diff --git a/.gitignore b/.gitignore
index 44f996c51bf0094017262207e78b297650e5605f..e6a64c445f74bd87e406e1c44fca9800c376f43d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,3 @@
-test.log
\ No newline at end of file
+test.log
+groundStation/gui/build*
+.gdb_history
diff --git a/groundStation/Makefile b/groundStation/Makefile
index d00c5d4ce7a8ac04c3f33a0eeded2e839140bea1..b9024633ab737dd19d47c447fb11cda30624cf95 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -34,7 +34,7 @@ FECOBJECTS = $(FECSOURCES:$(FESRCDIR)/%.c=$(OBJDIR)/%.o)
OBJECTS=$(CLIOBJECTS) $(BECOBJECTS) $(BECPPOBJECTS) $(FECOBJECTS)
# Default target
-all: quad logs objdir backend cli $(SYMLINKS)
+all: quad logs objdir backend cli $(SYMLINKS) frontend.a
quad:
$(MAKE) -C ../quad
@@ -44,6 +44,9 @@ $(SYMLINKS): $(CLIBINARY)
vrpn: vrpn/build
+frontend.a: $(FECOBJECTS)
+ ar rvs frontend.a $(wildcard $(OBJDIR)/frontend_*.o)
+
cli: $(CLIOBJECTS) $(FECOBJECTS)
$(GCC) $(CFLAGS) $^ -o $(CLIBINARY) $(INCLUDES) $(LIBS)
@@ -78,4 +81,4 @@ clean_logs:
clean:
rm -rf $(OBJDIR)/ $(BEBINARY) $(CLIBINARY) $(SYMLINKS)
-debug:
\ No newline at end of file
+debug:
diff --git a/groundStation/gui/MicroCART/MicroCART.pro b/groundStation/gui/MicroCART/MicroCART.pro
new file mode 100644
index 0000000000000000000000000000000000000000..54734fd0f176853baa306db8e55f2929797eea87
--- /dev/null
+++ b/groundStation/gui/MicroCART/MicroCART.pro
@@ -0,0 +1,28 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2017-02-23T15:03:45
+#
+#-------------------------------------------------
+
+QT += core gui
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+TARGET = MicroCART
+TEMPLATE = app
+
+LIBS += ../../frontend.a
+INCLUDEPATH += ../../src/frontend/
+
+SOURCES += main.cpp\
+ mainwindow.cpp \
+ wrappers.c \
+ trackerworker.cpp \
+ controlworker.cpp
+
+HEADERS += mainwindow.h \
+ wrappers.h \
+ trackerworker.h \
+ controlworker.h
+
+FORMS += mainwindow.ui
diff --git a/groundStation/gui/MicroCART/MicroCART.pro.user b/groundStation/gui/MicroCART/MicroCART.pro.user
new file mode 100644
index 0000000000000000000000000000000000000000..03f704131d619d5228554eb5694df9f8558c3461
--- /dev/null
+++ b/groundStation/gui/MicroCART/MicroCART.pro.user
@@ -0,0 +1,267 @@
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diff --git a/groundStation/gui/MicroCART/controlworker.cpp b/groundStation/gui/MicroCART/controlworker.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5c526c77f87b2e51031bef3eb667d55f06746457
--- /dev/null
+++ b/groundStation/gui/MicroCART/controlworker.cpp
@@ -0,0 +1,6 @@
+#include "controlworker.h"
+
+controlworker::controlworker(QObject *parent) :
+ QObject(parent)
+{
+}
diff --git a/groundStation/gui/MicroCART/controlworker.h b/groundStation/gui/MicroCART/controlworker.h
new file mode 100644
index 0000000000000000000000000000000000000000..4635a1fe725098b30e489a2047fa91abde94dfc4
--- /dev/null
+++ b/groundStation/gui/MicroCART/controlworker.h
@@ -0,0 +1,23 @@
+#ifndef CONTROLWORKER_H
+#define CONTROLWORKER_H
+
+#include <QObject>
+#include "frontend_common.h"
+
+class controlworker : public QObject
+{
+ Q_OBJECT
+public:
+ explicit controlworker(QObject *parent = 0);
+
+signals:
+
+public slots:
+
+
+private:
+ struct backend_conn * conn;
+
+};
+
+#endif // CONTROLWORKER_H
diff --git a/groundStation/gui/MicroCART/main.cpp b/groundStation/gui/MicroCART/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..b48f94ec827033ef073fb3c7f060837e90b935ec
--- /dev/null
+++ b/groundStation/gui/MicroCART/main.cpp
@@ -0,0 +1,11 @@
+#include "mainwindow.h"
+#include <QApplication>
+
+int main(int argc, char *argv[])
+{
+ QApplication a(argc, argv);
+ MainWindow w;
+ w.show();
+
+ return a.exec();
+}
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8df17de0b2c2edf292607a0e3cdc8d0526d30db3
--- /dev/null
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -0,0 +1,119 @@
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+#include <QFileDialog>
+#include <QThread>
+#include <QTimer>
+
+#include "wrappers.h"
+#include "trackerworker.h"
+
+MainWindow::MainWindow(QWidget *parent) :
+ QMainWindow(parent),
+ ui(new Ui::MainWindow),
+ backendPid(0),
+ backendPipe(-1)
+{
+ ui->setupUi(this);
+
+ /* Create a thread for workers */
+ QThread* workerThread = new QThread(this);
+
+ /* Create a worker to update the tracker */
+ TrackerWorker * trackerWorker = new TrackerWorker();
+
+ /* Move it to the worker thread. This means that slots of this worker
+ * will run in the worker thread, and not block the UI */
+ trackerWorker->moveToThread(workerThread);
+
+ /* Connect tracker worker */
+ connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
+ this, SLOT (updateTracker(float, float, float, float, float, float)));
+
+ /* Connect and disconnect from backend when signals emitted */
+ connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
+ connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
+
+ /* Create other workers and add them to the worker thread, then connect them */
+
+ /* Now we can activate the slots of the workers with impunity and not block the UI thread */
+ /* Connect refresh button and refresh timer to tracker worker */
+ QTimer * trackerTimer = new QTimer(this);
+ connect(trackerTimer, SIGNAL(timeout()), trackerWorker, SLOT(process()));
+ connect(findChild<QPushButton *>("pbRefresh"), SIGNAL (clicked()), trackerWorker, SLOT (process()));
+
+ /* Start the things */
+ trackerTimer->start(300);
+ workerThread->start();
+
+ /* Create a timer to poll stdout and populate virtual console */
+ QTimer * consoleTimer = new QTimer(this);
+}
+
+MainWindow::~MainWindow()
+{
+ delete ui;
+}
+
+void MainWindow::updateConsole()
+{
+ if (backendPipe != -1) {
+ char buf[256];
+ size_t len = 0;
+ len = readBackend(backendPipe, buf, len);
+ printf("%d\n", len);
+ if (len > 0) {
+ printf("From pipe: %s", buf);
+ QLineEdit * con = findChild<QLineEdit *>("vConsole");
+ con->setText(con->text().append(buf));
+ }
+ }
+}
+
+void MainWindow::updateTracker(float x, float y, float z, float p, float r, float yaw)
+{
+ findChild<QLineEdit *>("xLineEdit")->setText(QString::number(x));
+ findChild<QLineEdit *>("yLineEdit")->setText(QString::number(y));
+ findChild<QLineEdit *>("zLineEdit")->setText(QString::number(z));
+ findChild<QLineEdit *>("pLineEdit")->setText(QString::number(p));
+ findChild<QLineEdit *>("rLineEdit")->setText(QString::number(r));
+ findChild<QLineEdit *>("yLineEdit_2")->setText(QString::number(yaw));
+}
+
+void MainWindow::on_pbStart_clicked()
+{
+ this->backendPid = startBackend(findChild<QLineEdit *>("backendPath")->text().toStdString().c_str(), &backendPipe);
+ findChild<QPushButton *>("pbStart")->setEnabled(false);
+ findChild<QPushButton *>("pbStop")->setEnabled(true);
+ backendState = 1;
+}
+
+void MainWindow::on_pbConnect_clicked()
+{
+ findChild<QPushButton *>("pbStart")->setEnabled(false);
+ findChild<QPushButton *>("pbConnect")->setEnabled(false);
+ findChild<QPushButton *>("pbStop")->setEnabled(true);
+ emit(connectWorkers());
+ backendState = 1;
+}
+
+void MainWindow::on_pbStop_clicked()
+{
+ emit(disconnectWorkers());
+ if (backendPid) {
+ stopBackend(backendPid, backendPipe);
+ backendPipe = -1;
+ backendPid = 0;
+ }
+ findChild<QPushButton *>("pbStart")->setEnabled(true);
+ findChild<QPushButton *>("pbConnect")->setEnabled(true);
+ findChild<QPushButton *>("pbStop")->setEnabled(false);
+ backendState = 0;
+}
+
+void MainWindow::on_chooseBackend_clicked()
+{
+ QString backendPath = QFileDialog::getOpenFileName(this,
+ tr("Path to Backend Executable"));
+ findChild<QLineEdit *>("backendPath")->setText(backendPath);
+}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
new file mode 100644
index 0000000000000000000000000000000000000000..042e5f73c30988c1581b28b221f2d7e76d2faed3
--- /dev/null
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -0,0 +1,42 @@
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+
+namespace Ui {
+class MainWindow;
+}
+
+class MainWindow : public QMainWindow
+{
+ Q_OBJECT
+
+public:
+ explicit MainWindow(QWidget *parent = 0);
+ ~MainWindow();
+
+signals:
+ void connectWorkers();
+ void disconnectWorkers();
+
+private slots:
+ void on_pbStart_clicked();
+
+ void on_pbConnect_clicked();
+
+ void on_pbStop_clicked();
+
+ void on_chooseBackend_clicked();
+
+ void updateTracker(float x, float y, float z, float p, float r, float yaw);
+
+ void updateConsole();
+
+private:
+ Ui::MainWindow *ui;
+ pid_t backendPid;
+ int backendPipe;
+ int backendState;
+};
+
+#endif // MAINWINDOW_H
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
new file mode 100644
index 0000000000000000000000000000000000000000..6aa4020ccc5570ac35d950988f8d8c3057689dc4
--- /dev/null
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -0,0 +1,413 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>798</width>
+ <height>581</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>MainWindow</string>
+ </property>
+ <widget class="QWidget" name="centralWidget">
+ <widget class="QTabWidget" name="tabWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>10</y>
+ <width>801</width>
+ <height>471</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="currentIndex">
+ <number>2</number>
+ </property>
+ <widget class="QWidget" name="backend">
+ <attribute name="title">
+ <string>Connection</string>
+ </attribute>
+ <widget class="QWidget" name="verticalLayoutWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>761</width>
+ <height>341</height>
+ </rect>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QPushButton" name="pbStart">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Start</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbConnect">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Connect</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbStop">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Stop/Disconnect</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QPushButton" name="chooseBackend">
+ <property name="text">
+ <string>Choose Backend</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="backendPath"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QTextEdit" name="vConsole">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ <widget class="QWidget" name="status">
+ <attribute name="title">
+ <string>Quad Status</string>
+ </attribute>
+ <widget class="QWidget" name="horizontalLayoutWidget_2">
+ <property name="geometry">
+ <rect>
+ <x>-1</x>
+ <y>9</y>
+ <width>451</width>
+ <height>226</height>
+ </rect>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_3">
+ <item>
+ <layout class="QFormLayout" name="formLayout">
+ <property name="fieldGrowthPolicy">
+ <enum>QFormLayout::ExpandingFieldsGrow</enum>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="xLabel">
+ <property name="text">
+ <string>X</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="xLineEdit">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="yLabel">
+ <property name="text">
+ <string>Y</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="yLineEdit">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="zLabel">
+ <property name="text">
+ <string>Z</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLineEdit" name="zLineEdit">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="pLabel">
+ <property name="text">
+ <string>P</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="pLineEdit">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="rLabel">
+ <property name="text">
+ <string>R</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QLineEdit" name="rLineEdit">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QLabel" name="yLabel_2">
+ <property name="text">
+ <string>Y</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QLineEdit" name="yLineEdit_2">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QFormLayout" name="formLayout_2"/>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ <widget class="QWidget" name="controlGraph">
+ <attribute name="title">
+ <string>Controller Graph</string>
+ </attribute>
+ <widget class="QWidget" name="verticalLayoutWidget_2">
+ <property name="geometry">
+ <rect>
+ <x>9</x>
+ <y>9</y>
+ <width>771</width>
+ <height>421</height>
+ </rect>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <item>
+ <widget class="QLabel" name="graphImage">
+ <property name="text">
+ <string>TextLabel</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="Line" name="line">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_6">
+ <item>
+ <widget class="QLabel" name="label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Node:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="nodeSelect">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_2">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Param:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="paramSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_3">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Value:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="paramValue">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="Line" name="line_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_5">
+ <item>
+ <widget class="QPushButton" name="pbControlRefresh">
+ <property name="text">
+ <string>Refresh Controller Graph</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </widget>
+ <widget class="QPushButton" name="pbRefresh">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>480</y>
+ <width>88</width>
+ <height>34</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Refresh</string>
+ </property>
+ </widget>
+ </widget>
+ <widget class="QMenuBar" name="menuBar">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>798</width>
+ <height>30</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QToolBar" name="mainToolBar">
+ <attribute name="toolBarArea">
+ <enum>TopToolBarArea</enum>
+ </attribute>
+ <attribute name="toolBarBreak">
+ <bool>false</bool>
+ </attribute>
+ </widget>
+ <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/groundStation/gui/MicroCART/trackerworker.cpp b/groundStation/gui/MicroCART/trackerworker.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f5d3cda28a381f9c5e0b79a0ea9464c7896816c9
--- /dev/null
+++ b/groundStation/gui/MicroCART/trackerworker.cpp
@@ -0,0 +1,37 @@
+#include "trackerworker.h"
+#include <QThread>
+#include "frontend_common.h"
+#include "frontend_tracker.h"
+
+TrackerWorker::TrackerWorker() :
+ QObject(), conn(NULL)
+{
+}
+
+TrackerWorker::~TrackerWorker()
+{
+ disconnectBackend();
+}
+
+void TrackerWorker::connectBackend()
+{
+ conn = ucart_backendConnect();
+}
+
+void TrackerWorker::disconnectBackend()
+{
+ if (conn) {
+ ucart_backendDisconnect(conn);
+ conn = NULL;
+ }
+}
+
+void TrackerWorker::process()
+{
+ if (conn) {
+ struct frontend_tracker_data td;
+ frontend_track(conn, &td);
+
+ emit finished(td.height, td.lateral, td.longitudinal, td.pitch, td.roll, td.yaw);
+ }
+}
diff --git a/groundStation/gui/MicroCART/trackerworker.h b/groundStation/gui/MicroCART/trackerworker.h
new file mode 100644
index 0000000000000000000000000000000000000000..b263d6078751612cfab615e096b3776a87a6c971
--- /dev/null
+++ b/groundStation/gui/MicroCART/trackerworker.h
@@ -0,0 +1,28 @@
+#ifndef TRACKERWORKER_H
+#define TRACKERWORKER_H
+
+#include <QObject>
+
+#include "frontend_common.h"
+#include "frontend_tracker.h"
+
+class TrackerWorker : public QObject
+{
+ Q_OBJECT
+public:
+ TrackerWorker();
+ ~TrackerWorker();
+
+signals:
+ void finished(float, float, float, float, float, float);
+
+public slots:
+ void process();
+ void connectBackend();
+ void disconnectBackend();
+
+private:
+ struct backend_conn * conn;
+
+};
+#endif // TRACKERWORKER_H
diff --git a/groundStation/gui/MicroCART/wrappers.c b/groundStation/gui/MicroCART/wrappers.c
new file mode 100644
index 0000000000000000000000000000000000000000..45fdf0b28619f4d7d3cd6803239e6b0e2f999f62
--- /dev/null
+++ b/groundStation/gui/MicroCART/wrappers.c
@@ -0,0 +1,68 @@
+#include "wrappers.h"
+#include <sys/types.h>
+#include <sys/wait.h>
+#include <sys/socket.h>
+#include <unistd.h>
+#include <signal.h>
+#include <err.h>
+#include <stdlib.h>
+
+
+size_t readBackend(int fd, char * buf, size_t maxlen)
+{
+ int len = read(fd, buf, maxlen);
+ if (len < 0) {
+ len = 0;
+ }
+
+ return len;
+}
+
+int stopBackend(int pid, int pipefd)
+{
+ close(pipefd);
+ kill(pid, SIGTERM);
+ int status;
+ wait(&status);
+ return status;
+}
+
+int startBackend(const char * backend, int * pipefd)
+{
+ /* Create a pipe */
+ int pipe_fds[2];
+ if (pipe(pipe_fds)) {
+ warn("Failed to open pipe, cannot start backend!");
+ return -1;
+ }
+
+ int pid = fork();
+ if (!pid) {
+ /* Child closes read end of pipe */
+ close(pipe_fds[0]);
+
+ write(pipe_fds[1], "From child", 11);
+ /* dup write end of pipe to stdout (FD 1), closing old stdout */
+ //dup2(pipe_fds[1], 1);
+ //dup2(pipe_fds[1], 2);
+
+ write(2, "Child stderr\n", 13);
+ printf("Child stdout\n");
+
+ /* Don't need whatever FD is in pipe_fds[1] anymore, since it is stdout now */
+ close(pipe_fds[1]);
+
+ execl(backend, "BackEnd", NULL);
+ exit(0);
+ }
+
+ /* Return the read end of the pipe in pipefd pointer */
+ *pipefd = pipe_fds[0];
+
+
+ /* Parent closes write end of the pipe */
+ close(pipe_fds[1]);
+
+
+ return pid;
+}
diff --git a/groundStation/gui/MicroCART/wrappers.h b/groundStation/gui/MicroCART/wrappers.h
new file mode 100644
index 0000000000000000000000000000000000000000..6a29ecf90a9b59c71a3595242fa5fb31c68899e8
--- /dev/null
+++ b/groundStation/gui/MicroCART/wrappers.h
@@ -0,0 +1,19 @@
+#ifndef WRAPPERS_H
+#define WRAPPERS_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdio.h>
+
+int startBackend(const char * backend, int * pipefd);
+int stopBackend(int pid, int pipefd);
+size_t readBackend(int fd, char * buf, size_t maxlen);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // WRAPPERS_H
diff --git a/groundStation/src/frontend/frontend_common.h b/groundStation/src/frontend/frontend_common.h
index 9b2bbdeaf5b81a6621c6ba1c98930e3145e99b88..2fef5c52ae8978e70b153f0579b063d62d979fe4 100644
--- a/groundStation/src/frontend/frontend_common.h
+++ b/groundStation/src/frontend/frontend_common.h
@@ -2,6 +2,10 @@
#define _FRONTEND_COMMON_H
#include <stdlib.h>
+#ifdef __cplusplus
+extern "C" {
+#endif
+
struct backend_conn;
/* Start connection to quad */
@@ -44,4 +48,7 @@ struct frontend_node_data {
char *name;
};
-#endif /* __FRONTEND_COMMON_H */
\ No newline at end of file
+#ifdef __cplusplus
+}
+#endif
+#endif /* __FRONTEND_COMMON_H */
diff --git a/groundStation/src/frontend/frontend_nodes.c b/groundStation/src/frontend/frontend_nodes.c
index 6f2ef72e9c6bedda79d88be8ce9f997730fa35e8..ffa7c188edebd67006a16343fdd7860b65649d8e 100644
--- a/groundStation/src/frontend/frontend_nodes.c
+++ b/groundStation/src/frontend/frontend_nodes.c
@@ -11,14 +11,22 @@
*
* Returns 0 on success, 1 on error
*
+ * node_data and num_nodes are out-pointers.
+ * node_data must be a pointer to NULL
+ * num_nodes must be a pointer to zero
*
- * Note : node_data may be resized inside this function.
- * That is why you must pass in a strcut ... **
*/
int frontend_getnodes(
struct backend_conn * conn,
struct frontend_node_data ** node_data,
size_t * num_nodes) {
+ if ((node_data == NULL) || (num_nodes == NULL)) {
+ return 1;
+ }
+
+ if ((*node_data != NULL) || (*num_nodes != 0)) {
+ return 1;
+ }
char msg[64] = "";
int written;
@@ -122,4 +130,14 @@ int frontend_addnode(
}
return 0;
-}
\ No newline at end of file
+}
+
+void frontend_free_node_data(
+ struct frontend_node_data *nd,
+ size_t num_nodes)
+{
+ for (size_t i = 0; i < num_nodes; i++) {
+ free(nd[i].name);
+ }
+ free(nd);
+}
diff --git a/groundStation/src/frontend/frontend_nodes.h b/groundStation/src/frontend/frontend_nodes.h
index 8410d12decb915d23e77e9c71263065177ecb58b..6b0a340624e6245e5cb87129548f6ff90a6e21eb 100644
--- a/groundStation/src/frontend/frontend_nodes.h
+++ b/groundStation/src/frontend/frontend_nodes.h
@@ -8,8 +8,10 @@
*
* Returns 0 on success, 1 on error
*
- * Note : node_data may be resized inside this function.
- * That is why you must pass in a strcut ... **
+ * node_data and num_nodes are out pointers
+ * node_data must point to a NULL pointer
+ * num_nodes must point to zero
+ *
*/
int frontend_getnodes(
struct backend_conn * conn,
@@ -25,4 +27,9 @@ int frontend_addnode(
struct backend_conn * conn,
struct frontend_node_data * node_data);
-#endif /* __FRONTEND_NODES_H */
\ No newline at end of file
+/* Free a node_data array */
+void frontend_free_node_data(
+ struct frontend_node_data * nd,
+ size_t num_nodes);
+
+#endif /* __FRONTEND_NODES_H */
diff --git a/groundStation/src/frontend/frontend_tracker.h b/groundStation/src/frontend/frontend_tracker.h
index 58284ca01dc1b4987b523fc125b60010209af930..cbf56dbb33beae39e43e2ef5e31c623a938b9001 100644
--- a/groundStation/src/frontend/frontend_tracker.h
+++ b/groundStation/src/frontend/frontend_tracker.h
@@ -3,6 +3,10 @@
#include "frontend_common.h"
+#ifdef __cplusplus
+extern "C" {
+#endif
+
/* Struct containing pos/att data */
struct frontend_tracker_data {
double height;
@@ -24,4 +28,8 @@ struct frontend_tracker_data {
int frontend_track(struct backend_conn * conn,
struct frontend_tracker_data *data);
-#endif /* __FRONTEND_TRACKER_H */
\ No newline at end of file
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __FRONTEND_TRACKER_H */
diff --git a/quad/src/queue/queue.c b/quad/src/queue/queue.c
index 243975b0a3f14a77e811ecb33249528ff98ba5c4..5e17f849b9d871d49cb847edd1cab6624149cdfb 100644
--- a/quad/src/queue/queue.c
+++ b/quad/src/queue/queue.c
@@ -1,9 +1,9 @@
#include "queue.h"
-int queue_init(struct Queue *q, volatile unsigned char *buff, unsigned int max_size) {
+int queue_init(struct Queue *q, volatile unsigned char *buff, unsigned int max_size_plus1) {
q->buff = buff;
- q->max_size = max_size + 1;
- q->start = max_size;
+ q->max_size_plus1 = max_size_plus1;
+ q->start = max_size_plus1 - 1;
q->end = 0;
return 0;
}
@@ -13,7 +13,7 @@ struct Queue * queue_malloc(unsigned int max_size) {
if (buff == NULL) return NULL;
struct Queue *q = malloc(sizeof(struct Queue));
if (q == NULL) return NULL;
- queue_init(q, buff, max_size);
+ queue_init(q, buff, max_size + 1);
return q;
}
@@ -28,7 +28,7 @@ int queue_add(struct Queue *q, unsigned char c) {
}
q->buff[q->end] = c;
q->end += 1;
- q->end %= q->max_size;
+ q->end %= q->max_size_plus1;
return 0;
}
@@ -37,17 +37,17 @@ int queue_remove(struct Queue *q, unsigned char *c) {
return -1;
}
q->start += 1;
- q->start %= q->max_size;
+ q->start %= q->max_size_plus1;
*c = q->buff[q->start];
return 0;
}
int queue_size(struct Queue *q) {
- return (q->max_size + q->end - q->start - 1) % q->max_size;
+ return (q->max_size_plus1 + q->end - q->start - 1) % q->max_size_plus1;
}
int queue_full(struct Queue *q) {
- return q->start == q->end;;
+ return q->start == q->end;
}
int queue_empty(struct Queue *q) {
@@ -57,7 +57,7 @@ int queue_empty(struct Queue *q) {
void queue_print(struct Queue *q) {
int i;
printf("buffer: (size: %d, full: %d, empty: %d)\n", queue_size(q), queue_full(q), queue_empty(q));
- for (i = 0; i < q->max_size; i += 1) {
+ for (i = 0; i < q->max_size_plus1; i += 1) {
char c = (char) q->buff[i];
if (c == 0) c = '-';
printf("%c", c);;
diff --git a/quad/src/queue/queue.h b/quad/src/queue/queue.h
index 1adf670ba24877b93087aba40470057bfcc766e8..b8c6181041025b862dd93e52017a2f2450363c2d 100644
--- a/quad/src/queue/queue.h
+++ b/quad/src/queue/queue.h
@@ -6,13 +6,13 @@
struct Queue {
volatile unsigned char *buff;
- unsigned int max_size;
+ unsigned int max_size_plus1;
unsigned int start;
unsigned int end;
};
-int queue_init(struct Queue *q, volatile unsigned char *buff, unsigned int max_size);
+int queue_init(struct Queue *q, volatile unsigned char *buff, unsigned int max_size_plus1);
struct Queue * queue_malloc(unsigned int max_size);
void queue_free(struct Queue *q);
int queue_add(struct Queue *q, unsigned char c);
diff --git a/website/content/videos/height_stabilization.mp4 b/website/content/videos/height_stabilization.mp4
deleted file mode 100644
index dc9016fa28c9921f5ffd8ff873093b7052c1a61a..0000000000000000000000000000000000000000
Binary files a/website/content/videos/height_stabilization.mp4 and /dev/null differ