interface.c

关于机器人路径规划的算法实现

/*
 * DO NOT EDIT THIS FILE - it is generated by Glade.
 */

#ifdef HAVE_CONFIG_H
#  include <config.h>
#endif

#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <string.h>
#include <stdio.h>

#include <gdk/gdkkeysyms.h>
#include <gtk/gtk.h>

#include "callbacks.h"
#include "interface.h"
#include "support.h"

#define GLADE_HOOKUP_OBJECT(component,widget,name) \
  g_object_set_data_full (G_OBJECT (component), name, \
    gtk_widget_ref (widget), (GDestroyNotify) gtk_widget_unref)

#define GLADE_HOOKUP_OBJECT_NO_REF(component,widget,name) \
  g_object_set_data (G_OBJECT (component), name, widget)

GtkWidget*
create_window1 (void)
{
  GtkWidget *window1;
  GtkWidget *vbox1;
  GtkWidget *menubar1;
  GtkWidget *menuitem4;
  GtkWidget *menu4;
  GtkWidget *new1;
  GtkWidget *open1;
  GtkWidget *save1;
  GtkWidget *save_as1;
  GtkWidget *separatormenuitem1;
  GtkWidget *quit1;
  GtkWidget *menuitem5;
  GtkWidget *menu5;
  GtkWidget *cut1;
  GtkWidget *copy1;
  GtkWidget *paste1;
  GtkWidget *delete1;
  GtkWidget *menuitem6;
  GtkWidget *menu6;
  GtkWidget *menuitem7;
  GtkWidget *menu7;
  GtkWidget *about1;
  GtkWidget *hbox1;
  GtkWidget *frame1;
  GtkWidget *alignment4;
  GtkWidget *vbox5;
  GtkWidget *drawingarea1;
  GtkWidget *notebook;
  GtkWidget *scrolledwindow3;
  GtkWidget *textview1;
  GtkWidget *label36;
  GtkWidget *empty_notebook_page;
  GtkWidget *label37;
  GtkWidget *label38;
  GtkWidget *label12;
  GtkWidget *frame2;
  GtkWidget *alignment5;
  GtkWidget *fixed2;
  GtkWidget *frame7;
  GtkWidget *vbox2;
  GtkWidget *hbox5;
  GtkWidget *hbox7;
  GtkWidget *label1;
  GtkWidget *entry1;
  GtkWidget *label2;
  GtkWidget *entry2;
  GtkWidget *label3;
  GtkWidget *entry3;
  GtkWidget *hbox6;
  GtkWidget *hbox8;
  GtkWidget *startx;
  GtkWidget *starty;
  GtkWidget *start_theta;
  GtkWidget *label15;
  GtkWidget *frame8;
  GtkWidget *vbox3;
  GtkWidget *hbox10;
  GtkWidget *label4;
  GtkWidget *entry4;
  GtkWidget *label5;
  GtkWidget *entry5;
  GtkWidget *label6;
  GtkWidget *entry6;
  GtkWidget *hbox11;
  GtkWidget *targetx;
  GtkWidget *targety;
  GtkWidget *target_theta;
  GtkWidget *label20;
  GtkWidget *frame9;
  GtkWidget *alignment9;
  GtkWidget *vbox4;
  GtkWidget *hbox12;
  GtkWidget *label31;
  GtkWidget *pixel_size;
  GtkWidget *label32;
  GtkWidget *pixels_per_tile;
  GtkWidget *hbox15;
  GtkWidget *label33;
  GtkWidget *reg_grid_dist;
  GtkWidget *label34;
  GtkWidget *nodes_connection_radius;
  GtkWidget *hbox14;
  GtkWidget *label35;
  GtkWidget *obstacle_radius;
  GtkWidget *hbox21;
  GtkWidget *label46;
  GtkWidget *bridge_length;
  GtkWidget *label27;
  GtkWidget *frame10;
  GtkWidget *alignment10;
  GtkWidget *vbox6;
  GtkWidget *hbox16;
  GtkWidget *label40;
  GtkWidget *k_distance;
  GtkWidget *label41;
  GtkWidget *k_theta;
  GtkWidget *hbox17;
  GtkWidget *label42;
  GtkWidget *tracking_distance;
  GtkWidget *hbox18;
  GtkWidget *label43;
  GtkWidget *Linea_speed;
  GtkWidget *hbox19;
  GtkWidget *label44;
  GtkWidget *hbox20;
  GtkWidget *label45;
  GtkWidget *safety_distance;
  GtkWidget *label39;
  GtkWidget *follow_path;
  GtkWidget *stop_following;
  GtkWidget *connect_to_player;
  GtkWidget *path_plan;
  GtkWidget *frame11;
  GtkWidget *alignment11;
  GtkWidget *fixed3;
  GtkWidget *simulate_radio;
  GSList *simulate_radio_group = NULL;
  GtkWidget *wheelchair_radio;
  GtkWidget *label47;
  GtkWidget *generate_cspace;
  GtkWidget *label13;
  GtkWidget *statusbar1;
  GtkAccelGroup *accel_group;

  accel_group = gtk_accel_group_new ();

  window1 = gtk_window_new (GTK_WINDOW_TOPLEVEL);
  GTK_WIDGET_SET_FLAGS (window1, GTK_CAN_FOCUS);
  GTK_WIDGET_SET_FLAGS (window1, GTK_CAN_DEFAULT);
  gtk_widget_set_events (window1, GDK_EXPOSURE_MASK);
  gtk_window_set_title (GTK_WINDOW (window1), "                                                                                                         WheelChair Navigation Panel");
  gtk_window_set_modal (GTK_WINDOW (window1), TRUE);
  gtk_window_set_destroy_with_parent (GTK_WINDOW (window1), TRUE);

  vbox1 = gtk_vbox_new (FALSE, 0);
  gtk_widget_show (vbox1);
  gtk_container_add (GTK_CONTAINER (window1), vbox1);

  menubar1 = gtk_menu_bar_new ();
  gtk_widget_show (menubar1);
  gtk_box_pack_start (GTK_BOX (vbox1), menubar1, FALSE, FALSE, 0);

  menuitem4 = gtk_menu_item_new_with_mnemonic (_("_File"));
  gtk_widget_show (menuitem4);
  gtk_container_add (GTK_CONTAINER (menubar1), menuitem4);

  menu4 = gtk_menu_new ();
  gtk_menu_item_set_submenu (GTK_MENU_ITEM (menuitem4), menu4);

  new1 = gtk_image_menu_item_new_from_stock ("gtk-new", accel_group);
  gtk_widget_show (new1);
  gtk_container_add (GTK_CONTAINER (menu4), new1);

  open1 = gtk_image_menu_item_new_from_stock ("gtk-open", accel_group);
  gtk_widget_show (open1);
  gtk_container_add (GTK_CONTAINER (menu4), open1);

  save1 = gtk_image_menu_item_new_from_stock ("gtk-save", accel_group);
  gtk_widget_show (save1);
  gtk_container_add (GTK_CONTAINER (menu4), save1);

  save_as1 = gtk_image_menu_item_new_from_stock ("gtk-save-as", accel_group);
  gtk_widget_show (save_as1);
  gtk_container_add (GTK_CONTAINER (menu4), save_as1);

  separatormenuitem1 = gtk_separator_menu_item_new ();
  gtk_widget_show (separatormenuitem1);
  gtk_container_add (GTK_CONTAINER (menu4), separatormenuitem1);
  gtk_widget_set_sensitive (separatormenuitem1, FALSE);

  quit1 = gtk_image_menu_item_new_from_stock ("gtk-quit", accel_group);
  gtk_widget_show (quit1);
  gtk_container_add (GTK_CONTAINER (menu4), quit1);

  menuitem5 = gtk_menu_item_new_with_mnemonic (_("_Edit"));
  gtk_widget_show (menuitem5);
  gtk_container_add (GTK_CONTAINER (menubar1), menuitem5);

  menu5 = gtk_menu_new ();
  gtk_menu_item_set_submenu (GTK_MENU_ITEM (menuitem5), menu5);

  cut1 = gtk_image_menu_item_new_from_stock ("gtk-cut", accel_group);
  gtk_widget_show (cut1);
  gtk_container_add (GTK_CONTAINER (menu5), cut1);

  copy1 = gtk_image_menu_item_new_from_stock ("gtk-copy", accel_group);
  gtk_widget_show (copy1);
  gtk_container_add (GTK_CONTAINER (menu5), copy1);

  paste1 = gtk_image_menu_item_new_from_stock ("gtk-paste", accel_group);
  gtk_widget_show (paste1);
  gtk_container_add (GTK_CONTAINER (menu5), paste1);

  delete1 = gtk_image_menu_item_new_from_stock ("gtk-delete", accel_group);
  gtk_widget_show (delete1);
  gtk_container_add (GTK_CONTAINER (menu5), delete1);

  menuitem6 = gtk_menu_item_new_with_mnemonic (_("_View"));
  gtk_widget_show (menuitem6);
  gtk_container_add (GTK_CONTAINER (menubar1), menuitem6);

  menu6 = gtk_menu_new ();
  gtk_menu_item_set_submenu (GTK_MENU_ITEM (menuitem6), menu6);

  menuitem7 = gtk_menu_item_new_with_mnemonic (_("_Help"));
  gtk_widget_show (menuitem7);
  gtk_container_add (GTK_CONTAINER (menubar1), menuitem7);

  menu7 = gtk_menu_new ();
  gtk_menu_item_set_submenu (GTK_MENU_ITEM (menuitem7), menu7);

  about1 = gtk_menu_item_new_with_mnemonic (_("_About"));
  gtk_widget_show (about1);
  gtk_container_add (GTK_CONTAINER (menu7), about1);

  hbox1 = gtk_hbox_new (FALSE, 0);
  gtk_widget_show (hbox1);
  gtk_box_pack_start (GTK_BOX (vbox1), hbox1, TRUE, TRUE, 0);

  frame1 = gtk_frame_new (NULL);
  gtk_widget_show (frame1);
  gtk_box_pack_start (GTK_BOX (hbox1), frame1, TRUE, TRUE, 0);
  gtk_frame_set_shadow_type (GTK_FRAME (frame1), GTK_SHADOW_IN);

  alignment4 = gtk_alignment_new (0.5, 0.5, 1, 1);
  gtk_widget_show (alignment4);
  gtk_container_add (GTK_CONTAINER (frame1), alignment4);
  gtk_alignment_set_padding (GTK_ALIGNMENT (alignment4), 0, 0, 12, 0);

  vbox5 = gtk_vbox_new (FALSE, 0);
  gtk_widget_show (vbox5);
  gtk_container_add (GTK_CONTAINER (alignment4), vbox5);

  drawingarea1 = gtk_drawing_area_new ();
  gtk_widget_show (drawingarea1);
  gtk_box_pack_start (GTK_BOX (vbox5), drawingarea1, TRUE, TRUE, 0);
  gtk_widget_set_events (drawingarea1, GDK_EXPOSURE_MASK | GDK_POINTER_MOTION_HINT_MASK | GDK_BUTTON3_MOTION_MASK | GDK_BUTTON_PRESS_MASK | GDK_BUTTON_RELEASE_MASK | GDK_FOCUS_CHANGE_MASK);

  notebook = gtk_notebook_new ();
  gtk_widget_show (notebook);
  gtk_box_pack_start (GTK_BOX (vbox5), notebook, TRUE, TRUE, 0);
  gtk_widget_set_size_request (notebook, -1, 250);

  scrolledwindow3 = gtk_scrolled_window_new (NULL, NULL);
  gtk_widget_show (scrolledwindow3);
  gtk_container_add (GTK_CONTAINER (notebook), scrolledwindow3);
  gtk_scrolled_window_set_shadow_type (GTK_SCROLLED_WINDOW (scrolledwindow3), GTK_SHADOW_IN);

  textview1 = gtk_text_view_new ();
  gtk_widget_show (textview1);
  gtk_container_add (GTK_CONTAINER (scrolledwindow3), textview1);

  label36 = gtk_label_new (_("OutPut"));
  gtk_widget_show (label36);
  gtk_notebook_set_tab_label (GTK_NOTEBOOK (notebook), gtk_notebook_get_nth_page (GTK_NOTEBOOK (notebook), 0), label36);

  empty_notebook_page = gtk_vbox_new (FALSE, 0);
  gtk_widget_show (empty_notebook_page);
  gtk_container_add (GTK_CONTAINER (notebook), empty_notebook_page);

  label37 = gtk_label_new (_("Logs"));
  gtk_widget_show (label37);
  gtk_notebook_set_tab_label (GTK_NOTEBOOK (notebook), gtk_notebook_get_nth_page (GTK_NOTEBOOK (notebook), 1), label37);

  empty_notebook_page = gtk_vbox_new (FALSE, 0);
  gtk_widget_show (empty_notebook_page);
  gtk_container_add (GTK_CONTAINER (notebook), empty_notebook_page);

  label38 = gtk_label_new (_("Other Contron Options"));
  gtk_widget_show (label38);
  gtk_notebook_set_tab_label (GTK_NOTEBOOK (notebook), gtk_notebook_get_nth_page (GTK_NOTEBOOK (notebook), 2), label38);

  label12 = gtk_label_new (_("<b>Map View</b>"));
  gtk_widget_show (label12);
  gtk_frame_set_label_widget (GTK_FRAME (frame1), label12);
  gtk_label_set_use_markup (GTK_LABEL (label12), TRUE);

  frame2 = gtk_frame_new (NULL);
  gtk_widget_show (frame2);
  gtk_box_pack_start (GTK_BOX (hbox1), frame2, TRUE, TRUE, 0);
  gtk_frame_set_shadow_type (GTK_FRAME (frame2), GTK_SHADOW_ETCHED_OUT);

  alignment5 = gtk_alignment_new (0.5, 0.5, 1, 1);
  gtk_widget_show (alignment5);
  gtk_container_add (GTK_CONTAINER (frame2), alignment5);
  gtk_alignment_set_padding (GTK_ALIGNMENT (alignment5), 0, 0, 12, 0);

  fixed2 = gtk_fixed_new ();
  gtk_widget_show (fixed2);
  gtk_container_add (GTK_CONTAINER (alignment5), fixed2);
  gtk_widget_set_size_request (fixed2, 250, -1);