void MapMaintener::pauseMapCallback( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
menu_handler.setVisible(h_start, true);
menu_handler.setVisible(h_pause, false);
menu_handler.setVisible(h_stop, true);
menu_handler.reApply( *server);
server->applyChanges();
mappingActive = false;
}
void modeCb( const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
menu_handler.setCheckState( h_mode_last, MenuHandler::UNCHECKED );
h_mode_last = feedback->menu_entry_id;
std::string namesss=feedback->control_name;
ROS_INFO("Name: %s", namesss.c_str());
ROS_INFO("last %i", h_mode_last);
menu_handler.setCheckState( h_mode_last, MenuHandler::CHECKED );
menu_handler.reApply( *server );
server->applyChanges();
}
void MenuManager::menuSelected( WMenuItem * item )
//------------------------------------------------
{
const SubMenuInfo * info;
MenuHandler * handler;
info = (const SubMenuInfo *) item->tagPtr();
MIMenuID id( info->mainId, info->subId );
if( _receivers->find( id, handler ) ) {
if( handler != NULL ) {
handler->menuSelected( id );
}
}
}
void DroneRvizDisplay::initMenu(int i)
{
std::ostringstream s;
s << "Drone " << i;
h_mode_last = menu_handler.insert( sub_menu_handle, s.str(), &modeCb );
menu_handler.setCheckState( h_mode_last, MenuHandler::UNCHECKED );
h_mode_last = 2;
menu_handler.setCheckState( h_mode_last, MenuHandler::CHECKED ); //try
//
ROS_INFO("INIT");
//obstacles.ns="zero";
}
// Marker callback
void MapMaintener::update_tf(const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback )
{
//InteractiveMarker int_marker;
//server->get("object_menu", int_marker);
if(mapPointCloud.features.cols() == 0)
{
nav_msgs::Odometry odom;
odom.pose.pose = feedback->pose;
publishLock.lock();
TObjectToMap = PointMatcher_ros::odomMsgToEigenMatrix<float>(odom);
publishLock.unlock();
//int_marker.description = "Move to the zone of interest";
menu_handler.reApply( *server);
server->applyChanges();
}
else
{
//int_marker.description = "Reset the map to apply change";
menu_handler.reApply( *server);
server->applyChanges();
}
}
StartingMenuScreen::StartingMenuScreen(MenuHandler& menu) : Parent(menu)
{
auto renderer = FARender::Renderer::get();
mFocus42.reset(new FARender::AnimationPlayer());
mFocus42->playAnimation(renderer->loadImage("ui_art/focus42.pcx&trans=0,255,0&vanim=42"),
FAWorld::World::getTicksInPeriod("0.06"),
FARender::AnimationPlayer::AnimationType::Looped);
mSmLogo = menu.createSmLogo();
auto drawItem = [&](const char* text, const struct nk_rect& rect) {
return [=](nk_context* ctx, bool isActive) {
nk_layout_space_push(ctx, rect);
menuText(ctx, text, MenuFontColor::gold, 42, NK_TEXT_ALIGN_CENTERED);
auto ret = DrawFunctionResult::noAction;
if (nk_widget_is_mouse_click_down_inactive(ctx, NK_BUTTON_LEFT))
{
ret = DrawFunctionResult::executeAction;
}
if (isActive)
{
auto frame = mFocus42->getCurrentFrame();
auto frameRect = nk_rect(0, 0, frame.first->getWidth(), frame.first->getHeight());
nk_layout_space_push(ctx, alignRect(frameRect, rect, halign_t::left, valign_t::center));
nk_image(ctx, frame.first->getNkImage(frame.second));
nk_layout_space_push(ctx, alignRect(frameRect, rect, halign_t::right, valign_t::center));
nk_image(ctx, frame.first->getNkImage(frame.second));
}
return ret;
};
};
mMenuItems.push_back({drawItem("Single Player", {65, 192, 510, 42}), [this]() {
mMenuHandler.setActiveScreen<SelectHeroMenuScreen>();
return ActionResult::stopDrawing;
}});
mMenuItems.push_back({drawItem("Multi Player", {65, 235, 510, 42}), []() { return ActionResult::continueDrawing; }});
mMenuItems.push_back({drawItem("Replay Intro", {65, 277, 510, 42}), []() { return ActionResult::continueDrawing; }});
mMenuItems.push_back({drawItem("Show Credits", {65, 320, 510, 42}), []() { return ActionResult::continueDrawing; }});
mRejectAction = [this]() {
mMenuHandler.engine().stop();
return ActionResult::stopDrawing;
};
mMenuItems.push_back({drawItem("Exit Diablo", {65, 363, 510, 42}), mRejectAction});
}
GameSequence *IntroSequence::doTick(ALLEGRO_BITMAP *screen_buffer,
bool key_pressed[ALLEGRO_KEY_MAX],
bool key_down[ALLEGRO_KEY_MAX],
bool *exit_game, double dt) {
iZoom = (iZoom - iZoomSpeed);
if (iZoom < 1.0) {
iZoom = 1;
isRunning = false;
}
clear_bitmap(iDoublebuffer);
DrawZoomedLogoInCenter(mini, maxi);
// draw 2 horizontal lines
hline(iDoublebuffer, 0, 0, width, al_map_rgb(255, 255, 255));
hline(iDoublebuffer, 0, IntroSequence::maxi - IntroSequence::mini - 1, width,
al_map_rgb(255, 255, 255));
// blit to the screen
blit(iDoublebuffer, screen_buffer, 0, 0, 0, mini, width, maxi - mini);
if (key_pressed[ALLEGRO_KEY_ESCAPE] && canQuickExit) {
quickExit = true;
isRunning = false;
}
if (joystick_action_timer.is_running())
joystick_action_timer.tick();
bool startgame = false;
bool exit = false;
bool reload = false;
if (!quickExit && !isRunning) {
black = al_map_rgb(0, 0, 0);
red = al_map_rgb(255, 0, 0);
lightred = al_map_rgb(255, 75, 75);
handle_key_presses(key_pressed, &reload, &startgame, &exit);
char layout_str[1000];
auto font = GameManager::font;
MenuHandler mh;
mh.reset();
mh.selected_idx = menuselected;
mh.maxi = maxi;
mh.width = width;
mh.max_visible_lines = 25;
mh.addline("Start game");
mh.addline("Options:", false, 15);
snprintf(menutext, sizeof(menutext), " Players - %d ", playerschoice);
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Level - %d ", levelchoice + 1);
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Lives - %d ", liveschoice);
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Use DCA - %s ",
((dcachoice) ? "yes" : "no"));
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Wall Collision - %s ",
((wallchoice) ? "yes" : "no"));
mh.addline(menutext);
mh.addline("Controls:", false, 15);
snprintf(menutext, sizeof(menutext), " Player 1 - %s",
get_control_id_as_string(playercontrols[0]));
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Player 2 - %s",
get_control_id_as_string(playercontrols[1]));
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Player 3 - %s",
get_control_id_as_string(playercontrols[2]));
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Player 4 - %s",
get_control_id_as_string(playercontrols[3]));
mh.addline(menutext);
mh.addline("Controller layouts:", false, 15);
menu_joy_kbd_idx = 10;
menu_kbd_layout1_idx = 0;
menu_kbd_layout2_idx = 0;
menu_kbd_layout3_idx = 0;
menu_kbd_layout4_idx = 0;
menu_kbd_layout_end = 0;
menu_joy_layout1_idx = 0;
menu_joy_layout2_idx = 0;
menu_joy_layout3_idx = 0;
menu_joy_layout4_idx = 0;
menu_joy_layout_end = 0;
if (GameManager::num_joysticks_loaded > 0) {
for (int i = 0; i < GameManager::num_joysticks_loaded; i++) {
switch (i) {
case 0:
menu_joy_layout1_idx = menu_joy_kbd_idx;
break;
case 1:
menu_joy_layout2_idx = menu_joy_kbd_idx;
break;
case 2:
menu_joy_layout3_idx = menu_joy_kbd_idx;
break;
case 3:
menu_joy_layout4_idx = menu_joy_kbd_idx;
break;
}
snprintf(menutext, sizeof(menutext), " Joystick %d %s", (i + 1), al_get_joystick_name(GameManager::joysticks[i]->joy));
mh.addline(menutext, false, 10);
snprintf(menutext, sizeof(menutext), " Left - %s",
button_to_str(mapping_joy::btn_sets[i][0]));
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Right - %s",
button_to_str(mapping_joy::btn_sets[i][1]));
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Thrust - %s",
button_to_str(mapping_joy::btn_sets[i][2]));
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Shield - %s",
button_to_str(mapping_joy::btn_sets[i][3]));
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Fire - %s",
button_to_str(mapping_joy::btn_sets[i][4]));
mh.addline(menutext);
menu_joy_kbd_idx = menu_joy_kbd_idx + 5;
menu_joy_layout_end = menu_joy_kbd_idx;
}
}
for (int i = 0; i < 4; i++) {
switch (i) {
case 0:
menu_kbd_layout1_idx = menu_joy_kbd_idx;
break;
case 1:
menu_kbd_layout2_idx = menu_joy_kbd_idx;
break;
case 2:
menu_kbd_layout3_idx = menu_joy_kbd_idx;
break;
case 3:
menu_kbd_layout4_idx = menu_joy_kbd_idx;
break;
}
snprintf(menutext, sizeof(menutext), " Keyboard %d", (i + 1));
mh.addline(menutext, false, 10);
snprintf(menutext, sizeof(menutext), " Left - %s",
key_to_str(mapping_key::key_sets[i][0]));
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Right - %s",
key_to_str(mapping_key::key_sets[i][1]));
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Thrust - %s",
key_to_str(mapping_key::key_sets[i][2]));
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Shield - %s",
key_to_str(mapping_key::key_sets[i][3]));
mh.addline(menutext);
snprintf(menutext, sizeof(menutext), " Fire - %s",
key_to_str(mapping_key::key_sets[i][4]));
mh.addline(menutext);
menu_joy_kbd_idx = menu_joy_kbd_idx + 5;
menu_kbd_layout_end = menu_joy_kbd_idx;
}
snprintf(menutext, sizeof(menutext), "Resolution (%ix%i): ", width,
height);
mh.addline(menutext, false, 15);
menu_resolution_idx = menu_joy_kbd_idx;
menu_exit_idx = menu_resolution_idx + 1;
menuitems = menu_exit_idx + 1;
if (width == GameManager::native_width &&
height == GameManager::native_height)
snprintf(menutext, sizeof(menutext), " Switch to Low - 1024x768 ");
else
snprintf(menutext, sizeof(menutext), " Switch to Native - %ix%i ",
GameManager::native_width, GameManager::native_height);
mh.addline(menutext);
mh.addline("Exit", true, 15);
mh.draw(screen_buffer, font);
}
*exit_game = exit;
GameSequence *seq = nullptr;
if (startgame) {
iZoom = iZoomMax;
seq = new BattleSequence(this, playerschoice, playerschoice, liveschoice,
levelchoice, dcachoice, wallchoice, width, height,
playercontrols);
} else if (reload)
seq = new IntroSequence(NULL, 10.0, 0.5, playerschoice, levelchoice,
liveschoice, dcachoice, wallchoice);
else
seq = ReturnScreen();
return seq;
}
void DroneRvizDisplay::MenuHandlerApply()
{
menu_handler.apply(*server, "GRF");
}
#include "RvizInteractiveMarkerDisplay.h"
using namespace visualization_msgs;
using namespace interactive_markers;
//Menu Initialize
MenuHandler menu_handler;
MenuHandler::EntryHandle h_first_entry;
MenuHandler::EntryHandle h_mode_last=2;
MenuHandler::EntryHandle sub_menu_handle = menu_handler.insert( "Drone Selection" );
//Server Initialize
boost::shared_ptr<interactive_markers::InteractiveMarkerServer> server;
//Marker objects
visualization_msgs::Marker obstacles;
visualization_msgs::Marker walls;
visualization_msgs::Marker line_strip;
visualization_msgs::Marker point;
//Initialize Markers
int ini = 0;
int iniMP = 0;
int iniO = 0;
//-------------------------Create Markers(Box / Sphere)------------------------------------------------//
Marker makeBox( InteractiveMarker &msg )
{