From ec1857103e1fd97af14e523b1147ceb25186962a Mon Sep 17 00:00:00 2001
From: Jake Drahos <j@kedrahos.com>
Date: Tue, 28 Mar 2017 12:38:17 -0500
Subject: [PATCH] Implementation of controlworker
Mostly done. Signals not connected yet.
---
.../gui/MicroCART/MicroCART.pro.user | 2 +-
groundStation/gui/MicroCART/controlworker.cpp | 84 ++++++++++++++++++-
groundStation/gui/MicroCART/controlworker.h | 12 ++-
groundStation/gui/MicroCART/mainwindow.cpp | 10 ++-
groundStation/src/frontend/frontend_nodes.h | 8 ++
groundStation/src/frontend/frontend_param.h | 10 ++-
6 files changed, 117 insertions(+), 9 deletions(-)
diff --git a/groundStation/gui/MicroCART/MicroCART.pro.user b/groundStation/gui/MicroCART/MicroCART.pro.user
index 03f704131..02d705461 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 3.2.2, 2017-03-24T14:09:55. -->
+<!-- Written by QtCreator 3.2.2, 2017-03-28T12:37:18. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
diff --git a/groundStation/gui/MicroCART/controlworker.cpp b/groundStation/gui/MicroCART/controlworker.cpp
index 5c526c77f..69e74b176 100644
--- a/groundStation/gui/MicroCART/controlworker.cpp
+++ b/groundStation/gui/MicroCART/controlworker.cpp
@@ -1,6 +1,86 @@
#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);
+ }
}
diff --git a/groundStation/gui/MicroCART/controlworker.h b/groundStation/gui/MicroCART/controlworker.h
index 4635a1fe7..0568036a0 100644
--- a/groundStation/gui/MicroCART/controlworker.h
+++ b/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:
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 8df17de0b..8aeecce1a 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/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()));
diff --git a/groundStation/src/frontend/frontend_nodes.h b/groundStation/src/frontend/frontend_nodes.h
index 6b0a34062..fa7d57f14 100644
--- a/groundStation/src/frontend/frontend_nodes.h
+++ b/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 */
diff --git a/groundStation/src/frontend/frontend_param.h b/groundStation/src/frontend/frontend_param.h
index 26854dd0d..392fbd83b 100644
--- a/groundStation/src/frontend/frontend_param.h
+++ b/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 */
--
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