CDisplayWindow.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 <mrpt/gui/CDisplayWindow.h>
#include <mrpt/system/os.h>
#include <mrpt/img/CImage.h>
#include <mrpt/core/round.h>
 
#include <mrpt/gui/WxSubsystem.h>
#include <mrpt/gui/WxUtils.h>
 
using namespace mrpt;
using namespace mrpt::math;
using namespace mrpt::gui;
using namespace mrpt::system;
using namespace std;
using namespace mrpt::img;
 
#if MRPT_HAS_WXWIDGETS
 
BEGIN_EVENT_TABLE(CWindowDialog, wxFrame)
 
END_EVENT_TABLE()
 
const long CWindowDialog::ID_IMAGE_BITMAP = wxNewId();
const long ID_MENUITEM1 = wxNewId();
const long ID_MENUITEM2 = wxNewId();
const long ID_MENUITEM3 = wxNewId();
 
CWindowDialog::wxMRPTImageControl::wxMRPTImageControl(
    wxWindow* parent, wxWindowID winID, int x, int y, int width, int height)
    : m_img(nullptr)
{
    this->Create(parent, winID, wxPoint(x, y), wxSize(width, height));
 
    Connect(
        wxEVT_PAINT,
        wxPaintEventHandler(CWindowDialog::wxMRPTImageControl::OnPaint));
    Connect(
        wxEVT_MOTION,
        wxMouseEventHandler(CWindowDialog::wxMRPTImageControl::OnMouseMove));
    Connect(
        wxID_ANY, wxEVT_LEFT_DOWN,
        wxMouseEventHandler(CWindowDialog::wxMRPTImageControl::OnMouseClick));
 
    Connect(
        wxID_ANY, wxEVT_CHAR,
        (wxObjectEventFunction)&CWindowDialog::wxMRPTImageControl::OnChar);
    Connect(
        wxEVT_CHAR,
        (wxObjectEventFunction)&CWindowDialog::wxMRPTImageControl::OnChar);
 
    //  Connect(wxID_ANY,wxEVT_CHAR,(wxObjectEventFunction)&CWindowDialog::wxMRPTImageControl::OnChar);
    //  Connect(wxID_ANY,wxEVT_KEY_DOWN,(wxObjectEventFunction)&CWindowDialog::wxMRPTImageControl::OnChar);
}
 
CWindowDialog::wxMRPTImageControl::~wxMRPTImageControl()
{
    std::lock_guard<std::mutex> lock(m_img_cs);
    if (m_img)
    {
        delete m_img;
        m_img = nullptr;
    }
}
 
void CWindowDialog::wxMRPTImageControl::OnMouseMove(wxMouseEvent& ev)
{
    // std::lock_guard<std::mutex>  lock( m_mouse_cs);
    m_last_mouse_point = ev.GetPosition();
}
 
void CWindowDialog::wxMRPTImageControl::OnMouseClick(wxMouseEvent& ev)
{
    // std::lock_guard<std::mutex>  lock( m_mouse_cs);
    m_last_mouse_click = ev.GetPosition();
}
 
void CWindowDialog::wxMRPTImageControl::OnChar(wxKeyEvent& ev) {}
void CWindowDialog::wxMRPTImageControl::AssignImage(wxBitmap* img)
{
    std::lock_guard<std::mutex> lock(m_img_cs);
    if (m_img)
    {
        delete m_img;
        m_img = nullptr;
    }
 
    m_img = img;
}
 
void CWindowDialog::wxMRPTImageControl::OnPaint(wxPaintEvent& ev)
{
    wxPaintDC dc(this);
 
    std::lock_guard<std::mutex> lock(m_img_cs);
    if (!m_img)
    {
        // Erase background:
        return;
    }
 
    dc.DrawBitmap(*m_img, 0, 0);
}
 
void CWindowDialog::wxMRPTImageControl::GetBitmap(wxBitmap& bmp)
{
    std::lock_guard<std::mutex> lock(m_img_cs);
    if (!m_img) return;
    bmp = *m_img;
}
 
CWindowDialog::CWindowDialog(
    CDisplayWindow* win2D, WxSubsystem::CWXMainFrame* parent, wxWindowID id,
    const std::string& caption, wxSize initialSize)
    : m_win2D(win2D), m_mainFrame(parent)
{
    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 image object:
    m_image = new CWindowDialog::wxMRPTImageControl(
        this, ID_IMAGE_BITMAP, 0, 0, 10, 10);
 
    // wxCLIP_CHILDREN seems to avoid flicker
    SetWindowStyle(GetWindowStyle() | wxCLIP_CHILDREN);
 
    // Menu:
    wxMenuBar* MenuBar1 = new wxMenuBar();
 
    wxMenu* Menu1 = new wxMenu();
    wxMenuItem* MenuItem3 = new wxMenuItem(
        Menu1, ID_MENUITEM3, _("Save to file..."), _(""), wxITEM_NORMAL);
    Menu1->Append(MenuItem3);
    wxMenuItem* MenuItem1 =
        new wxMenuItem(Menu1, ID_MENUITEM1, _("Close"), _(""), wxITEM_NORMAL);
    Menu1->Append(MenuItem1);
    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)&CWindowDialog::OnClose);
    Connect(
        ID_MENUITEM1, wxEVT_COMMAND_MENU_SELECTED,
        (wxObjectEventFunction)&CWindowDialog::OnMenuClose);
    Connect(
        ID_MENUITEM2, wxEVT_COMMAND_MENU_SELECTED,
        (wxObjectEventFunction)&CWindowDialog::OnMenuAbout);
    Connect(
        ID_MENUITEM3, wxEVT_COMMAND_MENU_SELECTED,
        (wxObjectEventFunction)&CWindowDialog::OnMenuSave);
 
    //  Connect(wxID_ANY,wxEVT_CHAR,(wxObjectEventFunction)&CWindowDialog::OnChar);
    Connect(
        wxID_ANY, wxEVT_KEY_DOWN,
        (wxObjectEventFunction)&CWindowDialog::OnChar);
    // Connect(wxID_ANY,wxEVT_CHAR,(wxObjectEventFunction)&CWindowDialog::OnChar);
    Connect(wxEVT_CHAR, (wxObjectEventFunction)&CWindowDialog::OnChar);
 
    m_image->Connect(
        wxID_ANY, wxEVT_KEY_DOWN, (wxObjectEventFunction)&CWindowDialog::OnChar,
        nullptr, this);
    m_image->Connect(
        wxEVT_SIZE, (wxObjectEventFunction)&CWindowDialog::OnResize, nullptr,
        this);
 
    m_image->Connect(
        wxEVT_LEFT_DOWN, (wxObjectEventFunction)&CWindowDialog::OnMouseDown,
        nullptr, this);
    m_image->Connect(
        wxEVT_RIGHT_DOWN, (wxObjectEventFunction)&CWindowDialog::OnMouseDown,
        nullptr, this);
    m_image->Connect(
        wxEVT_MOTION, (wxObjectEventFunction)&CWindowDialog::OnMouseMove,
        nullptr, this);
 
    // Increment number of windows:
    // int winCount =
    WxSubsystem::CWXMainFrame::notifyWindowCreation();
 
    // this->Iconize(false);
}
 
// Destructor
CWindowDialog::~CWindowDialog() {}
// OnClose event:
void CWindowDialog::OnClose(wxCloseEvent& event)
{
    // Send the event:
    bool allow_close = true;
    try
    {
        mrptEventWindowClosed ev(m_win2D, true /* allow close */);
        m_win2D->publishEvent(ev);
        allow_close = ev.allow_close;
    }
    catch (...)
    {
    }
    if (!allow_close) return;  // Don't process this close event.
 
    // Set the m_hwnd=nullptr in our parent object.
    m_win2D->notifyChildWindowDestruction();
 
    // Decrement number of windows:
    WxSubsystem::CWXMainFrame::notifyWindowDestruction();
 
    m_win2D->m_windowDestroyed.set_value();
 
    event.Skip();  // keep processing by parent classes.
}
 
void CWindowDialog::OnKeyDown(wxKeyEvent& event)
{
    event.Skip();  // So OnChar event is produced.
}
 
void CWindowDialog::OnChar(wxKeyEvent& event)
{
    if (m_win2D)
    {
        const int code = event.GetKeyCode();
        const mrptKeyModifier mod = mrpt::gui::keyEventToMrptKeyModifier(event);
 
        m_win2D->m_keyPushedCode = code;
        m_win2D->m_keyPushedModifier = mod;
        m_win2D->m_keyPushed = true;
 
        // Send the event:
        try
        {
            m_win2D->publishEvent(mrptEventWindowChar(m_win2D, code, mod));
        }
        catch (...)
        {
        }
    }
    event.Skip();
}
 
void CWindowDialog::OnResize(wxSizeEvent& event)
{
    // Send the event:
    if (m_win2D && m_win2D->hasSubscribers())
    {
        try
        {
            m_win2D->publishEvent(
                mrptEventWindowResize(
                    m_win2D, event.GetSize().GetWidth(),
                    event.GetSize().GetHeight()));
        }
        catch (...)
        {
        }
    }
    event.Skip();  // so it's processed by the wx system!
}
 
void CWindowDialog::OnMouseDown(wxMouseEvent& event)
{
    // Send the event:
    if (m_win2D && m_win2D->hasSubscribers())
    {
        try
        {
            m_win2D->publishEvent(
                mrptEventMouseDown(
                    m_win2D, TPixelCoord(event.GetX(), event.GetY()),
                    event.LeftDown(), event.RightDown()));
        }
        catch (...)
        {
        }
    }
    event.Skip();  // so it's processed by the wx system!
}
 
void CWindowDialog::OnMouseMove(wxMouseEvent& event)
{
    // Send the event:
    if (m_win2D && m_win2D->hasSubscribers())
    {
        try
        {
            m_win2D->publishEvent(
                mrptEventMouseMove(
                    m_win2D, TPixelCoord(event.GetX(), event.GetY()),
                    event.LeftDown(), event.RightDown()));
        }
        catch (...)
        {
        }
    }
    event.Skip();  // so it's processed by the wx system!
}
 
// Menu: Close
void CWindowDialog::OnMenuClose(wxCommandEvent& event) { Close(); }
// Menu: About
void CWindowDialog::OnMenuAbout(wxCommandEvent& event)
{
    ::wxMessageBox(
        _("Image viewer\n Class gui::CDisplayWindow\n MRPT C++ library"),
        _("About..."));
}
 
// Menu: Save to file
void CWindowDialog::OnMenuSave(wxCommandEvent& event)
{
    wxFileDialog dialog(
        this, wxT("Save image as..."), wxT("."), wxT("image.png"),
        wxT("PNG image files (*.png)|*.png"),
#if wxCHECK_VERSION(2, 8, 0)
        wxFD_SAVE | wxFD_OVERWRITE_PROMPT);
#else
        wxFD_SAVE | wxFD_OVERWRITE_PROMPT);
#endif
 
    if (wxID_OK == dialog.ShowModal())
    {
        try
        {
            wxBitmap bmp;
            m_image->GetBitmap(bmp);
            bmp.SaveFile(dialog.GetPath(), wxBITMAP_TYPE_PNG);
        }
        catch (...)
        {
        }
    }
}
 
#endif
 
CDisplayWindow::Ptr CDisplayWindow::Create(
    const std::string& windowCaption, unsigned int initWidth,
    unsigned int initHeight)
{
    return CDisplayWindow::Ptr(
        new CDisplayWindow(windowCaption, initWidth, initHeight));
}
/*---------------------------------------------------------------
                    Constructor
 ---------------------------------------------------------------*/
CDisplayWindow::CDisplayWindow(
    const std::string& windowCaption, unsigned int initWidth,
    unsigned int initHeight)
    : CBaseGUIWindow(static_cast<void*>(this), 200, 299, windowCaption),
      m_enableCursorCoordinates(true)
{
    CBaseGUIWindow::createWxWindow(initWidth, initHeight);
}
 
/*---------------------------------------------------------------
                    Destructor
 ---------------------------------------------------------------*/
CDisplayWindow::~CDisplayWindow() { CBaseGUIWindow::destroyWxWindow(); }
/** Set cursor style to default (cursorIsCross=false) or to a cross
 * (cursorIsCross=true) */
void CDisplayWindow::setCursorCross(bool cursorIsCross)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    const CWindowDialog* win = (const CWindowDialog*)m_hwnd.get();
    if (!win) return;
    win->m_image->SetCursor(
        *(cursorIsCross ? wxCROSS_CURSOR : wxSTANDARD_CURSOR));
#else
    MRPT_UNUSED_PARAM(cursorIsCross);
#endif
}
 
/*---------------------------------------------------------------
                    getLastMousePosition
 ---------------------------------------------------------------*/
bool CDisplayWindow::getLastMousePosition(int& x, int& y) const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
    const CWindowDialog* win = (const CWindowDialog*)m_hwnd.get();
    if (!win) return false;
    x = win->m_image->m_last_mouse_point.x;
    y = win->m_image->m_last_mouse_point.y;
    return true;
#else
    MRPT_UNUSED_PARAM(x);
    MRPT_UNUSED_PARAM(y);
    return false;
#endif
}
 
/*---------------------------------------------------------------
                    showImage
 ---------------------------------------------------------------*/
void CDisplayWindow::showImage(const CImage& img)
{
#if MRPT_HAS_WXWIDGETS
    MRPT_START
 
    // Send message of new image:
    wxImage* newImg = mrpt::gui::MRPTImage2wxImage(img);
 
    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread* REQ =
        new WxSubsystem::TRequestToWxMainThread[1];
    REQ->source2D = this;
    REQ->OPCODE = 201;
    REQ->voidPtr = m_hwnd.get();
    REQ->voidPtr2 = (void*)newImg;
    WxSubsystem::pushPendingWxRequest(REQ);
 
    MRPT_END
#else
    MRPT_UNUSED_PARAM(img);
#endif
}
 
/*---------------------------------------------------------------
                    showImageAndPoints
 ---------------------------------------------------------------*/
void CDisplayWindow::showImageAndPoints(
    const CImage& img, const CVectorFloat& x_, const CVectorFloat& y_,
    const TColor& color, const bool& showNumbers)
{
    std::vector<float> x(x_.size()), y(y_.size());
    for (size_t i = 0; i < x.size(); i++) x[i] = x_[i];
    for (size_t i = 0; i < y.size(); i++) y[i] = y_[i];
    showImageAndPoints(img, x, y, color, showNumbers);
}
 
void CDisplayWindow::showImageAndPoints(
    const CImage& img, const std::vector<float>& x, const std::vector<float>& y,
    const TColor& color, const bool& showNumbers)
{
#if MRPT_HAS_WXWIDGETS
    MRPT_START
    ASSERT_(x.size() == y.size());
 
    CImage imgColor(1, 1, 3);
    img.colorImage(imgColor);  // Create a colorimage
    for (size_t i = 0; i < x.size(); i++)
    {
        imgColor.cross(round(x[i]), round(y[i]), color, '+');
 
        if (showNumbers)
        {
            char buf[15];
            mrpt::system::os::sprintf(buf, 15, "%d", int(i));
            imgColor.textOut(round(x[i]) - 10, round(y[i]), buf, color);
        }
    }  // end-for
    showImage(imgColor);
    MRPT_END
#else
    MRPT_UNUSED_PARAM(img);
    MRPT_UNUSED_PARAM(x);
    MRPT_UNUSED_PARAM(y);
    MRPT_UNUSED_PARAM(color);
    MRPT_UNUSED_PARAM(showNumbers);
#endif
}
 
/*---------------------------------------------------------------
                    plot
 ---------------------------------------------------------------*/
void CDisplayWindow::plot(const CVectorFloat& x, const CVectorFloat& y)
{
    MRPT_START
 
    ASSERT_(x.size() == y.size());
 
    const int ox = 40;
    const int oy = 40;
 
    // Suboptimal but...
    CImage imgColor(1, 1, 3);
 
    imgColor.resize(640, 480, 3, 0);
    // Draw axis:
    imgColor.filledRectangle(0, 0, 640, 480, TColor(255, 255, 255));
    imgColor.line(40, 40, 560, 40, TColor::black(), 3);
    imgColor.line(40, 40, 40, 440, TColor::black(), 3);
    imgColor.line(560, 40, 555, 45, TColor::black(), 3);
    imgColor.line(560, 40, 555, 35, TColor::black(), 3);
    imgColor.line(40, 440, 35, 435, TColor::black(), 3);
    imgColor.line(40, 440, 45, 435, TColor::black(), 3);
 
    // imgColor.textOut( 550, 25, "x", TColor::black );
    // imgColor.textOut( 25, 430, "y", TColor::black );
 
    CVectorFloat::const_iterator itx, ity;
    CVectorFloat::const_iterator itymx, itymn;
    itymx = std::max_element(y.begin(), y.end());
    itymn = std::min_element(y.begin(), y.end());
    float px = (x[x.size() - 1] - x[0]) / 520;
    float py = (*itymx - *itymn) / 400;
 
    float tpxA = 0, tpyA = 0;
 
    for (itx = x.begin(), ity = y.begin(); itx != x.end(); ++itx, ++ity)
    {
        float tpx = (*itx - x[0]) / px + ox;
        float tpy = (*ity - *itymn) / py + oy;
        imgColor.cross(tpx, tpy, TColor(255, 0, 0), 'x');
        if (itx != x.begin())
            imgColor.line(tpxA, tpyA, tpx, tpy, TColor(0, 0, 255), 3);
        tpxA = tpx;
        tpyA = tpy;
    }  // end for
 
    showImage(imgColor);
 
    MRPT_END
}
 
/*---------------------------------------------------------------
                    plot
 ---------------------------------------------------------------*/
void CDisplayWindow::plot(const CVectorFloat& y)
{
    MRPT_START
 
    ASSERT_(y.size() >= 0);
 
    const int ox = 40;
    const int oy = 40;
 
    // Suboptimal but...
    CImage imgColor(1, 1, 3);
 
    imgColor.resize(640, 480, 3, 0);
    // Draw axis:
    imgColor.filledRectangle(0, 0, 640, 480, TColor::white());
    imgColor.line(40, 40, 560, 40, TColor::black(), 3);
    imgColor.line(40, 40, 40, 440, TColor::black(), 3);
    imgColor.line(560, 40, 555, 45, TColor::black(), 3);
    imgColor.line(560, 40, 555, 35, TColor::black(), 3);
    imgColor.line(40, 440, 35, 435, TColor::black(), 3);
    imgColor.line(40, 440, 45, 435, TColor::black(), 3);
 
    imgColor.textOut(550, 25, "x", TColor::black());
    imgColor.textOut(25, 430, "y", TColor::black());
 
    CVectorFloat::const_iterator ity;
    CVectorFloat::const_iterator itymx, itymn;
    itymx = std::max_element(y.begin(), y.end());
    itymn = std::min_element(y.begin(), y.end());
    float px = y.size() / 520.0f;
    float py = (*itymx - *itymn) / 400.0f;
    float tpxA = 0, tpyA = 0;
 
    unsigned int k = 0;
 
    for (k = 0, ity = y.begin(); ity != y.end(); ++k, ++ity)
    {
        float tpx = k / px + ox;
        float tpy = (*ity - *itymn) / py + oy;
        imgColor.cross(tpx, tpy, TColor::red(), 'x');
        if (k > 0) imgColor.line(tpxA, tpyA, tpx, tpy, TColor::blue(), 3);
        tpxA = tpx;
        tpyA = tpy;
    }  // end for
 
    showImage(imgColor);
 
    MRPT_END
}
 
/*---------------------------------------------------------------
                    resize
 ---------------------------------------------------------------*/
void CDisplayWindow::resize(unsigned int width, unsigned int height)
{
#if MRPT_HAS_WXWIDGETS
    if (!isOpen())
    {
        cerr << "[CDisplayWindow::resize] Window closed!: " << m_caption
             << endl;
        return;
    }
 
    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread* REQ =
        new WxSubsystem::TRequestToWxMainThread[1];
    REQ->source2D = this;
    REQ->OPCODE = 203;
    REQ->x = width;
    REQ->y = height;
    WxSubsystem::pushPendingWxRequest(REQ);
#else
    MRPT_UNUSED_PARAM(width);
    MRPT_UNUSED_PARAM(height);
#endif
}
 
/*---------------------------------------------------------------
                    setPos
 ---------------------------------------------------------------*/
void CDisplayWindow::setPos(int x, int y)
{
#if MRPT_HAS_WXWIDGETS
    if (!isOpen())
    {
        cerr << "[CDisplayWindow::setPos] Window closed!: " << m_caption
             << endl;
        return;
    }
 
    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread* REQ =
        new WxSubsystem::TRequestToWxMainThread[1];
    REQ->source2D = this;
    REQ->OPCODE = 202;
    REQ->x = x;
    REQ->y = y;
    WxSubsystem::pushPendingWxRequest(REQ);
#else
    MRPT_UNUSED_PARAM(x);
    MRPT_UNUSED_PARAM(y);
#endif
}
 
/*---------------------------------------------------------------
                    setWindowTitle
 ---------------------------------------------------------------*/
void CDisplayWindow::setWindowTitle(const std::string& str)
{
#if MRPT_HAS_WXWIDGETS
    if (!isOpen())
    {
        cerr << "[CDisplayWindow::setWindowTitle] Window closed!: " << m_caption
             << endl;
        return;
    }
 
    // Send a request to destroy this object:
    WxSubsystem::TRequestToWxMainThread* REQ =
        new WxSubsystem::TRequestToWxMainThread[1];
    REQ->source2D = this;
    REQ->OPCODE = 204;
    REQ->str = str;
    WxSubsystem::pushPendingWxRequest(REQ);
#else
    MRPT_UNUSED_PARAM(str);
#endif
}