From 30a26c5249631f149ee741f233e3bcdc5c11edc1 Mon Sep 17 00:00:00 2001
From: zeisele <zeisele@iastate.edu>
Date: Mon, 28 Mar 2022 19:53:59 +0200
Subject: [PATCH] add test stand data to logging
---
crazyflie_groundstation/inc/CCrazyflie.h | 3 +-
.../ccrazyflie/CCrazyflie_loggingFuncs.cpp | 7 +++++
.../src/ccrazyradio/CCrazyRadio_loopFuncs.cpp | 2 +-
.../src/crazyflieGroundStation.cpp | 11 +++-----
.../gui/MicroCART/crazyflieworker.cpp | 28 +++++++++++++++++++
groundStation/gui/MicroCART/logworker.cpp | 3 ++
6 files changed, 44 insertions(+), 10 deletions(-)
diff --git a/crazyflie_groundstation/inc/CCrazyflie.h b/crazyflie_groundstation/inc/CCrazyflie.h
index dd7937812..8d92698a3 100644
--- a/crazyflie_groundstation/inc/CCrazyflie.h
+++ b/crazyflie_groundstation/inc/CCrazyflie.h
@@ -249,8 +249,6 @@ class CCrazyflie {
bool readTOCParameters();
bool readTOCLogs();
- serial::Serial * test_stand;
-
/*! \brief Send a set point to the copter controller
Send the set point for the internal copter controllers. The
@@ -295,6 +293,7 @@ class CCrazyflie {
CTOC *m_tocParameters;
CTOC *m_tocLogs;
int testStandError = 0;
+ serial::Serial * test_stand;
CCrazyflie(CCrazyRadio *crRadio, int radioChannel, XferRate dataRate, int quadNum, double startTime);
/*! \brief Destructor for the copter convenience class
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
index e3b05418a..32fcc188a 100644
--- a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
@@ -117,6 +117,7 @@ void CCrazyflie::writeLogData() {
for(int i = 0; i < m_tocLogs->sizeOfActiveList(); i++) {
file_log << "\t" << this->sensorDoubleValue(m_tocLogs->activeLogName(i));
}
+ file_log << "\t" << this->sensorDoubleValue("testStand");
}
@@ -238,7 +239,13 @@ double CCrazyflie::readTestStand() {
}
*/
std::string result = "";
+
+
+ //usleep(5);
+ this->test_stand->readline();
result = this->test_stand->readline();
+ this->test_stand->flushInput();
+
double value;
try {
value = std::stod(result);
diff --git a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
index bc1dbc1d6..5772cf441 100644
--- a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
+++ b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
@@ -23,7 +23,7 @@ void CCrazyRadio::mainLoop() {
(*it)->writeLogData();
}
- usleep(1000);
+ usleep(500);
// Check if the thread has been told to terminate
if (this->m_exitThread) {
diff --git a/crazyflie_groundstation/src/crazyflieGroundStation.cpp b/crazyflie_groundstation/src/crazyflieGroundStation.cpp
index 80d05ce35..5ac66203b 100644
--- a/crazyflie_groundstation/src/crazyflieGroundStation.cpp
+++ b/crazyflie_groundstation/src/crazyflieGroundStation.cpp
@@ -192,13 +192,9 @@ int main(int argc, char** argv) {
{
serial::PortInfo device = *iter++;
- if(device.hardware_id.compare("n/a")) {
- cout << "Port found, do you want to use " << device.port << ": " << device.description << " as your serial input to the ground station? y or n" << endl;
- char response = getchar();
- if(response == 'y') {
- selectedPort = device.port;
- break;
- }
+ if(!device.port.compare("/dev/ttyUSB0")) {
+ selectedPort = device.port;
+ break;
}
}
@@ -498,6 +494,7 @@ void closeoutProgram() {
cout << "\tBattery" << ": " << crazyflie_info[i].cflieCopter->batteryLevel() << endl;
crazyflie_info[i].cflieCopter->cycle();
crazyflie_info[i].cflieCopter->resetLoggingBlocks();
+ crazyflie_info[i].cflieCopter->test_stand->close();
delete crazyflie_info[i].cflieCopter;
}
diff --git a/groundStation/gui/MicroCART/crazyflieworker.cpp b/groundStation/gui/MicroCART/crazyflieworker.cpp
index 199cc1c95..5412e4d8b 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.cpp
+++ b/groundStation/gui/MicroCART/crazyflieworker.cpp
@@ -277,6 +277,7 @@ void CrazyflieWorker::loadLogIds() {
//top line
std::getline(logTOCFile, line);
std::getline(logTOCFile, line);
+ int maxId = -1;
//actual values;
while(std::getline(logTOCFile, line)) {
struct toc_info values;
@@ -286,6 +287,9 @@ void CrazyflieWorker::loadLogIds() {
std::getline(ss, temp_str, '\t');
if(i == 0) {
values.id = (int16_t) stoi(temp_str);
+ if(values.id > maxId) {
+ maxId = values.id;
+ }
}
else if(i == 1) {
values.dataType = (int8_t) stoi(temp_str);
@@ -315,6 +319,18 @@ void CrazyflieWorker::loadLogIds() {
logIds.insert(Qidentifier, values);
}
logTOCFile.close();
+ struct toc_group testGroup;
+ testGroup.groupName = "MicroCARTTest";
+ testGroup.entryNames.push_back("stand");
+ logGroups.push_back(testGroup);
+ struct toc_info testStand;
+ testStand.id = maxId+1;
+ testStand.dataType = 9;
+ testStand.strGroup = "MicroCARTTest";
+ testStand.strName = "stand";
+ std::string Midentifier = testStand.strGroup + "." + testStand.strName;
+ QString MQidentifier(Midentifier.c_str());
+ logIds.insert(MQidentifier, testStand);
}
int CrazyflieWorker::findParamGroup(std::string gName) {
@@ -422,6 +438,7 @@ void CrazyflieWorker::loadLogBlocks() {
int blockLinesRead = 0;
struct logBlock cur;
std::string entryName;
+ int maxId = -1;
while(getline(blockFile, line)) {
if(!line.compare("START BLOCK")) {
@@ -430,6 +447,9 @@ void CrazyflieWorker::loadLogBlocks() {
}
else if(!line.compare("END BLOCK")) {
cur.isEnabled = true;
+ if(cur.id > maxId) {
+ maxId = cur.id;
+ }
logBlocks.push_back(cur);
blockLinesRead = 0;
cur.id = -1;
@@ -496,6 +516,13 @@ void CrazyflieWorker::loadLogBlocks() {
}
}
blockFile.close();
+ struct logBlock stand;
+ stand.id = maxId+1;
+ stand.blockName = "MicroCART";
+ stand.isEnabled = true;
+ struct toc_info standInfo = tocElementForName("MicroCARTTest.stand");
+ stand.variableNames.push_back(standInfo);
+ logBlocks.push_back(stand);
}
void CrazyflieWorker::findLogBlockID(QString name, int8_t command) {
@@ -563,6 +590,7 @@ std::vector<int8_t> CrazyflieWorker::getLogColumns(QString log1, QString log2, Q
struct toc_info teCurrent = lbCurrent.variableNames.at(j);
element = teCurrent.strGroup + "." + teCurrent.strName;
if(!element.compare(log1.toStdString())) {
+ qInfo() << column;
columns[0] = column;
}
else if(!element.compare(log2.toStdString())) {
diff --git a/groundStation/gui/MicroCART/logworker.cpp b/groundStation/gui/MicroCART/logworker.cpp
index c96f67056..50ae9b26c 100644
--- a/groundStation/gui/MicroCART/logworker.cpp
+++ b/groundStation/gui/MicroCART/logworker.cpp
@@ -90,10 +90,13 @@ void LogWorker::startLogging(QString filename) {
wantedLine.append("NULL,");
}
else {
+ qInfo() << "append";
wantedLine.append(tokens.at(logColumns.at(i)).c_str());
wantedLine.append(",");
+ qInfo() << "append2";
}
}
+ qInfo() << "results";
results.append(wantedLine);
wantedLine = "";
tokens.clear();
--
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