From a0441e9f87b0b32da78e55c401f09c7777af1b62 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Mon, 17 Dec 2018 21:21:47 +0100
Subject: [PATCH] GUI STUFF: The top banner and motion capture pose data is now
connected to the properly to the coordinator
---
.../flyingAgentGUI/include/controllertabs.h | 15 ++
.../include/defaultcontrollertab.h | 1 +
.../flyingAgentGUI/include/mainwindow.h | 6 +
.../GUI_Qt/flyingAgentGUI/include/topbanner.h | 28 ++-
.../flyingAgentGUI/src/controllertabs.cpp | 115 +++++++++---
.../src/defaultcontrollertab.cpp | 39 +++-
.../GUI_Qt/flyingAgentGUI/src/mainwindow.cpp | 21 +++
.../GUI_Qt/flyingAgentGUI/src/topbanner.cpp | 171 +++++++++++++-----
8 files changed, 313 insertions(+), 83 deletions(-)
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 7ca9fbfc..7aad04c8 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
@@ -46,8 +46,14 @@ public:
~ControllerTabs();
+public slots:
+ void setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll);
+ void setObjectNameForDisplayingPoseData( QString object_name );
+
+
signals:
void measuredPoseValueChanged(float x , float y , float z , float roll , float pitch , float yaw , bool occluded);
+ void poseDataUnavailableSignal();
private:
@@ -68,6 +74,15 @@ private:
bool m_shouldCoordinateAll = true;
QMutex m_agentIDs_toCoordinate_mutex;
+ // The object name for which motion capture pose data
+ // will be "emitted" using the "measuredPoseValueChanged"
+ // signal
+ std::string m_object_name_for_emitting_pose_data;
+
+ // Flag for whether pose data should be emitted, this is
+ // to save looking through the data when it is unnecessary
+ bool m_should_search_pose_data_for_object_name = false;
+
#ifdef CATKIN_MAKE
// --------------------------------------------------- //
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h
index 7c1fde73..c8a3a4a9 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h
@@ -47,6 +47,7 @@ public:
public slots:
void setMeasuredPose(float x , float y , float z , float roll , float pitch , float yaw , bool occluded);
+ void poseDataUnavailableSlot();
private slots:
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 baeea54b..5721fffd 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
@@ -89,6 +89,12 @@ private:
// > For the ID of this node
int m_ID = 0;
+ // For coordinating multiple agents
+ std::vector<int> m_vector_of_agentIDs_toCoordinate;
+ bool m_shouldCoordinateAll = true;
+ QMutex m_agentIDs_toCoordinate_mutex;
+
+
#ifdef CATKIN_MAKE
rosNodeThread* m_rosNodeThread;
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h
index 6853169f..e5e76eea 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h
@@ -37,6 +37,8 @@
#define TOPBANNER_H
#include <QWidget>
+#include <QMutex>
+#include <QTimer>
#ifdef CATKIN_MAKE
#include <ros/ros.h>
@@ -74,6 +76,15 @@ public:
explicit TopBanner(QWidget *parent = 0);
~TopBanner();
+
+public slots:
+ void setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll);
+
+
+signals:
+ void objectNameForDisplayingPoseDataValueChanged( QString object_name );
+
+
private:
// --------------------------------------------------- //
// PRIVATE VARIABLES
@@ -86,9 +97,18 @@ private:
// > For the ID of this node
int m_ID = 0;
+ // For coordinating multiple agents
+ std::vector<int> m_vector_of_agentIDs_toCoordinate;
+ bool m_shouldCoordinateAll = true;
+ QMutex m_agentIDs_toCoordinate_mutex;
+
// The namespace into which node operates
std::string m_base_namespace;
+ // The object name for which motion capture pose data
+ // will be "emitted" using the "measuredPoseValueChanged"
+ // signal
+ QString m_object_name_for_emitting_pose_data;
// --------------------------------------------------- //
@@ -96,7 +116,9 @@ private:
// > For loading the "context" for this agent,
// i.e., the {agentID,cfID,flying zone} tuple
- void loadCrazyflieContext();
+ void loadCrazyflieContext(int ID_to_request_from_database , int emit_after_milliseconds);
+
+
@@ -132,6 +154,10 @@ private slots:
// > For the emergency stop button
void on_emergency_stop_button_clicked();
+ // > For emitting a signal with the object name after
+ // some small delay
+ void emitObjectNameForDisplayingPoseDataValueChanged();
+
};
#endif // TOPBANNER_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 5d5318c9..aafb53da 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
@@ -8,6 +8,9 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
ui->setupUi(this);
+ // Initialise the object name as blank
+ m_object_name_for_emitting_pose_data = "";
+
// CONNECT THE "MEASURED POST" SIGNAL TO EACH OF
// THE TABS
@@ -24,6 +27,16 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
);
+ // CONNECT THE "MEASUREMENTS UNAVAILABLE" SIGNAL TO
+ // EACH OF THE TABS
+ QObject::connect(
+ this , &ControllerTabs::poseDataUnavailableSignal ,
+ ui->default_controller_tab_widget , &DefaultControllerTab::poseDataUnavailableSlot
+ );
+
+
+
+
#ifdef CATKIN_MAKE
@@ -64,45 +77,95 @@ ControllerTabs::~ControllerTabs()
+
+void ControllerTabs::setObjectNameForDisplayingPoseData( QString object_name )
+{
+ if (object_name.isEmpty())
+ {
+ // Set the class variable accordingly
+ m_object_name_for_emitting_pose_data = "";
+ // Update the flag accordingly
+ m_should_search_pose_data_for_object_name = false;
+ // Emit a signal to let the tabs know
+ emit poseDataUnavailableSignal();
+ // Inform the user
+ ROS_INFO("[CONTROLLER TABS GUI] No longer emitting pose data for any object.");
+ }
+ else
+ {
+ // Set the class variable accordingly
+ m_object_name_for_emitting_pose_data = object_name.toStdString();
+ // Update the flag accordingly
+ m_should_search_pose_data_for_object_name = true;
+ // Inform the user
+ #ifdef CATKIN_MAKE
+ ROS_INFO_STREAM("[CONTROLLER TABS GUI] now emitting data for object named: " << m_object_name_for_emitting_pose_data );
+ #endif
+ }
+}
+
+
#ifdef CATKIN_MAKE
// > For the controller currently operating, received on
// "controllerUsedSubscriber"
void ControllerTabs::poseDataReceivedCallback(const d_fall_pps::ViconData& viconData)
{
- for(std::vector<d_fall_pps::CrazyflieData>::const_iterator it = viconData.crazyflies.begin(); it != viconData.crazyflies.end(); ++it)
+ if (m_should_search_pose_data_for_object_name)
{
- d_fall_pps::CrazyflieData pose_in_global_frame = *it;
-
- if(pose_in_global_frame.crazyflieName == "CF05")
+ for(std::vector<d_fall_pps::CrazyflieData>::const_iterator it = viconData.crazyflies.begin(); it != viconData.crazyflies.end(); ++it)
{
- emit measuredPoseValueChanged(
- pose_in_global_frame.x,
- pose_in_global_frame.y,
- pose_in_global_frame.z,
- pose_in_global_frame.roll,
- pose_in_global_frame.pitch,
- pose_in_global_frame.yaw,
- pose_in_global_frame.occluded
- );
+ d_fall_pps::CrazyflieData pose_in_global_frame = *it;
+
+ if(pose_in_global_frame.crazyflieName == m_object_name_for_emitting_pose_data)
+ {
+ emit measuredPoseValueChanged(
+ pose_in_global_frame.x,
+ pose_in_global_frame.y,
+ pose_in_global_frame.z,
+ pose_in_global_frame.roll,
+ pose_in_global_frame.pitch,
+ pose_in_global_frame.yaw,
+ pose_in_global_frame.occluded
+ );
+ }
}
}
+}
+#endif
+
- // OLD STYLE
- // // Initialise a Qvector to sending around
- // QVector<float> poseDataForSignal;
- // // Fill in the data
- // poseDataForSignal.push_back(msg.x);
- // poseDataForSignal.push_back(msg.y);
- // poseDataForSignal.push_back(msg.z);
- // poseDataForSignal.push_back(msg.roll);
- // poseDataForSignal.push_back(msg.pitch);
- // poseDataForSignal.push_back(msg.yaw);
- // // Emit the signal
- // emit measuredPoseValueChanged(poseDataForSignal);
+
+// ----------------------------------------------------------------------------------
+// A GGGG EEEEE N N TTTTT III DDDD SSSS
+// A A G E NN N T I D D S
+// A A G EEE N N N T I D D SSS
+// AAAAA G G E N NN T I D D S
+// A A GGGG EEEEE N N T III DDDD SSSS
+// ----------------------------------------------------------------------------------
+
+
+void ControllerTabs::setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll)
+{
+
+ // Lock the mutex
+ m_agentIDs_toCoordinate_mutex.lock();
+ // Add the "coordinate all" flag
+ m_shouldCoordinateAll = shouldCoordinateAll;
+ // Clear the previous list of agent IDs
+ m_vector_of_agentIDs_toCoordinate.clear();
+ // Copy across the agent IDs, if necessary
+ if (!shouldCoordinateAll)
+ {
+ for ( int irow = 0 ; irow < agentIDs.length() ; irow++ )
+ {
+ m_vector_of_agentIDs_toCoordinate.push_back( agentIDs[irow] );
+ }
+ }
+ // Unlock the mutex
+ m_agentIDs_toCoordinate_mutex.unlock();
}
-#endif
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
index cd3a84ee..56aaf802 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
@@ -63,18 +63,18 @@ void DefaultControllerTab::setMeasuredPose(float x , float y , float z , float r
QString qstr = "";
// UPDATE THE MEASUREMENT COLUMN
if (x < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_measured_x ->setText(qstr + QString::number( x, 'f', 3));
+ ui->lineEdit_measured_x->setText(qstr + QString::number( x, 'f', 3));
if (y < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_measured_y ->setText(qstr + QString::number( y, 'f', 3));
+ ui->lineEdit_measured_y->setText(qstr + QString::number( y, 'f', 3));
if (z < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_measured_z ->setText(qstr + QString::number( z, 'f', 3));
+ ui->lineEdit_measured_z->setText(qstr + QString::number( z, 'f', 3));
if (roll < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_measured_roll ->setText(qstr + QString::number( roll * RAD2DEG, 'f', 1));
+ ui->lineEdit_measured_roll->setText(qstr + QString::number( roll * RAD2DEG, 'f', 1));
if (pitch < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_measured_pitch->setText(qstr + QString::number( pitch * RAD2DEG, 'f', 1));
if (yaw < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_measured_yaw ->setText(qstr + QString::number( yaw * RAD2DEG, 'f', 1));
+ ui->lineEdit_measured_yaw->setText(qstr + QString::number( yaw * RAD2DEG, 'f', 1));
// GET THE CURRENT SETPOINT
float error_x = x - (ui->lineEdit_setpoint_current_x->text() ).toFloat();
@@ -84,20 +84,20 @@ void DefaultControllerTab::setMeasuredPose(float x , float y , float z , float r
// UPDATE THE ERROR COLUMN
if (error_x < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_error_x ->setText(qstr + QString::number( error_x, 'f', 3));
+ ui->lineEdit_error_x->setText(qstr + QString::number( error_x, 'f', 3));
if (error_y < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_error_y ->setText(qstr + QString::number( error_y, 'f', 3));
+ ui->lineEdit_error_y->setText(qstr + QString::number( error_y, 'f', 3));
if (error_z < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_error_z ->setText(qstr + QString::number( error_z, 'f', 3));
+ ui->lineEdit_error_z->setText(qstr + QString::number( error_z, 'f', 3));
if (error_yaw < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_error_yaw->setText(qstr + QString::number( error_yaw * RAD2DEG, 'f', 1));
// Ensure the red frames are not visible
if ( ui->red_frame_position_left->isVisible() )
- ui->red_frame_position_left->setVisible(true);
+ ui->red_frame_position_left->setVisible(false);
if ( ui->red_frame_position_right->isVisible() )
- ui->red_frame_position_right->setVisible(true);
+ ui->red_frame_position_right->setVisible(false);
}
else
{
@@ -110,6 +110,25 @@ void DefaultControllerTab::setMeasuredPose(float x , float y , float z , float r
}
+void DefaultControllerTab::poseDataUnavailableSlot()
+{
+ ui->lineEdit_measured_x->setText("xx.xx");
+ ui->lineEdit_measured_y->setText("xx.xx");
+ ui->lineEdit_measured_z->setText("xx.xx");
+
+ ui->lineEdit_measured_roll->setText("xx.xx");
+ ui->lineEdit_measured_pitch->setText("xx.xx");
+ ui->lineEdit_measured_yaw->setText("xx.xx");
+
+ ui->lineEdit_error_x->setText("xx.xx");
+ ui->lineEdit_error_y->setText("xx.xx");
+ ui->lineEdit_error_z->setText("xx.xx");
+ ui->lineEdit_error_yaw->setText("xx.xx");
+
+
+}
+
+
void DefaultControllerTab::publishSetpoint(float x, float y, float z, float yaw)
{
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 2350a5c6..cfd33ca8 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
@@ -107,6 +107,27 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
ui->customWidget_enableControllerLoadYamlBar , &EnableControllerLoadYamlBar::setAgentIDsToCoordinate
);
+ QObject::connect(
+ ui->customWidget_coordinator , &Coordinator::agentIDsToCoordinateChanged ,
+ ui->customWidget_topBanner , &TopBanner::setAgentIDsToCoordinate
+ );
+
+ QObject::connect(
+ ui->customWidget_coordinator , &Coordinator::agentIDsToCoordinateChanged ,
+ ui->customWidget_controller_tabs , &ControllerTabs::setAgentIDsToCoordinate
+ );
+
+ // CONNECT SIGNAL/SLOT FOR PASSING THE OBJECT NAME FOR WHICH
+ // POSE DATA SHOULD BE DISPLAYED
+ // This is passed from the "top banner" to the "controller tabs"
+ // because the "top banner" is in charge of fetching the object
+ // name from the database, and the "controller tabs" are where
+ // the pose data is displayed
+ QObject::connect(
+ ui->customWidget_topBanner , &TopBanner::objectNameForDisplayingPoseDataValueChanged ,
+ ui->customWidget_controller_tabs , &ControllerTabs::setObjectNameForDisplayingPoseData
+ );
+
}
MainWindow::~MainWindow()
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
index 3b5cc3da..b0e31846 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
@@ -59,6 +59,9 @@ TopBanner::TopBanner(QWidget *parent) :
//ui->emergency_stop_button->setIconSize(pixmap.rect().size());
+ m_object_name_for_emitting_pose_data = "";
+
+
#ifdef CATKIN_MAKE
// Get the namespace of this node
std::string base_namespace = ros::this_node::getNamespace();
@@ -89,13 +92,9 @@ TopBanner::TopBanner(QWidget *parent) :
// CREATE A NODE HANDLE TO THE ROOT OF THE D-FaLL SYSTEM
ros::NodeHandle dfall_root_nodeHandle("/dfall");
- // SUBSCRIBER AND SERVICE:
- if (m_type == TYPE_AGENT)
- {
- // > For changes in the database that defines {agentID,cfID,flying zone} links
- databaseChangedSubscriber = dfall_root_nodeHandle.subscribe("CentralManagerService/DBChanged", 1, &TopBanner::databaseChangedCallback, this);;
- centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<d_fall_pps::CMQuery>("CentralManagerService/Query", false);
- }
+ // > For changes in the database that defines {agentID,cfID,flying zone} links
+ databaseChangedSubscriber = dfall_root_nodeHandle.subscribe("CentralManagerService/DBChanged", 1, &TopBanner::databaseChangedCallback, this);;
+ centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<d_fall_pps::CMQuery>("CentralManagerService/Query", false);
#endif
@@ -103,7 +102,7 @@ TopBanner::TopBanner(QWidget *parent) :
// INITIALISATIONS ARE COMPLETE
if (m_type == TYPE_AGENT)
{
- loadCrazyflieContext();
+ loadCrazyflieContext(m_ID,1000);
}
else if (m_type == TYPE_COORDINATOR)
{
@@ -146,61 +145,86 @@ TopBanner::~TopBanner()
void TopBanner::databaseChangedCallback(const std_msgs::Int32& msg)
{
//ROS_INFO_STEAM("[TOP BANNER GUI] Database Changed Callback called for agentID = " << m_agentID);
- loadCrazyflieContext();
+ loadCrazyflieContext(m_ID,0);
}
#endif
+
+
+void TopBanner::emitObjectNameForDisplayingPoseDataValueChanged()
+{
+ emit objectNameForDisplayingPoseDataValueChanged( m_object_name_for_emitting_pose_data );
+ ROS_INFO_STREAM("[TOP BANNER GUI] Object name \"" << m_object_name_for_emitting_pose_data.toStdString() << "\" emitted for the controller tabs.");
+}
+
+
// > For loading the "context" for this agent, i.e., the {agentID,cfID,flying zone} tuple
-void TopBanner::loadCrazyflieContext()
+void TopBanner::loadCrazyflieContext(int ID_to_request_from_database , int emit_after_milliseconds)
{
QString qstr_crazyflie_name = "";
- if (m_type == TYPE_AGENT)
+#ifdef CATKIN_MAKE
+ d_fall_pps::CMQuery contextCall;
+ contextCall.request.studentID = ID_to_request_from_database;
+ //ROS_INFO_STREAM("StudentID:" << m_agentID);
+
+ centralManagerDatabaseService.waitForExistence(ros::Duration(-1));
+
+ if(centralManagerDatabaseService.call(contextCall))
{
+ my_context = contextCall.response.crazyflieContext;
+ ROS_INFO_STREAM("[TOP BANNER GUI] CrazyflieContext:\n" << my_context);
-#ifdef CATKIN_MAKE
- d_fall_pps::CMQuery contextCall;
- contextCall.request.studentID = m_ID;
- //ROS_INFO_STREAM("StudentID:" << m_agentID);
-
- centralManagerDatabaseService.waitForExistence(ros::Duration(-1));
-
- if(centralManagerDatabaseService.call(contextCall))
- {
- my_context = contextCall.response.crazyflieContext;
- ROS_INFO_STREAM("[TOP BANNER GUI] CrazyflieContext:\n" << my_context);
-
- qstr_crazyflie_name.append(QString::fromStdString(my_context.crazyflieName));
- }
- else
- {
- ROS_ERROR_STREAM("[TOP BANNER GUI] Failed to load context for agentID = " << m_ID);
- }
- // This updating of the radio only needs to be done by the actual agent's node
- //ros::NodeHandle nh("CrazyRadio");
- //nh.setParam("crazyFlieAddress", m_context.crazyflieAddress);
-#else
- // Set the Crazyflie Name String to be a question mark
- qstr_crazyflie_name.append("?");
-#endif
+ qstr_crazyflie_name.append(QString::fromStdString(my_context.crazyflieName));
- // Construct and set the string for the checkbox label
- QString qstr_title = "Flying Device GUI: for AGENT ID ";
- qstr_title.append( QString::number(m_ID) );
- qstr_title.append(", connected to ");
- qstr_title.append(qstr_crazyflie_name);
- ui->top_banner_label->setText(qstr_title);
+ m_object_name_for_emitting_pose_data = QString::fromStdString(my_context.crazyflieName);
+ // Emit the crazyflie name
+ // > This signal is connected to the "controller tabs" widget
+ // and is used for filtering with motion capture data to
+ // display in the tabs for each controller
+ if (emit_after_milliseconds == 0)
+ {
+ emit objectNameForDisplayingPoseDataValueChanged( QString::fromStdString(my_context.crazyflieName) );
+ ROS_INFO_STREAM("[TOP BANNER GUI] Object name \"" << my_context.crazyflieName << "\" emitted for the controller tabs.");
+ }
+ else
+ {
+ QTimer::singleShot(emit_after_milliseconds, this, SLOT( emitObjectNameForDisplayingPoseDataValueChanged() ) );
+ }
}
else
{
-#ifdef CATKIN_MAKE
- ROS_ERROR("[TOP BANNER GUI] loadCrazyflieContext called by a node that is NOT of type AGENT.");
-#endif
- qstr_crazyflie_name.append("??");
+ ROS_ERROR_STREAM("[TOP BANNER GUI] Failed to load context for agentID = " << m_ID);
+
+ m_object_name_for_emitting_pose_data = "";
+
+ if (emit_after_milliseconds == 0)
+ {
+ QString qstr = "";
+ emit objectNameForDisplayingPoseDataValueChanged( qstr );
+ ROS_INFO_STREAM("[TOP BANNER GUI] emitted for the controller tabs that no object name is available.");
+ }
+ else
+ {
+ QTimer::singleShot(emit_after_milliseconds, this, SLOT( emitObjectNameForDisplayingPoseDataValueChanged() ) );
+ }
}
+ // This updating of the radio only needs to be done by the actual agent's node
+ //ros::NodeHandle nh("CrazyRadio");
+ //nh.setParam("crazyFlieAddress", m_context.crazyflieAddress);
+#else
+ // Set the Crazyflie Name String to be a question mark
+ qstr_crazyflie_name.append("?");
+#endif
+ // Construct and set the string for the checkbox label
+ QString qstr_title = "Flying Device GUI: for AGENT ID ";
+ qstr_title.append( QString::number(m_ID) );
+ qstr_title.append(", connected to ");
+ qstr_title.append(qstr_crazyflie_name);
+ ui->top_banner_label->setText(qstr_title);
}
@@ -231,6 +255,61 @@ void TopBanner::on_emergency_stop_button_clicked()
+// ----------------------------------------------------------------------------------
+// A GGGG EEEEE N N TTTTT III DDDD SSSS
+// A A G E NN N T I D D S
+// A A G EEE N N N T I D D SSS
+// AAAAA G G E N NN T I D D S
+// A A GGGG EEEEE N N T III DDDD SSSS
+// ----------------------------------------------------------------------------------
+
+
+void TopBanner::setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll)
+{
+
+ // Lock the mutex
+ m_agentIDs_toCoordinate_mutex.lock();
+ // Add the "coordinate all" flag
+ m_shouldCoordinateAll = shouldCoordinateAll;
+ // Clear the previous list of agent IDs
+ m_vector_of_agentIDs_toCoordinate.clear();
+ // Copy across the agent IDs, if necessary
+ if (!shouldCoordinateAll)
+ {
+ for ( int irow = 0 ; irow < agentIDs.length() ; irow++ )
+ {
+ m_vector_of_agentIDs_toCoordinate.push_back( agentIDs[irow] );
+ }
+ }
+ // Unlock the mutex
+ m_agentIDs_toCoordinate_mutex.unlock();
+
+ // If there is only one agent to coordinate,
+ // then load the context for that agent
+ if (agentIDs.length() == 1)
+ {
+ loadCrazyflieContext(agentIDs[0],0);
+ }
+ else
+ {
+ // Set the label appropriate for a cooridnator
+ QString qstr_title = "Flying Device GUI: for COORDINATOR ID ";
+ qstr_title.append( QString::number(m_ID) );
+ ui->top_banner_label->setText(qstr_title);
+
+ // Update the class variable for the name
+ m_object_name_for_emitting_pose_data = "";
+ // Emit the empty name as a signal
+ QString qstr = "";
+ emit objectNameForDisplayingPoseDataValueChanged( qstr );
+ }
+}
+
+
+
+
+
+
// ----------------------------------------------------------------------------------
// III DDDD &&& TTTTT Y Y PPPP EEEEE
// I D D & T Y Y P P E
--
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