From 5ba9ddbf8548d0d1c268c4956ff9701e007d6b06 Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Thu, 28 Nov 2019 06:31:52 +0100
Subject: [PATCH] Updates to the CS1 GUI
---
.../forms/csonecontrollertab.ui | 575 +++++++++++++-----
.../include/csonecontrollertab.h | 6 +-
.../flyingAgentGUI/src/csonecontrollertab.cpp | 117 +++-
3 files changed, 539 insertions(+), 159 deletions(-)
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
index d1a886d8..0c954eb7 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1494</width>
- <height>597</height>
+ <width>1891</width>
+ <height>1336</height>
</rect>
</property>
<property name="font">
@@ -35,28 +35,6 @@
</property>
</spacer>
</item>
- <item row="4" column="0">
- <widget class="QChartView" name="chartView_for_x">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>0</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>16777215</height>
- </size>
- </property>
- </widget>
- </item>
<item row="1" column="0">
<widget class="Line" name="line">
<property name="orientation">
@@ -119,50 +97,82 @@
</item>
</layout>
</item>
+ <item row="5" column="0">
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="4" column="0">
+ <widget class="QChartView" name="chartView_for_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Maximum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ </widget>
+ </item>
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout">
- <property name="rightMargin">
+ <property name="topMargin">
<number>50</number>
</property>
- <item row="6" column="2">
- <widget class="QPushButton" name="perform_step_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="4">
+ <spacer name="horizontalSpacer_3">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
</property>
- <property name="maximumSize">
+ <property name="sizeType">
+ <enum>QSizePolicy::Fixed</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
<size>
- <width>1000</width>
- <height>60</height>
+ <width>100</width>
+ <height>20</height>
</size>
</property>
- <property name="text">
- <string>Perform Step</string>
- </property>
- </widget>
+ </spacer>
</item>
- <item row="6" column="0">
- <widget class="QPushButton" name="set_controller_parameters_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>1000</width>
- <height>60</height>
- </size>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_lead_compenstor">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
</property>
<property name="text">
- <string>Set</string>
+ <string>Lead Compensator</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
</property>
</widget>
</item>
- <item row="5" column="3">
+ <item row="0" column="6">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@@ -175,49 +185,155 @@
</property>
</spacer>
</item>
- <item row="5" column="0">
- <layout class="QGridLayout" name="gridLayout_3">
- <property name="leftMargin">
- <number>0</number>
- </property>
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>0</number>
- </property>
- <property name="bottomMargin">
- <number>0</number>
- </property>
- <item row="1" column="2">
- <widget class="QLineEdit" name="lineEdit_alpha">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
+ <item row="1" column="0">
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <layout class="QGridLayout" name="gridLayout_3">
+ <property name="leftMargin">
+ <number>0</number>
</property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>60</height>
- </size>
+ <property name="topMargin">
+ <number>0</number>
</property>
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
+ <property name="rightMargin">
+ <number>0</number>
</property>
- <property name="text">
- <string>1.0</string>
+ <property name="bottomMargin">
+ <number>0</number>
</property>
- <property name="alignment">
- <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
- </property>
- </widget>
+ <item row="1" column="2">
+ <widget class="QLineEdit" name="lineEdit_alpha">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>0.1</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="label_T">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>T</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_alpha">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>alpha</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLineEdit" name="lineEdit_k">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>0.2</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="lineEdit_T">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>1.5</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_k">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>k</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
</item>
- <item row="1" column="0">
- <widget class="QLineEdit" name="lineEdit_k">
+ <item>
+ <widget class="QPushButton" name="set_lead_compensator_parameters_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -226,25 +342,21 @@
</property>
<property name="maximumSize">
<size>
- <width>180</width>
+ <width>1000</width>
<height>60</height>
</size>
</property>
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
- </property>
<property name="text">
- <string>0.1</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ <string>Set</string>
</property>
</widget>
</item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="lineEdit_T">
+ </layout>
+ </item>
+ <item row="1" column="2">
+ <layout class="QGridLayout" name="gridLayout_6">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="set_pd_controller_parameters_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -253,25 +365,142 @@
</property>
<property name="maximumSize">
<size>
- <width>180</width>
+ <width>1000</width>
<height>60</height>
</size>
</property>
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
- </property>
<property name="text">
- <string>1.0</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ <string>Set</string>
</property>
</widget>
</item>
<item row="0" column="0">
- <widget class="QLabel" name="label_k">
+ <layout class="QGridLayout" name="gridLayout_5">
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_kd">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>k_d</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="label_kp">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>k_p</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLineEdit" name="lineEdit_kd">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>240</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>0.2</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="lineEdit_kp">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>240</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>0.5</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item row="0" column="5">
+ <widget class="QLabel" name="label_step_details">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Step Details</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="5">
+ <layout class="QGridLayout" name="gridLayout_4">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_step_size">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -279,7 +508,7 @@
</sizepolicy>
</property>
<property name="text">
- <string>k</string>
+ <string>Size</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -287,7 +516,7 @@
</widget>
</item>
<item row="0" column="1">
- <widget class="QLabel" name="label_T">
+ <widget class="QLabel" name="label_step_duration">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -295,63 +524,59 @@
</sizepolicy>
</property>
<property name="text">
- <string>T</string>
+ <string>Duraion</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_alpha">
+ <item row="1" column="0">
+ <widget class="QLineEdit" name="lineEdit_step_size">
<property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
+ <property name="maximumSize">
+ <size>
+ <width>300</width>
+ <height>60</height>
+ </size>
+ </property>
<property name="text">
- <string>alpha</string>
+ <string>0.2</string>
</property>
<property name="alignment">
- <set>Qt::AlignCenter</set>
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
- </layout>
- </item>
- <item row="5" column="2">
- <layout class="QGridLayout" name="gridLayout_4">
- <property name="leftMargin">
- <number>0</number>
- </property>
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>0</number>
- </property>
- <property name="bottomMargin">
- <number>0</number>
- </property>
- <item row="0" column="0">
- <widget class="QLabel" name="label_step_size">
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="lineEdit_step_duration">
<property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
+ <property name="maximumSize">
+ <size>
+ <width>300</width>
+ <height>60</height>
+ </size>
+ </property>
<property name="text">
- <string>Step Size</string>
+ <string>20</string>
</property>
<property name="alignment">
- <set>Qt::AlignCenter</set>
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QLineEdit" name="lineEdit_step_size">
+ <item row="2" column="0">
+ <widget class="QPushButton" name="perform_step_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -360,21 +585,37 @@
</property>
<property name="maximumSize">
<size>
- <width>16777215</width>
+ <width>1000</width>
<height>60</height>
</size>
</property>
<property name="text">
- <string>0.2</string>
+ <string>Perform</string>
</property>
- <property name="alignment">
- <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QPushButton" name="log_data_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>1000</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Log</string>
</property>
</widget>
</item>
</layout>
</item>
- <item row="5" column="1">
+ <item row="0" column="1">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@@ -384,12 +625,28 @@
</property>
<property name="sizeHint" stdset="0">
<size>
- <width>188</width>
+ <width>100</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_lead_compenstor_2">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>PD Controller</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
</layout>
</item>
</layout>
@@ -401,6 +658,20 @@
<header>QtCharts</header>
</customwidget>
</customwidgets>
+ <tabstops>
+ <tabstop>lineEdit_k</tabstop>
+ <tabstop>lineEdit_T</tabstop>
+ <tabstop>lineEdit_alpha</tabstop>
+ <tabstop>lineEdit_kp</tabstop>
+ <tabstop>lineEdit_kd</tabstop>
+ <tabstop>lineEdit_step_size</tabstop>
+ <tabstop>lineEdit_step_duration</tabstop>
+ <tabstop>set_lead_compensator_parameters_button</tabstop>
+ <tabstop>set_pd_controller_parameters_button</tabstop>
+ <tabstop>perform_step_button</tabstop>
+ <tabstop>log_data_button</tabstop>
+ <tabstop>chartView_for_x</tabstop>
+ </tabstops>
<resources/>
<connections/>
</ui>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h
index 445ebdd3..c4c4aefd 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h
@@ -109,11 +109,15 @@ private slots:
void on_lineEdit_k_returnPressed();
void on_lineEdit_T_returnPressed();
void on_lineEdit_alpha_returnPressed();
+ void on_lineEdit_kp_returnPressed();
+ void on_lineEdit_kd_returnPressed();
void on_lineEdit_step_size_returnPressed();
+ void on_lineEdit_step_duration_returnPressed();
- void on_set_controller_parameters_button_clicked();
+ void on_set_lead_compensator_parameters_button_clicked();
void on_perform_step_button_clicked();
+ void on_log_data_button_clicked();
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
index 0e0ea299..e2b06377 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
@@ -179,9 +179,41 @@ void CsoneControllerTab::on_perform_step_button_clicked()
// Set the flag that a step should be performed
m_shouldPerformStep = true;
- // Set the time back to zero
+ // Set the time back to be less than zero
m_time_for_step = -1.0;
+ // Set the minimum of the x-axis to agree with this
+ ui->chartView_for_x->chart()->axisX()->setMin(m_time_for_step);
+
+ // Update the duration from the field
+ if(!ui->lineEdit_step_duration->text().isEmpty())
+ {
+ float temp_duration = (ui->lineEdit_step_duration->text()).toFloat();
+ // Ensure that it is in the range [2,60]
+ if (temp_duration < 2.0)
+ {
+ temp_duration = 2.0;
+ ui->lineEdit_step_duration->setText(QString::number( temp_duration, 'f', 0));
+ }
+ else if (temp_duration > 60.0)
+ {
+ temp_duration = 60.0;
+ ui->lineEdit_step_duration->setText(QString::number( temp_duration, 'f', 0));
+ }
+ // Update the global variable
+ m_step_response_data_recording_duration = temp_duration;
+ }
+ else
+ {
+ // Default the duration to 10
+ m_step_response_data_recording_duration = 10.0;
+ ui->lineEdit_step_duration->setText(QString::number( m_step_response_data_recording_duration, 'f', 0));
+ }
+
+ // Set the minimum of the x-axis to agree with the duration
+ ui->chartView_for_x->chart()->axisX()->setMax(m_step_response_data_recording_duration);
+
+
// Clear any data from the line series
m_lineSeries_for_setpoint_x->removePoints(0,m_lineSeries_for_setpoint_x->count());
m_lineSeries_for_measured_x->removePoints(0,m_lineSeries_for_measured_x->count());
@@ -198,8 +230,66 @@ void CsoneControllerTab::on_perform_step_button_clicked()
#endif
}
+void CsoneControllerTab::on_log_data_button_clicked()
+{
+ // Lock the mutex
+ m_chart_mutex.lock();
+
+ // Set the flag that a step should be performed
+ m_shouldPerformStep = false;
-void CsoneControllerTab::on_set_controller_parameters_button_clicked()
+ // Set the time back to zero
+ m_time_for_step = 0.0;
+
+ // Set the minimum of the x-axis to agree with this
+ ui->chartView_for_x->chart()->axisX()->setMin(m_time_for_step);
+
+ // Update the duration from the field
+ if(!ui->lineEdit_step_duration->text().isEmpty())
+ {
+ float temp_duration = (ui->lineEdit_step_duration->text()).toFloat();
+ // Ensure that it is in the range [2,60]
+ if (temp_duration < 2.0)
+ {
+ temp_duration = 2.0;
+ ui->lineEdit_step_duration->setText(QString::number( temp_duration, 'f', 0));
+ }
+ else if (temp_duration > 60.0)
+ {
+ temp_duration = 60.0;
+ ui->lineEdit_step_duration->setText(QString::number( temp_duration, 'f', 0));
+ }
+ // Update the global variable
+ m_step_response_data_recording_duration = temp_duration;
+ }
+ else
+ {
+ // Default the duration to 10
+ m_step_response_data_recording_duration = 10.0;
+ ui->lineEdit_step_duration->setText(QString::number( m_step_response_data_recording_duration, 'f', 0));
+ }
+
+ // Set the minimum of the x-axis to agree with the duration
+ ui->chartView_for_x->chart()->axisX()->setMax(m_step_response_data_recording_duration);
+
+ // Clear any data from the line series
+ m_lineSeries_for_setpoint_x->removePoints(0,m_lineSeries_for_setpoint_x->count());
+ m_lineSeries_for_measured_x->removePoints(0,m_lineSeries_for_measured_x->count());
+
+ // Set the flag that should store data
+ m_shouldStoreData_for_plotting = true;
+
+ // Unlock the mutex
+ m_chart_mutex.unlock();
+
+ // Inform the user about the change
+#ifdef CATKIN_MAKE
+ ROS_INFO_STREAM("[CSONE CONTROLLER TAB GUI] Perform step started");
+#endif
+}
+
+
+void CsoneControllerTab::on_set_lead_compensator_parameters_button_clicked()
{
// Initialise local variable for each of (x,y,z,yaw)
float k = 1.0f, T = 1.0f, alpha = 1.0f;
@@ -305,22 +395,37 @@ void CsoneControllerTab::publishControllerParamters(float k, float T, float alph
void CsoneControllerTab::on_lineEdit_k_returnPressed()
{
- ui->set_controller_parameters_button->animateClick();
+ ui->set_lead_compensator_parameters_button->animateClick();
}
void CsoneControllerTab::on_lineEdit_T_returnPressed()
{
- ui->set_controller_parameters_button->animateClick();
+ ui->set_lead_compensator_parameters_button->animateClick();
}
void CsoneControllerTab::on_lineEdit_alpha_returnPressed()
{
- ui->set_controller_parameters_button->animateClick();
+ ui->set_lead_compensator_parameters_button->animateClick();
+}
+
+void CsoneControllerTab::on_lineEdit_kp_returnPressed()
+{
+ ui->set_pd_controller_parameters_button->animateClick();
+}
+
+void CsoneControllerTab::on_lineEdit_kd_returnPressed()
+{
+ ui->set_pd_controller_parameters_button->animateClick();
}
void CsoneControllerTab::on_lineEdit_step_size_returnPressed()
{
- ui->set_controller_parameters_button->animateClick();
+ ui->perform_step_button->animateClick();
+}
+
+void CsoneControllerTab::on_lineEdit_step_duration_returnPressed()
+{
+ ui->log_data_button->animateClick();
}
--
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