void CAnimMixer::getElemRect(sInt elemIndex, RECT& rc) const
{
frAnimationClip::element& elem = m_thisClip->m_elements[elemIndex];
elem.updateLen();
rc.left = mapTime(elem.relStart);
rc.right = mapTime(elem.relStart + elem.len);
rc.top = elem.trackID * 22 + 46;
rc.bottom = (elem.trackID + 1) * 22 + 46;
}
void HectorMappingRos::publishMapLoop(double map_pub_period)
{
ros::Rate r(1.0 / map_pub_period);
while(ros::ok())
{
//ros::WallTime t1 = ros::WallTime::now();
ros::Time mapTime (ros::Time::now());
//publishMap(mapPubContainer[2],slamProcessor->getGridMap(2), mapTime);
//publishMap(mapPubContainer[1],slamProcessor->getGridMap(1), mapTime);
//if(p_update_given_map_ || first_Time){
publishMap(mapPubContainer[0],slamProcessor->getGridMap(0), mapTime, slamProcessor->getMapMutex(0));
//first_Time = false;
//}
//ros::WallDuration t2 = ros::WallTime::now() - t1;
//std::cout << "time s: " << t2.toSec();
//ROS_INFO("HectorSM ms: %4.2f", t2.toSec()*1000.0f);
r.sleep();
}
}
LRESULT CAnimMixer::OnFrameChanged(UINT uMsg, WPARAM wParam, LPARAM lParam, BOOL& bHandled)
{
if (m_flags & 8) // follow mode
{
RECT rc;
sInt mapped = mapTime(m_curFrame);
GetClientRect(&rc);
if (mapped >= rc.right * 7 / 8) // need to scroll right
processScroll(mapped - rc.right / 8, sTRUE);
else if (mapped < 0) // need to scroll left
processScroll(mapped - rc.right * 7 / 8, sTRUE);
}
m_curFrame = lParam;
drawBar();
return 0;
}
void CAnimMixer::drawBar(sInt mode)
{
CDCHandle dc = GetDC();
CPen timePen;
timePen.CreatePen(PS_SOLID, 3, RGB(255, 0, 0)^RGB(128, 128, 128));
CPenHandle oldPen = dc.SelectPen(timePen);
int op = dc.SetROP2(R2_XORPEN);
CRect rc;
GetClientRect(&rc);
rc.left += 4;
rc.top += 45;
rc.right -= 4;
if (mode != 2)
{
if (m_timeBarPos != -0x7fffffff)
{
dc.MoveTo(m_timeBarPos, rc.bottom - 1);
dc.LineTo(m_timeBarPos, rc.top + 1);
m_timeBarPos = -0x7fffffff;
}
}
if (mode != 1)
{
m_timeBarPos = mapTime(m_curFrame);
dc.MoveTo(m_timeBarPos, rc.bottom - 1);
dc.LineTo(m_timeBarPos, rc.top + 1);
}
dc.SelectPen(oldPen);
dc.SetROP2(op);
ReleaseDC(dc);
}
LRESULT CAnimMixer::OnEraseBackground(UINT uMsg, WPARAM wParam, LPARAM lParam, BOOL& bHandled)
{
drawBar(1);
CDCHandle dc = (HDC) wParam;
// prepare...
CRect rc;
GetClientRect(&rc);
CFontHandle oldFont = dc.SelectFont(AtlGetDefaultGuiFont());
dc.SetTextColor(RGB(0, 0, 0));
dc.SetBkMode(TRANSPARENT);
CPen blackPen;
blackPen.CreatePen(PS_SOLID, 1, RGB(0, 0, 0));
CPenHandle oldPen = dc.SelectPen(blackPen);
// fill background
dc.FillSolidRect(&rc, RGB(174, 169, 167));
// draw tl bar at y 45
dc.MoveTo(mapTime(0), 45);
dc.LineTo(rc.right, 45);
// track grid
CPen pen_grid;
pen_grid.CreatePen(PS_DOT, 1, RGB(174*3/4, 169*3/4, 167*3/4)^RGB(174, 169, 167));
dc.SelectPen(pen_grid);
dc.SetROP2(R2_XORPEN);
dc.SetBkColor(RGB(0, 0, 0));
dc.SetBkMode(TRANSPARENT);
for (sInt trackY=46+22; trackY<rc.bottom; trackY+=22)
{
dc.MoveTo(mapTime(0), trackY);
dc.LineTo(rc.right, trackY);
}
// bar marks
dc.SetROP2(R2_COPYPEN);
dc.SelectPen(blackPen);
const sF32 xstep = 60000.0f / g_graph->m_bpmRate;
const sF32 ixstep = g_graph->m_bpmRate / (60000.0f * m_frameStep);
const sInt xms = (m_startPixel) * ixstep;
const sInt xme = (m_startPixel + rc.right) * ixstep;
LOGFONT lf;
((CFontHandle) AtlGetDefaultGuiFont()).GetLogFont(lf);
if (lf.lfHeight<0)
lf.lfHeight=MulDiv(-lf.lfHeight, dc.GetDeviceCaps(LOGPIXELSY), 72);
for (sInt i=fr::maximum(xms-1,0); i<=xme+1; i++)
{
const sInt xpos=mapTime(i*xstep);
const sInt beat=i&3;
dc.MoveTo(xpos, 45);
dc.LineTo(xpos, 37-(beat==0)*2);
TCHAR buf[32];
sprintf(buf, "%d.%d", i/4, beat);
dc.SetTextAlign(TA_BOTTOM|(i?TA_CENTER:TA_LEFT));
dc.TextOut(xpos, 35, buf);
if (!beat)
{
dc.MoveTo(xpos, rc.bottom);
dc.LineTo(xpos, 45);
}
}
dc.SelectPen(oldPen);
dc.SelectFont(oldFont);
return 1;
}