ARGoS
3
A parallel, multi-engine simulator for swarm robotics
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00001 00007 #include "qtopengl_render.h" 00008 #include "qtopengl_application.h" 00009 00010 #include <argos3/core/utility/logging/argos_log.h> 00011 #include <argos3/core/utility/string_utilities.h> 00012 #include <cstring> 00013 00014 #include <QPixmap> 00015 #include <QSplashScreen> 00016 00017 namespace argos { 00018 00019 /****************************************/ 00020 /****************************************/ 00021 00022 void CQTOpenGLRender::Init(TConfigurationNode& t_tree) { 00023 /* Parse options from the XML */ 00024 #ifdef ARGOS_WITH_LUA 00025 GetNodeAttributeOrDefault(t_tree, "lua_editor", m_bLuaEditor, m_bLuaEditor); 00026 #endif 00027 /* Save the configuration for later */ 00028 m_tConfTree = t_tree; 00029 /* Set up dummy arguments for QApplication */ 00030 m_nOptionNum = 1; 00031 m_ppcOptions = new char*[m_nOptionNum]; 00032 m_ppcOptions[0] = new char[7]; 00033 ::strcpy(m_ppcOptions[0], "argos3"); 00034 /* Create the QT application */ 00035 m_pcApplication = new CQTOpenGLApplication(m_nOptionNum, m_ppcOptions); 00036 } 00037 00038 /****************************************/ 00039 /****************************************/ 00040 00041 void CQTOpenGLRender::Execute() { 00042 try { 00043 /* Set some data about the application */ 00044 m_pcApplication->setApplicationName("ARGoS"); 00045 m_pcApplication->setApplicationVersion("3.0"); 00046 m_pcApplication->setOrganizationName("Iridia-ULB"); 00047 m_pcApplication->setOrganizationDomain("iridia.ulb.ac.be"); 00048 /* Draw the main window */ 00049 m_pcMainWindow = new CQTOpenGLMainWindow(m_tConfTree); 00050 m_pcMainWindow->show(); 00051 #ifdef ARGOS_WITH_LUA 00052 /* Create Lua editor if required */ 00053 if(m_bLuaEditor) { 00054 m_pcQTOpenGLLuaMainWindow = new CQTOpenGLLuaMainWindow(m_pcMainWindow); 00055 m_pcQTOpenGLLuaMainWindow->show(); 00056 } 00057 #endif 00058 LOG.Flush(); 00059 LOGERR.Flush(); 00060 /* This effectively starts the experiment */ 00061 m_pcApplication->exec(); 00062 } 00063 catch(CARGoSException& ex) { 00064 THROW_ARGOSEXCEPTION_NESTED("Error while executing the experiment.", ex); 00065 } 00066 } 00067 00068 /****************************************/ 00069 /****************************************/ 00070 00071 void CQTOpenGLRender::Destroy() { 00072 #ifdef ARGOS_WITH_LUA 00073 /* Destroy the Lua editor */ 00074 if(m_bLuaEditor) { 00075 delete m_pcQTOpenGLLuaMainWindow; 00076 } 00077 #endif 00078 /* Destroy the main window */ 00079 delete m_pcMainWindow; 00080 /* Destroy the QT application */ 00081 delete m_pcApplication; 00082 /* Get rid of the factory */ 00083 CFactory<CQTOpenGLUserFunctions>::Destroy(); 00084 } 00085 00086 /****************************************/ 00087 /****************************************/ 00088 00089 CQTOpenGLMainWindow& CQTOpenGLRender::GetMainWindow() { 00090 if(m_pcMainWindow == NULL) { 00091 THROW_ARGOSEXCEPTION("CQTOpenGLRender::GetMainWindow(): no main window created"); 00092 } 00093 return *m_pcMainWindow; 00094 } 00095 00096 /****************************************/ 00097 /****************************************/ 00098 00099 #ifdef ARGOS_WITH_LUA 00100 CQTOpenGLLuaMainWindow& CQTOpenGLRender::GetLuaMainWindow() { 00101 if(m_pcQTOpenGLLuaMainWindow == NULL) { 00102 THROW_ARGOSEXCEPTION("CQTOpenGLRender::GetLuaMainWindow(): no Lua main window created"); 00103 } 00104 return *m_pcQTOpenGLLuaMainWindow; 00105 } 00106 #endif 00107 00108 /****************************************/ 00109 /****************************************/ 00110 00111 REGISTER_VISUALIZATION(CQTOpenGLRender, 00112 "qt-opengl", 00113 "Carlo Pinciroli [ilpincy@gmail.com]", 00114 "1.0", 00115 "An interactive graphical renderer based on QT and OpenGL.", 00116 "The QT-OpenGL renderer is a graphical renderer based on QT >= 4.5 and OpenGL.\n" 00117 "It allows the user to watch and modify the simulation as it's running in an\n" 00118 "intuitive way.\n\n" 00119 "REQUIRED XML CONFIGURATION\n\n" 00120 " <visualization>\n" 00121 " <qtopengl_render />\n" 00122 " </visualization>\n\n" 00123 "OPTIONAL XML CONFIGURATION\n\n" 00124 "It is possible to set some camera parameters. There are 10 available\n" 00125 "cameras to use. You can switch from one to the other by clicking on the\n" 00126 "graphical view (to give it focus) and then pressing the keys 0-9.\n" 00127 "To configure position and orientation of specific cameras, say cameras 0 to 3,\n" 00128 "you have to include the following XML code:\n\n" 00129 " <visualization>\n" 00130 " <qtopengl_render>\n" 00131 " <camera>\n" 00132 " <placement idx=\"0\" position=\"2,2,2\" look_at=\"1,1,1\" />\n" 00133 " <placement idx=\"1\" position=\"1,0,7\" look_at=\"1,0,0\" />\n" 00134 " <placement idx=\"2\" position=\"3,3,4\" look_at=\"1,6,0\" />\n" 00135 " <placement idx=\"3\" position=\"2,3,2\" look_at=\"0,1,0\" />\n" 00136 " </camera>\n" 00137 " </qtopengl_render>\n" 00138 " </visualization>\n\n" 00139 "The 'idx' attribute specifies the camera index (and the key to press to switch\n" 00140 "to that camera).\n" 00141 "The 'position' attribute contains the position of the camera in the arena.\n" 00142 "The 'look_at' attribute sets the point the camera is looking at.\n" 00143 "It also possible to set some optical parameters of real cameras, namely the\n" 00144 "focal length and the length of the frame diagonal. For example:\n\n" 00145 " <visualization>\n" 00146 " <qtopengl_render>\n" 00147 " <camera>\n" 00148 " ...\n" 00149 " <placement idx=\"4\"\n" 00150 " position=\"4,1,4\"\n" 00151 " look_at=\"2,1,0\"\n" 00152 " lens_focal_length=\"50\"\n" 00153 " frame_diagonal=\"40\" />\n" 00154 " ...\n" 00155 " </camera>\n" 00156 " </qtopengl_render>\n" 00157 " </visualization>\n\n" 00158 "The 'lens_focal_length' attribute controls the focal length of the lens of the\n" 00159 "simulated camera. The value is in millimeters and it defaults, if not set in\n" 00160 "XML, to 20mm.\n" 00161 "The 'frame_diagonal' attribute specifies the length of the frame diagonal of\n" 00162 "the image film. The value is in millimeters and it defaults, if not set in\n" 00163 "XML, to 35mm.\n" 00164 "This visualization also allows for user customization. In a similar fashion to\n" 00165 "the loop functions, you can set a plug-in that derives from the\n" 00166 "CQTOpenGLUserFunctions class. To load it in the system, follow this example:\n\n" 00167 " <visualization>\n" 00168 " <qtopengl_render>\n" 00169 " <user_functions library=\"/path/to/libmyuserfunctions.so\"\n" 00170 " label=\"my_user_functions\" />\n" 00171 " </qtopengl_render>\n" 00172 " </visualization>\n\n" 00173 "The 'library' attribute points to the library where the user functions are\n" 00174 "stored. This library can be the same as the loop functions, or a new one.\n" 00175 "There is no limitation to where the code is to be found.\n" 00176 "The 'label' attribute identifies the user function class to use. In this way,\n" 00177 "in a single library you can have multiple user function implementations, if\n" 00178 "you wish.\n" 00179 "You can also grab frames and store them into image files, for example to create\n" 00180 "videos in a fast way. To do it, you just need to press the red capture button\n" 00181 "and frame grabbing will be on. By default, the frames are named\n" 00182 "'frame_NNNNN.png' and are stored in the current directory, i.e. the directory\n" 00183 "where you run the 'argos' command. If you want to override this behavior, you\n" 00184 "can add the optional 'frame_grabbing' section as follows:\n\n" 00185 " <visualization>\n" 00186 " <qtopengl_render>\n" 00187 " <frame_grabbing directory=\"frames\"\n" 00188 " base_name=\"myframe_\"\n" 00189 " format=\"png\"\n" 00190 " quality=\"100\" />\n" 00191 " </qtopengl_render>\n" 00192 " </visualization>\n\n" 00193 "All the attributes in this section are optional. If you don't specify one of\n" 00194 "them, the default is taken.\n" 00195 "The 'directory' attribute stores the directory where the frames are saved. If\n" 00196 "the directory does not exist, a fatal error occurs. The directory must exist\n" 00197 "and be writable. Both absolute and relative paths are allowed. The default\n" 00198 "value is '.'\n" 00199 "The 'base_name' attribute is the string to prepend to the file name. After this\n" 00200 "string, the frame number (padded to 5 digits) is added. The default value is\n" 00201 "'frame_', so a typical resulting name is 'frame_00165'.\n" 00202 "The 'format' attribute specifies the format. The default value is 'png' but you\n" 00203 "can put any format supported by Qt>=4.5. Refer to the Qt documentation for the\n" 00204 "complete list of supported formats.\n" 00205 "The 'quality' attribute dictates the quality of the image. Its value is in the\n" 00206 "range [0:100] where 0 means maximum compression and minimum quality, and 100\n" 00207 "means maximum quality and no compression at all. The default value is '-1',\n" 00208 "which means to use Qt's default quality. For videos, it's best to use 100 to\n" 00209 "avoid artifacts due to compression. For a normal screenshot, the default is the\n" 00210 "safest choice.\n", 00211 "Usable" 00212 ); 00213 00214 }