From a549188caeaf16793f2f53d990b98bc945c80af3 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Sun, 10 Feb 2019 13:05:27 +0100
Subject: [PATCH] Remove the StudentGUI because it is was not updated to the
new node naming convention and because it was re-factored as the
FlyingAgentGUI
---
dfall_ws/src/dfall_pkg/CMakeLists.txt | 49 +-
.../GUI_Qt/studentGUI/images/battery_20.png | Bin 2099 -> 0 bytes
.../GUI_Qt/studentGUI/images/battery_40.png | Bin 2147 -> 0 bytes
.../GUI_Qt/studentGUI/images/battery_60.png | Bin 2232 -> 0 bytes
.../GUI_Qt/studentGUI/images/battery_80.png | Bin 2252 -> 0 bytes
.../studentGUI/images/battery_empty.png | Bin 3379 -> 0 bytes
.../GUI_Qt/studentGUI/images/battery_full.png | Bin 2152 -> 0 bytes
.../studentGUI/images/battery_unknown.png | Bin 3138 -> 0 bytes
.../images/flying_state_disabling.png | Bin 3303 -> 0 bytes
.../images/flying_state_enabling.png | Bin 3512 -> 0 bytes
.../studentGUI/images/flying_state_flying.png | Bin 3001 -> 0 bytes
.../studentGUI/images/flying_state_off.png | Bin 3106 -> 0 bytes
.../images/flying_state_unknown.png | Bin 3868 -> 0 bytes
.../GUI_Qt/studentGUI/images/rf_connected.png | Bin 6410 -> 0 bytes
.../studentGUI/images/rf_connecting.png | Bin 5679 -> 0 bytes
.../studentGUI/images/rf_disconnected.png | Bin 5321 -> 0 bytes
.../GUI_Qt/studentGUI/include/MainWindow.h | 433 --
.../include/rosNodeThread_for_studentGUI.h | 93 -
.../GUI_Qt/studentGUI/src/MainWindow.cpp | 2181 -------
.../GUI_Qt/studentGUI/src/MainWindow.ui | 5238 -----------------
.../dfall_pkg/GUI_Qt/studentGUI/src/main.cpp | 42 -
.../src/rosNodeThread_for_studentGUI.cpp | 114 -
.../GUI_Qt/studentGUI/studentGUI.pro | 28 -
.../GUI_Qt/studentGUI/studentgui.qrc | 19 -
.../dfall_pkg/src/nodes/FlyingAgentClient.cpp | 3 +-
25 files changed, 4 insertions(+), 8196 deletions(-)
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_20.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_40.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_60.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_80.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_empty.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_full.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_unknown.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/flying_state_disabling.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/flying_state_enabling.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/flying_state_flying.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/flying_state_off.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/flying_state_unknown.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/rf_connected.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/rf_connecting.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/rf_disconnected.png
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/include/MainWindow.h
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/include/rosNodeThread_for_studentGUI.h
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/MainWindow.cpp
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/MainWindow.ui
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/main.cpp
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/rosNodeThread_for_studentGUI.cpp
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/studentGUI.pro
delete mode 100644 dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/studentgui.qrc
diff --git a/dfall_ws/src/dfall_pkg/CMakeLists.txt b/dfall_ws/src/dfall_pkg/CMakeLists.txt
index dcbc0a05..5e4e44e1 100755
--- a/dfall_ws/src/dfall_pkg/CMakeLists.txt
+++ b/dfall_ws/src/dfall_pkg/CMakeLists.txt
@@ -64,13 +64,6 @@ set(SYSTEM_CONFIG_GUI_RESOURCE_FILE_QRC ${PROJECT_SOURCE_DIR}/GUI_Qt/systemConf
-# StudentGUI -- Add src, includes, and resources
-set(STUDENT_GUI_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/studentGUI/src)
-set(STUDENT_GUI_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/studentGUI/include)
-set(STUDENT_RESOURCE_FILE_QRC ${PROJECT_SOURCE_DIR}/GUI_Qt/studentGUI/studentgui.qrc)
-
-
-
# Flying Agent GUI -- Add src, includes, forms, and resources
set(FLYING_AGENT_GUI_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/src)
set(FLYING_AGENT_GUI_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/include)
@@ -107,18 +100,6 @@ qt5_add_resources(SYSTEM_CONFIG_GUI_RESOURCE_FILE_RRC ${SYSTEM_CONFIG_GUI_RESOUR
-# StudentGUI -- Special Qt sources that need to be wrapped before being compiled
-set(SRC_HDRS_QOBJECT_STUDENT_GUI
- ${STUDENT_GUI_LIB_PATH_INC}/MainWindow.h
- ${STUDENT_GUI_LIB_PATH_INC}/rosNodeThread_for_studentGUI.h
- )
-# StudentGUI -- wrap UI file and QOBJECT files
-qt5_wrap_ui(UIS_HDRS_STUDENT_GUI ${STUDENT_GUI_LIB_PATH_SRC}/MainWindow.ui)
-qt5_wrap_cpp(SRC_MOC_HDRS_STUDENT_GUI ${SRC_HDRS_QOBJECT_STUDENT_GUI})
-# GUI -- wrap resource file qrc->rcc
-qt5_add_resources(STUDENT_RESOURCE_FILE_RCC ${STUDENT_RESOURCE_FILE_QRC})
-
-
# Flying Agent GUI
# - Special Qt sources that need to be wrapped before being compiled
@@ -286,7 +267,6 @@ generate_messages(
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include ${SYSTEM_CONFIG_GUI_LIB_PATH_INC} # GUI -- include headers from GUI in package
- INCLUDE_DIRS include ${STUDENT_GUI_LIB_PATH_INC} # StudentGUI -- include headers from GUI in package
INCLUDE_DIRS include ${FLYING_AGENT_GUI_LIB_PATH_INC} # FlyingAgentGUI -- include headers from GUI in package
LIBRARIES
CATKIN_DEPENDS roscpp rospy std_msgs rosbag roslib
@@ -301,9 +281,8 @@ catkin_package(
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
- ${SYSTEM_CONFIG_GUI_LIB_PATH_INC} # GUI -- include directory inside GUI folder
- ${STUDENT_GUI_LIB_PATH_INC} # StudentGUI -- include directory inside GUI folder
- ${FLYING_AGENT_GUI_LIB_PATH_INC} # FlyingAgentGUI -- include directory inside GUI folder
+ ${SYSTEM_CONFIG_GUI_LIB_PATH_INC} # SystemConfigGUI -- include directory inside GUI folder
+ ${FLYING_AGENT_GUI_LIB_PATH_INC} # FlyingAgentGUI -- include directory inside GUI folder
${catkin_INCLUDE_DIRS}
include
include/nodes
@@ -371,14 +350,6 @@ set(SYSTEM_CONFIG_GUI_CPP_SOURCES # compilation of sources
-# StudentGUI -- Add sources here
-set(STUDENT_GUI_CPP_SOURCES # compilation of sources
- ${STUDENT_GUI_LIB_PATH_SRC}/MainWindow.cpp
- ${STUDENT_GUI_LIB_PATH_SRC}/main.cpp
- ${STUDENT_GUI_LIB_PATH_SRC}/rosNodeThread_for_studentGUI.cpp
- )
-
-
# FLYING AGENT GUI -- Add sources here
set(FLYING_AGENT_GUI_CPP_SOURCES # compilation of sources
@@ -406,11 +377,6 @@ qt5_use_modules(systemConfigGUI Widgets)
-# StudentGUI -- Add executables here
-add_executable(student_GUI ${STUDENT_GUI_CPP_SOURCES} ${UIS_HDRS_STUDENT_GUI} ${SRC_MOC_HDRS_STUDENT_GUI} ${STUDENT_RESOURCE_FILE_RCC})
-qt5_use_modules(student_GUI Widgets)
-
-
# FLYING AGENT GUI -- Add executables here
add_executable(flyingAgentGUI ${FLYING_AGENT_GUI_CPP_SOURCES} ${UIS_HDRS_FLYING_AGENT_GUI} ${SRC_MOC_HDRS_FLYING_AGENT_GUI} ${FLYING_AGENT_GUI_RESOURCE_FILE_RCC})
qt5_use_modules(flyingAgentGUI Widgets)
@@ -441,11 +407,6 @@ add_dependencies(systemConfigGUI dfall_pkg_generate_messages_cpp ${catkin_EXPORT
-# StudentGUI-- dependencies
-add_dependencies(student_GUI dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
-
-
-
# FLYING AGENT GUI-- dependencies
add_dependencies(flyingAgentGUI dfall_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
@@ -499,12 +460,6 @@ target_link_libraries(systemConfigGUI ${catkin_LIBRARIES})
-# StudentGUI -- link libraries
-target_link_libraries(student_GUI Qt5::Widgets) # GUI -- let student_GUI have acesss to Qt stuff
-target_link_libraries(student_GUI ${catkin_LIBRARIES})
-
-
-
# Flying Agent GUI -- link libraries
target_link_libraries(flyingAgentGUI Qt5::Widgets) # GUI -- let flyingAgentGUI have acesss to Qt stuff
target_link_libraries(flyingAgentGUI ${catkin_LIBRARIES})
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_20.png b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_20.png
deleted file mode 100644
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diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_40.png b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_40.png
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diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_60.png b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/battery_60.png
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diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/rf_connecting.png b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/images/rf_connecting.png
deleted file mode 100644
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diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/include/MainWindow.h b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/include/MainWindow.h
deleted file mode 100644
index c792c916..00000000
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/include/MainWindow.h
+++ /dev/null
@@ -1,433 +0,0 @@
-// Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat, Angel Romero
-//
-// 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:
-// Main window of the Student's GUI
-//
-// ----------------------------------------------------------------------------------
-
-
-#ifndef MAINWINDOW_H
-#define MAINWINDOW_H
-
-#include <QMainWindow>
-#include <QShortcut>
-
-#include <std_msgs/Int32.h>
-#include <std_msgs/Float32.h>
-
-#include "rosNodeThread_for_studentGUI.h"
-
-#include "dfall_pkg/CrazyflieContext.h"
-#include "dfall_pkg/CrazyflieData.h"
-#include "dfall_pkg/Setpoint.h"
-#include "dfall_pkg/SetpointV2.h"
-#include "dfall_pkg/ViconSubscribeObjectName.h"
-
-
-// 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
-
-
-// Commands for CrazyRadio
-#define CMD_RECONNECT 0
-#define CMD_DISCONNECT 1
-
-// CrazyRadio states:
-#define CONNECTED 0
-#define CONNECTING 1
-#define DISCONNECTED 2
-
-// The constants that "command" changes in the
-// operation state of this agent. These "commands"
-// are sent from this GUI node to the "FlyingAgentClient"
-// node where the command is enacted
-#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
-
-// Battery states
-#define BATTERY_STATE_NORMAL 0
-#define BATTERY_STATE_LOW 1
-
-// Battery label image index
-#define BATTERY_LABEL_IMAGE_INDEX_EMPTY 0
-#define BATTERY_LABEL_IMAGE_INDEX_20 1
-#define BATTERY_LABEL_IMAGE_INDEX_40 2
-#define BATTERY_LABEL_IMAGE_INDEX_60 3
-#define BATTERY_LABEL_IMAGE_INDEX_80 4
-#define BATTERY_LABEL_IMAGE_INDEX_FULL 5
-#define BATTERY_LABEL_IMAGE_INDEX_UNKNOWN 6
-
-// For which controller parameters to load
-#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 WHICH BUTTON WAS PRESSED IN THE PICKER CONTOLLER
-#define PICKER_BUTTON_GOTOSTART 1
-#define PICKER_BUTTON_ATTACH 2
-#define PICKER_BUTTON_PICKUP 3
-#define PICKER_BUTTON_GOTOEND 4
-#define PICKER_BUTTON_PUTDOWN 5
-#define PICKER_BUTTON_SQUAT 6
-#define PICKER_BUTTON_JUMP 7
-
-#define PICKER_BUTTON_1 11
-#define PICKER_BUTTON_2 12
-#define PICKER_BUTTON_3 13
-#define PICKER_BUTTON_4 14
-
-
-// Universal constants
-#define PI 3.141592653589
-
-#define RAD2DEG 180.0/PI
-#define DEG2RAD PI/180.0
-
-namespace Ui {
-class MainWindow;
-}
-
-class MainWindow : public QMainWindow
-{
- Q_OBJECT
-
-public:
- explicit MainWindow(int argc, char **argv, QWidget *parent = 0);
- ~MainWindow();
-
-private slots:
- void updateNewViconData(const ptrToMessage& p_msg);
-
- // # RF Crazyradio Connect Disconnect
- void on_RF_Connect_button_clicked();
- void on_RF_disconnect_button_clicked();
-
- // # Take off, lanf, motors off
- void on_take_off_button_clicked();
- void on_land_button_clicked();
- void on_motors_OFF_button_clicked();
-
- // # Setpoint
- void on_set_setpoint_button_safe_clicked();
- void on_set_setpoint_button_demo_clicked();
- void on_set_setpoint_button_student_clicked();
- void on_set_setpoint_button_mpc_clicked();
-
- // # Load Yaml when acting as the GUI for an Agent
- void on_load_safe_yaml_button_clicked();
- void on_load_demo_yaml_button_clicked();
- void on_load_student_yaml_button_clicked();
- void on_load_mpc_yaml_button_clicked();
- void on_load_remote_yaml_button_clicked();
- void on_load_tuning_yaml_button_clicked();
- void on_load_picker_yaml_button_clicked();
-
- // # Enable controllers
- void on_enable_safe_controller_clicked();
- void on_enable_demo_controller_clicked();
- void on_enable_student_controller_clicked();
- void on_enable_mpc_controller_clicked();
- void on_enable_remote_controller_clicked();
- void on_enable_tuning_controller_clicked();
- void on_enable_picker_controller_clicked();
-
-
-
- void on_demoButton_1_clicked();
- void on_demoButton_2_clicked();
- void on_demoButton_3_clicked();
-
- void on_studentButton_1_clicked();
- void on_studentButton_2_clicked();
- void on_studentButton_3_clicked();
-
- // Buttons within the REMOTE controller tab
- void on_remote_subscribe_button_clicked();
- void on_remote_unsubscribe_button_clicked();
- void on_remote_activate_button_clicked();
- void on_remote_deactivate_button_clicked();
-
- // Buttons within the TUNING controller tab
- void on_tuning_test_horizontal_button_clicked();
- void on_tuning_test_vertical_button_clicked();
- void on_tuning_test_heading_button_clicked();
- void on_tuning_test_all_button_clicked();
- void on_tuning_test_circle_button_clicked();
- void on_tuning_slider_horizontal_valueChanged(int value);
- void on_tuning_slider_vertical_valueChanged(int value);
- void on_tuning_slider_heading_valueChanged(int value);
-
- // Interations with the PICKER controller tab
- // > For the buttons
- void on_picker_gotostart_button_clicked();
- void on_picker_attach_button_clicked();
- void on_picker_pickup_button_clicked();
- void on_picker_gotoend_button_clicked();
- void on_picker_putdown_button_clicked();
- void on_picker_squat_button_clicked();
- void on_picker_jump_button_clicked();
- void on_picker_1_button_clicked();
- void on_picker_2_button_clicked();
- void on_picker_3_button_clicked();
- void on_picker_4_button_clicked();
- // > For the sliders
- void on_picker_x_slider_valueChanged(int value);
- void on_picker_y_slider_valueChanged(int value);
- void on_picker_z_slider_valueChanged(int value);
- void on_picker_mass_slider_valueChanged(int value);
- // > For the dial
- void on_picker_yaw_dial_valueChanged(int value);
-
-
-
-
-
-private:
- Ui::MainWindow *ui;
-
- QShortcut* m_close_GUI_shortcut;
-
- rosNodeThread* m_rosNodeThread;
- int m_radio_status;
- float m_battery_voltage;
- int m_battery_level;
-
- std::string m_ros_namespace;
-
- ros::Timer m_timer_yaml_file_for_safe_controller;
- ros::Timer m_timer_yaml_file_for_demo_controller;
- ros::Timer m_timer_yaml_file_for_student_controller;
- ros::Timer m_timer_yaml_file_for_mpc_controller;
- ros::Timer m_timer_yaml_file_for_remote_controller;
- ros::Timer m_timer_yaml_file_for_tuning_controller;
- ros::Timer m_timer_yaml_file_for_picker_controller;
-
-
- int m_student_id;
- CrazyflieContext m_context;
-
- Setpoint m_safe_setpoint;
- Setpoint m_demo_setpoint;
- Setpoint m_student_setpoint;
- Setpoint m_mpc_setpoint;
- Setpoint m_picker_setpoint;
-
- int m_flying_state;
- QMutex m_flying_state_mutex;
- QMutex voltage_field_mutex;
- QMutex battery_status_label_mutex;
- QMutex rf_status_label_mutex;
- int m_battery_state;
- // BATTERY EMPTY VOLTAGES (THESE SHOULD BE READ IN AS PARAMTERS)
- //const std::vector<float> m_cutoff_voltages {3.1966, 3.2711, 3.3061, 3.3229, 3.3423, 3.3592, 3.3694, 3.385, 3.4006, 3.4044, 3.4228, 3.4228, 3.4301, 3.4445, 3.4531, 3.4677, 3.4705, 3.4712, 3.4756, 3.483, 3.4944, 3.5008, 3.5008, 3.5084, 3.511, 3.5122, 3.5243, 3.5329, 3.5412, 3.5529, 3.5609, 3.5625, 3.5638, 3.5848, 3.6016, 3.6089, 3.6223, 3.628, 3.6299, 3.6436, 3.6649, 3.6878, 3.6983, 3.7171, 3.7231, 3.7464, 3.7664, 3.7938, 3.8008, 3.816, 3.8313, 3.8482, 3.866, 3.8857, 3.8984, 3.9159, 3.9302, 3.9691, 3.997, 4.14 };
- const float battery_voltage_empty_while_flying = 2.80; // in Volts
- const float battery_voltage_empty_while_motors_off = 3.30; // in Volts
- // BATTERY FULL VOLTAGES
- const float battery_voltage_full_while_flying = 3.70; // in Volts
- const float battery_voltage_full_while_motors_off = 4.20; // in Volts
-
- int m_battery_label_image_current_index;
-
- ros::Publisher crazyRadioCommandPublisher;
- ros::Subscriber crazyRadioStatusSubscriber;
- ros::Publisher FlyingAgentClientCommandPublisher;
- ros::Subscriber CFBatterySubscriber;
- ros::Subscriber flyingStateSubscriber;
- ros::Subscriber batteryStateSubscriber;
-
- ros::Publisher controllerSetpointPublisher;
- ros::Subscriber safeSetpointSubscriber;
-
- // SUBSCRIBERS AND PUBLISHERS:
- // > For the Demo Controller SETPOINTS
- ros::Publisher demoSetpointPublisher;
- ros::Subscriber demoSetpointSubscriber;
- // > For the Student Controller SETPOINTS
- ros::Publisher studentSetpointPublisher;
- ros::Subscriber studentSetpointSubscriber;
- // > For the MPC Controller SETPOINTS
- ros::Publisher mpcSetpointPublisher;
- ros::Subscriber mpcSetpointSubscriber;
-
- // > For the Remote Controller subscribe action
- ros::Publisher remoteSubscribePublisher;
- // > For the Remote Controller activate action
- ros::Publisher remoteActivatePublisher;
- // > For the Remote Controller data
- ros::Subscriber remoteDataSubscriber;
- // > For the Remote Control setpoint
- ros::Subscriber remoteControlSetpointSubscriber;
-
- // > For the TUNING CONTROLLER "test" button publisher
- ros::Publisher tuningActivateTestPublisher;
- // > For the TUNING CONTOLLER "gain" sliders
- ros::Publisher tuningHorizontalGainPublisher;
- ros::Publisher tuningVerticalGainPublisher;
- ros::Publisher tuningHeadingGainPublisher;
-
-
-
- // > For the PICKER CONTROLLER
- ros::Publisher pickerButtonPressedPublisher;
- ros::Publisher pickerZSetpointPublisher;
- ros::Publisher pickerYawSetpointPublisher;
- ros::Publisher pickerMassPublisher;
- ros::Publisher pickerXAdjustmentPublisher;
- ros::Publisher pickerYAdjustmentPublisher;
- ros::Publisher pickerSetpointPublisher;
- ros::Subscriber pickerSetpointSubscriber;
- ros::Subscriber pickerSetpointToGUISubscriber;
-
- ros::Publisher pickerButtonPressedWithSetpointPublisher;
-
- bool shouldSendWithSetpoint_for_pickerButtons = true;
-
-
-
-
- ros::Publisher demoCustomButtonPublisher;
- ros::Publisher studentCustomButtonPublisher;
-
- ros::Subscriber DBChangedSubscriber;
-
-
-
- // > For publishing a message that requests the
- // YAML parameters to be re-loaded from file
- // > The message contents specify which controller
- // the parameters should be re-loaded for
- ros::Publisher requestLoadControllerYamlPublisher;
-
- // Subscriber for locking the load the controller YAML
- // parameters when the Coordintor GUI requests a load
- ros::Subscriber requestLoadControllerYaml_from_my_GUI_Subscriber;
-
-
- ros::Subscriber controllerUsedSubscriber;
-
- ros::ServiceClient centralManager;
-
- // callbacks
- void crazyRadioStatusCallback(const std_msgs::Int32& msg);
- void CFBatteryCallback(const std_msgs::Float32& msg);
- void flyingStateChangedCallback(const std_msgs::Int32& msg);
-
- void safeSetpointCallback(const Setpoint& newSetpoint);
- void demoSetpointCallback(const Setpoint& newSetpoint);
- void studentSetpointCallback(const Setpoint& newSetpoint);
- void mpcSetpointCallback(const Setpoint& newSetpoint);
- void pickerSetpointCallback(const Setpoint& newSetpoint);
-
-
- void remoteDataCallback(const CrazyflieData& objectData);
- void remoteControlSetpointCallback(const CrazyflieData& setpointData);
-
-
- // > For actually sending the button message
- void send_picker_button_clicked_message(int button_index);
- void send_picker_button_clicked_message_with_setpoint(const SetpointV2& setpointV2_to_send);
-
-
- void DBChangedCallback(const std_msgs::Int32& msg);
-
- // # Load Yaml when acting as the GUI for an Agent
- void safeYamlFileTimerCallback(const ros::TimerEvent&);
- void demoYamlFileTimerCallback(const ros::TimerEvent&);
- void studentYamlFileTimerCallback(const ros::TimerEvent&);
- void mpcYamlFileTimerCallback(const ros::TimerEvent&);
- void remoteYamlFileTimerCallback(const ros::TimerEvent&);
- void tuningYamlFileTimerCallback(const ros::TimerEvent&);
- void pickerYamlFileTimerCallback(const ros::TimerEvent&);
-
-
-
- void requestLoadControllerYaml_from_my_GUI_Callback(const std_msgs::Int32& msg);
- void controllerUsedChangedCallback(const std_msgs::Int32& msg);
- void batteryStateChangedCallback(const std_msgs::Int32& msg);
-
- float fromVoltageToPercent(float voltage);
- void updateBatteryVoltage(float battery_voltage);
- void setCrazyRadioStatus(int radio_status);
- void loadCrazyflieContext();
- void coordinatesToLocal(CrazyflieData& cf);
-
- void initialize_demo_setpoint();
- void initialize_student_setpoint();
- void initialize_mpc_setpoint();
- void initialize_picker_setpoint();
-
-
- void disableGUI();
- void enableGUI();
- void highlightSafeControllerTab();
- void highlightDemoControllerTab();
- void highlightStudentControllerTab();
- void highlightMpcControllerTab();
- void highlightRemoteControllerTab();
- void highlightTuningControllerTab();
- void highlightPickerControllerTab();
-
- bool setpointInsideBox(Setpoint setpoint, CrazyflieContext context);
- Setpoint correctSetpointBox(Setpoint setpoint, CrazyflieContext context);
-
-};
-
-#endif // MAINWINDOW_H
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/include/rosNodeThread_for_studentGUI.h b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/include/rosNodeThread_for_studentGUI.h
deleted file mode 100644
index 823094a0..00000000
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/include/rosNodeThread_for_studentGUI.h
+++ /dev/null
@@ -1,93 +0,0 @@
-// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
-//
-// 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:
-// Takes care of creating a ros node thread.
-//
-// ----------------------------------------------------------------------------------
-
-
-#ifndef ___ROSNODETHREAD_FOR_STUDENTGUI_H___
-#define ___ROSNODETHREAD_FOR_STUDENTGUI_H___
-
-#include <QtCore>
-#include <QThread>
-#include <QStringList>
-#include <stdlib.h>
-#include <QMutex>
-#include <iostream>
-#include "assert.h"
-
-#include <ros/ros.h>
-#include <ros/network.h>
-#include "dfall_pkg/UnlabeledMarker.h"
-#include "dfall_pkg/CrazyflieData.h"
-#include "dfall_pkg/ViconData.h"
-
-using namespace dfall_pkg;
-
-typedef ViconData::ConstPtr ptrToMessage;
-
-Q_DECLARE_METATYPE(ptrToMessage)
-
-
-class rosNodeThread : public QObject {
- Q_OBJECT
-public:
- explicit rosNodeThread(int argc, char **pArgv, const char * node_name, QObject *parent = 0);
- virtual ~rosNodeThread();
-
- bool init();
-
- // void messageCallback(const ViconData& data);
- void messageCallback(const ptrToMessage& p_msg);
-
- ros::ServiceClient m_read_db_client;
- ros::ServiceClient m_update_db_client;
- ros::ServiceClient m_command_db_client;
-
-
-signals:
-
- void newViconData(const ptrToMessage& p_msg);
-
-public slots:
- void run();
-
-private:
- int m_Init_argc;
- char** m_pInit_argv;
- const char * m_node_name;
-
- QThread * m_pThread;
-
- ViconData m_vicon_data;
-
- ros::Subscriber m_vicon_subscriber;
- // ros::Publisher sim_velocity;
-};
-#endif
-
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/MainWindow.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/MainWindow.cpp
deleted file mode 100644
index 3d74934f..00000000
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ /dev/null
@@ -1,2181 +0,0 @@
-// Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat, Angel Romero
-//
-// 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:
-// Main window of the Student's GUI
-//
-// ----------------------------------------------------------------------------------
-
-
-#include "MainWindow.h"
-#include "ui_MainWindow.h"
-#include <string>
-
-#include <ros/ros.h>
-#include <ros/network.h>
-#include <ros/package.h>
-
-#include "dfall_pkg/CMQuery.h"
-
-#include "dfall_pkg/ViconData.h"
-
-#include "dfall_pkg/CustomButton.h"
-
-MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
- QMainWindow(parent),
- ui(new Ui::MainWindow),
- m_battery_level(0)
-{
-
- ui->setupUi(this);
-
- m_rosNodeThread = new rosNodeThread(argc, argv, "student_GUI");
- m_rosNodeThread->init();
-
- setCrazyRadioStatus(DISCONNECTED);
-
- m_ros_namespace = ros::this_node::getNamespace();
- ROS_INFO("[Student GUI] node namespace: %s", m_ros_namespace.c_str());
-
- qRegisterMetaType<ptrToMessage>("ptrToMessage");
- QObject::connect(m_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
-
- ros::NodeHandle nodeHandle(m_ros_namespace);
-
-
- // SUBSCRIBERS AND PUBLISHERS:
- // > For the Demo Controller SETPOINTS and CUSTOM COMMANDS
- demoSetpointPublisher = nodeHandle.advertise<Setpoint>("DemoControllerService/Setpoint", 1);
- demoSetpointSubscriber = nodeHandle.subscribe("DemoControllerService/Setpoint", 1, &MainWindow::demoSetpointCallback, this);
- demoCustomButtonPublisher = nodeHandle.advertise<CustomButton>("DemoControllerService/GUIButton", 1);
- // > For the Student Controller SETPOINTS and CUSTOM COMMANDS
- studentSetpointPublisher = nodeHandle.advertise<Setpoint>("StudentControllerService/Setpoint", 1);
- studentSetpointSubscriber = nodeHandle.subscribe("StudentControllerService/Setpoint", 1, &MainWindow::studentSetpointCallback, this);
- studentCustomButtonPublisher = nodeHandle.advertise<CustomButton>("StudentControllerService/GUIButton", 1);
- // > For the MPC Controller SETPOINTS
- mpcSetpointPublisher = nodeHandle.advertise<Setpoint>("MpcControllerService/Setpoint", 1);
- mpcSetpointSubscriber = nodeHandle.subscribe("MpcControllerService/Setpoint", 1, &MainWindow::mpcSetpointCallback, this);
-
-
- // > For the Remote Controller subscribe action
- remoteSubscribePublisher = nodeHandle.advertise<ViconSubscribeObjectName>("RemoteControllerService/ViconSubscribeObjectName", 1);
- // > For the Remote Controller activate action
- remoteActivatePublisher = nodeHandle.advertise<std_msgs::Int32>("RemoteControllerService/Activate", 1);
- // > For the Remote Controller data
- remoteDataSubscriber = nodeHandle.subscribe("RemoteControllerService/RemoteData", 1, &MainWindow::remoteDataCallback, this);;
- // > For the Remote Controller data
- remoteControlSetpointSubscriber = nodeHandle.subscribe("RemoteControllerService/RemoteControlSetpoint", 1, &MainWindow::remoteControlSetpointCallback, this);;
-
-
- // > For the TUNING CONTROLLER "test" button publisher
- tuningActivateTestPublisher = nodeHandle.advertise<std_msgs::Int32>("TuningControllerService/ActivateTest", 1);
- // > For the TUNING CONTOLLER "gain" sliders
- tuningHorizontalGainPublisher = nodeHandle.advertise<std_msgs::Int32>("TuningControllerService/HorizontalGain", 1);
- tuningVerticalGainPublisher = nodeHandle.advertise<std_msgs::Int32>("TuningControllerService/VerticalGain", 1);
- tuningHeadingGainPublisher = nodeHandle.advertise<std_msgs::Int32>("TuningControllerService/HeadingGain", 1);
-
-
- // > For the PICKER CONTROLLER
- pickerButtonPressedPublisher = nodeHandle.advertise<std_msgs::Int32>("PickerControllerService/ButtonPressed", 1);
- pickerZSetpointPublisher = nodeHandle.advertise<std_msgs::Float32>("PickerControllerService/ZSetpoint", 1);
- pickerYawSetpointPublisher = nodeHandle.advertise<std_msgs::Float32>("PickerControllerService/YawSetpoint", 1);
- pickerMassPublisher = nodeHandle.advertise<std_msgs::Float32>("PickerControllerService/Mass", 1);
- pickerXAdjustmentPublisher = nodeHandle.advertise<std_msgs::Float32>("PickerControllerService/XAdjustment", 1);
- pickerYAdjustmentPublisher = nodeHandle.advertise<std_msgs::Float32>("PickerControllerService/YAdjustment", 1);
- pickerSetpointPublisher = nodeHandle.advertise<Setpoint>("PickerControllerService/Setpoint", 1);
- pickerSetpointSubscriber = nodeHandle.subscribe("PickerControllerService/Setpoint", 1, &MainWindow::pickerSetpointCallback, this);
- pickerSetpointToGUISubscriber = nodeHandle.subscribe("PickerControllerService/SetpointToGUI", 1, &MainWindow::pickerSetpointCallback, this);
-
- pickerButtonPressedWithSetpointPublisher = nodeHandle.advertise<SetpointV2>("PickerControllerService/ButtonPressedWithSetpoint", 1);
-
- // SET ALL SLIDERS AND DIALS TO DEFAULT VALUES
- ui->picker_z_slider->setValue( 40 );
- ui->picker_mass_slider->setValue( 29 );
- ui->picker_yaw_dial->setValue( 0 );
- ui->picker_x_slider->setValue( 0 );
- ui->picker_y_slider->setValue( 0 );
-
- // SET ALL THE FIELDS TO DEFAULT VALUES
- // > For goto start
- ui->picker_gotostart_x->setText("-0.30");
- ui->picker_gotostart_y->setText("+0.00");
- ui->picker_gotostart_z->setText("+0.50");
- // > For attach
- ui->picker_attach_z->setText("+0.38");
- // > For pickup
- ui->picker_pickup_z->setText("+0.60");
- // > For goto end
- ui->picker_gotoend_x->setText("+0.30");
- ui->picker_gotoend_y->setText("+0.00");
- // > For putdown
- ui->picker_putdown_z->setText("+0.39");
- // > For squat
- ui->picker_squat_z->setText("+0.35");
- // > For jump
- ui->picker_jump_z->setText("+0.50");
- // > For the check boxes
- ui->picker_gotostart_checkBox->setChecked(1);
- ui->picker_attach_checkBox->setChecked(1);
- ui->picker_pickup_checkBox->setChecked(1);
- ui->picker_gotoend_checkBox->setChecked(1);
- ui->picker_putdown_checkBox->setChecked(1);
- ui->picker_squat_checkBox->setChecked(0);
- ui->picker_jump_checkBox->setChecked(0);
-
-
-
-
- // subscribers
- crazyRadioStatusSubscriber = nodeHandle.subscribe("CrazyRadio/CrazyRadioStatus", 1, &MainWindow::crazyRadioStatusCallback, this);
-
- CFBatterySubscriber = nodeHandle.subscribe("CrazyRadio/CFBattery", 1, &MainWindow::CFBatteryCallback, this);
-
- flyingStateSubscriber = nodeHandle.subscribe("FlyingAgentClient/flyingState", 1, &MainWindow::flyingStateChangedCallback, this);
-
- batteryStateSubscriber = nodeHandle.subscribe("FlyingAgentClient/batteryState", 1, &MainWindow::batteryStateChangedCallback, this);
-
- controllerUsedSubscriber = nodeHandle.subscribe("FlyingAgentClient/controllerUsed", 1, &MainWindow::controllerUsedChangedCallback, this);
-
-
- safeSetpointSubscriber = nodeHandle.subscribe("SafeControllerService/Setpoint", 1, &MainWindow::safeSetpointCallback, this);
- DBChangedSubscriber = nodeHandle.subscribe("/my_GUI/DBChanged", 1, &MainWindow::DBChangedCallback, this);
-
- ros::NodeHandle my_nodeHandle("~");
- controllerSetpointPublisher = my_nodeHandle.advertise<Setpoint>("ControllerSetpoint", 1);
-
-
- // communication with Flying Agent Client, just to make it possible to communicate through terminal also we use FlyingAgentClient's name
- //ros::NodeHandle nh_FlyingAgentClient(m_ros_namespace + "/FlyingAgentClient");
- ros::NodeHandle nh_FlyingAgentClient("FlyingAgentClient");
- crazyRadioCommandPublisher = nh_FlyingAgentClient.advertise<std_msgs::Int32>("crazyRadioCommand", 1);
- FlyingAgentClientCommandPublisher = nh_FlyingAgentClient.advertise<std_msgs::Int32>("Command", 1);
-
-
- // > For publishing a message that requests the
- // YAML parameters to be re-loaded from file
- // > The message contents specify which controller
- // the parameters should be re-loaded for
- requestLoadControllerYamlPublisher = nh_FlyingAgentClient.advertise<std_msgs::Int32>("requestLoadControllerYaml", 1);
-
-
- // Subscriber for locking the load the controller YAML
- // parameters when the Coordintor GUI requests a load
- requestLoadControllerYaml_from_my_GUI_Subscriber = nodeHandle.subscribe("/my_GUI/requestLoadControllerYaml", 1, &MainWindow::requestLoadControllerYaml_from_my_GUI_Callback, this);
-
- // First get student ID
- if(!nh_FlyingAgentClient.getParam("agentID", m_student_id))
- {
- ROS_ERROR("Failed to get agentID");
- }
-
- // Then, Central manager
- // CREATE A NODE HANDLE TO THE ROOT OF THE D-FaLL SYSTEM
- ros::NodeHandle dfall_root_nodeHandle("/dfall");
- centralManager = dfall_root_nodeHandle.serviceClient<CMQuery>("CentralManagerService/Query", false);
- loadCrazyflieContext();
-
-
-
-
- // Load default setpoint from the "SafeController" namespace of the "ParameterService"
- std::vector<float> default_setpoint(4);
- ros::NodeHandle nodeHandle_to_own_agent_parameter_service("ParameterService");
- ros::NodeHandle nodeHandle_for_safeController(nodeHandle_to_own_agent_parameter_service, "SafeController");
-
- if(!nodeHandle_for_safeController.getParam("defaultSetpoint", default_setpoint))
- {
- ROS_ERROR_STREAM("The StudentGUI could not find parameter 'defaultSetpoint', as called from main(...)");
- }
-
- // Copy the default setpoint into respective text fields of the GUI
- ui->current_setpoint_x_safe->setText(QString::number(default_setpoint[0]));
- ui->current_setpoint_y_safe->setText(QString::number(default_setpoint[1]));
- ui->current_setpoint_z_safe->setText(QString::number(default_setpoint[2]));
- ui->current_setpoint_yaw_safe->setText(QString::number(default_setpoint[3]));
-
-
- disableGUI();
- highlightSafeControllerTab();
-
- // INITIALISE THE BATTERY STATE AS NORMAL
- m_battery_state = BATTERY_STATE_NORMAL;
-
- // SET THE BATTERY VOLTAGE FIELD TO BE BLANK
- QString qstr = "-.-- V";
- ui->voltage_field->setText(qstr);
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
- ui->battery_status_label->setPixmap(battery_unknown_pixmap);
- ui->battery_status_label->setScaledContents(true);
- m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_UNKNOWN;
-
- // SET THE IMAGE FOR THE CRAZY RADIO STATUS LABEL
- QPixmap rf_disconnected_pixmap(":/images/rf_disconnected.png");
- ui->rf_status_label->setPixmap(rf_disconnected_pixmap);
- ui->rf_status_label->setScaledContents(true);
-
- // SET THE IMAGE FOR THE FLYING STATE LABEL
- QPixmap flying_state_off_pixmap(":/images/flying_state_off.png");
- ui->flying_state_label->setPixmap(flying_state_off_pixmap);
- ui->flying_state_label->setScaledContents(true);
-
-
-
- //QPixmap battery_80_pixmap(":/images/battery_80.png");
- //m_battery_80_pixmap = battery_80_pixmap.scaled(50,70,Qt::IgnoreAspectRatio);
- // The syntax for "scaled" is (int width, int height, ...)
-
-
- ui->error_label->setStyleSheet("QLabel { color : red; }");
- ui->error_label->clear();
-
- // Add keyboard shortcuts
- // > for "all motors off", press the space bar
- ui->motors_OFF_button->setShortcut(tr("Space"));
- // > for "kill GUI node", press "CTRL+C" while the GUI window is the focus
- m_close_GUI_shortcut = new QShortcut(QKeySequence(tr("CTRL+C")), this, SLOT(close()));
-
-
- initialize_demo_setpoint();
- initialize_student_setpoint();
- initialize_mpc_setpoint();
- initialize_picker_setpoint();
-}
-
-
-MainWindow::~MainWindow()
-{
- delete ui;
-}
-
-void MainWindow::disableGUI()
-{
- ui->motors_OFF_button->setEnabled(false);
- ui->take_off_button->setEnabled(false);
- ui->land_button->setEnabled(false);
-}
-
-void MainWindow::enableGUI()
-{
- ui->motors_OFF_button->setEnabled(true);
- if(m_battery_state == BATTERY_STATE_NORMAL)
- {
- ui->take_off_button->setEnabled(true);
- ui->land_button->setEnabled(true);
- }
-}
-
-void MainWindow::highlightSafeControllerTab()
-{
- ui->tabWidget->tabBar()->setTabTextColor(0, Qt::green);
- ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(2, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(4, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(5, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(6, Qt::black);
-}
-void MainWindow::highlightPickerControllerTab()
-{
- ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(1, Qt::green);
- ui->tabWidget->tabBar()->setTabTextColor(2, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(4, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(5, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(6, Qt::black);
-}
-void MainWindow::highlightDemoControllerTab()
-{
- ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(2, Qt::green);
- ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(4, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(5, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(6, Qt::black);
-}
-void MainWindow::highlightStudentControllerTab()
-{
- ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(2, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(3, Qt::green);
- ui->tabWidget->tabBar()->setTabTextColor(4, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(5, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(6, Qt::black);
-}
-void MainWindow::highlightMpcControllerTab()
-{
- ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(2, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(4, Qt::green);
- ui->tabWidget->tabBar()->setTabTextColor(5, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(6, Qt::black);
-}
-void MainWindow::highlightRemoteControllerTab()
-{
- ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(2, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(4, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(5, Qt::green);
- ui->tabWidget->tabBar()->setTabTextColor(6, Qt::black);
-}
-void MainWindow::highlightTuningControllerTab()
-{
- ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(2, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(4, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(5, Qt::black);
- ui->tabWidget->tabBar()->setTabTextColor(6, Qt::green);
-}
-
-
-void MainWindow::DBChangedCallback(const std_msgs::Int32& msg)
-{
- loadCrazyflieContext();
- ROS_INFO("context reloaded in student_GUI");
-}
-
-void MainWindow::controllerUsedChangedCallback(const std_msgs::Int32& msg)
-{
- switch(msg.data)
- {
- case SAFE_CONTROLLER:
- highlightSafeControllerTab();
- break;
- case DEMO_CONTROLLER:
- highlightDemoControllerTab();
- break;
- case STUDENT_CONTROLLER:
- highlightStudentControllerTab();
- break;
- case MPC_CONTROLLER:
- highlightMpcControllerTab();
- break;
- case REMOTE_CONTROLLER:
- highlightRemoteControllerTab();
- break;
- case TUNING_CONTROLLER:
- highlightTuningControllerTab();
- break;
- case PICKER_CONTROLLER:
- highlightPickerControllerTab();
- break;
- default:
- break;
- }
-}
-
-void MainWindow::safeSetpointCallback(const Setpoint& newSetpoint)
-{
- m_safe_setpoint = newSetpoint;
- // here we get the new setpoint, need to update it in GUI
- ui->current_setpoint_x_safe->setText(QString::number(newSetpoint.x, 'f', 3));
- ui->current_setpoint_y_safe->setText(QString::number(newSetpoint.y, 'f', 3));
- ui->current_setpoint_z_safe->setText(QString::number(newSetpoint.z, 'f', 3));
- ui->current_setpoint_yaw_safe->setText(QString::number(newSetpoint.yaw * RAD2DEG, 'f', 1));
-}
-
-void MainWindow::demoSetpointCallback(const Setpoint& newSetpoint)
-{
- m_demo_setpoint = newSetpoint;
- // here we get the new setpoint, need to update it in GUI
- ui->current_setpoint_x_demo->setText(QString::number(newSetpoint.x, 'f', 3));
- ui->current_setpoint_y_demo->setText(QString::number(newSetpoint.y, 'f', 3));
- ui->current_setpoint_z_demo->setText(QString::number(newSetpoint.z, 'f', 3));
- ui->current_setpoint_yaw_demo->setText(QString::number(newSetpoint.yaw * RAD2DEG, 'f', 1));
-}
-
-void MainWindow::studentSetpointCallback(const Setpoint& newSetpoint)
-{
- m_student_setpoint = newSetpoint;
- // here we get the new setpoint, need to update it in GUI
- ui->current_setpoint_x_student->setText(QString::number(newSetpoint.x, 'f', 3));
- ui->current_setpoint_y_student->setText(QString::number(newSetpoint.y, 'f', 3));
- ui->current_setpoint_z_student->setText(QString::number(newSetpoint.z, 'f', 3));
- ui->current_setpoint_yaw_student->setText(QString::number(newSetpoint.yaw * RAD2DEG, 'f', 1));
-}
-
-void MainWindow::mpcSetpointCallback(const Setpoint& newSetpoint)
-{
- m_mpc_setpoint = newSetpoint;
- // here we get the new setpoint, need to update it in GUI
- ui->current_setpoint_x_mpc->setText(QString::number(newSetpoint.x, 'f', 3));
- ui->current_setpoint_y_mpc->setText(QString::number(newSetpoint.y, 'f', 3));
- ui->current_setpoint_z_mpc->setText(QString::number(newSetpoint.z, 'f', 3));
- ui->current_setpoint_yaw_mpc->setText(QString::number(newSetpoint.yaw * RAD2DEG, 'f', 1));
-}
-
-void MainWindow::pickerSetpointCallback(const Setpoint& newSetpoint)
-{
- m_picker_setpoint = newSetpoint;
- // here we get the new setpoint, need to update it in GUI
- ui->picker_z_slider->setValue( int(newSetpoint.z*100.0) );
- ui->picker_yaw_dial->setValue( int(newSetpoint.yaw * RAD2DEG) );
-
-}
-
-void MainWindow::flyingStateChangedCallback(const std_msgs::Int32& msg)
-{
- // PUT THE CURRENT STATE INTO THE CLASS VARIABLE
- m_flying_state_mutex.lock();
- m_flying_state = msg.data;
- m_flying_state_mutex.unlock();
-
- // UPDATE THE LABEL TO DISPLAY THE FLYING STATE
- //QString qstr = "Flying State: ";
- switch(msg.data)
- {
- case STATE_MOTORS_OFF:
- {
- //qstr.append("Motors OFF");
- // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
- ui->flying_state_label->clear();
- QPixmap flying_state_off_pixmap(":/images/flying_state_off.png");
- ui->flying_state_label->setPixmap(flying_state_off_pixmap);
- ui->flying_state_label->setScaledContents(true);
- ui->flying_state_label->update();
- break;
- }
-
- case STATE_TAKE_OFF:
- {
- //qstr.append("Take OFF");
- // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
- ui->flying_state_label->clear();
- QPixmap flying_state_enabling_pixmap(":/images/flying_state_enabling.png");
- ui->flying_state_label->setPixmap(flying_state_enabling_pixmap);
- ui->flying_state_label->setScaledContents(true);
- ui->flying_state_label->update();
- break;
- }
-
- case STATE_FLYING:
- {
- //qstr.append("Flying");
- // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
- ui->flying_state_label->clear();
- QPixmap flying_state_flying_pixmap(":/images/flying_state_flying.png");
- ui->flying_state_label->setPixmap(flying_state_flying_pixmap);
- ui->flying_state_label->setScaledContents(true);
- ui->flying_state_label->update();
- break;
- }
-
- case STATE_LAND:
- {
- //qstr.append("Land");
- // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
- ui->flying_state_label->clear();
- QPixmap flying_state_disabling_pixmap(":/images/flying_state_disabling.png");
- ui->flying_state_label->setPixmap(flying_state_disabling_pixmap);
- ui->flying_state_label->setScaledContents(true);
- ui->flying_state_label->update();
- break;
- }
-
- default:
- {
- // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
- ui->flying_state_label->clear();
- QPixmap flying_state_unknown_pixmap(":/images/flying_state_unknown.png");
- ui->flying_state_label->setPixmap(flying_state_unknown_pixmap);
- ui->flying_state_label->setScaledContents(true);
- ui->flying_state_label->update();
- break;
- }
- }
- //ui->flying_state_label->setText(qstr);
-}
-
-void MainWindow::batteryStateChangedCallback(const std_msgs::Int32& msg)
-{
- // switch case with unabling buttons motors off, take off, etc... when battery is low
- QString qstr = "";
- switch(msg.data)
- {
- case BATTERY_STATE_LOW:
- {
- // DISABLE THE TAKE OFF AND LAND BUTTONS
- ui->take_off_button->setEnabled(false);
- ui->land_button->setEnabled(false);
- // ui->groupBox_4->setEnabled(false);
-
- // SET THE CLASS VARIABLE FOR TRACKING THE BATTERY STATE
- m_battery_state = BATTERY_STATE_LOW;
- break;
- }
-
- case BATTERY_STATE_NORMAL:
- {
- // ui->groupBox_4->setEnabled(true);
- ui->take_off_button->setEnabled(true);
- ui->land_button->setEnabled(true);
-
- // SET THE CLASS VARIABLE FOR TRACKING THE BATTERY STATE
- m_battery_state = BATTERY_STATE_NORMAL;
- break;
- }
-
- default:
- break;
- }
-}
-
-
-void MainWindow::setCrazyRadioStatus(int radio_status)
-{
- // add more things whenever the status is changed
- switch(radio_status)
- {
- case CONNECTED:
- {
- // SET THE APPROPRIATE IMAGE FOR THE RADIOSTATUS LABEL
- rf_status_label_mutex.lock();
- //ui->rf_status_label->clear();
- QPixmap rf_connected_pixmap(":/images/rf_connected.png");
- ui->rf_status_label->setPixmap(rf_connected_pixmap);
- ui->rf_status_label->setScaledContents(true);
- //ui->rf_status_label->update();
- rf_status_label_mutex.unlock();
- // ENABLE THE REMAINDER OF THE GUI
- enableGUI();
- break;
- }
-
- case CONNECTING:
- {
- // SET THE APPROPRIATE IMAGE FOR THE RADIO STATUS LABEL
- rf_status_label_mutex.lock();
- //ui->rf_status_label->clear();
- QPixmap rf_connecting_pixmap(":/images/rf_connecting.png");
- ui->rf_status_label->setPixmap(rf_connecting_pixmap);
- ui->rf_status_label->setScaledContents(true);
- //ui->rf_status_label->update();
- rf_status_label_mutex.unlock();
- break;
- }
-
- case DISCONNECTED:
- {
- // SET THE APPROPRIATE IMAGE FOR THE RADIO STATUS LABEL
- rf_status_label_mutex.lock();
- //ui->rf_status_label->clear();
- QPixmap rf_disconnected_pixmap(":/images/rf_disconnected.png");
- ui->rf_status_label->setPixmap(rf_disconnected_pixmap);
- ui->rf_status_label->setScaledContents(true);
- //ui->rf_status_label->update();
- rf_status_label_mutex.unlock();
- // SET THE BATTERY VOLTAGE FIELD TO BE BLANK
- QString qstr = "-.-- V";
- voltage_field_mutex.lock();
- ui->voltage_field->setText(qstr);
- voltage_field_mutex.unlock();
- // SET THE APPROPRIATE IMAGE FOR THE BATTERY STATUS LABEL
- battery_status_label_mutex.lock();
- if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_UNKNOWN)
- {
- ui->battery_status_label->clear();
- QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
- ui->battery_status_label->setPixmap(battery_unknown_pixmap);
- ui->battery_status_label->setScaledContents(true);
- m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_UNKNOWN;
- ui->battery_status_label->update();
- }
- battery_status_label_mutex.unlock();
- // DISABLE THE REMAINDER OF THE GUI
- disableGUI();
- break;
- }
-
- default:
- {
- ROS_ERROR_STREAM("unexpected radio status: " << m_radio_status);
- break;
- }
- }
- this->m_radio_status = radio_status;
-}
-
-
-
-
-float MainWindow::fromVoltageToPercent(float voltage)
-{
- // INITIALISE THE LOCAL VARIABLE FOR THE VOLTAGE WHEN FULL/EMPTY
- float voltage_when_full;
- float voltage_when_empty;
-
- // COMPUTE THE PERCENTAGE DIFFERENTLY DEPENDING ON
- // THE CURRENT FLYING STATE
- m_flying_state_mutex.lock();
- if (m_flying_state == STATE_MOTORS_OFF)
- {
- voltage_when_empty = battery_voltage_empty_while_motors_off;
- voltage_when_full = battery_voltage_full_while_motors_off;
- }
- else
- {
- voltage_when_empty = battery_voltage_empty_while_flying;
- voltage_when_full = battery_voltage_full_while_flying;
- }
- m_flying_state_mutex.unlock();
- //voltage_when_empty = battery_voltage_empty_while_motors_off;
- //voltage_when_full = battery_voltage_full_while_motors_off;
-
- // COMPUTE THE PERCENTAGE
- float percentage = 100.0f * (voltage-voltage_when_empty)/(voltage_when_full-voltage_when_empty);
-
-
- // CLIP THE PERCENTAGE TO BE BETWEEN [0,100]
- // > This should not happen to often
- if(percentage > 100.0f)
- {
- percentage = 100.0f;
- }
- if(percentage < 0.0f)
- {
- percentage = 0.0f;
- }
-
- return percentage;
-}
-
-void MainWindow::updateBatteryVoltage(float battery_voltage)
-{
- // PUT THE VOLTAGE INTO THE CLASS VARIABLES
- m_battery_voltage = battery_voltage;
-
- // UPDATE THE BATTERY VOLTAGE FIELD
- voltage_field_mutex.lock();
- QString qstr = "";
- qstr.append(QString::number(battery_voltage, 'f', 2));
- qstr.append(" V");
- ui->voltage_field->setText(qstr);
- voltage_field_mutex.unlock();
-
- // COMPUTE THE BATTERY VOLTAGE AS A PERCENTAGE
- float battery_voltage_percentage = fromVoltageToPercent(battery_voltage);
-
- //ROS_INFO_STREAM("Battery percentage = " << battery_voltage_percentage );
-
- // UPDATE THE IMAGE DISPLAYED IN THE BATTERY VOLTAGE LABEL IMAGE
- battery_status_label_mutex.lock();
- switch(m_battery_state)
- {
- // WHEN THE BATTERY IS IN A LOW STATE
- case BATTERY_STATE_LOW:
- {
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_EMPTY)
- {
- ui->battery_status_label->clear();
- QPixmap battery_empty_pixmap(":/images/battery_empty.png");
- ui->battery_status_label->setPixmap(battery_empty_pixmap);
- ui->battery_status_label->setScaledContents(true);
- m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_EMPTY;
- ui->battery_status_label->update();
- }
- break;
- }
-
- // WHEN THE BATTERY IS IN A NORMAL STATE
- case BATTERY_STATE_NORMAL:
- {
-
- if (
- ((m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_EMPTY) && (battery_voltage_percentage <= 0.0f))
- ||
- ((m_battery_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_EMPTY) && (battery_voltage_percentage <= 2.0f))
- )
- {
- if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_EMPTY)
- {
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- ui->battery_status_label->clear();
- QPixmap battery_empty_pixmap(":/images/battery_empty.png");
- ui->battery_status_label->setPixmap(battery_empty_pixmap);
- ui->battery_status_label->setScaledContents(true);
- m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_EMPTY;
- ui->battery_status_label->update();
- }
- }
- else if (
- ((m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_20) && (battery_voltage_percentage <= 20.0f))
- ||
- ((m_battery_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_20) && (battery_voltage_percentage <= 22.0f))
- )
- {
- if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_20)
- {
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- ui->battery_status_label->clear();
- QPixmap battery_20_pixmap(":/images/battery_20.png");
- ui->battery_status_label->setPixmap(battery_20_pixmap);
- ui->battery_status_label->setScaledContents(true);
- m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_20;
- ui->battery_status_label->update();
- }
- }
- else if (
- ((m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_40) && (battery_voltage_percentage <= 40.0f))
- ||
- ((m_battery_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_40) && (battery_voltage_percentage <= 42.0f))
- )
- {
- if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_40)
- {
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- ui->battery_status_label->clear();
- QPixmap battery_40_pixmap(":/images/battery_40.png");
- ui->battery_status_label->setPixmap(battery_40_pixmap);
- ui->battery_status_label->setScaledContents(true);
- m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_40;
- ui->battery_status_label->update();
- }
- }
- else if (
- ((m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_60) && (battery_voltage_percentage <= 60.0f))
- ||
- ((m_battery_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_60) && (battery_voltage_percentage <= 62.0f))
- )
- {
- if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_60)
- {
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- ui->battery_status_label->clear();
- QPixmap battery_60_pixmap(":/images/battery_60.png");
- ui->battery_status_label->setPixmap(battery_60_pixmap);
- ui->battery_status_label->setScaledContents(true);
- m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_60;
- ui->battery_status_label->update();
- }
- }
- else if (
- ((m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_80) && (battery_voltage_percentage <= 80.0f))
- ||
- ((m_battery_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_80) && (battery_voltage_percentage <= 82.0f))
- )
- {
- if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_80)
- {
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- ui->battery_status_label->clear();
- QPixmap battery_80_pixmap(":/images/battery_80.png");
- ui->battery_status_label->setPixmap(battery_80_pixmap);
- ui->battery_status_label->setScaledContents(true);
- m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_80;
- ui->battery_status_label->update();
- }
- }
- else
- {
- if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_FULL)
- {
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- ui->battery_status_label->clear();
- QPixmap battery_full_pixmap(":/images/battery_full.png");
- ui->battery_status_label->setPixmap(battery_full_pixmap);
- ui->battery_status_label->setScaledContents(true);
- m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_FULL;
- ui->battery_status_label->update();
- }
- }
- break;
- }
-
- default:
- {
- if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_UNKNOWN)
- {
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- ui->battery_status_label->clear();
- QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
- ui->battery_status_label->setPixmap(battery_unknown_pixmap);
- ui->battery_status_label->setScaledContents(true);
- m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_UNKNOWN;
- ui->battery_status_label->update();
- }
- break;
- }
- }
- battery_status_label_mutex.unlock();
-}
-
-void MainWindow::CFBatteryCallback(const std_msgs::Float32& msg)
-{
- updateBatteryVoltage(msg.data);
-}
-
-void MainWindow::crazyRadioStatusCallback(const std_msgs::Int32& msg)
-{
- ROS_INFO("[Student GUI] Callback CrazyRadioStatus called");
- this->setCrazyRadioStatus(msg.data);
-}
-
-void MainWindow::loadCrazyflieContext()
-{
- CMQuery contextCall;
- contextCall.request.studentID = m_student_id;
- ROS_INFO_STREAM("StudentID:" << m_student_id);
-
- centralManager.waitForExistence(ros::Duration(-1));
-
- if(centralManager.call(contextCall))
- {
- m_context = contextCall.response.crazyflieContext;
- ROS_INFO_STREAM("CrazyflieContext:\n" << m_context);
- // we now have the m_context variable with the current context. Put CF Name in label
-
- QString qstr = "StudentID ";
- qstr.append(QString::number(m_student_id));
- qstr.append(" connected to CF ");
- qstr.append(QString::fromStdString(m_context.crazyflieName));
- ui->groupBox->setTitle(qstr);
- }
- else
- {
- ROS_ERROR("Failed to load context");
- }
-
- ros::NodeHandle nh("CrazyRadio");
- nh.setParam("crazyFlieAddress", m_context.crazyflieAddress);
-}
-
-void MainWindow::coordinatesToLocal(CrazyflieData& cf)
-{
- AreaBounds area = m_context.localArea;
- float originX = (area.xmin + area.xmax) / 2.0;
- float originY = (area.ymin + area.ymax) / 2.0;
- // change Z origin to zero, i.e., to the table height, zero of global coordinates, instead of middle of the box
- float originZ = 0.0;
- // float originZ = (area.zmin + area.zmax) / 2.0;
-
- cf.x -= originX;
- cf.y -= originY;
- cf.z -= originZ;
-}
-
-
-void MainWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to newViconData, from node
-{
- for(std::vector<CrazyflieData>::const_iterator it = p_msg->crazyflies.begin(); it != p_msg->crazyflies.end(); ++it)
- {
- CrazyflieData global = *it;
- if(global.crazyflieName == m_context.crazyflieName)
- {
- CrazyflieData local = global;
- coordinatesToLocal(local);
-
- // now we have the local coordinates, put them in the labels
- ui->current_x_safe->setText(QString::number(local.x, 'f', 3));
- ui->current_y_safe->setText(QString::number(local.y, 'f', 3));
- ui->current_z_safe->setText(QString::number(local.z, 'f', 3));
- ui->current_yaw_safe->setText(QString::number(local.yaw * RAD2DEG, 'f', 1));
- ui->current_pitch_safe->setText(QString::number(local.pitch * RAD2DEG, 'f', 1));
- ui->current_roll_safe->setText(QString::number(local.roll * RAD2DEG, 'f', 1));
-
- ui->current_x_demo->setText(QString::number(local.x, 'f', 3));
- ui->current_y_demo->setText(QString::number(local.y, 'f', 3));
- ui->current_z_demo->setText(QString::number(local.z, 'f', 3));
- ui->current_yaw_demo->setText(QString::number(local.yaw * RAD2DEG, 'f', 1));
- ui->current_pitch_demo->setText(QString::number(local.pitch * RAD2DEG, 'f', 1));
- ui->current_roll_demo->setText(QString::number(local.roll * RAD2DEG, 'f', 1));
-
- ui->current_x_student->setText(QString::number(local.x, 'f', 3));
- ui->current_y_student->setText(QString::number(local.y, 'f', 3));
- ui->current_z_student->setText(QString::number(local.z, 'f', 3));
- ui->current_yaw_student->setText(QString::number(local.yaw * RAD2DEG, 'f', 1));
- ui->current_pitch_student->setText(QString::number(local.pitch * RAD2DEG, 'f', 1));
- ui->current_roll_student->setText(QString::number(local.roll * RAD2DEG, 'f', 1));
-
- // also update diff
- ui->diff_x_safe->setText(QString::number(m_safe_setpoint.x - local.x, 'f', 3));
- ui->diff_y_safe->setText(QString::number(m_safe_setpoint.y - local.y, 'f', 3));
- ui->diff_z_safe->setText(QString::number(m_safe_setpoint.z - local.z, 'f', 3));
- ui->diff_yaw_safe->setText(QString::number((m_safe_setpoint.yaw - local.yaw) * RAD2DEG, 'f', 1));
-
- ui->diff_x_demo->setText(QString::number(m_demo_setpoint.x - local.x, 'f', 3));
- ui->diff_y_demo->setText(QString::number(m_demo_setpoint.y - local.y, 'f', 3));
- ui->diff_z_demo->setText(QString::number(m_demo_setpoint.z - local.z, 'f', 3));
- ui->diff_yaw_demo->setText(QString::number((m_demo_setpoint.yaw - local.yaw) * RAD2DEG, 'f', 1));
-
- ui->diff_x_student->setText(QString::number(m_student_setpoint.x - local.x, 'f', 3));
- ui->diff_y_student->setText(QString::number(m_student_setpoint.y - local.y, 'f', 3));
- ui->diff_z_student->setText(QString::number(m_student_setpoint.z - local.z, 'f', 3));
- ui->diff_yaw_student->setText(QString::number((m_student_setpoint.yaw - local.yaw) * RAD2DEG, 'f', 1));
- }
- }
-}
-
-
-
-// ----------------------------------------------------------------------------------
-// # RF Crazyradio Connect Disconnect
-void MainWindow::on_RF_Connect_button_clicked()
-{
- std_msgs::Int32 msg;
- msg.data = CMD_RECONNECT;
- this->crazyRadioCommandPublisher.publish(msg);
- ROS_INFO("command reconnect published");
-}
-
-void MainWindow::on_RF_disconnect_button_clicked()
-{
- std_msgs::Int32 msg;
- msg.data = CMD_DISCONNECT;
- this->crazyRadioCommandPublisher.publish(msg);
- ROS_INFO("command disconnect published");
-}
-
-
-
-// ----------------------------------------------------------------------------------
-// # Take off, lanf, motors off
-void MainWindow::on_take_off_button_clicked()
-{
- std_msgs::Int32 msg;
- msg.data = CMD_CRAZYFLY_TAKE_OFF;
- this->FlyingAgentClientCommandPublisher.publish(msg);
-}
-
-void MainWindow::on_land_button_clicked()
-{
- std_msgs::Int32 msg;
- msg.data = CMD_CRAZYFLY_LAND;
- this->FlyingAgentClientCommandPublisher.publish(msg);
-}
-
-void MainWindow::on_motors_OFF_button_clicked()
-{
- std_msgs::Int32 msg;
- msg.data = CMD_CRAZYFLY_MOTORS_OFF;
- this->FlyingAgentClientCommandPublisher.publish(msg);
-}
-
-
-
-// ----------------------------------------------------------------------------------
-// # Setpoint
-void MainWindow::on_set_setpoint_button_safe_clicked()
-{
- Setpoint msg_setpoint;
-
- // initialize setpoint to previous one
-
- msg_setpoint.x = (ui->current_setpoint_x_safe->text()).toFloat();
- msg_setpoint.y = (ui->current_setpoint_y_safe->text()).toFloat();
- msg_setpoint.z = (ui->current_setpoint_z_safe->text()).toFloat();
- msg_setpoint.yaw = (ui->current_setpoint_yaw_safe->text()).toFloat();
-
- if(!ui->new_setpoint_x_safe->text().isEmpty())
- msg_setpoint.x = (ui->new_setpoint_x_safe->text()).toFloat();
-
- if(!ui->new_setpoint_y_safe->text().isEmpty())
- msg_setpoint.y = (ui->new_setpoint_y_safe->text()).toFloat();
-
- if(!ui->new_setpoint_z_safe->text().isEmpty())
- msg_setpoint.z = (ui->new_setpoint_z_safe->text()).toFloat();
-
- if(!ui->new_setpoint_yaw_safe->text().isEmpty())
- msg_setpoint.yaw = (ui->new_setpoint_yaw_safe->text()).toFloat() * DEG2RAD;
-
-
- if(!setpointInsideBox(msg_setpoint, m_context))
- {
- ROS_INFO("Corrected setpoint, was out of bounds");
-
- // correct the setpoint given the box size
- msg_setpoint = correctSetpointBox(msg_setpoint, m_context);
- ui->error_label->setText("Setpoint is outside safety box");
- }
- else
- {
- ui->error_label->clear();
- }
-
- this->controllerSetpointPublisher.publish(msg_setpoint);
-
- ROS_INFO_STREAM("Setpoint change clicked with:" << msg_setpoint.x << ", "<< msg_setpoint.y << ", "<< msg_setpoint.z << ", "<< msg_setpoint.yaw);
-}
-
-void MainWindow::initialize_demo_setpoint()
-{
- Setpoint msg_setpoint;
- msg_setpoint.x = 0;
- msg_setpoint.y = 0;
- msg_setpoint.z = 0.4;
- msg_setpoint.yaw = 0;
-
- this->demoSetpointPublisher.publish(msg_setpoint);
-}
-
-void MainWindow::initialize_student_setpoint()
-{
- Setpoint msg_setpoint;
- msg_setpoint.x = 0;
- msg_setpoint.y = 0;
- msg_setpoint.z = 0.4;
- msg_setpoint.yaw = 0;
-
- this->studentSetpointPublisher.publish(msg_setpoint);
-}
-
-void MainWindow::initialize_mpc_setpoint()
-{
- Setpoint msg_setpoint;
- msg_setpoint.x = 0;
- msg_setpoint.y = 0;
- msg_setpoint.z = 0.4;
- msg_setpoint.yaw = 0;
-
- this->mpcSetpointPublisher.publish(msg_setpoint);
-}
-
-void MainWindow::initialize_picker_setpoint()
-{
- Setpoint msg_setpoint;
- msg_setpoint.x = 0;
- msg_setpoint.y = 0;
- msg_setpoint.z = 0.4;
- msg_setpoint.yaw = 0;
-
- this->pickerSetpointPublisher.publish(msg_setpoint);
-}
-
-void MainWindow::on_set_setpoint_button_demo_clicked()
-{
- Setpoint msg_setpoint;
-
- msg_setpoint.x = (ui->current_setpoint_x_demo->text()).toFloat();
- msg_setpoint.y = (ui->current_setpoint_y_demo->text()).toFloat();
- msg_setpoint.z = (ui->current_setpoint_z_demo->text()).toFloat();
- msg_setpoint.yaw = (ui->current_setpoint_yaw_demo->text()).toFloat();
-
- if(!ui->new_setpoint_x_demo->text().isEmpty())
- msg_setpoint.x = (ui->new_setpoint_x_demo->text()).toFloat();
- if(!ui->new_setpoint_y_demo->text().isEmpty())
- msg_setpoint.y = (ui->new_setpoint_y_demo->text()).toFloat();
- if(!ui->new_setpoint_z_demo->text().isEmpty())
- msg_setpoint.z = (ui->new_setpoint_z_demo->text()).toFloat();
- if(!ui->new_setpoint_yaw_demo->text().isEmpty())
- msg_setpoint.yaw = (ui->new_setpoint_yaw_demo->text()).toFloat() * DEG2RAD;
-
- this->demoSetpointPublisher.publish(msg_setpoint);
-
- ROS_INFO_STREAM("Setpoint change clicked with:" << msg_setpoint.x << ", "<< msg_setpoint.y << ", "<< msg_setpoint.z << ", "<< msg_setpoint.yaw);
-}
-
-void MainWindow::on_set_setpoint_button_student_clicked()
-{
- Setpoint msg_setpoint;
-
- msg_setpoint.x = (ui->current_setpoint_x_student->text()).toFloat();
- msg_setpoint.y = (ui->current_setpoint_y_student->text()).toFloat();
- msg_setpoint.z = (ui->current_setpoint_z_student->text()).toFloat();
- msg_setpoint.yaw = (ui->current_setpoint_yaw_student->text()).toFloat();
-
- if(!ui->new_setpoint_x_student->text().isEmpty())
- msg_setpoint.x = (ui->new_setpoint_x_student->text()).toFloat();
- if(!ui->new_setpoint_y_student->text().isEmpty())
- msg_setpoint.y = (ui->new_setpoint_y_student->text()).toFloat();
- if(!ui->new_setpoint_z_student->text().isEmpty())
- msg_setpoint.z = (ui->new_setpoint_z_student->text()).toFloat();
- if(!ui->new_setpoint_yaw_student->text().isEmpty())
- msg_setpoint.yaw = (ui->new_setpoint_yaw_student->text()).toFloat() * DEG2RAD;
-
- this->studentSetpointPublisher.publish(msg_setpoint);
-
- ROS_INFO_STREAM("Setpoint change clicked with:" << msg_setpoint.x << ", "<< msg_setpoint.y << ", "<< msg_setpoint.z << ", "<< msg_setpoint.yaw);
-}
-
-void MainWindow::on_set_setpoint_button_mpc_clicked()
-{
- Setpoint msg_setpoint;
-
- msg_setpoint.x = (ui->current_setpoint_x_mpc->text()).toFloat();
- msg_setpoint.y = (ui->current_setpoint_y_mpc->text()).toFloat();
- msg_setpoint.z = (ui->current_setpoint_z_mpc->text()).toFloat();
- msg_setpoint.yaw = (ui->current_setpoint_yaw_mpc->text()).toFloat();
-
- if(!ui->new_setpoint_x_mpc->text().isEmpty())
- msg_setpoint.x = (ui->new_setpoint_x_mpc->text()).toFloat();
- if(!ui->new_setpoint_y_mpc->text().isEmpty())
- msg_setpoint.y = (ui->new_setpoint_y_mpc->text()).toFloat();
- if(!ui->new_setpoint_z_mpc->text().isEmpty())
- msg_setpoint.z = (ui->new_setpoint_z_mpc->text()).toFloat();
- if(!ui->new_setpoint_yaw_mpc->text().isEmpty())
- msg_setpoint.yaw = (ui->new_setpoint_yaw_mpc->text()).toFloat() * DEG2RAD;
-
- this->mpcSetpointPublisher.publish(msg_setpoint);
-
- ROS_INFO_STREAM("Setpoint change clicked with:" << msg_setpoint.x << ", "<< msg_setpoint.y << ", "<< msg_setpoint.z << ", "<< msg_setpoint.yaw);
-}
-
-
-// ----------------------------------------------------------------------------------
-// # Load Yaml when acting as the GUI for an Agent
-void MainWindow::on_load_safe_yaml_button_clicked()
-{
- // Set the "load safe yaml" button to be disabled
- ui->load_safe_yaml_button->setEnabled(false);
-
- // Send a message requesting the parameters from the YAML
- // file to be reloaded for the safe controller
- std_msgs::Int32 msg;
- msg.data = LOAD_YAML_SAFE_CONTROLLER_AGENT;
- this->requestLoadControllerYamlPublisher.publish(msg);
- ROS_INFO("Request load of safe controller YAML published");
-
- // 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), &MainWindow::safeYamlFileTimerCallback, this, true);
-}
-
-void MainWindow::safeYamlFileTimerCallback(const ros::TimerEvent&)
-{
- // Enble the "load safe yaml" button again
- ui->load_safe_yaml_button->setEnabled(true);
-}
-
-
-
-void MainWindow::on_load_demo_yaml_button_clicked()
-{
- // Set the "load demo yaml" button to be disabled
- ui->load_demo_yaml_button->setEnabled(false);
-
- // Send a message requesting the parameters from the YAML
- // file to be reloaded for the demo controller
- std_msgs::Int32 msg;
- msg.data = LOAD_YAML_DEMO_CONTROLLER_AGENT;
- this->requestLoadControllerYamlPublisher.publish(msg);
- ROS_INFO("Request load of demo controller YAML published");
-
- // 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_demo_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::demoYamlFileTimerCallback, this, true);
-}
-
-void MainWindow::demoYamlFileTimerCallback(const ros::TimerEvent&)
-{
- // Enble the "load demo yaml" button again
- ui->load_demo_yaml_button->setEnabled(true);
-}
-
-
-
-void MainWindow::on_load_student_yaml_button_clicked()
-{
- // Set the "load student yaml" button to be disabled
- ui->load_student_yaml_button->setEnabled(false);
-
- // Send a message requesting the parameters from the YAML
- // file to be reloaded for the student controller
- std_msgs::Int32 msg;
- msg.data = LOAD_YAML_STUDENT_CONTROLLER_AGENT;
- this->requestLoadControllerYamlPublisher.publish(msg);
- ROS_INFO("Request load of student controller YAML published");
-
- // 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_student_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::studentYamlFileTimerCallback, this, true);
-}
-
-void MainWindow::studentYamlFileTimerCallback(const ros::TimerEvent&)
-{
- // Enble the "load student yaml" button again
- ui->load_student_yaml_button->setEnabled(true);
-}
-
-
-
-void MainWindow::on_load_mpc_yaml_button_clicked()
-{
- // Set the "load mpc yaml" button to be disabled
- ui->load_mpc_yaml_button->setEnabled(false);
-
- // Send a message requesting the parameters from the YAML
- // file to be reloaded for the mpc controller
- std_msgs::Int32 msg;
- msg.data = LOAD_YAML_MPC_CONTROLLER_AGENT;
- this->requestLoadControllerYamlPublisher.publish(msg);
- ROS_INFO("Request load of mpc controller YAML published");
-
- // 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_mpc_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::mpcYamlFileTimerCallback, this, true);
-}
-
-void MainWindow::mpcYamlFileTimerCallback(const ros::TimerEvent&)
-{
- // Enble the "load mpc yaml" button again
- ui->load_mpc_yaml_button->setEnabled(true);
-}
-
-
-
-
-void MainWindow::on_load_remote_yaml_button_clicked()
-{
- // Set the "load remote yaml" button to be disabled
- ui->load_remote_yaml_button->setEnabled(false);
-
- // Send a message requesting the parameters from the YAML
- // file to be reloaded for the remote controller
- std_msgs::Int32 msg;
- msg.data = LOAD_YAML_REMOTE_CONTROLLER_AGENT;
- this->requestLoadControllerYamlPublisher.publish(msg);
- ROS_INFO("[STUDENT GUI] Request load of remote controller YAML published");
-
- // 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_remote_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::remoteYamlFileTimerCallback, this, true);
-}
-
-void MainWindow::remoteYamlFileTimerCallback(const ros::TimerEvent&)
-{
- // Enble the "load remote yaml" button again
- ui->load_remote_yaml_button->setEnabled(true);
-}
-
-
-
-void MainWindow::on_load_tuning_yaml_button_clicked()
-{
- // Set the "load tuning yaml" button to be disabled
- ui->load_tuning_yaml_button->setEnabled(false);
-
- // Send a message requesting the parameters from the YAML
- // file to be reloaded for the tuning controller
- std_msgs::Int32 msg;
- msg.data = LOAD_YAML_TUNING_CONTROLLER_AGENT;
- this->requestLoadControllerYamlPublisher.publish(msg);
- ROS_INFO("[STUDENT GUI] Request load of tuning controller YAML published");
-
- // 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_tuning_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::tuningYamlFileTimerCallback, this, true);
-}
-
-void MainWindow::tuningYamlFileTimerCallback(const ros::TimerEvent&)
-{
- // Enble the "load tuning yaml" button again
- ui->load_tuning_yaml_button->setEnabled(true);
-}
-
-
-
-void MainWindow::on_load_picker_yaml_button_clicked()
-{
- // Set the "load picker yaml" button to be disabled
- ui->load_picker_yaml_button->setEnabled(false);
-
- // Send a message requesting the parameters from the YAML
- // file to be reloaded for the picker controller
- std_msgs::Int32 msg;
- msg.data = LOAD_YAML_PICKER_CONTROLLER_AGENT;
- this->requestLoadControllerYamlPublisher.publish(msg);
- ROS_INFO("[STUDENT GUI] Request load of picker controller YAML published");
-
- // 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_picker_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::pickerYamlFileTimerCallback, this, true);
-}
-
-void MainWindow::pickerYamlFileTimerCallback(const ros::TimerEvent&)
-{
- // Enble the "load picker yaml" button again
- ui->load_picker_yaml_button->setEnabled(true);
-}
-
-
-void MainWindow::requestLoadControllerYaml_from_my_GUI_Callback(const std_msgs::Int32& msg)
-{
- // Extract from the "msg" for which controller the YAML
- // parameters should be loaded
- int controller_to_load_yaml = msg.data;
-
- // Create the "nodeHandle" needed in the switch cases below
- ros::NodeHandle nodeHandle("~");
-
- // Switch between loading for the different controllers
- switch(controller_to_load_yaml)
- {
- case LOAD_YAML_SAFE_CONTROLLER_AGENT:
- case LOAD_YAML_SAFE_CONTROLLER_COORDINATOR:
- // Set the "load safe yaml" button to be disabled
- ui->load_safe_yaml_button->setEnabled(false);
-
- // 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.
- m_timer_yaml_file_for_safe_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::safeYamlFileTimerCallback, this, true);
-
- break;
-
- case LOAD_YAML_DEMO_CONTROLLER_AGENT:
- case LOAD_YAML_DEMO_CONTROLLER_COORDINATOR:
- // Set the "load demo yaml" button to be disabled
- ui->load_demo_yaml_button->setEnabled(false);
-
- // 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.
- m_timer_yaml_file_for_demo_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::demoYamlFileTimerCallback, this, true);
-
- break;
-
- case LOAD_YAML_STUDENT_CONTROLLER_AGENT:
- case LOAD_YAML_STUDENT_CONTROLLER_COORDINATOR:
- // Set the "load student yaml" button to be disabled
- ui->load_student_yaml_button->setEnabled(false);
-
- // 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.
- m_timer_yaml_file_for_student_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::studentYamlFileTimerCallback, this, true);
-
- break;
-
- case LOAD_YAML_MPC_CONTROLLER_AGENT:
- case LOAD_YAML_MPC_CONTROLLER_COORDINATOR:
- // Set the "load mpc yaml" button to be disabled
- ui->load_mpc_yaml_button->setEnabled(false);
-
- // 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.
- m_timer_yaml_file_for_mpc_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::mpcYamlFileTimerCallback, this, true);
-
- break;
-
- case LOAD_YAML_REMOTE_CONTROLLER_AGENT:
- case LOAD_YAML_REMOTE_CONTROLLER_COORDINATOR:
- // Set the "load remote yaml" button to be disabled
- ui->load_remote_yaml_button->setEnabled(false);
-
- // 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.
- m_timer_yaml_file_for_remote_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::remoteYamlFileTimerCallback, this, true);
-
- break;
-
- case LOAD_YAML_TUNING_CONTROLLER_AGENT:
- case LOAD_YAML_TUNING_CONTROLLER_COORDINATOR:
- // Set the "load tuning yaml" button to be disabled
- ui->load_tuning_yaml_button->setEnabled(false);
-
- // 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.
- m_timer_yaml_file_for_tuning_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::tuningYamlFileTimerCallback, this, true);
-
- break;
-
- case LOAD_YAML_PICKER_CONTROLLER_AGENT:
- case LOAD_YAML_PICKER_CONTROLLER_COORDINATOR:
- // Set the "load picker yaml" button to be disabled
- ui->load_picker_yaml_button->setEnabled(false);
-
- // 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.
- m_timer_yaml_file_for_picker_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::pickerYamlFileTimerCallback, this, true);
-
- break;
-
- default:
- ROS_INFO("Unknown 'all controllers to load yaml' command, thus nothing will be disabled");
- break;
- }
-}
-
-
-
-
-
-// # Enable controllers
-void MainWindow::on_enable_safe_controller_clicked()
-{
- std_msgs::Int32 msg;
- msg.data = CMD_USE_SAFE_CONTROLLER;
- this->FlyingAgentClientCommandPublisher.publish(msg);
-}
-
-void MainWindow::on_enable_demo_controller_clicked()
-{
- std_msgs::Int32 msg;
- msg.data = CMD_USE_DEMO_CONTROLLER;
- this->FlyingAgentClientCommandPublisher.publish(msg);
-}
-
-void MainWindow::on_enable_student_controller_clicked()
-{
- std_msgs::Int32 msg;
- msg.data = CMD_USE_STUDENT_CONTROLLER;
- this->FlyingAgentClientCommandPublisher.publish(msg);
-}
-
-void MainWindow::on_enable_mpc_controller_clicked()
-{
- std_msgs::Int32 msg;
- msg.data = CMD_USE_MPC_CONTROLLER;
- this->FlyingAgentClientCommandPublisher.publish(msg);
-}
-
-void MainWindow::on_enable_remote_controller_clicked()
-{
- std_msgs::Int32 msg;
- msg.data = CMD_USE_REMOTE_CONTROLLER;
- this->FlyingAgentClientCommandPublisher.publish(msg);
-}
-
-void MainWindow::on_enable_tuning_controller_clicked()
-{
- std_msgs::Int32 msg;
- msg.data = CMD_USE_TUNING_CONTROLLER;
- this->FlyingAgentClientCommandPublisher.publish(msg);
-}
-
-void MainWindow::on_enable_picker_controller_clicked()
-{
- std_msgs::Int32 msg;
- msg.data = CMD_USE_PICKER_CONTROLLER;
- this->FlyingAgentClientCommandPublisher.publish(msg);
-}
-
-
-
-// # Custom command buttons - FOR DEMO CONTROLLER
-void MainWindow::on_demoButton_1_clicked()
-{
- CustomButton msg_custom_button;
- msg_custom_button.button_index = 1;
- msg_custom_button.command_code = 0;
- this->demoCustomButtonPublisher.publish(msg_custom_button);
-
- ROS_INFO("Demo button 1 pressed in GUI");
-}
-
-void MainWindow::on_demoButton_2_clicked()
-{
- CustomButton msg_custom_button;
- msg_custom_button.button_index = 2;
- msg_custom_button.command_code = 0;
- this->demoCustomButtonPublisher.publish(msg_custom_button);
- ROS_INFO("Demo button 2 pressed in GUI");
-}
-
-void MainWindow::on_demoButton_3_clicked()
-{
- CustomButton msg_custom_button;
- msg_custom_button.button_index = 3;
- msg_custom_button.command_code = (ui->demoField_3->text()).toFloat();
- this->demoCustomButtonPublisher.publish(msg_custom_button);
- ROS_INFO("Demo button 3 pressed in GUI");
-}
-
-
-
-
-
-// # Custom command buttons - FOR STUDENT CONTROLLER
-void MainWindow::on_studentButton_1_clicked()
-{
- CustomButton msg_custom_button;
- msg_custom_button.button_index = 1;
- msg_custom_button.command_code = 0;
- this->studentCustomButtonPublisher.publish(msg_custom_button);
-
- ROS_INFO("Student button 1 pressed in GUI");
-}
-
-void MainWindow::on_studentButton_2_clicked()
-{
- CustomButton msg_custom_button;
- msg_custom_button.button_index = 2;
- msg_custom_button.command_code = 0;
- this->studentCustomButtonPublisher.publish(msg_custom_button);
- ROS_INFO("Student button 2 pressed in GUI");
-}
-
-void MainWindow::on_studentButton_3_clicked()
-{
- CustomButton msg_custom_button;
- msg_custom_button.button_index = 3;
- msg_custom_button.command_code = (ui->studentField_3->text()).toFloat();
- this->studentCustomButtonPublisher.publish(msg_custom_button);
- ROS_INFO("Student button 3 pressed in GUI");
-}
-
-
-
-Setpoint MainWindow::correctSetpointBox(Setpoint setpoint, CrazyflieContext context)
-{
- Setpoint corrected_setpoint;
- corrected_setpoint = setpoint;
-
- float x_size = context.localArea.xmax - context.localArea.xmin;
- float y_size = context.localArea.ymax - context.localArea.ymin;
- float z_size = context.localArea.zmax - context.localArea.zmin;
-
- if(setpoint.x > x_size/2)
- corrected_setpoint.x = x_size/2;
- if(setpoint.y > y_size/2)
- corrected_setpoint.y = y_size/2;
- if(setpoint.z > z_size)
- corrected_setpoint.z = z_size;
-
- if(setpoint.x < -x_size/2)
- corrected_setpoint.x = -x_size/2;
- if(setpoint.y < -y_size/2)
- corrected_setpoint.y = -y_size/2;
- if(setpoint.z < 0)
- corrected_setpoint.z = 0;
-
- return corrected_setpoint;
-}
-
-bool MainWindow::setpointInsideBox(Setpoint setpoint, CrazyflieContext context)
-{
-
- float x_size = context.localArea.xmax - context.localArea.xmin;
- float y_size = context.localArea.ymax - context.localArea.ymin;
- float z_size = context.localArea.zmax - context.localArea.zmin;
- //position check
- if((setpoint.x < -x_size/2) or (setpoint.x > x_size/2)) {
- ROS_INFO_STREAM("x outside safety box");
- return false;
- }
- if((setpoint.y < -y_size/2) or (setpoint.y > y_size/2)) {
- ROS_INFO_STREAM("y outside safety box");
- return false;
- }
- if((setpoint.z < 0) or (setpoint.z > z_size)) {
- ROS_INFO_STREAM("z outside safety box");
- return false;
- }
-
- return true;
-}
-
-
-
-
-
-
-
-
-// # Custom buttons for the REMOTE controller service
-void MainWindow::on_remote_subscribe_button_clicked()
-{
- // Initialise the message
- ViconSubscribeObjectName msg;
- // Set the subscribe flag
- msg.shouldSubscribe = true;
- // Set the object name
- msg.objectName = (ui->remote_object_name->text()).toUtf8().constData();
- // Publish the message
- this->remoteSubscribePublisher.publish(msg);
-}
-
-void MainWindow::on_remote_unsubscribe_button_clicked()
-{
- // Initialise the message
- ViconSubscribeObjectName msg;
- // Set the subscribe flag
- msg.shouldSubscribe = false;
- // Set the object name
- msg.objectName = (ui->remote_object_name->text()).toUtf8().constData();
- // Publish the message
- this->remoteSubscribePublisher.publish(msg);
-}
-
-void MainWindow::on_remote_activate_button_clicked()
-{
- // Initialise the message
- std_msgs::Int32 msg;
- // Set the msg data
- msg.data = 1;
- // Publish the message
- this->remoteActivatePublisher.publish(msg);
-}
-
-void MainWindow::on_remote_deactivate_button_clicked()
-{
- // Initialise the message
- std_msgs::Int32 msg;
- // Set the msg data
- msg.data = 0;
- // Publish the message
- this->remoteActivatePublisher.publish(msg);
-}
-
-void MainWindow::remoteDataCallback(const CrazyflieData& objectData)
-{
- // Check if the object is occluded
- if (objectData.occluded)
- {
- // Set the column heading label to have a red background
- // > IMPORTANT: Set the background auto fill property to true
- ui->remote_data_label->setAutoFillBackground(true);
- // > Get the pallette currently set for the label
- QPalette pal = ui->remote_roll_label->palette();
- // > Set the palette property that will change the background
- pal.setColor(QPalette::Window, QColor(Qt::red));
- // > Update the palette for the label
- ui->remote_data_label->setPalette(pal);
- }
- else
- {
- // Put the roll, pitch, yaw, and z data into the appropriate fields
- ui->remote_data_roll ->setText(QString::number( objectData.roll * RAD2DEG, 'f', 1));
- ui->remote_data_pitch->setText(QString::number( objectData.pitch * RAD2DEG, 'f', 1));
- ui->remote_data_yaw ->setText(QString::number( objectData.yaw * RAD2DEG, 'f', 1));
- ui->remote_data_z ->setText(QString::number( objectData.z, 'f', 2));
-
- // Set the column heading label to have a "normal" background
- // > IMPORTANT: Set the background auto fill property to true
- ui->remote_data_label->setAutoFillBackground(false);
- // > Get the pallette currently set for the roll label
- QPalette pal = ui->remote_roll_label->palette();
- // > Update the palette for the column heading label
- ui->remote_data_label->setPalette(pal);
- }
-}
-
-void MainWindow::remoteControlSetpointCallback(const CrazyflieData& setpointData)
-{
- ui->remote_setpoint_roll ->setText(QString::number( setpointData.roll * RAD2DEG, 'f', 1));
- ui->remote_setpoint_pitch->setText(QString::number( setpointData.pitch * RAD2DEG, 'f', 1));
- ui->remote_setpoint_yaw ->setText(QString::number( setpointData.yaw * RAD2DEG, 'f', 1));
- ui->remote_setpoint_z ->setText(QString::number( setpointData.z, 'f', 2));
-}
-
-
-
-
-
-
-// TUNING CONTROLLER TAB
-void MainWindow::on_tuning_test_horizontal_button_clicked()
-{
- // Initialise the message
- std_msgs::Int32 msg;
- // Set the msg data
- msg.data = 1;
- // Publish the message
- this->tuningActivateTestPublisher.publish(msg);
-}
-
-void MainWindow::on_tuning_test_vertical_button_clicked()
-{
- // Initialise the message
- std_msgs::Int32 msg;
- // Set the msg data
- msg.data = 2;
- // Publish the message
- this->tuningActivateTestPublisher.publish(msg);
-}
-
-void MainWindow::on_tuning_test_heading_button_clicked()
-{
- // Initialise the message
- std_msgs::Int32 msg;
- // Set the msg data
- msg.data = 3;
- // Publish the message
- this->tuningActivateTestPublisher.publish(msg);
-}
-
-void MainWindow::on_tuning_test_all_button_clicked()
-{
- // Initialise the message
- std_msgs::Int32 msg;
- // Set the msg data
- msg.data = 4;
- // Publish the message
- this->tuningActivateTestPublisher.publish(msg);
-}
-
-void MainWindow::on_tuning_test_circle_button_clicked()
-{
- // Initialise the message
- std_msgs::Int32 msg;
- // Set the msg data
- msg.data = 5;
- // Publish the message
- this->tuningActivateTestPublisher.publish(msg);
-}
-
-void MainWindow::on_tuning_slider_horizontal_valueChanged(int value)
-{
- // Initialise the message
- std_msgs::Int32 msg;
- // Set the msg data
- msg.data = value;
- // Publish the message
- this->tuningHorizontalGainPublisher.publish(msg);
-}
-
-void MainWindow::on_tuning_slider_vertical_valueChanged(int value)
-{
- // Initialise the message
- std_msgs::Int32 msg;
- // Set the msg data
- msg.data = value;
- // Publish the message
- this->tuningVerticalGainPublisher.publish(msg);
-}
-
-void MainWindow::on_tuning_slider_heading_valueChanged(int value)
-{
- // Initialise the message
- std_msgs::Int32 msg;
- // Set the msg data
- msg.data = value;
- // Publish the message
- this->tuningHeadingGainPublisher.publish(msg);
-}
-
-
-
-
-
-
-
-
-
-
-// PICKER CONTROLLER TAB
-
-// > FOR THE BUTTONS
-
-void MainWindow::send_picker_button_clicked_message(int button_index)
-{
- // Initialise the message
- std_msgs::Int32 msg;
- // Set the msg data
- msg.data = button_index;
- // Publish the message
- this->pickerButtonPressedPublisher.publish(msg);
-}
-
-void MainWindow::send_picker_button_clicked_message_with_setpoint(const SetpointV2& setpointV2_to_send)
-{
- // Publish the message
- this->pickerButtonPressedWithSetpointPublisher.publish(setpointV2_to_send);
-}
-
-void MainWindow::on_picker_gotostart_button_clicked()
-{
- if (!shouldSendWithSetpoint_for_pickerButtons)
- {
- // Call the function that sends the message
- send_picker_button_clicked_message(PICKER_BUTTON_GOTOSTART);
- }
- else
- {
- // Construct the setpoint
- SetpointV2 msg_setpointV2;
- msg_setpointV2.buttonID = PICKER_BUTTON_GOTOSTART;
- msg_setpointV2.isChecked = ui->picker_gotostart_checkBox->isChecked();
- msg_setpointV2.x = 0.0;
- msg_setpointV2.y = 0.0;
- msg_setpointV2.z = 0.0;
- msg_setpointV2.yaw = 0.0;
- // Get the (x,y,z) coordinates from the GUI
- if(!ui->picker_gotostart_x->text().isEmpty())
- msg_setpointV2.x = (ui->picker_gotostart_x->text()).toFloat();
- if(!ui->picker_gotostart_y->text().isEmpty())
- msg_setpointV2.y = (ui->picker_gotostart_y->text()).toFloat();
- if(!ui->picker_gotostart_z->text().isEmpty())
- msg_setpointV2.z = (ui->picker_gotostart_z->text()).toFloat();
- // Update the z slider in the GUI
- ui->picker_z_slider->setValue( int((msg_setpointV2.z+0.005)*100.0) );
- // Call the function that sends the message
- send_picker_button_clicked_message_with_setpoint(msg_setpointV2);
- }
-}
-void MainWindow::on_picker_attach_button_clicked()
-{
- if (!shouldSendWithSetpoint_for_pickerButtons)
- {
- // Call the function that sends the message
- send_picker_button_clicked_message(PICKER_BUTTON_ATTACH);
- }
- else
- {
- // Construct the setpoint
- SetpointV2 msg_setpointV2;
- msg_setpointV2.buttonID = PICKER_BUTTON_ATTACH;
- msg_setpointV2.isChecked = ui->picker_attach_checkBox->isChecked();;
- msg_setpointV2.x = 0.0;
- msg_setpointV2.y = 0.0;
- msg_setpointV2.z = 0.0;
- msg_setpointV2.yaw = 0.0;
- // Get the z coordinates from the GUI
- if(!ui->picker_attach_z->text().isEmpty())
- msg_setpointV2.z = (ui->picker_attach_z->text()).toFloat();
- // Update the z slider in the GUI
- ui->picker_z_slider->setValue( int((msg_setpointV2.z+0.005)*100.0) );
- // Call the function that sends the message
- send_picker_button_clicked_message_with_setpoint(msg_setpointV2);
- }
-}
-void MainWindow::on_picker_pickup_button_clicked()
-{
- if (!shouldSendWithSetpoint_for_pickerButtons)
- {
- // Call the function that sends the message
- send_picker_button_clicked_message(PICKER_BUTTON_PICKUP);
- }
- else
- {
- // Construct the setpoint
- SetpointV2 msg_setpointV2;
- msg_setpointV2.buttonID = PICKER_BUTTON_PICKUP;
- msg_setpointV2.isChecked = ui->picker_pickup_checkBox->isChecked();;
- msg_setpointV2.x = 0.0;
- msg_setpointV2.y = 0.0;
- msg_setpointV2.z = 0.0;
- msg_setpointV2.yaw = 0.0;
- // Get the z coordinates from the GUI
- if(!ui->picker_pickup_z->text().isEmpty())
- msg_setpointV2.z = (ui->picker_pickup_z->text()).toFloat();
- // Update the z slider in the GUI
- ui->picker_z_slider->setValue( int((msg_setpointV2.z+0.005)*100.0) );
- // Call the function that sends the message
- send_picker_button_clicked_message_with_setpoint(msg_setpointV2);
- }
-}
-void MainWindow::on_picker_gotoend_button_clicked()
-{
- if (!shouldSendWithSetpoint_for_pickerButtons)
- {
- // Call the function that sends the message
- send_picker_button_clicked_message(PICKER_BUTTON_GOTOEND);
- }
- else
- {
- // Construct the setpoint
- SetpointV2 msg_setpointV2;
- msg_setpointV2.buttonID = PICKER_BUTTON_GOTOEND;
- msg_setpointV2.isChecked = ui->picker_gotoend_checkBox->isChecked();;
- msg_setpointV2.x = 0.0;
- msg_setpointV2.y = 0.0;
- msg_setpointV2.z = 0.0;
- msg_setpointV2.yaw = 0.0;
- // Get the (x,y) coordinates from the GUI
- if(!ui->picker_gotoend_x->text().isEmpty())
- msg_setpointV2.x = (ui->picker_gotoend_x->text()).toFloat();
- if(!ui->picker_gotoend_y->text().isEmpty())
- msg_setpointV2.y = (ui->picker_gotoend_y->text()).toFloat();
- // Call the function that sends the message
- send_picker_button_clicked_message_with_setpoint(msg_setpointV2);
- }
-}
-void MainWindow::on_picker_putdown_button_clicked()
-{
- if (!shouldSendWithSetpoint_for_pickerButtons)
- {
- // Call the function that sends the message
- send_picker_button_clicked_message(PICKER_BUTTON_PUTDOWN);
- }
- else
- {
- // Construct the setpoint
- SetpointV2 msg_setpointV2;
- msg_setpointV2.buttonID = PICKER_BUTTON_PUTDOWN;
- msg_setpointV2.isChecked = ui->picker_putdown_checkBox->isChecked();;
- msg_setpointV2.x = 0.0;
- msg_setpointV2.y = 0.0;
- msg_setpointV2.z = 0.0;
- msg_setpointV2.yaw = 0.0;
- // Get the z coordinates from the GUI
- if(!ui->picker_putdown_z->text().isEmpty())
- msg_setpointV2.z = (ui->picker_putdown_z->text()).toFloat();
- // Update the z slider in the GUI
- ui->picker_z_slider->setValue( int((msg_setpointV2.z+0.005)*100.0) );
- // Call the function that sends the message
- send_picker_button_clicked_message_with_setpoint(msg_setpointV2);
- }
-}
-void MainWindow::on_picker_squat_button_clicked()
-{
- if (!shouldSendWithSetpoint_for_pickerButtons)
- {
- // Call the function that sends the message
- send_picker_button_clicked_message(PICKER_BUTTON_SQUAT);
- }
- else
- {
- // Construct the setpoint
- SetpointV2 msg_setpointV2;
- msg_setpointV2.buttonID = PICKER_BUTTON_SQUAT;
- msg_setpointV2.isChecked = ui->picker_squat_checkBox->isChecked();;
- msg_setpointV2.x = 0.0;
- msg_setpointV2.y = 0.0;
- msg_setpointV2.z = 0.0;
- msg_setpointV2.yaw = 0.0;
- // Get the z coordinates from the GUI
- if(!ui->picker_squat_z->text().isEmpty())
- msg_setpointV2.z = (ui->picker_squat_z->text()).toFloat();
- // Update the z slider in the GUI
- ui->picker_z_slider->setValue( int((msg_setpointV2.z+0.005)*100.0) );
- // Call the function that sends the message
- send_picker_button_clicked_message_with_setpoint(msg_setpointV2);
- }
-}
-void MainWindow::on_picker_jump_button_clicked()
-{
- if (!shouldSendWithSetpoint_for_pickerButtons)
- {
- // Call the function that sends the message
- send_picker_button_clicked_message(PICKER_BUTTON_JUMP);
- }
- else
- {
- // Construct the setpoint
- SetpointV2 msg_setpointV2;
- msg_setpointV2.buttonID = PICKER_BUTTON_JUMP;
- msg_setpointV2.isChecked = ui->picker_jump_checkBox->isChecked();;
- msg_setpointV2.x = 0.0;
- msg_setpointV2.y = 0.0;
- msg_setpointV2.z = 0.0;
- msg_setpointV2.yaw = 0.0;
- // Get the z coordinates from the GUI
- if(!ui->picker_jump_z->text().isEmpty())
- msg_setpointV2.z = (ui->picker_jump_z->text()).toFloat();
- // Update the z slider in the GUI
- ui->picker_z_slider->setValue( int((msg_setpointV2.z+0.005)*100.0) );
- // Call the function that sends the message
- send_picker_button_clicked_message_with_setpoint(msg_setpointV2);
- }
-}
-void MainWindow::on_picker_1_button_clicked()
-{
- if (!shouldSendWithSetpoint_for_pickerButtons)
- {
- // Call the function that sends the message
- send_picker_button_clicked_message(PICKER_BUTTON_1);
- }
- else
- {
- // Construct the setpoint
- SetpointV2 msg_setpointV2;
- msg_setpointV2.buttonID = PICKER_BUTTON_1;
- msg_setpointV2.isChecked = true;
- msg_setpointV2.x = 0.0;
- msg_setpointV2.y = 0.0;
- msg_setpointV2.z = 0.0;
- msg_setpointV2.yaw = 0.0;
- // Call the function that sends the message
- send_picker_button_clicked_message_with_setpoint(msg_setpointV2);
- }
-}
-void MainWindow::on_picker_2_button_clicked()
-{
- if (!shouldSendWithSetpoint_for_pickerButtons)
- {
- // Call the function that sends the message
- send_picker_button_clicked_message(PICKER_BUTTON_2);
- }
- else
- {
- // Construct the setpoint
- SetpointV2 msg_setpointV2;
- msg_setpointV2.buttonID = PICKER_BUTTON_2;
- msg_setpointV2.isChecked = true;
- msg_setpointV2.x = 0.0;
- msg_setpointV2.y = 0.0;
- msg_setpointV2.z = 0.0;
- msg_setpointV2.yaw = 0.0;
- // Call the function that sends the message
- send_picker_button_clicked_message_with_setpoint(msg_setpointV2);
- }
-}
-void MainWindow::on_picker_3_button_clicked()
-{
- if (!shouldSendWithSetpoint_for_pickerButtons)
- {
- // Call the function that sends the message
- send_picker_button_clicked_message(PICKER_BUTTON_3);
- }
- else
- {
- // Construct the setpoint
- SetpointV2 msg_setpointV2;
- msg_setpointV2.buttonID = PICKER_BUTTON_3;
- msg_setpointV2.isChecked = true;
- msg_setpointV2.x = 0.0;
- msg_setpointV2.y = 0.0;
- msg_setpointV2.z = 0.0;
- msg_setpointV2.yaw = 0.0;
- // Call the function that sends the message
- send_picker_button_clicked_message_with_setpoint(msg_setpointV2);
- }
-}
-void MainWindow::on_picker_4_button_clicked()
-{
- if (!shouldSendWithSetpoint_for_pickerButtons)
- {
- // Call the function that sends the message
- send_picker_button_clicked_message(PICKER_BUTTON_4);
- }
- else
- {
- // Construct the setpoint
- SetpointV2 msg_setpointV2;
- msg_setpointV2.buttonID = PICKER_BUTTON_4;
- msg_setpointV2.isChecked = true;
- msg_setpointV2.x = 0.0;
- msg_setpointV2.y = 0.0;
- msg_setpointV2.z = 0.0;
- msg_setpointV2.yaw = 0.0;
- // Call the function that sends the message
- send_picker_button_clicked_message_with_setpoint(msg_setpointV2);
- }
-}
-
-
-
-// > FOR THE SLIDERS AND DIAL
-
-void MainWindow::on_picker_x_slider_valueChanged(int value)
-{
- // Initialise the message
- std_msgs::Float32 msg;
- // Set the msg data
- msg.data = float(value) / 100.0f;
- // Publish the message
- this->pickerXAdjustmentPublisher.publish(msg);
-}
-void MainWindow::on_picker_y_slider_valueChanged(int value)
-{
- // Initialise the message
- std_msgs::Float32 msg;
- // Set the msg data
- msg.data = float(value) / 100.0f;
- // Publish the message
- this->pickerYAdjustmentPublisher.publish(msg);
-}
-void MainWindow::on_picker_z_slider_valueChanged(int value)
-{
- ROS_INFO_STREAM("[Student GUI] z slider int value " << value );
- // Initialise the message
- std_msgs::Float32 msg;
- // Set the msg data
- msg.data = float(value) / 100.0f;
- // Publish the message
- this->pickerZSetpointPublisher.publish(msg);
-}
-void MainWindow::on_picker_mass_slider_valueChanged(int value)
-{
- // Initialise the message
- std_msgs::Float32 msg;
- // Set the msg data
- msg.data = float(value);
- // Publish the message
- this->pickerMassPublisher.publish(msg);
-}
-void MainWindow::on_picker_yaw_dial_valueChanged(int value)
-{
- // Initialise the message
- std_msgs::Float32 msg;
- // Set the msg data
- msg.data = float(value) * DEG2RAD;
- // Publish the message
- this->pickerYawSetpointPublisher.publish(msg);
-}
-
-
-
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/MainWindow.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/MainWindow.ui
deleted file mode 100644
index 7890bdbb..00000000
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/MainWindow.ui
+++ /dev/null
@@ -1,5238 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>MainWindow</class>
- <widget class="QMainWindow" name="MainWindow">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>1500</width>
- <height>1000</height>
- </rect>
- </property>
- <property name="sizePolicy">
- <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>1500</width>
- <height>1000</height>
- </size>
- </property>
- <property name="windowTitle">
- <string>MainWindow</string>
- </property>
- <widget class="QWidget" name="centralWidget">
- <layout class="QGridLayout" name="gridLayout">
- <item row="1" column="1">
- <layout class="QVBoxLayout" name="verticalLayout_4">
- <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>
- <widget class="QGroupBox" name="groupBox">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Minimum">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>18</pointsize>
- <weight>50</weight>
- <bold>false</bold>
- </font>
- </property>
- <property name="title">
- <string>StudentID # connected to CF #</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- <layout class="QGridLayout" name="gridLayout_2"/>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line_9">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout">
- <property name="sizeConstraint">
- <enum>QLayout::SetMaximumSize</enum>
- </property>
- <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>
- <widget class="QPushButton" name="RF_disconnect_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>70</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>750</width>
- <height>70</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Disconnect</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="rf_status_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>95</width>
- <height>70</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>95</width>
- <height>70</height>
- </size>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="RF_Connect_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>70</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>750</width>
- <height>70</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Connect</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLineEdit" name="voltage_field">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>100</width>
- <height>70</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>70</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="battery_status_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>50</width>
- <height>70</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>50</width>
- <height>70</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- <italic>true</italic>
- </font>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="take_off_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>70</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>750</width>
- <height>70</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Take Off</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="land_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>70</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>750</width>
- <height>70</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Land</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="flying_state_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>90</width>
- <height>70</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>90</width>
- <height>70</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- </font>
- </property>
- <property name="text">
- <string/>
- </property>
- <property name="alignment">
- <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="motors_OFF_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>70</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>750</width>
- <height>70</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- <weight>75</weight>
- <bold>true</bold>
- </font>
- </property>
- <property name="text">
- <string>Motors OFF</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="Line" name="line_8">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_8">
- <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>
- <widget class="QTabWidget" name="tabWidget">
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- </font>
- </property>
- <property name="currentIndex">
- <number>3</number>
- </property>
- <property name="usesScrollButtons">
- <bool>true</bool>
- </property>
- <property name="tabsClosable">
- <bool>false</bool>
- </property>
- <widget class="QWidget" name="tab_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <attribute name="title">
- <string> Safe </string>
- </attribute>
- <layout class="QGridLayout" name="gridLayout_5">
- <item row="0" column="0">
- <widget class="QGroupBox" name="groupBox_2">
- <property name="title">
- <string/>
- </property>
- <layout class="QGridLayout" name="gridLayout_3">
- <item row="6" column="1">
- <widget class="QLineEdit" name="current_roll_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLineEdit" name="current_y_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QLineEdit" name="current_yaw_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLineEdit" name="current_z_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="current_x_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>x [m] =</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="current_z_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>z [m] =</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="current_y_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>y [m] =</string>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QLabel" name="current_yaw_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>yaw [deg] = </string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="current_x_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="5" column="0">
- <widget class="QLabel" name="current_pitch_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>pitch [deg] =</string>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QLabel" name="current_roll_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>roll [deg] =</string>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QLineEdit" name="current_pitch_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="label_4">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Current</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QLineEdit" name="diff_x_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QLineEdit" name="diff_y_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="3" column="2">
- <widget class="QLineEdit" name="diff_z_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="4" column="2">
- <widget class="QLineEdit" name="diff_yaw_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_5">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Difference</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QGroupBox" name="groupBox_3">
- <property name="title">
- <string/>
- </property>
- <layout class="QGridLayout" name="gridLayout_4">
- <item row="2" column="2">
- <widget class="QLineEdit" name="new_setpoint_y_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="4" column="2">
- <widget class="QLineEdit" name="new_setpoint_yaw_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QLineEdit" name="new_setpoint_x_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLineEdit" name="current_setpoint_y_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="current_setpoint_x_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QLabel" name="label_11">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>yaw [deg] =</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="label_12">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Current</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_7">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>x [m] =</string>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLineEdit" name="current_setpoint_z_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_9">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>z [m] =</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_8">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>y [m] =</string>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QLineEdit" name="current_setpoint_yaw_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="5" column="2">
- <widget class="QPushButton" name="set_setpoint_button_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Set setpoint</string>
- </property>
- </widget>
- </item>
- <item row="3" column="2">
- <widget class="QLineEdit" name="new_setpoint_z_safe">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_3">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Setpoint:</string>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_13">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>New</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QLabel" name="error_label">
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_picker">
- <attribute name="title">
- <string>Picker</string>
- </attribute>
- <layout class="QGridLayout" name="gridLayout_19">
- <item row="0" column="0">
- <layout class="QGridLayout" name="gridLayout_18">
- <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="2">
- <layout class="QHBoxLayout" name="horizontalLayout_2">
- <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>
- <layout class="QVBoxLayout" name="verticalLayout_5">
- <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>
- <widget class="QLabel" name="label_47">
- <property name="text">
- <string>Yaw</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_54">
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
- </property>
- <property name="text">
- <string>+ve x-axis</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QDial" name="picker_yaw_dial">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimum">
- <number>-180</number>
- </property>
- <property name="maximum">
- <number>180</number>
- </property>
- <property name="singleStep">
- <number>5</number>
- </property>
- <property name="pageStep">
- <number>15</number>
- </property>
- <property name="value">
- <number>0</number>
- </property>
- <property name="sliderPosition">
- <number>0</number>
- </property>
- <property name="tracking">
- <bool>false</bool>
- </property>
- <property name="wrapping">
- <bool>true</bool>
- </property>
- <property name="notchTarget">
- <double>6.000000000000000</double>
- </property>
- <property name="notchesVisible">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_55">
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
- </property>
- <property name="text">
- <string>-ve x-axis</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_6">
- <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>
- <widget class="QLabel" name="label_48">
- <property name="text">
- <string>z</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_51">
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
- </property>
- <property name="text">
- <string>1.0</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_9">
- <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>
- <widget class="QSlider" name="picker_z_slider">
- <property name="maximum">
- <number>100</number>
- </property>
- <property name="singleStep">
- <number>1</number>
- </property>
- <property name="pageStep">
- <number>2</number>
- </property>
- <property name="tracking">
- <bool>false</bool>
- </property>
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="invertedAppearance">
- <bool>false</bool>
- </property>
- <property name="invertedControls">
- <bool>false</bool>
- </property>
- <property name="tickPosition">
- <enum>QSlider::TicksBothSides</enum>
- </property>
- <property name="tickInterval">
- <number>10</number>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="QLabel" name="label_50">
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
- </property>
- <property name="text">
- <string>0.0</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QVBoxLayout" name="verticalLayout_7">
- <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>
- <widget class="QLabel" name="label_49">
- <property name="text">
- <string>Mass</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_53">
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
- </property>
- <property name="text">
- <string>38</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_11">
- <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>
- <widget class="QSlider" name="picker_mass_slider">
- <property name="minimum">
- <number>28</number>
- </property>
- <property name="maximum">
- <number>38</number>
- </property>
- <property name="pageStep">
- <number>1</number>
- </property>
- <property name="tracking">
- <bool>false</bool>
- </property>
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="tickPosition">
- <enum>QSlider::TicksBothSides</enum>
- </property>
- <property name="tickInterval">
- <number>1</number>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="QLabel" name="label_52">
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
- </property>
- <property name="text">
- <string>28</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- <item row="1" column="0">
- <layout class="QVBoxLayout" name="verticalLayout_8">
- <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>
- <widget class="QPushButton" name="picker_1_button">
- <property name="text">
- <string>Button 1</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="picker_2_button">
- <property name="text">
- <string>Button 2</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="picker_3_button">
- <property name="text">
- <string>Button 3</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="picker_4_button">
- <property name="text">
- <string>Button 4</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="1" column="2">
- <layout class="QVBoxLayout" name="verticalLayout_9">
- <item>
- <widget class="QLabel" name="label_56">
- <property name="text">
- <string>x-axis adjustment</string>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_12">
- <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>
- <widget class="QLabel" name="label_60">
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
- </property>
- <property name="text">
- <string>-0.1</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSlider" name="picker_x_slider">
- <property name="minimum">
- <number>-10</number>
- </property>
- <property name="maximum">
- <number>10</number>
- </property>
- <property name="pageStep">
- <number>1</number>
- </property>
- <property name="tracking">
- <bool>false</bool>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="tickPosition">
- <enum>QSlider::TicksBothSides</enum>
- </property>
- <property name="tickInterval">
- <number>1</number>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_58">
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
- </property>
- <property name="text">
- <string>0.1</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="QLabel" name="label_57">
- <property name="text">
- <string>y-axis adjustment</string>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_13">
- <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>
- <widget class="QLabel" name="label_61">
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
- </property>
- <property name="text">
- <string>-0.1</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSlider" name="picker_y_slider">
- <property name="minimum">
- <number>-10</number>
- </property>
- <property name="maximum">
- <number>10</number>
- </property>
- <property name="pageStep">
- <number>1</number>
- </property>
- <property name="tracking">
- <bool>false</bool>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="tickPosition">
- <enum>QSlider::TicksBothSides</enum>
- </property>
- <property name="tickInterval">
- <number>1</number>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_59">
- <property name="font">
- <font>
- <family>Courier</family>
- </font>
- </property>
- <property name="text">
- <string>0.1</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- <item row="0" column="0">
- <layout class="QGridLayout" name="gridLayout_20">
- <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="3" column="0">
- <widget class="QPushButton" name="picker_pickup_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Pick-up</string>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QCheckBox" name="picker_attach_checkBox">
- <property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="6" column="1">
- <widget class="QCheckBox" name="picker_squat_checkBox">
- <property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QCheckBox" name="picker_putdown_checkBox">
- <property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QCheckBox" name="picker_gotoend_checkBox">
- <property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QCheckBox" name="picker_pickup_checkBox">
- <property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="7" column="1">
- <widget class="QCheckBox" name="picker_jump_checkBox">
- <property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="0" column="3">
- <widget class="QLabel" name="label_63">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>y[m]</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QCheckBox" name="picker_gotostart_checkBox">
- <property name="styleSheet">
- <string notr="true">QCheckBox::indicator{ width:30px ; height:30px }</string>
- </property>
- <property name="text">
- <string/>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_62">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>x[m]</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QPushButton" name="picker_gotostart_button">
- <property name="text">
- <string>Goto Start</string>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QPushButton" name="picker_gotoend_button">
- <property name="text">
- <string>Goto End</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QPushButton" name="picker_attach_button">
- <property name="text">
- <string>Attach</string>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QLineEdit" name="picker_gotostart_x">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Courier 10 Pitch</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_64">
- <property name="text">
- <string>Function:</string>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QPushButton" name="picker_squat_button">
- <property name="text">
- <string>Squat</string>
- </property>
- </widget>
- </item>
- <item row="7" column="0">
- <widget class="QPushButton" name="picker_jump_button">
- <property name="text">
- <string>Jump</string>
- </property>
- </widget>
- </item>
- <item row="5" column="0">
- <widget class="QPushButton" name="picker_putdown_button">
- <property name="text">
- <string>Put down</string>
- </property>
- </widget>
- </item>
- <item row="1" column="4">
- <widget class="QLineEdit" name="picker_gotostart_z">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Courier 10 Pitch</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="1" column="3">
- <widget class="QLineEdit" name="picker_gotostart_y">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Courier 10 Pitch</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="2" column="4">
- <widget class="QLineEdit" name="picker_attach_z">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Courier 10 Pitch</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="0" column="4">
- <widget class="QLabel" name="label_65">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>z[m]</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="3" column="4">
- <widget class="QLineEdit" name="picker_pickup_z">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Courier 10 Pitch</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="4" column="2">
- <widget class="QLineEdit" name="picker_gotoend_x">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Courier 10 Pitch</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="4" column="3">
- <widget class="QLineEdit" name="picker_gotoend_y">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Courier 10 Pitch</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="5" column="4">
- <widget class="QLineEdit" name="picker_putdown_z">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Courier 10 Pitch</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="6" column="4">
- <widget class="QLineEdit" name="picker_squat_z">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Courier 10 Pitch</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="7" column="4">
- <widget class="QLineEdit" name="picker_jump_z">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>100</width>
- <height>16777215</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Courier 10 Pitch</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="label_66">
- <property name="text">
- <string>Smooth</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- <item row="1" column="0">
- <spacer name="verticalSpacer_7">
- <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>
- </widget>
- <widget class="QWidget" name="tab_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <attribute name="title">
- <string> Demo </string>
- </attribute>
- <layout class="QGridLayout" name="gridLayout_9">
- <item row="0" column="0">
- <layout class="QVBoxLayout" name="verticalLayout_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>
- <layout class="QHBoxLayout" name="horizontalLayout_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>
- <widget class="QGroupBox" name="groupBox_5">
- <property name="title">
- <string/>
- </property>
- <layout class="QGridLayout" name="gridLayout_7">
- <item row="1" column="2">
- <widget class="QLineEdit" name="diff_x_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="6" column="1">
- <widget class="QLineEdit" name="current_roll_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLineEdit" name="current_y_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QLineEdit" name="current_yaw_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLineEdit" name="current_z_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="current_x_label_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>x [m] =</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="current_z_label_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>z [m] =</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="current_x_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="current_y_label_2">
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>y [m] =</string>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QLabel" name="current_yaw_label_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>yaw [deg] = </string>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QLineEdit" name="current_pitch_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="5" column="0">
- <widget class="QLabel" name="current_pitch_label_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>pitch [deg] =</string>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QLabel" name="current_roll_label_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>roll [deg] =</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="label_6">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Current</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="3" column="2">
- <widget class="QLineEdit" name="diff_z_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QLineEdit" name="diff_y_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="4" column="2">
- <widget class="QLineEdit" name="diff_yaw_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_10">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Difference</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- <item>
- <widget class="QGroupBox" name="groupBox_6">
- <property name="title">
- <string/>
- </property>
- <layout class="QGridLayout" name="gridLayout_8">
- <item row="2" column="2">
- <widget class="QLineEdit" name="new_setpoint_y_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="4" column="2">
- <widget class="QLineEdit" name="new_setpoint_yaw_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QLineEdit" name="new_setpoint_x_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLineEdit" name="current_setpoint_y_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLineEdit" name="current_setpoint_x_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QLabel" name="label_14">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>yaw [deg] =</string>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QLabel" name="label_15">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Current</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_16">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>x [m] =</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_17">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>z [m] =</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label_18">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>y [m] =</string>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLineEdit" name="current_setpoint_z_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="5" column="2">
- <widget class="QPushButton" name="set_setpoint_button_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Set setpoint</string>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QLineEdit" name="current_setpoint_yaw_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="3" column="2">
- <widget class="QLineEdit" name="new_setpoint_z_demo">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_19">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Setpoint:</string>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_20">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>New</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- </layout>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <layout class="QHBoxLayout" name="horizontalLayout_5">
- <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>
- <widget class="QPushButton" name="demoButton_1">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Command 1</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="demoButton_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Command 2</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="demoButton_3">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Command 3</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLineEdit" name="demoField_3">
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <attribute name="title">
- <string>Student</string>
- </attribute>
- <layout class="QGridLayout" name="gridLayout_11">
- <item row="0" column="0">
- <layout class="QGridLayout" name="gridLayout_6">
- <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="15" column="0">
- <widget class="QLabel" name="label_72">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>roll [deg]</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_67">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>x [m]</string>
- </property>
- </widget>
- </item>
- <item row="7" column="0">
- <widget class="QLabel" name="label_68">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>y [m]</string>
- </property>
- </widget>
- </item>
- <item row="11" column="3">
- <widget class="QLabel" name="label_25">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>yaw [deg] =</string>
- </property>
- </widget>
- </item>
- <item row="1" column="5">
- <widget class="QLabel" name="label_27">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>New</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="14" column="5">
- <widget class="QPushButton" name="set_setpoint_button_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Set setpoint</string>
- </property>
- </widget>
- </item>
- <item row="1" column="4">
- <widget class="QLabel" name="label_26">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Current</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="1" column="3">
- <widget class="QLabel" name="label_28">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Setpoint:</string>
- </property>
- </widget>
- </item>
- <item row="3" column="3">
- <widget class="QLabel" name="label_29">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>x [m] =</string>
- </property>
- </widget>
- </item>
- <item row="9" column="3">
- <widget class="QLabel" name="label_24">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>z [m] =</string>
- </property>
- </widget>
- </item>
- <item row="7" column="3">
- <widget class="QLabel" name="label_23">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>y [m] =</string>
- </property>
- </widget>
- </item>
- <item row="3" column="5">
- <widget class="QLineEdit" name="new_setpoint_x_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="11" column="5">
- <widget class="QLineEdit" name="new_setpoint_yaw_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="3" column="4">
- <widget class="QLineEdit" name="current_setpoint_x_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="7" column="4">
- <widget class="QLineEdit" name="current_setpoint_y_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="11" column="4">
- <widget class="QLineEdit" name="current_setpoint_yaw_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="9" column="4">
- <widget class="QLineEdit" name="current_setpoint_z_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="9" column="5">
- <widget class="QLineEdit" name="new_setpoint_z_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="7" column="5">
- <widget class="QLineEdit" name="new_setpoint_y_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="label_73">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Current</string>
- </property>
- </widget>
- </item>
- <item row="14" column="0">
- <widget class="QLabel" name="label_71">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>pitch [deg]</string>
- </property>
- </widget>
- </item>
- <item row="11" column="0">
- <widget class="QLabel" name="label_70">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>yaw [deg]</string>
- </property>
- </widget>
- </item>
- <item row="9" column="0">
- <widget class="QLabel" name="label_69">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>z [m]</string>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QLabel" name="label_74">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="text">
- <string>Difference</string>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLineEdit" name="current_x_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="3" column="2">
- <widget class="QLineEdit" name="diff_x_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="7" column="1">
- <widget class="QLineEdit" name="current_y_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="7" column="2">
- <widget class="QLineEdit" name="diff_y_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="9" column="1">
- <widget class="QLineEdit" name="current_z_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="9" column="2">
- <widget class="QLineEdit" name="diff_z_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="11" column="1">
- <widget class="QLineEdit" name="current_yaw_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="11" column="2">
- <widget class="QLineEdit" name="diff_yaw_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="14" column="1">
- <widget class="QLineEdit" name="current_pitch_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="15" column="1">
- <widget class="QLineEdit" name="current_roll_student">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- </widget>
- </item>
- <item row="16" column="2">
- <widget class="QPushButton" name="studentButton_1">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>40</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Command 1</string>
- </property>
- </widget>
- </item>
- <item row="16" column="3">
- <widget class="QPushButton" name="studentButton_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>40</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Commnd 2</string>
- </property>
- </widget>
- </item>
- <item row="16" column="4">
- <widget class="QPushButton" name="studentButton_3">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>40</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Command 3</string>
- </property>
- </widget>
- </item>
- <item row="16" column="5">
- <widget class="QLineEdit" name="studentField_3">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>0</width>
- <height>40</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_mpc">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <attribute name="title">
- <string>MPC</string>
- </attribute>
- <layout class="QGridLayout" name="gridLayout_13">
- <item row="0" column="0">
- <layout class="QGridLayout" name="gridLayout_12">
- <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="1" column="2">
- <widget class="QLabel" name="label_30">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>New</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="14" column="2">
- <widget class="QPushButton" name="set_setpoint_button_mpc">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Set setpoint</string>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="QLabel" name="label_31">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Current</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label_32">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Setpoint:</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QLabel" name="label_33">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>x [m] =</string>
- </property>
- </widget>
- </item>
- <item row="11" column="0">
- <widget class="QLabel" name="label_34">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>yaw [deg] =</string>
- </property>
- </widget>
- </item>
- <item row="9" column="0">
- <widget class="QLabel" name="label_35">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>z [m] =</string>
- </property>
- </widget>
- </item>
- <item row="7" column="0">
- <widget class="QLabel" name="label_36">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>y [m] =</string>
- </property>
- </widget>
- </item>
- <item row="3" column="2">
- <widget class="QLineEdit" name="new_setpoint_x_mpc">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="11" column="2">
- <widget class="QLineEdit" name="new_setpoint_yaw_mpc">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="QLineEdit" name="current_setpoint_x_mpc">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="7" column="1">
- <widget class="QLineEdit" name="current_setpoint_y_mpc">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="11" column="1">
- <widget class="QLineEdit" name="current_setpoint_yaw_mpc">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="9" column="1">
- <widget class="QLineEdit" name="current_setpoint_z_mpc">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="9" column="2">
- <widget class="QLineEdit" name="new_setpoint_z_mpc">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- <item row="7" column="2">
- <widget class="QLineEdit" name="new_setpoint_y_mpc">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <widget class="QWidget" name="tab_remote">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <attribute name="title">
- <string>Remote</string>
- </attribute>
- <layout class="QGridLayout" name="gridLayout_14">
- <item row="0" column="0">
- <layout class="QGridLayout" name="gridLayout_10">
- <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">
- <widget class="QLineEdit" name="remote_object_name">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="QLineEdit" name="remote_data_pitch">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Monospace</family>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QPushButton" name="remote_unsubscribe_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>UN-subscribe</string>
- </property>
- </widget>
- </item>
- <item row="7" column="2">
- <widget class="QLineEdit" name="remote_setpoint_z">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Monospace</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="QPushButton" name="remote_subscribe_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Subscribe</string>
- </property>
- </widget>
- </item>
- <item row="7" column="1">
- <widget class="QLineEdit" name="remote_data_z">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Monospace</family>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="6" column="2">
- <widget class="QLineEdit" name="remote_setpoint_yaw">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Monospace</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="6" column="1">
- <widget class="QLineEdit" name="remote_data_yaw">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Monospace</family>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="Line" name="line_12">
- <property name="lineWidth">
- <number>5</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="Line" name="line_10">
- <property name="frameShadow">
- <enum>QFrame::Sunken</enum>
- </property>
- <property name="lineWidth">
- <number>5</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="5" column="2">
- <widget class="QLineEdit" name="remote_setpoint_pitch">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Monospace</family>
- </font>
- </property>
- </widget>
- </item>
- <item row="4" column="1">
- <widget class="QLineEdit" name="remote_data_roll">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Monospace</family>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="Line" name="line_11">
- <property name="lineWidth">
- <number>5</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="4" column="2">
- <widget class="QLineEdit" name="remote_setpoint_roll">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <family>Monospace</family>
- </font>
- </property>
- <property name="readOnly">
- <bool>true</bool>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="QLabel" name="remote_data_label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Remote</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QLabel" name="label_38">
- <property name="text">
- <string>Setpoint</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QLabel" name="remote_roll_label">
- <property name="text">
- <string>Roll [deg]</string>
- </property>
- </widget>
- </item>
- <item row="5" column="0">
- <widget class="QLabel" name="remote_pitch_label">
- <property name="text">
- <string>Pitch [deg]</string>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QLabel" name="remote_yaw_label">
- <property name="text">
- <string>Yaw [deg]</string>
- </property>
- </widget>
- </item>
- <item row="7" column="0">
- <widget class="QLabel" name="remote_z_label">
- <property name="text">
- <string>z [m]</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="0" column="1">
- <layout class="QVBoxLayout" name="verticalLayout_2">
- <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>
- <spacer name="verticalSpacer_2">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>40</height>
- </size>
- </property>
- </spacer>
- </item>
- <item>
- <widget class="QPushButton" name="remote_activate_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>100</height>
- </size>
- </property>
- <property name="text">
- <string>Activate</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="remote_deactivate_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>16777215</width>
- <height>100</height>
- </size>
- </property>
- <property name="text">
- <string>DE-activate</string>
- </property>
- </widget>
- </item>
- <item>
- <spacer name="verticalSpacer_3">
- <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>
- <widget class="QWidget" name="tab">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <attribute name="title">
- <string>Tuning</string>
- </attribute>
- <layout class="QGridLayout" name="gridLayout_16">
- <item row="0" column="0">
- <layout class="QGridLayout" name="gridLayout_15">
- <property name="leftMargin">
- <number>6</number>
- </property>
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>6</number>
- </property>
- <property name="bottomMargin">
- <number>0</number>
- </property>
- <item row="4" column="0">
- <widget class="QLabel" name="label_45">
- <property name="text">
- <string>Vertical Controller Gain (Vertikal Regler Verstaekung)</string>
- </property>
- </widget>
- </item>
- <item row="2" column="0">
- <widget class="Line" name="line_13">
- <property name="lineWidth">
- <number>5</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="2" column="1">
- <widget class="Line" name="line_15">
- <property name="lineWidth">
- <number>5</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="11" column="0">
- <spacer name="verticalSpacer_4">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Minimum</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>10</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="1" column="1">
- <widget class="QPushButton" name="tuning_test_horizontal_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>160</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Test</string>
- </property>
- </widget>
- </item>
- <item row="6" column="1">
- <widget class="Line" name="line_16">
- <property name="lineWidth">
- <number>5</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="8" column="0">
- <widget class="QLabel" name="label_46">
- <property name="text">
- <string>Heading Controller Gain (Orientierung Regler Verstaekung)</string>
- </property>
- </widget>
- </item>
- <item row="12" column="0">
- <layout class="QHBoxLayout" name="horizontalLayout_10">
- <property name="leftMargin">
- <number>6</number>
- </property>
- <property name="topMargin">
- <number>0</number>
- </property>
- <property name="rightMargin">
- <number>6</number>
- </property>
- <property name="bottomMargin">
- <number>0</number>
- </property>
- <item>
- <widget class="QPushButton" name="tuning_test_all_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <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>340</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Test All</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QPushButton" name="tuning_test_circle_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>340</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Fly a circle</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="6" column="0">
- <widget class="Line" name="line_14">
- <property name="lineWidth">
- <number>5</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <spacer name="verticalSpacer_5">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Minimum</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>5</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="9" column="1">
- <widget class="QPushButton" name="tuning_test_heading_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>160</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Test</string>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_37">
- <property name="text">
- <string>Horizontal Controller Gain (Horizontal Regler Verstaekung)</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
- </property>
- </widget>
- </item>
- <item row="5" column="0">
- <layout class="QHBoxLayout" name="horizontalLayout_4">
- <property name="leftMargin">
- <number>6</number>
- </property>
- <property name="rightMargin">
- <number>6</number>
- </property>
- <item>
- <widget class="QLabel" name="label_39">
- <property name="text">
- <string>Min</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSlider" name="tuning_slider_vertical">
- <property name="maximum">
- <number>1000</number>
- </property>
- <property name="value">
- <number>100</number>
- </property>
- <property name="tracking">
- <bool>false</bool>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="tickPosition">
- <enum>QSlider::TicksAbove</enum>
- </property>
- <property name="tickInterval">
- <number>100</number>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_40">
- <property name="text">
- <string>Max</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="5" column="1">
- <widget class="QPushButton" name="tuning_test_vertical_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="maximumSize">
- <size>
- <width>160</width>
- <height>50</height>
- </size>
- </property>
- <property name="text">
- <string>Test</string>
- </property>
- </widget>
- </item>
- <item row="7" column="0">
- <spacer name="verticalSpacer_6">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- <property name="sizeType">
- <enum>QSizePolicy::Minimum</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>20</width>
- <height>5</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="9" column="0">
- <layout class="QHBoxLayout" name="horizontalLayout_6">
- <property name="leftMargin">
- <number>6</number>
- </property>
- <property name="rightMargin">
- <number>6</number>
- </property>
- <item>
- <widget class="QLabel" name="label_41">
- <property name="text">
- <string>Min</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSlider" name="tuning_slider_heading">
- <property name="maximum">
- <number>1000</number>
- </property>
- <property name="value">
- <number>100</number>
- </property>
- <property name="tracking">
- <bool>false</bool>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="tickPosition">
- <enum>QSlider::TicksAbove</enum>
- </property>
- <property name="tickInterval">
- <number>100</number>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_42">
- <property name="text">
- <string>Max</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="1" column="0">
- <layout class="QHBoxLayout" name="horizontalLayout_7">
- <property name="leftMargin">
- <number>6</number>
- </property>
- <property name="rightMargin">
- <number>6</number>
- </property>
- <item>
- <widget class="QLabel" name="label_43">
- <property name="text">
- <string>Min</string>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QSlider" name="tuning_slider_horizontal">
- <property name="maximum">
- <number>1000</number>
- </property>
- <property name="value">
- <number>100</number>
- </property>
- <property name="tracking">
- <bool>false</bool>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="tickPosition">
- <enum>QSlider::TicksAbove</enum>
- </property>
- <property name="tickInterval">
- <number>100</number>
- </property>
- </widget>
- </item>
- <item>
- <widget class="QLabel" name="label_44">
- <property name="text">
- <string>Max</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item row="10" column="0">
- <widget class="Line" name="line_17">
- <property name="lineWidth">
- <number>5</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- <item row="10" column="1">
- <widget class="Line" name="line_18">
- <property name="lineWidth">
- <number>5</number>
- </property>
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- </widget>
- </item>
- <item>
- <widget class="Line" name="line">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item>
- <layout class="QGridLayout" name="gridLayout_17">
- <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="8" column="1">
- <widget class="Line" name="line_20">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item row="9" column="2">
- <widget class="QPushButton" name="load_tuning_yaml_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Tuning</string>
- </property>
- </widget>
- </item>
- <item row="7" column="1">
- <widget class="Line" name="line_21">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item row="6" column="1">
- <widget class="Line" name="line_22">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item row="7" column="2">
- <widget class="QPushButton" name="load_mpc_yaml_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>MPC</string>
- </property>
- </widget>
- </item>
- <item row="8" column="2">
- <widget class="QPushButton" name="load_remote_yaml_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Remote</string>
- </property>
- </widget>
- </item>
- <item row="6" column="2">
- <widget class="QPushButton" name="load_student_yaml_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Student</string>
- </property>
- </widget>
- </item>
- <item row="6" column="0">
- <widget class="QPushButton" name="enable_student_controller">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Student</string>
- </property>
- </widget>
- </item>
- <item row="0" column="2">
- <widget class="QLabel" name="label_2">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>30</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Load</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="0" column="0">
- <widget class="QLabel" name="label_21">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>30</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Controller</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="1" column="0">
- <widget class="QLabel" name="label">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>30</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- <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="5" column="0">
- <widget class="QPushButton" name="enable_demo_controller">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Demo</string>
- </property>
- </widget>
- </item>
- <item row="10" 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>
- <item row="3" column="2">
- <widget class="QPushButton" name="load_safe_yaml_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Safe</string>
- </property>
- </widget>
- </item>
- <item row="3" column="0">
- <widget class="QPushButton" name="enable_safe_controller">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Safe</string>
- </property>
- </widget>
- </item>
- <item row="5" column="2">
- <widget class="QPushButton" name="load_demo_yaml_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Demo</string>
- </property>
- </widget>
- </item>
- <item row="3" column="1">
- <widget class="Line" name="line_3">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item row="1" column="2">
- <widget class="QLabel" name="label_22">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>30</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>30</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>16</pointsize>
- <weight>75</weight>
- <bold>true</bold>
- </font>
- </property>
- <property name="text">
- <string>YAML</string>
- </property>
- <property name="alignment">
- <set>Qt::AlignCenter</set>
- </property>
- </widget>
- </item>
- <item row="5" column="1">
- <widget class="Line" name="line_4">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item row="0" column="1">
- <widget class="Line" name="line_7">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item row="1" column="1">
- <widget class="Line" name="line_6">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item row="10" column="1">
- <widget class="Line" name="line_5">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item row="7" column="0">
- <widget class="QPushButton" name="enable_mpc_controller">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>MPC</string>
- </property>
- </widget>
- </item>
- <item row="8" column="0">
- <widget class="QPushButton" name="enable_remote_controller">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Remote</string>
- </property>
- </widget>
- </item>
- <item row="9" column="1">
- <widget class="Line" name="line_19">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- <item row="9" column="0">
- <widget class="QPushButton" name="enable_tuning_controller">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Tuning</string>
- </property>
- </widget>
- </item>
- <item row="4" column="0">
- <widget class="QPushButton" name="enable_picker_controller">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Picker</string>
- </property>
- </widget>
- </item>
- <item row="4" column="2">
- <widget class="QPushButton" name="load_picker_yaml_button">
- <property name="sizePolicy">
- <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
- <horstretch>0</horstretch>
- <verstretch>0</verstretch>
- </sizepolicy>
- </property>
- <property name="minimumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="maximumSize">
- <size>
- <width>180</width>
- <height>50</height>
- </size>
- </property>
- <property name="font">
- <font>
- <pointsize>14</pointsize>
- </font>
- </property>
- <property name="text">
- <string>Picker</string>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- <item>
- <widget class="Line" name="line_2">
- <property name="orientation">
- <enum>Qt::Vertical</enum>
- </property>
- </widget>
- </item>
- </layout>
- </item>
- </layout>
- </item>
- </layout>
- </widget>
- <widget class="QMenuBar" name="menuBar">
- <property name="geometry">
- <rect>
- <x>0</x>
- <y>0</y>
- <width>1500</width>
- <height>25</height>
- </rect>
- </property>
- </widget>
- <widget class="QToolBar" name="mainToolBar">
- <attribute name="toolBarArea">
- <enum>TopToolBarArea</enum>
- </attribute>
- <attribute name="toolBarBreak">
- <bool>false</bool>
- </attribute>
- </widget>
- <widget class="QStatusBar" name="statusBar"/>
- </widget>
- <layoutdefault spacing="6" margin="11"/>
- <resources/>
- <connections/>
-</ui>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/main.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/main.cpp
deleted file mode 100644
index 27bdde98..00000000
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/main.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
-//
-// 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:
-// Main program of the Student's GUI
-//
-// ----------------------------------------------------------------------------------
-
-
-#include "MainWindow.h"
-#include <QApplication>
-
-int main(int argc, char *argv[])
-{
- QApplication a(argc, argv);
- MainWindow w(argc, argv);
- w.show();
- return a.exec();
-}
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/rosNodeThread_for_studentGUI.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/rosNodeThread_for_studentGUI.cpp
deleted file mode 100644
index ed87c889..00000000
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/src/rosNodeThread_for_studentGUI.cpp
+++ /dev/null
@@ -1,114 +0,0 @@
-// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
-//
-// 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:
-// Takes care of creating a ros node thread.
-//
-// ----------------------------------------------------------------------------------
-
-
-#include "rosNodeThread_for_studentGUI.h"
-
-#include "dfall_pkg/CMRead.h"
-#include "dfall_pkg/CMUpdate.h"
-#include "dfall_pkg/CMCommand.h"
-
-
-rosNodeThread::rosNodeThread(int argc, char** pArgv, const char * node_name, QObject* parent)
- : QObject(parent),
- m_Init_argc(argc),
- m_pInit_argv(pArgv),
- m_node_name(node_name)
-
-{
- /** Constructor for the node thread **/
-}
-
-rosNodeThread::~rosNodeThread()
-{
- if (ros::isStarted())
- {
- ros::shutdown();
- ros::waitForShutdown();
- } // end if
- m_pThread->wait();
-} // end destructor
-
-bool rosNodeThread::init()
-{
- m_pThread = new QThread();
- this->moveToThread(m_pThread); // QObject method
-
- connect(m_pThread, SIGNAL(started()), this, SLOT(run()));
- ros::init(m_Init_argc, m_pInit_argv, m_node_name); // student_GUI is the name of this node
-
- if (!ros::master::check())
- {
- ROS_ERROR("Master not found, please check teacher computer is running and try again");
- return false; // do not start without ros.
- }
-
- ros::start();
- ros::Time::init();
- ros::NodeHandle nh("~");
-
- m_vicon_subscriber = nh.subscribe("/ViconDataPublisher/ViconData", 100, &rosNodeThread::messageCallback, this);
-
- // clients for db services:
- m_read_db_client = nh.serviceClient<CMRead>("/CentralManagerService/Read", false);
- m_update_db_client = nh.serviceClient<CMUpdate>("/CentralManagerService/Update", false);
- m_command_db_client = nh.serviceClient<CMCommand>("/CentralManagerService/Command", false);
-
- m_pThread->start();
- return true;
-} // set up the thread
-
-void rosNodeThread::messageCallback(const ptrToMessage& p_msg) // When a message arrives to the topic, this callback is executed
-{
- emit newViconData(p_msg); //pass the message to other places
-}
-
-void rosNodeThread::run()
-{
- ros::Rate loop_rate(100);
- QMutex * pMutex;
- while (ros::ok())
- {
- pMutex = new QMutex();
-
- // geometry_msgs::Twist cmd_msg;
- pMutex->lock();
- // cmd_msg.linear.x = m_speed;
- // cmd_msg.angular.z = m_angle;
- pMutex->unlock();
- // ROS_INFO("RUNNING");
-
- // sim_velocity.publish(cmd_msg);
- ros::spinOnce();
- loop_rate.sleep();
- delete pMutex;
- } // do ros things.
-}
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/studentGUI.pro b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/studentGUI.pro
deleted file mode 100644
index 215f47e8..00000000
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/studentGUI.pro
+++ /dev/null
@@ -1,28 +0,0 @@
-#-------------------------------------------------
-#
-# Project created by QtCreator 2017-08-21T11:01:25
-#
-#-------------------------------------------------
-
-QT += core gui
-
-greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
-
-TARGET = studentGUI
-TEMPLATE = app
-
-INCLUDEPATH += $$PWD/include
-CONFIG += c++11
-
-SOURCES += \
- src/main.cpp \
- src/MainWindow.cpp
-
-HEADERS += \
- include/MainWindow.h \
-
-FORMS += \
- src/MainWindow.ui
-
-RESOURCES += \
- studentgui.qrc
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/studentgui.qrc b/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/studentgui.qrc
deleted file mode 100644
index 0f6e7d8e..00000000
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/studentGUI/studentgui.qrc
+++ /dev/null
@@ -1,19 +0,0 @@
-<RCC>
- <qresource prefix="/">
- <file>images/battery_20.png</file>
- <file>images/battery_40.png</file>
- <file>images/battery_60.png</file>
- <file>images/battery_80.png</file>
- <file>images/battery_empty.png</file>
- <file>images/battery_full.png</file>
- <file>images/rf_connected.png</file>
- <file>images/rf_connecting.png</file>
- <file>images/rf_disconnected.png</file>
- <file>images/battery_unknown.png</file>
- <file>images/flying_state_disabling.png</file>
- <file>images/flying_state_enabling.png</file>
- <file>images/flying_state_flying.png</file>
- <file>images/flying_state_off.png</file>
- <file>images/flying_state_unknown.png</file>
- </qresource>
-</RCC>
diff --git a/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp b/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp
index eadb4743..159faa7d 100755
--- a/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp
+++ b/dfall_ws/src/dfall_pkg/src/nodes/FlyingAgentClient.cpp
@@ -710,7 +710,8 @@ void loadPickerController()
void sendMessageUsingController(int controller)
{
- // send a message in topic for the studentGUI to read it
+ // Send a message on the topic for informing the Flying
+ // Agent GUI about this update
std_msgs::Int32 controller_used_msg;
controller_used_msg.data = controller;
controllerUsedPublisher.publish(controller_used_msg);
--
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