Control graph param setting works!

groundStation/gui/MicroCART/MicroCART.pro

@@ -26,3 +26,26 @@ HEADERS  += mainwindow.h \
     controlworker.h
 
 FORMS    += mainwindow.ui
+
+INCLUDEPATH += $$PWD/../../../quad/inc
+DEPENDPATH += $$PWD/../../../quad/inc
+
+win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../../quad/lib/release/ -lgraph_blocks
+else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../../quad/lib/debug/ -lgraph_blocks
+else:unix: LIBS += -L$$PWD/../../../quad/lib/ -lgraph_blocks
+
+win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/libgraph_blocks.a
+else:win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/libgraph_blocks.a
+else:win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/graph_blocks.lib
+else:win32:!win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/graph_blocks.lib
+else:unix: PRE_TARGETDEPS += $$PWD/../../../quad/lib/libgraph_blocks.a
+
+win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../../quad/lib/release/ -lcomputation_graph
+else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../../quad/lib/debug/ -lcomputation_graph
+else:unix: LIBS += -L$$PWD/../../../quad/lib/ -lcomputation_graph
+
+win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/libcomputation_graph.a
+else:win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/libcomputation_graph.a
+else:win32:!win32-g++:CONFIG(release, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/release/computation_graph.lib
+else:win32:!win32-g++:CONFIG(debug, debug|release): PRE_TARGETDEPS += $$PWD/../../../quad/lib/debug/computation_graph.lib
+else:unix: PRE_TARGETDEPS += $$PWD/../../../quad/lib/libcomputation_graph.a

groundStation/gui/MicroCART/MicroCART.pro.user

 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 3.2.2, 2017-03-28T12:37:18. -->
+<!-- Written by QtCreator 4.0.1, 2017-04-09T15:34:48. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>
-  <value type="QByteArray">{9578df81-eac2-4831-8e1a-80abf90f9c0f}</value>
+  <value type="QByteArray">{ec588c71-c0cc-43f4-8233-a07fa24de8ad}</value>
  </data>
  <data>
   <variable>ProjectExplorer.Project.ActiveTarget</variable>
@@ -40,6 +40,7 @@
    <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
    <value type="bool" key="EditorConfiguration.ShowMargin">false</value>
    <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
+   <value type="bool" key="EditorConfiguration.SmartSelectionChanging">true</value>
    <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
    <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
    <value type="int" key="EditorConfiguration.TabSize">8</value>
@@ -60,12 +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">{199b6d60-acb7-4eec-805c-8e68ddaba3f6}</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">{c6f8ca21-0eb9-4188-b2e8-fae8725afa1b}</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>
+    <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>
@@ -73,9 +74,10 @@
       <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="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibraryAuto">true</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>
@@ -124,7 +126,7 @@
     <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">/home/jake/Microcart_17-18/groundStation/gui/build-MicroCART-Desktop-Release</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>
@@ -132,9 +134,10 @@
       <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="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibraryAuto">true</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>
@@ -198,6 +201,11 @@
    <value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.PluginSettings"/>
    <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+    <value type="bool" key="Analyzer.QmlProfiler.AggregateTraces">false</value>
+    <value type="bool" key="Analyzer.QmlProfiler.FlushEnabled">false</value>
+    <value type="uint" key="Analyzer.QmlProfiler.FlushInterval">1000</value>
+    <value type="QString" key="Analyzer.QmlProfiler.LastTraceFile"></value>
+    <value type="bool" key="Analyzer.QmlProfiler.Settings.UseGlobalSettings">true</value>
     <valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
     <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
     <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
@@ -236,12 +244,13 @@
     <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:/home/jake/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="bool" key="Qt4ProjectManager.Qt4RunConfiguration.UseTerminal">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="uint" key="RunConfiguration.QmlDebugServerPort">3768</value>
     <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
@@ -258,10 +267,10 @@
  </data>
  <data>
   <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
-  <value type="int">16</value>
+  <value type="int">18</value>
  </data>
  <data>
   <variable>Version</variable>
-  <value type="int">16</value>
+  <value type="int">18</value>
  </data>
 </qtcreator>

groundStation/gui/MicroCART/controlworker.cpp

 #include "controlworker.h"
 #include "frontend_nodes.h"
 #include "frontend_param.h"
+#include "graph_blocks.h"
 
 ControlWorker::ControlWorker(QObject *parent) :
     QObject(parent), conn(NULL)
@@ -8,11 +9,6 @@ ControlWorker::ControlWorker(QObject *parent) :
 
 }
 
-ControlWorker::ControlWorker() :
-    QObject(), conn(NULL)
-{
-}
-
 ControlWorker::~ControlWorker()
 {
     disconnectBackend();
@@ -31,22 +27,26 @@ void ControlWorker::disconnectBackend()
     }
 }
 
-ControlWorker::getNodes()
+void ControlWorker::getNodes()
 {
     if (conn) {
         frontend_node_data * nd = NULL;
         size_t num_nodes = 0;
         frontend_getnodes(conn, &nd, &num_nodes);
         QStringList nodes;
+        QStringList const_block_nodes;
         for (size_t i = 0; i < num_nodes; i++) {
-            nodes << QString(nd[i].name);
+            nodes.append(QString(nd[i].name));
+            if (nd[i].type == BLOCK_CONSTANT) {
+                const_block_nodes.append(nd[i].name);
+            }
         }
         frontend_free_node_data(nd, num_nodes);
         emit(gotNodes(nodes));
     }
 }
 
-ControlWorker::getParams(QString node)
+void ControlWorker::getParams(QString node)
 {
     if (conn) {
         frontend_node_data * nd = NULL;
@@ -56,16 +56,52 @@ ControlWorker::getParams(QString node)
         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
+
+                /* Get type definition */
+                const struct graph_node_type * type = blockDefs[nd[i].type];
+                /* Iterate through param names to append, and then emit signal */
+                for (ssize_t j = 0; j < type->n_params; j++) {
+                    params.append(QString(type->param_names[j]));
+                }
                 emit(gotParams(params));
             }
         }
-        fontend_free_node_data(nd, num_nodes);
+        frontend_free_node_data(nd, num_nodes);
     }
 }
 
 
-ControlWorker::getParamValue(QString node, QString param)
+
+void 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;
+
+                /* Get the type definition, then iterate through to find the param */
+                const struct graph_node_type * type = blockDefs[nd[i].type];
+                for (ssize_t j = 0; j < type->n_params; j++) {
+                    /* Found param */
+                    if (QString(type->param_names[j]) == param) {
+                        /* Set pd.param and finish the job */
+                        pd.param = j;
+                        frontend_getparam(conn, &pd);
+                        emit(gotParamValue(pd.value));
+                    }
+                }
+            }
+        }
+        frontend_free_node_data(nd, num_nodes);
+    }
+}
+
+void ControlWorker::setParamValue(QString node, QString param, float value)
 {
     if (conn) {
         frontend_node_data * nd = NULL;
@@ -76,11 +112,18 @@ ControlWorker::getParamValue(QString node, QString param)
             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));
+
+                const struct graph_node_type * type = blockDefs[nd[i].type];
+                for (ssize_t j = 0; j < type->n_params; j++) {
+                    if (QString(type->param_names[j]) == param) {
+                        pd.param = j;
+                        pd.value = value;
+                        frontend_setparam(conn, &pd);
+                        emit(paramSet(node, param));
+                    }
+                }
             }
         }
-        fontend_free_node_data(nd, num_nodes);
+        frontend_free_node_data(nd, num_nodes);
     }
 }

groundStation/gui/MicroCART/controlworker.h

@@ -2,6 +2,7 @@
 #define CONTROLWORKER_H
 
 #include <QObject>
+#include <QStringList>
 #include "frontend_common.h"
 
 class ControlWorker : public QObject
@@ -9,11 +10,14 @@ class ControlWorker : public QObject
     Q_OBJECT
 public:
     explicit ControlWorker(QObject *parent = 0);
+    ~ControlWorker();
 
 signals:
     void gotNodes(QStringList nodes);
     void gotParams(QStringList params);
     void gotParamValue(float value);
+    void gotConstantBlocks(QStringList blocks);
+    void paramSet(QString node, QString param);
 
 public slots:
     void connectBackend();
@@ -21,7 +25,7 @@ public slots:
     void getNodes();
     void getParams(QString node);
     void getParamValue(QString node, QString param);
-
+    void setParamValue(QString node, QString name, float value);
 
 private:
     struct backend_conn * conn;

groundStation/gui/MicroCART/mainwindow.cpp

@@ -7,6 +7,7 @@
 
 #include "wrappers.h"
 #include "trackerworker.h"
+#include "controlworker.h"
 
 MainWindow::MainWindow(QWidget *parent) :
     QMainWindow(parent),
@@ -35,6 +36,19 @@ MainWindow::MainWindow(QWidget *parent) :
     ControlWorker * controlWorker = new ControlWorker();
     controlWorker->moveToThread(cwThread);
 
+    /* Connect signals from control worker */
+    connect(controlWorker, SIGNAL (gotNodes(QStringList)), this, SLOT (newNodes(QStringList)));
+    connect(controlWorker, SIGNAL (gotParams(QStringList)), this, SLOT (newParams(QStringList)));
+    connect(controlWorker, SIGNAL (gotParamValue(float)), this, SLOT (newParamValue(float)));
+    connect(controlWorker, SIGNAL (gotConstantBlocks(QStringList)), this, SLOT (newConstantBlocks(QStringList)));
+    connect(controlWorker, SIGNAL (paramSet(QString, QString)), controlWorker, SLOT (getParamValue(QString, QString)));
+
+    /* Signals to control worker */
+    connect(findChild<QPushButton *>("pbControlRefresh"), SIGNAL (clicked()), controlWorker, SLOT (getNodes()));
+    connect(findChild<QComboBox *>("nodeSelect"), SIGNAL (currentIndexChanged(QString)), controlWorker, SLOT (getParams(QString)));
+    connect(this, SIGNAL (getParamValue(QString, QString)), controlWorker, SLOT (getParamValue(QString, QString)));
+    connect(this, SIGNAL (setParamValue(QString, QString, float)), controlWorker, SLOT (setParamValue(QString, QString, float)));
+
     /* Connect and disconnect from backend when signals emitted */
     connect(this, SIGNAL (connectWorkers()), trackerWorker, SLOT (connectBackend()));
     connect(this, SIGNAL (disconnectWorkers()), trackerWorker, SLOT (disconnectBackend()));
@@ -49,9 +63,7 @@ MainWindow::MainWindow(QWidget *parent) :
     /* Start the things */
     trackerTimer->start(300);
     workerThread->start();
-
-    /* Create a timer to poll stdout and populate virtual console */
-    QTimer * consoleTimer = new QTimer(this);
+    cwThread->start();
 }
 
 MainWindow::~MainWindow()
@@ -65,9 +77,7 @@ void MainWindow::updateConsole()
         char buf[256];
         size_t len = 0;
         len = readBackend(backendPipe, buf, len);
-        printf("%d\n", len);
         if (len > 0) {
-            printf("From pipe: %s", buf);
             QLineEdit * con = findChild<QLineEdit *>("vConsole");
             con->setText(con->text().append(buf));
         }
@@ -121,3 +131,51 @@ void MainWindow::on_chooseBackend_clicked()
          tr("Path to Backend Executable"));
     findChild<QLineEdit *>("backendPath")->setText(backendPath);
 }
+
+
+void MainWindow::newNodes(QStringList blocks)
+{
+    QComboBox * select = findChild<QComboBox *>("nodeSelect");
+    select->clear(); /* Hopefully this clears the list */
+    select->addItems(blocks);
+}
+
+
+void MainWindow::newConstantBlocks(QStringList blocks)
+{
+    QComboBox * select = findChild<QComboBox *>("xSetpointSelect");
+    select->clear(); /* Hopefully this clears the list */
+    select->addItems(blocks);
+
+    select = findChild<QComboBox *>("ySetpointSelect");
+    select->clear(); /* Hopefully this clears the list */
+    select->addItems(blocks);
+
+    select = findChild<QComboBox *>("zSetpointSelect");
+    select->clear(); /* Hopefully this clears the list */
+    select->addItems(blocks);
+}
+
+void MainWindow::newParams(QStringList params)
+{
+    QComboBox * select = findChild<QComboBox *>("paramSelect");
+    select->clear(); /* Hopefully this clears the list */
+    select->addItems(params);
+}
+
+void MainWindow::newParamValue(float val)
+{
+    findChild<QLineEdit *>("paramValue")->setText(QString::number(val));
+}
+
+void MainWindow::on_paramSelect_currentIndexChanged(const QString &arg1)
+{
+    emit(getParamValue(findChild<QComboBox *>("nodeSelect")->currentText(), arg1));
+}
+
+void MainWindow::on_paramValue_returnPressed()
+{
+    emit (setParamValue(findChild<QComboBox *>("nodeSelect")->currentText(),
+                        findChild<QComboBox *>("paramSelect")->currentText(),
+                        findChild<QLineEdit *>("paramValue")->text().toFloat()));
+}

groundStation/gui/MicroCART/mainwindow.h

@@ -2,6 +2,7 @@
 #define MAINWINDOW_H
 
 #include <QMainWindow>
+#include <QStringList>
 
 namespace Ui {
 class MainWindow;
@@ -18,6 +19,8 @@ public:
 signals:
     void connectWorkers();
     void disconnectWorkers();
+    void getParamValue(QString node, QString param);
+    void setParamValue(QString node, QString param, float value);
 
 private slots:
     void on_pbStart_clicked();
@@ -32,6 +35,15 @@ private slots:
 
     void updateConsole();
 
+    void newNodes(QStringList blocks);
+    void newParams(QStringList params);
+    void newParamValue(float val);
+    void newConstantBlocks(QStringList blocks);
+
+    void on_paramSelect_currentIndexChanged(const QString &arg1);
+
+    void on_paramValue_returnPressed();
+
 private:
     Ui::MainWindow *ui;
     pid_t backendPid;

groundStation/gui/MicroCART/mainwindow.ui

@@ -30,7 +30,7 @@
      </sizepolicy>
     </property>
     <property name="currentIndex">
-     <number>2</number>
+     <number>0</number>
     </property>
     <widget class="QWidget" name="backend">
      <attribute name="title">
@@ -327,20 +327,34 @@
           <widget class="QComboBox" name="paramSelect"/>
          </item>
          <item>
-          <widget class="QLabel" name="label_3">
+          <widget class="QLineEdit" name="paramValue">
            <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+            <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout_4">
+         <item>
+          <widget class="QLabel" name="label_4">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Minimum">
              <horstretch>0</horstretch>
              <verstretch>0</verstretch>
             </sizepolicy>
            </property>
            <property name="text">
-            <string>Value:</string>
+            <string>X Setpoint</string>
            </property>
           </widget>
          </item>
          <item>
-          <widget class="QLineEdit" name="paramValue">
+          <widget class="QComboBox" name="xSetpointSelect">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
              <horstretch>0</horstretch>
@@ -349,6 +363,38 @@
            </property>
           </widget>
          </item>
+         <item>
+          <widget class="QLabel" name="label_5">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>Y Setpoint</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QComboBox" name="ySetpointSelect"/>
+         </item>
+         <item>
+          <widget class="QLabel" name="label_3">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string>Z Setpoint</string>
+           </property>
+          </widget>
+         </item>
+         <item>
+          <widget class="QComboBox" name="zSetpointSelect"/>
+         </item>
         </layout>
        </item>
        <item>