jointstreeview.cpp

3D仿真组实物机器人环境下的机器人模型的设计工具。可以查看和修改现有模型的详细参数

/*
*********************************************************************************
*                            In the name of Almighty                            *
*                                                                               *
*     JointTreeView.cpp : Robocup Soccer Simulator Developement Team: Zigorat   *
*                                                                               *
*  Date: 07/08/2007                                                             *
*  Author: Mahdi Hamdarsi                                                       *
*  Research Coordinator: Amin Mohammadi                                         *
*  Comments: Joint specific operations and view interface                       *
*                                                                               *
*********************************************************************************
*/

/*! \file JointTreeView.cpp
<pre>
<b>File:</b>          JointTreeView.cpp
<b>Project:</b>       Robocup Soccer Simulator Developement Team: Zigorat
<b>Authors:</b>       Mahdi Hamdarsi, Amin Mohammadi
<b>Created:</b>       12/02/2001
<b>Last Revision:</b> $ID$
<b>Contents:</b>      Joint specific operations and view interface
<hr size=2>
<h2><b>Changes</b></h2>
<b>Date</b>             <b>Author</b>          <b>Comment</b>
07/08/2007       Mahdi Hamdarsi       Initial version created
</pre>
*/

#include <gtk/gtk.h>
#include <iostream>

using namespace std;

#include "RubySceneGraph.h"
extern TRubySceneGraph * RubySceneGraph;


#include "Parse.h"
#include "Editor.h"
#include "support.h"


GtkWidget *m_Joints_Treeview;
GtkTreeModel *m_Joints_items_model;
extern GtkWidget *m_MainWindow;

enum
{
  COLUMN_JOINT_NUMBER,
  COLUMN_JOINT_TYPE,
  COLUMN_JOINT_PARENT,
  COLUMN_JOINT_CHILD,
  NUM_JOINTS_COLUMNS
};

enum
{
  COLUMN_NUMBER_TEXT,
  NUM_NUMBER_COLUMNS
};

gchar *getGtkString( TJoint joint )
{
  if( joint == JOINT_FIXED )
    return g_strdup( "Fixed" );
  if( joint == JOINT_HINGE )
    return g_strdup( "Hinge" );
  if( joint == JOINT_HINGE2 )
    return g_strdup( "Hinge2" );
  if( joint == JOINT_UNIVERSAL )
    return g_strdup( "Universal" );

  return g_strdup( "Illegal joint" );
}

void UpdateJointsList()
{
  GtkTreeIter iter;
  while( gtk_tree_model_get_iter_first(GTK_TREE_MODEL(m_Joints_items_model), &iter) == TRUE )
    gtk_list_store_remove(GTK_LIST_STORE(m_Joints_items_model), &iter);

  for( int i = 0; i < RubySceneGraph->getJointCount(); i++)
    {
      string par = RubySceneGraph->getJoint( i )->getParrent() == NULL ? "Unknown" :
                                                   RubySceneGraph->getJoint( i )->getParrent()->getName();
      string chd = RubySceneGraph->getJoint( i )->getChild()   == NULL ? "Unknown" :
                                                   RubySceneGraph->getJoint( i )->getChild()->getName();
      gtk_list_store_append(GTK_LIST_STORE(m_Joints_items_model), &iter);
      gtk_list_store_set( GTK_LIST_STORE(m_Joints_items_model), &iter,
                          COLUMN_JOINT_NUMBER,getGtkString( RubySceneGraph->getJoint( i )->getNumber() ),
                          COLUMN_JOINT_TYPE,  getGtkString( RubySceneGraph->getJoint( i )->getType() ),
                          COLUMN_JOINT_PARENT, getGtkString( par ),
                          COLUMN_JOINT_CHILD, getGtkString( chd ),
                          -1);
    }
}

void create_joints_model()
{
  m_Joints_items_model = GTK_TREE_MODEL( 
          gtk_list_store_new(NUM_JOINTS_COLUMNS, G_TYPE_INT, G_TYPE_STRING, G_TYPE_STRING, G_TYPE_STRING ) );
}

GtkTreeModel * CreateTypeMenu()
{
  const char *str[] = { "Fixed", "Hinge", "Hinge2", "Universal" };
  GtkListStore *model;
  GtkTreeIter iter;

  model = gtk_list_store_new(NUM_NUMBER_COLUMNS, G_TYPE_STRING, G_TYPE_INT);

  for( int i = 0; i < 4; i++)
    {
      gtk_list_store_append (model, &iter);
      gtk_list_store_set (model, &iter, COLUMN_NUMBER_TEXT, str[i], -1);
    }

  return GTK_TREE_MODEL(model);
}

void AddJoint(int type)
{
  TMessage msg;
  msg.m_Command = CMD_JOINT_CREATE;
  msg.m_Shape = (TJoint)type;
  msg.m_Position = VecPosition(0,0,0);

  UpdateLists( msg );
}

int GetCurrentJointIndex()
{
  GtkTreeIter iter;
  GtkTreeView *tree = (GtkTreeView *)m_Joints_Treeview;
  GtkTreeModel *model = gtk_tree_view_get_model(tree);
  GtkTreeSelection *selection = gtk_tree_view_get_selection(tree);

  if(!gtk_tree_selection_get_selected(selection, NULL, &iter))
    return -1;

  gint i;
  GtkTreePath *path;

  path = gtk_tree_model_get_path (model, &iter);
  i = gtk_tree_path_get_indices(path)[0];
  gtk_tree_path_free (path);
  
  return i;
}

void RemoveCurrentJoint()
{
  int index = GetCurrentJointIndex();
  if( index == -1 )
    return;

  TMessage msg;
  msg.m_Command = CMD_JOINT_DELETE;
  msg.m_Index = index;
  UpdateLists( msg );
}

void OnJointCellEdited(GtkCellRendererText *cell, const gchar *path_string,const gchar *new_text,gpointer data)
{
  GtkTreeModel *model = (GtkTreeModel *)data;
  GtkTreePath *path = gtk_tree_path_new_from_string (path_string);
  GtkTreeIter iter;

  gint column = GPOINTER_TO_INT (g_object_get_data (G_OBJECT (cell), "column"));
  gtk_tree_model_get_iter (model, &iter, path);

  gchar *old_text;
  gtk_tree_model_get (model, &iter, column, &old_text, -1);
  gtk_tree_path_free(path);             

  if( column != COLUMN_JOINT_TYPE )
    return;

  if( strcmp(old_text, new_text) == 0 )
    return;

  TMessage msg;
  msg.m_Index = GetCurrentNodeIndex();

  if( column == COLUMN_JOINT_TYPE )
  {
    msg.m_Command = CMD_JOINT_RETYPE;
    if( strcmp( new_text, "Fixed" ) == 0 )
      msg.m_Shape = JOINT_FIXED;
    else if( strcmp( new_text, "Hinge" ) == 0 )
      msg.m_Shape = JOINT_HINGE;
    else if( strcmp( new_text, "Universal" ) == 0 )
      msg.m_Shape = JOINT_UNIVERSAL;
  }

  UpdateLists( msg );
}

void UpdateJointInfo()
{
  int index = GetCurrentJointIndex();
  if( index == -1 )
    return;

  const TSceneJoint *joint = RubySceneGraph->getJoint(index);
  if(joint == NULL)
    return;

  GtkWidget *temp;
  
  temp = lookup_widget(m_MainWindow, "txtJointParent");
  if( temp && joint->getParrent() )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getParrent()->getName()) );
  
  temp = lookup_widget(m_MainWindow, "txtJointChild");
  if( temp && joint->getChild() )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getChild()->getName()) );
  
  temp = lookup_widget(m_MainWindow, "txtJointAnchorX");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getAnchor().getX()) );
  
  temp = lookup_widget(m_MainWindow, "txtJointAnchorY");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getAnchor().getY()) );
  
  temp = lookup_widget(m_MainWindow, "txtJointAnchorZ");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getAnchor().getZ()) );
  
  temp = lookup_widget(m_MainWindow, "txtJointMotor1");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getMaxMotorForce(0)) );
  
  temp = lookup_widget(m_MainWindow, "txtJointMotor2");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getMaxMotorForce(1)) );
  
  temp = lookup_widget(m_MainWindow, "txtJointPerceptor");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getPerceptorName()) );
  
  temp = lookup_widget(m_MainWindow, "txtJointEffector");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getEffectorName()) );

  temp = lookup_widget(m_MainWindow, "txtJointAxis1X");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getAxis(0).getX()) );
  
  temp = lookup_widget(m_MainWindow, "txtJointAxis1Y");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getAxis(0).getY()) );
  
  temp = lookup_widget(m_MainWindow, "txtJointAxis1Z");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getAxis(0).getZ()) );
  
  temp = lookup_widget(m_MainWindow, "txtJointAxis2X");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getAxis(1).getX()) );
  
  temp = lookup_widget(m_MainWindow, "txtJointAxis2Y");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getAxis(1).getY()) );
  
  temp = lookup_widget(m_MainWindow, "txtJointAxis2Z");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), getGtkString(joint->getAxis(1).getZ()) );
}

void InitializeJointsColoumns(GtkTreeView  *treeview, GtkTreeModel *items_model, GtkTreeModel *types_model)
{
  GtkCellRenderer *renderer;
  
  renderer = gtk_cell_renderer_combo_new ();
  g_object_set(renderer, "model", types_model, "text-column", COLUMN_NUMBER_TEXT, "has-entry", FALSE, "editable", TRUE, NULL);
  g_signal_connect(renderer, "edited", G_CALLBACK (OnJointCellEdited), items_model);
  g_object_set_data(G_OBJECT (renderer), "column", GINT_TO_POINTER(COLUMN_JOINT_TYPE));
  gtk_tree_view_insert_column_with_attributes (GTK_TREE_VIEW (treeview), -1, "Type", renderer, "text", COLUMN_JOINT_TYPE, NULL);
  
  /* parent column */
  renderer = gtk_cell_renderer_text_new ();
  g_object_set_data (G_OBJECT (renderer), "column", GINT_TO_POINTER (COLUMN_JOINT_PARENT));
  gtk_tree_view_insert_column_with_attributes (GTK_TREE_VIEW (treeview), -1, "Parrent", renderer, "text", COLUMN_JOINT_PARENT, NULL);
  
  /* child column */
  renderer = gtk_cell_renderer_text_new ();
  g_object_set_data (G_OBJECT (renderer), "column", GINT_TO_POINTER(COLUMN_JOINT_CHILD));
  gtk_tree_view_insert_column_with_attributes (GTK_TREE_VIEW (treeview), -1, "Child", renderer, "text", COLUMN_JOINT_CHILD, NULL);

}

void OnJointsCursorChange(GtkTreeView *treeview, gpointer user_data)
{
  UpdateJointInfo();
}

GtkWidget* InitJointsTreeView()
{
  GtkTreeModel *type_menu;
  GtkWidget *sw;

  /* create models */
  create_joints_model();
  type_menu = CreateTypeMenu();

  /* create tree view */
  m_Joints_Treeview = gtk_tree_view_new_with_model (m_Joints_items_model);
  gtk_tree_view_set_rules_hint (GTK_TREE_VIEW (m_Joints_Treeview), TRUE);
  gtk_tree_selection_set_mode (gtk_tree_view_get_selection (GTK_TREE_VIEW (m_Joints_Treeview)), GTK_SELECTION_SINGLE);


  InitializeJointsColoumns(GTK_TREE_VIEW (m_Joints_Treeview), m_Joints_items_model, type_menu);

  g_object_unref (type_menu);
  g_object_unref (m_Joints_items_model);
  
  g_signal_connect ((gpointer) m_Joints_Treeview, "cursor_changed", G_CALLBACK(OnJointsCursorChange), NULL);

  sw = gtk_scrolled_window_new (NULL, NULL);
  gtk_scrolled_window_set_shadow_type (GTK_SCROLLED_WINDOW (sw), GTK_SHADOW_ETCHED_IN);
  gtk_scrolled_window_set_policy (GTK_SCROLLED_WINDOW (sw),GTK_POLICY_AUTOMATIC,GTK_POLICY_AUTOMATIC);
  gtk_container_add(GTK_CONTAINER (sw), m_Joints_Treeview);
  
  return sw;
}