From d627b7e41fc1d8ca04e2a59ae18172ed3770f7bf Mon Sep 17 00:00:00 2001
From: zeisele <zeisele@iastate.edu>
Date: Thu, 10 Mar 2022 10:47:21 +0100
Subject: [PATCH] fix get/set on backend and implement on gui
---
crazyflie_groundstation/src/CTOC.cpp | 20 +-
.../src/ccrazyflie/CCrazyflie_commands.cpp | 67 +++---
.../ccrazyflie/CCrazyflie_loggingFuncs.cpp | 5 +-
.../gui/MicroCART/crazyflieworker.cpp | 182 ++++++++++++++-
groundStation/gui/MicroCART/crazyflieworker.h | 34 ++-
groundStation/gui/MicroCART/mainwindow.cpp | 127 +++++++++-
groundStation/gui/MicroCART/mainwindow.h | 15 ++
groundStation/gui/MicroCART/mainwindow.ui | 219 +++++++++++++++++-
groundStation/src/backend/param.c | 31 +--
9 files changed, 626 insertions(+), 74 deletions(-)
diff --git a/crazyflie_groundstation/src/CTOC.cpp b/crazyflie_groundstation/src/CTOC.cpp
index d60940447..bf93a6fb9 100644
--- a/crazyflie_groundstation/src/CTOC.cpp
+++ b/crazyflie_groundstation/src/CTOC.cpp
@@ -30,10 +30,10 @@
#include <limits>
-static const char *param_header = "Param ID\tType\t\tGroup\t\t"
+static const char *param_header = "Param ID\tType\tGroup\t"
"Identifier Name";
-static const char *log_header = "Log ID\tType\t\tGroup\t\t"
+static const char *log_header = "Log ID\tType\tGroup\t"
"Identifier Name";
CTOC::CTOC(CCrazyRadio *crRadio, CCrazyflie *crazyflie, int radioChannel, int nPort) {
@@ -172,6 +172,7 @@ bool CTOC::downloadTOC() {
printf("Parameter Progress: %i / %i\n", nI+1, m_nItemCount);
this->requestItem(nI);
}
+ param_toc_file.close();
}
else {
this->requestMetaData();
@@ -179,6 +180,7 @@ bool CTOC::downloadTOC() {
printf("Logging Progress: %i / %i\n", nI+1, m_nItemCount);
this->requestItem(nI);
}
+ log_toc_file.close();
}
if( ALL_THE_DEBUG ) printf( "Exit: %s\n", __FUNCTION__);
return true;
@@ -219,10 +221,10 @@ bool CTOC::processItem(CCRTPPacket* crtpItem) {
if(ALL_THE_DEBUG) printf("Group.Name: %s.%s ID: %i Type: %i ", strGroup.c_str(), strIdentifier.c_str(), nID, nType);
if(m_nPort == 0x02) {
- this->param_toc_file << teNew.nID << "\t\t" << teNew.nType << "\t\t" << teNew.strGroup << "\t\t" << teNew.strIdentifier << std::endl;
+ this->param_toc_file << teNew.nID << "\t" << teNew.nType << "\t" << teNew.strGroup << "\t" << teNew.strIdentifier << std::endl;
}
else if(m_nPort = 0x05) {
- this->log_toc_file << teNew.nID << "\t\t" << teNew.nType << "\t\t" << teNew.strGroup << "\t\t" << teNew.strIdentifier << std::endl;
+ this->log_toc_file << teNew.nID << "\t" << teNew.nType << "\t" << teNew.strGroup << "\t" << teNew.strIdentifier << std::endl;
}
m_lstTOCElements.push_back(teNew);
@@ -945,8 +947,9 @@ void CTOC::openParamTOCFile(char *baseFileName) {
printf("Opening param toc file %s for quadcopter %d...", logFileName, (this->m_crazyflie->getQuadcopterNumber() + 1));
try {
- char dir[250];
- getcwd(dir, 250);
+ char dir[256];
+ dir[0] = '/';
+ getcwd(&dir[1], 255);
std::string fullFilePath(dir);
fullFilePath += "/";
fullFilePath += logFileName;
@@ -985,8 +988,9 @@ void CTOC::openLogTOCFile(char *baseFileName) {
printf("Opening param toc file %s for quadcopter %d...", logFileName, (this->m_crazyflie->getQuadcopterNumber() + 1));
try {
- char dir[250];
- getcwd(dir, 250);
+ char dir[256];
+ dir[0] = '/';
+ getcwd(&dir[1], 255);
std::string fullFilePath(dir);
fullFilePath += "/";
fullFilePath += logFileName;
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commands.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commands.cpp
index 7916a1100..bc0a76965 100644
--- a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commands.cpp
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_commands.cpp
@@ -179,7 +179,7 @@ bool CCrazyflie::parseReceivedUserCommand() {
case ACMD_GETPARAM:
{
- int nSize = 1;
+ int nSize = 2;
char cBuffer[nSize];
CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_PARAM);
@@ -187,13 +187,15 @@ bool CCrazyflie::parseReceivedUserCommand() {
CCRTPPacket *crtpReceived;
//int id = (char) command.payload;
- char id = (char) command.payload[2];
+ //char id = (char) command.payload[2];
+ uint16_t id;
+ memcpy(&id, &command.payload[2], sizeof(uint16_t));
+ memcpy(cBuffer, &command.payload[2], sizeof(uint16_t));
//float fvalue = build_float(&command.payload[4]);
//uint16_t pvalue = (uint16_t) fvalue;
bool bFound = false;
struct TOCElement element = this->m_tocParameters->elementForID(id, bFound);
- cBuffer[0] = id;
//memcpy(&cBuffer[1 * sizeof(uint16_t)], &pvalue, sizeof(uint16_t));
crtpPacket->setData(cBuffer, nSize);
crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
@@ -208,7 +210,7 @@ bool CCrazyflie::parseReceivedUserCommand() {
case ACMD_SETPARAM:
{
- int nSize = sizeof(double) + 1;
+ int nSize = sizeof(double) + 2;
char cBuffer[nSize];
CCRTPPacket *crtpPacket = new CCRTPPacket(cBuffer, nSize, CRTP_PORT_PARAM);
@@ -216,7 +218,10 @@ bool CCrazyflie::parseReceivedUserCommand() {
CCRTPPacket *crtpReceived;
//int id = (char) command.payload;
- char pid = (char) command.payload[2];
+ //char pid = (char) command.payload[2];
+ uint16_t pid;
+ memcpy(&pid, &command.payload[2], 2);
+ memcpy(cBuffer, &command.payload[2], 2);
bool bFound = false;
struct TOCElement element = this->m_tocParameters->elementForID(pid, bFound);
uint8_t pType = element.nType;
@@ -226,9 +231,8 @@ bool CCrazyflie::parseReceivedUserCommand() {
{
uint8_t pvalue = (uint8_t) fvalue;
- cBuffer[0] = pid;
- memcpy(&cBuffer[1], &pvalue, sizeof(uint8_t));
- nSize = 1 + sizeof(uint8_t);
+ memcpy(&cBuffer[2], &pvalue, sizeof(uint8_t));
+ nSize = 2 + sizeof(uint8_t);
crtpPacket->setData(cBuffer, nSize);
crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
break;
@@ -237,9 +241,8 @@ bool CCrazyflie::parseReceivedUserCommand() {
{
uint16_t pvalue = (uint16_t) fvalue;
- cBuffer[0] = pid;
- memcpy(&cBuffer[1], &pvalue, sizeof(uint16_t));
- nSize = 1 + sizeof(uint16_t);
+ memcpy(&cBuffer[2], &pvalue, sizeof(uint16_t));
+ nSize = 2 + sizeof(uint16_t);
crtpPacket->setData(cBuffer, nSize);
crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
break;
@@ -248,9 +251,8 @@ bool CCrazyflie::parseReceivedUserCommand() {
{
uint32_t pvalue = (uint32_t) fvalue;
- cBuffer[0] = pid;
- memcpy(&cBuffer[1], &pvalue, sizeof(uint32_t));
- nSize = 1 + sizeof(uint32_t);
+ memcpy(&cBuffer[2], &pvalue, sizeof(uint32_t));
+ nSize = 2 + sizeof(uint32_t);
crtpPacket->setData(cBuffer, nSize);
crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
break;
@@ -259,9 +261,8 @@ bool CCrazyflie::parseReceivedUserCommand() {
{
uint64_t pvalue = (uint64_t) fvalue;
- cBuffer[0] = pid;
- memcpy(&cBuffer[1], &pvalue, sizeof(uint64_t));
- nSize = 1 + sizeof(uint64_t);
+ memcpy(&cBuffer[2], &pvalue, sizeof(uint64_t));
+ nSize = 2 + sizeof(uint64_t);
crtpPacket->setData(cBuffer, nSize);
crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
break;
@@ -270,9 +271,8 @@ bool CCrazyflie::parseReceivedUserCommand() {
{
int8_t pvalue = (int8_t) fvalue;
- cBuffer[0] = pid;
- memcpy(&cBuffer[1], &pvalue, sizeof(int8_t));
- nSize = 1 + sizeof(int8_t);
+ memcpy(&cBuffer[2], &pvalue, sizeof(int8_t));
+ nSize = 2 + sizeof(int8_t);
crtpPacket->setData(cBuffer, nSize);
crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
break;
@@ -281,9 +281,8 @@ bool CCrazyflie::parseReceivedUserCommand() {
{
int16_t pvalue = (int16_t) fvalue;
- cBuffer[0] = pid;
- memcpy(&cBuffer[1], &pvalue, sizeof(int16_t));
- nSize = 1 + sizeof(int16_t);
+ memcpy(&cBuffer[2], &pvalue, sizeof(int16_t));
+ nSize = 2 + sizeof(int16_t);
crtpPacket->setData(cBuffer, nSize);
crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
break;
@@ -292,9 +291,8 @@ bool CCrazyflie::parseReceivedUserCommand() {
{
int32_t pvalue = (uint32_t) fvalue;
- cBuffer[0] = pid;
- memcpy(&cBuffer[1], &pvalue, sizeof(int32_t));
- nSize = 1 + sizeof(int32_t);
+ memcpy(&cBuffer[2], &pvalue, sizeof(int32_t));
+ nSize = 2 + sizeof(int32_t);
crtpPacket->setData(cBuffer, nSize);
crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
break;
@@ -303,9 +301,8 @@ bool CCrazyflie::parseReceivedUserCommand() {
{
int64_t pvalue = (int64_t) fvalue;
- cBuffer[0] = pid;
- memcpy(&cBuffer[1], &pvalue, sizeof(int64_t));
- nSize = 1 + sizeof(int64_t);
+ memcpy(&cBuffer[2], &pvalue, sizeof(int64_t));
+ nSize = 2 + sizeof(int64_t);
crtpPacket->setData(cBuffer, nSize);
crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
break;
@@ -314,9 +311,8 @@ bool CCrazyflie::parseReceivedUserCommand() {
{
float pvalue = fvalue;
- cBuffer[0] = pid;
- memcpy(&cBuffer[1], &pvalue, sizeof(float));
- nSize = 1 + sizeof(float);
+ memcpy(&cBuffer[2], &pvalue, sizeof(float));
+ nSize = 2 + sizeof(float);
crtpPacket->setData(cBuffer, nSize);
crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
break;
@@ -325,16 +321,13 @@ bool CCrazyflie::parseReceivedUserCommand() {
{
double pvalue = (double) fvalue;
- cBuffer[0] = pid;
- memcpy(&cBuffer[1], &pvalue, sizeof(double));
- nSize = 1 + sizeof(double);
+ memcpy(&cBuffer[2], &pvalue, sizeof(double));
+ nSize = 2 + sizeof(double);
crtpPacket->setData(cBuffer, nSize);
crtpReceived = m_crRadio->sendAndReceive(crtpPacket, m_nRadioChannel, this);
break;
}
}
-
-
break;
}
diff --git a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
index 293470194..bec1dd0f9 100644
--- a/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
+++ b/crazyflie_groundstation/src/ccrazyflie/CCrazyflie_loggingFuncs.cpp
@@ -52,8 +52,9 @@ void CCrazyflie::openLogFile(char *baseFileName) {
printf("Opening log file %s for quadcopter %d...", logFileName, (m_quadNum + 1));
try {
- char dir[250];
- getcwd(dir, 250);
+ char dir[256];
+ dir[0] = '/';
+ getcwd(&dir[1], 255);
std::string fullFilePath(dir);
fullFilePath += "/";
fullFilePath += logFileName;
diff --git a/groundStation/gui/MicroCART/crazyflieworker.cpp b/groundStation/gui/MicroCART/crazyflieworker.cpp
index 6e5be8620..17629e40b 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.cpp
+++ b/groundStation/gui/MicroCART/crazyflieworker.cpp
@@ -1,6 +1,9 @@
#include "crazyflieworker.h"
+#include <iostream>
+#include <unistd.h>
+#include <sys/stat.h>
-CrazyflieWorker::CrazyflieWorker(QObject *parent) : QObject(parent)
+CrazyflieWorker::CrazyflieWorker(QObject *parent) : QObject(parent), conn(NULL)
{
}
@@ -21,8 +24,16 @@ void CrazyflieWorker::connectBackend()
conn = ucart_backendConnect();
emit (connected());
} else {
- qInfo() << "Attempted to connect trackerworker when already connected!";
+ qInfo() << "Attempted to connect crazyflieworker when already connected!";
}
+ loadParamIds();
+ loadLogIds();
+ QStringList paramGroupList;
+ for(int i = 0; i < paramGroups.size(); i++) {
+ QString qgName(paramGroups.at(i).groupName.c_str());
+ paramGroupList.append(qgName);
+ }
+ emit(gotParamGroups(paramGroupList));
}
/**
@@ -87,18 +98,175 @@ void CrazyflieWorker::sendAttSetpoint()
}
void CrazyflieWorker::getParamValue(QString paramName){
- struct frontend_param_data data = paramNameLookup(paramName);
+ struct toc_info info = paramNameLookup(paramName);
+
+ struct frontend_param_data data;
+ data.block = 0;
+ data.param = info.id;
+ data.value = info.value;
if(frontend_getparam(conn, &data) == 0){
emit(gotParamValue(paramName, data.value));
}
}
-struct frontend_param_data CrazyflieWorker::paramNameLookup(QString paramName){
- //TODO
- //if param is in cache, use that else lookup from file
- struct frontend_param_data paramData;
+void CrazyflieWorker::setParamValue(QString paramName, double value) {
+ struct toc_info info = paramNameLookup(paramName);
+
+ struct frontend_param_data data;
+ data.block = 0;
+ data.param = info.id;
+ data.value = (float) value;
+
+ if(frontend_setparam(conn, &data) != 0){
+ //emit(gotParamValue(paramName, data.value));
+ qInfo() << "setParamError";
+ }
+}
+
+struct toc_info CrazyflieWorker::paramNameLookup(QString paramName){
+ struct toc_info paramData = paramIds.value(paramName);
return paramData;
}
+std::string CrazyflieWorker::getLogFile(int type) {
+ struct frontend_getlogfile_data logfile;
+ char fname[256];
+ logfile.command = type;
+ logfile.name = fname;
+ if(frontend_getlogfile(conn, &logfile)) {
+ return "";
+ }
+ std::string result(logfile.name, strlen(logfile.name));
+ return result;
+}
+
+void CrazyflieWorker::loadParamIds() {
+ std::string filename = getLogFile(1);
+ std::ifstream paramTOCFile;
+ paramTOCFile.open(filename.c_str());
+ std::string line;
+ //header and top line
+ std::getline(paramTOCFile, line);
+ std::getline(paramTOCFile, line);
+ //actual values;
+ while(std::getline(paramTOCFile, line)) {
+ struct toc_info values;
+ std::stringstream ss(line);
+ std::string temp_str;
+ for(int i = 0; i < 4; i++) {
+ std::getline(ss, temp_str, '\t');
+ if(i == 0) {
+ values.id = (int16_t) stoi(temp_str);
+ }
+ else if(i == 1) {
+ values.dataType = (int8_t) stoi(temp_str);
+ }
+ else if(i == 2) {
+ values.strGroup = temp_str;
+ }
+ else if(i == 3) {
+ values.strName = temp_str;
+ }
+ }
+ values.value = 0;
+
+ int gFound = findParamGroup(values.strGroup);
+ if(gFound == -1) {
+ struct toc_group groupx;
+ groupx.groupName = values.strGroup;
+ groupx.entryNames.push_back(values.strName);
+ paramGroups.push_back(groupx);
+ }
+ else {
+ paramGroups.at(gFound).entryNames.push_back(values.strName);
+ }
+
+ std::string identifier = values.strGroup + "." + values.strName;
+ QString Qidentifier(identifier.c_str());
+ paramIds.insert(Qidentifier, values);
+ }
+ paramTOCFile.close();
+}
+void CrazyflieWorker::loadLogIds() {
+ std::string filename = getLogFile(2);
+ std::ifstream logTOCFile;
+ logTOCFile.open(filename.c_str());
+ std::string line;
+ //top line
+ std::getline(logTOCFile, line);
+ std::getline(logTOCFile, line);
+ //actual values;
+ while(std::getline(logTOCFile, line)) {
+ struct toc_info values;
+ std::stringstream ss(line);
+ std::string temp_str;
+ for(int i = 0; i < 4; i++) {
+ std::getline(ss, temp_str, '\t');
+ if(i == 0) {
+ values.id = (int16_t) stoi(temp_str);
+ }
+ else if(i == 1) {
+ values.dataType = (int8_t) stoi(temp_str);
+ }
+ else if(i == 2) {
+ values.strGroup = temp_str;
+ }
+ else if(i == 3) {
+ values.strName = temp_str;
+ }
+ }
+ values.value = 0;
+
+ int gFound = findLogGroup(values.strGroup);
+ if(gFound == -1) {
+ struct toc_group groupx;
+ groupx.groupName = values.strGroup;
+ groupx.entryNames.push_back(values.strName);
+ logGroups.push_back(groupx);
+ }
+ else {
+ logGroups.at(gFound).entryNames.push_back(values.strName);;
+ }
+
+ std::string identifier = values.strGroup + "." + values.strName;
+ QString Qidentifier(identifier.c_str());
+ logIds.insert(Qidentifier, values);
+ }
+ logTOCFile.close();
+}
+
+int CrazyflieWorker::findParamGroup(std::string gName) {
+ int result = -1;
+ for(int i = 0; i < paramGroups.size(); i++) {
+ if(!paramGroups.at(i).groupName.compare(gName)) {
+ result = i;
+ break;
+ }
+ }
+ return result;
+}
+
+int CrazyflieWorker::findLogGroup(std::string gName) {
+ int result = -1;
+ for(int i = 0; i < logGroups.size(); i++) {
+ if(!logGroups.at(i).groupName.compare(gName)) {
+ result = i;
+ break;
+ }
+ }
+ return result;
+}
+
+void CrazyflieWorker::getGroupEntries(int box, QString gName) {
+ std::string name = gName.toStdString();
+ int index = findParamGroup(name);
+ std::vector<std::string> entries = paramGroups.at(index).entryNames;
+ QStringList entryList;
+ for(int i = 0; i < entries.size(); i++) {
+ QString cur(entries.at(i).c_str());
+ entryList.append(cur);
+ }
+ emit(gotGroupEntries(box, entryList));
+}
\ No newline at end of file
diff --git a/groundStation/gui/MicroCART/crazyflieworker.h b/groundStation/gui/MicroCART/crazyflieworker.h
index 8b5ae498e..c3a93825f 100644
--- a/groundStation/gui/MicroCART/crazyflieworker.h
+++ b/groundStation/gui/MicroCART/crazyflieworker.h
@@ -2,12 +2,29 @@
#define CRAZYFLIEWORKER_H
#include <QObject>
+#include <fstream>
+#include <sstream>
+#include <vector>
+#include <QStringList>
#include "frontend_common.h"
#include "frontend_param.h"
#include "frontend_override.h"
+#include "frontend_logfile.h"
#include "setpoint.h"
#include <QDebug>
+struct toc_info {
+ int16_t id;
+ int8_t dataType;
+ std::string strGroup;
+ std::string strName;
+ float value;
+};
+
+struct toc_group {
+ std::string groupName;
+ std::vector<std::string> entryNames;
+};
/**
* @brief The crazyflieworker class
@@ -25,6 +42,8 @@ public:
signals:
void gotParamValue(QString paramName, float value);
+ void gotParamGroups(QStringList paramGroupList);
+ void gotGroupEntries(int box, QStringList groupEntries);
void connected();
void disconnected();
@@ -35,6 +54,8 @@ public slots:
void sendAttSetpoint();
void sendAttRateSetpoint();
void getParamValue(QString paramName);
+ void setParamValue(QString paramName, double value);
+ void getGroupEntries(int box, QString gName);
private:
struct backend_conn * conn;
@@ -42,9 +63,16 @@ private:
Setpoint currAttitudeRateSetpoint;
void sendAttitudeSetpoint();
void sendAttitudeRateSetpoint();
- struct frontend_param_data paramNameLookup(QString paramName);
-
-
+ std::string getLogFile(int type);
+ void loadParamIds();
+ void loadLogIds();
+ int findParamGroup(std::string gName);
+ int findLogGroup(std::string gName);
+ struct toc_info paramNameLookup(QString paramName);
+ QMap<QString, struct toc_info> paramIds;
+ QMap<QString, struct toc_info> logIds;
+ std::vector<struct toc_group> paramGroups;
+ std::vector<struct toc_group> logGroups;
};
#endif // CRAZYFLIEWORKER_H
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index d62956482..50d2226d8 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -13,6 +13,7 @@
#include "trackerworker.h"
#include "controlworker.h"
+#include "crazyflieworker.h"
#include "quaditem.h"
#include "slotprocess.h"
#include "qFlightInstruments.h"
@@ -91,13 +92,35 @@ MainWindow::MainWindow(QWidget *parent) :
connect(this, SIGNAL (setParamValue(QString, QString, float)), controlWorker, SLOT (setParamValue(QString, QString, float)));
connect(this, SIGNAL (getNodeOutput(QString)), controlWorker, SLOT (getNodeOutput(QString)));
+ /* Create another work for the crazyflie communication */
+ QThread * cfThread = new QThread(this);
+ CrazyflieWorker * crazyflieWorker = new CrazyflieWorker();
+ crazyflieWorker->moveToThread(cfThread);
+
+ /* connect signals for crazyflie worker */
+ connect(crazyflieWorker, SIGNAL (gotParamGroups(QStringList)), this, SLOT (setParamGroups(QStringList)));
+ connect(ui->paramGroupComboBox, SIGNAL (currentIndexChanged(int)), this, SLOT (getGroupBoxChange(int)));
+ connect(ui->paramGroupComboBox_2, SIGNAL (currentIndexChanged(int)), this, SLOT (getGroupBox2Change(int)));
+ connect(ui->paramEntriesComboBox, SIGNAL (currentIndexChanged(int)), this, SLOT (getEntryBoxChange(int)));
+ connect(ui->paramEntriesComboBox_2, SIGNAL (currentIndexChanged(int)), this, SLOT (getEntryBoxChange2(int)));
+ connect(ui->pb_getParam, SIGNAL (clicked()), this, SLOT (on_pb_getParam_click()));
+ connect(ui->pb_setParam, SIGNAL (clicked()), this, SLOT (on_pb_setParam_click()));
+ connect(crazyflieWorker, SIGNAL (gotGroupEntries(int, QStringList)), this, SLOT (newGroupEntries(int, QStringList)));
+ connect(this, SIGNAL (getGroupEntries(int, QString)), crazyflieWorker, SLOT (getGroupEntries(int, QString)));
+ connect(this, SIGNAL (getParamValue(QString)), crazyflieWorker, SLOT (getParamValue(QString)));
+ connect(this, SIGNAL (setParamValue(QString, double)), crazyflieWorker, SLOT (setParamValue(QString, double)));
+ connect(crazyflieWorker, SIGNAL (gotParamValue(QString, float)), this, SLOT (displayParamValue(QString, float)));
+
/* Connect and disconnect from backend when signals emitted */
connect(workerStartTimer, SIGNAL (timeout()), trackerWorker, SLOT (connectBackend()));
connect(workerStartTimer, SIGNAL (timeout()), controlWorker, SLOT (connectBackend()));
+ connect(workerStartTimer, SIGNAL (timeout()), crazyflieWorker, SLOT (connectBackend()));
connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
connect(this, SIGNAL (connectWorkers()), controlWorker, SLOT (connectBackend()));
+ connect(this, SIGNAL (connectWorkers()), crazyflieWorker, SLOT (connectBackend()));
connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
connect(this, SIGNAL (disconnectWorkers()), controlWorker, SLOT (disconnectBackend()));
+ connect(this, SIGNAL (disconnectWorkers()), crazyflieWorker, SLOT (disconnectBackend()));
connect(backendProcess, SIGNAL (started()), this, SLOT (backendStarted()));
connect(backendProcess, SIGNAL (errorOccurred(QProcess::ProcessError)), this, SLOT (backendError(QProcess::ProcessError)));
@@ -111,6 +134,9 @@ MainWindow::MainWindow(QWidget *parent) :
connect(trackerWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
connect(trackerWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
+ connect(crazyflieWorker, SIGNAL (connected()), this, SLOT (workerConnected()));
+ connect(crazyflieWorker, SIGNAL (disconnected()), this, SLOT (workerDisconnected()));
+
/* Connect refresh button and refresh timer to tracker worker */
connect(trackerTimer, SIGNAL(timeout()), this, SLOT(updatePosAtt()));
// connect(ui->pbRefresh, SIGNAL (clicked()), this, SLOT (updatePosAtt()));
@@ -125,11 +151,19 @@ MainWindow::MainWindow(QWidget *parent) :
trackerTimer->start(100);
workerThread->start();
cwThread->start();
+ cfThread->start();
matlabProcess->start();
/* Connect the setpointlist to the model */
// ui->setpointList->setModel(setpointList);
+ ui->pb_getParam->setEnabled(false);
+ ui->pb_setParam->setEnabled(false);
+ ui->setValueSpin->setMaximum(10000.00);
+ ui->setValueSpin->setMinimum(-10000.00);
+ ui->setValueSpin->setSingleStep(0.01);
+ ui->setValueSpin->setValue(0);
+
/* Connect various things that can result in sending setpoints */
// connect(ui->pbSendSetpoint, SIGNAL (clicked()), this, SLOT (sendSetpoints()));
// connect(ui->setpointList, SIGNAL (doubleClicked(QModelIndex)), this, SLOT (sendSelectedSetpoint()));
@@ -143,7 +177,6 @@ MainWindow::MainWindow(QWidget *parent) :
scriptProcess->setProgram(scriptsDir.filePath(scripts[i]));
connect(action, SIGNAL (triggered()), scriptProcess, SLOT (startProcess()));
}
-
}
MainWindow::~MainWindow()
@@ -274,6 +307,98 @@ void MainWindow::newNodes(QStringList blocks)
// this->ui->noGraphWarningLine->setVisible(false);
}
+void MainWindow::setParamGroups(QStringList groupNames) {
+ ui->paramGroupComboBox->addItem("");
+ ui->paramGroupComboBox->addItems(groupNames);
+ ui->paramGroupComboBox_2->addItem("");
+ ui->paramGroupComboBox_2->addItems(groupNames);
+}
+
+void MainWindow::getGroupBoxChange(int index) {
+ // for(int i = 0; i < ui->paramGroupComboBox->count(); i++) {
+ // ui->paramEntriesComboBox->removeItem(i);
+ // }
+ ui->paramEntriesComboBox->clear();
+ QString qStrGroup = ui->paramGroupComboBox->itemText(index);
+ std::string check = qStrGroup.toStdString();
+ ui->valueVallabel->clear();
+ if(!check.compare("")) {
+ ui->pb_getParam->setEnabled(false);
+ }
+ else {
+ emit(getGroupEntries(1, qStrGroup));
+ }
+}
+
+void MainWindow::getGroupBox2Change(int index) {
+ // for(int i = 0; i < ui->paramGroupComboBox->count(); i++) {
+ // ui->paramEntriesComboBox->removeItem(i);
+ // }
+ ui->paramEntriesComboBox_2->clear();
+ QString qStrGroup = ui->paramGroupComboBox_2->itemText(index);
+ std::string check = qStrGroup.toStdString();
+ if(!check.compare("")) {
+ ui->pb_setParam->setEnabled(false);
+ }
+ else {
+ emit(getGroupEntries(2, qStrGroup));
+ }
+}
+
+void MainWindow::getEntryBoxChange(int index) {
+ QString qStrGroup = ui->paramEntriesComboBox->itemText(index);
+ std::string check = qStrGroup.toStdString();
+ ui->valueVallabel->clear();
+ if(!check.compare("")) {
+ ui->pb_getParam->setEnabled(false);
+ }
+ else {
+ ui->pb_getParam->setEnabled(true);
+ }
+}
+
+void MainWindow::getEntryBoxChange2(int index) {
+ QString qStrGroup = ui->paramEntriesComboBox_2->itemText(index);
+ std::string check = qStrGroup.toStdString();
+ if(!check.compare("")) {
+ ui->pb_setParam->setEnabled(false);
+ }
+ else {
+ ui->pb_setParam->setEnabled(true);
+ }
+}
+
+void MainWindow::newGroupEntries(int box, QStringList entries) {
+ if(box == 1) {
+ ui->paramEntriesComboBox->addItem("");
+ ui->paramEntriesComboBox->addItems(entries);
+ }
+ else {
+ ui->paramEntriesComboBox_2->addItem("");
+ ui->paramEntriesComboBox_2->addItems(entries);
+ }
+}
+
+void MainWindow::on_pb_getParam_click() {
+ ui->valueVallabel->clear();
+ QString group = ui->paramGroupComboBox->currentText();
+ QString entry = ui->paramEntriesComboBox->currentText();
+ QString key = group + "." + entry;
+ emit(getParamValue(key));
+}
+
+void MainWindow::on_pb_setParam_click() {
+ QString group = ui->paramGroupComboBox_2->currentText();
+ QString entry = ui->paramEntriesComboBox_2->currentText();
+ QString key = group + "." + entry;
+ double value = ui->setValueSpin->value();
+ emit(setParamValue(key, value));
+}
+
+void MainWindow::displayParamValue(QString key, float value) {
+ ui->valueVallabel->setNum(value);
+}
+
void MainWindow::newConstantBlocks(QStringList blocks)
{
// ui->xSetpointSelect->clear();
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index 4e24931aa..a79eea751 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -23,9 +23,12 @@ signals:
void connectWorkers();
void disconnectWorkers();
void getParamValue(QString node, QString param);
+ void getParamValue(QString key);
void getNodeOutput(QString node);
void setParamValue(QString node, QString param, float value);
+ void setParamValue(QString key, double value);
void getPosAttFromBackend();
+ void getGroupEntries(int box, QString gName);
private slots:
void on_pbStart_clicked();
@@ -45,6 +48,11 @@ private slots:
void newParamValue(QString node, QString param, float val);
void newNodeOutput(QString node, float output);
void newConstantBlocks(QStringList blocks);
+ void newGroupEntries(int box, QStringList entries);
+
+ void on_pb_getParam_click();
+
+ void on_pb_setParam_click();
void on_paramSelect_currentIndexChanged(const QString &arg1);
@@ -91,6 +99,13 @@ private slots:
void workerConnected();
void workerDisconnected();
+ void setParamGroups(QStringList groupNames);
+ void getGroupBoxChange(int index);
+ void getGroupBox2Change(int index);
+ void displayParamValue(QString param, float value);
+ void getEntryBoxChange(int index);
+ void getEntryBoxChange2(int index);
+
private:
Ui::MainWindow *ui;
QStandardItemModel * setpointList;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index ceea28e08..6a96b514f 100644
--- a/groundStation/gui/MicroCART/mainwindow.ui
+++ b/groundStation/gui/MicroCART/mainwindow.ui
@@ -18,7 +18,7 @@
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
- <number>3</number>
+ <number>1</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -119,6 +119,212 @@
<attribute name="title">
<string>Param</string>
</attribute>
+ <widget class="QComboBox" name="paramGroupComboBox">
+ <property name="geometry">
+ <rect>
+ <x>420</x>
+ <y>100</y>
+ <width>201</width>
+ <height>25</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QComboBox" name="paramEntriesComboBox">
+ <property name="geometry">
+ <rect>
+ <x>420</x>
+ <y>150</y>
+ <width>201</width>
+ <height>25</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QLabel" name="groupLabel">
+ <property name="geometry">
+ <rect>
+ <x>350</x>
+ <y>100</y>
+ <width>54</width>
+ <height>31</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Group:</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="getParamLabel">
+ <property name="geometry">
+ <rect>
+ <x>480</x>
+ <y>40</y>
+ <width>71</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Get Param</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label">
+ <property name="geometry">
+ <rect>
+ <x>350</x>
+ <y>150</y>
+ <width>54</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Entry:</string>
+ </property>
+ </widget>
+ <widget class="Line" name="line">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>279</y>
+ <width>1111</width>
+ <height>31</height>
+ </rect>
+ </property>
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ <widget class="QLabel" name="setParamLabel">
+ <property name="geometry">
+ <rect>
+ <x>480</x>
+ <y>310</y>
+ <width>71</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Set Param</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="valueLabel">
+ <property name="geometry">
+ <rect>
+ <x>350</x>
+ <y>240</y>
+ <width>54</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Value:</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="valueVallabel">
+ <property name="geometry">
+ <rect>
+ <x>420</x>
+ <y>240</y>
+ <width>201</width>
+ <height>20</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ <widget class="QLabel" name="groupLabel_set">
+ <property name="geometry">
+ <rect>
+ <x>350</x>
+ <y>360</y>
+ <width>54</width>
+ <height>31</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Group:</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="label_5">
+ <property name="geometry">
+ <rect>
+ <x>350</x>
+ <y>400</y>
+ <width>54</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Entry:</string>
+ </property>
+ </widget>
+ <widget class="QLabel" name="valueLabel_2">
+ <property name="geometry">
+ <rect>
+ <x>350</x>
+ <y>450</y>
+ <width>54</width>
+ <height>17</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Value:</string>
+ </property>
+ </widget>
+ <widget class="QComboBox" name="paramGroupComboBox_2">
+ <property name="geometry">
+ <rect>
+ <x>420</x>
+ <y>360</y>
+ <width>201</width>
+ <height>25</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QComboBox" name="paramEntriesComboBox_2">
+ <property name="geometry">
+ <rect>
+ <x>420</x>
+ <y>400</y>
+ <width>201</width>
+ <height>25</height>
+ </rect>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pb_getParam">
+ <property name="geometry">
+ <rect>
+ <x>480</x>
+ <y>200</y>
+ <width>80</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Get Param</string>
+ </property>
+ </widget>
+ <widget class="QPushButton" name="pb_setParam">
+ <property name="geometry">
+ <rect>
+ <x>480</x>
+ <y>500</y>
+ <width>80</width>
+ <height>25</height>
+ </rect>
+ </property>
+ <property name="text">
+ <string>Set Param</string>
+ </property>
+ </widget>
+ <widget class="QDoubleSpinBox" name="setValueSpin">
+ <property name="geometry">
+ <rect>
+ <x>470</x>
+ <y>450</y>
+ <width>111</width>
+ <height>26</height>
+ </rect>
+ </property>
+ </widget>
</widget>
<widget class="QWidget" name="controller">
<attribute name="title">
@@ -489,7 +695,7 @@
</item>
<item row="1" column="1">
<widget class="QLabel" name="currRActual">
- <property name="text">
+ <property name="text">
<string>N/A</string>
</property>
</widget>
@@ -557,7 +763,7 @@
<x>0</x>
<y>0</y>
<width>1186</width>
- <height>28</height>
+ <height>22</height>
</rect>
</property>
<widget class="QMenu" name="menuScripts">
@@ -578,6 +784,13 @@
<widget class="QStatusBar" name="statusBar"/>
</widget>
<layoutdefault spacing="6" margin="11"/>
+ <customwidgets>
+ <customwidget>
+ <class>QCustomPlot</class>
+ <extends>QWidget</extends>
+ <header>qcustomplot.h</header>
+ </customwidget>
+ </customwidgets>
<resources/>
<connections/>
</ui>
diff --git a/groundStation/src/backend/param.c b/groundStation/src/backend/param.c
index bb0dc1a9d..b31241cef 100644
--- a/groundStation/src/backend/param.c
+++ b/groundStation/src/backend/param.c
@@ -129,8 +129,10 @@ ssize_t EncodeResponseParam(
data[RESP_BLOCK_ID_L] = 0;
data[RESP_BLOCK_ID_H] = 0;
- data[RESP_PARAM_ID_L] = msg[1];
- data[RESP_PARAM_ID_H] = 0;
+ //data[RESP_PARAM_ID_L] = msg[1];
+ //data[RESP_PARAM_ID_H] = msg[2];
+
+ memcpy(&data[RESP_PARAM_ID_L], &msg[1], sizeof(uint16_t));
float fl = -1;
@@ -138,70 +140,70 @@ ssize_t EncodeResponseParam(
case 8:
{
uint8_t pvalue;
- memcpy(&pvalue, &msg[2], sizeof(uint8_t));
+ memcpy(&pvalue, &msg[4], sizeof(uint8_t));
fl = pvalue;
break;
}
case 9:
{
uint16_t pvalue;
- memcpy(&pvalue, &msg[2], sizeof(uint16_t));
+ memcpy(&pvalue, &msg[4], sizeof(uint16_t));
fl = pvalue;
break;
}
case 10:
{
uint32_t pvalue;
- memcpy(&pvalue, &msg[2], sizeof(uint32_t));
+ memcpy(&pvalue, &msg[4], sizeof(uint32_t));
fl = pvalue;
break;
}
case 11:
{
uint64_t pvalue;
- memcpy(&pvalue, &msg[2], sizeof(uint64_t));
+ memcpy(&pvalue, &msg[4], sizeof(uint64_t));
fl = pvalue;
break;
}
case 0:
{
int8_t pvalue;
- memcpy(&pvalue, &msg[2], sizeof(int8_t));
+ memcpy(&pvalue, &msg[4], sizeof(int8_t));
fl = pvalue;
break;
}
case 1:
{
int16_t pvalue;
- memcpy(&pvalue, &msg[2], sizeof(int16_t));
+ memcpy(&pvalue, &msg[4], sizeof(int16_t));
fl = pvalue;
break;
}
case 2:
{
int32_t pvalue;
- memcpy(&pvalue, &msg[2], sizeof(int32_t));
+ memcpy(&pvalue, &msg[4], sizeof(int32_t));
fl = pvalue;
break;
}
case 3:
{
int64_t pvalue;
- memcpy(&pvalue, &msg[2], sizeof(int64_t));
+ memcpy(&pvalue, &msg[4], sizeof(int64_t));
fl = pvalue;
break;
}
case 6:
{
float pvalue;
- memcpy(&pvalue, &msg[2], sizeof(float));
+ memcpy(&pvalue, &msg[4], sizeof(float));
fl = pvalue;
break;
}
case 7:
{
double pvalue;
- memcpy(&pvalue, &msg[2], sizeof(double));
+ memcpy(&pvalue, &msg[4], sizeof(double));
fl = pvalue;
break;
}
@@ -231,9 +233,12 @@ int DecodeResponseParam(
return -1;
}
+ uint16_t id;
+ memcpy(&id, &data[RESP_PARAM_ID_L], sizeof(uint16_t));
+
return snprintf(msg, max_len, "getparam %" PRId16 " %" PRId16 " %f\n",
BytesTo16(data[RESP_BLOCK_ID_L], data[RESP_BLOCK_ID_H]),
- BytesTo16(data[RESP_PARAM_ID_L], data[RESP_PARAM_ID_H]),
+ id,
BytesToFloat(data[RESP_VAL_1], data[RESP_VAL_2],
data[RESP_VAL_3], data[RESP_VAL_4]));
}
--
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