classdef AppWindow < handle
% Copyright (C) 2013, Georgia Tech Research Corporation
% see the LICENSE file included with this software
properties
parent_
layout_
view_
ui_colors_
ui_size_
ui_buttons_
click_src_
center_
zoom_level_
boundary_
ratio_
simulator_
target_marker_
is_tracking_
tracked_pose_
logo_
is_ready_
ticks_
time_
root_
end
methods
function obj = AppWindow(root)
obj.root_ = root;
obj.ui_colors_ = struct('gray', [220 220 220]/255, ...
'green', [ 57 200 67]/255, ...
'red', [221 23 31]/255, ...
'lgray', [183 183 183]/255, ...
'dgray', [242 242 242]/255, ...
'black', [ 48 48 48]/255);
obj.ui_size_ = [0 0 800 600];
obj.is_tracking_ = false;
obj.center_ = simiam.ui.Pose2D(0,0,0);
obj.click_src_ = [0;0];
obj.is_ready_ = false;
obj.ticks_ = [];
obj.time_ = 0;
end
function load_ui(obj)
obj.create_layout();
end
function create_simulator(obj, settings_file)
world = simiam.simulator.World(obj.view_);
world.build_from_file(obj.root_, settings_file);
token_k = world.robots.head_;
while(~isempty(token_k))
robot = token_k.key_.robot;
set(robot.surfaces.head_.key_.handle_, 'ButtonDownFcn', {@obj.ui_focus_view,robot});
set(robot.surfaces.tail_.key_.handle_, 'ButtonDownFcn', {@obj.ui_focus_view,robot});
token_k = token_k.next_;
end
obj.simulator_ = simiam.simulator.Simulator(obj, world, 0.01);
obj.simulator_.step([],[]);
end
function create_layout(obj)
% Create MATLAB figure
obj.parent_ = figure('MenuBar', 'none', ...
'NumberTitle', 'off', ...
'Name', 'Sim.I.am', ...
'Color', obj.ui_colors_.gray);
ui_size = get(obj.parent_, 'Position');
ui_size(3:4) = obj.ui_size_(3:4);
screen_size = get(0, 'ScreenSize');
margins = (screen_size(3:4)-obj.ui_size_(3:4))/2;
ui_size(1:2) = margins;
set(obj.parent_, 'Position', ui_size);
set(obj.parent_, 'Renderer', 'zBuffer');
% Create user interface (ui) layout
obj.layout_ = GridLayout(obj.parent_, 'RowHeight', {24,'*','*',36}, ....
'ColWidth', {48, 48, 48, '*' ,64, 96, 64,'*', 48 , 48, 48}, ...,
'LMargin', 10, 'RMargin', 6, ...
'Gap', 5, ...
'CellColor', obj.ui_colors_.gray);
set(obj.layout_.Container, 'BackgroundColor', obj.ui_colors_.gray);
MergeCells(obj.layout_, [2 3], [1 11]);
Update(obj.layout_);
% Create UI buttons
icon_file = fullfile(obj.root_, 'resources/simiam_splash.png');
if(isunix)
icon_url = ['file://' icon_file];
else
icon_url = strrep(['file:/' icon_file],'\','/');
end
button_string = ['<html><div style="text-align: center"><img src="' icon_url '"/>' ...
'<br>Welcome to <b>Sim.I.am</b>, a robot simulator.' ...
'<br>This is <em>Sim the Second</em>, your companion for control theory and robotics.' ...
'<br>The simulator is maintained by the GRITSLab at' ...
'<br><a href="http://gritslab.gatech.edu/projects/robot-simulator">http://gritslab.gatech.edu/projects/robot-simulator</a>' ...
'</div><br><ol><li>Start the demo by clicking the play button.</li><li>Use the mouse to pan and zoom.</li><li>Double click anywhere on the grid to send the robot to that location.</li><li>Select the robot to follow it</li><li>If your robot crashes, press the rewind button.</li></ol>' ...
'</html>'];
ui_args = {'Style','pushbutton', 'String', button_string, 'ForegroundColor', 'w', 'FontWeight', 'bold', 'BackgroundColor', obj.ui_colors_.gray, 'Callback', @obj.ui_button_start};
ui_parent = obj.layout_.Cell(2,1);
obj.logo_ = uicontrol(ui_parent, ui_args{:});
set(obj.logo_, 'Enable', 'off');
set(findjobj(obj.logo_), 'Border', []);
set(obj.logo_, 'BackgroundColor', [96 184 206]/255);
ui_args = {'Style','pushbutton', 'ForegroundColor', 'w', 'FontWeight', 'bold', 'Callback', @obj.ui_button_start};
ui_parent = obj.layout_.Cell(4,6);
play = uicontrol(ui_parent, ui_args{:});
obj.ui_set_button_icon(play, 'ui_control_play.png');
obj.ui_toggle_control(play, true);
ui_args = {'Style','pushbutton', 'ForegroundColor', 'w', 'FontWeight', 'bold', 'Callback', @obj.ui_reset_simulation};
ui_parent = obj.layout_.Cell(4,5);
refresh = uicontrol(ui_parent, ui_args{:});
obj.ui_set_button_icon(refresh, 'ui_control_reset.png');
obj.ui_toggle_control(refresh, false);
ui_args = {'Style','pushbutton', 'ForegroundColor', 'w', 'FontWeight', 'bold', 'Callback', @obj.ui_button_home};
ui_parent = obj.layout_.Cell(4,1);
load = uicontrol(ui_parent, ui_args{:});
obj.ui_set_button_icon(load, 'ui_control_home.png');
obj.ui_toggle_control(load, false);
ui_args = {'Style', 'pushbutton', 'ForegroundColor', 'w', 'FontWeight', 'bold', 'Callback', @obj.ui_button_zoom_in};
ui_parent = obj.layout_.Cell(4,11);
zoom_in = uicontrol(ui_parent, ui_args{:});
obj.ui_set_button_icon(zoom_in, 'ui_control_zoom_in.png');
obj.ui_toggle_control(zoom_in, false);
ui_args = {'Style', 'pushbutton', 'ForegroundColor', 'w', 'FontWeight', 'bold', 'Callback', @obj.ui_button_zoom_out};
ui_parent = obj.layout_.Cell(4,10);
zoom_out = uicontrol(ui_parent, ui_args{:});
obj.ui_set_button_icon(zoom_out, 'ui_control_zoom_out.png');
obj.ui_toggle_control(zoom_out, false);
ui_args = {'Style', 'pushbutton', 'BackgroundColor', obj.ui_colors_.gray};
ui_parent = obj.layout_.Cell(1,9);
status = uicontrol(ui_parent, ui_args{:});
set(status, 'Enable', 'off');
set(findjobj(status), 'Border', []);
obj.ui_set_button_icon(status, 'ui_status_ok.png');
ui_args = {'Style', 'pushbutton', 'BackgroundColor', obj.ui_colors_.gray};
ui_parent = obj.layout_.Cell(1,10);
clock = uicontrol(ui_parent, ui_args{:});
set(clock, 'Enable', 'off');
set(findjobj(clock), 'Border', []);
obj.ui_set_button_icon(clock, 'ui_status_clock.png');
ui_args = {'Style', 'togglebutton', 'BackgroundColor', obj.ui_colors_.gray};
time = uicontrol(obj.layout_.Cell(1,11), ui_args{:});
set(findjobj(time), 'Border', []);
set(time, 'Value', true);
obj.ui_buttons_ = struct('play', play, 'play_state', false, ...
'refresh', refresh, ...
'load', load, ...
'status', status, ...
'time', time, ...
'zoom_in', zoom_in, ...
'zoom_out', zoom_out);
obj.ui_update_clock(0);
% Set minimum size for figure
jFrame = get(handle(obj.parent_), 'JavaFrame');
jClient = jFrame.fHG1Client;
drawnow;
jWindow = jClient.getWindow;
jWindow.setMinimumSize(java.awt.Dimension(800, 600));
Update(obj.layout_);
end
function create_callbacks(obj)
% Create UI callbacks
set(obj.view_, 'ButtonDownFcn', @obj.ui_press_mouse);
set(obj.parent_,'ResizeFcn', @obj.ui_resize_view);
set(obj.parent_,'WindowScrollWheelFcn', @obj.ui_zoom_view);
set(obj.parent_,'KeyPressFcn', @obj.ui_press_key);
set(obj.parent_, 'CloseRequestFcn', @obj.ui_close);
end
% UI functions
function ui_toggle_control(obj, ui_control_button, is_state_on)
if(is_state_on)
set(ui_control_button, 'Enable', 'on');
set(ui_control_button, 'BackgroundColor', obj.ui_colors_.dgray);
else
set(ui_control_button, 'Enable', 'off');
set(ui_control_button, 'BackgroundColor', obj.ui_colors_.lgray);
end
end
function ui_set_button_icon(obj, ui_button, icon)
icon_file = fullfile(obj.root_, 'resources/icons', icon);
if(isunix)
icon_url = ['file://' icon_file];
else
icon_url = strrep(['file:/' icon_file],'\','/');
end
button_string = ['<html><img src="' icon_url '"/></html>'];
set(ui_button, 'String', button_string);
end
function ui_update_clock(obj, dt)
obj.time_ = obj.time_ + dt;
clock_string = sprintf('%02d:%02d', floor(obj.time_/60), floor(mod(obj.time_,60)));
set(obj.ui_buttons_.time, 'String', clock_string);
end
function ui_update(obj, dt, is_state_crashed)
if (is_state_crashed)
obj.simulator_.stop();
obj.ui_set_button_icon(obj.ui_buttons_.status, 'ui_status_error.png');
obj.ui_toggle_control(obj.ui_buttons_.refresh, true);
obj.ui_toggle_control(obj.ui_buttons_.play, false);
end
if(obj.is_tracking_)
obj.ui_set_axes();
end
obj.ui_update_clock(dt);
end
function ui_reset_simulation(obj, src, event)
obj.ui_toggle_control(obj.ui_buttons_.refresh, false);
obj.ui_set_button_icon(obj.ui_buttons_.status, 'ui_status_ok.png');
obj.time_ = 0;
obj.ui_update_clock(0);
obj.ui_button_home(src, event);
obj.ui_button_start(src, event);
end
function ui_button_start(obj, src, event)
% [filename, pathname] = uigetfile({'*.xml', 'XML file'}, 'Load a world for the simulator.');
% if (isequal(filename, 0) || isequal(pathname, 0))
% % delete(obj.parent_);
% warning('No file was selected.');
% return
% end
% simiam.ui.AppWindow().load_ui(fullfile(pathname, filename));
% delete(obj.parent_);
% Create ui main view
delete(obj.logo_);
view_parent = obj.layout_.Cell(2,1);
set(view_parent, 'Children', []);
Update(obj.layout_);
obj.view_ = axes('Parent', obj.layout_.Cell(2,1), ...
'ActivePositionProperty','Position', ...
'Box', 'on');
Update(obj.layout_);
% Target Marker
obj.target_marker_ = plot(obj.view_, inf, inf, ...
'Marker', 'o', ...
'MarkerFaceColor', obj.ui_colors_.green, ...
'MarkerEdgeColor', obj.ui_colors_.green, ...
'MarkerSize', 10);
set(obj.view_, 'XGrid', 'on');
set(obj.view_, 'YGrid', 'on');
set(obj.view_, 'XTickMode', 'manual');
set(obj.view_, 'YTickMode', 'manual');
set(obj.view_, 'Units', 'pixels');
view_quad = get(obj.view_, 'Position');
set(obj.view_, 'Units', 'normal');
width = view_quad(3);
height = view_quad(4);
obj.ratio_ = width/height;
obj.zoom_level_ = 1;
obj.boundary_ = 2.5;
obj.ui_set_axes();
% Change ui controls
obj.ui_toggle_control(obj.ui_buttons_.play, true);
obj.ui_toggle_control(obj.ui_buttons_.load, false);
obj.create_callbacks();
% obj.create_simulator(fullfile(pathname, filename));
obj.create_simulator(fullfile(obj.root_, 'settings.xml'));
obj.ui_buttons_.play_state = true;
obj.ui_set_button_icon(obj.ui_buttons_.play, 'ui_control_pause.png');
set(obj.ui_buttons_.play, 'Callback', @obj.ui_button_play);
obj.is_ready_ = true;
obj.ui_toggle_control(obj.ui_buttons_.load, true);
obj.ui_toggle_control(obj.ui_buttons_.zoom_in, true);
obj.ui_toggle_control(obj.ui_buttons_.zoom_out, true);
obj.time_ = 0;
obj.ui_update_clock(0);
obj.simulator_.start();
end
function ui_button_home(obj, src, event)
obj.is_ready_ = false;
obj.center_ = simiam.ui.Pose2D(0,0,0);
obj.ui_toggle_control(obj.ui_buttons_.zoom_in, false);
obj.ui_toggle_control(obj.ui_buttons_.zoom_out, false);
obj.ui_toggle_control(obj.ui_buttons_.refresh, false);
obj.ui_set_button_icon(obj.ui_buttons_.status, 'ui_status_ok.png');
obj.time_ = 0;
obj.ui_update_clock(0);
obj.ui_toggle_control(obj.ui_buttons_.play, true);
obj.simulator_.shutdown();
delete(obj.simulator_);
delete(obj.view_);
view_parent = obj.layout_.Cell(2,1);
set(view_parent, 'Children', []);
Update(obj.layout_);
icon_file = fullfile(obj.root_, 'resources/simiam_splash.png');
if(isunix)
icon_url = ['file://' icon_file];
else
icon_url = strrep(['file:/' icon_file],'\','/');
end
button_string = ['<html><div style="text-align: center"><img src="' icon_url '"/>' ...
'<br>Welcome to <b>Sim.I.am</b>, a robot simulator.' ...
'<br>This is <em>Sim the Second</em>, your companion for control theory and robotics.' ...
'<br>The simulator is maintained by the GRITSLab at' ...
'<br><a href="http://gritslab.gatech.edu/projects/robot-simulator">http://gritslab.gatech.edu/projects/robot-simulator</a>' ...
'</div><br><ol><li>Start the demo by clicking the play button.</li><li>Use the mouse to pan and zoom.</li><li>Double click anywhere on the grid to send the robot to that location.</li><li>Select the robot to follow it</li><li>If your robot crashes, press the rewind button.</li></ol>' ...
'</html>'];
ui_args = {'Style','pushbutton', 'String', button_string, 'ForegroundColor', 'w', 'FontWeight', 'bold', 'BackgroundColor', obj.ui_colors_.gray, 'Callback', @obj.ui_button_start};
ui_parent = obj.layout_.Cell(2,1);
obj.logo_ = uicontrol(ui_parent, ui_args{:});
set(obj.logo_, 'Enable', 'off');
set(findjobj(obj.logo_), 'Border', []);
set(obj.logo_, 'BackgroundColor', [96 184 206]/255);
ui_parent_size = get(ui_parent, 'Position');
set(obj.logo_, 'Position', [0 0 ui_parent_size(3:4)]);
% set(obj.view_, 'ButtonDownFcn', @obj.ui_no_op);
% Remove callbacks from figure
set(obj.parent_,'ResizeFcn', @obj.ui_no_op);
set(obj.parent_,'WindowScrollWheelFcn', @obj.ui_no_op);
set(obj.parent_,'KeyPressFcn', @obj.ui_no_op);
obj.ui_set_button_icon(obj.ui_buttons_.play, 'ui_control_play.png');
obj.ui_buttons_.play_state = false;
set(obj.ui_buttons_.play, 'Callback', @obj.ui_button_start);
obj.ui_toggle_control(obj.ui_buttons_.load, false);
end
function ui_focus_view(obj, src, event, robot)
% disp('clicked robot');
switch(get(obj.parent_, 'SelectionType'))
case 'normal'
% disp('single click')
case 'open'
% disp('double click')
otherwise
end
pose = simiam.ui.Pose2D(0,0,0);
token_k = obj.simulator_.world.robots.head_;
while(~isempty(token_k))
if(token_k.key_.robot == robot)
pose = token_k.key_.pose;
break;
end
token_k = token_k.next_;
end
obj.center_ = pose;
obj.ui_set_axes();
obj.is_tracking_ = true;
end
function ui_button_play(obj, src, event)
obj.ui_buttons_.play_state = ~obj.ui_buttons_.play_state;
if(obj.ui_buttons_.play_state)
obj.ui_set_button_icon(obj.ui_buttons_.play, 'ui_control_pause.png');
obj.simulator_.start();
else
obj.ui_set_button_icon(obj.ui_buttons_.play, 'ui_control_play.png');
obj.simulator_.stop();
end
end
function ui_close(obj, src, event)
if(obj.is_ready_)
obj.simulator_.shutdown();
end
delete(src);
end
function ui_set_axes(obj)
set(obj.view_, 'XLim', [-1 1]*obj.zoom_level_+obj.center_.x);
set(obj.view_, 'YLim', ([-1 1]*obj.zoom_level_/obj.ratio_)+obj.center_.y);
tickd = obj.zoom_level_*0.1;
if(isempty(obj.ticks_))
obj.ticks_ = [-fliplr(0:tickd:obj.boundary_*2) tickd:tickd:obj.boundary_*2];
end
set(obj.view_, 'XTick', obj.ticks_);
set(obj.view_, 'YTick', obj.ticks_);
set(obj.view_, 'XTickLabel', []);
set(obj.view_, 'YTickLabel', []);
end
function ui_zoom_view(obj, src, event, varargin)
zoom_level_factor = 0.25;
obj.zoom_level_ = obj.zoom_level_+zoom_level_factor*event.VerticalScrollCount;
obj.zoom_level_ = min(max(obj.zoom_level_,0.1), obj.boundary_);
if (~obj.is_tracking_)
if(obj.zoom_level_+obj.center_.x > obj.boundary_)
obj.center_.x = obj.boundary_-obj.zoom_level_;
elseif(-obj.zoom_level_+obj.center_.x < -obj.boundary_)
obj.center_.x = -obj.boundary_+obj.zoom_level_;
end
if(obj.zoom_level_/obj.ratio_+obj.center_.y > obj.boundary_)
obj.center_.y = obj.boundary_-obj.zoom_level_/obj.ratio_;
elseif(-obj.zoom_level_/obj.ratio_+obj.center_.y < -obj.boundary_)
obj.center_.y = -obj.boundary_+obj.zoom_level_/obj.ratio_;
end
end
obj.ui_set_axes();
end
function ui_button_zoom_in(obj, src, event)
event.VerticalScrollCount = -1;
obj.ui_zoom_view(src, event);
end
function ui_button_zoom_out(obj, src, event)
event.VerticalScrollCount = 1;
obj.ui_zoom_view(src, event);
end
function ui_press_mouse(obj, src, event, handles)
click = get(obj.view_, 'CurrentPoint');
obj.click_src_ = click(1,1:2)';
switch(get(obj.parent_, 'SelectionType'))
case 'extend'
% set(obj.parent_, 'WindowButtonMotionFcn', @obj.ui_zoom_view);
case 'normal'
setptr(obj.parent_, 'closedhand');
set(obj.parent_, 'WindowButtonMotionFcn', @obj.ui_pan_view);
case 'open'
set(obj.target_marker_, 'XData', obj.click_src_(1));
set(obj.target_marker_, 'YData', obj.click_src_(2));
obj.simulator_.world.apps.head_.key_.ui_press_mouse(obj.click_src_);
otherwise
% noop
end
set(obj.parent_, 'WindowButtonUpFcn', @obj.ui_release_mouse);
end
function ui_press_key(obj, src, event, handles)
% disp(event.Key);
end
function ui_release_mouse(obj, src, event, handles)
% disp('released')
setptr(obj.parent_, 'arrow');
set(obj.parent_, 'WindowButtonMotionFcn', @obj.ui_no_op);
end
function ui_pan_view(obj, src, event, handles)
[x, y, theta] = obj.center_.unpack();
obj.center_ = simiam.ui.Pose2D(x,y,theta);
obj.is_tracking_ = false;
click = get(obj.view_, 'CurrentPoint');
click_pose = click(1,1:2)';
diff = (obj.click_src_-click_pose);
obj.center_.x = obj.center_.x + diff(1);
obj.center_.y = obj.center_.y + diff(2);
% don't pan out of view
if(obj.zoom_level_+obj.center_.x > obj.boundary_)
obj.center_.x = obj.boundary_-obj.zoom_level_;
elseif(-obj.zoom_level_+obj.center_.x < -obj.boundary_)
obj.center_.x = -obj.boundary_+obj.zoom_level_;
end
if(obj.zoom_level_/obj.ratio_+obj.center_.y > obj.boundary_)
obj.center_.y = obj.boundary_-obj.zoom_level_/obj.ratio_;
elseif(-obj.zoom_level_/obj.ratio_+obj.center_.y < -obj.boundary_)
obj.center_.y = -obj.boundary_+obj.zoom_level_/obj.ratio_;
end
obj.ui_set_axes();
end
function ui_no_op(obj, src, event, handles)
% do nothing
end
function ui_resize_view(obj, src, event, handles)
set(obj.view_, 'Units', 'pixels');
view_quad = get(obj.view_, 'Position');
set(obj.view_, 'Units', 'normal');
width = view_quad(3);
height = view_quad(4);
obj.ratio_ = width/height;
obj.ui_set_axes();
end
end
end
