Revision: 7280
http://playerstage.svn.sourceforge.net/playerstage/?rev=7280&view=rev
Author: rtv
Date: 2009-01-18 01:56:16 +0000 (Sun, 18 Jan 2009)
Log Message:
-----------
added simple charger and visualizations
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.hh
code/stage/trunk/libstage/powerpack.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
code/stage/trunk/worlds/fasr.world
Added Paths:
-----------
code/stage/trunk/libstage/charger.cc
Modified: code/stage/trunk/libstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstage/CMakeLists.txt 2009-01-18 00:10:21 UTC (rev
7279)
+++ code/stage/trunk/libstage/CMakeLists.txt 2009-01-18 01:56:16 UTC (rev
7280)
@@ -8,6 +8,7 @@
blockgroup.cc
camera.cc
canvas.cc
+ charger.cc
file_manager.cc
file_manager.hh
gl.cc
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2009-01-18 00:10:21 UTC (rev 7279)
+++ code/stage/trunk/libstage/canvas.cc 2009-01-18 01:56:16 UTC (rev 7280)
@@ -898,7 +898,9 @@
for( GList* it=selected_models; it; it=it->next )
((Model*)it->data)->DrawSelected();
-
+ for( GList* it=world->chargers; it; it=it->next )
+ ((Charger*)it->data)->Visualize();
+
// useful debug - puts a point at the origin of each model
//for( GList* it = world->World::children; it; it=it->next )
// ((Model*)it->data)->DrawOriginTree();
Added: code/stage/trunk/libstage/charger.cc
===================================================================
--- code/stage/trunk/libstage/charger.cc (rev 0)
+++ code/stage/trunk/libstage/charger.cc 2009-01-18 01:56:16 UTC (rev
7280)
@@ -0,0 +1,115 @@
+/** charger.cc
+ Simple model of energy storage
+ Richard Vaughan
+ Created 2009.1.15
+ SVN: $Id: stage.hh 7279 2009-01-18 00:10:21Z rtv $
+*/
+
+
+#include "stage_internal.hh"
+
+Charger::Charger( World* world )
+ : world( world ), watts( 1000.0 )
+{
+ printf( "Charger constructed" );
+}
+
+void Charger::ChargeIfContained( PowerPack* pp, Pose pose )
+{
+ if( Contains( pose ) )
+ Charge( pp );
+}
+
+bool Charger::Contains( Pose pose )
+{
+ return( pose.x >= volume.x.min &&
+ pose.x < volume.x.max &&
+ pose.y >= volume.y.min &&
+ pose.y < volume.y.max &&
+ pose.z >= volume.z.min &&
+ pose.z < volume.z.max );
+}
+
+void Charger::Charge( PowerPack* pp )
+{
+ double given = watts * world->interval_sim * 1e-6;
+
+ pp->stored += given;
+
+ // do not exceed capacity
+ pp->stored = MIN( pp->stored, pp->capacity );
+ pp->charging = true;
+ /*
+ printf( "charger %p at [%.2f %.2f] [%.2f %.2f] [%.2f %.2f] gave pack
%p %.3f joules\n",
+ this,
+ volume.x.min,
+ volume.x.max,
+ volume.y.min,
+ volume.y.max,
+ volume.z.min,
+ volume.z.max,
+ pp, given );
+
+ pp->Print( "just charged" );
+ */
+}
+
+void Charger::Visualize()
+{
+
+ glPushMatrix();
+ glPolygonMode( GL_FRONT, GL_FILL );
+ glColor4f( 1, 0.5,0,0.4 );
+ glTranslatef( 0,0,volume.z.min);
+ glRectf( volume.x.min, volume.y.min, volume.x.max, volume.y.max );
+
+ glTranslatef( 0,0,volume.z.max );
+ glRectf( volume.x.min, volume.y.min, volume.x.max, volume.y.max );
+ glPopMatrix();
+
+ glPushMatrix();
+ glPolygonMode( GL_FRONT, GL_LINE );
+ glColor4f( 1, 0.5,0,0.8 );
+ glTranslatef( 0,0,volume.z.min);
+ glRectf( volume.x.min, volume.y.min, volume.x.max, volume.y.max );
+
+ glTranslatef( 0,0,volume.z.max );
+ glRectf( volume.x.min, volume.y.min, volume.x.max, volume.y.max );
+ glPopMatrix();
+
+ // ?
+ glPolygonMode( GL_FRONT, GL_FILL );
+}
+
+void swap( double &a, double &b )
+{
+ double keep = a;
+ a = b;
+ b = keep;
+}
+
+void Charger::Load( Worldfile* wf, int entity )
+{
+ if( wf->PropertyExists( entity, "volume" ) )
+ {
+ volume.x.min = wf->ReadTupleLength( entity, "volume", 0,
volume.x.min );
+ volume.x.max = wf->ReadTupleLength( entity, "volume", 1,
volume.x.max );
+ volume.y.min = wf->ReadTupleLength( entity, "volume", 2,
volume.y.min );
+ volume.y.max = wf->ReadTupleLength( entity, "volume", 3,
volume.y.max );
+ volume.z.min = wf->ReadTupleLength( entity, "volume", 4,
volume.z.min );
+ volume.z.max = wf->ReadTupleLength( entity, "volume", 5,
volume.z.max );
+
+ // force the windings for GL's sake
+ if( volume.x.min > volume.x.max )
+ swap( volume.x.min, volume.x.max );
+
+ if( volume.y.min > volume.y.max )
+ swap( volume.y.min, volume.y.max );
+
+ if( volume.z.min > volume.z.max )
+ swap( volume.z.min, volume.z.max );
+
+ }
+
+ watts = wf->ReadFloat( entity, "watts", watts );
+}
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-01-18 00:10:21 UTC (rev 7279)
+++ code/stage/trunk/libstage/model.cc 2009-01-18 01:56:16 UTC (rev 7280)
@@ -659,22 +659,29 @@
// this->world->sim_time, this->token, this->subs );
// f we're drawing current and a power pack has been installed
- if( power_pack && (watts > 0) )
+ if( power_pack )
{
- // consume energy stored in the power pack
- stg_joules_t consumed = watts * (world->interval_sim * 1e-6);
- power_pack->stored -= consumed;
-
- /*
- printf ( "%s current %.2f consumed %.6f ppack @ %p [ %.2f/%.2f
(%.0f)\n",
- token,
- watts,
- consumed,
- power_pack,
- power_pack->stored,
- power_pack->capacity,
- power_pack->stored /
power_pack->capacity * 100.0 );
- */
+ if( watts > 0 )
+ {
+ // consume energy stored in the power pack
+ stg_joules_t consumed = watts * (world->interval_sim
* 1e-6);
+ power_pack->stored -= consumed;
+
+ /*
+ printf ( "%s current %.2f
consumed %.6f ppack @ %p [ %.2f/%.2f (%.0f)\n",
+ token,
+ watts,
+ consumed,
+ power_pack,
+ power_pack->stored,
+ power_pack->capacity,
+ power_pack->stored /
power_pack->capacity * 100.0 );
+ */
+ }
+
+ // I own this power pack, see if the world wants to recharge it
*/
+ if( power_pack->mod == this )
+ world->TryCharge( power_pack, GetGlobalPose() );
}
CallCallbacks( &hooks.update );
Modified: code/stage/trunk/libstage/model.hh
===================================================================
--- code/stage/trunk/libstage/model.hh 2009-01-18 00:10:21 UTC (rev 7279)
+++ code/stage/trunk/libstage/model.hh 2009-01-18 01:56:16 UTC (rev 7280)
@@ -23,6 +23,10 @@
/** OpenGL visualization of the powerpack state */
void Visualize( Camera* cam );
+
+ /** Print human-readable status on stdout, prefixed with the
+ argument string */
+ void Print( char* prefix );
};
class Visibility
Modified: code/stage/trunk/libstage/powerpack.cc
===================================================================
--- code/stage/trunk/libstage/powerpack.cc 2009-01-18 00:10:21 UTC (rev
7279)
+++ code/stage/trunk/libstage/powerpack.cc 2009-01-18 01:56:16 UTC (rev
7280)
@@ -2,23 +2,28 @@
Simple model of energy storage
Richard Vaughan
Created 2009.1.15
- $Id$
+ SVN: $Id: stage.hh 7279 2009-01-18 00:10:21Z rtv $
*/
#include "stage_internal.hh"
PowerPack::PowerPack( Model* mod ) :
- mod( mod), stored( 0.0 ), capacity( 0.0 )
+ mod( mod), stored( 0.0 ), capacity( 0.0 ), charging( false )
{
// nothing to do
};
+void PowerPack::Print( char* prefix )
+{
+ printf( "%s stored %.2f/%.2f joules\n", prefix, stored, capacity );
+}
+
/** OpenGL visualization of the powerpack state */
void PowerPack::Visualize( Camera* cam )
{
const double height = 0.5;
- const double width = 0.3;
+ const double width = 0.2;
double percent = stored/capacity * 100.0;
@@ -42,13 +47,25 @@
// outline the charge-o-meter
glTranslatef( 0,0,0.001 );
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
+
glColor4f( 0,0,0,0.7 );
+
glRectf( 0,0,width, height );
-
+
glBegin( GL_LINES );
glVertex2f( 0, fullness );
glVertex2f( width, fullness );
glEnd();
+
+ if( charging )
+ {
+ glLineWidth( 6.0 );
+ glColor4f( 1,0,0,0.7 );
+
+ glRectf( 0,0,width, height );
+
+ glLineWidth( 1.0 );
+ }
// draw the percentage
//gl_draw_string( -0.2, 0, 0, buf );
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-01-18 00:10:21 UTC (rev 7279)
+++ code/stage/trunk/libstage/stage.hh 2009-01-18 01:56:16 UTC (rev 7280)
@@ -809,7 +809,24 @@
class Region;
class SuperRegion;
class BlockGroup;
+ class PowerPack;
+ /// %Charger class
+ class Charger
+ {
+ World* world;
+ stg_watts_t watts;
+ stg_bounds3d_t volume;
+
+ public:
+ Charger( World* world );
+ void ChargeIfContained( PowerPack* pp, Pose pose );
+ bool Contains( Pose pose );
+ void Charge( PowerPack* pp );
+ void Visualize();
+ void Load( Worldfile* wf, int entity );
+ };
+
/// %World class
class World : public Ancestor
{
@@ -817,7 +834,8 @@
friend class Block;
//friend class StgTime;
friend class Canvas;
-
+ friend class Charger;
+
private:
static GList* world_list; ///< all the worlds that exist
@@ -825,6 +843,7 @@
static void UpdateCb( World* world);
static unsigned int next_id; ///<initially zero, used to allocate unique
sequential world ids
+ GList* chargers;
bool destroy;
bool dirty; ///< iff true, a gui redraw would be required
GHashTable* models_by_name; ///< the models that make up the world,
indexed by name
@@ -866,6 +885,7 @@
void LoadModel( Worldfile* wf, int entity, GHashTable* entitytable );
void LoadBlock( Worldfile* wf, int entity, GHashTable* entitytable );
void LoadBlockGroup( Worldfile* wf, int entity, GHashTable* entitytable );
+ void LoadCharger( Worldfile* wf, int entity );
SuperRegion* AddSuperRegion( const stg_point_int_t& coord );
SuperRegion* GetSuperRegion( const stg_point_int_t& coord );
@@ -982,6 +1002,8 @@
void CancelQuit(){ quit = false; }
void CancelQuitAll(){ quit_all = false; }
+ void TryCharge( PowerPack* pp, Pose pose );
+
/** Get the resolution in pixels-per-metre of the underlying
discrete raytracing model */
double Resolution(){ return ppm; };
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-01-18 00:10:21 UTC (rev 7279)
+++ code/stage/trunk/libstage/world.cc 2009-01-18 01:56:16 UTC (rev 7280)
@@ -69,6 +69,7 @@
double ppm )
:
// private
+ chargers( NULL ),
destroy( false ),
dirty( true ),
models_by_name( g_hash_table_new( g_str_hash, g_str_equal ) ),
@@ -310,20 +311,22 @@
for( int entity = 1; entity < wf->GetEntityCount(); entity++ )
{
const char *typestr = (char*)wf->GetEntityType(entity);
-
+
// don't load window entries here
if( strcmp( typestr, "window" ) == 0 )
- {
- /* do nothing here */
- }
+ {
+ /* do nothing here */
+ }
//else if( strcmp( typestr, "blockgroup" ) == 0 )
//LoadBlockGroup( wf, entity, entitytable );
else if( strcmp( typestr, "block" ) == 0 )
- LoadBlock( wf, entity, entitytable );
- else
- LoadModel( wf, entity, entitytable );
+ LoadBlock( wf, entity, entitytable );
+ else if( strcmp( typestr, "charger" ) == 0 )
+ LoadCharger( wf, entity );
+ else
+ LoadModel( wf, entity, entitytable );
}
-
+
// warn about unused WF lines
wf->WarnUnused();
@@ -342,7 +345,16 @@
putchar( '\n' );
}
+void World::LoadCharger( Worldfile* wf, int entity )
+{
+ Charger* chg = new Charger( this );
+
+ chargers = g_list_prepend( chargers, chg );
+ chg->Load( wf, entity );
+}
+
+
// delete a model from the hash table
static void destroy_model( gpointer dummy1, Model* mod, gpointer dummy2 )
{
@@ -916,5 +928,16 @@
extent.z.max = MAX( extent.z.max, pt.z );
}
+void World::TryCharge( PowerPack* pack, Pose pose )
+{
+ pack->charging = false;
+ // see if the pose lies within any of the charging rectangles
+ for( GList* it = chargers; it; it = it->next )
+ {
+ Charger* chg = (Charger*)it->data;
+ chg->ChargeIfContained( pack, pose );
+ }
+}
+
Modified: code/stage/trunk/worlds/fasr.world
===================================================================
--- code/stage/trunk/worlds/fasr.world 2009-01-18 00:10:21 UTC (rev 7279)
+++ code/stage/trunk/worlds/fasr.world 2009-01-18 01:56:16 UTC (rev 7280)
@@ -7,7 +7,7 @@
include "sick.inc"
interval_sim 100 # simulation timestep in milliseconds
-interval_real 00 # real-time interval between simulation updates in
milliseconds
+interval_real 0 # real-time interval between simulation updates in
milliseconds
paused 1
resolution 0.02
@@ -20,9 +20,9 @@
# configure the GUI window
window
(
- size [ 600.000 600.000 ]
+ size [ 600.000 599.000 ]
- center [ -0.521 -0.218 ]
+ center [ -0.424 -0.218 ]
rotate [ 0 0 ]
scale 30.883
@@ -45,6 +45,18 @@
bitmap "bitmaps/cave.png"
)
+charger
+(
+ volume [ 5 6 -2 -3 0 0.1 ]
+ watts 200
+)
+
+charger
+(
+ volume [ 5 6 -4 -5 0 0.1 ]
+ watts 200
+)
+
zone
(
color "green"
@@ -61,12 +73,6 @@
ctrl "sink"
)
-#charger
-#(
-# pose
-#
-#)
-
define autorob pioneer2dx
(
sicklaser( samples 32 range_max 5 laser_return 2 watts 30 )
@@ -78,9 +84,9 @@
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 [5.664 5.938 0 107.666] )
autorob( pose [7.016 6.428 0 -128.279] )
-autorob( pose [5.911 4.040 0 -97.047] )
+autorob( pose [5.750 4.137 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] )
@@ -88,13 +94,13 @@
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 [4.374 5.163 0 -147.713] )
+autorob( pose [4.999 4.230 0 -125.236] )
+autorob( pose [4.007 4.249 0 78.789] )
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 [5.940 6.768 0 77.301] )
#autorob( pose [7.122 4.175 0 -31.440] )
#autorob( pose [6.203 6.963 0 2.937] )
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