Connected the Qt Slots and Signals from the Coordinator Row through to the ConnectStartStop bar

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

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;
 };

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

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;
         }
 

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
 }

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 );
+}

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