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/*
* Display.cpp
*
* Created on: 30.11.2010
* Author: istsveise
*/
#include "Display.h"
#ifndef POS_H_
#include "POS.h"
#endif
#include <iostream>
#include <pthread.h>
#include <GL/gl.h>
#include <GL/glu.h>
#include <GL/glut.h>
#include <stdlib.h>
using namespace std;
extern POS vehiclePosition;
extern double lineDir;
const int WIN_WIDTH = 600;
const int WIN_HEIGHT = 600;
const int WIN_BPP = 32;
// because of static
Display* Display::msDispPtr = NULL;
void* dispInit(void*) {
ApplicationWindow appWin(WIN_WIDTH,WIN_HEIGHT,WIN_BPP);
if(!appWin.create()) {
cout << "error creating app window. exiting" << endl;
exit(1);
}
Display::msDispPtr->mStarted = true;
glutDisplayFunc(displayFunc);
glutMainLoop();
return NULL;
}
Display::Display(int t)
:Task(t),mStarted(false)
{
Display::msDispPtr = this;
sem_init(&dispSem,0,0);
pthread_create(&mDispThread,NULL,dispInit,NULL);
}
Display::~Display() {
}
void Display::execute()
{
cout << "...Display::execute T="<< T <<endl;
pthread_mutex_unlock(&vehicleMutex);
while(true) {
pthread_mutex_lock(&vehicleMutex);
vehiclePosition.display("P=");
// cout << "Abstand = " << Abstand(p,lineDir) << endl;
pthread_mutex_unlock(&vehicleMutex);
if(Display::msDispPtr != NULL && mStarted) {
sem_post(&dispSem);
}
waitForNextCycle();
}
return;
}
Display* Display::getDisplay()
{
return Display::msDispPtr;
}
void displayFunc() {
double posX,posY,dir;
const int size = 8;
pthread_mutex_lock(&vehicleMutex);
posX = vehiclePosition.x;
posY = vehiclePosition.y;
dir = lineDir;
pthread_mutex_unlock(&vehicleMutex);
double px = WIN_WIDTH;
double m = tan(dir*PI/180);
double py = px*m;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glLineWidth(5.0);
glBegin(GL_LINES);
glColor3f(0.0f,0.0f,1.0f);
//origin
glVertex3f(0.0f,0.0f,0.0f);
//point
glVertex3f((float)px,(float)py,0.0f);
glEnd();
glBegin(GL_QUADS);
glColor3f(0.0f,1.0f,0.0f);
glVertex3f(posX-size,posY+size,0.0f);
glVertex3f(posX+size,posY+size,0.0f);
glVertex3f(posX+size,posY-size,0.0f);
glVertex3f(posX-size,posY-size,0.0f);
glEnd();
glFlush();
glutSwapBuffers();
glutPostRedisplay();
sem_wait(&Display::msDispPtr->dispSem);
}
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