mcl_gtk.h

/*
 * @(#)mcl_gtk.h       07/04/06
 * 
 * Description  : GTK animation for a simple implementation of MCL 
 *                (MCL - Monte Carlo Localization).
 * License      : GNU GPL v.2
 * Author       : Tran Duy Khanh (www.tran.cz)
 */

#ifndef __mcl_gtk__
#define __mcl_gtk__

#include <gtk/gtk.h>

#define SCENE_REFRESH           500
#define BORDER                  15
#define FWIDTH                  3000
#define FHEIGHT                 2100

struct prog_opt option;                 /* program option flags */
FILE *file_out, *file_err;              /* output filename */
int argc;                               /* program arguments counter */
char **argv;                            /* program arguments */

/* DATA STRUCTURES */

/* program options structure */
struct prog_opt {
        unsigned int opt_flag;          /* option flag */
        
        #define OPT_GTK_TEST    0x1000  /* -g ; test GTK animation */
        #define OPT_TEXT_MODE   0x2000  /* -t ; text-mode only. Dont use GTK. */
};

/* mutex */
pthread_mutex_t mcl_mutex;

/* Main window and drawing area */
GtkWidget *window;
GtkWidget *drawing_area;

/* Pixmaps */
static GdkPixmap *xpm_scene = NULL;             /* Scene pixmap */

/* Pixmap object */
struct pixmap_obj {
        char *xpm_filename;
        GdkPixmap *pixmap;
        GdkBitmap *mask;
        unsigned int seq_count;
        unsigned int width;
        unsigned int height;
};

/* Movable object */
struct moveable_obj {
        int type;
        int x;
        int y;
        unsigned int width;
        unsigned int height;
        unsigned int seq;
        unsigned int seq_count;
};

/* background pixmap */
struct pixmap_obj xpm_background[] = {
        { "images/background.xpm", NULL, NULL, 0, 632, 452}, 
        { NULL, NULL, NULL, 0, 0, 0 }   /* End mark */
};

/* robot pixmap */
struct pixmap_obj xpm_robot[] = {
        { "images/robot.xpm", NULL, NULL, 0, 19, 19 }, 
        { NULL, NULL, NULL, 0, 0, 0 }   /* End mark */
};

/* sample pixmap */
struct pixmap_obj xpm_sample[] = {
        { "images/point3x3r.xpm", NULL, NULL, 0, 3, 3 }, 
        { "images/point3x3b.xpm", NULL, NULL, 0, 3, 3 }, 
        { "images/point3x3c.xpm", NULL, NULL, 0, 3, 3 }, 
        { "images/point3x3y.xpm", NULL, NULL, 0, 3, 3 }, 
        { "images/point3x3g.xpm", NULL, NULL, 0, 3, 3 }, 
        { NULL, NULL, NULL, 0, 0, 0 }   /* End mark */
};

struct moveable_obj *moveable;

/* GTK */
void quit ();
void get_size (GdkPixmap *xpm, unsigned int *width, unsigned int *height);
void load_pixmaps (GtkWidget *widget, struct moveable_obj *moveable, 
                                        struct pixmap_obj *pixmaps);
void load_scene_pixmap(GtkWidget *widget);
static gint configure_event (GtkWidget *widget, GdkEventConfigure *event);
gint expose_event (GtkWidget *widget, GdkEventExpose *event);
gint repaint (gpointer data);
void test_repaint();
void test_animation(int argc, char *argv[]);
void init_animation(int argc, char *argv[], void (*repaint_func)());
void scene_repaint();

void print_usage();

int parseopt(int argc, char **argv);

#define DEBUG
#ifdef DEBUG
#define PROG_NAME               "mcl_gtk"
#define DBG(f, a...)            printf(f, ## a)
#define DBGPROG(f, a...)        printf(PROG_NAME ": " f, ## a)
#else
#define DBG(f, a...)            do { } while(0);
#define DBGPROG(f, a...)        do { } while(0);
#endif

#endif  /* __mcl_gtk__ */

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