上一篇實(shí)現(xiàn)了Matlab 對(duì)串口數(shù)據(jù)的讀取，數(shù)據(jù)可以讀取并且保存到本地。本文主要設(shè)計(jì)GUI并且動(dòng)態(tài)的顯示曲線。可以更直觀的觀察實(shí)時(shí)的姿態(tài)數(shù)據(jù)和傳感器數(shù)據(jù)。
GUI設(shè)計(jì)效果：
分別設(shè)置三個(gè)區(qū)域，分別為數(shù)據(jù)接收顯示區(qū)域，串口設(shè)置區(qū)域和區(qū)域顯示區(qū)域。
串口參數(shù)設(shè)置與上一篇基本一直，只是將串口號(hào)和波特率設(shè)置為全局變量。matlab GUI 編程可以看其他教程，主要調(diào)用函數(shù)參數(shù)與hObject,eventdata,handles。
hObject 和handles 都可以設(shè)置相應(yīng)的空間的性能，但是區(qū)別在于hObject只是一個(gè)局部變量，而handles 相當(dāng)于一個(gè)全局變量。當(dāng)要在函數(shù)中設(shè)置另外控件的性能，只能調(diào)用handles。
參數(shù)設(shè)置區(qū)域
參數(shù)設(shè)置區(qū)域主要實(shí)現(xiàn)的是串口的選擇和波特率的設(shè)置。GUI上通過下拉菜單選擇。在相應(yīng)空間的callback 函數(shù)中添加初始化代碼：
- COM callback 函數(shù)設(shè)置
% --- Executes on selection change in ppcom.
function ppcom_Callback(hObject, eventdata, handles)
% hObject handle to ppcom (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: contents = cellstr(get(hObject,'String')) returns ppcom contents as cell array
% contents{get(hObject,'Value')} returns selected item from ppcom
global COM;
val=get(hObject,'value');
switch val
case 1
COM='COM1';
fprintf('ceshi_COM=1\n');
case 2
COM='COM2';
case 3
COM='COM3';
case 4
COM='COM4';
case 5
COM='COM5';
case 6
COM='COM6';
case 7
COM='COM7';
case 8
COM='COM8';
case 9
COM='COM9';
end
波特率callback 函數(shù)設(shè)置
function ppbandrate_Callback(hObject, eventdata, handles)
% hObject handle to ppbandrate (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% Hints: contents = cellstr(get(hObject,'String')) returns ppbandrate contents as cell array
% contents{get(hObject,'Value')} returns selected item from ppbandrate
global rate;
val=get(hObject,'value');
switch val
case 1
rate=9600;
case 2
rate=19200;
case 3
rate=38400;
case 4
rate=115200;
end
打開串口：
function activityReco_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject handle to figure
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
% varargin command line arguments to activityReco (see VARARGIN)
global COM;
global rate;
global act a;
global count;
global act_data t;
global p x;
count=1;x=-15;
act=zeros(12,1);
t=0;
p = plot(t,act,...
'EraseMode','background','MarkerSize',5);
% axis([x x+20 -200 200]);
% grid(handles.axplotact,'on');
set(handles.axplotact,'XLim',[x x+20],'YLim',[-200 200]);
set(handles.axplotact,'XTickLabel',[]);
legendaxes=legend(handles.axplotact,{'Yaw','Pitch','Roll','Accx','Accy','Accz','GYROx','GYROy','GYROz','Magx','Magy','Magz'},1);
set(legendaxes,'Location','northeastoutside');
act_data=[]; a=[];
COM='COM5'
rate = 115200;
set(handles.ppcom,'value', 5);
set(handles.ppbandrate,'value',4);
set(handles.pbcloseserial,'Enable','off');
% Choose default command line output for activityReco
handles.output = hObject;
% Update handles structure
guidata(hObject, handles);
關(guān)閉串口：
function pbcloseserial_Callback(hObject, eventdata, handles)
% hObject handle to pbcloseserial (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
global s;
fclose(s);
delete(s);
set(handles.pbcloseserial,'Enable','on');
set(handles.pbopenserial,'Enable','off');
fprintf('close com');
串口參數(shù)設(shè)置部分基本與上一篇博客一致，有問題可以對(duì)照理解。
姿態(tài)數(shù)據(jù)動(dòng)態(tài)顯示
姿態(tài)和傳感器數(shù)據(jù)總共12位。具有不同的單位，為了顯示效果，特地將各個(gè)數(shù)據(jù)歸一在[-200,200]的范圍顯示，整體實(shí)現(xiàn)單線程串行顯示。這里實(shí)現(xiàn)動(dòng)態(tài)顯示的方法是背景擦除方法。
matlab單線程動(dòng)態(tài)曲線繪制有幾種方法，參見博客(http://www.cnblogs.com/duanp/archive/2008/12/02/Matlab-Plot-Animation.html)
【源方法】
t=[0]
m=[sin(t);cos(t)]
p = plot(t,m,...
'EraseMode','background','MarkerSize',5);%%定義數(shù)據(jù)種類，因此t和m不能為空
x=-1.5*pi; %坐標(biāo)初始設(shè)置小于數(shù)據(jù)起始位置，任意設(shè)置
axis([x x+2*pi -1.5 1.5]); %繪圖坐標(biāo)設(shè)置，橫坐標(biāo)設(shè)置為x的參數(shù)
grid on;
for i=1:1000
t=[t 0.1*i]; %Matrix 1*(i+1)
m=[m [sin(0.1*i);cos(0.1*i)]]; %Matrix 2*(i+1)
set(p(1),'XData',t,'YData',m(1,:))
set(p(2),'XData',t,'YData',m(2,:))
drawnow
x=x+0.1;
axis([x x+2*pi -1.5 1.5]);
pause(0.5);
end
這里我用的是采用背景擦除的方法，顯示動(dòng)態(tài)的曲線，并且動(dòng)態(tài)改變坐標(biāo)系。整體思路是顯示的橫坐標(biāo)t和縱坐標(biāo)act_data只存儲(chǔ)400個(gè)數(shù)據(jù)，當(dāng)大于400 ，則刪除前端數(shù)據(jù)保持整體為400個(gè)。然后每次解算則顯示一次。
function ReceiveCallback( obj,event,handles) %創(chuàng)建中斷響應(yīng)函數(shù)
global s a fid;
global count;
global act;
global act_data;
global t x p;
str = fread(s,100,'uint8');%讀取數(shù)據(jù)
hex=dec2hex(str);
IMU_data = [];Motion_data=[];
sign_head1=hex2dec('A5');sign_head2 = hex2dec('5A');
sign_finish=hex2dec('AA');sign_IMU=hex2dec('A1');sign_Motion=hex2dec('A2');
a= [a;str];
j=1;
while (~isempty(a))
if j>size(a,1)
break;
end
if a(j)==sign_head1 && a(j+1) == sign_head2
if (j+a(j+2)+1) > size(a,1)
break;
end
index_start = j+2;
index_finish= index_start + a(j+2)-1;
pack = a(index_start:index_finish);
if ~isempty(pack) &&pack(pack(1))== sign_finish
if pack(2) == sign_IMU
IMU_data(1,:) = Get_IMU(pack);
j = index_finish;
continue;
end
if pack(2) ==sign_Motion
Motion_data(1,:) = Get_Motion(pack);
j = index_finish;
end
if ~isempty(IMU_data) && ~isempty(Motion_data)
count=count+1;
act_data = [IMU_data,Motion_data]';
% fprintf(fid,'%8.1f%8.1f%8.1f%8.1f%8.1f%8.1f%8d%8d%8d%8d%8d%8d%8d%8d%8d\n',act_data);
t=[t 0.1*count];
act=[act,[act_data(1:3);act_data(7:9)*100/16384;act_data(10:12)*pi/180;act_data(13:15)]];%%繪圖數(shù)據(jù)歸一化-200-200
set(handles.edshowdata,'string',num2str(act_data));
axis(handles.axplotact);
if ~get(handles.rbpause,'Value')
if get(handles.rbshowangles,'Value')
set(p(1),'XData',t,'YData',act(1,:));
set(p(2),'XData',t,'YData',act(2,:));
set(p(3),'XData',t,'YData',act(3,:));
end
if get(handles.rbshowacc,'Value')
set(p(4),'XData',t,'YData',act(4,:));
set(p(5),'XData',t,'YData',act(5,:));
set(p(6),'XData',t,'YData',act(6,:));
end
if get(handles.rbshowgyro,'Value')
set(p(7),'XData',t,'YData',act(7,:));
set(p(8),'XData',t,'YData',act(8,:));
set(p(9),'XData',t,'YData',act(9,:));
end
if get(handles.rbshowmag,'Value')
set(p(10),'XData',t,'YData',act(10,:));
set(p(11),'XData',t,'YData',act(11,:));
set(p(12),'XData',t,'YData',act(12,:));
end
drawnow
x=x+0.1;
set(handles.axplotact,'ytick',-200:50:200);
axis(handles.axplotact,[x x+20 -200 200]);
% set(handles.axplotact,'xtick',x:x+20);
if size(t,2) >400
t(1)=[];
act(:,1)=[];
end
end
end
% set(handles.edshowdata,'String',num2str(act));
Motion_data=[];IMU_data=[];
a(1:index_finish)=[];
j=1;
% pause(0.005);
end
else
j=j+1;
end
end
需要注意axes 和axis的區(qū)別，axes 是GUI控件名，axis用來設(shè)置figure的坐標(biāo)。這里
axis(handles.axplotact);
是用來鎖定后面操作的對(duì)象，即后面幾個(gè)set函數(shù)都是對(duì)handles.axplotact進(jìn)行設(shè)置，就不必要每個(gè)set前面都添加handles.axplotact了。drawnow用來繪制，使整個(gè)過程更流暢。下面留了兩個(gè)axes控件，用來實(shí)現(xiàn)三維傳感器空間位置顯示和相對(duì)坐標(biāo)系解算的顯示。
【源代碼】上傳到github
總結(jié)
整體來說MATLAB GUI設(shè)計(jì)還是挺好入手，了解一點(diǎn)callback就能入手了。基本需要注意的函數(shù)為hObject 和handles，get和set(屬性獲取和設(shè)置)。暫時(shí)只是顯示數(shù)據(jù)，但是存在一點(diǎn)延時(shí)，還不確定是中斷和fread的問題還是單線程串行顯示的問題。后面打算實(shí)現(xiàn)三維空間顯示和地球三維坐標(biāo)解算和顯示。
