From: <rt...@us...> - 2009-02-16 03:01:12
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Revision: 7336 http://playerstage.svn.sourceforge.net/playerstage/?rev=7336&view=rev Author: rtv Date: 2009-02-16 01:59:06 +0000 (Mon, 16 Feb 2009) Log Message: ----------- working on simplifying GUI option code Modified Paths: -------------- code/stage/trunk/libstage/CMakeLists.txt code/stage/trunk/libstage/model.cc code/stage/trunk/libstage/model_draw.cc code/stage/trunk/libstage/model_laser.cc code/stage/trunk/libstage/option.cc code/stage/trunk/libstage/option.hh code/stage/trunk/libstage/stage.hh code/stage/trunk/libstage/world.cc code/stage/trunk/libstage/worldgui.cc code/stage/trunk/worlds/fasr.world Modified: code/stage/trunk/libstage/CMakeLists.txt =================================================================== --- code/stage/trunk/libstage/CMakeLists.txt 2009-02-16 00:02:13 UTC (rev 7335) +++ code/stage/trunk/libstage/CMakeLists.txt 2009-02-16 01:59:06 UTC (rev 7336) @@ -4,7 +4,6 @@ include_directories(${PROJECT_BINARY_DIR}) set( stageSrcs ancestor.cc - model_gripper.cc block.cc blockgroup.cc camera.cc @@ -21,6 +20,7 @@ model_camera.cc model_fiducial.cc model_getset.cc + model_gripper.cc model_laser.cc model_load.cc model_position.cc Modified: code/stage/trunk/libstage/model.cc =================================================================== --- code/stage/trunk/libstage/model.cc 2009-02-16 00:02:13 UTC (rev 7335) +++ code/stage/trunk/libstage/model.cc 2009-02-16 01:59:06 UTC (rev 7336) @@ -1019,3 +1019,11 @@ return NULL; } + +void Model::RegisterOption( Option* opt ) +{ + drawOptions.push_back( opt ); + + if( world->IsGUI() ) + world->RegisterOption( opt ); +} Modified: code/stage/trunk/libstage/model_draw.cc =================================================================== --- code/stage/trunk/libstage/model_draw.cc 2009-02-16 00:02:13 UTC (rev 7335) +++ code/stage/trunk/libstage/model_draw.cc 2009-02-16 01:59:06 UTC (rev 7336) @@ -263,7 +263,11 @@ Canvas* canvas = world_gui->GetCanvas(); std::map< std::string, Option* >::iterator i = canvas->_custom_options.find( custom_visual->name() ); if( i == canvas->_custom_options.end() ) { - Option* op = new Option( custom_visual->name(), custom_visual->name(), "", true, world_gui ); + Option* op = new Option( custom_visual->name(), + custom_visual->name(), + "", + true, + world_gui ); canvas->_custom_options[ custom_visual->name() ] = op; registerOption( op ); } Modified: code/stage/trunk/libstage/model_laser.cc =================================================================== --- code/stage/trunk/libstage/model_laser.cc 2009-02-16 00:02:13 UTC (rev 7335) +++ code/stage/trunk/libstage/model_laser.cc 2009-02-16 01:59:06 UTC (rev 7336) @@ -108,10 +108,12 @@ if( world->IsGUI() ) data_dl = glGenLists(1); - registerOption( &showLaserData ); - registerOption( &showLaserStrikes ); - registerOption( &showLaserFov ); - registerOption( &showLaserBeams ); + RegisterOption( &showLaserData ); + RegisterOption( &showLaserStrikes ); + RegisterOption( &showLaserFov ); + RegisterOption( &showLaserBeams ); + + //AddCustomVisualizer( new LaserScanVis( this )); } @@ -420,3 +422,10 @@ glPopMatrix(); } + + +// void ModelLaser::LaserScanVis::DataVisualize( Camera* cam ) +// { +// puts( "LSV DataVisualize" ); +// laser->DataVisualize( cam ); +// } Modified: code/stage/trunk/libstage/option.cc =================================================================== --- code/stage/trunk/libstage/option.cc 2009-02-16 00:02:13 UTC (rev 7335) +++ code/stage/trunk/libstage/option.cc 2009-02-16 01:59:06 UTC (rev 7336) @@ -13,7 +13,8 @@ shortcut( key ), menu( NULL ), menuCb( NULL ), -_world( world ) +_world( world ), +htname( strdup(n.c_str()) ) { } Fl_Menu_Item* getMenuItem( Fl_Menu_* menu, int i ) { Modified: code/stage/trunk/libstage/option.hh =================================================================== --- code/stage/trunk/libstage/option.hh 2009-02-16 00:02:13 UTC (rev 7335) +++ code/stage/trunk/libstage/option.hh 2009-02-16 01:59:06 UTC (rev 7336) @@ -55,6 +55,8 @@ static void toggleCb( Fl_Widget* w, void* p ); void Load( Worldfile* wf, int section ); void Save( Worldfile* wf, int section ); + + const char* htname; }; } Modified: code/stage/trunk/libstage/stage.hh =================================================================== --- code/stage/trunk/libstage/stage.hh 2009-02-16 00:02:13 UTC (rev 7335) +++ code/stage/trunk/libstage/stage.hh 2009-02-16 01:59:06 UTC (rev 7336) @@ -891,6 +891,7 @@ stg_bounds3d_t extent; ///< Describes the 3D volume of the world bool graphics;///< true iff we have a GUI stg_usec_t interval_sim; ///< temporal resolution: microseconds that elapse between simulated time steps + GHashTable* option_table; ///< GUI options (toggles) registered by models GList* powerpack_list; ///< List of all the powerpacks attached to models in the world GList* ray_list;///< List of rays traced for debug visualization stg_usec_t sim_time; ///< the current sim time in this world in ms @@ -1051,6 +1052,9 @@ /** Return the number of times the world has been updated. */ long unsigned int GetUpdateCount() { return updates; } + + /// Register an Option for pickup by the GUI + void RegisterOption( Option* opt ); }; class Block @@ -1376,7 +1380,7 @@ stg_usec_t real_time_of_last_update; void UpdateOptions(); - + // static callback functions static void windowCb( Fl_Widget* w, void* p ); static void fileLoadCb( Fl_Widget* w, void* p ); @@ -1507,8 +1511,7 @@ virtual const std::string& name() = 0; //must return a name for visualization (careful not to return stack-memory) }; - - + /* Hooks for attaching special callback functions (not used as variables - we just need unique addresses for them.) */ class CallbackHooks @@ -1534,46 +1537,6 @@ void Load( Worldfile* wf, int wf_entity ); }; - // class Option { - // private: - // friend bool compare( const Option* lhs, const Option* rhs ); - - // std::string optName; - // bool value; - // /** worldfile entry string for loading and saving this value */ - // std::string wf_token; - // std::string shortcut; - // Fl_Menu_* menu; - // int menuIndex; - // Fl_Callback* menuCb; - // Fl_Widget* menuCbWidget; - - // public: - // Option( std::string n, std::string tok, std::string key, bool v, WorldGui* worldgui ); - - // 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 ); - // void invert() { set( !value ); } - - // // 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); } - // }; - - - // void createMenuItem( Fl_Menu_Bar* menu, std::string path ); - // void menuCallback( Fl_Callback* cb, Fl_Widget* w ); - // static void toggleCb( Fl_Widget* w, void* p ); - // void Load( Worldfile* wf, int section ); - // void Save( Worldfile* wf, int section ); - // }; - - /// %Model class class Model : public Ancestor { @@ -1720,8 +1683,8 @@ protected: /// Register an Option for pickup by the GUI - void registerOption( Option* opt ) - { drawOptions.push_back( opt ); } + void RegisterOption( Option* opt ); + void registerOption( Option* opt ) { RegisterOption( opt) ; }; GList* AppendTouchingModels( GList* list ); //void AddTouchingModelsToList( GList* list ); @@ -1872,8 +1835,10 @@ virtual ~Model(); void Say( const char* str ); - /** Attach a user supplied visualization to a model */ + + /** Attach a user supplied visualization to a model. */ void AddCustomVisualizer( CustomVisualizer* custom_visual ); + /** remove user supplied visualization to a model - supply the same ptr passed to AddCustomVisualizer */ void RemoveCustomVisualizer( CustomVisualizer* custom_visual ); @@ -2272,7 +2237,27 @@ static Option showLaserStrikes; static Option showLaserFov; static Option showLaserBeams; - + +// class LaserScanVis : public CustomVisualizer +// { +// public: +// LaserScanVis( ModelLaser* laser ) : +// CustomVisualizer(), +// laser( laser ) +// { /* nothing to do */ }; + +// virtual void DataVisualize( Camera* cam ); + +// // rtv - surely a static string member would be easier here? +// //must return a name for visualization (careful not to return stack-memory) + +// virtual const std::string& name() { return "LaserScanVisName"; } ; + +// private: +// ModelLaser* laser; +// }; + + public: static const char* typestr; // constructor Modified: code/stage/trunk/libstage/world.cc =================================================================== --- code/stage/trunk/libstage/world.cc 2009-02-16 00:02:13 UTC (rev 7335) +++ code/stage/trunk/libstage/world.cc 2009-02-16 01:59:06 UTC (rev 7336) @@ -50,6 +50,7 @@ #include "file_manager.hh" #include "worldfile.hh" #include "region.hh" +#include "option.hh" using namespace Stg; // static data members @@ -95,6 +96,7 @@ extent(), graphics( false ), interval_sim( (stg_usec_t)thousand * interval_sim ), + option_table( g_hash_table_new( g_str_hash, g_str_equal ) ), ray_list( NULL ), sim_time( 0 ), superregions( g_hash_table_new( (GHashFunc)PointIntHash, @@ -945,3 +947,9 @@ { powerpack_list = g_list_remove( powerpack_list, pp ); } + +/// Register an Option for pickup by the GUI +void World:: RegisterOption( Option* opt ) +{ + g_hash_table_insert( option_table, (void*)opt->htname, opt ); +} Modified: code/stage/trunk/libstage/worldgui.cc =================================================================== --- code/stage/trunk/libstage/worldgui.cc 2009-02-16 00:02:13 UTC (rev 7335) +++ code/stage/trunk/libstage/worldgui.cc 2009-02-16 01:59:06 UTC (rev 7336) @@ -519,6 +519,12 @@ } +void list_option( char* name, Option* opt, void* dummy ) +{ + printf( "option %s @ %p\n", name, opt ); + +} + void WorldGui::viewOptionsCb( Fl_Widget* w, void* p ) { WorldGui* worldGui = static_cast<WorldGui*>( p ); @@ -538,6 +544,8 @@ { worldGui->oDlg->show(); // bring it to front } + + //g_hash_table_foreach( worldGui->option_table, (GHFunc)list_option, NULL ); } void WorldGui::optionsDlgCb( Fl_Widget* w, void* p ) { Modified: code/stage/trunk/worlds/fasr.world =================================================================== --- code/stage/trunk/worlds/fasr.world 2009-02-16 00:02:13 UTC (rev 7335) +++ code/stage/trunk/worlds/fasr.world 2009-02-16 01:59:06 UTC (rev 7336) @@ -72,7 +72,7 @@ define autorob pioneer2dx ( - sicklaser( samples 180 range_max 5 laser_return 2 watts 30 ) + sicklaser( samples 32 range_max 5 laser_return 2 watts 30 ) ctrl "fasr" joules 100000 joules_capacity 400000 This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. |