diff --git a/groundStation/gui/MicroCART/MicroCART.pro b/groundStation/gui/MicroCART/MicroCART.pro
index f8aa76c36c28c220e464900187f77d1a8b9225bf..094787c0fc0a27ed7504a4aaeed3448e5a849aaf 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro
+++ b/groundStation/gui/MicroCART/MicroCART.pro
@@ -16,13 +16,11 @@ INCLUDEPATH += ../../src/frontend/
SOURCES += main.cpp\
mainwindow.cpp \
- wrappers.c \
trackerworker.cpp \
controlworker.cpp \
quaditem.cpp
HEADERS += mainwindow.h \
- wrappers.h \
trackerworker.h \
controlworker.h \
quaditem.h
diff --git a/groundStation/gui/MicroCART/MicroCART.pro.user b/groundStation/gui/MicroCART/MicroCART.pro.user
index b87c55319792272b73342ccf2bffbc7f0a466fba..8f29bfe9f697ee1b2584da69d9159b8d6bfa6801 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro.user
+++ b/groundStation/gui/MicroCART/MicroCART.pro.user
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.0.1, 2017-04-21T10:58:17. -->
+<!-- Written by QtCreator 4.0.1, 2017-04-23T16:38:08. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
diff --git a/groundStation/gui/MicroCART/controlworker.cpp b/groundStation/gui/MicroCART/controlworker.cpp
index 6cd8b01c08877ad2b17ef8c27307006f361cb265..b4e743639027ec03e4dc762e7b57ac3b40db3e3e 100644
--- a/groundStation/gui/MicroCART/controlworker.cpp
+++ b/groundStation/gui/MicroCART/controlworker.cpp
@@ -40,7 +40,7 @@ void ControlWorker::getNodes()
QStringList const_block_nodes;
for (size_t i = 0; i < num_nodes; i++) {
nodes.append(QString(nd[i].name));
- if (nd[i].type == BLOCK_CONSTANT) {
+ if ((nd[i].type == BLOCK_CONSTANT) || (nd[i].type == BLOCK_ADD)) {
const_block_nodes.append(nd[i].name);
}
}
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index b3ee612dd1d3eedeaa233ccd380f1159662599f4..1f6eeeae08336c4b1f80274b63b210e1ec58c972 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -8,17 +8,15 @@
#include <QProcessEnvironment>
#include <QPixmap>
-#include "wrappers.h"
#include "trackerworker.h"
#include "controlworker.h"
#include "graph_blocks.h"
#include "quaditem.h"
+#include <iostream>
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow),
- backendPid(0),
- backendPipe(-1),
setpointList(new QStandardItemModel(this)),
nextSpTimer(new QTimer(this)),
sp_x(0.0f),
@@ -80,8 +78,10 @@ MainWindow::MainWindow(QWidget *parent) :
/* Connect refresh button and refresh timer to tracker worker */
QTimer * trackerTimer = new QTimer(this);
- connect(trackerTimer, SIGNAL(timeout()), trackerWorker, SLOT(process()));
- connect(ui->pbRefresh, SIGNAL (clicked()), trackerWorker, SLOT (process()));
+ connect(trackerTimer, SIGNAL(timeout()), this, SLOT(updatePosAtt()));
+ connect(ui->pbRefresh, SIGNAL (clicked()), this, SLOT (updatePosAtt()));
+
+ connect(this, SIGNAL(getPosAttFromBackend()), trackerWorker, SLOT(process()));
/* Timer used for next setpoint */
nextSpTimer->setSingleShot(true);
@@ -105,9 +105,17 @@ MainWindow::~MainWindow()
delete ui;
}
-void MainWindow::updateConsole()
+void MainWindow::updatePosAtt()
{
- if (backendPipe != -1) {
+ 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]));
}
}
@@ -133,10 +141,8 @@ 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());
- this->backendPid = startBackend(ui->backendPath_2->text().toStdString().c_str(), &backendPipe);
ui->pbStart->setEnabled(false);
ui->pbStop->setEnabled(true);
- backendState = 1;
}
void MainWindow::on_pbConnect_clicked()
@@ -146,21 +152,14 @@ void MainWindow::on_pbConnect_clicked()
ui->pbConnect->setEnabled(false);
ui->pbStop->setEnabled(true);
emit(connectWorkers());
- backendState = 1;
}
void MainWindow::on_pbStop_clicked()
{
emit(disconnectWorkers());
- if (backendPid) {
- stopBackend(backendPid, backendPipe);
- backendPipe = -1;
- backendPid = 0;
- }
ui->pbStart->setEnabled(true);
ui->pbConnect->setEnabled(true);
ui->pbStop->setEnabled(false);
- backendState = 0;
}
void MainWindow::on_chooseBackend_clicked()
@@ -185,30 +184,69 @@ void MainWindow::newNodes(QStringList blocks)
void MainWindow::newConstantBlocks(QStringList blocks)
{
- QComboBox * xSelect = ui->xSetpointSelect;
- xSelect->clear();
- xSelect->addItems(blocks);
+ ui->xSetpointSelect->clear();
+ ui->xSetpointSelect->addItems(blocks);
+
+ ui->ySetpointSelect->clear();
+ ui->ySetpointSelect->addItems(blocks);
+
+ ui->zSetpointSelect->clear();
+ ui->zSetpointSelect->addItems(blocks);
+
+ ui->xPositionSelect->clear();
+ ui->xPositionSelect->addItems(blocks);
+
+ ui->yPositionSelect->clear();
+ ui->yPositionSelect->addItems(blocks);
- QComboBox * ySelect = ui->ySetpointSelect;
- ySelect->clear();
- ySelect->addItems(blocks);
+ ui->zPositionSelect->clear();
+ ui->zPositionSelect->addItems(blocks);
- QComboBox * zSelect = ui->zSetpointSelect;
- zSelect->clear();
- zSelect->addItems(blocks);
+ ui->pAttitudeSelect->clear();
+ ui->pAttitudeSelect->addItems(blocks);
+
+ ui->rAttitudeSelect->clear();
+ ui->rAttitudeSelect->addItems(blocks);
+
+ ui->yAttitudeSelect->clear();
+ ui->yAttitudeSelect->addItems(blocks);
for (ssize_t i = 0; i < blocks.size(); i++) {
if (blocks[i].contains("setpoint", Qt::CaseInsensitive) || blocks[i].contains("sp", Qt::CaseInsensitive)) {
if (blocks[i].contains("x ", Qt::CaseInsensitive)) {
- xSelect->setCurrentIndex(i);
+ ui->xSetpointSelect->setCurrentIndex(i);
}
if (blocks[i].contains("y ", Qt::CaseInsensitive)) {
- ySelect->setCurrentIndex(i);
+ ui->ySetpointSelect->setCurrentIndex(i);
}
if (blocks[i].contains("z ", Qt::CaseInsensitive) || blocks[i].contains("alt", Qt::CaseInsensitive)) {
- zSelect->setCurrentIndex(i);
+ ui->zSetpointSelect->setCurrentIndex(i);
}
}
+
+ if (blocks[i] == QString("Pitch")) {
+ ui->pAttitudeSelect->setCurrentIndex(i);
+ }
+
+ if (blocks[i] == QString("Roll")) {
+ ui->rAttitudeSelect->setCurrentIndex(i);
+ }
+
+ if (blocks[i] == QString("Yaw")) {
+ ui->yAttitudeSelect->setCurrentIndex(i);
+ }
+
+ if (blocks[i] == QString("Lidar")) {
+ ui->zPositionSelect->setCurrentIndex(i);
+ }
+
+ if (blocks[i] == QString("OF X Trim Add")) {
+ ui->xPositionSelect->setCurrentIndex(i);
+ }
+
+ if (blocks[i] == QString("OF Y Trim Add")) {
+ ui->yPositionSelect->setCurrentIndex(i);
+ }
}
}
@@ -231,6 +269,23 @@ 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)
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 62b0443047c1fab4a612573f8d90f4ee1e150cda..3c6bc21d48c88743fba7949301dfec636de830e2 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -24,6 +24,7 @@ signals:
void disconnectWorkers();
void getParamValue(QString node, QString param);
void setParamValue(QString node, QString param, float value);
+ void getPosAttFromBackend();
private slots:
void on_pbStart_clicked();
@@ -36,7 +37,7 @@ private slots:
void updateTracker(float x, float y, float z, float p, float r, float yaw);
- void updateConsole();
+ void updatePosAtt();
void newNodes(QStringList blocks);
void newParams(QStringList params);
@@ -73,11 +74,14 @@ private slots:
void on_socketPath_returnPressed();
+ void on_xSetpoint_returnPressed();
+
+ void on_ySetpoint_returnPressed();
+
+ void on_zSetpoint_returnPressed();
+
private:
Ui::MainWindow *ui;
- pid_t backendPid;
- int backendPipe;
- int backendState;
QStandardItemModel * setpointList;
QTimer * nextSpTimer;
float sp_x;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index a6795802eddc4c1dc1e89b03f408fb82bb30762b..dea7a13c68d0ea4e1c4daac01cb6a4a74763b89e 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -37,7 +37,7 @@
<item row="0" column="1">
<widget class="QLineEdit" name="socketPath">
<property name="enabled">
- <bool>true</bool>
+ <bool>false</bool>
</property>
<property name="text">
<string/>
@@ -154,8 +154,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>98</width>
- <height>76</height>
+ <width>968</width>
+ <height>577</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_8">
@@ -258,6 +258,13 @@
</item>
</layout>
</item>
+ <item>
+ <widget class="Line" name="line_5">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
@@ -317,6 +324,110 @@
</item>
</layout>
</item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_10">
+ <item>
+ <widget class="QLabel" name="label_11">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>X Position</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="xPositionSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_13">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Y Position </string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="yPositionSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_14">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Z Position</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="zPositionSelect"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_11">
+ <item>
+ <widget class="QLabel" name="label_15">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>P Attitude</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="pAttitudeSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_16">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>R Attitude</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="rAttitudeSelect"/>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_17">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Y Attitude</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="yAttitudeSelect"/>
+ </item>
+ </layout>
+ </item>
</layout>
</widget>
<widget class="QWidget" name="navigation">
@@ -362,6 +473,52 @@
</property>
</widget>
</item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_9">
+ <item>
+ <widget class="QLabel" name="label_12">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Position/Attitude Source: </string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="posattSrcVrpn">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Backend Tracker (&VRPN)</string>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QRadioButton" name="posattSrcQuad">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>From &Quad</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
@@ -882,7 +1039,7 @@
<x>0</x>
<y>0</y>
<width>1004</width>
- <height>27</height>
+ <height>30</height>
</rect>
</property>
</widget>
diff --git a/groundStation/gui/MicroCART/wrappers.c b/groundStation/gui/MicroCART/wrappers.c
deleted file mode 100644
index 45fdf0b28619f4d7d3cd6803239e6b0e2f999f62..0000000000000000000000000000000000000000
--- a/groundStation/gui/MicroCART/wrappers.c
+++ /dev/null
@@ -1,68 +0,0 @@
-#include "wrappers.h"
-#include <sys/types.h>
-#include <sys/wait.h>
-#include <sys/socket.h>
-#include <unistd.h>
-#include <signal.h>
-#include <err.h>
-#include <stdlib.h>
-
-
-size_t readBackend(int fd, char * buf, size_t maxlen)
-{
- int len = read(fd, buf, maxlen);
- if (len < 0) {
- len = 0;
- }
-
- return len;
-}
-
-int stopBackend(int pid, int pipefd)
-{
- close(pipefd);
- kill(pid, SIGTERM);
- int status;
- wait(&status);
- return status;
-}
-
-int startBackend(const char * backend, int * pipefd)
-{
- /* Create a pipe */
- int pipe_fds[2];
- if (pipe(pipe_fds)) {
- warn("Failed to open pipe, cannot start backend!");
- return -1;
- }
-
- int pid = fork();
- if (!pid) {
- /* Child closes read end of pipe */
- close(pipe_fds[0]);
-
- write(pipe_fds[1], "From child", 11);
- /* dup write end of pipe to stdout (FD 1), closing old stdout */
- //dup2(pipe_fds[1], 1);
- //dup2(pipe_fds[1], 2);
-
- write(2, "Child stderr\n", 13);
- printf("Child stdout\n");
-
- /* Don't need whatever FD is in pipe_fds[1] anymore, since it is stdout now */
- close(pipe_fds[1]);
-
- execl(backend, "BackEnd", NULL);
- exit(0);
- }
-
- /* Return the read end of the pipe in pipefd pointer */
- *pipefd = pipe_fds[0];
-
-
- /* Parent closes write end of the pipe */
- close(pipe_fds[1]);
-
-
- return pid;
-}
diff --git a/groundStation/gui/MicroCART/wrappers.h b/groundStation/gui/MicroCART/wrappers.h
deleted file mode 100644
index 6a29ecf90a9b59c71a3595242fa5fb31c68899e8..0000000000000000000000000000000000000000
--- a/groundStation/gui/MicroCART/wrappers.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#ifndef WRAPPERS_H
-#define WRAPPERS_H
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include <stdio.h>
-
-int startBackend(const char * backend, int * pipefd);
-int stopBackend(int pid, int pipefd);
-size_t readBackend(int fd, char * buf, size_t maxlen);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif // WRAPPERS_H