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Unverified Commit 3ef9f2c0 authored by Jake Drahos's avatar Jake Drahos
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Replaced stupidity with simplicity

parent 4e2bceed
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groundStation/gui/MicroCART/mainwindow.cpp
+ 85
− 85
View file @ 3ef9f2c0
......@@ -34,7 +34,7 @@ MainWindow::MainWindow(QWidget *parent) :
topScene->addItem(quad);
/* Set up environment variables */
findChild<QLineEdit *>("socketPath")->setText(QProcessEnvironment::systemEnvironment().value("UCART_SOCKET"));
ui->socketPath->setText(QProcessEnvironment::systemEnvironment().value("UCART_SOCKET"));
/* Create a thread for workers */
QThread* workerThread = new QThread(this);
......@@ -67,8 +67,8 @@ MainWindow::MainWindow(QWidget *parent) :
connect(controlWorker, SIGNAL (paramSet(QString, QString)), controlWorker, SLOT (getParamValue(QString, QString)));
/* Signals to control worker */
connect(findChild<QPushButton *>("pbControlRefresh"), SIGNAL (clicked()), controlWorker, SLOT (getNodes()));
connect(findChild<QComboBox *>("nodeSelect"), SIGNAL (currentIndexChanged(QString)), controlWorker, SLOT (getParams(QString)));
connect(ui->pbControlRefresh, SIGNAL (clicked()), controlWorker, SLOT (getNodes()));
connect(ui->nodeSelect, SIGNAL (currentIndexChanged(QString)), controlWorker, SLOT (getParams(QString)));
connect(this, SIGNAL (getParamValue(QString, QString)), controlWorker, SLOT (getParamValue(QString, QString)));
connect(this, SIGNAL (setParamValue(QString, QString, float)), controlWorker, SLOT (setParamValue(QString, QString, float)));
......@@ -81,7 +81,7 @@ MainWindow::MainWindow(QWidget *parent) :
/* Connect refresh button and refresh timer to tracker worker */
QTimer * trackerTimer = new QTimer(this);
connect(trackerTimer, SIGNAL(timeout()), trackerWorker, SLOT(process()));
connect(findChild<QPushButton *>("pbRefresh"), SIGNAL (clicked()), trackerWorker, SLOT (process()));
connect(ui->pbRefresh, SIGNAL (clicked()), trackerWorker, SLOT (process()));
/* Timer used for next setpoint */
nextSpTimer->setSingleShot(true);
......@@ -93,15 +93,15 @@ MainWindow::MainWindow(QWidget *parent) :
cwThread->start();
/* Connect the setpointlist to the model */
findChild<QListView *>("setpointList")->setModel(setpointList);
ui->setpointList->setModel(setpointList);
/* Connect various things that can result in sending setpoints */
connect(findChild<QPushButton *>("pbSendSetpoint"), SIGNAL (clicked()), this, SLOT (sendSetpoints()));
connect(findChild<QLineEdit *>("xSetpoint"), SIGNAL (returnPressed()), this, SLOT (sendSetpoints()));
connect(findChild<QLineEdit *>("ySetpoint"), SIGNAL (returnPressed()), this, SLOT (sendSetpoints()));
connect(findChild<QLineEdit *>("zSetpoint"), SIGNAL (returnPressed()), this, SLOT (sendSetpoints()));
connect(ui->pbSendSetpoint, SIGNAL (clicked()), this, SLOT (sendSetpoints()));
connect(ui->xSetpoint, SIGNAL (returnPressed()), this, SLOT (sendSetpoints()));
connect(ui->ySetpoint, SIGNAL (returnPressed()), this, SLOT (sendSetpoints()));
connect(ui->zSetpoint, SIGNAL (returnPressed()), this, SLOT (sendSetpoints()));
connect(findChild<QListView *>("setpointList"), SIGNAL (doubleClicked(QModelIndex)), this, SLOT (sendSelectedSetpoint()));
connect(ui->setpointList, SIGNAL (doubleClicked(QModelIndex)), this, SLOT (sendSelectedSetpoint()));
}
MainWindow::~MainWindow()
......@@ -116,7 +116,7 @@ void MainWindow::updateConsole()
size_t len = 0;
len = readBackend(backendPipe, buf, len);
if (len > 0) {
QLineEdit * con = findChild<QLineEdit *>("vConsole");
QLineEdit * con = ui->vConsole;
con->setText(con->text().append(buf));
}
}
......@@ -124,38 +124,38 @@ void MainWindow::updateConsole()
void MainWindow::updateTracker(float x, float y, float z, float p, float r, float yaw)
{
findChild<QLineEdit *>("xActual")->setText(QString::number(x));
findChild<QLineEdit *>("yActual")->setText(QString::number(y));
findChild<QLineEdit *>("zActual")->setText(QString::number(z));
findChild<QLineEdit *>("pitchActual")->setText(QString::number(p));
findChild<QLineEdit *>("rollActual")->setText(QString::number(r));
findChild<QLineEdit *>("yawActual")->setText(QString::number(yaw));
ui->xActual->setText(QString::number(x));
ui->yActual->setText(QString::number(y));
ui->zActual->setText(QString::number(z));
ui->pitchActual->setText(QString::number(p));
ui->rollActual->setText(QString::number(r));
ui->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));
ui->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());
if (!nextSpTimer->isActive() && ui->autonavEnabled->isChecked() &&
(dist < ui->autonavThreshold->text().toFloat())) {
nextSpTimer->start(ui->autonavDelay->text().toInt());
}
}
void MainWindow::on_pbStart_clicked()
{
QProcessEnvironment::systemEnvironment().insert("UCART_SOCKET", findChild<QLineEdit *>("socketPath")->text());
this->backendPid = startBackend(findChild<QLineEdit *>("backendPath")->text().toStdString().c_str(), &backendPipe);
findChild<QPushButton *>("pbStart")->setEnabled(false);
findChild<QPushButton *>("pbStop")->setEnabled(true);
QProcessEnvironment::systemEnvironment().insert("UCART_SOCKET", ui->socketPath->text());
this->backendPid = startBackend(ui->backendPath->text().toStdString().c_str(), &backendPipe);
ui->pbStart->setEnabled(false);
ui->pbStop->setEnabled(true);
backendState = 1;
}
void MainWindow::on_pbConnect_clicked()
{
QProcessEnvironment::systemEnvironment().insert("UCART_SOCKET", findChild<QLineEdit *>("socketPath")->text());
findChild<QPushButton *>("pbStart")->setEnabled(false);
findChild<QPushButton *>("pbConnect")->setEnabled(false);
findChild<QPushButton *>("pbStop")->setEnabled(true);
QProcessEnvironment::systemEnvironment().insert("UCART_SOCKET", ui->socketPath->text());
ui->pbStart->setEnabled(false);
ui->pbConnect->setEnabled(false);
ui->pbStop->setEnabled(true);
emit(connectWorkers());
backendState = 1;
}
......@@ -168,9 +168,9 @@ void MainWindow::on_pbStop_clicked()
backendPipe = -1;
backendPid = 0;
}
findChild<QPushButton *>("pbStart")->setEnabled(true);
findChild<QPushButton *>("pbConnect")->setEnabled(true);
findChild<QPushButton *>("pbStop")->setEnabled(false);
ui->pbStart->setEnabled(true);
ui->pbConnect->setEnabled(true);
ui->pbStop->setEnabled(false);
backendState = 0;
}
......@@ -178,33 +178,33 @@ void MainWindow::on_chooseBackend_clicked()
{
QString backendPath = QFileDialog::getOpenFileName(this,
tr("Path to Backend Executable"));
findChild<QLineEdit *>("backendPath")->setText(backendPath);
ui->backendPath->setText(backendPath);
}
void MainWindow::newNodes(QStringList blocks)
{
QComboBox * select = findChild<QComboBox *>("nodeSelect");
QComboBox * select = ui->nodeSelect;
select->clear();
select->addItems(blocks);
this->findChild<QLabel *>("noGraphWarning1")->setVisible(false);
this->findChild<QLabel *>("noGraphWarning2")->setVisible(false);
this->findChild<QWidget *>("noGraphWarningLine")->setVisible(false);
this->ui->noGraphWarning1->setVisible(false);
this->ui->noGraphWarning2->setVisible(false);
this->ui->noGraphWarningLine->setVisible(false);
}
void MainWindow::newConstantBlocks(QStringList blocks)
{
QComboBox * xSelect = findChild<QComboBox *>("xSetpointSelect");
QComboBox * xSelect = ui->xSetpointSelect;
xSelect->clear();
xSelect->addItems(blocks);
QComboBox * ySelect = findChild<QComboBox *>("ySetpointSelect");
QComboBox * ySelect = ui->ySetpointSelect;
ySelect->clear();
ySelect->addItems(blocks);
QComboBox * zSelect = findChild<QComboBox *>("zSetpointSelect");
QComboBox * zSelect = ui->zSetpointSelect;
zSelect->clear();
zSelect->addItems(blocks);
......@@ -225,64 +225,64 @@ void MainWindow::newConstantBlocks(QStringList blocks)
void MainWindow::newParams(QStringList params)
{
QComboBox * select = findChild<QComboBox *>("paramSelect");
QComboBox * select = ui->paramSelect;
select->clear();
select->addItems(params);
}
void MainWindow::newParamValue(QString node, QString param, float val)
{
findChild<QLineEdit *>("paramValue")->setText(QString::number(val));
ui->paramValue->setText(QString::number(val));
/* Update the nav page setpoints if it's a setpoint paramvalue */
if (node == findChild<QComboBox *>("xSetpointSelect")->currentText()) {
findChild<QLineEdit *>("xSetpoint")->setText(QString::number(val));
} else if (node == findChild<QComboBox *>("ySetpointSelect")->currentText()) {
findChild<QLineEdit *>("ySetpoint")->setText(QString::number(val));
} else if (node == findChild<QComboBox *>("zSetpointSelect")->currentText()) {
findChild<QLineEdit *>("zSetpoint")->setText(QString::number(val));
if (node == ui->xSetpointSelect->currentText()) {
ui->xSetpoint->setText(QString::number(val));
} else if (node == ui->ySetpointSelect->currentText()) {
ui->ySetpoint->setText(QString::number(val));
} else if (node == ui->zSetpointSelect->currentText()) {
ui->zSetpoint->setText(QString::number(val));
}
}
void MainWindow::on_paramSelect_currentIndexChanged(const QString &arg1)
{
emit(getParamValue(findChild<QComboBox *>("nodeSelect")->currentText(), arg1));
emit(getParamValue(ui->nodeSelect->currentText(), arg1));
}
void MainWindow::on_paramValue_returnPressed()
{
emit (setParamValue(findChild<QComboBox *>("nodeSelect")->currentText(),
findChild<QComboBox *>("paramSelect")->currentText(),
findChild<QLineEdit *>("paramValue")->text().toFloat()));
emit (setParamValue(ui->nodeSelect->currentText(),
ui->paramSelect->currentText(),
ui->paramValue->text().toFloat()));
}
void MainWindow::sendSetpoints()
{
sp_x = findChild<QLineEdit *>("xSetpoint")->text().toFloat();
emit (setParamValue(findChild<QComboBox *>("xSetpointSelect")->currentText(),
sp_x = ui->xSetpoint->text().toFloat();
emit (setParamValue(ui->xSetpointSelect->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
sp_y = findChild<QLineEdit *>("ySetpoint")->text().toFloat();
emit (setParamValue(findChild<QComboBox *>("ySetpointSelect")->currentText(),
sp_y = ui->ySetpoint->text().toFloat();
emit (setParamValue(ui->ySetpointSelect->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
sp_z = findChild<QLineEdit *>("zSetpoint")->text().toFloat();
emit (setParamValue(findChild<QComboBox *>("zSetpointSelect")->currentText(),
sp_z = ui->zSetpoint->text().toFloat();
emit (setParamValue(ui->zSetpointSelect->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], sp_z));
}
void MainWindow::on_pbAppendSetpoint_clicked()
{
QString str("[" + findChild<QLineEdit *>("xSetpoint")->text() + ", "+
findChild<QLineEdit *>("ySetpoint")->text() + ", " +
findChild<QLineEdit *>("zSetpoint")->text() + "]");
QString str("[" + ui->xSetpoint->text() + ", "+
ui->ySetpoint->text() + ", " +
ui->zSetpoint->text() + "]");
setpointList->appendRow(new QStandardItem(str));
}
void MainWindow::on_pbNextSetpoint_clicked()
{
QListView * listView = findChild<QListView *>("setpointList");
QListView * listView = ui->setpointList;
if (listView->currentIndex().isValid() && setpointList->index(listView->currentIndex().row() + 1, 0).isValid()) {
listView->setCurrentIndex(setpointList->index(listView->currentIndex().row() + 1, 0));
} else {
......@@ -294,14 +294,14 @@ void MainWindow::on_pbNextSetpoint_clicked()
void MainWindow::sendSelectedSetpoint()
{
if (findChild<QListView *>("setpointList")->currentIndex().isValid()) {
if (ui->setpointList->currentIndex().isValid()) {
QRegExp regex("\\[(.*), (.*), (.*)\\]");
int row = findChild<QListView *>("setpointList")->currentIndex().row();
int row = ui->setpointList->currentIndex().row();
regex.indexIn(setpointList->item(row)->text());
findChild<QLineEdit *>("xSetpoint")->setText(regex.cap(1));
findChild<QLineEdit *>("ySetpoint")->setText(regex.cap(2));
findChild<QLineEdit *>("zSetpoint")->setText(regex.cap(3));
ui->xSetpoint->setText(regex.cap(1));
ui->ySetpoint->setText(regex.cap(2));
ui->zSetpoint->setText(regex.cap(3));
sendSetpoints();
}
......@@ -309,36 +309,36 @@ void MainWindow::sendSelectedSetpoint()
void MainWindow::on_pbActualToSetpoint_clicked()
{
findChild<QLineEdit *>("xSetpoint")->setText(findChild<QLineEdit *>("xActual")->text());
findChild<QLineEdit *>("ySetpoint")->setText(findChild<QLineEdit *>("yActual")->text());
findChild<QLineEdit *>("zSetpoint")->setText(findChild<QLineEdit *>("zActual")->text());
ui->xSetpoint->setText(ui->xActual->text());
ui->ySetpoint->setText(ui->yActual->text());
ui->zSetpoint->setText(ui->zActual->text());
}
void MainWindow::on_pbDeleteSetpoint_clicked()
{
if (findChild<QListView *>("setpointList")->currentIndex().isValid()) {
setpointList->removeRow(findChild<QListView *>("setpointList")->currentIndex().row());
if (ui->setpointList->currentIndex().isValid()) {
setpointList->removeRow(ui->setpointList->currentIndex().row());
}
}
void MainWindow::newControlGraph(QString graph)
{
findChild<QLabel *>("graphImage")->setPixmap(QPixmap(graph));
ui->graphImage->setPixmap(QPixmap(graph));
}
void MainWindow::on_pbActualToWaypoint_clicked()
{
QString str("[" + findChild<QLineEdit *>("xActual")->text() + ", "+
findChild<QLineEdit *>("yActual")->text() + ", " +
findChild<QLineEdit *>("zActual")->text() + "]");
QString str("[" + ui->xActual->text() + ", "+
ui->yActual->text() + ", " +
ui->zActual->text() + "]");
setpointList->appendRow(new QStandardItem(str));
}
void MainWindow::on_pbMoveUp_clicked()
{
if (findChild<QListView *>("setpointList")->currentIndex().isValid()) {
int current = findChild<QListView *>("setpointList")->currentIndex().row();
if (ui->setpointList->currentIndex().isValid()) {
int current = ui->setpointList->currentIndex().row();
if (current > 0) {
setpointList->insertRow(current - 1, setpointList->takeItem(current));
setpointList->removeRow(current + 1);
......@@ -348,8 +348,8 @@ void MainWindow::on_pbMoveUp_clicked()
void MainWindow::on_pbMoveDown_clicked()
{
if (findChild<QListView *>("setpointList")->currentIndex().isValid()) {
int current = findChild<QListView *>("setpointList")->currentIndex().row();
if (ui->setpointList->currentIndex().isValid()) {
int current = ui->setpointList->currentIndex().row();
if (current < (setpointList->rowCount() - 1)) {
setpointList->insertRow(current + 2, setpointList->takeItem(current));
setpointList->removeRow(current);
......@@ -360,13 +360,13 @@ void MainWindow::on_pbMoveDown_clicked()
void MainWindow::on_pbInsertSetpoint_clicked()
{
int current = 0;
if (findChild<QListView *>("setpointList")->currentIndex().isValid()) {
current = findChild<QListView *>("setpointList")->currentIndex().row();
if (ui->setpointList->currentIndex().isValid()) {
current = ui->setpointList->currentIndex().row();
}
QString str("[" + findChild<QLineEdit *>("xSetpoint")->text() + ", "+
findChild<QLineEdit *>("ySetpoint")->text() + ", " +
findChild<QLineEdit *>("zSetpoint")->text() + "]");
QString str("[" + ui->xSetpoint->text() + ", "+
ui->ySetpoint->text() + ", " +
ui->zSetpoint->text() + "]");
setpointList->insertRow(current, new QStandardItem(str));
}
......
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