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->lc = globals_get_lcm ();
self->config = globals_get_config ();
self->pw = GTKU_PARAM_WIDGET(gtku_param_widget_new());
self->ctrans = globals_get_ctrans ();
self->path = gu_ptr_circular_new (MAX_POSES, free_path_element, NULL);
gtk_box_pack_start(GTK_BOX(renderer->widget), GTK_WIDGET(self->pw), TRUE,
TRUE, 0);
gtku_param_widget_add_booleans (self->pw, 0, PARAM_FOLLOW_POS, 1, NULL);
gtku_param_widget_add_booleans (self->pw, 0, PARAM_FOLLOW_YAW, 0, NULL);
char * model;
char path[256];
if (config_get_str (self->config, "renderer_car.chassis_model",
&model) == 0) {
snprintf (path, sizeof (path), "%s/%s", MESH_MODEL_PATH, model);
self->chassis_model = rwx_model_create (path);
}
if (config_get_str (self->config, "renderer_car.wheel_model",
&model) == 0) {
snprintf (path, sizeof (path), "%s/%s", MESH_MODEL_PATH, model);
self->wheel_model = rwx_model_create (path);
}
if (self->chassis_model)
gtku_param_widget_add_booleans (self->pw, 0, PARAM_NAME_BLING, 1,
NULL);
if (self->wheel_model)
gtku_param_widget_add_booleans (self->pw, 0, PARAM_NAME_WHEELS, 1,
NULL);
self->max_draw_poses = 1000;
gtku_param_widget_add_int (self->pw, PARAM_MAXPOSES,
GTKU_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);
ctrans_subscribe (self->ctrans, pose_listener, self);
#ifdef USE_CANDECODE
self->can = can_decode_new (self->lc);
can_decode_subscribe (self->can, CAN_MSG_WHEELSPEEDS, on_wheelspeeds, self);
can_decode_subscribe (self->can, CAN_MSG_STEERING_WHEEL,
on_steering, self);
can_decode_subscribe (self->can, CAN_MSG_SUSPENSION_HEIGHT,
on_suspension, self);
#endif
viewer_add_renderer(viewer, &self->renderer, render_priority);
viewer_add_event_handler(viewer, &self->ehandler, render_priority);
self->footprint = config_util_get_vehicle_footprint (self->config);
assert (self->footprint);
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);
}
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);
}
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_renderer_simtraffic(Viewer *viewer, int render_priority)
{
RendererSimTraffic *self =
(RendererSimTraffic*) calloc (1, sizeof (RendererSimTraffic));
// renderer administrativa
Renderer *renderer = &self->renderer;
renderer->draw = simtraffic_draw;
renderer->destroy = simtraffic_free;
renderer->widget = gtk_vbox_new(FALSE, 0);
renderer->name = "SimTraffic";
renderer->user = self;
renderer->enabled = 1;
// event handler
EventHandler *ehandler = &self->ehandler;
ehandler->name = "SimTraffic";
ehandler->enabled = 1;
ehandler->pick_query = pick_query;
ehandler->hover_query = pick_query;
ehandler->mouse_press = mouse_press;
ehandler->mouse_motion = mouse_motion;
ehandler->mouse_release = mouse_release;
ehandler->key_press = key_press;
ehandler->user = self;
// member variables
self->viewer = viewer;
self->lc = globals_get_lcm();
self->ctrans = globals_get_ctrans();
self->tracks = NULL;
self->lchandler = lcmtypes_track_list_t_subscribe (self->lc,
"LIDAR_TRACKS_SIM", on_track_list, self);
// parameter widget
self->pw = GTKU_PARAM_WIDGET(gtku_param_widget_new());
g_signal_connect (G_OBJECT (self->pw), "changed",
G_CALLBACK (on_param_widget_changed), self);
on_param_widget_changed(self->pw, "", self);
gtk_box_pack_start(GTK_BOX(renderer->widget), GTK_WIDGET(self->pw),
TRUE, TRUE, 0);
// add car button
GtkWidget *add_bt = gtk_button_new_with_label ("Add car");
gtk_box_pack_start (GTK_BOX (renderer->widget), add_bt,
FALSE, FALSE, 0);
gtk_widget_show (add_bt);
g_signal_connect (G_OBJECT(add_bt), "clicked",
G_CALLBACK(on_add_bt_clicked), self);
gtk_widget_show_all(renderer->widget);
// popup menu
self->context_menu = GTK_MENU (gtk_menu_new ());
g_object_ref_sink (self->context_menu);
GtkWidget *pause_mi = gtk_menu_item_new_with_label ("Pause");
GtkWidget *unpause_mi = gtk_menu_item_new_with_label ("Unpause");
gtk_menu_shell_append (GTK_MENU_SHELL(self->context_menu), pause_mi);
gtk_menu_shell_append (GTK_MENU_SHELL(self->context_menu), unpause_mi);
g_signal_connect (G_OBJECT(pause_mi), "activate",
G_CALLBACK(on_pause_mi_activate), self);
g_signal_connect (G_OBJECT(unpause_mi), "activate",
G_CALLBACK(on_unpause_mi_activate), self);
gtk_widget_show_all (GTK_WIDGET (self->context_menu));
// administrativa
viewer_add_renderer(viewer, renderer, render_priority);
viewer_add_event_handler(viewer, ehandler, render_priority);
}
