From 661fd82575250b3e2c2786d8cb182b9eb41d8fbd Mon Sep 17 00:00:00 2001
From: Jake <j@kedrahos.com>
Date: Sun, 9 Apr 2017 17:37:45 -0500
Subject: [PATCH] Control graph param setting works!
---
groundStation/gui/MicroCART/MicroCART.pro | 23 ++++++
.../gui/MicroCART/MicroCART.pro.user | 31 +++++---
groundStation/gui/MicroCART/controlworker.cpp | 73 +++++++++++++++----
groundStation/gui/MicroCART/controlworker.h | 6 +-
groundStation/gui/MicroCART/mainwindow.cpp | 68 +++++++++++++++--
groundStation/gui/MicroCART/mainwindow.h | 12 +++
groundStation/gui/MicroCART/mainwindow.ui | 56 ++++++++++++--
7 files changed, 232 insertions(+), 37 deletions(-)
diff --git a/groundStation/gui/MicroCART/MicroCART.pro b/groundStation/gui/MicroCART/MicroCART.pro
index 54734fd0f..e650809da 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro
+++ b/groundStation/gui/MicroCART/MicroCART.pro
@@ -26,3 +26,26 @@ HEADERS += mainwindow.h \
controlworker.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
diff --git a/groundStation/gui/MicroCART/MicroCART.pro.user b/groundStation/gui/MicroCART/MicroCART.pro.user
index 02d705461..a021bbe59 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro.user
+++ b/groundStation/gui/MicroCART/MicroCART.pro.user
@@ -1,10 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 3.2.2, 2017-03-28T12:37:18. -->
+<!-- Written by QtCreator 4.0.1, 2017-04-09T15:34:48. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
- <value type="QByteArray">{9578df81-eac2-4831-8e1a-80abf90f9c0f}</value>
+ <value type="QByteArray">{ec588c71-c0cc-43f4-8233-a07fa24de8ad}</value>
</data>
<data>
<variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -40,6 +40,7 @@
<value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
<value type="bool" key="EditorConfiguration.ShowMargin">false</value>
<value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
+ <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
<value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
<value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
<value type="int" key="EditorConfiguration.TabSize">8</value>
@@ -60,12 +61,12 @@
<valuemap type="QVariantMap">
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{199b6d60-acb7-4eec-805c-8e68ddaba3f6}</value>
+ <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{c6f8ca21-0eb9-4188-b2e8-fae8725afa1b}</value>
<value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
<value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
<value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
- <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/jake/MicroCART_17-18/groundStation/gui/build-MicroCART-Desktop-Debug</value>
+ <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/jake/Microcart_17-18/groundStation/gui/build-MicroCART-Desktop-Debug</value>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
@@ -73,9 +74,10 @@
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">QtProjectManager.QMakeBuildStep</value>
<value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibrary">false</value>
- <value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibraryAuto">true</value>
<value type="QString" key="QtProjectManager.QMakeBuildStep.QMakeArguments"></value>
<value type="bool" key="QtProjectManager.QMakeBuildStep.QMakeForced">false</value>
+ <value type="bool" key="QtProjectManager.QMakeBuildStep.SeparateDebugInfo">false</value>
+ <value type="bool" key="QtProjectManager.QMakeBuildStep.UseQtQuickCompiler">false</value>
</valuemap>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.1">
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
@@ -124,7 +126,7 @@
<value type="bool" key="Qt4ProjectManager.Qt4BuildConfiguration.UseShadowBuild">true</value>
</valuemap>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.1">
- <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/jake/MicroCART_17-18/groundStation/gui/build-MicroCART-Desktop-Release</value>
+ <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/jake/Microcart_17-18/groundStation/gui/build-MicroCART-Desktop-Release</value>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
@@ -132,9 +134,10 @@
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">QtProjectManager.QMakeBuildStep</value>
<value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibrary">false</value>
- <value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibraryAuto">true</value>
<value type="QString" key="QtProjectManager.QMakeBuildStep.QMakeArguments"></value>
<value type="bool" key="QtProjectManager.QMakeBuildStep.QMakeForced">false</value>
+ <value type="bool" key="QtProjectManager.QMakeBuildStep.SeparateDebugInfo">false</value>
+ <value type="bool" key="QtProjectManager.QMakeBuildStep.UseQtQuickCompiler">false</value>
</valuemap>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.1">
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
@@ -198,6 +201,11 @@
<value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.PluginSettings"/>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+ <value type="bool" key="Analyzer.QmlProfiler.AggregateTraces">false</value>
+ <value type="bool" key="Analyzer.QmlProfiler.FlushEnabled">false</value>
+ <value type="uint" key="Analyzer.QmlProfiler.FlushInterval">1000</value>
+ <value type="QString" key="Analyzer.QmlProfiler.LastTraceFile"></value>
+ <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
<valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
<value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
<value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
@@ -236,12 +244,13 @@
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">MicroCART</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/jake/MicroCART_17-18/groundStation/gui/MicroCART/MicroCART.pro</value>
+ <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/jake/Microcart_17-18/groundStation/gui/MicroCART/MicroCART.pro</value>
+ <value type="bool" key="QmakeProjectManager.QmakeRunConfiguration.UseLibrarySearchPath">true</value>
<value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.CommandLineArguments"></value>
<value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.ProFile">MicroCART.pro</value>
<value type="bool" key="Qt4ProjectManager.Qt4RunConfiguration.UseDyldImageSuffix">false</value>
- <value type="bool" key="Qt4ProjectManager.Qt4RunConfiguration.UseTerminal">false</value>
<value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.UserWorkingDirectory"></value>
+ <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.UserWorkingDirectory.default">/home/jake/Microcart_17-18/groundStation/gui/build-MicroCART-Desktop-Debug</value>
<value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
<value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
@@ -258,10 +267,10 @@
</data>
<data>
<variable>ProjectExplorer.Project.Updater.FileVersion</variable>
- <value type="int">16</value>
+ <value type="int">18</value>
</data>
<data>
<variable>Version</variable>
- <value type="int">16</value>
+ <value type="int">18</value>
</data>
</qtcreator>
diff --git a/groundStation/gui/MicroCART/controlworker.cpp b/groundStation/gui/MicroCART/controlworker.cpp
index 69e74b176..31bce2635 100644
--- a/groundStation/gui/MicroCART/controlworker.cpp
+++ b/groundStation/gui/MicroCART/controlworker.cpp
@@ -1,6 +1,7 @@
#include "controlworker.h"
#include "frontend_nodes.h"
#include "frontend_param.h"
+#include "graph_blocks.h"
ControlWorker::ControlWorker(QObject *parent) :
QObject(parent), conn(NULL)
@@ -8,11 +9,6 @@ ControlWorker::ControlWorker(QObject *parent) :
}
-ControlWorker::ControlWorker() :
- QObject(), conn(NULL)
-{
-}
-
ControlWorker::~ControlWorker()
{
disconnectBackend();
@@ -31,22 +27,26 @@ void ControlWorker::disconnectBackend()
}
}
-ControlWorker::getNodes()
+void ControlWorker::getNodes()
{
if (conn) {
frontend_node_data * nd = NULL;
size_t num_nodes = 0;
frontend_getnodes(conn, &nd, &num_nodes);
QStringList nodes;
+ QStringList const_block_nodes;
for (size_t i = 0; i < num_nodes; i++) {
- nodes << QString(nd[i].name);
+ nodes.append(QString(nd[i].name));
+ if (nd[i].type == BLOCK_CONSTANT) {
+ const_block_nodes.append(nd[i].name);
+ }
}
frontend_free_node_data(nd, num_nodes);
emit(gotNodes(nodes));
}
}
-ControlWorker::getParams(QString node)
+void ControlWorker::getParams(QString node)
{
if (conn) {
frontend_node_data * nd = NULL;
@@ -56,16 +56,52 @@ ControlWorker::getParams(QString node)
for (size_t i = 0; i < num_nodes; i++) {
if (QString(nd[i].name) == node) {
QStringList params;
- // TODO: Get list of params based on node type
+
+ /* Get type definition */
+ const struct graph_node_type * type = blockDefs[nd[i].type];
+ /* Iterate through param names to append, and then emit signal */
+ for (ssize_t j = 0; j < type->n_params; j++) {
+ params.append(QString(type->param_names[j]));
+ }
emit(gotParams(params));
}
}
- fontend_free_node_data(nd, num_nodes);
+ frontend_free_node_data(nd, num_nodes);
}
}
-ControlWorker::getParamValue(QString node, QString param)
+
+void ControlWorker::getParamValue(QString node, QString param)
+{
+ if (conn) {
+ frontend_node_data * nd = NULL;
+ size_t num_nodes = 0;
+ frontend_getnodes(conn, &nd, &num_nodes);
+
+ for (size_t i = 0; i < num_nodes; i++) {
+ if (QString(nd[i].name) == node) {
+ frontend_param_data pd;
+ pd.block = nd[i].block;
+
+ /* Get the type definition, then iterate through to find the param */
+ const struct graph_node_type * type = blockDefs[nd[i].type];
+ for (ssize_t j = 0; j < type->n_params; j++) {
+ /* Found param */
+ if (QString(type->param_names[j]) == param) {
+ /* Set pd.param and finish the job */
+ pd.param = j;
+ frontend_getparam(conn, &pd);
+ emit(gotParamValue(pd.value));
+ }
+ }
+ }
+ }
+ frontend_free_node_data(nd, num_nodes);
+ }
+}
+
+void ControlWorker::setParamValue(QString node, QString param, float value)
{
if (conn) {
frontend_node_data * nd = NULL;
@@ -76,11 +112,18 @@ ControlWorker::getParamValue(QString node, QString param)
if (QString(nd[i].name) == node) {
frontend_param_data pd;
pd.block = nd[i].block;
- pd.param = 0; //TODO: Map string param to param ID based on block type? (Might not be needed...)
- frontend_getparam(conn, &pd);
- emit(gotParamValue(pd.value));
+
+ const struct graph_node_type * type = blockDefs[nd[i].type];
+ for (ssize_t j = 0; j < type->n_params; j++) {
+ if (QString(type->param_names[j]) == param) {
+ pd.param = j;
+ pd.value = value;
+ frontend_setparam(conn, &pd);
+ emit(paramSet(node, param));
+ }
+ }
}
}
- fontend_free_node_data(nd, num_nodes);
+ frontend_free_node_data(nd, num_nodes);
}
}
diff --git a/groundStation/gui/MicroCART/controlworker.h b/groundStation/gui/MicroCART/controlworker.h
index 0568036a0..c27110047 100644
--- a/groundStation/gui/MicroCART/controlworker.h
+++ b/groundStation/gui/MicroCART/controlworker.h
@@ -2,6 +2,7 @@
#define CONTROLWORKER_H
#include <QObject>
+#include <QStringList>
#include "frontend_common.h"
class ControlWorker : public QObject
@@ -9,11 +10,14 @@ class ControlWorker : public QObject
Q_OBJECT
public:
explicit ControlWorker(QObject *parent = 0);
+ ~ControlWorker();
signals:
void gotNodes(QStringList nodes);
void gotParams(QStringList params);
void gotParamValue(float value);
+ void gotConstantBlocks(QStringList blocks);
+ void paramSet(QString node, QString param);
public slots:
void connectBackend();
@@ -21,7 +25,7 @@ public slots:
void getNodes();
void getParams(QString node);
void getParamValue(QString node, QString param);
-
+ void setParamValue(QString node, QString name, float value);
private:
struct backend_conn * conn;
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 8aeecce1a..3b2ac7dba 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -7,6 +7,7 @@
#include "wrappers.h"
#include "trackerworker.h"
+#include "controlworker.h"
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
@@ -35,6 +36,19 @@ MainWindow::MainWindow(QWidget *parent) :
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(float)), this, SLOT (newParamValue(float)));
+ connect(controlWorker, SIGNAL (gotConstantBlocks(QStringList)), this, SLOT (newConstantBlocks(QStringList)));
+ connect(controlWorker, SIGNAL (paramSet(QString, QString)), controlWorker, SLOT (getParamValue(QString, QString)));
+
+ /* Signals to control worker */
+ connect(findChild<QPushButton *>("pbControlRefresh"), SIGNAL (clicked()), controlWorker, SLOT (getNodes()));
+ connect(findChild<QComboBox *>("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 and disconnect from backend when signals emitted */
connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
@@ -49,9 +63,7 @@ MainWindow::MainWindow(QWidget *parent) :
/* Start the things */
trackerTimer->start(300);
workerThread->start();
-
- /* Create a timer to poll stdout and populate virtual console */
- QTimer * consoleTimer = new QTimer(this);
+ cwThread->start();
}
MainWindow::~MainWindow()
@@ -65,9 +77,7 @@ void MainWindow::updateConsole()
char buf[256];
size_t len = 0;
len = readBackend(backendPipe, buf, len);
- printf("%d\n", len);
if (len > 0) {
- printf("From pipe: %s", buf);
QLineEdit * con = findChild<QLineEdit *>("vConsole");
con->setText(con->text().append(buf));
}
@@ -121,3 +131,51 @@ void MainWindow::on_chooseBackend_clicked()
tr("Path to Backend Executable"));
findChild<QLineEdit *>("backendPath")->setText(backendPath);
}
+
+
+void MainWindow::newNodes(QStringList blocks)
+{
+ QComboBox * select = findChild<QComboBox *>("nodeSelect");
+ select->clear(); /* Hopefully this clears the list */
+ select->addItems(blocks);
+}
+
+
+void MainWindow::newConstantBlocks(QStringList blocks)
+{
+ QComboBox * select = findChild<QComboBox *>("xSetpointSelect");
+ select->clear(); /* Hopefully this clears the list */
+ select->addItems(blocks);
+
+ select = findChild<QComboBox *>("ySetpointSelect");
+ select->clear(); /* Hopefully this clears the list */
+ select->addItems(blocks);
+
+ select = findChild<QComboBox *>("zSetpointSelect");
+ select->clear(); /* Hopefully this clears the list */
+ select->addItems(blocks);
+}
+
+void MainWindow::newParams(QStringList params)
+{
+ QComboBox * select = findChild<QComboBox *>("paramSelect");
+ select->clear(); /* Hopefully this clears the list */
+ select->addItems(params);
+}
+
+void MainWindow::newParamValue(float val)
+{
+ findChild<QLineEdit *>("paramValue")->setText(QString::number(val));
+}
+
+void MainWindow::on_paramSelect_currentIndexChanged(const QString &arg1)
+{
+ emit(getParamValue(findChild<QComboBox *>("nodeSelect")->currentText(), arg1));
+}
+
+void MainWindow::on_paramValue_returnPressed()
+{
+ emit (setParamValue(findChild<QComboBox *>("nodeSelect")->currentText(),
+ findChild<QComboBox *>("paramSelect")->currentText(),
+ findChild<QLineEdit *>("paramValue")->text().toFloat()));
+}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 042e5f73c..ddcee0d96 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -2,6 +2,7 @@
#define MAINWINDOW_H
#include <QMainWindow>
+#include <QStringList>
namespace Ui {
class MainWindow;
@@ -18,6 +19,8 @@ public:
signals:
void connectWorkers();
void disconnectWorkers();
+ void getParamValue(QString node, QString param);
+ void setParamValue(QString node, QString param, float value);
private slots:
void on_pbStart_clicked();
@@ -32,6 +35,15 @@ private slots:
void updateConsole();
+ void newNodes(QStringList blocks);
+ void newParams(QStringList params);
+ void newParamValue(float val);
+ void newConstantBlocks(QStringList blocks);
+
+ void on_paramSelect_currentIndexChanged(const QString &arg1);
+
+ void on_paramValue_returnPressed();
+
private:
Ui::MainWindow *ui;
pid_t backendPid;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 6aa4020cc..f278a0d3f 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -30,7 +30,7 @@
</sizepolicy>
</property>
<property name="currentIndex">
- <number>2</number>
+ <number>0</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -327,20 +327,34 @@
<widget class="QComboBox" name="paramSelect"/>
</item>
<item>
- <widget class="QLabel" name="label_3">
+ <widget class="QLineEdit" name="paramValue">
<property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </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>Value:</string>
+ <string>X Setpoint</string>
</property>
</widget>
</item>
<item>
- <widget class="QLineEdit" name="paramValue">
+ <widget class="QComboBox" name="xSetpointSelect">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -349,6 +363,38 @@
</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>
</layout>
</item>
<item>
--
GitLab