From 214eb13836c7eed9a6a129b54a690d067a84ed29 Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Fri, 27 Mar 2020 09:55:23 +0100
Subject: [PATCH] Added zmin and zmax fields to the System Config GUI. All
zones get the same height when clicking the save in DB button. It would be
nice to do a further update where each zone can have a different vertical
extent
---
.../systemConfigGUI/forms/mainguiwindow.ui | 76 ++++++++++++++++++-
.../systemConfigGUI/include/mainguiwindow.h | 7 ++
.../systemConfigGUI/src/mainguiwindow.cpp | 55 +++++++++++++-
3 files changed, 132 insertions(+), 6 deletions(-)
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/forms/mainguiwindow.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/forms/mainguiwindow.ui
index 2d50c2a9..5e470ee9 100755
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/forms/mainguiwindow.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/forms/mainguiwindow.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1228</width>
- <height>1559</height>
+ <width>1339</width>
+ <height>1619</height>
</rect>
</property>
<property name="windowTitle">
@@ -116,6 +116,74 @@
</property>
</widget>
</item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <item>
+ <widget class="QLabel" name="label_zmin">
+ <property name="text">
+ <string>zmin</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_zmin">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>-0.2</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <item>
+ <widget class="QLabel" name="label_zmax">
+ <property name="text">
+ <string>zmax</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_zmax">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>1.8</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
</layout>
</widget>
</item>
@@ -972,8 +1040,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1228</width>
- <height>40</height>
+ <width>1339</width>
+ <height>47</height>
</rect>
</property>
</widget>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/include/mainguiwindow.h b/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/include/mainguiwindow.h
index bfa475fd..5d17177c 100755
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/include/mainguiwindow.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/include/mainguiwindow.h
@@ -38,6 +38,7 @@
#include <QTimer>
#include <QGridLayout>
#include <QGraphicsRectItem>
+#include <QLineEdit>
#ifdef CATKIN_MAKE
@@ -131,6 +132,8 @@ private slots:
#ifdef CATKIN_MAKE
#endif
+ float validate_and_get_value_from_lineEdit(QLineEdit * lineEdit, float min, float max, int decimals, float default_value);
+
void doNumCrazyFlyZonesChanged(int n);
void transitionToMode(int mode);
void on_removeTable_clicked();
@@ -188,6 +191,10 @@ private slots:
// For the emergency stop button
void on_emergency_stop_button_clicked();
+
+ // For automatically validating the zmin and zmax line edits
+ void on_lineEdit_zmin_editingFinished();
+ void on_lineEdit_zmax_editingFinished();
private:
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/src/mainguiwindow.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/src/mainguiwindow.cpp
index 54a48fd3..a93637d1 100755
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/src/mainguiwindow.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/src/mainguiwindow.cpp
@@ -85,6 +85,33 @@ MainGUIWindow::~MainGUIWindow()
delete ui;
}
+float MainGUIWindow::validate_and_get_value_from_lineEdit(QLineEdit * lineEdit, float min, float max, int decimals, float default_value)
+{
+ // Initialise the value to the default
+ float return_value = default_value;
+
+ // Check that the field is NOT empty
+ if(!lineEdit->text().isEmpty())
+ {
+ // Extraxt the value from the field as a float
+ return_value = (lineEdit->text()).toFloat();
+ // Ensure that it is in the range specified
+ if (return_value < min)
+ return_value = min;
+ else if (return_value > max)
+ return_value = max;
+ }
+
+ // Clip the value to the specified decimal places
+
+
+ // Put the value back into the line edit
+ lineEdit->setText(QString::number( return_value, 'f', decimals));
+
+ // Return the value
+ return return_value;
+}
+
int MainGUIWindow::getTabIndexFromName(QString name)
{
int found_name = -1;
@@ -841,6 +868,10 @@ void MainGUIWindow::on_unlink_button_clicked()
void MainGUIWindow::on_save_in_DB_button_clicked()
{
+ // Get the zmin and zmax values from the line edits
+ float current_zmin = validate_and_get_value_from_lineEdit(ui->lineEdit_zmin,-10.0,10.0,2,-0.2);
+ float current_zmax = validate_and_get_value_from_lineEdit(ui->lineEdit_zmax,-10.0,10.0,2,1.8);
+
#ifdef CATKIN_MAKE
// we need to update and then save?
CrazyflieDB tmp_db;
@@ -867,8 +898,8 @@ void MainGUIWindow::on_save_in_DB_button_clicked()
tmp_entry.crazyflieContext.localArea.ymin = y_min * FROM_UNITS_TO_METERS;
tmp_entry.crazyflieContext.localArea.ymax = y_max * FROM_UNITS_TO_METERS;
- tmp_entry.crazyflieContext.localArea.zmin = -0.2;
- tmp_entry.crazyflieContext.localArea.zmax = 2.2;
+ tmp_entry.crazyflieContext.localArea.zmin = current_zmin;
+ tmp_entry.crazyflieContext.localArea.zmax = current_zmax;
}
}
tmp_db.crazyflieEntries.push_back(tmp_entry);
@@ -1104,3 +1135,23 @@ void MainGUIWindow::on_emergency_stop_button_clicked()
emergencyStopPublisher.publish(msg);
#endif
}
+
+
+// ----------------------------------------------------------------------------------
+//
+//
+//
+//
+//
+// ----------------------------------------------------------------------------------
+
+void MainGUIWindow::on_lineEdit_zmin_editingFinished()
+{
+ validate_and_get_value_from_lineEdit(ui->lineEdit_zmin,-10.0,10.0,2,-0.2);
+}
+
+void MainGUIWindow::on_lineEdit_zmax_editingFinished()
+{
+ validate_and_get_value_from_lineEdit(ui->lineEdit_zmax,-10.0,10.0,2,1.8);
+}
+
--
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