示例#1
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);
}
示例#2
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->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);
}