diff --git a/groundStation/gui/MicroCART/controlworker.cpp b/groundStation/gui/MicroCART/controlworker.cpp
index b4e743639027ec03e4dc762e7b57ac3b40db3e3e..0127485bcbd97be98b40c969001ee2bad26cbb51 100644
--- a/groundStation/gui/MicroCART/controlworker.cpp
+++ b/groundStation/gui/MicroCART/controlworker.cpp
@@ -3,6 +3,7 @@
#include "frontend_param.h"
#include "frontend_source.h"
#include "graph_blocks.h"
+#include "frontend_output.h"
#include <QProcess>
#include <err.h>
@@ -159,6 +160,28 @@ void ControlWorker::getParamValue(QString node, QString param)
}
}
+void ControlWorker::getNodeOutput(QString node)
+{
+ 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_output_data od;
+ od.block = nd[i].block;
+
+ od.output = 0; // TODO: Get rid of this assumption
+
+ frontend_getoutput(conn, &od);
+
+ emit(gotNodeOutput(node, od.value));
+ }
+ }
+ frontend_free_node_data(nd, num_nodes);
+ }
+}
+
void ControlWorker::setParamValue(QString node, QString param, float value)
{
if (conn) {
diff --git a/groundStation/gui/MicroCART/controlworker.h b/groundStation/gui/MicroCART/controlworker.h
index 9a2c6de5101100953c3cd65eb8fa5abc5998ba08..c32f46e0d8c2dfb6506d44feed7c89c1731ce87f 100644
--- a/groundStation/gui/MicroCART/controlworker.h
+++ b/groundStation/gui/MicroCART/controlworker.h
@@ -16,6 +16,7 @@ signals:
void gotNodes(QStringList nodes);
void gotParams(QStringList params);
void gotParamValue(QString node, QString param, float value);
+ void gotNodeOutput(QString node, float output);
void gotConstantBlocks(QStringList blocks);
void paramSet(QString node, QString param);
void graphRendered(QString graph);
@@ -27,6 +28,7 @@ public slots:
void getParams(QString node);
void getParamValue(QString node, QString param);
void setParamValue(QString node, QString name, float value);
+ void getNodeOutput(QString node);
private:
struct backend_conn * conn;
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 161e2917d2c92541cf7f29177905bc032cbc5010..8822c2481dd640f8b57e2c637036fa978e1aa3b9 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -21,7 +21,8 @@ MainWindow::MainWindow(QWidget *parent) :
nextSpTimer(new QTimer(this)),
sp_x(0.0f),
sp_y(0.0f),
- sp_z(0.0f)
+ sp_z(0.0f),
+ trackerTimer(new QTimer(this))
{
ui->setupUi(this);
@@ -60,6 +61,7 @@ MainWindow::MainWindow(QWidget *parent) :
connect(controlWorker, SIGNAL (gotNodes(QStringList)), this, SLOT (newNodes(QStringList)));
connect(controlWorker, SIGNAL (gotParams(QStringList)), this, SLOT (newParams(QStringList)));
connect(controlWorker, SIGNAL (gotParamValue(QString, QString, float)), this, SLOT (newParamValue(QString, QString, float)));
+ connect(controlWorker, SIGNAL (gotNodeOutput(QString, float)), this, SLOT (newNodeOutput(QString, float)));
connect(controlWorker, SIGNAL (gotConstantBlocks(QStringList)), this, SLOT (newConstantBlocks(QStringList)));
connect(controlWorker, SIGNAL (graphRendered(QString)), this, SLOT (newControlGraph(QString)));
connect(controlWorker, SIGNAL (paramSet(QString, QString)), controlWorker, SLOT (getParamValue(QString, QString)));
@@ -69,6 +71,7 @@ MainWindow::MainWindow(QWidget *parent) :
connect(ui->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(this, SIGNAL (getNodeOutput(QString)), controlWorker, SLOT (getNodeOutput(QString)));
/* Connect and disconnect from backend when signals emitted */
connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
@@ -77,7 +80,6 @@ MainWindow::MainWindow(QWidget *parent) :
connect(this, SIGNAL (disconnectWorkers()), controlWorker, SLOT (disconnectBackend()));
/* Connect refresh button and refresh timer to tracker worker */
- QTimer * trackerTimer = new QTimer(this);
connect(trackerTimer, SIGNAL(timeout()), this, SLOT(updatePosAtt()));
connect(ui->pbRefresh, SIGNAL (clicked()), this, SLOT (updatePosAtt()));
@@ -88,7 +90,7 @@ MainWindow::MainWindow(QWidget *parent) :
connect(nextSpTimer, SIGNAL (timeout()), this, SLOT (on_pbNextSetpoint_clicked()));
/* Start the things */
- trackerTimer->start(300);
+ trackerTimer->start(100);
workerThread->start();
cwThread->start();
@@ -110,12 +112,12 @@ void MainWindow::updatePosAtt()
if (ui->posattSrcVrpn->isChecked()) {
emit(getPosAttFromBackend());
} else if (ui->posattSrcQuad->isChecked()) {
- emit(getParamValue(ui->xPositionSelect->currentText(), blockDefs[BLOCK_CONSTANT]->param_names[0]));
- emit(getParamValue(ui->yPositionSelect->currentText(), blockDefs[BLOCK_CONSTANT]->param_names[0]));
- emit(getParamValue(ui->zPositionSelect->currentText(), blockDefs[BLOCK_CONSTANT]->param_names[0]));
- emit(getParamValue(ui->pAttitudeSelect->currentText(), blockDefs[BLOCK_CONSTANT]->param_names[0]));
- emit(getParamValue(ui->rAttitudeSelect->currentText(), blockDefs[BLOCK_CONSTANT]->param_names[0]));
- emit(getParamValue(ui->yAttitudeSelect->currentText(), blockDefs[BLOCK_CONSTANT]->param_names[0]));
+ emit(getNodeOutput(ui->xPositionSelect->currentText()));
+ emit(getNodeOutput(ui->yPositionSelect->currentText()));
+ emit(getNodeOutput(ui->zPositionSelect->currentText()));
+ emit(getNodeOutput(ui->pAttitudeSelect->currentText()));
+ emit(getNodeOutput(ui->rAttitudeSelect->currentText()));
+ emit(getNodeOutput(ui->yAttitudeSelect->currentText()));
}
}
@@ -250,6 +252,24 @@ void MainWindow::newConstantBlocks(QStringList blocks)
}
}
+void MainWindow::newNodeOutput(QString node, float val)
+{
+ /* Update the nav page if quad is set as the source for pos/att */
+ if (node == ui->xPositionSelect->currentText()) {
+ ui->xActual->setText(QString::number(val));
+ } else if (node == ui->yPositionSelect->currentText()) {
+ ui->yActual->setText(QString::number(val));
+ } else if (node == ui->zPositionSelect->currentText()) {
+ ui->zActual->setText(QString::number(val));
+ } else if (node == ui->pAttitudeSelect->currentText()) {
+ ui->pitchActual->setText(QString::number(val));
+ } else if (node == ui->rAttitudeSelect->currentText()) {
+ ui->rollActual->setText(QString::number(val));
+ } else if (node == ui->yAttitudeSelect->currentText()) {
+ ui->yawActual->setText(QString::number(val));
+ }
+}
+
void MainWindow::newParams(QStringList params)
{
QComboBox * select = ui->paramSelect;
@@ -269,23 +289,6 @@ void MainWindow::newParamValue(QString node, QString param, float val)
} else if (node == ui->zSetpointSelect->currentText()) {
ui->zSetpoint->setText(QString::number(val));
}
-
- std::cout << node.toStdString() << " " << param.toStdString() << " " << val << std::endl;
-
- /* Update the nav page if quad is set as the source for pos/att */
- if (node == ui->xPositionSelect->currentText()) {
- ui->xActual->setText(QString::number(val));
- } else if (node == ui->yPositionSelect->currentText()) {
- ui->yActual->setText(QString::number(val));
- } else if (node == ui->zPositionSelect->currentText()) {
- ui->zActual->setText(QString::number(val));
- } else if (node == ui->pAttitudeSelect->currentText()) {
- ui->pitchActual->setText(QString::number(val));
- } else if (node == ui->rAttitudeSelect->currentText()) {
- ui->rollActual->setText(QString::number(val));
- } else if (node == ui->yAttitudeSelect->currentText()) {
- ui->yawActual->setText(QString::number(val));
- }
}
void MainWindow::on_paramSelect_currentIndexChanged(const QString &arg1)
@@ -476,3 +479,13 @@ void MainWindow::on_zSetpoint_returnPressed()
emit (setParamValue(ui->zSetpointSelect->currentText(),
blockDefs[BLOCK_CONSTANT]->param_names[0], sp_z));
}
+
+void MainWindow::on_posattSrcVrpn_clicked()
+{
+ trackerTimer->setInterval(100);
+}
+
+void MainWindow::on_posattSrcQuad_clicked()
+{
+ trackerTimer->setInterval(500);
+}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 3c6bc21d48c88743fba7949301dfec636de830e2..8061b4e0c301c69bbbc373e9e1592300c3408a56 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -23,6 +23,7 @@ signals:
void connectWorkers();
void disconnectWorkers();
void getParamValue(QString node, QString param);
+ void getNodeOutput(QString node);
void setParamValue(QString node, QString param, float value);
void getPosAttFromBackend();
@@ -42,6 +43,7 @@ private slots:
void newNodes(QStringList blocks);
void newParams(QStringList params);
void newParamValue(QString node, QString param, float val);
+ void newNodeOutput(QString node, float output);
void newConstantBlocks(QStringList blocks);
void newControlGraph(QString graph);
@@ -80,6 +82,10 @@ private slots:
void on_zSetpoint_returnPressed();
+ void on_posattSrcVrpn_clicked();
+
+ void on_posattSrcQuad_clicked();
+
private:
Ui::MainWindow *ui;
QStandardItemModel * setpointList;
@@ -87,6 +93,7 @@ private:
float sp_x;
float sp_y;
float sp_z;
+ QTimer * trackerTimer;
};
#endif // MAINWINDOW_H
diff --git a/groundStation/src/frontend/frontend_output.h b/groundStation/src/frontend/frontend_output.h
index b2a4e4333cc83344c0154c9bc20d764d9439799d..f0e2fbaea121bf7a5c726501c187640d9d1d2434 100644
--- a/groundStation/src/frontend/frontend_output.h
+++ b/groundStation/src/frontend/frontend_output.h
@@ -8,9 +8,15 @@
*
* Returns 0 on success, 1 on error
*/
+#ifdef __cplusplus
+extern "C" {
+#endif
int frontend_getoutput(
struct backend_conn * conn,
struct frontend_output_data * output_data);
+#ifdef __cplusplus
+}
+#endif
-#endif /* __FRONTEND_OUTPUT_H */
\ No newline at end of file
+#endif /* __FRONTEND_OUTPUT_H */