diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
index c1f3085fb22aa85236d51053a9d607d13a30dae9..b847e0361f0a11130f7869bdf0436a0b0b2ee5d2 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
+++ b/pps_ws/src/d_fall_pps/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>2</number>
</property>
<widget class="QWidget" name="default_tab">
<attribute name="title">
@@ -36,7 +36,7 @@
</attribute>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
- <widget class="DefaultControllerTab" name="widget" native="true"/>
+ <widget class="DefaultControllerTab" name="default_controller_tab_widget" native="true"/>
</item>
</layout>
</widget>
@@ -46,7 +46,7 @@
</attribute>
<layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="0">
- <widget class="StudentControllerTab" name="widget_3" native="true"/>
+ <widget class="StudentControllerTab" name="student_controller_tab_widget" native="true"/>
</item>
</layout>
</widget>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/defaultcontrollertab.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/defaultcontrollertab.ui
index fc0b70b382b9b3a6567b6a31db30dfdb0d0dc450..46a0ee5568180aae2867a2680d4a4579ff51186a 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/defaultcontrollertab.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/defaultcontrollertab.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1545</width>
- <height>632</height>
+ <width>1633</width>
+ <height>765</height>
</rect>
</property>
<property name="font">
@@ -19,7 +19,7 @@
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
- <item row="2" column="10">
+ <item row="3" column="11">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@@ -32,7 +32,7 @@
</property>
</spacer>
</item>
- <item row="5" column="2">
+ <item row="6" column="3">
<widget class="QLineEdit" name="lineEdit_setpoint_current_yaw">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -59,7 +59,7 @@
</property>
</widget>
</item>
- <item row="4" column="0">
+ <item row="5" column="1">
<widget class="QLabel" name="label_row_z">
<property name="maximumSize">
<size>
@@ -75,7 +75,7 @@
</property>
</widget>
</item>
- <item row="4" column="3">
+ <item row="5" column="4">
<widget class="QLineEdit" name="lineEdit_setpoint_new_z">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -99,20 +99,7 @@
</property>
</widget>
</item>
- <item row="7" column="0">
- <spacer name="verticalSpacer">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>40</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="2" column="1">
+ <item row="3" column="2">
<widget class="QLineEdit" name="lineEdit_error_x">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -139,7 +126,7 @@
</property>
</widget>
</item>
- <item row="0" column="1">
+ <item row="0" column="2">
<widget class="QLabel" name="label_error_title">
<property name="maximumSize">
<size>
@@ -161,7 +148,7 @@
</property>
</widget>
</item>
- <item row="2" column="3">
+ <item row="3" column="4">
<widget class="QLineEdit" name="lineEdit_setpoint_new_x">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -185,7 +172,7 @@
</property>
</widget>
</item>
- <item row="2" column="4">
+ <item row="3" column="5">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@@ -201,12 +188,12 @@
</property>
</spacer>
</item>
- <item row="4" column="7">
+ <item row="5" column="8">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QPushButton" name="z_increment_minus_button">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -225,7 +212,7 @@
<item>
<widget class="QLineEdit" name="lineEdit_setpoint_increment_z">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -246,7 +233,7 @@
<item>
<widget class="QPushButton" name="z_increment_plus_button">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -264,7 +251,7 @@
</item>
</layout>
</item>
- <item row="3" column="0">
+ <item row="4" column="1">
<widget class="QLabel" name="label_row_y">
<property name="maximumSize">
<size>
@@ -280,7 +267,7 @@
</property>
</widget>
</item>
- <item row="2" column="0">
+ <item row="3" column="1">
<widget class="QLabel" name="label_row_x">
<property name="maximumSize">
<size>
@@ -296,12 +283,12 @@
</property>
</widget>
</item>
- <item row="3" column="7">
+ <item row="4" column="8">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QPushButton" name="y_increment_minus_button">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -320,7 +307,7 @@
<item>
<widget class="QLineEdit" name="lineEdit_setpoint_increment_y">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -341,7 +328,7 @@
<item>
<widget class="QPushButton" name="y_increment_plus_button">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -359,7 +346,7 @@
</item>
</layout>
</item>
- <item row="3" column="3">
+ <item row="4" column="4">
<widget class="QLineEdit" name="lineEdit_setpoint_new_y">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -383,7 +370,7 @@
</property>
</widget>
</item>
- <item row="3" column="1">
+ <item row="4" column="2">
<widget class="QLineEdit" name="lineEdit_error_y">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -410,12 +397,12 @@
</property>
</widget>
</item>
- <item row="5" column="7">
+ <item row="6" column="8">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="yaw_increment_minus_button">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -434,7 +421,7 @@
<item>
<widget class="QLineEdit" name="lineEdit_setpoint_increment_yaw">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -455,7 +442,7 @@
<item>
<widget class="QPushButton" name="yaw_increment_plus_button">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -473,7 +460,7 @@
</item>
</layout>
</item>
- <item row="0" column="7">
+ <item row="0" column="8">
<widget class="QLabel" name="label_increment_title">
<property name="maximumSize">
<size>
@@ -495,7 +482,7 @@
</property>
</widget>
</item>
- <item row="1" column="3">
+ <item row="2" column="4">
<widget class="QLabel" name="label_new_title_line2">
<property name="maximumSize">
<size>
@@ -511,7 +498,7 @@
</property>
</widget>
</item>
- <item row="3" column="2">
+ <item row="4" column="3">
<widget class="QLineEdit" name="lineEdit_setpoint_current_y">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -538,7 +525,7 @@
</property>
</widget>
</item>
- <item row="2" column="2">
+ <item row="3" column="3">
<widget class="QLineEdit" name="lineEdit_setpoint_current_x">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -565,7 +552,7 @@
</property>
</widget>
</item>
- <item row="1" column="2">
+ <item row="2" column="3">
<widget class="QLabel" name="label_current_title_line2">
<property name="maximumSize">
<size>
@@ -581,7 +568,7 @@
</property>
</widget>
</item>
- <item row="4" column="2">
+ <item row="5" column="3">
<widget class="QLineEdit" name="lineEdit_setpoint_current_z">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -608,7 +595,7 @@
</property>
</widget>
</item>
- <item row="4" column="1">
+ <item row="5" column="2">
<widget class="QLineEdit" name="lineEdit_error_z">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -635,7 +622,7 @@
</property>
</widget>
</item>
- <item row="5" column="1">
+ <item row="6" column="2">
<widget class="QLineEdit" name="lineEdit_error_yaw">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -662,7 +649,7 @@
</property>
</widget>
</item>
- <item row="5" column="0">
+ <item row="6" column="1">
<widget class="QLabel" name="label_row_yaw">
<property name="maximumSize">
<size>
@@ -678,7 +665,7 @@
</property>
</widget>
</item>
- <item row="1" column="1">
+ <item row="2" column="2">
<widget class="QLabel" name="label_error_title_line2">
<property name="maximumSize">
<size>
@@ -687,19 +674,19 @@
</size>
</property>
<property name="text">
- <string>(meas-ref)</string>
+ <string>meas-ref</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
- <item row="2" column="7">
+ <item row="3" column="8">
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QPushButton" name="x_increment_minus_button">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -718,7 +705,7 @@
<item>
<widget class="QLineEdit" name="lineEdit_setpoint_increment_x">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -739,7 +726,7 @@
<item>
<widget class="QPushButton" name="x_increment_plus_button">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -757,7 +744,7 @@
</item>
</layout>
</item>
- <item row="0" column="2">
+ <item row="0" column="3">
<widget class="QLabel" name="label_current_title">
<property name="maximumSize">
<size>
@@ -779,7 +766,7 @@
</property>
</widget>
</item>
- <item row="1" column="7">
+ <item row="2" column="8">
<widget class="QLabel" name="label_increment_title_line2">
<property name="maximumSize">
<size>
@@ -795,7 +782,7 @@
</property>
</widget>
</item>
- <item row="5" column="3">
+ <item row="6" column="4">
<widget class="QLineEdit" name="lineEdit_setpoint_new_yaw">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -819,7 +806,7 @@
</property>
</widget>
</item>
- <item row="0" column="3">
+ <item row="0" column="4">
<widget class="QLabel" name="label_new_title">
<property name="maximumSize">
<size>
@@ -841,7 +828,7 @@
</property>
</widget>
</item>
- <item row="6" column="2">
+ <item row="7" column="3">
<widget class="QPushButton" name="default_setpoint_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -860,7 +847,7 @@
</property>
</widget>
</item>
- <item row="6" column="3">
+ <item row="7" column="4">
<widget class="QPushButton" name="set_setpoint_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -879,6 +866,206 @@
</property>
</widget>
</item>
+ <item row="3" column="0">
+ <widget class="QLineEdit" name="lineEdit_measured_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_measured_title">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Measured</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_measured_title_line2">
+ <property name="text">
+ <string>Position</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLineEdit" name="lineEdit_measured_y">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="1">
+ <widget class="QLabel" name="label_row_pitch">
+ <property name="text">
+ <string>pitch [deg]</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QLineEdit" name="lineEdit_measured_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ </widget>
+ </item>
+ <item row="8" column="1">
+ <widget class="QLabel" name="label_row_roll">
+ <property name="text">
+ <string>roll [deg]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <widget class="QLineEdit" name="lineEdit_measured_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="0">
+ <widget class="QLineEdit" name="lineEdit_measured_pitch">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ </widget>
+ </item>
+ <item row="8" column="0">
+ <widget class="QLineEdit" name="lineEdit_measured_roll">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ </widget>
+ </item>
+ <item row="9" column="0">
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
</layout>
</widget>
<resources/>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/studentcontrollertab.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/studentcontrollertab.ui
index f72ca16647c317a1091bc75299e98cb992b22296..0360a46ed15cb788964dbe9bd8219edd707d4dbf 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/studentcontrollertab.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/studentcontrollertab.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1366</width>
- <height>703</height>
+ <width>1631</width>
+ <height>760</height>
</rect>
</property>
<property name="font">
@@ -19,6 +19,16 @@
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout">
+ <item row="1" column="6">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Setpoint</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
<item row="7" column="1">
<widget class="QLabel" name="label_row_pitch">
<property name="maximumSize">
@@ -57,6 +67,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="2" column="0">
@@ -81,9 +94,12 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
- <item row="2" column="5">
+ <item row="2" column="7">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@@ -97,7 +113,7 @@
</spacer>
</item>
<item row="8" column="0">
- <widget class="QLineEdit" name="lineEdit_measured_yaw_2">
+ <widget class="QLineEdit" name="lineEdit_measured_roll">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -118,6 +134,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="9" column="0">
@@ -155,6 +174,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="3" column="1">
@@ -174,7 +196,7 @@
</widget>
</item>
<item row="2" column="3">
- <widget class="QLineEdit" name="lineEdit_current_x">
+ <widget class="QLineEdit" name="lineEdit_setpoint_current_x">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -195,6 +217,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="4" column="1">
@@ -235,6 +260,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="1" column="0">
@@ -269,6 +297,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="5" column="1">
@@ -309,6 +340,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="5" column="2">
@@ -333,6 +367,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="2" column="1">
@@ -405,6 +442,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="3" column="2">
@@ -429,10 +469,13 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="2" column="4">
- <widget class="QLineEdit" name="lineEdit_new_x">
+ <widget class="QLineEdit" name="lineEdit_setpoint_new_x">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -453,7 +496,7 @@
</widget>
</item>
<item row="3" column="3">
- <widget class="QLineEdit" name="lineEdit_current_y">
+ <widget class="QLineEdit" name="lineEdit_setpoint_current_y">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -474,10 +517,13 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="4" column="3">
- <widget class="QLineEdit" name="lineEdit_current_z">
+ <widget class="QLineEdit" name="lineEdit_setpoint_current_z">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -498,10 +544,13 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="5" column="3">
- <widget class="QLineEdit" name="lineEdit_current_yaw">
+ <widget class="QLineEdit" name="lineEdit_setpoint_current_yaw">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -522,10 +571,13 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item row="3" column="4">
- <widget class="QLineEdit" name="lineEdit_new_y">
+ <widget class="QLineEdit" name="lineEdit_setpoint_new_y">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -546,7 +598,7 @@
</widget>
</item>
<item row="4" column="4">
- <widget class="QLineEdit" name="lineEdit_new_z">
+ <widget class="QLineEdit" name="lineEdit_setpoint_new_z">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -567,7 +619,7 @@
</widget>
</item>
<item row="5" column="4">
- <widget class="QLineEdit" name="lineEdit_new_yaw">
+ <widget class="QLineEdit" name="lineEdit_setpoint_new_yaw">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -644,7 +696,7 @@
<item row="1" column="2">
<widget class="QLabel" name="label_error_title_line2">
<property name="text">
- <string>(meas - ref)</string>
+ <string>meas-ref</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -703,6 +755,269 @@
</property>
</widget>
</item>
+ <item row="2" column="5">
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Fixed</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="0" column="6">
+ <widget class="QLabel" name="label_2">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Increment</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="6">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QPushButton" name="x_increment_minus_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_setpoint_increment_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>140</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="x_increment_plus_button">
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="3" column="6">
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QPushButton" name="y_increment_minus_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_setpoint_increment_y">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>140</width>
+ <height>60</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="y_increment_plus_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="4" column="6">
+ <layout class="QHBoxLayout" name="horizontalLayout_3">
+ <item>
+ <widget class="QPushButton" name="z_increment_minus_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_setpoint_increment_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>140</width>
+ <height>60</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="z_increment_plus_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="5" column="6">
+ <layout class="QHBoxLayout" name="horizontalLayout_4">
+ <item>
+ <widget class="QPushButton" name="yaw_increment_minus_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>-</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_setpoint_increment_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>140</width>
+ <height>60</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="yaw_increment_plus_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>60</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
</layout>
</widget>
<resources/>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h
index 3ce7749754833f1c8d0bae089553dec71bee9520..35cb217861406c4d6507db25e81b81aa7f56cc3d 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h
@@ -2,6 +2,34 @@
#define CONTROLLERTABS_H
#include <QWidget>
+#include <QVector>
+
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+
+// Include the standard message types
+//#include "std_msgs/Int32.h"
+//#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+//#include "d_fall_pps/IntWithHeader.h"
+//#include "d_fall_pps/SetpointWithHeader.h"
+#include "d_fall_pps/CrazyflieData.h"
+
+// Include the shared definitions
+//#include "nodes/Constants.h"
+
+// SPECIFY THE PACKAGE NAMESPACE
+//using namespace d_fall_pps;
+
+#else
+// Include the shared definitions
+//#include "include/Constants_for_Qt_compile.h"
+
+#endif
namespace Ui {
class ControllerTabs;
@@ -15,8 +43,35 @@ public:
explicit ControllerTabs(QWidget *parent = 0);
~ControllerTabs();
+
+signals:
+ void measuredPoseValueChanged(QVector<float> measuredPose);
+
+
private:
Ui::ControllerTabs *ui;
+
+
+#ifdef CATKIN_MAKE
+ // --------------------------------------------------- //
+ // PRIVATE VARIABLES FOR ROS
+
+ // SUBSRIBER
+ // > For the pose data from a motion capture system
+ ros::Subscriber poseDataSubscriber;
+
+
+ // --------------------------------------------------- //
+ // PRIVATE CALLBACKS IN RESPONSE TO ROS MESSAGES
+
+ // > For the controller currently operating, received on
+ // "controllerUsedSubscriber"
+ void poseDataReceivedCallback(const d_fall_pps::CrazyflieData& msg);
+
+
+#endif
+
+
};
#endif // CONTROLLERTABS_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h
index 33ad470c576f5c358475a5c3d9dea3110ab2d214..6e95ea70a886a636ab9b6c683b65e30672cc4b4f 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h
@@ -2,8 +2,35 @@
#define DEFAULTCONTROLLERTAB_H
#include <QWidget>
+#include <QVector>
#include <QTextStream>
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+
+// Include the standard message types
+//#include "std_msgs/Int32.h"
+//#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+//#include "d_fall_pps/IntWithHeader.h"
+#include "d_fall_pps/SetpointWithHeader.h"
+
+// Include the shared definitions
+#include "nodes/Constants.h"
+
+// SPECIFY THE PACKAGE NAMESPACE
+//using namespace d_fall_pps;
+
+#else
+// Include the shared definitions
+//#include "include/Constants_for_Qt_compile.h"
+
+#endif
+
namespace Ui {
class DefaultControllerTab;
}
@@ -16,6 +43,11 @@ public:
explicit DefaultControllerTab(QWidget *parent = 0);
~DefaultControllerTab();
+
+public slots:
+ void setMeasuredPose(QVector<float> measuredPose);
+
+
private slots:
void on_lineEdit_setpoint_new_x_returnPressed();
void on_lineEdit_setpoint_new_y_returnPressed();
@@ -24,8 +56,26 @@ private slots:
void on_set_setpoint_button_clicked();
+ void on_default_setpoint_button_clicked();
+
+ void on_x_increment_plus_button_clicked();
+ void on_x_increment_minus_button_clicked();
+ void on_y_increment_plus_button_clicked();
+ void on_y_increment_minus_button_clicked();
+ void on_z_increment_plus_button_clicked();
+ void on_z_increment_minus_button_clicked();
+ void on_yaw_increment_plus_button_clicked();
+ void on_yaw_increment_minus_button_clicked();
+
private:
Ui::DefaultControllerTab *ui;
+
+#ifdef CATKIN_MAKE
+ SetpointWithHeader m_defaultSetpoint;
+#endif
+
+ void publishSetpoint(float x, float y, float z, float yaw);
+
};
#endif // DEFAULTCONTROLLERTAB_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
index a56804fd88bfa5e976f452d217fbeb569813feb8..01af34d82219ec6d3484e2b39b3dea4b855ad478 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
@@ -2,6 +2,35 @@
#define STUDENTCONTROLLERTAB_H
#include <QWidget>
+#include <QVector>
+#include <QTextStream>
+
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+
+// Include the standard message types
+//#include "std_msgs/Int32.h"
+//#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+//#include "d_fall_pps/IntWithHeader.h"
+#include "d_fall_pps/SetpointWithHeader.h"
+
+// Include the shared definitions
+#include "nodes/Constants.h"
+
+// SPECIFY THE PACKAGE NAMESPACE
+//using namespace d_fall_pps;
+
+#else
+// Include the shared definitions
+//#include "include/Constants_for_Qt_compile.h"
+
+#endif
+
namespace Ui {
class StudentControllerTab;
@@ -15,6 +44,11 @@ public:
explicit StudentControllerTab(QWidget *parent = 0);
~StudentControllerTab();
+
+public slots:
+ void setMeasuredPose(QVector<float> measuredPose);
+
+
private:
Ui::StudentControllerTab *ui;
};
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
index 9c7e79ab75582c577a45fa13a51ec684fe858d4b..4340091b0c92fcbd5a58137e78ed4fb75a6b60a0 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
@@ -6,9 +6,49 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
ui(new Ui::ControllerTabs)
{
ui->setupUi(this);
+
+
+
+ // CONNECT THE "MEASURED POST" SIGNAL TO EACH OF
+ // THE TABS
+ // i.e., connect the "measured pose value changed"
+ // signal to the "set measured pose" slots
+ QObject::connect(
+ this , &ControllerTabs::measuredPoseValueChanged ,
+ ui->default_controller_tab_widget , &DefaultControllerTab::setMeasuredPose
+ );
+
+ QObject::connect(
+ this , &ControllerTabs::measuredPoseValueChanged ,
+ ui->student_controller_tab_widget , &StudentControllerTab::setMeasuredPose
+ );
+
}
ControllerTabs::~ControllerTabs()
{
delete ui;
}
+
+
+
+#ifdef CATKIN_MAKE
+// > For the controller currently operating, received on
+// "controllerUsedSubscriber"
+void poseDataReceivedCallback(const d_fall_pps::CrazyflieData& msg)
+{
+ // Initialise a Qvector to sending around
+ QVector<float> poseDataForSignal;
+ // Fill in the data
+ poseDataForSignal.push_back(msg.x);
+ poseDataForSignal.push_back(msg.y);
+ poseDataForSignal.push_back(msg.z);
+ poseDataForSignal.push_back(msg.roll);
+ poseDataForSignal.push_back(msg.pitch);
+ poseDataForSignal.push_back(msg.yaw);
+ // Emit the signal
+ emit measuredPoseValueChanged(poseDataForSignal);
+
+
+}
+#endif
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
index 274304500eaf19ebe7d2c360095b86b1186f1753..f2b759d73203684709d845c57a65b7f00922016d 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
@@ -6,6 +6,16 @@ DefaultControllerTab::DefaultControllerTab(QWidget *parent) :
ui(new Ui::DefaultControllerTab)
{
ui->setupUi(this);
+
+
+
+#ifdef CATKIN_MAKE
+ m_defaultSetpoint.x = 0.0f;
+ m_defaultSetpoint.y = 0.0f;
+ m_defaultSetpoint.z = 0.5f;
+ m_defaultSetpoint.yaw = 0.0f;
+#endif
+
}
DefaultControllerTab::~DefaultControllerTab()
@@ -13,6 +23,60 @@ DefaultControllerTab::~DefaultControllerTab()
delete ui;
}
+
+void DefaultControllerTab::setMeasuredPose(QVector<float> measuredPose)
+{
+ // UPDATE THE MEASUREMENT COLUMN
+ ui->lineEdit_measured_x ->setText(QString::number( measuredPose[0] ));
+ ui->lineEdit_measured_y ->setText(QString::number( measuredPose[1] ));
+ ui->lineEdit_measured_z ->setText(QString::number( measuredPose[2] ));
+ ui->lineEdit_measured_roll ->setText(QString::number( measuredPose[3] ));
+ ui->lineEdit_measured_pitch->setText(QString::number( measuredPose[4] ));
+ ui->lineEdit_measured_yaw ->setText(QString::number( measuredPose[5] ));
+
+ // GET THE CURRENT SETPOINT
+ float curr_x_setpoint = (ui->lineEdit_setpoint_current_x->text() ).toFloat();;
+ float curr_y_setpoint = (ui->lineEdit_setpoint_current_y->text() ).toFloat();;
+ float curr_z_setpoint = (ui->lineEdit_setpoint_current_z->text() ).toFloat();;
+ float curr_yaw_setpoint = (ui->lineEdit_setpoint_current_yaw->text()).toFloat();;
+
+ // UPDATE THE ERROR COLUMN
+ ui->lineEdit_error_x ->setText(QString::number( measuredPose[0] - curr_x_setpoint ));
+ ui->lineEdit_error_y ->setText(QString::number( measuredPose[1] - curr_y_setpoint ));
+ ui->lineEdit_error_z ->setText(QString::number( measuredPose[2] - curr_z_setpoint ));
+ ui->lineEdit_error_yaw->setText(QString::number( measuredPose[5] - curr_yaw_setpoint ));
+}
+
+
+
+void publishSetpoint(float x, float y, float z, float yaw)
+{
+#ifdef CATKIN_MAKE
+ // Initialise the message as a local variable
+ SetpointWithHeader msg;
+
+ // Fill the header of the message
+ fillSetpointHeader( msg );
+
+ // Fill in the (x,y,z,yaw) values
+ msg.x = x;
+ msg.y = y;
+ msg.z = z;
+ msg.yaw = yaw;
+
+ // Publish the setpoint
+ this->controllerSetpointPublisher.publish(msg);
+
+ // Inform the user about the change
+ ROS_INFO_STREAM("[DEFAULT CONTROLLER GUI] Published request for setpoint request for: [" << x << ", "<< y << ", "<< z << ", "<< yaw << "]");
+#else
+ // TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
+ QTextStream(stdout) << "[DEFAULT CONTROLLER GUI] would publish request for: [" << x << ", "<< y << ", "<< z << ", "<< yaw << "]";
+#endif
+}
+
+
+
void DefaultControllerTab::on_lineEdit_setpoint_new_x_returnPressed()
{
ui->set_setpoint_button->animateClick();
@@ -41,10 +105,228 @@ void DefaultControllerTab::on_lineEdit_setpoint_new_yaw_returnPressed()
void DefaultControllerTab::on_set_setpoint_button_clicked()
{
-
#ifdef CATKIN_MAKE
+ // Initialise local variable for each of (x,y,z,yaw)
+ float x = 0.0f, y = 0.0f, z = 0.0f, yaw = 0.0f;
+
+ // Take the new value if available, otherwise use the old value
+ // > For x
+ if(!ui->lineEdit_setpoint_new_x->text().isEmpty())
+ x = (ui->lineEdit_setpoint_new_x->text()).toFloat();
+ else
+ x = (ui->lineEdit_setpoint_current_x->text()).toFloat();
+ // > For x
+ if(!ui->lineEdit_setpoint_new_y->text().isEmpty())
+ y = (ui->lineEdit_setpoint_new_y->text()).toFloat();
+ else
+ y = (ui->lineEdit_setpoint_current_y->text()).toFloat();
+ // > For x
+ if(!ui->lineEdit_setpoint_new_z->text().isEmpty())
+ z = (ui->lineEdit_setpoint_new_z->text()).toFloat();
+ else
+ z = (ui->lineEdit_setpoint_current_z->text()).toFloat();
+ // > For x
+ if(!ui->lineEdit_setpoint_new_yaw->text().isEmpty())
+ yaw = (ui->lineEdit_setpoint_new_yaw->text()).toFloat();
+ else
+ yaw = (ui->lineEdit_setpoint_current_yaw->text()).toFloat();
+
+ // Call the function to publish the setpoint
+ publishSetpoint(x,y,z,yaw);
+
#else
// TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
QTextStream(stdout) << "[DEFAULT CONTROLLER TAB] set setpoint button clicked";
#endif
}
+
+void DefaultControllerTab::on_default_setpoint_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Call the function to publish the setpoint
+ publishSetpoint(m_defaultSetpoint.x, m_defaultSetpoint.y, m_defaultSetpoint.z, m_defaultSetpoint.yaw );
+#endif
+}
+
+void DefaultControllerTab::on_x_increment_plus_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Only need to do something if the field is not empty
+ if(!ui->lineEdit_setpoint_increment_x->text().isEmpty())
+ {
+ // Call the function to publish the setpoint
+ publishSetpoint(
+ (ui->lineEdit_setpoint_current_x->text() ).toFloat() + (ui->lineEdit_setpoint_increment_x->text()).toFloat()
+ (ui->lineEdit_setpoint_current_y->text() ).toFloat()
+ (ui->lineEdit_setpoint_current_z->text() ).toFloat()
+ (ui->lineEdit_setpoint_current_yaw->text()).toFloat()
+ );
+ }
+ else
+ {
+ // Inform the user that nothing can be done
+ ROS_INFO_STREAM("[DEFAULT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
+
+ }
+#endif
+}
+
+void DefaultControllerTab::on_x_increment_minus_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Only need to do something if the field is not empty
+ if(!ui->lineEdit_setpoint_increment_x->text().isEmpty())
+ {
+ // Call the function to publish the setpoint
+ publishSetpoint(
+ (ui->lineEdit_setpoint_current_x->text() ).toFloat() - (ui->lineEdit_setpoint_increment_x->text()).toFloat(),
+ (ui->lineEdit_setpoint_current_y->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_z->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_yaw->text()).toFloat()
+ );
+ }
+ else
+ {
+ // Inform the user that nothing can be done
+ ROS_INFO_STREAM("[DEFAULT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
+
+ }
+#endif
+}
+
+void DefaultControllerTab::on_y_increment_plus_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Only need to do something if the field is not empty
+ if(!ui->lineEdit_setpoint_increment_y->text().isEmpty())
+ {
+ // Call the function to publish the setpoint
+ publishSetpoint(
+ (ui->lineEdit_setpoint_current_x->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_y->text() ).toFloat() + (ui->lineEdit_setpoint_increment_y->text()).toFloat(),
+ (ui->lineEdit_setpoint_current_z->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_yaw->text()).toFloat()
+ );
+ }
+ else
+ {
+ // Inform the user that nothing can be done
+ ROS_INFO_STREAM("[DEFAULT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
+
+ }
+#endif
+}
+
+void DefaultControllerTab::on_y_increment_minus_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Only need to do something if the field is not empty
+ if(!ui->lineEdit_setpoint_increment_y->text().isEmpty())
+ {
+ // Call the function to publish the setpoint
+ publishSetpoint(
+ (ui->lineEdit_setpoint_current_x->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_y->text() ).toFloat() - (ui->lineEdit_setpoint_increment_y->text()).toFloat(),
+ (ui->lineEdit_setpoint_current_z->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_yaw->text()).toFloat()
+ );
+ }
+ else
+ {
+ // Inform the user that nothing can be done
+ ROS_INFO_STREAM("[DEFAULT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
+
+ }
+#endif
+}
+
+void DefaultControllerTab::on_z_increment_plus_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Only need to do something if the field is not empty
+ if(!ui->lineEdit_setpoint_increment_z->text().isEmpty())
+ {
+ // Call the function to publish the setpoint
+ publishSetpoint(
+ (ui->lineEdit_setpoint_current_x->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_y->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_z->text() ).toFloat() + (ui->lineEdit_setpoint_increment_z->text()).toFloat(),
+ (ui->lineEdit_setpoint_current_yaw->text()).toFloat()
+ );
+ }
+ else
+ {
+ // Inform the user that nothing can be done
+ ROS_INFO_STREAM("[DEFAULT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
+
+ }
+#endif
+}
+
+void DefaultControllerTab::on_z_increment_minus_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Only need to do something if the field is not empty
+ if(!ui->lineEdit_setpoint_increment_z->text().isEmpty())
+ {
+ // Call the function to publish the setpoint
+ publishSetpoint(
+ (ui->lineEdit_setpoint_current_x->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_y->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_z->text() ).toFloat() - (ui->lineEdit_setpoint_increment_z->text()).toFloat(),
+ (ui->lineEdit_setpoint_current_yaw->text()).toFloat()
+ );
+ }
+ else
+ {
+ // Inform the user that nothing can be done
+ ROS_INFO_STREAM("[DEFAULT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
+
+ }
+#endif
+}
+
+void DefaultControllerTab::on_yaw_increment_plus_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Only need to do something if the field is not empty
+ if(!ui->lineEdit_setpoint_increment_yaw->text().isEmpty())
+ {
+ // Call the function to publish the setpoint
+ publishSetpoint(
+ (ui->lineEdit_setpoint_current_x->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_y->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_z->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_yaw->text()).toFloat() + (ui->lineEdit_setpoint_increment_yaw->text()).toFloat()
+ );
+ }
+ else
+ {
+ // Inform the user that nothing can be done
+ ROS_INFO_STREAM("[DEFAULT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
+
+ }
+#endif
+}
+void DefaultControllerTab::on_yaw_increment_minus_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Only need to do something if the field is not empty
+ if(!ui->lineEdit_setpoint_increment_yaw->text().isEmpty())
+ {
+ // Call the function to publish the setpoint
+ publishSetpoint(
+ (ui->lineEdit_setpoint_current_x->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_y->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_z->text() ).toFloat(),
+ (ui->lineEdit_setpoint_current_yaw->text()).toFloat() - (ui->lineEdit_setpoint_increment_yaw->text()).toFloat()
+ );
+ }
+ else
+ {
+ // Inform the user that nothing can be done
+ ROS_INFO_STREAM("[DEFAULT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
+
+ }
+#endif
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
index a47ccd3bba935d80816818980ef826ef63829aaa..f3561d0d94ad22de9c1557a665fb2ebeedd51b08 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
@@ -12,3 +12,26 @@ StudentControllerTab::~StudentControllerTab()
{
delete ui;
}
+
+void StudentControllerTab::setMeasuredPose(QVector<float> measuredPose)
+{
+ // UPDATE THE MEASUREMENT COLUMN
+ ui->lineEdit_measured_x ->setText(QString::number( measuredPose[0] ));
+ ui->lineEdit_measured_y ->setText(QString::number( measuredPose[1] ));
+ ui->lineEdit_measured_z ->setText(QString::number( measuredPose[2] ));
+ ui->lineEdit_measured_roll ->setText(QString::number( measuredPose[3] ));
+ ui->lineEdit_measured_pitch->setText(QString::number( measuredPose[4] ));
+ ui->lineEdit_measured_yaw ->setText(QString::number( measuredPose[5] ));
+
+ // GET THE CURRENT SETPOINT
+ float curr_x_setpoint = (ui->lineEdit_setpoint_current_x->text() ).toFloat();;
+ float curr_y_setpoint = (ui->lineEdit_setpoint_current_y->text() ).toFloat();;
+ float curr_z_setpoint = (ui->lineEdit_setpoint_current_z->text() ).toFloat();;
+ float curr_yaw_setpoint = (ui->lineEdit_setpoint_current_yaw->text()).toFloat();;
+
+ // UPDATE THE ERROR COLUMN
+ ui->lineEdit_error_x ->setText(QString::number( measuredPose[0] - curr_x_setpoint ));
+ ui->lineEdit_error_y ->setText(QString::number( measuredPose[1] - curr_y_setpoint ));
+ ui->lineEdit_error_z ->setText(QString::number( measuredPose[2] - curr_z_setpoint ));
+ ui->lineEdit_error_yaw->setText(QString::number( measuredPose[5] - curr_yaw_setpoint ));
+}
diff --git a/pps_ws/src/d_fall_pps/msg/SetpointWithHeader.msg b/pps_ws/src/d_fall_pps/msg/SetpointWithHeader.msg
new file mode 100644
index 0000000000000000000000000000000000000000..9198063bc304eeb821d802752c48b99e2f7402de
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/msg/SetpointWithHeader.msg
@@ -0,0 +1,8 @@
+float64 x
+float64 y
+float64 z
+float64 yaw
+bool isChecked
+uint32 buttonID
+bool shouldCheckForAgentID
+uint8[] agentIDs
\ No newline at end of file