diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
index dba7e18673861d78224996dd92f6b51e785c3802..69b605354323c0c3aed13772053086e1c19a98be 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
@@ -27,7 +27,8 @@ SOURCES += src/main.cpp\
src/coordinatorrow.cpp \
src/studentcontrollertab.cpp \
src/defaultcontrollertab.cpp \
- src/pickercontrollertab.cpp
+ src/pickercontrollertab.cpp \
+ src/tuningcontrollertab.cpp
HEADERS += include/mainwindow.h \
include/topbanner.h \
@@ -40,8 +41,10 @@ HEADERS += include/mainwindow.h \
include/studentcontrollertab.h \
include/defaultcontrollertab.h \
include/pickercontrollertab.h \
+ include/tuningcontrollertab.h \
include/Constants_for_Qt_compile.h
+
FORMS += forms/mainwindow.ui \
forms/topbanner.ui \
forms/connectstartstopbar.ui \
@@ -52,7 +55,8 @@ FORMS += forms/mainwindow.ui \
forms/coordinatorrow.ui \
forms/studentcontrollertab.ui \
forms/defaultcontrollertab.ui \
- forms/pickercontrollertab.ui
+ forms/pickercontrollertab.ui \
+ forms/tuningcontrollertab.ui
RESOURCES += \
flyingagentgui.qrc
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
index 928aa1152368f7fff3dd07d784130df8f2be273f..75157907ea4645a83050ec0241e4a760d168dee8 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
@@ -28,7 +28,7 @@
<item row="0" column="0">
<widget class="QTabWidget" name="controller_tabs_widget">
<property name="currentIndex">
- <number>0</number>
+ <number>3</number>
</property>
<property name="movable">
<bool>true</bool>
@@ -63,13 +63,23 @@
</item>
</layout>
</widget>
+ <widget class="QWidget" name="tuning_tab">
+ <attribute name="title">
+ <string>Tuning</string>
+ </attribute>
+ <layout class="QGridLayout" name="gridLayout_6">
+ <item row="0" column="0">
+ <widget class="TuningControllerTab" name="tuning_controller_tab_widget" native="true"/>
+ </item>
+ </layout>
+ </widget>
<widget class="QWidget" name="safe_tab">
<attribute name="title">
<string>Safe</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
- <widget class="SafeControllerTab" name="widget_2" native="true"/>
+ <widget class="SafeControllerTab" name="safe_controller_tab_widget" native="true"/>
</item>
</layout>
</widget>
@@ -102,6 +112,12 @@
<header>pickercontrollertab.h</header>
<container>1</container>
</customwidget>
+ <customwidget>
+ <class>TuningControllerTab</class>
+ <extends>QWidget</extends>
+ <header>tuningcontrollertab.h</header>
+ <container>1</container>
+ </customwidget>
</customwidgets>
<resources/>
<connections/>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
index 4201e18dfafc2dd5da93b36cc0d2c2903f87f912..b11f354ff419afaed713d41f3c2ca50627b451e1 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
@@ -30,8 +30,8 @@
<property name="spacing">
<number>12</number>
</property>
- <item row="0" column="4">
- <widget class="QPushButton" name="enable_safe_button">
+ <item row="0" column="2">
+ <widget class="QPushButton" name="enable_student_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -57,12 +57,12 @@
</font>
</property>
<property name="text">
- <string>Safe</string>
+ <string>Student</string>
</property>
</widget>
</item>
- <item row="0" column="0">
- <widget class="QLabel" name="enable_controller_label">
+ <item row="1" column="0">
+ <widget class="QLabel" name="load_yaml_label">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -88,15 +88,28 @@
</font>
</property>
<property name="text">
- <string>Enable</string>
+ <string>Load YAML</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
- <item row="0" column="1">
- <widget class="QPushButton" name="enable_default_button">
+ <item row="0" column="6">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="0" column="5">
+ <widget class="QPushButton" name="enable_safe_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -122,46 +135,37 @@
</font>
</property>
<property name="text">
- <string>Default</string>
+ <string>Safe</string>
</property>
</widget>
</item>
- <item row="1" column="0">
- <widget class="QLabel" name="load_yaml_label">
+ <item row="1" column="3">
+ <widget class="QPushButton" name="load_yaml_picker_button">
<property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
- <width>0</width>
+ <width>60</width>
<height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
- <width>16777215</width>
+ <width>180</width>
<height>50</height>
</size>
</property>
- <property name="font">
- <font>
- <weight>75</weight>
- <bold>true</bold>
- </font>
- </property>
<property name="text">
- <string>Load YAML</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
+ <string>Picker</string>
</property>
</widget>
</item>
- <item row="1" column="4">
- <widget class="QPushButton" name="load_yaml_safe_button">
+ <item row="1" column="2">
+ <widget class="QPushButton" name="load_yaml_student_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -181,12 +185,12 @@
</size>
</property>
<property name="text">
- <string>Safe</string>
+ <string>Student</string>
</property>
</widget>
</item>
- <item row="1" column="1">
- <widget class="QPushButton" name="load_yaml_default_button">
+ <item row="0" column="1">
+ <widget class="QPushButton" name="enable_default_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -205,13 +209,53 @@
<height>50</height>
</size>
</property>
+ <property name="font">
+ <font>
+ <weight>50</weight>
+ <bold>false</bold>
+ </font>
+ </property>
<property name="text">
<string>Default</string>
</property>
</widget>
</item>
- <item row="1" column="2">
- <widget class="QPushButton" name="load_yaml_student_button">
+ <item row="0" column="0">
+ <widget class="QLabel" name="enable_controller_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Enable</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="5">
+ <widget class="QPushButton" name="load_yaml_safe_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -231,12 +275,12 @@
</size>
</property>
<property name="text">
- <string>Student</string>
+ <string>Safe</string>
</property>
</widget>
</item>
- <item row="0" column="2">
- <widget class="QPushButton" name="enable_student_button">
+ <item row="1" column="1">
+ <widget class="QPushButton" name="load_yaml_default_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -255,14 +299,8 @@
<height>50</height>
</size>
</property>
- <property name="font">
- <font>
- <weight>50</weight>
- <bold>false</bold>
- </font>
- </property>
<property name="text">
- <string>Student</string>
+ <string>Default</string>
</property>
</widget>
</item>
@@ -297,8 +335,8 @@
</property>
</widget>
</item>
- <item row="1" column="3">
- <widget class="QPushButton" name="load_yaml_picker_button">
+ <item row="0" column="4">
+ <widget class="QPushButton" name="enable_tuning_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -318,22 +356,34 @@
</size>
</property>
<property name="text">
- <string>Picker</string>
+ <string>Tuning</string>
</property>
</widget>
</item>
- <item row="0" column="5">
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
+ <item row="1" column="4">
+ <widget class="QPushButton" name="load_yaml_tuning_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
</property>
- <property name="sizeHint" stdset="0">
+ <property name="minimumSize">
<size>
- <width>40</width>
- <height>20</height>
+ <width>60</width>
+ <height>50</height>
</size>
</property>
- </spacer>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Tuning</string>
+ </property>
+ </widget>
</item>
</layout>
</item>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui
index 90eb9f736660c627283b838825e1643707608f5c..2a7f180b21fb15a87ae9950dc0e0359f5e3c35cf 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui
@@ -213,6 +213,7 @@
<addaction name="action_showHideController_default"/>
<addaction name="action_showHideController_student"/>
<addaction name="action_showHideController_picker"/>
+ <addaction name="action_showHideController_tuning"/>
<addaction name="action_showHideController_safe"/>
</widget>
<addaction name="menuFile"/>
@@ -290,6 +291,17 @@
<string>Safe</string>
</property>
</action>
+ <action name="action_showHideController_tuning">
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Tuning</string>
+ </property>
+ </action>
</widget>
<layoutdefault spacing="6" margin="11"/>
<customwidgets>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/studentcontrollertab.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/studentcontrollertab.ui
index 98d17bfed9a207d28cca90e8f1c5b68e19232f28..c1df7fef3ff18ce65ae38879c1396e660eb7383f 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/studentcontrollertab.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/studentcontrollertab.ui
@@ -88,6 +88,9 @@
<height>60</height>
</size>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="0" column="2">
@@ -174,6 +177,9 @@
<height>60</height>
</size>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="1" column="2">
@@ -190,6 +196,9 @@
<height>60</height>
</size>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="1" column="3">
@@ -206,6 +215,9 @@
<height>60</height>
</size>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="1" column="4">
@@ -222,6 +234,9 @@
<height>60</height>
</size>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
</layout>
@@ -278,6 +293,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -438,6 +456,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item>
@@ -493,6 +514,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -520,6 +544,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -563,6 +590,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -590,6 +620,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -617,6 +650,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -644,6 +680,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -784,6 +823,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -811,6 +853,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -838,6 +883,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -881,6 +929,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -908,6 +959,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -935,6 +989,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -962,6 +1019,9 @@
<property name="text">
<string>xx.xx</string>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
<property name="readOnly">
<bool>true</bool>
</property>
@@ -1002,6 +1062,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="7" column="4">
@@ -1042,6 +1105,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="5" column="4">
@@ -1063,6 +1129,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="3" column="4">
@@ -1084,6 +1153,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item row="1" column="6">
@@ -1136,6 +1208,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item>
@@ -1199,6 +1274,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item>
@@ -1262,6 +1340,9 @@
<family>Courier</family>
</font>
</property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
<item>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/tuningcontrollertab.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/tuningcontrollertab.ui
new file mode 100644
index 0000000000000000000000000000000000000000..72ae921f3c38b846aac809261e734ff8ec10ae61
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/tuningcontrollertab.ui
@@ -0,0 +1,703 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>TuningControllerTab</class>
+ <widget class="QWidget" name="TuningControllerTab">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1503</width>
+ <height>814</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ </font>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout">
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout_3">
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item row="0" column="9">
+ <layout class="QVBoxLayout" name="verticalLayout_6">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <spacer name="verticalSpacer_6">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_13">
+ <property name="text">
+ <string>velocity</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_14">
+ <property name="text">
+ <string>[meters/second]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_7">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item row="0" column="2">
+ <layout class="QVBoxLayout" name="verticalLayout_4">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label_7">
+ <property name="text">
+ <string>gain</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="2" column="9">
+ <layout class="QHBoxLayout" name="horizontalLayout_10">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_5">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="0" column="0">
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <item>
+ <spacer name="verticalSpacer_3">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>angle</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_5">
+ <property name="text">
+ <string>[degrees]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item row="2" column="2">
+ <layout class="QHBoxLayout" name="horizontalLayout_3">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="0" column="7">
+ <layout class="QVBoxLayout" name="verticalLayout_5">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>gain</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="2" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_4">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_2">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="0" column="5">
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <spacer name="verticalSpacer_5">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_9">
+ <property name="text">
+ <string>position</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_10">
+ <property name="text">
+ <string>error</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_11">
+ <property name="text">
+ <string>[meters]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <spacer name="verticalSpacer_4">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>0</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </item>
+ <item row="0" column="8">
+ <layout class="QHBoxLayout" name="horizontalLayout_7">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label_8">
+ <property name="text">
+ <string>x</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="3" column="2">
+ <widget class="QSlider" name="horizontalSlider">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="6">
+ <layout class="QHBoxLayout" name="horizontalLayout_6">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label_12">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>+</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="0" column="1">
+ <layout class="QHBoxLayout" name="horizontalLayout_8">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label_6">
+ <property name="text">
+ <string>=</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="2" column="7">
+ <layout class="QHBoxLayout" name="horizontalLayout_9">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_4">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="0" column="3">
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label_3">
+ <property name="text">
+ <string>x</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="2" column="5">
+ <layout class="QHBoxLayout" name="horizontalLayout_5">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_3">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="1" column="0">
+ <widget class="Line" name="line">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="Line" name="line_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="Line" name="line_3">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="3">
+ <widget class="Line" name="line_4">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="5">
+ <widget class="Line" name="line_5">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="9">
+ <layout class="QVBoxLayout" name="verticalLayout_3">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item>
+ <widget class="Line" name="line_6">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="1" column="6">
+ <widget class="Line" name="line_7">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="7">
+ <widget class="Line" name="line_8">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="8">
+ <widget class="Line" name="line_9">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="3">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>x</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="2" column="6">
+ <layout class="QHBoxLayout" name="horizontalLayout_11">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label_15">
+ <property name="text">
+ <string>+</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="2" column="8">
+ <layout class="QHBoxLayout" name="horizontalLayout_12">
+ <property name="leftMargin">
+ <number>12</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label_16">
+ <property name="text">
+ <string>x</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </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>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h
index 7650f45f1f19e7a2894e1e735b6d8d76b7e01d4f..c159378e6da8e2852e69aa44f3f238921333f3d8 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h
@@ -50,6 +50,7 @@ public:
void showHideController_default_changed();
void showHideController_student_changed();
void showHideController_picker_changed();
+ void showHideController_tuning_changed();
void showHideController_safe_changed();
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
index 53139bfe398d2b1ca6107c268d7e3567cb06ca53..1f81bf8e3de0ceb23e46183d6f10eb1192b5d1c5 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
@@ -64,6 +64,7 @@ public:
void showHideController_default_changed();
void showHideController_student_changed();
void showHideController_picker_changed();
+ void showHideController_tuning_changed();
void showHideController_safe_changed();
@@ -75,12 +76,14 @@ private slots:
// ENABLE CONTROLLER BUTTONS ON-CLICK CALLBACK
void on_enable_safe_button_clicked();
+ void on_enable_tuning_button_clicked();
void on_enable_picker_button_clicked();
void on_enable_student_button_clicked();
void on_enable_default_button_clicked();
// LOAD YAML BUTTONS ON-CLICK CALLBACK
void on_load_yaml_safe_button_clicked();
+ void on_load_yaml_tuning_button_clicked();
void on_load_yaml_picker_button_clicked();
void on_load_yaml_student_button_clicked();
void on_load_yaml_default_button_clicked();
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h
index d456f45d9d9ed61897378e7293822dbe54ee2688..91e68c96c79984b4b79124f55ddb19d76f949129 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h
@@ -127,6 +127,7 @@ private slots:
void on_action_showHideController_default_changed();
void on_action_showHideController_student_changed();
void on_action_showHideController_picker_changed();
+ void on_action_showHideController_tuning_changed();
void on_action_showHideController_safe_changed();
};
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/tuningcontrollertab.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/tuningcontrollertab.h
new file mode 100644
index 0000000000000000000000000000000000000000..2d4eaf3d6194d612c6fe5cbef2a66016813a5362
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/tuningcontrollertab.h
@@ -0,0 +1,22 @@
+#ifndef TUNINGCONTROLLERTAB_H
+#define TUNINGCONTROLLERTAB_H
+
+#include <QWidget>
+
+namespace Ui {
+class TuningControllerTab;
+}
+
+class TuningControllerTab : public QWidget
+{
+ Q_OBJECT
+
+public:
+ explicit TuningControllerTab(QWidget *parent = 0);
+ ~TuningControllerTab();
+
+private:
+ Ui::TuningControllerTab *ui;
+};
+
+#endif // TUNINGCONTROLLERTAB_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
index 7f58a1c94d0bbc0610e0c04e507c15627403272f..9b1127895f60bbb01f91b78ee01434c53f58584c 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
@@ -164,6 +164,11 @@ void ControllerTabs::showHideController_picker_changed()
showHideController_toggle("Picker",ui->picker_tab);
}
+void ControllerTabs::showHideController_tuning_changed()
+{
+ showHideController_toggle("Tuning",ui->tuning_tab);
+}
+
void ControllerTabs::showHideController_safe_changed()
{
showHideController_toggle("Safe",ui->safe_tab);
@@ -302,7 +307,7 @@ void ControllerTabs::setControllerEnabled(int new_controller)
}
case TUNING_CONTROLLER:
{
- //ui->controller_enabled_label->setText("Tuning");
+ setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->tuning_tab );
break;
}
case PICKER_CONTROLLER:
@@ -324,6 +329,7 @@ void ControllerTabs::setAllTabLabelsToNormalColouring()
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->default_tab );
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->student_tab );
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->picker_tab );
+ setTextColourOfTabLabel( m_tab_text_colour_normal , ui->tuning_tab );
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->safe_tab );
}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
index ca509b8f85fd83cc19b729702d22147e440eb81f..e3afc90f59fda82311f83264873af37f421f92e2 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
@@ -61,10 +61,16 @@ void EnableControllerLoadYamlBar::showHideController_student_changed()
void EnableControllerLoadYamlBar::showHideController_picker_changed()
{
- ui->enable_picker_button ->setHidden( !(ui->enable_picker_button->isHidden()) );
+ ui->enable_picker_button ->setHidden( !(ui->enable_picker_button->isHidden()) );
ui->load_yaml_picker_button->setHidden( !(ui->load_yaml_picker_button->isHidden()) );
}
+void EnableControllerLoadYamlBar::showHideController_tuning_changed()
+{
+ ui->enable_tuning_button ->setHidden( !(ui->enable_tuning_button->isHidden()) );
+ ui->load_yaml_tuning_button->setHidden( !(ui->load_yaml_tuning_button->isHidden()) );
+}
+
void EnableControllerLoadYamlBar::showHideController_safe_changed()
{
ui->enable_safe_button ->setHidden( !(ui->enable_safe_button->isHidden()) );
@@ -89,6 +95,17 @@ void EnableControllerLoadYamlBar::on_enable_safe_button_clicked()
#endif
}
+void EnableControllerLoadYamlBar::on_enable_tuning_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ d_fall_pps::IntWithHeader msg;
+ fillIntMessageHeader(msg);
+ msg.data = CMD_USE_TUNING_CONTROLLER;
+ this->commandPublisher.publish(msg);
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Tuning Controller");
+#endif
+}
+
void EnableControllerLoadYamlBar::on_enable_picker_button_clicked()
{
#ifdef CATKIN_MAKE
@@ -114,11 +131,11 @@ void EnableControllerLoadYamlBar::on_enable_student_button_clicked()
void EnableControllerLoadYamlBar::on_enable_default_button_clicked()
{
#ifdef CATKIN_MAKE
- //d_fall_pps::IntWithHeader msg;
- //fillIntMessageHeader(msg);
- //msg.data = CMD_USE_STUDENT_CONTROLLER;
- //this->commandPublisher.publish(msg);
- //ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Student Controller");
+ d_fall_pps::IntWithHeader msg;
+ fillIntMessageHeader(msg);
+ msg.data = CMD_USE_SAFE_CONTROLLER;
+ this->commandPublisher.publish(msg);
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Safe Controller");
#endif
}
@@ -132,6 +149,22 @@ void EnableControllerLoadYamlBar::on_load_yaml_safe_button_clicked()
#endif
}
+void EnableControllerLoadYamlBar::on_load_yaml_tuning_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Create a local variable for the message
+ d_fall_pps::StringWithHeader yaml_filename_msg;
+ // Set for whom this applies to
+ fillStringMessageHeader(yaml_filename_msg);
+ // Specify the data
+ yaml_filename_msg.data = "TuningController";
+ // Send the message
+ m_requestLoadYamlFilenamePublisher.publish(yaml_filename_msg);
+ // Inform the user that the menu item was selected
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Tuning Controller YAML was clicked.");
+#endif
+}
+
void EnableControllerLoadYamlBar::on_load_yaml_picker_button_clicked()
{
#ifdef CATKIN_MAKE
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
index f9173ae6a848664f71a1b372fe3c26318831ae78..b96cbfa548fafb1152b4a733b6f3e39912a38ee0 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
@@ -140,6 +140,8 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
// > For the picker controller
ui->action_showHideController_picker->trigger();
+ // > For the tuning controller
+ ui->action_showHideController_tuning->trigger();
// > For the safe controller
ui->action_showHideController_safe->trigger();
@@ -234,6 +236,13 @@ void MainWindow::on_action_showHideController_picker_changed()
ui->customWidget_controller_tabs->showHideController_picker_changed();
}
+void MainWindow::on_action_showHideController_tuning_changed()
+{
+ // Notify the UI elements of this change
+ ui->customWidget_enableControllerLoadYamlBar->showHideController_tuning_changed();
+ ui->customWidget_controller_tabs->showHideController_tuning_changed();
+}
+
void MainWindow::on_action_showHideController_safe_changed()
{
// Notify the UI elements of this change
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..98a271f51e9ba0c56c6e4d5c4d67bf44a5628d1b
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp
@@ -0,0 +1,14 @@
+#include "tuningcontrollertab.h"
+#include "ui_tuningcontrollertab.h"
+
+TuningControllerTab::TuningControllerTab(QWidget *parent) :
+ QWidget(parent),
+ ui(new Ui::TuningControllerTab)
+{
+ ui->setupUi(this);
+}
+
+TuningControllerTab::~TuningControllerTab()
+{
+ delete ui;
+}