diff --git a/groundStation/gui/MicroCART/controlworker.cpp b/groundStation/gui/MicroCART/controlworker.cpp
index 6e7d92564b9bfe649352abba0939ea7c062b2b9d..6cd8b01c08877ad2b17ef8c27307006f361cb265 100644
--- a/groundStation/gui/MicroCART/controlworker.cpp
+++ b/groundStation/gui/MicroCART/controlworker.cpp
@@ -56,7 +56,7 @@ void ControlWorker::getNodes()
/* Add nodes */
for (size_t i = 0; i < num_nodes; i++) {
- graph_add_node_id(cgraph, nd[i].block, nd[i].name, blockDefs[nd[i].type], NULL);
+ graph_add_node_id(cgraph, nd[i].block, nd[i].name, blockDefs[nd[i].type]);
}
/* Set sources */
@@ -86,11 +86,11 @@ void ControlWorker::getNodes()
/* This is a massive hack... */
/* Could be done with popen, but fuck it */
- FILE * dotfile = fopen("/tmp/ucart-tmp-graph.dot", "rw");
+ FILE * dotfile = fopen("/tmp/ucart-tmp-graph.dot", "w");
if (dotfile) {
export_dot(cgraph, dotfile, 0);
fclose(dotfile);
- if (int dot_exit = QProcess::execute("dot /tmp/ucart-tmp/graph.dot -Tpng -o /tmp/ucart-tmp-graph.png")) {
+ if (int dot_exit = QProcess::execute("dot /tmp/ucart-tmp-graph.dot -Tpng -o /tmp/ucart-tmp-graph.png")) {
warnx("dot returned nonzero value (%d)", dot_exit);
} else {
emit(graphRendered(QString("/tmp/ucart-tmp-graph.png")));
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index b4fbee5827cf49377a4591c60ec215542902994c..68b410c57da1b4b6e8aaf2d73a14dfde7f21d273 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -50,6 +50,7 @@ MainWindow::MainWindow(QWidget *parent) :
connect(controlWorker, SIGNAL (gotParams(QStringList)), this, SLOT (newParams(QStringList)));
connect(controlWorker, SIGNAL (gotParamValue(QString, QString, float)), this, SLOT (newParamValue(QString, QString, float)));
connect(controlWorker, SIGNAL (gotConstantBlocks(QStringList)), this, SLOT (newConstantBlocks(QStringList)));
+ connect(controlWorker, SIGNAL (graphRendered(QString)), this, SLOT (newControlGraph(QString)));
connect(controlWorker, SIGNAL (paramSet(QString, QString)), controlWorker, SLOT (getParamValue(QString, QString)));
/* Signals to control worker */
@@ -298,3 +299,12 @@ void MainWindow::newControlGraph(QString graph)
{
findChild<QLabel *>("graphImage")->setPixmap(QPixmap(graph));
}
+
+void MainWindow::on_pbActualToWaypoint_clicked()
+{
+ QString str("[" + findChild<QLineEdit *>("xActual")->text() + ", "+
+ findChild<QLineEdit *>("yActual")->text() + ", " +
+ findChild<QLineEdit *>("zActual")->text() + "]");
+
+ setpointList->appendRow(new QStandardItem(str));
+}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 8e7d0351e91da987d18ea7a1c08250694bbbb266..e704deecdc779444034bb308affd264f5a12046b 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -57,6 +57,8 @@ private slots:
void on_pbDeleteSetpoint_clicked();
+ void on_pbActualToWaypoint_clicked();
+
private:
Ui::MainWindow *ui;
pid_t backendPid;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index d2a155240b54e69ef447cc7e5ba1e4279892b66b..4b75cdbafa31e49f8bef144eaad91e5bf6a9f31d 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>874</width>
- <height>596</height>
+ <width>1369</width>
+ <height>995</height>
</rect>
</property>
<property name="windowTitle">
@@ -18,7 +18,7 @@
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
- <number>0</number>
+ <number>2</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -142,19 +142,43 @@
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
- <widget class="QLabel" name="graphImage">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Refresh to display controller graph</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
+ <widget class="QScrollArea" name="scrollArea">
+ <property name="widgetResizable">
+ <bool>true</bool>
</property>
+ <widget class="QWidget" name="scrollAreaWidgetContents">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1333</width>
+ <height>727</height>
+ </rect>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_8">
+ <item>
+ <widget class="QLabel" name="graphImage">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>32</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
</widget>
</item>
<item>
@@ -307,6 +331,9 @@
<underline>true</underline>
</font>
</property>
+ <property name="styleSheet">
+ <string notr="true">QLabel {color : red; }</string>
+ </property>
<property name="text">
<string>NO CONTROL GRAPH LOADED!</string>
</property>
@@ -483,6 +510,13 @@
</property>
</widget>
</item>
+ <item>
+ <widget class="QPushButton" name="pbActualToWaypoint">
+ <property name="text">
+ <string>To Waypoint</string>
+ </property>
+ </widget>
+ </item>
<item>
<spacer name="verticalSpacer_4">
<property name="orientation">
@@ -665,6 +699,75 @@
</property>
</widget>
</item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QCheckBox" name="autonavEnabled">
+ <property name="text">
+ <string>Auto</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="Line" name="line_5">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_9">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Delay</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="autonavDelay">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>1500</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="Line" name="line_4">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </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>
</item>
<item>
@@ -700,7 +803,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>874</width>
+ <width>1369</width>
<height>30</height>
</rect>
</property>