From 8eba5b0fd30ef70ab0894f44f442646f89d53a49 Mon Sep 17 00:00:00 2001
From: C-Glick <colton.glick@gmail.com>
Date: Tue, 29 Mar 2022 04:32:20 -0500
Subject: [PATCH] i need sleep :))))))))) live graphing works better
---
crazyflie_groundstation/loggingBlocks.txt | 12 +-
groundStation/gui/MicroCART/MicroCART.pro | 6 +
groundStation/gui/MicroCART/logworker.cpp | 141 +++++-----
groundStation/gui/MicroCART/logworker.h | 11 +-
groundStation/gui/MicroCART/mainwindow.cpp | 285 +++++----------------
groundStation/gui/MicroCART/mainwindow.h | 18 +-
groundStation/gui/MicroCART/mainwindow.ui | 2 +-
7 files changed, 163 insertions(+), 312 deletions(-)
diff --git a/crazyflie_groundstation/loggingBlocks.txt b/crazyflie_groundstation/loggingBlocks.txt
index 1affed75f..c0b01846e 100644
--- a/crazyflie_groundstation/loggingBlocks.txt
+++ b/crazyflie_groundstation/loggingBlocks.txt
@@ -1,10 +1,10 @@
START BLOCK
0
-gyro
-30
-gyro.x
-gyro.y
-gyro.z
+stateEstimate
+150
+stateEstimate.roll
+stateEstimate.pitch
+stateEstimate.yaw
END BLOCK
START BLOCK
@@ -32,4 +32,4 @@ pwm
pwm.m1_pwm
pwm.m2_pwm
pwm.m3_pwm
-END BLOCK
\ No newline at end of file
+END BLOCK
diff --git a/groundStation/gui/MicroCART/MicroCART.pro b/groundStation/gui/MicroCART/MicroCART.pro
index 65705f20d..fda7b62d7 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro
+++ b/groundStation/gui/MicroCART/MicroCART.pro
@@ -4,10 +4,16 @@
#
#-------------------------------------------------
+DEFINES += QCUSTOMPLOT_USE_OPENGL
+
+
QT += core gui gamepad
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets printsupport
+CONFIG += debug
+
+
TARGET = MicroCART
TEMPLATE = app
diff --git a/groundStation/gui/MicroCART/logworker.cpp b/groundStation/gui/MicroCART/logworker.cpp
index 4cdfccdac..2426afe21 100644
--- a/groundStation/gui/MicroCART/logworker.cpp
+++ b/groundStation/gui/MicroCART/logworker.cpp
@@ -43,92 +43,90 @@ void LogWorker::disconnectBackend()
}
}
-void LogWorker::startLogging(QString filename) {
- std::string logFileName = filename.toStdString();
- std::ifstream logFile;
+void LogWorker::openLogFile(QString filename){
+ logFileName = filename.toStdString();
+}
+
+
+void LogWorker::startLogging() {
+ keepLogging = true;
+
logFile.open(logFileName.c_str(), std::fstream::ate);
- //std::streamoff p = 0;
+
std::string line;
std::vector<std::string> tokens;
std::string temp;
std::stringstream stream;
- QStringList results;
- QString wantedLine;
- uint8_t lineCnt = 0;
+
+ QVector<QVector<double>> x;
+ QVector<QVector<double>> y;
+ for(int i=0; i<5; i++){
+ x.append(QVector<double>());
+ y.append(QVector<double>());
+ }
+
+ int valCnt = 0;
uint8_t nanCnt = 0;
- // while(true) {
- // logFile.seekg(p);
- // while(std::getline(logFile, line)) {
- // QString result(line.c_str());
- // qInfo() << result;
- // if(logFile.tellg() == -1) {
- // p = p + line.size();
- // }
- // else {
- // p = logFile.tellg();
- // }
- // }
- // logFile.clear();
- // }
-
- while(true) {
- while(std::getline(logFile, line)) {
- //QString result(line.c_str());
- //qInfo() << result;
- if(logFlag == 0) {
- usleep(1000);
+ while(keepLogging) {
+ while(std::getline(logFile, line) && keepLogging) {
+
+ if(line.at(0) == '#') {
continue;
}
- else if(line.at(0) == '#') {
-
+ stream.str(line);
+ while(getline(stream, temp, '\t')) {
+ tokens.push_back(temp);
}
- else if(logFlag == 1) {
- lineCnt++;
- stream.str(line);
- while(getline(stream, temp, '\t')) {
- tokens.push_back(temp);
+
+ for(int i = 0; i < 5; i++) {
+ if(logColumns.at(i) == -1) {
+ //do not want this column value
}
- wantedLine.append(tokens.at(0).c_str());
- wantedLine.append(",");
- for(int i = 0; i < 5; i++) {
- if(logColumns.at(i) == -1) {
- wantedLine.append("NULL,");
- }
- else {
- wantedLine.append(tokens.at(logColumns.at(i)).c_str());
- wantedLine.append(",");
- if(!(tokens.at(logColumns.at(i)).compare("nan"))) {
- nanCnt++;
+ else {
+ //do want this column value
+ if(!(tokens.at(logColumns.at(i)).compare("nan"))) {
+ //nan, dont plot
+ nanCnt++;
+ }else{
+ //contains value that we want to plot
+ double xVal = std::stod(tokens.at(0));
+ double yVal = std::stod(tokens.at(logColumns.at(i)));
+ //check if y value (variable val) has changed since last value, if so plot it
+ if(y[i].size() == 0 || y[i].last() != yVal){
+ y[i].append(yVal);
+ //also capture time x
+ x[i].append(xVal);
+ valCnt++;
}
}
}
- if(nanCnt >= 5) {
- nanCnt = 0;
- wantedLine = "";
- tokens.clear();
- stream.str("");
- stream.clear();
- lineCnt--;
- continue;
- }
- results.append(wantedLine);
- wantedLine = "";
+ }
+ if(nanCnt >= 2) {
+ nanCnt = 0;
tokens.clear();
stream.str("");
stream.clear();
- nanCnt = 0;
- if(lineCnt > 8) {
- emit(gotLogData(results, false));
- lineCnt = 0;
- results.clear();
- }
+ continue;
}
- else if(logFlag == 2) {
- emit(gotLogData(results, true));
- results.clear();
- logFlag = 0;
+ tokens.clear();
+ stream.str("");
+ stream.clear();
+ nanCnt = 0;
+
+ //if new values to plot, send to main window
+ if(valCnt > 2) {
+
+ emit(gotLogData(x, y, false));
+
+ //clear old values
+ for(int i=0; i<5; i++){
+ x[i].clear();
+ y[i].clear();
+ }
+ valCnt = 0;
}
+
}
if(!logFile.eof()) {
break;
@@ -136,4 +134,11 @@ void LogWorker::startLogging(QString filename) {
logFile.clear();
usleep(150000);
}
-}
\ No newline at end of file
+
+ logFile.close();
+}
+
+void LogWorker::stopLogging(){
+ this->keepLogging = false;
+ logFile.clear();
+}
diff --git a/groundStation/gui/MicroCART/logworker.h b/groundStation/gui/MicroCART/logworker.h
index 667e229c6..d4ebe443b 100644
--- a/groundStation/gui/MicroCART/logworker.h
+++ b/groundStation/gui/MicroCART/logworker.h
@@ -24,11 +24,12 @@ class LogWorker : public QObject
Q_OBJECT
public:
explicit LogWorker(QObject *parent = nullptr);
+ void stopLogging();
~LogWorker();
signals:
- void gotLogData(QStringList results, bool lastSet);
+ void gotLogData(QVector<QVector<double>> x, QVector<QVector<double>> y, bool lastSet);
void connected();
void disconnected();
@@ -36,13 +37,17 @@ signals:
public slots:
void connectBackend();
void disconnectBackend();
- void startLogging(QString filename);
+ void openLogFile(QString filename);
+ void startLogging();
private:
struct backend_conn * conn;
+ std::ifstream logFile;
+ std::string logFileName;
+
public:
- int logFlag = 0;
+ bool keepLogging = false;
std::vector<int8_t> logColumns;
};
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 3e5529b4c..7737b9bf5 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -14,6 +14,9 @@
#include <QPixmap>
#include <QProcess>
#include <QDebug>
+#include <algorithm>
+#include <QVector>
+
#include "controlworker.h"
#include "crazyflieworker.h"
@@ -40,6 +43,7 @@ MainWindow::MainWindow(QWidget *parent) :
ui->setupUi(this);
qRegisterMetaType<int8_t>("int8_t");
+ qRegisterMetaType<QVector<QVector<double>>>("QVector<QVector<double>>");
QGraphicsScene *posScene = new QGraphicsScene(this);
@@ -83,17 +87,14 @@ MainWindow::MainWindow(QWidget *parent) :
connect(ui->logEntriesComboBox3, SIGNAL (currentTextChanged(QString)), this, SLOT (getLogEntryBoxChange3(QString)));
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, 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()));
connect(ui->pb_logBlockResume, SIGNAL (clicked()), this, SLOT(on_pb_lbResume()));
connect(ui->pb_logBlockPause, SIGNAL (clicked()), this, SLOT(on_pb_lbPause()));
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, bool)), this, SLOT(graphLogData(QStringList, bool)));
+ connect(logWorker, SIGNAL (gotLogData(QVector<QVector<double>>, QVector<QVector<double>>, bool)), this, SLOT(graphLogs(QVector<QVector<double>>, QVector<QVector<double>>, 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)));
@@ -101,7 +102,8 @@ MainWindow::MainWindow(QWidget *parent) :
connect(crazyflieWorker, SIGNAL (changeLogBlock_comboBox(QStringList)), SLOT(gotLogBlockNames(QStringList)));
connect(crazyflieWorker, SIGNAL (gotActiveLogVariables(QStringList)), this, SLOT(fillLogVariablesBox(QStringList)));
connect(crazyflieWorker, SIGNAL (gotLogFile(QString)), this, SLOT (receiveLogFile(QString)));
- connect(this, SIGNAL (beginReadingLogFile(QString)), logWorker, SLOT(startLogging(QString)));
+ connect(this, SIGNAL (beginReadingLogFile(QString)), logWorker, SLOT(openLogFile(QString)));
+ connect(this, SIGNAL(sendStartLogging()), logWorker, SLOT(startLogging()));
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)));
@@ -160,6 +162,8 @@ MainWindow::MainWindow(QWidget *parent) :
cfThread->start();
logThread->start();
+
+ /* setup logging ui */
ui->pb_getParam->setEnabled(false);
ui->pb_setParam->setEnabled(false);
ui->pb_logBlockRefresh->setEnabled(false);
@@ -176,6 +180,40 @@ MainWindow::MainWindow(QWidget *parent) :
logVar4 = "Logging Variable 4";
logVar5 = "Logging Variable 5";
+ ui->dataPlot->setOpenGl(true);
+
+ qInfo() << ui->dataPlot->openGl();
+
+ ui->dataPlot->addGraph();
+ ui->dataPlot->addGraph();
+ ui->dataPlot->addGraph();
+ ui->dataPlot->addGraph();
+ ui->dataPlot->addGraph();
+
+ //set colors and dots
+ ui->dataPlot->graph(0)->setPen(QPen(Qt::blue, 1));
+ ui->dataPlot->graph(0)->setScatterStyle(QCPScatterStyle::ssDisc);
+ ui->dataPlot->graph(1)->setPen(QPen(Qt::red, 1));
+ ui->dataPlot->graph(1)->setScatterStyle(QCPScatterStyle::ssDisc);
+ ui->dataPlot->graph(2)->setPen(QPen(Qt::green, 1));
+ ui->dataPlot->graph(2)->setScatterStyle(QCPScatterStyle::ssDisc);
+ ui->dataPlot->graph(3)->setPen(QPen(Qt::black, 1));
+ ui->dataPlot->graph(3)->setScatterStyle(QCPScatterStyle::ssDisc);
+ ui->dataPlot->graph(4)->setPen(QPen(Qt::darkMagenta, 1));
+ ui->dataPlot->graph(4)->setScatterStyle(QCPScatterStyle::ssDisc);
+
+ ui->dataPlot->xAxis->setLabel("Time (s)");
+ ui->dataPlot->yAxis->setLabel("Value");
+ ui->dataPlot->setInteractions(QCP::iRangeDrag | QCP::iRangeZoom);
+
+ ui->logEntriesComboBox1->setStyleSheet("QComboBox { color: blue; }");
+ ui->logEntriesComboBox2->setStyleSheet("QComboBox { color: red; }");
+ ui->logEntriesComboBox3->setStyleSheet("QComboBox { color: green; }");
+ ui->logEntriesComboBox4->setStyleSheet("QComboBox { color: black; }");
+ ui->logEntriesComboBox5->setStyleSheet("QComboBox { color: darkMagenta; }");
+
+
+
/* start gamepad monitor */
gamepadMonitor = new GamepadMonitor();
if(gamepadMonitor->isGamepadConnected()){
@@ -630,219 +668,25 @@ void MainWindow::on_gamepadPitchScale_valueChanged(int arg1)
ui->pitchVizBar->setMaximum(std::abs(arg1));
}
-void MainWindow::graphLogs(QStringList logs, bool lastSet)
-{
- ui->dataPlot->addGraph();
- ui->dataPlot->addGraph();
- ui->dataPlot->addGraph();
- ui->dataPlot->addGraph();
- ui->dataPlot->addGraph();
-
- //set colors
- ui->dataPlot->graph(0)->setPen(QPen(Qt::blue, 2));
- ui->dataPlot->graph(1)->setPen(QPen(Qt::red, 2));
- ui->dataPlot->graph(2)->setPen(QPen(Qt::green, 2));
- ui->dataPlot->graph(3)->setPen(QPen(Qt::black, 2));
- ui->dataPlot->graph(4)->setPen(QPen(Qt::darkMagenta, 2));
-
- ui->logEntriesComboBox1->setStyleSheet("QComboBox { color: blue; }");
- ui->logEntriesComboBox2->setStyleSheet("QComboBox { color: red; }");
- ui->logEntriesComboBox3->setStyleSheet("QComboBox { color: green; }");
- ui->logEntriesComboBox4->setStyleSheet("QComboBox { color: black; }");
- ui->logEntriesComboBox5->setStyleSheet("QComboBox { color: darkMagenta; }");
-
- //parse data and put into vector
- 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++) {
- tempConv.append(logs.at(i).toStdString());
+void MainWindow::graphLogs(QVector<QVector<double>> x, QVector<QVector<double>> y, bool lastSet)
+{
+ //set data
+ for(int i=0; i < 5; i++){
+ ui->dataPlot->graph(i)->addData(x[i], y[i], true);
}
- // qInfo() << QString::fromStdString(tempConv.at(0)) << endl;
- // qInfo() << QString::fromStdString(tempConv.at(1)) << endl;
-
- 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;
-
- 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
- }else if(tokens[1] == "NULL"){
- //disable this variable if encounter "NULL"
- log0 = false;
- }else {
- x0.append(std::stod(tokens[0]));
- y0.append(std::stod(tokens[1]));
- if(y0.back()<ymin) {
- ymin = y0.back();
- }
- if(y0.back()>ymax) {
- ymax = y0.back();
- }
- }
-
- if(tokens[2] == "nan"){
- //do not include point
- }else if(tokens[2] == "NULL"){
- //disable this variable if encounter "NULL"
- log1 = false;
- }else {
- x1.append(std::stod(tokens[0]));
- y1.append(std::stod(tokens[2]));
- if(y1.back()<ymin) {
- ymin = y1.back();
- }
- if(y1.back()>ymax) {
- ymax = y1.back();
- }
- }
-
- if(tokens[3] == "nan"){
- //do not include point
- }else if(tokens[3] == "NULL"){
- //disable this variable if encounter "NULL"
- log2 = false;
- }else {
- x2.append(std::stod(tokens[0]));
- y2.append(std::stod(tokens[3]));
- if(y2.back()<ymin) {
- ymin = y2.back();
- }
- if(y2.back()>ymax) {
- ymax = y2.back();
- }
- }
- if(tokens[4] == "nan"){
- //do not include point
- }else if(tokens[4] == "NULL"){
- //disable this variable if encounter "NULL"
- log3 = false;
- }else {
- x3.append(std::stod(tokens[0]));
- y3.append(std::stod(tokens[4]));
- if(y3.back()<ymin) {
- ymin = y3.back();
- }
- 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.append(std::stod(tokens[0]));
- y4.append(std::stod(tokens[5]));
- if(y4.back()<ymin) {
- ymin = y4.back();
- }
- if(y4.back()>ymax) {
- ymax = y4[i];
- }
+ //find max x
+ double xMax = 0;
+ for(int i=0; i < x.size(); i++){
+ if(!x[i].isEmpty()){
+ xMax = (x[i].last() > xMax) ? x[i].last() : xMax;
}
}
- // qInfo() << "yMin: " << ymin << endl;
- // qInfo() << "yMax: " << ymax << endl;
- // qInfo() << "xMax: " << xmax << endl;
- // qInfo() << x0 << endl;
- // qInfo() << y0 << endl;
- //set data
- if(log0) {
- if(firstSet) {
- ui->dataPlot->graph(0)->setData(x0, y0);
- }
- else {
- ui->dataPlot->graph(0)->addData(x0, y0);
- }
- }
- if(log1) {
- if(firstSet) {
- ui->dataPlot->graph(1)->setData(x1, y1);
- }
- else {
- ui->dataPlot->graph(1)->addData(x1, y1);
- }
- }
- if(log2) {
- if(firstSet) {
- ui->dataPlot->graph(2)->setData(x2, y2);
- }
- else {
- ui->dataPlot->graph(2)->addData(x2, y2);
- }
- }
- if(log3) {
- if(firstSet) {
- ui->dataPlot->graph(3)->setData(x3, y3);
- }
- else {
- ui->dataPlot->graph(3)->addData(x3, y3);
- }
- }
- if(log4) {
- 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
- ui->dataPlot->xAxis->setLabel("Time (s)");
- ui->dataPlot->yAxis->setLabel("Value");
- ui->dataPlot->xAxis->setRange(xmin, xmax);
- ui->dataPlot->yAxis->setRange(ymin, ymax);
+ ui->dataPlot->xAxis->setRange(xMax, 10, Qt::AlignRight);
+ ui->dataPlot->yAxis->rescale();
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() {
@@ -1069,32 +913,31 @@ void MainWindow::getLogEntryBoxChange5(QString text) {
}
}
-void MainWindow::graphLogData(QStringList results, bool lastSet)
-{
- graphLogs(results, lastSet);
-}
-
void MainWindow::receiveLogFile(QString filename) {
emit(beginReadingLogFile(filename));
}
-void MainWindow::sendStartLog() {
+void MainWindow::on_pb_startLog_clicked() {
ui->pb_stopLog->setEnabled(true);
ui->pb_startLog->setEnabled(false);
+ //clear data from all graphs
+ for(int i = 0; i < 5; i++){
+ ui->dataPlot->graph(i)->data()->clear();
+ }
+
QString name1 = ui->logEntriesComboBox1->currentText();
QString name2 = ui->logEntriesComboBox2->currentText();
QString name3 = ui->logEntriesComboBox3->currentText();
QString name4 = ui->logEntriesComboBox4->currentText();
QString name5 = ui->logEntriesComboBox5->currentText();
logWorker->logColumns = crazyflieWorker->getLogColumns(name1, name2, name3, name4, name5);
- logWorker->logFlag = 1;
+ emit(sendStartLogging());
}
-void MainWindow::sendStopLog() {
+void MainWindow::on_pb_stopLog_clicked() {
ui->pb_startLog->setEnabled(true);
ui->pb_stopLog->setEnabled(false);
-
- logWorker->logFlag = 2;
+ logWorker->stopLogging();
}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index c0834c6e1..3479d9e91 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -43,6 +43,8 @@ signals:
void sendLogBlockCommand(int8_t command, int8_t id);
void requestLogBlockID(QString name, int8_t command);
void beginReadingLogFile(QString name);
+ void sendStartLogging();
+ void sendStopLogging();
private slots:
void on_pbStart_clicked();
@@ -123,7 +125,7 @@ private slots:
void on_gamepadPitchScale_valueChanged(int arg1);
- void graphLogs(QStringList logs, bool lastSet);
+ void graphLogs(QVector<QVector<double>> x, QVector<QVector<double>> y, bool lastSet);
void openLogBlockFile();
@@ -159,9 +161,8 @@ private slots:
//void on_pb_stopLog_clicked();
- void sendStartLog();
- void sendStopLog();
- void graphLogData(QStringList results, bool lastSet);
+ void on_pb_startLog_clicked();
+ void on_pb_stopLog_clicked();
private:
Ui::MainWindow *ui;
@@ -179,15 +180,6 @@ private:
CrazyflieWorker *crazyflieWorker;
LogWorker *logWorker;
public:
- // 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;
};
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 2df82eecf..9ba58cb47 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -1435,7 +1435,7 @@
<resources/>
<connections/>
<buttongroups>
- <buttongroup name="buttonGroup_2"/>
<buttongroup name="AngleRateButtonGroup"/>
+ <buttongroup name="buttonGroup_2"/>
</buttongroups>
</ui>
--
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