diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/templatecontrollertab.ui b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/templatecontrollertab.ui
index fd7da271ecfde4eaa3e4e7a9a6d977288348aca2..7ffe2b1781ec7d77fb97653c6e4f4428f514dbc7 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/templatecontrollertab.ui
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/forms/templatecontrollertab.ui
@@ -70,7 +70,7 @@
</spacer>
</item>
<item row="0" column="1">
- <widget class="QPushButton" name="pushButton_2">
+ <widget class="QPushButton" name="custom_button_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -83,7 +83,7 @@
</widget>
</item>
<item row="0" column="2">
- <widget class="QPushButton" name="pushButton_3">
+ <widget class="QPushButton" name="custom_button_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -96,7 +96,7 @@
</widget>
</item>
<item row="0" column="0">
- <widget class="QPushButton" name="pushButton">
+ <widget class="QPushButton" name="custom_button_1">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -117,7 +117,7 @@
<number>0</number>
</property>
<item>
- <widget class="QLineEdit" name="lineEdit_9">
+ <widget class="QLineEdit" name="lineEdit_custom_3">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -143,7 +143,7 @@
<number>0</number>
</property>
<item>
- <widget class="QLineEdit" name="lineEdit_8">
+ <widget class="QLineEdit" name="lineEdit_custom_2">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -169,7 +169,7 @@
<number>0</number>
</property>
<item>
- <widget class="QLineEdit" name="lineEdit_7">
+ <widget class="QLineEdit" name="lineEdit_custom_1">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
@@ -198,7 +198,7 @@
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout">
<item row="3" column="3">
- <widget class="QLineEdit" name="lineEdit_15">
+ <widget class="QLineEdit" name="lineEdit_setpoint_new_y">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -225,7 +225,7 @@
</widget>
</item>
<item row="1" column="3">
- <widget class="QLabel" name="label_12">
+ <widget class="QLabel" name="label_new_title_line2">
<property name="text">
<string>Setpoint</string>
</property>
@@ -235,7 +235,7 @@
</widget>
</item>
<item row="5" column="2">
- <widget class="QLineEdit" name="lineEdit_13">
+ <widget class="QLineEdit" name="lineEdit_setpoint_current_yaw">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -275,7 +275,7 @@
</widget>
</item>
<item row="0" column="3">
- <widget class="QLabel" name="label_11">
+ <widget class="QLabel" name="label_new_title">
<property name="font">
<font>
<weight>75</weight>
@@ -304,7 +304,7 @@
</spacer>
</item>
<item row="3" column="2">
- <widget class="QLineEdit" name="lineEdit_11">
+ <widget class="QLineEdit" name="lineEdit_setpoint_current_y">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -350,7 +350,7 @@
</widget>
</item>
<item row="4" column="3">
- <widget class="QLineEdit" name="lineEdit_16">
+ <widget class="QLineEdit" name="lineEdit_setpoint_new_z">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -377,7 +377,7 @@
</widget>
</item>
<item row="4" column="2">
- <widget class="QLineEdit" name="lineEdit_12">
+ <widget class="QLineEdit" name="lineEdit_setpoint_current_z">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -482,7 +482,7 @@
</widget>
</item>
<item row="2" column="2">
- <widget class="QLineEdit" name="lineEdit_10">
+ <widget class="QLineEdit" name="lineEdit_setpoint_current_x">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -512,7 +512,7 @@
</widget>
</item>
<item row="5" column="3">
- <widget class="QLineEdit" name="lineEdit_17">
+ <widget class="QLineEdit" name="lineEdit_setpoint_new_yaw">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -549,7 +549,7 @@
</widget>
</item>
<item row="6" column="3">
- <widget class="QPushButton" name="pushButton_5">
+ <widget class="QPushButton" name="set_setpoint_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -568,7 +568,7 @@
</widget>
</item>
<item row="0" column="2">
- <widget class="QLabel" name="label_9">
+ <widget class="QLabel" name="label_current_title">
<property name="font">
<font>
<weight>75</weight>
@@ -594,7 +594,7 @@
</widget>
</item>
<item row="2" column="3">
- <widget class="QLineEdit" name="lineEdit_14">
+ <widget class="QLineEdit" name="lineEdit_setpoint_new_x">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
@@ -621,7 +621,7 @@
</widget>
</item>
<item row="1" column="2">
- <widget class="QLabel" name="label_10">
+ <widget class="QLabel" name="label_current_title_line2">
<property name="text">
<string>Setpoint</string>
</property>
@@ -631,7 +631,7 @@
</widget>
</item>
<item row="6" column="2">
- <widget class="QPushButton" name="pushButton_4">
+ <widget class="QPushButton" name="default_setpoint_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
index 94f6021fb559a4313b8b123c9b3589ddefa2ebed..be7ed5f428526feac37a3651024fd53c41c22a30 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
@@ -177,9 +177,9 @@ private:
bool getTypeAndIDParameters();
#endif
- void publishSetpoint(float x, float y, float z, float yaw);
+ void publishSetpoint(float x, float y, float z, float yaw_degrees);
- void increment_setpoint_by(float x_inc, float y_inc, float z_inc, float yaw_inc);
+ void increment_setpoint_by(float x_inc, float y_inc, float z_inc, float yaw_inc_degrees);
};
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/templatecontrollertab.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/templatecontrollertab.h
index dd781546ca9b2c43cb589061a4d811e914fe6218..0f9377bb2fa435ca5b98dd792bbde4b863b6fbc2 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/templatecontrollertab.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/templatecontrollertab.h
@@ -1,7 +1,80 @@
+// 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 Template Controller for students build from
+//
+// ----------------------------------------------------------------------------------
+
+
+
+
+
#ifndef TEMPLATECONTROLLERTAB_H
#define TEMPLATECONTROLLERTAB_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 TemplateControllerTab;
@@ -15,8 +88,89 @@ public:
explicit TemplateControllerTab(QWidget *parent = 0);
~TemplateControllerTab();
+
+
+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::TemplateControllerTab *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 // TEMPLATECONTROLLERTAB_H
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
index d3cae357ebbc4e89202babe203e2a437a7f567f2..ec83ca37999e22adad5ad9a84e999e2828a3eed8 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/controllertabs.cpp
+++ b/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->template_controller_tab_widget , &TemplateControllerTab::setMeasuredPose
+ );
+
// CONNECT THE "MEASUREMENTS UNAVAILABLE" SIGNAL TO
@@ -101,6 +106,11 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
ui->tuning_controller_tab_widget , &TuningControllerTab::poseDataUnavailableSlot
);
+ QObject::connect(
+ this , &ControllerTabs::poseDataUnavailableSignal ,
+ ui->template_controller_tab_widget , &TemplateControllerTab::poseDataUnavailableSlot
+ );
+
// CONNECT TO THE COORDINATOR SIGNAL TO BE ALWAYS UPDATED
// WITH THE LIST OF AGENT IDs TO COORDINATE
@@ -127,6 +137,11 @@ ControllerTabs::ControllerTabs(QWidget *parent) :
ui->tuning_controller_tab_widget , &TuningControllerTab::setAgentIDsToCoordinate
);
+ QObject::connect(
+ this , &ControllerTabs::agentIDsToCoordinateChanged ,
+ ui->template_controller_tab_widget , &TemplateControllerTab::setAgentIDsToCoordinate
+ );
+
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
index cc9b3503871ea6d911c741dad73f5c1a7694298e..e89ddaff7856e7e083ac86ef05eab1ebc56f7649 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
@@ -329,7 +329,7 @@ void StudentControllerTab::setpointChangedCallback(const dfall_pkg::SetpointWith
ui->lineEdit_setpoint_current_z->setText(qstr + QString::number( z, 'f', 3));
if (yaw < 0.0f) qstr = ""; else qstr = "+";
- ui->lineEdit_setpoint_current_yaw->setText(qstr + QString::number( yaw * RAD2DEG, 'f', 3));
+ ui->lineEdit_setpoint_current_yaw->setText(qstr + QString::number( yaw * RAD2DEG, 'f', 1));
}
#endif
@@ -357,7 +357,7 @@ void StudentControllerTab::setpointChangedCallback(const dfall_pkg::SetpointWith
// ----------------------------------------------------------------------------------
-void StudentControllerTab::publishSetpoint(float x, float y, float z, float yaw)
+void StudentControllerTab::publishSetpoint(float x, float y, float z, float yaw_degrees)
{
#ifdef CATKIN_MAKE
// Initialise the message as a local variable
@@ -370,16 +370,16 @@ void StudentControllerTab::publishSetpoint(float x, float y, float z, float yaw)
msg.x = x;
msg.y = y;
msg.z = z;
- msg.yaw = yaw * DEG2RAD;
+ msg.yaw = yaw_degrees * DEG2RAD;
// Publish the setpoint
this->requestSetpointChangePublisher.publish(msg);
// Inform the user about the change
- ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Published request for setpoint change to: [" << x << ", "<< y << ", "<< z << ", "<< yaw << "]");
+ ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Published request for setpoint change to: [" << x << ", "<< y << ", "<< z << ", "<< yaw_degrees << "]");
#else
// TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
- QTextStream(stdout) << "[STUDENT CONTROLLER GUI] would publish request for: [" << x << ", "<< y << ", "<< z << ", "<< yaw << "]";
+ QTextStream(stdout) << "[STUDENT CONTROLLER GUI] would publish request for: [" << x << ", "<< y << ", "<< z << ", "<< yaw_degrees << "]";
#endif
}
@@ -388,12 +388,6 @@ void StudentControllerTab::publishSetpoint(float x, float y, float z, float yaw)
void StudentControllerTab::on_lineEdit_setpoint_new_x_returnPressed()
{
ui->set_setpoint_button->animateClick();
-
-#ifdef CATKIN_MAKE
-#else
- // TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
- QTextStream(stdout) << "[STUDENT CONTROLLER TAB] return pressed for x setpoint";
-#endif
}
void StudentControllerTab::on_lineEdit_setpoint_new_y_returnPressed()
@@ -423,29 +417,24 @@ void StudentControllerTab::on_set_setpoint_button_clicked()
x = (ui->lineEdit_setpoint_new_x->text()).toFloat();
else
x = (ui->lineEdit_setpoint_current_x->text()).toFloat();
- // > For x
+ // > For y
if(!ui->lineEdit_setpoint_new_y->text().isEmpty())
y = (ui->lineEdit_setpoint_new_y->text()).toFloat();
else
y = (ui->lineEdit_setpoint_current_y->text()).toFloat();
- // > For x
+ // > For z
if(!ui->lineEdit_setpoint_new_z->text().isEmpty())
z = (ui->lineEdit_setpoint_new_z->text()).toFloat();
else
z = (ui->lineEdit_setpoint_current_z->text()).toFloat();
- // > For x
+ // > For yaws
if(!ui->lineEdit_setpoint_new_yaw->text().isEmpty())
yaw = (ui->lineEdit_setpoint_new_yaw->text()).toFloat();
else
yaw = (ui->lineEdit_setpoint_current_yaw->text()).toFloat();
-#ifdef CATKIN_MAKE
// Call the function to publish the setpoint
publishSetpoint(x,y,z,yaw);
-#else
- // TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
- QTextStream(stdout) << "[STUDENT CONTROLLER TAB] set setpoint button clicked";
-#endif
}
void StudentControllerTab::on_default_setpoint_button_clicked()
@@ -604,7 +593,7 @@ void StudentControllerTab::on_yaw_increment_minus_button_clicked()
}
-void StudentControllerTab::increment_setpoint_by(float x_inc, float y_inc, float z_inc, float yaw_inc)
+void StudentControllerTab::increment_setpoint_by(float x_inc, float y_inc, float z_inc, float yaw_inc_degrees)
{
if (m_type == TYPE_AGENT)
@@ -616,7 +605,7 @@ void StudentControllerTab::increment_setpoint_by(float x_inc, float y_inc, float
(ui->lineEdit_setpoint_current_x->text() ).toFloat() + x_inc,
(ui->lineEdit_setpoint_current_y->text() ).toFloat() + y_inc,
(ui->lineEdit_setpoint_current_z->text() ).toFloat() + z_inc,
- (ui->lineEdit_setpoint_current_yaw->text()).toFloat() + yaw_inc
+ (ui->lineEdit_setpoint_current_yaw->text()).toFloat() + yaw_inc_degrees
);
}
else if (m_type == TYPE_COORDINATOR)
@@ -645,7 +634,7 @@ void StudentControllerTab::increment_setpoint_by(float x_inc, float y_inc, float
float x_new = x + x_inc;
float y_new = y + y_inc;
float z_new = z + z_inc;
- float yaw_new = yaw + yaw_inc;
+ float yaw_new = yaw + yaw_inc_degrees;
// INITIALISE A STRING VARIABLE FOR ADDING THE "+"
QString qstr = "";
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp
index f16cdf5d33562d75da924c1fb9ca6f181b7dceb8..b0da98f058131f3786ae24f33120be55ea9254aa 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp
@@ -1,3 +1,38 @@
+// 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 Template Controller for students build from
+//
+// ----------------------------------------------------------------------------------
+
+
+
+
+
#include "templatecontrollertab.h"
#include "ui_templatecontrollertab.h"
@@ -6,9 +41,656 @@ TemplateControllerTab::TemplateControllerTab(QWidget *parent) :
ui(new Ui::TemplateControllerTab)
{
ui->setupUi(this);
+
+ // Hide the two red frames that are used to indcated
+ // when pose data is occluded
+ ui->red_frame_position_left->setVisible(false);
+ ui->red_frame_position_right->setVisible(false);
+
+
+
+#ifdef CATKIN_MAKE
+
+ //ros::init();
+
+ // Get the namespace of this node
+ std::string this_namespace = ros::this_node::getNamespace();
+ ROS_INFO_STREAM("[TEMPLATE CONTROLLER TAB GUI] ros::this_node::getNamespace() = " << this_namespace);
+
+ // Get the type and ID of this flying agent GUI
+ bool isValid_type_and_ID = getTypeAndIDParameters();
+
+ // Stall if the node IDs are not valid
+ if ( !isValid_type_and_ID )
+ {
+ ROS_ERROR("[TEMPLATE CONTROLLER TAB GUI] Node NOT FUNCTIONING :-)");
+ ros::spin();
+ }
+
+
+ // CREATE A NODE HANDLE TO THIS GUI
+ ros::NodeHandle nodeHandle_for_this_gui(this_namespace);
+
+ // CREATE THE REQUEST SETPOINT CHANGE PUBLISHER
+ requestSetpointChangePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::SetpointWithHeader>("TemplateControllerService/RequestSetpointChange", 1);
+
+ // SUBSCRIBE TO SETPOINT CHANGES
+ // Only if this is an agent GUI
+ if (m_type == TYPE_AGENT)
+ {
+ setpointChangedSubscriber = nodeHandle_for_this_gui.subscribe("TemplateControllerService/SetpointChanged", 1, &TemplateControllerTab::setpointChangedCallback, this);
+ }
+
+ // CREATE THE CUSTOM BUTTON PRESSED PUBLISHER
+ customButtonPublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::CustomButtonWithHeader>("TemplateControllerService/CustomButtonPressed", 1);
+
+ // GET THE CURRENT SETPOINT
+ // Only if this is an agent GUI
+ if (m_type == TYPE_AGENT)
+ {
+ // > Request the current setpoint
+ ros::ServiceClient getCurrentSetpointServiceClient = nodeHandle_for_this_gui.serviceClient<dfall_pkg::GetSetpointService>("TemplateControllerService/GetCurrentSetpoint", false);
+ dfall_pkg::GetSetpointService getSetpointCall;
+ getSetpointCall.request.data = 0;
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ if(getCurrentSetpointServiceClient.call(getSetpointCall))
+ {
+ setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
+ }
+ else
+ {
+ // Inform the user
+ ROS_INFO("[TEMPLATE CONTROLLER GUI] Failed to get setpoint from controller using the \"GetCurrentSetpoint\" service");
+ }
+ }
+
+#endif
+
}
TemplateControllerTab::~TemplateControllerTab()
{
delete ui;
}
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// CCCC U U SSSS TTTTT OOO M M
+// C U U S T O O MM MM
+// C U U SSS T O O M M M
+// C U U S T O O M M
+// CCCC UUU SSSS T OOO M M
+//
+// BBBB U U TTTTT TTTTT OOO N N SSSS
+// B B U U T T O O NN N S
+// BBBB U U T T O O N N N SSS
+// B B U U T T O O N NN S
+// BBBB UUU T T OOO N N SSSS
+// ----------------------------------------------------------------------------------
+
+
+#ifdef CATKIN_MAKE
+void TemplateControllerTab::publish_custom_button_command(int button_index , QLineEdit * lineEdit_pointer)
+{
+ // Initialise the message as a local variable
+ dfall_pkg::CustomButtonWithHeader msg;
+ // Fill the header of the message
+ fillCustomButtonMessageHeader( msg );
+ // Fill in the button index
+ msg.button_index = button_index;
+ // Get the line edit data, as a float if possible
+ bool isValidFloat = false;
+ float lineEdit_as_float = (lineEdit_pointer->text()).toFloat(&isValidFloat);
+ // Fill in the data
+ if (isValidFloat)
+ msg.float_data = lineEdit_as_float;
+ else
+ msg.string_data = (lineEdit_pointer->text()).toStdString();
+ // Publish the setpoint
+ this->customButtonPublisher.publish(msg);
+ // Inform the user about the change
+ ROS_INFO_STREAM("[TEMPLATE CONTROLLER TAB GUI] button " << button_index << " clicked.");
+}
+#endif
+
+
+void TemplateControllerTab::on_custom_button_1_clicked()
+{
+#ifdef CATKIN_MAKE
+ publish_custom_button_command(1,ui->lineEdit_custom_1);
+#endif
+}
+
+void TemplateControllerTab::on_custom_button_2_clicked()
+{
+#ifdef CATKIN_MAKE
+ publish_custom_button_command(2,ui->lineEdit_custom_2);
+#endif
+}
+
+void TemplateControllerTab::on_custom_button_3_clicked()
+{
+#ifdef CATKIN_MAKE
+ publish_custom_button_command(3,ui->lineEdit_custom_3);
+#endif
+}
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// PPPP OOO SSSS EEEEE DDDD A TTTTT A
+// P P O O S E D D A A T A A
+// PPPP O O SSS EEE D D A A T A A
+// P O O S E D D AAAAA T AAAAA
+// P OOO SSSS EEEEE DDDD A A T A A
+// ----------------------------------------------------------------------------------
+
+
+void TemplateControllerTab::setMeasuredPose(float x , float y , float z , float roll , float pitch , float yaw , bool occluded)
+{
+ if (!occluded)
+ {
+ // INITIALISE A STRING VARIABLE FOR ADDING THE "+"
+ QString qstr = "";
+ // UPDATE THE MEASUREMENT COLUMN
+ if (x < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_measured_x->setText(qstr + QString::number( x, 'f', 3));
+ if (y < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_measured_y->setText(qstr + QString::number( y, 'f', 3));
+ if (z < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_measured_z->setText(qstr + QString::number( z, 'f', 3));
+
+ if (roll < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_measured_roll->setText(qstr + QString::number( roll * RAD2DEG, 'f', 1));
+ if (pitch < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_measured_pitch->setText(qstr + QString::number( pitch * RAD2DEG, 'f', 1));
+ if (yaw < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_measured_yaw->setText(qstr + QString::number( yaw * RAD2DEG, 'f', 1));
+
+ // Ensure the red frames are not visible
+ if ( ui->red_frame_position_left->isVisible() )
+ ui->red_frame_position_left->setVisible(false);
+ if ( ui->red_frame_position_right->isVisible() )
+ ui->red_frame_position_right->setVisible(false);
+ }
+ else
+ {
+ // Make visible the red frames to indicate occluded
+ if ( !(ui->red_frame_position_left->isVisible()) )
+ ui->red_frame_position_left->setVisible(true);
+ if ( !(ui->red_frame_position_right->isVisible()) )
+ ui->red_frame_position_right->setVisible(true);
+ }
+}
+
+
+void TemplateControllerTab::poseDataUnavailableSlot()
+{
+ ui->lineEdit_measured_x->setText("xx.xx");
+ ui->lineEdit_measured_y->setText("xx.xx");
+ ui->lineEdit_measured_z->setText("xx.xx");
+
+ ui->lineEdit_measured_roll->setText("xx.xx");
+ ui->lineEdit_measured_pitch->setText("xx.xx");
+ ui->lineEdit_measured_yaw->setText("xx.xx");
+}
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// SSSS EEEEE TTTTT PPPP OOO III N N TTTTT
+// S E T P P O O I NN N T
+// SSS EEE T PPPP O O I N N N T
+// S E T P O O I N NN T
+// SSSS EEEEE T P OOO III N N T
+//
+// CCCC H H A N N GGGG EEEEE DDDD
+// C H H A A NN N G E D D
+// C HHHHH A A N N N G EEE D D
+// C H H AAAAA N NN G G E D D
+// CCCC H H A A N N GGGG EEEEE DDDD
+//
+// CCCC A L L BBBB A CCCC K K
+// C A A L L B B A A C K K
+// C A A L L BBBB A A C KKK
+// C AAAAA L L B B AAAAA C K K
+// CCCC A A LLLLL LLLLL BBBB A A CCCC K K
+// ----------------------------------------------------------------------------------
+
+
+#ifdef CATKIN_MAKE
+void TemplateControllerTab::setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint)
+{
+ // INITIALISE A STRING VARIABLE FOR ADDING THE "+"
+ QString qstr = "";
+
+ // EXTRACT THE SETPOINT
+ float x = newSetpoint.x;
+ float y = newSetpoint.y;
+ float z = newSetpoint.z;
+ float yaw = newSetpoint.yaw;
+
+ // UPDATE THE SETPOINT COLUMN
+ if (x < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_setpoint_current_x->setText(qstr + QString::number( x, 'f', 3));
+ if (y < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_setpoint_current_y->setText(qstr + QString::number( y, 'f', 3));
+ if (z < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_setpoint_current_z->setText(qstr + QString::number( z, 'f', 3));
+
+ if (yaw < 0.0f) qstr = ""; else qstr = "+";
+ ui->lineEdit_setpoint_current_yaw->setText(qstr + QString::number( yaw * RAD2DEG, 'f', 1));
+}
+#endif
+
+
+
+
+
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// RRRR EEEEE QQQ U U EEEEE SSSS TTTTT N N EEEEE W W
+// R R E Q Q U U E S T NN N E W W
+// RRRR EEE Q Q U U EEE SSS T N N N EEE W W
+// R R E Q Q U U E S T N NN E W W W
+// R R EEEEE QQ Q UUU EEEEE SSSS T N N EEEEE W W
+//
+// SSSS EEEEE TTTTT PPPP OOO III N N TTTTT
+// S E T P P O O I NN N T
+// SSS EEE T PPPP O O I N N N T
+// S E T P O O I N NN T
+// SSSS EEEEE T P OOO III N N T
+// ----------------------------------------------------------------------------------
+
+
+void TemplateControllerTab::publishSetpoint(float x, float y, float z, float yaw_degrees)
+{
+#ifdef CATKIN_MAKE
+ // Initialise the message as a local variable
+ dfall_pkg::SetpointWithHeader msg;
+
+ // Fill the header of the message
+ fillSetpointMessageHeader( msg );
+
+ // Fill in the (x,y,z,yaw) values
+ msg.x = x;
+ msg.y = y;
+ msg.z = z;
+ msg.yaw = yaw_degrees * DEG2RAD;
+
+ // Publish the setpoint
+ this->requestSetpointChangePublisher.publish(msg);
+
+ // Inform the user about the change
+ ROS_INFO_STREAM("[TEMPLATE CONTROLLER GUI] Published request for setpoint change to: [" << x << ", "<< y << ", "<< z << ", "<< yaw_degrees << "]");
+#else
+ // TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
+ QTextStream(stdout) << "[TEMPLATE CONTROLLER GUI] would publish request for: [" << x << ", "<< y << ", "<< z << ", "<< yaw_degrees << "]";
+#endif
+}
+
+
+
+void TemplateControllerTab::on_lineEdit_setpoint_new_x_returnPressed()
+{
+ ui->set_setpoint_button->animateClick();
+}
+
+void TemplateControllerTab::on_lineEdit_setpoint_new_y_returnPressed()
+{
+ ui->set_setpoint_button->animateClick();
+}
+
+void TemplateControllerTab::on_lineEdit_setpoint_new_z_returnPressed()
+{
+ ui->set_setpoint_button->animateClick();
+}
+
+void TemplateControllerTab::on_lineEdit_setpoint_new_yaw_returnPressed()
+{
+ ui->set_setpoint_button->animateClick();
+}
+
+void TemplateControllerTab::on_set_setpoint_button_clicked()
+{
+
+ // Initialise local variable for each of (x,y,z,yaw)
+ float x = 0.0f, y = 0.0f, z = 0.0f, yaw = 0.0f;
+
+ // Take the new value if available, otherwise use the old value
+ // > For x
+ if(!ui->lineEdit_setpoint_new_x->text().isEmpty())
+ x = (ui->lineEdit_setpoint_new_x->text()).toFloat();
+ else
+ x = (ui->lineEdit_setpoint_current_x->text()).toFloat();
+ // > For y
+ if(!ui->lineEdit_setpoint_new_y->text().isEmpty())
+ y = (ui->lineEdit_setpoint_new_y->text()).toFloat();
+ else
+ y = (ui->lineEdit_setpoint_current_y->text()).toFloat();
+ // > For z
+ if(!ui->lineEdit_setpoint_new_z->text().isEmpty())
+ z = (ui->lineEdit_setpoint_new_z->text()).toFloat();
+ else
+ z = (ui->lineEdit_setpoint_current_z->text()).toFloat();
+ // > For yaw
+ if(!ui->lineEdit_setpoint_new_yaw->text().isEmpty())
+ yaw = (ui->lineEdit_setpoint_new_yaw->text()).toFloat();
+ else
+ yaw = (ui->lineEdit_setpoint_current_yaw->text()).toFloat();
+
+ // Call the function to publish the setpoint
+ publishSetpoint(x,y,z,yaw);
+}
+
+void TemplateControllerTab::on_default_setpoint_button_clicked()
+{
+#ifdef CATKIN_MAKE
+ // Publish this as a blank setpoint with the
+ // "buttonID" field set appropriately
+
+ // Initialise the message as a local variable
+ dfall_pkg::SetpointWithHeader msg;
+
+ // Fill the header of the message
+ fillSetpointMessageHeader( msg );
+
+ // Fill in the (x,y,z,yaw) values
+ msg.buttonID = REQUEST_DEFAULT_SETPOINT_BUTTON_ID;
+
+ // Publish the default setpoint button press
+ this->requestSetpointChangePublisher.publish(msg);
+
+ // Inform the user about the change
+ ROS_INFO_STREAM("[TEMPLATE CONTROLLER GUI] Published request for setpoint change to the default");
+#endif
+}
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// A GGGG EEEEE N N TTTTT III DDDD SSSS
+// A A G E NN N T I D D S
+// A A G EEE N N N T I D D SSS
+// AAAAA G G E N NN T I D D S
+// A A GGGG EEEEE N N T III DDDD SSSS
+// ----------------------------------------------------------------------------------
+
+
+void TemplateControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll)
+{
+
+ // Lock the mutex
+ m_agentIDs_toCoordinate_mutex.lock();
+ // Add the "coordinate all" flag
+ m_shouldCoordinateAll = shouldCoordinateAll;
+ // Clear the previous list of agent IDs
+ m_vector_of_agentIDs_toCoordinate.clear();
+ // Copy across the agent IDs, if necessary
+ if (!shouldCoordinateAll)
+ {
+ for ( int irow = 0 ; irow < agentIDs.length() ; irow++ )
+ {
+ m_vector_of_agentIDs_toCoordinate.push_back( agentIDs[irow] );
+ }
+ }
+ // Unlock the mutex
+ m_agentIDs_toCoordinate_mutex.unlock();
+
+
+#ifdef CATKIN_MAKE
+ // If there is only one agent to coordinate,
+ // then subscribe to the relevant data
+ if (agentIDs.length() == 1)
+ {
+
+ // // > Create the appropriate node handle
+ QString agent_base_namespace = "/dfall/agent" + QString::number(agentIDs[0]).rightJustified(3, '0');
+ ros::NodeHandle agent_base_nodeHandle(agent_base_namespace.toStdString());
+
+ // // > Request the current setpoint
+ ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<dfall_pkg::GetSetpointService>("TemplateControllerService/GetCurrentSetpoint", false);
+ dfall_pkg::GetSetpointService getSetpointCall;
+ getSetpointCall.request.data = 0;
+ getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
+ if(getCurrentSetpointServiceClient.call(getSetpointCall))
+ {
+ setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
+ }
+ else
+ {
+ // Inform the user
+ ROS_INFO("[TEMPLATE CONTROLLER GUI] Failed to get setpoint from controller using the \"GetCurrentSetpoint\" service");
+ }
+
+ // SUBSCRIBERS
+ // > For receiving message that the setpoint was changed
+ setpointChangedSubscriber = agent_base_nodeHandle.subscribe("TemplateControllerService/SetpointChanged", 1, &TemplateControllerTab::setpointChangedCallback, this);
+ }
+ else
+ {
+ // Unsubscribe
+ setpointChangedSubscriber.shutdown();
+
+ // Set information back to the default
+ ui->lineEdit_setpoint_current_x->setText("xx.xx");
+ ui->lineEdit_setpoint_current_y->setText("xx.xx");
+ ui->lineEdit_setpoint_current_z->setText("xx.xx");
+ ui->lineEdit_setpoint_current_yaw->setText("xx.xx");
+
+ }
+#endif
+}
+
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// M M SSSS GGG H H EEEEE A DDDD EEEEE RRRR
+// MM MM S G G H H E A A D D E R R
+// M M M SSS G HHHHH EEE A A D D EEE RRRR
+// M M S G G H H E AAAAA D D E R R
+// M M SSSS GGGG H H EEEEE A A DDDD EEEEE R R
+// ----------------------------------------------------------------------------------
+
+
+
+#ifdef CATKIN_MAKE
+// Fill the header for a message
+void TemplateControllerTab::fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg )
+{
+ switch (m_type)
+ {
+ case TYPE_AGENT:
+ {
+ msg.shouldCheckForAgentID = false;
+ break;
+ }
+ case TYPE_COORDINATOR:
+ {
+ // Lock the mutex
+ m_agentIDs_toCoordinate_mutex.lock();
+ // Add the "coordinate all" flag
+ msg.shouldCheckForAgentID = !(m_shouldCoordinateAll);
+ // Add the agent IDs if necessary
+ if (!m_shouldCoordinateAll)
+ {
+ for ( int irow = 0 ; irow < m_vector_of_agentIDs_toCoordinate.size() ; irow++ )
+ {
+ msg.agentIDs.push_back( m_vector_of_agentIDs_toCoordinate[irow] );
+ }
+ }
+ // Unlock the mutex
+ m_agentIDs_toCoordinate_mutex.unlock();
+ break;
+ }
+
+ default:
+ {
+ msg.shouldCheckForAgentID = true;
+ ROS_ERROR("[TEMPLATE CONTROLLER TAB GUI] The 'm_type' variable was not recognised.");
+ break;
+ }
+ }
+}
+#endif
+
+
+
+#ifdef CATKIN_MAKE
+// Fill the header for a message
+void TemplateControllerTab::fillCustomButtonMessageHeader( dfall_pkg::CustomButtonWithHeader & msg )
+{
+ switch (m_type)
+ {
+ case TYPE_AGENT:
+ {
+ msg.shouldCheckForAgentID = false;
+ break;
+ }
+ case TYPE_COORDINATOR:
+ {
+ // Lock the mutex
+ m_agentIDs_toCoordinate_mutex.lock();
+ // Add the "coordinate all" flag
+ msg.shouldCheckForAgentID = !(m_shouldCoordinateAll);
+ // Add the agent IDs if necessary
+ if (!m_shouldCoordinateAll)
+ {
+ for ( int irow = 0 ; irow < m_vector_of_agentIDs_toCoordinate.size() ; irow++ )
+ {
+ msg.agentIDs.push_back( m_vector_of_agentIDs_toCoordinate[irow] );
+ }
+ }
+ // Unlock the mutex
+ m_agentIDs_toCoordinate_mutex.unlock();
+ break;
+ }
+
+ default:
+ {
+ msg.shouldCheckForAgentID = true;
+ ROS_ERROR("[TEMPLATE CONTROLLER TAB GUI] The 'm_type' variable was not recognised.");
+ break;
+ }
+ }
+}
+#endif
+
+
+
+
+
+// ----------------------------------------------------------------------------------
+// III DDDD &&& TTTTT Y Y PPPP EEEEE
+// I D D & T Y Y P P E
+// I D D & T Y PPPP EEE
+// I D D & & & T Y P E
+// III DDDD &&& T Y P EEEEE
+// ----------------------------------------------------------------------------------
+
+
+
+#ifdef CATKIN_MAKE
+bool TemplateControllerTab::getTypeAndIDParameters()
+{
+ // Initialise the return variable as success
+ bool return_was_successful = true;
+
+ // Create a "ros::NodeHandle" type local variable "nodeHandle" as the current node,
+ // the "~" indcates that "self" is the node handle assigned to this variable.
+ ros::NodeHandle nodeHandle("~");
+
+ // Get the value of the "type" parameter into a local string variable
+ std::string type_string;
+ if(!nodeHandle.getParam("type", type_string))
+ {
+ // Throw an error if the agent ID parameter could not be obtained
+ ROS_ERROR("[TEMPLATE CONTROLLER TAB GUI] Failed to get type");
+ }
+
+ // Set the "m_type" class variable based on this string loaded
+ if ((!type_string.compare("coordinator")))
+ {
+ m_type = TYPE_COORDINATOR;
+ }
+ else if ((!type_string.compare("agent")))
+ {
+ m_type = TYPE_AGENT;
+ }
+ else
+ {
+ // Set "m_type" to the value indicating that it is invlid
+ m_type = TYPE_INVALID;
+ return_was_successful = false;
+ ROS_ERROR("[TEMPLATE CONTROLLER TAB GUI] The 'type' parameter retrieved was not recognised.");
+ }
+
+
+ // Construct the string to the namespace of this Paramater Service
+ switch (m_type)
+ {
+ case TYPE_AGENT:
+ {
+ // Get the value of the "agentID" parameter into the class variable "m_Id"
+ if(!nodeHandle.getParam("agentID", m_ID))
+ {
+ // Throw an error if the agent ID parameter could not be obtained
+ return_was_successful = false;
+ ROS_ERROR("[TEMPLATE CONTROLLER TAB GUI] Failed to get agentID");
+ }
+ else
+ {
+ // Inform the user about the type and ID
+ ROS_INFO_STREAM("[TEMPLATE CONTROLLER TAB GUI] Is of type AGENT with ID = " << m_ID);
+ }
+ break;
+ }
+
+ // A COORDINATOR TYPE PARAMETER SERVICE IS REQUESTED FROM:
+ // > The master GUI
+ case TYPE_COORDINATOR:
+ {
+ // Get the value of the "coordID" parameter into the class variable "m_Id"
+ if(!nodeHandle.getParam("coordID", m_ID))
+ {
+ // Throw an error if the coord ID parameter could not be obtained
+ return_was_successful = false;
+ ROS_ERROR("[TEMPLATE CONTROLLER TAB GUI] Failed to get coordID");
+ }
+ else
+ {
+ // Inform the user about the type and ID
+ ROS_INFO_STREAM("[TEMPLATE CONTROLLER TAB GUI] Is of type COORDINATOR with ID = " << m_ID);
+ }
+ break;
+ }
+
+ default:
+ {
+ // Throw an error if the type is not recognised
+ return_was_successful = false;
+ ROS_ERROR("[TEMPLATE CONTROLLER TAB GUI] The 'm_type' variable was not recognised.");
+ break;
+ }
+ }
+
+ // Return
+ return return_was_successful;
+}
+#endif