void JointVelocityControlWidget::init(ref<BasicEnvironment> env, ref<Robot> robot, Int index, ref<ControlInterface> interface)
{
velInterface = interface;
// Joint velocity controls
Gtk::VBox* jointControlBox = new Gtk::VBox(false,5);
Int dof = velInterface->inputSize();
velAdjustments.clear();
for(Int j=0; j<dof; j++) {
Gtk::HBox* hbox = new Gtk::HBox();
Gtk::Label* label = new Gtk::Label(base::intToString(j)+":");
hbox->pack_start(*manage(label), Gtk::PACK_SHRINK,5);
Gtk::Adjustment* adj = new Gtk::Adjustment(0,-3,3,0.01,0.1);
velAdjustments.push_back(adj);
Gtk::HScale* scale = new Gtk::HScale(*manage(adj));
scale->set_draw_value(true);
scale->set_digits(2);
scale->set_value_pos(Gtk::POS_LEFT);
scale->set_update_policy(Gtk::UPDATE_CONTINUOUS);
scale->set_size_request(100,-1);
hbox->pack_end(*manage(scale));
jointControlBox->pack_start(*manage(hbox),false,false);
adj->signal_value_changed().connect( SigC::bind<Int>( SigC::slot(*this, &JointVelocityControlWidget::jointVelScaleChanged ), j) );
}
pack_start(*manage(jointControlBox));
}
void PrefPage::appendSlider(const std::string& name, const std::string& registryKey, bool drawValue,
double value, double lower, double upper, double step_increment, double page_increment, double page_size)
{
// Create a new adjustment with the boundaries <lower> and <upper> and all the increments
Gtk::Adjustment* adj = Gtk::manage(new Gtk::Adjustment(value, lower, upper, step_increment, page_increment, page_size));
// Connect the registry key to this adjustment
registry::bindPropertyToBufferedKey(adj->property_value(), registryKey, _registryBuffer, _resetValuesSignal);
// scale
Gtk::Alignment* alignment = Gtk::manage(new Gtk::Alignment(0.0, 0.5, 1.0, 0.0));
alignment->show();
Gtk::HScale* scale = Gtk::manage(new Gtk::HScale(*adj));
scale->set_value_pos(Gtk::POS_LEFT);
scale->show();
alignment->add(*scale);
scale->set_draw_value(drawValue);
scale->set_digits((step_increment < 1.0f) ? 2 : 0);
appendNamedWidget(name, *alignment);
}
/*! Constructor
* \param[in] el the configuration element to display
* \param[in] differ shall the changes be applied later using apply_changes()?
*/
ConfigElement::ConfigElement(crn::ConfigElement &el, bool differ):
value(el.GetValue()),
tmpvalue(el.GetValue())
{
if (!value)
throw crn::ExceptionUninitialized(_("The element was not initialized."));
if (differ)
tmpvalue = crn::Clone(*value);
if (std::dynamic_pointer_cast<crn::Int>(tmpvalue))
typ = U"Int";
else if (std::dynamic_pointer_cast<crn::Real>(tmpvalue))
typ = U"Real";
else if (std::dynamic_pointer_cast<crn::Prop3>(tmpvalue))
typ = U"Prop3";
else if (std::dynamic_pointer_cast<crn::String>(tmpvalue))
typ = U"String";
else if (std::dynamic_pointer_cast<crn::StringUTF8>(tmpvalue))
typ = U"StringUTF8";
else if (std::dynamic_pointer_cast<crn::Path>(tmpvalue))
typ = U"Path";
Gtk::Label *lab = Gtk::manage(new Gtk::Label(el.GetName().CStr()));
lab->show();
pack_start(*lab, false, true, 2);
if (typ == U"Prop3")
{
Prop3 *p = Gtk::manage(new Prop3(Gtk::ICON_SIZE_BUTTON, el.GetValue<crn::Prop3>()));
p->signal_value_changed().connect(sigc::mem_fun(this, &ConfigElement::on_p3_changed));
p->show();
pack_start(*p, true, true, 2);
}
else if (!el.GetAllowedValues().IsEmpty())
{ // any Int, Real, String, StringUTF8 or Path
Gtk::ComboBoxText *cb = Gtk::manage(new Gtk::ComboBoxText);
const std::vector<crn::StringUTF8> values(el.GetAllowedValues<crn::StringUTF8>());
for (const crn::StringUTF8 &val : values)
#ifdef CRN_USING_GTKMM3
cb->append(val.CStr());
#else /* CRN_USING_GTKMM3 */
cb->append_text(val.CStr());
#endif /* CRN_USING_GTKMM3 */
cb->set_active_text(el.GetValue<crn::StringUTF8>().CStr());
cb->signal_changed().connect(sigc::bind(sigc::mem_fun(this, &ConfigElement::on_combo_changed), cb));
cb->show();
pack_start(*cb, true, true, 2);
}
else if (typ == U"Int")
{
if (el.HasMinValue() && el.HasMaxValue())
{ // has finite range, use a slider
#ifdef CRN_USING_GTKMM3
auto *s = Gtk::manage(new Gtk::Scale(Gtk::ORIENTATION_HORIZONTAL));
s->set_range(el.GetMinValue<int>(), el.GetMaxValue<int>() + 1);
s->set_increments(1, 1);
#else
Gtk::HScale *s = Gtk::manage(new Gtk::HScale(el.GetMinValue<int>(), el.GetMaxValue<int>() + 1, 1));
#endif
s->set_value(el.GetValue<int>());
s->signal_value_changed().connect(sigc::bind(sigc::mem_fun(this, &ConfigElement::on_range_changed), s));
s->show();
pack_start(*s, true, true, 2);
}
else
{ // has at least one infinite (maxed) bound, use a spin button
Gtk::SpinButton *s = Gtk::manage(new Gtk::SpinButton);
int m = std::numeric_limits<int>::min(), M = std::numeric_limits<int>::max();
if (el.HasMinValue())
m = el.GetMinValue<int>();
if (el.HasMaxValue())
M = el.GetMaxValue<int>();
s->set_range(m, M);
s->set_increments(1, 10);
s->set_value(el.GetValue<int>());
s->signal_value_changed().connect(sigc::bind(sigc::mem_fun(this, &ConfigElement::on_spin_changed), s));
s->show();
pack_start(*s, true, true, 2);
}
}
else if (typ == U"Real")
{
if (el.HasMinValue() && el.HasMaxValue())
{ // has finite range, use a slider
#ifdef CRN_USING_GTKMM3
auto *s = Gtk::manage(new Gtk::Scale(Gtk::ORIENTATION_HORIZONTAL));
s->set_range(el.GetMinValue<double>(), el.GetMaxValue<double>() + 0.01);
s->set_increments(0.01, 0.01);
#else
Gtk::HScale *s = Gtk::manage(new Gtk::HScale(el.GetMinValue<double>(), el.GetMaxValue<double>() + 0.01, 0.01));
#endif
s->set_digits(2);
s->set_value(el.GetValue<double>());
s->signal_value_changed().connect(sigc::bind(sigc::mem_fun(this, &ConfigElement::on_range_changed), s));
s->show();
pack_start(*s, true, true, 2);
}
else
{ // has at least one infinite (maxed) bound, use a spin button
Gtk::SpinButton *s = Gtk::manage(new Gtk::SpinButton(0, 2));
double m = -std::numeric_limits<double>::max(), M = std::numeric_limits<double>::max();
if (el.HasMinValue())
m = el.GetMinValue<double>();
if (el.HasMaxValue())
M = el.GetMaxValue<double>();
s->set_range(m, M);
s->set_increments(0.01, 1);
s->set_value(el.GetValue<double>());
s->signal_value_changed().connect(sigc::bind(sigc::mem_fun(this, &ConfigElement::on_spin_changed), s));
s->show();
pack_start(*s, true, true, 2);
}
}
else // string types
{
Gtk::Entry *e = Gtk::manage(new Gtk::Entry);
e->set_text(el.GetValue<crn::StringUTF8>().CStr());
e->signal_changed().connect(sigc::bind(sigc::mem_fun(this, &ConfigElement::on_entry_changed), e));
e->show();
pack_start(*e, true, true, 2);
}
lab = Gtk::manage(new Gtk::Label("?"));
lab->show();
lab->set_tooltip_text(el.GetDescription().CStr());
pack_start(*lab, false, true, 2);
}
