diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
index 5c239d184998b27daf54233c55b1b87adb754110..3df7edddfd6a8241c8000b0be7349aee8fbca0dc 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
@@ -2,6 +2,7 @@
#define ENABLECONTROLLERLOADYAMLBAR_H
#include <QWidget>
+#include <QMutex>
#ifdef CATKIN_MAKE
#include <ros/ros.h>
@@ -58,6 +59,11 @@ public:
explicit EnableControllerLoadYamlBar(QWidget *parent = 0);
~EnableControllerLoadYamlBar();
+
+public slots:
+ void setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll);
+
+
private slots:
// ENABLE CONTROLLER BUTTONS ON-CLICK CALLBACK
@@ -86,6 +92,12 @@ private:
// The ID of this node
int m_ID;
+ // For coordinating multiple agents
+ std::vector<int> m_vector_of_agentIDs_toCoordinate;
+ bool m_shouldCoordinateAll = true;
+ QMutex m_agentIDs_toCoordinate_mutex;
+
+
#ifdef CATKIN_MAKE
// PUBLISHERS AND SUBSRIBERS
// > For {take-off,land,motors-off} and controller selection
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
index 437aa7ccdd45f7cfedcd4fbc4e92f01fe6c007e1..1e842c83128cc839eae6c2acb0016535249b6fbc 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
@@ -639,7 +639,7 @@ void ConnectStartStopBar::fillIntMessageHeader( d_fall_pps::IntWithHeader & msg
// Add the agent IDs if necessary
if (!m_shouldCoordinateAll)
{
- for ( int irow = 0 ; irow < m_vector_of_agentIDs_toCoordinate.length() ; irow++ )
+ for ( int irow = 0 ; irow < m_vector_of_agentIDs_toCoordinate.size() ; irow++ )
{
msg.agentIDs.push_back( m_vector_of_agentIDs_toCoordinate[irow] );
}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinator.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinator.cpp
index 6e1f52d2143d2a0e66f3ee925192061f5a757e27..64bece6d7e12dc743cc2ccc683d9f15a6147a74b 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinator.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinator.cpp
@@ -61,6 +61,13 @@ void Coordinator::on_refresh_button_clicked()
// Check the box if "coordinate all" is checked
temp_coordinatorRow->setShouldCoordinate(shouldCoordinateAll);
+ // Connect the "should coordinate value changed" signal to
+ // the respective slot
+ QObject::connect(
+ temp_coordinatorRow , &CoordinatorRow::shouldCoordinateThisAgentValueChanged ,
+ this , &Coordinator::setShouldCoordinateThisAgent
+ );
+
// Add to the vector of coordinator rows
vector_of_coordinatorRows.append(temp_coordinatorRow);
vector_of_shouldCoordinate_perRow.append(shouldCoordinateAll);
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
index 2822b7b69391d6e0331cf21d07cc8ba8db18b681..6eaaa3cf0b7346f4180d3983a565942b3097ac5c 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
@@ -116,6 +116,51 @@ void EnableControllerLoadYamlBar::on_load_yaml_default_button_clicked()
+// ----------------------------------------------------------------------------------
+// A GGGG EEEEE N N TTTTT III DDDD SSSS
+// A A G E NN N T I D D S
+// A A G EEE N N N T I D D SSS
+// AAAAA G G E N NN T I D D S
+// A A GGGG EEEEE N N T III DDDD SSSS
+// ----------------------------------------------------------------------------------
+
+
+void EnableControllerLoadYamlBar::setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll)
+{
+
+ // Lock the mutex
+ m_agentIDs_toCoordinate_mutex.lock();
+ // Add the "coordinate all" flag
+ m_shouldCoordinateAll = shouldCoordinateAll;
+ // Clear the previous list of agent IDs
+ m_vector_of_agentIDs_toCoordinate.clear();
+ // Copy across the agent IDs, if necessary
+ if (!shouldCoordinateAll)
+ {
+ for ( int irow = 0 ; irow < agentIDs.length() ; irow++ )
+ {
+ m_vector_of_agentIDs_toCoordinate.push_back( agentIDs[irow] );
+ }
+ }
+ // Unlock the mutex
+ m_agentIDs_toCoordinate_mutex.unlock();
+
+#ifdef CATKIN_MAKE
+#else
+ // TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
+ QTextStream(stdout) << "[CONNECT START STOP GUI BAR] is coordinating agentIDs:";
+ for ( int irow = 0 ; irow < agentIDs.length() ; irow++ )
+ {
+ QTextStream(stdout) << " " << agentIDs[irow];
+ }
+ QTextStream(stdout) << " " << endl;
+#endif
+}
+
+
+
+
+
// ----------------------------------------------------------------------------------
// M M SSSS GGG H H EEEEE A DDDD EEEEE RRRR
// MM MM S G G H H E A A D D E R R
@@ -139,8 +184,20 @@ void EnableControllerLoadYamlBar::fillIntMessageHeader( d_fall_pps::IntWithHeade
}
case TYPE_COORDINATOR:
{
- msg.shouldCheckForID = true;
- msg.agentIDs.push_back(7);
+ // Lock the mutex
+ m_agentIDs_toCoordinate_mutex.lock();
+ // Add the "coordinate all" flag
+ msg.shouldCheckForID = !(m_shouldCoordinateAll);
+ // Add the agent IDs if necessary
+ if (!m_shouldCoordinateAll)
+ {
+ for ( int irow = 0 ; irow < m_vector_of_agentIDs_toCoordinate.size() ; irow++ )
+ {
+ msg.agentIDs.push_back( m_vector_of_agentIDs_toCoordinate[irow] );
+ }
+ }
+ // Unlock the mutex
+ m_agentIDs_toCoordinate_mutex.unlock();
break;
}
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 b744a9a40f39d3cbaa00afaf94fbdd93c0c240c7..65645bb8aa79b97d93bf104a25ba4d940b559b01 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
@@ -102,6 +102,11 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
ui->customWidget_connectStartStopBar , &ConnectStartStopBar::setAgentIDsToCoordinate
);
+ QObject::connect(
+ ui->customWidget_coordinator , &Coordinator::agentIDsToCoordinateChanged ,
+ ui->customWidget_enableControllerLoadYamlBar , &EnableControllerLoadYamlBar::setAgentIDsToCoordinate
+ );
+
}
MainWindow::~MainWindow()