Renderer* renderer_velodyne_new( Viewer *viewer)
{
RendererVelodyne *self =
(RendererVelodyne*) calloc(1, sizeof(RendererVelodyne));
Renderer *renderer = (Renderer*) self;
// build color table
for (int i = 0; i < VELODYNE_NUM_LASERS; i++) {
float f[4];
srand(i);
color_util_rand_color(f, .6, .3);
self->laser_colors[i][0] = f[0];
self->laser_colors[i][1] = f[1];
self->laser_colors[i][2] = f[2];
}
renderer->draw = my_draw;
renderer->name = "Velodyne";
renderer->destroy = my_free;
renderer->widget = gtk_vbox_new ( FALSE, 0);
renderer->enabled = 1;
renderer->user = self;
self->pw = GTKU_PARAM_WIDGET (gtku_param_widget_new ());
self->circular = gu_ptr_circular_new(1000, free_velodyne_data, NULL);
self->viewer = viewer;
gtku_param_widget_add_enum( self->pw, COLOR_MENU, GTKU_PARAM_WIDGET_MENU,
COLOR_Z,
"Drab", COLOR_DRAB,
"Height", COLOR_Z,
"Counted", COLOR_COUNTED,
"Intensity", COLOR_INTENSITY,
"Laser", COLOR_LASER,
NULL);
gtk_box_pack_start (GTK_BOX (renderer->widget), GTK_WIDGET (self->pw),
FALSE, TRUE, 0);
gtk_widget_show (GTK_WIDGET (self->pw));
self->lc = globals_get_lcm();
self->ctrans = globals_get_ctrans();
self->calib = velodyne_calib_create();
lcmtypes_velodyne_t_subscribe(self->lc, "VELODYNE", on_velodyne, self);
g_signal_connect( G_OBJECT(self->pw), "changed", G_CALLBACK(on_param_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);
return (Renderer*) self;
}
int main(int argc, char **argv)
{
printf("param_widget_test\n");
GtkWidget *window;
GtkuParamWidget *pw;
gtk_init( &argc, &argv );
window = gtk_window_new( GTK_WINDOW_TOPLEVEL );
g_signal_connect( G_OBJECT(window), "delete_event", gtk_main_quit, NULL );
g_signal_connect( G_OBJECT(window), "destroy", gtk_main_quit, NULL );
gtk_container_set_border_width( GTK_CONTAINER(window), 10 );
pw = GTKU_PARAM_WIDGET( gtku_param_widget_new() );
gtk_container_add( GTK_CONTAINER(window), GTK_WIDGET( pw ) );
gtku_param_widget_add_int( pw, "Integer 1", GTKU_PARAM_WIDGET_SPINBOX,
INT_MIN, INT_MAX, 1, 10 );
gtku_param_widget_add_int( pw, "Integer Slider", GTKU_PARAM_WIDGET_SLIDER,
0, 100, 50, 1 );
gtku_param_widget_add_double( pw, "Double Slider", GTKU_PARAM_WIDGET_SLIDER,
0, 1, 0.01, 0.5 );
gtku_param_widget_add_booleans( pw, GTKU_PARAM_WIDGET_CHECKBOX,
"check1", 0,
"check2", 1,
"check3", 0, NULL );
gtku_param_widget_add_enum( pw, "Menu", GTKU_PARAM_WIDGET_MENU,
MENU_1,
"entry 1", MENU_1,
"entry 2", MENU_2,
"entry 3", MENU_3,
NULL );
g_signal_connect( G_OBJECT( pw ), "changed",
G_CALLBACK( on_param_changed ), NULL );
gtk_widget_show_all( window );
gtk_main();
return 0;
}
static void
on_image (const lcm_recv_buf_t *rbuf, const char *channel,
const lcmtypes_image_t *msg, void *user_data)
{
RendererCamThumb *self = (RendererCamThumb*) user_data;
if (! self->renderer.enabled) return;
cam_renderer_t *cr = g_hash_table_lookup (self->cam_handlers, channel);
if (!cr) {
cr = (cam_renderer_t*) calloc (1, sizeof (cam_renderer_t));
cr->renderer = self;
cr->render_place = 0;
cr->channel = strdup (channel);
g_hash_table_replace (self->cam_handlers, cr->channel, cr);
}
if (! cr->msg_received) {
cr->gl_area = GTKU_GL_DRAWING_AREA (gtku_gl_drawing_area_new (FALSE));
cr->pw = GTKU_PARAM_WIDGET (gtku_param_widget_new ());
gtku_param_widget_add_enum (cr->pw, PARAM_RENDER_IN,
0,
cr->render_place,
"Here", RENDER_IN_WIDGET,
"Top Left", RENDER_IN_TOP_LEFT,
"Top Cent.", RENDER_IN_TOP_CENTER,
"Top Right", RENDER_IN_TOP_RIGHT,
"Bot. Left", RENDER_IN_BOTTOM_LEFT,
"Bot. Cent.", RENDER_IN_BOTTOM_CENTER,
"Bot. Right", RENDER_IN_BOTTOM_RIGHT,
NULL);
cr->expander = gtk_expander_new (channel);
gtk_box_pack_start (GTK_BOX (self->renderer.widget),
cr->expander, TRUE, TRUE, 0);
GtkWidget *vbox = gtk_vbox_new (FALSE, 0);
gtk_container_add (GTK_CONTAINER (cr->expander), vbox);
gtk_box_pack_start (GTK_BOX (vbox),
GTK_WIDGET (cr->pw), TRUE, TRUE, 0);
gtk_box_pack_start (GTK_BOX (vbox),
GTK_WIDGET (cr->gl_area), TRUE, TRUE, 0);
g_signal_connect (G_OBJECT (cr->gl_area), "size-allocate",
G_CALLBACK (on_gl_area_size), cr);
cr->width = msg->width;
cr->height = msg->height;
gtk_widget_show_all (GTK_WIDGET (cr->expander));
gtk_expander_set_expanded (GTK_EXPANDER (cr->expander), cr->expanded);
if (cr->render_place == RENDER_IN_WIDGET) {
gtk_widget_show (GTK_WIDGET (cr->gl_area));
} else {
gtk_widget_hide (GTK_WIDGET (cr->gl_area));
}
g_signal_connect (G_OBJECT (cr->pw), "changed",
G_CALLBACK (on_cam_renderer_param_widget_changed), cr);
g_signal_connect (G_OBJECT (cr->gl_area), "expose-event",
G_CALLBACK (on_gl_area_expose), cr);
g_signal_connect (G_OBJECT (cr->expander), "notify::expanded",
G_CALLBACK (on_expander_expanded), cr);
cr->texture = NULL;
cr->last_image = NULL;
cr->renderer = self;
cr->uncompressed_buffer_size = msg->width * msg->height * 3;
cr->uncompresed_buffer =
(uint8_t*) malloc (cr->uncompressed_buffer_size);
cr->msg_received = 1;
}
if (cr->last_image) {
lcmtypes_image_t_destroy (cr->last_image);
}
cr->last_image = lcmtypes_image_t_copy (msg);
cr->is_uploaded = 0;
switch (gtku_param_widget_get_enum (cr->pw, PARAM_RENDER_IN)) {
case RENDER_IN_WIDGET:
if (gtk_expander_get_expanded (GTK_EXPANDER (cr->expander)))
gtku_gl_drawing_area_invalidate (cr->gl_area);
default:
viewer_request_redraw (self->viewer);
break;
}
}