Now tested the feedback from python nodes

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);
 }
 

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"""