int
ReUpdate(void)
{
double t;
tRmMovieCapture *capture;
START_PROFILE("ReUpdate");
ReInfo->_refreshDisplay = 0;
switch (ReInfo->_displayMode) {
case RM_DISP_MODE_NORMAL:
t = GfTimeClock();
START_PROFILE("ReOneStep*");
while (ReInfo->_reRunning && ((t - ReInfo->_reCurTime) > RCM_MAX_DT_SIMU)) {
ReOneStep(RCM_MAX_DT_SIMU);
}
STOP_PROFILE("ReOneStep*");
GfuiDisplay();
ReInfo->_reGraphicItf.refresh(ReInfo->s);
glutPostRedisplay(); /* Callback -> reDisplay */
break;
case RM_DISP_MODE_NONE:
ReOneStep(RCM_MAX_DT_SIMU);
if (ReInfo->_refreshDisplay) {
GfuiDisplay();
}
glutPostRedisplay(); /* Callback -> reDisplay */
break;
case RM_DISP_MODE_CAPTURE:
capture = &(ReInfo->movieCapture);
while ((ReInfo->_reCurTime - capture->lastFrame) < capture->deltaFrame) {
ReOneStep(capture->deltaSimu);
}
capture->lastFrame = ReInfo->_reCurTime;
GfuiDisplay();
ReInfo->_reGraphicItf.refresh(ReInfo->s);
reCapture();
glutPostRedisplay(); /* Callback -> reDisplay */
break;
}
STOP_PROFILE("ReUpdate");
return RM_ASYNC;
}
static void
ReOneStep(double deltaTimeIncrement)
{
int i;
tRobotItf *robot;
tSituation *s = ReInfo->s;
if (floor(s->currentTime) == -2.0) {
ReRaceBigMsgSet("Ready", 1.0);
} else if (floor(s->currentTime) == -1.0) {
ReRaceBigMsgSet("Set", 1.0);
} else if (floor(s->currentTime) == 0.0) {
ReRaceBigMsgSet("Go", 1.0);
}
ReInfo->_reCurTime += deltaTimeIncrement * ReInfo->_reTimeMult; /* "Real" time */
s->currentTime += deltaTimeIncrement; /* Simulated time */
if (s->currentTime < 0) {
/* no simu yet */
ReInfo->s->_raceState = RM_RACE_PRESTART;
} else if (ReInfo->s->_raceState == RM_RACE_PRESTART) {
ReInfo->s->_raceState = RM_RACE_RUNNING;
s->currentTime = 0.0; /* resynchronize */
ReInfo->_reLastTime = 0.0;
}
START_PROFILE("rbDrive*");
if ((s->currentTime - ReInfo->_reLastTime) >= RCM_MAX_DT_ROBOTS) {
s->deltaTime = s->currentTime - ReInfo->_reLastTime;
for (i = 0; i < s->_ncars; i++) {
if ((s->cars[i]->_state & RM_CAR_STATE_NO_SIMU) == 0) {
robot = s->cars[i]->robot;
robot->rbDrive(robot->index, s->cars[i], s);
}
}
ReInfo->_reLastTime = s->currentTime;
}
STOP_PROFILE("rbDrive*");
START_PROFILE("_reSimItf.update*");
ReInfo->_reSimItf.update(s, deltaTimeIncrement, -1);
for (i = 0; i < s->_ncars; i++) {
ReManage(s->cars[i]);
}
STOP_PROFILE("_reSimItf.update*");
ReRaceMsgUpdate();
ReSortCars();
}
int
refresh(tSituation *s)
{
int i;
START_PROFILE("refresh");
nFrame++;
grCurTime = GfTimeClock();
grDeltaTime = grCurTime - OldTime;
if ((grCurTime - OldTime) > 1.0) {
/* The Frames Per Second (FPS) display is refreshed every second */
grFps = (tdble)nFrame / (grCurTime - OldTime);
nFrame = 0;
OldTime = grCurTime;
}
TRACE_GL("refresh: start");
START_PROFILE("grRefreshSound*");
grRefreshSound(s, grScreens[0]->getCurCamera());
STOP_PROFILE("grRefreshSound*");
START_PROFILE("grDrawBackground/glClear");
glDepthFunc(GL_LEQUAL);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
STOP_PROFILE("grDrawBackground/glClear");
for (i = 0; i < GR_NB_MAX_SCREEN; i++) {
grScreens[i]->update(s, grFps);
}
grUpdateSmoke(s->currentTime);
STOP_PROFILE("refresh");
return 0;
}
/****************************************************************************//**
* Video capture thread main entry point.
* @param arg Optional thread parameter, this is unused.
* @return Always null
****************************************************************************/
static void *videocapThread( void *arg )
{
PongInstance_t* pongInstance = (PongInstance_t *) arg;
int vIndex = -1;
int result;
while ( keepWorking )
{
// 1. Get an empty vframe buffer,
// only if we sucessfully sent the previous one
if ( vIndex == -1 )
{
result = mq_read( pongInstance->mqVideoEmpty, &vIndex, sizeof(int), 100000 );
if ( result!=OK )
{
if ( result == ERROR )
loge("mq_read failed - %s", strerror(errno) );
continue;
} /*if*/
log("Got empty video frame index %d ", vIndex );
//usleep(1000000);
}/*if*/
#ifdef PROFILING_ON
START_PROFILE();
#endif
// 2. fill vframe buffer with data from camera
// copy data to 'pongInstance.videoFrames[vIndex]'
getFrame((unsigned char *) &pongInstance->videoFrames[vIndex], &pongInstance->cameraInfo);
#ifdef PROFILING_ON
STOP_PROFILE();
GET_PROFILE("getFrame");
#endif
// 3. Send vframe to the color filters threads
result = mq_write( pongInstance->mqVideoFull, &vIndex, sizeof(int), 100000 );
if ( result!=OK )
{
if ( result == ERROR )
loge("mq_write failed - %s", strerror(errno) );
continue;
} /*if*/
log("Sent full video frame index %d ", vIndex );
//usleep(1000000);
vIndex = -1; //allow another receive to happen in the next iteration
}/*while*/
log( FG13 " *** VideoCap exited...");
return NULL;
}
