void prev_thread(Node *root){
if (root != NULL){
if (root->left->child == NULL){
root->left->child = prev;
root->left->tag = LINK;
}
if (prev != NULL && prev->right->child == NULL){
prev->right->child = root;
prev->right->tag = LINK;
}
prev = root;
if (root->left->tag == CHILD)
prev_thread(root->left->child);
if (root->right->tag == CHILD)
prev_thread(root->right->child);
}
}
void processNormalKeys(unsigned char key, int x, int y)
{
if (key == 't') {
key_pressed = MOVETAN;
}
else if (key == 'm') {
key_pressed = MOVEPOS;
}
else if (key == 'r') {
key_pressed = ROTATETAN;
}
else if (key == 'n') {
next_thread();
} else if (key == 'b') {
prev_thread();
} else if (key == 'v') {
findThreadInIms();
glutPostRedisplay();
} else if (key == 'z') {
/* Step */
if (thread_vision.hasInit) {
if (!thread_vision.isDone()) {
thread_vision.generateNextSetOfHypoths();
showThread(thread_vision.curr_thread());
}
else {
cout << "Search already finished" << endl;
}
}
else {
// Taken from start of findThreadInIms();
thread_vision_searched = true;
thread_vision.set_max_length(MAX_LENGTH_VIS);
thread_vision.clear_display();
updateIms(_start_pt, _start_tan, _end_pt, _end_tan);
thread_vision.clearStartData();
thread_vision.addStartData(_start_pt, _start_tan);
thread_vision.initThreadSearch();
//cout << "Thread Vision not initialized. Press 'v' to init" << endl;
}
} else if (key == 'q') {
cout << "Flip to prev hypoth" << endl;
thread_vision.prev_hypoth();
showThread(thread_vision.curr_thread());
} else if (key == 'w') {
cout << "Flip to next hypoth" << endl;
thread_vision.next_hypoth();
showThread(thread_vision.curr_thread());
} else if (key == '1' && key <= '1' + NUM_THREADS_DISPLAY)
{
show_threads[((int)key-'1')] = !show_threads[((int)key-'1')];
// } else if (key == 's') {
// /* Save current trajectory */
// cout << "Saving...\n";
// cout << "Please enter destination file name (without extension): ";
// char *dstFileName = new char[256];
// cin >> dstFileName;
// char *fullPath = new char[256];
// sprintf(fullPath, "%s%s", "saved_threads/", dstFileName);
//
// traj_recorder.setFileName(fullPath);
//
// Thread *newThread = glThreads[currentThread]->getThread();
// Thread copiedThread(*newThread);
// traj_recorder.add_thread_to_list(copiedThread);
// traj_recorder.write_threads_to_file();
}
/* Run through all threads, generate guess, save image in test_images */
else if (key == 'p')
{
thread_ind = -1;
while (true) {
next_thread();
DrawStuff();
cout << endl << "testing thread " << thread_ind << endl << endl;
start_timer();
findThreadInIms();
glutPostRedisplay();
stop_timer();
wait(2);
thread_differences[thread_ind] = thread_difference(glThreads[truthThread]->getThread(), thread_vision.curr_thread());
generation_times[thread_ind] = seconds_elapsed();
printf("thread %2d |\t runtime (s): %05.3f | difference: %05.3f\n", thread_ind, generation_times[thread_ind], thread_differences[thread_ind]);
DrawStuff();
save_opengl_image();
if (thread_ind == NUM_THREADS-1) break;
}
cout << endl << "-------------------" << endl;
cout << "PERFORMANCE SUMMARY" << endl;
cout << "-------------------" << endl;
for (int i = 1; i < NUM_THREADS; i++)
{
printf("thread %2d |\t runtime (s): %05.3f | difference: %05.3f\n", i, generation_times[i], thread_differences[i]);
}
}
else if (key == 27) {
exit(0);
}
lastx_R = x;
lasty_R = y;
}
