From cc51c10dfaee9be88587a5b289afbdece7acf2d3 Mon Sep 17 00:00:00 2001
From: Rescue Group <rescue@rescuelap2.(none)>
Date: Thu, 27 Jun 2013 12:41:49 +0200
Subject: [PATCH] MM: Added a very ugly joint render

---
 .../crosbot_ui/renders/robot/robotwidget.hpp  | 17 +++++++-
 crosbot_ui/src/panels/robot.cpp               |  4 ++
 crosbot_ui/src/renders/robot/robotwidget.cpp  | 43 +++++++++++++++++++
 3 files changed, 62 insertions(+), 2 deletions(-)

diff --git a/crosbot_ui/include/crosbot_ui/renders/robot/robotwidget.hpp b/crosbot_ui/include/crosbot_ui/renders/robot/robotwidget.hpp
index 24b9c0b..fadafb3 100644
--- a/crosbot_ui/include/crosbot_ui/renders/robot/robotwidget.hpp
+++ b/crosbot_ui/include/crosbot_ui/renders/robot/robotwidget.hpp
@@ -10,6 +10,7 @@
 
 #include <QtOpenGL/QGLWidget>
 #include <crosbot/config.hpp>
+#include <crosbot_ui/opengl.hpp>
 
 #include <string>
 #include <vector>
@@ -23,8 +24,6 @@ namespace gui {
 #define PARAM_ROTATE	"rotate"
 #define PARAM_BOUNDS	"bounds"
 
-
-
 class RobotPanel;
 class RobotRender {
 public:
@@ -56,6 +55,20 @@ protected:
     float rotate;
 };
 
+#define JUNK_RENDER
+#ifdef JUNK_RENDER
+
+class JointRender : public RobotRender {
+public:
+	Colour4f colour;
+
+	JointRender(RobotPanel& panel, ConfigElementPtr config);
+	virtual void start();
+	virtual void stop();
+	virtual void render();
+};
+
+#endif
 class RobotWidget: public QGLWidget
 {
 Q_OBJECT;
diff --git a/crosbot_ui/src/panels/robot.cpp b/crosbot_ui/src/panels/robot.cpp
index 8dcefbd..92fa69d 100644
--- a/crosbot_ui/src/panels/robot.cpp
+++ b/crosbot_ui/src/panels/robot.cpp
@@ -101,6 +101,10 @@ RobotRender *RobotPanel::getRender(ConfigElementPtr config, RobotPanel& panel) {
 			rval = new ImageRender(panel, config);
 		} else if (strcasecmp(config->name.c_str(), RENDER_JOYSTICK) == 0) {
 			rval = new JoystickRender(panel, config);
+#ifdef JUNK_RENDER
+		} else if (strcasecmp(config->name.c_str(), "junk") == 0) {
+			rval = new JointRender(panel, config);
+#endif
 		}
 	}
 
diff --git a/crosbot_ui/src/renders/robot/robotwidget.cpp b/crosbot_ui/src/renders/robot/robotwidget.cpp
index 7bc7492..0edc112 100644
--- a/crosbot_ui/src/renders/robot/robotwidget.cpp
+++ b/crosbot_ui/src/renders/robot/robotwidget.cpp
@@ -565,6 +565,49 @@ void RobotWidget::addInputListener(ConfigElementPtr cfg) {
 	}
 }
 
+#ifdef JUNK_RENDER
+
+JointRender::JointRender(RobotPanel& panel, ConfigElementPtr config) :
+		RobotRender(panel, config, QRectF(0, 0, 1, 0.1)),
+		colour(1.0, 0, 0, 0.5)
+{}
+
+void JointRender::start() {
+	joints.connect();
+}
+
+void JointRender::stop() {}
+
+#define MIN(X, Y)		(((X) < (Y)) ? (X):(Y))
+//#define MAX(X, Y)		(((X) > (Y)) ? (X):(Y))
+#define TEXTSIZE_MIN			8
+#define TEXTSIZE_MAX			36
+#define TEXT_REDUCTION_RATIO	0.8
+void JointRender::render() {
+	preRender();
+
+    char ascii[4096];
+    sprintf(ascii, "b: %3.0lf  s: %3.0lf  e: %3.0lf  t: %3.0lf  p: %3.0lf",
+    		RAD2DEG(joints.getPos("arm_base")), RAD2DEG(joints.getPos("arm_shoulder")), RAD2DEG(joints.getPos("arm_elbow")),
+    		RAD2DEG(joints.getPos("neck_tilt")), RAD2DEG(joints.getPos("neck_pan")));
+    QString label("");
+    label.append(ascii);
+
+    RobotWidget* widget = dynamic_cast<RobotWidget*>(panel.getWidget());
+    if (widget != NULL) {
+		int textSize = MIN(widget->size().width(),widget->size().height()) * rect.height() * TEXT_REDUCTION_RATIO;
+		if (textSize < TEXTSIZE_MIN) {
+			textSize = TEXTSIZE_MIN;
+		} else if (textSize > TEXTSIZE_MAX) {
+			textSize = TEXTSIZE_MAX;
+		}
+		glColor4f(colour.r, colour.g, colour.b, colour.a);
+		widget->renderText(0.0f,0.0f,0.0f,label,QFont("Helvetica", textSize));
+    }
+	postRender();
+}
+#endif
+
 } // namespace gui
 
 } // namespace robotgui
-- 
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