CDisplayWindowPlots.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "gui-precomp.h"  // Precompiled headers

#include <mrpt/config.h>
#include <mrpt/gui/CDisplayWindowPlots.h>
#include <mrpt/system/os.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/utils/metaprogramming.h>
#include <mrpt/gui/WxSubsystem.h>
#include <mrpt/gui/WxUtils.h>

#include <mrpt/math/utils.h>

using namespace mrpt;
using namespace mrpt::gui;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace mrpt::system;
using namespace std;

#if MRPT_HAS_WXWIDGETS

BEGIN_EVENT_TABLE(CWindowDialogPlots, wxFrame)

END_EVENT_TABLE()

const long CWindowDialogPlots::ID_PLOT = wxNewId();
const long CWindowDialogPlots::ID_MENU_PRINT = wxNewId();
const long ID_MENUITEM1 = wxNewId();
const long ID_MENUITEM2 = wxNewId();

CWindowDialogPlots::CWindowDialogPlots(
        CDisplayWindowPlots* winPlots, WxSubsystem::CWXMainFrame* parent,
        wxWindowID id, const std::string& caption, wxSize initialSize)
        : m_winPlots(winPlots), m_mainFrame(parent), m_firstSubmenu(true)
{
        Create(
                parent, id, _U(caption.c_str()), wxDefaultPosition, initialSize,
                wxDEFAULT_FRAME_STYLE, _T("id"));

        SetClientSize(initialSize);

        wxIcon FrameIcon;
        FrameIcon.CopyFromBitmap(mrpt::gui::WxSubsystem::getMRPTDefaultIcon());
        SetIcon(FrameIcon);

        // Create the mpWindow object:
        m_plot = new mpWindow(this, ID_PLOT);
        m_plot->AddLayer(new mpScaleX());
        m_plot->AddLayer(new mpScaleY());
        m_plot->LockAspect(false);
        m_plot->EnableDoubleBuffer(true);

        m_plot->Fit(-10, 10, -10, 10);

        // Menu:
        wxMenuBar* MenuBar1 = new wxMenuBar();

        wxMenu* Menu1 = new wxMenu();
        wxMenuItem* MenuItem1 =
                new wxMenuItem(Menu1, ID_MENUITEM1, _("Close"), _(""), wxITEM_NORMAL);
        Menu1->Append(MenuItem1);

        wxMenuItem* MenuItemPrint = new wxMenuItem(
                Menu1, ID_MENU_PRINT, _("Print..."), _(""), wxITEM_NORMAL);
        Menu1->Append(MenuItemPrint);

        MenuBar1->Append(Menu1, _("&File"));

        wxMenu* Menu2 = new wxMenu();
        wxMenuItem* MenuItem2 = new wxMenuItem(
                Menu2, ID_MENUITEM2, _("About..."), _(""), wxITEM_NORMAL);
        Menu2->Append(MenuItem2);
        MenuBar1->Append(Menu2, _("&Help"));

        SetMenuBar(MenuBar1);

        // Events:
        Connect(
                wxID_ANY, wxEVT_CLOSE_WINDOW,
                (wxObjectEventFunction)&CWindowDialogPlots::OnClose);
        Connect(
                ID_MENUITEM1, wxEVT_COMMAND_MENU_SELECTED,
                (wxObjectEventFunction)&CWindowDialogPlots::OnMenuClose);
        Connect(
                ID_MENU_PRINT, wxEVT_COMMAND_MENU_SELECTED,
                (wxObjectEventFunction)&CWindowDialogPlots::OnMenuPrint);
        Connect(
                ID_MENUITEM2, wxEVT_COMMAND_MENU_SELECTED,
                (wxObjectEventFunction)&CWindowDialogPlots::OnMenuAbout);

        Connect(
                wxID_ANY, wxEVT_SIZE,
                (wxObjectEventFunction)&CWindowDialogPlots::OnResize);

        Connect(
                wxID_ANY, wxEVT_CHAR,
                (wxObjectEventFunction)&CWindowDialogPlots::OnChar);
        m_plot->Connect(
                wxEVT_CHAR, (wxObjectEventFunction)&CWindowDialogPlots::OnChar, 0,
                this);
        m_plot->Connect(
                wxEVT_MOTION, (wxObjectEventFunction)&CWindowDialogPlots::OnMouseMove,
                0, this);

        m_plot->Connect(
                wxEVT_LEFT_DOWN,
                (wxObjectEventFunction)&CWindowDialogPlots::OnMouseDown, nullptr, this);
        m_plot->Connect(
                wxEVT_RIGHT_DOWN,
                (wxObjectEventFunction)&CWindowDialogPlots::OnMouseDown, nullptr, this);

        // Increment number of windows:
        // int winCount =
        WxSubsystem::CWXMainFrame::notifyWindowCreation();
// cout << "[CWindowDialogPlots] Notifying new window: " << winCount << endl;

// this->Iconize(false);

#if 0
        // JL: TEST CODE: This is the seed of the future new implementation based on wxFreeChart...
        double data[][2] = {
                        { 10, 20, },
                        { 13, 16, },
                        { 7, 30, },
                        { 15, 34, },
                        { 25, 4, },
        };
        // first step: create plot
        XYPlot *plot = new XYPlot();
        // create dataset
        XYSimpleDataset *dataset = new XYSimpleDataset();
        // and add serie to it
        dataset->AddSerie((double *) data, WXSIZEOF(data));
        // set line renderer to dataset
        dataset->SetRenderer(new XYLineRenderer());
        // add our dataset to plot
        plot->AddDataset(dataset);
        // create left and bottom number axes
        NumberAxis *leftAxis = new NumberAxis(AXIS_LEFT);
        NumberAxis *bottomAxis = new NumberAxis(AXIS_BOTTOM);
        // optional: set axis titles
        leftAxis->SetTitle(wxT("X"));
        bottomAxis->SetTitle(wxT("Y"));
        // add axes to plot
        plot->AddAxis(leftAxis);
        plot->AddAxis(bottomAxis);
        // link axes and dataset
        plot->LinkDataVerticalAxis(0, 0);
        plot->LinkDataHorizontalAxis(0, 0);
        // and finally create chart
        Chart* chart = new Chart(plot, wxT("my title"));
        wxChartPanel *m_chartPanel = new wxChartPanel( this ); //, ID_PLOT );
        m_chartPanel->SetChart( chart );
#endif
}

// Destructor
CWindowDialogPlots::~CWindowDialogPlots() {}
// OnClose event:
void CWindowDialogPlots::OnClose(wxCloseEvent& event)
{
        // Send the event:
        bool allow_close = true;
        try
        {
                mrptEventWindowClosed ev(m_winPlots, true /* allow close */);
                m_winPlots->publishEvent(ev);
                allow_close = ev.allow_close;
        }
        catch (...)
        {
        }
        if (!allow_close) return;  // Don't process this close event.

        // Set the m_hwnd=nullptr in our parent object.
        m_winPlots->notifyChildWindowDestruction();

        // Decrement number of windows:
        WxSubsystem::CWXMainFrame::notifyWindowDestruction();

        // Signal we are destroyed:
        m_winPlots->m_windowDestroyed.set_value();

        event.Skip();  // keep processing by parent classes.
}

void CWindowDialogPlots::OnChar(wxKeyEvent& event)
{
        if (m_winPlots)
        {
                const int code = event.GetKeyCode();
                const mrptKeyModifier mod = mrpt::gui::keyEventToMrptKeyModifier(event);

                m_winPlots->m_keyPushedCode = code;
                m_winPlots->m_keyPushedModifier = mod;
                m_winPlots->m_keyPushed = true;
                // Send the event:
                try
                {
                        m_winPlots->publishEvent(
                                mrptEventWindowChar(m_winPlots, code, mod));
                }
                catch (...)
                {
                }
        }
        event.Skip();
}

void CWindowDialogPlots::OnResize(wxSizeEvent& event)
{
        // Send the event:
        if (m_winPlots)
        {
                try
                {
                        m_winPlots->publishEvent(
                                mrptEventWindowResize(
                                        m_winPlots, event.GetSize().GetWidth(),
                                        event.GetSize().GetHeight()));
                }
                catch (...)
                {
                }
        }
        event.Skip();  // so it's processed by the wx system!
}

void CWindowDialogPlots::OnMouseDown(wxMouseEvent& event)
{
        // Send the event:
        if (m_winPlots)
        {
                try
                {
                        m_winPlots->publishEvent(
                                mrptEventMouseDown(
                                        m_winPlots, TPixelCoord(event.GetX(), event.GetY()),
                                        event.LeftDown(), event.RightDown()));
                }
                catch (...)
                {
                }
        }
        event.Skip();  // so it's processed by the wx system!
}

// Menu: Close
void CWindowDialogPlots::OnMenuClose(wxCommandEvent& event) { Close(); }
// Menu: Print
void CWindowDialogPlots::OnMenuPrint(wxCommandEvent& event)
{
        m_plot->ShowPrintDialog();
}
// Menu: About
void CWindowDialogPlots::OnMenuAbout(wxCommandEvent& event)
{
        ::wxMessageBox(
                _("Plot viewer\n Class gui::CDisplayWindowPlots\n MRPT C++ & "
                  "wxMathPlot library"),
                _("About..."));
}

void CWindowDialogPlots::OnMenuSelected(wxCommandEvent& ev)
{
        std::map<long, long>::const_iterator it = m_ID2ID.find(ev.GetId());
        if (it != m_ID2ID.end())
        {
                if (m_winPlots && m_winPlots->m_callback)
                        m_winPlots->m_callback(
                                it->second, m_curCursorPos.x, m_curCursorPos.y,
                                m_winPlots->m_callback_param);
        }
}

void CWindowDialogPlots::OnMouseMove(wxMouseEvent& event)
{
        int X, Y;
        event.GetPosition(&X, &Y);
        m_curCursorPos.x = m_plot->p2x(X);
        m_curCursorPos.y = m_plot->p2y(Y);
        m_last_mouse_point.x = X;
        m_last_mouse_point.y = Y;

        // Send the event:
        if (m_winPlots && m_winPlots->hasSubscribers())
        {
                try
                {
                        m_winPlots->publishEvent(
                                mrptEventMouseMove(
                                        m_winPlots, TPixelCoord(event.GetX(), event.GetY()),
                                        event.LeftDown(), event.RightDown()));
                }
                catch (...)
                {
                }
        }
        event.Skip();  // so it's processed by the wx system!
}

// Add / Modify a 2D plot using a MATLAB-like format string
void CWindowDialogPlots::plot(
        const CVectorFloat& x, const CVectorFloat& y, const std::string& lineFormat,
        const std::string& plotName)
{
        mpFXYVector* theLayer;

        wxString lyName = _U(plotName.c_str());
        bool updateAtTheEnd = false;  // If we update an existing layer, update
        // manually to refresh the changes!

        // Already existing layer?
        mpLayer* existingLy = m_plot->GetLayerByName(lyName);

        if (existingLy)
        {
                // Assure the class:
                mpFXYVector* lyPlot2D = static_cast<mpFXYVector*>(existingLy);

                if (!lyPlot2D)
                {
                        cerr << "[CWindowDialogPlots::plot] Plot name '" << plotName
                                 << "' is not of expected class mpFXYVector!." << endl;
                        return;
                }

                // Ok:
                theLayer = lyPlot2D;
                updateAtTheEnd = true;
        }
        else
        {
                // Create it:
                theLayer = new mpFXYVector(lyName);
                m_plot->AddLayer(theLayer);
        }

        // Set data:
        {
                std::vector<float> x_(x.size()), y_(x.size());
                ::memcpy(&x_[0], &x[0], sizeof(x[0]) * x_.size());
                ::memcpy(&y_[0], &y[0], sizeof(y[0]) * y_.size());
                theLayer->SetData(x_, y_);
        }

        // Line style:
        // -------------------
        bool isContinuous = true;
        int lineColor[] = {0, 0, 255};
        int lineWidth = 1;
        int lineStyle = wxSOLID;

        // parse string:
        if (string::npos != lineFormat.find("."))
        {
                isContinuous = false;
        }
        if (string::npos != lineFormat.find("-"))
        {
                isContinuous = true;
                lineStyle = wxSOLID;
        }
        if (string::npos != lineFormat.find(":"))
        {
                isContinuous = true;
                lineStyle = wxLONG_DASH;
        }

        if (string::npos != lineFormat.find("r"))
        {
                lineColor[0] = 0xFF;
                lineColor[1] = 0x00;
                lineColor[2] = 0x00;
        }
        if (string::npos != lineFormat.find("g"))
        {
                lineColor[0] = 0x00;
                lineColor[1] = 0xFF;
                lineColor[2] = 0x00;
        }
        if (string::npos != lineFormat.find("b"))
        {
                lineColor[0] = 0x00;
                lineColor[1] = 0x00;
                lineColor[2] = 0xFF;
        }
        if (string::npos != lineFormat.find("k"))
        {
                lineColor[0] = 0x00;
                lineColor[1] = 0x00;
                lineColor[2] = 0x00;
        }
        if (string::npos != lineFormat.find("m"))
        {
                lineColor[0] = 192;
                lineColor[1] = 0;
                lineColor[2] = 192;
        }
        if (string::npos != lineFormat.find("c"))
        {
                lineColor[0] = 0;
                lineColor[1] = 192;
                lineColor[2] = 192;
        }

        if (string::npos != lineFormat.find("1"))
        {
                lineWidth = 1;
        }
        if (string::npos != lineFormat.find("2"))
        {
                lineWidth = 2;
        }
        if (string::npos != lineFormat.find("3"))
        {
                lineWidth = 3;
        }
        if (string::npos != lineFormat.find("4"))
        {
                lineWidth = 4;
        }
        if (string::npos != lineFormat.find("5"))
        {
                lineWidth = 5;
        }
        if (string::npos != lineFormat.find("6"))
        {
                lineWidth = 6;
        }
        if (string::npos != lineFormat.find("7"))
        {
                lineWidth = 7;
        }
        if (string::npos != lineFormat.find("8"))
        {
                lineWidth = 8;
        }
        if (string::npos != lineFormat.find("9"))
        {
                lineWidth = 9;
        }

        theLayer->SetContinuity(isContinuous);

        wxPen pen(
                wxColour(lineColor[0], lineColor[1], lineColor[2]), lineWidth,
                lineStyle);
        theLayer->SetPen(pen);

        theLayer->ShowName(false);

        if (updateAtTheEnd) m_plot->Refresh(false);
}

// Add / Modify a 2D ellipse
// x[0,1]: Mean
// y[0,1,2]: Covariance matrix (0,0),(1,1),(0,1)
void CWindowDialogPlots::plotEllipse(
        const CVectorFloat& x, const CVectorFloat& y, const std::string& lineFormat,
        const std::string& plotName, bool showName)
{
        mpCovarianceEllipse* theLayer;

        if (x.size() != 3 || y.size() != 3)
        {
                cerr << "[CWindowDialogPlots::plotEllipse] vectors do not have "
                                "expected size!!"
                         << endl;
                return;
        }

        wxString lyName = _U(plotName.c_str());
        bool updateAtTheEnd = false;  // If we update an existing layer, update
        // manually to refresh the changes!

        // Already existing layer?
        mpLayer* existingLy = m_plot->GetLayerByName(lyName);

        if (existingLy)
        {
                // Assure the class:
                mpCovarianceEllipse* lyPlotEllipse =
                        static_cast<mpCovarianceEllipse*>(existingLy);

                if (!lyPlotEllipse)
                {
                        cerr << "[CWindowDialogPlots::plotEllipse] Plot name '" << plotName
                                 << "' is not of expected class mpCovarianceEllipse!." << endl;
                        return;
                }

                // Ok:
                theLayer = lyPlotEllipse;
                updateAtTheEnd = true;
        }
        else
        {
                // Create it:
                theLayer = new mpCovarianceEllipse(1, 1, 0, 2, 32, lyName);
                m_plot->AddLayer(theLayer);
        }

        // Set data:
        theLayer->SetCovarianceMatrix(y[0], y[2], y[1]);
        theLayer->SetCoordinateBase(x[0], x[1]);
        theLayer->SetQuantiles(x[2]);
        theLayer->ShowName(showName);

        // Line style:
        // -------------------
        bool isContinuous = true;
        int lineColor[] = {0, 0, 255};
        int lineWidth = 1;
        int lineStyle = wxSOLID;

        // parse string:
        if (string::npos != lineFormat.find("."))
        {
                isContinuous = false;
        }
        if (string::npos != lineFormat.find("-"))
        {
                isContinuous = true;
                lineStyle = wxSOLID;
        }
        if (string::npos != lineFormat.find(":"))
        {
                isContinuous = true;
                lineStyle = wxLONG_DASH;
        }

        if (string::npos != lineFormat.find("r"))
        {
                lineColor[0] = 0xFF;
                lineColor[1] = 0x00;
                lineColor[2] = 0x00;
        }
        if (string::npos != lineFormat.find("g"))
        {
                lineColor[0] = 0x00;
                lineColor[1] = 0xFF;
                lineColor[2] = 0x00;
        }
        if (string::npos != lineFormat.find("b"))
        {
                lineColor[0] = 0x00;
                lineColor[1] = 0x00;
                lineColor[2] = 0xFF;
        }
        if (string::npos != lineFormat.find("k"))
        {
                lineColor[0] = 0x00;
                lineColor[1] = 0x00;
                lineColor[2] = 0x00;
        }
        if (string::npos != lineFormat.find("m"))
        {
                lineColor[0] = 192;
                lineColor[1] = 0;
                lineColor[2] = 192;
        }
        if (string::npos != lineFormat.find("c"))
        {
                lineColor[0] = 0;
                lineColor[1] = 192;
                lineColor[2] = 192;
        }

        if (string::npos != lineFormat.find("1"))
        {
                lineWidth = 1;
        }
        if (string::npos != lineFormat.find("2"))
        {
                lineWidth = 2;
        }
        if (string::npos != lineFormat.find("3"))
        {
                lineWidth = 3;
        }
        if (string::npos != lineFormat.find("4"))
        {
                lineWidth = 4;
        }
        if (string::npos != lineFormat.find("5"))
        {
                lineWidth = 5;
        }
        if (string::npos != lineFormat.find("6"))
        {
                lineWidth = 6;
        }
        if (string::npos != lineFormat.find("7"))
        {
                lineWidth = 7;
        }
        if (string::npos != lineFormat.find("8"))
        {
                lineWidth = 8;
        }
        if (string::npos != lineFormat.find("9"))
        {
                lineWidth = 9;
        }

        theLayer->SetContinuity(isContinuous);

        wxPen pen(
                wxColour(lineColor[0], lineColor[1], lineColor[2]), lineWidth,
                lineStyle);
        theLayer->SetPen(pen);

        if (updateAtTheEnd) m_plot->Refresh(false);
}

void CWindowDialogPlots::image(
        void* theWxImage, const float& x0, const float& y0, const float& w,
        const float& h, const std::string& plotName)
{
        mpBitmapLayer* theLayer;

        wxString lyName = _U(plotName.c_str());
        bool updateAtTheEnd = false;  // If we update an existing layer, update
        // manually to refresh the changes!

        // Already existing layer?
        mpLayer* existingLy = m_plot->GetLayerByName(lyName);

        if (existingLy)
        {
                // Assure the class:
                mpBitmapLayer* ly = static_cast<mpBitmapLayer*>(existingLy);

                if (!ly)
                {
                        cerr << "[CWindowDialogPlots::image] Plot name '" << plotName
                                 << "' is not of expected class mpBitmapLayer!." << endl;
                        return;
                }

                // Ok:
                theLayer = ly;
                updateAtTheEnd = true;
        }
        else
        {
                // Create it:
                theLayer = new mpBitmapLayer();
                m_plot->AddLayer(theLayer);
        }

        // Set data:
        wxImage* ii = static_cast<wxImage*>(theWxImage);
        theLayer->SetBitmap(*ii, x0, y0, w, h);

        delete ii;
        theWxImage = nullptr;

        if (updateAtTheEnd) m_plot->Refresh();
}

#endif

CDisplayWindowPlots::Ptr CDisplayWindowPlots::Create(
        const std::string& windowCaption, unsigned int initialWindowWidth,
        unsigned int initialWindowHeight)
{
        return CDisplayWindowPlots::Ptr(
                new CDisplayWindowPlots(
                        windowCaption, initialWindowWidth, initialWindowHeight));
}
/*---------------------------------------------------------------
                                        Constructor
 ---------------------------------------------------------------*/
CDisplayWindowPlots::CDisplayWindowPlots(
        const std::string& windowCaption, unsigned int initialWidth,
        unsigned int initialHeight)
        : CBaseGUIWindow(static_cast<void*>(this), 400, 499, windowCaption),
          m_holdon(false),
          m_holdon_just_disabled(false),
          m_holdon_cnt(0),
          m_callback(nullptr),
          m_callback_param(nullptr)
{
        CBaseGUIWindow::createWxWindow(initialWidth, initialHeight);
}

/*---------------------------------------------------------------
                                        Destructor
 ---------------------------------------------------------------*/
CDisplayWindowPlots::~CDisplayWindowPlots()
{
        CBaseGUIWindow::destroyWxWindow();
}

/** Set cursor style to default (cursorIsCross=false) or to a cross
 * (cursorIsCross=true) */
void CDisplayWindowPlots::setCursorCross(bool cursorIsCross)
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        const CWindowDialogPlots* win = (const CWindowDialogPlots*)m_hwnd.get();
        if (!win) return;
        win->m_plot->SetCursor(
                *(cursorIsCross ? wxCROSS_CURSOR : wxSTANDARD_CURSOR));
#else
        MRPT_UNUSED_PARAM(cursorIsCross);
#endif
}

/*---------------------------------------------------------------
                                        getLastMousePosition
 ---------------------------------------------------------------*/
bool CDisplayWindowPlots::getLastMousePosition(int& x, int& y) const
{
#if MRPT_HAS_WXWIDGETS && MRPT_HAS_OPENGL_GLUT
        const CWindowDialogPlots* win = (const CWindowDialogPlots*)m_hwnd.get();
        if (!win) return false;
        x = win->m_last_mouse_point.x;
        y = win->m_last_mouse_point.y;
        return true;
#else
        MRPT_UNUSED_PARAM(x);
        MRPT_UNUSED_PARAM(y);
        return false;
#endif
}

/*---------------------------------------------------------------
                                        resize
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::resize(unsigned int width, unsigned int height)
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen())
        {
                cerr << "[CDisplayWindowPlots::resize] Window closed!: " << m_caption
                         << endl;
                return;
        }

        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 403;
        REQ->x = width;
        REQ->y = height;
        WxSubsystem::pushPendingWxRequest(REQ);
#else
        MRPT_UNUSED_PARAM(width);
        MRPT_UNUSED_PARAM(height);
#endif
}

/*---------------------------------------------------------------
                                        setPos
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::setPos(int x, int y)
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen())
        {
                cerr << "[CDisplayWindowPlots::setPos] Window closed!: " << m_caption
                         << endl;
                return;
        }

        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 402;
        REQ->x = x;
        REQ->y = y;
        WxSubsystem::pushPendingWxRequest(REQ);
#else
        MRPT_UNUSED_PARAM(x);
        MRPT_UNUSED_PARAM(y);
#endif
}

/*---------------------------------------------------------------
                                        setWindowTitle
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::setWindowTitle(const std::string& str)
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen())
        {
                cerr << "[CDisplayWindowPlots::setWindowTitle] Window closed!: "
                         << m_caption << endl;
                return;
        }

        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 404;
        REQ->str = str;
        WxSubsystem::pushPendingWxRequest(REQ);
#else
        MRPT_UNUSED_PARAM(str);
#endif
}

/*---------------------------------------------------------------
                                        enableMousePanZoom
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::enableMousePanZoom(bool enabled)
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen()) return;

        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 410;
        REQ->boolVal = enabled;
        WxSubsystem::pushPendingWxRequest(REQ);
#else
        MRPT_UNUSED_PARAM(enabled);
#endif
}

/*---------------------------------------------------------------
                                        axis_equal
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::axis_equal(bool enabled)
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen()) return;

        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 411;
        REQ->boolVal = enabled;
        WxSubsystem::pushPendingWxRequest(REQ);
#else
        MRPT_UNUSED_PARAM(enabled);
#endif
}

/*---------------------------------------------------------------
                                        axis
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::axis(
        float x_min, float x_max, float y_min, float y_max, bool aspectRatioFix)
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen()) return;

        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 412;
        REQ->vector_x.resize(2);
        REQ->vector_x[0] = x_min;
        REQ->vector_x[1] = x_max;
        REQ->vector_y.resize(2);
        REQ->vector_y[0] = y_min;
        REQ->vector_y[1] = y_max;
        REQ->boolVal = aspectRatioFix;
        WxSubsystem::pushPendingWxRequest(REQ);
#else
        MRPT_UNUSED_PARAM(x_min);
        MRPT_UNUSED_PARAM(x_max);
        MRPT_UNUSED_PARAM(y_min);
        MRPT_UNUSED_PARAM(y_max);
        MRPT_UNUSED_PARAM(aspectRatioFix);
#endif
}

/*---------------------------------------------------------------
                                        axis_fit
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::axis_fit(bool aspectRatioFix)
{
#if MRPT_HAS_WXWIDGETS
        if (!isOpen()) return;

        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 413;
        REQ->boolVal = aspectRatioFix;
        WxSubsystem::pushPendingWxRequest(REQ);
#else
        MRPT_UNUSED_PARAM(aspectRatioFix);
#endif
}

/*---------------------------------------------------------------
                                        plotEllipse
 ---------------------------------------------------------------*/
template <typename T>
void CDisplayWindowPlots::plotEllipse(
        const T mean_x, const T mean_y, const CMatrixTemplateNumeric<T>& cov22,
        const float quantiles, const std::string& lineFormat,
        const std::string& plotName, bool showName)
{
#if MRPT_HAS_WXWIDGETS
        MRPT_START
        if (!isOpen()) return;

        ASSERT_(cov22.getColCount() == 2 && cov22.getRowCount() == 2);
        ASSERT_(cov22(0, 0) >= 0);
        ASSERT_(cov22(1, 1) >= 0);
        ASSERT_(cov22(0, 1) == cov22(1, 0));

        if (m_holdon_just_disabled)
        {
                m_holdon_just_disabled = false;
                this->clf();
        }
        std::string holdon_post;
        if (m_holdon)
                holdon_post =
                        format("_fig_%u", static_cast<unsigned int>(m_holdon_cnt++));

        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 421;
        // 421: Add/update a 2D ellipse: format string=str, plot name =plotName,
        // vector_x[0,1]:X/Y center,  vector_y[0,1,2]: Covariance matrix entries
        // 00,11,01.
        REQ->str = lineFormat;
        REQ->plotName = plotName + holdon_post;

        REQ->vector_x.resize(3);
        REQ->vector_x[0] = mean_x;
        REQ->vector_x[1] = mean_y;
        REQ->vector_x[2] = quantiles;

        REQ->vector_y.resize(3);
        REQ->vector_y[0] = cov22(0, 0);
        REQ->vector_y[1] = cov22(1, 1);
        REQ->vector_y[2] = cov22(0, 1);

        REQ->boolVal = showName;

        WxSubsystem::pushPendingWxRequest(REQ);
        MRPT_END
#else
        MRPT_UNUSED_PARAM(mean_x);
        MRPT_UNUSED_PARAM(mean_y);
        MRPT_UNUSED_PARAM(cov22);
        MRPT_UNUSED_PARAM(quantiles);
        MRPT_UNUSED_PARAM(lineFormat);
        MRPT_UNUSED_PARAM(plotName);
        MRPT_UNUSED_PARAM(showName);
#endif
}

// Explicit instantations:
template void CDisplayWindowPlots::plotEllipse(
        const float mean_x, const float mean_y,
        const CMatrixTemplateNumeric<float>& cov22, const float quantiles,
        const std::string& lineFormat, const std::string& plotName, bool showName);
template void CDisplayWindowPlots::plotEllipse(
        const double mean_x, const double mean_y,
        const CMatrixTemplateNumeric<double>& cov22, const float quantiles,
        const std::string& lineFormat, const std::string& plotName, bool showName);

/*---------------------------------------------------------------
                                        plotEllipse
 ---------------------------------------------------------------*/
template <typename T>
void CDisplayWindowPlots::plotEllipse(
        const T mean_x, const T mean_y, const CMatrixFixedNumeric<T, 2, 2>& cov22,
        const float quantiles, const std::string& lineFormat,
        const std::string& plotName, bool showName)
{
#if MRPT_HAS_WXWIDGETS
        MRPT_START
        if (!isOpen()) return;

        ASSERT_(cov22(0, 0) >= 0);
        ASSERT_(cov22(1, 1) >= 0);
        ASSERT_(cov22(0, 1) == cov22(1, 0));

        if (m_holdon_just_disabled)
        {
                m_holdon_just_disabled = false;
                this->clf();
        }
        std::string holdon_post;
        if (m_holdon)
                holdon_post =
                        format("_fig_%u", static_cast<unsigned int>(m_holdon_cnt++));

        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 421;
        // 421: Add/update a 2D ellipse: format string=str, plot name =plotName,
        // vector_x[0,1]:X/Y center,  vector_y[0,1,2]: Covariance matrix entries
        // 00,11,01.
        REQ->str = lineFormat;
        REQ->plotName = plotName + holdon_post;

        REQ->vector_x.resize(3);
        REQ->vector_x[0] = mean_x;
        REQ->vector_x[1] = mean_y;
        REQ->vector_x[2] = quantiles;

        REQ->vector_y.resize(3);
        REQ->vector_y[0] = cov22(0, 0);
        REQ->vector_y[1] = cov22(1, 1);
        REQ->vector_y[2] = cov22(0, 1);

        REQ->boolVal = showName;

        WxSubsystem::pushPendingWxRequest(REQ);
        MRPT_END
#else
        MRPT_UNUSED_PARAM(mean_x);
        MRPT_UNUSED_PARAM(mean_y);
        MRPT_UNUSED_PARAM(cov22);
        MRPT_UNUSED_PARAM(quantiles);
        MRPT_UNUSED_PARAM(lineFormat);
        MRPT_UNUSED_PARAM(plotName);
        MRPT_UNUSED_PARAM(showName);
#endif
}

// Explicit instantations:
template void CDisplayWindowPlots::plotEllipse(
        const float mean_x, const float mean_y,
        const CMatrixFixedNumeric<float, 2, 2>& cov22, const float quantiles,
        const std::string& lineFormat, const std::string& plotName, bool showName);
template void CDisplayWindowPlots::plotEllipse(
        const double mean_x, const double mean_y,
        const CMatrixFixedNumeric<double, 2, 2>& cov22, const float quantiles,
        const std::string& lineFormat, const std::string& plotName, bool showName);

/*---------------------------------------------------------------
                                        image
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::image(
        const utils::CImage& img, const float& x_left, const float& y_bottom,
        const float& x_width, const float& y_height, const std::string& plotName)
{
#if MRPT_HAS_WXWIDGETS
        MRPT_START
        if (!isOpen()) return;

        if (m_holdon_just_disabled)
        {
                m_holdon_just_disabled = false;
                this->clf();
        }
        std::string holdon_post;
        if (m_holdon)
                holdon_post =
                        format("_fig_%u", static_cast<unsigned int>(m_holdon_cnt++));

        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 422;

        // 422: Add/update a bitmap: plot name =plotName, vector_x[0,1]:X/Y corner,
        // vector_x[2,3]: X/Y widths, voidPtr2: pointer to a newly created wxImage
        // with the bitmap.
        REQ->plotName = plotName + holdon_post;

        REQ->vector_x.resize(4);
        REQ->vector_x[0] = x_left;
        REQ->vector_x[1] = y_bottom;
        REQ->vector_x[2] = x_width;
        REQ->vector_x[3] = y_height;

        REQ->voidPtr2 = mrpt::gui::MRPTImage2wxImage(img);

        WxSubsystem::pushPendingWxRequest(REQ);
        MRPT_END
#else
        MRPT_UNUSED_PARAM(img);
        MRPT_UNUSED_PARAM(x_left);
        MRPT_UNUSED_PARAM(y_bottom);
        MRPT_UNUSED_PARAM(x_width);
        MRPT_UNUSED_PARAM(y_height);
        MRPT_UNUSED_PARAM(plotName);
#endif
}

/*---------------------------------------------------------------
                                        internal_plot
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::internal_plot(
        CVectorFloat& x, CVectorFloat& y, const std::string& lineFormat,
        const std::string& plotName)
{
#if MRPT_HAS_WXWIDGETS
        MRPT_START
        if (!isOpen()) return;

        ASSERT_EQUAL_(x.size(), y.size());

        if (m_holdon_just_disabled)
        {
                m_holdon_just_disabled = false;
                this->clf();
        }

        if (x.empty()) return;

        std::string holdon_post;
        if (m_holdon)
                holdon_post =
                        format("_fig_%u", static_cast<unsigned int>(m_holdon_cnt++));

        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 420;
        REQ->str = lineFormat;
        REQ->plotName = plotName + holdon_post;
        REQ->vector_x.swap(x);
        REQ->vector_y.swap(y);

        WxSubsystem::pushPendingWxRequest(REQ);
        MRPT_END
#else
        MRPT_UNUSED_PARAM(x);
        MRPT_UNUSED_PARAM(y);
        MRPT_UNUSED_PARAM(lineFormat);
        MRPT_UNUSED_PARAM(plotName);
#endif
}

/*---------------------------------------------------------------
                                        clear
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::clear()
{
        MRPT_START
#if MRPT_HAS_WXWIDGETS
        if (!isOpen()) return;

        // Send a request to destroy this object:
        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 414;

        // 414: Clear all plot objects.

        WxSubsystem::pushPendingWxRequest(REQ);
#endif
        MRPT_END
}

/*---------------------------------------------------------------
                                        hold_on
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::hold_on() { m_holdon = true; }
/*---------------------------------------------------------------
                                        hold_off
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::hold_off()
{
        if (m_holdon)
        {
                m_holdon = false;
                m_holdon_just_disabled = true;
        }
}

/*---------------------------------------------------------------
                                        addPopupMenuEntry
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::addPopupMenuEntry(
        const std::string& label, int menuID)
{
#if MRPT_HAS_WXWIDGETS
        MRPT_START
        if (!isOpen()) return;

        WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
        REQ->sourcePlots = this;
        REQ->OPCODE = 440;
        REQ->plotName = label;
        REQ->x = menuID;
        // 440: Inser submenu in the popup menu.

        WxSubsystem::pushPendingWxRequest(REQ);
        MRPT_END
#else
        MRPT_UNUSED_PARAM(label);
        MRPT_UNUSED_PARAM(menuID);
#endif
}

/*---------------------------------------------------------------
                                        setMenuCallback
 ---------------------------------------------------------------*/
void CDisplayWindowPlots::setMenuCallback(
        TCallbackMenu userFunction, void* userParam)
{
        ASSERT_(userFunction != nullptr)
        m_callback = userFunction;
        m_callback_param = userParam;
}