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221 lines
8.7 KiB
221 lines
8.7 KiB
/***************************************************************************************
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*
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* posctl.cc is part of SimpleSkyCam.
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*
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*****************************************************************************************/
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#include <list>
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#include <string>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <math.h>
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#include "gui.h"
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#include "filter.h"
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#include "detect.h"
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#include "configuration.h"
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#include "video.h"
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#include "videodev.h"
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#include "histogram.h"
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extern GtkBuilder *_builder_; // work around for threads
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GtkWidget *posctl_rot_da = NULL;
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// GtkWidget *posctl_axis1_da = NULL;
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// GtkWidget *posctl_axis1_da = NULL;
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double linedash1[] = { 1.0, 4.0 };
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void cb_posctl_show_window (GtkWidget *widget, gpointer data) {
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printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
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GtkWidget *wnd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "window-posctl"));
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gtk_widget_show(wnd);
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}
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void cb_posctl_btncalib (GtkWidget *widget, gpointer data) {
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printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
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GtkWidget *btn = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_calib"));
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gtk_widget_set_sensitive(btn, false);
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printf ("%s:%d %s disable all axis motors\n", __FILE__, __LINE__, __FUNCTION__);
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printf ("%s:%d %s wait 5 or 10 seconds\n", __FILE__, __LINE__, __FUNCTION__);
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printf ("%s:%d %s set minimum axis 1\n", __FILE__, __LINE__, __FUNCTION__);
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printf ("%s:%d %s wait 5 or 10 seconds\n", __FILE__, __LINE__, __FUNCTION__);
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printf ("%s:%d %s set maximum axis 1\n", __FILE__, __LINE__, __FUNCTION__);
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printf ("%s:%d %s wait 5 or 10 seconds\n", __FILE__, __LINE__, __FUNCTION__);
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printf ("%s:%d %s set minimum axis 2\n", __FILE__, __LINE__, __FUNCTION__);
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printf ("%s:%d %s wait 5 or 10 seconds\n", __FILE__, __LINE__, __FUNCTION__);
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printf ("%s:%d %s set maximum axis 2\n", __FILE__, __LINE__, __FUNCTION__);
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printf ("%s:%d %s wait 5 or 10 seconds\n", __FILE__, __LINE__, __FUNCTION__);
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printf ("%s:%d %s calculation rotation angle for each axis\n", __FILE__, __LINE__, __FUNCTION__);
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printf ("%s:%d %s set axis in config file and use it for corrections\n", __FILE__, __LINE__, __FUNCTION__);
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}
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void cb_posctl_angles_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer data) {
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int clientw, clienth;
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position_f_2d lpos[5];
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float lmax;
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position_2d center;
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//
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// rotation da
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GtkWidget *entry_rot_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotangle"));
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GtkWidget *entry_rot_len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_rotlen"));
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GtkWidget *entry_axis1_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1anlge"));
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GtkWidget *entry_axis1_lenmi = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1lenmi"));
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GtkWidget *entry_axis1_lenma = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1lenma"));
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GtkWidget *entry_axis2_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2anlge"));
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GtkWidget *entry_axis2_lenmi = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2lenmi"));
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GtkWidget *entry_axis2_lenma = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2lenma"));
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float rotangle = atof(gtk_entry_get_text(GTK_ENTRY(entry_rot_angle))) * (M_PI / 180);
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float rotlen = atof(gtk_entry_get_text(GTK_ENTRY(entry_rot_len)));
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float a1_angle = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis1_angle))) * (M_PI / 180);
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float a1_lenmi = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis1_lenmi)));
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float a1_lenma = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis1_lenma)));
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float a2_angle = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis2_angle))) * (M_PI / 180);
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float a2_lenmi = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis2_lenmi)));
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float a2_lenma = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis2_lenma)));
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// float lenmax = max(max(max(a1_lenmi, a1_lenma),max(a2_lenmi, a2_lenma)), rotlen);
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if (posctl_rot_da == NULL) // should only be called once
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posctl_rot_da = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_rotation"));
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clienth = gtk_widget_get_allocated_height(posctl_rot_da);
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clientw = gtk_widget_get_allocated_width(posctl_rot_da);
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center.x = clientw >> 1;
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center.y = clienth >> 1;
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//
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// draw the background
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cairo_set_source_rgb(cr, 0.0, 0.0, 0.0);
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cairo_paint(cr);
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cairo_fill (cr);
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cairo_set_source_rgb(cr, 0.8, 0.8, 0.8);
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cairo_rectangle (cr, 1, 1, clientw - 2, clienth - 2);
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cairo_fill (cr);
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cairo_set_source_rgb(cr, 0.0, 0.0, 0.0);
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cairo_set_dash(cr, linedash1, 2, 0);
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cairo_move_to(cr, center.x, center.y - center.y * 0.8);
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cairo_line_to(cr, center.x, center.y + center.y * 0.8);
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cairo_stroke(cr);
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cairo_move_to(cr, center.x - center.x * 0.8, center.y);
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cairo_line_to(cr, center.x + center.x * 0.8, center.y);
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cairo_stroke(cr);
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cairo_set_dash(cr, NULL, 0, 0);
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//
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// calculate angles
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lpos[0].x = sin(rotangle) * rotlen;
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lpos[0].y = cos(rotangle) * rotlen;
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lpos[1].x = lpos[0].x + sin(a1_angle) * a1_lenmi;
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lpos[1].y = lpos[0].y + cos(a1_angle) * a1_lenmi;
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lpos[2].x = lpos[0].x + sin(a1_angle) * a1_lenma;
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lpos[2].y = lpos[0].y + cos(a1_angle) * a1_lenma;
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lpos[3].x = lpos[0].x + sin(a2_angle) * a2_lenmi;
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lpos[3].y = lpos[0].y + cos(a2_angle) * a2_lenmi;
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lpos[4].x = lpos[0].x + sin(a2_angle) * a2_lenma;
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lpos[4].y = lpos[0].y + cos(a2_angle) * a2_lenma;
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// find maximum
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for (int i = 0; i < 5; i++) {
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if (i == 0) {
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lmax = fabs (lpos[0].x);
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if (fabs(lpos[i].y) > lmax) lmax = fabs(lpos[i].y);
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} else {
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if (fabs(lpos[i].x) > lmax) lmax = fabs(lpos[i].x);
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if (fabs(lpos[i].y) > lmax) lmax = fabs(lpos[i].y);
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}
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}
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//
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// draw
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cairo_select_font_face (cr, "sans-serif", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_NORMAL);
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cairo_set_font_size (cr, 11);
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cairo_set_line_width(cr, 4.0);
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// rot
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cairo_set_source_rgb(cr, 0.0, 0.0, 0.0);
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cairo_move_to(cr, center.x, center.y);
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cairo_line_to(cr, center.x + float (lpos[0].x * center.x * 0.8 / lmax),
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center.y - float (lpos[0].y * center.y * 0.8 / lmax));
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cairo_stroke(cr);
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cairo_move_to(cr, center.x + float (lpos[0].x * center.x * 0.9 / lmax),
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center.y - float (lpos[0].y * center.y * 0.9 / lmax));
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cairo_show_text(cr, (char *)"E");
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// axis1
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cairo_set_source_rgb(cr, 0.0, 1.0, 0.5);
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cairo_move_to(cr, center.x + float (lpos[1].x * center.x * 0.8 / lmax),
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center.y - float (lpos[1].y * center.y * 0.8 / lmax));
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cairo_line_to(cr, center.x + float (lpos[2].x * center.x * 0.8 / lmax),
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center.y - float (lpos[2].y * center.y * 0.8 / lmax));
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cairo_stroke(cr);
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cairo_move_to(cr, center.x + float (lpos[2].x * center.x * 0.9 / lmax),
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center.y - float (lpos[2].y * center.y * 0.9 / lmax));
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cairo_show_text(cr, (char *)"1");
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// axis2
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cairo_set_source_rgb(cr, 0.0, 0.5, 1.0);
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cairo_move_to(cr, center.x + float (lpos[3].x * center.x * 0.8 / lmax),
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center.y - float (lpos[3].y * center.y * 0.8 / lmax));
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cairo_line_to(cr, center.x + float (lpos[4].x * center.x * 0.8 / lmax),
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center.y - float (lpos[4].y * center.y * 0.8 / lmax));
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cairo_stroke(cr);
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cairo_move_to(cr, center.x + float (lpos[4].x * center.x * 0.9 / lmax),
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center.y - float (lpos[4].y * center.y * 0.9 / lmax));
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cairo_show_text(cr, (char *)"2");
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};
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void cb_posctl_entryanglelen (GtkWidget *widget, gpointer data) {
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if (posctl_rot_da == NULL) // should only be called once
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posctl_rot_da = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_rotation"));
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gdk_window_invalidate_rect(gtk_widget_get_window(posctl_rot_da), NULL, true);
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};
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void cb_posctl_axis_draw(GtkWidget *area, cairo_t *cr, int w, int h, gpointer data) {
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GtkWidget *da1 = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_axis1"));
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GtkWidget *da2 = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_axis2"));
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position_2d center;
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int clienth = gtk_widget_get_allocated_height(area);
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int clientw = gtk_widget_get_allocated_width(area);
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center.x = clientw >> 1;
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center.y = clienth >> 1;
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cairo_set_source_rgb(cr, 0.0, 0.0, 0.0);
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cairo_paint(cr);
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cairo_fill (cr);
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cairo_set_source_rgb(cr, 0.8, 0.8, 0.8);
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cairo_rectangle (cr, 1, 1, clientw - 2, clienth - 2);
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cairo_fill (cr);
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cairo_set_source_rgb(cr, 0.0, 0.0, 0.0);
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cairo_set_dash(cr, linedash1, 2, 0);
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cairo_move_to(cr, center.x, center.y - center.y * 0.8);
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cairo_line_to(cr, center.x, clienth);
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cairo_stroke(cr);
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cairo_set_dash(cr, NULL, 0, 0);
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cairo_set_source_rgb(cr, 0.5, 0.5, 0.5);
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cairo_select_font_face (cr, "sans-serif", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_NORMAL);
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cairo_set_font_size (cr, 10);
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cairo_move_to(cr, 30, 10);
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cairo_show_text(cr, (char *)"offset");
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if (da1 != area && da2 != area) {
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cairo_move_to(cr, 30, 0);
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cairo_show_text(cr, (char *)"unknown");
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return;
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}
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};
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