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Addsonarrenderingoption #1

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Addsonarrenderingoption #1

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d2baa54
Corrected Cairo Lib path
sbman Jul 31, 2015
f8489c4
Plot sonar raw value.
sbman Aug 6, 2015
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35 changes: 28 additions & 7 deletions src/blackbox_render.c
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Original file line number Diff line number Diff line change
Expand Up @@ -103,7 +103,7 @@ typedef struct renderOptions_t {
int fps;
int help;

int plotPids, plotPidSum, plotGyros, plotMotors;
int plotPids, plotPidSum, plotGyros, plotMotors, plotSonar;
int drawPidTable, drawSticks, drawCraft, drawTime;

int pidSmoothing, gyroSmoothing, motorSmoothing;
Expand Down Expand Up @@ -194,7 +194,7 @@ static const colorAlpha_t crosshairColor = {0.75, 0.75, 0.75, 0.5};
static const renderOptions_t defaultOptions = {
.imageWidth = 1920, .imageHeight = 1080,
.fps = 30, .help = 0, .propStyle = PROP_STYLE_PIE_CHART,
.plotPids = false, .plotPidSum = false, .plotGyros = true, .plotMotors = true,
.plotPids = false, .plotPidSum = false, .plotGyros = true, .plotMotors = true, .plotSonar = false,
.pidSmoothing = 4, .gyroSmoothing = 2, .motorSmoothing = 2,
.drawCraft = true, .drawPidTable = true, .drawSticks = true, .drawTime = true,
.gyroUnit = UNIT_RAW,
Expand All @@ -209,7 +209,7 @@ static const renderOptions_t defaultOptions = {
extern cairo_font_face_t* cairo_ft_font_face_create_for_ft_face(FT_Face face, int load_flags);

static renderOptions_t options;
static expoCurve_t *pitchStickCurve, *pidCurve, *gyroCurve, *accCurve, *motorCurve, *servoCurve;
static expoCurve_t *pitchStickCurve, *pidCurve, *gyroCurve, *accCurve, *motorCurve, *servoCurve, *sonarCurve;

static semaphore_t pngRenderingSem;
static bool pngRenderingSemCreated = false;
Expand Down Expand Up @@ -1069,6 +1069,8 @@ void renderAnimation(uint32_t startFrame, uint32_t endFrame)
// Default Servo range is [1020...2000] but we'll just use [1000...2000] for simplicity
servoCurve = expoCurveCreate(-1500, 1.0, 1000, 1.0, 2);

sonarCurve = expoCurveCreate(0, 1.0, 200, 1.0, 1);

int durationSecs = (outputFrames + (options.fps - 1)) / (options.fps);
int durationMins = durationSecs / 60;
durationSecs %= 60;
Expand Down Expand Up @@ -1129,6 +1131,22 @@ void renderAnimation(uint32_t startFrame, uint32_t endFrame)
cairo_restore(cr);
}

//Plot sonar
if (options.plotSonar) {
int sonarGraphHeight = (int)(options.imageHeight * .40);
cairo_save(cr);
{
//Move up
cairo_translate(cr, 0, options.imageHeight * 0.9);
drawAxisLine(cr);
cairo_set_line_width(cr, 2.5);
plotLine(cr, fieldMeta.motorColors[0], windowStartTime, windowEndTime, firstFrameIndex,
flightLog->mainFieldIndexes.sonarRaw, sonarCurve, sonarGraphHeight);
}
drawAxisLabel(cr, "Sonar");
cairo_restore(cr);
}

//Plot the lower PID graphs
cairo_save(cr);
{
Expand Down Expand Up @@ -1325,9 +1343,10 @@ void printUsage(const char *argv0)
" --[no-]draw-sticks Show RC command sticks (default on)\n"
" --[no-]draw-time Show frame number and time in bottom right (default on)\n"
" --[no-]plot-motor Draw motors on the upper graph (default on)\n"
" --[no-]plot-pid Draw PIDs on the lower graph (default off)\n"
" --[no-]plot-sonar Draw sonar on the lower graph (default off)\n"
" --[no-]plot-pid Draw PIDs on the lower graph (default off)\n"
" --[no-]plot-gyro Draw gyroscopes on the lower graph (default on)\n"
" --smoothing-pid <n> Smoothing window for the PIDs (default %d)\n"
" --smoothing-pid <n> Smoothing window for the PIDs (default %d)\n"
" --smoothing-gyro <n> Smoothing window for the gyroscopes (default %d)\n"
" --smoothing-motor <n> Smoothing window for the motors (default %d)\n"
" --unit-gyro <raw|degree> Unit for the gyro values in the table (default %s)\n"
Expand Down Expand Up @@ -1420,10 +1439,12 @@ void parseCommandlineOptions(int argc, char **argv)
{"plot-pid", no_argument, &options.plotPids, 1},
{"plot-gyro", no_argument, &options.plotGyros, 1},
{"plot-motor", no_argument, &options.plotMotors, 1},
{"no-plot-pid", no_argument, &options.plotPids, 0},
{"plot-sonar", no_argument, &options.plotSonar, 1 },
{"no-plot-pid", no_argument, &options.plotPids, 0 },
{"no-plot-gyro", no_argument, &options.plotGyros, 0},
{"no-plot-motor", no_argument, &options.plotMotors, 0},
{"draw-pid-table", no_argument, &options.drawPidTable, 1},
{"no-plot-sonar", no_argument, &options.plotSonar, 0 },
{"draw-pid-table", no_argument, &options.drawPidTable, 1 },
{"draw-craft", no_argument, &options.drawCraft, 1},
{"draw-sticks", no_argument, &options.drawSticks, 1},
{"draw-time", no_argument, &options.drawTime, 1},
Expand Down
2 changes: 1 addition & 1 deletion visual-studio/blackbox_render/blackbox_render.vcxproj
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Original file line number Diff line number Diff line change
Expand Up @@ -40,7 +40,7 @@
<IntrinsicFunctions>true</IntrinsicFunctions>
<PreprocessorDefinitions>_CRT_NONSTDC_NO_DEPRECATE;_CRT_SECURE_NO_WARNINGS;WIN32;NDEBUG;_CONSOLE;_LIB;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<SDLCheck>true</SDLCheck>
<AdditionalIncludeDirectories>..\..\lib\cairo-1.14.0\src;..\..\lib\freetype-2.5.3\include;..\..\lib\getopt_mb_uni;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalIncludeDirectories>..\..\lib\cairo-1.14\src;..\..\lib\freetype-2.5.3\include;..\..\lib\getopt_mb_uni;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<RuntimeLibrary>MultiThreaded</RuntimeLibrary>
</ClCompile>
<Link>
Expand Down