From 5e34ebe508a67016f0f259db1e15bb5326d49d3b Mon Sep 17 00:00:00 2001
From: zeisele <zeisele@iastate.edu>
Date: Tue, 29 Mar 2022 01:29:49 +0200
Subject: [PATCH] add real time logging
---
crazyflie_groundstation/src/CTOC.cpp | 3 +-
.../src/ccrazyradio/CCrazyRadio_loopFuncs.cpp | 2 +-
.../gui/MicroCART/crazyflieworker.cpp | 1 -
groundStation/gui/MicroCART/logworker.cpp | 31 +++-
groundStation/gui/MicroCART/logworker.h | 2 +-
groundStation/gui/MicroCART/mainwindow.cpp | 167 +++++++++---------
groundStation/gui/MicroCART/mainwindow.h | 15 +-
7 files changed, 127 insertions(+), 94 deletions(-)
diff --git a/crazyflie_groundstation/src/CTOC.cpp b/crazyflie_groundstation/src/CTOC.cpp
index 039b0d951..745e05ff5 100644
--- a/crazyflie_groundstation/src/CTOC.cpp
+++ b/crazyflie_groundstation/src/CTOC.cpp
@@ -493,10 +493,9 @@ bool CTOC::startLogging(std::string strName, std::string strBlockName) {
if (crtpReceived) {
delete crtpReceived;
}
+ this->addElementToBlock(lbCurrent.nID, teCurrent.nID);
if (bCreateOK) {
- this->addElementToBlock(lbCurrent.nID, teCurrent.nID);
-
return true;
} else {
std::cout << "Unable to add element " << strName << " to " << strBlockName << std::endl;
diff --git a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
index 5772cf441..1d2d7d0e1 100644
--- a/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
+++ b/crazyflie_groundstation/src/ccrazyradio/CCrazyRadio_loopFuncs.cpp
@@ -23,7 +23,7 @@ void CCrazyRadio::mainLoop() {
(*it)->writeLogData();
}
- usleep(500);
+ //usleep(100);
// Check if the thread has been told to terminate
if (this->m_exitThread) {
diff --git a/groundStation/gui/MicroCART/crazyflieworker.cpp b/groundStation/gui/MicroCART/crazyflieworker.cpp
index 5412e4d8b..85d57d5c6 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.cpp
+++ b/groundStation/gui/MicroCART/crazyflieworker.cpp
@@ -590,7 +590,6 @@ std::vector<int8_t> CrazyflieWorker::getLogColumns(QString log1, QString log2, Q
struct toc_info teCurrent = lbCurrent.variableNames.at(j);
element = teCurrent.strGroup + "." + teCurrent.strName;
if(!element.compare(log1.toStdString())) {
- qInfo() << column;
columns[0] = column;
}
else if(!element.compare(log2.toStdString())) {
diff --git a/groundStation/gui/MicroCART/logworker.cpp b/groundStation/gui/MicroCART/logworker.cpp
index 50ae9b26c..4cdfccdac 100644
--- a/groundStation/gui/MicroCART/logworker.cpp
+++ b/groundStation/gui/MicroCART/logworker.cpp
@@ -46,7 +46,7 @@ void LogWorker::disconnectBackend()
void LogWorker::startLogging(QString filename) {
std::string logFileName = filename.toStdString();
std::ifstream logFile;
- logFile.open(logFileName.c_str());
+ logFile.open(logFileName.c_str(), std::fstream::ate);
//std::streamoff p = 0;
std::string line;
std::vector<std::string> tokens;
@@ -54,6 +54,8 @@ void LogWorker::startLogging(QString filename) {
std::stringstream stream;
QStringList results;
QString wantedLine;
+ uint8_t lineCnt = 0;
+ uint8_t nanCnt = 0;
// while(true) {
// logFile.seekg(p);
@@ -77,8 +79,12 @@ void LogWorker::startLogging(QString filename) {
if(logFlag == 0) {
usleep(1000);
continue;
+ }
+ else if(line.at(0) == '#') {
+
}
else if(logFlag == 1) {
+ lineCnt++;
stream.str(line);
while(getline(stream, temp, '\t')) {
tokens.push_back(temp);
@@ -90,21 +96,36 @@ void LogWorker::startLogging(QString filename) {
wantedLine.append("NULL,");
}
else {
- qInfo() << "append";
wantedLine.append(tokens.at(logColumns.at(i)).c_str());
wantedLine.append(",");
- qInfo() << "append2";
+ if(!(tokens.at(logColumns.at(i)).compare("nan"))) {
+ nanCnt++;
+ }
}
}
- qInfo() << "results";
+ if(nanCnt >= 5) {
+ nanCnt = 0;
+ wantedLine = "";
+ tokens.clear();
+ stream.str("");
+ stream.clear();
+ lineCnt--;
+ continue;
+ }
results.append(wantedLine);
wantedLine = "";
tokens.clear();
stream.str("");
stream.clear();
+ nanCnt = 0;
+ if(lineCnt > 8) {
+ emit(gotLogData(results, false));
+ lineCnt = 0;
+ results.clear();
+ }
}
else if(logFlag == 2) {
- emit(gotLogData(results));
+ emit(gotLogData(results, true));
results.clear();
logFlag = 0;
}
diff --git a/groundStation/gui/MicroCART/logworker.h b/groundStation/gui/MicroCART/logworker.h
index 88525b2b4..667e229c6 100644
--- a/groundStation/gui/MicroCART/logworker.h
+++ b/groundStation/gui/MicroCART/logworker.h
@@ -28,7 +28,7 @@ public:
signals:
- void gotLogData(QStringList results);
+ void gotLogData(QStringList results, bool lastSet);
void connected();
void disconnected();
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 27a7dd3fb..3e5529b4c 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -84,7 +84,7 @@ MainWindow::MainWindow(QWidget *parent) :
connect(ui->logEntriesComboBox4, SIGNAL (currentTextChanged(QString)), this, SLOT (getLogEntryBoxChange4(QString)));
connect(ui->logEntriesComboBox5, SIGNAL (currentTextChanged(QString)), this, SLOT (getLogEntryBoxChange5(QString)));
connect(ui->pb_startLog, SIGNAL (clicked()), this, SLOT (sendStartLog()));
- connect(logWorker, SIGNAL (gotLogValues(QStringList)), this, SLOT (graphLogs(QStringList)));
+ connect(logWorker, SIGNAL (gotLogValues(QStringList)), this, SLOT (graphLogs(QStringList, bool)));
connect(ui->pb_logBlockFile, SIGNAL (clicked()), this, SLOT(openLogBlockFile()));
connect(ui->pb_logBlockRefresh, SIGNAL (clicked()), this, SLOT(on_pb_lbRefresh()));
connect(ui->pb_logBlockStop, SIGNAL (clicked()), this, SLOT(on_pb_lbStop()));
@@ -93,7 +93,7 @@ MainWindow::MainWindow(QWidget *parent) :
connect(ui->comboBox_logBlocks, SIGNAL (currentTextChanged(QString)), crazyflieWorker, SLOT (logBlockBoxChanged(QString)));
connect(ui->pb_stopLog, SIGNAL (clicked()), this, SLOT (sendStopLog()));
connect(crazyflieWorker, SIGNAL (gotBlockisEnabled(bool)), this, SLOT(setLogButtons(bool)));
- connect(logWorker, SIGNAL (gotLogData(QStringList)), this, SLOT(graphLogData(QStringList)));
+ connect(logWorker, SIGNAL (gotLogData(QStringList, bool)), this, SLOT(graphLogData(QStringList, bool)));
//connect(ui->pb_logBlockDelete, SIGNAL (clicked()), this, SLOT(on_pb_lbDelete()));
connect(this, SIGNAL(sendLogBlockCommand(int8_t, int8_t)), crazyflieWorker, SLOT(frontendLogBlockCommand(int8_t, int8_t)));
connect(this, SIGNAL (requestLogBlockID(QString, int8_t)), crazyflieWorker, SLOT(findLogBlockID(QString, int8_t)));
@@ -630,7 +630,7 @@ void MainWindow::on_gamepadPitchScale_valueChanged(int arg1)
ui->pitchVizBar->setMaximum(std::abs(arg1));
}
-void MainWindow::graphLogs(QStringList logs)
+void MainWindow::graphLogs(QStringList logs, bool lastSet)
{
ui->dataPlot->addGraph();
ui->dataPlot->addGraph();
@@ -652,12 +652,11 @@ void MainWindow::graphLogs(QStringList logs)
ui->logEntriesComboBox5->setStyleSheet("QComboBox { color: darkMagenta; }");
//parse data and put into vector
- QVector<double> x0(logs.size()), y0(logs.size());
- QVector<double> x1(logs.size()), y1(logs.size());
- QVector<double> x2(logs.size()), y2(logs.size());
- QVector<double> x3(logs.size()), y3(logs.size());
- QVector<double> x4(logs.size()), y4(logs.size());
-
+ QVector<double> x0, y0;
+ QVector<double> x1, y1;
+ QVector<double> x2, y2;
+ QVector<double> x3, y3;
+ QVector<double> x4, y4;
QVector<std::string> tempConv;
for(int i=0; i<logs.size(); i++) {
@@ -666,10 +665,6 @@ void MainWindow::graphLogs(QStringList logs)
// qInfo() << QString::fromStdString(tempConv.at(0)) << endl;
// qInfo() << QString::fromStdString(tempConv.at(1)) << endl;
- float xmin = INFINITY;
- float xmax = -INFINITY;
- float ymax = -INFINITY;
- float ymin = INFINITY;
bool log0 = true;
bool log1 = true;
bool log2 = true;
@@ -694,6 +689,13 @@ void MainWindow::graphLogs(QStringList logs)
// qInfo() << QString::fromStdString(tokens[4]) << endl;
// qInfo() << QString::fromStdString(tokens[5]) << endl;
+ if(i == 0 && std::stod(tokens[0]) < xmin) {
+ xmin = std::stod(tokens[0]);
+ }
+ if(i == logs.size() - 1 && std::stod(tokens[0]) > xmax) {
+ xmax = std::stod(tokens[0]);
+ }
+
//assign x and y values for log variables
if(tokens[1] == "nan"){
//do not include point
@@ -701,22 +703,15 @@ void MainWindow::graphLogs(QStringList logs)
//disable this variable if encounter "NULL"
log0 = false;
}else {
- x0[i] = std::stod(tokens[0]);
- y0[i] = std::stod(tokens[1]);
- if(y0[i]<ymin) {
- ymin = y0[i];
+ x0.append(std::stod(tokens[0]));
+ y0.append(std::stod(tokens[1]));
+ if(y0.back()<ymin) {
+ ymin = y0.back();
}
- if(y0[i]>ymax) {
- ymax = y0[i];
- }
- if(i == logs.size()-1) {
- xmax = x0[i];
- }
- if(i == 0) {
- xmin = x0[i];
+ if(y0.back()>ymax) {
+ ymax = y0.back();
}
}
- qInfo() << ymin << endl;
if(tokens[2] == "nan"){
//do not include point
@@ -724,19 +719,13 @@ void MainWindow::graphLogs(QStringList logs)
//disable this variable if encounter "NULL"
log1 = false;
}else {
- x1[i] = std::stod(tokens[0]);
- y1[i] = std::stod(tokens[2]);
- if(y1[i]<ymin) {
- ymin = y1[i];
- }
- if(y1[i]>ymax) {
- ymax = y1[i];
+ x1.append(std::stod(tokens[0]));
+ y1.append(std::stod(tokens[2]));
+ if(y1.back()<ymin) {
+ ymin = y1.back();
}
- if(i == logs.size()-1) {
- xmax = x1[i];
- }
- if(i == 0) {
- xmin = x0[i];
+ if(y1.back()>ymax) {
+ ymax = y1.back();
}
}
@@ -746,20 +735,14 @@ void MainWindow::graphLogs(QStringList logs)
//disable this variable if encounter "NULL"
log2 = false;
}else {
- x2[i] = std::stod(tokens[0]);
- y2[i] = std::stod(tokens[3]);
- if(y2[i]<ymin) {
- ymin = y2[i];
+ x2.append(std::stod(tokens[0]));
+ y2.append(std::stod(tokens[3]));
+ if(y2.back()<ymin) {
+ ymin = y2.back();
}
- if(y2[i]>ymax) {
- ymax = y2[i];
+ if(y2.back()>ymax) {
+ ymax = y2.back();
}
- if(i == logs.size()-1) {
- xmax = x2[i];
- }
- if(i == 0) {
- xmin = x0[i];
- }
}
if(tokens[4] == "nan"){
@@ -768,43 +751,30 @@ void MainWindow::graphLogs(QStringList logs)
//disable this variable if encounter "NULL"
log3 = false;
}else {
- x3[i] = std::stod(tokens[0]);
- y3[i] = std::stod(tokens[4]);
- if(y3[i]<ymin) {
- ymin = y3[i];
+ x3.append(std::stod(tokens[0]));
+ y3.append(std::stod(tokens[4]));
+ if(y3.back()<ymin) {
+ ymin = y3.back();
}
- if(y3[i]>ymax) {
- ymax = y3[i];
- }
- if(i == logs.size()-1) {
- xmax = x3[i];
- }
- if(i == 0) {
- xmin = x0[i];
+ if(y3.back()>ymax) {
+ ymax = y3.back();
}
}
-
if(tokens[5] == "nan"){
//do not include point
}else if(tokens[5] == "NULL"){
//disable this variable if encounter "NULL"
log4 = false;
}else {
- x4[i] = std::stod(tokens[0]);
- y4[i] = std::stod(tokens[5]);
- if(y4[i]<ymin) {
- ymin = y4[i];
+ x4.append(std::stod(tokens[0]));
+ y4.append(std::stod(tokens[5]));
+ if(y4.back()<ymin) {
+ ymin = y4.back();
}
- if(y4[i]>ymax) {
+ if(y4.back()>ymax) {
ymax = y4[i];
}
- if(i == logs.size()-1) {
- xmax = x4[i];
- }
- if(i == 0) {
- xmin = x0[i];
- }
}
}
@@ -816,19 +786,47 @@ void MainWindow::graphLogs(QStringList logs)
//set data
if(log0) {
- ui->dataPlot->graph(0)->setData(x0, y0);
+ if(firstSet) {
+ ui->dataPlot->graph(0)->setData(x0, y0);
+ }
+ else {
+ ui->dataPlot->graph(0)->addData(x0, y0);
+ }
}
if(log1) {
- ui->dataPlot->graph(1)->setData(x1, y1);
+ if(firstSet) {
+ ui->dataPlot->graph(1)->setData(x1, y1);
+ }
+ else {
+ ui->dataPlot->graph(1)->addData(x1, y1);
+ }
}
if(log2) {
- ui->dataPlot->graph(2)->setData(x2, y2);
+ if(firstSet) {
+ ui->dataPlot->graph(2)->setData(x2, y2);
+ }
+ else {
+ ui->dataPlot->graph(2)->addData(x2, y2);
+ }
}
if(log3) {
- ui->dataPlot->graph(3)->setData(x3, y3);
+ if(firstSet) {
+ ui->dataPlot->graph(3)->setData(x3, y3);
+ }
+ else {
+ ui->dataPlot->graph(3)->addData(x3, y3);
+ }
}
if(log4) {
- ui->dataPlot->graph(4)->setData(x4, y4);
+ if(firstSet) {
+ ui->dataPlot->graph(4)->setData(x4, y4);
+ }
+ else {
+ ui->dataPlot->graph(4)->addData(x4, y4);
+ }
+ }
+ if(firstSet) {
+ firstSet = false;
}
//set lables and boundaries
@@ -838,6 +836,13 @@ void MainWindow::graphLogs(QStringList logs)
ui->dataPlot->yAxis->setRange(ymin, ymax);
ui->dataPlot->replot();
ui->dataPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
+ if(lastSet) {
+ firstSet = true;
+ xmin = INFINITY;
+ xmax = -INFINITY;
+ ymax = -INFINITY;
+ ymin = INFINITY;
+ }
}
void MainWindow::openLogBlockFile() {
@@ -1064,9 +1069,9 @@ void MainWindow::getLogEntryBoxChange5(QString text) {
}
}
-void MainWindow::graphLogData(QStringList results)
+void MainWindow::graphLogData(QStringList results, bool lastSet)
{
- graphLogs(results);
+ graphLogs(results, lastSet);
}
void MainWindow::receiveLogFile(QString filename) {
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 28a220315..c0834c6e1 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -123,7 +123,7 @@ private slots:
void on_gamepadPitchScale_valueChanged(int arg1);
- void graphLogs(QStringList logs);
+ void graphLogs(QStringList logs, bool lastSet);
void openLogBlockFile();
@@ -161,7 +161,7 @@ private slots:
void sendStartLog();
void sendStopLog();
- void graphLogData(QStringList results);
+ void graphLogData(QStringList results, bool lastSet);
private:
Ui::MainWindow *ui;
@@ -179,7 +179,16 @@ private:
CrazyflieWorker *crazyflieWorker;
LogWorker *logWorker;
public:
- int logFlag = 0;
+ // QVector<double> x0, y0;
+ // QVector<double> x1, y1;
+ // QVector<double> x2, y2;
+ // QVector<double> x3, y3;
+ // QVector<double> x4, y4;
+ float xmin = INFINITY;
+ float xmax = -INFINITY;
+ float ymax = -INFINITY;
+ float ymin = INFINITY;
+ bool firstSet = true;
};
#endif // MAINWINDOW_H
--
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