Mapping::Mapping(Robot *robot,Techniques tech) :
QObject(),
lasers(NULL),
sonares(NULL),
sensores(NULL)
{
mRobot = robot;
this->technique = tech;
thread = new QThread();
this->moveToThread(thread);
rangeMax = 5000;
celRange = 2*30000/MAP_LENGTH_WORLD;
connect(thread,SIGNAL(started()),this,SLOT(keepRendering()));
connect(thread,SIGNAL(finished()),this,SLOT(finishRendering()));
}
static void
mainLoop() {
addCallbacks(retracer);
long long startTime = 0;
frameNo = 0;
startTime = os::getTime();
if (singleThread) {
trace::Call *call;
while ((call = parser->parse_call())) {
retraceCall(call);
delete call;
}
} else {
RelayRace race;
race.run();
}
finishRendering();
long long endTime = os::getTime();
float timeInterval = (endTime - startTime) * (1.0 / os::timeFrequency);
if ((retrace::verbosity >= -1) || (retrace::profiling)) {
std::cout <<
"Rendered " << frameNo << " frames"
" in " << timeInterval << " secs,"
" average of " << (frameNo/timeInterval) << " fps\n";
}
if (waitOnFinish) {
waitForInput();
} else {
return;
}
}
static void
mainLoop() {
addCallbacks(retracer);
long long startTime = 0;
frameNo = 0;
startTime = os::getTime();
if (singleThread) {
trace::Call *call;
while ((call = parser.parse_call())) {
retraceCall(call);
delete call;
};
} else {
RelayRace race;
race.run();
}
finishRendering();
long long endTime = os::getTime();
float timeInterval = (endTime - startTime) * (1.0 / os::timeFrequency);
if ((retrace::verbosity >= -1) || (retrace::profiling)) {
std::cout <<
"Rendered " << frameNo << " frames"
" in " << timeInterval << " secs,"
" average of " << (frameNo/timeInterval) << " fps\n";
std::cout << std::endl;
std::cout <<
"Total number of calls: " << nCalls.tot() << std::endl;
std::cout <<
"Average number of calls: " << nCalls.avg() << std::endl;
std::cout <<
"Minimum number of calls: " << nCalls.min() << std::endl;
std::cout <<
"Maximum number of calls: " << nCalls.max() << std::endl;
std::cout << std::endl;
std::cout <<
"Total number of render calls: " << nRenderCalls.tot() << std::endl;
std::cout <<
"Average number of render calls: " << nRenderCalls.avg() << std::endl;
std::cout <<
"Minimum number of render calls: " << nRenderCalls.min() << std::endl;
std::cout <<
"Maximum number of render calls: " << nRenderCalls.max() << std::endl;
std::cout << std::endl;
std::cout <<
"Total texel uploads: " << texUploads.tot() << std::endl;
std::cout <<
"Average texel uploads: " << texUploads.avg() << std::endl;
std::cout <<
"Minimum texel uploads: " << texUploads.min() << std::endl;
std::cout <<
"Maximum texel uploads: " << texUploads.max() << std::endl;
std::cout << std::endl;
std::cout <<
"Total number of triangles: " << nTriangles.tot() << std::endl;
std::cout <<
"Average number of triangles: " << nTriangles.avg() << std::endl;
std::cout <<
"Minimum number of triangles: " << nTriangles.min() << std::endl;
std::cout <<
"Maximum number of triangles: " << nTriangles.max() << std::endl;
std::cout << std::endl;
std::cout <<
"Total number of vertices: " << nVertices.tot() << std::endl;
std::cout <<
"Average number of vertices: " << nVertices.avg() << std::endl;
std::cout <<
"Minimum number of vertices: " << nVertices.min() << std::endl;
std::cout <<
"Maximum number of vertices: " << nVertices.max() << std::endl;
}
if (waitOnFinish) {
waitForInput();
} else {
return;
}
}
void Renderer::executeTask(int threadIndex)
{
#if PERF_HUD
int64_t startTick = Timer::ticks();
#endif
switch(task[threadIndex].type)
{
case Task::PRIMITIVES:
{
int unit = task[threadIndex].primitiveUnit;
int input = primitiveProgress[unit].firstPrimitive;
int count = primitiveProgress[unit].primitiveCount;
DrawCall *draw = drawList[primitiveProgress[unit].drawCall & DRAW_COUNT_BITS];
int (Renderer::*setupPrimitives)(int batch, int count) = draw->setupPrimitives;
processPrimitiveVertices(unit, input, count, draw->count, threadIndex);
#if PERF_HUD
int64_t time = Timer::ticks();
vertexTime[threadIndex] += time - startTick;
startTick = time;
#endif
int visible = 0;
if(!draw->setupState.rasterizerDiscard)
{
visible = (this->*setupPrimitives)(unit, count);
}
primitiveProgress[unit].visible = visible;
primitiveProgress[unit].references = clusterCount;
#if PERF_HUD
setupTime[threadIndex] += Timer::ticks() - startTick;
#endif
}
break;
case Task::PIXELS:
{
int unit = task[threadIndex].primitiveUnit;
int visible = primitiveProgress[unit].visible;
if(visible > 0)
{
int cluster = task[threadIndex].pixelCluster;
Primitive *primitive = primitiveBatch[unit];
DrawCall *draw = drawList[pixelProgress[cluster].drawCall & DRAW_COUNT_BITS];
DrawData *data = draw->data;
PixelProcessor::RoutinePointer pixelRoutine = draw->pixelPointer;
pixelRoutine(primitive, visible, cluster, data);
}
finishRendering(task[threadIndex]);
#if PERF_HUD
pixelTime[threadIndex] += Timer::ticks() - startTick;
#endif
}
break;
case Task::RESUME:
break;
case Task::SUSPEND:
break;
default:
ASSERT(false);
}
}
