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/home/mrm/Simex/simulations/lr_bike/interface.cxx File Reference

#include "expert_interface.se.h"
#include "interface.h"
#include <iostream>
#include <cmath>
#include <stdexcept>
#include <FL/Fl.H>
#include <FL/Fl_Widget.H>
#include <FL/Fl_Value_Input.H>
#include <FL/Fl_Value_Output.H>
#include <FL/Fl_Button.H>
#include <FL/Fl_Menu_Button.H>
#include <FL/Fl_File_Chooser.H>
#include <FL/Fl_Output.H>
#include <FL/Fl_Light_Button.H>
#include <FL/Fl_Counter.H>
#include <GL/gl.h>
#include <GL/glu.h>
#include <FL/glut.H>
#include "pv_scene.h"
#include "pv_mouse.h"
#include "pv_tools.h"
#include "pv_bicyclist.h"

Include dependency graph for interface.cxx:

Include dependency graph

Functions

void restart_button_callback (Fl_Widget *widget, void *data)
void init1_func (int argc, char **argv)
void init2_func ()
void update_interface_values ()
void run_simulation_func (int value)
void mouse_func (int button, int state, int x, int y)
void motion_func (int x, int y)
void passive_motion_func (int x, int y)
void init3_func (int argc, char **argv)
void display_func (void)
void reshape_func (GLsizei w, GLsizei h)
void play_button_callback (Fl_Widget *widget, void *data)
void step_button_callback (Fl_Widget *widget, void *data)
void display_ratio_counter_callback (Fl_Widget *widget, void *data)
void speed_up_counter_callback (Fl_Widget *widget, void *data)
void camera_menu_linked_callback (Fl_Widget *widget, void *data)
void camera_menu_centered_callback (Fl_Widget *widget, void *data)
void camera_menu_free_callback (Fl_Widget *widget, void *data)
void points_light_button_callback (Fl_Widget *widget, void *data)
void path_light_button_callback (Fl_Widget *widget, void *data)
void spline_light_button_callback (Fl_Widget *widget, void *data)
void window_callback (Fl_Widget *widget, void *data)
void trajectory_file_output_callback (Fl_Widget *widget, void *data)
void trajectory_file_chooser_callback (Fl_File_Chooser *widget, void *data)
void load_trajectory_file_callback (Fl_Widget *widget, void *data)
void desired_speed_x_output_callback (Fl_Widget *widget, void *data)
void desired_speed_y_output_callback (Fl_Widget *widget, void *data)
void desired_speed_z_output_callback (Fl_Widget *widget, void *data)
int wx (int x)
int wy (int y)
int wh (int h)
int ww (int w)
void fltk_create_widgets ()
int main (int argc, char **argv)

Variables

Expert_Interface * my_interface
const int Default_Run_Simulation_Time = 20
const int Default_Auto_Repeat_Number = 20
const int Default_Steps_Before_Displaying = 20
Pv_Scene * my_scene = NULL
Pv_Mouse * my_mouse = NULL
int run_simulation_time
bool pause_run_simulation
int steps_before_displaying
int auto_repeat_number
bool display = true
Fl_Window * window = NULL
Fl_Button * play_button = NULL
Fl_Button * step_button = NULL
Fl_Button * restart_button = NULL
Fl_Counter * display_ratio_counter = NULL
Fl_Counter * speed_up_counter = NULL
Fl_Menu_Button * camera_menu = NULL
Fl_Light_Button * points_light_button = NULL
Fl_Light_Button * path_light_button = NULL
Fl_Light_Button * spline_light_button = NULL
Fl_Button * load_trajectory_file_button = NULL
Fl_File_Chooser * trajectory_file_chooser = NULL
Fl_Output * trajectory_file_output = NULL
Fl_Value_Output * position_x_output = NULL
Fl_Value_Output * position_y_output = NULL
Fl_Value_Output * position_z_output = NULL
Fl_Value_Output * speed_x_output = NULL
Fl_Value_Output * speed_y_output = NULL
Fl_Value_Output * speed_z_output = NULL
Fl_Value_Input * desired_speed_x_output = NULL
Fl_Value_Input * desired_speed_y_output = NULL
Fl_Value_Input * desired_speed_z_output = NULL
int WIDGET_X = 10
int WIDGET_Y = 520
int WIDGET_HEIGHT = 40

Function Documentation

void restart_button_callback (  Fl_Widget *    widget,
void *    data
) 
  

00304                                                      {
00305   
00306   my_scene->restart();
00307   my_scene->step();
00308   update_interface_values();
00309   if(display==true) my_scene->display();
00310   
00311 }

void init1_func (  int    argc,
char **    argv
) 
  

00102                                 {
00103   
00104   /*initial values of variables*/
00105   run_simulation_time=Default_Run_Simulation_Time;/*ms*/
00106   pause_run_simulation=true;
00107   steps_before_displaying=1;
00108   auto_repeat_number=Default_Auto_Repeat_Number;
00109 
00110   /*SIMEX*/
00111   my_interface=new Expert_Interface();
00112 
00113   /*SIMEX*/
00114   my_interface->define_data();
00115 
00116   /*SIMEX*/
00117   my_interface->send_simulation_info();
00118   
00119 }

void init2_func (    ) 
  

00122             {
00123 }

void update_interface_values (    ) 
  

00131                          {
00132   
00133   if(display==true){
00134 
00135     Pv_Bicyclist *my_bicyclist=my_scene->my_bicyclist;
00136     position_x_output->value(my_bicyclist->get_position_x());
00137     position_y_output->value(my_bicyclist->get_position_y());
00138     position_z_output->value(my_bicyclist->get_position_z());
00139     speed_x_output->value(my_bicyclist->get_speed_x());
00140     speed_y_output->value(my_bicyclist->get_speed_y());
00141     speed_z_output->value(my_bicyclist->get_speed_z());
00142     desired_speed_x_output->value(my_bicyclist->get_desired_speed_x());
00143     desired_speed_y_output->value(my_bicyclist->get_desired_speed_y());
00144     desired_speed_z_output->value(my_bicyclist->get_desired_speed_z());
00145   }
00146   
00147 }

void run_simulation_func (  int    value ) 
  

00151                               {
00152   static int auto_repeat=Default_Auto_Repeat_Number; /*to speed up*/
00153   
00154   /*SIMEX*/
00155   my_interface->check_messages();
00156 
00157   
00158   /*SIMEX*/
00159   my_interface->notify_can_start(&pause_run_simulation,
00160                                  play_button,
00161                                  step_button);
00162   
00163   /*SIMEX*/
00164   my_interface->notify_can_stop(&pause_run_simulation,
00165                                 play_button,
00166                                 step_button);
00167   
00168   /*SIMEX*/
00169   my_interface->notify_can_step(my_scene,&display);
00170 
00171   
00172   /*SIMEX*/
00173   my_interface->notify_can_reset(restart_button_callback);
00174 
00175   
00176   /*SIMEX*/
00177   my_interface->notify_can_hide(&display,window);
00178 
00179   
00180   /*SIMEX*/
00181   my_interface->notify_can_show(&display,window,my_scene);
00182 
00183   
00184   if(pause_run_simulation==false){
00185     
00186     my_scene->step();
00187     
00188     update_interface_values();
00189     
00190     steps_before_displaying--;
00191     
00192     if(steps_before_displaying<=0){
00193       
00194       if(display==true) my_scene->display();
00195       
00196       steps_before_displaying=(int)display_ratio_counter->value();
00197       
00198     }
00199   }
00200   
00201   if(auto_repeat>0){
00202     auto_repeat--;
00203     run_simulation_func(value);
00204   }
00205   else{
00206     glutTimerFunc(run_simulation_time,run_simulation_func,0);
00207     auto_repeat=auto_repeat_number;
00208   }
00209   
00210 }

void mouse_func (  int    button,
int    state,
int    x,
int    y
) 
  

00214                                               {
00215   //my_scene->set_camera_mode(2);
00216   //my_mouse->press_release(button,state,x,y);
00217 }

void motion_func (  int    x,
int    y
) 
  

00221                          {
00222   //my_mouse->active_motion(x,y);
00223 }

void passive_motion_func (  int    x,
int    y
) 
  

00227                                  {
00228   //my_mouse->passive_motion(x,y);
00229 }

void init3_func (  int    argc,
char **    argv
) 
  

00234 {
00235   
00236   Pv_Gl::init();
00237   my_scene=new Pv_Scene(argc,argv);
00238   my_scene->init_OpenGL();
00239   my_mouse=new Pv_Mouse(my_scene,my_scene->get_camera());
00240   update_interface_values();
00241 
00242   /*Execute one step of the bicyclist so that values are correct*/
00243   //_scene->step();
00244 
00245   /*camera mode to centered*/
00246   my_scene->set_camera_mode(0);
00247 
00248   spline_light_button_callback(NULL,NULL);
00249   path_light_button_callback(NULL,NULL);
00250   points_light_button_callback(NULL,NULL);
00251 
00252   /*TODO: to remove*/
00253   my_scene->set_my_target_path("./trajectory_1.tra");
00254 
00255   my_scene->step();
00256   
00257 }

void display_func (  void    ) 
  

00261                   {
00262   
00263   if(display==true) my_scene->display();
00264   
00265 }

void reshape_func (  GLsizei    w,
GLsizei    h
) 
  

00269                                   {
00270   
00271   my_scene->reshape();
00272   
00273 }

void play_button_callback (  Fl_Widget *    widget,
void *    data
) 
  

00280                                                   {
00281   
00282   if(pause_run_simulation==true){
00283     pause_run_simulation=false;
00284     play_button->label("Pause");
00285     step_button->hide();
00286   }
00287   else if(pause_run_simulation==false){
00288     pause_run_simulation=true;
00289     play_button->label("Play");
00290     step_button->show();
00291   }  
00292   
00293 }

void step_button_callback (  Fl_Widget *    widget,
void *    data
) 
  

00296                                                   {
00297   
00298   my_scene->step();
00299   if(display==true) my_scene->display();
00300   
00301 }

void display_ratio_counter_callback (  Fl_Widget *    widget,
void *    data
) 
  

00314                                                             {
00315   steps_before_displaying=(int)display_ratio_counter->value();
00316 }

void speed_up_counter_callback (  Fl_Widget *    widget,
void *    data
) 
  

00319                                                        {
00320   auto_repeat_number=(int)speed_up_counter->value();
00321 }

void camera_menu_linked_callback (  Fl_Widget *    widget,
void *    data
) 
  

00324                                                          {
00325   my_scene->set_camera_mode((int)camera_menu->value());
00326   if(display==true) my_scene->display();
00327 }

void camera_menu_centered_callback (  Fl_Widget *    widget,
void *    data
) 
  

00330                                                            {
00331   my_scene->set_camera_mode((int)camera_menu->value());
00332   if(display==true) my_scene->display();
00333 }

void camera_menu_free_callback (  Fl_Widget *    widget,
void *    data
) 
  

00336                                                        {  
00337   my_scene->set_camera_mode((int)camera_menu->value());
00338   if(display==true) my_scene->display();
00339 }

void points_light_button_callback (  Fl_Widget *    widget,
void *    data
) 
  

00342                                                           {
00343   my_scene->set_my_target_path_displayed((bool)points_light_button->value());
00344   if(display==true) my_scene->display();
00345 }

void path_light_button_callback (  Fl_Widget *    widget,
void *    data
) 
  

00348                                                         {
00349   my_scene->set_my_bicyclist_path_displayed((bool)path_light_button->value());
00350   if(display==true) my_scene->display();
00351 }

void spline_light_button_callback (  Fl_Widget *    widget,
void *    data
) 
  

00354                                                           {
00355  my_scene->set_my_spline_displayed((bool)spline_light_button->value()); 
00356  if(display==true) my_scene->display();
00357 }

void window_callback (  Fl_Widget *    widget,
void *    data
) 
  

00360                                              {
00361   /*SIMEX*/
00362   delete my_interface;
00363 
00364   exit(0);
00365 }

void trajectory_file_output_callback (  Fl_Widget *    widget,
void *    data
) 
  

00371                                                              {
00372 }

void trajectory_file_chooser_callback (  Fl_File_Chooser *    widget,
void *    data
) 
  

00375                                                                     {
00376   
00377   trajectory_file_output->value(trajectory_file_chooser->value());
00378   my_scene->set_my_target_path(trajectory_file_chooser->value());
00379   if(display==true) my_scene->display();
00380   
00381 }

void load_trajectory_file_callback (  Fl_Widget *    widget,
void *    data
) 
  

00384                                                            {
00385   if(trajectory_file_chooser==NULL){
00386     trajectory_file_chooser=new Fl_File_Chooser("./","*.tra",
00387                                                 FL_SINGLE,
00388                                                 "Trajectory Selection");
00389     trajectory_file_chooser->callback(trajectory_file_chooser_callback,NULL);
00390   }
00391   trajectory_file_chooser->show();
00392 }

void desired_speed_x_output_callback (  Fl_Widget *    widget,
void *    data
) 
  

00395                                                              {
00396   my_scene->my_bicyclist->set_desired_speed_x(desired_speed_x_output->value());
00397 }

void desired_speed_y_output_callback (  Fl_Widget *    widget,
void *    data
) 
  

00400                                                              {
00401   my_scene->my_bicyclist->set_desired_speed_y(desired_speed_y_output->value());
00402 }

void desired_speed_z_output_callback (  Fl_Widget *    widget,
void *    data
) 
  

00405                                                              {
00406 }

int wx (  int    x ) 
  

00419              {
00420   return((int)(WIDGET_X+x*(GN*WIDGET_HEIGHT+10)));
00421 }

int wy (  int    y ) 
  

00422              {
00423   return((int)(WIDGET_Y+y*(WIDGET_HEIGHT+10)));
00424 }

int wh (  int    h ) 
  

00425              {
00426   return((int)(WIDGET_HEIGHT*h));
00427 }

int ww (  int    w ) 
  

00428              {
00429   return((int)(WIDGET_HEIGHT*GN*w));
00430 }

void fltk_create_widgets (    ) 
  

00435                      {
00436   
00437   /*play button*/
00438   play_button=new Fl_Button(wx(0),wy(0),ww(2),wh(1),
00439                                   "Play");
00440   play_button->callback(play_button_callback,NULL);
00441 
00442   /*step button*/
00443   step_button=new Fl_Button(wx(2),wy(0),ww(2),wh(1),
00444                                   "Step");
00445   step_button->callback(step_button_callback,NULL);
00446 
00447   /*restart button*/
00448   restart_button=new Fl_Button(wx(4),wy(0),ww(2),wh(1),
00449                                   "Restart");
00450   restart_button->callback(restart_button_callback,NULL);
00451   /*display ratio counter*/
00452   display_ratio_counter=new Fl_Counter(wx(6),wy(0),ww(2),wh(1),
00453                                   "Display Ratio");
00454   display_ratio_counter->callback(display_ratio_counter_callback,NULL);
00455   display_ratio_counter->type(FL_SIMPLE_COUNTER);
00456   display_ratio_counter->range(1,100);
00457   display_ratio_counter->step(1);
00458   display_ratio_counter->value(Default_Steps_Before_Displaying);
00459 
00460   /*fltk speed up counter*/
00461   speed_up_counter=new Fl_Counter(wx(8),wy(0),ww(2),wh(1),
00462                                   "Speed Up");
00463   speed_up_counter->callback(speed_up_counter_callback,NULL);
00464   speed_up_counter->type(FL_SIMPLE_COUNTER);
00465   speed_up_counter->range(1,100);
00466   speed_up_counter->step(1);
00467   speed_up_counter->value(Default_Auto_Repeat_Number);
00468 
00469   /*camera menu*/
00470   camera_menu=new Fl_Menu_Button(wx(0),wy(1),ww(2),wh(1),
00471                                  "Camera");
00472   camera_menu->add("Linked",0,camera_menu_linked_callback,NULL,0);
00473   camera_menu->add("Centered",0,camera_menu_centered_callback,NULL,0);
00474   camera_menu->add("Free",0,camera_menu_free_callback,NULL,0);
00475   /*points light button*/
00476   points_light_button=new Fl_Light_Button(wx(0),wy(2),ww(2),wh(1),
00477                                           "Points");
00478   points_light_button->callback(points_light_button_callback,NULL);
00479   points_light_button->value(1);
00480   /*path light button*/
00481   path_light_button=new Fl_Light_Button(wx(2),wy(2),ww(2),wh(1),
00482                                           "Path");
00483   path_light_button->callback(path_light_button_callback,NULL);
00484   path_light_button->value(1);
00485   /*spline light button*/
00486   spline_light_button=new Fl_Light_Button(wx(4),wy(2),ww(2),wh(1),
00487                                           "Spline");
00488   spline_light_button->callback(spline_light_button_callback,NULL);
00489   spline_light_button->value(1);
00490   
00491   /************
00492    *file loader
00493    ************/
00494   /*load trajectory file button*/
00495   load_trajectory_file_button=new Fl_Button(wx(0),wy(3),ww(3),wh(1),
00496                                             "Load Trajectory File");
00497   load_trajectory_file_button->callback(load_trajectory_file_callback,NULL);
00498   /*trajectory file output*/
00499   trajectory_file_output=new Fl_Output(wx(3),wy(3),ww(7),wh(1),"");
00500   trajectory_file_output->callback(trajectory_file_output_callback,NULL);      
00501   /*******************
00502    *end of file loader
00503    *******************/
00504   
00505   /*outputs*/
00506   
00507   position_x_output=new Fl_Value_Output(wx(0),wy(4),ww(2),wh(1),"x");
00508   position_x_output->align(FL_ALIGN_RIGHT);
00509 
00510   position_y_output=new Fl_Value_Output(wx(0),wy(5),ww(2),wh(1),"y");
00511   position_y_output->align(FL_ALIGN_RIGHT);
00512 
00513   position_z_output=new Fl_Value_Output(wx(0),wy(6),ww(2),wh(1),"z");
00514   position_z_output->align(FL_ALIGN_RIGHT);
00515 
00516   speed_x_output=new Fl_Value_Output(wx(3),wy(4),ww(2),wh(1),"dx");
00517   speed_x_output->align(FL_ALIGN_RIGHT);
00518 
00519   speed_y_output=new Fl_Value_Output(wx(3),wy(5),ww(2),wh(1),"dy");
00520   speed_y_output->align(FL_ALIGN_RIGHT);
00521 
00522   speed_z_output=new Fl_Value_Output(wx(3),wy(6),ww(2),wh(1),"dz");
00523   speed_z_output->align(FL_ALIGN_RIGHT);
00524 
00525   desired_speed_x_output=new Fl_Value_Input(wx(6),wy(4),ww(2),wh(1),
00526                                                 "d_dx");
00527   desired_speed_x_output->align(FL_ALIGN_RIGHT);
00528   desired_speed_x_output->callback(desired_speed_x_output_callback,NULL);
00529 
00530   desired_speed_y_output=new Fl_Value_Input(wx(6),wy(5),ww(2),wh(1),
00531                                                 "d_dy");
00532   desired_speed_y_output->align(FL_ALIGN_RIGHT);
00533   desired_speed_y_output->callback(desired_speed_y_output_callback,NULL);
00534 
00535   desired_speed_z_output=new Fl_Value_Input(wx(6),wy(6),ww(2),wh(1),
00536                                                 "d_dz");
00537   desired_speed_z_output->align(FL_ALIGN_RIGHT);
00538   desired_speed_z_output->callback(desired_speed_z_output_callback,NULL);
00539   
00540 }

int main (  int    argc,
char **    argv
) 
  

00547                            {                   
00548   
00549   tsneak
00550 
00551   /*init 1*/
00552   init1_func(argc,argv);
00553   
00554   /*Create fltk window*/                        
00555   window = new Fl_Window(200,200,320,
00556                          (int)(320./GN+10)/*(int)(820./GN+300)+50+50*/,
00557                          "LR Bicyclist");
00558   //window->color(FL_BLACK);
00559   window->show(argc,argv);
00560   window->begin();
00561   
00562   /*fltk widgets*/
00563   fltk_create_widgets();
00564   
00565   /*OpenGL window*/
00566   glutInit(&argc,argv);
00567   glutInitDisplayMode(GLUT_DOUBLE|GLUT_RGBA|GLUT_DEPTH/*|GLUT_ACCUM*/);
00568   glutInitWindowSize(300,(int)(300./GN));
00569   glutInitWindowPosition(10,10);
00570   glutCreateWindow("LR Bicyclist");
00571   glutDisplayFunc(display_func);
00572   glutReshapeFunc(reshape_func);
00573   glutMouseFunc(mouse_func);
00574   glutMotionFunc(motion_func);
00575   glutPassiveMotionFunc(passive_motion_func);
00576   glutTimerFunc(run_simulation_time,run_simulation_func,0);
00577 
00578   /*init 2*/
00579   init2_func();
00580   
00581   /*End of window*/
00582   window->end();
00583   window->callback(window_callback,NULL);
00584 
00585   /*init 3*/
00586   init3_func(argc,argv);
00587 
00588   /*initialize my scene*/
00589 
00590   
00591 
00592     
00593   /*Start the program*/
00594   Fl::run();
00595   
00596   return 0;
00597 
00598   csneak
00599 }

Variable Documentation

Expert_Interface* my_interface
 

const int Default_Run_Simulation_Time = 20
 

const int Default_Auto_Repeat_Number = 20
 

const int Default_Steps_Before_Displaying = 20
 

Pv_Scene* my_scene = NULL
 

Pv_Mouse* my_mouse = NULL
 

int run_simulation_time
 

bool pause_run_simulation
 

int steps_before_displaying
 

int auto_repeat_number
 

bool display = true
 

Fl_Window* window = NULL
 

Fl_Button* play_button = NULL
 

Fl_Button* step_button = NULL
 

Fl_Button* restart_button = NULL
 

Fl_Counter* display_ratio_counter = NULL
 

Fl_Counter* speed_up_counter = NULL
 

Fl_Menu_Button* camera_menu = NULL
 

Fl_Light_Button* points_light_button = NULL
 

Fl_Light_Button* path_light_button = NULL
 

Fl_Light_Button* spline_light_button = NULL
 

Fl_Button* load_trajectory_file_button = NULL
 

Fl_File_Chooser* trajectory_file_chooser = NULL
 

Fl_Output* trajectory_file_output = NULL
 

Fl_Value_Output* position_x_output = NULL
 

Fl_Value_Output* position_y_output = NULL
 

Fl_Value_Output* position_z_output = NULL
 

Fl_Value_Output* speed_x_output = NULL
 

Fl_Value_Output* speed_y_output = NULL
 

Fl_Value_Output* speed_z_output = NULL
 

Fl_Value_Input* desired_speed_x_output = NULL
 

Fl_Value_Input* desired_speed_y_output = NULL
 

Fl_Value_Input* desired_speed_z_output = NULL
 

int WIDGET_X = 10
 

int WIDGET_Y = 520
 

int WIDGET_HEIGHT = 40
 

Generated on Sat Jul 19 04:03:40 2003 for SIMEX by doxygen1.2.18