From e9be5ad9fa287aa0017a8f4d3412992f9d43ee2c Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Wed, 25 Apr 2018 11:22:17 +0200
Subject: [PATCH] Added and connected setpoint changes for demo,student,mpc
controllers
---
.../GUI_Qt/studentGUI/include/MainWindow.h | 47 +-
.../GUI_Qt/studentGUI/src/MainWindow.cpp | 293 ++++++--
.../GUI_Qt/studentGUI/src/MainWindow.ui | 694 ++++++++++++++++--
.../src/d_fall_pps/include/nodes/PPSClient.h | 4 +-
4 files changed, 911 insertions(+), 127 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
index 1f6f40b4..22eeb488 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/include/MainWindow.h
@@ -46,10 +46,10 @@
// Types of controllers being used:
-#define SAFE_CONTROLLER 0
-#define DEMO_CONTROLLER 1
-#define STUDENT_CONTROLLER 2
-#define MPC_CONTROLLER 3
+#define SAFE_CONTROLLER 1
+#define DEMO_CONTROLLER 2
+#define STUDENT_CONTROLLER 3
+#define MPC_CONTROLLER 4
// Commands for CrazyRadio
@@ -126,8 +126,10 @@ private slots:
void on_motors_OFF_button_clicked();
// # Setpoint
- void on_set_setpoint_button_clicked();
- void on_set_setpoint_button_2_clicked();
+ void on_set_setpoint_button_safe_clicked();
+ void on_set_setpoint_button_demo_clicked();
+ void on_set_setpoint_button_student_clicked();
+ void on_set_setpoint_button_mpc_clicked();
// # Load Yaml when acting as the GUI for an Agent
void on_load_safe_yaml_button_clicked();
@@ -167,7 +169,9 @@ private:
CrazyflieContext m_context;
Setpoint m_safe_setpoint;
- Setpoint m_custom_setpoint;
+ Setpoint m_demo_setpoint;
+ Setpoint m_student_setpoint;
+ Setpoint m_mpc_setpoint;
int m_battery_state;
@@ -181,8 +185,18 @@ private:
ros::Publisher controllerSetpointPublisher;
ros::Subscriber safeSetpointSubscriber;
- ros::Publisher customSetpointPublisher;
- ros::Subscriber customSetpointSubscriber;
+ // SUBSCRIBERS AND PUBLISHERS FOR THE SETPOINTS:
+ // > For the Demo Controller
+ ros::Publisher demoSetpointPublisher;
+ ros::Subscriber demoSetpointSubscriber;
+ // > For the Student Controller
+ ros::Publisher studentSetpointPublisher;
+ ros::Subscriber studentSetpointSubscriber;
+ // > For the MPC Controller
+ ros::Publisher mpcSetpointPublisher;
+ ros::Subscriber mpcSetpointSubscriber;
+
+
ros::Publisher PPSClientStudentCustomButtonPublisher;
@@ -209,8 +223,12 @@ private:
void crazyRadioStatusCallback(const std_msgs::Int32& msg);
void CFBatteryCallback(const std_msgs::Float32& msg);
void flyingStateChangedCallback(const std_msgs::Int32& msg);
+
void safeSetpointCallback(const Setpoint& newSetpoint);
- void customSetpointCallback(const Setpoint& newSetpoint);
+ void demoSetpointCallback(const Setpoint& newSetpoint);
+ void studentSetpointCallback(const Setpoint& newSetpoint);
+ void mpcSetpointCallback(const Setpoint& newSetpoint);
+
void DBChangedCallback(const std_msgs::Int32& msg);
// # Load Yaml when acting as the GUI for an Agent
@@ -230,13 +248,18 @@ private:
void setCrazyRadioStatus(int radio_status);
void loadCrazyflieContext();
void coordinatesToLocal(CrazyflieData& cf);
- void initialize_custom_setpoint();
+
+ void initialize_demo_setpoint();
+ void initialize_student_setpoint();
+ void initialize_mpc_setpoint();
void disableGUI();
void enableGUI();
void highlightSafeControllerTab();
- void highlightCustomControllerTab();
+ void highlightDemoControllerTab();
+ void highlightStudentControllerTab();
+ void highlightMpcControllerTab();
bool setpointInsideBox(Setpoint setpoint, CrazyflieContext context);
Setpoint correctSetpointBox(Setpoint setpoint, CrazyflieContext context);
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 cb03f56d..f93c6358 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
@@ -65,8 +65,17 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
ros::NodeHandle nodeHandle(m_ros_namespace);
- customSetpointPublisher = nodeHandle.advertise<Setpoint>("CustomControllerService/Setpoint", 1);
- customSetpointSubscriber = nodeHandle.subscribe("CustomControllerService/Setpoint", 1, &MainWindow::customSetpointCallback, this);
+
+ // SUBSCRIBERS AND PUBLISHERS FOR THE SETPOINTS:
+ // > For the Demo Controller
+ demoSetpointPublisher = nodeHandle.advertise<Setpoint>("DemoControllerService/Setpoint", 1);
+ demoSetpointSubscriber = nodeHandle.subscribe("DemoControllerService/Setpoint", 1, &MainWindow::demoSetpointCallback, this);
+ // > For the Student Controller
+ studentSetpointPublisher = nodeHandle.advertise<Setpoint>("StudentControllerService/Setpoint", 1);
+ studentSetpointSubscriber = nodeHandle.subscribe("StudentControllerService/Setpoint", 1, &MainWindow::studentSetpointCallback, this);
+ // > For the MPC Controller
+ mpcSetpointPublisher = nodeHandle.advertise<Setpoint>("MpcControllerService/Setpoint", 1);
+ mpcSetpointSubscriber = nodeHandle.subscribe("MpcControllerService/Setpoint", 1, &MainWindow::mpcSetpointCallback, this);
// subscribers
crazyRadioStatusSubscriber = nodeHandle.subscribe("CrazyRadio/CrazyRadioStatus", 1, &MainWindow::crazyRadioStatusCallback, this);
@@ -131,10 +140,10 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
}
// Copy the default setpoint into respective text fields of the GUI
- ui->current_setpoint_x->setText(QString::number(default_setpoint[0]));
- ui->current_setpoint_y->setText(QString::number(default_setpoint[1]));
- ui->current_setpoint_z->setText(QString::number(default_setpoint[2]));
- ui->current_setpoint_yaw->setText(QString::number(default_setpoint[3]));
+ ui->current_setpoint_x_safe->setText(QString::number(default_setpoint[0]));
+ ui->current_setpoint_y_safe->setText(QString::number(default_setpoint[1]));
+ ui->current_setpoint_z_safe->setText(QString::number(default_setpoint[2]));
+ ui->current_setpoint_yaw_safe->setText(QString::number(default_setpoint[3]));
disableGUI();
@@ -145,7 +154,9 @@ MainWindow::MainWindow(int argc, char **argv, QWidget *parent) :
ui->error_label->setStyleSheet("QLabel { color : red; }");
ui->error_label->clear();
- initialize_custom_setpoint();
+ initialize_demo_setpoint();
+ initialize_student_setpoint();
+ initialize_mpc_setpoint();
}
@@ -175,11 +186,29 @@ void MainWindow::highlightSafeControllerTab()
{
ui->tabWidget->tabBar()->setTabTextColor(0, Qt::green);
ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
+ ui->tabWidget->tabBar()->setTabTextColor(2, Qt::black);
+ ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
}
-void MainWindow::highlightCustomControllerTab()
+void MainWindow::highlightDemoControllerTab()
{
ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
ui->tabWidget->tabBar()->setTabTextColor(1, Qt::green);
+ ui->tabWidget->tabBar()->setTabTextColor(2, Qt::black);
+ ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
+}
+void MainWindow::highlightStudentControllerTab()
+{
+ ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
+ ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
+ ui->tabWidget->tabBar()->setTabTextColor(2, Qt::green);
+ ui->tabWidget->tabBar()->setTabTextColor(3, Qt::black);
+}
+void MainWindow::highlightMpcControllerTab()
+{
+ ui->tabWidget->tabBar()->setTabTextColor(0, Qt::black);
+ ui->tabWidget->tabBar()->setTabTextColor(1, Qt::black);
+ ui->tabWidget->tabBar()->setTabTextColor(2, Qt::black);
+ ui->tabWidget->tabBar()->setTabTextColor(3, Qt::green);
}
void MainWindow::DBChangedCallback(const std_msgs::Int32& msg)
@@ -196,7 +225,13 @@ void MainWindow::controllerUsedChangedCallback(const std_msgs::Int32& msg)
highlightSafeControllerTab();
break;
case DEMO_CONTROLLER:
- highlightCustomControllerTab();
+ highlightDemoControllerTab();
+ break;
+ case STUDENT_CONTROLLER:
+ highlightStudentControllerTab();
+ break;
+ case MPC_CONTROLLER:
+ highlightMpcControllerTab();
break;
default:
break;
@@ -207,20 +242,40 @@ void MainWindow::safeSetpointCallback(const Setpoint& newSetpoint)
{
m_safe_setpoint = newSetpoint;
// here we get the new setpoint, need to update it in GUI
- ui->current_setpoint_x->setText(QString::number(newSetpoint.x, 'f', 3));
- ui->current_setpoint_y->setText(QString::number(newSetpoint.y, 'f', 3));
- ui->current_setpoint_z->setText(QString::number(newSetpoint.z, 'f', 3));
- ui->current_setpoint_yaw->setText(QString::number(newSetpoint.yaw * RAD2DEG, 'f', 1));
+ ui->current_setpoint_x_safe->setText(QString::number(newSetpoint.x, 'f', 3));
+ ui->current_setpoint_y_safe->setText(QString::number(newSetpoint.y, 'f', 3));
+ ui->current_setpoint_z_safe->setText(QString::number(newSetpoint.z, 'f', 3));
+ ui->current_setpoint_yaw_safe->setText(QString::number(newSetpoint.yaw * RAD2DEG, 'f', 1));
+}
+
+void MainWindow::demoSetpointCallback(const Setpoint& newSetpoint)
+{
+ m_demo_setpoint = newSetpoint;
+ // here we get the new setpoint, need to update it in GUI
+ ui->current_setpoint_x_demo->setText(QString::number(newSetpoint.x, 'f', 3));
+ ui->current_setpoint_y_demo->setText(QString::number(newSetpoint.y, 'f', 3));
+ ui->current_setpoint_z_demo->setText(QString::number(newSetpoint.z, 'f', 3));
+ ui->current_setpoint_yaw_demo->setText(QString::number(newSetpoint.yaw * RAD2DEG, 'f', 1));
+}
+
+void MainWindow::studentSetpointCallback(const Setpoint& newSetpoint)
+{
+ m_student_setpoint = newSetpoint;
+ // here we get the new setpoint, need to update it in GUI
+ ui->current_setpoint_x_student->setText(QString::number(newSetpoint.x, 'f', 3));
+ ui->current_setpoint_y_student->setText(QString::number(newSetpoint.y, 'f', 3));
+ ui->current_setpoint_z_student->setText(QString::number(newSetpoint.z, 'f', 3));
+ ui->current_setpoint_yaw_student->setText(QString::number(newSetpoint.yaw * RAD2DEG, 'f', 1));
}
-void MainWindow::customSetpointCallback(const Setpoint& newSetpoint)
+void MainWindow::mpcSetpointCallback(const Setpoint& newSetpoint)
{
- m_custom_setpoint = newSetpoint;
+ m_mpc_setpoint = newSetpoint;
// here we get the new setpoint, need to update it in GUI
- ui->current_setpoint_x_2->setText(QString::number(newSetpoint.x, 'f', 3));
- ui->current_setpoint_y_2->setText(QString::number(newSetpoint.y, 'f', 3));
- ui->current_setpoint_z_2->setText(QString::number(newSetpoint.z, 'f', 3));
- ui->current_setpoint_yaw_2->setText(QString::number(newSetpoint.yaw * RAD2DEG, 'f', 1));
+ ui->current_setpoint_x_mpc->setText(QString::number(newSetpoint.x, 'f', 3));
+ ui->current_setpoint_y_mpc->setText(QString::number(newSetpoint.y, 'f', 3));
+ ui->current_setpoint_z_mpc->setText(QString::number(newSetpoint.z, 'f', 3));
+ ui->current_setpoint_yaw_mpc->setText(QString::number(newSetpoint.yaw * RAD2DEG, 'f', 1));
}
void MainWindow::flyingStateChangedCallback(const std_msgs::Int32& msg)
@@ -404,30 +459,30 @@ void MainWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to ne
coordinatesToLocal(local);
// now we have the local coordinates, put them in the labels
- ui->current_x->setText(QString::number(local.x, 'f', 3));
- ui->current_y->setText(QString::number(local.y, 'f', 3));
- ui->current_z->setText(QString::number(local.z, 'f', 3));
- ui->current_yaw->setText(QString::number(local.yaw * RAD2DEG, 'f', 1));
- ui->current_pitch->setText(QString::number(local.pitch * RAD2DEG, 'f', 1));
- ui->current_roll->setText(QString::number(local.roll * RAD2DEG, 'f', 1));
-
- ui->current_x_2->setText(QString::number(local.x, 'f', 3));
- ui->current_y_2->setText(QString::number(local.y, 'f', 3));
- ui->current_z_2->setText(QString::number(local.z, 'f', 3));
- ui->current_yaw_2->setText(QString::number(local.yaw * RAD2DEG, 'f', 1));
- ui->current_pitch_2->setText(QString::number(local.pitch * RAD2DEG, 'f', 1));
- ui->current_roll_2->setText(QString::number(local.roll * RAD2DEG, 'f', 1));
+ ui->current_x_safe->setText(QString::number(local.x, 'f', 3));
+ ui->current_y_safe->setText(QString::number(local.y, 'f', 3));
+ ui->current_z_safe->setText(QString::number(local.z, 'f', 3));
+ ui->current_yaw_safe->setText(QString::number(local.yaw * RAD2DEG, 'f', 1));
+ ui->current_pitch_safe->setText(QString::number(local.pitch * RAD2DEG, 'f', 1));
+ ui->current_roll_safe->setText(QString::number(local.roll * RAD2DEG, 'f', 1));
+
+ ui->current_x_demo->setText(QString::number(local.x, 'f', 3));
+ ui->current_y_demo->setText(QString::number(local.y, 'f', 3));
+ ui->current_z_demo->setText(QString::number(local.z, 'f', 3));
+ ui->current_yaw_demo->setText(QString::number(local.yaw * RAD2DEG, 'f', 1));
+ ui->current_pitch_demo->setText(QString::number(local.pitch * RAD2DEG, 'f', 1));
+ ui->current_roll_demo->setText(QString::number(local.roll * RAD2DEG, 'f', 1));
// also update diff
- ui->diff_x->setText(QString::number(m_safe_setpoint.x - local.x, 'f', 3));
- ui->diff_y->setText(QString::number(m_safe_setpoint.y - local.y, 'f', 3));
- ui->diff_z->setText(QString::number(m_safe_setpoint.z - local.z, 'f', 3));
- ui->diff_yaw->setText(QString::number((m_safe_setpoint.yaw - local.yaw) * RAD2DEG, 'f', 1));
-
- ui->diff_x_2->setText(QString::number(m_custom_setpoint.x - local.x, 'f', 3));
- ui->diff_y_2->setText(QString::number(m_custom_setpoint.y - local.y, 'f', 3));
- ui->diff_z_2->setText(QString::number(m_custom_setpoint.z - local.z, 'f', 3));
- ui->diff_yaw_2->setText(QString::number((m_custom_setpoint.yaw - local.yaw) * RAD2DEG, 'f', 1));
+ ui->diff_x_safe->setText(QString::number(m_safe_setpoint.x - local.x, 'f', 3));
+ ui->diff_y_safe->setText(QString::number(m_safe_setpoint.y - local.y, 'f', 3));
+ ui->diff_z_safe->setText(QString::number(m_safe_setpoint.z - local.z, 'f', 3));
+ ui->diff_yaw_safe->setText(QString::number((m_safe_setpoint.yaw - local.yaw) * RAD2DEG, 'f', 1));
+
+ ui->diff_x_demo->setText(QString::number(m_demo_setpoint.x - local.x, 'f', 3));
+ ui->diff_y_demo->setText(QString::number(m_demo_setpoint.y - local.y, 'f', 3));
+ ui->diff_z_demo->setText(QString::number(m_demo_setpoint.z - local.z, 'f', 3));
+ ui->diff_yaw_demo->setText(QString::number((m_demo_setpoint.yaw - local.yaw) * RAD2DEG, 'f', 1));
}
}
}
@@ -481,28 +536,28 @@ void MainWindow::on_motors_OFF_button_clicked()
// ----------------------------------------------------------------------------------
// # Setpoint
-void MainWindow::on_set_setpoint_button_clicked()
+void MainWindow::on_set_setpoint_button_safe_clicked()
{
Setpoint msg_setpoint;
// initialize setpoint to previous one
- msg_setpoint.x = (ui->current_setpoint_x->text()).toFloat();
- msg_setpoint.y = (ui->current_setpoint_y->text()).toFloat();
- msg_setpoint.z = (ui->current_setpoint_z->text()).toFloat();
- msg_setpoint.yaw = (ui->current_setpoint_yaw->text()).toFloat();
+ msg_setpoint.x = (ui->current_setpoint_x_safe->text()).toFloat();
+ msg_setpoint.y = (ui->current_setpoint_y_safe->text()).toFloat();
+ msg_setpoint.z = (ui->current_setpoint_z_safe->text()).toFloat();
+ msg_setpoint.yaw = (ui->current_setpoint_yaw_safe->text()).toFloat();
- if(!ui->new_setpoint_x->text().isEmpty())
- msg_setpoint.x = (ui->new_setpoint_x->text()).toFloat();
+ if(!ui->new_setpoint_x_safe->text().isEmpty())
+ msg_setpoint.x = (ui->new_setpoint_x_safe->text()).toFloat();
- if(!ui->new_setpoint_y->text().isEmpty())
- msg_setpoint.y = (ui->new_setpoint_y->text()).toFloat();
+ if(!ui->new_setpoint_y_safe->text().isEmpty())
+ msg_setpoint.y = (ui->new_setpoint_y_safe->text()).toFloat();
- if(!ui->new_setpoint_z->text().isEmpty())
- msg_setpoint.z = (ui->new_setpoint_z->text()).toFloat();
+ if(!ui->new_setpoint_z_safe->text().isEmpty())
+ msg_setpoint.z = (ui->new_setpoint_z_safe->text()).toFloat();
- if(!ui->new_setpoint_yaw->text().isEmpty())
- msg_setpoint.yaw = (ui->new_setpoint_yaw->text()).toFloat() * DEG2RAD;
+ if(!ui->new_setpoint_yaw_safe->text().isEmpty())
+ msg_setpoint.yaw = (ui->new_setpoint_yaw_safe->text()).toFloat() * DEG2RAD;
if(!setpointInsideBox(msg_setpoint, m_context))
@@ -523,7 +578,29 @@ void MainWindow::on_set_setpoint_button_clicked()
ROS_INFO_STREAM("Setpoint change clicked with:" << msg_setpoint.x << ", "<< msg_setpoint.y << ", "<< msg_setpoint.z << ", "<< msg_setpoint.yaw);
}
-void MainWindow::initialize_custom_setpoint()
+void MainWindow::initialize_demo_setpoint()
+{
+ Setpoint msg_setpoint;
+ msg_setpoint.x = 0;
+ msg_setpoint.y = 0;
+ msg_setpoint.z = 0.4;
+ msg_setpoint.yaw = 0;
+
+ this->demoSetpointPublisher.publish(msg_setpoint);
+}
+
+void MainWindow::initialize_student_setpoint()
+{
+ Setpoint msg_setpoint;
+ msg_setpoint.x = 0;
+ msg_setpoint.y = 0;
+ msg_setpoint.z = 0.4;
+ msg_setpoint.yaw = 0;
+
+ this->studentSetpointPublisher.publish(msg_setpoint);
+}
+
+void MainWindow::initialize_mpc_setpoint()
{
Setpoint msg_setpoint;
msg_setpoint.x = 0;
@@ -531,33 +608,77 @@ void MainWindow::initialize_custom_setpoint()
msg_setpoint.z = 0.4;
msg_setpoint.yaw = 0;
- this->customSetpointPublisher.publish(msg_setpoint);
+ this->mpcSetpointPublisher.publish(msg_setpoint);
}
-void MainWindow::on_set_setpoint_button_2_clicked()
+void MainWindow::on_set_setpoint_button_demo_clicked()
{
Setpoint msg_setpoint;
- msg_setpoint.x = (ui->current_setpoint_x_2->text()).toFloat();
- msg_setpoint.y = (ui->current_setpoint_y_2->text()).toFloat();
- msg_setpoint.z = (ui->current_setpoint_z_2->text()).toFloat();
- msg_setpoint.yaw = (ui->current_setpoint_yaw_2->text()).toFloat();
+ msg_setpoint.x = (ui->current_setpoint_x_demo->text()).toFloat();
+ msg_setpoint.y = (ui->current_setpoint_y_demo->text()).toFloat();
+ msg_setpoint.z = (ui->current_setpoint_z_demo->text()).toFloat();
+ msg_setpoint.yaw = (ui->current_setpoint_yaw_demo->text()).toFloat();
- if(!ui->new_setpoint_x_2->text().isEmpty())
- msg_setpoint.x = (ui->new_setpoint_x_2->text()).toFloat();
- if(!ui->new_setpoint_y_2->text().isEmpty())
- msg_setpoint.y = (ui->new_setpoint_y_2->text()).toFloat();
- if(!ui->new_setpoint_z_2->text().isEmpty())
- msg_setpoint.z = (ui->new_setpoint_z_2->text()).toFloat();
- if(!ui->new_setpoint_yaw_2->text().isEmpty())
- msg_setpoint.yaw = (ui->new_setpoint_yaw_2->text()).toFloat() * DEG2RAD;
+ if(!ui->new_setpoint_x_demo->text().isEmpty())
+ msg_setpoint.x = (ui->new_setpoint_x_demo->text()).toFloat();
+ if(!ui->new_setpoint_y_demo->text().isEmpty())
+ msg_setpoint.y = (ui->new_setpoint_y_demo->text()).toFloat();
+ if(!ui->new_setpoint_z_demo->text().isEmpty())
+ msg_setpoint.z = (ui->new_setpoint_z_demo->text()).toFloat();
+ if(!ui->new_setpoint_yaw_demo->text().isEmpty())
+ msg_setpoint.yaw = (ui->new_setpoint_yaw_demo->text()).toFloat() * DEG2RAD;
- this->customSetpointPublisher.publish(msg_setpoint);
+ this->demoSetpointPublisher.publish(msg_setpoint);
ROS_INFO_STREAM("Setpoint change clicked with:" << msg_setpoint.x << ", "<< msg_setpoint.y << ", "<< msg_setpoint.z << ", "<< msg_setpoint.yaw);
}
+void MainWindow::on_set_setpoint_button_student_clicked()
+{
+ Setpoint msg_setpoint;
+
+ msg_setpoint.x = (ui->current_setpoint_x_student->text()).toFloat();
+ msg_setpoint.y = (ui->current_setpoint_y_student->text()).toFloat();
+ msg_setpoint.z = (ui->current_setpoint_z_student->text()).toFloat();
+ msg_setpoint.yaw = (ui->current_setpoint_yaw_student->text()).toFloat();
+
+ if(!ui->new_setpoint_x_student->text().isEmpty())
+ msg_setpoint.x = (ui->new_setpoint_x_student->text()).toFloat();
+ if(!ui->new_setpoint_y_student->text().isEmpty())
+ msg_setpoint.y = (ui->new_setpoint_y_student->text()).toFloat();
+ if(!ui->new_setpoint_z_student->text().isEmpty())
+ msg_setpoint.z = (ui->new_setpoint_z_student->text()).toFloat();
+ if(!ui->new_setpoint_yaw_student->text().isEmpty())
+ msg_setpoint.yaw = (ui->new_setpoint_yaw_student->text()).toFloat() * DEG2RAD;
+
+ this->studentSetpointPublisher.publish(msg_setpoint);
+
+ ROS_INFO_STREAM("Setpoint change clicked with:" << msg_setpoint.x << ", "<< msg_setpoint.y << ", "<< msg_setpoint.z << ", "<< msg_setpoint.yaw);
+}
+
+void MainWindow::on_set_setpoint_button_mpc_clicked()
+{
+ Setpoint msg_setpoint;
+
+ msg_setpoint.x = (ui->current_setpoint_x_mpc->text()).toFloat();
+ msg_setpoint.y = (ui->current_setpoint_y_mpc->text()).toFloat();
+ msg_setpoint.z = (ui->current_setpoint_z_mpc->text()).toFloat();
+ msg_setpoint.yaw = (ui->current_setpoint_yaw_mpc->text()).toFloat();
+ if(!ui->new_setpoint_x_mpc->text().isEmpty())
+ msg_setpoint.x = (ui->new_setpoint_x_mpc->text()).toFloat();
+ if(!ui->new_setpoint_y_mpc->text().isEmpty())
+ msg_setpoint.y = (ui->new_setpoint_y_mpc->text()).toFloat();
+ if(!ui->new_setpoint_z_mpc->text().isEmpty())
+ msg_setpoint.z = (ui->new_setpoint_z_mpc->text()).toFloat();
+ if(!ui->new_setpoint_yaw_mpc->text().isEmpty())
+ msg_setpoint.yaw = (ui->new_setpoint_yaw_mpc->text()).toFloat() * DEG2RAD;
+
+ this->mpcSetpointPublisher.publish(msg_setpoint);
+
+ ROS_INFO_STREAM("Setpoint change clicked with:" << msg_setpoint.x << ", "<< msg_setpoint.y << ", "<< msg_setpoint.z << ", "<< msg_setpoint.yaw);
+}
// ----------------------------------------------------------------------------------
@@ -711,7 +832,7 @@ void MainWindow::requestLoadControllerYaml_from_my_GUI_Callback(const std_msgs::
case LOAD_YAML_DEMO_CONTROLLER_AGENT:
case LOAD_YAML_DEMO_CONTROLLER_COORDINATOR:
- // Set the "load custom yaml" button to be disabled
+ // Set the "load demo yaml" button to be disabled
ui->load_demo_yaml_button->setEnabled(false);
// Start a timer which will enable the button in its callback
@@ -724,6 +845,36 @@ void MainWindow::requestLoadControllerYaml_from_my_GUI_Callback(const std_msgs::
break;
+ case LOAD_YAML_STUDENT_CONTROLLER_AGENT:
+ case LOAD_YAML_STUDENT_CONTROLLER_COORDINATOR:
+ // Set the "load student yaml" button to be disabled
+ ui->load_student_yaml_button->setEnabled(false);
+
+ // Start a timer which will enable the button in its callback
+ // > This is required because the agent node waits some time between
+ // re-loading the values from the YAML file and then assigning then
+ // to the local variable of the agent.
+ // > Thus we use this timer to prevent the user from clicking the
+ // button in the GUI repeatedly.
+ m_timer_yaml_file_for_student_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::studentYamlFileTimerCallback, this, true);
+
+ break;
+
+ case LOAD_YAML_MPC_CONTROLLER_AGENT:
+ case LOAD_YAML_MPC_CONTROLLER_COORDINATOR:
+ // Set the "load mpc yaml" button to be disabled
+ ui->load_mpc_yaml_button->setEnabled(false);
+
+ // Start a timer which will enable the button in its callback
+ // > This is required because the agent node waits some time between
+ // re-loading the values from the YAML file and then assigning then
+ // to the local variable of the agent.
+ // > Thus we use this timer to prevent the user from clicking the
+ // button in the GUI repeatedly.
+ m_timer_yaml_file_for_mpc_controller = nodeHandle.createTimer(ros::Duration(1.5), &MainWindow::mpcYamlFileTimerCallback, this, true);
+
+ break;
+
default:
ROS_INFO("Unknown 'all controllers to load yaml' command, thus nothing will be disabled");
break;
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
index 0d579ba4..4df49805 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/studentGUI/src/MainWindow.ui
@@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1331</width>
+ <width>1333</width>
<height>721</height>
</rect>
</property>
@@ -377,7 +377,7 @@
<property name="tabsClosable">
<bool>false</bool>
</property>
- <widget class="QWidget" name="tab_3">
+ <widget class="QWidget" name="tab_safe">
<property name="font">
<font>
<pointsize>14</pointsize>
@@ -394,7 +394,7 @@
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="6" column="1">
- <widget class="QLineEdit" name="current_roll">
+ <widget class="QLineEdit" name="current_roll_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -412,7 +412,7 @@
</widget>
</item>
<item row="2" column="1">
- <widget class="QLineEdit" name="current_y">
+ <widget class="QLineEdit" name="current_y_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -430,7 +430,7 @@
</widget>
</item>
<item row="4" column="1">
- <widget class="QLineEdit" name="current_yaw">
+ <widget class="QLineEdit" name="current_yaw_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -448,7 +448,7 @@
</widget>
</item>
<item row="3" column="1">
- <widget class="QLineEdit" name="current_z">
+ <widget class="QLineEdit" name="current_z_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -538,7 +538,7 @@
</widget>
</item>
<item row="1" column="1">
- <widget class="QLineEdit" name="current_x">
+ <widget class="QLineEdit" name="current_x_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -592,7 +592,7 @@
</widget>
</item>
<item row="5" column="1">
- <widget class="QLineEdit" name="current_pitch">
+ <widget class="QLineEdit" name="current_pitch_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -631,7 +631,7 @@
</widget>
</item>
<item row="1" column="2">
- <widget class="QLineEdit" name="diff_x">
+ <widget class="QLineEdit" name="diff_x_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -649,7 +649,7 @@
</widget>
</item>
<item row="2" column="2">
- <widget class="QLineEdit" name="diff_y">
+ <widget class="QLineEdit" name="diff_y_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -667,7 +667,7 @@
</widget>
</item>
<item row="3" column="2">
- <widget class="QLineEdit" name="diff_z">
+ <widget class="QLineEdit" name="diff_z_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -685,7 +685,7 @@
</widget>
</item>
<item row="4" column="2">
- <widget class="QLineEdit" name="diff_yaw">
+ <widget class="QLineEdit" name="diff_yaw_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -733,7 +733,7 @@
</property>
<layout class="QGridLayout" name="gridLayout_4">
<item row="2" column="2">
- <widget class="QLineEdit" name="new_setpoint_y">
+ <widget class="QLineEdit" name="new_setpoint_y_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -748,7 +748,7 @@
</widget>
</item>
<item row="4" column="2">
- <widget class="QLineEdit" name="new_setpoint_yaw">
+ <widget class="QLineEdit" name="new_setpoint_yaw_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -763,7 +763,7 @@
</widget>
</item>
<item row="1" column="2">
- <widget class="QLineEdit" name="new_setpoint_x">
+ <widget class="QLineEdit" name="new_setpoint_x_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -778,7 +778,7 @@
</widget>
</item>
<item row="2" column="1">
- <widget class="QLineEdit" name="current_setpoint_y">
+ <widget class="QLineEdit" name="current_setpoint_y_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -796,7 +796,7 @@
</widget>
</item>
<item row="1" column="1">
- <widget class="QLineEdit" name="current_setpoint_x">
+ <widget class="QLineEdit" name="current_setpoint_x_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -871,7 +871,7 @@
</widget>
</item>
<item row="3" column="1">
- <widget class="QLineEdit" name="current_setpoint_z">
+ <widget class="QLineEdit" name="current_setpoint_z_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -925,7 +925,7 @@
</widget>
</item>
<item row="4" column="1">
- <widget class="QLineEdit" name="current_setpoint_yaw">
+ <widget class="QLineEdit" name="current_setpoint_yaw_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -943,7 +943,7 @@
</widget>
</item>
<item row="5" column="2">
- <widget class="QPushButton" name="set_setpoint_button">
+ <widget class="QPushButton" name="set_setpoint_button_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -961,7 +961,7 @@
</widget>
</item>
<item row="3" column="2">
- <widget class="QLineEdit" name="new_setpoint_z">
+ <widget class="QLineEdit" name="new_setpoint_z_safe">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1026,7 +1026,7 @@
</item>
</layout>
</widget>
- <widget class="QWidget" name="tab_4">
+ <widget class="QWidget" name="tab_demo">
<attribute name="title">
<string> Demo </string>
</attribute>
@@ -1066,7 +1066,7 @@
</property>
<layout class="QGridLayout" name="gridLayout_7">
<item row="1" column="2">
- <widget class="QLineEdit" name="diff_x_2">
+ <widget class="QLineEdit" name="diff_x_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1084,7 +1084,7 @@
</widget>
</item>
<item row="6" column="1">
- <widget class="QLineEdit" name="current_roll_2">
+ <widget class="QLineEdit" name="current_roll_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1102,7 +1102,7 @@
</widget>
</item>
<item row="2" column="1">
- <widget class="QLineEdit" name="current_y_2">
+ <widget class="QLineEdit" name="current_y_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1120,7 +1120,7 @@
</widget>
</item>
<item row="4" column="1">
- <widget class="QLineEdit" name="current_yaw_2">
+ <widget class="QLineEdit" name="current_yaw_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1138,7 +1138,7 @@
</widget>
</item>
<item row="3" column="1">
- <widget class="QLineEdit" name="current_z_2">
+ <widget class="QLineEdit" name="current_z_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1192,7 +1192,7 @@
</widget>
</item>
<item row="1" column="1">
- <widget class="QLineEdit" name="current_x_2">
+ <widget class="QLineEdit" name="current_x_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1240,7 +1240,7 @@
</widget>
</item>
<item row="5" column="1">
- <widget class="QLineEdit" name="current_pitch_2">
+ <widget class="QLineEdit" name="current_pitch_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1315,7 +1315,7 @@
</widget>
</item>
<item row="3" column="2">
- <widget class="QLineEdit" name="diff_z_2">
+ <widget class="QLineEdit" name="diff_z_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1333,7 +1333,7 @@
</widget>
</item>
<item row="2" column="2">
- <widget class="QLineEdit" name="diff_y_2">
+ <widget class="QLineEdit" name="diff_y_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1351,7 +1351,7 @@
</widget>
</item>
<item row="4" column="2">
- <widget class="QLineEdit" name="diff_yaw_2">
+ <widget class="QLineEdit" name="diff_yaw_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1399,7 +1399,7 @@
</property>
<layout class="QGridLayout" name="gridLayout_8">
<item row="2" column="2">
- <widget class="QLineEdit" name="new_setpoint_y_2">
+ <widget class="QLineEdit" name="new_setpoint_y_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1414,7 +1414,7 @@
</widget>
</item>
<item row="4" column="2">
- <widget class="QLineEdit" name="new_setpoint_yaw_2">
+ <widget class="QLineEdit" name="new_setpoint_yaw_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1429,7 +1429,7 @@
</widget>
</item>
<item row="1" column="2">
- <widget class="QLineEdit" name="new_setpoint_x_2">
+ <widget class="QLineEdit" name="new_setpoint_x_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1444,7 +1444,7 @@
</widget>
</item>
<item row="2" column="1">
- <widget class="QLineEdit" name="current_setpoint_y_2">
+ <widget class="QLineEdit" name="current_setpoint_y_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1462,7 +1462,7 @@
</widget>
</item>
<item row="1" column="1">
- <widget class="QLineEdit" name="current_setpoint_x_2">
+ <widget class="QLineEdit" name="current_setpoint_x_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1573,7 +1573,7 @@
</widget>
</item>
<item row="3" column="1">
- <widget class="QLineEdit" name="current_setpoint_z_2">
+ <widget class="QLineEdit" name="current_setpoint_z_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1591,7 +1591,7 @@
</widget>
</item>
<item row="5" column="2">
- <widget class="QPushButton" name="set_setpoint_button_2">
+ <widget class="QPushButton" name="set_setpoint_button_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1609,7 +1609,7 @@
</widget>
</item>
<item row="4" column="1">
- <widget class="QLineEdit" name="current_setpoint_yaw_2">
+ <widget class="QLineEdit" name="current_setpoint_yaw_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1627,7 +1627,7 @@
</widget>
</item>
<item row="3" column="2">
- <widget class="QLineEdit" name="new_setpoint_z_2">
+ <widget class="QLineEdit" name="new_setpoint_z_demo">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -1768,6 +1768,616 @@
</item>
</layout>
</widget>
+ <widget class="QWidget" name="tab_student">
+ <attribute name="title">
+ <string>Student</string>
+ </attribute>
+ <layout class="QGridLayout" name="gridLayout_11">
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout_6">
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item row="1" column="2">
+ <widget class="QLabel" name="label_27">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>New</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="14" column="2">
+ <widget class="QPushButton" name="set_setpoint_button_student">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>Set setpoint</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLabel" name="label_26">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>Current</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_28">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>Setpoint:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_29">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>x [m] =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="11" column="0">
+ <widget class="QLabel" name="label_25">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>yaw [deg] =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="9" column="0">
+ <widget class="QLabel" name="label_24">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>z [m] =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="0">
+ <widget class="QLabel" name="label_23">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>y [m] =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QLineEdit" name="new_setpoint_x_student">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ </widget>
+ </item>
+ <item row="11" column="2">
+ <widget class="QLineEdit" name="new_setpoint_yaw_student">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="current_setpoint_x_student">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="1">
+ <widget class="QLineEdit" name="current_setpoint_y_student">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="11" column="1">
+ <widget class="QLineEdit" name="current_setpoint_yaw_student">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="9" column="1">
+ <widget class="QLineEdit" name="current_setpoint_z_student">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="9" column="2">
+ <widget class="QLineEdit" name="new_setpoint_z_student">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="2">
+ <widget class="QLineEdit" name="new_setpoint_y_student">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
+ <widget class="QWidget" name="tab_mpc">
+ <attribute name="title">
+ <string>MPC</string>
+ </attribute>
+ <layout class="QGridLayout" name="gridLayout_13">
+ <item row="0" column="0">
+ <layout class="QGridLayout" name="gridLayout_12">
+ <property name="leftMargin">
+ <number>6</number>
+ </property>
+ <property name="topMargin">
+ <number>6</number>
+ </property>
+ <property name="rightMargin">
+ <number>6</number>
+ </property>
+ <property name="bottomMargin">
+ <number>6</number>
+ </property>
+ <item row="1" column="2">
+ <widget class="QLabel" name="label_30">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>New</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="14" column="2">
+ <widget class="QPushButton" name="set_setpoint_button_mpc">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>Set setpoint</string>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="1">
+ <widget class="QLabel" name="label_31">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>Current</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item row="1" column="0">
+ <widget class="QLabel" name="label_32">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>Setpoint:</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="0">
+ <widget class="QLabel" name="label_33">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>x [m] =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="11" column="0">
+ <widget class="QLabel" name="label_34">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>yaw [deg] =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="9" column="0">
+ <widget class="QLabel" name="label_35">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>z [m] =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="0">
+ <widget class="QLabel" name="label_36">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="text">
+ <string>y [m] =</string>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="2">
+ <widget class="QLineEdit" name="new_setpoint_x_mpc">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ </widget>
+ </item>
+ <item row="11" column="2">
+ <widget class="QLineEdit" name="new_setpoint_yaw_mpc">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ </widget>
+ </item>
+ <item row="3" column="1">
+ <widget class="QLineEdit" name="current_setpoint_x_mpc">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="1">
+ <widget class="QLineEdit" name="current_setpoint_y_mpc">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="11" column="1">
+ <widget class="QLineEdit" name="current_setpoint_yaw_mpc">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="9" column="1">
+ <widget class="QLineEdit" name="current_setpoint_z_mpc">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ <property name="readOnly">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
+ <item row="9" column="2">
+ <widget class="QLineEdit" name="new_setpoint_z_mpc">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ </widget>
+ </item>
+ <item row="7" column="2">
+ <widget class="QLineEdit" name="new_setpoint_y_mpc">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="font">
+ <font>
+ <pointsize>14</pointsize>
+ </font>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </item>
+ </layout>
+ </widget>
</widget>
</item>
<item>
@@ -2139,7 +2749,7 @@
<rect>
<x>0</x>
<y>0</y>
- <width>1331</width>
+ <width>1333</width>
<height>25</height>
</rect>
</property>
diff --git a/pps_ws/src/d_fall_pps/include/nodes/PPSClient.h b/pps_ws/src/d_fall_pps/include/nodes/PPSClient.h
index d87085d5..f2f870cf 100644
--- a/pps_ws/src/d_fall_pps/include/nodes/PPSClient.h
+++ b/pps_ws/src/d_fall_pps/include/nodes/PPSClient.h
@@ -83,8 +83,8 @@
#define CF_COMMAND_TYPE_ANGLE 8
// Types of controllers being used:
-#define SAFE_CONTROLLER 0
-#define DEMO_CONTROLLER 1
+#define SAFE_CONTROLLER 1
+#define DEMO_CONTROLLER 2
#define STUDENT_CONTROLLER 3
#define MPC_CONTROLLER 4
--
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