mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-06-05 23:49:00 +08:00
*** empty log message ***
This commit is contained in:
Antoine Drouin
+181
-5
@@ -2,33 +2,209 @@
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#include <stdio.h>
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#include <math.h>
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#include <stdlib.h>
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#include <gtk/gtk.h>
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#include <Ivy/ivy.h>
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#include <Ivy/ivyglibloop.h>
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#include "sliding_plot.h"
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GtkWidget *throttle_plot;
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GtkWidget *rpm_plot;
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GtkWidget *manual_throttle_scale;
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GSList *radiobutton_group = NULL;
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#define PARAM_TIME 0
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#define PARAM_THROTTLE 1
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#define PARAM_RPM 2
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#define PARAM_VOLTAGE 3
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#define PARAM_CURRENT 4
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#define PARAM_THRUST 5
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#define PARAM_TORQUE 6
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#define PARAM_NB 7
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const gchar* param_names[] = {
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"Time",
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"Throttle",
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"RPM",
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"Voltage",
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"Current",
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"Thrust",
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"Torque"
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};
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GtkWidget* param_label[PARAM_NB];
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gfloat param_value[PARAM_NB];
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#define MODE_HALTED 0
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#define MODE_MANUAL 1
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#define MODE_RAMP 2
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#define MODE_STEP 3
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#define MODE_PRBS 4
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#define MODE_NB 5
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guint mode;
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GtkWidget* build_gui ( void );
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gboolean timeout_callback(gpointer data) {
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GString* str = g_string_sized_new(64);
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g_string_printf(str, "%.1f", param_value[PARAM_TIME]);
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gtk_label_set_text(GTK_LABEL(param_label[PARAM_TIME]), str->str);
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g_string_printf(str, "%.1f", param_value[PARAM_THROTTLE]);
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gtk_label_set_text(GTK_LABEL(param_label[PARAM_THROTTLE]), str->str);
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g_string_free(str, TRUE);
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return TRUE;
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}
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void on_mode_changed (GtkRadioButton *radiobutton, gpointer user_data) {
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if (gtk_toggle_button_get_active(GTK_TOGGLE_BUTTON(radiobutton))) {
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guint new_mode = (gint)user_data;
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IvySendMsg("ME RAW_DATALINK 78 SETTING;0;0;%d", new_mode);
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// IvySendMsg("ME DL_SETTINGS 78 0 %d.0", new_mode);
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g_message("sending new mode %d" , new_mode);
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}
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}
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void on_manual_throttle_value_changed (GtkScale *scale, gpointer user_data) {
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gfloat new_throttle = gtk_range_get_value(GTK_RANGE(scale));
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g_message("foo %f", new_throttle);
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guint foo = (new_throttle/100.*9600.);
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IvySendMsg("ME RAW_DATALINK 78 SETTING;3;0;%d", foo);
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}
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#define TICK_PER_SEC 15000000.
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void on_MOTOR_BENCH_STATUS(IvyClientPtr app, void *user_data, int argc, char *argv[]){
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guint time_tick = atoi(argv[0]);
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guint time_sec = atoi(argv[1]);
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guint throttle = atoi(argv[2]);
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guint mode = atoi(argv[3]);
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guint new_mode = atoi(argv[3]);
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float time = (float)time_sec + (float)time_tick / TICK_PER_SEC;
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printf("%f %d\n", time, throttle);
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param_value[PARAM_TIME] = time;
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param_value[PARAM_THROTTLE] = (float)throttle / 9600. * 100.;
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// printf("%f %d %d\n", time, throttle, mode);
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gfloat foo[] = {(gfloat)throttle};
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sliding_plot_update(throttle_plot, foo);
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if (new_mode != mode) {
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g_message("mode changed %d->%d", mode, new_mode);
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GtkRadioButton *radiobutton = g_slist_nth(radiobutton_group, MODE_NB-new_mode-1)->data;
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gtk_toggle_button_set_active(GTK_TOGGLE_BUTTON(radiobutton), TRUE);
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mode = new_mode;
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}
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}
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int main ( int argc, char** argv) {
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// g_timeout_add(16, timeout_callback, chan);
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gtk_init(&argc, &argv);
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g_timeout_add(160, timeout_callback, NULL);
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GMainLoop *ml = g_main_loop_new(NULL, FALSE);
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// GMainLoop *ml = g_main_loop_new(NULL, FALSE);
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IvyInit ("MotorBench", "MotorBench READY", NULL, NULL, NULL, NULL);
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IvyBindMsg(on_MOTOR_BENCH_STATUS, NULL, "^\\S* MOTOR_BENCH_STATUS (\\S*) (\\S*) (\\S*) (\\S*)");
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IvyStart("127.255.255.255");
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g_main_loop_run(ml);
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// g_main_loop_run(ml);
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GtkWidget* window = build_gui();
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gtk_widget_show_all(window);
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gtk_main();
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return 0;
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}
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GtkWidget* build_gui ( void ) {
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GtkWidget *window;
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GtkWidget *vbox1;
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GtkWidget *table1;
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GtkWidget *label4;
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window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
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gtk_window_set_title (GTK_WINDOW (window), "motor bench");
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vbox1 = gtk_vbox_new (FALSE, 0);
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gtk_widget_show (vbox1);
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gtk_container_add (GTK_CONTAINER (window), vbox1);
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table1 = gtk_table_new (4, 3, FALSE);
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gtk_widget_show (table1);
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gtk_box_pack_start (GTK_BOX (vbox1), table1, TRUE, TRUE, 0);
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gtk_table_set_col_spacings (GTK_TABLE (table1), 5);
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label4 = gtk_label_new ("mode");
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gtk_widget_show (label4);
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gtk_table_attach (GTK_TABLE (table1), label4, 0, 1, 0, 1,
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(GtkAttachOptions) (GTK_FILL),
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(GtkAttachOptions) (0), 0, 0);
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gtk_misc_set_alignment (GTK_MISC (label4), 0, 0.5);
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gchar* mode_names[] = { "Halted", "Manual", "Ramp", "Step", "PRBS" };
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gint i;
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for (i=0; i<MODE_NB; i++) {
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GtkWidget* radiobutton = gtk_radio_button_new_with_mnemonic (NULL, mode_names[i]);
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gtk_widget_show (radiobutton);
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gtk_table_attach (GTK_TABLE (table1), radiobutton, 0, 1, 1+i, 2+i,
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(GtkAttachOptions) (GTK_FILL),
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(GtkAttachOptions) (0), 0, 0);
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gtk_radio_button_set_group (GTK_RADIO_BUTTON (radiobutton), radiobutton_group);
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radiobutton_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (radiobutton));
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g_signal_connect ((gpointer) radiobutton, "toggled",
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G_CALLBACK (on_mode_changed),
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((gpointer)i));
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}
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manual_throttle_scale = gtk_hscale_new (GTK_ADJUSTMENT (gtk_adjustment_new (0., 0, 100, 1, 1, 1)));
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gtk_widget_show (manual_throttle_scale);
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gtk_table_attach (GTK_TABLE (table1), manual_throttle_scale, 1, 1+PARAM_NB, 1+MODE_MANUAL, 2+MODE_MANUAL,
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(GtkAttachOptions) (GTK_EXPAND | GTK_FILL),
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(GtkAttachOptions) (GTK_FILL), 0, 0);
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gtk_range_set_update_policy (GTK_RANGE (manual_throttle_scale), GTK_UPDATE_DELAYED);
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g_signal_connect ((gpointer) manual_throttle_scale, "value_changed",
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G_CALLBACK (on_manual_throttle_value_changed),
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NULL);
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for (i=0; i<PARAM_NB; i++) {
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GtkWidget* label = gtk_label_new (param_names[i]);
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gtk_table_attach (GTK_TABLE (table1), label, i, i+1, PARAM_NB+1, PARAM_NB + 2,
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(GtkAttachOptions) (GTK_FILL),
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(GtkAttachOptions) (0), 0, 0);
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param_label[i] = gtk_label_new ("unknown");
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gtk_table_attach (GTK_TABLE (table1), param_label[i], i, i+1, PARAM_NB+2, PARAM_NB + 3,
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(GtkAttachOptions) (GTK_FILL),
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(GtkAttachOptions) (0), 0, 0);
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}
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GtkWidget *frame = gtk_frame_new ("Throttle");
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gtk_container_set_border_width (GTK_CONTAINER (frame), 10);
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gtk_box_pack_start (GTK_BOX (vbox1), frame, TRUE, TRUE, 0);
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throttle_plot = sliding_plot_new(1);
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gtk_container_add (GTK_CONTAINER (frame), throttle_plot );
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frame = gtk_frame_new ("RPM");
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gtk_container_set_border_width (GTK_CONTAINER (frame), 10);
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gtk_box_pack_start (GTK_BOX (vbox1), frame, TRUE, TRUE, 0);
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// rpm_plot = sliding_plot_new(1);
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// gtk_container_add (GTK_CONTAINER (frame), rpm_plot );
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gtk_box_pack_start (GTK_BOX (vbox1), frame, TRUE, TRUE, 0);
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return window;
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}
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