_VIEW_PERSPECTIVE = "&View/Perspective camera";
// this should be set by CMake
@@ -160,16 +161,17 @@
mbar->add( "File/E&xit", FL_CTRL+'q', StgWorldGui::fileExitCb, this );
mbar->add( "&View", 0, 0, 0, FL_SUBMENU );
- mbar->add( MITEM_VIEW_DATA, 'd', StgWorldGui::viewToggleCb,
canvas,
+ mbar->add( MITEM_VIEW_DATA, 'd', StgWorldGui::viewToggleCb, canvas,
FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_DATA ?
FL_MENU_VALUE : 0 ));
- mbar->add( "View/&Sensor options...", FL_CTRL + 'o',
StgWorldGui::viewOptionsCb, this, FL_MENU_DIVIDER );
- mbar->add( MITEM_VIEW_BLOCKS, 'b', StgWorldGui::viewToggleCb,
canvas,
+ mbar->add( MITEM_VIEW_BLOCKS, 'b', StgWorldGui::viewToggleCb, canvas,
FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_BLOCKS ?
FL_MENU_VALUE : 0 ));
- mbar->add( MITEM_VIEW_GRID, 'g', StgWorldGui::viewToggleCb,
canvas,
+ mbar->add( MITEM_VIEW_FLAGS, 0, StgWorldGui::viewToggleCb, canvas,
+ FL_MENU_TOGGLE| (canvas->ShowFlags ? FL_MENU_VALUE :
0 ));
+ mbar->add( MITEM_VIEW_GRID, 'g', StgWorldGui::viewToggleCb, canvas,
FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_GRID ?
FL_MENU_VALUE : 0 ));
- mbar->add( MITEM_VIEW_OCCUPANCY, FL_ALT+'o', StgWorldGui::viewToggleCb,
canvas,
+ mbar->add( MITEM_VIEW_OCCUPANCY, 'o', StgWorldGui::viewToggleCb,
canvas,
FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_OCCUPANCY
? FL_MENU_VALUE : 0 ));
- mbar->add( MITEM_VIEW_QUADTREE, FL_ALT+'t', StgWorldGui::viewToggleCb,
canvas,
+ mbar->add( MITEM_VIEW_QUADTREE, FL_CTRL +'t',
StgWorldGui::viewToggleCb, canvas,
FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_QUADTREE
? FL_MENU_VALUE : 0 ));
mbar->add( MITEM_VIEW_FOLLOW, 'f', StgWorldGui::viewToggleCb,
canvas,
FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_FOLLOW ?
FL_MENU_VALUE : 0 ));
@@ -177,17 +179,17 @@
FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_CLOCK ?
FL_MENU_VALUE : 0 ));
mbar->add( MITEM_VIEW_PERSPECTIVE, 'r', StgWorldGui::viewToggleCb,
canvas,
FL_MENU_TOGGLE| (canvas->use_perspective_camera ));
+ mbar->add( MITEM_VIEW_STATUS, 's', StgWorldGui::viewToggleCb,
canvas,
+ FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_STATUS
? FL_MENU_VALUE : 0 ));
mbar->add( MITEM_VIEW_TRAILS, 't', StgWorldGui::viewToggleCb,
canvas,
FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_TRAILS ?
FL_MENU_VALUE : 0 ));
- mbar->add( MITEM_VIEW_STATUS, 's', StgWorldGui::viewToggleCb,
canvas,
- FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_STATUS
? FL_MENU_VALUE : 0 ));
mbar->add( MITEM_VIEW_FOOTPRINTS, FL_CTRL+'f',
StgWorldGui::viewToggleCb, canvas,
FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_FOOTPRINT
? FL_MENU_VALUE : 0 ));
mbar->add( MITEM_VIEW_ARROWS, FL_CTRL+'a',
StgWorldGui::viewToggleCb, canvas,
FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_ARROWS ?
FL_MENU_VALUE : 0 ));
mbar->add( MITEM_VIEW_BLOCKSRISING, FL_CTRL+'t',
StgWorldGui::viewToggleCb, canvas,
- FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_TRAILRISE
? FL_MENU_VALUE : 0 ));
-
+ FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_TRAILRISE
? FL_MENU_VALUE : 0 ) | FL_MENU_DIVIDER);
+ mbar->add( "View/Additional options...", FL_CTRL + 'o',
StgWorldGui::viewOptionsCb, this );
mbar->add( "&Help", 0, 0, 0, FL_SUBMENU );
@@ -543,6 +545,7 @@
else if( strcmp(picked, MITEM_VIEW_TRAILS ) == 0 ) canvas->InvertView(
STG_SHOW_TRAILS );
else if( strcmp(picked, MITEM_VIEW_BLOCKSRISING ) == 0 )
canvas->InvertView( STG_SHOW_TRAILRISE );
else if( strcmp(picked, MITEM_VIEW_STATUS ) == 0 ) canvas->InvertView(
STG_SHOW_STATUS );
+ else if( strcmp(picked, MITEM_VIEW_FLAGS ) == 0 )
canvas->ShowFlags.set( !canvas->ShowFlags );
else if( strcmp(picked, MITEM_VIEW_PERSPECTIVE ) == 0 ) {
canvas->use_perspective_camera = ! canvas->use_perspective_camera;
canvas->invalidate(); }
else PRINT_ERR1( "Unrecognized menu item \"%s\" not handled", picked );
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