Revision: 7148
http://playerstage.svn.sourceforge.net/playerstage/?rev=7148&view=rev
Author: rtv
Date: 2008-11-15 03:00:57 +0000 (Sat, 15 Nov 2008)
Log Message:
-----------
major changes for 3.1
Modified Paths:
--------------
code/stage/trunk/libstage/model_blinkenlight.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_load.cc
code/stage/trunk/libstage/model_position.cc
code/stage/trunk/libstage/model_ranger.cc
Property Changed:
----------------
code/stage/trunk/libstage/model_blinkenlight.cc
code/stage/trunk/libstage/model_blobfinder.cc
code/stage/trunk/libstage/model_callbacks.cc
code/stage/trunk/libstage/model_camera.cc
code/stage/trunk/libstage/model_fiducial.cc
code/stage/trunk/libstage/model_load.cc
code/stage/trunk/libstage/model_position.cc
code/stage/trunk/libstage/model_props.cc
code/stage/trunk/libstage/model_ranger.cc
code/stage/trunk/libstage/model_wifi.cc
Modified: code/stage/trunk/libstage/model_blinkenlight.cc
===================================================================
--- code/stage/trunk/libstage/model_blinkenlight.cc 2008-11-15 02:48:12 UTC
(rev 7147)
+++ code/stage/trunk/libstage/model_blinkenlight.cc 2008-11-15 03:00:57 UTC
(rev 7148)
@@ -106,7 +106,7 @@
}
-void StgModelBlinkenlight::DataVisualize( StgCamera* cam )
+void StgModelBlinkenlight::DataVisualize( Camera* cam )
{
if( on && showBlinkenData )
{
@@ -115,7 +115,8 @@
gl_pose_shift( &this->pose );
gl_pose_shift( &this->geom.pose );
glLineWidth( 3 );
- LISTMETHOD( this->blocks, StgBlock*, Draw );
+ // TODO
+ //LISTMETHOD( this->blocks, StgBlock*, Draw );
glLineWidth( 1 );
glPopMatrix(); // drop out of local coords
}
Property changes on: code/stage/trunk/libstage/model_blinkenlight.cc
___________________________________________________________________
Added: svn:eol
+ native
Modified: code/stage/trunk/libstage/model_blobfinder.cc
===================================================================
--- code/stage/trunk/libstage/model_blobfinder.cc 2008-11-15 02:48:12 UTC
(rev 7147)
+++ code/stage/trunk/libstage/model_blobfinder.cc 2008-11-15 03:00:57 UTC
(rev 7148)
@@ -108,11 +108,11 @@
g_array_free( colors, true );
}
-static bool blob_match( StgBlock* testblock,
- StgModel* finder,
- const void* dummy )
+static bool blob_match( StgModel* candidate,
+ StgModel*
finder,
+ const void*
dummy )
{
- return( ! finder->IsRelated( testblock->Model() ));
+ return( ! finder->IsRelated( candidate ));
}
@@ -178,9 +178,9 @@
StgModel::Update();
// generate a scan for post-processing into a blob image
+
+ stg_raytrace_result_t* samples = new stg_raytrace_result_t[scan_width];
- stg_raytrace_sample_t* samples = new stg_raytrace_sample_t[scan_width];
-
Raytrace( pan, range, fov, blob_match, NULL, samples, scan_width, false
);
// now the colors and ranges are filled in - time to do blob detection
@@ -191,22 +191,22 @@
// scan through the samples looking for color blobs
for(unsigned int s=0; s < scan_width; s++ )
{
- if( samples[s].block == NULL )
+ if( samples[s].mod == NULL )
continue; // we saw nothing
//if( samples[s].block->Color() != 0xFFFF0000 )
//continue; // we saw nothing
-
+
unsigned int right = s;
- stg_color_t blobcol = samples[s].block->Color();
+ stg_color_t blobcol = samples[s].color;
//printf( "blob start %d color %X\n", blobleft, blobcol );
// loop until we hit the end of the blob
// there has to be a gap of >1 pixel to end a blob
// this avoids getting lots of crappy little blobs
- while( s < scan_width && samples[s].block &&
- ColorMatchIgnoreAlpha(
samples[s].block->Color(), blobcol) )
+ while( s < scan_width && samples[s].mod &&
+ ColorMatchIgnoreAlpha( samples[s].color,
blobcol) )
{
//printf( "%u blobcol %X block %p %s color %X\n", s,
blobcol, samples[s].block, samples[s].block->Model()->Token(),
samples[s].block->Color() );
s++;
@@ -295,7 +295,7 @@
StgModel::Shutdown();
}
-void StgModelBlobfinder::DataVisualize( StgCamera* cam )
+void StgModelBlobfinder::DataVisualize( Camera* cam )
{
if ( !showBlobData )
return;
Property changes on: code/stage/trunk/libstage/model_blobfinder.cc
___________________________________________________________________
Added: svn:eol
+ native
Property changes on: code/stage/trunk/libstage/model_callbacks.cc
___________________________________________________________________
Added: svn:eol
+ native
Modified: code/stage/trunk/libstage/model_camera.cc
===================================================================
--- code/stage/trunk/libstage/model_camera.cc 2008-11-15 02:48:12 UTC (rev
7147)
+++ code/stage/trunk/libstage/model_camera.cc 2008-11-15 03:00:57 UTC (rev
7148)
@@ -19,7 +19,7 @@
Option StgModelCamera::showCameraData( "Show Camera Data", "show_camera", "",
true );
-static const stg_size_t DEFAULT_SIZE = { 0.1, 0.07, 0.05 };
+static const stg_size_t DEFAULT_SIZE( 0.1, 0.07, 0.05 );
static const char DEFAULT_GEOM_COLOR[] = "black";
static const float DEFAULT_HFOV = 70;
static const float DEFAULT_VFOV = 40;
@@ -235,7 +235,7 @@
}
//TODO create lines outlining camera frustrum, then iterate over each depth
measurement and create a square
-void StgModelCamera::DataVisualize( StgCamera* cam )
+void StgModelCamera::DataVisualize( Camera* cam )
{
if( _frame_data == NULL || !showCameraData )
Property changes on: code/stage/trunk/libstage/model_camera.cc
___________________________________________________________________
Added: svn:eol
+ native
Modified: code/stage/trunk/libstage/model_fiducial.cc
===================================================================
--- code/stage/trunk/libstage/model_fiducial.cc 2008-11-15 02:48:12 UTC (rev
7147)
+++ code/stage/trunk/libstage/model_fiducial.cc 2008-11-15 03:00:57 UTC (rev
7148)
@@ -71,6 +71,9 @@
PRINT_DEBUG2( "Constructing StgModelFiducial %d (%s)\n",
id, typestr );
+ // assert that Update() is reentrant for this derived model
+ thread_safe = true;
+
// sensible fiducial defaults
// interval = 200; // common for a SICK LMS200
@@ -100,9 +103,11 @@
g_array_free( data, true );
}
-static bool fiducial_raytrace_match( StgBlock* testblock, StgModel* finder,
const void* dummy )
+static bool fiducial_raytrace_match( StgModel* candidate,
+
StgModel* finder,
+
const void* dummy )
{
- return( ! finder->IsRelated( testblock->Model() ) );
+ return( ! finder->IsRelated( candidate ) );
}
@@ -160,18 +165,15 @@
//printf( "bearing %.2f\n", RTOD(bearing) );
-
- stg_raytrace_sample_t ray;
-
- Raytrace( dtheta,
- max_range_anon,
- fiducial_raytrace_match,
- NULL,
- &ray,
- false );
-
+
+ stg_raytrace_result_t ray = Raytrace( dtheta,
+
max_range_anon,
+
fiducial_raytrace_match,
+
NULL,
+
false );
+
range = ray.range;
- StgModel* hitmod = ray.block->Model();
+ StgModel* hitmod = ray.mod;
// printf( "ray hit %s and was seeking LOS to %s\n",
//hitmod ? hitmod->Token() : "null",
@@ -248,7 +250,7 @@
}
-void StgModelFiducial::DataVisualize( StgCamera* cam )
+void StgModelFiducial::DataVisualize( Camera* cam )
{
if ( !showFiducialData )
return;
Property changes on: code/stage/trunk/libstage/model_fiducial.cc
___________________________________________________________________
Added: svn:eol
+ native
Modified: code/stage/trunk/libstage/model_load.cc
===================================================================
--- code/stage/trunk/libstage/model_load.cc 2008-11-15 02:48:12 UTC (rev
7147)
+++ code/stage/trunk/libstage/model_load.cc 2008-11-15 03:00:57 UTC (rev
7148)
@@ -39,9 +39,9 @@
else
PRINT_ERR1( "Name blank for model %s. Check your
worldfile\n", this->token );
}
-
+
//PRINT_WARN1( "%s::Load", token );
-
+
if( wf->PropertyExists( wf_entity, "origin" ) )
{
stg_geom_t geom = GetGeom();
@@ -79,17 +79,8 @@
vel.z = wf->ReadTupleLength(wf_entity, "velocity", 2, vel.z );
vel.a = wf->ReadTupleAngle(wf_entity, "velocity", 3, vel.a );
this->SetVelocity( vel );
-
- if( vel.x || vel.y || vel.z || vel.a )
- world->StartUpdatingModel( this );
}
-
- if( wf->PropertyExists( wf_entity, "boundary" ))
- {
- this->SetBoundary( wf->ReadInt(wf_entity, "boundary", this->boundary ));
- }
-
if( wf->PropertyExists( wf_entity, "color" ))
{
stg_color_t col = 0xFFFF0000; // red;
@@ -118,148 +109,51 @@
this->SetColor( stg_color_pack( red, green, blue, alpha ));
}
-
+
if( wf->PropertyExists( wf_entity, "bitmap" ) )
{
const char* bitmapfile = wf->ReadString( wf_entity, "bitmap", NULL );
assert( bitmapfile );
- char full[_POSIX_PATH_MAX];
+ if( has_default_block )
+ {
+ blockgroup.Clear();
+ has_default_block = false;
+ }
- if( bitmapfile[0] == '/' )
- strcpy( full, bitmapfile );
- else
- {
- char *tmp = strdup(wf->filename);
- snprintf( full, _POSIX_PATH_MAX,
- "%s/%s", dirname(tmp), bitmapfile );
- free(tmp);
- }
-
- PRINT_DEBUG1( "attempting to load image %s", full );
-
- stg_rotrect_t* rects = NULL;
- unsigned int rect_count = 0;
- unsigned int width, height;
- if( stg_rotrects_from_image_file( full,
- &rects,
- &rect_count,
- &width, &height ) )
- {
- PRINT_ERR1( "failed to load rects from image file \"%s\"",
- full );
- return;
- }
-
- this->UnMap();
- this->ClearBlocks();
-
- //printf( "found %d rects\n", rect_count );
-
- if( rects && (rect_count > 0) )
- {
- //puts( "loading rects" );
- for( unsigned int r=0; r<rect_count; r++ )
- this->AddBlockRect( rects[r].pose.x, rects[r].pose.y,
- rects[r].size.x, rects[r].size.y );
-
- if( this->boundary )
- {
- // add thin bounding blocks
- double epsilon = 0.01;
- this->AddBlockRect(0,0, epsilon, height );
- this->AddBlockRect(0,0, width, epsilon );
- this->AddBlockRect(0, height-epsilon, width, epsilon );
- this->AddBlockRect(width-epsilon,0, epsilon, height );
- }
-
- StgBlock::ScaleList( this->blocks, &this->geom.size );
- this->Map();
- this->NeedRedraw();
-
- g_free( rects );
- }
-
- //printf( "model %s block count %d\n",
- // token, g_list_length( blocks ));
+ //puts( "clearing blockgroup" );
+ //blockgroup.Clear();
+ //puts( "loading bitmap" );
+ blockgroup.LoadBitmap( this, bitmapfile, wf );
}
-
- if( wf->PropertyExists( wf_entity, "blocks" ) )
+
+ if( wf->PropertyExists( wf_entity, "boundary" ))
{
- int blockcount = wf->ReadInt( wf_entity, "blocks", 0 );
+ this->SetBoundary( wf->ReadInt(wf_entity, "boundary", this->boundary ));
- this->UnMap();
- this->ClearBlocks();
+ if( boundary )
+ {
+ //PRINT_WARN1( "setting boundary for %s\n", token );
+
+ blockgroup.CalcSize();
- //printf( "expecting %d blocks\n", blockcount );
+ double epsilon = 0.01;
+ double width = blockgroup.size.x;
+ double height = blockgroup.size.y;
+ double dx = width/2.0;
+ double dy = height/2.0;
+ double dz = blockgroup.size.z;
- char key[256];
- for( int l=0; l<blockcount; l++ )
- {
- snprintf(key, sizeof(key), "block[%d].points", l);
- int pointcount = wf->ReadInt(wf_entity,key,0);
+ // add thin bounding blocks
+ AddBlockRect(-dx,-dy, epsilon, height, dz );
+ AddBlockRect(-dx,-dy, width, epsilon, dz );
+ AddBlockRect(-dx, -dy+height-epsilon, width, epsilon,
dz );
+ AddBlockRect(-dx+width-epsilon,-dy, epsilon, height,
dz );
+ }
+ }
- //printf( "expecting %d points in block %d\n",
- //pointcount, l );
-
- stg_point_t* pts = stg_points_create( pointcount );
-
- int p;
- for( p=0; p<pointcount; p++ ) {
- snprintf(key, sizeof(key), "block[%d].point[%d]", l, p );
-
- pts[p].x = wf->ReadTupleLength(wf_entity, key, 0, 0);
- pts[p].y = wf->ReadTupleLength(wf_entity, key, 1, 0);
-
- //printf( "key %s x: %.2f y: %.2f\n",
- // key, pt.x, pt.y );
- }
-
- // block Z axis
- snprintf(key, sizeof(key), "block[%d].z", l);
-
- stg_meters_t zmin =
- wf->ReadTupleLength(wf_entity, key, 0, 0.0 );
-
- stg_meters_t zmax =
- wf->ReadTupleLength(wf_entity, key, 1, 1.0 );
-
- // block color
- stg_color_t blockcol = this->color;
- bool inherit_color = true;
-
- snprintf(key, sizeof(key), "block[%d].color", l);
-
- const char* colorstr = wf->ReadString( wf_entity, key, NULL );
- if( colorstr )
- {
- blockcol = stg_lookup_color( colorstr );
- inherit_color = false;
- }
-
- this->AddBlock( pts, pointcount, zmin, zmax, blockcol, inherit_color
);
-
- stg_points_destroy( pts );
- }
-
- StgBlock::ScaleList( this->blocks, &this->geom.size );
-
- if( this->boundary )
- {
- // add thin bounding blocks
- double epsilon = 0.001;
- double width = geom.size.x;
- double height = geom.size.y;
- this->AddBlockRect(-width/2.0, -height/2.0, epsilon, height );
- this->AddBlockRect(-width/2.0, -height/2.0, width, epsilon );
- this->AddBlockRect(-width/2.0, height/2.0-epsilon, width, epsilon );
- this->AddBlockRect(width/2.0-epsilon, -height/2.0, epsilon, height );
- }
-
- this->Map();
- }
-
- if( wf->PropertyExists( wf_entity, "mass" ))
+
+ if( wf->PropertyExists( wf_entity, "mass" ))
this->SetMass( wf->ReadFloat(wf_entity, "mass", this->mass ));
if( wf->PropertyExists( wf_entity, "fiducial_return" ))
@@ -301,13 +195,13 @@
if( wf->PropertyExists( wf_entity, "ctrl" ))
{
char* lib = (char*)wf->ReadString(wf_entity, "ctrl", NULL );
-
+
if( !lib )
- puts( "Error - NULL library name" );
+ puts( "Error - NULL library name" );
else
- LoadControllerModule( lib );
+ LoadControllerModule( lib );
}
-
+
if( wf->PropertyExists( wf_entity, "say" ))
this->Say( wf->ReadString(wf_entity, "say", NULL ));
@@ -318,8 +212,10 @@
if( wf->PropertyExists( wf_entity, "alwayson" ))
{
if( wf->ReadInt( wf_entity, "alwayson", 0) > 0 )
- Startup();
+ Startup();
}
+
+ MapWithChildren();
if( this->debug )
printf( "Model \"%s\" is in debug mode\n", token );
@@ -406,6 +302,9 @@
}
fflush(stdout);
+
+ // as we now have a controller, the world needs to call our update function
+ StartUpdating();
}
Property changes on: code/stage/trunk/libstage/model_load.cc
___________________________________________________________________
Added: svn:eol
+ native
Modified: code/stage/trunk/libstage/model_position.cc
===================================================================
--- code/stage/trunk/libstage/model_position.cc 2008-11-15 02:48:12 UTC (rev
7147)
+++ code/stage/trunk/libstage/model_position.cc 2008-11-15 03:00:57 UTC (rev
7148)
@@ -89,6 +89,9 @@
PRINT_DEBUG2( "Constructing StgModelPosition %d (%s)\n",
id, typestr );
+ // assert that Update() is reentrant for this derived model
+ thread_safe = true;
+
// no power consumed until we're subscribed
this->SetWatts( 0 );
@@ -434,6 +437,7 @@
PRINT_DEBUG3( " READING POSITION: [ %.4f %.4f %.4f ]\n",
est_pose.x, est_pose.y, est_pose.a );
+
StgModel::Update();
}
Property changes on: code/stage/trunk/libstage/model_position.cc
___________________________________________________________________
Added: svn:eol
+ native
Property changes on: code/stage/trunk/libstage/model_props.cc
___________________________________________________________________
Added: svn:eol
+ native
Modified: code/stage/trunk/libstage/model_ranger.cc
===================================================================
--- code/stage/trunk/libstage/model_ranger.cc 2008-11-15 02:48:12 UTC (rev
7147)
+++ code/stage/trunk/libstage/model_ranger.cc 2008-11-15 03:00:57 UTC (rev
7148)
@@ -108,6 +108,9 @@
// Set up sensible defaults
+ // assert that Update() is reentrant for this derived model
+ thread_safe = true;
+
stg_color_t col = stg_lookup_color( RANGER_CONFIG_COLOR );
this->SetColor( col );
@@ -255,14 +258,15 @@
}
}
-static bool ranger_match( StgBlock* block, StgModel* finder, const void* dummy
)
+static bool ranger_match( StgModel* candidate,
+ StgModel*
finder, const void* dummy )
{
//printf( "ranger match sees %s %p %d \n",
// block->Model()->Token(), block->Model(),
block->Model()->LaserReturn() );
// Ignore myself, my children, and my ancestors.
- return( block->Model()->GetRangerReturn() &&
- !block->Model()->IsRelated( finder ) );
+ return( candidate->GetRangerReturn() &&
+ !candidate->IsRelated( finder ) );
}
void StgModelRanger::Update( void )
@@ -285,13 +289,11 @@
// TODO - reinstate multi-ray rangers
//for( int r=0; r<sensors[t].ray_count; r++ )
//{
- stg_raytrace_sample_t ray;
- Raytrace( sensors[t].pose,
- sensors[t].bounds_range.max,
- ranger_match,
- NULL,
- &ray );
-
+ stg_raytrace_result_t ray = Raytrace( sensors[t].pose,
+
sensors[t].bounds_range.max,
+
ranger_match,
+
NULL );
+
samples[t] = MAX( ray.range, sensors[t].bounds_range.min );
//sensors[t].error = TODO;
}
@@ -321,7 +323,7 @@
puts( " ]" );
}
-void StgModelRanger::DataVisualize( StgCamera* cam )
+void StgModelRanger::DataVisualize( Camera* cam )
{
if( ! (samples && sensors && sensor_count) )
return;
@@ -381,16 +383,14 @@
}
}
- // draw the filled triangles in transparent blue
+ // draw the filled triangles in transparent pale green
glDepthMask( GL_FALSE );
- PushColor( 0, 1, 0, 0.1 ); // transparent pale green
- //glEnableClientState( GL_VERTEX_ARRAY );
+ PushColor( 0, 1, 0, 0.1 );
glVertexPointer( 3, GL_FLOAT, 0, pts );
glDrawArrays( GL_TRIANGLES, 0, 3 * sensor_count );
// restore state
glDepthMask( GL_TRUE );
- //glDisableClientState( GL_VERTEX_ARRAY );
PopColor();
}
Property changes on: code/stage/trunk/libstage/model_ranger.cc
___________________________________________________________________
Added: svn:eol
+ native
Property changes on: code/stage/trunk/libstage/model_wifi.cc
___________________________________________________________________
Added: svn:eol
+ native
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