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  ---

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stage_internal.h

Go to the documentation of this file.

#ifndef _STAGE_INTERNAL_H
#define _STAGE_INTERNAL_H

// internal function declarations that are not part of the external
// interface to Stage


#include <assert.h>
#include <pthread.h>
#include <semaphore.h>
#include <math.h> // for lrint() in macros
#include <stdlib.h>
#include <stdio.h>
#include <sys/socket.h>
#include <netdb.h>
#include <string.h>

#include "stage.h"
#include "config.h" // results of autoconf's system configuration tests
#include "replace.h" // Stage's implementations of missing system calls
#include "rtk.h" // and graphics stuff pulled from Andrew Howard's RTK2 library

#if INCLUDE_GNOME
#include "gnome.h"
#endif


#include <glib.h>

#ifdef __cplusplus
extern "C" {
#endif 
  
  typedef struct 
  {
    stg_rtk_canvas_t* canvas;
    
    // Gtk stuff
    GtkWidget* frame;    
    GtkWidget *layout;
    GtkWidget *menu_bar;
    //GtkWidget* scrolled_win;
  
    // The status bar widget
    GtkStatusbar *status_bar;
    GtkProgressBar *perf_bar;
    GtkProgressBar *rt_bar;
    GtkLabel *clock_label;

#if INCLUDE_GNOME
    // temporary and experimental - will get moved away from here soon - rtv
    GnomeCanvas* gcanvas;
    double zoom;
#endif

    stg_world_t* world; // every window shows a single world
    
    // stg_rtk doesn't support status bars, so we'll use gtk directly
    GtkStatusbar* statusbar;
    GtkLabel* timelabel;
    
    int wf_section; // worldfile section for load/save
    
    stg_rtk_fig_t* bg; // background
    stg_rtk_fig_t* matrix;
    stg_rtk_fig_t* matrix_tree;
    stg_rtk_fig_t* poses;

    gboolean show_matrix;  
    gboolean fill_polygons;
    gboolean show_geom;
    gboolean show_polygons;
    gboolean show_grid;

    int frame_series;
    int frame_index;
    int frame_callback_tag;
    int frame_interval;
    int frame_format;

    stg_model_t* selection_active;

    GList* toggle_list;
    
  } gui_window_t;

  void gui_startup( int* argc, char** argv[] ); 
  void gui_poll( void );
  void gui_shutdown( void );

  void gui_load( gui_window_t* win, int section );
  void gui_save( gui_window_t* win );
  
  gui_window_t* gui_world_create( stg_world_t* world );
  void gui_world_destroy( stg_world_t* world );
  int gui_world_update( stg_world_t* world );
  void stg_world_add_model( stg_world_t* world, stg_model_t* mod  );
  void gui_world_geom( stg_world_t* world );

  void gui_model_create( stg_model_t* model );
  void gui_model_destroy( stg_model_t* model );
  void gui_model_display_pose( stg_model_t* mod, char* verb );
  void gui_model_features( stg_model_t* mod );
  void gui_model_geom( stg_model_t* model );
  void gui_model_mouse(stg_rtk_fig_t *fig, int event, int mode);
  void gui_model_nose( stg_model_t* model );
  void gui_window_menus_create( gui_window_t* win );
  void gui_window_menus_destroy( gui_window_t* win );

  // callback functions that handle property changes, mostly for drawing stuff in the GUI  
  int gui_model_polygons( stg_model_t* mod, void* userp );
  int gui_model_grid( stg_model_t* mod, void* userp );
  int gui_model_move( stg_model_t* mod, void* userp );
  int gui_model_mask( stg_model_t* mod, void* userp );
  int gui_model_lines( stg_model_t* mod, void* userp );


  void gui_add_view_item( const gchar *name,
                          const gchar *label,
                          const gchar *tooltip,
                          GCallback callback,
                          gboolean  is_active,
                          void* userdata );

  void gui_add_tree_item( stg_model_t* mod );


  typedef struct
  {
    stg_model_callback_t callback;
    void* arg;
  } stg_cbarg_t;

  // callback functions
  //typedef void(*func_init_t)(struct _stg_model*);
  typedef int(*func_update_t)(struct _stg_model*);
  typedef int(*func_startup_t)(struct _stg_model*);
  typedef int(*func_shutdown_t)(struct _stg_model*);
  typedef void(*func_load_t)(struct _stg_model*);
  typedef void(*func_save_t)(struct _stg_model*);
  
  typedef struct
  {
    stg_model_t* mod;
    void* member;
    char* name;
    stg_model_callback_t callback_on;
    stg_model_callback_t callback_off;
    void* arg_on; // argument to callback_on
    void* arg_off; // argument to callback_off
    //int default_state; // disabled = 0
    GtkAction* action; // action associated with this toggle, may be NULL
    char* path;
  } stg_property_toggle_args_t;
    
  
  typedef struct {
    const char* keyword;
    stg_model_initializer_t initializer;
  } stg_type_record_t;

  struct _stg_model
  {
    stg_id_t id; // used as hash table key
    stg_world_t* world; // pointer to the world in which this model exists
    char token[STG_TOKEN_MAX]; // automatically-generated unique ID string
    stg_type_record_t* typerec;

    struct _stg_model *parent; // the model that owns this one, possibly NULL

    GPtrArray* children; // the models owned by this model

    // a datalist can contain arbitrary named data items. Can be used
    // by derived model types to store properties, and for user code
    // to associate arbitrary items with a model.
    GData* props;

    // a datalist of stg_rtk_figs, indexed by name (string)
    GData* figs; 

#if INCLUDE_GNOME
    GnomeCanvasGroup* grp;
    GnomeCanvasGroup* cgrp;
#endif

    stg_pose_t pose;
    stg_velocity_t velocity;
    stg_polygon_t* polygons;
    size_t polygons_count;
    stg_watts_t watts; //< power consumed by this model
    stg_color_t color;
    stg_kg_t mass;
    stg_geom_t geom;
    int laser_return;
    int obstacle_return;
    int blob_return;
    int gripper_return;
    int ranger_return;
    int fiducial_return;
    int fiducial_key;
    int boundary;
    stg_meters_t map_resolution;
    stg_bool_t stall;

    int gui_nose;
    int gui_grid;
    int gui_outline;
    int gui_mask;

    GHashTable* callbacks;
       
    // the number of children of each type is counted so we can
    // automatically generate names for them
    int child_type_count[256];

    int subs;     // the number of subscriptions to this model

    stg_msec_t interval; // time between updates in ms
    stg_msec_t interval_elapsed; // time since last update in ms

    stg_bool_t disabled; // if non-zero, the model is disabled
    
    // type-dependent functions for this model, implementing simple
    // polymorphism
    //stg_model_initializer_t initializer;
    func_startup_t f_startup;
    func_shutdown_t f_shutdown;
    func_update_t f_update;
    func_load_t f_load;
    func_save_t f_save;

    void *data, *cmd, *cfg;
    size_t data_len, cmd_len, cfg_len;
    
    // XX experimental
    stg_polyline_t* lines;
    size_t lines_count;
    
    // allow exclusive access to this model
    // pthread_mutex_t mutex;

    // end experimental    
  };
  

  // internal functions
  
  int _model_update( stg_model_t* mod );
  int _model_startup( stg_model_t* mod );
  int _model_shutdown( stg_model_t* mod );

  void model_change( stg_model_t* mod, void* address );

  void stg_model_update_velocity( stg_model_t* model );
  int stg_model_update_pose( stg_model_t* model );
  void stg_model_energy_consume( stg_model_t* mod, stg_watts_t rate );
  void stg_model_map( stg_model_t* mod, gboolean render );
  void stg_model_map_with_children( stg_model_t* mod, gboolean render );
  
  stg_rtk_fig_t* stg_model_prop_fig_create( stg_model_t* mod, 
                                    stg_rtk_fig_t* array[],
                                    stg_id_t propid, 
                                    stg_rtk_fig_t* parent,
                                    int layer );

  void stg_model_render_geom( stg_model_t* mod );
  void stg_model_render_pose( stg_model_t* mod );
  void stg_model_render_polygons( stg_model_t* mod );
  
  int stg_fig_clear_cb(  stg_model_t* mod, char* name, 
                         void* data, size_t len, void* userp );
  
  stg_rtk_fig_t* stg_model_fig_create( stg_model_t* mod, 
                                       const char* figname, 
                                       const char* parentname,
                                       int layer );
  
  stg_rtk_fig_t* stg_model_fig_get_or_create( stg_model_t* mod, 
                                              const char* figname, 
                                              const char* parentname,
                                              int layer );
  
  stg_rtk_fig_t* stg_model_get_fig( stg_model_t* mod, const char* figname );
  void stg_model_fig_clear( stg_model_t* mod, const char* figname );
         
  // defines a simulated world
  struct _stg_world
  {
    stg_id_t id; 
    
    GHashTable* models; 
    GHashTable* models_by_name; 
    
    stg_meters_t width; 
    stg_meters_t height; 

    int child_type_count[256];
    
    struct _stg_matrix* matrix; 

    char* token; 

    stg_msec_t sim_time; 
    stg_msec_t sim_interval; 
   
    stg_msec_t wall_interval;
    stg_msec_t wall_last_update; 

    stg_msec_t gui_interval; 
    stg_msec_t gui_last_update; 

    stg_msec_t gui_menu_interval; 
    stg_msec_t gui_menu_last_update; 

    
    stg_msec_t real_interval_measured;

    double ppm; 

    gboolean paused; 
   
    gboolean destroy; 

    gui_window_t* win; 

    int subs; 
  };

  // ROTATED RECTANGLES -------------------------------------------------

  typedef struct
  {
    stg_pose_t pose;
    stg_size_t size;
  } stg_rotrect_t; // rotated rectangle
  
  void stg_rotrects_normalize( stg_rotrect_t* rects, int num );
  
  int stg_rotrects_from_image_file( const char* filename, 
                                    stg_rotrect_t** rects,
                                    int* rect_count,
                                    int* widthp, int* heightp );
  

  stg_polygon_t* stg_polygons_from_rotrects( stg_rotrect_t* rects, size_t count,
                                             double width, double height );

  // MATRIX  -----------------------------------------------------------------------
  
  typedef struct stg_cell
  {
    void* data;
    double x, y;
    double size;
    
    // bounding box
    double xmin,ymin,xmax,ymax;
    
    stg_rtk_fig_t* fig; // for debugging

    struct stg_cell* children[4];
    struct stg_cell* parent;
  } stg_cell_t;
  
  stg_cell_t* stg_cell_locate( stg_cell_t* cell, double x, double y );
  
  void stg_cell_unrender( stg_cell_t* cell );
  void stg_cell_render( stg_cell_t* cell );
  void stg_cell_render_tree( stg_cell_t* cell );
  void stg_cell_unrender_tree( stg_cell_t* cell );

  typedef struct _stg_matrix
  {
    double ppm; // pixels per meter (1/resolution)
    double width, height;
    
    // A quad tree of cells. Each leaf node contains a list of
    // pointers to objects located at that cell
    stg_cell_t* root;
    
    // hash table stores all the pointers to objects rendered in the
    // quad tree, each associated with a list of cells in which it is
    // rendered. This allows us to remove objects from the tree
    // without doing the geometry again
    GHashTable* ptable;

    /* TODO */
    // lists of cells that have changed recently. This is used by the
    // GUI to render cells very quickly, and could also be used by devices
    //GSList* cells_changed;
    
    // debug figure. if this is non-NULL, debug info is drawn here
    stg_rtk_fig_t* fig;

    // todo - record a timestamp for matrix mods so devices can see if
    //the matrix has changed since they last peeked into it
    // stg_msec_t last_mod_time;
  } stg_matrix_t;
  

  stg_matrix_t* stg_matrix_create( double ppm, double width, double height );
  
  void stg_matrix_destroy( stg_matrix_t* matrix );
  
  void stg_matrix_clear( stg_matrix_t* matrix );
  
  void* stg_matrix_cell_get( stg_matrix_t* matrix, int r, double x, double y);

  void stg_matrix_cell_append(  stg_matrix_t* matrix, 
                                double x, double y, void* object );
  
  void stg_matrix_remove_obect( stg_matrix_t* matrix, void* object );
  
  void stg_matrix_cell_remove(  stg_matrix_t* matrix,
                                double x, double y, void* object );
  
  void stg_matrix_rectangle( stg_matrix_t* matrix,
                             double px, double py, double pth,
                             double dx, double dy, 
                             void* object );
  
  void stg_matrix_line( stg_matrix_t* matrix, 
                        double x1, double y1, 
                        double x2, double y2,
                        void* object );

  typedef struct
  {
    stg_meters_t x1, y1, x2, y2;
  } stg_line_t;
  

  void stg_matrix_lines( stg_matrix_t* matrix, 
                         stg_line_t* lines, int num_lines,
                         void* object );
    
  void stg_matrix_polygons( stg_matrix_t* matrix,
                            double x, double y, double a,
                            stg_polygon_t* polys, int num_polys,
                            void* object );
  
  void stg_matrix_polylines( stg_matrix_t* matrix,
                             double x, double y, double a,
                             stg_polyline_t* polylines, int num_polylines,
                             void* object );

  void stg_matrix_remove_object( stg_matrix_t* matrix, void* object );


  // RAYTRACE ITERATORS -------------------------------------------------------------
    
  typedef struct
  {
    double x, y, a;
    double cosa, sina, tana;
    double range;
    double max_range;
    double* incr;

    GSList* models;
    int index;
    stg_matrix_t* matrix;    
  
  } itl_t;
  
  typedef enum { PointToPoint=0, PointToBearingRange } itl_mode_t;
  
  typedef int(*stg_itl_test_func_t)(stg_model_t* finder, stg_model_t* found );
  
  itl_t* itl_create( double x, double y, double a, double b, 
                     stg_matrix_t* matrix, itl_mode_t pmode );
  
  void itl_destroy( itl_t* itl );
  void itl_raytrace( itl_t* itl );
  
  stg_model_t* itl_first_matching( itl_t* itl, 
                                   stg_itl_test_func_t func, 
                                   stg_model_t* finder );

  // C wrappers for C++ worldfile functions
  void wf_warn_unused( void );
  int wf_property_exists( int section, char* token );
  int wf_read_int( int section, char* token, int def );
  double wf_read_length( int section, char* token, double def );
  double wf_read_angle( int section, char* token, double def );
  double wf_read_float( int section, char* token, double def );
  int wf_tuple_count( int section, char * token );
  const char* wf_read_tuple_string( int section, char* token, int index, char* def );
  double wf_read_tuple_float( int section, char* token, int index, double def );
  double wf_read_tuple_length( int section, char* token, int index, double def );
  double wf_read_tuple_angle( int section, char* token, int index, double def );
  const char* wf_read_string( int section, char* token, char* def );

  void wf_write_int( int section, char* token, int value );
  void wf_write_length( int section, char* token, double value );
  void wf_write_angle( int section, char* token, double value );
  void wf_write_float( int section, char* token, double value );
  void wf_write_tuple_string( int section, char* token, int index, char* value );
  void wf_write_tuple_float( int section, char* token, int index, double value );
  void wf_write_tuple_length( int section, char* token, int index, double value );
  void wf_write_tuple_angle( int section, char* token, int index, double value );
  void wf_write_string( int section, char* token, char* value );

  void wf_save( void );
  void wf_load( char* path );
  int wf_section_count( void );
  const char* wf_get_section_type( int section );
  int wf_get_parent_section( int section );
  const char* wf_get_filename( void);

  // CALLBACK WRAPPERS ------------------------------------------------------------

  // callback wrappers for other functions
  void model_update_cb( gpointer key, gpointer value, gpointer user );
  void model_print_cb( gpointer key, gpointer value, gpointer user );
  void model_destroy_cb( gpointer mod );
  

// end of libstage_internal documentation  


// end documentation group stage
// TODO - some of this needs to be implemented, the rest junked.

/*   //  -------------------------------------------------------------- */

/*   // standard energy consumption of some devices in W. */
/*   // */
/*   // The MOTIONKG value is a hack to approximate cost of motion, as */
/*   // Stage does not yet have an acceleration model. */
/*   // */
/* #define STG_ENERGY_COST_LASER 20.0 // 20 Watts! (LMS200 - from SICK web site) */
/* #define STG_ENERGY_COST_FIDUCIAL 10.0 // 10 Watts */
/* #define STG_ENERGY_COST_RANGER 0.5 // 500mW (estimate) */
/* #define STG_ENERGY_COST_MOTIONKG 10.0 // 10 Watts per KG when moving  */
/* #define STG_ENERGY_COST_BLOB 4.0 // 4W (estimate) */

/*   typedef struct */
/*   { */
/*     stg_joules_t joules; // current energy stored in Joules/1000 */
/*     stg_watts_t watts; // current power expenditure in mW (mJoules/sec) */
/*     int charging; // 1 if we are receiving energy, -1 if we are */
/*     // supplying energy, 0 if we are neither charging nor */
/*     // supplying energy. */
/*     stg_meters_t range; // the range that our charging probe hit a charger */
/*   } stg_energy_data_t; */

/*   typedef struct */
/*   { */
/*     stg_joules_t capacity; // maximum energy we can store (we start fully charged) */
/*     stg_meters_t probe_range; // the length of our recharge probe */
/*     //stg_pose_t probe_pose; // TODO - the origin of our probe */

/*     stg_watts_t give_rate; // give this many Watts to a probe that hits me (possibly 0) */
  
/*     stg_watts_t trickle_rate; // this much energy is consumed or */
/*     // received by this device per second as a */
/*     // baseline trickle. Positive values mean */
/*     // that the device is just burning energy */
/*     // stayting alive, which is appropriate */
/*     // for most devices. Negative values mean */
/*     // that the device is receiving energy */
/*     // from the environment, simulating a */
/*     // solar cell or some other ambient energy */
/*     // collector */

/*   } stg_energy_config_t; */


/*   // BLINKENLIGHT ------------------------------------------------------------ */

/*   // a number of milliseconds, used for example as the blinkenlight interval */
/* #define STG_LIGHT_ON UINT_MAX */
/* #define STG_LIGHT_OFF 0 */

  //typedef int stg_interval_ms_t;


/*   // TOKEN ----------------------------------------------------------------------- */
/*   // token stuff for parsing worldfiles - this may one day replace
the worldfile c++ code */

/* #define CFG_OPEN '(' */
/* #define CFG_CLOSE ')' */
/* #define STR_OPEN '\"' */
/* #define STR_CLOSE '\"' */
/* #define TPL_OPEN '[' */
/* #define TPL_CLOSE ']' */

/*   typedef enum { */
/*     STG_T_NUM = 0, */
/*     STG_T_BOOLEAN, */
/*     STG_T_MODELPROP, */
/*     STG_T_WORLDPROP, */
/*     STG_T_NAME, */
/*     STG_T_STRING, */
/*     STG_T_KEYWORD, */
/*     STG_T_CFG_OPEN, */
/*     STG_T_CFG_CLOSE, */
/*     STG_T_TPL_OPEN, */
/*     STG_T_TPL_CLOSE, */
/*   } stg_token_type_t; */




/* typedef struct stg_token  */
/* { */
/*   char* token; ///< the text of the token */
/*   stg_token_type_t type; ///< the type of the token */
/*   unsigned int line; ///< the line on which the token appears */
  
/*   struct stg_token* next; ///< linked list support */
/*   struct stg_token* child; ///< tree support */
  
/* } stg_token_t; */

/*   stg_token_t* stg_token_next( stg_token_t* tokens ); */
/*   /// print [token] formatted for a human reader, with a string [prefix] */
/*   void stg_token_print( char* prefix,  stg_token_t* token ); */

/*   /// print a token array suitable for human reader */
/*   void stg_tokens_print( stg_token_t* tokens ); */
/*   void stg_tokens_free( stg_token_t* tokens ); */
  
/*   /// create a new token structure from the arguments */
/*   stg_token_t* stg_token_create( const char* token, stg_token_type_t type, int line ); */

/*   /// add a token to a list */
/*   stg_token_t* stg_token_append( stg_token_t* head, */
/*                               char* token, stg_token_type_t type, int line ); */

/*   const char* stg_token_type_string( stg_token_type_t type ); */

/*   const char* stg_model_type_string( stg_model_type_t type ); */
  
/*   //  functions for parsing worldfiles */
/*   stg_token_t* stg_tokenize( FILE* wf ); */
/*   //stg_world_t* sc_load_worldblock( stg_client_t* cli, stg_token_t** tokensptr ); */
/*   //stg_model_t* sc_load_modelblock( stg_world_t* world, stg_model_t* parent, */
/*   //                    stg_token_t** tokensptr ); */




#ifdef __cplusplus
}
#endif 


#endif // _STAGE_INTERNAL_H

---