ui.c

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#include <ncurses.h> //NCURSES
#include <math.h>
#include <string.h>
//#include "gmatrix.h"
#include "communication/communication.h"
//#include "calibration/calibration.h"
//#include "estimation.h"
//#include "control.h"
#include "datalogger.h"
//#if ANU_COMPILE_FOR_XENOMAI // Compile for Xenomai
//    #include "threads_xenomai.h"
//#else // Compile for Linux
//    #include "threads_linux.h"
//#endif
#include "main2.h"
#include "ui.h"

// From main
extern void exit_program(void);

// From threads
extern unsigned int telemetry_mode;

//WINDOW *scr;

int ui_init(void)
{
    #if UI_MODULE_ENABLED
        //NCURSES
        initscr();
        scrollok(stdscr,TRUE);
        //resizeterm(33,100);
        //wresize(scr,32,100);
        //erase();
        timeout(0); //No delay for getch();
    #endif

        return SUCCESS;
}

int ui_close(void)
{
    #if UI_MODULE_ENABLED
        clear();
        printw("Cleaning up...\n");
        refresh();
        endwin();
    #endif

          return SUCCESS;
}

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)
{
        unsigned char user_char = 0;

        static enum {UI_OVERVIEW = 0, UI_IMU, UI_EFF, UI_MRA , UI_ENC} ui_state;

        erase();
        //wresize(scr,32,100);
        attron(A_STANDOUT);

        mvaddstr(0,15,"RLEG Data");
        attroff(A_STANDOUT);

        switch(ui_state)
        {
                case UI_IMU:
                        if(ui_imu_data(pimu_data) != SUCCESS) return FAILURE;
                        break;
                case UI_EFF:
                        if(ui_eff_data(peff_data) != SUCCESS) return FAILURE;
                        break;
                case UI_MRA:
                        if(ui_mra_data(pmra_data) != SUCCESS) return FAILURE;
                        break;
        case UI_ENC:
                        if(ui_enc_data(enc_data) != SUCCESS) return FAILURE;
                        break;
                case UI_OVERVIEW:
                default:
                        if(ui_overview_data(total, failure, pimu_data, peff_data, pmra_data, enc_data) != SUCCESS) return FAILURE;
                        break;
        }

        ui_menu();

        refresh();

        user_char = getch(); //Getting a char typed by the user
        switch(user_char)
        {
            case 'Q':
                case 'q': //Quit
                        exit_program();
                        break;
                case 'I':
                case 'i': //IMU view
                        ui_state = UI_IMU;
                        break;
                case 'F':
                case 'f': //EFF view
                        ui_state = UI_EFF;
                        break;
                case 'E':
            case 'e': // ENCODER view
                    ui_state = UI_ENC;
                    break;
                case 'O':
                case 'o': //Overview
                        ui_state = UI_OVERVIEW;
                        break;
                case 'M':
                case 'm': //MRA
                        ui_state = UI_MRA;
                        break;
                case 'D':
        case 'd': //Datalogger start/stop
                if(datalogger_status() == DATALOGGER_RUNNING)
                  {
                    datalogger_stop();
                  }
                else
                  {
                    datalogger_start();
                                  }
                  break;
               default:
                 break;
        }

        return SUCCESS;
}

int ui_imu_data(IMU_DATA_STRUCT *pimu_data)
{
        mvprintw(2, 0, "Accelerometer X (raw): %d", pimu_data->acc.x);
        mvprintw(2, 40, "Accelerometer X (g): %lf", pimu_data->calib.acc.x);
        mvprintw(3, 0, "Accelerometer Y (raw): %d", pimu_data->acc.y);
        mvprintw(3, 40, "Accelerometer Y (g): %lf", pimu_data->calib.acc.y);
        mvprintw(4, 0, "Accelerometer Z (raw): %d", pimu_data->acc.z);
        mvprintw(4, 40, "Accelerometer Z (g): %lf", pimu_data->calib.acc.z);
        mvprintw(5, 0, "Gyrometer X (raw):     %d", pimu_data->gyr.x);
        mvprintw(5, 40, "Gyrometer X (rad/sec):   %lf", pimu_data->calib.gyr.x);
        mvprintw(6, 0, "Gyrometer Y (raw):     %d", pimu_data->gyr.y);
        mvprintw(6, 40, "Gyrometer Y (rad/sec):   %lf", pimu_data->calib.gyr.y);
        mvprintw(7, 0, "Gyrometer Z (raw):     %d", pimu_data->gyr.z);
        mvprintw(7, 40, "Gyrometer Z (rad/sec):   %lf", pimu_data->calib.gyr.z);
        mvprintw(8, 0, "Magnetometer X (raw):  %d", pimu_data->mag.x);
        mvprintw(8, 40, "Magnetometer X (B):     %lf", pimu_data->calib.mag.x);
        mvprintw(9, 0, "Magnetometer Y (raw):  %d", pimu_data->mag.y);
        mvprintw(9, 40, "Magnetometer Y (B):     %lf", pimu_data->calib.mag.y);
        mvprintw(10,0, "Magnetometer Z (raw):  %d", pimu_data->mag.z);
        mvprintw(10,40, "Magnetometer Z (B):     %lf", pimu_data->calib.mag.z);
        mvprintw(12,0,"Total Acceleromter: %lf",sqrt(pimu_data->calib.acc.x*pimu_data->calib.acc.x+pimu_data->calib.acc.y*pimu_data->calib.acc.y+pimu_data->calib.acc.z*pimu_data->calib.acc.z));
        mvprintw(13,0,"Total Gyrometer: %lf",sqrt(pimu_data->calib.gyr.x*pimu_data->calib.gyr.x+pimu_data->calib.gyr.y*pimu_data->calib.gyr.y+pimu_data->calib.gyr.z*pimu_data->calib.gyr.z));
        mvprintw(14,0,"Total Magnetometer: %lf",sqrt(pimu_data->calib.mag.x*pimu_data->calib.mag.x+pimu_data->calib.mag.y*pimu_data->calib.mag.y+pimu_data->calib.mag.z*pimu_data->calib.mag.z));
        //mvprintw(15, 0, "Encoder (raw): %lf", enc.data);

        return SUCCESS;
}

int ui_eff_data(EFF_DATA_STRUCT *peff_data)
{
        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;
}

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

int ui_mra_data(MRA_DATA_STRUCT *pmra_data)
{
        mvprintw(2,0,"V_ctl (bits): %d",pmra_data->v_ctl);
        mvprintw(3,0,"V_ctl_read (bits): %d",pmra_data->v_ctl_read);
        //mvprintw(2,40,"Fx (N): %lf",peff_data->??);

        return SUCCESS;
}

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)
{
        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;
}

int ui_menu(){
        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;
}