diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp
index 9ee8fdbbd982b308e377140753dc888063e2b70b..e928ed027c34f02ecd62ddc9b3297b62246fb184 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/CFLinker.cpp
@@ -164,11 +164,17 @@ void CFLinker::link(int student_id, int cf_zone_index, std::string cf_name, std:
links.push_back(tmp_link);
// TODO: remove options linked from available ones
+ // Get the index of the currently selected CF
int index = m_ui->comboBoxCFs->currentIndex();
- // remove items
+ // Remove item from the CF Combo Box
m_ui->comboBoxCFs->removeItem(index);
- index = m_ui->comboBoxCFZones->currentIndex();
- m_ui->comboBoxCFZones->removeItem(index);
+
+
+ // THIS WAS COMMENTED OUT TO ALLOW ASSIGNING MULTIPLE CRAYZFLIES TO ONE ZONE
+ // Get the index of the currently selected CF
+ //index = m_ui->comboBoxCFZones->currentIndex();
+ // Remove item from the CF Combo Box
+ //m_ui->comboBoxCFZones->removeItem(index);
// disable item
// m_ui->comboBoxCFs->setItemData(index, 0, Qt::UserRole - 1);
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
index f0c79b5bc2d296ed2428f666833301a1bd780886..32ab1cdfc35e523e06ae0bd1e00c3fc25b2d262c 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp
@@ -306,13 +306,14 @@ void MainGUIWindow::updateComboBoxesCFZones()
#ifdef CATKIN_MAKE
for(int i = 0; i < scene->crazyfly_zones.size(); i++)
{
- if(!cf_linker->isCFZoneLinked(scene->crazyfly_zones[i]->getIndex()))
- {
+ // THIS IF CHECK WAS COMMENTED OUT TO ALLOW ASSIGNING MULTIPLE CRAYZFLIES TO ONE ZONE
+ //if(!cf_linker->isCFZoneLinked(scene->crazyfly_zones[i]->getIndex()))
+ //{
int cf_zone_index = scene->crazyfly_zones[i]->getIndex();
QString qstr = "CrazyFlyZone ";
qstr.append(QString::number(cf_zone_index + 1));
ui->comboBoxCFZones->addItem(qstr);
- }
+ //}
}
#endif
}
@@ -946,27 +947,54 @@ void MainGUIWindow::on_load_from_DB_button_clicked()
for(int i = 0; i < m_data_base.crazyflieEntries.size(); i++)
{
+ // Get the CF name from the database
std::string cf_name = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieName;
+ // Get the radio address from the database
std::string radio_address = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieAddress;
+ // Get the CF Zone Index from the database
int cf_zone_index = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.crazyfly_zone_index;
- // we should first create the cf zones that are in the database?
- bool cf_zone_exists;
- qreal width = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmax - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmin;
- qreal height = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymax - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymin;
- QRectF tmp_rect(m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmin * FROM_METERS_TO_UNITS,
- - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymax * FROM_METERS_TO_UNITS, // minus sign because qt has y-axis inverted
- width * FROM_METERS_TO_UNITS,
- height * FROM_METERS_TO_UNITS);
- int student_id = m_data_base.crazyflieEntries[i].studentID;
-
-
- scene->addCFZone(tmp_rect, cf_zone_index);
+ // THIS WAS ADDED TO ALLOW ASSIGNING MULTIPLE CRAYZFLIES TO ONE ZONE
+ // Check if a Zone with this index already exists.
+ bool cf_zone_exists;
+ scene->crazyfly_zones.size();
+ for(int i = 0; i < scene->crazyfly_zones.size(); i++)
+ {
+ int existing_cf_zone_index = scene->crazyfly_zones[i]->getIndex();
+ if (cf_zone_index==existing_cf_zone_index)
+ {
+ cf_zone_exists = true;
+ }
+ }
+ // we should first create the cf zones that are in the database?
+ if (!cf_zone_exists)
+ {
+ // Get the size of this Zone from the database
+ qreal width = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmax - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmin;
+ qreal height = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymax - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymin;
+ // Create a rectangle for disaplying the zone
+ QRectF tmp_rect(m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmin * FROM_METERS_TO_UNITS,
+ - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymax * FROM_METERS_TO_UNITS, // minus sign because qt has y-axis inverted
+ width * FROM_METERS_TO_UNITS,
+ height * FROM_METERS_TO_UNITS);
+ // Add the zone to the scene
+ scene->addCFZone(tmp_rect, cf_zone_index);
+ }
+
+ // Get the student ID for this entry in the database
+ int student_id = m_data_base.crazyflieEntries[i].studentID;
+
+ // Create the link
cf_linker->link(student_id, cf_zone_index, cf_name, radio_address);
}
+
+
+ // THIS WAS ADDED TO ALLOW ASSIGNING MULTIPLE CRAYZFLIES TO ONE ZONE
+ // Update the CF Zone combo box with the zones just added
+ updateComboBoxesCFZones();
}
else
{
diff --git a/pps_ws/src/d_fall_pps/param/Crazyflie.db b/pps_ws/src/d_fall_pps/param/Crazyflie.db
index 5e0a39201708c4aae0f2b97c1f3510773788f738..1543fc531957685254699294e839d02f14b6376d 100644
--- a/pps_ws/src/d_fall_pps/param/Crazyflie.db
+++ b/pps_ws/src/d_fall_pps/param/Crazyflie.db
@@ -1 +1,3 @@
-7,PPS_CF01,0/0/2M/E7E7E7E701,0,1.56976,-0.10861,-0.2,2.79907,0.808677,1.2
+1,PPS_CF05,0/32/2M/E7E7E7E705,0,-1.97017,-1.2375,-0.2,2.11699,0.911783,1.2
+2,PPS_CF06,0/40/2M/E7E7E7E706,0,-1.97017,-1.2375,-0.2,2.11699,0.911783,1.2
+3,PPS_CF07,0/48/2M/E7E7E7E707,0,-1.97017,-1.2375,-0.2,2.11699,0.911783,1.2