void create_form_MainForm()
{
FL_OBJECT *obj;
MainForm = fl_bgn_form(FL_NO_BOX,280.0,180.0);
obj = fl_add_box(FL_UP_BOX,0.0,0.0,280.0,180.0,"");
QuitButton = obj = fl_add_button(FL_NORMAL_BUTTON,200.0,70.0,60.0,40.0,"Quit");
fl_set_object_lsize(obj,FL_LARGE_FONT);
fl_set_call_back(obj,QuitProc,0);
DrawButton = obj = fl_add_button(FL_NORMAL_BUTTON,20.0,70.0,150.0,40.0,"New Line");
fl_set_object_lsize(obj,FL_LARGE_FONT);
fl_set_call_back(obj,DrawButtonProc,0);
UndoButton = obj = fl_add_button(FL_NORMAL_BUTTON,20.0,20.0,90.0,40.0,"Undo");
fl_set_object_lsize(obj,FL_LARGE_FONT);
fl_set_call_back(obj,UndoButtonProc,0);
VertexButton = obj = fl_add_lightbutton(FL_PUSH_BUTTON,130.0,20.0,130.0,40.0,"Vertices Only");
fl_set_call_back(obj,VertexButtonProc,0);
obj = fl_add_text(FL_NORMAL_TEXT,0.0,110.0,280.0,50.0,"Click RIGHT mouse button on an\n object to draw lines.");
fl_set_object_lcol(obj,4);
fl_set_object_align(obj,FL_ALIGN_CENTER);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
obj = fl_add_text(FL_NORMAL_TEXT,0.0,150.0,280.0,30.0,"GRAFFITI");
fl_set_object_align(obj,FL_ALIGN_CENTER);
fl_set_object_lstyle(obj,FL_BOLD_STYLE);
fl_end_form();
}
static void g3d_create_retract_strat_frame(void){
g3d_create_labelframe(&RETRACT_STRAT_FRAME,FL_ENGRAVED_FRAME,-1,-1,"Retract Strat",(void**)&NODE_FRAME,0);
RETRACT_STRAT_GROUP = fl_bgn_group();
//Glob Search
g3d_create_checkbutton(&GLOBAL_SEARCH_CHECKB,FL_RADIO_BUTTON,-1,20,"Glob search",(void**)&RETRACT_STRAT_FRAME,0);
fl_set_object_color(GLOBAL_SEARCH_CHECKB,FL_MCOL,FL_GREEN);
fl_set_call_back(GLOBAL_SEARCH_CHECKB,CB_RetractPlan_strategy,(long)GLOBAL_SEARCH_CHECKB);
//Forw Search
g3d_create_checkbutton(&FORW_SEARCH_CHECKB,FL_RADIO_BUTTON,-1,20,"Forw search",(void**)&RETRACT_STRAT_FRAME,0);
fl_set_object_color(FORW_SEARCH_CHECKB,FL_MCOL,FL_GREEN);
fl_set_call_back(FORW_SEARCH_CHECKB,CB_RetractPlan_strategy,(long)FORW_SEARCH_CHECKB);
//Linear Search
g3d_create_checkbutton(&LINEAR_SEARCH_CHECKB,FL_RADIO_BUTTON,-1,20,"Linear search",(void**)&RETRACT_STRAT_FRAME,0);
fl_set_object_color(LINEAR_SEARCH_CHECKB,FL_MCOL,FL_GREEN);
fl_set_call_back(LINEAR_SEARCH_CHECKB,CB_RetractPlan_strategy,(long)LINEAR_RETRACT_SEARCH);
//RETRACT_STRAT_GROUP =
fl_end_group();
switch (p3d_get_retract_search_type()){
case (ALL_RETRACT_SEARCH):{
fl_set_button(GLOBAL_SEARCH_CHECKB,1);
break;
}
case (FORWARD_RETRACT_SEARCH):{
fl_set_button(FORW_SEARCH_CHECKB,1);
break;
}
case (LINEAR_RETRACT_SEARCH):{
fl_set_button(LINEAR_SEARCH_CHECKB,1);
break;
}
}
}
static void g3d_create_vis_graph_frame(void){
g3d_create_frame(&VIS_GRAPH_FRAME,FL_NO_FRAME,155,-1,"",(void**)&PATH_DEFORM_FORM,1);
//vis graph
g3d_create_xyplot(&VIS_GRAPH_XYPLOT,FL_POINTS_XYPLOT,150,150,"",(void**)&VIS_GRAPH_FRAME,0);
fl_set_xyplot_inspect(VIS_GRAPH_XYPLOT,1);//set the xyplot reagent to mouse events
fl_set_object_color(VIS_GRAPH_XYPLOT, FL_SLATEBLUE, FL_WHITE);
fl_set_call_back(VIS_GRAPH_XYPLOT,CB_vis_graph_xyplot,0);
//Draw
g3d_create_button(&DRAW_BUTTON,FL_NORMAL_BUTTON,50.0,30.0,"Draw",(void**)&VIS_GRAPH_FRAME,0);
fl_set_call_back(DRAW_BUTTON,CB_draw_button,0);
//space 2
g3d_create_frame(&SPACE2,FL_NO_FRAME,40,-1,"",(void**)&VIS_GRAPH_FRAME,0);
//Cancel
g3d_create_button(&CANCEL_BUTTON,FL_NORMAL_BUTTON,50.0,30.0,"Cancel",(void**)&VIS_GRAPH_FRAME,0);
fl_set_call_back(CANCEL_BUTTON,CB_cancel_button,0);
}
static void g3d_create_nbretract_input(void){
char buffer [10];
g3d_create_input(&NBRETRACT_INPUT,FL_NORMAL_INPUT,20,20,"nbRetract",(void**)&PATH_DEFORM_FORM,1);
sprintf(buffer, "%d", p3d_get_nretract_max());
fl_set_input(NBRETRACT_INPUT, buffer);
fl_set_call_back(NBRETRACT_INPUT,CB_nbretract_input,0);
}
static void g3d_create_gvis_checkb(void){
g3d_create_checkbutton(&GVIS_CHECKB,FL_PUSH_BUTTON,-1,-1,"Enable Gvis",(void**)&PATH_DEFORM_FORM,1);
fl_set_object_color(GVIS_CHECKB,FL_MCOL,FL_GREEN);
fl_set_call_back(GVIS_CHECKB,CB_gvis_checkb,0);
if (p3d_get_gvis())
fl_set_button(GVIS_CHECKB,1);
}
void g3d_create_steering_form(void)
{int i;
double s;
s = P3D_NB_LOCAL_PLANNER*20.0 + 20;
BUTTON_TAB_OBJ = (FL_OBJECT **) malloc(P3D_NB_LOCAL_PLANNER*sizeof(FL_OBJECT *));
STEERING_FORM = fl_bgn_form(FL_UP_BOX,200.0,s+30);
obj1 = fl_add_frame(FL_ENGRAVED_FRAME,10,15,180,s,"");
obj2 = fl_add_box(FL_FLAT_BOX,55,10,90,10,"Steering methods");
GROUP = fl_bgn_group();
for(i=0;i<P3D_NB_LOCAL_PLANNER;i++){
BUTTON_TAB_OBJ[i] = fl_add_checkbutton(FL_RADIO_BUTTON,45,25+i*20.0,55,25,p3d_local_getname_planner((p3d_localpath_type) i));
fl_set_object_color(BUTTON_TAB_OBJ[i],FL_MCOL,FL_GREEN);
fl_set_call_back(BUTTON_TAB_OBJ[i],CB_button_tab_obj,i);
}
fl_set_button(BUTTON_TAB_OBJ[p3d_local_get_planner()],1);
//GROUP =
fl_end_group();
fl_end_form();
}
/* -------------------- MAIN GROUP --------------------- */
static void g3d_create_grasp_planning_group(void)
{
int x, y, dy, w, h, shift;
FL_OBJECT *frame= NULL, *box= NULL;
frame = fl_add_labelframe(FL_ENGRAVED_FRAME, 18, 235, 185, 330, "Interface");
box = fl_add_box(FL_ENGRAVED_FRAME, 23, 250, 175, 310, "");
fl_set_object_color(box, FL_GREEN, FL_COL1);
MOTIONGROUP = fl_bgn_group();
x= 30;
y= 20;
w= 160;
h= 40;
dy= h + 10;
shift= 40;
BT_1_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Test");
BT_2_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + dy, w, h, "SAHandRight");
BT_3_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + 2*dy, w, h, "Double Grasp");
BT_4_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + 3*dy, w, h, "Display grasps");
BT_5_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + shift + 4*dy, w, h, "Selected Object: none");
BT_6_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + shift + 5*dy, w, h, "Selected Hand Robot: none");
BT_7_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + shift + 6*dy, w, h, "Browse Grasps");
BT_8_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + shift + 7*dy, w, h, "Delete Grasp");
BT_9_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + shift + 8*dy, w, h, "Add Grasp");
BT_10_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y + shift + 9*dy, w, h, "Save Grasps");
fl_set_call_back(BT_1_OBJ, CB_test, 0);
fl_set_call_back(BT_2_OBJ, CB_SAHandRight, 0);
fl_set_call_back(BT_3_OBJ, CB_double_grasp, 0);
fl_set_call_back(BT_4_OBJ, CB_display_grasps, 0);
fl_set_object_color(BT_4_OBJ,FL_MCOL,FL_GREEN);
fl_set_call_back(BT_5_OBJ, CB_select_object, 0);
fl_set_call_back(BT_6_OBJ, CB_select_hand_robot, 0);
fl_set_call_back(BT_7_OBJ, CB_browse_grasps, 0);
fl_set_call_back(BT_8_OBJ, CB_delete_grasp, 0);
fl_set_call_back(BT_9_OBJ, CB_add_grasp, 0);
fl_set_call_back(BT_10_OBJ, CB_save_grasps, 0);
fl_end_group();
}
static void g3d_create_ndraw_counter(void){
g3d_create_counter(&NDRAW_COUNTER,FL_SIMPLE_COUNTER,50,15,"ndraw",(void**)&PATH_DEFORM_FORM,1);
fl_set_counter_value(NDRAW_COUNTER, 100);
fl_set_counter_bounds(NDRAW_COUNTER, 1,(double)p3d_get_nretract());
fl_set_counter_precision(NDRAW_COUNTER, 0);
fl_set_counter_step(NDRAW_COUNTER, 1, 10);
fl_set_call_back(NDRAW_COUNTER,CB_ndraw_counter,0);
}
static void g3d_create_retract_frame(void){
g3d_create_frame(&RETRACT_FRAME,FL_ENGRAVED_FRAME,-1,-1,"",(void**)&PATH_DEFORM_FORM,1);
g3d_create_checkbutton(&CYCLE_CHECKB,FL_PUSH_BUTTON,-1,-1,"Cycle",(void**)&RETRACT_FRAME,0);
fl_set_object_color(CYCLE_CHECKB,FL_MCOL,FL_GREEN);
fl_set_call_back(CYCLE_CHECKB,CB_cycle_checkb,0);
if (p3d_get_cycles())
fl_set_button(CYCLE_CHECKB,1);
g3d_create_checkbutton(&RETRACT_CHECKB,FL_PUSH_BUTTON,-1,-1,"Retract",(void**)&RETRACT_FRAME,0);
fl_set_object_color(RETRACT_CHECKB,FL_MCOL,FL_GREEN);
fl_set_call_back(RETRACT_CHECKB,CB_retract_checkb,0);
if (p3d_get_test_reductib())
fl_set_button(RETRACT_CHECKB,1);
g3d_create_checkbutton(&DISCREET_CHECKB,FL_PUSH_BUTTON,-1,-1,"Discreet",(void**)&RETRACT_FRAME,0);
fl_set_object_color(DISCREET_CHECKB,FL_MCOL,FL_GREEN);
fl_set_call_back(DISCREET_CHECKB,CB_discreet_checkb,0);
if (p3d_get_is_visibility_discreet())
fl_set_button(DISCREET_CHECKB,1);
}
static void g3d_create_node_frame(void){
char buffer[10];
g3d_create_frame(&NODE_FRAME,FL_NO_FRAME,120,-1,"",(void**)&PATH_DEFORM_FORM,1);
//add Node
g3d_create_button(&ADD_NODE_BUTTON,FL_NORMAL_BUTTON,55,20,"Add Node",(void**)&NODE_FRAME,0);
fl_set_call_back(ADD_NODE_BUTTON,CB_add_node_button,0);
//Last Node
g3d_create_button(&LAST_NODE_BUTTON,FL_NORMAL_BUTTON,55,20,"Last Node",(void**)&NODE_FRAME,0);
fl_set_call_back(LAST_NODE_BUTTON,CB_last_node_button,0);
//Replot
g3d_create_button(&REPLOT_BUTTON,FL_NORMAL_BUTTON,55,20,"Replot",(void**)&NODE_FRAME,0);
fl_set_call_back(REPLOT_BUTTON,CB_replot_button,0);
//Clear
g3d_create_button(&CLEAR_BUTTON,FL_NORMAL_BUTTON,55,20,"Clear",(void**)&NODE_FRAME,0);
fl_set_call_back(CLEAR_BUTTON,CB_clear_button,0);
//Node counter
g3d_create_counter(&NODE_COUNTER,FL_NORMAL_COUNTER,100,20,"Node",(void**)&NODE_FRAME,0);
fl_set_counter_value(NODE_COUNTER, 0);
if(XYZ_GRAPH != NULL) {
fl_set_counter_bounds(NODE_COUNTER, 0, (double)( XYZ_GRAPH->nnode -1));
} else {
fl_set_counter_bounds(NODE_COUNTER, 0, 0);
}
fl_set_counter_step(NODE_COUNTER, 1, 10);
fl_set_counter_precision(NODE_COUNTER, 0);
fl_set_call_back(NODE_COUNTER,CB_node_counter,0);
//Plot all Check box
g3d_create_checkbutton(&PLOT_ALL_CHECKB,FL_PUSH_BUTTON,-1,20,"Plot all",(void**)&NODE_FRAME,0);
fl_set_object_color(PLOT_ALL_CHECKB,FL_MCOL,FL_GREEN);
fl_set_call_back(PLOT_ALL_CHECKB,CB_plot_all_checkb,0);
if (FLAG_IS_ALLPLOT)
fl_set_button(PLOT_ALL_CHECKB,1);
//Plot all input
g3d_create_input(&PLOT_ALL_INPUT,FL_NORMAL_INPUT,40,20,"",(void**)&NODE_FRAME,0);
sprintf(buffer, "%d", p3d_get_Nstep());
fl_set_input(PLOT_ALL_INPUT, buffer);
fl_set_call_back(PLOT_ALL_INPUT,CB_plot_all_input,0);
//Filter graph
g3d_create_checkbutton(&FILTER_GRAPH_CHECKB,FL_PUSH_BUTTON,-1,20,"Filter graph",(void**)&NODE_FRAME,0);
fl_set_object_color(FILTER_GRAPH_CHECKB,FL_MCOL,FL_GREEN);
fl_set_call_back(FILTER_GRAPH_CHECKB,CB_filter_graph_checkb,0);
if (p3d_get_show_cycle_only())
fl_set_button(FILTER_GRAPH_CHECKB,1);
//Retract strat frame
g3d_create_retract_strat_frame();
}
void create_form_PickInfoForm()
{
FL_OBJECT *obj;
PickInfoForm = fl_bgn_form(FL_NO_BOX,295.0,165.0);
obj = fl_add_box(FL_UP_BOX,0.0,0.0,295.0,165.0,"");
obj = fl_add_text(FL_NORMAL_TEXT,15.0,135.0,255.0,15.0,"The cursor is not pointing at an object.");
DoneButton = obj = fl_add_button(FL_NORMAL_BUTTON,220.0,10.0,60.0,40.0,"OK");
fl_set_object_lsize(obj,FL_LARGE_FONT);
fl_set_call_back(obj,DoneButtonProc,0);
obj = fl_add_text(FL_NORMAL_TEXT,5.0,115.0,280.0,15.0,"Click the right mouse button on any object");
obj = fl_add_text(FL_NORMAL_TEXT,10.0,95.0,270.0,15.0,"in the geomview window to draw. If you");
obj = fl_add_text(FL_NORMAL_TEXT,5.0,75.0,270.0,15.0,"have no objects to draw on, you may load");
obj = fl_add_text(FL_NORMAL_TEXT,20.0,55.0,240.0,15.0,"one with the geomview Load button.");
fl_end_form();
}
static void g3d_create_genom_group(void) {
int x, y, dy, w, h;
FL_OBJECT *obj;
obj = fl_add_labelframe(FL_ENGRAVED_FRAME, 5, 15, 140, 870, "Genom Requests");
GENOMGROUP = fl_bgn_group();
x= 15;
y= 30;
w= 120;
h= 40;
dy= h + 10;
BT_SET_CARTESIAN = fl_add_button(FL_RADIO_BUTTON, x, y, w, h, "Set Cartesian");
fl_set_call_back(BT_SET_CARTESIAN, CB_set_cartesian, 1);
fl_set_object_color(BT_SET_CARTESIAN,FL_MCOL,FL_GREEN);
fl_set_button(BT_SET_CARTESIAN, FALSE);
y+= dy;
BT_GRAB_OBJECT = fl_add_button(FL_RADIO_BUTTON, x, y, w, h, "Grab Object");
fl_set_call_back(BT_GRAB_OBJECT, CB_grab_object, 1);
fl_set_object_color(BT_GRAB_OBJECT,FL_MCOL,FL_GREEN);
fl_set_button(BT_GRAB_OBJECT, FALSE);
y+= dy;
BT_RELEASE_OBJECT = fl_add_button(FL_RADIO_BUTTON, x, y, w, h, "Release Object");
fl_set_call_back(BT_RELEASE_OBJECT, CB_release_object, 1);
fl_set_object_color(BT_RELEASE_OBJECT,FL_MCOL,FL_GREEN);
fl_set_button(BT_RELEASE_OBJECT, FALSE);
y+= dy;
DELETE_GRAPHS = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Delete Graphs");
fl_set_call_back(DELETE_GRAPHS, CB_genomCleanRoadmap_obj, 1);
y+= dy;
BT_ARM_GOTO_Q_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Arm Goto Q");
// BT_PLOT_Q_WRITE_FILE_OBJ= fl_add_button(FL_RADIO_BUTTON, x, y + 1*dy, w, h, "Write file and plot qi");
fl_set_call_back(BT_ARM_GOTO_Q_OBJ, CB_genomArmGotoQ_obj, 1);
y+= dy;
BT_ARM_EXTRACT_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Arm Extract");
fl_set_call_back(BT_ARM_EXTRACT_OBJ, CB_genomArmExtract_obj, 1);
y+= dy;
BT_ARM_GOTO_X_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Arm Goto X");
// BT_PLOT_Q_WRITE_FILE_OBJ= fl_add_button(FL_RADIO_BUTTON, x, y + 1*dy, w, h, "Write file and plot qi");
fl_set_call_back(BT_ARM_GOTO_X_OBJ, CB_genomArmGotoX_obj, 1);
y+= dy;
BT_FIND_GRASP_CONFIG_AND_COMP_TRAJ_OBJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Pick Up");
fl_set_call_back(BT_FIND_GRASP_CONFIG_AND_COMP_TRAJ_OBJ, CB_genomPickUp_gotoObject, 1);
y+= dy;
BT_PICK_UP_TAKE = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Take To Conf");
fl_set_call_back(BT_PICK_UP_TAKE, CB_genomPickUp_takeObject, 1);
y+= dy;
BT_PICK_UP_TAKE_XYZ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Take To XYZ");
fl_set_call_back(BT_PICK_UP_TAKE_XYZ, CB_genomPickUp_takeObjectToXYZ, 1);
y+= dy;
BT_TAKE_TO_PLACE = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Take To Place");
fl_set_call_back(BT_TAKE_TO_PLACE, CB_genomTakeToPlace, 1);
y+= dy;
BT_PLACE = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Place From Free");
fl_set_call_back(BT_PLACE, CB_genomPlaceObject, 1);
y+= dy;
BT_ESCAPE_OBJECT = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Escape object");
fl_set_call_back(BT_ESCAPE_OBJECT, CB_genomEscapeObject, 1);
y+= dy;
BT_CONSTRUCTPRM = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Build PRM");
fl_set_call_back(BT_CONSTRUCTPRM, CB_genomArmComputePRM_obj, 0);
y+= dy;
BT_PLANVIAPOINTS = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Plan Via Conf traj");
fl_set_call_back(BT_PLANVIAPOINTS, CB_genomPlanTrajViaPoints, 0);
y+= dy;
BT_SEQUENCE = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Sequence");
fl_set_call_back(BT_SEQUENCE, CB_genomSequence, 0);
#ifdef DPG
y+= dy;
BT_CHECKCOLONTRAJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Check Col Traj");
fl_set_call_back(BT_CHECKCOLONTRAJ, CB_checkColOnTraj, 0);
y+= dy;
BT_REPLANCOLTRAJ = fl_add_button(FL_NORMAL_BUTTON, x, y, w, h, "Replan Col Traj");
fl_set_call_back(BT_REPLANCOLTRAJ, CB_replanColTraj, 0);
y+= dy;
#endif
fl_end_group();
}
