mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Felix Ruess
80 lines
2.3 KiB
C
80 lines
2.3 KiB
C
#include <gtk/gtk.h>
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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 <string.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 *mag_plot;
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GtkWidget *gyro_plot;
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GtkWidget *accel_plot;
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void on_IMU_MAG(IvyClientPtr app, void *user_data, int argc, char *argv[]){
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float mx = atof(argv[0]);
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float my = atof(argv[1]);
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float mz = atof(argv[2]);
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gfloat mag[] = {mx, my, mz};
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sliding_plot_update(mag_plot, mag);
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}
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void on_IMU_ACCEL(IvyClientPtr app, void *user_data, int argc, char *argv[]){
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float ax = atof(argv[0]);
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float ay = atof(argv[1]);
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float az = atof(argv[2]);
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gfloat accel[] = {ax, ay, az};
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sliding_plot_update(accel_plot, accel);
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}
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void on_IMU_GYRO(IvyClientPtr app, void *user_data, int argc, char *argv[]){
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float gx = atof(argv[0]);
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float gy = atof(argv[1]);
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float gz = atof(argv[2]);
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gfloat rates[] = {gx, gy, gz};
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sliding_plot_update(gyro_plot, rates);
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}
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int main (int argc, char** argv) {
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gtk_init(&argc, &argv);
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GtkWidget *window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
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gtk_widget_set_size_request (window, 1280, 480);
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GtkWidget *vbox1 = gtk_vbox_new (FALSE, 0);
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gtk_container_add (GTK_CONTAINER (window), vbox1);
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GtkWidget *frame = gtk_frame_new ("Mag");
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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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mag_plot = sliding_plot_new(3);
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gtk_container_add (GTK_CONTAINER (frame), mag_plot );
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frame = gtk_frame_new ("Accel");
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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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accel_plot = sliding_plot_new(3);
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gtk_container_add (GTK_CONTAINER (frame), accel_plot );
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frame = gtk_frame_new ("Gyro");
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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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gyro_plot = sliding_plot_new(3);
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gtk_container_add (GTK_CONTAINER (frame), gyro_plot );
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gtk_widget_show_all(window);
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IvyInit ("imuview", "imuview READY", NULL, NULL, NULL, NULL);
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IvyBindMsg(on_IMU_MAG, NULL, "^77 IMU_MAG (\\S*) (\\S*) (\\S*)");
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IvyBindMsg(on_IMU_ACCEL, NULL, "^77 IMU_ACCEL (\\S*) (\\S*) (\\S*)");
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IvyBindMsg(on_IMU_GYRO, NULL, "^77 IMU_GYRO (\\S*) (\\S*) (\\S*)");
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IvyStart("127.255.255.255");
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gtk_main();
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return 0;
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}
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