From d4896d920a3d8f341c24c32ae30ade4f79d7b88b Mon Sep 17 00:00:00 2001
From: James Talbert <jtalbert@iastate.edu>
Date: Mon, 8 Oct 2018 09:46:23 -0500
Subject: [PATCH 01/24] Update CI docs to include documentation of the runner
VM
---
ci/README.md | 30 ++++++++++++++++++++++++++++++
1 file changed, 30 insertions(+)
diff --git a/ci/README.md b/ci/README.md
index edd129cad..c6fe24456 100644
--- a/ci/README.md
+++ b/ci/README.md
@@ -10,3 +10,33 @@ It runs [make](quad/Makefile) under the quad directory to build the project.
## Test Stage
The test stage is defined by the [`ci-test.sh`](ci/ci-test.sh) file.
It runs [make test](quad/Makefile#L36) under the quad directory to run the tests.
+
+# CI Server
+The CI server for this project is at `microcart.ece.iastate.edu`
+login information should be handed off outside this repo for security reasons.
+The gitlab runner uses docker to launch a container, in which the scripts are run.
+The VM is running Red Hat Enterprise Linux, which as of Oct. 6, 2018 was licensed.
+**Note:** RHEL uses `yum` for package management, but the docker image uses `apt-get`.
+
+## Accessing System Folders
+If you need to access any folders on the VM from within the docker,
+the information [here](https://docs.gitlab.com/runner/configuration/advanced-configuration.html#volumes-in-the-runners-docker-section) should help
+Specifically this part:
+
+### Example 2: mount a host directory as a data volume
+In addition to creating a volume using you can also mount a directory from your
+Docker daemon's host into a container. It's useful when you want to store builds
+outside the container.
+
+ [runners.docker]
+ ... whatever config is already there ...
+ volumes = ["/path/to/persistent/data/in/container", /path/to/bind/from/host:/path/to/bind/in/container:rw"]
+
+## Accessing a remote share on the VM
+To get to the Xilinx tools for hardware simulation, we need access to
+`logic.ece.iastate.edu/export/Xilinx` as a mounted folder. This can be done with NFS.
+NFS is installed and the folder mounted. If it becomes unmounted, then run
+
+ $ sudo mount logic.ece.iastate.edu:/export/Xilinx /remote/Xilinx
+
+on the VM. This may not be doable from within the CI run as it is in a container (Docker image) that may behave differently or have different permissions.
--
GitLab
From 95b4114110b76359116ae94460195ca6e621a5bd Mon Sep 17 00:00:00 2001
From: Tina Li <tina@tinaairtwo.student.iastate.edu>
Date: Mon, 8 Oct 2018 13:02:08 -0500
Subject: [PATCH 02/24] adding new files to be tracked
---
quad/src/quad_app/debug_rt.c | 2 ++
quad/src/quad_app/debug_rt.h | 2 ++
2 files changed, 4 insertions(+)
create mode 100644 quad/src/quad_app/debug_rt.c
create mode 100644 quad/src/quad_app/debug_rt.h
diff --git a/quad/src/quad_app/debug_rt.c b/quad/src/quad_app/debug_rt.c
new file mode 100644
index 000000000..10b222ccb
--- /dev/null
+++ b/quad/src/quad_app/debug_rt.c
@@ -0,0 +1,2 @@
+#include <stdio.h>
+
diff --git a/quad/src/quad_app/debug_rt.h b/quad/src/quad_app/debug_rt.h
new file mode 100644
index 000000000..10b222ccb
--- /dev/null
+++ b/quad/src/quad_app/debug_rt.h
@@ -0,0 +1,2 @@
+#include <stdio.h>
+
--
GitLab
From 421e34417e9fa4be17677e08353ce398894fd80d Mon Sep 17 00:00:00 2001
From: Tina Li <tina@tinaairtwo.student.iastate.edu>
Date: Mon, 8 Oct 2018 13:51:58 -0500
Subject: [PATCH 03/24] added debug flag functionality
---
quad/src/quad_app/debug_rt.c | 152 +++++++++++++++++++++++++++++++++++
quad/src/quad_app/debug_rt.h | 29 +++++++
quad/src/quad_app/quad_app.c | 8 ++
3 files changed, 189 insertions(+)
diff --git a/quad/src/quad_app/debug_rt.c b/quad/src/quad_app/debug_rt.c
index 10b222ccb..7da8240a2 100644
--- a/quad/src/quad_app/debug_rt.c
+++ b/quad/src/quad_app/debug_rt.c
@@ -1,2 +1,154 @@
#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdarg.h>
+#include "PID.h"
+#include "type_def.h"
+#include "debug_rt.h"
+#include "communication.h"
+#include "computation_graph.h"
+#include "timer.h"
+
+//use int send_data(struct UARTDriver *uart, u16 type_id, u16 msg_id, u8* data, size_t size) to send information to the via uart to the wifi chip
+
+//the uart driver is in the comm driver
+//send_data(comm->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
+
+//where is LOG ID? Maybe it will compile any if I just write it as is?
+
+
+//typedef struct hardware_t : this is where you access the comm driver
+
+/*
+
+ typedef struct hardware_t {
+ struct I2CDriver i2c_0;
+ struct I2CDriver i2c_1;
+ struct RCReceiverDriver rc_receiver;
+ struct MotorDriver motors;
+ struct UARTDriver uart_0;
+ struct UARTDriver uart_1;
+ struct GPSDriver gps;
+ struct CommDriver comm;
+ struct TimerDriver global_timer;
+ struct TimerDriver axi_timer;
+ struct LEDDriver mio7_led;
+ struct SystemDriver sys;
+ struct IMUDriver imu;
+ struct LidarDriver lidar;
+ struct OpticalFlowDriver of;
+ } hardware_t;
+
+ struct CommDriver {
+ struct UARTDriver *uart; <-- ???
+ };
+
+ */
+
+/*
+typedef struct modular_structs {
+ user_input_t user_input_struct;
+ log_t log_struct;
+ raw_sensor_t raw_sensor_struct;
+ sensor_t sensor_struct;
+ setpoint_t setpoint_struct;
+ parameter_t parameter_struct;
+ user_defined_t user_defined_struct;
+ raw_actuator_t raw_actuator_struct;
+ actuator_command_t actuator_command_struct;
+ hardware_t hardware_struct;
+} modular_structs_t;
+
+ */
+
+/*
+
+ int send_actuator_commands(struct MotorDriver *motors, log_t* log_struct, actuator_command_t* actuator_command_struct) {
+ int i;
+ // write the PWMs to the motors
+
+ for (i = 0; i < 4; i++) {
+ motors->write(motors, i, actuator_command_struct->motor_magnitudes[i]);
+ }
+
+ return 0;
+ }
+
+ */
+
+int set_debug_level(enum debug_data_types type, int state){
+ switch(type)
+ {
+ case CAMERA:
+ flags->camera = state;
+ break;
+ case GYRO:
+ flags->gyro = state;
+ break;
+ case ACCELEROMETER:
+ flags->accelerometer = state;
+ break;
+ case LIDAR:
+ flags->lidar = state;
+ break;
+ case OPT_FLOW:
+ flags->optical_flow = state;
+ break;
+ case GPS:
+ flags->GPS = state;
+ break;
+ case PID:
+ flags->PID = state;
+ break;
+ case RC_TRANS:
+ flags->RC_transmitter = state;
+ break;
+ case ACTUATOR:
+ flags->actuator = state;
+ break;
+ case default:
+ break;
+ }
+}
+
+
+
+char get_debug_level(enum debug_data_types type){
+
+ switch(type)
+ {
+ case CAMERA:
+ return flags->camera;
+ break;
+ case GYRO:
+ return flags->gyro;
+ break;
+ case ACCELEROMETER:
+ return flags->accelerometer;
+ break;
+ case LIDAR:
+ return flags->lidar;
+ break;
+ case OPT_FLOW:
+ return flags->optical_flow;
+ break;
+ case GPS:
+ return flags->GPS;
+ break;
+ case PID:
+ return flags->PID;
+ break;
+ case RC_TRANS:
+ return flags->RC_transmitter;
+ break;
+ case ACTUATOR:
+ return flags->actuator;
+ break;
+ case default:
+ break;
+ }
+}
+
+
+
diff --git a/quad/src/quad_app/debug_rt.h b/quad/src/quad_app/debug_rt.h
index 10b222ccb..5a8b4b014 100644
--- a/quad/src/quad_app/debug_rt.h
+++ b/quad/src/quad_app/debug_rt.h
@@ -1,2 +1,31 @@
#include <stdio.h>
+#define ON 1
+#define OFF 0
+#define ERROR -1
+
+typedef enum debug_data_types
+{
+ CAMERA, GYRO, ACCELEROMETER, LIDAR, OPT_FLOW, GPS, PID, RC_TRANS, ACTUATOR
+}
+
+typedef struct debug_level_flags{
+
+ char camera;
+ char gyro;
+ char accelerometer;
+ char lidar;
+ char optical_flow;
+ char GPS;
+ char PID;
+ char RC_transmitter;
+ char actuator;
+
+}debug_flags;
+
+debug_flags flags;
+
+int set_debug_level(enum debug_data_types type, int state);
+
+char get_debug_level(enum debug_data_types type);
+
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index 561df5b1a..13685c398 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -38,6 +38,10 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
int last_kill_condition = kill_condition(&(structs.user_input_struct));
+
+ //find debug level
+
+
// Main control loop
while (1)
{
@@ -58,6 +62,8 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// Process the sensor data and put it into sensor_struct
sensor_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct), &(structs.sensor_struct));
+
+ //Send the sensor data in RT
if (!this_kill_condition) {
// Run the control algorithm
@@ -66,6 +72,8 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// send the actuator commands
send_actuator_commands(&(structs.hardware_struct.motors), &(structs.log_struct), &(structs.actuator_command_struct));
+
+ // send actuator to
}
else {
kill_motors(&(structs.hardware_struct.motors));
--
GitLab
From 0105281de54cc49736a828a077ba6ff32d1fc528 Mon Sep 17 00:00:00 2001
From: Tina Li <tina@tinaairtwo.student.iastate.edu>
Date: Mon, 8 Oct 2018 14:00:06 -0500
Subject: [PATCH 04/24] more updates
---
quad/src/quad_app/debug_rt.c | 43 ++++++++++++++++++++++++++++++++++++
quad/src/quad_app/debug_rt.h | 2 ++
2 files changed, 45 insertions(+)
diff --git a/quad/src/quad_app/debug_rt.c b/quad/src/quad_app/debug_rt.c
index 7da8240a2..d4a61a743 100644
--- a/quad/src/quad_app/debug_rt.c
+++ b/quad/src/quad_app/debug_rt.c
@@ -149,6 +149,49 @@ char get_debug_level(enum debug_data_types type){
}
}
+int send_debug_data(enum debug_data_types type){
+
+ if(!get_debug_level(type))
+ {
+ return ERROR;
+ }
+
+ switch(type)
+ {
+ case CAMERA:
+
+ break;
+ case GYRO:
+
+ break;
+ case ACCELEROMETER:
+
+ break;
+ case LIDAR:
+
+ break;
+ case OPT_FLOW:
+
+ break;
+ case GPS:
+
+ break;
+ case PID:
+
+ break;
+ case RC_TRANS:
+
+ break;
+ case ACTUATOR:
+ for (i = 0; i < 4; i++) {
+ actuator_command_struct->motor_magnitudes[i]
+ }
+ break;
+ case default:
+ break;
+ }
+}
+
diff --git a/quad/src/quad_app/debug_rt.h b/quad/src/quad_app/debug_rt.h
index 5a8b4b014..3e951ea0a 100644
--- a/quad/src/quad_app/debug_rt.h
+++ b/quad/src/quad_app/debug_rt.h
@@ -29,3 +29,5 @@ int set_debug_level(enum debug_data_types type, int state);
char get_debug_level(enum debug_data_types type);
+int send_debug_data( struct CommDriver *comm, );
+
--
GitLab
From c07810c4ec5a65efda1f5d13e3f04c21f77745e7 Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Mon, 8 Oct 2018 14:56:53 -0500
Subject: [PATCH 05/24] Updating GUI to include flight data graph tab
---
groundStation/gui/MicroCART/mainwindow.ui | 135 +++++++++++++++++++++-
1 file changed, 132 insertions(+), 3 deletions(-)
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index a835da062..086cd22a8 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -18,7 +18,7 @@
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
- <number>0</number>
+ <number>3</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -131,7 +131,7 @@
<x>0</x>
<y>0</y>
<width>1144</width>
- <height>677</height>
+ <height>679</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_8">
@@ -1094,6 +1094,135 @@
</item>
</layout>
</widget>
+ <widget class="QWidget" name="tab">
+ <attribute name="title">
+ <string>Flight Data</string>
+ </attribute>
+ <widget class="QWidget" name="horizontalLayoutWidget">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>10</y>
+ <width>1141</width>
+ <height>91</height>
+ </rect>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout_16">
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_12">
+ <item>
+ <widget class="QRadioButton" name="camera_fd_button">
+ <property name="text">
+ <string>Camera Data</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="gyro_fd_button">
+ <property name="text">
+ <string>Gyro Data</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="accelerometer_fd_button">
+ <property name="text">
+ <string>Accelerometer Data</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_11">
+ <item>
+ <widget class="QRadioButton" name="lidar_fd_button">
+ <property name="text">
+ <string>Lidar Data</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="opflow_fd_button">
+ <property name="text">
+ <string>Optical Flow Data</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="gps_data_button">
+ <property name="text">
+ <string>GPS Data</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_10">
+ <item>
+ <widget class="QRadioButton" name="pid_fd_button">
+ <property name="text">
+ <string>PID Data</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="rctrans_fd_button">
+ <property name="text">
+ <string>RC TRANS Data</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="actuator_fd_button">
+ <property name="text">
+ <string>Actuator Data</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QPushButton" name="update_data_request_params_button">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>100</y>
+ <width>1141</width>
+ <height>28</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Update Data Request Parameters</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_19">
+ <property name="geometry">
+ <rect>
+ <x>10</x>
+ <y>140</y>
+ <width>1141</width>
+ <height>761</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>32</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ <underline>true</underline>
+ </font>
+ </property>
+ <property name="text">
+ <string>INSERT FLIGHT DATA GRAPHS HERE</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </widget>
</widget>
</item>
</layout>
@@ -1104,7 +1233,7 @@
<x>0</x>
<y>0</y>
<width>1186</width>
- <height>27</height>
+ <height>28</height>
</rect>
</property>
<widget class="QMenu" name="menuScripts">
--
GitLab
From f6dae57fd760259b45ba8d86ea27d4bc161523e8 Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Mon, 15 Oct 2018 17:40:34 -0500
Subject: [PATCH 06/24] continuing to connect new UI features to mainwindow.cpp
---
groundStation/gui/MicroCART/mainwindow.cpp | 6 ++++++
groundStation/gui/MicroCART/mainwindow.ui | 2 +-
2 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 28846792e..d91ea12c1 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -556,6 +556,12 @@ void MainWindow::on_pbLoadWaypoints_clicked()
}
}
+void Mainwindow::on_update_data_request_params_button_clicked()
+{
+ QString text = "testing button pressing";
+ ui->flight_data_labelsetText(text);
+}
+
void MainWindow::on_xSetpoint_returnPressed()
{
sp_x = ui->xSetpoint->text().toFloat();
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 086cd22a8..94d275d70 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -1198,7 +1198,7 @@
<string>Update Data Request Parameters</string>
</property>
</widget>
- <widget class="QLabel" name="label_19">
+ <widget class="QLabel" name="flight_data_label">
<property name="geometry">
<rect>
<x>10</x>
--
GitLab
From c0564a5c75c7af3eb80a412d7c3f4d2ae43b369e Mon Sep 17 00:00:00 2001
From: skoch <skoch@iastate.edu>
Date: Sun, 28 Oct 2018 10:38:47 -0500
Subject: [PATCH 07/24] Update README.md for Controls. Added instructions for
the operation of the Simulink-based simulator.
---
controls/README.md | 28 +++++++++++++++++++++++++++-
1 file changed, 27 insertions(+), 1 deletion(-)
diff --git a/controls/README.md b/controls/README.md
index 8a1d285f2..3dc51e081 100644
--- a/controls/README.md
+++ b/controls/README.md
@@ -2,6 +2,32 @@
This folder contains the files used in developing the model of the quadcopter.
-## Documentation
+### **1. Simulink Flight Simulator**
+
+**How to Run the Simulator**
+1. In the project folder, open “MicroCART/controls/modelâ€. The “model†folder contains the files needed to run the Simulink simulator. Make sure this folder is the current workspace directory.
+2. Open “modelParameters.m†in MATLAB and run the script. This will create/update parameters in the MATLAB workspace which are used by the simulator. At this point you should also check that the contents of the “model†folder are displayed in the “Current Folder†window in MATLAB.
+3. Open “Quadcopter_Model.slxâ€
+4. To view the 3D simulator, navigate within the model by clicking on the following blocks: Sensors -> 3D Graphical Simulation -> VR Sink
+5. Press “Run†in Simulink
+
+
+**Changing Setpoints**
+1. To change the simulation setpoints, return to the top level of the simulink model and then enter the “Setpoints†block.
+2. The default version of the simulator has five step functions which individually instruct the quad to move 1 unit in the x-direction, 1 unit in the y-direction, 1 unit in the z-direction, turn clockwise by 1 unit along the yaw angle, and then return to its starting values. Each step function can be thought of as a setpoint.
+3. Open a step function block by double clicking on it. Altering the step time will change when the quad begins to move towards a setpoint. Initial and final value have the format [x-position, y-position, z-position, yaw-angle], and any alterations to these fields will change where the quad starts and where it goes to respectively.
+4. Setpoints can be added or removed by adding or removing step functions from the Simulink model diagram.
+
+ *Note:
+ For this model, negative z values correspond to a position above the starting point [0,0,0,0] and positive z values correspond to a position beneath the starting point. (Example: If the quad is instructed to move from [0,0,-2,0] to [0,0,-1,0], it will be moving from a height of 2 units above the starting point down to a height of 1 unit above the starting point.) This means we will usually only work with negative z-values since our starting point is usually the ground and we cannot fly beneath it :)*
+
+
+**Changing Control Models**
+1. To select which controller is used to simulate quad flight, navigate to the top level of the Simulink model and toggle the controller switch to either LQR or PID
+
+
+
+
+## Additional Documents
[Measuring Motor Resistance](documentation/MeasuringMotorResistance.pdf)
[Simulink Model](documentation/SimulinkModel.md)
\ No newline at end of file
--
GitLab
From 6d171c32aa1aae808453cab3b1162a527f8f50c8 Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Sat, 3 Nov 2018 17:59:53 -0500
Subject: [PATCH 08/24] Adding GUI.m (Matlab plotting) functionality as
background process to mainwindow of groundstation
---
groundStation/gui/MicroCART/MicroCART.pro | 117 +-
groundStation/gui/MicroCART/mainwindow.cpp | 1213 +++++-----
groundStation/gui/MicroCART/mainwindow.h | 222 +-
groundStation/gui/MicroCART/mainwindow.ui | 2407 ++++++++++----------
4 files changed, 1932 insertions(+), 2027 deletions(-)
diff --git a/groundStation/gui/MicroCART/MicroCART.pro b/groundStation/gui/MicroCART/MicroCART.pro
index f5bb8ea50..811433dab 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro
+++ b/groundStation/gui/MicroCART/MicroCART.pro
@@ -1,58 +1,59 @@
-#-------------------------------------------------
-#
-# Project created by QtCreator 2017-02-23T15:03:45
-#
-#-------------------------------------------------
-
-QT += core gui
-
-greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
-
-TARGET = MicroCART
-TEMPLATE = app
-
-LIBS += ../../frontend.a
-INCLUDEPATH += ../../src/frontend/
-
-SOURCES += main.cpp\
- mainwindow.cpp \
- trackerworker.cpp \
- controlworker.cpp \
- quaditem.cpp \
- slotprocess.cpp \
- qFlightInstruments.cpp
-
-HEADERS += mainwindow.h \
- trackerworker.h \
- controlworker.h \
- quaditem.h \
- slotprocess.h \
- qFlightInstruments.h
-
-FORMS += mainwindow.ui
-
-INCLUDEPATH += $$PWD/../../../quad/inc
-DEPENDPATH += $$PWD/../../../quad/inc
-
-win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../../quad/lib/release/ -lgraph_blocks
-else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../../quad/lib/debug/ -lgraph_blocks
-else:unix: LIBS += -L$$PWD/../../../quad/lib/ -lgraph_blocks
-
-win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/libgraph_blocks.a
-else:win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/libgraph_blocks.a
-else:win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/graph_blocks.lib
-else:win32:!win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/graph_blocks.lib
-else:unix: PRE_TARGETDEPS += $$PWD/../../../quad/lib/libgraph_blocks.a
-
-win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../../quad/lib/release/ -lcomputation_graph
-else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../../quad/lib/debug/ -lcomputation_graph
-else:unix: LIBS += -L$$PWD/../../../quad/lib/ -lcomputation_graph
-
-win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/libcomputation_graph.a
-else:win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/libcomputation_graph.a
-else:win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/computation_graph.lib
-else:win32:!win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/computation_graph.lib
-else:unix: PRE_TARGETDEPS += $$PWD/../../../quad/lib/libcomputation_graph.a
-
-RESOURCES += \
- resources.qrc
+#-------------------------------------------------
+#
+# Project created by QtCreator 2017-02-23T15:03:45
+#
+#-------------------------------------------------
+
+QT += core gui
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+TARGET = MicroCART
+TEMPLATE = app
+
+LIBS += ../../frontend.a
+INCLUDEPATH += ../../src/frontend/
+
+SOURCES += main.cpp\
+ mainwindow.cpp \
+ trackerworker.cpp \
+ controlworker.cpp \
+ quaditem.cpp \
+ slotprocess.cpp \
+ qFlightInstruments.cpp
+
+HEADERS += mainwindow.h \
+ trackerworker.h \
+ controlworker.h \
+ quaditem.h \
+ slotprocess.h \
+ graph_blocks.h \
+ qFlightInstruments.h
+
+FORMS += mainwindow.ui
+
+INCLUDEPATH += $$PWD/../../../quad/inc
+DEPENDPATH += $$PWD/../../../quad/inc
+
+win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../../quad/lib/release/ -lgraph_blocks
+else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../../quad/lib/debug/ -lgraph_blocks
+else:unix: LIBS += -L$$PWD/../../../quad/lib/ -lgraph_blocks
+
+win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/libgraph_blocks.a
+else:win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/libgraph_blocks.a
+else:win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/graph_blocks.lib
+else:win32:!win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/graph_blocks.lib
+else:unix: PRE_TARGETDEPS += $$PWD/../../../quad/lib/libgraph_blocks.a
+
+win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../../quad/lib/release/ -lcomputation_graph
+else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../../quad/lib/debug/ -lcomputation_graph
+else:unix: LIBS += -L$$PWD/../../../quad/lib/ -lcomputation_graph
+
+win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/libcomputation_graph.a
+else:win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/libcomputation_graph.a
+else:win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/computation_graph.lib
+else:win32:!win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/computation_graph.lib
+else:unix: PRE_TARGETDEPS += $$PWD/../../../quad/lib/libcomputation_graph.a
+
+RESOURCES += \
+ resources.qrc
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index d91ea12c1..ca0d2ee6f 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -1,601 +1,612 @@
-#include "mainwindow.h"
-#include "ui_mainwindow.h"
-
-#include <QFileDialog>
-#include <QThread>
-#include <QTimer>
-#include <QRegExp>
-#include <QProcessEnvironment>
-#include <QPixmap>
-#include <QProcess>
-
-#include "trackerworker.h"
-#include "controlworker.h"
-#include "graph_blocks.h"
-#include "quaditem.h"
-#include "slotprocess.h"
-#include "qFlightInstruments.h"
-
-#include <iostream>
-MainWindow::MainWindow(QWidget *parent) :
- QMainWindow(parent),
- ui(new Ui::MainWindow),
- setpointList(new QStandardItemModel(this)),
- nextSpTimer(new QTimer(this)),
- sp_x(0.0f),
- sp_y(0.0f),
- sp_z(0.0f),
- trackerTimer(new QTimer(this)),
- workerStartTimer(new QTimer(this)),
- backendProcess(new QProcess(this)),
- connectedWorkers(0)
-{
- ui->setupUi(this);
-
- 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 */
- QThread * cwThread = new QThread(this);
- ControlWorker * controlWorker = new ControlWorker();
- 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)));
-
- /* Connect and disconnect from backend when signals emitted */
- connect(workerStartTimer, SIGNAL (timeout()), trackerWorker, SLOT (connectBackend()));
- connect(workerStartTimer, SIGNAL (timeout()), controlWorker, SLOT (connectBackend()));
- connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
- connect(this, SIGNAL (connectWorkers()), controlWorker, SLOT (connectBackend()));
- connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
- connect(this, SIGNAL (disconnectWorkers()), controlWorker, SLOT (disconnectBackend()));
-
- connect(backendProcess, SIGNAL (started()), this, SLOT (backendStarted()));
- connect(backendProcess, SIGNAL (errorOccurred(QProcess::ProcessError)), this, SLOT (backendError(QProcess::ProcessError)));
- connect(backendProcess, SIGNAL (finished(int, QProcess::ExitStatus)), this, SLOT (backendFinished(int, QProcess::ExitStatus)));
- connect(backendProcess, SIGNAL (readyReadStandardOutput()), this, SLOT (backendRead()));
- connect(backendProcess, SIGNAL (readyReadStandardError()), this, SLOT (backendRead()));
-
- 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 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);
- workerThread->start();
- cwThread->start();
-
- /* Connect the setpointlist to the model */
- ui->setpointList->setModel(setpointList);
-
- /* 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()));
-
- /* Populate scripts list */
- QDir scriptsDir("scripts/");
- QStringList scripts = scriptsDir.entryList();
- for (int i = 0; i < scripts.size(); i++) {
- QAction * action = ui->menuScripts->addAction(scripts[i]);
- SlotProcess * scriptProcess = new SlotProcess(action);
- scriptProcess->setProgram(scriptsDir.filePath(scripts[i]));
- connect(action, SIGNAL (triggered()), scriptProcess, SLOT (startProcess()));
- }
-}
-
-MainWindow::~MainWindow()
-{
- delete ui;
-}
-
-void MainWindow::updatePosAtt()
-{
- if (ui->posattSrcVrpn->isChecked()) {
- emit(getPosAttFromBackend());
- } else if (ui->posattSrcQuad->isChecked()) {
- 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 x, float y, float z, float p, float r, float 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));
-
- ui->dist->setText(QString::number(dist));
-
- if (!nextSpTimer->isActive() && ui->autonavEnabled->isChecked() &&
- (dist < ui->autonavThreshold->text().toFloat())) {
- nextSpTimer->start(ui->autonavDelay->text().toInt());
- }
-}
-
-void MainWindow::on_pbStart_clicked()
-{
- backendProcess->setProgram(ui->backendPath->text());
-
- backendProcess->start();
-}
-
-void MainWindow::backendStarted()
-{
- ui->pbStart->setEnabled(false);
- ui->pbStop->setEnabled(true);
- workerStartTimer->start(750);
-}
-
-void MainWindow::backendError(QProcess::ProcessError error)
-{
- ui->vConsole->append(backendProcess->errorString());
-}
-
-void MainWindow::backendRead()
-{
- ui->vConsole->append(backendProcess->readAll());
-}
-
-void MainWindow::workerConnected()
-{
- connectedWorkers++;
- if (connectedWorkers == 2) {
- ui->pbStart->setEnabled(false);
- ui->pbConnect->setEnabled(false);
- ui->pbStop->setEnabled(true);
- }
-}
-
-void MainWindow::workerDisconnected()
-{
- connectedWorkers--;
- if (( connectedWorkers == 0) && (backendProcess->state() == QProcess::Running)) {
- backendProcess->terminate();
- } else if (connectedWorkers == 0) {
- ui->pbStart->setEnabled(true);
- ui->pbConnect->setEnabled(true);
- ui->pbStop->setEnabled(false);
- }
-}
-
-void MainWindow::backendFinished(int exitCode, QProcess::ExitStatus exitStatus)
-{
- ui->pbStart->setEnabled(true);
- ui->pbConnect->setEnabled(true);
- ui->pbStop->setEnabled(false);
-}
-
-void MainWindow::on_pbConnect_clicked()
-{
- emit(connectWorkers());
-}
-
-void MainWindow::on_pbStop_clicked()
-{
- emit(disconnectWorkers());
-}
-
-void MainWindow::on_chooseBackend_clicked()
-{
- QString backendPath = QFileDialog::getOpenFileName(this,
- tr("Path to Backend Executable"));
- 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::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_update_data_request_params_button_clicked()
-{
- QString text = "testing button pressing";
- ui->flight_data_labelsetText(text);
-}
-
-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_posattSrcVrpn_clicked()
-{
- trackerTimer->setInterval(100);
-}
-
-void MainWindow::on_posattSrcQuad_clicked()
-{
- trackerTimer->setInterval(750);
-}
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+#include <QFileDialog>
+#include <QDesktopServices>
+#include <QMessageBox>
+#include <QThread>
+#include <QTimer>
+#include <QRegExp>
+#include <QProcessEnvironment>
+#include <QPixmap>
+#include <QProcess>
+
+#include "trackerworker.h"
+#include "controlworker.h"
+#include "quaditem.h"
+#include "slotprocess.h"
+#include "qFlightInstruments.h"
+#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_x(0.0f),
+ sp_y(0.0f),
+ sp_z(0.0f),
+ trackerTimer(new QTimer(this)),
+ workerStartTimer(new QTimer(this)),
+ backendProcess(new QProcess(this)),
+ matlabProcess(new QProcess(this)),
+ connectedWorkers(0)
+{
+ ui->setupUi(this);
+
+ 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 */
+ QThread * cwThread = new QThread(this);
+ ControlWorker * controlWorker = new ControlWorker();
+ 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)));
+
+ /* Connect and disconnect from backend when signals emitted */
+ connect(workerStartTimer, SIGNAL (timeout()), trackerWorker, SLOT (connectBackend()));
+ connect(workerStartTimer, SIGNAL (timeout()), controlWorker, SLOT (connectBackend()));
+ connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
+ connect(this, SIGNAL (connectWorkers()), controlWorker, SLOT (connectBackend()));
+ connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
+ connect(this, SIGNAL (disconnectWorkers()), controlWorker, SLOT (disconnectBackend()));
+
+ connect(backendProcess, SIGNAL (started()), this, SLOT (backendStarted()));
+ connect(backendProcess, SIGNAL (errorOccurred(QProcess::ProcessError)), this, SLOT (backendError(QProcess::ProcessError)));
+ connect(backendProcess, SIGNAL (finished(int, QProcess::ExitStatus)), this, SLOT (backendFinished(int, QProcess::ExitStatus)));
+ connect(backendProcess, SIGNAL (readyReadStandardOutput()), this, SLOT (backendRead()));
+ connect(backendProcess, SIGNAL (readyReadStandardError()), this, SLOT (backendRead()));
+
+ 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 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);
+ workerThread->start();
+ cwThread->start();
+ matlabProcess->start();
+
+ /* Connect the setpointlist to the model */
+ ui->setpointList->setModel(setpointList);
+
+ /* 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()));
+
+ /* Populate scripts list */
+ QDir scriptsDir("scripts/");
+ QStringList scripts = scriptsDir.entryList();
+ for (int i = 0; i < scripts.size(); i++) {
+ QAction * action = ui->menuScripts->addAction(scripts[i]);
+ SlotProcess * scriptProcess = new SlotProcess(action);
+ scriptProcess->setProgram(scriptsDir.filePath(scripts[i]));
+ connect(action, SIGNAL (triggered()), scriptProcess, SLOT (startProcess()));
+ }
+
+}
+
+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()
+{
+ if (ui->posattSrcVrpn->isChecked()) {
+ emit(getPosAttFromBackend());
+ } else if (ui->posattSrcQuad->isChecked()) {
+ 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 x, float y, float z, float p, float r, float 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));
+
+ ui->dist->setText(QString::number(dist));
+
+ if (!nextSpTimer->isActive() && ui->autonavEnabled->isChecked() &&
+ (dist < ui->autonavThreshold->text().toFloat())) {
+ nextSpTimer->start(ui->autonavDelay->text().toInt());
+ }
+}
+
+void MainWindow::on_pbStart_clicked()
+{
+ backendProcess->setProgram(ui->backendPath->text());
+
+ backendProcess->start();
+}
+
+void MainWindow::backendStarted()
+{
+ ui->pbStart->setEnabled(false);
+ ui->pbStop->setEnabled(true);
+ workerStartTimer->start(750);
+}
+
+void MainWindow::backendError(QProcess::ProcessError error)
+{
+ ui->vConsole->append(backendProcess->errorString());
+}
+
+void MainWindow::backendRead()
+{
+ ui->vConsole->append(backendProcess->readAll());
+}
+
+void MainWindow::workerConnected()
+{
+ connectedWorkers++;
+ if (connectedWorkers == 2) {
+ ui->pbStart->setEnabled(false);
+ ui->pbConnect->setEnabled(false);
+ ui->pbStop->setEnabled(true);
+ }
+}
+
+void MainWindow::workerDisconnected()
+{
+ connectedWorkers--;
+ if (( connectedWorkers == 0) && (backendProcess->state() == QProcess::Running)) {
+ backendProcess->terminate();
+ } else if (connectedWorkers == 0) {
+ ui->pbStart->setEnabled(true);
+ ui->pbConnect->setEnabled(true);
+ ui->pbStop->setEnabled(false);
+ }
+}
+
+void MainWindow::backendFinished(int exitCode, QProcess::ExitStatus exitStatus)
+{
+ ui->pbStart->setEnabled(true);
+ ui->pbConnect->setEnabled(true);
+ ui->pbStop->setEnabled(false);
+}
+
+void MainWindow::on_pbConnect_clicked()
+{
+ emit(connectWorkers());
+}
+
+void MainWindow::on_pbStop_clicked()
+{
+ emit(disconnectWorkers());
+}
+
+void MainWindow::on_chooseBackend_clicked()
+{
+ QString backendPath = QFileDialog::getOpenFileName(this,
+ tr("Path to Backend Executable"));
+ 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::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_posattSrcVrpn_clicked()
+{
+ trackerTimer->setInterval(100);
+}
+
+void MainWindow::on_posattSrcQuad_clicked()
+{
+ trackerTimer->setInterval(750);
+}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index db5534abe..3ad5ed1da 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -1,109 +1,113 @@
-#ifndef MAINWINDOW_H
-#define MAINWINDOW_H
-
-#include <QMainWindow>
-#include <QStringList>
-#include <QStandardItemModel>
-#include <QGraphicsScene>
-#include "quaditem.h"
-
-namespace Ui {
-class MainWindow;
-}
-
-class MainWindow : public QMainWindow
-{
- Q_OBJECT
-
-public:
- explicit MainWindow(QWidget *parent = 0);
- ~MainWindow();
-
-signals:
- void connectWorkers();
- void disconnectWorkers();
- void getParamValue(QString node, QString param);
- void getNodeOutput(QString node);
- void setParamValue(QString node, QString param, float value);
- void getPosAttFromBackend();
-
-private slots:
- void on_pbStart_clicked();
-
- void on_pbConnect_clicked();
-
- void on_pbStop_clicked();
-
- void on_chooseBackend_clicked();
-
- void updateTracker(float x, float y, float z, float p, float r, float yaw);
-
- 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 newControlGraph(QString graph);
-
- 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_ySetpoint_returnPressed();
-
- void on_zSetpoint_returnPressed();
-
- void on_posattSrcVrpn_clicked();
-
- void on_posattSrcQuad_clicked();
-
- void on_yawSetpoint_returnPressed();
-
- void backendStarted();
- void backendFinished(int exitCode, QProcess::ExitStatus exitStatus);
- void backendError(QProcess::ProcessError error);
- void backendRead();
- void workerConnected();
- void workerDisconnected();
-
-private:
- Ui::MainWindow *ui;
- QStandardItemModel * setpointList;
- QTimer * nextSpTimer;
- float sp_x;
- float sp_y;
- float sp_z;
- QTimer * trackerTimer;
- QTimer * workerStartTimer;
- QProcess * backendProcess;
- int connectedWorkers;
-};
-
-#endif // MAINWINDOW_H
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+#include <QStringList>
+#include <QStandardItemModel>
+#include <QGraphicsScene>
+#include "quaditem.h"
+
+namespace Ui {
+class MainWindow;
+}
+
+class MainWindow : public QMainWindow
+{
+ Q_OBJECT
+
+public:
+ explicit MainWindow(QWidget *parent = 0);
+ ~MainWindow();
+
+signals:
+ void connectWorkers();
+ void disconnectWorkers();
+ void getParamValue(QString node, QString param);
+ void getNodeOutput(QString node);
+ void setParamValue(QString node, QString param, float value);
+ void getPosAttFromBackend();
+
+private slots:
+ void on_pbStart_clicked();
+
+ void on_pbConnect_clicked();
+
+ void on_pbStop_clicked();
+
+ void on_chooseBackend_clicked();
+
+ void updateTracker(float x, float y, float z, float p, float r, float yaw);
+
+ 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 newControlGraph(QString graph);
+
+ 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_posattSrcVrpn_clicked();
+
+ void on_posattSrcQuad_clicked();
+
+ 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();
+
+private:
+ Ui::MainWindow *ui;
+ QStandardItemModel * setpointList;
+ QTimer * nextSpTimer;
+ float sp_x;
+ float sp_y;
+ float sp_z;
+ QTimer * trackerTimer;
+ QTimer * workerStartTimer;
+ QProcess * backendProcess;
+ QProcess * matlabProcess;
+ int connectedWorkers;
+};
+
+#endif // MAINWINDOW_H
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 94d275d70..a857eb3f8 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -1,1259 +1,1148 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>MainWindow</class>
- <widget class="QMainWindow" name="MainWindow">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>1186</width>
- <height>1034</height>
- </rect>
- </property>
- <property name="windowTitle">
- <string>MainWindow</string>
- </property>
- <widget class="QWidget" name="centralWidget">
- <layout class="QVBoxLayout" name="verticalLayout_4">
- <item>
- <widget class="QTabWidget" name="tabWidget">
- <property name="currentIndex">
- <number>3</number>
- </property>
- <widget class="QWidget" name="backend">
- <attribute name="title">
- <string>Backend</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_8">
- <item>
- <widget class="QLineEdit" name="backendPath">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>./BackEnd</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="chooseBackend">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>Choose...</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_7">
- <item>
- <widget class="QPushButton" name="pbStart">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>Start</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbConnect">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>Connect</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="horizontalSpacer_2">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QPushButton" name="pbStop">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="text">
- <string>Stop/Disconnect</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="Line" name="line_7">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QTextEdit" name="vConsole">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="controlGraph">
- <attribute name="title">
- <string>Controller Graph</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_2">
- <item>
- <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>1144</width>
- <height>679</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>
- <widget class="Line" name="line_2">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbControlRefresh">
- <property name="text">
- <string>Refresh Controller Graph</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_6">
- <item>
- <widget class="QLabel" name="label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Node:</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="nodeSelect">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Param:</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="paramSelect"/>
- </item>
- <item>
- <widget class="QLineEdit" name="paramValue">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="Line" name="line_5">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_4">
- <item>
- <widget class="QLabel" name="label_4">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>X Setpoint</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="xSetpointSelect">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_5">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Y Setpoint</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="ySetpointSelect"/>
- </item>
- <item>
- <widget class="QLabel" name="label_3">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Z Setpoint</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="zSetpointSelect"/>
- </item>
- <item>
- <widget class="QLabel" name="label_18">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Yaw Setpoint:</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="yawSetpointSelect"/>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_10">
- <item>
- <widget class="QLabel" name="label_11">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>X Position</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="xPositionSelect"/>
- </item>
- <item>
- <widget class="QLabel" name="label_13">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Y Position </string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="yPositionSelect"/>
- </item>
- <item>
- <widget class="QLabel" name="label_14">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Z Position</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="zPositionSelect"/>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_11">
- <item>
- <widget class="QLabel" name="label_15">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>P Attitude</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="pAttitudeSelect"/>
- </item>
- <item>
- <widget class="QLabel" name="label_16">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>R Attitude</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="rAttitudeSelect"/>
- </item>
- <item>
- <widget class="QLabel" name="label_17">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Y Attitude</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QComboBox" name="yAttitudeSelect"/>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="navigation">
- <attribute name="title">
- <string>Navigation</string>
- </attribute>
- <layout class="QVBoxLayout" name="verticalLayout_3">
- <item>
- <widget class="QLabel" name="noGraphWarning1">
- <property name="font">
- <font>
- <pointsize>32</pointsize>
- <weight>75</weight>
- <bold>true</bold>
- <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>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="noGraphWarning2">
- <property name="text">
- <string>These controls won't work right unless the correct control graph is loaded.</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="Line" name="noGraphWarningLine">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_9">
- <item>
- <widget class="QLabel" name="label_12">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Position/Attitude Source: </string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="posattSrcVrpn">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Backend Tracker (&VRPN)</string>
- </property>
- <property name="checked">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="posattSrcQuad">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>From &Quad</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_3">
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_7">
- <item>
- <widget class="QLabel" name="label_6">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Current Position</string>
- </property>
- </widget>
- </item>
- <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="xActual">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </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="yActual">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </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="zActual">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </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="pitchActual">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </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="rollActual">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </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="yawActual">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="Line" name="line_6">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QFormLayout" name="formLayout_5">
- <item row="0" column="1">
- <widget class="QLineEdit" name="dist">
- <property name="enabled">
- <bool>false</bool>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_10">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>D</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_5"/>
- </item>
- <item>
- <widget class="QPushButton" name="pbActualToSetpoint">
- <property name="text">
- <string>To Setpoint</string>
- </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">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>40</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_5">
- <item>
- <widget class="QLabel" name="label_7">
- <property name="text">
- <string>Position Setpoints</string>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QFormLayout" name="formLayout_2">
- <item row="0" column="0">
- <widget class="QLabel" name="setpointLabel">
- <property name="text">
- <string>X</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="setpointLabel_3">
- <property name="text">
- <string>Z</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="setpointLabel_2">
- <property name="text">
- <string>Y</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="yawLabel">
- <property name="text">
- <string>Yaw</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <layout class="QHBoxLayout" name="horizontalLayout_12">
- <item>
- <widget class="QLineEdit" name="xSetpoint">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QCheckBox" name="sendX">
- <property name="text">
- <string/>
- </property>
- <property name="checked">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="1" column="1">
- <layout class="QHBoxLayout" name="horizontalLayout_13">
- <item>
- <widget class="QLineEdit" name="ySetpoint">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QCheckBox" name="sendY">
- <property name="text">
- <string/>
- </property>
- <property name="checked">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="2" column="1">
- <layout class="QHBoxLayout" name="horizontalLayout_14">
- <item>
- <widget class="QLineEdit" name="zSetpoint">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QCheckBox" name="sendZ">
- <property name="text">
- <string/>
- </property>
- <property name="checked">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="3" column="1">
- <layout class="QHBoxLayout" name="horizontalLayout_15">
- <item>
- <widget class="QLineEdit" name="yawSetpoint">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QCheckBox" name="sendYaw">
- <property name="text">
- <string/>
- </property>
- <property name="checked">
- <bool>false</bool>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- <item>
- <widget class="QPushButton" name="pbSendSetpoint">
- <property name="text">
- <string>Send to Quad</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line_3">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbAppendSetpoint">
- <property name="text">
- <string>Append</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbInsertSetpoint">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>Insert</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbDeleteSetpoint">
- <property name="enabled">
- <bool>true</bool>
- </property>
- <property name="text">
- <string>Delete</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer_3">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>40</height>
- </size>
- </property>
- </spacer>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_6">
- <item>
- <widget class="QLabel" name="label_8">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Waypoints</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QListView" name="setpointList">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="editTriggers">
- <set>QAbstractItemView::NoEditTriggers</set>
- </property>
- <property name="dragEnabled">
- <bool>false</bool>
- </property>
- <property name="dragDropOverwriteMode">
- <bool>false</bool>
- </property>
- <property name="dragDropMode">
- <enum>QAbstractItemView::NoDragDrop</enum>
- </property>
- <property name="defaultDropAction">
- <enum>Qt::MoveAction</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbNextSetpoint">
- <property name="text">
- <string>Send Next</string>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <item>
- <widget class="QPushButton" name="pbMoveUp">
- <property name="text">
- <string>Move Up</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="pbMoveDown">
- <property name="text">
- <string>Move Down</string>
- </property>
- </widget>
- </item>
- </layout>
- </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>
- <item>
- <widget class="Line" name="line_4">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QCheckBox" name="autonavEnabled">
- <property name="text">
- <string>Enable Autonavigation</string>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QFormLayout" name="formLayout_6">
- <item row="0" column="0">
- <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>Threshold</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="delayLabel">
- <property name="text">
- <string>Delay</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLineEdit" name="autonavThreshold">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>0.1</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <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>88</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_9">
- <item>
- <widget class="QGraphicsView" name="posView">
- <property name="verticalScrollBarPolicy">
- <enum>Qt::ScrollBarAlwaysOff</enum>
- </property>
- <property name="horizontalScrollBarPolicy">
- <enum>Qt::ScrollBarAlwaysOff</enum>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QGraphicsView" name="attView"/>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- <item>
- <widget class="QPushButton" name="pbRefresh">
- <property name="text">
- <string>Refresh</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab">
- <attribute name="title">
- <string>Flight Data</string>
- </attribute>
- <widget class="QWidget" name="horizontalLayoutWidget">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>10</y>
- <width>1141</width>
- <height>91</height>
- </rect>
- </property>
- <layout class="QHBoxLayout" name="horizontalLayout_16">
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_12">
- <item>
- <widget class="QRadioButton" name="camera_fd_button">
- <property name="text">
- <string>Camera Data</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="gyro_fd_button">
- <property name="text">
- <string>Gyro Data</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="accelerometer_fd_button">
- <property name="text">
- <string>Accelerometer Data</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_11">
- <item>
- <widget class="QRadioButton" name="lidar_fd_button">
- <property name="text">
- <string>Lidar Data</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="opflow_fd_button">
- <property name="text">
- <string>Optical Flow Data</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="gps_data_button">
- <property name="text">
- <string>GPS Data</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_10">
- <item>
- <widget class="QRadioButton" name="pid_fd_button">
- <property name="text">
- <string>PID Data</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="rctrans_fd_button">
- <property name="text">
- <string>RC TRANS Data</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QRadioButton" name="actuator_fd_button">
- <property name="text">
- <string>Actuator Data</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <widget class="QPushButton" name="update_data_request_params_button">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>100</y>
- <width>1141</width>
- <height>28</height>
- </rect>
- </property>
- <property name="text">
- <string>Update Data Request Parameters</string>
- </property>
- </widget>
- <widget class="QLabel" name="flight_data_label">
- <property name="geometry">
- <rect>
- <x>10</x>
- <y>140</y>
- <width>1141</width>
- <height>761</height>
- </rect>
- </property>
- <property name="font">
- <font>
- <pointsize>32</pointsize>
- <weight>75</weight>
- <bold>true</bold>
- <underline>true</underline>
- </font>
- </property>
- <property name="text">
- <string>INSERT FLIGHT DATA GRAPHS HERE</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </widget>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QMenuBar" name="menuBar">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>1186</width>
- <height>28</height>
- </rect>
- </property>
- <widget class="QMenu" name="menuScripts">
- <property name="title">
- <string>Scripts</string>
- </property>
- </widget>
- <addaction name="menuScripts"/>
- </widget>
- <widget class="QToolBar" name="mainToolBar">
- <attribute name="toolBarArea">
- <enum>TopToolBarArea</enum>
- </attribute>
- <attribute name="toolBarBreak">
- <bool>false</bool>
- </attribute>
- </widget>
- <widget class="QStatusBar" name="statusBar"/>
- </widget>
- <layoutdefault spacing="6" margin="11"/>
- <resources/>
- <connections/>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1186</width>
+ <height>1034</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>MainWindow</string>
+ </property>
+ <widget class="QWidget" name="centralWidget">
+ <layout class="QVBoxLayout" name="verticalLayout_4">
+ <item>
+ <widget class="QTabWidget" name="tabWidget">
+ <property name="currentIndex">
+ <number>3</number>
+ </property>
+ <widget class="QWidget" name="backend">
+ <attribute name="title">
+ <string>Backend</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_8">
+ <item>
+ <widget class="QLineEdit" name="backendPath">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>./BackEnd</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="chooseBackend">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Choose...</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_7">
+ <item>
+ <widget class="QPushButton" name="pbStart">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Start</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbConnect">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Connect</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbStop">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="text">
+ <string>Stop/Disconnect</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="Line" name="line_7">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QTextEdit" name="vConsole">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="controlGraph">
+ <attribute name="title">
+ <string>Controller Graph</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <item>
+ <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>1142</width>
+ <height>749</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>
+ <widget class="Line" name="line_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbControlRefresh">
+ <property name="text">
+ <string>Refresh Controller Graph</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="Line" name="line">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_6">
+ <item>
+ <widget class="QLabel" name="label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Node:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="nodeSelect">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_2">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Param:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="paramSelect"/>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="paramValue">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="Line" name="line_5">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_4">
+ <item>
+ <widget class="QLabel" name="label_4">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>X Setpoint</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="xSetpointSelect">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_5">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Y Setpoint</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="ySetpointSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_3">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Z Setpoint</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="zSetpointSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_18">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Yaw Setpoint:</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="yawSetpointSelect"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_10">
+ <item>
+ <widget class="QLabel" name="label_11">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>X Position</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="xPositionSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_13">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Y Position </string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="yPositionSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_14">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Z Position</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="zPositionSelect"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_11">
+ <item>
+ <widget class="QLabel" name="label_15">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>P Attitude</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="pAttitudeSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_16">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>R Attitude</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="rAttitudeSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_17">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Y Attitude</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="yAttitudeSelect"/>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="navigation">
+ <attribute name="title">
+ <string>Navigation</string>
+ </attribute>
+ <layout class="QVBoxLayout" name="verticalLayout_3">
+ <item>
+ <widget class="QLabel" name="noGraphWarning1">
+ <property name="font">
+ <font>
+ <pointsize>32</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ <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>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="noGraphWarning2">
+ <property name="text">
+ <string>These controls won't work right unless the correct control graph is loaded.</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="Line" name="noGraphWarningLine">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_9">
+ <item>
+ <widget class="QLabel" name="label_12">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Position/Attitude Source: </string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="posattSrcVrpn">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Backend Tracker (&VRPN)</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="posattSrcQuad">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>From &Quad</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_3">
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_7">
+ <item>
+ <widget class="QLabel" name="label_6">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Current Position</string>
+ </property>
+ </widget>
+ </item>
+ <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="xActual">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </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="yActual">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </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="zActual">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </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="pitchActual">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </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="rollActual">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </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="yawActual">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="Line" name="line_6">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QFormLayout" name="formLayout_5">
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="dist">
+ <property name="enabled">
+ <bool>false</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_10">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>D</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_5"/>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbActualToSetpoint">
+ <property name="text">
+ <string>To Setpoint</string>
+ </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">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_5">
+ <item>
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>Position Setpoints</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QFormLayout" name="formLayout_2">
+ <item row="0" column="0">
+ <widget class="QLabel" name="setpointLabel">
+ <property name="text">
+ <string>X</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="setpointLabel_3">
+ <property name="text">
+ <string>Z</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="setpointLabel_2">
+ <property name="text">
+ <string>Y</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="yawLabel">
+ <property name="text">
+ <string>Yaw</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <layout class="QHBoxLayout" name="horizontalLayout_12">
+ <item>
+ <widget class="QLineEdit" name="xSetpoint">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="sendX">
+ <property name="text">
+ <string/>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="1" column="1">
+ <layout class="QHBoxLayout" name="horizontalLayout_13">
+ <item>
+ <widget class="QLineEdit" name="ySetpoint">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="sendY">
+ <property name="text">
+ <string/>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="2" column="1">
+ <layout class="QHBoxLayout" name="horizontalLayout_14">
+ <item>
+ <widget class="QLineEdit" name="zSetpoint">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="sendZ">
+ <property name="text">
+ <string/>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="3" column="1">
+ <layout class="QHBoxLayout" name="horizontalLayout_15">
+ <item>
+ <widget class="QLineEdit" name="yawSetpoint">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="sendYaw">
+ <property name="text">
+ <string/>
+ </property>
+ <property name="checked">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbSendSetpoint">
+ <property name="text">
+ <string>Send to Quad</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="Line" name="line_3">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbAppendSetpoint">
+ <property name="text">
+ <string>Append</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbInsertSetpoint">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Insert</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbDeleteSetpoint">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Delete</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_3">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_6">
+ <item>
+ <widget class="QLabel" name="label_8">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Waypoints</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QListView" name="setpointList">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="editTriggers">
+ <set>QAbstractItemView::NoEditTriggers</set>
+ </property>
+ <property name="dragEnabled">
+ <bool>false</bool>
+ </property>
+ <property name="dragDropOverwriteMode">
+ <bool>false</bool>
+ </property>
+ <property name="dragDropMode">
+ <enum>QAbstractItemView::NoDragDrop</enum>
+ </property>
+ <property name="defaultDropAction">
+ <enum>Qt::MoveAction</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbNextSetpoint">
+ <property name="text">
+ <string>Send Next</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QPushButton" name="pbMoveUp">
+ <property name="text">
+ <string>Move Up</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbMoveDown">
+ <property name="text">
+ <string>Move Down</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </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>
+ <item>
+ <widget class="Line" name="line_4">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="autonavEnabled">
+ <property name="text">
+ <string>Enable Autonavigation</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QFormLayout" name="formLayout_6">
+ <item row="0" column="0">
+ <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>Threshold</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="delayLabel">
+ <property name="text">
+ <string>Delay</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLineEdit" name="autonavThreshold">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>0.1</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <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>88</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_9">
+ <item>
+ <widget class="QGraphicsView" name="posView">
+ <property name="verticalScrollBarPolicy">
+ <enum>Qt::ScrollBarAlwaysOff</enum>
+ </property>
+ <property name="horizontalScrollBarPolicy">
+ <enum>Qt::ScrollBarAlwaysOff</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QGraphicsView" name="attView"/>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pbRefresh">
+ <property name="text">
+ <string>Refresh</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab">
+ <attribute name="title">
+ <string>Flight Data</string>
+ </attribute>
+ <widget class="QPushButton" name="run_data_analysis_button">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1141</width>
+ <height>28</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Run Data Analysis</string>
+ </property>
+ </widget>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QMenuBar" name="menuBar">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1186</width>
+ <height>21</height>
+ </rect>
+ </property>
+ <widget class="QMenu" name="menuScripts">
+ <property name="title">
+ <string>Scripts</string>
+ </property>
+ </widget>
+ <addaction name="menuScripts"/>
+ </widget>
+ <widget class="QToolBar" name="mainToolBar">
+ <attribute name="toolBarArea">
+ <enum>TopToolBarArea</enum>
+ </attribute>
+ <attribute name="toolBarBreak">
+ <bool>false</bool>
+ </attribute>
+ </widget>
+ <widget class="QStatusBar" name="statusBar"/>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <resources/>
+ <connections/>
+</ui>
--
GitLab
From f97e0b4121e0ad0d40d520fcb924ad27aa12c12d Mon Sep 17 00:00:00 2001
From: bertucci <bertucci@iastate.edu>
Date: Tue, 20 Nov 2018 16:38:59 -0600
Subject: [PATCH 09/24] Implemented internal timer for routine plotting of
incoming data
---
controls/DataAnalysisTool/Tool/GUI.asv | 784 +++++++++++++++++++++++++
controls/DataAnalysisTool/Tool/GUI.fig | Bin 37509 -> 191784 bytes
controls/DataAnalysisTool/Tool/GUI.m | 21 +
3 files changed, 805 insertions(+)
create mode 100644 controls/DataAnalysisTool/Tool/GUI.asv
diff --git a/controls/DataAnalysisTool/Tool/GUI.asv b/controls/DataAnalysisTool/Tool/GUI.asv
new file mode 100644
index 000000000..831028acb
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/GUI.asv
@@ -0,0 +1,784 @@
+function varargout = GUI(varargin)
+% GUI MATLAB code for GUI.fig
+% GUI, by itself, creates a new GUI or raises the existing
+% singleton*.
+%
+% H = GUI returns the handle to a new GUI or the handle to
+% the existing singleton*.
+%
+% GUI('CALLBACK',hObject,eventData,handles,...) calls the local
+% function named CALLBACK in GUI.M with the given input arguments.
+%
+% GUI('Property','Value',...) creates a new GUI or raises the
+% existing singleton*. Starting from the left, property value pairs are
+% applied to the GUI before GUI_OpeningFcn gets called. An
+% unrecognized property name or invalid value makes property application
+% stop. All inputs are passed to GUI_OpeningFcn via varargin.
+%
+% *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one
+% instance to run (singleton)".
+%
+% See also: GUIDE, GUIDATA, GUIHANDLES
+
+% Edit the above text to modify the response to help GUI
+
+% Last Modified by GUIDE v2.5 24-Mar-2015 21:23:27
+
+% Begin initialization code - DO NOT EDIT
+gui_Singleton = 1;
+gui_State = struct('gui_Name', mfilename, ...
+ 'gui_Singleton', gui_Singleton, ...
+ 'gui_OpeningFcn', @GUI_OpeningFcn, ...
+ 'gui_OutputFcn', @GUI_OutputFcn, ...
+ 'gui_LayoutFcn', [] , ...
+ 'gui_Callback', []);
+if nargin && ischar(varargin{1})
+ gui_State.gui_Callback = str2func(varargin{1});
+end
+
+if nargout
+ [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
+else
+ gui_mainfcn(gui_State, varargin{:});
+end
+% End initialization code - DO NOT EDIT
+
+
+% --- Executes just before GUI is made visible.
+function GUI_OpeningFcn(hObject, eventdata, handles, varargin)
+% This function has no output args, see OutputFcn.
+% hObject handle to figure
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+% varargin command line arguments to GUI (see VARARGIN)
+
+% Choose default command line output for GUI
+handles.output = hObject;
+
+handles.filepath = hObject;
+handles.filepath = mfilename('fullpath');
+handles.filepath = strrep(handles.filepath, 'GUI', '');
+addpath(handles.filepath);
+cd(handles.filepath);
+if (~exist(handles.filepath,'file'))
+ error(strcat(handles.filepath, ' does not exist'))
+end
+
+if(~isfield(handles, 'axes'))
+ for i = 1:12
+ eval(['handles.axes{' num2str(i) '} = handles.axes' num2str(i) ';']);
+ eval(['handles = rmfield(handles,''axes' num2str(i) ''');']);
+ eval(['handles.togglebuttons{' num2str(i) '} = handles.togglebutton' num2str(i) ';']);
+ eval(['handles = rmfield(handles,''togglebutton' num2str(i) ''');']);
+ eval(['handles.radiobutton{' num2str(i) '} = handles.radiobutton' num2str(i) ';']);
+ eval(['handles = rmfield(handles,''radiobutton' num2str(i) ''');']);
+ end
+ for i = 13:16
+ eval(['handles.radiobutton{' num2str(i) '} = handles.radiobutton' num2str(i) ';']);
+ eval(['handles = rmfield(handles,''radiobutton' num2str(i) ''');']);
+ end
+end
+handles.main = hObject;
+handles.main = struct();
+
+if(evalin('base','exist(''main'')'))
+ handles.main = importData(hObject, eventdata, handles);
+ handles = loadOptions(hObject, eventdata, handles);
+ previewPlot(hObject, eventdata, handles);
+ if(~isfield(handles.main.params.file,'pathName'))
+ handles.main.params.file.name = '';
+ handles.main.params.file.path = handles.filepath;
+ handles.main.params.file.pathName = handles.filepath;
+ end
+else
+ handles.main.params.file.name = '';
+ handles.main.params.file.path = handles.filepath;
+ handles.main.params.file.pathName = handles.filepath;
+end
+
+handles.pause_play_timer = timer('BusyMode', 'queue', 'ExecutionMode',...
+ 'fixedRate', 'Period', 5.0);
+set(handles.pause_play_timer, 'TimerFcn', @(hObject, event) pushbutton2_Callback(hObject, eventdata, guidata(hObject)));
+cd(handles.main.params.file.path);
+load_listbox(hObject, eventdata, handles)
+guidata(hObject, handles);
+% Update handles structure
+%findobj('tag', 'figure\*');
+
+
+% UIWAIT makes GUI wait for user response (see UIRESUME)
+% uiwait(handles.figure1);
+
+
+% --- Outputs from this function are returned to the command line.
+function varargout = GUI_OutputFcn(hObject, eventdata, handles)
+% varargout cell array for returning output args (see VARARGOUT);
+% hObject handle to figure
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+% Get default command line output from handles structure
+varargout{1} = handles.output;
+
+% --- Executes when user attempts to close figure1.
+function figure1_CloseRequestFcn(hObject, eventdata, handles)
+% hObject handle to figure1 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+cd(handles.filepath);
+% Hint: delete(hObject) closes the figure
+delete(hObject);
+
+
+function uipanel1_SelectionChangeFcn(hObject, eventdata, handles)
+if(isfield(handles.main,'expData'))
+previewPlot(hObject, eventdata, handles)
+end
+
+
+% --- Executes when selected object is changed in uipanel3.
+function uipanel3_SelectionChangeFcn(hObject, eventdata, handles)
+% hObject handle to the selected object in uipanel3
+% eventdata structure with the following fields (see UIBUTTONGROUP)
+% EventName: string 'SelectionChanged' (read only)
+% OldValue: handle of the previously selected object or empty if none was selected
+% NewValue: handle of the currently selected object
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+
+handles.main.params.plotting.separatePlot = 0; % to generate separate plots
+handles.main.params.plotting.multiPlot = 0; % to super impose multiple quantities on the same plot
+handles.main.params.plotting.subPlot = 0;
+
+switch get(get(handles.uipanel3,'SelectedObject'),'Tag')
+case 'radiobutton14', handles.main.params.plotting.separatePlot = 1;
+case 'radiobutton15', handles.main.params.plotting.subPlot = 1;
+case 'radiobutton16', handles.main.params.plotting.multiPlot = 1;
+ otherwise
+ error('You must select a radio button to indicate what field''s options you are changing.')
+end
+exportData(hObject, eventdata, handles);
+previewPlot(hObject, eventdata, handles);
+guidata(hObject,handles);
+
+function pause_play_Timer(hObject, eventdata, handles)
+% hObject handle to pushbutton_pause
+% eventdata reserved - to be defeined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);;
+
+if (handles.pause
+
+
+% --- Executes on button press in pushbutton2.
+function pushbutton2_Callback(hObject, eventdata, handles)
+% hObject handle to pushbutton2 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+
+handles = updateOptions(hObject, eventdata, handles);;
+
+if(handles.main.params.plotting.clearFigs)
+ set(handles.figure1, 'HandleVisibility', 'off');
+ close all;
+ set(handles.figure1, 'HandleVisibility', 'on');
+end
+handles.main.params.plotting.toPlot = handles.main.params.plotting.toPlot(~cellfun('isempty',handles.main.params.plotting.toPlot));
+if(~isempty(handles.main.params.plotting.toPlot))
+ if(handles.main.params.plotting.subPlot) %% plot on one figure using multiple subplots
+ counter = 1;
+ x = ceil(sqrt(length(handles.main.params.plotting.toPlot)));
+ y = x - floor((x ^ 2 - length(handles.main.params.plotting.toPlot))/x);
+ figure_handle = figure;
+ else if(handles.main.params.plotting.multiPlot)
+ figure_handle = figure;
+ end
+ end
+
+ tempData{1} = handles.main.expData.data{1};
+ tempParams{1} = handles.main.expData.params{1};
+ tempUnit{1} = handles.main.expData.unit{1};
+ tempName{1} = handles.main.expData.datafields{1};
+ if(isfield(handles.main.params.plotting,'toPlot'))
+ for m = 1:length(handles.main.params.plotting.toPlot)
+ for n = 1:length(handles.main.expData.datafields)
+ if(strcmp(handles.main.expData.datafields{n},handles.main.params.plotting.toPlot{m}))
+ tempData{m+1} = handles.main.expData.data{n};
+ tempParams{m+1} = handles.main.expData.params{n};
+ tempUnit{m+1} = handles.main.expData.unit{n};
+ tempName{m+1} = handles.main.expData.datafields{n};
+ end
+ end
+ end
+ end
+
+
+ for i=1:length(handles.main.params.plotting.toPlot)
+ if(strcmp(tempName{i},'Marker'))
+
+ else
+ if(handles.main.params.plotting.subPlot)
+ subplot(x,y,counter);
+ counter = counter + 1;
+
+ else if(handles.main.params.plotting.separatePlot)
+ figure_handle = figure;
+ whitebg(tempParams{1}.backgnd);
+ else
+ hold on;
+ end
+ whitebg('white');
+ end
+
+
+ if(strcmp(get(get(handles.uipanel1,'SelectedObject'),'Tag'), 'radiobutton13'))
+ whitebg(tempParams{1}.backgnd);
+ plot(tempData{1},tempData{i+1},'LineStyle',tempParams{1}.style,'Marker',tempParams{1}.marker,'Color',tempParams{1}.color);
+ set(gca,'Color',tempParams{1}.backgnd);
+ set(gcf,'Color',tempParams{1}.backgnd);
+ grid ON;
+ title(tempName{i+1})
+ xlabel(strcat(tempName{1},'(', tempUnit{1},')'));
+ ylabel(tempUnit{i+1});
+ else
+ plot(tempData{1},tempData{i+1},'LineStyle',tempParams{i+1}.style,'Marker',tempParams{i+1}.marker,'Color',tempParams{i+1}.color);
+ if(handles.main.params.plotting.subPlot||handles.main.params.plotting.separatePlot)
+ set(gca,'Color',tempParams{i+1}.backgnd);
+ end
+ grid ON;
+ xlabel(strcat(tempName{1},'(', tempUnit{1},')'));
+ if(~handles.main.params.plotting.multiPlot)
+ ylabel(tempUnit{i+1});
+ title(tempName{i+1})
+ else
+ hold off;
+ end
+
+ end
+
+ if(isfield(handles.main.expData,'Marker'))
+ marks = find(handles.main.expData.Marker.data);
+ l = length(marks);
+ for n = 1:l
+ x = handles.main.expData.data{1}(marks(n));
+ line([x x], get(gca,'YLim'),'Color',[rand(1) rand(1) rand(1)]);
+ y = get(gca,'YLim');
+ y = y(1)+(1/l)*n*(y(2)-y(1));
+ text('String',strcat('M',num2str(n),'>'),'Position',[x,y],'HorizontalAlignment','right')
+ end
+ end
+ end
+ end
+ all_ha = findobj( figure_handle, 'type', 'axes', 'tag', '' );
+ linkaxes( all_ha, 'x' );
+else
+ error('You must select fields to plot first.')
+end
+guidata(hObject,handles);
+
+% --- Executes on button press in checkbox1.
+function checkbox1_Callback(hObject, eventdata, handles)
+% hObject handle to checkbox1 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+% Hint: get(hObject,'Value') returns toggle state of checkbox1
+handles = guidata(hObject);
+
+button_state = get(hObject,'Value');
+if button_state == get(hObject,'Max')
+ handles.main.params.plotting.clearFigs = 1;
+elseif button_state == get(hObject,'Min')
+ handles.main.params.plotting.clearFigs = 0;
+end
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+
+
+
+% --- Executes on button press in pushbutton3.
+function pushbutton3_Callback(hObject, eventdata, handles)
+% hObject handle to pushbutton3 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+switch get(get(handles.uipanel1,'SelectedObject'),'Tag')
+case 'radiobutton1', i = 2;
+case 'radiobutton2', i = 3;
+case 'radiobutton3', i = 4;
+case 'radiobutton4', i = 5;
+case 'radiobutton5', i = 6;
+case 'radiobutton6', i = 7;
+case 'radiobutton7', i = 8;
+case 'radiobutton8', i = 9;
+case 'radiobutton9', i = 10;
+case 'radiobutton10', i = 11;
+case 'radiobutton11', i = 12;
+case 'radiobutton12', i = 13;
+case 'radiobutton13', i = 1;
+ otherwise
+ error('You must select a radio button to indicate what field''s options you are changing before pressing this button.')
+end
+
+color = get(handles.listbox1,'String');
+color = color{get(handles.listbox1,'Value')};
+style = get(handles.listbox2,'String');
+style = style{get(handles.listbox2,'Value')};
+marker = get(handles.listbox3,'String');
+marker = marker{get(handles.listbox3,'Value')};
+bg = get(handles.listbox4,'String');
+bg = bg{get(handles.listbox4,'Value')};
+handles.main.expData.params{i}.color = color;
+handles.main.expData.params{i}.style = style;
+handles.main.expData.params{i}.marker = marker;
+handles.main.expData.params{i}.backgnd = bg;
+exportData(hObject, eventdata, handles);
+previewPlot(hObject, eventdata, handles);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+
+% --- Executes on button press in pushbutton4.
+function pushbutton4_Callback(hObject, eventdata, handles)
+% hObject handle to pushbutton4 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+if isdir(handles.main.params.file.pathName)
+ cd (handles.main.params.file.pathName);
+ handles.main.params.file.path = cd;
+ handles.main.params.file.pathName = cd;
+ addpath(cd);
+ load_listbox(hObject, eventdata, handles);
+end
+
+% --- Executes on selection change in listbox5.
+function listbox5_Callback(hObject, eventdata, handles)
+% hObject handle to listbox5 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+
+% Hints: contents = cellstr(get(hObject,'String')) returns listbox5 contents as cell array
+% contents{get(hObject,'Value')} returns selected item from listbox5
+handles = guidata(hObject);
+get(handles.figure1,'SelectionType');
+if strcmp(get(handles.figure1,'SelectionType'),'open')
+ index_selected = get(handles.listbox5,'Value');
+ file_list = get(handles.listbox5,'String');
+ [path, handles.main.params.file.name, ext] = fileparts(file_list{index_selected});
+ handles.main.params.file.name = strcat(handles.main.params.file.name,ext);
+ handles.main.params.file.pathName = strcat(handles.main.params.file.path,'/', handles.main.params.file.name);
+ if isdir(handles.main.params.file.pathName)
+ cd (handles.main.params.file.pathName);
+ handles.main.params.file.path = cd;
+ handles.main.params.file.pathName = cd;
+ addpath(cd);
+ load_listbox(hObject, eventdata, handles);
+ else
+ cd(handles.main.params.file.path);
+ switch ext
+ case '.txt'
+
+ if(isfield(handles.main.params,'plotting'))
+ if(isfield(handles.main,'expData'))
+ handles.main.expData = parse_log(handles.main.params.file.pathName,handles.main.params,handles.main.expData);
+ else
+ handles.main.expData = parse_log(handles.main.params.file.pathName,handles.main.params);
+ end
+ else
+ handles.main.params = set_params(hObject, eventdata, handles);
+ handles.main.expData = parse_log(handles.main.params.file.pathName,handles.main.params);
+ end
+ handles.main = generateGuiData(hObject, eventdata, handles);
+ exportData(hObject, eventdata, handles);
+ handles.main = importData(hObject, eventdata, handles);
+ handles = updateOptions(hObject, eventdata, handles);
+ handles = loadOptions(hObject, eventdata, handles);
+ set(handles.text5,'string',strcat('Current Log:', handles.main.params.file.pathName));
+ previewPlot(hObject, eventdata, handles);
+
+ case '.mat'
+ handles.main = importData(hObject, eventdata, handles);
+ handles = updateOptions(hObject, eventdata, handles);
+ handles = loadOptions(hObject, eventdata, handles);
+ set(handles.text5,'string',strcat('Current Log:', handles.main.params.file.pathName));
+ previewPlot(hObject, eventdata, handles);
+
+ otherwise
+ try
+ open(handles.main.params.file.pathName,handles.main.params);
+ catch ex
+ errordlg(ex.getReport('basic'),'File Type Error','modal');
+ end
+
+ end
+ end
+end
+
+guidata(hObject,handles);
+
+
+
+
+%% Extra Functions
+% Used by above
+
+
+function previewPlot(hObject, eventdata, handles)
+%handles.datafields = fieldnames(handles.main.expData);
+if(~isnan(handles.main.expData.Time.data))
+ if(strcmp(get(get(handles.uipanel1,'SelectedObject'),'Tag'), 'radiobutton13'))
+ whitebg(handles.main.expData.params{1}.backgnd);
+ for i = 1:length(handles.main.expData.data)-1
+ if(~isnan(handles.main.expData.data{i}(1,1)) && i<=12)
+ plot(handles.axes{i},handles.main.expData.data{1},handles.main.expData.data{i+1},'LineStyle',handles.main.expData.params{1}.style,'Marker',handles.main.expData.params{1}.marker,'Color',handles.main.expData.params{1}.color);
+ set(handles.axes{i},'Color',handles.main.expData.params{1}.backgnd);
+ set(handles.togglebuttons{i},'string',handles.main.expData.datafields{i+1},'enable','on');
+ grid(handles.axes{i}, 'on');
+ xlabel(handles.axes{i},strcat(handles.main.expData.datafields{1},'(', handles.main.expData.unit{1},')'));
+ ylabel(handles.axes{i},handles.main.expData.unit{i+1});
+ if(isfield(handles.main.expData,'Marker'))
+ marks = find(handles.main.expData.Marker.data);
+ for j = 1:length(marks)
+ line([handles.main.expData.data{1}(marks(j)) handles.main.expData.data{1}(marks(j))], get(handles.axes{i},'YLim'),'Color','red','Parent',handles.axes{i})
+ end
+
+ end
+ end
+ end
+ else
+ whitebg('white');
+ for i = 1:length(handles.main.expData.data)-1
+ if(~isnan(handles.main.expData.data{i}(1,1)) && (i<=12))
+ plot(handles.axes{i},handles.main.expData.data{1},handles.main.expData.data{i+1},'LineStyle',handles.main.expData.params{i+1}.style,'Marker',handles.main.expData.params{i+1}.marker,'Color',handles.main.expData.params{i+1}.color);
+ if(~handles.main.params.plotting.multiPlot)
+ set(handles.axes{i},'Color',handles.main.expData.params{i+1}.backgnd);
+ end
+ set(handles.togglebuttons{i},'string',handles.main.expData.datafields{i+1},'enable','on');
+ grid(handles.axes{i}, 'on');
+ xlabel(handles.axes{i},strcat(handles.main.expData.datafields{1},'(', handles.main.expData.unit{1},')'));
+ ylabel(handles.axes{i},handles.main.expData.unit{i+1});
+ if(isfield(handles.main.expData,'Marker'))
+ marks = find(handles.main.expData.Marker.data);
+ for j = 1:length(marks)
+ line([handles.main.expData.data{1}(marks(j)) handles.main.expData.data{1}(marks(j))], get(handles.axes{i},'YLim'),'Color','red','Parent',handles.axes{i})
+ end
+
+ end
+ end
+ end
+ end
+ for i = length(handles.main.expData.data):12
+ plot(handles.axes{i},0,0);
+ set(handles.axes{i},'Color','white');
+ grid(handles.axes{i}, 'off');
+ set(handles.togglebuttons{i},'string','no data','enable','off');
+ set(handles.togglebuttons{i},'value',0);
+ handles.main.params.plotting.toPlot{i} = [];
+ end
+ setbgcolor(hObject, eventdata, handles);
+end
+guidata(hObject, handles);
+
+
+
+function main = importData(hObject, eventdata, handles)
+
+main = evalin('base' , 'main');
+handles.main = main;
+handles.main = generateGuiData(hObject, eventdata, handles);
+
+if(~isfield(handles.main.params,'plotting'))
+ handles.main.params = set_params(hObject, eventdata, handles);
+end
+if(~isfield(handles.main.params.plotting,'separatePlot'))
+ handles.main.params.plotting.separatePlot = 1; % to generate separate plots
+end
+if(~isfield(handles.main.params.plotting,'multiPlot'))
+ handles.main.params.plotting.multiPlot = 0; % to super impose multiple quantities on the same plot
+end
+if(~isfield(handles.main.params.plotting,'subPlot'))
+ handles.main.params.plotting.subPlot = 0; % to generate sub plots for multiple quantities
+end
+if(~isfield(handles.main.params.plotting,'clearFigs'))
+ handles.main.params.plotting.clearFigs = 1;
+end
+main = handles.main;
+guidata(hObject, handles);
+
+
+
+function main = generateGuiData(hObject, eventdata, handles)
+n = length(fieldnames(handles.main.expData));
+handles.main.expData.datafields = fieldnames(handles.main.expData);
+for i = 1:n
+eval(['handles.main.expData.data{i} = handles.main.expData.', handles.main.expData.datafields{i}, '.data;']); %%
+eval(['handles.main.expData.unit{i} = handles.main.expData.', handles.main.expData.datafields{i}, '.unit;']); %%
+eval(['handles.main.expData.params{i} = handles.main.expData.', handles.main.expData.datafields{i}, '.params;']);
+end
+main = handles.main;
+guidata(hObject, handles);
+
+
+
+function exportData(hObject, eventdata, handles)
+
+handles.main.expData.datafields = fieldnames(handles.main.expData);
+for i = 1:length(handles.main.expData.data)
+eval(['handles.main.expData.', handles.main.expData.datafields{i}, '.data = handles.main.expData.data{i};']); %%
+eval(['handles.main.expData.', handles.main.expData.datafields{i}, '.unit = handles.main.expData.unit{i};']); %%
+eval(['handles.main.expData.', handles.main.expData.datafields{i}, '.params = handles.main.expData.params{i};']);
+end
+handles.main.expData = rmfield(handles.main.expData, 'datafields');
+handles.main.expData = rmfield(handles.main.expData, 'data');
+handles.main.expData = rmfield(handles.main.expData, 'unit');
+handles.main.expData = rmfield(handles.main.expData, 'params');
+
+assignin('base', 'main', handles.main);
+
+
+
+function setbgcolor(hObject, eventdata, handles)
+
+bgcolor = get(handles.figure1,'color');
+set(handles.uipanel1,'BackgroundColor', bgcolor);
+set(handles.uipanel2,'BackgroundColor', bgcolor);
+set(handles.uipanel3,'BackgroundColor', bgcolor);
+for i = 1:16
+ set(handles.radiobutton{i},'BackgroundColor', bgcolor);
+end
+for i = 1:6
+ eval(['set(handles.text', num2str(i) , ',''BackgroundColor'', bgcolor);'])
+end
+set(handles.checkbox1,'BackgroundColor', bgcolor);
+guidata(hObject, handles);
+
+
+
+function load_listbox(hObject, eventdata, handles)
+dir_struct = dir(cd);
+[sorted_names,sorted_index] = sortrows({dir_struct.name}');
+handles.file_names = sorted_names;
+handles.is_dir = [dir_struct.isdir];
+handles.sorted_index = sorted_index;
+guidata(handles.figure1,handles)
+set(handles.listbox5,'String',handles.file_names,'Value',1)
+set(handles.text5,'string',strcat('Current Log:', handles.main.params.file.pathName))
+cd(handles.filepath);
+guidata(hObject, handles);
+
+
+
+function params = set_params(hObject, eventdata, handles)
+handles.main.params.plotting.plot = 1; % switch to choose plotting
+handles.main.params.plotting.separatePlot = 1; % to generate separate plots
+handles.main.params.plotting.multiPlot = 0; % to super impose multiple quantities on the same plot
+handles.main.params.plotting.subPlot = 0; % to generate sub plots for multiple quantities
+handles.main.params.plotting.clearFigs = 1;
+handles.main.params.plotting.separateData = {}; % column numbers to plot on separate figures
+handles.main.params.plotting.toPlot = {};
+ % if empty & plot = 1, all the columns will be plotted
+handles.main.params.plotting.multiData = {}; % if empty but switch is on, use separateData values
+handles.main.params.plotting.subData = {}; % if empty but switch is on, use multiData values
+handles.main.params.plotting.color = 'black'; % one character for color of the plotting line
+handles.main.params.plotting.marker = 'none'; % one character for the maker of the plotting line
+handles.main.params.plotting.style = '-'; % one character for the style of the plotting line
+handles.main.params.plotting.backgnd = 'white'; % rgb array for background color of the plot
+params = handles.main.params;
+
+
+
+function handles = loadOptions(hObject, eventdata, handles)
+handles = guidata(hObject);
+set(handles.radiobutton{14},'Value',0)
+set(handles.radiobutton{15},'Value',0)
+set(handles.radiobutton{16},'Value',0)
+if(handles.main.params.plotting.separatePlot)
+ set(handles.radiobutton{14},'Value',1)
+else if(handles.main.params.plotting.subPlot)
+ set(handles.radiobutton{15},'Value',1)
+ else if(handles.main.params.plotting.multiPlot)
+ set(handles.radiobutton{16},'Value',1)
+ else
+ set(handles.radiobutton{14},'Value',1);
+ handles.main.params.plotting.separatePlot = 1;
+ end
+ end
+end
+if(handles.main.params.plotting.clearFigs)
+ set(handles.checkbox1,'Value',1)
+else
+ set(handles.checkbox1,'Value',0)
+end
+
+for n = 2:length(handles.main.expData.datafields)
+ if(n<=13)
+ set(handles.togglebuttons{n-1}, 'Value', 0);
+ end
+end
+if(isfield(handles.main.params.plotting,'toPlot'))
+ for m = 1:length(handles.main.params.plotting.toPlot)
+ for n = 2:length(handles.main.expData.datafields)
+ if(strcmp(handles.main.expData.datafields{n},handles.main.params.plotting.toPlot{m}))
+ set(handles.togglebuttons{n-1}, 'Value', 1);
+ end
+ end
+ end
+end
+exportData(hObject, eventdata, handles);
+guidata(hObject, handles);
+
+
+
+function handles = updateOptions(hObject, eventdata, handles)
+
+handles = guidata(hObject);
+
+uipanel3_SelectionChangeFcn(hObject, eventdata, handles);
+
+if(get(handles.checkbox1,'Value'))
+ handles.main.params.plotting.clearFigs = 1;
+else
+ handles.main.params.plotting.clearFigs = 0;
+end
+
+handles.main.params.plotting.toPlot = {};
+for i = 1:length(handles.main.expData.datafields)-1
+ if(i<=12)
+ button_state = get(handles.togglebuttons{i},'Value');
+ end
+ if button_state == 1
+ handles.main.params.plotting.toPlot = {handles.main.params.plotting.toPlot{:}, handles.main.expData.datafields{i+1}};
+ else
+ handles.main.params.plotting.toPlot(strcmp(handles.main.expData.datafields{i+1},handles.main.params.plotting.toPlot)) = [];
+ end
+end
+handles.main.params.plotting.toPlot = handles.main.params.plotting.toPlot(~cellfun('isempty',handles.main.params.plotting.toPlot));
+
+exportData(hObject, eventdata, handles);
+guidata(hObject, handles);
+
+
+
+%% unused functions
+function uipanel1_ButtonDownFcn(hObject, eventdata, handles)
+function togglebutton7_CreateFcn(hObject, eventdata, handles)
+function listbox5_CreateFcn(hObject, eventdata, handles)
+function listbox1_Callback(hObject, eventdata, handles)
+function listbox1_CreateFcn(hObject, eventdata, handles)
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+ set(hObject,'BackgroundColor','white');
+end
+function listbox2_Callback(hObject, eventdata, handles)
+function listbox2_CreateFcn(hObject, eventdata, handles)
+function listbox3_Callback(hObject, eventdata, handles)
+function listbox3_CreateFcn(hObject, eventdata, handles)
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+ set(hObject,'BackgroundColor','white');
+end
+function listbox4_Callback(hObject, eventdata, handles)
+function listbox4_CreateFcn(hObject, eventdata, handles)
+if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgroundColor'))
+ set(hObject,'BackgroundColor','white');
+end
+
+
+%% bulky functions (repetative)
+
+%--- Executes on button press in togglebutton1.
+function togglebutton1_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton1 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton2.
+function togglebutton2_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton2 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton3.
+function togglebutton3_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton3 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton4.
+function togglebutton4_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton4 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton5.
+function togglebutton5_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton5 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton6.
+function togglebutton6_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton6 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton7.
+function togglebutton7_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton7 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton8.
+function togglebutton8_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton8 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)clc
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton9.
+function togglebutton9_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton9 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton10.
+function togglebutton10_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton10 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton11.
+function togglebutton11_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton11 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
+% --- Executes on button press in togglebutton12.
+function togglebutton12_Callback(hObject, eventdata, handles)
+% hObject handle to togglebutton12 (see GCBO)
+% eventdata reserved - to be defined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);
+guidata(hObject,handles);
diff --git a/controls/DataAnalysisTool/Tool/GUI.fig b/controls/DataAnalysisTool/Tool/GUI.fig
index 0e62ff281260cd9f294eff1374daa9c160bab03e..cbbcff33b682e326691c4bffc93b94c4dde630a0 100644
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zbARs7{kcE)=l<NE`*VNp&;7aockllf00960V`6{+Rv_j8Vn!qk5obZ+^8xV-AZ9~S
zkF1{=O+QGz1(JFuEcP)Fuy3ICcOdEK#G*d}Nj(#k&%o&E3)AmGz<%`bW`*)Ww6C*&
NFw7hf004cwmipKRqR{{V
diff --git a/controls/DataAnalysisTool/Tool/GUI.m b/controls/DataAnalysisTool/Tool/GUI.m
index 3794047e0..95016c85f 100644
--- a/controls/DataAnalysisTool/Tool/GUI.m
+++ b/controls/DataAnalysisTool/Tool/GUI.m
@@ -95,6 +95,11 @@ else
handles.main.params.file.path = handles.filepath;
handles.main.params.file.pathName = handles.filepath;
end
+
+handles.pause_or_play = 0;
+handles.pause_play_timer = timer('BusyMode', 'queue', 'ExecutionMode',...
+ 'fixedRate', 'Period', 5.0);
+set(handles.pause_play_timer, 'TimerFcn', @(hObject, event) pushbutton2_Callback(hObject, eventdata, guidata(hObject)));
cd(handles.main.params.file.path);
load_listbox(hObject, eventdata, handles)
guidata(hObject, handles);
@@ -158,6 +163,22 @@ exportData(hObject, eventdata, handles);
previewPlot(hObject, eventdata, handles);
guidata(hObject,handles);
+function pause_play_timer(hObject, eventdata, handles)
+% hObject handle to pushbutton_pause
+% eventdata reserved - to be defeined in a future version of MATLAB
+% handles structure with handles and user data (see GUIDATA)
+handles = guidata(hObject);
+handles = updateOptions(hObject, eventdata, handles);;
+
+if (handles.pause_or_play == 0)
+ handles.pause_or_play = 1;
+ start(handles.pause_play_timer);
+else
+ handles.pause_or_play = 0;
+ stop(handles.pause_play_timer);
+end
+guidata(hObject, handles);
+
% --- Executes on button press in pushbutton2.
function pushbutton2_Callback(hObject, eventdata, handles)
--
GitLab
From 8f10f3c93efc8655235e925230cf7166f3fb6ebb Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Sun, 27 Jan 2019 15:36:57 -0600
Subject: [PATCH 10/24] implemented script for testing groundstation side of
real-time data analysis tool
---
MicroCART | 1 +
controls/DataAnalysisTool/Tool/gen | Bin 0 -> 8816 bytes
controls/DataAnalysisTool/Tool/gen_script.c | 39 +
.../DataAnalysisTool/Tool/gui_testLogFile.txt | 21 +
controls/DataAnalysisTool/Tool/junk_data.txt | 1407 +++++++++++++++++
groundStation/gui/MicroCART/mainwindow.ui | 8 +-
6 files changed, 1472 insertions(+), 4 deletions(-)
create mode 160000 MicroCART
create mode 100755 controls/DataAnalysisTool/Tool/gen
create mode 100644 controls/DataAnalysisTool/Tool/gen_script.c
create mode 100644 controls/DataAnalysisTool/Tool/gui_testLogFile.txt
create mode 100644 controls/DataAnalysisTool/Tool/junk_data.txt
diff --git a/MicroCART b/MicroCART
new file mode 160000
index 000000000..5600e197a
--- /dev/null
+++ b/MicroCART
@@ -0,0 +1 @@
+Subproject commit 5600e197a414c92426b3535b6c0b69c73e8c6ee3
diff --git a/controls/DataAnalysisTool/Tool/gen b/controls/DataAnalysisTool/Tool/gen
new file mode 100755
index 0000000000000000000000000000000000000000..92ae91f76d291217c66a37c880ae548b1c1aea58
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diff --git a/controls/DataAnalysisTool/Tool/gen_script.c b/controls/DataAnalysisTool/Tool/gen_script.c
new file mode 100644
index 000000000..0e666217c
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/gen_script.c
@@ -0,0 +1,39 @@
+/*
+ * This basic script will populate a .txt file (gui_testLogFile) with junk
+ * (but viable) data. This is for the purpose of testing the real time
+ * data logging feature on the groundstation side.
+ *
+ */
+
+#include <unistd.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+static int NUM_OPERATIONS = 50;
+
+int main(){
+
+ FILE * f = fopen("gui_testLogFile.txt", "a");
+ FILE * to_write = fopen("junk_data.txt", "r");
+ char buffer[1048];
+
+ int i = 0;
+
+ if (f == NULL){
+ perror("Error opening file");
+ }
+ if (to_write == NULL){
+ perror("Error opening junk file");
+ }
+ while(i < NUM_OPERATIONS){
+ FILE * f = fopen("gui_testLogFile.txt", "a");
+ fgets(buffer, 746, to_write);
+ fprintf(f, buffer);
+ fclose(f);
+ i++;
+ sleep(1);
+ }
+ fclose(to_write);
+ return 0;
+}
diff --git a/controls/DataAnalysisTool/Tool/gui_testLogFile.txt b/controls/DataAnalysisTool/Tool/gui_testLogFile.txt
new file mode 100644
index 000000000..aaaecc9d7
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/gui_testLogFile.txt
@@ -0,0 +1,21 @@
+# MicroCART On-board Quad Log
+# Sample size: 1408
+# IMU IIC failures: 0
+# LiDAR IIC failures: 0
+# Optical Flow IIC failures: 0
+# Roll PID : Kp = 35.000000 Ki = 0.000000 Kd = 1.000000 Alpha = 0.880000
+# Pitch PID : Kp = 35.000000 Ki = 0.000000 Kd = 1.000000 Alpha = 0.880000
+# Yaw PID : Kp = 2.600000 Ki = 0.000000 Kd = 0.000000 Alpha = 0.000000
+# Roll Rate PID : Kp = 0.030000 Ki = 0.000000 Kd = 0.005000 Alpha = 0.880000
+# Pitch Rate PID : Kp = 0.030000 Ki = 0.000000 Kd = 0.005000 Alpha = 0.880000
+# Yaw Rate PID : Kp = 0.297000 Ki = 0.000000 Kd = 0.000000 Alpha = 0.000000
+# X pos PID : Kp = 0.550000 Ki = 0.007500 Kd = 0.000000 Alpha = 0.000000
+# Y pos PID : Kp = 0.550000 Ki = 0.007500 Kd = 0.000000 Alpha = 0.000000
+# Altitude PID : Kp = -0.098040 Ki = -0.008170 Kd = -0.073530 Alpha = 0.880000
+# X Vel PID : Kp = -0.100000 Ki = 0.000000 Kd = -0.020000 Alpha = 0.000000
+# Y Vel PID : Kp = 0.100000 Ki = 0.000000 Kd = 0.020000 Alpha = 0.000000
+# X Vel : Kp = 0.000000 Ki = 0.000000 Kd = -1.000000 Alpha = 0.880000
+# Y Vel : Kp = 0.000000 Ki = 0.000000 Kd = -1.000000 Alpha = 0.880000
+%Time accel_x accel_y accel_z gyro_x gyro_y gyro_z mag_x mag_y mag_z Roll_Constant Yaw_Constant X Setpoint_Constant Y Setpoint_Constant Alt Setpoint_Constant Yaw Setpoint_Constant Lidar_Constant VRPN X_Constant VRPN Y_Constant VRPN Alt_Constant Flow Vel X_Constant Flow Vel Y_Constant Flow Quality_Constant Altitude PID_Correction X pos PID_Correction Y pos PID_Correction Pitch PID_Correction Roll PID_Correction Yaw PID_Correction Pitch Rate PID_Correction Roll Rate PID_Correction Yaw Rate PID_Correction Pitch trim add_Sum Signal Mixer_MOTOR 0 Signal Mixer_MOTOR 1 Signal Mixer_MOTOR 2 Signal Mixer_MOTOR 3 X Vel PID_Correction Y Vel PID_Correction X Vel_Correction Y Vel_Correction OF Offset Angle_Rotated X OF Offset Angle_Rotated Y OF Integrate X_Integrated OF Integrate Y_Integrated PSI Sum_Sum Mag Yaw_Constant
+&s G G G rad/s rad/s rad/s uT uT uT 10ns_dutycycle rad rad rad/s rad/s rad/s 10ns_dutycycle 10ns_dutycycle 10ns_dutycycle rad 10ns_dutycycle 10ns_dutycycle 10ns_dutycycle 10ns_dutycycle rad rad m/s m/s m/s m/s m m rad rad rad rad m m m m m m m m m/s m/s none
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diff --git a/controls/DataAnalysisTool/Tool/junk_data.txt b/controls/DataAnalysisTool/Tool/junk_data.txt
new file mode 100644
index 000000000..efd0d580a
--- /dev/null
+++ b/controls/DataAnalysisTool/Tool/junk_data.txt
@@ -0,0 +1,1407 @@
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+453.052429 0.000564 0.004996 -0.943363 -0.004193 0.001399 0.005202 -44.332031 138.960938 -347.835938 -0.010691 0.000000 0.000000 0.000000 -0.880000 0.000000 -0.135707 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.666587 0.420004 0.000000 -0.020089 0.012643 -0.035605 0.047322 0.124261 0.012874 0.078336 0.109369 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.087602 0.098929 0.000000 0.000000
+453.057434 0.004227 0.006705 -0.939457 -0.006321 0.002463 0.005202 -37.511719 145.851562 -345.445312 -0.010677 0.000000 0.000000 0.000000 -0.880000 0.000000 -0.138986 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.664962 0.417113 0.000000 -0.020194 0.012885 -0.035605 0.047315 0.124134 0.012536 0.078693 0.109517 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 -0.087602 0.098929 0.000000 0.000000
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diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index a857eb3f8..17c9cd8d6 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -130,8 +130,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1142</width>
- <height>749</height>
+ <width>1144</width>
+ <height>679</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_8">
@@ -1108,7 +1108,7 @@
</rect>
</property>
<property name="text">
- <string>Run Data Analysis</string>
+ <string>Run Data Analysis (Will Open Separate Window)</string>
</property>
</widget>
</widget>
@@ -1122,7 +1122,7 @@
<x>0</x>
<y>0</y>
<width>1186</width>
- <height>21</height>
+ <height>28</height>
</rect>
</property>
<widget class="QMenu" name="menuScripts">
--
GitLab
From bfb98aa41b56b9efa328850a3f0b9b043921c031 Mon Sep 17 00:00:00 2001
From: bertucci <bertucci@iastate.edu>
Date: Sat, 23 Feb 2019 20:36:02 -0600
Subject: [PATCH 11/24] Merging quad send_rt_data branch with real-time data
transfer gui branch
---
MicroCART | 2 +-
.../quad_app/RTSensorPacketDocumentation.md | 151 ++++++++
quad/src/quad_app/communication.c | 2 +-
quad/src/quad_app/debug_level_readme.txt | 101 +++++
quad/src/quad_app/debug_rt.c | 366 ++++++++++--------
quad/src/quad_app/debug_rt.h | 100 ++++-
quad/src/quad_app/log_data.c | 109 +++++-
quad/src/quad_app/log_data.h | 7 +
quad/src/quad_app/quad_app.c | 39 +-
quad/src/quad_app/sensor.c | 2 +-
quad/src/quad_app/sensor_processing.c | 6 +-
quad/src/quad_app/type_def.h | 33 +-
12 files changed, 699 insertions(+), 219 deletions(-)
create mode 100644 quad/src/quad_app/RTSensorPacketDocumentation.md
create mode 100644 quad/src/quad_app/debug_level_readme.txt
diff --git a/MicroCART b/MicroCART
index 5600e197a..d01645c05 160000
--- a/MicroCART
+++ b/MicroCART
@@ -1 +1 @@
-Subproject commit 5600e197a414c92426b3535b6c0b69c73e8c6ee3
+Subproject commit d01645c0571a335594396942e6ffa1b53bc710f0
diff --git a/quad/src/quad_app/RTSensorPacketDocumentation.md b/quad/src/quad_app/RTSensorPacketDocumentation.md
new file mode 100644
index 000000000..e2e534320
--- /dev/null
+++ b/quad/src/quad_app/RTSensorPacketDocumentation.md
@@ -0,0 +1,151 @@
+#Sensor Data - Real Time
+
+### Sends data in "raw sensor struct"
+
+**NOTE**
+It is important to keep the payload as small as possible. So if the code seems strange, keep in mind NOT to change the payload size to be fixed, even if it would be cleaner or easier to understand
+
+* In the main quad loop, a function is called that is "get sensors". It places stuff in the hardware struct into the raw sensor struct.
+* The hardware struct includes all the drivers for the various sensors on the quadcopter. The get sensors function essentially calls "read" on the drivers and places that info into the raw sensor struct
+* Each driver has these things:
+ * reset function pointer
+ * read function pointer
+ * state void pointer
+
+* The raw sensor struct holds these values
+ * optical flow sensor data (px4flow)
+ * lidar data
+ * imu data (gam struct)
+ * UNUSED gps struct
+ * All these structs have an error variable
+ * called SensorError_t struct
+ * has an error count variable
+
+### Structs for sensors
+* lidar struct
+ * distance the quad is from the ground in meters
+ * float (32 bits)
+
+
+* optical flow struct
+ * All the below are doubles (64 bits)
+ * xy flow
+ * xy filter
+ * xy velocity
+
+* imu data
+ * All the below values are floats (32 bits)
+ * gyroscope data
+ * xyz velocity (angular)
+ * accelerometer data
+ * xyz acceleration
+ * magnetometer data
+ * xyz direction
+
+* actuator data
+ *
+
+* SensorError struct (all the above have this)
+ * Errors
+ * Consecutive Errors
+ * all the above is 32 bits wide
+
+
+
+### Packet structure
+
+#### Groundstation to Quad: Sensor RT Data Configuration Packet
+
+| index | Description | Size |
+|---|---|---|
+| 0 | start char | 1 |
+| 1 + 2 | message type - 20 | 2 |
+| 3 + 4 | message id - 0 | 2 |
+| 5 + 6 | # bytes - 14 | 2 |
+| 7 | first 8 variables (see table) | 1 |
+| 8 | second 8 varibales (see table) | 1 |
+| 9 | last 6 variables (see table) | 1 |
+| 10 | reserved for future use | 1 |
+| end| checksum | 1 |
+
+Bit map:
+
+Payload of configuration packet
+
+MSB (Bit 31) -------- LSB (bit 0)
+|Byte 4| Byte 3| Byte 2| Byte 1|
+
+** Byte 4 **
+
+| bit | Description |
+|---|---|
+| 31 | lidar - distance to ground |
+| 30 | optical flow - x flow|
+| 29 | optical flow - y flow|
+| 28 | optical flow - x filter|
+| 27 | optical flow - y filter|
+| 26 | optical flow - x velocity |
+| 25 | optical flow - y velocity |
+| 24 | gyroscope - x velocity|
+
+
+
+** byte 3 **
+
+| bit | Description |
+|---|---|
+| 23 | gyroscope - y velocity|
+| 22 | gyroscope - z velocity|
+| 21 | accelerometer - x acceleration|
+| 20 | accelerometer - y acceleration|
+| 19 | accelerometer - z acceleration|
+| 18 | magnetometer - x |
+| 17 | magnetometer - y |
+| 16 | magnetometer - z |
+
+
+** byte 2**
+
+| bit | Description |
+|---|---|
+| 15 | lidar err total|
+| 14 | consecutive lidar err|
+| 13 | opt flow error total|
+| 12 | consecutive opt flow error|
+| 11 | imu total errors|
+| 10 | consecutive imu errors|
+| 9 | EMPTY |
+| 8 | EMPTY |
+
+
+** byte 1**
+
+| bit | Description |
+|---|---|
+| 7 | EMPTY |
+| 6 | EMPTY |
+| 5 | EMPTY |
+| 4 | EMPTY |
+| 3 | EMPTY |
+| 2 | EMPTY |
+| 1 | EMPTY |
+| 0 | EMPTY |
+
+
+#### Quad to Groundstation Packet - Contains payload data
+
+| index | 0 | 1 + 2 | 3+4 | 5&6 | ? | end |
+|---|---|---|---|---|---|---|
+| description | start char | msg type - SEND_RT_ID | msg id - 0 | # bytes| payload | checksum |
+| bytes | 1 | 2 | 2 | 2 | variable | 1 |
+
+
+* The packet has a msg type of send_rt_id, which has a value of 20
+* The structure of the payload depends on what variables are selected
+ * See "Checklist" below
+ * There are 22 available things to send, but depending on how much data the user wants sent, the payload will vary
+ * They will be sent in the order listed by the configuration packet
+
+
+
+
diff --git a/quad/src/quad_app/communication.c b/quad/src/quad_app/communication.c
index 2f0183c98..ad39cdc08 100644
--- a/quad/src/quad_app/communication.c
+++ b/quad/src/quad_app/communication.c
@@ -20,7 +20,7 @@ void Handler(void *CallBackRef, u32 Event, unsigned int EventData);
u8 packet[MAX_PACKET_SIZE];
int bytes_recv = 0;
-
+/Users/tina/Desktop/pythonlibrary/matplotlib
int try_receive_packet(struct UARTDriver *uart) {
int attempts = 0;
while (attempts++ < MAX_PACKET_SIZE) {
diff --git a/quad/src/quad_app/debug_level_readme.txt b/quad/src/quad_app/debug_level_readme.txt
new file mode 100644
index 000000000..49e181c72
--- /dev/null
+++ b/quad/src/quad_app/debug_level_readme.txt
@@ -0,0 +1,101 @@
+
+DEBUG LEVEL ONE
+
+// Sensor blocks
+ int cur_pitch;
+ int cur_roll;
+ int cur_yaw;
+ int gyro_y;
+ int gyro_x;
+ int gyro_z;
+ int lidar;
+ int flow_vel_x; // optical flow
+ int flow_vel_y;
+ int flow_vel_x_filt;
+ int flow_vel_y_filt;
+ int flow_quality; // Quality value returned by optical flow sensor
+ int flow_distance;
+
+// Sensor processing
+ int yaw_correction;
+ int of_angle_corr; // Corrects for the optical flow mounting angle
+ int of_integ_x; // Integrates the optical flow data
+ int of_integ_y;
+ int of_trim_x; // Trim value for optical flow integrated value
+ int of_trim_y;
+ int of_trimmed_x; // Trimmed optical flow integrated value (of_integ_x + of_trim_x)
+ int of_trimmed_y;
+
+
+DEBUG LEVEL TWO
+
+// PID blocks
+ int roll_pid;
+ int pitch_pid;
+ int yaw_pid;
+ int roll_r_pid;
+ int pitch_r_pid;
+ int yaw_r_pid;
+ int x_pos_pid;
+ int y_pos_pid;
+ int alt_pid;
+
+DEBUG LEVEL THREE
+
+// Velocity nodes
+ int x_vel_pid;
+ int y_vel_pid;
+ int x_vel;
+ int y_vel;
+ int x_vel_clamp;
+ int y_vel_clamp;
+ int vel_x_gain;
+ int vel_y_gain;
+
+ // VRPN blocks
+ int vrpn_x;
+ int vrpn_y;
+ int vrpn_alt;
+ int vrpn_pitch, vrpn_roll;
+
+ // RC blocks
+ int rc_pitch;
+ int rc_roll;
+ int rc_yaw;
+ int rc_throttle;
+
+ // Desired positions
+ int x_set;
+ int y_set;
+ int alt_set;
+ int yaw_set;
+
+DEBUG LEVEL FOUR
+
+
+ // Clamps
+ int clamp_d_pwmP;
+ int clamp_d_pwmR;
+ int clamp_d_pwmY;
+ int yaw_clamp;
+ // Loop times
+ int angle_time;
+ int pos_time;
+
+ // Signal mixer
+ int mixer;
+ int throttle_trim;
+ int throttle_trim_add;
+ int pitch_trim;
+ int pitch_trim_add;
+ int yaw_trim;
+ int yaw_trim_add;
+
+ //psi dot integration chain
+ int psi_dot;
+ int psi_dot_offset;
+ int psi_dot_sum;
+ int psi;
+ int psi_offset;
+ int psi_sum;
+ int mag_yaw; //Complementary filtered magnetometer/gyro yaw
diff --git a/quad/src/quad_app/debug_rt.c b/quad/src/quad_app/debug_rt.c
index d4a61a743..cd9fc7204 100644
--- a/quad/src/quad_app/debug_rt.c
+++ b/quad/src/quad_app/debug_rt.c
@@ -9,189 +9,235 @@
#include "computation_graph.h"
#include "timer.h"
-//use int send_data(struct UARTDriver *uart, u16 type_id, u16 msg_id, u8* data, size_t size) to send information to the via uart to the wifi chip
-//the uart driver is in the comm driver
-//send_data(comm->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
-//where is LOG ID? Maybe it will compile any if I just write it as is?
+
+#define ReadBit(data, position) ( (data>>y) & 1)
+#define SetBit(data,position) data |= (1 << y)
+#define ClearBit(data,y) data &= ~(1 << y)
-//typedef struct hardware_t : this is where you access the comm driver
/*
-
- typedef struct hardware_t {
- struct I2CDriver i2c_0;
- struct I2CDriver i2c_1;
- struct RCReceiverDriver rc_receiver;
- struct MotorDriver motors;
- struct UARTDriver uart_0;
- struct UARTDriver uart_1;
- struct GPSDriver gps;
- struct CommDriver comm;
- struct TimerDriver global_timer;
- struct TimerDriver axi_timer;
- struct LEDDriver mio7_led;
- struct SystemDriver sys;
- struct IMUDriver imu;
- struct LidarDriver lidar;
- struct OpticalFlowDriver of;
- } hardware_t;
-
- struct CommDriver {
- struct UARTDriver *uart; <-- ???
- };
-
- */
+ Initially sets it so that all debug values are zero
+*/
+SensorRTFlags_t * initializeFlags(void){
+
+ SensorRTFlags_t * flags = malloc(sizeof(SensorRTFlags_t));
+ flags -> imuflags = calloc(sizeof(IMUFlags_t));
+ flags -> optflowflags = calloc(sizeof(OptFlowFlags_t));
+ flags -> lidarflags = calloc(sizeof(lidarFlags_t));
+ flags -> errorFlags = calloc(sizeof(SensorErrorFlags_t));
+
+}
+
+void freeFlags(SensorRTFlags_t * flags){
+ free(flags -> imuflags);
+ free(flags -> optflowflags);
+ free(flags -> lidarflags);
+ free(flags -> errorFlags);
+ free(flags);
+}
/*
-typedef struct modular_structs {
- user_input_t user_input_struct;
- log_t log_struct;
- raw_sensor_t raw_sensor_struct;
- sensor_t sensor_struct;
- setpoint_t setpoint_struct;
- parameter_t parameter_struct;
- user_defined_t user_defined_struct;
- raw_actuator_t raw_actuator_struct;
- actuator_command_t actuator_command_struct;
- hardware_t hardware_struct;
-} modular_structs_t;
-
- */
+Uses the payload from the configuration packet (it's in the flag parameter) to set what should be sent
+Size of float = 32 bits
+
+As of now many bits are empty and wont be processed
+See RTSensorPacketDocumentation.md for which flags each bit of the config data corresponds to
+
+It returns the size of the packet that will be sent, so the payload is correctly determined
+*/
+
+int process_configuration_packet(float configData, SensorRTFlags_t * flags)
+{
+
+ int size = 0;
+
+ flags -> lidarflags -> quadHeight = ReadBit(31); size += ReadBit(31);
+ flags -> optflowflags -> x_flow = ReadBit(30); size += 2 * ReadBit(30);
+ flags -> optflowflags -> y_flow = ReadBit(29); size += 2 * ReadBit(29);
+ flags -> optflowflags -> x_filter = ReadBit(28); size += 2 * ReadBit(28);
+ flags -> optflowflags -> y_filter = ReadBit(27); size += 2 * ReadBit(27);
+ flags -> optflowflags -> x_velocity = ReadBit(26); size += 2 * ReadBit(26);
+ flags -> optflowflags -> y_velocity = ReadBit(25); size += 2 * ReadBit(25);
+ flags -> imuflags -> gyro_x = ReadBit(24); size += ReadBit(24);
+ flags -> imuflags -> gyro_y = ReadBit(23); size += ReadBit(23);
+ flags -> imuflags -> gyro_z = ReadBit(22); size += ReadBit(22);
+ flags -> imuflags -> acc_x = ReadBit(21); size += ReadBit(21);
+ flags -> imuflags -> acc_y = ReadBit(20); size += ReadBit(20);
+ flags -> imuflags -> acc_z = ReadBit(19); size += ReadBit(19);
+ flags -> imuflags -> mag_x = ReadBit(18); size += ReadBit(18);
+ flags -> imuflags -> mag_y = ReadBit(17); size += ReadBit(17);
+ flags -> imuflags -> mag_z = ReadBit(16); size += ReadBit(16);
+ flags -> errorflags -> lidar = ReadBit(15); size += ReadBit(15);
+ flags -> errorflags -> consec_lidar = ReadBit(14); size += ReadBit(14);
+ flags -> errorflags -> optFlow = ReadBit(13); size += ReadBit(13);
+ flags -> errorflags -> consec_optFlow = ReadBit(12); size += ReadBit(12);
+ flags -> errorflags -> imu = ReadBit(11); size += ReadBit(11);
+ flags -> errorflags -> consec_imu = ReadBit(10); size += ReadBit(10);
+
+ return size;
+}
/*
-
- int send_actuator_commands(struct MotorDriver *motors, log_t* log_struct, actuator_command_t* actuator_command_struct) {
- int i;
- // write the PWMs to the motors
-
- for (i = 0; i < 4; i++) {
- motors->write(motors, i, actuator_command_struct->motor_magnitudes[i]);
- }
-
- return 0;
- }
-
- */
-
-int set_debug_level(enum debug_data_types type, int state){
- switch(type)
- {
- case CAMERA:
- flags->camera = state;
- break;
- case GYRO:
- flags->gyro = state;
- break;
- case ACCELEROMETER:
- flags->accelerometer = state;
- break;
- case LIDAR:
- flags->lidar = state;
- break;
- case OPT_FLOW:
- flags->optical_flow = state;
- break;
- case GPS:
- flags->GPS = state;
- break;
- case PID:
- flags->PID = state;
- break;
- case RC_TRANS:
- flags->RC_transmitter = state;
- break;
- case ACTUATOR:
- flags->actuator = state;
- break;
- case default:
- break;
+
+typedef struct raw_sensor {
+
+ gam_t gam;
+ lidar_t lidar;
+ px4flow_t optical_flow;
+
+ // Structures to hold the current quad position & orientation
+ // This is mostly unused?
+ quadPosition_t currentQuadPosition;
+
+} raw_sensor_t;
+
+
+*/
+
+int send_RT_data(struct CommDriver *comm, struct raw_sensor_t * data, SensorRTFlags_t * flags, int size)
+{
+ char * payload = calloc(sizeof(char) * size);
+ int currentBytePosition = 0;
+
+ /*
+ Since it's calloced (all zeros), a simple & operation should set this properly
+ */
+ if(flags -> lidarflags -> quadHeight){
+
+ (*payload) &= ((data -> lidar -> distance_m) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
+
+ if(flags -> optflowflags -> x_flow)
+ {
+ (*payload) &= ((data -> optical_flow -> ) << (currentBytePosition * 8));
+ currentBytePosition += 2;
+ }
+
+ if(flags -> optflowflags -> y_flow)
+ {
+ (*payload) &= ((data -> optical_flow -> ) << (currentBytePosition * 8));
+ currentBytePosition += 2;
}
-}
+ if(flags -> optflowflags -> x_filter)
+ {
+ (*payload) &= ((data -> optical_flow -> ) << (currentBytePosition * 8));
+ currentBytePosition += 2;
+ }
+ if(flags -> optflowflags -> y_filter)
+ {
+ (*payload) &= ((data -> optical_flow -> ) << (currentBytePosition * 8));
+ currentBytePosition += 2;
+ }
+ if(flags -> optflowflags -> x_velocity)
+ {
+ (*payload) &= ((data -> optical_flow -> ) << (currentBytePosition * 8));
+ currentBytePosition += 2;
+ }
-char get_debug_level(enum debug_data_types type){
+ if(flags -> optflowflags -> y_velocity)
+ {
+ (*payload) &= ((data -> optical_flow -> ) << (currentBytePosition * 8));
+ currentBytePosition += 2;
+ }
- switch(type)
- {
- case CAMERA:
- return flags->camera;
- break;
- case GYRO:
- return flags->gyro;
- break;
- case ACCELEROMETER:
- return flags->accelerometer;
- break;
- case LIDAR:
- return flags->lidar;
- break;
- case OPT_FLOW:
- return flags->optical_flow;
- break;
- case GPS:
- return flags->GPS;
- break;
- case PID:
- return flags->PID;
- break;
- case RC_TRANS:
- return flags->RC_transmitter;
- break;
- case ACTUATOR:
- return flags->actuator;
- break;
- case default:
- break;
+ if(flags -> imuflags -> gyro_x)
+ {
+ (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
+
+ if(flags -> imuflags -> gyro_y)
+ {
+ (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ currentBytePosition++;
}
-}
-int send_debug_data(enum debug_data_types type){
+ if(flags -> imuflags -> gyro_z)
+ {
+ (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
+
+ if(flags -> imuflags -> acc_x)
+ {
+ (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
+
+ if(flags -> imuflags -> acc_y)
+ {
+ (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
+
+ if(flags -> imuflags -> acc_z)
+ {
+ (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
+
+ if(flags -> imuflags -> mag_x)
+ {
+ (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
+
+ if(flags -> imuflags -> mag_y)
+ {
+ (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
+
+ if(flags -> imuflags -> mag_z)
+ {
+ (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
- if(!get_debug_level(type))
+ if(flags -> errorflags -> lidar)
{
- return ERROR;
+ (*payload) &= ((data -> lidar -> error -> errorCount) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
+
+ if(flags -> errorflags -> consec_lidar)
+ {
+ (*payload) &= ((data -> lidar -> consErrorCount -> errorCount) << (currentBytePosition * 8));
+ currentBytePosition++;
}
- switch(type)
- {
- case CAMERA:
-
- break;
- case GYRO:
-
- break;
- case ACCELEROMETER:
-
- break;
- case LIDAR:
-
- break;
- case OPT_FLOW:
-
- break;
- case GPS:
-
- break;
- case PID:
-
- break;
- case RC_TRANS:
-
- break;
- case ACTUATOR:
- for (i = 0; i < 4; i++) {
- actuator_command_struct->motor_magnitudes[i]
- }
- break;
- case default:
- break;
+ if(flags -> errorflags -> optFlow)
+ {
+ (*payload) &= ((data -> optical_flow -> error -> errorCount) << (currentBytePosition * 8));
+ currentBytePosition++;
}
-}
+ if(flags -> errorflags -> consec_optFlow)
+ {
+ (*payload) &= ((data -> optical_flow -> consErrorCount -> errorCount) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
+ if(flags -> errorflags -> imu)
+ {
+ (*payload) &= ((data -> gam -> error -> errorCount) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
+
+ if(flags -> errorflags -> consec_imu)
+ {
+ (*payload) &= ((data -> gam -> consErrorCount -> errorCount) << (currentBytePosition * 8));
+ currentBytePosition++;
+ }
+ int bytes_sent = send_data(comm->uart, SEND_RT_ID, 0, (u8*)payload, strlen(payload));
+ free(payload);
+ return bytes_sent;
+}
\ No newline at end of file
diff --git a/quad/src/quad_app/debug_rt.h b/quad/src/quad_app/debug_rt.h
index 3e951ea0a..9121a7ed6 100644
--- a/quad/src/quad_app/debug_rt.h
+++ b/quad/src/quad_app/debug_rt.h
@@ -4,30 +4,96 @@
#define OFF 0
#define ERROR -1
-typedef enum debug_data_types
+#define SEND_RT_ID 20
+
+ char gyro_x;
+ char gyro_y;
+ char gyro_z;
+ char acc_x;
+ char acc_y;
+ char acc_z;
+ char mag_x;
+ char mag_y;
+ char mag_z;
+
+}IMUFlags_t;
+
+typedef struct OptFlowFlags
+{
+ char x_flow;
+ char y_flow;
+ char x_filter;
+ char y_filter;
+ char x_velocity;
+ char y_velocity;
+
+}OptFlowFlags_t;
+
+typedef struct SensorErrorFlags
{
- CAMERA, GYRO, ACCELEROMETER, LIDAR, OPT_FLOW, GPS, PID, RC_TRANS, ACTUATOR
-}
+ char consec_lidar;
+ char consec_imu;
+ char consec_optFlow;
+ char lidar;
+ char imu;
+ char optFlow;
-typedef struct debug_level_flags{
+typedef struct lidarFlags
+{
+ char quadHeight;
- char camera;
- char gyro;
- char accelerometer;
+}lidarFlags_t;
+
+typedef struct IMUFlags
+{
+ char gyro_x;
+ char gyro_y;
+ char gyro_z;
+ char acc_x;
+ char acc_y;
+ char acc_z;
+ char mag_x;
+ char mag_y;
+ char mag_z;
+
+}IMUFlags_t;
+
+typedef struct OptFlowFlags
+{
+ char x_flow;
+ char y_flow;
+ char x_filter;
+ char y_filter;
+ char x_velocity;
+ char y_velocity;
+
+}OptFlowFlags_t;
+
+typedef struct SensorErrorFlags
+{
+ char consec_lidar;
+ char consec_imu;
+ char consec_optFlow;
char lidar;
- char optical_flow;
- char GPS;
- char PID;
- char RC_transmitter;
- char actuator;
+ char imu;
+ char optFlow;
+
+}SensorErrorFlags_t;
+
+typedef struct SensorRTFlags
+{
+ IMUFlags_t * imuflags;
+ OptFlowFlags_t * optflowflags;
+ lidarFlags_t * lidarflags;
+ SensorErrorFlags_t * errorflags;
-}debug_flags;
+}SensorRTFlags_t;
-debug_flags flags;
+SensorRTFlags_t * initializeFlags(void);
-int set_debug_level(enum debug_data_types type, int state);
+int setDebugLevel(SensorRTFlags_t * flags, float flags);
-char get_debug_level(enum debug_data_types type);
+void freeFlags(SensorRTFlags_t * flags);
-int send_debug_data( struct CommDriver *comm, );
+int send_RT_data(struct CommDriver *comm, struct raw_sensor_t * data);
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index e3de87aad..201953fa4 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -54,6 +54,12 @@ static char units_param_str[512] = {};
static struct str units_output = { .str = units_output_str, .size = 0, .capacity = sizeof(units_output_str)};
static struct str units_param = { .str = units_param_str, .size = 0, .capacity = sizeof(units_output_str)};
+static enum debug_level level;
+
+int set_debug_level(enum debug_level newlevel)
+{
+ level = newlevel;
+}
/*
* Does an sprintf and concatenation. Used just like sprintf, but pass in a pointer to a struct str instead.
* Returns the number of bytes that would have been written (just like snprintf)
@@ -179,6 +185,107 @@ int log_data(log_t* log_struct, parameter_t* ps)
return 0;
}
+/**
+ * Print sensor info
+ */
+void printLoggingRT(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors){
+
+ if(level == debug_level.LEVEL_ONE)
+ {
+
+ }
+
+ if(level == debug_level.LEVEL_ONE)
+ {
+
+ }
+
+ if(level == debug_level.LEVEL_ONE)
+ {
+
+ }
+
+ if(level == debug_level.LEVEL_ONE)
+ {
+
+ }
+
+ if (arrayIndex == 0) {
+ // Don't send any logs if nothing was logged
+ return;
+ }
+ char buf_arr[2560] = {};
+ struct str buf = {.str = buf_arr, .size = 0, .capacity = sizeof(buf_arr)};
+
+ // Let user know that allocation failed
+ if (arraySize != LOG_STARTING_SIZE) {
+ safe_sprintf_cat(&buf, "Failed to allocate enough log memory\n");
+ send_data(comm->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
+ return;
+ }
+
+ int i;
+ // Comment header
+ //safe_sprintf_cat(&buf, "# MicroCART On-board Quad Log\n# Sample size: %d\n", arrayIndex);
+ //safe_sprintf_cat(&buf, "# IMU IIC failures: %d\n", raw_sensors->gam.error.consErrorCount);
+ //safe_sprintf_cat(&buf, "# LiDAR IIC failures: %d\n", raw_sensors->lidar.error.consErrorCount);
+ //safe_sprintf_cat(&buf, "# Optical Flow IIC failures: %d\n", raw_sensors->optical_flow.error.consErrorCount);
+
+ // List Pid Constants
+
+ struct graph_node* node = &ps->graph->nodes[n_nodes];
+ if (node->type->type_id == BLOCK_PID) {
+ double kp, ki, kd, alpha;
+ kp = graph_get_param_val(ps->graph, n_nodes, 0);
+ ki = graph_get_param_val(ps->graph, n_nodes, 1);
+ kd = graph_get_param_val(ps->graph, n_nodes, 2);
+ alpha = graph_get_param_val(ps->graph, n_nodes, 3);
+ safe_sprintf_cat(&buf, "# %s :\tKp = %lf Ki = %lf Kd = %lf Alpha = %lf\n", node->name, kp, ki, kd, alpha);
+
+ }
+
+
+ // Header names for the pre-defined values
+ safe_sprintf_cat(&buf, "%%Time\taccel_x\taccel_y\taccel_z\tgyro_x\tgyro_y\tgyro_z\tmag_x\tmag_y\tmag_z");
+
+ // Print all the recorded block parameters
+
+ const char* block_name = ps->graph->nodes[log_params[n_params].block_id].name;
+ const char* output_name = ps->graph->nodes[log_params[n_params].block_id].type->param_names[log_params[n_params].sub_id];
+ safe_sprintf_cat(&buf, "\t%s_%s", block_name, output_name);
+
+ // Print all the recorded block outputs
+
+ const char* block_name = ps->graph->nodes[log_outputs[n_outputs].block_id].name;
+ const char* param_name = ps->graph->nodes[log_outputs[n_outputs].block_id].type->output_names[log_outputs[n_outputs].sub_id];
+ safe_sprintf_cat(&buf, "\t%s_%s", block_name, param_name);
+
+ safe_sprintf_cat(&buf, "\n");
+
+ // Send header names
+ send_data(comm->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
+
+ // Send units header
+ buf.size = 0;
+ safe_sprintf_cat(&buf, "&s\tG\tG\tG\trad/s\trad/s\trad/s\tuT\tuT\tuT"); // The pre-defined ones
+ safe_sprintf_cat(&buf, units_output.str);
+ safe_sprintf_cat(&buf, units_param.str);
+ safe_sprintf_cat(&buf, "\n");
+ send_data(comm->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
+
+ /*************************/
+ /* print & send log data */
+
+ format_log(arrayIndex, log_struct, &buf);
+ send_data(comm->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
+ // This is a stupid hack because if the axi timer is not reset in awhile, it always returns 0, and the timer_end_loop() call hangs forever after a long log
+ // Not 100% certain this works
+ timer_axi_reset();
+
+
+ // Empty message of type LOG_END to indicate end of log
+ send_data(comm->uart, LOG_END_ID, 0, (u8*)buf.str, 0);
+}
/**
* Prints all the log information.
@@ -203,7 +310,7 @@ void printLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, r
int i;
// Comment header
- safe_sprintf_cat(&buf, "# MicroCART On-board Quad Log\n# Sample size: %d\n", arrayIndex);
+ safe_sprintf_cat(&buf, "# MicroCART On-board Quad Log\n# Sample number: %d\n", arrayIndex);
safe_sprintf_cat(&buf, "# IMU IIC failures: %d\n", raw_sensors->gam.error.consErrorCount);
safe_sprintf_cat(&buf, "# LiDAR IIC failures: %d\n", raw_sensors->lidar.error.consErrorCount);
safe_sprintf_cat(&buf, "# Optical Flow IIC failures: %d\n", raw_sensors->optical_flow.error.consErrorCount);
diff --git a/quad/src/quad_app/log_data.h b/quad/src/quad_app/log_data.h
index 9c4b8b7d9..76aabb600 100644
--- a/quad/src/quad_app/log_data.h
+++ b/quad/src/quad_app/log_data.h
@@ -13,6 +13,8 @@
// Maximum number of block outputs you can record, and maximum number of block parameters to record
#define MAX_LOG_NUM 50
+enum debug_level{LEVEL_ONE, LEVEL_TWO, LEVEL_THREE, LEVEL_FOUR};
+
void initialize_logging(log_t* log_struct, parameter_t* ps);
/**
@@ -44,6 +46,11 @@ void addParamToLog(log_t* log_struct, int controller_id, int param_id, char* uni
*/
void updateLog(log_t log_struct);
+/**
+ * Prints the latest log entry
+ */
+void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors);
+
/**
* Prints all the log information.
*/
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index 13685c398..726474478 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -9,18 +9,27 @@
#include "log_data.h"
#include "initialize_components.h"
#include "user_input.h"
+#include "log_data.h"
#include "sensor.h"
#include "sensor_processing.h"
#include "control_algorithm.h"
#include "send_actuator_commands.h"
#include "communication.h"
#include "mio7_led.h"
+#include "debug_rt.h"
int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
{
// Structures to be used throughout
modular_structs_t structs = { };
-
+
+ //flags that indicate which rt data to send
+ debug_flags_t flags;
+
+ // TEST : only send accelerometer data for now
+ memset(&flags, 0, sizeof(flags));
+ flags.accelerometer = 1;
+
// Wire up hardware
setup_hardware(&structs.hardware_struct);
@@ -37,9 +46,6 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
protection_loops(&structs);
int last_kill_condition = kill_condition(&(structs.user_input_struct));
-
-
- //find debug level
// Main control loop
@@ -59,21 +65,40 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// Get data from the sensors and put it into raw_sensor_struct
get_sensors(&(structs.hardware_struct), &(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct));
+
+ //Send the sensor data in RT
+ send_sensor_data(&flags, &(structs.hardware_struct.comm), &(structs.raw_sensor_struct));
// Process the sensor data and put it into sensor_struct
sensor_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct), &(structs.sensor_struct));
- //Send the sensor data in RT
+
+ printLoggingRT(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
+
if (!this_kill_condition) {
// Run the control algorithm
control_algorithm(&(structs.log_struct), &(structs.user_input_struct), &(structs.sensor_struct), &(structs.setpoint_struct),
&(structs.parameter_struct), &(structs.user_defined_struct), &(structs.actuator_command_struct), &structs);
-
+
+ //print the actuator commands
+ //send actuator_command_t
+
+
// send the actuator commands
send_actuator_commands(&(structs.hardware_struct.motors), &(structs.log_struct), &(structs.actuator_command_struct));
- // send actuator to
+ //send PID stuff
+ if(flags -> PID)
+ {
+ &(structs.parameter_struct)
+ }
+ // send actuator data in real time
+ if(flags->actuator)
+ {
+ send_actuator_data(&(structs.actuator_command_struct), &structs.hardware_struct.comm);
+ }
+
}
else {
kill_motors(&(structs.hardware_struct.motors));
diff --git a/quad/src/quad_app/sensor.c b/quad/src/quad_app/sensor.c
index 6ae875ce9..eaf9e60ef 100644
--- a/quad/src/quad_app/sensor.c
+++ b/quad/src/quad_app/sensor.c
@@ -52,7 +52,7 @@ int get_sensors(hardware_t *hardware_struct, log_t* log_struct, user_input_t* us
status = lidar->read(lidar, &lidar_val);
updateError(&(raw_sensor_struct->lidar.error), status);
if (status == 0) {
- raw_sensor_struct->lidar_distance_m = lidar_val.distance_m;
+ raw_sensor_struct->lidar -> distance_m = lidar_val.distance_m;
}
status = of->read(of, &raw_sensor_struct->optical_flow);
diff --git a/quad/src/quad_app/sensor_processing.c b/quad/src/quad_app/sensor_processing.c
index e91da27f5..3249c115d 100644
--- a/quad/src/quad_app/sensor_processing.c
+++ b/quad/src/quad_app/sensor_processing.c
@@ -230,7 +230,7 @@ int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_se
+ (1. - ALPHA) * accel_roll;
// Z-axis points upward, so negate distance
- //sensor_struct->lidar_altitude = -raw_sensor_struct->lidar_distance_m;
+ //sensor_struct->lidar_altitude = -raw_sensor_struct->lidar->distance_m;
//-------- Optical flow -----------//
@@ -238,7 +238,7 @@ int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_se
sensor_struct->optical_flow = raw_sensor_struct->optical_flow;
flow_gyro_compensation(sensor_struct,
- raw_sensor_struct->lidar_distance_m,
+ raw_sensor_struct->lidar ->distance_m,
sensor_struct->roll_angle_filtered,
sensor_struct->pitch_angle_filtered,
sensor_struct->psi_dot);
@@ -258,7 +258,7 @@ int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_se
static float filtered_alt = 0;
static float last_lidar = 0;
- float this_lidar = -raw_sensor_struct->lidar_distance_m;
+ float this_lidar = -raw_sensor_struct->lidar -> distance_m;
if(this_lidar < (-MAX_VALID_LIDAR)) {
this_lidar = filtered_alt;
}
diff --git a/quad/src/quad_app/type_def.h b/quad/src/quad_app/type_def.h
index 4d61cb1f0..c520904ca 100644
--- a/quad/src/quad_app/type_def.h
+++ b/quad/src/quad_app/type_def.h
@@ -52,6 +52,7 @@ typedef struct commands{
typedef struct raw{
int x,y,z;
}raw;
+
typedef struct PID_Consts{
float P, I, D;
}PID_Consts;
@@ -140,6 +141,7 @@ typedef struct px4flow {
SensorError_t error;
} px4flow_t;
+/** is this used??? */
typedef struct gps {
double lat, lon;
double vel, course;
@@ -245,41 +247,16 @@ typedef struct log_t {
*
*/
typedef struct raw_sensor {
- int acc_x; // accelerometer x data
- int acc_x_t; // time of accelerometer x data
-
- int acc_y; // accelerometer y data
- int acc_y_t; // time of accelerometer y data
-
- int acc_z; // accelerometer z data
- int acc_z_t; // time of accelerometer z data
-
-
- int gyr_x; // gyroscope x data
- int gyr_x_t; // time of gyroscope x data
-
- int gyr_y; // gyroscope y data
- int gyr_y_t; // time of gyroscope y data
-
- int gyr_z; // gyroscope z data
- int gyr_z_t; // time of gyroscope z data
-
- int ldr_z; //lidar z data (altitude)
- int ldr_z_t; //time of lidar z data
gam_t gam;
-
lidar_t lidar;
+ px4flow_t optical_flow;
// Structures to hold the current quad position & orientation
+ // This is mostly unused?
quadPosition_t currentQuadPosition;
- // Distance from the ground, in meters, that the quadcopter is.
- // Ideally equals 0 when landed
- float lidar_distance_m;
-
- // Information obtained from optical flow sensor
- px4flow_t optical_flow;
+
} raw_sensor_t;
--
GitLab
From d81caa77764c074f1d17d763db694e8d2e837d05 Mon Sep 17 00:00:00 2001
From: bertucci <bertucci@iastate.edu>
Date: Sat, 23 Feb 2019 20:56:43 -0600
Subject: [PATCH 12/24] Adding necessary changes to backend to populate data
log
---
groundStation/src/backend/backend.c | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index af32a1640..26ca928ca 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -1005,6 +1005,11 @@ static void quad_recv(int index) {
}
fwrite((char *) data, sizeof(char), m.data_len, quadlog_file);
break;
+ case SEND_RT_ID:
+ quadlog_file = fopen("quad_log_data.txt", "w");
+ fwrite((char *) data, sizeof(char), m.data_len, quadlog_file);
+ fclose(quadlog_file);
+ break;
case RESPPARAM_ID:
case RESPSOURCE_ID:
case RESPOUTPUT_ID:
--
GitLab
From b91a50d66f29e325ab6fb5d3c3ab673c348cef24 Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Mon, 4 Mar 2019 14:44:50 -0600
Subject: [PATCH 13/24] beggining to make necessary fixes to Tina's addition to
allow building of functional project
---
groundStation/Makefile | 2 +-
groundStation/src/backend/backend.c | 12 ++++-----
quad/src/quad_app/communication.c | 1 -
quad/src/quad_app/debug_rt.c | 20 +++++++++------
quad/src/quad_app/debug_rt.h | 36 ++-------------------------
quad/src/quad_app/log_data.c | 10 ++++----
quad/src/quad_app/quad_app.c | 18 ++++++++------
quad/src/quad_app/sensor.c | 2 +-
quad/src/quad_app/sensor_processing.c | 4 +--
9 files changed, 39 insertions(+), 66 deletions(-)
diff --git a/groundStation/Makefile b/groundStation/Makefile
index 2ca5036b5..e4eafdd3e 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -7,7 +7,7 @@ CFLAGS= -Wall -pedantic -Wextra -std=gnu99 -g -Wno-unused-parameter -Wno-unused-
CXXFLAGS= -Wall -pedantic -Wextra -Wno-reorder -Wno-unused-variable -std=c++0x -g
INCLUDES = $(foreach dir, $(INCDIR), -I$(dir))
INCDIR= src/vrpn src/vrpn/quat src/vrpn/build $(BESRCDIR) $(CLISRCDIR) $(FESRCDIR) $(MASRCDIR) ../quad/inc
-LIBS= -lpthread -lbluetooth -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat -L../quad/lib -lquad_app -lcommands -lgraph_blocks -lcomputation_graph -lm
+LIBS= -lpthread -lvrpn -lquat -Lsrc/vrpn/build -Lsrc/vrpn/build/quat -L../quad/lib -lquad_app -lcommands -lgraph_blocks -lcomputation_graph -lm
OBJDIR=obj
# Manual Assist Specific Variables
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 26ca928ca..b442db5f3 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -22,8 +22,8 @@
#include <arpa/inet.h>
#include <sys/select.h>
#include <sys/stat.h>
-#include <bluetooth/bluetooth.h>
-#include <bluetooth/rfcomm.h>
+//#include <bluetooth/bluetooth.h> Bluetooth not currently used
+//#include <bluetooth/rfcomm.h> Bluetooth not currently used
#include <pthread.h>
#include <assert.h>
#include <errno.h>
@@ -471,7 +471,7 @@ int connectToZybo(int index) {
status = 0;
sock = trackables[index].fifo_rx;
}
- else if (trackables[index].isBluetooth == 1) {
+ /*else if (trackables[index].isBluetooth == 1) { //Bluetooth functionality currently disabled
printf("Using BT Settings\n");
struct sockaddr_rc addr;
@@ -486,7 +486,7 @@ int connectToZybo(int index) {
printf("Attempting to connect to zybo. Please be patient...\n");
// blocking call to connect to socket sock ie. zybo board
status = connect(sock, (struct sockaddr *)&addr, sizeof(addr));
- }
+ }*/
else {
printf("Using WIFI settings\n");
struct sockaddr_in addr;
@@ -1005,11 +1005,11 @@ static void quad_recv(int index) {
}
fwrite((char *) data, sizeof(char), m.data_len, quadlog_file);
break;
- case SEND_RT_ID:
+ /*case SEND_RT_ID:
quadlog_file = fopen("quad_log_data.txt", "w");
fwrite((char *) data, sizeof(char), m.data_len, quadlog_file);
fclose(quadlog_file);
- break;
+ break;*/
case RESPPARAM_ID:
case RESPSOURCE_ID:
case RESPOUTPUT_ID:
diff --git a/quad/src/quad_app/communication.c b/quad/src/quad_app/communication.c
index ad39cdc08..891c4f94e 100644
--- a/quad/src/quad_app/communication.c
+++ b/quad/src/quad_app/communication.c
@@ -20,7 +20,6 @@ void Handler(void *CallBackRef, u32 Event, unsigned int EventData);
u8 packet[MAX_PACKET_SIZE];
int bytes_recv = 0;
-/Users/tina/Desktop/pythonlibrary/matplotlib
int try_receive_packet(struct UARTDriver *uart) {
int attempts = 0;
while (attempts++ < MAX_PACKET_SIZE) {
diff --git a/quad/src/quad_app/debug_rt.c b/quad/src/quad_app/debug_rt.c
index cd9fc7204..857156227 100644
--- a/quad/src/quad_app/debug_rt.c
+++ b/quad/src/quad_app/debug_rt.c
@@ -24,19 +24,22 @@
SensorRTFlags_t * initializeFlags(void){
SensorRTFlags_t * flags = malloc(sizeof(SensorRTFlags_t));
+#if 0
flags -> imuflags = calloc(sizeof(IMUFlags_t));
flags -> optflowflags = calloc(sizeof(OptFlowFlags_t));
flags -> lidarflags = calloc(sizeof(lidarFlags_t));
flags -> errorFlags = calloc(sizeof(SensorErrorFlags_t));
-
+#endif
}
void freeFlags(SensorRTFlags_t * flags){
+#if 0
free(flags -> imuflags);
free(flags -> optflowflags);
free(flags -> lidarflags);
free(flags -> errorFlags);
free(flags);
+#endif
}
/*
@@ -53,7 +56,7 @@ int process_configuration_packet(float configData, SensorRTFlags_t * flags)
{
int size = 0;
-
+#if 0
flags -> lidarflags -> quadHeight = ReadBit(31); size += ReadBit(31);
flags -> optflowflags -> x_flow = ReadBit(30); size += 2 * ReadBit(30);
flags -> optflowflags -> y_flow = ReadBit(29); size += 2 * ReadBit(29);
@@ -76,7 +79,7 @@ int process_configuration_packet(float configData, SensorRTFlags_t * flags)
flags -> errorflags -> consec_optFlow = ReadBit(12); size += ReadBit(12);
flags -> errorflags -> imu = ReadBit(11); size += ReadBit(11);
flags -> errorflags -> consec_imu = ReadBit(10); size += ReadBit(10);
-
+#endif
return size;
}
@@ -97,11 +100,11 @@ typedef struct raw_sensor {
*/
-int send_RT_data(struct CommDriver *comm, struct raw_sensor_t * data, SensorRTFlags_t * flags, int size)
+int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t * flags, int size)
{
- char * payload = calloc(sizeof(char) * size);
+ char * payload = malloc(sizeof(char) * size);
int currentBytePosition = 0;
-
+#if 0
/*
Since it's calloced (all zeros), a simple & operation should set this properly
*/
@@ -236,8 +239,9 @@ int send_RT_data(struct CommDriver *comm, struct raw_sensor_t * data, SensorRTFl
currentBytePosition++;
}
- int bytes_sent = send_data(comm->uart, SEND_RT_ID, 0, (u8*)payload, strlen(payload));
+#endif
+ int bytes_sent = send_data(comm->uart, SEND_RT_ID, 0, (u8*)payload, strlen(payload));
free(payload);
return bytes_sent;
-}
\ No newline at end of file
+}
diff --git a/quad/src/quad_app/debug_rt.h b/quad/src/quad_app/debug_rt.h
index 9121a7ed6..8c685ac24 100644
--- a/quad/src/quad_app/debug_rt.h
+++ b/quad/src/quad_app/debug_rt.h
@@ -6,38 +6,6 @@
#define SEND_RT_ID 20
- char gyro_x;
- char gyro_y;
- char gyro_z;
- char acc_x;
- char acc_y;
- char acc_z;
- char mag_x;
- char mag_y;
- char mag_z;
-
-}IMUFlags_t;
-
-typedef struct OptFlowFlags
-{
- char x_flow;
- char y_flow;
- char x_filter;
- char y_filter;
- char x_velocity;
- char y_velocity;
-
-}OptFlowFlags_t;
-
-typedef struct SensorErrorFlags
-{
- char consec_lidar;
- char consec_imu;
- char consec_optFlow;
- char lidar;
- char imu;
- char optFlow;
-
typedef struct lidarFlags
{
char quadHeight;
@@ -91,9 +59,9 @@ typedef struct SensorRTFlags
SensorRTFlags_t * initializeFlags(void);
-int setDebugLevel(SensorRTFlags_t * flags, float flags);
+//int setDebugLevel(SensorRTFlags_t * flags, float flags);
void freeFlags(SensorRTFlags_t * flags);
-int send_RT_data(struct CommDriver *comm, struct raw_sensor_t * data);
+int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t * flags, int size);
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index 201953fa4..9ee2c975d 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -189,7 +189,7 @@ int log_data(log_t* log_struct, parameter_t* ps)
* Print sensor info
*/
void printLoggingRT(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors){
-
+#if 0
if(level == debug_level.LEVEL_ONE)
{
@@ -209,7 +209,7 @@ void printLoggingRT(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
{
}
-
+#endif
if (arrayIndex == 0) {
// Don't send any logs if nothing was logged
return;
@@ -233,7 +233,7 @@ void printLoggingRT(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
// List Pid Constants
- struct graph_node* node = &ps->graph->nodes[n_nodes];
+ /*struct graph_node* node = &ps->graph->nodes[n_nodes];
if (node->type->type_id == BLOCK_PID) {
double kp, ki, kd, alpha;
kp = graph_get_param_val(ps->graph, n_nodes, 0);
@@ -243,7 +243,7 @@ void printLoggingRT(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
safe_sprintf_cat(&buf, "# %s :\tKp = %lf Ki = %lf Kd = %lf Alpha = %lf\n", node->name, kp, ki, kd, alpha);
}
-
+ */
// Header names for the pre-defined values
safe_sprintf_cat(&buf, "%%Time\taccel_x\taccel_y\taccel_z\tgyro_x\tgyro_y\tgyro_z\tmag_x\tmag_y\tmag_z");
@@ -256,7 +256,7 @@ void printLoggingRT(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
// Print all the recorded block outputs
- const char* block_name = ps->graph->nodes[log_outputs[n_outputs].block_id].name;
+ block_name = ps->graph->nodes[log_outputs[n_outputs].block_id].name;
const char* param_name = ps->graph->nodes[log_outputs[n_outputs].block_id].type->output_names[log_outputs[n_outputs].sub_id];
safe_sprintf_cat(&buf, "\t%s_%s", block_name, param_name);
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index 726474478..d4374ddfa 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -24,11 +24,11 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
modular_structs_t structs = { };
//flags that indicate which rt data to send
- debug_flags_t flags;
+ SensorRTFlags_t flags;
// TEST : only send accelerometer data for now
memset(&flags, 0, sizeof(flags));
- flags.accelerometer = 1;
+ flags.imuflags->acc_x = 1;
// Wire up hardware
setup_hardware(&structs.hardware_struct);
@@ -66,15 +66,15 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// Get data from the sensors and put it into raw_sensor_struct
get_sensors(&(structs.hardware_struct), &(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct));
- //Send the sensor data in RT
- send_sensor_data(&flags, &(structs.hardware_struct.comm), &(structs.raw_sensor_struct));
+ //Send the sensor data in RT (TODO WILL NEED TO BE EDITED FROM CURRENT CONDITION DUE TO TINA)
+ //send_sensor_data(&flags, &(structs.hardware_struct.comm), &(structs.raw_sensor_struct));
// Process the sensor data and put it into sensor_struct
sensor_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct), &(structs.sensor_struct));
- printLoggingRT(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
+ //printLoggingRT(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
if (!this_kill_condition) {
// Run the control algorithm
@@ -87,7 +87,7 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// send the actuator commands
send_actuator_commands(&(structs.hardware_struct.motors), &(structs.log_struct), &(structs.actuator_command_struct));
-
+#if 0
//send PID stuff
if(flags -> PID)
{
@@ -98,12 +98,14 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
{
send_actuator_data(&(structs.actuator_command_struct), &structs.hardware_struct.comm);
}
-
- }
+#endif
+ }
+
else {
kill_motors(&(structs.hardware_struct.motors));
}
+
if (!this_kill_condition) {
// Log the data collected in this loop
log_data(&(structs.log_struct), &(structs.parameter_struct));
diff --git a/quad/src/quad_app/sensor.c b/quad/src/quad_app/sensor.c
index eaf9e60ef..3c0dd0365 100644
--- a/quad/src/quad_app/sensor.c
+++ b/quad/src/quad_app/sensor.c
@@ -52,7 +52,7 @@ int get_sensors(hardware_t *hardware_struct, log_t* log_struct, user_input_t* us
status = lidar->read(lidar, &lidar_val);
updateError(&(raw_sensor_struct->lidar.error), status);
if (status == 0) {
- raw_sensor_struct->lidar -> distance_m = lidar_val.distance_m;
+ raw_sensor_struct->lidar.distance_m = lidar_val.distance_m;
}
status = of->read(of, &raw_sensor_struct->optical_flow);
diff --git a/quad/src/quad_app/sensor_processing.c b/quad/src/quad_app/sensor_processing.c
index 3249c115d..29bccdee9 100644
--- a/quad/src/quad_app/sensor_processing.c
+++ b/quad/src/quad_app/sensor_processing.c
@@ -238,7 +238,7 @@ int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_se
sensor_struct->optical_flow = raw_sensor_struct->optical_flow;
flow_gyro_compensation(sensor_struct,
- raw_sensor_struct->lidar ->distance_m,
+ raw_sensor_struct->lidar.distance_m,
sensor_struct->roll_angle_filtered,
sensor_struct->pitch_angle_filtered,
sensor_struct->psi_dot);
@@ -258,7 +258,7 @@ int sensor_processing(log_t* log_struct, user_input_t *user_input_struct, raw_se
static float filtered_alt = 0;
static float last_lidar = 0;
- float this_lidar = -raw_sensor_struct->lidar -> distance_m;
+ float this_lidar = -raw_sensor_struct->lidar.distance_m;
if(this_lidar < (-MAX_VALID_LIDAR)) {
this_lidar = filtered_alt;
}
--
GitLab
From 316d933a0f5ecbc78f7d2808c1f5e515ee1ca095 Mon Sep 17 00:00:00 2001
From: bertucci <bertucci@iastate.edu>
Date: Mon, 11 Mar 2019 13:27:12 -0500
Subject: [PATCH 14/24] The work continues. Fixing issues with RT data on quad
side
---
MicroCART | 1 -
quad/src/quad_app/debug_rt.c | 135 ++++++++++++++---------------------
quad/src/quad_app/debug_rt.h | 2 +
quad/src/quad_app/quad_app.c | 7 +-
4 files changed, 58 insertions(+), 87 deletions(-)
delete mode 160000 MicroCART
diff --git a/MicroCART b/MicroCART
deleted file mode 160000
index d01645c05..000000000
--- a/MicroCART
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit d01645c0571a335594396942e6ffa1b53bc710f0
diff --git a/quad/src/quad_app/debug_rt.c b/quad/src/quad_app/debug_rt.c
index 857156227..732c42831 100644
--- a/quad/src/quad_app/debug_rt.c
+++ b/quad/src/quad_app/debug_rt.c
@@ -9,37 +9,32 @@
#include "computation_graph.h"
#include "timer.h"
-
-
-
-#define ReadBit(data, position) ( (data>>y) & 1)
-#define SetBit(data,position) data |= (1 << y)
-#define ClearBit(data,y) data &= ~(1 << y)
-
-
-
/*
Initially sets it so that all debug values are zero
*/
-SensorRTFlags_t * initializeFlags(void){
-
- SensorRTFlags_t * flags = malloc(sizeof(SensorRTFlags_t));
-#if 0
- flags -> imuflags = calloc(sizeof(IMUFlags_t));
- flags -> optflowflags = calloc(sizeof(OptFlowFlags_t));
- flags -> lidarflags = calloc(sizeof(lidarFlags_t));
- flags -> errorFlags = calloc(sizeof(SensorErrorFlags_t));
-#endif
+SensorRTFlags_t * initializeFlags(sensorRTF_flags_t * flags) {
+
+ flags = calloc(1, sizeof(SensorRTFlags_t));
+ flags -> imuflags = calloc(1, sizeof(IMUFlags_t));
+ flags -> optflowflags = calloc(1, sizeof(OptFlowFlags_t));
+ flags -> lidarflags = calloc(1, sizeof(lidarFlags_t));
+ flags -> errorFlags = calloc(1, sizeof(SensorErrorFlags_t));
}
void freeFlags(SensorRTFlags_t * flags){
-#if 0
free(flags -> imuflags);
free(flags -> optflowflags);
free(flags -> lidarflags);
free(flags -> errorFlags);
free(flags);
-#endif
+}
+
+/*
+ Helper to return single bit of u32 data. This returns the "position"'th bit of the given u32,
+ assuming it is Zero indexed.
+*/
+u32 read_bit(u32 data, int position){
+ return (data >> position) & 1;
}
/*
@@ -51,60 +46,38 @@ See RTSensorPacketDocumentation.md for which flags each bit of the config data c
It returns the size of the packet that will be sent, so the payload is correctly determined
*/
-
-int process_configuration_packet(float configData, SensorRTFlags_t * flags)
+int process_configuration_packet(u32 configData, SensorRTFlags_t * flags)
{
-
int size = 0;
-#if 0
- flags -> lidarflags -> quadHeight = ReadBit(31); size += ReadBit(31);
- flags -> optflowflags -> x_flow = ReadBit(30); size += 2 * ReadBit(30);
- flags -> optflowflags -> y_flow = ReadBit(29); size += 2 * ReadBit(29);
- flags -> optflowflags -> x_filter = ReadBit(28); size += 2 * ReadBit(28);
- flags -> optflowflags -> y_filter = ReadBit(27); size += 2 * ReadBit(27);
- flags -> optflowflags -> x_velocity = ReadBit(26); size += 2 * ReadBit(26);
- flags -> optflowflags -> y_velocity = ReadBit(25); size += 2 * ReadBit(25);
- flags -> imuflags -> gyro_x = ReadBit(24); size += ReadBit(24);
- flags -> imuflags -> gyro_y = ReadBit(23); size += ReadBit(23);
- flags -> imuflags -> gyro_z = ReadBit(22); size += ReadBit(22);
- flags -> imuflags -> acc_x = ReadBit(21); size += ReadBit(21);
- flags -> imuflags -> acc_y = ReadBit(20); size += ReadBit(20);
- flags -> imuflags -> acc_z = ReadBit(19); size += ReadBit(19);
- flags -> imuflags -> mag_x = ReadBit(18); size += ReadBit(18);
- flags -> imuflags -> mag_y = ReadBit(17); size += ReadBit(17);
- flags -> imuflags -> mag_z = ReadBit(16); size += ReadBit(16);
- flags -> errorflags -> lidar = ReadBit(15); size += ReadBit(15);
- flags -> errorflags -> consec_lidar = ReadBit(14); size += ReadBit(14);
- flags -> errorflags -> optFlow = ReadBit(13); size += ReadBit(13);
- flags -> errorflags -> consec_optFlow = ReadBit(12); size += ReadBit(12);
- flags -> errorflags -> imu = ReadBit(11); size += ReadBit(11);
- flags -> errorflags -> consec_imu = ReadBit(10); size += ReadBit(10);
-#endif
+ flags -> lidarflags -> quadHeight = read_bit(configData, 31); size += read_bit(configData, 31);
+ flags -> optflowflags -> x_flow = read_bit(configData, 30); size += 2 * read_bit(configData, 30);
+ flags -> optflowflags -> y_flow = read_bit(configData, 29); size += 2 * read_bit(configData, 29);
+ flags -> optflowflags -> x_filter = read_bit(configData, 28); size += 2 * read_bit(configData, 28);
+ flags -> optflowflags -> y_filter = read_bit(configData, 27); size += 2 * read_bit(configData, 27);
+ flags -> optflowflags -> x_velocity = read_bit(configData, 26); size += 2 * read_bit(configData, 26);
+ flags -> optflowflags -> y_velocity = read_bit(configData, 25); size += 2 * read_bit(configData, 25);
+ flags -> imuflags -> gyro_x = read_bit(configData, 24); size += read_bit(configData, 24);
+ flags -> imuflags -> gyro_y = read_bit(configData, 23); size += read_bit(configData, 23);
+ flags -> imuflags -> gyro_z = read_bit(configData, 22); size += read_bit(configData, 22);
+ flags -> imuflags -> acc_x = read_bit(configData, 21); size += read_bit(configData, 21);
+ flags -> imuflags -> acc_y = read_bit(configData, 20); size += read_bit(configData, 20);
+ flags -> imuflags -> acc_z = read_bit(configData, 19); size += read_bit(configData, 19);
+ flags -> imuflags -> mag_x = read_bit(configData, 18); size += read_bit(configData, 18);
+ flags -> imuflags -> mag_y = read_bit(configData, 17); size += read_bit(configData, 17);
+ flags -> imuflags -> mag_z = read_bit(configData, 16); size += read_bit(configData, 16);
+ flags -> errorflags -> lidar = read_bit(configData, 15); size += read_bit(configData, 15);
+ flags -> errorflags -> consec_lidar = read_bit(configData, 14); size += read_bit(configData, 14);
+ flags -> errorflags -> optFlow = read_bit(configData, 13); size += read_bit(configData, 13);
+ flags -> errorflags -> consec_optFlow = read_bit(configData, 12); size += read_bit(configData, 12);
+ flags -> errorflags -> imu = read_bit(configData, 11); size += read_bit(configData, 11);
+ flags -> errorflags -> consec_imu = read_bit(configData, 10); size += read_bit(configData, 10);
return size;
}
-/*
-
-typedef struct raw_sensor {
-
- gam_t gam;
- lidar_t lidar;
- px4flow_t optical_flow;
-
- // Structures to hold the current quad position & orientation
- // This is mostly unused?
- quadPosition_t currentQuadPosition;
-
-} raw_sensor_t;
-
-
-*/
-
int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t * flags, int size)
{
char * payload = malloc(sizeof(char) * size);
int currentBytePosition = 0;
-#if 0
/*
Since it's calloced (all zeros), a simple & operation should set this properly
*/
@@ -116,90 +89,90 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
if(flags -> optflowflags -> x_flow)
{
- (*payload) &= ((data -> optical_flow -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> optical_flow -> flow_x_rad) << (currentBytePosition * 8));
currentBytePosition += 2;
}
if(flags -> optflowflags -> y_flow)
{
- (*payload) &= ((data -> optical_flow -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> optical_flow -> flow_y_rad) << (currentBytePosition * 8));
currentBytePosition += 2;
}
if(flags -> optflowflags -> x_filter)
{
- (*payload) &= ((data -> optical_flow -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> optical_flow -> xVelFilt) << (currentBytePosition * 8));
currentBytePosition += 2;
}
if(flags -> optflowflags -> y_filter)
{
- (*payload) &= ((data -> optical_flow -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> optical_flow -> yVelFilt) << (currentBytePosition * 8));
currentBytePosition += 2;
}
if(flags -> optflowflags -> x_velocity)
{
- (*payload) &= ((data -> optical_flow -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> optical_flow -> xVel) << (currentBytePosition * 8));
currentBytePosition += 2;
}
if(flags -> optflowflags -> y_velocity)
{
- (*payload) &= ((data -> optical_flow -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> optical_flow -> yVel) << (currentBytePosition * 8));
currentBytePosition += 2;
}
if(flags -> imuflags -> gyro_x)
{
- (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> gam -> gyro_xVel_p) << (currentBytePosition * 8));
currentBytePosition++;
}
if(flags -> imuflags -> gyro_y)
{
- (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> gam -> gyro_yVel_q) << (currentBytePosition * 8));
currentBytePosition++;
}
if(flags -> imuflags -> gyro_z)
{
- (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> gam -> gyro_zVel_r) << (currentBytePosition * 8));
currentBytePosition++;
}
if(flags -> imuflags -> acc_x)
{
- (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> gam -> accel_x) << (currentBytePosition * 8));
currentBytePosition++;
}
if(flags -> imuflags -> acc_y)
{
- (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> gam -> accel_y) << (currentBytePosition * 8));
currentBytePosition++;
}
if(flags -> imuflags -> acc_z)
{
- (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> gam -> accel_z) << (currentBytePosition * 8));
currentBytePosition++;
}
if(flags -> imuflags -> mag_x)
{
- (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> gam -> mag_x) << (currentBytePosition * 8));
currentBytePosition++;
}
if(flags -> imuflags -> mag_y)
{
- (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> gam -> mag_y) << (currentBytePosition * 8));
currentBytePosition++;
}
if(flags -> imuflags -> mag_z)
{
- (*payload) &= ((data -> gam -> ) << (currentBytePosition * 8));
+ (*payload) &= ((data -> gam -> mag_z) << (currentBytePosition * 8));
currentBytePosition++;
}
@@ -239,8 +212,6 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
currentBytePosition++;
}
-
-#endif
int bytes_sent = send_data(comm->uart, SEND_RT_ID, 0, (u8*)payload, strlen(payload));
free(payload);
return bytes_sent;
diff --git a/quad/src/quad_app/debug_rt.h b/quad/src/quad_app/debug_rt.h
index 8c685ac24..4552e6eda 100644
--- a/quad/src/quad_app/debug_rt.h
+++ b/quad/src/quad_app/debug_rt.h
@@ -65,3 +65,5 @@ void freeFlags(SensorRTFlags_t * flags);
int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t * flags, int size);
+u32 shift(u32 data, int position);
+
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index d4374ddfa..fee17bff7 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -26,9 +26,8 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
//flags that indicate which rt data to send
SensorRTFlags_t flags;
- // TEST : only send accelerometer data for now
- memset(&flags, 0, sizeof(flags));
- flags.imuflags->acc_x = 1;
+ // initialize internal flag data;
+ initializeFlags(&flags);
// Wire up hardware
setup_hardware(&structs.hardware_struct);
@@ -67,7 +66,7 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
get_sensors(&(structs.hardware_struct), &(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct));
//Send the sensor data in RT (TODO WILL NEED TO BE EDITED FROM CURRENT CONDITION DUE TO TINA)
- //send_sensor_data(&flags, &(structs.hardware_struct.comm), &(structs.raw_sensor_struct));
+ send_sensor_data(&flags, &(structs.hardware_struct.comm), &(structs.raw_sensor_struct));
// Process the sensor data and put it into sensor_struct
sensor_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct), &(structs.sensor_struct));
--
GitLab
From 3ba012ef78d27dc2b368e2811d6726b0197542d2 Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Sun, 7 Apr 2019 17:12:34 -0500
Subject: [PATCH 15/24] Continuing to make changes to debug_rt.c
---
quad/src/quad_app/debug_rt.c | 176 +++++++++++++++++++++++++----------
quad/src/quad_app/debug_rt.h | 2 +-
quad/src/quad_app/type_def.h | 3 +-
3 files changed, 129 insertions(+), 52 deletions(-)
diff --git a/quad/src/quad_app/debug_rt.c b/quad/src/quad_app/debug_rt.c
index 732c42831..8df1844b8 100644
--- a/quad/src/quad_app/debug_rt.c
+++ b/quad/src/quad_app/debug_rt.c
@@ -12,20 +12,21 @@
/*
Initially sets it so that all debug values are zero
*/
-SensorRTFlags_t * initializeFlags(sensorRTF_flags_t * flags) {
+void initializeFlags(SensorRTFlags_t * flags) {
flags = calloc(1, sizeof(SensorRTFlags_t));
flags -> imuflags = calloc(1, sizeof(IMUFlags_t));
flags -> optflowflags = calloc(1, sizeof(OptFlowFlags_t));
flags -> lidarflags = calloc(1, sizeof(lidarFlags_t));
- flags -> errorFlags = calloc(1, sizeof(SensorErrorFlags_t));
+ flags -> errorflags = calloc(1, sizeof(SensorErrorFlags_t));
+
}
void freeFlags(SensorRTFlags_t * flags){
free(flags -> imuflags);
free(flags -> optflowflags);
free(flags -> lidarflags);
- free(flags -> errorFlags);
+ free(flags -> errorflags);
free(flags);
}
@@ -76,140 +77,217 @@ int process_configuration_packet(u32 configData, SensorRTFlags_t * flags)
int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t * flags, int size)
{
- char * payload = malloc(sizeof(char) * size);
- int currentBytePosition = 0;
+ char * payload = malloc(sizeof(u32) * size);
+ int currentPosition = 0;
/*
Since it's calloced (all zeros), a simple & operation should set this properly
*/
if(flags -> lidarflags -> quadHeight){
- (*payload) &= ((data -> lidar -> distance_m) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> lidar.distance_m) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> lidar.distance_m) / 8;
+ payload[currentPosition] = (u32)(data -> lidar.distance_m);
+ currentPosition++;
}
if(flags -> optflowflags -> x_flow)
{
- (*payload) &= ((data -> optical_flow -> flow_x_rad) << (currentBytePosition * 8));
- currentBytePosition += 2;
+ //(*payload) |= ((u64)(data -> optical_flow.flow_x_rad) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> optical_flow.flow_x_rad) / 8;
+
+ payload[currentPosition] = ((u64)(data -> optical_flow.flow_x_rad)) >> 32; //MSB
+ currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.flow_x_rad)) & 0x00000000FFFFFFFF; //LSB
+ currentPosition++;
}
if(flags -> optflowflags -> y_flow)
{
- (*payload) &= ((data -> optical_flow -> flow_y_rad) << (currentBytePosition * 8));
- currentBytePosition += 2;
+ //(*payload) |= ((u64)(data -> optical_flow.flow_y_rad) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> optical_flow.flow_y_rad) / 8;
+
+ payload[currentPosition] = ((u64)(data -> optical_flow.flow_y_rad)) >> 32; //MSB
+ currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.flow_y_rad)) & 0x00000000FFFFFFFF; //LSB
+ currentPosition++;
}
if(flags -> optflowflags -> x_filter)
{
- (*payload) &= ((data -> optical_flow -> xVelFilt) << (currentBytePosition * 8));
- currentBytePosition += 2;
+ //(*payload) |= ((u64)(data -> optical_flow.xVelFilt) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> optical_flow.xVelFilt) / 8;
+
+ payload[currentPosition] = ((u64)(data -> optical_flow.xVelFilt)) >> 32; //MSB
+ currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.xVelFilt)) & 0x00000000FFFFFFFF; //LSB
+ currentPosition++;
}
if(flags -> optflowflags -> y_filter)
{
- (*payload) &= ((data -> optical_flow -> yVelFilt) << (currentBytePosition * 8));
- currentBytePosition += 2;
+ //(*payload) |= ((u64)(data -> optical_flow.yVelFilt) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> optical_flow.yVelFilt) / 8;
+
+ payload[currentPosition] = ((u64)(data -> optical_flow.yVelFilt)) >> 32; //MSB
+ currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.yVelFilt)) & 0x00000000FFFFFFFF; //LSB
+ currentPosition++;
}
if(flags -> optflowflags -> x_velocity)
{
- (*payload) &= ((data -> optical_flow -> xVel) << (currentBytePosition * 8));
- currentBytePosition += 2;
+ //(*payload) |= ((u64)(data -> optical_flow.xVel) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> optical_flow.xVel) / 8;
+
+ payload[currentPosition] = ((u64)(data -> optical_flow.xVel)) >> 32; //MSB
+ currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.xVel)) & 0x00000000FFFFFFFF; //LSB
+ currentPosition++;
}
if(flags -> optflowflags -> y_velocity)
{
- (*payload) &= ((data -> optical_flow -> yVel) << (currentBytePosition * 8));
- currentBytePosition += 2;
+ //(*payload) |= ((u64)(data -> optical_flow.yVel) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> optical_flow.xVel) / 8;
+
+ payload[currentPosition] = ((u64)(data -> optical_flow.yVel)) >> 32; //MSB
+ currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.yVel)) & 0x00000000FFFFFFFF; //LSB
+ currentPosition++;
}
if(flags -> imuflags -> gyro_x)
{
- (*payload) &= ((data -> gam -> gyro_xVel_p) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> gam.gyro_xVel_p) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> gam.gyro_xVel_p) / 8;
+
+ payload[currentPosition] = (u32)(data -> gam.gyro_xVel_p);
+ currentPosition++;
}
if(flags -> imuflags -> gyro_y)
{
- (*payload) &= ((data -> gam -> gyro_yVel_q) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> gam.gyro_yVel_q) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> gam.gyro_yVel_q) / 8;
+
+ payload[currentPosition] = (u32)(data -> gam.gyro_yVel_q);
+ currentPosition++;
}
if(flags -> imuflags -> gyro_z)
{
- (*payload) &= ((data -> gam -> gyro_zVel_r) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> gam.gyro_zVel_r) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> gam.gyro_zVel_r) / 8;
+
+ payload[currentPosition] = (u32)(data -> gam.gyro_zVel_r);
+ currentPosition++;
}
if(flags -> imuflags -> acc_x)
{
- (*payload) &= ((data -> gam -> accel_x) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> gam.accel_x) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data->gam.accel_x) / 8;
+
+ payload[currentPosition] = (u32)(data -> gam.accel_x);
+ currentPosition++;
}
if(flags -> imuflags -> acc_y)
{
- (*payload) &= ((data -> gam -> accel_y) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> gam.accel_y) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> gam.accel_y) / 8;
+
+ payload[currentPosition] = (u32)(data -> gam.accel_y);
+ currentPosition++;
}
if(flags -> imuflags -> acc_z)
{
- (*payload) &= ((data -> gam -> accel_z) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> gam.accel_z) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> gam.accel_z) / 8;
+
+ payload[currentPosition] = (u32)(data -> gam.accel_z);
+ currentPosition++;
}
if(flags -> imuflags -> mag_x)
{
- (*payload) &= ((data -> gam -> mag_x) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> gam.mag_x) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> gam.mag_x) / 8;
+
+ payload[currentPosition] = (u32)(data -> gam.mag_x);
+ currentPosition++;
}
if(flags -> imuflags -> mag_y)
{
- (*payload) &= ((data -> gam -> mag_y) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> gam.mag_y) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data->gam.mag_y) / 8;
+
+ payload[currentPosition] = (u32)(data -> gam.mag_y);
+ currentPosition++;
}
if(flags -> imuflags -> mag_z)
{
- (*payload) &= ((data -> gam -> mag_z) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> gam.mag_z) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> gam.mag_z) / 8;
+
+ payload[currentPosition] = (u32)(data -> gam.mag_z);
+ currentPosition++;
}
if(flags -> errorflags -> lidar)
{
- (*payload) &= ((data -> lidar -> error -> errorCount) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> lidar.error.errorCount) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> lidar.error.errorCount) / 8;
+
+ payload[currentPosition] = (u32)(data -> lidar.error.errorCount);
+ currentPosition++;
}
if(flags -> errorflags -> consec_lidar)
{
- (*payload) &= ((data -> lidar -> consErrorCount -> errorCount) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> lidar.error.consErrorCount) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> lidar.error.consErrorCount) / 8;
+
+ payload[currentPosition] = (u32)(data -> lidar.error.consErrorCount);
+ currentPosition++;
}
if(flags -> errorflags -> optFlow)
{
- (*payload) &= ((data -> optical_flow -> error -> errorCount) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> optical_flow.error.errorCount) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> optical_flow.error.errorCount) / 8;
+
+ payload[currentPosition] = (u32)(data -> optical_flow.error.errorCount);
+ currentPosition++;
}
if(flags -> errorflags -> consec_optFlow)
{
- (*payload) &= ((data -> optical_flow -> consErrorCount -> errorCount) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> optical_flow.error.consErrorCount) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> optical_flow.error.consErrorCount) / 8;
+
+ payload[currentPosition] = (u32)(data -> optical_flow.error.consErrorCount);
+ currentPosition++;
}
if(flags -> errorflags -> imu)
{
- (*payload) &= ((data -> gam -> error -> errorCount) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> gam.error.errorCount) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> gam.error.errorCount) / 8;
+
+ payload[currentPosition] = (u32)(data -> gam.error.errorCount);
+ currentPosition++;
}
if(flags -> errorflags -> consec_imu)
{
- (*payload) &= ((data -> gam -> consErrorCount -> errorCount) << (currentBytePosition * 8));
- currentBytePosition++;
+ //(*payload) |= ((u32)(data -> gam.error.consErrorCount) << (currentBytePosition * 8));
+ //currentBytePosition += sizeof(data -> gam.error.consErrorCount) / 8;
+
+ payload[currentPosition] = (u32)(data -> gam.error.consErrorCount);
+ currentPosition++;
}
int bytes_sent = send_data(comm->uart, SEND_RT_ID, 0, (u8*)payload, strlen(payload));
diff --git a/quad/src/quad_app/debug_rt.h b/quad/src/quad_app/debug_rt.h
index 4552e6eda..516f9d0ab 100644
--- a/quad/src/quad_app/debug_rt.h
+++ b/quad/src/quad_app/debug_rt.h
@@ -57,7 +57,7 @@ typedef struct SensorRTFlags
}SensorRTFlags_t;
-SensorRTFlags_t * initializeFlags(void);
+void initializeFlags( SensorRTFlags_t * flag_pointer);
//int setDebugLevel(SensorRTFlags_t * flags, float flags);
diff --git a/quad/src/quad_app/type_def.h b/quad/src/quad_app/type_def.h
index c520904ca..4fee4d226 100644
--- a/quad/src/quad_app/type_def.h
+++ b/quad/src/quad_app/type_def.h
@@ -250,8 +250,7 @@ typedef struct raw_sensor {
gam_t gam;
lidar_t lidar;
- px4flow_t optical_flow;
-
+ px4flow_t optical_flow;
// Structures to hold the current quad position & orientation
// This is mostly unused?
quadPosition_t currentQuadPosition;
--
GitLab
From 9e8db90b08ae3f004b14dbfc3ed3fb83ff462ee4 Mon Sep 17 00:00:00 2001
From: bertucci <bertucci@iastate.edu>
Date: Sun, 7 Apr 2019 18:29:11 -0500
Subject: [PATCH 16/24] The work continues
---
quad/src/quad_app/debug_rt.c | 122 ++++++++++++++++++-----------------
quad/src/quad_app/debug_rt.h | 3 +-
quad/src/quad_app/quad_app.c | 6 +-
3 files changed, 69 insertions(+), 62 deletions(-)
diff --git a/quad/src/quad_app/debug_rt.c b/quad/src/quad_app/debug_rt.c
index 8df1844b8..f4bd83f24 100644
--- a/quad/src/quad_app/debug_rt.c
+++ b/quad/src/quad_app/debug_rt.c
@@ -19,7 +19,7 @@ void initializeFlags(SensorRTFlags_t * flags) {
flags -> optflowflags = calloc(1, sizeof(OptFlowFlags_t));
flags -> lidarflags = calloc(1, sizeof(lidarFlags_t));
flags -> errorflags = calloc(1, sizeof(SensorErrorFlags_t));
-
+ flags -> flag_count = 0;
}
void freeFlags(SensorRTFlags_t * flags){
@@ -27,6 +27,7 @@ void freeFlags(SensorRTFlags_t * flags){
free(flags -> optflowflags);
free(flags -> lidarflags);
free(flags -> errorflags);
+ free(flags -> flag_count);
free(flags);
}
@@ -71,13 +72,14 @@ int process_configuration_packet(u32 configData, SensorRTFlags_t * flags)
flags -> errorflags -> optFlow = read_bit(configData, 13); size += read_bit(configData, 13);
flags -> errorflags -> consec_optFlow = read_bit(configData, 12); size += read_bit(configData, 12);
flags -> errorflags -> imu = read_bit(configData, 11); size += read_bit(configData, 11);
- flags -> errorflags -> consec_imu = read_bit(configData, 10); size += read_bit(configData, 10);
+ flags -> errorflags -> consec_imu = read_bit(configData, 10); size += read_bit(configData, 10);
+ flags -> flag_count = size;
return size;
}
-int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t * flags, int size)
+int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t * flags)
{
- char * payload = malloc(sizeof(u32) * size);
+ char * payload = malloc(sizeof(u32) * (flags -> flag_count));
int currentPosition = 0;
/*
Since it's calloced (all zeros), a simple & operation should set this properly
@@ -86,8 +88,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> lidar.distance_m) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> lidar.distance_m) / 8;
- payload[currentPosition] = (u32)(data -> lidar.distance_m);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> lidar.distance_m);
+ currentPosition++;
}
if(flags -> optflowflags -> x_flow)
@@ -95,10 +97,10 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u64)(data -> optical_flow.flow_x_rad) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> optical_flow.flow_x_rad) / 8;
- payload[currentPosition] = ((u64)(data -> optical_flow.flow_x_rad)) >> 32; //MSB
- currentPosition++;
- payload[currentPosition] = ((u64)(data -> optical_flow.flow_x_rad)) & 0x00000000FFFFFFFF; //LSB
- currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.flow_x_rad)) >> 32; //MSB
+ currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.flow_x_rad)) & 0x00000000FFFFFFFF; //LSB
+ currentPosition++;
}
if(flags -> optflowflags -> y_flow)
@@ -106,10 +108,10 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u64)(data -> optical_flow.flow_y_rad) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> optical_flow.flow_y_rad) / 8;
- payload[currentPosition] = ((u64)(data -> optical_flow.flow_y_rad)) >> 32; //MSB
- currentPosition++;
- payload[currentPosition] = ((u64)(data -> optical_flow.flow_y_rad)) & 0x00000000FFFFFFFF; //LSB
- currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.flow_y_rad)) >> 32; //MSB
+ currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.flow_y_rad)) & 0x00000000FFFFFFFF; //LSB
+ currentPosition++;
}
if(flags -> optflowflags -> x_filter)
@@ -117,10 +119,10 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u64)(data -> optical_flow.xVelFilt) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> optical_flow.xVelFilt) / 8;
- payload[currentPosition] = ((u64)(data -> optical_flow.xVelFilt)) >> 32; //MSB
- currentPosition++;
- payload[currentPosition] = ((u64)(data -> optical_flow.xVelFilt)) & 0x00000000FFFFFFFF; //LSB
- currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.xVelFilt)) >> 32; //MSB
+ currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.xVelFilt)) & 0x00000000FFFFFFFF; //LSB
+ currentPosition++;
}
if(flags -> optflowflags -> y_filter)
@@ -128,20 +130,20 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u64)(data -> optical_flow.yVelFilt) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> optical_flow.yVelFilt) / 8;
- payload[currentPosition] = ((u64)(data -> optical_flow.yVelFilt)) >> 32; //MSB
- currentPosition++;
- payload[currentPosition] = ((u64)(data -> optical_flow.yVelFilt)) & 0x00000000FFFFFFFF; //LSB
- currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.yVelFilt)) >> 32; //MSB
+ currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.yVelFilt)) & 0x00000000FFFFFFFF; //LSB
+ currentPosition++;
}
if(flags -> optflowflags -> x_velocity)
{
//(*payload) |= ((u64)(data -> optical_flow.xVel) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> optical_flow.xVel) / 8;
- payload[currentPosition] = ((u64)(data -> optical_flow.xVel)) >> 32; //MSB
- currentPosition++;
- payload[currentPosition] = ((u64)(data -> optical_flow.xVel)) & 0x00000000FFFFFFFF; //LSB
- currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.xVel)) >> 32; //MSB
+ currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.xVel)) & 0x00000000FFFFFFFF; //LSB
+ currentPosition++;
}
if(flags -> optflowflags -> y_velocity)
@@ -149,10 +151,10 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u64)(data -> optical_flow.yVel) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> optical_flow.xVel) / 8;
- payload[currentPosition] = ((u64)(data -> optical_flow.yVel)) >> 32; //MSB
- currentPosition++;
- payload[currentPosition] = ((u64)(data -> optical_flow.yVel)) & 0x00000000FFFFFFFF; //LSB
- currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.yVel)) >> 32; //MSB
+ currentPosition++;
+ payload[currentPosition] = ((u64)(data -> optical_flow.yVel)) & 0x00000000FFFFFFFF; //LSB
+ currentPosition++;
}
if(flags -> imuflags -> gyro_x)
@@ -160,8 +162,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> gam.gyro_xVel_p) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> gam.gyro_xVel_p) / 8;
- payload[currentPosition] = (u32)(data -> gam.gyro_xVel_p);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> gam.gyro_xVel_p);
+ currentPosition++;
}
if(flags -> imuflags -> gyro_y)
@@ -169,8 +171,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> gam.gyro_yVel_q) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> gam.gyro_yVel_q) / 8;
- payload[currentPosition] = (u32)(data -> gam.gyro_yVel_q);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> gam.gyro_yVel_q);
+ currentPosition++;
}
if(flags -> imuflags -> gyro_z)
@@ -178,8 +180,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> gam.gyro_zVel_r) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> gam.gyro_zVel_r) / 8;
- payload[currentPosition] = (u32)(data -> gam.gyro_zVel_r);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> gam.gyro_zVel_r);
+ currentPosition++;
}
if(flags -> imuflags -> acc_x)
@@ -187,8 +189,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> gam.accel_x) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data->gam.accel_x) / 8;
- payload[currentPosition] = (u32)(data -> gam.accel_x);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> gam.accel_x);
+ currentPosition++;
}
if(flags -> imuflags -> acc_y)
@@ -196,8 +198,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> gam.accel_y) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> gam.accel_y) / 8;
- payload[currentPosition] = (u32)(data -> gam.accel_y);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> gam.accel_y);
+ currentPosition++;
}
if(flags -> imuflags -> acc_z)
@@ -205,8 +207,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> gam.accel_z) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> gam.accel_z) / 8;
- payload[currentPosition] = (u32)(data -> gam.accel_z);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> gam.accel_z);
+ currentPosition++;
}
if(flags -> imuflags -> mag_x)
@@ -214,8 +216,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> gam.mag_x) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> gam.mag_x) / 8;
- payload[currentPosition] = (u32)(data -> gam.mag_x);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> gam.mag_x);
+ currentPosition++;
}
if(flags -> imuflags -> mag_y)
@@ -223,8 +225,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> gam.mag_y) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data->gam.mag_y) / 8;
- payload[currentPosition] = (u32)(data -> gam.mag_y);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> gam.mag_y);
+ currentPosition++;
}
if(flags -> imuflags -> mag_z)
@@ -232,8 +234,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> gam.mag_z) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> gam.mag_z) / 8;
- payload[currentPosition] = (u32)(data -> gam.mag_z);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> gam.mag_z);
+ currentPosition++;
}
if(flags -> errorflags -> lidar)
@@ -241,8 +243,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> lidar.error.errorCount) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> lidar.error.errorCount) / 8;
- payload[currentPosition] = (u32)(data -> lidar.error.errorCount);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> lidar.error.errorCount);
+ currentPosition++;
}
if(flags -> errorflags -> consec_lidar)
@@ -250,8 +252,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> lidar.error.consErrorCount) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> lidar.error.consErrorCount) / 8;
- payload[currentPosition] = (u32)(data -> lidar.error.consErrorCount);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> lidar.error.consErrorCount);
+ currentPosition++;
}
if(flags -> errorflags -> optFlow)
@@ -259,8 +261,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> optical_flow.error.errorCount) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> optical_flow.error.errorCount) / 8;
- payload[currentPosition] = (u32)(data -> optical_flow.error.errorCount);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> optical_flow.error.errorCount);
+ currentPosition++;
}
if(flags -> errorflags -> consec_optFlow)
@@ -268,8 +270,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> optical_flow.error.consErrorCount) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> optical_flow.error.consErrorCount) / 8;
- payload[currentPosition] = (u32)(data -> optical_flow.error.consErrorCount);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> optical_flow.error.consErrorCount);
+ currentPosition++;
}
if(flags -> errorflags -> imu)
@@ -277,8 +279,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> gam.error.errorCount) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> gam.error.errorCount) / 8;
- payload[currentPosition] = (u32)(data -> gam.error.errorCount);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> gam.error.errorCount);
+ currentPosition++;
}
if(flags -> errorflags -> consec_imu)
@@ -286,8 +288,8 @@ int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t *
//(*payload) |= ((u32)(data -> gam.error.consErrorCount) << (currentBytePosition * 8));
//currentBytePosition += sizeof(data -> gam.error.consErrorCount) / 8;
- payload[currentPosition] = (u32)(data -> gam.error.consErrorCount);
- currentPosition++;
+ payload[currentPosition] = (u32)(data -> gam.error.consErrorCount);
+ currentPosition++;
}
int bytes_sent = send_data(comm->uart, SEND_RT_ID, 0, (u8*)payload, strlen(payload));
diff --git a/quad/src/quad_app/debug_rt.h b/quad/src/quad_app/debug_rt.h
index 516f9d0ab..2393c9f50 100644
--- a/quad/src/quad_app/debug_rt.h
+++ b/quad/src/quad_app/debug_rt.h
@@ -54,6 +54,7 @@ typedef struct SensorRTFlags
OptFlowFlags_t * optflowflags;
lidarFlags_t * lidarflags;
SensorErrorFlags_t * errorflags;
+ int flag_count;
}SensorRTFlags_t;
@@ -63,7 +64,7 @@ void initializeFlags( SensorRTFlags_t * flag_pointer);
void freeFlags(SensorRTFlags_t * flags);
-int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t * flags, int size);
+int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t * flags);
u32 shift(u32 data, int position);
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index fee17bff7..b30736f3a 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -37,6 +37,8 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// Xilinx Platform, Loop Timer, Control Algorithm
int init_error = init_structs(&(structs));
+ int rt_configured_size = 0;
+
if (init_error != 0) {
return -1;
}
@@ -66,7 +68,9 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
get_sensors(&(structs.hardware_struct), &(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct));
//Send the sensor data in RT (TODO WILL NEED TO BE EDITED FROM CURRENT CONDITION DUE TO TINA)
- send_sensor_data(&flags, &(structs.hardware_struct.comm), &(structs.raw_sensor_struct));
+ //send_sensor_data(&flags, &(structs.hardware_struct.comm), &(structs.raw_sensor_struct));
+ if (rt_configured_size != 0)
+ send_RT_data(&(structs.hardware_struct.comm), &(structs.raw_sensor_struct), &flags, rt_configured_size);
// Process the sensor data and put it into sensor_struct
sensor_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct), &(structs.sensor_struct));
--
GitLab
From ed6ae4360692b691dc3129558b75c6b1c24d3f2e Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Sat, 13 Apr 2019 18:16:15 -0500
Subject: [PATCH 17/24] Beginning formatting data to text file for read
---
groundStation/src/backend/backend.c | 12 ++++++++----
quad/src/quad_app/quad_app.c | 14 ++++++--------
2 files changed, 14 insertions(+), 12 deletions(-)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index b442db5f3..01928622a 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -919,7 +919,7 @@ static void client_recv(int fd) {
static void quad_recv(int index) {
static unsigned char respBuf[CMD_MAX_LENGTH];
static size_t respBufLen;
- static int receiving_logs;
+ static int receiving_logs;
struct metadata m;
uint8_t data[CMD_MAX_LENGTH];
@@ -1005,11 +1005,15 @@ static void quad_recv(int index) {
}
fwrite((char *) data, sizeof(char), m.data_len, quadlog_file);
break;
- /*case SEND_RT_ID:
+ case SEND_RT_ID:
quadlog_file = fopen("quad_log_data.txt", "w");
- fwrite((char *) data, sizeof(char), m.data_len, quadlog_file);
+ //TODO Add formatting here to populate .txt file in a way QT will be able to read
+ char * formatted_data = malloc(sizeof(data) + 1);
+
+ fwrite((char *) formatted_data, sizeof(char), m.data_len, quadlog_file);
fclose(quadlog_file);
- break;*/
+ free(formatted_data);
+ break;
case RESPPARAM_ID:
case RESPSOURCE_ID:
case RESPOUTPUT_ID:
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index b30736f3a..18c73685d 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -23,10 +23,10 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// Structures to be used throughout
modular_structs_t structs = { };
- //flags that indicate which rt data to send
- SensorRTFlags_t flags;
+ //flags that indicate which rt data to send
+ SensorRTFlags_t flags;
- // initialize internal flag data;
+ // initialize internal flag data for RT data transfer
initializeFlags(&flags);
// Wire up hardware
@@ -37,7 +37,6 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// Xilinx Platform, Loop Timer, Control Algorithm
int init_error = init_structs(&(structs));
- int rt_configured_size = 0;
if (init_error != 0) {
return -1;
@@ -67,10 +66,9 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// Get data from the sensors and put it into raw_sensor_struct
get_sensors(&(structs.hardware_struct), &(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct));
- //Send the sensor data in RT (TODO WILL NEED TO BE EDITED FROM CURRENT CONDITION DUE TO TINA)
- //send_sensor_data(&flags, &(structs.hardware_struct.comm), &(structs.raw_sensor_struct));
- if (rt_configured_size != 0)
- send_RT_data(&(structs.hardware_struct.comm), &(structs.raw_sensor_struct), &flags, rt_configured_size);
+ //Send the sensor data in RT (TODO WILL NEED TO BE EDITED FROM CURRENT CONDITION DUE TO TINA)
+ if (flags.flag_count != 0)
+ send_RT_data(&(structs.hardware_struct.comm), &(structs.raw_sensor_struct), &flags);
// Process the sensor data and put it into sensor_struct
sensor_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct), &(structs.sensor_struct));
--
GitLab
From 87e43eb7b5990bd5ee62782cd874dbbfa5fff275 Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Mon, 15 Apr 2019 14:50:25 -0500
Subject: [PATCH 18/24] fixing build issues
---
groundStation/Makefile | 2 +-
groundStation/gui/MicroCART/.qmake.stash | 22 ++++++++++++++++++++++
quad/src/commands/commands.h | 7 ++++---
3 files changed, 27 insertions(+), 4 deletions(-)
create mode 100644 groundStation/gui/MicroCART/.qmake.stash
diff --git a/groundStation/Makefile b/groundStation/Makefile
index e4eafdd3e..620bbcefd 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -82,7 +82,7 @@ vrpn/build:
cd src/vrpn/build && cmake .. && make
GroundStation:
- cd gui/MicroCART && qmake
+ cd gui/MicroCART && qmake-qt5
cd gui/MicroCART && make
ln -s gui/MicroCART/MicroCART GroundStation
diff --git a/groundStation/gui/MicroCART/.qmake.stash b/groundStation/gui/MicroCART/.qmake.stash
new file mode 100644
index 000000000..6ea5b2126
--- /dev/null
+++ b/groundStation/gui/MicroCART/.qmake.stash
@@ -0,0 +1,22 @@
+QMAKE_CXX.INCDIRS = \
+ /usr/include/c++/4.8.5 \
+ /usr/include/c++/4.8.5/x86_64-redhat-linux \
+ /usr/include/c++/4.8.5/backward \
+ /usr/lib/gcc/x86_64-redhat-linux/4.8.5/include \
+ /usr/local/include \
+ /usr/include
+QMAKE_CXX.LIBDIRS = \
+ /usr/lib/gcc/x86_64-redhat-linux/4.8.5 \
+ /usr/lib64 \
+ /lib64 \
+ /usr/lib \
+ /lib
+QMAKE_CXX.QT_COMPILER_STDCXX = 199711L
+QMAKE_CXX.QMAKE_GCC_MAJOR_VERSION = 4
+QMAKE_CXX.QMAKE_GCC_MINOR_VERSION = 8
+QMAKE_CXX.QMAKE_GCC_PATCH_VERSION = 5
+QMAKE_CXX.COMPILER_MACROS = \
+ QT_COMPILER_STDCXX \
+ QMAKE_GCC_MAJOR_VERSION \
+ QMAKE_GCC_MINOR_VERSION \
+ QMAKE_GCC_PATCH_VERSION
diff --git a/quad/src/commands/commands.h b/quad/src/commands/commands.h
index 194bbaedc..41dcb96f3 100644
--- a/quad/src/commands/commands.h
+++ b/quad/src/commands/commands.h
@@ -51,9 +51,10 @@ enum MessageTypeID{
RESPOUTPUT_ID, // 14 - Responding with node output
GETNODES_ID, // 15 - Getting node IDs from current comp_graph
RESPNODES_ID, // 16 - Responding with node IDs from current comp_graph
- ADDNODE_ID, // 17 - Add a node of specified type_id
- RESPADDNODE_ID, // 18 - Responding with the block_id of the newly added node
- MAX_TYPE_ID // 19 - Just used to keep track of the size. Must remain at the end
+ ADDNODE_ID, // 17 - Add a node of specified type_id
+ RESPADDNODE_ID, // 18 - Responding with the block_id of the newly added node
+ MAX_TYPE_ID, // 19 - Just used to keep track of the size. Must remain at the end
+ SEND_RT_ID // 20 - Real Time sensor data sent to groundstation
};
struct modular_structs;
--
GitLab
From dae1711fcbc7f43040747f44b9a0d47030ec1a0e Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Fri, 19 Apr 2019 21:45:14 -0500
Subject: [PATCH 19/24] Added Override command for characterization testing
---
groundStation/src/backend/backend.c | 4 ++
groundStation/src/backend/override.c | 51 +++++++++++++++++++
groundStation/src/backend/override.h | 18 +++++++
groundStation/src/cli/cli.c | 4 +-
groundStation/src/cli/cli.h | 8 ++-
groundStation/src/cli/cli_override.c | 34 +++++++++++++
groundStation/src/cli/cli_override.h | 8 +++
groundStation/src/frontend/frontend_common.h | 8 +++
.../src/frontend/frontend_override.c | 42 +++++++++++++++
.../src/frontend/frontend_override.h | 25 +++++++++
quad/src/commands/commands.c | 12 +++++
quad/src/commands/commands.h | 5 +-
12 files changed, 213 insertions(+), 6 deletions(-)
create mode 100644 groundStation/src/backend/override.c
create mode 100644 groundStation/src/backend/override.h
create mode 100644 groundStation/src/cli/cli_override.c
create mode 100644 groundStation/src/cli/cli_override.h
create mode 100644 groundStation/src/frontend/frontend_override.c
create mode 100644 groundStation/src/frontend/frontend_override.h
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 01928622a..c0043b256 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -875,6 +875,10 @@ static void client_recv(int fd) {
case ADDNODE_ID:
result = EncodeAddNode(&m, data, 128, buffer);
break;
+ case OUTPUT_OVERRIDE_ID:
+ result = EncodeSetOutputOverride(&m, data, 128, buffer);
+ break;
+
default:
result = -1;
break;
diff --git a/groundStation/src/backend/override.c b/groundStation/src/backend/override.c
new file mode 100644
index 000000000..e51c09496
--- /dev/null
+++ b/groundStation/src/backend/override.c
@@ -0,0 +1,51 @@
+#include <sys/types.h>
+#include <inttypes.h>
+#include <string.h>
+
+#include "output.h"
+#include "commands.h"
+#include "bitwise.h"
+
+#define NUM_OUTPUTS 4
+#define DATA_SIZE (1+NUM_OUTPUTS*4)
+
+/* Creates data and metadata for a overrideoutput packet
+ * Returns data size.
+ */
+ssize_t EncodeSetOutputOverride(
+ struct metadata * m, /* data_len and msg_type will be populated*/
+ uint8_t * data, /* Output buffer */
+ size_t data_size, /* Max buffer size */
+ const char * msg) /* Message to encode */
+{
+ m->msg_type = OUTPUT_OVERRIDE_ID;
+ m->data_len = DATA_SIZE;
+
+ if (data_size < DATA_SIZE) {
+ return -1;
+ }
+
+ float values[NUM_OUTPUTS];
+ values[0] = -1;
+ char* tok = strtok(msg, " ");
+ char* ena = strtok(NULL, " ");
+ data[0] = atoi(ena);
+ int i;
+ for (i = 0; i < NUM_OUTPUTS; i++) {
+ char* value = strtok(NULL, " ");
+ if (value == NULL) {
+ return -1;
+ }
+ float a;
+ sscanf(value, "%f", &a);
+ values[i] = a;
+ }
+
+ for (i = 0; i < NUM_OUTPUTS; i++) {
+ data[1+i*4+0] = FloatByte1(values[i]);
+ data[1+i*4+1] = FloatByte2(values[i]);
+ data[1+i*4+2] = FloatByte3(values[i]);
+ data[1+i*4+3] = FloatByte4(values[i]);
+ }
+ return DATA_SIZE;
+}
diff --git a/groundStation/src/backend/override.h b/groundStation/src/backend/override.h
new file mode 100644
index 000000000..f07fa6b41
--- /dev/null
+++ b/groundStation/src/backend/override.h
@@ -0,0 +1,18 @@
+#ifndef _OVERRIDE_h
+#define _OVERRIDE_h
+
+#include "packet.h"
+
+#include <sys/types.h>
+
+
+/* Creates data and metadata for a overrideoutput packet.
+ * Returns data size.
+ */
+ssize_t EncodeSetOutputOverride(
+ struct metadata *m, /* Out */
+ uint8_t *data, /* Out */
+ size_t data_size, /* Data buffer max size */
+ const char * msg); /* Value is not used; only IDs */
+
+#endif
diff --git a/groundStation/src/cli/cli.c b/groundStation/src/cli/cli.c
index 139534a47..6f258f2e2 100644
--- a/groundStation/src/cli/cli.c
+++ b/groundStation/src/cli/cli.c
@@ -57,7 +57,7 @@ int main(int argc, char **argv)
for (i = 0; i < MAX_COMMANDS; ++i) {
if (strncmp(command, commandNames[i], strlen(commandNames[i])) == 0) {
cmdID = i;
- }
+ }
}
}
@@ -233,4 +233,4 @@ int convert_to_id(struct backend_conn * conn, char **argv, struct convert_data *
}
frontend_free_node_data(search_data, num_nodes);
return search_2;
-}
\ No newline at end of file
+}
diff --git a/groundStation/src/cli/cli.h b/groundStation/src/cli/cli.h
index f91e40fbc..7dca99d74 100644
--- a/groundStation/src/cli/cli.h
+++ b/groundStation/src/cli/cli.h
@@ -7,6 +7,7 @@
#include "cli_output.h"
#include "cli_nodes.h"
#include "cli_trackable.h"
+#include "cli_override.h"
struct backend_conn;
@@ -20,6 +21,7 @@ enum CommandNameIds{
CMD_ADDNODE,
CMD_GETTRACKABLE,
CMD_SETTRACKABLE,
+ CMD_OUTPUTOVERRIDE,
MAX_COMMANDS
};
@@ -33,7 +35,8 @@ static cli_function_ptr cli_functions[] = {
&cli_getnodes,
&cli_addnode,
&cli_gettrackable,
- &cli_settrackable
+ &cli_settrackable,
+ &cli_outputoverride
};
static char* commandNames[MAX_COMMANDS] = {
@@ -45,7 +48,8 @@ static char* commandNames[MAX_COMMANDS] = {
"getnodes",
"addnode",
"gettrackable",
- "settrackable"
+ "settrackable",
+ "outputoverride"
};
/**
diff --git a/groundStation/src/cli/cli_override.c b/groundStation/src/cli/cli_override.c
new file mode 100644
index 000000000..8ee4fe283
--- /dev/null
+++ b/groundStation/src/cli/cli_override.c
@@ -0,0 +1,34 @@
+#include <stdio.h>
+#include <unistd.h>
+#include <inttypes.h>
+
+#include "cli.h"
+#include "cli_override.h"
+#include "frontend_override.h"
+
+int cli_outputoverride(struct backend_conn * conn, int argc, char ** argv) {
+ int needHelp = 0;
+ struct frontend_override_data values;
+
+ if ((needHelp = help_check(argc, argv))) {
+ printf("outputoverride sets the override state of the hardware platform\n");
+ printf("Usage Syntax : \n\t./Cli outputoverride <enable> Throttle Pitch Roll Yaw \n");
+ return 0;
+ }
+
+ if (argc < 6) {
+ printf("Incorrect Usage, run './cli outputoverride --help' for correct usage.\n");
+ return 1;
+ }
+ int ena;
+ sscanf(argv[1], "%d", &ena); values.enable = ena;
+ sscanf(argv[2], "%f", &values.throttle);
+ sscanf(argv[3], "%f", &values.pitch);
+ sscanf(argv[4], "%f", &values.roll);
+ sscanf(argv[5], "%f", &values.yaw);
+
+ if (frontend_setoutputoverride(conn, &values)) {
+ return 1;
+ }
+ return 0;
+}
diff --git a/groundStation/src/cli/cli_override.h b/groundStation/src/cli/cli_override.h
new file mode 100644
index 000000000..ebb8340c5
--- /dev/null
+++ b/groundStation/src/cli/cli_override.h
@@ -0,0 +1,8 @@
+#ifndef _CLI_OVERRIDE_H
+#define _CLI_OVERRIDE_H
+
+#include "frontend_output.h"
+
+int cli_outputoverride(struct backend_conn * conn, int argc, char ** argv);
+
+#endif /* _CLI_OVERRIDE_H */
diff --git a/groundStation/src/frontend/frontend_common.h b/groundStation/src/frontend/frontend_common.h
index 827802875..27983cb08 100644
--- a/groundStation/src/frontend/frontend_common.h
+++ b/groundStation/src/frontend/frontend_common.h
@@ -56,6 +56,14 @@ struct frontend_node_data {
char *name;
};
+struct frontend_override_data {
+ int8_t enable;
+ float throttle;
+ float pitch;
+ float roll;
+ float yaw;
+};
+
#ifdef __cplusplus
}
#endif
diff --git a/groundStation/src/frontend/frontend_override.c b/groundStation/src/frontend/frontend_override.c
new file mode 100644
index 000000000..aac819df9
--- /dev/null
+++ b/groundStation/src/frontend/frontend_override.c
@@ -0,0 +1,42 @@
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+#include <err.h>
+#include <inttypes.h>
+
+#include "frontend_override.h"
+
+/* Set the override state of outputs
+ *
+ * Returns 0 on success, 1 on error
+ */
+int frontend_setoutputoverride(
+ struct backend_conn * conn,
+ struct frontend_override_data * values) {
+
+ char msg[64] = "";
+ int written;
+
+ snprintf(msg, 64, "outputoverride %" PRId8 " %f %f %f %f\n",
+ values->enable,
+ values->throttle, values->pitch, values->roll, values->yaw);
+
+ if((written = ucart_backendWrite(conn, msg)) < 0) {
+ return 1;
+ }
+
+ size_t pendingResponses = 0;
+ char * response;
+
+ while (pendingResponses) {
+ response = ucart_backendGetline(conn);
+ if (response == NULL) {
+ warnx("Line not returned from backend");
+ return 1;
+ }
+
+
+ }
+
+ return 0;
+}
diff --git a/groundStation/src/frontend/frontend_override.h b/groundStation/src/frontend/frontend_override.h
new file mode 100644
index 000000000..53f016d32
--- /dev/null
+++ b/groundStation/src/frontend/frontend_override.h
@@ -0,0 +1,25 @@
+/**
+ * frontend_output writes the getoutput command to the backend connection.
+ */
+
+#ifndef _FRONTEND_OVERRIDE_H
+#define _FRONTEND_OVERRIDE_H
+
+#include "frontend_common.h"
+
+/* Set the override state of outputs
+ *
+ * Returns 0 on success, 1 on error
+ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+int frontend_setoutputoverride(
+ struct backend_conn * conn,
+ struct frontend_override_data * values);
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif /* __FRONTEND_OVERRIDE_H */
diff --git a/quad/src/commands/commands.c b/quad/src/commands/commands.c
index 8dddcbf3c..9942b62c9 100644
--- a/quad/src/commands/commands.c
+++ b/quad/src/commands/commands.c
@@ -74,6 +74,7 @@ command_cb cb_respnodes __attribute__((weak, alias("cb_default")));
command_cb cb_addnode __attribute__((weak, alias("cb_default")));
command_cb cb_respaddnode __attribute__((weak, alias("cb_default")));
+command_cb cb_overrideoutput __attribute__((weak, alias("cb_default")));
/*
@@ -259,7 +260,18 @@ struct MessageType MessageTypes[MAX_TYPE_ID] =
floatType,
// Function pointer
&cb_respaddnode
+ },
+ // OVERRIDE_OUTPUT
+ {
+ // Command text
+ "outputoverride",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_overrideoutput
}
+
+
};
int findCommand(char * str)
diff --git a/quad/src/commands/commands.h b/quad/src/commands/commands.h
index 41dcb96f3..731eb0d29 100644
--- a/quad/src/commands/commands.h
+++ b/quad/src/commands/commands.h
@@ -53,8 +53,9 @@ enum MessageTypeID{
RESPNODES_ID, // 16 - Responding with node IDs from current comp_graph
ADDNODE_ID, // 17 - Add a node of specified type_id
RESPADDNODE_ID, // 18 - Responding with the block_id of the newly added node
- MAX_TYPE_ID, // 19 - Just used to keep track of the size. Must remain at the end
- SEND_RT_ID // 20 - Real Time sensor data sent to groundstation
+ OUTPUT_OVERRIDE_ID, // 19 - Override the outputs from the controller and use provided values instead
+ SEND_RT_ID, // 20 - Real Time sensor data sent to groundstation
+ MAX_TYPE_ID // 21 - Just used to keep track of the size. Must remain at the end
};
struct modular_structs;
--
GitLab
From b767a3a1791e4b126934b724e7fa3c0f6d8a4246 Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Sun, 28 Apr 2019 14:31:31 -0500
Subject: [PATCH 20/24] continuing work on RT data logging feature
---
quad/src/quad_app/callbacks.c | 5 +
quad/src/quad_app/debug_rt.c | 169 +++++++++++++++-------------------
quad/src/quad_app/debug_rt.h | 81 ++++++----------
quad/src/quad_app/log_data.c | 33 ++-----
quad/src/quad_app/log_data.h | 2 +-
quad/src/quad_app/quad_app.c | 3 -
quad/src/quad_app/type_def.h | 58 ++++++++++++
7 files changed, 172 insertions(+), 179 deletions(-)
diff --git a/quad/src/quad_app/callbacks.c b/quad/src/quad_app/callbacks.c
index d4c839bef..13d3a72e1 100644
--- a/quad/src/quad_app/callbacks.c
+++ b/quad/src/quad_app/callbacks.c
@@ -409,3 +409,8 @@ int cb_addnode(struct modular_structs *structs, struct metadata *meta, unsigned
send_data(structs->hardware_struct.comm.uart, RESPADDNODE_ID, meta->msg_id, resp_buf, sizeof(resp_buf));
return 0;
}
+
+int cb_sendrtdata(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length) {
+
+ return 0;
+}
diff --git a/quad/src/quad_app/debug_rt.c b/quad/src/quad_app/debug_rt.c
index f4bd83f24..4ccee0f6d 100644
--- a/quad/src/quad_app/debug_rt.c
+++ b/quad/src/quad_app/debug_rt.c
@@ -2,12 +2,8 @@
#include <stdlib.h>
#include <string.h>
#include <stdarg.h>
-#include "PID.h"
-#include "type_def.h"
+
#include "debug_rt.h"
-#include "communication.h"
-#include "computation_graph.h"
-#include "timer.h"
/*
Initially sets it so that all debug values are zero
@@ -40,13 +36,16 @@ u32 read_bit(u32 data, int position){
}
/*
-Uses the payload from the configuration packet (it's in the flag parameter) to set what should be sent
-Size of float = 32 bits
+ This method is used to configure the bits within the flags struct by reading in the data sent from the user via the groundstation.
-As of now many bits are empty and wont be processed
-See RTSensorPacketDocumentation.md for which flags each bit of the config data corresponds to
+ Params:
+ configData: Payload from configuration packet sent from the groundstation. Each bit (starting at 31, downto 10) represents a flag either being disabled (0) or enabled (1)
-It returns the size of the packet that will be sent, so the payload is correctly determined
+ SensorRTFlags_t * flags: This contains a pointer to the flags struct. This struct is held within the quad's memory and is used to determine which information within the quad's sensors
+ will be sent back during each control loop. Due to the limited bandwidth capacity of the UART, it is undesirable to have a large amount of these flags enabled
+ when sending data.
+ Returns:
+ int size: Total size of payload assuming all data enabled by flags are transmitted.
*/
int process_configuration_packet(u32 configData, SensorRTFlags_t * flags)
{
@@ -77,222 +76,202 @@ int process_configuration_packet(u32 configData, SensorRTFlags_t * flags)
return size;
}
+/*
+ This method populates a payload full of sensor data and transmits it to the groundstation (for real-time data logging feature)
+
+ Params:
+ CommDriver *comm: This contains a pointer to the communication medium currently being used to communicate with the groundstation. In its current state, this will be
+ the UART capabilities located on the quad.
+
+ raw_sensor_t * data: This contains a pointer to the struct containing all of the current sensor data that has been collected by the various peripherals on the quad. This
+ will be used to populate the majority of the information within the payload packet.
+
+ SensorRTFlags_t * flags: This contains a pointer to the flags struct. This struct is held within the quad's memory and is used to determine which information within the sensors
+ will be sent back during each control loop. Due to the limited bandwidth capacity of the UART, it is undesirable to have a large amount of these flags
+ enabled when sending data. The exact contents of the flags struct are detailed in the process_configuration_packet method as well as the struct definition
+ within this file's header.
+
+ Returns:
+ bytes_sent: Total number of bytes that were transferred via the communication channel (UART). This number can be used to determine the succesful transfer of data.
+*/
int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t * flags)
{
- char * payload = malloc(sizeof(u32) * (flags -> flag_count));
+ //include 4 bytes to carry flags info
+ u32 * payload = malloc(sizeof(u32) * (flags -> flag_count) + 4);
int currentPosition = 0;
+ u32 flag_info = 0x00000000;
/*
- Since it's calloced (all zeros), a simple & operation should set this properly
+ Since payload is calloced (all zeros), a simple | operation should set this properly
*/
- if(flags -> lidarflags -> quadHeight){
-
- //(*payload) |= ((u32)(data -> lidar.distance_m) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> lidar.distance_m) / 8;
+ if(flags -> lidarflags -> quadHeight)
+ {
payload[currentPosition] = (u32)(data -> lidar.distance_m);
currentPosition++;
+ //populate correct bit within flag_info. Due to the fact that enabled flags are stored only on the quad's memory, this information will need to be sent to the groundstation with every
+ //packet to ensure the correct formatting of data before being graphed.
+ flag_info |= QUAD_HEIGHT_FLAG;
}
-
+ //64-bit data must be sent in two concurrent 32 bit data blocks within the payload. The MSB's of the data are stored first, then the LSB's.
if(flags -> optflowflags -> x_flow)
{
- //(*payload) |= ((u64)(data -> optical_flow.flow_x_rad) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> optical_flow.flow_x_rad) / 8;
-
payload[currentPosition] = ((u64)(data -> optical_flow.flow_x_rad)) >> 32; //MSB
currentPosition++;
payload[currentPosition] = ((u64)(data -> optical_flow.flow_x_rad)) & 0x00000000FFFFFFFF; //LSB
currentPosition++;
+ flag_info |= X_FLOW_FLAG;
}
if(flags -> optflowflags -> y_flow)
{
- //(*payload) |= ((u64)(data -> optical_flow.flow_y_rad) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> optical_flow.flow_y_rad) / 8;
-
payload[currentPosition] = ((u64)(data -> optical_flow.flow_y_rad)) >> 32; //MSB
currentPosition++;
payload[currentPosition] = ((u64)(data -> optical_flow.flow_y_rad)) & 0x00000000FFFFFFFF; //LSB
currentPosition++;
+ flag_info |= Y_FLOW_FLAG;
}
if(flags -> optflowflags -> x_filter)
{
- //(*payload) |= ((u64)(data -> optical_flow.xVelFilt) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> optical_flow.xVelFilt) / 8;
-
payload[currentPosition] = ((u64)(data -> optical_flow.xVelFilt)) >> 32; //MSB
currentPosition++;
payload[currentPosition] = ((u64)(data -> optical_flow.xVelFilt)) & 0x00000000FFFFFFFF; //LSB
currentPosition++;
+ flag_info |= X_FILTER_FLAG;
}
if(flags -> optflowflags -> y_filter)
{
- //(*payload) |= ((u64)(data -> optical_flow.yVelFilt) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> optical_flow.yVelFilt) / 8;
-
payload[currentPosition] = ((u64)(data -> optical_flow.yVelFilt)) >> 32; //MSB
currentPosition++;
payload[currentPosition] = ((u64)(data -> optical_flow.yVelFilt)) & 0x00000000FFFFFFFF; //LSB
currentPosition++;
+ flag_info |= Y_FILTER_FLAG;
}
if(flags -> optflowflags -> x_velocity)
{
- //(*payload) |= ((u64)(data -> optical_flow.xVel) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> optical_flow.xVel) / 8;
-
payload[currentPosition] = ((u64)(data -> optical_flow.xVel)) >> 32; //MSB
currentPosition++;
payload[currentPosition] = ((u64)(data -> optical_flow.xVel)) & 0x00000000FFFFFFFF; //LSB
currentPosition++;
+ flag_info |= X_VELOCITY_FLAG;
}
if(flags -> optflowflags -> y_velocity)
{
- //(*payload) |= ((u64)(data -> optical_flow.yVel) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> optical_flow.xVel) / 8;
-
payload[currentPosition] = ((u64)(data -> optical_flow.yVel)) >> 32; //MSB
currentPosition++;
payload[currentPosition] = ((u64)(data -> optical_flow.yVel)) & 0x00000000FFFFFFFF; //LSB
currentPosition++;
+ flag_info |= Y_VELOCITY_FLAG;
}
if(flags -> imuflags -> gyro_x)
{
- //(*payload) |= ((u32)(data -> gam.gyro_xVel_p) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> gam.gyro_xVel_p) / 8;
-
payload[currentPosition] = (u32)(data -> gam.gyro_xVel_p);
- currentPosition++;
+ currentPosition++;
+ flag_info |= X_GYRO_FLAG;
}
if(flags -> imuflags -> gyro_y)
{
- //(*payload) |= ((u32)(data -> gam.gyro_yVel_q) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> gam.gyro_yVel_q) / 8;
-
payload[currentPosition] = (u32)(data -> gam.gyro_yVel_q);
currentPosition++;
+ flag_info |= Y_GYRO_FLAG;
}
if(flags -> imuflags -> gyro_z)
{
- //(*payload) |= ((u32)(data -> gam.gyro_zVel_r) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> gam.gyro_zVel_r) / 8;
-
payload[currentPosition] = (u32)(data -> gam.gyro_zVel_r);
- currentPosition++;
+ currentPosition++;
+ flag_info |= Z_GYRO_FLAG;
}
if(flags -> imuflags -> acc_x)
{
- //(*payload) |= ((u32)(data -> gam.accel_x) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data->gam.accel_x) / 8;
-
payload[currentPosition] = (u32)(data -> gam.accel_x);
- currentPosition++;
+ currentPosition++;
+ flag_info |= X_ACCEL_FLAG;
}
if(flags -> imuflags -> acc_y)
{
- //(*payload) |= ((u32)(data -> gam.accel_y) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> gam.accel_y) / 8;
-
payload[currentPosition] = (u32)(data -> gam.accel_y);
- currentPosition++;
+ currentPosition++;
+ flag_info |= Y_ACCEL_FLAG;
}
if(flags -> imuflags -> acc_z)
{
- //(*payload) |= ((u32)(data -> gam.accel_z) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> gam.accel_z) / 8;
-
payload[currentPosition] = (u32)(data -> gam.accel_z);
- currentPosition++;
+ currentPosition++;
+ flag_info |= Z_ACCEL_FLAG;
}
if(flags -> imuflags -> mag_x)
{
- //(*payload) |= ((u32)(data -> gam.mag_x) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> gam.mag_x) / 8;
-
payload[currentPosition] = (u32)(data -> gam.mag_x);
- currentPosition++;
+ currentPosition++;
+ flag_info |= X_MAG_FLAG;
}
if(flags -> imuflags -> mag_y)
{
- //(*payload) |= ((u32)(data -> gam.mag_y) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data->gam.mag_y) / 8;
-
payload[currentPosition] = (u32)(data -> gam.mag_y);
- currentPosition++;
+ currentPosition++;
+ flag_info |= Y_MAG_FLAG;
}
if(flags -> imuflags -> mag_z)
{
- //(*payload) |= ((u32)(data -> gam.mag_z) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> gam.mag_z) / 8;
-
payload[currentPosition] = (u32)(data -> gam.mag_z);
- currentPosition++;
+ currentPosition++;
+ flag_info |= Z_MAG_FLAG;
}
if(flags -> errorflags -> lidar)
{
- //(*payload) |= ((u32)(data -> lidar.error.errorCount) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> lidar.error.errorCount) / 8;
-
payload[currentPosition] = (u32)(data -> lidar.error.errorCount);
- currentPosition++;
+ currentPosition++;
+ flag_info |= LIDAR_ERR_FLAG;
}
if(flags -> errorflags -> consec_lidar)
{
- //(*payload) |= ((u32)(data -> lidar.error.consErrorCount) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> lidar.error.consErrorCount) / 8;
-
payload[currentPosition] = (u32)(data -> lidar.error.consErrorCount);
- currentPosition++;
+ currentPosition++;
+ flag_info |= LIDAR_CONSEC_ERR_FLAG;
}
if(flags -> errorflags -> optFlow)
{
- //(*payload) |= ((u32)(data -> optical_flow.error.errorCount) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> optical_flow.error.errorCount) / 8;
-
payload[currentPosition] = (u32)(data -> optical_flow.error.errorCount);
- currentPosition++;
+ currentPosition++;
+ flag_info |= OPTFL_ERR_FLAG;
}
if(flags -> errorflags -> consec_optFlow)
{
- //(*payload) |= ((u32)(data -> optical_flow.error.consErrorCount) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> optical_flow.error.consErrorCount) / 8;
-
payload[currentPosition] = (u32)(data -> optical_flow.error.consErrorCount);
- currentPosition++;
+ currentPosition++;
+ flag_info |= OPTFL_CONSEC_ERR_FLAG;
}
if(flags -> errorflags -> imu)
{
- //(*payload) |= ((u32)(data -> gam.error.errorCount) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> gam.error.errorCount) / 8;
-
payload[currentPosition] = (u32)(data -> gam.error.errorCount);
currentPosition++;
+ flag_info |= IMU_ERR_FLAG;
}
if(flags -> errorflags -> consec_imu)
{
- //(*payload) |= ((u32)(data -> gam.error.consErrorCount) << (currentBytePosition * 8));
- //currentBytePosition += sizeof(data -> gam.error.consErrorCount) / 8;
-
payload[currentPosition] = (u32)(data -> gam.error.consErrorCount);
- currentPosition++;
+ currentPosition++;
+ flag_info |= IMU_CONSEC_ERR_FLAG;
}
-
- int bytes_sent = send_data(comm->uart, SEND_RT_ID, 0, (u8*)payload, strlen(payload));
+ //package the last 4 bytes of info as binary representation of the enabled flags
+ payload[currentPosition] = flag_info;
+ int bytes_sent = send_data(comm->uart, SEND_RT_ID, 0, (u8*)payload, sizeof(payload));
free(payload);
return bytes_sent;
}
diff --git a/quad/src/quad_app/debug_rt.h b/quad/src/quad_app/debug_rt.h
index 2393c9f50..22afae72e 100644
--- a/quad/src/quad_app/debug_rt.h
+++ b/quad/src/quad_app/debug_rt.h
@@ -1,67 +1,42 @@
#include <stdio.h>
+#include "PID.h"
+#include "type_def.h"
+#include "communication.h"
+#include "computation_graph.h"
+#include "timer.h"
+
#define ON 1
#define OFF 0
#define ERROR -1
#define SEND_RT_ID 20
-typedef struct lidarFlags
-{
- char quadHeight;
-
-}lidarFlags_t;
-
-typedef struct IMUFlags
-{
- char gyro_x;
- char gyro_y;
- char gyro_z;
- char acc_x;
- char acc_y;
- char acc_z;
- char mag_x;
- char mag_y;
- char mag_z;
-
-}IMUFlags_t;
-
-typedef struct OptFlowFlags
-{
- char x_flow;
- char y_flow;
- char x_filter;
- char y_filter;
- char x_velocity;
- char y_velocity;
-
-}OptFlowFlags_t;
-
-typedef struct SensorErrorFlags
-{
- char consec_lidar;
- char consec_imu;
- char consec_optFlow;
- char lidar;
- char imu;
- char optFlow;
-
-}SensorErrorFlags_t;
-
-typedef struct SensorRTFlags
-{
- IMUFlags_t * imuflags;
- OptFlowFlags_t * optflowflags;
- lidarFlags_t * lidarflags;
- SensorErrorFlags_t * errorflags;
- int flag_count;
-
-}SensorRTFlags_t;
+#define QUAD_HEIGHT_FLAG 0x80000000
+#define X_FLOW_FLAG 0x40000000
+#define Y_FLOW_FLAG 0x20000000
+#define X_FILTER_FLAG 0x10000000
+#define Y_FILTER_FLAG 0x08000000
+#define X_VELOCITY_FLAG 0x04000000
+#define Y_VELOCITY_FLAG 0x02000000
+#define X_GYRO_FLAG 0x01000000
+#define Y_GYRO_FLAG 0x00800000
+#define Z_GYRO_FLAG 0x00400000
+#define X_ACCEL_FLAG 0x00200000
+#define Y_ACCEL_FLAG 0x00100000
+#define Z_ACCEL_FLAG 0x00080000
+#define X_MAG_FLAG 0x00040000
+#define Y_MAG_FLAG 0x00020000
+#define Z_MAG_FLAG 0x00010000
+#define LIDAR_ERR_FLAG 0x00008000
+#define LIDAR_CONSEC_ERR_FLAG 0x00004000
+#define OPTFL_ERR_FLAG 0x00002000
+#define OPTFL_CONSEC_ERR_FLAG 0x00001000
+#define IMU_ERR_FLAG 0x00000800
+#define IMU_CONSEC_ERR_FLAG 0x00000400
void initializeFlags( SensorRTFlags_t * flag_pointer);
-//int setDebugLevel(SensorRTFlags_t * flags, float flags);
-
void freeFlags(SensorRTFlags_t * flags);
int send_RT_data(struct CommDriver *comm, raw_sensor_t * data, SensorRTFlags_t * flags);
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index 9ee2c975d..6310f1c1f 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -186,30 +186,9 @@ int log_data(log_t* log_struct, parameter_t* ps)
}
/**
- * Print sensor info
+ * Print current sensor info to log file
*/
-void printLoggingRT(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors){
-#if 0
- if(level == debug_level.LEVEL_ONE)
- {
-
- }
-
- if(level == debug_level.LEVEL_ONE)
- {
-
- }
-
- if(level == debug_level.LEVEL_ONE)
- {
-
- }
-
- if(level == debug_level.LEVEL_ONE)
- {
-
- }
-#endif
+void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors, SensorRTFlags_t * flags){
if (arrayIndex == 0) {
// Don't send any logs if nothing was logged
return;
@@ -226,10 +205,10 @@ void printLoggingRT(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
int i;
// Comment header
- //safe_sprintf_cat(&buf, "# MicroCART On-board Quad Log\n# Sample size: %d\n", arrayIndex);
- //safe_sprintf_cat(&buf, "# IMU IIC failures: %d\n", raw_sensors->gam.error.consErrorCount);
- //safe_sprintf_cat(&buf, "# LiDAR IIC failures: %d\n", raw_sensors->lidar.error.consErrorCount);
- //safe_sprintf_cat(&buf, "# Optical Flow IIC failures: %d\n", raw_sensors->optical_flow.error.consErrorCount);
+ safe_sprintf_cat(&buf, "# MicroCART On-board Quad Log\n# Sample size: %d\n", arrayIndex);
+ safe_sprintf_cat(&buf, "# IMU IIC failures: %d\n", raw_sensors->gam.error.consErrorCount);
+ safe_sprintf_cat(&buf, "# LiDAR IIC failures: %d\n", raw_sensors->lidar.error.consErrorCount);
+ safe_sprintf_cat(&buf, "# Optical Flow IIC failures: %d\n", raw_sensors->optical_flow.error.consErrorCount);
// List Pid Constants
diff --git a/quad/src/quad_app/log_data.h b/quad/src/quad_app/log_data.h
index 76aabb600..f74e4cc69 100644
--- a/quad/src/quad_app/log_data.h
+++ b/quad/src/quad_app/log_data.h
@@ -49,7 +49,7 @@ void addParamToLog(log_t* log_struct, int controller_id, int param_id, char* uni
/**
* Prints the latest log entry
*/
-void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors);
+void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors, SensorRTFlags_t * flags);
/**
* Prints all the log information.
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index 18c73685d..4f62549cc 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -73,9 +73,6 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// Process the sensor data and put it into sensor_struct
sensor_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct), &(structs.sensor_struct));
-
-
- //printLoggingRT(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
if (!this_kill_condition) {
// Run the control algorithm
diff --git a/quad/src/quad_app/type_def.h b/quad/src/quad_app/type_def.h
index 4fee4d226..d8ad249f2 100644
--- a/quad/src/quad_app/type_def.h
+++ b/quad/src/quad_app/type_def.h
@@ -494,6 +494,64 @@ typedef struct modular_structs {
hardware_t hardware_struct;
} modular_structs_t;
+/* BEGIN FLAG STRUCTS CONTAINING ENABLED/DISABLED RT DATA TRANSFERS */
+typedef struct lidarFlags
+{
+ int quadHeight;
+
+}lidarFlags_t;
+
+typedef struct IMUFlags
+{
+ int gyro_x;
+ int gyro_y;
+ int gyro_z;
+ int acc_x;
+ int acc_y;
+ int acc_z;
+ int mag_x;
+ int mag_y;
+ int mag_z;
+
+}IMUFlags_t;
+
+typedef struct OptFlowFlags
+{
+ int x_flow;
+ int y_flow;
+ int x_filter;
+ int y_filter;
+ int x_velocity;
+ int y_velocity;
+
+}OptFlowFlags_t;
+
+typedef struct SensorErrorFlags
+{
+ int consec_lidar;
+ int consec_imu;
+ int consec_optFlow;
+ int lidar;
+ int imu;
+ int optFlow;
+
+}SensorErrorFlags_t;
+
+/*
+ This struct contains all of the above pre-defined flag structs. For use in RT data logging configuration
+*/
+typedef struct SensorRTFlags
+{
+ IMUFlags_t * imuflags;
+ OptFlowFlags_t * optflowflags;
+ lidarFlags_t * lidarflags;
+ SensorErrorFlags_t * errorflags;
+ int flag_count;
+
+}SensorRTFlags_t;
+
+/* END FLAG STRUCTS */
+
//////// END MAIN MODULAR STRUCTS
#endif /* TYPE_DEF_H_ */
--
GitLab
From ed9d8598da80d4b39096f4e0d2c06a0dfd4d5300 Mon Sep 17 00:00:00 2001
From: bertucci <bertucci@iastate.edu>
Date: Mon, 29 Apr 2019 12:15:32 -0500
Subject: [PATCH 21/24] Adding changes for RT data logging on quad side
---
groundStation/src/backend/backend.c | 2 -
quad/src/quad_app/log_data.c | 271 ++++++++++++++++++++++------
quad/src/quad_app/log_data.h | 6 +-
quad/src/quad_app/quad_app.c | 23 +--
4 files changed, 227 insertions(+), 75 deletions(-)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index c0043b256..d801e5ebb 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -1011,8 +1011,6 @@ static void quad_recv(int index) {
break;
case SEND_RT_ID:
quadlog_file = fopen("quad_log_data.txt", "w");
- //TODO Add formatting here to populate .txt file in a way QT will be able to read
- char * formatted_data = malloc(sizeof(data) + 1);
fwrite((char *) formatted_data, sizeof(char), m.data_len, quadlog_file);
fclose(quadlog_file);
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index 6310f1c1f..2f0e251d8 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -54,12 +54,6 @@ static char units_param_str[512] = {};
static struct str units_output = { .str = units_output_str, .size = 0, .capacity = sizeof(units_output_str)};
static struct str units_param = { .str = units_param_str, .size = 0, .capacity = sizeof(units_output_str)};
-static enum debug_level level;
-
-int set_debug_level(enum debug_level newlevel)
-{
- level = newlevel;
-}
/*
* Does an sprintf and concatenation. Used just like sprintf, but pass in a pointer to a struct str instead.
* Returns the number of bytes that would have been written (just like snprintf)
@@ -97,12 +91,13 @@ void addParamToLog(log_t* log_struct, int controller_id, int param_id, char* uni
}
}
-void initialize_logging(log_t* log_struct, parameter_t* ps) {
+void initialize_logging(log_t* log_struct, parameter_t* ps, SensorRTFlags_t * flags) {
char* rad = "rad";
char* rad_s = "rad/s";
char* pwm_val = "10ns_dutycycle";
char* m = "m";
char* m_s = "m/s";
+
addOutputToLog(log_struct, ps->alt_pid, PID_CORRECTION, pwm_val);
addOutputToLog(log_struct, ps->x_pos_pid, PID_CORRECTION, rad);
addOutputToLog(log_struct, ps->y_pos_pid, PID_CORRECTION, rad);
@@ -142,8 +137,46 @@ void initialize_logging(log_t* log_struct, parameter_t* ps) {
addParamToLog(log_struct, ps->flow_vel_y, CONST_VAL, m_s);
addParamToLog(log_struct, ps->flow_quality, CONST_VAL, "none");
- // TODO: Make this not stupid. Adding 6 for IMU and 1 for timestamp
- row_size = n_outputs + n_params + 9 + 1;
+ int num_outputs = 0;
+ if (flags->imuflags->acc_x)
+ {
+ num_outputs++;
+ }
+ if (flags->imuflags->acc_y)
+ {
+ num_outputs++;
+ }
+ if (flags->imuflags->acc_z)
+ {
+ num_outputs++;
+ }
+ if (flags->imuflags->gyro_x)
+ {
+ num_outputs++;
+ }
+ if (flags->imuflags->gyro_y)
+ {
+ num_outputs++;
+ }
+ if (flags->imuflags->gyro_z)
+ {
+ num_outputs++;
+ }
+ if (flags->imuflags->mag_x)
+ {
+ num_outputs++;
+ }
+ if (flags->imuflags->mag_y)
+ {
+ num_outputs++;
+ }
+ if (flags->imuflags->mag_z)
+ {
+ num_outputs++;
+ }
+ //Track number of outputs desired for log utilizing flags struct. Add 1 for timestamp as
+ //time stamp will always be required for any logging.
+ row_size = n_outputs + n_params + num_outputs + 1;
size_t needed_memory = sizeof(float) * row_size * LOG_STARTING_SIZE;
logArray = malloc(needed_memory);
if (!logArray) { // malloc failed
@@ -153,7 +186,7 @@ void initialize_logging(log_t* log_struct, parameter_t* ps) {
}
}
-int log_data(log_t* log_struct, parameter_t* ps)
+int log_data(log_t* log_struct, parameter_t* ps, SensorRTFlags_t * flags)
{
if(arrayIndex >= arraySize)
{
@@ -161,18 +194,45 @@ int log_data(log_t* log_struct, parameter_t* ps)
}
float* thisRow = &logArray[arrayIndex * row_size];
int offset = 0;
- thisRow[offset++] = log_struct->time_stamp;
- thisRow[offset++] = log_struct->gam.accel_x;
- thisRow[offset++] = log_struct->gam.accel_y;
- thisRow[offset++] = log_struct->gam.accel_z;
- thisRow[offset++] = log_struct->gam.gyro_xVel_p;
- thisRow[offset++] = log_struct->gam.gyro_yVel_q;
- thisRow[offset++] = log_struct->gam.gyro_zVel_r;
- thisRow[offset++] = log_struct->gam.mag_x;
- thisRow[offset++] = log_struct->gam.mag_y;
- thisRow[offset++] = log_struct->gam.mag_z;
-
+ //TODO make this not stupid
+ thisRow[offset++] = log_struct->time_stamp;
+ if (flags->imuflags->acc_x)
+ {
+ thisRow[offset++] = log_struct->gam.accel_x;
+ }
+ if (flags->imuflags->acc_y)
+ {
+ thisRow[offset++] = log_struct->gam.accel_y;
+ }
+ if (flags->imuflags->acc_z)
+ {
+ thisRow[offset++] = log_struct->gam.accel_z;
+ }
+ if (flags->imuflags->gyro_x)
+ {
+ thisRow[offset++] = log_struct->gam.gyro_xVel_p;
+ }
+ if (flags->imuflags->gyro_y)
+ {
+ thisRow[offset++] = log_struct->gam.gyro_yVel_q;
+ }
+ if (flags->imuflags->gyro_z)
+ {
+ thisRow[offset++] = log_struct->gam.gyro_zVel_r;
+ }
+ if (flags->imuflags->mag_x)
+ {
+ thisRow[offset++] = log_struct->gam.mag_x;
+ }
+ if (flags->imuflags->mag_y)
+ {
+ thisRow[offset++] = log_struct->gam.mag_y;
+ }
+ if (flags->imuflags->mag_z)
+ {
+ thisRow[offset++] = log_struct->gam.mag_z;
+ }
int i;
for (i = 0; i < n_params; i++) {
thisRow[offset++] = graph_get_param_val(ps->graph, log_params[i].block_id, log_params[i].sub_id);
@@ -180,19 +240,20 @@ int log_data(log_t* log_struct, parameter_t* ps)
for (i = 0; i < n_outputs; i++) {
thisRow[offset++] = graph_get_output(ps->graph, log_outputs[i].block_id, log_outputs[i].sub_id);
}
-
arrayIndex++;
return 0;
}
-/**
- * Print current sensor info to log file
- */
-void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors, SensorRTFlags_t * flags){
+void RTprintheader(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors, SensorRTFlags_t * flags) {
if (arrayIndex == 0) {
// Don't send any logs if nothing was logged
return;
}
+ else if (flags->flag_count == 0)
+ {
+ //Don't send anything if flags has not been configured or if no data has been requested to be sent.
+ return;
+ }
char buf_arr[2560] = {};
struct str buf = {.str = buf_arr, .size = 0, .capacity = sizeof(buf_arr)};
@@ -205,40 +266,75 @@ void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
int i;
// Comment header
- safe_sprintf_cat(&buf, "# MicroCART On-board Quad Log\n# Sample size: %d\n", arrayIndex);
+ safe_sprintf_cat(&buf, "# MicroCART On-board Quad Log\n# Sample number: %d\n", arrayIndex);
safe_sprintf_cat(&buf, "# IMU IIC failures: %d\n", raw_sensors->gam.error.consErrorCount);
safe_sprintf_cat(&buf, "# LiDAR IIC failures: %d\n", raw_sensors->lidar.error.consErrorCount);
safe_sprintf_cat(&buf, "# Optical Flow IIC failures: %d\n", raw_sensors->optical_flow.error.consErrorCount);
// List Pid Constants
-
- /*struct graph_node* node = &ps->graph->nodes[n_nodes];
- if (node->type->type_id == BLOCK_PID) {
- double kp, ki, kd, alpha;
- kp = graph_get_param_val(ps->graph, n_nodes, 0);
- ki = graph_get_param_val(ps->graph, n_nodes, 1);
- kd = graph_get_param_val(ps->graph, n_nodes, 2);
- alpha = graph_get_param_val(ps->graph, n_nodes, 3);
- safe_sprintf_cat(&buf, "# %s :\tKp = %lf Ki = %lf Kd = %lf Alpha = %lf\n", node->name, kp, ki, kd, alpha);
-
+ for (i = 0; i < ps->graph->n_nodes; ++i) {
+ struct graph_node* node = &ps->graph->nodes[i];
+ if (node->type->type_id == BLOCK_PID) {
+ double kp, ki, kd, alpha;
+ kp = graph_get_param_val(ps->graph, i, 0);
+ ki = graph_get_param_val(ps->graph, i, 1);
+ kd = graph_get_param_val(ps->graph, i, 2);
+ alpha = graph_get_param_val(ps->graph, i, 3);
+ safe_sprintf_cat(&buf, "# %s :\tKp = %lf Ki = %lf Kd = %lf Alpha = %lf\n", node->name, kp, ki, kd, alpha);
+ }
}
- */
- // Header names for the pre-defined values
- safe_sprintf_cat(&buf, "%%Time\taccel_x\taccel_y\taccel_z\tgyro_x\tgyro_y\tgyro_z\tmag_x\tmag_y\tmag_z");
+ // TODO make this not stupid
+ safe_sprintf_cat(&buf, "%%Time");
+ if (flags->imuflags->acc_x)
+ {
+ safe_sprintf_cat(&buf, "\taccel_x");
+ }
+ if (flags->imuflags->acc_y)
+ {
+ safe_sprintf_cat(&buf, "\taccel_y");
+ }
+ if (flags->imuflags->acc_z)
+ {
+ safe_sprintf_cat(&buf, "\taccel_z");
+ }
+ if (flags->imuflags->gyro_x)
+ {
+ safe_sprintf_cat(&buf, "\tgyro_x");
+ }
+ if (flags->imuflags->gyro_y)
+ {
+ safe_sprintf_cat(&buf, "\tgyro_y");
+ }
+ if (flags->imuflags->gyro_z)
+ {
+ safe_sprintf_cat(&buf, "\tgyro_z");
+ }
+ if (flags->imuflags->mag_x)
+ {
+ safe_sprintf_cat(&buf, "\tmag_x");
+ }
+ if (flags->imuflags->mag_y)
+ {
+ safe_sprintf_cat(&buf, "\tmag_y_x");
+ }
+ if (flags->imuflags->mag_z)
+ {
+ safe_sprintf_cat(&buf, "\tmag_z");
+ }
// Print all the recorded block parameters
-
- const char* block_name = ps->graph->nodes[log_params[n_params].block_id].name;
- const char* output_name = ps->graph->nodes[log_params[n_params].block_id].type->param_names[log_params[n_params].sub_id];
- safe_sprintf_cat(&buf, "\t%s_%s", block_name, output_name);
-
+ for (i = 0; i < n_params; i++) {
+ const char* block_name = ps->graph->nodes[log_params[i].block_id].name;
+ const char* output_name = ps->graph->nodes[log_params[i].block_id].type->param_names[log_params[i].sub_id];
+ safe_sprintf_cat(&buf, "\t%s_%s", block_name, output_name);
+ }
// Print all the recorded block outputs
-
- block_name = ps->graph->nodes[log_outputs[n_outputs].block_id].name;
- const char* param_name = ps->graph->nodes[log_outputs[n_outputs].block_id].type->output_names[log_outputs[n_outputs].sub_id];
- safe_sprintf_cat(&buf, "\t%s_%s", block_name, param_name);
-
+ for (i = 0; i < n_outputs; i++) {
+ const char* block_name = ps->graph->nodes[log_outputs[i].block_id].name;
+ const char* param_name = ps->graph->nodes[log_outputs[i].block_id].type->output_names[log_outputs[i].sub_id];
+ safe_sprintf_cat(&buf, "\t%s_%s", block_name, param_name);
+ }
safe_sprintf_cat(&buf, "\n");
// Send header names
@@ -246,28 +342,88 @@ void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
// Send units header
buf.size = 0;
- safe_sprintf_cat(&buf, "&s\tG\tG\tG\trad/s\trad/s\trad/s\tuT\tuT\tuT"); // The pre-defined ones
+
+ safe_sprintf_cat(&buf, "&s"); // The pre-defined ones
+ if (flags->imuflags->acc_x)
+ {
+ safe_sprintf_cat(&buf, "\tG");
+ }
+ if (flags->imuflags->acc_y)
+ {
+ safe_sprintf_cat(&buf, "\tG");
+ }
+ if (flags->imuflags->acc_z)
+ {
+ safe_sprintf_cat(&buf, "\tG");
+ }
+ if (flags->imuflags->gyro_x)
+ {
+ safe_sprintf_cat(&buf, "\trad/s");
+ }
+ if (flags->imuflags->gyro_y)
+ {
+ safe_sprintf_cat(&buf, "\trad/s");
+ }
+ if (flags->imuflags->gyro_z)
+ {
+ safe_sprintf_cat(&buf, "\trad/s");
+ }
+ if (flags->imuflags->mag_x)
+ {
+ safe_sprintf_cat(&buf, "\tuT");
+ }
+ if (flags->imuflags->mag_y)
+ {
+ safe_sprintf_cat(&buf, "\tuT");
+ }
+ if (flags->imuflags->mag_z)
+ {
+ safe_sprintf_cat(&buf, "\tuT");
+ }
+
safe_sprintf_cat(&buf, units_output.str);
safe_sprintf_cat(&buf, units_param.str);
safe_sprintf_cat(&buf, "\n");
send_data(comm->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
+}
- /*************************/
- /* print & send log data */
-
- format_log(arrayIndex, log_struct, &buf);
+/**
+ * Print current sensor info to log file. This data is held at the current ArrayIndex entry of the log_struct.
+ */
+void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors, SensorRTFlags_t * flags){
+ if (arrayIndex == 0)
+ {
+ return;
+ }
+ else if (flags->flag_count == 0)
+ {
+ //Don't send anything if flags has not been configured or if no data has been requested to be sent.
+ return;
+ }
+ char buf_arr[2560] = {};
+ struct str buf = {.str = buf_arr, .size = 0, .capacity = sizeof(buf_arr)};
+ //Send only the most previous log data.
+ format_log(arrayIndex - 1, log_struct, &buf);
send_data(comm->uart, LOG_ID, 0, (u8*)buf.str, buf.size);
// This is a stupid hack because if the axi timer is not reset in awhile, it always returns 0, and the timer_end_loop() call hangs forever after a long log
// Not 100% certain this works
timer_axi_reset();
-
+}
+void RTprintend();
+{
+ if (arrayIndex == 0)
+ {
+ return;
+ }
+ char buf_arr[2560] = {};
+ struct str buf = {.str = buf_arr, .size = 0, .capacity = sizeof(buf_arr)};
// Empty message of type LOG_END to indicate end of log
send_data(comm->uart, LOG_END_ID, 0, (u8*)buf.str, 0);
}
/**
- * Prints all the log information.
+ * Prints all the log information. Currently replaced by the RTprintglogging method.
*
* TODO: This should probably be transmitting in binary instead of ascii
*/
@@ -304,7 +460,6 @@ void printLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, r
kd = graph_get_param_val(ps->graph, i, 2);
alpha = graph_get_param_val(ps->graph, i, 3);
safe_sprintf_cat(&buf, "# %s :\tKp = %lf Ki = %lf Kd = %lf Alpha = %lf\n", node->name, kp, ki, kd, alpha);
-
}
}
diff --git a/quad/src/quad_app/log_data.h b/quad/src/quad_app/log_data.h
index f74e4cc69..e7f29061c 100644
--- a/quad/src/quad_app/log_data.h
+++ b/quad/src/quad_app/log_data.h
@@ -13,9 +13,7 @@
// Maximum number of block outputs you can record, and maximum number of block parameters to record
#define MAX_LOG_NUM 50
-enum debug_level{LEVEL_ONE, LEVEL_TWO, LEVEL_THREE, LEVEL_FOUR};
-
-void initialize_logging(log_t* log_struct, parameter_t* ps);
+void initialize_logging(log_t* log_struct, parameter_t* ps, SensorRTFlags_t * flags);
/**
* Adds the given block output to the data to be logged
@@ -39,7 +37,7 @@ void addParamToLog(log_t* log_struct, int controller_id, int param_id, char* uni
* error message
*
*/
- int log_data(log_t* log_struct, parameter_t* ps);
+ int log_data(log_t* log_struct, parameter_t* ps, SensorRTFlags_t * flags);
/**
* Fills up an xbox hueg amount of memory with log data
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index 4f62549cc..636c683a4 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -20,13 +20,14 @@
int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
{
+ u8 init_cond = 0x0;
// Structures to be used throughout
modular_structs_t structs = { };
- //flags that indicate which rt data to send
- SensorRTFlags_t flags;
+ //pointer to flags struct that indicate which rt data to send
+ SensorRTFlags_t * flags;
- // initialize internal flag data for RT data transfer
+ // initialize internal flag data for RT data transfer
initializeFlags(&flags);
// Wire up hardware
@@ -47,7 +48,6 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
int last_kill_condition = kill_condition(&(structs.user_input_struct));
-
// Main control loop
while (1)
{
@@ -65,10 +65,6 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// Get data from the sensors and put it into raw_sensor_struct
get_sensors(&(structs.hardware_struct), &(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct));
-
- //Send the sensor data in RT (TODO WILL NEED TO BE EDITED FROM CURRENT CONDITION DUE TO TINA)
- if (flags.flag_count != 0)
- send_RT_data(&(structs.hardware_struct.comm), &(structs.raw_sensor_struct), &flags);
// Process the sensor data and put it into sensor_struct
sensor_processing(&(structs.log_struct), &(structs.user_input_struct), &(structs.raw_sensor_struct), &(structs.sensor_struct));
@@ -106,8 +102,14 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
if (!this_kill_condition) {
// Log the data collected in this loop
+ if (init_cond == 0x0)
+ {
+ init_cond = 0x1;
+ initialize_logging(&(structs.log_struct), &(structs.parameter_struct), &flags);
+ RTprintheader(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct, &flags);
+ }
log_data(&(structs.log_struct), &(structs.parameter_struct));
-
+ RTprintLogging(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct, &flags);
if(structs.user_defined_struct.flight_mode == AUTO_FLIGHT_MODE)
{
static int loop_counter = 0;
@@ -132,8 +134,7 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
}
if (this_kill_condition == 1 && last_kill_condition == 0) {
- // Just disabled
- printLogging(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
+ RTprintend();
resetLogging();
MIO7_led_off();
}
--
GitLab
From 1c0ddf7042b777925e5246c15724ff0755a17465 Mon Sep 17 00:00:00 2001
From: bertucci <bertucci@iastate.edu>
Date: Mon, 29 Apr 2019 16:33:29 -0500
Subject: [PATCH 22/24] Adding quad/callbacks.c and related code for decoding
groundstation flag_struct update messages
---
quad/src/commands/commands.c | 11 ++++++++
quad/src/quad_app/callbacks.c | 32 ++++++++++++++++++++++-
quad/src/quad_app/debug_rt.c | 22 +---------------
quad/src/quad_app/initialize_components.c | 1 +
quad/src/quad_app/log_data.h | 12 ++++++++-
quad/src/quad_app/quad_app.c | 19 ++++++--------
quad/src/quad_app/type_def.h | 1 +
quad/src/quad_app/util.h | 1 +
8 files changed, 65 insertions(+), 34 deletions(-)
diff --git a/quad/src/commands/commands.c b/quad/src/commands/commands.c
index 9942b62c9..6f99dd9f6 100644
--- a/quad/src/commands/commands.c
+++ b/quad/src/commands/commands.c
@@ -76,6 +76,8 @@ command_cb cb_addnode __attribute__((weak, alias("cb_default")));
command_cb cb_respaddnode __attribute__((weak, alias("cb_default")));
command_cb cb_overrideoutput __attribute__((weak, alias("cb_default")));
+command_cb cb_sendrtdata __attribute__((weak, alias("cb_default")));
+
/*
* Command structure.
@@ -269,6 +271,15 @@ struct MessageType MessageTypes[MAX_TYPE_ID] =
stringType,
// Function pointer
&cb_overrideoutput
+ },
+ // SENDRTDATA
+ {
+ // Command text
+ "sendrtdata",
+ // Type of the command data
+ stringType,
+ // Function pointer
+ &cb_sendrtdata
}
diff --git a/quad/src/quad_app/callbacks.c b/quad/src/quad_app/callbacks.c
index 13d3a72e1..005485bdb 100644
--- a/quad/src/quad_app/callbacks.c
+++ b/quad/src/quad_app/callbacks.c
@@ -411,6 +411,36 @@ int cb_addnode(struct modular_structs *structs, struct metadata *meta, unsigned
}
int cb_sendrtdata(struct modular_structs *structs, struct metadata *meta, unsigned char *data, unsigned short length) {
-
+ //Check to ensure sufficient length for rt_data config packet
+ if (length < 4)
+ return -1;
+ int size = 0;
+ structs->flags.lidarflags.quadHeight = read_bit(configData, 31); size += read_bit(configData, 31);
+ /*BEGIN DOUBLE-TYPE FLAGS. If these are enabled, actual size of data sent is 2*read_bit due to
+ * length of data. This needs to be compensated for in methods where total length of payload packet
+ * needs to be known ahead of time. */
+ structs->flags.optflowflags.x_flow = read_bit(configData, 30); size += read_bit(configData, 30);
+ structs->flags.optflowflags.y_flow = read_bit(configData, 29); size += read_bit(configData, 29);
+ structs->flags.optflowflags.x_filter = read_bit(configData, 28); size += read_bit(configData, 28);
+ structs->flags.optflowflags.y_filter = read_bit(configData, 27); size += read_bit(configData, 27);
+ structs->flags.optflowflags.x_velocity = read_bit(configData, 26); size += read_bit(configData, 26);
+ structs->flags.optflowflags.y_velocity = read_bit(configData, 25); size += read_bit(configData, 25);
+ //END DOUBLE TYPE FLAGS.
+ structs->flags.imuflags.gyro_x = read_bit(configData, 24); size += read_bit(configData, 24);
+ structs->flags.imuflags.gyro_y = read_bit(configData, 23); size += read_bit(configData, 23);
+ structs->flags.imuflags.gyro_z = read_bit(configData, 22); size += read_bit(configData, 22);
+ structs->flags.imuflags.acc_x = read_bit(configData, 21); size += read_bit(configData, 21);
+ structs->flags.imuflags.acc_y = read_bit(configData, 20); size += read_bit(configData, 20);
+ structs->flags.imuflags.acc_z = read_bit(configData, 19); size += read_bit(configData, 19);
+ structs->flags.imuflags.mag_x = read_bit(configData, 18); size += read_bit(configData, 18);
+ structs->flags.imuflags.mag_y = read_bit(configData, 17); size += read_bit(configData, 17);
+ structs->flags.imuflags.mag_z = read_bit(configData, 16); size += read_bit(configData, 16);
+ structs->flags.errorflags.lidar = read_bit(configData, 15); size += read_bit(configData, 15);
+ structs->flags.errorflags.consec_lidar = read_bit(configData, 14); size += read_bit(configData, 14);
+ structs->flags.errorflags.optFlow = read_bit(configData, 13); size += read_bit(configData, 13);
+ structs->flags.errorflags.consec_optFlow = read_bit(configData, 12); size += read_bit(configData, 12);
+ structs->flags.errorflags.imu = read_bit(configData, 11); size += read_bit(configData, 11);
+ structs->flags.errorflags.consec_imu = read_bit(configData, 10); size += read_bit(configData, 10);
+ structs->flags.flag_count = size;
return 0;
}
diff --git a/quad/src/quad_app/debug_rt.c b/quad/src/quad_app/debug_rt.c
index 4ccee0f6d..147a65e99 100644
--- a/quad/src/quad_app/debug_rt.c
+++ b/quad/src/quad_app/debug_rt.c
@@ -5,27 +5,7 @@
#include "debug_rt.h"
-/*
- Initially sets it so that all debug values are zero
-*/
-void initializeFlags(SensorRTFlags_t * flags) {
- flags = calloc(1, sizeof(SensorRTFlags_t));
- flags -> imuflags = calloc(1, sizeof(IMUFlags_t));
- flags -> optflowflags = calloc(1, sizeof(OptFlowFlags_t));
- flags -> lidarflags = calloc(1, sizeof(lidarFlags_t));
- flags -> errorflags = calloc(1, sizeof(SensorErrorFlags_t));
- flags -> flag_count = 0;
-}
-
-void freeFlags(SensorRTFlags_t * flags){
- free(flags -> imuflags);
- free(flags -> optflowflags);
- free(flags -> lidarflags);
- free(flags -> errorflags);
- free(flags -> flag_count);
- free(flags);
-}
/*
Helper to return single bit of u32 data. This returns the "position"'th bit of the given u32,
@@ -45,7 +25,7 @@ u32 read_bit(u32 data, int position){
will be sent back during each control loop. Due to the limited bandwidth capacity of the UART, it is undesirable to have a large amount of these flags enabled
when sending data.
Returns:
- int size: Total size of payload assuming all data enabled by flags are transmitted.
+ int size: Total number of data types desired to be displayed via flight data tool.
*/
int process_configuration_packet(u32 configData, SensorRTFlags_t * flags)
{
diff --git a/quad/src/quad_app/initialize_components.c b/quad/src/quad_app/initialize_components.c
index edccbbbf8..232125ac3 100644
--- a/quad/src/quad_app/initialize_components.c
+++ b/quad/src/quad_app/initialize_components.c
@@ -105,6 +105,7 @@ int init_structs(modular_structs_t *structs) {
}
sensor_processing_init(&structs->sensor_struct);
+ initializeFlags(&structs->flags);
return 0;
}
diff --git a/quad/src/quad_app/log_data.h b/quad/src/quad_app/log_data.h
index e7f29061c..c4cfd903e 100644
--- a/quad/src/quad_app/log_data.h
+++ b/quad/src/quad_app/log_data.h
@@ -45,9 +45,19 @@ void addParamToLog(log_t* log_struct, int controller_id, int param_id, char* uni
void updateLog(log_t log_struct);
/**
- * Prints the latest log entry
+ * Prints the latest log entry. Used for Real-Time Data Transfer
*/
void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors, SensorRTFlags_t * flags);
+/**
+ * Prints the beginning header for a flight data file. Used for Real-Time Data Transfer
+ * */
+void RTprintheader(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors, SensorRTFlags_t * flags)
+
+/**
+ * Sends the required ending message to close a log file following the end of a flight. Used for
+ * Real-Time Data Transfer
+ * */
+void RTprintend()
/**
* Prints all the log information.
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index 636c683a4..d9174003a 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -24,12 +24,6 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
// Structures to be used throughout
modular_structs_t structs = { };
- //pointer to flags struct that indicate which rt data to send
- SensorRTFlags_t * flags;
-
- // initialize internal flag data for RT data transfer
- initializeFlags(&flags);
-
// Wire up hardware
setup_hardware(&structs.hardware_struct);
@@ -105,11 +99,11 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
if (init_cond == 0x0)
{
init_cond = 0x1;
- initialize_logging(&(structs.log_struct), &(structs.parameter_struct), &flags);
- RTprintheader(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct, &flags);
+ initialize_logging(&(structs.log_struct), &(structs.parameter_struct), &(structs.flags_struct));
+ RTprintheader(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &(structs.raw_sensor_struct), &(structs.flags_struct));
}
- log_data(&(structs.log_struct), &(structs.parameter_struct));
- RTprintLogging(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct, &flags);
+ log_data(&(structs.log_struct), &(structs.parameter_struct), &(structs.flags_struct));
+ RTprintLogging(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct, &(structs.flags_struct));
if(structs.user_defined_struct.flight_mode == AUTO_FLIGHT_MODE)
{
static int loop_counter = 0;
@@ -148,7 +142,10 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
kill_motors(&(structs.hardware_struct.motors));
char err_msg[] = "More than 10 IMU errors";
send_data(structs.hardware_struct.comm.uart, DEBUG_ID, 0, (u8*)err_msg, sizeof(err_msg));
- printLogging(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
+ //Send end of log message. Uncomment printLogging below for post-flight log.
+ RTprintend();
+ resetLogging();
+ //printLogging(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
break;
}
}
diff --git a/quad/src/quad_app/type_def.h b/quad/src/quad_app/type_def.h
index d8ad249f2..8eb2565d3 100644
--- a/quad/src/quad_app/type_def.h
+++ b/quad/src/quad_app/type_def.h
@@ -492,6 +492,7 @@ typedef struct modular_structs {
raw_actuator_t raw_actuator_struct;
actuator_command_t actuator_command_struct;
hardware_t hardware_struct;
+ SensorRTFlags_t flags_struct;
} modular_structs_t;
/* BEGIN FLAG STRUCTS CONTAINING ENABLED/DISABLED RT DATA TRANSFERS */
diff --git a/quad/src/quad_app/util.h b/quad/src/quad_app/util.h
index d67542829..f3e874014 100644
--- a/quad/src/quad_app/util.h
+++ b/quad/src/quad_app/util.h
@@ -24,5 +24,6 @@ int16_t build_short(u8* buff);
void pack_short(int16_t val, u8* buff);
void pack_float(float val, u8* buff);
+u32 read_bit(u32 data, int position);
#endif //_UTIL_H
--
GitLab
From 316ebf0461459ccb07dece65ffaea6fb9ecc1454 Mon Sep 17 00:00:00 2001
From: bertucci <bertucci@iastate.edu>
Date: Mon, 29 Apr 2019 16:57:37 -0500
Subject: [PATCH 23/24] The work continues
---
quad/src/quad_app/log_data.c | 24 +++++++++++++++++++++++-
quad/src/quad_app/util.c | 8 ++++++++
2 files changed, 31 insertions(+), 1 deletion(-)
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index 2f0e251d8..96a0db977 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -410,7 +410,7 @@ void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
timer_axi_reset();
}
-void RTprintend();
+void RTprintend()
{
if (arrayIndex == 0)
{
@@ -524,3 +524,25 @@ void format_log(int idx, log_t* log_struct, struct str* buf) {
}
safe_sprintf_cat(buf, "\n");
}
+
+/*
+ Initially sets it so that all debug values are zero
+*/
+void initializeFlags(SensorRTFlags_t * flags) {
+
+ flags = calloc(1, sizeof(SensorRTFlags_t));
+ flags -> imuflags = calloc(1, sizeof(IMUFlags_t));
+ flags -> optflowflags = calloc(1, sizeof(OptFlowFlags_t));
+ flags -> lidarflags = calloc(1, sizeof(lidarFlags_t));
+ flags -> errorflags = calloc(1, sizeof(SensorErrorFlags_t));
+ flags -> flag_count = 0;
+}
+
+void freeFlags(SensorRTFlags_t * flags){
+ free(flags -> imuflags);
+ free(flags -> optflowflags);
+ free(flags -> lidarflags);
+ free(flags -> errorflags);
+ free(flags -> flag_count);
+ free(flags);
+}
diff --git a/quad/src/quad_app/util.c b/quad/src/quad_app/util.c
index 698d453c7..70fc13f33 100644
--- a/quad/src/quad_app/util.c
+++ b/quad/src/quad_app/util.c
@@ -121,3 +121,11 @@ void pack_short(int16_t val, u8* buff) {
void pack_float(float val, u8* buff) {
memcpy(buff, &val, sizeof(val));
}
+
+/*
+ Helper to return single bit of u32 data. This returns the "position"'th bit of the given u32,
+ assuming it is Zero indexed.
+*/
+u32 read_bit(u32 data, int position) {
+ return (data >> position) & 1;
+}
--
GitLab
From 25597f01a7633685e6a396f4e26c5a6e1b0d44b8 Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Mon, 29 Apr 2019 18:07:35 -0500
Subject: [PATCH 24/24] The work continues 2, electric boogaloo
---
groundStation/src/backend/backend.c | 4 +-
quad/src/quad_app/callbacks.c | 47 ++++++++++++-----------
quad/src/quad_app/initialize_components.c | 6 +--
quad/src/quad_app/log_data.c | 2 +-
quad/src/quad_app/log_data.h | 4 +-
quad/src/quad_app/quad_app.c | 10 ++---
quad/src/quad_app/type_def.h | 37 +++++++++---------
7 files changed, 56 insertions(+), 54 deletions(-)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index d801e5ebb..295b85442 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -1012,9 +1012,9 @@ static void quad_recv(int index) {
case SEND_RT_ID:
quadlog_file = fopen("quad_log_data.txt", "w");
- fwrite((char *) formatted_data, sizeof(char), m.data_len, quadlog_file);
+ //fwrite((char *) formatted_data, sizeof(char), m.data_len, quadlog_file);
fclose(quadlog_file);
- free(formatted_data);
+ //free(formatted_data);
break;
case RESPPARAM_ID:
case RESPSOURCE_ID:
diff --git a/quad/src/quad_app/callbacks.c b/quad/src/quad_app/callbacks.c
index 005485bdb..bff5d2142 100644
--- a/quad/src/quad_app/callbacks.c
+++ b/quad/src/quad_app/callbacks.c
@@ -415,32 +415,33 @@ int cb_sendrtdata(struct modular_structs *structs, struct metadata *meta, unsign
if (length < 4)
return -1;
int size = 0;
- structs->flags.lidarflags.quadHeight = read_bit(configData, 31); size += read_bit(configData, 31);
+ u32 configData = (data[2] << 24) | (data[3] << 16) | (data[4] << 8) | (data[5]);
+ structs->flags_struct.lidarflags->quadHeight = read_bit(configData, 31); size += read_bit(configData, 31);
/*BEGIN DOUBLE-TYPE FLAGS. If these are enabled, actual size of data sent is 2*read_bit due to
* length of data. This needs to be compensated for in methods where total length of payload packet
* needs to be known ahead of time. */
- structs->flags.optflowflags.x_flow = read_bit(configData, 30); size += read_bit(configData, 30);
- structs->flags.optflowflags.y_flow = read_bit(configData, 29); size += read_bit(configData, 29);
- structs->flags.optflowflags.x_filter = read_bit(configData, 28); size += read_bit(configData, 28);
- structs->flags.optflowflags.y_filter = read_bit(configData, 27); size += read_bit(configData, 27);
- structs->flags.optflowflags.x_velocity = read_bit(configData, 26); size += read_bit(configData, 26);
- structs->flags.optflowflags.y_velocity = read_bit(configData, 25); size += read_bit(configData, 25);
+ structs->flags_struct.optflowflags->x_flow = read_bit(configData, 30); size += read_bit(configData, 30);
+ structs->flags_struct.optflowflags->y_flow = read_bit(configData, 29); size += read_bit(configData, 29);
+ structs->flags_struct.optflowflags->x_filter = read_bit(configData, 28); size += read_bit(configData, 28);
+ structs->flags_struct.optflowflags->y_filter = read_bit(configData, 27); size += read_bit(configData, 27);
+ structs->flags_struct.optflowflags->x_velocity = read_bit(configData, 26); size += read_bit(configData, 26);
+ structs->flags_struct.optflowflags->y_velocity = read_bit(configData, 25); size += read_bit(configData, 25);
//END DOUBLE TYPE FLAGS.
- structs->flags.imuflags.gyro_x = read_bit(configData, 24); size += read_bit(configData, 24);
- structs->flags.imuflags.gyro_y = read_bit(configData, 23); size += read_bit(configData, 23);
- structs->flags.imuflags.gyro_z = read_bit(configData, 22); size += read_bit(configData, 22);
- structs->flags.imuflags.acc_x = read_bit(configData, 21); size += read_bit(configData, 21);
- structs->flags.imuflags.acc_y = read_bit(configData, 20); size += read_bit(configData, 20);
- structs->flags.imuflags.acc_z = read_bit(configData, 19); size += read_bit(configData, 19);
- structs->flags.imuflags.mag_x = read_bit(configData, 18); size += read_bit(configData, 18);
- structs->flags.imuflags.mag_y = read_bit(configData, 17); size += read_bit(configData, 17);
- structs->flags.imuflags.mag_z = read_bit(configData, 16); size += read_bit(configData, 16);
- structs->flags.errorflags.lidar = read_bit(configData, 15); size += read_bit(configData, 15);
- structs->flags.errorflags.consec_lidar = read_bit(configData, 14); size += read_bit(configData, 14);
- structs->flags.errorflags.optFlow = read_bit(configData, 13); size += read_bit(configData, 13);
- structs->flags.errorflags.consec_optFlow = read_bit(configData, 12); size += read_bit(configData, 12);
- structs->flags.errorflags.imu = read_bit(configData, 11); size += read_bit(configData, 11);
- structs->flags.errorflags.consec_imu = read_bit(configData, 10); size += read_bit(configData, 10);
- structs->flags.flag_count = size;
+ structs->flags_struct.imuflags->gyro_x = read_bit(configData, 24); size += read_bit(configData, 24);
+ structs->flags_struct.imuflags->gyro_y = read_bit(configData, 23); size += read_bit(configData, 23);
+ structs->flags_struct.imuflags->gyro_z = read_bit(configData, 22); size += read_bit(configData, 22);
+ structs->flags_struct.imuflags->acc_x = read_bit(configData, 21); size += read_bit(configData, 21);
+ structs->flags_struct.imuflags->acc_y = read_bit(configData, 20); size += read_bit(configData, 20);
+ structs->flags_struct.imuflags->acc_z = read_bit(configData, 19); size += read_bit(configData, 19);
+ structs->flags_struct.imuflags->mag_x = read_bit(configData, 18); size += read_bit(configData, 18);
+ structs->flags_struct.imuflags->mag_y = read_bit(configData, 17); size += read_bit(configData, 17);
+ structs->flags_struct.imuflags->mag_z = read_bit(configData, 16); size += read_bit(configData, 16);
+ structs->flags_struct.errorflags->lidar = read_bit(configData, 15); size += read_bit(configData, 15);
+ structs->flags_struct.errorflags->consec_lidar = read_bit(configData, 14); size += read_bit(configData, 14);
+ structs->flags_struct.errorflags->optFlow = read_bit(configData, 13); size += read_bit(configData, 13);
+ structs->flags_struct.errorflags->consec_optFlow = read_bit(configData, 12); size += read_bit(configData, 12);
+ structs->flags_struct.errorflags->imu = read_bit(configData, 11); size += read_bit(configData, 11);
+ structs->flags_struct.errorflags->consec_imu = read_bit(configData, 10); size += read_bit(configData, 10);
+ structs->flags_struct.flag_count = size;
return 0;
}
diff --git a/quad/src/quad_app/initialize_components.c b/quad/src/quad_app/initialize_components.c
index 232125ac3..270d6c8f6 100644
--- a/quad/src/quad_app/initialize_components.c
+++ b/quad/src/quad_app/initialize_components.c
@@ -49,8 +49,8 @@ int init_structs(modular_structs_t *structs) {
// Initialize the controller
control_algorithm_init(&structs->parameter_struct);
- // Initialize the logging
- initialize_logging(&structs->log_struct, &structs->parameter_struct);
+ // Initialize the logging
+ //initialize_logging(&structs->log_struct, &structs->parameter_struct);
// Initialize loop timers
struct TimerDriver *global_timer = &structs->hardware_struct.global_timer;
@@ -105,7 +105,7 @@ int init_structs(modular_structs_t *structs) {
}
sensor_processing_init(&structs->sensor_struct);
- initializeFlags(&structs->flags);
+ initializeFlags(&structs->flags_struct);
return 0;
}
diff --git a/quad/src/quad_app/log_data.c b/quad/src/quad_app/log_data.c
index 96a0db977..fe8aef14d 100644
--- a/quad/src/quad_app/log_data.c
+++ b/quad/src/quad_app/log_data.c
@@ -410,7 +410,7 @@ void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
timer_axi_reset();
}
-void RTprintend()
+void RTprintend(struct CommDriver *comm)
{
if (arrayIndex == 0)
{
diff --git a/quad/src/quad_app/log_data.h b/quad/src/quad_app/log_data.h
index c4cfd903e..b72717524 100644
--- a/quad/src/quad_app/log_data.h
+++ b/quad/src/quad_app/log_data.h
@@ -51,13 +51,13 @@ void RTprintLogging(struct CommDriver *comm, log_t* log_struct, parameter_t* ps,
/**
* Prints the beginning header for a flight data file. Used for Real-Time Data Transfer
* */
-void RTprintheader(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors, SensorRTFlags_t * flags)
+void RTprintheader(struct CommDriver *comm, log_t* log_struct, parameter_t* ps, raw_sensor_t* raw_sensors, SensorRTFlags_t * flags);
/**
* Sends the required ending message to close a log file following the end of a flight. Used for
* Real-Time Data Transfer
* */
-void RTprintend()
+void RTprintend(struct CommDriver *comm);
/**
* Prints all the log information.
diff --git a/quad/src/quad_app/quad_app.c b/quad/src/quad_app/quad_app.c
index d9174003a..4fb124cff 100644
--- a/quad/src/quad_app/quad_app.c
+++ b/quad/src/quad_app/quad_app.c
@@ -100,10 +100,10 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
{
init_cond = 0x1;
initialize_logging(&(structs.log_struct), &(structs.parameter_struct), &(structs.flags_struct));
- RTprintheader(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &(structs.raw_sensor_struct), &(structs.flags_struct));
+ RTprintheader(&(structs.hardware_struct.comm), &(structs.log_struct), &(structs.parameter_struct), &(structs.raw_sensor_struct), &(structs.flags_struct));
}
log_data(&(structs.log_struct), &(structs.parameter_struct), &(structs.flags_struct));
- RTprintLogging(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct, &(structs.flags_struct));
+ RTprintLogging(&(structs.hardware_struct.comm), &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct, &(structs.flags_struct));
if(structs.user_defined_struct.flight_mode == AUTO_FLIGHT_MODE)
{
static int loop_counter = 0;
@@ -128,7 +128,7 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
}
if (this_kill_condition == 1 && last_kill_condition == 0) {
- RTprintend();
+ RTprintend(&(structs.hardware_struct.comm));
resetLogging();
MIO7_led_off();
}
@@ -143,8 +143,8 @@ int quad_main(int (*setup_hardware)(hardware_t *hardware_struct))
char err_msg[] = "More than 10 IMU errors";
send_data(structs.hardware_struct.comm.uart, DEBUG_ID, 0, (u8*)err_msg, sizeof(err_msg));
//Send end of log message. Uncomment printLogging below for post-flight log.
- RTprintend();
- resetLogging();
+ RTprintend(&(structs.hardware_struct.comm));
+ resetLogging();
//printLogging(&structs.hardware_struct.comm, &(structs.log_struct), &(structs.parameter_struct), &structs.raw_sensor_struct);
break;
}
diff --git a/quad/src/quad_app/type_def.h b/quad/src/quad_app/type_def.h
index 8eb2565d3..1b67b73f2 100644
--- a/quad/src/quad_app/type_def.h
+++ b/quad/src/quad_app/type_def.h
@@ -477,24 +477,6 @@ typedef struct hardware_t {
struct OpticalFlowDriver of;
} hardware_t;
-/**
- * @brief
- * Structures to be used throughout
- */
-typedef struct modular_structs {
- user_input_t user_input_struct;
- log_t log_struct;
- raw_sensor_t raw_sensor_struct;
- sensor_t sensor_struct;
- setpoint_t setpoint_struct;
- parameter_t parameter_struct;
- user_defined_t user_defined_struct;
- raw_actuator_t raw_actuator_struct;
- actuator_command_t actuator_command_struct;
- hardware_t hardware_struct;
- SensorRTFlags_t flags_struct;
-} modular_structs_t;
-
/* BEGIN FLAG STRUCTS CONTAINING ENABLED/DISABLED RT DATA TRANSFERS */
typedef struct lidarFlags
{
@@ -553,6 +535,25 @@ typedef struct SensorRTFlags
/* END FLAG STRUCTS */
+/**
+ * @brief
+ * Structures to be used throughout
+ */
+typedef struct modular_structs {
+ user_input_t user_input_struct;
+ log_t log_struct;
+ raw_sensor_t raw_sensor_struct;
+ sensor_t sensor_struct;
+ setpoint_t setpoint_struct;
+ parameter_t parameter_struct;
+ user_defined_t user_defined_struct;
+ raw_actuator_t raw_actuator_struct;
+ actuator_command_t actuator_command_struct;
+ hardware_t hardware_struct;
+ SensorRTFlags_t flags_struct;
+} modular_structs_t;
+
+
//////// END MAIN MODULAR STRUCTS
#endif /* TYPE_DEF_H_ */
--
GitLab