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Commit b53e09bd authored by Paul Beuchat's avatar Paul Beuchat
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Adjusted flying agent GUI behaviour for coorindator mode to be able to use the... 

Adjusted flying agent GUI behaviour for coorindator mode to be able to use the increment setpoint buttons in a meaningful fashion
parent 8225f965
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pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
+ 2
− 0
View file @ b53e09bd
......@@ -144,6 +144,8 @@ private:
void publishSetpoint(float x, float y, float z, float yaw);
void increment_setpoint_by(float x_inc, float y_inc, float z_inc, float yaw_inc);
};
#endif // STUDENTCONTROLLERTAB_H
pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
+ 86
− 59
View file @ b53e09bd
......@@ -441,13 +441,7 @@ void StudentControllerTab::on_x_increment_plus_button_clicked()
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_x->text().isEmpty())
{
// Call the function to publish the setpoint
publishSetpoint(
(ui->lineEdit_setpoint_current_x->text() ).toFloat() + (ui->lineEdit_setpoint_increment_x->text()).toFloat(),
(ui->lineEdit_setpoint_current_y->text() ).toFloat(),
(ui->lineEdit_setpoint_current_z->text() ).toFloat(),
(ui->lineEdit_setpoint_current_yaw->text()).toFloat()
);
increment_setpoint_by( (ui->lineEdit_setpoint_increment_x->text()).toFloat() ,0.0,0.0,0.0);
}
else
{
......@@ -465,13 +459,7 @@ void StudentControllerTab::on_x_increment_minus_button_clicked()
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_x->text().isEmpty())
{
// Call the function to publish the setpoint
publishSetpoint(
(ui->lineEdit_setpoint_current_x->text() ).toFloat() - (ui->lineEdit_setpoint_increment_x->text()).toFloat(),
(ui->lineEdit_setpoint_current_y->text() ).toFloat(),
(ui->lineEdit_setpoint_current_z->text() ).toFloat(),
(ui->lineEdit_setpoint_current_yaw->text()).toFloat()
);
increment_setpoint_by( -(ui->lineEdit_setpoint_increment_x->text()).toFloat() ,0.0,0.0,0.0);
}
else
{
......@@ -487,13 +475,7 @@ void StudentControllerTab::on_y_increment_plus_button_clicked()
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_y->text().isEmpty())
{
// Call the function to publish the setpoint
publishSetpoint(
(ui->lineEdit_setpoint_current_x->text() ).toFloat(),
(ui->lineEdit_setpoint_current_y->text() ).toFloat() + (ui->lineEdit_setpoint_increment_y->text()).toFloat(),
(ui->lineEdit_setpoint_current_z->text() ).toFloat(),
(ui->lineEdit_setpoint_current_yaw->text()).toFloat()
);
increment_setpoint_by(0.0, (ui->lineEdit_setpoint_increment_y->text()).toFloat() ,0.0,0.0);
}
else
{
......@@ -509,19 +491,13 @@ void StudentControllerTab::on_y_increment_minus_button_clicked()
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_y->text().isEmpty())
{
// Call the function to publish the setpoint
publishSetpoint(
(ui->lineEdit_setpoint_current_x->text() ).toFloat(),
(ui->lineEdit_setpoint_current_y->text() ).toFloat() - (ui->lineEdit_setpoint_increment_y->text()).toFloat(),
(ui->lineEdit_setpoint_current_z->text() ).toFloat(),
(ui->lineEdit_setpoint_current_yaw->text()).toFloat()
);
increment_setpoint_by(0.0, -(ui->lineEdit_setpoint_increment_y->text()).toFloat() ,0.0,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment y setpoint clicked but field is empty");
#endif
}
}
......@@ -531,19 +507,13 @@ void StudentControllerTab::on_z_increment_plus_button_clicked()
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_z->text().isEmpty())
{
// Call the function to publish the setpoint
publishSetpoint(
(ui->lineEdit_setpoint_current_x->text() ).toFloat(),
(ui->lineEdit_setpoint_current_y->text() ).toFloat(),
(ui->lineEdit_setpoint_current_z->text() ).toFloat() + (ui->lineEdit_setpoint_increment_z->text()).toFloat(),
(ui->lineEdit_setpoint_current_yaw->text()).toFloat()
);
increment_setpoint_by(0.0,0.0, (ui->lineEdit_setpoint_increment_z->text()).toFloat() ,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment z setpoint clicked but field is empty");
#endif
}
}
......@@ -553,19 +523,14 @@ void StudentControllerTab::on_z_increment_minus_button_clicked()
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_z->text().isEmpty())
{
// Call the function to publish the setpoint
publishSetpoint(
(ui->lineEdit_setpoint_current_x->text() ).toFloat(),
(ui->lineEdit_setpoint_current_y->text() ).toFloat(),
(ui->lineEdit_setpoint_current_z->text() ).toFloat() - (ui->lineEdit_setpoint_increment_z->text()).toFloat(),
(ui->lineEdit_setpoint_current_yaw->text()).toFloat()
);
// Call the function to increment the setpoint
increment_setpoint_by(0.0,0.0, -(ui->lineEdit_setpoint_increment_z->text()).toFloat() ,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment z setpoint clicked but field is empty");
#endif
}
}
......@@ -575,19 +540,14 @@ void StudentControllerTab::on_yaw_increment_plus_button_clicked()
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_yaw->text().isEmpty())
{
// Call the function to publish the setpoint
publishSetpoint(
(ui->lineEdit_setpoint_current_x->text() ).toFloat(),
(ui->lineEdit_setpoint_current_y->text() ).toFloat(),
(ui->lineEdit_setpoint_current_z->text() ).toFloat(),
(ui->lineEdit_setpoint_current_yaw->text()).toFloat() + (ui->lineEdit_setpoint_increment_yaw->text()).toFloat()
);
// Call the function to increment the setpoint
increment_setpoint_by(0.0,0.0,0.0, (ui->lineEdit_setpoint_increment_yaw->text()).toFloat() );
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment yaw setpoint clicked but field is empty");
#endif
}
}
......@@ -596,19 +556,85 @@ void StudentControllerTab::on_yaw_increment_minus_button_clicked()
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_yaw->text().isEmpty())
{
// Call the function to publish the setpoint
// Call the function to increment the setpoint
increment_setpoint_by(0.0,0.0,0.0, -(ui->lineEdit_setpoint_increment_yaw->text()).toFloat() );
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment yaw setpoint clicked but field is empty");
#endif
}
}
void StudentControllerTab::increment_setpoint_by(float x_inc, float y_inc, float z_inc, float yaw_inc)
{
if (m_type == TYPE_AGENT)
{
// WHEN GUI IS IN AGENT TYPE MODE:
// APPLY THE INCREMENT FROM THE CURRENT SETPOINT
// Call the function to publish the setpoint
publishSetpoint(
(ui->lineEdit_setpoint_current_x->text() ).toFloat(),
(ui->lineEdit_setpoint_current_y->text() ).toFloat(),
(ui->lineEdit_setpoint_current_z->text() ).toFloat(),
(ui->lineEdit_setpoint_current_yaw->text()).toFloat() - (ui->lineEdit_setpoint_increment_yaw->text()).toFloat()
(ui->lineEdit_setpoint_current_x->text() ).toFloat() + x_inc,
(ui->lineEdit_setpoint_current_y->text() ).toFloat() + y_inc,
(ui->lineEdit_setpoint_current_z->text() ).toFloat() + z_inc,
(ui->lineEdit_setpoint_current_yaw->text()).toFloat() + yaw_inc
);
}
else if (m_type == TYPE_COORDINATOR)
{
// WHEN GUI IS IN COORDINATOR TYPE MODE:
// APPLY THE INCREMENT FROM THE CURRENT SETPOINT
// Initialise local variable for each of (x,y,z,yaw)
float x = 0.0f, y = 0.0f, z = 0.4f, 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();
// > For x
if(!ui->lineEdit_setpoint_new_y->text().isEmpty())
y = (ui->lineEdit_setpoint_new_y->text()).toFloat();
// > For x
if(!ui->lineEdit_setpoint_new_z->text().isEmpty())
z = (ui->lineEdit_setpoint_new_z->text()).toFloat();
// > For x
if(!ui->lineEdit_setpoint_new_yaw->text().isEmpty())
yaw = (ui->lineEdit_setpoint_new_yaw->text()).toFloat();
// Add the increment to this
float x_new = x + x_inc;
float y_new = y + y_inc;
float z_new = z + z_inc;
float yaw_new = yaw + yaw_inc;
// INITIALISE A STRING VARIABLE FOR ADDING THE "+"
QString qstr = "";
// Put this back into the new fields
if (x_new < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_setpoint_new_x->setText(qstr + QString::number( x_new, 'f', 3));
if (y_new < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_setpoint_new_y->setText(qstr + QString::number( y_new, 'f', 3));
if (z_new < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_setpoint_new_z->setText(qstr + QString::number( z_new, 'f', 3));
if (yaw_new < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_setpoint_new_yaw->setText(qstr + QString::number( yaw_new, 'f', 3));
// Call the function to publish the setpoint
publishSetpoint(x_new,y_new,z_new,yaw_new);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment setpoint not possible because m_type is not recognised.");
#endif
}
}
......@@ -617,6 +643,7 @@ void StudentControllerTab::on_yaw_increment_minus_button_clicked()
// ----------------------------------------------------------------------------------
// A GGGG EEEEE N N TTTTT III DDDD SSSS
// A A G E NN N T I D D S
......
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