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CBaseGUIWindow.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include "gui-precomp.h" // Precompiled headers
11 
12 #include <iostream>
14 #include <mrpt/system/os.h>
15 #include <mrpt/gui/WxSubsystem.h>
16 
17 using namespace mrpt;
18 using namespace mrpt::gui;
19 using namespace mrpt::system;
20 using namespace std;
21 
22 /*---------------------------------------------------------------
23  Ctor
24  ---------------------------------------------------------------*/
26  void* winobj_voidptr, int CMD_CREATE_WIN, int CMD_DESTROY_WIN,
27  const std::string& initial_caption)
28  : m_CMD_CREATE_WIN(CMD_CREATE_WIN),
29  m_CMD_DESTROY_WIN(CMD_DESTROY_WIN),
30  m_winobj_voidptr(winobj_voidptr),
31  m_caption(initial_caption),
32  m_hwnd(nullptr),
33  m_keyPushed(false),
34  m_keyPushedCode(0),
35  m_keyPushedModifier(MRPTKMOD_NONE)
36 {
37 }
38 
39 /*---------------------------------------------------------------
40  Create the wx Window
41  ---------------------------------------------------------------*/
43  unsigned int initialWidth, unsigned int initialHeight)
44 {
45  MRPT_UNUSED_PARAM(initialWidth);
46  MRPT_UNUSED_PARAM(initialHeight);
48 #if MRPT_HAS_WXWIDGETS
49  // Create the main wxThread:
50  // -------------------------------
51  if (!WxSubsystem::createOneInstanceMainThread()) return; // Error!
52 
53  // Create window:
56  REQ->source2D = static_cast<gui::CDisplayWindow*>(m_winobj_voidptr);
57  REQ->source3D = static_cast<gui::CDisplayWindow3D*>(m_winobj_voidptr);
59  REQ->str = m_caption;
60  REQ->OPCODE = m_CMD_CREATE_WIN;
61  REQ->voidPtr = m_hwnd.getPtrToPtr();
62  REQ->x = initialWidth;
63  REQ->y = initialHeight;
64 
66 
67  // Wait for the window to realize and signal it's alive:
69  {
70  std::this_thread::sleep_for(
71  20ms); // Force at least 1-2 timer ticks for processing the event:
72  wxApp::GetInstance()->Yield(true);
73  }
74  int maxTimeout =
75 #ifdef _DEBUG
76  30000;
77 #else
78  6000;
79 #endif
80  // If we have an "MRPT_WXSUBSYS_TIMEOUT_MS" environment variable, use that
81  // timeout instead:
82  const char* envVal = getenv("MRPT_WXSUBSYS_TIMEOUT_MS");
83  if (envVal) maxTimeout = atoi(envVal);
84 
85  auto future = m_threadReady.get_future();
86  if (future.wait_for(std::chrono::milliseconds(maxTimeout)) ==
87  std::future_status::timeout) // 2 secs should be enough...
88  {
89  cerr << "[CBaseGUIWindow::ctor] Timeout waiting window creation."
90  << endl;
91  }
92 #else
93  THROW_EXCEPTION("MRPT compiled without wxWidgets!");
94 #endif
95  MRPT_END
96 }
97 
98 /*---------------------------------------------------------------
99  Dtor
100  ---------------------------------------------------------------*/
102 /*---------------------------------------------------------------
103  destroyWxWindow
104  ---------------------------------------------------------------*/
106 {
107  MRPT_START
108 #if MRPT_HAS_WXWIDGETS
109  // Send close request:
110  if (m_hwnd.get())
111  {
114  REQ->OPCODE = m_CMD_DESTROY_WIN;
115  REQ->source2D = static_cast<gui::CDisplayWindow*>(m_winobj_voidptr);
116  REQ->source3D = static_cast<gui::CDisplayWindow3D*>(m_winobj_voidptr);
117  REQ->sourcePlots =
119 
121 
122  // Wait until the thread ends:
124  {
125  std::this_thread::sleep_for(20ms); // Force at least 1-2 timer
126  // ticks for processing the
127  // event:
128  wxApp::GetInstance()->Yield(true);
129  }
130  const int maxTimeout =
131 #ifdef _DEBUG
132  30000;
133 #else
134  6000;
135 #endif
136  if (m_windowDestroyed.get_future().wait_for(
137  std::chrono::milliseconds(maxTimeout)) ==
138  std::future_status::timeout)
139  {
140  cerr << "[CBaseGUIWindow::dtor] Timeout waiting window destruction."
141  << endl;
142  }
143  }
145 #endif
146  MRPT_END
147 }
148 
149 /*---------------------------------------------------------------
150  notifyChildWindowDestruction
151  ---------------------------------------------------------------*/
153 /*---------------------------------------------------------------
154  waitForKey
155  ---------------------------------------------------------------*/
157  bool ignoreControlKeys, mrptKeyModifier* out_pushModifier)
158 {
159  int k = 0;
160  if (out_pushModifier) *out_pushModifier = MRPTKMOD_NONE;
161  m_keyPushed = false;
162 
163  for (;;)
164  {
165  if (os::kbhit())
166  {
167  k = os::getch();
168  return k;
169  }
170  if (m_keyPushed)
171  {
172  k = m_keyPushedCode;
173  m_keyPushed = false;
174  if (m_keyPushedCode < 256 || !ignoreControlKeys)
175  {
176  if (out_pushModifier) *out_pushModifier = m_keyPushedModifier;
177  return k;
178  }
179  // Ignore and keep waiting
180  }
181  std::this_thread::sleep_for(10ms);
182  // Are we still alive?
183  if (!isOpen()) return 0;
184  }
185 }
186 
187 /*---------------------------------------------------------------
188  getPushedKey
189  ---------------------------------------------------------------*/
191 {
192  int k = 0;
193  if (out_pushModifier) *out_pushModifier = MRPTKMOD_NONE;
194 
195  for (;;)
196  {
197  if (m_keyPushed)
198  {
199  k = m_keyPushedCode;
200  m_keyPushed = false;
201  if (out_pushModifier) *out_pushModifier = m_keyPushedModifier;
202  return k;
203  }
204  std::this_thread::sleep_for(10ms);
205  // Are we still alive?
206  if (!isOpen()) return 0;
207  }
208 }
209 
210 /*---------------------------------------------------------------
211  isOpen
212  ---------------------------------------------------------------*/
213 bool CBaseGUIWindow::isOpen() { return m_hwnd != nullptr; }
214 /*---------------------------------------------------------------
215  notifySemThreadReady
216  ---------------------------------------------------------------*/
static void pushPendingWxRequest(TRequestToWxMainThread *data)
Thread-safe method to insert a new pending request (The memory must be dinamically allocated with "ne...
void * voidPtr
Parameters, depending on OPCODE.
Definition: WxSubsystem.h:229
const int m_CMD_CREATE_WIN
can be 200,300,400...
#define MRPT_START
Definition: exceptions.h:262
mrpt::gui::CDisplayWindow3D * source3D
Only one of source* can be non-nullptr, indicating the class that generated the request.
Definition: WxSubsystem.h:213
int getPushedKey(mrptKeyModifier *out_pushModifier=nullptr)
Returns the latest pushed key, or 0 if there is no new key stroke.
The data structure for each inter-thread request:
Definition: WxSubsystem.h:192
This namespace provides a OS-independent interface to many useful functions: filenames manipulation...
Definition: math_frwds.h:25
#define THROW_EXCEPTION(msg)
Definition: exceptions.h:41
Create a GUI window and display plots with MATLAB-like interfaces and commands.
int getch() noexcept
An OS-independent version of getch, which waits until a key is pushed.
Definition: os.cpp:370
mrpt::void_ptr_noncopy m_hwnd
The window handle.
std::string m_caption
The caption of the window.
int waitForKey(bool ignoreControlKeys=true, mrptKeyModifier *out_pushModifier=nullptr)
Waits for any key to be pushed on the image or the console, and returns the key code.
CBaseGUIWindow(void *winobj_voidptr, int CMD_CREATE_WIN, int CMD_DESTROY_WIN, const std::string &initial_caption=std::string())
CMD_DESTROY_WIN can be 299,399,499...
mrptKeyModifier
Definition: keycodes.h:159
STL namespace.
int OPCODE
Valid codes are: For CDisplayWindow:
Definition: WxSubsystem.h:299
void notifyChildWindowDestruction()
Called by wx main thread to set m_hwnd to NULL.
This class creates a window as a graphical user interface (GUI) for displaying images to the user...
bool isOpen()
Returns false if the user has already closed the window.
const int m_CMD_DESTROY_WIN
can be 299,399,499...
std::promise< void > m_threadReady
This semaphore will be signaled when the wx window is built and ready.
GLsizei const GLchar ** string
Definition: glext.h:4101
volatile mrptKeyModifier m_keyPushedModifier
static void waitWxShutdownsIfNoWindows()
This method must be called in the destructor of the user class FROM THE MAIN THREAD, in order to wait for the shutdown of the wx thread if this was the last open window.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define MRPT_END
Definition: exceptions.h:266
bool kbhit() noexcept
An OS-independent version of kbhit, which returns true if a key has been pushed.
Definition: os.cpp:390
mrpt::gui::CDisplayWindowPlots * sourcePlots
Only one of source* can be non-nullptr, indicating the class that generated the request.
Definition: WxSubsystem.h:217
void destroyWxWindow()
Must be called by child classes in their destructors.
static bool isConsoleApp()
Will be set to true at runtime if it&#39;s not detected a running wxApp instance.
Definition: WxSubsystem.cpp:53
Classes for creating GUI windows for 2D and 3D visualization.
Definition: about_box.h:16
void createWxWindow(unsigned int initialWidth, unsigned int initialHeight)
Must be called by child classes just within the constructor.
mrpt::gui::CDisplayWindow * source2D
Only one of source* can be non-nullptr, indicating the class that generated the request.
Definition: WxSubsystem.h:209
std::string str
Parameters, depending on OPCODE.
Definition: WxSubsystem.h:225
void notifySemThreadReady()
Called by wx main thread to signal the semaphore that the wx window is built and ready.
std::promise< void > m_windowDestroyed
This semaphore will be signaled when the wx window is destroyed.
static bool createOneInstanceMainThread()
Thread-safe method to create one single instance of the main wxWidgets thread: it will create the thr...
A graphical user interface (GUI) for efficiently rendering 3D scenes in real-time.
#define MRPT_UNUSED_PARAM(a)
Determines whether this is an X86 or AMD64 platform.
Definition: common.h:186



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