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Add Send Calibration to GUI

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This commit is contained in:
PaulStoffregen 2016-03-15 16:04:11 -07:00
commit 38d5d30656
4 changed files with 48 additions and 5 deletions
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34
gui.cpp
View file

@ -4,6 +4,7 @@
wxMenu *port_menu;
wxMenu *sendcal_menu;
wxString port_name;
@ -60,6 +61,7 @@ void MyCanvas::InitGL()
BEGIN_EVENT_TABLE(MyFrame,wxFrame)
EVT_MENU(wxID_ABOUT, MyFrame::OnAbout)
EVT_MENU(wxID_EXIT, MyFrame::OnQuit)
EVT_MENU(ID_SENDCAL, MyFrame::OnSendCal)
EVT_TIMER(ID_TIMER, MyFrame::OnTimer)
EVT_MENU_RANGE(9000, 9999, MyFrame::OnPort)
EVT_MENU_OPEN(MyMenu::OnShowPortList)
@ -77,6 +79,9 @@ MyFrame::MyFrame(wxWindow *parent, wxWindowID id, const wxString &title,
menuBar = new wxMenuBar;
menu = new wxMenu;
menu->Append(ID_SENDCAL, wxT("Send Calibration"));
sendcal_menu = menu;
sendcal_menu->Enable(ID_SENDCAL, false);
menu->Append(wxID_EXIT, wxT("Quit"));
menuBar->Append(menu, wxT("&File"));
@ -123,10 +128,31 @@ MyFrame::MyFrame(wxWindow *parent, wxWindowID id, const wxString &title,
void MyFrame::OnTimer(wxTimerEvent &event)
{
//printf("OnTimer\n");
read_serial_data();
m_canvas->Refresh();
if (port_is_open()) {
read_serial_data();
m_canvas->Refresh();
if (magcal.FitError < 6.0f) {
sendcal_menu->Enable(ID_SENDCAL, true);
} else if (magcal.FitError > 7.0f) {
sendcal_menu->Enable(ID_SENDCAL, false);
}
} else {
sendcal_menu->Enable(ID_SENDCAL, false);
}
}
void MyFrame::OnSendCal(wxCommandEvent &event)
{
printf("OnSendCal\n");
printf("Magnetic Calibration: (%.1f%% fit error)\n", magcal.FitError);
printf(" %7.2f %6.3f %6.3f %6.3f\n",
magcal.V[0], magcal.invW[0][0], magcal.invW[0][1], magcal.invW[0][2]);
printf(" %7.2f %6.3f %6.3f %6.3f\n",
magcal.V[1], magcal.invW[1][0], magcal.invW[1][1], magcal.invW[1][2]);
printf(" %7.2f %6.3f %6.3f %6.3f\n",
magcal.V[2], magcal.invW[2][0], magcal.invW[2][1], magcal.invW[2][2]);
send_calibration();
}
void MyFrame::OnPort(wxCommandEvent &event)
{
@ -135,6 +161,7 @@ void MyFrame::OnPort(wxCommandEvent &event)
close_port();
//printf("OnPort, id = %d, name = %s\n", id, (const char *)name);
sendcal_menu->Enable(ID_SENDCAL, false);
port_name = name;
if (id == 9000) return;
raw_data_reset();
@ -186,10 +213,11 @@ void MyMenu::OnShowPortList(wxMenuEvent &event)
menu->AppendRadioItem(9000, " (none)");
wxArrayString list = serial_port_list();
num = list.GetCount();
bool isopen = port_is_open();
for (int i=0; i < num; i++) {
//printf("%d: port %s\n", i, (const char *)list[i]);
menu->AppendRadioItem(9001 + i, list[i]);
if (port_name.IsSameAs(list[i])) {
if (isopen && port_name.IsSameAs(list[i])) {
menu->Check(9001 + i, true);
any = 1;
}

2
gui.h
View file

@ -24,6 +24,7 @@
#define ID_TIMER 10000
#define ID_SENDCAL 10001
class MyCanvas : public wxGLCanvas
@ -62,6 +63,7 @@ public:
~MyFrame(void);
void InitGL();
void OnPort(wxCommandEvent &event);
void OnSendCal(wxCommandEvent &event);
private:
MyCanvas *m_canvas;
wxTimer *m_timer;

1
imuread.h
View file

@ -60,6 +60,7 @@ typedef struct {
} Quaternion_t;
extern Quaternion_t current_orientation;
extern int port_is_open(void);
extern int open_port(const char *name);
extern int read_serial_data(void);
extern int write_serial_data(const void *ptr, int len);

16
serialdata.c
View file

@ -245,6 +245,12 @@ static void newdata(const unsigned char *data, int len)
static int portfd=-1;
int port_is_open(void)
{
if (portfd > 0) return 1;
return 0;
}
int open_port(const char *name)
{
struct termios termsettings;
@ -279,7 +285,7 @@ int read_serial_data(void)
if (n > 0 && n <= sizeof(buf)) {
newdata(buf, n);
nodata_count = 0;
//return n;
return n;
} else if (n == 0) {
if (++nodata_count > 6) {
close_port();
@ -339,7 +345,13 @@ void close_port(void)
#elif defined(WINDOWS)
static HANDLE port_handle;
static HANDLE port_handle=INVALID_HANDLE_VALUE;
int port_is_open(void)
{
if (port_handle == INVALID_HANDLE_VALUE) return 0;
return 1;
}
int open_port(const char *name)
{