Implementation of controlworker

Mostly done. Signals not connected yet.

groundStation/gui/MicroCART/MicroCART.pro.user

 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 3.2.2, 2017-03-24T14:09:55. -->
+<!-- Written by QtCreator 3.2.2, 2017-03-28T12:37:18. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

groundStation/gui/MicroCART/controlworker.cpp

 #include "controlworker.h"
+#include "frontend_nodes.h"
+#include "frontend_param.h"
 
-controlworker::controlworker(QObject *parent) :
-    QObject(parent)
+ControlWorker::ControlWorker(QObject *parent) :
+    QObject(parent), conn(NULL)
 {
+
+}
+
+ControlWorker::ControlWorker() :
+    QObject(), conn(NULL)
+{
+}
+
+ControlWorker::~ControlWorker()
+{
+    disconnectBackend();
+}
+
+void ControlWorker::connectBackend()
+{
+    conn = ucart_backendConnect();
+}
+
+void ControlWorker::disconnectBackend()
+{
+    if (conn) {
+         ucart_backendDisconnect(conn);
+         conn = NULL;
+    }
+}
+
+ControlWorker::getNodes()
+{
+    if (conn) {
+        frontend_node_data * nd = NULL;
+        size_t num_nodes = 0;
+        frontend_getnodes(conn, &nd, &num_nodes);
+        QStringList nodes;
+        for (size_t i = 0; i < num_nodes; i++) {
+            nodes << QString(nd[i].name);
+        }
+        frontend_free_node_data(nd, num_nodes);
+        emit(gotNodes(nodes));
+    }
+}
+
+ControlWorker::getParams(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) {
+                QStringList params;
+                // TODO: Get list of params based on node type
+                emit(gotParams(params));
+            }
+        }
+        fontend_free_node_data(nd, num_nodes);
+    }
+}
+
+
+ControlWorker::getParamValue(QString node, QString param)
+{
+    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_param_data pd;
+                pd.block = nd[i].block;
+                pd.param = 0; //TODO: Map string param to param ID based on block type? (Might not be needed...)
+                frontend_getparam(conn, &pd);
+                emit(gotParamValue(pd.value));
+            }
+        }
+        fontend_free_node_data(nd, num_nodes);
+    }
 }

groundStation/gui/MicroCART/controlworker.h

@@ -4,15 +4,23 @@
 #include <QObject>
 #include "frontend_common.h"
 
-class controlworker : public QObject
+class ControlWorker : public QObject
 {
     Q_OBJECT
 public:
-    explicit controlworker(QObject *parent = 0);
+    explicit ControlWorker(QObject *parent = 0);
 
 signals:
+    void gotNodes(QStringList nodes);
+    void gotParams(QStringList params);
+    void gotParamValue(float value);
 
 public slots:
+    void connectBackend();
+    void disconnectBackend();
+    void getNodes();
+    void getParams(QString node);
+    void getParamValue(QString node, QString param);
 
 
 private:

groundStation/gui/MicroCART/mainwindow.cpp

@@ -30,13 +30,17 @@ MainWindow::MainWindow(QWidget *parent) :
     connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
             this, SLOT (updateTracker(float, float, float, float, float, float)));
 
+    /* Create another worker for the control graph */
+    QThread * cwThread = new QThread(this);
+    ControlWorker * controlWorker = new ControlWorker();
+    controlWorker->moveToThread(cwThread);
+
     /* Connect and disconnect from backend when signals emitted */
     connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
     connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
+    connect(this, SIGNAL (connectWorkers()), controlWorker, SLOT (connectBackend()));
+    connect(this, SIGNAL (disconnectWorkers()), controlWorker, SLOT (disconnectBackend()));
 
-    /* Create other workers and add them to the worker thread, then connect them */
-
-    /* Now we can activate the slots of the workers with impunity and not block the UI thread */
     /* Connect refresh button and refresh timer to tracker worker */
     QTimer * trackerTimer = new QTimer(this);
     connect(trackerTimer, SIGNAL(timeout()), trackerWorker, SLOT(process()));

groundStation/src/frontend/frontend_nodes.h

@@ -3,6 +3,10 @@
 
 #include "frontend_common.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /* Get the block_id, type_id and name of
  * all of the nodes in the current comp_graph.
  *
@@ -32,4 +36,8 @@ void frontend_free_node_data(
 		struct frontend_node_data * nd,
 		size_t num_nodes);
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* __FRONTEND_NODES_H */

groundStation/src/frontend/frontend_param.h

@@ -3,6 +3,10 @@
 
 #include "frontend_common.h"
 
+#ifdef __cplusplus
+extern "C" {
+#endif
+
 /* Get the value of block.param
  *
  * Returns 0 on success, 1 on error
@@ -19,5 +23,9 @@ int frontend_setparam(
 		struct backend_conn * conn,
 		struct frontend_param_data * param_data);
 
+#ifdef __cplusplus
+}
+#endif
+
 
-#endif /* __FRONTEND_PARAM_H */
\ No newline at end of file
+#endif /* __FRONTEND_PARAM_H */