diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
index bcd5c41400d31efef00fdc9af58c465c580c8f9c..5ad79b7cf0e770ede2f5012c789d0c1c6c387d5f 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
@@ -89,6 +89,15 @@
#define BATTERY_STATE_NORMAL 0
#define BATTERY_STATE_LOW 1
+// Battery label image index
+#define BATTERY_LABEL_IMAGE_INDEX_EMPTY 0
+#define BATTERY_LABEL_IMAGE_INDEX_20 1
+#define BATTERY_LABEL_IMAGE_INDEX_40 2
+#define BATTERY_LABEL_IMAGE_INDEX_60 3
+#define BATTERY_LABEL_IMAGE_INDEX_80 4
+#define BATTERY_LABEL_IMAGE_INDEX_FULL 5
+#define BATTERY_LABEL_IMAGE_INDEX_UNKNOWN 6
+
// For which controller parameters to load
#define LOAD_YAML_SAFE_CONTROLLER_AGENT 1
#define LOAD_YAML_DEMO_CONTROLLER_AGENT 2
@@ -220,6 +229,8 @@ private:
const float battery_voltage_full_while_flying = 3.70; // in Volts
const float battery_voltage_full_while_motors_off = 4.20; // in Volts
+ int m_battery_label_image_current_index;
+
ros::Publisher crazyRadioCommandPublisher;
ros::Subscriber crazyRadioStatusSubscriber;
ros::Publisher PPSClientCommandPublisher;
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index 41f59b8d7340b9cf725926065174542f9659835b..a20561d746dd3e79681b6ab14bff76cf395a4545 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -169,7 +169,8 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
disableGUI();
highlightSafeControllerTab();
- //ui->battery_status_label->setStyleSheet("QLabel { color : red; }");
+
+ // INITIALISE THE BATTERY STATE AS NORMAL
m_battery_state = BATTERY_STATE_NORMAL;
// SET THE BATTERY VOLTAGE FIELD TO BE BLANK
@@ -179,6 +180,7 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
ui->battery_status_label->setPixmap(battery_unknown_pixmap);
ui->battery_status_label->setScaledContents(true);
+ m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_UNKNOWN;
// SET THE IMAGE FOR THE CRAZY RADIO STATUS LABEL
QPixmap rf_disconnected_pixmap(":/images/rf_disconnected.png");
@@ -191,6 +193,12 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
ui->flying_state_label->setScaledContents(true);
+
+ //QPixmap battery_80_pixmap(":/images/battery_80.png");
+ //m_battery_80_pixmap = battery_80_pixmap.scaled(50,70,Qt::IgnoreAspectRatio);
+ // The syntax for "scaled" is (int width, int height, ...)
+
+
ui->error_label->setStyleSheet("QLabel { color : red; }");
ui->error_label->clear();
@@ -431,14 +439,6 @@ void MainWindow::batteryStateChangedCallback(const std_msgs::Int32& msg)
ui->land_button->setEnabled(false);
// ui->groupBox_4->setEnabled(false);
- //qstr.append("Low Battery!");
- //ui->battery_status_label->setText(qstr);
-
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_empty_pixmap(":/images/battery_empty.png");
- ui->battery_status_label->setPixmap(battery_empty_pixmap);
- ui->battery_status_label->setScaledContents(true);
-
// SET THE CLASS VARIABLE FOR TRACKING THE BATTERY STATE
m_battery_state = BATTERY_STATE_LOW;
break;
@@ -450,9 +450,6 @@ void MainWindow::batteryStateChangedCallback(const std_msgs::Int32& msg)
ui->take_off_button->setEnabled(true);
ui->land_button->setEnabled(true);
- // CLEAR THE BATTERY LABEL
- //ui->battery_status_label->clear();
-
// SET THE CLASS VARIABLE FOR TRACKING THE BATTERY STATE
m_battery_state = BATTERY_STATE_NORMAL;
break;
@@ -487,12 +484,8 @@ void MainWindow::setCrazyRadioStatus(int radio_status)
ui->rf_status_label->setPixmap(rf_connecting_pixmap);
ui->rf_status_label->setScaledContents(true);
// SET THE BATTERY VOLTAGE FIELD TO BE BLANK
- QString qstr = "-.-- V";
- ui->voltage_field->setText(qstr);
- // SET THE APPROPRIATE IMAGE FOR THE BATTERY STATUS LABEL
- //QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
- //ui->battery_status_label->setPixmap(battery_unknown_pixmap);
- //ui->battery_status_label->setScaledContents(true);
+ // QString qstr = "-.-- V";
+ // ui->voltage_field->setText(qstr);
break;
}
@@ -506,9 +499,14 @@ void MainWindow::setCrazyRadioStatus(int radio_status)
QString qstr = "-.-- V";
ui->voltage_field->setText(qstr);
// SET THE APPROPRIATE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
- ui->battery_status_label->setPixmap(battery_unknown_pixmap);
- ui->battery_status_label->setScaledContents(true);
+ if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_UNKNOWN)
+ {
+ QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
+ ui->battery_status_label->setPixmap(battery_unknown_pixmap);
+ ui->battery_status_label->setScaledContents(true);
+ m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_UNKNOWN;
+ //ui->battery_status_label->update();
+ }
// DISABLE THE REMAINDER OF THE GUI
disableGUI();
break;
@@ -548,32 +546,32 @@ float MainWindow::fromVoltageToPercent(float voltage)
// COMPUTE THE PERCENTAGE DIFFERENTLY DEPENDING ON
// THE CURRENT FLYING STATE
- // if (m_flying_state == STATE_MOTORS_OFF)
- // {
- // voltage_when_empty = battery_voltage_empty_while_motors_off;
- // voltage_when_full = battery_voltage_full_while_motors_off;
- // }
- // else
- // {
- // voltage_when_empty = battery_voltage_empty_while_flying;
- // voltage_when_full = battery_voltage_full_while_flying;
- // }
- voltage_when_empty = battery_voltage_empty_while_motors_off;
- voltage_when_full = battery_voltage_full_while_motors_off;
+ if (m_flying_state == STATE_MOTORS_OFF)
+ {
+ voltage_when_empty = battery_voltage_empty_while_motors_off;
+ voltage_when_full = battery_voltage_full_while_motors_off;
+ }
+ else
+ {
+ voltage_when_empty = battery_voltage_empty_while_flying;
+ voltage_when_full = battery_voltage_full_while_flying;
+ }
+ //voltage_when_empty = battery_voltage_empty_while_motors_off;
+ //voltage_when_full = battery_voltage_full_while_motors_off;
// COMPUTE THE PERCENTAGE
- float percentage = 100 * (voltage-voltage_when_empty)/(voltage_when_full-voltage_when_empty);
+ float percentage = 100.0f * (voltage-voltage_when_empty)/(voltage_when_full-voltage_when_empty);
// CLIP THE PERCENTAGE TO BE BETWEEN [0,100]
// > This should not happen to often
- if(percentage > 100.0)
+ if(percentage > 100.0f)
{
- percentage = 100.0;
+ percentage = 100.0f;
}
- if(percentage < 0.0)
+ if(percentage < 0.0f)
{
- percentage = 0.0;
+ percentage = 0.0f;
}
return percentage;
@@ -591,7 +589,9 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
ui->voltage_field->setText(qstr);
// COMPUTE THE BATTERY VOLTAGE AS A PERCENTAGE
- int battery_voltage_percentage = (int) fromVoltageToPercent(m_battery_voltage);
+ float battery_voltage_percentage = fromVoltageToPercent(battery_voltage);
+
+ ROS_INFO_STREAM("Battery percentage = " << battery_voltage_percentage );
// UPDATE THE IMAGE DISPLAYED IN THE BATTERY VOLTAGE LABEL IMAGE
switch(m_battery_state)
@@ -600,71 +600,131 @@ void MainWindow::updateBatteryVoltage(float battery_voltage)
case BATTERY_STATE_LOW:
{
// SET THE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_empty_pixmap(":/images/battery_empty.png");
- ui->battery_status_label->setPixmap(battery_empty_pixmap);
- ui->battery_status_label->setScaledContents(true);
+ if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_EMPTY)
+ {
+ QPixmap battery_empty_pixmap(":/images/battery_empty.png");
+ ui->battery_status_label->setPixmap(battery_empty_pixmap);
+ ui->battery_status_label->setScaledContents(true);
+ m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_EMPTY;
+ //ui->battery_status_label->update();
+ }
break;
}
// WHEN THE BATTERY IS IN A NORMAL STATE
case BATTERY_STATE_NORMAL:
{
- if (battery_voltage_percentage <= 0)
+
+ if (
+ ((m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_EMPTY) && (battery_voltage_percentage <= 0.0f))
+ ||
+ ((m_battery_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_EMPTY) && (battery_voltage_percentage <= 2.0f))
+ )
{
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_empty_pixmap(":/images/battery_empty.png");
- ui->battery_status_label->setPixmap(battery_empty_pixmap);
- ui->battery_status_label->setScaledContents(true);
+ if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_EMPTY)
+ {
+ // SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ QPixmap battery_empty_pixmap(":/images/battery_empty.png");
+ ui->battery_status_label->setPixmap(battery_empty_pixmap);
+ ui->battery_status_label->setScaledContents(true);
+ m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_EMPTY;
+ //ui->battery_status_label->update();
+ }
}
- else if (battery_voltage_percentage <= 20)
+ else if (
+ ((m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_20) && (battery_voltage_percentage <= 20.0f))
+ ||
+ ((m_battery_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_20) && (battery_voltage_percentage <= 22.0f))
+ )
{
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_20_pixmap(":/images/battery_20.png");
- ui->battery_status_label->setPixmap(battery_20_pixmap);
- ui->battery_status_label->setScaledContents(true);
+ if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_20)
+ {
+ // SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ QPixmap battery_20_pixmap(":/images/battery_20.png");
+ ui->battery_status_label->setPixmap(battery_20_pixmap);
+ ui->battery_status_label->setScaledContents(true);
+ m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_20;
+ //ui->battery_status_label->update();
+ }
}
- else if (battery_voltage_percentage <= 40)
+ else if (
+ ((m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_40) && (battery_voltage_percentage <= 40.0f))
+ ||
+ ((m_battery_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_40) && (battery_voltage_percentage <= 42.0f))
+ )
{
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_40_pixmap(":/images/battery_40.png");
- ui->battery_status_label->setPixmap(battery_40_pixmap);
- ui->battery_status_label->setScaledContents(true);
+ if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_40)
+ {
+ // SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ QPixmap battery_40_pixmap(":/images/battery_40.png");
+ ui->battery_status_label->setPixmap(battery_40_pixmap);
+ ui->battery_status_label->setScaledContents(true);
+ m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_40;
+ //ui->battery_status_label->update();
+ }
}
- else if (battery_voltage_percentage <= 60)
+ else if (
+ ((m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_60) && (battery_voltage_percentage <= 60.0f))
+ ||
+ ((m_battery_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_60) && (battery_voltage_percentage <= 62.0f))
+ )
{
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_60_pixmap(":/images/battery_60.png");
- ui->battery_status_label->setPixmap(battery_60_pixmap);
- ui->battery_status_label->setScaledContents(true);
+ if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_60)
+ {
+ // SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ QPixmap battery_60_pixmap(":/images/battery_60.png");
+ ui->battery_status_label->setPixmap(battery_60_pixmap);
+ ui->battery_status_label->setScaledContents(true);
+ m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_60;
+ //ui->battery_status_label->update();
+ }
}
- else if (battery_voltage_percentage <= 80)
+ else if (
+ ((m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_80) && (battery_voltage_percentage <= 80.0f))
+ ||
+ ((m_battery_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_80) && (battery_voltage_percentage <= 82.0f))
+ )
{
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_80_pixmap(":/images/battery_80.png");
- ui->battery_status_label->setPixmap(battery_80_pixmap);
- ui->battery_status_label->setScaledContents(true);
+ if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_80)
+ {
+ // SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ QPixmap battery_80_pixmap(":/images/battery_80.png");
+ ui->battery_status_label->setPixmap(battery_80_pixmap);
+ ui->battery_status_label->setScaledContents(true);
+ m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_80;
+ //ui->battery_status_label->update();
+ }
}
else
{
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_full_pixmap(":/images/battery_full.png");
- ui->battery_status_label->setPixmap(battery_full_pixmap);
- ui->battery_status_label->setScaledContents(true);
+ if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_FULL)
+ {
+ // SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ QPixmap battery_full_pixmap(":/images/battery_full.png");
+ ui->battery_status_label->setPixmap(battery_full_pixmap);
+ ui->battery_status_label->setScaledContents(true);
+ m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_FULL;
+ //ui->battery_status_label->update();
+ }
}
break;
}
default:
{
- // SET THE IMAGE FOR THE BATTERY STATUS LABEL
- QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
- ui->battery_status_label->setPixmap(battery_unknown_pixmap);
- ui->battery_status_label->setScaledContents(true);
+ if (m_battery_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_UNKNOWN)
+ {
+ // SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
+ ui->battery_status_label->setPixmap(battery_unknown_pixmap);
+ ui->battery_status_label->setScaledContents(true);
+ m_battery_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_UNKNOWN;
+ //ui->battery_status_label->update();
+ }
break;
}
}
-
-
+ //ui->battery_status_label->update();
}
void MainWindow::CFBatteryCallback(const std_msgs::Float32& msg)
diff --git a/pps_ws/src/d_fall_pps/param/ClientConfig.yaml b/pps_ws/src/d_fall_pps/param/ClientConfig.yaml
index 86e9ec7c01a2ad8335d7bc0a2281fefa49f9a9dc..2b69138aec0ed0cb27a00fbac8143e45b8182084 100755
--- a/pps_ws/src/d_fall_pps/param/ClientConfig.yaml
+++ b/pps_ws/src/d_fall_pps/param/ClientConfig.yaml
@@ -10,5 +10,5 @@ angleMargin: 0.8
battery_threshold_while_flying: 2.8 # in V
battery_threshold_while_motors_off: 3.30 # in V
-battery_polling_period: 100 # in ms
+battery_polling_period: 200 # in ms