From fe61c0fdc855f19effe8b1287b249631afda4168 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Wed, 19 Dec 2018 17:36:11 +0100
Subject: [PATCH] Now compiles, needs testing
---
pps_ws/src/d_fall_pps/CMakeLists.txt | 1 +
.../include/studentcontrollertab.h | 3 +-
.../src/defaultcontrollertab.cpp | 2 +-
.../src/studentcontrollertab.cpp | 49 ++++++++++---------
.../GUI_Qt/flyingAgentGUI/src/topbanner.cpp | 2 +-
.../src/nodes/StudentControllerService.cpp | 9 ++--
6 files changed, 35 insertions(+), 31 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index b2f1ecd6..961c45c4 100755
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/pps_ws/src/d_fall_pps/CMakeLists.txt
@@ -210,6 +210,7 @@ add_message_files(
FloatWithHeader.msg
StringWithHeader.msg
SetpointWithHeader.msg
+ CustomButtonWithHeader.msg
#------------------------
DebugMsg.msg
CustomButton.msg
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
index 7baf4930..4bcaa3af 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/include/studentcontrollertab.h
@@ -4,6 +4,7 @@
#include <QWidget>
#include <QMutex>
#include <QVector>
+#include <QLineEdit>
#include <QTextStream>
#ifdef CATKIN_MAKE
@@ -19,7 +20,7 @@
// Include the DFALL message types
//#include "d_fall_pps/IntWithHeader.h"
#include "d_fall_pps/SetpointWithHeader.h"
-#include "d_fall_pps/CustomButtonWithHeader"
+#include "d_fall_pps/CustomButtonWithHeader.h"
// Include the DFALL service types
#include "d_fall_pps/GetSetpointService.h"
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
index 7f503464..2f198ff9 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/defaultcontrollertab.cpp
@@ -556,7 +556,7 @@ void DefaultControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool
ros::NodeHandle agent_base_nodeHandle(agent_base_namespace.toStdString());
// // > Request the current setpoint
- ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<d_fall_pps::IntIntService>("DefaultControllerService/GetCurrentSetpoint", false);
+ ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<d_fall_pps::GetSetpointService>("DefaultControllerService/GetCurrentSetpoint", false);
d_fall_pps::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
index 77a93f53..993482f2 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp
@@ -47,7 +47,7 @@ StudentControllerTab::StudentControllerTab(QWidget *parent) :
}
// CREATE THE CUSTOM BUTTON PRESSED PUBLISHED
- customButtonPublisher = nodeHandle_for_this_gui.advertise<CustomButton>("StudentControllerService/CustomButtonPressed", 1);
+ customButtonPublisher = nodeHandle_for_this_gui.advertise<d_fall_pps::CustomButtonWithHeader>("StudentControllerService/CustomButtonPressed", 1);
#endif
@@ -87,10 +87,10 @@ void StudentControllerTab::publish_custom_button_command(int button_index , QLin
// Fill in the button index
msg.button_index = button_index;
// Get the line edit data, as a float if possible
- bool isFloat = false;
- float lineEdit_as_float = (lineEdit_pointer->text()).toFloat(isFloat);
+ bool isValidFloat = false;
+ float lineEdit_as_float = (lineEdit_pointer->text()).toFloat(&isValidFloat);
// Fill in the data
- if (isFloat)
+ if (isValidFloat)
msg.float_data = lineEdit_as_float;
else
msg.string_data = (lineEdit_pointer->text()).toStdString();
@@ -105,24 +105,25 @@ void StudentControllerTab::publish_custom_button_command(int button_index , QLin
void StudentControllerTab::on_custom_button_1_clicked()
{
#ifdef CATKIN_MAKE
- // Initialise the message as a local variable
- d_fall_pps::CustomButtonWithHeader msg;
- // Fill the header of the message
- fillCustomButtonMessageHeader( msg );
- // Fill in the button index
- msg.button_index = 1;
- // Get the line edit data, as a float if possible
- bool isFloat = false;
- float lineEdit_as_float = (ui->lineEdit_custom_1->text()).toFloat(isFloat);
- // Fill in the data
- if (isFloat)
- msg.float_data = lineEdit_as_float;
- else
- msg.string_data = (ui->lineEdit_custom_1->text()).toStdString();
- // Publish the setpoint
- this->customButtonPublisher.publish(msg);
- // Inform the user about the change
- ROS_INFO("[STUDENT CONTROLLER TAB GUI] button 1 clicked.");
+ publish_custom_button_command(1,ui->lineEdit_custom_1);
+ // // Initialise the message as a local variable
+ // d_fall_pps::CustomButtonWithHeader msg;
+ // // Fill the header of the message
+ // fillCustomButtonMessageHeader( msg );
+ // // Fill in the button index
+ // msg.button_index = 1;
+ // // Get the line edit data, as a float if possible
+ // bool isFloat = false;
+ // float lineEdit_as_float = (ui->lineEdit_custom_1->text()).toFloat(isFloat);
+ // // Fill in the data
+ // if (isFloat)
+ // msg.float_data = lineEdit_as_float;
+ // else
+ // msg.string_data = (ui->lineEdit_custom_1->text()).toStdString();
+ // // Publish the setpoint
+ // this->customButtonPublisher.publish(msg);
+ // // Inform the user about the change
+ // ROS_INFO("[STUDENT CONTROLLER TAB GUI] button 1 clicked.");
#endif
}
@@ -655,7 +656,7 @@ void StudentControllerTab::setAgentIDsToCoordinate(QVector<int> agentIDs , bool
ros::NodeHandle agent_base_nodeHandle(agent_base_namespace.toStdString());
// // > Request the current setpoint
- ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<d_fall_pps::IntIntService>("StudentControllerService/GetCurrentSetpoint", false);
+ ros::ServiceClient getCurrentSetpointServiceClient = agent_base_nodeHandle.serviceClient<d_fall_pps::GetSetpointService>("StudentControllerService/GetCurrentSetpoint", false);
d_fall_pps::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
getCurrentSetpointServiceClient.waitForExistence(ros::Duration(2.0));
@@ -747,7 +748,7 @@ void StudentControllerTab::fillSetpointMessageHeader( d_fall_pps::SetpointWithHe
#ifdef CATKIN_MAKE
// Fill the header for a message
-void fillCustomButtonMessageHeader( d_fall_pps::CustomButtonWithHeader & msg )
+void StudentControllerTab::fillCustomButtonMessageHeader( d_fall_pps::CustomButtonWithHeader & msg )
{
switch (m_type)
{
diff --git a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
index 4f63bbd0..60be1432 100644
--- a/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
+++ b/pps_ws/src/d_fall_pps/GUI_Qt/flyingAgentGUI/src/topbanner.cpp
@@ -249,7 +249,7 @@ void TopBanner::on_emergency_stop_button_clicked()
{
#ifdef CATKIN_MAKE
d_fall_pps::IntWithHeader msg;
- msg.shouldCheckIDs = false;
+ msg.shouldCheckForID = false;
msg.data = CMD_CRAZYFLY_MOTORS_OFF;
this->emergencyStopPublisher.publish(msg);
ROS_INFO("[TOP BANNER GUI] EMERGENCY STOP button clicked");
diff --git a/pps_ws/src/d_fall_pps/src/nodes/StudentControllerService.cpp b/pps_ws/src/d_fall_pps/src/nodes/StudentControllerService.cpp
index cd13c090..ddca6073 100644
--- a/pps_ws/src/d_fall_pps/src/nodes/StudentControllerService.cpp
+++ b/pps_ws/src/d_fall_pps/src/nodes/StudentControllerService.cpp
@@ -644,8 +644,9 @@ void customCommandReceivedCallback(const CustomButtonWithHeader& commandReceived
if (isRevelant)
{
// Extract the data from the message
- int custom_button_index = commandReceived.button_index;
- float custom_command_code = commandReceived.command_code;
+ int custom_button_index = commandReceived.button_index;
+ float float_data = commandReceived.float_data;
+ //std::string string_data = commandReceived.string_data;
// Switch between the button pressed
switch(custom_button_index)
@@ -675,7 +676,7 @@ void customCommandReceivedCallback(const CustomButtonWithHeader& commandReceived
case 3:
{
// Let the user know that this part of the code was triggered
- ROS_INFO_STREAM("[STUDENT CONTROLLER] Button 3 received in controller, with command code:" << custom_command_code );
+ ROS_INFO_STREAM("[STUDENT CONTROLLER] Button 3 received in controller, with message.float_data = " << float_data );
// Code here to respond to custom button 3
break;
@@ -684,7 +685,7 @@ void customCommandReceivedCallback(const CustomButtonWithHeader& commandReceived
default:
{
// Let the user know that the command was not recognised
- ROS_INFO_STREAM("[DEMO CONTROLLER] A button clicked command was received in the controller but not recognised, message.button_index = " << custom_button_index << ", and message.command_code = " << custom_command_code );
+ ROS_INFO_STREAM("[DEMO CONTROLLER] A button clicked command was received in the controller but not recognised, message.button_index = " << custom_button_index << ", and message.float_data = " << float_data );
break;
}
}
--
GitLab