mainguiwindow.cpp 28 KB
Newer Older
1
#include "mainguiwindow.h"
2
#include "ui_mainguiwindow.h"
3
#include "crazyFlyZoneTab.h"
4
5
#include "myGraphicsScene.h"
#include "myGraphicsView.h"
6
#include "channelLUT.h"
7
8
9
10
11

#include <QObject>
#include <QDoubleSpinBox>
#include <QTextEdit>
#include <QString>
12
#include <QMetaType>
13
#include <QDir>
14
#include <regex>
15

16
17
#ifdef CATKIN_MAKE
#include "d_fall_pps/UnlabeledMarker.h"
18
#include "d_fall_pps/CMRead.h"
19
#include "d_fall_pps/CrazyflieEntry.h"
20
21
22
#include "d_fall_pps/CMUpdate.h"
#include "d_fall_pps/CMCommand.h"
#include "CentralManagerService.h"
23
24
25

#include <ros/ros.h>
#include <ros/network.h>
26
#include <ros/package.h>
27

28
29
#endif

30
#include <string>
31

32
#define N_MAX_CRAZYFLIES           20 // protection number
33

roangel's avatar
roangel committed
34
#ifdef CATKIN_MAKE
35
using namespace d_fall_pps;
roangel's avatar
roangel committed
36
#endif
37

38
39
40
41
MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainGUIWindow)
{
42
    #ifdef CATKIN_MAKE
43
    _rosNodeThread = new rosNodeThread(argc, argv, "my_GUI");
44
    #endif
45
46
47
    ui->setupUi(this);
    _init();
}
48

49

50
51
52
53
54
MainGUIWindow::~MainGUIWindow()
{
    delete ui;
}

55
56
57
58
59
60
61
62
63
64
65
66
67
68
int MainGUIWindow::getTabIndexFromName(QString name)
{
    int found_name = -1;
    for(int i = 0; i < ui->tabWidget->count(); i++)
    {
        qDebug("name: %s", name.toStdString().c_str());
        qDebug("tabText: %s", ui->tabWidget->tabText(i).toStdString().c_str());
        if(name == ui->tabWidget->tabText(i))
        {
            found_name = i;
        }
    }
    return found_name;
}
69

roangel's avatar
roangel committed
70
void MainGUIWindow::doNumCrazyFlyZonesChanged(int n)
71
{
roangel's avatar
roangel committed
72
    // tabs number management, maybe do it in a different way so we dont have to remove and add everything?
73
    // first check if size of tabs is greater than size of vector or viceversa. Have we removed or added a zone?
74

75
    qDebug("tabWidgetCount : %d", ui->tabWidget->count());
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
    if(ui->tabWidget->count() > scene->crazyfly_zones.size())
    {
        // we removed one crazyfly_zone, n means index of the one we removed. Look for that index tab and remove it
        QString qstr = "CrazyFly ";
        qstr.append(QString::number(n+1));
        if(scene->crazyfly_zones.size() == 0)
        {
            ui->tabWidget->clear();
        }
        int found_index = getTabIndexFromName(qstr);
        if(found_index != -1)
        {
            ui->tabWidget->widget(found_index)->deleteLater();
            // ui->tabWidget->removeTab(found_index);
        }

        //  now unlink it from table also:
        #ifdef CATKIN_MAKE
        if(cf_linker->isCFZoneLinked(n))
        {
            cf_linker->unlink_cf_zone(n);
        }
        #endif
    }
    else if(ui->tabWidget->count() < scene->crazyfly_zones.size())
    {
        // we added one crazyfly_zone, n means index of the new one. New tab will be labeld index + 1
        QString qstr = "CrazyFly ";
        qstr.append(QString::number(n+1));
        crazyFlyZoneTab* widget = new crazyFlyZoneTab(n);
        ui->tabWidget->insertTab(n, widget, qstr);
        connect(widget, SIGNAL(centerButtonClickedSignal(int)), this, SLOT(centerViewIndex(int)));
    }
109

110
    updateComboBoxesCFZones();
111
112
113
114
}

void MainGUIWindow::_init()
{
115
116
117
118
119
120
121
122
    // initialize checkboxes, spinboxes,....
    ui->scaleSpinBox->setRange(0.1, 100);
    ui->scaleSpinBox->setSingleStep(0.1);
    ui->scaleSpinBox->setValue(1);

    ui->checkBox_vicon_crazyflies->setChecked(false);
    ui->scaleSpinBox->setEnabled(false);

123

124
    ui->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
125
126
    ui->graphicsView->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
    ui->graphicsView->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
127

128
129
130
131
132
    // error messages
    // ui->err_message_cf->hide();
    // ui->err_message_cf_zone->hide();
    // ui->err_message_student_id->hide();

133
134
135
136
137
138
139
    ui->radioAddress_text->setReadOnly(true);

    QPalette *palette = new QPalette();
    palette->setColor(QPalette::Base,Qt::lightGray);
    palette->setColor(QPalette::Text,Qt::darkGray);
    ui->radioAddress_text->setPalette(*palette);

140
141
142
143
    ui->err_message_cf->setStyleSheet("QLabel { color : red; }");
    ui->err_message_cf_zone->setStyleSheet("QLabel { color : red; }");
    ui->err_message_student_id->setStyleSheet("QLabel { color : red; }");
    ui->err_message_radio_address->setStyleSheet("QLabel { color : red; }");
144

145
146
147
148
    ui->err_message_cf->clear();
    ui->err_message_cf_zone->clear();
    ui->err_message_student_id->clear();
    ui->err_message_radio_address->clear();
149

150
    // initialize table_links
151
    ui->table_links->setColumnCount(4);
152

153
154
155
156
157
    QFont fnt;
    fnt.setPointSize(7);
    ui->table_links->horizontalHeader()->setFont(fnt);

    ui->table_links->horizontalHeader()->setDefaultSectionSize(90);
158
    ui->table_links->verticalHeader()->setDefaultSectionSize(20);
159
160
161
162
163
164
165
166
167
168
169

    const int rowCount = ui->table_links->rowCount();
    const int columnCount = ui->table_links->columnCount();
    for(int i = 0; i < rowCount; ++i)
    {
    	for(int j = 0; j < columnCount; ++j)
        {
    		QTableWidgetItem* selectedItem = ui->table_links->item(i, j);
    		selectedItem->setFont(fnt);
    	}
    }
roangel's avatar
roangel committed
170
    ui->table_links->setSelectionBehavior(QAbstractItemView::SelectRows);
171
    QStringList horizontal_header;
172
    horizontal_header << "Student ID" << "CrazyFly" << "CrazyFly Zone" << "Radio Address";
173
    ui->table_links->setHorizontalHeaderLabels(horizontal_header);
174

175
    // scene
176
    scene = new myGraphicsScene(ui->frame_drawing);
177
    scene->setSceneRect(-100 * FROM_METERS_TO_UNITS, -100 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS);
178

179
    ui->graphicsView->setScene(scene);
180

181
    // after scene is created, create CFlinker
182
    #ifdef CATKIN_MAKE
183
    cf_linker = new CFLinker(ui, &crazyflies_vector, &scene->crazyfly_zones);
184
    #endif
185
    // connections
186
    QObject::connect(ui->tabWidget, SIGNAL(tabCloseRequested(int)), this, SLOT(doTabClosed(int)));
roangel's avatar
roangel committed
187
    QObject::connect(scene, SIGNAL(numCrazyFlyZonesChanged(int)), this, SLOT(doNumCrazyFlyZonesChanged(int)));
188
    QObject::connect(scene, SIGNAL(crazyFlyZoneSelected(int)), this, SLOT(setTabIndex(int)));
189
190
    QObject::connect(scene, SIGNAL(modeChanged(int)), this, SLOT(transitionToMode(int)));
    QObject::connect(scene, SIGNAL(numTablePiecesChanged(int)), this, SLOT(handleTablePiecesNumChanged(int)));
roangel's avatar
roangel committed
191
192

    ui->checkBox_vicon_highlight_markers->setEnabled(false);
193

roangel's avatar
roangel committed
194
    #ifdef CATKIN_MAKE
195
    _rosNodeThread->init();
196
    qRegisterMetaType<ptrToMessage>("ptrToMessage");
197
    QObject::connect(_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
198
    QObject::connect(cf_linker, SIGNAL(updateComboBoxes()), this, SLOT(updateComboBoxes()));
199
200
201

    ros::NodeHandle nodeHandle("~");
    DBChangedPublisher = nodeHandle.advertise<std_msgs::Int32>("DBChanged", 1);
202
    emergencyStopPublisher = nodeHandle.advertise<std_msgs::Int32>("emergencyStop", 1);
roangel's avatar
roangel committed
203
    #endif
204
}
205

206
207
208
void MainGUIWindow::doTabClosed(int tab_index)
{
    QString name = ui->tabWidget->tabText(tab_index);
roangel's avatar
roangel committed
209
    #ifdef CATKIN_MAKE
roangel's avatar
roangel committed
210
211
    int cf_zone_index = cf_linker->getCFZoneIndexFromName(name);
    scene->removeCrazyFlyZone(cf_zone_index);
roangel's avatar
roangel committed
212
    #endif
213
214
215
216
217
218
219
220
221
}

void MainGUIWindow::setTabIndex(int index)
{
    QString qstr = "CrazyFly ";
    qstr.append(QString::number(index + 1));
    ui->tabWidget->setCurrentIndex(getTabIndexFromName(qstr));
}

222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
void MainGUIWindow::updateComboBoxes()
{
    updateComboBoxesCFs();
    updateComboBoxesCFZones();
}
void MainGUIWindow::updateComboBoxesCFs()
{
    #ifdef CATKIN_MAKE
    ui->comboBoxCFs->clear();
    for(int i = 0; i < crazyflies_vector.size(); i++)
    {
        if(!cf_linker->isCFLinked(crazyflies_vector[i]->getName()))
        {
            QString qstr = QString::fromStdString(crazyflies_vector[i]->getName());
            ui->comboBoxCFs->addItem(qstr);
        }
    }
    #endif
}

void MainGUIWindow::updateComboBoxesCFZones()
{
    ui->comboBoxCFZones->clear();
    #ifdef CATKIN_MAKE
    for(int i = 0; i < scene->crazyfly_zones.size(); i++)
    {
        if(!cf_linker->isCFZoneLinked(scene->crazyfly_zones[i]->getIndex()))
        {
250
            int cf_zone_index = scene->crazyfly_zones[i]->getIndex();
251
            QString qstr = "CrazyFlyZone ";
252
            qstr.append(QString::number(cf_zone_index + 1));
253
254
255
256
257
258
259
            ui->comboBoxCFZones->addItem(qstr);
        }
    }
    #endif
}


roangel's avatar
roangel committed
260
#ifdef CATKIN_MAKE
261
void MainGUIWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to newViconData, from node
262
{
263

264
265
    // update Markers

266
    if(p_msg->markers.size() < markers_vector.size()) // some markers have dissapeared, received stuff is smaller than what we have
267
268
269
    {
        for(int i = p_msg->markers.size(); i < markers_vector.size(); i++)
        {
270
            scene->removeItem(markers_vector[i]); // remove objects from scene
271
            // ROS_INFO_STREAM("element index: " << i << " removed");
272
        }
273
        markers_vector.erase(markers_vector.begin() + p_msg->markers.size(), markers_vector.end()); //delete them
274
275
    }

276
    // ROS_INFO_STREAM("markers.size: " << p_msg->markers.size());
277

278
279
280
281
    for(int i = 0; i < p_msg->markers.size(); i++) // here, or new markers message is equal to current messages, or greater (some new markers)
    {
        if(i >= markers_vector.size()) //some new markers coming
        {
282
            // ROS_INFO_STREAM("element index: " << i << " added");
283
            Marker* tmp_p_marker = new Marker(&(p_msg->markers[i]));
284
285
            markers_vector.push_back(tmp_p_marker); // what happens with the new indexes? check if this is correct

286
            if(ui->checkBox_vicon_markers->checkState() == Qt::Checked) //only if markers checkbox info is checked..
287
288
289
290
291
292
293
            {
                scene->addItem(markers_vector[i]);
                if(ui->checkBox_vicon_highlight_markers->checkState() == Qt::Checked)
                {
                    markers_vector[i]->setHighlighted();
                }
            }
294
295
296
        }
        else
        {
297
            // ROS_INFO_STREAM("element index: " << i << " moved, already existed");
298
            markers_vector[i]->updateMarker(&(p_msg->markers[i]));
299
300
        }
    }
301
302

    // update Crazyflies
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
    // also: what happens if we dont go through one of the names? we need to remove that crazyfly
    int crazyfly_vector_size_before = crazyflies_vector.size(); //initial size of vector
    // in this loop, add new ones and update old ones
    for(int i = 0; i < p_msg->crazyflies.size(); i++)
    {
        bool name_found = false; // for each iteration, name_found starts in false
        int index_name_found;
        for(int j = 0; j < crazyfly_vector_size_before; j++)
        {
            if(crazyflies_vector[j]->getName() == p_msg->crazyflies[i].crazyflieName)
            {
                name_found = true; // name found. This can only happen once per i-iteration, names are unique
                index_name_found = j; // index in already existing vector, to update it later (really needed?)
            }
        }

        if(name_found)
        {
            crazyflies_vector[index_name_found]->updateCF(&(p_msg->crazyflies[i]));
        }
323
        else                    //name not found, newly arrived, add it to the vector
324
        {
roangel's avatar
roangel committed
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
            // now, if name follows our format, put the corresponding number. If not, put the unknown image
            std::string s = p_msg->crazyflies[i].crazyflieName;
            std::smatch m;
            std::regex e ("PPS_CF([0-9]{2})");

            QString filename(":/images/drone_fixed_");

            if(std::regex_search(s, m, e))
            {
                std::string found_string = m[1].str();
                filename.append(QString::fromStdString(found_string));
                filename.append(".svg");
            }
            else
            {
                filename.append("unk.svg");
            }

            crazyFly* tmp_p_crazyfly = new crazyFly(&(p_msg->crazyflies[i]), filename);
344
345
346
347
348
349
            crazyflies_vector.push_back(tmp_p_crazyfly);
        }

        if(ui->checkBox_vicon_crazyflies->checkState() == Qt::Checked)
        {
            for(int i = 0; i < crazyflies_vector.size(); i++) //check for occlussion
350
            {
351
352
                if(crazyflies_vector[i]->isOccluded())
                {
roangel's avatar
roangel committed
353
                    // ROS_INFO("===================OCCLUDED");
354
355
356
357
358
359
360
361
362
363
364
365
366
367
                    if(crazyflies_vector[i]->isAddedToScene())
                    {
                        scene->removeItem(crazyflies_vector[i]);
                        crazyflies_vector[i]->setAddedToScene(false);
                    }
                }
                else
                {
                    if(!crazyflies_vector[i]->isAddedToScene())
                    {
                        scene->addItem(crazyflies_vector[i]);
                        crazyflies_vector[i]->setAddedToScene(true);
                    }
                }
368
            }
369
370
        }
    }
371

372
    // in this loop, clean the ones that are not present anymore. UPDATE: this will apparently only happen when we tick and untick in Vicon
373
    int crazyfly_vector_size_after = crazyflies_vector.size();
374

375
    for(int j = crazyfly_vector_size_after - 1; j >= 0; j--)
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
    {
        bool name_found = false;
        for(int i = 0; i < p_msg->crazyflies.size(); i++)
        {
            if(crazyflies_vector[j]->getName() == p_msg->crazyflies[i].crazyflieName)
            {
                name_found = true;
            }
        }
        if(!name_found)
        {
            scene->removeItem(crazyflies_vector[j]);
            crazyflies_vector.erase(crazyflies_vector.begin() + j);
        }
    }
391
}
roangel's avatar
roangel committed
392
#endif
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467


void MainGUIWindow::on_removeTable_clicked()
{
    if(scene->getMode() == myGraphicsScene::mode_table)
    {
        scene->removeTable();
    }
}

void MainGUIWindow::transitionToMode(int mode)
{
    switch(mode)
    {
        case myGraphicsScene::mode_table:
        {
            ui->removeTable->setDisabled(false);
            break;
        }
        case myGraphicsScene::mode_crazyfly_zones:
        {
            ui->removeTable->setDisabled(true);
            break;
        }
    }
}

void MainGUIWindow::on_radioButton_table_mode_toggled(bool checked)
{
    switch(scene->getMode())
    {
        case myGraphicsScene::mode_table:
        {
            // already in the mode we want, do nothing
            break;
        }
        case myGraphicsScene::mode_crazyfly_zones:
        {
            scene->setMode(myGraphicsScene::mode_table);
            break;
        }
        case myGraphicsScene::mode_locked:
        {
            scene->setMode(myGraphicsScene::mode_table);
            break;
        }
    }

}


void MainGUIWindow::on_radioButton_crazyfly_zones_mode_toggled(bool checked)
{
    switch(scene->getMode())
    {
        case myGraphicsScene::mode_table:
        {
            scene->setMode(myGraphicsScene::mode_crazyfly_zones);
            break;
        }
        case myGraphicsScene::mode_crazyfly_zones:
        {
            // already in the mode we want, do nothing
            break;
        }
        case myGraphicsScene::mode_locked:
        {
            scene->setMode(myGraphicsScene::mode_crazyfly_zones);
            break;
        }
    }
}

void MainGUIWindow::handleTablePiecesNumChanged(int newNum)
{
468

469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
}

void MainGUIWindow::on_radioButton_lock_mode_toggled(bool checked)
{
    switch(scene->getMode())
    {
        case myGraphicsScene::mode_table:
        {
            scene->setMode(myGraphicsScene::mode_locked);
            break;
        }
        case myGraphicsScene::mode_crazyfly_zones:
        {
            scene->setMode(myGraphicsScene::mode_locked);
            break;
        }
        case myGraphicsScene::mode_locked:
        {
            break;
        }
    }
}

void MainGUIWindow::on_checkBox_grid_toggled(bool checked)
{
    scene->setGrid(checked);
}

void MainGUIWindow::on_checkBox_table_toggled(bool checked)
{
    if(checked)
    {
        scene->showTable();
    }
    else
    {
        scene->hideTable();
    }
}

void MainGUIWindow::on_checkBox_crazyfly_zones_toggled(bool checked)
{
    if(checked)
    {
        scene->showCrazyFlyZones();
    }
    else
    {
        scene->hideCrazyFlyZones();
    }
}

void MainGUIWindow::on_tabWidget_currentChanged(int index)
{
523
524
525
526
527
528
    // // this index is tab index. Need to go to cf index
    // QString name = ui->tabWidget->tabText(index);
    // #ifdef CATKIN_MAKE
    // int cf_index = cf_linker->getCFZoneIndexFromName(name);
    // scene->setSelectedCrazyFlyZone(cf_index);
    // #endif
529
530
531
532
533
534
535
536
537
538
539
540
541
542
}

void MainGUIWindow::centerViewIndex(int index)
{
    ui->graphicsView->fitInView(scene->getRectFCrazyFlyZone(index), Qt::KeepAspectRatio);
    ui->graphicsView->scale(0.95, 0.95); // A bit back zoom, so we can see everything better
}


void MainGUIWindow::on_pushButton_fitAll_clicked()
{
    ui->graphicsView->fitInView(scene->itemsBoundingRect(), Qt::KeepAspectRatio);
    ui->graphicsView->scale(0.95, 0.95); // A bit back zoom, so we can see everything better
}
543
544
545
546
547

void MainGUIWindow::on_checkBox_vicon_markers_toggled(bool checked)
{
    if(checked)
    {
548
        #ifdef CATKIN_MAKE
549
550
551
552
        for(int i = 0; i < markers_vector.size(); i++)
        {
            scene->addItem(markers_vector[i]);
        }
553
        #endif
554
        ui->checkBox_vicon_highlight_markers->setCheckable(true);
roangel's avatar
roangel committed
555
        ui->checkBox_vicon_highlight_markers->setEnabled(true);
556
557
558
    }
    else
    {
559
        #ifdef CATKIN_MAKE
560
561
562
563
        for(int i = 0; i < markers_vector.size(); i++)
        {
            scene->removeItem(markers_vector[i]);
        }
564
        #endif
565
566
        ui->checkBox_vicon_highlight_markers->setChecked(false);
        ui->checkBox_vicon_highlight_markers->setCheckable(false);
roangel's avatar
roangel committed
567
        ui->checkBox_vicon_highlight_markers->setEnabled(false);
568
569
570
571
572
573
574
    }
}

void MainGUIWindow::on_checkBox_vicon_highlight_markers_toggled(bool checked)
{
    if(checked)
    {
575
        #ifdef CATKIN_MAKE
576
577
578
579
        for(int i = 0; i < markers_vector.size(); i++)
        {
            markers_vector[i]->setHighlighted();
        }
580
        #endif
581
582
583
    }
    else
    {
584
        #ifdef CATKIN_MAKE
585
586
587
588
        for(int i = 0; i < markers_vector.size(); i++)
        {
            markers_vector[i]->clearHighlighted();
        }
589
590
591
592
593
594
595
596
597
598
599
        #endif
    }
}

void MainGUIWindow::on_checkBox_vicon_crazyflies_toggled(bool checked)
{
    if(checked)
    {
        #ifdef CATKIN_MAKE
        for(int i = 0; i < crazyflies_vector.size(); i++)
        {
600
601
602
603
604
            if(!crazyflies_vector[i]->isAddedToScene())
            {
                scene->addItem(crazyflies_vector[i]);
                crazyflies_vector[i]->setAddedToScene(true);
            }
605
606
607
608
609
610
611
612
613
        }
        #endif
        ui->scaleSpinBox->setEnabled(true);
    }
    else
    {
        #ifdef CATKIN_MAKE
        for(int i = 0; i < crazyflies_vector.size(); i++)
        {
614
615
616
617
618
            if(crazyflies_vector[i]->isAddedToScene())
            {
                scene->removeItem(crazyflies_vector[i]);
                crazyflies_vector[i]->setAddedToScene(false);
            }
619
620
621
622
623
624
625
626
627
628
629
630
        }
        #endif
        ui->scaleSpinBox->setEnabled(false);
    }
}

void MainGUIWindow::on_scaleSpinBox_valueChanged(double arg1)
{
    #ifdef CATKIN_MAKE
    for(int i = 0; i < crazyflies_vector.size(); i++)
    {
        crazyflies_vector[i]->setScaleCFs(arg1);
631
    }
632
    #endif
633
}
634
635
636

void MainGUIWindow::on_refresh_cfs_button_clicked()
{
637
    updateComboBoxesCFs();
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
}

void MainGUIWindow::on_refresh_student_ids_button_clicked()
{
    #ifdef CATKIN_MAKE
    ui->list_discovered_student_ids->clear();

    // \/(\d)\/PPSClient
    ros::V_string v_str;
    ros::master::getNodes(v_str);
    for(int i = 0; i < v_str.size(); i++)
    {
        std::string s = v_str[i];
        std::smatch m;
        std::regex e ("\\/(\\d)\\/PPSClient");

        // std::regex e("\\/PPSClien(.)");

        // while(std::regex_search(s, m, e))
        // {
        //     for (int i = 0; i < m.size(); i++)
        //     {
        //         ROS_INFO("FOUND: %s", m[i].str().c_str());
        //         // std::cout << "FOUND" << m[i] << "\n";
        //     }
        //     s = m.suffix().str();
        // }

        if(std::regex_search(s, m, e))
        {
            // ROS_INFO("===============================================FOUND: %s", m[1].str().c_str()); // one because we are interested ONLY in the first match
            std::string found_string = m[1].str();
            ui->list_discovered_student_ids->addItem(found_string.c_str());
        }
    }
    #endif
}
675
676
677
678
679
680



void MainGUIWindow::on_link_button_clicked()
{
    #ifdef CATKIN_MAKE
681
682
683
684
685

    bool error = false;
    if(ui->comboBoxCFs->count() == 0)
    {
        // plot error message
686
        ui->err_message_cf->setText("CF box is empty");
687
688
        error = true;
    }
689
690
691
692
    else
    {
        ui->err_message_cf->clear();
    }
693

694
695
696
    if(ui->comboBoxCFZones->count() == 0)
    {
        // plot error message
697
        ui->err_message_cf_zone->setText("CFZone box is empty");
698
699
        error = true;
    }
700
701
702
703
    else
    {
        ui->err_message_cf_zone->clear();
    }
704

705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
    if(cf_linker->isRadioAddressLinked(ui->radioAddress_text->text().toStdString()))
    {
        ui->err_message_radio_address->setText("Already in use");
        error = true;
    }
    else if(ui->radioAddress_text->text().toStdString() == "")
    {
        ui->err_message_radio_address->setText("Field is empty");
        error = true;
    }
    else
    {
        ui->err_message_radio_address->clear();
    }

720
    if(cf_linker->isStudentIDLinked(ui->spinBox_student_ids->value()))
721
    {
722
723
724
725
726
727
728
        // plot error message
        ui->err_message_student_id->setText("This StudentID has already been linked");
        error = true;
    }
    else
    {
        ui->err_message_student_id->clear();
729
730
731
732
    }

    if(!error)
    {
733
        cf_linker->link(ui->spinBox_student_ids->value(), cf_linker->getCFZoneIndexFromName(ui->comboBoxCFZones->currentText()), ui->comboBoxCFs->currentText().toStdString(), ui->radioAddress_text->text().toStdString());
734
    }
735
736
    #endif
}
737
738
739
740

void MainGUIWindow::on_unlink_button_clicked()
{
    #ifdef CATKIN_MAKE
741
    cf_linker->unlink_selection();
742
743
    #endif
}
744
745
746
747

void MainGUIWindow::on_save_in_DB_button_clicked()
{
    // we need to update and then save?
748
    CrazyflieDB tmp_db;
749
    for(int i = 0; i < cf_linker->links.size(); i++)
750
    {
751
752
        CrazyflieEntry tmp_entry;
        tmp_entry.crazyflieContext.crazyflieName = cf_linker->links[i].cf_name;
753
        tmp_entry.crazyflieContext.crazyflieAddress = cf_linker->links[i].radio_address;
754
755
        tmp_entry.crazyflieContext.localArea.crazyfly_zone_index = cf_linker->links[i].cf_zone_index;
        tmp_entry.studentID = cf_linker->links[i].student_id;
756

757
758
759
760
        for(int j = 0; j < scene->crazyfly_zones.size(); j++)
        {
            if(cf_linker->links[i].cf_zone_index == scene->crazyfly_zones[j]->getIndex())
            {
761
762
763
764
765
766
767
768
769
770
                double x_min = scene->crazyfly_zones[j]->sceneBoundingRect().bottomLeft().x();
                double y_min = - scene->crazyfly_zones[j]->sceneBoundingRect().bottomLeft().y();

                double x_max = scene->crazyfly_zones[j]->sceneBoundingRect().topRight().x();
                double y_max = -scene->crazyfly_zones[j]->sceneBoundingRect().topRight().y();

                tmp_entry.crazyflieContext.localArea.xmin = x_min * FROM_UNITS_TO_METERS;
                tmp_entry.crazyflieContext.localArea.xmax = x_max * FROM_UNITS_TO_METERS;
                tmp_entry.crazyflieContext.localArea.ymin = y_min * FROM_UNITS_TO_METERS;
                tmp_entry.crazyflieContext.localArea.ymax = y_max * FROM_UNITS_TO_METERS;
771
772
773

                tmp_entry.crazyflieContext.localArea.zmin = -0.2;
                tmp_entry.crazyflieContext.localArea.zmax = 2.0;
774
775
776
            }
        }
        tmp_db.crazyflieEntries.push_back(tmp_entry);
777
    }
778
779
780
781

    m_data_base = tmp_db;

    ROS_INFO_STREAM("database:\n" << m_data_base);
782
783
784
785

    // save the database in the file

    fill_database_file();
786
787
788
789
790

    // Now also publish a ROS message stating that we changed the DB, so the nodes can update it
    std_msgs::Int32 msg;
    msg.data = 1;
    this->DBChangedPublisher.publish(msg);
791
792
}

793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
void MainGUIWindow::clear_database_file()
{
    CrazyflieDB tmp_db;
    if(read_database_from_file(tmp_db) == 0)
    {
        for(int i = 0; i < tmp_db.crazyflieEntries.size(); i++)
        {
            CMUpdate updateCall;
            updateCall.request.mode = ENTRY_REMOVE;
            updateCall.request.crazyflieEntry.crazyflieContext.crazyflieName = tmp_db.crazyflieEntries[i].crazyflieContext.crazyflieName;
            if(_rosNodeThread->m_update_db_client.call(updateCall))
            {
                ROS_INFO("database changed in central manager service");
            }
            else
            {
                ROS_ERROR("Failed to remove entry in DB");
            }
        }
        save_database_file();
    }
    else
    {
        ROS_INFO("Failed to read DB");
    }
}

void MainGUIWindow::fill_database_file()
{
    clear_database_file();
    ROS_INFO("cleared data base file");
    ROS_INFO_STREAM("database:\n" << m_data_base);
    for(int i = 0; i < m_data_base.crazyflieEntries.size(); i++)
    {
        ROS_INFO("inserted 1 item in DB");
        insert_or_update_entry_database(m_data_base.crazyflieEntries[i]);
    }
    save_database_file();
}

void MainGUIWindow::save_database_file()
{
    CMCommand commandCall;
    commandCall.request.command = CMD_SAVE;
    if(_rosNodeThread->m_command_db_client.call(commandCall))
    {
        ROS_INFO("successfully saved db");
    }
    else
    {
        ROS_ERROR("failed to save db");
    }
}

void MainGUIWindow::insert_or_update_entry_database(CrazyflieEntry entry)
{
    CMUpdate updateCall;
    updateCall.request.mode = ENTRY_INSERT_OR_UPDATE;
    updateCall.request.crazyflieEntry = entry;
    _rosNodeThread->m_update_db_client.call(updateCall);
}

int MainGUIWindow::read_database_from_file(CrazyflieDB &read_db)
856
857
858
859
860
{
    CMRead getDBCall;
    _rosNodeThread->m_read_db_client.waitForExistence(ros::Duration(-1));
    if(_rosNodeThread->m_read_db_client.call(getDBCall))
    {
861
862
863
864
865
866
867
868
869
870
871
872
        read_db = getDBCall.response.crazyflieDB;
        return 0;
    }
    else
    {
        return -1;
    }
}

void MainGUIWindow::on_load_from_DB_button_clicked()
{
    CrazyflieDB tmp_db;
873

874
875
876
877
    if(read_database_from_file(tmp_db) == 0)
    {
		ROS_INFO_STREAM("database:\n" << tmp_db);
        m_data_base = tmp_db;
roangel's avatar
roangel committed
878

879
        cf_linker->clear_all_links();
roangel's avatar
roangel committed
880
        // remove all cf_zones existing
881
        scene->removeAllCFZones();
roangel's avatar
roangel committed
882
883
884
885

        int size = scene->crazyfly_zones.size();
        ROS_INFO("vector_cf_zones_size %d", size);

886
887
888
        for(int i = 0; i < m_data_base.crazyflieEntries.size(); i++)
        {
            std::string cf_name = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieName;
889
            std::string radio_address = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieAddress;
890
            int cf_zone_index = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.crazyfly_zone_index;
891

892
            // we should first create the cf zones that are in the database?
893
894
895
            bool cf_zone_exists;
            qreal width = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmax - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmin;
            qreal height = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymax - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymin;
896
            QRectF tmp_rect(m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmin * FROM_METERS_TO_UNITS,
897
                            - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymax * FROM_METERS_TO_UNITS, // minus sign because qt has y-axis inverted
898
899
                            width * FROM_METERS_TO_UNITS,
                            height * FROM_METERS_TO_UNITS);
900
            int student_id = m_data_base.crazyflieEntries[i].studentID;
roangel's avatar
roangel committed
901
902
903
904
905


            scene->addCFZone(tmp_rect, cf_zone_index);


906
            cf_linker->link(student_id, cf_zone_index, cf_name, radio_address);
roangel's avatar
roangel committed
907

908
909
910
911
912
913
914
        }
    }
    else
    {
        ROS_ERROR("Failed to read DB");
    }
}
915
916
917
918

void MainGUIWindow::on_comboBoxCFs_currentTextChanged(const QString &arg1)
{
    std::string key = arg1.toStdString();
919
920
    auto it = channel_LUT.find(key);
    if(it != channel_LUT.end())
921
922
923
924
925
926
927
928
929
930
    {
        std::string found = it->second;
        QString found_qstr = QString::fromStdString(found);
        ui->radioAddress_text->setText(found_qstr);
    }
    else
    {
        ROS_INFO("name not found in LUT");
    }
}
931
932
933
934
935
936
937


void MainGUIWindow::on_all_motors_off_button_clicked()
{
    std_msgs::Int32 msg;
    msg.data = CMD_CRAZYFLY_MOTORS_OFF;
}