diff --git a/groundStation/gui/MicroCART/MicroCART.pro.user b/groundStation/gui/MicroCART/MicroCART.pro.user
index 1dbd232a082163317c643a0b53fd6b2f093385cd..b845d25d848e878796105144c4340687885425fb 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, 2017-04-11T14:10:46. -->
+<!-- Written by QtCreator 4.0.1, 2017-04-11T17:47:13. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
diff --git a/groundStation/gui/MicroCART/controlworker.cpp b/groundStation/gui/MicroCART/controlworker.cpp
index 3201d0ef341e73bde79b7e7ccc490e1ef7a5b4ce..6e7d92564b9bfe649352abba0939ea7c062b2b9d 100644
--- a/groundStation/gui/MicroCART/controlworker.cpp
+++ b/groundStation/gui/MicroCART/controlworker.cpp
@@ -1,7 +1,10 @@
#include "controlworker.h"
#include "frontend_nodes.h"
#include "frontend_param.h"
+#include "frontend_source.h"
#include "graph_blocks.h"
+#include <QProcess>
+#include <err.h>
ControlWorker::ControlWorker(QObject *parent) :
QObject(parent), conn(NULL)
@@ -41,9 +44,63 @@ void ControlWorker::getNodes()
const_block_nodes.append(nd[i].name);
}
}
- frontend_free_node_data(nd, num_nodes);
emit(gotNodes(nodes));
emit(gotConstantBlocks(const_block_nodes));
+
+ /* Create a graph for rendering.
+ *
+ * This leaks memory (NOT MY FAULT!) because there isn't a function to free
+ * a graph created with create_graph().
+ */
+ computation_graph * cgraph = create_graph();
+
+ /* Add nodes */
+ for (size_t i = 0; i < num_nodes; i++) {
+ graph_add_node_id(cgraph, nd[i].block, nd[i].name, blockDefs[nd[i].type], NULL);
+ }
+
+ /* Set sources */
+ for (size_t i = 0; i < num_nodes; i++) {
+ for (ssize_t j = 0; j < blockDefs[nd[i].type]->n_inputs; j++) {
+ frontend_source_data sd;
+ sd.dst_block = nd[i].block;
+ sd.dst_input = j;
+ sd.src_block = 0;
+ sd.src_output = 0;
+ frontend_getsource(conn, &sd);
+ graph_set_source(cgraph, sd.dst_block, sd.dst_input, sd.src_block, sd.src_output);
+ }
+ }
+
+ /* Set params */
+ for (size_t i = 0; i < num_nodes; i++) {
+ for (ssize_t j = 0; j < blockDefs[nd[i].type]->n_params; j++) {
+ frontend_param_data pd;
+ pd.block = nd[i].block;
+ pd.param = j;
+ pd.value = 0;
+ frontend_getparam(conn, &pd);
+ graph_set_param_val(cgraph, pd.block, pd.param, pd.value);
+ }
+ }
+
+ /* This is a massive hack... */
+ /* Could be done with popen, but fuck it */
+ FILE * dotfile = fopen("/tmp/ucart-tmp-graph.dot", "rw");
+ if (dotfile) {
+ export_dot(cgraph, dotfile, 0);
+ fclose(dotfile);
+ if (int dot_exit = QProcess::execute("dot /tmp/ucart-tmp/graph.dot -Tpng -o /tmp/ucart-tmp-graph.png")) {
+ warnx("dot returned nonzero value (%d)", dot_exit);
+ } else {
+ emit(graphRendered(QString("/tmp/ucart-tmp-graph.png")));
+ }
+ } else {
+ warn("fopen (/tmp/ucart-tmp-graph.dot)");
+ }
+
+ /* And here's where I'd put a call to free_graph(), IF I HAD ONE! */
+ frontend_free_node_data(nd, num_nodes);
}
}
diff --git a/groundStation/gui/MicroCART/controlworker.h b/groundStation/gui/MicroCART/controlworker.h
index 58939cd8d2067a625e0fd4a934f05cacb866b4d8..9a2c6de5101100953c3cd65eb8fa5abc5998ba08 100644
--- a/groundStation/gui/MicroCART/controlworker.h
+++ b/groundStation/gui/MicroCART/controlworker.h
@@ -18,6 +18,7 @@ signals:
void gotParamValue(QString node, QString param, float value);
void gotConstantBlocks(QStringList blocks);
void paramSet(QString node, QString param);
+ void graphRendered(QString graph);
public slots:
void connectBackend();
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 8eed5261fc0bee1fec1a916e4bbfac41eef739a1..7846be25d4b7b4cf9f58bf2b917c0fc28c107ee9 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -6,6 +6,7 @@
#include <QTimer>
#include <QRegExp>
#include <QProcessEnvironment>
+#include <QPixmap>
#include "wrappers.h"
#include "trackerworker.h"
@@ -294,6 +295,12 @@ void MainWindow::on_pbDeleteSetpoint_clicked()
}
}
+void MainWindow::newControlGraph(QString graph)
+{
+ findChild<QLabel *>("graphImage")->setPixmap(QPixmap(graph));
+}
+
void MainWindow::on_socketPath_returnPressed()
{
+ QProcessEnvironment::systemEnvironment().insert("UCART_SOCKET", findChild<QLineEdit *>("socketPath")->text());
}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 95dc0261e7241780af96e026696240382d52fb6d..95d901e51acbd7bc63ae6b306c03da33008243d4 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -40,6 +40,7 @@ private slots:
void newParams(QStringList params);
void newParamValue(QString node, QString param, float val);
void newConstantBlocks(QStringList blocks);
+ void newControlGraph(QString graph);
void on_paramSelect_currentIndexChanged(const QString &arg1);
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 2931a125f4b689f91261e140f168b56c8d20355a..16d9d4abf2df3a24cd26a0a78f98d6b123fd32c4 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>false</bool>
+ <bool>true</bool>
</property>
</widget>
</item>
@@ -143,23 +143,19 @@
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QLabel" name="graphImage">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
<property name="text">
<string>Refresh to display controller graph</string>
</property>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer_2">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>159</height>
- </size>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
</property>
- </spacer>
+ </widget>
</item>
<item>
<widget class="Line" name="line_2">
diff --git a/groundStation/src/frontend/frontend_source.h b/groundStation/src/frontend/frontend_source.h
index ac6da68956e933717a51ee9783bd1a821548a5a0..9488869efdef60d46e7ab06b33e52d42ef1928c8 100644
--- a/groundStation/src/frontend/frontend_source.h
+++ b/groundStation/src/frontend/frontend_source.h
@@ -3,6 +3,10 @@
#include "frontend_common.h"
+#ifdef __cplusplus
+extern "C" {
+#endif
+
/* Get the block.output that corresponds
* to the block.input in question.
*
@@ -21,5 +25,7 @@ int frontend_setsource(
struct backend_conn * conn,
struct frontend_source_data * source_data);
-
-#endif /* _FRONTEND_SOURCE_H */
\ No newline at end of file
+#ifdef __cplusplus
+}
+#endif
+#endif /* _FRONTEND_SOURCE_H */
diff --git a/quad/src/computation_graph/computation_graph.h b/quad/src/computation_graph/computation_graph.h
index adddf5119ff742f9f2a603936c8d3b59ae4c6deb..10a46e6d8fbed2cb157b1f7495ccd5100e93177c 100644
--- a/quad/src/computation_graph/computation_graph.h
+++ b/quad/src/computation_graph/computation_graph.h
@@ -4,6 +4,10 @@
#include <stdio.h>
#include <math.h>
+#ifdef __cplusplus
+extern "C" {
+#endif
+
typedef void (*execute_node_t)(void *state,
const double* params,
const double *inputs,
@@ -138,4 +142,8 @@ int graph_node_exists(const struct computation_graph *graph, int node_id);
*/
int export_dot(const struct computation_graph* graph, FILE* of, int print_outputs);
+#ifdef __cplusplus
+}
+#endif
+
#endif // __COMPUTATION_GRAPH_H__