diff --git a/groundStation/gui/MicroCART/MicroCART.pro b/groundStation/gui/MicroCART/MicroCART.pro
index 874beeab9d98f9f1a9314e2c86726d21ab7191bc..7bcc5c3748235674e09ec499d8dc0d2552a006a2 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro
+++ b/groundStation/gui/MicroCART/MicroCART.pro
@@ -14,9 +14,11 @@ TEMPLATE = app
SOURCES += main.cpp\
mainwindow.cpp \
- wrappers.c
+ wrappers.c \
+ trackerworker.cpp
HEADERS += mainwindow.h \
- wrappers.h
+ wrappers.h \
+ trackerworker.h
FORMS += mainwindow.ui
diff --git a/groundStation/gui/MicroCART/MicroCART.pro.user b/groundStation/gui/MicroCART/MicroCART.pro.user
index c1342b36d003a09aa132d2bc51876da03961598d..d8c1922ddcfb5df26cdd3db8ab7cedc4d600084b 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro.user
+++ b/groundStation/gui/MicroCART/MicroCART.pro.user
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 3.2.2, 2017-02-23T15:17:30. -->
+<!-- Written by QtCreator 3.2.2, 2017-03-05T17:14:24. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
@@ -8,7 +8,7 @@
</data>
<data>
<variable>ProjectExplorer.Project.ActiveTarget</variable>
- <value type="int">0</value>
+ <value type="int">-1</value>
</data>
<data>
<variable>ProjectExplorer.Project.EditorSettings</variable>
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 01aa006e06ba3d63f34841a8bb6c11e1f165ffa2..bb6976bd55acd667e0c09f19a927b16d062b9728 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -1,13 +1,46 @@
#include "mainwindow.h"
#include "ui_mainwindow.h"
+#include <QFileDialog>
+#include <QThread>
+#include <QTimer>
+
#include "wrappers.h"
+#include "trackerworker.h"
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
+
+ /* Create a thread for workers */
+ QThread* workerThread = new QThread(this);
+
+ /* Create a worker to update the tracker */
+ TrackerWorker * trackerWorker = new TrackerWorker();
+
+ /* Move it to the worker thread. This means that slots of this worker
+ * will run in the worker thread, and not block the UI */
+ trackerWorker->moveToThread(workerThread);
+
+ /* Connect tracker worker */
+ connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
+ this, SLOT (updateTracker(float, float, float, float, float, float)));
+ connect(findChild<QPushButton *>("pbStart"), SIGNAL (clicked()), trackerWorker, SLOT (connectBackend()));
+ connect(findChild<QPushButton *>("pbConnect"), SIGNAL (clicked()), trackerWorker, SLOT (connectBackend()));
+
+ /* Create other workers and add them to the worker thread, then connect them */
+
+ /* Now we can activate the slots of the workers with impunity and not block the UI thread */
+ /* 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()));
+
+ /* Start the things */
+ trackerTimer->start(300);
+ workerThread->start();
}
MainWindow::~MainWindow()
@@ -15,26 +48,45 @@ MainWindow::~MainWindow()
delete ui;
}
+void MainWindow::updateTracker(float x, float y, float z, float p, float r, float yaw)
+{
+ findChild<QLineEdit *>("xLineEdit")->setText(QString::number(x));
+ findChild<QLineEdit *>("yLineEdit")->setText(QString::number(y));
+ findChild<QLineEdit *>("zLineEdit")->setText(QString::number(z));
+ findChild<QLineEdit *>("pLineEdit")->setText(QString::number(p));
+ findChild<QLineEdit *>("rLineEdit")->setText(QString::number(r));
+ findChild<QLineEdit *>("yLineEdit_2")->setText(QString::number(yaw));
+}
+
void MainWindow::on_pbStart_clicked()
{
- this->backendPid = startBackend();
+ this->backendPid = startBackend(findChild<QLineEdit *>("backendPath")->text().toStdString().c_str());
findChild<QPushButton *>("pbStart")->setEnabled(false);
findChild<QPushButton *>("pbConnect")->setEnabled(false);
findChild<QPushButton *>("pbStop")->setEnabled(true);
+ backendState = 1;
}
void MainWindow::on_pbConnect_clicked()
{
- // TODO: Connect to existing backend (what is connected?)
findChild<QPushButton *>("pbStart")->setEnabled(false);
findChild<QPushButton *>("pbConnect")->setEnabled(false);
findChild<QPushButton *>("pbStop")->setEnabled(true);
+ backendState = 1;
}
void MainWindow::on_pbStop_clicked()
{
stopBackend(backendPid);
findChild<QPushButton *>("pbStart")->setEnabled(true);
- //findChild<QPushButton *>("pbConnect")->setEnabled(true);
+ findChild<QPushButton *>("pbConnect")->setEnabled(true);
findChild<QPushButton *>("pbStop")->setEnabled(false);
+ backendState = 0;
+}
+
+void MainWindow::on_chooseBackend_clicked()
+{
+ QString backendPath = QFileDialog::getOpenFileName(this,
+ tr("Path to Backend Executable"));
+ findChild<QLineEdit *>("backendPath")->setText(backendPath);
}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 08c56474fa70af9423135e32c9005ef2e0bae9bf..f54a88e37146462475bae4863964ea32c012c96d 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -22,6 +22,10 @@ private slots:
void on_pbStop_clicked();
+ void on_chooseBackend_clicked();
+
+ void updateTracker(float x, float y, float z, float p, float r, float yaw);
+
private:
Ui::MainWindow *ui;
pid_t backendPid;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index c613f8104b06d6a5eae17f8a0cb43fc278f03154..f2e2ab683d36f62894f5611a0dc9ca6cfe768592 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>481</width>
- <height>347</height>
+ <width>569</width>
+ <height>427</height>
</rect>
</property>
<property name="windowTitle">
@@ -19,8 +19,8 @@
<rect>
<x>10</x>
<y>10</y>
- <width>461</width>
- <height>271</height>
+ <width>531</width>
+ <height>281</height>
</rect>
</property>
<property name="sizePolicy">
@@ -29,6 +29,9 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
+ <property name="currentIndex">
+ <number>1</number>
+ </property>
<widget class="QWidget" name="backend">
<attribute name="title">
<string>Connection</string>
@@ -55,7 +58,7 @@
<item>
<widget class="QPushButton" name="pbConnect">
<property name="enabled">
- <bool>false</bool>
+ <bool>true</bool>
</property>
<property name="text">
<string>Connect</string>
@@ -74,6 +77,20 @@
</item>
</layout>
</item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QPushButton" name="chooseBackend">
+ <property name="text">
+ <string>Choose Backend</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="backendPath"/>
+ </item>
+ </layout>
+ </item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
@@ -100,19 +117,138 @@
</layout>
</widget>
</widget>
- <widget class="QWidget" name="tab_2">
+ <widget class="QWidget" name="status">
<attribute name="title">
- <string>Tab 2</string>
+ <string>Quad Status</string>
</attribute>
+ <widget class="QWidget" name="horizontalLayoutWidget_2">
+ <property name="geometry">
+ <rect>
+ <x>-1</x>
+ <y>9</y>
+ <width>451</width>
+ <height>226</height>
+ </rect>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_3">
+ <item>
+ <layout class="QFormLayout" name="formLayout">
+ <property name="fieldGrowthPolicy">
+ <enum>QFormLayout::ExpandingFieldsGrow</enum>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="xLabel">
+ <property name="text">
+ <string>X</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="xLineEdit">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="yLabel">
+ <property name="text">
+ <string>Y</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="yLineEdit">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="zLabel">
+ <property name="text">
+ <string>Z</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLineEdit" name="zLineEdit">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="pLabel">
+ <property name="text">
+ <string>P</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="pLineEdit">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="rLabel">
+ <property name="text">
+ <string>R</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QLineEdit" name="rLineEdit">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QLabel" name="yLabel_2">
+ <property name="text">
+ <string>Y</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QLineEdit" name="yLineEdit_2">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QFormLayout" name="formLayout_2"/>
+ </item>
+ </layout>
+ </widget>
</widget>
</widget>
+ <widget class="QPushButton" name="pbRefresh">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>290</y>
+ <width>88</width>
+ <height>34</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Refresh</string>
+ </property>
+ </widget>
</widget>
<widget class="QMenuBar" name="menuBar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
- <width>481</width>
+ <width>569</width>
<height>30</height>
</rect>
</property>
diff --git a/groundStation/gui/MicroCART/trackerworker.cpp b/groundStation/gui/MicroCART/trackerworker.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..46bb0ab514a87cce4cc39c8ae052223c40340c9e
--- /dev/null
+++ b/groundStation/gui/MicroCART/trackerworker.cpp
@@ -0,0 +1,33 @@
+#include "trackerworker.h"
+#include <QThread>
+
+TrackerWorker::TrackerWorker() :
+ QObject(), run(true)
+{
+}
+
+TrackerWorker::~TrackerWorker()
+{
+}
+
+void TrackerWorker::connectBackend()
+{
+}
+
+void TrackerWorker::disconnectBackend()
+{
+}
+
+void TrackerWorker::process()
+{
+ /* Fake data. SAD! */
+ static float x = 1.0f, y = 2.0f, z = 3.0f, p = 4.0f, r = 5.0f, yaw = 6.0f;
+ x += 1.0;
+ y += 2.0;
+ z += 3.0;
+ p += 4.0;
+ r += 5.0;
+ yaw += 6.0;
+
+ emit finished(x, y, z, p, r, yaw);
+}
diff --git a/groundStation/gui/MicroCART/trackerworker.h b/groundStation/gui/MicroCART/trackerworker.h
new file mode 100644
index 0000000000000000000000000000000000000000..dd72c9edf60b4dec586d6daa01ffb9f49c336d91
--- /dev/null
+++ b/groundStation/gui/MicroCART/trackerworker.h
@@ -0,0 +1,25 @@
+#ifndef TRACKERWORKER_H
+#define TRACKERWORKER_H
+
+#include <QObject>
+
+class TrackerWorker : public QObject
+{
+ Q_OBJECT
+public:
+ TrackerWorker();
+ ~TrackerWorker();
+
+signals:
+ void finished(float, float, float, float, float, float);
+
+public slots:
+ void process();
+ void connectBackend();
+ void disconnectBackend();
+
+private:
+ bool run;
+
+};
+#endif // TRACKERWORKER_H
diff --git a/groundStation/gui/MicroCART/wrappers.c b/groundStation/gui/MicroCART/wrappers.c
index 58f718fc86ba7516457e651f95678ca91eb6461c..f5e598c68b3b28b18537694edbaa60cd52bb14e8 100644
--- a/groundStation/gui/MicroCART/wrappers.c
+++ b/groundStation/gui/MicroCART/wrappers.c
@@ -13,13 +13,11 @@ int stopBackend(int pid)
return status;
}
-int startBackend()
+int startBackend(const char * backend)
{
int pid = fork();
if (!pid) {
- // TODO: Make dynamic
- // TODO: Redirect stdout to pipe to GUI
- execl("backEnd", "backEnd", NULL);
+ execl(backend, "backEnd", NULL);
exit(0);
}
return pid;
diff --git a/groundStation/gui/MicroCART/wrappers.h b/groundStation/gui/MicroCART/wrappers.h
index 0ac1d1151499f54c12204b5153e1ccf43e469c03..eea3e1b1925af52a2a8fa62969694ea1abe043fe 100644
--- a/groundStation/gui/MicroCART/wrappers.h
+++ b/groundStation/gui/MicroCART/wrappers.h
@@ -6,7 +6,7 @@ extern "C"
{
#endif
-int startBackend(void);
+int startBackend(const char * backend);
int stopBackend(int pid);
#ifdef __cplusplus
diff --git a/groundStation/src/frontend/frontend_tracker.h b/groundStation/src/frontend/frontend_tracker.h
index 58284ca01dc1b4987b523fc125b60010209af930..cbf56dbb33beae39e43e2ef5e31c623a938b9001 100644
--- a/groundStation/src/frontend/frontend_tracker.h
+++ b/groundStation/src/frontend/frontend_tracker.h
@@ -3,6 +3,10 @@
#include "frontend_common.h"
+#ifdef __cplusplus
+extern "C" {
+#endif
+
/* Struct containing pos/att data */
struct frontend_tracker_data {
double height;
@@ -24,4 +28,8 @@ struct frontend_tracker_data {
int frontend_track(struct backend_conn * conn,
struct frontend_tracker_data *data);
-#endif /* __FRONTEND_TRACKER_H */
\ No newline at end of file
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __FRONTEND_TRACKER_H */