*** empty log message ***

2026-06-07 09:36:19 +08:00 · 2006-12-01 17:08:42 +00:00
parent 08157c3ef2
commit 887da3647b
2 changed files with 118 additions and 1 deletions
@@ -29,5 +29,11 @@ all: play
 play : play.ml
 	$(OCAMLC) $(INCLUDES) -custom -o $@ unix.cma str.cma xml-light.cma glibivy-ocaml.cma -I +lablgtk2 -I ../lib/ocaml lablgtk.cma lib-pprz.cma gtkInit.cmo  $^

+CC = gcc
+CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags`
+LDFLAGS=`pkg-config gtk+-2.0 --libs` -s -lgtkdatabox `pcre-config --libs` -lglibivy
+ahrsview : ahrsview.c
+	$(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
+
 clean:
-	rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* play
+	rm -f *.opt *.out *~ core *.o *.bak .depend *.cm* play ahrsview
@@ -0,0 +1,111 @@
+#include <gtk/gtk.h>
+#include <stdio.h>
+#include <math.h>
+#include <stdlib.h>
+
+#include <gtkdatabox.h>
+#include <gtkdatabox_points.h>
+#include <gtkdatabox_lines.h>
+#include <gtkdatabox_bars.h>
+#include <gtkdatabox_grid.h>
+#include <gtkdatabox_cross_simple.h>
+#include <gtkdatabox_marker.h>
+
+#include <Ivy/ivy.h>
+#include <Ivy/ivyglibloop.h>
+
+#define NB_POINTS 2000
+
+GtkWidget* databox;
+static gfloat *X;
+static gfloat *BX;
+static gfloat *BY;
+static gfloat *BZ;
+static guint nb_data;
+
+GtkWidget* plot_frame_new(void) {
+  databox = gtk_databox_new ();
+
+  X = g_new0 (gfloat, NB_POINTS);
+  BX = g_new0 (gfloat, NB_POINTS);
+  BY = g_new0 (gfloat, NB_POINTS);
+  BZ = g_new0 (gfloat, NB_POINTS);
+
+  GdkColor color;
+  color.red = 0;
+  color.green = 0;
+  color.blue = 0;
+  GtkDataboxGraph* grid = gtk_databox_grid_new (7, 7, &color, 2);
+  gtk_databox_graph_add (GTK_DATABOX (databox), grid);
+
+  color.red = 0;
+  color.green = 65535;
+  color.blue = 0;
+  GtkDataboxGraph *graph_bx = gtk_databox_lines_new (NB_POINTS, X, BX, &color, 1);
+  gtk_databox_graph_add (GTK_DATABOX (databox), graph_bx);
+
+  color.red = 65535;
+  color.green = 0;
+  color.blue = 0;
+  GtkDataboxGraph *graph_by = gtk_databox_lines_new(NB_POINTS, X, BY, &color, 1);
+  gtk_databox_graph_add (GTK_DATABOX (databox), graph_by);
+
+  color.red = 0;
+  color.green = 0;
+  color.blue = 65535;
+  GtkDataboxGraph *graph_bz = gtk_databox_lines_new(NB_POINTS, X, BZ, &color, 1);
+  gtk_databox_graph_add (GTK_DATABOX (databox), graph_bz);
+
+  nb_data = 0;
+
+  return databox;
+
+}
+
+void update_state_plot(float q0, float q1, float q2, float q3, float bx, float by, float bz) {
+  if (nb_data < NB_POINTS) {
+    X[nb_data] = nb_data;
+    BX[nb_data] = bx;
+    BY[nb_data] = by;
+    BZ[nb_data] = bz;
+    gtk_databox_auto_rescale (GTK_DATABOX (databox), 0.);
+    nb_data++;
+  }
+}
+
+
+void on_AHRS_STATE(IvyClientPtr app, void *user_data, int argc, char *argv[]){
+  float q0 = atof(argv[0]);
+  float q1 = atof(argv[1]);
+  float q2 = atof(argv[2]);
+  float q3 = atof(argv[3]);
+  float bx = atof(argv[4]);
+  float by = atof(argv[5]);
+  float bz = atof(argv[6]);
+  update_state_plot(q0, q1, q2, q3, bx, by, bz);
+
+
+}
+
+int main (int argc, char** argv) {
+
+  gtk_init(&argc, &argv); 
+  
+  GtkWidget *window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
+  gtk_widget_set_size_request (window, 1240, 600);
+
+  GtkWidget *vbox1 = gtk_vbox_new (FALSE, 0);
+  gtk_container_add (GTK_CONTAINER (window), vbox1);
+  gtk_box_pack_start (GTK_BOX (vbox1), plot_frame_new(), TRUE, TRUE, 0);
+
+  gtk_widget_show_all(window);
+
+
+  IvyInit ("IvyGtkButton", "IvyGtkButton READY", NULL, NULL, NULL, NULL);
+  IvyBindMsg(on_AHRS_STATE, NULL, "^77 AHRS (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*) (\\S*)");
+  //IvyBindMsg(on_AHRS_STATE, NULL, "^77 AHRS (.*)");
+  IvyStart("127.255.255.255");
+
+  gtk_main();
+  return 0;
+}