diff --git a/crazyflie_groundstation/inc/CCrazyflie.h b/crazyflie_groundstation/inc/CCrazyflie.h
index b1a738f6b2891df219c50a728d299781d5a9a477..dd7937812cbe31a33e8e638311c893d865b471cd 100644
--- a/crazyflie_groundstation/inc/CCrazyflie.h
+++ b/crazyflie_groundstation/inc/CCrazyflie.h
@@ -525,7 +525,7 @@ class CCrazyflie {
* @param name The name of the logging block
* @param frequency The frequency to log (in Hz)
*/
- bool addLoggingBlock(const char *name, uint16_t frequency);
+ bool addLoggingBlock(const char *name, uint16_t frequency, uint16_t id);
/**
* Remove a logging block (stop logging)
diff --git a/crazyflie_groundstation/inc/CTOC.h b/crazyflie_groundstation/inc/CTOC.h
index fd96360f7b41207504cf9f149e7e4c25063dac5c..b326be5e8b862707c0f5f4d20a97e135c7a18e03 100644
--- a/crazyflie_groundstation/inc/CTOC.h
+++ b/crazyflie_groundstation/inc/CTOC.h
@@ -118,7 +118,7 @@ class CTOC {
int typeForName(std::string strName);
// For loggable variables only
- bool registerLoggingBlock(std::string strName, double dFrequency);
+ bool registerLoggingBlock(std::string strName, double dFrequency, uint16_t id);
bool unregisterLoggingBlock(std::string strName);
bool unregisterLoggingBlocks();
struct LoggingBlock loggingBlockForName(std::string strName, bool& bFound);
diff --git a/crazyflie_groundstation/src/CTOC.cpp b/crazyflie_groundstation/src/CTOC.cpp
index 27c1cf444cd3b99d808785d828cb0716fb62b803..4e484aad8f1b294add50ff8d77f133124e4163f2 100644
--- a/crazyflie_groundstation/src/CTOC.cpp
+++ b/crazyflie_groundstation/src/CTOC.cpp
@@ -640,9 +640,9 @@ struct LoggingBlock CTOC::loggingBlockForID(int nID, bool& bFound) {
return lbEmpty;
}
-bool CTOC::registerLoggingBlock(std::string strName, double dFrequency) {
+bool CTOC::registerLoggingBlock(std::string strName, double dFrequency, uint16_t id) {
if( ALL_THE_DEBUG ) printf( "%s\n", __FUNCTION__);
- int nID = 0;
+ int nID = id;
bool bFound;
if (dFrequency > 0) { // Only do it if a valid frequency > 0 is given
@@ -651,13 +651,13 @@ bool CTOC::registerLoggingBlock(std::string strName, double dFrequency) {
this->unregisterLoggingBlock(strName);
}
- do {
- this->loggingBlockForID(nID, bFound);
+ // do {
+ // this->loggingBlockForID(nID, bFound);
- if (bFound) {
- nID++;
- }
- } while (bFound);
+ // if (bFound) {
+ // nID++;
+ // }
+ // } while (bFound);
this->unregisterLoggingBlockID(nID);
@@ -780,9 +780,7 @@ bool CTOC::unregisterLoggingBlocks() {
if (crtpReceived) {
delete crtpReceived;
- for(std::list<struct LoggingBlock>::iterator itBlock = m_lstLoggingBlocks.begin(); itBlock != m_lstLoggingBlocks.end(); itBlock++) {
- itBlock = m_lstLoggingBlocks.erase(itBlock);
- }
+ m_lstLoggingBlocks.clear();
return true;
}
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
index 621fee8e401cc9537e5e168bdd2168de4f362e77..e3b05418a4b3dc812f79ad2b717ebe9fe8c91116 100644
--- a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
@@ -165,8 +165,8 @@ double CCrazyflie::sensorDoubleValue(std::string strName) {
return m_tocLogs->doubleValue(strName);
}
-bool CCrazyflie::addLoggingBlock(const char *name, uint16_t frequency) {
- bool retval = m_tocLogs->registerLoggingBlock(name, frequency);
+bool CCrazyflie::addLoggingBlock(const char *name, uint16_t frequency, uint16_t id) {
+ bool retval = m_tocLogs->registerLoggingBlock(name, frequency, id);
return(retval);
}
@@ -335,7 +335,7 @@ bool CCrazyflie::loadLoggingBlocksFromFile(std::string blockFileName) {
continue;
}
blockLinesRead++;
- addLoggingBlock(curName.c_str(), curFreq);
+ addLoggingBlock(curName.c_str(), curFreq, curId);
continue;
}
else if(blockLinesRead > 3) {
diff --git a/groundStation/gui/MicroCART/crazyflieworker.cpp b/groundStation/gui/MicroCART/crazyflieworker.cpp
index 5fa186c7c5de7fc74a143b79dcfa8d4d85d5a3c7..edd1c2a11c0302119606ea2468b85899d1777fb6 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.cpp
+++ b/groundStation/gui/MicroCART/crazyflieworker.cpp
@@ -1,4 +1,5 @@
#include "crazyflieworker.h"
+#include <QFileDialog>
#include <iostream>
#include <unistd.h>
#include <sys/stat.h>
@@ -29,6 +30,9 @@ void CrazyflieWorker::connectBackend()
isBackendConnected = true;
loadParamIds();
loadLogIds();
+ loadLogBlocks();
+ QStringList logBlockNames = getLogBlockNames();
+ emit(changeLogBlock_comboBox(logBlockNames));
QStringList paramGroupList;
for(int i = 0; i < paramGroups.size(); i++) {
QString qgName(paramGroups.at(i).groupName.c_str());
@@ -47,6 +51,18 @@ void CrazyflieWorker::connectBackend()
}
}
emit(gotLogVariables(logVariablesList));
+ QStringList activeVars;
+ for(int i = 0; i < logBlocks.size(); i++) {
+ if(logBlocks.at(i).isEnabled) {
+ for(int j = 0; j < logBlocks.at(i).variableNames.size(); j++) {
+ QString fullIdentifier(logBlocks.at(i).variableNames.at(j).strGroup.c_str());
+ QString varname(logBlocks.at(i).variableNames.at(j).strName.c_str());
+ fullIdentifier = fullIdentifier + "." + varname;
+ activeVars.append(fullIdentifier);
+ }
+ }
+ }
+ emit(gotActiveLogVariables(activeVars));
}
/**
@@ -75,7 +91,7 @@ void CrazyflieWorker::setCurrAttSetpoint(float roll, float pitch, float yaw, flo
void CrazyflieWorker::setCurrAttRateSetpoint(float rollRate, float pitchRate, float yawRate, float throttle)
{
- qInfo() << "set rate";
+ //qInfo() << "set rate";
currAttitudeRateSetpoint.roll = rollRate;
currAttitudeRateSetpoint.pitch = pitchRate;
currAttitudeRateSetpoint.yaw = yawRate;
@@ -85,7 +101,7 @@ void CrazyflieWorker::setCurrAttRateSetpoint(float rollRate, float pitchRate, fl
void CrazyflieWorker::sendAttRateSetpoint()
{
- qInfo() << " send att rate" << currAttitudeRateSetpoint.throttle << " " << currAttitudeRateSetpoint.roll;
+ //qInfo() << " send att rate" << currAttitudeRateSetpoint.throttle << " " << currAttitudeRateSetpoint.roll;
if(isBackendConnected){
struct frontend_override_data data;
@@ -104,7 +120,7 @@ void CrazyflieWorker::sendAttRateSetpoint()
void CrazyflieWorker::sendAttSetpoint()
{
- qInfo() << " send att" << currAttitudeSetpoint.throttle;
+ //qInfo() << " send att" << currAttitudeSetpoint.throttle;
if(isBackendConnected){
struct frontend_override_data data;
@@ -122,7 +138,7 @@ void CrazyflieWorker::sendAttSetpoint()
void CrazyflieWorker::sendMixedAttSetpoint(){
- qInfo() << "send mixed setpoint";
+ //qInfo() << "send mixed setpoint";
if(isBackendConnected){
struct frontend_override_data data;
@@ -311,3 +327,199 @@ void CrazyflieWorker::getGroupEntries(int box, QString gName) {
}
emit(gotGroupEntries(box, entryList));
}
+
+void CrazyflieWorker::frontendLogBlockCommand(int8_t command, int8_t id) {
+ struct frontend_logblockcommand_data data;
+ data.command = command;
+ data.id = id;
+ if(frontend_logblockcommand(conn, &data)) {
+ qInfo() << "error refreshing log blocks";
+ return;
+ }
+ if(command == 0) {
+ logBlocks.clear();
+ }
+ else if(command == 1) {
+ logBlocks.clear();
+ loadLogBlocks();
+ }
+ else if(command == 3) {
+ removeLogBlock(id);
+ }
+ else if(command == 4) {
+ enableLogBlock(id, true);
+ }
+ else if(command == 5) {
+ enableLogBlock(id, false);
+ }
+ // for(int i = 0; i < logBlocks.size(); i++) {
+ // QString blN(logBlocks.at(i).blockName.c_str());
+ // qInfo() << logBlocks.at(i).id << ": " << blN << "enabled: " << logBlocks.at(i).isEnabled;
+ // }
+ QStringList logBlockNames = getLogBlockNames();
+ emit(changeLogBlock_comboBox(logBlockNames));
+ QStringList activeVars;
+ for(int i = 0; i < logBlocks.size(); i++) {
+ if(logBlocks.at(i).isEnabled) {
+ for(int j = 0; j < logBlocks.at(i).variableNames.size(); j++) {
+ QString fullIdentifier(logBlocks.at(i).variableNames.at(j).strGroup.c_str());
+ QString varname(logBlocks.at(i).variableNames.at(j).strName.c_str());
+ fullIdentifier = fullIdentifier + "." + varname;
+ activeVars.append(fullIdentifier);
+ }
+ }
+ }
+ emit(gotActiveLogVariables(activeVars));
+}
+
+void CrazyflieWorker::removeLogBlock(int id) {
+ for(int i = 0; i < logBlocks.size(); i++) {
+ if(id == logBlocks.at(i).id) {
+ logBlocks.erase(logBlocks.begin() + i);
+ return;
+ }
+ }
+}
+
+void CrazyflieWorker::enableLogBlock(int id, bool isEnabled) {
+ for(int i = 0; i < logBlocks.size(); i++) {
+ if(id == logBlocks.at(i).id) {
+ logBlocks.at(i).isEnabled = isEnabled;
+ return;
+ }
+ }
+}
+
+void CrazyflieWorker::loadLogBlocks() {
+ std::ifstream blockFile;
+ QString filename(QDir::currentPath() + "/../crazyflie_groundstation/loggingBlocks.txt");
+ blockFile.open(filename.toStdString());
+ std::string line = "";
+ //0 if not readingBlock 1 is START BLOCK and so on
+ int blockLinesRead = 0;
+ struct logBlock cur;
+ std::string entryName;
+
+ while(getline(blockFile, line)) {
+ if(!line.compare("START BLOCK")) {
+ blockLinesRead = 1;
+ continue;
+ }
+ else if(!line.compare("END BLOCK")) {
+ cur.isEnabled = true;
+ logBlocks.push_back(cur);
+ blockLinesRead = 0;
+ cur.id = -1;
+ cur.blockName = "";
+ cur.isEnabled = false;
+ cur.variableNames.clear();
+ entryName = "";
+ continue;
+ }
+ else if(blockLinesRead == 1) {
+ try {
+ cur.id = std::stoi(line);
+ bool found = logBlockWithID(cur.id);
+ if(found) {
+ blockLinesRead = 0;
+ cur.id = -1;
+ cur.blockName = "";
+ entryName = "";
+ cur.isEnabled = false;
+ cur.variableNames.clear();
+ continue;
+ }
+ }
+ catch(std::invalid_argument& e) {
+ std::cout << "Error: invalid ID. Skipping Block" << std::endl;
+ blockLinesRead = 0;
+ continue;
+ }
+ blockLinesRead++;
+ continue;
+ }
+ else if(blockLinesRead == 2) {
+ cur.blockName = line;
+ blockLinesRead++;
+ continue;
+ }
+ else if(blockLinesRead == 3) {
+ try {
+ int curFreq = std::stoi(line);
+ }
+ catch(std::invalid_argument& e) {
+ std::cout << "Error: invalid frequency. Skipping Block" << std::endl;
+ blockLinesRead = 0;
+ cur.id = -1;
+ cur.blockName = "";
+ entryName = "";
+ cur.isEnabled = false;
+ cur.variableNames.clear();
+ continue;
+ }
+ blockLinesRead++;
+ //logBlocks.push_back(cur);
+ continue;
+ }
+ else if(blockLinesRead > 3) {
+ entryName = line;
+ struct toc_info entryInfo = tocElementForName(entryName);
+ cur.variableNames.push_back(entryInfo);
+ blockLinesRead++;
+ continue;
+ }
+ else {
+ continue;
+ }
+ }
+ blockFile.close();
+}
+
+void CrazyflieWorker::findLogBlockID(QString name, int8_t command) {
+ std::string lbName = name.toStdString();
+ int id = -1;
+ for(int i = 0; i < logBlocks.size(); i++) {
+ if(!lbName.compare(logBlocks.at(i).blockName)) {
+ id = i;
+ break;
+ }
+ }
+ if(id == -1) {
+ return;
+ }
+ emit(gotLogBlockID(id, command));
+}
+
+bool CrazyflieWorker::logBlockWithID(int id) {
+ for(int i = 0; i < logBlocks.size(); i++) {
+ if(id == logBlocks.at(i).id) {
+ return true;
+ }
+ }
+ return false;
+}
+
+QStringList CrazyflieWorker::getLogBlockNames() {
+ QStringList names;
+ for(int i =0; i < logBlocks.size(); i++) {
+ names.append(logBlocks.at(i).blockName.c_str());
+ }
+ return names;
+}
+
+struct toc_info CrazyflieWorker::tocElementForName(std::string name) {
+ QString qName(name.c_str());
+ struct toc_info element = logIds.value(qName);
+ return element;
+}
+
+void CrazyflieWorker::logBlockBoxChanged(QString text) {
+ bool enabled = false;
+ for(int i = 0; i < logBlocks.size(); i++) {
+ if(!logBlocks.at(i).blockName.compare(text.toStdString())) {
+ enabled = logBlocks.at(i).isEnabled;
+ break;
+ }
+ }
+ emit(gotBlockisEnabled(enabled));
+}
\ No newline at end of file
diff --git a/groundStation/gui/MicroCART/crazyflieworker.h b/groundStation/gui/MicroCART/crazyflieworker.h
index 42dca39f0cf6ae91b97bfa5bcbe7312299e0b07a..50cbde7723714958f3831d3dc7c05dc3f83027f7 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.h
+++ b/groundStation/gui/MicroCART/crazyflieworker.h
@@ -26,6 +26,13 @@ struct toc_group {
std::vector<std::string> entryNames;
};
+struct logBlock {
+ std::string blockName;
+ int id;
+ std::vector<struct toc_info> variableNames;
+ bool isEnabled;
+};
+
/**
* @brief The crazyflieworker class
* This class handles communication for the crazyflie,
@@ -44,6 +51,10 @@ signals:
void gotParamGroups(QStringList paramGroupList);
void gotLogVariables(QStringList logVariables);
void gotGroupEntries(int box, QStringList groupEntries);
+ void gotLogBlockID(int id, int8_t command);
+ void changeLogBlock_comboBox(QStringList logBlockNames);
+ void gotBlockisEnabled(bool isEnabled);
+ void gotActiveLogVariables(QStringList activeVars);
void connected();
void disconnected();
@@ -59,6 +70,9 @@ public slots:
void setCurrAttRateSetpoint(float rollRate, float pitchRate, float yawRate, float throttleRate);
void setParamValue(QString paramName, double value);
void getGroupEntries(int box, QString gName);
+ void frontendLogBlockCommand(int8_t command, int8_t id);
+ void findLogBlockID(QString name, int8_t command);
+ void logBlockBoxChanged(QString text);
private:
struct backend_conn * conn;
@@ -67,6 +81,12 @@ private:
std::string getLogFile(int type);
void loadParamIds();
void loadLogIds();
+ void removeLogBlock(int id);
+ void enableLogBlock(int id, bool isEnabled);
+ void loadLogBlocks();
+ bool logBlockWithID(int id);
+ struct toc_info tocElementForName(std::string name);
+ QStringList getLogBlockNames();
int findParamGroup(std::string gName);
int findLogGroup(std::string gName);
struct toc_info paramNameLookup(QString paramName);
@@ -74,6 +94,7 @@ private:
QMap<QString, struct toc_info> logIds;
std::vector<struct toc_group> paramGroups;
std::vector<struct toc_group> logGroups;
+ std::vector<struct logBlock> logBlocks;
bool isBackendConnected = false;
};
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 47d5ca653dd449aaa6b2cd05db0e777252792179..f73beb9a09462b1b86fed61aabace9a29bcf7ee4 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -40,6 +40,7 @@ MainWindow::MainWindow(QWidget *parent) :
{
ui->setupUi(this);
+ qRegisterMetaType<int8_t>("int8_t");
QGraphicsScene *posScene = new QGraphicsScene(this);
// ui->posView->setScene(posScene);
@@ -107,13 +108,26 @@ MainWindow::MainWindow(QWidget *parent) :
logWorker->moveToThread(logThread);
/* connect signals for crazyflie worker */
- connect(ui->logEntriesComboBox1, SIGNAL (currentIndexChanged(int)), this, SLOT (getLogEntryBoxChange1(int)));
- connect(ui->logEntriesComboBox2, SIGNAL (currentIndexChanged(int)), this, SLOT (getLogEntryBoxChange2(int)));
- connect(ui->logEntriesComboBox3, SIGNAL (currentIndexChanged(int)), this, SLOT (getLogEntryBoxChange3(int)));
- connect(ui->logEntriesComboBox4, SIGNAL (currentIndexChanged(int)), this, SLOT (getLogEntryBoxChange4(int)));
- connect(ui->logEntriesComboBox5, SIGNAL (currentIndexChanged(int)), this, SLOT (getLogEntryBoxChange5(int)));
+ connect(ui->logEntriesComboBox1, SIGNAL (currentTextChanged(QString)), this, SLOT (getLogEntryBoxChange1(QString)));
+ connect(ui->logEntriesComboBox2, SIGNAL (currentTextChanged(QString)), this, SLOT (getLogEntryBoxChange2(QString)));
+ connect(ui->logEntriesComboBox3, SIGNAL (currentTextChanged(QString)), this, SLOT (getLogEntryBoxChange3(QString)));
+ connect(ui->logEntriesComboBox4, SIGNAL (currentTextChanged(QString)), this, SLOT (getLogEntryBoxChange4(QString)));
+ connect(ui->logEntriesComboBox5, SIGNAL (currentTextChanged(QString)), this, SLOT (getLogEntryBoxChange5(QString)));
connect(ui->pb_startLog, SIGNAL (clicked()), logWorker, SLOT (getLogValues(QString, QString, QString, QString, QString)));
connect(logWorker, SIGNAL (gotLogValues(QStringList)), this, SLOT (graphLogs(QStringList)));
+ connect(ui->pb_logBlockFile, SIGNAL (clicked()), this, SLOT(openLogBlockFile()));
+ connect(ui->pb_logBlockRefresh, SIGNAL (clicked()), this, SLOT(on_pb_lbRefresh()));
+ connect(ui->pb_logBlockStop, SIGNAL (clicked()), this, SLOT(on_pb_lbStop()));
+ connect(ui->pb_logBlockResume, SIGNAL (clicked()), this, SLOT(on_pb_lbResume()));
+ connect(ui->pb_logBlockPause, SIGNAL (clicked()), this, SLOT(on_pb_lbPause()));
+ connect(ui->comboBox_logBlocks, SIGNAL (currentTextChanged(QString)), crazyflieWorker, SLOT (logBlockBoxChanged(QString)));
+ connect(crazyflieWorker, SIGNAL (gotBlockisEnabled(bool)), this, SLOT(setLogButtons(bool)));
+ //connect(ui->pb_logBlockDelete, SIGNAL (clicked()), this, SLOT(on_pb_lbDelete()));
+ connect(this, SIGNAL(sendLogBlockCommand(int8_t, int8_t)), crazyflieWorker, SLOT(frontendLogBlockCommand(int8_t, int8_t)));
+ connect(this, SIGNAL (requestLogBlockID(QString, int8_t)), crazyflieWorker, SLOT(findLogBlockID(QString, int8_t)));
+ connect(crazyflieWorker, SIGNAL (gotLogBlockID(int, int8_t)), this, SLOT(useLogBlockID(int, int8_t)));
+ connect(crazyflieWorker, SIGNAL (changeLogBlock_comboBox(QStringList)), SLOT(gotLogBlockNames(QStringList)));
+ connect(crazyflieWorker, SIGNAL (gotActiveLogVariables(QStringList)), this, SLOT(fillLogVariablesBox(QStringList)));
connect(this, SIGNAL (rateSetpointSignal(float, float, float, float)), crazyflieWorker, SLOT (setCurrAttRateSetpoint(float, float, float, float)));
connect(this, SIGNAL (angleSetpointSignal(float, float, float, float)), crazyflieWorker, SLOT (setCurrAttSetpoint(float, float, float, float)));
@@ -195,10 +209,19 @@ MainWindow::MainWindow(QWidget *parent) :
ui->pb_getParam->setEnabled(false);
ui->pb_setParam->setEnabled(false);
+ ui->pb_logBlockRefresh->setEnabled(false);
+ ui->pb_logBlockStop->setEnabled(false);
+ ui->pb_logBlockResume->setEnabled(false);
+ ui->pb_logBlockPause->setEnabled(false);
ui->setValueSpin->setMaximum(10000.00);
ui->setValueSpin->setMinimum(-10000.00);
ui->setValueSpin->setSingleStep(0.01);
ui->setValueSpin->setValue(0);
+ logVar1 = "Logging Variable 1";
+ logVar2 = "Logging Variable 2";
+ logVar3 = "Logging Variable 3";
+ logVar4 = "Logging Variable 4";
+ logVar5 = "Logging Variable 5";
/* Connect various things that can result in sending setpoints */
// connect(ui->pbSendSetpoint, SIGNAL (clicked()), this, SLOT (sendSetpoints()));
@@ -314,7 +337,10 @@ void MainWindow::workerConnected()
ui->pbStart->setEnabled(false);
ui->pbConnect->setEnabled(false);
ui->pbStop->setEnabled(true);
+ ui->pb_logBlockRefresh->setEnabled(true);
+ ui->pb_logBlockStop->setEnabled(true);
}
+
}
void MainWindow::workerDisconnected()
@@ -326,6 +352,10 @@ void MainWindow::workerDisconnected()
ui->pbStart->setEnabled(true);
ui->pbConnect->setEnabled(true);
ui->pbStop->setEnabled(false);
+ ui->pb_getParam->setEnabled(false);
+ ui->pb_setParam->setEnabled(false);
+ ui->pb_logBlockRefresh->setEnabled(false);
+ ui->pb_logBlockStop->setEnabled(false);
}
}
@@ -1052,3 +1082,221 @@ void MainWindow::graphLogs(QStringList logs)
ui->dataPlot->replot();
}
+void MainWindow::openLogBlockFile() {
+ QProcess *fileOpen = new QProcess(this);
+ QString exec = "gedit " + QDir::currentPath() + "/../crazyflie_groundstation/loggingBlocks.txt";
+ fileOpen->start(exec);
+}
+
+void MainWindow::on_pb_lbRefresh() {
+ emit(sendLogBlockCommand(1, -1));
+}
+
+void MainWindow::on_pb_lbStop() {
+ emit(sendLogBlockCommand(0, -1));
+}
+
+void MainWindow::on_pb_lbResume() {
+ QString blockName = ui->comboBox_logBlocks->currentText();
+ emit(requestLogBlockID(blockName, 4));
+}
+
+void MainWindow::on_pb_lbPause() {
+ QString blockName = ui->comboBox_logBlocks->currentText();
+ emit(requestLogBlockID(blockName, 5));
+}
+
+void MainWindow::on_pb_lbDelete() {
+ QString blockName = ui->comboBox_logBlocks->currentText();
+ emit(requestLogBlockID(blockName, 3));
+}
+
+void MainWindow::useLogBlockID(int id, int8_t command) {
+ emit(sendLogBlockCommand(command, id));
+}
+
+void MainWindow::gotLogBlockNames(QStringList logBlockNames) {
+ ui->comboBox_logBlocks->clear();
+ ui->comboBox_logBlocks->addItem("Logging Blocks");
+ ui->comboBox_logBlocks->addItems(logBlockNames);
+}
+
+void MainWindow::setLogButtons(bool isEnabled) {
+ if(!ui->comboBox_logBlocks->currentText().toStdString().compare("Logging Blocks")) {
+ ui->pb_logBlockResume->setEnabled(false);
+ ui->pb_logBlockPause->setEnabled(false);
+ }
+ else {
+ ui->pb_logBlockResume->setEnabled(!isEnabled);
+ ui->pb_logBlockPause->setEnabled(isEnabled);
+ }
+}
+
+void MainWindow::fillLogVariablesBox(QStringList activeVars) {
+ ui->logEntriesComboBox1->setCurrentIndex(0);
+ ui->logEntriesComboBox2->setCurrentIndex(0);
+ ui->logEntriesComboBox3->setCurrentIndex(0);
+ ui->logEntriesComboBox4->setCurrentIndex(0);
+ ui->logEntriesComboBox5->setCurrentIndex(0);
+ logVar1 = "Logging Variable 1";
+ logVar2 = "Logging Variable 2";
+ logVar3 = "Logging Variable 3";
+ logVar4 = "Logging Variable 4";
+ logVar5 = "Logging Variable 5";
+ ui->logEntriesComboBox1->clear();
+ ui->logEntriesComboBox1->addItem("Logging Variable 1");
+ ui->logEntriesComboBox2->clear();
+ ui->logEntriesComboBox2->addItem("Logging Variable 2");
+ ui->logEntriesComboBox3->clear();
+ ui->logEntriesComboBox3->addItem("Logging Variable 3");
+ ui->logEntriesComboBox4->clear();
+ ui->logEntriesComboBox4->addItem("Logging Variable 4");
+ ui->logEntriesComboBox5->clear();
+ ui->logEntriesComboBox5->addItem("Logging Variable 5");
+ ui->logEntriesComboBox1->addItems(activeVars);
+ ui->logEntriesComboBox2->addItems(activeVars);
+ ui->logEntriesComboBox3->addItems(activeVars);
+ ui->logEntriesComboBox4->addItems(activeVars);
+ ui->logEntriesComboBox5->addItems(activeVars);
+}
+
+void MainWindow::getLogEntryBoxChange1(QString text) {
+ if(logVar1.toStdString().compare("Logging Variable 1")) {
+ ui->logEntriesComboBox2->addItem(logVar1);
+ ui->logEntriesComboBox3->addItem(logVar1);
+ ui->logEntriesComboBox4->addItem(logVar1);
+ ui->logEntriesComboBox5->addItem(logVar1);
+ }
+ logVar1 = text;
+ int idx = -1;
+ if(logVar1.toStdString().compare("Logging Variable 1")) {
+ idx = ui->logEntriesComboBox2->findText(logVar1);
+ if(idx >= 0) {
+ ui->logEntriesComboBox2->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox3->findText(logVar1);
+ if(idx >= 0) {
+ ui->logEntriesComboBox3->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox4->findText(logVar1);
+ if(idx >= 0) {
+ ui->logEntriesComboBox4->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox5->findText(logVar1);
+ if(idx >= 0) {
+ ui->logEntriesComboBox5->removeItem(idx);
+ }
+ }
+}
+void MainWindow::getLogEntryBoxChange2(QString text) {
+ if(logVar2.toStdString().compare("Logging Variable 2")) {
+ ui->logEntriesComboBox1->addItem(logVar2);
+ ui->logEntriesComboBox3->addItem(logVar2);
+ ui->logEntriesComboBox4->addItem(logVar2);
+ ui->logEntriesComboBox5->addItem(logVar2);
+ }
+ logVar2 = text;
+ int idx = -1;
+ if(logVar2.toStdString().compare("Logging Variable 2")) {
+ idx = ui->logEntriesComboBox1->findText(logVar2);
+ if(idx >= 0) {
+ ui->logEntriesComboBox1->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox3->findText(logVar2);
+ if(idx >= 0) {
+ ui->logEntriesComboBox3->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox4->findText(logVar2);
+ if(idx >= 0) {
+ ui->logEntriesComboBox4->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox5->findText(logVar2);
+ if(idx >= 0) {
+ ui->logEntriesComboBox5->removeItem(idx);
+ }
+ }
+}
+void MainWindow::getLogEntryBoxChange3(QString text) {
+ if(logVar3.toStdString().compare("Logging Variable 3")) {
+ ui->logEntriesComboBox1->addItem(logVar3);
+ ui->logEntriesComboBox2->addItem(logVar3);
+ ui->logEntriesComboBox4->addItem(logVar3);
+ ui->logEntriesComboBox5->addItem(logVar3);
+ }
+ logVar3 = text;
+ int idx = -1;
+ if(logVar3.toStdString().compare("Logging Variable 3")) {
+ idx = ui->logEntriesComboBox2->findText(logVar3);
+ if(idx >= 0) {
+ ui->logEntriesComboBox2->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox1->findText(logVar3);
+ if(idx >= 0) {
+ ui->logEntriesComboBox1->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox4->findText(logVar3);
+ if(idx >= 0) {
+ ui->logEntriesComboBox4->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox5->findText(logVar3);
+ if(idx >= 0) {
+ ui->logEntriesComboBox5->removeItem(idx);
+ }
+ }
+}
+void MainWindow::getLogEntryBoxChange4(QString text) {
+ if(logVar4.toStdString().compare("Logging Variable 4")) {
+ ui->logEntriesComboBox2->addItem(logVar4);
+ ui->logEntriesComboBox3->addItem(logVar4);
+ ui->logEntriesComboBox1->addItem(logVar4);
+ ui->logEntriesComboBox5->addItem(logVar4);
+ }
+ logVar4 = text;
+ int idx = -1;
+ if(logVar4.toStdString().compare("Logging Variable 4")) {
+ idx = ui->logEntriesComboBox2->findText(logVar4);
+ if(idx >= 0) {
+ ui->logEntriesComboBox2->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox3->findText(logVar4);
+ if(idx >= 0) {
+ ui->logEntriesComboBox3->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox1->findText(logVar4);
+ if(idx >= 0) {
+ ui->logEntriesComboBox1->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox5->findText(logVar4);
+ if(idx >= 0) {
+ ui->logEntriesComboBox5->removeItem(idx);
+ }
+ }
+}
+void MainWindow::getLogEntryBoxChange5(QString text) {
+ if(logVar5.toStdString().compare("Logging Variable 5")) {
+ ui->logEntriesComboBox2->addItem(logVar5);
+ ui->logEntriesComboBox3->addItem(logVar5);
+ ui->logEntriesComboBox4->addItem(logVar5);
+ ui->logEntriesComboBox5->addItem(logVar5);
+ }
+ logVar5 = text;
+ int idx = -1;
+ if(logVar5.toStdString().compare("Logging Variable 5")) {
+ idx = ui->logEntriesComboBox2->findText(logVar5);
+ if(idx >= 0) {
+ ui->logEntriesComboBox2->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox3->findText(logVar5);
+ if(idx >= 0) {
+ ui->logEntriesComboBox3->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox4->findText(logVar5);
+ if(idx >= 0) {
+ ui->logEntriesComboBox4->removeItem(idx);
+ }
+ idx = ui->logEntriesComboBox1->findText(logVar5);
+ if(idx >= 0) {
+ ui->logEntriesComboBox1->removeItem(idx);
+ }
+ }
+}
\ No newline at end of file
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index a7bbcb446f53f366a0206936518b9c88764a071f..895fa44e1486d5daa23ac8f99e84acb867674cc9 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -39,8 +39,8 @@ signals:
void triggerAttRateSetpointSend();
void triggerMixedAttSetpointSend();
void getLogValues(QString log1, QString log2, QString log3, QString log4, QString log5);
-
-
+ void sendLogBlockCommand(int8_t command, int8_t id);
+ void requestLogBlockID(QString name, int8_t command);
private slots:
void on_pbStart_clicked();
@@ -153,6 +153,23 @@ private slots:
void graphLogs(QStringList logs);
+ void openLogBlockFile();
+
+ void gotLogBlockNames(QStringList logBlockNames);
+
+ void on_pb_lbRefresh();
+ void on_pb_lbStop();
+ void on_pb_lbResume();
+ void on_pb_lbPause();
+ void on_pb_lbDelete();
+ void useLogBlockID(int id, int8_t command);
+ void setLogButtons(bool isEnabled);
+ void fillLogVariablesBox(QStringList activeVars);
+ void getLogEntryBoxChange1(QString text);
+ void getLogEntryBoxChange2(QString text);
+ void getLogEntryBoxChange3(QString text);
+ void getLogEntryBoxChange4(QString text);
+ void getLogEntryBoxChange5(QString text);
private:
Ui::MainWindow *ui;
@@ -163,6 +180,7 @@ private:
float sp_yaw;
float sp_thrust;
QTimer * trackerTimer;
+ QString logVar1, logVar2, logVar3, logVar4, logVar5;
QTimer * workerStartTimer;
QTimer * crazyflieTimer;
QTimer *pollGamepadTimer;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index ca31bb05eae27aab0e132d716b2179d3ff7a2800..b8e8daee5c1e148468e55632059958e7745aa7a7 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -33,7 +33,7 @@
</size>
</property>
<property name="currentIndex">
- <number>3</number>
+ <number>4</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -796,11 +796,11 @@
<attribute name="title">
<string>Log Blocks</string>
</attribute>
- <widget class="QComboBox" name="comboBox">
+ <widget class="QComboBox" name="comboBox_logBlocks">
<property name="geometry">
<rect>
- <x>410</x>
- <y>680</y>
+ <x>740</x>
+ <y>370</y>
<width>201</width>
<height>25</height>
</rect>
@@ -811,11 +811,11 @@
</property>
</item>
</widget>
- <widget class="QPushButton" name="pushButton">
+ <widget class="QPushButton" name="pb_logBlockResume">
<property name="geometry">
<rect>
- <x>330</x>
- <y>750</y>
+ <x>740</x>
+ <y>470</y>
<width>80</width>
<height>25</height>
</rect>
@@ -824,11 +824,11 @@
<string>Resume</string>
</property>
</widget>
- <widget class="QPushButton" name="pushButton_2">
+ <widget class="QPushButton" name="pb_logBlockPause">
<property name="geometry">
<rect>
- <x>470</x>
- <y>750</y>
+ <x>860</x>
+ <y>470</y>
<width>80</width>
<height>25</height>
</rect>
@@ -837,24 +837,11 @@
<string>Pause</string>
</property>
</widget>
- <widget class="QPushButton" name="pushButton_3">
- <property name="geometry">
- <rect>
- <x>600</x>
- <y>750</y>
- <width>80</width>
- <height>25</height>
- </rect>
- </property>
- <property name="text">
- <string>Delete</string>
- </property>
- </widget>
- <widget class="QPushButton" name="pushButton_4">
+ <widget class="QPushButton" name="pb_logBlockFile">
<property name="geometry">
<rect>
- <x>330</x>
- <y>520</y>
+ <x>650</x>
+ <y>110</y>
<width>401</width>
<height>25</height>
</rect>
@@ -863,11 +850,11 @@
<string>Open Logging Block Setup File</string>
</property>
</widget>
- <widget class="QPushButton" name="pushButton_5">
+ <widget class="QPushButton" name="pb_logBlockRefresh">
<property name="geometry">
<rect>
- <x>330</x>
- <y>610</y>
+ <x>650</x>
+ <y>250</y>
<width>141</width>
<height>25</height>
</rect>
@@ -876,11 +863,11 @@
<string>Refresh Log Blocks</string>
</property>
</widget>
- <widget class="QPushButton" name="pushButton_6">
+ <widget class="QPushButton" name="pb_logBlockStop">
<property name="geometry">
<rect>
- <x>590</x>
- <y>610</y>
+ <x>910</x>
+ <y>250</y>
<width>141</width>
<height>25</height>
</rect>
@@ -892,8 +879,8 @@
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
- <x>460</x>
- <y>450</y>
+ <x>780</x>
+ <y>60</y>
<width>141</width>
<height>20</height>
</rect>
@@ -905,13 +892,26 @@
<widget class="QListWidget" name="logVariableList">
<property name="geometry">
<rect>
- <x>5</x>
- <y>0</y>
- <width>1101</width>
- <height>441</height>
+ <x>0</x>
+ <y>40</y>
+ <width>511</width>
+ <height>881</height>
</rect>
</property>
</widget>
+ <widget class="QLabel" name="label_3">
+ <property name="geometry">
+ <rect>
+ <x>180</x>
+ <y>10</y>
+ <width>131</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Logging Variables</string>
+ </property>
+ </widget>
</widget>
<widget class="QWidget" name="navigation">
<attribute name="title">