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add median filter

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This commit is contained in:
Edward Emelianov
2021-08-24 12:19:52 +03:00
parent 9d76c96602
commit 4ef3ae7605
12 changed files with 206 additions and 126 deletions
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111
LocCorr/pusirobo.c
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@@ -114,6 +114,7 @@ static pthread_mutex_t sendmesg_mutex = PTHREAD_MUTEX_INITIALIZER;
// current steps counters (zero at the middle)
static volatile atomic_int Uposition = 0, Vposition = 0, Fposition = 0;
static volatile atomic_int dUmove = 0, dVmove = 0;
static volatile atomic_bool Umoving = FALSE, Vmoving = FALSE, Fmoving = FALSE;
static uint8_t fixerr = 0; // ==1 if can't fixed
@@ -358,14 +359,14 @@ int pusi_connect(){
}
// stop processing & disconnect
void pusi_stop(){
static void pusi_stop(){
pthread_join(processingthread, NULL);
pusi_disconnect();
}
// return TRUE if motor is stopped
static int moving_finished(const char *mesgstatus, volatile atomic_int *position){
double val;
double val = 0.;
char *ans = NULL;
int ret = TRUE;
if(send_message(mesgstatus, &ans) && getparval(PARstatus, ans, &val)){
@@ -608,7 +609,7 @@ static int try2correct(double dX, double dY){
* @param X, Y - centroid (x,y) in screen coordinate system
* This function called from improc.c each time the corrections calculated (ONLY IF Xtarget/Ytarget > -1)
*/
void pusi_process_corrections(double X, double Y){
static void pusi_process_corrections(double X, double Y){
static bool coordstrusted = TRUE;
if(ismoving){ // don't process coordinates when moving
coordstrusted = FALSE;
@@ -644,7 +645,7 @@ static int pusi_setstate(pusistate newstate){
// get current status (global variable stepstatus)
// return JSON string with different parameters
char *pusi_status(const char *messageid, char *buf, int buflen){
static char *pusi_status(const char *messageid, char *buf, int buflen){
int l;
char *bptr = buf;
const char *s = NULL, *stage = NULL;
@@ -723,7 +724,7 @@ typedef struct{
pusistate state;
} strstate;
// commands from client to change status
strstate stringstatuses[] = {
static strstate stringstatuses[] = {
{"disconnect", PUSI_DISCONN},
{"relax", PUSI_RELAX},
{"setup", PUSI_SETUP},
@@ -734,7 +735,7 @@ strstate stringstatuses[] = {
};
// try to set new status (global variable stepstatus)
char *set_pusistatus(const char *newstatus, char *buf, int buflen){
static char *set_pusistatus(const char *newstatus, char *buf, int buflen){
strstate *s = stringstatuses;
pusistate newstate = PUSI_UNDEFINED;
while(s->str){
@@ -766,19 +767,6 @@ char *set_pusistatus(const char *newstatus, char *buf, int buflen){
return buf;
}
// change focus (global variable movefocus)
char *set_pfocus(const char *newstatus, char *buf, int buflen){
int newval = atoi(newstatus);
if(newval < theconf.minFpos || newval > theconf.maxFpos){
snprintf(buf, buflen, FAIL);
}else{
snprintf(buf, buflen, OK);
newfocpos = newval;
chfocus = TRUE;
}
return buf;
}
// MAIN THREAD
static void *pusi_process_states(_U_ void *arg){
FNAME();
@@ -786,26 +774,19 @@ static void *pusi_process_states(_U_ void *arg){
while(!stopwork){
usleep(10000);
// check for moving
switch(state){
case PUSI_SETUP:
case PUSI_GOTOTHEMIDDLE:
case PUSI_FIX:
if(moving_finished(Ustatus, &Uposition)) Umoving = FALSE;
else Umoving = TRUE;
if(moving_finished(Vstatus, &Vposition)) Vmoving = FALSE;
else Vmoving = TRUE;
if(moving_finished(Fstatus, &Fposition)) Fmoving = FALSE;
else Fmoving = TRUE;
if(Umoving || Vmoving || Fmoving) ismoving = TRUE;
else ismoving = FALSE;
break;
case PUSI_DISCONN:
sleep(1);
pusi_connect_server();
break;
default:
break;
if(state == PUSI_DISCONN){
sleep(1);
pusi_connect_server();
continue;
}
if(moving_finished(Ustatus, &Uposition)) Umoving = FALSE;
else Umoving = TRUE;
if(moving_finished(Vstatus, &Vposition)) Vmoving = FALSE;
else Vmoving = TRUE;
if(moving_finished(Fstatus, &Fposition)) Fmoving = FALSE;
else Fmoving = TRUE;
if(Umoving || Vmoving || Fmoving) ismoving = TRUE;
else ismoving = FALSE;
if(ismoving){
coordsRdy = FALSE;
continue;
@@ -817,6 +798,16 @@ static void *pusi_process_states(_U_ void *arg){
moveF(delta); moveU(delta); moveV(delta);
continue;
}
if(dUmove){
moveU(dUmove);
dUmove = 0;
continue;
}
if(dVmove){
moveV(dVmove);
dVmove = 0;
continue;
}
// if we are here, all U/V/F moving is finished
if(state != PUSI_DISCONN) first = TRUE;
switch(state){ // pusirobo state machine
@@ -871,3 +862,47 @@ static void *pusi_process_states(_U_ void *arg){
}
return NULL;
}
// change focus (global variable movefocus)
static char *set_pfocus(const char *newstatus, char *buf, int buflen){
int newval = atoi(newstatus);
if(newval < theconf.minFpos || newval > theconf.maxFpos){
snprintf(buf, buflen, FAIL);
}else{
snprintf(buf, buflen, OK);
newfocpos = newval;
chfocus = TRUE;
}
return buf;
}
// move by U and V axis
static char *Umove(const char *val, char *buf, int buflen){
int d = atoi(val);
int Unfixed = Uposition + d + Fposition;
if(Unfixed > theconf.maxUsteps || Unfixed < -theconf.maxUsteps){
snprintf(buf, buflen, FAIL);
}
dUmove = d;
snprintf(buf, buflen, OK);
return buf;
}
static char *Vmove(const char *val, char *buf, int buflen){
int d = atoi(val);
int Vnfixed = Vposition + d + Fposition;
if(Vnfixed > theconf.maxVsteps || Vnfixed < -theconf.maxVsteps){
snprintf(buf, buflen, FAIL);
}
dVmove = d;
snprintf(buf, buflen, OK);
return buf;
}
steppersproc pusyCANbus = {
.stepdisconnect = pusi_stop,
.proc_corr = pusi_process_corrections,
.stepstatus = pusi_status,
.setstepstatus = set_pusistatus,
.movefocus = set_pfocus,
.moveByU = Umove,
.moveByV = Vmove,
};