gtk_interface.h

Go to the documentation of this file.

/**************************************************************************************************
 Software License Agreement (BSD License)

 Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
 All rights reserved.

 Redistribution and use in source and binary forms, with or without modification, are permitted
 provided that the following conditions are met:

  *Redistributions of source code must retain the above copyright notice, this list of
   conditions and the following disclaimer.
  *Redistributions in binary form must reproduce the above copyright notice, this list of
   conditions and the following disclaimer in the documentation and/or other materials provided
   with the distribution.
  *Neither the name of the University of Aveiro nor the names of its contributors may be used to
   endorse or promote products derived from this software without specific prior written permission.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
 IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
 IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
 OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
***************************************************************************************************/
#ifndef __GTK_INTERFACE_H_
#define __GTK_INTERFACE_H_

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

#include <stdlib.h>
#include <stdio.h>
#include <iostream>
#include <time.h>
#include <string.h>
#include <math.h>

// #include <ros/ros.h>
#include <ros/package.h>

#include <boost/lexical_cast.hpp>
#include <boost/format.hpp>

#include <phua_haptic/humanoid_control_functions.h>
#include <phua_haptic/miscellaneous.h>
#include <phua_haptic/gtk_aux.h>
#include <phua_haptic/hd_hl_apis_callbacks.h>

#define STR_LEN 512
#define BACK_FACING -1
#define FRONT_FACING 1

//CALLBACKS
void on_application_exit(GtkObject *object, gpointer user_data);

void on_about_menu_item_activate(GtkObject *object, gpointer user_data);

void on_button_set_robot_home_pos_clicked(GtkWidget * widget, gpointer user_data);

void on_button_start_loop_clicked(GtkWidget * widget, gpointer user_data);

void on_page1_left_top_frame_combobox_changed_event(GtkWidget *widget, gpointer user_data);

void on_ajustament_hscale_value_changed_event(GtkAdjustment *adjustment, gpointer user_data);

void on_constant_speed_radio_checkbox_toggled(GtkWidget *widget, gpointer other_checkbox);

void on_controled_speed_radio_checkbox_toggled(GtkWidget *widget, gpointer other_checkbox);

void on_page2_select_id_combobox_for_position_changed_event(GtkWidget *widget, gpointer label_data);

void on_button_setpos_clicked(GtkWidget *widget, gpointer user_data);

void on_button_release_all_clicked(GtkWidget *widget, gpointer user_data);

void on_button_go_toggled(GtkWidget *widget, gpointer other_toggle_button);

void on_button_stop_toggled(GtkWidget *widget, gpointer other_toggle_button);

void on_button_set_pos_all_clicked(GtkWidget *widget, gpointer user_data);

void on_button_setspeed_clicked(GtkWidget *widget, gpointer user_data);

void on_button_vbuttonbox_update_robot_data_clicked(GtkWidget *widget, gpointer user_data);

void on_control_resolution_toggled(GtkWidget *widget, gpointer user_data);

void on_workspace_scaling_toggled(GtkWidget *widget, gpointer user_data);

void on_button_test_invkin_clicked(GtkWidget *widget, gpointer user_data);

void on_button_calibration_clicked(GtkWidget *widget, gpointer user_data);

void on_notebook_change_current_page(GtkNotebook *notebook, GtkNotebookPage *page, guint page_num, gpointer user_data);

void on_back_facing_menu_item_activate(GtkMenuItem *menuitem, gpointer user_data);

void on_front_facing_menu_item_activate(GtkMenuItem *menuitem, gpointer user_data);

void on_demo_checkboxes_toggled(GtkToggleButton *togglebutton, gpointer user_data);

void select_inv_kin_combobox_changed_event(GtkWidget *widget, gpointer user_data);

void on_user_path_demo_point_store_button_clicked(GtkWidget *widget, gpointer user_data);

void user_path_demo_run_checkbox_toggled(GtkToggleButton *togglebutton, gpointer user_data);

void on_user_path_demo_run_button_clicked(GtkWidget *widget, gpointer user_data);

void on_user_path_demo_clear_button_clicked(GtkWidget *widget, gpointer user_data);

gboolean update_watcher(gpointer data_struct);

//MAIN FUNCTION FOR INTERFACE BUILD
void *interface_init(void *dummy);

#endif