void
bot_lcmgl_add_renderer_to_viewer(BotViewer* viewer, lcm_t* lcm, int priority)
{
BotLcmglRenderer *self =
(BotLcmglRenderer*) calloc(1, sizeof(BotLcmglRenderer));
BotRenderer *renderer = &self->renderer;
self->lcm = lcm;
self->viewer = viewer;
self->pw = BOT_GTK_PARAM_WIDGET(bot_gtk_param_widget_new());
renderer->draw = my_draw;
renderer->destroy = my_free;
renderer->name = "LCM GL";
renderer->widget = GTK_WIDGET(self->pw);
renderer->enabled = 1;
renderer->user = self;
self->channels = g_hash_table_new(g_str_hash, g_str_equal);
g_signal_connect (G_OBJECT (self->pw), "changed",
G_CALLBACK (on_param_widget_changed), self);
bot_lcmgl_data_t_subscribe(self->lcm, "LCMGL.*", on_lcmgl_data, self);
bot_viewer_add_renderer(viewer, renderer, priority);
GtkWidget *clear_button = gtk_button_new_with_label("Clear All");
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);
}
void laser_util_add_renderer_to_viewer(BotViewer *viewer, int priority, lcm_t * lcm, BotParam * param,
BotFrames * frames)
{
BotRenderer *renderer = renderer_laser_new(viewer, lcm, param, frames);
if (viewer && renderer) {
bot_viewer_add_renderer(viewer, renderer, priority);
}
}
void bot_frames_add_frame_modifier_to_viewer(BotViewer *viewer, int render_priority, BotFrames * frames)
{
RendererFrames *self = (RendererFrames*) calloc(1, sizeof(RendererFrames));
BotRenderer *renderer = &self->renderer;
renderer->draw = draw;
renderer->destroy = destroy_renderer_frames;
renderer->widget = gtk_vbox_new(FALSE, 0);
renderer->name = strdup(RENDERER_NAME);
renderer->user = self;
renderer->enabled = 1;
BotEventHandler *ehandler = &self->ehandler;
ehandler->name = renderer->name;
ehandler->enabled = 1;
ehandler->pick_query = NULL;
ehandler->key_press = NULL;
ehandler->hover_query = NULL;
ehandler->mouse_press = NULL;
ehandler->mouse_release = NULL;
ehandler->mouse_motion = NULL;
ehandler->user = self;
self->viewer = viewer;
self->frames = frames;
bot_frames_add_update_subscriber(self->frames, frames_update_handler, (void *) self);
self->pw = BOT_GTK_PARAM_WIDGET(bot_gtk_param_widget_new());
self->rootFrame = bot_frames_get_root_name(self->frames);
int num_frames = bot_frames_get_num_frames(self->frames);
char ** frame_names = bot_frames_get_frame_names(self->frames);
self->numFrames = num_frames + 1; //need space for extra "empty" one
self->frameNames = calloc(self->numFrames, sizeof(char *));
self->frameNums = calloc(self->numFrames, sizeof(int));
self->frameNums[0] = 0;
self->frameNames[0] = "";
for (int i = 1; i < self->numFrames; i++) {
self->frameNums[i] = i;
self->frameNames[i] = strdup(frame_names[i - 1]);
}
g_strfreev(frame_names);
bot_gtk_param_widget_add_enumv(self->pw, PARAM_FRAME_SELECT, BOT_GTK_PARAM_WIDGET_DEFAULTS, 0, self->numFrames,
(const char **) self->frameNames, self->frameNums);
gtk_box_pack_start(GTK_BOX(renderer->widget), GTK_WIDGET(self->pw), TRUE, TRUE, 0);
bot_gtk_param_widget_add_double(self->pw, PARAM_X, BOT_GTK_PARAM_WIDGET_SPINBOX, -1000, 1000, 0.001, 0);
bot_gtk_param_widget_add_double(self->pw, PARAM_Y, BOT_GTK_PARAM_WIDGET_SPINBOX, -1000, 1000, 0.001, 0);
bot_gtk_param_widget_add_double(self->pw, PARAM_Z, BOT_GTK_PARAM_WIDGET_SPINBOX, -1000, 1000, 0.001, 0);
bot_gtk_param_widget_add_double(self->pw, PARAM_ROLL, BOT_GTK_PARAM_WIDGET_SPINBOX, -181, 181, 0.1, 0);
bot_gtk_param_widget_add_double(self->pw, PARAM_PITCH, BOT_GTK_PARAM_WIDGET_SPINBOX, -181, 181, 0.1, 0);
bot_gtk_param_widget_add_double(self->pw, PARAM_YAW, BOT_GTK_PARAM_WIDGET_SPINBOX, -181, 181, 0.1, 0);
bot_gtk_param_widget_add_separator(self->pw, "");
bot_gtk_param_widget_add_buttons(self->pw, PARAM_SAVE, NULL);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_X, 0);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_Y, 0);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_Z, 0);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_ROLL, 0);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_PITCH, 0);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_YAW, 0);
bot_gtk_param_widget_set_enabled(self->pw, PARAM_SAVE, 0);
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);
bot_viewer_add_renderer(viewer, &self->renderer, render_priority);
}
void
setup_gfe_renderer(BotViewer *viewer, int render_priority, const char *wavefront_fname0, const char *wavefront_fname1)
{
GfeRenderer *self = (GfeRenderer*) calloc (1, sizeof (GfeRenderer));
BotRenderer *renderer = &self->renderer;
renderer->draw = _renderer_draw;
renderer->destroy = _renderer_free;
renderer->widget = bot_gtk_param_widget_new();
renderer->name = RENDERER_NAME;
renderer->user = self;
renderer->enabled = 1;
self->viewer = viewer;
self->pw = BOT_GTK_PARAM_WIDGET(renderer->widget);
double default_scale = 1.0;
double default_rot_x = 0;
double default_rot_y = 0;
double default_rot_z = 0;
double default_dx = 0;
double default_dy = 0;
double default_dz = 0;
printf("%s is fname0\n", wavefront_fname0);
printf("%s is fname1\n", wavefront_fname1);
if(wavefront_fname0) {
self->wavefront_model = bot_wavefront_model_create(wavefront_fname0);
double minv[3];
double maxv[3];
bot_wavefront_model_get_extrema(self->wavefront_model, minv, maxv);
double span_x = maxv[0] - minv[0];
double span_y = maxv[1] - minv[1];
double span_z = maxv[2] - minv[2];
double span_max = MAX(span_x, MAX(span_y, span_z));
// leave the default scale and translations at default
default_scale = 1.0;
default_dx = 0.0;
default_dy = 0.0;
default_dz = 0.0;
printf("WAVEFRONT extrema: [%f, %f, %f] [%f, %f, %f]\n",
minv[0], minv[1], minv[2],
maxv[0], maxv[1], maxv[2]);
printf("WAVEFRONT initial scale: %f\n", default_scale);
printf("WAVEFRONT initial offsets: [%f, %f, %f]\n", default_dx, default_dy, default_dz);
}
if(wavefront_fname1) {
self->wavefront_model2 = bot_wavefront_model_create(wavefront_fname1);
double minv[3];
double maxv[3];
bot_wavefront_model_get_extrema(self->wavefront_model, minv, maxv);
double span_x = maxv[0] - minv[0];
double span_y = maxv[1] - minv[1];
double span_z = maxv[2] - minv[2];
double span_max = MAX(span_x, MAX(span_y, span_z));
// leave the default scale and translations at default
default_scale = 1.0;
default_dx = 2.0;
default_dy = 0.0;
default_dz = 0.0;
printf("WAVEFRONT extrema: [%f, %f, %f] [%f, %f, %f]\n",
minv[0], minv[1], minv[2],
maxv[0], maxv[1], maxv[2]);
printf("WAVEFRONT initial scale: %f\n", default_scale);
printf("WAVEFRONT initial offsets: [%f, %f, %f]\n", default_dx, default_dy, default_dz);
}
bot_gtk_param_widget_add_double(self->pw, PARAM_SCALE,
BOT_GTK_PARAM_WIDGET_SPINBOX, 0, 99999999999, 0.00000001, default_scale);
bot_gtk_param_widget_add_double(self->pw, PARAM_DX,
BOT_GTK_PARAM_WIDGET_SPINBOX, -9999999999, 99999999999, 0.01, default_dx);
bot_gtk_param_widget_add_double(self->pw, PARAM_DY,
BOT_GTK_PARAM_WIDGET_SPINBOX, -9999999999, 99999999999, 0.01, default_dy);
bot_gtk_param_widget_add_double(self->pw, PARAM_DZ,
BOT_GTK_PARAM_WIDGET_SPINBOX, -9999999999, 99999999999, 0.01, default_dz);
bot_gtk_param_widget_add_double(self->pw, PARAM_ROT_X,
BOT_GTK_PARAM_WIDGET_SPINBOX, -180, 180, 0.1, default_rot_x);
bot_gtk_param_widget_add_double(self->pw, PARAM_ROT_Y,
BOT_GTK_PARAM_WIDGET_SPINBOX, -180, 180, 0.1, default_rot_y);
bot_gtk_param_widget_add_double(self->pw, PARAM_ROT_Z,
BOT_GTK_PARAM_WIDGET_SPINBOX, -180, 180, 0.1, default_rot_z);
gtk_widget_show_all(renderer->widget);
g_signal_connect (G_OBJECT (self->pw), "changed",
G_CALLBACK (on_param_widget_changed), self);
bot_viewer_add_renderer(viewer, &self->renderer, render_priority);
}
