Started process of adding a template controller. Still need to connect the GUI...

Started process of adding a template controller. Still need to connect the GUI elements and add the ROS Controller Service node

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro

@@ -28,7 +28,9 @@ SOURCES += src/main.cpp\
     src/studentcontrollertab.cpp \
     src/defaultcontrollertab.cpp \
     src/pickercontrollertab.cpp \
-    src/tuningcontrollertab.cpp
+    src/templatecontrollertab.cpp \
+    src/tuningcontrollertab.cpp \
+
 
 HEADERS  += include/mainwindow.h \
     include/topbanner.h \
@@ -41,8 +43,10 @@ HEADERS  += include/mainwindow.h \
     include/studentcontrollertab.h \
     include/defaultcontrollertab.h \
     include/pickercontrollertab.h \
+    include/templatecontrollertab.h \
     include/tuningcontrollertab.h \
-    include/Constants_for_Qt_compile.h
+    include/Constants_for_Qt_compile.h \
+
 
 
 FORMS    += forms/mainwindow.ui \
@@ -56,7 +60,9 @@ FORMS    += forms/mainwindow.ui \
     forms/studentcontrollertab.ui \
     forms/defaultcontrollertab.ui \
     forms/pickercontrollertab.ui \
-    forms/tuningcontrollertab.ui
+    forms/templatecontrollertab.ui \
+    forms/tuningcontrollertab.ui \
+
 
 RESOURCES += \
     flyingagentgui.qrc

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui

@@ -28,7 +28,7 @@
    <item row="0" column="0">
     <widget class="QTabWidget" name="controller_tabs_widget">
      <property name="currentIndex">
-      <number>3</number>
+      <number>4</number>
      </property>
      <property name="movable">
       <bool>true</bool>
@@ -73,13 +73,13 @@
        </item>
       </layout>
      </widget>
-     <widget class="QWidget" name="safe_tab">
+     <widget class="QWidget" name="template_tab">
       <attribute name="title">
-       <string>Safe</string>
+       <string>Template</string>
       </attribute>
-      <layout class="QGridLayout" name="gridLayout_3">
+      <layout class="QGridLayout" name="gridLayout_7">
        <item row="0" column="0">
-        <widget class="SafeControllerTab" name="safe_controller_tab_widget" native="true"/>
+        <widget class="TemplateControllerTab" name="template_controller_tab_widget" native="true"/>
        </item>
       </layout>
      </widget>
@@ -88,12 +88,6 @@
   </layout>
  </widget>
  <customwidgets>
-  <customwidget>
-   <class>SafeControllerTab</class>
-   <extends>QWidget</extends>
-   <header>safecontrollertab.h</header>
-   <container>1</container>
-  </customwidget>
   <customwidget>
    <class>StudentControllerTab</class>
    <extends>QWidget</extends>
@@ -118,6 +112,12 @@
    <header>tuningcontrollertab.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>TemplateControllerTab</class>
+   <extends>QWidget</extends>
+   <header>templatecontrollertab.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources/>
  <connections/>

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui

@@ -109,7 +109,7 @@
       </spacer>
      </item>
      <item row="0" column="5">
-      <widget class="QPushButton" name="enable_safe_button">
+      <widget class="QPushButton" name="enable_template_button">
        <property name="sizePolicy">
         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
          <horstretch>0</horstretch>
@@ -135,7 +135,7 @@
         </font>
        </property>
        <property name="text">
-        <string>Safe</string>
+        <string>Template</string>
        </property>
       </widget>
      </item>
@@ -255,7 +255,7 @@
       </widget>
      </item>
      <item row="1" column="5">
-      <widget class="QPushButton" name="load_yaml_safe_button">
+      <widget class="QPushButton" name="load_yaml_template_button">
        <property name="sizePolicy">
         <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
          <horstretch>0</horstretch>
@@ -275,7 +275,7 @@
         </size>
        </property>
        <property name="text">
-        <string>Safe</string>
+        <string>Template</string>
        </property>
       </widget>
      </item>

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui

@@ -214,7 +214,7 @@
     <addaction name="action_showHideController_student"/>
     <addaction name="action_showHideController_picker"/>
     <addaction name="action_showHideController_tuning"/>
-    <addaction name="action_showHideController_safe"/>
+    <addaction name="action_showHideController_template"/>
    </widget>
    <addaction name="menuFile"/>
    <addaction name="menuLoad_YAML"/>
@@ -302,6 +302,17 @@
     <string>Tuning</string>
    </property>
   </action>
+  <action name="action_showHideController_template">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Template</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h

@@ -114,6 +114,7 @@
 #define REMOTE_CONTROLLER    5
 #define TUNING_CONTROLLER    6
 #define PICKER_CONTROLLER    7
+#define TEMPLATE_CONTROLLER  8
 
 // The constants that "command" changes in the
 // operation state of this agent
@@ -124,6 +125,7 @@
 #define CMD_USE_REMOTE_CONTROLLER    5
 #define CMD_USE_TUNING_CONTROLLER    6
 #define CMD_USE_PICKER_CONTROLLER    7
+#define CMD_USE_TEMPLATE_CONTROLLER  8
 
 
 #define CMD_CRAZYFLY_TAKE_OFF        11
@@ -252,6 +254,7 @@
 #define LOAD_YAML_REMOTE_CONTROLLER_AGENT           5
 #define LOAD_YAML_TUNING_CONTROLLER_AGENT           6
 #define LOAD_YAML_PICKER_CONTROLLER_AGENT           7
+#define LOAD_YAML_TEMPLATE_CONTROLLER_AGENT         8
 
 #define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR       11
 #define LOAD_YAML_DEMO_CONTROLLER_COORDINATOR       12
@@ -260,6 +263,7 @@
 #define LOAD_YAML_REMOTE_CONTROLLER_COORDINATOR     15
 #define LOAD_YAML_TUNING_CONTROLLER_COORDINATOR     16
 #define LOAD_YAML_PICKER_CONTROLLER_COORDINATOR     17
+#define LOAD_YAML_TEMPLATE_CONTROLLER_COORDINATOR   18
 
 
 // For sending commands to the controller node informing
@@ -276,6 +280,7 @@
 #define FETCH_YAML_REMOTE_CONTROLLER_FROM_OWN_AGENT    5
 #define FETCH_YAML_TUNING_CONTROLLER_FROM_OWN_AGENT    6
 #define FETCH_YAML_PICKER_CONTROLLER_FROM_OWN_AGENT    7
+#define FETCH_YAML_TEMPLATE_CONTROLLER_FROM_OWN_AGENT  8
 
 #define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR      11
 #define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR      12
@@ -283,4 +288,4 @@
 #define FETCH_YAML_MPC_CONTROLLER_FROM_COORDINATOR       14
 #define FETCH_YAML_REMOTE_CONTROLLER_FROM_COORDINATOR    15
 #define FETCH_YAML_TUNING_CONTROLLER_FROM_COORDINATOR    16
-#define FETCH_YAML_PICKER_CONTROLLER_FROM_COORDINATOR    17
\ No newline at end of file
+#define FETCH_YAML_TEMPLATE_CONTROLLER_FROM_COORDINATOR  18

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllertabs.h

@@ -90,7 +90,7 @@ public:
     void showHideController_student_changed();
     void showHideController_picker_changed();
     void showHideController_tuning_changed();
-    void showHideController_safe_changed();
+    void showHideController_template_changed();
 
 
 public slots:

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h

@@ -102,7 +102,7 @@ public:
     void showHideController_student_changed();
     void showHideController_picker_changed();
     void showHideController_tuning_changed();
-    void showHideController_safe_changed();
+    void showHideController_template_changed();
 
 
 public slots:
@@ -112,18 +112,19 @@ public slots:
 private slots:
 
     // ENABLE CONTROLLER BUTTONS ON-CLICK CALLBACK
-    void on_enable_safe_button_clicked();
-    void on_enable_tuning_button_clicked();
-    void on_enable_picker_button_clicked();
-    void on_enable_student_button_clicked();
     void on_enable_default_button_clicked();
+    void on_enable_student_button_clicked();
+    void on_enable_picker_button_clicked();
+    void on_enable_tuning_button_clicked();
+    void on_enable_template_button_clicked();
 
     // LOAD YAML BUTTONS ON-CLICK CALLBACK
-    void on_load_yaml_safe_button_clicked();
-    void on_load_yaml_tuning_button_clicked();
-    void on_load_yaml_picker_button_clicked();
-    void on_load_yaml_student_button_clicked();
     void on_load_yaml_default_button_clicked();
+    void on_load_yaml_student_button_clicked();
+    void on_load_yaml_picker_button_clicked();
+    void on_load_yaml_tuning_button_clicked();
+    void on_load_yaml_template_button_clicked();
+
 
 private:
     Ui::EnableControllerLoadYamlBar *ui;

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/mainwindow.h

@@ -131,7 +131,7 @@ private slots:
     void on_action_showHideController_student_changed();
     void on_action_showHideController_picker_changed();
     void on_action_showHideController_tuning_changed();
-    void on_action_showHideController_safe_changed();
+    void on_action_showHideController_template_changed();
 
 };
 

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/templatecontrollertab.h

+#ifndef TEMPLATECONTROLLERTAB_H
+#define TEMPLATECONTROLLERTAB_H
+
+#include <QWidget>
+
+namespace Ui {
+class TemplateControllerTab;
+}
+
+class TemplateControllerTab : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit TemplateControllerTab(QWidget *parent = 0);
+    ~TemplateControllerTab();
+
+private:
+    Ui::TemplateControllerTab *ui;
+};
+
+#endif // TEMPLATECONTROLLERTAB_H

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp

@@ -232,9 +232,9 @@ void ControllerTabs::showHideController_tuning_changed()
     showHideController_toggle("Tuning",ui->tuning_tab);
 }
 
-void ControllerTabs::showHideController_safe_changed()
+void ControllerTabs::showHideController_template_changed()
 {
-    showHideController_toggle("Safe",ui->safe_tab);
+    showHideController_toggle("Template",ui->template_tab);
 }
 
 
@@ -384,9 +384,14 @@ void ControllerTabs::setControllerEnabled(int new_controller)
     {
         case SAFE_CONTROLLER:
         {
-            //ui->controller_enabled_label->setText("Safe");
+            setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->default_tab );
             break;
         }
+//        case DEFAULT_CONTROLLER:
+//        {
+//            setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->default_tab );
+//            break;
+//        }
         case DEMO_CONTROLLER:
         {
             //ui->controller_enabled_label->setText("Demo");
@@ -417,6 +422,11 @@ void ControllerTabs::setControllerEnabled(int new_controller)
             setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->picker_tab );
             break;
         }
+        case TEMPLATE_CONTROLLER:
+        {
+            setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->template_tab );
+            break;
+        }
         default:
         {
             //ui->controller_enabled_label->setText("Unknown");
@@ -432,7 +442,7 @@ void ControllerTabs::setAllTabLabelsToNormalColouring()
     setTextColourOfTabLabel( m_tab_text_colour_normal , ui->student_tab );
     setTextColourOfTabLabel( m_tab_text_colour_normal , ui->picker_tab );
     setTextColourOfTabLabel( m_tab_text_colour_normal , ui->tuning_tab );
-    setTextColourOfTabLabel( m_tab_text_colour_normal , ui->safe_tab );
+    setTextColourOfTabLabel( m_tab_text_colour_normal , ui->template_tab );
 }
 
 void ControllerTabs::setTextColourOfTabLabel(QColor color , QWidget * tab_widget)

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp

@@ -108,20 +108,19 @@ void EnableControllerLoadYamlBar::showHideController_tuning_changed()
     ui->load_yaml_tuning_button->setHidden( !(ui->load_yaml_tuning_button->isHidden()) );
 }
 
-void EnableControllerLoadYamlBar::showHideController_safe_changed()
+void EnableControllerLoadYamlBar::showHideController_template_changed()
 {
-    ui->enable_safe_button   ->setHidden( !(ui->enable_safe_button->isHidden()) );
-    ui->load_yaml_safe_button->setHidden( !(ui->load_yaml_safe_button->isHidden()) );
+    ui->enable_template_button   ->setHidden( !(ui->enable_template_button->isHidden()) );
+    ui->load_yaml_template_button->setHidden( !(ui->load_yaml_template_button->isHidden()) );
 }
 
 
 
 
 
-
 // ENABLE CONTROLLER BUTTONS ON-CLICK CALLBACK
 
-void EnableControllerLoadYamlBar::on_enable_safe_button_clicked()
+void EnableControllerLoadYamlBar::on_enable_default_button_clicked()
 {
 #ifdef CATKIN_MAKE
     dfall_pkg::IntWithHeader msg;
@@ -132,14 +131,14 @@ void EnableControllerLoadYamlBar::on_enable_safe_button_clicked()
 #endif
 }
 
-void EnableControllerLoadYamlBar::on_enable_tuning_button_clicked()
+void EnableControllerLoadYamlBar::on_enable_student_button_clicked()
 {
 #ifdef CATKIN_MAKE
     dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
-    msg.data = CMD_USE_TUNING_CONTROLLER;
+    msg.data = CMD_USE_STUDENT_CONTROLLER;
     this->commandPublisher.publish(msg);
-    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Tuning Controller");
+    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Student Controller");
 #endif
 }
 
@@ -154,39 +153,53 @@ void EnableControllerLoadYamlBar::on_enable_picker_button_clicked()
 #endif
 }
 
-void EnableControllerLoadYamlBar::on_enable_student_button_clicked()
+void EnableControllerLoadYamlBar::on_enable_tuning_button_clicked()
 {
 #ifdef CATKIN_MAKE
     dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
-    msg.data = CMD_USE_STUDENT_CONTROLLER;
+    msg.data = CMD_USE_TUNING_CONTROLLER;
     this->commandPublisher.publish(msg);
-    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Student Controller");
+    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Tuning Controller");
 #endif
 }
 
-void EnableControllerLoadYamlBar::on_enable_default_button_clicked()
+void EnableControllerLoadYamlBar::on_enable_template_button_clicked()
 {
 #ifdef CATKIN_MAKE
     dfall_pkg::IntWithHeader msg;
     fillIntMessageHeader(msg);
-    msg.data = CMD_USE_SAFE_CONTROLLER;
+    msg.data = CMD_USE_TEMPLATE_CONTROLLER;
     this->commandPublisher.publish(msg);
-    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Safe Controller");
+    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Template Controller");
 #endif
 }
 
 
+
+
+
+
+
 // LOAD YAML BUTTONS ON-CLICK CALLBACK
 
-void EnableControllerLoadYamlBar::on_load_yaml_safe_button_clicked()
+void EnableControllerLoadYamlBar::on_load_yaml_default_button_clicked()
 {
-#ifdef CATKIN_MAKE
-
+    #ifdef CATKIN_MAKE
+    // Create a local variable for the message
+    dfall_pkg::StringWithHeader yaml_filename_msg;
+    // Set for whom this applies to
+    fillStringMessageHeader(yaml_filename_msg);
+    // Specify the data
+    yaml_filename_msg.data = "DefaultController";
+    // Send the message
+    m_requestLoadYamlFilenamePublisher.publish(yaml_filename_msg);
+    // Inform the user that the menu item was selected
+    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Default Controller YAML was clicked.");
 #endif
 }
 
-void EnableControllerLoadYamlBar::on_load_yaml_tuning_button_clicked()
+void EnableControllerLoadYamlBar::on_load_yaml_student_button_clicked()
 {
 #ifdef CATKIN_MAKE
     // Create a local variable for the message
@@ -194,11 +207,11 @@ void EnableControllerLoadYamlBar::on_load_yaml_tuning_button_clicked()
     // Set for whom this applies to
     fillStringMessageHeader(yaml_filename_msg);
     // Specify the data
-    yaml_filename_msg.data = "TuningController";
+    yaml_filename_msg.data = "StudentController";
     // Send the message
     m_requestLoadYamlFilenamePublisher.publish(yaml_filename_msg);
     // Inform the user that the menu item was selected
-    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Tuning Controller YAML was clicked.");
+    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Student Controller YAML was clicked.");
 #endif
 }
 
@@ -218,7 +231,7 @@ void EnableControllerLoadYamlBar::on_load_yaml_picker_button_clicked()
 #endif
 }
 
-void EnableControllerLoadYamlBar::on_load_yaml_student_button_clicked()
+void EnableControllerLoadYamlBar::on_load_yaml_tuning_button_clicked()
 {
 #ifdef CATKIN_MAKE
     // Create a local variable for the message
@@ -226,27 +239,27 @@ void EnableControllerLoadYamlBar::on_load_yaml_student_button_clicked()
     // Set for whom this applies to
     fillStringMessageHeader(yaml_filename_msg);
     // Specify the data
-    yaml_filename_msg.data = "StudentController";
+    yaml_filename_msg.data = "TuningController";
     // Send the message
     m_requestLoadYamlFilenamePublisher.publish(yaml_filename_msg);
     // Inform the user that the menu item was selected
-    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Student Controller YAML was clicked.");
+    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Tuning Controller YAML was clicked.");
 #endif
 }
 
-void EnableControllerLoadYamlBar::on_load_yaml_default_button_clicked()
+void EnableControllerLoadYamlBar::on_load_yaml_template_button_clicked()
 {
-    #ifdef CATKIN_MAKE
+#ifdef CATKIN_MAKE
     // Create a local variable for the message
     dfall_pkg::StringWithHeader yaml_filename_msg;
     // Set for whom this applies to
     fillStringMessageHeader(yaml_filename_msg);
     // Specify the data
-    yaml_filename_msg.data = "DefaultController";
+    yaml_filename_msg.data = "TemplateController";
     // Send the message
     m_requestLoadYamlFilenamePublisher.publish(yaml_filename_msg);
     // Inform the user that the menu item was selected
-    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Default Controller YAML was clicked.");
+    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Template Controller YAML was clicked.");
 #endif
 }
 
@@ -254,6 +267,7 @@ void EnableControllerLoadYamlBar::on_load_yaml_default_button_clicked()
 
 
 
+
 //    ----------------------------------------------------------------------------------
 //      A     GGGG  EEEEE  N   N  TTTTT     III  DDDD    SSSS
 //     A A   G      E      NN  N    T        I   D   D  S

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp

@@ -145,9 +145,8 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
     ui->action_showHideController_picker->trigger();
     // > For the tuning controller
     ui->action_showHideController_tuning->trigger();
-    // > For the safe controller
-    ui->action_showHideController_safe->trigger();
-
+    // > For the template controller
+    ui->action_showHideController_template->trigger();
 
 }
 
@@ -246,11 +245,11 @@ void MainWindow::on_action_showHideController_tuning_changed()
     ui->customWidget_controller_tabs->showHideController_tuning_changed();
 }
 
-void MainWindow::on_action_showHideController_safe_changed()
+void MainWindow::on_action_showHideController_template_changed()
 {
     // Notify the UI elements of this change
-    ui->customWidget_enableControllerLoadYamlBar->showHideController_safe_changed();
-    ui->customWidget_controller_tabs->showHideController_safe_changed();
+    ui->customWidget_enableControllerLoadYamlBar->showHideController_template_changed();
+    ui->customWidget_controller_tabs->showHideController_template_changed();
 }
 
 

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp

+#include "templatecontrollertab.h"
+#include "ui_templatecontrollertab.h"
+
+TemplateControllerTab::TemplateControllerTab(QWidget *parent) :
+    QWidget(parent),
+    ui(new Ui::TemplateControllerTab)
+{
+    ui->setupUi(this);
+}
+
+TemplateControllerTab::~TemplateControllerTab()
+{
+    delete ui;
+}

dfall_ws/src/dfall_pkg/include/nodes/Constants.h

@@ -127,6 +127,7 @@
 #define REMOTE_CONTROLLER    5
 #define TUNING_CONTROLLER    6
 #define PICKER_CONTROLLER    7
+#define TEMPLATE_CONTROLLER  8
 
 // The constants that "command" changes in the
 // operation state of this agent
@@ -137,6 +138,7 @@
 #define CMD_USE_REMOTE_CONTROLLER    5
 #define CMD_USE_TUNING_CONTROLLER    6
 #define CMD_USE_PICKER_CONTROLLER    7
+#define CMD_USE_TEMPLATE_CONTROLLER  8
 
 
 #define CMD_CRAZYFLY_TAKE_OFF        11
@@ -266,6 +268,7 @@
 #define LOAD_YAML_REMOTE_CONTROLLER_AGENT           5
 #define LOAD_YAML_TUNING_CONTROLLER_AGENT           6
 #define LOAD_YAML_PICKER_CONTROLLER_AGENT           7
+#define LOAD_YAML_TEMPLATE_CONTROLLER_AGENT         7
 
 #define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR       11
 #define LOAD_YAML_DEMO_CONTROLLER_COORDINATOR       12
@@ -274,6 +277,7 @@
 #define LOAD_YAML_REMOTE_CONTROLLER_COORDINATOR     15
 #define LOAD_YAML_TUNING_CONTROLLER_COORDINATOR     16
 #define LOAD_YAML_PICKER_CONTROLLER_COORDINATOR     17
+#define LOAD_YAML_TEMPLATE_CONTROLLER_COORDINATOR   18
 
 
 // For sending commands to the controller node informing
@@ -290,6 +294,7 @@
 #define FETCH_YAML_REMOTE_CONTROLLER_FROM_OWN_AGENT    5
 #define FETCH_YAML_TUNING_CONTROLLER_FROM_OWN_AGENT    6
 #define FETCH_YAML_PICKER_CONTROLLER_FROM_OWN_AGENT    7
+#define FETCH_YAML_TEMPLATE_CONTROLLER_FROM_OWN_AGENT  8
 
 #define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR      11
 #define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR      12
@@ -297,4 +302,5 @@
 #define FETCH_YAML_MPC_CONTROLLER_FROM_COORDINATOR       14
 #define FETCH_YAML_REMOTE_CONTROLLER_FROM_COORDINATOR    15
 #define FETCH_YAML_TUNING_CONTROLLER_FROM_COORDINATOR    16
-#define FETCH_YAML_PICKER_CONTROLLER_FROM_COORDINATOR    17
\ No newline at end of file
+#define FETCH_YAML_PICKER_CONTROLLER_FROM_COORDINATOR    17
+#define FETCH_YAML_TEMPLATE_CONTROLLER_FROM_COORDINATOR  18
\ No newline at end of file