CDisplayWindowPlots.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/config.h>
#include <mrpt/gui/CDisplayWindowPlots.h>
#include <mrpt/system/os.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/utils/metaprogramming.h>
#include <mrpt/gui/WxSubsystem.h>
#include <mrpt/gui/WxUtils.h>

#include <mrpt/math/utils.h>

using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace mrpt::system;
using namespace std;

IMPLEMENTS_MRPT_OBJECT(CDisplayWindowPlots,CBaseGUIWindow,mrpt::gui)


#if MRPT_HAS_WXWIDGETS

BEGIN_EVENT_TABLE(CWindowDialogPlots,wxFrame)

END_EVENT_TABLE()


const long CWindowDialogPlots::ID_PLOT = wxNewId();
const long CWindowDialogPlots::ID_MENU_PRINT = wxNewId();
const long ID_MENUITEM1 = wxNewId();
const long ID_MENUITEM2 = wxNewId();


CWindowDialogPlots::CWindowDialogPlots(
    CDisplayWindowPlots *winPlots,
    WxSubsystem::CWXMainFrame* parent,
    wxWindowID id,
    const std::string &caption,
    wxSize initialSize )
    :
    m_winPlots( winPlots ),
    m_mainFrame(parent),
        m_firstSubmenu(true)
{
    Create(
        parent,
        id,
        _U(caption.c_str()),
        wxDefaultPosition,
        initialSize,
        wxDEFAULT_FRAME_STYLE,
        _T("id"));

    SetClientSize(initialSize);

        wxIcon FrameIcon;
        FrameIcon.CopyFromBitmap(mrpt::gui::WxSubsystem::getMRPTDefaultIcon());
        SetIcon(FrameIcon);


    // Create the mpWindow object:
    m_plot = new mpWindow( this, ID_PLOT );
    m_plot->AddLayer( new mpScaleX() );
    m_plot->AddLayer( new mpScaleY() );
    m_plot->LockAspect( false );
    m_plot->EnableDoubleBuffer(true);

    m_plot->Fit( -10,10,-10,10 );

    // Menu:
    wxMenuBar *MenuBar1 = new wxMenuBar();

    wxMenu *Menu1 = new wxMenu();
    wxMenuItem *MenuItem1 = new wxMenuItem(Menu1, ID_MENUITEM1, _("Close"), _(""), wxITEM_NORMAL);
    Menu1->Append(MenuItem1);

    wxMenuItem *MenuItemPrint = new wxMenuItem(Menu1, ID_MENU_PRINT, _("Print..."), _(""), wxITEM_NORMAL);
    Menu1->Append(MenuItemPrint);

    MenuBar1->Append(Menu1, _("&File"));

    wxMenu *Menu2 = new wxMenu();
    wxMenuItem *MenuItem2 = new wxMenuItem(Menu2, ID_MENUITEM2, _("About..."), _(""), wxITEM_NORMAL);
    Menu2->Append(MenuItem2);
    MenuBar1->Append(Menu2, _("&Help"));

    SetMenuBar(MenuBar1);


    // Events:
    Connect(wxID_ANY,wxEVT_CLOSE_WINDOW,(wxObjectEventFunction)&CWindowDialogPlots::OnClose);
    Connect(ID_MENUITEM1,wxEVT_COMMAND_MENU_SELECTED,(wxObjectEventFunction)&CWindowDialogPlots::OnMenuClose);
    Connect(ID_MENU_PRINT,wxEVT_COMMAND_MENU_SELECTED,(wxObjectEventFunction)&CWindowDialogPlots::OnMenuPrint);
    Connect(ID_MENUITEM2,wxEVT_COMMAND_MENU_SELECTED,(wxObjectEventFunction)&CWindowDialogPlots::OnMenuAbout);

        Connect(wxID_ANY,wxEVT_SIZE,(wxObjectEventFunction)&CWindowDialogPlots::OnResize);

        Connect(wxID_ANY,wxEVT_CHAR,(wxObjectEventFunction)&CWindowDialogPlots::OnChar);
        m_plot->Connect(wxEVT_CHAR,(wxObjectEventFunction)&CWindowDialogPlots::OnChar,0,this);
        m_plot->Connect(wxEVT_MOTION,(wxObjectEventFunction)&CWindowDialogPlots::OnMouseMove,0,this);

        m_plot->Connect(wxEVT_LEFT_DOWN,(wxObjectEventFunction)&CWindowDialogPlots::OnMouseDown,NULL,this);
        m_plot->Connect(wxEVT_RIGHT_DOWN,(wxObjectEventFunction)&CWindowDialogPlots::OnMouseDown,NULL,this);

    // Increment number of windows:
    //int winCount =
    WxSubsystem::CWXMainFrame::notifyWindowCreation();
    //cout << "[CWindowDialogPlots] Notifying new window: " << winCount << endl;

        //this->Iconize(false);

#if 0
        // JL: TEST CODE: This is the seed of the future new implementation based on wxFreeChart...
        double data[][2] = {
                        { 10, 20, },
                        { 13, 16, },
                        { 7, 30, },
                        { 15, 34, },
                        { 25, 4, },
        };
        // first step: create plot
        XYPlot *plot = new XYPlot();
        // create dataset
        XYSimpleDataset *dataset = new XYSimpleDataset();
        // and add serie to it
        dataset->AddSerie((double *) data, WXSIZEOF(data));
        // set line renderer to dataset
        dataset->SetRenderer(new XYLineRenderer());
        // add our dataset to plot
        plot->AddDataset(dataset);
        // create left and bottom number axes
        NumberAxis *leftAxis = new NumberAxis(AXIS_LEFT);
        NumberAxis *bottomAxis = new NumberAxis(AXIS_BOTTOM);
        // optional: set axis titles
        leftAxis->SetTitle(wxT("X"));
        bottomAxis->SetTitle(wxT("Y"));
        // add axes to plot
        plot->AddAxis(leftAxis);
        plot->AddAxis(bottomAxis);
        // link axes and dataset
        plot->LinkDataVerticalAxis(0, 0);
        plot->LinkDataHorizontalAxis(0, 0);
        // and finally create chart
        Chart* chart = new Chart(plot, wxT("my title"));
        wxChartPanel *m_chartPanel = new wxChartPanel( this ); //, ID_PLOT );
        m_chartPanel->SetChart( chart );
#endif
}

// Destructor
CWindowDialogPlots::~CWindowDialogPlots()
{
}

// OnClose event:
void CWindowDialogPlots::OnClose(wxCloseEvent& event)
{
        // Send the event:
        bool allow_close=true;
        try {
                mrptEventWindowClosed ev(m_winPlots, true /* allow close */);
                m_winPlots->publishEvent(ev);
                allow_close = ev.allow_close;
        } catch(...){}
        if (!allow_close) return; // Don't process this close event.

        // Set the m_hwnd=NULL in our parent object.
    m_winPlots->notifyChildWindowDestruction();

    // Decrement number of windows:
    WxSubsystem::CWXMainFrame::notifyWindowDestruction();

        // Signal we are destroyed:
    m_winPlots->m_semWindowDestroyed.release();

    event.Skip(); // keep processing by parent classes.
}

void CWindowDialogPlots::OnChar(wxKeyEvent& event)
{
        if (m_winPlots)
        {
                const int                               code = event.GetKeyCode();
                const mrptKeyModifier   mod = mrpt::gui::keyEventToMrptKeyModifier(event);

                m_winPlots->m_keyPushedCode = code;
                m_winPlots->m_keyPushedModifier = mod;
                m_winPlots->m_keyPushed = true;
                // Send the event:
                try {
                        m_winPlots->publishEvent( mrptEventWindowChar(m_winPlots,code,mod));
                } catch(...){}
        }
        event.Skip();
}

void CWindowDialogPlots::OnResize(wxSizeEvent& event)
{
        // Send the event:
        if (m_winPlots)
        {
                try {
                        m_winPlots->publishEvent( mrptEventWindowResize(m_winPlots,event.GetSize().GetWidth(),event.GetSize().GetHeight()));
                } catch(...) {}
        }
        event.Skip(); // so it's processed by the wx system!
}

void CWindowDialogPlots::OnMouseDown(wxMouseEvent& event)
{
        // Send the event:
        if (m_winPlots)
        {
                try {
                        m_winPlots->publishEvent( mrptEventMouseDown(m_winPlots, TPixelCoord(event.GetX(), event.GetY()), event.LeftDown(), event.RightDown() ) );
                } catch(...) { }
        }
        event.Skip(); // so it's processed by the wx system!
}



// Menu: Close
void CWindowDialogPlots::OnMenuClose(wxCommandEvent& event)
{
    Close();
}
// Menu: Print
void CWindowDialogPlots::OnMenuPrint(wxCommandEvent& event)
{
        m_plot->ShowPrintDialog();
}
// Menu: About
void CWindowDialogPlots::OnMenuAbout(wxCommandEvent& event)
{
    ::wxMessageBox(_("Plot viewer\n Class gui::CDisplayWindowPlots\n MRPT C++ & wxMathPlot library"),_("About..."));
}

void CWindowDialogPlots::OnMenuSelected(wxCommandEvent& ev)
{
        std::map<long,long>::const_iterator it = m_ID2ID.find(ev.GetId());
        if (it!=m_ID2ID.end())
        {
                if (m_winPlots && m_winPlots->m_callback)
                        m_winPlots->m_callback(it->second,m_curCursorPos.x,m_curCursorPos.y,  m_winPlots->m_callback_param);
        }
}

void CWindowDialogPlots::OnMouseMove(wxMouseEvent& event)
{
        int X, Y;
        event.GetPosition(&X,&Y);
    m_curCursorPos.x = m_plot->p2x(X);
    m_curCursorPos.y = m_plot->p2y(Y);
        m_last_mouse_point.x = X;
        m_last_mouse_point.y = Y;

        // Send the event:
        if (m_winPlots && m_winPlots->hasSubscribers())
        {
                try {
                        m_winPlots->publishEvent(mrptEventMouseMove(m_winPlots, TPixelCoord(event.GetX(), event.GetY()), event.LeftDown(), event.RightDown()));
                }
                catch (...) {}
        }
        event.Skip(); // so it's processed by the wx system!

}

// Add / Modify a 2D plot using a MATLAB-like format string
void CWindowDialogPlots::plot(
        const CVectorFloat &x,
        const CVectorFloat &y,
        const std::string  &lineFormat,
        const std::string  &plotName)
{
        mpFXYVector  *theLayer;

        wxString    lyName = _U(plotName.c_str());
        bool        updateAtTheEnd = false; // If we update an existing layer, update manually to refresh the changes!

        // Already existing layer?
        mpLayer* existingLy = m_plot->GetLayerByName( lyName );

        if (existingLy)
        {
                // Assure the class:
                mpFXYVector  *lyPlot2D = static_cast<mpFXYVector*> ( existingLy );

                if (!lyPlot2D)
                {
                        cerr << "[CWindowDialogPlots::plot] Plot name '" << plotName << "' is not of expected class mpFXYVector!."<< endl;
                        return;
                }

                // Ok:
                theLayer = lyPlot2D;
                updateAtTheEnd = true;
        }
        else
        {
                // Create it:
                theLayer = new mpFXYVector( lyName );
                m_plot->AddLayer( theLayer );
        }

        // Set data:
        {
                std::vector<float> x_(x.size()),y_(x.size());
                ::memcpy(&x_[0],&x[0],sizeof(x[0])*x_.size());
                ::memcpy(&y_[0],&y[0],sizeof(y[0])*y_.size());
                theLayer->SetData( x_,y_ );
        }

        // Line style:
        // -------------------
        bool isContinuous=true;
        int  lineColor[] = {0,0,255};
        int  lineWidth = 1;
        int  lineStyle = wxSOLID;

        // parse string:
        if ( string::npos != lineFormat.find(".") )             { isContinuous=false; }
        if ( string::npos != lineFormat.find("-") )             { isContinuous=true; lineStyle = wxSOLID; }
        if ( string::npos != lineFormat.find(":") )             { isContinuous=true; lineStyle = wxLONG_DASH; }

        if ( string::npos != lineFormat.find("r") )             { lineColor[0]=0xFF; lineColor[1]=0x00; lineColor[2]=0x00; }
        if ( string::npos != lineFormat.find("g") )             { lineColor[0]=0x00; lineColor[1]=0xFF; lineColor[2]=0x00; }
        if ( string::npos != lineFormat.find("b") )             { lineColor[0]=0x00; lineColor[1]=0x00; lineColor[2]=0xFF; }
        if ( string::npos != lineFormat.find("k") )             { lineColor[0]=0x00; lineColor[1]=0x00; lineColor[2]=0x00; }
        if ( string::npos != lineFormat.find("m") )             { lineColor[0]=192; lineColor[1]=0; lineColor[2]=192; }
        if ( string::npos != lineFormat.find("c") )             { lineColor[0]=0; lineColor[1]=192; lineColor[2]=192; }

        if ( string::npos != lineFormat.find("1") )             { lineWidth=1; }
        if ( string::npos != lineFormat.find("2") )             { lineWidth=2; }
        if ( string::npos != lineFormat.find("3") )             { lineWidth=3; }
        if ( string::npos != lineFormat.find("4") )             { lineWidth=4; }
        if ( string::npos != lineFormat.find("5") )             { lineWidth=5; }
        if ( string::npos != lineFormat.find("6") )             { lineWidth=6; }
        if ( string::npos != lineFormat.find("7") )             { lineWidth=7; }
        if ( string::npos != lineFormat.find("8") )             { lineWidth=8; }
        if ( string::npos != lineFormat.find("9") )             { lineWidth=9; }

        theLayer->SetContinuity(isContinuous);

        wxPen  pen( wxColour(lineColor[0],lineColor[1],lineColor[2]), lineWidth, lineStyle );
        theLayer->SetPen(pen);

        theLayer->ShowName(false);

        if (updateAtTheEnd)
                m_plot->Refresh(false);

}

// Add / Modify a 2D ellipse
// x[0,1]: Mean
// y[0,1,2]: Covariance matrix (0,0),(1,1),(0,1)
void CWindowDialogPlots::plotEllipse(
        const CVectorFloat &x,
        const CVectorFloat &y,
        const std::string  &lineFormat,
        const std::string  &plotName,
        bool showName)
{
        mpCovarianceEllipse  *theLayer;

        if (x.size()!=3 || y.size()!=3)
        {
                cerr << "[CWindowDialogPlots::plotEllipse] vectors do not have expected size!!" << endl;
                return;
        }

        wxString    lyName = _U(plotName.c_str());
        bool        updateAtTheEnd = false; // If we update an existing layer, update manually to refresh the changes!

        // Already existing layer?
        mpLayer* existingLy = m_plot->GetLayerByName( lyName );

        if (existingLy)
        {
                // Assure the class:
                mpCovarianceEllipse  *lyPlotEllipse = static_cast<mpCovarianceEllipse*> ( existingLy );

                if (!lyPlotEllipse)
                {
                        cerr << "[CWindowDialogPlots::plotEllipse] Plot name '" << plotName << "' is not of expected class mpCovarianceEllipse!."<< endl;
                        return;
                }

                // Ok:
                theLayer = lyPlotEllipse;
                updateAtTheEnd = true;
        }
        else
        {
                // Create it:
                theLayer = new mpCovarianceEllipse( 1,1,0,2,32, lyName );
                m_plot->AddLayer( theLayer );
        }

        // Set data:
        theLayer->SetCovarianceMatrix(y[0],y[2],y[1]);
        theLayer->SetCoordinateBase(x[0],x[1]);
        theLayer->SetQuantiles(x[2]);
        theLayer->ShowName(showName);

        // Line style:
        // -------------------
        bool isContinuous=true;
        int  lineColor[] = {0,0,255};
        int  lineWidth = 1;
        int  lineStyle = wxSOLID;

        // parse string:
        if ( string::npos != lineFormat.find(".") )             { isContinuous=false; }
        if ( string::npos != lineFormat.find("-") )             { isContinuous=true; lineStyle = wxSOLID; }
        if ( string::npos != lineFormat.find(":") )             { isContinuous=true; lineStyle = wxLONG_DASH; }

        if ( string::npos != lineFormat.find("r") )             { lineColor[0]=0xFF; lineColor[1]=0x00; lineColor[2]=0x00; }
        if ( string::npos != lineFormat.find("g") )             { lineColor[0]=0x00; lineColor[1]=0xFF; lineColor[2]=0x00; }
        if ( string::npos != lineFormat.find("b") )             { lineColor[0]=0x00; lineColor[1]=0x00; lineColor[2]=0xFF; }
        if ( string::npos != lineFormat.find("k") )             { lineColor[0]=0x00; lineColor[1]=0x00; lineColor[2]=0x00; }
        if ( string::npos != lineFormat.find("m") )             { lineColor[0]=192; lineColor[1]=0; lineColor[2]=192; }
        if ( string::npos != lineFormat.find("c") )             { lineColor[0]=0; lineColor[1]=192; lineColor[2]=192; }

        if ( string::npos != lineFormat.find("1") )             { lineWidth=1; }
        if ( string::npos != lineFormat.find("2") )             { lineWidth=2; }
        if ( string::npos != lineFormat.find("3") )             { lineWidth=3; }
        if ( string::npos != lineFormat.find("4") )             { lineWidth=4; }
        if ( string::npos != lineFormat.find("5") )             { lineWidth=5; }
        if ( string::npos != lineFormat.find("6") )             { lineWidth=6; }
        if ( string::npos != lineFormat.find("7") )             { lineWidth=7; }
        if ( string::npos != lineFormat.find("8") )             { lineWidth=8; }
        if ( string::npos != lineFormat.find("9") )             { lineWidth=9; }

        theLayer->SetContinuity(isContinuous);

        wxPen  pen( wxColour(lineColor[0],lineColor[1],lineColor[2]), lineWidth, lineStyle );
        theLayer->SetPen(pen);

        if (updateAtTheEnd)
                m_plot->Refresh(false);
}


void CWindowDialogPlots::image(
        void *theWxImage,
        const float &x0,
        const float &y0,
        const float &w,
        const float &h,
        const std::string &plotName)
{
        mpBitmapLayer   *theLayer;

        wxString    lyName = _U(plotName.c_str());
        bool        updateAtTheEnd = false; // If we update an existing layer, update manually to refresh the changes!

        // Already existing layer?
        mpLayer* existingLy = m_plot->GetLayerByName( lyName );

        if (existingLy)
        {
                // Assure the class:
                mpBitmapLayer  *ly = static_cast<mpBitmapLayer*> ( existingLy );

                if (!ly)
                {
                        cerr << "[CWindowDialogPlots::image] Plot name '" << plotName << "' is not of expected class mpBitmapLayer!."<< endl;
                        return;
                }

                // Ok:
                theLayer = ly;
                updateAtTheEnd = true;
        }
        else
        {
                // Create it:
                theLayer = new mpBitmapLayer();
                m_plot->AddLayer( theLayer );
        }

        // Set data:
        wxImage *ii = static_cast<wxImage *>(theWxImage);
        theLayer->SetBitmap( *ii, x0,y0,w,h );

        delete ii;theWxImage=NULL;

        if (updateAtTheEnd) m_plot->Refresh();
}

#endif

CDisplayWindowPlotsPtr CDisplayWindowPlots::Create(
        const std::string       &windowCaption,
        unsigned int            initialWindowWidth,
        unsigned int            initialWindowHeight )
{
        return CDisplayWindowPlotsPtr(new CDisplayWindowPlots(windowCaption,initialWindowWidth,initialWindowHeight));
}
/*---------------------------------------------------------------
                                        Constructor
 ---------------------------------------------------------------*/
CDisplayWindowPlots::CDisplayWindowPlots(
        const std::string &windowCaption,
        unsigned int initialWidth,
        unsigned int initialHeight ) :
                CBaseGUIWindow(static_cast<void*>(this),400,499,  windowCaption),
                m_holdon        (false),
                m_holdon_just_disabled(false),
                m_holdon_cnt(0),
                m_callback(NULL),
                m_callback_param (NULL)
{
        CBaseGUIWindow::createWxWindow(initialWidth,initialHeight);
}

/*---------------------------------------------------------------
                                        Destructor
 ---------------------------------------------------------------*/
CDisplayWindowPlots::~CDisplayWindowPlots( )
{
        CBaseGUIWindow::destroyWxWindow();
}

/** Set cursor style to default (cursorIsCross=false) or to a cross (cursorIsCross=true) */
void CDisplayWindowPlots::setCursorCross(bool cursorIsCross)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        const CWindowDialogPlots *win = (const CWindowDialogPlots*) m_hwnd.get();
        if (!win) return;
        win->m_plot->SetCursor( *(cursorIsCross ? wxCROSS_CURSOR : wxSTANDARD_CURSOR) );
#else
        MRPT_UNUSED_PARAM(cursorIsCross);
#endif
}

/*---------------------------------------------------------------
                                        getLastMousePosition
 ---------------------------------------------------------------*/
bool CDisplayWindowPlots::getLastMousePosition(int &x, int &y) const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        const CWindowDialogPlots *win = (const CWindowDialogPlots*) m_hwnd.get();
        if (!win) return false;
        x = win->m_last_mouse_point.x;
        y = win->m_last_mouse_point.y;
        return true;
#else
        MRPT_UNUSED_PARAM(x); MRPT_UNUSED_PARAM(y);
    return false;
#endif
}


/*---------------------------------------------------------------
                                        resize
 ---------------------------------------------------------------*/
void  CDisplayWindowPlots::resize(
        unsigned int width,
        unsigned int height )
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen())
        {
                cerr << "[CDisplayWindowPlots::resize] Window closed!: " << m_caption << endl;
                return;
        }

    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 403;
    REQ->x        = width;
    REQ->y        = height;
    WxSubsystem::pushPendingWxRequest( REQ );
#else
        MRPT_UNUSED_PARAM(width); MRPT_UNUSED_PARAM(height);
#endif
}

/*---------------------------------------------------------------
                                        setPos
 ---------------------------------------------------------------*/
void  CDisplayWindowPlots::setPos( int x, int y )
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen())
        {
                cerr << "[CDisplayWindowPlots::setPos] Window closed!: " << m_caption << endl;
                return;
        }

    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 402;
    REQ->x        = x;
    REQ->y        = y;
    WxSubsystem::pushPendingWxRequest( REQ );
#else
        MRPT_UNUSED_PARAM(x); MRPT_UNUSED_PARAM(y);
#endif
}

/*---------------------------------------------------------------
                                        setWindowTitle
 ---------------------------------------------------------------*/
void  CDisplayWindowPlots::setWindowTitle( const std::string &str )
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen())
        {
                cerr << "[CDisplayWindowPlots::setWindowTitle] Window closed!: " << m_caption << endl;
                return;
        }

    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 404;
    REQ->str      = str;
    WxSubsystem::pushPendingWxRequest( REQ );
#else
        MRPT_UNUSED_PARAM(str);
#endif
}

/*---------------------------------------------------------------
                                        enableMousePanZoom
 ---------------------------------------------------------------*/
void  CDisplayWindowPlots::enableMousePanZoom( bool enabled )
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen()) return;

    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 410;
    REQ->boolVal  = enabled;
    WxSubsystem::pushPendingWxRequest( REQ );
#else
        MRPT_UNUSED_PARAM(enabled);
#endif
}

/*---------------------------------------------------------------
                                        axis_equal
 ---------------------------------------------------------------*/
void  CDisplayWindowPlots::axis_equal( bool enabled )
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen()) return;

    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 411;
    REQ->boolVal  = enabled;
    WxSubsystem::pushPendingWxRequest( REQ );
#else
        MRPT_UNUSED_PARAM(enabled);
#endif
}

/*---------------------------------------------------------------
                                        axis
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::axis( float x_min, float x_max, float y_min, float y_max, bool aspectRatioFix )
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen()) return;

    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 412;
        REQ->vector_x.resize(2);
        REQ->vector_x[0] = x_min;
        REQ->vector_x[1] = x_max;
        REQ->vector_y.resize(2);
        REQ->vector_y[0] = y_min;
        REQ->vector_y[1] = y_max;
        REQ->boolVal  = aspectRatioFix;
    WxSubsystem::pushPendingWxRequest( REQ );
#else
        MRPT_UNUSED_PARAM(x_min); MRPT_UNUSED_PARAM(x_max);
        MRPT_UNUSED_PARAM(y_min); MRPT_UNUSED_PARAM(y_max); MRPT_UNUSED_PARAM(aspectRatioFix);
#endif
}

/*---------------------------------------------------------------
                                        axis_fit
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::axis_fit(bool aspectRatioFix)
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen()) return;

    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 413;
        REQ->boolVal  = aspectRatioFix;
    WxSubsystem::pushPendingWxRequest( REQ );
#else
        MRPT_UNUSED_PARAM(aspectRatioFix);
#endif
}



/*---------------------------------------------------------------
                                        plotEllipse
 ---------------------------------------------------------------*/
template <typename T>
void CDisplayWindowPlots::plotEllipse(
        const T mean_x,
        const T mean_y,
        const CMatrixTemplateNumeric<T> &cov22,
        const float quantiles,
        const std::string  &lineFormat,
        const std::string  &plotName,
        bool showName)
{
#if MRPT_HAS_WXWIDGETS
        MRPT_START
        if (!isOpen())
                return;

        ASSERT_(cov22.getColCount()==2 && cov22.getRowCount()==2);
        ASSERT_(cov22(0,0)>=0);
        ASSERT_(cov22(1,1)>=0);
        ASSERT_(cov22(0,1) == cov22(1,0) );

        if (m_holdon_just_disabled)
        {
                m_holdon_just_disabled=false;
                this->clf();
        }
        std::string holdon_post;
        if (m_holdon)
                holdon_post = format("_fig_%u",static_cast<unsigned int>(m_holdon_cnt++));

    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 421;
    // 421: Add/update a 2D ellipse: format string=str, plot name =plotName, vector_x[0,1]:X/Y center,  vector_y[0,1,2]: Covariance matrix entries 00,11,01.
    REQ->str      = lineFormat;
    REQ->plotName = plotName+holdon_post;

    REQ->vector_x.resize(3);
    REQ->vector_x[0]=mean_x;
    REQ->vector_x[1]=mean_y;
    REQ->vector_x[2]=quantiles;

    REQ->vector_y.resize(3);
    REQ->vector_y[0] = cov22(0,0);
    REQ->vector_y[1] = cov22(1,1);
    REQ->vector_y[2] = cov22(0,1);

        REQ->boolVal = showName;

    WxSubsystem::pushPendingWxRequest( REQ );
        MRPT_END
#else
        MRPT_UNUSED_PARAM(mean_x);
        MRPT_UNUSED_PARAM(mean_y);
        MRPT_UNUSED_PARAM(cov22);
        MRPT_UNUSED_PARAM(quantiles);
        MRPT_UNUSED_PARAM(lineFormat);
        MRPT_UNUSED_PARAM(plotName);
        MRPT_UNUSED_PARAM(showName);
#endif
}

// Explicit instantations:
template void GUI_IMPEXP CDisplayWindowPlots::plotEllipse(
        const float mean_x,
        const float mean_y,
        const CMatrixTemplateNumeric<float> &cov22,
        const float quantiles,
        const std::string  &lineFormat,
        const std::string  &plotName,
        bool showName);
template void GUI_IMPEXP CDisplayWindowPlots::plotEllipse(
        const double mean_x,
        const double mean_y,
        const CMatrixTemplateNumeric<double> &cov22,
        const float quantiles,
        const std::string  &lineFormat,
        const std::string  &plotName,
        bool showName);

/*---------------------------------------------------------------
                                        plotEllipse
 ---------------------------------------------------------------*/
template <typename T>
void CDisplayWindowPlots::plotEllipse(
        const T mean_x,
        const T mean_y,
        const CMatrixFixedNumeric<T,2,2> &cov22,
        const float quantiles,
        const std::string  &lineFormat,
        const std::string  &plotName,
        bool showName)
{
#if MRPT_HAS_WXWIDGETS
        MRPT_START
        if (!isOpen())
                return;

        ASSERT_(cov22(0,0)>=0);
        ASSERT_(cov22(1,1)>=0);
        ASSERT_(cov22(0,1) == cov22(1,0) );

        if (m_holdon_just_disabled)
        {
                m_holdon_just_disabled=false;
                this->clf();
        }
        std::string holdon_post;
        if (m_holdon)
                holdon_post = format("_fig_%u",static_cast<unsigned int>(m_holdon_cnt++));

    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 421;
    // 421: Add/update a 2D ellipse: format string=str, plot name =plotName, vector_x[0,1]:X/Y center,  vector_y[0,1,2]: Covariance matrix entries 00,11,01.
    REQ->str      = lineFormat;
    REQ->plotName = plotName+holdon_post;

    REQ->vector_x.resize(3);
    REQ->vector_x[0]=mean_x;
    REQ->vector_x[1]=mean_y;
    REQ->vector_x[2]=quantiles;

    REQ->vector_y.resize(3);
    REQ->vector_y[0] = cov22(0,0);
    REQ->vector_y[1] = cov22(1,1);
    REQ->vector_y[2] = cov22(0,1);

        REQ->boolVal = showName;

    WxSubsystem::pushPendingWxRequest( REQ );
        MRPT_END
#else
        MRPT_UNUSED_PARAM(mean_x);
        MRPT_UNUSED_PARAM(mean_y);
        MRPT_UNUSED_PARAM(cov22);
        MRPT_UNUSED_PARAM(quantiles);
        MRPT_UNUSED_PARAM(lineFormat);
        MRPT_UNUSED_PARAM(plotName);
        MRPT_UNUSED_PARAM(showName);
#endif
}

// Explicit instantations:
template
void GUI_IMPEXP CDisplayWindowPlots::plotEllipse(
        const float mean_x,
        const float mean_y,
        const CMatrixFixedNumeric<float,2,2> &cov22,
        const float quantiles,
        const std::string  &lineFormat,
        const std::string  &plotName,
        bool showName);
template
void GUI_IMPEXP CDisplayWindowPlots::plotEllipse(
        const double mean_x,
        const double mean_y,
        const CMatrixFixedNumeric<double ,2,2> &cov22,
        const float quantiles,
        const std::string  &lineFormat,
        const std::string  &plotName,
        bool showName);


/*---------------------------------------------------------------
                                        image
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::image(
        const utils::CImage &img,
        const float &x_left,
        const float &y_bottom,
        const float &x_width,
        const float &y_height,
        const std::string  &plotName  )
{
#if MRPT_HAS_WXWIDGETS
        MRPT_START
        if (!isOpen())
                return;

        if (m_holdon_just_disabled)
        {
                m_holdon_just_disabled=false;
                this->clf();
        }
        std::string holdon_post;
        if (m_holdon)
                holdon_post = format("_fig_%u",static_cast<unsigned int>(m_holdon_cnt++));

    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 422;

    // 422: Add/update a bitmap: plot name =plotName, vector_x[0,1]:X/Y corner, vector_x[2,3]: X/Y widths, voidPtr2: pointer to a newly created wxImage with the bitmap.
    REQ->plotName = plotName+holdon_post;

    REQ->vector_x.resize(4);
    REQ->vector_x[0]=x_left;
    REQ->vector_x[1]=y_bottom;
    REQ->vector_x[2]=x_width;
    REQ->vector_x[3]=y_height;

        REQ->voidPtr2 = mrpt::gui::MRPTImage2wxImage(img);

    WxSubsystem::pushPendingWxRequest( REQ );
        MRPT_END
#else
        MRPT_UNUSED_PARAM(img);
        MRPT_UNUSED_PARAM(x_left);
        MRPT_UNUSED_PARAM(y_bottom);
        MRPT_UNUSED_PARAM(x_width);
        MRPT_UNUSED_PARAM(y_height);
        MRPT_UNUSED_PARAM(plotName);
#endif
}

/*---------------------------------------------------------------
                                        internal_plot
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::internal_plot(
        CVectorFloat &x,
        CVectorFloat &y,
        const std::string  &lineFormat,
        const std::string  &plotName)
{
#if MRPT_HAS_WXWIDGETS
        MRPT_START
        if (!isOpen())
                return;

        ASSERT_EQUAL_(x.size(),y.size());

        if (m_holdon_just_disabled)
        {
                m_holdon_just_disabled=false;
                this->clf();
        }

        if (x.empty()) return;

        std::string holdon_post;
        if (m_holdon)
                holdon_post = format("_fig_%u",static_cast<unsigned int>(m_holdon_cnt++));

    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 420;
    REQ->str      = lineFormat;
    REQ->plotName = plotName + holdon_post;
    REQ->vector_x.swap(x);
    REQ->vector_y.swap(y);

        WxSubsystem::pushPendingWxRequest( REQ );
        MRPT_END
#else
        MRPT_UNUSED_PARAM(x);
        MRPT_UNUSED_PARAM(y);
        MRPT_UNUSED_PARAM(lineFormat);
        MRPT_UNUSED_PARAM(plotName);
#endif
}



/*---------------------------------------------------------------
                                        clear
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::clear()
{
        MRPT_START
#if MRPT_HAS_WXWIDGETS
        if (!isOpen()) return;

    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 414;

        // 414: Clear all plot objects.

    WxSubsystem::pushPendingWxRequest( REQ );
#endif
        MRPT_END
}

/*---------------------------------------------------------------
                                        hold_on
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::hold_on()
{
        m_holdon = true;
}

/*---------------------------------------------------------------
                                        hold_off
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::hold_off()
{
        if (m_holdon)
        {
                m_holdon = false;
                m_holdon_just_disabled = true;
        }
}




/*---------------------------------------------------------------
                                        addPopupMenuEntry
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::addPopupMenuEntry(
        const std::string &label,
        int menuID
        )
{
#if MRPT_HAS_WXWIDGETS
        MRPT_START
        if (!isOpen())
                return;

    WxSubsystem::TRequestToWxMainThread *REQ = new WxSubsystem::TRequestToWxMainThread[1];
    REQ->sourcePlots = this;
    REQ->OPCODE   = 440;
        REQ->plotName = label;
        REQ->x = menuID;
        // 440: Inser submenu in the popup menu.

    WxSubsystem::pushPendingWxRequest( REQ );
        MRPT_END
#else
        MRPT_UNUSED_PARAM(label);
        MRPT_UNUSED_PARAM(menuID);
#endif
}

/*---------------------------------------------------------------
                                        setMenuCallback
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::setMenuCallback(TCallbackMenu userFunction,void* userParam )
{
        ASSERT_(userFunction!=NULL)
        m_callback = userFunction;
        m_callback_param =userParam;
}