From 141188c074a6a086b52a8069604f19c7816a0a29 Mon Sep 17 00:00:00 2001
From: roangel <roangel@student.ethz.ch>
Date: Mon, 21 Aug 2017 16:07:36 +0200
Subject: [PATCH] now student GUI creates a new node in a new Thread. Node
name: student_GUI
---
pps_ws/src/d_fall_pps/CMakeLists.txt | 2 +
.../CrazyFlyGUI/include/rosNodeThread.h | 5 +-
.../GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp | 2 +-
.../GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp | 9 +-
.../GUI_Qt/studentGUI/include/MainWindow.h | 10 ++-
.../GUI_Qt/studentGUI/include/rosNodeThread.h | 61 ++++++++++++++
.../GUI_Qt/studentGUI/src/MainWindow.cpp | 10 ++-
.../d_fall_pps/GUI_Qt/studentGUI/src/main.cpp | 3 +-
.../GUI_Qt/studentGUI/src/rosNodeThread.cpp | 82 +++++++++++++++++++
9 files changed, 171 insertions(+), 13 deletions(-)
create mode 100644 pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/rosNodeThread.h
create mode 100644 pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread.cpp
diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index 144ae1d5..da5513ed 100755
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/pps_ws/src/d_fall_pps/CMakeLists.txt
@@ -77,6 +77,7 @@ qt5_add_resources(MY_RESOURCE_FILE_RCC ${MY_RESOURCE_FILE_QRC})
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
@@ -264,6 +265,7 @@ set(MY_CPP_SOURCES_GUI # compilation of sources
set(MY_CPP_SOURCES_STUDENT_GUI # compilation of sources
${STUDENT_GUI_LIB_PATH_SRC}/MainWindow.cpp
${STUDENT_GUI_LIB_PATH_SRC}/main.cpp
+ ${STUDENT_GUI_LIB_PATH_SRC}/rosNodeThread.cpp
)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h
index deb84b5d..b681e902 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h
@@ -25,7 +25,7 @@ Q_DECLARE_METATYPE(ptrToMessage)
class rosNodeThread : public QObject {
Q_OBJECT
public:
- explicit rosNodeThread(int argc, char **pArgv, const char * topic, QObject *parent = 0);
+ explicit rosNodeThread(int argc, char **pArgv, const char * node_name, QObject *parent = 0);
virtual ~rosNodeThread();
bool init();
@@ -37,7 +37,6 @@ public:
ros::ServiceClient m_update_db_client;
ros::ServiceClient m_command_db_client;
-
signals:
void newViconData(const ptrToMessage& p_msg);
@@ -48,7 +47,7 @@ public slots:
private:
int m_Init_argc;
char** m_pInit_argv;
- const char * m_topic;
+ const char * m_node_name;
QThread * m_pThread;
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 61736d57..875429e9 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
@@ -35,7 +35,7 @@ MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
ui(new Ui::MainGUIWindow)
{
#ifdef CATKIN_MAKE
- _rosNodeThread = new rosNodeThread(argc, argv, "/ViconDataPublisher/ViconData");
+ _rosNodeThread = new rosNodeThread(argc, argv, "my_GUI");
#endif
ui->setupUi(this);
_init();
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp
index 325d988c..d73f7b79 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp
@@ -5,12 +5,11 @@
#include "d_fall_pps/CMCommand.h"
-rosNodeThread::rosNodeThread(int argc, char** pArgv, const char * topic, QObject* parent)
+rosNodeThread::rosNodeThread(int argc, char** pArgv, const char * node_name, QObject* parent)
: QObject(parent),
m_Init_argc(argc),
m_pInit_argv(pArgv),
- m_topic(topic)
-
+ m_node_name(node_name)
{
/** Constructor for the node thread **/
}
@@ -32,7 +31,7 @@ bool rosNodeThread::init()
this->moveToThread(m_pThread); // QObject method
connect(m_pThread, SIGNAL(started()), this, SLOT(run()));
- ros::init(m_Init_argc, m_pInit_argv, "my_GUI"); // my_GUI is the name of this node
+ ros::init(m_Init_argc, m_pInit_argv, m_node_name); // my_GUI is the name of this node
if (!ros::master::check())
return false; // do not start without ros.
@@ -41,7 +40,7 @@ bool rosNodeThread::init()
ros::Time::init();
ros::NodeHandle nh("~");
- m_vicon_subscriber = nh.subscribe(m_topic, 100, &rosNodeThread::messageCallback, this);
+ 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);
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 a3948a91..58cf6be5 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
@@ -3,6 +3,9 @@
#include <QMainWindow>
+
+#include "rosNodeThread.h"
+
namespace Ui {
class MainWindow;
}
@@ -12,11 +15,16 @@ class MainWindow : public QMainWindow
Q_OBJECT
public:
- explicit MainWindow(QWidget *parent = 0);
+ explicit MainWindow(int argc, char **argv, QWidget *parent = 0);
~MainWindow();
+private slots:
+ void updateNewViconData(const ptrToMessage& p_msg);
+
private:
Ui::MainWindow *ui;
+
+ rosNodeThread* m_rosNodeThread;
};
#endif // MAINWINDOW_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/rosNodeThread.h b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/rosNodeThread.h
new file mode 100644
index 00000000..f58d534c
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/rosNodeThread.h
@@ -0,0 +1,61 @@
+#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/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index 7cc8e850..930c3f8f 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
@@ -1,14 +1,22 @@
#include "MainWindow.h"
#include "ui_MainWindow.h"
-MainWindow::MainWindow(QWidget *parent) :
+MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
+ m_rosNodeThread = new rosNodeThread(argc, argv, "student_GUI");
ui->setupUi(this);
+ m_rosNodeThread->init();
+ qRegisterMetaType<ptrToMessage>("ptrToMessage");
+ QObject::connect(m_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
}
MainWindow::~MainWindow()
{
delete ui;
}
+
+void MainWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to newViconData, from node
+{
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/main.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/main.cpp
index af9caac9..8ff016ac 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/main.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/main.cpp
@@ -4,8 +4,7 @@
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
- MainWindow w;
+ MainWindow w(argc, argv);
w.show();
-
return a.exec();
}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread.cpp
new file mode 100644
index 00000000..72a2e5b5
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/rosNodeThread.cpp
@@ -0,0 +1,82 @@
+#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); // student_GUI is the name of this node
+
+ if (!ros::master::check())
+ {
+ ROS_ERROR("Master not found, please check teacher computer is running and try again");
+ 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::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();
+ ROS_INFO("RUNNING");
+
+ // sim_velocity.publish(cmd_msg);
+ ros::spinOnce();
+ loop_rate.sleep();
+ delete pMutex;
+ } // do ros things.
+}
--
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