void setup_renderer_rrt_debug(Viewer *viewer, int priority)
{
RendererRrtDebug *self =
(RendererRrtDebug*) calloc(1, sizeof(RendererRrtDebug));
Renderer *renderer = &self->renderer;
renderer->draw = my_draw;
renderer->destroy = my_free;
renderer->name = "RRT Debug";
renderer->widget = gtk_vbox_new(FALSE, 0);
renderer->enabled = 1;
renderer->user = self;
self->lc = globals_get_lcm();
self->ctrans = globals_get_ctrans();
self->viewer = viewer;
self->data = NULL;
self->min_node_id = 0;
self->plot_ctrl = 0;
self->plot_state = 1;
self->pw = GTKU_PARAM_WIDGET(gtku_param_widget_new());
gtk_box_pack_start(GTK_BOX(renderer->widget), GTK_WIDGET(self->pw), TRUE, TRUE, 0);
gtku_param_widget_add_double (self->pw, PARAM_MIN0,
GTKU_PARAM_WIDGET_SLIDER, 0, 1e4, 1e2, 0);
gtku_param_widget_add_int (self->pw, PARAM_MIN_PLOT,
GTKU_PARAM_WIDGET_SLIDER, 0, 5e2, 1, 0);
gtku_param_widget_add_double (self->pw, PARAM_MAX0,
GTKU_PARAM_WIDGET_SLIDER, 0, MAX_ID_TO_PLOT, 1e2, MAX_ID_TO_PLOT);
gtku_param_widget_add_int (self->pw, PARAM_MAX_PLOT,
GTKU_PARAM_WIDGET_SLIDER, 0, 5e2, 1, 5e2);
gtku_param_widget_add_booleans (self->pw, 0,
PARAM_NAME_RENDER_CTRL, self->plot_ctrl,
PARAM_NAME_RENDER_STATE, self->plot_state, NULL);
gtk_widget_show_all(renderer->widget);
g_signal_connect (G_OBJECT (self->pw), "changed",
G_CALLBACK (on_param_widget_changed), self);
lcmtypes_rrt_debug_t_subscribe(self->lc, "RRT_DEBUG", on_rrt_debug, self);
viewer_add_renderer(viewer, renderer, priority);
}
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;
}
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);
}
