stage.hh

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#ifndef STG_H
#define STG_H
/*
 *  Stage : a multi-robot simulator. Part of the Player Project.
 * 
 *  Copyright (C) 2001-2009 Richard Vaughan, Brian Gerkey, Andrew
 *  Howard, Toby Collett, Reed Hedges, Alex Couture-Beil, Jeremy
 *  Asher, Pooya Karimian
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

// C libs
#include <unistd.h>
#include <stdint.h> // for portable int types eg. uint32_t
#include <assert.h>
#include <stdlib.h>
#include <stdio.h>
#include <libgen.h>
#include <string.h>
#include <sys/types.h>
#include <sys/time.h>
#include <pthread.h> 

// C++ libs
#include <cmath>
#include <iostream>
#include <vector>
#include <list>
#include <map>
#include <set>
#include <queue>
#include <algorithm>

// FLTK Gui includes
#include <FL/Fl.H>
#include <FL/Fl_Box.H>
#include <FL/Fl_Gl_Window.H>
#include <FL/Fl_Menu_Bar.H>
#include <FL/Fl_Window.H>
#include <FL/fl_draw.H>
#include <FL/gl.h> // FLTK takes care of platform-specific GL stuff
// except GLU & GLUT
#ifdef __APPLE__
#include <OpenGL/glu.h>
//#include <GLUT/glut.h>
#else
#include <GL/glu.h>
//#include <GL/glut.h>
#endif 

namespace Stg 
{
  // forward declare
  class Block;
  class Canvas;
  class Cell;
  class Worldfile;
  class World;
  class WorldGui;
  class Model;
  class OptionsDlg;
  class Camera;
  class FileManager;
  class Option;
  
  typedef Model* (*creator_t)( World*, Model*, const std::string& type );
  
  typedef std::set<Model*> ModelPtrSet;

  typedef std::vector<Model*> ModelPtrVec;

  typedef std::set<Block*> BlockPtrSet;

  typedef std::vector<Cell*> CellPtrVec;

  void Init( int* argc, char** argv[] );

  bool InitDone();
  
  const char* Version();

  const char COPYRIGHT[] =                     
    "Copyright Richard Vaughan and contributors 2000-2009";

  const char AUTHORS[] =                    
    "Richard Vaughan, Brian Gerkey, Andrew Howard, Reed Hedges, Pooya Karimian, Toby Collett, Jeremy Asher, Alex Couture-Beil and contributors.";

  const char WEBSITE[] = "http://playerstage.org";

  const char DESCRIPTION[] =                       
    "Robot simulation library\nPart of the Player Project";

  const char LICENSE[] = 
    "Stage robot simulation library\n"                  \
    "Copyright (C) 2000-2009 Richard Vaughan and contributors\n"    \
    "Part of the Player Project [http://playerstage.org]\n"     \
    "\n"                                \
    "This program is free software; you can redistribute it and/or\n"   \
    "modify it under the terms of the GNU General Public License\n" \
    "as published by the Free Software Foundation; either version 2\n"  \
    "of the License, or (at your option) any later version.\n"      \
    "\n"                                \
    "This program is distributed in the hope that it will be useful,\n" \
    "but WITHOUT ANY WARRANTY; without even the implied warranty of\n"  \
    "MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the\n"   \
    "GNU General Public License for more details.\n"            \
    "\n"                                \
    "You should have received a copy of the GNU General Public License\n" \
    "along with this program; if not, write to the Free Software\n" \
    "Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.\n" \
    "\n"                                \
    "The text of the license may also be available online at\n"     \
    "http://www.gnu.org/licenses/old-licenses/gpl-2.0.html\n";
  
  const double thousand = 1e3;

  const double million = 1e6;

  const double billion = 1e9;

  inline double rtod( double r ){ return( r*180.0/M_PI ); }
  
  inline double dtor( double d ){ return( d*M_PI/180.0 ); }
  
  inline double normalize( double a )
  {
     while( a < -M_PI ) a += 2.0*M_PI;
     while( a >  M_PI ) a -= 2.0*M_PI;   
     return a;
  };

  inline int sgn( int a){ return( a<0 ? -1 : 1); }

  inline double sgn( double a){ return( a<0 ? -1.0 : 1.0); }
  
  enum { FiducialNone = 0 };

  typedef uint32_t stg_id_t;

  typedef double stg_meters_t;

  typedef double stg_radians_t;

  typedef struct timeval stg_time_t;

  typedef unsigned long stg_msec_t;

  typedef uint64_t stg_usec_t;

  typedef double stg_kg_t; // Kilograms (mass)

  typedef double stg_joules_t;

  typedef double stg_watts_t;
  
  typedef bool stg_bool_t;
  
  class Color
  {
  public:
     float r,g,b,a;
    
     Color( float r, float g, float b, float a=1.0 );
    
     Color( const std::string& name );  
    
     Color();
    
     bool operator!=( const Color& other );
     bool operator==( const Color& other );
     static Color RandomColor();
     void Print( const char* prefix );
  };
  
  class Size
  {
  public:
    stg_meters_t x, y, z;
    
    Size( stg_meters_t x, 
             stg_meters_t y, 
             stg_meters_t z )
      : x(x), y(y), z(z)
    {/*empty*/}
    
    Size() : x( 0.4 ), y( 0.4 ), z( 1.0 )
    {/*empty*/} 
    
     void Load( Worldfile* wf, int section, const char* keyword );
     void Save( Worldfile* wf, int section, const char* keyword );
     
     void Zero()
     { x=y=z=0.0; }
  };
  
  class Pose
  {
  public:
    stg_meters_t x, y, z;
    stg_radians_t a;
    
    Pose( stg_meters_t x, 
             stg_meters_t y, 
             stg_meters_t z,
             stg_radians_t a ) 
      : x(x), y(y), z(z), a(a)
    { /*empty*/ }
    
    Pose() : x(0.0), y(0.0), z(0.0), a(0.0)
    { /*empty*/ }        
    
    virtual ~Pose(){};
    
    static Pose Random( stg_meters_t xmin, stg_meters_t xmax, 
                                stg_meters_t ymin, stg_meters_t ymax )
    {        
      return Pose( xmin + drand48() * (xmax-xmin),
                         ymin + drand48() * (ymax-ymin),
                         0, 
                         normalize( drand48() * (2.0 * M_PI) ));
    }
    
    virtual void Print( const char* prefix )
    {
      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 )); };
    
     void Zero(){ x=y=z=a=0.0; }
    
     void Load( Worldfile* wf, int section, const char* keyword );
     void Save( Worldfile* wf, int section, const char* keyword );
    
     inline Pose operator+( const Pose& p )
     {
        const double cosa = cos(a);
        const double sina = sin(a);
      
        return Pose( x + p.x * cosa - p.y * sina,
                         y + p.x * sina + p.y * cosa,
                         z + p.z,
                         normalize(a + p.a) );   
     }  
  };
  
  
  class Velocity : public Pose
  {
  public:
    Velocity( stg_meters_t x, 
                  stg_meters_t y, 
                  stg_meters_t z,
                  stg_radians_t a ) :
        Pose( x, y, z, a )
    { /*empty*/ }
    
    Velocity()
    { /*empty*/ }        
    
    virtual void Print( const char* prefix )
    {
      printf( "%s velocity [x:%.3f y:%.3f z:%3.f a:%.3f]\n",
                  prefix, x,y,z,a );
    }    
  };
  
  class Geom
  {
  public:
    Pose pose;
    Size size;
    
    void Print( const char* prefix )
    {
      printf( "%s geom pose: (%.2f,%.2f,%.2f) size: [%.2f,%.2f]\n",
                  prefix,
                  pose.x,
                  pose.y,
                  pose.a,
                  size.x,
                  size.y );
    }
     
     Geom() : pose(), size() {}

     Geom( const Pose& p, const Size& s ) : pose(p), size(s) {}
     
     void Zero()
     {
        pose.Zero();
        size.Zero();
     }
  };
  
  class Bounds
  {
  public:
    double min;
    double max; 
    
    Bounds() : min(0), max(0) { /* empty*/  }
    Bounds( double min, double max ) : min(min), max(max) { /* empty*/  }
  };
    
  class stg_bounds3d_t
  {
  public:
    Bounds x; 
    Bounds y; 
    Bounds z; 

     stg_bounds3d_t() : x(), y(), z() {}
     stg_bounds3d_t( const Bounds& x, const Bounds& y, const Bounds& z) 
        : x(x), y(y), z(z) {}
  };
  
  typedef struct
  {
    Bounds range; 
    stg_radians_t angle; 
  } stg_fov_t;
  
  class stg_point_t
  {
  public:
    stg_meters_t x, y;
     stg_point_t( stg_meters_t x, stg_meters_t y ) : x(x), y(y){}    
     stg_point_t() : x(0.0), y(0.0){}
    
     bool operator+=( const stg_point_t& other ) 
     { return ((x += other.x) && (y += other.y) ); }  
  };
  
  class stg_point3_t
  {
  public:
    stg_meters_t x,y,z;
     stg_point3_t( stg_meters_t x, stg_meters_t y, stg_meters_t z ) 
        : x(x), y(y), z(z) {}    
  
     stg_point3_t() : x(0.0), y(0.0), z(0.0) {}
  };
  
  class stg_point_int_t
  {
  public:
    int x,y;
     stg_point_int_t( int x, int y ) : x(x), y(y){}  
     stg_point_int_t() : x(0), y(0){}
     
     bool operator<( const stg_point_int_t& other ) const
     { return ((x < other.x) || (y < other.y) ); }

     bool operator==( const stg_point_int_t& other ) const
     { return ((x == other.x) && (y == other.y) ); }
  };
  
  typedef std::vector<stg_point_int_t> PointIntVec;

  stg_point_t* stg_unit_square_points_create();
  
  const char MP_PREFIX[] =             "_mp_";
  const char MP_POSE[] =               "_mp_pose";
  const char MP_VELOCITY[] =           "_mp_velocity";
  const char MP_GEOM[] =               "_mp_geom";
  const char MP_COLOR[] =              "_mp_color";
  const char MP_WATTS[] =              "_mp_watts";
  const char MP_FIDUCIAL_RETURN[] =    "_mp_fiducial_return";
  const char MP_LASER_RETURN[] =       "_mp_laser_return";
  const char MP_OBSTACLE_RETURN[] =    "_mp_obstacle_return";
  const char MP_RANGER_RETURN[] =      "_mp_ranger_return";
  const char MP_GRIPPER_RETURN[] =     "_mp_gripper_return";
  const char MP_MASS[] =               "_mp_mass";

  typedef enum 
    {
      LaserTransparent=0, 
      LaserVisible, 
      LaserBright  
    } stg_laser_return_t;
  
  namespace Gl
  {
     void pose_shift( const Pose &pose );
     void pose_inverse_shift( const Pose &pose );
     void coord_shift( double x, double y, double z, double a  );
     void draw_grid( stg_bounds3d_t vol );
     void draw_string( float x, float y, float z, const char *string);
     void draw_string_multiline( float x, float y, float w, float h, 
                                          const char *string, Fl_Align align );
     void draw_speech_bubble( float x, float y, float z, const char* str );
     void draw_octagon( float w, float h, float m );
     void draw_octagon( float x, float y, float w, float h, float m );
     void draw_vector( double x, double y, double z );
     void draw_origin( double len );
     void draw_array( float x, float y, float w, float h, 
                            float* data, size_t len, size_t offset, 
                            float min, float max );
     void draw_array( float x, float y, float w, float h, 
                            float* data, size_t len, size_t offset );
     void draw_centered_rect( float x, float y, float dx, float dy );
  } // namespace Gl
  
  void RegisterModels();
  
  
  class Visualizer {
  private:
     const std::string menu_name;
     const std::string worldfile_name;
     
  public:
     Visualizer( const std::string& menu_name, 
                     const std::string& worldfile_name ) 
        : menu_name( menu_name ),
          worldfile_name( worldfile_name )
     { }
     
     virtual ~Visualizer( void ) { }
     virtual void Visualize( Model* mod, Camera* cam ) = 0;
     
     const std::string& GetMenuName() { return menu_name; }
     const std::string& GetWorldfileName() { return worldfile_name; }
  };


  typedef int(*stg_model_callback_t)(Model* mod, void* user );
  typedef int(*stg_world_callback_t)(World* world, void* user );
  
  // return val, or minval if val < minval, or maxval if val > maxval
  double constrain( double val, double minval, double maxval );
    
  typedef struct 
  {
    int enabled;
    Pose pose;
    stg_meters_t size; 
    Color color;
    stg_msec_t period; 
    double duty_cycle; 
  } stg_blinkenlight_t;

  
  typedef struct
  {
    Pose pose;
    Size size;
  } stg_rotrect_t; // rotated rectangle

  int stg_rotrects_from_image_file( const char* filename, 
                                                stg_rotrect_t** rects,
                                                unsigned int* rect_count,
                                                unsigned int* widthp, 
                                                unsigned int* heightp );

  
  typedef bool (*stg_ray_test_func_t)(Model* candidate, 
                                                  Model* finder, 
                                                  const void* arg );

  // STL container iterator macros
#define VAR(V,init) __typeof(init) V=(init)
#define FOR_EACH(I,C) for(VAR(I,(C).begin());I!=(C).end();I++)

  template <class T, class C>
  void EraseAll( T thing, C& cont )
  { cont.erase( std::remove( cont.begin(), cont.end(), thing ), cont.end() ); }
  
  // Error macros - output goes to stderr
#define PRINT_ERR(m) fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", __FILE__, __FUNCTION__)
#define PRINT_ERR1(m,a) fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, __FILE__, __FUNCTION__)    
#define PRINT_ERR2(m,a,b) fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, b, __FILE__, __FUNCTION__) 
#define PRINT_ERR3(m,a,b,c) fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)
#define PRINT_ERR4(m,a,b,c,d) fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, b, c, d, __FILE__, __FUNCTION__)
#define PRINT_ERR5(m,a,b,c,d,e) fprintf( stderr, "\033[41merr\033[0m: "m" (%s %s)\n", a, b, c, d, e, __FILE__, __FUNCTION__)

  // Warning macros
#define PRINT_WARN(m) printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", __FILE__, __FUNCTION__)
#define PRINT_WARN1(m,a) printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, __FILE__, __FUNCTION__)    
#define PRINT_WARN2(m,a,b) printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, b, __FILE__, __FUNCTION__) 
#define PRINT_WARN3(m,a,b,c) printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)
#define PRINT_WARN4(m,a,b,c,d) printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, b, c, d, __FILE__, __FUNCTION__)
#define PRINT_WARN5(m,a,b,c,d,e) printf( "\033[44mwarn\033[0m: "m" (%s %s)\n", a, b, c, d, e, __FILE__, __FUNCTION__)

  // Message macros
#ifdef DEBUG
#define PRINT_MSG(m) printf( "Stage: "m" (%s %s)\n", __FILE__, __FUNCTION__)
#define PRINT_MSG1(m,a) printf( "Stage: "m" (%s %s)\n", a, __FILE__, __FUNCTION__)    
#define PRINT_MSG2(m,a,b) printf( "Stage: "m" (%s %s)\n", a, b, __FILE__, __FUNCTION__) 
#define PRINT_MSG3(m,a,b,c) printf( "Stage: "m" (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)
#define PRINT_MSG4(m,a,b,c,d) printf( "Stage: "m" (%s %s)\n", a, b, c, d, __FILE__, __FUNCTION__)
#define PRINT_MSG5(m,a,b,c,d,e) printf( "Stage: "m" (%s %s)\n", a, b, c, d, e,__FILE__, __FUNCTION__)
#else
#define PRINT_MSG(m) printf( "Stage: "m"\n" )
#define PRINT_MSG1(m,a) printf( "Stage: "m"\n", a)
#define PRINT_MSG2(m,a,b) printf( "Stage: "m"\n,", a, b )
#define PRINT_MSG3(m,a,b,c) printf( "Stage: "m"\n", a, b, c )
#define PRINT_MSG4(m,a,b,c,d) printf( "Stage: "m"\n", a, b, c, d )
#define PRINT_MSG5(m,a,b,c,d,e) printf( "Stage: "m"\n", a, b, c, d, e )
#endif

  // DEBUG macros
#ifdef DEBUG
#define PRINT_DEBUG(m) printf( "debug: "m" (%s %s)\n", __FILE__, __FUNCTION__)
#define PRINT_DEBUG1(m,a) printf( "debug: "m" (%s %s)\n", a, __FILE__, __FUNCTION__)    
#define PRINT_DEBUG2(m,a,b) printf( "debug: "m" (%s %s)\n", a, b, __FILE__, __FUNCTION__) 
#define PRINT_DEBUG3(m,a,b,c) printf( "debug: "m" (%s %s)\n", a, b, c, __FILE__, __FUNCTION__)
#define PRINT_DEBUG4(m,a,b,c,d) printf( "debug: "m" (%s %s)\n", a, b, c ,d, __FILE__, __FUNCTION__)
#define PRINT_DEBUG5(m,a,b,c,d,e) printf( "debug: "m" (%s %s)\n", a, b, c ,d, e, __FILE__, __FUNCTION__)
#else
#define PRINT_DEBUG(m)
#define PRINT_DEBUG1(m,a)
#define PRINT_DEBUG2(m,a,b)
#define PRINT_DEBUG3(m,a,b,c)
#define PRINT_DEBUG4(m,a,b,c,d)
#define PRINT_DEBUG5(m,a,b,c,d,e)
#endif

  class Block;
  class Model;

  typedef int (*stg_model_callback_t)( Model* mod, void* user );
  
  // ANCESTOR CLASS
  class Ancestor
  {
    friend class Canvas; // allow Canvas access to our private members
     
  protected:
     ModelPtrVec children;
    bool debug;
     std::string token;
     pthread_mutex_t access_mutex; 

     void Load( Worldfile* wf, int section );
     void Save( Worldfile* wf, int section );
     
  public:   
     /* The maximum length of a Stage model identifier string */
     //static const uint32_t TOKEN_MAX = 64;
         
     ModelPtrVec& GetChildren(){ return children;}
    
    void ForEachDescendant( stg_model_callback_t func, void* arg );
        
     std::map<std::string,unsigned int> child_type_counts;
     
    Ancestor();
    virtual ~Ancestor();
     
    virtual void AddChild( Model* mod );
    virtual void RemoveChild( Model* mod );
    virtual Pose GetGlobalPose();
     
    const char* Token()
    { return token.c_str(); }
     
    //const std::string& Token()
    //{ return token; }
     
    void SetToken( const std::string& str )
    { token = str; } 

     void Lock(){ pthread_mutex_lock( &access_mutex ); }    
     void Unlock(){ pthread_mutex_unlock( &access_mutex ); }
  };

  class RaytraceResult
  {
  public:
    Pose pose; 
    stg_meters_t range; 
    Model* mod; 
    Color color; 
     
     RaytraceResult() : pose(), range(0), mod(NULL), color() {}
     RaytraceResult( const Pose& pose, 
                          stg_meters_t range ) 
        : pose(pose), range(range), mod(NULL), color() {}    
  };

  typedef RaytraceResult stg_raytrace_result_t;
    
  class Ray
  {
  public:
     Ray( const Model* mod, const Pose& origin, const stg_meters_t range, const stg_ray_test_func_t func, const void* arg, const bool ztest ) :
        mod(mod), origin(origin), range(range), func(func), arg(arg), ztest(ztest)
     {}

     Ray() : mod(NULL), origin(0,0,0,0), range(0), func(NULL), arg(NULL), ztest(true)
     {}

     const Model* mod;
     Pose origin;
     stg_meters_t range;
     stg_ray_test_func_t func;
     const void* arg;
     bool ztest;        
  };
        

  // defined in stage_internal.hh
  class Region;
  class SuperRegion;
  class BlockGroup;
  class PowerPack;

  class LogEntry
  {
     stg_usec_t timestamp;
     Model* mod;
     Pose pose;
     
  public:
     LogEntry( stg_usec_t timestamp, Model* mod );
     
     static std::vector<LogEntry> log;
     
     static size_t Count(){ return log.size(); }
     
     static void Clear(){ log.clear(); }

     static void Print();
  };

  class CtrlArgs
  {
  public:
     std::string worldfile;
     std::string cmdline;

     CtrlArgs( std::string w, std::string c ) : worldfile(w), cmdline(c) {}
  };

  class World : public Ancestor
  {
    friend class Block;
    friend class Model; // allow access to private members
    friend class ModelFiducial;
    friend class Canvas;

  public: 
     static std::vector<std::string> args;
     static std::string ctrlargs;

  private:
    
    static std::set<World*> world_set; 
    static bool quit_all; 
    static void UpdateCb( World* world);
    static unsigned int next_id; 
     
    bool destroy;
    bool dirty; 

     //std::map<unsigned int, Model*> models_by_id;
     
     std::set<Model*> models;

     std::map<std::string, Model*> models_by_name;      

     std::map<int,Model*> models_by_wfentity;
        
     ModelPtrVec models_with_fiducials;
     
     void FiducialInsert( Model* mod )
     { 
        FiducialErase( mod ); // make sure it's not there already
        models_with_fiducials.push_back( mod ); 
     }
     
     void FiducialErase( Model* mod )
     { 
        EraseAll( mod, models_with_fiducials );
     }

    double ppm; 
    bool quit; 
     
     bool show_clock; 
     unsigned int show_clock_interval; 

    pthread_mutex_t thread_mutex; 
     unsigned int threads_working; 
    pthread_cond_t threads_start_cond; 
    pthread_cond_t threads_done_cond; 
    int total_subs; 
     unsigned int worker_threads; 
     
  protected:     

     std::list<std::pair<stg_world_callback_t,void*> > cb_list; 
    stg_bounds3d_t extent; 
    bool graphics;

     std::set<Option*> option_table; 
     std::list<PowerPack*> powerpack_list; 

    stg_usec_t quit_time;
     std::list<float*> ray_list;
    stg_usec_t sim_time; 
     std::map<stg_point_int_t,SuperRegion*> superregions;
    SuperRegion* sr_cached; 
     
     std::vector<ModelPtrVec> update_lists;  
     
    uint64_t updates; 
    Worldfile* wf; 

     void CallUpdateCallbacks(); 

  public:
     
    bool paused; 

    virtual void Start(){ paused = false; };
    virtual void Stop(){ paused = true; };
    virtual void TogglePause(){ paused ? Start() : Stop(); };

     bool Paused(){ return( paused ); };
    
     PointIntVec rt_cells;
     PointIntVec rt_candidate_cells;

    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

     void AddUpdateCallback( stg_world_callback_t cb, void* user );

     int RemoveUpdateCallback( stg_world_callback_t cb, void* user );
     void Log( Model* mod );

    void NeedRedraw(){ dirty = true; };
    
    Model* ground;
    
    virtual std::string ClockString( void ) const;
        
     Model* CreateModel( Model* parent, const std::string& typestr );    
    void LoadModel( Worldfile* wf, int entity );
    void LoadBlock( Worldfile* wf, int entity );
    void LoadBlockGroup( Worldfile* wf, int entity );
    
    virtual Model* RecentlySelectedModel(){ return NULL; }
        
    SuperRegion* AddSuperRegion( const stg_point_int_t& coord );
    SuperRegion* GetSuperRegion( const stg_point_int_t& coord );
    SuperRegion* GetSuperRegionCached( const stg_point_int_t& coord);
    SuperRegion* GetSuperRegionCached( int32_t x, int32_t y );
    void ExpireSuperRegion( SuperRegion* sr );
        
    //inline Cell* GetCell( const stg_point_int_t& glob );
        
    void ForEachCellInLine( const stg_point_int_t& pt1,
                                                        const stg_point_int_t& pt2, 
                                                        CellPtrVec& cells );
        
    int32_t MetersToPixels( stg_meters_t x )
    { return (int32_t)floor(x * ppm); };
        
    stg_point_int_t MetersToPixels( const stg_point_t& pt )
    { return stg_point_int_t( MetersToPixels(pt.x), MetersToPixels(pt.y)); };
        
    // dummy implementations to be overloaded by GUI subclasses
    virtual void PushColor( Color col ) 
     { /* do nothing */  (void)col; };
    virtual void PushColor( double r, double g, double b, double a ) 
     { /* do nothing */ (void)r; (void)g; (void)b; (void)a; };
     
    virtual void PopColor(){ /* do nothing */  };
        
    SuperRegion* CreateSuperRegion( stg_point_int_t origin );
    void DestroySuperRegion( SuperRegion* sr );
        
     stg_raytrace_result_t Raytrace( const Ray& ray );

    stg_raytrace_result_t Raytrace( const Pose& pose,            
                                                const stg_meters_t range,
                                                const stg_ray_test_func_t func,
                                                const Model* finder,
                                                const void* arg,
                                                const bool ztest );
        
    void Raytrace( const Pose &pose,             
                         const stg_meters_t range,
                         const stg_radians_t fov,
                         const stg_ray_test_func_t func,
                         const Model* finder,
                         const void* arg,
                         stg_raytrace_result_t* samples,
                         const uint32_t sample_count,
                         const bool ztest );
        
        
    void Extend( stg_point3_t pt );
  
    virtual void AddModel( Model* mod );
    virtual void RemoveModel( Model* mod );

    void AddModelName( Model* mod, const std::string& name );
        
    void AddPowerPack( PowerPack* pp );
    void RemovePowerPack( PowerPack* pp );
        
    void ClearRays();
  
    void RecordRay( double x1, double y1, double x2, double y2 );
        
    bool PastQuitTime();
                
    static void* update_thread_entry( std::pair<World*,int>* info );
    
    class Event
    {
    public:
      
      Event( stg_usec_t time, Model* mod ) 
          : time(time), mod(mod) {}
      
      stg_usec_t time; // time that event occurs
      Model* mod; // model to update
      
      bool operator<( const Event& other ) const;
    };
     
     std::vector<std::priority_queue<Event> > event_queues;
     void Enqueue( unsigned int queue_num, stg_usec_t delay, Model* mod );
     
     std::set<Model*> active_energy;
     std::set<Model*> active_velocity;

     stg_usec_t sim_interval;
     
     void ConsumeQueue( unsigned int queue_num );

     unsigned int GetEventQueue( Model* mod );

  public:
    static bool UpdateAll(); 
     
    World( const std::string& name = "MyWorld", 
              double ppm = DEFAULT_PPM );
        
    virtual ~World();
     
    stg_usec_t SimTimeNow(void);
     
    Worldfile* GetWorldFile(){ return wf; };
     
    virtual bool IsGUI() const { return false; }
     
    virtual void Load( const char* worldfile_path );
    virtual void UnLoad();
    virtual void Reload();
    virtual bool Save( const char* filename );
    virtual bool Update(void);
     
    bool TestQuit(){ return( quit || quit_all );  }
    void Quit(){ quit = true; }
    void QuitAll(){ quit_all = true; }
    void CancelQuit(){ quit = false; }
    void CancelQuitAll(){ quit_all = false; }
     
     void TryCharge( PowerPack* pp, const Pose& pose );

    double Resolution(){ return ppm; };
   
    Model* GetModel( const std::string& name ) const;
  
    const stg_bounds3d_t& GetExtent(){ return extent; };
  
    uint64_t GetUpdateCount() { return updates; }

     void RegisterOption( Option* opt );    
     
     void ShowClock( bool enable ){ show_clock = enable; };

     Model* GetGround() {return ground;};
    
  };

  class Block
  {
    friend class BlockGroup;
    friend class Model;
    friend class SuperRegion;
    friend class World;
    friend class Canvas;
  public:
  
    Block( Model* mod,  
              stg_point_t* pts, 
              size_t pt_count,
              stg_meters_t zmin,
              stg_meters_t zmax,
              Color color,
              bool inherit_color );
  
    Block(  Model* mod,  Worldfile* wf, int entity);
     
    ~Block();
     
    void Map();      
     
    void UnMap();    
     
     void DrawSolid();

    void DrawFootPrint(); 

     void Translate( double x, double y );   

     double CenterX();

     double CenterY();

     void SetCenterX( double y );

     void SetCenterY( double y );

     void SetCenter( double x, double y);    

     void SetZ( double min, double max );

    stg_point_t* Points( unsigned int *count )
    { if( count ) *count = pt_count; return &pts[0]; };          
     
     std::vector<stg_point_t>& Points()
    { return pts; };             
         
    inline void RemoveFromCellArray( CellPtrVec* blocks );
    inline void GenerateCandidateCells();  

     void AppendTouchingModels( ModelPtrSet& touchers );
     
    Model* TestCollision(); 
    void SwitchToTestedCells();  
    void Load( Worldfile* wf, int entity );  
    Model* GetModel(){ return mod; };  
    const Color& GetColor();        
     void Rasterize( uint8_t* data, 
                          unsigned int width, unsigned int height,      
                          stg_meters_t cellwidth, stg_meters_t cellheight );
        
  private:
    Model* mod; 
     std::vector<stg_point_t> mpts; 
    size_t pt_count; 
     std::vector<stg_point_t> pts; 
    Size size;   
    Bounds local_z; 
    Color color;
    bool inherit_color;
     
     double glow;
     
    void DrawTop();
    void DrawSides();
     
    Bounds global_z;     
    bool mapped;
        
        std::vector< std::list<Block*>::iterator > list_entries;

     CellPtrVec * rendered_cells;

     CellPtrVec * candidate_cells;
    
     PointIntVec gpts;
    
     stg_point_t BlockPointToModelMeters( const stg_point_t& bpt );
    
     void InvalidateModelPointCache();
  };


  class BlockGroup
  {
    friend class Model;
     friend class Block;

  private:
    int displaylist;

    void BuildDisplayList( Model* mod );
     
     BlockPtrSet blocks;
    Size size;
    stg_point3_t offset;
    stg_meters_t minx, maxx, miny, maxy;

  public:
    BlockGroup();
    ~BlockGroup();
     
    uint32_t GetCount(){ return blocks.size(); };
    const Size& GetSize(){ return size; };
    const stg_point3_t& GetOffset(){ return offset; };
     
    void CalcSize();
     
    void AppendBlock( Block* block );
    void CallDisplayList( Model* mod );
    void Clear() ; 
     void AppendTouchingModels( ModelPtrSet& touchers );
     
    Model* TestCollision();
 
    void SwitchToTestedCells();
     
    void Map();
    void UnMap();
     
    void DrawSolid( const Geom &geom); 

     void DrawFootPrint( const Geom &geom);

    void LoadBitmap( Model* mod, const std::string& bitmapfile, Worldfile *wf );
    void LoadBlock( Model* mod, Worldfile* wf, int entity );
     
     void Rasterize( uint8_t* data, 
                          unsigned int width, unsigned int height,
                          stg_meters_t cellwidth, stg_meters_t cellheight );
     
     void InvalidateModelPointCache()
     {
        FOR_EACH( it, blocks )
          (*it)->InvalidateModelPointCache();
     }

  };

  class Camera 
  {
  protected:
    float _pitch; //left-right (about y)
    float _yaw; //up-down (about x)
    float _x, _y, _z;
    
  public:
    Camera() : _pitch( 0 ), _yaw( 0 ), _x( 0 ), _y( 0 ), _z( 0 ) { }
    virtual ~Camera() { }

    virtual void Draw( void ) const = 0;
    virtual void SetProjection( void ) const = 0;

     float yaw( void ) const { return _yaw; }
     float pitch( void ) const { return _pitch; }
     
     float x( void ) const { return _x; }
     float y( void ) const { return _y; }
     float z( void ) const { return _z; }
     
    virtual void reset() = 0;
    virtual void Load( Worldfile* wf, int sec ) = 0;

    //TODO data should be passed in somehow else. (at least min/max stuff)
    //virtual void SetProjection( float pixels_width, float pixels_height, float y_min, float y_max ) const = 0;
  };

  class PerspectiveCamera : public Camera
  {
  private:
    float _z_near;
    float _z_far;
    float _vert_fov;
    float _horiz_fov;
    float _aspect;

  public:
    PerspectiveCamera( void );

    virtual void Draw( void ) const;
    virtual void SetProjection( void ) const;
    //void SetProjection( float aspect ) const;
    void update( void );

    void strafe( float amount );
    void forward( float amount );
    
     void setPose( float x, float y, float z ) { _x = x; _y = y; _z = z; }
     void addPose( float x, float y, float z ) { _x += x; _y += y; _z += z; if( _z < 0.1 ) _z = 0.1; }
    void move( float x, float y, float z );
     void setFov( float horiz_fov, float vert_fov ) { _horiz_fov = horiz_fov; _vert_fov = vert_fov; }
     void setAspect( float aspect ) { 
      //std::cout << "aspect: " << aspect << " vert: " << _vert_fov << " => " << aspect * _vert_fov << std::endl;
      //_vert_fov = aspect / _horiz_fov;
      _aspect = aspect;
    }
     void setYaw( float yaw ) { _yaw = yaw; }
     float horizFov( void ) const { return _horiz_fov; }
     float vertFov( void ) const { return _vert_fov; }
     void addYaw( float yaw ) { _yaw += yaw; }
     void setPitch( float pitch ) { _pitch = pitch; }
     void addPitch( float pitch ) { _pitch += pitch; if( _pitch < 0 ) _pitch = 0; else if( _pitch > 180 ) _pitch = 180; }
    
     float realDistance( float z_buf_val ) const {
      //formula found at http://www.cs.unc.edu/~hoff/techrep/openglz.html
      //Z = Zn*Zf / (Zf - z*(Zf-Zn))
      return _z_near * _z_far / ( _z_far - z_buf_val * ( _z_far - _z_near ) );
    }
     void scroll( float dy ) { _z += dy; }
     float nearClip( void ) const { return _z_near; }
     float farClip( void ) const { return _z_far; }
     void setClip( float near, float far ) { _z_far = far; _z_near = near; }
    
     void reset() { setPitch( 70 ); setYaw( 0 ); }
    
    void Load( Worldfile* wf, int sec );
    void Save( Worldfile* wf, int sec );
  };
  
  class OrthoCamera : public Camera
  {
  private:
    float _scale;
    float _pixels_width;
    float _pixels_height;
    float _y_min;
    float _y_max;
  
  public:
    OrthoCamera( void ) : _scale( 15 ) { }
    virtual void Draw() const;
    virtual void SetProjection( float pixels_width, float pixels_height, float y_min, float y_max );
    virtual void SetProjection( void ) const;
  
    void move( float x, float y );
     void setYaw( float yaw ) { _yaw = yaw; }
     void setPitch( float pitch ) { _pitch = pitch; }
     void addYaw( float yaw ) { _yaw += yaw;    }
     void addPitch( float pitch ) {
      _pitch += pitch;
      if( _pitch > 90 )
          _pitch = 90;
      else if( _pitch < 0 )
          _pitch = 0;
    }
  
     void setScale( float scale ) { _scale = scale; }
     void setPose( float x, float y) { _x = x; _y = y; }
  
    void scale( float scale, float shift_x = 0, float h = 0, float shift_y = 0, float w = 0 );  
     void reset( void ) { _pitch = _yaw = 0; }
  
     float scale() const { return _scale; }
  
    void Load( Worldfile* wf, int sec );
    void Save( Worldfile* wf, int sec );
  };


  class WorldGui : public World, public Fl_Window 
  {
    friend class Canvas;
    friend class ModelCamera;
    friend class Model;
    friend class Option;

  private:

    Canvas* canvas;
    std::vector<Option*> drawOptions;
    FileManager* fileMan; 
     std::vector<stg_usec_t> interval_log;
     
     float speedup; 

    Fl_Menu_Bar* mbar;
    OptionsDlg* oDlg;
    bool pause_time;

    stg_usec_t real_time_interval;
     
    stg_usec_t real_time_now; 

    stg_usec_t real_time_recorded;
     
     uint64_t timing_interval;

    // static callback functions
    static void windowCb( Fl_Widget* w, WorldGui* wg ); 
    static void fileLoadCb( Fl_Widget* w, WorldGui* wg );
    static void fileSaveCb( Fl_Widget* w, WorldGui* wg );
    static void fileSaveAsCb( Fl_Widget* w, WorldGui* wg );
    static void fileExitCb( Fl_Widget* w, WorldGui* wg );
    static void viewOptionsCb( OptionsDlg* oDlg, WorldGui* wg );
    static void optionsDlgCb( OptionsDlg* oDlg, WorldGui* wg );
    static void helpAboutCb( Fl_Widget* w, WorldGui* wg );
    static void pauseCb( Fl_Widget* w, WorldGui* wg );
    static void onceCb( Fl_Widget* w, WorldGui* wg );
    static void fasterCb( Fl_Widget* w, WorldGui* wg );
    static void slowerCb( Fl_Widget* w, WorldGui* wg );
    static void realtimeCb( Fl_Widget* w, WorldGui* wg );
    static void fasttimeCb( Fl_Widget* w, WorldGui* wg );
    static void resetViewCb( Fl_Widget* w, WorldGui* wg );
    static void moreHelptCb( Fl_Widget* w, WorldGui* wg );
    
    // GUI functions
    bool saveAsDialog();
    bool closeWindowQuery();
    
    virtual void AddModel( Model* mod );
    
     void SetTimeouts();

  protected:
    
    virtual void PushColor( Color col );
    virtual void PushColor( double r, double g, double b, double a );
    virtual void PopColor();
    
    void DrawOccupancy();
    void DrawVoxels();
     
  public:
    
    WorldGui(int W,int H,const char*L=0);
    ~WorldGui();
    
    virtual std::string ClockString() const;
    virtual bool Update();  
    virtual void Load( const char* filename );
    virtual void UnLoad();
    virtual bool Save( const char* filename );  
    virtual bool IsGUI() const { return true; };    
    virtual Model* RecentlySelectedModel() const;

    virtual void Start();
    virtual void Stop();
    
    stg_usec_t RealTimeNow(void) const;
 
    void DrawBoundingBoxTree();
    
    Canvas* GetCanvas( void ) const { return canvas; } 

    void Show(); 

    std::string EnergyString( void );   
    virtual void RemoveChild( Model* mod );  
  };


  class StripPlotVis : public Visualizer
  {
  private:
     
     Model* mod;
     float* data;
     size_t len;
     size_t count;
     unsigned int index;
     float x,y,w,h,min,max;
     Color fgcolor, bgcolor;
     
  public:
     StripPlotVis( float x, float y, float w, float h, 
                        size_t len, 
                        Color fgcolor, Color bgcolor,
                        const char* name, const char* wfname );
     virtual ~StripPlotVis();
     virtual void Visualize( Model* mod, Camera* cam );     
     void AppendValue( float value );
  };


  class PowerPack
  {
     friend class WorldGui;
     friend class Canvas;
     
  protected:
     
     class DissipationVis : public Visualizer
     {
     private:
        unsigned int columns, rows;
        stg_meters_t width, height;
         
         std::vector<stg_joules_t> cells;
         
         stg_joules_t peak_value;
         double cellsize;
         
        static stg_joules_t global_peak_value; 

     public:
        DissipationVis( stg_meters_t width, 
                             stg_meters_t height, 
                             stg_meters_t cellsize );

        virtual ~DissipationVis();
        virtual void Visualize( Model* mod, Camera* cam );      
        
        void Accumulate( stg_meters_t x, stg_meters_t y, stg_joules_t amount );
     } event_vis;
     

     StripPlotVis output_vis;
     StripPlotVis stored_vis;

     Model* mod;
    
     stg_joules_t stored;
     
     stg_joules_t capacity;
     
     bool charging;
     
     stg_joules_t dissipated;
     
     // these are used to visualize the power draw
     stg_usec_t last_time;
     stg_joules_t last_joules;
     stg_watts_t last_watts;

     static stg_joules_t global_stored;
     static stg_joules_t global_capacity;
     static stg_joules_t global_dissipated;  
     static stg_joules_t global_input;

  public:
     PowerPack( Model* mod );
     ~PowerPack();
     
     void Visualize( Camera* cam );

     void Print( char* prefix ) const;
     
     stg_joules_t RemainingCapacity() const;
     
     void Add( stg_joules_t j );
        
     void Subtract( stg_joules_t j );
        
     void TransferTo( PowerPack* dest, stg_joules_t amount );    

     double ProportionRemaining() const
     { return( stored / capacity ); }

     void Print( const char* prefix ) const
     { printf( "%s PowerPack %.2f/%.2f J\n", prefix, stored, capacity ); }      
     
     stg_joules_t GetStored() const;
     stg_joules_t GetCapacity() const;
     stg_joules_t GetDissipated() const;
     void SetCapacity( stg_joules_t j );
     void SetStored( stg_joules_t j );  

     bool GetCharging() const { return charging; }
     
     void ChargeStart(){ charging = true; }
     void ChargeStop(){ charging = false; }

     void Dissipate( stg_joules_t j );
     
     void Dissipate( stg_joules_t j, const Pose& p );
  };

   
  class Model : public Ancestor
  {
    friend class Ancestor;
    friend class World;
    friend class World::Event;
    friend class WorldGui;
    friend class Canvas;
    friend class Block;
    friend class Region;
    friend class BlockGroup;
    friend class PowerPack;
    friend class Ray;
    
  private:
     static uint32_t count;
     static std::map<stg_id_t,Model*> modelsbyid;
     std::vector<Option*> drawOptions;
     const std::vector<Option*>& getOptions() const { return drawOptions; }
     
  protected:
     pthread_mutex_t access_mutex;

     bool alwayson;

     BlockGroup blockgroup;
     int blocks_dl;

     int boundary;
        
  public:
     class stg_cb_t
     {
     public:
        stg_model_callback_t callback;
        void* arg;
            
        stg_cb_t( stg_model_callback_t cb, void* arg ) 
          : callback(cb), arg(arg) {}
            
        stg_cb_t( stg_world_callback_t cb, void* arg ) 
          : callback(NULL), arg(arg) { (void)cb; }
            
        stg_cb_t() : callback(NULL), arg(NULL) {}
            
        bool operator<( const stg_cb_t& other ) const
        { return ((void*)(callback)) < ((void*)(other.callback)); }
            
        bool operator==( const stg_cb_t& other ) const
        { return( callback == other.callback);  }           
     };
        
     class Flag
     {
     public:
        Color color;
        double size;
        static int displaylist;
        
        Flag( Color color, double size );
        Flag* Nibble( double portion );
        
        void Draw(  GLUquadric* quadric );
     };

  protected:
     static std::map<void*, std::set<stg_cb_t> > callbacks;
        
     Color color;
     double friction;
        
     bool data_fresh;
     stg_bool_t disabled; 
     std::list<Visualizer*> cv_list;
     std::list<Flag*> flag_list;
     Geom geom;

     class GuiState
     {
     public:
        bool grid;
        bool move;
        bool nose;
        bool outline;
        
        GuiState();
        void Load( Worldfile* wf, int wf_entity );
     } gui;
     
     bool has_default_block;
  
     /* Hooks for attaching special callback functions (not used as
         variables - we just need unique addresses for them.) */  
     class CallbackHooks
     {
     public:
        int flag_incr;
        int flag_decr;
        int init;
        int load;
        int save;
        int shutdown;
        int startup;
        int update;
        int update_done;

         /* optimization: record the number of attached callbacks for pose
                and velocity, so we can cheaply determine whether we need to
                call a callback for SetPose() and SetVelocity(), which happen
                very frequently. */
         int attached_velocity;
         int attached_pose;
         int attached_update;
         
         CallbackHooks() : 
             attached_velocity(0), 
             attached_pose(0), 
             attached_update(0) 
         {}

     } hooks;
  
     uint32_t id;   
     stg_usec_t interval; 
     stg_usec_t interval_energy; 
     stg_usec_t interval_pose; 

     stg_usec_t last_update; 
     bool log_state; 
     stg_meters_t map_resolution;
     stg_kg_t mass;

     Model* parent; 

     Pose pose;

     PowerPack* power_pack;

     std::list<PowerPack*> pps_charging;
        
     std::map<std::string,const void*> props;

     class RasterVis : public Visualizer
     {
     private:
        uint8_t* data;
        unsigned int width, height;
        stg_meters_t cellwidth, cellheight;
        std::vector<stg_point_t> pts;
      
     public:
        RasterVis();
        virtual ~RasterVis( void ){}
        virtual void Visualize( Model* mod, Camera* cam );
      
        void SetData( uint8_t* data, 
                          unsigned int width, 
                          unsigned int height,
                          stg_meters_t cellwidth,
                          stg_meters_t cellheight );
      
        int subs;     //< the number of subscriptions to this model
        int used;     //< the number of connections to this model
      
        void AddPoint( stg_meters_t x, stg_meters_t y );
        void ClearPts();
      
     } rastervis;
     
     bool rebuild_displaylist; 
     std::string say_string;   
        
     stg_bool_t stall;
     int subs;    

     bool thread_safe;
     
     class TrailItem 
     {                                                                                          
     public:
        stg_usec_t time;
        Pose pose;
        Color color;
        
        TrailItem( stg_usec_t time, Pose pose, Color color ) 
          : time(time), pose(pose), color(color){}
     };
    
     std::list<TrailItem> trail;
     
     static unsigned int trail_length;
     
     static uint64_t trail_interval;
     
        void UpdateTrail();

     //stg_model_type_t type;  
     const std::string type;
        unsigned int event_queue_num; 
        bool used;   
        Velocity velocity;
        
        bool velocity_enable;
        
        stg_watts_t watts;
     
     stg_watts_t watts_give;
    
     stg_watts_t watts_take;
    
     Worldfile* wf;
     int wf_entity;
     World* world; // pointer to the world in which this model exists
     WorldGui* world_gui; //pointer to the GUI world - NULL if running in non-gui mode

  public:
     
     const std::string& GetModelType() const {return type;}  
     std::string GetSayString(){return std::string(say_string);}
     
    Model* GetChild( const std::string& name ) const;

     class Visibility
     {
     public:
        bool blob_return;
        int fiducial_key;
        int fiducial_return;
        bool gripper_return;
        stg_laser_return_t laser_return;
        bool obstacle_return;
        bool ranger_return;
        bool gravity_return;
        bool sticky_return;
        
        Visibility();
        void Load( Worldfile* wf, int wf_entity );
     } vis;
     
     stg_usec_t GetUpdateInterval(){ return interval; }
     stg_usec_t GetEnergyInterval(){ return interval_energy; }
     stg_usec_t GetPoseInterval(){ return interval_pose; }
     
     void Rasterize( uint8_t* data, 
                          unsigned int width, unsigned int height,
                          stg_meters_t cellwidth, stg_meters_t cellheight );
    
  private: 
     explicit Model(const Model& original);

     Model& operator=(const Model& original);

  protected:

     void RegisterOption( Option* opt );

     void AppendTouchingModels( ModelPtrSet& touchers );

     Model* TestCollision();

    Model* TestCollisionTree();
  
     void CommitTestedPose();

     void Map();
     void UnMap();

     void MapWithChildren();
     void UnMapWithChildren();
  
     // Find the root model, and map/unmap the whole tree.
     void MapFromRoot();
     void UnMapFromRoot();

     stg_raytrace_result_t Raytrace( const Pose &pose,
                                                const stg_meters_t range, 
                                                const stg_ray_test_func_t func,
                                                const void* arg,
                                                const bool ztest = true );
  
     void Raytrace( const Pose &pose,
                         const stg_meters_t range, 
                         const stg_radians_t fov, 
                         const stg_ray_test_func_t func,
                         const void* arg,
                         stg_raytrace_result_t* samples,
                         const uint32_t sample_count,
                         const bool ztest = true  );
  
     stg_raytrace_result_t Raytrace( const stg_radians_t bearing,            
                                                const stg_meters_t range,
                                                const stg_ray_test_func_t func,
                                                const void* arg,
                                                const bool ztest = true );
  
     void Raytrace( const stg_radians_t bearing,             
                         const stg_meters_t range,
                         const stg_radians_t fov,
                         const stg_ray_test_func_t func,
                         const void* arg,
                         stg_raytrace_result_t* samples,
                         const uint32_t sample_count,
                         const bool ztest = true );
  

     void GPoseDirtyTree();

     virtual void Startup();
     virtual void Shutdown();
     virtual void Update();
     virtual void UpdatePose();
     virtual void UpdateCharge();

     Model* ConditionalMove( const Pose& newpose );

     stg_meters_t ModelHeight() const;

     void DrawBlocksTree();
     virtual void DrawBlocks();
     void DrawBoundingBox();
     void DrawBoundingBoxTree();
     virtual void DrawStatus( Camera* cam );
     void DrawStatusTree( Camera* cam );
  
     void DrawOriginTree();
     void DrawOrigin();
  
     void PushLocalCoords();
     void PopCoords();
  
     void DrawImage( uint32_t texture_id, Camera* cam, float alpha, double width=1.0, double height=1.0 );
    
     virtual void DrawPicker();
     virtual void DataVisualize( Camera* cam );  
     virtual void DrawSelected(void);
    
     void DrawTrailFootprint();
     void DrawTrailBlocks();
     void DrawTrailArrows();
     void DrawGrid();
     // void DrawBlinkenlights();
     void DataVisualizeTree( Camera* cam );
     void DrawFlagList();
     void DrawPose( Pose pose );
     void LoadDataBaseEntries( Worldfile* wf, int entity );
    
  public:
     virtual void PushColor( Color col ){ world->PushColor( col ); }    
     virtual void PushColor( double r, double g, double b, double a ){ world->PushColor( r,g,b,a ); }   
     virtual void PopColor()    { world->PopColor(); }
    
     PowerPack* FindPowerPack() const;
    
     //void RecordRenderPoint( GSList** head, GSList* link, 
     //                 unsigned int* c1, unsigned int* c2 );

     void PlaceInFreeSpace( stg_meters_t xmin, stg_meters_t xmax, 
                                    stg_meters_t ymin, stg_meters_t ymax );
    
     std::string PoseString()
     { return pose.String(); }
    
     static Model* LookupId( uint32_t id )
     { return modelsbyid[id]; }
     
     Model( World* world, 
              Model* parent = NULL, 
              const std::string& type = "model" );
     
     virtual ~Model();
    
     void Say( const std::string& str );
     
     void AddVisualizer( Visualizer* custom_visual, bool on_by_default );

     void RemoveVisualizer( Visualizer* custom_visual );

     void BecomeParentOf( Model* child );

     void Load( Worldfile* wf, int wf_entity )
     {
        SetWorldfile( wf, wf_entity );
        Load(); // call virtual load
     }
    
     void SetWorldfile( Worldfile* wf, int wf_entity )
     { this->wf = wf; this->wf_entity = wf_entity; }
    
     virtual void Load();
    
     virtual void Save();
    
     // Should be called after all models are loaded, to do any last-minute setup */
     //void Init(); 
     //void InitRecursive();

     void InitControllers();

     void AddFlag(  Flag* flag );
     void RemoveFlag( Flag* flag );
    
     void PushFlag( Flag* flag );
     Flag* PopFlag();
    
     int GetFlagCount() const { return flag_list.size(); }
  
     //      /** Add a pointer to a blinkenlight to the model. */
     //      void AddBlinkenlight( stg_blinkenlight_t* b )
     //      { g_ptr_array_add( this->blinkenlights, b ); }
  
     //      /** Clear all blinkenlights from the model. Does not destroy the
     //           blinkenlight objects. */
     //      void ClearBlinkenlights()
     //      {  g_ptr_array_set_size( this->blinkenlights, 0 ); }
  
     void Disable(){ disabled = true; };

     void Enable(){ disabled = false; };
  
     void LoadControllerModule( const char* lib );
    
     void NeedRedraw();
    
     void LoadBlock( Worldfile* wf, int entity );

     Block* AddBlockRect( stg_meters_t x, stg_meters_t y, 
                                 stg_meters_t dx, stg_meters_t dy, 
                                 stg_meters_t dz );
    
     void ClearBlocks();
  
     Model* Parent() const { return this->parent; }

     World* GetWorld() const { return this->world; }
  
     Model* Root(){ return(  parent ? parent->Root() : this ); }
  
     bool IsAntecedent( const Model* testmod ) const;
    
     bool IsDescendent( const Model* testmod ) const;
    
     bool IsRelated( const Model* testmod ) const;

     Pose GetGlobalPose() const;
    
     Velocity GetGlobalVelocity()  const;
    
     /* set the velocity of a model in the global coordinate system */
     void SetGlobalVelocity( const Velocity& gvel );
    
     void Subscribe();
    
     void Unsubscribe();
    
     void SetGlobalPose(  const Pose& gpose );
    
     void SetVelocity(  const Velocity& vel );
    
        void VelocityEnable();

        void VelocityDisable();

     void SetPose(  const Pose& pose );
    
     void AddToPose(  const Pose& pose );
    
     void AddToPose(  double dx, double dy, double dz, double da );
    
     void SetGeom(  const Geom& src );
  
     void SetFiducialReturn(  int fid );
  
     int GetFiducialReturn()  const { return vis.fiducial_return; }
  
     void SetFiducialKey(  int key );
    
     Color GetColor() const { return color; }
     
     uint32_t GetId()  const { return id; }
     
     stg_kg_t GetTotalMass();
     
     stg_kg_t GetMassOfChildren();

     int SetParent( Model* newparent);
    
     Geom GetGeom() const { return geom; }
    
     Pose GetPose() const { return pose; }
    
     Velocity GetVelocity() const { return velocity; }
    
     // guess what these do?
     void SetColor( Color col );
     void SetMass( stg_kg_t mass );
     void SetStall( stg_bool_t stall );
     void SetGravityReturn( int val );
     void SetGripperReturn( int val );
     void SetStickyReturn( int val );
     void SetLaserReturn( stg_laser_return_t val );
     void SetObstacleReturn( int val );
     void SetBlobReturn( int val );
     void SetRangerReturn( int val );
     void SetBoundary( int val );
     void SetGuiNose( int val );
     void SetGuiMove( int val );
     void SetGuiGrid( int val );
     void SetGuiOutline( int val );
     void SetWatts( stg_watts_t watts );
     void SetMapResolution( stg_meters_t res );
     void SetFriction( double friction );
    
     bool DataIsFresh() const { return this->data_fresh; }
    
     /* attach callback functions to data members. The function gets
         called when the member is changed using SetX() accessor method */
        
     void AddCallback( void* address, 
                             stg_model_callback_t cb, 
                             void* user );
        
     int RemoveCallback( void* member,
                                stg_model_callback_t callback );
        
     int CallCallbacks(  void* address );
        
     /* wrappers for the generic callback add & remove functions that hide
         some implementation detail */
    
     void AddStartupCallback( stg_model_callback_t cb, void* user )
     { AddCallback( &hooks.startup, cb, user ); };
    
     void RemoveStartupCallback( stg_model_callback_t cb )
     { RemoveCallback( &hooks.startup, cb ); };
    
     void AddShutdownCallback( stg_model_callback_t cb, void* user )
     { AddCallback( &hooks.shutdown, cb, user ); };
    
     void RemoveShutdownCallback( stg_model_callback_t cb )
     { RemoveCallback( &hooks.shutdown, cb ); }
    
     void AddLoadCallback( stg_model_callback_t cb, void* user )
     { AddCallback( &hooks.load, cb, user ); }
    
     void RemoveLoadCallback( stg_model_callback_t cb )
     { RemoveCallback( &hooks.load, cb ); }
    
     void AddSaveCallback( stg_model_callback_t cb, void* user )
     { AddCallback( &hooks.save, cb, user ); }
    
     void RemoveSaveCallback( stg_model_callback_t cb )
     { RemoveCallback( &hooks.save, cb ); }
  
     void AddUpdateCallback( stg_model_callback_t cb, void* user )
     { AddCallback( &hooks.update, cb, user ); }
     
     void RemoveUpdateCallback( stg_model_callback_t cb )
     {  RemoveCallback( &hooks.update, cb ); }
     
     void AddFlagIncrCallback( stg_model_callback_t cb, void* user )
     {  AddCallback( &hooks.flag_incr, cb, user ); }
    
     void RemoveFlagIncrCallback( stg_model_callback_t cb )
     {  RemoveCallback( &hooks.flag_incr, cb ); }

     void AddFlagDecrCallback( stg_model_callback_t cb, void* user )
     {  AddCallback( &hooks.flag_decr, cb, user ); }
    
     void RemoveFlagDecrCallback( stg_model_callback_t cb )
     {  RemoveCallback( &hooks.flag_decr, cb ); }
     
     const void* GetProperty( const char* key ) const;
     bool GetPropertyFloat( const char* key, float* f, float defaultval ) const;     
     bool GetPropertyInt( const char* key, int* i, int defaultval ) const;   
     bool GetPropertyStr( const char* key, char** c, char* defaultval ) const;

     int SetProperty( const char* key, const void* data );
     void SetPropertyInt( const char* key, int i );
     void SetPropertyFloat( const char* key, float f );
     void SetPropertyStr( const char* key, const char* str );
     
     void UnsetProperty( const char* key );
        
     virtual void Print( char* prefix ) const;
     virtual const char* PrintWithPose() const;
    
     Pose GlobalToLocal( const Pose& pose ) const;
     
     Pose LocalToGlobal( const Pose& pose ) const
     {  
        return( ( GetGlobalPose() + geom.pose ) + pose );
     }
        
        void LocalToPixels( const std::vector<stg_point_t>& local,
                                                std::vector<stg_point_int_t>& pixels) const;
        
     stg_point_t LocalToGlobal( const stg_point_t& pt) const;       

     Model* GetUnsubscribedModelOfType( const std::string& type ) const;
    
     Model* GetUnusedModelOfType( const std::string& type );
  
     bool Stalled() const { return this->stall; }
     
     unsigned int GetSubscriptionCount() const { return subs; }

     bool HasSubscribers() const { return( subs > 0 ); }     

     static std::map< std::string, creator_t> name_map;  
  };


  // BLOBFINDER MODEL --------------------------------------------------------


  class ModelBlobfinder : public Model
  {
  public:
     class Blob
     {
     public:
        Color color;
        uint32_t left, top, right, bottom;
        stg_meters_t range;
     };

     class Vis : public Visualizer 
     {
     private:
        //static Option showArea;
     public:
        Vis( World* world );
        virtual ~Vis( void ){}
        virtual void Visualize( Model* mod, Camera* cam );
     } vis;

  private:
     std::vector<Blob> blobs;
     std::vector<Color> colors;

     // predicate for ray tracing
     static bool BlockMatcher( Block* testblock, Model* finder );
     //static Option showBlobData;

  public:
     stg_radians_t fov;
     stg_radians_t pan;
     stg_meters_t range;
     unsigned int scan_height;
     unsigned int scan_width;
     
     // constructor
     ModelBlobfinder( World* world,
                            Model* parent,
                            const std::string& type );
     // destructor
     ~ModelBlobfinder();
    
     virtual void Startup();
     virtual void Shutdown();
     virtual void Update();
     virtual void Load();
        
     Blob* GetBlobs( unsigned int* count )
     { 
        if( count ) *count = blobs.size();
        return &blobs[0];
     }

     void AddColor( Color col );

     void RemoveColor( Color col );

     void RemoveAllColors();
  };




  // LASER MODEL --------------------------------------------------------
  
  class ModelLaser : public Model
  {
  public:
     class Sample
     {
     public:
        stg_meters_t range; 
        double reflectance; 
     };
        
     class Config
     {
     public:
        uint32_t sample_count; 
        uint32_t resolution; 
        Bounds range_bounds; 
        stg_radians_t fov; 
        stg_usec_t interval; 
     };
        
  private:   
     class Vis : public Visualizer 
     {
     private:
        static Option showArea;
        static Option showStrikes;
        static Option showFov;
        static Option showBeams;

     public:
        Vis( World* world );        virtual ~Vis( void ){}
        virtual void Visualize( Model* mod, Camera* cam );
     } vis;
        
     unsigned int sample_count;
     std::vector<Sample> samples;

     stg_meters_t range_max;
     stg_radians_t fov;
     uint32_t resolution;
    
     // set up data buffers after the config changes
     void SampleConfig();

  public:
     // constructor
     ModelLaser( World* world,
                     Model* parent,
                     const std::string& type ); 
  
     // destructor
     ~ModelLaser();
    
     virtual void Startup();
     virtual void Shutdown();
     virtual void Update();
     virtual void Load();
     virtual void Print( char* prefix );
  
     Sample* GetSamples( uint32_t* count );
     
     const std::vector<Sample>& GetSamples();
     
     Config GetConfig( );
     
     void SetConfig( Config& cfg );  
  };
  

  // Light indicator model
  class ModelLightIndicator : public Model
  {
  public:
     ModelLightIndicator( World* world, 
                                 Model* parent,
                                 const std::string& type );
     ~ModelLightIndicator();
  
     void SetState(bool isOn);

  protected:
     virtual void DrawBlocks();

  private:
     bool m_IsOn;
  };

  // \todo  GRIPPER MODEL --------------------------------------------------------


  class ModelGripper : public Model
  {
  public:

     enum paddle_state_t {
        PADDLE_OPEN = 0, // default state
        PADDLE_CLOSED, 
        PADDLE_OPENING,
        PADDLE_CLOSING,
     };
     
     enum lift_state_t {
        LIFT_DOWN = 0, // default state
        LIFT_UP, 
        LIFT_UPPING, // verbed these to match the paddle state
        LIFT_DOWNING, 
     };
     
     enum cmd_t {
        CMD_NOOP = 0, // default state
        CMD_OPEN, 
        CMD_CLOSE,
        CMD_UP, 
        CMD_DOWN    
     };
     
     
     struct config_t
     {
        Size paddle_size; 
        paddle_state_t paddles;
        lift_state_t lift;      
        double paddle_position; 
        double lift_position; 
        Model* gripped;
        bool paddles_stalled; // true iff some solid object stopped the paddles closing or opening
        double close_limit; 
        bool autosnatch; 
        double break_beam_inset[2]; 
      Model* beam[2]; 
      Model* contact[2]; 
     };
     
  private:
     virtual void Update();
     virtual void DataVisualize( Camera* cam );
     
     void FixBlocks();
     void PositionPaddles();
     void UpdateBreakBeams();
     void UpdateContacts();

     config_t cfg;
     cmd_t cmd;
     
     Block* paddle_left;
     Block* paddle_right;

     static Option showData;

  public:    
     static const Size size;

     // constructor
     ModelGripper( World* world,
                        Model* parent,
                        const std::string& type );
     // destructor
     virtual ~ModelGripper();
  
     virtual void Load();
     virtual void Save();

     void SetConfig( config_t & newcfg ){ this->cfg = newcfg; FixBlocks(); }
     
     config_t GetConfig(){ return cfg; };
     
     void SetCommand( cmd_t cmd ) { this->cmd = cmd; }
     void CommandClose() { SetCommand( CMD_CLOSE ); }
     void CommandOpen() { SetCommand( CMD_OPEN ); }
     void CommandUp() { SetCommand( CMD_UP ); }
     void CommandDown() { SetCommand( CMD_DOWN ); }
  };


  // \todo BUMPER MODEL --------------------------------------------------------

  //   typedef struct
  //   {
  //     Pose pose;
  //     stg_meters_t length;
  //   } stg_bumper_config_t;

  //   typedef struct
  //   {
  //     Model* hit;
  //     stg_point_t hit_point;
  //   } stg_bumper_sample_t;


  // FIDUCIAL MODEL --------------------------------------------------------

  class ModelFiducial : public Model
  {
  public:  
     class Fiducial
     {
     public:
        stg_meters_t range; 
        stg_radians_t bearing; 
        Pose geom; 
        Pose pose; 
        Model* mod; 
        int id; 
     };

  private:
     // if neighbor is visible, add him to the fiducial scan
     void AddModelIfVisible( Model* him );

     virtual void Update();
     virtual void DataVisualize( Camera* cam );

     static Option showData;
     static Option showFov;
     
     std::vector<Fiducial> fiducials;
        
  public:       
     ModelFiducial( World* world, 
                         Model* parent,
                         const std::string& type );
     virtual ~ModelFiducial();
    
     virtual void Load();
     void Shutdown( void );

     stg_meters_t max_range_anon;
     stg_meters_t max_range_id; 
     stg_meters_t min_range; 
     stg_radians_t fov; 
     stg_radians_t heading; 
     int key; 
        
        
     std::vector<Fiducial>& GetFiducials() { return fiducials; }
        
     Fiducial* GetFiducials( unsigned int* count )
     {
        if( count ) *count = fiducials.size();
        return &fiducials[0];
     }
  };


  // RANGER MODEL --------------------------------------------------------

  class ModelRanger : public Model
  {
  public:
     class Sensor
     {
     public:
        Pose pose;
        Size size;
        Bounds bounds_range;
        stg_radians_t fov;
        int ray_count;
        stg_meters_t range;
     };

  protected:

     virtual void Startup();
     virtual void Shutdown();
     virtual void Update();
     virtual void DataVisualize( Camera* cam );
    
  public:
     ModelRanger( World* world, Model* parent,
                      const std::string& type );
     virtual ~ModelRanger();
    
     virtual void Load();
     virtual void Print( char* prefix );
     
     std::vector<Sensor> sensors;
    
  private:
     static Option showRangerData;
     static Option showRangerTransducers;       
  };
    
  // BLINKENLIGHT MODEL ----------------------------------------------------
  class ModelBlinkenlight : public Model
  {
  private:
     double dutycycle;
     bool enabled;
     stg_msec_t period;
     bool on;

     static Option showBlinkenData;
  public:
     ModelBlinkenlight( World* world,
                              Model* parent,
                              const std::string& type );

     ~ModelBlinkenlight();
    
     virtual void Load();
     virtual void Update();
     virtual void DataVisualize( Camera* cam );
  };

    
  // CAMERA MODEL ----------------------------------------------------

  class ModelCamera : public Model
  {
  public:
     typedef struct 
     {
        // GL_V3F
        GLfloat x, y, z;
     } ColoredVertex;
  
  private:
     Canvas* _canvas;

     GLfloat* _frame_data;  //opengl read buffer
     GLubyte* _frame_color_data;  //opengl read buffer

     bool _valid_vertexbuf_cache;
     ColoredVertex* _vertexbuf_cache; //cached unit vectors with appropriate rotations (these must be scalled by z-buffer length)
    
     int _width;         //width of buffer
     int _height;        //height of buffer
     static const int _depth = 4;
    
     int _camera_quads_size;
     GLfloat* _camera_quads;
     GLubyte* _camera_colors;
    
     static Option showCameraData;
    
     PerspectiveCamera _camera;
     float _yaw_offset; //position camera is mounted at
     float _pitch_offset;
        
     bool GetFrame();
    
  public:
     ModelCamera( World* world,
                      Model* parent,
                      const std::string& type ); 
      
     ~ModelCamera();
  
     virtual void Load();
    
     virtual void Update();
    
     //virtual void Draw( uint32_t flags, Canvas* canvas );
    
     virtual void DataVisualize( Camera* cam );
    
     int getWidth( void ) const { return _width; }
    
     int getHeight( void ) const { return _height; }
    
     const PerspectiveCamera& getCamera( void ) const { return _camera; }
    
     const GLfloat* FrameDepth() const { return _frame_data; }
    
     const GLubyte* FrameColor() const { return _frame_color_data; }
    
     void setPitch( float pitch ) { _pitch_offset = pitch; _valid_vertexbuf_cache = false; }
    
     void setYaw( float yaw ) { _yaw_offset = yaw; _valid_vertexbuf_cache = false; }
  };

  // POSITION MODEL --------------------------------------------------------

  class ModelPosition : public Model
  {
     friend class Canvas;

  public:
     typedef enum
        { CONTROL_VELOCITY, 
          CONTROL_POSITION 
        } ControlMode;
     
     typedef enum
        { LOCALIZATION_GPS, 
          LOCALIZATION_ODOM 
        } LocalizationMode;
     
     typedef enum
        { DRIVE_DIFFERENTIAL, 
          DRIVE_OMNI, 
          DRIVE_CAR 
        } DriveMode;
     
  private:
     Pose goal;
     ControlMode control_mode;
     DriveMode drive_mode;
     LocalizationMode localization_mode; 
     Velocity integration_error; 
     
     
  public:
     // constructor
     ModelPosition( World* world,
                         Model* parent,
                         const std::string& type );
     // destructor
     ~ModelPosition();

     virtual void Startup();
     virtual void Shutdown();
     virtual void Update();
     virtual void Load();
        
     class Waypoint
     {
     public:
        Waypoint( stg_meters_t x, stg_meters_t y, stg_meters_t z, stg_radians_t a, Color color ) ;
        Waypoint( const Pose& pose, Color color ) ;
        Waypoint();
        void Draw() const;
        
        Pose pose;
        Color color;
     };
     
     std::vector<Waypoint> waypoints;

     class WaypointVis : public Visualizer
     {
     public:
        WaypointVis();
        virtual ~WaypointVis( void ){}
        virtual void Visualize( Model* mod, Camera* cam );
     } wpvis;
     
     class PoseVis : public Visualizer
     {
     public:
        PoseVis();
        virtual ~PoseVis( void ){}
        virtual void Visualize( Model* mod, Camera* cam );
     } posevis;

     void SetOdom( Pose odom );
        
     void SetSpeed( double x, double y, double a );
     void SetXSpeed( double x );
     void SetYSpeed( double y );
     void SetZSpeed( double z );
     void SetTurnSpeed( double a );
     void SetSpeed( Velocity vel );
     void Stop();

     void GoTo( double x, double y, double a );
     void GoTo( Pose pose );

     // localization state
     Pose est_pose; 
     Pose est_pose_error; 
     Pose est_origin; 
  };


  // ACTUATOR MODEL --------------------------------------------------------

  class ModelActuator : public Model
  {
  public:
     typedef enum
        { CONTROL_VELOCITY,
          CONTROL_POSITION
        } ControlMode;
  
     typedef enum
        { TYPE_LINEAR,
          TYPE_ROTATIONAL
        } ActuatorType;
  
  private:
     double goal; //< the current velocity or pose to reach, depending on the value of control_mode
     double pos;
     double max_speed;
     double min_position;
     double max_position;
     ControlMode control_mode;
     ActuatorType actuator_type;
     stg_point3_t axis;
  
     Pose InitialPose;
  public:  
     // constructor
     ModelActuator( World* world,
                         Model* parent,
                         const std::string& type );
     // destructor
     ~ModelActuator();
  
     virtual void Startup();
     virtual void Shutdown();
     virtual void Update();
     virtual void Load();
  
     void SetSpeed( double speed );
  
     double GetSpeed() const {return goal;}
  
     void GoTo( double pose );
  
     double GetPosition() const {return pos;};
     double GetMaxPosition() const {return max_position;};
     double GetMinPosition() const {return min_position;};
  
  };


}; // end namespace stg

#endif