/*!*****************************************************************************
*******************************************************************************
\note init_user_openGL
\date July 1998
\remarks
initializes everything needed for the graphics for this simulation
*******************************************************************************
Function Parameters: [in]=input,[out]=output
\param[in] argc : number of elements in argv
\param[in] argv : array of argc character strings
******************************************************************************/
int
init_user_openGL(int argc, char** argv)
{
int i,j,n;
int rc;
int ans;
// we need the kinematics initialized
init_kinematics();
// read objects
readObjects(config_files[OBJECTS]);
// assign contact force mappings
#include "LEKin_contact.h"
// create simulation windows
if (!createWindows())
return FALSE;
// user graphics
addToUserGraphics("phantom","Display a phantom robot",
displayPhantom,(N_CART+N_QUAT+n_dofs)*sizeof(float));
addToMan("comsDisplay","toggle drawing COMs per link",toggleCOMsDisplay);
return TRUE;
}
void initGui(ProgramData *programData, Context*** context) {
guiDataChanged = 0;
guiProgramData = programData;
guiContext = context;
cbreak();
noecho();
curs_set(0);
keypad(stdscr, TRUE);
createWindows();
createMenus();
refresh();
touchwin(mainMenuWin);
touchwin(dataWinBox);
touchwin(dataWin);
touchwin(sflResultWin);
touchwin(opmodeMenuWin);
touchwin(spectraMenuWin);
touchwin(spectraOpMenuWin);
touchwin(sflCoeffMenuWin);
touchwin(invariantTypesMenuWin);
touchwin(invariantsMenuWinScr);
touchwin(invariantsMenuWinRng);
touchwin(invariantsMenuWinBmsk);
touchwin(textMin);
touchwin(textMax);
touchwin(textFirst);
touchwin(textMask);
wrefresh(mainMenuWin);
wrefresh(dataWinBox);
wrefresh(dataWin);
wrefresh(sflResultWin);
wrefresh(opmodeMenuWin);
wrefresh(spectraMenuWin);
wrefresh(spectraOpMenuWin);
wrefresh(sflCoeffMenuWin);
wrefresh(invariantTypesMenuWin);
wrefresh(invariantsMenuWinScr);
wrefresh(invariantsMenuWinRng);
wrefresh(invariantsMenuWinBmsk);
mvprintw(0,0, " Software Analyzer v%d.%d.%d", VERSION_MAJOR, VERSION_MINOR, VERSION_REVISION);
mvprintw(1,0, " Delft University of Technology");
guiState = GUI_STATE_MAIN;
}
/*!
*/
DebugMessageWindow::DebugMessageWindow( QWidget * parent,
MainData & main_data )
: QMainWindow( parent )
, M_main_data( main_data )
{
this->setWindowTitle( tr( "Debug Message" ) );
int i = -1;
M_debug_text[++i] = tr( "System" );
M_debug_text[++i] = tr( "Sensor" );
M_debug_text[++i] = tr( "WM" );
M_debug_text[++i] = tr( "Action" );
M_debug_text[++i] = tr( "Intercept" );
M_debug_text[++i] = tr( "Kick" );
M_debug_text[++i] = tr( "Hold" );
M_debug_text[++i] = tr( "Dribble" );
M_debug_text[++i] = tr( "Pass" );
M_debug_text[++i] = tr( "Cross" );
M_debug_text[++i] = tr( "Shoot" );
M_debug_text[++i] = tr( "Clear" );
M_debug_text[++i] = tr( "Block" );
M_debug_text[++i] = tr( "Mark" );
M_debug_text[++i] = tr( "Position" );
M_debug_text[++i] = tr( "Role" );
M_debug_text[++i] = tr( "Plan" );
M_debug_text[++i] = tr( "Team" );
M_debug_text[++i] = tr( "Comm" );
M_debug_text[++i] = tr( "Analyzer" );
M_debug_text[++i] = tr( "ActChain" );
createActions();
createMenus();
createWindows();
readSettings();
this->resize( 800, 800 );
#ifndef Q_WS_MAC
this->setWindowFlags( this->windowFlags() | Qt::WindowStaysOnTopHint );
#endif
}
void VCSQtManager::createCanvases() {
#ifndef __APPLE__
if (VCSQtManager::app()==NULL) {
static char *argv[] = {"qpython"};
VCSSecondaryThread *thrd = new VCSSecondaryThread(1, argv);
thrd->start();
}
#endif
if (VCSQtManager::owningApp()) {
VCSQtManager::sendEvent(VCSQtManager::app(),
new QDeferredExecutionEvent((void*)createWindows));
}
else {
// We are not owning the main app, so create the windows and move
// them to the main thread
createWindows();
for (size_t i=0; i<sizeof(pMainWindows)/sizeof(MainWindow*); i++)
pMainWindows[i]->moveToThread(VCSQtManager::app()->thread());
}
}
/*!*****************************************************************************
*******************************************************************************
\note initSimulation
\date July 1998
\remarks
initializes everything needed for the simulation.
*******************************************************************************
Function Parameters: [in]=input,[out]=output
\param[in] argc : number of elements in argv
\param[in] argv : array of argc character strings
******************************************************************************/
int
initSimulation(int argc, char** argv)
{
int i,j,n;
int rc;
int ans;
/* initialize the servos */
init_task_servo(); /* the first servo sets the sampling
rate in collect data */
read_whichDOFs("task_sim_servo");
init_motor_servo();
read_whichDOFs("motor_sim_servo");
init_vision_servo();
read_whichDOFs("vision_sim_servo");
init_invdyn_servo();
read_whichDOFs("invdyn_sim_servo");
/* we need the dynamics initalized */
init_dynamics();
/* user specific tasks */
initUserTasks();
/* create simulation windows */
if (!createWindows())
return FALSE;
/* reset motor_servo variables */
servo_enabled = 1;
motor_servo_calls = 0;
servo_time = 0;
motor_servo_rate = SERVO_BASE_RATE;
zero_integrator();
bzero((char *)&(joint_sim_state[1]),sizeof(SL_DJstate)*N_DOFS);
for (i=1; i<=N_DOFS; ++i) {
joint_sim_state[i].th = joint_default_state[i].th;
joint_des_state[i].th = joint_default_state[i].th;
}
/* reset task_servo variables */
servo_enabled = 1;
task_servo_calls = 0;
task_servo_time = 0;
task_servo_errors = 0;
task_servo_rate = SERVO_BASE_RATE/(double) task_servo_ratio;
setTaskByName(NO_TASK);
setDefaultPosture();
changeCollectFreq(task_servo_rate);
/* reset vision servo variables */
servo_enabled = 1;
vision_servo_calls = 0;
vision_servo_time = 0;
vision_servo_errors = 0;
vision_servo_rate = VISION_SERVO_RATE;
/* initialize all vision variables to safe values */
init_vision_states();
init_learning();
/* reset the invdyn servo variables */
servo_enabled = 1;
invdyn_servo_errors = 0;
invdyn_lookup_data = 0;
invdyn_learning_data = 0;
/* initalize objects in the environment */
readObjects();
/* assign contact force mappings */
#include "LEKin_contact.h"
initContacts();
return TRUE;
}
void DemoKeeper::notifyEventAction(MainPanel::TypeEvents _action, size_t _index)
{
if (_action == MainPanel::EventQuit)
{
quit();
}
else if (_action == MainPanel::EventNew)
{
removeRenderBoxes();
destroyWindows();
mEditorWindow->clearView();
}
else if (_action == MainPanel::EventLoad)
{
createWindows();
}
else if (_action == MainPanel::EventCreate)
{
MyGUI::Widget* view = mEditorWindow->getView();
const MyGUI::IntCoord& coord = view->getClientCoord();
if (_index == 0)
{
const MyGUI::IntSize size(80, 80);
MyGUI::Window* window = view->createWidget<MyGUI::Window>(MyGUI::WidgetStyle::Overlapped, "WindowCS", MyGUI::IntCoord(getRand(0, coord.width - size.width), getRand(0, coord.height - size.height), size.width, size.height), MyGUI::Align::Default);
window->setCaption("Frame");
window->setMinSize(size);
}
else if (_index == 1)
{
const MyGUI::IntSize size(180, 15);
MyGUI::ScrollBar* scroll = view->createWidget<MyGUI::ScrollBar>("ScrollBarH", MyGUI::IntCoord(getRand(0, coord.width - size.width), getRand(0, coord.height - size.height), size.width, size.height), MyGUI::Align::Default);
scroll->setScrollRange(200);
scroll->setScrollPosition(10);
scroll->setScrollPage(1);
scroll->setScrollViewPage(20);
}
else if (_index == 2)
{
const MyGUI::IntSize size(15, 180);
MyGUI::ScrollBar* scroll = view->createWidget<MyGUI::ScrollBar>("ScrollBarV", MyGUI::IntCoord(getRand(0, coord.width - size.width), getRand(0, coord.height - size.height), size.width, size.height), MyGUI::Align::Default);
scroll->setScrollRange(200);
scroll->setScrollPosition(10);
scroll->setScrollPage(1);
scroll->setScrollViewPage(20);
}
else if (_index == 3)
{
const MyGUI::IntSize size(80, 26);
MyGUI::TextBox* text = view->createWidget<MyGUI::TextBox>("TextBox", MyGUI::IntCoord(getRand(0, coord.width - size.width), getRand(0, coord.height - size.height), size.width, size.height), MyGUI::Align::Default);
text->setCaption("TextBox");
}
else if (_index == 4)
{
const MyGUI::IntSize size(50, 50);
MyGUI::ImageBox* image = view->createWidget<MyGUI::ImageBox>("ImageBox", MyGUI::IntCoord(getRand(0, coord.width - size.width), getRand(0, coord.height - size.height), size.width, size.height), MyGUI::Align::Default);
image->setImageTexture("HelpIcon.png");
}
else if (_index == 5)
{
const MyGUI::IntSize size(150, 150);
MyGUI::Window* window = view->createWidget<MyGUI::Window>(MyGUI::WidgetStyle::Overlapped, "WindowC", MyGUI::IntCoord(getRand(0, coord.width - size.width), getRand(0, coord.height - size.height), size.width, size.height), MyGUI::Align::Default);
window->setCaption("Render");
MyGUI::Canvas* canvas = window->createWidget<MyGUI::Canvas>("Canvas", MyGUI::IntCoord(0, 0, window->getClientCoord().width, window->getClientCoord().height), MyGUI::Align::Stretch);
createRenderBox(canvas);
}
}
}
