void ArmDemoTask::init_demo()
{
set_demo_mode(DEFAULT_MODE);
demoTrajectoryCommand.InitStruct();
demoTrajectoryCommand.Position.Type = Kinova::CARTESIAN_VELOCITY;
set_fingers(demoTrajectoryCommand.Position.Fingers, 0, 0, 0);
numDemoCartesianVelocities = 4;
// must be 12 or less
set_pose(demoCartesianVelocities[0], 0, 0, 5, 0, 0, 0);
set_pose(demoCartesianVelocities[1], 0, -5, -5, 0, 0, 0);
set_pose(demoCartesianVelocities[2], 0, 5, 0, 0, 0, 0);
set_pose(demoCartesianVelocities[3], 0, 0, 0, 0, 0, 0);
demoPositionCommand.InitStruct();
demoPositionCommand.Position.Type = Kinova::CARTESIAN_POSITION;
// must be 12 or less positions
int i = 0;
set_pose(demoCartesianPositions[i++], -0.23, -0.69, 0.08, 1.136, -1.165, 2.445);
set_pose(demoCartesianPositions[i++], -0.23, -0.69, 0.08, 2.954, -0.195, 2.445); // point down
set_pose(demoCartesianPositions[i++], -0.23, -0.69, -0.15, 2.954, -0.195, 2.445); // move down
set_pose(demoCartesianPositions[i++], -0.23, -0.69, 0.08, 2.954, -0.195, 2.445); // back up
//set_pose(demoCartesianPositions[i++], -0.23, -0.69, -0.15, 2.950, -0.195, 2.445);
set_pose(demoCartesianPositions[i++], -0.09, -0.69, 0.07, 2.950, -0.195, 2.445);
set_pose(demoCartesianPositions[i++], -0.03, -0.32, 0.22, 2.950, -0.195, 2.445);
set_pose(demoCartesianPositions[i++], -0.013,-0.53, 0.08, 0.054, -1.355, 0.960);
// set_pose(demoCartesianPositions[i++], -0.013, -0.53, 0.08, 1.855, 1.383, -2.711);
set_pose(demoCartesianPositions[i++], -0.23, -0.69, -0.15, 2.954, -0.195, 2.445); // move down
numDemoCartesianPositions = i;
}
void main_menu()
{
image *Earth=cash.img(earth);
image *Emap=cash.img(earth_mask);
char name[20];
ico_button *buts[MENU_TICONS];
long maxx=0,maxy=0;
int i=0;
for (;i<MENU_TICONS;i++)
{
sprintf(name,"icon%04d.pcx",i*3+1);
menu_icons[i*3]=cash.reg("art/icons.spe",name,SPEC_IMAGE,1);
sprintf(name,"icon%04d.pcx",i*3+2);
menu_icons[i*3+1]=cash.reg("art/icons.spe",name,SPEC_IMAGE,1);
sprintf(name,"icon%04d.pcx",i*3+2);
menu_icons[i*3+2]=cash.reg("art/icons.spe",name,SPEC_IMAGE,1);
long x=WINDOW_FRAME_LEFT+(i%9)*cash.img(menu_icons[0])->width();
long y=WINDOW_FRAME_TOP+(i/9)*cash.img(menu_icons[0])->height();
if (x>maxx) maxx=x;
if (y>maxy) maxy=y;
buts[i]=new ico_button(x,y,menu_icons_ids[i],
menu_icons[i*3],menu_icons[i*3],
menu_icons[i*3+1],menu_icons[i*3+2],NULL);
}
buts[0]->next=buts[1];
int b1,b2,b3,b4;
if (DEFINEDP(symbol_value))
{
if (symbol_value(l_difficulty)==l_extreme)
{ b1=18; b2=10; b3=12; b4=14; }
else if (symbol_value(l_difficulty)==l_hard)
{ b1=14; b2=18; b3=10; b4=12; }
else if (symbol_value(l_difficulty)==l_easy)
{ b1=10; b2=12; b3=14; b4=18; }
else
{ b1=12; b2=14; b3=18; b4=10; }
} else
{ b1=12; b2=14; b3=18; b4=10; }
buts[b1]->next=buts[b2];
buts[b2]->next=buts[b3];
buts[b3]->next=buts[b4];
buts[1]->next=new ico_switch_button(buts[0]->X(),
buts[0]->Y()+cash.img(menu_icons[0])->height()*2,
ID_NULL,
buts[b1],buts[17]);
buts[17]->next=buts[8];
buts[1]->set_xy(buts[0]->X(),
buts[0]->Y()+cash.img(menu_icons[0])->height()*1);
buts[12]->set_xy(buts[0]->X(),
buts[0]->Y()+cash.img(menu_icons[0])->height()*2);
buts[17]->set_xy(buts[0]->X(),
buts[0]->Y()+cash.img(menu_icons[0])->height()*3);
buts[8]->set_xy(buts[0]->X(),
buts[0]->Y()+cash.img(menu_icons[0])->height()*4);
ico_win=eh->new_window(-1,yres/2-80,-1,-1,buts[0],"Menu");
// pmenu *main_pm=new pmenu(0,0,game_sub,screen,eh);
time_marker old_time;
screen->add_dirty(0,0,319,199);
// create sphere map
mask_line *p=make_mask_lines(Emap,Earth->width());
int eoff=0,coff=0;
event ev;
// main_pm->draw(screen,eh,1);
long x=84,y=60;
Cell *v=find_symbol("earth_x");
if (v && DEFINEDP(v)) x=lnumber_value(symbol_value(v));
v=find_symbol("earth_y");
if (v && DEFINEDP(v)) y=lnumber_value(symbol_value(v));
int state=0,stop_menu=0;
time_marker start;
do
{
time_marker new_time;
if (state || new_time.diff_time(&old_time)>0.15)
{
old_time.get_time();
scan_map(screen,x,y,Earth,NULL,p,Emap->height(),eoff,coff);
if (state)
{ eoff+=8; coff+=4; }
else
{
eoff+=2; coff+=1;
}
if (eoff>=320) eoff-=320;
if (coff>=320) coff-=320;
eh->flush_screen();
}
if (eh->event_waiting())
{
eh->get_event(ev);
start.get_time(); // reset time till demo starts up
menu_handler(ev,ico_win);
if (ev.type==EV_MOUSE_BUTTON && ev.mouse_button && ev.mouse_move.x>=x && ev.mouse_move.y>=y &&
ev.mouse_move.x<=x+Emap->width() && ev.mouse_move.y<=y+Emap->height())
{
state=1;
} else if (ev.type==EV_MOUSE_BUTTON && !ev.mouse_button) state=0;
eh->flush_screen();
}
if (new_time.diff_time(&start)>10)
{
if (!current_demo)
{
void *d=make_find_symbol("demos");
if (DEFINEDP(d))
current_demo=symbol_value(d);
}
if (current_demo)
{
if (set_demo_mode(DEMO_PLAY,lstring_value(CAR(current_demo)),eh))
stop_menu=1;
current_demo=CDR(current_demo);
}
}
} while (!stop_menu &&
(ev.type!=EV_MESSAGE || (ev.message.id!=ID_START_GAME && ev.message.id!=ID_QUIT)));
for (i=0;i<MENU_TICONS;i++)
{
ifield *ic=ico_win->inm->unlink(menu_icons_ids[i]);
if (i) delete ic;
else delete buts[i];
}
eh->close_window(ico_win);
for (int xx=0;xx<Emap->height();xx++)
jfree(p[xx].remap);
jfree(p);
if (ev.message.id==ID_QUIT) // propogate the quit message
the_game->end_session();
// delete main_pm;
}
