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Commit 81c8344a authored by Paul Beuchat's avatar Paul Beuchat
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Added the setting of the time delay for CS1 to the GUI. Needs testing

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dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
+ 103
− 11
View file @ 81c8344a
......@@ -421,7 +421,23 @@
<property name="rightMargin">
<number>0</number>
</property>
<item row="1" column="7">
<item row="0" column="2">
<widget class="QLabel" name="label_time_delay">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Time Delay</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="8">
<layout class="QGridLayout" name="gridLayout_8">
<item row="2" column="0">
<widget class="QPushButton" name="reset_integrator_button">
......@@ -479,7 +495,7 @@
</item>
</layout>
</item>
<item row="0" column="6">
<item row="0" column="7">
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -495,7 +511,7 @@
</property>
</spacer>
</item>
<item row="0" column="4">
<item row="0" column="5">
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -527,7 +543,7 @@
</property>
</widget>
</item>
<item row="0" column="9">
<item row="0" column="10">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -708,7 +724,7 @@
</item>
</layout>
</item>
<item row="1" column="2">
<item row="1" column="3">
<layout class="QGridLayout" name="gridLayout_6">
<item row="1" column="0">
<widget class="QPushButton" name="set_pd_controller_parameters_button">
......@@ -824,7 +840,7 @@
</item>
</layout>
</item>
<item row="0" column="5">
<item row="0" column="6">
<widget class="QLabel" name="label_step_details">
<property name="font">
<font>
......@@ -840,7 +856,7 @@
</property>
</widget>
</item>
<item row="1" column="5">
<item row="1" column="6">
<layout class="QGridLayout" name="gridLayout_4">
<property name="leftMargin">
<number>0</number>
......@@ -900,6 +916,11 @@
<height>60</height>
</size>
</property>
<property name="font">
<font>
<family>Courier</family>
</font>
</property>
<property name="text">
<string>0.2</string>
</property>
......@@ -922,6 +943,11 @@
<height>60</height>
</size>
</property>
<property name="font">
<font>
<family>Courier</family>
</font>
</property>
<property name="text">
<string>10</string>
</property>
......@@ -971,7 +997,7 @@
</layout>
</item>
<item row="0" column="1">
<spacer name="horizontalSpacer">
<spacer name="horizontalSpacer_pd_controller">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
......@@ -986,7 +1012,7 @@
</property>
</spacer>
</item>
<item row="0" column="2">
<item row="0" column="3">
<widget class="QLabel" name="label_pid_controller">
<property name="font">
<font>
......@@ -1002,7 +1028,7 @@
</property>
</widget>
</item>
<item row="0" column="7">
<item row="0" column="8">
<widget class="QLabel" name="label_integrator">
<property name="font">
<font>
......@@ -1018,7 +1044,7 @@
</property>
</widget>
</item>
<item row="0" column="8">
<item row="0" column="9">
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
......@@ -1031,6 +1057,72 @@
</property>
</spacer>
</item>
<item row="1" column="2">
<layout class="QGridLayout" name="gridLayout_13">
<item row="0" column="0">
<widget class="QLabel" name="label_time_delay_units">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>[milli sec]</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="set_time_delay_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>1000</width>
<height>60</height>
</size>
</property>
<property name="text">
<string>Set</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLineEdit" name="lineEdit_time_delay">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>300</width>
<height>60</height>
</size>
</property>
<property name="font">
<font>
<family>Courier</family>
</font>
</property>
<property name="text">
<string>0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item row="7" column="0">
......
dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h
+ 8
− 0
View file @ 81c8344a
......@@ -128,6 +128,8 @@ private slots:
void on_set_lead_compensator_parameters_button_clicked();
void on_set_time_delay_button_clicked();
void on_toggle_integrator_button_clicked();
void on_reset_integrator_button_clicked();
......@@ -136,6 +138,7 @@ private slots:
void on_lineEdit_alpha_returnPressed();
void on_lineEdit_kp_returnPressed();
void on_lineEdit_kd_returnPressed();
void on_lineEdit_time_delay_returnPressed();
void on_lineEdit_step_size_returnPressed();
void on_lineEdit_step_duration_returnPressed();
......@@ -201,6 +204,9 @@ private:
// > For requesting a change in the integrator state
ros::Publisher requestIntegratorStateChangePublisher;
// > For requesting the time delay to be changed
ros::Publisher requestTimeDelayChangePublisher;
// SUBSCRIBER
// > For being notified when the setpoint is changed
ros::Subscriber setpointChangedSubscriber;
......@@ -240,6 +246,8 @@ private:
void publishRequestForIntegratorStateChange(int flag_to_publish);
void publishRequestForTimeDelayChange(int time_delay_to_publish);
};
#endif // CSONECONTROLLERTAB_H
dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
+ 74
− 1
View file @ 81c8344a
......@@ -47,6 +47,15 @@ CsoneControllerTab::CsoneControllerTab(QWidget *parent) :
ui->red_frame_position_left->setVisible(false);
ui->red_frame_position_right->setVisible(false);
// ------------------------------------------------------------- //
// HIDE THE PD CONTROLLER FIELDS
ui->label_pid_controller->hide();
ui->label_kp->hide();
ui->label_kd->hide();
ui->lineEdit_kp->hide();
ui->lineEdit_kd->hide();
ui->set_pd_controller_parameters_button->hide();
// ------------------------------------------------------------- //
// SETUP THE CHART VIEW FOR THE X POSITION
//
......@@ -157,6 +166,9 @@ CsoneControllerTab::CsoneControllerTab(QWidget *parent) :
// CREATE THE REQUEST CONTROLLER PARAMTER CHANGE PUBLISHER
requestControllerParamterChangePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::SetpointWithHeader>("CsoneControllerService/RequestControllerParametersChange", 1);
// CREATE THE REQUEST CONTROLLER PARAMTER CHANGE PUBLISHER
requestTimeDelayChangePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::IntWithHeader>("CsoneControllerService/RequestTimeDelayChange", 1);
// CREATE THE REQUEST INTEGRATOR STATE CHANGE PUBLISHER
requestIntegratorStateChangePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::IntWithHeader>("CsoneControllerService/RequestIntegratorStateChange", 1);
......@@ -402,7 +414,7 @@ void CsoneControllerTab::on_set_lead_compensator_parameters_button_clicked()
k = 0.0;
ui->lineEdit_k->setText(qstr + QString::number( k, 'f', 4));
}
else if (T > 100.0)
else if (k > 100.0)
{
k = 100.0;
ui->lineEdit_k->setText(qstr + QString::number( k, 'f', 4));
......@@ -461,6 +473,35 @@ void CsoneControllerTab::on_set_lead_compensator_parameters_button_clicked()
void CsoneControllerTab::on_set_time_delay_button_clicked()
{
// Initialise local variable for the time delay
float time_delay_int = 0;
// Take the new value if available, otherwise use default
if(!ui->lineEdit_time_delay->text().isEmpty())
{
float time_delay_float = (ui->lineEdit_time_delay->text()).toFloat();
// Ensure that it is in the range [0,1000]
if (time_delay_float < 0.0)
time_delay_int = 0;
else if (time_delay_float > 1000.0)
time_delay_int = 1000;
else
time_delay_int = int(time_delay_float);
}
else
{
time_delay_int = 0;
}
// Put the value back into the line edit
ui->lineEdit_time_delay->setText( QString::number( time_delay_int, 'd', 0) );
// Call the function to publish the time delay
publishRequestForTimeDelayChange(time_delay_int);
}
void CsoneControllerTab::on_toggle_integrator_button_clicked()
......@@ -504,6 +545,11 @@ void CsoneControllerTab::on_lineEdit_kd_returnPressed()
ui->set_pd_controller_parameters_button->animateClick();
}
void CsoneControllerTab::on_lineEdit_time_delay_returnPressed()
{
ui->set_time_delay_button->animateClick();
}
void CsoneControllerTab::on_lineEdit_step_size_returnPressed()
{
ui->perform_step_button->animateClick();
......@@ -1056,6 +1102,33 @@ void CsoneControllerTab::publishRequestForIntegratorStateChange(int flag_to_publ
void CsoneControllerTab::publishRequestForTimeDelayChange(int time_delay_to_publish)
{
#ifdef CATKIN_MAKE
// Initialise the message as a local variable
dfall_pkg::IntWithHeader msg;
// Fill the header of the message
fillIntMessageHeader( msg );
// Fill in the controller values
msg.data = time_delay_to_publish;
// Publish the setpoint
this->requestTimeDelayChangePublisher.publish(msg);
// Inform the user about the change
ROS_INFO_STREAM("[CSONE CONTROLLER GUI] Published request for time delay of " << time_delay_to_publish << " milliseconds");
#else
// TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
QTextStream(stdout) << "[CSONE CONTROLLER GUI] would publish request for time delay of " << time_delay_to_publish << " milliseconds";
#endif
}
// ----------------------------------------------------------------------------------
// A GGGG EEEEE N N TTTTT III DDDD SSSS
// A A G E NN N T I D D S
......
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