void ContentBoxCtrol::CacheItem(size_t n) const
{
if ( !m_cache->Has(n) )
{
if ( !m_htmlParser )
{
ContentBoxCtrol *self = wxConstCast(this, ContentBoxCtrol);
self->m_htmlParser = LENMUS_NEW wxHtmlWinParser(self);
LMB_TagHandler* pTagHandler = LENMUS_NEW LMB_TagHandler(m_appScope);
m_htmlParser->AddTagHandler(pTagHandler);
m_htmlParser->SetDC(LENMUS_NEW wxClientDC(self));
m_htmlParser->SetFS(&self->m_filesystem);
// use system's default GUI font by default:
m_htmlParser->SetFontFace("Tahoma");
m_htmlParser->SetFontSize(10);
//m_htmlParser->SetStandardFonts();
}
wxHtmlContainerCell *cell = (wxHtmlContainerCell *)m_htmlParser->
Parse(OnGetItemMarkup(n));
wxCHECK_RET( cell, "wxHtmlParser::Parse() returned NULL?" );
// set the cell's ID to item's index so that CellCoordsToPhysical()
// can quickly find the item:
cell->SetId(wxString::Format("%lu", (unsigned long)n));
cell->Layout(GetClientSize().x - 2*GetMargins().x);
m_cache->Store(n, cell);
}
}
pxStaticText &pxStaticText::WrapAt(int width)
{
m_autowrap = false;
if ((width <= 1) || (width == m_wrappedWidth))
return *this;
wxString wrappedLabel;
m_wrappedWidth = width;
if (width > 1)
wrappedLabel = pxTextWrapper().Wrap(this, m_label, width).GetResult();
if (m_wrappedLabel != wrappedLabel) {
m_wrappedLabel = wrappedLabel;
wxSize area = wxClientDC(this).GetMultiLineTextExtent(m_wrappedLabel);
SetMinSize(wxSize(
area.GetWidth() + calcPaddingWidth(area.GetWidth()),
area.GetHeight() + calcPaddingHeight(area.GetHeight())));
}
return *this;
}
void WaterfallCanvas::processInputQueue() {
tex_update.lock();
gTimer.update();
double targetVis = 1.0 / (double)linesPerSecond;
lpsIndex += gTimer.lastUpdateSeconds();
bool updated = false;
if (linesPerSecond) {
if (lpsIndex >= targetVis) {
while (lpsIndex >= targetVis) {
SpectrumVisualData *vData;
if (!visualDataQueue.empty()) {
visualDataQueue.pop(vData);
if (vData) {
if (vData->spectrum_points.size() == fft_size * 2) {
waterfallPanel.setPoints(vData->spectrum_points);
}
waterfallPanel.step();
vData->decRefCount();
updated = true;
}
lpsIndex-=targetVis;
} else {
break;
}
}
}
}
if (updated) {
wxClientDC(this);
glContext->SetCurrent(*this);
waterfallPanel.update();
}
tex_update.unlock();
}
bool MyApp::OnInit()
{
wxCmdLineParser parser(argc,argv);
parser.AddOption(wxT("c"), wxT("config-file"));
parser.Parse();
simThread = new SimulationThread();
simThread->Create();
simThread->SetPriority(100);
// Populate GUI
{
//cout << "Frame" << endl;
frame = new MainFrame(wxT("Huboplus Control Test 1"), wxPoint(50,50), wxSize(600,400));
}
frame->Show();
wxClientDC(frame->glPane);
frame->glPane->SetCurrent();
// Load configurations
{
// load robot stuff
const char *filename;
wxString configFileName;
if(parser.Found(wxT("c"), &configFileName))
{
//filename = configFileName.mb_str(); //not working on Linux
char cstring[256];
strncpy(cstring, (const char*)configFileName.mb_str(wxConvUTF8), 255);
filename = (const char *) cstring;
}
else
{
cout<< "Error: cfg file not supplied !\n\n";
exit(1);
}
cout<<filename<<endl;
ifstream cfg_ptr;
cfg_ptr.open(filename);
Float tmp;
// Read simulation timing information.
readConfigParameterLabel(cfg_ptr,"Integration_Stepsize");
cfg_ptr >> tmp;
simThread->idt = tmp;
if (simThread->idt <= 0.0)
{
cerr << "main error: invalid integration stepsize: " << simThread->idt << endl;
exit(3);
}
readConfigParameterLabel(cfg_ptr,"Control_Stepsize");
cfg_ptr >> tmp;
simThread->cdt = tmp;
simThread->last_control_time = -2*simThread->cdt;
if (simThread->cdt <= 0.0)
{
cerr << "main error: invalid control stepsize: " << simThread->cdt << endl;
exit(3);
}
readConfigParameterLabel(cfg_ptr,"Display_Update_Rate");
cfg_ptr >> frame->glPane->render_rate;
if (frame->glPane->render_rate < 1) frame->glPane->render_rate = 1;
// ------------------------------------------------------------------
// Initialize DynaMechs environment - must occur before any linkage systems
char env_flname[FILENAME_SIZE];
readConfigParameterLabel(cfg_ptr,"Environment_Parameter_File");
readFilename(cfg_ptr, env_flname);
dmEnvironment *environment = dmuLoadFile_env(env_flname);
dmEnvironment::setEnvironment(environment);
// ------------------------------------------------------------------
// Initialize a DynaMechs linkage system
char robot_flname[FILENAME_SIZE];
readConfigParameterLabel(cfg_ptr,"Robot_Parameter_File");
readFilename(cfg_ptr, robot_flname);
cout<<"Robot parameter file: [\033[1;34m"<< robot_flname<< "\033[0m]"<<endl;
G_robot = dynamic_cast<dmArticulation*>(dmuLoadFile_dm(robot_flname));
cout << "Robot created" << endl;
huboCtrl = (HuboController *) new HuboBalanceController(G_robot);
cout << "Robot controller created" << endl;
// set status bar
wxString s;
s.Printf(wxT("idt = %1.1e s"), simThread->idt);
frame->SetStatusText(s,1);
s.Printf(_T("cdt = %f s" ), simThread->cdt);
frame->SetStatusText(s,2);
s.Printf(_T("refresh every %.2f ms"), 1000/(frame->glPane->render_rate) );
frame->SetStatusText(s,3);
// ------------------------
// Read in data directory
char data_dir[FILENAME_SIZE];
readConfigParameterLabel(cfg_ptr, "Data_Save_Directory");
readFilename(cfg_ptr, data_dir);
// std::string(data_dir)
// ...
cout<<"Add robot to integrator "<<endl;
simThread->G_integrator->addSystem(G_robot);
}
// -----------------------
{
cout<<"Initilize scene..."<<endl;
frame->glPane->camera->setRadius(8.0);
frame->glPane->camera->setCOI(3.0, 3.0, 0.0);
frame->glPane->camera->setTranslationScale(0.02f);
frame->glPane->glInit();
dmEnvironment::getEnvironment()->drawInit();
frame->glPane->model_loaded = true;
}
cout << "Restart Timer" << endl;
frame->glPane->restartTimer();
cout << "Start Sim Thread" << endl;
simThread->Run();
return true;
}
bool MyApp::OnInit()
{
wxCmdLineParser parser(argc,argv);
parser.AddOption(wxT("c"), wxT("Config File"));
parser.Parse();
simThread = new SimulationThread();
simThread->Create();
simThread->SetPriority(100);
// Populate GUI
{
//cout << "Frame" << endl;
frame = new MainFrame(wxT("Hello GL World"), wxPoint(50,50), wxSize(600,400));
}
frame->Show();
wxClientDC(frame->glPane);
frame->glPane->SetCurrent();
// Load DM File
{
// load robot stuff
const char *filename;
wxString configFileName;
if(parser.Found(wxT("c"), &configFileName))
{
filename = "humanoid.cfg";//configFileName.mb_str();
}
else {
filename = (char *) "config.cfg";
}
cout<<filename<<endl;
ifstream cfg_ptr;
cfg_ptr.open(filename);
Float tmp;
// Read simulation timing information.
readConfigParameterLabel(cfg_ptr,"Integration_Stepsize");
cfg_ptr >> tmp;
simThread->idt = tmp;
if (simThread->idt <= 0.0)
{
cerr << "main error: invalid integration stepsize: " << simThread->idt << endl;
exit(3);
}
readConfigParameterLabel(cfg_ptr,"Control_Stepsize");
cfg_ptr >> tmp;
simThread->cdt = tmp;
simThread->last_control_time = -2*simThread->cdt;
if (simThread->cdt <= 0.0)
{
cerr << "main error: invalid control stepsize: " << simThread->cdt << endl;
exit(3);
}
readConfigParameterLabel(cfg_ptr,"Display_Update_Rate");
cfg_ptr >> frame->glPane->render_rate;
if (frame->glPane->render_rate < 1) frame->glPane->render_rate = 1;
// ------------------------------------------------------------------
// Initialize DynaMechs environment - must occur before any linkage systems
char env_flname[FILENAME_SIZE];
readConfigParameterLabel(cfg_ptr,"Environment_Parameter_File");
readFilename(cfg_ptr, env_flname);
dmEnvironment *environment = dmuLoadFile_env(env_flname);
dmEnvironment::setEnvironment(environment);
// ------------------------------------------------------------------
// Initialize a DynaMechs linkage system
char robot_flname[FILENAME_SIZE];
readConfigParameterLabel(cfg_ptr,"Robot_Parameter_File");
readFilename(cfg_ptr, robot_flname);
G_robot = dynamic_cast<dmArticulation*>(dmuLoadFile_dm(robot_flname));
humanoid = (HumanoidDataLogger *) new BalanceDemoStateMachine(G_robot);
// --------
// Read in data directory
char data_dir[FILENAME_SIZE];
readConfigParameterLabel(cfg_ptr, "Data_Save_Directory");
readFilename(cfg_ptr, data_dir);
humanoid->dataSaveDirectory = std::string(data_dir);
simThread->G_integrator->addSystem(G_robot);
grfInfo.localContacts = 0;
}
// -- Project specific --
//initControl();
// -----------------------
{
cout<<"initilize scene..."<<endl;
frame->glPane->camera->setRadius(8.0);
frame->glPane->camera->setCOI(3.0, 3.0, 0.0);
frame->glPane->camera->setTranslationScale(0.02f);
frame->glPane->glInit();
dmEnvironment::getEnvironment()->drawInit();
frame->glPane->model_loaded = true;
}
frame->glPane->restartTimer();
simThread->Run();
return true;
}
