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[Krobot-commits] [SCM] krobot branch, master, updated. 2ea0136103507eaf514c748e5f9366496ca42b28
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From: Nicolas D. <Ba...@us...> - 2011-04-13 13:10:59
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- Log -----------------------------------------------------------------
commit 2ea0136103507eaf514c748e5f9366496ca42b28
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Wed Apr 13 01:04:00 2011 +0200
[krobot_viewer] UI overhaul
commit f4c9d45d3f8fab3f1d3fc4353d22772d57f8515d
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Wed Apr 13 15:09:59 2011 +0200
[krobot_planner] Fix typo
commit c6c16ad06692621a2393a638352b5d840ff5df45
Author: Nicolas Dandrimont <Nic...@cr...>
Date: Wed Apr 13 14:16:39 2011 +0200
[krobot_simulator] Use the differential drive convention for motor status messages
-----------------------------------------------------------------------
Changes:
diff --git a/info/control2011/src/services/krobot_service_planner.ml b/info/control2011/src/services/krobot_service_planner.ml
index 4506831..3626e0d 100644
--- a/info/control2011/src/services/krobot_service_planner.ml
+++ b/info/control2011/src/services/krobot_service_planner.ml
@@ -135,7 +135,7 @@ let go planner rotation_speed rotation_acceleration moving_speed moving_accelera
if x >= radius && x <= world_width -. radius && y >= radius && y <= world_height -. radius then begin
(* Turn the robot. *)
let alpha = math_mod_float (atan2 (y -. planner.position.y) (x -. planner.position.x) -. planner.orientation) (2. *. pi) in
- lwt () = Lwt_log.info_f "turning by %f radiants" alpha in
+ lwt () = Lwt_log.info_f "turning by %f radians" alpha in
lwt () = Krobot_message.send planner.bus (Unix.gettimeofday (),
Motor_turn(alpha,
rotation_speed,
diff --git a/info/control2011/src/tools/krobot_simulator.ml b/info/control2011/src/tools/krobot_simulator.ml
index d0f31d7..cce3773 100644
--- a/info/control2011/src/tools/krobot_simulator.ml
+++ b/info/control2011/src/tools/krobot_simulator.ml
@@ -225,8 +225,15 @@ lwt () =
sim.command <- Idle;
return ()
| Req_motor_status ->
- let moving = sim.command <> Idle in
- Krobot_message.send bus (Unix.gettimeofday (), Motor_status(moving, moving, false, false))
+ begin
+ match sim.command with
+ | Turn(a, b) ->
+ Krobot_message.send bus (Unix.gettimeofday (), Motor_status(false, true, false, false))
+ | Move(a, b) ->
+ Krobot_message.send bus (Unix.gettimeofday (), Motor_status(true, false, false, false))
+ | _ ->
+ Krobot_message.send bus (Unix.gettimeofday (), Motor_status(false, false, false, false))
+ end
| Set_odometry(x, y, theta) ->
sim.state <- { x; y; theta };
return ()
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index 9b30a63..f46bcce 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -199,6 +199,9 @@ module Board = struct
ui : Krobot_viewer_ui.window;
(* The UI of the board. *)
+ statusbar_context : GMisc.statusbar_context;
+ (* The context of the statusbar. *)
+
mutable state : state;
(* The state of the robot. *)
@@ -520,11 +523,13 @@ module Board = struct
beacon = { xbeacon = 1.; ybeacon = 1.; valid = false };
vertices;
events = [];
+ statusbar_context = ui#statusbar#new_context "";
} in
board.ui#beacon_status#set_text "-";
board.ui#beacon_distance#set_text "-";
board.ui#beacon_angle#set_text "-";
board.ui#beacon_period#set_text "-";
+ board.ui#scene_paned#set_position ((board.ui#window#default_width * 5) / 8);
queue_draw board;
(* Move the robot on the board when we receive odometry
informations. *)
@@ -544,6 +549,20 @@ module Board = struct
queue_draw board
end
| Motor_status(m1, m2, m3, m4) ->
+ let moving = m1 || m2 in
+ if moving then begin
+ board.statusbar_context#pop ();
+ let _ = board.statusbar_context#push
+ (if m1 then
+ "Moving..."
+ else
+ (if m2 then
+ "Turning..."
+ else
+ "")
+ ) in ();
+ end else
+ board.statusbar_context#pop ();
board.ui#entry_moving1#set_text (if m1 then "yes" else "no");
board.ui#entry_moving2#set_text (if m2 then "yes" else "no");
board.ui#entry_moving3#set_text (if m3 then "yes" else "no");
diff --git a/info/control2011/src/tools/krobot_viewer_ui.glade b/info/control2011/src/tools/krobot_viewer_ui.glade
index c1cf4e5..1643fe5 100644
--- a/info/control2011/src/tools/krobot_viewer_ui.glade
+++ b/info/control2011/src/tools/krobot_viewer_ui.glade
@@ -178,8 +178,9 @@
</packing>
</child>
<child>
- <widget class="GtkHBox" id="hbox1">
+ <widget class="GtkHPaned" id="scene_paned">
<property name="visible">True</property>
+ <property name="can_focus">True</property>
<child>
<widget class="GtkDrawingArea" id="scene">
<property name="visible">True</property>
@@ -188,17 +189,8 @@
<property name="double_buffered">False</property>
</widget>
<packing>
- <property name="position">0</property>
- </packing>
- </child>
- <child>
- <widget class="GtkVSeparator" id="vseparator1">
- <property name="visible">True</property>
- <property name="orientation">vertical</property>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="position">1</property>
+ <property name="resize">False</property>
+ <property name="shrink">True</property>
</packing>
</child>
<child>
@@ -303,7 +295,7 @@
</packing>
</child>
<child>
- <widget class="GtkHBox" id="hbox13">
+ <widget class="GtkHSeparator" id="hseparator1">
<property name="visible">True</property>
</widget>
<packing>
@@ -312,332 +304,437 @@
</packing>
</child>
<child>
- <widget class="GtkHBox" id="hbox2">
+ <widget class="GtkExpander" id="position_expander">
<property name="visible">True</property>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="position">3</property>
- </packing>
- </child>
- <child>
- <widget class="GtkHBox" id="hbox12">
- <property name="visible">True</property>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="position">4</property>
- </packing>
- </child>
- <child>
- <widget class="GtkTable" id="table1">
- <property name="visible">True</property>
- <property name="n_rows">10</property>
- <property name="n_columns">2</property>
- <child>
- <widget class="GtkSpinButton" id="moving_speed">
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="invisible_char">●</property>
- <property name="adjustment">0.5 0 2 0.10000000000000001 0 0</property>
- <property name="digits">2</property>
- <property name="numeric">True</property>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">6</property>
- <property name="bottom_attach">7</property>
- <property name="y_options">GTK_FILL</property>
- </packing>
- </child>
- <child>
- <widget class="GtkSpinButton" id="moving_acceleration">
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="invisible_char">●</property>
- <property name="adjustment">1 0 10 0.10000000000000001 0 0</property>
- <property name="digits">2</property>
- <property name="numeric">True</property>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">7</property>
- <property name="bottom_attach">8</property>
- <property name="y_options">GTK_FILL</property>
- </packing>
- </child>
- <child>
- <widget class="GtkSpinButton" id="rotation_speed">
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="invisible_char">•</property>
- <property name="adjustment">0.99999999999999989 0 4 0.10000000000000001 0 0</property>
- <property name="digits">2</property>
- <property name="numeric">True</property>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">8</property>
- <property name="bottom_attach">9</property>
- <property name="y_options">GTK_FILL</property>
- </packing>
- </child>
- <child>
- <widget class="GtkSpinButton" id="rotation_acceleration">
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="invisible_char">•</property>
- <property name="adjustment">2.0000000000000009 0 10 0.10000000000000001 0 0</property>
- <property name="digits">2</property>
- <property name="numeric">True</property>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">9</property>
- <property name="bottom_attach">10</property>
- <property name="y_options">GTK_FILL</property>
- </packing>
- </child>
+ <property name="can_focus">True</property>
+ <property name="expanded">True</property>
<child>
- <widget class="GtkHBox" id="hbox4">
+ <widget class="GtkHBox" id="position_values">
<property name="visible">True</property>
+ <property name="homogeneous">True</property>
<child>
- <widget class="GtkLabel" id="label3">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Moving speed: </property>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="position">0</property>
- </packing>
- </child>
- <child>
- <widget class="GtkAlignment" id="alignment1">
+ <widget class="GtkHBox" id="position_x">
<property name="visible">True</property>
<child>
- <placeholder/>
+ <widget class="GtkLabel" id="position_x_label">
+ <property name="visible">True</property>
+ <property name="xpad">2</property>
+ <property name="label" translatable="yes">x</property>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkEntry" id="entry_x">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="editable">False</property>
+ <property name="invisible_char">•</property>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
</child>
</widget>
<packing>
- <property name="position">1</property>
- </packing>
- </child>
- </widget>
- <packing>
- <property name="top_attach">6</property>
- <property name="bottom_attach">7</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options">GTK_FILL</property>
- </packing>
- </child>
- <child>
- <widget class="GtkHBox" id="hbox5">
- <property name="visible">True</property>
- <child>
- <widget class="GtkLabel" id="label4">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Moving acceleration: </property>
- </widget>
- <packing>
- <property name="expand">False</property>
<property name="position">0</property>
</packing>
</child>
<child>
- <widget class="GtkAlignment" id="alignment2">
+ <widget class="GtkHBox" id="position_y">
<property name="visible">True</property>
<child>
- <placeholder/>
+ <widget class="GtkLabel" id="position_y_label">
+ <property name="visible">True</property>
+ <property name="xpad">2</property>
+ <property name="label" translatable="yes">y</property>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkEntry" id="entry_y">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="editable">False</property>
+ <property name="invisible_char">•</property>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
</child>
</widget>
<packing>
<property name="position">1</property>
</packing>
</child>
- </widget>
- <packing>
- <property name="top_attach">7</property>
- <property name="bottom_attach">8</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options">GTK_FILL</property>
- </packing>
- </child>
- <child>
- <widget class="GtkHBox" id="hbox6">
- <property name="visible">True</property>
- <child>
- <widget class="GtkLabel" id="label5">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Rotation speed: </property>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="position">0</property>
- </packing>
- </child>
<child>
- <widget class="GtkAlignment" id="alignment3">
+ <widget class="GtkHBox" id="position_theta">
<property name="visible">True</property>
<child>
- <placeholder/>
+ <widget class="GtkLabel" id="position_theta_label">
+ <property name="visible">True</property>
+ <property name="xpad">2</property>
+ <property name="label" translatable="yes">θ</property>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkEntry" id="entry_theta">
+ <property name="width_request">1</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="editable">False</property>
+ <property name="invisible_char">•</property>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
</child>
</widget>
<packing>
- <property name="position">1</property>
+ <property name="position">2</property>
</packing>
</child>
</widget>
- <packing>
- <property name="top_attach">8</property>
- <property name="bottom_attach">9</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options">GTK_FILL</property>
- </packing>
</child>
<child>
- <widget class="GtkHBox" id="hbox7">
+ <widget class="GtkLabel" id="position_label">
<property name="visible">True</property>
- <child>
- <widget class="GtkLabel" id="label6">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Rotation acceleration: </property>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="position">0</property>
- </packing>
- </child>
- <child>
- <widget class="GtkAlignment" id="alignment4">
- <property name="visible">True</property>
- <child>
- <placeholder/>
- </child>
- </widget>
- <packing>
- <property name="position">1</property>
- </packing>
- </child>
+ <property name="label" translatable="yes"><b>Robot position</b></property>
+ <property name="use_markup">True</property>
+ <property name="justify">center</property>
</widget>
<packing>
- <property name="top_attach">9</property>
- <property name="bottom_attach">10</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options">GTK_FILL</property>
+ <property name="type">label_item</property>
</packing>
</child>
+ </widget>
+ <packing>
+ <property name="position">3</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkHSeparator" id="hseparator2">
+ <property name="visible">True</property>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="position">4</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkExpander" id="beacon_expander">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="expanded">True</property>
<child>
- <widget class="GtkHBox" id="hbox8">
+ <widget class="GtkHBox" id="beacon_values">
<property name="visible">True</property>
+ <property name="homogeneous">True</property>
<child>
- <widget class="GtkLabel" id="label2">
+ <widget class="GtkEntry" id="beacon_status">
+ <property name="width_request">1</property>
<property name="visible">True</property>
- <property name="label" translatable="yes">Moving: </property>
+ <property name="can_focus">True</property>
+ <property name="editable">False</property>
+ <property name="invisible_char">•</property>
</widget>
<packing>
- <property name="expand">False</property>
<property name="position">0</property>
</packing>
</child>
<child>
- <widget class="GtkAlignment" id="alignment5">
+ <widget class="GtkHBox" id="beacon_distance_box">
<property name="visible">True</property>
<child>
- <placeholder/>
+ <widget class="GtkLabel" id="beacon_distance_label">
+ <property name="visible">True</property>
+ <property name="xpad">2</property>
+ <property name="label" translatable="yes">d</property>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkEntry" id="beacon_distance">
+ <property name="width_request">1</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="editable">False</property>
+ <property name="invisible_char">•</property>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
</child>
</widget>
<packing>
<property name="position">1</property>
</packing>
</child>
- </widget>
- <packing>
- <property name="top_attach">1</property>
- <property name="bottom_attach">2</property>
- </packing>
- </child>
- <child>
- <widget class="GtkHBox" id="hbox3">
- <property name="visible">True</property>
<child>
- <widget class="GtkLabel" id="label7">
+ <widget class="GtkHBox" id="beacon_angle_box">
<property name="visible">True</property>
- <property name="label" translatable="yes">x: </property>
+ <child>
+ <widget class="GtkLabel" id="beacon_angle_label">
+ <property name="visible">True</property>
+ <property name="xpad">2</property>
+ <property name="label" translatable="yes">α</property>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkEntry" id="beacon_angle">
+ <property name="width_request">1</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="editable">False</property>
+ <property name="invisible_char">•</property>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
+ </child>
</widget>
<packing>
- <property name="expand">False</property>
- <property name="position">0</property>
+ <property name="position">2</property>
</packing>
</child>
<child>
- <widget class="GtkAlignment" id="alignment6">
+ <widget class="GtkHBox" id="beacon_period_box">
<property name="visible">True</property>
<child>
- <placeholder/>
+ <widget class="GtkLabel" id="beacon_period_label">
+ <property name="visible">True</property>
+ <property name="xpad">2</property>
+ <property name="label" translatable="yes">T</property>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkEntry" id="beacon_period">
+ <property name="width_request">1</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="editable">False</property>
+ <property name="invisible_char">•</property>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
</child>
</widget>
<packing>
- <property name="position">1</property>
+ <property name="position">3</property>
</packing>
</child>
</widget>
- <packing>
- <property name="top_attach">3</property>
- <property name="bottom_attach">4</property>
- </packing>
</child>
<child>
- <widget class="GtkHBox" id="hbox9">
+ <widget class="GtkLabel" id="beacon_label">
<property name="visible">True</property>
- <child>
- <widget class="GtkLabel" id="label8">
- <property name="visible">True</property>
- <property name="label" translatable="yes">y: </property>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="position">0</property>
- </packing>
- </child>
- <child>
- <widget class="GtkAlignment" id="alignment7">
- <property name="visible">True</property>
- <child>
- <placeholder/>
- </child>
- </widget>
- <packing>
- <property name="position">1</property>
- </packing>
- </child>
+ <property name="label" translatable="yes"><b>Beacon</b></property>
+ <property name="use_markup">True</property>
</widget>
<packing>
- <property name="top_attach">4</property>
- <property name="bottom_attach">5</property>
+ <property name="type">label_item</property>
</packing>
</child>
+ </widget>
+ <packing>
+ <property name="position">5</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkHSeparator" id="hseparator3">
+ <property name="visible">True</property>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="position">6</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkExpander" id="settings_expander">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="expanded">True</property>
<child>
- <widget class="GtkHBox" id="hbox10">
+ <widget class="GtkHBox" id="settings_subbox">
<property name="visible">True</property>
+ <property name="homogeneous">True</property>
<child>
- <widget class="GtkLabel" id="label9">
+ <widget class="GtkVBox" id="line_settings_box">
<property name="visible">True</property>
- <property name="label" translatable="yes">theta: </property>
+ <property name="orientation">vertical</property>
+ <child>
+ <widget class="GtkLabel" id="line_settings_label">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Lines</property>
+ </widget>
+ <packing>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkHBox" id="line_settings_label_box">
+ <property name="visible">True</property>
+ <property name="homogeneous">True</property>
+ <child>
+ <widget class="GtkLabel" id="lines_speed_label">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">speed</property>
+ </widget>
+ <packing>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="lines_acceleration_label">
+ <property name="visible">True</property>
+ <property name="yalign">0.47999998927116394</property>
+ <property name="label" translatable="yes">accel</property>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkHBox" id="line_settings_value_box">
+ <property name="visible">True</property>
+ <property name="homogeneous">True</property>
+ <child>
+ <widget class="GtkSpinButton" id="moving_speed">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="invisible_char">•</property>
+ <property name="adjustment">0.99999999999999989 0 2 0.10000000000000001 0 0</property>
+ <property name="digits">2</property>
+ <property name="numeric">True</property>
+ </widget>
+ <packing>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkSpinButton" id="moving_acceleration">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="invisible_char">•</property>
+ <property name="adjustment">1 0 10 0.10000000000000001 0 0</property>
+ <property name="digits">2</property>
+ <property name="numeric">True</property>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ </widget>
+ <packing>
+ <property name="position">2</property>
+ </packing>
+ </child>
</widget>
<packing>
- <property name="expand">False</property>
<property name="position">0</property>
</packing>
</child>
<child>
- <widget class="GtkAlignment" id="alignment8">
+ <widget class="GtkVBox" id="rotation_settings_box">
<property name="visible">True</property>
+ <property name="orientation">vertical</property>
+ <child>
+ <widget class="GtkLabel" id="rotation_settings_label">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Rotation</property>
+ <property name="selectable">True</property>
+ </widget>
+ <packing>
+ <property name="position">0</property>
+ </packing>
+ </child>
<child>
- <placeholder/>
+ <widget class="GtkHBox" id="rotation_settings_label_box">
+ <property name="visible">True</property>
+ <property name="homogeneous">True</property>
+ <child>
+ <widget class="GtkLabel" id="rotation_speed_label">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">speed</property>
+ </widget>
+ <packing>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="rotation_acceleration_label">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">accel</property>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkHBox" id="rotation_settings_value_box">
+ <property name="visible">True</property>
+ <property name="homogeneous">True</property>
+ <child>
+ <widget class="GtkSpinButton" id="rotation_speed">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="invisible_char">•</property>
+ <property name="adjustment">2.0000000000000004 0 4 0.10000000000000001 0 0</property>
+ <property name="digits">2</property>
+ <property name="numeric">True</property>
+ </widget>
+ <packing>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkSpinButton" id="rotation_acceleration">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="invisible_char">•</property>
+ <property name="adjustment">2.0000000000000009 0 10 0.10000000000000001 0 0</property>
+ <property name="digits">2</property>
+ <property name="numeric">True</property>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ </widget>
+ <packing>
+ <property name="position">2</property>
+ </packing>
</child>
</widget>
<packing>
@@ -645,55 +742,75 @@
</packing>
</child>
</widget>
- <packing>
- <property name="top_attach">5</property>
- <property name="bottom_attach">6</property>
- </packing>
</child>
<child>
- <widget class="GtkEntry" id="entry_x">
+ <widget class="GtkLabel" id="settings_label">
<property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="editable">False</property>
- <property name="invisible_char">•</property>
+ <property name="label" translatable="yes"><b>Settings</b></property>
+ <property name="use_markup">True</property>
</widget>
<packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">3</property>
- <property name="bottom_attach">4</property>
+ <property name="type">label_item</property>
</packing>
</child>
+ </widget>
+ <packing>
+ <property name="position">7</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkHSeparator" id="hseparator4">
+ <property name="visible">True</property>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="position">8</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkExpander" id="simplification_expander">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="expanded">True</property>
<child>
- <widget class="GtkEntry" id="entry_y">
+ <widget class="GtkHScale" id="tolerance">
<property name="visible">True</property>
<property name="can_focus">True</property>
- <property name="editable">False</property>
- <property name="invisible_char">•</property>
+ <property name="adjustment">0.40000000000000002 0 1 0.10000000000000001 0.20000000000000001 0.5</property>
+ <property name="draw_value">False</property>
</widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">4</property>
- <property name="bottom_attach">5</property>
- </packing>
</child>
<child>
- <widget class="GtkEntry" id="entry_theta">
+ <widget class="GtkLabel" id="simplification_label">
<property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="editable">False</property>
- <property name="invisible_char">•</property>
+ <property name="label" translatable="yes"><b>Simplification tolerance</b></property>
+ <property name="use_markup">True</property>
</widget>
<packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">5</property>
- <property name="bottom_attach">6</property>
+ <property name="type">label_item</property>
</packing>
</child>
+ </widget>
+ <packing>
+ <property name="position">9</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkHSeparator" id="hseparator5">
+ <property name="visible">True</property>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="position">10</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkExpander" id="moving_expander">
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="expanded">True</property>
<child>
- <widget class="GtkHBox" id="hbox11">
+ <widget class="GtkHBox" id="entry_moving_box">
<property name="visible">True</property>
<child>
<widget class="GtkEntry" id="entry_moving1">
@@ -748,193 +865,98 @@
</packing>
</child>
</widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">1</property>
- <property name="bottom_attach">2</property>
- </packing>
- </child>
- <child>
- <widget class="GtkHScale" id="tolerance">
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="adjustment">0.10000000000000001 0 1 0.10000000000000001 0.20000000000000001 0.5</property>
- <property name="draw_value">False</property>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- </packing>
- </child>
- <child>
- <widget class="GtkHBox" id="hbox15">
- <property name="visible">True</property>
- <child>
- <widget class="GtkLabel" id="label1">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Tolerance: </property>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="position">0</property>
- </packing>
- </child>
- <child>
- <widget class="GtkAlignment" id="alignment9">
- <property name="visible">True</property>
- <child>
- <placeholder/>
- </child>
- </widget>
- <packing>
- <property name="position">1</property>
- </packing>
- </child>
- </widget>
- </child>
- <child>
- <widget class="GtkHBox" id="hbox16">
- <property name="visible">True</property>
- <child>
- <widget class="GtkLabel" id="label10">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Beacon status:</property>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="position">0</property>
- </packing>
- </child>
- <child>
- <widget class="GtkAlignment" id="alignment10">
- <property name="visible">True</property>
- <child>
- <placeholder/>
- </child>
- </widget>
- <packing>
- <property name="position">1</property>
- </packing>
- </child>
- </widget>
- <packing>
- <property name="top_attach">2</property>
- <property name="bottom_attach">3</property>
- </packing>
</child>
<child>
- <widget class="GtkHBox" id="hbox17">
+ <widget class="GtkLabel" id="moving_label">
<property name="visible">True</property>
- <child>
- <widget class="GtkEntry" id="beacon_status">
- <property name="width_request">1</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="editable">False</property>
- <property name="invisible_char">•</property>
- </widget>
- <packing>
- <property name="position">0</property>
- </packing>
- </child>
- <child>
- <widget class="GtkEntry" id="beacon_distance">
- <property name="width_request">1</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="editable">False</property>
- <property name="invisible_char">•</property>
- </widget>
- <packing>
- <property name="position">1</property>
- </packing>
- </child>
- <child>
- <widget class="GtkEntry" id="beacon_angle">
- <property name="width_request">1</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="editable">False</property>
- <property name="invisible_char">•</property>
- </widget>
- <packing>
- <property name="position">2</property>
- </packing>
- </child>
- <child>
- <widget class="GtkEntry" id="beacon_period">
- <property name="width_request">1</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="editable">False</property>
- <property name="invisible_char">•</property>
- </widget>
- <packing>
- <property name="position">3</property>
- </packing>
- </child>
+ <property name="label" translatable="yes"><b>Moving</b></property>
+ <property name="use_markup">True</property>
</widget>
<packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">2</property>
- <property name="bottom_attach">3</property>
+ <property name="type">label_item</property>
</packing>
</child>
</widget>
<packing>
- <property name="expand">False</property>
- <property name="position">5</property>
+ <property name="position">11</property>
</packing>
</child>
<child>
- <widget class="GtkHBox" id="hbox14">
+ <widget class="GtkAlignment" id="alignment1">
+ <property name="height_request">0</property>
<property name="visible">True</property>
+ <child>
+ <placeholder/>
+ </child>
</widget>
<packing>
- <property name="expand">False</property>
- <property name="position">6</property>
+ <property name="position">12</property>
</packing>
</child>
<child>
- <widget class="GtkHSeparator" id="hseparator1">
+ <widget class="GtkHSeparator" id="hseparator6">
<property name="visible">True</property>
</widget>
<packing>
<property name="expand">False</property>
- <property name="position">7</property>
+ <property name="position">13</property>
</packing>
</child>
<child>
- <widget class="GtkScrolledWindow" id="scrolled_logs">
+ <widget class="GtkExpander" id="logs_expander">
<property name="visible">True</property>
<property name="can_focus">True</property>
- <prop...
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