Revision: 7003
http://playerstage.svn.sourceforge.net/playerstage/?rev=7003&view=rev
Author: natepak
Date: 2008-09-02 11:56:30 +0000 (Tue, 02 Sep 2008)
Log Message:
-----------
Updates to the GUI
Modified Paths:
--------------
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/Model.hh
code/gazebo/trunk/server/gui/Gui.cc
code/gazebo/trunk/server/gui/Toolbar.cc
code/gazebo/trunk/server/gui/Toolbar.hh
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/Body.hh
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2008-09-02 01:21:56 UTC (rev 7002)
+++ code/gazebo/trunk/server/Model.cc 2008-09-02 11:56:30 UTC (rev 7003)
@@ -614,6 +614,13 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Get a map of all the bodies
+const std::map<std::string, Body*> *Model::GetBodies() const
+{
+ return &(this->bodies);
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Get a body by name
Body *Model::GetBody(const std::string &name)
{
Modified: code/gazebo/trunk/server/Model.hh
===================================================================
--- code/gazebo/trunk/server/Model.hh 2008-09-02 01:21:56 UTC (rev 7002)
+++ code/gazebo/trunk/server/Model.hh 2008-09-02 11:56:30 UTC (rev 7003)
@@ -126,6 +126,9 @@
/// \brief Get a body by name
/// \return Pointer to the body
public: Body *GetBody(const std::string &name);
+
+ /// \brief Get a map of all the bodies
+ public: const std::map<std::string, Body*> *GetBodies() const;
/// \brief Attach this model to its parent
public: void Attach(XMLConfigNode *node);
@@ -185,6 +188,7 @@
private: ParamT<std::string> *parentBodyNameP;
private: ParamT<std::string> *myBodyNameP;
+
// Name of a light (if the model is renderable:light)
private: std::string lightName;
Modified: code/gazebo/trunk/server/gui/Gui.cc
===================================================================
--- code/gazebo/trunk/server/gui/Gui.cc 2008-09-02 01:21:56 UTC (rev 7002)
+++ code/gazebo/trunk/server/gui/Gui.cc 2008-09-02 11:56:30 UTC (rev 7003)
@@ -59,7 +59,7 @@
// The order of creation matters! Menubar first, followed by FrameManager,
// then statusbar
{
- int toolbarWidth = 200;
+ int toolbarWidth = 250;
// Create a main menu
new MainMenu(0,0,w(),30,(char *)"MainMenu");
Modified: code/gazebo/trunk/server/gui/Toolbar.cc
===================================================================
--- code/gazebo/trunk/server/gui/Toolbar.cc 2008-09-02 01:21:56 UTC (rev
7002)
+++ code/gazebo/trunk/server/gui/Toolbar.cc 2008-09-02 11:56:30 UTC (rev
7003)
@@ -27,8 +27,11 @@
#include <stdio.h>
#include <FL/Fl_Value_Output.H>
#include <FL/Fl_Output.H>
+#include <FL/Fl_Input.H>
#include <FL/Fl_Button.H>
+#include "Body.hh"
+#include "Geom.hh"
#include "Entity.hh"
#include "Model.hh"
#include "Simulator.hh"
@@ -48,7 +51,7 @@
this->columnWidths[1] = 120;
this->columnWidths[2] = 0;
- this->entityBrowser = new Fl_Hold_Browser(x+10, y+20, w-20, 25*5,
"Attributes");
+ this->entityBrowser = new Fl_Hold_Browser(x+10, y+20, w-20, 25*10,
"Attributes");
this->entityBrowser->align(FL_ALIGN_TOP);
this->entityBrowser->column_char('~');
this->entityBrowser->column_widths( columnWidths );
@@ -68,74 +71,44 @@
void Toolbar::Update()
{
Entity *entity = Simulator::Instance()->GetSelectedEntity();
- std::vector<Param*> *parameters;
- std::vector<Param*>::iterator iter;
+ this->attrCount = 0;
if (entity)
{
- //Model *model = dynamic_cast<Model *>(entity);
+ std::string value = "@[EMAIL PROTECTED]@[EMAIL PROTECTED] ";
+ this->AddToBrowser(value);
+ this->AddEntityToAttributeBrowser(entity, "");
- parameters = entity->GetParameters();
-
- int i=0;
- for (iter = parameters->begin(); iter != parameters->end(); iter++, i++)
+ Model *model = dynamic_cast<Model *>(entity);
+ if (model)
{
+ const std::map<std::string, Body *> *bodies = model->GetBodies();
+ const std::vector< Geom *> *geoms;;
+ std::map<std::string, Body *>::const_iterator iter;
+ std::vector<Geom*>::const_iterator giter;
std::string value;
- //boost::any anyValue = (*iter)->Get();
- //std::string typeName = (*iter)->GetTypename();
- std::string colorStr = "";
- /*if ( i%2 == 0)
- colorStr = "@B50";
- */
+ for (iter = bodies->begin(); iter != bodies->end(); iter++)
+ {
+ value = "@[EMAIL PROTECTED]@s-Body:";
+ this->AddToBrowser(value);
+ this->AddEntityToAttributeBrowser( iter->second, " " );
- value = colorStr + "@[EMAIL PROTECTED]" + (*iter)->GetKey() + ":~" +
colorStr + "@s";
- value += (*iter)->GetAsString();
+ geoms = iter->second->GetGeoms();
-
- // Convert the variable value to a string
- /*if (typeName == typeid(float).name())
- value += boost::lexical_cast<std::string>(
- boost::any_cast<float>( anyValue ));
- else if (typeName == typeid(double).name())
- value += boost::lexical_cast<std::string>(
- boost::any_cast<double>( anyValue ));
- else if (typeName == typeid(int).name())
- value += boost::lexical_cast<std::string>(
- boost::any_cast<int>( anyValue ));
- else if (typeName == typeid(bool).name())
- value += boost::lexical_cast<std::string>(
- boost::any_cast<bool>(anyValue) );
- else if (typeName == typeid(long).name())
- value += boost::lexical_cast<std::string>(
- boost::any_cast<long>(anyValue) );
- else if (typeName == typeid(Quatern).name())
- value += boost::lexical_cast<std::string>(
- boost::any_cast<Quatern>( anyValue ));
- else if (typeName == typeid(Vector3).name())
- value += boost::lexical_cast<std::string>(
- boost::any_cast<Vector3>( anyValue ));
- else if (typeName == typeid(std::string).name())
- value += boost::any_cast<std::string>( anyValue );
- else
- gzerr(0) << "Unknown typename[" << typeName << "]\n";
- */
-
- if (!this->entityBrowser->text(i+1))
- {
- this->entityBrowser->add( value.c_str() );
+ for (giter = geoms->begin(); giter != geoms->end(); giter++)
+ {
+ value = "@[EMAIL PROTECTED]@s -Geom:";
+ this->AddToBrowser(value);
+ this->AddEntityToAttributeBrowser( (*giter), " " );
+ }
}
- else if (strcmp(this->entityBrowser->text(i+1), value.c_str()) != 0)
- {
- this->entityBrowser->text( i+1, value.c_str() );
- }
}
// Clear the remaining lines
- while ( this->entityBrowser->text(i+1) != NULL )
+ while ( this->entityBrowser->text(this->attrCount+1) != NULL )
{
- this->entityBrowser->text( i+1, "" );
- i++;
+ this->AddToBrowser("");
}
}
@@ -148,3 +121,45 @@
{
printf("Callback\n");
}
+
+////////////////////////////////////////////////////////////////////////////////
+// Add entity to browser
+void Toolbar::AddEntityToAttributeBrowser(Entity *entity, std::string prefix)
+{
+ std::vector<Param*> *parameters;
+ std::vector<Param*>::iterator iter;
+ std::string value;
+ std::string colorStr = "";
+
+ parameters = entity->GetParameters();
+
+ // Process all the parameters in the entity
+ for (iter = parameters->begin(); iter != parameters->end(); iter++)
+ {
+
+ /*if ( i%2 == 0)
+ colorStr = "@B50";
+ */
+
+ value = colorStr + "@[EMAIL PROTECTED]" + prefix + (*iter)->GetKey() +
":~" +
+ colorStr + "@s" + (*iter)->GetAsString();
+
+ this->AddToBrowser( value );
+ }
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Add a line to the attribute browser
+void Toolbar::AddToBrowser(const std::string &line)
+{
+ if (!this->entityBrowser->text(this->attrCount+1))
+ {
+ this->entityBrowser->add( line.c_str() );
+ }
+ else if (strcmp(this->entityBrowser->text(this->attrCount+1), line.c_str())
!= 0)
+ {
+ this->entityBrowser->text( this->attrCount+1, line.c_str() );
+ }
+
+ this->attrCount++;
+}
Modified: code/gazebo/trunk/server/gui/Toolbar.hh
===================================================================
--- code/gazebo/trunk/server/gui/Toolbar.hh 2008-09-02 01:21:56 UTC (rev
7002)
+++ code/gazebo/trunk/server/gui/Toolbar.hh 2008-09-02 11:56:30 UTC (rev
7003)
@@ -32,10 +32,12 @@
class Fl_Value_Output;
class Fl_Output;
+class Fl_Input;
class Fl_Button;
namespace gazebo
{
+ class Entity;
/// \brief Toolbar
class Toolbar : public Fl_Group
@@ -51,9 +53,13 @@
public: static void AttributeBrowserCB( Fl_Widget * w, void *data);
+ private: void AddEntityToAttributeBrowser(Entity *ent, std::string prefix);
+ private: void AddToBrowser(const std::string &line);
+
private: Fl_Hold_Browser *entityBrowser;
private: int columnWidths[3];
+ private: int attrCount;
};
}
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2008-09-02 01:21:56 UTC (rev
7002)
+++ code/gazebo/trunk/server/physics/Body.cc 2008-09-02 11:56:30 UTC (rev
7003)
@@ -679,3 +679,10 @@
return torque;
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get the vector of all geoms
+const std::vector<Geom*> *Body::GetGeoms() const
+{
+ return &(this->geoms);
+}
Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh 2008-09-02 01:21:56 UTC (rev
7002)
+++ code/gazebo/trunk/server/physics/Body.hh 2008-09-02 11:56:30 UTC (rev
7003)
@@ -139,6 +139,9 @@
/// \brief Get the torque applied to the body
public: Vector3 GetTorque() const;
+
+ /// \brief Get the vector of all geoms
+ public: const std::vector<Geom*> *GetGeoms() const;
/// Load a new geom helper function
/// \param node XMLConfigNode used to load the geom
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