ui.c File Reference

#include <ncurses.h>
#include <math.h>
#include <string.h>
#include "communication/communication.h"
#include "datalogger.h"
#include "main2.h"
#include "ui.h"

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Functions
void	exit_program (void)
	Internal function to end program. More...
int	ui_init (void)
	Initialize UI. More...
int	ui_close (void)
	Close UI. More...
int	ui_update (IMU_DATA_STRUCT *pimu_data, EFF_DATA_STRUCT *peff_data, MRA_DATA_STRUCT *pmra_data, ENC_DATA_STRUCT *enc_data, int total, int failure)
	Update Screen with new data of sensors. More...
int	ui_imu_data (IMU_DATA_STRUCT *pimu_data)
	Print IMU data. More...
int	ui_eff_data (EFF_DATA_STRUCT *peff_data)
int	ui_enc_data (ENC_DATA_STRUCT *enc_data)
	Print ENCODER data. More...
int	ui_mra_data (MRA_DATA_STRUCT *pmra_data)
	Print MRA data. More...
int	ui_overview_data (int total, int failures, IMU_DATA_STRUCT *pimu_data, EFF_DATA_STRUCT *peff_data, MRA_DATA_STRUCT *pmra_data, ENC_DATA_STRUCT *enc_data)
	Print ALL sensors data. More...
int	ui_menu ()
	Print the menu. More...

Variables
unsigned int	telemetry_mode

Function Documentation

void exit_program

(

void

)

Internal function to end program.

Definition at line 180 of file main.c.

References quittask.

Referenced by ui_update().

                       {
  quittask = 1;
  return;
}

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int ui_eff_data

(

EFF_DATA_STRUCT *

peff_data

)

Definition at line 163 of file ui.c.

References EFF_DATA_STRUCT::F, EFF_DATA_STRUCT::M, SUCCESS, DATA_XYZ::x, DATA_XYZ::y, and DATA_XYZ::z.

Referenced by ui_update().

{
        mvprintw(2,0,"Fx (bits): %d",peff_data->F.x);
        //mvprintw(2,40,"Fx (N): %lf",peff_data->??);
        mvprintw(3,0,"Fy (bits): %d",peff_data->F.y);
        //mvprintw(3,40,"Fx (N): %lf",peff_data->??);
        mvprintw(4,0,"Fz (bits): %d",peff_data->F.z);
        //mvprintw(4,40,"Fx (N): %lf",peff_data->??);
        mvprintw(5,0,"Mx (bits): %d",peff_data->M.x);
        //mvprintw(5,40,"Mx (Nm): %lf",peff_data->??);
        mvprintw(6,0,"My (bits): %d",peff_data->M.y);
        //mvprintw(6,40,"My (Nm): %lf",peff_data->??);
        mvprintw(7,0,"Mz (bits): %d",peff_data->M.z);
        //mvprintw(7,40,"Mz (Nm): %lf",peff_data->??);

        return SUCCESS;
}

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int ui_enc_data

(

ENC_DATA_STRUCT *

enc_data

)

Print ENCODER data.

Definition at line 181 of file ui.c.

References ENC_DATA_STRUCT::calib, ENC_DATA_STRUCT::position, ENC_DATA_STRUCT::calibrate::position, and SUCCESS.

Referenced by ui_update().

{
   mvprintw(2,0,"Position (raw): %lf",enc_data->position);
   mvprintw(3,0,"Position (degree): %lf",enc_data->calib.position);
   return SUCCESS;
}

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int ui_menu

(

)

Print the menu.

Definition at line 264 of file ui.c.

References SUCCESS.

Referenced by ui_update().

             {
        mvprintw(20, 0, "I: IMU");
        mvprintw(20, 20, "F: Efforts");
        mvprintw(20, 40, "M: Magneto-rheological Actuator");
        mvprintw(21, 0, "E: Encoder");
        mvprintw(21, 20, "O: Overview");
        mvprintw(21, 40, "D: Datalogger Start/Stop");
        mvprintw(22, 0, "Q: Quit\n");

        return SUCCESS;
}

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int ui_overview_data	(	int	total,
		int	failures,
		IMU_DATA_STRUCT *	pimu_data,
		EFF_DATA_STRUCT *	peff_data,
		MRA_DATA_STRUCT *	pmra_data,
		ENC_DATA_STRUCT *	enc_data
	)

Print ALL sensors data.

Definition at line 197 of file ui.c.

References IMU_DATA_STRUCT::acc, IMU_DATA_STRUCT::calibrated::acc, ENC_DATA_STRUCT::calib, IMU_DATA_STRUCT::calib, IMU_DATA_STRUCT::calib_temp, DATALOGGER_NOT_RUNNING, datalogger_status(), get_time(), IMU_DATA_STRUCT::gyr, IMU_DATA_STRUCT::calibrated::gyr, IMU_DATA_STRUCT::mag, IMU_DATA_STRUCT::calibrated::mag, ENC_DATA_STRUCT::position, ENC_DATA_STRUCT::calibrate::position, SUCCESS, t0, IMU_DATA_STRUCT::temp, MRA_DATA_STRUCT::v_ctl, MRA_DATA_STRUCT::v_ctl_read, DATA_XYZ::x, DATA_XYZ_DOUBLE::x, DATA_XYZ::y, DATA_XYZ_DOUBLE::y, DATA_XYZ::z, and DATA_XYZ_DOUBLE::z.

Referenced by ui_update().

{
        float error_rate = 0.0;
        double t = 0.0;
        double Ts = 0.0;
        double mean_exec_time = 0.0;
        double t0 = 0.0;

        get_time(&t, &Ts, &mean_exec_time, &t0);

        error_rate = (float)(((float)failures/(float)total)*100.0);
        mvprintw(2, 0, "Communication Statistics: Total = %d Failures = %d Error Rate = %3.3f",total, failures, error_rate);

        mvprintw(4, 0,  "IMU Accelerometer (bits):\tX:%4d\tY:%4d\tZ:%4d", pimu_data->acc.x, pimu_data->acc.y, pimu_data->acc.z);
        mvprintw(5, 0, "IMU Gyrometer (bits):\t\tX:%4d\tY:%4d\tZ:%4d", pimu_data->gyr.x, pimu_data->gyr.y, pimu_data->gyr.z);
        mvprintw(6, 0, "IMU Magnetometer (bits):\tX:%4d\tY:%4d\tZ:%4d", pimu_data->mag.x, pimu_data->mag.y, pimu_data->mag.z);
        
        mvprintw(8, 0,  "IMU Accelerometer (g):\t\tX:%8.5lf\tY:%8.5lf\tZ:%8.5lf", pimu_data->calib.acc.x, pimu_data->calib.acc.y, pimu_data->calib.acc.z);
        mvprintw(9, 0, "IMU Gyrometer (rad/s):\t\tX:%8.5lf\tY:%8.5lf\tZ:%8.5lf", pimu_data->calib.gyr.x, pimu_data->calib.gyr.y, pimu_data->calib.gyr.z);
        mvprintw(10, 0, "IMU Magnetometer (B):\t\tX:%8.5lf\tY:%8.5lf\tZ:%8.5lf", pimu_data->calib.mag.x, pimu_data->calib.mag.y, pimu_data->calib.mag.z);

        mvprintw(12, 0, "Temp (bits):      %d", pimu_data->temp);
        mvprintw(12,40, "Temp (ºC):     %lf", pimu_data->calib_temp);

        mvprintw(13,0, "Encoder (bits):\t%d",enc_data->position);
        mvprintw(13,40, "Encoder (degree):\t%d",enc_data->calib.position);
        //mvprintw(15,0,"Fx (bits): %d",peff_data->F.x);

        //mvprintw(2,40,"Fx (N): %lf",peff_data->??);
        //mvprintw(15,0,"Fy (bits): %d",peff_data->F.y);
        //mvprintw(3,40,"Fx (N): %lf",peff_data->??);
        //mvprintw(16,0,"Fz (bits): %d",peff_data->F.z);
        //mvprintw(4,40,"Fx (N): %lf",peff_data->??);
        //mvprintw(17,0,"Mx (bits): %d",peff_data->M.x);
        //mvprintw(5,40,"Mx (Nm): %lf",peff_data->??);
        //mvprintw(18,0,"My (bits): %d",peff_data->M.y);
        //mvprintw(6,40,"My (Nm): %lf",peff_data->??);
        //mvprintw(19,0,"Mz (bits): %d",peff_data->M.z);
        //mvprintw(7,40,"Mz (Nm): %lf",peff_data->??);
        
        mvprintw(15, 0, "Voltage Control Written (bits):\t%4d", pmra_data->v_ctl);
        mvprintw(16, 0, "Voltage Control Read (bits):\t%4d", pmra_data->v_ctl_read);

    mvprintw(18, 0, "Runtime: %4.2lf", t);

    if(datalogger_status() == DATALOGGER_NOT_RUNNING)
    {
        mvprintw(18, 40, "Datalogger stopped");
    }
    else
    {
        mvprintw(18, 40, "Datalogger runtime: %4.2lf", (t-t0));
    }
/*
    if(calibration_get_status() == CALIBRATION_NOT_RUNNING)
    {
        mvprintw(15, 0, "Calibration stopped");
    }
    else
    {
        mvprintw(15, 0, "Calibration running");
    }
*/

        return SUCCESS;
}

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Variable Documentation

unsigned int telemetry_mode

Definition at line 65 of file main2.c.

Referenced by periodic_task_2(), and threads_linux_periodic_task_2().