vpDisplayWin32.cpp

/****************************************************************************
 *
 * $Id: vpDisplayWin32.cpp 3682 2012-04-11 14:28:29Z fnovotny $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2012 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Windows 32 display base class
 *
 * Authors:
 * Bruno Renier
 *
 *****************************************************************************/

#include <visp/vpConfig.h>
#define FLUSH_ROI
#if ( defined(WIN32) )

#include <visp/vpDisplayWin32.h>
#include <visp/vpDisplayException.h>
#include <string>



const int vpDisplayWin32::MAX_INIT_DELAY  = 5000;

void vpCreateWindow(threadParam * param)
{
  char* title = param->title;
  (param->vpDisp)->window.initWindow(title, param->x, param->y,
                     param->w, param->h);
  delete param;
}

vpDisplayWin32::vpDisplayWin32(vpWin32Renderer * rend) :
  iStatus(false), window(rend)
{
}


vpDisplayWin32::~vpDisplayWin32()
{
  closeDisplay();
}


void vpDisplayWin32::init(vpImage<unsigned char> &I,
              int x,
              int y,
              const char *title)
{
    if ((I.getHeight() == 0) || (I.getWidth()==0))
    {
      vpERROR_TRACE("Image not initialized " ) ;
      throw(vpDisplayException(vpDisplayException::notInitializedError,
                   "Image not initialized")) ;
    }

  window.renderer->setImg(I);

  init (I.getWidth(), I.getHeight(), x, y, title) ;
  I.display = this ;
}


void vpDisplayWin32::init(vpImage<vpRGBa> &I,
              int x,
              int y,
              const char *title)
{
  if ((I.getHeight() == 0) || (I.getWidth()==0))
    {
      vpERROR_TRACE("Image not initialized " ) ;
      throw(vpDisplayException(vpDisplayException::notInitializedError,
                   "Image not initialized")) ;
    }

  window.renderer->setImg(I);

  init (I.getWidth(), I.getHeight(), x, y, title) ;
  I.display = this ;
}


void vpDisplayWin32::init(unsigned int width, unsigned int height,
              int x, int y,
              const char *title)
{


  if (this->title != NULL)//delete apr�s init du thread.... ou destructeur
    {
      delete [] this->title;
      this->title = NULL;
    }

  if (title != NULL) {
    this->title = new char[strlen(title) + 1] ;
    strcpy(this->title, title) ;
  }

  //we prepare the window's thread creation
  threadParam * param = new threadParam;
  param->x = x;
  param->y = y;
  param->w = width;
  param->h = height;
  param->vpDisp = this;
  param->title = this->title;

  //creates the window in a separate thread
  hThread = CreateThread(NULL,0,(LPTHREAD_START_ROUTINE)vpCreateWindow,
             param,0,&threadId);

  //the initialization worked
  iStatus = (hThread != (HANDLE)NULL);

  displayHasBeenInitialized = true;
}


void vpDisplayWin32::waitForInit()
{
  //if the window is not initialized yet
  if(!window.isInitialized())
    {
      //wait
      if( WAIT_OBJECT_0 != WaitForSingleObject(window.semaInit,MAX_INIT_DELAY))
    throw(vpDisplayException(vpDisplayException::notInitializedError,
                 "Window not initialized")) ;
      //problem : the window is not initialized
    }
}


void vpDisplayWin32::displayImage(const vpImage<vpRGBa> &I)
{
  //waits if the window is not initialized
  waitForInit();

  //sets the image to render
  window.renderer->setImg(I);
  //sends a message to the window
  //PostMessage(window.getHWnd(),vpWM_DISPLAY,0,0);
}


void vpDisplayWin32::displayImageROI ( const vpImage<vpRGBa> &I,const vpImagePoint &iP, const unsigned int width, const unsigned int height )
{
    //waits if the window is not initialized
  waitForInit();

  //sets the image to render
  window.renderer->setImgROI(I,iP,width,height);
  //sends a message to the window
  //PostMessage(window.getHWnd(),vpWM_DISPLAY,0,0);
}


void vpDisplayWin32::displayImage(const vpImage<unsigned char> &I)
{
  //wait if the window is not initialized
  waitForInit();

  //sets the image to render
  window.renderer->setImg(I);
  //sends a message to the window
  //PostMessage(window.getHWnd(), vpWM_DISPLAY, 0,0);
}

void vpDisplayWin32::displayImageROI ( const vpImage<unsigned char> &I,const vpImagePoint &iP, const unsigned int width, const unsigned int height )
{
  //waits if the window is not initialized
  waitForInit();

  //sets the image to render
  window.renderer->setImgROI(I,iP,width,height);
  //sends a message to the window
  //PostMessage(window.getHWnd(),vpWM_DISPLAY,0,0);
}


bool vpDisplayWin32::getClick( bool blocking)
{
  //wait if the window is not initialized
  waitForInit();
  bool ret = false;
  //sends a message to the window
//   PostMessage(window.getHWnd(), vpWM_GETCLICK, 0,0);

  //waits for a button to be pressed
  if(blocking){ 
    WaitForSingleObject(window.semaClick, NULL);
    WaitForSingleObject(window.semaClickUp, NULL); //to erase previous events 
    WaitForSingleObject(window.semaClick, INFINITE);
    ret = true;
  }
  else
    ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaClick, NULL));
  
  return ret; 
}


bool vpDisplayWin32::getClick(vpImagePoint &ip, bool blocking)
{
  //wait if the window is not initialized
  waitForInit();

  bool ret = false ;
  double u, v;
  //tells the window there has been a getclick demand
//   PostMessage(window.getHWnd(), vpWM_GETCLICK, 0,0);
  //waits for a click
  if(blocking){
    WaitForSingleObject(window.semaClick, NULL);
    WaitForSingleObject(window.semaClickUp, NULL);//to erase previous events
    WaitForSingleObject(window.semaClick, INFINITE);
    ret = true;  
  }  
  else
    ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaClick, NULL));
  
  u = window.clickX;
  v = window.clickY;
  ip.set_u( u );
  ip.set_v( v );

  return ret;
}


bool vpDisplayWin32::getClick(vpImagePoint &ip,
                              vpMouseButton::vpMouseButtonType& button,
                              bool blocking)
{
  //wait if the window is not initialized
  waitForInit();
  bool ret = false;
  double u, v;
  //tells the window there has been a getclickup demand
//   PostMessage(window.getHWnd(), vpWM_GETCLICK, 0,0);
  //waits for a click
  if(blocking){
    WaitForSingleObject(window.semaClick, NULL);
    WaitForSingleObject(window.semaClickUp, NULL);//to erase previous events
    WaitForSingleObject(window.semaClick, INFINITE);
    ret = true;
  }
  else
    ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaClick, NULL));
  
  u = window.clickX;
  v = window.clickY;
  ip.set_u( u );
  ip.set_v( v );
  button = window.clickButton;

  return ret;
}


bool vpDisplayWin32::getClickUp(vpImagePoint &ip,
                                vpMouseButton::vpMouseButtonType& button,
                                bool blocking)
{
  //wait if the window is not initialized
  waitForInit();
  bool ret = false;
  double u, v;
  //tells the window there has been a getclickup demand
//   PostMessage(window.getHWnd(), vpWM_GETCLICKUP, 0,0);

  //waits for a click release
  if(blocking){
    WaitForSingleObject(window.semaClickUp, NULL);
    WaitForSingleObject(window.semaClick, NULL);//to erase previous events
    WaitForSingleObject(window.semaClickUp, INFINITE);
    ret = true;
  }
  else
    ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaClickUp, NULL));
  
  u = window.clickXUp;
  v = window.clickYUp;
  ip.set_u( u );
  ip.set_v( v );
  button = window.clickButtonUp;

  return ret;
}

bool vpDisplayWin32::getKeyboardEvent( bool blocking )
{
  //wait if the window is not initialized
  waitForInit();

  bool ret = false ;
  //waits for a keyboard event
  if(blocking){
    WaitForSingleObject(window.semaKey, NULL); // key down
    WaitForSingleObject(window.semaKey, NULL); // key up
    WaitForSingleObject(window.semaKey, INFINITE);
    ret = true;  
  }  
  else
    ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaKey, NULL));
  
  return ret;
}
bool vpDisplayWin32::getKeyboardEvent(char *string, bool blocking)
{
  //wait if the window is not initialized
  waitForInit();

  bool ret = false ;
  //waits for a keyboard event
  if(blocking){
    WaitForSingleObject(window.semaKey, NULL); // key down
    WaitForSingleObject(window.semaKey, NULL); // key up
    WaitForSingleObject(window.semaKey, INFINITE);
    ret = true;  
  }  
  else {
     ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaKey, NULL));
  }
  //  printf("key: %ud\n", window.key);
  sprintf(string, "%s", window.lpString);
  
  return ret;
}
bool 
vpDisplayWin32::getPointerMotionEvent (vpImagePoint &ip)
{
  //wait if the window is not initialized
  waitForInit();

  bool ret = false;

  ret = (WAIT_OBJECT_0 == WaitForSingleObject(window.semaMove, NULL));
  if (ret)
  {
    double u, v;
    std::cout << "toto";
    //tells the window there has been a getclick demand
    //PostMessage(window.getHWnd(), vpWM_GETPOINTERMOTIONEVENT, 0,0);
  
    u = window.coordX;
    v = window.coordY;
    ip.set_u( u );
    ip.set_v( v );
  }

  return ret;
}

bool 
vpDisplayWin32::getPointerPosition (vpImagePoint &ip)
{
  //wait if the window is not initialized
  waitForInit();

  bool ret = true ;
  double u, v;
  //tells the window there has been a getclick demand
  //PostMessage(window.getHWnd(), vpWM_GETPOINTERMOTIONEVENT, 0,0);
  
  u = window.coordX;
  v = window.coordY;
  ip.set_u( u );
  ip.set_v( v );

  return ret;
}

void vpDisplayWin32::setWindowPosition(int winx, int winy)
{
  //wait if the window is not initialized
  waitForInit();

  //cahange the window position only
  SetWindowPos(window.hWnd,HWND_TOP, winx, winy, 0, 0,
           SWP_ASYNCWINDOWPOS | SWP_NOACTIVATE | SWP_NOZORDER |SWP_NOSIZE);

}


void vpDisplayWin32::setTitle(const char *windowtitle)
{
  //wait if the window is not initialized
  waitForInit();
  SetWindowText(window.hWnd, windowtitle);
}


void vpDisplayWin32::setFont(const char *fontname)
{
    vpERROR_TRACE("Not yet implemented" ) ;
}


void vpDisplayWin32::flushDisplay()
{
  //waits if the window is not initialized
  waitForInit();

  //sends a message to the window
  PostMessage(window.getHWnd(), vpWM_DISPLAY, 0,0);
}

void vpDisplayWin32::flushDisplayROI(const vpImagePoint &iP, const unsigned int width, const unsigned int height)
{
  //waits if the window is not initialized
  waitForInit();
  
  /*
  Under windows, flushing an ROI takes more time than
  flushing the whole image.
  Therefore, we update the maximum area even when asked to update a region.
  */
#ifdef FLUSH_ROI
  typedef struct _half_rect_t{
    unsigned short left_top;
    unsigned short right_bottom;
  } half_rect_t;

  half_rect_t hr1;
  half_rect_t hr2;

  hr1.left_top = (unsigned short)iP.get_u();
  hr1.right_bottom = (unsigned short)(iP.get_u()+width-1);

  hr2.left_top = (unsigned short)iP.get_v();
  hr2.right_bottom = (unsigned short)(iP.get_v()+height-1);

  //sends a message to the window
  WPARAM wp=*((WPARAM*)(&hr1));
  LPARAM lp=*((WPARAM*)(&hr2));
  PostMessage(window.getHWnd(), vpWM_DISPLAY_ROI, wp,lp);
#else
  PostMessage(window.getHWnd(), vpWM_DISPLAY, 0,0);
#endif
}


void vpDisplayWin32::displayPoint(const vpImagePoint &ip,
                                  const vpColor &color )
{
  //wait if the window is not initialized
  waitForInit();
  window.renderer->setPixel(ip, color);
}

void vpDisplayWin32::displayLine( const vpImagePoint &ip1, 
                                  const vpImagePoint &ip2,
                                  const vpColor &color, 
                                  unsigned int thickness )
{
  //wait if the window is not initialized
  waitForInit();
  window.renderer->drawLine(ip1, ip2, color, thickness);
}


void vpDisplayWin32::displayDotLine(const vpImagePoint &ip1, 
                    const vpImagePoint &ip2,
                                    const vpColor &color, 
                    unsigned int thickness )
{
  //wait if the window is not initialized
  waitForInit();
  window.renderer->drawLine(ip1,ip2,color,thickness,PS_DASHDOT);
}

void vpDisplayWin32::displayRectangle( const vpImagePoint &topLeft,
                                       unsigned int width, unsigned int height,
                                       const vpColor &color, bool fill,
                           unsigned int thickness )
{
  //wait if the window is not initialized
  waitForInit();
  window.renderer->drawRect(topLeft,width,height,color, fill, thickness);
}


void vpDisplayWin32::displayRectangle( const vpImagePoint &topLeft,
                                       const vpImagePoint &bottomRight,
                                       const vpColor &color, bool fill,
                                             unsigned int thickness )
{
  //wait if the window is not initialized
  waitForInit();
  unsigned int width = static_cast<unsigned int>( bottomRight.get_j() - topLeft.get_j() );
  unsigned int height = static_cast<unsigned int>(bottomRight.get_i() - topLeft.get_i() );
  window.renderer->drawRect(topLeft,width,height,color, fill, thickness);
}

void vpDisplayWin32::displayRectangle( const vpRect &rectangle,
                                       const vpColor &color, bool fill,
                                             unsigned int thickness )
{
  //wait if the window is not initialized
  waitForInit();
  vpImagePoint topLeft;
  topLeft.set_i(rectangle.getTop());
  topLeft.set_j(rectangle.getLeft());
  window.renderer->drawRect(topLeft,
                            static_cast<unsigned int>( rectangle.getWidth() ),
                            static_cast<unsigned int>( rectangle.getHeight() ),
                                  color, fill, thickness);
}


void vpDisplayWin32::displayCircle(const vpImagePoint &center,
                                   unsigned int radius,
                                   const vpColor &color,
                                   bool fill,
                                   unsigned int thickness )
{
  //wait if the window is not initialized
  waitForInit();
  window.renderer->drawCircle(center,radius,color,fill,thickness);
}

void vpDisplayWin32::displayCharString(const vpImagePoint &ip,
                                     const char *text, 
                     const vpColor &color )
{
  //wait if the window is not initialized
  waitForInit();
  window.renderer->drawText(ip,text,color);
}

void vpDisplayWin32::displayCross( const vpImagePoint &ip, 
                                   unsigned int size, 
                   const vpColor &color,
                   unsigned int thickness)
{
  //wait if the window is not initialized
  waitForInit();
  window.renderer->drawCross(ip, size, color, thickness);
}


void vpDisplayWin32::displayArrow(const vpImagePoint &ip1, 
            const vpImagePoint &ip2,
            const vpColor &color,
            unsigned int w,unsigned int h,
            unsigned int thickness)

{
  //wait if the window is not initialized
  waitForInit();
  window.renderer->drawArrow(ip1, ip2, color, w, h, thickness);
}


void vpDisplayWin32::clearDisplay(const vpColor &color){
  //wait if the window is not initialized
  waitForInit();
  window.renderer->clear(color);
}


void vpDisplayWin32::closeDisplay()
{
  if (displayHasBeenInitialized) {
    waitForInit();
    PostMessage(window.getHWnd(), vpWM_CLOSEDISPLAY, 0,0);
    //if the destructor is called for a reason different than a
    //problem in the thread creation
    if (iStatus) {
      //waits for the thread to end
      WaitForSingleObject(hThread, INFINITE);
      CloseHandle(hThread);
    }
    displayHasBeenInitialized = false ;
    window.initialized = false ;
  }
  if (this->title != NULL) {
    delete [] this->title;
    this->title = NULL;
  }
}

void vpDisplayWin32::getImage(vpImage<vpRGBa> &I)
{
  //wait if the window is not initialized
  waitForInit();
  window.renderer->getImage(I);
}

#endif