int main(int argc, char *argv[])
{
Int4 entries;
FL_IOPT opt;
CheckHost();
/* There is a conflict between forms and xew about the meaning of
the arguments: The "-p" option is taken as "-privat" by
fl_initialize(), forcing a private colourmap. This is what we
want anyway, so ok... :-). We just call GetArgs() first, because
fl_initialize() removes the "-p" from argv[] .... */
GetArgs(argc, argv);
/* Force private colourmap (why do I need opt?) */
fl_set_defaults( FL_PDPrivateMap, &opt );
fl_initialize(&argc, argv, "XEw", NULL, 0);
/* Set up our signal handlers */
signal(SIGINT, SigHandler);
signal(SIGTERM, SigHandler);
create_the_forms();
set_object_defaults();
/* load logo */
fl_set_pixmap_data(img_pxm, xew_logo_xpm);
fl_show_form(xew_mainf,FL_PLACE_MOUSE, FL_FULLBORDER, "xew");
entries = ReadFiles();
FillBrowser( entries );
fl_do_forms();
return EXIT_FAILURE ; /* shouldn't be reached */
}
int mainMhp(int argc, char ** argv) {
#else
int main(int argc, char ** argv) {
#endif
// modif Pepijn apropos dmax and tol
int user_dmax_to_be_set = FALSE; /* Modif. Pepijn on dmax */
double user_dmax = 0.0; /* Modif. Pepijn on dmax */
int user_obj_tol_to_be_set = FALSE; /* Modif. Carl on tolerance */
double user_obj_tol = 0.0;
// end modif Pepijn
double user_volume, user_size; /* Modif. Carl on volume */
#ifndef BIO
const char *file;
#endif
char file_directory[200];
char filename[200];
char scenario[200];
char dlrReadFile[200];
char dlrSaveFile[200];
int i = 0;
/* carl: */
int seed_set = FALSE;
int dir_set = FALSE;
int file_set = FALSE;
int scenario_set = FALSE;
int col_det_set = FALSE;
int col_mode_to_be_set = p3d_col_mode_kcd; /* Nic p3d_col_mode_v_collide;*/
int ccntrt_active = TRUE;
// Tests
int manip_test_run = FALSE;
int manip_test_id = 0;
// init English C
if (! setlocale(LC_ALL, "C"))
fprintf(stderr, "There was an error while setting the locale to \"C\"\n");
int grid_set = FALSE;
std::string grid_path;
// modif Brice SALVA
#ifdef BIO
int usrAnswer = FALSE;
file_name_list* file_list = NULL;
char name[PSF_MAX_NAME_LENGTH];
int is_p3d = FALSE;
#endif
if (! setlocale(LC_ALL, "C")) fprintf(stderr, "There was an error while setting the locale to \"C\"\n");
// End modif Brice SALVA
/* lecture des arguments */
/* carl: */
i = 1;
while (i < argc) {
if (strcmp(argv[i], "-debug") == 0) {
basic_alloc_debugon();
i++;
} else if (strcmp(argv[i], "-d") == 0) {
++i;
if ((i < argc)) {
strcpy(file_directory, argv[i]);
dir_set = TRUE;
++i;
} else {
use();
return 0;
}
} else if (strcmp(argv[i], "-f") == 0) {
++i;
if ((i < argc)) {
strcpy(filename, argv[i]);
file_set = TRUE;
++i;
} else {
use();
return 0;
}
} else if (strcmp(argv[i], "-sc") == 0) {
++i;
if ((i < argc)) {
strcpy(scenario, argv[i]);
scenario_set = TRUE;
++i;
} else {
use();
return 0;
}
}
#ifdef P3D_COLLISION_CHECKING
else if (strcmp(argv[i], "-o") == 0) {
set_collision_by_object(FALSE);
++i;
} else if (strcmp(argv[i], "-x") == 0) {
FILTER_TO_BE_SET_ACTIVE = TRUE;
++i;
} else if (strcmp(argv[i], "-nkcdd") == 0) {
set_return_kcd_distance_estimate(FALSE);
++i;
}
#endif
else if (strcmp(argv[i], "-s") == 0) {
++i;
if ((i < argc)) {
p3d_init_random_seed(atoi(argv[i]));
seed_set = TRUE;
++i;
} else {
use();
return 0;
}
} else if (strcmp(argv[i], "-v") == 0) {
++i;
if (i < argc) {
user_size = atof(argv[i]);
user_volume = user_size * user_size * user_size;
#ifdef P3D_COLLISION_CHECKING
kcd_set_user_defined_small_volume(user_volume);
#endif
++i;
} else {
use();
return 0;
}
} else if (strcmp(argv[i], "-vol") == 0) {
++i;
if (i < argc) {
#ifdef P3D_COLLISION_CHECKING
kcd_set_user_defined_small_volume(atof(argv[i]));
#endif
++i;
} else {
use();
return 0;
}
} else if (strcmp(argv[i], "-tol") == 0) {
++i;
if (i < argc) {
user_obj_tol = atof(argv[i]) ;
user_obj_tol_to_be_set = TRUE;
++i;
} else {
use();
return 0;
}
} else if (strcmp(argv[i], "-dmax") == 0) {
++i;
if (i < argc) {
user_dmax = atof(argv[i]) ;
user_dmax_to_be_set = TRUE;
++i;
} else {
use();
return 0;
}
} else if (strcmp(argv[i], "-stat") == 0) {
++i;
#ifdef P3D_PLANNER
enableStats();
#endif
}
#if defined(HRI_COSTSPACE)// && defined(QT_GL)
// else if (strcmp(argv[i], "-grid") == 0) {
// ++i;
// if ((i < argc)) {
// grid_path = argv[i];
// //printf("Grid is at : %s\n",gridPath.c_str());
// grid_set = TRUE;
// ++i;
// } else {
// use();
// return 0;
// }
// }
#endif
else if (strcmp(argv[i], "-udp") == 0) {
}
#ifdef LIGHT_PLANNER
else if (strcmp(argv[i], "-no-ccntrt") == 0) {
printf("Deactivate ccntrt at startup\n");
ccntrt_active = FALSE;
++i;
}
#if defined( MULTILOCALPATH ) && defined( GRASP_PLANNING )
else if (strcmp(argv[i], "-test") == 0) {
++i;
manip_test_run = TRUE;
if (i < argc) {
manip_test_id = atoi(argv[i]) ;
++i;
} else {
manip_test_run = FALSE;
use();
return 0;
}
}
#endif
#endif
else if (strcmp(argv[i], "-udp") == 0) {
std::string serverIp(argv[i+1]);
int port = 0;
sscanf(argv[i+2], "%d", &port);
globalUdpClient = new UdpClient(serverIp, port);
i += 3;
} else if (strcmp(argv[i], "-dlr") == 0) {
strcpy(dlrReadFile, argv[i + 1]);
strcpy(dlrSaveFile, argv[i + 2]);
i += 3;
} else if (strcmp(argv[i], "-c") == 0) {
++i;
if (strcmp(argv[i], "vcollide") == 0) {
col_mode_to_be_set = p3d_col_mode_v_collide;
col_det_set = TRUE;
++i;
}
#ifdef P3D_COLLISION_CHECKING
else if (strcmp(argv[i], "kcd") == 0) {
col_mode_to_be_set = p3d_col_mode_kcd;
set_DO_KCD_GJK(TRUE);
col_det_set = TRUE;
++i;
}
else if (strcmp(argv[i], "pqp") == 0) {
printf("Colmod pqp");
col_mode_to_be_set= p3d_col_mode_pqp;
col_det_set = TRUE;
++i;
}
#endif
else if (strcmp(argv[i], "bio") == 0) {
col_mode_to_be_set = p3d_col_mode_bio;
col_det_set = TRUE;
++i;
} else if (strcmp(argv[i], "kng") == 0) {
col_mode_to_be_set = p3d_col_mode_kcd;
#ifdef P3D_COLLISION_CHECKING
set_DO_KCD_GJK(FALSE);
#endif
col_det_set = TRUE;
++i;
} else if (strcmp(argv[i], "gjk") == 0) {
col_mode_to_be_set = p3d_col_mode_gjk;
col_det_set = TRUE;
++i;
} else if (strcmp(argv[i], "none") == 0) {
col_mode_to_be_set = p3d_col_mode_none;
col_det_set = TRUE;
++i;
} else {
use();
return 0;
}
} else {
use();
return 0;
}
}
if (!dir_set)
strcpy(file_directory, "../../demo");
if (!seed_set)
p3d_init_random();
if (!col_det_set){
// modif Juan
//check that the HOME_MOVE3D environment variable exists:
if(getenv("HOME_MOVE3D")==NULL) {
printf("%s: %d: main(): The environment variable \"HOME_MOVE3D\" is not defined. This might cause some problems or crashes (e.g. with video capture).\n", __FILE__,__LINE__);
}
#ifdef GRASP_PLANNING
col_mode_to_be_set= p3d_col_mode_pqp;
#else
col_mode_to_be_set = p3d_col_mode_kcd;
#endif
}
#ifdef P3D_COLLISION_CHECKING
if (col_mode_to_be_set != p3d_col_mode_v_collide)
set_collision_by_object(FALSE);
/* : carl */
if (col_mode_to_be_set == p3d_col_mode_v_collide) {
p3d_filter_switch_filter_mechanism(FILTER_TO_BE_SET_ACTIVE);
}
/* begin added KCD FILTER */
else if (col_mode_to_be_set == p3d_col_mode_kcd) {
p3d_filter_switch_filter_mechanism(FILTER_TO_BE_SET_ACTIVE);
}
#endif
/* end added KCD FILTER */
/* lecture du fichier environnement */
p3d_set_directory(file_directory);
int fontsize = 8;
FL_IOPT fl_cntl;
fl_cntl.buttonFontSize = fontsize;
fl_set_defaults(FL_PDButtonFontSize, &fl_cntl);
fl_cntl.menuFontSize = fontsize;
fl_set_defaults(FL_PDMenuFontSize, &fl_cntl);
fl_cntl.choiceFontSize = fontsize;
fl_set_defaults(FL_PDChoiceFontSize, &fl_cntl);
fl_cntl.browserFontSize = fontsize;
fl_set_defaults(FL_PDBrowserFontSize, &fl_cntl);
fl_cntl.inputFontSize = fontsize;
fl_set_defaults(FL_PDInputFontSize, &fl_cntl);
fl_cntl.labelFontSize = fontsize;
fl_set_defaults(FL_PDLabelFontSize, &fl_cntl);
fl_initialize(&argc, argv, "FormDemo", 0, 0);
fl_set_border_width(1);
#if defined( USE_GLUT ) && !defined( QT_GL_WIDGET )
GlutWindowDisplay glut_win(argc,argv);
#endif
// init English C
if (! setlocale(LC_ALL, "C"))
fprintf(stderr, "There was an error while setting the locale to \"C\"\n");
while (!p3d_get_desc_number(P3D_ENV)) {
#ifdef BIO
if (file_set == TRUE) {
// if (!filename) {
// exit(0);
// }
p3d_col_set_mode(col_mode_to_be_set);
p3d_BB_set_mode_close();
if (!p3d_read_desc(filename)) {
#ifdef MOVE3D_XFORMS
if (fl_show_question("ENV file not found! Exit?\n", 1)) {
exit(0);
} else {
file_set = FALSE;
}
#else
file_set = FALSE;
#endif
}
}
if (file_set == FALSE) {
#ifdef MOVE3D_XFORMS
// Modif Brice SALVA
file_list = init_file_name_list();
create_file_selector_Form();
usrAnswer = do_file_selector_Form(file_directory, file_list, name, PSF_MAX_NAME_LENGTH - 1, &is_p3d);
if (usrAnswer) {
if (is_p3d) {
// only one file
p3d_read_desc((char*)file_list->name_list[0]);
} else {
if (!psf_make_p3d_from_multiple_pdb(file_list, name)) {
fl_show_alert("Can't perform PDB to P3D traduction", "", "", 1);
free_file_name_list(file_list);
file_list = NULL;
exit(0);
}
}
} else {
free_file_name_list(file_list);
file_list = NULL;
exit(0);
}
free_file_name_list(file_list);
file_list = NULL;
#else
printf("Error : give a p3d filename as argument, or use the XFORMS module.\n");
exit(0);
#endif
}
#else
if (file_set == TRUE) {
file = filename;
} else {
#ifdef MOVE3D_XFORMS
file = fl_show_fselector("P3D_ENV filename", file_directory, "*.p3d", "");
#endif
}
if (!file) {
exit(0);
}
#ifdef P3D_COLLISION_CHECKING
p3d_col_set_mode(p3d_col_mode_none);
p3d_BB_set_mode_close();
#endif
printf("\n");
printf(" ----------------------------\n");
printf(" -- p3d file parsing start --\n");
printf(" ----------------------------\n");
printf("\n");
p3d_read_desc((char *) file);
#endif
if (!p3d_get_desc_number(P3D_ENV)) {
printf("loading done...\n");
#ifdef MOVE3D_XFORMS
if (fl_show_question("Can't read a P3D_ENV from this file! Exit?\n", 1)) {
exit(0);
}
#endif
}
}
printf("\n");
printf(" ----------------------------\n");
printf(" -- p3d file parsing done --\n");
printf(" ----------------------------\n");
printf("\n");
MY_ALLOC_INFO("After p3d_read_desc");
printf("Nb poly : %d\n", p3d_poly_get_nb());
/* for start-up with currently chosen collision detector: */
/* MY_ALLOC_INFO("Before initialization of a collision detector"); */
#ifdef P3D_COLLISION_CHECKING
p3d_col_set_mode(col_mode_to_be_set);
p3d_col_start(col_mode_to_be_set);
#endif
/* modif Pepijn april 2001
* this changes have to be made after the initialistion of the collision checker
* because in p3d_col_start KCD migth be initialised, and during this initialisation
* there is automaticly calculated a dmax
* So if the user wants to set his own dmax this most be done after this initialisation
* INTERNAL NOTE: in this case the users are the developpers of MOVE3D, normally the clients
* who purchase Move3d don't know that this option exists
*/
if (user_dmax_to_be_set) {
if (user_dmax < EPS4) {
printf("WARNING: User chose dmax too small --> new value set to 0.0001 (EPS4)\n");
user_dmax = EPS4;
}
p3d_set_env_dmax(user_dmax);
}
if (user_obj_tol_to_be_set) {
if (user_obj_tol < 0.0) {
printf("WARNING: Negative tolerance, tolerance is set to 0.0\n");
user_obj_tol = 0.0;
}
p3d_set_env_object_tolerance(user_obj_tol);
}
printf("Env dmax = %f\n",p3d_get_env_dmax());
printf("Env Object tol = %f\n",p3d_get_env_object_tolerance());
/* always set tolerance even if the user didn't specify any options
* it's possible that Kcd has calculated automaticly a dmax
*/
/* Normally p3d_col_set_tolerance(); is called when initialising
* the sliders, in case the sliders are not used we have to use
* p3d_col_set_tolerance()
*/
printf("MAX_DDLS %d\n", MAX_DDLS);
// modif Juan
#ifdef BIO
if (col_mode_to_be_set == p3d_col_mode_bio) {
bio_set_num_subrobot_AA();
bio_set_num_subrobot_ligand();
bio_set_bio_jnt_types();
bio_set_bio_jnt_AAnumbers();
bio_set_list_AA_first_jnt();
bio_set_AAtotal_number();
bio_set_nb_flexible_sc();
bio_set_list_firstjnts_flexible_sc();
if (XYZ_ROBOT->num_subrobot_ligand != -1)
bio_set_nb_dof_ligand();
}
#endif
// fmodif Juan
#ifdef P3D_CONSTRAINTS
// Modif Mokhtar Initialisation For Multisolutions constraints
p3d_init_iksol(XYZ_ROBOT->cntrt_manager);
#endif
/* creation du FORM main */
#ifdef MOVE3D_XFORMS
g3d_create_main_form();
#endif
/*
* needs to be run after main form has been created
*/
if (scenario_set == TRUE) {
#ifdef MOVE3D_XFORMS
read_scenario_by_name(scenario);
#else
p3d_rw_scenario_init_name();
p3d_read_scenario(scenario);
#endif
}
//Set the robots to initial Pos if defined
for(i = 0; i < XYZ_ENV->nr; i++){
if(!p3d_isNullConfig(XYZ_ENV->robot[i], XYZ_ENV->robot[i]->ROBOT_POS)){
p3d_set_and_update_this_robot_conf(XYZ_ENV->robot[i], XYZ_ENV->robot[i]->ROBOT_POS);
}
}
//Exection Of Dlr Planner
// do{
// DlrPlanner* planner = new DlrPlanner(dlrSaveFile);
// DlrParser parser(dlrReadFile, planner);
// if(parser.parse()){
// planner->process();
// }else{
// sleep(2);
// }
// free(planner);
// }while(1);
/* go into loop */
#ifdef CXX_PLANNER
global_Project = new Project(new Scene(XYZ_ENV));
#endif
// double c, color[4];
// srand(time(NULL));
// c= rand()/((double)RAND_MAX+1);
// g3d_rgb_from_hue(c, color);
// g3d_set_win_floor_color(g3d_get_cur_win(), color[0], color[1], color[2]);
#ifdef MOVE3D_XFORMS
g3d_set_win_floor_color(g3d_get_cur_states(), 0.5, 1.0, 1.0);
// g3d_set_win_bgcolor(g3d_get_cur_win(), 0.5, 0.6, 1.0);
g3d_set_win_wall_color(g3d_get_cur_states(), 0.4, 0.45, 0.5);
g3d_set_win_bgcolor(g3d_get_cur_states(), XYZ_ENV->background_color[0], XYZ_ENV->background_color[1], XYZ_ENV->background_color[2]);
//p3d_print_env_info();
g3d_loop();
#endif
#if defined( USE_GLUT )
glut_win.initDisplay();
glutMainLoop ();
#endif
#if defined( LIGHT_PLANNER ) && defined( MULTILOCALPATH ) && defined( GRASP_PLANNING ) && !defined( MOVE3D_XFORMS )
printf("Test functions : ManipulationTestFunctions\n");
if (manip_test_run)
{
new qtG3DWindow();
ManipulationTestFunctions tests;
if(!tests.runTest(manip_test_id))
{
std::cout << "ManipulationTestFunctions::Fail" << std::endl;
}
}
#endif
printf("End Move3d\n");
return 0;
}