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Port to Windows

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This commit is contained in:
PaulStoffregen 2016-02-19 17:05:16 -08:00
commit aba65b07bf
5 changed files with 218 additions and 49 deletions
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36
Makefile
View file

@ -1,16 +1,42 @@
OS = LINUX
#OS = MACOSX
#OS = WINDOWS
ifeq ($(OS), LINUX)
CC = gcc
CFLAGS = -O2 -Wall
CPPFLAGS = `$(WXCONFIG) --cppflags`
CXX = g++
CFLAGS = -O2 -Wall -D$(OS)
CXXFLAGS = $(CFLAGS) `$(WXCONFIG) --cppflags`
LDFLAGS =
WXCONFIG = ~/wxwidgets/3.0.2.gtk2-opengl/bin/wx-config
CLILIBS = -lglut -lGLU -lGL
else ifeq ($(OS), MACOSX)
#TODO: Macintosh build...
else ifeq ($(OS), WINDOWS)
CC = i686-w64-mingw32-gcc
CXX = i686-w64-mingw32-g++
CFLAGS = -O2 -Wall -D$(OS)
CXXFLAGS = $(CFLAGS) `$(WXCONFIG) --cppflags`
LDFLAGS = -static -static-libgcc
WXCONFIG = ~/wxwidgets/3.0.2.mingw-opengl/bin/wx-config
CLILIBS = -lglut32 -lglu32 -lopengl32
endif
all: gui imuread
gui: gui.o visualize.o serialdata.o
g++ $(CFLAGS) -o $@ $^ `$(WXCONFIG) --libs all,opengl`
$(CXX) -s $(CFLAGS) $(LDFLAGS) -o $@ $^ `$(WXCONFIG) --libs all,opengl`
ifeq ($(OS), WINDOWS)
cp gui gui.exe
endif
imuread: imuread.o visualize.o serialdata.o
$(CC) $(CFLAGS) -o $@ $^ -lglut -lGLU -lGL
$(CC) -s $(CFLAGS) $(LDFLAGS) -o $@ $^ $(CLILIBS)
clean:
rm -f gui imuread *.o
rm -f gui imuread *.o *.exe

4
gui.cpp
View file

@ -69,7 +69,7 @@ MyFrame::MyFrame(wxWindow *parent, wxWindowID id, const wxString &title,
{
wxMenuBar *menuBar;
wxMenu *menu;
wxMenuItem *item;
//wxMenuItem *item;
menuBar = new wxMenuBar;
menu = new wxMenu;
@ -87,7 +87,7 @@ MyFrame::MyFrame(wxWindow *parent, wxWindowID id, const wxString &title,
{ WX_GL_RGBA, WX_GL_MIN_RED, 1, WX_GL_MIN_GREEN, 1,
WX_GL_MIN_BLUE, 1, WX_GL_DEPTH_SIZE, 1,
WX_GL_DOUBLEBUFFER,
None};
0};
m_canvas = new MyCanvas(this, wxID_ANY, gl_attrib);

26
imuread.c
View file

@ -1,10 +1,17 @@
#if defined(LINUX) || defined(MACOSX)
#include "imuread.h"
#include <GL/glut.h> // sudo apt-get install xorg-dev libglu1-mesa-dev freeglut3-dev
void die(const char *format, ...) __attribute__ ((format (printf, 1, 2)));
static void timer_callback(int val)
{
int r;
glutTimerFunc(TIMEOUT_MSEC, timer_callback, 0);
read_serial_data();
r = read_serial_data();
if (r < 0) die("Error reading %s\n", PORT);
glutPostRedisplay(); // TODO: only redisplay if data changes
}
@ -27,11 +34,26 @@ int main(int argc, char *argv[])
glutDisplayFunc(glut_display_callback);
glutTimerFunc(TIMEOUT_MSEC, timer_callback, 0);
open_port(PORT);
if (!open_port(PORT)) die("Unable to open %s\n", PORT);
glutMainLoop();
close_port();
return 0;
}
void die(const char *format, ...)
{
va_list args;
va_start(args, format);
vfprintf(stderr, format, args);
close_port();
exit(1);
}
#else
int main(int argc, char *argv[])
{
return 0;
}
#endif

22
imuread.h
View file

@ -6,17 +6,27 @@
#include <stdint.h>
#include <stdarg.h>
#include <string.h>
#include <termios.h>
#include <unistd.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <sys/select.h>
#if defined(LINUX)
#include <termios.h>
#include <unistd.h>
#elif defined(WINDOWS)
#include <windows.h>
#endif
#include <GL/gl.h>
#include <GL/glu.h>
#define PORT "/dev/ttyACM0"
#if defined(LINUX)
#define PORT "/dev/ttyACM0"
#elif defined(WINDOWS)
#define PORT "COM3"
#elif defined(MACOSX)
#define PORT "/dev/cu.usbmodem123"
#endif
#define TIMEOUT_MSEC 40
#define MAGBUFFSIZEX 14
@ -44,10 +54,8 @@ typedef struct {
} quat_t;
extern quat_t current_orientation;
extern void die(const char *format, ...) __attribute__ ((format (printf, 1, 2)));
extern void *malloc_or_die(size_t size);
extern int open_port(const char *name);
extern void read_serial_data(void);
extern int read_serial_data(void);
extern void close_port(void);
void visualize_init(void);
void display_callback(void);

179
serialdata.c
View file

@ -1,6 +1,5 @@
#include "imuread.h"
static int portfd=-1;
void print_data(const char *name, const unsigned char *data, int len)
{
@ -13,7 +12,7 @@ void print_data(const char *name, const unsigned char *data, int len)
printf("\n");
}
void packet_primary_data(const unsigned char *data)
static void packet_primary_data(const unsigned char *data)
{
current_position.x = (float)((int16_t)((data[13] << 8) | data[12])) / 10.0f;
current_position.y = (float)((int16_t)((data[15] << 8) | data[14])) / 10.0f;
@ -39,7 +38,7 @@ void packet_primary_data(const unsigned char *data)
#endif
}
void packet_magnetic_cal(const unsigned char *data)
static void packet_magnetic_cal(const unsigned char *data)
{
int16_t id, x, y, z;
magdata_t *cal;
@ -71,7 +70,7 @@ void packet_magnetic_cal(const unsigned char *data)
}
}
void packet(const unsigned char *data, int len)
static void packet(const unsigned char *data, int len)
{
if (len <= 0) return;
//print_data("packet", data, len);
@ -84,7 +83,7 @@ void packet(const unsigned char *data, int len)
// TODO: actually do something with the arriving data...
}
void packet_encoded(const unsigned char *data, int len)
static void packet_encoded(const unsigned char *data, int len)
{
const unsigned char *p;
unsigned char buf[256];
@ -124,7 +123,7 @@ void packet_encoded(const unsigned char *data, int len)
}
}
void newdata(const unsigned char *data, int len)
static void newdata(const unsigned char *data, int len)
{
static unsigned char packetbuf[256];
static unsigned int packetlen=0;
@ -158,51 +157,61 @@ void newdata(const unsigned char *data, int len)
}
}
#if defined(LINUX)
static int portfd=-1;
int open_port(const char *name)
{
struct termios termsettings;
int r;
portfd = open(name, O_RDWR | O_NONBLOCK);
if (portfd < 0) die("Unable to open %s\n", name);
if (portfd < 0) return 0;
r = tcgetattr(portfd, &termsettings);
if (r < 0) die("Unable to read terminal settings from %s\n", name);
if (r < 0) {
close_port();
return 0;
}
cfmakeraw(&termsettings);
cfsetspeed(&termsettings, B115200);
r = tcsetattr(portfd, TCSANOW, &termsettings);
if (r < 0) die("Unable to program terminal settings on %s\n", name);
return 0;
if (r < 0) {
close_port();
return 0;
}
return 1;
}
void read_serial_data(void)
int read_serial_data(void)
{
unsigned char buf[256];
static int nodata_count=0;
int n;
while (portfd >= 0) {
if (portfd < 0) return -1;
while (1) {
n = read(portfd, buf, sizeof(buf));
if (n > 0 && n <= sizeof(buf)) {
//printf("read %d bytes\n", r);
newdata(buf, n);
nodata_count = 0;
//return n;
} else if (n == 0) {
printf("read no data\n");
if (++nodata_count > 6) {
close_port();
die("No data from %s\n", PORT);
nodata_count = 0;
close_port();
return -1;
}
break;
return 0;
} else {
n = errno;
if (n == EAGAIN) {
break;
} else if (n == EAGAIN) {
return 0;
} else if (n == EINTR) {
} else {
printf("read error, n=%d\n", n);
break;
close_port();
return -1;
}
}
}
@ -216,25 +225,129 @@ void close_port(void)
}
}
#elif defined(WINDOWS)
void die(const char *format, ...)
static HANDLE port_handle;
int open_port(const char *name)
{
va_list args;
va_start(args, format);
vfprintf(stderr, format, args);
exit(1);
COMMCONFIG port_cfg;
COMMTIMEOUTS timeouts;
DWORD len;
char buf[64];
int n;
if (strncmp(name, "COM", 3) == 0 && sscanf(name + 3, "%d", &n) == 1) {
snprintf(buf, sizeof(buf), "\\\\.\\COM%d", n);
name = buf;
}
port_handle = CreateFile(name, GENERIC_READ | GENERIC_WRITE,
0, 0, OPEN_EXISTING, FILE_FLAG_OVERLAPPED, NULL);
if (port_handle == INVALID_HANDLE_VALUE) {
return 0;
}
len = sizeof(COMMCONFIG);
if (!GetCommConfig(port_handle, &port_cfg, &len)) {
CloseHandle(port_handle);
return 0;
}
port_cfg.dcb.BaudRate = 115200;
port_cfg.dcb.fBinary = TRUE;
port_cfg.dcb.fParity = FALSE;
port_cfg.dcb.fOutxCtsFlow = FALSE;
port_cfg.dcb.fOutxDsrFlow = FALSE;
port_cfg.dcb.fDtrControl = DTR_CONTROL_DISABLE;
port_cfg.dcb.fDsrSensitivity = FALSE;
port_cfg.dcb.fTXContinueOnXoff = TRUE; // ???
port_cfg.dcb.fOutX = FALSE;
port_cfg.dcb.fInX = FALSE;
port_cfg.dcb.fErrorChar = FALSE;
port_cfg.dcb.fNull = FALSE;
port_cfg.dcb.fRtsControl = RTS_CONTROL_DISABLE;
port_cfg.dcb.fAbortOnError = FALSE;
port_cfg.dcb.ByteSize = 8;
port_cfg.dcb.Parity = NOPARITY;
port_cfg.dcb.StopBits = ONESTOPBIT;
if (!SetCommConfig(port_handle, &port_cfg, sizeof(COMMCONFIG))) {
CloseHandle(port_handle);
return 0;
}
if (!EscapeCommFunction(port_handle, CLRDTR | CLRRTS)) {
CloseHandle(port_handle);
return 0;
}
timeouts.ReadIntervalTimeout = MAXDWORD;
timeouts.ReadTotalTimeoutMultiplier = 0;
timeouts.ReadTotalTimeoutConstant = 0;
timeouts.WriteTotalTimeoutMultiplier = 0;
timeouts.WriteTotalTimeoutConstant = 0;
if (!SetCommTimeouts(port_handle, &timeouts)) {
CloseHandle(port_handle);
return 0;
}
return 1;
}
void *malloc_or_die(size_t size)
int read_serial_data(void)
{
void *p;
COMSTAT st;
DWORD errmask=0, num_read, num_request;
OVERLAPPED ov;
unsigned char buf[256];
int r;
p = malloc(size);
if (!p) die("unable to allocate memory, %d bytes\n", (int)size);
return p;
while (1) {
if (!ClearCommError(port_handle, &errmask, &st)) return -1;
//printf("Read, %d requested, %lu buffered\n", count, st.cbInQue);
if (st.cbInQue <= 0) return 0;
// now do a ReadFile, now that we know how much we can read
// a blocking (non-overlapped) read would be simple, but win32
// is all-or-nothing on async I/O and we must have it enabled
// because it's the only way to get a timeout for WaitCommEvent
if (st.cbInQue < (DWORD)sizeof(buf)) {
num_request = st.cbInQue;
} else {
num_request = (DWORD)sizeof(buf);
}
ov.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL);
if (ov.hEvent == NULL) {
close_port();
return -1;
}
ov.Internal = ov.InternalHigh = 0;
ov.Offset = ov.OffsetHigh = 0;
if (ReadFile(port_handle, buf, num_request, &num_read, &ov)) {
// this should usually be the result, since we asked for
// data we knew was already buffered
//printf("Read, immediate complete, num_read=%lu\n", num_read);
r = num_read;
} else {
if (GetLastError() == ERROR_IO_PENDING) {
if (GetOverlappedResult(port_handle, &ov, &num_read, TRUE)) {
//printf("Read, delayed, num_read=%lu\n", num_read);
r = num_read;
} else {
//printf("Read, delayed error\n");
r = -1;
}
} else {
//printf("Read, error\n");
r = -1;
}
}
CloseHandle(ov.hEvent);
if (r <= 0) break;
newdata(buf, r);
}
return r;
}
void close_port(void)
{
CloseHandle(port_handle);
port_handle = NULL;
}
#endif