/*!****************************************************************************
******************************************************************************
\note initOsc
\date Aug. 2010
\remarks
initializes the oscilloscope processing
*****************************************************************************
Function Parameters: [in]=input,[out]=output
none
*****************************************************************************/
void
initOsc(void)
{
int rc;
char string[40];
char fname[100];
FILE *fp;
if (no_graphics_flag)
return;
if (read_parameter_pool_int(config_files[PARAMETERPOOL],"osc_enabled", &rc))
osc_enabled = macro_sign(abs(rc));
if (osc_enabled) {
addToMan("oscMenu","interactively change oscilloscope settings",oscMenu);
sprintf(osc_vars_name,"%s_default.osc",servo_name);
// make sure that the default exists
sprintf(fname,"%s%s",PREFS,osc_vars_name);
fp = fopen(fname,"a");
fclose(fp);
sprintf(string,"osc_vars_%s_file",servo_name);
if (read_parameter_pool_string(config_files[PARAMETERPOOL],string,fname))
strcpy(osc_vars_name,fname);
readOscVarsScript(osc_vars_name,FALSE);
}
}
/*!*****************************************************************************
*******************************************************************************
\note main
\date Nov. 2007
\remarks
A simple program creating multiple processes
*******************************************************************************
Function Parameters: [in]=input,[out]=output
\param[in] argc : number of elements in argv
\param[in] argv : array of argc character strings
******************************************************************************/
int
main(int argc, char**argv)
{
#include "SL_user_main_core.h"
for (i=0; i<c; ++i)
argv_ptr[i] = argv_array[i];
argv_ptr[c] = NULL;
// the task servo
if (fork() == 0) {
sprintf(argv_ptr[geometry_argv],"90x30+%d+670",display_width-delta_width);
if (read_parameter_pool_string(config_files[PARAMETERPOOL],
"task_servo_geometry", string))
if (parseWindowSpecs(string, display_width,display_height,xstring, &x, &y, &w, &h))
strcpy(argv_ptr[geometry_argv],xstring);
sprintf(argv_ptr[background_argv],"PowderBlue");
sprintf(argv_ptr[servo_argv],"xtask");
execvp("xterm",argv_ptr);
exit(-1);
}
semTake(sm_init_process_ready_sem,WAIT_FOREVER);
// the vision servo
if (fork() == 0) {
sprintf(argv_ptr[geometry_argv],"90x12+%d+484",display_width-delta_width);
if (read_parameter_pool_string(config_files[PARAMETERPOOL],
"vision_servo_geometry", string))
if (parseWindowSpecs(string, display_width,display_height,xstring, &x, &y, &w, &h))
strcpy(argv_ptr[geometry_argv],xstring);
sprintf(argv_ptr[background_argv],"LightGoldenrod");
sprintf(argv_ptr[servo_argv],"xvision");
execvp("xterm",argv_ptr);
exit(-1);
}
semTake(sm_init_process_ready_sem,WAIT_FOREVER);
// the motor servo
if (fork() == 0) {
sprintf(argv_ptr[geometry_argv],"90x12+%d+298",display_width-delta_width);
if (read_parameter_pool_string(config_files[PARAMETERPOOL],
"motor_servo_geometry", string))
if (parseWindowSpecs(string, display_width,display_height,xstring, &x, &y, &w, &h))
strcpy(argv_ptr[geometry_argv],xstring);
sprintf(argv_ptr[background_argv],"thistle");
sprintf(argv_ptr[servo_argv],"xmotor");
execvp("xterm",argv_ptr);
exit(-1);
}
semTake(sm_init_process_ready_sem,WAIT_FOREVER);
// the opengGL servo
if (graphics_flag) {
if (fork() == 0) {
sprintf(argv_ptr[geometry_argv],"90x8+%d+164",display_width-delta_width);
if (read_parameter_pool_string(config_files[PARAMETERPOOL],
"openGL_servo_geometry", string))
if (parseWindowSpecs(string, display_width,display_height,xstring, &x, &y, &w, &h))
strcpy(argv_ptr[geometry_argv],xstring);
sprintf(argv_ptr[background_argv],"LightYellow");
sprintf(argv_ptr[servo_argv],"xopengl");
sprintf(argv_ptr[nice_argv],"19");
execvp("xterm",argv_ptr);
exit(-1);
}
semTake(sm_init_process_ready_sem,WAIT_FOREVER);
}
// the simulation
if (fork() == 0) {
sprintf(argv_ptr[geometry_argv],"90x8+%d+30",display_width-delta_width);
if (read_parameter_pool_string(config_files[PARAMETERPOOL],
"simulation_servo_geometry", string))
if (parseWindowSpecs(string, display_width,display_height,xstring, &x, &y, &w, &h))
strcpy(argv_ptr[geometry_argv],xstring);
sprintf(argv_ptr[background_argv],"LightGray");
sprintf(argv_ptr[servo_argv],"xsimulation");
sprintf(argv_ptr[nice_argv],"0");
execvp("xterm",argv_ptr);
exit(-1);
}
// monitor dying child process and kill all other if this happens
waitpid(0,&stat_loc,options);
return TRUE;
}
/*!*****************************************************************************
*******************************************************************************
\note initOscWindow
\date May 2010
\remarks
initializes the oscilloscope window
*******************************************************************************
Function Parameters: [in]=input,[out]=output
none
******************************************************************************/
int
initOscWindow(void)
{
int i,j;
int x = 600;
int y = 20;
int width = 600;
int height = 400;
char string[100];
char xstring[100];
Display *disp;
int screen_num;
int display_width;
int display_height;
double aux;
// is the oscilloscope enabled?
if (read_parameter_pool_int(config_files[PARAMETERPOOL],"osc_enabled", &i))
osc_enabled = macro_sign(abs(i));
if (!osc_enabled)
return TRUE;
// how many oscilloscope graphs?
if (read_parameter_pool_int(config_files[PARAMETERPOOL],"n_osc_plots", &i)) {
if (i > 0)
n_oscilloscope_plots = i;
}
// #periods of oscilloscope A/D plot
if (read_parameter_pool_int(config_files[PARAMETERPOOL],"osc_periods_ad", &i)) {
if (i > 0)
periods_window_AD = i;
}
// window size of variable display
if (read_parameter_pool_double(config_files[PARAMETERPOOL],"osc_time_window_vars", &aux)) {
if (aux > 0)
time_window_vars = aux;
}
// allocate memory for the plots and initialize
osc_data = (OscData *) my_calloc(n_oscilloscope_plots+1,sizeof(OscData),MY_STOP);
for (i=0; i<=n_oscilloscope_plots; ++i) {
for (j=1; j<=MAX_VARS_PER_PLOT; ++j) {
osc_data[i].current_index[j] = 1;
}
osc_data[i].max = -1.e10;
osc_data[i].min = 1.e10;
}
// connect to X server using the DISPLAY environment variable
if ( (disp=XOpenDisplay(NULL)) == NULL ) {
printf("Cannot connect to X servo %s\n",XDisplayName(NULL));
exit(-1);
}
// get screen size from display structure macro
screen_num = DefaultScreen(disp);
display_width = DisplayWidth(disp, screen_num);
display_height = DisplayHeight(disp, screen_num);
// overwrite the default window options from ParameterPool.cf
if (read_parameter_pool_string(config_files[PARAMETERPOOL],
"osc_window_geometry", string))
parseWindowSpecs(string, display_width,display_height,xstring,
&x,
&y,
&width,
&height);
// create the window
glutInitWindowPosition(x,y);
glutInitWindowSize(width,height);
openGLId_osc = glutCreateWindow("Oscilloscope"); // makes window current, too
// attach appropriate OpenGL functions to the current window
glutDisplayFunc(osc_display);
glutReshapeFunc(osc_reshape);
/*
glutIdleFunc(idle);
glutKeyboardFunc(keyboard);
glutMouseFunc(mouse);
glutMotionFunc(motion);
glutSpecialFunc(special);
glutMenu(wptr);
*/
return TRUE;
}
/*!*****************************************************************************
*******************************************************************************
\note createWindows
\date July 1998
\remarks
initializes graphic windows
*******************************************************************************
Function Parameters: [in]=input,[out]=output
none
******************************************************************************/
static int
createWindows(void)
{
int i;
OpenGLWPtr w;
int width_eye=640/3;
int height_eye=480/3;
int height_main = 400;
int width_main = 400;
int hspace = 10;
int vspace = 60;
Display *disp;
int screen_num;
int display_width;
int display_height;
char string[100];
char xstring[100];
double eye[N_CART+1];
// connect to X server using the DISPLAY environment variable
if ( (disp=XOpenDisplay(NULL)) == NULL ) {
printf("Cannot connect to X servo %s\n",XDisplayName(NULL));
exit(-1);
}
// get screen size from display structure macro
screen_num = DefaultScreen(disp);
display_width = DisplayWidth(disp, screen_num);
display_height = DisplayHeight(disp, screen_num);
/* get a window structure, initialized with default values */
w=getOpenGLWindow();
if (w==NULL)
return FALSE;
w->display = display;
w->idle = idle;
w->width = width_main;
w->height = height_main;
// check for user parameters
if (read_parameter_pool_string(config_files[PARAMETERPOOL],
"main_window_geometry", string))
parseWindowSpecs(string, display_width,display_height,xstring,
&(w->x),
&(w->y),
&(w->width),
&(w->height));
if (read_parameter_pool_double_array(config_files[PARAMETERPOOL],
"main_window_camera_pos", N_CART, eye))
for (i=1; i<=N_CART; ++i)
w->eye[i] = eye[i];
// finally create the window
for (i=1; i<=N_CART; ++i)
w->eye0[i] = w->eye[i];
if (!createWindow(w))
return FALSE;
/* get additional windows for the eyes */
w=getOpenGLWindow();
if (w==NULL)
return FALSE;
w->x += width_main+hspace;
w->fovea = FOVEA_ANGLE;
w->width = width_eye;
w->height = height_eye;
w->display = display;
w->idle = idle;
sprintf(w->name,"LeftEyeFovea");
if (!createWindow(w))
return FALSE;
toggleHideWindow(w);
w_left_eye_fovea = w;
w=getOpenGLWindow();
if (w==NULL)
return FALSE;
w->x += width_main+hspace+width_eye+hspace;
w->fovea = FOVEA_ANGLE;
w->width = width_eye;
w->height = height_eye;
w->display = display;
w->idle = idle;
sprintf(w->name,"RightEyeFovea");
if (!createWindow(w))
return FALSE;
toggleHideWindow(w);
w_right_eye_fovea = w;
w=getOpenGLWindow();
if (w==NULL)
return FALSE;
w->x += width_main+hspace;
w->y += height_eye+vspace;
w->fovea = WIDE_ANGLE;
w->width = width_eye;
w->height = height_eye;
w->display = display;
w->idle = idle;
sprintf(w->name,"LeftEyeWide");
if (!createWindow(w))
return FALSE;
toggleHideWindow(w);
w_left_eye_wide = w;
w=getOpenGLWindow();
if (w==NULL)
return FALSE;
w->x += width_main+hspace+width_eye+hspace;
w->y += height_eye+vspace;
w->fovea = WIDE_ANGLE;
w->width = width_eye;
w->height = height_eye;
w->display = display;
w->idle = idle;
sprintf(w->name,"RightEyeWide");
if (!createWindow(w))
return FALSE;
toggleHideWindow(w);
w_right_eye_wide = w;
return TRUE;
}
