src

stage_internal.h File Reference

#include <assert.h>
#include <pthread.h>
#include <semaphore.h>
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
#include <sys/socket.h>
#include <netdb.h>
#include <string.h>
#include "stage.h"
#include "config.h"
#include "replace.h"
#include "rtk.h"
#include <glib.h>

Go to the source code of this file.


Data Structures
struct	_stg_matrix
struct	_stg_model
struct	_stg_world
struct	gui_window_t
struct	itl_t
struct	stg_cbarg_t
struct	stg_cell
struct	stg_line_t
struct	stg_property_toggle_args_t
struct	stg_rotrect_t
struct	stg_type_record_t
Defines
#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)
#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__)
#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 )
#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__)
Typedefs
typedef void(*	func_load_t )(struct _stg_model *)
typedef void(*	func_save_t )(struct _stg_model *)
typedef int(*	func_shutdown_t )(struct _stg_model *)
typedef int(*	func_startup_t )(struct _stg_model *)
typedef int(*	func_update_t )(struct _stg_model *)
typedef stg_cell	stg_cell_t
typedef int(*	stg_itl_test_func_t )(stg_model_t finder, stg_model_t found)
typedef _stg_matrix	stg_matrix_t
Enumerations
enum	itl_mode_t { PointToPoint = 0, PointToBearingRange }
Functions
int	_model_shutdown (stg_model_t *mod)
int	_model_startup (stg_model_t *mod)
int	_model_update (stg_model_t *mod)
void	gui_add_tree_item (stg_model_t *mod)
void	gui_add_view_item (const gchar name, const gchar label, const gchar tooltip, GCallback callback, gboolean is_active, void userdata)
void	gui_load (gui_window_t *win, int section)
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)
int	gui_model_grid (stg_model_t mod, void userp)
int	gui_model_lines (stg_model_t mod, void userp)
int	gui_model_mask (stg_model_t mod, void userp)
void	gui_model_mouse (stg_rtk_fig_t *fig, int event, int mode)
int	gui_model_move (stg_model_t mod, void userp)
void	gui_model_nose (stg_model_t *model)
int	gui_model_polygons (stg_model_t mod, void userp)
void	gui_poll (void)
void	gui_save (gui_window_t *win)
void	gui_shutdown (void)
void	gui_startup (int argc, char *argv[])
void	gui_window_menus_create (gui_window_t *win)
void	gui_window_menus_destroy (gui_window_t *win)
gui_window_t *	gui_world_create (stg_world_t *world)
void	gui_world_destroy (stg_world_t *world)
void	gui_world_geom (stg_world_t *world)
int	gui_world_update (stg_world_t *world)
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)
stg_model_t *	itl_first_matching (itl_t itl, stg_itl_test_func_t func, stg_model_t finder)
void	itl_raytrace (itl_t *itl)
double	itl_wall_distance (itl_t itl, stg_itl_test_func_t func, stg_model_t finder, stg_model_t *otherrobot)
void	model_change (stg_model_t mod, void address)
void	model_destroy_cb (gpointer mod)
void	model_print_cb (gpointer key, gpointer value, gpointer user)
void	model_update_cb (gpointer key, gpointer value, gpointer user)
stg_cell_t *	stg_cell_locate (stg_cell_t *cell, double x, double y)
void	stg_cell_render (stg_cell_t *cell)
void	stg_cell_render_tree (stg_cell_t *cell)
void	stg_cell_unrender (stg_cell_t *cell)
void	stg_cell_unrender_tree (stg_cell_t *cell)
int	stg_fig_clear_cb (stg_model_t mod, char name, void data, size_t len, void userp)
void	stg_matrix_cell_append (stg_matrix_t matrix, double x, double y, void object)
void *	stg_matrix_cell_get (stg_matrix_t *matrix, int r, double x, double y)
void	stg_matrix_cell_remove (stg_matrix_t matrix, double x, double y, void object)
void	stg_matrix_clear (stg_matrix_t *matrix)
stg_matrix_t *	stg_matrix_create (double ppm, double width, double height)
void	stg_matrix_destroy (stg_matrix_t *matrix)
void	stg_matrix_line (stg_matrix_t matrix, double x1, double y1, double x2, double y2, void object)
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_rectangle (stg_matrix_t matrix, double px, double py, double pth, double dx, double dy, void object)
void	stg_matrix_remove_obect (stg_matrix_t matrix, void object)
void	stg_matrix_remove_object (stg_matrix_t matrix, void object)
void	stg_model_energy_consume (stg_model_t *mod, stg_watts_t rate)
void	stg_model_fig_clear (stg_model_t mod, const char figname)
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_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_polygons (stg_model_t *mod)
void	stg_model_render_pose (stg_model_t *mod)
int	stg_model_update_pose (stg_model_t *model)
void	stg_model_update_velocity (stg_model_t *model)
stg_polygon_t *	stg_polygons_from_rotrects (stg_rotrect_t *rects, size_t count, double width, double height)
int	stg_rotrects_from_image_file (const char filename, stg_rotrect_t rects, int rect_count, int widthp, int heightp)
void	stg_rotrects_normalize (stg_rotrect_t *rects, int num)
void	stg_world_add_model (stg_world_t world, stg_model_t mod)
const char *	wf_get_filename (void)
int	wf_get_parent_section (int section)
const char *	wf_get_section_type (int section)
void	wf_load (char *path)
int	wf_property_exists (int section, char *token)
double	wf_read_angle (int section, char *token, double def)
double	wf_read_float (int section, char *token, double def)
int	wf_read_int (int section, char *token, int def)
double	wf_read_length (int section, char *token, double def)
const char *	wf_read_string (int section, char token, char def)
double	wf_read_tuple_angle (int section, char *token, int index, double 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)
const char *	wf_read_tuple_string (int section, char token, int index, char def)
void	wf_save (void)
int	wf_section_count (void)
void	wf_warn_unused (void)
void	wf_write_angle (int section, char *token, double value)
void	wf_write_float (int section, char *token, double value)
void	wf_write_int (int section, char *token, int value)
void	wf_write_length (int section, char *token, double value)
void	wf_write_string (int section, char token, char value)
void	wf_write_tuple_angle (int section, char *token, int index, double 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_string (int section, char token, int index, char value)

Define Documentation

#define PRINT_DEBUG

(

)

#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	)

#define PRINT_ERR

(

)

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__)

#define PRINT_MSG

(

)

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 )

#define PRINT_WARN

(

)

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__)

Generated on Thu Dec 13 13:55:22 2007 for Stage by

1.4.6

stage_internal.h File Reference

Data Structures

Defines

Typedefs

Enumerations

Functions

Define Documentation