diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 68b410c57da1b4b6e8aaf2d73a14dfde7f21d273..f68d25ea7502ba478c7f6440ddca8700f3bbf987 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -19,7 +19,11 @@ MainWindow::MainWindow(QWidget *parent) :
ui(new Ui::MainWindow),
backendPid(0),
backendPipe(-1),
- setpointList(new QStandardItemModel(this))
+ setpointList(new QStandardItemModel(this)),
+ nextSpTimer(new QTimer(this)),
+ sp_x(0.0f),
+ sp_y(0.0f),
+ sp_z(0.0f)
{
ui->setupUi(this);
@@ -70,6 +74,10 @@ MainWindow::MainWindow(QWidget *parent) :
connect(trackerTimer, SIGNAL(timeout()), trackerWorker, SLOT(process()));
connect(findChild<QPushButton *>("pbRefresh"), SIGNAL (clicked()), trackerWorker, SLOT (process()));
+ /* Timer used for next setpoint */
+ nextSpTimer->setSingleShot(true);
+ connect(nextSpTimer, SIGNAL (timeout()), this, SLOT (on_pbNextSetpoint_clicked()));
+
/* Start the things */
trackerTimer->start(300);
workerThread->start();
@@ -113,6 +121,15 @@ void MainWindow::updateTracker(float x, float y, float z, float p, float r, floa
findChild<QLineEdit *>("pitchActual")->setText(QString::number(p));
findChild<QLineEdit *>("rollActual")->setText(QString::number(r));
findChild<QLineEdit *>("yawActual")->setText(QString::number(yaw));
+
+ float dist = sqrt(pow(x - sp_x, 2.0) + pow(y - sp_y, 2.0) + pow(z - sp_z, 2.0));
+
+ findChild<QLineEdit *>("dist")->setText(QString::number(dist));
+
+ if (!nextSpTimer->isActive() && findChild<QCheckBox *>("autonavEnabled")->isChecked() &&
+ (dist < findChild<QLineEdit *>("autonavThreshold")->text().toFloat())) {
+ nextSpTimer->start(findChild<QLineEdit *>("autonavDelay")->text().toInt());
+ }
}
void MainWindow::on_pbStart_clicked()
@@ -232,17 +249,17 @@ void MainWindow::on_paramValue_returnPressed()
void MainWindow::sendSetpoints()
{
+ sp_x = findChild<QLineEdit *>("xSetpoint")->text().toFloat();
emit (setParamValue(findChild<QComboBox *>("xSetpointSelect")->currentText(),
- blockDefs[BLOCK_CONSTANT]->param_names[0],
- findChild<QLineEdit *>("xSetpoint")->text().toFloat()));
+ blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
+ sp_y = findChild<QLineEdit *>("ySetpoint")->text().toFloat();
emit (setParamValue(findChild<QComboBox *>("ySetpointSelect")->currentText(),
- blockDefs[BLOCK_CONSTANT]->param_names[0],
- findChild<QLineEdit *>("ySetpoint")->text().toFloat()));
+ blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
+ sp_z = findChild<QLineEdit *>("zSetpoint")->text().toFloat();
emit (setParamValue(findChild<QComboBox *>("zSetpointSelect")->currentText(),
- blockDefs[BLOCK_CONSTANT]->param_names[0],
- findChild<QLineEdit *>("zSetpoint")->text().toFloat()));
+ blockDefs[BLOCK_CONSTANT]->param_names[0], sp_z));
}
void MainWindow::on_pbAppendSetpoint_clicked()
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index e704deecdc779444034bb308affd264f5a12046b..5c5c38fe38f222c5b1f8cbcd9ec949062db0a7ce 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -65,6 +65,10 @@ private:
int backendPipe;
int backendState;
QStandardItemModel * setpointList;
+ QTimer * nextSpTimer;
+ float sp_x;
+ float sp_y;
+ float sp_z;
};
#endif // MAINWINDOW_H
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 4b75cdbafa31e49f8bef144eaad91e5bf6a9f31d..2476c75d595f5fb78a492e9a5799c070c79f5162 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>1369</width>
- <height>995</height>
+ <width>1004</width>
+ <height>934</height>
</rect>
</property>
<property name="windowTitle">
@@ -18,7 +18,7 @@
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
- <number>2</number>
+ <number>0</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -151,8 +151,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1333</width>
- <height>727</height>
+ <width>968</width>
+ <height>666</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_8">
@@ -503,6 +503,46 @@
</item>
</layout>
</item>
+ <item>
+ <widget class="Line" name="line_6">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QFormLayout" name="formLayout_5">
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="dist">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_10">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>D</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_5"/>
+ </item>
<item>
<widget class="QPushButton" name="pbActualToSetpoint">
<property name="text">
@@ -700,22 +740,33 @@
</widget>
</item>
<item>
- <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <layout class="QHBoxLayout" name="horizontalLayout">
<item>
- <widget class="QCheckBox" name="autonavEnabled">
+ <widget class="QPushButton" name="pbSaveWaypoints">
<property name="text">
- <string>Auto</string>
+ <string>Save</string>
</property>
</widget>
</item>
<item>
- <widget class="Line" name="line_5">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
+ <widget class="QPushButton" name="pbLoadWaypoints">
+ <property name="text">
+ <string>Load</string>
</property>
</widget>
</item>
- <item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="autonavEnabled">
+ <property name="text">
+ <string>Enable Autonavigation</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QFormLayout" name="formLayout_6">
+ <item row="0" column="0">
<widget class="QLabel" name="label_9">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
@@ -723,12 +774,19 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
+ <property name="text">
+ <string>Threshold</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="delayLabel">
<property name="text">
<string>Delay</string>
</property>
</widget>
</item>
- <item>
+ <item row="1" column="1">
<widget class="QLineEdit" name="autonavDelay">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -741,6 +799,19 @@
</property>
</widget>
</item>
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="autonavThreshold">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>0.05</string>
+ </property>
+ </widget>
+ </item>
</layout>
</item>
<item>
@@ -750,24 +821,6 @@
</property>
</widget>
</item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <item>
- <widget class="QPushButton" name="pbSaveWaypoints">
- <property name="text">
- <string>Save</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbLoadWaypoints">
- <property name="text">
- <string>Load</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
</layout>
</item>
<item>
@@ -803,7 +856,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1369</width>
+ <width>1004</width>
<height>30</height>
</rect>
</property>