diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index 57c8f45edccdada6024ffb027208231893ba465e..f5d041d1ff847574a198b95820886186f0796250 100755
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/pps_ws/src/d_fall_pps/CMakeLists.txt
@@ -55,23 +55,29 @@ find_package(Qt5Gui REQUIRED)
find_package(Qt5Svg REQUIRED)
-# GUI -- Add src and includes
+
+# GUI -- Add src, includes, and resources
set(MY_GUI_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/CrazyFlyGUI/src)
set(MY_GUI_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)
-# StudentGUI -- Add src and includes
+# StudentGUI -- Add src, includes, and resources
set(STUDENT_GUI_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/studentGUI/src)
set(STUDENT_GUI_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/studentGUI/include)
-
-# StudentGUI -- Resource file
set(STUDENT_RESOURCE_FILE_QRC ${PROJECT_SOURCE_DIR}/GUI_Qt/studentGUI/studentgui.qrc)
+
+# Flying Agent GUI -- Add src, includes, forms, and resources
+set(FLYING_AGENT_GUI_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/src)
+set(FLYING_AGENT_GUI_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/include)
+set(FLYING_AGENT_GUI_LIB_PATH_FORMS ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/forms)
+set(FLYING_AGENT_GUI_RESOURCE_FILE_QRC ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/flyingagentgui.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
@@ -80,6 +86,8 @@ set(STUDENT_RESOURCE_FILE_QRC ${PROJECT_SOURCE_DIR}/GUI_Qt/studentGUI/studentgui
# GUI -- need c++11 for some things
add_definitions(-std=c++11)
+
+
# GUI -- Special Qt sources that need to be wrapped before being compiled
# they have the Qt macro QOBJECT inside, the MOC cpp file needs to be done manually
set(SRC_HDRS_QOBJECT_GUI
@@ -90,32 +98,59 @@ set(SRC_HDRS_QOBJECT_GUI
${MY_GUI_LIB_PATH_INC}/rosNodeThread.h
${MY_GUI_LIB_PATH_INC}/CFLinker.h
)
-
# GUI -- wrap UI file and QOBJECT files
qt5_wrap_ui(UIS_HDRS_GUI ${MY_GUI_LIB_PATH_SRC}/mainguiwindow.ui)
qt5_wrap_cpp(SRC_MOC_HDRS_GUI ${SRC_HDRS_QOBJECT_GUI})
-
# GUI -- wrap resource file qrc->rcc
qt5_add_resources(MY_RESOURCE_FILE_RCC ${MY_RESOURCE_FILE_QRC})
# StudentGUI -- Special Qt sources that need to be wrapped before being compiled
-
set(SRC_HDRS_QOBJECT_STUDENT_GUI
${STUDENT_GUI_LIB_PATH_INC}/MainWindow.h
${STUDENT_GUI_LIB_PATH_INC}/rosNodeThread.h
)
-
# StudentGUI -- wrap UI file and QOBJECT files
qt5_wrap_ui(UIS_HDRS_STUDENT_GUI ${STUDENT_GUI_LIB_PATH_SRC}/MainWindow.ui)
qt5_wrap_cpp(SRC_MOC_HDRS_STUDENT_GUI ${SRC_HDRS_QOBJECT_STUDENT_GUI})
-
# GUI -- wrap resource file qrc->rcc
qt5_add_resources(STUDENT_RESOURCE_FILE_RCC ${STUDENT_RESOURCE_FILE_QRC})
+# Flying Agent GUI
+# - Special Qt sources that need to be wrapped before being compiled
+# they have the Qt macro QOBJECT inside, the MOC cpp file needs to
+# be done manually
+set(SRC_HDRS_QOBJECT_FLYING_AGENT_GUI
+ ${FLYING_AGENT_GUI_LIB_PATH_INC}/connectstartstopbar.h
+ ${FLYING_AGENT_GUI_LIB_PATH_INC}/controllertabs.h
+ ${FLYING_AGENT_GUI_LIB_PATH_INC}/coordinator.h
+ ${FLYING_AGENT_GUI_LIB_PATH_INC}/coordinatorrow.h
+ ${FLYING_AGENT_GUI_LIB_PATH_INC}/enablecontrollerloadyamlbar.h
+ ${FLYING_AGENT_GUI_LIB_PATH_INC}/mainwindow.h
+ ${FLYING_AGENT_GUI_LIB_PATH_INC}/rosNodeThread.h
+ ${FLYING_AGENT_GUI_LIB_PATH_INC}/safecontrollertab.h
+ ${FLYING_AGENT_GUI_LIB_PATH_INC}/topbanner.h
+ )
+# Flying Agent GUI -- wrap UI file and QOBJECT files
+qt5_wrap_ui(UIS_HDRS_FLYING_AGENT_GUI
+ ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/connectstartstopbar.ui
+ ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/controllertabs.ui
+ ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/coordinator.ui
+ ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/coordinatorrow.ui
+ ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/enablecontrollerloadyamlbar.ui
+ ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/mainwindow.ui
+ ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/safecontrollertab.ui
+ ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/topbanner.ui
+ )
+qt5_wrap_cpp(SRC_MOC_HDRS_FLYING_AGENT_GUI ${SRC_HDRS_QOBJECT_FLYING_AGENT_GUI})
+# Flying Agent GUI -- wrap resource file qrc->rcc
+qt5_add_resources(FLYING_AGENT_GUI_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
@@ -234,6 +269,7 @@ generate_messages(
catkin_package(
INCLUDE_DIRS include ${MY_GUI_LIB_PATH_INC} # GUI -- include headers from GUI in package
INCLUDE_DIRS include ${STUDENT_GUI_LIB_PATH_INC} # StudentGUI -- include headers from GUI in package
+ INCLUDE_DIRS include ${FLYING_AGENT_GUI_LIB_PATH_INC} # StudentGUI -- include headers from GUI in package
LIBRARIES
CATKIN_DEPENDS roscpp rospy std_msgs rosbag roslib
DEPENDS
@@ -249,6 +285,7 @@ catkin_package(
include_directories(
${MY_GUI_LIB_PATH_INC} # GUI -- include directory inside GUI folder
${STUDENT_GUI_LIB_PATH_INC} # StudentGUI -- include directory inside GUI folder
+ ${FLYING_AGENT_GUI_LIB_PATH_INC} # StudentGUI -- include directory inside GUI folder
${catkin_INCLUDE_DIRS}
include
include/nodes
@@ -304,6 +341,8 @@ set(MY_CPP_SOURCES_GUI # compilation of sources
${MY_GUI_LIB_PATH_SRC}/centerMarker.cpp
)
+
+
# StudentGUI -- Add sources here
set(MY_CPP_SOURCES_STUDENT_GUI # compilation of sources
${STUDENT_GUI_LIB_PATH_SRC}/MainWindow.cpp
@@ -313,15 +352,38 @@ set(MY_CPP_SOURCES_STUDENT_GUI # compilation of sources
+# FLYING AGENT GUI -- Add sources here
+set(MY_CPP_SOURCES_FLYING_AGENT_GUI # compilation of sources
+ ${FLYING_AGENT_GUI_LIB_PATH_SRC}/connectstartstopbar.cpp
+ ${FLYING_AGENT_GUI_LIB_PATH_SRC}/controllertabs.cpp
+ ${FLYING_AGENT_GUI_LIB_PATH_SRC}/coordinator.cpp
+ ${FLYING_AGENT_GUI_LIB_PATH_SRC}/coordinatorrow.cpp
+ ${FLYING_AGENT_GUI_LIB_PATH_SRC}/enablecontrollerloadyamlbar.cpp
+ ${FLYING_AGENT_GUI_LIB_PATH_SRC}/main.cpp
+ ${FLYING_AGENT_GUI_LIB_PATH_SRC}/mainwindow.cpp
+ ${FLYING_AGENT_GUI_LIB_PATH_SRC}/rosNodeThread.cpp
+ ${FLYING_AGENT_GUI_LIB_PATH_SRC}/safecontrollertab.cpp
+ ${FLYING_AGENT_GUI_LIB_PATH_SRC}/topbanner.cpp
+ )
+
+
+
# GUI -- Add executables here
add_executable(my_GUI ${MY_CPP_SOURCES_GUI} ${UIS_HDRS_GUI} ${SRC_MOC_HDRS_GUI} ${MY_RESOURCE_FILE_RCC})
qt5_use_modules(my_GUI Widgets)
+
+
# StudentGUI -- Add executables here
add_executable(student_GUI ${MY_CPP_SOURCES_STUDENT_GUI} ${UIS_HDRS_STUDENT_GUI} ${SRC_MOC_HDRS_STUDENT_GUI} ${STUDENT_RESOURCE_FILE_RCC})
qt5_use_modules(student_GUI Widgets)
+# FLYING AGENT GUI -- Add executables here
+add_executable(flyingAgentGUI ${MY_CPP_SOURCES_FLYING_AGENT_GUI} ${UIS_HDRS_FLYING_AGENT_GUI} ${SRC_MOC_HDRS_FLYING_AGENT_GUI} ${FLYING_AGENT_GUI_RESOURCE_FILE_RCC})
+qt5_use_modules(flyingAgentGUI Widgets)
+
+
if(VICON_LIBRARY)
add_dependencies(ViconDataPublisher d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
@@ -337,12 +399,23 @@ add_dependencies(TuningControllerService d_fall_pps_generate_messages_cpp ${cat
add_dependencies(CentralManagerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(ParameterService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+
# GUI-- dependencies
add_dependencies(my_GUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+
# StudentGUI-- dependencies
add_dependencies(student_GUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+
+# FLYING AGENT GUI-- dependencies
+add_dependencies(flyingAgentGUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+
+
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
@@ -380,6 +453,7 @@ target_link_libraries(CentralManagerService ${catkin_LIBRARIES})
target_link_libraries(ParameterService ${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)
@@ -388,11 +462,20 @@ target_link_libraries(my_GUI Qt5::Svg)
# target_link_libraries(my_GUI my_library)
target_link_libraries(my_GUI ${catkin_LIBRARIES})
+
+
# StudentGUI -- link libraries
-target_link_libraries(student_GUI Qt5::Widgets) # GUI -- let my_GUI have acesss to Qt stuff
+target_link_libraries(student_GUI Qt5::Widgets) # GUI -- let student_GUI have acesss to Qt stuff
target_link_libraries(student_GUI ${catkin_LIBRARIES})
+
+# Flying Agent GUI -- link libraries
+target_link_libraries(flyingAgentGUI Qt5::Widgets) # GUI -- let flyingAgentGUI have acesss to Qt stuff
+target_link_libraries(flyingAgentGUI ${catkin_LIBRARIES})
+
+
+
#############
## Install ##
#############
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
index 85602b0a82ee0c9d1b71494d9605c582c04a4e77..8e5ef66452562e6573b2fd28f71c00492ca8ecf9 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
@@ -45,8 +45,11 @@
#include <ros/network.h>
#include <ros/package.h>
+#include "d_fall_pps/AreaBounds.h"
#include "d_fall_pps/CrazyflieContext.h"
#include "d_fall_pps/CMQuery.h"
+
+using namespace d_fall_pps;
#endif
// TYPES OF CONTROLLER BEING USED
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread.h
new file mode 100644
index 0000000000000000000000000000000000000000..8937da754acd40dab242e564ce74ed82ebe08ea0
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread.h
@@ -0,0 +1,92 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// 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.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// 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.
+//
+// You should have received a copy of the GNU General Public License
+// 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:
+// Creates a thread that runs the ros node.
+//
+// ----------------------------------------------------------------------------------
+
+
+#ifndef ___ROSNODETHREAD_H___
+#define ___ROSNODETHREAD_H___
+
+#include <QtCore>
+#include <QThread>
+#include <QStringList>
+#include <stdlib.h>
+#include <QMutex>
+#include <iostream>
+#include "assert.h"
+
+#include <ros/ros.h>
+#include <ros/network.h>
+//#include "d_fall_pps/UnlabeledMarker.h"
+//#include "d_fall_pps/CrazyflieData.h"
+//#include "d_fall_pps/ViconData.h"
+
+//using namespace d_fall_pps;
+
+//typedef ViconData::ConstPtr ptrToMessage;
+
+//Q_DECLARE_METATYPE(ptrToMessage)
+
+
+class rosNodeThread : public QObject {
+ Q_OBJECT
+public:
+ explicit rosNodeThread(int argc, char **pArgv, const char * node_name, QObject *parent = 0);
+ virtual ~rosNodeThread();
+
+ bool init();
+
+ // void messageCallback(const ViconData& data);
+ //void messageCallback(const ptrToMessage& p_msg);
+
+ ros::ServiceClient m_read_db_client;
+ ros::ServiceClient m_update_db_client;
+ ros::ServiceClient m_command_db_client;
+
+signals:
+
+ //void newViconData(const ptrToMessage& p_msg);
+
+public slots:
+ void run();
+
+private:
+ int m_Init_argc;
+ char** m_pInit_argv;
+ const char * m_node_name;
+
+ QThread * m_pThread;
+
+ //ViconData m_vicon_data;
+
+ //ros::Subscriber m_vicon_subscriber;
+ // ros::Publisher sim_velocity;
+};
+#endif
+
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
index 6eeccdebb8335e94485c5b09f12330d59ac810d2..3710d507dbcb48be5a4146b6e9445cd7d5d94fa7 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
@@ -595,9 +595,9 @@ void CoordinatorRow::loadCrazyflieContext()
contextCall.request.studentID = my_agentID;
//ROS_INFO_STREAM("StudentID:" << my_agentID);
- centralManager.waitForExistence(ros::Duration(-1));
+ centralManagerDatabaseService.waitForExistence(ros::Duration(-1));
- if(centralManager.call(contextCall))
+ if(centralManagerDatabaseService.call(contextCall))
{
my_context = contextCall.response.crazyflieContext;
ROS_INFO_STREAM("[Coordinator Row GUI] CrazyflieContext:\n" << my_context);
@@ -710,7 +710,7 @@ void CoordinatorRow::on_enable_flying_button_clicked()
#ifdef CATKIN_MAKE
std_msgs::Int32 msg;
msg.data = CMD_CRAZYFLY_TAKE_OFF;
- this->PPSClientCommandPublisher.publish(msg);
+ this->flyingStateCommandPublisher.publish(msg);
#endif
}
@@ -719,7 +719,7 @@ void CoordinatorRow::on_disable_flying_button_clicked()
#ifdef CATKIN_MAKE
std_msgs::Int32 msg;
msg.data = CMD_CRAZYFLY_LAND;
- this->PPSClientCommandPublisher.publish(msg);
+ this->flyingStateCommandPublisher.publish(msg);
#endif
}
@@ -728,6 +728,6 @@ void CoordinatorRow::on_motors_off_button_clicked()
#ifdef CATKIN_MAKE
std_msgs::Int32 msg;
msg.data = CMD_CRAZYFLY_MOTORS_OFF;
- this->PPSClientCommandPublisher.publish(msg);
+ this->flyingStateCommandPublisher.publish(msg);
#endif
}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/main.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/main.cpp
index 4999c2c0ff6f96b8c2758573aeb11e8f38043779..6128395d912368b49592630919e4ff4ef2401d11 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/main.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/main.cpp
@@ -50,7 +50,7 @@ int main(int argc, char *argv[])
QApplication a(argc, argv);
MainWindow w(argc, argv);
w.show();
- a.exec();
+ return a.exec();
// ----------------------------------------------------------- //
}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
index 4f6e850b2c440d0356051f3827d5dccab96c51ad..edb8a1c85f6f033749dd56a70e5c69ac6f08064f 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
@@ -37,7 +37,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
ui(new Ui::MainWindow)
{
#ifdef CATKIN_MAKE
- m_rosNodeThread = new rosNodeThread(argc, argv, "coordinatorGUI");
+ m_rosNodeThread = new rosNodeThread(argc, argv, "flyingAgentGUI");
#endif
ui->setupUi(this);
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..3e4623dfff1b5f811c4ce45248a88ce25838ffa0
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread.cpp
@@ -0,0 +1,130 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// 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.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// 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.
+//
+// You should have received a copy of the GNU General Public License
+// 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:
+// Creates a thread that runs the ros node.
+//
+// ----------------------------------------------------------------------------------
+
+
+#include "rosNodeThread.h"
+
+#include "d_fall_pps/CMRead.h"
+#include "d_fall_pps/CMUpdate.h"
+#include "d_fall_pps/CMCommand.h"
+
+
+rosNodeThread::rosNodeThread(int argc, char** pArgv, const char * node_name, QObject* parent)
+ : QObject(parent),
+ m_Init_argc(argc),
+ m_pInit_argv(pArgv),
+ m_node_name(node_name)
+{
+ /** Constructor for the node thread **/
+}
+
+rosNodeThread::~rosNodeThread()
+{
+ if (ros::isStarted())
+ {
+ ros::shutdown();
+ ros::waitForShutdown();
+ } // end if
+
+ m_pThread->wait();
+} // end destructor
+
+bool rosNodeThread::init()
+{
+ m_pThread = new QThread();
+ this->moveToThread(m_pThread); // QObject method
+
+ connect(m_pThread, SIGNAL(started()), this, SLOT(run()));
+ ros::init(m_Init_argc, m_pInit_argv, m_node_name); // flyingAgentGUI is the name of this node
+
+ if (!ros::master::check())
+ {
+ ROS_ERROR("No master found. Please make sure that there is a master roscore running");
+ return false; // do not start without ros.
+ }
+
+ ros::start();
+ ros::Time::init();
+ ros::NodeHandle nh("~");
+
+ //m_vicon_subscriber = nh.subscribe("/ViconDataPublisher/ViconData", 100, &rosNodeThread::messageCallback, this);
+
+ // clients for db services:
+ m_read_db_client = nh.serviceClient<CMRead>("/CentralManagerService/Read", false);
+ m_update_db_client = nh.serviceClient<CMUpdate>("/CentralManagerService/Update", false);
+ m_command_db_client = nh.serviceClient<CMCommand>("/CentralManagerService/Command", false);
+
+ m_pThread->start();
+ return true;
+} // set up the thread
+
+//void rosNodeThread::messageCallback(const ptrToMessage& p_msg) // When a message arrives to the topic, this callback is executed
+//{
+// emit newViconData(p_msg); //pass the message to other places
+//}
+
+// void rosNodeThread::messageCallback(const ViconData& data) // When a message arrives to the topic, this callback is executed
+// {
+// QMutex * pMutex = new QMutex();
+// pMutex->lock();
+// ROS_INFO_STREAM("ViconData: " << data.x << ", " << data.y << ", " << data.z);
+// m_vicon_data.x = data.x;
+// m_vicon_data.y = data.y;
+// m_vicon_data.z = data.z;
+// m_vicon_data.yaw = data.yaw;
+// m_vicon_data.pitch = data.pitch;
+// m_vicon_data.roll = data.roll;
+// pMutex->unlock();
+// delete pMutex;
+// // Q_EMIT newViconData(m_vicon_data.x, m_vicon_data.y, m_vicon_data.z, m_vicon_data.yaw, m_vicon_data.pitch, m_vicon_data.roll);
+// emit newViconData(m_vicon_data.x, m_vicon_data.y);
+// }
+
+void rosNodeThread::run()
+{
+ ros::Rate loop_rate(100);
+ QMutex * pMutex;
+ while (ros::ok())
+ {
+ pMutex = new QMutex();
+
+ // geometry_msgs::Twist cmd_msg;
+ pMutex->lock();
+ // cmd_msg.linear.x = m_speed;
+ // cmd_msg.angular.z = m_angle;
+ pMutex->unlock();
+
+ // sim_velocity.publish(cmd_msg);
+ ros::spinOnce();
+ loop_rate.sleep();
+ delete pMutex;
+ } // do ros things.
+}