void paintSelection()
{
#if 0
SoAnnotation* hudRoot = new SoAnnotation;
hudRoot->ref();
SoOrthographicCamera* hudCam = new SoOrthographicCamera();
hudCam->viewportMapping = SoCamera::LEAVE_ALONE;
// Set the position in the window.
// [0, 0] is in the center of the screen.
//
SoTranslation* hudTrans = new SoTranslation;
hudTrans->translation.setValue(-1.0f, -1.0f, 0.0f);
QImage image(100,100,QImage::Format_ARGB32_Premultiplied);
image.fill(0x00000000);
SoSFImage sfimage;
Gui::BitmapFactory().convert(image, sfimage);
SoImage* hudImage = new SoImage();
hudImage->image = sfimage;
// Assemble the parts...
//
hudRoot->addChild(hudCam);
hudRoot->addChild(hudTrans);
hudRoot->addChild(hudImage);
Gui::View3DInventorViewer* viewer = this->getViewer();
static_cast<SoGroup*>(viewer->getSceneGraph())->addChild(hudRoot);
QWidget* gl = viewer->getGLWidget();
DrawingPlane pln(hudImage->image, viewer, gl);
gl->installEventFilter(&pln);
QEventLoop loop;
QObject::connect(&pln, SIGNAL(emitSelection()), &loop, SLOT(quit()));
loop.exec();
static_cast<SoGroup*>(viewer->getSceneGraph())->removeChild(hudRoot);
#endif
}
void ViewProviderPlacement::attach(App::DocumentObject* pcObject)
{
ViewProviderGeometryObject::attach(pcObject);
SoAnnotation *lineSep = new SoAnnotation();
SoAutoZoomTranslation *zoom = new SoAutoZoomTranslation;
SoDrawStyle* style = new SoDrawStyle();
style->lineWidth = 2.0f;
SoMaterialBinding* matBinding = new SoMaterialBinding;
matBinding->value = SoMaterialBinding::PER_FACE;
lineSep->addChild(zoom);
lineSep->addChild(style);
lineSep->addChild(matBinding);
lineSep->addChild(pMat);
lineSep->addChild(pCoords);
lineSep->addChild(pLines);
addDisplayMaskMode(lineSep, "Base");
}
void ViewProviderOriginFeature::attach(App::DocumentObject* pcObject)
{
ViewProviderGeometryObject::attach(pcObject);
float defaultSz = ViewProviderOrigin::defaultSize();
float sz = Size.getValue () / defaultSz;
// Create an external separator
SoSeparator *sep = new SoSeparator();
// Add material from the base class
sep->addChild(pcShapeMaterial);
// Bind same material to all part
SoMaterialBinding* matBinding = new SoMaterialBinding;
matBinding->value = SoMaterialBinding::OVERALL;
sep->addChild(matBinding);
// Scale feature to the given size
pScale->scaleFactor = SbVec3f (sz, sz, sz);
sep->addChild (pScale);
// Setup font size
SoFont *font = new SoFont ();
font->size.setValue ( defaultSz/10.);
sep->addChild ( font );
// Create the selection node
SoFCSelection *highlight = new SoFCSelection ();
highlight->applySettings ();
if ( !Selectable.getValue() ) {
highlight->selectionMode = Gui::SoFCSelection::SEL_OFF;
}
highlight->objectName = getObject()->getNameInDocument();
highlight->documentName = getObject()->getDocument()->getName();
highlight->style = SoFCSelection::EMISSIVE_DIFFUSE;
// Style for normal (visiable) lines
SoDrawStyle* style = new SoDrawStyle ();
style->lineWidth = 2.0f;
highlight->addChild ( style );
// Visible lines
highlight->addChild ( pOriginFeatureRoot );
// Hidden features
SoAnnotation *hidden = new SoAnnotation ();
// Style for hidden lines
style = new SoDrawStyle ();
style->lineWidth = 2.0f;
style->linePattern.setValue ( 0xF000 ); // (dash-skip-skip-skip)
hidden->addChild ( style );
// Hidden lines
hidden->addChild ( pOriginFeatureRoot );
highlight->addChild ( hidden );
sep->addChild ( highlight );
// Setup the object label as it's text
pLabel->string.setValue ( SbString ( pcObject->Label.getValue () ) );
addDisplayMaskMode ( sep, "Base" );
}
void CmdTestImageNode::activated(int iMsg)
{
QString text = QString::fromAscii("Distance: 2.7jgiorjgor84mm");
QFont font;
QFontMetrics fm(font);
int w = fm.width(text);
int h = fm.height();
QPainterPath roundRectPath;
//roundRectPath.moveTo(80.0, 35.0);
//roundRectPath.arcTo(70.0, 30.0, 10.0, 10.0, 0.0, 90.0);
//roundRectPath.lineTo(25.0, 30.0);
//roundRectPath.arcTo(20.0, 30.0, 10.0, 10.0, 90.0, 90.0);
//roundRectPath.lineTo(20.0, 65.0);
//roundRectPath.arcTo(20.0, 60.0, 10.0, 10.0, 180.0, 90.0);
//roundRectPath.lineTo(75.0, 70.0);
//roundRectPath.arcTo(70.0, 60.0, 10.0, 10.0, 270.0, 90.0);
roundRectPath.moveTo(100.0, 5.0);
roundRectPath.arcTo(90.0, 0.0, 10.0, 10.0, 0.0, 90.0);
roundRectPath.lineTo(5.0, 0.0);
roundRectPath.arcTo(0.0, 0.0, 10.0, 10.0, 90.0, 90.0);
roundRectPath.lineTo(0.0, 95.0);
roundRectPath.arcTo(0.0, 90.0, 10.0, 10.0, 180.0, 90.0);
roundRectPath.lineTo(95.0, 100.0);
roundRectPath.arcTo(90.0, 90.0, 10.0, 10.0, 270.0, 90.0);
roundRectPath.closeSubpath();
QLabel* l = new QLabel();
//l.setText(QLatin1String("Distance: 2.784mm"));
//QPixmap p = QPixmap::grabWidget(&l, 0,0,100,100);
//l.show();
//QPixmap p = Gui::BitmapFactory().pixmap("edit-cut");
Gui::MDIView* view = Gui::getMainWindow()->activeWindow();
Gui::View3DInventorViewer* viewer = static_cast<Gui::View3DInventor*>(view)->getViewer();
SoImage* node = new SoImage();
QImage image(w+10,h+10,QImage::Format_ARGB32_Premultiplied);// = p.toImage();
image.fill(0x00000000);
QPainter painter(&image);
painter.setRenderHint(QPainter::Antialiasing);
painter.setPen(QPen(QColor(0,0,127), 2, Qt::SolidLine, Qt::RoundCap,
Qt::RoundJoin));
painter.setBrush(QBrush(QColor(0,85,255), Qt::SolidPattern));
QRectF rectangle(0.0, 0.0, w+10, h+10);
painter.drawRoundedRect(rectangle, 5, 5);
//painter.drawRect(rectangle);
//painter.drawPath(roundRectPath);
painter.setPen(QColor(255,255,255));
painter.drawText(5,h+3, text);
painter.end();
//l->setPixmap(QPixmap::fromImage(image));
//l->show();
//RenderArea* ra = new RenderArea(roundRectPath);
//ra->show();
//QPixmap p = QPixmap::grabWidget(ra, 0,0,100,30);
//image = p.toImage();
SoSFImage texture;
Gui::BitmapFactory().convert(image, texture);
node->image = texture;
SoAnnotation* anno = new SoAnnotation();
anno->addChild(node);
static_cast<SoGroup*>(viewer->getSceneGraph())->addChild(anno);
}
void BCIService::init(BCIControlWindow *bciControlWindow)
{
ROS_INFO("Initing BCI Service");
bciRenderArea = bciControlWindow->bciWorldView->renderArea;
QPushButton * slowButton = new QPushButton("Flex Medium (Next)");
QPushButton * fastButton = new QPushButton("Flex Hard (Select)");
slowButton->setDefault(true);
fastButton->setDefault(true);
QDialogButtonBox *cursorControlBox = new QDialogButtonBox(Qt::Vertical);
cursorControlBox->setCaption(QString("Cursor Control Box"));
cursorControlBox->addButton(slowButton, QDialogButtonBox::ActionRole);
cursorControlBox->addButton(fastButton, QDialogButtonBox::ActionRole);
cursorControlBox->setWindowFlags(Qt::WindowStaysOnTopHint);
cursorControlBox->resize(QSize(200,100));
cursorControlBox->show();
QObject::connect(slowButton, SIGNAL(clicked()), this, SLOT(updateControlSceneState1()));
QObject::connect(fastButton, SIGNAL(clicked()), this, SLOT(updateControlSceneState2()));
endOfExperimentFormat = new QFormLayout();
successFailure = new QComboBox();
successFailure->insertItem("Success");
successFailure->insertItem("Failure");
finalComments = new QTextEdit();
finishedButton = new QPushButton("FINISHED");
endOfExperimentFormat->addRow(tr("&Success or failure: "), successFailure);
endOfExperimentFormat->addRow(tr("&Comments: "), finalComments);
endOfExperimentFormat->addRow(tr(""), finishedButton);
endOfExperiment = new QGroupBox();
endOfExperiment->setLayout(endOfExperimentFormat);
QObject::connect(finishedButton, SIGNAL(clicked()), this, SLOT(onFinishedFinalLog()));
endOfExperiment->show();
timer = new QTimer;
QObject::connect(timer, SIGNAL(timeout()), this, SLOT(updateControlScene()));
timer->start(1000 / 30);
QObject::connect(this, SIGNAL(goToStateLow()), this, SLOT(updateControlSceneState0()));
QObject::connect(this, SIGNAL(goToStateMedium()), this, SLOT(updateControlSceneState1()));
QObject::connect(this, SIGNAL(goToStateHigh()), this, SLOT(updateControlSceneState2()));
SoAnnotation *hudSeparator = new SoAnnotation;
hudSeparator->renderCaching = SoSeparator::OFF;
hudSeparator->setName("hud");
graspitCore->getWorld()->getIVRoot()->addChild(hudSeparator);
pcam = new SoOrthographicCamera;
pcam->position = SbVec3f(0, 0, 10);
pcam->nearDistance = 0.1;
pcam->farDistance = 11;
hudSeparator->addChild(pcam);
SoLightModel * hudLightModel = new SoLightModel;
hudLightModel->model=SoLightModel::BASE_COLOR;
hudSeparator->addChild(hudLightModel);
SoCallback * disableZTestNode = new SoCallback();
disableZTestNode->setCallback(ui_tools::disableZCulling);
hudSeparator->addChild(disableZTestNode);
csm = new ControllerSceneManager(hudSeparator);
BCIStateMachine *bciStateMachine = new BCIStateMachine(bciControlWindow,this);
connect(this, SIGNAL(plannerUpdated()), bciControlWindow, SLOT(redraw()));
connect(GraspManager::getInstance(), SIGNAL(render()), bciControlWindow, SLOT(redraw()));
bciStateMachine->start();
ROS_INFO("Finished initing BCI Service");
}
