Pileus Git - grits/blob - src/plugin-radar.c

   1 /*
   2  * Copyright (C) 2009 Andy Spencer <spenceal@rose-hulman.edu>
   3  *
   4  * This program is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <config.h>
  19 #include <gtk/gtk.h>
  20 #include <gtk/gtkgl.h>
  21 #include <gio/gio.h>
  22 #include <GL/gl.h>
  23 #include <math.h>
  24 #include <rsl.h>
  25
  26 #include "aweather-gui.h"
  27 #include "plugin-radar.h"
  28 #include "data.h"
  29
  30 /****************
  31  * GObject code *
  32  ****************/
  33 /* Plugin init */
  34 static void aweather_radar_plugin_init(AWeatherPluginInterface *iface);
  35 static void _aweather_radar_expose(AWeatherPlugin *_radar);
  36 G_DEFINE_TYPE_WITH_CODE(AWeatherRadar, aweather_radar, G_TYPE_OBJECT,
  37                 G_IMPLEMENT_INTERFACE(AWEATHER_TYPE_PLUGIN,
  38                         aweather_radar_plugin_init));
  39 static void aweather_radar_plugin_init(AWeatherPluginInterface *iface)
  40 {
  41         g_debug("AWeatherRadar: plugin_init");
  42         /* Add methods to the interface */
  43         iface->expose = _aweather_radar_expose;
  44 }
  45 /* Class/Object init */
  46 static void aweather_radar_init(AWeatherRadar *radar)
  47 {
  48         g_debug("AWeatherRadar: class_init");
  49         /* Set defaults */
  50         radar->gui  = NULL;
  51         radar->soup = NULL;
  52 }
  53 static void aweather_radar_dispose(GObject *gobject)
  54 {
  55         g_debug("AWeatherRadar: dispose");
  56         AWeatherRadar *self = AWEATHER_RADAR(gobject);
  57         /* Drop references */
  58         G_OBJECT_CLASS(aweather_radar_parent_class)->dispose(gobject);
  59 }
  60 static void aweather_radar_finalize(GObject *gobject)
  61 {
  62         g_debug("AWeatherRadar: finalize");
  63         AWeatherRadar *self = AWEATHER_RADAR(gobject);
  64         /* Free data */
  65         G_OBJECT_CLASS(aweather_radar_parent_class)->finalize(gobject);
  66
  67 }
  68 static void aweather_radar_class_init(AWeatherRadarClass *klass)
  69 {
  70         g_debug("AWeatherRadar: class_init");
  71         GObjectClass *gobject_class = (GObjectClass*)klass;
  72         gobject_class->dispose  = aweather_radar_dispose;
  73         gobject_class->finalize = aweather_radar_finalize;
  74 }
  75
  76 /**************************
  77  * Data loading functions *
  78  **************************/
  79 /* Convert a sweep to an 2d array of data points */
  80 static void bscan_sweep(AWeatherRadar *self, Sweep *sweep, colormap_t *colormap,
  81                 guint8 **data, int *width, int *height)
  82 {
  83         /* Calculate max number of bins */
  84         int i, max_bins = 0;
  85         for (i = 0; i < sweep->h.nrays; i++)
  86                 max_bins = MAX(max_bins, sweep->ray[i]->h.nbins);
  87
  88         /* Allocate buffer using max number of bins for each ray */
  89         guint8 *buf = g_malloc0(sweep->h.nrays * max_bins * 4);
  90
  91         /* Fill the data */
  92         int ri, bi;
  93         for (ri = 0; ri < sweep->h.nrays; ri++) {
  94                 Ray *ray  = sweep->ray[ri];
  95                 for (bi = 0; bi < ray->h.nbins; bi++) {
  96                         /* copy RGBA into buffer */
  97                         //guint val   = dz_f(ray->range[bi]);
  98                         guint8 val   = (guint8)ray->h.f(ray->range[bi]);
  99                         guint  buf_i = (ri*max_bins+bi)*4;
 100                         buf[buf_i+0] = colormap->data[val][0];
 101                         buf[buf_i+1] = colormap->data[val][1];
 102                         buf[buf_i+2] = colormap->data[val][2];
 103                         buf[buf_i+3] = colormap->data[val][3];
 104                         if (val == BADVAL     || val == RFVAL      || val == APFLAG ||
 105                             val == NOTFOUND_H || val == NOTFOUND_V || val == NOECHO) {
 106                                 buf[buf_i+3] = 0x00; // transparent
 107                         }
 108                 }
 109         }
 110
 111         /* set output */
 112         *width  = max_bins;
 113         *height = sweep->h.nrays;
 114         *data   = buf;
 115 }
 116
 117 /* Load a sweep as the active texture */
 118 static void load_sweep(AWeatherRadar *self, Sweep *sweep)
 119 {
 120         aweather_gui_gl_begin(self->gui);
 121         self->cur_sweep = sweep;
 122         int height, width;
 123         guint8 *data;
 124         bscan_sweep(self, sweep, self->cur_colormap, &data, &width, &height);
 125         glDeleteTextures(1, &self->cur_sweep_tex);
 126         glGenTextures(1, &self->cur_sweep_tex);
 127         glBindTexture(GL_TEXTURE_2D, self->cur_sweep_tex);
 128         glPixelStorei(GL_PACK_ALIGNMENT, 1);
 129         glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
 130         glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
 131         glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
 132         glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA8, width, height, 0,
 133                         GL_RGBA, GL_UNSIGNED_BYTE, data);
 134         g_free(data);
 135         aweather_gui_gl_redraw(self->gui);
 136         aweather_gui_gl_end(self->gui);
 137 }
 138
 139 static void load_colormap(AWeatherRadar *self, gchar *table)
 140 {
 141         /* Set colormap so we can draw it on expose */
 142         for (int i = 0; colormaps[i].name; i++)
 143                 if (g_str_equal(colormaps[i].name, table))
 144                         self->cur_colormap = &colormaps[i];
 145 }
 146
 147 /* Add selectors to the config area for the sweeps */
 148 static void on_sweep_clicked(GtkRadioButton *button, gpointer _self);
 149 static void load_radar_gui(AWeatherRadar *self, Radar *radar)
 150 {
 151         /* Clear existing items */
 152         GtkWidget *child = gtk_bin_get_child(GTK_BIN(self->config_body));
 153         if (child)
 154                 gtk_widget_destroy(child);
 155
 156         gdouble elev;
 157         guint rows = 1, cols = 1, cur_cols;
 158         gchar row_label_str[64], col_label_str[64], button_str[64];
 159         GtkWidget *row_label, *col_label, *button = NULL, *elev_box = NULL;
 160         GtkWidget *table = gtk_table_new(rows, cols, FALSE);
 161
 162         for (guint vi = 0; vi < radar->h.nvolumes; vi++) {
 163                 Volume *vol = radar->v[vi];
 164                 if (vol == NULL) continue;
 165                 rows++; cols = 1; elev = 0;
 166
 167                 /* Row label */
 168                 g_snprintf(row_label_str, 64, "<b>%s:</b>", vol->h.type_str);
 169                 row_label = gtk_label_new(row_label_str);
 170                 gtk_label_set_use_markup(GTK_LABEL(row_label), TRUE);
 171                 gtk_misc_set_alignment(GTK_MISC(row_label), 1, 0.5);
 172                 gtk_table_attach(GTK_TABLE(table), row_label,
 173                                 0,1, rows-1,rows, GTK_FILL,GTK_FILL, 5,0);
 174
 175                 for (guint si = 0; si < vol->h.nsweeps; si++) {
 176                         Sweep *sweep = vol->sweep[si];
 177                         if (sweep == NULL || sweep->h.elev == 0) continue;
 178                         if (sweep->h.elev != elev) {
 179                                 cols++;
 180                                 elev = sweep->h.elev;
 181
 182                                 /* Column label */
 183                                 g_object_get(table, "n-columns", &cur_cols, NULL);
 184                                 if (cols >  cur_cols) {
 185                                         g_snprintf(col_label_str, 64, "<b>%.2f°</b>", elev);
 186                                         col_label = gtk_label_new(col_label_str);
 187                                         gtk_label_set_use_markup(GTK_LABEL(col_label), TRUE);
 188                                         gtk_widget_set_size_request(col_label, 40, -1);
 189                                         gtk_table_attach(GTK_TABLE(table), col_label,
 190                                                         cols-1,cols, 0,1, GTK_FILL,GTK_FILL, 0,0);
 191                                 }
 192
 193                                 elev_box = gtk_hbox_new(TRUE, 0);
 194                                 gtk_table_attach(GTK_TABLE(table), elev_box,
 195                                                 cols-1,cols, rows-1,rows, GTK_FILL,GTK_FILL, 0,0);
 196                         }
 197
 198
 199                         /* Button */
 200                         g_snprintf(button_str, 64, "%3.2f", elev);
 201                         button = gtk_radio_button_new_with_label_from_widget(
 202                                         GTK_RADIO_BUTTON(button), button_str);
 203                         gtk_widget_set_size_request(button, -1, 26);
 204                         //button = gtk_radio_button_new_from_widget(GTK_RADIO_BUTTON(button));
 205                         //gtk_widget_set_size_request(button, -1, 22);
 206                         g_object_set(button, "draw-indicator", FALSE, NULL);
 207                         gtk_box_pack_end(GTK_BOX(elev_box), button, TRUE, TRUE, 0);
 208
 209                         g_object_set_data(G_OBJECT(button), "type",  vol->h.type_str);
 210                         g_object_set_data(G_OBJECT(button), "sweep", sweep);
 211                         g_signal_connect(button, "clicked", G_CALLBACK(on_sweep_clicked), self);
 212                 }
 213         }
 214         gtk_container_add(GTK_CONTAINER(self->config_body), table);
 215         gtk_widget_show_all(table);
 216 }
 217
 218 /* Load a radar from a decompressed file */
 219 static void load_radar(AWeatherRadar *self, gchar *radar_file)
 220 {
 221         char *dir  = g_path_get_dirname(radar_file);
 222         char *site = g_path_get_basename(dir);
 223         g_free(dir);
 224         g_debug("AWeatherRadar: load_radar - Loading new radar");
 225         RSL_read_these_sweeps("all", NULL);
 226         Radar *radar = self->cur_radar = RSL_wsr88d_to_radar(radar_file, site);
 227         if (radar == NULL) {
 228                 g_warning("fail to load radar: path=%s, site=%s", radar_file, site);
 229                 g_free(site);
 230                 return;
 231         }
 232         g_free(site);
 233
 234         /* Load the first sweep by default */
 235         if (radar->h.nvolumes < 1 || radar->v[0]->h.nsweeps < 1) {
 236                 g_warning("No sweeps found\n");
 237         } else {
 238                 /* load first available sweep */
 239                 for (int vi = 0; vi < radar->h.nvolumes; vi++) {
 240                         if (radar->v[vi]== NULL) continue;
 241                         for (int si = 0; si < radar->v[vi]->h.nsweeps; si++) {
 242                                 if (radar->v[vi]->sweep[si]== NULL) continue;
 243                                 load_colormap(self, radar->v[vi]->h.type_str);
 244                                 load_sweep(self, radar->v[vi]->sweep[si]);
 245                                 break;
 246                         }
 247                         break;
 248                 }
 249         }
 250
 251         load_radar_gui(self, radar);
 252 }
 253
 254 static void update_times(AWeatherRadar *self, AWeatherView *view, char *site, char **last_time)
 255 {
 256         GList *times = NULL;
 257         if (aweather_view_get_offline(view)) {
 258                 gchar *path = g_build_filename(g_get_user_cache_dir(), PACKAGE, "nexrd2", "raw", site, NULL);
 259                 GDir *dir = g_dir_open(path, 0, NULL);
 260                 if (dir) {
 261                         const gchar *name;
 262                         while ((name = g_dir_read_name(dir))) {
 263                                 times = g_list_prepend(times, g_strdup(name));
 264                         }
 265                         g_dir_close(dir);
 266                 }
 267                 g_free(path);
 268         } else {
 269                 gchar *data;
 270                 gsize length;
 271                 GError *error = NULL;
 272
 273                 char *list_uri = g_strdup_printf("http://mesonet.agron.iastate.edu/data/nexrd2/raw/%s/dir.list", site);
 274                 GFile *list = g_file_new_for_uri(list_uri);
 275                 g_file_load_contents(list, NULL, &data, &length, NULL, &error);
 276                 if (error) {
 277                         g_warning("Error loading list for %s: %s", site, error->message);
 278                         g_error_free(error);
 279                 } else {
 280                         gchar **lines = g_strsplit(data, "\n", -1);
 281                         for (int i = 0; lines[i] && lines[i][0]; i++) {
 282                                 char **parts = g_strsplit(lines[i], " ", 2);
 283                                 times = g_list_prepend(times, g_strdup(parts[1]));
 284                                 g_strfreev(parts);
 285                         }
 286                         g_strfreev(lines);
 287                         g_free(data);
 288                 }
 289
 290                 g_free(list_uri);
 291                 g_object_unref(list);
 292         }
 293
 294         GRegex *regex = g_regex_new("^[A-Z]{4}_([0-9]{8}_[0-9]{4})$", 0, 0, NULL); // KLSX_20090622_2113
 295         GMatchInfo *info;
 296
 297         GtkTreeView  *tview  = GTK_TREE_VIEW(aweather_gui_get_widget(self->gui, "time"));
 298         GtkListStore *lstore = GTK_LIST_STORE(gtk_tree_view_get_model(tview));
 299         gtk_list_store_clear(lstore);
 300         GtkTreeIter iter;
 301         times = g_list_reverse(times);
 302         for (GList *cur = times; cur; cur = cur->next) {
 303                 g_message("trying time %s", (gchar*)cur->data);
 304                 if (g_regex_match(regex, cur->data, 0, &info)) {
 305                         gchar *time = g_match_info_fetch(info, 1);
 306                         g_message("adding time %s", (gchar*)cur->data);
 307                         gtk_list_store_insert(lstore, &iter, 0);
 308                         gtk_list_store_set(lstore, &iter, 0, time, -1);
 309                         if (last_time)
 310                                 *last_time = time;
 311                 }
 312         }
 313
 314         g_regex_unref(regex);
 315         g_list_foreach(times, (GFunc)g_free, NULL);
 316         g_list_free(times);
 317 }
 318
 319 /*****************
 320  * ASync helpers *
 321  *****************/
 322 typedef struct {
 323         AWeatherRadar *self;
 324         gchar *radar_file;
 325 } decompressed_t;
 326
 327 static void decompressed_cb(GPid pid, gint status, gpointer _udata)
 328 {
 329         decompressed_t *udata = _udata;
 330         if (status != 0) {
 331                 g_warning("wsr88ddec exited with status %d", status);
 332                 return;
 333         }
 334         load_radar(udata->self, udata->radar_file);
 335         g_spawn_close_pid(pid);
 336         g_free(udata->radar_file);
 337         g_free(udata);
 338 }
 339
 340 static void cache_chunk_cb(char *path, goffset cur, goffset total, gpointer _self)
 341 {
 342         AWeatherRadar *self = AWEATHER_RADAR(_self);
 343         double percent = (double)cur/total;
 344
 345         g_message("AWeatherRadar: cache_chunk_cb - %lld/%lld = %.2f%%",
 346                         cur, total, percent*100);
 347
 348         gtk_progress_bar_set_fraction(GTK_PROGRESS_BAR(self->progress_bar), MIN(percent, 1.0));
 349
 350         gchar *msg = g_strdup_printf("Loading radar... %5.1f%% (%.2f/%.2f MB)",
 351                         percent*100, (double)cur/1000000, (double)total/1000000);
 352         gtk_label_set_text(GTK_LABEL(self->progress_label), msg);
 353         g_free(msg);
 354 }
 355
 356 static void cache_done_cb(char *path, gboolean updated, gpointer _self)
 357 {
 358         AWeatherRadar *self = AWEATHER_RADAR(_self);
 359         char *decompressed = g_strconcat(path, ".raw", NULL);
 360         if (!updated) {
 361                 load_radar(self, decompressed);
 362                 return;
 363         }
 364
 365         decompressed_t *udata = g_malloc(sizeof(decompressed_t));
 366         udata->self       = self;
 367         udata->radar_file = decompressed;
 368         g_debug("AWeatherRadar: cache_done_cb - File updated, decompressing..");
 369         char *argv[] = {"wsr88ddec", path, decompressed, NULL};
 370         GPid pid;
 371         GError *error = NULL;
 372         g_spawn_async(
 373                 NULL,    // const gchar *working_directory,
 374                 argv,    // gchar **argv,
 375                 NULL,    // gchar **envp,
 376                 G_SPAWN_SEARCH_PATH|
 377                 G_SPAWN_DO_NOT_REAP_CHILD,
 378                          // GSpawnFlags flags,
 379                 NULL,    // GSpawnChildSetupFunc child_setup,
 380                 NULL,    // gpointer user_data,
 381                 &pid,    // GPid *child_pid,
 382                 &error); // GError **error
 383         if (error) {
 384                 g_warning("failed to decompress WSR88D data: %s",
 385                                 error->message);
 386                 g_error_free(error);
 387         }
 388         g_child_watch_add(pid, decompressed_cb, udata);
 389         self->soup = NULL;
 390 }
 391
 392 /*************
 393  * Callbacks *
 394  *************/
 395 static void on_sweep_clicked(GtkRadioButton *button, gpointer _self)
 396 {
 397         AWeatherRadar *self = AWEATHER_RADAR(_self);
 398         load_colormap(self, g_object_get_data(G_OBJECT(button), "type" ));
 399         load_sweep   (self, g_object_get_data(G_OBJECT(button), "sweep"));
 400 }
 401
 402 static void on_time_changed(AWeatherView *view, const char *time, gpointer _self)
 403 {
 404         AWeatherRadar *self = AWEATHER_RADAR(_self);
 405         g_debug("AWeatherRadar: on_time_changed - setting time=%s", time);
 406         // format: http://mesonet.agron.iastate.edu/data/nexrd2/raw/KABR/KABR_20090510_0323
 407         char *site = aweather_view_get_site(view);
 408         char *base = "http://mesonet.agron.iastate.edu/data/";
 409         char *path = g_strdup_printf("nexrd2/raw/%s/%s_%s", site, site, time);
 410
 411         /* Set up progress bar */
 412         GtkWidget *child = gtk_bin_get_child(GTK_BIN(self->config_body));
 413         if (child) gtk_widget_destroy(child);
 414
 415         GtkWidget *vbox = gtk_vbox_new(FALSE, 10);
 416         gtk_container_set_border_width(GTK_CONTAINER(vbox), 10);
 417         self->progress_bar   = gtk_progress_bar_new();
 418         self->progress_label = gtk_label_new("Loading radar...");
 419         gtk_box_pack_start(GTK_BOX(vbox), self->progress_bar,   FALSE, FALSE, 0);
 420         gtk_box_pack_start(GTK_BOX(vbox), self->progress_label, FALSE, FALSE, 0);
 421         gtk_container_add(GTK_CONTAINER(self->config_body), vbox);
 422         gtk_widget_show_all(self->config_body);
 423
 424         /* Clear radar */
 425         if (self->cur_radar)
 426                 RSL_free_radar(self->cur_radar);
 427         self->cur_radar = NULL;
 428         self->cur_sweep = NULL;
 429         aweather_gui_gl_redraw(self->gui);
 430
 431         /* Start loading the new radar */
 432         if (self->soup) {
 433                 soup_session_abort(self->soup);
 434                 self->soup = NULL;
 435         }
 436         if (aweather_view_get_offline(view))
 437                 self->soup = cache_file(base, path, AWEATHER_ONCE,
 438                                 cache_chunk_cb, cache_done_cb, self);
 439         else
 440                 self->soup = cache_file(base, path, AWEATHER_UPDATE,
 441                                 cache_chunk_cb, cache_done_cb, self);
 442         g_free(path);
 443 }
 444
 445 static void on_site_changed(AWeatherView *view, char *site, gpointer _self)
 446 {
 447         AWeatherRadar *self = AWEATHER_RADAR(_self);
 448         g_debug("AWeatherRadar: on_site_changed - Loading wsr88d list for %s", site);
 449         char *time = NULL;
 450         update_times(self, view, site, &time);
 451         aweather_view_set_time(view, time);
 452
 453         g_free(time);
 454 }
 455
 456 static void on_refresh(AWeatherView *view, gpointer _self)
 457 {
 458         AWeatherRadar *self = AWEATHER_RADAR(_self);
 459         char *site = aweather_view_get_site(view);
 460         char *time = NULL;
 461         update_times(self, view, site, &time);
 462         aweather_view_set_time(view, time);
 463         g_free(time);
 464 }
 465
 466 /***********
 467  * Methods *
 468  ***********/
 469 AWeatherRadar *aweather_radar_new(AWeatherGui *gui)
 470 {
 471         g_debug("AWeatherRadar: new");
 472         AWeatherRadar *self = g_object_new(AWEATHER_TYPE_RADAR, NULL);
 473         self->gui = gui;
 474
 475         GtkWidget    *config  = aweather_gui_get_widget(gui, "tabs");
 476         AWeatherView *view    = aweather_gui_get_view(gui);
 477
 478         /* Add configuration tab */
 479         self->config_body = gtk_alignment_new(0, 0, 1, 1);
 480         gtk_container_set_border_width(GTK_CONTAINER(self->config_body), 5);
 481         gtk_container_add(GTK_CONTAINER(self->config_body), gtk_label_new("No radar loaded"));
 482         gtk_notebook_prepend_page(GTK_NOTEBOOK(config), self->config_body, gtk_label_new("Radar"));
 483
 484         /* Set up OpenGL Stuff */
 485         g_signal_connect(view,    "site-changed", G_CALLBACK(on_site_changed), self);
 486         g_signal_connect(view,    "time-changed", G_CALLBACK(on_time_changed), self);
 487         g_signal_connect(view,    "refresh",      G_CALLBACK(on_refresh),      self);
 488
 489         return self;
 490 }
 491
 492 static void _aweather_radar_expose(AWeatherPlugin *_self)
 493 {
 494         AWeatherRadar *self = AWEATHER_RADAR(_self);
 495         g_debug("AWeatherRadar: expose");
 496         if (self->cur_sweep == NULL)
 497                 return;
 498         Sweep *sweep = self->cur_sweep;
 499
 500         /* Draw the rays */
 501
 502         glMatrixMode(GL_MODELVIEW);
 503         glPushMatrix();
 504         glBindTexture(GL_TEXTURE_2D, self->cur_sweep_tex);
 505         glEnable(GL_TEXTURE_2D);
 506         glDisable(GL_ALPHA_TEST);
 507         glColor4f(1,1,1,1);
 508         glBegin(GL_QUAD_STRIP);
 509         for (int ri = 0; ri <= sweep->h.nrays; ri++) {
 510                 Ray  *ray = NULL;
 511                 double angle = 0;
 512                 if (ri < sweep->h.nrays) {
 513                         ray = sweep->ray[ri];
 514                         angle = ((ray->h.azimuth - ((double)ray->h.beam_width/2.))*M_PI)/180.0;
 515                 } else {
 516                         /* Do the right side of the last sweep */
 517                         ray = sweep->ray[ri-1];
 518                         angle = ((ray->h.azimuth + ((double)ray->h.beam_width/2.))*M_PI)/180.0;
 519                 }
 520
 521                 double lx = sin(angle);
 522                 double ly = cos(angle);
 523
 524                 double near_dist = ray->h.range_bin1;
 525                 double far_dist  = ray->h.nbins*ray->h.gate_size + ray->h.range_bin1;
 526
 527                 /* (find middle of bin) / scale for opengl */
 528                 // near left
 529                 glTexCoord2f(0.0, (double)ri/sweep->h.nrays-0.01);
 530                 glVertex3f(lx*near_dist, ly*near_dist, 2.0);
 531
 532                 // far  left
 533                 glTexCoord2f(1.0, (double)ri/sweep->h.nrays-0.01);
 534                 glVertex3f(lx*far_dist,  ly*far_dist,  2.0);
 535         }
 536         //g_print("ri=%d, nr=%d, bw=%f\n", _ri, sweep->h.nrays, sweep->h.beam_width);
 537         glEnd();
 538         glPopMatrix();
 539
 540         /* Texture debug */
 541         //glBegin(GL_QUADS);
 542         //glTexCoord2d( 0.,  0.); glVertex3f(-500.,   0., 0.); // bot left
 543         //glTexCoord2d( 0.,  1.); glVertex3f(-500., 500., 0.); // top left
 544         //glTexCoord2d( 1.,  1.); glVertex3f( 0.,   500., 3.); // top right
 545         //glTexCoord2d( 1.,  0.); glVertex3f( 0.,     0., 3.); // bot right
 546         //glEnd();
 547
 548         /* Print the color table */
 549         glDisable(GL_TEXTURE_2D);
 550         glDisable(GL_DEPTH_TEST);
 551         glMatrixMode(GL_MODELVIEW ); glPushMatrix(); glLoadIdentity();
 552         glMatrixMode(GL_PROJECTION); glPushMatrix(); glLoadIdentity();
 553         glBegin(GL_QUADS);
 554         int i;
 555         for (i = 0; i < 256; i++) {
 556                 glColor4ub(self->cur_colormap->data[i][0],
 557                            self->cur_colormap->data[i][1],
 558                            self->cur_colormap->data[i][2],
 559                            self->cur_colormap->data[i][3]);
 560                 glVertex3f(-1.0, (float)((i  ) - 256/2)/(256/2), 0.0); // bot left
 561                 glVertex3f(-1.0, (float)((i+1) - 256/2)/(256/2), 0.0); // top left
 562                 glVertex3f(-0.9, (float)((i+1) - 256/2)/(256/2), 0.0); // top right
 563                 glVertex3f(-0.9, (float)((i  ) - 256/2)/(256/2), 0.0); // bot right
 564         }
 565         glEnd();
 566         glEnable(GL_DEPTH_TEST);
 567         glEnable(GL_ALPHA_TEST);
 568         glMatrixMode(GL_PROJECTION); glPopMatrix();
 569         glMatrixMode(GL_MODELVIEW ); glPopMatrix();
 570 }