Removed FLTK dependencies from headless stage

CMakeLists.txt

@@ -14,9 +14,7 @@ SET( MIN_PLAYER 2.1.0 )
 OPTION (BUILD_PLAYER_PLUGIN "Build Player plugin" ON)
 OPTION (BUILD_LSPTEST "Build Player plugin tests" OFF)
 OPTION (CPACK_CFG "[release building] generate CPack configuration files" ON)
-
-# todo - this doesn't work yet. Run Stage headless with -g.
-# OPTION (BUILD_GUI "Build FLTK-based GUI. If OFF, build a gui-less Stage useful e.g. for headless compute clusters." ON ) 
+OPTION (BUILD_GUI "Build FLTK-based GUI. If OFF, build a gui-less Stage useful e.g. for headless compute clusters." ON )
 
 IF (CMAKE_MAJOR_VERSION EQUAL 2 AND NOT CMAKE_MINOR_VERSION LESS 6)
 	cmake_policy( SET CMP0003 NEW )
@@ -52,8 +50,8 @@ endif( PROJECT_OS_OSX)
 # Build type cflags
 SET (OPTIMIZE "-O2")
 
-SET (CMAKE_CXX_FLAGS_RELEASE "${FORCE_ARCH} ${OPTIMIZE} -DNDEBUG ${WALL}" CACHE INTERNAL "CXX Flags for release" FORCE)
-SET (CMAKE_CXX_FLAGS_DEBUG "-ggdb  ${FORCE_ARCH} ${WALL} -DDEBUG" CACHE INTERNAL "CXX Flags for debug" FORCE)
+SET (CMAKE_CXX_FLAGS_RELEASE "${FORCE_ARCH} ${OPTIMIZE} -DNDEBUG ${WALL} -std=c++11" CACHE INTERNAL "CXX Flags for release" FORCE)
+SET (CMAKE_CXX_FLAGS_DEBUG "-ggdb  ${FORCE_ARCH} ${WALL} -DDEBUG -std=c++11" CACHE INTERNAL "CXX Flags for debug" FORCE)
 SET (CMAKE_CXX_FLAGS_PROFILE "-ggdb -pg  ${FORCE_ARCH} ${WALL}" CACHE INTERNAL "CXX Flags for profile" FORCE)
 
 #####################################
@@ -62,6 +60,7 @@ IF (NOT CMAKE_BUILD_TYPE)
   SET (CMAKE_BUILD_TYPE "release" CACHE STRING 
     "Choose the type of build, options are: release (default) debug profile" FORCE)
 ENDIF (NOT CMAKE_BUILD_TYPE)
+
 STRING(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE)
 
 MESSAGE( STATUS "Build type ${CMAKE_BUILD_TYPE}" )
@@ -73,13 +72,13 @@ SET(RGBFILE ${CMAKE_INSTALL_PREFIX}/share/stage/rgb.txt )
 # Create the config.h file
 # config.h belongs with the source (and not in CMAKE_CURRENT_BINARY_DIR as in Brian's original version)
 CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/config.h.in 
-					${CMAKE_CURRENT_SOURCE_DIR}/config.h @ONLY)
+				${CMAKE_CURRENT_SOURCE_DIR}/config.h @ONLY)
 
 message( STATUS "Checking for libtool" )
 find_path( LTDL_INCLUDE_DIR ltdl.h DOC "Libtool include dir" )
 find_library( LTDL_LIB ltdl DOC "Libtool lib" )
 
-include_directories( 
+include_directories(
 	${OPENGL_INCLUDE_DIR}
 	${LTDL_INCLUDE_DIR}
 )
@@ -88,7 +87,6 @@ include_directories(
 MESSAGE( STATUS "Checking for required libraries..." )
 
 find_package( JPEG REQUIRED )
-
 find_package( PNG REQUIRED )
 
 # deal with new missing X11 on OS X 10.8 Mountain Lion
@@ -97,7 +95,7 @@ find_package( PNG REQUIRED )
 # SET( PNG_INCLUDE_DIR /opt/X11/include )
 
 set (FLTK_SKIP_FLUID TRUE) 
-find_package( FLTK REQUIRED )
+find_package( FLTK )
 find_package( OpenGL REQUIRED )
 
 IF( NOT OPENGL_GLU_FOUND )
@@ -121,12 +119,22 @@ MESSAGE( STATUS "Checking for optional libraries..." )
 SET(PC_LIBRARIES ${FLTK_LIBRARIES} ${OPENGL_LIBRARIES})
 SET(PC_INCLUDE_DIRS ${FLTK_INCLUDE_DIR} ${OPENGL_INCLUDE_DIR})
 
+if(FLTK_FOUND)
+	LIST(APPEND PC_LIBRARIES ${FLTK_LIBRARIES})
+	LIST(APPEND PC_INCLUDE_DIRS ${FLTK_INCLUDE_DIR})
+else(FLTK_FOUND)
+	if(BUILD_GUI)
+		message(STATUS "Could not find FLTK. Turning off BUILD_GUI")
+		set(BUILD_GUI OFF)
+	endif(BUILD_GUI)
+endif(FLTK_FOUND)
+
 SET(PC_LINK_FLAGS "")
 FOREACH(LIB ${PC_LIBRARIES})
   GET_FILENAME_COMPONENT(LIBNAME ${LIB} NAME_WE)
   STRING(REGEX REPLACE "^lib" "" LINKLIB ${LIBNAME})
   SET(PC_LINK_FLAGS "${PC_LINK_FLAGS} -l${LINKLIB}")
-ENDFOREACH(LIB ${FLTK_LIBRARIES})
+ENDFOREACH(LIB ${PC_LIBRARIES})
 
 SET(PC_INCLUDE_FLAGS "")
 FOREACH(INC ${PC_INCLUDE_DIRS})
@@ -141,14 +149,16 @@ MESSAGE( STATUS "Installation path CMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}"
 
 # all targets need these include directories
 include_directories( . 
-		     libstage 
-		     replace 
-		     ${FLTK_INCLUDE_DIR}
-                     ${PNG_INCLUDE_DIR}
-                     ${JPEG_INCLUDE_DIR}
-		     ${CMAKE_INCLUDE_PATH}
+	libstage
+	replace
+	${PNG_INCLUDE_DIR}
+	${JPEG_INCLUDE_DIR}
+	${CMAKE_INCLUDE_PATH}
 )
 
+if(FLTK_FOUND)
+	include_directories(${FLTK_INCLUDE_DIR})
+endif(FLTK_FOUND)
 
 # work through these subdirs
 ADD_SUBDIRECTORY(libstage)
@@ -177,13 +187,21 @@ ENDIF ( BUILD_PLAYER_PLUGIN )
 # Create the CMake module files (needs to be run after the stage target was created)
 if (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION} GREATER 2.8.11)
   # Use a generator expression if the version of cmake allows it.
-  set(STAGE_TARGET_NAME "$<TARGET_FILE_NAME:stage>")
+  set(STAGE_CORE_TARGET_NAME "$<TARGET_FILE_NAME:stage_core>")
+  if(BUILD_GUI)
+  	set(STAGE_TARGET_NAME "$<TARGET_FILE_NAME:stage>")
+  endif(BUILD_GUI)
 else()
   # Otherwise use the LOCATION property of the target (this will produce a warning on newer versions of cmake)
-  get_property(location_ TARGET stage PROPERTY LOCATION)
-  get_filename_component(STAGE_TARGET_NAME "${location_}" NAME)
+  get_property(location_ TARGET stage_core PROPERTY LOCATION)
+  get_filename_component(STAGE_CORE_TARGET_NAME "${location_}" NAME)
+  if(BUILD_GUI)
+  	get_property(location_ TARGET stage PROPERTY LOCATION)
+  	get_filename_component(STAGE_TARGET_NAME "${location_}" NAME)
+  endif(BUILD_GUI)
   unset(location_)
 endif()
+
 CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/stage-config.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/stage-config.cmake @ONLY)
 if (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION} GREATER 2.8.11)
   # Also run it through file(GENERATE ...) to expand generator expressions (if the version of cmake supports it).
@@ -192,6 +210,7 @@ if (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}.${CMAKE_PATCH_VERSION} GREATER
     INPUT ${CMAKE_CURRENT_BINARY_DIR}/stage-config.cmake)
 endif()
 CONFIGURE_FILE (${CMAKE_CURRENT_SOURCE_DIR}/stage-config-version.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/stage-config-version.cmake @ONLY)
+
 INSTALL (FILES ${CMAKE_CURRENT_BINARY_DIR}/stage-config.cmake ${CMAKE_CURRENT_BINARY_DIR}/stage-config-version.cmake DESTINATION ${PROJECT_LIB_DIR}/cmake/${PROJECT_NAME})
 
 # generate a cpack config file used to create packaged tarballs

avonstage/avonstage.cc

@@ -445,20 +445,20 @@ int main(int argc, char *argv[])
     // help options
     case '?':
       puts(USAGE);
-      exit(0);
+      return -1;
       break;
     default:
       printf("unhandled option %c\n", ch);
       puts(USAGE);
-      // exit(0);
+      return -1;
     }
   }
 
   const char *worldfilename = argv[optind];
 
   if (worldfilename == NULL) {
     puts("[AvonStage] no worldfile specified on command line. Quit.\n");
-    exit(-1);
+    return -1;
   }
 
   puts(""); // end the first start-up line

examples/ctrl/CMakeLists.txt

@@ -26,7 +26,7 @@ set_source_files_properties( ${PLUGINS} PROPERTIES
 )
 
 foreach( PLUGIN ${PLUGINS} )
-  TARGET_LINK_LIBRARIES( ${PLUGIN} stage ${OPENGL_LIBRARIES} )
+  TARGET_LINK_LIBRARIES( ${PLUGIN} stage_core ${OPENGL_LIBRARIES} )
 endforeach( PLUGIN )
 
 # delete the "lib" prefix from the plugin libraries

examples/ctrl/fasr2.cc

@@ -1,6 +1,7 @@
 #include <pthread.h>
 
 #include "stage.hh"
+#include "canvas.hh"
 using namespace Stg;
 
 // generic planner implementation
@@ -152,7 +153,7 @@ class Robot {
 
     explicit GraphVis(Graph **graphpp) : Visualizer("graph", "vis_graph"), graphpp(graphpp) {}
     virtual ~GraphVis() {}
-    virtual void Visualize(Model *mod, Camera *)
+    virtual void Visualize(Model *mod, Camera *, Canvas * canvas)
     {
       if (*graphpp == NULL)
         return;
@@ -166,9 +167,9 @@ class Robot {
       Color c = mod->GetColor();
       c.a = 0.4;
 
-      mod->PushColor(c);
+      canvas->PushColor(c);
       (*graphpp)->Draw();
-      mod->PopColor();
+      canvas->PopColor();
 
       glPopMatrix();
     }

examples/libstage/stest.cc

@@ -146,7 +146,7 @@ int main(int argc, char *argv[])
   // check and handle the argumets
   if (argc < 3) {
     puts("Usage: stest <worldfile> <number of robots>");
-    exit(0);
+    return -1;
   }
 
   const int popsize = atoi(argv[2]);

libstage/CMakeLists.txt

@@ -3,7 +3,7 @@ MESSAGE( STATUS "Configuring libstage" )
 # for config.h
 include_directories(${PROJECT_BINARY_DIR})
 
-set( stageSrcs    
+set(stageSrcs
 	block.cc
 	blockgroup.cc
 	camera.cc
@@ -31,77 +31,80 @@ set( stageSrcs
 	stage.cc
 	stage.hh
 	texture_manager.cc
-	typetable.cc		
-	world.cc			
-	worldfile.cc		
-	canvas.cc 
-	options_dlg.cc
-	options_dlg.hh
-	vis_strip.cc			
-	worldgui.cc 
+	typetable.cc
+	world.cc
+	worldfile.cc
+	canvas.cc
+	vis_strip.cc
 	ancestor.cc
+	image.cc
 )
 
-#	model_getset.cc
-#	model_load.cc
-
-#set_source_files_properties( ${stageSrcs} PROPERTIES COMPILE_FLAGS" )
-
-add_library(stage SHARED ${stageSrcs})
-
-# if fltk-config didn't bring along the OpenGL dependencies (eg. on
-# Debian/Ubuntu), add them explicity 
-IF (NOT(${FLTK_LDFLAGS} MATCHES "-lGL"))
-  target_link_libraries( stage ${OPENGL_LIBRARIES}) 
-ENDIF (NOT(${FLTK_LDFLAGS} MATCHES "-lGL"))
-
-
-# causes the shared library to have a version number
-set_target_properties( stage PROPERTIES
+# Core library. Contains simulation code and most part of platform-independent rendering code
+add_library(stage_core SHARED ${stageSrcs})
+set_target_properties( stage_core PROPERTIES
 		       VERSION ${VERSION}
 #           LINK_FLAGS "${FLTK_LDFLAGS}"  
 )
+target_link_libraries( stage_core ${OPENGL_LIBRARIES} ${LTDL_LIB} ${JPEG_LIBRARIES} ${PNG_LIBRARIES})
 
-target_link_libraries( stage 
-                       ${LTDL_LIB} 
-                       ${JPEG_LIBRARIES} 
-                       ${PNG_LIBRARIES}
-                       ${FLTK_LIBRARIES}
-)
-
-set( stagebinarySrcs main.cc )
-set_source_files_properties( ${stagebinarySrcs} PROPERTIES COMPILE_FLAGS "${FLTK_CFLAGS}" )
-
-# TODO: build an app bundle on OS X
-#set(MACOSX_BUNDLE_INFO_STRING "${PROJECT_NAME}")
-#set(MACOSX_BUNDLE_GUI_IDENTIFIER "org.playerstage.stage")
-#set(MACOSX_BUNDLE_LONG_VERSION_STRING "${PROJECT_NAME} Version ${VERSION}")
-#set(MACOSX_BUNDLE_BUNDLE_NAME ${PROJECT_NAME})
-#set(MACOSX_BUNDLE_SHORT_VERSION_STRING ${VERSION})
-#set(MACOSX_BUNDLE_BUNDLE_VERSION ${VERSION})
-#set(MACOSX_BUNDLE_COPYRIGHT "Copyright 2010. All Rights Reserved.")
-# add_executable( stagebinary MACOSX_BUNDLE ${stagebinarySrcs} )
-
-add_executable( stagebinary ${stagebinarySrcs} )
-
-
-set_target_properties( stagebinary PROPERTIES OUTPUT_NAME stage )
-
-# Apple seems to have trouble when libstage and stagebinary are linked against FLTK
-# Newer Linux distributions won't allow stagebinary to inherit libstage's links to fltk, so we need
-# to explicitly link on Linux
-
-target_link_libraries( stagebinary stage )
-
-IF(PROJECT_OS_LINUX)
-  target_link_libraries( stagebinary stage pthread )
-ENDIF(PROJECT_OS_LINUX)
+# Headless binary version. Does not need FLTK, but stil references a lot of OpenGL
+add_executable( stagebinary_headless main_headless.cc )
+set_target_properties( stagebinary_headless PROPERTIES OUTPUT_NAME stage_headless )
+target_link_libraries( stagebinary_headless stage_core )
 
-INSTALL(TARGETS stagebinary stage
-	RUNTIME DESTINATION bin
-	LIBRARY DESTINATION ${PROJECT_LIB_DIR}
+install(TARGETS stagebinary_headless stage_core
+	RUNTIME DESTINATION bin LIBRARY DESTINATION ${PROJECT_LIB_DIR}
 )
 
-INSTALL(FILES stage.hh 
-        DESTINATION include/${PROJECT_NAME}-${APIVERSION})
+install(FILES stage.hh DESTINATION include/${PROJECT_NAME}-${APIVERSION})
+
+# GUI part of the stage
+if(FLTK_FOUND AND BUILD_GUI)
+	add_library(stage SHARED canvas_fltk.cc options_dlg.cc menu_manager_fltk.cc worldgui.cc)
+
+	# if fltk-config didn't bring along the OpenGL dependencies (eg. on
+	# Debian/Ubuntu), add them explicity 
+	IF (NOT(${FLTK_LDFLAGS} MATCHES "-lGL"))
+	  target_link_libraries( stage ${OPENGL_LIBRARIES}) 
+	ENDIF (NOT(${FLTK_LDFLAGS} MATCHES "-lGL"))
+
+	# causes the shared library to have a version number
+	set_target_properties( stage PROPERTIES
+			       VERSION ${VERSION}
+	#           LINK_FLAGS "${FLTK_LDFLAGS}"  
+	)
+
+	target_link_libraries( stage stage_core ${FLTK_LIBRARIES})
+
+	set( stagebinarySrcs main.cc )
+	set_source_files_properties( ${stagebinarySrcs} PROPERTIES COMPILE_FLAGS "${FLTK_CFLAGS}" )
+
+	# TODO: build an app bundle on OS X
+	#set(MACOSX_BUNDLE_INFO_STRING "${PROJECT_NAME}")
+	#set(MACOSX_BUNDLE_GUI_IDENTIFIER "org.playerstage.stage")
+	#set(MACOSX_BUNDLE_LONG_VERSION_STRING "${PROJECT_NAME} Version ${VERSION}")
+	#set(MACOSX_BUNDLE_BUNDLE_NAME ${PROJECT_NAME})
+	#set(MACOSX_BUNDLE_SHORT_VERSION_STRING ${VERSION})
+	#set(MACOSX_BUNDLE_BUNDLE_VERSION ${VERSION})
+	#set(MACOSX_BUNDLE_COPYRIGHT "Copyright 2010. All Rights Reserved.")
+	# add_executable( stagebinary MACOSX_BUNDLE ${stagebinarySrcs} )
+
+	add_executable( stagebinary ${stagebinarySrcs} )
+	set_target_properties( stagebinary PROPERTIES OUTPUT_NAME stage )
+
+	# Apple seems to have trouble when libstage and stagebinary are linked against FLTK
+	# Newer Linux distributions won't allow stagebinary to inherit libstage's links to fltk, so we need
+	# to explicitly link on Linux
+	target_link_libraries( stagebinary stage_core stage )
+
+	if(PROJECT_OS_LINUX)
+	  target_link_libraries( stagebinary stage pthread )
+	endif(PROJECT_OS_LINUX)
+	install(TARGETS stagebinary stage RUNTIME DESTINATION bin LIBRARY DESTINATION ${PROJECT_LIB_DIR})
+
+	# All GUI-specific code was stripped from stage.hh
+	# GUI-supported world now is located at world_gui.hh, so it should be installed
+	install(FILES world_gui.hh DESTINATION include/${PROJECT_NAME}-${APIVERSION})
+endif(FLTK_FOUND AND BUILD_GUI)
 

libstage/block.cc

@@ -1,6 +1,8 @@
 #include "region.hh"
 #include "worldfile.hh"
 
+
+
 using namespace Stg;
 using std::vector;
 
@@ -39,8 +41,6 @@ void Block::Translate(double x, double y)
     it->x += x;
     it->y += y;
   }
-
-  group->BuildDisplayList();
 }
 
 /** Return the value half way between the min and max Y position of
@@ -108,9 +108,6 @@ void Block::SetZ(double min, double max)
 {
   local_z.min = min;
   local_z.max = max;
-
-  // force redraw
-  group->BuildDisplayList();
 }
 
 void Block::AppendTouchingModels(std::set<Model *> &touchers)