rotation is now calculated on calibration.

detect.h

@@ -33,18 +33,49 @@ enum {
 	POSCTL_MODE_CONTROL
 };
 
+enum {
+	POSCTL_CALIB_MODE_OFF = 0,
+	POSCTL_CALIB_MODE_START,
+	POSCTL_CALIB_MODE_DELTA,
+	POSCTL_CALIB_MODE_AXIS1_MI,
+	POSCTL_CALIB_MODE_AXIS1_MA,
+	POSCTL_CALIB_MODE_AXIS2_MI,
+	POSCTL_CALIB_MODE_AXIS2_MA,
+	POSCTL_CALIB_MODE_FINISH
+};
+
+
+
 
 class PosCtl {
 	private:
 		GMutex mutex;
 		int mode;
 		PID pid_axis[2];
+		struct timeval calib_timestamp;
+		int calib_mode;
+		position_2d calib_pos;
+
+		void CalibModeStart(int x, int y);
+		void CalibModeDelta(int x, int y);
+		void CalibModeAxis(int x, int y);
+		void CalibModeFinish();
 
-		time_t test_t1;		// FIXME: only for testing gui functions
 	public:
 		PosCtl();
 		~PosCtl() {};
 
+		double calib_rot_angle;
+		double calib_rot_len;
+
+		double calib_axis1_angle;
+		double calib_axis1_lenmi;
+		double calib_axis1_lenma;
+
+		double calib_axis2_angle;
+		double calib_axis2_lenmi;
+		double calib_axis2_lenma;
+
 		void LockMutex() { g_mutex_lock(&mutex); };
 		void UnLockMutex() { g_mutex_unlock(&mutex); };
 

posctl.cc

@@ -59,10 +59,10 @@ void cb_posctl_angles_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer
 	// rotation da
 	GtkWidget *entry_rot_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotangle"));
 	GtkWidget *entry_rot_len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotlen"));
-	GtkWidget *entry_axis1_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1anlge"));
+	GtkWidget *entry_axis1_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1angle"));
 	GtkWidget *entry_axis1_lenmi = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1lenmi"));
 	GtkWidget *entry_axis1_lenma = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1lenma"));
-	GtkWidget *entry_axis2_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2anlge"));
+	GtkWidget *entry_axis2_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2angle"));
 	GtkWidget *entry_axis2_lenmi = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2lenmi"));
 	GtkWidget *entry_axis2_lenma = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2lenma"));
 
@@ -217,9 +217,22 @@ void cb_posctl_axis_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer da
  * posctl gui update
  */
 void posctl_gui_update() {
+	char txt[255];
+
 	GtkWidget *btnclib = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_calib"));
 	GtkWidget *cbenable = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_enablectl"));
 
+	GtkWidget *e_cal_rotangle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotangle"));
+	GtkWidget *e_cal_rotlen = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotlen"));
+
+	GtkWidget *e_cal_a1angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1angle"));
+	GtkWidget *e_cal_a1lenmi = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1lenmi"));
+	GtkWidget *e_cal_a1lenma = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1lenma"));
+
+	GtkWidget *e_cal_a2angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2angle"));
+	GtkWidget *e_cal_a2lenmi = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2lenmi"));
+	GtkWidget *e_cal_a2lenma = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2lenma"));
+
 	posctl.LockMutex();
 	int m = posctl.GetMode();
 
@@ -232,6 +245,25 @@ void posctl_gui_update() {
 		gtk_widget_set_sensitive(cbenable, false);
 	}
 
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_rot_angle);
+	gtk_entry_set_text (GTK_ENTRY(e_cal_rotangle), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_rot_len);
+	gtk_entry_set_text (GTK_ENTRY(e_cal_rotlen), txt);
+
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis1_angle);
+	gtk_entry_set_text (GTK_ENTRY(e_cal_a1angle), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis1_lenmi);
+	gtk_entry_set_text (GTK_ENTRY(e_cal_a1lenmi), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis1_lenma);
+	gtk_entry_set_text (GTK_ENTRY(e_cal_a1lenma), txt);
+
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis2_angle);
+	gtk_entry_set_text (GTK_ENTRY(e_cal_a2angle), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis2_lenmi);
+	gtk_entry_set_text (GTK_ENTRY(e_cal_a2lenmi), txt);
+	strfromd (txt, sizeof(txt-1), (const char *)"%f", posctl.calib_axis2_lenma);
+	gtk_entry_set_text (GTK_ENTRY(e_cal_a2lenma), txt);
+
 	posctl.UnLockMutex();
 }
 
@@ -248,7 +280,16 @@ gboolean cb_thread_posctl (gpointer data) {
 
 PosCtl::PosCtl() {
 	mode = POSCTL_MODE_OFF;
-	test_t1 = 0;
+
+	calib_mode = POSCTL_CALIB_MODE_OFF;
+	calib_rot_len = 0.0;
+	calib_rot_angle = 0.0;
+	calib_axis1_angle = 0.0;
+	calib_axis1_lenmi = 0.0;
+	calib_axis1_lenma = 0.0;
+	calib_axis2_angle = 0.0;
+	calib_axis2_lenmi = 0.0;
+	calib_axis2_lenma = 0.0;
 };
 
 
@@ -269,7 +310,8 @@ void PosCtl::StartCalibration() {
 		return;
 	}
 	mode = POSCTL_MODE_CALIB;
-	test_t1 = time (NULL);
+	calib_mode = POSCTL_CALIB_MODE_START;
+	gettimeofday (&calib_timestamp, NULL);
 	gdk_threads_add_idle(cb_thread_posctl, NULL);
 }
 
@@ -305,16 +347,106 @@ void PosCtl::GetAxisParam (	int axis, double *min, double *max,
 };
 
 
+/*
+ * calibration functions
+ */
+void PosCtl::CalibModeStart(int x, int y) {
+	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
+
+	calib_pos.x = x;
+	calib_pos.y = y;
+
+	calib_mode = POSCTL_CALIB_MODE_DELTA;
+	gettimeofday (&calib_timestamp, NULL);
+	gdk_threads_add_idle(cb_thread_posctl, NULL);
+};
+
+
+void PosCtl::CalibModeDelta(int x, int y) {
+	struct timeval tv;
+	float timediff;
+
+	gettimeofday (&tv, NULL);
+	timediff = (float)(tv.tv_sec - calib_timestamp.tv_sec) + ((tv.tv_usec - calib_timestamp.tv_usec) / 1000000.0);
+
+	if (timediff > 10.0) {
+		position_f_2d fp;
+
+		printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
+
+		fp.x = x - calib_pos.x;
+		fp.x /= (float)timediff;
+		fp.y = y - calib_pos.y;
+		fp.y /= (float)timediff;
+
+		LockMutex();
+		calib_rot_angle = atan2(fp.x, fp.y) * 180.0 / M_PI;
+		calib_rot_len = sqrt(fp.x * fp.x + fp.y * fp.y);
+		UnLockMutex();
+
+		calib_mode = POSCTL_CALIB_MODE_AXIS1_MA;
+		gettimeofday (&calib_timestamp, NULL);
+		gdk_threads_add_idle(cb_thread_posctl, NULL);
+
+	}
+};
+
+
+void PosCtl::CalibModeAxis(int x, int y) {
+	struct timeval tv;
+	float timediff;
+
+	gettimeofday (&tv, NULL);
+	timediff = (float)(tv.tv_sec - calib_timestamp.tv_sec) + ((tv.tv_usec - calib_timestamp.tv_usec) / 1000000.0);
+
+	if (timediff > 10.0) {
+		printf ("%s:%d %s calib_mode: %d\n", __FILE__, __LINE__, __FUNCTION__, calib_mode);
+
+		calib_mode++;
+		gettimeofday (&calib_timestamp, NULL);
+		gdk_threads_add_idle(cb_thread_posctl, NULL);
+	}
+};
+
+
+void PosCtl::CalibModeFinish() {
+	printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
+
+	mode = POSCTL_MODE_OFF;
+	calib_mode = POSCTL_CALIB_MODE_OFF;
+	gettimeofday (&calib_timestamp, NULL);
+	gdk_threads_add_idle(cb_thread_posctl, NULL);
+};
+
+
 /*
  * Loop, if new data is aviable
  */
 void PosCtl::Loop (int posx, int posy) {
-	time_t t = time(NULL);
+	//
-
+	// calibration mode?
-	// FIXME:: only for testing gui function
+	if (mode == POSCTL_MODE_CALIB) {
-	if ((t - test_t1) > 5) {
+		switch (calib_mode) {
+		case (POSCTL_CALIB_MODE_START):
+			CalibModeStart(posx, posy);
+			break;
+		case (POSCTL_CALIB_MODE_DELTA):
+			CalibModeDelta(posx, posy);
+			break;
+		case (POSCTL_CALIB_MODE_AXIS1_MI):
+		case (POSCTL_CALIB_MODE_AXIS1_MA):
+		case (POSCTL_CALIB_MODE_AXIS2_MI):
+		case (POSCTL_CALIB_MODE_AXIS2_MA):
+			CalibModeAxis(posx, posy);
+			break;
+		case (POSCTL_CALIB_MODE_FINISH):
+			CalibModeFinish();
+			break;
+		default:
+			calib_mode = POSCTL_CALIB_MODE_OFF;
 			mode = POSCTL_MODE_OFF;
 			gdk_threads_add_idle(cb_thread_posctl, NULL);
 		}
+	}
 };
 

simpleskycam.ui

@@ -758,7 +758,7 @@
                 <property name="row-spacing">4</property>
                 <property name="column-spacing">4</property>
                 <child>
-                  <object class="GtkEntry" id="posctl_entry_a1anlge">
+                  <object class="GtkEntry" id="posctl_entry_a1angle">
                     <property name="visible">True</property>
                     <property name="sensitive">False</property>
                     <property name="can-focus">True</property>
@@ -788,7 +788,7 @@
                   </packing>
                 </child>
                 <child>
-                  <object class="GtkEntry" id="posctl_entry_a2anlge">
+                  <object class="GtkEntry" id="posctl_entry_a2angle">
                     <property name="visible">True</property>
                     <property name="sensitive">False</property>
                     <property name="can-focus">True</property>