root / branches / simulator / projects / simulator / simulator / gui / gtk_environment_view.c @ 1086
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1 | 962 | bcoltin | #include <math.h> |
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2 | #include <stdlib.h> |
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3 | #include <stdio.h> |
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4 | #include <sys/time.h> |
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5 | #include <string.h> |
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6 | |||
7 | #include <gtk/gtkmain.h> |
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8 | #include <gtk/gtksignal.h> |
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9 | |||
10 | #include "gtk_environment_view.h" |
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11 | |||
12 | 997 | bcoltin | #include "robot.h" |
13 | 1047 | bcoltin | #include "world.h" |
14 | 997 | bcoltin | |
15 | 962 | bcoltin | #define ENVIRONMENT_VIEW_MIN_WIDTH 100 |
16 | #define ENVIRONMENT_VIEW_MIN_HEIGHT 50 |
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17 | |||
18 | 1082 | bcoltin | #define ROBOT_DIAMETER 30 |
19 | 1007 | sfeng | |
20 | 962 | bcoltin | static GtkWidgetClass* parent_class = NULL; |
21 | |||
22 | static void gtk_environment_view_class_init(GtkEnvironmentViewClass* environmentClass); |
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23 | static void gtk_environment_view_init(GtkEnvironmentView* view); |
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24 | static void gtk_environment_view_destroy(GtkObject* object); |
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25 | |||
26 | static void gtk_environment_view_size_request(GtkWidget* widget, |
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27 | GtkRequisition* req); |
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28 | static void gtk_environment_view_realize(GtkWidget* widget); |
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29 | static void gtk_environment_view_size_allocate(GtkWidget* widget, GtkAllocation* a); |
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30 | static gboolean gtk_environment_view_expose(GtkWidget* widget,
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31 | GdkEventExpose* event); |
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32 | |||
33 | static gboolean gtk_environment_view_mouse_down(GtkWidget* widget,
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34 | GdkEventButton* event); |
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35 | static gboolean gtk_environment_view_mouse_release(GtkWidget* widget,
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36 | GdkEventButton* event); |
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37 | static gboolean gtk_environment_view_mouse_move(GtkWidget* widget,
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38 | GdkEventMotion* event); |
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39 | |||
40 | 1007 | sfeng | |
41 | 1086 | bcoltin | static void draw_world(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, world_t* world); |
42 | static void draw_robot(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, |
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43 | 1020 | bcoltin | float x, float y, float angle); |
44 | 1007 | sfeng | |
45 | 1086 | bcoltin | static void to_world_coordinates(GtkEnvironmentView* view, int x, int y, float* world_x, float* world_y); |
46 | static void to_window_coordinates(GtkEnvironmentView* view, float x, float y, int* win_x, int* win_y); |
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47 | static void to_window_scale(GtkEnvironmentView* view, float v, int* win_v); |
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48 | |||
49 | |||
50 | 962 | bcoltin | GtkType gtk_environment_view_get_type(void)
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51 | { |
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52 | static GtkType environment_view_type = 0; |
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53 | if (!environment_view_type)
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54 | { |
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55 | static const GtkTypeInfo environment_view_info = |
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56 | { |
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57 | "GtkEnvironmentView",
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58 | sizeof(GtkEnvironmentView),
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59 | sizeof(GtkEnvironmentViewClass),
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60 | (GtkClassInitFunc)gtk_environment_view_class_init, |
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61 | (GtkObjectInitFunc)gtk_environment_view_init, |
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62 | NULL, NULL, (GtkClassInitFunc)NULL |
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63 | }; |
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64 | |||
65 | environment_view_type = gtk_type_unique(GTK_TYPE_WIDGET, |
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66 | &environment_view_info); |
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67 | } |
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68 | |||
69 | return environment_view_type;
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70 | } |
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71 | |||
72 | static void gtk_environment_view_class_init(GtkEnvironmentViewClass* environmentClass) |
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73 | { |
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74 | GtkObjectClass* object_class; |
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75 | GtkWidgetClass* widget_class; |
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76 | |||
77 | object_class = (GtkObjectClass*)environmentClass; |
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78 | widget_class = (GtkWidgetClass*)environmentClass; |
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79 | |||
80 | parent_class = gtk_type_class(gtk_widget_get_type()); |
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81 | |||
82 | object_class->destroy = gtk_environment_view_destroy; |
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83 | |||
84 | widget_class->realize = gtk_environment_view_realize; |
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85 | widget_class->expose_event = gtk_environment_view_expose; |
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86 | widget_class->size_request = gtk_environment_view_size_request; |
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87 | widget_class->size_allocate = gtk_environment_view_size_allocate; |
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88 | widget_class->button_press_event = gtk_environment_view_mouse_down; |
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89 | widget_class->button_release_event = gtk_environment_view_mouse_release; |
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90 | widget_class->motion_notify_event = gtk_environment_view_mouse_move; |
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91 | } |
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92 | |||
93 | GtkWidget* gtk_environment_view_new(void)
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94 | { |
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95 | GtkEnvironmentView* view; |
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96 | view = gtk_type_new(gtk_environment_view_get_type()); |
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97 | |||
98 | return GTK_WIDGET(view);
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99 | } |
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100 | |||
101 | static void gtk_environment_view_init(GtkEnvironmentView* view) |
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102 | { |
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103 | view->topLeftX = -2.0; |
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104 | view->topLeftY = -1.3; |
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105 | view->scale = 2.0 / 800.0; |
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106 | view->width = -1;
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107 | view->height = -1;
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108 | |||
109 | 974 | bcoltin | GTK_WIDGET_SET_FLAGS(&(view->widget), GTK_DOUBLE_BUFFERED); |
110 | |||
111 | 962 | bcoltin | view->mouseDown = 0;
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112 | } |
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113 | |||
114 | static void gtk_environment_view_destroy(GtkObject* object) |
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115 | { |
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116 | GtkEnvironmentView* view; |
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117 | g_return_if_fail(object != NULL);
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118 | g_return_if_fail(GTK_IS_ENVIRONMENT_VIEW(object)); |
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119 | |||
120 | view = GTK_ENVIRONMENT_VIEW(object); |
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121 | |||
122 | if (GTK_OBJECT_CLASS(parent_class)->destroy)
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123 | (* GTK_OBJECT_CLASS(parent_class)->destroy) (object); |
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124 | } |
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125 | |||
126 | static void gtk_environment_view_realize(GtkWidget* widget) |
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127 | { |
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128 | GtkEnvironmentView* view; |
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129 | GdkWindowAttr attributes; |
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130 | gint attributes_mask; |
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131 | |||
132 | g_return_if_fail( widget != NULL);
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133 | g_return_if_fail( GTK_IS_ENVIRONMENT_VIEW(widget)); |
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134 | |||
135 | GTK_WIDGET_SET_FLAGS(widget, GTK_REALIZED); |
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136 | view = GTK_ENVIRONMENT_VIEW(widget); |
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137 | |||
138 | attributes.x = widget->allocation.x; |
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139 | attributes.y = widget->allocation.y; |
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140 | attributes.width = widget->allocation.width; |
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141 | attributes.height = widget->allocation.height; |
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142 | attributes.wclass = GDK_INPUT_OUTPUT; |
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143 | attributes.window_type = GDK_WINDOW_CHILD; |
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144 | attributes.event_mask = gtk_widget_get_events(widget) | |
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145 | GDK_EXPOSURE_MASK | GDK_BUTTON_PRESS_MASK | |
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146 | GDK_BUTTON_RELEASE_MASK | GDK_POINTER_MOTION_MASK | |
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147 | GDK_POINTER_MOTION_HINT_MASK; |
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148 | attributes.visual = gtk_widget_get_visual(widget); |
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149 | attributes.colormap = gtk_widget_get_colormap(widget); |
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150 | |||
151 | attributes_mask = GDK_WA_X | GDK_WA_Y | GDK_WA_VISUAL | GDK_WA_COLORMAP; |
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152 | widget->window = gdk_window_new(widget->parent->window, &attributes, |
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153 | attributes_mask); |
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154 | gdk_window_set_user_data(widget->window, widget); |
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155 | widget->style = gtk_style_attach(widget->style, widget->window); |
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156 | gtk_style_set_background(widget->style, widget->window, |
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157 | GTK_STATE_NORMAL); |
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158 | } |
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159 | |||
160 | static void gtk_environment_view_size_request(GtkWidget* widget, |
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161 | GtkRequisition* req) |
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162 | { |
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163 | if (req->width < ENVIRONMENT_VIEW_MIN_WIDTH)
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164 | req->width = ENVIRONMENT_VIEW_MIN_WIDTH; |
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165 | if (req->height < ENVIRONMENT_VIEW_MIN_HEIGHT)
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166 | req->height = ENVIRONMENT_VIEW_MIN_HEIGHT; |
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167 | } |
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168 | |||
169 | static void gtk_environment_view_size_allocate(GtkWidget* widget, GtkAllocation* a) |
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170 | { |
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171 | GtkEnvironmentView* view; |
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172 | |||
173 | g_return_if_fail(widget != NULL);
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174 | g_return_if_fail(GTK_IS_ENVIRONMENT_VIEW(widget)); |
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175 | g_return_if_fail(a != NULL);
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176 | |||
177 | view = GTK_ENVIRONMENT_VIEW(widget); |
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178 | widget->allocation = *a; |
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179 | |||
180 | view->width = a->width; |
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181 | view->height = a->height; |
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182 | |||
183 | if (GTK_WIDGET_REALIZED(widget))
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184 | { |
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185 | gdk_window_move_resize(widget->window, a->x, a->y, a->width, a->height); |
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186 | } |
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187 | } |
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188 | |||
189 | static gboolean gtk_environment_view_expose(GtkWidget* widget,
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190 | GdkEventExpose* event) |
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191 | { |
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192 | GtkEnvironmentView* view; |
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193 | |||
194 | if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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195 | return FALSE;
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196 | if (event->count > 0) |
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197 | return FALSE;
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198 | |||
199 | view = GTK_ENVIRONMENT_VIEW(widget); |
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200 | 1047 | bcoltin | |
201 | 1086 | bcoltin | draw_world(view, widget->window, widget->style->fg_gc[GTK_WIDGET_STATE(widget)], &world); |
202 | 962 | bcoltin | |
203 | 997 | bcoltin | robot_iterator_reset(); |
204 | Robot* r; |
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205 | 1007 | sfeng | while ((r = robot_iterator_next()) != NULL) { |
206 | 1086 | bcoltin | draw_robot(view, widget->window, |
207 | 1007 | sfeng | widget->style->fg_gc[GTK_WIDGET_STATE(widget)], |
208 | r->pose.x, r->pose.y, r->pose.theta); |
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209 | } |
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210 | 974 | bcoltin | |
211 | 962 | bcoltin | return FALSE;
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212 | } |
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213 | |||
214 | static gboolean gtk_environment_view_mouse_down(GtkWidget* widget,
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215 | GdkEventButton* event) |
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216 | { |
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217 | GtkEnvironmentView* view; |
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218 | 1086 | bcoltin | Robot* r; |
219 | float closestdist;
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220 | int closest;
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221 | 962 | bcoltin | |
222 | if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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223 | return FALSE;
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224 | |||
225 | view = GTK_ENVIRONMENT_VIEW(widget); |
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226 | |||
227 | if (event->button != 1) |
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228 | return FALSE;
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229 | |||
230 | view->mouseDownX = event->x; |
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231 | view->mouseDownY = event->y; |
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232 | view->mouseX = event->x; |
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233 | view->mouseY = event->y; |
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234 | view->mouseDown = 1;
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235 | 1086 | bcoltin | |
236 | /*closestdist = 10e8;
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237 | robot_iterator_reset();
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238 | while ((r = robot_iterator_next()) != NULL) {
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239 | {
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240 | float dist = r->pose.x -
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241 | }*/
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242 | 962 | bcoltin | |
243 | return FALSE;
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244 | } |
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245 | |||
246 | static gboolean gtk_environment_view_mouse_release(GtkWidget* widget,
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247 | GdkEventButton* event) |
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248 | { |
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249 | GtkEnvironmentView* view; |
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250 | double x1, x2, y1, y2;
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251 | int w, h;
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252 | |||
253 | if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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254 | return FALSE;
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255 | |||
256 | view = GTK_ENVIRONMENT_VIEW(widget); |
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257 | |||
258 | if (event->button != 1 && event->button != 3) |
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259 | return FALSE;
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260 | |||
261 | if (event->button == 1) |
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262 | view->mouseDown = 0;
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263 | view->mouseX = event->x; |
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264 | view->mouseY = event->y; |
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265 | w = abs(view->mouseX - view->mouseDownX); |
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266 | h = abs(view->mouseY - view->mouseDownY); |
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267 | |||
268 | // if the box is big, zoom to the box
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269 | if (event->button == 1 && (w >= 10 || h >= 10)) |
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270 | { |
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271 | // we need to make sure the box is to scale
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272 | // scale to height
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273 | if (fabs((double)w / h) <= fabs((double)view->width / view->height)) |
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274 | { |
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275 | w = (int)((double)view->width / view->height * h); |
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276 | if (view->mouseX < view->mouseDownX)
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277 | view->mouseX = view->mouseDownX - w; |
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278 | else
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279 | view->mouseX = view->mouseDownX + w; |
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280 | } |
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281 | // scale to width
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282 | else
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283 | { |
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284 | h = (int)((double)view->height / view->width * w); |
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285 | if (view->mouseY < view->mouseDownY)
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286 | view->mouseY = view->mouseDownY - h; |
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287 | else
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288 | view->mouseY = view->mouseDownY + h; |
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289 | } |
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290 | |||
291 | x1 = view->mouseX * view->scale + view->topLeftX; |
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292 | y1 = view->mouseY * view->scale + view->topLeftY; |
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293 | x2 = view->mouseDownX * view->scale + view->topLeftX; |
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294 | y2 = view->mouseDownY * view->scale + view->topLeftY; |
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295 | if (x2 < x1)
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296 | x1 = x2; |
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297 | if (y2 < y1)
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298 | y1 = y2; |
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299 | |||
300 | view->scale = (w * view->scale) / view->width; |
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301 | view->topLeftX = x1; |
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302 | view->topLeftY = y1; |
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303 | } |
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304 | else
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305 | { |
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306 | x1 = view->mouseX * view->scale + view->topLeftX; |
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307 | y1 = view->mouseY * view->scale + view->topLeftY; |
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308 | |||
309 | // zoom in on left click, out on right click
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310 | if (event->button == 1) |
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311 | view->scale /= 2.0; |
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312 | else
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313 | view->scale *= 2.0; |
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314 | view->topLeftX = x1 - view->width / 2 * view->scale;
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315 | view->topLeftY = y1 - view->height / 2 * view->scale;
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316 | } |
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317 | |||
318 | return FALSE;
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319 | } |
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320 | |||
321 | static gboolean gtk_environment_view_mouse_move(GtkWidget* widget,
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322 | GdkEventMotion* event) |
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323 | { |
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324 | GtkEnvironmentView* view; |
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325 | |||
326 | if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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327 | return FALSE;
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328 | |||
329 | view = GTK_ENVIRONMENT_VIEW(widget); |
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330 | |||
331 | view->mouseX = event->x; |
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332 | view->mouseY = event->y; |
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333 | |||
334 | if (!view->mouseDown)
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335 | return FALSE;
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336 | |||
337 | // we need to make sure the new view is to scale
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338 | 1086 | bcoltin | /*int w = abs(view->mouseX - view->mouseDownX);
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339 | 962 | bcoltin | int h = abs(view->mouseY - view->mouseDownY);
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340 | // scale to height
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341 | if (fabs((double)w / h) <= fabs((double)view->width / view->height))
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342 | {
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343 | w = (int)((double)view->width / view->height * h);
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344 | if (view->mouseX < view->mouseDownX)
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345 | view->mouseX = view->mouseDownX - w;
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346 | else
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347 | view->mouseX = view->mouseDownX + w;
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348 | }
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349 | // scale to width
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350 | else
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351 | {
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352 | h = (int)((double)view->height / view->width * w);
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353 | if (view->mouseY < view->mouseDownY)
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354 | view->mouseY = view->mouseDownY - h;
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355 | else
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356 | view->mouseY = view->mouseDownY + h;
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357 | 1086 | bcoltin | }*/
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358 | 962 | bcoltin | |
359 | gtk_widget_queue_draw_area(widget, 0, 0, view->width, view->height); |
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360 | |||
361 | return FALSE;
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362 | } |
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363 | |||
364 | 1006 | bcoltin | void gtk_environment_view_refresh(GtkWidget* view)
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365 | { |
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366 | gdk_threads_enter(); |
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367 | gtk_widget_queue_draw(view); |
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368 | gdk_threads_leave(); |
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369 | } |
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370 | 962 | bcoltin | |
371 | 1086 | bcoltin | void to_world_coordinates(GtkEnvironmentView* view, int x, int y, float* world_x, float* world_y) |
372 | 1047 | bcoltin | { |
373 | 1086 | bcoltin | double leftx = world.win.p1.x;
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374 | double upy = world.win.p1.x;
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375 | double xwidth = world.win.p2.x - leftx;
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376 | double yheight = world.win.p2.y - upy;
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377 | int width = view->width, height = view->height;
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378 | if (xwidth / width < yheight / height)
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379 | width = (int)(height / yheight * xwidth);
|
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380 | else
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381 | height = (int)(width / xwidth * yheight);
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382 | |||
383 | *world_x = (float)x / width * xwidth + leftx;
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384 | *world_y = (float)y / height * yheight + upy;
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385 | } |
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386 | |||
387 | void to_window_coordinates(GtkEnvironmentView* view, float x, float y, int* win_x, int* win_y) |
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388 | { |
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389 | double leftx = world.win.p1.x;
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390 | double upy = world.win.p1.x;
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391 | double xwidth = world.win.p2.x - leftx;
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392 | double yheight = world.win.p2.y - upy;
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393 | int width = view->width, height = view->height;
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394 | if (xwidth / width < yheight / height)
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395 | width = (int)(height / yheight * xwidth);
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396 | else
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397 | height = (int)(width / xwidth * yheight);
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398 | |||
399 | *win_x = (int)((x - leftx) / xwidth * width);
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400 | *win_y = (int)((y - upy) / yheight * height);
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401 | } |
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402 | |||
403 | void to_window_scale(GtkEnvironmentView* view, float v, int* win_v) |
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404 | { |
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405 | double leftx = world.win.p1.x;
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406 | double upy = world.win.p1.x;
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407 | double xwidth = world.win.p2.x - leftx;
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408 | double yheight = world.win.p2.y - upy;
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409 | int width = view->width, height = view->height;
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410 | if (xwidth / width < yheight / height)
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411 | width = (int)(height / yheight * xwidth);
|
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412 | else
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413 | height = (int)(width / xwidth * yheight);
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414 | |||
415 | *win_v = (int)(v / xwidth * width);
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416 | } |
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417 | |||
418 | static void draw_world(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, world_t* world) |
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419 | { |
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420 | 1047 | bcoltin | int i, j;
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421 | GdkPoint* points; |
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422 | poly_t* p; |
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423 | |||
424 | if (!drawable || !gc || !world)
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425 | return;
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426 | |||
427 | for (i = 0 ; i < world->max_objs; i++) |
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428 | { |
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429 | object_t* o = &(world->objs[i]); |
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430 | switch (o->id)
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431 | { |
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432 | case ID_POLY:
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433 | p = (poly_t*)o->props; |
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434 | points = (GdkPoint*)malloc(sizeof(GdkPoint) * p->num_pts);
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435 | for (j = 0; j < p->num_pts; j++) |
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436 | 1086 | bcoltin | to_window_coordinates(view, p->pts[j].x, p->pts[j].y, &(points[j].x), &(points[j].y)); |
437 | 1047 | bcoltin | switch(p->type)
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438 | { |
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439 | case POLY_CONNECTED:
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440 | gdk_draw_polygon(drawable, gc, 1, points, p->num_pts);
|
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441 | break;
|
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442 | default:
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443 | fprintf(stderr, "Detected unexpected type of polygon.\n");
|
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444 | break;
|
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445 | } |
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446 | free(points); |
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447 | break;
|
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448 | // no object
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449 | case ID_NULL:
|
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450 | break;
|
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451 | default:
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452 | fprintf(stderr, "Unexpected object type %d in world.\n", o->id);
|
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453 | break;
|
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454 | } |
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455 | } |
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456 | } |
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457 | |||
458 | 1086 | bcoltin | static void draw_robot(GtkEnvironmentView* view, GdkDrawable* drawable, GdkGC* gc, |
459 | 1049 | bcoltin | float x, float y, float angle) |
460 | 1007 | sfeng | { |
461 | 1086 | bcoltin | int rx, ry;
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462 | int rox, roy;
|
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463 | 1082 | bcoltin | if (!drawable || !gc)
|
464 | return;
|
||
465 | |||
466 | 1086 | bcoltin | to_window_scale(view, ROBOT_DIAMETER, &rx); |
467 | to_window_scale(view, ROBOT_DIAMETER, &ry); |
||
468 | to_window_coordinates(view, x, y, &rox, &roy); |
||
469 | 1049 | bcoltin | |
470 | 1086 | bcoltin | gdk_draw_arc(drawable, gc, FALSE, (int)(rox - (float)rx / 2), (int)(roy - (float)ry / 2), |
471 | 1082 | bcoltin | rx, ry, 0, 360*64); |
472 | 1007 | sfeng | |
473 | 1086 | bcoltin | gdk_draw_line(drawable, gc, rox, roy, |
474 | rox + (rx / 1.8) * cos(-angle), |
||
475 | roy - (ry / 1.8) * sin(-angle)); |
||
476 | 1007 | sfeng | } |