Flying Agent GUI debugged and able to launch and control individual agents.

pps_ws/src/d_fall_pps/CMakeLists.txt

@@ -71,9 +71,9 @@ set(STUDENT_RESOURCE_FILE_QRC ${PROJECT_SOURCE_DIR}/GUI_Qt/studentGUI/studentgui
 
 
 # Flying Agent GUI -- Add src, includes, forms, and resources
-set(FLYING_AGENT_GUI_LIB_PATH_SRC ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/src)
-set(FLYING_AGENT_GUI_LIB_PATH_INC ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/include)
-set(FLYING_AGENT_GUI_LIB_PATH_FORMS ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/forms)
+set(FLYING_AGENT_GUI_LIB_PATH_SRC      ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/src)
+set(FLYING_AGENT_GUI_LIB_PATH_INC      ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/include)
+set(FLYING_AGENT_GUI_LIB_PATH_FORMS    ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/forms)
 set(FLYING_AGENT_GUI_RESOURCE_FILE_QRC ${PROJECT_SOURCE_DIR}/GUI_Qt/flyingAgentGUI/flyingagentgui.qrc)
 
 
@@ -130,7 +130,7 @@ set(SRC_HDRS_QOBJECT_FLYING_AGENT_GUI
   ${FLYING_AGENT_GUI_LIB_PATH_INC}/coordinatorrow.h
   ${FLYING_AGENT_GUI_LIB_PATH_INC}/enablecontrollerloadyamlbar.h
   ${FLYING_AGENT_GUI_LIB_PATH_INC}/mainwindow.h
-  ${FLYING_AGENT_GUI_LIB_PATH_INC}/rosNodeThread.h
+  ${FLYING_AGENT_GUI_LIB_PATH_INC}/rosNodeThread_for_flyingAgentGUI.h
   ${FLYING_AGENT_GUI_LIB_PATH_INC}/safecontrollertab.h
   ${FLYING_AGENT_GUI_LIB_PATH_INC}/topbanner.h
   )
@@ -147,7 +147,7 @@ qt5_wrap_ui(UIS_HDRS_FLYING_AGENT_GUI
   )
 qt5_wrap_cpp(SRC_MOC_HDRS_FLYING_AGENT_GUI ${SRC_HDRS_QOBJECT_FLYING_AGENT_GUI})
 # Flying Agent GUI -- wrap resource file qrc->rcc
-qt5_add_resources(FLYING_AGENT_GUI_RESOURCE_FILE_RCC ${MY_RESOURCE_FILE_QRC})
+qt5_add_resources(FLYING_AGENT_GUI_RESOURCE_FILE_RCC ${FLYING_AGENT_GUI_RESOURCE_FILE_QRC})
 
 
 
@@ -269,7 +269,7 @@ generate_messages(
 catkin_package(
   INCLUDE_DIRS include ${MY_GUI_LIB_PATH_INC}            # GUI -- include headers from GUI in package
   INCLUDE_DIRS include ${STUDENT_GUI_LIB_PATH_INC}       # StudentGUI -- include headers from GUI in package
-  INCLUDE_DIRS include ${FLYING_AGENT_GUI_LIB_PATH_INC}       # StudentGUI -- include headers from GUI in package
+  INCLUDE_DIRS include ${FLYING_AGENT_GUI_LIB_PATH_INC}  # FlyingAgentGUI -- include headers from GUI in package
   LIBRARIES
   CATKIN_DEPENDS roscpp rospy std_msgs rosbag roslib
   DEPENDS
@@ -285,7 +285,7 @@ catkin_package(
 include_directories(
   ${MY_GUI_LIB_PATH_INC}            # GUI -- include directory inside GUI folder
   ${STUDENT_GUI_LIB_PATH_INC}       # StudentGUI -- include directory inside GUI folder
-  ${FLYING_AGENT_GUI_LIB_PATH_INC}       # StudentGUI -- include directory inside GUI folder
+  ${FLYING_AGENT_GUI_LIB_PATH_INC}  # FlyingAgentGUI -- include directory inside GUI folder
   ${catkin_INCLUDE_DIRS}
   include
   include/nodes
@@ -354,14 +354,14 @@ set(MY_CPP_SOURCES_STUDENT_GUI              # compilation of sources
 
 # FLYING AGENT GUI -- Add sources here
 set(MY_CPP_SOURCES_FLYING_AGENT_GUI         # compilation of sources
+    ${FLYING_AGENT_GUI_LIB_PATH_SRC}/mainwindow.cpp
+    ${FLYING_AGENT_GUI_LIB_PATH_SRC}/main.cpp
+    ${FLYING_AGENT_GUI_LIB_PATH_SRC}/rosNodeThread_for_flyingAgentGUI.cpp
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/connectstartstopbar.cpp
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/controllertabs.cpp
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/coordinator.cpp
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/coordinatorrow.cpp
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/enablecontrollerloadyamlbar.cpp
-    ${FLYING_AGENT_GUI_LIB_PATH_SRC}/main.cpp
-    ${FLYING_AGENT_GUI_LIB_PATH_SRC}/mainwindow.cpp
-    ${FLYING_AGENT_GUI_LIB_PATH_SRC}/rosNodeThread.cpp
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/safecontrollertab.cpp
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/topbanner.cpp
     )

pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h

@@ -30,14 +30,17 @@
 //    ----------------------------------------------------------------------------------
 
 
-#ifndef MAINWINDOW_H
-#define MAINWINDOW_H
+#ifndef MAINWINDOW_FLYINGAGENTGUI_H
+#define MAINWINDOW_FLYINGAGENTGUI_H
 
 #include <QMainWindow>
 #include <QShortcut>
 
 #ifdef CATKIN_MAKE
-#include "rosNodeThread.h"
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+#include "rosNodeThread_for_flyingAgentGUI.h"
 #endif
 
 

pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread.h → pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread_for_flyingAgentGUI.h

-//    Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
+//    Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
 //
 //    This file is part of D-FaLL-System.
 //    
@@ -30,8 +30,8 @@
 //    ----------------------------------------------------------------------------------
 
 
-#ifndef ___ROSNODETHREAD_H___
-#define ___ROSNODETHREAD_H___
+#ifndef ___ROSNODETHREAD_FOR_FLYINGAGENTGUI_H___
+#define ___ROSNODETHREAD_FOR_FLYINGAGENTGUI_H___
 
 #include <QtCore>
 #include <QThread>
@@ -43,11 +43,16 @@
 
 #include <ros/ros.h>
 #include <ros/network.h>
+
+#include "d_fall_pps/CMRead.h"
+#include "d_fall_pps/CMUpdate.h"
+#include "d_fall_pps/CMCommand.h"
+
 //#include "d_fall_pps/UnlabeledMarker.h"
 //#include "d_fall_pps/CrazyflieData.h"
 //#include "d_fall_pps/ViconData.h"
 
-//using namespace d_fall_pps;
+using namespace d_fall_pps;
 
 //typedef ViconData::ConstPtr ptrToMessage;
 
@@ -69,7 +74,7 @@ public:
     ros::ServiceClient m_update_db_client;
     ros::ServiceClient m_command_db_client;
 
-signals:
+//signals:
 
     //void newViconData(const ptrToMessage& p_msg);
 

pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp

@@ -103,7 +103,10 @@ CoordinatorRow::CoordinatorRow(QWidget *parent, int agentID) :
 
 
     // LET THE USER KNOW WHAT THE BASE NAMESPACE IS
-    ROS_INFO_STREAM("[Coordinator Row GUI] using base namespace: %s" << ros_base_namespace.c_str() << ", for agentID = " << my_agentID);
+    ROS_INFO_STREAM("[Coordinator Row GUI] using base namespace: " << ros_base_namespace.c_str() << ", for agentID = " << my_agentID);
+
+    std::string temp_ros_namespace = ros::this_node::getNamespace();
+    ROS_INFO_STREAM("[Coordinator Row GUI] compared to: ros::this_node::getNamespace() = " << temp_ros_namespace.c_str());
 
     // CREATE A NODE HANDLE TO THE BASE NAMESPACE
     ros::NodeHandle base_nodeHandle(ros_base_namespace);
@@ -125,8 +128,8 @@ CoordinatorRow::CoordinatorRow(QWidget *parent, int agentID) :
     // > For updating the "flying_state_label" picture
     flyingStateSubscriber = base_nodeHandle.subscribe("PPSClient/flyingState", 1, &CoordinatorRow::flyingStateChangedCallback, this);
     // > For changes in the database that defines {agentID,cfID,flying zone} links
-    databaseChangedSubscriber = dfall_root_nodeHandle.subscribe("my_GUI/DBChanged", 1, &CoordinatorRow::databaseChangedCallback, this);;
-    centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<CMQuery>("CentralManagerService/Query", false);
+    databaseChangedSubscriber = dfall_root_nodeHandle.subscribe("/my_GUI/DBChanged", 1, &CoordinatorRow::databaseChangedCallback, this);;
+    centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<CMQuery>("/CentralManagerService/Query", false);
     // > For updating the controller that is currently operating
     controllerUsedSubscriber = base_nodeHandle.subscribe("PPSClient/controllerUsed", 1, &CoordinatorRow::controllerUsedChangedCallback, this);
 

pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/main.cpp

@@ -31,7 +31,7 @@
 
 
 #include "mainwindow.h"
-#include "ui_mainwindow.h"   // <-- this include is additional to the Qt default
+//#include "ui_mainwindow.h"   // <-- this include is additional to the Qt default
 #include <QApplication>
 
 int main(int argc, char *argv[])

pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp

@@ -37,6 +37,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
     ui(new Ui::MainWindow)
 {
 #ifdef CATKIN_MAKE
+    //ROS_INFO("[flyingAgentGUI] Debug Point 5");
     m_rosNodeThread = new rosNodeThread(argc, argv, "flyingAgentGUI");
 #endif
     ui->setupUi(this);

pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread.cpp → pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread_for_flyingAgentGUI.cpp

-//    Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
+//    Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
 //
 //    This file is part of D-FaLL-System.
 //    
@@ -30,11 +30,13 @@
 //    ----------------------------------------------------------------------------------
 
 
-#include "rosNodeThread.h"
+#include "rosNodeThread_for_flyingAgentGUI.h"
 
-#include "d_fall_pps/CMRead.h"
-#include "d_fall_pps/CMUpdate.h"
-#include "d_fall_pps/CMCommand.h"
+// #include "d_fall_pps/CMRead.h"
+// #include "d_fall_pps/CMUpdate.h"
+// #include "d_fall_pps/CMCommand.h"
+
+// using namespace d_fall_pps;
 
 
 rosNodeThread::rosNodeThread(int argc, char** pArgv, const char * node_name,  QObject* parent)

pps_ws/src/d_fall_pps/launch/Coordinator.launch

 <launch>
 
-	<!-- COORDINATOR GUI -->
-    <node pkg="d_fall_pps" name="coordinator_GUI" output="screen" type="coordinator_GUI">
-	</node>
+	<!-- INPUT ARGUMENT OF THE AGENT's ID -->
+	<arg name="coordID" default="$(optenv DFALL_DEFAULT_COORD_ID)" />
+
+	<!-- Example of how to use the value in coordID -->
+	<!-- <param name="param" value="$(arg coordID)"/> -->
+
+	<!-- Example of how to specify the coordID from command line -->
+	<!-- roslaunch d_fall_pps coordID:=001 -->
+
+	<group ns="coord$(arg coordID)">
+
+		<!-- COORDINATOR GUI -->
+		<node
+			pkg="d_fall_pps"
+			name="flyingAgentGUI"
+			output="screen"
+			type="flyingAgentGUI"
+			>
+			<param name="type"     type="str"  value="coordinator" />
+			<param name="coordID"  type="str"  value="$(arg coordID)" />
+		</node>
+
+	</group>
 
 </launch>