From ff83767f1141c594117d6c9197acb8ca94625fc0 Mon Sep 17 00:00:00 2001
From: beuchatp <beuchatp@control.ee.ethz.ch>
Date: Wed, 22 May 2019 00:06:26 +0200
Subject: [PATCH] Copied across main variables and functions from previous
implementation of the remote GUI
---
.../include/remotecontrollertab.h | 32 +++-
.../src/remotecontrollertab.cpp | 147 ++++++++++++++++--
2 files changed, 163 insertions(+), 16 deletions(-)
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h
index 3a681003..831aef9a 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/remotecontrollertab.h
@@ -48,7 +48,7 @@
#include <ros/package.h>
// Include the standard message types
-//#include "std_msgs/Int32.h"
+#include "std_msgs/Int32.h"
//#include "std_msgs/Float32.h"
//#include <std_msgs/String.h>
@@ -56,6 +56,8 @@
//#include "dfall_pkg/IntWithHeader.h"
#include "dfall_pkg/SetpointWithHeader.h"
#include "dfall_pkg/CustomButtonWithHeader.h"
+#include "dfall_pkg/CrazyflieData.h"
+#include "dfall_pkg/ViconSubscribeObjectName.h"
// Include the DFALL service types
#include "dfall_pkg/GetSetpointService.h"
@@ -112,6 +114,14 @@ private slots:
void on_custom_button_3_clicked();
+ // COPIED FROM PREVIOUS REMOTE CONTROLLER GUI
+// void on_subscribe_button_clicked();
+// void on_unsubscribe_button_clicked();
+// void on_activate_button_clicked();
+// void on_deactivate_button_clicked();
+
+
+
@@ -147,6 +157,19 @@ private:
// PUBLISHER
// > For notifying that a custom button is pressed
ros::Publisher customButtonPublisher;
+
+ // PUBLISHER
+ // > For the Remote Controller subscribe action
+ ros::Publisher remoteSubscribePublisher;
+ // > For the Remote Controller activate action
+ ros::Publisher remoteActivatePublisher;
+
+ // SUBSCRIBER
+ // > For the Remote Controller data
+ ros::Subscriber remoteDataSubscriber;
+ // > For the Remote Control setpoint
+ ros::Subscriber remoteControlSetpointSubscriber;
+
#endif
@@ -155,6 +178,13 @@ private:
// PRIVATE FUNCTIONS
#ifdef CATKIN_MAKE
+
+ // COPIED FROM PREVIOUS REMOTE CONTROLLER GUI
+ // For receiving message with the data of the remote
+ void remoteDataCallback(const dfall_pkg::CrazyflieData& objectData);
+ void remoteControlSetpointCallback(const dfall_pkg::CrazyflieData& setpointData);
+
+
// For receiving message that the setpoint was changed
void setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint);
diff --git a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp
index a1b26665..d0e0060a 100644
--- a/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp
+++ b/dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/remotecontrollertab.cpp
@@ -84,26 +84,43 @@ RemoteControllerTab::RemoteControllerTab(QWidget *parent) :
// CREATE THE CUSTOM BUTTON PRESSED PUBLISHER
customButtonPublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::CustomButtonWithHeader>("RemoteControllerService/CustomButtonPressed", 1);
- // GET THE CURRENT SETPOINT
+// // 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>("RemoteControllerService/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("[REMOTE CONTROLLER GUI] Failed to get setpoint from controller using the \"GetCurrentSetpoint\" service");
+// }
+// }
+
+ // REMOTE CONTROLLER PUBLISHERS AND SUBSCRIBERS
// 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>("RemoteControllerService/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("[REMOTE CONTROLLER GUI] Failed to get setpoint from controller using the \"GetCurrentSetpoint\" service");
- }
+ // > For the Remote Controller subscribe action
+ remoteSubscribePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::ViconSubscribeObjectName>("RemoteControllerService/ViconSubscribeObjectName", 1);
+ // > For the Remote Controller activate action
+ remoteActivatePublisher = nodeHandle_for_this_gui.advertise<std_msgs::Int32>("RemoteControllerService/Activate", 1);
+ // > For the Remote Controller data
+ remoteDataSubscriber = nodeHandle_for_this_gui.subscribe("RemoteControllerService/RemoteData", 1, &RemoteControllerTab::remoteDataCallback, this);;
+ // > For the Remote Controller data
+ remoteControlSetpointSubscriber = nodeHandle_for_this_gui.subscribe("RemoteControllerService/RemoteControlSetpoint", 1, &RemoteControllerTab::remoteControlSetpointCallback, this);
}
+
+
+
#endif
}
@@ -132,6 +149,106 @@ RemoteControllerTab::~RemoteControllerTab()
// ----------------------------------------------------------------------------------
+// COPIED FROM PREVIOUS REMOTE CONTROLLER GUI
+// # Custom buttons for the REMOTE controller service
+//void RemoteControllerTab::on_remote_subscribe_button_clicked()
+//{
+// // Initialise the message
+// ViconSubscribeObjectName msg;
+// // Set the subscribe flag
+// msg.shouldSubscribe = true;
+// // Set the object name
+// msg.objectName = (ui->remote_object_name->text()).toUtf8().constData();
+// // Publish the message
+// this->remoteSubscribePublisher.publish(msg);
+//}
+
+//void RemoteControllerTab::on_remote_unsubscribe_button_clicked()
+//{
+// // Initialise the message
+// ViconSubscribeObjectName msg;
+// // Set the subscribe flag
+// msg.shouldSubscribe = false;
+// // Set the object name
+// msg.objectName = (ui->remote_object_name->text()).toUtf8().constData();
+// // Publish the message
+// this->remoteSubscribePublisher.publish(msg);
+//}
+
+//void RemoteControllerTab::on_remote_activate_button_clicked()
+//{
+// // Initialise the message
+// std_msgs::Int32 msg;
+// // Set the msg data
+// msg.data = 1;
+// // Publish the message
+// this->remoteActivatePublisher.publish(msg);
+//}
+
+//void RemoteControllerTab::on_remote_deactivate_button_clicked()
+//{
+// // Initialise the message
+// std_msgs::Int32 msg;
+// // Set the msg data
+// msg.data = 0;
+// // Publish the message
+// this->remoteActivatePublisher.publish(msg);
+//}
+
+
+#ifdef CATKIN_MAKE
+void RemoteControllerTab::remoteDataCallback(const dfall_pkg::CrazyflieData& objectData)
+{
+// // Check if the object is occluded
+// if (objectData.occluded)
+// {
+// // Set the column heading label to have a red background
+// // > IMPORTANT: Set the background auto fill property to true
+// ui->remote_data_label->setAutoFillBackground(true);
+// // > Get the pallette currently set for the label
+// QPalette pal = ui->remote_roll_label->palette();
+// // > Set the palette property that will change the background
+// pal.setColor(QPalette::Window, QColor(Qt::red));
+// // > Update the palette for the label
+// ui->remote_data_label->setPalette(pal);
+// }
+// else
+// {
+// // Put the roll, pitch, yaw, and z data into the appropriate fields
+// ui->remote_data_roll ->setText(QString::number( objectData.roll * RAD2DEG, 'f', 1));
+// ui->remote_data_pitch->setText(QString::number( objectData.pitch * RAD2DEG, 'f', 1));
+// ui->remote_data_yaw ->setText(QString::number( objectData.yaw * RAD2DEG, 'f', 1));
+// ui->remote_data_z ->setText(QString::number( objectData.z, 'f', 2));
+
+// // Set the column heading label to have a "normal" background
+// // > IMPORTANT: Set the background auto fill property to true
+// ui->remote_data_label->setAutoFillBackground(false);
+// // > Get the pallette currently set for the roll label
+// QPalette pal = ui->remote_roll_label->palette();
+// // > Update the palette for the column heading label
+// ui->remote_data_label->setPalette(pal);
+// }
+}
+#endif
+
+
+#ifdef CATKIN_MAKE
+void RemoteControllerTab::remoteControlSetpointCallback(const dfall_pkg::CrazyflieData& setpointData)
+{
+// ui->remote_setpoint_roll ->setText(QString::number( setpointData.roll * RAD2DEG, 'f', 1));
+// ui->remote_setpoint_pitch->setText(QString::number( setpointData.pitch * RAD2DEG, 'f', 1));
+// ui->remote_setpoint_yaw ->setText(QString::number( setpointData.yaw * RAD2DEG, 'f', 1));
+// ui->remote_setpoint_z ->setText(QString::number( setpointData.z, 'f', 2));
+}
+#endif
+
+
+
+
+
+
+
+
#ifdef CATKIN_MAKE
void RemoteControllerTab::publish_custom_button_command(int button_index , QLineEdit * lineEdit_pointer)
{
--
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