From ddc766a962123e9b95120462fcb5a65dbbd7da7a Mon Sep 17 00:00:00 2001
From: roangel <roangel@student.ethz.ch>
Date: Tue, 22 Aug 2017 16:09:42 +0200
Subject: [PATCH] Now tested the feedback from python nodes
---
.../GUI_Qt/studentGUI/src/MainWindow.cpp | 14 +++++++++-----
pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py | 6 +++++-
2 files changed, 14 insertions(+), 6 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
index 234a8d44..2101d07f 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.cpp
@@ -13,19 +13,20 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
m_rosNodeThread = new rosNodeThread(argc, argv, "student_GUI");
ui->setupUi(this);
m_rosNodeThread->init();
+
+ std::string ros_namespace = ros::this_node::getNamespace();
+ ROS_INFO("namespace: %s", ros_namespace.c_str());
+
qRegisterMetaType<ptrToMessage>("ptrToMessage");
QObject::connect(m_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
ros::NodeHandle nodeHandle("~");
- crazyRadioStatusSubscriber = nodeHandle.subscribe("/CrazyRadio/CrazyRadioStatus", 1, &MainWindow::crazyRadioStatusCallback, this);
-
- std::string ros_namespace = ros::this_node::getNamespace();
- ROS_INFO("namespace: %s", ros_namespace.c_str());
+ crazyRadioStatusSubscriber = nodeHandle.subscribe(ros_namespace + "/CrazyRadioStatus", 1, &MainWindow::crazyRadioStatusCallback, this);
// communication with PPS Client, just to make it possible to communicate through terminal also we use PPSClient's name
ros::NodeHandle nh_PPSClient(ros_namespace + "/PPSClient");
crazyRadioCommandPublisher = nh_PPSClient.advertise<std_msgs::Int32>("crazyRadioCommand", 1);
- PPSClientCommadPublisher = nodeHandle.advertise<std_msgs::Int32>("Command", 1);
+ PPSClientCommadPublisher = nh_PPSClient.advertise<std_msgs::Int32>("Command", 1);
disableGUI();
}
@@ -54,6 +55,7 @@ void MainWindow::setCrazyRadioStatus(int radio_status)
case CONNECTED:
// change icon, the rest of the GUI is available now
ui->connected_disconnected_label->setText("Connected!");
+ enableGUI();
break;
case CONNECTING:
// change icon
@@ -62,6 +64,7 @@ void MainWindow::setCrazyRadioStatus(int radio_status)
case DISCONNECTED:
// change icon, the rest of the GUI is disabled
ui->connected_disconnected_label->setText("Disconnected");
+ disableGUI();
break;
default:
ROS_ERROR_STREAM("unexpected radio status: " << m_radio_status);
@@ -72,6 +75,7 @@ void MainWindow::setCrazyRadioStatus(int radio_status)
void MainWindow::crazyRadioStatusCallback(const std_msgs::Int32& msg)
{
+ ROS_INFO("Callback CrazyRadioStatus called");
this->setCrazyRadioStatus(msg.data);
}
diff --git a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
index 76cc1513..6f0dbcff 100755
--- a/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
+++ b/pps_ws/src/d_fall_pps/crazyradio/CrazyRadio.py
@@ -89,6 +89,7 @@ class PPSRadioClient:
self.connect()
def change_status_to(self, new_status):
+ print "status changed to: %s" % new_status
self._status = new_status
self.status_pub.publish(new_status)
@@ -116,6 +117,7 @@ class PPSRadioClient:
#publish battery voltage for GUI
#cfbattery_pub.publish(std_msgs.Float32(batteryVolt.data))
+ print "batteryVolt: %s" % batteryVolt
cfbattery_pub.publish(batteryVolt)
@@ -133,7 +135,7 @@ class PPSRadioClient:
# Config for Logging
- logconf = LogConfig("LoggingTest", 100)
+ logconf = LogConfig("LoggingTest", 100) # second variable is freq in ms
logconf.add_variable("stabilizer.roll", "float");
logconf.add_variable("stabilizer.pitch", "float");
logconf.add_variable("stabilizer.yaw", "float");
@@ -184,6 +186,8 @@ class PPSRadioClient:
if self.get_status() == DISCONNECTED:
print "entered disconnected"
self.connect()
+ if self.get_status() == CONNECTED:
+ self.status_pub.publish(CONNECTED)
def controlCommandCallback(data):
"""Callback for controller actions"""
--
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