{\scriptsize \begin{lstlisting} 1 /** 2 @file 3 4 Server/User-Side Application with GUI to control the robot. 5 */ 6 7 #include 8 #include 9 #include 10 #include 11 #include 12 #include 13 #include 14 #include 15 #include 16 17 #include "../lib/libcomm.h" 18 #include "guicommon.h" 19 20 // Pointer to the Main-Application-Object. Is necessary if a function 21 // of the GUI is called from a not-gui-object. 22 GtkWidget *gs_application; 23 24 // Stores the absolut position of the robot. 25 int robot_x = 50, robot_y = 0; 26 // ... fill it into a structure to be able to transfer it 27 struct ROBOT_POSITION robot_position; 28 29 // Stores the portnumber on which the server operates. serverport: 30 // Datalink (remote/connect); serverport + 1: Linemonitor 31 // (local/bind). 32 int serverport; 33 34 // filediscriptor which pointes to the socket-stream which is 35 // connected to the robot's side and used fot the data-transfer. 36 int sock; 37 38 // Configuration for LineMonitor. Stores the Soft- and Hard-Timeout 39 // and wait-times. 40 int soft_msec; 41 int hard_msec; 42 int wait_msec; 43 44 // File discriptor to the linemonitor() connection. Used for Emergercy 45 // Stop command 46 int ems_fd; 47 48 49 50 /** 51 52 @param widget (GtkWidget *) pointer to affected object (for 53 example: window). 54 55 @param event (GdkEventM *) pointer to structure which 56 describes the event. 57 58 @param data (gpointer) pointer to additional data from gtk. 59 60 */ 61 static gbooleandelete_event(GtkWidget *widget, 62 GdkEvent *event, 63 gpointer data) { 64 65 linemonitor_emergencystop(ems_fd); // ?? 66 fprintf(stderr, "Shut down...\n"); 67 gtk_main_quit(); 68 gdk_window_process_all_updates(); 69 return FALSE; 70 } 71 72 73 /** This function is called if a signal (line C-c, terminate) 74 occurs. See in signal() -calls in main() for detals. 75 76 @param sig (int) number of orrured signal 77 */ 78 static void finish(int sig) { 79 gs_delete_event(gs_application, NULL); 80 } 81 82 83 /** This function will be called be gtk when the window gets a closing 84 command, it makes sure that the interface is down and the program 85 is finished. 86 87 @param widget (GtkWidget *) pointer to affected object (for 88 example: window). 89 90 @param data (gpointer) pointer to additional data from gtk. 91 */ 92 void gs_delete_event(GtkWidget *widget, gpointer data) { 93 linemonitor_emergencystop(ems_fd); 94 fprintf(stderr, "Shut down...\n"); 95 gtk_main_quit(); 96 gdk_window_process_all_updates(); 97 } 98 99 100 /** This function is called by gtk if the drawing area (da) needs to 101 be redrawn. For example if it becomes visible. 102 103 @param widget (GtkWidget *) pointer to affected object (in this 104 case the drawing area). 105 106 @param data (gpointer) pointer to additional data from gtk. 107 */ 108 void gs_da_expose_event(GtkWidget *widget, gpointer data) { 109 gui_common_drawrobot(widget, &robot_x, &robot_y, -1, -1, 0); 110 } 111 112 113 /** This function is called if an event occurs (mose motion or mouse 114 button press) over the drawing area (da). 115 116 @param widget (GtkWidget *) pointer to affected object (in this 117 case the drawing area). 118 119 @param event (GdkEventMotion *) pointer to structure which 120 describes the event. 121 */ 122 static gint 123 motion_notify_event(GtkWidget *widget, GdkEventMotion *event) { 124 // variables for the position of the mouse 125 int x, y; 126 127 GdkModifierType state; 128 129 // member-variable to store if a moving action takes place or not 130 static int move = 0; 131 132 // get positoin of the mouse-pointer 133 if (event->is_hint) { 134 gdk_window_get_pointer (event->window, &x, &y, &state); 135 } else { 136 x = event->x; 137 y = event->y; 138 state = event->state; 139 } 140 141 // if left mouse button is pressed ... 142 if (state & GDK_BUTTON1_MASK) { 143 // ... re-draw robot and dertermine new position of the robot if 144 // the click was on the robot 145 gui_common_drawrobot(widget, &robot_x, &robot_y, x, y, 1); 146 move = 1; 147 // if the connection to the robot is established... 148 if (sock != 0) { 149 // ... and the position of it was changed ... 150 if ((robot_position.x != robot_x) || 151 (robot_position.y != robot_y)) { 152 robot_position.x = robot_x; 153 robot_position.y = robot_y; 154 155 // ... send the new coordinates to the robot 156 block_send(sock, 1, (char *) &robot_position, 157 sizeof(struct ROBOT_POSITION)); 158 } 159 } 160 } else { 161 // moving event is finished, drwa robot. 162 if (move) { 163 gui_common_drawrobot(widget, &robot_x, &robot_y, x, y, 2); 164 move = 0; 165 } 166 } 167 168 return TRUE; 169 } 170 171 172 173 /** This function is called if a button is pressed 174 175 @param widget (GtkWidget *) pointer to affected object (button). 176 177 @param event (GdkEventMotion *) pointer to structure which 178 describes the event. 179 */ 180 181 void gs_button_press_event(GtkWidget *widget, gpointer data) { 182 if(strcmp("Emergency Stop", (char *)data) == 0) { 183 linemonitor_emergencystop(ems_fd); 184 gs_delete_event(gs_application, NULL); 185 g_print("Emergency Stop Button pressed\n"); 186 } 187 } 188 189 190 191 /** Exception function for linemonitor_server(), print exception 192 code and meaning on the screen and initiate appropriate 193 actions if necessary. See linemonitor_server() API. */ 194 linemonitor_exception(char *server, int port, int type) { 195 fprintf(stderr, "linemonitor_exception(%s, %d, %d): ", 196 server, port, type); 197 switch (type) { 198 case 0: 199 fprintf(stderr, "Connecion Fault\n"); 200 gs_delete_event(gs_application, NULL); 201 break; 202 case 1: 203 fprintf(stderr, "Soft Real Time Exception\n"); 204 break; 205 case 2: 206 fprintf(stderr, "HARD Real Time Exception\n"); 207 gs_delete_event(gs_application, NULL); 208 break; 209 } /* switch() */ 210 } 211 212 213 /** 214 Start the linemonitor_server() -- waiting for a connection in a 215 background-thread. This has to be a thread because otherwise the 216 system would block. It would wait for a connection while it is 217 supposed to connect itself. 218 */ 219 thread_wait_for_linemonitor() { 220 ems_fd = linemonitor_server(serverport + 1, 221 soft_msec, hard_msec, wait_msec, 222 (void *) linemonitor_exception); 223 pthread_exit(NULL); 224 } 225 226 227 228 int main(int argc, char *argv[]) { 229 // GTK-Objecte. This is necessary to create the buttons on the 230 // screen and connect them to some actions 231 GtkWidget *button1, *button2, *button3, *button4; 232 // Sorting into tables. 233 GtkWidget *table, *table2; 234 // pointer to the DrawingArea-Object 235 GtkWidget *da; 236 237 // Init the gtk (GUI toolkit) 238 gtk_init(&argc, &argv); 239 240 // Connect the finish() -function to some signals which can cause a 241 // system shut down. 242 signal(SIGHUP, finish); // 01 / hangup - close Window 243 signal(SIGINT, finish); // 02 / Interrupt - ^C - C-c 244 signal(SIGQUIT, finish); // 03 / Quit 245 signal(SIGTERM, finish); // 15 / Terminierung -- kill 246 signal(SIGALRM, finish); // 14 / Alarm 247 248 // load and examine parameters 249 if (argc != 6) { 250 sock = 0; 251 fprintf(stderr, "%s robot-address port soft_msec hard_msec wait_msec\n", argv[0]); 252 // exit(0); 253 } else { 254 // ID and atributes for the threads 255 pthread_t thrd_2; 256 pthread_attr_t thrd_2_attr; 257 258 serverport = atoi(argv[2]); 259 soft_msec = atoi(argv[3]); 260 hard_msec = atoi(argv[4]); 261 wait_msec = atoi(argv[5]); 262 263 // launch thread_wait_for_linemonitor(), see 264 // thread_wait_for_linemonitor(). 265 pthread_attr_init(&thrd_2_attr); 266 pthread_create(&thrd_2, 267 &thrd_2_attr, 268 (void *) thread_wait_for_linemonitor, 269 NULL); 270 271 // make sure, that the linemonitor_server() is ready before 272 // connect to the robot. 273 sleep(1); 274 275 // connect to the robot. 276 if ((sock = socket_connect(argv[1], serverport)) <= 0) { 277 perror("connect()"); 278 sock = 0; 279 } 280 } 281 282 // create button(s) 283 button1 = gtk_button_new_with_label("Emergency Stop"); 284 // button2 = gtk_button_new_with_label("Button 2"); 285 // button3 = gtk_button_new_with_label("Button 3"); 286 // button4 = gtk_button_new_with_label("Button 4"); 287 288 289 // connect the buttons to the function gr_button_press_event(). If 290 // the botton is pressed, this function will be colled. 291 gtk_signal_connect(GTK_OBJECT(button1), "clicked", 292 GTK_SIGNAL_FUNC(gs_button_press_event), 293 "Emergency Stop" ); 294 /* gtk_signal_connect(GTK_OBJECT(button2), "clicked", 295 GTK_SIGNAL_FUNC(gs_button_press_event), 296 "Button 2"); 297 gtk_signal_connect(GTK_OBJECT(button3), "clicked", 298 GTK_SIGNAL_FUNC(gs_button_press_event), 299 "Button 3" ); 300 gtk_signal_connect(GTK_OBJECT(button4), "clicked", 301 GTK_SIGNAL_FUNC(gs_button_press_event), 302 "Button 4");*/ 303 304 // create tables to sort buttons and drawindarea in it 305 table = gtk_table_new(2,2,FALSE); 306 table2 = gtk_table_new(2,2,FALSE); 307 308 // create new application (wiindow) 309 gs_application = gtk_window_new(GTK_WINDOW_TOPLEVEL); 310 311 // set window title 312 gtk_window_set_title(GTK_WINDOW (gs_application), 313 "Server - User Interface"); 314 315 // connect the function gr_delete_event() with the event of a 316 // window-close. 317 g_signal_connect(G_OBJECT (gs_application), "delete_event", 318 G_CALLBACK (gs_delete_event), NULL); 319 320 // display window 321 gtk_widget_show(gs_application); 322 323 // create drawing area 324 da = gtk_drawing_area_new(); 325 326 // set which events in the drawing area causing a expose-event 327 gtk_widget_set_events (da, GDK_EXPOSURE_MASK 328 | GDK_LEAVE_NOTIFY_MASK 329 | GDK_BUTTON_PRESS_MASK 330 | GDK_POINTER_MOTION_MASK 331 | GDK_POINTER_MOTION_HINT_MASK); 332 333 // set a minimum size of da 334 gtk_widget_set_size_request (da, 100, 100); 335 336 // connect the function gr_delete_event() with the event of a 337 // window-close. 338 gtk_signal_connect(GTK_OBJECT(gs_application), "delete_event", 339 GTK_SIGNAL_FUNC(gs_delete_event), NULL); 340 341 // connect the function gr_da_expose_event() with the expose-event 342 // of the drawing area. 343 gtk_signal_connect(GTK_OBJECT(da), "expose_event", 344 GTK_SIGNAL_FUNC(gs_da_expose_event), NULL); 345 346 // connect the function motion_notify_event() with the 347 // mouse-motion-event of the drawing area. 348 gtk_signal_connect(da, "motion_notify_event", 349 GTK_SIGNAL_FUNC(motion_notify_event), NULL); 350 351 // fill the buttons in the table 352 gtk_table_attach_defaults(GTK_TABLE(table2), button1, 0,1, 0,1); 353 /* gtk_table_attach_defaults(GTK_TABLE(table2), button2, 0,1, 1,2); 354 gtk_table_attach_defaults(GTK_TABLE(table2), button3, 1,2, 0,1); 355 gtk_table_attach_defaults(GTK_TABLE(table2), button4, 1,2, 1,2); */ 356 357 // fill the drawing area and the table into another table 358 gtk_table_attach_defaults(GTK_TABLE(table), da, 0,1, 0,1); 359 gtk_table_attach_defaults(GTK_TABLE(table), table2, 0,1, 1,2); 360 361 // fill this table into the windos 362 gtk_container_add(GTK_CONTAINER(gs_application),table); 363 364 // display it 365 gtk_widget_show_all(gs_application); 366 367 // call gtk-main-loop 368 gtk_main(); 369 370 return 0; 371 } 372 373 \end{lstlisting}}