CBaseGUIWindow.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */
 
#include "gui-precomp.h"   // Precompiled headers
 
#include <mrpt/gui/CBaseGUIWindow.h>
#include <mrpt/system/os.h>
#include <mrpt/gui/WxSubsystem.h>
 
using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::utils;
using namespace mrpt::system;
using namespace std;
 
IMPLEMENTS_VIRTUAL_MRPT_OBJECT(CBaseGUIWindow, CObject,mrpt::gui)
 
 
/*---------------------------------------------------------------
                                        Ctor
 ---------------------------------------------------------------*/
CBaseGUIWindow::CBaseGUIWindow(void* winobj_voidptr, int CMD_CREATE_WIN, int CMD_DESTROY_WIN, const std::string &initial_caption )
        : m_CMD_CREATE_WIN(CMD_CREATE_WIN),
          m_CMD_DESTROY_WIN(CMD_DESTROY_WIN),
          m_winobj_voidptr(winobj_voidptr),
          m_semThreadReady(0,1),
          m_semWindowDestroyed(0,1),
          m_caption(initial_caption),
          m_hwnd(NULL),
          m_keyPushed(false),
          m_keyPushedCode(0),
          m_keyPushedModifier(MRPTKMOD_NONE)
{
}
 
/*---------------------------------------------------------------
                                        Create the wx Window
 ---------------------------------------------------------------*/
void CBaseGUIWindow::createWxWindow(unsigned int initialWidth, unsigned int initialHeight)
{
        MRPT_UNUSED_PARAM(initialWidth); MRPT_UNUSED_PARAM(initialHeight);
        MRPT_START
#if MRPT_HAS_WXWIDGETS
        // Create the main wxThread:
        // -------------------------------
        if (!WxSubsystem::createOneInstanceMainThread() )
        return; // Error!
 
    // Create window:
    WxSubsystem::TRequestToWxMainThread  *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->source2D = static_cast<gui::CDisplayWindow*>(m_winobj_voidptr);
    REQ->source3D = static_cast<gui::CDisplayWindow3D*>(m_winobj_voidptr);
    REQ->sourcePlots = static_cast<gui::CDisplayWindowPlots*>(m_winobj_voidptr);
    REQ->str      = m_caption;
    REQ->OPCODE   = m_CMD_CREATE_WIN;
        REQ->voidPtr  = m_hwnd.getPtrToPtr();
        REQ->x            = initialWidth ;
        REQ->y            = initialHeight ;
 
    WxSubsystem::pushPendingWxRequest( REQ );
 
    // Wait for the window to realize and signal it's alive:
    if (!WxSubsystem::isConsoleApp)
    {
        mrpt::system::sleep(20);        // Force at least 1-2 timer ticks for processing the event:
        wxApp::GetInstance()->Yield(true);
    }
        int maxTimeout =
#ifdef _DEBUG
                30000;
#else
                6000;
#endif
        // If we have an "MRPT_WXSUBSYS_TIMEOUT_MS" environment variable, use that timeout instead:
        const char *envVal = getenv("MRPT_WXSUBSYS_TIMEOUT_MS");
        if (envVal) maxTimeout = atoi(envVal);
 
 
        if(!m_semThreadReady.waitForSignal(maxTimeout))  // 2 secs should be enough...
        {
                cerr << "[CBaseGUIWindow::ctor] Timeout waiting window creation." << endl;
        }
#else
        THROW_EXCEPTION("MRPT compiled without wxWidgets!")
#endif
        MRPT_END
}
 
/*---------------------------------------------------------------
                                        Dtor
 ---------------------------------------------------------------*/
CBaseGUIWindow::~CBaseGUIWindow()
{
}
 
/*---------------------------------------------------------------
                                destroyWxWindow
 ---------------------------------------------------------------*/
void CBaseGUIWindow::destroyWxWindow()
{
        MRPT_START
#if MRPT_HAS_WXWIDGETS
    // Send close request:
    if (m_hwnd.get())
    {
                WxSubsystem::TRequestToWxMainThread  *REQ = new WxSubsystem::TRequestToWxMainThread[1];
                REQ->OPCODE   = m_CMD_DESTROY_WIN;
                REQ->source2D = static_cast<gui::CDisplayWindow*>(m_winobj_voidptr);
                REQ->source3D = static_cast<gui::CDisplayWindow3D*>(m_winobj_voidptr);
                REQ->sourcePlots = static_cast<gui::CDisplayWindowPlots*>(m_winobj_voidptr);
 
                WxSubsystem::pushPendingWxRequest( REQ );
 
                // Wait until the thread ends:
                if (!WxSubsystem::isConsoleApp)
                {
                        mrpt::system::sleep(20);        // Force at least 1-2 timer ticks for processing the event:
                        wxApp::GetInstance()->Yield(true);
                }
                const int maxTimeout =
        #ifdef _DEBUG
                        30000;
        #else
                        6000;
        #endif
                if(!m_semWindowDestroyed.waitForSignal(maxTimeout))  // 2 secs should be enough...
                {
                        cerr << "[CBaseGUIWindow::dtor] Timeout waiting window destruction." << endl;
                }
    }
        WxSubsystem::waitWxShutdownsIfNoWindows();
#endif
        MRPT_END
}
 
/*---------------------------------------------------------------
                                        notifyChildWindowDestruction
 ---------------------------------------------------------------*/
void CBaseGUIWindow::notifyChildWindowDestruction()
{
    //cout << "[CBaseGUIWindow::notifyChildWindowDestruction] Called." << endl;
    m_hwnd = NULL;
}
 
/*---------------------------------------------------------------
                                        waitForKey
 ---------------------------------------------------------------*/
int  CBaseGUIWindow::waitForKey(bool ignoreControlKeys,mrptKeyModifier *out_pushModifier)
{
        int k = 0;
        if (out_pushModifier) *out_pushModifier = MRPTKMOD_NONE;
        m_keyPushed=false;
 
        for (;;)
        {
                if (os::kbhit())
                {
                        k=os::getch();
                        return k;
                }
                if (m_keyPushed)
                {
                        k=m_keyPushedCode;
                        m_keyPushed=false;
                        if (m_keyPushedCode<256 || !ignoreControlKeys)
                        {
                                if (out_pushModifier) *out_pushModifier = m_keyPushedModifier;
                                return k;
                        }
                        // Ignore and keep waiting
                }
                mrpt::system::sleep(10);
                // Are we still alive?
                if (!isOpen())
                        return 0;
        }
}
 
/*---------------------------------------------------------------
                                        getPushedKey
 ---------------------------------------------------------------*/
int  CBaseGUIWindow::getPushedKey(mrptKeyModifier *out_pushModifier)
{
        int k = 0;
        if (out_pushModifier) *out_pushModifier = MRPTKMOD_NONE;
 
        for (;;)
        {
                if (m_keyPushed)
                {
                        k=m_keyPushedCode;
                        m_keyPushed=false;
                        if (out_pushModifier) *out_pushModifier = m_keyPushedModifier;
                        return k;
                }
                mrpt::system::sleep(10);
                // Are we still alive?
                if (!isOpen())
                        return 0;
        }
}
 
/*---------------------------------------------------------------
                                        isOpen
 ---------------------------------------------------------------*/
bool CBaseGUIWindow::isOpen()
{
    return m_hwnd!=NULL;
}
 
/*---------------------------------------------------------------
                                        notifySemThreadReady
 ---------------------------------------------------------------*/
void CBaseGUIWindow::notifySemThreadReady()
{
        m_semThreadReady.release();
}