diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index d457ed40d005117c1f1df63cbe474d9dea58bc5a..4dc1382073f27e409aaa31d1425981f2c9e3a23c 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -15,7 +15,6 @@
#include <QProcess>
#include <QDebug>
-#include "trackerworker.h"
#include "controlworker.h"
#include "crazyflieworker.h"
#include "quaditem.h"
@@ -24,20 +23,17 @@
#include "graph_blocks.h"
#include <iostream>
+
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow),
- setpointList(new QStandardItemModel(this)),
- nextSpTimer(new QTimer(this)),
sp_roll(0.0f),
sp_pitch(0.0f),
sp_yaw(0.0f),
sp_thrust(0.0f),
- trackerTimer(new QTimer(this)),
workerStartTimer(new QTimer(this)),
crazyflieTimer(new QTimer(this)),
backendProcess(new QProcess(this)),
- matlabProcess(new QProcess(this)),
pollGamepadTimer(new QTimer(this)),
connectedWorkers(0)
{
@@ -46,38 +42,17 @@ MainWindow::MainWindow(QWidget *parent) :
qRegisterMetaType<int8_t>("int8_t");
QGraphicsScene *posScene = new QGraphicsScene(this);
- // ui->posView->setScene(posScene);
+
QuadItem * posIndicator = new QuadItem();
posScene->addItem(posIndicator);
QGraphicsScene *attScene = new QGraphicsScene(this);
- //ui->attView->setScene(attScene);
+
QADI * attIndicator = new QADI();
attScene->addWidget(attIndicator);
-
workerStartTimer->setSingleShot(true);
- /* 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(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
- // posIndicator, SLOT(updatePos(float,float,float,float,float,float)));
-
- //connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
- // attIndicator, SLOT(updateAttitude(float, float, float, float, float, float)));
-
backendProcess->setProcessChannelMode(QProcess::MergedChannels);
/* Create another worker for the control graph */
@@ -86,17 +61,9 @@ MainWindow::MainWindow(QWidget *parent) :
controlWorker->moveToThread(cwThread);
/* Connect signals from control worker */
- connect(controlWorker, SIGNAL (gotNodes(QStringList)), this, SLOT (newNodes(QStringList)));
- 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 (gotNodeOutput(QString, float)), this, SLOT (newNodeOutput(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 */
- // 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)));
connect(this, SIGNAL (getNodeOutput(QString)), controlWorker, SLOT (getNodeOutput(QString)));
@@ -160,17 +127,14 @@ MainWindow::MainWindow(QWidget *parent) :
connect(crazyflieWorker, SIGNAL (gotParamValue(QString, float)), this, SLOT (displayParamValue(QString, float)));
/* Connect and disconnect from backend when signals emitted */
- //connect(workerStartTimer, SIGNAL (timeout()), trackerWorker, SLOT (connectBackend()));
connect(workerStartTimer, SIGNAL (timeout()), logWorker, SLOT (connectBackend()));
connect(workerStartTimer, SIGNAL (timeout()), controlWorker, SLOT (connectBackend()));
connect(workerStartTimer, SIGNAL (timeout()), crazyflieWorker, SLOT (connectBackend()));
- //connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
connect(this, SIGNAL (connectWorkers()), logWorker, SLOT (connectBackend()));
connect(this, SIGNAL (connectWorkers()), controlWorker, SLOT (connectBackend()));
connect(this, SIGNAL (connectWorkers()), crazyflieWorker, SLOT (connectBackend()));
- //connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
connect(this, SIGNAL (disconnectWorkers()), logWorker, SLOT (disconnectBackend()));
connect(this, SIGNAL (disconnectWorkers()), controlWorker, SLOT (disconnectBackend()));
connect(this, SIGNAL (disconnectWorkers()), crazyflieWorker, SLOT (disconnectBackend()));
@@ -184,36 +148,17 @@ MainWindow::MainWindow(QWidget *parent) :
connect(controlWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
connect(controlWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
- //connect(trackerWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
- //connect(trackerWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
-
connect(logWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
connect(logWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
connect(crazyflieWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
connect(crazyflieWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
- /* Connect refresh button and refresh timer to tracker worker */
- connect(trackerTimer, SIGNAL(timeout()), this, SLOT(updatePosAtt()));
- // connect(ui->pbRefresh, SIGNAL (clicked()), this, SLOT (updatePosAtt()));
-
- //connect(this, SIGNAL(getPosAttFromBackend()), trackerWorker, SLOT(process()));
-
- /* Timer used for next setpoint */
- nextSpTimer->setSingleShot(true);
- connect(nextSpTimer, SIGNAL (timeout()), this, SLOT (on_pbNextSetpoint_clicked()));
-
/* Start the things */
- trackerTimer->start(100);
crazyflieTimer->start(300);
- //workerThread->start();
cwThread->start();
cfThread->start();
logThread->start();
- matlabProcess->start();
-
- /* Connect the setpointlist to the model */
- // ui->setpointList->setModel(setpointList);
ui->pb_getParam->setEnabled(false);
ui->pb_setParam->setEnabled(false);
@@ -231,10 +176,6 @@ MainWindow::MainWindow(QWidget *parent) :
logVar4 = "Logging Variable 4";
logVar5 = "Logging Variable 5";
- /* Connect various things that can result in sending setpoints */
- // connect(ui->pbSendSetpoint, SIGNAL (clicked()), this, SLOT (sendSetpoints()));
- // connect(ui->setpointList, SIGNAL (doubleClicked(QModelIndex)), this, SLOT (sendSelectedSetpoint()));
-
/* start gamepad monitor */
gamepadMonitor = new GamepadMonitor();
if(gamepadMonitor->isGamepadConnected()){
@@ -255,8 +196,6 @@ MainWindow::MainWindow(QWidget *parent) :
ui->gamepadYawScale->setValue((int)gamepadMonitor->getYawScale());
ui->gamepadThrustScale->setValue((int)gamepadMonitor->getThrustScale());
-
-
/* Populate scripts list */
QDir scriptsDir("scripts/");
QStringList scripts = scriptsDir.entryList();
@@ -273,28 +212,6 @@ MainWindow::~MainWindow()
delete ui;
}
-void MainWindow::connectMatlab()
-{
-
-}
-
-void MainWindow::on_run_data_analysis_button_clicked()
-{
- QProcess * matProcess = new QProcess(this);
- QString matlab = "/usr/local/bin/matlab";
- matProcess->start(matlab, QStringList() << QString("-nodesktop")<< QString("-nosplash")<<QString("-r")<<QString("run('../../../controls/DataAnalysisTool/Tool/GUI.m');"));
-}
-
-void MainWindow::updatePosAtt()
-{
- // emit(getNodeOutput(ui->xPositionSelect->currentText()));
- // emit(getNodeOutput(ui->yPositionSelect->currentText()));
- // emit(getNodeOutput(ui->zPositionSelect->currentText()));
- // emit(getNodeOutput(ui->pAttitudeSelect->currentText()));
- // emit(getNodeOutput(ui->rAttitudeSelect->currentText()));
- // emit(getNodeOutput(ui->yAttitudeSelect->currentText()));
-}
-
void MainWindow::updateTracker(float thrust, float pitch, float roll, float yaw, float pitchRate, float rollRate, float yawRate)
{
ui->currThrustActual->setText(QString::number(thrust));
@@ -310,7 +227,6 @@ void MainWindow::updateTracker(float thrust, float pitch, float roll, float yaw,
void MainWindow::on_pbStart_clicked()
{
backendProcess->setProgram(ui->backendPath->text());
-
backendProcess->start();
}
@@ -384,18 +300,6 @@ void MainWindow::on_chooseBackend_clicked()
ui->backendPath->setText(backendPath);
}
-
-void MainWindow::newNodes(QStringList blocks)
-{
- // QComboBox * select = ui->nodeSelect;
- // select->clear();
- // select->addItems(blocks);
-
- // this->ui->noGraphWarning1->setVisible(false);
- // this->ui->noGraphWarning2->setVisible(false);
- // this->ui->noGraphWarningLine->setVisible(false);
-}
-
void MainWindow::setParamGroups(QStringList groupNames) {
ui->paramGroupComboBox->addItem("");
ui->paramGroupComboBox->addItems(groupNames);
@@ -408,9 +312,6 @@ void MainWindow::setLoggingVariableBox(QStringList variableNames) {
}
void MainWindow::getGroupBoxChange(int index) {
- // for(int i = 0; i < ui->paramGroupComboBox->count(); i++) {
- // ui->paramEntriesComboBox->removeItem(i);
- // }
ui->paramEntriesComboBox->clear();
QString qStrGroup = ui->paramGroupComboBox->itemText(index);
std::string check = qStrGroup.toStdString();
@@ -424,9 +325,6 @@ void MainWindow::getGroupBoxChange(int index) {
}
void MainWindow::getGroupBox2Change(int index) {
- // for(int i = 0; i < ui->paramGroupComboBox->count(); i++) {
- // ui->paramEntriesComboBox->removeItem(i);
- // }
ui->paramEntriesComboBox_2->clear();
QString qStrGroup = ui->paramGroupComboBox_2->itemText(index);
std::string check = qStrGroup.toStdString();
@@ -492,331 +390,6 @@ void MainWindow::displayParamValue(QString key, float value) {
ui->valueVallabel->setNum(value);
}
-void MainWindow::newConstantBlocks(QStringList blocks)
-{
- // ui->xSetpointSelect->clear();
- // ui->xSetpointSelect->addItems(blocks);
-
- // ui->ySetpointSelect->clear();
- // ui->ySetpointSelect->addItems(blocks);
-
- // ui->zSetpointSelect->clear();
- // ui->zSetpointSelect->addItems(blocks);
-
- // ui->yawSetpointSelect->clear();
- // ui->yawSetpointSelect->addItems(blocks);
-
- // ui->xPositionSelect->clear();
- // ui->xPositionSelect->addItems(blocks);
-
- // ui->yPositionSelect->clear();
- // ui->yPositionSelect->addItems(blocks);
-
- // ui->zPositionSelect->clear();
- // ui->zPositionSelect->addItems(blocks);
-
- // ui->pAttitudeSelect->clear();
- // ui->pAttitudeSelect->addItems(blocks);
-
- // ui->rAttitudeSelect->clear();
- // ui->rAttitudeSelect->addItems(blocks);
-
- // ui->yAttitudeSelect->clear();
- // ui->yAttitudeSelect->addItems(blocks);
-
- // for (ssize_t i = 0; i < blocks.size(); i++) {
- // if (blocks[i].contains("setpoint", Qt::CaseInsensitive) || blocks[i].contains("sp", Qt::CaseInsensitive)) {
- // if (blocks[i].contains("x ", Qt::CaseInsensitive)) {
- // ui->xSetpointSelect->setCurrentIndex(i);
- // }
- // if (blocks[i].contains("y ", Qt::CaseInsensitive)) {
- // ui->ySetpointSelect->setCurrentIndex(i);
- // }
- // if (blocks[i].contains("z ", Qt::CaseInsensitive) || blocks[i].contains("alt", Qt::CaseInsensitive)) {
- // ui->zSetpointSelect->setCurrentIndex(i);
- // }
- // if (blocks[i].contains("yaw", Qt::CaseInsensitive) || blocks[i].contains("alt", Qt::CaseInsensitive)) {
- // ui->yawSetpointSelect->setCurrentIndex(i);
- // }
- // }
-
- // if (blocks[i] == QString("Pitch")) {
- // ui->pAttitudeSelect->setCurrentIndex(i);
- // }
-
- // if (blocks[i] == QString("Roll")) {
- // ui->rAttitudeSelect->setCurrentIndex(i);
- // }
-
- // if (blocks[i] == QString("Yaw")) {
- // ui->yAttitudeSelect->setCurrentIndex(i);
- // }
-
- // if (blocks[i] == QString("Lidar")) {
- // ui->zPositionSelect->setCurrentIndex(i);
- // }
-
- // if (blocks[i] == QString("OF X Trim Add")) {
- // ui->xPositionSelect->setCurrentIndex(i);
- // }
-
- // if (blocks[i] == QString("OF Y Trim Add")) {
- // ui->yPositionSelect->setCurrentIndex(i);
- // }
- // }
-}
-
-void MainWindow::newNodeOutput(QString node, float val)
-{
- // /* Update the nav page if quad is set as the source for pos/att */
- // if (node == ui->xPositionSelect->currentText()) {
- // ui->xActual->setText(QString::number(val));
- // } else if (node == ui->yPositionSelect->currentText()) {
- // ui->yActual->setText(QString::number(val));
- // } else if (node == ui->zPositionSelect->currentText()) {
- // ui->zActual->setText(QString::number(val));
- // } else if (node == ui->pAttitudeSelect->currentText()) {
- // ui->pitchActual->setText(QString::number(val));
- // } else if (node == ui->rAttitudeSelect->currentText()) {
- // ui->rollActual->setText(QString::number(val));
- // } else if (node == ui->yAttitudeSelect->currentText()) {
- // ui->yawActual->setText(QString::number(val));
- // }
-}
-
-void MainWindow::newParams(QStringList params)
-{
- // QComboBox * select = ui->paramSelect;
- // select->clear();
- // select->addItems(params);
-}
-
-void MainWindow::newParamValue(QString node, QString param, float val)
-{
- // ui->paramValue->setText(QString::number(val));
-
- // /* Update the nav page setpoints if it's a setpoint paramvalue */
- // 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(ui->nodeSelect->currentText(), arg1));
-}
-
-void MainWindow::on_paramValue_returnPressed()
-{
- // emit (setParamValue(ui->nodeSelect->currentText(),
- // ui->paramSelect->currentText(),
- // ui->paramValue->text().toFloat()));
-}
-
-
-void MainWindow::sendSetpoints()
-{
-
- // if (ui->sendX->isChecked()) {
- // sp_x = ui->xSetpoint->text().toFloat();
- // emit (setParamValue(ui->xSetpointSelect->currentText(),
- // blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
- // }
-
- // if (ui->sendY->isChecked()) {
- // sp_y = ui->ySetpoint->text().toFloat();
- // emit (setParamValue(ui->ySetpointSelect->currentText(),
- // blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
- // }
-
- // if (ui->sendZ->isChecked()) {
- // sp_z = ui->zSetpoint->text().toFloat();
- // emit (setParamValue(ui->zSetpointSelect->currentText(),
- // blockDefs[BLOCK_CONSTANT]->param_names[0], sp_z));
- // }
-
- // if (ui->sendYaw->isChecked()) {
- // emit (setParamValue(ui->yawSetpointSelect->currentText(),
- // blockDefs[BLOCK_CONSTANT]->param_names[0],
- // ui->yawSetpoint->text().toFloat()));
- // }
-}
-
-void MainWindow::on_pbAppendSetpoint_clicked()
-{
- // QString str("[" + ui->xSetpoint->text() + ", "+
- // ui->ySetpoint->text() + ", " +
- // ui->zSetpoint->text() + ", " +
- // ui->yawSetpoint->text() + "]");
-
- // setpointList->appendRow(new QStandardItem(str));
-}
-
-void MainWindow::on_pbNextSetpoint_clicked()
-{
- // 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 {
- // listView->setCurrentIndex(setpointList->index(0, 0));
- // }
- // sendSelectedSetpoint();
-}
-
-
-void MainWindow::sendSelectedSetpoint()
-{
- // if (ui->setpointList->currentIndex().isValid()) {
- // QRegExp regex("\\[(.*), (.*), (.*), (.*)\\]");
- // int row = ui->setpointList->currentIndex().row();
-
- // regex.indexIn(setpointList->item(row)->text());
- // ui->xSetpoint->setText(regex.cap(1));
- // ui->ySetpoint->setText(regex.cap(2));
- // ui->zSetpoint->setText(regex.cap(3));
- // ui->yawSetpoint->setText(regex.cap(4));
-
- // sendSetpoints();
- // }
-}
-
-void MainWindow::on_pbActualToSetpoint_clicked()
-{
- // ui->xSetpoint->setText(ui->xActual->text());
- // ui->ySetpoint->setText(ui->yActual->text());
- // ui->zSetpoint->setText(ui->zActual->text());
- // ui->yawSetpoint->setText(ui->yawActual->text());
-}
-
-void MainWindow::on_pbDeleteSetpoint_clicked()
-{
- // if (ui->setpointList->currentIndex().isValid()) {
- // setpointList->removeRow(ui->setpointList->currentIndex().row());
- // }
-}
-
-// void MainWindow::newControlGraph(QString graph)
-// {
-// ui->graphImage->setPixmap(QPixmap(graph));
-// }
-
-void MainWindow::on_pbActualToWaypoint_clicked()
-{
- // QString str("[" + ui->xActual->text() + ", "+
- // ui->yActual->text() + ", " +
- // ui->zActual->text() + ", " +
- // ui->yawActual->text() + "]");
-
- // setpointList->appendRow(new QStandardItem(str));
-}
-
-void MainWindow::on_pbMoveUp_clicked()
-{
- // 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);
- // }
- // }
-}
-
-void MainWindow::on_pbMoveDown_clicked()
-{
- // 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);
- // }
- // }
-}
-
-void MainWindow::on_pbInsertSetpoint_clicked()
-{
- // int current = 0;
- // if (ui->setpointList->currentIndex().isValid()) {
- // current = ui->setpointList->currentIndex().row();
- // }
-
- // QString str("[" + ui->xSetpoint->text() + ", "+
- // ui->ySetpoint->text() + ", " +
- // ui->zSetpoint->text() + ", " +
- // ui->yawSetpoint->text() + "]");
- // setpointList->insertRow(current, new QStandardItem(str));
-}
-
-void MainWindow::on_pbSaveWaypoints_clicked()
-{
- QString filter = "Waypoints (*.wpt)";
- QString savePath = QFileDialog::getSaveFileName(this, tr("Save waypoint"), QString(), filter, &filter, QFileDialog::DontUseNativeDialog);
-
- if (!savePath.isEmpty()) {
- QFileInfo finfo(savePath);
- if (finfo.suffix().isNull())
- savePath.append(".wpt");
- QFile f(savePath);
- f.open(QIODevice::WriteOnly | QIODevice::Text);
- for (int i= 0; i < setpointList->rowCount(); i++) {
- f.write(setpointList->item(i)->text().toStdString().c_str());
- f.write("\n");
- }
- f.close();
- }
-}
-
-void MainWindow::on_pbLoadWaypoints_clicked()
-{
-
- QString filter = "Waypoints (*.wpt)";
- QString openPath = QFileDialog::getOpenFileName(this, tr("Open Waypoint File"), QString(),filter);
-
- if (!openPath.isEmpty()) {
- QFile f(openPath);
- f.open(QIODevice::ReadOnly | QIODevice::Text);
-
- setpointList->clear();
- while (!f.atEnd()) {
- QString line = f.readLine();
- line.chop(1);
- setpointList->appendRow(new QStandardItem(line));
- }
- f.close();
- }
-}
-
-void MainWindow::on_xSetpoint_returnPressed()
-{
- // sp_x = ui->xSetpoint->text().toFloat();
- // emit (setParamValue(ui->xSetpointSelect->currentText(),
- // blockDefs[BLOCK_CONSTANT]->param_names[0], sp_x));
-}
-
-void MainWindow::on_ySetpoint_returnPressed()
-{
- // sp_y = ui->ySetpoint->text().toFloat();
- // emit (setParamValue(ui->ySetpointSelect->currentText(),
- // blockDefs[BLOCK_CONSTANT]->param_names[0], sp_y));
-}
-
-void MainWindow::on_zSetpoint_returnPressed()
-{
- // sp_z = ui->zSetpoint->text().toFloat();
- // emit (setParamValue(ui->zSetpointSelect->currentText(),
- // blockDefs[BLOCK_CONSTANT]->param_names[0], sp_z));
-}
-
-void MainWindow::on_yawSetpoint_returnPressed()
-{
- // emit (setParamValue(ui->yawSetpointSelect->currentText(),
- // blockDefs[BLOCK_CONSTANT]->param_names[0],
- // ui->yawSetpoint->text().toFloat()));
-}
-
void MainWindow::on_applySetpointButton_clicked()
{
sp_roll = ui->rollSetpointBox->text().toFloat();
@@ -832,7 +405,6 @@ void MainWindow::on_applySetpointButton_clicked()
//send as rate setpoint
emit(rateSetpointSignal(sp_roll, sp_pitch, sp_yaw, sp_thrust));
}
-
trigger_send_setpoint();
}
@@ -893,8 +465,8 @@ void MainWindow::onGamepadDisconnect(){
ui->gamepadThrustScale->setEnabled(false);
ui->thrustScaleLabel->setEnabled(false);
ui->thrustScaleNote->setEnabled(false);
-
-
+ ui->degPerSecLabel->setEnabled(false);
+ ui->degLabel->setEnabled(false);
}
@@ -920,6 +492,9 @@ void MainWindow::onGamepadConnect(){
ui->gamepadThrustScale->setEnabled(true);
ui->thrustScaleLabel->setEnabled(true);
ui->thrustScaleNote->setEnabled(true);
+ ui->degPerSecLabel->setEnabled(true);
+ ui->degLabel->setEnabled(true);
+
}
void MainWindow::updateGamepad(){
@@ -976,8 +551,6 @@ void MainWindow::on_pb_configThrust_clicked()
gamepadMonitor->configureAxis("thrust");
}
-
-
void MainWindow::on_rbManualSetpoint_toggled(bool checked)
{
if(checked) {
@@ -1229,8 +802,7 @@ void MainWindow::graphLogs(QStringList logs)
// qInfo() << x0 << endl;
// qInfo() << y0 << endl;
- //start graph and set data
-
+ //set data
if(log0) {
ui->dataPlot->graph(0)->setData(x0, y0);
}
@@ -1362,6 +934,7 @@ void MainWindow::getLogEntryBoxChange1(QString text) {
}
}
}
+
void MainWindow::getLogEntryBoxChange2(QString text) {
if(logVar2.toStdString().compare("Logging Variable 2")) {
ui->logEntriesComboBox1->addItem(logVar2);
@@ -1390,6 +963,7 @@ void MainWindow::getLogEntryBoxChange2(QString text) {
}
}
}
+
void MainWindow::getLogEntryBoxChange3(QString text) {
if(logVar3.toStdString().compare("Logging Variable 3")) {
ui->logEntriesComboBox1->addItem(logVar3);
@@ -1418,6 +992,7 @@ void MainWindow::getLogEntryBoxChange3(QString text) {
}
}
}
+
void MainWindow::getLogEntryBoxChange4(QString text) {
if(logVar4.toStdString().compare("Logging Variable 4")) {
ui->logEntriesComboBox2->addItem(logVar4);
@@ -1446,6 +1021,7 @@ void MainWindow::getLogEntryBoxChange4(QString text) {
}
}
}
+
void MainWindow::getLogEntryBoxChange5(QString text) {
if(logVar5.toStdString().compare("Logging Variable 5")) {
ui->logEntriesComboBox2->addItem(logVar5);
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 345a41ebc05ebaa7582704d0272f1a1c33345367..28a220315fd3b62239e30836ad13d5d9b37f0dda 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -55,78 +55,48 @@ private slots:
void updateTracker(float thrust, float pitch, float roll, float yaw, float pitchRate, float rollRate, float yawRate);
- void updatePosAtt();
-
- void newNodes(QStringList blocks);
- void newParams(QStringList params);
- void newParamValue(QString node, QString param, float val);
- void newNodeOutput(QString node, float output);
- void newConstantBlocks(QStringList blocks);
void newGroupEntries(int box, QStringList entries);
void on_pb_getParam_click();
void on_pb_setParam_click();
- void on_paramSelect_currentIndexChanged(const QString &arg1);
-
- void on_paramValue_returnPressed();
-
- void on_pbAppendSetpoint_clicked();
-
- void on_pbNextSetpoint_clicked();
-
- void sendSetpoints();
- void sendSelectedSetpoint();
-
- void on_pbActualToSetpoint_clicked();
-
- void on_pbDeleteSetpoint_clicked();
-
- void on_pbActualToWaypoint_clicked();
-
- void on_pbMoveUp_clicked();
-
- void on_pbMoveDown_clicked();
-
- void on_pbInsertSetpoint_clicked();
-
- void on_pbSaveWaypoints_clicked();
-
- void on_pbLoadWaypoints_clicked();
-
- void on_xSetpoint_returnPressed();
-
- void on_run_data_analysis_button_clicked();
-
- void on_ySetpoint_returnPressed();
-
- void on_zSetpoint_returnPressed();
-
- void on_yawSetpoint_returnPressed();
-
void backendStarted();
- void connectMatlab();
+
void backendFinished(int exitCode, QProcess::ExitStatus exitStatus);
+
void backendError(QProcess::ProcessError error);
+
void backendRead();
+
void workerConnected();
+
void workerDisconnected();
void on_applySetpointButton_clicked();
void on_stopSetpointButton_clicked();
+
void setParamGroups(QStringList groupNames);
+
void getGroupBoxChange(int index);
+
void getGroupBox2Change(int index);
+
void setLoggingVariableBox(QStringList variableNames);
+
void displayParamValue(QString param, float value);
+
void getEntryBoxChange(int index);
+
void getEntryBoxChange2(int index);
void onGamepadDisconnect();
+
void onGamepadConnect();
+
void on_pb_configRoll_clicked();
+
void updateGamepad();
void on_pb_resetConfig_clicked();
@@ -160,20 +130,32 @@ private slots:
void gotLogBlockNames(QStringList logBlockNames);
void on_pb_lbRefresh();
+
void on_pb_lbStop();
+
void on_pb_lbResume();
+
void on_pb_lbPause();
+
void on_pb_lbDelete();
+
void useLogBlockID(int id, int8_t command);
+
void setLogButtons(bool isEnabled);
+
void fillLogVariablesBox(QStringList activeVars);
+
void getLogEntryBoxChange1(QString text);
+
void getLogEntryBoxChange2(QString text);
+
void getLogEntryBoxChange3(QString text);
+
void getLogEntryBoxChange4(QString text);
+
void getLogEntryBoxChange5(QString text);
- void receiveLogFile(QString filename);
+ void receiveLogFile(QString filename);
//void on_pb_stopLog_clicked();
@@ -183,19 +165,15 @@ private slots:
private:
Ui::MainWindow *ui;
- QStandardItemModel * setpointList;
- QTimer * nextSpTimer;
float sp_roll;
float sp_pitch;
float sp_yaw;
float sp_thrust;
- QTimer * trackerTimer;
QString logVar1, logVar2, logVar3, logVar4, logVar5;
QTimer * workerStartTimer;
QTimer * crazyflieTimer;
QTimer *pollGamepadTimer;
QProcess * backendProcess;
- QProcess * matlabProcess;
int connectedWorkers;
GamepadMonitor *gamepadMonitor;
CrazyflieWorker *crazyflieWorker;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 33cbca21987096dd10982b15a2e79968a26caa10..9ac99c70e30c0fafefd910832f1ff79f305c4408 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -33,7 +33,7 @@
</size>
</property>
<property name="currentIndex">
- <number>2</number>
+ <number>3</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -780,7 +780,7 @@
<string>Pitch Scale: Deg</string>
</property>
</widget>
- <widget class="QLabel" name="label_4">
+ <widget class="QLabel" name="degPerSecLabel">
<property name="geometry">
<rect>
<x>294</x>
@@ -793,7 +793,7 @@
<string>deg/s</string>
</property>
</widget>
- <widget class="QLabel" name="label_9">
+ <widget class="QLabel" name="degLabel">
<property name="geometry">
<rect>
<x>852</x>
@@ -826,8 +826,8 @@
<zorder>thrustScaleNote</zorder>
<zorder>gamepadRollScale</zorder>
<zorder>gamepadPitchScale</zorder>
- <zorder>label_4</zorder>
- <zorder>label_9</zorder>
+ <zorder>degPerSecLabel</zorder>
+ <zorder>degLabel</zorder>
</widget>
<widget class="QWidget" name="plots">
<attribute name="title">