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This commit is contained in:
Antoine Drouin
2008-04-03 14:24:39 +00:00
parent fa9d69f757
commit d24dcbe53e
2 changed files with 96 additions and 3 deletions
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sw/in_progress/motor_bench/Makefile
+1 -1
View File
@@ -1,5 +1,5 @@
CC = gcc
CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags`
CFLAGS=-g -O2 -Wall `pkg-config gtk+-2.0 --cflags` -I ../../../var/MB
LDFLAGS=`pkg-config gtk+-2.0 --libs` -s `pcre-config --libs` -lglibivy
sw/in_progress/motor_bench/main.c
+95 -2
View File
@@ -7,6 +7,8 @@
#include <Ivy/ivy.h>
#include <Ivy/ivyglibloop.h>
#include "tuning.h"
//#include "sliding_plot.h"
#define MB_MODES_IDLE 0
@@ -15,6 +17,18 @@
#define MB_MODES_STEP 3
#define MB_MODES_PRBS 4
#define AS_MOT_FRONT 0
#define AS_MOT_BACK 1
#define AS_MOT_LEFT 2
#define AS_MOT_RIGHT 3
#define AS_CMD_TEST_ADDR 1
#define AS_CMD_REVERSE 2
#define AS_CMD_SET_ADDR 3
const guint mb_id = 145;
struct motor_bench_state {
@@ -42,6 +56,12 @@ static void on_mode_changed (GtkRadioButton *radiobutton, gpointer user_data);
static void on_MOTOR_BENCH_STATUS(IvyClientPtr app, void *user_data, int argc, char *argv[]);
static gboolean timeout_callback(gpointer data);
static void on_log_button_toggled (GtkWidget *widget, gpointer data);
static void on_as_test_button_clicked (GtkWidget *widget, gpointer data);
static void on_as_reverse_button_clicked (GtkWidget *widget, gpointer data);
static void on_as_addr_changed (GtkRadioButton *radiobutton, gpointer user_data);
static GtkWidget* build_gui ( void );
static struct motor_bench_state mb_state;
@@ -51,8 +71,7 @@ static void on_mode_changed (GtkRadioButton *radiobutton, gpointer user_data) {
if (!gtk_toggle_button_get_active(GTK_TOGGLE_BUTTON(radiobutton)))
return;
guint mode = (guint)user_data;
IvySendMsg("1ME RAW_DATALINK %d SETTING;0;0;%d", mb_id, mode);
// g_message("on mode changed %d" , mode);
IvySendMsg("dl DL_SETTING %d %d %d", mb_id, PPRZ_MB_MODES_MODE, mode);
}
#if 0
@@ -126,6 +145,27 @@ static void on_log_button_toggled (GtkWidget *widget, gpointer data) {
}
}
static void on_as_test_button_clicked (GtkWidget *widget, gpointer data) {
IvySendMsg("dl DL_SETTING %d %d %d", mb_id, PPRZ_MB_TWI_CONTROLLER_ASCTECH_COMMAND_TYPE, AS_CMD_TEST_ADDR);
}
static void on_as_reverse_button_clicked (GtkWidget *widget, gpointer data) {
IvySendMsg("dl DL_SETTING %d %d %d", mb_id, PPRZ_MB_TWI_CONTROLLER_ASCTECH_COMMAND_TYPE, AS_CMD_REVERSE);
}
static void on_as_addr_changed (GtkRadioButton *radiobutton, gpointer user_data) {
if (!gtk_toggle_button_get_active(GTK_TOGGLE_BUTTON(radiobutton)))
return;
guint new_addr = (guint)user_data;
IvySendMsg("dl DL_SETTING %d %d %d", mb_id, PPRZ_MB_TWI_CONTROLLER_ASCTECH_ADDR, new_addr);
}
int main (int argc, char** argv) {
gtk_init(&argc, &argv);
@@ -296,5 +336,58 @@ static GtkWidget* build_gui ( void ) {
mb_gui.entry_log = gtk_entry_new( );
gtk_container_add (GTK_CONTAINER (bbox), mb_gui.entry_log);
gtk_entry_set_text( GTK_ENTRY(mb_gui.entry_log), "mb_log.txt" );
//
// Asctech
//
GtkWidget *asctech_frame = gtk_frame_new ("Asctech");
gtk_container_set_border_width (GTK_CONTAINER (asctech_frame), 10);
gtk_box_pack_start (GTK_BOX (vbox1), asctech_frame, TRUE, TRUE, 0);
GtkWidget* as_vbox2 = gtk_vbox_new (FALSE, 0);
gtk_container_add (GTK_CONTAINER (asctech_frame), as_vbox2);
GSList *rb_addr_group = NULL;
GtkWidget* rb_front = gtk_radio_button_new_with_mnemonic (NULL, "front");
gtk_box_pack_start (GTK_BOX (as_vbox2), rb_front, TRUE, TRUE, 0);
gtk_radio_button_set_group (GTK_RADIO_BUTTON (rb_front), rb_addr_group);
rb_addr_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (rb_front));
GtkWidget* rb_back = gtk_radio_button_new_with_mnemonic (NULL, "back");
gtk_box_pack_start (GTK_BOX (as_vbox2), rb_back, TRUE, TRUE, 0);
gtk_radio_button_set_group (GTK_RADIO_BUTTON (rb_back), rb_addr_group);
rb_addr_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (rb_back));
GtkWidget* rb_left = gtk_radio_button_new_with_mnemonic (NULL, "left");
gtk_box_pack_start (GTK_BOX (as_vbox2), rb_left, TRUE, TRUE, 0);
gtk_radio_button_set_group (GTK_RADIO_BUTTON (rb_left), rb_addr_group);
rb_addr_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (rb_left));
GtkWidget* rb_right = gtk_radio_button_new_with_mnemonic (NULL, "right");
gtk_box_pack_start (GTK_BOX (as_vbox2), rb_right, TRUE, TRUE, 0);
gtk_radio_button_set_group (GTK_RADIO_BUTTON (rb_right), rb_addr_group);
rb_addr_group = gtk_radio_button_get_group (GTK_RADIO_BUTTON (rb_right));
g_signal_connect ((gpointer) rb_front, "toggled", G_CALLBACK (on_as_addr_changed), (gpointer)AS_MOT_FRONT);
g_signal_connect ((gpointer) rb_back, "toggled", G_CALLBACK (on_as_addr_changed), (gpointer)AS_MOT_BACK);
g_signal_connect ((gpointer) rb_left, "toggled", G_CALLBACK (on_as_addr_changed), (gpointer)AS_MOT_LEFT);
g_signal_connect ((gpointer) rb_right, "toggled", G_CALLBACK (on_as_addr_changed), (gpointer)AS_MOT_RIGHT);
GtkWidget* as_bbox = gtk_hbutton_box_new ();
gtk_box_pack_start (GTK_BOX (as_vbox2), as_bbox, TRUE, TRUE, 0);
//gtk_container_add (GTK_CONTAINER (asctech_frame), as_bbox);
GtkWidget* test_button = gtk_toggle_button_new_with_label( "Test" );
gtk_container_add (GTK_CONTAINER (as_bbox), test_button);
g_signal_connect (G_OBJECT (test_button), "clicked", G_CALLBACK (on_as_test_button_clicked), NULL);
GtkWidget* reverse_button = gtk_toggle_button_new_with_label( "Reverse" );
gtk_container_add (GTK_CONTAINER (as_bbox), reverse_button);
g_signal_connect (G_OBJECT (reverse_button), "clicked", G_CALLBACK (on_as_reverse_button_clicked), NULL);
return window1;
}