From 908b8212d8fb427daca24bd009e7080e9b39a966 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Sun, 10 Feb 2019 11:44:54 +0100
Subject: [PATCH] Removed the command all buttons from the System Config GUI.
Also removed the get yaml paramters functions and pointed to the overall
class. Needs to be tested for ROS compilation
---
.../GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro | 4 +-
.../GUI_Qt/CrazyFlyGUI/forms/mainguiwindow.ui | 379 +++---------------
.../include/constants_for_qt_compile.h | 286 +++++++++++++
.../CrazyFlyGUI/include/globalDefinitions.h | 5 -
.../CrazyFlyGUI/include/mainguiwindow.h | 82 +---
.../GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp | 2 +-
.../GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp | 339 +---------------
7 files changed, 373 insertions(+), 724 deletions(-)
create mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/include/constants_for_qt_compile.h
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro
index 61aa744e..0175414f 100755
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/CrazyFlyGUI.pro
@@ -45,7 +45,9 @@ HEADERS += \
include/tablePiece.h \
include/globalDefinitions.h \
include/marker.h \
- include/crazyFly.h
+ include/crazyFly.h \
+ \
+ include/constants_for_qt_compile.h
FORMS += \
forms/mainguiwindow.ui
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/forms/mainguiwindow.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/forms/mainguiwindow.ui
index 737f460b..2d50c2a9 100755
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/forms/mainguiwindow.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/forms/mainguiwindow.ui
@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1176</width>
+ <width>1228</width>
<height>1559</height>
</rect>
</property>
@@ -273,7 +273,7 @@
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
- <widget class="QPushButton" name="all_motors_off_button">
+ <widget class="QPushButton" name="emergency_stop_button">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -300,7 +300,7 @@
</font>
</property>
<property name="text">
- <string>All motors OFF</string>
+ <string>Emergency Stop</string>
</property>
</widget>
</item>
@@ -870,329 +870,56 @@
</widget>
<widget class="QWidget" name="tab">
<attribute name="title">
- <string>Command all</string>
+ <string>Mocap</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_2">
- <item row="10" column="1">
- <widget class="QPushButton" name="all_load_custom_controller_yaml_coordinator_button">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Load Custom YAML</string>
- </property>
- </widget>
- </item>
- <item row="6" column="0" colspan="2">
- <widget class="QLabel" name="all_yaml_label">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>20</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>40</height>
- </size>
- </property>
- <property name="font">
- <font>
- <weight>75</weight>
- <bold>true</bold>
- </font>
- </property>
- <property name="text">
- <string>LOAD YAML PARAMETERS</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignBottom|Qt::AlignHCenter</set>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QPushButton" name="all_take_off_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Take off</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QPushButton" name="all_connect_button">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Reconnect</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0" colspan="2">
- <widget class="QLabel" name="all_flying_state_label">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>20</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>40</height>
- </size>
- </property>
- <property name="font">
- <font>
- <weight>75</weight>
- <bold>true</bold>
- </font>
- </property>
- <property name="text">
- <string>FLYING STATE</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignBottom|Qt::AlignHCenter</set>
- </property>
- </widget>
- </item>
- <item row="5" column="0">
- <widget class="QPushButton" name="all_enable_safe_controller_button">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Enable Safe</string>
- </property>
- </widget>
- </item>
- <item row="8" column="1">
- <widget class="QPushButton" name="all_load_custom_controller_yaml_own_agent_button">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Load Custom YAML</string>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QPushButton" name="all_disconnect_button">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Disconnect</string>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QPushButton" name="all_enable_custom_controller_button">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Enable Custom</string>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QPushButton" name="all_land_button">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Land</string>
- </property>
- </widget>
- </item>
- <item row="8" column="0">
- <widget class="QPushButton" name="all_load_safe_controller_yaml_own_agent_button">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Load Safe YAML</string>
- </property>
- </widget>
- </item>
- <item row="7" column="0" colspan="2">
- <widget class="QLabel" name="all_yaml_agent_label">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>30</height>
- </size>
- </property>
- <property name="text">
- <string>> From agenet's local file</string>
- </property>
- </widget>
- </item>
- <item row="10" column="0">
- <widget class="QPushButton" name="all_load_safe_controller_yaml_coordinator_button">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Load Safe YAML</string>
- </property>
- </widget>
- </item>
- <item row="9" column="0" colspan="2">
- <widget class="QLabel" name="all_yaml_coordinator_label">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>30</height>
- </size>
- </property>
- <property name="text">
- <string>> From coordinator's file</string>
- </property>
- </widget>
- </item>
- <item row="0" column="0" colspan="2">
- <widget class="QLabel" name="all_radio_label">
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>20</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>40</height>
- </size>
- </property>
- <property name="font">
- <font>
- <weight>75</weight>
- <bold>true</bold>
- </font>
- </property>
- <property name="lineWidth">
- <number>1</number>
- </property>
- <property name="text">
- <string>CRAZYRADIO</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignBottom|Qt::AlignHCenter</set>
- </property>
- </widget>
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout_6">
+ <item row="0" column="0">
+ <widget class="QLabel" name="all_radio_label">
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>20</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>40</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="lineWidth">
+ <number>1</number>
+ </property>
+ <property name="text">
+ <string>Work in progress.</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
</item>
</layout>
</widget>
@@ -1245,8 +972,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1176</width>
- <height>25</height>
+ <width>1228</width>
+ <height>40</height>
</rect>
</property>
</widget>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/include/constants_for_qt_compile.h b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/include/constants_for_qt_compile.h
new file mode 100644
index 00000000..b361da05
--- /dev/null
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/include/constants_for_qt_compile.h
@@ -0,0 +1,286 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Constants that are used across multiple files
+//
+// ----------------------------------------------------------------------------------
+
+
+// ----------------------------------------------------------------------------------
+// U U
+// U U
+// U U
+// U U
+// UUU
+// ----------------------------------------------------------------------------------
+
+
+// Conversions between degrees and radians
+#define RAD2DEG 180.0/PI
+#define DEG2RAD PI/180.0
+
+// PI
+#define PI 3.141592653589
+
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+//
+//
+//
+//
+//
+// ----------------------------------------------------------------------------------
+
+
+
+// The types, i.e., agent or coordinator
+#define TYPE_INVALID -1
+#define TYPE_COORDINATOR 1
+#define TYPE_AGENT 2
+
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+//
+//
+//
+//
+//
+// ----------------------------------------------------------------------------------
+
+
+
+// These constants define the modes that can be used for controller this is
+// running on-board the Crazyflie 2.0.
+// Therefore, the constants defined here need to be in agreement with those
+// defined in the firmware running on-board the Crazyflie 2.0.
+// The following is a short description about each mode:
+//
+// CF_COMMAND_TYPE_MOTORS
+// In this mode the Crazyflie will apply the requested 16-bit per motor
+// command directly to each of the motors
+//
+// CF_COMMAND_TYPE_RATE
+// In this mode the Crazyflie will apply the requested 16-bit per motor
+// command directly to each of the motors, and additionally request the
+// body frame roll, pitch, and yaw angular rates from the PID rate
+// controllers implemented in the Crazyflie 2.0 firmware.
+//
+// CF_COMMAND_TYPE_ANGLE
+// In this mode the Crazyflie will apply the requested 16-bit per motor
+// command directly to each of the motors, and additionally request the
+// body frame roll, pitch, and yaw angles from the PID attitude
+// controllers implemented in the Crazyflie 2.0 firmware.
+#define CF_COMMAND_TYPE_MOTORS 6
+#define CF_COMMAND_TYPE_RATE 7
+#define CF_COMMAND_TYPE_ANGLE 8
+
+// Types of controllers being used:
+#define SAFE_CONTROLLER 1
+#define DEMO_CONTROLLER 2
+#define STUDENT_CONTROLLER 3
+#define MPC_CONTROLLER 4
+#define REMOTE_CONTROLLER 5
+#define TUNING_CONTROLLER 6
+#define PICKER_CONTROLLER 7
+
+// The constants that "command" changes in the
+// operation state of this agent
+#define CMD_USE_SAFE_CONTROLLER 1
+#define CMD_USE_DEMO_CONTROLLER 2
+#define CMD_USE_STUDENT_CONTROLLER 3
+#define CMD_USE_MPC_CONTROLLER 4
+#define CMD_USE_REMOTE_CONTROLLER 5
+#define CMD_USE_TUNING_CONTROLLER 6
+#define CMD_USE_PICKER_CONTROLLER 7
+
+
+#define CMD_CRAZYFLY_TAKE_OFF 11
+#define CMD_CRAZYFLY_LAND 12
+#define CMD_CRAZYFLY_MOTORS_OFF 13
+
+// Flying states
+#define STATE_MOTORS_OFF 1
+#define STATE_TAKE_OFF 2
+#define STATE_FLYING 3
+#define STATE_LAND 4
+#define STATE_UNAVAILABLE 5
+
+
+// Commands for CrazyRadio
+#define CMD_RECONNECT 0
+#define CMD_DISCONNECT 1
+
+
+// CrazyRadio states:
+#define CRAZY_RADIO_STATE_CONNECTED 0
+#define CRAZY_RADIO_STATE_CONNECTING 1
+#define CRAZY_RADIO_STATE_DISCONNECTED 2
+
+
+
+
+// ----------------------------------------------------------------------------------
+// BBBB A TTTTT TTTTT EEEEE RRRR Y Y
+// B B A A T T E R R Y Y
+// BBBB A A T T EEE RRRR Y
+// B B AAAAA T T E R R Y
+// BBBB A A T T EEEEE R R Y
+// ----------------------------------------------------------------------------------
+
+// Battery levels
+#define BATTERY_LEVEL_000 0
+#define BATTERY_LEVEL_010 1
+#define BATTERY_LEVEL_020 2
+#define BATTERY_LEVEL_030 3
+#define BATTERY_LEVEL_040 4
+#define BATTERY_LEVEL_050 5
+#define BATTERY_LEVEL_060 6
+#define BATTERY_LEVEL_070 7
+#define BATTERY_LEVEL_080 8
+#define BATTERY_LEVEL_090 9
+#define BATTERY_LEVEL_100 10
+#define BATTERY_LEVEL_UNAVAILABLE -1
+
+// Battery states
+#define BATTERY_STATE_NORMAL 0
+#define BATTERY_STATE_LOW 1
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// Y Y A M M L
+// Y Y A A MM MM L
+// Y A A M M M L
+// Y AAAAA M M L
+// Y A A M M LLLLL
+// ----------------------------------------------------------------------------------
+
+// For where to load the yaml file from
+#define LOAD_YAML_FROM_AGENT 1
+#define LOAD_YAML_FROM_COORDINATOR 2
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+//
+//
+//
+//
+//
+// ----------------------------------------------------------------------------------
+
+// For standard buttons in the GUI
+#define REQUEST_DEFAULT_SETPOINT_BUTTON_ID 100
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+// OLD STUFF FOR LOADING YAML FILES
+// For which controller parameters to load from file
+#define LOAD_YAML_SAFE_CONTROLLER_AGENT 1
+#define LOAD_YAML_DEMO_CONTROLLER_AGENT 2
+#define LOAD_YAML_STUDENT_CONTROLLER_AGENT 3
+#define LOAD_YAML_MPC_CONTROLLER_AGENT 4
+#define LOAD_YAML_REMOTE_CONTROLLER_AGENT 5
+#define LOAD_YAML_TUNING_CONTROLLER_AGENT 6
+#define LOAD_YAML_PICKER_CONTROLLER_AGENT 7
+
+#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR 11
+#define LOAD_YAML_DEMO_CONTROLLER_COORDINATOR 12
+#define LOAD_YAML_STUDENT_CONTROLLER_COORDINATOR 13
+#define LOAD_YAML_MPC_CONTROLLER_COORDINATOR 14
+#define LOAD_YAML_REMOTE_CONTROLLER_COORDINATOR 15
+#define LOAD_YAML_TUNING_CONTROLLER_COORDINATOR 16
+#define LOAD_YAML_PICKER_CONTROLLER_COORDINATOR 17
+
+
+// For sending commands to the controller node informing
+// which parameters to fetch
+// > NOTE: these are identical to the #defines above, but
+// used because they have the name distinguishes
+// between:
+// - "loading" a yaml file into ram
+// - "fetching" the values that were loaded into ram
+#define FETCH_YAML_SAFE_CONTROLLER_FROM_OWN_AGENT 1
+#define FETCH_YAML_DEMO_CONTROLLER_FROM_OWN_AGENT 2
+#define FETCH_YAML_STUDENT_CONTROLLER_FROM_OWN_AGENT 3
+#define FETCH_YAML_MPC_CONTROLLER_FROM_OWN_AGENT 4
+#define FETCH_YAML_REMOTE_CONTROLLER_FROM_OWN_AGENT 5
+#define FETCH_YAML_TUNING_CONTROLLER_FROM_OWN_AGENT 6
+#define FETCH_YAML_PICKER_CONTROLLER_FROM_OWN_AGENT 7
+
+#define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR 11
+#define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR 12
+#define FETCH_YAML_STUDENT_CONTROLLER_FROM_COORDINATOR 13
+#define FETCH_YAML_MPC_CONTROLLER_FROM_COORDINATOR 14
+#define FETCH_YAML_REMOTE_CONTROLLER_FROM_COORDINATOR 15
+#define FETCH_YAML_TUNING_CONTROLLER_FROM_COORDINATOR 16
+#define FETCH_YAML_PICKER_CONTROLLER_FROM_COORDINATOR 17
\ No newline at end of file
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/include/globalDefinitions.h b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/include/globalDefinitions.h
index c25a843d..2a85b0fc 100755
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/include/globalDefinitions.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/include/globalDefinitions.h
@@ -41,9 +41,4 @@
#define FROM_CENTIMETERS_TO_UNITS 1
#define FROM_MILIMETERS_TO_UNITS 0.1
-#define PI 3.1415926
-
-#define FROM_RADIANS_TO_DEGREES 180.0/PI
-#define FROM_DEGREES_TO_RADIANS PI/180.0
-
#endif
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
index e0f696cc..e9fa1320 100755
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h
@@ -58,28 +58,19 @@
#include "dfall_pkg/CrazyflieDB.h"
#include "dfall_pkg/CrazyflieEntry.h"
+// Include the shared definitions
+#include "nodes/Constants.h"
-// The constants that are sent to the agents in order to
-// "command" changes in their operation state
-#define CMD_USE_SAFE_CONTROLLER 1
-#define CMD_USE_CUSTOM_CONTROLLER 2
-#define CMD_CRAZYFLY_TAKE_OFF 3
-#define CMD_CRAZYFLY_LAND 4
-#define CMD_CRAZYFLY_MOTORS_OFF 5
+// Include other classes
+#include "classes/GetParamtersAndNamespaces.h"
-// The constants that are sent to the agents in order to
-// adjust their radio connection
-#define CMD_RECONNECT 0
-#define CMD_DISCONNECT 1
-// For which controller parameters to load
-#define LOAD_YAML_SAFE_CONTROLLER_AGENT 1
-#define LOAD_YAML_CUSTOM_CONTROLLER_AGENT 2
-#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR 3
-#define LOAD_YAML_CUSTOM_CONTROLLER_COORDINATOR 4
+using namespace dfall_pkg;
-using namespace dfall_pkg;
+#else
+// Include the shared definitions
+#include "include/constants_for_qt_compile.h"
#endif
@@ -171,12 +162,14 @@ private slots:
void on_load_from_DB_button_clicked();
- #ifdef CATKIN_MAKE
+#ifdef CATKIN_MAKE
void updateNewViconData(const ptrToMessage& p_msg);
- #endif
+#endif
+
void on_checkBox_vicon_crazyflies_toggled(bool checked);
void on_scaleSpinBox_valueChanged(double arg1);
+
void on_refresh_cfs_button_clicked();
void on_refresh_student_ids_button_clicked();
@@ -188,27 +181,13 @@ private slots:
void updateComboBoxes();
void setTabIndex(int index);
+
void doTabClosed(int tab_index);
void on_comboBoxCFs_currentTextChanged(const QString &arg1);
-
- // For the buttons that "command" all of the agent nodes
- // > For the radio connection
- void on_all_connect_button_clicked();
- void on_all_disconnect_button_clicked();
- // > For changing the operation state
- void on_all_take_off_button_clicked();
- void on_all_land_button_clicked();
- void on_all_motors_off_button_clicked();
- void on_all_enable_safe_controller_button_clicked();
- void on_all_enable_custom_controller_button_clicked();
- // > For loading the parameter
- void on_all_load_safe_controller_yaml_own_agent_button_clicked();
- void on_all_load_custom_controller_yaml_own_agent_button_clicked();
- // > For sending a message with updated parameters
- void on_all_load_safe_controller_yaml_coordinator_button_clicked();
- void on_all_load_custom_controller_yaml_coordinator_button_clicked();
+ // For the emergency stop button
+ void on_emergency_stop_button_clicked();
private:
@@ -219,14 +198,6 @@ private:
void _init();
#ifdef CATKIN_MAKE
- ros::Timer m_timer_yaml_file_for_safe_controller;
- ros::Timer m_timer_yaml_file_for_custom_controller;
-
- void safeYamlFileTimerCallback(const ros::TimerEvent&);
- void customYamlFileTimerCallback(const ros::TimerEvent&);
-
- void customSendYamlAsMessageTimerCallback(const ros::TimerEvent&);
-
float getParameterFloat(ros::NodeHandle& nodeHandle, std::string name);
void getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length);
int getParameterInt(ros::NodeHandle& nodeHandle, std::string name);
@@ -236,7 +207,7 @@ private:
#endif
- #ifdef CATKIN_MAKE
+#ifdef CATKIN_MAKE
rosNodeThread* _rosNodeThread;
std::vector<Marker*> markers_vector;
std::vector<crazyFly*> crazyflies_vector;
@@ -246,26 +217,7 @@ private:
//ros::Publisher DBChangedPublisher;
ros::Publisher emergencyStopPublisher;
-
- // Publsher for sending "commands" from here (the master) to all
- // of the agent nodes (where a "command" is the integer that
- // gives the directive to "take-off", "land, "motors-off", etc...)
- ros::Publisher commandAllAgentsPublisher;
-
- // Publisher for sending a request from here (the master) to all "Parameter Service" nodes
- // that it should re-load parameters from the YAML file for the controllers.
- // > This is recieved and acted on by both Coordinate and Agent type "Parameter Services",
- // > A coordinator type "Parameter Service" will subsequently request the agents to fetch
- // the parameters from itself.
- // > A agent type "Parameter Service" will subsequently request its own agent to fetch
- // the parameters from itself.
- ros::Publisher requestLoadControllerYamlPublisher;
-
- // Publisher for sending a request from here (the master) to all
- // of the agents nodes that they should (re/dis)-connect from
- // the Crazy-Radio
- ros::Publisher crazyRadioCommandAllAgentsPublisher;
- #endif
+#endif
void updateComboBoxesCFs();
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp
index d83ccd4e..8d40b6eb 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/src/crazyFly.cpp
@@ -88,7 +88,7 @@ void crazyFly::updateCF(const CrazyflieData* p_crazyfly_msg)
this->setPos(m_x * FROM_METERS_TO_UNITS, -m_y * FROM_METERS_TO_UNITS); // - y because of coordinates
- this->setRotation(- m_yaw * FROM_RADIANS_TO_DEGREES); //negative beacause anti-clock wise should be positive
+ this->setRotation(- m_yaw * RAD2DEG); //negative beacause anti-clock wise should be positive
}
}
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
index 1fb3cf4a..3b495f9f 100755
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
@@ -260,7 +260,7 @@ void MainGUIWindow::_init()
// Add keyboard shortcuts
// > for "all motors off", press the space bar
- ui->all_motors_off_button->setShortcut(tr("Space"));
+ ui->emergency_stop_button->setShortcut(tr("Space"));
// > for "kill GUI node", press "CTRL+C" while the GUI window is the focus
QShortcut* close_GUI_shortcut = new QShortcut(QKeySequence(tr("CTRL+C")), this, SLOT(close()));
@@ -280,24 +280,6 @@ void MainGUIWindow::_init()
// CREATE A NODE HANDLE TO THE ROOT OF THE D-FaLL SYSTEM
ros::NodeHandle nodeHandle_dfall_root("/dfall");
emergencyStopPublisher = nodeHandle_dfall_root.advertise<dfall_pkg::IntWithHeader>("emergencyStop", 1);
-
- // Initialise the publisher for sending "commands" from here (the master)
- // to all of the agent nodes
- commandAllAgentsPublisher = nodeHandle.advertise<std_msgs::Int32>("commandAllAgents", 1);
-
- // Publisher for sending a request from here (the master) to all "Parameter Service" nodes
- // that it should re-load parameters from the YAML file for the controllers.
- // > This is recieved and acted on by both Coordinate and Agent type "Parameter Services",
- // > A coordinator type "Parameter Service" will subsequently request the agents to fetch
- // the parameters from itself.
- // > A agent type "Parameter Service" will subsequently request its own agent to fetch
- // the parameters from itself.
- requestLoadControllerYamlPublisher = nodeHandle.advertise<std_msgs::Int32>("requestLoadControllerYaml", 1);
-
- // Initialise the publisher for sending a request from here (the master)
- // to all of the agents nodes that they should (re/dis)-connect from
- // the Crazy-Radio
- crazyRadioCommandAllAgentsPublisher = nodeHandle.advertise<std_msgs::Int32>("crazyRadioCommandAllAgents", 1);
#endif
}
@@ -1084,322 +1066,27 @@ void MainGUIWindow::on_comboBoxCFs_currentTextChanged(const QString &arg1)
// ----------------------------------------------------------------------------------
-// CCCC OOO M M M M A N N DDDD A L L
-// C O O MM MM MM MM A A NN N D D A A L L
-// C O O M M M M M M A A N N N D D A A L L
-// C O O M M M M AAAAA N NN D D AAAAA L L
-// CCCC OOO M M M M A A N N DDDD A A LLLLL LLLLL
+// EEEEE M M EEEEE RRRR GGGG EEEEE N N CCCC Y Y
+// E MM MM E R R G E NN N C Y Y
+// EEE M M M EEE RRRR G GG EEE N N N C Y
+// E M M E R R G G E N NN C Y
+// EEEEE M M EEEEE R R GGG EEEEE N N CCCC Y
//
-// BBBB U U TTTTT TTTTT OOO N N SSSS
-// B B U U T T O O NN N S
-// BBBB U U T T O O N N N SSS
-// B B U U T T O O N NN S
-// BBBB UUU T T OOO N N SSSS
+// SSSS TTTTT OOO PPPP
+// S T O O P P
+// SSS T O O PPPP
+// S T O O P
+// SSSS T OOO P
// ----------------------------------------------------------------------------------
-// For the buttons that commands all of the agent nodes to:
-// > (RE)CONNECT THE RADIO
-void MainGUIWindow::on_all_connect_button_clicked()
-{
-// std_msgs::Int32 msg;
-// msg.data = CMD_RECONNECT;
-// crazyRadioCommandAllAgentsPublisher.publish(msg);
-}
-// > DISCONNECT THE RADIO
-void MainGUIWindow::on_all_disconnect_button_clicked()
-{
-// std_msgs::Int32 msg;
-// msg.data = CMD_DISCONNECT;
-// crazyRadioCommandAllAgentsPublisher.publish(msg);
-}
-// > TAKE-OFF
-void MainGUIWindow::on_all_take_off_button_clicked()
-{
-// std_msgs::Int32 msg;
-// msg.data = CMD_CRAZYFLY_TAKE_OFF;
-// commandAllAgentsPublisher.publish(msg);
-}
-// > LAND
-void MainGUIWindow::on_all_land_button_clicked()
-{
-// std_msgs::Int32 msg;
-// msg.data = CMD_CRAZYFLY_LAND;
-// commandAllAgentsPublisher.publish(msg);
-}
-// > MOTORS OFF
-void MainGUIWindow::on_all_motors_off_button_clicked()
+// > EMERGENCY STOP
+void MainGUIWindow::on_emergency_stop_button_clicked()
{
#ifdef CATKIN_MAKE
dfall_pkg::IntWithHeader msg;
msg.data = CMD_CRAZYFLY_MOTORS_OFF;
msg.shouldCheckForAgentID = false;
- //commandAllAgentsPublisher.publish(msg);
emergencyStopPublisher.publish(msg);
#endif
}
-// > ENABLE SAFE CONTROLLER
-void MainGUIWindow::on_all_enable_safe_controller_button_clicked()
-{
-// std_msgs::Int32 msg;
-// msg.data = CMD_USE_SAFE_CONTROLLER;
-// commandAllAgentsPublisher.publish(msg);
-}
-// > ENABLE SAFE CONTROLLER
-void MainGUIWindow::on_all_enable_custom_controller_button_clicked()
-{
-// std_msgs::Int32 msg;
-// msg.data = CMD_USE_CUSTOM_CONTROLLER;
-// commandAllAgentsPublisher.publish(msg);
-}
-// > LOAD THE YAML PARAMETERS FOR THE SAFE CONTROLLER
-void MainGUIWindow::on_all_load_safe_controller_yaml_own_agent_button_clicked()
-{
-// // Disable the button
-// ui->all_load_safe_controller_yaml_own_agent_button->setEnabled(false);
-// ui->all_load_safe_controller_yaml_coordinator_button->setEnabled(false);
-
-// // Send the message that the YAML paremters should be loaded
-// std_msgs::Int32 msg;
-// msg.data = LOAD_YAML_SAFE_CONTROLLER_AGENT;
-// requestLoadControllerYamlPublisher.publish(msg);
-
-// // Start a timer which will enable the button in its callback
-// // > This is required because the agent node waits some time between
-// // re-loading the values from the YAML file and then assigning then
-// // to the local variable of the agent.
-// // > Thus we use this timer to prevent the user from clicking the
-// // button in the GUI repeatedly.
-// ros::NodeHandle nodeHandle("~");
-// m_timer_yaml_file_for_safe_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainGUIWindow::safeYamlFileTimerCallback, this, true);
-}
-// > LOAD THE YAML PARAMETERS FOR THE CUSTOM CONTROLLER
-void MainGUIWindow::on_all_load_custom_controller_yaml_own_agent_button_clicked()
-{
-// // Disable the button
-// ui->all_load_custom_controller_yaml_own_agent_button->setEnabled(false);
-// ui->all_load_custom_controller_yaml_coordinator_button->setEnabled(false);
-
-// // Send the message that the YAML paremters should be loaded
-// std_msgs::Int32 msg;
-// msg.data = LOAD_YAML_CUSTOM_CONTROLLER_AGENT;
-// requestLoadControllerYamlPublisher.publish(msg);
-
-// // Start a timer which will enable the button in its callback
-// // > This is required because the agent node waits some time between
-// // re-loading the values from the YAML file and then assigning then
-// // to the local variable of the agent.
-// // > Thus we use this timer to prevent the user from clicking the
-// // button in the GUI repeatedly.
-// ros::NodeHandle nodeHandle("~");
-// m_timer_yaml_file_for_custom_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainGUIWindow::customYamlFileTimerCallback, this, true);
-
-}
-// > SEND THE YAML PARAMETERS FOR THE SAFE CONTROLLER
-void MainGUIWindow::on_all_load_safe_controller_yaml_coordinator_button_clicked()
-{
-// // Disable the button
-// ui->all_load_safe_controller_yaml_own_agent_button->setEnabled(false);
-// ui->all_load_safe_controller_yaml_coordinator_button->setEnabled(false);
-
-// // Send the message that the YAML paremters should be loaded
-// // by the coordinator (and then the agent informed)
-// std_msgs::Int32 msg;
-// msg.data = LOAD_YAML_SAFE_CONTROLLER_COORDINATOR;
-// requestLoadControllerYamlPublisher.publish(msg);
-
-// // Start a timer which will enable the button in its callback
-// // > This is required because the agent node waits some time between
-// // re-loading the values from the YAML file and then assigning then
-// // to the local variable of the agent.
-// // > Thus we use this timer to prevent the user from clicking the
-// // button in the GUI repeatedly.
-// ros::NodeHandle nodeHandle("~");
-// m_timer_yaml_file_for_safe_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainGUIWindow::safeYamlFileTimerCallback, this, true);
-}
-// > SEND THE YAML PARAMETERS FOR THE CUSTOM CONTROLLER
-void MainGUIWindow::on_all_load_custom_controller_yaml_coordinator_button_clicked()
-{
-// // Disable the button
-// ui->all_load_custom_controller_yaml_own_agent_button->setEnabled(false);
-// ui->all_load_custom_controller_yaml_coordinator_button->setEnabled(false);
-
-// // Send the message that the YAML paremters should be loaded
-// // by the coordinator (and then the agent informed)
-// std_msgs::Int32 msg;
-// msg.data = LOAD_YAML_CUSTOM_CONTROLLER_COORDINATOR;
-// requestLoadControllerYamlPublisher.publish(msg);
-
-// // Start a timer which will enable the button in its callback
-// // > This is required because the agent node waits some time between
-// // re-loading the values from the YAML file and then assigning then
-// // to the local variable of the agent.
-// // > Thus we use this timer to prevent the user from clicking the
-// // button in the GUI repeatedly.
-// ros::NodeHandle nodeHandle("~");
-// m_timer_yaml_file_for_custom_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainGUIWindow::customYamlFileTimerCallback, this, true);
-
-}
-
-#ifdef CATKIN_MAKE
-// > CALLBACK TO RE-ENABLE THE SAFE CONTROLLER YAML BUTTONS
-void MainGUIWindow::safeYamlFileTimerCallback(const ros::TimerEvent&)
-{
-// // Enble the "load" and the "send" safe controller YAML button again
-// ui->all_load_safe_controller_yaml_own_agent_button->setEnabled(true);
-// ui->all_load_safe_controller_yaml_coordinator_button->setEnabled(true);
-}
-// > CALLBACK TO RE-ENABLE THE CUSTOM CONTROLLER YAML BUTTONS
-void MainGUIWindow::customYamlFileTimerCallback(const ros::TimerEvent&)
-{
-// // Enble the "load" and the "send" custom controller YAML button again
-// ui->all_load_custom_controller_yaml_own_agent_button->setEnabled(true);
-// ui->all_load_custom_controller_yaml_coordinator_button->setEnabled(true);
-}
-#endif
-
-/*
-// > CALLBACK TO SEND THE CUSTOM CONTROLLER YAML PARAMETERS AS A MESSAGE
-void MainGUIWindow::customSendYamlAsMessageTimerCallback(const ros::TimerEvent&)
-{
- // Load the CUSTOM controller YAML parameters from file into a message for
- // sending directly to the "CustonControllerService" node of every agent
-
- ros::NodeHandle nodeHandle("~");
-
- // Instaniate a local variable of the message type
- CustomControllerYAML customControllerYamlMessage;
-
- // Load the data directly from the YAML file into the message
-
- // > For the mass
- customControllerYamlMessage.mass = MainGUIWindow::getParameterFloat(nodeHandle, "mass");
-
- // Debugging this this works
- ROS_INFO_STREAM("DEBUGGING: mass loaded from the custom controller YAML = " << customControllerYamlMessage.mass );
-
- // > For the control_frequency
- customControllerYamlMessage.control_frequency = MainGUIWindow::getParameterFloat(nodeHandle, "control_frequency");
-
- // > For the motorPoly coefficients
- std::vector<float> temp_motorPoly(3);
- MainGUIWindow::getParameterFloatVector(nodeHandle, "motorPoly", temp_motorPoly, 3);
- // Copy the loaded data into the message
- for ( int i=0 ; i<3 ; i++ )
- {
- customControllerYamlMessage.motorPoly.push_back( temp_motorPoly[i] );
- }
-
- // > For the boolean about whether to execute the convert into body frame function
- customControllerYamlMessage.shouldPerformConvertIntoBodyFrame = MainGUIWindow::getParameterBool(nodeHandle, "shouldPerformConvertIntoBodyFrame");
-
- // > For the boolean about publishing the agents current position
- customControllerYamlMessage.shouldPublishCurrent_xyz_yaw = MainGUIWindow::getParameterBool(nodeHandle, "shouldPublishCurrent_xyz_yaw");
-
- // > For the boolean about following another agent
- customControllerYamlMessage.shouldFollowAnotherAgent = MainGUIWindow::getParameterBool(nodeHandle, "shouldFollowAnotherAgent");
-
- // > For the ordered agent ID's for following eachother in a line
- std::vector<int> temp_follow_in_a_line_agentIDs(100);
- int temp_number_of_agents_in_a_line = MainGUIWindow::getParameterIntVectorWithUnknownLength(nodeHandle, "follow_in_a_line_agentIDs", temp_follow_in_a_line_agentIDs);
- // > Double check that the sizes agree
- if ( temp_number_of_agents_in_a_line != temp_follow_in_a_line_agentIDs.size() )
- {
- // Update the user if the sizes don't agree
- ROS_ERROR_STREAM("parameter 'follow_in_a_line_agentIDs' was loaded with two different lengths, " << temp_number_of_agents_in_a_line << " versus " << temp_follow_in_a_line_agentIDs.size() );
- }
- // Copy the loaded data into the message
- for ( int i=0 ; i<temp_number_of_agents_in_a_line ; i++ )
- {
- customControllerYamlMessage.follow_in_a_line_agentIDs.push_back( temp_follow_in_a_line_agentIDs[i] );
- }
-
- // Publish the message containing the loaded YAML parameters
- customYAMLasMessagePublisher.publish(customControllerYamlMessage);
-
- // Start a timer which will enable the button in its callback
- m_timer_yaml_file_for_custom_controller = nodeHandle.createTimer(ros::Duration(0.5), &MainGUIWindow::customYamlFileTimerCallback, this, true);
-}
-*/
-
-
-
-
-// ----------------------------------------------------------------------------------
-// L OOO A DDDD Y Y A M M L
-// L O O A A D D Y Y A A MM MM L
-// L O O A A D D Y A A M M M L
-// L O O AAAAA D D Y AAAAA M M L
-// LLLLL OOO A A DDDD Y A A M M LLLLL
-//
-// PPPP A RRRR A M M EEEEE TTTTT EEEEE RRRR SSSS
-// P P A A R R A A MM MM E T E R R S
-// PPPP A A RRRR A A M M M EEE T EEE RRRR SSS
-// P AAAAA R R AAAAA M M E T E R R S
-// P A A R R A A M M EEEEE T EEEEE R R SSSS
-// ----------------------------------------------------------------------------------
-
-
-#ifdef CATKIN_MAKE
-
-// load parameters from corresponding YAML file
-//
-float MainGUIWindow::getParameterFloat(ros::NodeHandle& nodeHandle, std::string name)
-{
- float val;
- if(!nodeHandle.getParam(name, val))
- {
- ROS_ERROR_STREAM("missing parameter '" << name << "'");
- }
- return val;
-}
-
-void MainGUIWindow::getParameterFloatVector(ros::NodeHandle& nodeHandle, std::string name, std::vector<float>& val, int length)
-{
- if(!nodeHandle.getParam(name, val)){
- ROS_ERROR_STREAM("missing parameter '" << name << "'");
- }
- if(val.size() != length) {
- ROS_ERROR_STREAM("parameter '" << name << "' has wrong array length, " << length << " needed");
- }
-}
-
-int MainGUIWindow::getParameterInt(ros::NodeHandle& nodeHandle, std::string name)
-{
- int val;
- if(!nodeHandle.getParam(name, val))
- {
- ROS_ERROR_STREAM("missing parameter '" << name << "'");
- }
- return val;
-}
-
-void MainGUIWindow::getParameterIntVectorWithKnownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val, int length)
-{
- if(!nodeHandle.getParam(name, val)){
- ROS_ERROR_STREAM("missing parameter '" << name << "'");
- }
- if(val.size() != length) {
- ROS_ERROR_STREAM("parameter '" << name << "' has wrong array length, " << length << " needed");
- }
-}
-
-int MainGUIWindow::getParameterIntVectorWithUnknownLength(ros::NodeHandle& nodeHandle, std::string name, std::vector<int>& val)
-{
- if(!nodeHandle.getParam(name, val)){
- ROS_ERROR_STREAM("missing parameter '" << name << "'");
- }
- return val.size();
-}
-
-bool MainGUIWindow::getParameterBool(ros::NodeHandle& nodeHandle, std::string name)
-{
- bool val;
- if(!nodeHandle.getParam(name, val))
- {
- ROS_ERROR_STREAM("missing parameter '" << name << "'");
- }
- return val;
-}
-
-#endif
--
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