From 8225f9651ec92ff57f7a1315139f4227978bb0b5 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Wed, 30 Jan 2019 09:51:30 +0100
Subject: [PATCH] Changes to comments in PPS Client (attempt to make style
consistent with controllers), and added Emergency stop button to GUI
---
.../GUI_Qt/flyingAgentGUI/flyingagentgui.qrc | 1 +
.../flyingAgentGUI/images/emergency_stop.png | Bin 0 -> 6692 bytes
.../GUI_Qt/flyingAgentGUI/src/topbanner.cpp | 2 +-
pps_ws/src/d_fall_pps/src/nodes/PPSClient.cpp | 109 +++++++++++++-----
4 files changed, 80 insertions(+), 32 deletions(-)
create mode 100644 pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/emergency_stop.png
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingagentgui.qrc b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingagentgui.qrc
index fd7f30a5..abfa9642 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingagentgui.qrc
+++ b/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
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/emergency_stop.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/emergency_stop.png
new file mode 100644
index 0000000000000000000000000000000000000000..7643f985406c7be73109dbab7cbf9fd00f6d63b4
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HcmV?d00001
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
index 60be1432..5f58fcdf 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
+++ b/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);
diff --git a/pps_ws/src/d_fall_pps/src/nodes/PPSClient.cpp b/pps_ws/src/d_fall_pps/src/nodes/PPSClient.cpp
index 79bd5ce3..90d259e0 100755
--- a/pps_ws/src/d_fall_pps/src/nodes/PPSClient.cpp
+++ b/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);
--
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