From 837e8438db1a2fe60d91e93ccbc335631f0cfd1f Mon Sep 17 00:00:00 2001
From: rhunt <rhunt@iastate.edu>
Date: Sun, 27 Mar 2022 20:50:55 +0200
Subject: [PATCH] merged
---
groundStation/gui/MicroCART/mainwindow.cpp | 217 ++++++++++++++++++---
groundStation/gui/MicroCART/mainwindow.h | 2 +
groundStation/gui/MicroCART/mainwindow.ui | 5 +-
3 files changed, 191 insertions(+), 33 deletions(-)
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index ff500b528..c82b64746 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -1,6 +1,9 @@
#include "mainwindow.h"
#include "ui_mainwindow.h"
+#include <bits/stdc++.h>
+#include <math.h>
+
#include <QFileDialog>
#include <QDesktopServices>
#include <QMessageBox>
@@ -288,23 +291,16 @@ void MainWindow::updatePosAtt()
// emit(getNodeOutput(ui->yAttitudeSelect->currentText()));
}
-void MainWindow::updateTracker(float x, float y, float z, float p, float r, float yaw)
+void MainWindow::updateTracker(float thrust, float pitch, float roll, float yaw, float pitchRate, float rollRate, float yawRate)
{
- // ui->xActual->setText(QString::number(x));
- // ui->yActual->setText(QString::number(y));
- // ui->zActual->setText(QString::number(z));
- ui->currPitchActual->setText(QString::number(p));
- ui->currRollActual->setText(QString::number(r));
+ ui->currThrustActual->setText(QString::number(thrust));
+ ui->currPitchActual->setText(QString::number(pitch));
+ ui->currRollActual->setText(QString::number(roll));
ui->currYawActual->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());
- // }
+ ui->currPitchRateActual->setText(QString::number(pitchRate));
+ ui->currRollRateActual->setText(QString::number(rollRate));
+ ui->currYawRateActual->setText(QString::number(yawRate));
+
}
void MainWindow::on_pbStart_clicked()
@@ -1059,35 +1055,183 @@ void MainWindow::on_gamepadPitchScale_valueChanged(int arg1)
void MainWindow::graphLogs(QStringList logs)
{
+ qInfo() << "start" << endl;
+
+ ui->dataPlot->addGraph();
+ ui->dataPlot->addGraph();
+ ui->dataPlot->addGraph();
+ ui->dataPlot->addGraph();
+ ui->dataPlot->addGraph();
+
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));
-
+ ui->dataPlot->graph(4)->setPen(QPen(Qt::yellow));
+
+ qInfo() << "color" << endl;
//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());
+ 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());
- for(int i=0; i< logs.size(); i++) {
+ qInfo() << "vector size" << endl;
+
+ QVector<std::string> tempConv;
+
+ for(int i=0; i<logs.size(); i++) {
+ qInfo() << "i:" << i << endl;
+ tempConv.append(logs.at(i).toStdString());
+ }
+ qInfo() << QString::fromStdString(tempConv.at(0)) << endl;
+ qInfo() << QString::fromStdString(tempConv.at(1)) << endl;
+
+ float xmax = -INFINITY;
+ float ymax = -INFINITY;
+ float ymin = INFINITY;
+ bool log0 = true;
+ bool log1 = true;
+ bool log2 = true;
+ bool log3 = true;
+ bool log4 = true;
+
+ for(int i=0; i<logs.size(); i++) {
//use tokenizer here
+ std::vector <std::string> tokens;
+ std::stringstream check1(tempConv.at(i));
+ std::string intermediate;
+ while(getline(check1, intermediate, ',')) {
+ tokens.push_back(intermediate);
+ }
+
+ qInfo() << logs.size() << endl;
+ qInfo() << "tokens " << i << " :\n " << endl;
+ qInfo() << QString::fromStdString(tokens[0]) << endl;
+ qInfo() << QString::fromStdString(tokens[1]) << endl;
+ qInfo() << QString::fromStdString(tokens[2]) << endl;
+ qInfo() << QString::fromStdString(tokens[3]) << endl;
+ qInfo() << QString::fromStdString(tokens[4]) << endl;
+ qInfo() << QString::fromStdString(tokens[5]) << endl;
+
+ //assign x and y values for log variables
+ if(tokens[1] != "NULL") {
+ x0[i] = std::stod(tokens[0]);
+ y0[i] = std::stod(tokens[1]);
+ if(y0[i]<ymin) {
+ ymin = y0[i];
+ }
+ if(y0[i]>ymax) {
+ ymax = y0[i];
+ }
+ if(i == logs.size()-1) {
+ xmax = x0[i];
+ }
+ }
+ else {
+ log0 = false;
+ }
+
+ qInfo() << ymin << endl;
+
+ if(tokens[2] != "NULL") {
+ 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];
+ }
+ if(i == logs.size()-1) {
+ xmax = x1[i];
+ }
+ }
+ else {
+ log1 = false;
+ }
+ if(tokens[3] != "NULL") {
+ x2[i] = std::stod(tokens[0]);
+ y2[i] = std::stod(tokens[3]);
+ if(y2[i]<ymin) {
+ ymin = y2[i];
+ }
+ if(y2[i]>ymax) {
+ ymax = y2[i];
+ }
+ if(i == logs.size()-1) {
+ xmax = x2[i];
+ }
+ }
+ else {
+ log2 = false;
+ }
+ if(tokens[4] != "NULL") {
+ x3[i] = std::stod(tokens[0]);
+ y3[i] = std::stod(tokens[4]);
+ if(y3[i]<ymin) {
+ ymin = y3[i];
+ }
+ if(y3[i]>ymax) {
+ ymax = y3[i];
+ }
+ if(i == logs.size()-1) {
+ xmax = x3[i];
+ }
+ }
+ else {
+ log3 = false;
+ }
+ if(tokens[5] != "NULL") {
+ x4[i] = std::stod(tokens[0]);
+ y4[i] = std::stod(tokens[5]);
+ if(y4[i]<ymin) {
+ ymin = y4[i];
+ }
+ if(y4[i]>ymax) {
+ ymax = y4[i];
+ }
+ if(i == logs.size()-1) {
+ xmax = x4[i];
+ }
+ }
+ else {
+ log4 = false;
+ }
+ qInfo() << "i: " << i << endl;
}
+ qInfo() << "yMin: " << ymin << endl;
+ qInfo() << "yMax: " << ymax << endl;
+ qInfo() << "xMax: " << xmax << endl;
+ qInfo() << x0 << endl;
+ qInfo() << y0 << endl;
+
//start graph and set data
- ui->dataPlot->addGraph();
- // ui->dataPlot->graph(0)->setData(x0, y0);
+
+ if(log0) {
+ ui->dataPlot->graph(0)->setData(x0, y0);
+ }
+ if(log1) {
+ ui->dataPlot->graph(1)->setData(x1, y1);
+ }
+ if(log2) {
+ ui->dataPlot->graph(2)->setData(x2, y2);
+ }
+ if(log3) {
+ ui->dataPlot->graph(3)->setData(x3, y3);
+ }
+ if(log4) {
+ ui->dataPlot->graph(4)->setData(x4, y4);
+ }
//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->xAxis->setLabel("Time");
+ ui->dataPlot->yAxis->setLabel("Value");
+ ui->dataPlot->xAxis->setRange(0, xmax);
+ ui->dataPlot->yAxis->setRange(ymin, ymax);
ui->dataPlot->replot();
}
@@ -1308,4 +1452,13 @@ void MainWindow::getLogEntryBoxChange5(QString text) {
ui->logEntriesComboBox1->removeItem(idx);
}
}
-}
\ No newline at end of file
+}
+
+void MainWindow::on_pb_stopLog_clicked()
+{
+
+ qInfo() << "Hello?" << endl;
+ QStringList test = {"0,10,50,25,NULL,NULL","1,NULL,NULL,NULL,NULL,NULL"};
+ graphLogs(test);
+
+}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 843c614e4..660cbef6b 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -172,6 +172,8 @@ private slots:
void getLogEntryBoxChange4(QString text);
void getLogEntryBoxChange5(QString text);
+ void on_pb_stopLog_clicked();
+
private:
Ui::MainWindow *ui;
QStandardItemModel * setpointList;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index b8e8daee5..64b5edd94 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -339,6 +339,9 @@
<height>26</height>
</rect>
</property>
+ <property name="decimals">
+ <number>3</number>
+ </property>
</widget>
</widget>
<widget class="QWidget" name="Gamepad">
@@ -1229,7 +1232,7 @@
<item row="0" column="0">
<widget class="QLabel" name="tsLabel">
<property name="text">
- <string>TS: </string>
+ <string>Curent Thrust:</string>
</property>
</widget>
</item>
--
GitLab