WxUtils.h

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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 |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/img/CImage.h>
#include <mrpt/config/CConfigFileBase.h>
#include <mrpt/config/CConfigFileMemory.h>
#include <mrpt/gui/keycodes.h>

#if MRPT_HAS_WXWIDGETS

#include <wx/sizer.h>
#include <wx/statbmp.h>
#include <wx/menu.h>
#include <wx/toolbar.h>
#include <wx/frame.h>
#include <wx/timer.h>
#include <wx/statusbr.h>
#include <wx/msgdlg.h>
#include <wx/artprov.h>
#include <wx/bitmap.h>
#include <wx/intl.h>
#include <wx/image.h>
#include <wx/string.h>
#include <wx/msgdlg.h>
#include <wx/panel.h>
#include <wx/filedlg.h>
#include <wx/progdlg.h>
#include <wx/imaglist.h>
#include <wx/busyinfo.h>
#include <wx/log.h>
#include <wx/textdlg.h>
#include <wx/dirdlg.h>
#include <wx/colordlg.h>
#include <wx/dcmemory.h>
#include <wx/app.h>
#include <wx/pen.h>
#include <wx/spinctrl.h>
#include <wx/sizer.h>
#include <wx/notebook.h>
#include <wx/button.h>
#include <wx/panel.h>
#include <wx/stattext.h>
#include <wx/textctrl.h>
#include <wx/choice.h>
#include <wx/radiobox.h>
#include <wx/settings.h>
#include <wx/checkbox.h>
#include <wx/dc.h>
#include <wx/dcclient.h>

#endif

#include <mutex>

namespace mrpt
{
namespace gui
{
/** \addtogroup mrpt_gui_wxutils Utilities for MRPT-wxWidgets interfacing (in
  #include <mrpt/gui/WxUtils.h>)
  * \ingroup mrpt_gui_grp

    * @{ */
#if MRPT_HAS_WXWIDGETS

#ifndef _U
#ifdef wxUSE_UNICODE
#define _U(x) wxString::From8BitData(x)
#else
#define _U(x) (x)
#endif
#endif

#ifndef WX_START_TRY

#define WX_START_TRY \
    try              \
    {
#define WX_END_TRY                                                            \
    }                                                                         \
    catch (std::exception & e)                                                \
    {                                                                         \
        wxMessageBox(                                                         \
            wxString(e.what(), wxConvUTF8), wxT("Exception"), wxOK, nullptr); \
    }                                                                         \
    catch (...)                                                               \
    {                                                                         \
        wxMessageBox(_("Untyped exception!"), _("Exception"), wxOK, nullptr); \
    }

#endif

/** Create a wxImage from a MRPT image. The new object must be freed by the user
 * when not required anymore.
 * \sa MRPTImage2wxImage
 */
wxImage* MRPTImage2wxImage(const mrpt::img::CImage& img);

/** Create a wxBitmap from a MRPT image. The new object must be freed by the
 * user when not required anymore.
 * \sa MRPTImage2wxImage
 */
wxBitmap* MRPTImage2wxBitmap(const mrpt::img::CImage& img);

#if MRPT_HAS_OPENCV
/** Create a wxImage from a IPL image. The new object must be freed by the user
 * when not required anymore.
 * \sa IplImage2wxImage
 */
wxImage* IplImage2wxImage(void* img);
#endif

/** Create a MRPT image from a wxImage. The new object must be freed by the user
 * when not required anymore.
 *  It is recommended to use wxImage2MRPTImagePtr instead since smart pointers
 * are safer to manage.
 * \sa wxImage2MRPTImage, wxImage2MRPTImagePtr
 */
mrpt::img::CImage* wxImage2MRPTImage(const wxImage& img);

/** Create a MRPT image from a wxImage. The new object is returned as a smart
 * pointer to a CImage object.
 * \sa wxImage2MRPTImage
 */
mrpt::img::CImage::Ptr wxImage2MRPTImagePtr(const wxImage& img);

/** Extracts the key modifiers from a wxKeyEvent */
mrptKeyModifier keyEventToMrptKeyModifier(const wxKeyEvent& ev);

/** A custom control to display the bitmap and avoid flicker
 */
class wxMRPTImageControl : public wxPanel
{
   protected:
    wxBitmap* m_img;
    std::mutex m_img_cs;

    wxPoint m_last_mouse_point, m_last_mouse_click;
    std::mutex m_mouse_cs;

   public:
    wxMRPTImageControl(
        wxWindow* parent, wxWindowID winID, int x, int y, int width,
        int height);
    virtual ~wxMRPTImageControl();

    /** Assigns this image. This object has the ownship of the image and will
     * delete it when appropriate. Remember to call Refresh to display the
     * image. */
    void AssignImage(wxBitmap* img);
    /** Assigns this image. Remember to call Refresh to display the image. */
    void AssignImage(const mrpt::img::CImage& img);
    void GetBitmap(wxBitmap& bmp);

    void OnPaint(wxPaintEvent& ev);
    void OnMouseMove(wxMouseEvent& ev);
    void OnMouseClick(wxMouseEvent& ev);

    void OnEraseBackground(wxEraseEvent&) { /* Do nothing */}
};
// end wxMRPTImageControl  -----------

/** A panel to select the camera input from all the formats supported by MRPT */
class CPanelCameraSelection : public wxPanel
{
   public:
    CPanelCameraSelection(wxWindow* parent, wxWindowID id = wxID_ANY);
    virtual ~CPanelCameraSelection();

    void readConfigIntoVideoSourcePanel(
        const std::string& sect,
        const mrpt::config::CConfigFileBase* cfg) const;

    void writeConfigFromVideoSourcePanel(
        const std::string& sect, mrpt::config::CConfigFileBase* cfg) const;

    //(*Declarations(CPanelCameraSelection)
    wxTextCtrl* edRawlogLabel;
    wxStaticText* StaticText10;
    wxStaticText* StaticText9;
    wxPanel* Panel5;
    wxButton* btnBrowseRawlogDir;
    wxRadioBox* rbBumblebeeSel;
    wxButton* btnBrowseVideo;
    wxStaticText* StaticText2;
    wxPanel* Panel4;
    wxCheckBox* cbKinect_3D;
    wxRadioBox* rbKinect_int;
    wxCheckBox* cbSR_chConf;
    wxStaticText* StaticText6;
    wxSpinCtrl* opencvCamIndex;
    wxTextCtrl* edIPcamURL;
    wxStaticText* StaticText8;
    wxStaticText* StaticText11;
    wxTextCtrl* edCustomCamConfig;
    wxTextCtrl* edSR_IP;
    wxPanel* Panel1;
    wxChoice* cbOpencvCamType;
    wxStaticText* StaticText1;
    wxStaticText* StaticText3;
    wxRadioBox* rbSR_usb;
    wxPanel* Panel6;
    wxButton* btnBrowseRawlog;
    wxPanel* Panel3;
    wxCheckBox* cbGrayscale;
    wxCheckBox* cbSR_chRange;
    wxStaticText* StaticText5;
    wxStaticText* StaticText7;
    wxPanel* pnKinect;
    wxTextCtrl* edVideoFile;
    wxCheckBox* cbBumblebeeRectif;
    wxCheckBox* cbKinect_Int;
    wxCheckBox* cbSR_chIntensity;
    wxCheckBox* cbKinect_Depth;
    wxNotebook* pagesCameras;
    wxPanel* pnSwissRanger;
    wxTextCtrl* edRawlogFile;
    wxTextCtrl* edRawlogImgDir;
    wxPanel* Panel2;
    wxCheckBox* cbSR_ch3D;
    wxStaticText* StaticText4;
    wxChoice* cbOpencvResolution;
    //*)

   protected:
    //(*Identifiers(CPanelCameraSelection)
    static const long ID_STATICTEXT1;
    static const long ID_SPINCTRL1;
    static const long ID_STATICTEXT3;
    static const long ID_CHOICE1;
    static const long ID_STATICTEXT6;
    static const long ID_CHOICE2;
    static const long ID_PANEL2;
    static const long ID_STATICTEXT7;
    static const long ID_TEXTCTRL1;
    static const long ID_PANEL3;
    static const long ID_TEXTCTRL6;
    static const long ID_PANEL4;
    static const long ID_STATICTEXT8;
    static const long ID_TEXTCTRL2;
    static const long ID_BUTTON7;
    static const long ID_PANEL5;
    static const long ID_STATICTEXT9;
    static const long ID_TEXTCTRL3;
    static const long ID_BUTTON8;
    static const long ID_STATICTEXT5;
    static const long ID_TEXTCTRL7;
    static const long ID_BUTTON9;
    static const long ID_STATICTEXT10;
    static const long ID_TEXTCTRL8;
    static const long ID_STATICTEXT11;
    static const long ID_PANEL6;
    static const long ID_RADIOBOX1;
    static const long ID_CHECKBOX1;
    static const long ID_STATICTEXT2;
    static const long ID_PANEL7;
    static const long ID_RADIOBOX2;
    static const long ID_STATICTEXT4;
    static const long ID_TEXTCTRL4;
    static const long ID_CHECKBOX3;
    static const long ID_CHECKBOX4;
    static const long ID_CHECKBOX5;
    static const long ID_CHECKBOX6;
    static const long ID_PANEL1;
    static const long ID_CHECKBOX7;
    static const long ID_CHECKBOX8;
    static const long ID_CHECKBOX9;
    static const long ID_RADIOBOX3;
    static const long ID_PANEL8;
    static const long ID_NOTEBOOK1;
    static const long ID_CHECKBOX2;
    //*)

   private:
    //(*Handlers(CPanelCameraSelection)
    //*)
    void OnbtnBrowseVideoClick(wxCommandEvent& event);
    void OnbtnBrowseRawlogClick(wxCommandEvent& event);
    void OnbtnBrowseRawlogDirClick(wxCommandEvent& event);

    DECLARE_EVENT_TABLE()
};
// end   -----------

/** Auxiliary structures used internally to mrpt */
namespace detail
{
struct TReturnAskUserOpenCamera
{
    mrpt::config::CConfigFileMemory selectedConfig;
    bool accepted_by_user;
};
}  // namespace detail

#endif
/** @} */
}  // namespace gui
}  // namespace mrpt