Revision: 6707
http://playerstage.svn.sourceforge.net/playerstage/?rev=6707&view=rev
Author: rtv
Date: 2008-06-28 17:35:54 -0700 (Sat, 28 Jun 2008)
Log Message:
-----------
extended option class to manage menus nicely, plus revised visualization tree
logic
Modified Paths:
--------------
code/stage/trunk/libstage/CMakeLists.txt
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/options_dlg.hh
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/worldfile.hh
code/stage/trunk/libstage/worldgui.cc
code/stage/trunk/worlds/everything.world
code/stage/trunk/worlds/fasr.world
Added Paths:
-----------
code/stage/trunk/libstage/option.cc
Modified: code/stage/trunk/libstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstage/CMakeLists.txt 2008-06-27 23:52:07 UTC (rev
6706)
+++ code/stage/trunk/libstage/CMakeLists.txt 2008-06-29 00:35:54 UTC (rev
6707)
@@ -28,6 +28,7 @@
resource.cc
texture_manager.cc
option.hh
+ option.cc
options_dlg.cc
options_dlg.hh
)
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-06-27 23:52:07 UTC (rev 6706)
+++ code/stage/trunk/libstage/canvas.cc 2008-06-29 00:35:54 UTC (rev 6707)
@@ -32,8 +32,20 @@
StgCanvas::StgCanvas( StgWorldGui* world, int x, int y, int w, int h) :
-Fl_Gl_Window(x,y,w,h),
-ShowFlags( "Flags", true )
+ Fl_Gl_Window(x,y,w,h),
+ showBlinken( "Blinkenlights", "show_blinkenlights", "", true ),
+ showBlocks( "Blocks", "show_blocks", "b", true ),
+ showClock( "Clock", "show_clock", "c", true ),
+ showData( "Data", "show_data", "d", false ),
+ showFlags( "Flags", "show_flags", "f", true ),
+ showFollow( "Follow", "show_follow", "F", false ),
+ showFootprints( "Footprints", "show_footprints", "f", false ),
+ showGrid( "Grid", "show_grid", "g", true ),
+ showTrailArrows( "Trails/Rising Arrows", "show_trailarrows", "#a", false ),
+ showTrailRise( "Trails/Rising blocks", "show_trailrise", "#r", false ),
+ showTrails( "Trails/Fast", "show_trailfast", "t", false ),
+ showTree( "Debug/Tree", "show_tree", "#T", false ),
+ showOccupancy( "Debug/Occupancy", "show_occupancy", "#O", false )
{
end();
@@ -57,8 +69,6 @@
dragging = false;
rotating = false;
- showflags = STG_SHOW_CLOCK | STG_SHOW_BLOCKS | STG_SHOW_GRID |
STG_SHOW_DATA | STG_SHOW_STATUS;
-
// // start the timer that causes regular redraws
Fl::add_timeout( ((double)interval/1000),
(Fl_Timeout_Handler)StgCanvas::TimerCallback,
@@ -69,21 +79,6 @@
{
}
-void StgCanvas::InvertView( uint32_t invertflags )
-{
- showflags = (showflags ^ invertflags);
-
- // printf( "flags %u data %d grid %d blocks %d follow %d clock %d
tree %d occ %d\n",
- // showflags,
- // showflags & STG_SHOW_DATA,
- // showflags & STG_SHOW_GRID,
- // showflags & STG_SHOW_BLOCKS,
- // showflags & STG_SHOW_FOLLOW,
- // showflags & STG_SHOW_CLOCK,
- // showflags & STG_SHOW_QUADTREE,
- // showflags & STG_SHOW_OCCUPANCY );
-}
-
StgModel* StgCanvas::Select( int x, int y )
{
// TODO XX
@@ -483,7 +478,7 @@
if( mod->rebuild_displaylist )
{
//printf( "Model %s is dirty\n", mod->Token() );
- mod->BuildDisplayList( showflags ); // ready to be
rendered
+ mod->BuildDisplayList(); // ready to be rendered
}
// move into this model's local coordinate frame
@@ -501,128 +496,107 @@
void StgCanvas::renderFrame()
{
- if( ! (showflags & STG_SHOW_TRAILS) )
- glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
-
- if( showflags & STG_SHOW_GRID )
- DrawGlobalGrid();
-
-
- if( (showflags & STG_SHOW_QUADTREE) || (showflags & STG_SHOW_OCCUPANCY)
)
- {
- glPushMatrix();
- glScalef( 1.0/world->Resolution(), 1.0/world->Resolution(), 0 );
-
- glLineWidth( 1 );
- glPolygonMode( GL_FRONT, GL_LINE );
- colorstack.Push(1,0,0);
-
- if( showflags & STG_SHOW_OCCUPANCY )
- ((StgWorldGui*)world)->DrawTree( false );
-
- if( showflags & STG_SHOW_QUADTREE )
- ((StgWorldGui*)world)->DrawTree( true );
-
- colorstack.Pop();
- glPopMatrix();
- }
-
- for( GList* it=selected_models; it; it=it->next )
- ((StgModel*)it->data)->DrawSelected();
-
-
- if( showflags & STG_SHOW_FOOTPRINT )
- {
+ if( ! showTrails )
+ glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
+
+ if( showGrid )
+ DrawGlobalGrid();
+
+ if( showTree || showOccupancy )
+ {
+ glPushMatrix();
+ glScalef( 1.0/world->Resolution(), 1.0/world->Resolution(), 0 );
+
+ glLineWidth( 1 );
+ glPolygonMode( GL_FRONT, GL_LINE );
+ colorstack.Push(1,0,0);
+
+ if( showOccupancy )
+ ((StgWorldGui*)world)->DrawTree( false );
+
+ if( showTree )
+ ((StgWorldGui*)world)->DrawTree( true );
+
+ colorstack.Pop();
+ glPopMatrix();
+ }
+
+ for( GList* it=selected_models; it; it=it->next )
+ ((StgModel*)it->data)->DrawSelected();
+
+ if( showFootprints )
+ {
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();
- }
+ {
+ ((StgModel*)it->data)->DrawTrailFootprint();
+ }
glEnable( GL_DEPTH_TEST );
- }
-
- if( showflags & STG_SHOW_TRAILRISE )
- {
+ }
+
+ if( showTrailRise )
+ {
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL );
-
+
for( GList* it=world->StgWorld::children; it; it=it->next )
- {
- ((StgModel*)it->data)->DrawTrailBlocks();
- }
- }
-
- if( showflags & STG_SHOW_ARROWS )
- {
+ {
+ ((StgModel*)it->data)->DrawTrailBlocks();
+ }
+ }
+
+ if( showTrailArrows )
+ {
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();
- }
-
- //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();
- }
- }
+ if( showBlocks )
+ DrawBlocks();
+
+ // draw the model-specific visualizations
+ if( showData )
+ for( GList* it=world->StgWorld::children; it; it=it->next )
+ ((StgModel*)it->data)->DataVisualizeTree();
+
+ if( showGrid )
+ for( GList* it=world->StgWorld::children; it; it=it->next )
+ ((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( showflags & STG_SHOW_GRID) {
- for( GList* it=world->StgWorld::children; it; it=it->next )
- ((StgModel*)it->data)->DrawGrid();
- }
+ if ( StgModel::ShowStatus )
+ for( GList* it=world->StgWorld::children; it; it=it->next )
+ ((StgModel*)it->data)->DrawStatus( this );
- if( ShowFlags ) {
- for( GList* it=world->StgWorld::children; it; it=it->next )
- ((StgModel*)it->data)->DrawFlagList();
- }
+ if( world->GetRayList() )
+ {
+ glDisable( GL_DEPTH_TEST );
+ PushColor( 0,0,0,0.5 );
+ for( GList* it = world->GetRayList(); it; it=it->next )
+ {
+ float* pts = (float*)it->data;
+ glBegin( GL_LINES );
+ glVertex2f( pts[0], pts[1] );
+ glVertex2f( pts[2], pts[3] );
+ glEnd();
+ }
+ PopColor();
+ glEnable( GL_DEPTH_TEST );
+
+ world->ClearRays();
+ }
- 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() )
+ if( showClock )
{
- glDisable( GL_DEPTH_TEST );
- PushColor( 0,0,0,0.5 );
- for( GList* it = world->GetRayList(); it; it=it->next )
- {
- float* pts = (float*)it->data;
- glBegin( GL_LINES );
- glVertex2f( pts[0], pts[1] );
- glVertex2f( pts[2], pts[3] );
- glEnd();
- }
- PopColor();
- glEnable( GL_DEPTH_TEST );
-
- world->ClearRays();
- }
-
- if( showflags & STG_SHOW_CLOCK )
- {
//use orthogonal projeciton without any zoom
glMatrixMode (GL_PROJECTION);
glPushMatrix(); //save old projection
@@ -717,6 +691,74 @@
}
+void StgCanvas::CreateMenuItems( Fl_Menu_Bar* menu, std::string path )
+{
+ showData.CreateMenuItem( menu, path );
+ showBlocks.CreateMenuItem( menu, path );
+ showFlags.CreateMenuItem( menu, path );
+ showClock.CreateMenuItem( menu, path );
+ showFlags.CreateMenuItem( menu, path );
+ showFollow.CreateMenuItem( menu, path );
+ showFootprints.CreateMenuItem( menu, path );
+ showGrid.CreateMenuItem( menu, path );
+ showOccupancy.CreateMenuItem( menu, path );
+ showTrailArrows.CreateMenuItem( menu, path );
+ showTrails.CreateMenuItem( menu, path );
+ showTrailRise.CreateMenuItem( menu, path );
+ showTree.CreateMenuItem( menu, path );
+}
+
+
+void StgCanvas::Load( Worldfile* wf, int sec )
+{
+ float x = wf->ReadTupleFloat(sec, "center", 0, 0 );
+ float y = wf->ReadTupleFloat(sec, "center", 1, 0 );
+ camera.setPose( x, y );
+
+ camera.setPitch( wf->ReadTupleFloat( sec, "rotate", 0, 0 ) );
+ camera.setYaw( wf->ReadTupleFloat( sec, "rotate", 1, 0 ) );
+ camera.setScale( wf->ReadFloat(sec, "scale", camera.getScale() ) );
+ interval = wf->ReadInt(sec, "interval", interval );
+
+ showData.Load( wf, sec );
+ showBlocks.Load( wf, sec );
+ showClock.Load( wf, sec );
+ showFollow.Load( wf, sec );
+ showFootprints.Load( wf, sec );
+ showGrid.Load( wf, sec );
+ showOccupancy.Load( wf, sec );
+ showTrailArrows.Load( wf, sec );
+ showTrailRise.Load( wf, sec );
+ showTrails.Load( wf, sec );
+ showTree.Load( wf, sec );
+
+ invalidate(); // we probably changed something
+}
+
+void StgCanvas::Save( Worldfile* wf, int sec )
+{
+ wf->WriteFloat( sec, "scale", camera.getScale() );
+
+ wf->WriteTupleFloat( sec, "center", 0, camera.getX() );
+ wf->WriteTupleFloat( sec, "center", 1, camera.getY() );
+
+ wf->WriteTupleFloat( sec, "rotate", 0, camera.getPitch() );
+ wf->WriteTupleFloat( sec, "rotate", 1, camera.getYaw() );
+
+ showData.Save( wf, sec );
+ showBlocks.Save( wf, sec );
+ showClock.Save( wf, sec );
+ showFollow.Save( wf, sec );
+ showFootprints.Save( wf, sec );
+ showGrid.Save( wf, sec );
+ showOccupancy.Save( wf, sec );
+ showTrailArrows.Save( wf, sec );
+ showTrailRise.Save( wf, sec );
+ showTrails.Save( wf, sec );
+ showTree.Save( wf, sec );
+}
+
+
void StgCanvas::draw()
{
static bool loaded_texture = false;
@@ -811,7 +853,7 @@
if( use_perspective_camera == true ) {
- if( (showflags & STG_SHOW_FOLLOW) && last_selection ) {
+ if( showFollow && last_selection ) {
//Follow the selected robot
stg_pose_t gpose = last_selection->GetGlobalPose();
perspective_camera.setPose( gpose.x, gpose.y, 0.2 );
@@ -819,7 +861,7 @@
}
perspective_camera.Draw();
- } else if( (showflags & STG_SHOW_FOLLOW) && last_selection ) {
+ } else if( showFollow && last_selection ) {
//Follow the selected robot
stg_pose_t gpose = last_selection->GetGlobalPose();
camera.setPose( gpose.x, gpose.y );
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2008-06-27 23:52:07 UTC (rev 6706)
+++ code/stage/trunk/libstage/model.cc 2008-06-29 00:35:54 UTC (rev 6707)
@@ -110,38 +110,38 @@
//static const members
-const bool StgModel::DEFAULT_BLOBRETURN = true;
-const bool StgModel::DEFAULT_BOUNDARY = false;
-const stg_color_t StgModel::DEFAULT_COLOR = (0xFFFF0000); // solid red
-const stg_joules_t StgModel::DEFAULT_ENERGY_CAPACITY = 1000.0;
-const bool StgModel::DEFAULT_ENERGY_CHARGEENABLE = true;
-const stg_watts_t StgModel::DEFAULT_ENERGY_GIVERATE = 0.0;
-const stg_meters_t StgModel::DEFAULT_ENERGY_PROBERANGE = 0.0;
-const stg_watts_t StgModel::DEFAULT_ENERGY_TRICKLERATE = 0.1;
-const stg_meters_t StgModel::DEFAULT_GEOM_SIZEX = 0.10;
-const stg_meters_t StgModel::DEFAULT_GEOM_SIZEY = 0.10;
-const stg_meters_t StgModel::DEFAULT_GEOM_SIZEZ = 0.10;
-const bool StgModel::DEFAULT_GRID = false;
-const bool StgModel::DEFAULT_GRIPPERRETURN = false;
-const stg_laser_return_t StgModel::DEFAULT_LASERRETURN = LaserVisible;
-const stg_meters_t StgModel::DEFAULT_MAP_RESOLUTION = 0.1;
-const stg_movemask_t StgModel::DEFAULT_MASK = (STG_MOVE_TRANS | STG_MOVE_ROT);
-const stg_kg_t StgModel::DEFAULT_MASS = 10.0;
-const bool StgModel::DEFAULT_NOSE = false;
-const bool StgModel::DEFAULT_OBSTACLERETURN = true;
-const bool StgModel::DEFAULT_OUTLINE = true;
-const bool StgModel::DEFAULT_RANGERRETURN = true;
+static const bool DEFAULT_BLOBRETURN = true;
+static const bool DEFAULT_BOUNDARY = false;
+static const stg_color_t DEFAULT_COLOR = (0xFFFF0000); // solid red
+static const stg_joules_t DEFAULT_ENERGY_CAPACITY = 1000.0;
+static const bool DEFAULT_ENERGY_CHARGEENABLE = true;
+static const stg_watts_t DEFAULT_ENERGY_GIVERATE = 0.0;
+static const stg_meters_t DEFAULT_ENERGY_PROBERANGE = 0.0;
+static const stg_watts_t DEFAULT_ENERGY_TRICKLERATE = 0.1;
+static const stg_meters_t DEFAULT_GEOM_SIZEX = 0.10;
+static const stg_meters_t DEFAULT_GEOM_SIZEY = 0.10;
+static const stg_meters_t DEFAULT_GEOM_SIZEZ = 0.10;
+static const bool DEFAULT_GRID = false;
+static const bool DEFAULT_GRIPPERRETURN = false;
+static const stg_laser_return_t DEFAULT_LASERRETURN = LaserVisible;
+static const stg_meters_t DEFAULT_MAP_RESOLUTION = 0.1;
+static const stg_movemask_t DEFAULT_MASK = (STG_MOVE_TRANS | STG_MOVE_ROT);
+static const stg_kg_t DEFAULT_MASS = 10.0;
+static const bool DEFAULT_NOSE = false;
+static const bool DEFAULT_OBSTACLERETURN = true;
+static const bool DEFAULT_OUTLINE = true;
+static const bool DEFAULT_RANGERRETURN = true;
// speech bubble colors
-const stg_color_t StgModel::BUBBLE_FILL = 0xFFC8C8FF; // light blue/grey
-const stg_color_t StgModel::BUBBLE_BORDER = 0xFF000000; // black
-const stg_color_t StgModel::BUBBLE_TEXT = 0xFF000000; // black
+static const stg_color_t BUBBLE_FILL = 0xFFC8C8FF; // light blue/grey
+static const stg_color_t BUBBLE_BORDER = 0xFF000000; // black
+static const stg_color_t BUBBLE_TEXT = 0xFF000000; // black
// static members
uint32_t StgModel::count = 0;
//Option StgModel::ShowVisData( "Sensor Visualizations", false );
-Option StgModel::ShowBlinken( "Show Blinkenlights", true );
-Option StgModel::ShowStatus( "Show Status", true );
+Option StgModel::ShowBlinken( "Show Blinkenlights", "show_blinkenlights", "",
true );
+Option StgModel::ShowStatus( "Show Status", "show_status", "", true );
GHashTable* StgModel::modelsbyid = g_hash_table_new( NULL, NULL );
@@ -196,23 +196,23 @@
this->displaylist = 0;
- this->geom.size.x = StgModel::DEFAULT_GEOM_SIZEX;
- this->geom.size.y = StgModel::DEFAULT_GEOM_SIZEX;
- this->geom.size.z = StgModel::DEFAULT_GEOM_SIZEX;
+ this->geom.size.x = DEFAULT_GEOM_SIZEX;
+ this->geom.size.y = DEFAULT_GEOM_SIZEX;
+ this->geom.size.z = DEFAULT_GEOM_SIZEX;
memset( &this->geom.pose, 0, sizeof(this->geom.pose));
- this->obstacle_return = StgModel::DEFAULT_OBSTACLERETURN;
- this->ranger_return = StgModel::DEFAULT_RANGERRETURN;
- this->blob_return = StgModel::DEFAULT_BLOBRETURN;
- this->laser_return = StgModel::DEFAULT_LASERRETURN;
- this->gripper_return = StgModel::DEFAULT_GRIPPERRETURN;
- this->boundary = StgModel::DEFAULT_BOUNDARY;
- this->color = StgModel::DEFAULT_COLOR;
- this->map_resolution = StgModel::DEFAULT_MAP_RESOLUTION; // meters
- this->gui_nose = StgModel::DEFAULT_NOSE;
- this->gui_grid = StgModel::DEFAULT_GRID;
- this->gui_outline = StgModel::DEFAULT_OUTLINE;
- this->gui_mask = this->parent ? 0 : StgModel::DEFAULT_MASK;
+ this->obstacle_return = DEFAULT_OBSTACLERETURN;
+ this->ranger_return = DEFAULT_RANGERRETURN;
+ this->blob_return = DEFAULT_BLOBRETURN;
+ this->laser_return = DEFAULT_LASERRETURN;
+ this->gripper_return = DEFAULT_GRIPPERRETURN;
+ this->boundary = DEFAULT_BOUNDARY;
+ this->color = DEFAULT_COLOR;
+ this->map_resolution = DEFAULT_MAP_RESOLUTION; // meters
+ this->gui_nose = DEFAULT_NOSE;
+ this->gui_grid = DEFAULT_GRID;
+ this->gui_outline = DEFAULT_OUTLINE;
+ this->gui_mask = this->parent ? 0 : DEFAULT_MASK;
this->fiducial_return = 0;
this->fiducial_key = 0;
@@ -1146,7 +1146,7 @@
glPopMatrix(); // drop out of local coords
}
-void StgModel::BuildDisplayList( uint32_t flags )
+void StgModel::BuildDisplayList()
{
glNewList( displaylist, GL_COMPILE );
DrawBlocks();
@@ -1156,12 +1156,28 @@
}
void StgModel::DataVisualize( void )
+{
+ // do nothing
+}
+
+void StgModel::DataVisualizeTree( void )
{
- // call DataVisualize on all children
- for( GList* it=children; it; it=it->next )
- ((StgModel*)it->data)->DataVisualize();
+ // move into this model's local coordinate frame
+ glPushMatrix();
+ gl_pose_shift( &pose );
+ gl_pose_shift( &geom.pose );
+
+ DataVisualize(); // virtual function overridden by most model types
+
+ // recurse on children
+ for( GList* it=children; it; it=it->next )
+ ((StgModel*)it->data)->DataVisualizeTree();
+
+ // leave the local CF
+ glPopMatrix();
}
+
void StgModel::DrawGrid( void )
{
if ( gui_grid ) {
Modified: code/stage/trunk/libstage/model_blobfinder.cc
===================================================================
--- code/stage/trunk/libstage/model_blobfinder.cc 2008-06-27 23:52:07 UTC
(rev 6706)
+++ code/stage/trunk/libstage/model_blobfinder.cc 2008-06-29 00:35:54 UTC
(rev 6707)
@@ -362,9 +362,6 @@
}
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 23:52:07 UTC (rev
6706)
+++ code/stage/trunk/libstage/model_camera.cc 2008-06-29 00:35:54 UTC (rev
6707)
@@ -16,7 +16,7 @@
#include <sstream>
#include <iomanip>
-Option StgModelCamera::ShowCamera( "Show Camera", true );
+Option StgModelCamera::ShowCamera( "Show Camera", "show_camera", "", true );
//caclulate the corss product, and store results in the first vertex
void cross( float& x1, float& y1, float& z1, float x2, float y2, float z2 )
@@ -184,6 +184,8 @@
if( _frame_data == NULL || !ShowCamera )
return;
+ // TODO - shift to global CS?
+
float w_fov = _camera.horizFov();
float h_fov = _camera.vertFov();
@@ -287,9 +289,6 @@
// glDrawElements( GL_QUADS, 4 * w * h, GL_UNSIGNED_SHORT, vertices_index
);
// 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 23:52:07 UTC (rev
6706)
+++ code/stage/trunk/libstage/model_fiducial.cc 2008-06-29 00:35:54 UTC (rev
6707)
@@ -299,7 +299,4 @@
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 23:52:07 UTC (rev
6706)
+++ code/stage/trunk/libstage/model_laser.cc 2008-06-29 00:35:54 UTC (rev
6707)
@@ -17,23 +17,23 @@
#include "stage_internal.hh"
// DEFAULT PARAMETERS FOR LASER MODEL
-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 bool DEFAULT_FILLED = true;
+static const stg_watts_t DEFAULT_WATTS = 17.5;
+static const stg_size_t DEFAULT_SIZE = {0.15, 0.15, 0.2 };
+static const stg_meters_t DEFAULT_MINRANGE = 0.0;
+static const stg_meters_t DEFAULT_MAXRANGE = 8.0;
+static const stg_radians_t DEFAULT_FOV = M_PI;
+static const unsigned int DEFAULT_SAMPLES = 180;
+static const stg_msec_t DEFAULT_INTERVAL_MS = 100;
+static const unsigned int DEFAULT_RESOLUTION = 1;
-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";
+static const char DEFAULT_GEOM_COLOR[] = "blue";
+//static const char BRIGHT_COLOR[] = "blue";
+//static const char CFG_COLOR[] = "light steel blue";
+//static const char COLOR[] = "steel blue";
+//static const char FILL_COLOR[] = "powder blue";
-Option StgModelLaser::ShowLaserData( "Show Laser Data", true );
+Option StgModelLaser::ShowLaserData( "Show Laser Data", "show_laser", "", true
);
/**
@ingroup model
@@ -83,12 +83,12 @@
id, typestr );
// sensible laser defaults
- interval = StgModelLaser::DEFAULT_INTERVAL_MS * thousand;
+ interval = DEFAULT_INTERVAL_MS * thousand;
laser_return = LaserVisible;
stg_geom_t geom;
memset( &geom, 0, sizeof(geom));
- geom.size = StgModelLaser::DEFAULT_SIZE;
+ geom.size = DEFAULT_SIZE;
SetGeom( geom );
// set default color
@@ -237,7 +237,7 @@
PRINT_DEBUG( "laser startup" );
// start consuming power
- SetWatts( StgModelLaser::DEFAULT_WATTS );
+ SetWatts( DEFAULT_WATTS );
}
void StgModelLaser::Shutdown( void )
@@ -305,12 +305,6 @@
if( ! (samples && sample_count) )
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
@@ -364,9 +358,4 @@
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 23:52:07 UTC (rev
6706)
+++ code/stage/trunk/libstage/model_ranger.cc 2008-06-29 00:35:54 UTC (rev
6707)
@@ -313,12 +313,6 @@
if( ! (samples && sensors && sensor_count) )
return;
- glPushMatrix();
-
- // 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
@@ -379,11 +373,6 @@
// restore state
glDepthMask( GL_TRUE );
PopColor();
-
- glPopMatrix();
-
- // Call StgModel method to recurse on children
- StgModel::DataVisualize();
}
Added: code/stage/trunk/libstage/option.cc
===================================================================
--- code/stage/trunk/libstage/option.cc (rev 0)
+++ code/stage/trunk/libstage/option.cc 2008-06-29 00:35:54 UTC (rev 6707)
@@ -0,0 +1,43 @@
+#include "stage_internal.hh"
+
+using namespace Stg;
+
+void Option::Load( Worldfile* wf, int section )
+{
+ Set( (bool)wf->ReadInt(section, wf_token.c_str(), value ));
+}
+
+void Option::Save( Worldfile* wf, int section )
+{
+ wf->WriteInt(section, wf_token.c_str(), value );
+}
+
+void Option::CreateMenuItem( Fl_Menu_Bar* menu, std::string path )
+{
+ path = path + "/" + optName;
+ menu->add( path.c_str(), shortcut.c_str(),
+ (Fl_Callback*)ToggleCb, this,
+ FL_MENU_TOGGLE | (value ? FL_MENU_VALUE : 0 )
);
+
+ // find the menu item we just created and store it for later access
+ menu_item = (Fl_Menu_Item*)menu->find_item( path.c_str() );
+}
+
+void Option::ToggleCb( Fl_Menu_Bar* menubar, Option* opt )
+{
+ opt->Invert();
+}
+
+
+void Option::Invert()
+{
+ Set( !value );
+}
+
+void Option::Set( bool val )
+{
+ value = val;
+
+ if( menu_item )
+ value ? menu_item->set() : menu_item->clear();
+}
Modified: code/stage/trunk/libstage/option.hh
===================================================================
--- code/stage/trunk/libstage/option.hh 2008-06-27 23:52:07 UTC (rev 6706)
+++ code/stage/trunk/libstage/option.hh 2008-06-29 00:35:54 UTC (rev 6707)
@@ -2,7 +2,8 @@
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
+ Author: Jeremy Asher, Richard Vaughan
+ SVN: $Id$
*/
@@ -10,32 +11,60 @@
#define _OPTION_H_
#include <string>
-#include <iostream>
+#include "worldfile.hh"
+#include <FL/Fl_Menu_Bar.H>
+#include <FL/Fl_Menu_Item.H>
+
namespace Stg {
class Option {
private:
friend bool compare( const Option* lhs, const Option* rhs );
-
- std::string optName;
- bool value;
+
+ std::string optName;
+ bool value;
+ /** worldfile entry string for loading and saving this value */
+ std::string wf_token;
+ std::string shortcut;
+ Fl_Menu_Item* menu_item;
+
public:
- Option( std::string n, bool v ) : optName( n ), value( v ) { }
- Option( const Option& o ) : optName( o.optName ), value(
o.value ) { }
- const std::string name() const { return optName; }
+ Option( std::string n, std::string tok, std::string key, bool v ) :
+ optName( n ),
+ wf_token( tok ),
+ value( v ),
+ shortcut( key ),
+ menu_item( NULL )
+ { }
+
+ Option( const Option& o ) :
+ optName( o.optName ),
+ wf_token( o.wf_token ),
+ shortcut( o.shortcut ),
+ value( o.value )
+ { }
+
+ const std::string name() const { return optName; }
inline bool val() const { return value; }
inline operator bool() { return val(); }
inline bool operator<( const Option& rhs ) const
{ return optName<rhs.optName; }
- void set( bool val ) { value = val; }
+ void Set( bool val );
+ void Invert();
+
+ // Comparator to dereference Option pointers and compare their strings
+ struct optComp {
+ inline bool operator()( const Option* lhs, const Option* rhs )
const
+ { return lhs->operator<(*rhs); }
+ };
+
+ static void ToggleCb( Fl_Menu_Bar* menubar, Option* opt );
+
+ void Load( Worldfile* wf, int section );
+ void Save( Worldfile* wf, int section );
+ void CreateMenuItem( Fl_Menu_Bar* menu, std::string path );
};
-
- // Comparator to dereference Option pointers and compare their strings
- struct optComp {
- inline bool operator()( const Option* lhs, const Option* rhs )
const
- { return lhs->operator<(*rhs); }
- };
}
#endif
Modified: code/stage/trunk/libstage/options_dlg.cc
===================================================================
--- code/stage/trunk/libstage/options_dlg.cc 2008-06-27 23:52:07 UTC (rev
6706)
+++ code/stage/trunk/libstage/options_dlg.cc 2008-06-29 00:35:54 UTC (rev
6707)
@@ -2,62 +2,63 @@
#include <FL/Fl.H>
namespace Stg {
-
- OptionsDlg::OptionsDlg( int x, int y, int w, int h ) :
- Fl_Window( x,y, w,h, "Options" ),
- changedItem( NULL ),
- showAll( NULL ),
- status( NO_EVENT ),
- hm( w/6 ) {
- showAllCheck = new Fl_Check_Button( 0,0, w,boxH );
- showAllCheck->callback( checkChanged, this );
- showAllCheck->deactivate();
-
- scroll = new Fl_Scroll( 0,boxH+vm, w,h-boxH-btnH-3*vm );
- scroll->type( Fl_Scroll::VERTICAL );
- scroll->end();
-
-
- button = new Fl_Button( hm, h-btnH-vm, w-2*hm, btnH, "&Close" );
- button->callback( closePress, this );
- this->end();
- }
-
+
+ OptionsDlg::OptionsDlg( int x, int y, int w, int h ) :
+ Fl_Window( x,y, w,h, "Options" ),
+ changedItem( NULL ),
+ showAll( NULL ),
+ status( NO_EVENT ),
+ hm( w/6 )
+ {
+ showAllCheck = new Fl_Check_Button( 0,0, w,boxH );
+ showAllCheck->callback( checkChanged, this );
+ showAllCheck->deactivate();
+
+ scroll = new Fl_Scroll( 0,boxH+vm, w,h-boxH-btnH-3*vm );
+ scroll->type( Fl_Scroll::VERTICAL );
+ scroll->end();
+
+
+ button = new Fl_Button( hm, h-btnH-vm, w-2*hm, btnH, "&Close" );
+ button->callback( closePress, this );
+ this->end();
+ }
+
OptionsDlg::~OptionsDlg() {
- delete button;
- delete scroll; // deletes members
- delete showAllCheck;
+ delete button;
+ delete scroll; // deletes members
+ delete showAllCheck;
}
-
-
- void OptionsDlg::checkChanged( Fl_Widget* w, void* p ) {
- Fl_Check_Button* check = static_cast<Fl_Check_Button*>( w );
- OptionsDlg* oDlg = static_cast<OptionsDlg*>( p );
-
- if ( check == oDlg->showAllCheck && oDlg->showAll ) {
- oDlg->status = CHANGE_ALL;
- oDlg->showAll->set( check->value() );
+
+
+ void OptionsDlg::checkChanged( Fl_Widget* w, void* p ) {
+ Fl_Check_Button* check = static_cast<Fl_Check_Button*>( w );
+ OptionsDlg* oDlg = static_cast<OptionsDlg*>( p );
+
+ if ( check == oDlg->showAllCheck && oDlg->showAll ) {
+ oDlg->status = CHANGE_ALL;
+ oDlg->showAll->Set( check->value() );
oDlg->do_callback();
oDlg->status = NO_EVENT;
- }
- else {
- int item = oDlg->scroll->find( check );
- oDlg->options[ item ]->set( check->value() );
+ }
+ else {
+ int item = oDlg->scroll->find( check );
+ oDlg->options[ item ]->Set( check->value() );
oDlg->changedItem = oDlg->options[ item ];
oDlg->status = CHANGE;
oDlg->do_callback();
oDlg->changedItem = NULL;
oDlg->status = NO_EVENT;
- }
- }
-
- void OptionsDlg::closePress( Fl_Widget* w, void* p ) {
- OptionsDlg* oDlg = static_cast<OptionsDlg*>( p );
+ }
+ }
+
+ void OptionsDlg::closePress( Fl_Widget* w, void* p ) {
+ OptionsDlg* oDlg = static_cast<OptionsDlg*>( p );
- oDlg->status = CLOSE;
- oDlg->do_callback();
- oDlg->status = NO_EVENT;
- }
+ oDlg->status = CLOSE;
+ oDlg->do_callback();
+ oDlg->status = NO_EVENT;
+ }
int OptionsDlg::handle( int event ) {
// switch ( event ) {
@@ -88,7 +89,7 @@
updateChecks();
}
- void OptionsDlg::setOptions( const std::set<Option*, optComp>& opts ) {
+ void OptionsDlg::setOptions( const std::set<Option*, Option::optComp>& opts
) {
options.clear();
options.insert( options.begin(), opts.begin(), opts.end() );
updateChecks();
@@ -100,4 +101,4 @@
showAllCheck->value( opt->val() );
}
-} // namespace Stg
\ No newline at end of file
+} // namespace Stg
Modified: code/stage/trunk/libstage/options_dlg.hh
===================================================================
--- code/stage/trunk/libstage/options_dlg.hh 2008-06-27 23:52:07 UTC (rev
6706)
+++ code/stage/trunk/libstage/options_dlg.hh 2008-06-29 00:35:54 UTC (rev
6707)
@@ -14,6 +14,8 @@
namespace Stg {
+ //class Option;
+
class OptionsDlg : protected Fl_Window {
public:
enum event_t { NO_EVENT, CHANGE, CHANGE_ALL, CLOSE };
@@ -46,7 +48,7 @@
void hide() { Fl_Window::hide(); }
void setOptions( const std::vector<Option*>& opts );
- void setOptions( const std::set<Option*, optComp>& opts );
+ void setOptions( const std::set<Option*, Option::optComp>& opts );
void clearOptions() { options.clear(); }
void showAllOpt( Option* opt );
const event_t event() const { return status; }
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-06-27 23:52:07 UTC (rev 6706)
+++ code/stage/trunk/libstage/stage.hh 2008-06-29 00:35:54 UTC (rev 6707)
@@ -532,20 +532,20 @@
/** Print human-readable velocity on stdout */
void stg_print_velocity( stg_velocity_t* vel );
- const uint32_t STG_SHOW_BLOCKS = (1<<0);
- const uint32_t STG_SHOW_DATA = (1<<1);
- const uint32_t STG_SHOW_GEOM = (1<<2);
- const uint32_t STG_SHOW_GRID = (1<<3);
- const uint32_t STG_SHOW_OCCUPANCY = (1<<4);
- const uint32_t STG_SHOW_TRAILS = (1<<5);
- const uint32_t STG_SHOW_FOLLOW = (1<<6);
- const uint32_t STG_SHOW_CLOCK = (1<<7);
- const uint32_t STG_SHOW_QUADTREE = (1<<8);
- const uint32_t STG_SHOW_ARROWS = (1<<9);
- const uint32_t STG_SHOW_FOOTPRINT = (1<<10);
- const uint32_t STG_SHOW_BLOCKS_2D = (1<<10);
- const uint32_t STG_SHOW_TRAILRISE = (1<<11);
- const uint32_t STG_SHOW_STATUS = (1<<12);
+// const uint32_t STG_SHOW_BLOCKS = (1<<0);
+// const uint32_t STG_SHOW_DATA = (1<<1);
+// const uint32_t STG_SHOW_GEOM = (1<<2);
+// const uint32_t STG_SHOW_GRID = (1<<3);
+// const uint32_t STG_SHOW_OCCUPANCY = (1<<4);
+// const uint32_t STG_SHOW_TRAILS = (1<<5);
+// const uint32_t STG_SHOW_FOLLOW = (1<<6);
+// const uint32_t STG_SHOW_CLOCK = (1<<7);
+// const uint32_t STG_SHOW_QUADTREE = (1<<8);
+// const uint32_t STG_SHOW_ARROWS = (1<<9);
+// const uint32_t STG_SHOW_FOOTPRINT = (1<<10);
+// const uint32_t STG_SHOW_BLOCKS_2D = (1<<10);
+// const uint32_t STG_SHOW_TRAILRISE = (1<<11);
+// const uint32_t STG_SHOW_STATUS = (1<<12);
// forward declare
class StgWorld;
@@ -1182,36 +1182,7 @@
uint32_t id;
protected:
- // basic model
- static const bool DEFAULT_BLOBRETURN;
- static const bool DEFAULT_BOUNDARY;
- static const stg_color_t DEFAULT_COLOR;
- static const stg_joules_t DEFAULT_ENERGY_CAPACITY;
- static const bool DEFAULT_ENERGY_CHARGEENABLE;
- static const stg_watts_t DEFAULT_ENERGY_GIVERATE;
- static const stg_meters_t DEFAULT_ENERGY_PROBERANGE;
- static const stg_watts_t DEFAULT_ENERGY_TRICKLERATE;
- static const stg_meters_t DEFAULT_GEOM_SIZEX;
- static const stg_meters_t DEFAULT_GEOM_SIZEY;
- static const stg_meters_t DEFAULT_GEOM_SIZEZ;
- static const bool DEFAULT_GRID;
- static const bool DEFAULT_GRIPPERRETURN;
- static const stg_laser_return_t DEFAULT_LASERRETURN;
- static const stg_meters_t DEFAULT_MAP_RESOLUTION;
- static const stg_movemask_t DEFAULT_MASK;
- static const stg_kg_t DEFAULT_MASS;
- static const bool DEFAULT_NOSE;
- static const bool DEFAULT_OBSTACLERETURN;
- static const bool DEFAULT_OUTLINE;
- static const bool DEFAULT_RANGERRETURN;
-
- // speech bubble colors
- static const stg_color_t BUBBLE_FILL;
- static const stg_color_t BUBBLE_BORDER;
- static const stg_color_t BUBBLE_TEXT;
-
- //const char* typestr;
- stg_pose_t pose;
+ stg_pose_t pose;
stg_velocity_t velocity;
stg_watts_t watts; //< power consumed by this model
stg_color_t color;
@@ -1402,11 +1373,13 @@
/** OpenGL display list identifier */
int displaylist;
- /** Compile the display list for this model */
- void BuildDisplayList( uint32_t flags );
-
+ /** Compile the display list for this model */
+ void BuildDisplayList();
+
stg_model_type_t type;
+ void DataVisualizeTree();
+
public:
static const char* typestr;
@@ -1709,7 +1682,7 @@
StgModel* GetUnsubscribedModelOfType( stg_model_type_t type );
// iff true, model may output some debugging visualizations and other
info
- bool debug;
+ //bool debug;
const std::vector<Option*>& getOptions() const { return drawOptions; }
};
@@ -1933,38 +1906,52 @@
inline float getY() const { return _y; }
};
+
class StgCanvas : public Fl_Gl_Window
{
- friend class StgWorldGui; // allow access to private members
- friend class StgModel;
+ friend class StgWorldGui; // allow access to private members
+ friend class StgModel;
+
+private:
+ GlColorStack colorstack;
+
+ StgOrthoCamera camera;
+ StgPerspectiveCamera perspective_camera;
+ bool use_perspective_camera;
+
+ int startx, starty;
+ bool dragging;
+ bool rotating;
+ GList* selected_models; ///< a list of models that are currently
+ ///selected by the user
+ StgModel* last_selection; ///< the most recently selected model
+ ///(even if it is now unselected).
+
+ stg_msec_t interval; // window refresh interval in ms
+
+ GList* ray_list;
+ void RecordRay( double x1, double y1, double x2, double y2 );
+ void DrawRays();
+ void ClearRays();
+ void DrawGlobalGrid();
+
+ Option
+ showBlinken,
+ showBlocks,
+ showClock,
+ showData,
+ showFlags,
+ showFollow,
+ showFootprints,
+ showGrid,
+ showOccupancy,
+ showTrailArrows,
+ showTrailRise,
+ showTrails,
+ showTree;
+
+public:
- private:
- GlColorStack colorstack;
-
- StgOrthoCamera camera;
- StgPerspectiveCamera perspective_camera;
- bool use_perspective_camera;
-
- int startx, starty;
- bool dragging;
- bool rotating;
- GList* selected_models; ///< a list of models that are currently
- ///selected by the user
- StgModel* last_selection; ///< the most recently selected model
- ///(even if it is now unselected).
- uint32_t showflags;
- stg_msec_t interval; // window refresh interval in ms
-
- GList* ray_list;
- void RecordRay( double x1, double y1, double x2, double y2 );
- void DrawRays();
- void ClearRays();
- void DrawGlobalGrid();
-
- Option ShowFlags;
-
- public:
-
StgCanvas( StgWorldGui* world, int x, int y, int W,int H);
~StgCanvas();
@@ -1972,7 +1959,9 @@
StgWorldGui* world;
void Screenshot();
-
+
+ void CreateMenuItems( Fl_Menu_Bar* menu, std::string path );
+
void FixViewport(int W,int H);
void DrawFloor(); //simpler floor compared to grid
void DrawBlocks();
@@ -1996,11 +1985,10 @@
void InvertView( uint32_t invertflags );
- uint32_t GetShowFlags(){ return showflags; }
-
- void SetShowFlags( uint32_t flags ){ showflags = flags; }
-
static void TimerCallback( StgCanvas* canvas );
+
+ void Load( Worldfile* wf, int section );
+ void Save( Worldfile* wf, int section );
};
@@ -2011,7 +1999,7 @@
{
friend class StgCanvas;
friend class StgModelCamera;
-
+
private:
bool paused; ///< the world only updates when this is false
//int wf_section;
@@ -2068,15 +2056,13 @@
StgCanvas* GetCanvas( void ) { return canvas; }
-
+private:
// static callback functions
- static void windowCb( Fl_Widget* w, void* p );
-
+ static void windowCb( Fl_Widget* w, void* p );
static void fileLoadCb( Fl_Widget* w, void* p );
static void fileSaveCb( Fl_Widget* w, void* p );
static void fileSaveAsCb( Fl_Widget* w, void* p );
static void fileExitCb( Fl_Widget* w, void* p );
- static void viewToggleCb( Fl_Widget* w, void* p );
static void viewOptionsCb( Fl_Widget* w, void* p );
static void optionsDlgCb( Fl_Widget* w, void* p );
static void helpAboutCb( Fl_Widget* w, void* p );
@@ -2210,18 +2196,6 @@
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/worldfile.hh
===================================================================
--- code/stage/trunk/libstage/worldfile.hh 2008-06-27 23:52:07 UTC (rev
6706)
+++ code/stage/trunk/libstage/worldfile.hh 2008-06-29 00:35:54 UTC (rev
6707)
@@ -32,6 +32,10 @@
#include <stdio.h> // for FILE ops
#include <glib.h>
+//#include "stage.hh"
+
+namespace Stg {
+
// Private property class
struct CProperty
{
@@ -60,7 +64,7 @@
// interface. Global settings go in entity 0; every other entity
// refers to a specific entity. Parent/child relationships are
// encoded in the form of entity/subentity relationships.
-class Stg::Worldfile
+class Worldfile
{
// Standard constructors/destructors
public: Worldfile();
@@ -355,4 +359,6 @@
private: double unit_angle;
};
+};
+
#endif
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2008-06-27 23:52:07 UTC (rev
6706)
+++ code/stage/trunk/libstage/worldgui.cc 2008-06-29 00:35:54 UTC (rev
6707)
@@ -109,32 +109,14 @@
#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_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
#ifndef PACKAGE_STRING
#define PACKAGE_STRING "Stage-3.dev"
#endif
-
-
-
-StgWorldGui::StgWorldGui(int W,int H,const char* L) : Fl_Window(W,H,L),
-ShowAll( "Visualize all models", true )
+ StgWorldGui::StgWorldGui(int W,int H,const char* L) :
+ Fl_Window(W,H,L),
+ ShowAll( "Visualize all models", "show_vis", "", true )
{
//size_range( 100,100 ); // set minimum window size
oDlg = NULL;
@@ -158,40 +140,16 @@
mbar->add( "File/&Load World...", FL_CTRL + 'l',
StgWorldGui::fileLoadCb, this, FL_MENU_DIVIDER );
mbar->add( "File/&Save World", FL_CTRL + 's', StgWorldGui::fileSaveCb,
this );
mbar->add( "File/Save World &As...", FL_CTRL + FL_SHIFT + 's',
StgWorldGui::fileSaveAsCb, this, FL_MENU_DIVIDER );
+
+ mbar->add( "File/Screenshots", 0,0,0, FL_SUBMENU );
+ //mbar->add( "File/Screenshots/
+
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,
- FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_DATA ?
FL_MENU_VALUE : 0 ));
- 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_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, 'o', StgWorldGui::viewToggleCb,
canvas,
- FL_MENU_TOGGLE| (canvas->showflags & STG_SHOW_OCCUPANCY
? FL_MENU_VALUE : 0 ));
- 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 ));
- mbar->add( MITEM_VIEW_CLOCK, 'c', StgWorldGui::viewToggleCb, canvas,
- 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_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_DIVIDER);
- mbar->add( "View/Additional options...", FL_CTRL + 'o',
StgWorldGui::viewOptionsCb, this );
+ mbar->add( "View/Filter data...", FL_SHIFT + 'd',
StgWorldGui::viewOptionsCb, this );
+ canvas->CreateMenuItems( mbar, "View" );
-
mbar->add( "&Help", 0, 0, 0, FL_SUBMENU );
mbar->add( "Help/&About Stage...", 0, StgWorldGui::helpAboutCb, this );
//mbar->add( "Help/HTML Documentation", FL_CTRL + 'g', (Fl_Callback
*)dummy_cb );
@@ -209,8 +167,6 @@
delete canvas;
}
-
-
void StgWorldGui::Load( const char* filename )
{
PRINT_DEBUG1( "%s.Load()", token );
@@ -242,61 +198,10 @@
//larger than this size.
size( width,height );
- float x = wf->ReadTupleFloat(window_section, "center", 0, 0 );
- float y = wf->ReadTupleFloat(window_section, "center", 1, 0 );
- canvas->camera.setPose( x, y );
-
- canvas->camera.setPitch( wf->ReadTupleFloat( window_section, "rotate",
0, 0 ) );
- canvas->camera.setYaw( wf->ReadTupleFloat( window_section, "rotate", 1,
0 ) );
- canvas->camera.setScale( wf->ReadFloat(window_section, "scale",
canvas->camera.getScale() ) );
- canvas->interval = wf->ReadInt(window_section, "interval",
canvas->interval );
-
- // set the canvas visibilty flags
- uint32_t flags = canvas->GetShowFlags();
- uint32_t grid = wf->ReadInt(window_section, "show_grid", flags &
STG_SHOW_GRID ) ? STG_SHOW_GRID : 0;
- uint32_t data = wf->ReadInt(window_section, "show_data", flags &
STG_SHOW_DATA ) ? STG_SHOW_DATA : 0;
- uint32_t follow = wf->ReadInt(window_section, "show_follow", flags &
STG_SHOW_FOLLOW ) ? STG_SHOW_FOLLOW : 0;
- uint32_t blocks = wf->ReadInt(window_section, "show_blocks", flags &
STG_SHOW_BLOCKS ) ? STG_SHOW_BLOCKS : 0;
- uint32_t quadtree = wf->ReadInt(window_section, "show_tree", flags &
STG_SHOW_QUADTREE ) ? STG_SHOW_QUADTREE : 0;
- uint32_t clock = wf->ReadInt(window_section, "show_clock", flags &
STG_SHOW_CLOCK ) ? STG_SHOW_CLOCK : 0;
- uint32_t trails = wf->ReadInt(window_section, "show_trails", flags &
STG_SHOW_TRAILS ) ? STG_SHOW_TRAILS : 0;
- uint32_t trailsrising = wf->ReadInt(window_section,
"show_trails_rising", flags & STG_SHOW_TRAILRISE ) ? STG_SHOW_TRAILRISE : 0;
- uint32_t arrows = wf->ReadInt(window_section, "show_arrows", flags &
STG_SHOW_ARROWS ) ? STG_SHOW_ARROWS : 0;
- uint32_t footprints = wf->ReadInt(window_section, "show_footprints",
flags & STG_SHOW_FOOTPRINT ) ? STG_SHOW_FOOTPRINT : 0;
- uint32_t status = wf->ReadInt(window_section, "show_status", flags &
STG_SHOW_STATUS ) ? STG_SHOW_STATUS : 0;
-
- canvas->SetShowFlags( grid | data | follow | blocks | quadtree | clock
- | trails | arrows | footprints | trailsrising | status
);
- canvas->invalidate(); // we probably changed something
-
- // fix the GUI menu checkboxes to match
- flags = canvas->GetShowFlags();
-
- Fl_Menu_Item* item = NULL;
-
- item = (Fl_Menu_Item*)mbar->find_item( MITEM_VIEW_DATA );
- (flags & STG_SHOW_DATA) ? item->check() : item->clear();
-
- item = (Fl_Menu_Item*)mbar->find_item( MITEM_VIEW_GRID );
- (flags & STG_SHOW_GRID) ? item->check() : item->clear();
-
- item = (Fl_Menu_Item*)mbar->find_item( MITEM_VIEW_BLOCKS );
- (flags & STG_SHOW_BLOCKS) ? item->check() : item->clear();
-
- item = (Fl_Menu_Item*)mbar->find_item( MITEM_VIEW_FOLLOW );
- (flags & STG_SHOW_FOLLOW) ? item->check() : item->clear();
-
- item = (Fl_Menu_Item*)mbar->find_item( MITEM_VIEW_OCCUPANCY );
- (flags & STG_SHOW_OCCUPANCY) ? item->check() : item->clear();
-
- item = (Fl_Menu_Item*)mbar->find_item( MITEM_VIEW_QUADTREE );
- (flags & STG_SHOW_QUADTREE) ? item->check() : item->clear();
-
- item = (Fl_Menu_Item*)mbar->find_item( MITEM_VIEW_STATUS );
- (flags & STG_SHOW_STATUS) ? item->check() : item->clear();
-
+ // configure the canvas
+ canvas->Load( wf, window_section );
+
updateOptions();
- // TODO - per model visualizations load
}
void StgWorldGui::UnLoad()
@@ -318,23 +223,8 @@
{
wf->WriteTupleFloat( window_section, "size", 0, w() );
wf->WriteTupleFloat( window_section, "size", 1, h() );
-
- wf->WriteFloat( window_section, "scale",
canvas->camera.getScale() );
-
- wf->WriteTupleFloat( window_section, "center", 0,
canvas->camera.getX() );
- wf->WriteTupleFloat( window_section, "center", 1,
canvas->camera.getY() );
-
- wf->WriteTupleFloat( window_section, "rotate", 0,
canvas->camera.getPitch() );
- wf->WriteTupleFloat( window_section, "rotate", 1,
canvas->camera.getYaw() );
-
- uint32_t flags = canvas->GetShowFlags();
- wf->WriteInt( window_section, "show_blocks", flags &
STG_SHOW_BLOCKS );
- wf->WriteInt( window_section, "show_grid", flags &
STG_SHOW_GRID );
- wf->WriteInt( window_section, "show_follow", flags &
STG_SHOW_FOLLOW );
- wf->WriteInt( window_section, "show_data", flags &
STG_SHOW_DATA );
- wf->WriteInt( window_section, "show_occupancy", flags &
STG_SHOW_OCCUPANCY );
- wf->WriteInt( window_section, "show_tree", flags &
STG_SHOW_QUADTREE );
- wf->WriteInt( window_section, "show_clock", flags &
STG_SHOW_CLOCK );
+
+ canvas->Save( wf, window_section );
// TODO - per model visualizations save
}
@@ -522,36 +412,7 @@
}
}
-void StgWorldGui::viewToggleCb( Fl_Widget* w, void* p )
-{
- Fl_Menu_Bar* menubar = static_cast<Fl_Menu_Bar*>( w );
- StgCanvas* canvas = static_cast<StgCanvas*>( p );
- char picked[128];
- menubar->item_pathname(picked, sizeof(picked)-1);
-
- //printf("CALLBACK: You picked '%s'\n", picked);
-
- // this is slow and a little ugly, but it's the least hacky approach I
think
- if( strcmp(picked, MITEM_VIEW_DATA ) == 0 ) canvas->InvertView(
STG_SHOW_DATA );
- else if( strcmp(picked, MITEM_VIEW_BLOCKS ) == 0 ) canvas->InvertView(
STG_SHOW_BLOCKS );
- else if( strcmp(picked, MITEM_VIEW_GRID ) == 0 ) canvas->InvertView(
STG_SHOW_GRID );
- else if( strcmp(picked, MITEM_VIEW_FOLLOW ) == 0 ) canvas->InvertView(
STG_SHOW_FOLLOW );
- else if( strcmp(picked, MITEM_VIEW_QUADTREE ) == 0 )
canvas->InvertView( STG_SHOW_QUADTREE );
- else if( strcmp(picked, MITEM_VIEW_OCCUPANCY ) == 0 )
canvas->InvertView( STG_SHOW_OCCUPANCY );
- else if( strcmp(picked, MITEM_VIEW_CLOCK ) == 0 ) canvas->InvertView(
STG_SHOW_CLOCK );
- else if( strcmp(picked, MITEM_VIEW_FOOTPRINTS ) == 0 )
canvas->InvertView( STG_SHOW_FOOTPRINT );
- else if( strcmp(picked, MITEM_VIEW_ARROWS ) == 0 ) canvas->InvertView(
STG_SHOW_ARROWS );
- 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 );
-
- //printf( "value: %d\n", item->value() );
-}
-
void StgWorldGui::viewOptionsCb( Fl_Widget* w, void* p ) {
StgWorldGui* worldGui = static_cast<StgWorldGui*>( p );
@@ -742,7 +603,7 @@
}
void StgWorldGui::updateOptions() {
- std::set<Option*, optComp> options;
+ std::set<Option*, Option::optComp> options;
std::vector<Option*> modOpts;
for( GList* it=update_list; it; it=it->next ) {
modOpts = ((StgModel*)it->data)->getOptions();
Modified: code/stage/trunk/worlds/everything.world
===================================================================
--- code/stage/trunk/worlds/everything.world 2008-06-27 23:52:07 UTC (rev
6706)
+++ code/stage/trunk/worlds/everything.world 2008-06-29 00:35:54 UTC (rev
6707)
@@ -54,16 +54,18 @@
#
define trickedoutpioneer pioneer2dx
(
- sicklaser(
+ sicklaser( alwayson 1
pose [0.030 0.000 0.000 ]
fiducial( range_max 8 range_max_id 5 )
- blobfinder(
+ blobfinder( alwayson 1
channel_count 6
channels [ "red" "blue" "green" "cyan" "yellow" "magenta" ]
)
)
+ camera( alwayson 1 )
+
fiducial_return 17
gripper_return 0
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2008-06-27 23:52:07 UTC (rev 6706)
+++ code/stage/trunk/worlds/fasr.world 2008-06-29 00:35:54 UTC (rev 6707)
@@ -61,7 +61,7 @@
#camera( pose [ 0.000 0.000 0.000 ] width 100 height 100 horizfov 70 vertfov
40 yaw 0 )
ctrl "fasr"
- # say "Autolab"
+ say "Autolab"
)
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