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wuhyuo-sugoi
Commit d250dfe7 authored by 17임경현's avatar 17임경현
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asdf

parent 44e7ca58
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Showing with 222 additions and 150 deletions
majikayo/majikayo.ino
View file @ d250dfe7
......@@ -17,6 +17,12 @@ void setup()
}
}
void writeulong(unsigned long x)
{
Serial.print(x, HEX);
Serial.print(" ");
}
void writefloat(float x)
{
byte* ptr = (byte*)&x;
......@@ -31,6 +37,7 @@ void loop()
{
IMU.readSensor();
Serial.print("=");
writeulong(micros());
writefloat(IMU.getAccelX_mss());
writefloat(IMU.getAccelY_mss());
writefloat(IMU.getAccelZ_mss());
......
wuhyuo/GraphRenderer.xaml 0 → 100644
View file @ d250dfe7
<UserControl x:Class="wuhyuo.GraphRenderer"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
xmlns:local="clr-namespace:wuhyuo"
mc:Ignorable="d"
d:DesignHeight="450" d:DesignWidth="800" Loaded="UserControl_Loaded">
<Border BorderBrush="Black" BorderThickness="2">
<Grid ClipToBounds="True">
<Label x:Name="label" Content="{Binding Path=Text}"/>
<Canvas x:Name="canvas" HorizontalAlignment="Right" VerticalAlignment="Center">
<Canvas.RenderTransform>
<TranslateTransform x:Name="translate"/>
</Canvas.RenderTransform>
<Polyline x:Name="polyline" Points="0,0" Stroke="{Binding Path=Stroke}" />
</Canvas>
<Rectangle VerticalAlignment="Center" Height="4" Fill="#7F7F7F7F"/>
<Rectangle Width="4" HorizontalAlignment="Center" Fill="#7F7F7F7F"/>
</Grid>
</Border>
</UserControl>
wuhyuo/GraphRenderer.xaml.cs 0 → 100644
View file @ d250dfe7
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
namespace wuhyuo
{
/// <summary>
/// GraphRenderer.xaml에 대한 상호 작용 논리
/// </summary>
public partial class GraphRenderer : UserControl
{
public static readonly DependencyProperty TextProperty
= DependencyProperty.Register("Text", typeof(string), typeof(GraphRenderer), new UIPropertyMetadata(""));
public static readonly DependencyProperty StrokeProperty
= DependencyProperty.Register("Stroke", typeof(Brush), typeof(GraphRenderer), new UIPropertyMetadata(Brushes.Black));
public string Text
{
get { return (string)GetValue(TextProperty); }
set { SetValue(TextProperty, value); }
}
public Brush Stroke
{
get { return (Brush)GetValue(StrokeProperty); }
set { SetValue(StrokeProperty, value); }
}
public GraphRenderer()
{
InitializeComponent();
}
private void UserControl_Loaded(object sender, EventArgs e)
{
label.Content = Text;
polyline.Stroke = Stroke;
polyline.StrokeThickness = 2;
}
public void AddValue(double time, double value)
{
double x = 50 * time;
double y = 10 * value;
polyline.Points.Add(new Point(x, y));
translate.X = -x;
}
}
}
wuhyuo/MainWindow.xaml
View file @ d250dfe7
<Window x:Class="WpfApp1.MainWindow"
<Window x:Class="wuhyuo.MainWindow"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
xmlns:local="clr-namespace:WpfApp1"
xmlns:local="clr-namespace:wuhyuo"
mc:Ignorable="d"
Title="MainWindow" Height="450" Width="800" Initialized="Window_Initialized" Closed="Window_Closed">
Title="MainWindow" Width="1280" Height="906" Loaded="Window_Loaded" Closed="Window_Closed">
<Grid Margin="20">
<Grid.RowDefinitions>
<RowDefinition />
<RowDefinition />
<RowDefinition Height="2*"/>
<RowDefinition Height="2*"/>
<RowDefinition Height="3*"/>
</Grid.RowDefinitions>
<Grid.ColumnDefinitions>
<ColumnDefinition />
<ColumnDefinition />
<ColumnDefinition />
<ColumnDefinition />
<ColumnDefinition/>
<ColumnDefinition/>
<ColumnDefinition/>
<ColumnDefinition/>
</Grid.ColumnDefinitions>
<Border BorderBrush="Black" BorderThickness="2" Grid.Row="0" Grid.Column="0">
<Grid ClipToBounds="True">
<Label>AccelX</Label>
<Canvas x:Name="canvas1" HorizontalAlignment="Right" VerticalAlignment="Center"/>
</Grid>
</Border>
<Border BorderBrush="Black" BorderThickness="2" Grid.Row="0" Grid.Column="1">
<Grid ClipToBounds="True">
<Label>AccelY</Label>
<Canvas x:Name="canvas2" HorizontalAlignment="Right" VerticalAlignment="Center"/>
</Grid>
</Border>
<Border BorderBrush="Black" BorderThickness="2" Grid.Row="0" Grid.Column="2">
<Grid ClipToBounds="True">
<Label>AccelZ</Label>
<Canvas x:Name="canvas3" HorizontalAlignment="Right" VerticalAlignment="Center"/>
</Grid>
</Border>
<Border BorderBrush="Black" BorderThickness="2" Grid.Row="0" Grid.Column="3">
<Grid ClipToBounds="True">
<Label>Accel Total</Label>
<Canvas x:Name="canvas4" HorizontalAlignment="Right" VerticalAlignment="Center"/>
</Grid>
</Border>
<Border BorderBrush="Black" BorderThickness="2" Grid.Row="1" Grid.Column="0">
<Grid ClipToBounds="True">
<Label>GryoX</Label>
<Canvas x:Name="canvas5" HorizontalAlignment="Right" VerticalAlignment="Center"/>
</Grid>
</Border>
<Border BorderBrush="Black" BorderThickness="2" Grid.Row="1" Grid.Column="1">
<Grid ClipToBounds="True">
<Label>GyroY</Label>
<Canvas x:Name="canvas6" HorizontalAlignment="Right" VerticalAlignment="Center"/>
</Grid>
</Border>
<Border BorderBrush="Black" BorderThickness="2" Grid.Row="1" Grid.Column="2">
<Grid ClipToBounds="True">
<Label>GyroZ</Label>
<Canvas x:Name="canvas7" HorizontalAlignment="Right" VerticalAlignment="Center"/>
</Grid>
</Border>
<Border BorderBrush="Black" BorderThickness="2" Grid.Row="1" Grid.Column="3">
<Grid ClipToBounds="True">
<Label>Gyro Total</Label>
<Canvas x:Name="canvas8" HorizontalAlignment="Right" VerticalAlignment="Center"/>
</Grid>
</Border>
<local:GraphRenderer x:Name="accelX" Text="AccelX" Stroke="Red" Grid.Row="0" Grid.Column="0"/>
<local:GraphRenderer x:Name="accelY" Text="AccelY" Stroke="Orange" Grid.Row="0" Grid.Column="1"/>
<local:GraphRenderer x:Name="accelZ" Text="AccelZ" Stroke="DarkKhaki" Grid.Row="0" Grid.Column="2"/>
<local:GraphRenderer x:Name="accelTotal" Text="Accel Total" Stroke="CornflowerBlue" Grid.Row="0" Grid.Column="3"/>
<local:GraphRenderer x:Name="gyroX" Text="GyroX" Stroke="Green" Grid.Row="1" Grid.Column="0"/>
<local:GraphRenderer x:Name="gyroY" Text="GyroZ" Stroke="Blue" Grid.Row="1" Grid.Column="1"/>
<local:GraphRenderer x:Name="gyroZ" Text="GyroY" Stroke="Purple" Grid.Row="1" Grid.Column="2"/>
<local:GraphRenderer x:Name="gyroTotal" Text="GyroTotal" Stroke="Chocolate" Grid.Row="1" Grid.Column="3"/>
<Grid Grid.Row="2" Grid.ColumnSpan="4">
<WrapPanel>
<Button Click="Button_Click" FontSize="48">Reset</Button>
</WrapPanel>
<Viewport3D>
<Viewport3D.Camera>
<PerspectiveCamera
FarPlaneDistance="100" NearPlaneDistance="1" LookDirection="0, 0, -1" UpDirection="0, 1, 0"
Position="0, 0, 10" FieldOfView="70"/>
</Viewport3D.Camera>
<ModelVisual3D>
<ModelVisual3D.Transform>
<RotateTransform3D>
<RotateTransform3D.Rotation>
<QuaternionRotation3D x:Name="viewRotate"/>
</RotateTransform3D.Rotation>
</RotateTransform3D>
</ModelVisual3D.Transform>
<ModelVisual3D.Content>
<Model3DGroup>
<DirectionalLight Color="White" Direction="-2, -3, -1"/>
<GeometryModel3D>
<GeometryModel3D.Geometry>
<MeshGeometry3D
Positions="0.293893 -0.5 0.404509 0.475528 -0.5 0.154509 0 0.5 0 0.475528 -0.5 0.154509 0 0.5 0 0 0.5 0 0.475528 -0.5 0.154509 0.475528 -0.5 -0.154509 0 0.5 0 0.475528 -0.5 -0.154509 0 0.5 0 0 0.5 0 0.475528 -0.5 -0.154509 0.293893 -0.5 -0.404509 0 0.5 0 0.293893 -0.5 -0.404509 0 0.5 0 0 0.5 0 0.293893 -0.5 -0.404509 0 -0.5 -0.5 0 0.5 0 0 -0.5 -0.5 0 0.5 0 0 0.5 0 0 -0.5 -0.5 -0.293893 -0.5 -0.404509 0 0.5 0 -0.293893 -0.5 -0.404509 0 0.5 0 0 0.5 0 -0.293893 -0.5 -0.404509 -0.475528 -0.5 -0.154509 0 0.5 0 -0.475528 -0.5 -0.154509 0 0.5 0 0 0.5 0 -0.475528 -0.5 -0.154509 -0.475528 -0.5 0.154509 0 0.5 0 -0.475528 -0.5 0.154509 0 0.5 0 0 0.5 0 -0.475528 -0.5 0.154509 -0.293892 -0.5 0.404509 0 0.5 0 -0.293892 -0.5 0.404509 0 0.5 0 0 0.5 0 -0.293892 -0.5 0.404509 0 -0.5 0.5 0 0.5 0 0 -0.5 0.5 0 0.5 0 0 0.5 0 0 -0.5 0.5 0.293893 -0.5 0.404509 0 0.5 0 0.293893 -0.5 0.404509 0 0.5 0 0 0.5 0 "
Normals="0.7236065,0.4472139,0.5257313 0.2763934,0.4472138,0.8506507 0.5308242,0.4294462,0.7306172 0.2763934,0.4472138,0.8506507 0,0.4294458,0.9030925 0.5308242,0.4294462,0.7306172 0.2763934,0.4472138,0.8506507 -0.2763934,0.4472138,0.8506507 0,0.4294458,0.9030925 -0.2763934,0.4472138,0.8506507 -0.5308242,0.4294462,0.7306172 0,0.4294458,0.9030925 -0.2763934,0.4472138,0.8506507 -0.7236065,0.4472139,0.5257313 -0.5308242,0.4294462,0.7306172 -0.7236065,0.4472139,0.5257313 -0.858892,0.429446,0.279071 -0.5308242,0.4294462,0.7306172 -0.7236065,0.4472139,0.5257313 -0.8944269,0.4472139,0 -0.858892,0.429446,0.279071 -0.8944269,0.4472139,0 -0.858892,0.429446,-0.279071 -0.858892,0.429446,0.279071 -0.8944269,0.4472139,0 -0.7236065,0.4472139,-0.5257313 -0.858892,0.429446,-0.279071 -0.7236065,0.4472139,-0.5257313 -0.5308242,0.4294462,-0.7306172 -0.858892,0.429446,-0.279071 -0.7236065,0.4472139,-0.5257313 -0.2763934,0.4472138,-0.8506507 -0.5308242,0.4294462,-0.7306172 -0.2763934,0.4472138,-0.8506507 0,0.4294458,-0.9030925 -0.5308242,0.4294462,-0.7306172 -0.2763934,0.4472138,-0.8506507 0.2763934,0.4472138,-0.8506507 0,0.4294458,-0.9030925 0.2763934,0.4472138,-0.8506507 0.5308249,0.4294459,-0.7306169 0,0.4294458,-0.9030925 0.2763934,0.4472138,-0.8506507 0.7236068,0.4472141,-0.5257306 0.5308249,0.4294459,-0.7306169 0.7236068,0.4472141,-0.5257306 0.8588922,0.4294461,-0.27907 0.5308249,0.4294459,-0.7306169 0.7236068,0.4472141,-0.5257306 0.8944269,0.4472139,0 0.8588922,0.4294461,-0.27907 0.8944269,0.4472139,0 0.858892,0.429446,0.279071 0.8588922,0.4294461,-0.27907 0.8944269,0.4472139,0 0.7236065,0.4472139,0.5257313 0.858892,0.429446,0.279071 0.7236065,0.4472139,0.5257313 0.5308242,0.4294462,0.7306172 0.858892,0.429446,0.279071 "
TriangleIndices="0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 " />
</GeometryModel3D.Geometry>
<GeometryModel3D.Material>
<DiffuseMaterial>
<DiffuseMaterial.Brush>
<SolidColorBrush Color="Red"/>
</DiffuseMaterial.Brush>
</DiffuseMaterial>
</GeometryModel3D.Material>
</GeometryModel3D>
</Model3DGroup>
</ModelVisual3D.Content>
</ModelVisual3D>
</Viewport3D>
</Grid>
</Grid>
</Window>
wuhyuo/MainWindow.xaml.cs
View file @ d250dfe7
......@@ -14,8 +14,10 @@ using System.Windows.Navigation;
using System.Windows.Shapes;
using System.Threading;
using System.IO.Ports;
using System.IO;
using System.Windows.Media.Media3D;
namespace WpfApp1
namespace wuhyuo
{
/// <summary>
/// MainWindow.xaml에 대한 상호 작용 논리
......@@ -27,81 +29,107 @@ namespace WpfApp1
InitializeComponent();
}
private void Window_Initialized(object sender, EventArgs e)
private void Window_Loaded(object sender, EventArgs e)
{
renderer = new GraphRenderer[] {
new GraphRenderer(canvas1, Colors.Red),
new GraphRenderer(canvas2, Colors.Orange),
new GraphRenderer(canvas3, Colors.DarkKhaki),
new GraphRenderer(canvas4, Colors.CornflowerBlue),
new GraphRenderer(canvas5, Colors.Green),
new GraphRenderer(canvas6, Colors.Blue),
new GraphRenderer(canvas7, Colors.Purple),
new GraphRenderer(canvas8, Colors.Chocolate),
};
_thrd = new Thread(InputThread);
_thrd.Start();
}
private void Window_Closed(object sender, EventArgs e)
{
_thrd.Abort();
_thrd.Join();
_thrdStop = true;
_thrd?.Join();
}
private void Button_Click(object sender, RoutedEventArgs e)
{
viewRotate.Quaternion = Quaternion.Identity;
}
private void InputThread()
{
SerialPort port = new SerialPort("COM8", 115200);
bool started = false;
uint? prevTime = null;
try
{
SerialPort port = new SerialPort("COM8", 115200);
port.Open();
while (true)
while (!_thrdStop)
{
string input;
try
{
string input = port.ReadLine();
if (input.FirstOrDefault() != '=')
input = port.ReadLine();
}
catch (TimeoutException)
{
continue;
}
foreach (string line in input.Split('\r', '\n').Where(x => x.Length > 0))
{
if (line.FirstOrDefault() != '=')
continue;
double[] values = input.Substring(1).Split(" \t\r\n".ToArray()).Where(x => x.Length > 0)
if (!started)
{
started = true;
continue;
}
string[] tokens = input.Substring(1)
.Split(' ', '\t', '\r', '\n').Where(x => x.Length > 0).ToArray();
if (tokens.Length != 7)
continue;
uint micros = Convert.ToUInt32(tokens[0], 16);
double[] values = tokens.Skip(1)
.Select(x => (double)uint2float(Convert.ToUInt32(x, 16))).ToArray();
if (values.Length != 6)
if (prevTime is null || prevTime.Value >= micros)
{
prevTime = micros;
continue;
}
double dt = (micros - prevTime.Value) / 1000000.0;
System.Diagnostics.Debug.Assert(dt < 1000);
Dispatcher.InvokeAsync(() =>
{
renderer[0].AddValue(values[0]);
renderer[1].AddValue(values[1]);
renderer[2].AddValue(values[2]);
renderer[4].AddValue(values[3]);
renderer[5].AddValue(values[4]);
renderer[6].AddValue(values[5]);
double wx = values[3];
double wy = values[4];
double wz = values[5];
var w = new Vector3D(wx, wy, wz);
var p = new Quaternion(w, w.Length);
viewRotate.Quaternion = p * viewRotate.Quaternion;
accelX.AddValue(dt, values[0]);
accelY.AddValue(dt, values[1]);
accelZ.AddValue(dt, values[2]);
gyroX.AddValue(dt, values[3]);
gyroY.AddValue(dt, values[4]);
gyroZ.AddValue(dt, values[5]);
double acc = Math.Sqrt(values[0] * values[0] + values[1] * values[1] + values[2] * values[2]);
double gyro = Math.Sqrt(values[3] * values[3] + values[4] * values[4] + values[5] * values[5]);
renderer[3].AddValue(acc);
renderer[7].AddValue(gyro);
accelTotal.AddValue(dt, acc);
gyroTotal.AddValue(dt, gyro);
});
}
catch (FormatException) { }
catch (TimeoutException) { }
catch (OverflowException) { }
}
}
catch (InvalidOperationException)
catch (InvalidOperationException ex)
{
Dispatcher.Invoke(() =>
{
MessageBox.Show("arduino connection closed");
MessageBox.Show("serial communication error: " + ex.Message);
_thrd = null;
Close();
});
}
finally
{
port.Close();
}
}
private static unsafe float uint2float(uint value)
......@@ -110,60 +138,6 @@ namespace WpfApp1
}
private Thread _thrd;
private GraphRenderer[] renderer;
}
class GraphRenderer
{
public Canvas Canvas { get; }
public Color Color { get; set; }
public double Time { get; set; }
public double DeltaTime { get; set; }
public double Value { get; set; }
private TranslateTransform translate = new TranslateTransform();
private ScaleTransform scale = new ScaleTransform();
private List<Line> lines = new List<Line>();
public GraphRenderer(Canvas canvas, Color color)
{
Canvas = canvas;
Color = color;
Time = 0;
Value = 0;
DeltaTime = 1;
var transform = new TransformGroup();
transform.Children.Add(translate);
transform.Children.Add(scale);
Canvas.RenderTransform = transform;
}
public void AddValue(double newValue)
{
Line line = new Line();
line.X1 = Time;
line.Y1 = 10 * Value;
line.X2 = Time + DeltaTime;
line.Y2 = 10 * newValue;
line.StrokeThickness = 1;
line.Stroke = new SolidColorBrush(Color);
Canvas.Children.Add(line);
translate.X = -Time;
lines.Add(line);
if (lines.Count > 1000)
{
Canvas.Children.Remove(lines[0]);
lines.RemoveAt(0);
}
Value = newValue;
Time += DeltaTime;
}
private volatile bool _thrdStop = false;
}
}
wuhyuo/wuhyuo.csproj
View file @ d250dfe7
......@@ -57,6 +57,10 @@
<Generator>MSBuild:Compile</Generator>
<SubType>Designer</SubType>
</ApplicationDefinition>
<Page Include="GraphRenderer.xaml">
<SubType>Designer</SubType>
<Generator>MSBuild:Compile</Generator>
</Page>
<Page Include="MainWindow.xaml">
<Generator>MSBuild:Compile</Generator>
<SubType>Designer</SubType>
......@@ -65,6 +69,9 @@
<DependentUpon>App.xaml</DependentUpon>
<SubType>Code</SubType>
</Compile>
<Compile Include="GraphRenderer.xaml.cs">
<DependentUpon>GraphRenderer.xaml</DependentUpon>
</Compile>
<Compile Include="MainWindow.xaml.cs">
<DependentUpon>MainWindow.xaml</DependentUpon>
<SubType>Code</SubType>
......
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