Updates to the CS1 GUI

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();
 
 
 

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();
 }