Merge branch 'plot_crazyflies_branch' into pps_project

pps_ws/src/d_fall_pps/CMakeLists.txt

@@ -31,11 +31,15 @@ set(CMAKE_AUTOMOC ON)
 find_package(Qt5Widgets REQUIRED)
 find_package(Qt5Core REQUIRED)
 find_package(Qt5Gui REQUIRED)
+find_package(Qt5Svg REQUIRED)
 
 # GUI -- Add src and includes
 set(MY_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/src)
 set(MY_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/include)
 
+# GUI -- Resource file
+set(MY_RESOURCE_FILE_QRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.qrc)
+
 # #set the default path for built executables to the "bin" directory
 # set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 # #set the default path for built libraries to the "lib" directory
@@ -57,6 +61,9 @@ set(SRC_HDRS_QOBJECT
 qt5_wrap_ui(UIS_HDRS GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui)
 qt5_wrap_cpp(SRC_MOC_HDRS ${SRC_HDRS_QOBJECT})
 
+# GUI -- wrap resource file qrc->rcc
+qt5_add_resources(MY_RESOURCE_FILE_RCC ${MY_RESOURCE_FILE_QRC})
+
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
@@ -209,7 +216,7 @@ add_executable(CentralManagerService src/CentralManagerService.cpp)
 
 
 
-# Add sources here
+# GUI -- Add sources here
 set(MY_CPP_SOURCES              # compilation of sources
     ${MY_LIB_PATH_SRC}/mainguiwindow.cpp
     ${MY_LIB_PATH_SRC}/main.cpp
@@ -222,11 +229,12 @@ set(MY_CPP_SOURCES              # compilation of sources
     ${MY_LIB_PATH_SRC}/tablePiece.cpp
     ${MY_LIB_PATH_SRC}/marker.cpp
     ${MY_LIB_PATH_SRC}/rosNodeThread.cpp
+    ${MY_LIB_PATH_SRC}/crazyFly.cpp
     )
 
 
-# Add executables here
-add_executable(my_GUI ${MY_CPP_SOURCES} ${UIS_HDRS} ${SRC_MOC_HDRS})
+# GUI -- Add executables here
+add_executable(my_GUI ${MY_CPP_SOURCES} ${UIS_HDRS} ${SRC_MOC_HDRS} ${MY_RESOURCE_FILE_RCC})
 qt5_use_modules(my_GUI Widgets)
 
 
@@ -273,10 +281,13 @@ target_link_libraries(CentralManagerService ${catkin_LIBRARIES})
 
 # GUI -- link libraries
 target_link_libraries(my_GUI Qt5::Widgets) # GUI -- let my_GUI have acesss to Qt stuff
+target_link_libraries(my_GUI Qt5::Svg)
+
 # target_link_libraries(my_library Qt5::Widgets) # GUI -- let my_library have access to Qt stuff
 # target_link_libraries(my_GUI my_library)
 target_link_libraries(my_GUI ${catkin_LIBRARIES})
 
+
 #############
 ## Install ##
 #############

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro

@@ -14,6 +14,10 @@ TEMPLATE = app
 INCLUDEPATH += $$PWD/include
 CONFIG += c++11
 
+RESOURCES = CrazyFlyGUI.qrc
+
+QT+= svg
+
 
 SOURCES += \
     src/cornergrabber.cpp \
@@ -25,7 +29,8 @@ SOURCES += \
     src/myGraphicsScene.cpp \
     src/myGraphicsView.cpp \
     src/tablePiece.cpp \
-    src/marker.cpp
+    src/marker.cpp \
+    src/crazyFly.cpp
 
 HEADERS  += \
     include/cornergrabber.h \
@@ -37,7 +42,8 @@ HEADERS  += \
     include/myGraphicsView.h \
     include/tablePiece.h \
     include/globalDefinitions.h \
-    include/marker.h
+    include/marker.h \
+    include/crazyFly.h
 
 FORMS    += \
     src/mainguiwindow.ui

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro.user

 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.0.2, 2017-05-11T12:29:20. -->
+<!-- Written by QtCreator 4.0.2, 2017-05-11T18:09:24. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.qrc

+<!DOCTYPE RCC><RCC version="1.0">
+<qresource>
+  <file>images/drone.png</file>
+  <file>images/drone.svg</file>
+  <file>images/drone_fixed.svg</file>
+</qresource>
+</RCC>

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/images/drone.svg

+<?xml version="1.0" encoding="UTF-8"?>
+<!-- Svg Vector Icons : http://www.onlinewebfonts.com/icon -->
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px" viewBox="0 0 1000 1000" enable-background="new 0 0 1000 1000" xml:space="preserve">
+<metadata> Svg Vector Icons : http://www.onlinewebfonts.com/icon </metadata>
+<g><g transform="translate(0.000000,512.000000) scale(0.100000,-0.100000)"><path 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+</svg>
\ No newline at end of file

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h

+#ifndef CRAZYFLY_H
+#define CRAZYFLY_H
+
+#include "globalDefinitions.h"
+
+#include <QGraphicsSvgItem>
+#include <QSvgRenderer>
+
+
+#define DRONE_HEIGHT         100 * FROM_MILIMETERS_TO_UNITS
+#define DRONE_WIDTH          100 * FROM_MILIMETERS_TO_UNITS
+
+class crazyFly : public QGraphicsSvgItem
+{
+public:
+    explicit crazyFly(QPointF position, QGraphicsItem * parent = 0);
+    ~crazyFly();
+    QRectF boundingRect() const;
+
+    void paint(QPainter * painter,
+               const QStyleOptionGraphicsItem * option,
+               QWidget * widget);
+private:
+    qreal m_width;
+    qreal m_height;
+};
+
+
+#endif

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h

@@ -7,6 +7,7 @@
 #include <QGridLayout>
 #include <QGraphicsRectItem>
 
+
 #ifdef CATKIN_MAKE
 #include "rosNodeThread.h"
 #include "d_fall_pps/UnlabeledMarker.h"
@@ -18,7 +19,7 @@
 #include "globalDefinitions.h"
 
 #include "marker.h"             // temporal, just to check
-
+#include "crazyFly.h"
 
 namespace Ui {
 class MainGUIWindow;
@@ -109,6 +110,8 @@ private:
 
     std::vector<Marker*> markers_vector;
 
+    crazyFly* crazyFly_1;
+
     #ifdef CATKIN_MAKE
     rosNodeThread* _rosNodeThread;
     #endif

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp

+#include "crazyFly.h"
+
+#include <QPen>
+#include <QBrush>
+
+
+crazyFly::crazyFly(QPointF position, QGraphicsItem * parent)
+    : QGraphicsSvgItem(":/images/drone_fixed.svg")
+{
+    m_width = DRONE_WIDTH;
+    m_height = DRONE_HEIGHT;
+    this->setPos(position);
+}
+
+crazyFly::~crazyFly()
+{
+}
+
+QRectF crazyFly::boundingRect() const
+{
+    // return QRectF(-original_width/2, -original_height/2, original_width, original_height);
+    return QRectF(-m_width/2, -m_height/2, m_width, m_height);
+}
+
+void crazyFly::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
+{
+    this->renderer()->render(painter,this->boundingRect());
+}

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp

@@ -9,6 +9,7 @@
 #include <QTextEdit>
 #include <QString>
 #include <QMetaType>
+#include <QDir>
 
 #include <string>
 
@@ -68,6 +69,8 @@ void MainGUIWindow::_init()
     scene->setSceneRect(-100 * FROM_METERS_TO_UNITS, -100 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS);
 
     ui->graphicsView->setScene(scene);
+    crazyFly_1 = new crazyFly(QPointF(50,50));
+    scene->addItem(crazyFly_1);
 
     QObject::connect(ui->tabWidget, SIGNAL(tabCloseRequested(int)), scene, SLOT(removeCrazyFlyZone(int)));
     QObject::connect(scene, SIGNAL(numCrazyFlyZonesChanged(int)), this, SLOT(set_tabs(int)));