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00030 #include "visualization_frame.h"
00031 #include "render_panel.h"
00032 #include "displays_panel.h"
00033 #include "views_panel.h"
00034 #include "time_panel.h"
00035 #include "selection_panel.h"
00036 #include "tool_properties_panel.h"
00037 #include "visualization_manager.h"
00038 #include "tools/tool.h"
00039 #include "plugin_manager_dialog.h"
00040 #include "splash_screen.h"
00041 #include "loading_dialog.h"
00042
00043 #include <ros/package.h>
00044 #include <ros/console.h>
00045
00046 #include <ogre_tools/initialization.h>
00047
00048 #include <wx/config.h>
00049 #include <wx/confbase.h>
00050 #include <wx/stdpaths.h>
00051 #include <wx/menu.h>
00052 #include <wx/toolbar.h>
00053 #include <wx/aui/aui.h>
00054 #include <wx/filedlg.h>
00055 #include <wx/artprov.h>
00056
00057 #include <boost/filesystem.hpp>
00058 #include <boost/bind.hpp>
00059 #include <boost/algorithm/string/split.hpp>
00060 #include <boost/algorithm/string/trim.hpp>
00061
00062 namespace fs = boost::filesystem;
00063
00064 #define CONFIG_WINDOW_X wxT("/Window/X")
00065 #define CONFIG_WINDOW_Y wxT("/Window/Y")
00066 #define CONFIG_WINDOW_WIDTH wxT("/Window/Width")
00067 #define CONFIG_WINDOW_HEIGHT wxT("/Window/Height")
00068 #define CONFIG_AUIMANAGER_PERSPECTIVE wxT("/AuiManagerPerspective")
00069 #define CONFIG_AUIMANAGER_PERSPECTIVE_VERSION wxT("/AuiManagerPerspectiveVersion")
00070 #define CONFIG_RECENT_CONFIGS wxT("/RecentConfigs")
00071 #define CONFIG_LAST_DIR wxT("/LastConfigDir")
00072
00073 #define CONFIG_EXTENSION "vcg"
00074 #define CONFIG_EXTENSION_WILDCARD "*."CONFIG_EXTENSION
00075 #define PERSPECTIVE_VERSION 2
00076
00077 #define RECENT_CONFIG_COUNT 10
00078
00079 namespace rviz
00080 {
00081
00082 namespace toolbar_items
00083 {
00084 enum ToolbarItem
00085 {
00086 Count,
00087 };
00088 }
00089 typedef toolbar_items::ToolbarItem ToolbarItem;
00090
00091 VisualizationFrame::VisualizationFrame(wxWindow* parent)
00092 : wxFrame(parent, wxID_ANY, wxT("RViz"), wxDefaultPosition, wxSize(1024, 768), wxDEFAULT_FRAME_STYLE)
00093 , render_panel_(NULL)
00094 , displays_panel_(NULL)
00095 , views_panel_(NULL)
00096 , time_panel_(NULL)
00097 , selection_panel_(NULL)
00098 , tool_properties_panel_(NULL)
00099 , menubar_(NULL)
00100 , file_menu_(NULL)
00101 , recent_configs_menu_(NULL)
00102 , toolbar_(NULL)
00103 , aui_manager_(NULL)
00104 , manager_(NULL)
00105 {
00106 wxInitAllImageHandlers();
00107 }
00108
00109 VisualizationFrame::~VisualizationFrame()
00110 {
00111 Disconnect(wxEVT_AUI_PANE_CLOSE, wxAuiManagerEventHandler(VisualizationFrame::onPaneClosed), NULL, this);
00112 #if !defined(__WXMAC__)
00113 if (toolbar_)
00114 {
00115 toolbar_->Disconnect( wxEVT_COMMAND_TOOL_CLICKED, wxCommandEventHandler( VisualizationFrame::onToolClicked ), NULL, this );
00116 }
00117 #endif
00118
00119 if (general_config_ && aui_manager_)
00120 {
00121 saveConfigs();
00122 }
00123
00124 if (manager_)
00125 {
00126 manager_->removeAllDisplays();
00127 }
00128
00129 if (aui_manager_)
00130 {
00131 aui_manager_->UnInit();
00132 delete aui_manager_;
00133 }
00134
00135 if (render_panel_)
00136 {
00137 render_panel_->Destroy();
00138 }
00139 delete manager_;
00140 }
00141
00142 void VisualizationFrame::onSplashLoadStatus(const std::string& status, SplashScreen* splash)
00143 {
00144 splash->setState(status);
00145 }
00146
00147 void VisualizationFrame::initialize(const std::string& display_config_file,
00148 const std::string& fixed_frame, const std::string& target_frame, const std::string& splash_path,
00149 bool verbose )
00150 {
00151 initConfigs();
00152
00153 wxPoint pos = GetPosition();
00154 wxSize size = GetSize();
00155 int width = size.GetWidth();
00156 int height = size.GetHeight();
00157 general_config_->Read(CONFIG_WINDOW_X, &pos.x, pos.x);
00158 general_config_->Read(CONFIG_WINDOW_Y, &pos.y, pos.y);
00159 general_config_->Read(CONFIG_WINDOW_WIDTH, &width, width);
00160 general_config_->Read(CONFIG_WINDOW_HEIGHT, &height, height);
00161
00162 {
00163 wxString str;
00164 if (general_config_->Read(CONFIG_RECENT_CONFIGS, &str))
00165 {
00166 std::string recent = (const char*)str.char_str();
00167
00168 boost::trim(recent);
00169 boost::split(recent_configs_, recent, boost::is_any_of (":"), boost::token_compress_on);
00170 }
00171
00172 if (general_config_->Read(CONFIG_LAST_DIR, &str))
00173 {
00174 last_config_dir_ = (const char*)str.char_str();
00175 }
00176 }
00177
00178 SetPosition(pos);
00179 SetSize(wxSize(width, height));
00180
00181 package_path_ = ros::package::getPath("rviz");
00182
00183 std::string final_splash_path = splash_path;
00184
00185 if ( splash_path.empty() )
00186 {
00187 #if BOOST_FILESYSTEM_VERSION == 3
00188 final_splash_path = (fs::path(package_path_) / "images/splash.png").string();
00189 #else
00190 final_splash_path = (fs::path(package_path_) / "images/splash.png").file_string();
00191 #endif
00192 }
00193 wxImage splash_image;
00194 splash_image.LoadFile(wxString::FromAscii(final_splash_path.c_str()));
00195 splash_ = new SplashScreen(this, wxBitmap(splash_image));
00196 splash_->Show();
00197 splash_->setState("Initializing");
00198
00199 if (!ros::isInitialized())
00200 {
00201 int argc = 0;
00202 ros::init(argc, 0, "rviz", ros::init_options::AnonymousName);
00203 }
00204
00205 render_panel_ = new RenderPanel( this );
00206 displays_panel_ = new DisplaysPanel( this );
00207 views_panel_ = new ViewsPanel( this );
00208 time_panel_ = new TimePanel( this );
00209 selection_panel_ = new SelectionPanel( this );
00210 tool_properties_panel_ = new ToolPropertiesPanel(this);
00211
00212 splash_->setState("Initializing OGRE resources");
00213 ogre_tools::V_string paths;
00214 paths.push_back(package_path_ + "/ogre_media/textures");
00215 ogre_tools::initializeResources( paths );
00216
00217 #if !defined(__WXMAC__)
00218 toolbar_ = new wxToolBar(this, wxID_ANY, wxDefaultPosition, wxDefaultSize, wxTB_TEXT|wxTB_NOICONS|wxNO_BORDER|wxTB_HORIZONTAL);
00219 toolbar_->Connect( wxEVT_COMMAND_TOOL_CLICKED, wxCommandEventHandler( VisualizationFrame::onToolClicked ), NULL, this );
00220 #endif
00221
00222 aui_manager_ = new wxAuiManager(this);
00223 aui_manager_->AddPane(render_panel_, wxAuiPaneInfo().CenterPane().Name(wxT("Render")));
00224 aui_manager_->AddPane(displays_panel_, wxAuiPaneInfo().Left().MinSize(270, -1).Name(wxT("Displays")).Caption(wxT("Displays")));
00225 aui_manager_->AddPane(selection_panel_, wxAuiPaneInfo().Right().MinSize(270, -1).Name(wxT("Selection")).Caption(wxT("Selection")));
00226 aui_manager_->AddPane(views_panel_, wxAuiPaneInfo().BestSize(230, 200).Right().Name(wxT("Views")).Caption(wxT("Views")));
00227 aui_manager_->AddPane(tool_properties_panel_, wxAuiPaneInfo().BestSize(230, 200).Right().Name(wxT("Tool Properties")).Caption(wxT("Tool Properties")));
00228 aui_manager_->AddPane(time_panel_, wxAuiPaneInfo().RightDockable(false).LeftDockable(false).Bottom().Name(wxT("Time")).Caption(wxT("Time")));
00229 #if !defined(__WXMAC__)
00230 aui_manager_->AddPane(toolbar_, wxAuiPaneInfo().ToolbarPane().RightDockable(false).LeftDockable(false).Top().Name(wxT("Tools")).Caption(wxT("Tools")));
00231 #endif
00232 aui_manager_->Update();
00233
00234 Connect(wxEVT_AUI_PANE_CLOSE, wxAuiManagerEventHandler(VisualizationFrame::onPaneClosed), NULL, this);
00235
00236 manager_ = new VisualizationManager(render_panel_, this);
00237 render_panel_->initialize(manager_->getSceneManager(), manager_);
00238 displays_panel_->initialize(manager_);
00239 views_panel_->initialize(manager_);
00240 time_panel_->initialize(manager_);
00241 selection_panel_->initialize(manager_);
00242 tool_properties_panel_->initialize(manager_);
00243
00244 manager_->getToolAddedSignal().connect( boost::bind( &VisualizationFrame::onToolAdded, this, _1 ) );
00245 manager_->getToolChangedSignal().connect( boost::bind( &VisualizationFrame::onToolChanged, this, _1 ) );
00246
00247 manager_->initialize( StatusCallback(), verbose );
00248 manager_->loadGeneralConfig(general_config_, boost::bind(&VisualizationFrame::onSplashLoadStatus, this, _1, splash_));
00249
00250 bool display_config_valid = !display_config_file.empty();
00251 if (display_config_valid && !fs::exists(display_config_file))
00252 {
00253 ROS_ERROR("File [%s] does not exist", display_config_file.c_str());
00254 display_config_valid = false;
00255 }
00256
00257 if (!display_config_valid)
00258 {
00259 manager_->loadDisplayConfig(display_config_, boost::bind(&VisualizationFrame::onSplashLoadStatus, this, _1, splash_));
00260 }
00261 else
00262 {
00263 boost::shared_ptr<wxFileConfig> config(new wxFileConfig(wxT("standalone_visualizer"), wxEmptyString, wxEmptyString, wxString::FromAscii(display_config_file.c_str()), wxCONFIG_USE_GLOBAL_FILE|wxCONFIG_USE_RELATIVE_PATH));
00264 manager_->loadDisplayConfig(config, boost::bind(&VisualizationFrame::onSplashLoadStatus, this, _1, splash_));
00265 }
00266
00267 if (!fixed_frame.empty())
00268 {
00269 manager_->setFixedFrame(fixed_frame);
00270 }
00271
00272 if (!target_frame.empty())
00273 {
00274 manager_->setTargetFrame(target_frame);
00275 }
00276
00277 splash_->setState("Loading perspective");
00278
00279 wxString auimanager_perspective;
00280 long version = 0;
00281 if (general_config_->Read(CONFIG_AUIMANAGER_PERSPECTIVE_VERSION, &version))
00282 {
00283 if (version >= PERSPECTIVE_VERSION)
00284 {
00285 if (general_config_->Read(CONFIG_AUIMANAGER_PERSPECTIVE, &auimanager_perspective))
00286 {
00287 wxAuiPaneInfoArray panes_backup = aui_manager_->GetAllPanes();
00288 aui_manager_->LoadPerspective(auimanager_perspective);
00289
00290
00291
00292
00293 wxAuiPaneInfoArray& panes = aui_manager_->GetAllPanes();
00294 if (panes.GetCount() == panes_backup.GetCount())
00295 {
00296 for (uint32_t i = 0; i < panes.GetCount(); ++i)
00297 {
00298 if (!panes.Item(i).HasCloseButton())
00299 {
00300 panes.Item(i).Show( panes_backup.Item(i).IsShown() );
00301 }
00302 }
00303 }
00304 else
00305 {
00306 ROS_INFO("Number of panes changed during aui_manager_->LoadPerspective(). Can't update visibility of display windows.");
00307 }
00308 aui_manager_->Update();
00309 }
00310 }
00311 else
00312 {
00313 ROS_INFO("Perspective version has changed (version [%d] is less than version [%d], resetting windows", (int)version, PERSPECTIVE_VERSION);
00314 }
00315 }
00316
00317 initMenus();
00318 updateRecentConfigMenu();
00319 if (display_config_valid)
00320 {
00321 markRecentConfig(display_config_file);
00322 }
00323
00324 splash_->Destroy();
00325 splash_ = 0;
00326
00327 manager_->startUpdate();
00328 }
00329
00330 void VisualizationFrame::initConfigs()
00331 {
00332 config_dir_ = (const char*)wxStandardPaths::Get().GetUserConfigDir().fn_str();
00333 #if BOOST_FILESYSTEM_VERSION == 3
00334 std::string old_dir = (fs::path(config_dir_) / ".standalone_visualizer").string();
00335 config_dir_ = (fs::path(config_dir_) / ".rviz").string();
00336 general_config_file_ = (fs::path(config_dir_) / "config").string();
00337 display_config_file_ = (fs::path(config_dir_) / "display_config").string();
00338 #else
00339 std::string old_dir = (fs::path(config_dir_) / ".standalone_visualizer").file_string();
00340 config_dir_ = (fs::path(config_dir_) / ".rviz").file_string();
00341 general_config_file_ = (fs::path(config_dir_) / "config").file_string();
00342 display_config_file_ = (fs::path(config_dir_) / "display_config").file_string();
00343 #endif
00344
00345 if (fs::exists(old_dir) && !fs::exists(config_dir_))
00346 {
00347 ROS_INFO("Migrating old config directory to new location ([%s] to [%s])", old_dir.c_str(), config_dir_.c_str());
00348 fs::rename(old_dir, config_dir_);
00349 }
00350
00351 if (fs::is_regular_file(config_dir_))
00352 {
00353 ROS_INFO("Migrating old config file to new location ([%s] to [%s])", config_dir_.c_str(), general_config_file_.c_str());
00354 std::string backup_file = config_dir_ + "bak";
00355
00356 fs::rename(config_dir_, backup_file);
00357 fs::create_directory(config_dir_);
00358 fs::rename(backup_file, general_config_file_);
00359 }
00360 else if (!fs::exists(config_dir_))
00361 {
00362 fs::create_directory(config_dir_);
00363 }
00364
00365 if (fs::exists(general_config_file_) && !fs::exists(display_config_file_))
00366 {
00367 ROS_INFO("Creating display config from general config");
00368 fs::copy_file(general_config_file_, display_config_file_);
00369 }
00370
00371 ROS_INFO("Loading general config from [%s]", general_config_file_.c_str());
00372 general_config_.reset(new wxFileConfig(wxT("standalone_visualizer"), wxEmptyString, wxString::FromAscii(general_config_file_.c_str())));
00373 ROS_INFO("Loading display config from [%s]", display_config_file_.c_str());
00374 display_config_.reset(new wxFileConfig(wxT("standalone_visualizer"), wxEmptyString, wxString::FromAscii(display_config_file_.c_str())));
00375 }
00376
00377 void VisualizationFrame::initMenus()
00378 {
00379 menubar_ = new wxMenuBar();
00380 file_menu_ = new wxMenu(wxT(""));
00381 wxMenuItem* item = file_menu_->Append(wxID_OPEN, wxT("&Open Config\tCtrl-O"));
00382 Connect(item->GetId(), wxEVT_COMMAND_MENU_SELECTED, wxCommandEventHandler(VisualizationFrame::onOpen), NULL, this);
00383 item = file_menu_->Append(wxID_SAVE, wxT("&Save Config\tCtrl-S"));
00384 Connect(item->GetId(), wxEVT_COMMAND_MENU_SELECTED, wxCommandEventHandler(VisualizationFrame::onSave), NULL, this);
00385
00386 recent_configs_menu_ = new wxMenu(wxT(""));
00387 file_menu_->Append(wxID_ANY, wxT("&Recent Configs"), recent_configs_menu_);
00388
00389 file_menu_->AppendSeparator();
00390 item = file_menu_->Append(wxID_EXIT, wxT("&Quit"));
00391 Connect(item->GetId(), wxEVT_COMMAND_MENU_SELECTED, wxCommandEventHandler(VisualizationFrame::onClose), NULL, this);
00392
00393 menubar_->Append(file_menu_, wxT("&File"));
00394
00395 view_menu_ = new wxMenu(wxT(""));
00396 wxAuiPaneInfoArray& panes = aui_manager_->GetAllPanes();
00397 for (uint32_t i = 0; i < panes.GetCount(); ++i)
00398 {
00399 wxAuiPaneInfo& pane = panes.Item(i);
00400
00401 if (pane.HasCloseButton())
00402 {
00403 item = view_menu_->AppendCheckItem(pane.window->GetId(), pane.caption);
00404 item->Check(pane.IsShown());
00405 Connect(item->GetId(), wxEVT_COMMAND_MENU_SELECTED, wxCommandEventHandler(VisualizationFrame::onViewMenuItemSelected), NULL, this);
00406 }
00407 }
00408
00409 menubar_->Append(view_menu_, wxT("&View"));
00410
00411 plugins_menu_ = new wxMenu(wxT(""));
00412 item = plugins_menu_->Append(wxID_ANY, wxT("&Manage..."));
00413 Connect(item->GetId(), wxEVT_COMMAND_MENU_SELECTED, wxCommandEventHandler(VisualizationFrame::onManagePlugins), NULL, this);
00414 menubar_->Append(plugins_menu_, wxT("&Plugins"));
00415
00416 help_menu_ = new wxMenu(wxT(""));
00417 item = help_menu_->Append(wxID_ANY, wxT("&Wiki"));
00418 Connect(item->GetId(), wxEVT_COMMAND_MENU_SELECTED, wxCommandEventHandler(VisualizationFrame::onHelpWiki), NULL, this);
00419 menubar_->Append(help_menu_, wxT("&Help"));
00420
00421 SetMenuBar(menubar_);
00422 }
00423
00424 void VisualizationFrame::updateRecentConfigMenu()
00425 {
00426
00427 while (recent_configs_menu_->GetMenuItemCount() > 0)
00428 {
00429 wxMenuItem* item = recent_configs_menu_->FindItemByPosition(0);
00430 recent_configs_menu_->Remove(item);
00431 }
00432
00433 D_string::iterator it = recent_configs_.begin();
00434 D_string::iterator end = recent_configs_.end();
00435 for (; it != end; ++it)
00436 {
00437 const std::string& path = *it;
00438 wxMenuItem* item = recent_configs_menu_->Append(wxID_ANY, wxString::FromAscii(path.c_str()));
00439 Connect(item->GetId(), wxEVT_COMMAND_MENU_SELECTED, wxCommandEventHandler(VisualizationFrame::onRecentConfigSelected), NULL, this);
00440 }
00441 }
00442
00443 void VisualizationFrame::markRecentConfig(const std::string& path)
00444 {
00445 D_string::iterator it = std::find(recent_configs_.begin(), recent_configs_.end(), path);
00446 if (it != recent_configs_.end())
00447 {
00448 recent_configs_.erase(it);
00449 }
00450
00451 recent_configs_.push_front(path);
00452
00453 if (recent_configs_.size() > RECENT_CONFIG_COUNT)
00454 {
00455 recent_configs_.pop_back();
00456 }
00457
00458 updateRecentConfigMenu();
00459 }
00460
00461 void VisualizationFrame::loadDisplayConfig(const std::string& path)
00462 {
00463 if (!fs::exists(path))
00464 {
00465 wxString message = wxString::FromAscii(path.c_str()) + wxT(" does not exist!");
00466 wxMessageBox(message, wxT("Config Does Not Exist"), wxOK|wxICON_ERROR, this);
00467 return;
00468 }
00469
00470 manager_->removeAllDisplays();
00471
00472 LoadingDialog dialog(this);
00473 dialog.Show();
00474
00475 boost::shared_ptr<wxFileConfig> config(new wxFileConfig(wxT("standalone_visualizer"), wxEmptyString, wxEmptyString, wxString::FromAscii(path.c_str()), wxCONFIG_USE_GLOBAL_FILE));
00476 manager_->loadDisplayConfig(config, boost::bind(&LoadingDialog::setState, &dialog, _1));
00477
00478 markRecentConfig(path);
00479 }
00480
00481 void VisualizationFrame::saveConfigs()
00482 {
00483 ROS_INFO("Saving general config to [%s]", general_config_file_.c_str());
00484 general_config_->DeleteAll();
00485 wxPoint pos = GetPosition();
00486 wxSize size = GetSize();
00487 general_config_->Write(CONFIG_WINDOW_X, pos.x);
00488 general_config_->Write(CONFIG_WINDOW_Y, pos.y);
00489 general_config_->Write(CONFIG_WINDOW_WIDTH, size.GetWidth());
00490 general_config_->Write(CONFIG_WINDOW_HEIGHT, size.GetHeight());
00491
00492 general_config_->Write(CONFIG_AUIMANAGER_PERSPECTIVE, aui_manager_->SavePerspective());
00493 general_config_->Write(CONFIG_AUIMANAGER_PERSPECTIVE_VERSION, PERSPECTIVE_VERSION);
00494
00495 {
00496 std::stringstream ss;
00497 D_string::iterator it = recent_configs_.begin();
00498 D_string::iterator end = recent_configs_.end();
00499 for (; it != end; ++it)
00500 {
00501 if (it != recent_configs_.begin())
00502 {
00503 ss << ":";
00504 }
00505 ss << *it;
00506 }
00507
00508 wxString str = wxString::FromAscii(ss.str().c_str());
00509 general_config_->Write(CONFIG_RECENT_CONFIGS, str);
00510 }
00511
00512 general_config_->Write(CONFIG_LAST_DIR, wxString::FromAscii(last_config_dir_.c_str()));
00513
00514 manager_->saveGeneralConfig(general_config_);
00515 general_config_->Flush();
00516
00517 ROS_INFO("Saving display config to [%s]", display_config_file_.c_str());
00518 display_config_->DeleteAll();
00519 manager_->saveDisplayConfig(display_config_);
00520 display_config_->Flush();
00521 }
00522
00523 void VisualizationFrame::onClose(wxCommandEvent& event)
00524 {
00525 Close();
00526 }
00527
00528 void VisualizationFrame::onPaneClosed(wxAuiManagerEvent& event)
00529 {
00530 wxAuiPaneInfo* pane = event.GetPane();
00531 wxWindow* window = pane->window;
00532 menubar_->Check(window->GetId(), false);
00533
00534
00535
00536
00537 window->Close();
00538 }
00539
00540 void VisualizationFrame::onViewMenuItemSelected(wxCommandEvent& event)
00541 {
00542 wxAuiPaneInfoArray& panes = aui_manager_->GetAllPanes();
00543 for (uint32_t i = 0; i < panes.GetCount(); ++i)
00544 {
00545 wxAuiPaneInfo& pane = panes.Item(i);
00546
00547 if (pane.window->GetId() == event.GetId())
00548 {
00549 pane.Show(event.IsChecked());
00550
00551 aui_manager_->Update();
00552
00553 break;
00554 }
00555 }
00556 }
00557
00558 void VisualizationFrame::onOpen(wxCommandEvent& event)
00559 {
00560 wxString wxstr_file = wxFileSelector(wxT("Choose a file to open"), wxString::FromAscii(last_config_dir_.c_str()), wxEmptyString,
00561 wxT(CONFIG_EXTENSION), wxT(CONFIG_EXTENSION_WILDCARD), wxFD_OPEN|wxFD_FILE_MUST_EXIST, this);
00562 if (!wxstr_file.empty())
00563 {
00564 std::string filename = (const char*)wxstr_file.fn_str();
00565 loadDisplayConfig(filename);
00566
00567 last_config_dir_ = fs::path(filename).parent_path().string();
00568 }
00569 }
00570
00571 void VisualizationFrame::onSave(wxCommandEvent& event)
00572 {
00573 wxString wxstr_file = wxFileSelector(wxT("Choose a file to save to"), wxString::FromAscii(last_config_dir_.c_str()), wxEmptyString,
00574 wxT(CONFIG_EXTENSION), wxT(CONFIG_EXTENSION_WILDCARD), wxFD_SAVE|wxFD_OVERWRITE_PROMPT, this);
00575
00576 if (!wxstr_file.empty())
00577 {
00578 std::string filename = (const char*)wxstr_file.fn_str();
00579 fs::path path(filename);
00580 if (path.extension() != "."CONFIG_EXTENSION)
00581 {
00582 filename += "."CONFIG_EXTENSION;
00583 }
00584
00585 boost::shared_ptr<wxFileConfig> config(new wxFileConfig(wxT("standalone_visualizer"), wxEmptyString, wxString::FromAscii(filename.c_str())));
00586 config->DeleteAll();
00587
00588 manager_->saveDisplayConfig(config);
00589 config->Flush();
00590
00591 markRecentConfig(filename);
00592
00593 last_config_dir_ = fs::path(filename).parent_path().string();
00594 }
00595 }
00596
00597 void VisualizationFrame::onRecentConfigSelected(wxCommandEvent& event)
00598 {
00599 wxString label = recent_configs_menu_->GetLabel(event.GetId());
00600 if (!label.IsEmpty())
00601 {
00602 std::string path = (const char*)label.char_str();
00603
00604
00605 size_t pos = path.find("__");
00606 while (pos != std::string::npos)
00607 {
00608 path.erase(pos, 1);
00609 pos = path.find("__", pos + 1);
00610 }
00611
00612 loadDisplayConfig(path);
00613 }
00614 }
00615
00616 void VisualizationFrame::onToolAdded(Tool* tool)
00617 {
00618 #if !defined(__WXMAC__)
00619 char ascii_str[2] = { tool->getShortcutKey(), 0 };
00620 wxString tooltip = wxString( wxT("Shortcut Key: ")) + wxString::FromAscii( ascii_str );
00621 toolbar_->AddRadioTool( toolbar_->GetToolsCount(), wxString::FromAscii( tool->getName().c_str() ), wxNullBitmap, wxNullBitmap, tooltip );
00622
00623 wxAuiPaneInfo& pane = aui_manager_->GetPane(toolbar_);
00624 pane.MinSize(toolbar_->GetSize());
00625 aui_manager_->Update();
00626 #endif
00627 }
00628
00629 void VisualizationFrame::onToolChanged(Tool* tool)
00630 {
00631 #if !defined(__WXMAC__)
00632 int count = toolbar_->GetToolsCount();
00633 for ( int i = toolbar_items::Count; i < count; ++i )
00634 {
00635 if ( manager_->getTool( i - toolbar_items::Count ) == tool )
00636 {
00637 toolbar_->ToggleTool( i, true );
00638 break;
00639 }
00640 }
00641 #endif
00642 }
00643
00644 void VisualizationFrame::onToolClicked( wxCommandEvent& event )
00645 {
00646 int id = event.GetId();
00647 if (id >= toolbar_items::Count)
00648 {
00649 Tool* tool = manager_->getTool( id - toolbar_items::Count );
00650
00651 manager_->setCurrentTool( tool );
00652 }
00653 else
00654 {
00655 switch (id)
00656 {
00657 default:
00658 break;
00659 }
00660 }
00661 }
00662
00663 void VisualizationFrame::onManagePlugins(wxCommandEvent& event)
00664 {
00665 PluginManagerDialog dialog(this, manager_->getPluginManager());
00666 dialog.ShowModal();
00667 }
00668
00669 void VisualizationFrame::onHelpWiki(wxCommandEvent& event)
00670 {
00671 wxLaunchDefaultBrowser(wxT("http://www.ros.org/wiki/rviz"));
00672 }
00673
00674 wxWindow* VisualizationFrame::getParentWindow()
00675 {
00676 return this;
00677 }
00678
00679 void VisualizationFrame::addPane(const std::string& name, wxWindow* panel)
00680 {
00681 aui_manager_->AddPane(panel, wxAuiPaneInfo().Float().BestSize(panel->GetSize()).Name(wxString::FromAscii(name.c_str())).Caption(wxString::FromAscii(name.c_str())).CloseButton(false).Show(false).Dockable(true).FloatingPosition(30,30));
00682 aui_manager_->Update();
00683 }
00684
00685 void VisualizationFrame::removePane(wxWindow* panel)
00686 {
00687 aui_manager_->DetachPane(panel);
00688 aui_manager_->Update();
00689 }
00690
00691 void VisualizationFrame::showPane(wxWindow* panel)
00692 {
00693 wxAuiPaneInfo& pane = aui_manager_->GetPane(panel);
00694
00695 if (pane.IsOk())
00696 {
00697 pane.Show(true);
00698 aui_manager_->Update();
00699 }
00700 }
00701
00702 void VisualizationFrame::closePane(wxWindow* panel)
00703 {
00704 wxAuiPaneInfo& pane = aui_manager_->GetPane(panel);
00705
00706 if (pane.IsOk())
00707 {
00708 pane.Show(false);
00709 aui_manager_->Update();
00710 }
00711 }
00712
00713 }
