static void
cam_thumb_free (Renderer *renderer)
{
RendererCamThumb *self = (RendererCamThumb*) renderer;
g_hash_table_destroy (self->cam_handlers);
globals_release_config (self->config);
globals_release_ctrans (self->ctrans);
globals_release_lcm (self->lc);
free (renderer);
}
Renderer *renderer_scrolling_plots_new (Viewer *viewer)
{
RendererScrollingPlots *self =
(RendererScrollingPlots*) calloc (1, sizeof (RendererScrollingPlots));
self->viewer = viewer;
self->renderer.draw = scrolling_plots_draw;
self->renderer.destroy = scrolling_plots_free;
self->renderer.name = "Scrolling Plots";
self->renderer.user = self;
self->renderer.enabled = 1;
self->renderer.widget = gtk_alignment_new (0, 0.5, 1.0, 0);
self->atrans = globals_get_atrans();
self->lcm = globals_get_lcm ();
self->pw = BOT_GTK_PARAM_WIDGET (bot_gtk_param_widget_new ());
gtk_container_add (GTK_CONTAINER (self->renderer.widget),
GTK_WIDGET(self->pw));
gtk_widget_show (GTK_WIDGET (self->pw));
bot_gtk_param_widget_add_int (self->pw, PARAM_NAME_SIZE,
BOT_GTK_PARAM_WIDGET_SLIDER, 50, 800, 10, 150);
bot_gtk_param_widget_add_double (self->pw, PARAM_NAME_GRAPH_TIMESPAN,
BOT_GTK_PARAM_WIDGET_SLIDER, 1, 20, 0.5, 5);
bot_gtk_param_widget_add_booleans (self->pw,
BOT_GTK_PARAM_WIDGET_TOGGLE_BUTTON, PARAM_NAME_FREEZE, 0, NULL);
bot_gtk_param_widget_add_booleans (self->pw, 0,
PARAM_NAME_RENDER_NAVIGATOR_ROTATION, 1,
PARAM_NAME_RENDER_NAVIGATOR_TRANSLATION, 1,
NULL);
bot_gtk_param_widget_add_booleans (self->pw, 0,
PARAM_NAME_RENDER_ENCODER_LEFT, 1,
PARAM_NAME_RENDER_ENCODER_RIGHT, 1, NULL);
bot_gtk_param_widget_add_booleans (self->pw, 0,
PARAM_NAME_SHOW_LEGEND, 0, NULL);
g_signal_connect (G_OBJECT (self->pw), "changed",
G_CALLBACK (on_param_widget_changed), self);
BotConf *config = globals_get_config ();
self->encoder_left_scale = 1.0;//bot_conf_get_double_or_fail (config, "calibration.encoders.WHEEL_LEFT.scale");
self->encoder_right_scale = 1.0;//bot_conf_get_double_or_fail (config, "calibration.encoders.WHEEL_RIGHT.scale");
globals_release_config (config);
self->encoder_left_last = 0;
self->encoder_right_last = 0;
// navigator rotation
self->navigator_rotation_plot = bot_gl_scrollplot2d_new ();
bot_gl_scrollplot2d_set_title (self->navigator_rotation_plot, "Nav. Rot. Speed");
bot_gl_scrollplot2d_set_text_color (self->navigator_rotation_plot, 0.7, 0.7, 0.7, 1);
bot_gl_scrollplot2d_set_bgcolor (self->navigator_rotation_plot, 0.1, 0.1, 0.1, 0.7);
bot_gl_scrollplot2d_set_border_color (self->navigator_rotation_plot, 1, 1, 1, 0.7);
bot_gl_scrollplot2d_set_ylim (self->navigator_rotation_plot, -.5, .5);
bot_gl_scrollplot2d_add_plot (self->navigator_rotation_plot, "control", 1000);
bot_gl_scrollplot2d_set_color (self->navigator_rotation_plot, "control", 0.7, 0, 0.7, 1);
bot_gl_scrollplot2d_add_plot (self->navigator_rotation_plot, "status", 1000);
bot_gl_scrollplot2d_set_color (self->navigator_rotation_plot, "status", 0, 0, 1, 1);
//bot_gl_scrollplot2d_add_plot (self->navigator_rotation_plot, "2500", 1000);
//bot_gl_scrollplot2d_set_color (self->navigator_rotation_plot, "2500", 0.8, 0.8, 0.8, 0.5);
self->navigator_translation_plot = bot_gl_scrollplot2d_new ();
bot_gl_scrollplot2d_set_title (self->navigator_translation_plot, "Nav. Trans. Speed");
bot_gl_scrollplot2d_set_text_color (self->navigator_translation_plot, 0.7, 0.7, 0.7, 1);
bot_gl_scrollplot2d_set_bgcolor (self->navigator_translation_plot, 0.1, 0.1, 0.1, 0.7);
bot_gl_scrollplot2d_set_border_color (self->navigator_translation_plot, 1, 1, 1, 0.7);
bot_gl_scrollplot2d_set_ylim (self->navigator_translation_plot, 0, 2.0);
bot_gl_scrollplot2d_add_plot (self->navigator_translation_plot, "control", 1000);
bot_gl_scrollplot2d_set_color (self->navigator_translation_plot, "control", 0.7, 0, 0.7, 1);
bot_gl_scrollplot2d_add_plot (self->navigator_translation_plot, "status", 1000);
bot_gl_scrollplot2d_set_color (self->navigator_translation_plot, "status", 0, 0, 1, 1);
// left wheel encoder plot
self->encoder_left_plot = bot_gl_scrollplot2d_new ();
bot_gl_scrollplot2d_set_title (self->encoder_left_plot, "Left Encoder");
bot_gl_scrollplot2d_set_text_color (self->encoder_left_plot, 0.7, 0.7, 0.7, 1);
bot_gl_scrollplot2d_set_border_color (self->encoder_left_plot, 1, 1, 1, 0.7);
bot_gl_scrollplot2d_set_bgcolor (self->encoder_left_plot, 0.1, 0.1, 0.1, 0.7);
bot_gl_scrollplot2d_set_ylim (self->encoder_left_plot, 0, 2.0);
bot_gl_scrollplot2d_add_plot (self->encoder_left_plot, "actual", 1000);
bot_gl_scrollplot2d_set_color (self->encoder_left_plot, "actual", 0.7, 0, 0.7, 1);
bot_gl_scrollplot2d_add_plot (self->encoder_left_plot, "0", 1000);
bot_gl_scrollplot2d_set_color (self->encoder_left_plot, "0", 0.8, 0.8, 0.8, 0.5);
// right wheel encoder plot
self->encoder_right_plot = bot_gl_scrollplot2d_new ();
bot_gl_scrollplot2d_set_title (self->encoder_right_plot, "Right Encoder");
bot_gl_scrollplot2d_set_text_color (self->encoder_right_plot, 0.7, 0.7, 0.7, 1);
bot_gl_scrollplot2d_set_border_color (self->encoder_right_plot, 1, 1, 1, 0.7);
bot_gl_scrollplot2d_set_bgcolor (self->encoder_right_plot, 0.1, 0.1, 0.1, 0.7);
bot_gl_scrollplot2d_set_ylim (self->encoder_right_plot, 0, 2.0);
bot_gl_scrollplot2d_add_plot (self->encoder_right_plot, "actual", 1000);
bot_gl_scrollplot2d_set_color (self->encoder_right_plot, "actual", 0.7, 0, 0.7, 1);
bot_gl_scrollplot2d_add_plot (self->encoder_right_plot, "0", 1000);
bot_gl_scrollplot2d_set_color (self->encoder_right_plot, "0", 0.8, 0.8, 0.8, 0.5);
// legends?
BotGlScrollPlot2dLegendLocation legloc = BOT_GL_SCROLLPLOT2D_HIDDEN;
if (bot_gtk_param_widget_get_bool (self->pw, PARAM_NAME_SHOW_LEGEND)) {
legloc = BOT_GL_SCROLLPLOT2D_TOP_RIGHT;
}
bot_gl_scrollplot2d_set_show_legend (self->navigator_rotation_plot, legloc);
bot_gl_scrollplot2d_set_show_legend (self->navigator_translation_plot, legloc);
// subscribe to LC messages
fblcm_motion_cmd_t_subscribe (self->lcm, "MOTION_CMD", on_motion_cmd, self);
//arlcm_encoder_t_subscribe (self->lcm, "WHEEL_LEFT", on_encoders, self);
//arlcm_encoder_t_subscribe (self->lcm, "WHEEL_RIGHT", on_encoders, self);
// periodically pull pose data from ATrans
//g_timeout_add (30, get_speed_update, self);
return &self->renderer;
}
