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Commit 1dc42fbb authored by Jake's avatar Jake
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Autonav implemented

parent 07d4f566
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groundStation/gui/MicroCART/mainwindow.cpp
+ 24
− 7
View file @ 1dc42fbb
...@@ -19,7 +19,11 @@ MainWindow::MainWindow(QWidget *parent) : ...@@ -19,7 +19,11 @@ MainWindow::MainWindow(QWidget *parent) :
ui(new Ui::MainWindow), ui(new Ui::MainWindow),
backendPid(0), backendPid(0),
backendPipe(-1), 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); ui->setupUi(this);
...@@ -70,6 +74,10 @@ MainWindow::MainWindow(QWidget *parent) : ...@@ -70,6 +74,10 @@ MainWindow::MainWindow(QWidget *parent) :
connect(trackerTimer, SIGNAL(timeout()), trackerWorker, SLOT(process())); connect(trackerTimer, SIGNAL(timeout()), trackerWorker, SLOT(process()));
connect(findChild<QPushButton *>("pbRefresh"), SIGNAL (clicked()), 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 */ /* Start the things */
trackerTimer->start(300); trackerTimer->start(300);
workerThread->start(); workerThread->start();
...@@ -113,6 +121,15 @@ void MainWindow::updateTracker(float x, float y, float z, float p, float r, floa ...@@ -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 *>("pitchActual")->setText(QString::number(p));
findChild<QLineEdit *>("rollActual")->setText(QString::number(r)); findChild<QLineEdit *>("rollActual")->setText(QString::number(r));
findChild<QLineEdit *>("yawActual")->setText(QString::number(yaw)); 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() void MainWindow::on_pbStart_clicked()
...@@ -232,17 +249,17 @@ void MainWindow::on_paramValue_returnPressed() ...@@ -232,17 +249,17 @@ void MainWindow::on_paramValue_returnPressed()
void MainWindow::sendSetpoints() void MainWindow::sendSetpoints()
{ {
sp_x = findChild<QLineEdit *>("xSetpoint")->text().toFloat();
emit (setParamValue(findChild<QComboBox *>("xSetpointSelect")->currentText(), emit (setParamValue(findChild<QComboBox *>("xSetpointSelect")->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
findChild<QLineEdit *>("xSetpoint")->text().toFloat()));
sp_y = findChild<QLineEdit *>("ySetpoint")->text().toFloat();
emit (setParamValue(findChild<QComboBox *>("ySetpointSelect")->currentText(), emit (setParamValue(findChild<QComboBox *>("ySetpointSelect")->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
findChild<QLineEdit *>("ySetpoint")->text().toFloat()));
sp_z = findChild<QLineEdit *>("zSetpoint")->text().toFloat();
emit (setParamValue(findChild<QComboBox *>("zSetpointSelect")->currentText(), emit (setParamValue(findChild<QComboBox *>("zSetpointSelect")->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], blockDefs[BLOCK_CONSTANT]->param_names[0], sp_z));
findChild<QLineEdit *>("zSetpoint")->text().toFloat()));
} }
void MainWindow::on_pbAppendSetpoint_clicked() void MainWindow::on_pbAppendSetpoint_clicked()
......
groundStation/gui/MicroCART/mainwindow.h
+ 4
− 0
View file @ 1dc42fbb
...@@ -65,6 +65,10 @@ private: ...@@ -65,6 +65,10 @@ private:
int backendPipe; int backendPipe;
int backendState; int backendState;
QStandardItemModel * setpointList; QStandardItemModel * setpointList;
QTimer * nextSpTimer;
float sp_x;
float sp_y;
float sp_z;
}; };
#endif // MAINWINDOW_H #endif // MAINWINDOW_H
groundStation/gui/MicroCART/mainwindow.ui
+ 85
− 32
View file @ 1dc42fbb
...@@ -6,8 +6,8 @@ ...@@ -6,8 +6,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>1369</width> <width>1004</width>
<height>995</height> <height>934</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
...@@ -18,7 +18,7 @@ ...@@ -18,7 +18,7 @@
<item> <item>
<widget class="QTabWidget" name="tabWidget"> <widget class="QTabWidget" name="tabWidget">
<property name="currentIndex"> <property name="currentIndex">
<number>2</number> <number>0</number>
</property> </property>
<widget class="QWidget" name="backend"> <widget class="QWidget" name="backend">
<attribute name="title"> <attribute name="title">
...@@ -151,8 +151,8 @@ ...@@ -151,8 +151,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>1333</width> <width>968</width>
<height>727</height> <height>666</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_8"> <layout class="QVBoxLayout" name="verticalLayout_8">
...@@ -503,6 +503,46 @@ ...@@ -503,6 +503,46 @@
</item> </item>
</layout> </layout>
</item> </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> <item>
<widget class="QPushButton" name="pbActualToSetpoint"> <widget class="QPushButton" name="pbActualToSetpoint">
<property name="text"> <property name="text">
...@@ -700,22 +740,33 @@ ...@@ -700,22 +740,33 @@
</widget> </widget>
</item> </item>
<item> <item>
<layout class="QHBoxLayout" name="horizontalLayout_2"> <layout class="QHBoxLayout" name="horizontalLayout">
<item> <item>
<widget class="QCheckBox" name="autonavEnabled"> <widget class="QPushButton" name="pbSaveWaypoints">
<property name="text"> <property name="text">
<string>Auto</string> <string>Save</string>
</property> </property>
</widget> </widget>
</item> </item>
<item> <item>
<widget class="Line" name="line_5"> <widget class="QPushButton" name="pbLoadWaypoints">
<property name="orientation"> <property name="text">
<enum>Qt::Vertical</enum> <string>Load</string>
</property> </property>
</widget> </widget>
</item> </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"> <widget class="QLabel" name="label_9">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred"> <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
...@@ -723,12 +774,19 @@ ...@@ -723,12 +774,19 @@
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="text">
<string>Threshold</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="delayLabel">
<property name="text"> <property name="text">
<string>Delay</string> <string>Delay</string>
</property> </property>
</widget> </widget>
</item> </item>
<item> <item row="1" column="1">
<widget class="QLineEdit" name="autonavDelay"> <widget class="QLineEdit" name="autonavDelay">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
...@@ -741,6 +799,19 @@ ...@@ -741,6 +799,19 @@
</property> </property>
</widget> </widget>
</item> </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> </layout>
</item> </item>
<item> <item>
...@@ -750,24 +821,6 @@ ...@@ -750,24 +821,6 @@
</property> </property>
</widget> </widget>
</item> </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> </layout>
</item> </item>
<item> <item>
...@@ -803,7 +856,7 @@ ...@@ -803,7 +856,7 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>1369</width> <width>1004</width>
<height>30</height> <height>30</height>
</rect> </rect>
</property> </property>
......
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