diff --git a/crazyflie_ws/sandbox/crazypkg/gui/untitled/#mainguiwindow.cpp# b/crazyflie_ws/sandbox/crazypkg/gui/untitled/#mainguiwindow.cpp#
new file mode 100644
index 0000000000000000000000000000000000000000..fb33ef1f0edc8b024b1b24e8463735b1abc96063
--- /dev/null
+++ b/crazyflie_ws/sandbox/crazypkg/gui/untitled/#mainguiwindow.cpp#
@@ -0,0 +1,935 @@
+#include "mainguiwindow.h"
+#include "ui_mainguiwindow.h"
+#include <QDoubleSpinBox>
+#include <QTextEdit>
+#include <QString>
+
+
+
+#define N_MAX_CRAZYFLIES 20 // protection number
+
+#ifndef DEBUG_GUI
+MainGUIWindow::MainGUIWindow(ros::NodeHandle* nodeHandle, /*ros::CallbackQueue *callbackQueue,
+ ros::Publisher* publisherMotorCommandsGUI,*/
+ QWidget *parent) :
+ QMainWindow(parent),
+ ui(new Ui::MainGUIWindow),
+ m_pNodeHandle(nodeHandle)
+{
+ ui->setupUi(this);
+ m_isStopButtonActive=false;
+ m_isCalActive=false;
+ m_trajectoryType=eTrajCustom;
+ _init();
+}
+#else
+MainGUIWindow::MainGUIWindow(QWidget *parent) :
+ QMainWindow(parent),
+ ui(new Ui::MainGUIWindow)
+{
+ ui->setupUi(this);
+ _init();
+}
+#endif
+
+MainGUIWindow::~MainGUIWindow()
+{
+ delete ui;
+}
+
+void MainGUIWindow::_init_tabs()
+{
+ ui->tabWidget->clear();
+ std::string str;
+ for (int i = 0; i < ui->spinBoxNumCrazyflies->value(); i++)
+ {
+ str = "CrazyFly ";
+ str += std::to_string(i+1);
+ QString qstr(str.c_str());
+ ui->tabWidget->addTab(new QWidget(), qstr);
+ }
+}
+
+void MainGUIWindow::_init()
+{
+ ui->spinBoxNumCrazyflies->setMaximum(N_MAX_CRAZYFLIES);
+ _init_tabs();
+}
+
+#ifndef DEBUG_GUI
+void MainGUIWindow::init()
+{
+ m_pNodeHandle->setCallbackQueue(&m_CallbackQueue);
+
+// m_pPublisherMotorCommandsGUI=new ros::Publisher(m_pNodeHandle->advertise
+// <crazypkg::MotorCommands>("topicDummyControllerCmd", 1));
+
+ m_pPublisherControllerParam=new ros::Publisher(m_pNodeHandle->advertise
+ <crazypkg::ControllerParam>("topicControllerParam", 100));
+
+ m_pPublisherPositionSetpoint=new ros::Publisher(m_pNodeHandle->advertise
+ <crazypkg::PositionSetpoint>("topicPositionSetpoint", 1));
+
+ m_pPublisherSampleTime=new ros::Publisher(m_pNodeHandle->advertise
+ <crazypkg::SampleTimeParam>("topicSampleTimeParam", 20));
+
+ m_pPublisherControllerType=new ros::Publisher(m_pNodeHandle->advertise
+ <std_msgs::Int32>("topicControllerType", 1));
+
+ m_pPublisherDoSomething=new ros::Publisher(m_pNodeHandle->advertise
+ <std_msgs::Int32>("topicDoSomething", 20));
+
+ m_pPublisherFeedforwardCmd=new ros::Publisher(m_pNodeHandle->advertise
+ <crazypkg::MotorCommands>("topicFeedforwardCmd",1));
+
+
+ // m_pSubscriberControllerOutput=new ros::Subscriber(m_pNodeHandle->subscribe
+ // ("/FlightControl/topicControllerOutput",1,&MainGUIWindow::callbackControllerOutput,this));
+
+ // m_pSubscriberViconData=new ros::Subscriber(m_pNodeHandle->subscribe
+ // ("/ViconDataStreamSDK/topicViconData",1,&MainGUIWindow::callbackViconData,this));
+
+ // m_pSubscriberCntViconDataMissed=new ros::Subscriber(m_pNodeHandle->subscribe
+ // ("/FlightControl/topicCntViconDataMissed",1,&MainGUIWindow::callbackCntViconDataMissed,this));
+ // initPIDParamsTable();
+ // initRateParamsTable();
+
+ readDefaultParameters();
+
+
+ ros::Time::init();
+ ros::Duration(3).sleep();
+
+ m_CallbackQueue.callAvailable(ros::WallDuration(0));
+
+ // setDefaultPIDParameters();
+ // setDefaultRateParameters();
+
+ // initPositionSetpoint();
+ // initSetpointType();
+ // initSampleTime();
+ // initFeedforwardCmd();
+
+ // initSetpointQueues();
+
+ ros::Duration(1).sleep();
+
+ // initControllerType();
+
+ //refreshScreen();
+}
+
+// void MainGUIWindow::refreshScreen()
+// {
+// // for(int i=0;i<countPIDControllers;i++)
+// // {
+// // ((QDoubleSpinBox*)ui->tableWidget->cellWidget(i,eKp))->setValue(m_PIDParams[i].Kp);
+// // ((QDoubleSpinBox*)ui->tableWidget->cellWidget(i,eKi))->setValue(m_PIDParams[i].Ki);
+// // ((QDoubleSpinBox*)ui->tableWidget->cellWidget(i,eKd))->setValue(m_PIDParams[i].Kd);
+// // ((QDoubleSpinBox*)ui->tableWidget->cellWidget(i,eN))->setValue(m_PIDParams[i].N);
+// // }
+
+// }
+
+
+
+
+// void MainGUIWindow::callbackCntViconDataMissed(const std_msgs::Int32& msg)
+// {
+// ui->LCDMissedMes->display(msg.data);
+// }
+
+// void MainGUIWindow::callbackControllerOutput(const crazypkg::ControllerOutputPackage& msg)
+// {
+// ui->LCDMotor1Cmd->display(msg.motorCmd1);
+// ui->LCDMotor2Cmd->display(msg.motorCmd2);
+// ui->LCDMotor3Cmd->display(msg.motorCmd3);
+// ui->LCDMotor4Cmd->display(msg.motorCmd4);
+// ui->LCDRollCmd->display(msg.roll);
+// ui->LCDPitchCmd->display(msg.pitch);
+// ui->LCDYawCmd->display(msg.yaw);
+// ui->LCDThrustCmd->display(msg.thrust);
+
+// switch (msg.onboardControllerType)
+// {
+// case eOnboardAngleController: {ui->labelControllerOutputMode->setText("Angle"); break;}
+// case eOnboardRateController: {ui->labelControllerOutputMode->setText("Rate"); break;}
+// case eOnboardMotorCmdController: {ui->labelControllerOutputMode->setText("MotorCmd"); break;}
+// default:{ROS_ERROR("unknown onboard controller type in MainGUIWindow::callbackControllerOutput"); break;}
+// }
+
+
+// }
+
+// void MainGUIWindow::callbackViconData(const crazypkg::ViconData& msg)
+// {
+// ui->LCDViconDataX->display(msg.x);
+// ui->LCDViconDataY->display(msg.y);
+// ui->LCDViconDataZ->display(msg.z);
+// ui->LCDViconDataYaw->display(msg.yaw*RAD2DEG);
+// ui->LCDViconDataPitch->display(msg.pitch*RAD2DEG);
+// ui->LCDViconDataRoll->display(msg.roll*RAD2DEG);
+// }
+
+void MainGUIWindow::runCallbacks()
+{
+ m_CallbackQueue.callAvailable(ros::WallDuration(0));
+
+ // updateSetpoint();
+}
+
+// void MainGUIWindow::setDefaultPIDParameters()
+// {
+// //memcpy(&m_PIDParams,&m_DefaultPIDParams,sizeof(m_DefaultPIDParams));
+
+// for(int i=0;i<countPIDControllers;i++)
+// {
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,eKp))->setValue(m_DefaultPIDParams[i].Kp);
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,eKi))->setValue(m_DefaultPIDParams[i].Ki);
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,eKd))->setValue(m_DefaultPIDParams[i].Kd);
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,eN))->setValue(m_DefaultPIDParams[i].N);
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,eMinPIDSat))->setValue(m_DefaultPIDParams[i].MinSat);
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,eMaxPIDSat))->setValue(m_DefaultPIDParams[i].MaxSat);
+// }
+// }
+
+// void MainGUIWindow::setDefaultRateParameters()
+// {
+// //memcpy(&m_PIDParams,&m_DefaultPIDParams,sizeof(m_DefaultPIDParams));
+
+// for(int i=0;i<countRateControllers;i++)
+// {
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,eKp))->setValue(m_DefaultRateParams[i].Kp);
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,eKi))->setValue(m_DefaultRateParams[i].Ki);
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,eKd))->setValue(m_DefaultRateParams[i].Kd);
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,eN))->setValue(m_DefaultRateParams[i].N);
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,eMinPIDSat))->setValue(m_DefaultRateParams[i].MinSat);
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,eMaxPIDSat))->setValue(m_DefaultRateParams[i].MaxSat);
+// }
+// }
+
+void MainGUIWindow::readDefaultParameters()
+{
+ m_pNodeHandle->param<double>("KpX",m_DefaultPIDParams[ePIDX].Kp,0);
+ m_pNodeHandle->param<double>("KiX",m_DefaultPIDParams[ePIDX].Ki,0);
+ m_pNodeHandle->param<double>("KdX",m_DefaultPIDParams[ePIDX].Kd,0);
+ m_pNodeHandle->param<double>("NX",m_DefaultPIDParams[ePIDX].N,60);
+ m_pNodeHandle->param<double>("MinSatPIDX",m_DefaultPIDParams[ePIDX].MinSat,-9876);
+ m_pNodeHandle->param<double>("MaxSatPIDX",m_DefaultPIDParams[ePIDX].MaxSat,98765);
+
+ m_pNodeHandle->param<double>("KpY",m_DefaultPIDParams[ePIDY].Kp,0);
+ m_pNodeHandle->param<double>("KiY",m_DefaultPIDParams[ePIDY].Ki,0);
+ m_pNodeHandle->param<double>("KdY",m_DefaultPIDParams[ePIDY].Kd,0);
+ m_pNodeHandle->param<double>("NY",m_DefaultPIDParams[ePIDY].N,60);
+ m_pNodeHandle->param<double>("MinSatPIDY",m_DefaultPIDParams[ePIDY].MinSat,-9876);
+ m_pNodeHandle->param<double>("MaxSatPIDY",m_DefaultPIDParams[ePIDY].MaxSat,98765);
+
+ m_pNodeHandle->param<double>("KpZ",m_DefaultPIDParams[ePIDZ].Kp,0);
+ m_pNodeHandle->param<double>("KiZ",m_DefaultPIDParams[ePIDZ].Ki,0);
+ m_pNodeHandle->param<double>("KdZ",m_DefaultPIDParams[ePIDZ].Kd,0);
+ m_pNodeHandle->param<double>("NZ",m_DefaultPIDParams[ePIDZ].N,60);
+ m_pNodeHandle->param<double>("MinSatPIDZ",m_DefaultPIDParams[ePIDZ].MinSat,-9876);
+ m_pNodeHandle->param<double>("MaxSatPIDZ",m_DefaultPIDParams[ePIDZ].MaxSat,98765);
+
+ m_pNodeHandle->param<double>("KpYaw",m_DefaultPIDParams[ePIDYaw].Kp,0);
+ m_pNodeHandle->param<double>("KiYaw",m_DefaultPIDParams[ePIDYaw].Ki,0);
+ m_pNodeHandle->param<double>("KdYaw",m_DefaultPIDParams[ePIDYaw].Kd,0);
+ m_pNodeHandle->param<double>("NYaw",m_DefaultPIDParams[ePIDYaw].N,60);
+ m_pNodeHandle->param<double>("MinSatPIDYaw",m_DefaultPIDParams[ePIDYaw].MinSat,-9876);
+ m_pNodeHandle->param<double>("MaxSatPIDYaw",m_DefaultPIDParams[ePIDYaw].MaxSat,98765);
+
+ m_pNodeHandle->param<double>("KpPitch",m_DefaultPIDParams[ePIDPitch].Kp,0);
+ m_pNodeHandle->param<double>("KiPitch",m_DefaultPIDParams[ePIDPitch].Ki,0);
+ m_pNodeHandle->param<double>("KdPitch",m_DefaultPIDParams[ePIDPitch].Kd,0);
+ m_pNodeHandle->param<double>("NPitch",m_DefaultPIDParams[ePIDPitch].N,60);
+ m_pNodeHandle->param<double>("MinSatPIDPitch",m_DefaultPIDParams[ePIDPitch].MinSat,-9876);
+ m_pNodeHandle->param<double>("MaxSatPIDPitch",m_DefaultPIDParams[ePIDPitch].MaxSat,98765);
+
+ m_pNodeHandle->param<double>("KpRoll",m_DefaultPIDParams[ePIDRoll].Kp,0);
+ m_pNodeHandle->param<double>("KiRoll",m_DefaultPIDParams[ePIDRoll].Ki,0);
+ m_pNodeHandle->param<double>("KdRoll",m_DefaultPIDParams[ePIDRoll].Kd,0);
+ m_pNodeHandle->param<double>("NRoll",m_DefaultPIDParams[ePIDRoll].N,60);
+ m_pNodeHandle->param<double>("MinSatPIDRoll",m_DefaultPIDParams[ePIDRoll].MinSat,-9876);
+ m_pNodeHandle->param<double>("MaxSatPIDRoll",m_DefaultPIDParams[ePIDRoll].MaxSat,98765);
+
+
+
+ m_pNodeHandle->param<double>("KpRateYaw",m_DefaultRateParams[ePIDYawRate].Kp,0);
+ m_pNodeHandle->param<double>("KiRateYaw",m_DefaultRateParams[ePIDYawRate].Ki,0);
+ m_pNodeHandle->param<double>("KdRateYaw",m_DefaultRateParams[ePIDYawRate].Kd,0);
+ m_pNodeHandle->param<double>("NRateYaw",m_DefaultRateParams[ePIDYawRate].N,60);
+ m_pNodeHandle->param<double>("MinSatRateYaw",m_DefaultRateParams[ePIDYawRate].MinSat,-9876);
+ m_pNodeHandle->param<double>("MaxSatRateYaw",m_DefaultRateParams[ePIDYawRate].MaxSat,98765);
+
+ m_pNodeHandle->param<double>("KpRatePitch",m_DefaultRateParams[ePIDPitchRate].Kp,0);
+ m_pNodeHandle->param<double>("KiRatePitch",m_DefaultRateParams[ePIDPitchRate].Ki,0);
+ m_pNodeHandle->param<double>("KdRatePitch",m_DefaultRateParams[ePIDPitchRate].Kd,0);
+ m_pNodeHandle->param<double>("NRatePitch",m_DefaultRateParams[ePIDPitchRate].N,60);
+ m_pNodeHandle->param<double>("MinSatRatePitch",m_DefaultRateParams[ePIDPitchRate].MinSat,-9876);
+ m_pNodeHandle->param<double>("MaxSatRatePitch",m_DefaultRateParams[ePIDPitchRate].MaxSat,98765);
+
+ m_pNodeHandle->param<double>("KpRateRoll",m_DefaultRateParams[ePIDRollRate].Kp,0);
+ m_pNodeHandle->param<double>("KiRateRoll",m_DefaultRateParams[ePIDRollRate].Ki,0);
+ m_pNodeHandle->param<double>("KdRateRoll",m_DefaultRateParams[ePIDRollRate].Kd,0);
+ m_pNodeHandle->param<double>("NRateRoll",m_DefaultRateParams[ePIDRollRate].N,60);
+ m_pNodeHandle->param<double>("MinSatRateRoll",m_DefaultRateParams[ePIDRollRate].MinSat,-9876);
+ m_pNodeHandle->param<double>("MaxSatRateRoll",m_DefaultRateParams[ePIDRollRate].MaxSat,98765);
+
+
+
+ m_pNodeHandle->param<double>("SampleTimePID",m_DefaultSampleTime[ePIDTs],0.020);
+ m_pNodeHandle->param<double>("SampleTimeLQRFull",m_DefaultSampleTime[eLQRFullTs],0.020);
+ m_pNodeHandle->param<double>("SampleTimeLQRNested",m_DefaultSampleTime[eLQRNestedTs],0.020);
+ m_pNodeHandle->param<double>("SampleTimeRate",m_DefaultSampleTime[eRateTs],0.020);
+
+
+ m_pNodeHandle->param<float>("FeedforwardMotor1",m_DefaultFeedforwardCmd.cmd1,0.0);
+ m_pNodeHandle->param<float>("FeedforwardMotor2",m_DefaultFeedforwardCmd.cmd2,0.0);
+ m_pNodeHandle->param<float>("FeedforwardMotor3",m_DefaultFeedforwardCmd.cmd3,0.0);
+ m_pNodeHandle->param<float>("FeedforwardMotor4",m_DefaultFeedforwardCmd.cmd4,0.0);
+}
+
+// void MainGUIWindow::initPIDParamsTable()
+// {
+// for (int i = 0; i < countPIDControllers; ++i)
+// {
+// for (int j = 0; j < countPIDParams ; ++j)
+// {
+// ui->PIDParamTable->setCellWidget(i,j,new QDoubleSpinBox(ui->PIDParamTable));
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,j))->setDecimals(3);
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,j))->setMaximum(999999.0);
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,j))->setProperty("row",i);
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,j))->setProperty("column",j);
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,j))->setValue(1234.321);
+// if(j==eMinPIDSat)
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,j))->setMinimum(-99999.0);
+// else
+// ((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,j))->setMinimum(0);
+// connect(((QDoubleSpinBox*)ui->PIDParamTable->cellWidget(i,j))
+// , SIGNAL(valueChanged(double)), this, SLOT(PIDParamTableChanged(double)));
+// }
+
+
+// }
+// }
+
+// void MainGUIWindow::initRateParamsTable()
+// {
+// for (int i = 0; i < countRateControllers; ++i) {
+// for (int j = 0; j < countPIDParams ; ++j) {
+// ui->RateParamTable->setCellWidget(i,j,new QDoubleSpinBox(ui->RateParamTable));
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,j))->setDecimals(3);
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,j))->setMaximum(999999.0);
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,j))->setProperty("row",i);
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,j))->setProperty("column",j);
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,j))->setValue(1234.321);
+// if(j==eMinPIDSat)
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,j))->setMinimum(-99999.0);
+// else
+// ((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,j))->setMinimum(0);
+// connect(((QDoubleSpinBox*)ui->RateParamTable->cellWidget(i,j))
+// , SIGNAL(valueChanged(double)), this, SLOT(RateParamTableChanged(double)));
+// }
+
+
+// }
+
+// }
+
+// void MainGUIWindow::PIDParamTableChanged(double param)
+// {
+
+// QDoubleSpinBox* spinBox = qobject_cast<QDoubleSpinBox*>(sender());
+// if (spinBox)
+// {
+// m_controllerParam.crazyControllerType=ePID;
+// m_controllerParam.basicControllerType=spinBox->property("row").toInt();
+// m_controllerParam.paramType=spinBox->property("column").toInt();
+// m_controllerParam.value=param;
+
+// m_pPublisherControllerParam->publish(m_controllerParam);
+// }
+// }
+
+// void MainGUIWindow::RateParamTableChanged(double param)
+// {
+
+// QDoubleSpinBox* spinBox = qobject_cast<QDoubleSpinBox*>(sender());
+// if (spinBox)
+// {
+// m_controllerParam.crazyControllerType=eRate;
+// m_controllerParam.basicControllerType=spinBox->property("row").toInt();
+// m_controllerParam.paramType=spinBox->property("column").toInt();
+// m_controllerParam.value=param;
+
+// m_pPublisherControllerParam->publish(m_controllerParam);
+// }
+// }
+
+// void MainGUIWindow::initPositionSetpoint()
+// {
+// ui->SetpointX->setValue(ui->LCDViconDataX->value());
+// ui->SetpointY->setValue(ui->LCDViconDataY->value());
+// ui->SetpointZ->setValue(ui->LCDViconDataZ->value());
+// ui->SetpointYaw->setValue(ui->LCDViconDataYaw->value());
+
+// publishSetpoint();
+
+// connect(ui->SetpointX, SIGNAL(valueChanged(double)), this, SLOT(positionSetpointChanged(double)));
+// ui->SetpointX->setProperty("param","X");
+// connect(ui->SetpointY, SIGNAL(valueChanged(double)), this, SLOT(positionSetpointChanged(double)));
+// ui->SetpointY->setProperty("param","Y");
+// connect(ui->SetpointZ, SIGNAL(valueChanged(double)), this, SLOT(positionSetpointChanged(double)));
+// ui->SetpointZ->setProperty("param","Z");
+// connect(ui->SetpointYaw, SIGNAL(valueChanged(double)), this, SLOT(positionSetpointChanged(double)));
+// ui->SetpointYaw->setProperty("param","Yaw");
+
+// }
+
+// void MainGUIWindow::positionSetpointChanged(double param)
+// {
+// //publishSetpoint();
+// }
+
+// void MainGUIWindow::publishSetpoint()
+// {
+// m_positionSetpoint.x=ui->SetpointX->value()/1000;
+// m_positionSetpoint.y=ui->SetpointY->value()/1000;
+// m_positionSetpoint.z=ui->SetpointZ->value()/1000;
+// m_positionSetpoint.yaw=ui->SetpointYaw->value()*DEG2RAD;
+// m_pPublisherPositionSetpoint->publish(m_positionSetpoint);
+// }
+
+// void MainGUIWindow::initSampleTime()
+// {
+
+
+
+// // publishSampleTime(ePIDTs);
+// // publishSampleTime(eLQRTs);
+// // publishSampleTime(eLQRInnerTs);
+// // publishSampleTime(eLQROuterTs);
+
+// connect(ui->PIDTs, SIGNAL(valueChanged(double)), this, SLOT(sampleTimeChanged(double)));
+// ui->PIDTs->setProperty("sampleTimeType",ePIDTs);
+// connect(ui->RateTs, SIGNAL(valueChanged(double)), this, SLOT(sampleTimeChanged(double)));
+// ui->RateTs->setProperty("sampleTimeType",eRateTs);
+// connect(ui->LQRFullTs, SIGNAL(valueChanged(double)), this, SLOT(sampleTimeChanged(double)));
+// ui->LQRFullTs->setProperty("sampleTimeType",eLQRFullTs);
+// connect(ui->LQRNestedTs, SIGNAL(valueChanged(double)), this, SLOT(sampleTimeChanged(double)));
+// ui->LQRNestedTs->setProperty("sampleTimeType",eLQRNestedTs);
+
+// setDefaultSampleTime();
+
+// }
+
+// void MainGUIWindow::setDefaultSampleTime()
+// {
+// ui->PIDTs->setValue(m_DefaultSampleTime[ePIDTs]*1000);
+// ui->RateTs->setValue(m_DefaultSampleTime[eRateTs]*1000);
+// ui->LQRFullTs->setValue(m_DefaultSampleTime[eLQRFullTs]*1000);
+// ui->LQRNestedTs->setValue(m_DefaultSampleTime[eLQRNestedTs]*1000);
+// }
+
+//void MainGUIWindow::publishSampleTime(ESampleTimeType sampleTimeType)
+//{
+// m_sampleTimeParam.crazyControllerType=controller;
+// switch (controller)
+// {
+// case ePIDTs:
+// {
+// m_sampleTimeParam.value=ui->PIDTs->value();
+// break;
+// }
+// case eLQRTs:
+// {
+// m_sampleTimeParam.value=ui->LQRTs->value();
+// break;
+// }
+// case eLQRInnerTs:
+// {
+// m_sampleTimeParam.value=ui->LQRInnerTs->value();
+// break;
+// }
+// case eLQROuterTs:
+// {
+// m_sampleTimeParam.value=ui->LQROuterTs->value();
+// break;
+// }
+// default: ROS_ERROR("invalid sampleTime type in publish sample time")
+// }
+
+// m_pPublisherSampleTime->publish(m_sampleTimeParam);
+//}
+
+// void MainGUIWindow::sampleTimeChanged(double param)
+// {
+// QDoubleSpinBox* spinBox = qobject_cast<QDoubleSpinBox*>(sender());
+// if (spinBox)
+// {
+// m_sampleTimeParam.value=param/1000;
+// m_sampleTimeParam.sampleTimeType=spinBox->property("sampleTimeType").toInt();
+// m_pPublisherSampleTime->publish(m_sampleTimeParam);
+// }
+// }
+
+// void MainGUIWindow::initControllerType()
+// {
+// connect(ui->controllerPIDPosition, SIGNAL(toggled(bool)), this, SLOT(controllerTypeChanged(bool)));
+// ui->controllerPIDPosition->setProperty("controllerType",ePIDPosition);
+// connect(ui->controllerPIDAngle, SIGNAL(toggled(bool)), this, SLOT(controllerTypeChanged(bool)));
+// ui->controllerPIDAngle->setProperty("controllerType",ePIDAngle);
+// connect(ui->controllerPIDFull, SIGNAL(toggled(bool)), this, SLOT(controllerTypeChanged(bool)));
+// ui->controllerPIDFull->setProperty("controllerType",ePIDFull);
+
+// connect(ui->controllerLQRFull, SIGNAL(toggled(bool)), this, SLOT(controllerTypeChanged(bool)));
+// ui->controllerLQRFull->setProperty("controllerType",eLQRFull);
+
+// connect(ui->controllerLQRNestedOnboard, SIGNAL(toggled(bool)), this, SLOT(controllerTypeChanged(bool)));
+// ui->controllerLQRNestedOnboard->setProperty("controllerType",eLQRNestedOnboardRate);
+// connect(ui->controllerLQRNestedOffboard, SIGNAL(toggled(bool)), this, SLOT(controllerTypeChanged(bool)));
+// ui->controllerLQRNestedOffboard->setProperty("controllerType",eLQRNestedOffboardRate);
+
+// connect(ui->controllerAngleCmdTest, SIGNAL(toggled(bool)), this, SLOT(controllerTypeChanged(bool)));
+// ui->controllerAngleCmdTest->setProperty("controllerType",eAngleCmdTest);
+// connect(ui->controllerRateCmdTest, SIGNAL(toggled(bool)), this, SLOT(controllerTypeChanged(bool)));
+// ui->controllerRateCmdTest->setProperty("controllerType",eRateCmdTest);
+// connect(ui->controllerMotorCmdTest, SIGNAL(toggled(bool)), this, SLOT(controllerTypeChanged(bool)));
+// ui->controllerMotorCmdTest->setProperty("controllerType",eMotorCmdTest);
+
+// //set default controller:
+// ui->controllerMotorCmdTest->setChecked(true);
+
+// }
+
+// void MainGUIWindow::initSetpointType()
+// {
+// connect(ui->trajCustom, SIGNAL(toggled(bool)), this, SLOT(trajectoryTypeChanged(bool)));
+// ui->trajCustom->setProperty("trajectoryType",eTrajCustom);
+// connect(ui->trajCircle, SIGNAL(toggled(bool)), this, SLOT(trajectoryTypeChanged(bool)));
+// ui->trajCircle->setProperty("trajectoryType",eTrajCircle);
+// connect(ui->trajSquare, SIGNAL(toggled(bool)), this, SLOT(trajectoryTypeChanged(bool)));
+// ui->trajSquare->setProperty("trajectoryType",eTrajSquare);
+
+// ui->trajCustom->setChecked(true);
+// }
+
+// void MainGUIWindow::trajectoryTypeChanged(bool checked)
+// {
+// QRadioButton* radioButton = qobject_cast<QRadioButton*>(sender());
+// if (radioButton && checked)
+// {
+// m_trajectoryType=(ETrajectoryType)radioButton->property("trajectoryType").toInt();
+// }
+// }
+
+// void MainGUIWindow::controllerTypeChanged(bool checked)
+// {
+// QRadioButton* radioButton = qobject_cast<QRadioButton*>(sender());
+// if (radioButton && checked)
+// {
+// m_controllerType.data=radioButton->property("controllerType").toInt();
+
+// if(m_controllerType.data==ePIDPosition || m_controllerType.data==ePIDAngle ||
+// m_controllerType.data==eLQRNestedOnboardRate
+// || m_controllerType.data==eAngleCmdTest || m_controllerType.data==eRateCmdTest
+// || m_controllerType.data==eMotorCmdTest)
+// {
+// ui->labelRateMode->setText("Onboard");
+// }
+// else if(m_controllerType.data==ePIDFull || m_controllerType.data==eLQRFull ||
+// m_controllerType.data==eLQRNestedOffboardRate )
+// {
+// ui->labelRateMode->setText("Offboard");
+// }
+// else
+// {
+// ROS_ERROR("unknown controller type in MainGUIWindow::controllerTypeChanged");
+// }
+
+// m_pPublisherControllerType->publish(m_controllerType);
+// }
+// }
+
+
+
+
+// void MainGUIWindow::on_buttonStop_clicked()
+// {
+// if(!m_isStopButtonActive)
+// {
+// m_isStopButtonActive=true;
+// m_DoSomething.data=eStopQuad;
+// m_pPublisherDoSomething->publish(m_DoSomething);
+// ui->buttonStop->setText("START");
+// }
+// else
+// {
+// m_isStopButtonActive=false;
+// m_DoSomething.data=eStartQuad;
+// m_pPublisherDoSomething->publish(m_DoSomething);
+// ui->buttonStop->setText("STOP");
+// }
+
+// }
+
+// void MainGUIWindow::on_buttonPrint_clicked()
+// {
+// m_DoSomething.data=ePrintInfo;
+// m_pPublisherDoSomething->publish(m_DoSomething);
+// }
+
+
+
+
+// void MainGUIWindow::initFeedforwardCmd()
+// {
+// connect(ui->FeedforwardCmd1, SIGNAL(valueChanged(double)), this, SLOT(feedforwardCmdChanged(double)));
+// connect(ui->FeedforwardCmd2, SIGNAL(valueChanged(double)), this, SLOT(feedforwardCmdChanged(double)));
+// connect(ui->FeedforwardCmd3, SIGNAL(valueChanged(double)), this, SLOT(feedforwardCmdChanged(double)));
+// connect(ui->FeedforwardCmd4, SIGNAL(valueChanged(double)), this, SLOT(feedforwardCmdChanged(double)));
+
+
+// setDefaultFeedforwardCmd();
+// }
+
+// void MainGUIWindow::feedforwardCmdChanged(double cmd)
+// {
+// m_feedforwardCmd.cmd1=ui->FeedforwardCmd1->value();
+// m_feedforwardCmd.cmd2=ui->FeedforwardCmd2->value();
+// m_feedforwardCmd.cmd3=ui->FeedforwardCmd3->value();
+// m_feedforwardCmd.cmd4=ui->FeedforwardCmd4->value();
+// m_pPublisherFeedforwardCmd->publish(m_feedforwardCmd);
+// }
+
+// void MainGUIWindow::setDefaultFeedforwardCmd()
+// {
+// ui->FeedforwardCmd1->setValue(m_DefaultFeedforwardCmd.cmd1);
+// ui->FeedforwardCmd2->setValue(m_DefaultFeedforwardCmd.cmd2);
+// ui->FeedforwardCmd3->setValue(m_DefaultFeedforwardCmd.cmd3);
+// ui->FeedforwardCmd4->setValue(m_DefaultFeedforwardCmd.cmd4);
+// }
+
+// void MainGUIWindow::on_buttonSetpointChange_clicked()
+// {
+// publishSetpoint();
+// }
+
+// void MainGUIWindow::on_buttonResetControllers_clicked()
+// {
+// m_DoSomething.data=eResetControllers;
+// m_pPublisherDoSomething->publish(m_DoSomething);
+// }
+
+// void MainGUIWindow::on_buttonSetDefaultTs_clicked()
+// {
+// setDefaultSampleTime();
+// }
+
+// void MainGUIWindow::on_buttonPIDDefaultParams_clicked()
+// {
+// setDefaultPIDParameters();
+// }
+
+// void MainGUIWindow::on_buttonSetpointCurrPos_clicked()
+// {
+// ui->SetpointX->setValue(ui->LCDViconDataX->value());
+// ui->SetpointY->setValue(ui->LCDViconDataY->value());
+// ui->SetpointZ->setValue(ui->LCDViconDataZ->value());
+// ui->SetpointYaw->setValue(ui->LCDViconDataYaw->value());
+
+// publishSetpoint();
+// }
+
+// void MainGUIWindow::on_buttonDefaultFeedforward_clicked()
+// {
+// setDefaultFeedforwardCmd();
+// }
+
+
+// void MainGUIWindow::on_buttonResetMissed_clicked()
+// {
+// ui->LCDMissedMes->display(0);
+// m_DoSomething.data=eResetCntMissedViconData;
+// m_pPublisherDoSomething->publish(m_DoSomething);
+// }
+
+// void MainGUIWindow::on_buttonSetDefaultRateParams_clicked()
+// {
+// setDefaultRateParameters();
+// }
+
+// void MainGUIWindow::on_SetpointHome_clicked()
+// {
+// ui->SetpointX->setValue(0);
+// ui->SetpointY->setValue(-700);
+// ui->SetpointZ->setValue(1200);
+
+// publishSetpoint();
+// }
+
+// void MainGUIWindow::on_setpointZ200_clicked()
+// {
+// ui->SetpointZ->setValue(200);
+
+// publishSetpoint();
+// }
+
+
+
+
+// void MainGUIWindow::on_slideMotorCmdTest_valueChanged(int value)
+// {
+// m_controllerParam.crazyControllerType=eMotorCmdTest;
+// m_controllerParam.basicControllerType=eTestMotorCmd;
+// m_controllerParam.value=value*600;
+// m_pPublisherControllerParam->publish(m_controllerParam);
+// ui->LCDMotorCmdTest->display(value*600);
+// }
+
+
+
+// void MainGUIWindow::on_slideRollAngleTest_valueChanged(int value)
+// {
+// m_controllerParam.crazyControllerType=eAngleCmdTest;
+// m_controllerParam.basicControllerType=eTestRoll;
+// m_controllerParam.value=value*0.008;
+// m_pPublisherControllerParam->publish(m_controllerParam);
+// ui->LCDRollAngleTest->display(value*0.008*RAD2DEG);
+// }
+
+// void MainGUIWindow::on_slidePitchAngleTest_valueChanged(int value)
+// {
+// m_controllerParam.crazyControllerType=eAngleCmdTest;
+// m_controllerParam.basicControllerType=eTestPitch;
+// m_controllerParam.value=value*0.008;
+// m_pPublisherControllerParam->publish(m_controllerParam);
+// ui->LCDPitchAngleTest->display(value*0.008*RAD2DEG);
+// }
+
+// void MainGUIWindow::on_slideYawAngleTest_valueChanged(int value)
+// {
+// m_controllerParam.crazyControllerType=eAngleCmdTest;
+// m_controllerParam.basicControllerType=eTestYaw;
+// m_controllerParam.value=value*0.03;
+// m_pPublisherControllerParam->publish(m_controllerParam);
+// ui->LCDYawAngleTest->display(value*0.03*RAD2DEG);
+// }
+
+// void MainGUIWindow::on_slideRollRateTest_valueChanged(int value)
+// {
+// m_controllerParam.crazyControllerType=eRateCmdTest;
+// m_controllerParam.basicControllerType=eTestRoll;
+// m_controllerParam.value=value*0.005;
+// m_pPublisherControllerParam->publish(m_controllerParam);
+// ui->LCDRollRateTest->display(value*0.005*RAD2DEG);
+// }
+
+// void MainGUIWindow::on_slidePitchRateTest_valueChanged(int value)
+// {
+// m_controllerParam.crazyControllerType=eRateCmdTest;
+// m_controllerParam.basicControllerType=eTestPitch;
+// m_controllerParam.value=value*0.005;
+// m_pPublisherControllerParam->publish(m_controllerParam);
+// ui->LCDPitchRateTest->display(value*0.005*RAD2DEG);
+// }
+
+// void MainGUIWindow::on_slideYawRateTest_valueChanged(int value)
+// {
+// m_controllerParam.crazyControllerType=eRateCmdTest;
+// m_controllerParam.basicControllerType=eTestYaw;
+// m_controllerParam.value=value*0.005;
+// m_pPublisherControllerParam->publish(m_controllerParam);
+// ui->LCDYawRateTest->display(value*0.005*RAD2DEG);
+// }
+
+
+CSetpointQueue::CSetpointQueue()
+{
+ startElem=NULL;
+ currElem=NULL;
+ lastElem=NULL;
+}
+
+void CSetpointQueue::insert(setpoint newElem)
+{
+ if (startElem==NULL)
+ {
+ startElem=new QueueElem(newElem);
+ lastElem=startElem;
+ currElem=startElem;
+ }
+ else
+ {
+ lastElem->next=new QueueElem(newElem);
+ lastElem=lastElem->next;
+ }
+}
+setpoint CSetpointQueue::getNext()
+{
+ setpoint ret;
+ ret.x=currElem->elem.x;
+ ret.y=currElem->elem.y;
+ ret.z=currElem->elem.z;
+ ret.yaw=currElem->elem.yaw;
+
+ if(currElem->next!=NULL)
+ currElem=currElem->next;
+ else currElem=startElem;
+
+ return ret;
+}
+
+void CSetpointQueue::print()
+{
+ QueueElem* p=startElem;
+
+ ROS_INFO_STREAM("queue elements: ");
+ int cnt=0;
+ while (p!=NULL)
+ {
+ cnt++;
+ ROS_INFO_STREAM("element "<<cnt<<": "<<"x="<<p->elem.x<<" y="<<p->elem.y<<" z="<<p->elem.z<<" yaw="<<p->elem.yaw);
+ p=p->next;
+ }
+}
+
+// void MainGUIWindow::initSetpointQueues()
+// {
+// setpoint sp;
+
+// int pointsCnt=500;
+// for(int i=0; i<pointsCnt; i++)
+// {
+// double angle=i*2*3.141592/pointsCnt;
+// sp.x=cos(angle)*0.7;
+// sp.y=sin(angle)*0.7;
+// sp.z=1;
+// double yaw=PI/2+angle;
+// while(yaw>PI) yaw-=2*PI;
+// while(yaw<-PI) yaw+=2*PI;
+// //sp.yaw=yaw;
+// sp.yaw=0;
+// m_trajCircle.insert(sp);
+// }
+
+// // for(int i=0; i<pointsCnt; i++)
+// // {
+
+// // sp.x=0;
+// // sp.y=0.1;
+// // sp.z=1.123;
+// // sp.yaw=0;
+
+// // m_trajSquare.insert(sp);
+// // }
+
+// sp.y=0;
+// sp.yaw=0;
+
+
+// sp.x=-0.250; sp.z=0.500; m_trajSquare.insert(sp);
+
+// //sp.x=-0.550; sp.z=0.500; m_trajSquare.insert(sp);
+// sp.x=-0.750; sp.z=0.500; m_trajSquare.insert(sp);
+
+// //sp.x=-0.750; sp.z=0.750; m_trajSquare.insert(sp);
+// sp.x=-0.750; sp.z=1; m_trajSquare.insert(sp);
+
+// //sp.x=-0.500; sp.z=1; m_trajSquare.insert(sp);
+// sp.x=-0.250; sp.z=1; m_trajSquare.insert(sp);
+
+// //sp.x=-0.500; sp.z=1; m_trajSquare.insert(sp);
+// sp.x=-0.750; sp.z=1; m_trajSquare.insert(sp);
+
+// sp.x=-0.750; sp.z=1.5; m_trajSquare.insert(sp);
+
+// sp.x=0; sp.z=1.5; m_trajSquare.insert(sp);
+
+// sp.x=0; sp.z=0.500; m_trajSquare.insert(sp);
+
+// sp.x=0; sp.z=1.5; m_trajSquare.insert(sp);
+
+// sp.x=0.250; sp.z=1.5; m_trajSquare.insert(sp);
+
+// sp.x=0.250; sp.z=0.500; m_trajSquare.insert(sp);
+
+// sp.x=0.250; sp.z=1; m_trajSquare.insert(sp);
+
+// sp.x=0.750; sp.z=1; m_trajSquare.insert(sp);
+
+// sp.x=0.750; sp.z=1.5; m_trajSquare.insert(sp);
+
+// sp.x=0.750; sp.z=0.500; m_trajSquare.insert(sp);
+
+// m_trajSquare.print();
+
+// }
+
+// void MainGUIWindow::updateSetpoint()
+// {
+// if(m_trajectoryType==eTrajCustom)
+// return;
+
+// double currX,currY,spX,spY,currZ,spZ;
+// currX=ui->LCDViconDataX->value();
+// currY=ui->LCDViconDataY->value();
+// currZ=ui->LCDViconDataZ->value();
+
+// spX=ui->SetpointX->value();
+// spY=ui->SetpointY->value();
+// spZ=ui->SetpointZ->value();
+
+// while(sqrt((spX-currX)*(spX-currX)+(spY-currY)*(spY-currY)+(spZ-currZ)*(spZ-currZ))<40)
+// {
+
+// setpoint sp;
+
+// if(m_trajectoryType==eTrajCircle)
+// sp=m_trajCircle.getNext();
+// if(m_trajectoryType==eTrajSquare)
+// sp=m_trajSquare.getNext();
+
+// ui->SetpointX->setValue(sp.x*1000);
+// ui->SetpointY->setValue(sp.y*1000);
+// ui->SetpointZ->setValue(sp.z*1000);
+// ui->SetpointYaw->setValue(sp.yaw*RAD2DEG);
+
+// publishSetpoint();
+
+// spX=ui->SetpointX->value();
+// spY=ui->SetpointY->value();
+// spZ=ui->SetpointZ->value();
+// }
+
+// }
+
+
+
+
+// void MainGUIWindow::on_buttonStop_2_clicked()
+// {
+
+// if(!m_isCalActive)
+// {
+// m_isCalActive=true;
+// m_DoSomething.data=eStartCal;
+// m_pPublisherDoSomething->publish(m_DoSomething);
+// ui->buttonStop_2->setText("STOP cal");
+// }
+// else
+// {
+// m_isCalActive=false;
+// m_DoSomething.data=eStopCal;
+// m_pPublisherDoSomething->publish(m_DoSomething);
+// ui->buttonStop_2->setText("START cal");
+// }
+
+
+// }
+#endif // DEBUG_GUI
+void MainGUIWindow::on_spinBoxNumCrazyflies_valueChanged(int arg1)
+{
+
+}
+
diff --git a/crazyflie_ws/sandbox/crazypkg/gui/untitled/main.o b/crazyflie_ws/sandbox/crazypkg/gui/untitled/main.o
new file mode 100644
index 0000000000000000000000000000000000000000..e92c558f3f8d00033b533a792591e4640456cfdb
Binary files /dev/null and b/crazyflie_ws/sandbox/crazypkg/gui/untitled/main.o differ
diff --git a/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.cpp b/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.cpp
index d6f6efcb8f0e218a2cdbc82d509af76d20fdac71..fea3b92b01517806a68333384cd1236c498abe1f 100644
--- a/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.cpp
+++ b/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.cpp
@@ -2,8 +2,12 @@
#include "ui_mainguiwindow.h"
#include <QDoubleSpinBox>
#include <QTextEdit>
+#include <QString>
+
+#define N_MAX_CRAZYFLIES 20 // protection number
+
#ifndef DEBUG_GUI
MainGUIWindow::MainGUIWindow(ros::NodeHandle* nodeHandle, /*ros::CallbackQueue *callbackQueue,
ros::Publisher* publisherMotorCommandsGUI,*/
@@ -16,6 +20,7 @@ MainGUIWindow::MainGUIWindow(ros::NodeHandle* nodeHandle, /*ros::CallbackQueue *
m_isStopButtonActive=false;
m_isCalActive=false;
m_trajectoryType=eTrajCustom;
+ _init();
}
#else
MainGUIWindow::MainGUIWindow(QWidget *parent) :
@@ -23,6 +28,7 @@ MainGUIWindow::MainGUIWindow(QWidget *parent) :
ui(new Ui::MainGUIWindow)
{
ui->setupUi(this);
+ _init();
}
#endif
@@ -31,6 +37,25 @@ MainGUIWindow::~MainGUIWindow()
delete ui;
}
+void MainGUIWindow::_refresh_tabs()
+{
+ ui->tabWidget->clear();
+ std::string str;
+ for (int i = 0; i < ui->spinBoxNumCrazyflies->value(); i++)
+ {
+ str = "CrazyFly ";
+ str += std::to_string(i+1);
+ QString qstr(str.c_str());
+ ui->tabWidget->addTab(new QWidget(), qstr);
+ }
+}
+
+void MainGUIWindow::_init()
+{
+ ui->spinBoxNumCrazyflies->setMaximum(N_MAX_CRAZYFLIES);
+ _refresh_tabs();
+}
+
#ifndef DEBUG_GUI
void MainGUIWindow::init()
{
@@ -903,3 +928,12 @@ void CSetpointQueue::print()
// }
#endif // DEBUG_GUI
+void MainGUIWindow::on_spinBoxNumCrazyflies_valueChanged(int arg1)
+{
+
+}
+
+void MainGUIWindow::on_spinBoxNumCrazyflies_editingFinished()
+{
+ _refresh_tabs();
+}
diff --git a/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.h b/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.h
index ec440c495623425b69b2191d9a38b93a9f8ab9eb..290a7fbeaef31b6519d24dac5b74052e2e61052d 100644
--- a/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.h
+++ b/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.h
@@ -1,7 +1,7 @@
#ifndef MAINGUIWINDOW_H
#define MAINGUIWINDOW_H
-// #define DEBUG_GUI
+#define DEBUG_GUI
#include <QMainWindow>
#include <QTimer>
@@ -126,9 +126,15 @@ private slots:
// void on_buttonStop_2_clicked();
#endif
+ void on_spinBoxNumCrazyflies_valueChanged(int arg1);
+
+ void on_spinBoxNumCrazyflies_editingFinished();
+
private:
Ui::MainGUIWindow *ui;
+ void _init();
+ void _refresh_tabs();
#ifndef DEBUG_GUI
// void refreshScreen();
diff --git a/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.o b/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.o
index ad4707f1079cba47171cad063c1c5d213d4b9f31..b8255eecd5ea167849fef1018ac18fa34dc2288a 100644
Binary files a/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.o and b/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.o differ
diff --git a/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.ui b/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.ui
index 77cd218b958d25c471146fe505c96cc393b066cc..25439a706ee69ab7c1357df60e0f63426e0e414f 100644
--- a/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.ui
+++ b/crazyflie_ws/sandbox/crazypkg/gui/untitled/mainguiwindow.ui
@@ -18,7 +18,7 @@
<property name="geometry">
<rect>
<x>40</x>
- <y>500</y>
+ <y>510</y>
<width>1171</width>
<height>451</height>
</rect>
@@ -38,16 +38,12 @@
<height>401</height>
</rect>
</property>
- <widget class="QWidget" name="tab">
- <attribute name="title">
- <string>Tab 1</string>
- </attribute>
- </widget>
- <widget class="QWidget" name="tab_2">
- <attribute name="title">
- <string>Tab 2</string>
- </attribute>
- </widget>
+ <property name="layoutDirection">
+ <enum>Qt::LeftToRight</enum>
+ </property>
+ <property name="currentIndex">
+ <number>-1</number>
+ </property>
</widget>
</widget>
<widget class="QFrame" name="frame_2">
@@ -82,6 +78,25 @@
<enum>QFrame::Raised</enum>
</property>
</widget>
+ <widget class="QSpinBox" name="spinBoxNumCrazyflies">
+ <property name="geometry">
+ <rect>
+ <x>1340</x>
+ <y>560</y>
+ <width>47</width>
+ <height>23</height>
+ </rect>
+ </property>
+ <property name="readOnly">
+ <bool>false</bool>
+ </property>
+ <property name="accelerated">
+ <bool>false</bool>
+ </property>
+ <property name="maximum">
+ <number>6</number>
+ </property>
+ </widget>
</widget>
<widget class="QMenuBar" name="menuBar">
<property name="geometry">
diff --git a/crazyflie_ws/sandbox/crazypkg/gui/untitled/moc_mainguiwindow.cpp b/crazyflie_ws/sandbox/crazypkg/gui/untitled/moc_mainguiwindow.cpp
index f1f3e134223f3dc9ebc39fd58a21b5ce2871e3f0..fe111b0b56a97dfc6531413855871f680c823520 100644
--- a/crazyflie_ws/sandbox/crazypkg/gui/untitled/moc_mainguiwindow.cpp
+++ b/crazyflie_ws/sandbox/crazypkg/gui/untitled/moc_mainguiwindow.cpp
@@ -19,8 +19,8 @@
QT_BEGIN_MOC_NAMESPACE
struct qt_meta_stringdata_MainGUIWindow_t {
- QByteArrayData data[1];
- char stringdata0[14];
+ QByteArrayData data[5];
+ char stringdata0[97];
};
#define QT_MOC_LITERAL(idx, ofs, len) \
Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
@@ -29,10 +29,15 @@ struct qt_meta_stringdata_MainGUIWindow_t {
)
static const qt_meta_stringdata_MainGUIWindow_t qt_meta_stringdata_MainGUIWindow = {
{
-QT_MOC_LITERAL(0, 0, 13) // "MainGUIWindow"
+QT_MOC_LITERAL(0, 0, 13), // "MainGUIWindow"
+QT_MOC_LITERAL(1, 14, 36), // "on_spinBoxNumCrazyflies_value..."
+QT_MOC_LITERAL(2, 51, 0), // ""
+QT_MOC_LITERAL(3, 52, 4), // "arg1"
+QT_MOC_LITERAL(4, 57, 39) // "on_spinBoxNumCrazyflies_editi..."
},
- "MainGUIWindow"
+ "MainGUIWindow\0on_spinBoxNumCrazyflies_valueChanged\0"
+ "\0arg1\0on_spinBoxNumCrazyflies_editingFinished"
};
#undef QT_MOC_LITERAL
@@ -42,22 +47,35 @@ static const uint qt_meta_data_MainGUIWindow[] = {
7, // revision
0, // classname
0, 0, // classinfo
- 0, 0, // methods
+ 2, 14, // methods
0, 0, // properties
0, 0, // enums/sets
0, 0, // constructors
0, // flags
0, // signalCount
+ // slots: name, argc, parameters, tag, flags
+ 1, 1, 24, 2, 0x08 /* Private */,
+ 4, 0, 27, 2, 0x08 /* Private */,
+
+ // slots: parameters
+ QMetaType::Void, QMetaType::Int, 3,
+ QMetaType::Void,
+
0 // eod
};
void MainGUIWindow::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
{
- Q_UNUSED(_o);
- Q_UNUSED(_id);
- Q_UNUSED(_c);
- Q_UNUSED(_a);
+ if (_c == QMetaObject::InvokeMetaMethod) {
+ MainGUIWindow *_t = static_cast<MainGUIWindow *>(_o);
+ Q_UNUSED(_t)
+ switch (_id) {
+ case 0: _t->on_spinBoxNumCrazyflies_valueChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
+ case 1: _t->on_spinBoxNumCrazyflies_editingFinished(); break;
+ default: ;
+ }
+ }
}
const QMetaObject MainGUIWindow::staticMetaObject = {
@@ -84,6 +102,15 @@ int MainGUIWindow::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
_id = QMainWindow::qt_metacall(_c, _id, _a);
if (_id < 0)
return _id;
+ if (_c == QMetaObject::InvokeMetaMethod) {
+ if (_id < 2)
+ qt_static_metacall(this, _c, _id, _a);
+ _id -= 2;
+ } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
+ if (_id < 2)
+ *reinterpret_cast<int*>(_a[0]) = -1;
+ _id -= 2;
+ }
return _id;
}
QT_END_MOC_NAMESPACE
diff --git a/crazyflie_ws/sandbox/crazypkg/gui/untitled/moc_mainguiwindow.o b/crazyflie_ws/sandbox/crazypkg/gui/untitled/moc_mainguiwindow.o
index da4a5a6cae3cddc3656d6eff634849a1535ebf23..796aab7c2d24669cc667daba1a5663a5a47dbca6 100644
Binary files a/crazyflie_ws/sandbox/crazypkg/gui/untitled/moc_mainguiwindow.o and b/crazyflie_ws/sandbox/crazypkg/gui/untitled/moc_mainguiwindow.o differ
diff --git a/crazyflie_ws/sandbox/crazypkg/gui/untitled/ui_mainguiwindow.h b/crazyflie_ws/sandbox/crazypkg/gui/untitled/ui_mainguiwindow.h
index 1f393fe1eb01e206799364f77a78bcb52e5494b2..06cdc94a7018ef9b2d30958bdc5da3e85fb65af9 100644
--- a/crazyflie_ws/sandbox/crazypkg/gui/untitled/ui_mainguiwindow.h
+++ b/crazyflie_ws/sandbox/crazypkg/gui/untitled/ui_mainguiwindow.h
@@ -17,6 +17,7 @@
#include <QtWidgets/QHeaderView>
#include <QtWidgets/QMainWindow>
#include <QtWidgets/QMenuBar>
+#include <QtWidgets/QSpinBox>
#include <QtWidgets/QStatusBar>
#include <QtWidgets/QTabWidget>
#include <QtWidgets/QToolBar>
@@ -30,10 +31,9 @@ public:
QWidget *centralWidget;
QFrame *frame;
QTabWidget *tabWidget;
- QWidget *tab;
- QWidget *tab_2;
QFrame *frame_2;
QFrame *frame_3;
+ QSpinBox *spinBoxNumCrazyflies;
QMenuBar *menuBar;
QToolBar *mainToolBar;
QStatusBar *statusBar;
@@ -47,18 +47,13 @@ public:
centralWidget->setObjectName(QStringLiteral("centralWidget"));
frame = new QFrame(centralWidget);
frame->setObjectName(QStringLiteral("frame"));
- frame->setGeometry(QRect(40, 500, 1171, 451));
+ frame->setGeometry(QRect(40, 510, 1171, 451));
frame->setFrameShape(QFrame::StyledPanel);
frame->setFrameShadow(QFrame::Raised);
tabWidget = new QTabWidget(frame);
tabWidget->setObjectName(QStringLiteral("tabWidget"));
tabWidget->setGeometry(QRect(20, 19, 1131, 401));
- tab = new QWidget();
- tab->setObjectName(QStringLiteral("tab"));
- tabWidget->addTab(tab, QString());
- tab_2 = new QWidget();
- tab_2->setObjectName(QStringLiteral("tab_2"));
- tabWidget->addTab(tab_2, QString());
+ tabWidget->setLayoutDirection(Qt::LeftToRight);
frame_2 = new QFrame(centralWidget);
frame_2->setObjectName(QStringLiteral("frame_2"));
frame_2->setGeometry(QRect(40, 10, 571, 481));
@@ -69,6 +64,12 @@ public:
frame_3->setGeometry(QRect(630, 10, 791, 481));
frame_3->setFrameShape(QFrame::StyledPanel);
frame_3->setFrameShadow(QFrame::Raised);
+ spinBoxNumCrazyflies = new QSpinBox(centralWidget);
+ spinBoxNumCrazyflies->setObjectName(QStringLiteral("spinBoxNumCrazyflies"));
+ spinBoxNumCrazyflies->setGeometry(QRect(1340, 560, 47, 23));
+ spinBoxNumCrazyflies->setReadOnly(false);
+ spinBoxNumCrazyflies->setAccelerated(false);
+ spinBoxNumCrazyflies->setMaximum(6);
MainGUIWindow->setCentralWidget(centralWidget);
menuBar = new QMenuBar(MainGUIWindow);
menuBar->setObjectName(QStringLiteral("menuBar"));
@@ -83,14 +84,15 @@ public:
retranslateUi(MainGUIWindow);
+ tabWidget->setCurrentIndex(-1);
+
+
QMetaObject::connectSlotsByName(MainGUIWindow);
} // setupUi
void retranslateUi(QMainWindow *MainGUIWindow)
{
MainGUIWindow->setWindowTitle(QApplication::translate("MainGUIWindow", "MainGUIWindow", 0));
- tabWidget->setTabText(tabWidget->indexOf(tab), QApplication::translate("MainGUIWindow", "Tab 1", 0));
- tabWidget->setTabText(tabWidget->indexOf(tab_2), QApplication::translate("MainGUIWindow", "Tab 2", 0));
} // retranslateUi
};
diff --git a/crazyflie_ws/sandbox/crazypkg/gui/untitled/untitled b/crazyflie_ws/sandbox/crazypkg/gui/untitled/untitled
index 20388ecd1f390106406286a93ad477dacb577a43..ef8094d3f786ef56a56ec32231706d4b927b626f 100755
Binary files a/crazyflie_ws/sandbox/crazypkg/gui/untitled/untitled and b/crazyflie_ws/sandbox/crazypkg/gui/untitled/untitled differ
diff --git a/crazyflie_ws/sandbox/crazypkg/gui/untitled/untitled.pro.user b/crazyflie_ws/sandbox/crazypkg/gui/untitled/untitled.pro.user
index faa066937249070cc90c5126cb8c3f7291f72ef5..74c1505cfd4a3242ff6940b5bc55ea9244a89977 100644
--- a/crazyflie_ws/sandbox/crazypkg/gui/untitled/untitled.pro.user
+++ b/crazyflie_ws/sandbox/crazypkg/gui/untitled/untitled.pro.user
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.0.2, 2017-03-16T15:17:20. -->
+<!-- Written by QtCreator 4.0.2, 2017-03-22T17:44:21. -->
<qtcreator>
<data>
<variable>EnvironmentId</variable>