From a9d566fc6b79854ffbe331970c4692b2b88e9918 Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Fri, 29 Nov 2019 11:49:01 +0100
Subject: [PATCH] Added vertical banner to all GUI tabs indicating whether that
controller is active not. Tested in simulation (there is a small chance this
causes the GUI to occassionaly crash becuase of simultaneous setting of the
properties of the banners). Tested in Simulation. Also fixed small mistake in
the coordinator launch file
---
.../flyingAgentGUI/forms/controllertabs.ui | 666 +++++++++++++++++-
.../flyingAgentGUI/include/controllertabs.h | 11 +-
.../flyingAgentGUI/src/controllertabs.cpp | 122 +++-
.../src/dfall_pkg/launch/coordinator.launch | 2 +-
4 files changed, 779 insertions(+), 22 deletions(-)
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 23d3def2..155dff17 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 772a6807..09c828d1 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 617745e2..2c873aa4 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 b05e5b61..30fa23c4 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)">
--
GitLab