callbacks.c

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

#include "config.h"

#include <gtk/gtk.h>

#include "callbacks.h"
#include "interface.h"
#include "support.h"

#include "Editor.h"
#include "Parse.h"
#include "RubySceneGraph.h"

extern GtkWidget *m_SaveDialog;
extern GtkWidget *m_AboutWin;
extern TRubySceneGraph *RubySceneGraph;

void
onMenuNewProjectClick                  (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  CreateNewProject();
}


void
onMenuOpenProjectClick                 (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  ShowFileOpen();
}


void
onMenuSaveProjectClick                 (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  SaveFile();
}


void
onMenuSaveAsProject                    (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  ShowFileSaveAs();
}


void
onMenuExitClick                        (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  Quit();
}


void
onMenuFixedJointClick                  (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  AddJoint(JOINT_FIXED);
}


void
onMenuHingeJointClick                  (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  AddJoint(JOINT_HINGE);
}


void
onMenuUniversalJointClick              (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  AddJoint(JOINT_UNIVERSAL);
}


void
onMenuDeleteJointClick                 (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  RemoveCurrentJoint();
}


void
onMenuAddBoxClick                      (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  AddNode(SHAPE_BOX);
}


void
onMenuAddSphereClick                   (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  AddNode(SHAPE_SPHERE);
}


void
onMenuDeleteNodeClick                  (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  RemoveCurrentNode();
}


void
onMenuAboutClick                       (GtkMenuItem     *menuitem,
                                        gpointer         user_data)
{
  m_AboutWin = create_winAbout();
  gtk_widget_show( m_AboutWin );
}


void
onToolFixedClick                       (GtkButton       *button,
                                        gpointer         user_data)
{
  AddJoint(JOINT_FIXED);
}


void
onToolHingeClick                       (GtkButton       *button,
                                        gpointer         user_data)
{
  AddJoint(JOINT_HINGE);
}


void
onToolJointUniversalclicked            (GtkButton       *button,
                                        gpointer         user_data)
{
  AddJoint(JOINT_UNIVERSAL);
}


void
onJointDeleteClick                     (GtkButton       *button,
                                        gpointer         user_data)
{
  RemoveCurrentJoint();
}


void
onToolNodeSphereClicked                (GtkButton       *button,
                                        gpointer         user_data)
{
  AddNode(SHAPE_SPHERE);
}


void
onToolNodeBoxClicked                   (GtkButton       *button,
                                        gpointer         user_data)
{
  AddNode(SHAPE_BOX);
}


void
onToolNodeDeleteClicked                (GtkButton       *button,
                                        gpointer         user_data)
{
  RemoveCurrentNode();
}

void
onComboChanged                         (GtkComboBox     *combobox,
                                        gpointer         user_data)
{

}


void
onToolNewProjectClicked                (GtkButton       *button,
                                        gpointer         user_data)
{
  onMenuNewProjectClick( NULL, NULL );
}


void
onToolOpenProjectClicked               (GtkButton       *button,
                                        gpointer         user_data)
{
  onMenuOpenProjectClick( NULL, NULL );
}


void
onToolSaveProjectClicked               (GtkButton       *button,
                                        gpointer         user_data)
{
  onMenuSaveProjectClick( NULL, NULL );
}


void
onToolSaveAsProjectClicked             (GtkButton       *button,
                                        gpointer         user_data)
{
  onMenuSaveAsProject( NULL, NULL );
}


void
onAboutOkClicked                       (GtkButton       *button,
                                        gpointer         user_data)
{
  gtk_widget_destroy( m_AboutWin );
}


void
onSaveDialogCancelClicked              (GtkButton       *button,
                                        gpointer         user_data)
{
  gtk_widget_destroy( m_SaveDialog );
}


void
onSaveDialogNoClicked                  (GtkButton       *button,
                                        gpointer         user_data)
{
  onSaveNoClicked();
}


void
onSaveDialogYesClicked                 (GtkButton       *button,
                                        gpointer         user_data)
{
  onSaveYesClicked();
}


void
onTextBoxChange                        (GtkEntry        *entry,
                                        gpointer         user_data)
{
  string name = gtk_widget_get_name( GTK_WIDGET(user_data) );
  TMessage data;
  
  string param = gtk_entry_get_text( GTK_ENTRY( user_data ) );

  if( name == "txtNodeName" || name == "txtNodeX" || name == "txtNodeY" || name == "txtNodeZ" ||
      name == "txtNodeLength" || name == "txtNodeWidth" || name == "txtNodeHeight" ||
      name == "txtNodeParent" || name == "txtNodeMass" )
  {
    /// Node Widgets

    const int iCurrentNode = GetCurrentNodeIndex();
    const TSceneNode *node = RubySceneGraph->getNodeWithID( iCurrentNode );
    if( node == NULL )
    {
      cerr << "OnTextBoxChange: No node selected" << endl;
      return;
    }
    
    if( name == "txtNodeName" )
    {
      data.m_Command = CMD_NODE_RENAME;
      data.m_Index = iCurrentNode;
      data.m_Name = param;
    }
    else if( name == "txtNodeX" )
    {
      data.m_Command = CMD_NODE_POSITION;
      data.m_Index = iCurrentNode;
      string ss = param;
      char str[128];
      strcpy( str, ss.c_str() );
      char *s = str;
      double dx = Parse::parseFirstDouble( &s );
      double dy = node->getPosition().getY();
      double dz = node->getPosition().getZ();
    
      data.m_Position = VecPosition( dx, dy, dz );
    }
    else if( name == "txtNodeY" )
    {
      data.m_Command = CMD_NODE_POSITION;
      data.m_Index = iCurrentNode;
      string ss = param;
      char str[128];
      strcpy( str, ss.c_str() );
      char *s = str;
      double dx = node->getPosition().getX();
      double dy = Parse::parseFirstDouble( &s );
      double dz = node->getPosition().getZ();
    
      data.m_Position = VecPosition( dx, dy, dz );
    }
    else if( name == "txtNodeZ" )
    {
      data.m_Command = CMD_NODE_POSITION;
      data.m_Index = iCurrentNode;
      string ss = param;
      char str[128];
      strcpy( str, ss.c_str() );
      char *s = str;
      double dx = node->getPosition().getX();
      double dy = node->getPosition().getY();
      double dz = Parse::parseFirstDouble( &s );
    
      data.m_Position = VecPosition( dx, dy, dz );
    }
    else if( name == "txtNodeLength" )
    {
      data.m_Command = CMD_NODE_RESIZE;
      data.m_Index = iCurrentNode;
      string ss = param;
      char str[128];
      strcpy( str, ss.c_str() );
      char *s = str;
      double dx = Parse::parseFirstDouble( &s );
      double dy = node->getWidth();
      double dz = node->getHeight();
    
      data.m_Size = VecPosition( dx, dy, dz );
    }
    else if( name == "txtNodeWidth" )
    {
      data.m_Command = CMD_NODE_RESIZE;
      data.m_Index = iCurrentNode;
      string ss = param;
      char str[128];
      strcpy( str, ss.c_str() );
      char *s = str;
      double dx = node->getLength();
      double dy = Parse::parseFirstDouble( &s );
      double dz = node->getHeight();
    
      data.m_Size = VecPosition( dx, dy, dz );
    }
    else if( name == "txtNodeHeight" )
    {
      data.m_Command = CMD_NODE_RESIZE;
      data.m_Index = iCurrentNode;
      string ss = param;
      char str[128];
      strcpy( str, ss.c_str() );
      char *s = str;
      double dx = node->getLength();
      double dy = node->getWidth();
      double dz = Parse::parseFirstDouble( &s );

      data.m_Size = VecPosition( dx, dy, dz );
    }
    else if( name == "txtNodeParent" )
    {
      data.m_Command = CMD_NODE_REPARRENT;
      data.m_Index = iCurrentNode;
      data.m_Name = param;
    }
    else if( name == "txtNodeMass" )
    {
      data.m_Command = CMD_NODE_MASS;
      data.m_Index = iCurrentNode;
      string ss = param;
      char str[128];
      strcpy( str, ss.c_str() );
      char *s = str;
      double dw = Parse::parseFirstDouble( &s );
    
      data.m_Mass = dw;
    }
  }
  else if( name == "txtJointParent" || name ==  "txtJointChild" || name == "txtJointAnchorX" || name == "txtJointAnchorY" ||
           name == "txtJointAnchorZ"|| name == "txtJointMotor1" || name == "txtJointMotor2" || name == "txtJointPerceptor" ||
           name == "txtJointEffector" || name == "txtJointAxis1X" || name == "txtJointAxis1Y" || name == "txtJointAxis1Z" ||
           name == "txtJointAxis1X" || name == "txtJointAxis1X" || name == "txtJointAxis1X" )
  {
    const int iCurrentJoint = GetCurrentJointIndex();
    const TSceneJoint * joint;
    if( iCurrentJoint == -1 || (joint = RubySceneGraph->getJoint(iCurrentJoint)) == NULL )
    {
      cerr << "OnEntryChange: No joint selected" << endl;
      return;
    }

    /// Joint widgets
    if( name == "txtJointParent" )
    {
      data.m_Index = GetCurrentJointIndex();
      data.m_Command = CMD_JOINT_REPARRENT;
      data.m_Name = param;
    }
    else if( name == "txtJointChild" )
    {
      data.m_Index = iCurrentJoint;
      data.m_Command = CMD_JOINT_RECHILD;
      data.m_Name = param;
    }
    else if( name == "txtJointAnchorX" )
    {
      data.m_Command = CMD_JOINT_ANCHOR;
      data.m_Index = iCurrentJoint;
      char str[128];
      strcpy( str, param.c_str() );
      char *s = str;
      double dx = Parse::parseFirstDouble( &s );
      double dy = joint->getAnchor().getY();
      double dz = joint->getAnchor().getZ();
      
      data.m_Position = VecPosition( dx, dy, dz );
    }
    else if( name == "txtJointAnchorY" )
    {
      data.m_Command = CMD_JOINT_ANCHOR;
      data.m_Index = iCurrentJoint;
      char str[128];
      strcpy( str, param.c_str() );
      char *s = str;
      double dx = joint->getAnchor().getX();
      double dy = Parse::parseFirstDouble( &s );
      double dz = joint->getAnchor().getZ();
     
      data.m_Position = VecPosition( dx, dy, dz );
    }
    else if( name == "txtJointAnchorZ" )
    {
      data.m_Command = CMD_JOINT_ANCHOR;
      data.m_Index = iCurrentJoint;
      char str[128];
      strcpy( str, param.c_str() );
      char *s = str;
      double dx = joint->getAnchor().getX();
      double dy = joint->getAnchor().getY();
      double dz = Parse::parseFirstDouble( &s );
      
      data.m_Position = VecPosition( dx, dy, dz );
    }
    else if( name == "txtJointMotor1" )
    {
      data.m_Command = CMD_JOINT_MOTOR;
      data.m_Index = iCurrentJoint;
      char str[128];
      strcpy( str, param.c_str() );
      char *s = str;
      
      data.m_Force = Parse::parseFirstDouble( &s );
      data.m_Number = 1;
    }
    else if( name == "txtJointMotor2" )
    {
      data.m_Command = CMD_JOINT_MOTOR;
      data.m_Index = iCurrentJoint;
      char str[128];
      strcpy( str, param.c_str() );
      char *s = str;
      
      data.m_Force = Parse::parseFirstDouble( &s );
      data.m_Number = 2;
    }
    else if( name == "txtJointPerceptor" )
    {
      data.m_Command = CMD_JOINT_PERCEPTOR;
      data.m_Index = iCurrentJoint;
      data.m_Name = param;
    }
    else if( name == "txtJointEffector" )
    {
      data.m_Command = CMD_JOINT_EFFECTOR;
      data.m_Index = iCurrentJoint;
      data.m_Name = param;
    }
    else if( name == "txtJointAxis1X" )
    {
      data.m_Command = CMD_JOINT_ANCHOR;
      data.m_Index = iCurrentJoint;
      data.m_Number = 0;
      char str[128];
      strcpy( str, param.c_str() );
      char *s = str;
      double dx = Parse::parseFirstDouble( &s );
      double dy = joint->getAnchor().getY();
      double dz = joint->getAnchor().getZ();
     
      data.m_Position = VecPosition( dx, dy, dz );
    }
    else if( name == "txtJointAxis1Y" )
    {
      data.m_Command = CMD_JOINT_AXIS;
      data.m_Index = iCurrentJoint;
      data.m_Number = 0;
      char str[128];
      strcpy( str, param.c_str() );
      char *s = str;
      double dx = joint->getAnchor().getX();
      double dy = Parse::parseFirstDouble( &s );
      double dz = joint->getAnchor().getZ();
     
      data.m_Position = VecPosition( dx, dy, dz );
    }
    else if( name == "txtJointAxis1Z" )
    {
      data.m_Command = CMD_JOINT_AXIS;
      data.m_Index = iCurrentJoint;
      data.m_Number = 0;
      char str[128];
      strcpy( str, param.c_str() );
      char *s = str;
      double dx = joint->getAnchor().getX();
      double dy = joint->getAnchor().getY();
      double dz = Parse::parseFirstDouble( &s );
     
      data.m_Position = VecPosition( dx, dy, dz );
    }
    else if( name == "txtJointAxis2X" )
    {
      data.m_Command = CMD_JOINT_AXIS;
      data.m_Index = iCurrentJoint;
      data.m_Number = 1;
      char str[128];
      strcpy( str, param.c_str() );
      char *s = str;
      double dx = Parse::parseFirstDouble( &s );
      double dy = joint->getAnchor().getY();
      double dz = joint->getAnchor().getZ();
      
      data.m_Position = VecPosition( dx, dy, dz );
    }
    else if( name == "txtJointAxis2Y" )
    {
      data.m_Command = CMD_JOINT_AXIS;
      data.m_Index = iCurrentJoint;
      data.m_Number = 1;
      char str[128];
      strcpy( str, param.c_str() );
      char *s = str;
      double dx = joint->getAnchor().getX();
      double dy = Parse::parseFirstDouble( &s );
      double dz = joint->getAnchor().getZ();
     
      data.m_Position = VecPosition( dx, dy, dz );
    }
    else if( name == "txtJointAxis2Z" )
    {
      data.m_Command = CMD_JOINT_AXIS;
      data.m_Index = iCurrentJoint;
      data.m_Number = 1;
      char str[128];
      strcpy( str, param.c_str() );
      char *s = str;
      double dx = joint->getAnchor().getX();
      double dy = joint->getAnchor().getY();
      double dz = Parse::parseFirstDouble( &s );
     
      data.m_Position = VecPosition( dx, dy, dz );
    }
  }
  else  /// Not a node, not a joint, What may be this widget?!   :-)
  {
    cerr << "OnTextBoxChange: Unknown textbox widget signal: '" << name << "'" << endl;
    return;
  }
  
  UpdateLists( data );
}