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 b0914b963bdbbedf52f0f1610659e1c6f59b3a22..5c1e56bef1983e3fca9409a4ec6a56ea4a2d6f58 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
@@ -17,6 +17,8 @@
#include "d_fall_pps/CrazyflieDB.h"
#include "d_fall_pps/CrazyflieEntry.h"
+#include <std_msgs/Int32.h>
+
using namespace d_fall_pps;
#endif
@@ -142,6 +144,8 @@ private:
std::vector<Marker*> markers_vector;
std::vector<crazyFly*> crazyflies_vector;
CFLinker* cf_linker;
+
+ ros::Publisher DBChangedPublisher;
#endif
void updateComboBoxesCFs();
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 875429e9deedd9021f74989fe25a4300b41d023a..eee31a0514571754ddd0d729d7d586245e5ea245 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
@@ -20,6 +20,10 @@
#include "d_fall_pps/CMUpdate.h"
#include "d_fall_pps/CMCommand.h"
#include "CentralManagerService.h"
+
+#include <ros/ros.h>
+#include <ros/network.h>
+
#endif
#include <string>
@@ -191,6 +195,9 @@ void MainGUIWindow::_init()
qRegisterMetaType<ptrToMessage>("ptrToMessage");
QObject::connect(_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
QObject::connect(cf_linker, SIGNAL(updateComboBoxes()), this, SLOT(updateComboBoxes()));
+
+ ros::NodeHandle nodeHandle("~");
+ DBChangedPublisher = nodeHandle.advertise<std_msgs::Int32>("DBChanged", 1);
#endif
}
@@ -756,6 +763,11 @@ void MainGUIWindow::on_save_in_DB_button_clicked()
// save the database in the file
fill_database_file();
+
+ // Now also publish a ROS message stating that we changed the DB, so the nodes can update it
+ std_msgs::Int32 msg;
+ msg.data = 1;
+ this->DBChangedPublisher.publish(msg);
}
void MainGUIWindow::clear_database_file()
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
index c43a05a150ef89c7bc217dedcbff520903518394..df0bec3737a765fa6d2f3c8c62ca892d46c45f07 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
@@ -81,6 +81,8 @@ private:
ros::Publisher setpointPublisher;
ros::Subscriber setpointSubscriber;
+ ros::Subscriber DBChangedSubscriber;
+
ros::ServiceClient centralManager;
// callbacks
@@ -88,6 +90,7 @@ private:
void CFBatteryCallback(const std_msgs::Float32& msg);
void flyingStateChangedCallback(const std_msgs::Int32& msg);
void setpointCallback(const Setpoint& newSetpoint);
+ void DBChangedCallback(const std_msgs::Int32& msg);
float fromVoltageToPercent(float voltage);
void updateBatteryVoltage(float battery_voltage);
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index e0e045e72f3f5149571ce6e53506ad0e3ba29112..62271a73cafc3cc6148f03b3d90dd1fbd83a34dc 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -39,6 +39,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
setpointPublisher = nodeHandle.advertise<Setpoint>("SafeControllerService/Setpoint", 1);
setpointSubscriber = nodeHandle.subscribe("SafeControllerService/Setpoint", 1, &MainWindow::setpointCallback, this);
+ DBChangedSubscriber = nodeHandle.subscribe("my_GUI/DBChanged", 1, &MainWindow::DBChangedCallback, this);
// communication with PPS Client, just to make it possible to communicate through terminal also we use PPSClient's name
@@ -84,6 +85,11 @@ void MainWindow::enableGUI()
ui->groupBox->setEnabled(true);
}
+void MainWindow::DBChangedCallback(const std_msgs::Int32& msg)
+{
+ loadCrazyflieContext();
+}
+
void MainWindow::setpointCallback(const Setpoint& newSetpoint)
{
m_setpoint = newSetpoint;
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
index c2772eae2672a22b3a12e84078c55c6628903cab..af87d524cfcf3a6ebd9aec2c1021f7134a1bf6f2 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>525</width>
- <height>424</height>
+ <width>809</width>
+ <height>573</height>
</rect>
</property>
<property name="windowTitle">
@@ -15,6 +15,563 @@
</property>
<widget class="QWidget" name="centralWidget">
<layout class="QGridLayout" name="gridLayout">
+ <item row="3" column="1">
+ <widget class="QTabWidget" name="tabWidget">
+ <property name="currentIndex">
+ <number>1</number>
+ </property>
+ <widget class="QWidget" name="tab_3">
+ <attribute name="title">
+ <string>Safe Controller</string>
+ </attribute>
+ <layout class="QGridLayout" name="gridLayout_5">
+ <item row="0" column="0">
+ <widget class="QGroupBox" name="groupBox_2">
+ <property name="title">
+ <string/>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_3">
+ <item row="6" column="1">
+ <widget class="QLineEdit" name="current_roll">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLineEdit" name="current_y">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QLineEdit" name="current_yaw">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="current_z">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="current_x_label">
+ <property name="text">
+ <string>x =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="current_z_label">
+ <property name="text">
+ <string>z =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="current_y_label">
+ <property name="text">
+ <string>y =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="current_yaw_label">
+ <property name="text">
+ <string>yaw = </string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="current_x">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QLabel" name="current_pitch_label">
+ <property name="text">
+ <string>pitch =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <widget class="QLabel" name="current_roll_label">
+ <property name="text">
+ <string>roll =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QLineEdit" name="current_pitch">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>Current</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLineEdit" name="diff_x">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QLineEdit" name="diff_y">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QLineEdit" name="diff_z">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="2">
+ <widget class="QLineEdit" name="diff_yaw">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_5">
+ <property name="text">
+ <string>Difference</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QGroupBox" name="groupBox_3">
+ <property name="title">
+ <string/>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_4">
+ <item row="2" column="2">
+ <widget class="QLineEdit" name="new_setpoint_y"/>
+ </item>
+ <item row="4" column="2">
+ <widget class="QLineEdit" name="new_setpoint_yaw"/>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLineEdit" name="new_setpoint_x"/>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLineEdit" name="current_setpoint_y">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="current_setpoint_x">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_11">
+ <property name="text">
+ <string>yaw =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="label_12">
+ <property name="font">
+ <font>
+ <pointsize>7</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>Current</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>x =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_9">
+ <property name="text">
+ <string>z =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_8">
+ <property name="text">
+ <string>y =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="current_setpoint_z">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="2">
+ <widget class="QPushButton" name="set_setpoint_button">
+ <property name="font">
+ <font>
+ <pointsize>7</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>Set setpoint</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QLineEdit" name="current_setpoint_yaw">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QLineEdit" name="new_setpoint_z"/>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>Setpoint:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_13">
+ <property name="font">
+ <font>
+ <pointsize>7</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>New</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButton">
+ <property name="text">
+ <string>Enable Controller</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab_4">
+ <attribute name="title">
+ <string>Custom Controller</string>
+ </attribute>
+ <layout class="QGridLayout" name="gridLayout_9">
+ <item row="0" column="0">
+ <widget class="QGroupBox" name="groupBox_5">
+ <property name="title">
+ <string/>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_7">
+ <item row="6" column="1">
+ <widget class="QLineEdit" name="current_roll_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLineEdit" name="current_y_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QLineEdit" name="current_yaw_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="current_z_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="current_x_label_2">
+ <property name="text">
+ <string>x =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="current_z_label_2">
+ <property name="text">
+ <string>z =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="current_y_label_2">
+ <property name="text">
+ <string>y =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="current_yaw_label_2">
+ <property name="text">
+ <string>yaw = </string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="current_x_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QLabel" name="current_pitch_label_2">
+ <property name="text">
+ <string>pitch =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <widget class="QLabel" name="current_roll_label_2">
+ <property name="text">
+ <string>roll =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QLineEdit" name="current_pitch_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="label_6">
+ <property name="text">
+ <string>Current</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLineEdit" name="diff_x_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QLineEdit" name="diff_y_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QLineEdit" name="diff_z_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="2">
+ <widget class="QLineEdit" name="diff_yaw_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_10">
+ <property name="text">
+ <string>Difference</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QGroupBox" name="groupBox_6">
+ <property name="title">
+ <string/>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_8">
+ <item row="2" column="2">
+ <widget class="QLineEdit" name="new_setpoint_y_2"/>
+ </item>
+ <item row="4" column="2">
+ <widget class="QLineEdit" name="new_setpoint_yaw_2"/>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLineEdit" name="new_setpoint_x_2"/>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLineEdit" name="current_setpoint_y_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="current_setpoint_x_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_14">
+ <property name="text">
+ <string>yaw =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="label_15">
+ <property name="font">
+ <font>
+ <pointsize>7</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>Current</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_16">
+ <property name="text">
+ <string>x =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_17">
+ <property name="text">
+ <string>z =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_18">
+ <property name="text">
+ <string>y =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="current_setpoint_z_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="2">
+ <widget class="QPushButton" name="set_setpoint_button_2">
+ <property name="font">
+ <font>
+ <pointsize>7</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>Set setpoint</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QLineEdit" name="current_setpoint_yaw_2">
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QLineEdit" name="new_setpoint_z_2"/>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_19">
+ <property name="text">
+ <string>Setpoint:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_20">
+ <property name="font">
+ <font>
+ <pointsize>7</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>New</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="pushButton_2">
+ <property name="text">
+ <string>Enable Controller</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </widget>
+ </item>
<item row="0" column="2">
<widget class="QLabel" name="connected_disconnected_label">
<property name="text">
@@ -28,13 +585,6 @@
<string>StudentID # connected to CF #</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
- <item row="3" column="1">
- <widget class="QPushButton" name="take_off_button">
- <property name="text">
- <string>Take Off</string>
- </property>
- </widget>
- </item>
<item row="0" column="3">
<widget class="QLabel" name="raw_voltage">
<property name="text">
@@ -42,141 +592,6 @@
</property>
</widget>
</item>
- <item row="4" column="1">
- <widget class="QGroupBox" name="groupBox_2">
- <property name="title">
- <string/>
- </property>
- <layout class="QGridLayout" name="gridLayout_3">
- <item row="6" column="1">
- <widget class="QLineEdit" name="current_roll">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLineEdit" name="current_y">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QLineEdit" name="current_yaw">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLineEdit" name="current_z">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="current_x_label">
- <property name="text">
- <string>x =</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="current_z_label">
- <property name="text">
- <string>z =</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="current_y_label">
- <property name="text">
- <string>y =</string>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QLabel" name="current_yaw_label">
- <property name="text">
- <string>yaw = </string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="current_x">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="5" column="0">
- <widget class="QLabel" name="current_pitch_label">
- <property name="text">
- <string>pitch =</string>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QLabel" name="current_roll_label">
- <property name="text">
- <string>roll =</string>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QLineEdit" name="current_pitch">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="label_4">
- <property name="text">
- <string>Current</string>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QLineEdit" name="diff_x">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QLineEdit" name="diff_y">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="3" column="2">
- <widget class="QLineEdit" name="diff_z">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="4" column="2">
- <widget class="QLineEdit" name="diff_yaw">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_5">
- <property name="text">
- <string>Difference</string>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
<item row="2" column="3">
<widget class="QProgressBar" name="battery_bar">
<property name="value">
@@ -184,151 +599,6 @@
</property>
</widget>
</item>
- <item row="2" column="1">
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Battery level</string>
- </property>
- </widget>
- </item>
- <item row="4" column="3">
- <widget class="QGroupBox" name="groupBox_3">
- <property name="title">
- <string>Controller and current set point</string>
- </property>
- <layout class="QGridLayout" name="gridLayout_4">
- <item row="0" column="2">
- <widget class="QPushButton" name="pushButton_4">
- <property name="text">
- <string>Safe</string>
- </property>
- </widget>
- </item>
- <item row="4" column="2">
- <widget class="QLineEdit" name="new_setpoint_y"/>
- </item>
- <item row="6" column="2">
- <widget class="QLineEdit" name="new_setpoint_yaw"/>
- </item>
- <item row="3" column="2">
- <widget class="QLineEdit" name="new_setpoint_x"/>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_2">
- <property name="text">
- <string>Controller:</string>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLineEdit" name="current_setpoint_x">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QLineEdit" name="current_setpoint_y">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QLabel" name="label_11">
- <property name="text">
- <string>yaw =</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLabel" name="label_12">
- <property name="text">
- <string>Current</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_7">
- <property name="text">
- <string>x =</string>
- </property>
- </widget>
- </item>
- <item row="5" column="0">
- <widget class="QLabel" name="label_9">
- <property name="text">
- <string>z =</string>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QLabel" name="label_8">
- <property name="text">
- <string>y =</string>
- </property>
- </widget>
- </item>
- <item row="7" column="2">
- <widget class="QPushButton" name="set_setpoint_button">
- <property name="font">
- <font>
- <pointsize>7</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Set setpoint</string>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QLineEdit" name="current_setpoint_z">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_3">
- <property name="text">
- <string>Setpoint:</string>
- </property>
- </widget>
- </item>
- <item row="6" column="1">
- <widget class="QLineEdit" name="current_setpoint_yaw">
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="5" column="2">
- <widget class="QLineEdit" name="new_setpoint_z"/>
- </item>
- <item row="2" column="2">
- <widget class="QLabel" name="label_13">
- <property name="text">
- <string>New one</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QPushButton" name="pushButton_3">
- <property name="text">
- <string>Custom</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0" colspan="3">
- <widget class="Line" name="line">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
<item row="0" column="1">
<widget class="QPushButton" name="motors_OFF_button">
<property name="text">
@@ -336,14 +606,33 @@
</property>
</widget>
</item>
- <item row="3" column="3">
- <widget class="QPushButton" name="land_button">
+ <item row="2" column="1">
+ <widget class="QLabel" name="label">
<property name="text">
- <string>Land</string>
+ <string>Battery level</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
- <item row="3" column="2">
+ </layout>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QPushButton" name="RF_Connect_button">
+ <property name="text">
+ <string>Connect RF</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QGroupBox" name="groupBox_4">
+ <property name="title">
+ <string/>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_6">
+ <item row="1" column="1">
<widget class="QLabel" name="flying_state_label">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
@@ -354,18 +643,28 @@
<property name="text">
<string>FlyingState</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0" colspan="3">
+ <widget class="QPushButton" name="land_button">
+ <property name="text">
+ <string>Land</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QPushButton" name="take_off_button">
+ <property name="text">
+ <string>Take Off</string>
+ </property>
</widget>
</item>
</layout>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QPushButton" name="RF_Connect_button">
- <property name="text">
- <string>Connect RF</string>
- </property>
- </widget>
- </item>
</layout>
</widget>
<widget class="QMenuBar" name="menuBar">
@@ -373,7 +672,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>525</width>
+ <width>809</width>
<height>19</height>
</rect>
</property>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user
index 92b0709c8179e53f89685b4192c62cd4f5553dd4..c7c7a5694fa8d188e9252c97af96fabf53df1ab3 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/studentGUI.pro.user
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.0.2, 2017-08-28T12:32:50. -->
+<!-- Written by QtCreator 4.0.2, 2017-08-28T18:07:37. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>
diff --git a/pps_ws/src/d_fall_pps/src/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
index d4caacc01ee7c0626024844bfa10c58ee7879680..a135dddadb9f250c417f6253569bdad38a7b6cd3 100755
--- a/pps_ws/src/d_fall_pps/src/PPSClient.cpp
+++ b/pps_ws/src/d_fall_pps/src/PPSClient.cpp
@@ -423,6 +423,11 @@ void commandCallback(const std_msgs::Int32& commandMsg) {
}
}
+void DBChangedCallback(const std_msgs::Int32& msg)
+{
+ loadCrazyflieContext();
+}
+
int main(int argc, char* argv[])
{
ros::init(argc, argv, "PPSClient");
@@ -449,6 +454,9 @@ int main(int argc, char* argv[])
// this topic will publish flying state whenever it changes.
flyingStatePublisher = nodeHandle.advertise<std_msgs::Int32>("flyingState", 1);
+
+
+
// publish first flying state data
std_msgs::Int32 flying_state_msg;
flying_state_msg.data = flying_state;
@@ -458,6 +466,9 @@ int main(int argc, char* argv[])
ros::NodeHandle namespaceNodeHandle = ros::NodeHandle();
safeControllerServiceSetpointPublisher = namespaceNodeHandle.advertise<d_fall_pps::Setpoint>("SafeControllerService/Setpoint", 1);
+ // subscriber for DBChanged
+ ros::Subscriber DBChangedSubscriber = namespaceNodeHandle.subscribe("my_GUI/DBChanged", 1, DBChangedCallback);
+
//start with safe controller
flying_state = STATE_MOTORS_OFF;
usingSafeController = true;