/// <summary>
/// Constructor for the path map generator GUI. Takes the subfield list which is
/// created by the split function in the main form.
/// </summary>
/// <param name="fields">List of subfields</param>
public PathMapGenerator(List<Field> fields)
{
InitializeComponent();
rend = new Renderer(FieldView);
wallsRend = new PolygonRenderable(Color.Brown, true);
objectsRend = new PolygonRenderable(Color.Blue, true);
regionsRend = new PolygonRenderable(Color.Yellow, 0.5f, true);
fieldsRend = new PolygonRenderable(Color.Gray);
pointRend = new PointRenderable();
pointRend.Show = false;
lines = new List<PathRenderable>();
rend.AddRenderable(wallsRend);
rend.AddRenderable(objectsRend);
rend.AddRenderable(regionsRend);
rend.AddRenderable(fieldsRend);
rend.AddRenderable(pointRend);
originalTool = rend.Tool;
polyTool = new ClickTool();
polyTool.clicked += new EventHandler<ClickedEventArgs>(FieldViewClick);
rend.Tool = polyTool;
complete = false;
PRMs = new List<PRMAlgorithm>();
rend.OnFormShown();
this.fields = fields;
f = fields[0];
count = 1;
LoadNext();
}
/// <summary>
/// Activates the tool, and turns off all others
/// </summary>
/// <param name="toolToActivate"></param>
public void DeactivateAllToolsExcept(IRenderTool toolToActivate)
{
foreach (IRenderTool tool in tools)
{
tool.IsActive = false;
}
ActivateTool(toolToActivate);
}
/// <summary>
/// This adds a tool object to the list of items to render by the renderable, and optionally activates it
/// </summary>
/// <param name="tool"></param>
/// <param name="activate"></param>
public void AddTool(IRenderTool tool, bool activate)
{
tools.Add(tool);
if (activate)
{
this.ActivateTool(tool);
}
}
public void DisableTool(IRenderTool tool)
{
if (!disabledTools.Contains(tool))
{
enabledTools.Remove(tool);
disabledTools.Add(tool);
BuildContextMenu();
}
}
public void Initialize(List <IRenderTool> toolList, IRenderTool activeTool)
{
foreach (IRenderTool tool in toolList)
{
disabledTools.Add(tool);
}
if (activeTool != null)
{
EnableTool(activeTool);
}
BuildContextMenu();
}
/// <summary>
/// Changes toolToDeactivate to deactivated
/// </summary>
/// <param name="toolToDeactivate"></param>
public void DeactivateTool(IRenderTool toolToDeactivate)
{
foreach (IRenderTool tool in tools)
{
if (tool == toolToDeactivate)
{
tool.IsActive = false;
if (toolChanged != null)
{
toolChanged(this, new ToolChangedArgs(tool, false));
}
}
}
control.Cursor = Cursors.Default;
}
/// <summary>
/// Changes toolToActivate to active
/// </summary>
/// <param name="toolToActivate"></param>
public void ActivateTool(IRenderTool toolToActivate)
{
foreach (IRenderTool tool in tools)
{
if (tool == toolToActivate)
{
tool.IsActive = true;
if (toolChanged != null)
{
toolChanged(this, new ToolChangedArgs(tool, true));
}
}
//control.Cursor = tool.Cursor;
}
}
public void Initialize(List<IRenderTool> toolList, IRenderTool activeTool)
{
foreach (IRenderTool tool in toolList)
{
disabledTools.Add(tool);
}
if (activeTool!=null)
EnableTool(activeTool);
BuildContextMenu();
}
public void EnableTool(IRenderTool tool)
{
if (!enabledTools.Contains(tool))
{
enabledTools.Add(tool);
disabledTools.Remove(tool);
BuildContextMenu();
}
}
public void AddConflict(IRenderTool tool)
{
conflicts.Add(tool);
}
public void AddTools(Renderer renderer,IRenderTool tool)
{
renderer.AddTool(tool);
}
public void RemoveTools(Renderer renderer, IRenderTool tool)
{
renderer.RemoveTool(tool);
}
public ToolChangedArgs(IRenderTool tool, bool active)
{
this.changedTool = tool;
this.active = active;
}
/// <summary>
/// Changes toolToDeactivate to deactivated
/// </summary>
/// <param name="toolToDeactivate"></param>
public void DeactivateTool(IRenderTool toolToDeactivate)
{
foreach (IRenderTool tool in tools)
{
if (tool == toolToDeactivate)
{
tool.IsActive = false;
if (toolChanged != null) toolChanged(this, new ToolChangedArgs(tool, false));
}
}
control.Cursor = Cursors.Default;
}
/// <summary>
/// This adds a tool object to the list of items to render by the renderable, and optionally activates it
/// </summary>
/// <param name="tool"></param>
/// <param name="activate"></param>
public void AddTool(IRenderTool tool, bool activate)
{
tools.Add(tool);
if (activate) this.ActivateTool(tool);
}
/// <summary>
/// Changes toolToActivate to active
/// </summary>
/// <param name="toolToActivate"></param>
public void ActivateTool(IRenderTool toolToActivate)
{
foreach (IRenderTool tool in tools)
{
if (tool == toolToActivate)
{
tool.IsActive = true;
if (toolChanged != null) toolChanged(this, new ToolChangedArgs(tool, true));
}
//control.Cursor = tool.Cursor;
}
}
public EnableModeArgs(IRenderTool t, string m)
{
tool = t;
mode = m;
}
public ToolChangedArgs(IRenderTool tool, bool active)
{
this.changedTool = tool;
this.active = active;
}
/// <summary>
/// This adds a tool object to the list of items to render by the renderable.
/// </summary>
/// <param name="renderable"></param>
public void AddTool(IRenderTool tool)
{
tools.Add(tool);
}
public void RemoveTool(IRenderTool tool)
{
tools.Remove(tool);
}
public ToolEnabledArgs(IRenderTool tool)
{
toolEnabled = tool;
}
public EnableModeArgs(IRenderTool t, string m)
{
tool = t;
mode = m;
}
/// <summary>
/// This adds a tool object to the list of items to render by the renderable.
/// </summary>
/// <param name="renderable"></param>
public void AddTool(IRenderTool tool)
{
tools.Add(tool);
}
public ToolDisabledArgs(IRenderTool tool)
{
toolDisabled = tool;
}
/// <summary>
/// Activates the tool, and turns off all others
/// </summary>
/// <param name="toolToActivate"></param>
public void DeactivateAllToolsExcept(IRenderTool toolToActivate)
{
foreach (IRenderTool tool in tools)
tool.IsActive = false;
ActivateTool(toolToActivate);
}
public MainGUI()
{
InitializeComponent();
rend = new Renderer(FieldView);
ocgridRend = new OccupancyGridRenderable("Grid SLAM Map", Color.Red);
firstPointRend = new PointRenderable();
firstPointRend.Show = false;
newPolyRend = new PathRenderable();
wallsRend = new PolygonRenderable(Color.Brown, true);
objectsRend = new PolygonRenderable(Color.Blue, true);
regionsRend = new PolygonRenderable(Color.Yellow, 0.5f, true);
fieldsRend = new PolygonRenderable(Color.Gray);
selectedPolyRend = new PolygonRenderable(Color.Black);
selectedPolyRend.LineThickness = 2F;
rend.AddRenderable(ocgridRend);
rend.AddRenderable(firstPointRend);
rend.AddRenderable(newPolyRend);
rend.AddRenderable(wallsRend);
rend.AddRenderable(objectsRend);
rend.AddRenderable(regionsRend);
rend.AddRenderable(fieldsRend);
rend.AddRenderable(selectedPolyRend);
mainField = new Field("main");
subFields = new Dictionary<string, Polygon>();
selectedPoly = new List<Polygon>();
originalTool = rend.Tool;
polyTool = new ClickTool();
polyTool.clicked += new EventHandler<ClickedEventArgs>(FieldViewClick);
newPoly = new Polygon();
accRobot = false;
ocgridShow = true;
Ctrl_press.Hide();
}
public void RemoveTool(IRenderTool tool)
{
tools.Remove(tool);
}
public void RemoveTools(Renderer renderer, IRenderTool tool)
{
renderer.RemoveTool(tool);
}
public void AddConflict(IRenderTool tool)
{
conflicts.Add(tool);
}
public void AddTools(Renderer renderer, IRenderTool tool)
{
renderer.AddTool(tool);
}
