cuikplay.c

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#include "cuikplay.h"

#include "world.h"
#include "box_list.h"
#include "error.h"

#include "cuikplay_interface.h"
#include "cuikplay_support.h"

#include <gtk/gtk.h>

#include <string.h>
#include <unistd.h>
#include <sys/time.h>


#define RECORD 0

int main(int argc, char **arg)
{
  
  if (argc>2)
    {
      Tworld world;
      Tparameters parameters;
      Tfilename fsols;
      Tfilename fparam;
      Tfilename fworld;

      Tlist sol_box_list;
      Titerator it;

      Tplot3d pt;

      TCuikPlayControl status;
      double frameDelay,axesLength,t;
      
      struct timeval tp;

      GtkWidget *window,*slider;
      #if (RECORD)
        char *snapshotFile;
        unsigned int l;

        fprintf(stderr,"RECORD MODE ON\n");
      #endif
      
      CreateFileName(NULL,arg[1],NULL,PARAM_EXT,&fparam);
      InitParametersFromFile(GetFileFullName(&fparam),&parameters);

      CreateFileName(NULL,arg[1],NULL,WORLD_EXT,&fworld);
      InitWorldFromFile(&parameters,TRUE,arg[1],&world);
      #if (RECORD)
        l=strlen(GetFileName(&fworld));
        NEW(snapshotFile,l+100,char);
      #endif

      CreateFileName(NULL,arg[2],NULL,SOL_EXT,&fsols);
      if (!ReadListOfBoxes(GetFileFullName(&fsols),&sol_box_list))
        Error("Solution file can not be opened");

      InitIterator(&it,&sol_box_list);
      First(&it);

      if (argc>3)
        axesLength=atof(arg[3]);
      else
        axesLength=0;

      if (argc>4)
        frameDelay=atof(arg[4]);
      else
        frameDelay=0.01;

      InitPlot3d(NULL,FALSE,argc,arg,&pt);
     
      Start3dBlock(&pt);
        PlotWorld(&parameters,&pt,axesLength,&world);

        MoveWorld(&parameters,&pt,(Tbox *)GetCurrent(&it),&world);
      Close3dBlock(&pt);

      status.maxFrame=ListSize(&sol_box_list);
      if (status.maxFrame==0)
        Error("Empty list of solutions");

      status.end=FALSE;
      status.mode=1;/*PAUSED*/
      status.currentFrame=0;
      status.nextFrame=0;

      gtk_set_locale();
      gtk_init(&argc,&arg);
      
      window=create_window_cuikplay((gpointer)(&status),status.maxFrame);
      slider=lookup_widget(window,"hscale1");
      gtk_widget_show(window);

      gettimeofday(&tp,NULL);
      status.time=(tp.tv_sec+tp.tv_usec/1000)+frameDelay;

      #if (_DEBUG>1)
        fprintf(stderr,"Max frame %u \n",status.maxFrame);
      #endif
      while(!status.end)
        {
          if (status.mode==0) /* if playing */
            {
              /* when we reach the end -> pause */
              if (status.currentFrame<(status.maxFrame-1))
                {
                  gettimeofday(&tp,NULL);
                  t=(tp.tv_sec+tp.tv_usec/1000)+frameDelay;
                  
                  /* if it is time to move to the next frame */
                  if (t>status.time)
                    {
                      /* Move the slider to currentFrame+1 and this will trigger and
                         even that actually sets nextFrame to currentFrame+1 and
                         actually displays the frame */
                      double v;
                      
                      v=(double)(status.currentFrame+1);

                      #if (_DEBUG>1)
                        fprintf(stderr,"Moving Slider from %g to %g \n",
                                gtk_range_get_value(GTK_RANGE(slider)),v);
                      #endif

                      gtk_range_set_value(GTK_RANGE(slider),v);
                    }
                }
              else
                status.mode=1; /*PAUSE*/
            }

          /* if we have to display a new configuration */
          if (status.currentFrame!=status.nextFrame)
            {
              /* if we reached the end -> pause */
              if (status.nextFrame<status.maxFrame)
                {
                  fprintf(stderr,"Displaying: %u\n",status.nextFrame+1);
                 
                  MoveTo(status.nextFrame,&it);
                  MoveWorld(&parameters,&pt,(Tbox *)GetCurrent(&it),&world);
                  #if (RECORD)
                    sprintf(snapshotFile,"/tmp/%s_%04u",GetFileName(&fworld),
                            status.nextFrame+1);
                    Take3dSnapshot(snapshotFile,&pt);
                  #endif
                  status.currentFrame=status.nextFrame;

                  /* set the time for the next frame */
                  gettimeofday(&tp,NULL);
                  t=(tp.tv_sec+tp.tv_usec/1000)+frameDelay;
                  status.time=t+frameDelay;
                }
              else
                {
                  status.currentFrame=status.nextFrame=status.maxFrame;
                  status.mode=1; /*PAUSE*/
                }
            }
          gtk_main_iteration_do(FALSE);
        }

      ClosePlot3d(TRUE,0,0,0,&pt);

      DeleteListOfBoxes(&sol_box_list);

      DeleteFileName(&fsols);      
      DeleteFileName(&fworld);    
      DeleteFileName(&fparam);
      #if (RECORD)
        free(snapshotFile);
      #endif

      DeleteWorld(&world);
      DeleteParameters(&parameters);
    }
  else
    {
      fprintf(stdout,"  Wrong number of parameters.\n");
      fprintf(stdout,"  Use:\n");
      fprintf(stdout,"     cuikplay <world>.world <solutions>.sol [<axes> <delay>]\n");
      fprintf(stdout,"  Where:\n");
      fprintf(stdout,"     <world>:  File describing the problem\n");
      fprintf(stdout,"     <solutions>:  Is the path of solutions to be animated\n");
      fprintf(stdout,"     <axes>: Optional. Length for the axes for each link.\n");
      fprintf(stdout,"             The default value is 0, i.e., not to display them.\n");
      fprintf(stdout,"     <delay>: Optional. Delay (in seconds) between frames.\n");
      fprintf(stdout,"              The default delay is 0.1 seconds.\n");
      fprintf(stdout,"  File extensions are not required\n");
    }
    
  return(EXIT_SUCCESS);
}