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drawing_area.h

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/*
Object Oriented Mobile Robot Model (OOMRM) C++  Library Copyright (C) 2002-2005  Derek Jones

This library is free software; you can redistribute it  and/or
modify it under the terms of the GNU Lesser General Public
License  as published by the Free Software Foundation; either
version 2.1 of the  License, or (at your option) any later version.

This library is  distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY;  without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A  PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more  details.

You should have received a copy of the GNU Lesser General  Public
License along with this library; if not, write to the Free  Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA   02111-1307  USA

$Id: drawing_area.h,v 1.6 2007/09/26 05:12:58 derek Exp $ 
*/
#ifndef _SIM_MAP_H
#define _SIM_MAP_H
#include <FL/Fl_Scrollbar.H>
#include <FL/Fl.H>
#include <FL/Fl_Box.H>
#include <FL/Fl_Value_Output.H>
#include <FL/Fl_Value_Slider.H>
#include <FL/Fl_Slider.H>
#include <FL/Fl_Window.H>
#include <FL/Fl_Input.H>
#include <FL/Fl_Tabs.H>
#include <pose_chain.h>
#include <FL/Fl_Double_Window.H>
#include <FL/Fl_Counter.H>
#include <FL/Fl_Browser.H>
#include <FL/Fl_Output.H>
#include <FL/Fl_Choice.H>
#include <FL/Fl_Check_Button.H>
#include <FL/Fl_Value_Input.H>
#include <point.h>
#include <host/invariant.h>
#include <host/color.h>
#include <host/importtype.h>
#include <types.h>
#include <host/playback_reader.h>
#define OOMRM_STATIC  static
using namespace std;
class Star;
class OGrid;
class Drawing_Window;

struct label_t
{
  char version[80]; // Version number of OOMRM to dsiplay
  char fn[80];      // filename of scene file being edited or last opened.
  char refresh[2];  // whether scene file has been updated.
  bool dirty;       // whether to redisplay label next time.
};

struct OOMRM_CAMERA_WIDGETS
{
  Fl_Value_Slider* exposure;
  Fl_Value_Input* horizontal;
  Fl_Value_Input* vertical;
  Fl_Choice* resolution;
  Fl_Choice* color_type;
  Fl_Choice* picture_type;
  Fl_Choice* snapshot_type;
  Fl_Check_Button* snapshot;
};

struct OOMRM_POSITION_WIDGETS
{
  Fl_Browser* browser;
  Fl_Value_Input* x;
  Fl_Value_Input* y;
  Fl_Value_Input* angle;
  Fl_Value_Input* speed;
  Fl_Value_Input* function;
  Fl_Input* name;
};

//#include "fl_map.h"

class Drawing_Area :   public Fl_Box
{
public:
//  friend void OOMRM_Simulator::Rulers_update(void);
  friend void vs_cb(Fl_Scrollbar* vs, void*);
  friend void hs_cb(Fl_Scrollbar* vs, void*);
  friend void mapsize_cb(Fl_Counter*, void*);
  static void map_reset(short iwidth, short iheight);
  Drawing_Area(int x,int y,int w,int h);        
  OOMRM_STATIC void initialize(void);
  int step_through(int mapx, int mapy, int radius, RADIAN radian);
//  int real_time(int mapx, int mapy, int radius, RADIAN radian);
  int real_time(int&, int&, float&, int irec);
  OOMRM_STATIC void mapsize(int ms); 
  static int W;
  static int H; 
  static short _map_width;
  static short _map_height;
//  static void acquire_map(Star* Amap); //, int ms=60);
  OOMRM_STATIC bool transformxy(int ix, int iy, float& sx, float& sy, float UNIT);
  void new_display();
  OOMRM_STATIC void circle(int,int,int, CPixel* const, COLOR);
  OOMRM_STATIC void line(int cx, int cy, int radius, RADIAN radian,CPixel* const buffer, COLOR color=BLACK);
  OOMRM_STATIC void user_updates(short int,short int,int,int);
  OOMRM_STATIC void update3x5(const pose_chain& cc);
  static void destination(int dx, int dy, int length, RADIAN radian);
  void print_path(CPixel* const buffer, int width, int height);
  void resize(int,int,int,int);
  int idle(int,int,int, RADIAN);
  OOMRM_STATIC void Refresh(void);
  static float local_unit();
  
//  OOMRM_STATIC char scene_fn[];  ///< Filename of scene file to save or open.
  OOMRM_STATIC Fl_Tabs* tabs(void);
  OOMRM_STATIC void tabs(Fl_Tabs* o);
  OOMRM_STATIC void map(Fl_Group* o);
  OOMRM_STATIC Fl_Group* MapTab(void);
  OOMRM_STATIC void      MapTab(Fl_Group* imap);
  OOMRM_STATIC Fl_Group* Map_Window(void);
  OOMRM_STATIC bool Resize(void); 
  OOMRM_STATIC void reload_waypoints(void);
  OOMRM_STATIC OOMRM_POSITION_WIDGETS Position;
  OOMRM_STATIC OOMRM_CAMERA_WIDGETS Camera_Settings;
  OOMRM_STATIC label_t mylabel; 
  OOMRM_STATIC Fl_Output* response;
  OOMRM_STATIC void playback_fn(const char* const fn);
  OOMRM_STATIC const char* const playback_fn(void);
private:
  // top left corner (ix,iy) [screen coordinates] using buffer fill with terrain and 
  // draw grid lines.  
  // NOTE: only fill with grid lines if lineonly true. i.e., no obstacle.
  void OOMRM_STATIC fill_cell(int ix, int iy,CPixel* const buffer,COLOR terrain, LINETYPE line, float UNIT);
  void world_walls(CPixel* const buffer, int width, int height);
  void robot_walls(CPixel* const buffer, int width, int height);
  void gridlines(CPixel* const buffer);
  void draw();
  int handle(int);
  OOMRM_STATIC point cards[];
  OOMRM_STATIC int cardtop;     // number of cards on map.
  OOMRM_STATIC OGrid* _rgrid;
//  static Star* _Amap;
  static pose _orgin;
  static int  _travel_distance;
  OOMRM_STATIC bool _dirty;
  float map_scale_factor;
  CPixel* Pbuffer;
  float t2; // internal to idle.
  float t1;
  OOMRM_STATIC Fl_Tabs* WINDOW_TAB;
  OOMRM_STATIC Fl_Group* MAP_GROUP;
  OOMRM_STATIC Fl_Group* MAP_WINDOW; // only the map portion.
protected:
  static playback_reader _reader;
  OOMRM_STATIC float GLOBAL_UNIT; 
  OOMRM_STATIC float LOCAL_UNIT;  
  static int startx;
  static int starty;


//  OOMRM_STATIC Fl_Group* _diagnostics_group;
//  OOMRM_STATIC Fl_Double_Window* map_window; // moved to OOMRM_Simulator
/*  OOMRM_STATIC Fl_Double_Window* _window;
  OOMRM_STATIC oDiagnostics _diag;
*/

};

#endif

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