Tools/Debugging/DebugDrawings2.h

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/**
* @file Tools/Debugging/DebugDrawings.h
*
* Macros for drawing
* 
* @author <a href="mailto:juengel@informatik.hu-berlin.de">Matthias Jüngel</a>
*/ 
#ifndef __DebugDrawings2_h_
#define __DebugDrawings2_h_

#include "Tools/Debugging/Debugging.h"
#include "Tools/Debugging/DebugKeyTable.h"

#ifndef NEWDEBUGGING

/////// to be ignored
#define NDECLARE_DEBUGDRAWING( id, type, description) /**/
#define NCIRCLE(id, center_x, center_y, radius, penWidth, penStyle, penColor) /**/
#define NDOT(id, x, y, penColor, fillColor) /**/
#define NLARGE_DOT(id, x, y, penColor, fillColor) /**/
#define NARROW(id, x1, y1, x2, y2, penWidth, penStyle, penColor) /**/
#define NLINE(id, x1, y1, x2, y2, penWidth, penStyle, penColor) /**/
#define NCOLORED_LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColorR, penColorG, penColorB) /**/
#define NPOSE_2D_SAMPLE(id, p, color) /**/
#define NOCTANGLE(id, x1,y1,x2,y2,x3,y3,x4,y4,x5,y5,x6,y6,x7,y7,x8,y8, color, fill) /**/
#define NQUADRANGLE(id, x1,y1,x2,y2,x3,y3,x4,y4, penWidth, penStyle, penColor) /**/
#define NRECTANGLE(id, x1,y1,x2,y2, penWidth, penStyle, penColor) /**/
#define NCROSS(id, x, y, size, penWidth, penStyle, penColor) /**/
#define NCOMPLEX_DRAWING(id,expression) /**/
#define NDEBUG_DRAWING_FINISHED(id) /**/
////////
#else
#ifdef WIN32
  #pragma warning(disable:4786) 
  #include <typeinfo.h>
  #if _MSC_VER > 1200
    #include <hash_map>
    using stdext::hash_map;
  #else
    #include <map>
    #define hash_map map
    using std::map;
  #endif
#else
  #include <typeinfo>
  #include <ext/hash_map>
  using __gnu_cxx::hash_map;
#endif

class DrawingManager;

In& operator>>(In& stream, DrawingManager&);
Out& operator<<(Out& stream, const DrawingManager&);

class DrawingManager
{
  typedef hash_map< const char*, char> DrawingNameTypeTable;
  DrawingNameTypeTable drawingNameTypeTable;
  int idCounter, typeCounter;
  bool freeStrings;

  void reset();

public:
  class DrawingNameIdTableEntry
  {
  public:
    char id;
    char type;
    const char* description;
  };
  

  typedef hash_map< const char*, DrawingNameIdTableEntry> DrawingNameIdTable;
  DrawingNameIdTable drawingNameIdTable;

  DrawingManager():idCounter(0), typeCounter(2), freeStrings(false)
  {
    drawingNameTypeTable["drawingOnField"] = 0;
    drawingNameTypeTable["drawingOnImage"] = 1;
  }

  ~DrawingManager() {reset();}

  void addDrawingId(const char* name, const char* typeName, const char* description);

  char getDrawingId(const char* name) const
  { 
    DrawingNameIdTable::const_iterator i = drawingNameIdTable.find(name);
    if(i != drawingNameIdTable.end())
      return i->second.id;
    OUTPUT(idText, text, "Warning! Debug drawing " << name << " not declared");
    return -1;
  }

  const char* getDrawingType(const char* name) const
  { 
    DrawingNameIdTable::const_iterator i = drawingNameIdTable.find(name);
    if(i != drawingNameIdTable.end())
    {
      for(DrawingNameTypeTable::const_iterator j = drawingNameTypeTable.begin(); 
          j != drawingNameTypeTable.end(); ++j)
        if(j->second == i->second.type)
          return j->first;
      OUTPUT(idText, text, "Warning! Debug drawing " << name << " has unknown type " << int(i->second.type));
      return "unknown";
    }
    OUTPUT(idText, text, "Warning! Debug drawing " << name << " not declared");
    return "unknown";
  }

  const char* getDrawingName(char id) const
  {
    for(DrawingNameIdTable::const_iterator i = drawingNameIdTable.begin(); 
        i != drawingNameIdTable.end(); ++i)
      if(i->second.id == id)
        return i->first;
    OUTPUT(idText, text, "Warning! Unknown debug drawing id " << int(id));
    return "unknown";
  }

  friend In& operator>>(In& stream, DrawingManager&);
  friend Out& operator<<(Out& stream, const DrawingManager&);
};

#ifdef NDEBUG
#define NODEBUGDRAWINGS
#endif
#ifdef NO_DEBUG_DRAWING
#define NODEBUGDRAWINGS
#endif

#ifdef NODEBUGDRAWINGS

#define NDECLARE_DEBUGDRAWING( id, type, description) /**/
#define NCIRCLE(id, center_x, center_y, radius, penWidth, penStyle, penColor) /**/
#define NDOT(id, x, y, penColor, fillColor) /**/
#define NLARGE_DOT(id, x, y, penColor, fillColor) /**/
#define NARROW(id, x1, y1, x2, y2, penWidth, penStyle, penColor) /**/
#define NLINE(id, x1, y1, x2, y2, penWidth, penStyle, penColor) /**/
#define NCOLORED_LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColorR, penColorG, penColorB) /**/
#define NPOSE_2D_SAMPLE(id, p, color) /**/
#define NOCTANGLE(id, x1,y1,x2,y2,x3,y3,x4,y4,x5,y5,x6,y6,x7,y7,x8,y8, color, fill) /**/
#define NQUADRANGLE(id, x1,y1,x2,y2,x3,y3,x4,y4, penWidth, penStyle, penColor) /**/
#define NRECTANGLE(id, x1,y1,x2,y2, penWidth, penStyle, penColor) /**/
#define NCROSS(id, x, y, size, penWidth, penStyle, penColor) /**/
#define NCOMPLEX_DRAWING(id,expression) /**/
#define NDEBUG_DRAWING_FINISHED(id) /**/

#else //NODEBUGDRAWINGS
// global DrawingManager stuff
// global DrawingManager Object
void initDrawingManager(DrawingManager* streamHandlerPtr);
DrawingManager& getDrawingManager();


///////////////////////////////// new macros

/** 
* A macro that declares
* @param id A drawing id
* @param type A drawing type
* @param description A description for this debug drawing
*/
#define NDECLARE_DEBUGDRAWING( id, type, description) \
  getDrawingManager().addDrawingId( id, type, description);\
  DEBUG_RESPONSE("debug drawing:" id , );


/** 
* A macro that sends a circle
* @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
* @param center_x The x coordinate of the center of the circle
* @param center_y The y coordinate of the center of the circle
* @param radius The radius of the circle
* @param penWidth The width of the arc of the circle
* @param penStyle The pen style of the arc of the circle (Drawings::PenStyle)
* @param penColor The color of the arc of the circle (Drawings::Color)
*/
#define NCIRCLE(id, center_x, center_y, radius, penWidth, penStyle, penColor) \
  NOT_POLLABLE_DEBUG_RESPONSE("debug drawing:" id , \
    OUTPUT( idDebugDrawing2, bin, \
      (char)Drawings::circle << \
      (char)getDrawingManager().getDrawingId( id ) << \
      (int)(center_x) << (int)(center_y) << (int)(radius) << (char)(penWidth) << \
      (char)(penStyle) << (char)(penColor) \
     ); \
  );


/** 
* A macro that sends a dot (a quadratic box with a border)
* @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
* @param x The x coordinate of the center of the box
* @param y The y coordinate of the center of the box
* @param penColor The color of the border of the dot (Drawings::Color)
* @param fillColor The color of the dot (Drawings::Color)
*/
#define NDOT(id, x, y, penColor, fillColor) \
  NOT_POLLABLE_DEBUG_RESPONSE("debug drawing:" id , \
    OUTPUT( idDebugDrawing2, bin, \
      (char)Drawings::dot << \
      (char)getDrawingManager().getDrawingId( id ) << \
      (int)(x) << (int)(y) << (char)(penColor) << (char)(fillColor) \
    ); \
  );


/** 
* A macro that sends a dot (a quadratic box with a border)
* @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
* @param x The x coordinate of the center of the box
* @param y The y coordinate of the center of the box
* @param penColor The color of the border of the dot (Drawings::Color)
* @param fillColor The color of the dot (Drawings::Color)
*/  
#define NLARGE_DOT(id, x, y, penColor, fillColor) \
  NOT_POLLABLE_DEBUG_RESPONSE("debug drawing:" id , \
    OUTPUT( idDebugDrawing2, bin, \
      (char)Drawings::largeDot << \
      (char)getDrawingManager().getDrawingId( id ) << \
      (int)(x) << (int)(y) << (char)(penColor) << (char)(fillColor) \
     ); \
  );

/**
* A macro that sends a line
* @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
* @param x1 The x coordinate of the starting point.
* @param y1 The y coordinate of the starting point.
* @param x2 The x coordinate of the end point.
* @param y2 The y coordinate of the end point.
* @param penWidth The width of the line
* @param penStyle The pen style of the line (Drawings::PenStyle)
* @param penColor The color of the line (Drawings::Color)
*/
#define NLINE(id, x1, y1, x2, y2, penWidth, penStyle, penColor) \
  NOT_POLLABLE_DEBUG_RESPONSE("debug drawing:" id , \
     OUTPUT( idDebugDrawing2, bin, \
      (char)Drawings::line << \
      (char)getDrawingManager().getDrawingId( id ) << \
      (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (char)(penWidth) << (char)(penStyle) << (char)(penColor) \
      ); \
  );

#define NCOLORED_LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColorR, penColorG, penColorB) \
  NOT_POLLABLE_DEBUG_RESPONSE("debug drawing:" id , \
    OUTPUT( idDebugDrawing2, bin, \
      (char)Drawings::coloredLine << \
      (char)getDrawingManager().getDrawingId( id ) << \
      (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (char)(penWidth) << (char)(penStyle) << (char)(penColorR) << (char)(penColorG) << (char)(penColorB)\
      ); \
  );


/**
* A macro that sends an arrow
* @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
* @param x1 The x coordinate of the starting point.
* @param y1 The y coordinate of the starting point.
* @param x2 The x coordinate of the end point.
* @param y2 The y coordinate of the end point.
* @param penWidth The width of the line
* @param penStyle The pen style of the line (Drawings::PenStyle)
* @param penColor The color of the line (Drawings::Color)
*/
#define NARROW(id, x1, y1, x2, y2, penWidth, penStyle, penColor) \
  NOT_POLLABLE_DEBUG_RESPONSE("debug drawing:" id , \
   OUTPUT( idDebugDrawing2, bin, \
    (char)Drawings::arrow << \
    (char)getDrawingManager().getDrawingId( id ) << \
    (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (char)(penWidth) << (char)(penStyle) << (char)(penColor) \
    ); \
  );


/**
* A macro that sends an arrow for a pose
* @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
* @param p A Pose2D describing the arrow
* @param color The color of the line arrow (Drawings::Color)
*/
#define NPOSE_2D_SAMPLE(id, p, color) \
  Pose2D current = p; current += Pose2D(-100,0); \
  NLINE(id, int(current.translation.x),int(current.translation.y), int(p.translation.x), int(p.translation.y), \
  1, Drawings::ps_solid, color); \
  current = p; current += Pose2D(-40,-40); \
  NLINE(id, int(current.translation.x), int(current.translation.y), int(p.translation.x), int(p.translation.y), \
  1, Drawings::ps_solid, color); \
  current = p; current += Pose2D(-40,40); \
  NLINE(id, int(current.translation.x),int(current.translation.y),int(p.translation.x), int(p.translation.y), \
  1, Drawings::ps_solid, color); \

/** 
* A macro that sends an octangle
* @param id A drawing id (Drawings::FieldDrawing or Drawings::drawingOnField)
* @param x1,y1,x2,y2,x3,y3,x4,y4,x5,y5,x6,y6,x7,y7,x8,y8 The coordinates of the 8 octagon vertices
* @param color The color of the octangle
* @param fill A boolean indicating if the octangle is filled
*/
#define NOCTANGLE(id, x1,y1,x2,y2,x3,y3,x4,y4,x5,y5,x6,y6,x7,y7,x8,y8, color, fill) \
  NOT_POLLABLE_DEBUG_RESPONSE("debug drawing:" #id , \
     OUTPUT( idDebugDrawing2, bin, \
      (char)Drawings::octangle << \
      (char)getDrawingManager().getDrawingId( #id ) << \
      (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (int)(x3) << (int)(y3) << (int)(x4) << (int)(y4) << \
      (int)(x5) << (int)(y5) << (int)(x6) << (int)(y6) << (int)(x7) << (int)(y7) << (int)(x8) << (int)(y8) << \
      (char)ColorClasses::colorClassToDrawingsColor(color) << (char)fill \
  );

/** 
* A macro that sends an quadrangle
* @param x1,y1,x2,y2,x3,y3,x4,y4 The coordinates of the 4 quadrangle vertices
* @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
* @param penWidth The line width of the quadrangle
* @param penStyle The line style, e.g. dotted
* @param penColor The color of the quadrangle
*/
#define NQUADRANGLE(id, x1,y1,x2,y2,x3,y3,x4,y4, penWidth, penStyle, penColor) \
  NLINE(id, x1, y1, x2, y2, penWidth, penStyle, penColor); \
  NLINE(id, x2, y2, x3, y3, penWidth, penStyle, penColor); \
  NLINE(id, x3, y3, x4, y4, penWidth, penStyle, penColor); \
  NLINE(id, x4, y4, x1, y1, penWidth, penStyle, penColor); 

/** 
* A macro that sends an rectangle
* @param x1,y1,x2,y2 The coordinates of 2 opposite corners
* @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
* @param penWidth The line width of the rectangle
* @param penStyle The line style, e.g. dotted
* @param penColor The color of the quadrangle
*/
#define NRECTANGLE(id, x1,y1,x2,y2, penWidth, penStyle, penColor) \
  NLINE(id, x1, y1, x1, y2, penWidth, penStyle, penColor); \
  NLINE(id, x1, y2, x2, y2, penWidth, penStyle, penColor); \
  NLINE(id, x2, y2, x2, y1, penWidth, penStyle, penColor); \
  NLINE(id, x2, y1, x1, y1, penWidth, penStyle, penColor); 

/** 
* A macro that sends a cross
* @param x,y The center of the cross
* @param half of the height of the rectangle enclosing the cross
* @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
* @param penWidth The line width of the rectangle
* @param penStyle The line style, e.g. dotted
* @param penColor The color of the quadrangle
*/
#define NCROSS(id, x, y, size, penWidth, penStyle, penColor)\
  NLINE(id, x+size, y+size, x-size, y-size, penWidth, penStyle, penColor);\
  NLINE(id, x+size, y-size, x-size, y+size, penWidth, penStyle, penColor);


/** 
* Complex drawings should be encapsuled by this macro.
*/
#define NCOMPLEX_DRAWING(id,expression) \
  NOT_POLLABLE_DEBUG_RESPONSE("debug drawing:" id , \
    expression;\
  );
  
#endif //NODEBUGDRAWINGS

#endif //__DebugDrawings_h_

#endif

---