From 50a9eff3b14cbc4a9a42495fd724f846e642663f Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Sun, 3 Feb 2019 11:51:38 +0100
Subject: [PATCH] Fixed a few connections so that the picker GUI works with
ROS. Still need to integrate with the PickerControllerService
---
.../flyingAgentGUI/forms/controllertabs.ui | 2 +-
.../forms/enablecontrollerloadyamlbar.ui | 8 ++--
.../forms/pickercontrollertab.ui | 40 +++++++++----------
.../include/enablecontrollerloadyamlbar.h | 16 ++++----
.../flyingAgentGUI/src/controllertabs.cpp | 21 ++++++++++
.../src/enablecontrollerloadyamlbar.cpp | 16 ++++----
6 files changed, 62 insertions(+), 41 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
index b4718911..928aa115 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
@@ -59,7 +59,7 @@
</attribute>
<layout class="QGridLayout" name="gridLayout_5">
<item row="0" column="0">
- <widget class="PickerControllerTab" name="widget_4" native="true"/>
+ <widget class="PickerControllerTab" name="picker_controller_tab_widget" native="true"/>
</item>
</layout>
</widget>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
index 0537109e..4201e18d 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
@@ -267,7 +267,7 @@
</widget>
</item>
<item row="0" column="3">
- <widget class="QPushButton" name="enable_demo_button">
+ <widget class="QPushButton" name="enable_picker_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -293,12 +293,12 @@
</font>
</property>
<property name="text">
- <string>Demo</string>
+ <string>Picker</string>
</property>
</widget>
</item>
<item row="1" column="3">
- <widget class="QPushButton" name="load_yaml_demo_button">
+ <widget class="QPushButton" name="load_yaml_picker_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -318,7 +318,7 @@
</size>
</property>
<property name="text">
- <string>Demo</string>
+ <string>Picker</string>
</property>
</widget>
</item>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/pickercontrollertab.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/pickercontrollertab.ui
index ad7dea1b..232408bd 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/pickercontrollertab.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/pickercontrollertab.ui
@@ -120,12 +120,12 @@
<widget class="QCheckBox" name="checkbox_goto_end">
<property name="maximumSize">
<size>
- <width>40</width>
+ <width>30</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
</property>
<property name="text">
<string/>
@@ -1027,12 +1027,12 @@
<widget class="QCheckBox" name="checkbox_attach">
<property name="maximumSize">
<size>
- <width>40</width>
+ <width>30</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
</property>
<property name="text">
<string/>
@@ -1832,12 +1832,12 @@
<widget class="QCheckBox" name="checkbox_goto_start">
<property name="maximumSize">
<size>
- <width>40</width>
+ <width>30</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
</property>
<property name="text">
<string/>
@@ -1852,12 +1852,12 @@
<widget class="QCheckBox" name="checkbox_jump">
<property name="maximumSize">
<size>
- <width>40</width>
+ <width>30</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
</property>
<property name="text">
<string/>
@@ -1879,12 +1879,12 @@
<widget class="QCheckBox" name="checkbox_put_down">
<property name="maximumSize">
<size>
- <width>40</width>
+ <width>30</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
</property>
<property name="text">
<string/>
@@ -1899,12 +1899,12 @@
<widget class="QCheckBox" name="checkbox_lift_up">
<property name="maximumSize">
<size>
- <width>40</width>
+ <width>30</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
</property>
<property name="text">
<string/>
@@ -1922,12 +1922,12 @@
</property>
<property name="maximumSize">
<size>
- <width>40</width>
+ <width>30</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
</property>
<property name="text">
<string/>
@@ -1948,12 +1948,12 @@
<widget class="QCheckBox" name="checkbox_squat">
<property name="maximumSize">
<size>
- <width>40</width>
+ <width>30</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
</property>
<property name="text">
<string/>
@@ -2254,12 +2254,12 @@
</property>
<property name="maximumSize">
<size>
- <width>40</width>
+ <width>30</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
</property>
<property name="text">
<string/>
@@ -2702,12 +2702,12 @@
<widget class="QCheckBox" name="checkbox_should_publish_value_changed">
<property name="maximumSize">
<size>
- <width>40</width>
+ <width>30</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
</property>
<property name="text">
<string/>
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 a5776823..53139bfe 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
@@ -40,12 +40,12 @@
// operation state of this agent. These "commands"
// are sent from this GUI node to the "PPSClient"
// node where the command is enacted
-#define CMD_USE_SAFE_CONTROLLER 1
-#define CMD_USE_DEMO_CONTROLLER 2
-#define CMD_USE_STUDENT_CONTROLLER 3
-#define CMD_USE_MPC_CONTROLLER 4
-#define CMD_USE_REMOTE_CONTROLLER 5
-#define CMD_USE_TUNING_CONTROLLER 6
+// #define CMD_USE_SAFE_CONTROLLER 1
+// #define CMD_USE_DEMO_CONTROLLER 2
+// #define CMD_USE_STUDENT_CONTROLLER 3
+// #define CMD_USE_MPC_CONTROLLER 4
+// #define CMD_USE_REMOTE_CONTROLLER 5
+// #define CMD_USE_TUNING_CONTROLLER 6
namespace Ui {
@@ -75,13 +75,13 @@ private slots:
// ENABLE CONTROLLER BUTTONS ON-CLICK CALLBACK
void on_enable_safe_button_clicked();
- void on_enable_demo_button_clicked();
+ void on_enable_picker_button_clicked();
void on_enable_student_button_clicked();
void on_enable_default_button_clicked();
// LOAD YAML BUTTONS ON-CLICK CALLBACK
void on_load_yaml_safe_button_clicked();
- void on_load_yaml_demo_button_clicked();
+ void on_load_yaml_picker_button_clicked();
void on_load_yaml_student_button_clicked();
void on_load_yaml_default_button_clicked();
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
index 88a4973c..7f58a1c9 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
@@ -31,6 +31,12 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
ui->student_controller_tab_widget , &StudentControllerTab::setMeasuredPose
);
+ QObject::connect(
+ this , &ControllerTabs::measuredPoseValueChanged ,
+ ui->picker_controller_tab_widget , &PickerControllerTab::setMeasuredPose
+ );
+
+
// CONNECT THE "MEASUREMENTS UNAVAILABLE" SIGNAL TO
// EACH OF THE TABS
@@ -44,6 +50,11 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
ui->student_controller_tab_widget , &StudentControllerTab::poseDataUnavailableSlot
);
+ QObject::connect(
+ this , &ControllerTabs::poseDataUnavailableSignal ,
+ ui->picker_controller_tab_widget , &PickerControllerTab::poseDataUnavailableSlot
+ );
+
// CONNECT TO THE COORDINATOR SIGNAL TO BE ALWAYS UPDATED
// WITH THE LIST OF AGENT IDs TO COORDINATE
@@ -60,6 +71,11 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
ui->student_controller_tab_widget , &StudentControllerTab::setAgentIDsToCoordinate
);
+ QObject::connect(
+ this , &ControllerTabs::agentIDsToCoordinateChanged ,
+ ui->picker_controller_tab_widget , &PickerControllerTab::setAgentIDsToCoordinate
+ );
+
@@ -289,6 +305,11 @@ void ControllerTabs::setControllerEnabled(int new_controller)
//ui->controller_enabled_label->setText("Tuning");
break;
}
+ case PICKER_CONTROLLER:
+ {
+ setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->picker_tab );
+ break;
+ }
default:
{
//ui->controller_enabled_label->setText("Unknown");
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 5458bcce..ca509b8f 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
@@ -61,8 +61,8 @@ void EnableControllerLoadYamlBar::showHideController_student_changed()
void EnableControllerLoadYamlBar::showHideController_picker_changed()
{
- ui->enable_demo_button ->setHidden( !(ui->enable_demo_button->isHidden()) );
- ui->load_yaml_demo_button->setHidden( !(ui->load_yaml_demo_button->isHidden()) );
+ ui->enable_picker_button ->setHidden( !(ui->enable_picker_button->isHidden()) );
+ ui->load_yaml_picker_button->setHidden( !(ui->load_yaml_picker_button->isHidden()) );
}
void EnableControllerLoadYamlBar::showHideController_safe_changed()
@@ -89,14 +89,14 @@ void EnableControllerLoadYamlBar::on_enable_safe_button_clicked()
#endif
}
-void EnableControllerLoadYamlBar::on_enable_demo_button_clicked()
+void EnableControllerLoadYamlBar::on_enable_picker_button_clicked()
{
#ifdef CATKIN_MAKE
d_fall_pps::IntWithHeader msg;
fillIntMessageHeader(msg);
- msg.data = CMD_USE_DEMO_CONTROLLER;
+ msg.data = CMD_USE_PICKER_CONTROLLER;
this->commandPublisher.publish(msg);
- ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Demo Controller");
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Picker Controller");
#endif
}
@@ -132,7 +132,7 @@ void EnableControllerLoadYamlBar::on_load_yaml_safe_button_clicked()
#endif
}
-void EnableControllerLoadYamlBar::on_load_yaml_demo_button_clicked()
+void EnableControllerLoadYamlBar::on_load_yaml_picker_button_clicked()
{
#ifdef CATKIN_MAKE
// Create a local variable for the message
@@ -140,11 +140,11 @@ void EnableControllerLoadYamlBar::on_load_yaml_demo_button_clicked()
// Set for whom this applies to
fillStringMessageHeader(yaml_filename_msg);
// Specify the data
- yaml_filename_msg.data = "DemoController";
+ yaml_filename_msg.data = "PickerController";
// Send the message
m_requestLoadYamlFilenamePublisher.publish(yaml_filename_msg);
// Inform the user that the menu item was selected
- ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Demo Controller YAML was clicked.");
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Picker Controller YAML was clicked.");
#endif
}
--
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