From 61321e78f26c4937358da1d75febeff66975d699 Mon Sep 17 00:00:00 2001
From: zeisele <zeisele@iastate.edu>
Date: Wed, 23 Mar 2022 04:18:58 +0100
Subject: [PATCH] log block tab changes and graphing preparation
---
.../gui/MicroCART/crazyflieworker.cpp | 12 +
groundStation/gui/MicroCART/crazyflieworker.h | 1 +
groundStation/gui/MicroCART/logworker.cpp | 45 ++++
groundStation/gui/MicroCART/logworker.h | 43 ++++
groundStation/gui/MicroCART/mainwindow.cpp | 91 ++++++--
groundStation/gui/MicroCART/mainwindow.h | 9 +
groundStation/gui/MicroCART/mainwindow.ui | 207 +++++++++++++++++-
7 files changed, 387 insertions(+), 21 deletions(-)
create mode 100644 groundStation/gui/MicroCART/logworker.cpp
create mode 100644 groundStation/gui/MicroCART/logworker.h
diff --git a/groundStation/gui/MicroCART/crazyflieworker.cpp b/groundStation/gui/MicroCART/crazyflieworker.cpp
index cb241a10c..5fa186c7c 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.cpp
+++ b/groundStation/gui/MicroCART/crazyflieworker.cpp
@@ -35,6 +35,18 @@ void CrazyflieWorker::connectBackend()
paramGroupList.append(qgName);
}
emit(gotParamGroups(paramGroupList));
+ QStringList logVariablesList;
+ struct toc_group curGroup;
+ for(int i = 0; i < logGroups.size(); i++) {
+ curGroup = logGroups.at(i);
+ for(int j = 0; j < logGroups.at(i).entryNames.size(); j++) {
+ QString qvName(logGroups.at(i).groupName.c_str());
+ qvName = qvName.append(".");
+ qvName = qvName.append(logGroups.at(i).entryNames.at(j).c_str());
+ logVariablesList.append(qvName);
+ }
+ }
+ emit(gotLogVariables(logVariablesList));
}
/**
diff --git a/groundStation/gui/MicroCART/crazyflieworker.h b/groundStation/gui/MicroCART/crazyflieworker.h
index 43d37fc49..42dca39f0 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.h
+++ b/groundStation/gui/MicroCART/crazyflieworker.h
@@ -42,6 +42,7 @@ public:
signals:
void gotParamValue(QString paramName, float value);
void gotParamGroups(QStringList paramGroupList);
+ void gotLogVariables(QStringList logVariables);
void gotGroupEntries(int box, QStringList groupEntries);
void connected();
void disconnected();
diff --git a/groundStation/gui/MicroCART/logworker.cpp b/groundStation/gui/MicroCART/logworker.cpp
new file mode 100644
index 000000000..f09c4b9b9
--- /dev/null
+++ b/groundStation/gui/MicroCART/logworker.cpp
@@ -0,0 +1,45 @@
+#include "logworker.h"
+#include <iostream>
+#include <unistd.h>
+#include <sys/stat.h>
+
+LogWorker::LogWorker(QObject *parent) : QObject(parent), conn(NULL)
+{
+}
+
+LogWorker::~LogWorker()
+{
+ disconnectBackend();
+}
+
+/**
+ * @brief CrazyflieWorker::connectBackend
+ * Command the worker to connect to the backend
+ * will set the private class struct, conn, once done.
+ * The connected() signal is emitted once complete.
+ */
+void LogWorker::connectBackend()
+{
+ if (conn == NULL) {
+ conn = ucart_backendConnect();
+ emit (connected());
+ } else {
+ qInfo() << "Attempted to connect crazyflieworker when already connected!";
+ }
+
+}
+
+/**
+ * @brief CrazyflieWorker::disconnectBackend
+ * Command the worker to disconnect from the backend,
+ * sets the conn struct to null and emits the
+ * disconnected() signal once complete
+ */
+void LogWorker::disconnectBackend()
+{
+ if (conn) {
+ ucart_backendDisconnect(conn);
+ conn = NULL;
+ emit (disconnected());
+ }
+}
\ No newline at end of file
diff --git a/groundStation/gui/MicroCART/logworker.h b/groundStation/gui/MicroCART/logworker.h
new file mode 100644
index 000000000..539a168c6
--- /dev/null
+++ b/groundStation/gui/MicroCART/logworker.h
@@ -0,0 +1,43 @@
+#ifndef LOGWORKER_H
+#define LOGWORKER_H
+
+#include <QObject>
+#include <fstream>
+#include <sstream>
+#include <vector>
+#include <QStringList>
+#include "frontend_common.h"
+#include "frontend_param.h"
+#include "frontend_override.h"
+#include "frontend_logfile.h"
+#include "setpoint.h"
+#include <QDebug>
+
+
+/**
+ * @brief The crazyflieworker class
+ * This class handles communication for the crazyflie,
+ * reading log values and setting parameter values
+ */
+class LogWorker : public QObject
+{
+ Q_OBJECT
+public:
+ explicit LogWorker(QObject *parent = nullptr);
+ ~LogWorker();
+
+
+signals:
+ void connected();
+ void disconnected();
+
+
+public slots:
+ void connectBackend();
+ void disconnectBackend();
+
+private:
+ struct backend_conn * conn;
+};
+
+#endif // LOGWORKER_H
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 7835d8577..47d5ca653 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -55,24 +55,24 @@ MainWindow::MainWindow(QWidget *parent) :
workerStartTimer->setSingleShot(true);
/* Create a thread for workers */
- QThread* workerThread = new QThread(this);
+ //QThread* workerThread = new QThread(this);
/* Create a worker to update the tracker */
- TrackerWorker * trackerWorker = new TrackerWorker();
+ // 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);
+ //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)),
+ // 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)),
+ // 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)));
+ //connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
+ // attIndicator, SLOT(updateAttitude(float, float, float, float, float, float)));
backendProcess->setProcessChannelMode(QProcess::MergedChannels);
@@ -102,7 +102,19 @@ MainWindow::MainWindow(QWidget *parent) :
crazyflieWorker = new CrazyflieWorker();
crazyflieWorker->moveToThread(cfThread);
+ QThread * logThread = new QThread(this);
+ logWorker = new LogWorker();
+ logWorker->moveToThread(logThread);
+
/* connect signals for crazyflie worker */
+ connect(ui->logEntriesComboBox1, SIGNAL (currentIndexChanged(int)), this, SLOT (getLogEntryBoxChange1(int)));
+ connect(ui->logEntriesComboBox2, SIGNAL (currentIndexChanged(int)), this, SLOT (getLogEntryBoxChange2(int)));
+ connect(ui->logEntriesComboBox3, SIGNAL (currentIndexChanged(int)), this, SLOT (getLogEntryBoxChange3(int)));
+ connect(ui->logEntriesComboBox4, SIGNAL (currentIndexChanged(int)), this, SLOT (getLogEntryBoxChange4(int)));
+ connect(ui->logEntriesComboBox5, SIGNAL (currentIndexChanged(int)), this, SLOT (getLogEntryBoxChange5(int)));
+ connect(ui->pb_startLog, SIGNAL (clicked()), logWorker, SLOT (getLogValues(QString, QString, QString, QString, QString)));
+ connect(logWorker, SIGNAL (gotLogValues(QStringList)), this, SLOT (graphLogs(QStringList)));
+
connect(this, SIGNAL (rateSetpointSignal(float, float, float, float)), crazyflieWorker, SLOT (setCurrAttRateSetpoint(float, float, float, float)));
connect(this, SIGNAL (angleSetpointSignal(float, float, float, float)), crazyflieWorker, SLOT (setCurrAttSetpoint(float, float, float, float)));
connect(crazyflieTimer, SIGNAL(timeout()), this, SLOT(trigger_send_setpoint()));
@@ -110,6 +122,7 @@ MainWindow::MainWindow(QWidget *parent) :
connect(this, SIGNAL(triggerAttRateSetpointSend()), crazyflieWorker, SLOT(sendAttRateSetpoint()));
connect(this, SIGNAL(triggerMixedAttSetpointSend()), crazyflieWorker, SLOT(sendMixedAttSetpoint()));
connect(crazyflieWorker, SIGNAL (gotParamGroups(QStringList)), this, SLOT (setParamGroups(QStringList)));
+ connect(crazyflieWorker, SIGNAL (gotLogVariables(QStringList)), this, SLOT (setLoggingVariableBox(QStringList)));
connect(ui->paramGroupComboBox, SIGNAL (currentIndexChanged(int)), this, SLOT (getGroupBoxChange(int)));
connect(ui->paramGroupComboBox_2, SIGNAL (currentIndexChanged(int)), this, SLOT (getGroupBox2Change(int)));
@@ -125,15 +138,18 @@ MainWindow::MainWindow(QWidget *parent) :
connect(crazyflieWorker, SIGNAL (gotParamValue(QString, float)), this, SLOT (displayParamValue(QString, float)));
/* Connect and disconnect from backend when signals emitted */
- connect(workerStartTimer, SIGNAL (timeout()), trackerWorker, SLOT (connectBackend()));
+ //connect(workerStartTimer, SIGNAL (timeout()), trackerWorker, SLOT (connectBackend()));
+ connect(workerStartTimer, SIGNAL (timeout()), logWorker, SLOT (connectBackend()));
connect(workerStartTimer, SIGNAL (timeout()), controlWorker, SLOT (connectBackend()));
connect(workerStartTimer, SIGNAL (timeout()), crazyflieWorker, SLOT (connectBackend()));
- connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
+ //connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
+ connect(this, SIGNAL (connectWorkers()), logWorker, SLOT (connectBackend()));
connect(this, SIGNAL (connectWorkers()), controlWorker, SLOT (connectBackend()));
connect(this, SIGNAL (connectWorkers()), crazyflieWorker, SLOT (connectBackend()));
- connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
+ //connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
+ connect(this, SIGNAL (disconnectWorkers()), logWorker, SLOT (disconnectBackend()));
connect(this, SIGNAL (disconnectWorkers()), controlWorker, SLOT (disconnectBackend()));
connect(this, SIGNAL (disconnectWorkers()), crazyflieWorker, SLOT (disconnectBackend()));
@@ -146,8 +162,11 @@ MainWindow::MainWindow(QWidget *parent) :
connect(controlWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
connect(controlWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
- connect(trackerWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
- connect(trackerWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
+ //connect(trackerWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
+ //connect(trackerWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
+
+ connect(logWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
+ connect(logWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
connect(crazyflieWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
connect(crazyflieWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
@@ -156,7 +175,7 @@ MainWindow::MainWindow(QWidget *parent) :
connect(trackerTimer, SIGNAL(timeout()), this, SLOT(updatePosAtt()));
// connect(ui->pbRefresh, SIGNAL (clicked()), this, SLOT (updatePosAtt()));
- connect(this, SIGNAL(getPosAttFromBackend()), trackerWorker, SLOT(process()));
+ //connect(this, SIGNAL(getPosAttFromBackend()), trackerWorker, SLOT(process()));
/* Timer used for next setpoint */
nextSpTimer->setSingleShot(true);
@@ -165,9 +184,10 @@ MainWindow::MainWindow(QWidget *parent) :
/* Start the things */
trackerTimer->start(100);
crazyflieTimer->start(100);
- workerThread->start();
+ //workerThread->start();
cwThread->start();
cfThread->start();
+ logThread->start();
matlabProcess->start();
/* Connect the setpointlist to the model */
@@ -352,6 +372,10 @@ void MainWindow::setParamGroups(QStringList groupNames) {
ui->paramGroupComboBox_2->addItems(groupNames);
}
+void MainWindow::setLoggingVariableBox(QStringList variableNames) {
+ ui->logVariableList->addItems(variableNames);
+}
+
void MainWindow::getGroupBoxChange(int index) {
// for(int i = 0; i < ui->paramGroupComboBox->count(); i++) {
// ui->paramEntriesComboBox->removeItem(i);
@@ -993,3 +1017,38 @@ void MainWindow::on_gamepadPitchScale_valueChanged(int arg1)
ui->pitchVizBar->setMinimum(std::abs(arg1) * -1);
ui->pitchVizBar->setMaximum(std::abs(arg1));
}
+
+void MainWindow::graphLogs(QStringList logs)
+{
+ ui->dataPlot->graph(0)->setPen(QPen(Qt::blue));
+ ui->dataPlot->graph(1)->setPen(QPen(Qt::red));
+ ui->dataPlot->graph(2)->setPen(QPen(Qt::green));
+ ui->dataPlot->graph(3)->setPen(QPen(Qt::black));
+ //ui->dataPlot->graph(4)->setPen(QPen(Qt::purple));
+
+
+ //parse data and put into vector
+ QVector<float> x0(logs.size()), y0(logs.size());
+ QVector<float> x1(logs.size()), y1(logs.size());
+ QVector<float> x2(logs.size()), y2(logs.size());
+ QVector<float> x3(logs.size()), y3(logs.size());
+ QVector<float> x4(logs.size()), y4(logs.size());
+
+ for(int i=0; i< logs.size(); i++) {
+ //use tokenizer here
+ }
+
+ //start graph and set data
+ ui->dataPlot->addGraph();
+ // ui->dataPlot->graph(0)->setData(x0, y0);
+
+ //set lables and boundaries
+ ui->dataPlot->xAxis->setLabel("time");
+ ui->dataPlot->yAxis->setLabel("angle");
+
+ ui->dataPlot->xAxis->setRange(0, 1);
+ ui->dataPlot->yAxis->setRange(0, 360);
+
+ ui->dataPlot->replot();
+}
+
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index becd6e3f5..a7bbcb446 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -8,6 +8,7 @@
#include "quaditem.h"
#include "gamepadmonitor.h"
#include "crazyflieworker.h"
+#include "logworker.h"
namespace Ui {
@@ -37,6 +38,9 @@ signals:
void triggerAttSetpointSend();
void triggerAttRateSetpointSend();
void triggerMixedAttSetpointSend();
+ void getLogValues(QString log1, QString log2, QString log3, QString log4, QString log5);
+
+
private slots:
void on_pbStart_clicked();
@@ -113,6 +117,7 @@ private slots:
void setParamGroups(QStringList groupNames);
void getGroupBoxChange(int index);
void getGroupBox2Change(int index);
+ void setLoggingVariableBox(QStringList variableNames);
void displayParamValue(QString param, float value);
void getEntryBoxChange(int index);
void getEntryBoxChange2(int index);
@@ -146,6 +151,9 @@ private slots:
void on_gamepadPitchScale_valueChanged(int arg1);
+ void graphLogs(QStringList logs);
+
+
private:
Ui::MainWindow *ui;
QStandardItemModel * setpointList;
@@ -163,6 +171,7 @@ private:
int connectedWorkers;
GamepadMonitor *gamepadMonitor;
CrazyflieWorker *crazyflieWorker;
+ LogWorker *logWorker;
};
#endif // MAINWINDOW_H
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index c202a2c5c..ca31bb05e 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -33,7 +33,7 @@
</size>
</property>
<property name="currentIndex">
- <number>2</number>
+ <number>3</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -132,7 +132,7 @@
</widget>
<widget class="QWidget" name="param">
<attribute name="title">
- <string>Param</string>
+ <string>Parameters</string>
</attribute>
<widget class="QComboBox" name="paramGroupComboBox">
<property name="geometry">
@@ -794,12 +794,128 @@
</widget>
<widget class="QWidget" name="plots">
<attribute name="title">
- <string>Plots</string>
+ <string>Log Blocks</string>
</attribute>
+ <widget class="QComboBox" name="comboBox">
+ <property name="geometry">
+ <rect>
+ <x>410</x>
+ <y>680</y>
+ <width>201</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <item>
+ <property name="text">
+ <string>Logging Block</string>
+ </property>
+ </item>
+ </widget>
+ <widget class="QPushButton" name="pushButton">
+ <property name="geometry">
+ <rect>
+ <x>330</x>
+ <y>750</y>
+ <width>80</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Resume</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_2">
+ <property name="geometry">
+ <rect>
+ <x>470</x>
+ <y>750</y>
+ <width>80</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Pause</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_3">
+ <property name="geometry">
+ <rect>
+ <x>600</x>
+ <y>750</y>
+ <width>80</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Delete</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_4">
+ <property name="geometry">
+ <rect>
+ <x>330</x>
+ <y>520</y>
+ <width>401</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Open Logging Block Setup File</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_5">
+ <property name="geometry">
+ <rect>
+ <x>330</x>
+ <y>610</y>
+ <width>141</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Refresh Log Blocks</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pushButton_6">
+ <property name="geometry">
+ <rect>
+ <x>590</x>
+ <y>610</y>
+ <width>141</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Stop All Log Blocks</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_2">
+ <property name="geometry">
+ <rect>
+ <x>460</x>
+ <y>450</y>
+ <width>141</width>
+ <height>20</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Log Block Commands</string>
+ </property>
+ </widget>
+ <widget class="QListWidget" name="logVariableList">
+ <property name="geometry">
+ <rect>
+ <x>5</x>
+ <y>0</y>
+ <width>1101</width>
+ <height>441</height>
+ </rect>
+ </property>
+ </widget>
</widget>
<widget class="QWidget" name="navigation">
<attribute name="title">
- <string>Navigation</string>
+ <string>Control</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
@@ -1016,6 +1132,9 @@
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
+ <property name="sizeType">
+ <enum>QSizePolicy::MinimumExpanding</enum>
+ </property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
@@ -1024,6 +1143,84 @@
</property>
</spacer>
</item>
+ <item>
+ <widget class="QLabel" name="logging_label">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Logging Variables</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="logEntriesComboBox1">
+ <property name="currentText">
+ <string>Logging Variable 1</string>
+ </property>
+ <item>
+ <property name="text">
+ <string>Logging Variable 1</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="logEntriesComboBox2">
+ <item>
+ <property name="text">
+ <string>Logging Variable 2</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="logEntriesComboBox3">
+ <item>
+ <property name="text">
+ <string>Logging Variable 3</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="logEntriesComboBox4">
+ <item>
+ <property name="text">
+ <string>Logging Variable 4</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="logEntriesComboBox5">
+ <item>
+ <property name="text">
+ <string>Logging Variable 5</string>
+ </property>
+ </item>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pb_startLog">
+ <property name="text">
+ <string>Start Logging</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="pb_stopLog">
+ <property name="text">
+ <string>Stop Logging</string>
+ </property>
+ </widget>
+ </item>
<item>
<layout class="QFormLayout" name="formLayout">
<property name="fieldGrowthPolicy">
@@ -1190,7 +1387,7 @@
<resources/>
<connections/>
<buttongroups>
- <buttongroup name="buttonGroup_2"/>
<buttongroup name="AngleRateButtonGroup"/>
+ <buttongroup name="buttonGroup_2"/>
</buttongroups>
</ui>
--
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