root / branches / simulator / projects / simulator / simulator / gui / gtk_environment_view.c @ 1020
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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 | |||
14 | 962 | bcoltin | #define ENVIRONMENT_VIEW_MIN_WIDTH 100 |
15 | #define ENVIRONMENT_VIEW_MIN_HEIGHT 50 |
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16 | |||
17 | 1007 | sfeng | #define ENVIRONMENT_PI 3.14159 |
18 | #define ENVIRONMENT_ROBOT_DIAMETER 50 |
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19 | |||
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 | static void draw_robot(GdkDrawable* drawable, GdkGC* gc, |
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42 | 1020 | bcoltin | float x, float y, float angle); |
43 | 1007 | sfeng | |
44 | 962 | bcoltin | GtkType gtk_environment_view_get_type(void)
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45 | { |
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46 | static GtkType environment_view_type = 0; |
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47 | if (!environment_view_type)
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48 | { |
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49 | static const GtkTypeInfo environment_view_info = |
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50 | { |
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51 | "GtkEnvironmentView",
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52 | sizeof(GtkEnvironmentView),
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53 | sizeof(GtkEnvironmentViewClass),
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54 | (GtkClassInitFunc)gtk_environment_view_class_init, |
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55 | (GtkObjectInitFunc)gtk_environment_view_init, |
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56 | NULL, NULL, (GtkClassInitFunc)NULL |
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57 | }; |
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58 | |||
59 | environment_view_type = gtk_type_unique(GTK_TYPE_WIDGET, |
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60 | &environment_view_info); |
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61 | } |
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62 | |||
63 | return environment_view_type;
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64 | } |
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65 | |||
66 | static void gtk_environment_view_class_init(GtkEnvironmentViewClass* environmentClass) |
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67 | { |
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68 | GtkObjectClass* object_class; |
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69 | GtkWidgetClass* widget_class; |
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70 | |||
71 | object_class = (GtkObjectClass*)environmentClass; |
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72 | widget_class = (GtkWidgetClass*)environmentClass; |
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73 | |||
74 | parent_class = gtk_type_class(gtk_widget_get_type()); |
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75 | |||
76 | object_class->destroy = gtk_environment_view_destroy; |
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77 | |||
78 | widget_class->realize = gtk_environment_view_realize; |
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79 | widget_class->expose_event = gtk_environment_view_expose; |
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80 | widget_class->size_request = gtk_environment_view_size_request; |
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81 | widget_class->size_allocate = gtk_environment_view_size_allocate; |
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82 | widget_class->button_press_event = gtk_environment_view_mouse_down; |
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83 | widget_class->button_release_event = gtk_environment_view_mouse_release; |
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84 | widget_class->motion_notify_event = gtk_environment_view_mouse_move; |
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85 | } |
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86 | |||
87 | GtkWidget* gtk_environment_view_new(void)
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88 | { |
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89 | GtkEnvironmentView* view; |
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90 | view = gtk_type_new(gtk_environment_view_get_type()); |
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91 | |||
92 | return GTK_WIDGET(view);
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93 | } |
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94 | |||
95 | static void gtk_environment_view_init(GtkEnvironmentView* view) |
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96 | { |
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97 | view->topLeftX = -2.0; |
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98 | view->topLeftY = -1.3; |
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99 | view->scale = 2.0 / 800.0; |
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100 | view->width = -1;
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101 | view->height = -1;
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102 | |||
103 | 974 | bcoltin | GTK_WIDGET_SET_FLAGS(&(view->widget), GTK_DOUBLE_BUFFERED); |
104 | |||
105 | 962 | bcoltin | view->mouseDown = 0;
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106 | } |
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107 | |||
108 | static void gtk_environment_view_destroy(GtkObject* object) |
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109 | { |
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110 | GtkEnvironmentView* view; |
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111 | g_return_if_fail(object != NULL);
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112 | g_return_if_fail(GTK_IS_ENVIRONMENT_VIEW(object)); |
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113 | |||
114 | view = GTK_ENVIRONMENT_VIEW(object); |
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115 | |||
116 | if (GTK_OBJECT_CLASS(parent_class)->destroy)
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117 | (* GTK_OBJECT_CLASS(parent_class)->destroy) (object); |
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118 | } |
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119 | |||
120 | static void gtk_environment_view_realize(GtkWidget* widget) |
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121 | { |
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122 | GtkEnvironmentView* view; |
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123 | GdkWindowAttr attributes; |
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124 | gint attributes_mask; |
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125 | |||
126 | g_return_if_fail( widget != NULL);
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127 | g_return_if_fail( GTK_IS_ENVIRONMENT_VIEW(widget)); |
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128 | |||
129 | GTK_WIDGET_SET_FLAGS(widget, GTK_REALIZED); |
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130 | view = GTK_ENVIRONMENT_VIEW(widget); |
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131 | |||
132 | attributes.x = widget->allocation.x; |
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133 | attributes.y = widget->allocation.y; |
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134 | attributes.width = widget->allocation.width; |
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135 | attributes.height = widget->allocation.height; |
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136 | attributes.wclass = GDK_INPUT_OUTPUT; |
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137 | attributes.window_type = GDK_WINDOW_CHILD; |
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138 | attributes.event_mask = gtk_widget_get_events(widget) | |
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139 | GDK_EXPOSURE_MASK | GDK_BUTTON_PRESS_MASK | |
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140 | GDK_BUTTON_RELEASE_MASK | GDK_POINTER_MOTION_MASK | |
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141 | GDK_POINTER_MOTION_HINT_MASK; |
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142 | attributes.visual = gtk_widget_get_visual(widget); |
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143 | attributes.colormap = gtk_widget_get_colormap(widget); |
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144 | |||
145 | attributes_mask = GDK_WA_X | GDK_WA_Y | GDK_WA_VISUAL | GDK_WA_COLORMAP; |
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146 | widget->window = gdk_window_new(widget->parent->window, &attributes, |
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147 | attributes_mask); |
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148 | gdk_window_set_user_data(widget->window, widget); |
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149 | widget->style = gtk_style_attach(widget->style, widget->window); |
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150 | gtk_style_set_background(widget->style, widget->window, |
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151 | GTK_STATE_NORMAL); |
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152 | } |
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153 | |||
154 | static void gtk_environment_view_size_request(GtkWidget* widget, |
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155 | GtkRequisition* req) |
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156 | { |
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157 | if (req->width < ENVIRONMENT_VIEW_MIN_WIDTH)
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158 | req->width = ENVIRONMENT_VIEW_MIN_WIDTH; |
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159 | if (req->height < ENVIRONMENT_VIEW_MIN_HEIGHT)
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160 | req->height = ENVIRONMENT_VIEW_MIN_HEIGHT; |
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161 | } |
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162 | |||
163 | static void gtk_environment_view_size_allocate(GtkWidget* widget, GtkAllocation* a) |
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164 | { |
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165 | GtkEnvironmentView* view; |
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166 | |||
167 | g_return_if_fail(widget != NULL);
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168 | g_return_if_fail(GTK_IS_ENVIRONMENT_VIEW(widget)); |
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169 | g_return_if_fail(a != NULL);
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170 | |||
171 | view = GTK_ENVIRONMENT_VIEW(widget); |
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172 | widget->allocation = *a; |
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173 | |||
174 | view->width = a->width; |
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175 | view->height = a->height; |
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176 | |||
177 | if (GTK_WIDGET_REALIZED(widget))
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178 | { |
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179 | gdk_window_move_resize(widget->window, a->x, a->y, a->width, a->height); |
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180 | } |
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181 | } |
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182 | |||
183 | static gboolean gtk_environment_view_expose(GtkWidget* widget,
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184 | GdkEventExpose* event) |
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185 | { |
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186 | GtkEnvironmentView* view; |
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187 | |||
188 | if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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189 | return FALSE;
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190 | if (event->count > 0) |
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191 | return FALSE;
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192 | |||
193 | view = GTK_ENVIRONMENT_VIEW(widget); |
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194 | |||
195 | 997 | bcoltin | robot_iterator_reset(); |
196 | Robot* r; |
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197 | 1007 | sfeng | while ((r = robot_iterator_next()) != NULL) { |
198 | 1020 | bcoltin | printf("x: %f, y:%f, Theta: %f\n",
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199 | 1007 | sfeng | r->pose.x, r->pose.y, r->pose.theta); |
200 | 997 | bcoltin | draw_robot(widget->window, |
201 | 1007 | sfeng | widget->style->fg_gc[GTK_WIDGET_STATE(widget)], |
202 | r->pose.x, r->pose.y, r->pose.theta); |
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203 | } |
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204 | 974 | bcoltin | |
205 | 962 | bcoltin | return FALSE;
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206 | } |
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207 | |||
208 | static gboolean gtk_environment_view_mouse_down(GtkWidget* widget,
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209 | GdkEventButton* event) |
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210 | { |
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211 | GtkEnvironmentView* view; |
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212 | |||
213 | if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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214 | return FALSE;
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215 | |||
216 | view = GTK_ENVIRONMENT_VIEW(widget); |
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217 | |||
218 | if (event->button != 1) |
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219 | return FALSE;
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220 | |||
221 | view->mouseDownX = event->x; |
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222 | view->mouseDownY = event->y; |
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223 | view->mouseX = event->x; |
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224 | view->mouseY = event->y; |
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225 | view->mouseDown = 1;
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226 | |||
227 | return FALSE;
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228 | } |
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229 | |||
230 | static gboolean gtk_environment_view_mouse_release(GtkWidget* widget,
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231 | GdkEventButton* event) |
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232 | { |
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233 | GtkEnvironmentView* view; |
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234 | double x1, x2, y1, y2;
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235 | int w, h;
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236 | |||
237 | if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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238 | return FALSE;
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239 | |||
240 | view = GTK_ENVIRONMENT_VIEW(widget); |
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241 | |||
242 | if (event->button != 1 && event->button != 3) |
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243 | return FALSE;
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244 | |||
245 | if (event->button == 1) |
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246 | view->mouseDown = 0;
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247 | view->mouseX = event->x; |
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248 | view->mouseY = event->y; |
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249 | w = abs(view->mouseX - view->mouseDownX); |
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250 | h = abs(view->mouseY - view->mouseDownY); |
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251 | |||
252 | // if the box is big, zoom to the box
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253 | if (event->button == 1 && (w >= 10 || h >= 10)) |
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254 | { |
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255 | // we need to make sure the box is to scale
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256 | // scale to height
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257 | if (fabs((double)w / h) <= fabs((double)view->width / view->height)) |
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258 | { |
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259 | w = (int)((double)view->width / view->height * h); |
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260 | if (view->mouseX < view->mouseDownX)
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261 | view->mouseX = view->mouseDownX - w; |
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262 | else
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263 | view->mouseX = view->mouseDownX + w; |
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264 | } |
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265 | // scale to width
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266 | else
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267 | { |
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268 | h = (int)((double)view->height / view->width * w); |
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269 | if (view->mouseY < view->mouseDownY)
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270 | view->mouseY = view->mouseDownY - h; |
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271 | else
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272 | view->mouseY = view->mouseDownY + h; |
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273 | } |
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274 | |||
275 | x1 = view->mouseX * view->scale + view->topLeftX; |
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276 | y1 = view->mouseY * view->scale + view->topLeftY; |
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277 | x2 = view->mouseDownX * view->scale + view->topLeftX; |
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278 | y2 = view->mouseDownY * view->scale + view->topLeftY; |
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279 | if (x2 < x1)
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280 | x1 = x2; |
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281 | if (y2 < y1)
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282 | y1 = y2; |
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283 | |||
284 | view->scale = (w * view->scale) / view->width; |
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285 | view->topLeftX = x1; |
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286 | view->topLeftY = y1; |
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287 | } |
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288 | else
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289 | { |
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290 | x1 = view->mouseX * view->scale + view->topLeftX; |
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291 | y1 = view->mouseY * view->scale + view->topLeftY; |
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292 | |||
293 | // zoom in on left click, out on right click
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294 | if (event->button == 1) |
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295 | view->scale /= 2.0; |
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296 | else
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297 | view->scale *= 2.0; |
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298 | view->topLeftX = x1 - view->width / 2 * view->scale;
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299 | view->topLeftY = y1 - view->height / 2 * view->scale;
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300 | } |
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301 | |||
302 | return FALSE;
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303 | } |
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304 | |||
305 | static gboolean gtk_environment_view_mouse_move(GtkWidget* widget,
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306 | GdkEventMotion* event) |
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307 | { |
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308 | GtkEnvironmentView* view; |
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309 | |||
310 | if (widget == NULL || !GTK_IS_ENVIRONMENT_VIEW(widget) || event == NULL) |
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311 | return FALSE;
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312 | |||
313 | view = GTK_ENVIRONMENT_VIEW(widget); |
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314 | |||
315 | view->mouseX = event->x; |
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316 | view->mouseY = event->y; |
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317 | |||
318 | if (!view->mouseDown)
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319 | return FALSE;
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320 | |||
321 | // we need to make sure the new view is to scale
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322 | int w = abs(view->mouseX - view->mouseDownX);
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323 | int h = abs(view->mouseY - view->mouseDownY);
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324 | // scale to height
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325 | if (fabs((double)w / h) <= fabs((double)view->width / view->height)) |
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326 | { |
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327 | w = (int)((double)view->width / view->height * h); |
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328 | if (view->mouseX < view->mouseDownX)
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329 | view->mouseX = view->mouseDownX - w; |
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330 | else
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331 | view->mouseX = view->mouseDownX + w; |
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332 | } |
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333 | // scale to width
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334 | else
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335 | { |
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336 | h = (int)((double)view->height / view->width * w); |
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337 | if (view->mouseY < view->mouseDownY)
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338 | view->mouseY = view->mouseDownY - h; |
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339 | else
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340 | view->mouseY = view->mouseDownY + h; |
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341 | } |
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342 | |||
343 | gtk_widget_queue_draw_area(widget, 0, 0, view->width, view->height); |
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344 | |||
345 | return FALSE;
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346 | } |
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347 | |||
348 | 1006 | bcoltin | void gtk_environment_view_refresh(GtkWidget* view)
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349 | { |
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350 | gdk_threads_enter(); |
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351 | gtk_widget_queue_draw(view); |
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352 | gdk_threads_leave(); |
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353 | } |
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354 | 962 | bcoltin | |
355 | 1007 | sfeng | static void draw_robot(GdkDrawable* drawable, GdkGC* gc, |
356 | 1020 | bcoltin | float x, float y, float angle) |
357 | 1007 | sfeng | { |
358 | if (!drawable || !gc)
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359 | return;
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360 | 1020 | bcoltin | int x_c = (int)x - ENVIRONMENT_ROBOT_DIAMETER / 2; |
361 | int y_c = (int)y - ENVIRONMENT_ROBOT_DIAMETER / 2; |
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362 | 1007 | sfeng | |
363 | gdk_draw_arc(drawable, gc, FALSE, x_c, y_c, |
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364 | ENVIRONMENT_ROBOT_DIAMETER, ENVIRONMENT_ROBOT_DIAMETER, |
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365 | 0, 360*64); |
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366 | |||
367 | gdk_draw_line(drawable, gc, x, y, |
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368 | 1020 | bcoltin | x + (ENVIRONMENT_ROBOT_DIAMETER - 10) * cos(-angle),
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369 | y - (ENVIRONMENT_ROBOT_DIAMETER - 10) * sin(-angle));
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370 | 1007 | sfeng | } |