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 void setup_gui (app_t *self) { GtkWidget *main_window = gtk_window_new (GTK_WINDOW_TOPLEVEL); g_signal_connect (G_OBJECT (main_window), "delete_event", gtk_main_quit, NULL); g_signal_connect (G_OBJECT (main_window), "destroy", gtk_main_quit, NULL); GtkWidget *hbox = gtk_hbox_new (FALSE, FALSE); gtk_container_add (GTK_CONTAINER (main_window), hbox); self->gl_area = BOT_GTK_GL_IMAGE_AREA (bot_gtk_gl_image_area_new ()); g_signal_connect (G_OBJECT (self->gl_area), "expose-event", G_CALLBACK (on_gl_area_expose), self); gtk_widget_set_size_request (GTK_WIDGET (self->gl_area), self->img_width, self->img_height); gtk_box_pack_start (GTK_BOX (hbox), GTK_WIDGET (self->gl_area), TRUE, TRUE, 0); self->param_widget = BOT_GTK_PARAM_WIDGET (bot_gtk_param_widget_new ()); gtk_box_pack_start (GTK_BOX (hbox), GTK_WIDGET (self->param_widget), FALSE, TRUE, 0); bot_gtk_param_widget_add_booleans (self->param_widget, 0, "Draw X", 1, NULL); g_signal_connect (G_OBJECT (self->param_widget), "changed", G_CALLBACK (on_param_changed), self); gtk_widget_show_all (main_window); }
static void on_lcmgl_data (const lcm_recv_buf_t *rbuf, const char *channel, const bot_lcmgl_data_t *_msg, void *user_data ) { BotLcmglRenderer *self = (BotLcmglRenderer*) user_data; lcmgl_channel_t *chan = g_hash_table_lookup(self->channels, _msg->name); if (!chan) { chan = (lcmgl_channel_t*) calloc(1, sizeof(lcmgl_channel_t)); chan->enabled=1; //chan->backbuffer = g_ptr_array_new(); chan->frontbuffer = g_ptr_array_new(); g_hash_table_insert(self->channels, strdup(_msg->name), chan); bot_gtk_param_widget_add_booleans (self->pw, 0, strdup(_msg->name), 1, NULL); } #if 0 int current_scene = -1; if (chan->backbuffer->len > 0) { bot_lcmgl_data_t *ld = g_ptr_array_index(chan->backbuffer, 0); current_scene = ld->scene; } // new scene? if (current_scene != _msg->scene) { // free objects in foreground buffer 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); // swap front and back buffers GPtrArray *tmp = chan->backbuffer; chan->backbuffer = chan->frontbuffer; chan->frontbuffer = tmp; bot_viewer_request_redraw( self->viewer ); } #endif 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_ptr_array_add(chan->frontbuffer, bot_lcmgl_data_t_copy(_msg)); bot_viewer_request_redraw( self->viewer ); }
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; }
static void on_laser(const lcm_recv_buf_t *rbuf, const char *channel, const bot_core_planar_lidar_t *msg, void *user) { RendererLaser *self = (RendererLaser*) user; g_assert(self); /* get the laser channel object based on channel name */ laser_channel *lchan = g_hash_table_lookup(self->channels_hash, channel); if (lchan == NULL) { /* allocate and initialize laser channel structure */ lchan = (laser_channel*) calloc(1, sizeof(laser_channel)); g_assert(lchan); lchan->enabled = 1; lchan->name = bot_param_get_planar_lidar_name_from_lcm_channel(self->bot_param, channel); lchan->channel = strdup(channel); lchan->projector = laser_projector_new(self->bot_param, self->bot_frames, lchan->name, 1); char param_prefix[1024]; bot_param_get_planar_lidar_prefix(NULL, lchan->name, param_prefix, sizeof(param_prefix)); char color_key[1024]; sprintf(color_key, "%s.viewer_color", param_prefix); double color[3]; int color_size = bot_param_get_double_array(self->bot_param, color_key, color, 3); if (color_size != 3) { ERR("Error: Missing or funny color for planar LIDAR " "configuration key: '%s'\n", color_key); lchan->color[0] = 1; lchan->color[1] = 1; lchan->color[2] = 1; } else { lchan->color[0] = color[0]; lchan->color[1] = color[1]; lchan->color[2] = color[2]; } lchan->scans = bot_ptr_circular_new(self->param_max_buffer_size, laser_scan_destroy, NULL); g_assert(lchan->scans); /* add laser channel to hash table and array */ g_hash_table_insert(self->channels_hash, lchan->channel, lchan); g_ptr_array_add(self->channels, lchan); /* add check box */ if (self->viewer) bot_gtk_param_widget_add_booleans(self->pw, 0, lchan->name, lchan->enabled, NULL); } /* TODO: Optimization - allocate space for local points from a circular buffer instead of calling calloc for each scan */ laser_projected_scan *lscan = laser_create_projected_scan_from_planar_lidar(lchan->projector, msg, bot_frames_get_root_name(self->bot_frames)); if (lscan == NULL) return; //probably didn't have a pose message yet... if(lchan->scans->capacity != self->param_max_buffer_size){ bot_ptr_circular_resize(lchan->scans, self->param_max_buffer_size); } if (bot_ptr_circular_size(lchan->scans) > 0) { laser_projected_scan *last_scan = bot_ptr_circular_index(lchan->scans, 0); /* check for a large time difference between scans (typical when jumping around an LCM log file) */ gboolean time_jump = FALSE; int64_t dt = msg->utime - last_scan->utime; if (dt < -OLD_HISTORY_THRESHOLD || dt > OLD_HISTORY_THRESHOLD) time_jump = TRUE; /* spacial decimation */ gboolean stationary = FALSE; BotTrans delta; if (self->param_spacial_decimate && self->param_scan_memory > 10) { bot_trans_invert_and_compose(&lscan->origin, &last_scan->origin, &delta); double dist = bot_vector_magnitude_3d(delta.trans_vec); double rot; double axis[3]; bot_quat_to_angle_axis(delta.rot_quat, &rot, axis); if (dist < SPACIAL_DECIMATION_LIMIT && rot < ANGULAR_DECIMATION_LIMIT) { stationary = TRUE; } } if (stationary) { laser_scan_destroy(NULL, lscan); return; } } bot_ptr_circular_add(lchan->scans, lscan); if (self->viewer) bot_viewer_request_redraw(self->viewer); return; }
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; }