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); }); }