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kalman_vis.c
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kalman_vis.c
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/*
* CDDL HEADER START
*
* The contents of this file are subject to the terms of the
* Common Development and Distribution License, Version 1.0 only
* (the "License"). You may not use this file except in compliance
* with the License.
*
* You can obtain a copy of the license in the file COPYING
* or http://www.opensource.org/licenses/CDDL-1.0.
* See the License for the specific language governing permissions
* and limitations under the License.
*
* When distributing Covered Code, include this CDDL HEADER in each
* file and include the License file COPYING.
* If applicable, add the following below this CDDL HEADER, with the
* fields enclosed by brackets "[]" replaced with your own identifying
* information: Portions Copyright [yyyy] [name of copyright owner]
*
* CDDL HEADER END
*/
/*
* Copyright 2020 Saso Kiselkov. All rights reserved.
*/
#include <stdarg.h>
#include <XPLMDisplay.h>
#include <acfutils/geom.h>
#include <acfutils/list.h>
#include <acfutils/math.h>
#include <acfutils/mt_cairo_render.h>
#include <acfutils/safe_alloc.h>
#include <acfutils/widget.h>
#include <acfutils/thread.h>
#include "kalman_assert.h"
#include "kalman_vis.h"
#define GRAPH_WIDTH (vis->max_samples * vis->px_per_sample)
#define GRAPH_DATA_WIDTH 110
#define COV_COLUMN 100
#define CONT_COLUMN 100
#define RENDER_FPS 20
#define HEADING_FONT_SZ 21
#define COV_DATA_FONT_SZ 16
#define GRAPH_DATA_FONT_SZ 18
#define AUTO_DECIMALS(value, decimals) \
((decimals) < 0 ? -(decimals) : fixed_decimals((value), (decimals)))
typedef struct {
kalman_dmat_t *m;
kalman_dmat_t *state;
list_node_t node;
} sample_t;
struct kalman_vis_s {
/* immutable */
kalman_t *kal;
unsigned state_len;
unsigned max_samples;
double px_per_sample;
double row_height;
mt_cairo_render_t *mtcr;
XPLMWindowID win;
win_resize_ctl_t winctl;
mutex_t lock;
/* protected by lock */
list_t samples;
kalman_dmat_t *cov;
kalman_dmat_t *m_cov;
uint64_t m_cov_age;
kalman_dmat_t *cont;
char labels[KALMAN_VEC_LEN][128];
int decimals[KALMAN_VEC_LEN]; /* atomic */
int cov_precision; /* atomic */
};
static const vect3_t color_table[] = {
{1, 0, 0}, /* Red */
{0, 0.67, 0}, /* Green */
{0, 0, 1}, /* Blue */
{0.67, 0, 0.67}, /* Magenta */
{0.67, 0.33, 0}, /* Brown */
{0, 0.67, 0.67}, /* Cyan */
{0.33, 0, 0.67}, /* Purple */
{0.9, 0, 0.47}, /* Pink */
{0.67, 0.67, 0}, /* Yellow */
};
static void
win_draw(XPLMWindowID win, void *refcon)
{
kalman_vis_t *vis;
int left, top, right, bottom, w, h;
KAL_ASSERT(win != NULL);
KAL_ASSERT(refcon != NULL);
vis = refcon;
win_resize_ctl_update(&vis->winctl);
XPLMGetWindowGeometry(win, &left, &top, &right, &bottom);
w = right - left;
h = top - bottom;
KAL_ASSERT(vis->mtcr != NULL);
mt_cairo_render_draw(vis->mtcr, VECT2(left, bottom), VECT2(w, h));
}
static void
render_centered_text(cairo_t *cr, double x, double y, const char *format, ...)
{
char buf[128];
va_list ap;
cairo_text_extents_t te;
va_start(ap, format);
vsnprintf(buf, sizeof (buf), format, ap);
va_end(ap);
cairo_text_extents(cr, buf, &te);
cairo_move_to(cr, x - te.width / 2, y - te.height / 2 - te.y_bearing);
cairo_show_text(cr, buf);
}
static void
render_graph(cairo_t *cr, kalman_vis_t *vis, unsigned idx)
{
int i;
vect3_t color;
kalman_real_t minval = INFINITY, maxval = -INFINITY;
kalman_real_t stateval;
sample_t *sample;
KAL_ASSERT(cr != NULL);
KAL_ASSERT(vis != NULL);
KAL_ASSERT3U(idx, <, vis->state_len);
KAL_ASSERT(list_count(&vis->samples) != 0);
cairo_save(cr);
cairo_translate(cr, GRAPH_DATA_WIDTH, (idx + 0.5) * vis->row_height);
cairo_rectangle(cr, 0.5, -vis->row_height / 2 + 0.5,
GRAPH_WIDTH - 1, vis->row_height - 1);
cairo_rectangle(cr, -GRAPH_DATA_WIDTH + 0.5, -vis->row_height / 2 + 0.5,
GRAPH_DATA_WIDTH - 1, vis->row_height - 1);
cairo_stroke(cr);
/* Determine min/max values for this graph */
for (sample = list_head(&vis->samples); sample != NULL;
sample = list_next(&vis->samples, sample)) {
if (sample->m != NULL &&
!isnan(KAL_DMATyx(*sample->m, idx, 0))) {
minval = MIN(minval, KAL_DMATyx(*sample->m, idx, 0));
maxval = MAX(maxval, KAL_DMATyx(*sample->m, idx, 0));
}
ASSERT(sample->state != NULL);
minval = MIN(minval, KAL_DMATyx(*sample->state, idx, 0));
maxval = MAX(maxval, KAL_DMATyx(*sample->state, idx, 0));
}
sample = list_head(&vis->samples);
ASSERT(sample != NULL);
stateval = KAL_DMATyx(*sample->state, idx, 0);
ASSERT(isfinite(minval));
ASSERT(isfinite(maxval));
/* Draw the measurement values - those are all black */
for (sample = list_head(&vis->samples), i = 0; sample != NULL;
sample = list_next(&vis->samples, sample), i++) {
double val, x, y;
if (sample->m == NULL || isnan(KAL_DMATyx(*sample->m, idx, 0)))
continue;
val = KAL_DMATyx(*sample->m, idx, 0);
x = GRAPH_WIDTH - i * vis->px_per_sample;
y = fx_lin(val, minval, vis->row_height / 2,
MAX(maxval, minval + 1e-6), -vis->row_height / 2);
cairo_rectangle(cr, x - 1, y - 1, 2, 2);
}
cairo_fill(cr);
/* Draw filter state */
color = color_table[idx % ARRAY_NUM_ELEM(color_table)];
cairo_set_source_rgb(cr, color.x, color.y, color.z);
for (sample = list_head(&vis->samples), i = 0; sample != NULL;
sample = list_next(&vis->samples, sample), i++) {
double val = KAL_DMATyx(*sample->state, idx, 0);
double x = GRAPH_WIDTH - i * vis->px_per_sample;
double y = fx_lin(val, minval, vis->row_height / 2,
MAX(maxval, minval + 1e-6), -vis->row_height / 2);
ASSERT(!isnan(val));
if (i == 0)
cairo_move_to(cr, x + 0.5, y + 0.5);
else
cairo_line_to(cr, x + 0.5, y + 0.5);
}
cairo_stroke(cr);
/* Draw the state's current value */
render_centered_text(cr, -GRAPH_DATA_WIDTH / 2, 0, "%.*f",
AUTO_DECIMALS(stateval, vis->decimals[idx]), (double)stateval);
/* Draw the minimum and maximum graph values */
cairo_set_source_rgb(cr, 0, 0, 0);
render_centered_text(cr, -GRAPH_DATA_WIDTH / 2,
-vis->row_height / 2 + 15, "%.*f",
AUTO_DECIMALS(maxval, vis->decimals[idx]), (double)maxval);
render_centered_text(cr, -GRAPH_DATA_WIDTH / 2,
vis->row_height / 2 - 15, "%.*f",
AUTO_DECIMALS(minval, vis->decimals[idx]), (double)minval);
/* Draw the label */
if (strlen(vis->labels[idx]) != 0) {
enum { MARGIN = 2 };
cairo_text_extents_t te;
cairo_text_extents(cr, vis->labels[idx], &te);
cairo_set_source_rgb(cr, 0.85, 0.85, 0.85);
cairo_rectangle(cr, 1, -vis->row_height / 2 + 1,
te.width + 2 * MARGIN, te.height + 2 * MARGIN);
cairo_fill(cr);
cairo_set_source_rgb(cr, 0, 0, 0);
cairo_rectangle(cr, 0.5, -vis->row_height / 2 + 0.5,
te.width + 2 * MARGIN, te.height + 2 * MARGIN);
cairo_stroke(cr);
cairo_set_source_rgb(cr, 0, 0, 0);
cairo_move_to(cr, MARGIN, -vis->row_height / 2 + MARGIN -
te.y_bearing);
cairo_show_text(cr, vis->labels[idx]);
}
cairo_restore(cr);
}
static void
render_cov(cairo_t *cr, kalman_vis_t *vis)
{
KAL_ASSERT(cr != NULL);
KAL_ASSERT(vis != NULL);
KAL_ASSERT(vis->cov != NULL);
cairo_save(cr);
cairo_translate(cr, GRAPH_DATA_WIDTH + GRAPH_WIDTH, 0);
cairo_set_font_size(cr, HEADING_FONT_SZ);
render_centered_text(cr, (vis->state_len * COV_COLUMN) / 2, 10,
"Filter covariance");
render_centered_text(cr, (vis->state_len * COV_COLUMN) / 2, 30,
(vis->state_len > 2 ? "(Measurement covariance)" :
"(Measurement cov.)"));
cairo_set_font_size(cr, COV_DATA_FONT_SZ);
for (unsigned x = 0; x < vis->cov->cols; x++) {
for (unsigned y = 0; y < vis->cov->rows; y++) {
double val;
val = KAL_DMATyx(*vis->cov, y, x);
if (val == 0) {
render_centered_text(cr, (x + 0.5) * COV_COLUMN,
(y + 0.5) * vis->row_height, "0");
} else {
render_centered_text(cr, (x + 0.5) * COV_COLUMN,
(y + 0.5) * vis->row_height, "%.*f",
AUTO_DECIMALS(val, vis->cov_precision),
val);
}
if (vis->m_cov == NULL)
continue;
if (vis->m_cov_age > 1) {
float grey = clampi(vis->m_cov_age, 0, 20) /
40.0;
cairo_set_source_rgb(cr, grey, grey, grey);
}
val = KAL_DMATyx(*vis->m_cov, y, x);
if (val == 0) {
render_centered_text(cr, (x + 0.5) * COV_COLUMN,
(y + 0.5) * vis->row_height + 20, "(0)");
} else if (!isnan(val)) {
render_centered_text(cr, (x + 0.5) * COV_COLUMN,
(y + 0.5) * vis->row_height + 20, "(%.*f)",
AUTO_DECIMALS(val, vis->cov_precision),
val);
} else {
render_centered_text(cr, (x + 0.5) * COV_COLUMN,
(y + 0.5) * vis->row_height + 20, "(null)");
}
if (vis->m_cov_age > 1)
cairo_set_source_rgb(cr, 0, 0, 0);
}
}
cairo_restore(cr);
}
static void
render_cont(cairo_t *cr, unsigned h, kalman_vis_t *vis)
{
KAL_ASSERT(cr != NULL);
KAL_ASSERT(vis != NULL);
KAL_ASSERT(vis->cont != NULL);
cairo_save(cr);
cairo_translate(cr, GRAPH_DATA_WIDTH + GRAPH_WIDTH +
vis->state_len * COV_COLUMN, 0);
cairo_set_line_width(cr, 1);
cairo_move_to(cr, 0.5, 0);
cairo_line_to(cr, 0.5, h);
cairo_stroke(cr);
cairo_set_font_size(cr, HEADING_FONT_SZ);
render_centered_text(cr, COV_COLUMN / 2, 10, "Control");
render_centered_text(cr, COV_COLUMN / 2, 30, "vector");
cairo_set_font_size(cr, COV_DATA_FONT_SZ);
for (unsigned i = 0; i < vis->state_len; i++) {
double val = KAL_DMATyx(*vis->cont, i, 0);
if (val == 0) {
render_centered_text(cr, CONT_COLUMN / 2,
(i + 0.5) * vis->row_height, "0");
} else {
render_centered_text(cr, CONT_COLUMN / 2,
(i + 0.5) * vis->row_height, "%.*f",
AUTO_DECIMALS(val, vis->cov_precision), val);
}
}
cairo_restore(cr);
}
static void
kal_vis_render(cairo_t *cr, unsigned w, unsigned h, void *userinfo)
{
kalman_vis_t *vis;
KAL_ASSERT(cr != NULL);
KAL_ASSERT(userinfo != NULL);
vis = userinfo;
cairo_set_source_rgb(cr, 1, 1, 1);
cairo_paint(cr);
cairo_set_source_rgb(cr, 0, 0, 0);
cairo_set_font_size(cr, GRAPH_DATA_FONT_SZ);
cairo_set_line_width(cr, 1);
mutex_enter(&vis->lock);
if (list_count(&vis->samples) != 0) {
for (unsigned i = 0; i < vis->state_len; i++)
render_graph(cr, vis, i);
render_cov(cr, vis);
render_cont(cr, h, vis);
} else {
cairo_text_extents_t te;
cairo_set_source_rgb(cr, 1, 0, 0);
cairo_text_extents(cr, "NO DATA", &te);
cairo_move_to(cr, w / 2 - te.width / 2,
h / 2 - te.height / 2 - te.y_bearing);
cairo_show_text(cr, "NO DATA");
}
mutex_exit(&vis->lock);
}
static void
free_sample(sample_t *sample)
{
KAL_ASSERT(sample != NULL);
free(sample->m);
free(sample->state);
free(sample);
}
kalman_vis_t *
kalman_vis_alloc(kalman_t *kal, const char *name, unsigned max_samples,
double px_per_sample, double row_height, mt_cairo_uploader_t *mtul)
{
kalman_vis_t *vis = safe_calloc(1, sizeof (*vis));
XPLMCreateWindow_t cr = {
.structSize = sizeof (cr),
.left = 100,
.bottom = 100,
.drawWindowFunc = win_draw,
.refcon = vis,
.decorateAsFloatingWindow = xplm_WindowDecorationRoundRectangle,
.layer = xplm_WindowLayerFloatingWindows
};
unsigned w, h;
KAL_ASSERT(kal != NULL);
KAL_ASSERT(max_samples != 0);
KAL_ASSERT(px_per_sample > 0);
vis->state_len = kalman_get_state_len(kal);
vis->max_samples = max_samples;
vis->px_per_sample = px_per_sample;
vis->row_height = row_height;
KAL_ASSERT3U(vis->state_len, <=, KALMAN_VEC_LEN);
KAL_ASSERT(name != NULL);
for (unsigned i = 0; i < vis->state_len; i++)
vis->decimals[i] = 8;
vis->cov_precision = 7;
w = GRAPH_WIDTH + GRAPH_DATA_WIDTH + vis->state_len * COV_COLUMN +
CONT_COLUMN;
h = vis->state_len * vis->row_height;
cr.top = 100 + h;
cr.right = 100 + w;
vis->kal = kal;
vis->m_cov = NULL;
mutex_init(&vis->lock);
list_create(&vis->samples, sizeof (sample_t), offsetof(sample_t, node));
vis->mtcr = mt_cairo_render_init(w, h, RENDER_FPS, NULL,
kal_vis_render, NULL, vis);
ASSERT(vis->mtcr != NULL);
mt_cairo_render_set_uploader(vis->mtcr, mtul);
vis->win = XPLMCreateWindowEx(&cr);
KAL_ASSERT(vis->win != NULL);
classic_win_center(vis->win);
win_resize_ctl_init(&vis->winctl, vis->win, w, h);
XPLMSetWindowTitle(vis->win, name);
return (vis);
}
void
kalman_vis_free(kalman_vis_t *vis)
{
sample_t *sample;
if (vis == NULL)
return;
mt_cairo_render_fini(vis->mtcr);
while ((sample = list_remove_head(&vis->samples)) != NULL)
free_sample(sample);
list_destroy(&vis->samples);
mutex_destroy(&vis->lock);
XPLMDestroyWindow(vis->win);
memset(vis, 0, sizeof (*vis));
free(vis);
}
void
kalman_vis_update(kalman_vis_t *vis, const kalman_vec_t *m,
const kalman_mat_t *m_cov)
{
kalman_dmat_t *dm, *dm_cov;
if (m == NULL) {
kalman_vis_dupdate(vis, NULL, NULL);
return;
}
dm = kalman_dmat_alloc(vis->state_len, 1);
dm_cov = kalman_dmat_alloc(vis->state_len, vis->state_len);
for (unsigned row = 0; row < vis->state_len; row++) {
KAL_DMATyx(*dm, row, 0) = KALMAN_VECi(*m, row);
for (unsigned col = 0; col < vis->state_len; col++) {
KAL_DMATyx(*dm_cov, row, col) =
KALMAN_MATyx(*m_cov, row, col);
}
}
kalman_vis_dupdate(vis, dm, dm_cov);
free(dm);
free(dm_cov);
}
void
kalman_vis_dupdate(kalman_vis_t *vis, const kalman_dmat_t *m,
const kalman_dmat_t *m_cov)
{
sample_t *sample = safe_calloc(1, sizeof (*sample));
KAL_ASSERT(vis != NULL);
if (m != NULL)
sample->m = kalman_dmat_copy(m);
sample->state = kalman_get_dstate(vis->kal);
if (KAL_IS_NULL_DMAT(*sample->state)) {
/* Remove all samples when the Kalman filter has been reset */
free_sample(sample);
mutex_enter(&vis->lock);
while ((sample = list_remove_head(&vis->samples)) != NULL)
free_sample(sample);
mutex_exit(&vis->lock);
return;
}
mutex_enter(&vis->lock);
while (list_count(&vis->samples) >= vis->max_samples) {
sample_t *old_sample = list_remove_tail(&vis->samples);
free_sample(old_sample);
}
list_insert_head(&vis->samples, sample);
vis->cov = kalman_get_dcov_mat(vis->kal);
if (m_cov != NULL) {
free(vis->m_cov);
vis->m_cov = kalman_dmat_copy(m_cov);
vis->m_cov_age = 0;
} else {
vis->m_cov_age++;
}
free(vis->cont);
vis->cont = kalman_get_dcont(vis->kal);
mutex_exit(&vis->lock);
}
void
kalman_vis_reset(kalman_vis_t *vis)
{
sample_t *sample;
KAL_ASSERT(vis != NULL);
mutex_enter(&vis->lock);
while ((sample = list_remove_head(&vis->samples)) != NULL)
free_sample(sample);
mutex_exit(&vis->lock);
}
void
kalman_vis_open(kalman_vis_t *vis)
{
KAL_ASSERT(vis != NULL);
KAL_ASSERT(vis->win != NULL);
XPLMSetWindowIsVisible(vis->win, true);
XPLMBringWindowToFront(vis->win);
}
bool
kalman_vis_is_open(const kalman_vis_t *vis)
{
KAL_ASSERT(vis != NULL);
KAL_ASSERT(vis->win != NULL);
return (XPLMGetWindowIsVisible(vis->win));
}
void
kalman_vis_set_decimals(kalman_vis_t *vis, unsigned state_var,
int decimals)
{
KAL_ASSERT(vis != NULL);
KAL_ASSERT3U(state_var, <, vis->state_len);
vis->decimals[state_var] = decimals;
}
void
kalman_vis_set_label(kalman_vis_t *vis, unsigned state_var, const char *label)
{
KAL_ASSERT(vis != NULL);
KAL_ASSERT3U(state_var, <, vis->state_len);
KAL_ASSERT(label != NULL);
mutex_enter(&vis->lock);
strlcpy(vis->labels[state_var], label, sizeof (vis->labels[state_var]));
mutex_exit(&vis->lock);
}
void
kalman_vis_set_cov_precision(kalman_vis_t *vis, int decimals)
{
KAL_ASSERT(vis != NULL);
vis->cov_precision = decimals;
}