editor.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                            *
*                                                                               *
*       Editor.cpp : Robocup Soccer Simulator Developement Team: Zigorat        *
*                                                                               *
*  Date: 07/08/2007                                                             *
*  Author: Mahdi Hamdarsi                                                       *
*  Research Coordinator: Amin Mohammadi                                         *
*  Comments: Generic edit routines like adding node and joint                   *
*                                                                               *
*********************************************************************************
*/

/*! \file Editor.cpp
<pre>
<b>File:</b>          Editor.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>      Generic edit routines like adding node and joint
<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 "Editor.h"
#include "interface.h"
#include "RubySceneGraph.h"
#include "support.h"
#include <gtk/gtk.h>


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

GtkWidget *m_FileOpen = NULL;
GtkWidget *m_FileSave = NULL;


/**
 * JobT is an enumeration to handle different kinds of things that
 * application can do like saving, quiting, opening
 */
enum JobT
{
  JT_ILLEGAL,
  JT_OPEN,
  JT_SAVE,
  JT_NEW,
  JT_QUIT
};

/**
 * Job is a structure to handle different kinds of things that this application does
 */
struct Job
{
  JobT   m_Job;
  string m_FileName;
} e_Job;

/**
 * This method clears information window of the properties
 */
void ClearGTKWindow()
{
  GtkWidget *temp;
  
  temp = lookup_widget(m_MainWindow, "txtNodeName");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtNodeX");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtNodeY");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtNodeZ");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtNodeLength");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtNodeWidth");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtNodeHeight");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtNodeParent");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );

  temp = lookup_widget(m_MainWindow, "txtNodeMass");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );

 temp = lookup_widget(m_MainWindow, "txtJointParent");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointChild");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointAnchorX");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointAnchorY");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointAnchorZ");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointMotor1");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointMotor2");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointPerceptor");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointEffector");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );

  temp = lookup_widget(m_MainWindow, "txtJointAxis1X");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointAxis1Y");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointAxis1Z");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointAxis2X");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointAxis2Y");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
  
  temp = lookup_widget(m_MainWindow, "txtJointAxis2Z");
  if( temp )
    gtk_entry_set_text(GTK_ENTRY(temp), "" );
}

/**
 * This method updates treeview of nodes and joints to reflect the changes done internal
 * @param message Message to update scene graph with
 */
void UpdateLists( TMessage message )
{
  if( message.m_Command != CMD_ILLEGAL && !RubySceneGraph->respondToCommand( message ) )
    cerr << "UpdateLists: Scene update failed" << endl;

  ClearGTKWindow();

  UpdateNodesTree();
  UpdateJointsList();
}

/**
 * This method returns a string known by gtk internals from the values given
 * @param value Value to change to gtk string
 * @return String that can be used in gtk framework
 */
gchar * getGtkString( double value )
{
  char str[128];
  sprintf( str, "%2.3f", value );
  return g_strdup( str );
}

/**
 * This method returns a string known by gtk internals from the values given
 * @param value Value to change to gtk string
 * @return String that can be used in gtk framework
 */
gchar * getGtkString( string value )
{
  return g_strdup( value.c_str() );
}

/**
 * This method checks for scene changes and prompts user to save scene if changed
 * @return indicates that scene has been changed or not
 */
bool SceneChanged()
{
  if( !RubySceneGraph->changed() )
    return false;

  m_SaveDialog = create_dlgSaveChanges();
  gtk_widget_show( m_SaveDialog );
  return true;
}

/**
 * This method resumes what was going to be done
 */
void ResumeJob()
{
  g_signal_emit_by_name( m_MyEventHandlerButton, "clicked", NULL );
}


/**
 * This method resumes what was going to be done for scene, wheather
 * it was a new action or an open or save action.
 * @param button Button that emitted this signal
 * @param user_data Data associated with this signal
 */
void onMyEvent(GtkButton *button, gpointer user_data)
{
  if( e_Job.m_Job == JT_ILLEGAL )
    return;

  TMessage msg;
  if( e_Job.m_Job == JT_OPEN )
  {
    RubySceneGraph->LoadScene( e_Job.m_FileName.c_str() );
    UpdateLists( msg );
  }
  else if( e_Job.m_Job == JT_SAVE )
  {
    RubySceneGraph->SaveScene( e_Job.m_FileName.c_str() );
    UpdateLists( msg );
  }
  else if( e_Job.m_Job == JT_NEW )
  {
    RubySceneGraph->clearScene();
    UpdateLists( msg );
  }
  else if( e_Job.m_Job == JT_QUIT )
    gtk_main_quit();
}

/**
 * This method opens a file chosen with the opendialog
 * @param button Button which is pressed
 * @param user_data Data associated with button
 */
void OpenFile(GtkButton *button, gpointer user_data)
{
  e_Job.m_FileName = gtk_file_selection_get_filename(GTK_FILE_SELECTION(m_FileOpen) );
  e_Job.m_Job = JT_OPEN;

  if( !SceneChanged() )
    ResumeJob();

  gtk_widget_destroy( m_FileOpen );
}

/**
 * This method saves a file chosen with the savedialog
 * @param button Button which is pressed
 * @param user_data Data associated with button
 */
void SaveFile()
{
  if( RubySceneGraph->getSceneName() == "" )
  {
    ShowFileSaveAs();
    return;
  }

  e_Job.m_FileName = RubySceneGraph->getSceneName();
  e_Job.m_Job = JT_SAVE;
  ResumeJob();
}

/**
 * This method saves a file chosen with the savedialog
 * @param button Button which is pressed
 * @param user_data Data associated with button
 */
void SaveFileAs(GtkButton *button, gpointer user_data)
{
  e_Job.m_FileName = gtk_file_selection_get_filename(GTK_FILE_SELECTION(m_FileSave) );
  e_Job.m_Job = JT_SAVE;

  ResumeJob();

  gtk_widget_destroy( m_FileSave );
}

/**
 * This method cancels the fileopen dialog
 * @param button Button which is pressed
 * @param user_data Data associated with button
 */
void CancelFileOpen(GtkButton *button, gpointer user_data)
{
  gtk_widget_destroy( m_FileOpen );
}

/**
 * This method cancels the filesave dialog
 * @param button Button which is pressed
 * @param user_data Data associated with button
 */
void CancelFileSave(GtkButton *button, gpointer user_data)
{
  gtk_widget_destroy( m_FileSave );
}

/**
 * This method show a fileopen dialog on screen to choose a scene
 */
void ShowFileOpen()
{
  m_FileOpen = gtk_file_selection_new("select scene to load");
  g_signal_connect (G_OBJECT (GTK_FILE_SELECTION(m_FileOpen)->ok_button), "clicked",
                               G_CALLBACK(OpenFile), (gpointer)m_FileOpen);
  g_signal_connect_swapped (G_OBJECT (GTK_FILE_SELECTION(m_FileOpen)->cancel_button), "clicked",
                               G_CALLBACK(CancelFileOpen), G_OBJECT(m_FileOpen));

  gtk_file_selection_set_filename(GTK_FILE_SELECTION(m_FileOpen), "*.rsg");
  gtk_widget_show(m_FileOpen);
}

/**
 * This method show a fileopen dialog on screen to choose a scene
 */
void ShowFileSaveAs()
{
  m_FileSave = gtk_file_selection_new("select scene name to save");
  g_signal_connect (G_OBJECT (GTK_FILE_SELECTION(m_FileSave)->ok_button), "clicked",
                               G_CALLBACK(SaveFileAs), (gpointer)m_FileSave);
  g_signal_connect_swapped(G_OBJECT(GTK_FILE_SELECTION(m_FileSave)->cancel_button), "clicked",
                               G_CALLBACK(CancelFileSave), G_OBJECT(m_FileSave));

  gtk_file_selection_set_filename(GTK_FILE_SELECTION(m_FileSave), "*.rsg");
  gtk_widget_show(m_FileSave);
}

/**
 * This method is called when 'no' button is clicked on checkscene dialog
 */
void onSaveNoClicked()
{
  gtk_widget_destroy( m_SaveDialog );
  ResumeJob();
}

/**
 * This method is called when 'yes' button is clicked on checkscene dialog
 */
void onSaveYesClicked()
{
  gtk_widget_destroy( m_SaveDialog );
  Job t_Job = e_Job;

  SaveFile();

  e_Job = t_Job;
  ResumeJob();
}

/**
 * This method is called whenever menu "open project" or "toolOpenProject" is clicked
 */
void CreateNewProject()
{
  e_Job.m_FileName = "";
  e_Job.m_Job = JT_NEW;

  if( !SceneChanged() )
    ResumeJob();
}

/**
 * This method checks for scene changes and prompts to save, then exists application
 */
void Quit()
{
/*  e_Job.m_FileName = "";
  e_Job.m_Job = JT_QUIT;

  if( !SceneChanged() )
    ResumeJob();*/

  gtk_main_quit();
}