diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h
index 98ce01042b51908d1b86bbe7a8785cf08c51afa2..878b6a17e698da3418d798909a375a17fedc4a96 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h
@@ -5,6 +5,8 @@
#include <QWidget>
#include <QMutex>
+#include <QTextStream>
+
#ifdef CATKIN_MAKE
#include <ros/ros.h>
#include <ros/network.h>
@@ -55,6 +57,11 @@ public:
explicit ConnectStartStopBar(QWidget *parent = 0);
~ConnectStartStopBar();
+
+public slots:
+ void setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll);
+
+
private:
// --------------------------------------------------- //
// PRIVATE VARIABLES
@@ -70,6 +77,12 @@ private:
// The namespace into which node operates
std::string m_base_namespace;
+ // For coordinating multiple agents
+ std::vector<int> m_vector_of_agentIDs_toCoordinate;
+ bool m_shouldCoordinateAll = true;
+ QMutex m_agentIDs_toCoordinate_mutex;
+
+
// > For keeping track of the current battery state
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinator.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinator.h
index d491c0c3824a0653a2525340febc7f4f21517cf2..c4f21a8347ad65eb8030275dfe31a3d922b708f0 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinator.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinator.h
@@ -7,6 +7,8 @@
#include <QVector>
#include <regex>
+#include <QTextStream>
+
namespace Ui {
class Coordinator;
}
@@ -20,9 +22,21 @@ public:
~Coordinator();
+public slots:
+ void setShouldCoordinateThisAgent(int agentID , bool shouldCoordinate);
+
+
+signals:
+ void agentIDsToCoordinateChanged(QVector<int> agentIDs , bool shouldCoordinateAll);
+
+
private:
QVector<CoordinatorRow*> vector_of_coordinatorRows;
+ QVector<bool> vector_of_shouldCoordinate_perRow;
+
+ QVector<int> vector_of_agentID_perRow;
+
int level_of_detail_to_display = 1;
void remove_all_entries_from_vector_of_coordinatorRows();
@@ -38,6 +52,8 @@ private slots:
void on_coordinate_all_checkBox_clicked();
+ void emit_signal_with_agentIDs_toCoordinate();
+
private:
Ui::Coordinator *ui;
};
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
index a96eaf1e2e4dab9b7a0e8de3fdb6a71d9af082b4..b7bb4eb6a85fcc191ab8ea60427e55cca5e51e26 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
@@ -96,7 +96,7 @@ public:
signals:
- void shouldCoordinateChanged(int newValue);
+ void shouldCoordinateThisAgentValueChanged(int agentID , bool shouldCoordinate);
private:
@@ -219,6 +219,9 @@ private slots:
void on_disable_flying_button_clicked();
void on_motors_off_button_clicked();
+ // > For the "should coordinate" checkbox
+ void on_shouldCoordinate_checkBox_clicked();
+
};
#endif // COORDINATORROW_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
index a3dd4c1cc808e1c6ae71fe51d99069ad568eeb1d..437aa7ccdd45f7cfedcd4fbc4e92f01fe6c007e1 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
@@ -47,6 +47,7 @@ ConnectStartStopBar::ConnectStartStopBar(QWidget *parent) :
{
ui->setupUi(this);
+
#ifdef CATKIN_MAKE
// Get the namespace of this node
std::string this_namespace = ros::this_node::getNamespace();
@@ -62,6 +63,10 @@ ConnectStartStopBar::ConnectStartStopBar(QWidget *parent) :
ROS_ERROR("[CONNECT START STOP GUI BAR] Node NOT FUNCTIONING :-)");
ros::spin();
}
+#else
+ // Default as a coordinator when compiling with QtCreator
+ m_type = TYPE_COORDINATOR;
+ m_ID = 1;
#endif
// SET THE INITIAL VALUE OF THE PRIVATE VARIABLES FOR THIS CLASS
@@ -132,7 +137,6 @@ ConnectStartStopBar::ConnectStartStopBar(QWidget *parent) :
//loadCrazyflieContext();
}
-
// ADD KEYBOARD SHORTCUTS
// > For "all motors off", press the space bar
ui->motors_off_button->setShortcut(tr("Space"));
@@ -560,6 +564,50 @@ void ConnectStartStopBar::on_motors_off_button_clicked()
+// ----------------------------------------------------------------------------------
+// A GGGG EEEEE N N TTTTT III DDDD SSSS
+// A A G E NN N T I D D S
+// A A G EEE N N N T I D D SSS
+// AAAAA G G E N NN T I D D S
+// A A GGGG EEEEE N N T III DDDD SSSS
+// ----------------------------------------------------------------------------------
+
+
+void ConnectStartStopBar::setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll)
+{
+
+ // Lock the mutex
+ m_agentIDs_toCoordinate_mutex.lock();
+ // Add the "coordinate all" flag
+ m_shouldCoordinateAll = shouldCoordinateAll;
+ // Clear the previous list of agent IDs
+ m_vector_of_agentIDs_toCoordinate.clear();
+ // Copy across the agent IDs, if necessary
+ if (!shouldCoordinateAll)
+ {
+ for ( int irow = 0 ; irow < agentIDs.length() ; irow++ )
+ {
+ m_vector_of_agentIDs_toCoordinate.push_back( agentIDs[irow] );
+ }
+ }
+ // Unlock the mutex
+ m_agentIDs_toCoordinate_mutex.unlock();
+
+#ifdef CATKIN_MAKE
+#else
+ // TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
+ QTextStream(stdout) << "[CONNECT START STOP GUI BAR] is coordinating agentIDs:";
+ for ( int irow = 0 ; irow < agentIDs.length() ; irow++ )
+ {
+ QTextStream(stdout) << " " << agentIDs[irow];
+ }
+ QTextStream(stdout) << " " << endl;
+#endif
+}
+
+
+
+
// ----------------------------------------------------------------------------------
// M M SSSS GGG H H EEEEE A DDDD EEEEE RRRR
@@ -584,8 +632,20 @@ void ConnectStartStopBar::fillIntMessageHeader( d_fall_pps::IntWithHeader & msg
}
case TYPE_COORDINATOR:
{
- msg.shouldCheckForID = true;
- msg.agentIDs.push_back(7);
+ // Lock the mutex
+ m_agentIDs_toCoordinate_mutex.lock();
+ // Add the "coordinate all" flag
+ msg.shouldCheckForID = !(m_shouldCoordinateAll);
+ // Add the agent IDs if necessary
+ if (!m_shouldCoordinateAll)
+ {
+ for ( int irow = 0 ; irow < m_vector_of_agentIDs_toCoordinate.length() ; irow++ )
+ {
+ msg.agentIDs.push_back( m_vector_of_agentIDs_toCoordinate[irow] );
+ }
+ }
+ // Unlock the mutex
+ m_agentIDs_toCoordinate_mutex.unlock();
break;
}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinator.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinator.cpp
index 6c8419a13fd668eeb76e6379b434b047f4fe2297..6e1f52d2143d2a0e66f3ee925192061f5a757e27 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinator.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinator.cpp
@@ -20,6 +20,9 @@ void Coordinator::on_refresh_button_clicked()
// DELETE ALL EXISTING ROWS
remove_all_entries_from_vector_of_coordinatorRows();
+ // Get the state of the "coordinate all" is check box
+ bool shouldCoordinateAll = ui->coordinate_all_checkBox->isChecked();
+
#ifdef CATKIN_MAKE
// USE A REGULAR EXPRESSION TO IDENTIFY NODES THAT EXIST
@@ -56,17 +59,12 @@ void Coordinator::on_refresh_button_clicked()
CoordinatorRow *temp_coordinatorRow = new CoordinatorRow(this,this_agentID);
// Check the box if "coordinate all" is checked
- if (ui->coordinate_all_checkBox->isChecked())
- {
- temp_coordinatorRow->setShouldCoordinate(true);
- }
- else
- {
- temp_coordinatorRow->setShouldCoordinate(false);
- }
+ temp_coordinatorRow->setShouldCoordinate(shouldCoordinateAll);
// Add to the vector of coordinator rows
vector_of_coordinatorRows.append(temp_coordinatorRow);
+ vector_of_shouldCoordinate_perRow.append(shouldCoordinateAll);
+ vector_of_agentID_perRow.append(this_agentID);
ui->coordinated_agents_scrollAreaWidgetContents->layout()->addWidget(temp_coordinatorRow);
}
@@ -81,22 +79,26 @@ void Coordinator::on_refresh_button_clicked()
CoordinatorRow *temp_coordinatorRow = new CoordinatorRow(this,i_agent);
// Check the box if "coordinate all" is checked
- if (ui->coordinate_all_checkBox->isChecked())
- {
- temp_coordinatorRow->setShouldCoordinate(true);
- }
- else
- {
- temp_coordinatorRow->setShouldCoordinate(false);
- }
+ temp_coordinatorRow->setShouldCoordinate(shouldCoordinateAll);
+
+ // Connect the "should coordinate value changed" signal to
+ // the respective slot
+ QObject::connect(
+ temp_coordinatorRow , &CoordinatorRow::shouldCoordinateThisAgentValueChanged ,
+ this , &Coordinator::setShouldCoordinateThisAgent
+ );
// Add to the vector of coordinator rows
vector_of_coordinatorRows.append(temp_coordinatorRow);
+ vector_of_shouldCoordinate_perRow.append(shouldCoordinateAll);
+ vector_of_agentID_perRow.append(i_agent);
ui->coordinated_agents_scrollAreaWidgetContents->layout()->addWidget(temp_coordinatorRow);
}
#endif
+ // Send out a signal with the current IDs to coordinate
+ emit_signal_with_agentIDs_toCoordinate();
// Call the function that applies this level
// of detail to all the entries
@@ -134,6 +136,9 @@ void Coordinator::on_delete_button_clicked()
{
// Call the function that performs the task requested
remove_all_entries_from_vector_of_coordinatorRows();
+
+ // Send out a signal with the current IDs to coordinate
+ emit_signal_with_agentIDs_toCoordinate();
}
void Coordinator::remove_all_entries_from_vector_of_coordinatorRows()
@@ -144,6 +149,8 @@ void Coordinator::remove_all_entries_from_vector_of_coordinatorRows()
}
// Clear the vector
vector_of_coordinatorRows.clear();
+ vector_of_shouldCoordinate_perRow.clear();
+ vector_of_agentID_perRow.clear();
}
void Coordinator::apply_level_of_detail_to_all_entries(int level)
@@ -164,5 +171,80 @@ void Coordinator::on_coordinate_all_checkBox_clicked()
for ( int irow = 0 ; irow < vector_of_coordinatorRows.length() ; irow++ )
{
vector_of_coordinatorRows[irow]->setShouldCoordinate( shouldCoordinateAll );
+ vector_of_shouldCoordinate_perRow[irow] = shouldCoordinateAll;
+ }
+
+ // Send out a signal with the current IDs to coordinate
+ emit_signal_with_agentIDs_toCoordinate();
+}
+
+
+void Coordinator::setShouldCoordinateThisAgent(int agentID , bool shouldCoordinate)
+{
+ // Find the row with the matching ID, and update the "shouldCoordinate" vector
+ for ( int irow = 0 ; irow < vector_of_agentID_perRow.length() ; irow++ )
+ {
+ if (vector_of_agentID_perRow[irow] == agentID)
+ {
+ vector_of_shouldCoordinate_perRow[irow] = shouldCoordinate;
+ break;
+ }
+ }
+
+ // Update the "Coordinate All Check Box" as appropriate
+ bool shouldCoordinateAll = true;
+ if (!shouldCoordinate)
+ {
+ shouldCoordinateAll = false;
}
+ else
+ {
+ for ( int irow = 0 ; irow < vector_of_shouldCoordinate_perRow.length() ; irow++ )
+ {
+ if (!(vector_of_shouldCoordinate_perRow[irow]))
+ {
+ shouldCoordinateAll = false;
+ break;
+ }
+ }
+ }
+ ui->coordinate_all_checkBox->setChecked(shouldCoordinateAll);
+
+ // Send out a signal with the current IDs to coordinate
+ emit_signal_with_agentIDs_toCoordinate();
+}
+
+void Coordinator::emit_signal_with_agentIDs_toCoordinate()
+{
+ // Initilise a boolean for whether to coordinate all
+ bool shouldCoordinateAll = true;
+ // Send out a signal with the current IDs to coordinate
+ QVector<int> agentIDsToCoordinate;
+ for ( int irow = 0 ; irow < vector_of_shouldCoordinate_perRow.length() ; irow++ )
+ {
+ if (vector_of_shouldCoordinate_perRow[irow])
+ {
+ agentIDsToCoordinate.append(vector_of_agentID_perRow[irow]);
+ }
+ else
+ {
+ shouldCoordinateAll = false;
+ }
+ }
+ emit agentIDsToCoordinateChanged( agentIDsToCoordinate , shouldCoordinateAll );
+
+
+#ifdef CATKIN_MAKE
+#else
+ // TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
+ QTextStream(stdout) << "[COORDINATOR] is coordinating agentIDs:";
+ for ( int irow = 0 ; irow < vector_of_shouldCoordinate_perRow.length() ; irow++ )
+ {
+ if (vector_of_shouldCoordinate_perRow[irow])
+ {
+ QTextStream(stdout) << " " << vector_of_agentID_perRow[irow];
+ }
+ }
+ QTextStream(stdout) << " " << endl;
+#endif
}
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 31a0e1a4fb75eee3b897fcb6e1f748a2428d1ad1..fe437e64eb2940e5ed3f09222a43b4f8c4ef522a 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
@@ -741,3 +741,12 @@ void CoordinatorRow::on_motors_off_button_clicked()
this->flyingStateCommandPublisher.publish(msg);
#endif
}
+
+void CoordinatorRow::on_shouldCoordinate_checkBox_clicked()
+{
+ // Get the state of the "should coordinate" check box
+ bool shouldCoordinate = ui->shouldCoordinate_checkBox->isChecked();
+
+ // Send out a signal with this information
+ emit shouldCoordinateThisAgentValueChanged( m_agentID , shouldCoordinate );
+}
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 3d839967ad11558718ade9b284ba6d8cc5daeb81..b744a9a40f39d3cbaa00afaf94fbdd93c0c240c7 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
@@ -93,6 +93,15 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
}
#endif
+ // CONNECT TO THE COORDINATOR SIGNAL TO BE ALWAYS UPDATED
+ // WITH THE LIST OF AGENT IDs TO COORDINATE
+ // Connect the "should coordinate value changed" signal to
+ // the respective slot
+ QObject::connect(
+ ui->customWidget_coordinator , &Coordinator::agentIDsToCoordinateChanged ,
+ ui->customWidget_connectStartStopBar , &ConnectStartStopBar::setAgentIDsToCoordinate
+ );
+
}
MainWindow::~MainWindow()
@@ -255,4 +264,4 @@ bool MainWindow::getTypeAndIDParameters()
// Return
return return_was_successful;
}
-#endif
\ No newline at end of file
+#endif