diff --git a/.gitignore b/.gitignore
index 52c7ef3528c7aa225ae1e2d12712c10e908eca52..86b1b272b491f6743a1a21680c4aaed917b03b4e 100755
--- a/.gitignore
+++ b/.gitignore
@@ -4,6 +4,7 @@ pps_ws/devel/
pps_ws/src/d_fall_pps/lib/vicon/
pps_ws/src/d_fall_pps/include/DataStreamClient.h
+pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/*.pro.user
*.pyc
*.orig
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
new file mode 100644
index 0000000000000000000000000000000000000000..0c6a4bb5251e92447543141fb6f0cb3cdf51b7b0
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro
@@ -0,0 +1,48 @@
+#-------------------------------------------------
+#
+# Project created by QtCreator 2018-04-26T16:04:19
+#
+#-------------------------------------------------
+
+QT += core gui
+
+greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
+
+#greaterThan(QT_MAJOR_VERSION, 4): QT += svg
+
+TARGET = flyingAgentGUI
+TEMPLATE = app
+
+INCLUDEPATH += $$PWD/include
+CONFIG += c++11
+
+SOURCES += src/main.cpp\
+ src/mainwindow.cpp \
+ src/topbanner.cpp \
+ src/connectstartstopbar.cpp \
+ src/enablecontrollerloadyamlbar.cpp \
+ src/controllertabs.cpp \
+ src/safecontrollertab.cpp \
+ src/coordinator.cpp \
+ src/coordinatorrow.cpp
+
+HEADERS += include/mainwindow.h \
+ include/topbanner.h \
+ include/connectstartstopbar.h \
+ include/enablecontrollerloadyamlbar.h \
+ include/controllertabs.h \
+ include/safecontrollertab.h \
+ include/coordinator.h \
+ include/coordinatorrow.h
+
+FORMS += forms/mainwindow.ui \
+ forms/topbanner.ui \
+ forms/connectstartstopbar.ui \
+ forms/enablecontrollerloadyamlbar.ui \
+ forms/controllertabs.ui \
+ forms/safecontrollertab.ui \
+ forms/coordinator.ui \
+ forms/coordinatorrow.ui
+
+RESOURCES += \
+ flyingagentgui.qrc
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingagentgui.qrc b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingagentgui.qrc
new file mode 100644
index 0000000000000000000000000000000000000000..0f6e7d8eebb915c0f0f16522394150bbc2d84ec1
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/flyingagentgui.qrc
@@ -0,0 +1,19 @@
+<RCC>
+ <qresource prefix="/">
+ <file>images/battery_20.png</file>
+ <file>images/battery_40.png</file>
+ <file>images/battery_60.png</file>
+ <file>images/battery_80.png</file>
+ <file>images/battery_empty.png</file>
+ <file>images/battery_full.png</file>
+ <file>images/rf_connected.png</file>
+ <file>images/rf_connecting.png</file>
+ <file>images/rf_disconnected.png</file>
+ <file>images/battery_unknown.png</file>
+ <file>images/flying_state_disabling.png</file>
+ <file>images/flying_state_enabling.png</file>
+ <file>images/flying_state_flying.png</file>
+ <file>images/flying_state_off.png</file>
+ <file>images/flying_state_unknown.png</file>
+ </qresource>
+</RCC>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/connectstartstopbar.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/connectstartstopbar.ui
new file mode 100644
index 0000000000000000000000000000000000000000..c08c3341678b5e68eb2f9d7738f786fb1a9be3c2
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/connectstartstopbar.ui
@@ -0,0 +1,286 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ConnectStartStopBar</class>
+ <widget class="QWidget" name="ConnectStartStopBar">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1791</width>
+ <height>300</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ </font>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <property name="spacing">
+ <number>6</number>
+ </property>
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item>
+ <widget class="QPushButton" name="rf_disconnect_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>750</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Disconnect</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="rf_status_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>95</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>95</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="rf_connect_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>750</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Connect</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="battery_voltage_lineEdit">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>180</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>180</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>-.-- V</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="battery_status_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>50</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>50</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="take_off_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>750</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Take off</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="land_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>750</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Land</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="flying_state_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>90</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>90</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="motors_off_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>750</width>
+ <height>70</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Motors OFF</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
new file mode 100644
index 0000000000000000000000000000000000000000..3f072f66d0807b9f77cbe9d54a5abf2bd4500a00
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui
@@ -0,0 +1,72 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ControllerTabs</class>
+ <widget class="QWidget" name="ControllerTabs">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1150</width>
+ <height>718</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ </font>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <widget class="QTabWidget" name="controller_tabs_widget">
+ <property name="currentIndex">
+ <number>0</number>
+ </property>
+ <widget class="QWidget" name="safe_tab">
+ <attribute name="title">
+ <string>Safe</string>
+ </attribute>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="0" column="0">
+ <widget class="SafeControllerTab" name="widget" native="true"/>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="demo_tab">
+ <attribute name="title">
+ <string>Demo</string>
+ </attribute>
+ </widget>
+ <widget class="QWidget" name="student_tab">
+ <attribute name="title">
+ <string>Student</string>
+ </attribute>
+ </widget>
+ <widget class="QWidget" name="mpc_tab">
+ <attribute name="title">
+ <string>MPC</string>
+ </attribute>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <customwidgets>
+ <customwidget>
+ <class>SafeControllerTab</class>
+ <extends>QWidget</extends>
+ <header>safecontrollertab.h</header>
+ <container>1</container>
+ </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/coordinator.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/coordinator.ui
new file mode 100644
index 0000000000000000000000000000000000000000..7969a64d19de84b40effb73e6dfe7357500504d4
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/coordinator.ui
@@ -0,0 +1,103 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Coordinator</class>
+ <widget class="QWidget" name="Coordinator">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>603</width>
+ <height>1050</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ </font>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <item>
+ <widget class="QLabel" name="coordintor_title_label">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Coordinator</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="coordinator_id_label">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>ID = </string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="refresh_button">
+ <property name="text">
+ <string>Refresh</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="delete_button">
+ <property name="text">
+ <string>Delete</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QCheckBox" name="coordinate_all_checkBox">
+ <property name="styleSheet">
+ <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ </property>
+ <property name="text">
+ <string>Coordinate All</string>
+ </property>
+ <property name="checked">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QScrollArea" name="coordinated_agents_scrollArea">
+ <property name="widgetResizable">
+ <bool>true</bool>
+ </property>
+ <widget class="QWidget" name="coordinated_agents_scrollAreaWidgetContents">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>571</width>
+ <height>744</height>
+ </rect>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout_for_coordinatedAgentsScrollArea"/>
+ </widget>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/coordinatorrow.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/coordinatorrow.ui
new file mode 100644
index 0000000000000000000000000000000000000000..0fce7b313c6fcd4dd92feae9e0c9018d4f3a151c
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/coordinatorrow.ui
@@ -0,0 +1,295 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>CoordinatorRow</class>
+ <widget class="QWidget" name="CoordinatorRow">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1567</width>
+ <height>72</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ </font>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <property name="spacing">
+ <number>15</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>12</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item>
+ <widget class="QCheckBox" name="shouldCoordinate_checkBox">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>120</width>
+ <height>40</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>40</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ </font>
+ </property>
+ <property name="styleSheet">
+ <string notr="true">QCheckBox::indicator{ width:40px ; height:40px }</string>
+ </property>
+ <property name="text">
+ <string>XXX</string>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="rf_disconnect_button">
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>RF-DIS</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="rf_status_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>70</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>70</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="rf_connect_button">
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>RF-CON</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLineEdit" name="battery_voltage_lineEdit">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>160</width>
+ <height>60</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <family>Courier</family>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>-.-- V</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="battery_status_label">
+ <property name="minimumSize">
+ <size>
+ <width>50</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>50</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="enable_flying_button">
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>EN</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="disable_flying_button">
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>DIS</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="flying_state_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>70</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>70</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="text">
+ <string/>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QPushButton" name="motors_off_button">
+ <property name="minimumSize">
+ <size>
+ <width>0</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>50</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>OFF</string>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QLabel" name="controller_enabled_label">
+ <property name="text">
+ <string>Controller</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
new file mode 100644
index 0000000000000000000000000000000000000000..38bee8ad39c58b1ad5550f68edc433e7c5b657ff
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/enablecontrollerloadyamlbar.ui
@@ -0,0 +1,409 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>EnableControllerLoadYamlBar</class>
+ <widget class="QWidget" name="EnableControllerLoadYamlBar">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>595</width>
+ <height>561</height>
+ </rect>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ </font>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <widget class="QLabel" name="enable_controller_top_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Enable</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="load_yaml_top_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Load</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QPushButton" name="load_yaml_demo_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Demo</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QPushButton" name="enable_demo_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Demo</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QPushButton" name="load_yaml_safe_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Safe</string>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QPushButton" name="enable_safe_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Safe</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="enable_controller_bot_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Controller</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLabel" name="load_yaml_bot_label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Minimum">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>YAML</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QPushButton" name="enable_student_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Student</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="1">
+ <widget class="QPushButton" name="load_yaml_student_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Student</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QPushButton" name="enable_mpc_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>MPC</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QPushButton" name="load_yaml_mpc_button">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="minimumSize">
+ <size>
+ <width>160</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>220</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>MPC</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui
new file mode 100644
index 0000000000000000000000000000000000000000..cbad976ebfa34732af756b842abeffc81af01899
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/mainwindow.ui
@@ -0,0 +1,209 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1862</width>
+ <height>839</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>MainWindow</string>
+ </property>
+ <widget class="QWidget" name="centralWidget">
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <layout class="QHBoxLayout" name="horizontalLayout_2">
+ <property name="spacing">
+ <number>6</number>
+ </property>
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item>
+ <widget class="Coordinator" name="customWidget_coordinator" native="true">
+ <property name="minimumSize">
+ <size>
+ <width>900</width>
+ <height>0</height>
+ </size>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>1500</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QVBoxLayout" name="verticalLayout_2">
+ <property name="spacing">
+ <number>6</number>
+ </property>
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item>
+ <widget class="TopBanner" name="customWidget_topBanner" native="true">
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>120</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="ConnectStartStopBar" name="customWidget_connectStartStopBar" native="true">
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>120</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout">
+ <property name="spacing">
+ <number>6</number>
+ </property>
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item>
+ <widget class="ControllerTabs" name="customWidget_controller_tabs" native="true">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="EnableControllerLoadYamlBar" name="customWidget_enableControllerLoadYamlBar" native="true">
+ <property name="enabled">
+ <bool>true</bool>
+ </property>
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>500</width>
+ <height>16777215</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QMenuBar" name="menuBar">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1862</width>
+ <height>37</height>
+ </rect>
+ </property>
+ <widget class="QMenu" name="menuFile">
+ <property name="title">
+ <string>File</string>
+ </property>
+ <addaction name="actionShowHide_Coordinator"/>
+ </widget>
+ <addaction name="menuFile"/>
+ </widget>
+ <widget class="QToolBar" name="mainToolBar">
+ <attribute name="toolBarArea">
+ <enum>TopToolBarArea</enum>
+ </attribute>
+ <attribute name="toolBarBreak">
+ <bool>false</bool>
+ </attribute>
+ </widget>
+ <widget class="QStatusBar" name="statusBar"/>
+ <action name="actionShowHide_Coordinator">
+ <property name="text">
+ <string>Hide Coordinator</string>
+ </property>
+ </action>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <customwidgets>
+ <customwidget>
+ <class>TopBanner</class>
+ <extends>QWidget</extends>
+ <header location="global">topbanner.h</header>
+ <container>1</container>
+ </customwidget>
+ <customwidget>
+ <class>ConnectStartStopBar</class>
+ <extends>QWidget</extends>
+ <header location="global">connectstartstopbar.h</header>
+ <container>1</container>
+ </customwidget>
+ <customwidget>
+ <class>EnableControllerLoadYamlBar</class>
+ <extends>QWidget</extends>
+ <header>enablecontrollerloadyamlbar.h</header>
+ <container>1</container>
+ </customwidget>
+ <customwidget>
+ <class>ControllerTabs</class>
+ <extends>QWidget</extends>
+ <header>controllertabs.h</header>
+ <container>1</container>
+ </customwidget>
+ <customwidget>
+ <class>Coordinator</class>
+ <extends>QWidget</extends>
+ <header>coordinator.h</header>
+ <container>1</container>
+ </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/safecontrollertab.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/safecontrollertab.ui
new file mode 100644
index 0000000000000000000000000000000000000000..eecb384b5b36ef592c01a6f29ccef1a20022c7f7
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/safecontrollertab.ui
@@ -0,0 +1,281 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>SafeControllerTab</class>
+ <widget class="QWidget" name="SafeControllerTab">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>924</width>
+ <height>631</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>16</pointsize>
+ </font>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="4" column="1">
+ <widget class="QLineEdit" name="lineEdit_measured_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>250</width>
+ <height>80</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label_measured_yaw">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>yaw [deg]</string>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="1">
+ <widget class="QLineEdit" name="lineEdit_measured_roll">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>250</width>
+ <height>80</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QLabel" name="label_measured_pitch">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>pitch [deg]</string>
+ </property>
+ </widget>
+ </item>
+ <item row="0" column="1">
+ <widget class="QLabel" name="label">
+ <property name="font">
+ <font>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="text">
+ <string>Measured</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="1">
+ <spacer name="verticalSpacer">
+ <property name="orientation">
+ <enum>Qt::Vertical</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>20</width>
+ <height>40</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="lineEdit_measured_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>250</width>
+ <height>80</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_measured_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>x [m]</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1">
+ <widget class="QLineEdit" name="lineEdit_measured_pitch">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>250</width>
+ <height>80</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="0">
+ <widget class="QLabel" name="label_measured_y">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>y [m]</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_measured_z">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>z [m]</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLineEdit" name="lineEdit_measured_x">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>250</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="autoFillBackground">
+ <bool>false</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="2" column="1">
+ <widget class="QLineEdit" name="lineEdit_measured_y">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>250</width>
+ <height>80</height>
+ </size>
+ </property>
+ </widget>
+ </item>
+ <item row="6" column="0">
+ <widget class="QLabel" name="label_measured_roll">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>80</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>roll [deg]</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="2">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/topbanner.ui b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/topbanner.ui
new file mode 100644
index 0000000000000000000000000000000000000000..486f7235de0c57b4f08176daa3d7428627a2f2d1
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/forms/topbanner.ui
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>TopBanner</class>
+ <widget class="QWidget" name="TopBanner">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>1049</width>
+ <height>300</height>
+ </rect>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>20</pointsize>
+ <weight>75</weight>
+ <bold>true</bold>
+ </font>
+ </property>
+ <property name="windowTitle">
+ <string>Form</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout_2">
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout">
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <property name="spacing">
+ <number>6</number>
+ </property>
+ <item row="0" column="0">
+ <widget class="QLabel" name="top_banner_label">
+ <property name="maximumSize">
+ <size>
+ <width>16777215</width>
+ <height>120</height>
+ </size>
+ </property>
+ <property name="text">
+ <string>Flying Agent Graphical User Interface</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_20.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_20.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc7ae62ab7c662f7cf3e098e713232d2d6e0ae14
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diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_40.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_40.png
new file mode 100644
index 0000000000000000000000000000000000000000..cea5ab35b9605910112dd8a7e2eda371c430894b
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diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_60.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_60.png
new file mode 100644
index 0000000000000000000000000000000000000000..1f75257c3c1f44fc10f318274741942916b47b70
Binary files /dev/null and b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_60.png differ
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_80.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_80.png
new file mode 100644
index 0000000000000000000000000000000000000000..8224e7e1e2ed8e251f37f802b14ce4ebd9027f35
Binary files /dev/null and b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_80.png differ
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_empty.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_empty.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bf35549aab7c7c0247cebd69a176d68ea67387c
Binary files /dev/null and b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_empty.png differ
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_full.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_full.png
new file mode 100644
index 0000000000000000000000000000000000000000..495383be5e346e624d7a92670fcf9ddb053f99ef
Binary files /dev/null and b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_full.png differ
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_unknown.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_unknown.png
new file mode 100644
index 0000000000000000000000000000000000000000..e20348f65a39bac7c0e40a2a4c0b338ef018dc03
Binary files /dev/null and b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/battery_unknown.png differ
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_disabling.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_disabling.png
new file mode 100644
index 0000000000000000000000000000000000000000..667c8027f2b902f08f8e81d3120599a5ed151d48
Binary files /dev/null and b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_disabling.png differ
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_enabling.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_enabling.png
new file mode 100644
index 0000000000000000000000000000000000000000..ef2dc5bffa6d27edbb6c6ff1171cd77a5af5c20a
Binary files /dev/null and b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_enabling.png differ
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_flying.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_flying.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0b51f3d42edbfad9f875c1faa413391c4f21de9
Binary files /dev/null and b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_flying.png differ
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_off.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_off.png
new file mode 100644
index 0000000000000000000000000000000000000000..70669664f07c12ef27a41f5b5fb918aff93da688
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diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_unknown.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/flying_state_unknown.png
new file mode 100644
index 0000000000000000000000000000000000000000..5c0c7337a103e5726af53def62e37ad22209c972
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diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/rf_connected.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/rf_connected.png
new file mode 100644
index 0000000000000000000000000000000000000000..f9f3580113053f71fe86344e6f34a74e98c17b70
Binary files /dev/null and b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/rf_connected.png differ
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/rf_connecting.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/rf_connecting.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f1d4ca1b48496ecf1372e1a0f727058bbc24d95
Binary files /dev/null and b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/rf_connecting.png differ
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/rf_disconnected.png b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/rf_disconnected.png
new file mode 100644
index 0000000000000000000000000000000000000000..0e99e624009059328820b317c908d337caf55ddc
Binary files /dev/null and b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/images/rf_disconnected.png differ
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
new file mode 100644
index 0000000000000000000000000000000000000000..285a788cf615b237c87579fb06e546b06e7a0e5d
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h
@@ -0,0 +1,28 @@
+#ifndef CONNECTSTARTSTOPBAR_H
+#define CONNECTSTARTSTOPBAR_H
+
+#include <QWidget>
+
+//#include <QGraphicsSvgItem>
+//#include <QSvgRenderer>
+
+namespace Ui {
+class ConnectStartStopBar;
+}
+
+class ConnectStartStopBar : public QWidget
+{
+ Q_OBJECT
+
+public:
+ explicit ConnectStartStopBar(QWidget *parent = 0);
+ ~ConnectStartStopBar();
+
+private slots:
+ void on_rf_disconnect_button_clicked();
+
+private:
+ Ui::ConnectStartStopBar *ui;
+};
+
+#endif // CONNECTSTARTSTOPBAR_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h
new file mode 100644
index 0000000000000000000000000000000000000000..3ce7749754833f1c8d0bae089553dec71bee9520
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/controllertabs.h
@@ -0,0 +1,22 @@
+#ifndef CONTROLLERTABS_H
+#define CONTROLLERTABS_H
+
+#include <QWidget>
+
+namespace Ui {
+class ControllerTabs;
+}
+
+class ControllerTabs : public QWidget
+{
+ Q_OBJECT
+
+public:
+ explicit ControllerTabs(QWidget *parent = 0);
+ ~ControllerTabs();
+
+private:
+ Ui::ControllerTabs *ui;
+};
+
+#endif // CONTROLLERTABS_H
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
new file mode 100644
index 0000000000000000000000000000000000000000..11092332bbe7137d4f61890fa59ca084e5dae5f5
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinator.h
@@ -0,0 +1,35 @@
+#ifndef COORDINATOR_H
+#define COORDINATOR_H
+
+#include "coordinatorrow.h"
+
+#include <QWidget>
+#include <QVector>
+
+namespace Ui {
+class Coordinator;
+}
+
+class Coordinator : public QWidget
+{
+ Q_OBJECT
+
+public:
+ explicit Coordinator(QWidget *parent = 0);
+ ~Coordinator();
+
+private:
+ QVector<CoordinatorRow*> vector_of_coordinatorRows;
+
+private slots:
+ void on_refresh_button_clicked();
+
+ void on_delete_button_clicked();
+
+ void on_coordinate_all_checkBox_clicked();
+
+private:
+ Ui::Coordinator *ui;
+};
+
+#endif // COORDINATOR_H
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
new file mode 100644
index 0000000000000000000000000000000000000000..85602b0a82ee0c9d1b71494d9605c582c04a4e77
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h
@@ -0,0 +1,253 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Coordinator Row GUI heder.
+//
+// ----------------------------------------------------------------------------------
+
+
+#ifndef COORDINATORROW_H
+#define COORDINATORROW_H
+
+#include <string>
+#include <QWidget>
+#include <QMutex>
+
+#ifdef CATKIN_MAKE
+#include <std_msgs/Int32.h>
+#include <std_msgs/Float32.h>
+
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+
+#include "d_fall_pps/CrazyflieContext.h"
+#include "d_fall_pps/CMQuery.h"
+#endif
+
+// TYPES OF CONTROLLER BEING USED
+#define SAFE_CONTROLLER 1
+#define DEMO_CONTROLLER 2
+#define STUDENT_CONTROLLER 3
+#define MPC_CONTROLLER 4
+#define REMOTE_CONTROLLER 5
+#define TUNING_CONTROLLER 6
+
+// COMMANDS FOR CRAZYRADIO
+#define CMD_RECONNECT 0
+#define CMD_DISCONNECT 1
+
+// CRAZYRADIO STATES
+#define CONNECTED 0
+#define CONNECTING 1
+#define DISCONNECTED 2
+
+// COMMANDS FOR THE FLYING STATE/CONTROLLER USED
+// The constants that "command" changes in the
+// operation state of this agent. These "commands"
+// are sent from this GUI node to the "PPSClient"
+// node where the command is enacted
+#define CMD_USE_SAFE_CONTROLLER 1
+#define CMD_USE_DEMO_CONTROLLER 2
+#define CMD_USE_STUDENT_CONTROLLER 3
+#define CMD_USE_MPC_CONTROLLER 4
+#define CMD_USE_REMOTE_CONTROLLER 5
+#define CMD_USE_TUNING_CONTROLLER 6
+
+#define CMD_CRAZYFLY_TAKE_OFF 11
+#define CMD_CRAZYFLY_LAND 12
+#define CMD_CRAZYFLY_MOTORS_OFF 13
+
+// FLYING STATES
+#define STATE_MOTORS_OFF 1
+#define STATE_TAKE_OFF 2
+#define STATE_FLYING 3
+#define STATE_LAND 4
+
+// BATTERY STATES
+#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
+
+
+namespace Ui {
+class CoordinatorRow;
+}
+
+class CoordinatorRow : public QWidget
+{
+ Q_OBJECT
+
+public:
+ explicit CoordinatorRow(QWidget *parent = 0, int agentID = 0);
+ ~CoordinatorRow();
+
+ // PUBLIC METHODS FOR SETTING PROPERTIES
+ // > Set the state of the checkbox
+ void setShouldCoordinate(bool shouldCoordinate);
+
+private:
+ // --------------------------------------------------- //
+ // PRIVATE VARIABLES
+ Ui::CoordinatorRow *ui;
+
+ // > For the ID of which agent this "coordinator row" relates to
+ int my_agentID;
+ // > For using the agent ID in constructing namespaces
+ QString my_agentID_as_string;
+
+ // > For keeping track of the current RF Crazyradio state
+ int my_radio_status;
+ // > For keeping track of the current battery state
+ int my_battery_state;
+ // > For keeping track of which image is currently displayed
+ int my_battery_status_label_image_current_index;
+ // > For keeping track of the current operating state
+ int my_flying_state;
+
+ // MUTEX FOR HANDLING ACCESS
+ // > For the "rf_status_label" UI element
+ QMutex my_rf_status_label_mutex;
+ // > For the "my_battery_state" variable
+ QMutex my_battery_state_mutex;
+ // > For the "battery_voltage_lineEdit" UI element
+ QMutex my_battery_voltage_lineEdit_mutex;
+ // > For the "battery_status_label" UI element
+ QMutex my_battery_status_label_mutex;
+ // > For the "my_flying_state" variable
+ QMutex my_flying_state_mutex;
+
+ // BATTERY VOLTAGE LIMITS (THESE SHOULD BE READ IN AS PARAMTERS)
+ // > When in a "standby" type of state
+ float battery_voltage_standby_empty;
+ float battery_voltage_standby_full;
+ // > When in a "flying" type of state
+ float battery_voltage_flying_empty;
+ float battery_voltage_flying_full;
+
+
+ // --------------------------------------------------- //
+ // PRIVATE FUNCTIONS
+
+ // > For updating the RF Radio status shown in the UI element of "rf_status_label"
+ void setCrazyRadioStatus(int radio_status);
+ // > For updating the battery state
+ void setBatteryState(int new_battery_state);
+ // > For updating the battery voltage shown in the UI elements of "battery_voltage_lineEdit" and "battery_status_label"
+ void setBatteryVoltageTextAndImage(float battery_voltage);
+ void setBatteryVoltageText(float battery_voltage);
+ void setBatteryVoltageImage(float battery_voltage);
+ // > For converting a voltage to a percentage, depending on the current "my_flying_state" value
+ float fromVoltageToPercent(float voltage);
+ // > For making the "enable flight" and "disable flight" buttons (un-)available
+ void disableFlyingStateButtons();
+ void enableFlyingStateButtons();
+ // > For updating the "my_flying_state" variable, and the UI element of "flying_state_label"
+ void setFlyingState(int new_flying_state);
+ // > For loading the "context" for this agent, i.e., the {agentID,cfID,flying zone} tuple
+ void loadCrazyflieContext();
+ // > For updating the text in the UI element of "controller_enabled_label"
+ void setControllerEnabled(int new_controller);
+
+
+
+#ifdef CATKIN_MAKE
+ // --------------------------------------------------- //
+ // PRIVATE VARIABLES FOR ROS
+
+ // > For running this is a ROS node thread
+ //rosNodeThread* myrosNodeThread;
+
+ // > For the namespace of this node
+ std::string my_ros_namespace;
+
+ // > For the "context" of this agent
+ CrazyflieContext my_context;
+
+ // PUBLISHERS AND SUBSRIBERS
+ // > For Crazyradio commands based on button clicks
+ ros::Publisher crazyRadioCommandPublisher;
+ // > For updating the "rf_status_label" picture
+ ros::Subscriber crazyRadioStatusSubscriber;
+ // > For updating the current battery voltage
+ ros::Subscriber batteryVoltageSubscriber;
+ // > For updating the current battery state
+ ros::Subscriber batteryStateSubscriber;
+ // > For Flying state commands based on button clicks
+ ros::Publisher flyingStateCommandPublisher;
+ // > For updating the "flying_state_label" picture
+ ros::Subscriber flyingStateSubscriber;
+ // > For changes in the database that defines {agentID,cfID,flying zone} links
+ ros::Subscriber databaseChangedSubscriber;
+ ros::ServiceClient centralManagerDatabaseService;
+ // > For updating the controller that is currently operating
+ ros::Subscriber controllerUsedSubscriber;
+
+
+ // --------------------------------------------------- //
+ // PRIVATE CALLBACKS IN RESPONSE TO ROS MESSAGES
+
+ // > For the CrazyRadio status, received on the "crazyRadioStatusSubscriber"
+ void crazyRadioStatusCallback(const std_msgs::Int32& msg);
+ // > For the Battery Voltage, received on the "batteryVoltageSubscriber"
+ void batteryVoltageCallback(const std_msgs::Float32& msg);
+ // > For the Battery State, receieved on the "batteryStateSubscriber"
+ void batteryStateChangedCallback(const std_msgs::Int32& msg);
+ // > For the Flying State, received on the "flyingStateSubscriber"
+ void flyingStateChangedCallback(const std_msgs::Int32& msg);
+ // > For the notification that the database was changes, received on the "DatabaseChangedSubscriber"
+ void databaseChangedCallback(const std_msgs::Int32& msg);
+ // > For the controller currently operating, received on "controllerUsedSubscriber"
+ void controllerUsedChangedCallback(const std_msgs::Int32& msg);
+
+
+#endif
+
+
+
+private slots:
+
+ // PRIVATE METHODS FOR BUTTON CALLBACKS
+ // > For the RF Crazyradio connect/disconnect buttons
+ void on_rf_connect_button_clicked();
+ void on_rf_disconnect_button_clicked();
+ // > For the enable, disable, motors-off buttons
+ void on_enable_flying_button_clicked();
+ void on_disable_flying_button_clicked();
+ void on_motors_off_button_clicked();
+
+};
+
+#endif // COORDINATORROW_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
new file mode 100644
index 0000000000000000000000000000000000000000..9ef5f5338135cc83fcff19bd3a665af381bfea74
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h
@@ -0,0 +1,36 @@
+#ifndef ENABLECONTROLLERLOADYAMLBAR_H
+#define ENABLECONTROLLERLOADYAMLBAR_H
+
+#include <QWidget>
+
+namespace Ui {
+class EnableControllerLoadYamlBar;
+}
+
+class EnableControllerLoadYamlBar : public QWidget
+{
+ Q_OBJECT
+
+public:
+ explicit EnableControllerLoadYamlBar(QWidget *parent = 0);
+ ~EnableControllerLoadYamlBar();
+
+private slots:
+
+ // ENABLE CONTROLLER BUTTONS ON-CLICK CALLBACK
+ void on_enable_safe_button_clicked();
+ void on_enable_demo_button_clicked();
+ void on_enable_student_button_clicked();
+ void on_enable_mpc_button_clicked();
+
+ // LOAD YAML BUTTONS ON-CLICK CALLBACK
+ void on_load_yaml_safe_button_clicked();
+ void on_load_yaml_demo_button_clicked();
+ void on_load_yaml_student_button_clicked();
+ void on_load_yaml_mpc_button_clicked();
+
+private:
+ Ui::EnableControllerLoadYamlBar *ui;
+};
+
+#endif // ENABLECONTROLLERLOADYAMLBAR_H
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
new file mode 100644
index 0000000000000000000000000000000000000000..d70ce302f75ce456216e7aeefc1bc6fb3f2553e9
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/mainwindow.h
@@ -0,0 +1,70 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Coordinator GUI main window header.
+//
+// ----------------------------------------------------------------------------------
+
+
+#ifndef MAINWINDOW_H
+#define MAINWINDOW_H
+
+#include <QMainWindow>
+#include <QShortcut>
+
+#ifdef CATKIN_MAKE
+#include "rosNodeThread.h"
+#endif
+
+
+namespace Ui {
+class MainWindow;
+}
+
+class MainWindow : public QMainWindow
+{
+ Q_OBJECT
+
+public:
+ explicit MainWindow(int argc, char **argv, QWidget *parent = 0);
+ ~MainWindow();
+
+private slots:
+ void on_actionShowHide_Coordinator_triggered();
+
+private:
+ Ui::MainWindow *ui;
+
+ QShortcut* m_close_GUI_shortcut;
+
+#ifdef CATKIN_MAKE
+ rosNodeThread* m_rosNodeThread;
+#endif
+
+};
+
+#endif // MAINWINDOW_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/safecontrollertab.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/safecontrollertab.h
new file mode 100644
index 0000000000000000000000000000000000000000..7903ad85883dc451fb33ebde6192a67458ea7131
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/safecontrollertab.h
@@ -0,0 +1,22 @@
+#ifndef SAFECONTROLLERTAB_H
+#define SAFECONTROLLERTAB_H
+
+#include <QWidget>
+
+namespace Ui {
+class SafeControllerTab;
+}
+
+class SafeControllerTab : public QWidget
+{
+ Q_OBJECT
+
+public:
+ explicit SafeControllerTab(QWidget *parent = 0);
+ ~SafeControllerTab();
+
+private:
+ Ui::SafeControllerTab *ui;
+};
+
+#endif // SAFECONTROLLERTAB_H
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h
new file mode 100644
index 0000000000000000000000000000000000000000..684801fb3bf0efc91590f1421715ddda53862294
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/topbanner.h
@@ -0,0 +1,22 @@
+#ifndef TOPBANNER_H
+#define TOPBANNER_H
+
+#include <QWidget>
+
+namespace Ui {
+class TopBanner;
+}
+
+class TopBanner : public QWidget
+{
+ Q_OBJECT
+
+public:
+ explicit TopBanner(QWidget *parent = 0);
+ ~TopBanner();
+
+private:
+ Ui::TopBanner *ui;
+};
+
+#endif // TOPBANNER_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
new file mode 100644
index 0000000000000000000000000000000000000000..a7ec4e9d8fe9430e8e7ffd5d8274a3d68d918db1
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/connectstartstopbar.cpp
@@ -0,0 +1,54 @@
+#include "connectstartstopbar.h"
+#include "ui_connectstartstopbar.h"
+
+ConnectStartStopBar::ConnectStartStopBar(QWidget *parent) :
+ QWidget(parent),
+ ui(new Ui::ConnectStartStopBar)
+{
+ ui->setupUi(this);
+
+ // SET A FEW PROPERTIES OF THE UI ELEMENTS
+ // > Default the battery voltage field to be "blank"
+ QString qstr = "-.-- V";
+ ui->battery_voltage_lineEdit->setText(qstr);
+ // > Red font colour for the battery message label
+ //ui->battery_message_label->setStyleSheet("QLabel { color : red; }");
+ // > Default the battery message label to be "blank"
+ //ui->battery_message_label->setText("");
+
+ // SET THE DEFAULT IMAGE FOR THE RF CONNECTION STATUS
+ QPixmap rf_disconnected_pixmap(":/images/rf_disconnected.png");
+ ui->rf_status_label->setPixmap(rf_disconnected_pixmap);
+ ui->rf_status_label->setScaledContents(true);
+
+ // SET THE DEFAULT IMAGE FOR THE BATTERY STATUS
+ QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
+ ui->battery_status_label->setPixmap(battery_unknown_pixmap);
+ //ui->battery_status_label->setPixmap(battery_status_unknown_pixmap.scaled(ui->battery_status_label->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
+ ui->battery_status_label->setScaledContents(true);
+
+ // SET THE DEFAULT IMAGE FOR THE FLYING STATE
+ QPixmap flying_state_unknown_pixmap(":/images/flying_state_unknown.png");
+ ui->flying_state_label->setPixmap(flying_state_unknown_pixmap);
+ ui->flying_state_label->setScaledContents(true);
+
+
+
+
+
+ // ADD KEYBOARD SHORTCUTS
+ // > For "all motors off", press the space bar
+ ui->motors_off_button->setShortcut(tr("Space"));
+
+
+}
+
+ConnectStartStopBar::~ConnectStartStopBar()
+{
+ delete ui;
+}
+
+void ConnectStartStopBar::on_rf_disconnect_button_clicked()
+{
+
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9c7e79ab75582c577a45fa13a51ec684fe858d4b
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
@@ -0,0 +1,14 @@
+#include "controllertabs.h"
+#include "ui_controllertabs.h"
+
+ControllerTabs::ControllerTabs(QWidget *parent) :
+ QWidget(parent),
+ ui(new Ui::ControllerTabs)
+{
+ ui->setupUi(this);
+}
+
+ControllerTabs::~ControllerTabs()
+{
+ delete ui;
+}
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
new file mode 100644
index 0000000000000000000000000000000000000000..a4b99f78d2531381a2ad12a41d0b00fd51d8f219
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinator.cpp
@@ -0,0 +1,66 @@
+#include "coordinator.h"
+#include "ui_coordinator.h"
+
+Coordinator::Coordinator(QWidget *parent) :
+ QWidget(parent),
+ ui(new Ui::Coordinator)
+{
+ ui->setupUi(this);
+
+ ui->verticalLayout_for_coordinatedAgentsScrollArea->setAlignment(Qt::AlignTop);
+}
+
+Coordinator::~Coordinator()
+{
+ delete ui;
+}
+
+void Coordinator::on_refresh_button_clicked()
+{
+
+
+ for ( int i_agent = 1 ; i_agent < 11 ; i_agent++ )
+ {
+ //ui->scrollAreaWidgetContents->setLayout(new QVBoxLayout);
+
+ 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);
+ }
+
+ // Add to the vector of coordinator rows
+ vector_of_coordinatorRows.append(temp_coordinatorRow);
+
+ ui->coordinated_agents_scrollAreaWidgetContents->layout()->addWidget(temp_coordinatorRow);
+ }
+}
+
+void Coordinator::on_delete_button_clicked()
+{
+
+ foreach ( CoordinatorRow* temp_coordinatorRow, vector_of_coordinatorRows) {
+ delete( temp_coordinatorRow );
+ }
+
+ vector_of_coordinatorRows.clear();
+
+}
+
+void Coordinator::on_coordinate_all_checkBox_clicked()
+{
+ // Get the state of the "coordinate all" is check box
+ bool shouldCoordinateAll = ui->coordinate_all_checkBox->isChecked();
+
+ // Apply this to all the rows
+ for ( int irow = 0 ; irow < vector_of_coordinatorRows.length() ; irow++ )
+ {
+ vector_of_coordinatorRows[irow]->setShouldCoordinate( shouldCoordinateAll );
+ }
+}
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
new file mode 100644
index 0000000000000000000000000000000000000000..6eeccdebb8335e94485c5b09f12330d59ac810d2
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/coordinatorrow.cpp
@@ -0,0 +1,733 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Coordinator Row GUI.
+//
+// ----------------------------------------------------------------------------------
+
+
+#include "coordinatorrow.h"
+#include "ui_coordinatorrow.h"
+
+CoordinatorRow::CoordinatorRow(QWidget *parent, int agentID) :
+ QWidget(parent),
+ ui(new Ui::CoordinatorRow),
+ my_agentID(agentID)
+{
+ ui->setupUi(this);
+
+ // CONVERT THE AGENT ID TO A ZERO PADDED STRING
+ // > This is the c++ method:
+ //std::ostringstream str_stream;
+ //str_stream << std::setw(3) << std::setfill('0') << my_agentID;
+ //std::string agentID_as_string(str_stream.str());
+ // > This is the Qt method
+ //my_agentID_as_string = QString("%1").arg(my_agentID, 3, 10, QChar('0'));
+ // For which the syntax is:
+ // - Arg1: the number
+ // - Arg2: how many 0 you want?
+ // - Arg3: The base (10 - decimal, 16 hexadecimal)
+ // > Alternate Qt method:
+ my_agentID_as_string = QString::number(my_agentID).rightJustified(3, '0');
+
+ // CONVERT THE AGENT ID TO A STRING FOR THE BASE NAMESPACE
+ QString qstr_ros_base_namespace = "/dfall/agent";
+ qstr_ros_base_namespace.append(my_agentID_as_string);
+ std::string ros_base_namespace = qstr_ros_base_namespace.toStdString();
+
+ // SET THE INITIAL VALUE OF THE PRIVATE VARIABLES FOR THIS CLASS
+ // > For keeping track of the current RF Crazyradio state
+ my_radio_status = CONNECTED;
+ // > For keeping track of the current battery state
+ my_battery_state = BATTERY_STATE_NORMAL;
+ // > For keeping track of which image is currently displayed
+ my_battery_status_label_image_current_index = -999;
+ // > For keeping track of the current operating state
+ my_flying_state = STATE_MOTORS_OFF;
+
+ // FOR BATTERY VOLTAGE LIMITS (THESE SHOULD BE READ IN AS PARAMTERS)
+ // > When in a "standby" type of state
+ battery_voltage_standby_empty = 3.30f;
+ battery_voltage_standby_full = 4.20f;
+ // > When in a "flying" type of state
+ battery_voltage_flying_empty = 2.80f;
+ battery_voltage_flying_full = 3.70f;
+
+ // SET THE STARTING RADIO STATUS TO BE: DISCONNECTED
+ // > this also updates the image for the "rf_status_label", "battery_voltage_lineEdit", and "battery_status_label"
+ setCrazyRadioStatus(DISCONNECTED);
+ // SET THE STARTING FLYING STATE STATUS TO BE: MOTORS OFF
+ // > this also updates the image for the "flying_state_label"
+ setFlyingState(CMD_CRAZYFLY_MOTORS_OFF);
+ // SET THE DEFAULT NAME FOR THE SELECTED CONTROLLER
+ setControllerEnabled(SAFE_CONTROLLER);
+
+#ifdef CATKIN_MAKE
+ //m_rosNodeThread = new rosNodeThread(argc, argv, "coordinatorRowGUI");
+ //m_rosNodeThread->init();
+
+ //m_ros_namespace = ros::this_node::getNamespace();
+
+ //qRegisterMetaType<ptrToMessage>("ptrToMessage");
+ //QObject::connect(m_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
+
+ //ros::NodeHandle nodeHandle(m_ros_namespace);
+
+ // communication with PPS Client, just to make it possible to communicate through terminal also we use PPSClient's name
+ //ros::NodeHandle nh_PPSClient(m_ros_namespace + "/PPSClient");
+ //ros::NodeHandle nh_PPSClient("PPSClient");
+
+
+ // 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);
+
+ // CREATE A NODE HANDLE TO THE BASE NAMESPACE
+ ros::NodeHandle base_nodeHandle(ros_base_namespace);
+
+ // CREATE A NODE HANDLE TO THE ROOT OF THE D-FaLL SYSTEM
+ ros::NodeHandle dfall_root_nodeHandle("/dfall");
+
+ // SUBSCRIBERS AND PUBLISHERS:
+ // > For Crazyradio commands based on button clicks
+ crazyRadioCommandPublisher = base_nodeHandle.advertise<std_msgs::Int32>("PPSClient/crazyRadioCommand", 1);
+ // > For updating the "rf_status_label" picture
+ crazyRadioStatusSubscriber = base_nodeHandle.subscribe("CrazyRadio/CrazyRadioStatus", 1, &CoordinatorRow::crazyRadioStatusCallback, this);
+ // > For updating the current battery voltage
+ batteryVoltageSubscriber = base_nodeHandle.subscribe("CrazyRadio/CFBattery", 1, &CoordinatorRow::batteryVoltageCallback, this);
+ // > For updating the current battery state
+ batteryStateSubscriber = base_nodeHandle.subscribe("PPSClient/batteryState", 1, &CoordinatorRow::batteryStateChangedCallback, this);
+ // > For Flying state commands based on button clicks
+ flyingStateCommandPublisher = base_nodeHandle.advertise<std_msgs::Int32>("PPSClient/Command", 1);
+ // > 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);
+ // > For updating the controller that is currently operating
+ controllerUsedSubscriber = base_nodeHandle.subscribe("PPSClient/controllerUsed", 1, &CoordinatorRow::controllerUsedChangedCallback, this);
+
+#endif
+
+ // FURTHER INITILIASATIONS NEED TO OCCUR AFTER THE ROS RELATED
+ // INITIALISATIONS ARE COMPLETE
+ loadCrazyflieContext();
+
+ // FOR DEBUGGING:
+ //ui->shouldCoordinate_checkBox->setText(my_agentID_as_string);
+ //ui->shouldCoordinate_checkBox->setText(QString::fromStdString(base_namespace));
+}
+
+CoordinatorRow::~CoordinatorRow()
+{
+ delete ui;
+}
+
+
+
+// PUBLIC METHODS FOR SETTING PROPERTIES
+
+// > Set the state of the checkbox
+void CoordinatorRow::setShouldCoordinate(bool shouldCoordinate)
+{
+ ui->shouldCoordinate_checkBox->setChecked( shouldCoordinate );
+}
+
+// > For making the "enable flight" and "disable flight" buttons unavailable
+void CoordinatorRow::disableFlyingStateButtons()
+{
+ ui->motors_off_button->setEnabled(true);
+ ui->enable_flying_button->setEnabled(false);
+ ui->disable_flying_button->setEnabled(false);
+}
+
+// > For making the "enable flight" and "disable flight" buttons available
+void CoordinatorRow::enableFlyingStateButtons()
+{
+ ui->motors_off_button->setEnabled(true);
+ ui->enable_flying_button->setEnabled(true);
+ ui->disable_flying_button->setEnabled(true);
+}
+
+
+
+
+
+#ifdef CATKIN_MAKE
+// PRIVATE CALLBACKS IN RESPONSE TO ROS MESSAGES
+
+// > For the Battery Voltage
+void CoordinatorRow::crazyRadioStatusCallback(const std_msgs::Int32& msg)
+{
+ //ROS_INFO_STEAM("[Coordinator Row GUI] Crazy Radio Status Callback called for agentID = " << my_agentID);
+ setCrazyRadioStatus( msg.data );
+}
+#endif
+
+
+// PRIVATE METHODS FOR SETTING PROPERTIES
+
+void CoordinatorRow::setCrazyRadioStatus(int new_radio_status)
+{
+ // add more things whenever the status is changed
+ switch(new_radio_status)
+ {
+ case CONNECTED:
+ {
+ // SET THE APPROPRIATE IMAGE FOR THE RADIOSTATUS LABEL
+ my_rf_status_label_mutex.lock();
+ //ui->rf_status_label->clear();
+ QPixmap rf_connected_pixmap(":/images/rf_connected.png");
+ ui->rf_status_label->setPixmap(rf_connected_pixmap);
+ ui->rf_status_label->setScaledContents(true);
+ //ui->rf_status_label->update();
+ my_rf_status_label_mutex.unlock();
+ // ENABLE THE REMAINDER OF THE GUI
+ my_battery_state_mutex.lock();
+ if (my_battery_state == BATTERY_STATE_NORMAL)
+ {
+ enableFlyingStateButtons();
+ }
+ my_battery_state_mutex.unlock();
+
+ break;
+ }
+
+ case CONNECTING:
+ {
+ // SET THE APPROPRIATE IMAGE FOR THE RADIO STATUS LABEL
+ my_rf_status_label_mutex.lock();
+ //ui->rf_status_label->clear();
+ QPixmap rf_connecting_pixmap(":/images/rf_connecting.png");
+ ui->rf_status_label->setPixmap(rf_connecting_pixmap);
+ ui->rf_status_label->setScaledContents(true);
+ //ui->rf_status_label->update();
+ my_rf_status_label_mutex.unlock();
+ break;
+ }
+
+ case DISCONNECTED:
+ {
+ // SET THE APPROPRIATE IMAGE FOR THE RADIO STATUS LABEL
+ my_rf_status_label_mutex.lock();
+ //ui->rf_status_label->clear();
+ QPixmap rf_disconnected_pixmap(":/images/rf_disconnected.png");
+ ui->rf_status_label->setPixmap(rf_disconnected_pixmap);
+ ui->rf_status_label->setScaledContents(true);
+ //ui->rf_status_label->update();
+ my_rf_status_label_mutex.unlock();
+ // SET THE BATTERY VOLTAGE FIELD TO BE BLANK
+ QString qstr = "-.-- V";
+ my_battery_voltage_lineEdit_mutex.lock();
+ ui->battery_voltage_lineEdit->setText(qstr);
+ my_battery_voltage_lineEdit_mutex.unlock();
+ // SET THE APPROPRIATE IMAGE FOR THE BATTERY STATUS LABEL
+ // > Lock the mutex for accessing both "my_battery_status_label_image_current_index"
+ // and "ui->battery_status_label"
+ my_battery_status_label_mutex.lock();
+ if (my_battery_status_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_UNKNOWN)
+ {
+ ui->battery_status_label->clear();
+ QPixmap battery_unknown_pixmap(":/images/battery_unknown.png");
+ ui->battery_status_label->setPixmap(battery_unknown_pixmap);
+ ui->battery_status_label->setScaledContents(true);
+ my_battery_status_label_image_current_index = BATTERY_LABEL_IMAGE_INDEX_UNKNOWN;
+ ui->battery_status_label->update();
+ }
+ my_battery_status_label_mutex.unlock();
+ // DISABLE THE REMAINDER OF THE GUI
+ disableFlyingStateButtons();
+ break;
+ }
+
+ default:
+ {
+ break;
+ }
+ }
+ my_radio_status = new_radio_status;
+}
+
+
+
+#ifdef CATKIN_MAKE
+// PRIVATE CALLBACKS IN RESPONSE TO ROS MESSAGES
+
+// > For the Battery Voltage
+void CoordinatorRow::batteryVoltageCallback(const std_msgs::Float32& msg)
+{
+ setBatteryVoltageTextAndImage( msg.data );
+}
+
+
+void CoordinatorRow::batteryStateChangedCallback(const std_msgs::Int32& msg)
+{
+ //ROS_INFO_STEAM("[Coordinator Row GUI] Battery State Changed Callback called for agentID = " << my_agentID);
+ setBatteryState( msg.data );
+}
+#endif
+
+
+
+// PRIVATE METHODS FOR SETTING PROPERTIES
+
+// > For updating the battery state
+void CoordinatorRow::setBatteryState(int new_battery_state)
+{
+ // LOCK THE MUTEX FOR THE WHOLE SWITCH CASE STATEMENT
+ my_battery_state_mutex.lock();
+ // Switch depending the the new battery state provided
+ switch(new_battery_state)
+ {
+ case BATTERY_STATE_LOW:
+ {
+ // MAKE UNAVAILABLE THE BUTTONS FOR ENABLING AND DISABLING FLIGHT
+ disableFlyingStateButtons();
+
+ // SET THE CLASS VARIABLE FOR TRACKING THE BATTERY STATE
+ my_battery_state = BATTERY_STATE_LOW;
+ break;
+ }
+
+ case BATTERY_STATE_NORMAL:
+ {
+ // MAKE UNAVAILABLE THE BUTTONS FOR ENABLING AND DISABLING FLIGHT
+ enableFlyingStateButtons();
+
+ // SET THE CLASS VARIABLE FOR TRACKING THE BATTERY STATE
+ my_battery_state = BATTERY_STATE_NORMAL;
+ break;
+ }
+
+ default:
+ break;
+ }
+ // UNLOCK THE MUTEX
+ my_battery_state_mutex.unlock();
+}
+
+// > For the battery voltage label and image
+void CoordinatorRow::setBatteryVoltageTextAndImage(float battery_voltage)
+{
+ setBatteryVoltageText( battery_voltage );
+ setBatteryVoltageImage( battery_voltage );
+}
+
+// > For updating the battery voltage shown in the UI elements of "battery_voltage_lineEdit"
+void CoordinatorRow::setBatteryVoltageText(float battery_voltage)
+{
+ // Lock the mutex
+ my_battery_voltage_lineEdit_mutex.lock();
+ // Construct the text string
+ QString qstr = "";
+ qstr.append(QString::number(battery_voltage, 'f', 2));
+ qstr.append(" V");
+ // Set the text to the battery voltage line edit
+ ui->battery_voltage_lineEdit->setText(qstr);
+ // Unlock the mutex
+ my_battery_voltage_lineEdit_mutex.unlock();
+}
+
+// > For updating the battery voltage shown in the UI elements of "battery_status_label"
+void CoordinatorRow::setBatteryVoltageImage(float battery_voltage)
+{
+ // COMPUTE THE BATTERY VOLTAGE AS A PERCENTAGE
+ float battery_voltage_percentage = fromVoltageToPercent(battery_voltage);
+
+ // CONVERT THE VOLTAGE PERCENTAGE TO AN INDEX OF WHICH BATTERY LEVEL IMAGE TO DISPLAY
+ // > Initialise a local variable that will be set in the switch case below
+ int new_battery_label_image_index = BATTERY_LABEL_IMAGE_INDEX_UNKNOWN;
+ // > Initialise a local variable for the string of which image to use
+ QString qstr_new_image = "";
+ qstr_new_image.append(":/images/");
+ // > Get the value of the "my_battery_state" variable into a local variable
+ my_battery_state_mutex.lock();
+ int local_copy_of_my_battery_state = my_battery_state;
+ my_battery_state_mutex.unlock();
+ // > Switch based on the current battery state, first locking the mutex for accessing
+ // both "my_battery_status_label_image_current_index" and "ui->battery_status_label"
+ my_battery_status_label_mutex.lock();
+ switch(local_copy_of_my_battery_state)
+ {
+ // WHEN THE BATTERY IS IN A LOW STATE
+ case BATTERY_STATE_LOW:
+ {
+ new_battery_label_image_index = BATTERY_LABEL_IMAGE_INDEX_EMPTY;
+ qstr_new_image.append("battery_empty.png");
+ break;
+ }
+
+ // WHEN THE BATTERY IS IN A NORMAL STATE
+ case BATTERY_STATE_NORMAL:
+ {
+
+ if (
+ ((my_battery_status_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_EMPTY) && (battery_voltage_percentage <= 0.0f))
+ ||
+ ((my_battery_status_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_EMPTY) && (battery_voltage_percentage <= 2.0f))
+ )
+ {
+ new_battery_label_image_index = BATTERY_LABEL_IMAGE_INDEX_EMPTY;
+ qstr_new_image.append("battery_empty.png");
+ }
+ else if (
+ ((my_battery_status_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_20) && (battery_voltage_percentage <= 20.0f))
+ ||
+ ((my_battery_status_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_20) && (battery_voltage_percentage <= 22.0f))
+ )
+ {
+ new_battery_label_image_index = BATTERY_LABEL_IMAGE_INDEX_20;
+ qstr_new_image.append("battery_20.png");
+ }
+ else if (
+ ((my_battery_status_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_40) && (battery_voltage_percentage <= 40.0f))
+ ||
+ ((my_battery_status_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_40) && (battery_voltage_percentage <= 42.0f))
+ )
+ {
+ new_battery_label_image_index = BATTERY_LABEL_IMAGE_INDEX_40;
+ qstr_new_image.append("battery_40.png");
+ }
+ else if (
+ ((my_battery_status_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_60) && (battery_voltage_percentage <= 60.0f))
+ ||
+ ((my_battery_status_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_60) && (battery_voltage_percentage <= 62.0f))
+ )
+ {
+ new_battery_label_image_index = BATTERY_LABEL_IMAGE_INDEX_60;
+ qstr_new_image.append("battery_60.png");
+ }
+ else if (
+ ((my_battery_status_label_image_current_index != BATTERY_LABEL_IMAGE_INDEX_80) && (battery_voltage_percentage <= 80.0f))
+ ||
+ ((my_battery_status_label_image_current_index == BATTERY_LABEL_IMAGE_INDEX_80) && (battery_voltage_percentage <= 82.0f))
+ )
+ {
+ new_battery_label_image_index = BATTERY_LABEL_IMAGE_INDEX_80;
+ qstr_new_image.append("battery_80.png");
+ }
+ else
+ {
+ new_battery_label_image_index = BATTERY_LABEL_IMAGE_INDEX_FULL;
+ qstr_new_image.append("battery_full.png");
+ }
+ break;
+ }
+
+ default:
+ {
+ new_battery_label_image_index = BATTERY_LABEL_IMAGE_INDEX_UNKNOWN;
+ qstr_new_image.append("battery_unknown.png");
+ break;
+ }
+ }
+ // UPDATE THE IMAGE DISPLAYED BASED ON THE "new index"
+ // > Only if it is different from the current index
+ if (my_battery_status_label_image_current_index != new_battery_label_image_index)
+ {
+ // SET THE IMAGE FOR THE BATTERY STATUS LABEL
+ ui->battery_status_label->clear();
+ QPixmap battery_image_pixmap(qstr_new_image);
+ ui->battery_status_label->setPixmap(battery_image_pixmap);
+ ui->battery_status_label->setScaledContents(true);
+ my_battery_status_label_image_current_index = new_battery_label_image_index;
+ ui->battery_status_label->update();
+ }
+ // Finally unlock the mutex
+ my_battery_status_label_mutex.unlock();
+}
+
+
+// > For converting a voltage to a percentage, depending on the current "my_flying_state" value
+float CoordinatorRow::fromVoltageToPercent(float voltage)
+{
+ // INITIALISE THE LOCAL VARIABLE FOR THE VOLTAGE WHEN FULL/EMPTY
+ float voltage_when_full;
+ float voltage_when_empty;
+
+ // COMPUTE THE PERCENTAGE DIFFERENTLY DEPENDING ON
+ // THE CURRENT FLYING STATE
+ // > First lock the mutex before accessing the "my_flying_state" variable
+ my_flying_state_mutex.lock();
+ if (my_flying_state == STATE_MOTORS_OFF)
+ {
+ // Voltage limits for a "standby" type of state
+ voltage_when_empty = battery_voltage_standby_empty;
+ voltage_when_full = battery_voltage_standby_full;
+ }
+ else
+ {
+ // Voltage limits for a "flying" type of state
+ voltage_when_empty = battery_voltage_flying_empty;
+ voltage_when_full = battery_voltage_flying_full;
+ }
+ // > Unlock the mutex
+ my_flying_state_mutex.unlock();
+
+ // COMPUTE THE PERCENTAGE
+ 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 > 100.0f)
+ {
+ percentage = 100.0f;
+ }
+ if(percentage < 0.0f)
+ {
+ percentage = 0.0f;
+ }
+
+ // RETURN THE PERCENTAGE
+ return percentage;
+}
+
+
+
+
+// RESPONDING TO CHANGES IN THE FLYING STATE
+#ifdef CATKIN_MAKE
+void CoordinatorRow::flyingStateChangedCallback(const std_msgs::Int32& msg)
+{
+ //ROS_INFO_STEAM("[Coordinator Row GUI] Flying State Changed Callback called for agentID = " << my_agentID);
+ setFlyingState(msg.data);
+}
+#endif
+
+void CoordinatorRow::setFlyingState(int new_flying_state)
+{
+ // PUT THE CURRENT STATE INTO THE CLASS VARIABLE
+ my_flying_state_mutex.lock();
+ my_flying_state = new_flying_state;
+ my_flying_state_mutex.unlock();
+
+ // UPDATE THE LABEL TO DISPLAY THE FLYING STATE
+ switch(new_flying_state)
+ {
+ case STATE_MOTORS_OFF:
+ {
+ // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ QPixmap flying_state_off_pixmap(":/images/flying_state_off.png");
+ ui->flying_state_label->setPixmap(flying_state_off_pixmap);
+ ui->flying_state_label->setScaledContents(true);
+ break;
+ }
+
+ case STATE_TAKE_OFF:
+ {
+ // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ QPixmap flying_state_enabling_pixmap(":/images/flying_state_enabling.png");
+ ui->flying_state_label->setPixmap(flying_state_enabling_pixmap);
+ ui->flying_state_label->setScaledContents(true);
+ break;
+ }
+
+ case STATE_FLYING:
+ {
+ // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ QPixmap flying_state_flying_pixmap(":/images/flying_state_flying.png");
+ ui->flying_state_label->setPixmap(flying_state_flying_pixmap);
+ ui->flying_state_label->setScaledContents(true);
+ break;
+ }
+
+ case STATE_LAND:
+ {
+ //qstr.append("Land");
+ // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ QPixmap flying_state_disabling_pixmap(":/images/flying_state_disabling.png");
+ ui->flying_state_label->setPixmap(flying_state_disabling_pixmap);
+ ui->flying_state_label->setScaledContents(true);
+ break;
+ }
+
+ default:
+ {
+ // SET THE APPROPRIATE IMAGE FOR THE FLYING STATE LABEL
+ QPixmap flying_state_unknown_pixmap(":/images/flying_state_unknown.png");
+ ui->flying_state_label->setPixmap(flying_state_unknown_pixmap);
+ ui->flying_state_label->setScaledContents(true);
+ break;
+ }
+ }
+}
+
+
+// RESPONDING TO CHANGES IN THE DATABASE
+#ifdef CATKIN_MAKE
+// > For the notification that the database was changes, received on the "DatabaseChangedSubscriber"
+void CoordinatorRow::databaseChangedCallback(const std_msgs::Int32& msg)
+{
+ //ROS_INFO_STEAM("[Coordinator Row GUI] Database Changed Callback called for agentID = " << my_agentID);
+ loadCrazyflieContext();
+}
+#endif
+
+// > For loading the "context" for this agent, i.e., the {agentID,cfID,flying zone} tuple
+void CoordinatorRow::loadCrazyflieContext()
+{
+ QString qstr_crazyflie_name = "";
+#ifdef CATKIN_MAKE
+ CMQuery contextCall;
+ contextCall.request.studentID = my_agentID;
+ //ROS_INFO_STREAM("StudentID:" << my_agentID);
+
+ centralManager.waitForExistence(ros::Duration(-1));
+
+ if(centralManager.call(contextCall))
+ {
+ my_context = contextCall.response.crazyflieContext;
+ ROS_INFO_STREAM("[Coordinator Row GUI] CrazyflieContext:\n" << my_context);
+
+ qstr_crazyflie_name.append(QString::fromStdString(my_context.crazyflieName));
+ }
+ else
+ {
+ ROS_ERROR_STREAM("[Coordinator Row GUI] Failed to load context for agentID = " << my_agentID);
+ }
+ // This updating of the radio only needs to be done by the actual agent's node
+ //ros::NodeHandle nh("CrazyRadio");
+ //nh.setParam("crazyFlieAddress", m_context.crazyflieAddress);
+#else
+ // Set the Crazyflie Name String to be a question mark
+ qstr_crazyflie_name.append("?");
+#endif
+
+ // Construct and set the string for the checkbox label
+ QString qstr_for_checkbox_label = "ID";
+ qstr_for_checkbox_label.append(QString::number(my_agentID));
+ qstr_for_checkbox_label.append(", CF");
+ qstr_for_checkbox_label.append(qstr_crazyflie_name);
+ ui->shouldCoordinate_checkBox->setText(qstr_for_checkbox_label);
+
+}
+
+
+#ifdef CATKIN_MAKE
+// > For the controller currently operating, received on "controllerUsedSubscriber"
+void CoordinatorRow::controllerUsedChangedCallback(const std_msgs::Int32& msg)
+{
+ //ROS_INFO_STEAM("[Coordinator Row GUI] Controller Used Changed Callback called for agentID = " << my_agentID);
+ setControllerEnabled(msg.data);
+}
+#endif
+
+
+void CoordinatorRow::setControllerEnabled(int new_controller)
+{
+ switch(new_controller)
+ {
+ case SAFE_CONTROLLER:
+ {
+ ui->controller_enabled_label->setText("Safe");
+ break;
+ }
+ case DEMO_CONTROLLER:
+ {
+ ui->controller_enabled_label->setText("Demo");
+ break;
+ }
+ case STUDENT_CONTROLLER:
+ {
+ ui->controller_enabled_label->setText("Student");
+ break;
+ }
+ case MPC_CONTROLLER:
+ {
+ ui->controller_enabled_label->setText("MPC");
+ break;
+ }
+ case REMOTE_CONTROLLER:
+ {
+ ui->controller_enabled_label->setText("Remote");
+ break;
+ }
+ case TUNING_CONTROLLER:
+ {
+ ui->controller_enabled_label->setText("Tuning");
+ break;
+ }
+ default:
+ {
+ ui->controller_enabled_label->setText("Unknown");
+ break;
+ }
+ }
+}
+
+
+
+
+// ------------------------------------------------------------------- //
+// # RF Crazyradio Connect Disconnect
+void CoordinatorRow::on_rf_connect_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ std_msgs::Int32 msg;
+ msg.data = CMD_RECONNECT;
+ this->crazyRadioCommandPublisher.publish(msg);
+ ROS_INFO("[FLYING AGENT GUI] Command to RF reconnect published");
+#endif
+}
+
+void CoordinatorRow::on_rf_disconnect_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ std_msgs::Int32 msg;
+ msg.data = CMD_DISCONNECT;
+ this->crazyRadioCommandPublisher.publish(msg);
+ ROS_INFO("[FLYING AGENT GUI] Command to RF disconnect published");
+#endif
+}
+
+// ------------------------------------------------------------------- //
+// # Take off, land, motors off
+void CoordinatorRow::on_enable_flying_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ std_msgs::Int32 msg;
+ msg.data = CMD_CRAZYFLY_TAKE_OFF;
+ this->PPSClientCommandPublisher.publish(msg);
+#endif
+}
+
+void CoordinatorRow::on_disable_flying_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ std_msgs::Int32 msg;
+ msg.data = CMD_CRAZYFLY_LAND;
+ this->PPSClientCommandPublisher.publish(msg);
+#endif
+}
+
+void CoordinatorRow::on_motors_off_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ std_msgs::Int32 msg;
+ msg.data = CMD_CRAZYFLY_MOTORS_OFF;
+ this->PPSClientCommandPublisher.publish(msg);
+#endif
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7e3dee64e552b25ff067659511ec957797aa06f1
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/enablecontrollerloadyamlbar.cpp
@@ -0,0 +1,62 @@
+#include "enablecontrollerloadyamlbar.h"
+#include "ui_enablecontrollerloadyamlbar.h"
+
+EnableControllerLoadYamlBar::EnableControllerLoadYamlBar(QWidget *parent) :
+ QWidget(parent),
+ ui(new Ui::EnableControllerLoadYamlBar)
+{
+ ui->setupUi(this);
+}
+
+EnableControllerLoadYamlBar::~EnableControllerLoadYamlBar()
+{
+ delete ui;
+}
+
+
+
+
+// ENABLE CONTROLLER BUTTONS ON-CLICK CALLBACK
+
+void EnableControllerLoadYamlBar::on_enable_safe_button_clicked()
+{
+
+}
+
+void EnableControllerLoadYamlBar::on_enable_demo_button_clicked()
+{
+
+}
+
+void EnableControllerLoadYamlBar::on_enable_student_button_clicked()
+{
+
+}
+
+void EnableControllerLoadYamlBar::on_enable_mpc_button_clicked()
+{
+
+}
+
+
+// LOAD YAML BUTTONS ON-CLICK CALLBACK
+
+void EnableControllerLoadYamlBar::on_load_yaml_safe_button_clicked()
+{
+
+}
+
+void EnableControllerLoadYamlBar::on_load_yaml_demo_button_clicked()
+{
+
+}
+
+void EnableControllerLoadYamlBar::on_load_yaml_student_button_clicked()
+{
+
+}
+
+void EnableControllerLoadYamlBar::on_load_yaml_mpc_button_clicked()
+{
+
+}
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
new file mode 100644
index 0000000000000000000000000000000000000000..4999c2c0ff6f96b8c2758573aeb11e8f38043779
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/main.cpp
@@ -0,0 +1,56 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Main file of the Qt project for the Coordinator GUI.
+//
+// ----------------------------------------------------------------------------------
+
+
+#include "mainwindow.h"
+#include "ui_mainwindow.h" // <-- this include is additional to the Qt default
+#include <QApplication>
+
+int main(int argc, char *argv[])
+{
+
+ // ----------------------------------------------------------- //
+ // THE FOLLOWING IS THE DEFAULT PROVIDED BY QT:
+// QApplication a(argc, argv);
+// MainWindow w;
+// w.show();
+// return a.exec();
+ // ----------------------------------------------------------- //
+
+ // ----------------------------------------------------------- //
+ // THE FOLLOWING IS A SLIGHT ADAPTATION FOR COMBING WITH ROS:
+ QApplication a(argc, argv);
+ MainWindow w(argc, argv);
+ w.show();
+ a.exec();
+ // ----------------------------------------------------------- //
+
+}
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
new file mode 100644
index 0000000000000000000000000000000000000000..4f6e850b2c440d0356051f3827d5dccab96c51ad
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/mainwindow.cpp
@@ -0,0 +1,75 @@
+// Copyright (C) 2017, ETH Zurich, D-ITET, Paul Beuchat
+//
+// This file is part of D-FaLL-System.
+//
+// D-FaLL-System is free software: you can redistribute it and/or modify
+// it under the terms of the GNU General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// (at your option) any later version.
+//
+// D-FaLL-System is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with D-FaLL-System. If not, see <http://www.gnu.org/licenses/>.
+//
+//
+// ----------------------------------------------------------------------------------
+// DDDD FFFFF L L SSSS Y Y SSSS TTTTT EEEEE M M
+// D D F aaa L L S Y Y S T E MM MM
+// D D --- FFFF a a L L --- SSS Y SSS T EEE M M M
+// D D F a aa L L S Y S T E M M
+// DDDD F aa a LLLL LLLL SSSS Y SSSS T EEEEE M M
+//
+//
+// DESCRIPTION:
+// Coordinator GUI main window.
+//
+// ----------------------------------------------------------------------------------
+
+#include "mainwindow.h"
+#include "ui_mainwindow.h"
+
+MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
+ QMainWindow(parent),
+ ui(new Ui::MainWindow)
+{
+#ifdef CATKIN_MAKE
+ m_rosNodeThread = new rosNodeThread(argc, argv, "coordinatorGUI");
+#endif
+ ui->setupUi(this);
+
+ // ADD KEYBOARD SHORTCUTS
+ // > For "kill GUI node", press "CTRL+C" while the GUI window is the focus
+ m_close_GUI_shortcut = new QShortcut(QKeySequence(tr("CTRL+C")), this, SLOT(close()));
+
+#ifdef CATKIN_MAKE
+ m_rosNodeThread->init();
+#endif
+
+}
+
+MainWindow::~MainWindow()
+{
+ delete ui;
+}
+
+
+void MainWindow::on_actionShowHide_Coordinator_triggered()
+{
+ //ui->customWidget_enableControllerLoadYamlBar->setEnabled(false);
+ if ( ui->customWidget_coordinator->isHidden() )
+ {
+ ui->customWidget_coordinator->show();
+ QString qstr = "Hide Coordinator";
+ ui->actionShowHide_Coordinator->setText(qstr);
+ }
+ else
+ {
+ ui->customWidget_coordinator->hide();
+ QString qstr = "Show Coordinator";
+ ui->actionShowHide_Coordinator->setText(qstr);
+ }
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/safecontrollertab.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/safecontrollertab.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ddfc3d77f9f30bb360d3649eb932c6780688022f
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/safecontrollertab.cpp
@@ -0,0 +1,14 @@
+#include "safecontrollertab.h"
+#include "ui_safecontrollertab.h"
+
+SafeControllerTab::SafeControllerTab(QWidget *parent) :
+ QWidget(parent),
+ ui(new Ui::SafeControllerTab)
+{
+ ui->setupUi(this);
+}
+
+SafeControllerTab::~SafeControllerTab()
+{
+ delete ui;
+}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4c71863d655ad45dbeb0b04fe641ac24fc8bd7a7
--- /dev/null
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
@@ -0,0 +1,14 @@
+#include "topbanner.h"
+#include "ui_topbanner.h"
+
+TopBanner::TopBanner(QWidget *parent) :
+ QWidget(parent),
+ ui(new Ui::TopBanner)
+{
+ ui->setupUi(this);
+}
+
+TopBanner::~TopBanner()
+{
+ delete ui;
+}