mainguiwindow.cpp 43.9 KB
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//    Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat, Angel Romero
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//
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//    This file is part of D-FaLL-System.
//    
//    D-FaLL-System is free software: you can redistribute it and/or modify
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//    it under the terms of the GNU General Public License as published by
//    the Free Software Foundation, either version 3 of the License, or
//    (at your option) any later version.
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//    
//    D-FaLL-System is distributed in the hope that it will be useful,
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//    but WITHOUT ANY WARRANTY; without even the implied warranty of
//    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
//    GNU General Public License for more details.
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//    
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//    You should have received a copy of the GNU General Public License
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//    along with D-FaLL-System.  If not, see <http://www.gnu.org/licenses/>.
//    
//
//    ----------------------------------------------------------------------------------
//    DDDD        FFFFF        L     L           SSSS  Y   Y   SSSS  TTTTT  EEEEE  M   M
//    D   D       F      aaa   L     L          S       Y Y   S        T    E      MM MM
//    D   D  ---  FFFF  a   a  L     L     ---   SSS     Y     SSS     T    EEE    M M M
//    D   D       F     a  aa  L     L              S    Y        S    T    E      M   M
//    DDDD        F      aa a  LLLL  LLLL       SSSS     Y    SSSS     T    EEEEE  M   M
//
//
//    DESCRIPTION:
//    Teacher's GUI main window header.
//
//    ----------------------------------------------------------------------------------

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#include "mainguiwindow.h"
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#include "ui_mainguiwindow.h"
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#include "crazyFlyZoneTab.h"
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#include "myGraphicsScene.h"
#include "myGraphicsView.h"
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#include "channelLUT.h"
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#include <QObject>
#include <QDoubleSpinBox>
#include <QTextEdit>
#include <QString>
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#include <QMetaType>
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#include <QDir>
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#include <regex>
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#ifdef CATKIN_MAKE
#include "d_fall_pps/UnlabeledMarker.h"
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#include "d_fall_pps/CMRead.h"
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#include "d_fall_pps/CrazyflieEntry.h"
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#include "d_fall_pps/CMUpdate.h"
#include "d_fall_pps/CMCommand.h"
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#include "nodes/CentralManagerService.h"
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#include <ros/ros.h>
#include <ros/network.h>
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#include <ros/package.h>
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#endif

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#include <string>
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#define N_MAX_CRAZYFLIES           20 // protection number
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#ifdef CATKIN_MAKE
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using namespace d_fall_pps;
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#endif
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MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainGUIWindow)
{
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    #ifdef CATKIN_MAKE
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    _rosNodeThread = new rosNodeThread(argc, argv, "my_GUI");
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    #endif
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    ui->setupUi(this);
    _init();
}
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MainGUIWindow::~MainGUIWindow()
{
    delete ui;
}

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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;
}
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void MainGUIWindow::doNumCrazyFlyZonesChanged(int n)
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{
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    // tabs number management, maybe do it in a different way so we dont have to remove and add everything?
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    // first check if size of tabs is greater than size of vector or viceversa. Have we removed or added a zone?
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    qDebug("tabWidgetCount : %d", ui->tabWidget->count());
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    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)));
    }
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    updateComboBoxesCFZones();
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}

void MainGUIWindow::_init()
{
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    // 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);

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    ui->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
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    ui->graphicsView->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
    ui->graphicsView->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
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    // error messages
    // ui->err_message_cf->hide();
    // ui->err_message_cf_zone->hide();
    // ui->err_message_student_id->hide();

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    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);

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    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; }");
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    ui->err_message_cf->clear();
    ui->err_message_cf_zone->clear();
    ui->err_message_student_id->clear();
    ui->err_message_radio_address->clear();
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    // initialize table_links
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    ui->table_links->setColumnCount(4);
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    QFont fnt;
    fnt.setPointSize(7);
    ui->table_links->horizontalHeader()->setFont(fnt);

    ui->table_links->horizontalHeader()->setDefaultSectionSize(90);
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    ui->table_links->verticalHeader()->setDefaultSectionSize(20);
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    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);
    	}
    }
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    ui->table_links->setSelectionBehavior(QAbstractItemView::SelectRows);
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    QStringList horizontal_header;
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    horizontal_header << "Student ID" << "CrazyFly" << "CrazyFly Zone" << "Radio Address";
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    ui->table_links->setHorizontalHeaderLabels(horizontal_header);
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    // scene
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    scene = new myGraphicsScene(ui->frame_drawing);
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    scene->setSceneRect(-100 * FROM_METERS_TO_UNITS, -100 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS);
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    ui->graphicsView->setScene(scene);
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    // after scene is created, create CFlinker
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    #ifdef CATKIN_MAKE
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    cf_linker = new CFLinker(ui, &crazyflies_vector, &scene->crazyfly_zones);
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    #endif
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    // connections
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    QObject::connect(ui->tabWidget, SIGNAL(tabCloseRequested(int)), this, SLOT(doTabClosed(int)));
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    QObject::connect(scene, SIGNAL(numCrazyFlyZonesChanged(int)), this, SLOT(doNumCrazyFlyZonesChanged(int)));
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    QObject::connect(scene, SIGNAL(crazyFlyZoneSelected(int)), this, SLOT(setTabIndex(int)));
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    QObject::connect(scene, SIGNAL(modeChanged(int)), this, SLOT(transitionToMode(int)));
    QObject::connect(scene, SIGNAL(numTablePiecesChanged(int)), this, SLOT(handleTablePiecesNumChanged(int)));
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    ui->checkBox_vicon_highlight_markers->setEnabled(false);
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    #ifdef CATKIN_MAKE
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    _rosNodeThread->init();
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    qRegisterMetaType<ptrToMessage>("ptrToMessage");
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    QObject::connect(_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
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    QObject::connect(cf_linker, SIGNAL(updateComboBoxes()), this, SLOT(updateComboBoxes()));
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    ros_namespace = ros::this_node::getNamespace();

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    ros::NodeHandle nodeHandle("~");
    DBChangedPublisher = nodeHandle.advertise<std_msgs::Int32>("DBChanged", 1);
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    emergencyStopPublisher = nodeHandle.advertise<std_msgs::Int32>("emergencyStop", 1);
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    // Initialise the publisher for sending "commands" from here (the master)
    // to all of the agent nodes
    commandAllAgentsPublisher = nodeHandle.advertise<std_msgs::Int32>("commandAllAgents", 1);

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    // Publisher for sending a request from here (the master) to all "Parameter Service" nodes
    // that it should re-load parameters from the YAML file for the controllers.
    // > This is recieved and acted on by both Coordinate and Agent type "Parameter Services",
    // > A coordinator type "Parameter Service" will subsequently request the agents to fetch
    //   the parameters from itself.
    // > A agent type "Parameter Service" will subsequently request its own agent to fetch
    //   the parameters from itself.
    requestLoadControllerYamlPublisher = nodeHandle.advertise<std_msgs::Int32>("requestLoadControllerYaml", 1);
    
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    // Initialise the publisher for sending a request from here (the master)
    // to all of the agents nodes that they should (re/dis)-connect from
    // the Crazy-Radio
    crazyRadioCommandAllAgentsPublisher = nodeHandle.advertise<std_msgs::Int32>("crazyRadioCommandAllAgents", 1);
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    #endif
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}
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void MainGUIWindow::doTabClosed(int tab_index)
{
    QString name = ui->tabWidget->tabText(tab_index);
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    #ifdef CATKIN_MAKE
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    int cf_zone_index = cf_linker->getCFZoneIndexFromName(name);
    scene->removeCrazyFlyZone(cf_zone_index);
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    #endif
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}

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

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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()))
        {
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            int cf_zone_index = scene->crazyfly_zones[i]->getIndex();
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            QString qstr = "CrazyFlyZone ";
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            qstr.append(QString::number(cf_zone_index + 1));
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            ui->comboBoxCFZones->addItem(qstr);
        }
    }
    #endif
}


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#ifdef CATKIN_MAKE
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void MainGUIWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to newViconData, from node
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{
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    // update Markers

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

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    // ROS_INFO_STREAM("markers.size: " << p_msg->markers.size());
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    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
        {
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            // ROS_INFO_STREAM("element index: " << i << " added");
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            Marker* tmp_p_marker = new Marker(&(p_msg->markers[i]));
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            markers_vector.push_back(tmp_p_marker); // what happens with the new indexes? check if this is correct

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            if(ui->checkBox_vicon_markers->checkState() == Qt::Checked) //only if markers checkbox info is checked..
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            {
                scene->addItem(markers_vector[i]);
                if(ui->checkBox_vicon_highlight_markers->checkState() == Qt::Checked)
                {
                    markers_vector[i]->setHighlighted();
                }
            }
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        }
        else
        {
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            // ROS_INFO_STREAM("element index: " << i << " moved, already existed");
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            markers_vector[i]->updateMarker(&(p_msg->markers[i]));
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        }
    }
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    // update Crazyflies
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    // 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]));
        }
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        else                    //name not found, newly arrived, add it to the vector
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        {
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            // 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);
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            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
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            {
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                if(crazyflies_vector[i]->isOccluded())
                {
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                    // ROS_INFO("===================OCCLUDED");
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                    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);
                    }
                }
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            }
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        }
    }
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    // in this loop, clean the ones that are not present anymore. UPDATE: this will apparently only happen when we tick and untick in Vicon
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    int crazyfly_vector_size_after = crazyflies_vector.size();
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    for(int j = crazyfly_vector_size_after - 1; j >= 0; j--)
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    {
        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);
        }
    }
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}
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#endif
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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)
{
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}

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)
{
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    // // 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
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}

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
}
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void MainGUIWindow::on_checkBox_vicon_markers_toggled(bool checked)
{
    if(checked)
    {
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        #ifdef CATKIN_MAKE
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        for(int i = 0; i < markers_vector.size(); i++)
        {
            scene->addItem(markers_vector[i]);
        }
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        #endif
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        ui->checkBox_vicon_highlight_markers->setCheckable(true);
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        ui->checkBox_vicon_highlight_markers->setEnabled(true);
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    }
    else
    {
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        #ifdef CATKIN_MAKE
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        for(int i = 0; i < markers_vector.size(); i++)
        {
            scene->removeItem(markers_vector[i]);
        }
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        #endif
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        ui->checkBox_vicon_highlight_markers->setChecked(false);
        ui->checkBox_vicon_highlight_markers->setCheckable(false);
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        ui->checkBox_vicon_highlight_markers->setEnabled(false);
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    }
}

void MainGUIWindow::on_checkBox_vicon_highlight_markers_toggled(bool checked)
{
    if(checked)
    {
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        #ifdef CATKIN_MAKE
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        for(int i = 0; i < markers_vector.size(); i++)
        {
            markers_vector[i]->setHighlighted();
        }
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        #endif
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    }
    else
    {
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        #ifdef CATKIN_MAKE
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        for(int i = 0; i < markers_vector.size(); i++)
        {
            markers_vector[i]->clearHighlighted();
        }
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        #endif
    }
}

void MainGUIWindow::on_checkBox_vicon_crazyflies_toggled(bool checked)
{
    if(checked)
    {
        #ifdef CATKIN_MAKE
        for(int i = 0; i < crazyflies_vector.size(); i++)
        {
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            if(!crazyflies_vector[i]->isAddedToScene())
            {
                scene->addItem(crazyflies_vector[i]);
                crazyflies_vector[i]->setAddedToScene(true);
            }
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        }
        #endif
        ui->scaleSpinBox->setEnabled(true);
    }
    else
    {
        #ifdef CATKIN_MAKE
        for(int i = 0; i < crazyflies_vector.size(); i++)
        {
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            if(crazyflies_vector[i]->isAddedToScene())
            {
                scene->removeItem(crazyflies_vector[i]);
                crazyflies_vector[i]->setAddedToScene(false);
            }
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        }
        #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);
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    }
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    #endif
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}
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void MainGUIWindow::on_refresh_cfs_button_clicked()
{
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    updateComboBoxesCFs();
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}

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
}
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void MainGUIWindow::on_link_button_clicked()
{
    #ifdef CATKIN_MAKE
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    bool error = false;
    if(ui->comboBoxCFs->count() == 0)
    {
        // plot error message
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        ui->err_message_cf->setText("CF box is empty");
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        error = true;
    }
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    else
    {
        ui->err_message_cf->clear();
    }
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    if(ui->comboBoxCFZones->count() == 0)
    {
        // plot error message
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        ui->err_message_cf_zone->setText("CFZone box is empty");
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        error = true;
    }
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    else
    {
        ui->err_message_cf_zone->clear();
    }
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    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();
    }

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    if(cf_linker->isStudentIDLinked(ui->spinBox_student_ids->value()))
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    {
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        // plot error message
        ui->err_message_student_id->setText("This StudentID has already been linked");
        error = true;
    }
    else
    {
        ui->err_message_student_id->clear();
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    }

    if(!error)
    {
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        cf_linker->link(ui->spinBox_student_ids->value(), cf_linker->getCFZoneIndexFromName(ui->comboBoxCFZones->currentText()), ui->comboBoxCFs->currentText().toStdString(), ui->radioAddress_text->text().toStdString());
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    }
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    #endif
}
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void MainGUIWindow::on_unlink_button_clicked()
{
    #ifdef CATKIN_MAKE
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    cf_linker->unlink_selection();
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    #endif
}
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void MainGUIWindow::on_save_in_DB_button_clicked()
{
    // we need to update and then save?
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    CrazyflieDB tmp_db;
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    for(int i = 0; i < cf_linker->links.size(); i++)
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    {
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        CrazyflieEntry tmp_entry;
        tmp_entry.crazyflieContext.crazyflieName = cf_linker->links[i].cf_name;
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        tmp_entry.crazyflieContext.crazyflieAddress = cf_linker->links[i].radio_address;
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        tmp_entry.crazyflieContext.localArea.crazyfly_zone_index = cf_linker->links[i].cf_zone_index;
        tmp_entry.studentID = cf_linker->links[i].student_id;
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        for(int j = 0; j < scene->crazyfly_zones.size(); j++)
        {
            if(cf_linker->links[i].cf_zone_index == scene->crazyfly_zones[j]->getIndex())
            {
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                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;
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                tmp_entry.crazyflieContext.localArea.zmin = -0.2;
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                tmp_entry.crazyflieContext.localArea.zmax = 1.2;
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            }
        }
        tmp_db.crazyflieEntries.push_back(tmp_entry);
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    }
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    m_data_base = tmp_db;

    ROS_INFO_STREAM("database:\n" << m_data_base);
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    // save the database in the file

    fill_database_file();
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    // 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);
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}

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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)
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{
    CMRead getDBCall;
    _rosNodeThread->m_read_db_client.waitForExistence(ros::Duration(-1));
    if(_rosNodeThread->m_read_db_client.call(getDBCall))
    {
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        read_db = getDBCall.response.crazyflieDB;
        return 0;
    }
    else
    {
        return -1;
    }
}

void MainGUIWindow::on_load_from_DB_button_clicked()
{
    CrazyflieDB tmp_db;
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    if(read_database_from_file(tmp_db) == 0)
    {
		ROS_INFO_STREAM("database:\n" << tmp_db);
        m_data_base = tmp_db;
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        cf_linker->clear_all_links();
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        // remove all cf_zones existing
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        scene->removeAllCFZones();
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        int size = scene->crazyfly_zones.size();
        ROS_INFO("vector_cf_zones_size %d", size);

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        for(int i = 0; i < m_data_base.crazyflieEntries.size(); i++)
        {
            std::string cf_name = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieName;
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            std::string radio_address = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieAddress;
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            int cf_zone_index = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.crazyfly_zone_index;
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            // we should first create the cf zones that are in the database?
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            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;
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            QRectF tmp_rect(m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmin * FROM_METERS_TO_UNITS,
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                            - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymax * FROM_METERS_TO_UNITS, // minus sign because qt has y-axis inverted
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                            width * FROM_METERS_TO_UNITS,
                            height * FROM_METERS_TO_UNITS);
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            int student_id = m_data_base.crazyflieEntries[i].studentID;
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            scene->addCFZone(tmp_rect, cf_zone_index);


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            cf_linker->link(student_id, cf_zone_index, cf_name, radio_address);
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        }
    }
    else
    {
        ROS_ERROR("Failed to read DB");
    }
}
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void MainGUIWindow::on_comboBoxCFs_currentTextChanged(const QString &arg1)
{
    std::string key = arg1.toStdString();
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    auto it = channel_LUT.find(key);
    if(it != channel_LUT.end())
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    {
        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");
    }
}
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//    ----------------------------------------------------------------------------------
//     CCCC   OOO   M   M  M   M    A    N   N  DDDD          A    L      L
//    C      O   O  MM MM  MM MM   A A   NN  N  D   D        A A   L      L
//    C      O   O  M M M  M M M  A   A  N N N  D   D       A   A  L      L
//    C      O   O  M   M  M   M  AAAAA  N  NN  D   D       AAAAA  L      L
//     CCCC   OOO   M   M  M   M  A   A  N   N  DDDD        A   A  LLLLL  LLLLL
//
//    BBBB   U   U  TTTTT  TTTTT   OOO   N   N   SSSS
//    B   B  U   U    T      T    O   O  NN  N  S
//    BBBB   U   U    T      T    O   O  N N N   SSS
//    B   B  U   U    T      T    O   O  N  NN      S
//    BBBB    UUU     T      T     OOO   N   N  SSSS
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