Visualization running in wxWidgets GUI

Makefile

@@ -7,7 +7,7 @@ WXCONFIG = ~/wxwidgets/3.0.2.gtk2-opengl/bin/wx-config
 all: gui imuread
 
 gui: gui.o visualize.o serialdata.o
-	g++ $(CFLAGS) -o $@ $^ `$(WXCONFIG) --libs` -lglut -lGLU -lGL
+	g++ $(CFLAGS) -o $@ $^ `$(WXCONFIG) --libs all,opengl`
 
 imuread: imuread.o visualize.o serialdata.o
 	$(CC) $(CFLAGS) -o $@ $^ -lglut -lGLU -lGL

gui.cpp

@@ -1,9 +1,65 @@
 #include "gui.h"
 #include "imuread.h"
 
+
+
+
+
+
+wxBEGIN_EVENT_TABLE(MyCanvas, wxGLCanvas)
+    EVT_SIZE(MyCanvas::OnSize)
+    EVT_PAINT(MyCanvas::OnPaint)
+    //EVT_CHAR(MyCanvas::OnChar)
+    //EVT_MOUSE_EVENTS(MyCanvas::OnMouseEvent)
+wxEND_EVENT_TABLE()
+
+MyCanvas::MyCanvas(wxWindow *parent, wxWindowID id, int* gl_attrib)
+	: wxGLCanvas(parent, id, gl_attrib)
+{
+	//m_xrot = 0;
+	//m_yrot = 0;
+	//m_numverts = 0;
+	// Explicitly create a new rendering context instance for this canvas.
+	m_glRC = new wxGLContext(this);
+}
+
+MyCanvas::~MyCanvas()
+{
+	delete m_glRC;
+}
+
+void MyCanvas::OnSize(wxSizeEvent& event)
+{
+	//printf("OnSize\n");
+	if (!IsShownOnScreen()) return;
+	SetCurrent(*m_glRC);
+	resize_callback(event.GetSize().x, event.GetSize().y);
+}
+
+void MyCanvas::OnPaint( wxPaintEvent& WXUNUSED(event) )
+{
+	//printf("OnPaint\n");
+	wxPaintDC dc(this);
+	SetCurrent(*m_glRC);
+	display_callback();
+	SwapBuffers();
+}
+
+void MyCanvas::InitGL()
+{
+	//printf("Init\n");
+	SetCurrent(*m_glRC);
+	visualize_init();
+}
+
+
+
+
+
 BEGIN_EVENT_TABLE(MyFrame,wxFrame)
 	EVT_MENU(wxID_ABOUT, MyFrame::OnAbout)
 	EVT_MENU(wxID_EXIT, MyFrame::OnQuit)
+	EVT_TIMER(ID_TIMER, MyFrame::OnTimer)
 END_EVENT_TABLE()
 
 
@@ -11,7 +67,44 @@ MyFrame::MyFrame(wxWindow *parent, wxWindowID id, const wxString &title,
     const wxPoint &position, const wxSize& size, long style) :
     wxFrame( parent, id, title, position, size, style )
 {
+	wxMenuBar *menuBar;
+	wxMenu *menu;
+	wxMenuItem *item;
 
+	menuBar = new wxMenuBar;
+	menu = new wxMenu;
+	menu->Append(wxID_EXIT, wxT("Quit"));
+	menuBar->Append(menu, wxT("&File"));
+
+	menu = new wxMenu;
+	//item = new wxMenuItem(menu, ID_ABOUT, "About");
+	menu->Append(wxID_ABOUT, wxT("About"));
+	menuBar->Append(menu, wxT("&Help"));
+
+	SetMenuBar(menuBar);
+
+	int gl_attrib[20] =
+        { 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};
+
+
+	m_canvas = new MyCanvas(this, wxID_ANY, gl_attrib);
+	Show(true);
+	Raise();
+	m_canvas->InitGL();
+
+	open_port(PORT);
+	m_timer = new wxTimer(this, ID_TIMER);
+	m_timer->Start(40, wxTIMER_CONTINUOUS);
+}
+
+void MyFrame::OnTimer(wxTimerEvent &event)
+{
+	//printf("OnTimer\n");
+	read_serial_data();
+	m_canvas->Refresh();
 }
 
 void MyFrame::OnAbout(wxCommandEvent &event)
@@ -29,6 +122,7 @@ void MyFrame::OnQuit( wxCommandEvent &event )
 
 MyFrame::~MyFrame(void)
 {
+	close_port();
 }
 
 

gui.h

@@ -2,6 +2,60 @@
 #define gui__h_
 
 #include <wx/wx.h>
+#include "wx/timer.h"
+#include "wx/glcanvas.h"
+#include "wx/math.h"
+#include "wx/log.h"
+#include "wx/wfstream.h"
+#include "wx/zstream.h"
+#include "wx/txtstrm.h"
+#if defined(__WXMAC__) || defined(__WXCOCOA__)
+#ifdef __DARWIN__
+#include <OpenGL/gl.h>
+#include <OpenGL/glu.h>
+#else
+#include <gl.h>
+#include <glu.h>
+#endif
+#else
+#include <GL/gl.h>
+#include <GL/glu.h>
+#endif
+
+
+#define ID_TIMER		10000
+
+
+class MyCanvas : public wxGLCanvas
+{
+public:
+	MyCanvas(wxWindow *parent,
+		wxWindowID id = wxID_ANY,
+		int *gl_attrib = NULL);
+
+	virtual ~MyCanvas();
+
+	void OnPaint(wxPaintEvent& event);
+	void OnSize(wxSizeEvent& event);
+	void OnChar(wxKeyEvent& event);
+	void OnMouseEvent(wxMouseEvent& event);
+
+	void LoadSurface(const wxString& filename);
+	void InitMaterials();
+	void InitGL();
+
+private:
+	wxGLContext *m_glRC;
+
+	//GLfloat m_verts[MAXVERTS][3];
+	//GLfloat m_norms[MAXVERTS][3];
+	//GLint m_numverts;
+	//GLfloat m_xrot;
+	//GLfloat m_yrot;
+
+	wxDECLARE_NO_COPY_CLASS(MyCanvas);
+	wxDECLARE_EVENT_TABLE();
+};
 
 
 class MyFrame: public wxFrame
@@ -13,9 +67,13 @@ public:
 		const wxSize &size = wxDefaultSize,
 		long style = wxDEFAULT_FRAME_STYLE);
 	~MyFrame(void);
+	void InitGL();
 private:
+	MyCanvas *m_canvas;
+	wxTimer *m_timer;
 	void OnAbout(wxCommandEvent &event);
 	void OnQuit(wxCommandEvent &event);
+	void OnTimer(wxTimerEvent &event);
 	DECLARE_EVENT_TABLE()
 };
 

imuread.c

@@ -1,23 +1,17 @@
 #include "imuread.h"
+#include <GL/glut.h> // sudo apt-get install xorg-dev libglu1-mesa-dev freeglut3-dev
 
-void timer_callback(int val)
+static void timer_callback(int val)
 {
 	glutTimerFunc(TIMEOUT_MSEC, timer_callback, 0);
 	read_serial_data();
 	glutPostRedisplay(); // TODO: only redisplay if data changes
 }
 
-void resize_callback(int width, int height)
+static void glut_display_callback(void)
 {
-	const float ar = (float) width / (float) height;
-
-	glViewport(0, 0, width, height);
-	glMatrixMode(GL_PROJECTION);
-	glLoadIdentity();
-	glFrustum(-ar, ar, -1.0, 1.0, 2.0, 100.0);
-
-	glMatrixMode(GL_MODELVIEW);
-	glLoadIdentity() ;
+	display_callback();
+	glutSwapBuffers();
 }
 
 int main(int argc, char *argv[])
@@ -30,7 +24,7 @@ int main(int argc, char *argv[])
 	visualize_init();
 
 	glutReshapeFunc(resize_callback);
-	glutDisplayFunc(display_callback);
+	glutDisplayFunc(glut_display_callback);
 	glutTimerFunc(TIMEOUT_MSEC, timer_callback, 0);
 
 	open_port(PORT);

imuread.h

@@ -13,7 +13,8 @@
 #include <sys/stat.h>
 #include <fcntl.h>
 #include <sys/select.h>
-#include <GL/glut.h> // sudo apt-get install xorg-dev libglu1-mesa-dev freeglut3-dev
+#include <GL/gl.h>
+#include <GL/glu.h>
 
 #define PORT "/dev/ttyACM0"
 #define TIMEOUT_MSEC 40
@@ -53,7 +54,6 @@ 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"

visualize.c

@@ -52,11 +52,11 @@ 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;
+	GLUquadric *sphere;
 
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
 	glColor3f(1, 0, 0);	// set current color to red
@@ -69,6 +69,9 @@ void display_callback(void)
 	zoff = -7.0;
 
 	if (hard_iron.valid) {
+		sphere = gluNewQuadric();
+		gluQuadricDrawStyle(sphere, GLU_FILL);
+		gluQuadricNormals(sphere, GLU_SMOOTH);
 		quad_to_rotation(&current_orientation, rotation);
 		for (i=0; i < MAGBUFFSIZE; i++) {
 			if (caldata[i].valid) {
@@ -87,12 +90,26 @@ void display_callback(void)
 					draw.z * yscale + yoff,
 					draw.y * zscale + zoff
 				);
-				glutSolidSphere(0.08,16,16); // radius, slices, stacks
+				gluSphere(sphere, 0.08, 12, 10);
+
 				glPopMatrix();
 			}
 		}
+		gluDeleteQuadric(sphere);
 	}
-	glutSwapBuffers();
+}
+
+void resize_callback(int width, int height)
+{
+	const float ar = (float) width / (float) height;
+
+	glViewport(0, 0, width, height);
+	glMatrixMode(GL_PROJECTION);
+	glLoadIdentity();
+	glFrustum(-ar, ar, -1.0, 1.0, 2.0, 100.0);
+
+	glMatrixMode(GL_MODELVIEW);
+	glLoadIdentity() ;
 }