int plp_init(const char *driver, const char *_title, int _is_complex) {
int i;
if (2*NOF_INPUT_ITF > 1) {
modinfo("Multiple signals are currently displayed in the same plot\n");
}
plsdev(driver);
plinit();
pladv(0);
title = _title;
is_complex = _is_complex;
for (i=0;i<2*NOF_INPUT_ITF;i++) {
legends[i] = (const char*) "";
}
for (i=0;i<INPUT_MAX_SAMPLES;i++) {
t[i] = i;
}
setup_legend();
xlabel = xlabel_def;
ylabel = ylabel_def;
plscol0a( 14, 0, 0, 0, 1);
reset_axis();
return 0;
}
void jogging_state_machine(struct jog_state_input* data){
static JOG_STATE state = INIT;
static JOG_STATE next_state = INIT;
static unsigned int delay = 0;
float x = 0;
float y = 0;
float z = 0;
/* sprintf(debug_str, "joy: %d , %d \t", data->x, data->y);
printString(debug_str);
sprintf(debug_str, "but: %d, %d\n", data->button_a, data->button_b);
printString(debug_str);*/
switch(state){
case INIT:
if(!data->button_a && !data->button_b){
next_state = JOG_XY;
printString("Jogging XY\n");
delay = delay_debounce;
state = WAIT;
}
break;
case JOG_XY:
if(data->x == 0){
x = -1;
jog(X, x);
} else if(data->x == 255){
x = 1;
jog(X, x);
}
if(data->y == 0){
y = -1;
jog(Y, y);
} else if(data->y == 255){
y = 1;
jog(Y, y);
}
if(!data->button_a){
next_state = JOG_Z;
printString("Jogging Z\n");
delay = delay_debounce;
state = WAIT;
} else {
next_state = JOG_XY;
delay = delay_debounce;
state = WAIT;
}
break;
case JOG_Z:
if(data->y == 0){
jog(Z, -1);
} else if(data->y == 255){
jog(Z, 1);
}
if(!data->button_b){
next_state = JOG_XY;
printString("Jogging XY\n");
delay = delay_debounce;
state = WAIT;
} else if(!data->button_a){
next_state = ZERO_X;
printString("Reset zero X?\n");
delay = delay_debounce;
state = WAIT;
} else {
next_state = JOG_Z;
delay = delay_debounce;
state = WAIT;
}
break;
case ZERO_X:
if(!data->button_a){
reset_axis(X);
}
if(!data->button_a || !data->button_b){
next_state = ZERO_Y;
printString("Reset zero Y?\n");
delay = delay_debounce;
state = WAIT;
}
break;
case ZERO_Y:
if(!data->button_a){
reset_axis(Y);
}
if(!data->button_a || !data->button_b){
next_state = ZERO_Z;
printString("Reset zero Z?\n");
delay = delay_debounce;
state = WAIT;
}
break;
case ZERO_Z:
if(!data->button_a){
reset_axis(Z);
}
if(!data->button_a || !data->button_b){
next_state = INIT;
printString("Jogging back to init\n");
delay = delay_debounce;
state = WAIT;
}
case WAIT:
if (delay == 0)
state = next_state;
else
delay--;
break;
}
}
/**
* @ingroup plp_sink
*
* Initializes the plplot driver if mode is SCOPE or PSD. If the mode is PSD, it
* also initializes computes the fftw3 plan for the selected dft_size.
*
* \param is_complex 0: The input data for all interfaces is real;
* 1: The input data for all interfaces is complex. This parameter is mandatory.
* \param mode 0: Do nothing; 1: Print to stdout the received samples; 2: SCOPE mode, plots the
* received signal using plplot; 3: PSD mode, plots the power spectral density of the received signal.
* Default is 0 (silent)
* \param fft_size Size of the DFT to compute the PSD. Default is 128.
*/
int initialize() {
int i;
int mode;
int tslen;
int data_type;
last_rcv_samples=0;
memset(plans,0,sizeof(dft_plan_t)*NOF_PRECOMPUTED_DFT);
memset(extra_plans,0,sizeof(dft_plan_t)*MAX_EXTRA_PLANS);
setup_legends();
if (param_get_int_name("data_type", &data_type)) {
data_type = 0;
}
switch(data_type) {
case 0:
is_complex = 0;
break;
case 1:
is_complex = 1;
break;
case 2:
moderror("Only data_type 0 or 1 is supported\n");
return -1;
}
if (param_get_int_name("print_not_received",&print_not_received)!=1) {
print_not_received = 0;
}
modinfo_msg("print_not_received=%d\n",print_not_received);
mode_id = param_id("mode");
if (mode_id == NULL) {
modinfo("Mode is not configured, using default mode 'silent'\n");
} else {
if (param_get_int(mode_id,&mode) != 1) {
moderror("Error getting parameter mode\n");
return -1;
}
if (mode == MODE_SCOPE || mode == MODE_PSD) {
modinfo("Initiating plplot...\n");
if (plp_init(PL_DRIVER,"",is_complex)) {
return -1;
}
plp_initiated = 1;
reset_axis();
modinfo("-- Warning --: plplot crashes at stop. Restart ALOE after stopping the waveform.\n");
}
}
if (mode == MODE_PSD) {
fft_size=0;
param_get_int_name("fft_size",&fft_size);
if (is_complex) {
if (dft_plan_multi_c2r(precomputed_dft_len, FORWARD, NOF_PRECOMPUTED_DFT, plans)) {
moderror("Precomputing plans\n");
return -1;
}
} else {
if (dft_plan_multi_r2r(precomputed_dft_len, FORWARD, NOF_PRECOMPUTED_DFT, plans)) {
moderror("Precomputing plans\n");
return -1;
}
}
for (i=0;i<NOF_PRECOMPUTED_DFT;i++) {
plans[i].options = DFT_PSD | DFT_OUT_DB | DFT_NORMALIZE;
}
fft_initiated = 1;
}
#ifdef _COMPILE_ALOE
tslen = oesr_tslot_length(ctx);
if (tslen > EXEC_MIN_INTERVAL_MS*1000) {
interval_ts = 1;
} else {
interval_ts = (EXEC_MIN_INTERVAL_MS*1000)/tslen;
modinfo_msg("Timeslot is %d usec, refresh interval set to %d tslots\n",tslen,interval_ts);
}
last_tstamp = 0;
#endif
return 0;
}
