diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
index a479b1b1f0713b9f2391984f5165f96655190a18..c7e2f5acc9a9aa6b09bdd991b9fc73faa74fea19 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
@@ -10,6 +10,8 @@ greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
#greaterThan(QT_MAJOR_VERSION, 4): QT += svg
+greaterThan(QT_MAJOR_VERSION, 4): QT += charts
+
TARGET = flyingAgentGUI
TEMPLATE = app
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
index fc801c9cce0773661c6546d9648edadaecc4c838..90485cc336045cec3de154a3bf8828e4d467f72a 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1150</width>
+ <width>1779</width>
<height>718</height>
</rect>
</property>
@@ -58,8 +58,34 @@
<string>CS1</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_8">
+ <property name="leftMargin">
+ <number>3</number>
+ </property>
+ <property name="topMargin">
+ <number>3</number>
+ </property>
+ <property name="rightMargin">
+ <number>3</number>
+ </property>
+ <property name="bottomMargin">
+ <number>3</number>
+ </property>
<item row="0" column="0">
- <widget class="CsoneControllerTab" name="csone_controller_tab_widget" native="true"/>
+ <widget class="QScrollArea" name="scrollArea">
+ <property name="widgetResizable">
+ <bool>true</bool>
+ </property>
+ <widget class="CsoneControllerTab" name="csone_controller_tab_widget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1723</width>
+ <height>576</height>
+ </rect>
+ </property>
+ </widget>
+ </widget>
</item>
</layout>
</widget>
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 3d1882471f2677b96250d14bb69d46c022fe1a24..de8163e4fa694be309c04b8bd59b1f580af0546c 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
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1335</width>
- <height>937</height>
+ <width>1492</width>
+ <height>1434</height>
</rect>
</property>
<property name="font">
@@ -19,175 +19,44 @@
<string>Form</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
- <item row="2" column="0">
- <spacer name="verticalSpacer_2">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
+ <item row="4" column="0">
+ <widget class="QChartView" name="chartView_for_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
- <property name="sizeType">
- <enum>QSizePolicy::Fixed</enum>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>0</height>
+ </size>
</property>
- <property name="sizeHint" stdset="0">
+ <property name="maximumSize">
<size>
- <width>20</width>
- <height>20</height>
+ <width>16777215</width>
+ <height>16777215</height>
</size>
</property>
- </spacer>
+ </widget>
</item>
- <item row="4" column="0">
- <spacer name="verticalSpacer">
+ <item row="2" column="0">
+ <spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Fixed</enum>
+ </property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
- <height>40</height>
+ <height>20</height>
</size>
</property>
</spacer>
</item>
- <item row="3" column="0">
- <layout class="QGridLayout" name="gridLayout_3">
- <property name="topMargin">
- <number>6</number>
- </property>
- <property name="bottomMargin">
- <number>6</number>
- </property>
- <item row="0" column="3">
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="0" column="1">
- <widget class="QPushButton" name="custom_button_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Button 2</string>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QPushButton" name="custom_button_3">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Button 3</string>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QPushButton" name="custom_button_1">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Button 1</string>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <property name="leftMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>0</number>
- </property>
- <item>
- <widget class="QLineEdit" name="lineEdit_custom_3">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>16777215</height>
- </size>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="1" column="1">
- <layout class="QHBoxLayout" name="horizontalLayout_3">
- <property name="leftMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>0</number>
- </property>
- <item>
- <widget class="QLineEdit" name="lineEdit_custom_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>16777215</height>
- </size>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="1" column="0">
- <layout class="QHBoxLayout" name="horizontalLayout_4">
- <property name="leftMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>0</number>
- </property>
- <item>
- <widget class="QLineEdit" name="lineEdit_custom_1">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>16777215</height>
- </size>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
<item row="1" column="0">
<widget class="Line" name="line">
<property name="orientation">
@@ -863,10 +732,114 @@
</item>
</layout>
</item>
+ <item row="1" column="4">
+ <widget class="QPushButton" name="custom_button_1">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Button 1</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="4">
+ <widget class="QLineEdit" name="lineEdit_custom_1">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="4">
+ <widget class="QPushButton" name="custom_button_2">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Button 2</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="4">
+ <widget class="QLineEdit" name="lineEdit_custom_2">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="4">
+ <widget class="QPushButton" name="custom_button_3">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Button 3</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="4">
+ <widget class="QLineEdit" name="lineEdit_custom_3">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ </widget>
+ </item>
</layout>
</item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Time series of: x [m]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
+ <customwidgets>
+ <customwidget>
+ <class>QChartView</class>
+ <extends>QGraphicsView</extends>
+ <header>QtCharts</header>
+ </customwidget>
+ </customwidgets>
<resources/>
<connections/>
</ui>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/defaultcontrollertab.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/defaultcontrollertab.ui
index c8225eaff2d6b6b9e9c3fc2b5d71237bce7b629c..496157dfaff3357a399e526701f7970672ff08c7 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/defaultcontrollertab.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/defaultcontrollertab.ui
@@ -320,6 +320,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="text">
+ <string>0.1</string>
+ </property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
@@ -386,6 +389,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="text">
+ <string>0.1</string>
+ </property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
@@ -512,6 +518,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="text">
+ <string>15</string>
+ </property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
@@ -826,6 +835,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="text">
+ <string>0.1</string>
+ </property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/studentcontrollertab.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/studentcontrollertab.ui
index e3e70de43498c3add8cd56bf6c419f1759bf1a69..c100ec79808254f76fdba5cbc5e6a22216fd8e2f 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/studentcontrollertab.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/studentcontrollertab.ui
@@ -456,6 +456,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="text">
+ <string>0.1</string>
+ </property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
@@ -1028,6 +1031,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="text">
+ <string>0.1</string>
+ </property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
@@ -1094,6 +1100,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="text">
+ <string>15</string>
+ </property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
@@ -1160,6 +1169,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="text">
+ <string>0.1</string>
+ </property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h
index 686b250bf9369825a0fff7141f0475c5c461cbc7..60d50bc203614b14d18b457e91d3acabe21704dc 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h
@@ -109,11 +109,6 @@ private slots:
void on_default_setpoint_button_clicked();
- void on_custom_button_1_clicked();
- void on_custom_button_2_clicked();
- void on_custom_button_3_clicked();
-
-
// COPIED FROM PREVIOUS REMOTE CONTROLLER GUI
void on_subscribe_button_clicked();
void on_unsubscribe_button_clicked();
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 28ab5cda4b77f99c328e010917f0048f3db48974..f147fe615d8b7d088f916613c86b71b9be79a03a 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 +47,41 @@ CsoneControllerTab::CsoneControllerTab(QWidget *parent) :
ui->red_frame_position_left->setVisible(false);
ui->red_frame_position_right->setVisible(false);
+ // Set the sizing policy for the chart
+ // > This needs to be set here because the sizing policy needs to be
+ // set for the chart, but only the sizing policy for the
+ // ui->chartView_for_x object is accessible through the graphical
+ // designer for the .ui file
+ // > Syntax hint:
+ // void QWidget::setSizePolicy(QSizePolicy::Policy horizontal, QSizePolicy::Policy vertical)
+ ui->chartView_for_x->setSizePolicy(QSizePolicy::MinimumExpanding,QSizePolicy::Expanding);
+ ui->chartView_for_x->chart()->setMinimumHeight(600);
+
+ // Hide the legend of the chart
+ ui->chartView_for_x->chart()->legend()->hide();
+
+ // Set the chart to have no title
+ ui->chartView_for_x->chart()->setTitle("");
+
+ // Set the theme of the chart
+ ui->chartView_for_x->chart()->setTheme(QChart::ChartThemeLight);
+
+ // DEBUGGING: SET SOME FAKE DATA FOR TESTING FOR A LINE CHART
+ QLineSeries *series = new QLineSeries();
+ series->append(0, 6);
+ series->append(2, 4);
+ series->append(3, 8);
+ series->append(7, 4);
+ series->append(10, 5);
+ *series << QPointF(11, 1) << QPointF(13, 3) << QPointF(17, 6) << QPointF(18, 3) << QPointF(20, 2);
+
+ // Add the
+ ui->chartView_for_x->chart()->addSeries(series);
+ ui->chartView_for_x->chart()->createDefaultAxes();
+
+
+
+
#ifdef CATKIN_MAKE
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp
index b4dc5ecf60259e0a9be8cffe732188ef9516dfa9..c897cd9364fbd0e05aed68e79da47cd695551f54 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp
@@ -296,28 +296,6 @@ void RemoteControllerTab::publish_custom_button_command(int button_index , QLine
#endif
-void RemoteControllerTab::on_custom_button_1_clicked()
-{
-#ifdef CATKIN_MAKE
- //publish_custom_button_command(1,ui->lineEdit_custom_1);
-#endif
-}
-
-void RemoteControllerTab::on_custom_button_2_clicked()
-{
-#ifdef CATKIN_MAKE
- //publish_custom_button_command(2,ui->lineEdit_custom_2);
-#endif
-}
-
-void RemoteControllerTab::on_custom_button_3_clicked()
-{
-#ifdef CATKIN_MAKE
- //publish_custom_button_command(3,ui->lineEdit_custom_3);
-#endif
-}
-
-