[Robotflow-cvs] RobotFlow/Probes/src SoundSourceDisplay.cc,NONE,1.1

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Update of /cvsroot/robotflow/RobotFlow/Probes/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23805/src

Added Files:
	SoundSourceDisplay.cc 
Log Message:
include/SoundSourceDisplay.h

--- NEW FILE: SoundSourceDisplay.cc ---
// Copyright (C) 2002 Dominic Letourneau

#include "SoundSourceDisplay.h"
#include "net_types.h"
#include "Object.h"
#include <gnome.h>
#include "Vector.h"

#ifdef HAVE_CONFIG_H
#  include <config.h>
#endif

using namespace std;
using namespace FD;

namespace RobotFlow {

DECLARE_NODE(SoundSourceDisplay)
/*Node
 *
 * @name SoundSourceDisplay
 * @category RobotFlow:Probes
 * @description Virtual joystick with 2 standard buttons and 2 toggle buttons
 *
 * @parameter_name BUTTONS_VISIBLE
 * @parameter_type bool
 * @parameter_value true
 * @parameter_description True if you want to use buttons.
 *
 * @output_name OUTPUT
 * @output_type Vector<float>
 * @output_description x, y, button1, button2 of the joystick
 *
END*/

static gboolean ignore_delete(GtkWidget *widget, GdkEvent *event, gpointer user_data) {
   return TRUE;
}

static void button1_click (GtkButton *button, SoundSourceDisplay* self) {
  //cout<<"Button 1 clicked"<<endl;
  self->change_button_status(1);
}

static void button2_click (GtkButton *button, SoundSourceDisplay* self) {
  //cout<<"Button 2 clicked"<<endl;
  self->change_button_status(2);
}

static gint handle_event_handler (GnomeCanvasItem *item, GdkEvent *event, SoundSourceDisplay *self) {
   return self->event(event);
}


SoundSourceDisplay::SoundSourceDisplay(string nodeName, ParameterSet params)
   : BufferedNode(nodeName, params) {

  m_button1_on = false;
  m_button2_on = false;
  m_toggleButton3_on = false;
  m_toggleButton4_on = false;
  
  //get parameters
  m_buttonsVisible = dereference_cast<bool>(parameters.get("BUTTONS_VISIBLE"));


  m_pWindow1 = NULL;
  m_pVbox2 = NULL;
  m_pToolbar2 = NULL;
  m_pButton1 = NULL;
  m_pButton2 = NULL;
  m_pButton3 = NULL;
  m_pButton4 = NULL;
  m_pCanvas = NULL;
  m_pGroup = NULL;
  m_pHandle = NULL;
  m_pBorder = NULL;
  
  m_outputID = addOutput("OUTPUT");
  
}

SoundSourceDisplay::~SoundSourceDisplay() {
  
  //destroy object
  cerr<<"destruct"<<endl;
  gdk_threads_enter(); 
  
  if (m_pWindow1) {
    gtk_widget_destroy (m_pWindow1);
  }
  
  gdk_threads_leave();
}

void SoundSourceDisplay::initialize() {

  BufferedNode::initialize();
  gdk_threads_enter();

  // Add buttons & canvas
  try {

    GtkWidget *handlebox;
    GtkWidget *tmp_toolbar_icon;

    //create window
    m_pWindow1 = gtk_window_new (GTK_WINDOW_TOPLEVEL);
    gtk_object_set_data (GTK_OBJECT (m_pWindow1), "m_pWindow1", m_pWindow1);
    gtk_window_set_title (GTK_WINDOW (m_pWindow1), getName().c_str());
    
    gtk_signal_connect (GTK_OBJECT (m_pWindow1), "delete-event",
			GTK_SIGNAL_FUNC (ignore_delete),
			NULL);
    

    //create vbox
    m_pVbox2 = gtk_vbox_new (FALSE, 0);
    gtk_widget_ref (m_pVbox2);
    gtk_object_set_data_full (GTK_OBJECT (m_pWindow1), "m_pVbox2", m_pVbox2,
			      (GtkDestroyNotify) gtk_widget_unref);
    gtk_widget_show (m_pVbox2);
    gtk_container_add (GTK_CONTAINER (m_pWindow1), m_pVbox2);
    
    //create toolbar if user wants to display buttons
    if (m_buttonsVisible) {
    
      //create handlebox
      handlebox = gtk_handle_box_new ();
      gtk_widget_ref (handlebox);
      gtk_object_set_data_full (GTK_OBJECT (m_pWindow1), "handlebox", handlebox,(GtkDestroyNotify) gtk_widget_unref);
      gtk_widget_show (handlebox);
      gtk_box_pack_start (GTK_BOX (m_pVbox2), handlebox, FALSE, FALSE, 0);
      gtk_handle_box_set_snap_edge (GTK_HANDLE_BOX (handlebox), GTK_POS_LEFT);
      
      m_pToolbar2 = gtk_toolbar_new ();
      
      gtk_widget_ref (m_pToolbar2);
      gtk_object_set_data_full (GTK_OBJECT (m_pWindow1), "m_pToolbar2", m_pToolbar2, (GtkDestroyNotify) gtk_widget_unref);
      gtk_widget_show (m_pToolbar2);
      gtk_container_add (GTK_CONTAINER (handlebox), m_pToolbar2);
      
      // Joystick button 1
      //tmp_toolbar_icon = gnome_stock_pixmap_widget (m_pWindow1, GNOME_STOCK_PIXMAP_DOWN);
      
      tmp_toolbar_icon =  gtk_button_new_from_stock ("gtk-go-down");
      
      
      m_pButton1 = gtk_toolbar_append_element (GTK_TOOLBAR (m_pToolbar2), GTK_TOOLBAR_CHILD_BUTTON,NULL, _("STOP"),
					       NULL, NULL,tmp_toolbar_icon, NULL, NULL);
      gtk_widget_ref (m_pButton1);
      gtk_object_set_data_full (GTK_OBJECT (m_pWindow1), "m_pButton1", m_pButton1,(GtkDestroyNotify) gtk_widget_unref);
      gtk_button_set_relief(GTK_BUTTON(m_pButton1), GTK_RELIEF_NONE);
      
      gtk_widget_show (m_pButton1);
      
      gtk_signal_connect (GTK_OBJECT (m_pButton1), "pressed",GTK_SIGNAL_FUNC (button1_click),this);
      gtk_signal_connect (GTK_OBJECT (m_pButton1), "released",GTK_SIGNAL_FUNC (button1_click),this);
      
      // Joystick button 2
      //tmp_toolbar_icon = gnome_stock_pixmap_widget (m_pWindow1, GNOME_STOCK_PIXMAP_DOWN);
      tmp_toolbar_icon = gtk_button_new_from_stock ("gtk-go-down");
      
      
      m_pButton2 = gtk_toolbar_append_element (GTK_TOOLBAR (m_pToolbar2), GTK_TOOLBAR_CHILD_BUTTON,NULL, _("START"),
					       NULL, NULL,tmp_toolbar_icon, NULL, NULL);
      gtk_widget_ref (m_pButton2);
      gtk_object_set_data_full (GTK_OBJECT (m_pWindow1), "m_pButton2", m_pButton2,(GtkDestroyNotify) gtk_widget_unref);
      gtk_button_set_relief(GTK_BUTTON(m_pButton2), GTK_RELIEF_NONE);
      
      gtk_widget_show (m_pButton2);
      
      gtk_signal_connect (GTK_OBJECT (m_pButton2), "pressed",GTK_SIGNAL_FUNC (button2_click),this);
      gtk_signal_connect (GTK_OBJECT (m_pButton2), "released",GTK_SIGNAL_FUNC (button2_click),this);
      
      /*
      // Joystick toggle button 3
      tmp_toolbar_icon =  gtk_button_new_with_label("T1");
      m_pButton3 = gtk_toolbar_append_element (GTK_TOOLBAR (m_pToolbar2), GTK_TOOLBAR_CHILD_TOGGLEBUTTON,NULL, _("WANDER"),
					       NULL, NULL,tmp_toolbar_icon, NULL, NULL);
      
      gtk_widget_ref (m_pButton3);
      gtk_object_set_data_full (GTK_OBJECT (m_pWindow1), "m_pButton3", m_pButton3,(GtkDestroyNotify) gtk_widget_unref);
      
      //show button 3
      gtk_widget_show (m_pButton3);
      
      
      // Joystick toggle button 4 
      tmp_toolbar_icon =  gtk_button_new_with_label("T2");
      
      
      m_pButton4 = gtk_toolbar_append_element (GTK_TOOLBAR (m_pToolbar2), GTK_TOOLBAR_CHILD_TOGGLEBUTTON,NULL, _("AVOID"),
					       NULL, NULL,tmp_toolbar_icon, NULL, NULL);
      
      gtk_widget_ref (m_pButton4);
      gtk_object_set_data_full (GTK_OBJECT (m_pWindow1), "m_pButton4", m_pButton4,(GtkDestroyNotify) gtk_widget_unref);
      
      //show button 4
      gtk_widget_show (m_pButton4);

      */
    } //create buttons widgets if required
   
    //canvas
    GtkWidget* canvas1 = gnome_canvas_new();
    gtk_widget_pop_colormap ();
    gtk_widget_pop_visual ();
     

    if (m_buttonsVisible) {
      gtk_window_set_default_size(GTK_WINDOW(m_pWindow1), 450,500);
    }
    else {
      gtk_window_set_default_size(GTK_WINDOW(m_pWindow1), 350,350);
    }

    gtk_widget_ref (canvas1);
    gtk_object_set_data_full (GTK_OBJECT (m_pWindow1), "canvas1", canvas1,
			      (GtkDestroyNotify) gtk_widget_unref);
    gtk_widget_show (canvas1);
    gtk_box_pack_start (GTK_BOX (m_pVbox2), canvas1, TRUE, TRUE, 0);
    

    m_pCanvas = GNOME_CANVAS(canvas1);
    gnome_canvas_set_scroll_region(m_pCanvas, 0.0, 0.0, 320.0, 320.0);
     
    //canvas group 
    m_pGroup = GNOME_CANVAS_GROUP (gnome_canvas_item_new (gnome_canvas_root(m_pCanvas),
							  gnome_canvas_group_get_type(),
							  "x",0.0, "y",0.0, NULL));
     
 
    //create joystick border
    m_pBorder = gnome_canvas_item_new(gnome_canvas_root(m_pCanvas),
				      gnome_canvas_ellipse_get_type(),
				      "x1",0.0, 
				      "y1",0.0,
				      "x2",320.0, 
				      "y2",320.0,
				      "fill_color_rgba", 0xFF0000FF,
				      "outline_color", "black",
				      NULL);

    //create joystick handle
    m_pHandle = gnome_canvas_item_new(gnome_canvas_root(m_pCanvas),
				      gnome_canvas_ellipse_get_type(),
				      "x1",140.0, 
				      "y1",140.0,
				      "x2",180.0, 
				      "y2",180.0,
				      "fill_color_rgba", 0x000000FF,
				      "outline_color", "black",
				      NULL);

    
    gtk_signal_connect(GTK_OBJECT(m_pHandle), "event",
		       (GtkSignalFunc) handle_event_handler,
		       this);

    
    //display window
    gtk_widget_show(m_pWindow1);

    
  }
  catch (BaseException *e) {
    gdk_threads_leave();
    throw e->add(new NodeException(this, "Exception caught in SoundSourceDisplay::initialize", __FILE__, __LINE__));
  }
   
   
  gdk_threads_leave();
}

gint SoundSourceDisplay::event(GdkEvent *event) {

  double item_x, item_y;
  static double item_old_x = 0;
  static double item_old_y = 0;
  
  item_x = event->button.x;
  item_y = event->button.y;
 
  //gnome_canvas_item_w2i(item->parent, &item_x, &item_y);


  switch (event->type) {
  
  case GDK_BUTTON_PRESS:
    switch(event->button.button) {
      case 1:
	//printf("button1 clicked for virtual joystick : (%f, %f)\n",item_x,item_y);
	item_old_x = item_x;
	item_old_y = item_y;
	break;
      default:
	break;
      }
    break;
    
  case GDK_MOTION_NOTIFY:
    if (event->motion.state & GDK_BUTTON1_MASK) {

      //gnome_canvas_item_move (m_pHandle, item_x - item_old_x, item_y - item_old_y);
      
      if (sqrt(pow(item_x - 160.0,2) + pow(item_y - 160.0,2)) <= 160.0) {
	//inside circle
	gnome_canvas_item_set (m_pHandle, 
			       "x1",item_x - 20.0,
			       "y1",item_y - 20.0,
			       "x2",item_x + 20.0,
			       "y2",item_y + 20.0,  
			       NULL);
      }
      else {
	//outside circle
	double dx = 160.0 - item_x;
	double dy = 160.0 - item_y;

	double m = dy / dx;
	double b = (item_y) - (m * item_x);

	//printf("(dx %f) (dy %f) (m %f) (b %f)\n", dx, dy,m,b);

	double x_pos = sqrt((25600 - b * b) / (1 + m * m));
	double x_neg = - x_pos;
	
	//printf("(xpos : %f) (xneg : %f)\n",x_pos,x_neg);

      }
                                 
     gnome_canvas_item_request_update(m_pHandle);
    }
    break;
    
  case GDK_BUTTON_RELEASE:
    switch(event->button.button) {
    case 1:

      gnome_canvas_item_set (m_pHandle, 
			     "x1",140.0,
			     "y1",140.0,
			     "x2",180.0,
			     "y2",180.0, NULL);

      gnome_canvas_item_request_update(m_pHandle);


      break;
    default:
      break;
    }
    break;
    
  default:
    break;
  }
  
  item_old_x = item_x;
  item_old_y = item_y;
  
  return FALSE;
}

void SoundSourceDisplay::calculate(int output_id, int count, Buffer &out) {

  gdk_threads_enter();
  
  double x1,y1,x2,y2;

  gnome_canvas_item_get_bounds(m_pHandle,&x1,&y1,&x2,&y2);


  int size = 0;

  if (m_buttonsVisible) {
    size = 4;
  }
  else {
    size = 2;
  }

  Vector<float> *data = Vector<float>::alloc(size);


  (*data)[0] = ((x2 + x1) / 2.0) - 160.0;
  (*data)[1] = 160.0 - ((y2 + y1) / 2.0);

  if (m_buttonsVisible) {
    (*data)[2] = (float) m_button1_on;
    (*data)[3] = (float) m_button2_on;
    //(*data)[4] = gtk_toggle_button_get_active(GTK_TOGGLE_BUTTON(m_pButton3));
    //(*data)[5] = gtk_toggle_button_get_active(GTK_TOGGLE_BUTTON(m_pButton4));
  }

  
  out[count] = ObjectRef(data);
  
  gdk_threads_leave();
}

bool SoundSourceDisplay::change_button_status(int button_id) {

  switch (button_id) {
  case 1:
    m_button1_on = !m_button1_on;
    return m_button1_on;
    break;
  case 2:
    m_button2_on = !m_button2_on;
    return m_button2_on;
    break;
  default:
    throw new GeneralException("Unknown button id",__FILE__,__LINE__);
    return false;
    break;
  }

  return false;
}

}//namespace RobotFlow