void Debugger::printMenu()
{
if (screen.isActive() || state == dsStopped)
{
screen.SelectForeColor(0, 0, 0);
screen.SelectBackColor(192, 192, 192);
printFixed(screen.getFrameBufferWidth() - 25, screen.getFrameBufferHeight() - 1, L" Hardware debugging tool ", 25);
screen.SetCursorPosition(0, screen.getFrameBufferHeight() - 1);
if (state == dsRunningPending || state == dsRunning)
{
screen.SelectBackColor(192, 192, 192);
}
else
{
screen.SelectBackColor(128, 128, 128);
}
screen.Write(L"1 Run ");
screen.SelectBackColor(0, 0, 0);
screen.Write(L" ");
if (state == dsStopped)
{
screen.SelectBackColor(192, 192, 192);
}
else
{
screen.SelectBackColor(128, 128, 128);
}
screen.Write(L"2 Pause ");
screen.SelectBackColor(0, 0, 0);
screen.Write(L" ");
if (state == dsStepOverPending || state == dsRunningOver)
{
screen.SelectBackColor(192, 192, 192);
}
else
{
screen.SelectBackColor(128, 128, 128);
}
screen.Write(L"3 Stp ovr");
screen.SelectBackColor(0, 0, 0);
screen.Write(L" ");
if (state == dsStepIntoPending)
{
screen.SelectBackColor(192, 192, 192);
}
else
{
screen.SelectBackColor(128, 128, 128);
}
screen.Write(L"4 Stp in ");
screen.SelectBackColor(0, 0, 0);
screen.Write(L" ");
if (state == dsStepOutPending || state == dsRunningOut)
{
screen.SelectBackColor(192, 192, 192);
screen.SelectForeColor(0, 0, 0);
}
else if (flowLayers.size() > 1)
{
screen.SelectBackColor(128, 128, 128);
screen.SelectForeColor(0, 0, 0);
}
else
{
screen.SelectBackColor(0, 0, 0);
screen.SelectForeColor(128, 128, 128);
}
screen.Write(L"5 Stp out");
screen.SelectBackColor(0, 0, 0);
screen.Write(L" ");
if (findBreakpointAt(entries[wSelectedLine].memPos) != breakpoints.end())
{
screen.SelectBackColor(192, 192, 192);
screen.SelectForeColor(0, 0, 0);
}
else
{
screen.SelectBackColor(128, 128, 128);
screen.SelectForeColor(0, 0, 0);
}
screen.Write(L"6 Breakpt");
screen.SelectBackColor(0, 0, 0);
screen.Write(L" ");
screen.SelectForeColor(0, 0, 0);
screen.SelectBackColor(128, 128, 128);
screen.Write(L"7 Halt ");
screen.SelectBackColor(0, 0, 0);
screen.Write(L" ");
screen.SetCursorPosition(0, screen.getFrameBufferHeight() - 1);
}
}
void dWorldExportDIF (dWorldID w, FILE *file, const char *prefix)
{
PrintingContext c;
c.file = file;
#if defined(dSINGLE)
c.precision = 7;
#else
c.precision = 15;
#endif
c.indent = 1;
fprintf (file,"-- Dynamics Interchange Format v0.1\n\n%sworld = dynamics.world {\n",prefix);
c.print ("gravity",w->gravity);
c.print ("ODE = {");
c.indent++;
c.print ("ERP",w->global_erp);
c.print ("CFM",w->global_cfm);
c.print ("auto_disable = {");
c.indent++;
c.print ("linear_threshold",w->adis.linear_average_threshold);
c.print ("angular_threshold",w->adis.angular_average_threshold);
c.print ("average_samples",(int)w->adis.average_samples);
c.print ("idle_time",w->adis.idle_time);
c.print ("idle_steps",w->adis.idle_steps);
fprintf (file,"\t\t},\n\t},\n}\n");
c.indent -= 3;
// bodies
int num = 0;
fprintf (file,"%sbody = {}\n",prefix);
for (dxBody *b=w->firstbody; b; b=(dxBody*)b->next) {
b->tag = num;
fprintf (file,"%sbody[%d] = dynamics.body {\n\tworld = %sworld,\n",prefix,num,prefix);
c.indent++;
c.print ("pos",b->posr.pos);
c.print ("q",b->q,4);
c.print ("lvel",b->lvel);
c.print ("avel",b->avel);
c.print ("mass",b->mass.mass);
fprintf (file,"\tI = {{");
for (int i=0; i<3; i++) {
for (int j=0; j<3; j++) {
c.printReal (b->mass.I[i*4+j]);
if (j < 2) fputc (',',file);
}
if (i < 2) fprintf (file,"},{");
}
fprintf (file,"}},\n");
c.printNonzero ("com",b->mass.c);
c.print ("ODE = {");
c.indent++;
if (b->flags & dxBodyFlagFiniteRotation) c.print ("finite_rotation",1);
if (b->flags & dxBodyDisabled) c.print ("disabled",1);
if (b->flags & dxBodyNoGravity) c.print ("no_gravity",1);
if (b->flags & dxBodyAutoDisable) {
c.print ("auto_disable = {");
c.indent++;
c.print ("linear_threshold",b->adis.linear_average_threshold);
c.print ("angular_threshold",b->adis.angular_average_threshold);
c.print ("average_samples",(int)b->adis.average_samples);
c.print ("idle_time",b->adis.idle_time);
c.print ("idle_steps",b->adis.idle_steps);
c.print ("time_left",b->adis_timeleft);
c.print ("steps_left",b->adis_stepsleft);
c.indent--;
c.print ("},");
}
c.printNonzero ("facc",b->facc);
c.printNonzero ("tacc",b->tacc);
if (b->flags & dxBodyFlagFiniteRotationAxis) {
c.print ("finite_rotation_axis",b->finite_rot_axis);
}
c.indent--;
c.print ("},");
if (b->geom) {
c.print ("geometry = {");
c.indent++;
for (dxGeom *g=b->geom; g; g=g->body_next) {
c.print ("{");
c.indent++;
printGeom (c,g);
c.indent--;
c.print ("},");
}
c.indent--;
c.print ("},");
}
c.indent--;
c.print ("}");
num++;
}
// joints
num = 0;
fprintf (file,"%sjoint = {}\n",prefix);
for (dxJoint *j=w->firstjoint; j; j=(dxJoint*)j->next) {
c.indent++;
const char *name = getJointName (j);
fprintf (file,
"%sjoint[%d] = dynamics.%s_joint {\n"
"\tworld = %sworld,\n"
"\tbody = {"
,prefix,num,name,prefix);
if ( j->node[0].body )
fprintf (file,"%sbody[%d]",prefix,j->node[0].body->tag);
if ( j->node[1].body )
fprintf (file,",%sbody[%d]",prefix,j->node[1].body->tag);
fprintf (file,"}\n");
switch (j->type()) {
case dJointTypeBall: printBall (c,j); break;
case dJointTypeHinge: printHinge (c,j); break;
case dJointTypeSlider: printSlider (c,j); break;
case dJointTypeContact: printContact (c,j); break;
case dJointTypeUniversal: printUniversal (c,j); break;
case dJointTypeHinge2: printHinge2 (c,j); break;
case dJointTypeFixed: printFixed (c,j); break;
case dJointTypeAMotor: printAMotor (c,j); break;
case dJointTypeLMotor: printLMotor (c,j); break;
case dJointTypePR: printPR (c,j); break;
case dJointTypePU: printPU (c,j); break;
case dJointTypePiston: printPiston (c,j); break;
default: c.print("unknown joint");
}
c.indent--;
c.print ("}");
num++;
}
}
void Debugger::updateUI()
{
pthread_mutex_lock(&printingMutex);
if ((screen.isActive() && state == dsRunning) || state == dsStopped)
{
if (wSelectedLineFollowsFlow)
{
wSelectedLine = findLine(flow);
}
// *** Printing code ***
if (activeWindow == dawCode)
{
screen.SelectForeColor(0, 0, 0);
screen.SelectBackColor(192, 192, 192);
}
else
{
screen.SelectForeColor(192, 192, 192);
screen.SelectBackColor(96, 96, 96);
}
printFixed(0, topSpace - 1, L" Code ", screen.getFrameBufferWidth());
int code_lines = screen.getFrameBufferHeight() - topSpace;
int up = code_lines / 2;
int down = code_lines - up - 2;
int prev_addr = 0;
for (int i = down; i >= -up; i--)
{
int index = wSelectedLine/*findLine(flow)*/ + i;
int y = topSpace + up + i;
{
int colorsCount = 0;
int bgR = 0, bgG = 0, bgB = 0;
int fgR = 0, fgG = 0, fgB = 0;
if (i == 0) // this line is selected now
{
bgR += 192; bgG += 192; bgB += 192;
colorsCount++;
}
for (unsigned int i = 1; i < flowLayers.size(); i++)
{
int p = flowLayers.size() - i;
if (entries[index].memPos == flowLayers[i].lastFlow)
{
bgR += 255 / pow(2.0, p);
bgG += 192 / pow(2.0, p);
bgB += 64 / pow(2.0, p);
colorsCount ++;
}
}
if (index == findLine(flow)) // flow is here
{
bgR += 255; bgG += 192; bgB += 64;
colorsCount++;
}
if (findBreakpointAt(entries[index].memPos) != breakpoints.end()) // flow is here
{
bgR += 192; bgG += 32; bgB += 32;
colorsCount++;
}
if (colorsCount > 0)
{
bgR /= colorsCount; bgG /= colorsCount; bgB /= colorsCount;
}
if (bgR < 64 && bgG < 64 && bgB < 64)
{
fgR = 128; fgG = 128; fgB = 128;
}
else
{
fgR = 0; fgG = 0; fgB = 0;
}
screen.SelectForeColor(fgR, fgG, fgB);
screen.SelectBackColor(bgR, bgG, bgB);
}
wstringstream strs;
if (index >= 0 && index < (int)entries.size() && entries[index].memPos != prev_addr)
{
strs << std::setw(8) << setfill(L'0') << std::hex << uppercase << entries[index].memPos << L" ";
prev_addr = entries[index].memPos;
}
else
{
strs << L" ";
}
printFixed(1, y, strs.str().c_str(), 9);
{
int colorsCount = 0;
int bgR = 0, bgG = 0, bgB = 0;
int fgR = 0, fgG = 0, fgB = 0;
if (i == 0) // this line is selected now
{
bgR += 192; bgG += 192; bgB += 192;
colorsCount ++;
}
for (unsigned int i = 1; i < flowLayers.size(); i++)
{
int p = flowLayers.size() - i;
if (entries[index].memPos == flowLayers[i].lastFlow)
{
bgR += 255 / pow(2.0, p);
bgG += 192 / pow(2.0, p);
bgB += 64 / pow(2.0, p);
colorsCount ++;
}
}
if (index == findLine(flow)) // flow is here
{
bgR += 255; bgG += 192; bgB += 64;
colorsCount++;
}
if (findBreakpointAt(entries[index].memPos) != breakpoints.end()) // flow is here
{
bgR += 192; bgG += 32; bgB += 32;
colorsCount++;
}
if (colorsCount > 0)
{
bgR /= colorsCount; bgG /= colorsCount; bgB /= colorsCount;
}
if (bgR < 64 && bgG < 64 && bgB < 64)
{
fgR = 192; fgG = 192; fgB = 192;
}
else
{
fgR = 0; fgG = 0; fgB = 0;
}
screen.SelectForeColor(fgR, fgG, fgB);
screen.SelectBackColor(bgR, bgG, bgB);
}
wstringstream strs2;
if (index >= 0 && index < (int)entries.size())
{
//printf("0x%X: %s\n", fl->mem_pos, fl->lines.c_str());
strs2 << entries[index].codeLine << L"\n";
}
else
{
//printf("0x%X: <<No such address in debug symbols>>\n");
wstringstream strs2;
strs2 << L"<< No such address in debug symbols >>\n";
}
printFixed(10, y, strs2.str().c_str(), screen.getFrameBufferWidth() - 11);
}
printMenu();
// ** Printing stack **
int wStackWindowWidth = 9 + 3 * wStackBytes + wStackBytes + 2;
if (activeWindow == dawStack)
{
screen.SelectForeColor(0, 0, 0);
screen.SelectBackColor(192, 192, 192);
}
else
{
screen.SelectForeColor(192, 192, 192);
screen.SelectBackColor(96, 96, 96);
}
printFixed(0, 0, L" Stack ", wStackWindowWidth);
screen.SelectBackColor(0, 0, 0);
for (int row = wStackTopRow; row < wStackTopRow + topSpace - 3; row++)
{
int stack_addr = row * wStackBytes;
wstringstream strs;
strs << std::setw(8) << setfill(L'0') << std::hex << uppercase << stack_addr << L" ";
screen.SelectForeColor(128, 128, 128);
printFixed(1, row - wStackTopRow + 1, strs.str().c_str(), 9);
wstringstream strs2;
wstringstream strs3;
for (; stack_addr < (row + 1) * wStackBytes; stack_addr ++)
{
if (stack_addr < stackAllocatedSize)
{
unsigned char i1 = *((unsigned char*)(&stack[stack_addr]));
//wstringstream strs;
//strs << std::setw(2) << setfill(L'0') << std::hex << uppercase << i1 << " ";
const wchar_t* hexchars = L"0123456789ABCDEF";
wchar_t num[4];
num[3] = 0;
num[2] = L' ';
num[1] = hexchars[i1 % 16];
num[0] = hexchars[i1 / 16];
wchar_t ch[2];
if (i1 == 0)
{
ch[0] = ' ';
}
else
{
ch[0] = i1;
}
ch[1] = 0;
screen.SelectForeColor(192, 192, 192);
strs2 << num;
strs3 << ch;
//printFixed(9 + 1 + 3 * (stack_addr % wStackBytes), row - wStackTopRow + 1, num, 3);
//printFixed(9 + 1 + wStackBytes * 3 + (stack_addr % wStackBytes), row - wStackTopRow + 1, ch, 1);
}
else
{
strs2 << L" ";
strs3 << L" ";
//printFixed(9 + 1 + 3 * (stack_addr % wStackBytes), row - wStackTopRow + 1, L" ", 3);
//printFixed(9 + 1 + wStackBytes * 3 + (stack_addr % wStackBytes), row - wStackTopRow + 1, L" ", 1);
}
}
strs2 << strs3.str();
printFixed(9 + 1, row - wStackTopRow + 1, strs2.str().c_str(), wStackWindowWidth - 9);
}
// ** Printing heap **
int wHeapWindowWidth = 2 + 9 + 3 * wHeapBytes + wHeapBytes;
if (activeWindow == dawHeap)
{
screen.SelectForeColor(0, 0, 0);
screen.SelectBackColor(192, 192, 192);
}
else
{
screen.SelectForeColor(192, 192, 192);
screen.SelectBackColor(96, 96, 96);
}
printFixed(wStackWindowWidth + 2, 0, L" Heap ", wHeapWindowWidth);
screen.SelectBackColor(0, 0, 0);
for (int row = wHeapTopRow; row < wHeapTopRow + topSpace - 3; row++)
{
int heap_addr = row * wHeapBytes;
wstringstream strs;
strs << L" " << std::setw(8) << setfill(L'0') << std::hex << uppercase << heap_addr << L" ";
screen.SelectForeColor(128, 128, 128);
printFixed(wStackWindowWidth + 2, row - wHeapTopRow + 1, strs.str().c_str(), 9);
wstringstream strs2;
wstringstream strs3;
for (; heap_addr < (row + 1) * wHeapBytes; heap_addr ++)
{
if (heap_addr < heapSize)
{
unsigned char i1 = *((unsigned char*)(&heap[heap_addr]));
//wstringstream strs;
//strs << std::setw(2) << setfill(L'0') << std::hex << uppercase << i1 << " ";
const wchar_t* hexchars = L"0123456789ABCDEF";
wchar_t num[4];
num[3] = 0;
num[2] = L' ';
num[1] = hexchars[(i1 / 0x1) & 0xF];
num[0] = hexchars[(i1 / 0x10) & 0xF] ;
wchar_t ch[2];
if (i1 == 0)
{
ch[0] = ' ';
}
else
{
ch[0] = i1;
}
ch[1] = 0;
screen.SelectForeColor(192, 192, 192);
strs2 << num;
strs3 << ch;
//printFixed(wStackWindowWidth + 3 + 9 + 3 * (heap_addr % wHeapBytes), row - wHeapTopRow + 1, num, 3);
//printFixed(wStackWindowWidth + 3 + 9 + wHeapBytes * 3 + (heap_addr % wHeapBytes), row - wStackTopRow + 1, ch, 1);
}
else
{
strs2 << L" ";
strs3 << L" ";
//printFixed(wStackWindowWidth + 3 + 9 + 3 * (heap_addr % wHeapBytes), row - wHeapTopRow + 1, L" ", 3);
//printFixed(wStackWindowWidth + 3 + 9 + wHeapBytes * 3 + (heap_addr % wHeapBytes), row - wStackTopRow + 1, L" ", 1);
}
}
strs2 << strs3.str();
printFixed(wStackWindowWidth + 3 + 9, row - wHeapTopRow + 1, strs2.str().c_str(), wHeapWindowWidth - 9);
}
}
pthread_mutex_unlock(&printingMutex);
}