Revision: 7156
http://playerstage.svn.sourceforge.net/playerstage/?rev=7156&view=rev
Author: rtv
Date: 2008-11-17 23:06:46 +0000 (Mon, 17 Nov 2008)
Log Message:
-----------
reduced CPU use on idle, and eliminated superfluous screen redraws - some
models may need to be tweaked to force screen updates in some unusual situations
Modified Paths:
--------------
code/stage/trunk/libstage/blockgroup.cc
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/worldgui.cc
code/stage/trunk/worlds/benchmark/cave.world
code/stage/trunk/worlds/benchmark/hospital.world
code/stage/trunk/worlds/fasr.world
code/stage/trunk/worlds/simple.world
Modified: code/stage/trunk/libstage/blockgroup.cc
===================================================================
--- code/stage/trunk/libstage/blockgroup.cc 2008-11-17 21:08:21 UTC (rev
7155)
+++ code/stage/trunk/libstage/blockgroup.cc 2008-11-17 23:06:46 UTC (rev
7156)
@@ -176,9 +176,7 @@
else
blk->DrawSolid();
}
-
- // LISTMETHOD( blocks, StgBlock*, DrawSolid );
-
+
glDepthMask(GL_TRUE);
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2008-11-17 21:08:21 UTC (rev 7155)
+++ code/stage/trunk/libstage/canvas.cc 2008-11-17 23:06:46 UTC (rev 7156)
@@ -25,20 +25,23 @@
static const int checkImageHeight = 2;
static GLubyte checkImage[checkImageHeight][checkImageWidth][4];
static GLuint texName;
+static bool blur = true;
+
void StgCanvas::TimerCallback( StgCanvas* c )
{
- c->redraw();
+ if( c->world->dirty )
+ {
+ //puts( "timer redraw" );
+ c->redraw();
+ c->world->dirty = false;
+ }
Fl::repeat_timeout(((double)c->interval/1000),
(Fl_Timeout_Handler)StgCanvas::TimerCallback,
c);
}
-
-
-
-
StgCanvas::StgCanvas( StgWorldGui* world, int x, int y, int w, int h) :
Fl_Gl_Window(x,y,w,h),
// initialize Option objects
@@ -76,13 +79,17 @@
startx = starty = -1;
interval = 50; //msec between redraws
+
+ // enable accumulation buffer
+ mode( mode() | FL_ACCUM );
+ assert( can_do( FL_ACCUM ) );
graphics = true;
- // // start the timer that causes regular redraws
- Fl::add_timeout( ((double)interval/1000),
-
(Fl_Timeout_Handler)StgCanvas::TimerCallback,
- this);
+// // // start the timer that causes regular redraws
+// Fl::add_timeout( ((double)interval/1000),
+//
(Fl_Timeout_Handler)StgCanvas::TimerCallback,
+// this);
GLenum status;
@@ -183,7 +190,9 @@
{
last_selection = mod;
selected_models = g_list_prepend( selected_models, mod );
+
// mod->Disable();
+ redraw();
}
}
@@ -196,6 +205,7 @@
selected_models =
g_list_remove_link( selected_models, link );
// mod->Enable();
+ redraw();
}
}
}
@@ -415,6 +425,19 @@
{
case 'p': // pause
world->TogglePause();
+
+ if( ! world->paused )
+ {
+ // // start the timer that causes regular
redraws
+ Fl::add_timeout( ((double)interval/1000),
+
(Fl_Timeout_Handler)StgCanvas::TimerCallback,
+
this);
+ }
+ else
+ { // remove the timeout
+ Fl::remove_timeout(
(Fl_Timeout_Handler)StgCanvas::TimerCallback );
+ }
+
break;
case ' ': // space bar
@@ -503,16 +526,14 @@
glColor3f( 1.0, 1.0, 1.0 );
glBegin(GL_QUADS);
-
- glTexCoord2f( bounds.x.min/2.0, bounds.y.min/2.0 );
- glVertex2f( bounds.x.min, bounds.y.min );
- glTexCoord2f( bounds.x.max/2.0, bounds.y.min/2.0);
- glVertex2f( bounds.x.max, bounds.y.min );
- glTexCoord2f( bounds.x.max/2.0, bounds.y.max/2.0 );
- glVertex2f( bounds.x.max, bounds.y.max );
- glTexCoord2f( bounds.x.min/2.0, bounds.y.max/2.0 );
- glVertex2f( bounds.x.min, bounds.y.max );
-
+ glTexCoord2f( bounds.x.min/2.0, bounds.y.min/2.0 );
+ glVertex2f( bounds.x.min, bounds.y.min );
+ glTexCoord2f( bounds.x.max/2.0, bounds.y.min/2.0);
+ glVertex2f( bounds.x.max, bounds.y.min );
+ glTexCoord2f( bounds.x.max/2.0, bounds.y.max/2.0 );
+ glVertex2f( bounds.x.max, bounds.y.max );
+ glTexCoord2f( bounds.x.min/2.0, bounds.y.max/2.0 );
+ glVertex2f( bounds.x.min, bounds.y.max );
glEnd();
glDisable(GL_TEXTURE_2D);
@@ -628,10 +649,6 @@
glPopMatrix();
}
- if( showGrid )
- DrawGlobalGrid();
- else
- DrawFloor();
if( showFootprints )
{
@@ -642,10 +659,95 @@
}
glEnable( GL_DEPTH_TEST );
}
+
+ if( showGrid )
+ DrawGlobalGrid();
+ else
+ DrawFloor();
if( showBlocks )
- DrawBlocks();
-
+ DrawBlocks();
+
+
+// MOTION BLUR
+// if( showBlocks )
+// {
+// DrawBlocks();
+
+// static float count = 0;
+
+// if( ! blur )
+// {
+// blur = true;
+// glClear( GL_ACCUM_BUFFER_BIT | GL_COLOR_BUFFER_BIT |
GL_DEPTH_BUFFER_BIT );
+// glAccum( GL_LOAD, 1.0 );
+// }
+// else
+// {
+// glAccum( GL_MULT, 0.9 );
+// glAccum( GL_ACCUM, 0.1 );
+
+// glAccum( GL_RETURN, 1.1 );
+
+// DrawBlocks(); // outline at current location
+// }
+// }
+
+// GRAY TRAILS
+// if( showBlocks )
+// {
+
+// static float count = 0;
+
+// if( ! blur )
+// {
+// blur = true;
+// glClear( GL_ACCUM_BUFFER_BIT );
+// DrawBlocks();
+// glAccum( GL_LOAD, 1.0 );
+// }
+// else
+// {
+// glAccum( GL_MULT, 0.9 );
+
+// DrawBlocks();
+
+// glAccum( GL_ACCUM, 0.1);
+
+// glAccum( GL_RETURN, 1.0 );
+
+// DrawBlocks();
+// }
+// }
+
+// PRETTY BLACK
+// if( showBlocks )
+// {
+
+// static float count = 0;
+
+// if( ! blur )
+// {
+// blur = true;
+// glClear( GL_ACCUM_BUFFER_BIT );
+// DrawBlocks();
+// glAccum( GL_LOAD, 1.0 );
+// }
+// else
+// {
+// glAccum( GL_MULT, 0.9 );
+// glAccum( GL_RETURN, 1.0 );
+
+// DrawBlocks();
+
+// glAccum( GL_ACCUM, 0.1);
+
+// glAccum( GL_RETURN, 1.0 );
+
+// DrawBlocks();
+// }
+// }
+
if( showTrailRise )
{
for( std::multimap< float, StgModel* >::reverse_iterator i =
ordered.rbegin(); i != ordered.rend(); i++ ) {
@@ -908,6 +1010,12 @@
showScreenshots.Load( wf, sec );
pCamOn.Load( wf, sec );
+ if( ! world->paused )
+ // // start the timer that causes regular redraws
+ Fl::add_timeout( ((double)interval/1000),
+
(Fl_Timeout_Handler)StgCanvas::TimerCallback,
+ this);
+
invalidate(); // we probably changed something
}
@@ -937,6 +1045,9 @@
void StgCanvas::draw()
{
+// static unsigned long calls=0;
+// printf( "Draw calls %lu\n", ++calls );
+
static bool loaded_texture = false;
//Enable the following to debug camera model
@@ -964,6 +1075,8 @@
glEnableClientState( GL_VERTEX_ARRAY );
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
+ blur = false;
+
//TODO find a better home for loading textures
if( loaded_texture == false )
{
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2008-11-17 21:08:21 UTC (rev 7155)
+++ code/stage/trunk/libstage/model.cc 2008-11-17 23:06:46 UTC (rev 7156)
@@ -159,7 +159,6 @@
parent(parent),
type(type),
id( StgModel::count++ ),
- gpose_dirty(true),
trail( g_array_new( false, false, sizeof(stg_trail_item_t) )),
blocks_dl(0),
data_fresh(false),
@@ -553,28 +552,20 @@
{
//printf( "model %s global pose ", token );
- // if( this->gpose_dirty )
- {
- stg_pose_t parent_pose;
-
- // find my parent's pose
- if( this->parent )
- {
- parent_pose = parent->GetGlobalPose();
- stg_pose_sum( &global_pose, &parent_pose, &pose );
-
- // we are on top of our parent
- global_pose.z += parent->geom.size.z;
- }
- else
- memcpy( &global_pose, &pose, sizeof(stg_pose_t));
+ stg_pose_t parent_pose;
+
+ // find my parent's pose
+ if( this->parent )
+ {
+ parent_pose = parent->GetGlobalPose();
+ stg_pose_sum( &global_pose, &parent_pose, &pose );
- this->gpose_dirty = false;
- //printf( " WORK " );
- }
- //else
- //printf( " CACHED " );
-
+ // we are on top of our parent
+ global_pose.z += parent->geom.size.z;
+ }
+ else
+ memcpy( &global_pose, &pose, sizeof(stg_pose_t));
+
// PRINT_DEBUG4( "GET GLOBAL POSE [x:%.2f y:%.2f z:%.2f a:%.2f]",
// global_pose.x,
// global_pose.y,
@@ -1301,15 +1292,17 @@
if( parent )
parent->NeedRedraw();
+ else
+ world->NeedRedraw();
}
-void StgModel::GPoseDirtyTree( void )
-{
- this->gpose_dirty = true; // our global pose may have changed
+// void StgModel::GPoseDirtyTree( void )
+// {
+// this->gpose_dirty = true; // our global pose may have changed
- for( GList* it = this->children; it; it=it->next )
- ((StgModel*)it->data)->GPoseDirtyTree();
-}
+// for( GList* it = this->children; it; it=it->next )
+// ((StgModel*)it->data)->GPoseDirtyTree();
+// }
void StgModel::SetPose( stg_pose_t pose )
{
@@ -1329,10 +1322,11 @@
this->pose.a = normalize(this->pose.a);
this->NeedRedraw();
- this->GPoseDirtyTree(); // global pose may have changed
this->map_caches_are_invalid = true;
MapWithChildren();
+
+ world->dirty = true;
}
// register a model change even if the pose didn't actually change
@@ -1365,8 +1359,6 @@
// geom->pose.x, geom->pose.y, geom->pose.a,
// geom->size.x, geom->size.y );
- this->gpose_dirty = true;
-
UnMapWithChildren();
this->geom = geom;
@@ -1553,8 +1545,11 @@
if( hitmod )
pose = startpose; // move failed - put me back where I started
else
- CommitTestedPose(); // shift anyrecursively commit to blocks to the
new pose
-
+ {
+ CommitTestedPose(); // shift anyrecursively commit to blocks to
the new pose
+ world->dirty = true; // need redraw
+ }
+
return hitmod;
}
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2008-11-17 21:08:21 UTC (rev 7155)
+++ code/stage/trunk/libstage/stage.hh 2008-11-17 23:06:46 UTC (rev 7156)
@@ -883,6 +883,9 @@
/** StgWorld::quit is set true when this simulation time is reached */
stg_usec_t quit_time;
+ // hint that the world needs to be redrawn if a GUI is attached
+ void NeedRedraw(){ dirty = true; };
+
void LoadModel( Worldfile* wf, int entity, GHashTable* entitytable );
void LoadBlock( Worldfile* wf, int entity, GHashTable* entitytable );
void LoadBlockGroup( Worldfile* wf, int entity, GHashTable*
entitytable );
Modified: code/stage/trunk/libstage/worldgui.cc
===================================================================
--- code/stage/trunk/libstage/worldgui.cc 2008-11-17 21:08:21 UTC (rev
7155)
+++ code/stage/trunk/libstage/worldgui.cc 2008-11-17 23:06:46 UTC (rev
7156)
@@ -298,20 +298,35 @@
Fl::check();
timenow = RealTimeNow();
- interval = timenow - real_time_of_last_update; // guaranteed to be >= 0
- double sleeptime = (double)interval_real - (double)interval;
-
- if( sleeptime > 0 )
- usleep( (stg_usec_t)MIN(sleeptime,100000) ); // check the GUI at 10Hz min
-
+ // if we're attempting to match some real time interval
+ //if( interval_real > 0 )
+ {
+ interval = timenow - real_time_of_last_update; // guaranteed
to be >= 0
+
+ double sleeptime = (double)interval_real - (double)interval;
+
+ if( paused ) sleeptime = 20000; // spare the CPU if we're
paused
+
+ // printf( "real %.2f interval %.2f sleeptime %.2f\n",
+ // (double)interval_real,
+ // (double)interval,
+ // sleeptime );
+
+ if( sleeptime > 0 )
+ usleep( (stg_usec_t)MIN(sleeptime,20000) ); // check
the GUI at 10Hz min
+ }
} while( interval < interval_real );
+ // if( paused ) // gentle on the CPU when paused
+ //usleep( 10000 );
interval_log[updates%INTERVAL_LOG_LEN] = timenow - real_time_of_last_update;
real_time_of_last_update = timenow;
+ //puts( "FINSHED UPDATE" );
+
return val;
}
Modified: code/stage/trunk/worlds/benchmark/cave.world
===================================================================
--- code/stage/trunk/worlds/benchmark/cave.world 2008-11-17 21:08:21 UTC
(rev 7155)
+++ code/stage/trunk/worlds/benchmark/cave.world 2008-11-17 23:06:46 UTC
(rev 7156)
@@ -11,7 +11,7 @@
interval_real 0 # real-time interval between simulation updates in
milliseconds
paused 1
-threadpool 2
+threadpool 0
# configure the GUI window
window
Modified: code/stage/trunk/worlds/benchmark/hospital.world
===================================================================
--- code/stage/trunk/worlds/benchmark/hospital.world 2008-11-17 21:08:21 UTC
(rev 7155)
+++ code/stage/trunk/worlds/benchmark/hospital.world 2008-11-17 23:06:46 UTC
(rev 7156)
@@ -23,11 +23,8 @@
rotate [ 38.000 -36.500 ]
scale 12.611
-# size [ 640 480 ]
-# center [929.990 -377.040]
-# rotate [ 0.000 0.000 ]
-# scale 20.806
show_data 0
+ interval 200
)
# load an environment bitmap
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2008-11-17 21:08:21 UTC (rev 7155)
+++ code/stage/trunk/worlds/fasr.world 2008-11-17 23:06:46 UTC (rev 7156)
@@ -8,13 +8,14 @@
interval_sim 100 # simulation timestep in milliseconds
interval_real 0 # real-time interval between simulation updates in
milliseconds
-paused 1
+paused 0
resolution 0.02
# threads don't help here as the per-robot update is very fast
threadpool 0
+
# configure the GUI window
window
(
@@ -65,27 +66,27 @@
ctrl "fasr"
)
-autorob( pose [5.133 4.841 0 -179.934] )
-autorob( pose [6.381 5.316 0 -85.327] )
-autorob( pose [5.972 4.982 0 -41.506] )
-autorob( pose [7.627 6.296 0 -120.309] )
-autorob( pose [5.509 6.440 0 -104.877] )
-autorob( pose [7.024 6.433 0 125.724] )
-autorob( pose [5.688 4.291 0 -12.027] )
-autorob( pose [4.887 6.172 0 -144.634] )
-autorob( pose [7.135 5.076 0 -162.054] )
-autorob( pose [7.409 5.691 0 146.028] )
+autorob( pose [5.099 4.804 0 -73.937] )
+autorob( pose [6.471 5.304 0 14.941] )
+autorob( pose [5.937 4.858 0 -147.503] )
+autorob( pose [7.574 6.269 0 -111.715] )
+autorob( pose [5.664 5.938 0 -51.799] )
+autorob( pose [7.016 6.428 0 -128.279] )
+autorob( pose [5.911 4.040 0 -97.047] )
+autorob( pose [4.909 6.097 0 -44.366] )
+autorob( pose [6.898 4.775 0 -117.576] )
+autorob( pose [7.012 5.706 0 129.497] )
-autorob( pose [6.752 6.937 0 -103.060] )
-autorob( pose [6.546 4.535 0 -153.940] )
-autorob( pose [5.642 7.205 0 97.307] )
-autorob( pose [4.386 5.877 0 -35.838] )
-autorob( pose [4.892 4.191 0 63.840] )
-autorob( pose [4.516 5.050 0 -76.859] )
-autorob( pose [5.354 5.353 0 -63.787] )
-autorob( pose [7.566 6.939 0 57.242] )
-autorob( pose [7.604 4.795 0 -147.661] )
-autorob( pose [6.284 3.807 0 -145.026] )
+autorob( pose [6.616 6.893 0 170.743] )
+autorob( pose [6.451 4.189 0 -61.453] )
+autorob( pose [5.098 6.788 0 -61.295] )
+autorob( pose [4.374 5.163 0 -90.417] )
+autorob( pose [4.999 4.230 0 -42.157] )
+autorob( pose [4.331 4.217 0 -95.000] )
+autorob( pose [5.440 5.317 0 -26.545] )
+autorob( pose [7.518 6.973 0 163.239] )
+autorob( pose [7.559 4.764 0 -139.066] )
+autorob( pose [4.839 3.595 0 -179.567] )
#autorob( pose [7.122 4.175 0 -31.440] )
#autorob( pose [6.203 6.963 0 2.937] )
Modified: code/stage/trunk/worlds/simple.world
===================================================================
--- code/stage/trunk/worlds/simple.world 2008-11-17 21:08:21 UTC (rev
7155)
+++ code/stage/trunk/worlds/simple.world 2008-11-17 23:06:46 UTC (rev
7156)
@@ -7,7 +7,7 @@
include "sick.inc"
interval_sim 100 # simulation timestep in milliseconds
-interval_real 50 # real-time interval between simulation updates in
milliseconds
+interval_real 0 # real-time interval between simulation updates in
milliseconds
paused 1
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