CBaseGUIWindow.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 <iostream>
#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::system;
using namespace std;
 
/*---------------------------------------------------------------
                    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_caption(initial_caption),
      m_hwnd(nullptr),
      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())
    {
        std::this_thread::sleep_for(
            20ms);  // 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);
 
    auto future = m_threadReady.get_future();
    if (future.wait_for(std::chrono::milliseconds(maxTimeout)) ==
        std::future_status::timeout)  // 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())
        {
            std::this_thread::sleep_for(20ms);  // 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_windowDestroyed.get_future().wait_for(
                std::chrono::milliseconds(maxTimeout)) ==
            std::future_status::timeout)
        {
            cerr << "[CBaseGUIWindow::dtor] Timeout waiting window destruction."
                 << endl;
        }
    }
    WxSubsystem::waitWxShutdownsIfNoWindows();
#endif
    MRPT_END
}
 
/*---------------------------------------------------------------
                    notifyChildWindowDestruction
 ---------------------------------------------------------------*/
void CBaseGUIWindow::notifyChildWindowDestruction() { m_hwnd = nullptr; }
/*---------------------------------------------------------------
                    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
        }
        std::this_thread::sleep_for(10ms);
        // 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;
        }
        std::this_thread::sleep_for(10ms);
        // Are we still alive?
        if (!isOpen()) return 0;
    }
}
 
/*---------------------------------------------------------------
                    isOpen
 ---------------------------------------------------------------*/
bool CBaseGUIWindow::isOpen() { return m_hwnd != nullptr; }
/*---------------------------------------------------------------
                    notifySemThreadReady
 ---------------------------------------------------------------*/
void CBaseGUIWindow::notifySemThreadReady() { m_threadReady.set_value(); }