From 064ccf54a2f3eec8eb9e1119a43ff372f8915c27 Mon Sep 17 00:00:00 2001
From: roangel <roangel@student.ethz.ch>
Date: Fri, 1 Sep 2017 09:25:45 +0200
Subject: [PATCH] Added link to use custom controller and safe controller. Need
to see what happens if we change yaml file name on the run
---
.../GUI_Qt/studentGUI/include/MainWindow.h | 6 ++++++
.../GUI_Qt/studentGUI/src/MainWindow.cpp | 19 +++++++++++++++++++
.../GUI_Qt/studentGUI/src/MainWindow.ui | 15 +++++++++++----
.../GUI_Qt/studentGUI/studentGUI.pro.user | 2 +-
.../src/d_fall_pps/crazyradio/CrazyRadio.py | 1 -
pps_ws/src/d_fall_pps/src/PPSClient.cpp | 10 +++++++---
6 files changed, 44 insertions(+), 9 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
index e498fb39..3a4895d9 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
@@ -68,6 +68,12 @@ private slots:
void on_pushButton_3_clicked();
+ void on_load_yaml_button_clicked();
+
+ void on_en_custom_controller_clicked();
+
+ void on_en_safe_controller_clicked();
+
private:
Ui::MainWindow *ui;
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index 7d2ace65..b7637420 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -313,3 +313,22 @@ void MainWindow::on_pushButton_3_clicked()
this->crazyRadioCommandPublisher.publish(msg);
ROS_INFO("command disconnect published");
}
+
+void MainWindow::on_load_yaml_button_clicked()
+{
+
+}
+
+void MainWindow::on_en_custom_controller_clicked()
+{
+ std_msgs::Int32 msg;
+ msg.data = CMD_USE_CUSTOM_CONTROLLER;
+ this->PPSClientCommandPublisher.publish(msg);
+}
+
+void MainWindow::on_en_safe_controller_clicked()
+{
+ std_msgs::Int32 msg;
+ msg.data = CMD_USE_SAFE_CONTROLLER;
+ this->PPSClientCommandPublisher.publish(msg);
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
index b36fec5b..e0f50cd1 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
@@ -320,9 +320,9 @@
</widget>
</item>
<item row="1" column="1">
- <widget class="QPushButton" name="pushButton">
+ <widget class="QPushButton" name="en_safe_controller">
<property name="text">
- <string>Enable Controller</string>
+ <string>Enable Safe Controller</string>
</property>
</widget>
</item>
@@ -601,9 +601,16 @@
</widget>
</item>
<item row="1" column="1">
- <widget class="QPushButton" name="pushButton_2">
+ <widget class="QPushButton" name="en_custom_controller">
<property name="text">
- <string>Enable Controller</string>
+ <string>Enable Custom Controller</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QPushButton" name="load_yaml_button">
+ <property name="text">
+ <string>Load YAML file</string>
</property>
</widget>
</item>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user
index 9e80e58b..470dfb69 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.0.2, 2017-08-29T16:03:13. -->
+<!-- Written by QtCreator 4.0.2, 2017-08-29T18:10:33. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
diff --git a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index db5d7c0d..dd2b8629 100755
--- a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
@@ -292,7 +292,6 @@ if __name__ == '__main__':
time.sleep(1.0)
-
bag.close()
rospy.loginfo("bag closed")
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index 0d3fcdda..db9d0580 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -122,16 +122,18 @@ void loadSafeController() {
ROS_INFO_STREAM("loaded safe controller: " << safeController.getService());
}
-void loadCustomController() {
+void loadCustomController()
+{
ros::NodeHandle nodeHandle("~");
std::string customControllerName;
- if(!nodeHandle.getParam("customController", customControllerName)) {
+ if(!nodeHandle.getParam("customController", customControllerName))
+ {
ROS_ERROR("Failed to get custom controller name");
return;
}
- customController = ros::service::createClient<Controller>(customControllerName, true);
+ customController = ros::service::createClient<Controller>(customControllerName, true);
ROS_INFO_STREAM("loaded custom controller " << customControllerName);
}
@@ -443,11 +445,13 @@ void commandCallback(const std_msgs::Int32& commandMsg) {
switch(cmd) {
case CMD_USE_SAFE_CONTROLLER:
+ ROS_INFO("USE_SAFE_CONTROLLER Command received");
loadSafeController();
usingSafeController = true;
break;
case CMD_USE_CUSTOM_CONTROLLER:
+ ROS_INFO("USE_CUSTOM_CONTROLLER Command received");
loadCustomController();
usingSafeController = false;
break;
--
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