#include "robopilot.h" #include #include #include #include #include #define T(String) gettext(String) using namespace std; using namespace net::lliurex; using namespace net::lliurex::robolliurex; ToolBox::ToolBox(float x,float y):RoboMenu("Toolbox",x,y,RBW_POSITION_FACTOR,RBW_DISTRIBUTION_HORITZONTAL) { //custom color color_fill[3]=0.90f; SetDepth( LGI_LAYER_DEPTH_TOP); } ToolBox::~ToolBox() { } void ToolBox::Request(unsigned int target) { ImageButton * img; for(int n=0;nrsrc->GetSurface("stop.png")); img->tag=RBW_TARGET_STOP; Add(img); } if(target & RBW_TARGET_LIGHT) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("light.png")); img->tag=RBW_TARGET_LIGHT; Add(img); } if(target & RBW_TARGET_MOTOR_FORWARD) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("engine_forward.png")); img->tag=RBW_TARGET_MOTOR_FORWARD; Add(img); } if(target & RBW_TARGET_MOTOR_BACKWARD) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("engine_backward.png")); img->tag=RBW_TARGET_MOTOR_BACKWARD; Add(img); } if(target & RBW_TARGET_PRESS_RELEASE) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("press_sensor_release.png")); img->tag=RBW_TARGET_PRESS_RELEASE; Add(img); } if(target & RBW_TARGET_PRESS_ACTIVE) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("press_sensor_active.png")); img->tag=RBW_TARGET_PRESS_ACTIVE; Add(img); } if(target & RBW_TARGET_LIGHT_SENSOR) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("light_sensor.png")); img->tag=RBW_TARGET_LIGHT_SENSOR; Add(img); } if(target & RBW_TARGET_CLOCK) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("clock.png")); img->tag=RBW_TARGET_CLOCK; Add(img); } if(target & RBW_TARGET_CLOCK_1S) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("clock_1s.png")); img->tag=RBW_TARGET_CLOCK_1S; Add(img); } if(target & RBW_TARGET_CLOCK_2S) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("clock_2s.png")); img->tag=RBW_TARGET_CLOCK_2S; Add(img); } if(target & RBW_TARGET_CLOCK_4S) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("clock_4s.png")); img->tag=RBW_TARGET_CLOCK_4S; Add(img); } if(target & RBW_TARGET_CLOCK_6S) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("clock_6s.png")); img->tag=RBW_TARGET_CLOCK_6S; Add(img); } if(target & RBW_TARGET_CLOCK_8S) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("clock_8s.png")); img->tag=RBW_TARGET_CLOCK_8S; Add(img); } if(target & RBW_TARGET_CLOCK_10S) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("clock_10s.png")); img->tag=RBW_TARGET_CLOCK_10S; Add(img); } if(target & RBW_TARGET_LIGHT_WHITE) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("light_sensor_white.png")); img->tag=RBW_TARGET_LIGHT_WHITE; Add(img); } if(target & RBW_TARGET_LIGHT_BLACK) { img = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("light_sensor_black.png")); img->tag=RBW_TARGET_LIGHT_BLACK; Add(img); } Show(); } void ToolBox::OnMouseClick(Widget * widget,MouseClickEvent * event) { if(widget!=NULL) { Message * msg = new Message(RBW_MSG_TOOLBOX_RET); msg->data["target"]=new MessageDataInt(widget->tag); RoboCore::GetCore()->window->SendMessage(NULL,NULL,msg); Hide(); } } PilotScreen::PilotScreen():RoboMenu("PilotScreen",0.5,0.5,RBW_POSITION_FACTOR,RBW_DISTRIBUTION_FACTOR) { } PilotScreen::~PilotScreen() { for(int n=0;nrsrc->GetSurface("semaphore_green.png"); w = cairo_image_surface_get_width(srf); h = cairo_image_surface_get_height(srf); cairo_set_source_surface(cairo,srf,(s_width*0.05f)-(w/2.0f),(s_height*0.5f)-(h/2.0f)); cairo_paint(cairo); srf = RoboCore::GetCore()->rsrc->GetSurface("semaphore_red.png"); w = cairo_image_surface_get_width(srf); h = cairo_image_surface_get_height(srf); cairo_set_source_surface(cairo,srf,(s_width*0.95f)-(w/2.0f),(s_height*0.5f)-(h/2.0f)); cairo_paint(cairo); RoboMenu::Draw(cairo); } Pilot1::Pilot1() { label="Pilot 1"; name="pilot_1"; RoboSlot * slot; slot = new RoboSlot(0.4f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_EASY,ROBOSLOT_OUTPUT_A,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD); slots.push_back(slot); slot = new RoboSlot(0.6f,ROBOSLOT_TYPE_INPUT,ROBOSLOT_MODE_EASY,ROBOSLOT_INPUT_C ,RBW_TARGET_CLOCK_1S | RBW_TARGET_CLOCK_2S | RBW_TARGET_CLOCK_4S | RBW_TARGET_CLOCK_6S | RBW_TARGET_CLOCK_8S | RBW_TARGET_CLOCK_10S); slots.push_back(slot); lbl_title = new Label(label); lbl_title->Init(RoboCore::GetCore()->window->cairo); btn_back = new Button(T("<-- Back")); btn_back->Init(RoboCore::GetCore()->window->cairo); btn_run = new Button(T("Run >")); btn_run->Init(RoboCore::GetCore()->window->cairo); selected_slot=NULL; Build(); toolbox = new ToolBox(0.5f,0.2f); RoboCore::GetCore()->window->AddLayer(toolbox); Hide(); } void Pilot1::Build() { widgets.clear(); points.clear(); Add(lbl_title,0.5f,0.05f); Add(btn_back,0.4f,0.90f); Add(btn_run,0.6f,0.90f); for(int n=0;nBuild(RoboCore::GetCore()->window->cairo); } for(int n=0;nwidgets.size();m++) { Add(slots[n]->widgets[m],slots[n]->x,(slots[n]->widgets[m]->tag & 0x00FF)/100.0f); } } } void Pilot1::OnMouseClick(Widget * widget,MouseClickEvent * event) { if(widget==btn_back) { Show("pilot_menu"); Hide(); } if(widget==btn_run) { CodeBuilder * cb = new CodeBuilder(&slots); cb->Save("/tmp/pilot1.nqc"); RoboCore::GetCore()->DownloadProgram("/tmp/pilot1.nqc"); btn_run->Enable(false); } selected_slot=NULL; for(int n=0;nwidgets.size();m++) { if(widget==slots[n]->widgets[m]) { selected_slot=slots[n]; break; } } } if(selected_slot!=NULL) { if( (widget->tag>>8)==ROBOSLOT_WIDGET_BUTTON) { toolbox->Request(selected_slot->target_mask); } } } void Pilot1::Hide() { toolbox->Hide(); RoboMenu::Hide(); } void Pilot1::OnMessage(Widget * widget,MessageEvent * event) { if(event->msg->id==RBW_MSG_TOOLBOX_RET) { unsigned int target = ((MessageDataInt *)event->msg->data["target"])->value; if(selected_slot!=NULL) { selected_slot->target=target; Build(); } } if(event->msg->id==RBW_MSG_RUN_STATUS) { unsigned int status = ((MessageDataInt *)event->msg->data["status"])->value; if(status==RBC_RUN_STATUS_DOWNLOADING) btn_run->Enable(false); else btn_run->Enable(true); } RoboMenu::OnMessage(widget,event); } Pilot2::Pilot2() { label="Pilot 2"; name="pilot_2"; RoboSlot * slot; slot = new RoboSlot(0.2f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_A,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(0.35f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_C,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(0.7f,ROBOSLOT_TYPE_INPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_INPUT_1 ,RBW_TARGET_CLOCK_1S | RBW_TARGET_CLOCK_2S | RBW_TARGET_CLOCK_4S | RBW_TARGET_CLOCK_6S | RBW_TARGET_CLOCK_8S | RBW_TARGET_CLOCK_10S | RBW_TARGET_PRESS_ACTIVE | RBW_TARGET_PRESS_RELEASE); slots.push_back(slot); lbl_title = new Label(label); lbl_title->Init(RoboCore::GetCore()->window->cairo); btn_back = new Button(T("<-- Back")); btn_back->Init(RoboCore::GetCore()->window->cairo); btn_run = new Button(T("Run >")); btn_run->Init(RoboCore::GetCore()->window->cairo); selected_slot=NULL; Build(); toolbox = new ToolBox(0.5f,0.2f); RoboCore::GetCore()->window->AddLayer(toolbox); Hide(); } void Pilot2::Build() { widgets.clear(); points.clear(); Add(lbl_title,0.5f,0.05f); Add(btn_back,0.4f,0.90f); Add(btn_run,0.6f,0.90f); for(int n=0;nBuild(RoboCore::GetCore()->window->cairo); } for(int n=0;nwidgets.size();m++) { Add(slots[n]->widgets[m],slots[n]->x,(slots[n]->widgets[m]->tag & 0x00FF)/100.0f); } } } void Pilot2::OnMouseClick(Widget * widget,MouseClickEvent * event) { if(widget==btn_back) { Show("pilot_menu"); Hide(); } if(widget==btn_run) { CodeBuilder * cb = new CodeBuilder(&slots); cb->Save("/tmp/pilot2.nqc"); RoboCore::GetCore()->DownloadProgram("/tmp/pilot2.nqc"); btn_run->Enable(false); } selected_slot=NULL; for(int n=0;nwidgets.size();m++) { if(widget==slots[n]->widgets[m]) { selected_slot=slots[n]; break; } } } if(selected_slot!=NULL) { if( (widget->tag>>8)==ROBOSLOT_WIDGET_BUTTON) { toolbox->Request(selected_slot->target_mask); } if( (widget->tag>>8)==ROBOSLOT_WIDGET_SLOT_BUTTON) { selected_slot->CycleSlot(); } if( (widget->tag>>8)==ROBOSLOT_WIDGET_POWER_BUTTON) { selected_slot->CyclePower(); } } } void Pilot2::Hide() { toolbox->Hide(); RoboMenu::Hide(); } void Pilot2::OnMessage(Widget * widget,MessageEvent * event) { if(event->msg->id==RBW_MSG_TOOLBOX_RET) { unsigned int target = ((MessageDataInt *)event->msg->data["target"])->value; if(selected_slot!=NULL) { selected_slot->target=target; Build(); } } if(event->msg->id==RBW_MSG_RUN_STATUS) { unsigned int status = ((MessageDataInt *)event->msg->data["status"])->value; if(status==RBC_RUN_STATUS_DOWNLOADING) btn_run->Enable(false); else btn_run->Enable(true); } RoboMenu::OnMessage(widget,event); } Pilot3::Pilot3() { label="Pilot 3"; name="pilot_3"; RoboSlot * slot; slot = new RoboSlot(0.12f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_A,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(0.22f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_B,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(0.32f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_C,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(0.42f,ROBOSLOT_TYPE_INPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_INPUT_1 ,RBW_TARGET_CLOCK_1S | RBW_TARGET_CLOCK_2S | RBW_TARGET_CLOCK_4S | RBW_TARGET_CLOCK_6S | RBW_TARGET_CLOCK_8S | RBW_TARGET_CLOCK_10S | RBW_TARGET_PRESS_ACTIVE | RBW_TARGET_PRESS_RELEASE | RBW_TARGET_LIGHT_WHITE | RBW_TARGET_LIGHT_BLACK); slots.push_back(slot); slot = new RoboSlot(0.56f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_A,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(0.66f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_B,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(0.76f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_C,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(0.86f,ROBOSLOT_TYPE_INPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_INPUT_1 ,RBW_TARGET_CLOCK_1S | RBW_TARGET_CLOCK_2S | RBW_TARGET_CLOCK_4S | RBW_TARGET_CLOCK_6S | RBW_TARGET_CLOCK_8S | RBW_TARGET_CLOCK_10S | RBW_TARGET_PRESS_ACTIVE | RBW_TARGET_PRESS_RELEASE | RBW_TARGET_LIGHT_WHITE | RBW_TARGET_LIGHT_BLACK); slots.push_back(slot); lbl_title = new Label(label); lbl_title->Init(RoboCore::GetCore()->window->cairo); btn_back = new Button(T("<-- Back")); btn_back->Init(RoboCore::GetCore()->window->cairo); btn_run = new Button(T("Run >")); btn_run->Init(RoboCore::GetCore()->window->cairo); btn_run_mode = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("run_single.png")); btn_load = new Button(T("Load")); btn_load->Init(RoboCore::GetCore()->window->cairo); btn_save = new Button(T("Save")); btn_save->Init(RoboCore::GetCore()->window->cairo); selected_slot=NULL; run_single=true; Build(); toolbox = new ToolBox(0.5f,0.2f); RoboCore::GetCore()->window->AddLayer(toolbox); Hide(); } void Pilot3::Build() { widgets.clear(); points.clear(); Add(lbl_title,0.5f,0.05f); Add(btn_back,0.2f,0.90f); Add(btn_run,0.8f,0.90f); Add(btn_run_mode,0.7f,0.90f); Add(btn_load,0.4f,0.90f); Add(btn_save,0.5f,0.90f); for(int n=0;nBuild(RoboCore::GetCore()->window->cairo); } for(int n=0;nwidgets.size();m++) { Add(slots[n]->widgets[m],slots[n]->x,(slots[n]->widgets[m]->tag & 0x00FF)/100.0f); } } } void PilotLoad(GtkDialog * dialog,gint r_id,gpointer data) { PilotScreen * pilot = (PilotScreen *)data; if(r_id==GTK_RESPONSE_ACCEPT) { char * filename = gtk_file_chooser_get_filename (GTK_FILE_CHOOSER (dialog)); cout<<"Loading "<data["path"]=new MessageDataString(path); RoboCore::GetCore()->window->SendMessage(pilot,NULL,msg); } else { Message * msg = new Message(RBW_MSG_DIALOG_LOAD_CANCEL); RoboCore::GetCore()->window->SendMessage(pilot,NULL,msg); } gtk_widget_destroy(GTK_WIDGET(dialog)); } void PilotSave(GtkDialog * dialog,gint r_id,gpointer data) { PilotScreen * pilot = (PilotScreen *)data; if(r_id==GTK_RESPONSE_ACCEPT) { char * filename = gtk_file_chooser_get_filename (GTK_FILE_CHOOSER (dialog)); string path(filename); g_free(filename); string base_path=filesystem::DirName(path); string base_name=filesystem::BaseName(path); if(base_name.length()<4) { base_name=base_name+".rbl"; } else { string extension=base_name.substr(base_name.length()-4,string::npos); cout<<"extension: "<data["path"]=new MessageDataString(final_path); RoboCore::GetCore()->window->SendMessage(pilot,NULL,msg); } else { Message * msg = new Message(RBW_MSG_DIALOG_SAVE_CANCEL); RoboCore::GetCore()->window->SendMessage(pilot,NULL,msg); } gtk_widget_destroy(GTK_WIDGET(dialog)); } void Pilot3::OnMouseClick(Widget * widget,MouseClickEvent * event) { if(widget==btn_back) { Show("pilot_menu"); Hide(); } if(widget==btn_load) { Hide(); GtkWidget *dialog; char * filename; dialog = gtk_file_chooser_dialog_new (T("Load"),NULL,GTK_FILE_CHOOSER_ACTION_OPEN,"gtk-cancel", GTK_RESPONSE_CANCEL,"gtk-open", GTK_RESPONSE_ACCEPT,NULL); g_signal_connect(GTK_DIALOG(dialog),"response",G_CALLBACK(PilotLoad),this); GtkFileFilter *filter; filter = gtk_file_filter_new(); gtk_file_filter_set_name(filter,"Robolliurex"); gtk_file_filter_add_pattern(filter,"*.rbl"); gtk_file_chooser_add_filter( GTK_FILE_CHOOSER(dialog),filter); gtk_widget_show_all(dialog); //Show(); } if(widget==btn_save) { Hide(); GtkWidget *dialog; char * filename; dialog = gtk_file_chooser_dialog_new (T("Save"),NULL,GTK_FILE_CHOOSER_ACTION_SAVE,"gtk-cancel", GTK_RESPONSE_CANCEL,"gtk-save", GTK_RESPONSE_ACCEPT,NULL); g_signal_connect(GTK_DIALOG(dialog),"response",G_CALLBACK(PilotSave),this); GtkFileFilter *filter; filter = gtk_file_filter_new(); gtk_file_filter_set_name(filter,"Robolliurex"); gtk_file_filter_add_pattern(filter,"*.rbl"); gtk_file_chooser_add_filter( GTK_FILE_CHOOSER(dialog),filter); gtk_widget_show_all(dialog); } if(widget==btn_run) { CodeBuilder * cb = new CodeBuilder(&slots,run_single); cb->Save("/tmp/pilot3.nqc"); RoboCore::GetCore()->DownloadProgram("/tmp/pilot3.nqc"); btn_run->Enable(false); } if(widget==btn_run_mode) { run_single=!run_single; cout<<"run_single: "<SetImage(RoboCore::GetCore()->rsrc->GetSurface("run_single.png")); else btn_run_mode->SetImage(RoboCore::GetCore()->rsrc->GetSurface("run_repeat.png")); } selected_slot=NULL; for(int n=0;nwidgets.size();m++) { if(widget==slots[n]->widgets[m]) { selected_slot=slots[n]; break; } } } if(selected_slot!=NULL) { if( (widget->tag>>8)==ROBOSLOT_WIDGET_BUTTON) { toolbox->Request(selected_slot->target_mask); } if( (widget->tag>>8)==ROBOSLOT_WIDGET_SLOT_BUTTON) { selected_slot->CycleSlot(); } if( (widget->tag>>8)==ROBOSLOT_WIDGET_POWER_BUTTON) { selected_slot->CyclePower(); } } } void Pilot3::Hide() { toolbox->Hide(); RoboMenu::Hide(); } void Pilot3::OnMessage(Widget * widget,MessageEvent * event) { if(event->msg->id==RBW_MSG_TOOLBOX_RET) { unsigned int target = ((MessageDataInt *)event->msg->data["target"])->value; if(selected_slot!=NULL) { selected_slot->target=target; Build(); } } if(event->msg->id==RBW_MSG_RUN_STATUS) { unsigned int status = ((MessageDataInt *)event->msg->data["status"])->value; if(status==RBC_RUN_STATUS_DOWNLOADING) btn_run->Enable(false); else btn_run->Enable(true); } if(event->msg->id==RBW_MSG_PILOT_LOAD) { string path = static_cast(event->msg->data["path"])->value; int pilot =static_cast(event->msg->data["pilot"])->value; if(pilot==3) { cout<<"Pilot3 Loading "< header; RoboSlot::Load(path,&slots,&header); run_single=header[2]; if(run_single) btn_run_mode->SetImage(RoboCore::GetCore()->rsrc->GetSurface("run_single.png")); else btn_run_mode->SetImage(RoboCore::GetCore()->rsrc->GetSurface("run_repeat.png")); Build(); Show(); } } if(event->msg->id==RBW_MSG_DIALOG_LOAD) { string path = ((MessageDataString *)event->msg->data["path"])->value; cout<<"Pilot3 Loading "< header; RoboSlot::Load(path,&slots,&header); run_single=header[2]; if(run_single) btn_run_mode->SetImage(RoboCore::GetCore()->rsrc->GetSurface("run_single.png")); else btn_run_mode->SetImage(RoboCore::GetCore()->rsrc->GetSurface("run_repeat.png")); Build(); Show(); } if(event->msg->id==RBW_MSG_DIALOG_LOAD_CANCEL) { Show(); } if(event->msg->id==RBW_MSG_DIALOG_SAVE) { string path = ((MessageDataString *)event->msg->data["path"])->value; vector header; header.push_back(1);//robolliurex version 1 header.push_back(3);//pilot 3 header.push_back(run_single); RoboSlot::Save(path,&slots,&header); Show(); } if(event->msg->id==RBW_MSG_DIALOG_SAVE_CANCEL) { Show(); } RoboMenu::OnMessage(widget,event); } Pilot4::Pilot4() { label="Pilot 4"; name="pilot_4"; steps=1; current_step=1; RoboSlot * slot; slot = new RoboSlot(0.20f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_A,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(0.32f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_B,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(0.44f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_C,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(0.7f,ROBOSLOT_TYPE_INPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_INPUT_1 ,RBW_TARGET_CLOCK | RBW_TARGET_LIGHT_SENSOR | RBW_TARGET_PRESS_ACTIVE | RBW_TARGET_PRESS_RELEASE); slots.push_back(slot); lbl_title = new Label(label); lbl_title->Init(RoboCore::GetCore()->window->cairo); btn_back = new Button(T("<-- Back")); btn_back->Init(RoboCore::GetCore()->window->cairo); btn_run = new Button(T("Run >")); btn_run->Init(RoboCore::GetCore()->window->cairo); btn_run_mode = new ImageButton(RoboCore::GetCore()->rsrc->GetSurface("run_single.png")); btn_load = new Button(T("Load")); btn_load->Init(RoboCore::GetCore()->window->cairo); btn_save = new Button(T("Save")); btn_save->Init(RoboCore::GetCore()->window->cairo); btn_add = new Button(T("Add")); btn_add->Init(RoboCore::GetCore()->window->cairo); btn_remove = new Button(T("Remove")); btn_remove->Init(RoboCore::GetCore()->window->cairo); btn_right = new Button(T("Right")); btn_right->Init(RoboCore::GetCore()->window->cairo); btn_left = new Button(T("Left")); btn_left->Init(RoboCore::GetCore()->window->cairo); lbl_step = new Label(T("Step n out of m")); lbl_step->Init(RoboCore::GetCore()->window->cairo); selected_slot=NULL; run_single=true; UpdateButtons(); Build(); toolbox = new ToolBox(0.5f,0.2f); RoboCore::GetCore()->window->AddLayer(toolbox); Hide(); } void Pilot4::Build() { widgets.clear(); points.clear(); Add(lbl_title,0.5f,0.05f); Add(btn_back,0.18f,0.90f); Add(btn_run,0.8f,0.90f); Add(btn_run_mode,0.6f,0.90f); Add(btn_load,0.3f,0.90f); Add(btn_save,0.4f,0.90f); Add(btn_right,0.7f,0.20f); Add(btn_left,0.3f,0.20f); Add(btn_add,0.8f,0.20f); Add(btn_remove,0.18f,0.20f); Add(lbl_step,0.5f,0.20f); stringstream ss; ss<SetText(ss.str()); for(int n=0;nBuild(RoboCore::GetCore()->window->cairo); } for(int n=0;nwidgets.size();m++) { Add(slots[n]->widgets[m],slots[n]->x-(current_step-1),(slots[n]->widgets[m]->tag & 0x00FF)/100.0f); } } } void Pilot4::UpdateButtons() { if(current_step==steps) { btn_add->Enable(true); btn_remove->Enable(true); btn_right->Enable(false); btn_left->Enable(true); } else { btn_add->Enable(false); btn_remove->Enable(false); btn_right->Enable(true); } if(current_step==1) { btn_remove->Enable(false); btn_left->Enable(false); } } void Pilot4::OnMouseClick(Widget * widget,MouseClickEvent * event) { if(widget==btn_back) { Show("pilot_menu"); Hide(); } if(widget==btn_load) { Hide(); GtkWidget *dialog; char * filename; dialog = gtk_file_chooser_dialog_new (T("Load"),NULL,GTK_FILE_CHOOSER_ACTION_OPEN,"gtk-cancel", GTK_RESPONSE_CANCEL,"gtk-open", GTK_RESPONSE_ACCEPT,NULL); g_signal_connect(GTK_DIALOG(dialog),"response",G_CALLBACK(PilotLoad),this); GtkFileFilter *filter; filter = gtk_file_filter_new(); gtk_file_filter_set_name(filter,"Robolliurex"); gtk_file_filter_add_pattern(filter,"*.rbl"); gtk_file_chooser_add_filter( GTK_FILE_CHOOSER(dialog),filter); gtk_widget_show_all(dialog); } if(widget==btn_save) { Hide(); GtkWidget *dialog; char * filename; dialog = gtk_file_chooser_dialog_new (T("Save"),NULL,GTK_FILE_CHOOSER_ACTION_SAVE,"gtk-cancel", GTK_RESPONSE_CANCEL,"gtk-save", GTK_RESPONSE_ACCEPT,NULL); g_signal_connect(GTK_DIALOG(dialog),"response",G_CALLBACK(PilotSave),this); GtkFileFilter *filter; filter = gtk_file_filter_new(); gtk_file_filter_set_name(filter,"Robolliurex"); gtk_file_filter_add_pattern(filter,"*.rbl"); gtk_file_chooser_add_filter( GTK_FILE_CHOOSER(dialog),filter); gtk_widget_show_all(dialog); } if(widget==btn_run) { CodeBuilder * cb = new CodeBuilder(&slots,run_single); cb->Save("/tmp/pilot4.nqc"); RoboCore::GetCore()->DownloadProgram("/tmp/pilot4.nqc"); btn_run->Enable(false); delete cb; } if(widget==btn_run_mode) { run_single=!run_single; if(run_single) btn_run_mode->SetImage(RoboCore::GetCore()->rsrc->GetSurface("run_single.png")); else btn_run_mode->SetImage(RoboCore::GetCore()->rsrc->GetSurface("run_repeat.png")); } if(widget==btn_right && btn_right->enabled) { if(current_step < steps)current_step++; UpdateButtons(); Build(); } if(widget==btn_left && btn_left->enabled) { if(current_step > 1)current_step--; UpdateButtons(); Build(); } if(widget==btn_add && btn_add->enabled) { RoboSlot * slot; slot = new RoboSlot(steps+0.20f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_A,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(steps+0.32f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_B,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(steps+0.44f,ROBOSLOT_TYPE_OUTPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_OUTPUT_C,RBW_TARGET_LIGHT | RBW_TARGET_MOTOR_FORWARD | RBW_TARGET_MOTOR_BACKWARD | RBW_TARGET_STOP); slots.push_back(slot); slot = new RoboSlot(steps+0.7f,ROBOSLOT_TYPE_INPUT,ROBOSLOT_MODE_NORMAL,ROBOSLOT_INPUT_1 ,RBW_TARGET_CLOCK | RBW_TARGET_LIGHT_SENSOR | RBW_TARGET_PRESS_ACTIVE | RBW_TARGET_PRESS_RELEASE); slots.push_back(slot); steps++; UpdateButtons(); Build(); } if(widget==btn_remove && btn_remove->enabled) { if(steps>1) { RoboSlot * slot; for(int n=0;n<4;n++) { slot = slots.back(); slots.pop_back(); delete slot; } steps--; current_step--; UpdateButtons(); Build(); } } selected_slot=NULL; for(int n=0;nwidgets.size();m++) { if(widget==slots[n]->widgets[m]) { selected_slot=slots[n]; break; } } } if(selected_slot!=NULL) { if( (widget->tag>>8)==ROBOSLOT_WIDGET_BUTTON) { toolbox->Request(selected_slot->target_mask); } if( (widget->tag>>8)==ROBOSLOT_WIDGET_SLOT_BUTTON) { selected_slot->CycleSlot(); } if( (widget->tag>>8)==ROBOSLOT_WIDGET_POWER_BUTTON) { selected_slot->CyclePower(); } if( (widget->tag>>8)==ROBOSLOT_WIDGET_CLOCK_INCREASE) { selected_slot->IncreaseClock(); } if( (widget->tag>>8)==ROBOSLOT_WIDGET_CLOCK_DECREASE) { selected_slot->DecreaseClock(); } if( (widget->tag>>8)==ROBOSLOT_WIDGET_LIGHT_INCREASE) { selected_slot->IncreaseLight(); } if( (widget->tag>>8)==ROBOSLOT_WIDGET_LIGHT_DECREASE) { selected_slot->DecreaseLight(); } if( (widget->tag>>8)==ROBOSLOT_WIDGET_LIGHT_MODE) { selected_slot->CycleLightMode(); } if( (widget->tag>>8)==ROBOSLOT_WIDGET_CLOCK_MODE) { selected_slot->CycleClockMode(); } } } void Pilot4::Hide() { toolbox->Hide(); RoboMenu::Hide(); } void Pilot4::OnMessage(Widget * widget,MessageEvent * event) { if(event->msg->id==RBW_MSG_TOOLBOX_RET) { unsigned int target = ((MessageDataInt *)event->msg->data["target"])->value; if(selected_slot!=NULL) { selected_slot->target=target; Build(); } } if(event->msg->id==RBW_MSG_RUN_STATUS) { unsigned int status = ((MessageDataInt *)event->msg->data["status"])->value; if(status==RBC_RUN_STATUS_DOWNLOADING) btn_run->Enable(false); else btn_run->Enable(true); } if(event->msg->id==RBW_MSG_PILOT_LOAD) { string path = static_cast(event->msg->data["path"])->value; int pilot =static_cast(event->msg->data["pilot"])->value; if(pilot==4) { cout<<"Pilot4 Loading "< header; RoboSlot::Load(path,&slots,&header); run_single=header[2]; if(run_single) btn_run_mode->SetImage(RoboCore::GetCore()->rsrc->GetSurface("run_single.png")); else btn_run_mode->SetImage(RoboCore::GetCore()->rsrc->GetSurface("run_repeat.png")); Build(); Show(); } } if(event->msg->id==RBW_MSG_DIALOG_LOAD) { string path = ((MessageDataString *)event->msg->data["path"])->value; cout<<"Pilot4 Loading "< header; RoboSlot::Load(path,&slots,&header); run_single = header[2]; steps = header[3]; current_step=1; if(run_single) btn_run_mode->SetImage(RoboCore::GetCore()->rsrc->GetSurface("run_single.png")); else btn_run_mode->SetImage(RoboCore::GetCore()->rsrc->GetSurface("run_repeat.png")); Build(); UpdateButtons(); Show(); } if(event->msg->id==RBW_MSG_DIALOG_LOAD_CANCEL) { Show(); } if(event->msg->id==RBW_MSG_DIALOG_SAVE) { string path = ((MessageDataString *)event->msg->data["path"])->value; vector header; header.push_back(1); header.push_back(4); header.push_back(run_single); header.push_back(steps); RoboSlot::Save(path,&slots,&header); Show(); } if(event->msg->id==RBW_MSG_DIALOG_SAVE_CANCEL) { Show(); } RoboMenu::OnMessage(widget,event); } void Pilot4::Draw(cairo_t * cairo) { //predrawing operations float s_width,s_height; float w,h; cairo_surface_t * srf; srf = cairo_get_target(cairo); s_width=cairo_image_surface_get_width(srf); s_height=cairo_image_surface_get_height(srf); cairo_set_line_width(cairo,4.0f); cairo_set_source_rgb(cairo, 0.96, 0.62, 0.11); cairo_move_to(cairo,s_width*0.05f,s_height*0.5f); cairo_line_to(cairo,s_width*0.95f,s_height*0.5f); cairo_stroke(cairo); srf = RoboCore::GetCore()->rsrc->GetSurface("semaphore_green.png"); w = cairo_image_surface_get_width(srf); h = cairo_image_surface_get_height(srf); cairo_set_source_surface(cairo,srf,-(s_width*(current_step-1))+(s_width*0.05f)-(w/2.0f),(s_height*0.5f)-(h/2.0f)); cairo_paint(cairo); srf = RoboCore::GetCore()->rsrc->GetSurface("semaphore_red.png"); w = cairo_image_surface_get_width(srf); h = cairo_image_surface_get_height(srf); cairo_set_source_surface(cairo,srf,(s_width*(steps-1))-(s_width*(current_step-1))+(s_width*0.95f)-(w/2.0f),(s_height*0.5f)-(h/2.0f)); cairo_paint(cairo); RoboMenu::Draw(cairo); }