Initial commit

CMakeLists.txt

+# Set the minimum version of cmake required to build this project
+cmake_minimum_required(VERSION 2.6)
+
+project(gnuplot)
+
+subdirs(o_gnuplot)
+subdirs(o_gnuplot_poi)
+
+

README.md

+Gnuplot
+=======
+
+Links
+-----
+
+- [gnuplot](http://www.gnuplot.info) Official website
+- [gnuplotting](http://www.gnuplotting.org) Nice blogs with lot of original exemples
+- [Impossible gnuplot graphs](http://www.phyast.pitt.edu/~zov1/gnuplot/html/intro.html) see specifically [stats function](http://www.phyast.pitt.edu/~zov1/gnuplot/patch/stats.html)  (syntax is deprecated but the principle is there)
+
+- [not so Frequently Asked Questions](http://lowrank.net/gnuplot/index-e.html)
+- [gnuplot surprising](http://gnuplot-surprising.blogspot.fr) A bit old (2012) but interesting

check.sh

+# Copyright  ETIS — ENSEA, Université de Cergy-Pontoise, CNRS (2011 - 2016)
+# Author: Arnaud Blanchard (November 2016)
+# This software is governed by the CeCILL v2.1 license under French law and abiding by the rules of distribution of free software.
+# You can use, modify and/ or redistribute the software under the terms of the CeCILL v2.1 license as circulated by CEA, CNRS and INRIA at the following URL "http://www.cecill.info".
+# As a counterpart to the access to the source code and  rights to copy, modify and redistribute granted by the license,
+# users are provided only with a limited warranty and the software's author, the holder of the economic rights,  and the successive licensors have only limited liability.
+# In this respect, the user's attention is drawn to the risks associated with loading, using, modifying and/or developing or reproducing the software by the user in light of its specific status of free software,
+# that may mean  that it is complicated to manipulate, and that also therefore means that it is reserved for developers and experienced professionals having in-depth computer knowledge.
+# Users are therefore encouraged to load and test the software's suitability as regards their requirements in conditions enabling the security of their systems and/or data to be ensured  and, more generally, to use and operate it in the same conditions as regards security.
+# The fact that you are presently reading this means that you have had knowledge of the CeCILL v2.1 license and that you accept its terms.
+
+
+cd `dirname $0`
+echo
+echo "Checking `basename $PWD`"
+echo "===================="
+echo
+echo "No check for now"
+echo 

o_gnuplot/CMakeLists.txt

+# Set the minimum version of cmake required to build this project
+cmake_minimum_required(VERSION 2.6)
+
+project(o_gnuplot)
+
+find_package(blc_channel REQUIRED)
+find_package(blc_program REQUIRED)
+
+add_definitions(${BL_DEFINITIONS})
+include_directories(${BL_INCLUDE_DIRS})
+add_executable(o_gnuplot src/o_gnuplot.cpp src/graph.cpp src/history_graph.cpp)
+target_link_libraries(o_gnuplot ${BL_LIBRARIES})
+

o_gnuplot/README.md

+insatall
+========
+
+
+Mac OSx
+-------
+
+You need install gnuplot with qt:
+
+    brew install gnuplot --with qt
+

o_gnuplot/check.sh

+# Copyright  ETIS — ENSEA, Université de Cergy-Pontoise, CNRS (2011 - 2016)
+# Author: Arnaud Blanchard (November 2016)
+# This software is governed by the CeCILL v2.1 license under French law and abiding by the rules of distribution of free software.
+# You can use, modify and/ or redistribute the software under the terms of the CeCILL v2.1 license as circulated by CEA, CNRS and INRIA at the following URL "http://www.cecill.info".
+# As a counterpart to the access to the source code and  rights to copy, modify and redistribute granted by the license,
+# users are provided only with a limited warranty and the software's author, the holder of the economic rights,  and the successive licensors have only limited liability.
+# In this respect, the user's attention is drawn to the risks associated with loading, using, modifying and/or developing or reproducing the software by the user in light of its specific status of free software,
+# that may mean  that it is complicated to manipulate, and that also therefore means that it is reserved for developers and experienced professionals having in-depth computer knowledge.
+# Users are therefore encouraged to load and test the software's suitability as regards their requirements in conditions enabling the security of their systems and/or data to be ensured  and, more generally, to use and operate it in the same conditions as regards security.
+# The fact that you are presently reading this means that you have had knowledge of the CeCILL v2.1 license and that you accept its terms.
+
+
+cd `dirname $0`
+echo
+echo "Checking `basename $PWD`"
+echo "===================="
+echo
+echo "No check for now"
+echo 

o_gnuplot/install_osx.sh

+# Basic Libraries And Applications for Robotics (BLAAR)
+# Copyright  ETIS — ENSEA, University of Cergy-Pontoise, CNRS (2011 - 2017)
+# Author: Arnaud Blanchard
+#
+# This software is governed by the CeCILL v2.1 license under French law and abiding by the rules of distribution of free software.
+# You can use, modify and/ or redistribute the software under the terms of the CeCILL v2.1 license as circulated by CEA, CNRS and INRIA at the following URL "http://www.cecill.info".
+# As a counterpart to the access to the source code and  rights to copy, modify and redistribute granted by the license,
+# users are provided only with a limited warranty and the software's author, the holder of the economic rights,  and the successive licensors have only limited liability.
+# In this respect, the user's attention is drawn to the risks associated with loading, using, modifying and/or developing or reproducing the software by the user in light of its specific status of free software,
+# that may mean  that it is complicated to manipulate, and that also therefore means that it is reserved for developers and experienced professionals having in-depth computer knowledge.
+# Users are therefore encouraged to load and test the software's suitability as regards their requirements in conditions enabling the security of their systems and/or data to be ensured  and, more generally, to use and operate it in the same conditions as regards security.
+# The fact that you are presently reading this means that you have had knowledge of the CeCILL v2.1 license and that you accept its terms.
+
+#We go in blaar dir
+cd $(dirname $0)/..
+
+brew install gnuplot --with-qt
+git submodule add https://framagit.org/blaar/o_gnuplot.git
+./install.sh o_gnuplot
+
+
+

o_gnuplot/src/graph.cpp

+#include "blc_program.h"
+#include "graph.h"
+#include <pthread.h>
+#include <sys/time.h>
+#include <unistd.h>
+
+typedef struct history:blc_array{
+    blc_array *array;
+    
+    void init_timer();
+    void start_refresh_history_chars();
+    void start_refresh_history_floats();
+    int  compute_next_k();
+    
+    int sampling_period, iteration, length;
+    size_t element_size;
+    unsigned long initial_us;
+}type_history;
+
+pthread_mutex_t mutex=PTHREAD_MUTEX_INITIALIZER;
+int k;
+
+void type_history::init_timer(){
+    struct timeval initial_timer;
+    
+    gettimeofday(&initial_timer, NULL);
+    length=dims[dims_nb-1].length;
+    initial_us = initial_timer.tv_sec*1000000+initial_timer.tv_usec;
+    k=length-1;
+}
+
+/**This is in order to take into acount the absolute time. If an iteration is longer than it should, the next one will be shorter.*/
+
+int type_history::compute_next_k(){
+    div_t samples_div;
+    struct timeval timer;
+    
+    gettimeofday(&timer, NULL);
+    
+    //sample_div.quot is the theoritical iteration.
+    samples_div=div(timer.tv_sec*1000000+timer.tv_usec-initial_us, sampling_period);
+    
+    //We try to stay in the midle of the iteration
+    if ((int)(iteration-samples_div.quot) >= 0)  usleep((iteration+1-samples_div.quot)*sampling_period+sampling_period/2-samples_div.rem);
+    
+    iteration++;
+    
+    return div(samples_div.quot, length).rem;
+}
+
+void type_history::start_refresh_history_chars(){
+    int i, next_k;
+    
+    while(1){
+        next_k=compute_next_k();
+        pthread_mutex_lock(&mutex);
+        if(next_k==k+1){ //normal case
+            FOR(i, array->total_length) chars[i*length+next_k]=array->chars[i];
+        }
+        else if ((next_k-k)>1){
+            color_eprintf(BLC_BRIGHT_YELLOW, "Missing '%d' samples\n", next_k-k);
+            FOR(i, array->total_length) memset(chars+i*length+k, array->chars[i], next_k-k+1);
+        }
+        else if (next_k==k){
+            color_eprintf(BLC_BRIGHT_YELLOW, "Twice the same sample iteration %d\n", iteration);
+        }
+        else FOR(i, array->total_length){ //It accross the end of the buffer
+            memset(chars+i*length+k, array->chars[i], length-k);
+            memset(chars+i*length, array->chars[i], next_k+1);
+        }
+        k=next_k;
+        pthread_mutex_unlock(&mutex);
+    }
+}
+
+void type_history::start_refresh_history_floats(){
+    int i, j, next_k;
+    
+    while(1){
+        next_k=compute_next_k();
+        pthread_mutex_lock(&mutex);
+        if(next_k==k+1){ //normal case
+            FOR(i, array->total_length) floats[i*length+next_k]=array->floats[i];
+        }
+        else if ((next_k-k)>1){
+            color_eprintf(BLC_BRIGHT_YELLOW, "Missing '%d' samples\n", next_k-k);
+            FOR(i, array->total_length) for(j=k; j!=next_k+1; j++) floats[i*length+j]=array->floats[i];
+        }
+        else if (next_k==k){
+            color_eprintf(BLC_BRIGHT_YELLOW, "Twice the same sample iteration %d\n", iteration);
+        }
+        else FOR(i, array->total_length){ //It accross the end of the buffer
+            for(j=k; j!=length; j++) floats[i*length+j]=array->floats[i];
+            for(j=0; j!=next_k+1; j++) floats[i*length+j]=array->floats[i];
+        }
+        k=next_k;
+        pthread_mutex_unlock(&mutex);
+    }
+}
+
+static void *refresh_history_cb(void *history_pt){
+    type_history *history=(type_history*)history_pt;
+    
+    history->init_timer();
+    
+    switch (history->type) {
+        case 'UIN8': case 'INT8':
+            history->start_refresh_history_chars();
+            break;
+        case 'FL32':
+            history->start_refresh_history_floats();
+            break;
+        default:
+            break;
+    }
+    return NULL;
+}
+
+static void init_term(FILE *pipef, char const *title, char const* verbatim){
+    fprintf(pipef, "set term qt 1 noraise\n"); //Keep focus on the calling terminal
+    fprintf(pipef, "set datafile nofpe_trap\n"); //Speend up acquisition but crash if there is a problem with the DATA
+    fprintf(pipef, "set title '%s'\n", title); //axis x en y  only
+    fprintf(pipef, "set border 3\n"); //axis x en y  only
+    fprintf(pipef, "set title font ',20'\n");
+    fprintf(pipef, "set label font ',10'\n");
+    fprintf(pipef, "set key font ',10'\n");
+    fprintf(pipef, "set terminal qt noenhanced\n");//avoid interpretation of '_'
+    fprintf(pipef, "set style %s\n", style_option);
+    fprintf(pipef, "set boxwidth 0.9 relative\n");
+    fprintf(pipef, "set grid\n");
+    if (verbatim) fprintf(pipef, "%s\n", verbatim);
+}
+
+
+
+void create_graph(blc_channel *input, char const *title, int refresh_period, float min, float max, float xmin, float xmax, float label_max, char const *verbatim){
+    char const *gnuplot_format=NULL;
+    char command[LINE_MAX];
+    char code;
+    int i, offset, columns_nb=0, rows_nb=0;
+    FILE *pipef;
+    size_t element_size;
+    char *buffer;
+    
+    SYSTEM_ERROR_CHECK(pipef=popen("gnuplot", "w"), NULL, "Calling gnuplot");
+    
+    switch (input->dims_nb){
+        case 0:
+            columns_nb=1;
+            rows_nb=1;
+            break;
+        case 1:
+            columns_nb=input->dims[0].length;
+            rows_nb=1;
+            break;
+        case 2:
+            columns_nb=input->dims[0].length;
+            rows_nb=input->dims[1].length;
+            break;
+        default:
+            EXIT_ON_ARRAY_ERROR(input, "Too many dims");
+            break;
+    }
+    
+    switch (input->type){
+        case 'UIN8':
+            gnuplot_format="%uchar";
+            element_size=sizeof(uchar);
+            break;
+        case 'INT8':
+            gnuplot_format="%char";
+            element_size=sizeof(char);
+            break;
+        case 'FL32':
+            gnuplot_format="%float";
+            element_size=sizeof(float);
+            break;
+        default: EXIT_ON_ARRAY_ERROR(input, "The type is not managed");
+    }
+    
+    init_term(pipef, title, verbatim);
+
+  //  if (min!=max) fprintf(pipef, "set yrange [%f:%f]\n", min, max);
+   // if (xmin!=xmax) fprintf(pipef, "set xrange [%f:%f]\n", xmin, xmax);
+
+    if (input->dims_nb==2){
+    //	fprintf(pipef, "set xrange [%f:%f]\n", 0, 10);
+    	/*fprintf(pipef, "set yrange [%f:%f]\n", 0, 10);*/
+  //  	fprintf(pipef, "set zrange [%f:%f]\n", min, max);
+    	fprintf(pipef, "set view 30,190\n");
+
+
+
+    	offset=snprintf(command, LINE_MAX, "splot '-' binary format='%s' array=%dx%d  title 'values' with pm3d ", gnuplot_format, columns_nb, rows_nb);
+    }
+    else{
+    	offset=snprintf(command, LINE_MAX, "plot '-' binary format='%s' record=%d using ($0*%f):1 title '%d' with %s", gnuplot_format, columns_nb, label_max/(float)columns_nb, 0, with_option);
+    
+    	for(i=1; i!=rows_nb; i++){
+    		if (i<10) code=48+i;
+    		else code=97+i-10;
+    		offset+=snprintf(command+offset, LINE_MAX-offset, ", '-'  binary format='%s' record=%d  title '%c' with %s", gnuplot_format, columns_nb,  code, with_option);
+    	}
+    }
+    
+    buffer=MANY_ALLOCATIONS(input->size, char);
+    
+    blc_loop_try_add_waiting_semaphore(input->sem_new_data);
+
+    
+    BLC_COMMAND_LOOP(refresh_period){
+        memcpy(buffer, input->data, input->size);
+        if (input->sem_ack_data) SYSTEM_ERROR_CHECK(sem_post(input->sem_ack_data), -1, NULL);
+        fprintf(pipef, "\n%s\n", command);
+        SYSTEM_ERROR_CHECK(fwrite(buffer, element_size, columns_nb*rows_nb, pipef), -1, NULL);
+        SYSTEM_ERROR_CHECK(fflush(pipef), -1, NULL);
+    }
+    SYSTEM_ERROR_CHECK(fclose(pipef), -1, NULL);
+    FREE(buffer);
+}
+
+
+

o_gnuplot/src/graph.h

+//
+//  history_graph.h
+//  f_gnuplot
+//
+//  Created by Arnaud Blanchard on 13/12/2016.
+//
+//
+
+#ifndef HISTORY_GRAPH_H
+#define HISTORY_GRAPH_H
+#include "blc_channel.h"
+
+extern char const *with_option, *style_option;
+
+void create_history_graph(blc_channel *input, char const *title, int history_length, int refresh_period, int sampling_period, float min, float max, char const *verbatim);
+void create_graph(blc_channel *input, char const *title, int refresh_period, float min, float max, float xmin, float xmax, float label_max, char const *verbatim);
+
+
+
+#endif /* history_graph_h */

o_gnuplot/src/history_graph.h

+//
+//  history_graph.h
+//  f_gnuplot
+//
+//  Created by Arnaud Blanchard on 13/12/2016.
+//
+//
+
+#ifndef HISTORY_GRAPH_H
+#define HISTORY_GRAPH_H
+#include "blc_channel.h"
+
+extern char const *with_option, *style_option;
+
+void create_history_graph(blc_channel *input, char const *title, int history_length, int refresh_period, int sampling_period, float min, float max, char const *verbatim);
+void create_graph(blc_channel *input, char const *title, int refresh_period, float min, float max, float xmin, float xmax, float label_max, char const *verbatim);
+
+
+
+#endif /* history_graph_h */

o_gnuplot/src/o_gnuplot.cpp

+#include "blc_channel.h"
+#include "blc_program.h"
+#include <unistd.h>
+#include <signal.h>
+#include <pthread.h>
+#include <sys/time.h>
+#include "graph.h"
+#include "history_graph.h"
+
+
+blc_channel input;
+blc_array history_array;
+
+char const *with_option, *style_option;
+
+int sx, sy;
+int sampling_period;
+int interactive_mode=0;
+int final_columns_nb, final_rows_nb;
+int offset=0;
+int bands=1;
+int dims_nb, *lengths;
+double min, max;
+enum {RUN, PAUSE};
+int status=RUN;
+
+void refresh_period_cb(char const*argument, void*){
+	sampling_period=strtol(argument, NULL, 10)*1000;
+}
+
+int main(int argc, char *argv[]){
+	char const *refresh_string, *min_str, *max_str, *history_str, *channel_name, *sample_string, *verbatim;
+	char const *xmin_str, *xmax_str, *label_max_str;
+	float xmin, xmax, lmax;
+	int status=0;
+
+	blc_program_set_description("Display the content of the blc_channel depending on its type and format");
+	blc_program_add_option(&min_str, 'm', "min", "FL32", "minimal value", NULL);
+	blc_program_add_option(&max_str, 'M', "max", "FL32", "maximal value", NULL);
+	blc_program_add_option(&sample_string, 'p', "period", "UI32", "sampling period in ms or history", "10");
+	blc_program_add_option(&style_option, 's', "style", "string", "gnuplot option set option (style, boxwidth,  ...)", "fill solid");
+	blc_program_add_option(&verbatim, 't', "text", "string", "text directly put on the gnuplot set commandline", NULL);
+	blc_program_add_option(&with_option, 'w', "with", "string", "gnuplot option with (lines, boxes, dots,...)", "lines");
+	blc_program_add_option(&xmin_str, 'x', "xmin", "FL32", "minimal abscissa value", NULL);
+	blc_program_add_option(&xmax_str, 'X', "xmax", "FL32", "maximal abscissa value", NULL);
+	blc_program_add_option(&label_max_str, 'L', "label-max", "FL32", "display the absisca scale in order to have the last value as label-max ", NULL);
+	blc_program_add_option(&history_str, 'H', "history", "UI32", "size of the history", NULL);
+	blc_program_add_option(&refresh_string, 'P', "period", "UI32", "graph refresh period in ms", "100");
+	blc_program_add_parameter(&channel_name, "blc_channel", 1, "channel you want to graph", NULL);
+
+	//   blc_program_add_option(&size_str, 's', "size", "UI32[xUI32]", "size of the matrix", NULL);
+	blc_program_init(&argc, &argv, blc_quit);
+
+/*
+	if (size_str){
+		dims_nb=blc_sscan_dims(&lengths, size_str);
+		switch(dims_nb){
+		case 1: final_columns_nb=lengths[0];
+		final_rows_nb=1;
+		break;
+		case 2:final_columns_nb=lengths[0];
+		final_rows_nb=lengths[1];
+		break;
+		default:EXIT_ON_ERROR("Size of dim %d is not yet managed in size '%s'.", dims_nb, size_str);
+		}
+		FREE(lengths);
+	}*/
+
+
+
+	input.open(channel_name, BLC_CHANNEL_READ);
+
+	if (min_str) min=strtof(min_str, NULL);
+	else switch (input.type){
+	case 'UIN8':case 'UI16':case 'UI32':case 'IN16':case 'IN32':case 'IN64':case 'FL32':case'FL64':min=0.0;break;
+	case 'INT8':min=INT8_MIN;break;
+	default: EXIT_ON_CHANNEL_ERROR(&input, "No default min value");
+	}
+
+	if (max_str) max=strtof(max_str, NULL);
+	else switch (input.type){
+	case 'UIN8':max=UINT8_MAX;break;
+	case 'INT8':max=INT8_MAX;break;
+	case 'FL32': case 'FL64':max=1.0;break;
+	default: EXIT_ON_CHANNEL_ERROR(&input, "No default max value");
+	}
+
+	if (xmin_str) SSCANF(1, xmin_str, "%f", &xmin);
+	else xmin=0;
+
+	if (xmax_str) SSCANF(1, xmax_str, "%f", &xmax);
+	else xmax=input.total_length;
+
+	if (label_max_str) {
+		SSCANF(1, label_max_str, "%f", &lmax);
+		if (xmax_str==NULL) xmax=lmax; //We still want to see all the graph
+	}
+	else lmax=input.total_length;
+
+	sampling_period=strtol(refresh_string, NULL, 10)*1000;
+
+	fprintf(stderr, "=== %s: ", blc_program_name);
+	if (history_str) fprintf(stderr, "sample period (%.3fms), history(%s), ",  sampling_period/1000.f, history_str);
+	fprintf(stderr, "min(%.3lf), max(%.2lf) === \n", min, max);
+
+	blc_command_add("p", refresh_period_cb,  "ms", "sampling period", NULL);
+
+	if (history_str) create_history_graph(&input, input.name+1, strtol(history_str, NULL, 10), sampling_period, strtol(sample_string, NULL, 10)*1000, min, max, verbatim);
+	else create_graph(&input, input.name+1, sampling_period, min, max, xmin, xmax, lmax, verbatim);
+
+	return (status);
+}
+
+
+
+
+
+
+

o_gnuplot_poi/CMakeLists.txt

+# Set the minimum version of cmake required to build this project
+cmake_minimum_required(VERSION 2.6)
+
+project(o_gnuplot_poi)
+
+find_package(blc_channel REQUIRED)
+find_package(blc_program REQUIRED)
+
+add_definitions(${BL_DEFINITIONS})
+include_directories(${BL_INCLUDE_DIRS})
+add_executable(o_gnuplot_poi o_gnuplot_poi.cpp graph.cpp)
+target_link_libraries(o_gnuplot_poi ${BL_LIBRARIES})
+

o_gnuplot_poi/graph.cpp

+#include "blc_program.h"
+#include "graph.h"
+#include <pthread.h>
+#include <sys/time.h>
+#include <unistd.h>
+
+static void init_term(FILE *pipef, char const *title, char const* verbatim){
+    fprintf(pipef, "set term qt 1 noraise\n"); //Keep focus on the calling terminal
+    fprintf(pipef, "set title '%s'\n", title); //axis x en y  only
+    fprintf(pipef, "set border 3\n"); //axis x en y  only
+    fprintf(pipef, "set title font ',20'\n");
+    fprintf(pipef, "set label font ',10'\n");
+    fprintf(pipef, "set key font ',10'\n");
+    fprintf(pipef, "set terminal qt noenhanced\n");//avoid interpretation of '_'
+    fprintf(pipef, "set boxwidth 0.9 relative\n");
+    fprintf(pipef, "set grid\n");
+    fprintf(pipef, "set yrange [* : *] reverse\n");
+    if (verbatim) fprintf(pipef, "%s\n", verbatim);
+}
+
+void create_poi_loop(unsigned char *image, int width, int height, uint16_t *coords, int points_nb){
+    char command[LINE_MAX];
+    FILE *pipef;
+    int text_offset=0;
+    
+    SYSTEM_ERROR_CHECK(pipef=popen("gnuplot", "w"), NULL, "calling gnuplot");
+    init_term(pipef, "image", "");
+    fprintf(pipef, "set palette gray\n");
+ //  fprintf(pipef, "set view 30,190\n");
+    
+    text_offset=snprintf(command, LINE_MAX, "plot '-' binary format='%%uchar' array=%dx%d title 'image' with image ", width, height);
+    text_offset=snprintf(command+text_offset, LINE_MAX, ", '-'    binary format='%%uint16%%uint16' record=%d  using 1:2:($0) title 'points of interest' with linespoints palette ", points_nb);
+    
+    BLC_COMMAND_LOOP(0){
+        fprintf(pipef, "%s\n", command);
+        SYSTEM_ERROR_CHECK(fwrite(image, sizeof(uchar), width*height, pipef), -1, NULL);
+        SYSTEM_ERROR_CHECK(fwrite(coords, sizeof(uint16_t), 2*points_nb, pipef), -1, NULL);
+        SYSTEM_ERROR_CHECK(fflush(pipef), -1, NULL);
+    }
+    SYSTEM_ERROR_CHECK(fclose(pipef), -1, NULL);
+}
+
+
+

o_gnuplot_poi/graph.h

+//
+//  history_graph.h
+//  f_gnuplot
+//
+//  Created by Arnaud Blanchard on 13/12/2016.
+//
+//
+
+#ifndef GRAPH_H
+#define GRAPH_H
+
+
+void create_poi_loop(unsigned char *image, int width, int height, uint16_t *coords, int points_nb);
+
+#endif /* history_graph_h */

o_gnuplot_poi/o_gnuplot_poi.cpp

+#include "blc_channel.h"
+#include "blc_program.h"
+#include <unistd.h>
+#include <signal.h>
+#include <pthread.h>
+#include <sys/time.h>
+#include "graph.h"
+
+
+char const *with_option, *style_option;
+
+int sx, sy;
+int sampling_period;
+int interactive_mode=0;
+int final_columns_nb, final_rows_nb;
+int offset=0;
+int bands=1;
+int dims_nb, *lengths;
+double min, max;
+enum {RUN, PAUSE};
+int status=RUN;
+
+void refresh_period_cb(char const*argument, void*){
+	sampling_period=strtol(argument, NULL, 10)*1000;
+}
+
+int main(int argc, char *argv[]){
+    blc_channel input_image, poi;
+	char const *poi_name, *input_image_name;
+