void CMtbRobotDialog::refresh()
{
inRefreshRoutine=true;
// Get handle of last selected object:
int lastSel=simGetObjectLastSelection();
updateObjectsInList();
// Now initialized other dialog elements:
CMtbRobot* taggedObj=NULL;
ui->qqRobotProgram->setPlainText("");
ui->qqAutomatic->setChecked(false);
if (lastSel!=-1)
{
taggedObj=CAccess::mtbRobotContainer->getFromAssociatedObject(lastSel);
if (taggedObj==NULL)
selectObjectInList(-1);
else
{ // The last selected object is the base object of a MTB model!
selectObjectInList(taggedObj->getID());
std::string prg(taggedObj->getProgram());
ui->qqRobotProgram->setPlainText(prg.c_str());
ui->qqAutomatic->setChecked((taggedObj->getOptions()&1)!=0);
}
}
else
selectObjectInList(-1);
ui->qqRobotProgram->setEnabled((taggedObj!=NULL)&&(simGetSimulationState()==sim_simulation_stopped));
ui->qqAutomatic->setEnabled((taggedObj!=NULL)&&(simGetSimulationState()==sim_simulation_stopped));
inRefreshRoutine=false;
}
void CBubbleRobDialog::refresh()
{ // This refreshed the dialog's items:
int lastSel=simGetObjectLastSelection();
m_bubbleRobList.ResetContent();
for (int i=0;i<CAccess::bubbleRobContainer->getCount();i++)
{
CBubbleRob* bubbleRob=CAccess::bubbleRobContainer->getFromIndex(i);
int sceneObjectHandle=bubbleRob->getAssociatedObject();
std::string txt="Object: ";
char* name=NULL;
if (sceneObjectHandle!=-1)
name=simGetObjectName(sceneObjectHandle);
if (name==NULL)
txt+="Unassociated";
else
{
txt+="Associated with ";
txt+=name;
simReleaseBuffer(name);
}
int index=m_bubbleRobList.AddString(txt.c_str());
m_bubbleRobList.SetItemData(index,(DWORD)bubbleRob->getID());
}
CBubbleRob* taggedObj=NULL;
if (lastSel!=-1)
{
taggedObj=CAccess::bubbleRobContainer->getFromAssociatedObject(lastSel);
if (taggedObj==NULL)
selectObjectInList(-1);
else
selectObjectInList(taggedObj->getID());
}
else
selectObjectInList(-1);
taggedObj=CAccess::bubbleRobContainer->getFromID(getSelectedObjectInList());
m_maxVelocity.EnableWindow(taggedObj!=NULL);
if (taggedObj!=NULL)
{
CString tmp;
tmp.Format("%0.2f",120.0f*taggedObj->getMaxVelocity()/3.1415f); // display it in RPM
m_maxVelocity.SetWindowText(tmp);
}
else
m_maxVelocity.SetWindowText("");
}
void CQDlgCollisions::refresh()
{
ui->qqEnableAll->setChecked(App::ct->mainSettings->collisionDetectionEnabled);
if (!inSelectionRoutine)
{
int selectedObjectID=getSelectedObjectID();
updateObjectsInList();
selectObjectInList(selectedObjectID);
}
CRegColl* it=App::ct->collisions->getObject(getSelectedObjectID());
ui->qqComputeContour->setEnabled(it!=NULL);
ui->qqColliderColorChanges->setEnabled(it!=NULL);
ui->qqCollideeColorChanges->setEnabled(it!=NULL);
ui->qqExplicitHandling->setEnabled(it!=NULL);
ui->qqContourWidth->setEnabled((it!=NULL)&&it->getExhaustiveDetection());
ui->qqAdjustContourColor->setEnabled((it!=NULL)&&it->getExhaustiveDetection());
if (it!=NULL)
{
ui->qqComputeContour->setChecked(it->getExhaustiveDetection());
ui->qqColliderColorChanges->setChecked(it->getColliderChangesColor());
ui->qqCollideeColorChanges->setChecked(it->getCollideeChangesColor());
ui->qqExplicitHandling->setChecked(it->getExplicitHandling());
ui->qqContourWidth->setText(tt::FNb(it->getContourWidth()).c_str());
}
else
{
ui->qqComputeContour->setChecked(false);
ui->qqColliderColorChanges->setChecked(false);
ui->qqCollideeColorChanges->setChecked(false);
ui->qqExplicitHandling->setChecked(false);
ui->qqContourWidth->setText("");
}
}
void CQDlgMotionPlanning::refresh()
{
inMainRefreshRoutine=true;
bool simStopped=App::ct->simulation->isSimulationStopped();
bool noEditMode=(App::ct->objCont->getEditModeType()==NO_EDIT_MODE);
int taskID=getSelectedObjectID();
CMotionPlanningTask* task=App::ct->motionPlanning->getObject(taskID);
if (!inListSelectionRoutine)
{
updateObjectsInList();
selectObjectInList(taskID);
}
ui->qqAddNew->setEnabled(simStopped&&noEditMode);
ui->qqIkGroupCombo->setEnabled(simStopped&&noEditMode&&(task!=NULL));
ui->qqEntity1Combo->setEnabled(simStopped&&noEditMode&&(task!=NULL));
ui->qqEntity2Combo->setEnabled(simStopped&&noEditMode&&(task!=NULL)&&(task->getRobotSelfCollEntity1()!=-1));
ui->qqSelfColl->setEnabled(simStopped&&noEditMode&&(task!=NULL)&&(task->getRobotSelfCollEntity1()!=-1));
ui->qqSelfDist->setEnabled(simStopped&&noEditMode&&(task!=NULL)&&(task->getRobotSelfCollEntity1()!=-1));
ui->qqSelfDistDist->setEnabled(simStopped&&noEditMode&&(task!=NULL)&&(task->getSelfCollDistanceThreshold()!=0.0f)&&(task->getRobotSelfCollEntity1()!=-1));
ui->qqRobotCombo->setEnabled(simStopped&&noEditMode&&(task!=NULL));
ui->qqObstacleCombo->setEnabled(simStopped&&noEditMode&&(task!=NULL)&&(task->getRobotEntity()!=-1));
ui->qqColl->setEnabled(simStopped&&noEditMode&&(task!=NULL)&&(task->getRobotEntity()!=-1));
ui->qqDist->setEnabled(simStopped&&noEditMode&&(task!=NULL)&&(task->getRobotEntity()!=-1));
ui->qqDistDist->setEnabled(simStopped&&noEditMode&&(task!=NULL)&&(task->getDistanceThreshold()!=0.0f)&&(task->getRobotEntity()!=-1));
ui->qqIkGroupCombo->clear();
ui->qqEntity1Combo->clear();
ui->qqEntity2Combo->clear();
ui->qqRobotCombo->clear();
ui->qqObstacleCombo->clear();
ui->qqEditJointProp->setEnabled(simStopped&&noEditMode&&(task!=NULL));
ui->qqEditWorkspaceMetric->setEnabled(simStopped&&noEditMode&&(task!=NULL));
ui->qqComputeNodes->setEnabled(simStopped&&noEditMode&&(task!=NULL));
ui->showPhase1Nodes->setEnabled(noEditMode&&(task!=NULL));
if (task!=NULL)
{
// IK group:
fillComboWithIkGroups(ui->qqIkGroupCombo);
if (!selectItemInCombo(ui->qqIkGroupCombo,task->getIkGroup()))
{ // should not happen
task->setIkGroup(-1); // none
ui->qqIkGroupCombo->setCurrentIndex(0);
}
if (task->getIkGroup()!=-1)
{
C3DObject* obj=task->getBaseObject();
if (obj==NULL)
ui->qqBase->setText("world (error)");
else
ui->qqBase->setText(obj->getName().c_str());
obj=task->getTipObject();
if (obj==NULL)
ui->qqTip->setText("tip is not defined! (error)");
else
ui->qqTip->setText(obj->getName().c_str());
obj=task->getTargetObject();
if (obj==NULL)
ui->qqTarget->setText("target is not defined! (error)");
else
ui->qqTarget->setText(obj->getName().c_str());
}
else
{
ui->qqBase->setText("-");
ui->qqTip->setText("-");
ui->qqTarget->setText("-");
}
// self-collision entity1:
fillComboWithCollisionOrDistanceEntities(ui->qqEntity1Combo,task->getSelfCollDistanceThreshold()==0.0f,false,true,-1);
if (!selectItemInCombo(ui->qqEntity1Combo,task->getRobotSelfCollEntity1()))
{ // should not happen
task->setRobotSelfCollEntity1(-1); // none
ui->qqEntity1Combo->setCurrentIndex(0);
}
// self-collentity2:
fillComboWithCollisionOrDistanceEntities(ui->qqEntity2Combo,task->getSelfCollDistanceThreshold()==0.0f,true,false,task->getRobotSelfCollEntity1());
if (!selectItemInCombo(ui->qqEntity2Combo,task->getRobotSelfCollEntity2()))
{ // should not happen
task->setRobotSelfCollEntity2(-1); // all
ui->qqEntity2Combo->setCurrentIndex(0);
}
ui->qqSelfColl->setChecked(task->getSelfCollDistanceThreshold()==0.0f);
ui->qqSelfDist->setChecked(task->getSelfCollDistanceThreshold()!=0.0f);
if (task->getSelfCollDistanceThreshold()!=0.0f)
ui->qqSelfDistDist->setText(gv::getSizeStr(false,task->getSelfCollDistanceThreshold(),-1).c_str());
else
ui->qqSelfDistDist->setText("");
// robot:
fillComboWithCollisionOrDistanceEntities(ui->qqRobotCombo,task->getDistanceThreshold()==0.0f,false,true,-1);
if (!selectItemInCombo(ui->qqRobotCombo,task->getRobotEntity()))
{ // should not happen
task->setRobotEntity(-1); // none
ui->qqRobotCombo->setCurrentIndex(0);
}
// obstacles:
fillComboWithCollisionOrDistanceEntities(ui->qqObstacleCombo,task->getDistanceThreshold()==0.0f,true,false,task->getRobotEntity());
if (!selectItemInCombo(ui->qqObstacleCombo,task->getObstacleEntity()))
{ // should not happen
task->setObstacleEntity(-1); // all
ui->qqObstacleCombo->setCurrentIndex(0);
}
ui->qqColl->setChecked(task->getDistanceThreshold()==0.0f);
ui->qqDist->setChecked(task->getDistanceThreshold()!=0.0f);
if (task->getDistanceThreshold()!=0.0f)
ui->qqDistDist->setText(gv::getSizeStr(false,task->getDistanceThreshold(),-1).c_str());
else
ui->qqDistDist->setText("");
ui->showPhase1Nodes->setChecked(task->getPhase1NodeVisualization());
}
else
{
ui->qqBase->setText("-");
ui->qqTip->setText("-");
ui->qqTarget->setText("-");
ui->qqSelfColl->setChecked(false);
ui->qqSelfDist->setChecked(false);
ui->qqSelfDistDist->setText("");
ui->qqColl->setChecked(false);
ui->qqDist->setChecked(false);
ui->qqDistDist->setText("");
ui->showPhase1Nodes->setChecked(false);
}
inMainRefreshRoutine=false;
}
