static int l_gif_gc(lua_State *L) {
Gif *self = luaL_checkudata(L, 1, CLASS_NAME);
free(self->buf);
/* Not closed? close now */
if (self->state == STATE_ACTIVE) {
jo_gif_end(&self->gif);
}
return 0;
}
static int l_gif_close(lua_State *L) {
Gif *self = luaL_checkudata(L, 1, CLASS_NAME);
if (self->state == STATE_CLOSED) {
luaL_error(L, "state already closed");
}
self->state = STATE_CLOSED;
jo_gif_end(&self->gif);
return 0;
}
void gui_tick(VideoMode mode, r32 gui_time, r32 gui_dt)
{
persist bool flag_DrawDroneGoto = true;
persist bool flag_DrawDrone = true;
persist bool flag_DrawVisibleRegion = true;
persist bool flag_DrawTargets = true;
persist bool flag_DrawObstacles = true;
persist bool flag_Paused = false;
persist bool flag_Recording = false;
persist bool flag_SetupRecord = false;
persist int record_from = 0;
persist int record_to = 0;
persist int record_frame_skip = 1;
persist int record_width = 0;
persist int record_height = 0;
persist float record_region_x = -1.0f;
persist float record_region_y = -1.0f;
persist float record_region_scale = 2.0f;
persist jo_gif_t record_gif;
persist int seek_cursor = 0;
persist int selected_target = -1;
persist Color color_Clear = { 0.00f, 0.00f, 0.00f, 1.00f };
persist Color color_Tiles = { 0.20f, 0.35f, 0.46f, 0.66f };
persist Color color_Grid = { 0.00f, 0.00f, 0.00f, 1.00f };
persist Color color_VisibleRegion = { 0.87f, 0.93f, 0.84f, 0.50f };
persist Color color_GreenLine = { 0.10f, 1.00f, 0.20f, 1.00f };
persist Color color_SelectedTarget = { 0.85f, 0.34f, 0.32f, 1.00f };
persist Color color_Targets = { 0.85f, 0.83f, 0.37f, 1.00f };
persist Color color_Obstacles = { 0.43f, 0.76f, 0.79f, 1.00f };
persist Color color_Drone = { 0.87f, 0.93f, 0.84f, 0.50f };
persist Color color_DroneGoto = { 0.87f, 0.93f, 0.84f, 0.50f };
#define RGBA(C) C.r, C.g, C.b, C.a
persist float send_timer = 0.0f;
persist float send_interval = 1.0f; // In simulation time units
NDC_SCALE_X = (mode.height / (r32)mode.width) / 12.0f;
NDC_SCALE_Y = 1.0f / 12.0f;
if (flag_Recording || flag_SetupRecord)
{
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
float Ax = 2.0f / record_region_scale;
float Bx = -1.0f - Ax*record_region_x;
float Ay = 2.0f / record_region_scale;
float By = -1.0f - Ay*record_region_y;
float modelview[] = {
Ax, 0.0f, 0.0f, 0.0f,
0.0f, Ay, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
Bx, By, 0.0f, 1.0f
};
glLoadMatrixf(modelview);
}
else
{
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
}
if (!flag_Paused)
{
if (flag_Recording)
{
if (seek_cursor >= record_to)
{
flag_Paused = true;
flag_Recording = false;
seek_cursor = record_from;
jo_gif_end(&record_gif);
}
else if (seek_cursor + record_frame_skip >= record_to)
{
// clamp to end
seek_cursor = record_to;
}
else
{
seek_cursor += record_frame_skip;
}
}
else if (seek_cursor < HISTORY_LENGTH-1)
{
seek_cursor++;
}
else
{
sim_Command cmd;
if (!sim_recv_cmd(&cmd))
{
cmd.type = sim_CommandType_NoCommand;
cmd.x = 0.0f;
cmd.y = 0.0f;
cmd.i = 0;
}
STATE = sim_tick(STATE, cmd);
add_history(cmd, STATE);
seek_cursor = HISTORY_LENGTH-1;
send_timer -= Sim_Timestep;
if (send_timer <= 0.0f)
{
sim_send_state(&STATE);
send_timer += send_interval;
}
}
}
sim_State draw_state = HISTORY_STATE[seek_cursor];
sim_Drone drone = draw_state.drone;
sim_Robot *robots = draw_state.robots;
sim_Robot *targets = draw_state.robots;
sim_Robot *obstacles = draw_state.robots + Num_Targets;
if (flag_Recording || flag_SetupRecord)
{
glViewport(0, 0, record_width, record_height);
}
else
{
glViewport(0, 0, mode.width, mode.height);
}
glClearColor(RGBA(color_Clear));
glClear(GL_COLOR_BUFFER_BIT);
glLineWidth(2.0f);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
// draw grid tiles
glBegin(GL_TRIANGLES);
{
color4f(color_Tiles);
for (int yi = 0; yi < 20; yi++)
for (int xi = 0; xi < 20; xi++)
{
r32 x = xi*1.0f;
r32 y = yi*1.0f;
fill_square(x, y, x+1.0f, y+1.0f);
}
}
glEnd();
glBegin(GL_LINES);
{
// draw grid lines
color4f(color_Grid);
for (int i = 0; i <= 20; i++)
{
r32 x = (r32)i;
draw_line(x, 0.0f, x, 20.0f);
draw_line(0.0f, x, 20.0f, x);
}
// draw visible region
if (flag_DrawVisibleRegion)
{
color4f(color_VisibleRegion);
draw_circle(drone.x, drone.y, 2.5f);
}
// draw green line
color4f(color_GreenLine);
draw_line(0.0f, 20.0f, 20.0f, 20.0f);
// draw targets
if (flag_DrawTargets)
{
color4f(color_Targets);
for (int i = 0; i < Num_Targets; i++)
draw_robot(targets[i]);
if (selected_target >= 0)
{
color4f(color_SelectedTarget);
draw_robot(targets[selected_target]);
}
}
// draw obstacles
if (flag_DrawObstacles)
{
color4f(color_Obstacles);
for (int i = 0; i < Num_Obstacles; i++)
draw_robot(obstacles[i]);
}
// draw drone
if (flag_DrawDrone)
{
color4f(color_Drone);
draw_line(drone.x - 0.5f, drone.y,
drone.x + 0.5f, drone.y);
draw_line(drone.x, drone.y - 0.5f,
drone.x, drone.y + 0.5f);
}
// draw drone goto
if (flag_DrawDroneGoto)
{
color4f(color_DroneGoto);
draw_circle(drone.xr, drone.yr, 0.45f);
}
// draw indicators of magnet or bumper activations
for (int i = 0; i < Num_Targets; i++)
{
r32 x = targets[i].x;
r32 y = targets[i].y;
if (targets[i].action.was_bumped)
{
glColor4f(1.0f, 0.3f, 0.1f, 1.0f);
draw_circle(x, y, 0.5f);
}
else if (targets[i].action.was_top_touched)
{
glColor4f(1.0f, 1.0f, 1.0f, 1.0f);
draw_circle(x, y, 0.5f);
}
}
}
glEnd();
// TODO: Change capture res?
if (flag_Recording)
{
static unsigned char capture_data[1024*1024*4];
Assert(sizeof(capture_data) >=
record_width*record_height*4);
glReadPixels(0, 0,
record_width,
record_height,
GL_RGBA,
GL_UNSIGNED_BYTE,
capture_data);
jo_gif_frame(&record_gif, capture_data,
2, false);
}
ImGui_ImplSdl_NewFrame(mode.window);
// DRAW FLAGS
if (ImGui::CollapsingHeader("Rendering"))
{
ImGui::Checkbox("Drone goto", &flag_DrawDroneGoto);
ImGui::Checkbox("Drone", &flag_DrawDrone);
ImGui::Checkbox("Visible region", &flag_DrawVisibleRegion);
ImGui::Checkbox("Targets", &flag_DrawTargets);
ImGui::Checkbox("Obstacles", &flag_DrawObstacles);
} // END DRAW FLAGS
// COLORS
if (ImGui::CollapsingHeader("Colors"))
{
ImGui::ColorEdit4("Clear", &color_Clear.r);
ImGui::ColorEdit4("Grid", &color_Grid.r);
ImGui::ColorEdit4("VisibleRegion", &color_VisibleRegion.r);
ImGui::ColorEdit4("GreenLine", &color_GreenLine.r);
ImGui::ColorEdit4("Targets", &color_Targets.r);
ImGui::ColorEdit4("Obstacles", &color_Obstacles.r);
ImGui::ColorEdit4("Drone", &color_Drone.r);
ImGui::ColorEdit4("DroneGoto", &color_DroneGoto.r);
} // END COLORS
// REWIND HISTORY
if (ImGui::CollapsingHeader("Seek##header"))
{
ImGui::Checkbox("Paused", &flag_Paused);
ImGui::SliderInt("Seek##bar", &seek_cursor, 0, HISTORY_LENGTH-1);
ImGui::InputInt("Seek frame", &seek_cursor);
if (seek_cursor < 0) seek_cursor = 0;
if (seek_cursor > HISTORY_LENGTH-1) seek_cursor = HISTORY_LENGTH-1;
ImGui::Text("Time: %.2f seconds", (seek_cursor+1) * Sim_Timestep);
} // END REWIND HISTORY
// ROBOTS
if (ImGui::CollapsingHeader("Robots"))
{
ImGui::Columns(4, "RobotsColumns");
ImGui::Separator();
ImGui::Text("ID"); ImGui::NextColumn();
ImGui::Text("X"); ImGui::NextColumn();
ImGui::Text("Y"); ImGui::NextColumn();
ImGui::Text("Angle"); ImGui::NextColumn();
ImGui::Separator();
for (int i = 0; i < Num_Targets; i++)
{
char label[32];
sprintf(label, "%02d", i);
if (ImGui::Selectable(label, selected_target == i, ImGuiSelectableFlags_SpanAllColumns))
selected_target = i;
ImGui::NextColumn();
ImGui::Text("%.2f", robots[i].x); ImGui::NextColumn();
ImGui::Text("%.2f", robots[i].y); ImGui::NextColumn();
ImGui::Text("%.2f", robots[i].q); ImGui::NextColumn();
}
ImGui::Columns(1);
ImGui::Separator();
}
else
{
selected_target = -1;
} // END ROBOTS
// COMMUNICATION
if (ImGui::CollapsingHeader("Communication"))
{
ImGui::TextWrapped("The rate at which the state is "
"sent can be changed using this slider. "
"The slider value represents the time "
"interval (in simulation time) "
"between each send.");
ImGui::SliderFloat("Send interval", &send_interval,
Sim_Timestep, 1.0f);
ImGui::Separator();
ImGui::Text("Last 10 non-trivial commands received:");
ImGui::Columns(5, "CommunicationColumns");
ImGui::Separator();
ImGui::Text("Time"); ImGui::NextColumn();
ImGui::Text("type"); ImGui::NextColumn();
ImGui::Text("x"); ImGui::NextColumn();
ImGui::Text("y"); ImGui::NextColumn();
ImGui::Text("i"); ImGui::NextColumn();
ImGui::Separator();
int count = 0;
for (int i = 0; count < 10 && i <= seek_cursor; i++)
{
sim_State state_i = HISTORY_STATE[seek_cursor-i];
sim_Command cmd_i = HISTORY_CMD[seek_cursor-i];
if (cmd_i.type == sim_CommandType_NoCommand)
continue;
char label[32];
sprintf(label, "%.2f", state_i.elapsed_time);
ImGui::Selectable(label, false,
ImGuiSelectableFlags_SpanAllColumns);
ImGui::NextColumn();
switch (cmd_i.type)
{
case sim_CommandType_NoCommand:
{
ImGui::Text("Nothing"); ImGui::NextColumn();
ImGui::Text("-"); ImGui::NextColumn();
ImGui::Text("-"); ImGui::NextColumn();
ImGui::Text("-"); ImGui::NextColumn();
} break;
case sim_CommandType_LandInFrontOf:
{
ImGui::Text("Land 180"); ImGui::NextColumn();
ImGui::Text("-"); ImGui::NextColumn();
ImGui::Text("-"); ImGui::NextColumn();
ImGui::Text("%d", cmd_i.i); ImGui::NextColumn();
} break;
case sim_CommandType_LandOnTopOf:
{
ImGui::Text("Land 45"); ImGui::NextColumn();
ImGui::Text("-"); ImGui::NextColumn();
ImGui::Text("-"); ImGui::NextColumn();
ImGui::Text("%d", cmd_i.i); ImGui::NextColumn();
} break;
case sim_CommandType_Track:
{
ImGui::Text("Track"); ImGui::NextColumn();
ImGui::Text("-"); ImGui::NextColumn();
ImGui::Text("-"); ImGui::NextColumn();
ImGui::Text("%d", cmd_i.i); ImGui::NextColumn();
} break;
case sim_CommandType_Search:
{
ImGui::Text("Search"); ImGui::NextColumn();
ImGui::Text("%.2f", cmd_i.x); ImGui::NextColumn();
ImGui::Text("%.2f", cmd_i.y); ImGui::NextColumn();
ImGui::Text("-"); ImGui::NextColumn();
} break;
}
count++;
}
ImGui::Columns(1);
ImGui::Separator();
} // END COMMUNICATION
// RECORDING GIFS
if (ImGui::CollapsingHeader("Recording"))
{
flag_SetupRecord = true;
if (ImGui::Button("Mark frame as begin"))
{
record_from = seek_cursor;
}
ImGui::SameLine();
ImGui::Text("Record from: %d", record_from);
if (ImGui::Button("Mark frame as end"))
{
record_to = seek_cursor;
}
ImGui::SameLine();
ImGui::Text("Record to: %d", record_to);
ImGui::InputInt("Frame skip", &record_frame_skip);
ImGui::InputInt("Record width", &record_width);
ImGui::InputInt("Record height", &record_height);
if (record_width <= 0) record_width = mode.width;
if (record_height <= 0) record_height = mode.height;
ImGui::SliderFloat("Record x", &record_region_x, -1.0f, 1.0f);
ImGui::SliderFloat("Record y", &record_region_y, -1.0f, 1.0f);
ImGui::SliderFloat("Record scale", &record_region_scale, 0.0f, 2.0f);
if (ImGui::Button("Start recording") && !flag_Recording)
ImGui::OpenPopup("Save recording as?");
if (ImGui::BeginPopupModal("Save recording as?", NULL, ImGuiWindowFlags_AlwaysAutoResize))
{
persist char filename[1024];
persist bool init_filename = true;
if (init_filename)
{
sprintf(filename, "recording%u.gif", STATE.seed);
init_filename = false;
}
ImGui::InputText("Filename", filename, sizeof(filename));
ImGui::Separator();
if (ImGui::Button("OK", ImVec2(120,0)))
{
flag_Recording = true;
flag_Paused = false;
seek_cursor = record_from-1;
record_gif = jo_gif_start(filename, (short)record_width, (short)record_height, 0, 32);
ImGui::CloseCurrentPopup();
}
ImGui::SameLine();
if (ImGui::Button("Cancel", ImVec2(120,0)))
{
ImGui::CloseCurrentPopup();
}
ImGui::EndPopup();
}
if (ImGui::Button("Stop recording") && flag_Recording)
{
flag_Recording = false;
flag_Paused = true;
jo_gif_end(&record_gif);
}
if (record_from < 0) record_from = 0;
if (record_from > HISTORY_LENGTH-1) record_from = HISTORY_LENGTH-1;
if (record_to < record_from) record_to = record_from;
if (record_to > HISTORY_LENGTH-1) record_to = HISTORY_LENGTH-1;
if (record_frame_skip < 1) record_frame_skip = 1;
ImGui::Separator();
}
else
{
flag_SetupRecord = false;
} // END RECORDING GIFS
// RESET AND SET SEED
persist int custom_seed = 0;
if (ImGui::Button("Reset"))
{
if (custom_seed > 0)
STATE = sim_init((u32)custom_seed);
else
STATE = sim_init((u32)get_tick());
HISTORY_LENGTH = 0;
sim_Command cmd;
cmd.type = sim_CommandType_NoCommand;
add_history(cmd, STATE);
}
ImGui::SameLine();
ImGui::InputInt("Seed", &custom_seed);
// END RESET AND SET SEED
// SAVE SIMULATION
if (ImGui::Button("Save.."))
ImGui::OpenPopup("Save as?");
if (ImGui::BeginPopupModal("Save as?", NULL, ImGuiWindowFlags_AlwaysAutoResize))
{
persist char filename[1024];
persist bool init_filename = true;
if (init_filename)
{
sprintf(filename, "simulation%u", STATE.seed);
init_filename = false;
}
ImGui::InputText("Filename", filename, sizeof(filename));
ImGui::Separator();
if (ImGui::Button("OK", ImVec2(120,0)))
{
write_history(filename);
ImGui::CloseCurrentPopup();
}
ImGui::SameLine();
if (ImGui::Button("Cancel", ImVec2(120,0)))
{
ImGui::CloseCurrentPopup();
}
ImGui::EndPopup();
} // END SAVE SIMULATION
ImGui::SameLine();
// SAVE SINGLE SNAPSHOT
persist bool init_snapshot_filename = true;
if (ImGui::Button("Save snapshot.."))
ImGui::OpenPopup("Save snapshot as?");
if (ImGui::BeginPopupModal("Save snapshot as?", NULL, ImGuiWindowFlags_AlwaysAutoResize))
{
persist char filename[1024];
ImGui::TextWrapped("The filename is relative to the executable,"
"unless you write an absolute path.");
if (init_snapshot_filename)
{
sprintf(filename, "snapshot%u-%u", STATE.seed, seek_cursor);
init_snapshot_filename = false;
}
ImGui::InputText("Filename", filename, sizeof(filename));
ImGui::Separator();
if (ImGui::Button("OK", ImVec2(120,0)))
{
sim_Observed_State snapshot =
sim_observe_state(HISTORY_STATE[seek_cursor]);
printf("%.2f\n", snapshot.obstacle_q[0]);
sim_write_snapshot(filename, snapshot);
ImGui::CloseCurrentPopup();
}
ImGui::SameLine();
if (ImGui::Button("Cancel", ImVec2(120,0)))
{
ImGui::CloseCurrentPopup();
}
ImGui::EndPopup();
}
else
{
init_snapshot_filename = true;
} // END SAVE SIMULATION
ImGui::SameLine();
// LOAD SIMULATION
if (ImGui::Button("Load.."))
ImGui::OpenPopup("Load file?");
if (ImGui::BeginPopupModal("Load file?", NULL, ImGuiWindowFlags_AlwaysAutoResize))
{
persist char filename[1024];
persist bool init_filename = true;
if (init_filename)
{
sprintf(filename, "simulation%u", STATE.seed);
init_filename = false;
}
ImGui::InputText("Filename", filename, sizeof(filename));
ImGui::Separator();
if (ImGui::Button("OK", ImVec2(120,0)))
{
read_history(filename);
seek_cursor = 0;
flag_Paused = true;
ImGui::CloseCurrentPopup();
}
ImGui::SameLine();
if (ImGui::Button("Cancel", ImVec2(120,0)))
{
ImGui::CloseCurrentPopup();
}
ImGui::EndPopup();
} // END LOAD SIMULATION
ImGui::Render();
} // END gui_tick
