#include <gnome.h>
#include <glib.h>
#define _REENTRANT


void draw_Grid(GtkWidget*, gfloat, gfloat);

void draw_Arrow(GtkWidget*, gint);

void scroll_map(void );


void
on_GUIWindow_destroy                   (GtkObject       *object,
                                        gpointer         user_data);

void
on_MenuBar_destroy                     (GtkObject       *object,
                                        gpointer         user_data);

void
on_File_activate                       (GtkMenuItem     *menuitem,
                                        gpointer         user_data);

void
on_Exit_activate                       (GtkMenuItem     *menuitem,
                                        gpointer         user_data);

void
on_exit1_activate                      (GtkMenuItem     *menuitem,
                                        gpointer         user_data);

gboolean
on_RobotMap_event                      (GtkWidget       *widget,
                                        GdkEvent        *event,
                                        gpointer         user_data);

void
on_Start_pressed                       (GtkButton       *button,
                                        gpointer         user_data);

void
on_Stop_pressed                        (GtkButton       *button,
                                        gpointer         user_data);

void
on_Faster_pressed                      (GtkButton       *button,
                                        gpointer         user_data);

void
on_Slower_pressed                      (GtkButton       *button,
                                        gpointer         user_data);

void
on_Left_pressed                        (GtkButton       *button,
                                        gpointer         user_data);

void
on_Right_pressed                       (GtkButton       *button,
                                        gpointer         user_data);

void
on_Forward_pressed                     (GtkButton       *button,
                                        gpointer         user_data);

void
on_Backward_pressed                    (GtkButton       *button,
                                        gpointer         user_data);

gboolean
on_RobotMap_expose_event               (GtkWidget       *widget,
                                        GdkEventExpose  *event,
                                        gpointer         user_data);

gboolean
on_RobotMap_configure_event            (GtkWidget       *widget,
                                        GdkEventConfigure *event,
                                        gpointer         user_data);

gboolean
on_RobotMap_button_release_event       (GtkWidget       *widget,
                                        GdkEventButton  *event,
                                        gpointer         user_data);

gboolean
on_RobotMap_button_press_event         (GtkWidget       *widget,
                                        GdkEventButton  *event,
                                        gpointer         user_data);

void
on_Start_clicked                       (GtkButton       *button,
                                        gpointer         user_data);

void
on_Stop_clicked                        (GtkButton       *button,
                                        gpointer         user_data);

void
on_Faster_clicked                      (GtkButton       *button,
                                        gpointer         user_data);

void
on_Slower_clicked                      (GtkButton       *button,
                                        gpointer         user_data);

void 
on_Map_Clicked				(GtkWidget*,GdkEventButton *,GtkWidget *);

void on_Key_Press(GtkWidget*,GdkEventKey *);

void plot_Path(GtkWidget *);

void calc_Path(int);

void modify_Path(float, float);