Renderer* renderer_velodyne_new( Viewer *viewer) { RendererVelodyne *self = (RendererVelodyne*) calloc(1, sizeof(RendererVelodyne)); Renderer *renderer = (Renderer*) self; // build color table for (int i = 0; i < VELODYNE_NUM_LASERS; i++) { float f[4]; srand(i); color_util_rand_color(f, .6, .3); self->laser_colors[i][0] = f[0]; self->laser_colors[i][1] = f[1]; self->laser_colors[i][2] = f[2]; } renderer->draw = my_draw; renderer->name = "Velodyne"; renderer->destroy = my_free; renderer->widget = gtk_vbox_new ( FALSE, 0); renderer->enabled = 1; renderer->user = self; self->pw = GTKU_PARAM_WIDGET (gtku_param_widget_new ()); self->circular = gu_ptr_circular_new(1000, free_velodyne_data, NULL); self->viewer = viewer; gtku_param_widget_add_enum( self->pw, COLOR_MENU, GTKU_PARAM_WIDGET_MENU, COLOR_Z, "Drab", COLOR_DRAB, "Height", COLOR_Z, "Counted", COLOR_COUNTED, "Intensity", COLOR_INTENSITY, "Laser", COLOR_LASER, NULL); gtk_box_pack_start (GTK_BOX (renderer->widget), GTK_WIDGET (self->pw), FALSE, TRUE, 0); gtk_widget_show (GTK_WIDGET (self->pw)); self->lc = globals_get_lcm(); self->ctrans = globals_get_ctrans(); self->calib = velodyne_calib_create(); lcmtypes_velodyne_t_subscribe(self->lc, "VELODYNE", on_velodyne, self); g_signal_connect( G_OBJECT(self->pw), "changed", G_CALLBACK(on_param_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); return (Renderer*) self; }
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); }
static void on_image (const lcm_recv_buf_t *rbuf, const char *channel, const lcmtypes_image_t *msg, void *user_data) { RendererCamThumb *self = (RendererCamThumb*) user_data; if (! self->renderer.enabled) return; cam_renderer_t *cr = g_hash_table_lookup (self->cam_handlers, channel); if (!cr) { cr = (cam_renderer_t*) calloc (1, sizeof (cam_renderer_t)); cr->renderer = self; cr->render_place = 0; cr->channel = strdup (channel); g_hash_table_replace (self->cam_handlers, cr->channel, cr); } if (! cr->msg_received) { cr->gl_area = GTKU_GL_DRAWING_AREA (gtku_gl_drawing_area_new (FALSE)); cr->pw = GTKU_PARAM_WIDGET (gtku_param_widget_new ()); gtku_param_widget_add_enum (cr->pw, PARAM_RENDER_IN, 0, cr->render_place, "Here", RENDER_IN_WIDGET, "Top Left", RENDER_IN_TOP_LEFT, "Top Cent.", RENDER_IN_TOP_CENTER, "Top Right", RENDER_IN_TOP_RIGHT, "Bot. Left", RENDER_IN_BOTTOM_LEFT, "Bot. Cent.", RENDER_IN_BOTTOM_CENTER, "Bot. Right", RENDER_IN_BOTTOM_RIGHT, NULL); cr->expander = gtk_expander_new (channel); gtk_box_pack_start (GTK_BOX (self->renderer.widget), cr->expander, TRUE, TRUE, 0); GtkWidget *vbox = gtk_vbox_new (FALSE, 0); gtk_container_add (GTK_CONTAINER (cr->expander), vbox); gtk_box_pack_start (GTK_BOX (vbox), GTK_WIDGET (cr->pw), TRUE, TRUE, 0); gtk_box_pack_start (GTK_BOX (vbox), GTK_WIDGET (cr->gl_area), TRUE, TRUE, 0); g_signal_connect (G_OBJECT (cr->gl_area), "size-allocate", G_CALLBACK (on_gl_area_size), cr); cr->width = msg->width; cr->height = msg->height; gtk_widget_show_all (GTK_WIDGET (cr->expander)); gtk_expander_set_expanded (GTK_EXPANDER (cr->expander), cr->expanded); if (cr->render_place == RENDER_IN_WIDGET) { gtk_widget_show (GTK_WIDGET (cr->gl_area)); } else { gtk_widget_hide (GTK_WIDGET (cr->gl_area)); } g_signal_connect (G_OBJECT (cr->pw), "changed", G_CALLBACK (on_cam_renderer_param_widget_changed), cr); g_signal_connect (G_OBJECT (cr->gl_area), "expose-event", G_CALLBACK (on_gl_area_expose), cr); g_signal_connect (G_OBJECT (cr->expander), "notify::expanded", G_CALLBACK (on_expander_expanded), cr); cr->texture = NULL; cr->last_image = NULL; cr->renderer = self; cr->uncompressed_buffer_size = msg->width * msg->height * 3; cr->uncompresed_buffer = (uint8_t*) malloc (cr->uncompressed_buffer_size); cr->msg_received = 1; } if (cr->last_image) { lcmtypes_image_t_destroy (cr->last_image); } cr->last_image = lcmtypes_image_t_copy (msg); cr->is_uploaded = 0; switch (gtku_param_widget_get_enum (cr->pw, PARAM_RENDER_IN)) { case RENDER_IN_WIDGET: if (gtk_expander_get_expanded (GTK_EXPANDER (cr->expander))) gtku_gl_drawing_area_invalidate (cr->gl_area); default: viewer_request_redraw (self->viewer); break; } }
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); }