std::string Eddie::generateCommand(std::string str1, int num1, int num2)
{
std::stringstream ss;
ss << str1 << PARAMETER_DELIMITER <<
intToHexString(num1) << PARAMETER_DELIMITER <<
intToHexString(num2) << PACKET_TERMINATOR;
return ss.str();
}
void TwoDSceneSVGRenderer::renderSolidCircle( std::fstream& file, const Vector2s& center, const scalar& r, const renderingutils::Color& color ) const
{
file << "<circle fill=\"#";
file << intToHexString(floor(255.0*color.r+0.5)) << intToHexString(floor(255.0*color.g+0.5)) << intToHexString(floor(255.0*color.b+0.5)) << "\"" << " stroke=\"#";
file << intToHexString(floor(255.0*color.r+0.5)) << intToHexString(floor(255.0*color.g+0.5)) << intToHexString(floor(255.0*color.b+0.5)) << "\"" << " stroke-width=\"0\" cx=\"";
file << center.x();
file << "\" cy=\"";
file << center.y();
file << "\" r=\"";
file << r;
file << "\"/>" << std::endl;
}
/**
* Finds the base memory address in the running process for all the libraries
* involved in the crash.
*/
static void findBaseMemoryAddresses(std::map<std::string,uintptr_t>& binPath_baseMemAddr) {
// store all paths which we have to find
std::set<std::string> paths_notFound;
std::map<std::string,uintptr_t>::const_iterator bpbmai;
for (bpbmai = binPath_baseMemAddr.begin(); bpbmai != binPath_baseMemAddr.end(); ++bpbmai) {
paths_notFound.insert(bpbmai->first);
}
FILE* mapsFile = NULL;
// /proc/self/maps contains the base addresses for all loaded dynamic
// libaries of the current process + other stuff (which we are not interested in)
mapsFile = fopen("/proc/self/maps", "rb");
if (mapsFile != NULL) {
std::set<std::string>::const_iterator pi;
// format of /proc/self/maps:
// (column names) address perms offset dev inode pathname
// (example 32bit) 08048000-08056000 r-xp 00000000 03:0c 64593 /usr/sbin/gpm
// (example 64bit) ffffffffff600000-ffffffffff601000 r-xp 00000000 00:00 0 [vsyscall]
unsigned long int mem_start;
unsigned long int binAddr_offset;
char binPathName[512];
char line[512];
int red;
// read all lines
while (!paths_notFound.empty() && (fgets(line, 511, mapsFile) != NULL)) {
// parse the line
red = sscanf(line, "%lx-%*x %*s %lx %*s %*u %s",
&mem_start, &binAddr_offset, binPathName);
if (red == 3) {
if (binAddr_offset == 0) {
//-> start of binary's memory space
std::string matchingPath = "";
// go through all paths of the binaries involved in the stack trace
for (pi = paths_notFound.begin(); pi != paths_notFound.end(); ++pi) {
// does the current line contain this binary?
if (*pi == binPathName) {
matchingPath = *pi;
break;
}
}
if (matchingPath != "") {
const std::string mem_start_str = intToHexString(mem_start);
binPath_baseMemAddr[matchingPath] = mem_start;
paths_notFound.erase(matchingPath);
}
}
}
}
fclose(mapsFile);
}
}
void TwoDSceneSVGRenderer::renderScene( const std::string& filename ) const
{
const VectorXs& x = m_scene.getX();
assert( x.size()%2 == 0 );
assert( 2*m_scene.getNumParticles() == x.size() );
int numparticles = x.size()/2;
const std::vector<scalar>& radii = m_scene.getRadii();
assert( numparticles == (int) radii.size() );
std::fstream file(filename.c_str(), std::fstream::out);
if(!file)
{
std::cerr << "Failure writing SVG file!" << std::endl;
exit(1);
}
scalar scale, xmin, ymin, xshift, yshift;
computeSimToImageMap( scale, xmin, ymin, xshift, yshift );
file << "<?xml version=\"1.0\" encoding=\"utf-8\"?> <!-- Generator: Adobe Illustrator 13.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 14948) --> <svg version=\"1.2\" baseProfile=\"tiny\" id=\"Layer_1\" xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\" x=\"0px\" y=\"0px\" width=\"";
file << m_w;
file << "px\" height=\"";
file << m_h;
file << "px\" viewBox=\"0 0 ";
file << m_w << " " << m_h;
file << "\" xml:space=\"preserve\">" << std::endl;
// Simulate a background color by rendering a large colored quad
file << "<polygon points=\"" << 0 << "," << 0 << " " << m_w << "," << 0 << " " << m_w << "," << m_h << " " << 0 << "," << m_h;
file << "\" style=\"fill:#" << intToHexString(floor(255.0*m_bgcolor.r+0.5)) << intToHexString(floor(255.0*m_bgcolor.g+0.5)) << intToHexString(floor(255.0*m_bgcolor.b+0.5));
file << "; stroke:#000000;stroke-width:0\"/>" << std::endl;
const std::vector<std::pair<int,int> >& edges = m_scene.getEdges();
const std::vector<scalar>& edgeradii = m_scene.getEdgeRadii();
renderShared( file, x, edges, radii, edgeradii, scale, xmin, ymin, xshift, yshift );
file << "</svg>" << std::endl;
file.close();
}
void TwoDSceneSVGRenderer::renderSweptEdge( std::fstream& file, const Vector2s& x0, const Vector2s& x1, const scalar& r, const renderingutils::Color& color ) const
{
scalar theta = atan2(x1.y()-x0.y(),x1.x()-x0.x());
scalar rx = -r*sin(theta);
scalar ry = r*cos(theta);
scalar p0x = x0.x() + rx;
scalar p0y = x0.y() + ry;
scalar p1x = x0.x() - rx;
scalar p1y = x0.y() - ry;
scalar p2x = x1.x() - rx;
scalar p2y = x1.y() - ry;
scalar p3x = x1.x() + rx;
scalar p3y = x1.y() + ry;
file << "<polygon points=\"" << p0x << "," << p0y << " " << p1x << "," << p1y << " " << p2x << "," << p2y << " " << p3x << "," << p3y;
file << "\" style=\"fill:#" << intToHexString(floor(255.0*color.r+0.5)) << intToHexString(floor(255.0*color.g+0.5)) << intToHexString(floor(255.0*color.b+0.5));
file << "; stroke:#000000;stroke-width:0\"/>" << std::endl;
renderSolidCircle( file, x0, r, color );
renderSolidCircle( file, x1, r, color );
}
void HandleSignal(int signal)
{
static const std::string INVALID_LINE_INDICATOR = "#####";
const std::string logFileName = logOutput.GetFilename();
std::string error;
std::queue<std::string> paths;
std::queue<uintptr_t> addresses;
std::map<std::string,uintptr_t> binPath_baseMemAddr;
logOutput.RemoveAllSubscribers();
{
LogObject log;
if (signal == SIGSEGV) {
error = "Segmentation fault (SIGSEGV)";
} else if (signal == SIGILL) {
error = "Illegal instruction (SIGILL)";
} else if (signal == SIGPIPE) {
error = "Broken pipe (SIGPIPE)";
} else if (signal == SIGIO) {
error = "IO-Error (SIGIO)";
} else if (signal == SIGABRT) {
error = "Aborted (SIGABRT)";
} else {
// we should never get here
error = "Unknown signal";
}
log << error << " in spring " << SpringVersion::GetFull() << "\nStacktrace:\n";
std::vector<void*> buffer(128);
const int numLines = backtrace(&buffer[0], buffer.size()); // stack pointers
char** lines = backtrace_symbols(&buffer[0], numLines); // give them meaningfull names
if (lines == NULL) {
log << "Unable to create stacktrace\n";
} else {
for (int l = 0; l < numLines; l++) {
const std::string line(lines[l]);
log << line;
// example paths: "./spring" "/usr/lib/AI/Skirmish/NTai/0.666/libSkirmishAI.so"
std::string path;
size_t begin = 0;
size_t end = line.find_last_of('('); // if there is a function name
if (end == std::string::npos) {
end = line.find_last_of('['); // if there is only the memory address
if ((end != std::string::npos) && (end > 0)) {
end--; // to get rid of the ' ' before the '['
}
}
if (end == std::string::npos) {
path = INVALID_LINE_INDICATOR;
} else {
path = line.substr(begin, end-begin);
}
// example address: "0x89a8206"
std::string addr;
begin = line.find_last_of('[');
end = std::string::npos;
if (begin != std::string::npos) {
end = line.find_last_of(']');
}
if ((begin == std::string::npos) || (end == std::string::npos)) {
addr = INVALID_LINE_INDICATOR;
} else {
addr = line.substr(begin+1, end-begin-1);
}
if (path == "") {
log << " # NOTE: no path -> not translating";
} else if ((path == INVALID_LINE_INDICATOR)
|| (addr == INVALID_LINE_INDICATOR)) {
log << " # NOTE: invalid stack-trace line -> not translating";
} else {
const std::string absPath = createAbsolutePath(path);
binPath_baseMemAddr[absPath] = 0;
paths.push(absPath);
const uintptr_t addr_num = hexToInt(addr.c_str());
addresses.push(addr_num);
}
log << "\n";
}
delete lines;
lines = NULL;
}
log << "Translated Stacktrace:\n";
}
logOutput.End(); // Stop writing to log.
findBaseMemoryAddresses(binPath_baseMemAddr);
std::string lastPath;
while (!paths.empty()) {
std::ostringstream buf;
lastPath = paths.front();
const std::string symbolFile = locateSymbolFile(lastPath);
const uintptr_t baseAddress = binPath_baseMemAddr[lastPath];
buf << "addr2line " << "--exe=\"" << symbolFile << "\"";
// add addresses as long as the path stays the same
while (!paths.empty() && (lastPath == paths.front())) {
uintptr_t addr_num = addresses.front();
if (paths.front() != Platform::GetBinaryFile() && (addr_num > baseAddress)) {
// shift the stack trace address by the value of
// the libraries base address in process memory
// for all binaries that are not the processes main binary
// (which could be spring or spring-dedicated for example)
addr_num -= baseAddress;
}
buf << " 0x" << intToHexString(addr_num);
lastPath = paths.front();
paths.pop();
addresses.pop();
}
buf << " >> " << logFileName; // pipe to infolog (which will be in CWD)
system(buf.str().c_str());
}
ErrorMessageBox(error, "Spring crashed", 0);
}
void TwoDSceneSVGRenderer::renderRigidBodyScene( const std::string& name, const RigidBodyScene& rbscene ) const
{
// const VectorXs& x = m_scene.getX();
// assert( x.size()%2 == 0 );
// assert( 2*m_scene.getNumParticles() == x.size() );
// int numparticles = x.size()/2;
// const std::vector<scalar>& radii = m_scene.getRadii();
// assert( numparticles == (int) radii.size() );
std::fstream file(name.c_str(), std::fstream::out);
if(!file)
{
std::cerr << "Failure writing SVG file!" << std::endl;
exit(1);
}
scalar scale, xmin, ymin, xshift, yshift;
computeSimToImageMap( scale, xmin, ymin, xshift, yshift );
file << "<?xml version=\"1.0\" encoding=\"utf-8\"?> <!-- Generator: Adobe Illustrator 13.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 14948) --> <svg version=\"1.2\" baseProfile=\"tiny\" id=\"Layer_1\" xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\" x=\"0px\" y=\"0px\" width=\"";
file << m_w;
file << "px\" height=\"";
file << m_h;
file << "px\" viewBox=\"0 0 ";
file << m_w << " " << m_h;
file << "\" xml:space=\"preserve\">" << std::endl;
// Simulate a background color by rendering a large colored quad
file << "<polygon points=\"" << 0 << "," << 0 << " " << m_w << "," << 0 << " " << m_w << "," << m_h << " " << 0 << "," << m_h;
file << "\" style=\"fill:#" << intToHexString(floor(255.0*m_bgcolor.r+0.5)) << intToHexString(floor(255.0*m_bgcolor.g+0.5)) << intToHexString(floor(255.0*m_bgcolor.b+0.5));
file << "; stroke:#000000;stroke-width:0\"/>" << std::endl;
const std::vector<RigidBody> rbs = rbscene.getRigidBodies();
assert( m_particle_colors.size() == rbs.size() );
// For each rigid body
for( std::vector<RigidBody>::size_type i = 0; i < rbs.size(); ++i )
{
scalar r = rbs[i].getRadius();
renderingutils::Color rbcolor = m_particle_colors[i];
// Render each edge of each rigid body
for( int j = 0; j < rbs[i].getNumVertices(); ++j )
{
const Vector2s& xi = rbs[i].getWorldSpaceVertex(j);
const Vector2s& xj = rbs[i].getWorldSpaceVertex((j+1)%rbs[i].getNumVertices());
Vector2s p0;
p0 << scale*(xi.x()-xmin) + xshift, ((scalar)m_h) - scale*(xi.y()-ymin) - yshift;
Vector2s p1;
p1 << scale*(xj.x()-xmin) + xshift, ((scalar)m_h) - scale*(xj.y()-ymin) - yshift;
renderSweptEdge( file, p0, p1, scale*r, rbcolor );
}
}
// Render each spring force
for( std::vector<RigidBody>::size_type i = 0; i < m_svg_renderers.size(); ++i )
{
renderingutils::Color clr = m_svg_renderers[i]->getColor();
Vector2s xi = m_svg_renderers[i]->getVertexOne(rbs);
Vector2s xj = m_svg_renderers[i]->getVertexTwo(rbs);
Vector2s p0;
p0 << scale*(xi.x()-xmin) + xshift, ((scalar)m_h) - scale*(xi.y()-ymin) - yshift;
Vector2s p1;
p1 << scale*(xj.x()-xmin) + xshift, ((scalar)m_h) - scale*(xj.y()-ymin) - yshift;
renderSweptEdge( file, p0, p1, scale*0.03, clr );
}
file << "</svg>" << std::endl;
file.close();
}
void TwoDSceneSVGRenderer::renderComparisonScene( const std::string& filename, const TwoDScene& otherscene, const std::vector<CollisionInfo> *impulses, const std::vector<CollisionInfo> *otherimpulses, const scalar &eps) const
{
const VectorXs& x = m_scene.getX();
const VectorXs& v = m_scene.getV();
assert( x.size()%2 == 0 );
assert( 2*m_scene.getNumParticles() == x.size() );
int numparticles = x.size()/2;
const std::vector<scalar>& radii = m_scene.getRadii();
assert( numparticles == (int) radii.size() );
std::fstream file(filename.c_str(), std::fstream::out);
if(!file)
{
std::cerr << "Failure writing SVG file!" << std::endl;
exit(1);
}
scalar scale, xmin, ymin, xshift, yshift;
computeSimToImageMap(scale, xmin, ymin, xshift, yshift );
file << "<?xml version=\"1.0\" encoding=\"utf-8\"?> <!-- Generator: Adobe Illustrator 13.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 14948) --> <svg version=\"1.2\" baseProfile=\"tiny\" id=\"Layer_1\" xmlns=\"http://www.w3.org/2000/svg\" xmlns:xlink=\"http://www.w3.org/1999/xlink\" x=\"0px\" y=\"0px\" width=\"";
file << m_w;
file << "px\" height=\"";
file << m_h;
file << "px\" viewBox=\"0 0 ";
file << m_w << " " << m_h;
file << "\" xml:space=\"preserve\">" << std::endl;
// Simulate a background color by rendering a large colored quad
file << "<polygon points=\"" << 0 << "," << 0 << " " << m_w << "," << 0 << " " << m_w << "," << m_h << " " << 0 << "," << m_h;
file << "\" style=\"fill:#" << intToHexString(floor(255.0*m_bgcolor.r+0.5)) << intToHexString(floor(255.0*m_bgcolor.g+0.5)) << intToHexString(floor(255.0*m_bgcolor.b+0.5));
file << "; stroke:#000000;stroke-width:0\"/>" << std::endl;
const std::vector<std::pair<int,int> >& edges = m_scene.getEdges();
const std::vector<scalar>& edgeradii = m_scene.getEdgeRadii();
renderShared( file, x, edges, radii, edgeradii, scale, xmin, ymin, xshift, yshift );
const VectorXs& otherx = otherscene.getX();
const VectorXs& otherv = otherscene.getV();
for( int i = 0; i < numparticles; ++i )
{
scalar x_resid = (otherx.segment<2>(2*i)-x.segment<2>(2*i)).norm();
scalar v_resid = (otherv.segment<2>(2*i)-v.segment<2>(2*i)).norm();
if( x_resid > eps || v_resid > eps )
{
Vector2s center;
center << scale*(x(2*i)-xmin) + xshift, ((scalar)m_h) - scale*(x(2*i+1)-ymin) - yshift;
renderCircle( file, center, 1.5*scale*radii[i], renderingutils::Color(1.0,0.0,0.0) );
}
}
if(impulses)
{
int i=0, j=0;
// loop over the real impulses
while(i < (int)impulses->size())
{
int curvert = (*impulses)[i].m_idx1;
CollisionInfo::collisiontype curtype = (*impulses)[i].m_type;
int curidx2 = (*impulses)[i].m_idx2;
// all student impulses less than this correct impulse are buggy
while(j < (int)otherimpulses->size()
&& (*otherimpulses)[j].m_idx1 < curvert
&& (*otherimpulses)[j].m_type < curtype
&& (*otherimpulses)[j].m_idx2 < curidx2)
{
renderImpulse( file, otherscene, (*otherimpulses)[j], true);
j++;
}
// check for missed collision
if( ! (j < (int)otherimpulses->size()
&& (*otherimpulses)[j].m_idx1 == curvert
&& (*otherimpulses)[j].m_type == curtype
&& (*otherimpulses)[j].m_idx2 == curidx2))
{
renderImpulse( file, otherscene, (*impulses)[i], false);
}
else
{
// check for buggy normal
if( ((*otherimpulses)[j].m_n - (*impulses)[i].m_n).norm() > eps)
{
renderImpulse( file, otherscene, (*impulses)[i], false);
renderImpulse( file, otherscene, (*otherimpulses)[j], true);
}
j++;
}
i++;
}
// Any remaining student impulses are buggy
while(j < (int)otherimpulses->size())
{
renderImpulse( file, otherscene, (*otherimpulses)[j], true);
j++;
}
}
file << "</svg>" << std::endl;
file.close();
}
void TwoDSceneSVGRenderer::renderShared( std::fstream& file, const VectorXs& x, const std::vector<std::pair<int,int> >& edges, const std::vector<scalar>& radii, const std::vector<scalar>& edgeradii, const scalar& scale, const scalar& xmin, const scalar& ymin, const scalar& xshift, const scalar& yshift ) const
{
int numparticles = x.size()/2;
for( std::vector<renderingutils::ParticlePath>::size_type i = 0; i < m_particle_paths.size(); ++i )
{
const std::list<Vector2s>& ppath = m_particle_paths[i].getPath();
const renderingutils::Color& pathcolor = m_particle_paths[i].getColor();
file << "<polyline points=\"";
for( std::list<Vector2s>::const_iterator itr = ppath.begin(); itr != ppath.end(); ++itr )
{
Vector2s point;
point << scale*(itr->x()-xmin) + xshift, ((scalar)m_h) - scale*(itr->y()-ymin) - yshift;
file << point.x() << "," << point.y() << " ";
}
file << "\" style=\"fill:none;stroke:#";
file << intToHexString(floor(255.0*pathcolor.r+0.5)) << intToHexString(floor(255.0*pathcolor.g+0.5)) << intToHexString(floor(255.0*pathcolor.b+0.5));
file << ";stroke-width:1\"/>" << std::endl;
}
// Render edges
assert( edgeradii.size() == edges.size() );
for( std::vector<std::pair<int,int> >::size_type i = 0; i < edges.size(); ++i )
{
assert( edges[i].first >= 0 );
assert( edges[i].first < m_scene.getNumParticles() );
assert( edges[i].second >= 0 );
assert( edges[i].second < m_scene.getNumParticles() );
int i0 = edges[i].first;
int i1 = edges[i].second;
Vector2s p0;
p0 << scale*(x(2*i0)-xmin) + xshift, ((scalar)m_h) - scale*(x(2*i0+1)-ymin) - yshift;
Vector2s p1;
p1 << scale*(x(2*i1)-xmin) + xshift, ((scalar)m_h) - scale*(x(2*i1+1)-ymin) - yshift;
renderSweptEdge( file, p0, p1, scale*edgeradii[i], m_edge_colors[i] );
}
// Render halfplanes
for(int i=0; i < m_scene.getNumHalfplanes(); i++)
{
Vector2s p0;
p0 << scale * (m_scene.getHalfplane(i).first[0]-xmin) + xshift, ((scalar)m_h) - scale*(m_scene.getHalfplane(i).first[1]-ymin) - yshift;
Vector2s n0;
n0 << m_scene.getHalfplane(i).second[0], -m_scene.getHalfplane(i).second[1];
n0.normalize();
renderHalfplane(file, p0, n0, m_halfplane_colors[i]);
}
// Render particles
for( int i = 0; i < numparticles; ++i )
{
Vector2s center;
center << scale*(x(2*i)-xmin) + xshift, ((scalar)m_h) - scale*(x(2*i+1)-ymin) - yshift;
renderSolidCircle( file, center, scale*radii[i], m_particle_colors[i] );
}
}
void TwoDSceneSVGRenderer::renderHalfplane( std::fstream &file, const VectorXs &x, const VectorXs &n, const renderingutils::Color &color) const
{
double p0x = x[0] - 1000*n[1];
double p0y = x[1] + 1000*n[0];
double cx = x[0] - 1000*n[0];
double cy = x[1] - 1000*n[1];
double p1x = x[0] + 1000*n[1];
double p1y = x[1] - 1000*n[0];
file << "<polygon points=\"" << p0x << "," << p0y << " " << cx << "," << cy << " " << p1x << "," << p1y << "\" style=\"fill:#" << intToHexString(floor(255.0*color.r+0.5)) << intToHexString(floor(255.0*color.g+0.5)) << intToHexString(floor(255.0*color.b+0.5)) << "; stroke:#000000;stroke-width:0\"/>" << std::endl;
}