diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
index 9c2c9673055686c487e3fbde624f9817333c4925..327a8cc94bc5b14363b8aec0a25f64497c0a9ac4 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
@@ -25,7 +25,7 @@ public:
explicit CFLinker(Ui::MainGUIWindow* ui, std::vector<crazyFly*> *crazyflies_vector, std::vector<crazyFlyZone*> *crazyfly_zones);
~CFLinker();
- void link();
+ void link(int student_id, int cf_zone_index, std::string cf_name);
void unlink_selection();
void unlink_cf_zone(int cf_zone_index);
@@ -37,6 +37,8 @@ public:
int getCFZoneIndexFromName(QString name);
int getCFIndexFromName(std::string name);
+ void clear_all_links();
+
signals:
void updateComboBoxes();
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
index c7a1beba556331002a6ee22991f6c3758b351b0b..cd1adc1f30c14c817b6d0baa4bc12c520c3def35 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
@@ -13,6 +13,11 @@
#include "marker.h"
#include "crazyFly.h"
#include "CFLinker.h"
+
+#include "d_fall_pps/CrazyflieDB.h"
+
+
+using namespace d_fall_pps;
#endif
@@ -99,6 +104,10 @@ private slots:
void on_checkBox_vicon_highlight_markers_toggled(bool checked);
+ void on_save_in_DB_button_clicked();
+
+ void on_load_from_DB_button_clicked();
+
#ifdef CATKIN_MAKE
void updateNewViconData(const ptrToMessage& p_msg);
#endif
@@ -138,6 +147,7 @@ private:
int getTabIndexFromName(QString name);
+ CrazyflieDB m_data_base;
};
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h
index c40195aeae94e7b4ef229e218ff2acd96f51191f..ec6cffd8d3bbe67f307cd3397223108a61047bf0 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/rosNodeThread.h
@@ -33,6 +33,8 @@ public:
// void messageCallback(const ViconData& data);
void messageCallback(const ptrToMessage& p_msg);
+ ros::ServiceClient m_read_db_client;
+
signals:
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp
index 5c80c475c5a7c3ffa6bae57493d29020cc83cf20..f1f3eb119486dc5f86d3cd513493ec4b0100f6dc 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp
@@ -91,20 +91,20 @@ void CFLinker::addNewRow(int student_id, std::string crazyfly_name, int cf_zone_
m_ui->table_links->setItem(m_ui->table_links->rowCount() - 1, 2, item_cf_zone);
}
-void CFLinker::link()
+void CFLinker::link(int student_id, int cf_zone_index, std::string cf_name)
{
m_ui->table_links->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
struct link tmp_link;
- tmp_link.student_id = m_ui->spinBox_student_ids->value();
- tmp_link.cf_zone_index = getCFZoneIndexFromName(m_ui->comboBoxCFZones->currentText());
- tmp_link.cf_name = m_ui->comboBoxCFs->currentText().toStdString();
+ tmp_link.student_id = student_id;
+ tmp_link.cf_zone_index = cf_zone_index;
+ tmp_link.cf_name = cf_name;
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);
+ // (*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);
@@ -123,6 +123,13 @@ void CFLinker::link()
// ui->comboBox->setItemData(index, 33, Qt::UserRole - 1);
}
+void CFLinker::clear_all_links()
+{
+ links.clear();
+ m_ui->table_links->setRowCount(0);
+ emit updateComboBoxes();
+}
+
void CFLinker::unlink_cf_zone(int cf_zone_index)
{
for(int i = 0; i < links.size(); i++)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
index 0c00c48ed80131be980ac2f66e9dc4d6ca5c3ec9..1073d852812f331cbc6a54632580c0a9287de6c1 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
@@ -14,6 +14,7 @@
#ifdef CATKIN_MAKE
#include "d_fall_pps/UnlabeledMarker.h"
+#include "d_fall_pps/CMRead.h"
#endif
#include <string>
@@ -678,7 +679,7 @@ void MainGUIWindow::on_link_button_clicked()
if(!error)
{
- cf_linker->link();
+ cf_linker->link(ui->spinBox_student_ids->value(), cf_linker->getCFZoneIndexFromName(ui->comboBoxCFZones->currentText()), ui->comboBoxCFs->currentText().toStdString());
}
#endif
}
@@ -689,3 +690,34 @@ void MainGUIWindow::on_unlink_button_clicked()
cf_linker->unlink_selection();
#endif
}
+
+void MainGUIWindow::on_save_in_DB_button_clicked()
+{
+ // we need to update and then save?
+}
+
+void MainGUIWindow::on_load_from_DB_button_clicked()
+{
+ // need to reload and then read?
+ CMRead getDBCall;
+ _rosNodeThread->m_read_db_client.waitForExistence(ros::Duration(-1));
+ if(_rosNodeThread->m_read_db_client.call(getDBCall))
+ {
+ m_data_base = getDBCall.response.crazyflieDB;
+ ROS_INFO_STREAM("database:\n" << m_data_base);
+ // TODO: update links table
+ cf_linker->clear_all_links();
+ for(int i = 0; i < m_data_base.crazyflieEntries.size(); i++)
+ {
+ std::string cf_name = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieName;
+ int cf_zone_index = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.crazyfly_zone_index;
+ // we should first create the cf zones that are in the database?
+ int student_id = m_data_base.crazyflieEntries[i].studentID;
+ cf_linker->link(student_id, cf_zone_index, cf_name);
+ }
+ }
+ else
+ {
+ ROS_ERROR("Failed to read DB");
+ }
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui
index 5310f5690d00b25947312a836fa095031d79c37b..0aed3657776ddcda956755965c466f4f76c2ea08 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>866</width>
- <height>587</height>
+ <height>663</height>
</rect>
</property>
<property name="windowTitle">
@@ -258,8 +258,8 @@
<string>Links</string>
</attribute>
<layout class="QGridLayout" name="gridLayout">
- <item row="12" column="1" colspan="2">
- <widget class="QLabel" name="err_message_cf_zone">
+ <item row="5" column="1" colspan="6">
+ <widget class="QLabel" name="err_message_student_id">
<property name="font">
<font>
<pointsize>7</pointsize>
@@ -270,8 +270,8 @@
</property>
</widget>
</item>
- <item row="9" column="1" colspan="2">
- <widget class="QLabel" name="err_message_cf">
+ <item row="12" column="1" colspan="6">
+ <widget class="QLabel" name="err_message_cf_zone">
<property name="font">
<font>
<pointsize>7</pointsize>
@@ -282,8 +282,8 @@
</property>
</widget>
</item>
- <item row="5" column="1" colspan="2">
- <widget class="QLabel" name="err_message_student_id">
+ <item row="9" column="1" colspan="6">
+ <widget class="QLabel" name="err_message_cf">
<property name="font">
<font>
<pointsize>7</pointsize>
@@ -323,6 +323,12 @@
</property>
</widget>
</item>
+ <item row="11" column="1">
+ <widget class="QComboBox" name="comboBoxCFZones"/>
+ </item>
+ <item row="8" column="1">
+ <widget class="QComboBox" name="comboBoxCFs"/>
+ </item>
<item row="3" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
@@ -330,12 +336,6 @@
</property>
</widget>
</item>
- <item row="8" column="1">
- <widget class="QComboBox" name="comboBoxCFs"/>
- </item>
- <item row="11" column="1">
- <widget class="QComboBox" name="comboBoxCFZones"/>
- </item>
<item row="6" column="1">
<widget class="QLabel" name="label_2">
<property name="text">
@@ -350,28 +350,21 @@
</property>
</widget>
</item>
- <item row="8" column="2">
+ <item row="8" column="6">
<widget class="QPushButton" name="refresh_cfs_button">
<property name="text">
<string>Refresh CFs</string>
</property>
</widget>
</item>
- <item row="2" column="2">
+ <item row="2" column="6">
<widget class="QPushButton" name="refresh_student_ids_button">
<property name="text">
<string>Refresh IDs</string>
</property>
</widget>
</item>
- <item row="11" column="2">
- <widget class="QPushButton" name="link_button">
- <property name="text">
- <string>Link!</string>
- </property>
- </widget>
- </item>
- <item row="13" column="1" colspan="2">
+ <item row="13" column="1" colspan="6">
<widget class="QTableWidget" name="table_links">
<property name="minimumSize">
<size>
@@ -393,13 +386,34 @@
</attribute>
</widget>
</item>
- <item row="14" column="2">
+ <item row="11" column="6">
+ <widget class="QPushButton" name="link_button">
+ <property name="text">
+ <string>Link!</string>
+ </property>
+ </widget>
+ </item>
+ <item row="15" column="6">
<widget class="QPushButton" name="unlink_button">
<property name="text">
<string>Unlink!</string>
</property>
</widget>
</item>
+ <item row="17" column="6">
+ <widget class="QPushButton" name="save_in_DB_button">
+ <property name="text">
+ <string>Save in DB</string>
+ </property>
+ </widget>
+ </item>
+ <item row="16" column="6">
+ <widget class="QPushButton" name="load_from_DB_button">
+ <property name="text">
+ <string>Load from DB</string>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
</widget>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp
index 557211176c8080fb55a1a973b3adfb8b88abe6aa..157b5f84fceb719c3fd9729539f65383d5c1d6ab 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp
@@ -1,5 +1,7 @@
#include "rosNodeThread.h"
+#include "d_fall_pps/CMRead.h"
+
rosNodeThread::rosNodeThread(int argc, char** pArgv, const char * topic, QObject* parent)
: QObject(parent),
@@ -37,9 +39,11 @@ bool rosNodeThread::init()
ros::Time::init();
ros::NodeHandle nh("~");
- // sim_velocity = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 100);
m_vicon_subscriber = nh.subscribe(m_topic, 100, &rosNodeThread::messageCallback, this);
+ // clients for db services:
+ m_read_db_client = nh.serviceClient<CMRead>("/CentralManagerService/Read", false);
+
m_pThread->start();
return true;
} // set up the thread
diff --git a/pps_ws/src/d_fall_pps/msg/AreaBounds.msg b/pps_ws/src/d_fall_pps/msg/AreaBounds.msg
index 4230649fcaf859ca7391a10e637bbf1a255bbc01..b367b15d881e07d6863e968894758df1abbdb421 100755
--- a/pps_ws/src/d_fall_pps/msg/AreaBounds.msg
+++ b/pps_ws/src/d_fall_pps/msg/AreaBounds.msg
@@ -1,3 +1,4 @@
+uint32 crazyfly_zone_index
float32 xmin
float32 xmax
float32 ymin