static void on_param_widget_changed(BotGtkParamWidget *pw, const char *name, void *user)
{
RendererLaser *self = (RendererLaser*) user;
if (!self->viewer)
return;
self->param_scan_memory = bot_gtk_param_widget_get_int(self->pw, PARAM_SCAN_MEMORY);
self->param_color_mode = bot_gtk_param_widget_get_enum(self->pw, PARAM_COLOR_MODE);
self->param_z_buffer = bot_gtk_param_widget_get_bool(self->pw, PARAM_Z_BUFFER);
self->param_big_points = bot_gtk_param_widget_get_bool(self->pw, PARAM_BIG_POINTS);
self->param_spacial_decimate = bot_gtk_param_widget_get_bool(self->pw, PARAM_SPATIAL_DECIMATE);
self->z_relative = bot_gtk_param_widget_get_bool(self->pw, PARAM_Z_RELATIVE);
self->param_color_mode_z_max_z = bot_gtk_param_widget_get_double(self->pw, PARAM_COLOR_MODE_Z_MAX_Z);
self->param_color_mode_z_min_z = bot_gtk_param_widget_get_double(self->pw, PARAM_COLOR_MODE_Z_MIN_Z);
self->param_max_draw_z = bot_gtk_param_widget_get_double(self->pw, PARAM_MAX_DRAW_Z);
self->param_min_draw_z = bot_gtk_param_widget_get_double(self->pw, PARAM_MIN_DRAW_Z);
self->param_max_draw_range = bot_gtk_param_widget_get_double(self->pw, PARAM_MAX_DRAW_RANGE);
self->param_alpha = bot_gtk_param_widget_get_double(self->pw, PARAM_ALPHA);
self->param_max_buffer_size = bot_gtk_param_widget_get_int(self->pw, PARAM_MAX_BUFFER_SIZE);
for (int i = 0; i < self->channels->len; i++) {
laser_channel *lchan = g_ptr_array_index(self->channels, i);
lchan->enabled = bot_gtk_param_widget_get_bool(pw, lchan->name);
}
bot_viewer_request_redraw(self->viewer);
}
static void
scrolling_plots_draw (Viewer *viewer, Renderer *renderer)
{
RendererScrollingPlots *self = (RendererScrollingPlots*) renderer->user;
if (!self->max_utime) return;
GLdouble model_matrix[16];
GLdouble proj_matrix[16];
GLint viewport[4];
glGetDoublev (GL_MODELVIEW_MATRIX, model_matrix);
glGetDoublev (GL_PROJECTION_MATRIX, proj_matrix);
glGetIntegerv (GL_VIEWPORT, viewport);
double gs_ts_max = self->max_utime * 1e-6;
double gs_ts_min = gs_ts_max -
bot_gtk_param_widget_get_double (self->pw, PARAM_NAME_GRAPH_TIMESPAN);
bot_gl_scrollplot2d_set_xlim (self->psi_distance_plot, gs_ts_min, gs_ts_max);
int plot_width = bot_gtk_param_widget_get_int (self->pw, PARAM_NAME_SIZE);
int plot_height = plot_width / 2;
int x = viewport[2] - plot_width - 10;
int y = viewport[1] +10 ;
if (bot_gtk_param_widget_get_bool (self->pw, PARAM_NAME_RENDER_PSI_DISTANCE)) {
bot_gl_scrollplot2d_gl_render_at_window_pos (self->psi_distance_plot,
x, y, plot_width, plot_height);
y += plot_height;
}
}
static void
scrolling_plots_draw (Viewer *viewer, Renderer *renderer)
{
RendererScrollingPlots *self = (RendererScrollingPlots*) renderer->user;
if (!self->max_utime) return;
GLdouble model_matrix[16];
GLdouble proj_matrix[16];
GLint viewport[4];
glGetDoublev (GL_MODELVIEW_MATRIX, model_matrix);
glGetDoublev (GL_PROJECTION_MATRIX, proj_matrix);
glGetIntegerv (GL_VIEWPORT, viewport);
double gs_ts_max = self->max_utime * 1e-6;
double gs_ts_min = gs_ts_max -
bot_gtk_param_widget_get_double (self->pw, PARAM_NAME_GRAPH_TIMESPAN);
bot_gl_scrollplot2d_set_xlim (self->navigator_rotation_plot, gs_ts_min, gs_ts_max);
bot_gl_scrollplot2d_set_xlim (self->navigator_translation_plot, gs_ts_min, gs_ts_max);
bot_gl_scrollplot2d_set_xlim (self->encoder_left_plot, gs_ts_min, gs_ts_max);
bot_gl_scrollplot2d_set_xlim (self->encoder_right_plot, gs_ts_min, gs_ts_max);
int plot_width = bot_gtk_param_widget_get_int (self->pw, PARAM_NAME_SIZE);
int plot_height = plot_width / 3;
int x = viewport[2] - plot_width;
int y = viewport[1];
if (bot_gtk_param_widget_get_bool (self->pw, PARAM_NAME_RENDER_NAVIGATOR_ROTATION)) {
bot_gl_scrollplot2d_gl_render_at_window_pos (self->navigator_rotation_plot,
x, y, plot_width, plot_height);
y += plot_height;
}
if (bot_gtk_param_widget_get_bool (self->pw, PARAM_NAME_RENDER_NAVIGATOR_TRANSLATION)) {
bot_gl_scrollplot2d_gl_render_at_window_pos (self->navigator_translation_plot,
x, y, plot_width, plot_height);
y += plot_height;
}
if (bot_gtk_param_widget_get_bool (self->pw, PARAM_NAME_RENDER_ENCODER_LEFT)) {
bot_gl_scrollplot2d_gl_render_at_window_pos (self->encoder_left_plot,
x, y, plot_width, plot_height);
y += plot_height;
}
if (bot_gtk_param_widget_get_bool (self->pw, PARAM_NAME_RENDER_ENCODER_RIGHT)) {
bot_gl_scrollplot2d_gl_render_at_window_pos (self->encoder_right_plot,
x, y, plot_width, plot_height);
y += plot_height;
}
}
static void
on_param_widget_changed (BotGtkParamWidget *pw, const char *name, void *user)
{
RendererCar *self = (RendererCar*) user;
Viewer *viewer = self->viewer;
viewer->view_handler->follow_mode = 0;
if (bot_gtk_param_widget_get_bool(pw, PARAM_FOLLOW_POS))
viewer->view_handler->follow_mode |= FOLLOW_POS;
if (bot_gtk_param_widget_get_bool(pw, PARAM_FOLLOW_YAW))
viewer->view_handler->follow_mode |= FOLLOW_YAW;
self->max_draw_poses = bot_gtk_param_widget_get_int(pw, PARAM_MAXPOSES);
viewer_request_redraw ( self->viewer);
}
