Small changes to active controller highlighting in the controller tabs part of...

Small changes to active controller highlighting in the controller tabs part of the Flying Agent GUI in an attempt to remove the bug that causes the GUI to crash.

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllertabs.h

@@ -138,10 +138,6 @@ private:
     bool m_should_search_pose_data_for_object_name = false;
     QMutex m_should_search_pose_data_for_object_name_mutex;
 
-    // The color for normal and highlighted tabs
-    QColor m_tab_text_colour_normal;
-    QColor m_tab_text_colour_highlight;
-
     // Mutex for the highlighting of the active controller
     QMutex m_change_highlighted_controller_mutex;
 

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp

@@ -44,10 +44,6 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
     ui->setupUi(this);
 
 
-    // Specify the color for normal and highlighted tabs
-    m_tab_text_colour_normal = Qt::black;
-    m_tab_text_colour_highlight = QColor(40,120,40);
-
     // Set all the frame to be the inactive colouring
     setAllFramesToControllerIsOffColouring();
 
@@ -440,6 +436,8 @@ void ControllerTabs::controllerUsedChangedCallback(const std_msgs::Int32& msg)
 
 void ControllerTabs::setControllerEnabled(int new_controller)
 {
+    // Define the tab text highlight colour locally
+    const static QColor tab_text_colour_highlight = QColor(40,120,40);
     // Define the on string and style sheet setting locally
     const static QString style_sheet_string_for_on  = "background-color:rgb(40,120,40);";
     const static QString text_for_controller_isOn = "A\nC\nT\nI\nV\nE";
@@ -457,7 +455,7 @@ void ControllerTabs::setControllerEnabled(int new_controller)
     {
        case DEFAULT_CONTROLLER:
        {
-           setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->default_tab );
+           setTextColourOfTabLabel( tab_text_colour_highlight , ui->default_tab );
            ui->frame_isCurrentController_default->setStyleSheet(style_sheet_string_for_on);
            ui->label_isCurrentController_default->setText(text_for_controller_isOn);
            break;
@@ -469,7 +467,7 @@ void ControllerTabs::setControllerEnabled(int new_controller)
         }
         case STUDENT_CONTROLLER:
         {
-            setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->student_tab );
+            setTextColourOfTabLabel( tab_text_colour_highlight , ui->student_tab );
             ui->frame_isCurrentController_student->setStyleSheet(style_sheet_string_for_on);
             ui->label_isCurrentController_student->setText(text_for_controller_isOn);
             break;
@@ -481,35 +479,35 @@ void ControllerTabs::setControllerEnabled(int new_controller)
         }
         case REMOTE_CONTROLLER:
         {
-            setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->remote_tab );
+            setTextColourOfTabLabel( tab_text_colour_highlight , ui->remote_tab );
             ui->frame_isCurrentController_remote->setStyleSheet(style_sheet_string_for_on);
             ui->label_isCurrentController_remote->setText(text_for_controller_isOn);
             break;
         }
         case TUNING_CONTROLLER:
         {
-            setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->tuning_tab );
+            setTextColourOfTabLabel( tab_text_colour_highlight , ui->tuning_tab );
             ui->frame_isCurrentController_tuning->setStyleSheet(style_sheet_string_for_on);
             ui->label_isCurrentController_tuning->setText(text_for_controller_isOn);
             break;
         }
         case PICKER_CONTROLLER:
         {
-            setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->picker_tab );
+            setTextColourOfTabLabel( tab_text_colour_highlight , ui->picker_tab );
             ui->frame_isCurrentController_picker->setStyleSheet(style_sheet_string_for_on);
             ui->label_isCurrentController_picker->setText(text_for_controller_isOn);
             break;
         }
         case TEMPLATE_CONTROLLER:
         {
-            setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->template_tab );
+            setTextColourOfTabLabel( tab_text_colour_highlight , ui->template_tab );
             ui->frame_isCurrentController_template->setStyleSheet(style_sheet_string_for_on);
             ui->label_isCurrentController_template->setText(text_for_controller_isOn);
             break;
         }
         case CSONE_CONTROLLER:
         {
-            setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->csone_tab );
+            setTextColourOfTabLabel( tab_text_colour_highlight , ui->csone_tab );
             ui->frame_isCurrentController_csone->setStyleSheet(style_sheet_string_for_on);
             ui->label_isCurrentController_csone->setText(text_for_controller_isOn);
             break;
@@ -540,17 +538,20 @@ void ControllerTabs::setTextColourOfTabLabel(QColor color , QWidget * tab_widget
 
 void ControllerTabs::setAllTabLabelsToNormalColouring()
 {
+    // Define the tab text normal colour locally
+    const static QColor tab_text_colour_normal = Qt::black;
+
     // Lock the mutex
     m_change_highlighted_controller_mutex.lock();
 
     // Set all the colours to normal
-    setTextColourOfTabLabel( m_tab_text_colour_normal , ui->default_tab );
-    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 );
-    setTextColourOfTabLabel( m_tab_text_colour_normal , ui->csone_tab );
+    setTextColourOfTabLabel( tab_text_colour_normal , ui->default_tab );
+    setTextColourOfTabLabel( tab_text_colour_normal , ui->student_tab );
+    setTextColourOfTabLabel( tab_text_colour_normal , ui->picker_tab );
+    setTextColourOfTabLabel( tab_text_colour_normal , ui->tuning_tab );
+    setTextColourOfTabLabel( tab_text_colour_normal , ui->remote_tab );
+    setTextColourOfTabLabel( tab_text_colour_normal , ui->template_tab );
+    setTextColourOfTabLabel( tab_text_colour_normal , ui->csone_tab );
 
     // Unlock the mutex
     m_change_highlighted_controller_mutex.unlock();
@@ -684,12 +685,16 @@ void ControllerTabs::setAgentIDsToCoordinate(QVector<int> agentIDs , bool should
 
         // SUBSCRIBERS
         // > For receiving message that the instant controller was changed
+        m_change_highlighted_controller_mutex.lock();
         controllerUsedSubscriber = agent_base_nodeHandle.subscribe("FlyingAgentClient/ControllerUsed", 1, &ControllerTabs::controllerUsedChangedCallback, this);
+        m_change_highlighted_controller_mutex.unlock();
     }
     else
     {
         // Unsubscribe
+        m_change_highlighted_controller_mutex.lock();
         controllerUsedSubscriber.shutdown();
+        m_change_highlighted_controller_mutex.unlock();
 
         // Set all tabs to be normal colours
         setAllTabLabelsToNormalColouring();