restructuration in LINKER. Need to see if everything goes OK. Need to unlink,...

restructuration in LINKER. Need to see if everything goes OK. Need to unlink, need to remove options, etc..

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h

@@ -12,12 +12,12 @@
 class CFLinker
 {
 public:
-    explicit CFLinker(Ui::MainGUIWindow* ui);
+    explicit CFLinker(Ui::MainGUIWindow* ui, std::vector<crazyFly*> *crazyflies_vector, std::vector<crazyFlyZone*> *crazyfly_zones);
     ~CFLinker();
 
-    void link(int student_id, crazyFly* crazyfly, crazyFlyZone* crazyfly_zone);
+    void link();
 
-    void unlink(crazyFly* crazyfly,  crazyFlyZone* crazyfly_zone);
+    void unlink();
 
 private:
 
@@ -31,6 +31,12 @@ private:
     // QTableWidget m_p_table;
 
     Ui::MainGUIWindow* m_ui;
+    std::vector<crazyFly*>* m_crazyflies_vector;
+    std::vector<crazyFlyZone*>* m_crazyfly_zones;
+
+    int getCFZoneIndexFromName(QString name);
+    int getCFIndexFromName(std::string name);
+    void addNewRow(int student_id, std::string crazyfly_name, int cf_zone_index);
 };
 
 

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp

 #include "CFLinker.h"
 
+#include <QHeaderView>
 
-CFLinker::CFLinker(Ui::MainGUIWindow* ui)
+CFLinker::CFLinker(Ui::MainGUIWindow* ui, std::vector<crazyFly*> *crazyflies_vector, std::vector<crazyFlyZone*> *crazyfly_zones)
 {
     m_ui = ui;
+    m_crazyflies_vector = crazyflies_vector;
+    m_crazyfly_zones = crazyfly_zones;
 }
 
 CFLinker::~CFLinker()
 {
 }
 
-void CFLinker::link(int student_id, crazyFly* crazyfly, crazyFlyZone* crazyfly_zone)
+int CFLinker::getCFZoneIndexFromName(QString name)
 {
-    struct link tmp_link;
-
-    tmp_link.cf_zone_index = crazyfly_zone->getIndex();
-    tmp_link.cf_name = crazyfly->getName();
+    return name.split(" ")[1].toInt() - 1;
+}
 
-    crazyfly_zone->linkCF(tmp_link.cf_name);
-    crazyfly->assignCFZone(tmp_link.cf_zone_index);
+int CFLinker::getCFIndexFromName(std::string name)
+{
+    for(int i = 0; (*m_crazyflies_vector).size(); i++)
+    {
+        if(name == (*m_crazyflies_vector)[i]->getName())
+        {
+            return i;
+        }
+    }
+}
 
-    ROS_INFO("tmp_link.cf_name = %s", tmp_link.cf_name.c_str());
-    int row_count = m_ui->table_links->rowCount();
-    ROS_INFO("row_count %d", row_count);
-    m_ui->table_links->insertRow(row_count);
+void CFLinker::addNewRow(int student_id, std::string crazyfly_name, int cf_zone_index)
+{
+    m_ui->table_links->insertRow(m_ui->table_links->rowCount());
     QString str_id = QString::number(student_id);
     m_ui->table_links->setItem(m_ui->table_links->rowCount() - 1, 0, new QTableWidgetItem(str_id));
-    QString str_cf_name = QString::fromStdString(crazyfly->getName());
+    QString str_cf_name = QString::fromStdString(crazyfly_name);
     m_ui->table_links->setItem(m_ui->table_links->rowCount() - 1, 1, new QTableWidgetItem(str_cf_name));
-    QString str_cf_zone_index = QString("CrazyFlyZone ").append(QString::number(crazyfly_zone->getIndex() + 1));
+    QString str_cf_zone_index = QString("CrazyFlyZone ").append(QString::number(cf_zone_index + 1));
     m_ui->table_links->setItem(m_ui->table_links->rowCount() - 1, 2, new QTableWidgetItem(str_cf_zone_index));
+}
+
+void CFLinker::link()
+{
+    m_ui->table_links->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
+    struct link tmp_link;
+
+    tmp_link.cf_zone_index = getCFZoneIndexFromName(m_ui->comboBoxCFZones->currentText());
+    tmp_link.cf_name = m_ui->comboBoxCFs->currentText().toStdString();
+
+    ROS_INFO("tmp_link.cf_zone_index %d", tmp_link.cf_zone_index);
+    ROS_INFO("tmp_link.cf_name %s", tmp_link.cf_name.c_str());
+
+    (*m_crazyfly_zones)[tmp_link.cf_zone_index]->linkCF(tmp_link.cf_name);
+    (*m_crazyflies_vector)[getCFIndexFromName(tmp_link.cf_name)]->assignCFZone(tmp_link.cf_zone_index);
+
+    addNewRow(m_ui->spinBox_student_ids->value(), tmp_link.cf_name, tmp_link.cf_zone_index);
 
     links.push_back(tmp_link);
+    // TODO: remove options linked from available ones
 }
 
-void CFLinker::unlink(crazyFly* crazyfly, crazyFlyZone* crazyfly_zone)
+void CFLinker::unlink()
 {
-    bool found = false;
-    int index_found;
-    for(int i = 0; i < links.size(); i++)
-    {
-        if(links[i].cf_zone_index == crazyfly_zone->getIndex())
-        {
-            if(crazyfly->getName() == links[i].cf_name)
-            {
-                found = true;
-                index_found = i;
-            }
-        }
-    }
+    // bool found = false;
+    // int index_found;
+    // for(int i = 0; i < links.size(); i++)
+    // {
+    //     if(links[i].cf_zone_index == crazyfly_zone->getIndex())
+    //     {
+    //         if(crazyfly->getName() == links[i].cf_name)
+    //         {
+    //             found = true;
+    //             index_found = i;
+    //         }
+    //     }
+    // }
 
-    if(found)
-    {
-        crazyfly_zone->removeLink();
-        crazyfly->removeAssigned();
-        links.erase(links.begin() + index_found);
-    }
+    // if(found)
+    // {
+    //     crazyfly_zone->removeLink();
+    //     crazyfly->removeAssigned();
+    //     links.erase(links.begin() + index_found);
+    // }
 }

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp

@@ -30,7 +30,6 @@ MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
 {
     #ifdef CATKIN_MAKE
     _rosNodeThread = new rosNodeThread(argc, argv, "/ViconDataPublisher/ViconData");
-    cf_linker = new CFLinker(ui);
     #endif
     ui->setupUi(this);
     _init();
@@ -101,6 +100,7 @@ void MainGUIWindow::_init()
     ui->table_links->horizontalHeader()->setFont(fnt);
 
     ui->table_links->horizontalHeader()->setDefaultSectionSize(90);
+    // ui->table_links->verticalHeader()->setDefaultSectionSize(20);
     ui->table_links->verticalHeader()->setDefaultSectionSize(20);
 
     const int rowCount = ui->table_links->rowCount();
@@ -120,6 +120,9 @@ void MainGUIWindow::_init()
 
     ui->graphicsView->setScene(scene);
 
+    // after scene is created, create CFlinker
+    cf_linker = new CFLinker(ui, &crazyflies_vector, &scene->crazyfly_zones);
+
     // connections
     QObject::connect(ui->tabWidget, SIGNAL(tabCloseRequested(int)), scene, SLOT(removeCrazyFlyZone(int)));
     QObject::connect(scene, SIGNAL(numCrazyFlyZonesChanged(int)), this, SLOT(doNumCrazyFlyZonesChanged(int)));
@@ -496,6 +499,7 @@ void MainGUIWindow::on_refresh_cfs_button_clicked()
 {
     #ifdef CATKIN_MAKE
     ui->comboBoxCFs->clear();
+    // TODO: grey out the ones that are already linked
     for(int i = 0; i < crazyflies_vector.size(); i++)
     {
         QString qstr = QString::fromStdString(crazyflies_vector[i]->getName());
@@ -545,21 +549,6 @@ void MainGUIWindow::on_refresh_student_ids_button_clicked()
 void MainGUIWindow::on_link_button_clicked()
 {
     #ifdef CATKIN_MAKE
-    QString cfzone_str = ui->comboBoxCFZones->currentText();
-    crazyFly* p_tmp_cf;
-
-    for(int i = 0; i < crazyflies_vector.size(); i++)
-    {
-        if(ui->comboBoxCFs->currentText().toStdString() == crazyflies_vector[i]->getName())
-        {
-            ROS_INFO("crazyfly to link found!--------------------------");
-            p_tmp_cf = crazyflies_vector[i];
-        }
-    }
-
-    int cf_zone_index = cfzone_str.split(" ")[1].toInt() - 1;
-    crazyFlyZone* p_tmp_cf_zone = scene->crazyfly_zones[cf_zone_index];
-    ROS_INFO("cf_zone_index: %d", cf_zone_index);
-    cf_linker->link(ui->spinBox_student_ids->value(), p_tmp_cf, p_tmp_cf_zone);
+    cf_linker->link();
     #endif
 }