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mainWindow.cpp
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mainWindow.cpp
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#include "mainWindow.h"
#include <wx/xml/xml.h>
#include <wx/sstream.h>
#include <wx/mstream.h>
#include <wx/txtstrm.h>
#include <wx/msgdlg.h>
#include <wx/wfstream.h>
DEFINE_EVENT_TYPE(wxEVT_EDIT_CLOSED)
BEGIN_EVENT_TABLE(MainWindow, wxFrame)
EVT_MENU(ID_NEW, MainWindow::OnNewWorld)
EVT_MENU(ID_LNSERVER, MainWindow::OnConnection)
EVT_MENU(ID_STSERVER, MainWindow::OnConnection)
EVT_MENU(ID_LNCLIENT, MainWindow::OnConnection)
EVT_MENU(ID_STCLIENT, MainWindow::OnConnection)
EVT_MENU(ID_ADDOBJ, MainWindow::AddObject)
EVT_MENU(ID_ADDCOMP, MainWindow::AddObject)
EVT_MENU(ID_ADDSPHERE, MainWindow::AddObject)
EVT_MENU(ID_ADDCUSTOM, MainWindow::AddObject)
EVT_MENU(ID_ADDSCARA, MainWindow::AddObject)
EVT_MENU(ID_ADDPUMA, MainWindow::AddObject)
EVT_MENU(ID_ADDASEA, MainWindow::AddObject)
EVT_MENU(ID_ADDNEO, MainWindow::AddObject)
EVT_MENU(ID_ADDCYL, MainWindow::AddObject)
EVT_MENU(ID_ADDPRI, MainWindow::AddObject)
EVT_MENU(ID_ADDIRRPRI, MainWindow::AddObject)
EVT_MENU(ID_ADDFACESET, MainWindow::AddObject)
EVT_MENU(ID_POWERCUBE, MainWindow::AddObject)
EVT_MENU(ID_LMS200, MainWindow::AddObject)
EVT_MENU(ID_PATROL, MainWindow::AddObject)
EVT_MENU(ID_LMS100, MainWindow::AddObject)
EVT_MENU(ID_WHEEL, MainWindow::AddObject)
EVT_MENU(ID_LASER, MainWindow::AddObject)
EVT_MENU(ID_LASER3D, MainWindow::AddObject)
EVT_MENU(ID_NEMOLASER, MainWindow::AddObject)
EVT_MENU(ID_CAMERA, MainWindow::AddObject)
EVT_MENU(ID_KINECT, MainWindow::AddObject)
EVT_MENU(ID_MOBILEROBOT, MainWindow::AddObject)
EVT_MENU(ID_PERSON, MainWindow::AddObject)
EVT_MENU(ID_QUADROTOR, MainWindow::AddObject)
EVT_MENU(ID_EUITIBOT, MainWindow::AddObject)
EVT_MENU(ID_ADDJOINT, MainWindow::AddObject)
EVT_MENU(ID_DELOBJ, MainWindow::DeleteObject)
EVT_MENU(ID_LASMOD0, MainWindow::OnLaserStyle)
EVT_MENU(ID_LASMOD1, MainWindow::OnLaserStyle)
EVT_MENU(ID_LASMOD2, MainWindow::OnLaserStyle)
EVT_MENU(ID_LASMOD3, MainWindow::OnLaserStyle)
EVT_MENU(wxID_EXIT, MainWindow::OnQuit)
EVT_MENU(wxID_ABOUT, MainWindow::OnAbout)
EVT_MENU(ID_LOADWORLD, MainWindow::OnLoadWorld)
EVT_MENU(ID_LOADMESH, MainWindow::OnLoadMesh)
EVT_MENU(ID_LOADOBJ, MainWindow::OnLoadObject)
EVT_MENU(ID_SAVEOBJ, MainWindow::OnSaveObject)
EVT_MENU(ID_SAVEWORLD, MainWindow::OnSaveWorld)
EVT_MENU(ID_LOADWORLDXML, MainWindow::OnLoadWorldXML)
EVT_MENU(ID_LOADOBJXML, MainWindow::OnLoadObjectXML)
EVT_MENU(ID_SAVEOBJXML, MainWindow::OnSaveObjectXML)
EVT_MENU(ID_SAVEWORLDXML, MainWindow::OnSaveWorldXML)
EVT_MENU(ID_SHOWEDITXML, MainWindow::showXMLEditor)
EVT_COMMAND(wxID_ANY,wxEVT_EDIT_CLOSED,MainWindow::CloseEditConsole)
EVT_MENU(ID_DELETE, MainWindow::OnDeleteWorld)
EVT_MENU(ID_DRAWBOX,MainWindow::ShowSelection)
EVT_MENU(ID_COMPRS,MainWindow::ShowReferenceComposed)
EVT_CLOSE(MainWindow::OnClose)
EVT_SIZE(MainWindow::OnSize)
EVT_MENU(ID_VIS_TREE,MainWindow::OnVisibleTree)
EVT_MENU(ID_VIS_CONNLOG,MainWindow::OnVisibleConnectionLog)
EVT_MENU(SLI_VERT,MainWindow::PropertiesDisplay)
EVT_MENU(CONT_MENU,MainWindow::PropertiesDisplay)
EVT_MENU(DROP_MENU,MainWindow::PropertiesDisplay)
EVT_MENU(POP_MENU,MainWindow::PropertiesDisplay)
EVT_MENU(DIS_SLI,MainWindow::PropertiesDisplay)
EVT_MENU(DIS_CONT,MainWindow::PropertiesDisplay)
EVT_MENU(ID_VIS_TREE,MainWindow::OnVisibleTree)
EVT_MENU(ID_CHANGEFORM, MainWindow::OnChangeForm)
EVT_MENU(ID_MODIFYFACE, MainWindow::OnChangeForm)
EVT_BUTTON(ID_SELECTEDFACE, MainWindow::OnChangeForm)
EVT_BUTTON(ID_CANCELSELECTION, MainWindow::OnChangeForm)
EVT_BUTTON(ID_ADDOWNFACE, MainWindow::OnChangeForm)
EVT_BUTTON(ID_CANCELDESIGN, MainWindow::OnChangeForm)
EVT_MENU(ID_ORI, MainWindow::OnChangeLocationCtrl)
EVT_MENU(ID_POSIT, MainWindow::OnChangeLocationCtrl)
EVT_MENU(ID_DIS, MainWindow::OnDesign)
EVT_MENU(ID_COLOR, MainWindow::OnColor)
EVT_MENU(ID_BOX, MainWindow::OnDrawBox)
EVT_MENU(ID_REFER, MainWindow::OnDrawReference)
EVT_MENU(ID_NAME, MainWindow::OnNameItemTree)
EVT_MENU(ID_CONVERMESH, MainWindow::OnConverter)
EVT_MENU(ID_CONVER, MainWindow::OnConverter)
EVT_MENU(ID_MOVE, MainWindow::OnWheeledBasePanelCtrl)
EVT_MENU(ID_ROBOT, MainWindow::OnRobotSimPanelCtrl)
EVT_MENU(ID_ROBOTGOTO, MainWindow::OnRobotSimGoTo)
EVT_MENU(ID_SIMPLEJOINT, MainWindow::OnSimpleJointMove)
EVT_MENU(ID_SPLITHF,MainWindow::HandleChildViews)
EVT_MENU(ID_SPLITHS, MainWindow::HandleChildViews)
EVT_MENU(ID_SPLITVF, MainWindow::HandleChildViews)
EVT_MENU(ID_SPLITVS, MainWindow::HandleChildViews)
EVT_MENU(ID_UNSPLITF, MainWindow::HandleChildViews)
EVT_MENU(ID_UNSPLITS, MainWindow::HandleChildViews)
EVT_MENU(ID_PLAY, MainWindow::HandleChildViews)
EVT_MENU(ID_STOP2,MainWindow::HandleChildViews)
EVT_MENU(ID_CANVASCOLOR,MainWindow::HandleChildViews)
EVT_MENU(ID_LINKTO,MainWindow::OnLinkTo)
EVT_MENU(ID_UNLINK,MainWindow::OnLinkTo)
EVT_MENU(ID_SHOWLINKS,MainWindow::OnLinkTo)
EVT_MENU(ID_TREESTRUCTURE, MainWindow::OnLinkTo)
EVT_AUINOTEBOOK_PAGE_CLOSE(wxID_ANY, MainWindow::OnCloseNotebook)
EVT_UPDATE_UI(ID_LOADOBJ, MainWindow::UpdateUILoadObject)
EVT_UPDATE_UI(ID_SAVEOBJ,MainWindow::UpdateUISaveObject)
EVT_UPDATE_UI(ID_SAVEWORLD,MainWindow::UpdateUISaveWorld)
EVT_UPDATE_UI(ID_LOADOBJXML, MainWindow::UpdateUILoadObjectXML)
EVT_UPDATE_UI(ID_SAVEOBJXML,MainWindow::UpdateUISaveObjectXML)
EVT_UPDATE_UI(ID_SAVEWORLDXML,MainWindow::UpdateUISaveWorldXML)
EVT_SASH_DRAGGED(ID_DRAG, MainWindow::OnSashDrag)
EVT_BUTTON(ID_COPYDESIGN, MainWindow::CopyPasteDesign)
EVT_BUTTON(ID_PASTEDESIGN, MainWindow::CopyPasteDesign)
EVT_MENU(ID_COPYDESIGN, MainWindow::CopyPasteDesign)
EVT_MENU(ID_PASTEDESIGN, MainWindow::CopyPasteDesign)
EVT_MENU(ID_SAVEASROBOT,MainWindow::SaveRobotAsRobotSimXml)
EVT_MENU(ID_VIEW_ALL, MainWindow::ViewAll)
END_EVENT_TABLE()
MainWindow::MainWindow(wxWindow *parent, const wxWindowID id, const wxString& title, const wxPoint& pos,const wxSize& size, const long style)
: wxMDIParentFrame(parent, id, title, pos, size, style),note(0)
{
Centre();
treeVisible=true;
xmlEditorVisible=false;
editionVisible=false;
slider=true;
popmenu=true;
design_slider=true;
state=0;
managewindow=new ManageWindows();
treeStruc=false;
showLinks=false;
#if wxUSE_STATUSBAR
CreateStatusBar();
SetStatusText(wxT("Welcome to APOLO"));
#endif // wxUSE_STATUSBAR
CreateMenuBar();
SetIcon(wxIcon(apolo_xpm));
GetClientSize(&w,&h);
CreateToolBar(wxNO_BORDER | wxTB_FLAT | wxTB_HORIZONTAL);
InitToolBar(GetToolBar());
wxSashLayoutWindow* aux=new wxSashLayoutWindow(this,wxID_ANY,wxDefaultPosition, wxDefaultSize,wxSW_NOBORDER);
aux->SetDefaultSize(wxSize(25,35));
aux->SetOrientation(wxLAYOUT_HORIZONTAL);
aux->SetAlignment(wxLAYOUT_TOP);
aux->SetSashVisible(wxSASH_TOP, false);
s=new wxSashLayoutWindow(this, ID_DRAG,wxDefaultPosition, wxDefaultSize, wxSW_3D);
s->SetDefaultSize(wxSize(w/4, h));
s->SetOrientation(wxLAYOUT_VERTICAL);
s->SetAlignment(wxLAYOUT_LEFT);
s->SetSashVisible(wxSASH_RIGHT, true);
treeToolbar=new wxToolBar();
treeToolbar->Create(aux,wxID_ANY,wxDefaultPosition,wxSize(100,30),wxDOUBLE_BORDER,wxT("Views"));
wxBitmap bitmaps[2];
bitmaps[0]=wxBitmap(Links_xpm);
bitmaps[1]=wxBitmap(treeStructure_xpm);
wxStaticText *text = new wxStaticText(treeToolbar, wxID_ANY, wxT("Tree view"));
treeToolbar->AddSeparator();
treeToolbar->AddControl(text);
treeToolbar->AddSeparator();
treeToolbar->AddCheckTool(ID_SHOWLINKS,wxT("Show Links"),bitmaps[0],wxNullBitmap);
treeToolbar->AddCheckTool(ID_TREESTRUCTURE,wxT("Tree structure"),bitmaps[1],wxNullBitmap);
treeToolbar->AddSeparator();
treeToolbar->SetBackgroundColour(wxColour(200,230,255));
treeToolbar->Realize();
//make a Aui Notebook
note = new wxAuiNotebook(s, wxID_ANY,wxDefaultPosition,wxDefaultSize, wxAUI_NB_TOP | wxAUI_NB_TAB_SPLIT | wxAUI_NB_SCROLL_BUTTONS | wxAUI_NB_CLOSE_ON_ACTIVE_TAB | wxAUI_NB_TAB_EXTERNAL_MOVE);
tree = new Tree(note, ID_TREE);
CreatePanelXML();
tree->m_mainWin = this;
tree->XMLPanel=NULL;
m_root = tree->AddRoot(wxT("Universe"), 0, 47, new TreeItemData(wxT("Root item")));
tree->Parent(m_root);
note->AddPage(tree, wxT("Universe"));
SetAutoLayout(true);
rToogle=false;
SimulatedWorld::tree = tree;
SimulatedWorld::mainWin = this;
port=new ApoloPort(12000,&listWorlds);
connection=new RobotConnection(this,wxT("Server Configuration"));
}
void MainWindow::CreateMenuBar()
{
//make main Menu//
menuFile = new wxMenu;
wxMenuItem *item1 = new wxMenuItem(menuFile, ID_NEW, wxT("New world"),wxT("Create a new world"));
item1->SetBitmap(new_xpm);
menuFile->Append(item1);
wxMenuItem *item2 = new wxMenuItem(menuFile,ID_LOADWORLD, wxT("Load world"), wxT("Load a binary world file"));
item2->SetBitmap(loadWorld_xpm);
menuFile->Append(item2);
wxMenuItem *itemXML0 = new wxMenuItem(menuFile,ID_LOADWORLDXML, wxT("Load world XML"), wxT("Load a XML World file"));
itemXML0->SetBitmap(loadworldxml_xpm);
menuFile->Append(itemXML0);
menuFile->AppendSeparator();
menuFile->AppendCheckItem(ID_VIS_TREE, wxT("Show/Hide tree"));
menuFile->AppendSeparator();
menuFile->Append(wxID_EXIT, wxT("E&xit"), wxT("Quit program"));
menuAbout = new wxMenu;
menuAbout->Append(wxID_ABOUT, wxT("&About..."), wxT("Information program"));
menuSettings=new wxMenu;
ipro=new wxMenu;
osel=new wxMenu;
dwid=new wxMenu;
menuSettings->Append(new wxMenuItem(menuSettings, ID_VIEW_ALL, wxT("View all"), wxT("Adjusts the main camera to view all")));
menuSettings->AppendSubMenu(ipro,wxT("Positionable Properties"),wxT("Change display configuration of Positionable Properties"));
ipro->AppendCheckItem(CONT_MENU,wxT("Contextual Menu"));
ipro->AppendCheckItem(SLI_VERT,wxT("Vertical Sliders"));
menuSettings->AppendSubMenu(osel,wxT("Object Selection"),wxT("Change display configuration of Positionable Properties"));
osel->AppendCheckItem(POP_MENU,wxT("Pop-Up Menu"));
osel->AppendCheckItem(DROP_MENU,wxT("Drop-Down Menu"));
menuSettings->AppendSubMenu(dwid,wxT("Design Widget"),wxT("Change display configuration of Design Properties"));
dwid->AppendCheckItem(DIS_SLI,wxT("Slider Menu"));
dwid->AppendCheckItem(DIS_CONT,wxT("Contextual Menu"));
CheckProperties();
menubar = new wxMenuBar;
menubar->Append(menuFile, wxT("&File"));
menubar->Append(menuSettings, wxT("Settings"));
menubar->Append(menuAbout, wxT("About"));
SetMenuBar(menubar);
//make a child menu
menuFile2 = new wxMenu;
wxMenuItem *c_item1 = new wxMenuItem(menuFile2, ID_NEW, wxT("New world"),wxT("Create a new world"));
c_item1->SetBitmap(new_xpm);
menuFile2->Append(c_item1);
wxMenuItem *c_item2 = new wxMenuItem(menuFile2,ID_LOADWORLD, wxT("Load world"), wxT("Load a file of world"));
c_item2->SetBitmap(loadWorld_xpm);
menuFile2->Append(c_item2);
wxMenuItem *c_item3 = new wxMenuItem(menuFile2,ID_LOADOBJ, wxT("Load Object"), wxT("Add object to current World select"));
c_item3->SetBitmap(loadObject_xpm);
menuFile2->Append(c_item3);
//menuFile2->AppendSeparator();
wxMenuItem *c_itemXML1 = new wxMenuItem(menuFile2,ID_LOADWORLDXML, wxT("Load world XML"), wxT("Load a file XML of world"));
c_itemXML1->SetBitmap(loadworldxml_xpm);
menuFile2->Append(c_itemXML1);
wxMenuItem *c_itemXML2 = new wxMenuItem(menuFile2,ID_LOADOBJXML, wxT("Load Object XML"), wxT("Add object to current World select"));
c_itemXML2->SetBitmap(loadobjectxml_xpm);
menuFile2->Append(c_itemXML2);
menuFile2->AppendSeparator();
menuFile2->Append(ID_LOADMESH, wxT("Import .stl"), wxT("Import .stl file"));
menuFile2->AppendSeparator();
menuFile2->Append(ID_CONVER, wxT("Converter .stl"), wxT("Converter .stl file"));
menuFile2->AppendSeparator();
wxMenuItem *c_item4 = new wxMenuItem(menuFile2,ID_SAVEWORLD, wxT("Save World"),wxT("Save world select"));
c_item4->SetBitmap(saveWorld_xpm);
menuFile2->Append(c_item4);
wxMenuItem *c_item5 = new wxMenuItem(menuFile2,ID_SAVEOBJ, wxT("Save Object"), wxT("Save object select"));
c_item5->SetBitmap(saveObject_xpm);
menuFile2->Append(c_item5);
wxMenuItem *c_itemXML3 = new wxMenuItem(menuFile2,ID_SAVEWORLDXML, wxT("Save World XML"),wxT("Save world select"));
c_itemXML3->SetBitmap(saveworldxml_xpm);
menuFile2->Append(c_itemXML3);
wxMenuItem *c_itemXML4 = new wxMenuItem(menuFile2,ID_SAVEOBJXML, wxT("Save Object XML"), wxT("Save object select"));
c_itemXML4->SetBitmap(saveobjectxml_xpm);
menuFile2->Append(c_itemXML4);
menuFile2->Append(ID_DELETE, wxT("Delete world"),wxT("Delete world select"));
menuFile2->AppendSeparator();
menuFile2->AppendCheckItem(ID_VIS_TREE,wxT("Unvisible Tree"));
menuFile2->AppendCheckItem(ID_VIS_CONNLOG, wxT("Unvisible ConnectionLog"));
menuFile2->AppendSeparator();
menuFile2->Append(wxID_EXIT, wxT("Close all"), wxT("Quit the program"));
menuView = new wxMenu;
wxMenuItem *itemV1 = new wxMenuItem(menuView, ID_SPLITHF, wxT("Double horizontal"));
itemV1->SetBitmap(V1_xpm);
wxMenuItem *itemV2 = new wxMenuItem(menuView, ID_SPLITVF, wxT("Double vertical"));
itemV2->SetBitmap(V2_xpm);
wxMenuItem *itemV3 = new wxMenuItem(menuView, ID_SPLITHS, wxT("Triple horizontal"));
itemV3->SetBitmap(V4_xpm);
wxMenuItem *itemV4 = new wxMenuItem(menuView, ID_SPLITVS, wxT("Triple vertical"));
itemV4->SetBitmap(V3_xpm);
wxMenuItem *itemV5 = new wxMenuItem(menuView, ID_UNSPLITF, wxT("Simple"));
itemV5->SetBitmap(V5_xpm);
menuView->Append(itemV1);
menuView->Append(itemV2);
menuView->Append(itemV3);
menuView->Append(itemV4);
menuView->Append(itemV5);
menuView->Append(ID_UNSPLITS, wxT("Double"));
menuView->AppendSeparator();
menuView->Append(ID_CANVASCOLOR, wxT("Change background color"));
menuSimulator = new wxMenu;
wxMenuItem *Iplay = new wxMenuItem(menuSimulator, ID_PLAY, wxT("Play Simulator"));
Iplay->SetBitmap(play_xpm);
wxMenuItem *Istop = new wxMenuItem(menuSimulator, ID_STOP2, wxT("Stop Simulator"));
Istop->SetBitmap(stop2_xpm);
menuSimulator->Append(Iplay);
menuSimulator->Append(Istop);
}
void MainWindow::OnReplaceMenuBar()
{
if(listWorlds.size()==0)
{
while(menubar->GetMenuCount()>0)GetMenuBar()->Remove(0);
menubar->Append(menuFile,wxT("File"));
menubar->Append(menuAbout,wxT("About"));
menubar->Append(menuSettings,wxT("Settings"));
}
else if(menubar->GetMenuCount()==3)
{
menubar->Replace(0,menuFile2,wxT("&File"));
menubar->Replace(1,menuView,wxT("Views"));
menubar->Replace(2,menuSimulator,wxT("Run"));
menubar->Append(menuAbout,wxT("About"));
menubar->Append(menuSettings, wxT("Settings") );
}
}
void MainWindow::OnSashDrag(wxSashEvent& event)
{
s->SetDefaultSize(wxSize(event.GetDragRect().width, h));
#if wxUSE_MDI_ARCHITECTURE
wxLayoutAlgorithm layout;
layout.LayoutMDIFrame(this);
#endif // wxUSE_MDI_ARCHITECTURE
// Leaves bits of itself behind sometimes
GetClientWindow()->Refresh();
}
void MainWindow::OnClose(wxCloseEvent& event)
{
if(connection->getLog()->IsObjectConnected())
wxMessageBox(wxT("Please stop all connections"),wxT("Cannot close the window"));
else
{
wxString msg;
msg.Printf(wxT("Are you sure close window?"));
if ( wxMessageBox(msg, _T("Please confirm"),wxICON_QUESTION | wxYES_NO) != wxYES )
return;
Destroy();
}
}
void MainWindow::InitToolBar(wxToolBar *tool)
{
toolbar=tool;
//wxBitmap bitmaps[14];
//bitmaps[0] = wxBitmap (NewWorld_xpm);
//bitmaps[1] = wxBitmap (mainLWorld_xpm);
//bitmaps[2] = wxBitmap (loadObject_xpm);
//bitmaps[3] = wxBitmap (saveWorld_xpm);
//bitmaps[4] = wxBitmap (saveObject_xpm);
//bitmaps[5] = wxBitmap (box_xpm);
//bitmaps[6] = wxBitmap (axis_xpm);
//bitmaps[7] = wxBitmap (mainLxml_xpm);
//bitmaps[8] = wxBitmap (loadobjectxml_xpm);
//bitmaps[9] = wxBitmap (saveworldxml_xpm);
//bitmaps[10] = wxBitmap (saveobjectxml_xpm);
//bitmaps[11]= wxBitmap (xml_xpm);
//bitmaps[12]=wxBitmap(Links_xpm);
//bitmaps[13]=wxBitmap(treeStructure_xpm);
toolbar->AddTool(ID_NEW,"New World", wxBitmap (NewWorld_xpm));
toolbar->AddTool(ID_LOADWORLD, "Load World", wxBitmap (mainLWorld_xpm));
toolbar->AddTool(ID_LOADWORLDXML,"Load World XML", wxBitmap (mainLxml_xpm));
toolbar->AddSeparator();
toolbar->AddCheckTool(ID_DRAWBOX,wxT("Draw Box"),wxBitmap (box_xpm),wxNullBitmap,wxT("Show Item Selected"));
toolbar->AddCheckTool(ID_COMPRS,wxT("Composed Reference System"),wxBitmap (axis_xpm),wxNullBitmap,wxT("Show Reference System of main objects and composed objects"));
toolbar->AddSeparator();
toolbar->AddTool(ID_SHOWEDITXML, wxT("View XML editor"), wxBitmap (xml_xpm),wxNullBitmap);
toolbar->Realize();
}
void MainWindow::OnSize(wxSizeEvent& WXUNUSED (event))
{
#if wxUSE_MDI_ARCHITECTURE
wxLayoutAlgorithm layout;
layout.LayoutMDIFrame(this);
#endif
}
void MainWindow::OnCloseNotebook(wxAuiNotebookEvent& event)
{
wxAuiNotebook* m_note = (wxAuiNotebook *) event.GetEventObject();
if(m_note->GetSelection()== 0)event.Veto();
}
void MainWindow::OnAbout(wxCommandEvent& WXUNUSED(event))
{
wxMessageBox(wxT("Apolo Simulator\n")
wxT("Authors: \nMiguel Hernando Gutierrez 2010-2016\n")
wxT("Alberto Fernández Orozco 2012-2014\n")
wxT("Francisco Ramirez de Anton Montoro 2012-2013\n")
wxT("Carlos Mateo Benito 2011-2012\n")
wxT("Esther LLorente Garcia 2010-2011\n")
wxT("APOLO make use of MRCore Library License and wxWindows Library License:\n")
wxT("Widgets 3.1.0 (www.wxwidgets.org)\nCopyright (C) 1998-2005 Julian Smart, Robert Roebling et al."),
wxT("Information"),wxOK | wxICON_INFORMATION, this);
}
void MainWindow::OnQuit(wxCommandEvent& WXUNUSED(event))
{
Close(true);
}
void MainWindow::HandleChildViews(wxCommandEvent &event)
{
for(unsigned int i=0;i<listWorlds.size();i++)
{
if(listWorlds[i]->getChild()->getIsActivated())
{
switch(event.GetId())
{
case ID_UNSPLITF:
listWorlds[i]->getChild()->UnSplitFirst();
break;
case ID_UNSPLITS:
listWorlds[i]->getChild()->UnSplitSecond();
break;
case ID_SPLITVF:
listWorlds[i]->getChild()->SplitVerticalFirst();
break;
case ID_SPLITVS:
listWorlds[i]->getChild()->SplitVerticalSecond();
break;
case ID_SPLITHF:
listWorlds[i]->getChild()->SplitHorizontalFirst();
break;
case ID_SPLITHS:
listWorlds[i]->getChild()->SplitHorizontalSecond();
break;
case ID_PLAY:
listWorlds[i]->getChild()->OnSimulator(ID_PLAY);
break;
case ID_STOP2:
listWorlds[i]->getChild()->OnSimulator(ID_STOP2);
break;
case ID_CANVASCOLOR:
listWorlds[i]->getChild()->ChangeBackgroundColor();
break;
}
}
}
}
void MainWindow::OnVisibleTree(wxCommandEvent& WXUNUSED(event))
{
if(treeVisible)
{
s->Show(false);
treeVisible=false;
wxLogStatus(wxT("Visible tree"));
}
else
{
s->Show(true);
treeVisible=true;
wxLogStatus(wxT("Unvisible tree"));
}
#if wxUSE_MDI_ARCHITECTURE
wxLayoutAlgorithm layout;
layout.LayoutMDIFrame(this);
#endif // wxUSE_MDI_ARCHITECTURE
}
void MainWindow::OnVisibleConnectionLog(wxCommandEvent& event)
{
if(connection->getLogVisible())
connection->ShowConnLog(false);
else
connection->ShowConnLog(true);
}
void MainWindow::AddObject(wxCommandEvent& event)
{
int id= event.GetId();
if((id!=ID_ADDCUSTOM)&&(id!=ID_ADDJOINT)&& (popmenu==true))
{
ObjectSelection *ob_sel=new ObjectSelection(this,id,wxDefaultPosition,wxDefaultSize);
ob_sel->ShowModal();
id=ob_sel->GetObject();
if(id==0)return;
}
for(unsigned int i=0;i<listWorlds.size();i++)
if (listWorlds[i]->getTreeItem() == tree->GetWorld(tree->GetSelection()))
listWorlds[i]->AddObject(id);
}
void MainWindow::DeleteObject(wxCommandEvent& WXUNUSED(event))
{
wxString msg;
msg.Printf(wxT("Are you sure you want to delete this object?"));
if ( wxMessageBox(msg, _T("Please confirm"),wxICON_QUESTION | wxYES_NO) != wxYES ) return;
else
{
int rb=0,smp=0,wh=0,rbgoto=0;
vector <RobotSimPanel*> robot=managewindow->getVectorRobotSimPanel();
vector <WheeledBasePanel*> wheeled=managewindow->getVectorWheeledBasePanel();
vector <RobotSimGoTo*> robotsimgoto=managewindow->getVectorRobotSimGoTo();
vector<int> sizes;
sizes.push_back((int)robot.size());
sizes.push_back((int)wheeled.size());
sizes.push_back((int)robotsimgoto.size());
wxTreeItemId itemid=tree->GetWorld(tree->GetSelection());
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId.IsOk() ? (NodeTree *) tree->GetItemData(itemId):NULL;
for(unsigned int i=0;i<listWorlds.size();i++)
if(listWorlds[i]->getTreeItem()==itemid)//algoritmo de fácil implementación
{
int size=0;
for (int index=0;index<(int)sizes.size();index++) //Cogemos el de mayor tamaño para que no haya problemas con los vectores
{
if (size<sizes[index])size=sizes[index];
}
for (int j=size-1;j>=0;j--) //Vamos de atrás a adelante para no dejarnos nada por eliminar
{
rbgoto=rb=smp=wh=0; //Actualizamos los indicadores de tipo cada vuelta en el bucle
if ((robot.empty()==false) && (j<(int)robot.size())) //Nos aseguramos de que no esté vacío el vector y el índice no sea mayor que su tamaño
if (robot[j]->getItemNode ()== itemData)
rb=1; //ponemos a 1 si es de tipo robotsimpanel
else if (robot[j]->getItemParentData()==itemData)
smp=1; //si es de tìpo simplejoint
if ((robotsimgoto.empty()==false) && (j<robotsimgoto.size()))
if (robotsimgoto[j]->getItemNode ()==itemData)
rbgoto=1;
if ((wheeled.empty()==false) && (j<wheeled.size()))
if (wheeled[j]->getItemNode ()==itemData)
wh=1;
if (rb || smp) //Si los menus son de tipo simplejoint o robotsim
robot[j]->Delete(); //Ya localizados los menús pertenecientes al padre los eliminamos todos
else if(wh) //Si los menus son de tipo WheeledBasePanel
wheeled[j]->Delete();
else if (rbgoto)//Si los menus son de tipo RobotSimGoTo
robotsimgoto[j]->Delete();
}
listWorlds[i]->DeleteObject(tree->GetSelection()); // Borramos el icono del árbol del mundo y el objeto en sí
}
}
}
void MainWindow::OnNameItemTree(wxCommandEvent& WXUNUSED(event))
{
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId .IsOk() ? (NodeTree *)tree->GetItemData(itemId ):NULL;
static wxString s_text;
s_text = wxGetTextFromUser(wxT("New name:"), wxT("Change Name Item Tree"),s_text, this);
char text[100];
strcpy(text,(const char*)s_text.mb_str(wxConvUTF8));
if(!s_text.empty() && itemData->menus.menu_world)
{
tree->SetItemText(itemId, s_text);
itemData->getSimu()->setName(s_text.ToStdString());
}
else if ( !s_text.empty() && itemData->pointer.positionableentity)
{
itemData->pointer.positionableentity->setName(text);
tree->SetItemText(itemId, s_text);
}
}
void MainWindow::OnConverter(wxCommandEvent& event)
{
int id = event.GetId();
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId.IsOk() ? (NodeTree *) tree->GetItemData(itemId):NULL;
Converter* conver;
if(id == ID_CONVERMESH)
{
conver = new Converter(this,ID_CONVERMESH,wxT("CPP CODE"));
conver->OnlyRead(itemData->pointer.meshpart);
conver->ShowModal();
wxLogStatus(wxT("See cpp code"));
}
if(id == ID_CONVER)
{
conver = new Converter(this,ID_CONVER,wxT("Converter .stl"));
conver->ShowModal();
wxLogStatus(wxT("Converter"));
}
delete conver;
}
void MainWindow::OnChangeForm(wxCommandEvent& event)
{
int id=event.GetId();
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId.IsOk() ? (NodeTree *) tree->GetItemData(itemId):NULL;
if ((id==ID_MODIFYFACE)&&(itemData->pointer.facesetpart))
{
typ=1;
vsele=new FaceSelection(this,wxID_ANY,wxString("FaceSetPart"),itemData->pointer.facesetpart);
vsele->Show(true);
editionVisible=true;
// vsele->MakeModal(true);
return;
}
if((id==ID_CHANGEFORM)&&(itemData->pointer.prismaticpart))
{
typ=2;
view=new globalView(this,wxID_ANY,wxT("Edit Prism"));
view->Show(true);
editionVisible=true;
// view->MakeModal(true);
view->LoadFace(itemData->pointer.prismaticpart->getPolygonalBase());
return;
}
if(id==ID_SELECTEDFACE)
{
vsele->Show(false);
// vsele->MakeModal(false);
ini= new InitialProperties(this,itemData,wxT("Properties"),ID_ADDFACESET);
ini->Show(true);
ini->getface()->getcanvas()->GetView()->Show(true);
// ini->getface()->getcanvas()->MakeModal(true);
ini->getface()->getcanvas()->GetView()->LoadFace(*(vsele->getFaceSelected()));
ini->getface()->setType(true);
ini->getface()->setIndex(vsele->numSelected());
}
if(id==ID_CANCELSELECTION)
{
vsele->Show(false);
editionVisible=false;
// vsele->MakeModal(false);
}
if (id==ID_CANCELDESIGN)
{
view->Show(false);
editionVisible=false;
// view->MakeModal(false);
}
if ((id==ID_ADDOWNFACE)&&(typ==2))
{
itemData->pointer.prismaticpart->setPolygonalBase(*(view->GetFace()));
itemData->getSimu()->getChild()->UpdateWorld();
view->Show(false);
// view->MakeModal(false);
editionVisible=false;
id=NULL;
}
event.Skip();
}
void MainWindow::CloseEditConsole(wxCommandEvent &event)
{
editionVisible=false;
// view->MakeModal(false);
}
void MainWindow::OnChangeLocationCtrl(wxCommandEvent& event)
{
int id = event.GetId();
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId.IsOk() ? (NodeTree *) tree->GetItemData(itemId):NULL;
if(itemData->pointer.positionableentity)
{
ChangeLocationCtrl* locationCtrl;
if(id == ID_ORI)locationCtrl = new ChangeLocationCtrl(this, ID_ORI, wxT("Change Orientation"));
else locationCtrl = new ChangeLocationCtrl(this, ID_POSIT, wxT("Change Position"));
locationCtrl->setItemData(itemData);
locationCtrl->ShowModal();
wxLogStatus(wxT("Change Location"));
delete locationCtrl;
}
event.Skip();
}
void MainWindow::OnWheeledBasePanelCtrl(wxCommandEvent& WXUNUSED(event))
{
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId.IsOk() ? (NodeTree *) tree->GetItemData(itemId):NULL;
if(itemData->pointer.wheeledbasesim)
{
if(managewindow->CheckWindowsExist(itemData))
{
WheeledBasePanel* wheeledBaseCtrl;
wheeledBaseCtrl = new WheeledBasePanel(this,wxID_ANY,wxT(" Move"),itemData);
wheeledBaseCtrl->getTitle()->SetLabel(wxString(itemData->getNameTree()));
wheeledBaseCtrl->setManageWindow(managewindow);
wheeledBaseCtrl->Show(true);
wxLogStatus(wxT("Wheeled Base Panel"));
}
}
}
void MainWindow::OnRobotSimPanelCtrl(wxCommandEvent& WXUNUSED(event))
{
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId.IsOk() ? (NodeTree *) tree->GetItemData(itemId):NULL;
if(itemData->pointer.robotsim)
{
if(managewindow->CheckWindowsExist(itemData))
{
RobotSimPanel* robotSimCtrl;
robotSimCtrl = new RobotSimPanel(this,wxID_ANY,wxT("Move all Joints"),itemData);
robotSimCtrl->getTitle()->SetLabel(wxString(itemData->getNameTree()));
robotSimCtrl->setManageWindow(managewindow);
robotSimCtrl->Show(true);
wxLogStatus(wxT("Robot Sim Panel"));
}
}
}
void MainWindow::OnRobotSimGoTo(wxCommandEvent& WXUNUSED(event))
{
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId.IsOk() ? (NodeTree *) tree->GetItemData(itemId):NULL;
if(itemData->pointer.robotsim)
{
if(managewindow->CheckWindowsExist(itemData))
{
RobotSimGoTo* robotSimGoTarget;
robotSimGoTarget = new RobotSimGoTo(this,wxID_ANY,wxT("GO TO TARGET"),itemData);
robotSimGoTarget->getTitle()->SetLabel(itemData->getNameTree());
robotSimGoTarget->setManageWindow(managewindow);
robotSimGoTarget->Show(true);
wxLogStatus(wxT("Robot Sim Go To Target"));
}
}
}
void MainWindow::OnSimpleJointMove( wxCommandEvent& WXUNUSED(event))
{
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId.IsOk() ? (NodeTree *) tree->GetItemData(itemId):NULL;
wxTreeItemId parentItem=tree->GetItemParent(itemId);
NodeTree *parentData = parentItem.IsOk() ? (NodeTree *) tree->GetItemData(parentItem):NULL;
if(itemData->pointer.simplejoint)
{
if(managewindow->CheckWindowsExist(itemData))
{
RobotSimPanel* robotSimCtrl;
robotSimCtrl = new RobotSimPanel(this,wxID_ANY,wxT ("Move only one Joint"),itemData,parentData,true);
robotSimCtrl->getTitle()->SetLabel(wxString(itemData->getNameTree()));
robotSimCtrl->setManageWindow(managewindow);
robotSimCtrl->Show(true);
wxLogStatus(wxT("Robot Sim Panel/Joint"));
}
}
}
void MainWindow::OnDrawBox(wxCommandEvent& WXUNUSED(event))
{
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId .IsOk() ? (NodeTree *)tree->GetItemData(itemId ):NULL;
if(itemData->pointer.solidentity->getDrawBox())ShowBox(true);
else ShowBox(false);
}
void MainWindow::OnDrawReference(wxCommandEvent& WXUNUSED(event))
{
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId.IsOk() ? (NodeTree *)tree->GetItemData(itemId):NULL;
if(itemData->pointer.positionableentity->getDrawReferenceSystem())ShowReference(true);
else ShowReference(false);
}
void MainWindow::OnDesign(wxCommandEvent& WXUNUSED(event))
{
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId.IsOk() ? (NodeTree *) tree->GetItemData(itemId):NULL;
DesignProperties *design=new DesignProperties(this,itemData,wxT("Design Properties"));
design->ShowModal();
delete design;
}
void MainWindow::OnColor(wxCommandEvent& WXUNUSED(event))
{
wxTreeItemId itemId = tree->GetSelection();
NodeTree *itemData = itemId.IsOk() ? (NodeTree *) tree->GetItemData(itemId):NULL;
if(itemData->pointer.solidentity)
{
double _r,_g,_b;
itemData->pointer.solidentity->getColor(_r,_g,_b);
wxColour c = wxColour(_r*255,_g*255,_b*255);
wxColour color = wxGetColourFromUser(0);
if(color.IsOk())
{
double r = color.Red();
double g = color.Green();
double b = color.Blue();
itemData->pointer.solidentity->setColor(r/255,g/255,b/255);
for(unsigned int i= 0; i<listWorlds.size(); i++)listWorlds[i]->getChild()->UpdateWorld();
}
for(unsigned int i= 0; i<listWorlds.size(); i++)listWorlds[i]->getChild()->UpdateWorld();
}
}
void MainWindow::OnNewWorld(wxCommandEvent& WXUNUSED(event))
{
World *w = new World();
simuWorld = new SimulatedWorld(w);
listWorlds.push_back(simuWorld);
tree->Expand(tree->GetRootItem());
OnReplaceMenuBar();
}
void MainWindow::OnLoadWorld(wxCommandEvent& WXUNUSED(event))
{
wxFileDialog openFile(this, wxT("Load world file"), wxEmptyString, wxEmptyString,
wxT("MWF files (*.mwf)|*.mwf"),wxFD_OPEN|wxFD_FILE_MUST_EXIST);
if(openFile.ShowModal() == wxID_OK)
{
wxString file = openFile.GetPath();
char filec[500];
strcpy(filec, (const char*)file.mb_str(wxConvUTF8));
StreamFile myfile(filec,true);
Object *test1 = myfile.read();
World *test2 = dynamic_cast<World *>(test1);
if(test2)
{
simuWorld = new SimulatedWorld(test2);
listWorlds.push_back(simuWorld);
}
else
{
delete test1;
}
}
wxFileInputStream input(openFile.GetPath());
if(!input.IsOk())
{
wxLogError(wxT("Cannot open file %s"), openFile.GetPath().c_str());
return;
}
tree->Expand(tree->GetRootItem());
tree->Expand(tree->GetLastChild(tree->GetRootItem()));
Search(tree->GetLastChild(tree->GetRootItem()),toolbar->GetToolState(ID_COMPRS));
OnReplaceMenuBar();
}
void MainWindow::OnLoadMesh(wxCommandEvent& WXUNUSED(event))
{
wxTreeItemId itemId = tree->GetSelection();
for(unsigned int i= 0; i<listWorlds.size(); i++)
{
if(listWorlds[i]->getTreeItem()==itemId)
{
wxFileDialog openFileDialog(this,wxT("Load meshPart file"), wxEmptyString, wxEmptyString,
wxT("STL files (*.stl)|*.stl"),wxFD_OPEN|wxFD_FILE_MUST_EXIST);
if (openFileDialog.ShowModal() == wxID_OK)
{
wxString fileName = openFileDialog.GetPath();
char file[100];
strcpy(file,(const char*)fileName.mb_str(wxConvUTF8));
MeshPart* mesh;
mesh = new MeshPart;
if(mesh->loadAsciiSTL(file))(*listWorlds[i]->getWorld())+=mesh;
else if(mesh->loadBinarySTL(file))(*listWorlds[i]->getWorld())+=mesh;
else
{
wxLogError(wxT("Cannot load file %s."),openFileDialog.GetPath().c_str());
return;
}
listWorlds[i]->getChild()->UpdateWorld();
tree->AddNode(mesh, listWorlds[i]->getTreeItem(),listWorlds[i]);
}
wxFileInputStream input(openFileDialog.GetPath());
if (!input.IsOk())
{
wxLogError(wxT("Cannot open file %s."), openFileDialog.GetPath().c_str());
return;
}
}
else wxLogMessage(wxT("Please, select a World."));
}
}
void MainWindow::OnLoadObject(wxCommandEvent& WXUNUSED(event))
{
wxTreeItemId itemId = tree->GetSelection();
for(unsigned int i=0; i<listWorlds.size(); i++)
{
if(listWorlds[i]->getTreeItem()==itemId)
{
wxFileDialog openFile(this,wxT("Load object file"), wxEmptyString, wxEmptyString,
wxT("MOF files (*.mof)|*.mof"),wxFD_OPEN|wxFD_FILE_MUST_EXIST);
if(openFile.ShowModal() == wxID_OK)
{
wxString fileName = openFile.GetPath();
char c_file[100];
strcpy(c_file,(const char*)fileName.mb_str(wxConvUTF8));
StreamFile s_file(c_file,true);
Object *obj = s_file.read();
PositionableEntity* p_obj = dynamic_cast<PositionableEntity *>(obj);
if(obj)
{
(*listWorlds[i]->getWorld())+=p_obj;
listWorlds[i]->getChild()->UpdateWorld();