Added the remote controller tab widget to the GUI as a copy of the template...

Added the remote controller tab widget to the GUI as a copy of the template controller. Next step is to connect it up

dfall_ws/src/dfall_pkg/CMakeLists.txt

@@ -114,6 +114,7 @@ set(SRC_HDRS_QOBJECT_FLYING_AGENT_GUI
   ${FLYING_AGENT_GUI_LIB_PATH_INC}/enablecontrollerloadyamlbar.h
   ${FLYING_AGENT_GUI_LIB_PATH_INC}/mainwindow.h
   ${FLYING_AGENT_GUI_LIB_PATH_INC}/pickercontrollertab.h
+  ${FLYING_AGENT_GUI_LIB_PATH_INC}/remotecontrollertab.h
   ${FLYING_AGENT_GUI_LIB_PATH_INC}/rosNodeThread_for_flyingAgentGUI.h
   ${FLYING_AGENT_GUI_LIB_PATH_INC}/safecontrollertab.h
   ${FLYING_AGENT_GUI_LIB_PATH_INC}/studentcontrollertab.h
@@ -131,6 +132,7 @@ qt5_wrap_ui(UIS_HDRS_FLYING_AGENT_GUI
   ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/enablecontrollerloadyamlbar.ui
   ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/mainwindow.ui
   ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/pickercontrollertab.ui
+  ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/remotecontrollertab.ui
   ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/safecontrollertab.ui
   ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/studentcontrollertab.ui
   ${FLYING_AGENT_GUI_LIB_PATH_FORMS}/templatecontrollertab.ui
@@ -370,6 +372,7 @@ set(FLYING_AGENT_GUI_CPP_SOURCES         # compilation of sources
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/defaultcontrollertab.cpp
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/enablecontrollerloadyamlbar.cpp
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/pickercontrollertab.cpp
+    ${FLYING_AGENT_GUI_LIB_PATH_SRC}/remotecontrollertab.cpp
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/safecontrollertab.cpp
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/studentcontrollertab.cpp
     ${FLYING_AGENT_GUI_LIB_PATH_SRC}/templatecontrollertab.cpp

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/flyingAgentGUI.pro

@@ -30,6 +30,7 @@ SOURCES += src/main.cpp\
     src/pickercontrollertab.cpp \
     src/templatecontrollertab.cpp \
     src/tuningcontrollertab.cpp \
+    src/remotecontrollertab.cpp
 
 
 HEADERS  += include/mainwindow.h \
@@ -46,6 +47,7 @@ HEADERS  += include/mainwindow.h \
     include/templatecontrollertab.h \
     include/tuningcontrollertab.h \
     include/Constants_for_Qt_compile.h \
+    include/remotecontrollertab.h
 
 
 
@@ -62,6 +64,7 @@ FORMS    += forms/mainwindow.ui \
     forms/pickercontrollertab.ui \
     forms/templatecontrollertab.ui \
     forms/tuningcontrollertab.ui \
+    forms/remotecontrollertab.ui
 
 
 RESOURCES += \

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/controllertabs.ui

@@ -28,7 +28,7 @@
    <item row="0" column="0">
     <widget class="QTabWidget" name="controller_tabs_widget">
      <property name="currentIndex">
-      <number>5</number>
+      <number>4</number>
      </property>
      <property name="movable">
       <bool>true</bool>
@@ -77,6 +77,11 @@
       <attribute name="title">
        <string>Remote</string>
       </attribute>
+      <layout class="QGridLayout" name="gridLayout_3">
+       <item row="0" column="0">
+        <widget class="RemoteControllerTab" name="remote_controller_tab_widget" native="true"/>
+       </item>
+      </layout>
      </widget>
      <widget class="QWidget" name="template_tab">
       <attribute name="title">
@@ -123,6 +128,12 @@
    <header>templatecontrollertab.h</header>
    <container>1</container>
   </customwidget>
+  <customwidget>
+   <class>RemoteControllerTab</class>
+   <extends>QWidget</extends>
+   <header>remotecontrollertab.h</header>
+   <container>1</container>
+  </customwidget>
  </customwidgets>
  <resources/>
  <connections/>

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h

+//    Copyright (C) 2019, 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:
+//    The GUI for a Remote Controller
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+
+
+#ifndef REMOTECONTROLLERTAB_H
+#define REMOTECONTROLLERTAB_H
+
+#include <QWidget>
+#include <QMutex>
+#include <QVector>
+#include <QLineEdit>
+#include <QTextStream>
+
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+
+// Include the standard message types
+//#include "std_msgs/Int32.h"
+//#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+//#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/SetpointWithHeader.h"
+#include "dfall_pkg/CustomButtonWithHeader.h"
+
+// Include the DFALL service types
+#include "dfall_pkg/GetSetpointService.h"
+
+// Include the shared definitions
+#include "nodes/Constants.h"
+
+// SPECIFY THE PACKAGE NAMESPACE
+//using namespace dfall_pkg;
+
+#else
+// Include the shared definitions
+#include "include/Constants_for_Qt_compile.h"
+
+#endif
+
+
+
+
+
+namespace Ui {
+class RemoteControllerTab;
+}
+
+class RemoteControllerTab : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit RemoteControllerTab(QWidget *parent = 0);
+    ~RemoteControllerTab();
+
+
+
+public slots:
+    void setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll);
+    void setMeasuredPose(float x , float y , float z , float roll , float pitch , float yaw , bool occluded);
+    void poseDataUnavailableSlot();
+
+
+
+private slots:
+    void on_lineEdit_setpoint_new_x_returnPressed();
+    void on_lineEdit_setpoint_new_y_returnPressed();
+    void on_lineEdit_setpoint_new_z_returnPressed();
+    void on_lineEdit_setpoint_new_yaw_returnPressed();
+
+    void on_set_setpoint_button_clicked();
+
+    void on_default_setpoint_button_clicked();
+
+    void on_custom_button_1_clicked();
+    void on_custom_button_2_clicked();
+    void on_custom_button_3_clicked();
+
+
+
+
+
+private:
+    Ui::RemoteControllerTab *ui;
+
+    // --------------------------------------------------- //
+    // PRIVATE VARIABLES
+
+    // The type of this node, i.e., agent or a coordinator,
+    // specified as a parameter in the "*.launch" file
+    int m_type = 0;
+
+    // The ID  of this node
+    int m_ID;
+
+    // For coordinating multiple agents
+    std::vector<int> m_vector_of_agentIDs_toCoordinate;
+    bool m_shouldCoordinateAll = true;
+    QMutex m_agentIDs_toCoordinate_mutex;
+
+
+
+#ifdef CATKIN_MAKE
+    // PUBLISHER
+    // > For requesting the setpoint to be changed
+    ros::Publisher requestSetpointChangePublisher;
+
+    // SUBSCRIBER
+    // > For being notified when the setpoint is changed
+    ros::Subscriber setpointChangedSubscriber;
+
+    // PUBLISHER
+    // > For notifying that a custom button is pressed
+    ros::Publisher customButtonPublisher;
+#endif
+
+
+
+    // --------------------------------------------------- //
+    // PRIVATE FUNCTIONS
+
+#ifdef CATKIN_MAKE
+    // For receiving message that the setpoint was changed
+    void setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint);
+
+    // Publish a message when a custom button is pressed
+    void publish_custom_button_command(int button_index , QLineEdit * lineEdit_pointer);
+
+    // Fill the header for a message
+    void fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg );
+    void fillCustomButtonMessageHeader( dfall_pkg::CustomButtonWithHeader & msg );
+
+    // Get the paramters that specify the type and ID
+    bool getTypeAndIDParameters();
+#endif
+
+    void publishSetpoint(float x, float y, float z, float yaw_degrees);
+
+};
+
+#endif // REMOTECONTROLLERTAB_H

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp

@@ -77,6 +77,11 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
             ui->tuning_controller_tab_widget , &TuningControllerTab::setMeasuredPose
         );
 
+    QObject::connect(
+            this , &ControllerTabs::measuredPoseValueChanged ,
+            ui->remote_controller_tab_widget , &RemoteControllerTab::setMeasuredPose
+        );
+
     QObject::connect(
             this , &ControllerTabs::measuredPoseValueChanged ,
             ui->template_controller_tab_widget , &TemplateControllerTab::setMeasuredPose
@@ -106,6 +111,11 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
             ui->tuning_controller_tab_widget , &TuningControllerTab::poseDataUnavailableSlot
         );
 
+    QObject::connect(
+            this , &ControllerTabs::poseDataUnavailableSignal ,
+            ui->remote_controller_tab_widget , &RemoteControllerTab::poseDataUnavailableSlot
+        );
+
     QObject::connect(
             this , &ControllerTabs::poseDataUnavailableSignal ,
             ui->template_controller_tab_widget , &TemplateControllerTab::poseDataUnavailableSlot
@@ -137,6 +147,11 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
             ui->tuning_controller_tab_widget , &TuningControllerTab::setAgentIDsToCoordinate
         );
 
+    QObject::connect(
+            this , &ControllerTabs::agentIDsToCoordinateChanged ,
+            ui->remote_controller_tab_widget , &RemoteControllerTab::setAgentIDsToCoordinate
+        );
+
     QObject::connect(
             this , &ControllerTabs::agentIDsToCoordinateChanged ,
             ui->template_controller_tab_widget , &TemplateControllerTab::setAgentIDsToCoordinate