diff --git a/groundStation/Makefile b/groundStation/Makefile
index c3970786e8e22cf7f21643be048600d022e2ee61..e6f47733be3987f77905eecbc732979aa0891f72 100644
--- a/groundStation/Makefile
+++ b/groundStation/Makefile
@@ -34,7 +34,7 @@ FECOBJECTS = $(FECSOURCES:$(FESRCDIR)/%.c=$(OBJDIR)/%.o)
OBJECTS=$(CLIOBJECTS) $(BECOBJECTS) $(BECPPOBJECTS) $(FECOBJECTS)
# Default target
-all: quad logs objdir backend cli $(SYMLINKS) frontend.a
+all: quad logs objdir backend cli $(SYMLINKS) frontend.a GroundStation
quad:
$(MAKE) -C ../quad
@@ -69,6 +69,11 @@ vrpn/build:
mkdir -p src/vrpn/build
cd src/vrpn/build && cmake .. && make
+GroundStation:
+ cd gui/MicroCART && qmake-qt5
+ cd gui/MicroCART && make
+ ln -s gui/MicroCART/MicroCART GroundStation
+
logs:
mkdir -p logs
diff --git a/groundStation/gui/MicroCART/controlworker.cpp b/groundStation/gui/MicroCART/controlworker.cpp
index 0127485bcbd97be98b40c969001ee2bad26cbb51..aeca8d1abf37dfdd2e548aaaf28a94746e5f50e8 100644
--- a/groundStation/gui/MicroCART/controlworker.cpp
+++ b/groundStation/gui/MicroCART/controlworker.cpp
@@ -5,10 +5,11 @@
#include "graph_blocks.h"
#include "frontend_output.h"
#include <QProcess>
+#include <QDebug>
#include <err.h>
ControlWorker::ControlWorker(QObject *parent) :
- QObject(parent), conn(NULL)
+ QObject(parent), conn(NULL), nodeIdCache()
{
}
@@ -20,7 +21,12 @@ ControlWorker::~ControlWorker()
void ControlWorker::connectBackend()
{
- conn = ucart_backendConnect();
+ if (conn == NULL) {
+ conn = ucart_backendConnect();
+ emit (connected());
+ } else {
+ qInfo() << "Attempted to connect control worker when already connected!";
+ }
}
void ControlWorker::disconnectBackend()
@@ -28,6 +34,7 @@ void ControlWorker::disconnectBackend()
if (conn) {
ucart_backendDisconnect(conn);
conn = NULL;
+ emit (disconnected());
}
}
@@ -100,32 +107,46 @@ void ControlWorker::getNodes()
warn("fopen (/tmp/ucart-tmp-graph.dot)");
}
+ nodeIdCache.clear();
+ for (size_t i = 0; i < num_nodes; i++) {
+ nodeIdCache[nd[i].name] = nd[i];
+ }
+
/* And here's where I'd put a call to free_graph(), IF I HAD ONE! */
frontend_free_node_data(nd, num_nodes);
}
}
+frontend_node_data ControlWorker::getNodeId(QString node)
+{
+ if (nodeIdCache.contains(node)) {
+ return nodeIdCache[node];
+ } else {
+ frontend_node_data nd_invalid;
+ nd_invalid.block = -1;
+ nd_invalid.name = NULL;
+ nd_invalid.type = -1;
+ return nd_invalid;
+ }
+}
+
void ControlWorker::getParams(QString node)
{
if (conn) {
- frontend_node_data * nd = NULL;
- size_t num_nodes = 0;
- frontend_getnodes(conn, &nd, &num_nodes);
+ frontend_node_data nd = getNodeId(node);
+ if (nd.block == -1) {
+ return;
+ }
- for (size_t i = 0; i < num_nodes; i++) {
- if (QString(nd[i].name) == node) {
- QStringList params;
-
- /* 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));
- }
+ QStringList params;
+
+ /* Get type definition */
+ const struct graph_node_type * type = blockDefs[nd.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]));
}
- frontend_free_node_data(nd, num_nodes);
+ emit(gotParams(params));
}
}
@@ -134,77 +155,66 @@ void ControlWorker::getParams(QString node)
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);
+ frontend_node_data nd = getNodeId(node);
+ if (nd.block == -1) {
+ return;
+ }
- for (size_t i = 0; i < num_nodes; i++) {
- if (QString(nd[i].name) == node) {
- frontend_param_data pd;
- pd.block = nd[i].block;
+ frontend_param_data pd;
+ pd.block = nd.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(node, param, pd.value));
- }
- }
+ /* Get the type definition, then iterate through to find the param */
+ const struct graph_node_type * type = blockDefs[nd.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(node, param, pd.value));
}
}
- frontend_free_node_data(nd, num_nodes);
}
}
void ControlWorker::getNodeOutput(QString node)
{
if (conn) {
- frontend_node_data *nd = NULL;
- size_t num_nodes = 0;
+ frontend_node_data nd = getNodeId(node);
+ if (nd.block == -1) {
+ return;
+ }
- frontend_getnodes(conn, &nd, &num_nodes); for (size_t i = 0; i < num_nodes; i++) {
- if (QString(nd[i].name) == node) {
- frontend_output_data od;
- od.block = nd[i].block;
+ frontend_output_data od;
+ od.block = nd.block;
- od.output = 0; // TODO: Get rid of this assumption
+ od.output = 0; // TODO: Get rid of this assumption
- frontend_getoutput(conn, &od);
+ frontend_getoutput(conn, &od);
- emit(gotNodeOutput(node, od.value));
- }
- }
- frontend_free_node_data(nd, num_nodes);
+ emit(gotNodeOutput(node, od.value));
}
}
void ControlWorker::setParamValue(QString node, QString param, float value)
{
if (conn) {
- frontend_node_data * nd = NULL;
- size_t num_nodes = 0;
- frontend_getnodes(conn, &nd, &num_nodes);
+ frontend_node_data nd = getNodeId(node);
+ if (nd.block == -1) {
+ return;
+ }
- for (size_t i = 0; i < num_nodes; i++) {
- if (QString(nd[i].name) == node) {
- frontend_param_data pd;
- pd.block = nd[i].block;
+ frontend_param_data pd;
+ pd.block = nd.block;
- 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));
- }
- }
+ const struct graph_node_type * type = blockDefs[nd.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));
}
}
- frontend_free_node_data(nd, num_nodes);
}
}
diff --git a/groundStation/gui/MicroCART/controlworker.h b/groundStation/gui/MicroCART/controlworker.h
index c32f46e0d8c2dfb6506d44feed7c89c1731ce87f..d0e3b18086c295cc955a055260d0def4a5dfc925 100644
--- a/groundStation/gui/MicroCART/controlworker.h
+++ b/groundStation/gui/MicroCART/controlworker.h
@@ -3,13 +3,16 @@
#include <QObject>
#include <QStringList>
+#include <QMap>
#include "frontend_common.h"
+#include "frontend_nodes.h"
class ControlWorker : public QObject
{
Q_OBJECT
public:
explicit ControlWorker(QObject *parent = 0);
+ frontend_node_data getNodeId(QString node);
~ControlWorker();
signals:
@@ -20,6 +23,8 @@ signals:
void gotConstantBlocks(QStringList blocks);
void paramSet(QString node, QString param);
void graphRendered(QString graph);
+ void connected();
+ void disconnected();
public slots:
void connectBackend();
@@ -32,6 +37,7 @@ public slots:
private:
struct backend_conn * conn;
+ QMap<QString, frontend_node_data> nodeIdCache;
};
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 0c0b3ffdcc7d4e2cc0f8d748585cc0e5656ae517..5abedc40682eb8b1d085dffa33ca954c47f66aad 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -7,6 +7,7 @@
#include <QRegExp>
#include <QProcessEnvironment>
#include <QPixmap>
+#include <QProcess>
#include "trackerworker.h"
#include "controlworker.h"
@@ -23,7 +24,10 @@ MainWindow::MainWindow(QWidget *parent) :
sp_x(0.0f),
sp_y(0.0f),
sp_z(0.0f),
- trackerTimer(new QTimer(this))
+ trackerTimer(new QTimer(this)),
+ backendProcess(new QProcess(this)),
+ connectedWorkers(0),
+ workerStartTimer(new QTimer(this))
{
ui->setupUi(this);
@@ -33,8 +37,7 @@ MainWindow::MainWindow(QWidget *parent) :
topScene->addItem(quad);
- /* Set up environment variables */
- ui->socketPath->setText(QProcessEnvironment::systemEnvironment().value("UCART_SOCKET"));
+ workerStartTimer->setSingleShot(true);
/* Create a thread for workers */
QThread* workerThread = new QThread(this);
@@ -53,6 +56,8 @@ MainWindow::MainWindow(QWidget *parent) :
connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
quad, SLOT(updateQuad(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();
@@ -75,11 +80,25 @@ MainWindow::MainWindow(QWidget *parent) :
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 (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
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()));
@@ -153,33 +172,72 @@ void MainWindow::updateTracker(float x, float y, float z, float p, float r, floa
void MainWindow::on_pbStart_clicked()
{
- QProcessEnvironment::systemEnvironment().insert("UCART_SOCKET", ui->socketPath->text());
+ 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()
{
- QProcessEnvironment::systemEnvironment().insert("UCART_SOCKET", ui->socketPath->text());
- ui->pbStart->setEnabled(false);
- ui->pbConnect->setEnabled(false);
- ui->pbStop->setEnabled(true);
emit(connectWorkers());
}
void MainWindow::on_pbStop_clicked()
{
emit(disconnectWorkers());
- ui->pbStart->setEnabled(true);
- ui->pbConnect->setEnabled(true);
- ui->pbStop->setEnabled(false);
}
void MainWindow::on_chooseBackend_clicked()
{
QString backendPath = QFileDialog::getOpenFileName(this,
tr("Path to Backend Executable"));
- ui->backendPath_2->setText(backendPath);
+ ui->backendPath->setText(backendPath);
}
@@ -488,11 +546,6 @@ void MainWindow::on_pbLoadWaypoints_clicked()
}
}
-void MainWindow::on_socketPath_returnPressed()
-{
- QProcessEnvironment::systemEnvironment().insert("UCART_SOCKET", ui->socketPath->text());
-}
-
void MainWindow::on_xSetpoint_returnPressed()
{
sp_x = ui->xSetpoint->text().toFloat();
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index a67d22907ec0000d4beeda473f132979949994a8..db5534abe83d6d4301fe593f7db2531a591c469b 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -74,8 +74,6 @@ private slots:
void on_pbLoadWaypoints_clicked();
- void on_socketPath_returnPressed();
-
void on_xSetpoint_returnPressed();
void on_ySetpoint_returnPressed();
@@ -88,6 +86,13 @@ private slots:
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;
@@ -96,6 +101,9 @@ private:
float sp_y;
float sp_z;
QTimer * trackerTimer;
+ QTimer * workerStartTimer;
+ QProcess * backendProcess;
+ int connectedWorkers;
};
#endif // MAINWINDOW_H
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index da97a7a4baf0599c025dbd6d81e62e06b90abefb..1fc6dfc6af17e984d7f1a9969c46484d60c16557 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -26,42 +26,24 @@
</attribute>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
- <layout class="QFormLayout" name="formLayout_3">
- <item row="0" column="0">
- <widget class="QLabel" name="socketPathLabel">
- <property name="text">
- <string>UCART_SOCKET_PATH</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLineEdit" name="socketPath">
+ <layout class="QHBoxLayout" name="horizontalLayout_8">
+ <item>
+ <widget class="QLineEdit" name="backendPath">
<property name="enabled">
- <bool>false</bool>
+ <bool>true</bool>
</property>
<property name="text">
- <string/>
+ <string>./BackEnd</string>
</property>
</widget>
</item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_8">
<item>
<widget class="QPushButton" name="chooseBackend">
<property name="enabled">
- <bool>false</bool>
+ <bool>true</bool>
</property>
<property name="text">
- <string>Choose Backend</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLineEdit" name="backendPath_2">
- <property name="enabled">
- <bool>false</bool>
+ <string>Choose...</string>
</property>
</widget>
</item>
@@ -72,7 +54,7 @@
<item>
<widget class="QPushButton" name="pbStart">
<property name="enabled">
- <bool>false</bool>
+ <bool>true</bool>
</property>
<property name="text">
<string>Start</string>
@@ -115,17 +97,11 @@
</layout>
</item>
<item>
- <spacer name="verticalSpacer">
+ <widget class="Line" name="line_7">
<property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>155</height>
- </size>
+ <enum>Qt::Horizontal</enum>
</property>
- </spacer>
+ </widget>
</item>
<item>
<widget class="QTextEdit" name="vConsole">
diff --git a/groundStation/gui/MicroCART/trackerworker.cpp b/groundStation/gui/MicroCART/trackerworker.cpp
index 13d9c15bccb202ee101886e8a7adb298f1f7da5f..7eb9456d25193a88039670730718500b6edf8d51 100644
--- a/groundStation/gui/MicroCART/trackerworker.cpp
+++ b/groundStation/gui/MicroCART/trackerworker.cpp
@@ -3,6 +3,7 @@
#include "frontend_common.h"
#include "frontend_tracker.h"
#include "quaditem.h"
+#include <QDebug>
TrackerWorker::TrackerWorker() :
QObject(), conn(NULL)
@@ -16,7 +17,12 @@ TrackerWorker::~TrackerWorker()
void TrackerWorker::connectBackend()
{
- conn = ucart_backendConnect();
+ if (conn == NULL) {
+ conn = ucart_backendConnect();
+ emit (connected());
+ } else {
+ qInfo() << "Attempted to connect trackerworker when already connected!";
+ }
}
void TrackerWorker::disconnectBackend()
@@ -24,6 +30,7 @@ void TrackerWorker::disconnectBackend()
if (conn) {
ucart_backendDisconnect(conn);
conn = NULL;
+ emit (disconnected());
}
}
diff --git a/groundStation/gui/MicroCART/trackerworker.h b/groundStation/gui/MicroCART/trackerworker.h
index b263d6078751612cfab615e096b3776a87a6c971..8abbacc51a3fec3b49462f0602f411e267d41736 100644
--- a/groundStation/gui/MicroCART/trackerworker.h
+++ b/groundStation/gui/MicroCART/trackerworker.h
@@ -15,6 +15,8 @@ public:
signals:
void finished(float, float, float, float, float, float);
+ void connected();
+ void disconnected();
public slots:
void process();