static void
on_cam_renderer_param_widget_changed (GtkuParamWidget *pw, const char *param,
void *user_data)
{
cam_renderer_t *cr = (cam_renderer_t*) user_data;
// delete the old texture object if it exists. make sure that we've
// selected the correct OpenGL context
if (cr->texture) {
if (cr->render_place == RENDER_IN_WIDGET) {
gtku_gl_drawing_area_set_context (cr->gl_area);
} else {
gtku_gl_drawing_area_set_context (cr->renderer->viewer->gl_area);
}
glutil_texture_free (cr->texture);
cr->texture = NULL;
}
cr->render_place = gtku_param_widget_get_enum (pw, PARAM_RENDER_IN);
if (cr->render_place == RENDER_IN_WIDGET) {
gtk_widget_show (GTK_WIDGET (cr->gl_area));
} else {
gtk_widget_hide (GTK_WIDGET (cr->gl_area));
}
cr->is_uploaded = 0;
viewer_request_redraw (cr->renderer->viewer);
}
static void
on_param_widget_changed (GtkuParamWidget *pw, const char *name, void *user)
{
RendererSimTraffic *self = (RendererSimTraffic*) user;
viewer_request_redraw (self->viewer);
}
static void on_lcgl_data (const lcm_recv_buf_t *rbuf, const char *channel,
const botlcm_lcmgl_data_t *_msg, void *user_data )
{
RendererLcmgl *self = (RendererLcmgl*) user_data;
lcgl_channel_t *chan = (lcgl_channel_t*) g_hash_table_lookup(self->channels, _msg->name);
if (!chan) {
chan = (lcgl_channel_t*) calloc(1, sizeof(lcgl_channel_t));
chan->enabled=1;
//chan->backbuffer = g_ptr_array_new();
chan->frontbuffer = g_ptr_array_new();
g_hash_table_insert(self->channels, strdup(_msg->name), chan);
bot_gtk_param_widget_add_booleans (self->pw,
BOT_GTK_PARAM_WIDGET_DEFAULTS, strdup(_msg->name), 1, NULL);
}
#if 0
int current_scene = -1;
if (chan->backbuffer->len > 0) {
botlcm_lcmgl_data_t *ld = g_ptr_array_index(chan->backbuffer, 0);
current_scene = ld->scene;
}
// new scene?
if (current_scene != _msg->scene) {
// free objects in foreground buffer
for (int i = 0; i < chan->frontbuffer->len; i++)
botlcm_lcmgl_data_t_destroy(g_ptr_array_index(chan->frontbuffer, i));
g_ptr_array_set_size(chan->frontbuffer, 0);
// swap front and back buffers
GPtrArray *tmp = chan->backbuffer;
chan->backbuffer = chan->frontbuffer;
chan->frontbuffer = tmp;
viewer_request_redraw( self->viewer );
}
#endif
for (int i = 0; i < (int) chan->frontbuffer->len; i++)
botlcm_lcmgl_data_t_destroy((botlcm_lcmgl_data_t*) g_ptr_array_index(chan->frontbuffer, i));
g_ptr_array_set_size (chan->frontbuffer, 0);
g_ptr_array_add(chan->frontbuffer, botlcm_lcmgl_data_t_copy(_msg));
viewer_request_redraw( self->viewer );
}
static void on_param_changed( GtkuParamWidget *pw, const char *name, void *user_data )
{
RendererTextured *self = (RendererTextured*) user_data;
self->numScans = gtku_param_widget_get_int(self->pw, PARAM_MEMORY);
viewer_request_redraw( self->viewer );
}
static gboolean on_redraw_timer(void *user_data)
{
Viewer * self = (Viewer *) user_data;
self->redraw_timer_pending = 0;
viewer_request_redraw (self);
return FALSE; // this is a one-shot event.
}
static gboolean
on_motion_notify (GtkWidget *widget, GdkEventMotion *event, void *user_data)
{
Viewer *self = (Viewer*) user_data;
gtku_gl_drawing_area_set_context (self->gl_area);
double ray_start[3];
double ray_dir[3];
_window_coord_to_ray (event->x, widget->allocation.height - event->y, ray_start, ray_dir);
// is anyone hovering?
if (self->picking_handler == NULL || !self->picking_handler->picking) {
// find a new hover?
double best_distance = HUGE;
EventHandler *best_handler = NULL;
for (unsigned int eidx = 0; eidx < g_ptr_array_size(self->event_handlers); eidx++) {
EventHandler *handler = g_ptr_array_index(self->event_handlers, eidx);
handler->hovering = 0;
if (handler->enabled && handler->hover_query) {
double this_distance = handler->hover_query(self, handler, ray_start, ray_dir);
if (this_distance < best_distance && this_distance >= 0) {
best_distance = this_distance;
best_handler = handler;
}
}
}
// notify the new handler
if (best_handler)
best_handler->hovering = 1;
viewer_request_redraw(self);
}
// give picking handler first dibs
int consumed = 0;
if (self->picking_handler && !self->picking_handler->picking)
self->picking_handler = NULL;
if (self->picking_handler && self->picking_handler->enabled && self->picking_handler->mouse_motion) {
consumed = self->picking_handler->mouse_motion(self, self->picking_handler, ray_start, ray_dir, event);
update_status_bar(self);
}
// try all the other handlers in order of priority
for (unsigned int eidx = 0; !consumed && eidx < g_ptr_array_size(self->event_handlers); eidx++) {
EventHandler *handler = g_ptr_array_index(self->event_handlers, eidx);
if (handler != self->picking_handler && handler->enabled && handler->mouse_motion)
if (handler->mouse_motion(self, handler, ray_start, ray_dir, event))
break;
}
return TRUE;
}
static gboolean
on_gl_configure (GtkWidget *widget, GdkEventConfigure *event, void* user_data)
{
Viewer * self = (Viewer *) user_data;
update_status_bar(self); // redraw our window size
viewer_request_redraw (self);
return TRUE;
}
static int
pose_listener (CTrans * ctrans, ctrans_update_type_t type, void *user)
{
if (type != CTRANS_POSE_UPDATE)
return 0;
RendererCar *self = (RendererCar*) user;
ViewHandler *vhandler = self->viewer->view_handler;
lcmtypes_pose_t pose;
ctrans_local_pose (self->ctrans, &pose);
double lastpos[3] = {0,0,0};
if (gu_ptr_circular_size(self->path))
memcpy(lastpos, gu_ptr_circular_index(self->path, 0),
3 * sizeof(double));
double diff[3];
vector_subtract_3d(pose.pos, lastpos, diff);
if (vector_magnitude_3d(diff) > 2.0) {
// clear the buffer if we jump
gu_ptr_circular_clear(self->path);
}
if (vector_magnitude_3d(diff) > 0.1 ||
gu_ptr_circular_size(self->path)==0) {
double *p = (double*) calloc(3, sizeof(double));
memcpy(p, pose.pos, sizeof(double)*3);
gu_ptr_circular_add(self->path, p);
}
if (vhandler && vhandler->update_follow_target && !self->teleport_car) {
vhandler->update_follow_target(vhandler, pose.pos, pose.orientation);
}
if (!self->did_teleport)
on_find_button(NULL, self);
self->did_teleport = 1;
int64_t dt = pose.utime - self->last_pose.utime;
double r = config_get_double_or_default (self->config,
"renderer_car.wheel_radius", 0.3);
if (self->last_pose.utime) {
int i;
for (i = 0; i < 4; i++) {
self->wheelpos[i] += self->wheelspeeds[i] * dt * 1e-6 / r;
self->wheelpos[i] = mod2pi (self->wheelpos[i]);
}
}
memcpy (&self->last_pose, &pose, sizeof (lcmtypes_pose_t));
viewer_request_redraw(self->viewer);
return 0;
}
static void
on_event_handler_enabled_toggled (GtkCheckMenuItem *cmi, void *user_data)
{
Viewer *self = (Viewer*) user_data;
EventHandler *ehandler = (EventHandler*) g_object_get_data (G_OBJECT(cmi), "Viewer:plugin");
ehandler->enabled = gtk_check_menu_item_get_active (cmi);
viewer_request_redraw (self);
}
static void on_navigator_plan (const lcm_recv_buf_t *rbuf, const char *channel,
const lcmtypes_navigator_plan_t *msg, void *user_data )
{
RendererNavigator *self = (RendererNavigator*) user_data;
if (self->nav)
lcmtypes_navigator_plan_t_destroy (self->nav);
self->nav = lcmtypes_navigator_plan_t_copy(msg);
viewer_request_redraw(self->viewer);
}
static void
on_param_widget_changed (BotGtkParamWidget *pw, const char *name,
RendererScrollingPlots *self)
{
if (! strcmp (name, PARAM_NAME_SHOW_LEGEND)) {
BotGlScrollPlot2dLegendLocation legloc = BOT_GL_SCROLLPLOT2D_HIDDEN;
if (bot_gtk_param_widget_get_bool (self->pw, PARAM_NAME_SHOW_LEGEND)) {
legloc = BOT_GL_SCROLLPLOT2D_TOP_RIGHT;
}
bot_gl_scrollplot2d_set_show_legend (self->psi_distance_plot, legloc);
}
viewer_request_redraw (self->viewer);
}
static void
on_param_widget_changed (GtkuParamWidget *pw, const char *name,
RendererRrtDebug *self)
{
if (! strcmp (name, PARAM_NAME_RENDER_CTRL)) {
self->plot_ctrl
= gtku_param_widget_get_bool (self->pw, PARAM_NAME_RENDER_CTRL);
}
else if (! strcmp (name, PARAM_NAME_RENDER_STATE)) {
self->plot_state
= gtku_param_widget_get_bool (self->pw, PARAM_NAME_RENDER_STATE);
}
viewer_request_redraw (self->viewer);
}
static void
on_pose(const lcm_recv_buf_t *rbuf, const char *channel,
const botlcm_pose_t *pose, void *user_data)
{
RendererCar *self = (RendererCar*) user_data;
ViewHandler *vhandler = self->viewer->view_handler;
double lastpos[3] = {0,0,0};
if (bot_ptr_circular_size(self->path))
memcpy(lastpos, bot_ptr_circular_index(self->path, 0),
3 * sizeof(double));
double diff[3];
bot_vector_subtract_3d(pose->pos, lastpos, diff);
if (bot_vector_magnitude_3d(diff) > 2.0) {
// clear the buffer if we jump
bot_ptr_circular_clear(self->path);
}
if (bot_vector_magnitude_3d(diff) > 0.1 ||
bot_ptr_circular_size(self->path)==0) {
double *p = (double*) calloc(3, sizeof(double));
memcpy(p, pose->pos, sizeof(double)*3);
bot_ptr_circular_add(self->path, p);
}
if (vhandler && vhandler->update_follow_target && !self->teleport_car) {
vhandler->update_follow_target(vhandler, pose->pos, pose->orientation);
}
if (!self->did_teleport)
on_find_button(NULL, self);
self->did_teleport = 1;
int64_t dt = pose->utime - self->last_pose.utime;
double r = bot_conf_get_double_or_default (self->config,
"renderer_car.wheel_radius", 0.3);
if (self->last_pose.utime) {
int i;
for (i = 0; i < 4; i++) {
self->wheelpos[i] += self->wheelspeeds[i] * dt * 1e-6 / r;
self->wheelpos[i] = bot_mod2pi (self->wheelpos[i]);
}
}
memcpy (&self->last_pose, &pose, sizeof (botlcm_pose_t));
viewer_request_redraw(self->viewer);
}
static void on_sim_goals_new(const lcm_recv_buf_t *rbuf, const char *channel, const lcmtypes_goal_list_t *msg, void *_user)
{
RendererGoal *self = (RendererGoal*) _user;
pthread_mutex_lock(&self->mutex);
g_array_set_size(self->my_goals,msg->num_goals);
memcpy(self->my_goals->data,msg->goals,msg->num_goals*sizeof(lcmtypes_goal_t));
activate_simgoals_transmitter(self);
pthread_mutex_unlock(&self->mutex);
viewer_request_redraw(self->viewer);
}
static void on_rrt_debug (const lcm_recv_buf_t *rbuf, const char *channel,
const lcmtypes_rrt_debug_t *msg, void *user_data )
{
RendererRrtDebug *self = (RendererRrtDebug*) user_data;
if (!ctrans_have_pose (self->ctrans))
return;
if (self->data)
lcmtypes_rrt_debug_t_destroy (self->data);
self->data = lcmtypes_rrt_debug_t_copy(msg);
self->min_node_id = get_min_node_id (self->data);
viewer_request_redraw(self->viewer);
}
static void
on_param_widget_changed (GtkuParamWidget *pw, const char *name, void *user)
{
RendererCar *self = (RendererCar*) user;
Viewer *viewer = self->viewer;
viewer->view_handler->follow_mode = 0;
if (gtku_param_widget_get_bool(pw, PARAM_FOLLOW_POS))
viewer->view_handler->follow_mode |= FOLLOW_POS;
if (gtku_param_widget_get_bool(pw, PARAM_FOLLOW_YAW))
viewer->view_handler->follow_mode |= FOLLOW_YAW;
self->max_draw_poses = gtku_param_widget_get_int(pw, PARAM_MAXPOSES);
viewer_request_redraw ( self->viewer);
}
static void on_goals(const lcm_recv_buf_t *rbuf, const char *channel, const lcmtypes_goal_list_t *msg, void *_user)
{
RendererGoal *self = (RendererGoal*) _user;
int i;
for (i = 0; i < self->recv_goal_lists->len; i++) {
lcmtypes_goal_list_t * l = g_ptr_array_index (self->recv_goal_lists, i);
if (l->sender_id == msg->sender_id) {
lcmtypes_goal_list_t_destroy (l);
g_ptr_array_remove_index_fast (self->recv_goal_lists, i);
break;
}
}
g_ptr_array_add (self->recv_goal_lists, lcmtypes_goal_list_t_copy (msg));
viewer_request_redraw(self->viewer);
}
static void on_param_widget_changed (BotGtkParamWidget *pw, const char *name, void *user)
{
RendererLcmgl *self = (RendererLcmgl*) user;
// iterate over each channel
GList *keys = bot_g_hash_table_get_keys(self->channels);
for (GList *kiter=keys; kiter; kiter=kiter->next) {
lcgl_channel_t *chan = (lcgl_channel_t*) g_hash_table_lookup(self->channels,
kiter->data);
chan->enabled = bot_gtk_param_widget_get_bool (pw, (const char*)kiter->data);
}
g_list_free (keys);
viewer_request_redraw(self->viewer);
}
static void
on_motion_cmd (const lcm_recv_buf_t *buf, const char *channel, const fblcm_motion_cmd_t *msg, void *user)
{
RendererScrollingPlots *self = (RendererScrollingPlots *) user;
if (bot_gtk_param_widget_get_bool (self->pw, PARAM_NAME_FREEZE))
return;
update_xaxis(self, msg->utime);
double timestamp = msg->utime * 1e-6;
bot_gl_scrollplot2d_add_point (self->navigator_rotation_plot, "control", timestamp,
msg->rotation_speed);
bot_gl_scrollplot2d_add_point (self->navigator_translation_plot, "control", timestamp,
msg->translation_speed);
viewer_request_redraw (self->viewer);
}
static gboolean
on_render_timer (Viewer * self)
{
#ifdef USE_ZMOV
self->movie_draw_pending = 1;
viewer_request_redraw(self);
#else
if (self->fb_area) {
fb_gl_drawing_area_begin (self->fb_area);
render_scene (self);
fb_gl_drawing_area_end (self->fb_area);
fb_gl_drawing_area_swap_buffers (self->fb_area);
}
#endif
return TRUE;
}
static void on_velodyne(const lcm_recv_buf_t *rbuf, const char *channel, const lcmtypes_velodyne_t *v, void *user_data)
{
RendererVelodyne *self = (RendererVelodyne*) user_data;
if (!ctrans_have_pose(self->ctrans))
return;
struct velodyne_data *vdata = (struct velodyne_data*) calloc(1, sizeof(struct velodyne_data));
vdata->data = (void*) malloc(v->datalen);
vdata->datalen = v->datalen;
memcpy(vdata->data, v->data, v->datalen);
if (config_util_sensor_to_local(channel, vdata->m))
printf("Velodyne: no calibration\n");
gu_ptr_circular_add(self->circular, vdata);
viewer_request_redraw( self->viewer );
}
static void
on_class_state (const lcm_recv_buf_t *buf, const char *channel, const navlcm_class_param_t *msg, void *user)
{
RendererScrollingPlots *self = (RendererScrollingPlots *) user;
if (bot_gtk_param_widget_get_bool (self->pw, PARAM_NAME_FREEZE))
return;
update_xaxis(self, msg->utime);
double timestamp = msg->utime * 1e-6;
bot_gl_scrollplot2d_add_point (self->psi_distance_plot, "status", timestamp,
msg->psi_distance);
bot_gl_scrollplot2d_add_point (self->psi_distance_plot, "control", timestamp,
msg->psi_distance_thresh);
viewer_request_redraw (self->viewer);
}
static int on_velodyne(const lcm_recv_buf_t *rbuf, const char *channel, const lcmtypes_rgbvelodyne_t *v, void *user_data)
{
RendererTextured *self = (RendererTextured*) user_data;
if (!ctrans_have_pose(self->ctrans))
return 0;
struct velodyne_data *vdata = (struct velodyne_data*) calloc(1, sizeof(struct velodyne_data));
vdata->rgbdata = (lcmtypes_rgbvelodyne_t*)calloc(1, sizeof(lcmtypes_rgbvelodyne_t));
//vdata->rgbdata->data = (uint8_t*) malloc(v->datalen);
vdata->datalen = v->datalen;
//memcpy(vdata->rgbdata->data, v->data, v->datalen);
vdata->rgbdata->datalen = vdata->datalen;
vdata->rgbdata->rgb = (uint8_t**)malloc(v->datalen*sizeof(uint8_t*));
//uint64_t tstart = timestamp_now();
for(int i = 0; i < vdata->datalen; i++)
{
vdata->rgbdata->rgb[i] = (uint8_t*)malloc(3*sizeof(uint8_t));
vdata->rgbdata->rgb[i][0] = v->rgb[i][0];
vdata->rgbdata->rgb[i][1] = v->rgb[i][1];
vdata->rgbdata->rgb[i][2] = v->rgb[i][2];
}
//uint64_t tend = timestamp_now();
//uint64_t diff = tend - tstart;
//printf("diff = %lld\n",diff);
vdata->rgbdata->datalen = vdata->datalen;
//vdata->data = (velodyne_t*)calloc(1, sizeof(velodyne_t));
//vdata->data->data = (uint8_t*)malloc(v->datalen);
vdata->data = (void*)malloc(v->datalen);
memcpy(vdata->data, v->data, v->datalen);
//vdata->data->datalen = v->datalen;
//vdata->data->utime = v->utime;
if (config_util_sensor_to_local("VELODYNE", vdata->m))
printf("Velodyne: no calibration\n");
gu_ptr_circular_add(self->circular, vdata);
viewer_request_redraw( self->viewer );
return 0;
}
static void
on_renderer_enabled_toggled (GtkCheckMenuItem *cmi, void *user_data)
{
Viewer *self = (Viewer*) user_data;
Renderer *r = (Renderer*) g_object_get_data (G_OBJECT (cmi),
"Viewer:plugin");
r->enabled = gtk_check_menu_item_get_active (cmi);
if (r->widget) {
GtkWidget *frame = g_object_get_data (G_OBJECT (r->widget),
"Viewer:frame");
if (frame) {
if (r->enabled) {
gtk_widget_show (frame);
} else {
gtk_widget_hide (frame);
}
}
}
viewer_request_redraw (self);
}
static void on_find_button(GtkWidget *button, RendererCar *self)
{
ViewHandler *vhandler = self->viewer->view_handler;
double eye[3];
double lookat[3];
double up[3];
vhandler->get_eye_look(vhandler, eye, lookat, up);
double diff[3];
vector_subtract_3d(eye, lookat, diff);
double pos[3] = { 0, 0, 0 };
ctrans_local_pos (self->ctrans, pos);
vector_add_3d(pos, diff, eye);
vhandler->set_look_at(vhandler, eye, pos, up);
viewer_request_redraw(self->viewer);
}
static int mouse_press (Viewer *viewer, EventHandler *ehandler,
const double ray_start[3], const double ray_dir[3],
const GdkEventButton *event)
{
RendererCar *self = (RendererCar*) ehandler->user;
// only handle mouse button 1.
if (self->teleport_car_request&&(event->button == 1)) {
self->teleport_car = 1;
}
if (event->type == GDK_2BUTTON_PRESS) {
self->display_detail = (self->display_detail + 1) % NUM_DETAILS;
viewer_request_redraw(self->viewer);
}
double carpos[3] = { 0, 0, 0 };
ctrans_local_pos (self->ctrans, carpos);
geom_ray_z_plane_intersect_3d(POINT3D(ray_start),
POINT3D(ray_dir), carpos[2], POINT2D(self->last_xy));
return 0;
}
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;
}
}
static void
viewer_init (Viewer *viewer)
{
viewer->renderers = g_ptr_array_new();
viewer->renderers_sorted = g_ptr_array_new();
viewer->renderers_sorted_with_controls = g_ptr_array_new();
viewer->event_handlers = g_ptr_array_new();
viewer->event_handlers_sorted = g_ptr_array_new();
viewer->modes = g_ptr_array_new();
viewer->prettier_flag = (getenv("DGC_VIEWER_PRETTIER") != NULL &&
atoi(getenv("DGC_VIEWER_PRETTIER"))>0);;
printf("DGC_VIEWER_PRETTIER: %d\n", viewer->prettier_flag);
viewer->window = gtk_window_new(GTK_WINDOW_TOPLEVEL);
gtk_window_set_title(GTK_WINDOW(viewer->window), "Viewer");
gtk_window_set_resizable(GTK_WINDOW(viewer->window), TRUE);
gtk_window_set_default_size(GTK_WINDOW(viewer->window), 800, 540);
GtkWidget *vbox = gtk_vbox_new(FALSE, 0);
gtk_container_add(GTK_CONTAINER(viewer->window), vbox);
make_menus(viewer, vbox);
viewer->tips = gtk_tooltips_new ();
make_toolbar(viewer, vbox);
GtkWidget *hpaned = gtk_hpaned_new();
gtk_box_pack_start(GTK_BOX(vbox), hpaned, TRUE, TRUE, 0);
GtkWidget *gl_box = gtk_event_box_new();
gtk_paned_pack1(GTK_PANED(hpaned), gl_box, TRUE, TRUE);
GtkWidget *controls_align = gtk_alignment_new(.5, .5, 1, 1);
gtk_paned_pack2(GTK_PANED(hpaned), controls_align, FALSE, TRUE);
gtk_paned_set_position(GTK_PANED(hpaned), 560);
GtkWidget *controls_scroll = gtk_scrolled_window_new(NULL, NULL);
gtk_container_add(GTK_CONTAINER(controls_align), controls_scroll);
GtkWidget *controls_view = gtk_viewport_new(NULL, NULL);
gtk_container_add(GTK_CONTAINER(controls_scroll), controls_view);
viewer->controls_box = gtk_vbox_new(FALSE, 0);
gtk_container_add(GTK_CONTAINER(controls_view), viewer->controls_box);
viewer->status_bar = gtk_statusbar_new();
gtk_box_pack_start(GTK_BOX(vbox), viewer->status_bar, FALSE, FALSE, 0);
viewer_set_status_bar_message(viewer, "Ready");
// create the aspect area to maintain a 1:1 aspect ratio
viewer->gl_area = GTKU_GL_DRAWING_AREA (gtku_gl_drawing_area_new (FALSE));
gtk_widget_set_events (GTK_WIDGET (viewer->gl_area),
GDK_LEAVE_NOTIFY_MASK |
GDK_BUTTON_PRESS_MASK |
GDK_BUTTON_RELEASE_MASK |
GDK_POINTER_MOTION_MASK);
gtk_container_add (GTK_CONTAINER (gl_box), GTK_WIDGET (viewer->gl_area));
gtk_widget_show (GTK_WIDGET (viewer->gl_area));
g_signal_connect (G_OBJECT (viewer->gl_area), "configure-event",
G_CALLBACK (on_gl_configure), viewer);
g_signal_connect (G_OBJECT (viewer->gl_area), "expose-event",
G_CALLBACK (on_gl_expose), viewer);
g_signal_connect (G_OBJECT (viewer->gl_area), "button-press-event",
G_CALLBACK (on_button_press), viewer);
g_signal_connect (G_OBJECT (viewer->gl_area), "button-release-event",
G_CALLBACK (on_button_release), viewer);
g_signal_connect (G_OBJECT (viewer->gl_area), "motion-notify-event",
G_CALLBACK (on_motion_notify), viewer);
g_signal_connect (G_OBJECT (viewer->gl_area), "scroll-event",
G_CALLBACK (on_scroll_notify), viewer);
g_signal_connect (G_OBJECT (viewer->window), "key_press_event",
G_CALLBACK (on_main_window_key_press_event), viewer);
g_signal_connect (G_OBJECT (viewer->window), "delete_event",
G_CALLBACK(gtk_main_quit), NULL);
g_signal_connect (G_OBJECT (viewer->window), "delete_event",
G_CALLBACK (gtk_widget_hide_on_delete), NULL);
g_signal_connect (G_OBJECT (viewer->window), "destroy_event",
G_CALLBACK(gtk_main_quit), NULL);
////////////////////////////////////////////////////////////////////
// Create plugins menu
// plugins will be inserted here as add_plugin is called
gtk_widget_show_all(viewer->window);
DefaultViewHandler *dvh = default_view_handler_new(viewer);
viewer->default_view_handler = &dvh->vhandler;
viewer_request_redraw(viewer);
}
static void on_param_changed( GtkuParamWidget *pw, const char *name, void *user_data )
{
RendererVelodyne *self = (RendererVelodyne*) user_data;
viewer_request_redraw( self->viewer );
}
static void on_clear_button(GtkWidget *button, RendererCar *self)
{
gu_ptr_circular_clear(self->path);
viewer_request_redraw(self->viewer);
}
