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//Data recorder mod with GUI showing light positions.
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <survive.h>
#include <string.h>
#include <os_generic.h>
#include "src/survive_cal.h"
#include <CNFGFunctions.h>
#include "src/survive_config.h"
struct SurviveContext * ctx;
int quit = 0;
void HandleKey( int keycode, int bDown )
{
if( !bDown ) return;
if( keycode == 'O' || keycode == 'o' )
{
survive_send_magic(ctx,1,0,0);
}
if( keycode == 'F' || keycode == 'f' )
{
survive_send_magic(ctx,0,0,0);
}
if( keycode == 'Q' || keycode == 'q' )
{
quit = 1;
}
}
void HandleButton( int x, int y, int button, int bDown )
{
}
void HandleMotion( int x, int y, int mask )
{
}
void HandleDestroy()
{
}
//int bufferpts[32*2*3][2];
int bufferpts[32*2*3][2];
char buffermts[32*128*3];
int buffertimeto[32*3][2];
void my_light_process( struct SurviveObject * so, int sensor_id, int acode, int timeinsweep, uint32_t timecode, uint32_t length, uint32_t lh)
{
// if( timeinsweep < 0 ) return;
survive_default_light_process( so, sensor_id, acode, timeinsweep, timecode, length, lh);
if( sensor_id < 0 ) return;
if( acode < 0 ) return;
//return;
int jumpoffset = sensor_id;
if( strcmp( so->codename, "WM0" ) == 0 || strcmp( so->codename, "WW0" ) == 0) jumpoffset += 32;
else if( strcmp( so->codename, "WM1" ) == 0 ) jumpoffset += 64;
if( acode % 2 == 0 && lh == 0) //data = 0
{
bufferpts[jumpoffset*2+0][0] = (timeinsweep-100000)/500;
buffertimeto[jumpoffset][0] = 0;
}
if( acode % 2 == 1 && lh == 0 ) //data = 1
{
bufferpts[jumpoffset*2+1][0] = (timeinsweep-100000)/500;
buffertimeto[jumpoffset][0] = 0;
}
if( acode % 2 == 0 && lh == 1 ) //data = 0
{
bufferpts[jumpoffset*2+0][1] = (timeinsweep-100000)/500;
buffertimeto[jumpoffset][1] = 0;
}
if( acode % 2 == 1 && lh == 1 ) //data = 1
{
bufferpts[jumpoffset*2+1][1] = (timeinsweep-100000)/500;
buffertimeto[jumpoffset][1] = 0;
}
}
void my_imu_process( struct SurviveObject * so, int mask, FLT * accelgyro, uint32_t timecode, int id )
{
survive_default_imu_process( so, mask, accelgyro, timecode, id );
//if( so->codename[0] == 'H' )
if( 0 )
{
printf( "I %s %d %f %f %f %f %f %f %d\n", so->codename, timecode, accelgyro[0], accelgyro[1], accelgyro[2], accelgyro[3], accelgyro[4], accelgyro[5], id );
}
}
void my_angle_process( struct SurviveObject * so, int sensor_id, int acode, uint32_t timecode, FLT length, FLT angle, uint32_t lh)
{
survive_default_angle_process( so, sensor_id, acode, timecode, length, angle, lh );
}
char* sensor_name[32];
void * GuiThread( void * v )
{
short screenx, screeny;
CNFGBGColor = 0x000000;
CNFGDialogColor = 0x444444;
CNFGSetup( "Survive GUI Debug", 640, 480 );
while(1)
{
CNFGHandleInput();
CNFGClearFrame();
CNFGColor( 0xFFFFFF );
CNFGGetDimensions( &screenx, &screeny );
int i,nn;
for( i = 0; i < 32*3; i++ )
{
for( nn = 0; nn < 2; nn++ )
{
if( buffertimeto[i][nn] < 50 )
{
uint32_t color = i * 3231349;
uint8_t r = 0xff;
uint8_t g = 0x00;
uint8_t b = 0xff;
if (nn==0) b = 0; //lighthouse B
if (nn==1) r = 0; //lighthouse C
// r = (r * (5-buffertimeto[i][nn])) / 5 ;
// g = (g * (5-buffertimeto[i][nn])) / 5 ;
// b = (b * (5-buffertimeto[i][nn])) / 5 ;
CNFGColor( (b<<16) | (g<<8) | r );
CNFGTackRectangle( bufferpts[i*2+0][nn], bufferpts[i*2+1][nn], bufferpts[i*2+0][nn] + 5, bufferpts[i*2+1][nn] + 5 );
CNFGPenX = bufferpts[i*2+0][nn]; CNFGPenY = bufferpts[i*2+1][nn];
CNFGDrawText( buffermts, 2 );
if (i<32) {
CNFGPenX = bufferpts[i*2+0][nn]+5; CNFGPenY = bufferpts[i*2+1][nn]+5;
CNFGDrawText( sensor_name[i], 2 );
}
buffertimeto[i][nn]++;
}
}
}
CNFGColor( 0xffffff );
char caldesc[256];
survive_cal_get_status( ctx, caldesc, sizeof( caldesc ) );
CNFGPenX = 3;
CNFGPenY = 3;
CNFGDrawText( caldesc, 4 );
CNFGSwapBuffers();
OGUSleep( 10000 );
}
}
int main()
{
ctx = survive_init( 0 );
uint8_t i =0;
for (i=0;i<32;++i) {
sensor_name[i] = malloc(3);
sprintf(sensor_name[i],"%d",i);
}
survive_install_light_fn( ctx, my_light_process );
survive_install_imu_fn( ctx, my_imu_process );
survive_install_angle_fn( ctx, my_angle_process );
survive_cal_install( ctx );
OGCreateThread( GuiThread, 0 );
if( !ctx )
{
fprintf( stderr, "Fatal. Could not start\n" );
return 1;
}
while(survive_poll(ctx) == 0 && !quit)
{
//Do stuff.
}
survive_close( ctx );
printf( "Returned\n" );
}
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