already reading DB. Problem: what do we do with the data? We should create the...

already reading DB. Problem: what do we do with the data? We should create the necessary crazyfly zones, in the exact position?

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();
 

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;
 };
 
 

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:
 

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++)

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");
+    }
+}

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>

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

 #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

pps_ws/src/d_fall_pps/msg/AreaBounds.msg

+uint32 crazyfly_zone_index
 float32 xmin
 float32 xmax
 float32 ymin