From f063d00106e7c8fcd34ea052ca499f83a4c527b5 Mon Sep 17 00:00:00 2001
From: ucart <ucart_groundstation@iastate.edu>
Date: Thu, 20 Apr 2017 00:04:08 -0500
Subject: [PATCH] small updates on gui
---
controls/DataAnalysisTool/Tool/DataAnalysis.m | 2 +-
controls/DataAnalysisTool/Tool/simplePlots.m | 5 +-
.../gui/MicroCART/MicroCART.pro.user | 74 ++-----------------
groundStation/gui/MicroCART/mainwindow.cpp | 17 ++---
groundStation/gui/MicroCART/mainwindow.h | 2 +
groundStation/gui/MicroCART/mainwindow.ui | 7 +-
groundStation/gui/MicroCART/quaditem.cpp | 16 ++--
groundStation/gui/MicroCART/quaditem.h | 2 +-
groundStation/gui/MicroCART/trackerworker.cpp | 1 +
groundStation/src/backend/backend.c | 7 +-
wifi_bridge/test_scripts/tcp_timer.py | 13 ++--
11 files changed, 47 insertions(+), 99 deletions(-)
diff --git a/controls/DataAnalysisTool/Tool/DataAnalysis.m b/controls/DataAnalysisTool/Tool/DataAnalysis.m
index a7b873173..c5c94179d 100644
--- a/controls/DataAnalysisTool/Tool/DataAnalysis.m
+++ b/controls/DataAnalysisTool/Tool/DataAnalysis.m
@@ -8,7 +8,7 @@
% window.
%
%fname = 'sampleLogFileWithMarker.txt';
-fname = '';
+fname = '../../../groundStation/logs/tune_of_w_velocity_2.txt';
% PLOTTING SWITCHES - set them to 0 or 1 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%
diff --git a/controls/DataAnalysisTool/Tool/simplePlots.m b/controls/DataAnalysisTool/Tool/simplePlots.m
index 90bef7420..2e9e261cd 100644
--- a/controls/DataAnalysisTool/Tool/simplePlots.m
+++ b/controls/DataAnalysisTool/Tool/simplePlots.m
@@ -163,7 +163,8 @@ linkaxes([ax1, ax2, ax3, ax4], 'x');
%% vel flow
figure;
ax2 = subplot(2,2,1);
-plot(expData.Time.data, expData.OF_Integrate_X_Integrated.data - expData.X_pos_PID_Correction.data); hold on;
+plot(expData.Time.data, expData.OF_Offset_Angle_Rotated_X.data - expData.RC_Pitch_Constant.data); hold on;
+plot(expData.Time.data, expData.OF_Offset_Angle_Rotated_X.data); hold on;
%plot(expData.Time.data, expData.X_Vel_Correction.data); hold on;
%plot(expData.Time.data, [0; raw_derivative]);
title('X velocity error');
@@ -174,7 +175,7 @@ title('x vel output');
ax3 = subplot(2,2,3);
plot(expData.Time.data, expData.Pitch_PID_Correction.data); hold on;
-plot(expData.Time.data, expData.VRPN_Pitch_Constant.data .* 10);
+plot(expData.Time.data, expData.Pitch_trim_add_Sum.data .* 10);
title('pitch output');
legend('output', 'Pitch x10');
diff --git a/groundStation/gui/MicroCART/MicroCART.pro.user b/groundStation/gui/MicroCART/MicroCART.pro.user
index b845d25d8..f36c56fc6 100644
--- a/groundStation/gui/MicroCART/MicroCART.pro.user
+++ b/groundStation/gui/MicroCART/MicroCART.pro.user
@@ -1,10 +1,10 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.0.1, 2017-04-11T17:47:13. -->
+<!-- Written by QtCreator 4.1.0, 2017-04-19T23:57:31. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
- <value type="QByteArray">{ec588c71-c0cc-43f4-8233-a07fa24de8ad}</value>
+ <value type="QByteArray">{f7736f41-610d-4989-a7d9-6e994afe94ba}</value>
</data>
<data>
<variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -61,72 +61,12 @@
<valuemap type="QVariantMap">
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{c6f8ca21-0eb9-4188-b2e8-fae8725afa1b}</value>
+ <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{94de1029-defb-4d1d-a0ac-6d51aba06ea3}</value>
<value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
<value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
<value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
- <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/jake/Microcart_17-18/groundStation/gui/build-MicroCART-Desktop-Debug</value>
- <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
- <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
- <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">qmake</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">QtProjectManager.QMakeBuildStep</value>
- <value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibrary">false</value>
- <value type="QString" key="QtProjectManager.QMakeBuildStep.QMakeArguments"></value>
- <value type="bool" key="QtProjectManager.QMakeBuildStep.QMakeForced">false</value>
- <value type="bool" key="QtProjectManager.QMakeBuildStep.SeparateDebugInfo">false</value>
- <value type="bool" key="QtProjectManager.QMakeBuildStep.UseQtQuickCompiler">false</value>
- </valuemap>
- <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.1">
- <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.MakeStep</value>
- <valuelist type="QVariantList" key="Qt4ProjectManager.MakeStep.AutomaticallyAddedMakeArguments">
- <value type="QString">-w</value>
- <value type="QString">-r</value>
- </valuelist>
- <value type="bool" key="Qt4ProjectManager.MakeStep.Clean">false</value>
- <value type="QString" key="Qt4ProjectManager.MakeStep.MakeArguments"></value>
- <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
- </valuemap>
- <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">2</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Build</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Build</value>
- </valuemap>
- <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.1">
- <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
- <value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.MakeStep</value>
- <valuelist type="QVariantList" key="Qt4ProjectManager.MakeStep.AutomaticallyAddedMakeArguments">
- <value type="QString">-w</value>
- <value type="QString">-r</value>
- </valuelist>
- <value type="bool" key="Qt4ProjectManager.MakeStep.Clean">true</value>
- <value type="QString" key="Qt4ProjectManager.MakeStep.MakeArguments">clean</value>
- <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
- </valuemap>
- <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">1</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Clean</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
- </valuemap>
- <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
- <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
- <valuelist type="QVariantList" key="ProjectExplorer.BuildConfiguration.UserEnvironmentChanges"/>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Debug</value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4BuildConfiguration</value>
- <value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildConfiguration">2</value>
- <value type="bool" key="Qt4ProjectManager.Qt4BuildConfiguration.UseShadowBuild">true</value>
- </valuemap>
- <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.1">
- <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory">/home/jake/Microcart_17-18/groundStation/gui/build-MicroCART-Desktop-Release</value>
+ <value type="QString" key="ProjectExplorer.BuildConfiguration.BuildDirectory"></value>
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
<value type="bool" key="ProjectExplorer.BuildStep.Enabled">true</value>
@@ -185,7 +125,7 @@
<value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildConfiguration">0</value>
<value type="bool" key="Qt4ProjectManager.Qt4BuildConfiguration.UseShadowBuild">true</value>
</valuemap>
- <value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">2</value>
+ <value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">1</value>
<valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
<valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
<value type="int" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
@@ -244,13 +184,13 @@
<valuelist type="QVariantList" key="PE.EnvironmentAspect.Changes"/>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">MicroCART</value>
<value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
- <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/home/jake/Microcart_17-18/groundStation/gui/MicroCART/MicroCART.pro</value>
+ <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Qt4RunConfiguration:/local/ucart/Documents/MicroCART_17-18/groundStation/gui/MicroCART/MicroCART.pro</value>
<value type="bool" key="QmakeProjectManager.QmakeRunConfiguration.UseLibrarySearchPath">true</value>
<value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.CommandLineArguments"></value>
<value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.ProFile">MicroCART.pro</value>
<value type="bool" key="Qt4ProjectManager.Qt4RunConfiguration.UseDyldImageSuffix">false</value>
<value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.UserWorkingDirectory"></value>
- <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.UserWorkingDirectory.default">/home/jake/Microcart_17-18/groundStation/gui/build-MicroCART-Desktop-Debug</value>
+ <value type="QString" key="Qt4ProjectManager.Qt4RunConfiguration.UserWorkingDirectory.default">/local/ucart/Documents/MicroCART_17-18/groundStation/gui/MicroCART</value>
<value type="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
<value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
<value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
diff --git a/groundStation/gui/MicroCART/mainwindow.cpp b/groundStation/gui/MicroCART/mainwindow.cpp
index 22df6f238..29c350553 100644
--- a/groundStation/gui/MicroCART/mainwindow.cpp
+++ b/groundStation/gui/MicroCART/mainwindow.cpp
@@ -28,9 +28,10 @@ MainWindow::MainWindow(QWidget *parent) :
ui->setupUi(this);
QGraphicsScene *topScene = new QGraphicsScene(this);
- QuadItem * quad = new QuadItem();
ui->topView->setScene(topScene);
+ QuadItem * quad = new QuadItem();
+ topScene->addItem();
topScene->addItem(quad);
/* Set up environment variables */
@@ -51,7 +52,7 @@ MainWindow::MainWindow(QWidget *parent) :
this, SLOT (updateTracker(float, float, float, float, float, float)));
connect(trackerWorker, SIGNAL (finished(float, float, float, float, float, float)),
- quad, SLOT (quad->updateQuad(float, float, float, float, float, float)));
+ quad, SLOT(updateQuad(float,float,float,float,float,float)));
/* Create another worker for the control graph */
QThread * cwThread = new QThread(this);
@@ -112,13 +113,6 @@ MainWindow::~MainWindow()
void MainWindow::updateConsole()
{
if (backendPipe != -1) {
- char buf[256];
- size_t len = 0;
- len = readBackend(backendPipe, buf, len);
- if (len > 0) {
- QLineEdit * con = ui->vConsole;
- con->setText(con->text().append(buf));
- }
}
}
@@ -402,3 +396,8 @@ void MainWindow::on_pbLoadWaypoints_clicked()
f.close();
}
}
+
+void MainWindow::on_socketPath_returnPressed()
+{
+ QProcessEnvironment::systemEnvironment().insert("UCART_SOCKET", ui->socketPath->text());
+}
diff --git a/groundStation/gui/MicroCART/mainwindow.h b/groundStation/gui/MicroCART/mainwindow.h
index de7b2a32d..62b044304 100644
--- a/groundStation/gui/MicroCART/mainwindow.h
+++ b/groundStation/gui/MicroCART/mainwindow.h
@@ -71,6 +71,8 @@ private slots:
void on_pbLoadWaypoints_clicked();
+ void on_socketPath_returnPressed();
+
private:
Ui::MainWindow *ui;
pid_t backendPid;
diff --git a/groundStation/gui/MicroCART/mainwindow.ui b/groundStation/gui/MicroCART/mainwindow.ui
index 16c1d1a5e..eb56d7d32 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>2</number>
+ <number>0</number>
</property>
<widget class="QWidget" name="backend">
<attribute name="title">
@@ -37,7 +37,10 @@
<item row="0" column="1">
<widget class="QLineEdit" name="socketPath">
<property name="enabled">
- <bool>false</bool>
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string/>
</property>
</widget>
</item>
diff --git a/groundStation/gui/MicroCART/quaditem.cpp b/groundStation/gui/MicroCART/quaditem.cpp
index b43ced998..55e1413af 100644
--- a/groundStation/gui/MicroCART/quaditem.cpp
+++ b/groundStation/gui/MicroCART/quaditem.cpp
@@ -1,6 +1,7 @@
#include "quaditem.h"
#include <QPixmap>
#include <QLabel>
+#include <QtMath>
QuadItem::QuadItem()
{
@@ -20,13 +21,12 @@ void QuadItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
void QuadItem::updateQuad(float longitudinal, float lateral, float height, float pitch, float roll, float yaw)
{
- this->setPos(longitudinal*10, lateral*10);
-
- QPointF center = boundingRect().center();
- QTransform trans = this->transform();
- trans.translate(center.x(), center.y());
- trans.rotate(yaw);
- trans.translate(-center.x(), -center.y());
- this->setTransform(trans);
+ QPointF center = boundingRect().center();
+ this->setTransform(QTransform().translate(center.x(), center.y()).rotate(qRadiansToDegrees(yaw)).translate(-center.x(), -center.y()));
+ this->setPos(longitudinal*100, lateral*100);
+// QTransform trans = this->transform();
+// trans.translate(center.x(), center.y());
+// trans.translate(-center.x(), -center.y());
+// this->setTransform(trans);
update();
}
diff --git a/groundStation/gui/MicroCART/quaditem.h b/groundStation/gui/MicroCART/quaditem.h
index 068880219..3f271806b 100644
--- a/groundStation/gui/MicroCART/quaditem.h
+++ b/groundStation/gui/MicroCART/quaditem.h
@@ -17,7 +17,7 @@ public:
QRectF boundingRect() const;
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
-private slots:
+public slots:
void updateQuad(float longitudinal, float lateral, float height, float pitch, float roll, float yaw);
};
diff --git a/groundStation/gui/MicroCART/trackerworker.cpp b/groundStation/gui/MicroCART/trackerworker.cpp
index 9a6830a77..13d9c15bc 100644
--- a/groundStation/gui/MicroCART/trackerworker.cpp
+++ b/groundStation/gui/MicroCART/trackerworker.cpp
@@ -2,6 +2,7 @@
#include <QThread>
#include "frontend_common.h"
#include "frontend_tracker.h"
+#include "quaditem.h"
TrackerWorker::TrackerWorker() :
QObject(), conn(NULL)
diff --git a/groundStation/src/backend/backend.c b/groundStation/src/backend/backend.c
index 3819ebc53..f384a6a1a 100644
--- a/groundStation/src/backend/backend.c
+++ b/groundStation/src/backend/backend.c
@@ -844,10 +844,13 @@ static void quad_recv() {
memmove(respBuf, respBuf + packetlen, respBufLen - packetlen);
respBufLen -= packetlen;
+ char * debug_string;
switch (m.msg_type) {
- case DEBUG_ID:
+ case DEBUG_ID:
/* in case of debug. Quad send null terminated string in data */
- printf(" (Quad) : %s\n", data);
+ debug_string = strndup((char *)data, m.data_len);
+ printf(" (Quad) : %s\n", debug_string);
+ free(debug_string);
break;
case LOG_ID:
if (!quadlog_file_open) {
diff --git a/wifi_bridge/test_scripts/tcp_timer.py b/wifi_bridge/test_scripts/tcp_timer.py
index 78664a980..6732f0501 100644
--- a/wifi_bridge/test_scripts/tcp_timer.py
+++ b/wifi_bridge/test_scripts/tcp_timer.py
@@ -11,12 +11,12 @@ TCP_PORT = 8080
message = bytes(range(36))
times_full = []
times_network = []
-times = [0.0]*100
+times = [0.0]*200
dropped = True
response = bytes("initial", 'ASCII')
addr = "initial"
recvd_data = []
-for i in range(100):
+for i in range(200):
if dropped:
sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_NODELAY, 1)
@@ -51,11 +51,10 @@ for i in range(100):
while time.perf_counter() - send_time < 0.01:
pass
-# with open("tcp_dist.csv", 'w', newline='') as f:
-# writer = csv.writer(f)
-# for time in times_network:
-# time = time + 2.6
-# writer.writerow([time])
+ with open("tcp_dist.csv", 'w', newline='') as f:
+ writer = csv.writer(f)
+ for t in times_network:
+ writer.writerow([t])
for time in [times_full, times_network]:
print("lowest: " + str(min(time)))
--
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