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 07c4fbced43644193b0a431f2cf4d0b465220a11..dba7e18673861d78224996dd92f6b51e785c3802 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
@@ -39,7 +39,8 @@ HEADERS += include/mainwindow.h \
include/coordinatorrow.h \
include/studentcontrollertab.h \
include/defaultcontrollertab.h \
- include/pickercontrollertab.h
+ include/pickercontrollertab.h \
+ include/Constants_for_Qt_compile.h
FORMS += forms/mainwindow.ui \
forms/topbanner.ui \
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/connectstartstopbar.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/connectstartstopbar.ui
index c08c3341678b5e68eb2f9d7738f786fb1a9be3c2..c2e783dfbcf44a2540084eee19ebddcbe62996df 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/connectstartstopbar.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/connectstartstopbar.ui
@@ -22,19 +22,19 @@
<item row="0" column="0">
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="spacing">
- <number>6</number>
+ <number>12</number>
</property>
<property name="leftMargin">
<number>6</number>
</property>
<property name="topMargin">
- <number>6</number>
+ <number>0</number>
</property>
<property name="rightMargin">
<number>6</number>
</property>
<property name="bottomMargin">
- <number>6</number>
+ <number>0</number>
</property>
<item>
<widget class="QPushButton" name="rf_disconnect_button">
@@ -113,6 +113,9 @@
</item>
<item>
<widget class="QLineEdit" name="battery_voltage_lineEdit">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -144,6 +147,9 @@
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item>
@@ -172,7 +178,7 @@
</widget>
</item>
<item>
- <widget class="QPushButton" name="take_off_button">
+ <widget class="QPushButton" name="enable_flying_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -197,7 +203,7 @@
</widget>
</item>
<item>
- <widget class="QPushButton" name="land_button">
+ <widget class="QPushButton" name="disable_flying_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/coordinatorrow.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/coordinatorrow.ui
index 06003ef3968d18a8ac3fd736d1c772483e489187..ffb245eb7c6a132d6864b0834654903ec88f434f 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/coordinatorrow.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/coordinatorrow.ui
@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>660</width>
+ <width>740</width>
<height>45</height>
</rect>
</property>
@@ -193,6 +193,9 @@
<property name="text">
<string>-.-- V</string>
</property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
</widget>
</item>
<item>
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 80d40b200a37aa380a48a97c367e3b3c25d12eb4..704e95abc4d213f955f9206470a1883505749bdd 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
@@ -27,6 +27,9 @@
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout_3">
+ <property name="spacing">
+ <number>12</number>
+ </property>
<item row="0" column="4">
<widget class="QPushButton" name="enable_safe_button">
<property name="sizePolicy">
@@ -38,13 +41,13 @@
<property name="minimumSize">
<size>
<width>60</width>
- <height>40</height>
+ <height>70</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>180</width>
- <height>40</height>
+ <height>70</height>
</size>
</property>
<property name="font">
@@ -61,21 +64,21 @@
<item row="0" column="0">
<widget class="QLabel" name="enable_controller_label">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
- <width>60</width>
- <height>20</height>
+ <width>0</width>
+ <height>70</height>
</size>
</property>
<property name="maximumSize">
<size>
- <width>180</width>
- <height>20</height>
+ <width>16777215</width>
+ <height>70</height>
</size>
</property>
<property name="font">
@@ -103,13 +106,13 @@
<property name="minimumSize">
<size>
<width>60</width>
- <height>40</height>
+ <height>70</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>180</width>
- <height>40</height>
+ <height>70</height>
</size>
</property>
<property name="font">
@@ -126,21 +129,21 @@
<item row="1" column="0">
<widget class="QLabel" name="load_yaml_label">
<property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
- <width>60</width>
- <height>20</height>
+ <width>0</width>
+ <height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
- <width>180</width>
- <height>20</height>
+ <width>16777215</width>
+ <height>50</height>
</size>
</property>
<property name="font">
@@ -168,13 +171,13 @@
<property name="minimumSize">
<size>
<width>60</width>
- <height>40</height>
+ <height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>180</width>
- <height>40</height>
+ <height>50</height>
</size>
</property>
<property name="text">
@@ -193,13 +196,13 @@
<property name="minimumSize">
<size>
<width>60</width>
- <height>40</height>
+ <height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>180</width>
- <height>40</height>
+ <height>50</height>
</size>
</property>
<property name="text">
@@ -218,13 +221,13 @@
<property name="minimumSize">
<size>
<width>60</width>
- <height>40</height>
+ <height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>180</width>
- <height>40</height>
+ <height>50</height>
</size>
</property>
<property name="text">
@@ -243,13 +246,13 @@
<property name="minimumSize">
<size>
<width>60</width>
- <height>40</height>
+ <height>70</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>180</width>
- <height>40</height>
+ <height>70</height>
</size>
</property>
<property name="font">
@@ -274,13 +277,13 @@
<property name="minimumSize">
<size>
<width>60</width>
- <height>40</height>
+ <height>70</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>180</width>
- <height>40</height>
+ <height>70</height>
</size>
</property>
<property name="font">
@@ -305,13 +308,13 @@
<property name="minimumSize">
<size>
<width>60</width>
- <height>40</height>
+ <height>50</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>180</width>
- <height>40</height>
+ <height>50</height>
</size>
</property>
<property name="text">
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 a30186338b9f7bbc2662b49126ad166e42ee7bbb..28300e78fefb18b780f6578086da3d01e8ffc06e 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
@@ -73,20 +73,44 @@
</property>
<item>
<widget class="TopBanner" name="customWidget_topBanner" native="true">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>0</height>
+ </size>
+ </property>
<property name="maximumSize">
<size>
<width>16777215</width>
- <height>100</height>
+ <height>16777215</height>
</size>
</property>
</widget>
</item>
<item>
<widget class="ConnectStartStopBar" name="customWidget_connectStartStopBar" native="true">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>0</height>
+ </size>
+ </property>
<property name="maximumSize">
<size>
<width>16777215</width>
- <height>80</height>
+ <height>16777215</height>
</size>
</property>
</widget>
@@ -97,7 +121,7 @@
<bool>true</bool>
</property>
<property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@@ -111,7 +135,7 @@
<property name="maximumSize">
<size>
<width>16777215</width>
- <height>100</height>
+ <height>16777215</height>
</size>
</property>
</widget>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h
new file mode 100644
index 0000000000000000000000000000000000000000..ac3ecb916be33a14eac4881c7415b5f3cec6cf16
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h
@@ -0,0 +1,229 @@
+// 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
+
+
+
+
+// Types PPS 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
+
+
+// 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
+
+
+
+
+
+
+// The types, i.e., agent or coordinator
+#define TYPE_INVALID -1
+#define TYPE_COORDINATOR 1
+#define TYPE_AGENT 2
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+// 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/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h
index fbfd8c7136fc4a76228581b1e125fc0d25afc475..98ce01042b51908d1b86bbe7a8785cf08c51afa2 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h
@@ -26,6 +26,11 @@
// SPECIFY THE PACKAGE NAMESPACE
//using namespace d_fall_pps;
+
+#else
+// Include the shared definitions
+#include "include/Constants_for_Qt_compile.h"
+
#endif
// BATTERY LABEL IMAGE INDEX
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
index f80eb8ba8feaca692c1298a86665c768015e5f19..f8e8b749958bd9dbf1e7fcff9017ecfd3844e4ac 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
@@ -58,6 +58,11 @@
// SPECIFY THE PACKAGE NAMESPACE
using namespace d_fall_pps;
+
+#else
+// Include the shared definitions
+#include "include/Constants_for_Qt_compile.h"
+
#endif
// BATTERY LABEL IMAGE INDEX
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 b42d1186f727df998d345dd45b2b2c83f58fcc04..5c239d184998b27daf54233c55b1b87adb754110 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
@@ -25,6 +25,11 @@
#include "nodes/Constants.h"
// using namespace d_fall_pps;
+
+#else
+// Include the shared definitions
+#include "include/Constants_for_Qt_compile.h"
+
#endif
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 c9f071fa0ae89a3eaa73b97dc4fbbf01389c4c1f..baeea54bab1b3b5c6633d171e6863ebd6130e768 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
@@ -56,6 +56,10 @@
using namespace d_fall_pps;
//using namespace std;
+#else
+// Include the shared definitions
+#include "include/Constants_for_Qt_compile.h"
+
#endif
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
index ab73056511d3374832b201d9b7b87854c13f714a..9f699f92d6cd051acbe0b25531d3deef21a60efa 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
@@ -504,20 +504,24 @@ void ConnectStartStopBar::setFlyingState(int new_flying_state)
void ConnectStartStopBar::on_rf_connect_button_clicked()
{
+#ifdef CATKIN_MAKE
d_fall_pps::IntWithHeader msg;
fillIntMessageHeader(msg);
msg.data = CMD_RECONNECT;
this->crazyRadioCommandPublisher.publish(msg);
ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Safe Controller");
+#endif
}
void ConnectStartStopBar::on_rf_disconnect_button_clicked()
{
+#ifdef CATKIN_MAKE
d_fall_pps::IntWithHeader msg;
fillIntMessageHeader(msg);
msg.data = CMD_DISCONNECT;
this->crazyRadioCommandPublisher.publish(msg);
ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Safe Controller");
+#endif
}
void ConnectStartStopBar::on_enable_flying_button_clicked()
@@ -693,4 +697,4 @@ bool ConnectStartStopBar::getTypeAndIDParameters()
// Return
return return_was_successful;
}
-#endif
\ No newline at end of file
+#endif