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Show calibration & quality metrics in GUI

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This commit is contained in:
PaulStoffregen 2016-03-27 04:47:20 -07:00
commit 5a3737a142
2 changed files with 125 additions and 10 deletions
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124
gui.cpp
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@ -75,7 +75,10 @@ MyFrame::MyFrame(wxWindow *parent, wxWindowID id, const wxString &title,
{ {
wxMenuBar *menuBar; wxMenuBar *menuBar;
wxMenu *menu; wxMenu *menu;
wxSizer *hsizer, *vsizer, *calsizer;
wxStaticText *text;
//wxMenuItem *item; //wxMenuItem *item;
int i, j;
menuBar = new wxMenuBar; menuBar = new wxMenuBar;
menu = new wxMenu; menu = new wxMenu;
@ -98,21 +101,91 @@ MyFrame::MyFrame(wxWindow *parent, wxWindowID id, const wxString &title,
wxBoxSizer *topsizer = new wxBoxSizer(wxHORIZONTAL); wxBoxSizer *topsizer = new wxBoxSizer(wxHORIZONTAL);
wxBoxSizer *leftsizer = new wxStaticBoxSizer(wxVERTICAL, this, "Communication"); wxBoxSizer *leftsizer = new wxStaticBoxSizer(wxVERTICAL, this, "Communication");
wxBoxSizer *middlesizer = new wxStaticBoxSizer(wxVERTICAL, this, "Magnetometer"); wxBoxSizer *middlesizer = new wxStaticBoxSizer(wxVERTICAL, this, "Magnetometer");
wxBoxSizer *rightsizer = new wxStaticBoxSizer(wxVERTICAL, this, "Gyroscope"); wxBoxSizer *rightsizer = new wxStaticBoxSizer(wxVERTICAL, this, "Calibration");
topsizer->Add(leftsizer, 0, wxALL, 5); topsizer->Add(leftsizer, 0, wxALL, 5);
topsizer->Add(middlesizer, 1, wxALL | wxEXPAND, 5); topsizer->Add(middlesizer, 1, wxALL | wxEXPAND, 5);
topsizer->Add(rightsizer, 0, wxALL, 5); topsizer->Add(rightsizer, 0, wxALL | wxEXPAND | wxALIGN_TOP, 5);
int gl_attrib[20] = //text = new wxStaticText(this, wxID_ANY, "blah blah blah");
{ WX_GL_RGBA, WX_GL_MIN_RED, 1, WX_GL_MIN_GREEN, 1, //middlesizer->Add(text, 0);
WX_GL_MIN_BLUE, 1, WX_GL_DEPTH_SIZE, 1,
WX_GL_DOUBLEBUFFER, int gl_attrib[20] = { WX_GL_RGBA, WX_GL_MIN_RED, 1, WX_GL_MIN_GREEN, 1,
0}; WX_GL_MIN_BLUE, 1, WX_GL_DEPTH_SIZE, 1, WX_GL_DOUBLEBUFFER, 0};
m_canvas = new MyCanvas(this, wxID_ANY, gl_attrib); m_canvas = new MyCanvas(this, wxID_ANY, gl_attrib);
m_canvas->SetMinSize(wxSize(400,400)); m_canvas->SetMinSize(wxSize(400,400));
middlesizer->Add(m_canvas, 1, wxEXPAND | wxALL, 10); middlesizer->Add(m_canvas, 1, wxEXPAND | wxALL, 8);
hsizer = new wxGridSizer(4, 0, 15);
middlesizer->Add(hsizer, 0, wxALL | wxALIGN_CENTER_HORIZONTAL, 5);
vsizer = new wxBoxSizer(wxVERTICAL);
hsizer->Add(vsizer, 1, wxALIGN_CENTER_HORIZONTAL);
text = new wxStaticText(this, wxID_ANY, "Gaps");
vsizer->Add(text, 1, wxALIGN_CENTER_HORIZONTAL);
m_err_coverage = new wxStaticText(this, wxID_ANY, "100.0%");
vsizer->Add(m_err_coverage, 1, wxALIGN_CENTER_HORIZONTAL);
vsizer = new wxBoxSizer(wxVERTICAL);
hsizer->Add(vsizer, 1, wxALIGN_CENTER_HORIZONTAL);
text = new wxStaticText(this, wxID_ANY, "Variance");
vsizer->Add(text, 1, wxALIGN_CENTER_HORIZONTAL);
m_err_variance = new wxStaticText(this, wxID_ANY, "100.0%");
vsizer->Add(m_err_variance, 1, wxALIGN_CENTER_HORIZONTAL);
vsizer = new wxBoxSizer(wxVERTICAL);
hsizer->Add(vsizer, 1, wxALIGN_CENTER_HORIZONTAL);
text = new wxStaticText(this, wxID_ANY, "Wobble");
vsizer->Add(text, 1, wxALIGN_CENTER_HORIZONTAL);
m_err_wobble = new wxStaticText(this, wxID_ANY, "100.0%");
vsizer->Add(m_err_wobble, 1, wxALIGN_CENTER_HORIZONTAL);
vsizer = new wxBoxSizer(wxVERTICAL);
hsizer->Add(vsizer, 1, wxALIGN_CENTER_HORIZONTAL);
text = new wxStaticText(this, wxID_ANY, "Fit Error");
vsizer->Add(text, 1, wxALIGN_CENTER_HORIZONTAL);
m_err_fit = new wxStaticText(this, wxID_ANY, "100.0%");
vsizer->Add(m_err_fit, 1, wxALIGN_CENTER_HORIZONTAL);
calsizer = new wxBoxSizer(wxVERTICAL);
rightsizer->Add(calsizer, 0, wxALL, 8);
text = new wxStaticText(this, wxID_ANY, "Magnetic Offset");
calsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
vsizer = new wxGridSizer(1, 0, 0);
calsizer->Add(vsizer, 1, wxLEFT, 20);
for (i=0; i < 3; i++) {
m_mag_offset[i] = new wxStaticText(this, wxID_ANY, "0.00");
vsizer->Add(m_mag_offset[i], 1);
}
text = new wxStaticText(this, wxID_ANY, "Magnetic Mapping");
calsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
vsizer = new wxGridSizer(3, 0, 12);
calsizer->Add(vsizer, 1, wxLEFT, 20);
for (i=0; i < 3; i++) {
for (j=0; j < 3; j++) {
m_mag_mapping[i][j] = new wxStaticText(this, wxID_ANY,
((i == j) ? "+1.000" : "+0.000"));
vsizer->Add(m_mag_mapping[i][j], 1);
}
}
text = new wxStaticText(this, wxID_ANY, "Magnetic Field");
calsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
m_mag_field = new wxStaticText(this, wxID_ANY, "0.00");
calsizer->Add(m_mag_field, 0, wxLEFT, 20);
text = new wxStaticText(this, wxID_ANY, "Accelerometer");
calsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
vsizer = new wxGridSizer(1, 0, 0);
calsizer->Add(vsizer, 1, wxLEFT, 20);
for (i=0; i < 3; i++) {
m_accel[i] = new wxStaticText(this, wxID_ANY, "0.000");
vsizer->Add(m_accel[i], 1);
}
text = new wxStaticText(this, wxID_ANY, "Gyroscope");
calsizer->Add(text, 0, wxTOP|wxBOTTOM, 4);
vsizer = new wxGridSizer(1, 0, 0);
calsizer->Add(vsizer, 1, wxLEFT, 20);
for (i=0; i < 3; i++) {
m_gyro[i] = new wxStaticText(this, wxID_ANY, "0.000");
vsizer->Add(m_gyro[i], 1);
}
topsizer->SetSizeHints(this); topsizer->SetSizeHints(this);
SetSizerAndFit(topsizer); SetSizerAndFit(topsizer);
Show(true); Show(true);
@ -122,11 +195,14 @@ MyFrame::MyFrame(wxWindow *parent, wxWindowID id, const wxString &title,
raw_data_reset(); raw_data_reset();
//open_port(PORT); //open_port(PORT);
m_timer = new wxTimer(this, ID_TIMER); m_timer = new wxTimer(this, ID_TIMER);
m_timer->Start(40, wxTIMER_CONTINUOUS); m_timer->Start(14, wxTIMER_CONTINUOUS);
} }
void MyFrame::OnTimer(wxTimerEvent &event) void MyFrame::OnTimer(wxTimerEvent &event)
{ {
char buf[32];
int i, j;
//printf("OnTimer\n"); //printf("OnTimer\n");
if (port_is_open()) { if (port_is_open()) {
read_serial_data(); read_serial_data();
@ -136,6 +212,34 @@ void MyFrame::OnTimer(wxTimerEvent &event)
} else if (magcal.FitError > 7.0f) { } else if (magcal.FitError > 7.0f) {
sendcal_menu->Enable(ID_SENDCAL, false); sendcal_menu->Enable(ID_SENDCAL, false);
} }
snprintf(buf, sizeof(buf), "%.1f%%", quality_surface_gap_error());
m_err_coverage->SetLabelText(buf);
snprintf(buf, sizeof(buf), "%.1f%%", quality_magnitude_variance_error());
m_err_variance->SetLabelText(buf);
snprintf(buf, sizeof(buf), "%.1f%%", quality_wobble_error());
m_err_wobble->SetLabelText(buf);
snprintf(buf, sizeof(buf), "%.1f%%", quality_spherical_fit_error());
m_err_fit->SetLabelText(buf);
for (i=0; i < 3; i++) {
snprintf(buf, sizeof(buf), "%.2f", magcal.V[i]);
m_mag_offset[i]->SetLabelText(buf);
}
for (i=0; i < 3; i++) {
for (j=0; j < 3; j++) {
snprintf(buf, sizeof(buf), "%+.3f", magcal.invW[i][j]);
m_mag_mapping[i][j]->SetLabelText(buf);
}
}
snprintf(buf, sizeof(buf), "%.2f", magcal.B);
m_mag_field->SetLabelText(buf);
for (i=0; i < 3; i++) {
snprintf(buf, sizeof(buf), "%.3f", 0.0f); // TODO...
m_accel[i]->SetLabelText(buf);
}
for (i=0; i < 3; i++) {
snprintf(buf, sizeof(buf), "%.3f", 0.0f); // TODO...
m_gyro[i]->SetLabelText(buf);
}
} else { } else {
sendcal_menu->Enable(ID_SENDCAL, false); sendcal_menu->Enable(ID_SENDCAL, false);
} }
@ -247,7 +351,7 @@ bool MyApp::OnInit()
wxPoint pos(100, 100); wxPoint pos(100, 100);
MyFrame *frame = new MyFrame(NULL, -1, wxT("IMU Read"), pos, wxSize(1120,760), MyFrame *frame = new MyFrame(NULL, -1, wxT("Motion Sensor Calibration Tool"), pos, wxSize(1120,760),
wxDEFAULT_FRAME_STYLE); wxDEFAULT_FRAME_STYLE);
frame->Show( true ); frame->Show( true );
return true; return true;

11
gui.h
View file

@ -65,6 +65,17 @@ public:
void OnPort(wxCommandEvent &event); void OnPort(wxCommandEvent &event);
void OnSendCal(wxCommandEvent &event); void OnSendCal(wxCommandEvent &event);
private: private:
wxStaticText *m_err_coverage;
wxStaticText *m_err_variance;
wxStaticText *m_err_wobble;
wxStaticText *m_err_fit;
wxStaticText *m_mag_offset[3];
wxStaticText *m_mag_mapping[3][3];
wxStaticText *m_mag_field;
wxStaticText *m_accel[3];
wxStaticText *m_gyro[3];
MyCanvas *m_canvas; MyCanvas *m_canvas;
wxTimer *m_timer; wxTimer *m_timer;
void OnAbout(wxCommandEvent &event); void OnAbout(wxCommandEvent &event);