Example #1
0
int
main (int   argc,
      char *argv[])
{
	OsmGpsMap *map;
	OsmGpsMapPolygon* poly;
    GtkWidget *window;

    gtk_init (&argc, &argv);

    window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
    gtk_window_set_title (GTK_WINDOW (window), "Window");
    g_signal_connect (window, "destroy", G_CALLBACK (gtk_main_quit), NULL);


	map = g_object_new (OSM_TYPE_GPS_MAP, NULL);
	gtk_container_add(GTK_CONTAINER(window), GTK_WIDGET(map));

	poly = osm_gps_map_polygon_new();
	OsmGpsMapTrack* polytrack = osm_gps_map_track_new();

	OsmGpsMapPoint* p1, *p2, *p3;
	p1 = osm_gps_map_point_new_radians(1.25663706, -0.488692191);
	p2 = osm_gps_map_point_new_radians(1.06465084, -0.750491578);
	p3 = osm_gps_map_point_new_radians(1.064650849, -0.191986218);

	osm_gps_map_track_add_point(polytrack, p1);
	osm_gps_map_track_add_point(polytrack, p2);
	osm_gps_map_track_add_point(polytrack, p3);

	g_object_set(poly, "track", polytrack, NULL);
	g_object_set(poly, "editable", TRUE, NULL);

	osm_gps_map_polygon_add(map, poly);

	gtk_widget_show (GTK_WIDGET(map));
    gtk_widget_show (window);

    gtk_main ();

    return 0;
}
/**
 * @fn int main (int argc, char **argv)
 * @brief Main program & Gtk thread.
 *
 * Create window and all widgets, then set there parameters to be the <br>
 * ROS params.
 */
int main (int argc, char **argv)
{
    GtkBuilder *builder;
    GdkColor black = { 0, 0, 0, 0 };
    GError *error = NULL;
    char glade_gui_file[FILENAME_MAX];
    int start_zoom = 15;
    char *mapcachedir;
    OsmGpsMapPoint ccny_coord = { 40.818551, -73.948674 };

    struct arg param;
    param.argc = argc;
    param.argv = argv;

    pthread_t rosThread;

    // **** init threads
    g_thread_init (NULL);
    gdk_threads_init ();
    gdk_threads_enter ();

    // **** init gtk
    gtk_init (&argc, &argv);

    // **** allocate data structure
    data = g_slice_new (AppData);

    // **** set the glade gui file & set icon directory
    std::string package_path = ros::package::getPath (ROS_PACKAGE_NAME);
    sprintf (glade_gui_file, "%s/gui/%s", package_path.c_str (), "gui.glade");
    sprintf (data->icon_directory, "%s/gui/icon", package_path.c_str ());

    std::string rosbag_path = ros::package::getPath("rosbag");
    sprintf (data->rosbag_rec_path, "%s/bin/record", rosbag_path.c_str ());

    data->current_page = 0;
    data->telemetry_opt_popup_state = false;
    data->gps_opt_popup_state = false;
    data->fullscreen = false;
    load_icon ();

    // **** Create new GtkBuilder object
    builder = gtk_builder_new ();
    // **** Load UI from file
    if (!gtk_builder_add_from_file (builder, glade_gui_file, &error))
    {
        g_warning ("%s", error->message);
        g_free (error);
        exit (-1);
    }

    // **** Get main window pointer from UI
    data->window = GTK_WIDGET (gtk_builder_get_object (builder, "window1"));
    gtk_window_set_title (GTK_WINDOW (data->window), "CityFlyer Ground Station");
    gtk_window_set_position (GTK_WINDOW (data->window), GTK_WIN_POS_CENTER);
    gtk_window_set_default_size (GTK_WINDOW (data->window), 1024, 576);

    // **** create ROS thread
    pthread_create (&rosThread, NULL, startROS, &param);

    // **** wait ros finish read params
    while (!data->ros_param_read)
    {
        ROS_DEBUG ("Waiting ROS params");
    }

    // **** Get GtkNotebook objsect
    data->notebook = GTK_WIDGET (gtk_builder_get_object (builder, "notebook1"));

    // #####################################################################
    // #####################################################################
    // **** Tab 1: Telemetry

    // **** create altimeter widgets
    data->alt = gtk_altimeter_new ();
    g_object_set (GTK_ALTIMETER (data->alt),
                  "grayscale-color", data->grayscale_color,
                  "unit-is-feet", data->altimeter_unit_is_feet,
                  "unit-step-value", data->altimeter_step_value, "radial-color", data->radial_color, NULL);

    // **** create compass widgets
    data->comp = gtk_compass_new ();
    g_object_set (GTK_COMPASS (data->comp),
                  "grayscale-color", data->grayscale_color, "radial-color", data->radial_color, NULL);

    data->comp2 = gtk_compass_new ();
    g_object_set (GTK_COMPASS (data->comp2),
                  "grayscale-color", data->grayscale_color, "radial-color", data->radial_color, NULL);

    data->gauge1 = gtk_gauge_new ();
    g_object_set (GTK_GAUGE (data->gauge1), "name", data->gauge1_name_f, NULL);
    g_object_set (GTK_GAUGE (data->gauge1),
                  "grayscale-color", data->grayscale_color,
                  "radial-color", data->radial_color,
                  "start-value", data->gauge1_start_value,
                  "end-value", data->gauge1_end_value,
                  "initial-step", data->gauge1_initial_step,
                  "sub-step", (gdouble) data->gauge1_sub_step,
                  "drawing-step", data->gauge1_drawing_step,
                  "color-strip-order", data->gauge1_color_strip_order,
                  "green-strip-start", data->gauge1_green_strip_start,
                  "yellow-strip-start", data->gauge1_yellow_strip_start,
                  "red-strip-start", data->gauge1_red_strip_start, NULL);

    // **** create artificial horizon widgets
    data->arh = gtk_artificial_horizon_new ();
    g_object_set (GTK_ARTIFICIAL_HORIZON (data->arh),
                  "grayscale-color", data->grayscale_color, "radial-color", data->radial_color, NULL);

    // **** create variometer widgets
    data->vario = gtk_variometer_new ();
    g_object_set (GTK_VARIOMETER (data->vario),
                  "grayscale-color", data->grayscale_color,
                  "unit-is-feet", data->variometer_unit_is_feet,
                  "unit-step-value", data->variometer_step_value, "radial-color", data->radial_color, NULL);

    data->widget_table = GTK_WIDGET (gtk_builder_get_object (builder, "table_Widgets"));
    gtk_table_attach_defaults (GTK_TABLE (data->widget_table), data->alt, 0, 1, 0, 1);
    gtk_table_attach_defaults (GTK_TABLE (data->widget_table), data->arh, 1, 2, 0, 1);
    gtk_table_attach_defaults (GTK_TABLE (data->widget_table), data->comp, 2, 3, 0, 1);
    gtk_table_attach_defaults (GTK_TABLE (data->widget_table), data->vario, 0, 1, 1, 2);
    gtk_table_attach_defaults (GTK_TABLE (data->widget_table), data->comp2, 1, 2, 1, 2);
    gtk_table_attach_defaults (GTK_TABLE (data->widget_table), data->gauge1, 2, 3, 1, 2);

    gtk_widget_modify_bg (data->alt, GTK_STATE_NORMAL, &black);
    gtk_widget_modify_bg (data->comp, GTK_STATE_NORMAL, &black);
    gtk_widget_modify_bg (data->comp2, GTK_STATE_NORMAL, &black);
    gtk_widget_modify_bg (data->arh, GTK_STATE_NORMAL, &black);
    gtk_widget_modify_bg (data->gauge1, GTK_STATE_NORMAL, &black);
    gtk_widget_modify_bg (data->vario, GTK_STATE_NORMAL, &black);

    data->telemetry_option_popup = GTK_WIDGET (gtk_builder_get_object (builder, "hbox_TelemetryOption"));
    data->btn_open_telemetry_option_popup =
        GTK_WIDGET (gtk_builder_get_object (builder, "button_OpenTelemetryOptionPopup"));
    data->btn_close_telemetry_option_popup =
        GTK_WIDGET (gtk_builder_get_object (builder, "button_CloseTelemetryOptionPopup"));
    gtk_button_set_image (GTK_BUTTON (data->btn_open_telemetry_option_popup),
                          gtk_image_new_from_pixbuf (gdk_pixbuf_scale_simple
                                  (data->leftarrow_icon_64, 24, 50, GDK_INTERP_HYPER)));
    gtk_button_set_image (GTK_BUTTON (data->btn_close_telemetry_option_popup),
                          gtk_image_new_from_pixbuf (gdk_pixbuf_scale_simple
                                  (data->rightarrow_icon_64, 24, 50, GDK_INTERP_HYPER)));

    // #####################################################################
    // #####################################################################
    // **** Tab 2: Gps

    // Some GpsdViewer initialisation
    data->draw_path = false;
    data->map_provider = OSM_GPS_MAP_SOURCE_OPENSTREETMAP;
    data->map_zoom_max = 18;
    data->map_current_zoom = start_zoom;
    data->repo_uri = osm_gps_map_source_get_repo_uri (data->map_provider);
    data->friendly_name = osm_gps_map_source_get_friendly_name (data->map_provider);
    data->uav_track = osm_gps_map_track_new ();
    mapcachedir = osm_gps_map_get_default_cache_directory ();
    data->cachedir = g_build_filename (mapcachedir, data->friendly_name, NULL);
    g_free (mapcachedir);

    // Create the OsmGpsMap object
    data->map = (OsmGpsMap *) g_object_new (OSM_TYPE_GPS_MAP,
                                            "map-source", data->map_provider,
                                            "tile-cache", data->cachedir, "proxy-uri", g_getenv ("http_proxy"), NULL);

    //Set the starting coordinates and zoom level for the map
    osm_gps_map_set_zoom (data->map, start_zoom);
    osm_gps_map_set_center (data->map, ccny_coord.rlat, ccny_coord.rlon);

    data->osd = gpsd_viewer_osd_new ();
    g_object_set (GPSD_VIEWER_OSD (data->osd),
                  "show-scale", true,
                  "show-coordinates", true,
                  "show-dpad", true,
                  "show-zoom", true, "show-gps-in-dpad", true, "show-gps-in-zoom", false, "dpad-radius", 30, NULL);
    osm_gps_map_layer_add (OSM_GPS_MAP (data->map), OSM_GPS_MAP_LAYER (data->osd));

    data->map_box = GTK_WIDGET (gtk_builder_get_object (builder, "hbox_map_box"));
    data->map_container = GTK_WIDGET (gtk_builder_get_object (builder, "hbox_map_container"));
    gtk_box_pack_start (GTK_BOX (data->map_box), GTK_WIDGET (data->map), TRUE, TRUE, 0);

    data->gpsd_option_popup = GTK_WIDGET (gtk_builder_get_object (builder, "hbox_GpsdOptionPopup"));
    data->btn_open_gpsd_option_popup = GTK_WIDGET (gtk_builder_get_object (builder, "button_OpenGpsdOptionPopup"));
    data->btn_close_gpsd_option_popup = GTK_WIDGET (gtk_builder_get_object (builder, "button_CloseGpsdOptionPopup"));
    gtk_button_set_image (GTK_BUTTON (data->btn_open_gpsd_option_popup),
                          gtk_image_new_from_pixbuf (gdk_pixbuf_scale_simple
                                  (data->leftarrow_icon_64, 24, 50, GDK_INTERP_HYPER)));
    gtk_button_set_image (GTK_BUTTON (data->btn_close_gpsd_option_popup),
                          gtk_image_new_from_pixbuf (gdk_pixbuf_scale_simple
                                  (data->rightarrow_icon_64, 24, 50, GDK_INTERP_HYPER)));

    // #####################################################################
    // #####################################################################
    // **** Tab 3: Rec

    data->recording = 0;
    data->rosbag_record_cmd = "rosbag record";
    data->topicsList = GTK_LIST_STORE (gtk_builder_get_object (builder, "liststore_TopicList"));
    data->cmd_line_entry = GTK_WIDGET (gtk_builder_get_object (builder, "entry_CommandLine"));
    data->prefix_entry = GTK_WIDGET (gtk_builder_get_object (builder, "entry_Prefix"));
    data->info_textview = GTK_WIDGET (gtk_builder_get_object (builder, "textview_BagInfo"));
    data->update_btn = GTK_WIDGET (gtk_builder_get_object (builder, "button_UpdateTopicList"));
    data->box_MotorStatus = GTK_WIDGET (gtk_builder_get_object (builder, "hbox_MotorStatus"));
    data->box_Flying = GTK_WIDGET (gtk_builder_get_object (builder, "hbox_Flying"));
    data->box_Gps = GTK_WIDGET (gtk_builder_get_object (builder, "hbox_Gps"));
    data->flightMode_label = GTK_WIDGET (gtk_builder_get_object (builder, "label_FlightModeValue"));
    data->upTime_label = GTK_WIDGET (gtk_builder_get_object (builder, "label_UpTimeValue"));
    data->cpuLoad_label = GTK_WIDGET (gtk_builder_get_object (builder, "label_CpuLoadValue"));
    data->box_RecordStatus = GTK_WIDGET (gtk_builder_get_object (builder, "hbox_RecordStatus"));
    data->record_stop_btn = GTK_WIDGET (gtk_builder_get_object (builder, "button_RecordStop"));

    gtk_box_pack_end (GTK_BOX (data->box_MotorStatus), data->status_ok_icon_motor, TRUE, TRUE, 0);
    gtk_box_pack_end (GTK_BOX (data->box_MotorStatus), data->status_fail_icon_motor, TRUE, TRUE, 0);
    gtk_box_pack_end (GTK_BOX (data->box_Flying), data->status_ok_icon_flying, TRUE, TRUE, 0);
    gtk_box_pack_end (GTK_BOX (data->box_Flying), data->status_fail_icon_flying, TRUE, TRUE, 0);
    gtk_box_pack_end (GTK_BOX (data->box_Gps), data->status_ok_icon_gps, TRUE, TRUE, 0);
    gtk_box_pack_end (GTK_BOX (data->box_Gps), data->status_fail_icon_gps, TRUE, TRUE, 0);
    gtk_box_pack_end (GTK_BOX (data->box_RecordStatus), data->record_icon, TRUE, TRUE, 0);
    gtk_box_pack_end (GTK_BOX (data->box_RecordStatus), data->record_g_icon, TRUE, TRUE, 0);

    gtk_button_set_image (GTK_BUTTON (data->update_btn),
                          gtk_image_new_from_pixbuf (gdk_pixbuf_scale_simple
                                  (data->refresh_icon_64, 24, 24, GDK_INTERP_HYPER)));
    gtk_button_set_image (GTK_BUTTON (data->record_stop_btn),
                          gtk_image_new_from_pixbuf (gdk_pixbuf_scale_simple
                                  (data->record_icon_64, 40, 40, GDK_INTERP_HYPER)));

    // Connect signals
    gtk_builder_connect_signals (builder, data);

    // Destroy builder, since we don't need it anymore
    g_object_unref (G_OBJECT (builder));

    // Show window. All other widgets are automatically shown by GtkBuilder
    gtk_widget_show_all (data->window);
    gtk_widget_hide(data->record_icon);
    gtk_widget_hide(data->status_ok_icon_motor);
    gtk_widget_hide(data->status_ok_icon_flying);
    gtk_widget_hide(data->status_ok_icon_gps);
    gtk_widget_hide_all(data->telemetry_option_popup);
    gtk_widget_hide_all(data->gpsd_option_popup);

    // **** allow ROS spinning
    data->widget_created = true;

    // **** udpate all widgets
    g_timeout_add (data->telemetry_refresh_rate, widgets_update, NULL);

    gtk_main ();
    gdk_threads_leave ();
    return 0;
}
int main (int argc, char **argv)
{
    GtkBuilder *builder;
    GtkWidget *widget;
    GtkAccelGroup *ag;
    OsmGpsMap *map;
    OsmGpsMapLayer *osd;
    OsmGpsMapTrack *rightclicktrack;
    const char *repo_uri;
    char *cachedir, *cachebasedir;
    GError *error = NULL;
    GOptionContext *context;

    g_thread_init(NULL);
    gtk_init (&argc, &argv);

    context = g_option_context_new ("- Map browser");
    g_option_context_set_help_enabled(context, FALSE);
    g_option_context_add_main_entries (context, entries, NULL);

    if (!g_option_context_parse (context, &argc, &argv, &error)) {
        usage(context);
        return 1;
    }

    /* Only use the repo_uri to check if the user has supplied a
    valid map source ID */
    repo_uri = osm_gps_map_source_get_repo_uri(opt_map_provider);
    if ( repo_uri == NULL ) {
        usage(context);
        return 2;
    }

    cachebasedir = osm_gps_map_get_default_cache_directory();

    if (opt_cache_base_dir && g_file_test(opt_cache_base_dir, G_FILE_TEST_IS_DIR)) {
        cachedir = g_strdup(OSM_GPS_MAP_CACHE_AUTO);
        cachebasedir = g_strdup(opt_cache_base_dir);
    } else if (opt_friendly_cache) {
        cachedir = g_strdup(OSM_GPS_MAP_CACHE_FRIENDLY);
    } else if (opt_no_cache) {
        cachedir = g_strdup(OSM_GPS_MAP_CACHE_DISABLED);
    } else {
        cachedir = g_strdup(OSM_GPS_MAP_CACHE_AUTO);
    }

    if (opt_debug)
        gdk_window_set_debug_updates(TRUE);

    g_debug("Map Cache Dir: %s", cachedir);
    g_debug("Map Provider: %s (%d)", osm_gps_map_source_get_friendly_name(opt_map_provider), opt_map_provider);

    map = g_object_new (OSM_TYPE_GPS_MAP,
                        "map-source",opt_map_provider,
                        "tile-cache",cachedir,
                        "tile-cache-base", cachebasedir,
                        "proxy-uri",g_getenv("http_proxy"),
                        NULL);

    osd = g_object_new (OSM_TYPE_GPS_MAP_OSD,
                        "show-scale",TRUE,
                        "show-coordinates",TRUE,
                        "show-crosshair",TRUE,
                        "show-dpad",TRUE,
                        "show-zoom",TRUE,
                        "show-gps-in-dpad",TRUE,
                        "show-gps-in-zoom",FALSE,
                        "dpad-radius", 30,
                        NULL);
    osm_gps_map_layer_add(OSM_GPS_MAP(map), osd);
    g_object_unref(G_OBJECT(osd));

    //Add a second track for right clicks
    rightclicktrack = osm_gps_map_track_new();
    osm_gps_map_track_add(OSM_GPS_MAP(map), rightclicktrack);

    g_free(cachedir);
    g_free(cachebasedir);

    //Enable keyboard navigation
    osm_gps_map_set_keyboard_shortcut(map, OSM_GPS_MAP_KEY_FULLSCREEN, GDK_F11);
    osm_gps_map_set_keyboard_shortcut(map, OSM_GPS_MAP_KEY_UP, GDK_Up);
    osm_gps_map_set_keyboard_shortcut(map, OSM_GPS_MAP_KEY_DOWN, GDK_Down);
    osm_gps_map_set_keyboard_shortcut(map, OSM_GPS_MAP_KEY_LEFT, GDK_Left);
    osm_gps_map_set_keyboard_shortcut(map, OSM_GPS_MAP_KEY_RIGHT, GDK_Right);

    //Build the UI
    g_star_image = gdk_pixbuf_new_from_file_at_size ("poi.png", 24,24,NULL);

    builder = gtk_builder_new();
    gtk_builder_add_from_file (builder, "mapviewer.ui", &error);
    if (error)
        g_error ("ERROR: %s\n", error->message);

    gtk_box_pack_start (
                GTK_BOX(gtk_builder_get_object(builder, "map_box")),
                GTK_WIDGET(map), TRUE, TRUE, 0);

    //Init values
    float lw,a;
    GdkColor c;
    OsmGpsMapTrack *gpstrack = osm_gps_map_gps_get_track (map);
    g_object_get (gpstrack, "line-width", &lw, "alpha", &a, NULL);
    osm_gps_map_track_get_color(gpstrack, &c);
    gtk_adjustment_set_value (
                GTK_ADJUSTMENT(gtk_builder_get_object(builder, "gps_width_adjustment")),
                lw);
    gtk_adjustment_set_value (
                GTK_ADJUSTMENT(gtk_builder_get_object(builder, "gps_alpha_adjustment")),
                a);
    gtk_adjustment_set_value (
                GTK_ADJUSTMENT(gtk_builder_get_object(builder, "star_xalign_adjustment")),
                0.5);
    gtk_adjustment_set_value (
                GTK_ADJUSTMENT(gtk_builder_get_object(builder, "star_yalign_adjustment")),
                0.5);
    gtk_color_button_set_color (
                GTK_COLOR_BUTTON(gtk_builder_get_object(builder, "gps_colorbutton")),
                &c);

    //Connect to signals
    g_signal_connect (
                gtk_builder_get_object(builder, "zoom_in_button"), "clicked",
                G_CALLBACK (on_zoom_in_clicked_event), (gpointer) map);
    g_signal_connect (
                gtk_builder_get_object(builder, "zoom_out_button"), "clicked",
                G_CALLBACK (on_zoom_out_clicked_event), (gpointer) map);
    g_signal_connect (
                gtk_builder_get_object(builder, "home_button"), "clicked",
                G_CALLBACK (on_home_clicked_event), (gpointer) map);
    g_signal_connect (
                gtk_builder_get_object(builder, "cache_button"), "clicked",
                G_CALLBACK (on_cache_clicked_event), (gpointer) map);
    g_signal_connect (
                gtk_builder_get_object(builder, "gps_alpha_adjustment"), "value-changed",
                G_CALLBACK (on_gps_alpha_changed), (gpointer) map);
    g_signal_connect (
                gtk_builder_get_object(builder, "gps_width_adjustment"), "value-changed",
                G_CALLBACK (on_gps_width_changed), (gpointer) map);
    g_signal_connect (
                gtk_builder_get_object(builder, "star_xalign_adjustment"), "value-changed",
                G_CALLBACK (on_star_align_changed), (gpointer) "x-align");
    g_signal_connect (
                gtk_builder_get_object(builder, "star_yalign_adjustment"), "value-changed",
                G_CALLBACK (on_star_align_changed), (gpointer) "y-align");
    g_signal_connect (
                gtk_builder_get_object(builder, "gps_colorbutton"), "color-set",
                G_CALLBACK (on_gps_color_changed), (gpointer) gpstrack);
    g_signal_connect (G_OBJECT (map), "button-press-event",
                G_CALLBACK (on_button_press_event), (gpointer) rightclicktrack);
    g_signal_connect (G_OBJECT (map), "button-release-event",
                G_CALLBACK (on_button_release_event),
                (gpointer) gtk_builder_get_object(builder, "text_entry"));
    g_signal_connect (G_OBJECT (map), "notify::tiles-queued",
                G_CALLBACK (on_tiles_queued_changed),
                (gpointer) gtk_builder_get_object(builder, "cache_label"));

    widget = GTK_WIDGET(gtk_builder_get_object(builder, "window1"));
    g_signal_connect (widget, "destroy",
                      G_CALLBACK (on_close), (gpointer) map);
    //Setup accelerators.
    ag = gtk_accel_group_new();
    gtk_accel_group_connect(ag, GDK_w, GDK_CONTROL_MASK, GTK_ACCEL_MASK,
                    g_cclosure_new(gtk_main_quit, NULL, NULL));
    gtk_accel_group_connect(ag, GDK_q, GDK_CONTROL_MASK, GTK_ACCEL_MASK,
                    g_cclosure_new(gtk_main_quit, NULL, NULL));
    gtk_window_add_accel_group(GTK_WINDOW(widget), ag);

    gtk_widget_show_all (widget);

    g_log_set_handler ("OsmGpsMap", G_LOG_LEVEL_MASK, g_log_default_handler, NULL);

    osm_gps_map_set_center_and_zoom(map, 48.858387,2.346268,12);

    gtk_main ();

    return 0;
}
Example #4
0
/**
 * @fn int main (int argc, char **argv)
 * @brief Main program & Gtk thread.
 * 
 * Create window and all widgets, then set there parameters to be the <br>
 * ROS params.
 */
int main (int argc, char **argv)
{
  GtkBuilder *builder;
  GError *error = NULL;
  char gui_filename[FILENAME_MAX];
  int start_zoom = 15;
  OsmGpsMapPoint ccny_coord = { 33.421355, -111.928253 };
OsmGpsMapTrack *rightclicktrack;

  struct arg param;
  param.argc = argc;
  param.argv = argv;

  pthread_t rosThread;

  // **** init threads 
  g_thread_init (NULL);
  gdk_threads_init ();
  gdk_threads_enter ();

  // **** init gtk 
  gtk_init (&argc, &argv);

  // **** get the glade gui file
  std::string package_path = ros::package::getPath (ROS_PACKAGE_NAME);
  sprintf (gui_filename, "%s/%s", package_path.c_str (), "gui.glade");

  // Allocate data structure
  data = g_slice_new (AppData);

  // Create new GtkBuilder object
  builder = gtk_builder_new ();
  // Load UI from file
  if (!gtk_builder_add_from_file (builder, gui_filename, &error))
  {
    g_warning ("%s", error->message);
    g_free (error);
    pthread_exit (NULL);
  }

  // Get main window pointer from UI
  data->window = GTK_WIDGET (gtk_builder_get_object (builder, "window"));

  // **** create ROS thread
  pthread_create (&rosThread, NULL, startROS, &param);

  // **** wait ros finish read params
  while (!data->ros_param_read)
  {
    ROS_DEBUG ("Waiting ROS params");
  }

  // Some initialisation
  gdk_window_set_debug_updates (false);
  data->draw_path = false;
  data->map_provider = OSM_GPS_MAP_SOURCE_GOOGLE_SATELLITE;
  data->map_zoom_max = 18;
  data->map_current_zoom = start_zoom;
  data->repo_uri = osm_gps_map_source_get_repo_uri (data->map_provider);
  data->friendly_name = osm_gps_map_source_get_friendly_name (data->map_provider);

  char *mapcachedir;
  mapcachedir = osm_gps_map_get_default_cache_directory ();
  data->cachedir = g_build_filename (mapcachedir, data->friendly_name, NULL);
  g_free (mapcachedir);

  // Create the OsmGpsMap object
  data->map = (OsmGpsMap *) g_object_new (OSM_TYPE_GPS_MAP, 
								"map-source", data->map_provider,
                        "tile-cache", data->cachedir, 
                        "proxy-uri", g_getenv ("http_proxy"),
                        "auto-center",FALSE, NULL);

  //Set the starting coordinates and zoom level for the map
  osm_gps_map_set_zoom (data->map, start_zoom);
  osm_gps_map_set_center (data->map, ccny_coord.rlat, ccny_coord.rlon);

  data->osd = gpsd_viewer_osd_new();
  g_object_set(GPSD_VIEWER_OSD(data->osd),
								"show-scale",true,
                        "show-coordinates",true,
                        "show-dpad",true,
                        "show-zoom",true,
                        "show-gps-in-dpad",true,
                        "show-gps-in-zoom",false,
                        "dpad-radius", 30,
                        NULL);
                                                                     
  osm_gps_map_layer_add(OSM_GPS_MAP(data->map), OSM_GPS_MAP_LAYER(data->osd));
    
  data->current_track = osm_gps_map_track_new();
    //Add a second track for right clicks
    rightclicktrack = osm_gps_map_track_new();
    osm_gps_map_track_add(OSM_GPS_MAP(data->map), rightclicktrack);
  // Add the map to the box
  data->map_box = GTK_WIDGET (gtk_builder_get_object (builder, "hbox2"));
  gtk_box_pack_start (GTK_BOX (data->map_box), GTK_WIDGET (data->map), TRUE, TRUE, 0);

  data->map_container = GTK_WIDGET (gtk_builder_get_object (builder, "hbox1"));

  // Connect signals
g_signal_connect (G_OBJECT (data->map), "button-press-event",
                G_CALLBACK (on_button_press_event), (gpointer) rightclicktrack);
  gtk_builder_connect_signals (builder, data);

  // Destroy builder, since we don't need it anymore
  g_object_unref (G_OBJECT (builder));

  // Show window. All other widgets are automatically shown by GtkBuilder
  gtk_widget_show_all (data->window);

  // **** allow ROS spinning
  data->widget_created = true;
  
  // Start main loop
  gtk_main ();
  gdk_threads_leave ();
  return 0;
}
OsmGpsMapPolygon *
osm_gps_map_polygon_new (void)
{
    return g_object_new (OSM_TYPE_GPS_MAP_POLYGON, "track", osm_gps_map_track_new(), NULL);
}
static void
osm_gps_map_polygon_init (OsmGpsMapPolygon *self)
{
    self->priv = G_TYPE_INSTANCE_GET_PRIVATE((self), OSM_TYPE_GPS_MAP_POLYGON, OsmGpsMapPolygonPrivate);
    self->priv->track = osm_gps_map_track_new();
}