Changes to comments in PPS Client (attempt to make style consistent with...

Changes to comments in PPS Client (attempt to make style consistent with controllers), and added Emergency stop button to GUI

pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingagentgui.qrc

@@ -17,5 +17,6 @@
         <file>images/flying_state_off.png</file>
         <file>images/flying_state_unknown.png</file>
         <file>images/flying_state_unavailable.png</file>
+        <file>images/emergency_stop.png</file>
     </qresource>
 </RCC>
\ No newline at end of file

pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp

@@ -51,7 +51,7 @@ TopBanner::TopBanner(QWidget *parent) :
 {
     ui->setupUi(this);
     (":/images/rf_connected.png");
-    QPixmap pixmap(":/images/rf_connected.png");
+    QPixmap pixmap(":/images/emergency_stop.png");
     QIcon ButtonIcon(pixmap);
     ui->emergency_stop_button->setText("");
     ui->emergency_stop_button->setIcon(ButtonIcon);

pps_ws/src/d_fall_pps/src/nodes/PPSClient.cpp

@@ -913,7 +913,19 @@ void CFBatteryCallback(const std_msgs::Float32& msg)
 
 
 
-
+//    ----------------------------------------------------------------------------------
+//     GGGG  EEEEE  TTTTT      SSSS  TTTTT    A    TTTTT  U   U   SSSS
+//    G      E        T       S        T     A A     T    U   U  S
+//    G      EEE      T        SSS     T    A   A    T    U   U   SSS
+//    G   G  E        T           S    T    AAAAA    T    U   U      S
+//     GGGG  EEEEE    T       SSSS     T    A   A    T     UUU   SSSS
+//
+//     CCCC    A    L      L      BBBB     A     CCCC  K   K   SSSS
+//    C       A A   L      L      B   B   A A   C      K  K   S
+//    C      A   A  L      L      BBBB   A   A  C      KKK     SSS
+//    C      AAAAA  L      L      B   B  AAAAA  C      K  K       S
+//     CCCC  A   A  LLLLL  LLLLL  BBBB   A   A   CCCC  K   K  SSSS
+//    ----------------------------------------------------------------------------------
 
 bool getCurrentFlyingStateServiceCallback(IntIntService::Request &request, IntIntService::Response &response)
 {
@@ -1213,15 +1225,56 @@ int main(int argc, char* argv[])
 
 
 
-    // FETCH ANY PARAMETERS REQUIRED FROM THE "PARAMETER SERVICES"
+    // GIVE YAML VARIABLES AN INITIAL VALUE
+
+	// This can be done either here or as part of declaring the
+	// variables in the header file
+
+
+
+	// FETCH ANY PARAMETERS REQUIRED FROM THE "PARAMETER SERVICES"
 
     // Call the class function that loads the parameters for this class.
     fetchClientConfigYamlParameters(nodeHandle_to_own_agent_parameter_service);
     fetchSafeControllerYamlParameters(nodeHandle_to_own_agent_parameter_service);
 
 
-
-
+    // THIS IS THE "NEW" WAY TO DO IT
+    // BUT NEED TO CHECK ALL VARIABLES HAVE INITIAL VALUE
+ //    // FETCH ANY PARAMETERS REQUIRED FROM THE "PARAMETER SERVICES"
+
+	// // The yaml files for the controllers are not added to
+	// // "Parameter Service" as part of launching.
+	// // The process for loading the yaml parameters is to send a
+	// // service call containing the filename of the *.yaml file,
+	// // and then a message will be received on the above subscribers
+	// // when the paramters are ready.
+	// // > NOTE IMPORTANTLY that by using a serice client
+	// //   we stall the availability of this node until the
+	// //   paramter service is ready
+
+	// // Create the service client as a local variable
+	// ros::ServiceClient requestLoadYamlFilenameServiceClient = nodeHandle_to_own_agent_parameter_service.serviceClient<LoadYamlFromFilename>("requestLoadYamlFilename", false);
+	// // Create the service call as a local variable
+	// LoadYamlFromFilename loadYamlFromFilenameCall;
+	// // Specify the Yaml filename as a string
+	// loadYamlFromFilenameCall.request.stringWithHeader.data = "DefaultController";
+	// // Set for whom this applies to
+	// loadYamlFromFilenameCall.request.stringWithHeader.shouldCheckForID = false;
+	// // Wait until the serivce exists
+	// requestLoadYamlFilenameServiceClient.waitForExistence(ros::Duration(-1));
+	// // Make the service call
+	// if(requestLoadYamlFilenameServiceClient.call(loadYamlFromFilenameCall))
+	// {
+	// 	// Nothing to do in this case.
+	// 	// The "isReadyDefaultControllerYamlCallback" function
+	// 	// will be called once the YAML file is loaded
+	// }
+	// else
+	// {
+	// // Inform the user
+	// 	ROS_ERROR("[DEFAULT CONTROLLER] The request load yaml file service call failed.");
+	// }
 
 
 
@@ -1234,17 +1287,23 @@ int main(int argc, char* argv[])
 
 
 
-
+    // PUBLISHERS, SUBSCRIBERS, AND SERVICE CLIENTS
 
 	
+
     // CREATE A NODE HANDLE TO THE ROOT OF THE D-FaLL SYSTEM
     ros::NodeHandle nodeHandle_dfall_root("/dfall");
 
+    // CREATE A NODE HANDLE TO THE COORDINATOR
+    std::string namespace_to_coordinator;
+    constructNamespaceForCoordinator( m_coordID, namespace_to_coordinator );
+    ros::NodeHandle nodeHandle_to_coordinator(namespace_to_coordinator);
 
 
 
 
-    // SERVICE CLIENT FOR THE ALLOWED FLYING ZONE AND OTHER CONTEXT DETAILS
+    // SERVICE CLIENT FOR LOADING THE ALLOCATED FLYING ZONE
+    // AND OTHER CONTEXT DETAILS
 
     //ros::service::waitForService("/CentralManagerService/CentralManager");
 	centralManager = nodeHandle_dfall_root.serviceClient<CMQuery>("CentralManagerService/Query", false);
@@ -1253,25 +1312,15 @@ int main(int argc, char* argv[])
     // Subscriber for when the Flying Zone Database changed
     ros::Subscriber databaseChangedSubscriber = nodeHandle_dfall_root.subscribe("CentralManagerService/DBChanged", 1, crazyflieContextDatabaseChangedCallback);
 
-
-
-
-
     // EMERGENCY STOP OF THE WHOLE "D-FaLL-System"
     ros::Subscriber emergencyStopSubscriber = nodeHandle_dfall_root.subscribe("emergencyStop", 1, emergencyStopCallback);
 
-
-
-
-
     // LOCALISATION DATA FROM MOTION CAPTURE SYSTEM
-
 	//keeps 100 messages because otherwise ViconDataPublisher would override the data immediately
 	ros::Subscriber viconSubscriber = nodeHandle_dfall_root.subscribe("ViconDataPublisher/ViconData", 100, viconCallback);
 
 
 
-
     // PUBLISHER FOR COMMANDING THE CRAZYFLIE
     // i.e., motorCmd{1,2,3,4}, roll, pitch, yaw, and onboardControllerType
 	//ros::Publishers to advertise the control output
@@ -1282,18 +1331,8 @@ int main(int argc, char* argv[])
 
 
 
-
-
-    // CREATE A NODE HANDLE TO THE COORDINATOR
-    std::string namespace_to_coordinator;
-    constructNamespaceForCoordinator( m_coordID, namespace_to_coordinator );
-    ros::NodeHandle nodeHandle_to_coordinator(namespace_to_coordinator);
-
-
-
-
-
-    // SUBSCRIBER FOR {TAKE-OFF,LAND,MOTORS-OFF} AND CONTROLLER SELECTION
+    // SUBSCRIBER FOR THE CHANGE STATE COMMANDS
+    // i.e., {TAKE-OFF,LAND,MOTORS-OFF,CONTROLLER SELECTION}
     // > for the agent GUI
     ros::Subscriber commandSubscriber_to_agent = nodeHandle.subscribe("Command", 1, commandCallback);
     // > for the coord GUI
@@ -1302,14 +1341,22 @@ int main(int argc, char* argv[])
 
 
 
-
-    //this topic lets us use the terminal to communicate with crazyRadio node.
+    // PUBLISHER FOR THE CRAZYRADIO COMMANDS
+    // i.e., {CONNECT,DISCONNECT}
+    // This topic lets us use the terminal to communicate with
+    // the crazyRadio node even when the GUI is not launched
     crazyRadioCommandPublisher = nodeHandle.advertise<IntWithHeader>("crazyRadioCommand", 1);
 
-    // this topic will publish flying state whenever it changes.
+
+
+    // PUBLISHER FOR THE FLYING STATE
+    // Possible states: {MOTORS-OFF,TAKE-OFF,FLYING,LAND}
+    // This topic will publish flying state whenever it changes.
     flyingStatePublisher = nodeHandle.advertise<std_msgs::Int32>("flyingState", 1);
 
     
+
+    // PUBLISHER FOR THE 
     controllerUsedPublisher = nodeHandle.advertise<std_msgs::Int32>("controllerUsed", 1);