WxSubsystem.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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/CDisplayWindow.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/gui/CDisplayWindowPlots.h>

#include <mrpt/system/os.h>

#include <mrpt/gui/WxSubsystem.h>
#include <mrpt/gui/WxUtils.h>

//#define  WXSUBSYSTEM_VERBOSE

// ------------------------------------------------------------------------
// Defined: Try to wait for all windows & the thread to exit cleanly.
// Undefined: Just to a std::this_thread::sleep_for(ms) and quit crossing our
// fingers.
//
//  Problem with the "clean way" is: As of feb/2011, I get this error
//   at the end:
//  ** (MRPT:11711): CRITICAL **: giop_thread_request_push: assertion `tdata !=
//  NULL' failed
// ------------------------------------------------------------------------
//#define WXSHUTDOWN_DO_IT_CLEAN

#if MRPT_HAS_WXWIDGETS

using namespace mrpt;
using namespace mrpt::gui;
using namespace std;

std::mutex WxSubsystem::CWXMainFrame::cs_windowCount;
int WxSubsystem::CWXMainFrame::m_windowCount = 0;

std::queue<WxSubsystem::TRequestToWxMainThread*>*
    WxSubsystem::listPendingWxRequests = nullptr;
std::mutex* WxSubsystem::cs_listPendingWxRequests = nullptr;

volatile WxSubsystem::CWXMainFrame* WxSubsystem::CWXMainFrame::oneInstance =
    nullptr;
bool isConsoleApp_value = true;
bool WxSubsystem::isConsoleApp() { return isConsoleApp_value; }
WxSubsystem::CAuxWxSubsystemShutdowner WxSubsystem::global_wxsubsystem_shutdown;

// Auxiliary class implementation:
WxSubsystem::CAuxWxSubsystemShutdowner::CAuxWxSubsystemShutdowner() {}
WxSubsystem::CAuxWxSubsystemShutdowner::~CAuxWxSubsystemShutdowner()
{
    if (WxSubsystem::isConsoleApp())
    {
#ifdef WXSUBSYSTEM_VERBOSE
        printf("[~CAuxWxSubsystemShutdowner] Sending 999...\n");
#endif
        // Shut down:
        try
        {
            WxSubsystem::TRequestToWxMainThread* REQ =
                new WxSubsystem::TRequestToWxMainThread[1];
            REQ->OPCODE = 999;
            WxSubsystem::pushPendingWxRequest(REQ);

            // std::this_thread::sleep_for(100ms); // JL: I found no better way
            // of doing this, sorry :-(  See
            // WxSubsystem::waitWxShutdownsIfNoWindows()
            WxSubsystem::waitWxShutdownsIfNoWindows();
        }
        catch (...)
        {
        }  // Just in case we got an out-of-mem error.
    }  // is console app.

#ifdef WXSUBSYSTEM_VERBOSE
    printf("[~CAuxWxSubsystemShutdowner] Deleting static objects.\n");
#endif
    // This is the final point where all dynamic memory must be deleted:
    // delete &WxSubsystem::GetWxMainThreadInstance(); // may cause crashes at
    // app end...
    delete WxSubsystem::listPendingWxRequests;
    delete WxSubsystem::cs_listPendingWxRequests;
}

// ---------------------------------------------------------------------------------------
// Auxiliary dialog class for the "ask user to open a camera":
// ---------------------------------------------------------------------------------------
class CDialogAskUserForCamera : public wxDialog
{
   public:
    mrpt::gui::CPanelCameraSelection* panel;

    static const long ID_BTN_OK;
    static const long ID_BTN_CANCEL;

    CDialogAskUserForCamera()
        : wxDialog(
              nullptr, wxID_ANY, wxT("Select image source"), wxDefaultPosition,
              wxDefaultSize, wxDEFAULT_DIALOG_STYLE, wxDialogNameStr)
    {
        wxFlexGridSizer* f1 = new wxFlexGridSizer(2, 1, 0, 0);
        panel = new mrpt::gui::CPanelCameraSelection(this, wxID_ANY);
        f1->Add(
            panel, 1, wxALL | wxALIGN_BOTTOM | wxALIGN_CENTER_HORIZONTAL, 5);

        wxFlexGridSizer* f2 = new wxFlexGridSizer(1, 2, 0, 0);
        wxButton* btnOk = new wxButton(
            this, ID_BTN_OK, wxT("Ok"), wxDefaultPosition, wxDefaultSize);
        wxButton* btnCancel = new wxButton(
            this, ID_BTN_CANCEL, wxT("Cancel"), wxDefaultPosition,
            wxDefaultSize);
        f1->Add(f2, 1, wxALL | wxALIGN_BOTTOM | wxALIGN_CENTER_HORIZONTAL, 5);

        f2->Add(
            btnOk, 1, wxALL | wxALIGN_BOTTOM | wxALIGN_CENTER_HORIZONTAL, 5);
        f2->Add(
            btnCancel, 1, wxALL | wxALIGN_BOTTOM | wxALIGN_CENTER_HORIZONTAL,
            5);

        Connect(
            ID_BTN_OK, wxEVT_COMMAND_BUTTON_CLICKED,
            (wxObjectEventFunction)&CDialogAskUserForCamera::OnBtnOk);
        Connect(
            ID_BTN_CANCEL, wxEVT_COMMAND_BUTTON_CLICKED,
            (wxObjectEventFunction)&CDialogAskUserForCamera::OnBtnCancel);

        SetSizer(f1);
        Fit();

        btnOk->SetFocus();  // So the default params can be accepted by just
        // pressing ENTER.
    }

    virtual ~CDialogAskUserForCamera() {}
    void OnBtnOk(wxCommandEvent& event) { EndModal(wxID_OK); }
    void OnBtnCancel(wxCommandEvent& event) { EndModal(wxID_CANCEL); }
};

const long CDialogAskUserForCamera::ID_BTN_OK = wxNewId();
const long CDialogAskUserForCamera::ID_BTN_CANCEL = wxNewId();

// ---------------------------------------------------------------------------------------
// The wx dummy frame:
// ---------------------------------------------------------------------------------------
BEGIN_EVENT_TABLE(WxSubsystem::CWXMainFrame, wxFrame)

END_EVENT_TABLE()

const long ID_TIMER_WX_PROCESS_REQUESTS = wxNewId();

WxSubsystem::CWXMainFrame::CWXMainFrame(wxWindow* parent, wxWindowID id)
{
    Create(
        parent, id, _("MRPT-dummy frame window"), wxDefaultPosition,
        wxSize(1, 1),
        0,  // wxDEFAULT_FRAME_STYLE,
        _T("id"));

    if (oneInstance)
    {
        cerr << "[CWXMainFrame] More than one instance running!" << endl;
    }
    oneInstance = this;

    // ------------------------------------------------------------------------------------------
    // Create a timer so requests from the main application thread can be
    // processed regularly:
    // ------------------------------------------------------------------------------------------
    Connect(
        ID_TIMER_WX_PROCESS_REQUESTS, wxEVT_TIMER,
        (wxObjectEventFunction)&CWXMainFrame::OnTimerProcessRequests);
    m_theTimer = new wxTimer(this, ID_TIMER_WX_PROCESS_REQUESTS);

    m_theTimer->Start(10, true);  // One-shot
}

WxSubsystem::CWXMainFrame::~CWXMainFrame()
{
#ifdef WXSUBSYSTEM_VERBOSE
    cout << "[CWXMainFrame] Destructor." << endl;
#endif
    delete m_theTimer;
    oneInstance = nullptr;

    // Purge all pending requests:
    TRequestToWxMainThread* msg;
    while (nullptr != (msg = popPendingWxRequest())) delete[] msg;
}

int WxSubsystem::CWXMainFrame::notifyWindowCreation()
{
    std::lock_guard<std::mutex> lock(cs_windowCount);
    return ++m_windowCount;
}

int WxSubsystem::CWXMainFrame::notifyWindowDestruction()
{
    int ret;
    {
        std::lock_guard<std::mutex> lock(cs_windowCount);
        ret = --m_windowCount;
    }

    if (ret == 0)
    {
        // That was the last window... we should close the wx subsystem:
        if (oneInstance)
        {
#ifdef WXSHUTDOWN_DO_IT_CLEAN
            CWXMainFrame* me =
                (CWXMainFrame*)(oneInstance);  // cast away the "volatile".
            me->Close();
#endif

#ifdef WXSUBSYSTEM_VERBOSE
            cout << "[CWXMainFrame::notifyWindowDestruction] numWindows=0. "
                    "me->Close() called."
                 << endl;
#endif
        }
    }

    return ret;
}

/** Thread-safe method to return the next pending request, or nullptr if there
 * is none (After usage, FREE the memory!)
 */
WxSubsystem::TRequestToWxMainThread* WxSubsystem::popPendingWxRequest()
{
    if (!cs_listPendingWxRequests)
    {
        cs_listPendingWxRequests = new std::mutex();
        listPendingWxRequests = new std::queue<TRequestToWxMainThread*>;
    }

    std::lock_guard<std::mutex> locker(*cs_listPendingWxRequests);

    // Is empty?
    if (listPendingWxRequests->empty()) return nullptr;

    TRequestToWxMainThread* ret = listPendingWxRequests->front();
    listPendingWxRequests->pop();  // Remove from the queue

    return ret;
}

/** Thread-safe method to insert a new pending request (The memory must be
 * dinamically allocated with "new T[1]", will be freed by receiver.)
 */
void WxSubsystem::pushPendingWxRequest(
    WxSubsystem::TRequestToWxMainThread* data)
{
    if (!WxSubsystem::CWXMainFrame::oneInstance)
    {
#ifdef WXSUBSYSTEM_VERBOSE
        cout << "[WxSubsystem::pushPendingWxRequest] IGNORING request since "
                "app seems already closed.\n";
#endif
        delete[] data;
        return;  // wx subsystem already closed, ignore.
    }

    if (!cs_listPendingWxRequests)
    {
        cs_listPendingWxRequests = new std::mutex();
        listPendingWxRequests = new std::queue<TRequestToWxMainThread*>;
    }

    std::lock_guard<std::mutex> locker(*cs_listPendingWxRequests);
    listPendingWxRequests->push(data);
}

/** This method processes the pending requests from the main MRPT application
 * thread.
 *  The requests may be to create a new window, close another one, change
 * title, etc...
 */
void WxSubsystem::CWXMainFrame::OnTimerProcessRequests(wxTimerEvent& event)
{
    bool app_closed = false;
    try
    {
        TRequestToWxMainThread* msg;

#ifdef WXSUBSYSTEM_VERBOSE
        cout << "[OnTimerProcessRequests] Entering" << endl;
#endif

        // For each pending request:
        while (nullptr != (msg = popPendingWxRequest()))
        {
            // Process it:
            switch (msg->OPCODE)
            {
                // CREATE NEW WINDOW
                case 200:
                    if (msg->source2D)
                    {
                        CWindowDialog* wnd = new CWindowDialog(
                            msg->source2D, this, (wxWindowID)-1, msg->str,
                            wxSize(msg->x, msg->y));

                        // Set the "m_hwnd" member of the window:
                        *((void**)msg->voidPtr) = (void*)wnd;

                        // Signal to the constructor (still waiting) that the
                        // window is now ready so it can continue:
                        msg->source2D->notifySemThreadReady();

                        wnd->Show();
                    }
                    break;
                // UPDATE IMAGE
                case 201:
                    if (msg->source2D)
                    {
                        CWindowDialog* wnd =
                            (CWindowDialog*)
                                msg->voidPtr;  // msg->source2D->getWxObject();
                        if (!wnd) break;
                        wxImage* img = (wxImage*)msg->voidPtr2;
                        if (!img) break;

                        wnd->m_image->AssignImage(
                            new wxBitmap(
                                *img));  // Memory will be freed by the object.

                        if (wnd->m_image->GetSize().GetX() != img->GetWidth() &&
                            wnd->m_image->GetSize().GetY() != img->GetHeight())
                        {
                            wnd->m_image->SetSize(
                                img->GetWidth(), img->GetHeight());
                            wnd->m_image->SetMinSize(
                                wxSize(img->GetWidth(), img->GetHeight()));
                            wnd->m_image->SetMaxSize(
                                wxSize(img->GetWidth(), img->GetHeight()));
                            wnd->Fit();
                            // wnd->SetClientSize(img->GetWidth(),
                            // img->GetHeight());
                        }
                        delete img;
                        wnd->m_image->Refresh(false);  // false: Do NOT erase
                        // background: avoid
                        // flickering
                    }
                    break;
                // Set position
                case 202:
                    if (msg->source2D)
                    {
                        CWindowDialog* wnd =
                            (CWindowDialog*)msg->source2D->getWxObject();
                        if (wnd)
                            wnd->SetSize(
                                msg->x, msg->y, wxDefaultCoord, wxDefaultCoord);
                    }
                    break;
                // Set size
                case 203:
                    if (msg->source2D)
                    {
                        CWindowDialog* wnd =
                            (CWindowDialog*)msg->source2D->getWxObject();
                        if (wnd) wnd->SetClientSize(msg->x, msg->y);
                    }
                    break;
                // Set window's title:
                case 204:
                    if (msg->source2D)
                    {
                        CWindowDialog* wnd =
                            (CWindowDialog*)msg->source2D->getWxObject();
                        if (wnd) wnd->SetTitle(_U(msg->str.c_str()));
                    }
                    break;
                // DESTROY EXISTING WINDOW:
                case 299:
                    if (msg->source2D)
                    {
                        CWindowDialog* wnd =
                            (CWindowDialog*)msg->source2D->getWxObject();
                        if (wnd)
                        {
                            // delete wnd;
                            wnd->Close();
                        }
                    }
                    break;

                // CREATE NEW WINDOW
                case 300:
                    if (msg->source3D)
                    {
                        C3DWindowDialog* wnd = new C3DWindowDialog(
                            msg->source3D, this, (wxWindowID)-1, msg->str,
                            wxSize(msg->x, msg->y));

                        // Set the "m_hwnd" member of the window:
                        *((void**)msg->voidPtr) = (void*)wnd;

                        // Signal to the constructor (still waiting) that the
                        // window is now ready so it can continue:
                        msg->source3D->notifySemThreadReady();

                        wnd->Show();
                    }
                    break;
                // Set position
                case 302:
                    if (msg->source3D)
                    {
                        C3DWindowDialog* wnd =
                            (C3DWindowDialog*)msg->source3D->getWxObject();
                        if (wnd)
                            wnd->SetSize(
                                msg->x, msg->y, wxDefaultCoord, wxDefaultCoord);
                    }
                    break;
                // Set size
                case 303:
                    if (msg->source3D)
                    {
                        C3DWindowDialog* wnd =
                            (C3DWindowDialog*)msg->source3D->getWxObject();
                        if (wnd) wnd->SetClientSize(msg->x, msg->y);
                    }
                    break;
                // Set window's title:
                case 304:
                    if (msg->source3D)
                    {
                        C3DWindowDialog* wnd =
                            (C3DWindowDialog*)msg->source3D->getWxObject();
                        if (wnd) wnd->SetTitle(_U(msg->str.c_str()));
                    }
                    break;
                // FORCE REPAINT
                case 350:
                    if (msg->source3D)
                    {
                        C3DWindowDialog* wnd =
                            (C3DWindowDialog*)msg->source3D->getWxObject();
                        if (wnd)
                        {
                            wnd->Refresh(false);
                        }
                    }
                    break;
                // Add a 2D text message: vector_x: [0]:x, [1]:y, [2,3,4]:R G B,
                // "x": enum of desired font. "y": unique index, "str": String.
                case 360:
                    if (msg->source3D)
                    {
                        C3DWindowDialog* wnd =
                            (C3DWindowDialog*)msg->source3D->getWxObject();
                        if (wnd)
                        {
                            wnd->addTextMessage(
                                msg->vector_x[0], msg->vector_x[1], msg->str,
                                mrpt::img::TColorf(
                                    msg->vector_x[2], msg->vector_x[3],
                                    msg->vector_x[4]),
                                size_t(msg->y),
                                mrpt::opengl::TOpenGLFont(msg->x));
                        }
                    }
                    break;
                // Clear 2D text messages
                case 361:
                    if (msg->source3D)
                    {
                        C3DWindowDialog* wnd =
                            (C3DWindowDialog*)msg->source3D->getWxObject();
                        if (wnd)
                        {
                            wnd->clearTextMessages();
                        }
                    }
                    break;
                // Add a 2D text message: vector_x: [0]:x, [1]:y, [2,3,4]:R G B,
                // "x": enum of desired font. "y": unique index, "str": String.
                case 362:
                    if (msg->source3D)
                    {
                        C3DWindowDialog* wnd =
                            (C3DWindowDialog*)msg->source3D->getWxObject();
                        if (wnd)
                        {
                            wnd->addTextMessage(
                                msg->vector_x[0], msg->vector_x[1], msg->str,
                                mrpt::img::TColorf(
                                    msg->vector_x[2], msg->vector_x[3],
                                    msg->vector_x[4]),
                                msg->plotName, msg->vector_x[5],
                                mrpt::opengl::TOpenGLFontStyle(msg->x),
                                size_t(msg->y), msg->vector_x[6],
                                msg->vector_x[7], msg->vector_x[8] != 0,
                                mrpt::img::TColorf(
                                    msg->vector_x[9], msg->vector_x[10],
                                    msg->vector_x[11]));
                        }
                    }
                    break;

                // DESTROY EXISTING WINDOW:
                case 399:
                    if (msg->source3D)
                    {
                        C3DWindowDialog* wnd =
                            (C3DWindowDialog*)msg->source3D->getWxObject();
                        if (wnd)
                        {
                            // delete wnd;
                            wnd->Close();
                        }
                    }
                    break;

                // CREATE NEW WINDOW
                case 400:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd = new CWindowDialogPlots(
                            msg->sourcePlots, this, (wxWindowID)-1, msg->str,
                            wxSize(msg->x, msg->y));

                        // Set the "m_hwnd" member of the window:
                        *((void**)msg->voidPtr) = (void*)wnd;

                        // Signal to the constructor (still waiting) that the
                        // window is now ready so it can continue:
                        msg->sourcePlots->notifySemThreadReady();

                        wnd->Show();
                    }
                    break;
                // Set position
                case 402:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd)
                            wnd->SetSize(
                                msg->x, msg->y, wxDefaultCoord, wxDefaultCoord);
                    }
                    break;
                // Set size
                case 403:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd) wnd->SetClientSize(msg->x, msg->y);
                    }
                    break;
                // Set window's title:
                case 404:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd) wnd->SetTitle(_U(msg->str.c_str()));
                    }
                    break;
                // Mouse pan
                case 410:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd) wnd->m_plot->EnableMousePanZoom(msg->boolVal);
                    }
                    break;
                // Aspect ratio
                case 411:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd) wnd->m_plot->LockAspect(msg->boolVal);
                    }
                    break;

                // Zoom over a rectangle vectorx[0-1] & vectory[0-1]
                case 412:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd)
                        {
                            if (msg->vector_x.size() == 2 &&
                                msg->vector_y.size() == 2)
                            {
                                wnd->m_plot->Fit(
                                    msg->vector_x[0], msg->vector_x[1],
                                    msg->vector_y[0], msg->vector_y[1]);
                                wnd->m_plot->LockAspect(msg->boolVal);
                            }
                        }
                    }
                    break;
                // Axis fit, with aspect ratio fix to boolVal.
                case 413:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd)
                        {
                            wnd->m_plot->LockAspect(msg->boolVal);
                            wnd->m_plot->Fit();
                        }
                    }
                    break;
                // Clear all objects:
                case 414:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd)
                        {
                            wnd->m_plot->DelAllLayers(true, true);
                            wnd->m_plot->AddLayer(new mpScaleX());
                            wnd->m_plot->AddLayer(new mpScaleY());
                        }
                    }
                    break;

                // Create/modify 2D plot
                case 420:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd)
                            wnd->plot(
                                msg->vector_x, msg->vector_y, msg->str,
                                msg->plotName);
                    }
                    break;

                // Create/modify 2D ellipse
                case 421:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd)
                            wnd->plotEllipse(
                                msg->vector_x, msg->vector_y, msg->str,
                                msg->plotName, msg->boolVal);
                    }
                    break;

                // Create/modify bitmap image
                case 422:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd)
                            wnd->image(
                                msg->voidPtr2, msg->vector_x[0],
                                msg->vector_x[1], msg->vector_x[2],
                                msg->vector_x[3], msg->plotName);
                    }
                    break;

                // 440: Insert submenu in the popup menu. name=menu label, x=ID
                case 440:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd)
                        {
                            const long MENUITEM_ID = wxNewId();
                            // Remember the association between this ID and the
                            // user ID:
                            wnd->m_ID2ID[MENUITEM_ID] = msg->x;

                            wxMenu* popupMnu = wnd->m_plot->GetPopupMenu();
                            if (wnd->m_firstSubmenu)
                            {
                                wnd->m_firstSubmenu = false;
                                popupMnu->InsertSeparator(0);
                            }
                            wxMenuItem* mnuTarget = new wxMenuItem(
                                popupMnu, MENUITEM_ID,
                                _U(msg->plotName.c_str()), wxEmptyString,
                                wxITEM_NORMAL);
                            popupMnu->Insert(0, mnuTarget);

                            wnd->Connect(
                                MENUITEM_ID, wxEVT_COMMAND_MENU_SELECTED,
                                (wxObjectEventFunction)&CWindowDialogPlots::
                                    OnMenuSelected);
                        }
                    }
                    break;

                // DESTROY EXISTING WINDOW:
                case 499:
                    if (msg->sourcePlots)
                    {
                        CWindowDialogPlots* wnd =
                            (CWindowDialogPlots*)
                                msg->sourcePlots->getWxObject();
                        if (wnd)
                        {
                            // delete wnd;
                            wnd->Close();
                        }
                    }
                    break;

                // CREATE NEW WINDOW
                case 700:
                    if (msg->sourceCameraSelectDialog)
                    {
                        std::promise<void>* sem =
                            reinterpret_cast<std::promise<void>*>(msg->voidPtr);

                        CDialogAskUserForCamera* dlg =
                            new CDialogAskUserForCamera();
                        // Signal that the window is ready:
                        sem->set_value();

                        // Show
                        const bool wasOk = (dlg->ShowModal() == wxID_OK);

                        // send selection to caller:
                        std::promise<
                            mrpt::gui::detail::TReturnAskUserOpenCamera>*
                            promise = reinterpret_cast<std::promise<
                                mrpt::gui::detail::TReturnAskUserOpenCamera>*>(
                                msg->voidPtr2);
                        mrpt::gui::detail::TReturnAskUserOpenCamera ret;

                        // Parse selection as a config text block:
                        dlg->panel->writeConfigFromVideoSourcePanel(
                            "CONFIG", &ret.selectedConfig);
                        ret.accepted_by_user = wasOk;

                        promise->set_value(ret);

                        delete dlg;

                        sem->set_value();
                    }
                    break;

                // wxSubsystem shutdown:
                case 999:
                {
#ifdef WXSUBSYSTEM_VERBOSE
                    cout << "[WxSubsystem:999] Shutdown" << endl;
#endif
                    app_closed = true;  // Do NOT launch a timer again
                    if (WxSubsystem::CWXMainFrame::oneInstance)
                        ((WxSubsystem::
                              CWXMainFrame*)(WxSubsystem::CWXMainFrame::oneInstance))
                            ->Close();
#ifdef WXSUBSYSTEM_VERBOSE
                    cout << "[WxSubsystem:999] Shutdown done" << endl;
#endif
                }
                break;

            }  // end switch OPCODE

            // Free the memory:
            delete[] msg;
        }  // end while
    }
    catch (...)
    {
    }

    if (!app_closed) m_theTimer->Start(10, true);  // One-shot
}

// ---------------------------------------------------------------------------------------
// MRPT Icons
// ---------------------------------------------------------------------------------------
const char* mrpt_default_icon_xpm[] = {"32 32 2 1",
                                       "    c None",
                                       ".   c #000000",
                                       "                                ",
                                       "                                ",
                                       "                                ",
                                       " .....     ..... .........      ",
                                       "  ....     ....   ...   ....    ",
                                       "  .....    ....   ...    ...    ",
                                       "  . ...   . ...   ...    ...    ",
                                       "  . ...   . ...   ...    ...    ",
                                       "  .  ... .  ...   ...   ...     ",
                                       "  .  ... .  ...   ........      ",
                                       "  .  .....  ...   ... ....      ",
                                       "  .   ...   ...   ...  ....     ",
                                       "  .   ...   ...   ...   ....    ",
                                       "  .   ..    ...   ...    ....   ",
                                       " ...   .   ..... .....    ..... ",
                                       "                                ",
                                       "                                ",
                                       "    ........     ...........    ",
                                       "     ...  ....   ..  ...  ..    ",
                                       "     ...   ...   .   ...   .    ",
                                       "     ...   ...       ...        ",
                                       "     ...   ...       ...        ",
                                       "     ...  ...        ...        ",
                                       "     .......         ...        ",
                                       "     ...             ...        ",
                                       "     ...             ...        ",
                                       "     ...             ...        ",
                                       "     ...             ...        ",
                                       "    .....           .....       ",
                                       "                                ",
                                       "                                ",
                                       "                                "};

wxBitmap WxSubsystem::getMRPTDefaultIcon()
{
// To avoid an error in wx, always resize the icon to the expected size:
#ifdef _WIN32
    const wxSize iconsSize(
        ::GetSystemMetrics(SM_CXICON), ::GetSystemMetrics(SM_CYICON));
    return wxBitmap(
        wxBitmap(mrpt_default_icon_xpm)
            .ConvertToImage()
            .Scale(iconsSize.x, iconsSize.y));
#else
    return wxBitmap(mrpt_default_icon_xpm);
#endif
}

// ---------------------------------------------------------------------------------------
// The wx app:
// ---------------------------------------------------------------------------------------
class CDisplayWindow_WXAPP : public wxApp
{
   public:
    virtual bool OnInit();
    virtual int OnExit();
};

bool CDisplayWindow_WXAPP::OnInit()
{
    // Starting in wxWidgets 2.9.0, we must reset numerics locale to "C",
    //  if we want numbers to use "." in all countries. The App::OnInit() is a
    //  perfect place to undo
    //  the default wxWidgets settings. (JL @ Sep-2009)
    wxSetlocale(LC_NUMERIC, wxString(wxT("C")));

    wxInitAllImageHandlers();

    // cout << "[wxApp::OnInit] wxApplication OnInit called." << endl;

    // Create a dummy frame:
    WxSubsystem::CWXMainFrame* Frame = new WxSubsystem::CWXMainFrame(0);
    Frame->Hide();

    // We are ready!!
    // cout << "[wxMainThread] Signaling semaphore." << endl;
    WxSubsystem::GetWxMainThreadInstance().m_semWxMainThreadReady.set_value();

    return true;
}

// This will be called when all the windows / frames are closed.
int CDisplayWindow_WXAPP::OnExit()
{
#ifdef WXSUBSYSTEM_VERBOSE
    cout << "[wxApp::OnExit] wxApplication OnExit called." << endl;
#endif

    std::lock_guard<std::mutex> lock(
        WxSubsystem::GetWxMainThreadInstance().m_csWxMainThreadId);

    wxApp::OnExit();
    CleanUp();
    return 0;
}

/** This method must be called in the destructor of the user class FROM THE MAIN
 * THREAD, in order to wait for the shutdown of the wx thread if this was the
 * last open window.
 */
void WxSubsystem::waitWxShutdownsIfNoWindows()
{
#ifndef WXSHUTDOWN_DO_IT_CLEAN

#ifdef WXSUBSYSTEM_VERBOSE
    cout << "[WxSubsystem::waitWxShutdownsIfNoWindows] Doing a quick "
            "std::this_thread::sleep_for(ms) and returning.\n";
#endif
    std::this_thread::sleep_for(100ms);
    return;
#else
    // Just let know a global object that, at its destruction, it must  ....
    // Any open windows?
    int nOpenWnds;
    {
        std::lock_guard<std::mutex> lock(CWXMainFrame::cs_windowCount);
        nOpenWnds = CWXMainFrame::m_windowCount;
    }

    if (!nOpenWnds && WxSubsystem::isConsoleApp())
    {
#ifdef WXSUBSYSTEM_VERBOSE
        cout << "[WxSubsystem::waitWxShutdownsIfNoWindows] Waiting for "
                "WxWidgets thread to shutdown...\n";
#endif

        // Then we must be shutting down in the wx thread (we are in the main
        // MRPT application thread)...
        // Wait until wx is safely shut down:
        bool done = false;
        int maxTimeout =
#ifdef _DEBUG
            30000;
#else
            5000;
#endif
        if (m_done.wait_for(std::chrono::milliseconds(maxTimeout)) ==
            std::future_status::timeout)
        {
            cerr << "[WxSubsystem::waitWxShutdownsIfNoWindows] Timeout waiting "
                    "for WxWidgets thread to shutdown!"
                 << endl;
        }
    }
#endif
}

wxAppConsole* mrpt_wxCreateApp()
{
    wxAppConsole::CheckBuildOptions(WX_BUILD_OPTIONS_SIGNATURE, "your program");
    return new CDisplayWindow_WXAPP;
}

// DECLARE_APP(CDisplayWindow_WXAPP)
extern CDisplayWindow_WXAPP& wxGetApp();

// Aux. funcs used in WxSubsystem::wxMainThread
// --------------------------------------------------
int mrpt_wxEntryReal(int argc, char** argv)
{
    // library initialization
    if (!wxEntryStart(argc, argv))
    {
#if wxUSE_LOG
        // flush any log messages explaining why we failed
        delete wxLog::SetActiveTarget(nullptr);
#endif
        return -1;
    }

    // if wxEntryStart succeeded, we must call wxEntryCleanup even if the code
    // below returns or throws
    try
    {
        // app initialization
        if (!wxTheApp->CallOnInit())
            return -1;  // don't call OnExit() if OnInit() failed

        // app execution
        int ret = wxTheApp->OnRun();

        {
            wxLogNull logNo;  // Skip any warning in this scope.

            wxTheApp->OnExit();  // This replaces the above callOnExit class
            wxEntryCleanup();
        }

        return ret;
    }
    catch (...)
    {
        wxTheApp->OnUnhandledException();
        wxEntryCleanup();
        return -1;
    }
}

/*---------------------------------------------------------------
                    wxMainThread
 This will be the "MAIN" of wxWidgets: It starts an application
   object and does not end until all the windows are closed.
 Only for console apps, not for user GUI apps already with wx.
 ---------------------------------------------------------------*/
void WxSubsystem::wxMainThread()
{
    MRPT_START

    // Prepare wxWidgets:
    int argc = 1;
    static const char* dummy_prog_name = "./MRPT";
    char* argv[2] = {const_cast<char*>(dummy_prog_name), nullptr};

#ifdef WXSUBSYSTEM_VERBOSE
    cout << "[wxMainThread] Starting..." << endl;
#endif

    // Are we in a console or wxGUI application????
    wxAppConsole* app_gui = wxApp::GetInstance();
    if (!app_gui)
    {
// We are NOT in a wx application (it's a console program)
// ---------------------------------------------------------
#ifdef WXSUBSYSTEM_VERBOSE
        cout << "[wxMainThread] I am in a console app" << endl;
#endif
        //  Start a new wx application object:

        // JLBC OCT2008: wxWidgets little hack to enable console/gui mixed
        // applications:
        wxApp::SetInitializerFunction(
            (wxAppInitializerFunction)mrpt_wxCreateApp);
        mrpt_wxEntryReal(argc, argv);

#ifdef WXSUBSYSTEM_VERBOSE
        cout << "[wxMainThread] Finished" << endl;
#endif

        // Now this thread is ready. The main thread is free to end now:
        WxSubsystem::GetWxMainThreadInstance().m_done.set_value();
    }
    else
    {
// We are ALREADY in a wx application:
// ---------------------------------------------------------
#ifdef WXSUBSYSTEM_VERBOSE
        cout << "[wxMainThread] I am in a GUI app" << endl;
#endif
        wxWindow* topWin = static_cast<wxApp*>(app_gui)->GetTopWindow();

        WxSubsystem::CWXMainFrame* Frame =
            new WxSubsystem::CWXMainFrame(topWin);
        Frame->Hide();

// We are ready!!
#ifdef WXSUBSYSTEM_VERBOSE
        cout << "[wxMainThread] Signaling semaphore." << endl;
#endif
        WxSubsystem::GetWxMainThreadInstance()
            .m_semWxMainThreadReady.set_value();
    }

    MRPT_END
}

WxSubsystem::TWxMainThreadData& WxSubsystem::GetWxMainThreadInstance()
{
    // static TWxMainThreadData dat;
    // Create as dynamic memory, since it'll be deleted in
    // CAuxWxSubsystemShutdowner:
    static TWxMainThreadData* dat = nullptr;
    static bool first_creat = true;
    if (!dat && first_creat)
    {
        first_creat = false;
        dat = new TWxMainThreadData;
    }
    return *dat;
}

/*---------------------------------------------------------------
                    createOneInstanceMainThread
 ---------------------------------------------------------------*/
bool WxSubsystem::createOneInstanceMainThread()
{
    WxSubsystem::TWxMainThreadData& wxmtd =
        WxSubsystem::GetWxMainThreadInstance();
    std::lock_guard<std::mutex> lock(wxmtd.m_csWxMainThreadId);

    wxAppConsole* app_con = wxApp::GetInstance();
    if (app_con && wxmtd.m_wxMainThreadId.get_id() == std::thread::id())
    {
        // We are NOT in a console application: There is already a wxApp
        // instance running and it's not us.
        isConsoleApp_value = false;
        // cout << "[createOneInstanceMainThread] Mode: User GUI." << endl;
        if (!WxSubsystem::CWXMainFrame::oneInstance)
        {
            // Create our main hidden frame:
            wxWindow* topWin = static_cast<wxApp*>(app_con)->GetTopWindow();

            WxSubsystem::CWXMainFrame* Frame =
                new WxSubsystem::CWXMainFrame(topWin);
            // Frame->Show();
            // SetTopWindow(Frame);
            Frame->Hide();
        }
    }
    else
    {
        // cout << "[createOneInstanceMainThread] Mode: Console." << endl;
        isConsoleApp_value = true;
        if (wxmtd.m_wxMainThreadId.get_id() == std::thread::id())
        {
#ifdef WXSUBSYSTEM_VERBOSE
            printf(
                "[WxSubsystem::createOneInstanceMainThread] Launching "
                "wxMainThread() thread...\n");
#endif
            // Create a thread for message processing there:
            wxmtd.m_wxMainThreadId = std::thread(wxMainThread);

            int maxTimeout =
#ifdef _DEBUG
                30000;
#else
                5000;
#endif

            // If we have an "MRPT_WXSUBSYS_TIMEOUT_MS" environment variable,
            // use that timeout instead:
            const char* envVal = getenv("MRPT_WXSUBSYS_TIMEOUT_MS");
            if (envVal) maxTimeout = atoi(envVal);

            if (wxmtd.m_semWxMainThreadReady.get_future().wait_for(
                    std::chrono::milliseconds(maxTimeout)) ==
                std::future_status::timeout)  // A few secs should be enough...
            {
                cerr << "[WxSubsystem::createOneInstanceMainThread] Timeout "
                        "waiting wxApplication to start up!"
                     << endl;
                return false;
            }
        }
    }

    return true;  // OK
}

#endif  // MRPT_HAS_WXWIDGETS