GT2005: Tools/Debugging/DebugDrawings.h Source File

00001 /**
00002 * @file Tools/Debugging/DebugDrawings.h
00003 *
00004 * Macros for drawing
00005 * 
00006 * @author <a href="mailto:juengel@informatik.hu-berlin.de">Matthias Jüngel</a>
00007 */
00008 
00009 #ifndef __DebugDrawings_h_
00010 #define __DebugDrawings_h_
00011 
00012 #include "Tools/Debugging/Debugging.h"
00013 #include "Tools/Debugging/DebugKeyTable.h"
00014 //#include "Platform/GTAssert.h"
00015 
00016 
00017 #include "DebugDrawings2.h"
00018 
00019 /**
00020 * This class includes all enumeration types and methods that are necessary
00021 * to transmit messages for debug drawings
00022 */
00023 class Drawings
00024 {
00025 public:
00026 
00027   /** IDs for shape types 
00028   * shapes are the basic drawings that can be sent´.
00029   */
00030   enum ShapeType
00031   {
00032     circle, filledCircle, line, dot, largeDot, octangle, arrow, coloredLine, midDot
00033   };
00034 
00035   /**
00036   * IDs for debug drawings on the field.
00037   * enter new debug drawings here and add the corresponding string in getDrawingName.
00038   */
00039   enum FieldDrawing
00040   {
00041     // the field
00042     fieldPolygons, /*!< the polygons of the 2D field view */
00043     fieldLines, /*!< the lines of the 2D field view  */
00044 
00045     // percepts
00046     percepts_ballFlagsGoalsField, /*!< player, ball and landmarks percepts on the field view. */
00047     percepts_obstaclesAndPSDField, /*!< obstacles and psd percepts on the field view. */
00048     percepts_specialField, /*!< special percept on field */
00049     percepts_robot,
00050     lineCrossingsField, /*!< crossings of lines displayed on the field*/
00051     multipleBallPerceptsField,
00052     circlePoints_Field,
00053 
00054     // models
00055     worldStateOracle, /*!< the oracled world state (displayed ligter) */
00056     worldStateGTCam, /*!< the oracled world state (displayed ligter) */
00057     worldState, /*!< the world state as calculated by the modules */
00058     worldStateRemoteCam, /*!< the remote camera world state (displayed lighter) */
00059     models_obstaclesField, /*!< the obstacles model */
00060 
00061     // modules
00062     selfLocatorField,/*!< visualization of the particles in the monte carlo selflocalization */
00063     ballLocatorField,/*!< visualization of hypothesis regarding the ball */
00064     goaliePositionField,/*!< visualization of the goalie position */
00065     headControlField,/*!< visualization what feature of the environment HeadControl is aiming at */
00066     teamBallLocatorFieldParticles,
00067     teamBallLocatorField,
00068     comboBallLocatorField,
00069     comboTeamBallLocatorField,
00070     playerModelField, /*!< visualization of the player model. Opponent and own players */
00071 
00072     //      obstaclesLocatorField, /*! Drawings for the SensorFusionPlayersLocator */
00073     behavior_CBBVector, /*! Drawings for ContinuosBasicBehavior1 */
00074     behavior_CBBWay, /*! Drawings for ContinuosBasicBehavior2 */
00075     behavior_kickAngles, /*! Drawings for several kick angles */
00076     behavior_aStarSearch, /*! Drawings for A* search tree */
00077 
00078     dribbleBall, /*! Drawings for dribble ball */
00079 
00080     logAnalyzer, /*! Drawings from the logfile analyzer */
00081     logAnalyzerDots, /*! Dot Drawings from the logfile analyzer */
00082 
00083     // radar viewer      
00084     firstDrawingInRadarViewer, /*!< all drawings below here are shown in the radar view */
00085     percepts_ballFlagsGoalsRadar = firstDrawingInRadarViewer, /*!< player, ball and landmarks percepts on the radar view. */
00086     percepts_obstaclesAndPSDRadar, /*!< obstacles and psd percepts on the radar view. */
00087     models_obstaclesRadar, /*!< obstacles model in radar view */
00088     models_corridorsRadar, /*! All corridors that are calculated */
00089     behavior_kickAnglesRadar,  /*!< kick angles in radar view */
00090 
00091     numberOfFieldDrawings
00092   };
00093 
00094   /**
00095   * IDs for debug drawings on the field.
00096   * enter new debug drawings here and add the corresponding string in getDrawingName.
00097   */
00098   enum ImageDrawing
00099   {
00100     percepts_ball,
00101     percepts_flagsGoals,
00102     percepts_freePartOfGoal,
00103     percepts_lines,
00104     percepts_edges,
00105     percepts_obstacles,
00106     percepts_psd,
00107     percepts_special,
00108     models_obstacles, 
00109     models_freePartOfGoal, 
00110     selfLocator,
00111     imageProcessor_general,
00112     imageProcessor_horizon,
00113     imageProcessor_scanLines,
00114     imageProcessor_coloredSegments1,
00115     imageProcessor_coloredSegments2,
00116     imageProcessor_coloredSegments3,
00117     imageProcessor_calibration1,
00118     imageProcessor_calibration2,
00119     imageProcessor_ball1,
00120     imageProcessor_ball2,
00121     imageProcessor_ball3,
00122     imageProcessor_ball4,
00123     imageProcessor_ground,
00124     imageProcessor_flagsAndGoals,
00125     imageProcessor_obstacles,
00126     imageProcessor_gradients, 
00127     imageProcessor_edges,
00128     imageProcessor_lines,
00129     imageProcessor_linefragments,
00130     imageProcessor_robot_detection,
00131     sketch,
00132     imageProcessor_multipleBallPercepts,
00133     circlePoints_image,
00134     numberOfImageDrawings
00135   };
00136 
00137   enum TypeOfDrawing 
00138   {
00139     drawingOnField,
00140     drawingOnImage
00141   };
00142 
00143   static TypeOfDrawing getTypeOfDrawing(FieldDrawing) {return drawingOnField;}
00144   static TypeOfDrawing getTypeOfDrawing(ImageDrawing) {return drawingOnImage;}
00145 
00146   /**
00147   * Returns a description for an indexed fieldDrawing.
00148   * \attention Add descriptions for new fieldDrawings here.
00149   */
00150   static const char* getDrawingName(FieldDrawing fieldDrawing)
00151   {
00152     switch (fieldDrawing) 
00153     {
00154     case fieldPolygons: return "field polygons";
00155     case fieldLines: return "field lines";
00156 
00157     case percepts_ballFlagsGoalsField: return "percepts: ball; flags; goals";
00158     case percepts_obstaclesAndPSDField: return "percepts: obstacles; PSD";
00159     case percepts_specialField: return "percepts: special";
00160     case percepts_robot:return "percepts: robot";
00161 
00162     case worldStateOracle: return "world state oracle";
00163     case worldState: return "world state";
00164     case worldStateRemoteCam: return "remote camera world state";
00165     case worldStateGTCam: return "GTCam world state";
00166     case models_obstaclesField: return "models: obstacles";
00167 
00168     case selfLocatorField: return "self locator";
00169     case ballLocatorField: return "ball locator";
00170     case goaliePositionField: return "goalie position"; 
00171     case headControlField: return "head control";
00172     case teamBallLocatorFieldParticles: return "team ball locator particles";
00173     case teamBallLocatorField: return "team ball locator";
00174     case comboBallLocatorField: return "combo ball locator";
00175     case comboTeamBallLocatorField: return "combo team ball locator";
00176     case playerModelField: return "player model";
00177       //    case obstaclesLocatorField: return "obstacles locator";
00178     case behavior_CBBVector: return "behavior: CBBVector";
00179     case behavior_CBBWay: return "behavior: CBBWay";
00180     case behavior_kickAngles: return "behavior: kick angles";
00181     case behavior_aStarSearch: return "behavior: A* search tree";
00182     case dribbleBall: return "dribble Ball";
00183     case logAnalyzer: return "logfile analyzer lines";
00184     case logAnalyzerDots: return "logfile analyzer dots";
00185 
00186     case percepts_ballFlagsGoalsRadar: return "radar - percepts: ball; flags; goals";
00187     case percepts_obstaclesAndPSDRadar: return "radar - percepts: obstacles; PSD";
00188     case models_obstaclesRadar: return "radar - models: obstacles";
00189     case models_corridorsRadar: return "radar - models: corridors";
00190     case behavior_kickAnglesRadar: return "radar - behavior: kick angles";
00191       
00192     case lineCrossingsField: return "line crossings";
00193     case multipleBallPerceptsField: return "multiple ball percepts";
00194     case circlePoints_Field: return "circlePoints_Field";
00195 
00196     default: return "check available drawings";
00197     }
00198   }
00199 
00200   /**
00201   * Returns a description for an indexed imageDrawing.
00202   * \attention Add descriptions for new image drawings here.
00203   */
00204   static const char* getDrawingName(ImageDrawing imageDrawing)
00205   {
00206     switch (imageDrawing) 
00207     {
00208     case percepts_ball: return "percepts: ball";
00209     case percepts_flagsGoals: return "percepts: flags; goals";
00210     case percepts_freePartOfGoal: return "percepts: free part of goal";
00211     case percepts_lines: return "percepts: lines";
00212     case percepts_edges: return "percepts: edges";
00213     case percepts_obstacles: return "percepts: obstacles";
00214     case percepts_psd: return "percepts: psd";
00215     case percepts_special: return "percepts: special";
00216     case models_obstacles: return "models: obstacles";
00217     case models_freePartOfGoal: return "models: free part of goal";
00218     case selfLocator: return "self locator";
00219     case imageProcessor_general: return "image processor: general";
00220     case imageProcessor_horizon: return "image processor: horizon";
00221     case imageProcessor_scanLines: return "image processor: scan lines";
00222     case imageProcessor_coloredSegments1: return "image processor: colored segments1";
00223     case imageProcessor_coloredSegments2: return "image processor: colored segments2";
00224     case imageProcessor_coloredSegments3: return "image processor: colored segments3";
00225     case imageProcessor_calibration1: return "image processor: calibration 1";
00226     case imageProcessor_calibration2: return "image processor: calibration 2";
00227     case imageProcessor_ball1: return "image processor: ball 1";
00228     case imageProcessor_ball2: return "image processor: ball 2";
00229     case imageProcessor_ball3: return "image processor: ball 3";
00230     case imageProcessor_ball4: return "image processor: ball 4";
00231     case imageProcessor_ground: return "image processor: ground";
00232     case imageProcessor_flagsAndGoals: return "image processor: flags; goals";
00233     case imageProcessor_obstacles: return "image processor: obstacles";
00234     case imageProcessor_gradients: return "image processor: gradients";
00235     case imageProcessor_edges: return "image processor: edges";
00236     case imageProcessor_lines: return "image processor: lines";
00237     case imageProcessor_linefragments: return "image processor: linefragments";
00238     case imageProcessor_robot_detection: return "image processor: robot detection";
00239     case sketch: return "sketch";
00240     case imageProcessor_multipleBallPercepts: return "imageProcessor: multiple ball percepts";
00241     case circlePoints_image: return "circlePoints_image";
00242     default: return "check available drawings";
00243     }
00244   }
00245 
00246   static bool getDebugKeyID(enum FieldDrawing fieldDrawing, DebugKeyTable::debugKeyID& debugKeyID)
00247   {
00248     switch (fieldDrawing) 
00249     {
00250     case selfLocatorField: debugKeyID = DebugKeyTable::send_selfLocatorField_drawing; return true;
00251     case ballLocatorField: debugKeyID = DebugKeyTable::send_ballLocatorField_drawing; return true;
00252     case goaliePositionField: debugKeyID = DebugKeyTable::send_goaliePositionField_drawing; return true;
00253     case headControlField: debugKeyID = DebugKeyTable::send_headControlField_drawing; return true;
00254     case playerModelField: debugKeyID = DebugKeyTable::send_playerModelField_drawing; return true;
00255     case teamBallLocatorFieldParticles: debugKeyID = DebugKeyTable::send_teamBallLocatorFieldParticles_drawing; return true;
00256     case teamBallLocatorField: debugKeyID = DebugKeyTable::send_teamBallLocatorField_drawing; return true;
00257     case comboBallLocatorField: debugKeyID = DebugKeyTable::send_comboBallLocatorField_drawing; return true;
00258     case comboTeamBallLocatorField: debugKeyID = DebugKeyTable::send_comboTeamBallLocatorField_drawing; return true;
00259       //    case obstaclesLocatorField: debugKeyID = DebugKeyTable::send_obstaclesLocatorField_drawing; return true;
00260     case behavior_CBBVector: debugKeyID = DebugKeyTable::send_behavior_CBBVector_drawing; return true;
00261     case behavior_CBBWay: debugKeyID = DebugKeyTable::send_behavior_CBBWay_drawing; return true;
00262     case behavior_kickAngles: debugKeyID = DebugKeyTable::send_behavior_kickAngles_drawing; return true;
00263     case behavior_aStarSearch: debugKeyID = DebugKeyTable::send_behavior_aStarSearch_drawing; return true;
00264     case dribbleBall: debugKeyID = DebugKeyTable::send_dribbleBall_drawing; return true;
00265 
00266     case models_corridorsRadar: debugKeyID = DebugKeyTable::send_models_corridorsRadar_drawing; return true;
00267     case behavior_kickAnglesRadar: debugKeyID = DebugKeyTable::send_behavior_kickAnglesRadar_drawing; return true;
00268     case percepts_robot: debugKeyID = DebugKeyTable::send_percepts_robot_drawing; return true;
00269   
00270     case lineCrossingsField: debugKeyID = DebugKeyTable::send_lineCrossingsField_drawing; return true;
00271     case multipleBallPerceptsField: debugKeyID = DebugKeyTable::send_multipleBallPerceptsField_drawing; return true;
00272     case circlePoints_Field: debugKeyID = DebugKeyTable::send_circlePoints_Field_drawing; return true;
00273     default: return false;
00274     }
00275   }
00276 
00277   static bool getDebugKeyID(enum ImageDrawing imageDrawing, DebugKeyTable::debugKeyID& debugKeyID)
00278   {
00279     switch (imageDrawing) 
00280     {
00281     case selfLocator: debugKeyID = DebugKeyTable::send_selfLocator_drawing; return true;
00282     case imageProcessor_general: debugKeyID = DebugKeyTable::send_imageProcessor_general_drawing; return true;
00283     case imageProcessor_horizon: debugKeyID = DebugKeyTable::send_imageProcessor_horizon_drawing; return true;
00284     case imageProcessor_scanLines: debugKeyID = DebugKeyTable::send_imageProcessor_scanLines_drawing; return true;
00285     case imageProcessor_coloredSegments1: debugKeyID = DebugKeyTable::send_imageProcessor_coloredSegments1_drawing; return true;
00286     case imageProcessor_coloredSegments2: debugKeyID = DebugKeyTable::send_imageProcessor_coloredSegments2_drawing; return true;
00287     case imageProcessor_coloredSegments3: debugKeyID = DebugKeyTable::send_imageProcessor_coloredSegments3_drawing; return true;
00288     case imageProcessor_calibration1: debugKeyID = DebugKeyTable::send_imageProcessor_calibration1_drawing; return true;
00289     case imageProcessor_calibration2: debugKeyID = DebugKeyTable::send_imageProcessor_calibration2_drawing; return true;
00290     case imageProcessor_ball1: debugKeyID = DebugKeyTable::send_imageProcessor_ball1_drawing; return true;
00291     case imageProcessor_ball2: debugKeyID = DebugKeyTable::send_imageProcessor_ball2_drawing; return true;
00292     case imageProcessor_ball3: debugKeyID = DebugKeyTable::send_imageProcessor_ball3_drawing; return true;
00293     case imageProcessor_ball4: debugKeyID = DebugKeyTable::send_imageProcessor_ball4_drawing; return true;
00294     case imageProcessor_ground: debugKeyID = DebugKeyTable::send_imageProcessor_ground_drawing; return true;
00295     case imageProcessor_flagsAndGoals: debugKeyID = DebugKeyTable::send_imageProcessor_flagsAndGoals_drawing; return true;
00296     case imageProcessor_obstacles: debugKeyID = DebugKeyTable::send_imageProcessor_obstacles_drawing; return true;
00297     case imageProcessor_gradients: debugKeyID = DebugKeyTable::send_imageProcessor_gradients_drawing; return true;
00298     case imageProcessor_edges: debugKeyID = DebugKeyTable::send_imageProcessor_edges_drawing; return true;
00299     case imageProcessor_lines: debugKeyID = DebugKeyTable::send_imageProcessor_lines_drawing; return true;
00300     case imageProcessor_linefragments: debugKeyID = DebugKeyTable::send_imageProcessor_linefragments_drawing; return true;
00301     case imageProcessor_robot_detection: debugKeyID = DebugKeyTable::send_imageProcessor_robot_detection_drawing; return true;
00302     case sketch: debugKeyID = DebugKeyTable::send_sketch_drawing; return true;
00303     case imageProcessor_multipleBallPercepts: debugKeyID = DebugKeyTable::send_imageProcessor_multipleBallPercepts_drawing; return true;
00304     case circlePoints_image: debugKeyID = DebugKeyTable::send_circlePoints_image_drawing; return true;
00305     default: return false;
00306     }
00307   }
00308 
00309   /** The pen style that is used for basic shapes*/
00310   enum PenStyle
00311   {
00312     ps_solid, ps_dash, ps_dot, ps_null
00313   };
00314 
00315   /** The fill style that is used for basic shapes*/
00316   enum FillStyle
00317   {
00318     bs_solid, bs_null
00319   };
00320 
00321   /** The color that is used for basic shapes*/
00322   enum Color
00323   {
00324     red, green, blue, yellow, orange, pink, skyblue, white, light_gray, gray, dark_gray, black, yellowOrange, numberOfColors
00325   };
00326 
00327 };
00328 
00329 #ifdef NDEBUG
00330 #define NODEBUGDRAWINGS
00331 #endif
00332 #ifdef NO_DEBUG_DRAWING
00333 #define NODEBUGDRAWINGS
00334 #endif
00335 
00336 #ifdef NODEBUGDRAWINGS
00337 #define CIRCLE(id, center_x, center_y, radius, penWidth, penStyle, penColor) /**/
00338 #define DOT(id, x, y, penColor, fillColor) /**/
00339 #define MID_DOT(id, x, y, penColor, fillColor) /**/
00340 #define LARGE_DOT(id, x, y, penColor, fillColor) /**/
00341 #define ARROW(id, x1, y1, x2, y2, penWidth, penStyle, penColor) /**/
00342 #define LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColor) /**/
00343 #define COLORED_LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColorR, penColorG, penColorB) /**/
00344 #define POSE_2D_SAMPLE(id, p, color) /**/
00345 #define OCTANGLE(id, x1,y1,x2,y2,x3,y3,x4,y4,x5,y5,x6,y6,x7,y7,x8,y8, color, fill) /**/
00346 #define QUADRANGLE(id, x1,y1,x2,y2,x3,y3,x4,y4, penWidth, penStyle, penColor) /**/
00347 #define RECTANGLE(id, x1,y1,x2,y2, penWidth, penStyle, penColor) /**/
00348 #define CROSS(id, x, y, size, penWidth, penStyle, penColor) /**/
00349 
00350 #define COMPLEX_DRAWING(id,expression) /**/
00351 #define DEBUG_DRAWING_FINISHED(id) /**/
00352 
00353 #else //NODEBUGDRAWINGS
00354 
00355 /** 
00356 * A macro that sends a circle
00357 * @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
00358 * @param center_x The x coordinate of the center of the circle
00359 * @param center_y The y coordinate of the center of the circle
00360 * @param radius The radius of the circle
00361 * @param penWidth The width of the arc of the circle
00362 * @param penStyle The pen style of the arc of the circle (Drawings::PenStyle)
00363 * @param penColor The color of the arc of the circle (Drawings::Color)
00364 */
00365 #define CIRCLE(id, center_x, center_y, radius, penWidth, penStyle, penColor) \
00366   INFO(send_##id##_drawing, idDebugDrawing2, bin, \
00367   (char)Drawings::circle << \
00368   (char)Drawings::id << \
00369   (char)Drawings::getTypeOfDrawing(Drawings::id) << \
00370   (int)(center_x) << (int)(center_y) << (int)(radius) << (char)(penWidth) << \
00371   (char)(penStyle) << (char)(penColor) \
00372   );
00373 
00374 /** 
00375 * A macro that sends a dot (a quadratic box with a border)
00376 * @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
00377 * @param x The x coordinate of the center of the box
00378 * @param y The y coordinate of the center of the box
00379 * @param penColor The color of the border of the dot (Drawings::Color)
00380 * @param fillColor The color of the dot (Drawings::Color)
00381 */
00382 #define DOT(id, x, y, penColor, fillColor) \
00383   INFO(send_##id##_drawing, idDebugDrawing2, bin, \
00384   (char)Drawings::dot << \
00385   (char)Drawings::id << \
00386   (char)Drawings::getTypeOfDrawing(Drawings::id) << \
00387   (int)(x) << (int)(y) << (char)(penColor) << (char)(fillColor) \
00388   );
00389 
00390 
00391 /** 
00392 * A macro that sends a midsize dot 
00393 * @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
00394 * @param x The x coordinate of the center of the box
00395 * @param y The y coordinate of the center of the box
00396 * @param penColor The color of the border of the dot (Drawings::Color)
00397 * @param fillColor The color of the dot (Drawings::Color)
00398 */
00399 #define MID_DOT(id, x, y, penColor, fillColor) \
00400   INFO(send_##id##_drawing, idDebugDrawing2, bin, \
00401   (char)Drawings::midDot << \
00402   (char)Drawings::id << \
00403   (char)Drawings::getTypeOfDrawing(Drawings::id) << \
00404   (int)(x) << (int)(y) << (char)(penColor) << (char)(fillColor) \
00405   );
00406 
00407 /** 
00408 * A macro that sends a dot (a quadratic box with a border)
00409 * @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
00410 * @param x The x coordinate of the center of the box
00411 * @param y The y coordinate of the center of the box
00412 * @param penColor The color of the border of the dot (Drawings::Color)
00413 * @param fillColor The color of the dot (Drawings::Color)
00414 */
00415 #define LARGE_DOT(id, x, y, penColor, fillColor) \
00416   INFO(send_##id##_drawing, idDebugDrawing2, bin, \
00417   (char)Drawings::largeDot << \
00418   (char)Drawings::id << \
00419   (char)Drawings::getTypeOfDrawing(Drawings::id) << \
00420   (int)(x) << (int)(y) << (char)(penColor) << (char)(fillColor) \
00421   );
00422 
00423 /**
00424 * A macro that sends a line
00425 * @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
00426 * @param x1 The x coordinate of the starting point.
00427 * @param y1 The y coordinate of the starting point.
00428 * @param x2 The x coordinate of the end point.
00429 * @param y2 The y coordinate of the end point.
00430 * @param penWidth The width of the line
00431 * @param penStyle The pen style of the line (Drawings::PenStyle)
00432 * @param penColor The color of the line (Drawings::Color)
00433 */
00434 #define LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColor) \
00435   INFO(send_##id##_drawing, idDebugDrawing2, bin, \
00436   (char)Drawings::line << \
00437   (char)Drawings::id << \
00438   (char)Drawings::getTypeOfDrawing(Drawings::id) << \
00439   (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (char)(penWidth) << (char)(penStyle) << (char)(penColor) \
00440   );
00441 
00442 #define COLORED_LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColorR, penColorG, penColorB) \
00443   INFO(send_##id##_drawing, idDebugDrawing2, bin, \
00444   (char)Drawings::coloredLine << \
00445   (char)Drawings::id << \
00446   (char)Drawings::getTypeOfDrawing(Drawings::id) << \
00447   (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (char)(penWidth) << (char)(penStyle) << (char)(penColorR) << (char)(penColorG) << (char)(penColorB)\
00448   );
00449 
00450 #define CROSS(id, x, y, size, penWidth, penStyle, penColor)\
00451   LINE(id, x+size, y+size, x-size,y-size, penWidth, penStyle, penColor);\
00452   LINE(id, x+size, y-size, x-size,y+size, penWidth, penStyle, penColor);
00453 
00454 
00455 
00456 
00457 /**
00458 * A macro that sends an arrow
00459 * @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
00460 * @param x1 The x coordinate of the starting point.
00461 * @param y1 The y coordinate of the starting point.
00462 * @param x2 The x coordinate of the end point.
00463 * @param y2 The y coordinate of the end point.
00464 * @param penWidth The width of the line
00465 * @param penStyle The pen style of the line (Drawings::PenStyle)
00466 * @param penColor The color of the line (Drawings::Color)
00467 */
00468 #define ARROW(id, x1, y1, x2, y2, penWidth, penStyle, penColor) \
00469   INFO(send_##id##_drawing, idDebugDrawing2, bin, \
00470   (char)Drawings::arrow << \
00471   (char)Drawings::id << \
00472   (char)Drawings::getTypeOfDrawing(Drawings::id) << \
00473   (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (char)(penWidth) << (char)(penStyle) << (char)(penColor) \
00474   );
00475 
00476 
00477 /**
00478 * A macro that sends an arrow for a pose
00479 * @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
00480 * @param p A Pose2D describing the arrow
00481 * @param color The color of the line arrow (Drawings::Color)
00482 */
00483 #define POSE_2D_SAMPLE(id, p, color) \
00484   Pose2D current = p; current += Pose2D(-100,0); \
00485   LINE(id, int(current.translation.x),int(current.translation.y), int(p.translation.x), int(p.translation.y), \
00486   1, Drawings::ps_solid, color); \
00487   current = p; current += Pose2D(-40,-40); \
00488   LINE(id, int(current.translation.x), int(current.translation.y), int(p.translation.x), int(p.translation.y), \
00489   1, Drawings::ps_solid, color); \
00490   current = p; current += Pose2D(-40,40); \
00491   LINE(id, int(current.translation.x),int(current.translation.y),int(p.translation.x), int(p.translation.y), \
00492   1, Drawings::ps_solid, color); \
00493 
00494 /** 
00495 * A macro that sends an octangle
00496 * @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
00497 * @param x1,y1,x2,y2,x3,y3,x4,y4,x5,y5,x6,y6,x7,y7,x8,y8 The coordinates of the 8 octagon vertices
00498 * @param color The color of the octangle
00499 * @param fill A boolean indicating if the octangle is filled
00500 */
00501 #define OCTANGLE(id, x1,y1,x2,y2,x3,y3,x4,y4,x5,y5,x6,y6,x7,y7,x8,y8, color, fill) \
00502   INFO(send_##id##_drawing, idDebugDrawing2, bin, \
00503   (char)Drawings::octangle << \
00504   (char)Drawings::id << \
00505   (char)Drawings::getTypeOfDrawing(Drawings::id) << \
00506   (int)(x1) << (int)(y1) << (int)(x2) << (int)(y2) << (int)(x3) << (int)(y3) << (int)(x4) << (int)(y4) << \
00507   (int)(x5) << (int)(y5) << (int)(x6) << (int)(y6) << (int)(x7) << (int)(y7) << (int)(x8) << (int)(y8) << \
00508   (char)ColorClasses::colorClassToDrawingsColor(color) << (char)fill \
00509   );
00510 
00511 /** 
00512 * A macro that sends an quadrangle
00513 * @param x1,y1,x2,y2,x3,y3,x4,y4 The coordinates of the 4 quadrangle vertices
00514 * @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
00515 * @param penWidth The line width of the quadrangle
00516 * @param penStyle The line style, e.g. dotted
00517 * @param penColor The color of the quadrangle
00518 */
00519 #define QUADRANGLE(id, x1,y1,x2,y2,x3,y3,x4,y4, penWidth, penStyle, penColor) \
00520   LINE(id, x1, y1, x2, y2, penWidth, penStyle, penColor); \
00521   LINE(id, x2, y2, x3, y3, penWidth, penStyle, penColor); \
00522   LINE(id, x3, y3, x4, y4, penWidth, penStyle, penColor); \
00523   LINE(id, x4, y4, x1, y1, penWidth, penStyle, penColor); 
00524 
00525 /** 
00526 * A macro that sends an rectangle
00527 * @param x1,y1,x2,y2 The coordinates of 2 opposite corners
00528 * @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
00529 * @param penWidth The line width of the rectangle
00530 * @param penStyle The line style, e.g. dotted
00531 * @param penColor The color of the quadrangle
00532 */
00533 #define RECTANGLE(id, x1,y1,x2,y2, penWidth, penStyle, penColor) \
00534   LINE(id, x1, y1, x1, y2, penWidth, penStyle, penColor); \
00535   LINE(id, x1, y2, x2, y2, penWidth, penStyle, penColor); \
00536   LINE(id, x2, y2, x2, y1, penWidth, penStyle, penColor); \
00537   LINE(id, x2, y1, x1, y1, penWidth, penStyle, penColor); 
00538 
00539 /** 
00540 * Complex drawings should be encapsuled by this macro.
00541 */
00542 #define COMPLEX_DRAWING(id,expression) \
00543   if (getDebugKeyTable().isActive(DebugKeyTable::send_##id##_drawing)) {\
00544   expression;\
00545   }
00546 
00547 /**
00548 * Indicates that all elements of the specified drawing are drawn.
00549 * @param id A drawing id (Drawings::FieldDrawing or Drawings::ImageDrawing)
00550 */
00551 #define DEBUG_DRAWING_FINISHED(id) \
00552   INFO(send_##id##_drawing, idDebugDrawingFinished, bin, (char)Drawings::id << (char)Drawings::getTypeOfDrawing(Drawings::id) );
00553 
00554 #endif //NODEBUGDRAWINGS
00555 #endif //__DebugDrawings_h_
00556