lasergui_hildon.cpp
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00023 #include "laser_drawing_area.h"
00024
00025 #include <gui_utils/robot/allemaniacs_athome.h>
00026 #include <gtkmm.h>
00027 #include <hildonmm.h>
00028
00029 #include <netcomm/fawkes/client.h>
00030 #include <blackboard/remote.h>
00031 #include <interfaces/Laser360Interface.h>
00032 #include <gui_utils/interface_dispatcher.h>
00033 #include <gui_utils/connection_dispatcher.h>
00034 #include <gui_utils/service_chooser_dialog.h>
00035
00036 using namespace fawkes;
00037
00038
00039
00040
00041
00042
00043 class LaserGuiHildonWindow : public Hildon::Window
00044 {
00045 public:
00046
00047 LaserGuiHildonWindow()
00048 : __athome_drawer(true),
00049 __img_lines("lines_32x32.png"),
00050 __img_points("points_32x32.png"),
00051 __img_hull("hull_32x32.png"),
00052 __img_lowres("lines_lowres_32x32.png"),
00053 __img_rotation("rotate-90.png"),
00054 __tb_connection(Gtk::Stock::CONNECT),
00055 __tb_lines(__img_lines),
00056 __tb_points(__img_points),
00057 __tb_hull(__img_hull),
00058 __tb_lowres(__img_lowres),
00059 __tb_rotation(__img_rotation),
00060 __tb_zoom_in(Gtk::Stock::ZOOM_IN),
00061 __tb_zoom_out(Gtk::Stock::ZOOM_OUT)
00062 {
00063 __fullscreen = false;
00064 __bb = NULL;
00065 __laser_if = NULL;
00066 __ifd = NULL;
00067
00068 std::auto_ptr<Glib::Error> error;
00069 set_icon_from_file("lines_32x32.png", error);
00070
00071 add(__area);
00072 __area.show();
00073 __area.set_robot_drawer(&__athome_drawer);
00074
00075 Gtk::RadioButton::Group group = __tb_lines.get_group();
00076 __tb_points.set_group(group);
00077 group = __tb_lines.get_group();
00078 __tb_hull.set_group(group);
00079 __tb_lines.set_active(true);
00080
00081 __tb_lines.set_sensitive(false);
00082 __tb_points.set_sensitive(false);
00083 __tb_hull.set_sensitive(false);
00084 __tb_lowres.set_sensitive(false);
00085 __tb_rotation.set_sensitive(false);
00086 __tb_zoom_in.set_sensitive(false);
00087 __tb_zoom_out.set_sensitive(false);
00088
00089 __tbar.append(__tb_connection);
00090 __tbar.append(__sep_0);
00091 __tbar.append(__tb_lines);
00092 __tbar.append(__tb_points);
00093 __tbar.append(__tb_hull);
00094 __tbar.append(__sep_1);
00095 __tbar.append(__tb_lowres);
00096 __tbar.append(__tb_rotation);
00097 __tbar.append(__sep_2);
00098 __tbar.append(__tb_zoom_in);
00099 __tbar.append(__tb_zoom_out);
00100
00101 add_toolbar(__tbar);
00102 __tbar.show_all();
00103
00104 __tb_lines.signal_toggled().connect(sigc::bind(sigc::mem_fun(__area, &LaserDrawingArea::set_draw_mode), LaserDrawingArea::MODE_LINES));
00105 __tb_points.signal_toggled().connect(sigc::bind(sigc::mem_fun(__area, &LaserDrawingArea::set_draw_mode), LaserDrawingArea::MODE_POINTS));
00106 __tb_hull.signal_toggled().connect(sigc::bind(sigc::mem_fun(__area, &LaserDrawingArea::set_draw_mode), LaserDrawingArea::MODE_HULL));
00107 __tb_zoom_in.signal_clicked().connect(sigc::mem_fun(__area, &LaserDrawingArea::zoom_in));
00108 __tb_zoom_out.signal_clicked().connect(sigc::mem_fun(__area, &LaserDrawingArea::zoom_out));
00109
00110 __tb_connection.signal_clicked().connect(sigc::mem_fun(*this, &LaserGuiHildonWindow::on_connection_clicked));
00111 __tb_rotation.signal_clicked().connect(sigc::mem_fun(*this, &LaserGuiHildonWindow::on_rotation_toggled));
00112 __tb_lowres.signal_clicked().connect(sigc::mem_fun(*this, &LaserGuiHildonWindow::on_resolution_toggled));
00113
00114 __connection_dispatcher.signal_connected().connect(sigc::mem_fun(*this, &LaserGuiHildonWindow::on_connect));
00115 __connection_dispatcher.signal_disconnected().connect(sigc::mem_fun(*this, &LaserGuiHildonWindow::on_disconnect));
00116
00117 #ifndef GLIBMM_DEFAULT_SIGNAL_HANDLERS_ENABLED
00118 signal_key_press_event().connect(sigc::mem_fun(*this, &LaserGuiHildonWindow::on_key_pressed));
00119 signal_window_state_event().connect(sigc::mem_fun(*this, &LaserGuiHildonWindow::on_window_state_event));
00120 #endif
00121 }
00122
00123
00124 ~LaserGuiHildonWindow()
00125 {
00126 __area.set_laser_if(NULL);
00127 if (__bb) {
00128 __bb->close(__laser_if);
00129 delete __bb;
00130 delete __ifd;
00131 }
00132 }
00133
00134 protected:
00135
00136
00137
00138 virtual bool on_key_pressed(GdkEventKey* event)
00139 {
00140 if(!event) return false;
00141
00142 switch (event->keyval) {
00143 case GDK_F6:
00144 if ( __fullscreen ) {
00145 unfullscreen();
00146 } else {
00147 fullscreen();
00148 }
00149 break;
00150 case GDK_F7:
00151 __area.zoom_in();
00152 break;
00153 case GDK_F8:
00154 __area.zoom_out();
00155 break;
00156 }
00157
00158
00159 return false;
00160 }
00161
00162
00163
00164
00165 virtual bool on_window_state_event(GdkEventWindowState *event)
00166 {
00167 if (event->new_window_state == GDK_WINDOW_STATE_FULLSCREEN) {
00168 __fullscreen = true;
00169 } else {
00170 __fullscreen = false;
00171 }
00172 return false;
00173 }
00174
00175
00176 void on_connection_clicked()
00177 {
00178 if ( ! __connection_dispatcher.get_client()->connected() ) {
00179 ServiceChooserDialog ssd(*this, __connection_dispatcher.get_client());
00180 ssd.run_and_connect();
00181 } else {
00182 __connection_dispatcher.get_client()->disconnect();
00183 }
00184 }
00185
00186
00187 virtual void on_connect()
00188 {
00189 try {
00190 __bb = new RemoteBlackBoard(__connection_dispatcher.get_client());
00191 __laser_if = __bb->open_for_reading<Laser360Interface>("Laser");
00192
00193 __area.set_laser_if(__laser_if);
00194 __ifd = new InterfaceDispatcher("LaserInterfaceDispatcher", __laser_if);
00195 __ifd->signal_data_changed().connect(sigc::hide(sigc::mem_fun(__area, &LaserDrawingArea::queue_draw)));
00196 __ifd->signal_writer_removed().connect(sigc::hide(sigc::mem_fun(__area, &LaserDrawingArea::queue_draw)));
00197 __bb->register_listener(__ifd, BlackBoard::BBIL_FLAG_DATA | BlackBoard::BBIL_FLAG_WRITER);
00198
00199 __area.queue_draw();
00200
00201 __tb_connection.set_stock_id(Gtk::Stock::DISCONNECT);
00202 __tb_lines.set_sensitive(true);
00203 __tb_points.set_sensitive(true);
00204 __tb_hull.set_sensitive(true);
00205 __tb_lowres.set_sensitive(true);
00206 __tb_rotation.set_sensitive(true);
00207 __tb_zoom_in.set_sensitive(true);
00208 __tb_zoom_out.set_sensitive(true);
00209 } catch (Exception &e) {
00210 if ( __bb ) {
00211 __bb->close(__laser_if);
00212 delete __ifd;
00213 delete __bb;
00214 __laser_if = NULL;
00215 __bb = NULL;
00216 __ifd = NULL;
00217 }
00218 }
00219 }
00220
00221
00222 virtual void on_disconnect()
00223 {
00224 __area.set_laser_if(NULL);
00225 __area.queue_draw();
00226 __bb->close(__laser_if);
00227 delete __bb;
00228 delete __ifd;
00229 __bb = NULL;
00230 __ifd = NULL;
00231 __laser_if = NULL;
00232 __tb_connection.set_stock_id(Gtk::Stock::CONNECT);
00233 __tb_lines.set_sensitive(false);
00234 __tb_points.set_sensitive(false);
00235 __tb_hull.set_sensitive(false);
00236 __tb_lowres.set_sensitive(false);
00237 __tb_rotation.set_sensitive(false);
00238 __tb_zoom_in.set_sensitive(false);
00239 __tb_zoom_out.set_sensitive(false);
00240 }
00241
00242
00243 void on_rotation_toggled()
00244 {
00245 if ( __tb_rotation.get_active() ) {
00246 __area.set_rotation(M_PI / 2);
00247 } else {
00248 __area.set_rotation(0);
00249 }
00250 }
00251
00252
00253 void on_resolution_toggled()
00254 {
00255 if ( __tb_lowres.get_active() ) {
00256 __area.set_resolution(3);
00257 } else {
00258 __area.set_resolution(1);
00259 }
00260 }
00261
00262 private:
00263 AllemaniACsAtHomeCairoRobotDrawer __athome_drawer;
00264 BlackBoard *__bb;
00265 Laser360Interface *__laser_if;
00266 InterfaceDispatcher *__ifd;
00267 ConnectionDispatcher __connection_dispatcher;
00268
00269 Gtk::Image __img_lines;
00270 Gtk::Image __img_points;
00271 Gtk::Image __img_hull;
00272 Gtk::Image __img_lowres;
00273 Gtk::Image __img_rotation;
00274 Gtk::ToolButton __tb_connection;
00275 Gtk::SeparatorToolItem __sep_0;
00276 Gtk::RadioToolButton __tb_lines;
00277 Gtk::RadioToolButton __tb_points;
00278 Gtk::RadioToolButton __tb_hull;
00279 Gtk::SeparatorToolItem __sep_1;
00280 Gtk::ToggleToolButton __tb_lowres;
00281 Gtk::ToggleToolButton __tb_rotation;
00282 Gtk::SeparatorToolItem __sep_2;
00283 Gtk::ToolButton __tb_zoom_in;
00284 Gtk::ToolButton __tb_zoom_out;
00285 Gtk::Toolbar __tbar;
00286
00287 LaserDrawingArea __area;
00288
00289 bool __fullscreen;
00290 };
00291
00292 int
00293 main(int argc, char** argv)
00294 {
00295 Gtk::Main kit(argc, argv);
00296 Hildon::init();
00297
00298 osso_context_t* osso_context = osso_initialize("lasergui", "0.1", TRUE , 0 );
00299 Glib::set_application_name("Laser GUI");
00300
00301 LaserGuiHildonWindow window;
00302 kit.run(window);
00303
00304 osso_deinitialize(osso_context);
00305 return 0;
00306 }
