From 2a6e82571ced24d6b571e7d30a848154d19786b8 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Tue, 21 May 2019 23:14:18 +0200
Subject: [PATCH] Added remote controller to GUI menu, enable and yaml buttons,
and a tab. Compiles but needs testing. The tab itself still needs to be added
---
.../flyingAgentGUI/forms/controllertabs.ui | 7 +-
.../forms/enablecontrollerloadyamlbar.ui | 182 +++++++++++-------
.../GUI_Qt/flyingAgentGUI/forms/mainwindow.ui | 12 ++
.../flyingAgentGUI/include/controllertabs.h | 1 +
.../include/enablecontrollerloadyamlbar.h | 3 +
.../flyingAgentGUI/include/mainwindow.h | 1 +
.../flyingAgentGUI/src/controllertabs.cpp | 8 +-
.../src/enablecontrollerloadyamlbar.cpp | 33 ++++
.../GUI_Qt/flyingAgentGUI/src/mainwindow.cpp | 9 +
9 files changed, 188 insertions(+), 68 deletions(-)
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
index 471a55f3..f580f731 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
+++ b/dfall_ws/src/dfall_pkg/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>4</number>
+ <number>5</number>
</property>
<property name="movable">
<bool>true</bool>
@@ -73,6 +73,11 @@
</item>
</layout>
</widget>
+ <widget class="QWidget" name="remote_tab">
+ <attribute name="title">
+ <string>Remote</string>
+ </attribute>
+ </widget>
<widget class="QWidget" name="template_tab">
<attribute name="title">
<string>Template</string>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
index c358d8be..7bafd6f4 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
@@ -30,8 +30,8 @@
<property name="spacing">
<number>12</number>
</property>
- <item row="0" column="2">
- <widget class="QPushButton" name="enable_student_button">
+ <item row="1" column="1">
+ <widget class="QPushButton" name="load_yaml_default_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -50,19 +50,38 @@
<height>50</height>
</size>
</property>
- <property name="font">
- <font>
- <weight>50</weight>
- <bold>false</bold>
- </font>
+ <property name="text">
+ <string>Default</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="3">
+ <widget class="QPushButton" name="load_yaml_picker_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>60</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>50</height>
+ </size>
</property>
<property name="text">
- <string>Student</string>
+ <string>Picker</string>
</property>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QLabel" name="load_yaml_label">
+ <item row="0" column="0">
+ <widget class="QLabel" name="enable_controller_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -88,59 +107,74 @@
</font>
</property>
<property name="text">
- <string>Load YAML</string>
+ <string>Enable</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
- <item row="0" column="6">
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
+ <item row="1" column="4">
+ <widget class="QPushButton" name="load_yaml_tuning_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
- <property name="sizeHint" stdset="0">
+ <property name="minimumSize">
<size>
- <width>40</width>
- <height>20</height>
+ <width>60</width>
+ <height>50</height>
</size>
</property>
- </spacer>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Tuning</string>
+ </property>
+ </widget>
</item>
- <item row="0" column="5">
- <widget class="QPushButton" name="enable_template_button">
+ <item row="1" column="0">
+ <widget class="QLabel" name="load_yaml_label">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
- <width>60</width>
+ <width>0</width>
<height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
- <width>180</width>
+ <width>16777215</width>
<height>50</height>
</size>
</property>
<property name="font">
<font>
- <weight>50</weight>
- <bold>false</bold>
+ <weight>75</weight>
+ <bold>true</bold>
</font>
</property>
<property name="text">
- <string>Template</string>
+ <string>Load YAML</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
</property>
</widget>
</item>
- <item row="1" column="3">
- <widget class="QPushButton" name="load_yaml_picker_button">
+ <item row="1" column="2">
+ <widget class="QPushButton" name="load_yaml_student_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -160,12 +194,12 @@
</size>
</property>
<property name="text">
- <string>Picker</string>
+ <string>Student</string>
</property>
</widget>
</item>
- <item row="1" column="2">
- <widget class="QPushButton" name="load_yaml_student_button">
+ <item row="1" column="6">
+ <widget class="QPushButton" name="load_yaml_template_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -185,12 +219,12 @@
</size>
</property>
<property name="text">
- <string>Student</string>
+ <string>Template</string>
</property>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QPushButton" name="enable_default_button">
+ <item row="0" column="2">
+ <widget class="QPushButton" name="enable_student_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -216,46 +250,37 @@
</font>
</property>
<property name="text">
- <string>Default</string>
+ <string>Student</string>
</property>
</widget>
</item>
- <item row="0" column="0">
- <widget class="QLabel" name="enable_controller_label">
+ <item row="0" column="4">
+ <widget class="QPushButton" name="enable_tuning_button">
<property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
- <width>0</width>
+ <width>60</width>
<height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
- <width>16777215</width>
+ <width>180</width>
<height>50</height>
</size>
</property>
- <property name="font">
- <font>
- <weight>75</weight>
- <bold>true</bold>
- </font>
- </property>
<property name="text">
- <string>Enable</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
+ <string>Tuning</string>
</property>
</widget>
</item>
- <item row="1" column="5">
- <widget class="QPushButton" name="load_yaml_template_button">
+ <item row="0" column="1">
+ <widget class="QPushButton" name="enable_default_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -274,13 +299,19 @@
<height>50</height>
</size>
</property>
+ <property name="font">
+ <font>
+ <weight>50</weight>
+ <bold>false</bold>
+ </font>
+ </property>
<property name="text">
- <string>Template</string>
+ <string>Default</string>
</property>
</widget>
</item>
- <item row="1" column="1">
- <widget class="QPushButton" name="load_yaml_default_button">
+ <item row="0" column="3">
+ <widget class="QPushButton" name="enable_picker_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -299,13 +330,19 @@
<height>50</height>
</size>
</property>
+ <property name="font">
+ <font>
+ <weight>50</weight>
+ <bold>false</bold>
+ </font>
+ </property>
<property name="text">
- <string>Default</string>
+ <string>Picker</string>
</property>
</widget>
</item>
- <item row="0" column="3">
- <widget class="QPushButton" name="enable_picker_button">
+ <item row="0" column="6">
+ <widget class="QPushButton" name="enable_template_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -331,12 +368,25 @@
</font>
</property>
<property name="text">
- <string>Picker</string>
+ <string>Template</string>
</property>
</widget>
</item>
- <item row="0" column="4">
- <widget class="QPushButton" name="enable_tuning_button">
+ <item row="0" column="7">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="0" column="5">
+ <widget class="QPushButton" name="enable_remote_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -356,12 +406,12 @@
</size>
</property>
<property name="text">
- <string>Tuning</string>
+ <string>Remote</string>
</property>
</widget>
</item>
- <item row="1" column="4">
- <widget class="QPushButton" name="load_yaml_tuning_button">
+ <item row="1" column="5">
+ <widget class="QPushButton" name="load_yaml_remote_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -381,7 +431,7 @@
</size>
</property>
<property name="text">
- <string>Tuning</string>
+ <string>Remote</string>
</property>
</widget>
</item>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui
index faec75cb..e6f37426 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui
@@ -214,6 +214,7 @@
<addaction name="action_showHideController_student"/>
<addaction name="action_showHideController_picker"/>
<addaction name="action_showHideController_tuning"/>
+ <addaction name="action_showHideController_remote"/>
<addaction name="action_showHideController_template"/>
<addaction name="separator"/>
<addaction name="action_testMotors"/>
@@ -320,6 +321,17 @@
<string>TestMotors</string>
</property>
</action>
+ <action name="action_showHideController_remote">
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Remote</string>
+ </property>
+ </action>
</widget>
<layoutdefault spacing="6" margin="11"/>
<customwidgets>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllertabs.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllertabs.h
index eca925ea..74f0e5b0 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllertabs.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllertabs.h
@@ -93,6 +93,7 @@ public:
void showHideController_student_changed();
void showHideController_picker_changed();
void showHideController_tuning_changed();
+ void showHideController_remote_changed();
void showHideController_template_changed();
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
index ff4cb22e..c48d711f 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
@@ -92,6 +92,7 @@ public:
void showHideController_student_changed();
void showHideController_picker_changed();
void showHideController_tuning_changed();
+ void showHideController_remote_changed();
void showHideController_template_changed();
void testMotors_triggered();
@@ -108,6 +109,7 @@ private slots:
void on_enable_student_button_clicked();
void on_enable_picker_button_clicked();
void on_enable_tuning_button_clicked();
+ void on_enable_remote_button_clicked();
void on_enable_template_button_clicked();
// LOAD YAML BUTTONS ON-CLICK CALLBACK
@@ -115,6 +117,7 @@ private slots:
void on_load_yaml_student_button_clicked();
void on_load_yaml_picker_button_clicked();
void on_load_yaml_tuning_button_clicked();
+ void on_load_yaml_remote_button_clicked();
void on_load_yaml_template_button_clicked();
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/mainwindow.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/mainwindow.h
index 17da92a8..ed4c43b6 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/mainwindow.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/mainwindow.h
@@ -131,6 +131,7 @@ private slots:
void on_action_showHideController_student_changed();
void on_action_showHideController_picker_changed();
void on_action_showHideController_tuning_changed();
+ void on_action_showHideController_remote_changed();
void on_action_showHideController_template_changed();
void on_action_testMotors_triggered();
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
index 3ee513c9..f53bba09 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
@@ -247,6 +247,11 @@ void ControllerTabs::showHideController_tuning_changed()
showHideController_toggle("Tuning",ui->tuning_tab);
}
+void ControllerTabs::showHideController_remote_changed()
+{
+ showHideController_toggle("Remote",ui->remote_tab);
+}
+
void ControllerTabs::showHideController_template_changed()
{
showHideController_toggle("Template",ui->template_tab);
@@ -419,7 +424,7 @@ void ControllerTabs::setControllerEnabled(int new_controller)
}
case REMOTE_CONTROLLER:
{
- //ui->controller_enabled_label->setText("Remote");
+ setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->remote_tab );
break;
}
case TUNING_CONTROLLER:
@@ -452,6 +457,7 @@ void ControllerTabs::setAllTabLabelsToNormalColouring()
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->student_tab );
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->picker_tab );
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->tuning_tab );
+ setTextColourOfTabLabel( m_tab_text_colour_normal , ui->remote_tab );
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->template_tab );
}
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
index 43cc94a3..6a1e88f1 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
@@ -108,6 +108,12 @@ void EnableControllerLoadYamlBar::showHideController_tuning_changed()
ui->load_yaml_tuning_button->setHidden( !(ui->load_yaml_tuning_button->isHidden()) );
}
+void EnableControllerLoadYamlBar::showHideController_remote_changed()
+{
+ ui->enable_remote_button ->setHidden( !(ui->enable_remote_button->isHidden()) );
+ ui->load_yaml_remote_button->setHidden( !(ui->load_yaml_remote_button->isHidden()) );
+}
+
void EnableControllerLoadYamlBar::showHideController_template_changed()
{
ui->enable_template_button ->setHidden( !(ui->enable_template_button->isHidden()) );
@@ -178,6 +184,17 @@ void EnableControllerLoadYamlBar::on_enable_tuning_button_clicked()
#endif
}
+void EnableControllerLoadYamlBar::on_enable_remote_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ dfall_pkg::IntWithHeader msg;
+ fillIntMessageHeader(msg);
+ msg.data = CMD_USE_REMOTE_CONTROLLER;
+ this->commandPublisher.publish(msg);
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Remote Controller");
+#endif
+}
+
void EnableControllerLoadYamlBar::on_enable_template_button_clicked()
{
#ifdef CATKIN_MAKE
@@ -261,6 +278,22 @@ void EnableControllerLoadYamlBar::on_load_yaml_tuning_button_clicked()
#endif
}
+void EnableControllerLoadYamlBar::on_load_yaml_remote_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Create a local variable for the message
+ dfall_pkg::StringWithHeader yaml_filename_msg;
+ // Set for whom this applies to
+ fillStringMessageHeader(yaml_filename_msg);
+ // Specify the data
+ yaml_filename_msg.data = "RemoteController";
+ // Send the message
+ m_requestLoadYamlFilenamePublisher.publish(yaml_filename_msg);
+ // Inform the user that the menu item was selected
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Remote Controller YAML was clicked.");
+#endif
+}
+
void EnableControllerLoadYamlBar::on_load_yaml_template_button_clicked()
{
#ifdef CATKIN_MAKE
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
index 8129239a..d6fc815a 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
@@ -145,6 +145,8 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
ui->action_showHideController_picker->trigger();
// > For the tuning controller
ui->action_showHideController_tuning->trigger();
+ // > For the remote controller
+ ui->action_showHideController_remote->trigger();
// > For the template controller
ui->action_showHideController_template->trigger();
@@ -245,6 +247,13 @@ void MainWindow::on_action_showHideController_tuning_changed()
ui->customWidget_controller_tabs->showHideController_tuning_changed();
}
+void MainWindow::on_action_showHideController_remote_changed()
+{
+ // Notify the UI elements of this change
+ ui->customWidget_enableControllerLoadYamlBar->showHideController_remote_changed();
+ ui->customWidget_controller_tabs->showHideController_remote_changed();
+}
+
void MainWindow::on_action_showHideController_template_changed()
{
// Notify the UI elements of this change
--
GitLab