410 lines
16 KiB
JavaScript
410 lines
16 KiB
JavaScript
function tab_initialize_sensors() {
|
|
ga_tracker.sendAppView('Sensor Page');
|
|
GUI.active_tab = 'sensors';
|
|
|
|
function initSensorData(){
|
|
for (var i = 0; i < 3; i++) {
|
|
SENSOR_DATA.accelerometer[i] = 0;
|
|
SENSOR_DATA.gyroscope[i] = 0;
|
|
SENSOR_DATA.magnetometer[i] = 0;
|
|
SENSOR_DATA.debug[i] = 0;
|
|
}
|
|
}
|
|
|
|
function initDataArray(length) {
|
|
var data = new Array(length);
|
|
for (var i = 0; i < length; i++) {
|
|
data[i] = new Array();
|
|
data[i].min = -1;
|
|
data[i].max = 1;
|
|
}
|
|
return data;
|
|
}
|
|
|
|
function addSampleToData(data, sampleNumber, sensorData) {
|
|
for (var i = 0; i < data.length; i++) {
|
|
var dataPoint = sensorData[i];
|
|
data[i].push([sampleNumber, dataPoint]);
|
|
if (dataPoint < data[i].min) {
|
|
data[i].min = dataPoint;
|
|
}
|
|
if (dataPoint > data[i].max) {
|
|
data[i].max = dataPoint;
|
|
}
|
|
}
|
|
while (data[0].length > 300) {
|
|
for (i = 0; i < data.length; i++) {
|
|
data[i].shift();
|
|
}
|
|
}
|
|
return sampleNumber + 1;
|
|
}
|
|
|
|
var margin = {top: 20, right: 20, bottom: 10, left: 40};
|
|
function updateGraphHelperSize(helpers) {
|
|
helpers.width = helpers.targetElement.width() - margin.left - margin.right;
|
|
helpers.height = helpers.targetElement.height() - margin.top - margin.bottom;
|
|
|
|
helpers.widthScale.range([0, helpers.width]);
|
|
helpers.heightScale.range([helpers.height, 0]);
|
|
|
|
helpers.xGrid.tickSize(-helpers.height, 0, 0);
|
|
helpers.yGrid.tickSize(-helpers.width, 0, 0);
|
|
}
|
|
|
|
function initGraphHelpers(selector, sampleNumber, heightDomain) {
|
|
var helpers = {selector: selector, targetElement: $(selector), dynamicHeightDomain: !heightDomain};
|
|
|
|
helpers.widthScale = d3.scale.linear()
|
|
.clamp(true)
|
|
.domain([(sampleNumber - 299), sampleNumber]);
|
|
|
|
helpers.heightScale = d3.scale.linear()
|
|
.clamp(true)
|
|
.domain(heightDomain || [1, -1]);
|
|
|
|
helpers.xGrid = d3.svg.axis();
|
|
helpers.yGrid = d3.svg.axis();
|
|
|
|
updateGraphHelperSize(helpers);
|
|
|
|
helpers.xGrid
|
|
.scale(helpers.widthScale)
|
|
.orient("bottom")
|
|
.ticks(5)
|
|
.tickFormat("");
|
|
|
|
helpers.yGrid
|
|
.scale(helpers.heightScale)
|
|
.orient("left")
|
|
.ticks(5)
|
|
.tickFormat("");
|
|
|
|
helpers.xAxis = d3.svg.axis()
|
|
.scale(helpers.widthScale)
|
|
.ticks(5)
|
|
.orient("bottom")
|
|
.tickFormat(function(d) {return d;});
|
|
|
|
helpers.yAxis = d3.svg.axis()
|
|
.scale(helpers.heightScale)
|
|
.ticks(5)
|
|
.orient("left")
|
|
.tickFormat(function(d) {return d;});
|
|
|
|
helpers.line = d3.svg.line()
|
|
.x(function(d) { return helpers.widthScale(d[0]); })
|
|
.y(function(d) { return helpers.heightScale(d[1]); });
|
|
|
|
return helpers;
|
|
}
|
|
|
|
function drawGraph(graphHelpers, data, sampleNumber) {
|
|
svg = d3.select(graphHelpers.selector);
|
|
|
|
if (graphHelpers.dynamicHeightDomain) {
|
|
var limits = [];
|
|
$.each(data, function(idx, datum) {
|
|
limits.push(datum.min);
|
|
limits.push(datum.max);
|
|
});
|
|
graphHelpers.heightScale.domain(d3.extent(limits));
|
|
}
|
|
graphHelpers.widthScale.domain([(sampleNumber - 299), sampleNumber]);
|
|
|
|
svg.select(".x.grid").call(graphHelpers.xGrid);
|
|
svg.select(".y.grid").call(graphHelpers.yGrid);
|
|
svg.select(".x.axis").call(graphHelpers.xAxis);
|
|
svg.select(".y.axis").call(graphHelpers.yAxis);
|
|
|
|
var group = svg.select("g.data");
|
|
var lines = group.selectAll("path").data(data, function(d, i) { return i; });
|
|
var newLines = lines.enter().append("path").attr("class", "line");
|
|
lines.attr('d', graphHelpers.line);
|
|
}
|
|
|
|
function plot_gyro(enable) {
|
|
if (enable) {
|
|
$('.wrapper.gyro').show();
|
|
} else {
|
|
$('.wrapper.gyro').hide();
|
|
}
|
|
}
|
|
|
|
function plot_accel(enable) {
|
|
if (enable) {
|
|
$('.wrapper.accel').show();
|
|
} else {
|
|
$('.wrapper.accel').hide();
|
|
}
|
|
}
|
|
|
|
function plot_mag(enable) {
|
|
if (enable) {
|
|
$('.wrapper.mag').show();
|
|
} else {
|
|
$('.wrapper.mag').hide();
|
|
}
|
|
}
|
|
|
|
function plot_baro(enable) {
|
|
if (enable) {
|
|
$('.wrapper.baro').show();
|
|
} else {
|
|
$('.wrapper.baro').hide();
|
|
}
|
|
}
|
|
|
|
function plot_debug(enable) {
|
|
if (enable) {
|
|
$('.wrapper.debug').show();
|
|
} else {
|
|
$('.wrapper.debug').hide();
|
|
}
|
|
}
|
|
|
|
$('#content').load("./tabs/sensors.html", function load_html() {
|
|
// translate to user-selected language
|
|
localize();
|
|
|
|
// disable graphs for sensors that are missing
|
|
var checkboxes = $('.tab-sensors .info .checkboxes input');
|
|
if (!bit_check(CONFIG.activeSensors, 1)) { // baro
|
|
checkboxes.eq(3).prop('disabled', true);
|
|
}
|
|
if (!bit_check(CONFIG.activeSensors, 2)) { // mag
|
|
checkboxes.eq(2).prop('disabled', true);
|
|
}
|
|
|
|
$('.tab-sensors .info .checkboxes input').change(function() {
|
|
var enable = $(this).prop('checked');
|
|
var index = $(this).parent().index();
|
|
|
|
switch (index) {
|
|
case 0:
|
|
plot_gyro(enable);
|
|
break;
|
|
case 1:
|
|
plot_accel(enable);
|
|
break;
|
|
case 2:
|
|
plot_mag(enable);
|
|
break;
|
|
case 3:
|
|
plot_baro(enable);
|
|
break;
|
|
case 4:
|
|
plot_debug(enable);
|
|
break;
|
|
}
|
|
|
|
var checkboxes = [];
|
|
$('.tab-sensors .info .checkboxes input').each(function() {
|
|
checkboxes.push($(this).prop('checked'));
|
|
});
|
|
|
|
$('.tab-sensors .rate select:first').change();
|
|
|
|
chrome.storage.local.set({'graphs_enabled': checkboxes});
|
|
});
|
|
|
|
chrome.storage.local.get('graphs_enabled', function(result) {
|
|
if (result.graphs_enabled) {
|
|
var checkboxes = $('.tab-sensors .info .checkboxes input');
|
|
for (var i = 0; i < result.graphs_enabled.length; i++) {
|
|
checkboxes.eq(i).not(':disabled').prop('checked', result.graphs_enabled[i]).change();
|
|
}
|
|
} else {
|
|
$('.tab-sensors .info input:lt(4)').prop('checked', true).change();
|
|
}
|
|
});
|
|
|
|
// Always start with default/empty sensor data array, clean slate all
|
|
initSensorData();
|
|
|
|
// Setup variables
|
|
var samples_gyro_i = 0;
|
|
var samples_accel_i = 0;
|
|
var samples_mag_i = 0;
|
|
var samples_baro_i = 0;
|
|
var samples_debug_i = 0;
|
|
|
|
var gyro_data = initDataArray(3);
|
|
var accel_data = initDataArray(3);
|
|
var mag_data = initDataArray(3);
|
|
var baro_data = initDataArray(1);
|
|
var debug_data = [
|
|
initDataArray(1),
|
|
initDataArray(1),
|
|
initDataArray(1),
|
|
initDataArray(1)
|
|
];
|
|
|
|
var gyroHelpers = initGraphHelpers('#gyro', samples_gyro_i, [-2000, 2000]);
|
|
var accelHelpers = initGraphHelpers('#accel', samples_accel_i, [-2, 2]);
|
|
var magHelpers = initGraphHelpers('#mag', samples_mag_i, [-1, 1]);
|
|
var baroHelpers = initGraphHelpers('#baro', samples_baro_i);
|
|
var debugHelpers = [
|
|
initGraphHelpers('#debug1', samples_debug_i),
|
|
initGraphHelpers('#debug2', samples_debug_i),
|
|
initGraphHelpers('#debug3', samples_debug_i),
|
|
initGraphHelpers('#debug4', samples_debug_i)
|
|
];
|
|
|
|
var raw_data_text_ements = {
|
|
x: [],
|
|
y: [],
|
|
z: [],
|
|
};
|
|
$('.plot_control .x, .plot_control .y, .plot_control .z').each(function() {
|
|
var el = $(this);
|
|
if (el.hasClass('x')) {
|
|
raw_data_text_ements.x.push(el);
|
|
} else if (el.hasClass('y')) {
|
|
raw_data_text_ements.y.push(el);
|
|
} else {
|
|
raw_data_text_ements.z.push(el);
|
|
}
|
|
});
|
|
|
|
// set refresh speeds according to configuration saved in storage
|
|
chrome.storage.local.get('sensor_settings', function(result) {
|
|
if (result.sensor_settings) {
|
|
$('.tab-sensors select[name="gyro_refresh_rate"]').val(result.sensor_settings.rates.gyro);
|
|
$('.tab-sensors select[name="gyro_scale"]').val(result.sensor_settings.scales.gyro);
|
|
|
|
$('.tab-sensors select[name="accel_refresh_rate"]').val(result.sensor_settings.rates.accel);
|
|
$('.tab-sensors select[name="accel_scale"]').val(result.sensor_settings.scales.accel);
|
|
|
|
$('.tab-sensors select[name="mag_refresh_rate"]').val(result.sensor_settings.rates.mag);
|
|
$('.tab-sensors select[name="mag_scale"]').val(result.sensor_settings.scales.mag);
|
|
|
|
$('.tab-sensors select[name="baro_refresh_rate"]').val(result.sensor_settings.rates.baro);
|
|
$('.tab-sensors select[name="debug_refresh_rate"]').val(result.sensor_settings.rates.debug);
|
|
|
|
// start polling data by triggering refresh rate change event
|
|
$('.tab-sensors .rate select:first').change();
|
|
} else {
|
|
// start polling immediatly (as there is no configuration saved in the storage)
|
|
$('.tab-sensors .rate select:first').change();
|
|
}
|
|
});
|
|
|
|
$('.tab-sensors .rate select, .tab-sensors .scale select').change(function() {
|
|
// if any of the select fields change value, all of the select values are grabbed
|
|
// and timers are re-initialized with the new settings
|
|
var rates = {
|
|
'gyro': parseInt($('.tab-sensors select[name="gyro_refresh_rate"]').val(), 10),
|
|
'accel': parseInt($('.tab-sensors select[name="accel_refresh_rate"]').val(), 10),
|
|
'mag': parseInt($('.tab-sensors select[name="mag_refresh_rate"]').val(), 10),
|
|
'baro': parseInt($('.tab-sensors select[name="baro_refresh_rate"]').val(), 10),
|
|
'debug': parseInt($('.tab-sensors select[name="debug_refresh_rate"]').val(), 10)
|
|
};
|
|
|
|
var scales = {
|
|
'gyro': parseFloat($('.tab-sensors select[name="gyro_scale"]').val()),
|
|
'accel': parseFloat($('.tab-sensors select[name="accel_scale"]').val()),
|
|
'mag': parseFloat($('.tab-sensors select[name="mag_scale"]').val())
|
|
};
|
|
|
|
// handling of "data pulling" is a little bit funky here, as MSP_RAW_IMU contains values for gyro/accel/mag but not baro
|
|
// this means that setting a slower refresh rate on any of the attributes would have no effect
|
|
// what we will do instead is = determinate the fastest refresh rate for those 3 attributes, use that as a "polling rate"
|
|
// and use the "slower" refresh rates only for re-drawing the graphs (to save resources/computing power)
|
|
var fastest = d3.min([rates.gyro, rates.accel, rates.mag]);
|
|
|
|
// store current/latest refresh rates in the storage
|
|
chrome.storage.local.set({'sensor_settings': {'rates': rates, 'scales': scales}});
|
|
|
|
// re-initialize domains with new scales
|
|
gyroHelpers = initGraphHelpers('#gyro', samples_gyro_i, [-scales.gyro, scales.gyro]);
|
|
accelHelpers = initGraphHelpers('#accel', samples_accel_i, [-scales.accel, scales.accel]);
|
|
magHelpers = initGraphHelpers('#mag', samples_mag_i, [-scales.mag, scales.mag]);
|
|
|
|
// fetch currently enabled plots
|
|
var checkboxes = [];
|
|
$('.tab-sensors .info .checkboxes input').each(function() {
|
|
checkboxes.push($(this).prop('checked'));
|
|
});
|
|
|
|
// timer initialization
|
|
GUI.interval_kill_all(['status_pull']);
|
|
|
|
// data pulling timers
|
|
if (checkboxes[0] || checkboxes[1] || checkboxes[2]) {
|
|
GUI.interval_add('IMU_pull', function imu_data_pull() {
|
|
MSP.send_message(MSP_codes.MSP_RAW_IMU, false, false, update_imu_graphs);
|
|
}, fastest, true);
|
|
}
|
|
|
|
if (checkboxes[3]) {
|
|
GUI.interval_add('altitude_pull', function altitude_data_pull() {
|
|
MSP.send_message(MSP_codes.MSP_ALTITUDE, false, false, update_altitude_graph);
|
|
}, rates.baro, true);
|
|
}
|
|
|
|
if (checkboxes[4]) {
|
|
GUI.interval_add('debug_pull', function debug_data_pull() {
|
|
MSP.send_message(MSP_codes.MSP_DEBUG, false, false, update_debug_graphs);
|
|
}, rates.debug, true);
|
|
}
|
|
|
|
function update_imu_graphs() {
|
|
if (checkboxes[0]) {
|
|
updateGraphHelperSize(gyroHelpers);
|
|
|
|
samples_gyro_i = addSampleToData(gyro_data, samples_gyro_i, SENSOR_DATA.gyroscope);
|
|
drawGraph(gyroHelpers, gyro_data, samples_gyro_i);
|
|
raw_data_text_ements.x[0].text(SENSOR_DATA.gyroscope[0].toFixed(2));
|
|
raw_data_text_ements.y[0].text(SENSOR_DATA.gyroscope[1].toFixed(2));
|
|
raw_data_text_ements.z[0].text(SENSOR_DATA.gyroscope[2].toFixed(2));
|
|
}
|
|
|
|
if (checkboxes[1]) {
|
|
updateGraphHelperSize(accelHelpers);
|
|
|
|
samples_accel_i = addSampleToData(accel_data, samples_accel_i, SENSOR_DATA.accelerometer);
|
|
drawGraph(accelHelpers, accel_data, samples_accel_i);
|
|
raw_data_text_ements.x[1].text(SENSOR_DATA.accelerometer[0].toFixed(2));
|
|
raw_data_text_ements.y[1].text(SENSOR_DATA.accelerometer[1].toFixed(2));
|
|
raw_data_text_ements.z[1].text(SENSOR_DATA.accelerometer[2].toFixed(2));
|
|
}
|
|
|
|
if (checkboxes[2]) {
|
|
updateGraphHelperSize(magHelpers);
|
|
|
|
samples_mag_i = addSampleToData(mag_data, samples_mag_i, SENSOR_DATA.magnetometer);
|
|
drawGraph(magHelpers, mag_data, samples_mag_i);
|
|
raw_data_text_ements.x[2].text(SENSOR_DATA.magnetometer[0].toFixed(2));
|
|
raw_data_text_ements.y[2].text(SENSOR_DATA.magnetometer[1].toFixed(2));
|
|
raw_data_text_ements.z[2].text(SENSOR_DATA.magnetometer[2].toFixed(2));
|
|
}
|
|
}
|
|
|
|
function update_altitude_graph() {
|
|
updateGraphHelperSize(baroHelpers);
|
|
|
|
samples_baro_i = addSampleToData(baro_data, samples_baro_i, [SENSOR_DATA.altitude]);
|
|
drawGraph(baroHelpers, baro_data, samples_baro_i);
|
|
raw_data_text_ements.x[3].text(SENSOR_DATA.altitude.toFixed(2));
|
|
}
|
|
|
|
function update_debug_graphs() {
|
|
for (var i = 0; i < 4; i++) {
|
|
updateGraphHelperSize(debugHelpers[i]);
|
|
|
|
addSampleToData(debug_data[i], samples_debug_i, [SENSOR_DATA.debug[i]]);
|
|
drawGraph(debugHelpers[i], debug_data[i], samples_debug_i);
|
|
raw_data_text_ements.x[4 + i].text(SENSOR_DATA.debug[i]);
|
|
}
|
|
samples_debug_i++;
|
|
}
|
|
});
|
|
|
|
// status data pulled via separate timer with static speed
|
|
GUI.interval_add('status_pull', function() {
|
|
MSP.send_message(MSP_codes.MSP_STATUS);
|
|
}, 250, true);
|
|
});
|
|
}
|