mirror of https://github.com/rene-dev/stmbl.git
297 lines
9.3 KiB
C++
297 lines
9.3 KiB
C++
#include "mainframe.hpp"
|
|
|
|
using std::cout;
|
|
using std::endl;
|
|
using std::string;
|
|
using std::to_string;
|
|
|
|
ServoFrame::ServoFrame(const wxString& title) : wxFrame(NULL, wxID_ANY, title){
|
|
ports = 0;
|
|
currentID = wxID_LOWEST;
|
|
addr = -1;
|
|
connected = false;
|
|
histpos = 0;
|
|
wxBoxSizer *mainsizer = new wxBoxSizer(wxHORIZONTAL);
|
|
wxSplitterWindow *mainsplitter = new wxSplitterWindow(this,wxID_ANY,wxDefaultPosition, wxSize(1024,700),wxSP_LIVE_UPDATE|wxSP_3DSASH);
|
|
wxImage::AddHandler(new wxGIFHandler);
|
|
|
|
mainsplitter->SetSashGravity(0);
|
|
mainsplitter->SetMinimumPaneSize(100);
|
|
mainsizer->Add(mainsplitter, 1,wxEXPAND,0);
|
|
|
|
timer = new wxTimer(this, wxID_ANY);
|
|
Bind(wxEVT_TIMER,&ServoFrame::OnTimer,this,wxID_ANY);
|
|
|
|
//top
|
|
wxPanel *top = new wxPanel(mainsplitter, wxID_ANY);
|
|
wxBoxSizer *topsizer = new wxBoxSizer(wxVERTICAL);
|
|
wxBoxSizer *leiste = new wxBoxSizer(wxHORIZONTAL);
|
|
wxBoxSizer *channelleiste = new wxBoxSizer(wxHORIZONTAL);
|
|
choose_port = new wxChoice (top, wxID_ANY);
|
|
|
|
connectbutton = new wxButton(top, wxID_ANY, wxT("&Connect"));
|
|
connectbutton->Disable();
|
|
clear = new wxButton(top, wxID_ANY, wxT("Clear"));
|
|
refresh = new wxButton(top, wxID_ANY, wxT("&Refresh"));
|
|
reset = new wxButton(top, wxID_ANY, wxT("Reset Fault"));
|
|
reset->Disable();
|
|
uhu = new wxRadioButton(top,wxID_ANY, "UHU");
|
|
stmbl = new wxRadioButton(top, wxID_ANY,"STMBL");
|
|
stmbl->SetValue(true);
|
|
|
|
refresh->Bind(wxEVT_BUTTON, &ServoFrame::OnRefresh, this, wxID_ANY);
|
|
connectbutton->Bind(wxEVT_BUTTON, &ServoFrame::OnConnect, this, wxID_ANY);
|
|
clear->Bind(wxEVT_BUTTON, &ServoFrame::OnClear, this, wxID_ANY);
|
|
reset->Bind(wxEVT_BUTTON, &ServoFrame::OnReset, this, wxID_ANY);
|
|
listports();
|
|
leiste->Add(choose_port, 0,wxALIGN_LEFT|wxALL,3);
|
|
leiste->Add(connectbutton,0,wxALIGN_LEFT|wxALL,3);
|
|
leiste->Add(refresh,0,wxALIGN_LEFT|wxALL,3);
|
|
leiste->Add(clear,0,wxALIGN_LEFT|wxALL,3);
|
|
leiste->Add(reset,0,wxALIGN_LEFT|wxALL,3);
|
|
leiste->Add(uhu,0,wxALIGN_LEFT|wxALL,3);
|
|
leiste->Add(stmbl,0,wxALIGN_LEFT|wxALL,3);
|
|
topsizer->Add(leiste);
|
|
drawpanel = new BasicDrawPane((wxFrame*)top,8);
|
|
|
|
topsizer->Add(drawpanel, 1,wxEXPAND,0);
|
|
wxArrayString waves;
|
|
waves.push_back("0");
|
|
waves.push_back("net0.cmd");
|
|
waves.push_back("net0.fb");
|
|
waves.push_back("pid0.pwm_cmd");
|
|
waves.push_back("pos_minus0.out");
|
|
|
|
|
|
//channels
|
|
channelstartID = currentID-1;//next ID
|
|
for(int i = 0;i<drawpanel->channels;i++){
|
|
wxBoxSizer *channelsizer = new wxBoxSizer(wxVERTICAL);
|
|
channelchoice.push_back(new wxComboBox (top, ++currentID, _T(""), wxDefaultPosition, wxDefaultSize, 0, NULL, wxTE_PROCESS_ENTER));
|
|
channelchoice.back()->Bind(wxEVT_COMBOBOX,&ServoFrame::OnChannelChange, this, currentID);
|
|
channelchoice.back()->Bind(wxEVT_TEXT_ENTER,&ServoFrame::OnChannelChange, this, currentID);
|
|
channelchoice.back()->Set(waves);
|
|
channelchoice.back()->SetSelection(0);
|
|
|
|
wxPanel *c_panel;
|
|
c_panel = new wxPanel(top, wxID_NEW, wxPoint(150, 20), wxSize(20, 20), wxBORDER_NONE);
|
|
c_panel->SetBackgroundColour(drawpanel->pen[i].GetColour());
|
|
|
|
wxBoxSizer *sizer1 = new wxBoxSizer(wxHORIZONTAL);
|
|
sizer1->Add(c_panel, 0,wxALIGN_LEFT|wxALL,3);
|
|
sizer1->Add(channelchoice.back(), 1,wxALIGN_LEFT|wxALL,3);
|
|
channelsizer->Add(sizer1);
|
|
channelleiste->Add(channelsizer);
|
|
}
|
|
|
|
topsizer->Add(channelleiste);
|
|
|
|
top->SetSizer(topsizer);
|
|
|
|
//bottom
|
|
wxPanel *bottom = new wxPanel(mainsplitter, wxID_ANY);
|
|
text = new wxTextCtrl((wxFrame*)bottom,wxID_ANY,wxEmptyString,wxDefaultPosition,wxDefaultSize,wxTE_MULTILINE|wxTE_READONLY);
|
|
textinput = new wxTextCtrl((wxFrame*)bottom,wxID_ANY,wxEmptyString,wxDefaultPosition,wxDefaultSize,wxTE_PROCESS_ENTER);
|
|
textinput->Bind(wxEVT_TEXT_ENTER, &ServoFrame::OnInput, this, wxID_ANY);
|
|
textinput->Bind(wxEVT_KEY_DOWN, &ServoFrame::OnKeyDown, this, wxID_ANY);
|
|
|
|
//use monospace font
|
|
wxFont font = textinput->GetFont();
|
|
font = wxFont(font.GetPointSize(), wxTELETYPE, font.GetStyle(), font.GetWeight(), font.GetUnderlined());
|
|
textinput->SetFont(font);
|
|
text->SetFont(font);
|
|
|
|
wxBoxSizer *bottomsizer = new wxBoxSizer(wxVERTICAL);
|
|
bottomsizer->Add(text, 1,wxEXPAND|wxALL,3);
|
|
bottomsizer->Add(textinput, 0,wxEXPAND|wxALL,3);
|
|
bottom->SetSizer(bottomsizer);
|
|
|
|
mainsplitter->SplitHorizontally(top, bottom,500);
|
|
this->SetSizer(mainsizer);
|
|
mainsizer->SetSizeHints(this);
|
|
}
|
|
|
|
void ServoFrame::OnKeyDown(wxKeyEvent& event){
|
|
if(event.GetKeyCode() == 315){//up
|
|
if(histpos > 0 && history.size()>0){
|
|
textinput->SetValue(history.at(--histpos));
|
|
textinput->SetInsertionPointEnd();
|
|
}
|
|
}
|
|
else if(event.GetKeyCode() == 317){//down
|
|
if(histpos < history.size()-1 && history.size()>0){
|
|
textinput->SetValue(history.at(++histpos));
|
|
textinput->SetInsertionPointEnd();
|
|
}else if(histpos < history.size()){
|
|
histpos++;
|
|
textinput->SetValue(wxT(""));
|
|
}
|
|
}else if (event.GetKeyCode() == 9){}//tab
|
|
else{
|
|
event.Skip();
|
|
}
|
|
}
|
|
|
|
void ServoFrame::OnChannelChange(wxCommandEvent& event){
|
|
int channel = (int)((event.GetId()-channelstartID-2));
|
|
wxString value = event.GetString();
|
|
string df = "term0.wave";
|
|
df += to_string(channel);
|
|
df += " = ";
|
|
df += value;
|
|
send(df);
|
|
}
|
|
|
|
int ServoFrame::send(const string& s,bool h){
|
|
if(!connected)
|
|
connect();
|
|
if(connected){
|
|
if(h){//history
|
|
if((history.size()==0 || history.back() != s) && !s.empty()){
|
|
history.push_back(s);
|
|
}
|
|
histpos = history.size();
|
|
}
|
|
txqueue.push(s);
|
|
}
|
|
return 1;
|
|
}
|
|
|
|
void ServoFrame::OnTimer(wxTimerEvent& evt){
|
|
int ret;
|
|
if(connected){
|
|
if(!txqueue.empty()){
|
|
int ret1 = sp_nonblocking_write(port, txqueue.front().c_str(), txqueue.front().length());
|
|
int ret2 = sp_nonblocking_write(port, "\n", 1);
|
|
if(ret1 != txqueue.front().length() || ret2!=1){
|
|
wxMessageBox( wxT("Error while sending"), wxT("Error"), wxICON_EXCLAMATION);
|
|
disconnect();
|
|
}
|
|
txqueue.pop();
|
|
}
|
|
ret = sp_nonblocking_read(port, buf, bufsize);
|
|
if(ret > 0){
|
|
buf[ret] = 0;
|
|
if(uhu->GetValue()){
|
|
for (int i=0; i<ret; i++) {
|
|
if ((buf[i]>>7)) {
|
|
values[0] = (float)(buf[i]-128-64)/64;
|
|
drawpanel->plotvalue(values);
|
|
}else{
|
|
text->AppendText(wxString::FromAscii(buf[i] & 0x7f));
|
|
}
|
|
}
|
|
|
|
}else if(stmbl->GetValue()){
|
|
for (int i=0; i<ret; i++){
|
|
if(addr >= 0){
|
|
values[addr++] = (buf[i]-128) / 128.0;
|
|
if(addr == 8){
|
|
drawpanel->plotvalue(values);
|
|
addr = -1;
|
|
}
|
|
}else if (buf[i] == 0xff) {
|
|
addr = 0;
|
|
}else{
|
|
text->AppendText(wxString::FromAscii(buf[i] & 0x7f));
|
|
}
|
|
}
|
|
}
|
|
}else if(ret < 0){//disconnect on failure
|
|
disconnect();
|
|
}
|
|
}
|
|
}
|
|
|
|
void ServoFrame::OnRefresh(wxCommandEvent& WXUNUSED(event)){
|
|
listports();
|
|
}
|
|
|
|
void ServoFrame::OnReset(wxCommandEvent& WXUNUSED(event)){
|
|
send("fault0.reset = 1");
|
|
send("fault0.reset = 0");
|
|
}
|
|
|
|
void ServoFrame::listports(){
|
|
int selection = 0;
|
|
string description;
|
|
if (ports) {
|
|
sp_free_port_list(ports);
|
|
}
|
|
if(sp_list_ports(&ports) == SP_OK){
|
|
wxString str;
|
|
choose_port->Clear();
|
|
if(ports){
|
|
for (int i = 0; ports[i]; i++) {
|
|
description = sp_get_port_description(ports[i]);
|
|
choose_port->Append(description);
|
|
if(description.find("STMBL") != std::string::npos){
|
|
selection = i;
|
|
}
|
|
}
|
|
choose_port->SetSelection(selection);
|
|
connectbutton->Enable();
|
|
}else{
|
|
connectbutton->Disable();
|
|
}
|
|
}
|
|
}
|
|
|
|
void ServoFrame::OnClear(wxCommandEvent& WXUNUSED(event)){
|
|
text->Clear();
|
|
drawpanel->Clear();
|
|
}
|
|
|
|
void ServoFrame::OnConnect(wxCommandEvent& WXUNUSED(event)){
|
|
if(connected)
|
|
disconnect();
|
|
else
|
|
connect();
|
|
}
|
|
|
|
void ServoFrame::connect(){
|
|
if(choose_port->IsEmpty())
|
|
return;
|
|
port = ports[choose_port->GetSelection()];
|
|
if(sp_open(port, SP_MODE_READ_WRITE) == SP_OK){//port available and can be opened
|
|
sp_set_baudrate(port,38400);
|
|
sp_set_bits(port, 8);
|
|
sp_set_stopbits(port, 1);
|
|
sp_set_parity(port, SP_PARITY_NONE);
|
|
sp_set_xon_xoff(port, SP_XONXOFF_DISABLED);
|
|
sp_set_flowcontrol(port, SP_FLOWCONTROL_NONE);
|
|
connected = true;
|
|
connectbutton->SetLabel(wxT("&Disonnect"));
|
|
refresh->Disable();
|
|
reset->Enable();
|
|
choose_port->Disable();
|
|
uhu->Disable();
|
|
stmbl->Disable();
|
|
textinput->SetFocus();
|
|
timer->Start(50);
|
|
}else{
|
|
wxMessageBox( wxT("Cannot open port"), wxT("Error"), wxICON_EXCLAMATION);
|
|
listports();
|
|
}
|
|
}
|
|
|
|
void ServoFrame::disconnect(){
|
|
if(sp_close(port) == SP_OK){
|
|
connected = false;
|
|
connectbutton->SetLabel(wxT("&Connect"));
|
|
refresh->Enable();
|
|
reset->Disable();
|
|
choose_port->Enable();
|
|
uhu->Enable();
|
|
stmbl->Enable();
|
|
timer->Stop();
|
|
}
|
|
listports();
|
|
}
|
|
|
|
void ServoFrame::OnInput(wxCommandEvent& event){
|
|
string s =string(textinput->GetValue().mb_str());
|
|
send(s,true);
|
|
textinput->Clear();
|
|
}
|