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 66283756c62f5b29bf47a2db6781be1ad2ba5b10..41f59b8d7340b9cf725926065174542f9659835b 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
@@ -169,22 +169,28 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
disableGUI();
highlightSafeControllerTab();
- //ui->label_battery->setStyleSheet("QLabel { color : red; }");
+ //ui->battery_status_label->setStyleSheet("QLabel { color : red; }");
m_battery_state = BATTERY_STATE_NORMAL;
// SET THE BATTERY VOLTAGE FIELD TO BE BLANK
QString qstr = "-.-- V";
ui->voltage_field->setText(qstr);
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_empty_pixmap(":/images/battery_empty.png");
- ui->label_battery->setPixmap(battery_empty_pixmap);
- ui->label_battery->setScaledContents(true);
+ QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
+ ui->battery_status_label->setPixmap(battery_unknown_pixmap);
+ ui->battery_status_label->setScaledContents(true);
// SET THE IMAGE FOR THE CRAZY RADIO STATUS LABEL
QPixmap rf_disconnected_pixmap(":/images/rf_disconnected.png");
ui->rf_status_label->setPixmap(rf_disconnected_pixmap);
ui->rf_status_label->setScaledContents(true);
+ // SET THE IMAGE FOR THE FLYING STATE LABEL
+ QPixmap flying_state_off_pixmap(":/images/flying_state_off.png");
+ ui->flying_state_label->setPixmap(flying_state_off_pixmap);
+ ui->flying_state_label->setScaledContents(true);
+
+
ui->error_label->setStyleSheet("QLabel { color : red; }");
ui->error_label->clear();
@@ -357,25 +363,59 @@ void MainWindow::flyingStateChangedCallback(const std_msgs::Int32& msg)
m_flying_state = msg.data;
// UPDATE THE LABEL TO DISPLAY THE FLYING STATE
- QString qstr = "Flying State: ";
+ //QString qstr = "Flying State: ";
switch(msg.data)
{
case STATE_MOTORS_OFF:
- qstr.append("Motors OFF");
+ {
+ //qstr.append("Motors OFF");
+ // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ QPixmap flying_state_off_pixmap(":/images/flying_state_off.png");
+ ui->flying_state_label->setPixmap(flying_state_off_pixmap);
+ ui->flying_state_label->setScaledContents(true);
break;
+ }
+
case STATE_TAKE_OFF:
- qstr.append("Take OFF");
+ {
+ //qstr.append("Take OFF");
+ // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ QPixmap flying_state_enabling_pixmap(":/images/flying_state_enabling.png");
+ ui->flying_state_label->setPixmap(flying_state_enabling_pixmap);
+ ui->flying_state_label->setScaledContents(true);
break;
+ }
+
case STATE_FLYING:
- qstr.append("Flying");
+ {
+ //qstr.append("Flying");
+ // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ QPixmap flying_state_flying_pixmap(":/images/flying_state_flying.png");
+ ui->flying_state_label->setPixmap(flying_state_flying_pixmap);
+ ui->flying_state_label->setScaledContents(true);
break;
+ }
+
case STATE_LAND:
- qstr.append("Land");
+ {
+ //qstr.append("Land");
+ // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ QPixmap flying_state_disabling_pixmap(":/images/flying_state_disabling.png");
+ ui->flying_state_label->setPixmap(flying_state_disabling_pixmap);
+ ui->flying_state_label->setScaledContents(true);
break;
+ }
+
default:
+ {
+ // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ QPixmap flying_state_unknown_pixmap(":/images/flying_state_unknown.png");
+ ui->flying_state_label->setPixmap(flying_state_unknown_pixmap);
+ ui->flying_state_label->setScaledContents(true);
break;
+ }
}
- ui->flying_state_label->setText(qstr);
+ //ui->flying_state_label->setText(qstr);
}
void MainWindow::batteryStateChangedCallback(const std_msgs::Int32& msg)
@@ -392,12 +432,12 @@ void MainWindow::batteryStateChangedCallback(const std_msgs::Int32& msg)
// ui->groupBox_4->setEnabled(false);
//qstr.append("Low Battery!");
- //ui->label_battery->setText(qstr);
+ //ui->battery_status_label->setText(qstr);
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
QPixmap battery_empty_pixmap(":/images/battery_empty.png");
- ui->label_battery->setPixmap(battery_empty_pixmap);
- ui->label_battery->setScaledContents(true);
+ ui->battery_status_label->setPixmap(battery_empty_pixmap);
+ ui->battery_status_label->setScaledContents(true);
// SET THE CLASS VARIABLE FOR TRACKING THE BATTERY STATE
m_battery_state = BATTERY_STATE_LOW;
@@ -411,7 +451,7 @@ void MainWindow::batteryStateChangedCallback(const std_msgs::Int32& msg)
ui->land_button->setEnabled(true);
// CLEAR THE BATTERY LABEL
- //ui->label_battery->clear();
+ //ui->battery_status_label->clear();
// SET THE CLASS VARIABLE FOR TRACKING THE BATTERY STATE
m_battery_state = BATTERY_STATE_NORMAL;
@@ -450,9 +490,9 @@ void MainWindow::setCrazyRadioStatus(int radio_status)
QString qstr = "-.-- V";
ui->voltage_field->setText(qstr);
// SET THE APPROPRIATE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_empty_pixmap(":/images/battery_empty.png");
- ui->label_battery->setPixmap(battery_empty_pixmap);
- ui->label_battery->setScaledContents(true);
+ //QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
+ //ui->battery_status_label->setPixmap(battery_unknown_pixmap);
+ //ui->battery_status_label->setScaledContents(true);
break;
}
@@ -466,9 +506,9 @@ void MainWindow::setCrazyRadioStatus(int radio_status)
QString qstr = "-.-- V";
ui->voltage_field->setText(qstr);
// SET THE APPROPRIATE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_empty_pixmap(":/images/battery_empty.png");
- ui->label_battery->setPixmap(battery_empty_pixmap);
- ui->label_battery->setScaledContents(true);
+ QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
+ ui->battery_status_label->setPixmap(battery_unknown_pixmap);
+ ui->battery_status_label->setScaledContents(true);
// DISABLE THE REMAINDER OF THE GUI
disableGUI();
break;
@@ -508,16 +548,18 @@ float MainWindow::fromVoltageToPercent(float voltage)
// COMPUTE THE PERCENTAGE DIFFERENTLY DEPENDING ON
// THE CURRENT FLYING STATE
- if (m_flying_state == STATE_MOTORS_OFF)
- {
- voltage_when_empty = battery_voltage_empty_while_motors_off;
- voltage_when_full = battery_voltage_full_while_motors_off;
- }
- else
- {
- voltage_when_empty = battery_voltage_empty_while_flying;
- voltage_when_full = battery_voltage_full_while_flying;
- }
+ // if (m_flying_state == STATE_MOTORS_OFF)
+ // {
+ // voltage_when_empty = battery_voltage_empty_while_motors_off;
+ // voltage_when_full = battery_voltage_full_while_motors_off;
+ // }
+ // else
+ // {
+ // voltage_when_empty = battery_voltage_empty_while_flying;
+ // voltage_when_full = battery_voltage_full_while_flying;
+ // }
+ voltage_when_empty = battery_voltage_empty_while_motors_off;
+ voltage_when_full = battery_voltage_full_while_motors_off;
// COMPUTE THE PERCENTAGE
float percentage = 100 * (voltage-voltage_when_empty)/(voltage_when_full-voltage_when_empty);
@@ -525,10 +567,14 @@ float MainWindow::fromVoltageToPercent(float voltage)
// CLIP THE PERCENTAGE TO BE BETWEEN [0,100]
// > This should not happen to often
- if(percentage > 100)
- percentage = 100;
- if(percentage < 0)
- percentage = 0;
+ if(percentage > 100.0)
+ {
+ percentage = 100.0;
+ }
+ if(percentage < 0.0)
+ {
+ percentage = 0.0;
+ }
return percentage;
}
@@ -555,8 +601,8 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
QPixmap battery_empty_pixmap(":/images/battery_empty.png");
- ui->label_battery->setPixmap(battery_empty_pixmap);
- ui->label_battery->setScaledContents(true);
+ ui->battery_status_label->setPixmap(battery_empty_pixmap);
+ ui->battery_status_label->setScaledContents(true);
break;
}
@@ -567,49 +613,55 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
QPixmap battery_empty_pixmap(":/images/battery_empty.png");
- ui->label_battery->setPixmap(battery_empty_pixmap);
- ui->label_battery->setScaledContents(true);
+ ui->battery_status_label->setPixmap(battery_empty_pixmap);
+ ui->battery_status_label->setScaledContents(true);
}
else if (battery_voltage_percentage <= 20)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
QPixmap battery_20_pixmap(":/images/battery_20.png");
- ui->label_battery->setPixmap(battery_20_pixmap);
- ui->label_battery->setScaledContents(true);
+ ui->battery_status_label->setPixmap(battery_20_pixmap);
+ ui->battery_status_label->setScaledContents(true);
}
else if (battery_voltage_percentage <= 40)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
QPixmap battery_40_pixmap(":/images/battery_40.png");
- ui->label_battery->setPixmap(battery_40_pixmap);
- ui->label_battery->setScaledContents(true);
+ ui->battery_status_label->setPixmap(battery_40_pixmap);
+ ui->battery_status_label->setScaledContents(true);
}
else if (battery_voltage_percentage <= 60)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
QPixmap battery_60_pixmap(":/images/battery_60.png");
- ui->label_battery->setPixmap(battery_60_pixmap);
- ui->label_battery->setScaledContents(true);
+ ui->battery_status_label->setPixmap(battery_60_pixmap);
+ ui->battery_status_label->setScaledContents(true);
}
else if (battery_voltage_percentage <= 80)
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
QPixmap battery_80_pixmap(":/images/battery_80.png");
- ui->label_battery->setPixmap(battery_80_pixmap);
- ui->label_battery->setScaledContents(true);
+ ui->battery_status_label->setPixmap(battery_80_pixmap);
+ ui->battery_status_label->setScaledContents(true);
}
else
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
QPixmap battery_full_pixmap(":/images/battery_full.png");
- ui->label_battery->setPixmap(battery_full_pixmap);
- ui->label_battery->setScaledContents(true);
+ ui->battery_status_label->setPixmap(battery_full_pixmap);
+ ui->battery_status_label->setScaledContents(true);
}
break;
}
default:
+ {
+ // SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
+ ui->battery_status_label->setPixmap(battery_unknown_pixmap);
+ ui->battery_status_label->setScaledContents(true);
break;
+ }
}