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Improved SerialInterface: Added gravity vector get function, closer to coding standards, better rendering of levels.

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This commit is contained in:
Philip Rosedale 2013-04-15 20:52:18 -07:00
parent b3e99513cb
commit 5e5a7e0a0c
2 changed files with 58 additions and 42 deletions
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95
interface/src/SerialInterface.cpp
View file

@ -6,12 +6,12 @@
//
// Channels are received in the following order (integer 0-4096 based on voltage 0-3.3v)
//
// AIN 15: Pitch Gyro (nodding your head 'yes')
// AIN 16: Yaw Gyro (shaking your head 'no')
// AIN 17: Roll Gyro (looking quizzical, tilting your head)
// AIN 18: Lateral acceleration (moving from side-to-side in front of your monitor)
// AIN 19: Up/Down acceleration (sitting up/ducking in front of your monitor)
// AIN 20: Forward/Back acceleration (Toward or away from your monitor)
// 0 - AIN 15: Pitch Gyro (nodding your head 'yes')
// 1 - AIN 16: Yaw Gyro (shaking your head 'no')
// 2 - AIN 17: Roll Gyro (looking quizzical, tilting your head)
// 3 - AIN 18: Lateral acceleration (moving from side-to-side in front of your monitor)
// 4 - AIN 19: Up/Down acceleration (sitting up/ducking in front of your monitor)
// 5 - AIN 20: Forward/Back acceleration (Toward or away from your monitor)
//
#include "SerialInterface.h"
@ -21,14 +21,15 @@
#include <sys/time.h>
#endif
int serial_fd;
int serialFd;
const int MAX_BUFFER = 255;
char serial_buffer[MAX_BUFFER];
int serial_buffer_pos = 0;
char serialBuffer[MAX_BUFFER];
int serialBufferPos = 0;
const int ZERO_OFFSET = 2048;
const short NO_READ_MAXIMUM_MSECS = 3000;
const short SAMPLES_TO_DISCARD = 100;
const short SAMPLES_TO_DISCARD = 100; // Throw out the first few samples
const int GRAVITY_SAMPLES = 200; // Use the first samples to compute gravity vector
void SerialInterface::pair() {
@ -48,7 +49,7 @@ void SerialInterface::pair() {
char *serialPortname = new char[100];
sprintf(serialPortname, "/dev/%s", entry->d_name);
init(serialPortname, 115200);
initializePort(serialPortname, 115200);
delete [] serialPortname;
}
@ -60,18 +61,20 @@ void SerialInterface::pair() {
}
// Init the serial port to the specified values
int SerialInterface::init(char* portname, int baud)
// Connect to the serial port
int SerialInterface::initializePort(char* portname, int baud)
{
#ifdef __APPLE__
serial_fd = open(portname, O_RDWR | O_NOCTTY | O_NDELAY);
serialFd = open(portname, O_RDWR | O_NOCTTY | O_NDELAY);
printf("Attemping to open serial interface: %s\n", portname);
if (serial_fd == -1) return -1; // Failed to open port
printf("Opening SerialUSB %s: ", portname);
if (serialFd == -1) {
printf("Failed.\n");
return -1; // Failed to open port
}
struct termios options;
tcgetattr(serial_fd,&options);
tcgetattr(serialFd,&options);
switch(baud)
{
case 9600: cfsetispeed(&options,B9600);
@ -95,10 +98,10 @@ int SerialInterface::init(char* portname, int baud)
options.c_cflag &= ~CSTOPB;
options.c_cflag &= ~CSIZE;
options.c_cflag |= CS8;
tcsetattr(serial_fd,TCSANOW,&options);
tcsetattr(serialFd,TCSANOW,&options);
printf("Serial interface opened!\n");
printf("Connected.\n");
resetSerial();
active = true;
#endif
@ -126,22 +129,17 @@ void SerialInterface::renderLevels(int width, int height) {
glBegin(GL_LINES);
glVertex2f(disp_x, height*0.95);
glVertex2f(disp_x, height*(0.25 + 0.75f*getValue(i)/4096));
glColor4f(1, 0, 0, 1);
glVertex2f(disp_x - 3, height*(0.25 + 0.75f*getValue(i)/4096));
glVertex2f(disp_x, height*(0.25 + 0.75f*getValue(i)/4096));
glEnd();
// Trailing Average value
glColor4f(1, 1, 0, 1);
glBegin(GL_LINES);
glVertex2f(disp_x + 2, height*0.95);
glVertex2f(disp_x + 2, height*(0.25 + 0.75f*getTrailingValue(i)/4096));
glColor4f(1, 1, 1, 1);
glVertex2f(disp_x, height*(0.25 + 0.75f*getTrailingValue(i)/4096));
glVertex2f(disp_x + 4, height*(0.25 + 0.75f*getTrailingValue(i)/4096));
glEnd();
/*
glColor3f(1,0,0);
glBegin(GL_LINES);
glLineWidth(4.0);
glVertex2f(disp_x - 10, height*0.5 - getValue(i)/4096);
glVertex2f(disp_x + 10, height*0.5 - getValue(i)/4096);
glEnd();
*/
sprintf(val, "%d", getValue(i));
drawtext(disp_x-GAP/2, (height*0.95)+2, 0.08, 90, 1.0, 0, val, 0, 1, 0);
@ -162,20 +160,20 @@ void SerialInterface::renderLevels(int width, int height) {
}
void SerialInterface::readData() {
#ifdef __APPLE__
// This array sets the rate of trailing averaging for each channel.
// This array sets the rate of trailing averaging for each channel:
// If the sensor rate is 100Hz, 0.001 will make the long term average a 10-second average
const float AVG_RATE[] = {0.01, 0.01, 0.01, 0.01, 0.01, 0.01};
const float AVG_RATE[] = {0.002, 0.002, 0.002, 0.002, 0.002, 0.002};
char bufchar[1];
int initialSamples = totalSamples;
while (read(serial_fd, &bufchar, 1) > 0) {
while (read(serialFd, &bufchar, 1) > 0) {
//std::cout << bufchar[0];
serial_buffer[serial_buffer_pos] = bufchar[0];
serial_buffer_pos++;
serialBuffer[serialBufferPos] = bufchar[0];
serialBufferPos++;
// Have we reached end of a line of input?
if ((bufchar[0] == '\n') || (serial_buffer_pos >= MAX_BUFFER)) {
std::string serialLine(serial_buffer, serial_buffer_pos-1);
if ((bufchar[0] == '\n') || (serialBufferPos >= MAX_BUFFER)) {
std::string serialLine(serialBuffer, serialBufferPos-1);
//std::cout << serialLine << "\n";
int spot;
//int channel = 0;
@ -191,6 +189,7 @@ void SerialInterface::readData() {
serialLine = serialLine.substr(spot+1, serialLine.length() - spot - 1);
}
// Update Trailing Averages
for (int i = 0; i < NUM_CHANNELS; i++) {
if (totalSamples > SAMPLES_TO_DISCARD) {
trailingAverage[i] = (1.f - AVG_RATE[i])*trailingAverage[i] +
@ -200,8 +199,21 @@ void SerialInterface::readData() {
}
}
// Use a set of initial samples to compute gravity
if (totalSamples < GRAVITY_SAMPLES) {
gravity.x += lastMeasured[ACCEL_X];
gravity.y += lastMeasured[ACCEL_Y];
gravity.z += lastMeasured[ACCEL_Z];
}
if (totalSamples == GRAVITY_SAMPLES) {
gravity = glm::normalize(gravity);
std::cout << "gravity: " << gravity.x << "," <<
gravity.y << "," << gravity.z << "\n";
}
totalSamples++;
serial_buffer_pos = 0;
serialBufferPos = 0;
}
}
@ -210,7 +222,7 @@ void SerialInterface::readData() {
gettimeofday(&now, NULL);
if (diffclock(&lastGoodRead, &now) > NO_READ_MAXIMUM_MSECS) {
std::cout << "No data coming over serial. Shutting down SerialInterface.\n";
std::cout << "No data - Shutting down SerialInterface.\n";
resetSerial();
}
} else {
@ -223,6 +235,7 @@ void SerialInterface::resetSerial() {
#ifdef __APPLE__
active = false;
totalSamples = 0;
gravity = glm::vec3(0,-1,0);
gettimeofday(&lastGoodRead, NULL);
@ -233,7 +246,7 @@ void SerialInterface::resetSerial() {
}
// Clear serial input buffer
for (int i = 1; i < MAX_BUFFER; i++) {
serial_buffer[i] = ' ';
serialBuffer[i] = ' ';
}
#endif
}

5
interface/src/SerialInterface.h
View file

@ -45,8 +45,10 @@ public:
void resetTrailingAverages();
void renderLevels(int width, int height);
bool active;
glm::vec3 getGravity() {return gravity;};
private:
int init(char * portname, int baud);
int initializePort(char * portname, int baud);
void resetSerial();
int lastMeasured[NUM_CHANNELS];
float trailingAverage[NUM_CHANNELS];
@ -54,6 +56,7 @@ private:
int LED;
int totalSamples;
timeval lastGoodRead;
glm::vec3 gravity;
};
#endif