window.h

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 * $Id: window.h 5368 2012-03-28 04:27:59Z nizar $
 *
 */

#ifndef PCL_VISUALIZER_WINDOW_H__
#define PCL_VISUALIZER_WINDOW_H__

#include <pcl/pcl_macros.h>
#include <pcl/console/print.h>
#include <pcl/visualization/vtk.h>
#include <pcl/visualization/interactor_style.h>

namespace pcl
{
  namespace visualization
  {
    class MouseEvent;
    class KeyboardEvent;

    class PCL_EXPORTS Window
    {
      public:
        Window (const std::string& window_name = "");
        Window (const Window &src);
        Window& operator = (const Window &src);

        virtual ~Window ();

        void
        spin ();

        void
        spinOnce (int time = 1, bool force_redraw = false);

        bool
        wasStopped () const { return (stopped_); }

        boost::signals2::connection
        registerKeyboardCallback (void (*callback) (const pcl::visualization::KeyboardEvent&, void*),
                                  void* cookie = NULL)
        {
          return registerKeyboardCallback (boost::bind (callback, _1, cookie));
        }

        template<typename T> boost::signals2::connection
        registerKeyboardCallback (void (T::*callback) (const pcl::visualization::KeyboardEvent&, void*),
                                  T& instance, void* cookie = NULL)
        {
          return registerKeyboardCallback (boost::bind (callback,  boost::ref (instance), _1, cookie));
        }

        boost::signals2::connection
        registerMouseCallback (void (*callback) (const pcl::visualization::MouseEvent&, void*),
                               void* cookie = NULL)
        {
          return registerMouseCallback (boost::bind (callback, _1, cookie));
        }

        template<typename T> boost::signals2::connection
        registerMouseCallback (void (T::*callback) (const pcl::visualization::MouseEvent&, void*),
                               T& instance, void* cookie = NULL)
        {
          return registerMouseCallback (boost::bind (callback, boost::ref (instance), _1, cookie));
        }

      protected: // methods

        void
        resetStoppedFlag () { stopped_ = false; }

        boost::signals2::connection
        registerMouseCallback (boost::function<void (const pcl::visualization::MouseEvent&)> );

        boost::signals2::connection
        registerKeyboardCallback (boost::function<void (const pcl::visualization::KeyboardEvent&)> );

        void
        emitMouseEvent (unsigned long event_id);

        void
        emitKeyboardEvent (unsigned long event_id);

        // Callbacks used to register for vtk command
        static void
        MouseCallback (vtkObject*, unsigned long eid, void* clientdata, void *calldata);
        static void
        KeyboardCallback (vtkObject*, unsigned long eid, void* clientdata, void *calldata);

      protected: // types
        struct ExitMainLoopTimerCallback : public vtkCommand
        {
          static ExitMainLoopTimerCallback* New()
          {
            return (new ExitMainLoopTimerCallback);
          }

          ExitMainLoopTimerCallback () : right_timer_id (), window () {}
          ExitMainLoopTimerCallback (const ExitMainLoopTimerCallback& src) : vtkCommand (), right_timer_id (src.right_timer_id), window (src.window) {}
          ExitMainLoopTimerCallback& operator = (const ExitMainLoopTimerCallback& src) { right_timer_id = src.right_timer_id; window = src.window; return (*this); }

          virtual void 
          Execute (vtkObject*, unsigned long event_id, void* call_data)
          {
            if (event_id != vtkCommand::TimerEvent)
              return;
            int timer_id = *static_cast<int*> (call_data);
            //PCL_WARN ("[pcl::visualization::Window::ExitMainLoopTimerCallback] Timer %d called.\n", timer_id);
            if (timer_id != right_timer_id)
              return;
            window->interactor_->TerminateApp ();
//            window->interactor_->stopLoop ();
          }
          int right_timer_id;
          Window* window;
        };

        struct ExitCallback : public vtkCommand
        {
          static ExitCallback* New ()
          {
            return (new ExitCallback);
          }

          ExitCallback () : window () {}
          ExitCallback (const ExitCallback &src) : vtkCommand (), window (src.window) {}
          ExitCallback& operator = (const ExitCallback &src) { window = src.window; return (*this); }
 
          virtual void 
          Execute (vtkObject*, unsigned long event_id, void*)
          {
            if (event_id != vtkCommand::ExitEvent)
              return;
            window->interactor_->TerminateApp ();
            window->stopped_ = true;
          }
          Window* window;
        };

        bool stopped_;
        int timer_id_;

    protected: // member fields
        boost::signals2::signal<void (const pcl::visualization::MouseEvent&)> mouse_signal_;
        boost::signals2::signal<void (const pcl::visualization::KeyboardEvent&)> keyboard_signal_;

        vtkSmartPointer<vtkRenderWindow> win_;
        vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
        vtkCallbackCommand* mouse_command_;
        vtkCallbackCommand* keyboard_command_;
        vtkSmartPointer<PCLVisualizerInteractorStyle> style_;
        vtkSmartPointer<vtkRendererCollection> rens_;
        vtkSmartPointer<ExitMainLoopTimerCallback> exit_main_loop_timer_callback_;
        vtkSmartPointer<ExitCallback> exit_callback_;
    };
  }
}

#endif  /* __WINDOW_H__ */