diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
index 20626a719c5b1e82026169fd726c613d4107f1bc..2e7d1709c5308eb6bce359dcea610cdbda560c9e 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
@@ -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">
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h
index a468c4daf7acd7d9d9d21ae1561d6e5cb92747df..e45d064c2074037079ca66473d07ade7dd94d584 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h
@@ -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
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
index 1c58ecd9a24461a58011dfc53886e9b0d1624115..a2114441b2c555939256e9580e1d7db5480bbdd6 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
@@ -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