MainWindow.h 4.16 KB
Newer Older
roangel's avatar
roangel committed
1
2
3
4
5
#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>

6
#include <std_msgs/Int32.h>
7
#include <std_msgs/Float32.h>
8
9
10

#include "rosNodeThread.h"

11
12
#include "d_fall_pps/CrazyflieContext.h"
#include "d_fall_pps/CrazyflieData.h"
13
#include "d_fall_pps/Setpoint.h"
14
15


16
// commands for CrazyRadio
17
#define CMD_RECONNECT  0
18
#define CMD_DISCONNECT 1
19

20
21
22
23
24
25
26

// CrazyRadio states:
#define CONNECTED        0
#define CONNECTING       1
#define DISCONNECTED     2

// Commands for PPSClient
27
#define CMD_USE_SAFE_CONTROLLER   1
28
#define CMD_USE_CUSTOM_CONTROLLER 2
29
30
31
32
33
34
35
36
37
#define CMD_CRAZYFLY_TAKE_OFF     3
#define CMD_CRAZYFLY_LAND         4
#define CMD_CRAZYFLY_MOTORS_OFF   5

// Flying States
#define STATE_MOTORS_OFF 1
#define STATE_TAKE_OFF   2
#define STATE_FLYING     3
#define STATE_LAND       4
38

roangel's avatar
roangel committed
39
40
41
42
43
44

#define PI 3.141592653589

#define RAD2DEG 180.0/PI
#define DEG2RAD PI/180.0

roangel's avatar
roangel committed
45
46
47
48
49
50
51
52
53
namespace Ui {
class MainWindow;
}

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
54
    explicit MainWindow(int argc, char **argv, QWidget *parent = 0);
roangel's avatar
roangel committed
55
56
    ~MainWindow();

57
58
private slots:
    void updateNewViconData(const ptrToMessage& p_msg);
59
    void on_RF_Connect_button_clicked();
60
61
62
63
64
65

    void on_take_off_button_clicked();

    void on_land_button_clicked();

    void on_motors_OFF_button_clicked();
66

67
    void on_set_setpoint_button_clicked();
68
    void on_set_setpoint_button_2_clicked();
69

70
71
    void on_pushButton_3_clicked();

72
73
    void on_load_custom_yaml_button_clicked();
    void on_load_safe_yaml_button_clicked();
74
75
76
77
78

    void on_en_custom_controller_clicked();

    void on_en_safe_controller_clicked();

roangel's avatar
roangel committed
79
80
private:
    Ui::MainWindow *ui;
81
82

    rosNodeThread* m_rosNodeThread;
83
    int m_radio_status;
84
85
    float m_battery_voltage;
    int m_battery_level;
86

87
88
    std::string m_ros_namespace;

89
    ros::Timer m_custom_timer_yaml_file;
roangel's avatar
roangel committed
90

91
92
93
    int m_student_id;
    CrazyflieContext m_context;

94
95
    Setpoint m_safe_setpoint;
    Setpoint m_custom_setpoint;
96

97
    ros::Publisher crazyRadioCommandPublisher;
98
    ros::Subscriber crazyRadioStatusSubscriber;
roangel's avatar
roangel committed
99
    ros::Publisher PPSClientCommandPublisher;
100
    ros::Subscriber CFBatterySubscriber;
101
    ros::Subscriber flyingStateSubscriber;
102

103
    ros::Publisher controllerSetpointPublisher;
104
105
106
107
    ros::Subscriber safeSetpointSubscriber;

    ros::Publisher customSetpointPublisher;
    ros::Subscriber customSetpointSubscriber;
108

109
110
    ros::Subscriber DBChangedSubscriber;

111
112
113
    ros::Publisher customYAMLloadedPublisher;
    ros::Publisher safeYAMLloadedPublisher;

114
115
    ros::ServiceClient centralManager;

116
    // callbacks
117
    void crazyRadioStatusCallback(const std_msgs::Int32& msg);
118
    void CFBatteryCallback(const std_msgs::Float32& msg);
119
    void flyingStateChangedCallback(const std_msgs::Int32& msg);
120
121
    void safeSetpointCallback(const Setpoint& newSetpoint);
    void customSetpointCallback(const Setpoint& newSetpoint);
122
    void DBChangedCallback(const std_msgs::Int32& msg);
123
124
    void customYamlFileTimerCallback(const ros::TimerEvent&);
    void safeYamlFileTimerCallback(const ros::TimerEvent&);
125
126
127

    float fromVoltageToPercent(float voltage);
    void updateBatteryVoltage(float battery_voltage);
128
    void setCrazyRadioStatus(int radio_status);
129
130
131
    void loadCrazyflieContext();
    void coordinatesToLocal(CrazyflieData& cf);

132
133
134

    void disableGUI();
    void enableGUI();
135
136

    const std::vector<float> m_cutoff_voltages {3.1966,        3.2711,        3.3061,        3.3229,        3.3423,        3.3592,        3.3694,        3.385,        3.4006,        3.4044,        3.4228,        3.4228,        3.4301,        3.4445,        3.4531,        3.4677,        3.4705,        3.4712,        3.4756,        3.483,        3.4944,        3.5008,        3.5008,        3.5084,        3.511,        3.5122,        3.5243,        3.5329,        3.5412,        3.5529,        3.5609,        3.5625,        3.5638,        3.5848,        3.6016,        3.6089,        3.6223,        3.628,        3.6299,        3.6436,        3.6649,        3.6878,        3.6983,        3.7171,        3.7231,        3.7464,        3.7664,        3.7938,        3.8008,        3.816,        3.8313,        3.8482,        3.866,        3.8857,        3.8984,        3.9159,        3.9302,        3.9691,        3.997,        4.14    };
roangel's avatar
roangel committed
137
138
139
};

#endif // MAINWINDOW_H