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posctl ... gui basic implemention. Thread seperated and seem to work. only gui testing functionality now

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master
Steffen Pohle 3 years ago
parent 171df9f20d
commit 68f68489f7
8 changed files with 203 additions and 31 deletions
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8
detect.cc
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@ -10,6 +10,7 @@
#include "detect.h"
extern Detect detect;
extern PosCtl posctl;
//
// C / C++ Wrapper for the thread function
@ -120,7 +121,6 @@ void Detect::Thread() {
break;
}
printf ("%s:%d delta: %d , %d\n", __FILE__, __LINE__, oldX - objectX, oldY - objectY);
if (abs(oldX - objectX) >= DET_MAXSHIFT/5 || abs(oldY - objectY) >= DET_MAXSHIFT/5) {
objectX = -1;
objectY = -1;
@ -141,14 +141,16 @@ void Detect::Thread() {
if (detmatrix != NULL)
memcpy (output.detmatrix, detmatrix, sizeof(uint32_t) * DET_MAXSHIFT * DET_MAXSHIFT);
UnLockMutex(); // unlock Config
posctl.Loop (objectX, objectY);
UnLockMutex(); // unlock detect dataset
gdk_threads_add_idle(cb_thread_detect , &output);
}
else
UnLockInMutex();
usleep (10000);
usleep (10000); // FIXME:: why is it here?
}
free (output.detmatrix);
}

32
detect.h
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@ -8,6 +8,7 @@
#ifndef _DETECT_H_
#define _DETECT_H_
#include "pid.h"
#include "gui.h"
#include "config.h"
#include "video.h"
@ -26,6 +27,36 @@ enum {
AUTOFOLLOW_CROSSC
};
enum {
POSCTL_MODE_OFF = 0,
POSCTL_MODE_CALIB,
POSCTL_MODE_CONTROL
};
class PosCtl {
private:
GMutex mutex;
int mode;
PID pid_axis[2];
time_t test_t1; // FIXME: only for testing gui functions
public:
PosCtl();
~PosCtl() {};
void LockMutex() { g_mutex_lock(&mutex); };
void UnLockMutex() { g_mutex_unlock(&mutex); };
void Stop ();
void StartCalibration ();
void StartControl ();
int GetMode () { return mode; };
void SetAxisParam (int axis, double min, double max, double k, double i, double d);
void GetAxisParam (int axis, double *min, double *max, double *k, double *i, double *d);
void Loop (int posx, int posy);
};
struct {
VideoFrame *image; // detected image
@ -35,7 +66,6 @@ struct {
} typedef DetectOutput;
class Detect {
private:
int running;

3
gui.cc
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@ -105,7 +105,7 @@ void displayerror (std::string error) {
};
//
//data
// callback from filter thread. Data will point to the output VideoFrame.
// Access to this data must be Locked before use.
gboolean cb_thread_filter (gpointer data) {
@ -139,7 +139,6 @@ gboolean cb_thread_filter (gpointer data) {
gdk_window_invalidate_rect(gtk_widget_get_window(image_da), NULL, true);
filter.UnLockImageMutex();
return false;
};

1
gui.h
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@ -98,6 +98,7 @@ G_MODULE_EXPORT void cb_input_btnscale (GtkWidget *widget, gpointer data);
G_MODULE_EXPORT void cb_imagetempda_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer data);
G_MODULE_EXPORT gboolean cb_thread_filter (gpointer data);
G_MODULE_EXPORT gboolean cb_thread_detect (gpointer data);
G_MODULE_EXPORT gboolean cb_thread_posctl (gpointer data);
G_MODULE_EXPORT void cb_image_btnnew (GtkWidget *widget, gpointer data);
G_MODULE_EXPORT void cb_image_btnsave (GtkWidget *widget, gpointer data);
G_MODULE_EXPORT void cb_output_show_window (GtkWidget *widget, gpointer data);

1
main.cc
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@ -25,6 +25,7 @@ GtkBuilder *_builder_ = NULL; // work around for the thread situation
Filter filter;
Detect detect;
Configuration config;
PosCtl posctl;
int main (int argc, char **argv) {
GtkBuilder *builder;

52
pid.cc
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@ -15,14 +15,28 @@
parameters must be adjusted by experiments.
*/
PID::PID(double min, double max, double kp, double kd, double ki) {
Min = min;
Max = max;
Kp = kp;
Kd = kd;
Ki = ki;
Integral = 0;
PreviousError = 0;
PreviousTime = GetTime();
Min = min;
Max = max;
Kp = kp;
Kd = kd;
Ki = ki;
Integral = 0;
PreviousError = 0;
PreviousTime = GetTime();
}
/*
* default parameter
*/
PID::PID() {
Min = 0.0;
Max = 1.0;
Kp = 1.0;
Kd = 0.0;
Ki = 0.0;
Integral = 0;
PreviousError = 0;
PreviousTime = GetTime();
}
/*
@ -108,3 +122,25 @@ double PID::Update(double target, double value, int64_t time) {
double PID::Update(double target, double value) {
return Update(target, value, GetTime());
}
void PID::SetParam (double mi, double ma, double p, double i, double d) {
Kp = p;
Ki = i;
Kd = d;
Min = mi;
Max = ma;
};
void PID::GetParam (double *mi, double *ma, double *p, double *i, double *d) {
*p = Kp;
*i = Ki;
*d = Kd;
*mi = Min;
*ma = Max;
};

3
pid.h
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@ -14,9 +14,12 @@ class PID {
public:
PID(double min, double max, double kp, double kd, double ki);
PID();
~PID();
void Start(void);
void SetParam(double mi, double ma, double p, double i, double d);
void GetParam(double *mi, double *ma, double *p, double *i, double *d);
double Update(double target, double value, int64_t time);
double Update(double target, double value);
static int64_t GetTime(void);

134
posctl.cc
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@ -11,6 +11,7 @@
#include <unistd.h>
#include <math.h>
#include "gui.h"
#include "pid.h"
#include "filter.h"
#include "detect.h"
#include "configuration.h"
@ -18,12 +19,17 @@
#include "videodev.h"
#include "histogram.h"
extern PosCtl posctl;
extern GtkBuilder *_builder_; // work around for threads
GtkWidget *posctl_rot_da = NULL;
// GtkWidget *posctl_axis1_da = NULL;
// GtkWidget *posctl_axis1_da = NULL;
double linedash1[] = { 1.0, 4.0 };
void posctl_gui_update();
void cb_posctl_show_window (GtkWidget *widget, gpointer data) {
printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
@ -35,23 +41,12 @@ void cb_posctl_show_window (GtkWidget *widget, gpointer data) {
void cb_posctl_btncalib (GtkWidget *widget, gpointer data) {
printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
GtkWidget *btn = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_calib"));
gtk_widget_set_sensitive(btn, false);
printf ("%s:%d %s disable all axis motors\n", __FILE__, __LINE__, __FUNCTION__);
printf ("%s:%d %s wait 5 or 10 seconds\n", __FILE__, __LINE__, __FUNCTION__);
printf ("%s:%d %s set minimum axis 1\n", __FILE__, __LINE__, __FUNCTION__);
printf ("%s:%d %s wait 5 or 10 seconds\n", __FILE__, __LINE__, __FUNCTION__);
printf ("%s:%d %s set maximum axis 1\n", __FILE__, __LINE__, __FUNCTION__);
printf ("%s:%d %s wait 5 or 10 seconds\n", __FILE__, __LINE__, __FUNCTION__);
printf ("%s:%d %s set minimum axis 2\n", __FILE__, __LINE__, __FUNCTION__);
printf ("%s:%d %s wait 5 or 10 seconds\n", __FILE__, __LINE__, __FUNCTION__);
printf ("%s:%d %s set maximum axis 2\n", __FILE__, __LINE__, __FUNCTION__);
printf ("%s:%d %s wait 5 or 10 seconds\n", __FILE__, __LINE__, __FUNCTION__);
printf ("%s:%d %s calculation rotation angle for each axis\n", __FILE__, __LINE__, __FUNCTION__);
printf ("%s:%d %s set axis in config file and use it for corrections\n", __FILE__, __LINE__, __FUNCTION__);
}
// GtkWidget *btn = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_calib"));
// gtk_widget_set_sensitive(btn, false);
posctl.StartCalibration();
posctl_gui_update();
}
void cb_posctl_angles_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer data) {
int clientw, clienth;
@ -171,7 +166,6 @@ void cb_posctl_angles_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer
cairo_move_to(cr, center.x + float (lpos[4].x * center.x * 0.9 / lmax),
center.y - float (lpos[4].y * center.y * 0.9 / lmax));
cairo_show_text(cr, (char *)"2");
};
@ -218,3 +212,109 @@ void cb_posctl_axis_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer da
}
};
/*
* posctl gui update
*/
void posctl_gui_update() {
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"));
posctl.LockMutex();
int m = posctl.GetMode();
if (m == POSCTL_MODE_OFF) {
gtk_widget_set_sensitive(btnclib, true);
gtk_widget_set_sensitive(cbenable, true);
}
else {
gtk_widget_set_sensitive(btnclib, false);
gtk_widget_set_sensitive(cbenable, false);
}
posctl.UnLockMutex();
}
/*
* callback from the detect thread.
* the gtk/gui updates must and will be processed in a separate gui thread
*/
gboolean cb_thread_posctl (gpointer data) {
posctl_gui_update();
return false;
};
PosCtl::PosCtl() {
mode = POSCTL_MODE_OFF;
test_t1 = 0;
};
/*
* stop the control or the calibration
*/
void PosCtl::Stop() {
printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
mode = POSCTL_MODE_OFF;
gdk_threads_add_idle(cb_thread_posctl, NULL);
}
void PosCtl::StartCalibration() {
printf ("%s:%d\n", __FILE__, __LINE__);
if (mode != POSCTL_MODE_OFF) {
printf ("%s:%d mode is not off, can't start calibration.\n", __FILE__, __LINE__);
return;
}
mode = POSCTL_MODE_CALIB;
test_t1 = time (NULL);
gdk_threads_add_idle(cb_thread_posctl, NULL);
}
void PosCtl::StartControl() {
if (mode != POSCTL_MODE_OFF) {
printf ("%s:%d mode is not off, can't start control.\n", __FILE__, __LINE__);
return;
}
pid_axis[0].Start();
pid_axis[1].Start();
mode = POSCTL_MODE_CONTROL;
gdk_threads_add_idle(cb_thread_posctl, NULL);
}
/*
* get and set PID parameter, no mutex lock
* the access to the data should be already locked by the curren tthread
*/
void PosCtl::SetAxisParam ( int axis, double min, double max,
double k, double i, double d) {
if (axis < 0 || axis > 1) return;
pid_axis[axis].SetParam(min, max, k, i, d);
};
void PosCtl::GetAxisParam ( int axis, double *min, double *max,
double *k, double *i, double *d) {
if (axis < 0 || axis > 1) return;
pid_axis[axis].GetParam(min, max, k, i, d);
};
/*
* Loop, if new data is aviable
*/
void PosCtl::Loop (int posx, int posy) {
time_t t = time(NULL);
// FIXME:: only for testing gui function
if ((t - test_t1) > 5) {
mode = POSCTL_MODE_OFF;
gdk_threads_add_idle(cb_thread_posctl, NULL);
}
};

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