diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/remotecontrollertab.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/remotecontrollertab.ui
index 9c66d492b4d7d3c36650f98f0cfb76e31f94b287..221c78678dadf65f08ca1bfb44a653476eed6bbe 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/remotecontrollertab.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/remotecontrollertab.ui
@@ -56,7 +56,7 @@
<property name="bottomMargin">
<number>6</number>
</property>
- <item row="0" column="3">
+ <item row="1" column="3">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@@ -69,21 +69,8 @@
</property>
</spacer>
</item>
- <item row="0" column="1">
- <widget class="QPushButton" name="custom_button_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="custom_button_3">
+ <item row="1" column="2">
+ <widget class="QPushButton" name="activate_button">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -91,12 +78,12 @@
</sizepolicy>
</property>
<property name="text">
- <string>Button 3</string>
+ <string>Activate</string>
</property>
</widget>
</item>
- <item row="0" column="0">
- <widget class="QPushButton" name="custom_button_1">
+ <item row="1" column="0">
+ <widget class="QPushButton" name="subscribe_button">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -104,11 +91,11 @@
</sizepolicy>
</property>
<property name="text">
- <string>Button 1</string>
+ <string>Subscribe</string>
</property>
</widget>
</item>
- <item row="1" column="2">
+ <item row="2" column="2">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="leftMargin">
<number>0</number>
@@ -116,25 +103,9 @@
<property name="rightMargin">
<number>0</number>
</property>
- <item>
- <widget class="QLineEdit" name="lineEdit_custom_3">
- <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">
+ <item row="2" column="1">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<property name="leftMargin">
<number>0</number>
@@ -142,25 +113,9 @@
<property name="rightMargin">
<number>0</number>
</property>
- <item>
- <widget class="QLineEdit" name="lineEdit_custom_2">
- <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">
+ <item row="2" column="0">
<layout class="QHBoxLayout" name="horizontalLayout_4">
<property name="leftMargin">
<number>0</number>
@@ -169,7 +124,7 @@
<number>0</number>
</property>
<item>
- <widget class="QLineEdit" name="lineEdit_custom_1">
+ <widget class="QLineEdit" name="remote_object_name">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -186,6 +141,42 @@
</item>
</layout>
</item>
+ <item row="0" column="0">
+ <widget class="QPushButton" name="unsubscribe_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Unsubscribe</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QPushButton" name="deactivate_button">
+ <property name="text">
+ <string>Deactivate</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <spacer name="horizontalSpacer_3">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeType">
+ <enum>QSizePolicy::Fixed</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
</layout>
</item>
<item row="1" column="0">
@@ -197,7 +188,88 @@
</item>
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout">
- <item row="3" column="3">
+ <item row="1" column="3">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Setpoint</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="5">
+ <widget class="QPushButton" name="default_setpoint_button">
+ <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="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="3" column="5">
<widget class="QLineEdit" name="lineEdit_setpoint_new_y">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -224,7 +296,7 @@
</property>
</widget>
</item>
- <item row="1" column="3">
+ <item row="1" column="5">
<widget class="QLabel" name="label_new_title_line2">
<property name="text">
<string>Setpoint</string>
@@ -234,7 +306,7 @@
</property>
</widget>
</item>
- <item row="5" column="2">
+ <item row="5" column="4">
<widget class="QLineEdit" name="lineEdit_setpoint_current_yaw">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -274,7 +346,7 @@
</property>
</widget>
</item>
- <item row="0" column="3">
+ <item row="0" column="5">
<widget class="QLabel" name="label_new_title">
<property name="font">
<font>
@@ -290,7 +362,7 @@
</property>
</widget>
</item>
- <item row="0" column="4">
+ <item row="0" column="6">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@@ -303,7 +375,7 @@
</property>
</spacer>
</item>
- <item row="3" column="2">
+ <item row="3" column="4">
<widget class="QLineEdit" name="lineEdit_setpoint_current_y">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -349,7 +421,7 @@
</property>
</widget>
</item>
- <item row="4" column="3">
+ <item row="4" column="5">
<widget class="QLineEdit" name="lineEdit_setpoint_new_z">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -376,7 +448,7 @@
</property>
</widget>
</item>
- <item row="4" column="2">
+ <item row="4" column="4">
<widget class="QLineEdit" name="lineEdit_setpoint_current_z">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -416,61 +488,6 @@
</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">
@@ -481,7 +498,7 @@
</property>
</widget>
</item>
- <item row="2" column="2">
+ <item row="2" column="4">
<widget class="QLineEdit" name="lineEdit_setpoint_current_x">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -511,7 +528,7 @@
</property>
</widget>
</item>
- <item row="5" column="3">
+ <item row="5" column="5">
<widget class="QLineEdit" name="lineEdit_setpoint_new_yaw">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -548,7 +565,7 @@
</property>
</widget>
</item>
- <item row="6" column="3">
+ <item row="6" column="5">
<widget class="QPushButton" name="set_setpoint_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -567,7 +584,7 @@
</property>
</widget>
</item>
- <item row="0" column="2">
+ <item row="0" column="4">
<widget class="QLabel" name="label_current_title">
<property name="font">
<font>
@@ -593,7 +610,7 @@
</property>
</widget>
</item>
- <item row="2" column="3">
+ <item row="2" column="5">
<widget class="QLineEdit" name="lineEdit_setpoint_new_x">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
@@ -620,7 +637,7 @@
</property>
</widget>
</item>
- <item row="1" column="2">
+ <item row="1" column="4">
<widget class="QLabel" name="label_current_title_line2">
<property name="text">
<string>Setpoint</string>
@@ -630,25 +647,6 @@
</property>
</widget>
</item>
- <item row="6" column="2">
- <widget class="QPushButton" name="default_setpoint_button">
- <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">
@@ -863,6 +861,280 @@
</item>
</layout>
</item>
+ <item row="0" column="3">
+ <widget class="QLabel" name="label">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Remote</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="3">
+ <widget class="QLineEdit" name="remote_setpoint_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>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>
+ </widget>
+ </item>
+ <item row="5" column="3">
+ <widget class="QLineEdit" name="remote_setpoint_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>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>
+ </widget>
+ </item>
+ <item row="6" column="3">
+ <widget class="QLineEdit" name="remote_setpoint_pitch">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>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>
+ </widget>
+ </item>
+ <item row="3" column="3">
+ <widget class="QFrame" name="red_frame_remote">
+ <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="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 row="7" column="3">
+ <widget class="QLineEdit" name="remote_setpoint_roll">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>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>
+ </widget>
+ </item>
+ <item row="0" column="2">
+ <widget class="QLabel" name="label_3">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Measured</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <widget class="QLabel" name="label_4">
+ <property name="text">
+ <string>Remote</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="2">
+ <widget class="QLineEdit" name="remote_data_roll">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>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>
+ </widget>
+ </item>
+ <item row="6" column="2">
+ <widget class="QLineEdit" name="remote_data_pitch">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>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>
+ </widget>
+ </item>
+ <item row="5" column="2">
+ <widget class="QLineEdit" name="remote_data_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>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>
+ </widget>
+ </item>
+ <item row="4" column="2">
+ <widget class="QLineEdit" name="remote_data_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>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>
+ </widget>
+ </item>
</layout>
</item>
</layout>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h
index 831aef9a7ecf35a0e98d37c372827cb27ddc105b..686b250bf9369825a0fff7141f0475c5c461cbc7 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h
@@ -115,10 +115,10 @@ private slots:
// COPIED FROM PREVIOUS REMOTE CONTROLLER GUI
-// void on_subscribe_button_clicked();
-// void on_unsubscribe_button_clicked();
-// void on_activate_button_clicked();
-// void on_deactivate_button_clicked();
+ void on_subscribe_button_clicked();
+ void on_unsubscribe_button_clicked();
+ void on_activate_button_clicked();
+ void on_deactivate_button_clicked();
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp
index d0e0060a5400873da3b127ff5a1cf06718d6ea64..b4dc5ecf60259e0a9be8cffe732188ef9516dfa9 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp
@@ -47,6 +47,10 @@ RemoteControllerTab::RemoteControllerTab(QWidget *parent) :
ui->red_frame_position_left->setVisible(false);
ui->red_frame_position_right->setVisible(false);
+ ui->red_frame_remote->setVisible(false);
+
+ ui->remote_object_name->setText("DFALL_REMOTE01");
+
#ifdef CATKIN_MAKE
@@ -151,57 +155,70 @@ RemoteControllerTab::~RemoteControllerTab()
// COPIED FROM PREVIOUS REMOTE CONTROLLER GUI
// # Custom buttons for the REMOTE controller service
-//void RemoteControllerTab::on_remote_subscribe_button_clicked()
-//{
-// // Initialise the message
-// ViconSubscribeObjectName msg;
-// // Set the subscribe flag
-// msg.shouldSubscribe = true;
-// // Set the object name
-// msg.objectName = (ui->remote_object_name->text()).toUtf8().constData();
-// // Publish the message
-// this->remoteSubscribePublisher.publish(msg);
-//}
-
-//void RemoteControllerTab::on_remote_unsubscribe_button_clicked()
-//{
-// // Initialise the message
-// ViconSubscribeObjectName msg;
-// // Set the subscribe flag
-// msg.shouldSubscribe = false;
-// // Set the object name
-// msg.objectName = (ui->remote_object_name->text()).toUtf8().constData();
-// // Publish the message
-// this->remoteSubscribePublisher.publish(msg);
-//}
-
-//void RemoteControllerTab::on_remote_activate_button_clicked()
-//{
-// // Initialise the message
-// std_msgs::Int32 msg;
-// // Set the msg data
-// msg.data = 1;
-// // Publish the message
-// this->remoteActivatePublisher.publish(msg);
-//}
-
-//void RemoteControllerTab::on_remote_deactivate_button_clicked()
-//{
-// // Initialise the message
-// std_msgs::Int32 msg;
-// // Set the msg data
-// msg.data = 0;
-// // Publish the message
-// this->remoteActivatePublisher.publish(msg);
-//}
+void RemoteControllerTab::on_subscribe_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Initialise the message
+ dfall_pkg::ViconSubscribeObjectName msg;
+ // Set the subscribe flag
+ msg.shouldSubscribe = true;
+ // Set the object name
+ msg.objectName = (ui->remote_object_name->text()).toUtf8().constData();
+ // Publish the message
+ this->remoteSubscribePublisher.publish(msg);
+#endif
+}
+
+void RemoteControllerTab::on_unsubscribe_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Initialise the message
+ dfall_pkg::ViconSubscribeObjectName msg;
+ // Set the subscribe flag
+ msg.shouldSubscribe = false;
+ // Set the object name
+ msg.objectName = (ui->remote_object_name->text()).toUtf8().constData();
+ // Publish the message
+ this->remoteSubscribePublisher.publish(msg);
+#endif
+}
+
+void RemoteControllerTab::on_activate_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Initialise the message
+ std_msgs::Int32 msg;
+ // Set the msg data
+ msg.data = 1;
+ // Publish the message
+ this->remoteActivatePublisher.publish(msg);
+#endif
+}
+
+void RemoteControllerTab::on_deactivate_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Initialise the message
+ std_msgs::Int32 msg;
+ // Set the msg data
+ msg.data = 0;
+ // Publish the message
+ this->remoteActivatePublisher.publish(msg);
+#endif
+}
#ifdef CATKIN_MAKE
void RemoteControllerTab::remoteDataCallback(const dfall_pkg::CrazyflieData& objectData)
{
-// // Check if the object is occluded
-// if (objectData.occluded)
-// {
+ // Check if the object is occluded
+ if (objectData.occluded)
+ {
+
+ // Make visible the red frames to indicate occluded
+ if ( !(ui->red_frame_remote->isVisible()) )
+ ui->red_frame_remote->setVisible(true);
+
// // Set the column heading label to have a red background
// // > IMPORTANT: Set the background auto fill property to true
// ui->remote_data_label->setAutoFillBackground(true);
@@ -211,14 +228,19 @@ void RemoteControllerTab::remoteDataCallback(const dfall_pkg::CrazyflieData& obj
// pal.setColor(QPalette::Window, QColor(Qt::red));
// // > Update the palette for the label
// ui->remote_data_label->setPalette(pal);
-// }
-// else
-// {
-// // Put the roll, pitch, yaw, and z data into the appropriate fields
-// ui->remote_data_roll ->setText(QString::number( objectData.roll * RAD2DEG, 'f', 1));
-// ui->remote_data_pitch->setText(QString::number( objectData.pitch * RAD2DEG, 'f', 1));
-// ui->remote_data_yaw ->setText(QString::number( objectData.yaw * RAD2DEG, 'f', 1));
-// ui->remote_data_z ->setText(QString::number( objectData.z, 'f', 2));
+ }
+ else
+ {
+ // Put the roll, pitch, yaw, and z data into the appropriate fields
+ ui->remote_data_roll ->setText(QString::number( objectData.roll * RAD2DEG, 'f', 1));
+ ui->remote_data_pitch->setText(QString::number( objectData.pitch * RAD2DEG, 'f', 1));
+ ui->remote_data_yaw ->setText(QString::number( objectData.yaw * RAD2DEG, 'f', 1));
+ ui->remote_data_z ->setText(QString::number( objectData.z, 'f', 2));
+
+
+ // Ensure the red frames are not visible
+ if ( ui->red_frame_remote->isVisible() )
+ ui->red_frame_remote->setVisible(false);
// // Set the column heading label to have a "normal" background
// // > IMPORTANT: Set the background auto fill property to true
@@ -227,7 +249,7 @@ void RemoteControllerTab::remoteDataCallback(const dfall_pkg::CrazyflieData& obj
// QPalette pal = ui->remote_roll_label->palette();
// // > Update the palette for the column heading label
// ui->remote_data_label->setPalette(pal);
-// }
+ }
}
#endif
@@ -235,10 +257,10 @@ void RemoteControllerTab::remoteDataCallback(const dfall_pkg::CrazyflieData& obj
#ifdef CATKIN_MAKE
void RemoteControllerTab::remoteControlSetpointCallback(const dfall_pkg::CrazyflieData& setpointData)
{
-// ui->remote_setpoint_roll ->setText(QString::number( setpointData.roll * RAD2DEG, 'f', 1));
-// ui->remote_setpoint_pitch->setText(QString::number( setpointData.pitch * RAD2DEG, 'f', 1));
-// ui->remote_setpoint_yaw ->setText(QString::number( setpointData.yaw * RAD2DEG, 'f', 1));
-// ui->remote_setpoint_z ->setText(QString::number( setpointData.z, 'f', 2));
+ ui->remote_setpoint_roll ->setText(QString::number( setpointData.roll * RAD2DEG, 'f', 1));
+ ui->remote_setpoint_pitch->setText(QString::number( setpointData.pitch * RAD2DEG, 'f', 1));
+ ui->remote_setpoint_yaw ->setText(QString::number( setpointData.yaw * RAD2DEG, 'f', 1));
+ ui->remote_setpoint_z ->setText(QString::number( setpointData.z, 'f', 2));
}
#endif
@@ -277,21 +299,21 @@ void RemoteControllerTab::publish_custom_button_command(int button_index , QLine
void RemoteControllerTab::on_custom_button_1_clicked()
{
#ifdef CATKIN_MAKE
- publish_custom_button_command(1,ui->lineEdit_custom_1);
+ //publish_custom_button_command(1,ui->lineEdit_custom_1);
#endif
}
void RemoteControllerTab::on_custom_button_2_clicked()
{
#ifdef CATKIN_MAKE
- publish_custom_button_command(2,ui->lineEdit_custom_2);
+ //publish_custom_button_command(2,ui->lineEdit_custom_2);
#endif
}
void RemoteControllerTab::on_custom_button_3_clicked()
{
#ifdef CATKIN_MAKE
- publish_custom_button_command(3,ui->lineEdit_custom_3);
+ //publish_custom_button_command(3,ui->lineEdit_custom_3);
#endif
}