World_gui.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under GNU General Public License version 3                  |
  |   See <http://www.gnu.org/licenses/>                                    |
  +-------------------------------------------------------------------------+ */
#include <mvsim/World.h>


#include <mrpt/version.h>
#if MRPT_VERSION<0x199
#include <mrpt/utils/utils_defs.h>  // mrpt::format()
#else
#include <mrpt/core/format.h>
#endif

#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/opengl/CGridPlaneXY.h>

#include <rapidxml.hpp>
#include "xml_utils.h"

using namespace mvsim;
using namespace std;

// Default ctor: inits empty world.
World::TGUI_Options::TGUI_Options()
        : win_w(800),
          win_h(600),
          ortho(false),
          show_forces(false),
          force_scale(0.01),
          camera_distance(80),
          fov_deg(60)
{
}

void World::TGUI_Options::parse_from(const rapidxml::xml_node<char>& node)
{
        std::map<std::string, TParamEntry> gui_params;
        gui_params["win_w"] = TParamEntry("%u", &win_w);
        gui_params["win_h"] = TParamEntry("%u", &win_h);
        gui_params["ortho"] = TParamEntry("%bool", &ortho);
        gui_params["show_forces"] = TParamEntry("%bool", &show_forces);
        gui_params["force_scale"] = TParamEntry("%lf", &force_scale);
        gui_params["cam_distance"] = TParamEntry("%lf", &camera_distance);
        gui_params["fov_deg"] = TParamEntry("%lf", &fov_deg);
        gui_params["follow_vehicle"] = TParamEntry("%s", &follow_vehicle);

        parse_xmlnode_children_as_param(node, gui_params, "[World::TGUI_Options]");
}

World::TUpdateGUIParams::TUpdateGUIParams() {}
// Text labels unique IDs:
size_t ID_GLTEXT_CLOCK = 0;

bool World::is_GUI_open() const { return !!m_gui_win; }
void World::close_GUI() { m_gui_win.reset(); }
void World::update_GUI(TUpdateGUIParams* guiparams)
{
        // First call?
        // -----------------------
        if (!m_gui_win)
        {
                m_timlogger.enter("update_GUI_init");

                m_gui_win = mrpt::gui::CDisplayWindow3D::Create(
                        "mvsim", m_gui_options.win_w, m_gui_options.win_h);
                m_gui_win->setCameraZoom(m_gui_options.camera_distance);
                m_gui_win->setCameraProjective(!m_gui_options.ortho);
                m_gui_win->setFOV(m_gui_options.fov_deg);

                // Only if the world is empty: at least introduce a ground grid:
                if (m_world_elements.empty())
                {
                        WorldElementBase* we =
                                WorldElementBase::factory(this, NULL, "groundgrid");
                        this->m_world_elements.push_back(we);
                }

                m_timlogger.leave("update_GUI_init");
        }

        m_timlogger.enter("update_GUI");  // Don't count initialization, since that
                                                                          // is a total outlier and lacks interest!

        m_timlogger.enter("update_GUI.1.get-lock");
        mrpt::opengl::COpenGLScene::Ptr gl_scene =
                m_gui_win->get3DSceneAndLock();  // ** LOCK **
        m_timlogger.leave("update_GUI.1.get-lock");

        // 1st time only:
        // Build different "stacks" or "z-order levels" for
        // rendering with transparencies to work nicely
        // --------------------------------------------------------
        if (!gl_scene->getByName("level_0"))
        {
                for (unsigned int i = 0; i < 5; i++)
                {
                        auto gl_obj = mrpt::opengl::CSetOfObjects::Create();
                        gl_obj->setName(mrpt::format("level_%u", i));
                        gl_scene->insert(gl_obj);
                }
        }

        // Update view of map elements
        // -----------------------------
        m_timlogger.enter("update_GUI.2.map-elements");

        for (std::list<WorldElementBase*>::iterator it = m_world_elements.begin();
                 it != m_world_elements.end(); ++it)
                (*it)->gui_update(*gl_scene);

        m_timlogger.leave("update_GUI.2.map-elements");

        // Update view of vehicles
        // -----------------------------
        m_timlogger.enter("update_GUI.3.vehicles");

        for (TListVehicles::iterator it = m_vehicles.begin();
                 it != m_vehicles.end(); ++it)
                it->second->gui_update(*gl_scene);

        m_timlogger.leave("update_GUI.3.vehicles");

        // Update view of blocks
        // -----------------------------
        m_timlogger.enter("update_GUI.4.blocks");

        for (TListBlocks::iterator it = m_blocks.begin(); it != m_blocks.end();
                 ++it)
                it->second->gui_update(*gl_scene);

        m_timlogger.leave("update_GUI.4.blocks");

        // Other messages
        // -----------------------------
        m_timlogger.enter("update_GUI.5.text-msgs");
        {
                const int txt_h = 12, space_h = 2;  // font height
                int txt_y = 4;

                // 1st line: time
                m_gui_win->addTextMessage(
                        2, 2,
                        mrpt::format(
                                "Time: %s",
                                mrpt::system::formatTimeInterval(this->m_simul_time).c_str()),
                        TColorf(1, 1, 1, 0.5), "serif", txt_h,
                        mrpt::opengl::NICE, ID_GLTEXT_CLOCK);
                txt_y += txt_h + space_h;

                // User supplied-lines:
                if (guiparams)
                {
                        const size_t nLines = std::count(
                                guiparams->msg_lines.begin(), guiparams->msg_lines.end(), '\n');
                        txt_y += nLines * (txt_h + space_h);
                        m_gui_win->addTextMessage(
                                2, txt_y, guiparams->msg_lines,
                                TColorf(1, 1, 1, 0.5), "serif", txt_h,
                                mrpt::opengl::NICE, ID_GLTEXT_CLOCK + 1);
                }
        }

        m_timlogger.leave("update_GUI.5.text-msgs");

        // Camera follow modes:
        // -----------------------
        if (!m_gui_options.follow_vehicle.empty())
        {
                TListVehicles::const_iterator it =
                        m_vehicles.find(m_gui_options.follow_vehicle);
                if (it == m_vehicles.end())
                {
                        static bool warn1st = true;
                        if (warn1st)
                        {
                                std::cerr << mrpt::format(
                                        "GUI: Camera set to follow vehicle named '%s' which can't "
                                        "be found!\n",
                                        m_gui_options.follow_vehicle.c_str());
                                warn1st = true;
                        }
                }
                else
                {
                        const mrpt::poses::CPose2D pose = it->second->getCPose2D();
                        m_gui_win->setCameraPointingToPoint(pose.x(), pose.y(), 0.0f);
                }
        }

        // Force refresh view
        // -----------------------
        m_gui_win->unlockAccess3DScene();  // ** UNLOCK **
        m_gui_win->repaint();

        m_timlogger.leave("update_GUI");

        // Key-strokes:
        // -----------------------
        if (guiparams && m_gui_win->keyHit())
                guiparams->keyevent.keycode =
                        m_gui_win->getPushedKey(&guiparams->keyevent.key_modifier);
}