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SimpleSkyCam
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tests tests tests

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master
Steffen Pohle 2 years ago
parent 06d5235c63
commit d216628ac8
7 changed files with 94 additions and 28 deletions
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7
detect.cc
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@ -5,6 +5,7 @@
#include <mmintrin.h> #include <mmintrin.h>
#include <unistd.h> #include <unistd.h>
#include <math.h> #include <math.h>
#include <sys/time.h>
#include "config.h" #include "config.h"
#include "gui.h" #include "gui.h"
#include "detect.h" #include "detect.h"
@ -75,14 +76,18 @@ int Detect::NewFrame(VideoFrame *newframe) {
// Thread: newFrame |------> Find Object --- not found ---> send gui information // Thread: newFrame |------> Find Object --- not found ---> send gui information
void Detect::Thread() { void Detect::Thread() {
DetectOutput doutput; DetectOutput doutput;
struct timeval timestamp;
double dt;
int oldX, oldY; int oldX, oldY;
objectX = -1; objectX = -1;
objectY = -1; objectY = -1;
doutput.detmatrix = (uint32_t*)malloc (sizeof(uint32_t) * DET_MAXSHIFT * DET_MAXSHIFT); doutput.detmatrix = (uint32_t*)malloc (sizeof(uint32_t) * DET_MAXSHIFT * DET_MAXSHIFT);
gettimeofday (&timestamp, NULL);
while (running) { while (running) {
// check for new frame // check for new frame
dt = get_cycletime(&timestamp);
LockInMutex(); LockInMutex();
if (inFrameNew == 1) { if (inFrameNew == 1) {
inFrameNew = 0; inFrameNew = 0;
@ -144,7 +149,7 @@ void Detect::Thread() {
if (detmatrix != NULL) if (detmatrix != NULL)
memcpy (doutput.detmatrix, detmatrix, sizeof(uint32_t) * DET_MAXSHIFT * DET_MAXSHIFT); memcpy (doutput.detmatrix, detmatrix, sizeof(uint32_t) * DET_MAXSHIFT * DET_MAXSHIFT);
posctl.Loop (objectX, objectY); posctl.Loop (objectX, objectY, dt);
UnLockMutex(); // unlock detect dataset UnLockMutex(); // unlock detect dataset

8
detect.h
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@ -95,6 +95,8 @@ class PosCtl {
struct timeval calib_timestamp; struct timeval calib_timestamp;
int calib_mode; int calib_mode;
position_2d calib_pos; position_2d calib_pos;
position_f_2d pos;
double posfilter;
struct PosCtl_ThreadData threaddata; // will be copied to gtk thread struct PosCtl_ThreadData threaddata; // will be copied to gtk thread
void NotifyGtk(); void NotifyGtk();
@ -109,6 +111,9 @@ class PosCtl {
int OutputOpen(); int OutputOpen();
int WriteTTY(char *); int WriteTTY(char *);
int ReadTTY(char *, int); int ReadTTY(char *, int);
static double filteredvalue(double old_value, double new_value, double dt, double filter);
public: public:
PosCtl(); PosCtl();
~PosCtl() {}; ~PosCtl() {};
@ -134,9 +139,10 @@ class PosCtl {
void SetAxisParam (int axis, double min, double max, double k, double i, double d); 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 GetAxisParam (int axis, double *min, double *max, double *k, double *i, double *d);
void SetDevice(std::string d); void SetDevice(std::string d);
void SetFilter(double f) { posfilter = f; };
std::string GetDevice() { return device; }; std::string GetDevice() { return device; };
void Loop (int posx, int posy); void Loop (int posx, int posy, double dt);
int OutputWriteValue (int axis, double value); int OutputWriteValue (int axis, double value);
int OutputWriteStop (); int OutputWriteStop ();
int OutputWriteStart (); int OutputWriteStart ();

2
pid.cc
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@ -7,6 +7,7 @@
#include <stdio.h> #include <stdio.h>
#include <stdint.h> #include <stdint.h>
#include <sys/time.h> #include <sys/time.h>
#include <math.h>
#include "pid.h" #include "pid.h"
/* /*
@ -80,7 +81,6 @@ double PID::Update(double target, double value, int64_t time) {
double P, I, D; double P, I, D;
double Derivative; double Derivative;
// error
error = target - value; error = target - value;
// proportional part // proportional part

42
posctl.cc
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@ -169,6 +169,7 @@ void cb_posctl_change_entry (GtkWidget *widget, gpointer data) {
GtkWidget *dec_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_dec_ki")); GtkWidget *dec_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_dec_ki"));
GtkWidget *dec_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_dec_kd")); GtkWidget *dec_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_dec_kd"));
GtkWidget *resetsim = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_resetsim")); GtkWidget *resetsim = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_resetsim"));
GtkWidget *inputfilter = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_inputfilter"));
const char *s; const char *s;
@ -192,7 +193,7 @@ void cb_posctl_change_entry (GtkWidget *widget, gpointer data) {
else if (dec_kp == widget) decp = atof(s); else if (dec_kp == widget) decp = atof(s);
else if (dec_ki == widget) deci = atof(s); else if (dec_ki == widget) deci = atof(s);
else if (dec_kd == widget) decd = atof(s); else if (dec_kd == widget) decd = atof(s);
else if (inputfilter == widget) posctl.SetFilter(atof(s));
posctl.SetAxisParam(AXIS_RA, ramin, ramax, rap, rai, rad); posctl.SetAxisParam(AXIS_RA, ramin, ramax, rap, rai, rad);
posctl.SetAxisParam(AXIS_DEC, decmin, decmax, decp, deci, decd); posctl.SetAxisParam(AXIS_DEC, decmin, decmax, decp, deci, decd);
@ -672,6 +673,7 @@ PosCtl::PosCtl() {
#endif #endif
device = ""; device = "";
device_type = POSCTL_DEVTYPE_TTY; device_type = POSCTL_DEVTYPE_TTY;
posfilter = 0.0;
}; };
/* /*
@ -903,10 +905,28 @@ void PosCtl::CalibModeFinish() {
}; };
double PosCtl::filteredvalue(double old_value, double new_value, double dt, double filter) {
double res = NAN;
if (isnan(old_value) || filter == 0.0) res = new_value;
else {
double factor = dt/filter;
if (factor > 1.0) factor = 1.0;
res = old_value - (old_value - new_value) * factor;
}
return res;
}
/* /*
* Loop, if new data is aviable{ * Loop, if new data is aviable{
*/ */
void PosCtl::Loop (int posx, int posy) { void PosCtl::Loop (int pos_x, int pos_y, double dt) {
pos.x = PosCtl::filteredvalue(pos.x, pos_x, dt, posfilter);
pos.y = PosCtl::filteredvalue(pos.y, pos_y, dt, posfilter);
#ifdef DEBUG_POSCTL #ifdef DEBUG_POSCTL
static int lastmode = -1; static int lastmode = -1;
double kp0,ki0,kd0, kp1,ki1,kd1; double kp0,ki0,kd0, kp1,ki1,kd1;
@ -919,19 +939,19 @@ void PosCtl::Loop (int posx, int posy) {
if (mode == POSCTL_MODE_CALIB) { if (mode == POSCTL_MODE_CALIB) {
switch (calib_mode) { switch (calib_mode) {
case (POSCTL_CALIB_MODE_START): case (POSCTL_CALIB_MODE_START):
CalibModeStart(posx, posy); CalibModeStart(pos.x, pos.y);
break; break;
case (POSCTL_CALIB_MODE_STOP1): case (POSCTL_CALIB_MODE_STOP1):
case (POSCTL_CALIB_MODE_AXIS1START): case (POSCTL_CALIB_MODE_AXIS1START):
case (POSCTL_CALIB_MODE_AXIS2START): case (POSCTL_CALIB_MODE_AXIS2START):
CalibModeWait(posx, posy); CalibModeWait(pos.x, pos.y);
break; break;
case (POSCTL_CALIB_MODE_DELTAM): case (POSCTL_CALIB_MODE_DELTAM):
CalibModeDelta(posx, posy); CalibModeDelta(pos.x, pos.y);
break; break;
case (POSCTL_CALIB_MODE_AXIS1M): case (POSCTL_CALIB_MODE_AXIS1M):
case (POSCTL_CALIB_MODE_AXIS2M): case (POSCTL_CALIB_MODE_AXIS2M):
CalibModeAxis(posx, posy); CalibModeAxis(pos.x, pos.y);
break; break;
case (POSCTL_CALIB_MODE_FINISH): case (POSCTL_CALIB_MODE_FINISH):
CalibModeFinish(); CalibModeFinish();
@ -962,7 +982,7 @@ void PosCtl::Loop (int posx, int posy) {
// dist_axis < 0.0 pid should increase the output. // dist_axis < 0.0 pid should increase the output.
// > 0.0 pid should decrease the output // > 0.0 pid should decrease the output
target_p.x = target_pos.x; target_p.y = target_pos.y; target_p.x = target_pos.x; target_p.y = target_pos.y;
p.x = posx; p.y = posy; p.x = pos.x; p.y = pos.y;
axis_pv[AXIS_RA] = calib_axis2_v.perpendicular(p, target_pos); axis_pv[AXIS_RA] = calib_axis2_v.perpendicular(p, target_pos);
axis_pv[AXIS_DEC] = calib_axis1_v.perpendicular(p, target_pos); axis_pv[AXIS_DEC] = calib_axis1_v.perpendicular(p, target_pos);
axis_op[AXIS_RA] = pid_axis[AXIS_RA].Update(0.0, axis_pv[AXIS_RA]); axis_op[AXIS_RA] = pid_axis[AXIS_RA].Update(0.0, axis_pv[AXIS_RA]);
@ -990,13 +1010,13 @@ void PosCtl::Loop (int posx, int posy) {
else { else {
LockMutex(); LockMutex();
target_pos.x = posx; target_pos.x = pos.x;
target_pos.y = posy; target_pos.y = pos.y;
UnLockMutex(); UnLockMutex();
} }
current_pos.x = posx; current_pos.x = pos.x;
current_pos.y = posy; current_pos.y = pos.y;
#ifdef DEBUG_POSCTL #ifdef DEBUG_POSCTL
lastmode = mode; lastmode = mode;
#endif #endif

55
simpleskycam.ui
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@ -1209,7 +1209,7 @@
<object class="GtkEntry" id="posctl_entry_ra_min"> <object class="GtkEntry" id="posctl_entry_ra_min">
<property name="visible">True</property> <property name="visible">True</property>
<property name="can-focus">True</property> <property name="can-focus">True</property>
<property name="width-chars">4</property> <property name="width-chars">6</property>
<signal name="activate" handler="cb_posctl_change_entry" swapped="no"/> <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
</object> </object>
<packing> <packing>
@ -1221,7 +1221,7 @@
<object class="GtkEntry" id="posctl_entry_ra_max"> <object class="GtkEntry" id="posctl_entry_ra_max">
<property name="visible">True</property> <property name="visible">True</property>
<property name="can-focus">True</property> <property name="can-focus">True</property>
<property name="width-chars">4</property> <property name="width-chars">6</property>
<signal name="activate" handler="cb_posctl_change_entry" swapped="no"/> <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
</object> </object>
<packing> <packing>
@ -1233,7 +1233,7 @@
<object class="GtkEntry" id="posctl_entry_ra_kp"> <object class="GtkEntry" id="posctl_entry_ra_kp">
<property name="visible">True</property> <property name="visible">True</property>
<property name="can-focus">True</property> <property name="can-focus">True</property>
<property name="width-chars">4</property> <property name="width-chars">6</property>
<signal name="activate" handler="cb_posctl_change_entry" swapped="no"/> <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
</object> </object>
<packing> <packing>
@ -1245,7 +1245,7 @@
<object class="GtkEntry" id="posctl_entry_ra_ki"> <object class="GtkEntry" id="posctl_entry_ra_ki">
<property name="visible">True</property> <property name="visible">True</property>
<property name="can-focus">True</property> <property name="can-focus">True</property>
<property name="width-chars">4</property> <property name="width-chars">6</property>
<signal name="activate" handler="cb_posctl_change_entry" swapped="no"/> <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
</object> </object>
<packing> <packing>
@ -1257,7 +1257,7 @@
<object class="GtkEntry" id="posctl_entry_ra_kd"> <object class="GtkEntry" id="posctl_entry_ra_kd">
<property name="visible">True</property> <property name="visible">True</property>
<property name="can-focus">True</property> <property name="can-focus">True</property>
<property name="width-chars">4</property> <property name="width-chars">6</property>
<signal name="activate" handler="cb_posctl_change_entry" swapped="no"/> <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
</object> </object>
<packing> <packing>
@ -1468,7 +1468,7 @@
<object class="GtkEntry" id="posctl_entry_dec_min"> <object class="GtkEntry" id="posctl_entry_dec_min">
<property name="visible">True</property> <property name="visible">True</property>
<property name="can-focus">True</property> <property name="can-focus">True</property>
<property name="width-chars">4</property> <property name="width-chars">6</property>
<signal name="activate" handler="cb_posctl_change_entry" swapped="no"/> <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
</object> </object>
<packing> <packing>
@ -1480,7 +1480,7 @@
<object class="GtkEntry" id="posctl_entry_dec_max"> <object class="GtkEntry" id="posctl_entry_dec_max">
<property name="visible">True</property> <property name="visible">True</property>
<property name="can-focus">True</property> <property name="can-focus">True</property>
<property name="width-chars">4</property> <property name="width-chars">6</property>
<signal name="activate" handler="cb_posctl_change_entry" swapped="no"/> <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
</object> </object>
<packing> <packing>
@ -1492,7 +1492,7 @@
<object class="GtkEntry" id="posctl_entry_dec_kp"> <object class="GtkEntry" id="posctl_entry_dec_kp">
<property name="visible">True</property> <property name="visible">True</property>
<property name="can-focus">True</property> <property name="can-focus">True</property>
<property name="width-chars">4</property> <property name="width-chars">6</property>
<signal name="activate" handler="cb_posctl_change_entry" swapped="no"/> <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
</object> </object>
<packing> <packing>
@ -1504,7 +1504,7 @@
<object class="GtkEntry" id="posctl_entry_dec_ki"> <object class="GtkEntry" id="posctl_entry_dec_ki">
<property name="visible">True</property> <property name="visible">True</property>
<property name="can-focus">True</property> <property name="can-focus">True</property>
<property name="width-chars">4</property> <property name="width-chars">6</property>
<signal name="activate" handler="cb_posctl_change_entry" swapped="no"/> <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
</object> </object>
<packing> <packing>
@ -1516,7 +1516,7 @@
<object class="GtkEntry" id="posctl_entry_dec_kd"> <object class="GtkEntry" id="posctl_entry_dec_kd">
<property name="visible">True</property> <property name="visible">True</property>
<property name="can-focus">True</property> <property name="can-focus">True</property>
<property name="width-chars">4</property> <property name="width-chars">6</property>
<signal name="activate" handler="cb_posctl_change_entry" swapped="no"/> <signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
</object> </object>
<packing> <packing>
@ -1870,7 +1870,40 @@
</packing> </packing>
</child> </child>
<child> <child>
<placeholder/> <object class="GtkBox">
<property name="visible">True</property>
<property name="can-focus">False</property>
<child>
<object class="GtkLabel">
<property name="visible">True</property>
<property name="can-focus">False</property>
<property name="label" translatable="yes">Input Filter:</property>
</object>
<packing>
<property name="expand">False</property>
<property name="fill">True</property>
<property name="position">0</property>
</packing>
</child>
<child>
<object class="GtkEntry" id="posctl_entry_inputfilter">
<property name="visible">True</property>
<property name="can-focus">True</property>
<property name="width-chars">6</property>
<signal name="activate" handler="cb_posctl_change_entry" swapped="no"/>
</object>
<packing>
<property name="expand">False</property>
<property name="fill">True</property>
<property name="position">1</property>
</packing>
</child>
</object>
<packing>
<property name="expand">False</property>
<property name="fill">True</property>
<property name="position">2</property>
</packing>
</child> </child>
</object> </object>
</child> </child>

7
videodev-simulation.cc
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@ -20,6 +20,8 @@
#include "configuration.h" #include "configuration.h"
#include "videodev-simulation.h" #include "videodev-simulation.h"
#define SIMULATION_MOTORSPEEDUP 1.0
Simulation simulation; Simulation simulation;
gpointer simulation_threadprocess_wrapper (gpointer data); gpointer simulation_threadprocess_wrapper (gpointer data);
@ -128,6 +130,7 @@ int VideoDev_Simulation::CaptureStop() {
* Return code VDEV_STATUS_AGAIN is not an error. There was no video image ready to read. * Return code VDEV_STATUS_AGAIN is not an error. There was no video image ready to read.
*/ */
#define SIMULATION_SIZE 16 #define SIMULATION_SIZE 16
#define SIMULATION_NOISE 15
int VideoDev_Simulation::Grab(VideoFrameRaw *vf) { int VideoDev_Simulation::Grab(VideoFrameRaw *vf) {
int posx, posy, x ,y, r, radius; int posx, posy, x ,y, r, radius;
double a, dsec; double a, dsec;
@ -141,8 +144,8 @@ int VideoDev_Simulation::Grab(VideoFrameRaw *vf) {
radius = conf_width * SIMULATION_SIZE / 1920; radius = conf_width * SIMULATION_SIZE / 1920;
for (r = 1; r < radius; r++) for (a = 0; a < M_PI * 2.0; a += 0.1) { for (r = 1; r < radius; r++) for (a = 0; a < M_PI * 2.0; a += 0.1) {
x = posx + (sin(a) * r); x = posx + (sin(a) * r) + (SIMULATION_NOISE/2 - SIMULATION_NOISE *(float) rand()/ (float)RAND_MAX);
y = posy + (cos(a) * r); y = posy + (cos(a) * r) + (SIMULATION_NOISE/2 - SIMULATION_NOISE *(float) rand()/ (float)RAND_MAX);
if (x >= 0 && x < conf_width && y >= 0 && y < conf_height) { if (x >= 0 && x < conf_width && y >= 0 && y < conf_height) {
inframe[3*(x+y*conf_width)+0] = 200; inframe[3*(x+y*conf_width)+0] = 200;
inframe[3*(x+y*conf_width)+1] = 200; inframe[3*(x+y*conf_width)+1] = 200;

1
videodev-simulation.h
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@ -26,7 +26,6 @@
#include "gui.h" #include "gui.h"
#include "videodev.h" #include "videodev.h"
#define SIMULATION_MOTORSPEEDUP 0.01
struct SimAxisCtl { struct SimAxisCtl {
int active; int active;
double vdest; double vdest;

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