Re: [Plib-users] Problem with setLabel, weirdness ensues.

[cory b. <co...@gm...>]

I am ok with public code on this one. I put the GPL stuff on top of
the file. Here is the email I sent to John:

Wow! Fantastic response time! Thank you. I have been banging my head
on this problem for while now.

I attached the main file that I am working with.

The relevant bits(to the best of my knowledge) are located in the
following functions:
main: line 96
init_pui_widgets: line 453
pui_callback: line 516


I am doing the development in Ubuntu. I will send you the supporting
classes for this program if needed.

Let me know if you still want me to make a small sample program to
demonstrate the issue.

Also the char array for radio button labels:
char *controller_selector_labels[] = { "Roll", "Pitch", NULL };
gives a warning: softSim.cxx:76: warning: deprecated conversion from
string constant to 'char*'
Do you know how to fix that?

Thanks,

Cory

Here is the code:

/**********************************************************************
 * softSim.cxx
 * Software simulation interface for FlightGear
 *
 * Written by Cory Barton, started May 2008
 * Copyright (C) 2008 Cory Barton co...@gm...
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 *********************************************************************/

//#include <memory.h>
#include <stdio.h>
#include <sstream>
#include <simgear/compiler.h>
#include <GL/glut.h>
//#include SG_GLUT_H
#include <plib/fnt.h>
#include <plib/pu.h>
#include <string>
#include <simgear/io/sg_socket.hxx>
#include <simgear/io/sg_serial.hxx>
#include <simgear/io/sg_file.hxx>

#include "SSAircraft.hxx"
#include "SSPid.hxx"
using namespace std;

//defines
#define DECIMALS 6
#define KEY_ESCAPE 27
#define WINDOW_X 350 //window width
#define WINDOW_Y 350 //window height
#define PUI_X_OFFSET 0
#define PUI_Y_OFFSET 0
#define GAIN_MIN -1 //gain values for sliders MIN should be 0 or less
#define GAIN_MAX 1
#define DEG_MIN -180 //target value limiters
#define DEG_MAX 180

//global items
//objects
SGIOChannel *in_channel, *out_channel, *log_file;
SSAircraft *sim_craft = new SSAircraft();
SSPid *aileron_pid = new SSPid();
SSPid *elevator_pid = new SSPid();
//vars
bool slaved = false;
bool network = false;
bool serial = false;
bool output = false;
bool logging = false;
bool pauseSoftSim = true;
char baud[ 256 ] = "4800";
char inport[ 256 ] = "5500";
char outport[ 256 ] = "5501";
char device [256 ] = "/dev/ttyS0";
int  sock;
float update = 1.0f;
char out_file[ 1024 ] = "softSimLog.csv";
char save_buf[ 2 * 2048 ];
int save_len = 0;
//pui widgets from PLIB library
//puGroup *gui_group;
puFrame *gui_frame;
char *controller_selector_labels[] = { "Roll", "Pitch", NULL };
puButtonBox *controller_selector;
puButton *pause_button, *log_button;
puSlider *kp_slider, *ki_slider, *kd_slider, *target_slider;


//function prototypes
void print_help( void );
void timer( int value );
bool parse_fgear_data( char *buf );
void redrawWindow( void );
void reshapeWindow( int w, int h );
string command_output( void );
void processNormalKeys( unsigned char key, int x, int y );
void init_pui_widgets( void );
void pui_callback( puObject *pob );
void processMousefn ( int button, int updown, int x, int y );
void processMotionfn ( int x, int y );


int main( int argc, char **argv ) {
  // parse arguments
  for ( int i = 1; i < argc; i++ ) {
    if ( sscanf(argv[i], "--udp-in=%s", inport ) == 1 ) {
      slaved = true;
      network = true;
      serial = false;
  	} else if ( sscanf( argv[i], "--udp-out=%s", outport ) == 1 ) {
  	  output = true;
    } else if ( sscanf( argv[i], "--serial=%s", device ) == 1 ) {
      slaved = true;
      serial = true;
      network = false;
    } else if ( sscanf( argv[i], "--baud=%s", baud ) == 1 ) {
      // do nothing
    } else if ( sscanf( argv[i], "--update=%f", &update ) == 1 ) {
      // do nothing
    } else if ( sscanf( argv[i], "--log=%s", out_file ) == 1 ) {
      logging = true;
    } else if ( strcmp( argv[i], "--help" ) == 0 ) {
      print_help();
      return 0;
    } else {
      print_help();
      fprintf( stderr, "%s: unknown flag \"%s\".\n", argv[0], argv[i] );
      return 1;
    }
  }

  	glutInit( &argc, argv );
  	glutInitDisplayMode( GLUT_DEPTH | GLUT_DOUBLE | GLUT_RGB );
	glutInitWindowPosition( 100, 100 );
	glutInitWindowSize( WINDOW_X, WINDOW_Y );
  	glutCreateWindow( "SoftSim" );
  	glutDisplayFunc( redrawWindow );
  	glutReshapeFunc( reshapeWindow );
	glutIdleFunc( redrawWindow );
	glutMouseFunc ( processMousefn );  // process mouse clicks
  	glutMotionFunc ( processMotionfn );  // process mouse moves
  	glutPassiveMotionFunc ( processMotionfn );
	glutKeyboardFunc( processNormalKeys );
	
	// enable depth testing
	glEnable( GL_DEPTH_TEST );

	
	if ( slaved ) {
		glutTimerFunc( ( int )( 1000.0f/update ), timer, 0 );
		if ( network ) {
			in_channel = new SGSocket( "", inport, "udp" );
			if ( output ) {
				out_channel = new SGSocket( "", outport, "udp" );
			}
		} else if ( serial ) {
			in_channel = new SGSerial( device, baud );
		} else {
			printf( "unknown input, defaulting to network on port 5500\n" );
			in_channel = new SGSocket( "", "5500", "udp" );
		}

		in_channel->open( SG_IO_IN );
		if ( output ) {
			out_channel->open( SG_IO_OUT );
		}
		if ( logging ) {
			string f_name = out_file;
			log_file = new SGFile( f_name );
			log_file->open( SG_IO_OUT );
		}
	  }

	//initialize PID controllers
	aileron_pid->set_gains( 0.06, 0.004, -0.04 );
	aileron_pid->set_reference( 0 );
	aileron_pid->set_limits( -1, 1 );

	elevator_pid->set_gains( -0.05, -0.001, 0 );
	elevator_pid->set_reference( 0 );
	elevator_pid->set_limits( -1, 1 );

	init_pui_widgets();
  	glutMainLoop();

  if ( slaved ) {
      in_channel->close();
      if ( output ) {
      	out_channel->close();
	  }
	  if ( logging ) {
	  	log_file->close();
	  }
  }
  return 0;
}

void timer( int value ) {
	char buffer[ 512 ];	
	size_t found;
	string log_str; //string to log to file
	
	int length;
	if ( !pauseSoftSim ){
		//read incoming data
		while ( ( length = in_channel->readline( buffer, 512 ) ) > 0 ) {
			parse_fgear_data( buffer );
			if ( logging ) {
				//prepare log string
				log_str = buffer;
				//find \n char and replace with comma
				found=log_str.find( '\n' );
				if ( found!=string::npos ) {
					log_str.replace( found, 1, "," );
				}
			}	
		}
		
		string command_str = command_output();
		if ( output ) {
			//send outgoing data
			out_channel->write( command_str.c_str(), command_str.size() );
		}	
		//log to file
		if ( logging ) {
			//don't log if no data from udp
			if ( log_str.length () > 0 ) {
				log_str.append( command_str );
				log_file->writestring( log_str.c_str() );
				//cout << command_str.c_str() << endl;
				//cout << log_str << endl;
			}
		}	
		//make some updates
		system( "clear" );	//this is not portable. I should probably
		//be using the ncurses library
		cout.precision( DECIMALS );
		cout << "Roll error: " << aileron_pid->get_error() << endl;
		cout << "Pitch error: " << elevator_pid->get_error() << endl;
	}
	glutTimerFunc( ( int )( 1000.0f/update ), timer, value );
}

//parse incoming data from flight gear
bool parse_fgear_data( char *buf )
{
	//variables
	//control
	double aileron, elevator, rudder, throttle;
	//position
	double latitudeDegree, longitudeDegree, altitude;
	//attitude
	double headingDegree, rollDegree, pitchDegree, sideSlip;
	//speed / accel
	double airspeed, verticalSpd, xAccel, yAccel, zAccel;
	
	//printf("%s\n", buf);
	string msg = buf;
	
	string::size_type begin, end;
    begin = 0;

    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	//aileron
	aileron = atof( msg.substr( begin, end ).c_str() );
	begin = end + 1;
	
    //elevator
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	elevator = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;
	
    //rudder
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	rudder = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;
	
    //throttle
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	throttle = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;

    //latitude
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	latitudeDegree = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;
	
    //longitude
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	longitudeDegree = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;
	
    //altitude
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	altitude = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;

    //roll
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	rollDegree = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;

    //pitch
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	pitchDegree = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;

    //heading
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	headingDegree = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;

    //side slip
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	sideSlip = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;

    //airspeed
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	airspeed = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;

    //vertical speed
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	verticalSpd = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;

    //x accel
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	xAccel = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;

    //y accel
    end = msg.find( ",", begin );
    if ( end == string::npos ) {
    	return false;
	}
	yAccel = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;

    //z accel
    end = msg.find( "\n", begin );
    if ( end == string::npos ) {
    	return false;
	}
	zAccel = atof( msg.substr( begin, end - begin ).c_str() );
	begin = end + 1;
	
	//set aircraft values
	sim_craft->set_aileron( aileron );
	sim_craft->set_elevator( elevator );
	sim_craft->set_rudder( rudder );
	sim_craft->set_throttle( throttle );
	sim_craft->set_latitude( latitudeDegree );
	sim_craft->set_longitude( longitudeDegree );
	sim_craft->set_altitude( altitude );
	sim_craft->set_roll( rollDegree );
	sim_craft->set_pitch( pitchDegree );
	sim_craft->set_heading( headingDegree );
	sim_craft->set_sideslip( sideSlip );
	sim_craft->set_airspeed( airspeed );
	sim_craft->set_vert_speed( verticalSpd );
	sim_craft->set_xaccel( xAccel );
	sim_craft->set_yaccel( yAccel );
	sim_craft->set_zaccel( zAccel );
	
	return true;
}

string command_output( void ) {
 	stringstream s;
 	s.precision( DECIMALS );
 	s << aileron_pid->update( sim_craft->get_roll() ) << ","
 		<< elevator_pid->update( sim_craft->get_pitch() ) << endl;
 	/*
 	s << sim_craft->get_aileron() << ","
 		<< sim_craft->get_elevator() << ","
 		<< sim_craft->get_rudder() << ","
 		<< sim_craft->get_throttle() << endl;
 	*/
 	//cout << s.str() << endl;
 	return s.str();
}


void redrawWindow( void ) {
	puDisplay();
	glutSwapBuffers();
	glutPostRedisplay();
}

void reshapeWindow( int w, int h ) {
	glutReshapeWindow( WINDOW_X, WINDOW_Y ); //set window back to initial size
}

void processMousefn ( int button, int updown, int x, int y ) {
    // Invoke the PUI mouse function
    puMouse ( button, updown, x, y ) ;
    glutPostRedisplay () ;
}

void processMotionfn ( int x, int y ){
	// Invoke the PUI mouse motion function
    puMouse ( x, y ) ;
    glutPostRedisplay () ;
  }


void processNormalKeys(unsigned char key, int x, int y) {
	// Invoke the PUI keyboard function
	puKeyboard ( key, PU_DOWN ) ;
    glutPostRedisplay() ;
}

/**********************************************************************
 * Initialize pui controls
 *********************************************************************/
void init_pui_widgets( void ) {
	//unused variable bbb
	char bbb[ PUSTRING_MAX ]; //if I remove this setLabel() fails!
	char txt[ PUSTRING_MAX ];
	puInit();
	gui_frame = new puFrame( PUI_X_OFFSET,
							PUI_Y_OFFSET,
							PUI_X_OFFSET + WINDOW_X,
							PUI_Y_OFFSET + WINDOW_Y );
	//radio buttons
	controller_selector = new puButtonBox ( 10, 200, 90, 270,
							controller_selector_labels, 1 );
	//value corresponds to index of item in labels array
	controller_selector->setCallback( pui_callback );
	//kp slider
	kp_slider = new puSlider ( 100, 60, 200, TRUE );
	kp_slider->setMinValue( GAIN_MIN );
	kp_slider->setMaxValue( GAIN_MAX );
	kp_slider->setValue( ( float ) aileron_pid->get_kp() ); //set value
to aileron gains since roll is selected by default
	sprintf( txt, "Kp: %.3f", aileron_pid->get_kp() ); //format label
	kp_slider->setLabel( txt );
	cout << txt << endl;
	kp_slider->setLabelPlace( PUPLACE_TOP_CENTERED );
	kp_slider->setCallback( pui_callback );
	//ki slider
	ki_slider = new puSlider ( 140, 60, 200, TRUE );
	ki_slider->setMinValue( GAIN_MIN );
	ki_slider->setMaxValue( GAIN_MAX );
	ki_slider->setValue( ( float ) aileron_pid->get_ki() );
	ki_slider->setLabel( "Ki" );
	ki_slider->setLabelPlace( PUPLACE_TOP_CENTERED );
	ki_slider->setCallback( pui_callback );
	//kd slider
	kd_slider = new puSlider ( 180, 60, 200, TRUE );
	kd_slider->setMinValue( GAIN_MIN );
	kd_slider->setMaxValue( GAIN_MAX );
	kd_slider->setValue( ( float ) aileron_pid->get_kd() );
	kd_slider->setLabel( txt );
	kd_slider->setLabelPlace( PUPLACE_TOP_CENTERED );
	kd_slider->setCallback( pui_callback );
	//target slider
	target_slider = new puSlider ( 10, 30, 330, FALSE, 20);
	target_slider->setMinValue( DEG_MIN );
	target_slider->setMaxValue( DEG_MAX );
	target_slider->setValue( ( float ) aileron_pid->get_reference() );
	target_slider->setLabel( "Target" );
	target_slider->setLabelPlace( PUPLACE_BOTTOM_CENTERED );
	target_slider->setCallback( pui_callback );
	//pause button
	pause_button = new puButton( 210, 130, "Pause" );
	pause_button->setSize( 60, 30 );
	pause_button->setValue( 1 ); //pause by default
	pause_button->setCallback( pui_callback );
	//log button
	log_button = new puButton( 210, 80, "Log" );
	log_button->setSize( 60, 30 );
	log_button->setValue( 0 ); //logging off by default
	log_button->setCallback( pui_callback );
}

/**********************************************************************
 * pui callback
 *********************************************************************/
void pui_callback( puObject *pob ){
	//this will be 0 for roll and 1 for pitch
	int val = controller_selector->getValue();
	//unused variable bbb
	char bbb[ PUSTRING_MAX ]; //trying to make setLabel work
	char txt[ PUSTRING_MAX ];
	if ( pob == log_button ) {	//toggle logging
		logging = log_button->getValue();
		//cout << "log_button" << endl;
	} else if ( pob == pause_button ) { //toggle pause
		pauseSoftSim = pause_button->getValue();
		//cout << "pause_button" << endl;
	} else if ( pob == kp_slider ) {	//update kp
		if ( val == 0 ) {
			aileron_pid->set_kp( ( double ) kp_slider->getValue() );
			sprintf( txt, "Kp: %.3f", aileron_pid->get_kp() ); //format label
			kp_slider->setLabel( txt ); //BROKEN
		} else {
			elevator_pid->set_kp( ( double ) kp_slider->getValue() );
			sprintf( txt, "Kp: %.3f", elevator_pid->get_kp() ); //format label
			kp_slider->setLabel( txt ); //BROKEN
		}
		//cout << "kp_slider" << endl;
	} else if ( pob == ki_slider ) {	//update ki
		if ( val == 0 ) {
			aileron_pid->set_ki( ( double ) ki_slider->getValue() );
		} else {
			elevator_pid->set_ki( ( double ) ki_slider->getValue() );
		}
		//cout << "ki_slider" << endl;
	} else if ( pob == kd_slider ) {	//update kd
		if ( val == 0 ) {
			aileron_pid->set_kd( ( double ) kd_slider->getValue() );
		} else {
			elevator_pid->set_kd( ( double ) kd_slider->getValue() );
		}
		//cout << "kd_slider" << endl;
	} else if ( pob == target_slider ) {	//update reference
		if ( val == 0 ) {
			aileron_pid->set_reference( ( double ) target_slider->getValue() );
		} else {
			elevator_pid->set_reference( ( double ) target_slider->getValue() );
		}
		//cout << "target_slider" << endl;
	} else if ( pob == controller_selector ) {	//update gui
		if ( val == 0 ) {
			target_slider->setValue( ( float ) aileron_pid->get_reference() );
			kp_slider->setValue( ( float ) aileron_pid->get_kp() );
			ki_slider->setValue( ( float ) aileron_pid->get_ki() );
			kd_slider->setValue( ( float ) aileron_pid->get_kd() );
		} else {
			target_slider->setValue( ( float ) elevator_pid->get_reference() );
			kp_slider->setValue( ( float ) elevator_pid->get_kp() );
			ki_slider->setValue( ( float ) elevator_pid->get_ki() );
			kd_slider->setValue( ( float ) elevator_pid->get_kd() );
		}
	} else {
		cout << "Unknown callback to pui_callback" << endl;
	}
}

void print_help( void ) {
  printf("softSim: a software simulation interface for FlightGear\n\nUsage:\n");
  printf("   --help       Prints this help message\n");
  printf("   --update=x	  Update rate in Hertz\n");
  printf("   --udp-in=x   Input read from UDP socket at specified port
(defaults to 5500)\n");
  printf("                This is essential, so do not ommit this flag\n");
  printf("   --udp-out=x  Output to UDP socket at specified port
(defaults to 5501)\n");
  printf("   --serial=dev Input read from serial port with specified device\n");
  printf("   --baud=x     Set serial port baud rate (defaults to 4800)\n");
  printf("   --log=file   Log to file\n");
}



On Wed, Jun 11, 2008 at 3:49 PM, Fay John F Dr CTR USAF 46 SK
<joh...@eg...> wrote:
> Because I am giving him a private e-mail address to send sample code to.
>
> Sorry ... I didn't mean to sound hush-hush.  I will definitely publish
> the fix if and when I find it.
>
> John F. Fay
> Technical Fellow
> Jacobs Technology TEAS Group
> 850-883-1294
>
> -----Original Message-----
> From: pli...@li...
> [mailto:pli...@li...] On Behalf Of M&M
> Sent: Wednesday, June 11, 2008 2:45 PM
> To: PLIB Users
> Subject: Re: [Plib-users] Problem with setLabel, weirdness ensues.
>
> Hi,
>
> Why contact seperately? Why not to the mailing list?
>
> Cheers
>
>
>
>
>
> On Wed, Jun 11, 2008 at 8:30 PM, Fay John F Dr CTR USAF 46 SK
> <joh...@eg...> wrote:
>
>
>        Cory,
>
>               That is indeed weird.  I will contact you separately
> about it.
>
>        John F. Fay
>        Technical Fellow
>        Jacobs Technology TEAS Group
>        850-883-1294
>
>
>
>
> -------------------------------------------------------------------------
> Check out the new SourceForge.net Marketplace.
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> _______________________________________________
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>