diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
index 327a8cc94bc5b14363b8aec0a25f64497c0a9ac4..7531b4c3644fcab928f4af7a7b0b0fa3fb3372c5 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/CFLinker.h
@@ -20,12 +20,13 @@ public:
int student_id;
int cf_zone_index;
std::string cf_name;
+ std::string radio_address;;
};
explicit CFLinker(Ui::MainGUIWindow* ui, std::vector<crazyFly*> *crazyflies_vector, std::vector<crazyFlyZone*> *crazyfly_zones);
~CFLinker();
- void link(int student_id, int cf_zone_index, std::string cf_name);
+ void link(int student_id, int cf_zone_index, std::string cf_name, std::string radio_address);
void unlink_selection();
void unlink_cf_zone(int cf_zone_index);
@@ -34,6 +35,7 @@ public:
bool isStudentIDLinked(int student_id);
bool isCFZoneLinked(int cf_zone_index);
bool isCFLinked(std::string cf_name);
+ bool isRadioAddressLinked(std::string radio_address);
int getCFZoneIndexFromName(QString name);
int getCFIndexFromName(std::string name);
@@ -50,7 +52,7 @@ private:
std::vector<crazyFly*>* m_crazyflies_vector;
std::vector<crazyFlyZone*>* m_crazyfly_zones;
- void addNewRow(int student_id, std::string crazyfly_name, int cf_zone_index);
+ void addNewRow(int student_id, std::string crazyfly_name, int cf_zone_index, std::string radio_address);
};
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 9af98b8c6a2d3168e4cd17a529b79263ed04bb9e..fa45dfe1b2aa8d20944a278c6513e1745ed895ed 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
@@ -44,6 +44,19 @@ bool CFLinker::isStudentIDLinked(int student_id)
return is_linked;
}
+bool CFLinker::isRadioAddressLinked(std::string radio_address)
+{
+ bool is_linked = false;
+ for(int i = 0; i < links.size(); i++)
+ {
+ if(links[i].radio_address == radio_address)
+ {
+ is_linked = true;
+ }
+ }
+ return is_linked;
+}
+
bool CFLinker::isCFZoneLinked(int cf_zone_index)
{
bool is_linked = false;
@@ -72,7 +85,7 @@ bool CFLinker::isCFLinked(std::string cf_name)
}
-void CFLinker::addNewRow(int student_id, std::string crazyfly_name, int cf_zone_index)
+void CFLinker::addNewRow(int student_id, std::string crazyfly_name, int cf_zone_index, std::string radio_address)
{
m_ui->table_links->insertRow(m_ui->table_links->rowCount());
QString str_id = QString::number(student_id);
@@ -89,9 +102,14 @@ void CFLinker::addNewRow(int student_id, std::string crazyfly_name, int cf_zone_
QTableWidgetItem *item_cf_zone = new QTableWidgetItem(str_cf_zone_index);
item_cf_zone->setFlags(item_cf_zone->flags() & ~Qt::ItemIsEditable);
m_ui->table_links->setItem(m_ui->table_links->rowCount() - 1, 2, item_cf_zone);
+
+ QString str_radio_address = QString::fromStdString(radio_address);
+ QTableWidgetItem *item_radio_address = new QTableWidgetItem(str_radio_address);
+ item_cf->setFlags(item_radio_address->flags() & ~Qt::ItemIsEditable);
+ m_ui->table_links->setItem(m_ui->table_links->rowCount() - 1, 3, item_radio_address);
}
-void CFLinker::link(int student_id, int cf_zone_index, std::string cf_name)
+void CFLinker::link(int student_id, int cf_zone_index, std::string cf_name, std::string radio_address)
{
m_ui->table_links->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
struct link tmp_link;
@@ -99,15 +117,17 @@ void CFLinker::link(int student_id, int cf_zone_index, std::string cf_name)
tmp_link.student_id = student_id;
tmp_link.cf_zone_index = cf_zone_index;
tmp_link.cf_name = cf_name;
+ tmp_link.radio_address = radio_address;
ROS_INFO("tmp_link.student_id %d", tmp_link.student_id);
ROS_INFO("tmp_link.cf_zone_index %d", tmp_link.cf_zone_index);
ROS_INFO("tmp_link.cf_name %s", tmp_link.cf_name.c_str());
+ ROS_INFO("tmp_link.radio_address %s", tmp_link.radio_address.c_str());
// (*m_crazyfly_zones)[tmp_link.cf_zone_index]->linkCF(tmp_link.cf_name);
// (*m_crazyflies_vector)[getCFIndexFromName(tmp_link.cf_name)]->assignCFZone(tmp_link.cf_zone_index);
- addNewRow(tmp_link.student_id, tmp_link.cf_name, tmp_link.cf_zone_index);
+ addNewRow(tmp_link.student_id, tmp_link.cf_name, tmp_link.cf_zone_index, tmp_link.radio_address);
links.push_back(tmp_link);
// TODO: remove options linked from available ones
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 61710e13c0abc58b10f5e0b23f1a184f7d11868a..409d5963bacf49c06684e95849ce0f49b72c01d5 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
@@ -133,13 +133,15 @@ void MainGUIWindow::_init()
ui->err_message_cf->setStyleSheet("QLabel { color : red; }");
ui->err_message_cf_zone->setStyleSheet("QLabel { color : red; }");
ui->err_message_student_id->setStyleSheet("QLabel { color : red; }");
+ ui->err_message_radio_address->setStyleSheet("QLabel { color : red; }");
ui->err_message_cf->clear();
ui->err_message_cf_zone->clear();
ui->err_message_student_id->clear();
+ ui->err_message_radio_address->clear();
// initialize table_links
- ui->table_links->setColumnCount(3);
+ ui->table_links->setColumnCount(4);
QFont fnt;
fnt.setPointSize(7);
@@ -160,7 +162,7 @@ void MainGUIWindow::_init()
}
ui->table_links->setSelectionBehavior(QAbstractItemView::SelectRows);
QStringList horizontal_header;
- horizontal_header << "Student ID" << "CrazyFly" << "CrazyFly Zone";
+ horizontal_header << "Student ID" << "CrazyFly" << "CrazyFly Zone" << "Radio Address";
ui->table_links->setHorizontalHeaderLabels(horizontal_header);
// scene
@@ -659,6 +661,7 @@ void MainGUIWindow::on_link_button_clicked()
{
ui->err_message_cf->clear();
}
+
if(ui->comboBoxCFZones->count() == 0)
{
// plot error message
@@ -670,6 +673,21 @@ void MainGUIWindow::on_link_button_clicked()
ui->err_message_cf_zone->clear();
}
+ if(cf_linker->isRadioAddressLinked(ui->radioAddress_text->text().toStdString()))
+ {
+ ui->err_message_radio_address->setText("Already in use");
+ error = true;
+ }
+ else if(ui->radioAddress_text->text().toStdString() == "")
+ {
+ ui->err_message_radio_address->setText("Field is empty");
+ error = true;
+ }
+ else
+ {
+ ui->err_message_radio_address->clear();
+ }
+
if(cf_linker->isStudentIDLinked(ui->spinBox_student_ids->value()))
{
// plot error message
@@ -683,7 +701,7 @@ void MainGUIWindow::on_link_button_clicked()
if(!error)
{
- cf_linker->link(ui->spinBox_student_ids->value(), cf_linker->getCFZoneIndexFromName(ui->comboBoxCFZones->currentText()), ui->comboBoxCFs->currentText().toStdString());
+ cf_linker->link(ui->spinBox_student_ids->value(), cf_linker->getCFZoneIndexFromName(ui->comboBoxCFZones->currentText()), ui->comboBoxCFs->currentText().toStdString(), ui->radioAddress_text->text().toStdString());
}
#endif
}
@@ -703,6 +721,7 @@ void MainGUIWindow::on_save_in_DB_button_clicked()
{
CrazyflieEntry tmp_entry;
tmp_entry.crazyflieContext.crazyflieName = cf_linker->links[i].cf_name;
+ tmp_entry.crazyflieContext.crazyflieAddress = cf_linker->links[i].radio_address;
tmp_entry.crazyflieContext.localArea.crazyfly_zone_index = cf_linker->links[i].cf_zone_index;
tmp_entry.studentID = cf_linker->links[i].student_id;
@@ -829,6 +848,7 @@ void MainGUIWindow::on_load_from_DB_button_clicked()
for(int i = 0; i < m_data_base.crazyflieEntries.size(); i++)
{
std::string cf_name = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieName;
+ std::string radio_address = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieAddress;
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;
@@ -844,7 +864,7 @@ void MainGUIWindow::on_load_from_DB_button_clicked()
scene->addCFZone(tmp_rect, cf_zone_index);
- cf_linker->link(student_id, cf_zone_index, cf_name);
+ cf_linker->link(student_id, cf_zone_index, cf_name, radio_address);
}
}
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui
index 0aed3657776ddcda956755965c466f4f76c2ea08..c4de6169d6cf29d995f851ccef59bb18ef21fcde 100755
--- a/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui
@@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>866</width>
- <height>663</height>
+ <height>719</height>
</rect>
</property>
<property name="windowTitle">
@@ -270,7 +270,7 @@
</property>
</widget>
</item>
- <item row="12" column="1" colspan="6">
+ <item row="14" column="1" colspan="6">
<widget class="QLabel" name="err_message_cf_zone">
<property name="font">
<font>
@@ -323,7 +323,7 @@
</property>
</widget>
</item>
- <item row="11" column="1">
+ <item row="13" column="1">
<widget class="QComboBox" name="comboBoxCFZones"/>
</item>
<item row="8" column="1">
@@ -343,7 +343,7 @@
</property>
</widget>
</item>
- <item row="10" column="1">
+ <item row="12" column="1">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Choose CF Zone to link:</string>
@@ -364,7 +364,7 @@
</property>
</widget>
</item>
- <item row="13" column="1" colspan="6">
+ <item row="15" column="1" colspan="6">
<widget class="QTableWidget" name="table_links">
<property name="minimumSize">
<size>
@@ -386,34 +386,56 @@
</attribute>
</widget>
</item>
- <item row="11" column="6">
+ <item row="13" column="6">
<widget class="QPushButton" name="link_button">
<property name="text">
<string>Link!</string>
</property>
</widget>
</item>
- <item row="15" column="6">
+ <item row="17" column="6">
<widget class="QPushButton" name="unlink_button">
<property name="text">
<string>Unlink!</string>
</property>
</widget>
</item>
- <item row="17" column="6">
+ <item row="19" column="6">
<widget class="QPushButton" name="save_in_DB_button">
<property name="text">
<string>Save in DB</string>
</property>
</widget>
</item>
- <item row="16" column="6">
+ <item row="18" column="6">
<widget class="QPushButton" name="load_from_DB_button">
<property name="text">
<string>Load from DB</string>
</property>
</widget>
</item>
+ <item row="10" column="1">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Radio Address:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="10" column="6">
+ <widget class="QLineEdit" name="radioAddress_text"/>
+ </item>
+ <item row="11" column="6">
+ <widget class="QLabel" name="err_message_radio_address">
+ <property name="font">
+ <font>
+ <pointsize>7</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>TextLabel</string>
+ </property>
+ </widget>
+ </item>
</layout>
</widget>
</widget>
diff --git a/pps_ws/src/d_fall_pps/param/Crazyflie.db b/pps_ws/src/d_fall_pps/param/Crazyflie.db
index a4c31853e875376e6f1b0095b4ff2a9c25e6f930..c9b621275443135d603809a301b578926c6c16a5 100644
--- a/pps_ws/src/d_fall_pps/param/Crazyflie.db
+++ b/pps_ws/src/d_fall_pps/param/Crazyflie.db
@@ -1,3 +1,3 @@
-1,CF1,,0,2.30378,0.506831,0,4.29424,2.29456,0
-2,CF2,,1,1.59421,0.884651,0,2.66317,1.62186,0
-3,CF3,,2,1.51128,1.97203,0,3.11471,2.82904,0
+1,CF1,A,0,-0.01,1,0,0.8,1.83,0
+2,CF2,B,1,-0.03,-0.8,0,0.49,-0,0
+3,CF3,C,2,0,-1.84,0,0.53,-1.53,0