Ngo Kien / Mbed OS RadarDemoT

Optimaze with new mbed os for study

Dependencies:   TS_DISCO_F746NG BSP_DISCO_F746NG Graphics

RadarDemo/RadarDemo.cpp@0:d8b9955d2b36, 2016-11-04 (annotated)

Committer:
karpent
Date:
Fri Nov 04 01:02:37 2016 +0000
Revision:
0:d8b9955d2b36
Child:
1:5e49b46de1b0
Initial revision

Who changed what in which revision?

UserRevisionLine numberNew contents of line
karpent 0:d8b9955d2b36 1 //
karpent 0:d8b9955d2b36 2 // RadarDemo.cpp - example of graphic commands usage to create 2D graphics.
karpent 0:d8b9955d2b36 3 //
karpent 0:d8b9955d2b36 4
karpent 0:d8b9955d2b36 5 #include "RadarDemo.h"
karpent 0:d8b9955d2b36 6 #include "RK043FN48H.h"
karpent 0:d8b9955d2b36 7
karpent 0:d8b9955d2b36 8 RadarDemo::RadarDemo(Display* display) : Radar(display)
karpent 0:d8b9955d2b36 9 {
karpent 0:d8b9955d2b36 10 }
karpent 0:d8b9955d2b36 11
karpent 0:d8b9955d2b36 12
karpent 0:d8b9955d2b36 13 RadarDemo::~RadarDemo()
karpent 0:d8b9955d2b36 14 {
karpent 0:d8b9955d2b36 15 #ifndef _SDL_timer_h
karpent 0:d8b9955d2b36 16 t.stop();
karpent 0:d8b9955d2b36 17 #endif
karpent 0:d8b9955d2b36 18 Radar::~Radar();
karpent 0:d8b9955d2b36 19 }
karpent 0:d8b9955d2b36 20
karpent 0:d8b9955d2b36 21
karpent 0:d8b9955d2b36 22 void RadarDemo::Initialize()
karpent 0:d8b9955d2b36 23 {
karpent 0:d8b9955d2b36 24 _needsRedraw = true;
karpent 0:d8b9955d2b36 25
karpent 0:d8b9955d2b36 26 scanPeriod = 6000;
karpent 0:d8b9955d2b36 27 demoTime = 0; //2 * scanPeriod;
karpent 0:d8b9955d2b36 28
karpent 0:d8b9955d2b36 29 AddSampleTargets(100);
karpent 0:d8b9955d2b36 30
karpent 0:d8b9955d2b36 31 SetRange(1);
karpent 0:d8b9955d2b36 32 //SetCenter(0, 0);
karpent 0:d8b9955d2b36 33
karpent 0:d8b9955d2b36 34 // Remark : Data member initializer is not allowed for ARM compiler,
karpent 0:d8b9955d2b36 35 // initialize data in class constructor.
karpent 0:d8b9955d2b36 36 runningTime = 0;
karpent 0:d8b9955d2b36 37 lastScanTime = runningTime;
karpent 0:d8b9955d2b36 38 currentBeamAngle = 0;
karpent 0:d8b9955d2b36 39 lastBeamAngle = currentBeamAngle;
karpent 0:d8b9955d2b36 40
karpent 0:d8b9955d2b36 41 #ifndef _SDL_timer_h
karpent 0:d8b9955d2b36 42 t.start();
karpent 0:d8b9955d2b36 43 #endif
karpent 0:d8b9955d2b36 44 }
karpent 0:d8b9955d2b36 45
karpent 0:d8b9955d2b36 46
karpent 0:d8b9955d2b36 47 void RadarDemo::Render()
karpent 0:d8b9955d2b36 48 {
karpent 0:d8b9955d2b36 49 // Reset scan time after one full turn
karpent 0:d8b9955d2b36 50 if (runningTime >= (lastScanTime + scanPeriod)) {
karpent 0:d8b9955d2b36 51 lastScanTime = runningTime;
karpent 0:d8b9955d2b36 52 }
karpent 0:d8b9955d2b36 53
karpent 0:d8b9955d2b36 54 // Calculate actual beam position
karpent 0:d8b9955d2b36 55 lastBeamAngle = currentBeamAngle;
karpent 0:d8b9955d2b36 56
karpent 0:d8b9955d2b36 57 #ifdef _SDL_timer_h
karpent 0:d8b9955d2b36 58 uint32_t msTime = SDL_GetTicks();
karpent 0:d8b9955d2b36 59 #else
karpent 0:d8b9955d2b36 60 int msTime = t.read_ms();
karpent 0:d8b9955d2b36 61 #endif
karpent 0:d8b9955d2b36 62 currentBeamAngle = 2 * M_PI * (msTime - lastScanTime) / (float)scanPeriod;
karpent 0:d8b9955d2b36 63 if(currentBeamAngle >= (2 * M_PI)) {
karpent 0:d8b9955d2b36 64 currentBeamAngle -= 2 * M_PI;
karpent 0:d8b9955d2b36 65 }
karpent 0:d8b9955d2b36 66
karpent 0:d8b9955d2b36 67 //pc.printf("Sector :%3.1f, %3.1f\r\n", lastBeamAngle*180.f/M_PI, currentBeamAngle*180.f / M_PI) ;
karpent 0:d8b9955d2b36 68 //pc.printf("Time : ms=%dms, r=%dms, l=%dms\r\n", msTime, runningTime, lastScanTime) ;
karpent 0:d8b9955d2b36 69
karpent 0:d8b9955d2b36 70 RK043FN48H* display = (RK043FN48H*)GetDisplay();
karpent 0:d8b9955d2b36 71
karpent 0:d8b9955d2b36 72 if(NeedsRedraw()) {
karpent 0:d8b9955d2b36 73
karpent 0:d8b9955d2b36 74 display->SetActiveLayer(Background);
karpent 0:d8b9955d2b36 75 display->Clear();
karpent 0:d8b9955d2b36 76
karpent 0:d8b9955d2b36 77 // Set color for markers
karpent 0:d8b9955d2b36 78 display->SetDrawColor(0x40, 0x40, 0x40, 0xFF);
karpent 0:d8b9955d2b36 79 DrawMarkers();
karpent 0:d8b9955d2b36 80
karpent 0:d8b9955d2b36 81 display->SetDrawColor(0x80, 0x80, 0x80, 0xFF);
karpent 0:d8b9955d2b36 82 DrawBorder();
karpent 0:d8b9955d2b36 83
karpent 0:d8b9955d2b36 84 display->SetActiveLayer(Foreground);
karpent 0:d8b9955d2b36 85 _needsRedraw = false;
karpent 0:d8b9955d2b36 86
karpent 0:d8b9955d2b36 87 }
karpent 0:d8b9955d2b36 88
karpent 0:d8b9955d2b36 89 #ifdef _SDL_timer_h
karpent 0:d8b9955d2b36 90 runningTime = SDL_GetTicks();
karpent 0:d8b9955d2b36 91 #else
karpent 0:d8b9955d2b36 92 runningTime = t.read_ms();
karpent 0:d8b9955d2b36 93 #endif
karpent 0:d8b9955d2b36 94 UpdateTargetsLocation(lastBeamAngle, currentBeamAngle, runningTime);
karpent 0:d8b9955d2b36 95
karpent 0:d8b9955d2b36 96 display->Clear();
karpent 0:d8b9955d2b36 97 DrawTracks();
karpent 0:d8b9955d2b36 98 DrawRadarBeam(currentBeamAngle);
karpent 0:d8b9955d2b36 99 }
karpent 0:d8b9955d2b36 100
karpent 0:d8b9955d2b36 101
karpent 0:d8b9955d2b36 102 bool RadarDemo::IsRunning()
karpent 0:d8b9955d2b36 103 {
karpent 0:d8b9955d2b36 104 #ifdef _SDL_timer_h
karpent 0:d8b9955d2b36 105 runningTime = SDL_GetTicks();
karpent 0:d8b9955d2b36 106 #else
karpent 0:d8b9955d2b36 107 runningTime = t.read_ms();
karpent 0:d8b9955d2b36 108 #endif
karpent 0:d8b9955d2b36 109
karpent 0:d8b9955d2b36 110 return demoTime > 0 ? runningTime <= demoTime : true;
karpent 0:d8b9955d2b36 111 }
karpent 0:d8b9955d2b36 112
karpent 0:d8b9955d2b36 113
karpent 0:d8b9955d2b36 114 void RadarDemo::AddSampleTargets(int count)
karpent 0:d8b9955d2b36 115 {
karpent 0:d8b9955d2b36 116 const float minSpeed = 200; // [km/h]
karpent 0:d8b9955d2b36 117 const float maxSpeed = 800; // [km/h]
karpent 0:d8b9955d2b36 118 Target *target;
karpent 0:d8b9955d2b36 119
karpent 0:d8b9955d2b36 120 #ifdef _SDL_timer_h
karpent 0:d8b9955d2b36 121 srand(SDL_GetTicks());
karpent 0:d8b9955d2b36 122 #else
karpent 0:d8b9955d2b36 123 srand(t.read_us());
karpent 0:d8b9955d2b36 124 #endif
karpent 0:d8b9955d2b36 125
karpent 0:d8b9955d2b36 126 for (int i = 0; i<count; i++) {
karpent 0:d8b9955d2b36 127 // Generate target parameters
karpent 0:d8b9955d2b36 128 float angle = 2 * M_PI * rand() / (float)RAND_MAX;
karpent 0:d8b9955d2b36 129 float range = GetMaxRange() * rand() / (float)RAND_MAX;
karpent 0:d8b9955d2b36 130 float speed = minSpeed + (maxSpeed - minSpeed) * rand() / (float)RAND_MAX;
karpent 0:d8b9955d2b36 131 float direction = 2 * M_PI * rand() / (float)RAND_MAX;
karpent 0:d8b9955d2b36 132
karpent 0:d8b9955d2b36 133 // Create a new target
karpent 0:d8b9955d2b36 134 target = new Target(i + 100, speed, direction);
karpent 0:d8b9955d2b36 135 target->SetLocationAngular(range, angle);
karpent 0:d8b9955d2b36 136
karpent 0:d8b9955d2b36 137 // Put target on the list
karpent 0:d8b9955d2b36 138 targetsList.push_back(*target);
karpent 0:d8b9955d2b36 139 }
karpent 0:d8b9955d2b36 140 }
karpent 0:d8b9955d2b36 141
karpent 0:d8b9955d2b36 142
karpent 0:d8b9955d2b36 143 void RadarDemo::UnvalidateBackground()
karpent 0:d8b9955d2b36 144 {
karpent 0:d8b9955d2b36 145 _needsRedraw = false;
karpent 0:d8b9955d2b36 146 }
karpent 0:d8b9955d2b36 147
karpent 0:d8b9955d2b36 148
karpent 0:d8b9955d2b36 149 bool RadarDemo::NeedsRedraw()
karpent 0:d8b9955d2b36 150 {
karpent 0:d8b9955d2b36 151 return _needsRedraw;
karpent 0:d8b9955d2b36 152 }
karpent 0:d8b9955d2b36 153