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1049 lines
36 KiB
1049 lines
36 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 "pid.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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#include "error.h"
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#ifdef BUILD_WINDOWS
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#include "windows.h"
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#endif
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extern PosCtl posctl;
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extern Simulation simulation;
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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_axis2_da = NULL;
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double linedash1[] = { 1.0, 4.0 };
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/*
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* axis history chart.
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*/
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#define AXIS_HISTORY_CNT 400
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struct AxisHistory {
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double diff;
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double out;
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struct timeval ts;
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};
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struct AxisHistory axis_history[2][AXIS_HISTORY_CNT];
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int axis_history_pos[2] = { 0, 0 };
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void axis_history_add(int axis, double diff, double out) {
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if (axis > 1 || axis < 0) return;
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axis_history_pos[axis]++;
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if (axis_history_pos[axis] < 0) axis_history_pos[axis] = 0;
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if (axis_history_pos[axis] >= AXIS_HISTORY_CNT) axis_history_pos[axis] = 0;
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gettimeofday(&axis_history[axis][axis_history_pos[axis]].ts, NULL);
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axis_history[axis][axis_history_pos[axis]].diff = diff;
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axis_history[axis][axis_history_pos[axis]].out = out;
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}
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#define CALIB_MAXSPEED 1.0
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#define CALIB_DURATION_DELTA 10.0
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#define CALIB_DURATION_AXIS (CALIB_DURATION_DELTA / CALIB_MAXSPEED)
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void posctl_gui_update();
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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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posctl.StartCalibration();
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posctl_gui_update();
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}
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void cb_posctl_btnstop (GtkWidget *widget, gpointer data) {
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printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
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posctl.Stop();
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posctl_gui_update();
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}
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void cb_posctl_btncontrol (GtkWidget *widget, gpointer data) {
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printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
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posctl.StartControl();
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posctl_gui_update();
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}
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void cb_posctl_show (GtkWidget *widget, gpointer data) {
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printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
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posctl_gui_update();
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}
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void cb_posctl_btn_axismove (GtkWidget *widget, gpointer data) {
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GtkWidget *btn_a1min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_min"));
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GtkWidget *btn_a1center = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_center"));
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GtkWidget *btn_a1max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_max"));
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GtkWidget *btn_a2min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_min"));
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GtkWidget *btn_a2center = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_center"));
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GtkWidget *btn_a2max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_max"));
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double a1min, a2min, a1max, a2max;
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printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
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posctl.GetAxisParam(0, &a1min, &a1max, NULL, NULL, NULL);
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posctl.GetAxisParam(1, &a2min, &a2max, NULL, NULL, NULL);
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if (widget == btn_a1min) posctl.OutputWriteValue(0, a1min);
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else if (widget == btn_a1center) posctl.OutputWriteValue(0, (a1max-a1min)/2.0+a1min);
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else if (widget == btn_a1max) posctl.OutputWriteValue(0, a1max);
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else if (widget == btn_a2min) posctl.OutputWriteValue(1, a1min);
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else if (widget == btn_a2center) posctl.OutputWriteValue(1, (a1max-a1min)/2.0+a1min);
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else if (widget == btn_a2max) posctl.OutputWriteValue(1, a1max);
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posctl_gui_update();
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}
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void cb_posctl_change_entry (GtkWidget *widget, gpointer data) {
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double a1min, a1max, a1p, a1i, a1d;
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double a2min, a2max, a2p, a2i, a2d;
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GtkWidget *e_posdevice = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_device"));
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GtkWidget *a1_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_min"));
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GtkWidget *a1_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_max"));
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GtkWidget *a1_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kp"));
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GtkWidget *a1_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_ki"));
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GtkWidget *a1_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kd"));
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GtkWidget *a2_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_min"));
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GtkWidget *a2_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_max"));
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GtkWidget *a2_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kp"));
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GtkWidget *a2_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_ki"));
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GtkWidget *a2_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kd"));
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const char *s;
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posctl.GetAxisParam(0, &a1min, &a1max, &a1p, &a1i, &a1d);
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posctl.GetAxisParam(1, &a2min, &a2max, &a2p, &a2i, &a2d);
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printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
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s = gtk_entry_get_text(GTK_ENTRY(widget));
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posctl.LockMutex();
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if (e_posdevice == widget) posctl.SetDevice(s);
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else if (a1_min == widget) a1min = atof(s);
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else if (a1_max == widget) a1max = atof(s);
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else if (a1_kp == widget) a1p = atof(s);
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else if (a1_ki == widget) a1i = atof(s);
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else if (a1_kd == widget) a1d = atof(s);
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else if (a2_min == widget) a2min = atof(s);
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else if (a2_max == widget) a2max = atof(s);
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else if (a2_kp == widget) a2p = atof(s);
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else if (a2_ki == widget) a2i = atof(s);
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else if (a2_kd == widget) a2d = atof(s);
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posctl.SetAxisParam(0, a1min, a1max, a1p, a1i, a1d);
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posctl.SetAxisParam(1, a2min, a2max, a2p, a2i, a2d);
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posctl.UnLockMutex();
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}
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/*
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* draw position relative to target position.
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* draw the axis vectors form the center of the screen.
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* draw the earch movement to the center of the screen.
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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, p;
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position_2d center;
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double pscale = 2.0;
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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_a1angle"));
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GtkWidget *entry_axis1_len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1len"));
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GtkWidget *entry_axis2_angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2angle"));
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GtkWidget *entry_axis2_len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2len"));
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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_len = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis1_len)));
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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_len = atof(gtk_entry_get_text(GTK_ENTRY(entry_axis2_len)));
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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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// 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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// rot
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lpos.x = -sin(rotangle) * rotlen * 4.0;
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lpos.y = -cos(rotangle) * rotlen * 4.0;
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cairo_set_source_rgb(cr, 0.0, 0.0, 0.0);
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cairo_set_line_width(cr, 4.0);
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cairo_move_to(cr, center.x, center.y);
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cairo_line_to(cr, center.x + lpos.x, center.y + lpos.y);
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cairo_stroke(cr);
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cairo_set_line_width(cr, 0.5);
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cairo_move_to(cr, center.x - lpos.x * 100.0, center.y - lpos.y * 100.0);
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cairo_line_to(cr, center.x + lpos.x * 100.0, center.y + lpos.y * 100.0);
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cairo_stroke(cr);
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// axis1
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lpos.x = sin(a1_angle) * a1_len * 4.0;
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lpos.y = cos(a1_angle) * a1_len * 4.0;
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cairo_set_source_rgb(cr, 0.0, 0.75, 0.3);
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cairo_set_line_width(cr, 4.0);
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cairo_move_to(cr, center.x, center.y);
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cairo_line_to(cr, center.x + lpos.x, center.y + lpos.y);
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cairo_stroke(cr);
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cairo_set_line_width(cr, 0.5);
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cairo_move_to(cr, center.x - lpos.x * 100.0, center.y - lpos.y * 100.0);
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cairo_line_to(cr, center.x + lpos.x * 100.0, center.y + lpos.y * 100.0);
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cairo_stroke(cr);
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// axis2
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lpos.x = sin(a2_angle) * a2_len * 4.0;
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lpos.y = cos(a2_angle) * a2_len * 4.0;
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cairo_set_source_rgb(cr, 0.0, 0.3, 0.75);
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cairo_set_line_width(cr, 4.0);
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cairo_move_to(cr, center.x, center.y);
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cairo_line_to(cr, center.x + lpos.x, center.y + lpos.y);
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cairo_stroke(cr);
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cairo_set_line_width(cr, 0.5);
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cairo_move_to(cr, center.x - lpos.x * 100.0, center.y - lpos.y * 100.0);
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cairo_line_to(cr, center.x + lpos.x * 100.0, center.y + lpos.y * 100.0);
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cairo_stroke(cr);
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//
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// draw position relative to the target
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p = posctl.current_pos - posctl.target_pos;
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p.x *= pscale;
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p.y *= pscale;
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cairo_set_source_rgb(cr, 0.8, 0.1, 0.1);
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cairo_set_line_width(cr, 1.0);
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cairo_move_to(cr, center.x-4 + p.x, center.y + p.y);
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cairo_line_to(cr, center.x+4 + p.x, center.y + p.y);
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cairo_stroke(cr);
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cairo_move_to(cr, center.x + p.x, center.y-4 + p.y);
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cairo_line_to(cr, center.x + p.x, center.y+4 + p.y);
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cairo_stroke(cr);
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cairo_move_to(cr, center.x+4 + p.x, center.y-4 + p.y);
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cairo_line_to(cr, center.x-4 + p.x, center.y+4 + p.y);
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cairo_stroke(cr);
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cairo_move_to(cr, center.x+4 + p.x, center.y+4 + p.y);
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cairo_line_to(cr, center.x-4 + p.x, center.y-4 + p.y);
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cairo_stroke(cr);
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// draw distance to axis
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lpos.x = sindeg(posctl.calib_axis1.a) * posctl.axis_pv[0] * pscale;
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lpos.y = cosdeg(posctl.calib_axis1.a) * posctl.axis_pv[0] * pscale;
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cairo_move_to(cr, center.x + p.x, center.y + p.y);
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cairo_line_to(cr, center.x + p.x + lpos.x, center.y + p.y + lpos.y);
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cairo_stroke(cr);
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// draw distance to axis
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lpos.x = sindeg(posctl.calib_axis2.a) * posctl.axis_pv[1] * pscale;
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lpos.y = cosdeg(posctl.calib_axis2.a) * posctl.axis_pv[1] * pscale;
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cairo_move_to(cr, center.x + p.x, center.y + p.y);
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cairo_line_to(cr, center.x + p.x + lpos.x, center.y + p.y + lpos.y);
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cairo_stroke(cr);
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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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#define AXIS_DIFF_MIN -20.0
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#define AXIS_DIFF_MAX 20.0
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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 axis = 0 , i, cnt;
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double dx, dy;
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double aoutmin[2];
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double aoutmax[2];
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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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if (da1 == area) axis = 0;
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else if (da2 == area) axis = 1;
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else {
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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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posctl.GetAxisParam(axis, &aoutmin[axis], &aoutmax[axis], NULL, NULL, NULL);
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// draw diff
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cairo_set_source_rgb(cr, 1.0, 0.5, 0.5);
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cairo_select_font_face (cr, "sans-serif", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_NORMAL);
|
|
cairo_set_font_size (cr, 10);
|
|
cairo_move_to(cr, 10, 10);
|
|
cairo_show_text(cr, (char *)"diff");
|
|
// draw elements diff
|
|
i = axis_history_pos[axis];
|
|
cnt = 0;
|
|
do {
|
|
dx = ((double) clientw) * (axis_history[axis][i].diff - AXIS_DIFF_MIN) /
|
|
(AXIS_DIFF_MAX-AXIS_DIFF_MIN);
|
|
dy = ((double) clienth) * ((double)cnt) / ((double) AXIS_HISTORY_CNT);
|
|
|
|
if (dx >= clientw) dx = clientw-1;
|
|
if (dy >= clienth) dy = clienth-1;
|
|
if (dx < 0) dx = 0;
|
|
if (dy < 0) dy = 0;
|
|
|
|
if (cnt == 0) cairo_move_to(cr, (int)dx, int(dy));
|
|
else cairo_line_to(cr, (int)dx, int(dy));
|
|
|
|
cnt++;
|
|
i--;
|
|
if (i < 0) i = AXIS_HISTORY_CNT-1;
|
|
} while (i != axis_history_pos[axis]);
|
|
cairo_stroke(cr);
|
|
|
|
if (axis == 0) cairo_set_source_rgb(cr, 0.0, 0.75, 0.3);
|
|
else cairo_set_source_rgb(cr, 0.0, 0.3, 0.75);
|
|
cairo_select_font_face (cr, "sans-serif", CAIRO_FONT_SLANT_NORMAL, CAIRO_FONT_WEIGHT_NORMAL);
|
|
cairo_set_font_size (cr, 10);
|
|
cairo_move_to(cr, 60, 10);
|
|
cairo_show_text(cr, (char *)"out");
|
|
// draw elements diff
|
|
i = axis_history_pos[axis];
|
|
cnt = 0;
|
|
do {
|
|
dx = ((double) clientw) * (axis_history[axis][i].out - aoutmin[axis]) /
|
|
(aoutmax[axis]-aoutmin[axis]);
|
|
dy = ((double) clienth) * ((double)cnt) / ((double) AXIS_HISTORY_CNT);
|
|
|
|
if (dx >= clientw) dx = clientw-1;
|
|
if (dy >= clienth) dy = clienth-1;
|
|
if (dx < 0) dx = 0;
|
|
if (dy < 0) dy = 0;
|
|
|
|
if (cnt == 0) cairo_move_to(cr, (int)dx, int(dy));
|
|
else cairo_line_to(cr, (int)dx, int(dy));
|
|
|
|
cnt++;
|
|
i--;
|
|
if (i < 0) i = AXIS_HISTORY_CNT-1;
|
|
} while (i != axis_history_pos[axis]);
|
|
cairo_stroke(cr);
|
|
};
|
|
|
|
|
|
/*
|
|
* posctl gui update
|
|
*/
|
|
void posctl_gui_update() {
|
|
char txt[255];
|
|
double kp, ki, kd, mi, ma;
|
|
|
|
GtkWidget *caliblabel = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_calib_label"));
|
|
|
|
GtkWidget *btnclib = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_calib"));
|
|
GtkWidget *btnstop = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_stop"));
|
|
GtkWidget *btncontrol = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_control"));
|
|
GtkWidget *btnsimreset = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_resetsim"));
|
|
|
|
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_a1len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1len"));
|
|
|
|
GtkWidget *e_cal_a2angle = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2angle"));
|
|
GtkWidget *e_cal_a2len = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2len"));
|
|
GtkWidget *lb_earthaxis = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_earthaxis"));
|
|
GtkWidget *lb_axisaxis = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_axisaxis"));
|
|
|
|
GtkWidget *e_posdevice = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_device"));
|
|
GtkWidget *btn_a1min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_min"));
|
|
GtkWidget *btn_a1center = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_center"));
|
|
GtkWidget *btn_a1max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a1_max"));
|
|
GtkWidget *btn_a2min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_min"));
|
|
GtkWidget *btn_a2center = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_center"));
|
|
GtkWidget *btn_a2max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_btn_a2_max"));
|
|
|
|
|
|
GtkWidget *a1_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_min"));
|
|
GtkWidget *a1_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_max"));
|
|
GtkWidget *a1_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kp"));
|
|
GtkWidget *a1_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_ki"));
|
|
GtkWidget *a1_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a1_kd"));
|
|
GtkWidget *a1_out = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_outx"));
|
|
GtkWidget *a1_pv = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_dx"));
|
|
GtkWidget *a2_min = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_min"));
|
|
GtkWidget *a2_max = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_max"));
|
|
GtkWidget *a2_kp = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kp"));
|
|
GtkWidget *a2_ki = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_ki"));
|
|
GtkWidget *a2_kd = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_entry_a2_kd"));
|
|
GtkWidget *a2_out = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_outy"));
|
|
GtkWidget *a2_pv = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_lb_dy"));
|
|
|
|
posctl.LockMutex();
|
|
int m = posctl.GetMode();
|
|
|
|
if (m == POSCTL_MODE_OFF) {
|
|
gtk_widget_set_sensitive(btnclib, true);
|
|
gtk_widget_set_sensitive(btncontrol, true);
|
|
gtk_widget_set_sensitive(btnstop, false);
|
|
gtk_widget_set_sensitive(btn_a1min, true);
|
|
gtk_widget_set_sensitive(btn_a1center, true);
|
|
gtk_widget_set_sensitive(btn_a1max, true);
|
|
gtk_widget_set_sensitive(btn_a2min, true);
|
|
gtk_widget_set_sensitive(btn_a2center, true);
|
|
gtk_widget_set_sensitive(btn_a2max, true);
|
|
gtk_widget_set_sensitive(e_posdevice, true);
|
|
gtk_label_set_label(GTK_LABEL(caliblabel), (char *) "");
|
|
}
|
|
else {
|
|
if (m == POSCTL_MODE_CALIB) {
|
|
gtk_label_set_label(GTK_LABEL(caliblabel), (char *) "running");
|
|
}
|
|
gtk_widget_set_sensitive(btnclib, false);
|
|
gtk_widget_set_sensitive(btncontrol, false);
|
|
gtk_widget_set_sensitive(btnstop, true);
|
|
gtk_widget_set_sensitive(btn_a1min, false);
|
|
gtk_widget_set_sensitive(btn_a1center, false);
|
|
gtk_widget_set_sensitive(btn_a1max, false);
|
|
gtk_widget_set_sensitive(btn_a2min, false);
|
|
gtk_widget_set_sensitive(btn_a2center, false);
|
|
gtk_widget_set_sensitive(btn_a2max, false);
|
|
gtk_widget_set_sensitive(e_posdevice, false);
|
|
}
|
|
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.calib_rot.a);
|
|
gtk_entry_set_text (GTK_ENTRY(e_cal_rotangle), txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.calib_rot.l);
|
|
gtk_entry_set_text (GTK_ENTRY(e_cal_rotlen), txt);
|
|
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.calib_axis1.a);
|
|
gtk_entry_set_text (GTK_ENTRY(e_cal_a1angle), txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.calib_axis1.l);
|
|
gtk_entry_set_text (GTK_ENTRY(e_cal_a1len), txt);
|
|
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.calib_axis2.a);
|
|
gtk_entry_set_text (GTK_ENTRY(e_cal_a2angle), txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.calib_axis2.l);
|
|
gtk_entry_set_text (GTK_ENTRY(e_cal_a2len), txt);
|
|
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.calib_rot.a - posctl.calib_axis1.a);
|
|
gtk_label_set_text (GTK_LABEL(lb_earthaxis), txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.calib_axis1.a - posctl.calib_axis2.a);
|
|
gtk_label_set_text (GTK_LABEL(lb_axisaxis), txt);
|
|
|
|
gtk_entry_set_text (GTK_ENTRY(e_posdevice), posctl.GetDevice().c_str());
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.axis_op[0]);
|
|
gtk_label_set_text(GTK_LABEL(a1_out), txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.axis_op[1]);
|
|
gtk_label_set_text(GTK_LABEL(a2_out), txt);
|
|
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.axis_pv[0]);
|
|
gtk_label_set_text(GTK_LABEL(a1_pv), txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", posctl.axis_pv[1]);
|
|
gtk_label_set_text(GTK_LABEL(a2_pv), txt);
|
|
|
|
posctl.GetAxisParam(0, &mi, &ma, &kp, &ki, &kd);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", mi);
|
|
gtk_entry_set_text_nofocus (a1_min, txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", ma);
|
|
gtk_entry_set_text_nofocus (a1_max, txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", kp);
|
|
gtk_entry_set_text_nofocus (a1_kp, txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", ki);
|
|
gtk_entry_set_text_nofocus (a1_ki, txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", kd);
|
|
gtk_entry_set_text_nofocus (a1_kd, txt);
|
|
|
|
posctl.GetAxisParam(1, &mi, &ma, &kp, &ki, &kd);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", mi);
|
|
gtk_entry_set_text_nofocus (a2_min, txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", ma);
|
|
gtk_entry_set_text_nofocus (a2_max, txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", kp);
|
|
gtk_entry_set_text_nofocus (a2_kp, txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", ki);
|
|
gtk_entry_set_text_nofocus (a2_ki, txt);
|
|
strfromd (txt, sizeof(txt-1), (char *)"%f", kd);
|
|
gtk_entry_set_text_nofocus (a2_kd, txt);
|
|
|
|
const gchar *txtptr = gtk_entry_get_text(GTK_ENTRY(e_posdevice));
|
|
if (strncmp(txtptr, "SIMULATION", 11) == 0) gtk_widget_show (btnsimreset);
|
|
else gtk_widget_hide (btnsimreset);
|
|
|
|
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) {
|
|
GtkWidget *da1 = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_axis1"));
|
|
GtkWidget *da2 = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_axis2"));
|
|
|
|
posctl_gui_update();
|
|
|
|
gtk_widget_queue_draw(da1);
|
|
gtk_widget_queue_draw(da2);
|
|
|
|
if (posctl_rot_da == NULL) // should only be called once
|
|
posctl_rot_da = GTK_WIDGET(gtk_builder_get_object (GTK_BUILDER(_builder_), "posctl_da_rotation"));
|
|
gdk_window_invalidate_rect(gtk_widget_get_window(posctl_rot_da), NULL, true);
|
|
|
|
|
|
return false;
|
|
};
|
|
|
|
|
|
PosCtl::PosCtl() {
|
|
mode = POSCTL_MODE_OFF;
|
|
|
|
#ifdef DEBUG_POSCTL
|
|
debug_tofile((char*)"posctl.log", 1, (char*)"mode , calEV,calEL , posX,posY,targetX,targetY,dx,dy , cal1V,cal1L , axis1.pv,axis1.op,axis1.kp,axis1.ki,axis1.kd , cal2V,cal2L , axis2.pv,axis2.op,axis2.kp,axis2.ki,axis2.kd\n");
|
|
#endif
|
|
|
|
calib_mode = POSCTL_CALIB_MODE_OFF;
|
|
#if BUILD_WINDOWS
|
|
device_fd = INVALID_HANDLE_VALUE;
|
|
#else
|
|
device_fd = -1;
|
|
#endif
|
|
device = "";
|
|
device_type = POSCTL_DEVTYPE_TTY;
|
|
};
|
|
|
|
/*
|
|
* 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;
|
|
calib_mode = POSCTL_CALIB_MODE_START;
|
|
gettimeofday (&calib_timestamp, 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;
|
|
}
|
|
printf ("%s:%d %s start controlling Target:%f , %f\n", __FILE__, __LINE__, __FUNCTION__,
|
|
target_pos.x, target_pos.y);
|
|
|
|
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);
|
|
};
|
|
|
|
|
|
/*
|
|
* 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;
|
|
if (OutputWriteStop()) mode = POSCTL_MODE_OFF;
|
|
gettimeofday (&calib_timestamp, NULL);
|
|
gdk_threads_add_idle(cb_thread_posctl, NULL);
|
|
};
|
|
|
|
|
|
void PosCtl::CalibModeDelta(int x, int y) {
|
|
struct timeval tv;
|
|
float timediff;
|
|
double a1min, a1max;
|
|
|
|
gettimeofday (&tv, NULL);
|
|
timediff = (float)(tv.tv_sec - calib_timestamp.tv_sec) + ((tv.tv_usec - calib_timestamp.tv_usec) / 1000000.0);
|
|
|
|
if (timediff > CALIB_DURATION_DELTA) {
|
|
position_f_2d fp;
|
|
|
|
printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
|
|
pid_axis[0].GetParam(&a1min, &a1max, NULL, NULL, NULL);
|
|
|
|
fp.x = (x - calib_pos.x) / (float)timediff;
|
|
fp.y = (y - calib_pos.y) / (float)timediff;
|
|
|
|
LockMutex();
|
|
calib_rot_v = fp;
|
|
calc_vec2anglelen(&fp, &calib_rot);
|
|
UnLockMutex();
|
|
|
|
calib_mode = POSCTL_CALIB_MODE_AXIS1;
|
|
calib_pos.x = x;
|
|
calib_pos.y = y;
|
|
|
|
if (OutputWriteValue(0, CALIB_MAXSPEED)) mode = POSCTL_MODE_OFF;
|
|
|
|
gettimeofday (&calib_timestamp, NULL);
|
|
gdk_threads_add_idle(cb_thread_posctl, NULL);
|
|
}
|
|
};
|
|
|
|
|
|
void PosCtl::CalibModeAxis(int x, int y) {
|
|
struct timeval tv;
|
|
float timediff;
|
|
position_f_2d fp;
|
|
|
|
gettimeofday (&tv, NULL);
|
|
timediff = (float)(tv.tv_sec - calib_timestamp.tv_sec) + ((tv.tv_usec - calib_timestamp.tv_usec) / 1000000.0);
|
|
|
|
if (timediff > CALIB_DURATION_AXIS) {
|
|
printf ("%s:%d %s calib_mode: %d\n", __FILE__, __LINE__, __FUNCTION__, calib_mode);
|
|
|
|
fp.x = +(x - calib_pos.x) / timediff;
|
|
fp.y = +(y - calib_pos.y) / timediff;
|
|
|
|
if (calib_mode == POSCTL_CALIB_MODE_AXIS1) {
|
|
calib_axis1_v = fp - calib_rot_v;
|
|
calc_vec2anglelen(&calib_axis1_v, &calib_axis1);
|
|
if (OutputWriteStop()) mode = POSCTL_MODE_OFF;
|
|
else if (OutputWriteValue(1, CALIB_MAXSPEED)) mode = POSCTL_MODE_OFF;
|
|
}
|
|
else if (calib_mode == POSCTL_CALIB_MODE_AXIS2) {
|
|
calib_axis2_v = fp - calib_rot_v;
|
|
calc_vec2anglelen(&calib_axis2_v, &calib_axis2);
|
|
if (OutputWriteStart()) mode = POSCTL_MODE_OFF;
|
|
}
|
|
|
|
calib_mode++;
|
|
calib_pos.x = x;
|
|
calib_pos.y = y;
|
|
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) {
|
|
#ifdef DEBUG_POSCTL
|
|
static int lastmode = -1;
|
|
double kp0,ki0,kd0, kp1,ki1,kd1;
|
|
if (lastmode != mode && mode != POSCTL_MODE_CONTROL) {
|
|
debug_tofile((char*)"posctl.log", 0, (char*)"%d,,,,,,,,,,,,,,,,,,,,,,\n", mode);
|
|
}
|
|
#endif
|
|
//
|
|
// calibration mode?
|
|
if (mode == POSCTL_MODE_CALIB) {
|
|
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):
|
|
case (POSCTL_CALIB_MODE_AXIS2):
|
|
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);
|
|
}
|
|
}
|
|
|
|
//
|
|
// dist_axis1+axis2 should contain the lot distance to the
|
|
// of the calibrated axis vector with the starting point at target_pos
|
|
// if the current position is below the axis line, the distance must be negative.
|
|
//
|
|
// this distance must be controlled by the PID axis controller.
|
|
// dist_axis1 --> will control pid_axis2
|
|
// dist_axis2 --> will control pis_axis1
|
|
else if (mode == POSCTL_MODE_CONTROL) {
|
|
position_f_2d p, target_p;
|
|
|
|
LockMutex();
|
|
|
|
// calculate
|
|
// dist_axis < 0.0 pid should increase the output.
|
|
// > 0.0 pid should decrease the output
|
|
target_p.x = target_pos.x; target_p.y = target_pos.y;
|
|
p.x = posx; p.y = posy;
|
|
axis_pv[0] = calib_axis2_v.perpendicular(p, target_pos);
|
|
axis_pv[1] = calib_axis1_v.perpendicular(p, target_pos);
|
|
axis_op[0] = pid_axis[0].Update(0.0, axis_pv[0]);
|
|
axis_op[1] = pid_axis[1].Update(0.0, axis_pv[1]);
|
|
|
|
#ifdef DEBUG_POSCTL
|
|
pid_axis[0].GetParam(NULL, NULL, &kp0, &ki0, &kd0);
|
|
pid_axis[1].GetParam(NULL, NULL, &kp1, &ki1, &kd1);
|
|
debug_tofile((char*)"posctl.log", 0, (char*)"%d , %g,%g , %d,%d,%g,%g,%g,%g , %g,%g , %g,%g,%g,%g,%g , %g,%g , %g,%g,%g,%g,%g\n",
|
|
mode, calib_rot.a, calib_rot.l,
|
|
posx, posy, target_pos.x, target_pos.y, posx - target_pos.x, posy - target_pos.y,
|
|
calib_axis1.a, calib_axis1.l, axis_pv[0], axis_op[0],kp0,ki0,kd0,
|
|
calib_axis2.a, calib_axis2.l, axis_pv[1], axis_op[1],kp1,ki1,kd1);
|
|
#endif
|
|
|
|
if (OutputWriteValue(0, axis_op[0]) || OutputWriteValue(1, axis_op[1]))
|
|
mode = POSCTL_MODE_OFF;
|
|
|
|
axis_history_add(0, axis_pv[0], axis_op[0]);
|
|
axis_history_add(1, axis_pv[1], axis_op[1]);
|
|
|
|
UnLockMutex();
|
|
gdk_threads_add_idle(cb_thread_posctl, NULL);
|
|
}
|
|
|
|
else {
|
|
LockMutex();
|
|
target_pos.x = posx;
|
|
target_pos.y = posy;
|
|
UnLockMutex();
|
|
}
|
|
|
|
current_pos.x = posx;
|
|
current_pos.y = posy;
|
|
#ifdef DEBUG_POSCTL
|
|
lastmode = mode;
|
|
#endif
|
|
};
|
|
|
|
|
|
void PosCtl::SetDevice (std::string d) {
|
|
printf ("%s:%d %s new device:%s\n", __FILE__, __LINE__, __FUNCTION__, d.c_str());
|
|
|
|
OutputClose();
|
|
device = d;
|
|
|
|
if (d.compare ("SIMULATION") == 0) device_type = POSCTL_DEVTYPE_SIM;
|
|
else device_type = POSCTL_DEVTYPE_TTY;
|
|
};
|
|
|
|
|
|
int PosCtl::OutputClose() {
|
|
printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
|
|
#ifdef BUILD_WINDOWS
|
|
if (device_fd != INVALID_HANDLE_VALUE) CloseHandle(device_fd);
|
|
device_fd = INVALID_HANDLE_VALUE;
|
|
#else
|
|
if (device_fd > 0) close(device_fd);
|
|
device_fd = -1;
|
|
#endif
|
|
return 0;
|
|
};
|
|
|
|
|
|
int PosCtl::OutputOpen() {
|
|
printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
|
|
#ifdef BUILD_WINDOWS
|
|
if (device_fd != INVALID_HANDLE_VALUE) return 0;
|
|
#else
|
|
if (device_fd > 0) return 0;
|
|
#endif
|
|
|
|
#ifdef BUILD_WINDOWS
|
|
device_fd = CreateFile(device.c_str(), GENERIC_READ | GENERIC_WRITE, 0, NULL, OPEN_EXISTING, 0, NULL);
|
|
if (device_fd == INVALID_HANDLE_VALUE) {
|
|
printf ("%s:%d could not open device:%s Error:%ld\n", __FILE__, __LINE__,
|
|
device.c_str(), GetLastError());
|
|
errormessage_display ((char *)"window-posctl", (char *)"OutputOpen",
|
|
(char*)"%s:%d could not open device:%s Error:%ld\n", __FILE__, __LINE__, device.c_str(), GetLastError());
|
|
return -1;
|
|
}
|
|
COMMTIMEOUTS comTimeOut;
|
|
comTimeOut.ReadIntervalTimeout = 100;
|
|
comTimeOut.ReadTotalTimeoutMultiplier = 1;
|
|
comTimeOut.ReadTotalTimeoutConstant = 100;
|
|
comTimeOut.WriteTotalTimeoutMultiplier = 0;
|
|
comTimeOut.WriteTotalTimeoutConstant = 0;
|
|
SetCommTimeouts(device_fd, &comTimeOut);
|
|
#else
|
|
device_fd = open (device.c_str(), O_RDWR);
|
|
if (device_fd < 0) {
|
|
printf ("%s:%d could not open device:%s Error:%s\n", __FILE__, __LINE__,
|
|
device.c_str(), strerror(errno));
|
|
errormessage_display ((char *)"window-posctl", (char *)"OutputOpen",
|
|
(char*)"%s:%d could not open device:%s Error:%s\n", __FILE__, __LINE__, device.c_str(), strerror(errno));
|
|
return -1;
|
|
}
|
|
#endif
|
|
return 0;
|
|
};
|
|
|
|
int PosCtl::WriteTTY (char * outbuf) {
|
|
//printf ("%s:%d %s send: '%s'\n", __FILE__, __LINE__, __FUNCTION__, outbuf);
|
|
|
|
#ifdef BUILD_WINDOWS
|
|
DWORD len;
|
|
int res;
|
|
res = WriteFile(device_fd, outbuf, strlen(outbuf), &len, NULL);
|
|
if (res == 0 || len != strlen(outbuf)) {
|
|
printf ("%s:%d could not write data to device:%s Error:%ld\n", __FILE__, __LINE__,
|
|
device.c_str(), GetLastError());
|
|
errormessage_display ((char *)"window-posctl", (char *)"WriteTTY",
|
|
(char *) "%s:%d could not write data to device:%s Error:%ld\n", __FILE__, __LINE__,
|
|
device.c_str(), GetLastError());
|
|
}
|
|
#else
|
|
ssize_t len;
|
|
len = write (device_fd, outbuf, strlen(outbuf));
|
|
if ((size_t) len != strlen(outbuf) || len < 0) {
|
|
printf ("%s:%d could not write data to device:%s Error:%s\n", __FILE__, __LINE__,
|
|
device.c_str(), strerror(errno));
|
|
errormessage_display ((char *)"window-posctl", (char *)"WriteTTY",
|
|
(char *) "%s:%d could not write data to device:%s Error:%s\n", __FILE__, __LINE__,
|
|
device.c_str(), strerror(errno));
|
|
}
|
|
#endif
|
|
return 0;
|
|
}
|
|
|
|
int PosCtl::ReadTTY (char * inbuf, int length) {
|
|
#ifdef BUILD_WINDOWS
|
|
DWORD len;
|
|
int res;
|
|
res = ReadFile(device_fd, inbuf, length, &len, NULL);
|
|
|
|
if (res == 0) {
|
|
printf ("%s:%d could not read data from device:%s Error:%ld\n", __FILE__, __LINE__,
|
|
device.c_str(), GetLastError());
|
|
errormessage_display ((char *)"window-posctl", (char *)"ReadTTY",
|
|
(char *) "%s:%d could not read data from device:%s Error:%ld\n", __FILE__, __LINE__,
|
|
device.c_str(), GetLastError());
|
|
inbuf[0] = 0;
|
|
}
|
|
else {
|
|
inbuf[len] = 0;
|
|
//printf ("%s:%d %s receive: '%s'\n", __FILE__, __LINE__, __FUNCTION__, inbuf);
|
|
}
|
|
#else
|
|
ssize_t len;
|
|
// make device non-blocking
|
|
fcntl(device_fd, F_SETFL, fcntl(device_fd, F_GETFL) | O_NONBLOCK);
|
|
|
|
len = read (device_fd, inbuf, length);
|
|
|
|
// somehow the first read sometimes fails, no idea why
|
|
if (len < 0 && (errno == EAGAIN || errno == EWOULDBLOCK)) {
|
|
usleep(100000);
|
|
len = read (device_fd, inbuf, length);
|
|
}
|
|
|
|
if (len < 0) {
|
|
printf ("%s:%d could not read data from device:%s Error:%s\n", __FILE__, __LINE__,
|
|
device.c_str(), strerror(errno));
|
|
errormessage_display ((char *)"window-posctl", (char *)"ReadTTY",
|
|
(char *) "%s:%d could not read data from device:%s Error:%s\n", __FILE__, __LINE__,
|
|
device.c_str(), strerror(errno));
|
|
inbuf[0] = 0;
|
|
}
|
|
else {
|
|
inbuf[len] = 0;
|
|
printf ("%s:%d %s receive: '%s'\n", __FILE__, __LINE__, __FUNCTION__, inbuf);
|
|
}
|
|
|
|
// make device blocking
|
|
fcntl(device_fd, F_SETFL, fcntl(device_fd, F_GETFL) & ~O_NONBLOCK);
|
|
#endif
|
|
return 0;
|
|
}
|
|
|
|
int PosCtl::OutputWriteValue (int axis, double value) {
|
|
char outbuf[255];
|
|
// printf ("%s:%d %s Axis %d Value:%f\n", __FILE__, __LINE__, __FUNCTION__, axis, value);
|
|
|
|
if (device_type == POSCTL_DEVTYPE_SIM) {
|
|
simulation.AxisSetValue(axis, value);
|
|
return 0;
|
|
}
|
|
|
|
#ifdef BUILD_WINDOWS
|
|
if (device_fd == INVALID_HANDLE_VALUE) if (OutputOpen() != 0) return -1;
|
|
#else
|
|
if (device_fd <= 0) if (OutputOpen() != 0) return -1;
|
|
#endif
|
|
//
|
|
// save language setting and set to plain C
|
|
std::string s = setlocale(LC_ALL, NULL);
|
|
setlocale (LC_ALL, "C");
|
|
|
|
snprintf(outbuf, 254, ":R%c%+09.4f#", (axis == 0 ? 'D' : 'R'), value);
|
|
outbuf[254] = 0;
|
|
|
|
// reset language setting to default
|
|
setlocale (LC_ALL, s.c_str());
|
|
|
|
WriteTTY(outbuf);
|
|
ReadTTY(outbuf, sizeof(outbuf) - 1);
|
|
|
|
return 0;
|
|
};
|
|
|
|
int PosCtl::OutputWriteStop () {
|
|
char outbuf[255];
|
|
|
|
printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
|
|
|
|
if (device_type == POSCTL_DEVTYPE_SIM) {
|
|
simulation.AxisStop();
|
|
return 0;
|
|
}
|
|
|
|
snprintf (outbuf, 255, ":Q#");
|
|
#ifdef BUILD_WINDOWS
|
|
if (device_fd == INVALID_HANDLE_VALUE) if (OutputOpen() != 0) return -1;
|
|
#else
|
|
if (device_fd <= 0) if (OutputOpen() != 0) return -1;
|
|
#endif
|
|
WriteTTY(outbuf);
|
|
|
|
return 0;
|
|
}
|
|
|
|
int PosCtl::OutputWriteStart () {
|
|
printf ("%s:%d %s\n", __FILE__, __LINE__, __FUNCTION__);
|
|
|
|
OutputWriteValue(0, 0.0);
|
|
OutputWriteValue(1, 0.0);
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
|