bool prepareMouseButtonEvent(GdkEvent* event, int button)
{
WebKitWebView* view = webkit_web_frame_get_web_view(mainFrame);
if (!view)
return false;
memset(event, 0, sizeof(event));
event->button.button = button;
event->button.x = lastMousePositionX;
event->button.y = lastMousePositionY;
event->button.window = GTK_WIDGET(view)->window;
event->button.device = gdk_device_get_core_pointer();
event->button.state = getStateFlags();
// Mouse up & down events dispatched via g_signal_emit_by_name must offset
// their time value, so that WebKit can detect where sequences of mouse
// clicks begin and end. This should not interfere with GDK or GTK+ event
// processing, because the event is only seen by the widget.
event->button.time = GDK_CURRENT_TIME + timeOffset;
int xRoot, yRoot;
#if GTK_CHECK_VERSION(2, 17, 3)
gdk_window_get_root_coords(GTK_WIDGET(view)->window, lastMousePositionX, lastMousePositionY, &xRoot, &yRoot);
#else
getRootCoords(GTK_WIDGET(view), &xRoot, &yRoot);
#endif
event->button.x_root = xRoot;
event->button.y_root = yRoot;
return true;
}
static JSValueRef mouseMoveToCallback(JSContextRef context, JSObjectRef function, JSObjectRef thisObject, size_t argumentCount, const JSValueRef arguments[], JSValueRef* exception)
{
WebKitWebView* view = webkit_web_frame_get_web_view(mainFrame);
if (!view)
return JSValueMakeUndefined(context);
if (argumentCount < 2)
return JSValueMakeUndefined(context);
lastMousePositionX = (int)JSValueToNumber(context, arguments[0], exception);
g_return_val_if_fail((!exception || !*exception), JSValueMakeUndefined(context));
lastMousePositionY = (int)JSValueToNumber(context, arguments[1], exception);
g_return_val_if_fail((!exception || !*exception), JSValueMakeUndefined(context));
GdkEvent* event = gdk_event_new(GDK_MOTION_NOTIFY);
event->motion.x = lastMousePositionX;
event->motion.y = lastMousePositionY;
event->motion.time = GDK_CURRENT_TIME;
event->motion.window = gtk_widget_get_window(GTK_WIDGET(view));
g_object_ref(event->motion.window);
event->button.device = getDefaultGDKPointerDevice(event->motion.window);
event->motion.state = getStateFlags();
event->motion.axes = 0;
int xRoot, yRoot;
gdk_window_get_root_coords(gtk_widget_get_window(GTK_WIDGET(view)), lastMousePositionX, lastMousePositionY, &xRoot, &yRoot);
event->motion.x_root = xRoot;
event->motion.y_root = yRoot;
sendOrQueueEvent(event, false);
return JSValueMakeUndefined(context);
}
bool prepareMouseButtonEvent(GdkEvent* event, int eventSenderButtonNumber, guint modifiers)
{
WebKitWebView* view = webkit_web_frame_get_web_view(mainFrame);
if (!view)
return false;
// The logic for mapping EventSender button numbers to GDK button
// numbers originates from the Windows EventSender.
int gdkButtonNumber = 3;
if (eventSenderButtonNumber >= 0 && eventSenderButtonNumber <= 2)
gdkButtonNumber = eventSenderButtonNumber + 1;
// fast/events/mouse-click-events expects the 4th button
// to be event->button = 1, so send a middle-button event.
else if (eventSenderButtonNumber == 3)
gdkButtonNumber = 2;
event->button.button = gdkButtonNumber;
event->button.x = lastMousePositionX;
event->button.y = lastMousePositionY;
event->button.window = gtk_widget_get_window(GTK_WIDGET(view));
g_object_ref(event->button.window);
event->button.device = getDefaultGDKPointerDevice(event->button.window);
event->button.state = modifiers | getStateFlags();
event->button.time = GDK_CURRENT_TIME;
event->button.axes = 0;
int xRoot, yRoot;
gdk_window_get_root_coords(gtk_widget_get_window(GTK_WIDGET(view)), lastMousePositionX, lastMousePositionY, &xRoot, &yRoot);
event->button.x_root = xRoot;
event->button.y_root = yRoot;
return true;
}
static JSValueRef mouseUpCallback(JSContextRef context, JSObjectRef function, JSObjectRef thisObject, size_t argumentCount, const JSValueRef arguments[], JSValueRef* exception)
{
WebKitWebView* view = webkit_web_frame_get_web_view(mainFrame);
if (!view)
return JSValueMakeUndefined(context);
GdkEvent event;
memset(&event, 0, sizeof(event));
event.type = GDK_BUTTON_RELEASE;
event.button.button = 1;
if (argumentCount == 1) {
event.button.button = (int)JSValueToNumber(context, arguments[0], exception) + 1;
g_return_val_if_fail((!exception || !*exception), JSValueMakeUndefined(context));
}
currentEventButton = event.button.button;
event.button.x = lastMousePositionX;
event.button.y = lastMousePositionY;
event.button.window = GTK_WIDGET(view)->window;
event.button.time = GDK_CURRENT_TIME;
event.button.device = gdk_device_get_core_pointer();
event.button.state = getStateFlags();
down = false;
int x_root, y_root;
#if GTK_CHECK_VERSION(2,17,3)
gdk_window_get_root_coords(GTK_WIDGET(view)->window, lastMousePositionX, lastMousePositionY, &x_root, &y_root);
#else
getRootCoords(GTK_WIDGET(view), &x_root, &y_root);
#endif
event.button.x_root = x_root;
event.button.y_root = y_root;
if ((dragMode && !replayingSavedEvents) || msgQueue[endOfQueue].delay) {
msgQueue[endOfQueue].event = event;
msgQueue[endOfQueue++].isDragEvent = true;
replaySavedEvents();
} else {
webkit_web_frame_layout(mainFrame);
gboolean return_val;
g_signal_emit_by_name(view, "button_release_event", &event, &return_val);
}
lastClickPositionX = lastMousePositionX;
lastClickPositionY = lastMousePositionY;
return JSValueMakeUndefined(context);
}
static JSValueRef mouseMoveToCallback(JSContextRef context, JSObjectRef function, JSObjectRef thisObject, size_t argumentCount, const JSValueRef arguments[], JSValueRef* exception)
{
WebKitWebView* view = webkit_web_frame_get_web_view(mainFrame);
if (!view)
return JSValueMakeUndefined(context);
if (argumentCount < 2)
return JSValueMakeUndefined(context);
lastMousePositionX = (int)JSValueToNumber(context, arguments[0], exception);
g_return_val_if_fail((!exception || !*exception), JSValueMakeUndefined(context));
lastMousePositionY = (int)JSValueToNumber(context, arguments[1], exception);
g_return_val_if_fail((!exception || !*exception), JSValueMakeUndefined(context));
GdkEvent event;
memset(&event, 0, sizeof(event));
event.type = GDK_MOTION_NOTIFY;
event.motion.x = lastMousePositionX;
event.motion.y = lastMousePositionY;
event.motion.time = GDK_CURRENT_TIME;
event.motion.window = GTK_WIDGET(view)->window;
event.motion.device = gdk_device_get_core_pointer();
event.motion.state = getStateFlags();
int xRoot, yRoot;
#if GTK_CHECK_VERSION(2,17,3)
gdk_window_get_root_coords(GTK_WIDGET(view)->window, lastMousePositionX, lastMousePositionY, &xRoot, &yRoot);
#else
getRootCoords(GTK_WIDGET(view), &xRoot, &yRoot);
#endif
event.motion.x_root = xRoot;
event.motion.y_root = yRoot;
sendOrQueueEvent(event);
return JSValueMakeUndefined(context);
}
void DecisionMakerNode::callbackFromFinalWaypoint(const autoware_msgs::Lane &msg)
{
if (!hasvMap())
{
std::cerr << "Not found vmap subscribe" << std::endl;
return;
}
if (!ctx->isCurrentState(state_machine::DRIVE_STATE))
{
std::cerr << "State is not DRIVE_STATE[" << ctx->getCurrentStateName() << "]" << std::endl;
return;
}
// cached
current_finalwaypoints_ = msg;
// stopline
static size_t previous_idx = 0;
size_t idx = param_stopline_target_waypoint_ + (current_velocity_ * param_stopline_target_ratio_);
idx = current_finalwaypoints_.waypoints.size() - 1 > idx ? idx : current_finalwaypoints_.waypoints.size() - 1;
CurrentStoplineTarget_ = current_finalwaypoints_.waypoints.at(idx);
for (size_t i = (previous_idx > idx) ? idx : previous_idx; i <= idx; i++)
{
if (i < current_finalwaypoints_.waypoints.size())
{
if (current_finalwaypoints_.waypoints.at(i).wpstate.stopline_state == autoware_msgs::WaypointState::TYPE_STOPLINE)
{
ctx->setCurrentState(state_machine::DRIVE_ACC_STOPLINE_STATE);
closest_stopline_waypoint_ = CurrentStoplineTarget_.gid;
}
if (current_finalwaypoints_.waypoints.at(i).wpstate.stopline_state == autoware_msgs::WaypointState::TYPE_STOP)
ctx->setCurrentState(state_machine::DRIVE_ACC_STOP_STATE);
}
}
previous_idx = idx;
// steering
idx = current_finalwaypoints_.waypoints.size() - 1 > param_target_waypoint_ ?
param_target_waypoint_ :
current_finalwaypoints_.waypoints.size() - 1;
if (ctx->isCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_LEFT_STATE))
{
ctx->setCurrentState(state_machine::DRIVE_STR_LEFT_STATE);
}
if (ctx->isCurrentState(state_machine::DRIVE_BEHAVIOR_LANECHANGE_RIGHT_STATE))
{
ctx->setCurrentState(state_machine::DRIVE_STR_RIGHT_STATE);
}
else
{
state_machine::StateFlags _TargetStateFlag;
for (size_t i = idx; i > 0; i--)
{
_TargetStateFlag = getStateFlags(current_finalwaypoints_.waypoints.at(i).wpstate.steering_state);
if (_TargetStateFlag != state_machine::DRIVE_STR_STRAIGHT_STATE)
{
break;
}
}
ctx->setCurrentState(_TargetStateFlag);
}
// for publish plan of velocity
publishToVelocityArray();
}
