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();
}
/// <summary>
/// Click to confirm position of the free point. If more fields, call to
/// load next field. If no more, render the path map. Then close.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void OK_Click(object sender, EventArgs e)
{
if (complete)
{
this.Hide();
return;
}
f.DefineFreePoint(point);
PRMs.Add(new PRMAlgorithm(f, 0.35, (int)(f.AreaDifference() / 0.2)));
if (++count <= fields.Count)
{
f = fields[count - 1];
LoadNext();
}
else //if all points found render all lines
{
reset();
Number_Label.Text = "Path Map and PRM";
OK.Text = "Save";
Vector2 center = new Vector2(0, 0);
List<Polygon> fieldsComp = new List<Polygon>();
List<Polygon> wallsComp = new List<Polygon>();
List<Polygon> objectsComp = new List<Polygon>();
List<Polygon> regionsComp = new List<Polygon>();
foreach (Field ff in fields)
{
fieldsComp.Add(ff.shape);
TextRenderable name = new TextRenderable(ff.name, new PointF((float)ff.shape.Center.X, (float)ff.shape.Center.Y), Color.Black);
rend.AddRenderable(name);
center += ff.shape.Center;
foreach (List<Polygon> p in ff.walls.Values)
{
wallsComp.AddRange(p);
}
foreach (List<Polygon> p in ff.objects.Values)
{
objectsComp.AddRange(p);
}
foreach (List<Polygon> p in ff.regions.Values)
{
regionsComp.AddRange(p);
}
}
fieldsRend.Polygons = fieldsComp;
wallsRend.Polygons = wallsComp;
objectsRend.Polygons = objectsComp;
regionsRend.Polygons = regionsComp;
center /= fields.Count;
rend.CamOrtho.CameraPosition = new PoseYPR(center.X, center.Y, rend.CamOrtho.CameraPosition.z, rend.CamOrtho.CameraPosition.yaw,
rend.CamOrtho.CameraPosition.pitch, rend.CamOrtho.CameraPosition.roll);
OK.Enabled = true;
complete = true;
pm = new PRMNavigationPlanner(PRMs, "").getPathMap();
foreach (PRMAlgorithm prm in PRMs)
{
foreach (Vector2 v in prm.getNodeVector2())
{
PointRenderable pointr = new PointRenderable(v);
rend.AddRenderable(pointr);
}
}
foreach (PathMapNode pmn in pm.map)
{
PathRenderable line = new PathRenderable(new List<Vector2>() { pmn.v1.Item1, pmn.v2.Item1 });
line.DisplayColor = Color.Blue;
lines.Add(line);
rend.AddRenderable(line);
}
}
}
/// <summary>
/// This occurs when the renderer's tool is set to clickTool. It gets the
/// location of the mouseclick relative to the rederer.
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void FieldViewClick(object sender, ClickedEventArgs e)
{
if (!complete)
{
bool outside = !f.shape.IsInside(e.Location);
if (outside)
{
reset();
Error_OutsideField.Show();
}
bool inside = false;
foreach (Polygon p in f.blocks())
{
if (p.IsInside(e.Location))
{
inside = true;
break;
}
}
if (!outside && inside)
{
reset();
Error_InsideItem.Show();
}
if (!outside && !inside)
{
reset();
point = e.Location;
pointRend.Coordinates2D = e.Location;
pointRend.Show = true;
OK.Enabled = true;
}
}
else
{
bool outside = true;
bool inside = false;
foreach (Field s in fields)
{
if (s.shape.IsInside(e.Location))
{
outside = false;
f = s;
}
foreach (Polygon p in s.blocks())
{
if (p.IsInside(e.Location))
{
inside = true;
break;
}
}
}
if (outside)
{
reset();
OK.Enabled = true;
Error_OutsideField.Show();
}
else if (inside)
{
reset();
OK.Enabled = true;
Error_InsideItem.Show();
}
else
{
PRMs[fields.IndexOf(f)].addPoint(e.Location.X, e.Location.Y);
PointRenderable p = new PointRenderable(e.Location);
rend.AddRenderable(p);
pm = new PRMNavigationPlanner(PRMs, "").getPathMap();
foreach (PathRenderable pr in lines)
{
rend.RemoveRenderable(pr);
}
foreach (PathMapNode pmn in pm.map)
{
PathRenderable line = new PathRenderable(new List<Vector2>() { pmn.v1.Item1, pmn.v2.Item1 });
line.DisplayColor = Color.Blue;
lines.Add(line);
rend.AddRenderable(line);
}
}
}
}
