Basic data plot, added crazyflie worker thread, added basic setpoint class

creazyflie worker thread will handle sending and receiving crazyflie specific data

groundStation/gui/MicroCART/MicroCART.pro

@@ -6,7 +6,7 @@
 
 QT       += core gui
 
-greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets printsupport
 
 TARGET = MicroCART
 TEMPLATE = app
@@ -20,7 +20,10 @@ SOURCES += main.cpp\
     controlworker.cpp \
     quaditem.cpp \
     slotprocess.cpp \
-    qFlightInstruments.cpp
+    qFlightInstruments.cpp\
+    qcustomplot.cpp\
+    crazyflieworker.cpp\
+    setpoint.cpp
 
 HEADERS  += mainwindow.h \
     trackerworker.h \
@@ -28,7 +31,10 @@ HEADERS  += mainwindow.h \
     quaditem.h \
     slotprocess.h \
 	graph_blocks.h \
-    qFlightInstruments.h
+    qFlightInstruments.h\
+    qcustomplot.h\
+    crazyflieworker.h\
+    setpoint.h
 
 FORMS    += mainwindow.ui
 

groundStation/gui/MicroCART/crazyflieworker.cpp

+#include "crazyflieworker.h"
+
+CrazyflieWorker::CrazyflieWorker(QObject *parent) : QObject(parent)
+{
+}
+
+CrazyflieWorker::~CrazyflieWorker()
+{
+    disconnectBackend();
+}
+
+/**
+ * @brief CrazyflieWorker::connectBackend
+ * Command the worker to connect to the backend
+ * will set the private class struct, conn, once done.
+ * The connected() signal is emitted once complete.
+ */
+void CrazyflieWorker::connectBackend()
+{
+    if (conn == NULL) {
+        conn = ucart_backendConnect();
+        emit (connected());
+    } else {
+        qInfo() << "Attempted to connect trackerworker when already connected!";
+    }
+}
+
+/**
+ * @brief CrazyflieWorker::disconnectBackend
+ * Command the worker to disconnect from the backend,
+ * sets the conn struct to null and emits the
+ * disconnected() signal once complete
+ */
+void CrazyflieWorker::disconnectBackend()
+{
+    if (conn) {
+         ucart_backendDisconnect(conn);
+         conn = NULL;
+         emit (disconnected());
+    }
+}
+
+void CrazyflieWorker::setCurrAttSetpoint(float roll, float pitch, float yaw, float throttle)
+{
+    currAttitudeSetpoint.roll = roll;
+    currAttitudeSetpoint.pitch = pitch;
+    currAttitudeSetpoint.yaw = yaw;
+    currAttitudeSetpoint.throttle = throttle;
+}
+
+void CrazyflieWorker::setCurrAttRateSetpoint(float rollRate, float pitchRate, float yawRate, float throttleRate)
+{
+    currAttitudeRateSetpoint.roll = rollRate;
+    currAttitudeRateSetpoint.pitch = pitchRate;
+    currAttitudeRateSetpoint.yaw = yawRate;
+    currAttitudeRateSetpoint.throttle = throttleRate;
+}
+
+
+void CrazyflieWorker::sendAttRateSetpoint()
+{
+    struct frontend_override_data data;
+    data.enable = 2;    //attitude rate
+    data.time = 0.2;    //hold setpoint for 0.2 seconds TODO
+    data.throttle = currAttitudeRateSetpoint.throttle;
+    data.roll = currAttitudeRateSetpoint.roll;
+    data.pitch = currAttitudeRateSetpoint.pitch;
+    data.yaw = currAttitudeRateSetpoint.yaw;
+
+    //send setpoint
+    frontend_setoutputoverride(conn, &data);
+}
+
+
+void CrazyflieWorker::sendAttSetpoint()
+{
+    struct frontend_override_data data;
+    data.enable = 1;    //attitude
+    data.time = 0.2;    //hold setpoint for 0.2 seconds TODO
+    data.throttle = currAttitudeSetpoint.throttle;
+    data.roll = currAttitudeSetpoint.roll;
+    data.pitch = currAttitudeSetpoint.pitch;
+    data.yaw = currAttitudeSetpoint.yaw;
+
+    //send setpoint
+    frontend_setoutputoverride(conn, &data);
+}
+
+void CrazyflieWorker::getParamValue(QString paramName){
+    struct frontend_param_data data = paramNameLookup(paramName);
+
+    if(frontend_getparam(conn, &data) == 0){
+        emit(gotParamValue(paramName, data.value));
+    }
+}
+
+struct frontend_param_data CrazyflieWorker::paramNameLookup(QString paramName){
+    //TODO
+    //if param is in cache, use that else lookup from file
+    struct frontend_param_data paramData;
+    return paramData;
+}
+
+

groundStation/gui/MicroCART/crazyflieworker.h

+#ifndef CRAZYFLIEWORKER_H
+#define CRAZYFLIEWORKER_H
+
+#include <QObject>
+#include "frontend_common.h"
+#include "frontend_param.h"
+#include "frontend_override.h"
+#include "setpoint.h"
+#include <QDebug>
+
+
+/**
+ * @brief The crazyflieworker class
+ * This class handles communication for the crazyflie,
+ * reading log values and setting parameter values
+ */
+class CrazyflieWorker : public QObject
+{
+    Q_OBJECT
+public:
+    explicit CrazyflieWorker(QObject *parent = nullptr);
+    ~CrazyflieWorker();
+    void setCurrAttSetpoint(float roll, float pitch, float yaw, float throttle);
+    void setCurrAttRateSetpoint(float rollRate, float pitchRate, float yawRate, float throttleRate);
+
+signals:
+    void gotParamValue(QString paramName, float value);
+    void connected();
+    void disconnected();
+
+
+public slots:
+    void connectBackend();
+    void disconnectBackend();
+    void sendAttSetpoint();
+    void sendAttRateSetpoint();
+    void getParamValue(QString paramName);
+
+private:
+    struct backend_conn * conn;
+    Setpoint currAttitudeSetpoint;
+    Setpoint currAttitudeRateSetpoint;
+    void sendAttitudeSetpoint();
+    void sendAttitudeRateSetpoint();
+    struct frontend_param_data paramNameLookup(QString paramName);
+
+
+};
+
+#endif // CRAZYFLIEWORKER_H

groundStation/gui/MicroCART/mainwindow.h

@@ -45,6 +45,7 @@ private slots:
     void newParamValue(QString node, QString param, float val);
     void newNodeOutput(QString node, float output);
     void newConstantBlocks(QStringList blocks);
+    void newControlGraph(QString graph);
 
     void on_paramSelect_currentIndexChanged(const QString &arg1);
 
@@ -81,6 +82,10 @@ private slots:
 
     void on_zSetpoint_returnPressed();
 
+    void on_posattSrcVrpn_clicked();
+
+    void on_posattSrcQuad_clicked();
+
     void on_yawSetpoint_returnPressed();
 
     void backendStarted();
@@ -91,6 +96,8 @@ private slots:
     void workerConnected();
     void workerDisconnected();
 
+    void on_dataPlot_customContextMenuRequested(const QPoint &pos);
+
 private:
     Ui::MainWindow *ui;
     QStandardItemModel * setpointList;

groundStation/gui/MicroCART/setpoint.cpp

+#include "setpoint.h"
+
+Setpoint::Setpoint()
+{
+
+}

groundStation/gui/MicroCART/setpoint.h

+#ifndef SETPOINT_H
+#define SETPOINT_H
+
+
+class Setpoint
+{
+public:
+    float roll = 0;
+    float pitch = 0;
+    float yaw = 0;
+    float throttle = 0;
+    Setpoint();
+};
+
+#endif // SETPOINT_H