static gboolean
filter_check_value (const gchar * ext, const gchar * name)
{
if (!string_is_ascii_printable (ext) || !string_is_ascii_printable (name))
{
dialog_message (_("Error"), _("String includes invalid character!\n"
"Only ASCII is available."), NULL);
return FALSE;
}
if (strchr (ext, ',') || strchr (name, ','))
{
dialog_message (_("Error"),
_("Sorry, cannot include \",\" character!"), NULL);
return FALSE;
}
if (strchr (ext, ';') || strchr (name, ';'))
{
dialog_message (_("Error"),
_("Sorry, cannot include \";\" character!"), NULL);
return FALSE;
}
return TRUE;
}
void partMover::home_all(GtkButton *button, partMover* currentPart)
{
IPositionControl *ipos = currentPart->pos;
IEncoders *iiencs = currentPart->iencs;
IAmplifierControl *iamp = currentPart->amp;
IPidControl *ipid = currentPart->pid;
IControlCalibration2 *ical = currentPart->cal;
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
//fprintf(stderr, "Retrieving finder \n");
ResourceFinder *fnd = currentPart->finder;
//fprintf(stderr, "Retrieved finder: %p \n", fnd);
char buffer1[800];
char buffer2[800];
strcpy(buffer1, currentPart->partLabel);
strcpy(buffer2, strcat(buffer1, "_zero"));
//fprintf(stderr, "Finder retrieved %s\n", buffer2);
if (!fnd->findGroup(buffer2).isNull() && !fnd->isNull())
{
bool ok = true;
Bottle xtmp, ytmp;
xtmp = fnd->findGroup(buffer2).findGroup("PositionZero");
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
ytmp = fnd->findGroup(buffer2).findGroup("VelocityZero");
ok = ok && (ytmp.size() == NUMBER_OF_JOINTS+1);
if(ok)
{
for (int joint = 0; joint < NUMBER_OF_JOINTS; joint++)
{
double positionZero = xtmp.get(joint+1).asDouble();
//fprintf(stderr, "%f ", positionZero);
double velocityZero = ytmp.get(joint+1).asDouble();
//fprintf(stderr, "%f ", velocityZero);
ipos->setRefSpeed(joint, velocityZero);
ipos->positionMove(joint, positionZero);
}
}
else
dialog_message(GTK_MESSAGE_ERROR,(char *) "Check the number of entries in the group", buffer2, true);
}
else
{
// currentPart->dialog_message(GTK_MESSAGE_ERROR,"No calib file found", strcat("Define a suitable ", strcat(currentPart->partLabel, "Calib")), true);
dialog_message(GTK_MESSAGE_ERROR,(char *) "No zero group found in the supplied file. Define a suitable", buffer2, true);
}
return;
}
void partMover::home_click(GtkButton *button, gtkClassData* currentClassData)
{
partMover *currentPart = currentClassData->partPointer;
int * joint = currentClassData->indexPointer;
IPositionControl *ipos = currentPart->pos;
IEncoders *iiencs = currentPart->iencs;
IAmplifierControl *iamp = currentPart->amp;
IPidControl *ipid = currentPart->pid;
IControlCalibration2 *ical = currentPart->cal;
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
//fprintf(stderr, "Retrieving finder \n");
ResourceFinder *fnd = currentPart->finder;
//fprintf(stderr, "Retrieved finder: %p \n", fnd);
char buffer1[800];
char buffer2[800];
strcpy(buffer1, currentPart->partLabel);
strcpy(buffer2, strcat(buffer1, "_zero"));
//fprintf(stderr, "Finder retrieved %s\n", buffer2);
if (!fnd->findGroup(buffer2).isNull() && !fnd->isNull())
{
//fprintf(stderr, "Home group was not empty \n");
bool ok = true;
Bottle xtmp;
xtmp = fnd->findGroup(buffer2).findGroup("PositionZero");
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
double positionZero = xtmp.get(*joint+1).asDouble();
//fprintf(stderr, "%f\n", positionZero);
xtmp = fnd->findGroup(buffer2).findGroup("VelocityZero");
//fprintf(stderr, "VALUE VEL is %d \n", fnd->findGroup(buffer2).find("VelocityZero").toString().c_str());
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
double velocityZero = xtmp.get(*joint+1).asDouble();
//fprintf(stderr, "%f\n", velocityZero);
if(!ok)
dialog_message(GTK_MESSAGE_ERROR,(char *) "Check the number of entries in the group", buffer2, true);
else
{
ipos->setRefSpeed(*joint, velocityZero);
ipos->positionMove(*joint, positionZero);
}
}
else
{
// currentPart->dialog_message(GTK_MESSAGE_ERROR,"No calib file found", strcat("Define a suitable ", strcat(currentPart->partLabel, "Calib")), true);
dialog_message(GTK_MESSAGE_ERROR,(char *) "No zero group found in the supplied file. Define a suitable", buffer2, true);
}
return;
}
int get_cartesian_index_selection(cartesianMover *cm)
{
GtkTreeIter iter;
GtkTreeSelection *treeSelection = NULL;
GtkWidget *tree_view = cm->treeview;
treeSelection = gtk_tree_view_get_selection(GTK_TREE_VIEW(tree_view));
GtkTreeModel* myModel = gtk_tree_view_get_model(GTK_TREE_VIEW(tree_view));
bool selected = (gtk_tree_selection_get_selected (treeSelection, NULL, &iter)?true:false);
//gchar *buffer[10000];
//gtk_tree_model_get(myModel, &iter, 0, buffer, -1);
if(selected==false)
{
dialog_message(GTK_MESSAGE_ERROR,(char *) "Select a entry in the table", (char *) "before performing a movement", true);
return -1;
}
else
{
GtkTreePath* treePath = gtk_tree_model_get_path(myModel, &iter);
int *i = gtk_tree_path_get_indices (treePath);
//gtk_tree_path_free (treePath);
return (*i);
}
}
static gboolean
check_value (const gchar * key, const gchar * name)
{
gchar message[BUF_SIZE];
if (!string_is_ascii_graphable (key))
{
dialog_message (_("Error"),
_("Key string includes invalid character!\n"
"Only ASCII (except space) is available."), NULL);
return FALSE;
}
if (strchr (key, ',') || strchr (name, ','))
{
dialog_message (_("Error"),
_("Sorry, cannot include \",\" character!"), NULL);
return FALSE;
}
if (strchr (key, ';') || strchr (name, ';'))
{
dialog_message (_("Error"),
_("Sorry, cannot include \";\" character!"), NULL);
return FALSE;
}
if (!key || !*key)
{
g_snprintf (message, BUF_SIZE, _("\"Key name\" must be defined."));
dialog_message (_("Error!!"), message, NULL);
return FALSE;
}
if (!name || !*name)
{
g_snprintf (message, BUF_SIZE,
_("\"Display name\" must be defined."));
dialog_message (_("Error!!"), message, NULL);
return FALSE;
}
return TRUE;
}
//*********************************************************************************
// This callback loads all sequences
void sequence_all_load (GtkButton *button, partMover** currentPartMover)
{
GtkWidget *dialog;
dialog = gtk_file_chooser_dialog_new ("Open File",
(GtkWindow*) window,
GTK_FILE_CHOOSER_ACTION_OPEN,
GTK_STOCK_CANCEL, GTK_RESPONSE_CANCEL,
GTK_STOCK_OPEN, GTK_RESPONSE_ACCEPT,
NULL);
if (gtk_dialog_run (GTK_DIALOG (dialog)) == GTK_RESPONSE_ACCEPT)
{
char *filenameIn;
int i, lengthStr;
filenameIn = gtk_file_chooser_get_filename(GTK_FILE_CHOOSER(dialog));
//store the file describing the poses
for (i = 0; i < NUMBER_OF_ACTIVATED_PARTS; i++)
{
fprintf(stderr, "Loading file for PART %d/%d \n", i, NUMBER_OF_ACTIVATED_PARTS);
Property p;
bool fileExists;
char buffer[800];
fileExists = p.fromConfigFile(filenameIn);
if (fileExists)
{
Bottle& xtmp = p.findGroup(currentPartMover[i]->partLabel);
sprintf(buffer, "%s",(const char*)xtmp.get(1).toString().c_str());
lengthStr = strlen(buffer);
*(buffer + (lengthStr-1)*sizeof(char)) = (char) NULL;
currentPartMover[i]->load_from_file(buffer+(sizeof(char)),currentPartMover[i]);
}
else
{
dialog_message(GTK_MESSAGE_ERROR,
(char *)"Couldn't find the file describing the positions ",
(char *)"associated to the currently activated parts", true);
}
}
g_free (filenameIn);
}
gtk_widget_destroy (dialog);
return;
//int i;
//for (i = 0; i < NUMBER_OF_ACTIVATED_PARTS; i++)
// currentPartMover[i]->sequence_load(NULL, currentPartMover[i]);
//return;
}
static void url_cb(Fl_Widget *)
{
char errmsg[512] = {0};
std::string warnmsg;
if (!fl_open_uri(PROJECT_URL, errmsg, sizeof(errmsg))) {
title = "Error";
warnmsg = "Error: " + std::string(errmsg);
msg = warnmsg.c_str();
dialog_message(MESSAGE_TYPE_INFO);
}
}
bool SearchInfo::dialog (bool default_backward)
{
std::wstring new_pattern;
bool new_backward;
bool new_regex;
ui::dialog_search (new_pattern, new_backward, new_regex,
get_pattern (), default_backward, get_use_regex ());
if (new_pattern.empty ()) {
return false;
}
if (StringMatch::assign (new_pattern, new_regex)) {
backward = new_backward;
return true;
}
else {
dialog_message (L"Invalid regular expression", L"Error");
return false;
}
}
void cartesianMover::edited_cartesian_timing (GtkCellRendererText *cell, GtkTreePath *path_str, gchar *new_text, cartesianMover *cm)
{
GtkWidget *tree_view = cm->treeview;
//retrieve new val from edited
gdouble new_val = atof (new_text);
//get the current row index
int i = get_cartesian_index_selection(cm);
//fprintf(stderr, "Getting index %d", i);
if (i != -1)
{
if (new_val > 0)
cm->TIMING[i] = new_val;
else
dialog_message(GTK_MESSAGE_ERROR, (char *) "Timing must be positive", (char *) "Change your selection", true);
}
//redisplay list
gtk_tree_view_set_model (GTK_TREE_VIEW (tree_view), refresh_cartesian_list_model(cm));
gtk_widget_draw(tree_view, NULL);
}
void cartesianMover::edited_cartesian_sequence (GtkCellRendererText *cell, GtkTreePath *path_str, gchar *new_text, cartesianMover *cm)
{
GtkWidget *tree_view = cm->treeview;
gint new_val = atoi (new_text);
if (new_val <-1 || new_val>= NUMBER_OF_STORED) return;
if (new_val == NUMBER_OF_STORED -1)
{
dialog_message(GTK_MESSAGE_ERROR,
(char *) "Please do not use the entire table (leave at least one row). Otherwise increase NUMBER_OF_STORED",
(char *) "Unfortunately maximum sequence length is not set at runtime (recompile)", true);
return;
}
//---
//get the current row index
int i = get_cartesian_index_selection(cm);
if (i != -1)
cm->SEQUENCE[i] = atoi(new_text);
gtk_tree_view_set_model (GTK_TREE_VIEW (tree_view), refresh_cartesian_list_model(cm));
gtk_widget_draw(tree_view, NULL);
}
static gboolean
filter_check_duplicate (const gchar * ext, gint row, gboolean dialog)
{
EditableList *editlist = EDITABLE_LIST (prefs_win.filter_editlist);
gchar *text, message[BUF_SIZE];
gint i, rows = editable_list_get_n_rows (editlist);
if (!ext || !*ext)
return FALSE;
for (i = 0; i < rows; i++)
{
if (i == row)
continue;
text = editable_list_get_cell_text (editlist, i, 0);
if (!text)
continue;
if (text && *text && !strcasecmp (ext, text))
{
if (dialog)
{
g_snprintf (message, BUF_SIZE,
_("\"%s\" is already defined."), ext);
dialog_message (_("Error!!"), message, NULL);
}
g_free (text);
return TRUE;
}
g_free (text);
}
return FALSE;
}
static void
cb_comment_editlist_confirm (EditableList * editlist,
EditableListActionType type,
gint selected_row,
EditableListConfirmFlags * flags, gpointer data)
{
GtkWidget *t_auto = prefs_win.comment_auto_toggle;
GtkWidget *key_entry = prefs_win.comment_key_entry;
GtkWidget *name_entry = prefs_win.comment_name_entry;
CommentDataEntry *entry = NULL;
const gchar *key, *name;
gchar message[BUF_SIZE];
gboolean duplicate = FALSE;
key = gtk_entry_get_text (GTK_ENTRY (key_entry));
name = gtk_entry_get_text (GTK_ENTRY (name_entry));
gtk_widget_set_sensitive (key_entry, TRUE);
gtk_widget_set_sensitive (name_entry, TRUE);
gtk_widget_set_sensitive (t_auto, TRUE);
if (selected_row < 0)
{
gtk_widget_set_sensitive (t_auto, FALSE);
}
else
{
entry = editable_list_get_row_data (editlist, selected_row);
if (entry)
{
gtk_widget_set_sensitive (key_entry, entry->userdef);
gtk_widget_set_sensitive (name_entry, entry->userdef);
if (!entry->def_val_fn)
gtk_widget_set_sensitive (t_auto, FALSE);
if (!entry->userdef)
{
*flags |= EDITABLE_LIST_CONFIRM_CANNOT_ADD;
*flags |= EDITABLE_LIST_CONFIRM_CANNOT_DELETE;
}
}
}
if (!key || !*key || !name || !*name)
{
*flags |= EDITABLE_LIST_CONFIRM_CANNOT_ADD;
*flags |= EDITABLE_LIST_CONFIRM_CANNOT_CHANGE;
}
if ((!key || !*key) && (!name || !*name) && selected_row < 0)
*flags |= EDITABLE_LIST_CONFIRM_CANNOT_NEW;
if (type != EDITABLE_LIST_ACTION_ADD
&& type != EDITABLE_LIST_ACTION_CHANGE)
return;
if (!check_value (key, name))
{
*flags |= EDITABLE_LIST_CONFIRM_CANNOT_ADD;
*flags |= EDITABLE_LIST_CONFIRM_CANNOT_CHANGE;
gtk_signal_emit_stop_by_name (GTK_OBJECT (editlist),
"action_confirm");
return;
}
#if 0
if ((type == EDITABLE_LIST_ACTION_CHANGE) && entry && !entry->userdef)
{
if (strcmp (entry->key, key))
{
/*
* FIXME!! add error handling
*/
*flags |= EDITABLE_LIST_CONFIRM_CANNOT_CHANGE;
return;
}
if (strcmp (_(entry->display_name), name))
{
/*
* FIXME!! add error handling
*/
*flags |= EDITABLE_LIST_CONFIRM_CANNOT_CHANGE;
return;
}
}
#endif
if (type == EDITABLE_LIST_ACTION_ADD)
duplicate = check_duplicate_comment_key (key, -1);
else if ((type == EDITABLE_LIST_ACTION_CHANGE) && entry && entry->userdef)
duplicate = check_duplicate_comment_key (key, selected_row);
if (duplicate)
{
g_snprintf (message, BUF_SIZE, _("\"%s\" is already defined."), key);
dialog_message (_("Error!!"), message, NULL);
*flags |= EDITABLE_LIST_CONFIRM_CANNOT_ADD;
*flags |= EDITABLE_LIST_CONFIRM_CANNOT_CHANGE;
gtk_signal_emit_stop_by_name (GTK_OBJECT (editlist),
"action_confirm");
}
}
void AddTooltip(GtkWidget* w, int idc)
{
gtk_widget_set_tooltip_text(w, dialog_message(idc));
}
void partMover::calib_click(GtkButton *button, gtkClassData* currentClassData)
{
//ask for confirmation
if (!dialog_question("Do you really want to recalibrate the joint?"))
{
return;
}
partMover *currentPart = currentClassData->partPointer;
int * joint = currentClassData->indexPointer;
IPositionControl *ipos = currentPart->pos;
IEncoders *iiencs = currentPart->iencs;
IAmplifierControl *iamp = currentPart->amp;
IPidControl *ipid = currentPart->pid;
IControlCalibration2 *ical = currentPart->cal;
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
ResourceFinder *fnd = currentPart->finder;
//fprintf(stderr, "opening file \n");
char buffer1[800];
char buffer2[800];
strcpy(buffer1, currentPart->partLabel);
strcpy(buffer2, strcat(buffer1, "_calib"));
if (!fnd->findGroup(buffer2).isNull())
{
bool ok = true;
Bottle xtmp;
xtmp.clear();
xtmp = fnd->findGroup(buffer2).findGroup("CalibrationType");
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
unsigned char type = (unsigned char) xtmp.get(*joint+1).asDouble();
fprintf(stderr, "%d ", type);
xtmp.clear();
xtmp = fnd->findGroup(buffer2).findGroup("Calibration1");
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
double param1 = xtmp.get(*joint+1).asDouble();
fprintf(stderr, "%f ", param1);
xtmp.clear();
xtmp = fnd->findGroup(buffer2).findGroup("Calibration2");
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
double param2 = xtmp.get(*joint+1).asDouble();
fprintf(stderr, "%f ", param2);
xtmp.clear();
xtmp = fnd->findGroup(buffer2).findGroup("Calibration3");
ok = ok && (xtmp.size() == NUMBER_OF_JOINTS+1);
double param3 = xtmp.get(*joint+1).asDouble();
fprintf(stderr, "%f \n", param3);
if(!ok)
dialog_message(GTK_MESSAGE_ERROR,(char *)"Check number of calib entries in the group", buffer2, true);
else
ical->calibrate2(*joint, type, param1, param2, param3);
}
else
dialog_message(GTK_MESSAGE_ERROR,(char *)"The supplied file does not conatain a group named:", buffer2, true);
return;
}
int dialog_checklist(std::string checklist_options, bool return_value, bool check_all, char separator)
{
Fl_Group *g, *g_inside, *buttongroup;
Fl_Box *dummy1, *dummy2;
Fl_Return_Button *but_ok;
Fl_Button *but_cancel;
Fl_Check_Browser *browser;
std::vector<std::string> vec;
size_t vec_size;
int range;
split(checklist_options, separator, vec);
vec_size = vec.size();
if (vec_size < 2) {
title = "error: checklist";
msg = "Two or more options required!";
dialog_message(MESSAGE_TYPE_INFO);
return 1;
}
if (!title) {
title = "Select your option(s)";
}
win = new Fl_Double_Window(420, 356, title);
win->callback(close_cb, 1);
{
g = new Fl_Group(0, 0, 420, 310);
{
g_inside = new Fl_Group(0, 0, 420, 310);
{
browser = new Fl_Check_Browser(10, 10, 400, 299);
browser->box(FL_THIN_DOWN_BOX);
browser->color(fl_lighter(fl_lighter(FL_BACKGROUND_COLOR)));
browser->clear_visible_focus();
for (auto it = vec.begin(); it != vec.end(); ++it) {
std::string &s = *it;
browser->add(s.c_str());
}
if (check_all) {
browser->check_all();
}
dummy1 = new Fl_Box(10, 308, 400, 1);
dummy1->box(FL_NO_BOX);
vec.clear();
}
g_inside->resizable(dummy1);
g_inside->end();
}
g->resizable(g_inside);
g->end();
buttongroup = new Fl_Group(0, 310, 420, 42);
{
int but_w = measure_button_width(fl_cancel, 20);
range = but_w + 40;
but_cancel = new Fl_Button(win->w() - 10 - but_w, 320, but_w, 26, fl_cancel);
but_cancel->callback(close_cb, 1);
but_w = measure_button_width(fl_ok, 40);
but_ok = new Fl_Return_Button(but_cancel->x() - 10 - but_w, 320, but_w, 26, fl_ok);
but_ok->callback(close_cb, 0);
dummy2 = new Fl_Box(but_ok->x() - 1, 310, 1, 1);
dummy2->box(FL_NO_BOX);
}
buttongroup->resizable(dummy2);
buttongroup->end();
}
run_window(win, g, range, 100);
if (ret == 0) {
std::string list;
for (size_t i = 1; i <= vec_size; ++i) {
if (return_value) {
if (browser->checked(i)) {
list.append(quote);
list.append(browser->text(i));
list.append(quote);
list.push_back(separator);
}
} else {
list.append(quote);
list += (browser->checked(i)) ? "TRUE" : "FALSE";
list.append(quote);
list.push_back(separator);
}
}
/* strip trailing separator */
list.pop_back();
std::cout << list << std::endl;
}
return ret;
}
/*
* Enable all PID and refresh position sliders
*/
void partMover::calib_all(GtkButton *button, partMover* currentPart)
{
//ask for confirmation
if (!dialog_question("Do you really want to recalibrate the whole part?"))
{
return;
}
IPositionControl *ipos = currentPart->pos;
IControlCalibration2 *ical = currentPart->cal;
int joint;
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
ResourceFinder *fnd = currentPart->finder;
//fprintf(stderr, "opening file \n");
char buffer1[800];
char buffer2[800];
strcpy(buffer1, currentPart->partLabel);
strcpy(buffer2, strcat(buffer1, "_calib"));
if (!fnd->findGroup(buffer2).isNull())
{
bool ok = true;
Bottle p1 = fnd->findGroup(buffer2).findGroup("Calibration1");
ok = ok && (p1.size() == NUMBER_OF_JOINTS+1);
Bottle p2 = fnd->findGroup(buffer2).findGroup("Calibration2");
ok = ok && (p2.size() == NUMBER_OF_JOINTS+1);
Bottle p3 = fnd->findGroup(buffer2).findGroup("Calibration3");
ok = ok && (p3.size() == NUMBER_OF_JOINTS+1);
Bottle ty = fnd->findGroup(buffer2).findGroup("CalibrationType");
ok = ok && (ty.size() == NUMBER_OF_JOINTS+1);
if (ok)
{
for (joint=0; joint < NUMBER_OF_JOINTS; joint++)
{
double param1 = p1.get(joint+1).asDouble();
//fprintf(stderr, "%f ", param1);
double param2 = p2.get(joint+1).asDouble();
//fprintf(stderr, "%f ", param2);
double param3 = p3.get(joint+1).asDouble();
//fprintf(stderr, "%f ", param3);
unsigned char type = (unsigned char) ty.get(joint+1).asDouble();
//fprintf(stderr, "%d ", type);
ical->calibrate2(joint, type, param1, param2, param3);
}
}
else
dialog_message(GTK_MESSAGE_ERROR,(char *) "Check number of entries in the file", buffer1, true);
}
else
{
dialog_message(GTK_MESSAGE_ERROR,(char *) "No calib file found. Define a suitable file called:", buffer1, true);
}
return;
}
/*
* Load from file the current list of positions
*/
void partMover::load_from_file(char* filenameIn, partMover* currentPart)
{
IPositionControl *ipos = currentPart->pos;
IEncoders *iiencs = currentPart->iencs;
IAmplifierControl *iamp = currentPart->amp;
IPidControl *ipid = currentPart->pid;
int *SEQUENCE_TMP = currentPart->SEQUENCE;
double *TIMING_TMP = currentPart->TIMING;
double **STORED_POS_TMP = currentPart->STORED_POS;
double **STORED_VEL_TMP = currentPart->STORED_VEL;
GtkWidget **sliderAry = currentPart->sliderArray;
GtkWidget **sliderVelAry = currentPart->sliderVelArray;
GtkWidget *tree_view = currentPart->treeview;
int j, k, extensionLength, filenameLength;
char buffer[800];
char filenameExtension[800];
Property p;
bool fileExists = p.fromConfigFile(filenameIn);
strcpy(filenameExtension, ".pos");
strcat(filenameExtension, currentPart->partLabel);
extensionLength = strlen(filenameExtension);
filenameLength = strlen(filenameIn);
if ((filenameLength - extensionLength) > 0)
fileExists &= (strcmp(filenameIn +
(sizeof(char))*(filenameLength - extensionLength),
filenameExtension) == 0 );
else
fileExists=false;
if (fileExists)
{
int NUMBER_OF_JOINTS;
ipos->getAxes(&NUMBER_OF_JOINTS);
for (j = 0; j < NUMBER_OF_STORED; j++)
{
sprintf(buffer, "POSITION%d", j);
Bottle& xtmp = p.findGroup(buffer).findGroup("jointPositions");
if (xtmp.size() == NUMBER_OF_JOINTS+1 && j < NUMBER_OF_STORED - 1)
{
for (k = 0; k < NUMBER_OF_JOINTS; k++)
STORED_POS_TMP[j][k] = xtmp.get(k+1).asDouble();
xtmp = p.findGroup(buffer).findGroup("jointVelocities");
for (k = 0; k < NUMBER_OF_JOINTS; k++)
STORED_VEL_TMP[j][k] = xtmp.get(k+1).asDouble();
xtmp = p.findGroup(buffer).findGroup("timing");
TIMING_TMP[j] = xtmp.get(1).asDouble();
SEQUENCE_TMP[j] = j;
}
else
{
for (k = 0; k < NUMBER_OF_JOINTS; k++)
STORED_POS_TMP[j][k] = 0.0;
SEQUENCE_TMP[j] = -1;
if(j==0)
{
dialog_message(GTK_MESSAGE_ERROR,
(char *) "Couldn't load a valid position file.",
(char *) "Check the format of the supplied file.", true);
return;
}
if(j == NUMBER_OF_STORED - 1 && xtmp.size() == NUMBER_OF_JOINTS+1)
{
dialog_message(GTK_MESSAGE_ERROR,
(char *) "Truncating the current sequence which is too long. You need to recompile with a greater value of NUMBER_OF_STORED",
(char *) "Unfortunately maximum sequence length is not set at runtime", true);
}
}
}
if(GTK_IS_TREE_VIEW (tree_view))
{
gtk_tree_view_set_model (GTK_TREE_VIEW (tree_view), refresh_position_list_model(currentPart));
gtk_widget_draw(GTK_WIDGET(tree_view), NULL);
}
}
else
dialog_message(GTK_MESSAGE_ERROR,
(char *) "Wrong format (check estensions) of the file associated with:",
currentPart->partLabel, true);
return;
}
void main_linux ( int argc, char **argv )
{
GtkWidget *vbox;
gboolean first_use = FALSE;
cmdline_options opt;
gint status = CMDLINE_SYNTAX_OK;
/* initialisation des différents répertoires */
gsb_dirs_init ( );
bindtextdomain ( PACKAGE, gsb_dirs_get_locale_dir ( ) );
bind_textdomain_codeset ( PACKAGE, "UTF-8" );
textdomain ( PACKAGE );
/* Setup locale/gettext */
setlocale (LC_ALL, "");
gsb_locale_init ( );
#if IS_DEVELOPMENT_VERSION == 1
gsb_grisbi_print_environment_var ( );
#endif
gtk_init ( &argc, &argv );
/* initialisation libgoffice */
libgoffice_init ( );
/* Initialize plugins manager */
go_plugins_init (NULL, NULL, NULL, NULL, TRUE, GO_TYPE_PLUGIN_LOADER_MODULE);
/* on commence par détourner le signal SIGSEGV */
gsb_grisbi_trappe_signal_sigsegv ( );
/* parse command line parameter, exit with correct error code when needed */
if ( !parse_options (argc, argv, &opt, &status ) )
exit ( status );
/* initialise les données de l'application */
first_use = gsb_grisbi_init_app ( );
/* create the toplevel window and the main menu */
vbox = gsb_main_create_main_window ( );
gsb_grisbi_create_main_menu ( vbox );
main_window_set_size_and_position ( );
gtk_widget_show ( run.window );
#if IS_DEVELOPMENT_VERSION == 1
dialog_message ( "development-version", VERSION );
#endif
/* check the command line, if there is something to open */
gsb_grisbi_load_file_if_necessary ( &opt );
if ( first_use && !nom_fichier_comptes )
gsb_assistant_first_run ();
else
display_tip ( FALSE );
gtk_main ();
/* sauvegarde les raccourcis claviers */
gtk_accel_map_save ( gsb_dirs_get_accelerator_filename () );
/* libération de mémoire */
gsb_locale_shutdown ( );
gsb_dirs_shutdown ( );
/* liberation libgoffice */
libgoffice_shutdown ( );
#if GSB_GMEMPROFILE
g_mem_profile();
#endif
exit ( 0 );
}
void cartesianMover::position_slider_changed(GtkRange *range, cartesianMover *cm)
{
ICartesianControl *icrt = cm->crt;
GtkWidget **sliderPosArray = (GtkWidget **) cm->sliderArray;
GtkWidget *sliderVel = (GtkWidget *) cm->sliderVelocity;
int sliderIndex;
for(int i=0; i < NUMBER_OF_CARTESIAN_COORDINATES; i++)
if(sliderPosArray[i]==(GtkWidget*) range)
sliderIndex=i;
gboolean focus;
g_object_get((gpointer) range, "has-focus", &focus, NULL);
if (focus)
{
if (sliderIndex<3)
{
Vector xd(3); Vector x; Vector o;
xd(0) = gtk_range_get_value((GtkRange *) sliderPosArray[0]);
xd(1) = gtk_range_get_value((GtkRange *) sliderPosArray[1]);
xd(2) = gtk_range_get_value((GtkRange *) sliderPosArray[2]);
if(!icrt->getPose(x,o))
fprintf(stderr, "Troubles in gettin the cartesian pose for %s\n", cm->partLabel);
double time = gtk_range_get_value((GtkRange *) sliderVel);
if(!icrt->goToPoseSync(xd,o,time))
fprintf(stderr, "Troubles in executing the cartesian pose for %s\n", cm->partLabel);
//else
// fprintf(stderr, "Sent %s new cartesian for %s with time %.1f\n", xd.toString().c_str(),cm->partLabel, time);
int count= 0;
bool checkDone=false;
while(checkDone==false && count*10<2*time*1000)
{
icrt->checkMotionDone(&checkDone);
//fprintf(stderr, "Check %d\n", checkDone);
Time::delay(0.01);
count++;
}
if(!checkDone)
{
//fprintf(stderr, "Aborting since trajectory was not completed in 2*Time\n");
dialog_message(GTK_MESSAGE_ERROR,(char *)"Aborting cartesian trajectory", (char *)"Final point reaching was taking too much time", true);
icrt->stopControl();
}
}
else
{
Vector eud(3); Vector x; Vector o;
eud(0) = gtk_range_get_value((GtkRange *) sliderPosArray[3]) * M_PI/180;
eud(1) = gtk_range_get_value((GtkRange *) sliderPosArray[4]) * M_PI/180;
eud(2) = gtk_range_get_value((GtkRange *) sliderPosArray[5]) * M_PI/180;
//fprintf(stderr, "Will move to x=%s, o=%s\n", x.toString().c_str(), o.toString().c_str());
Matrix Rd = euler2dcm(eud);
Vector od = dcm2axis(Rd);
if(!icrt->getPose(x,o))
fprintf(stderr, "Troubles in gettin the cartesian pose for %s\n", cm->partLabel);
double time = gtk_range_get_value((GtkRange *) sliderVel);
if(!icrt->goToPoseSync(x,od,time))
fprintf(stderr, "Troubles in executing the cartesian pose for %s\n", cm->partLabel);
//else
// fprintf(stderr, "Sent %s new orientation for %s\n", od.toString().c_str(), cm->partLabel);
int count= 0;
bool checkDone=false;
while(checkDone==false && count*10<2*time*1000)
{
icrt->checkMotionDone(&checkDone);
//fprintf(stderr, "Check %d\n", checkDone);
Time::delay(0.01);
count++;
}
if(!checkDone)
{
//fprintf(stderr, "Aborting since trajectory was not completed in 2*Time\n");
dialog_message(GTK_MESSAGE_ERROR,(char *)"Aborting cartesian trajectory", (char *)"Final point reaching was taking too much time", true);
icrt->stopControl();
}
}
}
}
void main_win_32 ( int argc, char **argv )
{
#ifdef _WIN32
GtkWidget *vbox;
gboolean first_use = FALSE;
cmdline_options opt;
gint status = CMDLINE_SYNTAX_OK; /* be optimistic ;-) */
/* Retrieve exception information and store them under grisbi.rpt file!
* see http://jrfonseca.dyndns.org/projects/gnu-win32/software/drmingw/index.html for more information */
LoadLibrary("exchndl.dll");
/* we store the path of the running file to use it for pixmaps, help and locales .... */
win32_set_app_path(argv[0]);
/* needed to be able to use the "common" installation of GTK libraries */
win32_make_sure_the_gtk2_dlls_path_is_in_PATH();
/* initialisation des différents répertoires */
gsb_dirs_init ( );
bindtextdomain ( PACKAGE, gsb_dirs_get_locale_dir ( ) );
bind_textdomain_codeset ( PACKAGE, "UTF-8" );
textdomain ( PACKAGE );
/* Setup locale/gettext */
setlocale( LC_ALL, NULL );
gsb_locale_init ( );
/* initialisation libgoffice */
libgoffice_init ( );
/* Initialize plugins manager */
go_plugins_init (NULL, NULL, NULL, NULL, TRUE, GO_TYPE_PLUGIN_LOADER_MODULE);
gtk_init ( &argc, &argv );
win32_parse_gtkrc ( "gtkrc" );
/* parse command line parameter, exit with correct error code when needed */
if ( !parse_options (argc, argv, &opt, &status ) )
exit ( status );
/* initialise les données de l'application */
first_use = gsb_grisbi_init_app ( );
/* create the toplevel window and the main menu */
vbox = gsb_main_create_main_window ( );
gsb_grisbi_create_main_menu ( vbox );
main_window_set_size_and_position ( );
gtk_widget_show ( run.window );
#if IS_DEVELOPMENT_VERSION == 1
dialog_message ( "development-version", VERSION );
#endif
gsb_grisbi_load_file_if_necessary ( &opt );
if ( first_use && !nom_fichier_comptes )
gsb_assistant_first_run ();
else
display_tip ( FALSE );
gtk_main ();
/* sauvegarde les raccourcis claviers */
gtk_accel_map_save ( gsb_dirs_get_accelerator_filename () );
gsb_locale_shutdown ( );
gsb_dirs_shutdown ( );
/* liberation libgoffice */
libgoffice_shutdown ( );
#if GSB_GMEMPROFILE
g_mem_profile();
#endif
exit ( 0 );
#endif /* WIN_32 */
}
void main_mac_osx ( int argc, char **argv )
{
#ifdef GTKOSXAPPLICATION
GtkWidget *vbox;
GtkWidget *menubar;
GdkPixbuf *pixbuf;
cmdline_options opt;
gboolean first_use = FALSE;
gint status = CMDLINE_SYNTAX_OK;
GtkOSXApplication *theApp;
devel_debug ("main_mac_osx");
#if IS_DEVELOPMENT_VERSION == 1
gsb_grisbi_print_environment_var ( );
#endif
gtk_init ( &argc, &argv );
/* initialisation libgoffice */
libgoffice_init ( );
/* Initialize plugins manager */
go_plugins_init (NULL, NULL, NULL, NULL, TRUE, GO_TYPE_PLUGIN_LOADER_MODULE);
/* init the app */
theApp = g_object_new ( GTK_TYPE_OSX_APPLICATION, NULL );
/* initialisation des différents répertoires */
gsb_dirs_init ( );
bindtextdomain ( PACKAGE, gsb_dirs_get_locale_dir ( ) );
bind_textdomain_codeset ( PACKAGE, "UTF-8" );
textdomain ( PACKAGE );
/* Setup locale/gettext */
setlocale (LC_ALL, "");
gsb_locale_init ( );
/* on commence par détourner le signal SIGSEGV */
gsb_grisbi_trappe_signal_sigsegv ( );
/* parse command line parameter, exit with correct error code when needed */
if ( !parse_options (argc, argv, &opt, &status ) )
exit ( status );
/* initialise les données de l'application */
first_use = gsb_grisbi_init_app ( );
vbox = gsb_main_create_main_window ( );
{
gboolean falseval = FALSE;
gboolean trueval = TRUE;
g_signal_connect ( theApp,
"NSApplicationDidBecomeActive",
G_CALLBACK ( grisbi_osx_app_active_cb ),
&trueval );
g_signal_connect ( theApp,
"NSApplicationWillResignActive",
G_CALLBACK ( grisbi_osx_app_active_cb ),
&falseval);
g_signal_connect ( theApp,
"NSApplicationBlockTermination",
G_CALLBACK ( gsb_main_grisbi_close ),
NULL);
g_signal_connect ( theApp,
"NSApplicationWillTerminate",
G_CALLBACK ( main_window_destroy_event ),
NULL );
}
menubar = gsb_grisbi_create_main_menu ( vbox );
grisbi_osx_init_menus ( main_window, menubar );
main_window_set_size_and_position ( );
gtk_widget_show ( run.window );
#if IS_DEVELOPMENT_VERSION == 1
dialog_message ( "development-version", VERSION );
#endif
gsb_grisbi_load_file_if_necessary ( &opt );
if ( first_use && !nom_fichier_comptes )
gsb_assistant_first_run ();
else
display_tip ( FALSE );
if ( quartz_application_get_bundle_id ( ) == NULL )
{
pixbuf = gdk_pixbuf_new_from_file ( g_build_filename
(gsb_dirs_get_pixmaps_dir ( ), "grisbi-logo.png", NULL), NULL );
if ( pixbuf )
gtk_osxapplication_set_dock_icon_pixbuf ( theApp, pixbuf );
}
gtk_osxapplication_set_use_quartz_accelerators ( theApp, TRUE );
gtk_osxapplication_ready ( theApp );
gtk_main ();
/* sauvegarde les raccourcis claviers */
gtk_accel_map_save ( gsb_dirs_get_accelerator_filename () );
g_object_unref ( theApp );
gsb_locale_shutdown ( );
gsb_dirs_shutdown ( );
/* liberation libgoffice */
libgoffice_shutdown ( );
#if GSB_GMEMPROFILE
g_mem_profile();
#endif
exit ( 0 );
#endif /* GTKOSXAPPLICATION */
}
