From 36579e131845331bdb6049812fe67b761ed21b06 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Mon, 27 Aug 2018 13:13:29 +0200
Subject: [PATCH] Added custom buttons to student controller, needs testing
---
.../GUI_Qt/studentGUI/include/MainWindow.h | 14 +-
.../GUI_Qt/studentGUI/src/MainWindow.cpp | 71 +++++---
.../GUI_Qt/studentGUI/src/MainWindow.ui | 159 ++++++++++++++----
.../include/nodes/StudentControllerService.h | 3 +
.../src/nodes/DemoControllerService.cpp | 2 +-
.../src/nodes/StudentControllerService.cpp | 75 +++++++++
6 files changed, 268 insertions(+), 56 deletions(-)
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 bdf36d35..dfcedc29 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
@@ -158,9 +158,13 @@ private slots:
- void on_customButton_1_clicked();
- void on_customButton_2_clicked();
- void on_customButton_3_clicked();
+ void on_demoButton_1_clicked();
+ void on_demoButton_2_clicked();
+ void on_demoButton_3_clicked();
+
+ void on_studentButton_1_clicked();
+ void on_studentButton_2_clicked();
+ void on_studentButton_3_clicked();
// Buttons within the REMOTE controller tab
void on_remote_subscribe_button_clicked();
@@ -246,8 +250,8 @@ private:
ros::Publisher tuningHeadingGainPublisher;
-
- ros::Publisher PPSClientStudentCustomButtonPublisher;
+ ros::Publisher demoCustomButtonPublisher;
+ ros::Publisher studentCustomButtonPublisher;
ros::Subscriber DBChangedSubscriber;
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 46e74dfe..6249adf9 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
@@ -68,12 +68,14 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
// SUBSCRIBERS AND PUBLISHERS:
- // > For the Demo Controller SETPOINTS
- demoSetpointPublisher = nodeHandle.advertise<Setpoint>("DemoControllerService/Setpoint", 1);
- demoSetpointSubscriber = nodeHandle.subscribe("DemoControllerService/Setpoint", 1, &MainWindow::demoSetpointCallback, this);
- // > For the Student Controller SETPOINTS
- studentSetpointPublisher = nodeHandle.advertise<Setpoint>("StudentControllerService/Setpoint", 1);
- studentSetpointSubscriber = nodeHandle.subscribe("StudentControllerService/Setpoint", 1, &MainWindow::studentSetpointCallback, this);
+ // > For the Demo Controller SETPOINTS and CUSTOM COMMANDS
+ demoSetpointPublisher = nodeHandle.advertise<Setpoint>("DemoControllerService/Setpoint", 1);
+ demoSetpointSubscriber = nodeHandle.subscribe("DemoControllerService/Setpoint", 1, &MainWindow::demoSetpointCallback, this);
+ demoCustomButtonPublisher = nodeHandle.advertise<CustomButton>("DemoControllerService/GUIButton", 1);
+ // > For the Student Controller SETPOINTS and CUSTOM COMMANDS
+ studentSetpointPublisher = nodeHandle.advertise<Setpoint>("StudentControllerService/Setpoint", 1);
+ studentSetpointSubscriber = nodeHandle.subscribe("StudentControllerService/Setpoint", 1, &MainWindow::studentSetpointCallback, this);
+ studentCustomButtonPublisher = nodeHandle.advertise<CustomButton>("StudentControllerService/GUIButton", 1);
// > For the MPC Controller SETPOINTS
mpcSetpointPublisher = nodeHandle.advertise<Setpoint>("MpcControllerService/Setpoint", 1);
mpcSetpointSubscriber = nodeHandle.subscribe("MpcControllerService/Setpoint", 1, &MainWindow::mpcSetpointCallback, this);
@@ -121,9 +123,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
//ros::NodeHandle nh_PPSClient(m_ros_namespace + "/PPSClient");
ros::NodeHandle nh_PPSClient("PPSClient");
crazyRadioCommandPublisher = nh_PPSClient.advertise<std_msgs::Int32>("crazyRadioCommand", 1);
- PPSClientCommandPublisher = nh_PPSClient.advertise<std_msgs::Int32>("Command", 1);
-
- PPSClientStudentCustomButtonPublisher = nh_PPSClient.advertise<CustomButton>("StudentCustomButton", 1);
+ PPSClientCommandPublisher = nh_PPSClient.advertise<std_msgs::Int32>("Command", 1);
// > For publishing a message that requests the
@@ -1081,33 +1081,66 @@ void MainWindow::on_enable_tuning_controller_clicked()
-// # Custom command buttons
-void MainWindow::on_customButton_1_clicked()
+// # Custom command buttons - FOR DEMO CONTROLLER
+void MainWindow::on_demoButton_1_clicked()
{
CustomButton msg_custom_button;
msg_custom_button.button_index = 1;
msg_custom_button.command_code = 0;
- this->PPSClientStudentCustomButtonPublisher.publish(msg_custom_button);
+ this->demoCustomButtonPublisher.publish(msg_custom_button);
- ROS_INFO("Custom button 1 pressed in GUI");
+ ROS_INFO("Demo button 1 pressed in GUI");
}
-void MainWindow::on_customButton_2_clicked()
+void MainWindow::on_demoButton_2_clicked()
{
CustomButton msg_custom_button;
msg_custom_button.button_index = 2;
msg_custom_button.command_code = 0;
- this->PPSClientStudentCustomButtonPublisher.publish(msg_custom_button);
- ROS_INFO("Custom button 2 pressed in GUI");
+ this->demoCustomButtonPublisher.publish(msg_custom_button);
+ ROS_INFO("Demo button 2 pressed in GUI");
}
void MainWindow::on_customButton_3_clicked()
{
CustomButton msg_custom_button;
msg_custom_button.button_index = 3;
- msg_custom_button.command_code = (ui->custom_command_3->text()).toFloat();
- this->PPSClientStudentCustomButtonPublisher.publish(msg_custom_button);
- ROS_INFO("Custom button 3 pressed in GUI");
+ msg_custom_button.command_code = (ui->demoField_3->text()).toFloat();
+ this->demoCustomButtonPublisher.publish(msg_custom_button);
+ ROS_INFO("Demo button 3 pressed in GUI");
+}
+
+
+
+
+
+// # Custom command buttons - FOR STUDENT CONTROLLER
+void MainWindow::on_studentButton_1_clicked()
+{
+ CustomButton msg_custom_button;
+ msg_custom_button.button_index = 1;
+ msg_custom_button.command_code = 0;
+ this->studentCustomButtonPublisher.publish(msg_custom_button);
+
+ ROS_INFO("Student button 1 pressed in GUI");
+}
+
+void MainWindow::on_studentButton_2_clicked()
+{
+ CustomButton msg_custom_button;
+ msg_custom_button.button_index = 2;
+ msg_custom_button.command_code = 0;
+ this->studentCustomButtonPublisher.publish(msg_custom_button);
+ ROS_INFO("Student button 2 pressed in GUI");
+}
+
+void MainWindow::on_studentButton_3_clicked()
+{
+ CustomButton msg_custom_button;
+ msg_custom_button.button_index = 3;
+ msg_custom_button.command_code = (ui->demoField_3->text()).toFloat();
+ this->studentCustomButtonPublisher.publish(msg_custom_button);
+ ROS_INFO("Student button 3 pressed in GUI");
}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
index 6cddf41e..2babdb4d 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1333</width>
- <height>721</height>
+ <width>1500</width>
+ <height>1000</height>
</rect>
</property>
<property name="sizePolicy">
@@ -369,7 +369,7 @@
</font>
</property>
<property name="currentIndex">
- <number>0</number>
+ <number>2</number>
</property>
<property name="usesScrollButtons">
<bool>true</bool>
@@ -1700,7 +1700,7 @@
<number>6</number>
</property>
<item>
- <widget class="QPushButton" name="customButton_1">
+ <widget class="QPushButton" name="demoButton_1">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -1713,12 +1713,12 @@
</font>
</property>
<property name="text">
- <string>Custom Command 1</string>
+ <string>Command 1</string>
</property>
</widget>
</item>
<item>
- <widget class="QPushButton" name="customButton_2">
+ <widget class="QPushButton" name="demoButton_2">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -1731,12 +1731,12 @@
</font>
</property>
<property name="text">
- <string>Custom Command 2</string>
+ <string>Command 2</string>
</property>
</widget>
</item>
<item>
- <widget class="QPushButton" name="customButton_3">
+ <widget class="QPushButton" name="demoButton_3">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -1749,12 +1749,12 @@
</font>
</property>
<property name="text">
- <string>Custom Command 3</string>
+ <string>Command 3</string>
</property>
</widget>
</item>
<item>
- <widget class="QLineEdit" name="custom_command_3">
+ <widget class="QLineEdit" name="demoField_3">
<property name="font">
<font>
<pointsize>14</pointsize>
@@ -1787,6 +1787,49 @@
<property name="bottomMargin">
<number>6</number>
</property>
+ <item row="15" column="1">
+ <widget class="QPushButton" name="studentButton_2">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>40</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Commnd 2</string>
+ </property>
+ </widget>
+ </item>
+ <item row="11" column="0">
+ <widget class="QLabel" name="label_25">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>yaw [deg] =</string>
+ </property>
+ </widget>
+ </item>
<item row="1" column="2">
<widget class="QLabel" name="label_27">
<property name="sizePolicy">
@@ -1818,7 +1861,7 @@
</property>
<property name="font">
<font>
- <pointsize>14</pointsize>
+ <pointsize>16</pointsize>
</font>
</property>
<property name="text">
@@ -1883,24 +1926,6 @@
</property>
</widget>
</item>
- <item row="11" column="0">
- <widget class="QLabel" name="label_25">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>yaw [deg] =</string>
- </property>
- </widget>
- </item>
<item row="9" column="0">
<widget class="QLabel" name="label_24">
<property name="sizePolicy">
@@ -2069,6 +2094,78 @@
</property>
</widget>
</item>
+ <item row="15" column="0">
+ <widget class="QPushButton" name="studentButton_1">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>40</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Command 1</string>
+ </property>
+ </widget>
+ </item>
+ <item row="15" column="2">
+ <widget class="QPushButton" name="studentButton_3">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>40</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Command 3</string>
+ </property>
+ </widget>
+ </item>
+ <item row="15" column="3">
+ <widget class="QLineEdit" name="studentField_3">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>40</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>50</height>
+ </size>
+ </property>
+ </widget>
+ </item>
</layout>
</item>
</layout>
@@ -3700,8 +3797,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1333</width>
- <height>25</height>
+ <width>1500</width>
+ <height>37</height>
</rect>
</property>
</widget>
diff --git a/pps_ws/src/d_fall_pps/include/nodes/StudentControllerService.h b/pps_ws/src/d_fall_pps/include/nodes/StudentControllerService.h
index 234d8ec4..9d393097 100644
--- a/pps_ws/src/d_fall_pps/include/nodes/StudentControllerService.h
+++ b/pps_ws/src/d_fall_pps/include/nodes/StudentControllerService.h
@@ -207,6 +207,9 @@ float computeMotorPolyBackward(float thrust);
// SETPOINT CHANGE CALLBACK
void setpointCallback(const Setpoint& newSetpoint);
+// CUSTOM COMMAND RECEIVED CALLBACK
+void customCommandReceivedCallback(const CustomButton& commandReceived);
+
// LOAD PARAMETERS
float getParameterFloat(ros::NodeHandle& nodeHandle, std::string name);
void getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length);
diff --git a/pps_ws/src/d_fall_pps/src/nodes/DemoControllerService.cpp b/pps_ws/src/d_fall_pps/src/nodes/DemoControllerService.cpp
index 824d6c99..a4ffa564 100644
--- a/pps_ws/src/d_fall_pps/src/nodes/DemoControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/nodes/DemoControllerService.cpp
@@ -1925,7 +1925,7 @@ int main(int argc, char* argv[]) {
// type variable that subscribes to the "StudentCustomButton" topic and calls the class
// function "customCommandReceivedCallback" each time a messaged is received on this topic
// and the message received is passed as an input argument to the callback function.
- ros::Subscriber customCommandReceivedSubscriber = PPSClient_nodeHandle.subscribe("StudentCustomButton", 1, customCommandReceivedCallback);
+ ros::Subscriber customCommandReceivedSubscriber = nodeHandle.subscribe("GUIButton", 1, customCommandReceivedCallback);
// Print out some information to the user.
ROS_INFO("[DEMO CONTROLLER] Service ready :-)");
diff --git a/pps_ws/src/d_fall_pps/src/nodes/StudentControllerService.cpp b/pps_ws/src/d_fall_pps/src/nodes/StudentControllerService.cpp
index fe53de2e..a9eec98a 100644
--- a/pps_ws/src/d_fall_pps/src/nodes/StudentControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/nodes/StudentControllerService.cpp
@@ -524,6 +524,75 @@ void setpointCallback(const Setpoint& newSetpoint)
+
+
+// ----------------------------------------------------------------------------------
+// CCCC U U SSSS TTTTT OOO M M
+// C U U S T O O MM MM
+// C U U SSS T O O M M M
+// C U U S T O O M M
+// CCCC UUU SSSS T OOO M M
+//
+// CCCC OOO M M M M A N N DDDD
+// C O O MM MM MM MM A A NN N D D
+// C O O M M M M M M A A N N N D D
+// C O O M M M M AAAAA N NN D D
+// CCCC OOO M M M M A A N N DDDD
+// ----------------------------------------------------------------------------------
+
+// CUSTOM COMMAND RECEIVED CALLBACK
+void customCommandReceivedCallback(const CustomButton& commandReceived)
+{
+ // Extract the data from the message
+ int custom_button_index = commandReceived.button_index;
+ float custom_command_code = commandReceived.command_code;
+
+ // Switch between the button pressed
+ switch(custom_button_index)
+ {
+
+ // > FOR CUSTOM BUTTON 1
+ case 1:
+ {
+ // Let the user know that this part of the code was triggered
+ ROS_INFO("[STUDENT CONTROLLER] Button 1 received in controller.");
+ // Code here to respond to custom button 1
+
+ break;
+ }
+
+ // > FOR CUSTOM BUTTON 2
+ case 2:
+ {
+ // Let the user know that this part of the code was triggered
+ ROS_INFO("[STUDENT CONTROLLER] Button 2 received in controller.");
+ // Code here to respond to custom button 2
+
+ break;
+ }
+
+ // > FOR CUSTOM BUTTON 3
+ case 3:
+ {
+ // Let the user know that this part of the code was triggered
+ ROS_INFO_STREAM("[STUDENT CONTROLLER] Button 3 received in controller, with command code:" << custom_command_code );
+ // Code here to respond to custom button 3
+
+ break;
+ }
+
+ default:
+ {
+ // Let the user know that the command was not recognised
+ ROS_INFO_STREAM("[DEMO CONTROLLER] A button clicked command was received in the controller but not recognised, message.button_index = " << custom_button_index << ", and message.command_code = " << custom_command_code );
+ break;
+ }
+ }
+}
+
+
+
+
// ----------------------------------------------------------------------------------
// L OOO A DDDD
// L O O A A D D
@@ -830,6 +899,12 @@ int main(int argc, char* argv[]) {
// of this service the "calculateControlOutput" function is called.
ros::ServiceServer service = nodeHandle.advertiseService("StudentController", calculateControlOutput);
+ // Instantiate the local variable "customCommandSubscriber" to be a "ros::Subscriber"
+ // type variable that subscribes to the "GUIButton" topic and calls the class
+ // function "customCommandReceivedCallback" each time a messaged is received on this topic
+ // and the message received is passed as an input argument to the callback function.
+ ros::Subscriber customCommandReceivedSubscriber = nodeHandle.subscribe("GUIButton", 1, customCommandReceivedCallback);
+
// Create a "ros::NodeHandle" type local variable "namespace_nodeHandle" that points
// to the name space of this node, i.e., "d_fall_pps" as specified by the line:
// "using namespace d_fall_pps;"
--
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