From 06ea75ec8c41dc37537b173cb4df424bda92712e Mon Sep 17 00:00:00 2001
From: roangel <roangel@student.ethz.ch>
Date: Tue, 23 May 2017 11:18:09 +0200
Subject: [PATCH] Added linker object that will link CFZones to CFs
---
pps_ws/src/d_fall_pps/CMakeLists.txt | 1 +
.../GUI_Qt/CrazyFlyGUI/include/CFLinker.h | 30 +++++++++++
.../GUI_Qt/CrazyFlyGUI/include/crazyFly.h | 9 ++++
.../GUI_Qt/CrazyFlyGUI/include/crazyFlyZone.h | 11 ++++
.../CrazyFlyGUI/include/mainguiwindow.h | 4 ++
.../GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp | 52 +++++++++++++++++++
.../GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp | 21 ++++++++
.../GUI_Qt/CrazyFlyGUI/src/crazyFlyZone.cpp | 25 +++++++++
.../GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp | 23 ++++----
9 files changed, 162 insertions(+), 14 deletions(-)
create mode 100644 pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
create mode 100644 pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp
diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index 3dbceb99..0ed2fc87 100755
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/pps_ws/src/d_fall_pps/CMakeLists.txt
@@ -233,6 +233,7 @@ set(MY_CPP_SOURCES # compilation of sources
${MY_LIB_PATH_SRC}/marker.cpp
${MY_LIB_PATH_SRC}/rosNodeThread.cpp
${MY_LIB_PATH_SRC}/crazyFly.cpp
+ ${MY_LIB_PATH_SRC}/CFLinker.cpp
)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
new file mode 100644
index 00000000..9e8b533e
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
@@ -0,0 +1,30 @@
+#ifndef CFLINKER_H
+#define CFLINKER_H
+
+#include "globalDefinitions.h"
+#include "crazyFly.h"
+#include "crazyFlyZone.h"
+
+class CFLinker
+{
+public:
+ explicit CFLinker();
+ ~CFLinker();
+
+ void link(crazyFly* crazyfly, crazyFlyZone* crazyfly_zone);
+ void link(crazyFlyZone* crazyfly_zone, crazyFly* crazyfly);
+
+ void unlink(crazyFly* crazyfly, crazyFlyZone* crazyfly_zone);
+
+private:
+
+ struct link {
+ int cf_zone_index;
+ std::string cf_name;
+ };
+
+ std::vector<struct link> links;
+};
+
+
+#endif
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
index ea580131..23804e19 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFly.h
@@ -34,6 +34,11 @@ public:
void setScaleCFs(double scale);
+ // linking stuff
+ void assignCFZone(int cf_zone_index);
+ void removeAssigned();
+ bool isAssigned();
+
private:
// info to fill by message
@@ -49,6 +54,10 @@ private:
// info for plotting CF
qreal m_width;
qreal m_height;
+
+ // linking stuff
+ bool m_assigned;
+ int m_assigned_cf_zone_index;
};
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZone.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZone.h
index f1f230d4..7c86ef1c 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZone.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/crazyFlyZone.h
@@ -10,6 +10,7 @@ class crazyFlyZone : public myGraphicsRectItem
{
public:
explicit crazyFlyZone(const QRectF & rect, int index, QGraphicsItem * parent = 0);
+ ~crazyFlyZone();
int getIndex();
void setIndex(int index);
@@ -17,11 +18,21 @@ public:
void setLabelPosition();
void updateLabel(QString string);
void rectSizeChanged();
+
+ // stuff for linking
+ void linkCF(std::string cf_name);
+ bool isLinked();
+ void removeLink();
+
protected:
private:
int _index;
QGraphicsSimpleTextItem* label;
+
+ // stuff for linking
+ bool m_linked;
+ std::string m_crazyfly_linked_name; //in the future this will be a vector of crazyFlies maybe
};
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
index 9948bc66..a2f61b2d 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
@@ -12,8 +12,10 @@
#include "rosNodeThread.h"
#include "marker.h"
#include "crazyFly.h"
+#include "CFLinker.h"
#endif
+
#include "ui_mainguiwindow.h"
#include "myGraphicsScene.h"
#include "globalDefinitions.h"
@@ -110,10 +112,12 @@ private:
myGraphicsScene* scene;
void _init();
+
#ifdef CATKIN_MAKE
rosNodeThread* _rosNodeThread;
std::vector<Marker*> markers_vector;
std::vector<crazyFly*> crazyflies_vector;
+ CFLinker cf_linker;
#endif
};
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp
new file mode 100644
index 00000000..3e25a9f9
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp
@@ -0,0 +1,52 @@
+#include "CFLinker.h"
+
+
+CFLinker::CFLinker()
+{
+}
+
+CFLinker::~CFLinker()
+{
+}
+
+void CFLinker::link(crazyFly* crazyfly, crazyFlyZone* crazyfly_zone)
+{
+ struct link tmp_link;
+
+ tmp_link.cf_zone_index = crazyfly_zone->getIndex();
+ tmp_link.cf_name = crazyfly->getName();
+
+ crazyfly_zone->linkCF(tmp_link.cf_name);
+ crazyfly->assignCFZone(tmp_link.cf_zone_index);
+
+ links.push_back(tmp_link);
+}
+
+void CFLinker::link(crazyFlyZone* crazyfly_zone, crazyFly* crazyfly)
+{
+ link(crazyfly, crazyfly_zone);
+}
+
+void CFLinker::unlink(crazyFly* crazyfly, crazyFlyZone* crazyfly_zone)
+{
+ bool found = false;
+ int index_found;
+ for(int i = 0; i < links.size(); i++)
+ {
+ if(links[i].cf_zone_index == crazyfly_zone->getIndex())
+ {
+ if(crazyfly->getName() == links[i].cf_name)
+ {
+ found = true;
+ index_found = i;
+ }
+ }
+ }
+
+ if(found)
+ {
+ crazyfly_zone->removeLink();
+ crazyfly->removeAssigned();
+ links.erase(links.begin() + index_found);
+ }
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp
index 5c14c8af..9b5f961b 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp
@@ -10,6 +10,7 @@ crazyFly::crazyFly(const CrazyflieData* p_crazyfly_msg, QGraphicsItem * parent)
updateCF(p_crazyfly_msg);
m_width = DRONE_WIDTH;
m_height = DRONE_HEIGHT;
+ m_assigned = false;
}
crazyFly::~crazyFly()
@@ -54,3 +55,23 @@ void crazyFly::paint(QPainter *painter, const QStyleOptionGraphicsItem *option,
{
this->renderer()->render(painter,this->boundingRect());
}
+
+void crazyFly::assignCFZone(int cf_zone_index)
+{
+ m_assigned = true;
+ m_assigned_cf_zone_index = cf_zone_index;
+}
+
+void crazyFly::removeAssigned()
+{
+ if(m_assigned)
+ {
+ m_assigned = false;
+ m_assigned_cf_zone_index = -1;
+ }
+}
+
+bool crazyFly::isAssigned()
+{
+ return m_assigned;
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFlyZone.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFlyZone.cpp
index 81a01df3..4d8c7491 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFlyZone.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/crazyFlyZone.cpp
@@ -6,6 +6,11 @@ crazyFlyZone::crazyFlyZone(const QRectF & rect, int index, QGraphicsItem * pare
{
this->setPen(QPen(Qt::black, 0));
setIndex(index);
+ m_linked = false;
+}
+
+crazyFlyZone::~crazyFlyZone()
+{
}
void crazyFlyZone::updateLabel(QString string)
@@ -45,3 +50,23 @@ void crazyFlyZone::rectSizeChanged() // pure virtual coming from parent
{
setLabelPosition();
}
+
+void crazyFlyZone::linkCF(std::string cf_name)
+{
+ m_crazyfly_linked_name = cf_name;
+ m_linked = true;
+}
+
+bool crazyFlyZone::isLinked()
+{
+ return m_linked;
+}
+
+void crazyFlyZone::removeLink()
+{
+ if(m_linked)
+ {
+ m_crazyfly_linked_name = "";
+ m_linked = false;
+ }
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
index 2fe743f5..8a951077 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
@@ -23,27 +23,19 @@
using namespace d_fall_pps;
#endif
-#ifdef CATKIN_MAKE
-MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
- QMainWindow(parent),
- ui(new Ui::MainGUIWindow)//,
- // _rosNodeThread(argc, argv, "/ViconDataPublisher/ViconData")
-{
- _rosNodeThread = new rosNodeThread(argc, argv, "/ViconDataPublisher/ViconData");
-
- ui->setupUi(this);
- _init();
-}
-#else
MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainGUIWindow)
+ #ifdef CATKIN_MAKE
+ ,cf_linker()
+ #endif
{
-
+ #ifdef CATKIN_MAKE
+ _rosNodeThread = new rosNodeThread(argc, argv, "/ViconDataPublisher/ViconData");
+ #endif
ui->setupUi(this);
_init();
}
-#endif
MainGUIWindow::~MainGUIWindow()
@@ -100,11 +92,14 @@ void MainGUIWindow::_init()
ui->graphicsView->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
ui->graphicsView->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
+
+ // scene
scene = new myGraphicsScene(ui->frame_drawing);
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);
+ // connections
QObject::connect(ui->tabWidget, SIGNAL(tabCloseRequested(int)), scene, SLOT(removeCrazyFlyZone(int)));
QObject::connect(scene, SIGNAL(numCrazyFlyZonesChanged(int)), this, SLOT(doNumCrazyFlyZonesChanged(int)));
QObject::connect(ui->tabWidget, SIGNAL(currentChanged(int)), scene, SLOT(setSelectedCrazyFlyZone(int)));
--
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