From 530448915faafbc9340175f76f6e79551fde6844 Mon Sep 17 00:00:00 2001
From: zeisele <zeisele@iastate.edu>
Date: Mon, 28 Mar 2022 02:54:40 +0200
Subject: [PATCH] allow users to log data
---
.../gui/MicroCART/crazyflieworker.cpp | 37 ++++++++
groundStation/gui/MicroCART/crazyflieworker.h | 3 +
groundStation/gui/MicroCART/logworker.cpp | 42 +++++++-
groundStation/gui/MicroCART/logworker.h | 5 +
groundStation/gui/MicroCART/mainwindow.cpp | 95 +++++++++++++------
groundStation/gui/MicroCART/mainwindow.h | 8 +-
6 files changed, 158 insertions(+), 32 deletions(-)
diff --git a/groundStation/gui/MicroCART/crazyflieworker.cpp b/groundStation/gui/MicroCART/crazyflieworker.cpp
index b34028768..199cc1c95 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.cpp
+++ b/groundStation/gui/MicroCART/crazyflieworker.cpp
@@ -545,4 +545,41 @@ void CrazyflieWorker::logBlockBoxChanged(QString text) {
}
}
emit(gotBlockisEnabled(enabled));
+}
+
+bool compare_id(const struct logBlock& first, const struct logBlock& second) {
+ return (first.id < second.id);
+}
+
+std::vector<int8_t> CrazyflieWorker::getLogColumns(QString log1, QString log2, QString log3, QString log4, QString log5) {
+ std::vector<int8_t> columns(5, -1);
+ int column = 1;
+ std::sort(logBlocks.begin(), logBlocks.end(), compare_id);
+ std::string element;
+ for (int i = 0; i < logBlocks.size(); i++) {
+ struct logBlock lbCurrent = logBlocks.at(i);
+ if(lbCurrent.isEnabled) {
+ for(int j = 0; j < lbCurrent.variableNames.size(); j++) {
+ struct toc_info teCurrent = lbCurrent.variableNames.at(j);
+ element = teCurrent.strGroup + "." + teCurrent.strName;
+ if(!element.compare(log1.toStdString())) {
+ columns[0] = column;
+ }
+ else if(!element.compare(log2.toStdString())) {
+ columns[1] = column;
+ }
+ else if(!element.compare(log3.toStdString())) {
+ columns[2] = column;
+ }
+ else if(!element.compare(log4.toStdString())) {
+ columns[3] = column;
+ }
+ else if(!element.compare(log5.toStdString())) {
+ columns[4] = column;
+ }
+ column++;
+ }
+ }
+ }
+ return columns;
}
\ No newline at end of file
diff --git a/groundStation/gui/MicroCART/crazyflieworker.h b/groundStation/gui/MicroCART/crazyflieworker.h
index a68502486..5d3ee3f28 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.h
+++ b/groundStation/gui/MicroCART/crazyflieworker.h
@@ -99,6 +99,9 @@ private:
std::vector<struct toc_group> logGroups;
std::vector<struct logBlock> logBlocks;
bool isBackendConnected = false;
+
+public:
+ std::vector<int8_t> getLogColumns(QString log1, QString log2, QString log3, QString log4, QString log5);
};
#endif // CRAZYFLIEWORKER_H
diff --git a/groundStation/gui/MicroCART/logworker.cpp b/groundStation/gui/MicroCART/logworker.cpp
index 37d3f98aa..c96f67056 100644
--- a/groundStation/gui/MicroCART/logworker.cpp
+++ b/groundStation/gui/MicroCART/logworker.cpp
@@ -49,6 +49,11 @@ void LogWorker::startLogging(QString filename) {
logFile.open(logFileName.c_str());
//std::streamoff p = 0;
std::string line;
+ std::vector<std::string> tokens;
+ std::string temp;
+ std::stringstream stream;
+ QStringList results;
+ QString wantedLine;
// while(true) {
// logFile.seekg(p);
@@ -67,13 +72,44 @@ void LogWorker::startLogging(QString filename) {
while(true) {
while(std::getline(logFile, line)) {
- QString result(line.c_str());
- qInfo() << result;
+ //QString result(line.c_str());
+ //qInfo() << result;
+ if(logFlag == 0) {
+ usleep(1000);
+ continue;
+ }
+ else if(logFlag == 1) {
+ stream.str(line);
+ while(getline(stream, temp, '\t')) {
+ tokens.push_back(temp);
+ }
+ wantedLine.append(tokens.at(0).c_str());
+ wantedLine.append(",");
+ for(int i = 0; i < 5; i++) {
+ if(logColumns.at(i) == -1) {
+ wantedLine.append("NULL,");
+ }
+ else {
+ wantedLine.append(tokens.at(logColumns.at(i)).c_str());
+ wantedLine.append(",");
+ }
+ }
+ results.append(wantedLine);
+ wantedLine = "";
+ tokens.clear();
+ stream.str("");
+ stream.clear();
+ }
+ else if(logFlag == 2) {
+ emit(gotLogData(results));
+ results.clear();
+ logFlag = 0;
+ }
}
if(!logFile.eof()) {
break;
}
logFile.clear();
- usleep(500000);
+ usleep(150000);
}
}
\ No newline at end of file
diff --git a/groundStation/gui/MicroCART/logworker.h b/groundStation/gui/MicroCART/logworker.h
index a59d06b90..88525b2b4 100644
--- a/groundStation/gui/MicroCART/logworker.h
+++ b/groundStation/gui/MicroCART/logworker.h
@@ -28,6 +28,7 @@ public:
signals:
+ void gotLogData(QStringList results);
void connected();
void disconnected();
@@ -39,6 +40,10 @@ public slots:
private:
struct backend_conn * conn;
+
+public:
+ int logFlag = 0;
+ std::vector<int8_t> logColumns;
};
#endif // LOGWORKER_H
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 5e5759df9..d457ed40d 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -116,7 +116,7 @@ MainWindow::MainWindow(QWidget *parent) :
connect(ui->logEntriesComboBox3, SIGNAL (currentTextChanged(QString)), this, SLOT (getLogEntryBoxChange3(QString)));
connect(ui->logEntriesComboBox4, SIGNAL (currentTextChanged(QString)), this, SLOT (getLogEntryBoxChange4(QString)));
connect(ui->logEntriesComboBox5, SIGNAL (currentTextChanged(QString)), this, SLOT (getLogEntryBoxChange5(QString)));
- connect(ui->pb_startLog, SIGNAL (clicked()), logWorker, SLOT (getLogValues(QString, QString, QString, QString, QString)));
+ connect(ui->pb_startLog, SIGNAL (clicked()), this, SLOT (sendStartLog()));
connect(logWorker, SIGNAL (gotLogValues(QStringList)), this, SLOT (graphLogs(QStringList)));
connect(ui->pb_logBlockFile, SIGNAL (clicked()), this, SLOT(openLogBlockFile()));
connect(ui->pb_logBlockRefresh, SIGNAL (clicked()), this, SLOT(on_pb_lbRefresh()));
@@ -124,7 +124,9 @@ MainWindow::MainWindow(QWidget *parent) :
connect(ui->pb_logBlockResume, SIGNAL (clicked()), this, SLOT(on_pb_lbResume()));
connect(ui->pb_logBlockPause, SIGNAL (clicked()), this, SLOT(on_pb_lbPause()));
connect(ui->comboBox_logBlocks, SIGNAL (currentTextChanged(QString)), crazyflieWorker, SLOT (logBlockBoxChanged(QString)));
+ connect(ui->pb_stopLog, SIGNAL (clicked()), this, SLOT (sendStopLog()));
connect(crazyflieWorker, SIGNAL (gotBlockisEnabled(bool)), this, SLOT(setLogButtons(bool)));
+ connect(logWorker, SIGNAL (gotLogData(QStringList)), this, SLOT(graphLogData(QStringList)));
//connect(ui->pb_logBlockDelete, SIGNAL (clicked()), this, SLOT(on_pb_lbDelete()));
connect(this, SIGNAL(sendLogBlockCommand(int8_t, int8_t)), crazyflieWorker, SLOT(frontendLogBlockCommand(int8_t, int8_t)));
connect(this, SIGNAL (requestLogBlockID(QString, int8_t)), crazyflieWorker, SLOT(findLogBlockID(QString, int8_t)));
@@ -1057,7 +1059,7 @@ void MainWindow::on_gamepadPitchScale_valueChanged(int arg1)
void MainWindow::graphLogs(QStringList logs)
{
- qInfo() << "start" << endl;
+ // qInfo() << "start" << endl;
ui->dataPlot->addGraph();
ui->dataPlot->addGraph();
@@ -1071,7 +1073,7 @@ void MainWindow::graphLogs(QStringList logs)
ui->dataPlot->graph(3)->setPen(QPen(Qt::black, 2));
ui->dataPlot->graph(4)->setPen(QPen(Qt::yellow, 2));
- qInfo() << "color" << endl;
+ // qInfo() << "color" << endl;
//parse data and put into vector
QVector<double> x0(logs.size()), y0(logs.size());
@@ -1080,17 +1082,18 @@ void MainWindow::graphLogs(QStringList logs)
QVector<double> x3(logs.size()), y3(logs.size());
QVector<double> x4(logs.size()), y4(logs.size());
- qInfo() << "vector size" << endl;
+ // qInfo() << "vector size" << endl;
QVector<std::string> tempConv;
for(int i=0; i<logs.size(); i++) {
- qInfo() << "i:" << i << endl;
+ // qInfo() << "i:" << i << endl;
tempConv.append(logs.at(i).toStdString());
}
- qInfo() << QString::fromStdString(tempConv.at(0)) << endl;
- qInfo() << QString::fromStdString(tempConv.at(1)) << endl;
+ // qInfo() << QString::fromStdString(tempConv.at(0)) << endl;
+ // qInfo() << QString::fromStdString(tempConv.at(1)) << endl;
+ float xmin = INFINITY;
float xmax = -INFINITY;
float ymax = -INFINITY;
float ymin = INFINITY;
@@ -1109,14 +1112,14 @@ void MainWindow::graphLogs(QStringList logs)
tokens.push_back(intermediate);
}
- qInfo() << logs.size() << endl;
- qInfo() << "tokens " << i << " :\n " << endl;
- qInfo() << QString::fromStdString(tokens[0]) << endl;
- qInfo() << QString::fromStdString(tokens[1]) << endl;
- qInfo() << QString::fromStdString(tokens[2]) << endl;
- qInfo() << QString::fromStdString(tokens[3]) << endl;
- qInfo() << QString::fromStdString(tokens[4]) << endl;
- qInfo() << QString::fromStdString(tokens[5]) << endl;
+ // qInfo() << logs.size() << endl;
+ // qInfo() << "tokens " << i << " :\n " << endl;
+ // qInfo() << QString::fromStdString(tokens[0]) << endl;
+ // qInfo() << QString::fromStdString(tokens[1]) << endl;
+ // qInfo() << QString::fromStdString(tokens[2]) << endl;
+ // qInfo() << QString::fromStdString(tokens[3]) << endl;
+ // qInfo() << QString::fromStdString(tokens[4]) << endl;
+ // qInfo() << QString::fromStdString(tokens[5]) << endl;
//assign x and y values for log variables
if(tokens[1] != "NULL") {
@@ -1131,12 +1134,15 @@ void MainWindow::graphLogs(QStringList logs)
if(i == logs.size()-1) {
xmax = x0[i];
}
+ if(i == 0) {
+ xmin = x0[i];
+ }
}
else {
log0 = false;
}
- qInfo() << ymin << endl;
+ // qInfo() << ymin << endl;
if(tokens[2] != "NULL") {
x1[i] = std::stod(tokens[0]);
@@ -1150,6 +1156,9 @@ void MainWindow::graphLogs(QStringList logs)
if(i == logs.size()-1) {
xmax = x1[i];
}
+ if(i == 0) {
+ xmin = x0[i];
+ }
}
else {
log1 = false;
@@ -1166,6 +1175,9 @@ void MainWindow::graphLogs(QStringList logs)
if(i == logs.size()-1) {
xmax = x2[i];
}
+ if(i == 0) {
+ xmin = x0[i];
+ }
}
else {
log2 = false;
@@ -1182,6 +1194,9 @@ void MainWindow::graphLogs(QStringList logs)
if(i == logs.size()-1) {
xmax = x3[i];
}
+ if(i == 0) {
+ xmin = x0[i];
+ }
}
else {
log3 = false;
@@ -1198,18 +1213,21 @@ void MainWindow::graphLogs(QStringList logs)
if(i == logs.size()-1) {
xmax = x4[i];
}
+ if(i == 0) {
+ xmin = x0[i];
+ }
}
else {
log4 = false;
}
- qInfo() << "i: " << i << endl;
+ // qInfo() << "i: " << i << endl;
}
- qInfo() << "yMin: " << ymin << endl;
- qInfo() << "yMax: " << ymax << endl;
- qInfo() << "xMax: " << xmax << endl;
- qInfo() << x0 << endl;
- qInfo() << y0 << endl;
+ // qInfo() << "yMin: " << ymin << endl;
+ // qInfo() << "yMax: " << ymax << endl;
+ // qInfo() << "xMax: " << xmax << endl;
+ // qInfo() << x0 << endl;
+ // qInfo() << y0 << endl;
//start graph and set data
@@ -1232,9 +1250,10 @@ void MainWindow::graphLogs(QStringList logs)
//set lables and boundaries
ui->dataPlot->xAxis->setLabel("Time");
ui->dataPlot->yAxis->setLabel("Value");
- ui->dataPlot->xAxis->setRange(0, xmax);
+ ui->dataPlot->xAxis->setRange(xmin, xmax);
ui->dataPlot->yAxis->setRange(ymin, ymax);
ui->dataPlot->replot();
+ ui->dataPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
}
void MainWindow::openLogBlockFile() {
@@ -1456,14 +1475,34 @@ void MainWindow::getLogEntryBoxChange5(QString text) {
}
}
-void MainWindow::on_pb_stopLog_clicked()
+void MainWindow::graphLogData(QStringList results)
{
+ graphLogs(results);
+}
+
+// void MainWindow::on_pb_startLog_clicked()
+// {
- qInfo() << "Hello?" << endl;
- QStringList test = {"0,10,NULL,NULL,NULL,25","1,210,NULL,NULL,NULL,-10"};
- graphLogs(test);
+// qInfo() << "Hello?" << endl;
+// QStringList test = {"0,10,NULL,NULL,NULL,25","1,210,NULL,NULL,NULL,-10"};
+// graphLogs(test);
+
+// }
-}
void MainWindow::receiveLogFile(QString filename) {
emit(beginReadingLogFile(filename));
}
+
+void MainWindow::sendStartLog() {
+ QString name1 = ui->logEntriesComboBox1->currentText();
+ QString name2 = ui->logEntriesComboBox2->currentText();
+ QString name3 = ui->logEntriesComboBox3->currentText();
+ QString name4 = ui->logEntriesComboBox4->currentText();
+ QString name5 = ui->logEntriesComboBox5->currentText();
+ logWorker->logColumns = crazyflieWorker->getLogColumns(name1, name2, name3, name4, name5);
+ logWorker->logFlag = 1;
+}
+
+void MainWindow::sendStopLog() {
+ logWorker->logFlag = 2;
+}
\ No newline at end of file
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index f6ac9d2dc..345a41ebc 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -175,7 +175,11 @@ private slots:
void receiveLogFile(QString filename);
- void on_pb_stopLog_clicked();
+ //void on_pb_stopLog_clicked();
+
+ void sendStartLog();
+ void sendStopLog();
+ void graphLogData(QStringList results);
private:
Ui::MainWindow *ui;
@@ -196,6 +200,8 @@ private:
GamepadMonitor *gamepadMonitor;
CrazyflieWorker *crazyflieWorker;
LogWorker *logWorker;
+public:
+ int logFlag = 0;
};
#endif // MAINWINDOW_H
--
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