diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
index 69b605354323c0c3aed13772053086e1c19a98be..529942c8ac112c59a1de472de706e7ef463a0986 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
@@ -28,7 +28,9 @@ SOURCES += src/main.cpp\
src/studentcontrollertab.cpp \
src/defaultcontrollertab.cpp \
src/pickercontrollertab.cpp \
- src/tuningcontrollertab.cpp
+ src/templatecontrollertab.cpp \
+ src/tuningcontrollertab.cpp \
+
HEADERS += include/mainwindow.h \
include/topbanner.h \
@@ -41,8 +43,10 @@ HEADERS += include/mainwindow.h \
include/studentcontrollertab.h \
include/defaultcontrollertab.h \
include/pickercontrollertab.h \
+ include/templatecontrollertab.h \
include/tuningcontrollertab.h \
- include/Constants_for_Qt_compile.h
+ include/Constants_for_Qt_compile.h \
+
FORMS += forms/mainwindow.ui \
@@ -56,7 +60,9 @@ FORMS += forms/mainwindow.ui \
forms/studentcontrollertab.ui \
forms/defaultcontrollertab.ui \
forms/pickercontrollertab.ui \
- forms/tuningcontrollertab.ui
+ forms/templatecontrollertab.ui \
+ forms/tuningcontrollertab.ui \
+
RESOURCES += \
flyingagentgui.qrc
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 75157907ea4645a83050ec0241e4a760d168dee8..471a55f3a30fb3afa2075720f8a66d6dfaf53a66 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>3</number>
+ <number>4</number>
</property>
<property name="movable">
<bool>true</bool>
@@ -73,13 +73,13 @@
</item>
</layout>
</widget>
- <widget class="QWidget" name="safe_tab">
+ <widget class="QWidget" name="template_tab">
<attribute name="title">
- <string>Safe</string>
+ <string>Template</string>
</attribute>
- <layout class="QGridLayout" name="gridLayout_3">
+ <layout class="QGridLayout" name="gridLayout_7">
<item row="0" column="0">
- <widget class="SafeControllerTab" name="safe_controller_tab_widget" native="true"/>
+ <widget class="TemplateControllerTab" name="template_controller_tab_widget" native="true"/>
</item>
</layout>
</widget>
@@ -88,12 +88,6 @@
</layout>
</widget>
<customwidgets>
- <customwidget>
- <class>SafeControllerTab</class>
- <extends>QWidget</extends>
- <header>safecontrollertab.h</header>
- <container>1</container>
- </customwidget>
<customwidget>
<class>StudentControllerTab</class>
<extends>QWidget</extends>
@@ -118,6 +112,12 @@
<header>tuningcontrollertab.h</header>
<container>1</container>
</customwidget>
+ <customwidget>
+ <class>TemplateControllerTab</class>
+ <extends>QWidget</extends>
+ <header>templatecontrollertab.h</header>
+ <container>1</container>
+ </customwidget>
</customwidgets>
<resources/>
<connections/>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
index b11f354ff419afaed713d41f3c2ca50627b451e1..c358d8befac4a77bff9b211af6cdb3eb9d2fd32c 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
@@ -109,7 +109,7 @@
</spacer>
</item>
<item row="0" column="5">
- <widget class="QPushButton" name="enable_safe_button">
+ <widget class="QPushButton" name="enable_template_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -135,7 +135,7 @@
</font>
</property>
<property name="text">
- <string>Safe</string>
+ <string>Template</string>
</property>
</widget>
</item>
@@ -255,7 +255,7 @@
</widget>
</item>
<item row="1" column="5">
- <widget class="QPushButton" name="load_yaml_safe_button">
+ <widget class="QPushButton" name="load_yaml_template_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -275,7 +275,7 @@
</size>
</property>
<property name="text">
- <string>Safe</string>
+ <string>Template</string>
</property>
</widget>
</item>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui
index 2a7f180b21fb15a87ae9950dc0e0359f5e3c35cf..bd79177a79d05cb8d14f5976d1ea5ab25cf9cd40 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui
@@ -214,7 +214,7 @@
<addaction name="action_showHideController_student"/>
<addaction name="action_showHideController_picker"/>
<addaction name="action_showHideController_tuning"/>
- <addaction name="action_showHideController_safe"/>
+ <addaction name="action_showHideController_template"/>
</widget>
<addaction name="menuFile"/>
<addaction name="menuLoad_YAML"/>
@@ -302,6 +302,17 @@
<string>Tuning</string>
</property>
</action>
+ <action name="action_showHideController_template">
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ <property name="checked">
+ <bool>true</bool>
+ </property>
+ <property name="text">
+ <string>Template</string>
+ </property>
+ </action>
</widget>
<layoutdefault spacing="6" margin="11"/>
<customwidgets>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/templatecontrollertab.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/templatecontrollertab.ui
new file mode 100644
index 0000000000000000000000000000000000000000..fd7da271ecfde4eaa3e4e7a9a6d977288348aca2
--- /dev/null
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/templatecontrollertab.ui
@@ -0,0 +1,872 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>TemplateControllerTab</class>
+ <widget class="QWidget" name="TemplateControllerTab">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1335</width>
+ <height>937</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ </font>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="2" column="0">
+ <spacer name="verticalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Fixed</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="4" 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="0">
+ <layout class="QGridLayout" name="gridLayout_3">
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item row="0" column="3">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="0" column="1">
+ <widget class="QPushButton" name="pushButton_2">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Button 2</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QPushButton" name="pushButton_3">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Button 3</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QPushButton" name="pushButton">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Button 1</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_9">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="1" column="1">
+ <layout class="QHBoxLayout" name="horizontalLayout_3">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_8">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="1" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_4">
+ <property name="leftMargin">
+ <number>0</number>
+ </property>
+ <property name="rightMargin">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QLineEdit" name="lineEdit_7">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ <item row="1" column="0">
+ <widget class="Line" name="line">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="3" column="3">
+ <widget class="QLineEdit" name="lineEdit_15">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="3">
+ <widget class="QLabel" name="label_12">
+ <property name="text">
+ <string>Setpoint</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="2">
+ <widget class="QLineEdit" name="lineEdit_13">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLabel" name="label_row_x">
+ <property name="text">
+ <string>x [m]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="3">
+ <widget class="QLabel" name="label_11">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>New</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="4">
+ <spacer name="horizontalSpacer_2">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="3" column="2">
+ <widget class="QLineEdit" name="lineEdit_11">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="0">
+ <widget class="QLabel" name="label_measured_title">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Measured</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="3">
+ <widget class="QLineEdit" name="lineEdit_16">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="2">
+ <widget class="QLineEdit" name="lineEdit_12">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLabel" name="label_row_y">
+ <property name="text">
+ <string>y [m]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_5">
+ <property name="spacing">
+ <number>0</number>
+ </property>
+ <item>
+ <widget class="QFrame" name="red_frame_position_left">
+ <property name="maximumSize">
+ <size>
+ <width>10</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:red;</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="label_measured_title_line2">
+ <property name="text">
+ <string>Position</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QFrame" name="red_frame_position_right">
+ <property name="maximumSize">
+ <size>
+ <width>10</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">background-color:red;</string>
+ </property>
+ <property name="frameShape">
+ <enum>QFrame::StyledPanel</enum>
+ </property>
+ <property name="frameShadow">
+ <enum>QFrame::Raised</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="4" column="1">
+ <widget class="QLabel" name="label_row_z">
+ <property name="text">
+ <string>z [m]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="2">
+ <widget class="QLineEdit" name="lineEdit_10">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="3">
+ <widget class="QLineEdit" name="lineEdit_17">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QLabel" name="label_row_yaw">
+ <property name="text">
+ <string>yaw [deg]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="3">
+ <widget class="QPushButton" name="pushButton_5">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Set New</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_9">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Current</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="QLabel" name="label_row_pitch">
+ <property name="text">
+ <string>pitch [deg]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="3">
+ <widget class="QLineEdit" name="lineEdit_14">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLabel" name="label_10">
+ <property name="text">
+ <string>Setpoint</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="2">
+ <widget class="QPushButton" name="pushButton_4">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Default</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="1">
+ <widget class="QLabel" name="label_row_roll">
+ <property name="text">
+ <string>roll [deg]</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_7">
+ <item>
+ <widget class="QLineEdit" name="lineEdit_measured_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="3" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_8">
+ <item>
+ <widget class="QLineEdit" name="lineEdit_measured_y">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="4" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_9">
+ <item>
+ <widget class="QLineEdit" name="lineEdit_measured_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="5" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_10">
+ <item>
+ <widget class="QLineEdit" name="lineEdit_measured_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="6" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_11">
+ <item>
+ <widget class="QLineEdit" name="lineEdit_measured_pitch">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ <item row="7" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_12">
+ <item>
+ <widget class="QLineEdit" name="lineEdit_measured_roll">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ </font>
+ </property>
+ <property name="text">
+ <string>xx.xx</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h
index b361da05638f8715502151fdce96166c4ea49128..716a287fcc81430b331cea1d81c4b1f750f748a9 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h
@@ -114,6 +114,7 @@
#define REMOTE_CONTROLLER 5
#define TUNING_CONTROLLER 6
#define PICKER_CONTROLLER 7
+#define TEMPLATE_CONTROLLER 8
// The constants that "command" changes in the
// operation state of this agent
@@ -124,6 +125,7 @@
#define CMD_USE_REMOTE_CONTROLLER 5
#define CMD_USE_TUNING_CONTROLLER 6
#define CMD_USE_PICKER_CONTROLLER 7
+#define CMD_USE_TEMPLATE_CONTROLLER 8
#define CMD_CRAZYFLY_TAKE_OFF 11
@@ -252,6 +254,7 @@
#define LOAD_YAML_REMOTE_CONTROLLER_AGENT 5
#define LOAD_YAML_TUNING_CONTROLLER_AGENT 6
#define LOAD_YAML_PICKER_CONTROLLER_AGENT 7
+#define LOAD_YAML_TEMPLATE_CONTROLLER_AGENT 8
#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR 11
#define LOAD_YAML_DEMO_CONTROLLER_COORDINATOR 12
@@ -260,6 +263,7 @@
#define LOAD_YAML_REMOTE_CONTROLLER_COORDINATOR 15
#define LOAD_YAML_TUNING_CONTROLLER_COORDINATOR 16
#define LOAD_YAML_PICKER_CONTROLLER_COORDINATOR 17
+#define LOAD_YAML_TEMPLATE_CONTROLLER_COORDINATOR 18
// For sending commands to the controller node informing
@@ -276,6 +280,7 @@
#define FETCH_YAML_REMOTE_CONTROLLER_FROM_OWN_AGENT 5
#define FETCH_YAML_TUNING_CONTROLLER_FROM_OWN_AGENT 6
#define FETCH_YAML_PICKER_CONTROLLER_FROM_OWN_AGENT 7
+#define FETCH_YAML_TEMPLATE_CONTROLLER_FROM_OWN_AGENT 8
#define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR 11
#define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR 12
@@ -283,4 +288,4 @@
#define FETCH_YAML_MPC_CONTROLLER_FROM_COORDINATOR 14
#define FETCH_YAML_REMOTE_CONTROLLER_FROM_COORDINATOR 15
#define FETCH_YAML_TUNING_CONTROLLER_FROM_COORDINATOR 16
-#define FETCH_YAML_PICKER_CONTROLLER_FROM_COORDINATOR 17
\ No newline at end of file
+#define FETCH_YAML_TEMPLATE_CONTROLLER_FROM_COORDINATOR 18
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 609a68823b2f444ee5b62a07000e7a83b57b2a81..51c29e93f4ed255c09eb32e47d325e02b8a067fa 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
@@ -90,7 +90,7 @@ public:
void showHideController_student_changed();
void showHideController_picker_changed();
void showHideController_tuning_changed();
- void showHideController_safe_changed();
+ void showHideController_template_changed();
public slots:
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
index babe4cba0ae49a2d0539efb161c5571b06319d22..6699aa3bfc41e1e3f414912e1cc4f45bcf5649f3 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
@@ -102,7 +102,7 @@ public:
void showHideController_student_changed();
void showHideController_picker_changed();
void showHideController_tuning_changed();
- void showHideController_safe_changed();
+ void showHideController_template_changed();
public slots:
@@ -112,18 +112,19 @@ public slots:
private slots:
// ENABLE CONTROLLER BUTTONS ON-CLICK CALLBACK
- void on_enable_safe_button_clicked();
- void on_enable_tuning_button_clicked();
- void on_enable_picker_button_clicked();
- void on_enable_student_button_clicked();
void on_enable_default_button_clicked();
+ void on_enable_student_button_clicked();
+ void on_enable_picker_button_clicked();
+ void on_enable_tuning_button_clicked();
+ void on_enable_template_button_clicked();
// LOAD YAML BUTTONS ON-CLICK CALLBACK
- void on_load_yaml_safe_button_clicked();
- void on_load_yaml_tuning_button_clicked();
- void on_load_yaml_picker_button_clicked();
- void on_load_yaml_student_button_clicked();
void on_load_yaml_default_button_clicked();
+ void on_load_yaml_student_button_clicked();
+ void on_load_yaml_picker_button_clicked();
+ void on_load_yaml_tuning_button_clicked();
+ void on_load_yaml_template_button_clicked();
+
private:
Ui::EnableControllerLoadYamlBar *ui;
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/mainwindow.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/mainwindow.h
index e1c67caf6ba3b8076c6ec8f68c601ee43cbe19dc..2cfdc26874205d9e8c51fa7c46bf24568d0b0446 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/mainwindow.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/mainwindow.h
@@ -131,7 +131,7 @@ private slots:
void on_action_showHideController_student_changed();
void on_action_showHideController_picker_changed();
void on_action_showHideController_tuning_changed();
- void on_action_showHideController_safe_changed();
+ void on_action_showHideController_template_changed();
};
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/templatecontrollertab.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/templatecontrollertab.h
new file mode 100644
index 0000000000000000000000000000000000000000..dd781546ca9b2c43cb589061a4d811e914fe6218
--- /dev/null
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/templatecontrollertab.h
@@ -0,0 +1,22 @@
+#ifndef TEMPLATECONTROLLERTAB_H
+#define TEMPLATECONTROLLERTAB_H
+
+#include <QWidget>
+
+namespace Ui {
+class TemplateControllerTab;
+}
+
+class TemplateControllerTab : public QWidget
+{
+ Q_OBJECT
+
+public:
+ explicit TemplateControllerTab(QWidget *parent = 0);
+ ~TemplateControllerTab();
+
+private:
+ Ui::TemplateControllerTab *ui;
+};
+
+#endif // TEMPLATECONTROLLERTAB_H
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 39a23530c20a330a7eb9115456716404e07320f9..d3cae357ebbc4e89202babe203e2a437a7f567f2 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
@@ -232,9 +232,9 @@ void ControllerTabs::showHideController_tuning_changed()
showHideController_toggle("Tuning",ui->tuning_tab);
}
-void ControllerTabs::showHideController_safe_changed()
+void ControllerTabs::showHideController_template_changed()
{
- showHideController_toggle("Safe",ui->safe_tab);
+ showHideController_toggle("Template",ui->template_tab);
}
@@ -384,9 +384,14 @@ void ControllerTabs::setControllerEnabled(int new_controller)
{
case SAFE_CONTROLLER:
{
- //ui->controller_enabled_label->setText("Safe");
+ setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->default_tab );
break;
}
+// case DEFAULT_CONTROLLER:
+// {
+// setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->default_tab );
+// break;
+// }
case DEMO_CONTROLLER:
{
//ui->controller_enabled_label->setText("Demo");
@@ -417,6 +422,11 @@ void ControllerTabs::setControllerEnabled(int new_controller)
setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->picker_tab );
break;
}
+ case TEMPLATE_CONTROLLER:
+ {
+ setTextColourOfTabLabel( m_tab_text_colour_highlight , ui->template_tab );
+ break;
+ }
default:
{
//ui->controller_enabled_label->setText("Unknown");
@@ -432,7 +442,7 @@ void ControllerTabs::setAllTabLabelsToNormalColouring()
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->student_tab );
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->picker_tab );
setTextColourOfTabLabel( m_tab_text_colour_normal , ui->tuning_tab );
- setTextColourOfTabLabel( m_tab_text_colour_normal , ui->safe_tab );
+ setTextColourOfTabLabel( m_tab_text_colour_normal , ui->template_tab );
}
void ControllerTabs::setTextColourOfTabLabel(QColor color , QWidget * tab_widget)
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
index 14396c7098c10114c3a45cdc833ef4605d0450a9..3046875521ef6ae5351891b910063a2c27086acd 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
@@ -108,20 +108,19 @@ void EnableControllerLoadYamlBar::showHideController_tuning_changed()
ui->load_yaml_tuning_button->setHidden( !(ui->load_yaml_tuning_button->isHidden()) );
}
-void EnableControllerLoadYamlBar::showHideController_safe_changed()
+void EnableControllerLoadYamlBar::showHideController_template_changed()
{
- ui->enable_safe_button ->setHidden( !(ui->enable_safe_button->isHidden()) );
- ui->load_yaml_safe_button->setHidden( !(ui->load_yaml_safe_button->isHidden()) );
+ ui->enable_template_button ->setHidden( !(ui->enable_template_button->isHidden()) );
+ ui->load_yaml_template_button->setHidden( !(ui->load_yaml_template_button->isHidden()) );
}
-
// ENABLE CONTROLLER BUTTONS ON-CLICK CALLBACK
-void EnableControllerLoadYamlBar::on_enable_safe_button_clicked()
+void EnableControllerLoadYamlBar::on_enable_default_button_clicked()
{
#ifdef CATKIN_MAKE
dfall_pkg::IntWithHeader msg;
@@ -132,14 +131,14 @@ void EnableControllerLoadYamlBar::on_enable_safe_button_clicked()
#endif
}
-void EnableControllerLoadYamlBar::on_enable_tuning_button_clicked()
+void EnableControllerLoadYamlBar::on_enable_student_button_clicked()
{
#ifdef CATKIN_MAKE
dfall_pkg::IntWithHeader msg;
fillIntMessageHeader(msg);
- msg.data = CMD_USE_TUNING_CONTROLLER;
+ msg.data = CMD_USE_STUDENT_CONTROLLER;
this->commandPublisher.publish(msg);
- ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Tuning Controller");
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Student Controller");
#endif
}
@@ -154,39 +153,53 @@ void EnableControllerLoadYamlBar::on_enable_picker_button_clicked()
#endif
}
-void EnableControllerLoadYamlBar::on_enable_student_button_clicked()
+void EnableControllerLoadYamlBar::on_enable_tuning_button_clicked()
{
#ifdef CATKIN_MAKE
dfall_pkg::IntWithHeader msg;
fillIntMessageHeader(msg);
- msg.data = CMD_USE_STUDENT_CONTROLLER;
+ msg.data = CMD_USE_TUNING_CONTROLLER;
this->commandPublisher.publish(msg);
- ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Student Controller");
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Tuning Controller");
#endif
}
-void EnableControllerLoadYamlBar::on_enable_default_button_clicked()
+void EnableControllerLoadYamlBar::on_enable_template_button_clicked()
{
#ifdef CATKIN_MAKE
dfall_pkg::IntWithHeader msg;
fillIntMessageHeader(msg);
- msg.data = CMD_USE_SAFE_CONTROLLER;
+ msg.data = CMD_USE_TEMPLATE_CONTROLLER;
this->commandPublisher.publish(msg);
- ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Safe Controller");
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Enable Template Controller");
#endif
}
+
+
+
+
+
// LOAD YAML BUTTONS ON-CLICK CALLBACK
-void EnableControllerLoadYamlBar::on_load_yaml_safe_button_clicked()
+void EnableControllerLoadYamlBar::on_load_yaml_default_button_clicked()
{
-#ifdef CATKIN_MAKE
-
+ #ifdef CATKIN_MAKE
+ // Create a local variable for the message
+ dfall_pkg::StringWithHeader yaml_filename_msg;
+ // Set for whom this applies to
+ fillStringMessageHeader(yaml_filename_msg);
+ // Specify the data
+ yaml_filename_msg.data = "DefaultController";
+ // Send the message
+ m_requestLoadYamlFilenamePublisher.publish(yaml_filename_msg);
+ // Inform the user that the menu item was selected
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Default Controller YAML was clicked.");
#endif
}
-void EnableControllerLoadYamlBar::on_load_yaml_tuning_button_clicked()
+void EnableControllerLoadYamlBar::on_load_yaml_student_button_clicked()
{
#ifdef CATKIN_MAKE
// Create a local variable for the message
@@ -194,11 +207,11 @@ void EnableControllerLoadYamlBar::on_load_yaml_tuning_button_clicked()
// Set for whom this applies to
fillStringMessageHeader(yaml_filename_msg);
// Specify the data
- yaml_filename_msg.data = "TuningController";
+ yaml_filename_msg.data = "StudentController";
// Send the message
m_requestLoadYamlFilenamePublisher.publish(yaml_filename_msg);
// Inform the user that the menu item was selected
- ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Tuning Controller YAML was clicked.");
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Student Controller YAML was clicked.");
#endif
}
@@ -218,7 +231,7 @@ void EnableControllerLoadYamlBar::on_load_yaml_picker_button_clicked()
#endif
}
-void EnableControllerLoadYamlBar::on_load_yaml_student_button_clicked()
+void EnableControllerLoadYamlBar::on_load_yaml_tuning_button_clicked()
{
#ifdef CATKIN_MAKE
// Create a local variable for the message
@@ -226,27 +239,27 @@ void EnableControllerLoadYamlBar::on_load_yaml_student_button_clicked()
// Set for whom this applies to
fillStringMessageHeader(yaml_filename_msg);
// Specify the data
- yaml_filename_msg.data = "StudentController";
+ yaml_filename_msg.data = "TuningController";
// Send the message
m_requestLoadYamlFilenamePublisher.publish(yaml_filename_msg);
// Inform the user that the menu item was selected
- ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Student Controller YAML was clicked.");
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Tuning Controller YAML was clicked.");
#endif
}
-void EnableControllerLoadYamlBar::on_load_yaml_default_button_clicked()
+void EnableControllerLoadYamlBar::on_load_yaml_template_button_clicked()
{
- #ifdef CATKIN_MAKE
+#ifdef CATKIN_MAKE
// Create a local variable for the message
dfall_pkg::StringWithHeader yaml_filename_msg;
// Set for whom this applies to
fillStringMessageHeader(yaml_filename_msg);
// Specify the data
- yaml_filename_msg.data = "DefaultController";
+ yaml_filename_msg.data = "TemplateController";
// Send the message
m_requestLoadYamlFilenamePublisher.publish(yaml_filename_msg);
// Inform the user that the menu item was selected
- ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Default Controller YAML was clicked.");
+ ROS_INFO("[ENABLE CONTROLLER LOAD YAML GUI BAR] Load Template Controller YAML was clicked.");
#endif
}
@@ -254,6 +267,7 @@ void EnableControllerLoadYamlBar::on_load_yaml_default_button_clicked()
+
// ----------------------------------------------------------------------------------
// A GGGG EEEEE N N TTTTT III DDDD SSSS
// A A G E NN N T I D D S
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
index 254a0907e11221a8dddde97fac20f2568009a016..239aa269a5e2794a8fc7daffe14aa0405ce65040 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
@@ -145,9 +145,8 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
ui->action_showHideController_picker->trigger();
// > For the tuning controller
ui->action_showHideController_tuning->trigger();
- // > For the safe controller
- ui->action_showHideController_safe->trigger();
-
+ // > For the template controller
+ ui->action_showHideController_template->trigger();
}
@@ -246,11 +245,11 @@ void MainWindow::on_action_showHideController_tuning_changed()
ui->customWidget_controller_tabs->showHideController_tuning_changed();
}
-void MainWindow::on_action_showHideController_safe_changed()
+void MainWindow::on_action_showHideController_template_changed()
{
// Notify the UI elements of this change
- ui->customWidget_enableControllerLoadYamlBar->showHideController_safe_changed();
- ui->customWidget_controller_tabs->showHideController_safe_changed();
+ ui->customWidget_enableControllerLoadYamlBar->showHideController_template_changed();
+ ui->customWidget_controller_tabs->showHideController_template_changed();
}
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f16cdf5d33562d75da924c1fb9ca6f181b7dceb8
--- /dev/null
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp
@@ -0,0 +1,14 @@
+#include "templatecontrollertab.h"
+#include "ui_templatecontrollertab.h"
+
+TemplateControllerTab::TemplateControllerTab(QWidget *parent) :
+ QWidget(parent),
+ ui(new Ui::TemplateControllerTab)
+{
+ ui->setupUi(this);
+}
+
+TemplateControllerTab::~TemplateControllerTab()
+{
+ delete ui;
+}
diff --git a/dfall_ws/src/dfall_pkg/include/nodes/Constants.h b/dfall_ws/src/dfall_pkg/include/nodes/Constants.h
index fd4d1d4fcf29c6b76782f79f803ec6f93bd7a988..71507435e23d2c1117e1cd90460ea14815821c42 100644
--- a/dfall_ws/src/dfall_pkg/include/nodes/Constants.h
+++ b/dfall_ws/src/dfall_pkg/include/nodes/Constants.h
@@ -127,6 +127,7 @@
#define REMOTE_CONTROLLER 5
#define TUNING_CONTROLLER 6
#define PICKER_CONTROLLER 7
+#define TEMPLATE_CONTROLLER 8
// The constants that "command" changes in the
// operation state of this agent
@@ -137,6 +138,7 @@
#define CMD_USE_REMOTE_CONTROLLER 5
#define CMD_USE_TUNING_CONTROLLER 6
#define CMD_USE_PICKER_CONTROLLER 7
+#define CMD_USE_TEMPLATE_CONTROLLER 8
#define CMD_CRAZYFLY_TAKE_OFF 11
@@ -266,6 +268,7 @@
#define LOAD_YAML_REMOTE_CONTROLLER_AGENT 5
#define LOAD_YAML_TUNING_CONTROLLER_AGENT 6
#define LOAD_YAML_PICKER_CONTROLLER_AGENT 7
+#define LOAD_YAML_TEMPLATE_CONTROLLER_AGENT 7
#define LOAD_YAML_SAFE_CONTROLLER_COORDINATOR 11
#define LOAD_YAML_DEMO_CONTROLLER_COORDINATOR 12
@@ -274,6 +277,7 @@
#define LOAD_YAML_REMOTE_CONTROLLER_COORDINATOR 15
#define LOAD_YAML_TUNING_CONTROLLER_COORDINATOR 16
#define LOAD_YAML_PICKER_CONTROLLER_COORDINATOR 17
+#define LOAD_YAML_TEMPLATE_CONTROLLER_COORDINATOR 18
// For sending commands to the controller node informing
@@ -290,6 +294,7 @@
#define FETCH_YAML_REMOTE_CONTROLLER_FROM_OWN_AGENT 5
#define FETCH_YAML_TUNING_CONTROLLER_FROM_OWN_AGENT 6
#define FETCH_YAML_PICKER_CONTROLLER_FROM_OWN_AGENT 7
+#define FETCH_YAML_TEMPLATE_CONTROLLER_FROM_OWN_AGENT 8
#define FETCH_YAML_SAFE_CONTROLLER_FROM_COORDINATOR 11
#define FETCH_YAML_DEMO_CONTROLLER_FROM_COORDINATOR 12
@@ -297,4 +302,5 @@
#define FETCH_YAML_MPC_CONTROLLER_FROM_COORDINATOR 14
#define FETCH_YAML_REMOTE_CONTROLLER_FROM_COORDINATOR 15
#define FETCH_YAML_TUNING_CONTROLLER_FROM_COORDINATOR 16
-#define FETCH_YAML_PICKER_CONTROLLER_FROM_COORDINATOR 17
\ No newline at end of file
+#define FETCH_YAML_PICKER_CONTROLLER_FROM_COORDINATOR 17
+#define FETCH_YAML_TEMPLATE_CONTROLLER_FROM_COORDINATOR 18
\ No newline at end of file