Added Test Motors item to menu

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui

@@ -215,6 +215,8 @@
     <addaction name="action_showHideController_picker"/>
     <addaction name="action_showHideController_tuning"/>
     <addaction name="action_showHideController_template"/>
+    <addaction name="separator"/>
+    <addaction name="action_testMotors"/>
    </widget>
    <addaction name="menuFile"/>
    <addaction name="menuLoad_YAML"/>
@@ -313,6 +315,11 @@
     <string>Template</string>
    </property>
   </action>
+  <action name="action_testMotors">
+   <property name="text">
+    <string>TestMotors</string>
+   </property>
+  </action>
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>

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

@@ -132,6 +132,8 @@
 #define CMD_CRAZYFLY_LAND            12
 #define CMD_CRAZYFLY_MOTORS_OFF      13
 
+#define CMD_USE_TESTMOTORS_CONTROLLER 21
+
 // Flying states
 #define STATE_MOTORS_OFF     1
 #define STATE_TAKE_OFF       2
@@ -208,4 +210,4 @@
 //    ----------------------------------------------------------------------------------
 
 // For standard buttons in the GUI
-#define REQUEST_DEFAULT_SETPOINT_BUTTON_ID    100
\ No newline at end of file
+#define REQUEST_DEFAULT_SETPOINT_BUTTON_ID    100

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

@@ -94,6 +94,8 @@ public:
     void showHideController_tuning_changed();
     void showHideController_template_changed();
 
+    void testMotors_changed();
+
 
 public slots:
     void setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll);

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

@@ -133,6 +133,8 @@ private slots:
     void on_action_showHideController_tuning_changed();
     void on_action_showHideController_template_changed();
 
+    void on_action_testMotors_changed();
+
 };
 
 #endif // MAINWINDOW_H

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

@@ -116,6 +116,20 @@ void EnableControllerLoadYamlBar::showHideController_template_changed()
 
 
 
+// TEST MOTORS
+
+void EnableControllerLoadYamlBar::testMotors_changed()
+{
+#ifdef CATKIN_MAKE
+    dfall_pkg::IntWithHeader msg;
+    fillIntMessageHeader(msg);
+    msg.data = CMD_USE_TESTMOTORS_CONTROLLER;
+    this->commandPublisher.publish(msg);
+    ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Test Motors Controller");
+#endif
+}
+
+
 
 
 // ENABLE CONTROLLER BUTTONS ON-CLICK CALLBACK

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

@@ -253,6 +253,16 @@ void MainWindow::on_action_showHideController_template_changed()
 }
 
 
+void MainWindow::on_action_testMotors_changed()
+{
+#ifdef CATKIN_MAKE
+    // Inform the user that the menu item was selected
+    ROS_INFO("[FLYING AGENT GUI MAIN WINDOW] Test Motors Menu Item clicked in Main Window.");
+#endif
+    // Notify the UI elements of this change
+    ui->customWidget_enableControllerLoadYamlBar->testMotors_changed();
+}
+
 
 //    ----------------------------------------------------------------------------------
 //    III  DDDD       &&&      TTTTT  Y   Y  PPPP   EEEEE

dfall_ws/src/dfall_pkg/include/nodes/Constants.h

@@ -145,6 +145,8 @@
 #define CMD_CRAZYFLY_LAND            12
 #define CMD_CRAZYFLY_MOTORS_OFF      13
 
+#define CMD_USE_TESTMOTORS_CONTROLLER 21
+
 // Flying states
 #define STATE_MOTORS_OFF     1
 #define STATE_TAKE_OFF       2