diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
index 226e5c459e4bb415bf29e291e0ea82ba8632fb05..d1a886d82c0a0c62004b539d9898bc2b9483e62e 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/csonecontrollertab.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>1494</width>
- <height>536</height>
+ <height>597</height>
</rect>
</property>
<property name="font">
@@ -89,9 +89,9 @@
</widget>
</item>
<item>
- <widget class="QLabel" name="label_measured_title_line2">
+ <widget class="QLabel" name="label_time_series_time">
<property name="text">
- <string>Position</string>
+ <string>Time series for x-position in meters</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@@ -144,7 +144,7 @@
</widget>
</item>
<item row="6" column="0">
- <widget class="QPushButton" name="default_setpoint_button">
+ <widget class="QPushButton" name="set_controller_parameters_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -190,7 +190,7 @@
<number>0</number>
</property>
<item row="1" column="2">
- <widget class="QLineEdit" name="lineEdit_setpoint_new_z">
+ <widget class="QLineEdit" name="lineEdit_alpha">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -209,7 +209,7 @@
</font>
</property>
<property name="text">
- <string/>
+ <string>1.0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -217,7 +217,7 @@
</widget>
</item>
<item row="1" column="0">
- <widget class="QLineEdit" name="lineEdit_setpoint_new_x">
+ <widget class="QLineEdit" name="lineEdit_k">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -236,7 +236,7 @@
</font>
</property>
<property name="text">
- <string/>
+ <string>0.1</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -244,7 +244,7 @@
</widget>
</item>
<item row="1" column="1">
- <widget class="QLineEdit" name="lineEdit_setpoint_new_y">
+ <widget class="QLineEdit" name="lineEdit_T">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -263,7 +263,7 @@
</font>
</property>
<property name="text">
- <string/>
+ <string>1.0</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -271,7 +271,7 @@
</widget>
</item>
<item row="0" column="0">
- <widget class="QLabel" name="label_row_x">
+ <widget class="QLabel" name="label_k">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -287,7 +287,7 @@
</widget>
</item>
<item row="0" column="1">
- <widget class="QLabel" name="label_current_title_line2">
+ <widget class="QLabel" name="label_T">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -303,7 +303,7 @@
</widget>
</item>
<item row="0" column="2">
- <widget class="QLabel" name="label_new_title_line2_2">
+ <widget class="QLabel" name="label_alpha">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -335,7 +335,7 @@
<number>0</number>
</property>
<item row="0" column="0">
- <widget class="QLabel" name="label_new_title_line2">
+ <widget class="QLabel" name="label_step_size">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
@@ -351,7 +351,7 @@
</widget>
</item>
<item row="1" column="0">
- <widget class="QLineEdit" name="lineEdit_custom_1">
+ <widget class="QLineEdit" name="lineEdit_step_size">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -364,6 +364,12 @@
<height>60</height>
</size>
</property>
+ <property name="text">
+ <string>0.2</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
</widget>
</item>
</layout>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h
index 114d0b7b745ca33fd5d9fee0e333d29941eeafd8..28c6aca4deb1535c8c86488284ce7fa05378a6a8 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h
@@ -106,21 +106,15 @@ private slots:
void newDataForPerformingStepAndPlotting(float x);
void analyseStepResponse();
- void on_lineEdit_setpoint_new_x_returnPressed();
- void on_lineEdit_setpoint_new_y_returnPressed();
- void on_lineEdit_setpoint_new_z_returnPressed();
- void on_lineEdit_setpoint_new_yaw_returnPressed();
+ //void on_lineEdit_k_returnPressed();
+ //void on_lineEdit_T_returnPressed();
+ //void on_lineEdit_alpha_returnPressed();
+ //void on_lineEdit_step_size_returnPressed();
- void on_set_setpoint_button_clicked();
-
- void on_default_setpoint_button_clicked();
+ void on_set_controller_parameters_button_clicked();
void on_perform_step_button_clicked();
- void on_custom_button_2_clicked();
- void on_custom_button_3_clicked();
-
-
@@ -142,6 +136,12 @@ private:
bool m_shouldCoordinateAll = true;
QMutex m_agentIDs_toCoordinate_mutex;
+ // For the current setpoints
+ float m_current_setpoint_x = 0.0;
+ float m_current_setpoint_y = 0.0;
+ float m_current_setpoint_z = 0.4;
+ float m_current_setpoint_yaw = 0.0;
+
// FOR PLOTTING DATA ON THE CHART
// > Mutex for serialising acess to any charting variable
QMutex m_chart_mutex;
@@ -164,6 +164,9 @@ private:
// > For requesting the setpoint to be changed
ros::Publisher requestSetpointChangePublisher;
+ // > For requestion the controller paramters to be changed
+ ros::Publisher requestControllerParamterChangePublisher;
+
// SUBSCRIBER
// > For being notified when the setpoint is changed
ros::Subscriber setpointChangedSubscriber;
@@ -182,9 +185,6 @@ private:
// For receiving message that the setpoint was changed
void setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint);
- // Publish a message when a custom button is pressed
- void publish_custom_button_command(int button_index , QLineEdit * lineEdit_pointer);
-
// Fill the header for a message
void fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg );
void fillCustomButtonMessageHeader( dfall_pkg::CustomButtonWithHeader & msg );
@@ -195,6 +195,8 @@ private:
void publishSetpoint(float x, float y, float z, float yaw_degrees);
+ void publishControllerParamters(float k, float T, float alpha);
+
};
#endif // CSONECONTROLLERTAB_H
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
index 3be53160c55c8dde6c9d897f0703e99e228518c8..162a1b829c1c69577c6df17281cc9e201f4257b3 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/csonecontrollertab.cpp
@@ -115,6 +115,9 @@ CsoneControllerTab::CsoneControllerTab(QWidget *parent) :
// CREATE THE REQUEST SETPOINT CHANGE PUBLISHER
requestSetpointChangePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::SetpointWithHeader>("CsoneControllerService/RequestSetpointChange", 1);
+ // CREATE THE REQUEST CONTROLLER PARAMTER CHANGE PUBLISHER
+ requestControllerParamterChangePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::SetpointWithHeader>("CsoneControllerService/RequestControllerParametersChange", 1);
+
// SUBSCRIBE TO SETPOINT CHANGES
// Only if this is an agent GUI
if (m_type == TYPE_AGENT)
@@ -159,12 +162,6 @@ CsoneControllerTab::~CsoneControllerTab()
// ----------------------------------------------------------------------------------
-// CCCC U U SSSS TTTTT OOO M M
-// C U U S T O O MM MM
-// C U U SSS T O O M M M
-// C U U S T O O M M
-// CCCC UUU SSSS T OOO M M
-//
// BBBB U U TTTTT TTTTT OOO N N SSSS
// B B U U T T O O NN N S
// BBBB U U T T O O N N N SSS
@@ -173,30 +170,6 @@ CsoneControllerTab::~CsoneControllerTab()
// ----------------------------------------------------------------------------------
-#ifdef CATKIN_MAKE
-void CsoneControllerTab::publish_custom_button_command(int button_index , QLineEdit * lineEdit_pointer)
-{
- // Initialise the message as a local variable
- dfall_pkg::CustomButtonWithHeader msg;
- // Fill the header of the message
- fillCustomButtonMessageHeader( msg );
- // Fill in the button index
- msg.button_index = button_index;
- // Get the line edit data, as a float if possible
- bool isValidFloat = false;
- float lineEdit_as_float = (lineEdit_pointer->text()).toFloat(&isValidFloat);
- // Fill in the data
- if (isValidFloat)
- msg.float_data = lineEdit_as_float;
- else
- msg.string_data = (lineEdit_pointer->text()).toStdString();
- // Publish the setpoint
- this->customButtonPublisher.publish(msg);
- // Inform the user about the change
- ROS_INFO_STREAM("[CSONE CONTROLLER TAB GUI] button " << button_index << " clicked.");
-}
-#endif
-
void CsoneControllerTab::on_perform_step_button_clicked()
{
@@ -225,27 +198,133 @@ void CsoneControllerTab::on_perform_step_button_clicked()
#endif
}
-void CsoneControllerTab::on_custom_button_2_clicked()
+
+void CsoneControllerTab::on_set_controller_parameters_button_clicked()
{
- m_lineSeries_for_setpoint_x->append(22, 6);
- //ui->chartView_for_x->chart()->createDefaultAxes();
-#ifdef CATKIN_MAKE
- publish_custom_button_command(2,ui->lineEdit_custom_2);
-#endif
+ // Initialise local variable for each of (x,y,z,yaw)
+ float k = 1.0f, T = 1.0f, alpha = 1.0f;
+
+ // Initialise a string variable for adding the "+"
+ QString qstr = "";
+
+ // Take the new value if available, otherwise use default
+ // > For k
+ if(!ui->lineEdit_k->text().isEmpty())
+ {
+ k = (ui->lineEdit_k->text()).toFloat();
+ // Ensure that it is in the range [0,100]
+ if (k < 0.0)
+ {
+ k = 0.0;
+ ui->lineEdit_k->setText(qstr + QString::number( k, 'f', 3));
+ }
+ else if (T > 100.0)
+ {
+ k = 100.0;
+ ui->lineEdit_T->setText(qstr + QString::number( k, 'f', 3));
+ }
+ }
+ else
+ {
+ ui->lineEdit_k->setText(qstr + QString::number( k, 'f', 3));
+ }
+
+ // > For T
+ if(!ui->lineEdit_T->text().isEmpty())
+ {
+ T = (ui->lineEdit_T->text()).toFloat();
+ // Ensure that it is in the range [0,100]
+ if (T < 0.0)
+ {
+ T = 0.0;
+ ui->lineEdit_T->setText(qstr + QString::number( T, 'f', 3));
+ }
+ else if (T > 100.0)
+ {
+ T = 100.0;
+ ui->lineEdit_T->setText(qstr + QString::number( T, 'f', 3));
+ }
+ }
+ else
+ {
+ ui->lineEdit_T->setText(qstr + QString::number( T, 'f', 3));
+ }
+
+ // > For T
+ if(!ui->lineEdit_alpha->text().isEmpty())
+ {
+ alpha = (ui->lineEdit_alpha->text()).toFloat();
+ // Ensure that it is in the range [0,100]
+ if (alpha < 0.0)
+ {
+ alpha = 0.0;
+ ui->lineEdit_alpha->setText(qstr + QString::number( alpha, 'f', 3));
+ }
+ else if (T > 100.0)
+ {
+ T = 100.0;
+ ui->lineEdit_alpha->setText(qstr + QString::number( alpha, 'f', 3));
+ }
+ }
+ else
+ {
+ ui->lineEdit_alpha->setText(qstr + QString::number( alpha, 'f', 3));
+ }
+
+ // Call the function to publish the setpoint
+ publishControllerParamters(k,T,alpha);
}
-void CsoneControllerTab::on_custom_button_3_clicked()
+
+void CsoneControllerTab::publishControllerParamters(float k, float T, float alpha)
{
- m_lineSeries_for_setpoint_x->append(22, 6);
- ui->chartView_for_x->chart()->createDefaultAxes();
- ui->chartView_for_x->chart()->axisX()->setMax(24);
#ifdef CATKIN_MAKE
- publish_custom_button_command(3,ui->lineEdit_custom_3);
+ // Initialise the message as a local variable
+ dfall_pkg::SetpointWithHeader msg;
+
+ // Fill the header of the message
+ fillSetpointMessageHeader( msg );
+
+ // Fill in the controller values
+ msg.x = k;
+ msg.y = T;
+ msg.z = alpha;
+
+ // Publish the setpoint
+ this->requestControllerParamterChangePublisher.publish(msg);
+
+ // Inform the user about the change
+ ROS_INFO_STREAM("[CSONE CONTROLLER GUI] Published request for setpoint change to: [" << k << ", "<< T << ", "<< alpha << "]");
+#else
+ // TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
+ QTextStream(stdout) << "[CSONE CONTROLLER GUI] would publish request for: [" << k << ", "<< T << ", "<< alpha << "]";
#endif
}
+//void CsoneControllerTab::on_lineEdit_k_returnPressed()
+//{
+// ui->set_setpoint_button->animateClick();
+//}
+
+//void CsoneControllerTab::on_lineEdit_T_returnPressed()
+//{
+// ui->set_setpoint_button->animateClick();
+//}
+
+//void CsoneControllerTab::on_lineEdit_alpha_returnPressed()
+//{
+// ui->set_setpoint_button->animateClick();
+//}
+
+//void CsoneControllerTab::on_lineEdit_step_size_returnPressed()
+//{
+// ui->set_setpoint_button->animateClick();
+//}
+
+
+
// ----------------------------------------------------------------------------------
@@ -262,23 +341,6 @@ void CsoneControllerTab::setMeasuredPose(float x , float y , float z , float rol
// Check if the object is occluded for this data
if (!occluded)
{
- // INITIALISE A STRING VARIABLE FOR ADDING THE "+"
- QString qstr = "";
- // UPDATE THE MEASUREMENT COLUMN
- if (x < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_measured_x->setText(qstr + QString::number( x, 'f', 3));
- if (y < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_measured_y->setText(qstr + QString::number( y, 'f', 3));
- if (z < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_measured_z->setText(qstr + QString::number( z, 'f', 3));
-
- if (roll < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_measured_roll->setText(qstr + QString::number( roll * RAD2DEG, 'f', 1));
- if (pitch < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_measured_pitch->setText(qstr + QString::number( pitch * RAD2DEG, 'f', 1));
- if (yaw < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_measured_yaw->setText(qstr + QString::number( yaw * RAD2DEG, 'f', 1));
-
// Ensure the red frames are not visible
if ( ui->red_frame_position_left->isVisible() )
ui->red_frame_position_left->setVisible(false);
@@ -308,13 +370,13 @@ void CsoneControllerTab::setMeasuredPose(float x , float y , float z , float rol
void CsoneControllerTab::poseDataUnavailableSlot()
{
- ui->lineEdit_measured_x->setText("xx.xx");
- ui->lineEdit_measured_y->setText("xx.xx");
- ui->lineEdit_measured_z->setText("xx.xx");
+// ui->lineEdit_measured_x->setText("xx.xx");
+// ui->lineEdit_measured_y->setText("xx.xx");
+// ui->lineEdit_measured_z->setText("xx.xx");
- ui->lineEdit_measured_roll->setText("xx.xx");
- ui->lineEdit_measured_pitch->setText("xx.xx");
- ui->lineEdit_measured_yaw->setText("xx.xx");
+// ui->lineEdit_measured_roll->setText("xx.xx");
+// ui->lineEdit_measured_pitch->setText("xx.xx");
+// ui->lineEdit_measured_yaw->setText("xx.xx");
}
@@ -336,8 +398,9 @@ void CsoneControllerTab::newDataForPerformingStepAndPlotting(float x)
if (m_shouldStoreData_for_plotting)
{
// Add the data to the line series
- float temp_x_setpoint = (ui->lineEdit_setpoint_current_x->text()).toFloat();
- m_lineSeries_for_setpoint_x->append(m_time_for_step, (ui->lineEdit_setpoint_current_x->text()).toFloat() );
+ //float temp_x_setpoint = (ui->lineEdit_setpoint_current_x->text()).toFloat();
+ float temp_x_setpoint = m_current_setpoint_x;
+ m_lineSeries_for_setpoint_x->append(m_time_for_step, temp_x_setpoint );
m_lineSeries_for_measured_x->append(m_time_for_step, x );
// Reset the min, max, and rezoom time at the start of performing the step
@@ -364,17 +427,23 @@ void CsoneControllerTab::newDataForPerformingStepAndPlotting(float x)
// Set the flag so that we do not enter this loop again
m_shouldPerformStep = false;
- // Extract the current setpoints
- float current_x = (ui->lineEdit_setpoint_current_x->text()).toFloat();
- float current_y = (ui->lineEdit_setpoint_current_y->text()).toFloat();
- float current_z = (ui->lineEdit_setpoint_current_z->text()).toFloat();
- float current_yaw = (ui->lineEdit_setpoint_current_yaw->text()).toFloat();
+ // Extract the current step size
+ float step_size = (ui->lineEdit_step_size->text()).toFloat();
// Determine the new x setpoint
- float new_x = -current_x;
+ float new_x = 0.0;
+ if (x < 0)
+ new_x = 0.5 * step_size;
+ else
+ new_x = -0.5 * step_size;
+
+ // Specify the default setpoints for (y,z,yaw)
+ float default_y = m_current_setpoint_y;
+ float default_z = m_current_setpoint_z;
+ float default_yaw = m_current_setpoint_yaw;
// Publish the new setpoint
- publishSetpoint(new_x,current_y,current_z,current_yaw);
+ publishSetpoint(new_x,default_y,default_z,default_yaw);
}
}
@@ -601,16 +670,11 @@ void CsoneControllerTab::setpointChangedCallback(const dfall_pkg::SetpointWithHe
// Lock the mutex
m_chart_mutex.lock();
- // UPDATE THE SETPOINT COLUMN
- if (x < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_setpoint_current_x->setText(qstr + QString::number( x, 'f', 3));
- if (y < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_setpoint_current_y->setText(qstr + QString::number( y, 'f', 3));
- if (z < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_setpoint_current_z->setText(qstr + QString::number( z, 'f', 3));
-
- if (yaw < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_setpoint_current_yaw->setText(qstr + QString::number( yaw * RAD2DEG, 'f', 1));
+ // Update the class variables for the current setpoint
+ m_current_setpoint_x = x;
+ m_current_setpoint_y = y;
+ m_current_setpoint_z = z;
+ m_current_setpoint_yaw = yaw;
// Unlock the mutex
m_chart_mutex.unlock();
@@ -669,88 +733,6 @@ void CsoneControllerTab::publishSetpoint(float x, float y, float z, float yaw_de
-void CsoneControllerTab::on_lineEdit_setpoint_new_x_returnPressed()
-{
- ui->set_setpoint_button->animateClick();
-}
-
-void CsoneControllerTab::on_lineEdit_setpoint_new_y_returnPressed()
-{
- ui->set_setpoint_button->animateClick();
-}
-
-void CsoneControllerTab::on_lineEdit_setpoint_new_z_returnPressed()
-{
- ui->set_setpoint_button->animateClick();
-}
-
-void CsoneControllerTab::on_lineEdit_setpoint_new_yaw_returnPressed()
-{
- ui->set_setpoint_button->animateClick();
-}
-
-void CsoneControllerTab::on_set_setpoint_button_clicked()
-{
- // Lock the mutex
- m_chart_mutex.lock();
-
- // Initialise local variable for each of (x,y,z,yaw)
- float x = 0.0f, y = 0.0f, z = 0.0f, yaw = 0.0f;
-
- // Take the new value if available, otherwise use the old value
- // > For x
- if(!ui->lineEdit_setpoint_new_x->text().isEmpty())
- x = (ui->lineEdit_setpoint_new_x->text()).toFloat();
- else
- x = (ui->lineEdit_setpoint_current_x->text()).toFloat();
- // > For y
- if(!ui->lineEdit_setpoint_new_y->text().isEmpty())
- y = (ui->lineEdit_setpoint_new_y->text()).toFloat();
- else
- y = (ui->lineEdit_setpoint_current_y->text()).toFloat();
- // > For z
- if(!ui->lineEdit_setpoint_new_z->text().isEmpty())
- z = (ui->lineEdit_setpoint_new_z->text()).toFloat();
- else
- z = (ui->lineEdit_setpoint_current_z->text()).toFloat();
- // > For yaw
- if(!ui->lineEdit_setpoint_new_yaw->text().isEmpty())
- yaw = (ui->lineEdit_setpoint_new_yaw->text()).toFloat();
- else
- yaw = (ui->lineEdit_setpoint_current_yaw->text()).toFloat();
-
- // Unlock the mutex
- m_chart_mutex.unlock();
-
- // Call the function to publish the setpoint
- publishSetpoint(x,y,z,yaw);
-}
-
-void CsoneControllerTab::on_default_setpoint_button_clicked()
-{
-#ifdef CATKIN_MAKE
- // Publish this as a blank setpoint with the
- // "buttonID" field set appropriately
-
- // Initialise the message as a local variable
- dfall_pkg::SetpointWithHeader msg;
-
- // Fill the header of the message
- fillSetpointMessageHeader( msg );
-
- // Fill in the (x,y,z,yaw) values
- msg.buttonID = REQUEST_DEFAULT_SETPOINT_BUTTON_ID;
-
- // Publish the default setpoint button press
- this->requestSetpointChangePublisher.publish(msg);
-
- // Inform the user about the change
- ROS_INFO_STREAM("[CSONE CONTROLLER GUI] Published request for setpoint change to the default");
-#endif
-}
-
-
-
// ----------------------------------------------------------------------------------
@@ -821,10 +803,10 @@ void CsoneControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool sh
m_chart_mutex.lock();
// Set information back to the default
- ui->lineEdit_setpoint_current_x->setText("xx.xx");
- ui->lineEdit_setpoint_current_y->setText("xx.xx");
- ui->lineEdit_setpoint_current_z->setText("xx.xx");
- ui->lineEdit_setpoint_current_yaw->setText("xx.xx");
+ m_current_setpoint_x = 0.0;
+ m_current_setpoint_y = 0.0;
+ m_current_setpoint_z = 0.4;
+ m_current_setpoint_yaw = 0.0;
// Unlock the mutex
m_chart_mutex.unlock();