From 0f797e305d9fb7f08afdecbde669f22464213ce7 Mon Sep 17 00:00:00 2001
From: Jake Drahos <j@kedrahos.com>
Date: Tue, 21 Mar 2017 21:13:10 -0500
Subject: [PATCH] Implemented VRPN
---
groundStation/gui/MicroCART/MicroCART.pro | 2 +
.../gui/MicroCART/MicroCART.pro.user | 4 +-
groundStation/gui/MicroCART/mainwindow.cpp | 39 ++++++++++++---
groundStation/gui/MicroCART/mainwindow.h | 7 +++
groundStation/gui/MicroCART/mainwindow.ui | 18 +++----
groundStation/gui/MicroCART/trackerworker.cpp | 24 +++++----
groundStation/gui/MicroCART/trackerworker.h | 5 +-
groundStation/gui/MicroCART/wrappers.c | 50 +++++++++++++++++--
groundStation/gui/MicroCART/wrappers.h | 7 ++-
9 files changed, 123 insertions(+), 33 deletions(-)
diff --git a/groundStation/gui/MicroCART/MicroCART.pro b/groundStation/gui/MicroCART/MicroCART.pro
index 7bcc5c374..ba492f24e 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro
+++ b/groundStation/gui/MicroCART/MicroCART.pro
@@ -11,6 +11,8 @@ greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
TARGET = MicroCART
TEMPLATE = app
+LIBS += ../../frontend.a
+INCLUDEPATH += ../../src/frontend/
SOURCES += main.cpp\
mainwindow.cpp \
diff --git a/groundStation/gui/MicroCART/MicroCART.pro.user b/groundStation/gui/MicroCART/MicroCART.pro.user
index d8c1922dd..64f95e242 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro.user
+++ b/groundStation/gui/MicroCART/MicroCART.pro.user
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 3.2.2, 2017-03-05T17:14:24. -->
+<!-- Written by QtCreator 3.2.2, 2017-03-06T11:03:28. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
@@ -8,7 +8,7 @@
</data>
<data>
<variable>ProjectExplorer.Project.ActiveTarget</variable>
- <value type="int">-1</value>
+ <value type="int">0</value>
</data>
<data>
<variable>ProjectExplorer.Project.EditorSettings</variable>
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index bb6976bd5..8df17de0b 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -10,7 +10,9 @@
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
- ui(new Ui::MainWindow)
+ ui(new Ui::MainWindow),
+ backendPid(0),
+ backendPipe(-1)
{
ui->setupUi(this);
@@ -27,8 +29,10 @@ MainWindow::MainWindow(QWidget *parent) :
/* Connect tracker worker */
connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
this, SLOT (updateTracker(float, float, float, float, float, float)));
- connect(findChild<QPushButton *>("pbStart"), SIGNAL (clicked()), trackerWorker, SLOT (connectBackend()));
- connect(findChild<QPushButton *>("pbConnect"), SIGNAL (clicked()), trackerWorker, SLOT (connectBackend()));
+
+ /* 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 */
@@ -41,6 +45,9 @@ MainWindow::MainWindow(QWidget *parent) :
/* 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()
@@ -48,6 +55,21 @@ 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));
@@ -60,9 +82,8 @@ void MainWindow::updateTracker(float x, float y, float z, float p, float r, floa
void MainWindow::on_pbStart_clicked()
{
- this->backendPid = startBackend(findChild<QLineEdit *>("backendPath")->text().toStdString().c_str());
+ this->backendPid = startBackend(findChild<QLineEdit *>("backendPath")->text().toStdString().c_str(), &backendPipe);
findChild<QPushButton *>("pbStart")->setEnabled(false);
- findChild<QPushButton *>("pbConnect")->setEnabled(false);
findChild<QPushButton *>("pbStop")->setEnabled(true);
backendState = 1;
}
@@ -72,12 +93,18 @@ 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()
{
- stopBackend(backendPid);
+ 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);
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index f54a88e37..042e5f73c 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -15,6 +15,10 @@ public:
explicit MainWindow(QWidget *parent = 0);
~MainWindow();
+signals:
+ void connectWorkers();
+ void disconnectWorkers();
+
private slots:
void on_pbStart_clicked();
@@ -26,9 +30,12 @@ private slots:
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;
};
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index f2e2ab683..5fc49d1e9 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>569</width>
- <height>427</height>
+ <width>652</width>
+ <height>454</height>
</rect>
</property>
<property name="windowTitle">
@@ -19,8 +19,8 @@
<rect>
<x>10</x>
<y>10</y>
- <width>531</width>
- <height>281</height>
+ <width>461</width>
+ <height>341</height>
</rect>
</property>
<property name="sizePolicy">
@@ -30,7 +30,7 @@
</sizepolicy>
</property>
<property name="currentIndex">
- <number>1</number>
+ <number>0</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -42,7 +42,7 @@
<x>0</x>
<y>0</y>
<width>451</width>
- <height>231</height>
+ <height>296</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
@@ -105,7 +105,7 @@
</spacer>
</item>
<item>
- <widget class="QTextEdit" name="textEdit">
+ <widget class="QTextEdit" name="vConsole">
<property name="enabled">
<bool>true</bool>
</property>
@@ -233,7 +233,7 @@
<property name="geometry">
<rect>
<x>10</x>
- <y>290</y>
+ <y>350</y>
<width>88</width>
<height>34</height>
</rect>
@@ -248,7 +248,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>569</width>
+ <width>652</width>
<height>30</height>
</rect>
</property>
diff --git a/groundStation/gui/MicroCART/trackerworker.cpp b/groundStation/gui/MicroCART/trackerworker.cpp
index 46bb0ab51..f5d3cda28 100644
--- a/groundStation/gui/MicroCART/trackerworker.cpp
+++ b/groundStation/gui/MicroCART/trackerworker.cpp
@@ -1,33 +1,37 @@
#include "trackerworker.h"
#include <QThread>
+#include "frontend_common.h"
+#include "frontend_tracker.h"
TrackerWorker::TrackerWorker() :
- QObject(), run(true)
+ 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()
{
- /* Fake data. SAD! */
- static float x = 1.0f, y = 2.0f, z = 3.0f, p = 4.0f, r = 5.0f, yaw = 6.0f;
- x += 1.0;
- y += 2.0;
- z += 3.0;
- p += 4.0;
- r += 5.0;
- yaw += 6.0;
+ if (conn) {
+ struct frontend_tracker_data td;
+ frontend_track(conn, &td);
- emit finished(x, y, z, p, r, yaw);
+ 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
index dd72c9edf..b263d6078 100644
--- a/groundStation/gui/MicroCART/trackerworker.h
+++ b/groundStation/gui/MicroCART/trackerworker.h
@@ -3,6 +3,9 @@
#include <QObject>
+#include "frontend_common.h"
+#include "frontend_tracker.h"
+
class TrackerWorker : public QObject
{
Q_OBJECT
@@ -19,7 +22,7 @@ public slots:
void disconnectBackend();
private:
- bool run;
+ struct backend_conn * conn;
};
#endif // TRACKERWORKER_H
diff --git a/groundStation/gui/MicroCART/wrappers.c b/groundStation/gui/MicroCART/wrappers.c
index f5e598c68..45fdf0b28 100644
--- a/groundStation/gui/MicroCART/wrappers.c
+++ b/groundStation/gui/MicroCART/wrappers.c
@@ -1,24 +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>
-int stopBackend(int pid)
+
+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 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) {
- execl(backend, "backEnd", NULL);
+ /* 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
index eea3e1b19..6a29ecf90 100644
--- a/groundStation/gui/MicroCART/wrappers.h
+++ b/groundStation/gui/MicroCART/wrappers.h
@@ -6,8 +6,11 @@ extern "C"
{
#endif
-int startBackend(const char * backend);
-int stopBackend(int pid);
+#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
}
--
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