diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index f5d041d1ff847574a198b95820886186f0796250..610affdd41e78789c170e248d564e8831619cb67 100755
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/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
)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h
index d70ce302f75ce456216e7aeefc1bc6fb3f2553e9..124eda803cbf57011e73e6b2c4308fa854b2414f 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h
+++ b/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
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread_for_flyingAgentGUI.h
similarity index 89%
rename from pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread.h
rename to pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread_for_flyingAgentGUI.h
index 8937da754acd40dab242e564ce74ed82ebe08ea0..0d881f18a2139b6691ee6803c55a7775145615d9 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/rosNodeThread_for_flyingAgentGUI.h
@@ -1,4 +1,4 @@
-// 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);
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
index 3710d507dbcb48be5a4146b6e9445cd7d5d94fa7..ceb3a2f7874936659fba7249a923157fd3df31d7 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
+++ b/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);
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/main.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/main.cpp
index 6128395d912368b49592630919e4ff4ef2401d11..ceb21be31d17e24f190406845a27f74cc1c197d8 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/main.cpp
+++ b/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[])
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
index edb8a1c85f6f033749dd56a70e5c69ac6f08064f..7a2ae595abbf8899253df4dd12ce9b6ac11e7ff4 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
+++ b/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);
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread_for_flyingAgentGUI.cpp
similarity index 94%
rename from pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread.cpp
rename to pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread_for_flyingAgentGUI.cpp
index 3e4623dfff1b5f811c4ce45248a88ce25838ffa0..63d73e661bc90c41a6090ed106e9292b1b1c8ae3 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/rosNodeThread_for_flyingAgentGUI.cpp
@@ -1,4 +1,4 @@
-// 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)
diff --git a/pps_ws/src/d_fall_pps/launch/Coordinator.launch b/pps_ws/src/d_fall_pps/launch/Coordinator.launch
index 0bc6d34e2dc7164f431fa80f5e4063d2772a2273..c77f5104509c44d70d789a74826306bccfd05976 100755
--- a/pps_ws/src/d_fall_pps/launch/Coordinator.launch
+++ b/pps_ws/src/d_fall_pps/launch/Coordinator.launch
@@ -1,7 +1,27 @@
<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>