static void my_draw( BotViewer *viewer, BotRenderer *renderer )
{
//Enable transparency
glEnable(GL_BLEND);
glEnable(GL_DEPTH_TEST);
BotLcmglRenderer *self = (BotLcmglRenderer*) renderer->user;
// iterate over each channel
GList *keys = bot_g_hash_table_get_keys(self->channels);
for (GList *kiter = keys; kiter; kiter=kiter->next) {
lcmgl_channel_t *chan = g_hash_table_lookup(self->channels,
kiter->data);
glPushMatrix();
glPushAttrib(GL_ENABLE_BIT);
if (chan->enabled) {
// iterate over all the messages received for this channel
for (int i = 0; i < chan->frontbuffer->len; i++) {
bot_lcmgl_data_t *data =
g_ptr_array_index(chan->frontbuffer, i);
bot_lcmgl_decode(data->data, data->datalen);
}
}
glPopAttrib ();
glPopMatrix();
}
g_list_free (keys);
}
static void my_draw( Viewer *viewer, Renderer *renderer )
{
RendererLcmgl *self = (RendererLcmgl*) renderer->user;
// iterate over each channel
GList *keys = bot_g_hash_table_get_keys(self->channels);
for (GList *kiter = keys; kiter; kiter=kiter->next) {
lcgl_channel_t *chan = (lcgl_channel_t*) g_hash_table_lookup(self->channels,
kiter->data);
glPushMatrix();
glPushAttrib(GL_ENABLE_BIT);
if (chan->enabled) {
// iterate over all the messages received for this channel
for (int i = 0; i < (int) chan->frontbuffer->len; i++) {
botlcm_lcmgl_data_t *data = (botlcm_lcmgl_data_t*)
g_ptr_array_index(chan->frontbuffer, i);
bot_lcmgl_decode(data->data, data->datalen);
}
}
glPopAttrib ();
glPopMatrix();
}
g_list_free (keys);
}
static void on_param_widget_changed (BotGtkParamWidget *pw, const char *name, void *user)
{
BotLcmglRenderer *self = (BotLcmglRenderer*) user;
// iterate over each channel
GList *keys = bot_g_hash_table_get_keys(self->channels);
for (GList *kiter=keys; kiter; kiter=kiter->next) {
lcmgl_channel_t *chan = g_hash_table_lookup(self->channels,
kiter->data);
chan->enabled = bot_gtk_param_widget_get_bool (pw, kiter->data);
}
g_list_free (keys);
bot_viewer_request_redraw(self->viewer);
}
static void on_clear_button(GtkWidget *button, BotLcmglRenderer *self)
{
if (!self->viewer)
return;
// iterate over each channel
GList *keys = bot_g_hash_table_get_keys(self->channels);
for (GList *kiter = keys; kiter; kiter = kiter->next) {
lcmgl_channel_t *chan = g_hash_table_lookup(self->channels, kiter->data);
// iterate over all the messages received for this channel
for (int i = 0; i < chan->frontbuffer->len; i++)
bot_lcmgl_data_t_destroy(g_ptr_array_index(chan->frontbuffer, i));
g_ptr_array_set_size(chan->frontbuffer, 0);
}
g_list_free(keys);
bot_viewer_request_redraw(self->viewer);
}
