vpRfstack.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Le module "rfstack.c" contient les procedures de gestion
 * de la pile d'elimination de faces (Remove Faces STACK).
 *
 * Authors:
 * Jean-Luc CORRE
 *
 *****************************************************************************/






#include <visp3/core/vpConfig.h>

#ifndef DOXYGEN_SHOULD_SKIP_THIS
#include    <visp3/robot/vpMy.h>
#include    <visp3/robot/vpArit.h>
#include    <visp3/robot/vpView.h>
#include    <visp3/robot/vpRfstack.h>
#include    <stdio.h>
#include    <string.h>
#define STACKSIZE   32


static  int stack[STACKSIZE] = {vpDEFAULT_REMOVE};  /* pile     */
static  int *sp      = stack;       /* sommet   */


/*
 * La procedure "fprintf_rfstack" affiche le sommet
 * de la pile des drapeaux d'elimination de faces.
 * Entree :
 * fp       Fichier en sortie.
 */
void
fprintf_rfstack (FILE *fp)
{
  int   flg;
  flg = 0;  /* nul si element unique    */

    if (*sp == IS_INSIDE) {
        fprintf (fp, "(null)\n");
        return;
    }
    fprintf (fp, "(");
    if (*sp & IS_ABOVE) {
    //if (flg) fprintf (fp, " "); Removed since if (flg) cannot be true
    flg ++;
        fprintf (fp, "above");
    }
    if (*sp & IS_BELOW) {
    if (flg) fprintf (fp, " ");
    flg ++;
    fprintf (fp, "below");
    }
    if (*sp & IS_RIGHT) {
    if (flg) fprintf (fp, " ");
    flg ++;
    fprintf (fp, "right");
    }
    if (*sp & IS_LEFT) {
    if (flg) fprintf (fp, " ");
    flg ++;
    fprintf (fp, "left");
    }
    if (*sp & IS_BACK) {
    if (flg) fprintf (fp, " ");
    flg ++;
    fprintf (fp, "back");
    }
    if (*sp & IS_FRONT) {
    /*if (flg)*/ fprintf (fp, " ");
    flg ++;
    fprintf (fp, "front");
    }
    fprintf (fp, ")\n");
}

/*
 * La procedure "get_rfstack" retourne les drapeaux au sommet
 * de la pile des drapeaux d'elimination de faces.
 * Sortie :
 *      Pointeur sur les drapeaux d'elimination du sommet de la pile.
 */
int *
get_rfstack (void)
{
    return (sp);
}

/*
 * La procedure "load_rfstack" charge des drapeaux au sommet
 * de la pile des drapeaux d'elimination de faces.
 * Entree :
 * i        Niveau a charger.
 */
void
load_rfstack (int i)
{
    *sp = i;
}

/*
 * La procedure "pop_rfstack" depile les drapeaux au sommet
 * de la pile des drapeaux d'elimination de faces.
 */
void
pop_rfstack (void)
{
    static  char    proc_name[] = "pop_rfstack";

    if (sp == stack) {
        fprintf (stderr, "%s: stack underflow\n", proc_name);
        return;
    }
    else    sp--;
}

/*
 * La procedure "push_rfstack" empile et duplique les drapeaux du sommet
 * de la pile des drapeaux d'elimination de faces.
 */
void
push_rfstack (void)
{
    static  char    proc_name[] = "push_rfstack";

    if (sp == stack + STACKSIZE - 1) {
        fprintf (stderr, "%s: stack overflow\n", proc_name);
        return;
    }
    sp++;
    *sp = *(sp - 1);
}

/*
 * La procedure "swap_rfstack" echange les deux premiers elements
 * de la pile des drapeaux d'elimination de faces.
 */
void
swap_rfstack (void)
{
    int *ip, tmp;

    ip = (sp == stack) ? sp + 1 : sp - 1; 
    SWAP(*sp, *ip, tmp);
}

/*
 * La procedure "add_rfstack" ajoute des drapeaux au sommet
 * de la pile des drapeaux d'elimination de faces.
 */
void
add_rfstack (int i)
{
    *sp |= i;
}

/*
 * La procedure "sub_rfstack" soustrait des drapeaux au sommet
 * de la pile des drapeaux d'elimination de faces.
 */
void
sub_rfstack (int i)
{
    *sp &= ~i;
}

#endif