diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index 67d4fe74932b7bd815377296d77634f0ce33c45e..3e92c2eb1509ae3176e774a68ff1bbbff0bb5dc5 100755
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/pps_ws/src/d_fall_pps/CMakeLists.txt
@@ -135,6 +135,7 @@ add_message_files(
#----------------------------------------------------------------------
DebugMsg.msg
CustomControllerYAML.msg
+ CustomButton.msg
)
## Generate services in the 'srv' folder
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
index 8aacf4392919357b4c872ab918e64e73eff66f89..21e8a1014fa8e8a6551371a56bf0f1095e47c0d5 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
@@ -124,6 +124,9 @@ private slots:
void on_en_safe_controller_clicked();
+ void on_customButton_1_clicked();
+ void on_customButton_2_clicked();
+ void on_customButton_3_clicked();
private:
Ui::MainWindow *ui;
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index 15f1497c0423bc45bc7b7d35eb04e3d6087295c0..817af1e6d6a742c796ca6b997ea5004b2af9ecfc 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -42,6 +42,8 @@
#include "d_fall_pps/ViconData.h"
+#include "d_fall_pps/CustomButton.h"
+
MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow),
@@ -84,8 +86,6 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
ros::NodeHandle my_nodeHandle("~");
controllerSetpointPublisher = my_nodeHandle.advertise<Setpoint>("ControllerSetpoint", 1);
-
-
// communication with PPS Client, just to make it possible to communicate through terminal also we use PPSClient's name
//ros::NodeHandle nh_PPSClient(m_ros_namespace + "/PPSClient");
@@ -93,19 +93,19 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
crazyRadioCommandPublisher = nh_PPSClient.advertise<std_msgs::Int32>("crazyRadioCommand", 1);
PPSClientCommandPublisher = nh_PPSClient.advertise<std_msgs::Int32>("Command", 1);
+ PPSClientStudentCustomButtonPublisher = nh_PPSClient.advertise<CustomButton>("StudentCustomButton", 1);
+
- // > For publishing a message that requests the
+ // > For publishing a message that requests the
// YAML parameters to be re-loaded from file
// > The message contents specify which controller
// the parameters should be re-loaded for
requestLoadControllerYamlPublisher = nh_PPSClient.advertise<std_msgs::Int32>("requestLoadControllerYaml", 1);
-
// Subscriber for locking the load the controller YAML
// parameters when the Coordintor GUI requests a load
requestLoadControllerYaml_from_my_GUI_Subscriber = nodeHandle.subscribe("/my_GUI/requestLoadControllerYaml", 1, &MainWindow::requestLoadControllerYaml_from_my_GUI_Callback, this);
-
// First get student ID
if(!nh_PPSClient.getParam("studentID", m_student_id))
@@ -482,6 +482,8 @@ void MainWindow::on_set_setpoint_button_clicked()
msg_setpoint.yaw = (ui->new_setpoint_yaw->text()).toFloat() * DEG2RAD;
this->controllerSetpointPublisher.publish(msg_setpoint);
+
+ ROS_INFO_STREAM("Setpoint change clicked with:" << msg_setpoint.x << ", "<< msg_setpoint.y << ", "<< msg_setpoint.z << ", "<< msg_setpoint.yaw);
}
void MainWindow::initialize_custom_setpoint()
@@ -514,6 +516,8 @@ void MainWindow::on_set_setpoint_button_2_clicked()
msg_setpoint.yaw = (ui->new_setpoint_yaw_2->text()).toFloat() * DEG2RAD;
this->customSetpointPublisher.publish(msg_setpoint);
+
+ ROS_INFO_STREAM("Setpoint change clicked with:" << msg_setpoint.x << ", "<< msg_setpoint.y << ", "<< msg_setpoint.z << ", "<< msg_setpoint.yaw);
}
void MainWindow::on_RF_disconnect_button_clicked()
@@ -591,7 +595,6 @@ void MainWindow::customYamlFileTimerCallback(const ros::TimerEvent&)
-
void MainWindow::requestLoadControllerYaml_from_my_GUI_Callback(const std_msgs::Int32& msg)
{
// Extract from the "msg" for which controller the YAML
@@ -657,3 +660,31 @@ void MainWindow::on_en_safe_controller_clicked()
msg.data = CMD_USE_SAFE_CONTROLLER;
this->PPSClientCommandPublisher.publish(msg);
}
+
+void MainWindow::on_customButton_1_clicked()
+{
+ CustomButton msg_custom_button;
+ msg_custom_button.button_index = 1;
+ msg_custom_button.command_code = 0;
+ this->PPSClientStudentCustomButtonPublisher.publish(msg_custom_button);
+
+ ROS_INFO("Custom button 1 pressed");
+}
+
+void MainWindow::on_customButton_2_clicked()
+{
+ CustomButton msg_custom_button;
+ msg_custom_button.button_index = 2;
+ msg_custom_button.command_code = 0;
+ this->PPSClientStudentCustomButtonPublisher.publish(msg_custom_button);
+ ROS_INFO("Custom button 2 pressed");
+}
+
+void MainWindow::on_customButton_3_clicked()
+{
+ CustomButton msg_custom_button;
+ msg_custom_button.button_index = 3;
+ msg_custom_button.command_code = (ui->custom_command_3->text()).toFloat();
+ this->PPSClientStudentCustomButtonPublisher.publish(msg_custom_button);
+ ROS_INFO("Custom button 3 pressed");
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
index 3dd33614610632ae4c773e1caccc487d664b5765..4eb82b0ea3a04a23d3c0fb8e1f8fce3e55836ece 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1027</width>
- <height>619</height>
+ <width>1042</width>
+ <height>701</height>
</rect>
</property>
<property name="sizePolicy">
@@ -33,6 +33,141 @@
<string/>
</property>
<layout class="QGridLayout" name="gridLayout_10">
+ <item row="3" column="1">
+ <widget class="QGroupBox" name="groupBox_4">
+ <property name="title">
+ <string/>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QPushButton" name="motors_OFF_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Motors OFF</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="take_off_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Take Off</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="land_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Land</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_battery">
+ <property name="font">
+ <font>
+ <pointsize>9</pointsize>
+ <italic>true</italic>
+ </font>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QGroupBox" name="groupBox">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>18</pointsize>
+ </font>
+ </property>
+ <property name="title">
+ <string>StudentID # connected to CF #</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="1" column="0">
+ <widget class="QLabel" name="raw_voltage_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>18</pointsize>
+ <italic>false</italic>
+ </font>
+ </property>
+ <property name="text">
+ <string>Raw voltage: </string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="voltage_field">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLabel" name="flying_state_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>FlyingState</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
<item row="3" column="0">
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
@@ -563,6 +698,27 @@
<string>Custom Controller</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_9">
+ <item row="2" column="1">
+ <widget class="QPushButton" name="customButton_2">
+ <property name="text">
+ <string>Custom Command 2</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QPushButton" name="customButton_3">
+ <property name="text">
+ <string>Custom Command 3</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QPushButton" name="customButton_1">
+ <property name="text">
+ <string>Custom Command 1</string>
+ </property>
+ </widget>
+ </item>
<item row="0" column="0">
<widget class="QGroupBox" name="groupBox_5">
<property name="title">
@@ -1032,7 +1188,7 @@
</layout>
</widget>
</item>
- <item row="1" column="1">
+ <item row="4" column="1">
<widget class="QPushButton" name="en_custom_controller">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -1051,7 +1207,7 @@
</property>
</widget>
</item>
- <item row="1" column="0">
+ <item row="4" column="0">
<widget class="QPushButton" name="load_custom_yaml_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -1070,145 +1226,13 @@
</property>
</widget>
</item>
+ <item row="3" column="2">
+ <widget class="QLineEdit" name="custom_command_3"/>
+ </item>
</layout>
</widget>
</widget>
</item>
- <item row="3" column="1">
- <widget class="QGroupBox" name="groupBox_4">
- <property name="title">
- <string/>
- </property>
- <layout class="QVBoxLayout" name="verticalLayout">
- <item>
- <widget class="QPushButton" name="motors_OFF_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Motors OFF</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="take_off_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Take Off</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="land_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Land</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_battery">
- <property name="font">
- <font>
- <pointsize>9</pointsize>
- <italic>true</italic>
- </font>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QGroupBox" name="groupBox">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>18</pointsize>
- </font>
- </property>
- <property name="title">
- <string>StudentID # connected to CF #</string>
- </property>
- <layout class="QGridLayout" name="gridLayout_2">
- <item row="1" column="0">
- <widget class="QLabel" name="raw_voltage_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>18</pointsize>
- <italic>false</italic>
- </font>
- </property>
- <property name="text">
- <string>Raw voltage: </string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="voltage_field">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>80</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="flying_state_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>FlyingState</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
</layout>
</widget>
</item>
@@ -1270,7 +1294,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1027</width>
+ <width>1042</width>
<height>25</height>
</rect>
</property>
diff --git a/pps_ws/src/d_fall_pps/msg/CustomButton.msg b/pps_ws/src/d_fall_pps/msg/CustomButton.msg
new file mode 100644
index 0000000000000000000000000000000000000000..7ba9d563c0d308337be9aa2aa691581a6ec9b6c9
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/msg/CustomButton.msg
@@ -0,0 +1,2 @@
+uint32 button_index
+float64 command_code
\ No newline at end of file