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[Playerstage-commit] SF.net SVN: playerstage:[7604] code/stage/trunk/libstage
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From: <rt...@us...> - 2009-04-22 02:49:33
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Revision: 7604
http://playerstage.svn.sourceforge.net/playerstage/?rev=7604&view=rev
Author: rtv
Date: 2009-04-22 02:48:52 +0000 (Wed, 22 Apr 2009)
Log Message:
-----------
adding pose history logging
Modified Paths:
--------------
code/stage/trunk/libstage/CMakeLists.txt
code/stage/trunk/libstage/canvas.cc
code/stage/trunk/libstage/model.cc
code/stage/trunk/libstage/stage.hh
code/stage/trunk/libstage/world.cc
Added Paths:
-----------
code/stage/trunk/libstage/logentry.cc
Modified: code/stage/trunk/libstage/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstage/CMakeLists.txt 2009-04-21 00:15:40 UTC (rev 7603)
+++ code/stage/trunk/libstage/CMakeLists.txt 2009-04-22 02:48:52 UTC (rev 7604)
@@ -12,6 +12,7 @@
file_manager.hh
gl.cc
glcolorstack.cc
+ logentry.cc
model.cc
model_blinkenlight.cc
model_blobfinder.cc
Modified: code/stage/trunk/libstage/canvas.cc
===================================================================
--- code/stage/trunk/libstage/canvas.cc 2009-04-21 00:15:40 UTC (rev 7603)
+++ code/stage/trunk/libstage/canvas.cc 2009-04-22 02:48:52 UTC (rev 7604)
@@ -357,90 +357,100 @@
invalidate();
redraw();
return 1;
-
+
case FL_MOVE: // moused moved while no button was pressed
- if ( startx >=0 ) {
- // mouse pointing to valid value
-
- if( Fl::event_state( FL_CTRL ) )
- {
- int dx = Fl::event_x() - startx;
- int dy = Fl::event_y() - starty;
-
- if( pCamOn == true ) {
- perspective_camera.addYaw( -dx );
- perspective_camera.addPitch( -dy );
- }
- else {
- camera.addPitch( - 0.5 * static_cast<double>( dy ) );
- camera.addYaw( - 0.5 * static_cast<double>( dx ) );
+ if( Fl::event_state( FL_META ) )
+ {
+ puts( "TODO: HANDLE HISTORY" );
+ //world->paused = ! world->paused;
+ return 1;
+ }
+
+ if ( startx >=0 )
+ {
+ // mouse pointing to valid value
+
+ if( Fl::event_state( FL_CTRL ) )
+ {
+ int dx = Fl::event_x() - startx;
+ int dy = Fl::event_y() - starty;
+
+ if( pCamOn == true ) {
+ perspective_camera.addYaw( -dx );
+ perspective_camera.addPitch( -dy );
+ }
+ else {
+ camera.addPitch( - 0.5 * static_cast<double>( dy ) );
+ camera.addYaw( - 0.5 * static_cast<double>( dx ) );
+ }
+ invalidate();
+ redraw();
}
- invalidate();
- redraw();
- }
- else if( Fl::event_state( FL_ALT ) )
- {
- int dx = Fl::event_x() - startx;
- int dy = Fl::event_y() - starty;
-
- if( pCamOn == true ) {
- perspective_camera.move( -dx, dy, 0.0 );
- }
- else {
- camera.move( -dx, dy );
+ else if( Fl::event_state( FL_ALT ) )
+ {
+ int dx = Fl::event_x() - startx;
+ int dy = Fl::event_y() - starty;
+
+ if( pCamOn == true ) {
+ perspective_camera.move( -dx, dy, 0.0 );
+ }
+ else {
+ camera.move( -dx, dy );
+ }
+ invalidate();
}
- invalidate();
- }
- }
+ }
startx = Fl::event_x();
starty = Fl::event_y();
return 1;
-
case FL_PUSH: // button pressed
{
- Model* mod = getModel( startx, starty );
- startx = Fl::event_x();
- starty = Fl::event_y();
- selectedModel = false;
- switch( Fl::event_button() )
+ //else
{
- case 1:
- clicked_empty_space = ( mod == NULL );
- empty_space_startx = startx;
- empty_space_starty = starty;
- if( mod ) {
- // clicked a model
- if ( Fl::event_state( FL_SHIFT ) ) {
- // holding shift, toggle selection
- if ( selected( mod ) )
- unSelect( mod );
- else {
- select( mod );
- selectedModel = true; // selected a model
+ Model* mod = getModel( startx, starty );
+ startx = Fl::event_x();
+ starty = Fl::event_y();
+ selectedModel = false;
+ switch( Fl::event_button() )
+ {
+ case 1:
+ clicked_empty_space = ( mod == NULL );
+ empty_space_startx = startx;
+ empty_space_starty = starty;
+ if( mod ) {
+ // clicked a model
+ if ( Fl::event_state( FL_SHIFT ) ) {
+ // holding shift, toggle selection
+ if ( selected( mod ) )
+ unSelect( mod );
+ else {
+ select( mod );
+ selectedModel = true; // selected a model
+ }
+ }
+ else {
+ if ( !selected( mod ) ) {
+ // clicked on an unselected model while
+ // not holding shift, this is the new
+ // selection
+ unSelectAll();
+ select( mod );
+ }
+ selectedModel = true; // selected a model
+ }
}
- }
- else {
- if ( !selected( mod ) ) {
- // clicked on an unselected model while
- // not holding shift, this is the new
- // selection
- unSelectAll();
- select( mod );
+
+ return 1;
+ case 3:
+ {
+ // leave selections alone
+ // rotating handled within FL_DRAG
+ return 1;
}
- selectedModel = true; // selected a model
- }
- }
-
- return 1;
- case 3:
- {
- // leave selections alone
- // rotating handled within FL_DRAG
- return 1;
- }
- default:
- return 0;
- }
+ default:
+ return 0;
+ }
+ }
}
case FL_DRAG: // mouse moved while button was pressed
Added: code/stage/trunk/libstage/logentry.cc
===================================================================
--- code/stage/trunk/libstage/logentry.cc (rev 0)
+++ code/stage/trunk/libstage/logentry.cc 2009-04-22 02:48:52 UTC (rev 7604)
@@ -0,0 +1,29 @@
+#include "stage.hh"
+using namespace Stg;
+
+// static data members
+std::vector<LogEntry> LogEntry::log;
+
+LogEntry::LogEntry( stg_usec_t timestamp, Model* mod ) :
+ timestamp( timestamp ),
+ mod( mod ),
+ pose( mod->GetPose() )
+{
+ // all log entries are added to the static vector history
+ log.push_back( *this );
+}
+
+
+
+void LogEntry::Print()
+{
+ for( size_t i=0; i<log.size(); i++ )
+ {
+ LogEntry* e = &log[i];
+
+ printf( "%.3f\t%u\t%s\n",
+ (double)e->timestamp / 1e6,
+ e->mod->GetId(),
+ e->mod->PoseString().c_str() );
+ }
+}
Modified: code/stage/trunk/libstage/model.cc
===================================================================
--- code/stage/trunk/libstage/model.cc 2009-04-21 00:15:40 UTC (rev 7603)
+++ code/stage/trunk/libstage/model.cc 2009-04-22 02:48:52 UTC (rev 7604)
@@ -209,6 +209,7 @@
initfunc(NULL),
interval((stg_usec_t)1e4), // 10msec
last_update(0),
+ log_state(false),
map_resolution(0.1),
mass(0),
on_update_list( false ),
@@ -713,6 +714,9 @@
}
last_update = world->sim_time;
+
+ if( log_state )
+ world->Log( this );
}
void Model::CallUpdateCallbacks( void )
Modified: code/stage/trunk/libstage/stage.hh
===================================================================
--- code/stage/trunk/libstage/stage.hh 2009-04-21 00:15:40 UTC (rev 7603)
+++ code/stage/trunk/libstage/stage.hh 2009-04-22 02:48:52 UTC (rev 7604)
@@ -279,6 +279,14 @@
printf( "%s pose [x:%.3f y:%.3f z:%.3f a:%.3f]\n",
prefix, x,y,z,a );
}
+
+ std::string String()
+ {
+ char buf[256];
+ snprintf( buf, 256, "[ %.3f %.3f %.3f %.3f ]",
+ x,y,z,a );
+ return std::string(buf);
+ }
/* returns true iff all components of the velocity are zero. */
bool IsZero() const { return( !(x || y || z || a )); };
@@ -818,6 +826,28 @@
class BlockGroup;
class PowerPack;
+ class LogEntry
+ {
+ stg_usec_t timestamp;
+ Model* mod;
+ Pose pose;
+
+ public:
+ LogEntry( stg_usec_t timestamp, Model* mod );
+
+ /** A log of all LogEntries ever created */
+ static std::vector<LogEntry> log;
+
+ /** Returns the number of logged entries */
+ static size_t Count(){ return log.size(); }
+
+ /** Clear the log */
+ static void Clear(){ log.clear(); }
+
+ /** Print the log on stdout */
+ static void Print();
+ };
+
/// %World class
class World : public Ancestor
{
@@ -879,6 +909,9 @@
static const int DEFAULT_PPM = 50; // default resolution in pixels per meter
static const stg_msec_t DEFAULT_INTERVAL_SIM = 100; ///< duration of sim timestep
+ /** Log the state of a Model */
+ void Log( Model* mod );
+
/** hint that the world needs to be redrawn if a GUI is attached */
void NeedRedraw(){ dirty = true; };
@@ -1699,6 +1732,7 @@
ctrlinit_t* initfunc;
stg_usec_t interval; ///< time between updates in us
stg_usec_t last_update; ///< time of last update in us
+ bool log_state; ///< iff true, model state is logged
stg_meters_t map_resolution;
stg_kg_t mass;
bool on_update_list;
@@ -1935,6 +1969,8 @@
void PlaceInFreeSpace( stg_meters_t xmin, stg_meters_t xmax,
stg_meters_t ymin, stg_meters_t ymax );
+ std::string PoseString(){ return pose.String(); }
+
/** Look up a model pointer by a unique model ID */
static Model* LookupId( uint32_t id )
{ return (Model*)g_hash_table_lookup( modelsbyid, (void*)id ); }
Modified: code/stage/trunk/libstage/world.cc
===================================================================
--- code/stage/trunk/libstage/world.cc 2009-04-21 00:15:40 UTC (rev 7603)
+++ code/stage/trunk/libstage/world.cc 2009-04-22 02:48:52 UTC (rev 7604)
@@ -53,6 +53,7 @@
#include "option.hh"
using namespace Stg;
+
// static data members
unsigned int World::next_id = 0;
bool World::quit_all = false;
@@ -1040,3 +1041,13 @@
stg_usec_t World::SimTimeNow(void)
{ return sim_time; }
+
+void World::Log( Model* mod )
+{
+ LogEntry( sim_time, mod);
+
+ printf( "log entry count %lu\n", LogEntry::Count() );
+ //LogEntry::Print();
+}
+
+
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