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