/////////////////////////////////////////////////////////////

//

// Source file for BulletinBoard

//

// This file is generated by RapidApp 1.2

//

// This class is derived from BulletinBoardUI which

// implements the user interface created in

// RapidApp. This class contains virtual

// functions that are called from the user interface.

//

// When you modify this source, limit your changes to

// modifying the emtpy virtual functions. You can also add

// new functions below the "//--- End generated code section" markers

//

// This will allow RapidApp to integrate changes more easily

//

// This class is a ViewKit user interface "component".

// For more information on how components are used, see the

// "ViewKit Programmers' Manual", and the RapidApp

// User's Guide.

/////////////////////////////////////////////////////////////

#include "BulletinBoard.h"

#include <Vk/VkEZ.h>

#include <GL/GLwMDrawA.h>

#include <Sgm/Dial.h>

#include <Xm/BulletinB.h>

#include <Xm/Label.h>

#include <Xm/LabelG.h>

#include <Xm/PushB.h>

#include <Xm/Scale.h>

#include <Xm/ToggleB.h>

#include <Vk/VkResource.h>

#include <Vk/VkSimpleWindow.h>

#include <Vk/VkPeriodic.h>

extern void VkUnimplemented ( Widget, const char * );

///////////////////////////////////////////////////////////////////////////////

// The following non-container elements are created by BulletinBoardUI and are

// available as protected data members inherited by this class

//

// XmLabel _label2

// XmLabel _label1

// XmPushButton _reset

// XmToggleButton (LED style) _rotation

// XmScale _blue1

// XmScale _green1

// XmScale _red1

// XmScale _scale

// XmLabelGadget _label4

// XmLabelGadget _label3

// SgDial _dial

// XmToggleButton (LED style) _drawing

// XmPushButton _clear

// XmPushButton _exit1

// GLwMDrawingArea _window

//

///////////////////////////////////////////////////////////////////////////////

#include <GL/gl.h>

#include <GL/glu.h>

#include <stdio.h>

#include <stdlib.h>

#include <math.h>

#include "XwindowSupport.h"

#include "Build_rrt.h"

#define XWINDOWSIZE 470

#define YWINDOWSIZE 570

int timerControl,sec[2];

// Animation class

void Anim();

class MyPeriodic:public VkPeriodic{

public:

MyPeriodic(int interval):VkPeriodic(interval)

{;}

virtual void tick(void) {Anim();}

};

MyPeriodic* mp=0;

int mode[2],priority[2];

Build build;

void Anim(){ //Animation funtion

makeGLCurrent();

glMatrixMode(GL_PROJECTION);

glLoadIdentity();

gluOrtho2D(0.0, 470.0, 0.0, 570.0);

glMatrixMode(GL_MODELVIEW);

glLoadIdentity();

glViewport(0, 0, 470, 570);

glClearColor(1.0,1.0,1.0, 1.0);

glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

glColor3f(0.0,0.0,1.0);

for (int k=0;k<numObstacles;k++){

glBegin(GL_POLYGON);

for (int i =0;i<obs[k].npoints;i++)

glVertex2f(obs[k].x[i],obs[k].y[i]);

glEnd();

}

glColor3f(0.0,1.0,0.0);

for (int j=0;j<2;j++){

glLoadIdentity();

glLineWidth(2);

glTranslatef(goal[j][0],goal[j][1],0.0);

glRotatef(goal[j][2]*180/3.1416,0.0,0.0,1.0);

glCallList(2);

glLoadIdentity();

if(mode[j]!=1){

if(path[j][sec[j]+1].status!=sharepath ){

sec[j]++;

priority[0]=0;

}

else{

if(j==0 && path[0][sec[0]+1].shareRegion != path[1][sec[1]].shareRegion) sec[0]++;

if(j==1 && path[1][sec[1]+1].shareRegion!=path[0][sec[0]].shareRegion) sec[1]++;

}

}

if(sec[j]<finalLevel[j]){

glTranslatef(path[j][sec[j]].x,path[j][sec[j]].y,0.0);

glRotatef(path[j][sec[j]].theta,0,0,1);

glCallList(1);

}

else {

glTranslatef(path[j][sec[j]].x,path[j][sec[j]].y,0.0);

glRotatef(path[j][sec[j]].theta,0,0,1);

glCallList(1);

mode[j]=1;

}

}

GLSwapBuffers();

}

//---- End generated headers

//---- BulletinBoard Constructor

BulletinBoard::BulletinBoard(const char *name, Widget parent) :

BulletinBoardUI(name, parent)

{

//--- Add application code here:

} // End Constructor

BulletinBoard::BulletinBoard(const char *name) :

BulletinBoardUI(name)

{ //--- Add application code here:

} // End Constructor

BulletinBoard::~BulletinBoard()

{

//--- Add application code here:

} // End Destructor

const char * BulletinBoard::className() // classname

{

return ("BulletinBoard");

} // End className()

void BulletinBoard::MyExpose ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::MyExpose here:

makeGLCurrent();

glMatrixMode(GL_PROJECTION);

glLoadIdentity();

gluOrtho2D(0.0, 470.0, 0.0, 570.0);

glMatrixMode(GL_MODELVIEW);

glLoadIdentity();

glViewport(0, 0, 470, 570);

glClearColor(1.0,1.0,1.0, 1.0);

glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);

printf("numNodes[0]=%d finallevel[0]=%d numNodes[1]=%d finallevel[1]=%d\n",

numNodes[0],finalLevel[0],numNodes[1],finalLevel[1]);

glColor3f(0.0,0.0,1.0);

for (int k=0;k<numObstacles;k++){

glBegin(GL_POLYGON);

for (int i =0;i<obs[k].npoints;i++)

glVertex2f(obs[k].x[i],obs[k].y[i]);

glEnd();

}

for (int j=0;j<2;j++){

glLoadIdentity();

glTranslatef(goal[j][0],goal[j][1],0.0);

glRotatef(goal[j][2]*180/pi,0.0,0.0,1.0);

glCallList(2);

glLoadIdentity();

if(j==0) glColor3f(0.0,0.5,0.5);

if(j==1) glColor3f(0.0,1.0,0.0);

glLineWidth(1);

for (int i=0;i<numNodes[j]-1;i++){

glBegin(GL_LINES);

glVertex2f(node[j][i].x,node[j][i].y);

glVertex2f(node[j][node[j][i].parent].x,node[j][node[j][i].parent].y);

glEnd();

}

for (i =0;i<(finalLevel[j]);i++){

if(path[j][i].status!=sharepath) glColor3f(1.0,0.0,0.0);

else glColor3f(0.0,0.0,0.0);

glLineWidth(4);

glBegin(GL_LINES);

glVertex2f(path[j][i].x,path[j][i].y);

glVertex2f(path[j][i+1].x,path[j][i+1].y);

glEnd();

}

if(mode[j]!=1){

glTranslatef(path[j][0].x,path[j][0].y,0.0);

glRotatef(path[j][0].theta,0,0,1);

}

else{

glTranslatef(path[j][finalLevel[j]-1].x,path[j][finalLevel[j]-1].y,0.0);

glRotatef(path[j][finalLevel[j]-1].theta,0,0,1);

}

glCallList(1);

}

//

GLSwapBuffers();

} // End BulletinBoard::MyExpose()

void BulletinBoard::MyInit ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::MyInit here:

initGLWindow(w, callData);

startpt=0,endpt=2;

makeGLCurrent();

mp=new MyPeriodic(200);

glNewList(1,GL_COMPILE);

glBegin(GL_POLYGON);

glColor3f(1.0,0.0,1.0);

glVertex2d(-10,-6);

glVertex2d(12,-6);

glVertex2d(12,6);

glVertex2d(-10,6);

glEnd();

glEndList();

glNewList(2,GL_COMPILE);

glLineWidth(2);

glBegin(GL_LINE_LOOP);

glColor3f(.20,1.0,.8);

glVertex2d(-10,-6);

glVertex2d(12,-6);

glVertex2d(12,6);

glVertex2d(-10,6);

glEnd();

glEndList();

build.init();

build.rrt();

build.sharezone();

} // End BulletinBoard::MyInit()

void BulletinBoard::MyInput ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::MyInput here:

} // End BulletinBoard::MyInput()

void BulletinBoard::blue_value ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::blue_value here:

MyExpose(w,callData);

} // End BulletinBoard::blue_value()

void BulletinBoard::doClear ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::doClear here:

} // End BulletinBoard::doClear()

void BulletinBoard::doExirt ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::doExirt here:

exit(1);

} // End BulletinBoard::doExirt()

void BulletinBoard::doReset ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::doReset here:

sec[0]=0;

sec[1]=0;

timerControl=0;

mode[0]=0;

mode[1]=0;

//MyExpose(w,callData);

} // End BulletinBoard::doReset()

void BulletinBoard::green_value ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::green_value here:

} // End BulletinBoard::green_value()

void BulletinBoard::red_value ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::red_value here:

} // End BulletinBoard::red_value()

void BulletinBoard::rotation_value ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::rotation_value here:

} // End BulletinBoard::rotation_value()

void BulletinBoard::scale_value ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::scale_value here:

} // End BulletinBoard::scale_value()

void BulletinBoard::setDrawing ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::setDrawing here:

timerControl=1;

mp->start();

} // End BulletinBoard::setDrawing()

void BulletinBoard::setRotation ( Widget w, XtPointer callData )

{

//--- Add application code for BulletinBoard::setRotation here:

if (timerControl==1) {

mp->stop();

timerControl=0;

}

else{

mp->start();

timerControl=1;

}

} // End BulletinBoard::setRotation()

void BulletinBoard::setParent( class VkSimpleWindow * parent )

{

// Store a pointer to the parent VkWindow. This can

// be useful for accessing the menubar from this class.

_parent = parent;

} // End BulletinBoard::setParent()

///////////////////////////////////////////////////////////////////

// C-callable creation function, for importing class into rapidapp

///////////////////////////////////////////////////////////////////

extern "C" VkComponent *CreateBulletinBoard( const char *name, Widget parent )

{

VkComponent *obj = new BulletinBoard ( name, parent );

obj->show();

return ( obj );

} // End CreateBulletinBoard

///////////////////////////////////////////////////////////////////

// Function for importing this class into rapidapp

// This function is only used by RapidApp.

//

// WARNING: The structure below is out of date for RapidApp 1.2.

// See the RapidApp release notes for details

///////////////////////////////////////////////////////////////////

typedef void (BulletinBoard::*Method)(void);

struct FunctionMap {

char *resource; Method method; char *code;

char *type;

};

extern "C" void* RegisterBulletinBoardInterface()

{

// This structure registers information about this class

// that allows RapidApp to create and manipulate an instance.

// Each entry provides a resource name that will appear in the

// resource manager palette when an instance of this class is

// selected, the relative address of the member function that

// should be invoked when the resource is set, the name of the

// member function as a string, and the type of the single

// argument to this function. All functions must have the form

//

// void memberFunction ( Type );

//

// where "Type" is one of:

// const char * (Use XmRString)

// Boolean (Use XmRBoolean)

// int (Use XmRInt)

// float (Use XmRFloat)

// No argument (Use VkRNoArg or "NoArg"

// A filename (Use VkRFilename or "Filename")

// An enumeration (Use "Enumeration:ClassName:Type: VALUE1, VALUE2, VALUE3")

// A callback (Use XmRCallback)

static FunctionMap map[] = {

// { "resourceName", "setAttribute", XmRString},

{ NULL }, // MUST be NULL terminated

};

return map;

} // End RegisterBulletinBoardInterface()

//---- End of generated code