diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
index 23d3def2e703a7bafc5f0abbda6cad4dc97e6cca..155dff174d9d08a6ec80698a61ec2938546c47be 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
@@ -28,7 +28,7 @@
<item row="0" column="0">
<widget class="QTabWidget" name="controller_tabs_widget">
<property name="currentIndex">
- <number>2</number>
+ <number>6</number>
</property>
<property name="movable">
<bool>true</bool>
@@ -38,8 +38,104 @@
<string>Default</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_2">
+ <property name="leftMargin">
+ <number>3</number>
+ </property>
+ <property name="topMargin">
+ <number>3</number>
+ </property>
+ <property name="rightMargin">
+ <number>3</number>
+ </property>
+ <property name="bottomMargin">
+ <number>3</number>
+ </property>
+ <property name="spacing">
+ <number>5</number>
+ </property>
+ <item row="0" column="1">
+ <widget class="QScrollArea" name="scrollArea_default">
+ <property name="widgetResizable">
+ <bool>true</bool>
+ </property>
+ <widget class="DefaultControllerTab" name="default_controller_tab_widget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1638</width>
+ <height>595</height>
+ </rect>
+ </property>
+ </widget>
+ </widget>
+ </item>
<item row="0" column="0">
- <widget class="DefaultControllerTab" name="default_controller_tab_widget" native="true"/>
+ <widget class="QFrame" name="frame_isCurrentController_default">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>80</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:rgb(160,40,40);</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_11">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_isCurrentController_default">
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>O
+F
+F</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignHCenter|Qt::AlignTop</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
</item>
</layout>
</widget>
@@ -48,8 +144,104 @@
<string>Student</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_4">
+ <property name="leftMargin">
+ <number>3</number>
+ </property>
+ <property name="topMargin">
+ <number>3</number>
+ </property>
+ <property name="rightMargin">
+ <number>3</number>
+ </property>
+ <property name="bottomMargin">
+ <number>3</number>
+ </property>
+ <property name="spacing">
+ <number>5</number>
+ </property>
+ <item row="0" column="1">
+ <widget class="QScrollArea" name="scrollArea_student">
+ <property name="widgetResizable">
+ <bool>true</bool>
+ </property>
+ <widget class="StudentControllerTab" name="student_controller_tab_widget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1638</width>
+ <height>595</height>
+ </rect>
+ </property>
+ </widget>
+ </widget>
+ </item>
<item row="0" column="0">
- <widget class="StudentControllerTab" name="student_controller_tab_widget" native="true"/>
+ <widget class="QFrame" name="frame_isCurrentController_student">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>80</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:rgb(160,40,40);</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_12">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_isCurrentController_student">
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>O
+F
+F</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignHCenter|Qt::AlignTop</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
</item>
</layout>
</widget>
@@ -70,7 +262,101 @@
<property name="bottomMargin">
<number>3</number>
</property>
+ <property name="spacing">
+ <number>5</number>
+ </property>
<item row="0" column="0">
+ <widget class="QFrame" name="frame_isCurrentController_csone">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>80</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:rgb(160,40,40);</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_9">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_isCurrentController_csone">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>O
+F
+F</string>
+ </property>
+ <property name="scaledContents">
+ <bool>false</bool>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignHCenter|Qt::AlignTop</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ <property name="margin">
+ <number>0</number>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
+ <item row="0" column="1">
<widget class="QScrollArea" name="scrollArea_csone">
<property name="widgetResizable">
<bool>true</bool>
@@ -80,8 +366,8 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1723</width>
- <height>576</height>
+ <width>1638</width>
+ <height>595</height>
</rect>
</property>
</widget>
@@ -106,7 +392,10 @@
<property name="bottomMargin">
<number>3</number>
</property>
- <item row="0" column="0">
+ <property name="spacing">
+ <number>5</number>
+ </property>
+ <item row="0" column="1">
<widget class="QScrollArea" name="scrollArea_picker">
<property name="widgetResizable">
<bool>true</bool>
@@ -116,13 +405,80 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1723</width>
- <height>576</height>
+ <width>1638</width>
+ <height>595</height>
</rect>
</property>
</widget>
</widget>
</item>
+ <item row="0" column="0">
+ <widget class="QFrame" name="frame_isCurrentController_picker">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>80</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:rgb(160,40,40);</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_10">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_isCurrentController_picker">
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>O
+F
+F</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignHCenter|Qt::AlignTop</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ </item>
</layout>
</widget>
<widget class="QWidget" name="tuning_tab">
@@ -130,8 +486,104 @@
<string>Tuning</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_6">
+ <property name="leftMargin">
+ <number>3</number>
+ </property>
+ <property name="topMargin">
+ <number>3</number>
+ </property>
+ <property name="rightMargin">
+ <number>3</number>
+ </property>
+ <property name="bottomMargin">
+ <number>3</number>
+ </property>
+ <property name="spacing">
+ <number>5</number>
+ </property>
+ <item row="0" column="1">
+ <widget class="QScrollArea" name="scrollArea_tuning">
+ <property name="widgetResizable">
+ <bool>true</bool>
+ </property>
+ <widget class="TuningControllerTab" name="tuning_controller_tab_widget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1638</width>
+ <height>595</height>
+ </rect>
+ </property>
+ </widget>
+ </widget>
+ </item>
<item row="0" column="0">
- <widget class="TuningControllerTab" name="tuning_controller_tab_widget" native="true"/>
+ <widget class="QFrame" name="frame_isCurrentController_tuning">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>80</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:rgb(160,40,40);</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_13">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_isCurrentController_tuning">
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>O
+F
+F</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignHCenter|Qt::AlignTop</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
</item>
</layout>
</widget>
@@ -140,8 +592,104 @@
<string>Remote</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_3">
+ <property name="leftMargin">
+ <number>3</number>
+ </property>
+ <property name="topMargin">
+ <number>3</number>
+ </property>
+ <property name="rightMargin">
+ <number>3</number>
+ </property>
+ <property name="bottomMargin">
+ <number>3</number>
+ </property>
+ <property name="spacing">
+ <number>5</number>
+ </property>
+ <item row="0" column="1">
+ <widget class="QScrollArea" name="scrollArea_remote">
+ <property name="widgetResizable">
+ <bool>true</bool>
+ </property>
+ <widget class="RemoteControllerTab" name="remote_controller_tab_widget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1638</width>
+ <height>595</height>
+ </rect>
+ </property>
+ </widget>
+ </widget>
+ </item>
<item row="0" column="0">
- <widget class="RemoteControllerTab" name="remote_controller_tab_widget" native="true"/>
+ <widget class="QFrame" name="frame_isCurrentController_remote">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>80</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:rgb(160,40,40);</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_14">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_isCurrentController_remote">
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>O
+F
+F</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignHCenter|Qt::AlignTop</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
</item>
</layout>
</widget>
@@ -150,8 +698,104 @@
<string>Template</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_7">
+ <property name="leftMargin">
+ <number>3</number>
+ </property>
+ <property name="topMargin">
+ <number>3</number>
+ </property>
+ <property name="rightMargin">
+ <number>3</number>
+ </property>
+ <property name="bottomMargin">
+ <number>3</number>
+ </property>
+ <property name="spacing">
+ <number>5</number>
+ </property>
+ <item row="0" column="1">
+ <widget class="QScrollArea" name="scrollArea_template">
+ <property name="widgetResizable">
+ <bool>true</bool>
+ </property>
+ <widget class="TemplateControllerTab" name="template_controller_tab_widget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1638</width>
+ <height>595</height>
+ </rect>
+ </property>
+ </widget>
+ </widget>
+ </item>
<item row="0" column="0">
- <widget class="TemplateControllerTab" name="template_controller_tab_widget" native="true"/>
+ <widget class="QFrame" name="frame_isCurrentController_template">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>80</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>80</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:rgb(160,40,40);</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_15">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="topMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <property name="bottomMargin">
+ <number>0</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_isCurrentController_template">
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>O
+F
+F</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignHCenter|Qt::AlignTop</set>
+ </property>
+ <property name="wordWrap">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
</item>
</layout>
</widget>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllertabs.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllertabs.h
index 772a6807c6704ded815094573b0a8c6720ddb714..09c828d17c9d0eb75f98c8411fa3f2065505fc24 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllertabs.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllertabs.h
@@ -142,6 +142,9 @@ private:
QColor m_tab_text_colour_normal;
QColor m_tab_text_colour_highlight;
+ // Mutex for the highlighting of the active controller
+ QMutex m_change_highlighted_controller_mutex;
+
// Sound effect for when the controller changes while flying
//QSoundEffect m_soundEffect_controllerChanged;
@@ -183,9 +186,15 @@ private:
void setControllerEnabled(int new_controller);
+ void setTextColourOfTabLabel(QColor color , QWidget * tab_widget);
+
void setAllTabLabelsToNormalColouring();
- void setTextColourOfTabLabel(QColor color , QWidget * tab_widget);
+ void setAllFramesToControllerIsOffColouring();
+
+ void setAllFramesToControllerCoordinatorColouring();
+
+
};
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
index 617745e2fd431cbefe88d166f5d35fc2932f99f0..2c873aa4ca2e562ad92977010e2a16fe59c2b64c 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
@@ -46,7 +46,10 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
// Specify the color for normal and highlighted tabs
m_tab_text_colour_normal = Qt::black;
- m_tab_text_colour_highlight = QColor(0,200,0);
+ m_tab_text_colour_highlight = QColor(40,120,40);
+
+ // Set all the frame to be the inactive colouring
+ setAllFramesToControllerIsOffColouring();
// Initialise the sound effect for when the controller changes while flying
//QSoundEffect m_soundEffect_controllerChanged;
@@ -437,8 +440,16 @@ void ControllerTabs::controllerUsedChangedCallback(const std_msgs::Int32& msg)
void ControllerTabs::setControllerEnabled(int new_controller)
{
+ // Define the on string and style sheet setting locally
+ const static QString style_sheet_string_for_on = "background-color:rgb(40,120,40);";
+ const static QString text_for_controller_isOn = "A\nC\nT\nI\nV\nE";
+
// First set everything back to normal colouring
setAllTabLabelsToNormalColouring();
+ setAllFramesToControllerIsOffColouring();
+
+ // Lock the mutex
+ m_change_highlighted_controller_mutex.lock();
// Now switch to highlight the tab corresponding to
// the enable controller
@@ -447,6 +458,8 @@ void ControllerTabs::setControllerEnabled(int new_controller)
case DEFAULT_CONTROLLER:
{
setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->default_tab );
+ ui->frame_isCurrentController_default->setStyleSheet(style_sheet_string_for_on);
+ ui->label_isCurrentController_default->setText(text_for_controller_isOn);
break;
}
case DEMO_CONTROLLER:
@@ -457,6 +470,8 @@ void ControllerTabs::setControllerEnabled(int new_controller)
case STUDENT_CONTROLLER:
{
setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->student_tab );
+ ui->frame_isCurrentController_student->setStyleSheet(style_sheet_string_for_on);
+ ui->label_isCurrentController_student->setText(text_for_controller_isOn);
break;
}
case MPC_CONTROLLER:
@@ -467,26 +482,36 @@ void ControllerTabs::setControllerEnabled(int new_controller)
case REMOTE_CONTROLLER:
{
setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->remote_tab );
+ ui->frame_isCurrentController_remote->setStyleSheet(style_sheet_string_for_on);
+ ui->label_isCurrentController_remote->setText(text_for_controller_isOn);
break;
}
case TUNING_CONTROLLER:
{
setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->tuning_tab );
+ ui->frame_isCurrentController_tuning->setStyleSheet(style_sheet_string_for_on);
+ ui->label_isCurrentController_tuning->setText(text_for_controller_isOn);
break;
}
case PICKER_CONTROLLER:
{
setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->picker_tab );
+ ui->frame_isCurrentController_picker->setStyleSheet(style_sheet_string_for_on);
+ ui->label_isCurrentController_picker->setText(text_for_controller_isOn);
break;
}
case TEMPLATE_CONTROLLER:
{
setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->template_tab );
+ ui->frame_isCurrentController_template->setStyleSheet(style_sheet_string_for_on);
+ ui->label_isCurrentController_template->setText(text_for_controller_isOn);
break;
}
case CSONE_CONTROLLER:
{
setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->csone_tab );
+ ui->frame_isCurrentController_csone->setStyleSheet(style_sheet_string_for_on);
+ ui->label_isCurrentController_csone->setText(text_for_controller_isOn);
break;
}
default:
@@ -495,11 +520,30 @@ void ControllerTabs::setControllerEnabled(int new_controller)
break;
}
}
+
+ // Unlock the mutex
+ m_change_highlighted_controller_mutex.unlock();
+}
+
+
+void ControllerTabs::setTextColourOfTabLabel(QColor color , QWidget * tab_widget)
+{
+ // Get the current index of the tab
+ int current_index_of_tab = ui->controller_tabs_widget->indexOf(tab_widget);
+ // Only apply the colour if the tab is found
+ if (current_index_of_tab >= 0)
+ {
+ ui->controller_tabs_widget->tabBar()->setTabTextColor(current_index_of_tab, color);
+ }
}
void ControllerTabs::setAllTabLabelsToNormalColouring()
{
+ // Lock the mutex
+ m_change_highlighted_controller_mutex.lock();
+
+ // Set all the colours to normal
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->default_tab );
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->student_tab );
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->picker_tab );
@@ -507,21 +551,79 @@ void ControllerTabs::setAllTabLabelsToNormalColouring()
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->remote_tab );
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->template_tab );
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->csone_tab );
+
+ // Unlock the mutex
+ m_change_highlighted_controller_mutex.unlock();
}
-void ControllerTabs::setTextColourOfTabLabel(QColor color , QWidget * tab_widget)
+void ControllerTabs::setAllFramesToControllerIsOffColouring()
{
- // Get the current index of the tab
- int current_index_of_tab = ui->controller_tabs_widget->indexOf(tab_widget);
- // Only apply the colour if the tab is found
- if (current_index_of_tab >= 0)
- {
- ui->controller_tabs_widget->tabBar()->setTabTextColor(current_index_of_tab, color);
- }
+ // Define the off string and style sheet setting locally
+ const static QString text_for_controller_isOff = "O\nF\nF";
+ const static QString style_sheet_string_for_off = "background-color:rgb(160,40,40);";
+
+ // Lock the mutex
+ m_change_highlighted_controller_mutex.lock();
+
+ // Set all the frames to the off colour
+ ui->frame_isCurrentController_default ->setStyleSheet(style_sheet_string_for_off);
+ ui->frame_isCurrentController_student ->setStyleSheet(style_sheet_string_for_off);
+ ui->frame_isCurrentController_picker ->setStyleSheet(style_sheet_string_for_off);
+ ui->frame_isCurrentController_tuning ->setStyleSheet(style_sheet_string_for_off);
+ ui->frame_isCurrentController_remote ->setStyleSheet(style_sheet_string_for_off);
+ ui->frame_isCurrentController_template->setStyleSheet(style_sheet_string_for_off);
+ ui->frame_isCurrentController_csone ->setStyleSheet(style_sheet_string_for_off);
+
+
+ // Set all the texts to the off string
+ ui->label_isCurrentController_default ->setText(text_for_controller_isOff);
+ ui->label_isCurrentController_student ->setText(text_for_controller_isOff);
+ ui->label_isCurrentController_picker ->setText(text_for_controller_isOff);
+ ui->label_isCurrentController_tuning ->setText(text_for_controller_isOff);
+ ui->label_isCurrentController_remote ->setText(text_for_controller_isOff);
+ ui->label_isCurrentController_template->setText(text_for_controller_isOff);
+ ui->label_isCurrentController_csone ->setText(text_for_controller_isOff);
+
+ // Unlock the mutex
+ m_change_highlighted_controller_mutex.unlock();
+}
+
+void ControllerTabs::setAllFramesToControllerCoordinatorColouring()
+{
+ // Define the off string locally
+ const static QString text_for_coordinatorMode = "C\nO\nO\nR\nD";
+ const static QString style_sheet_string_for_coordinatorMode = "background-color:rgb(150,150,150);";
+
+ // Lock the mutex
+ m_change_highlighted_controller_mutex.lock();
+
+ // Set all the frames to the off colour
+ ui->frame_isCurrentController_default ->setStyleSheet(style_sheet_string_for_coordinatorMode);
+ ui->frame_isCurrentController_student ->setStyleSheet(style_sheet_string_for_coordinatorMode);
+ ui->frame_isCurrentController_picker ->setStyleSheet(style_sheet_string_for_coordinatorMode);
+ ui->frame_isCurrentController_tuning ->setStyleSheet(style_sheet_string_for_coordinatorMode);
+ ui->frame_isCurrentController_remote ->setStyleSheet(style_sheet_string_for_coordinatorMode);
+ ui->frame_isCurrentController_template->setStyleSheet(style_sheet_string_for_coordinatorMode);
+ ui->frame_isCurrentController_csone ->setStyleSheet(style_sheet_string_for_coordinatorMode);
+
+
+ // Set all the texts to the off string
+ ui->label_isCurrentController_default ->setText(text_for_coordinatorMode);
+ ui->label_isCurrentController_student ->setText(text_for_coordinatorMode);
+ ui->label_isCurrentController_picker ->setText(text_for_coordinatorMode);
+ ui->label_isCurrentController_tuning ->setText(text_for_coordinatorMode);
+ ui->label_isCurrentController_remote ->setText(text_for_coordinatorMode);
+ ui->label_isCurrentController_template->setText(text_for_coordinatorMode);
+ ui->label_isCurrentController_csone ->setText(text_for_coordinatorMode);
+
+ // Unlock the mutex
+ m_change_highlighted_controller_mutex.unlock();
}
+
+
// ----------------------------------------------------------------------------------
// A GGGG EEEEE N N TTTTT III DDDD SSSS
// A A G E NN N T I D D S
@@ -592,6 +694,8 @@ void ControllerTabs::setAgentIDsToCoordinate(QVector<int> agentIDs , bool should
// Set all tabs to be normal colours
setAllTabLabelsToNormalColouring();
+ // Set all current controller frames to be in "coordinator mode"
+ setAllFramesToControllerCoordinatorColouring();
}
#endif
diff --git a/dfall_ws/src/dfall_pkg/launch/coordinator.launch b/dfall_ws/src/dfall_pkg/launch/coordinator.launch
index b05e5b610ac22d23d1598a4417e7bf049cb1292f..30fa23c456f006a6916aa9c44aef51d7144dd5e9 100755
--- a/dfall_ws/src/dfall_pkg/launch/coordinator.launch
+++ b/dfall_ws/src/dfall_pkg/launch/coordinator.launch
@@ -12,7 +12,7 @@
<!-- Example of how to specify the coordID from command line -->
<!-- roslaunch dfall_pkg coordID:=001 -->
- <group ns="$(eval 'agent' + str(coordID).zfill(3))">
+ <group ns="$(eval 'coord' + str(coordID).zfill(3))">
<!-- COORDINATOR GUI -->
<group if="$(arg withGUI)">