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Restructure for GUI using wxWidgets

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This commit is contained in:
PaulStoffregen 2016-02-16 17:19:44 -08:00
commit 85ea90d028
6 changed files with 248 additions and 126 deletions
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12
Makefile
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@ -1,8 +1,16 @@
CC = gcc
CFLAGS = -O2 -Wall
CPPFLAGS = `$(WXCONFIG) --cppflags`
WXCONFIG = ~/wxwidgets/3.0.2.gtk2-opengl/bin/wx-config
imuread: imuread.o serialdata.o
all: gui imuread
gui: gui.o visualize.o serialdata.o
g++ $(CFLAGS) -o $@ $^ `$(WXCONFIG) --libs` -lglut -lGLU -lGL
imuread: imuread.o visualize.o serialdata.o
$(CC) $(CFLAGS) -o $@ $^ -lglut -lGLU -lGL
clean:
rm -f imuread *.o
rm -f gui imuread *.o

59
gui.cpp Normal file
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@ -0,0 +1,59 @@
#include "gui.h"
#include "imuread.h"
BEGIN_EVENT_TABLE(MyFrame,wxFrame)
EVT_MENU(wxID_ABOUT, MyFrame::OnAbout)
EVT_MENU(wxID_EXIT, MyFrame::OnQuit)
END_EVENT_TABLE()
MyFrame::MyFrame(wxWindow *parent, wxWindowID id, const wxString &title,
const wxPoint &position, const wxSize& size, long style) :
wxFrame( parent, id, title, position, size, style )
{
}
void MyFrame::OnAbout(wxCommandEvent &event)
{
wxMessageDialog dialog(this,
"IMU Read\n\n\nCopyright 2016, PJRC.COM, LLC.",
"About IMUREAD", wxOK|wxICON_INFORMATION);
dialog.ShowModal();
}
void MyFrame::OnQuit( wxCommandEvent &event )
{
Close(true);
}
MyFrame::~MyFrame(void)
{
}
IMPLEMENT_APP(MyApp)
MyApp::MyApp()
{
}
bool MyApp::OnInit()
{
// make sure we exit properly on macosx
SetExitOnFrameDelete(true);
wxPoint pos(100, 100);
MyFrame *frame = new MyFrame(NULL, -1, wxT("Teensy"), pos, wxDefaultSize,
wxDEFAULT_FRAME_STYLE & ~(wxMAXIMIZE_BOX | wxRESIZE_BORDER));
frame->Show( true );
return true;
}
int MyApp::OnExit()
{
return 0;
}

33
gui.h Normal file
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@ -0,0 +1,33 @@
#ifndef gui__h_
#define gui__h_
#include <wx/wx.h>
class MyFrame: public wxFrame
{
public:
MyFrame(wxWindow *parent, wxWindowID id,
const wxString &title,
const wxPoint &pos = wxDefaultPosition,
const wxSize &size = wxDefaultSize,
long style = wxDEFAULT_FRAME_STYLE);
~MyFrame(void);
private:
void OnAbout(wxCommandEvent &event);
void OnQuit(wxCommandEvent &event);
DECLARE_EVENT_TABLE()
};
class MyApp: public wxApp
{
public:
MyApp();
virtual bool OnInit();
virtual int OnExit();
private:
//wxSingleInstanceChecker *m_instance;
};
#endif

126
imuread.c
View file

@ -1,100 +1,5 @@
#include "imuread.h"
magdata_t caldata[MAGBUFFSIZE];
magdata_t hard_iron;
magdata_t current_position;
quat_t current_orientation;
void quad_to_rotation(const quat_t *quat, float *rmatrix)
{
float qx = quat->x;
float qy = quat->y;
float qz = quat->z;
float qw = quat->w;
rmatrix[0] = 1.0f - 2.0f * qy * qy - 2.0f * qz * qz;
rmatrix[1] = 2.0f * qx * qy - 2.0f * qz * qw;
rmatrix[2] = 2.0f * qx * qz + 2.0f * qy * qw;
rmatrix[3] = 2.0f * qx * qy + 2.0f * qz * qw;
rmatrix[4] = 1.0f - 2.0f * qx * qx - 2.0f * qz * qz;
rmatrix[5] = 2.0f * qy * qz - 2.0f * qx * qw;
rmatrix[6] = 2.0f * qx * qz - 2.0f * qy * qw;
rmatrix[7] = 2.0f * qy * qz + 2.0f * qx * qw;
rmatrix[8] = 1.0f - 2.0f * qx * qx - 2.0f * qy * qy;
}
void rotate(const magdata_t *in, magdata_t *out, const float *rmatrix)
{
if (out == NULL) return;
if (in == NULL || in->valid == 0) {
out->valid = 0;
out->x = out->y = out->z = 0;
return;
}
out->x = in->x * rmatrix[0] + in->y * rmatrix[1] + in->z * rmatrix[2];
out->y = in->x * rmatrix[3] + in->y * rmatrix[4] + in->z * rmatrix[5];
out->z = in->x * rmatrix[6] + in->y * rmatrix[7] + in->z * rmatrix[8];
out->valid = 1;
}
/*
typedef struct {
float x;
float y;
float z;
int valid;
} magdata_t;
magdata_t caldata[MAGBUFFSIZE];
*/
void display_callback(void)
{
int i;
//float x, y, z;
float xscale, yscale, zscale;
float xoff, yoff, zoff;
float rotation[9];
magdata_t point, draw;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor3f(1, 0, 0); // set current color to red
xscale = 0.05;
yscale = 0.05;
zscale = 0.05;
xoff = 0.0;
yoff = 0.0;
zoff = -7.0;
if (hard_iron.valid) {
quad_to_rotation(&current_orientation, rotation);
for (i=0; i < MAGBUFFSIZE; i++) {
if (caldata[i].valid) {
point.x = caldata[i].x - hard_iron.x;
point.y = caldata[i].y - hard_iron.y;
point.z = caldata[i].z - hard_iron.z;
point.valid = 1;
// TODO: apply soft iron cal
memcpy(&draw, &point, sizeof(draw));
rotate(&point, &draw, rotation);
glPushMatrix();
glTranslatef(
draw.x * xscale + xoff,
draw.z * yscale + yoff,
draw.y * zscale + zoff
);
glutSolidSphere(0.08,16,16); // radius, slices, stacks
glPopMatrix();
}
}
}
glutSwapBuffers();
}
void timer_callback(int val)
{
glutTimerFunc(TIMEOUT_MSEC, timer_callback, 0);
@ -115,41 +20,14 @@ void resize_callback(int width, int height)
glLoadIdentity() ;
}
const GLfloat light_ambient[] = { 0.0f, 0.0f, 0.0f, 1.0f };
const GLfloat light_diffuse[] = { 1.0f, 1.0f, 1.0f, 1.0f };
const GLfloat light_specular[] = { 1.0f, 1.0f, 1.0f, 1.0f };
const GLfloat light_position[] = { 2.0f, 5.0f, 5.0f, 0.0f };
const GLfloat mat_ambient[] = { 0.7f, 0.7f, 0.7f, 1.0f };
const GLfloat mat_diffuse[] = { 0.8f, 0.8f, 0.8f, 1.0f };
const GLfloat mat_specular[] = { 1.0f, 1.0f, 1.0f, 1.0f };
const GLfloat high_shininess[] = { 100.0f };
int main(int argc, char *argv[])
{
glutInit(&argc, argv);
glutInitDisplayMode(GLUT_RGB | GLUT_DOUBLE | GLUT_DEPTH);
glutInitWindowSize(600, 500);
glutCreateWindow("IMU Read");
glClearColor(1.0, 1.0, 1.0, 1.0);
glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
//glShadeModel(GL_FLAT);
//gluOrtho2D(0, 600, 0, 500);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glEnable(GL_LIGHT0);
//glEnable(GL_NORMALIZE);
glEnable(GL_COLOR_MATERIAL);
glEnable(GL_LIGHTING);
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
glMaterialfv(GL_FRONT, GL_SHININESS, high_shininess);
visualize_init();
glutReshapeFunc(resize_callback);
glutDisplayFunc(display_callback);

11
imuread.h
View file

@ -22,6 +22,10 @@
#define MAGBUFFSIZEY 28
#define MAGBUFFSIZE (MAGBUFFSIZEX * MAGBUFFSIZEY)
#ifdef __cplusplus
extern "C"{
#endif
typedef struct {
float x;
float y;
@ -46,6 +50,13 @@ extern void rotate(const magdata_t *in, magdata_t *out, const float *rmatrix);
extern int open_port(const char *name);
extern void read_serial_data(void);
extern void close_port(void);
void visualize_init(void);
void display_callback(void);
void resize_callback(int width, int height);
void timer_callback(int val);
#ifdef __cplusplus
} // extern "C"
#endif
#endif

133
visualize.c Normal file
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@ -0,0 +1,133 @@
#include "imuread.h"
magdata_t caldata[MAGBUFFSIZE];
magdata_t hard_iron;
magdata_t current_position;
quat_t current_orientation;
void quad_to_rotation(const quat_t *quat, float *rmatrix)
{
float qx = quat->x;
float qy = quat->y;
float qz = quat->z;
float qw = quat->w;
rmatrix[0] = 1.0f - 2.0f * qy * qy - 2.0f * qz * qz;
rmatrix[1] = 2.0f * qx * qy - 2.0f * qz * qw;
rmatrix[2] = 2.0f * qx * qz + 2.0f * qy * qw;
rmatrix[3] = 2.0f * qx * qy + 2.0f * qz * qw;
rmatrix[4] = 1.0f - 2.0f * qx * qx - 2.0f * qz * qz;
rmatrix[5] = 2.0f * qy * qz - 2.0f * qx * qw;
rmatrix[6] = 2.0f * qx * qz - 2.0f * qy * qw;
rmatrix[7] = 2.0f * qy * qz + 2.0f * qx * qw;
rmatrix[8] = 1.0f - 2.0f * qx * qx - 2.0f * qy * qy;
}
void rotate(const magdata_t *in, magdata_t *out, const float *rmatrix)
{
if (out == NULL) return;
if (in == NULL || in->valid == 0) {
out->valid = 0;
out->x = out->y = out->z = 0;
return;
}
out->x = in->x * rmatrix[0] + in->y * rmatrix[1] + in->z * rmatrix[2];
out->y = in->x * rmatrix[3] + in->y * rmatrix[4] + in->z * rmatrix[5];
out->z = in->x * rmatrix[6] + in->y * rmatrix[7] + in->z * rmatrix[8];
out->valid = 1;
}
/*
typedef struct {
float x;
float y;
float z;
int valid;
} magdata_t;
magdata_t caldata[MAGBUFFSIZE];
*/
void display_callback(void)
{
int i;
//float x, y, z;
float xscale, yscale, zscale;
float xoff, yoff, zoff;
float rotation[9];
magdata_t point, draw;
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glColor3f(1, 0, 0); // set current color to red
xscale = 0.05;
yscale = 0.05;
zscale = 0.05;
xoff = 0.0;
yoff = 0.0;
zoff = -7.0;
if (hard_iron.valid) {
quad_to_rotation(&current_orientation, rotation);
for (i=0; i < MAGBUFFSIZE; i++) {
if (caldata[i].valid) {
point.x = caldata[i].x - hard_iron.x;
point.y = caldata[i].y - hard_iron.y;
point.z = caldata[i].z - hard_iron.z;
point.valid = 1;
// TODO: apply soft iron cal
memcpy(&draw, &point, sizeof(draw));
rotate(&point, &draw, rotation);
glPushMatrix();
glTranslatef(
draw.x * xscale + xoff,
draw.z * yscale + yoff,
draw.y * zscale + zoff
);
glutSolidSphere(0.08,16,16); // radius, slices, stacks
glPopMatrix();
}
}
}
glutSwapBuffers();
}
const GLfloat light_ambient[] = { 0.0f, 0.0f, 0.0f, 1.0f };
const GLfloat light_diffuse[] = { 1.0f, 1.0f, 1.0f, 1.0f };
const GLfloat light_specular[] = { 1.0f, 1.0f, 1.0f, 1.0f };
const GLfloat light_position[] = { 2.0f, 5.0f, 5.0f, 0.0f };
const GLfloat mat_ambient[] = { 0.7f, 0.7f, 0.7f, 1.0f };
const GLfloat mat_diffuse[] = { 0.8f, 0.8f, 0.8f, 1.0f };
const GLfloat mat_specular[] = { 1.0f, 1.0f, 1.0f, 1.0f };
const GLfloat high_shininess[] = { 100.0f };
void visualize_init(void)
{
glClearColor(1.0, 1.0, 1.0, 1.0);
glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
//glShadeModel(GL_FLAT);
//gluOrtho2D(0, 600, 0, 500);
glEnable(GL_DEPTH_TEST);
glDepthFunc(GL_LESS);
glEnable(GL_LIGHT0);
//glEnable(GL_NORMALIZE);
glEnable(GL_COLOR_MATERIAL);
glEnable(GL_LIGHTING);
glLightfv(GL_LIGHT0, GL_AMBIENT, light_ambient);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT0, GL_SPECULAR, light_specular);
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glMaterialfv(GL_FRONT, GL_AMBIENT, mat_ambient);
glMaterialfv(GL_FRONT, GL_DIFFUSE, mat_diffuse);
glMaterialfv(GL_FRONT, GL_SPECULAR, mat_specular);
glMaterialfv(GL_FRONT, GL_SHININESS, high_shininess);
}