void main_loop() {
char c;
int rinc=100,storage_pos=1;
while (c!='Q') {
display_pos();
c=getch();
if (c==27) c=getch();
move(20,0);
//printw("keycode: %d ",c);
switch (c)
{
case 32: reset();break; /* SPACE */
case 104: /* h */
case 72: helpscreen();break; /* H */
case 82: rsend("RS");break; /* R */
case 121: /* y */
case 122: rmove_base(rinc);break; /* z */
case 120: rmove_base(-rinc);break; /* x */
case 113: rmove_shoulder(rinc);break; /* q */
case 97: rmove_shoulder(-rinc);break; /* a */
case 119: rmove_elbow(rinc);break; /* w */
case 115: rmove_elbow(-rinc);break; /* s */
case 101: rmove_pitch(rinc);break; /* e */
case 100: rmove_pitch(-rinc);break; /* d */
case 114: rmove_turnhand(rinc);break; /* r */
case 116: rmove_turnhand(-rinc);break; /* t */
case 102: rmove_grip(1);break; /* f */
case 103: rmove_grip(0);break; /* g */
case 45: /* - */
rinc -= rinc/2;
if (rinc < MIN_INC) rinc=MIN_INC;
show_panel(6,itoa(rinc));
break;
case 43: /* + */
rinc = rinc < 100 ? 100:rinc+100;
if (rinc > MAX_INC) rinc= MAX_INC;
show_panel(6,itoa(rinc));
break;
case 68: posdata[storage_pos].saved=0; /* D */
show_panel(7,itoa(storage_pos));break;
case 44: storage_pos+=49; /* , */
case 5: storage_pos++ ; /* CRSR_left */
if (storage_pos > POS_SPACE) storage_pos=POS_SPACE;
show_panel(7,itoa(storage_pos));
break;
case 46: storage_pos-=49; /* . */
case 4: storage_pos-- ; /* CRSR_right */
if (storage_pos < 1) storage_pos=1;
show_panel(7,itoa(storage_pos));
break;
case 2: store_position(storage_pos);break; /* CRSR_down */
case 3: recall_position(storage_pos);break;/* CRSR_up */
case 71: rsend("RN 1");break; /* SHIFT_G */
case 7: run_program();break; /* CTRL_G */
case 65 : load_posdata(); /* CTRL_CRSR_UP" */
show_panel(7,itoa(storage_pos));break;
case 66 : save_posdata();break; /* CTRL_CRSR_DOWN */
}
}
}
int GrowToolbar::event_handler( GlowWind *w, glow_eEvent event, int x, int y, double fx,
double fy)
{
int sts, lsts;
int hot_type;
int idx, mask_idx, category;
double rx, ry;
if ( invisible || dimmed)
return 0;
if ( !ctx->trace_started)
return GrowNode::event_handler( w, event, x, y, fx, fy);
switch ( event) {
case glow_eEvent_Key_Right:
case glow_eEvent_Key_Left:
case glow_eEvent_Key_BackSpace:
case glow_eEvent_Key_Return:
case glow_eEvent_Key_Ascii:
case glow_eEvent_Key_Up:
case glow_eEvent_Key_Down:
return 0;
default:
;
}
// Convert koordinates to local koordinates
trf.reverse( fx, fy, &rx, &ry);
sts = 0;
if ( event == ctx->event_move_node) {
sts = nc->event_handler( w, event, rx, ry);
if ( sts) {
/* Register node for potential movement */
ctx->move_insert( this);
store_position();
}
return sts;
}
else if ( event == ctx->event_create_con) {
return sts;
}
switch ( event) {
case glow_eEvent_MB1Down:
if ( ctx->trace_started) {
sts = nc_event_handler( w, event, rx, ry, &idx);
if ( sts)
((GrowNode *)nc->a.a[idx])->set_color_inverse(1);
}
break;
case glow_eEvent_MB1Up:
if ( ctx->trace_started) {
sts = nc_event_handler( w, event, rx, ry, &idx);
if ( sts)
((GrowNode *)nc->a.a[idx])->set_color_inverse(0);
}
break;
case glow_eEvent_CursorMotion: {
int redraw = 0;
if ( ctx->hot_mode == glow_eHotMode_TraceAction) {
if ( ctx->hot_found)
sts = 0;
else {
if ( is_sensitive()) {
sts = nc_event_handler( w, event, rx, ry, &idx);
if ( sts) {
((GrowNode *)nc->a.a[idx])->set_hot(1);
redraw = 1;
ctx->hot_found = 1;
}
}
}
}
else {
if ( ctx->hot_found)
sts = 0;
else {
sts = nc_event_handler( w, event, rx, ry, &idx);
if ( sts)
ctx->hot_found = 1;
}
}
if ( sts && !hot &&
!(ctx->node_movement_active || ctx->node_movement_paste_active)) {
if ( (hot_type = ctx->send_hot_request( this))) {
if ( !ctx->trace_started) {
ctx->gdraw->set_cursor( w, glow_eDrawCursor_CrossHair);
hot = 1;
redraw = 1;
ctx->tiptext_event( this, x, y);
}
else if ( hot_type & glow_mHotType_CursorCrossHair) {
ctx->gdraw->set_cursor( w, glow_eDrawCursor_CrossHair);
hot_tool = idx + 1;
lsts = get_mask_index( idx, &category, &mask_idx);
if ( ODD(lsts))
ctx->tiptext_toolbar_event( this, x, y, category, mask_idx);
redraw = 1;
}
else if ( hot_type & glow_mHotType_CursorHand) {
ctx->gdraw->set_cursor( w, glow_eDrawCursor_Hand);
hot_tool = idx + 1;
lsts = get_mask_index( idx, &category, &mask_idx);
if ( ODD(lsts))
ctx->tiptext_toolbar_event( this, x, y, category, mask_idx);
redraw = 1;
}
}
}
if ( !sts && (( !ctx->trace_started && hot) || (ctx->trace_started && hot_tool))) {
if ( !ctx->hot_found)
ctx->gdraw->set_cursor( w, glow_eDrawCursor_Normal);
if ( root_node)
root_node->erase( w);
else
erase( w);
if ( hot_tool)
((GrowNode *)nc->a.a[hot_tool - 1])->set_hot(0);
hot_tool = 0;
hot = 0;
redraw = 1;
ctx->tiptext->remove_text( this);
}
if ( redraw) {
draw();
}
break;
}
case glow_eEvent_MB1Click:
sts = nc_event_handler( w, event, rx, ry, &idx);
if ( sts) {
lsts = get_mask_index( idx, &category, &mask_idx);
if ( ODD(lsts))
((GrowCtx *)ctx)->send_toolbar_callback( this, event, fx, fy, category, mask_idx);
}
break;
default:
sts = nc_event_handler( w, event, rx, ry, &idx);
}
return sts;
}
