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 = (char*)"Scrolling Plots";
self->renderer.user = self;
self->renderer.enabled = 1;
self->renderer.widget = gtk_alignment_new (0, 0.5, 1.0, 0);
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, (BotGtkParamWidgetUIHint) 0,
PARAM_NAME_RENDER_PSI_DISTANCE, 1, NULL);
bot_gtk_param_widget_add_booleans (self->pw, (BotGtkParamWidgetUIHint)0,
PARAM_NAME_SHOW_LEGEND, 0, NULL);
g_signal_connect (G_OBJECT (self->pw), "changed",
G_CALLBACK (on_param_widget_changed), self);
// psi_distance plot
self->psi_distance_plot = bot_gl_scrollplot2d_new ();
bot_gl_scrollplot2d_set_title (self->psi_distance_plot, "Psi distance");
bot_gl_scrollplot2d_set_text_color (self->psi_distance_plot, 0.7, 0.7, 0.7, 1);
bot_gl_scrollplot2d_set_bgcolor (self->psi_distance_plot, 0.1, 0.1, 0.1, 0.7);
bot_gl_scrollplot2d_set_border_color (self->psi_distance_plot, 1, 1, 1, 0.7);
bot_gl_scrollplot2d_set_ylim (self->psi_distance_plot, 0.2, 1);
bot_gl_scrollplot2d_add_plot (self->psi_distance_plot, "control", 1000);
bot_gl_scrollplot2d_set_color (self->psi_distance_plot, "control", 0, 0, 1, 1);
bot_gl_scrollplot2d_add_plot (self->psi_distance_plot, "status", 1000);
bot_gl_scrollplot2d_set_color (self->psi_distance_plot, "status", 1, 0, 0, 1);
// 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->psi_distance_plot, legloc);
// subscribe to LCM messages
navlcm_class_param_t_subscribe (self->lcm, "CLASS_STATE", on_class_state, self);
return &self->renderer;
}
static BotRenderer* renderer_laser_new(BotViewer *viewer, lcm_t * lcm, BotParam * param, BotFrames * frames)
{
RendererLaser *self = (RendererLaser*) calloc(1, sizeof(RendererLaser));
g_assert(self);
self->viewer = viewer;
BotRenderer *renderer = &self->renderer;
renderer->draw = renderer_laser_draw;
renderer->destroy = renderer_laser_destroy;
renderer->user = self;
renderer->name = RENDERER_NAME;
renderer->enabled = 1;
self->lcm = lcm;
self->bot_param = param;
self->bot_frames = frames;
if (!self->lcm) {
ERR("Error: setup_renderer_laser() failed no LCM provided "
"object\n");
renderer_laser_destroy(renderer);
return NULL;
}
self->param_scan_memory = 50;
self->param_color_mode = COLOR_MODE_LASER;
self->param_max_buffer_size = MAX_SCAN_MEMORY;
self->param_z_buffer = TRUE;
self->param_big_points = FALSE;
self->param_spacial_decimate = FALSE;
self->param_color_mode_z_max_z = COLOR_MODE_Z_MAX_Z;
self->param_color_mode_z_min_z = COLOR_MODE_Z_MIN_Z;
self->param_max_draw_z = COLOR_MODE_Z_MAX_Z;
self->param_min_draw_z = COLOR_MODE_Z_MIN_Z;
self->param_max_draw_range = MAX_DRAW_RANGE;
self->param_alpha = 1;
self->param_max_buffer_size = MAX_SCAN_MEMORY;
if (viewer) {
/* setup parameter widget */
self->pw = BOT_GTK_PARAM_WIDGET(bot_gtk_param_widget_new());
renderer->widget = gtk_vbox_new(FALSE, 0);
gtk_box_pack_start(GTK_BOX(renderer->widget), GTK_WIDGET(self->pw), TRUE, TRUE, 0);
bot_gtk_param_widget_add_int(self->pw, PARAM_SCAN_MEMORY, BOT_GTK_PARAM_WIDGET_SPINBOX, 1, MAX_SCAN_MEMORY, 1,
self->param_scan_memory);
bot_gtk_param_widget_add_enum(self->pw, PARAM_COLOR_MODE, BOT_GTK_PARAM_WIDGET_MENU, self->param_color_mode,
"Laser", COLOR_MODE_LASER, "Drab", COLOR_MODE_DRAB, "Intensity", COLOR_MODE_INTENSITY, "Height", COLOR_MODE_Z, "Workspace", COLOR_MODE_WORKSPACE,
NULL);
bot_gtk_param_widget_add_booleans(self->pw, 0, PARAM_Z_BUFFER, self->param_z_buffer, NULL);
bot_gtk_param_widget_add_booleans(self->pw, 0, PARAM_BIG_POINTS, self->param_big_points, NULL);
bot_gtk_param_widget_add_booleans(self->pw, 0, PARAM_SPATIAL_DECIMATE, self->param_spacial_decimate, NULL);
bot_gtk_param_widget_add_booleans(self->pw, 0, PARAM_Z_RELATIVE, 0, NULL);
bot_gtk_param_widget_add_double(self->pw, PARAM_ALPHA, BOT_GTK_PARAM_WIDGET_SLIDER,
0, 1, .01, self->param_alpha);
bot_gtk_param_widget_add_double(self->pw, PARAM_COLOR_MODE_Z_MAX_Z, BOT_GTK_PARAM_WIDGET_SPINBOX,
COLOR_MODE_Z_MIN_Z, COLOR_MODE_Z_MAX_Z, COLOR_MODE_Z_DZ, self->param_color_mode_z_max_z);
bot_gtk_param_widget_add_double(self->pw, PARAM_COLOR_MODE_Z_MIN_Z, BOT_GTK_PARAM_WIDGET_SPINBOX,
COLOR_MODE_Z_MIN_Z, COLOR_MODE_Z_MAX_Z, COLOR_MODE_Z_DZ, self->param_color_mode_z_min_z);
bot_gtk_param_widget_add_double(self->pw, PARAM_MIN_DRAW_Z, BOT_GTK_PARAM_WIDGET_SPINBOX, COLOR_MODE_Z_MIN_Z,
COLOR_MODE_Z_MAX_Z, COLOR_MODE_Z_DZ, self->param_min_draw_z);
bot_gtk_param_widget_add_double(self->pw, PARAM_MAX_DRAW_Z, BOT_GTK_PARAM_WIDGET_SPINBOX, COLOR_MODE_Z_MIN_Z,
COLOR_MODE_Z_MAX_Z, COLOR_MODE_Z_DZ, self->param_max_draw_z);
bot_gtk_param_widget_add_double(self->pw, PARAM_MAX_DRAW_RANGE, BOT_GTK_PARAM_WIDGET_SPINBOX, 0,
MAX_DRAW_RANGE, 0.1, MAX_DRAW_RANGE); // from short to sick range
bot_gtk_param_widget_add_int(self->pw, PARAM_MAX_BUFFER_SIZE, BOT_GTK_PARAM_WIDGET_SPINBOX, 1, MAX_SCAN_MEMORY, 1,
self->param_max_buffer_size);
GtkWidget *clear_button = gtk_button_new_with_label("Clear memory");
gtk_box_pack_start(GTK_BOX(renderer->widget), clear_button, FALSE, FALSE, 0);
g_signal_connect(G_OBJECT(clear_button), "clicked", G_CALLBACK(on_clear_button), self);
GtkWidget *save_button = gtk_button_new_with_label("Save To Points File");
gtk_box_pack_start(GTK_BOX(renderer->widget), save_button, FALSE, FALSE, 0);
g_signal_connect(G_OBJECT(save_button), "clicked", G_CALLBACK(on_save_button), self);
gtk_widget_show_all(renderer->widget);
/* setup signal callbacks */
g_signal_connect(G_OBJECT(self->pw), "changed", G_CALLBACK(on_param_widget_changed), self);
g_signal_connect(G_OBJECT(viewer), "load-preferences", G_CALLBACK(on_load_preferences), self);
g_signal_connect(G_OBJECT(viewer), "save-preferences", G_CALLBACK(on_save_preferences), self);
}
// iterate through planar lidars, subscribing to thier LCM and
// initializing the channels' hash table and array
self->channels_hash = g_hash_table_new(g_str_hash, g_str_equal);
self->channels = g_ptr_array_new();
bot_core_planar_lidar_t_subscription_t *hid;
char **planar_lidar_names = bot_param_get_all_planar_lidar_names(self->bot_param);
if (planar_lidar_names) {
for (int pind = 0; planar_lidar_names[pind] != NULL; pind++) {
char conf_path[1024];
bot_param_get_planar_lidar_prefix(self->bot_param, planar_lidar_names[pind], conf_path, sizeof(conf_path));
char channel_path[1024];
sprintf(channel_path, "%s.lcm_channel", conf_path);
char * channel_name;
int ret = bot_param_get_str(self->bot_param, channel_path, &channel_name);
if (ret < 0) {
printf("No LCM Channel for lidar %s\n", planar_lidar_names[pind]);
continue;
}
printf("subscribing to channel %s for laser %s\n", channel_name, planar_lidar_names[pind]);
hid = bot_core_planar_lidar_t_subscribe(self->lcm, channel_name, on_laser, self);
self->lcm_hids = g_list_append(self->lcm_hids, hid);
free(channel_name);
}
g_strfreev(planar_lidar_names);
}
else {
fprintf(stderr, "["__FILE__":%d] Error: Could not"
" get lidar names.\n", __LINE__);
}
return &self->renderer;
}
void setup_renderer_car(Viewer *viewer, int render_priority)
{
RendererCar *self = (RendererCar*) calloc (1, sizeof (RendererCar));
Renderer *renderer = &self->renderer;
renderer->draw = car_draw;
renderer->destroy = car_free;
renderer->widget = gtk_vbox_new(FALSE, 0);
renderer->name = RENDERER_NAME;
renderer->user = self;
renderer->enabled = 1;
EventHandler *ehandler = &self->ehandler;
ehandler->name = RENDERER_NAME;
ehandler->enabled = 1;
ehandler->pick_query = pick_query;
ehandler->key_press = key_press;
ehandler->hover_query = pick_query;
ehandler->mouse_press = mouse_press;
ehandler->mouse_release = mouse_release;
ehandler->mouse_motion = mouse_motion;
ehandler->user = self;
self->viewer = viewer;
self->lcm = globals_get_lcm ();
self->config = globals_get_config ();
self->pw = BOT_GTK_PARAM_WIDGET(bot_gtk_param_widget_new());
self->atrans = globals_get_atrans ();
self->path = bot_ptr_circular_new (MAX_POSES, free_path_element, NULL);
gtk_box_pack_start(GTK_BOX(renderer->widget), GTK_WIDGET(self->pw), TRUE,
TRUE, 0);
bot_gtk_param_widget_add_booleans (self->pw, 0, PARAM_FOLLOW_POS, 1, NULL);
bot_gtk_param_widget_add_booleans (self->pw, 0, PARAM_FOLLOW_YAW, 0, NULL);
char * model;
char path[256];
if (bot_conf_get_str (self->config, "renderer_car.chassis_model",
&model) == 0) {
snprintf (path, sizeof (path), "%s/%s", MODELS_DIR, model);
self->chassis_model = rwx_model_create (path);
}
if (bot_conf_get_str (self->config, "renderer_car.wheel_model",
&model) == 0) {
snprintf (path, sizeof (path), "%s/%s", MODELS_DIR, model);
self->wheel_model = rwx_model_create (path);
}
if (self->chassis_model)
bot_gtk_param_widget_add_booleans (self->pw, 0, PARAM_NAME_BLING, 1,
NULL);
if (self->wheel_model)
bot_gtk_param_widget_add_booleans (self->pw, 0, PARAM_NAME_WHEELS, 1,
NULL);
self->max_draw_poses = 1000;
bot_gtk_param_widget_add_int (self->pw, PARAM_MAXPOSES,
BOT_GTK_PARAM_WIDGET_SLIDER, 0, MAX_POSES, 100, self->max_draw_poses);
GtkWidget *find_button = gtk_button_new_with_label("Find");
gtk_box_pack_start(GTK_BOX(renderer->widget), find_button, FALSE, FALSE, 0);
g_signal_connect(G_OBJECT(find_button), "clicked",
G_CALLBACK (on_find_button), self);
GtkWidget *clear_button = gtk_button_new_with_label("Clear path");
gtk_box_pack_start(GTK_BOX(renderer->widget), clear_button, FALSE, FALSE,
0);
g_signal_connect(G_OBJECT(clear_button), "clicked",
G_CALLBACK (on_clear_button), self);
gtk_widget_show_all(renderer->widget);
g_signal_connect (G_OBJECT (self->pw), "changed",
G_CALLBACK (on_param_widget_changed), self);
on_param_widget_changed(self->pw, "", self);
botlcm_pose_t_subscribe(self->lcm, "POSE", on_pose, self);
viewer_add_renderer(viewer, &self->renderer, render_priority);
viewer_add_event_handler(viewer, &self->ehandler, render_priority);
self->footprint = pointlist2d_new (4);
fbconf_get_vehicle_footprint (self->config,
(double*)self->footprint->points);
g_signal_connect (G_OBJECT (viewer), "load-preferences",
G_CALLBACK (on_load_preferences), self);
g_signal_connect (G_OBJECT (viewer), "save-preferences",
G_CALLBACK (on_save_preferences), self);
}
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;
}
