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  • authierj/dfall-system
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pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/rosNodeThread.cpp → dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/rosNodeThread_for_flyingAgentGUI.cpp
View file @ 9feb9547
// Copyright (C) 2017, ETH Zurich, D-ITET, Angel Romero
// Copyright (C) 2019, ETH Zurich, D-ITET, Paul Beuchat
//
// This file is part of D-FaLL-System.
//
......@@ -30,11 +30,16 @@
// ----------------------------------------------------------------------------------
#include "rosNodeThread.h"
#include "d_fall_pps/CMRead.h"
#include "d_fall_pps/CMUpdate.h"
#include "d_fall_pps/CMCommand.h"
#include "rosNodeThread_for_flyingAgentGUI.h"
// #include "dfall_pkg/CMRead.h"
// #include "dfall_pkg/CMUpdate.h"
// #include "dfall_pkg/CMCommand.h"
// using namespace dfall_pkg;
rosNodeThread::rosNodeThread(int argc, char** pArgv, const char * node_name, QObject* parent)
......@@ -63,7 +68,9 @@ bool rosNodeThread::init()
this->moveToThread(m_pThread); // QObject method
connect(m_pThread, SIGNAL(started()), this, SLOT(run()));
ros::init(m_Init_argc, m_pInit_argv, m_node_name); // my_GUI is the name of this node
ros::init(m_Init_argc, m_pInit_argv, m_node_name);
// Note that the variable "m_node_name" should be the
// string "FlyingAgentGUI" in this case
if (!ros::master::check())
{
......@@ -75,7 +82,7 @@ bool rosNodeThread::init()
ros::Time::init();
ros::NodeHandle nh("~");
m_vicon_subscriber = nh.subscribe("/ViconDataPublisher/ViconData", 100, &rosNodeThread::messageCallback, this);
//m_vicon_subscriber = nh.subscribe("/ViconDataPublisher/ViconData", 3, &rosNodeThread::messageCallback, this);
// clients for db services:
m_read_db_client = nh.serviceClient<CMRead>("/CentralManagerService/Read", false);
......@@ -86,10 +93,10 @@ bool rosNodeThread::init()
return true;
} // set up the thread
void rosNodeThread::messageCallback(const ptrToMessage& p_msg) // When a message arrives to the topic, this callback is executed
{
emit newViconData(p_msg); //pass the message to other places
}
//void rosNodeThread::messageCallback(const ptrToMessage& p_msg) // When a message arrives to the topic, this callback is executed
//{
// emit newViconData(p_msg); //pass the message to other places
//}
// void rosNodeThread::messageCallback(const ViconData& data) // When a message arrives to the topic, this callback is executed
// {
......
dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/safecontrollertab.cpp 0 → 100644
View file @ 9feb9547
#include "safecontrollertab.h"
#include "ui_safecontrollertab.h"
SafeControllerTab::SafeControllerTab(QWidget *parent) :
QWidget(parent),
ui(new Ui::SafeControllerTab)
{
ui->setupUi(this);
}
SafeControllerTab::~SafeControllerTab()
{
delete ui;
}
dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/studentcontrollertab.cpp 0 → 100644
View file @ 9feb9547
// 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 the Student Controller
//
// ----------------------------------------------------------------------------------
#include "studentcontrollertab.h"
#include "ui_studentcontrollertab.h"
StudentControllerTab::StudentControllerTab(QWidget *parent) :
QWidget(parent),
ui(new Ui::StudentControllerTab)
{
ui->setupUi(this);
// Hide the two red frames that are used to indcated
// when pose data is NOT valid
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("[STUDENT 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("[STUDENT 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>("StudentControllerService/RequestSetpointChange", 1);
// SUBSCRIBE TO SETPOINT CHANGES
// Only if this is an agent GUI
if (m_type == TYPE_AGENT)
{
setpointChangedSubscriber = nodeHandle_for_this_gui.subscribe("StudentControllerService/SetpointChanged", 1, &StudentControllerTab::setpointChangedCallback, this);
}
// CREATE THE CUSTOM BUTTON PRESSED PUBLISHER
customButtonPublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::CustomButtonWithHeader>("StudentControllerService/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>("StudentControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.1));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
}
else
{
// Inform the user
ROS_INFO("[STUDENT CONTROLLER GUI] Failed to get setpoint from controller using the \"GetCurrentSetpoint\" service");
}
}
#endif
}
StudentControllerTab::~StudentControllerTab()
{
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 StudentControllerTab::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("[STUDENT CONTROLLER TAB GUI] button " << button_index << " clicked.");
}
#endif
void StudentControllerTab::on_custom_button_1_clicked()
{
#ifdef CATKIN_MAKE
publish_custom_button_command(1,ui->lineEdit_custom_1);
#endif
}
void StudentControllerTab::on_custom_button_2_clicked()
{
#ifdef CATKIN_MAKE
publish_custom_button_command(2,ui->lineEdit_custom_2);
#endif
}
void StudentControllerTab::on_custom_button_3_clicked()
{
#ifdef CATKIN_MAKE
publish_custom_button_command(3,ui->lineEdit_custom_3);
#endif
}
void StudentControllerTab::on_custom_button_4_clicked()
{
#ifdef CATKIN_MAKE
publish_custom_button_command(4,ui->lineEdit_custom_4);
#endif
}
void StudentControllerTab::on_custom_button_5_clicked()
{
#ifdef CATKIN_MAKE
publish_custom_button_command(5,ui->lineEdit_custom_5);
#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 StudentControllerTab::setMeasuredPose(float x , float y , float z , float roll , float pitch , float yaw , bool isValid)
{
if (isValid)
{
// 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));
// GET THE CURRENT SETPOINT ERROR
float error_x = x - (ui->lineEdit_setpoint_current_x->text() ).toFloat();
float error_y = y - (ui->lineEdit_setpoint_current_y->text() ).toFloat();
float error_z = z - (ui->lineEdit_setpoint_current_z->text() ).toFloat();
float error_yaw_deg = yaw * RAD2DEG - (ui->lineEdit_setpoint_current_yaw->text()).toFloat();
// UPDATE THE ERROR COLUMN
if (error_x < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_error_x->setText(qstr + QString::number( error_x, 'f', 3));
if (error_y < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_error_y->setText(qstr + QString::number( error_y, 'f', 3));
if (error_z < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_error_z->setText(qstr + QString::number( error_z, 'f', 3));
if (error_yaw_deg < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_error_yaw->setText(qstr + QString::number( error_yaw_deg , '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 that
// measurement is NOT valid
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 StudentControllerTab::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");
ui->lineEdit_error_x->setText("xx.xx");
ui->lineEdit_error_y->setText("xx.xx");
ui->lineEdit_error_z->setText("xx.xx");
ui->lineEdit_error_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 StudentControllerTab::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 StudentControllerTab::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("[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_degrees << "]";
#endif
}
void StudentControllerTab::on_lineEdit_setpoint_new_x_returnPressed()
{
ui->set_setpoint_button->animateClick();
}
void StudentControllerTab::on_lineEdit_setpoint_new_y_returnPressed()
{
ui->set_setpoint_button->animateClick();
}
void StudentControllerTab::on_lineEdit_setpoint_new_z_returnPressed()
{
ui->set_setpoint_button->animateClick();
}
void StudentControllerTab::on_lineEdit_setpoint_new_yaw_returnPressed()
{
ui->set_setpoint_button->animateClick();
}
void StudentControllerTab::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 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();
// Call the function to publish the setpoint
publishSetpoint(x,y,z,yaw);
}
void StudentControllerTab::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("[STUDENT CONTROLLER GUI] Published request for setpoint change to the default");
#endif
}
void StudentControllerTab::on_x_increment_plus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_x->text().isEmpty())
{
increment_setpoint_by( (ui->lineEdit_setpoint_increment_x->text()).toFloat() ,0.0,0.0,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[Student CONTROLLER GUI] Increment x setpoint clicked but field is empty");
#endif
}
}
void StudentControllerTab::on_x_increment_minus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_x->text().isEmpty())
{
increment_setpoint_by( -(ui->lineEdit_setpoint_increment_x->text()).toFloat() ,0.0,0.0,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
#endif
}
}
void StudentControllerTab::on_y_increment_plus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_y->text().isEmpty())
{
increment_setpoint_by(0.0, (ui->lineEdit_setpoint_increment_y->text()).toFloat() ,0.0,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment x setpoint clicked but field is empty");
#endif
}
}
void StudentControllerTab::on_y_increment_minus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_y->text().isEmpty())
{
increment_setpoint_by(0.0, -(ui->lineEdit_setpoint_increment_y->text()).toFloat() ,0.0,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment y setpoint clicked but field is empty");
#endif
}
}
void StudentControllerTab::on_z_increment_plus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_z->text().isEmpty())
{
increment_setpoint_by(0.0,0.0, (ui->lineEdit_setpoint_increment_z->text()).toFloat() ,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment z setpoint clicked but field is empty");
#endif
}
}
void StudentControllerTab::on_z_increment_minus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_z->text().isEmpty())
{
// Call the function to increment the setpoint
increment_setpoint_by(0.0,0.0, -(ui->lineEdit_setpoint_increment_z->text()).toFloat() ,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment z setpoint clicked but field is empty");
#endif
}
}
void StudentControllerTab::on_yaw_increment_plus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_yaw->text().isEmpty())
{
// Call the function to increment the setpoint
increment_setpoint_by(0.0,0.0,0.0, (ui->lineEdit_setpoint_increment_yaw->text()).toFloat() );
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment yaw setpoint clicked but field is empty");
#endif
}
}
void StudentControllerTab::on_yaw_increment_minus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_yaw->text().isEmpty())
{
// Call the function to increment the setpoint
increment_setpoint_by(0.0,0.0,0.0, -(ui->lineEdit_setpoint_increment_yaw->text()).toFloat() );
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment yaw setpoint clicked but field is empty");
#endif
}
}
void StudentControllerTab::increment_setpoint_by(float x_inc, float y_inc, float z_inc, float yaw_inc_degrees)
{
if (m_type == TYPE_AGENT)
{
// WHEN GUI IS IN AGENT TYPE MODE:
// APPLY THE INCREMENT FROM THE CURRENT SETPOINT
// Call the function to publish the setpoint
publishSetpoint(
(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_degrees
);
}
else if (m_type == TYPE_COORDINATOR)
{
// WHEN GUI IS IN COORDINATOR TYPE MODE:
// APPLY THE INCREMENT FROM THE CURRENT SETPOINT
// Initialise local variable for each of (x,y,z,yaw)
float x = 0.0f, y = 0.0f, z = 0.4f, 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();
// > For x
if(!ui->lineEdit_setpoint_new_y->text().isEmpty())
y = (ui->lineEdit_setpoint_new_y->text()).toFloat();
// > For x
if(!ui->lineEdit_setpoint_new_z->text().isEmpty())
z = (ui->lineEdit_setpoint_new_z->text()).toFloat();
// > For x
if(!ui->lineEdit_setpoint_new_yaw->text().isEmpty())
yaw = (ui->lineEdit_setpoint_new_yaw->text()).toFloat();
// Add the increment to this
float x_new = x + x_inc;
float y_new = y + y_inc;
float z_new = z + z_inc;
float yaw_new = yaw + yaw_inc_degrees;
// INITIALISE A STRING VARIABLE FOR ADDING THE "+"
QString qstr = "";
// Put this back into the new fields
if (x_new < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_setpoint_new_x->setText(qstr + QString::number( x_new, 'f', 3));
if (y_new < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_setpoint_new_y->setText(qstr + QString::number( y_new, 'f', 3));
if (z_new < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_setpoint_new_z->setText(qstr + QString::number( z_new, 'f', 3));
if (yaw_new < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_setpoint_new_yaw->setText(qstr + QString::number( yaw_new, 'f', 3));
// Call the function to publish the setpoint
publishSetpoint(x_new,y_new,z_new,yaw_new);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[STUDENT CONTROLLER GUI] Increment setpoint not possible because m_type is not recognised.");
#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 StudentControllerTab::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>("StudentControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.0));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
}
else
{
// Inform the user
ROS_INFO("[STUDENT 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("StudentControllerService/SetpointChanged", 1, &StudentControllerTab::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 StudentControllerTab::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("[STUDENT CONTROLLER TAB GUI] The 'm_type' variable was not recognised.");
break;
}
}
}
#endif
#ifdef CATKIN_MAKE
// Fill the header for a message
void StudentControllerTab::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("[STUDENT 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 StudentControllerTab::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("[STUDENT 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("[STUDENT 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("[STUDENT CONTROLLER TAB GUI] Failed to get agentID");
}
else
{
// Inform the user about the type and ID
ROS_INFO_STREAM("[STUDENT 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("[STUDENT CONTROLLER TAB GUI] Failed to get coordID");
}
else
{
// Inform the user about the type and ID
ROS_INFO_STREAM("[STUDENT 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("[STUDENT CONTROLLER TAB GUI] The 'm_type' variable was not recognised.");
break;
}
}
// Return
return return_was_successful;
}
#endif
dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/templatecontrollertab.cpp 0 → 100644
View file @ 9feb9547
// 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"
TemplateControllerTab::TemplateControllerTab(QWidget *parent) :
QWidget(parent),
ui(new Ui::TemplateControllerTab)
{
ui->setupUi(this);
// Hide the two red frames that are used to indcated
// when pose data is NOT valide
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(0.1));
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 isValid)
{
if (isValid)
{
// 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 that
// measurement is NOT valid
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(0.0));
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
dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/topbanner.cpp 0 → 100644
View file @ 9feb9547
// 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 title displayed at the top of the Flying Agent GUI
//
// ----------------------------------------------------------------------------------
#include "topbanner.h"
#include "ui_topbanner.h"
#ifdef CATKIN_MAKE
#else
// Include the shared definitions
#include "include/Constants_for_Qt_compile.h"
#endif
TopBanner::TopBanner(QWidget *parent) :
QWidget(parent),
ui(new Ui::TopBanner)
{
ui->setupUi(this);
(":/images/rf_connected.png");
QPixmap pixmap(":/images/emergency_stop.png");
QIcon ButtonIcon(pixmap);
ui->emergency_stop_button->setText("");
ui->emergency_stop_button->setIcon(ButtonIcon);
ui->emergency_stop_button->setIconSize(QSize(50,50));
//ui->emergency_stop_button->setIconSize(pixmap.rect().size());
m_object_name_for_emitting_pose_data = "";
#ifdef CATKIN_MAKE
// Get the namespace of this node
std::string base_namespace = ros::this_node::getNamespace();
ROS_INFO_STREAM("[TOP BANNER GUI] ros::this_node::getNamespace() = " << base_namespace);
// Get the type and ID of this parameter service
bool isValid_type_and_ID = getTypeAndIDParameters();
// Stall if the TYPE and ID are not valid
if ( !isValid_type_and_ID )
{
ROS_ERROR("[TOP BANNER GUI] Node NOT FUNCTIONING :-)");
ros::spin();
}
#else
// Default as a coordinator when compiling with QtCreator
m_type = TYPE_COORDINATOR;
m_ID = 1;
#endif
#ifdef CATKIN_MAKE
// CREATE A NODE HANDLE TO THE BASE NAMESPACE
//ros::NodeHandle base_nodeHandle(base_namespace);
// CREATE A NODE HANDLE TO THE ROOT OF THE D-FaLL SYSTEM
ros::NodeHandle dfall_root_nodeHandle("/dfall");
// > Publisher for the emergency stop button
emergencyStopPublisher = dfall_root_nodeHandle.advertise<dfall_pkg::IntWithHeader>("EmergencyStop", 1);
// > For changes in the database that defines {agentID,cfID,flying zone} links
databaseChangedSubscriber = dfall_root_nodeHandle.subscribe("CentralManagerService/DBChanged", 1, &TopBanner::databaseChangedCallback, this);;
centralManagerDatabaseService = dfall_root_nodeHandle.serviceClient<dfall_pkg::CMQuery>("CentralManagerService/Query", false);
#endif
// FURTHER INITILIASATIONS NEED TO OCCUR AFTER THE ROS RELATED
// INITIALISATIONS ARE COMPLETE
if (m_type == TYPE_AGENT)
{
// Hide the "emergency stop"
ui->emergency_stop_button->hide();
// Load the context for this agent
loadCrazyflieContext(m_ID,1000);
}
else if (m_type == TYPE_COORDINATOR)
{
// Set the label appropriate for a cooridnator
QString qstr_title = "Flying Agent GUI: for COORDINATOR ID ";
qstr_title.append( QString::number(m_ID) );
ui->top_banner_label->setText(qstr_title);
// show the "emergency stop"
ui->emergency_stop_button->show();
}
else
{
// Set the label to inform the user of the error
QString qstr_title = "Flying Agent GUI: for UNKNOWN NODE TYPE";
ui->top_banner_label->setText(qstr_title);
// Hide the "emergency stop"
ui->emergency_stop_button->hide();
}
}
TopBanner::~TopBanner()
{
delete ui;
}
// ----------------------------------------------------------------------------------
// CCCC OOO N N TTTTT EEEEE X X TTTTT
// C O O NN N T E X X T
// C O O N N N T EEE X T
// C O O N NN T E X X T
// CCCC OOO N N T EEEEE X X T
// ----------------------------------------------------------------------------------
// RESPONDING TO CHANGES IN THE DATABASE
#ifdef CATKIN_MAKE
// > For the notification that the database was changes, received on the "DatabaseChangedSubscriber"
void TopBanner::databaseChangedCallback(const std_msgs::Int32& msg)
{
//ROS_INFO_STEAM("[TOP BANNER GUI] Database Changed Callback called for agentID = " << m_agentID);
loadCrazyflieContext(m_ID,0);
}
#endif
void TopBanner::emitObjectNameForDisplayingPoseDataValueChanged()
{
emit objectNameForDisplayingPoseDataValueChanged( m_object_name_for_emitting_pose_data );
#ifdef CATKIN_MAKE
ROS_INFO_STREAM("[TOP BANNER GUI] Object name \"" << m_object_name_for_emitting_pose_data.toStdString() << "\" emitted for the controller tabs.");
#endif
}
// > For loading the "context" for this agent, i.e., the {agentID,cfID,flying zone} tuple
void TopBanner::loadCrazyflieContext(int ID_to_request_from_database , int emit_after_milliseconds)
{
QString qstr_crazyflie_name = "";
#ifdef CATKIN_MAKE
dfall_pkg::CMQuery contextCall;
contextCall.request.studentID = ID_to_request_from_database;
//ROS_INFO_STREAM("StudentID:" << m_agentID);
centralManagerDatabaseService.waitForExistence(ros::Duration(2.0));
if(centralManagerDatabaseService.call(contextCall))
{
my_context = contextCall.response.crazyflieContext;
ROS_INFO_STREAM("[TOP BANNER GUI] CrazyflieContext:\n" << my_context);
qstr_crazyflie_name.append(QString::fromStdString(my_context.crazyflieName));
m_object_name_for_emitting_pose_data = QString::fromStdString(my_context.crazyflieName);
// Emit the crazyflie name
// > This signal is connected to the "controller tabs" widget
// and is used for filtering with motion capture data to
// display in the tabs for each controller
if (emit_after_milliseconds == 0)
{
emit objectNameForDisplayingPoseDataValueChanged( QString::fromStdString(my_context.crazyflieName) );
ROS_INFO_STREAM("[TOP BANNER GUI] Object name \"" << my_context.crazyflieName << "\" emitted for the controller tabs.");
}
else
{
QTimer::singleShot(emit_after_milliseconds, this, SLOT( emitObjectNameForDisplayingPoseDataValueChanged() ) );
}
}
else
{
ROS_ERROR_STREAM("[TOP BANNER GUI] Failed to load context for agentID = " << m_ID);
// Set the Crazyflie Name String to be a question mark
qstr_crazyflie_name.append("?");
m_object_name_for_emitting_pose_data = "";
if (emit_after_milliseconds == 0)
{
QString qstr = "";
emit objectNameForDisplayingPoseDataValueChanged( qstr );
ROS_INFO_STREAM("[TOP BANNER GUI] emitted for the controller tabs that no object name is available.");
}
else
{
QTimer::singleShot(emit_after_milliseconds, this, SLOT( emitObjectNameForDisplayingPoseDataValueChanged() ) );
}
}
// This updating of the radio only needs to be done by the actual agent's node
//ros::NodeHandle nh("CrazyRadio");
//nh.setParam("crazyflieAddress", m_context.crazyflieAddress);
#else
// Set the Crazyflie Name String to be a question mark
qstr_crazyflie_name.append("?");
#endif
// Construct and set the string for the checkbox label
QString qstr_title = "Flying Agent GUI: for AGENT ID ";
qstr_title.append( QString::number(m_ID) );
qstr_title.append(", connected to ");
qstr_title.append(qstr_crazyflie_name);
ui->top_banner_label->setText(qstr_title);
}
// ----------------------------------------------------------------------------------
// 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
// ----------------------------------------------------------------------------------
void TopBanner::on_emergency_stop_button_clicked()
{
#ifdef CATKIN_MAKE
dfall_pkg::IntWithHeader msg;
msg.shouldCheckForAgentID = false;
msg.data = CMD_CRAZYFLY_MOTORS_OFF;
this->emergencyStopPublisher.publish(msg);
ROS_INFO("[TOP BANNER GUI] EMERGENCY STOP button clicked");
#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 TopBanner::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();
// If there is only one agent to coordinate,
// then load the context for that agent
if (agentIDs.length() == 1)
{
loadCrazyflieContext(agentIDs[0],0);
}
else
{
// Set the label appropriate for a cooridnator
QString qstr_title = "Flying Agent GUI: for COORDINATOR ID ";
qstr_title.append( QString::number(m_ID) );
ui->top_banner_label->setText(qstr_title);
// Update the class variable for the name
m_object_name_for_emitting_pose_data = "";
// Emit the empty name as a signal
QString qstr = "";
emit objectNameForDisplayingPoseDataValueChanged( qstr );
}
}
// ----------------------------------------------------------------------------------
// 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 TopBanner::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("[TOP BANNER 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("[TOP BANNER 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("[TOP BANNER GUI] Failed to get agentID");
}
else
{
// Inform the user about the type and ID
ROS_INFO_STREAM("[TOP BANNER 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("[TOP BANNER GUI] Failed to get coordID");
}
else
{
// Inform the user about the type and ID
ROS_INFO_STREAM("[TOP BANNER 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("[TOP BANNER GUI] The 'm_type' variable was not recognised.");
break;
}
}
// Return
return return_was_successful;
}
#endif
dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/tuningcontrollertab.cpp 0 → 100644
View file @ 9feb9547
// 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 the Tuning Controller
//
// ----------------------------------------------------------------------------------
#include "tuningcontrollertab.h"
#include "ui_tuningcontrollertab.h"
TuningControllerTab::TuningControllerTab(QWidget *parent) :
QWidget(parent),
ui(new Ui::TuningControllerTab)
{
ui->setupUi(this);
// Set the gain field
int starting_slider_value = ui->slider_gain_P->value();
float slider_ratio = float(starting_slider_value) / 1000.0;
m_gain_P = P_GAIN_MIN_GUI + slider_ratio * (P_GAIN_MAX_GUI-P_GAIN_MIN_GUI);
m_gain_D = m_gain_P * P_TO_D_GAIN_RATIO_GUI;
ui->lineEdit_gain_P->setText( QString::number( m_gain_P, 'f', DECIMAL_PLACES_GAIN) );
ui->lineEdit_gain_D->setText( QString::number( m_gain_D, 'f', DECIMAL_PLACES_GAIN) );
ui->lineEdit_setpoint->setText( QString::number( m_current_setpoint, 'f', DECIMAL_PLACES_SETPOINT) );
ui->frame_A_left->setVisible(false);
ui->frame_A_right->setVisible(false);
ui->frame_B_left->setVisible(false);
ui->frame_B_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("[TUNING 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("[TUNING 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>("TuningControllerService/RequestSetpointChange", 1);
// SUBSCRIBE TO SETPOINT CHANGES
// Only if this is an agent GUI
if (m_type == TYPE_AGENT)
{
setpointChangedSubscriber = nodeHandle_for_this_gui.subscribe("TuningControllerService/SetpointChanged", 1, &TuningControllerTab::setpointChangedCallback, this);
}
// CREATE THE NEW GAIN PUBLISHER
requestNewGainChangePublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::FloatWithHeader>("TuningControllerService/RequestGainChange", 1);
// CREATE THE CUSTOM BUTTON PRESSED PUBLISHER
//customButtonPublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::CustomButtonWithHeader>("TuningControllerService/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>("TuningControllerService/GetCurrentSetpoint", false);
// dfall_pkg::GetSetpointService getSetpointCall;
// getSetpointCall.request.data = 0;
// getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.1));
// if(getCurrentSetpointServiceClient.call(getSetpointCall))
// {
// setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
// }
// else
// {
// // Inform the user
// ROS_INFO("[TUNING CONTROLLER GUI] Failed to get setpoint from controller using the \"GetCurrentSetpoint\" service");
// }
}
#endif
}
TuningControllerTab::~TuningControllerTab()
{
delete ui;
}
// ----------------------------------------------------------------------------------
// 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 TuningControllerTab::setMeasuredPose(float x , float y , float z , float roll , float pitch , float yaw , bool isValid)
{
if (isValid)
{
m_gain_setpoint_mutex.lock();
// INITIALISE A STRING VARIABLE FOR ADDING THE "+"
QString qstr = "";
// PUT IN THE POSITION ERROR
float error_x = x - m_current_setpoint;
ui->lineEdit_error_P->setText( QString::number( error_x, 'f', DECIMAL_PLACES_POSITION_MEASURED) );
// COMPUTE AND PUT IN THE VELOCITY
float velocity_x = (x - m_x_previous) * MEASUREMENT_FRQUENCY;
m_x_previous = x;
ui->lineEdit_error_D->setText( QString::number( velocity_x, 'f', DECIMAL_PLACES_VELOCITY) );
// COMPUTE AND PUT IN THE ANGLE
float angle = (m_gain_P * error_x + m_gain_D * velocity_x) * RAD2DEG;
ui->lineEdit_angle->setText( QString::number( angle, 'f', DECIMAL_PLACES_ANGLE_DEGREES) );
m_gain_setpoint_mutex.unlock();
// // 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));
// // GET THE CURRENT SETPOINT
// float error_x = x - (ui->lineEdit_setpoint_current_x->text() ).toFloat();
// float error_y = y - (ui->lineEdit_setpoint_current_y->text() ).toFloat();
// float error_z = z - (ui->lineEdit_setpoint_current_z->text() ).toFloat();
// float error_yaw = yaw - (ui->lineEdit_setpoint_current_yaw->text()).toFloat();
// // UPDATE THE ERROR COLUMN
// if (error_x < 0.0f) qstr = ""; else qstr = "+";
// ui->lineEdit_error_x->setText(qstr + QString::number( error_x, 'f', 3));
// if (error_y < 0.0f) qstr = ""; else qstr = "+";
// ui->lineEdit_error_y->setText(qstr + QString::number( error_y, 'f', 3));
// if (error_z < 0.0f) qstr = ""; else qstr = "+";
// ui->lineEdit_error_z->setText(qstr + QString::number( error_z, 'f', 3));
// if (error_yaw < 0.0f) qstr = ""; else qstr = "+";
// ui->lineEdit_error_yaw->setText(qstr + QString::number( error_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 that
// // measurement is NOT valid
// 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 TuningControllerTab::poseDataUnavailableSlot()
{
ui->lineEdit_angle->setText("xx.xx");
ui->lineEdit_error_P->setText("xx.xx");
ui->lineEdit_error_D->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 TuningControllerTab::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', 3));
}
#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 TuningControllerTab::publishSetpoint(float x, float y, float z, float yaw)
{
#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 * DEG2RAD;
// Publish the setpoint
this->requestSetpointChangePublisher.publish(msg);
// Inform the user about the change
ROS_INFO_STREAM("[TUNING CONTROLLER GUI] Published request for setpoint change to: [" << x << ", "<< y << ", "<< z << ", "<< yaw << "]");
#else
// TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
QTextStream(stdout) << "[TUNING CONTROLLER GUI] would publish request for: [" << x << ", "<< y << ", "<< z << ", "<< yaw << "]";
#endif
}
void TuningControllerTab::on_button_setpoint_toggle_clicked()
{
m_gain_setpoint_mutex.lock();
float setpoint_copy = m_current_setpoint;
float new_setpoint = 0.0;
if (setpoint_copy < SETPOINT_X_MINUS)
{
new_setpoint = SETPOINT_X_MINUS;
ui->frame_A_left->setVisible(true);
ui->frame_A_right->setVisible(true);
ui->frame_B_left->setVisible(false);
ui->frame_B_right->setVisible(false);
}
else if (setpoint_copy < 0.0)
{
new_setpoint = SETPOINT_X_PLUS;
ui->frame_A_left->setVisible(false);
ui->frame_A_right->setVisible(false);
ui->frame_B_left->setVisible(true);
ui->frame_B_right->setVisible(true);
}
else if (setpoint_copy > SETPOINT_X_PLUS)
{
new_setpoint = SETPOINT_X_PLUS;
ui->frame_A_left->setVisible(false);
ui->frame_A_right->setVisible(false);
ui->frame_B_left->setVisible(true);
ui->frame_B_right->setVisible(true);
}
else
{
new_setpoint = SETPOINT_X_MINUS;
ui->frame_A_left->setVisible(true);
ui->frame_A_right->setVisible(true);
ui->frame_B_left->setVisible(false);
ui->frame_B_right->setVisible(false);
}
ui->lineEdit_setpoint->setText( QString::number( new_setpoint, 'f', DECIMAL_PLACES_SETPOINT) );
float lineEdit_as_float_rounded = (ui->lineEdit_setpoint->text()).toFloat();
m_current_setpoint = lineEdit_as_float_rounded;
publishSetpoint( m_current_setpoint, SETPOINT_Y, SETPOINT_Z, SETPOINT_YAW_DEGREES);
m_gain_setpoint_mutex.unlock();
}
void TuningControllerTab::on_lineEdit_setpoint_editingFinished()
{
m_gain_setpoint_mutex.lock();
// Get the line edit data, as a float if possible
bool isValidFloat = false;
float lineEdit_as_float = (ui->lineEdit_setpoint->text()).toFloat(&isValidFloat);
// Fill in the data
if (isValidFloat)
{
ui->lineEdit_setpoint->setText( QString::number( lineEdit_as_float, 'f', DECIMAL_PLACES_SETPOINT) );
float lineEdit_as_float_rounded = (ui->lineEdit_setpoint->text()).toFloat();
m_current_setpoint = lineEdit_as_float_rounded;
publishSetpoint( m_current_setpoint, SETPOINT_Y, SETPOINT_Z, SETPOINT_YAW_DEGREES);
}
else
{
ui->lineEdit_setpoint->setText( QString::number( m_current_setpoint, 'f', DECIMAL_PLACES_SETPOINT) );
}
m_gain_setpoint_mutex.unlock();
}
void TuningControllerTab::publishGain(float new_gain)
{
#ifdef CATKIN_MAKE
// Initialise the message as a local variable
dfall_pkg::FloatWithHeader msg;
// Fill the header of the message
fillFloatMessageHeader( msg );
// Fill in the gain value
msg.data = new_gain;
// Publish the setpoint
this->requestNewGainChangePublisher.publish(msg);
// Inform the user about the change
ROS_INFO_STREAM("[TUNING CONTROLLER GUI] Published request for gain change to: " << new_gain );
#else
// TO ASSIST WITH DEBUGGING WHEN COMPILED AND RUN IN "QtCreator"
QTextStream(stdout) << "[TUNING CONTROLLER GUI] would publish gain value: " << new_gain;
#endif
}
void TuningControllerTab::on_slider_gain_P_valueChanged(int value)
{
m_gain_setpoint_mutex.lock();
float slider_ratio = float(value) / 1000.0;
float new_gain_P = P_GAIN_MIN_GUI + slider_ratio * (P_GAIN_MAX_GUI-P_GAIN_MIN_GUI);
float new_gain_D = new_gain_P * P_TO_D_GAIN_RATIO_GUI;
ui->lineEdit_gain_P->setText( QString::number( new_gain_P, 'f', DECIMAL_PLACES_GAIN) );
ui->lineEdit_gain_D->setText( QString::number( new_gain_D, 'f', DECIMAL_PLACES_GAIN) );
float gain_P_rounded = (ui->lineEdit_gain_P->text()).toFloat();
float gain_D_rounded = (ui->lineEdit_gain_D->text()).toFloat();
m_gain_P = gain_P_rounded;
m_gain_D = gain_D_rounded;
publishGain(m_gain_P);
m_gain_setpoint_mutex.unlock();
}
// ----------------------------------------------------------------------------------
// 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 TuningControllerTab::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>("TuningControllerService/GetCurrentSetpoint", false);
// dfall_pkg::GetSetpointService getSetpointCall;
// getSetpointCall.request.data = 0;
// getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.0));
// if(getCurrentSetpointServiceClient.call(getSetpointCall))
// {
// setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
// }
// else
// {
// // Inform the user
// ROS_INFO("[TUNING 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("TuningControllerService/SetpointChanged", 1, &TuningControllerTab::setpointChangedCallback, this);
}
else
{
// Unsubscribe
setpointChangedSubscriber.shutdown();
// Set information back to the default
ui->lineEdit_setpoint->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 TuningControllerTab::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("[TUNING CONTROLLER TAB GUI] The 'm_type' variable was not recognised.");
break;
}
}
}
#endif
#ifdef CATKIN_MAKE
// Fill the header for a message
void TuningControllerTab::fillFloatMessageHeader( dfall_pkg::FloatWithHeader & 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("[TUNING 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 TuningControllerTab::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("[TUNING 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("[TUNING 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("[TUNING CONTROLLER TAB GUI] Failed to get agentID");
}
else
{
// Inform the user about the type and ID
ROS_INFO_STREAM("[TUNING 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("[TUNING CONTROLLER TAB GUI] Failed to get coordID");
}
else
{
// Inform the user about the type and ID
ROS_INFO_STREAM("[TUNING 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("[TUNING CONTROLLER TAB GUI] The 'm_type' variable was not recognised.");
break;
}
}
// Return
return return_was_successful;
}
#endif
dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/src/tutorialcontrollertab.cpp 0 → 100644
View file @ 9feb9547
// 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 the Tutorial Controller
//
// ----------------------------------------------------------------------------------
#include "tutorialcontrollertab.h"
#include "ui_tutorialcontrollertab.h"
TutorialControllerTab::TutorialControllerTab(QWidget *parent) :
QWidget(parent),
ui(new Ui::TutorialControllerTab)
{
ui->setupUi(this);
// Hide the two red frames that are used to indcated
// when pose data is NOT valid
ui->red_frame_position_left->setVisible(false);
ui->red_frame_position_right->setVisible(false);
// Hide the two green frames that are used to indcate when MPC optimization problem is successfully set up
ui->green_frame_setup_left->setVisible(false);
ui->green_frame_setup_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("[TUTORIAL 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("[TUTORIAL 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>("TutorialControllerService/RequestSetpointChange", 1);
// SUBSCRIBE TO SETPOINT CHANGES
// Only if this is an agent GUI
if (m_type == TYPE_AGENT)
{
setpointChangedSubscriber = nodeHandle_for_this_gui.subscribe("TutorialControllerService/SetpointChanged", 1, &TutorialControllerTab::setpointChangedCallback, this);
}
// SUBSCRIBE TO OPTIMIZATION SETUP STATUS CHANGES
// Only if this is an agent GUI
if (m_type == TYPE_AGENT)
{
optimizationSetupStatusChangedSubscriber = nodeHandle_for_this_gui.subscribe("TutorialControllerService/OptimizationSetupStatusChanged", 1, &TutorialControllerTab::optimizationSetupStatusChangedCallback, this);
}
// CREATE THE CUSTOM BUTTON PRESSED PUBLISHER
customButtonPublisher = nodeHandle_for_this_gui.advertise<dfall_pkg::CustomButtonWithHeader>("TutorialControllerService/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>("TutorialControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.1));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
}
else
{
// Inform the user
ROS_INFO("[TUTORIAL CONTROLLER GUI] Failed to get setpoint from controller using the \"GetCurrentSetpoint\" service");
}
}
#endif
}
TutorialControllerTab::~TutorialControllerTab()
{
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 TutorialControllerTab::publish_custom_button_command(int button_index)
{
// 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;
// Publish the button press
this->customButtonPublisher.publish(msg);
// Inform the user about the change
ROS_INFO_STREAM("[TUTORIAL CONTROLLER TAB GUI] button " << button_index << " clicked.");
}
#endif
void TutorialControllerTab::on_custom_button_1_clicked()
{
#ifdef CATKIN_MAKE
publish_custom_button_command(1);
#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 TutorialControllerTab::setMeasuredPose(float x , float y , float z , float roll , float pitch , float yaw , bool isValid)
{
if (isValid)
{
// 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));
// GET THE CURRENT SETPOINT ERROR
float error_x = x - (ui->lineEdit_setpoint_current_x->text() ).toFloat();
float error_y = y - (ui->lineEdit_setpoint_current_y->text() ).toFloat();
float error_z = z - (ui->lineEdit_setpoint_current_z->text() ).toFloat();
// UPDATE THE ERROR COLUMN
if (error_x < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_error_x->setText(qstr + QString::number( error_x, 'f', 3));
if (error_y < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_error_y->setText(qstr + QString::number( error_y, 'f', 3));
if (error_z < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_error_z->setText(qstr + QString::number( error_z, 'f', 3));
// 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 that
// measurement is NOT valid
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 TutorialControllerTab::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");
ui->lineEdit_error_x->setText("xx.xx");
ui->lineEdit_error_y->setText("xx.xx");
ui->lineEdit_error_z->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 TutorialControllerTab::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));
}
#endif
// *** OPTIMIZATION SETUP STATUS CHANGED CALLBACK
#ifdef CATKIN_MAKE
void TutorialControllerTab::optimizationSetupStatusChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint)
{
// USING SETPOINT X TO COMMUNICATE OPTIMIZATION SUCCESSFUL FLAG
bool optimization_setup_successful = (newSetpoint.x == 1.0);
// COTNROL THE VISIBILITY OF THE STATUS INDICATORS
ui->green_frame_setup_left->setVisible(optimization_setup_successful);
ui->green_frame_setup_right->setVisible(optimization_setup_successful);
ui->red_frame_setup_left->setVisible(!optimization_setup_successful);
ui->red_frame_setup_right->setVisible(!optimization_setup_successful);
}
#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 TutorialControllerTab::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("[TUTORIAL 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) << "[TUTORIAL CONTROLLER GUI] would publish request for: [" << x << ", "<< y << ", "<< z << ", "<< yaw_degrees << "]";
#endif
}
void TutorialControllerTab::on_lineEdit_setpoint_new_x_returnPressed()
{
ui->set_setpoint_button->animateClick();
}
void TutorialControllerTab::on_lineEdit_setpoint_new_y_returnPressed()
{
ui->set_setpoint_button->animateClick();
}
void TutorialControllerTab::on_lineEdit_setpoint_new_z_returnPressed()
{
ui->set_setpoint_button->animateClick();
}
void TutorialControllerTab::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();
// Call the function to publish the setpoint
publishSetpoint(x,y,z,yaw);
}
void TutorialControllerTab::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("[TUTORIAL CONTROLLER GUI] Published request for setpoint change to the default");
#endif
}
void TutorialControllerTab::on_x_increment_plus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_x->text().isEmpty())
{
increment_setpoint_by( (ui->lineEdit_setpoint_increment_x->text()).toFloat() ,0.0,0.0,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[TUTORIAL CONTROLLER GUI] Increment x setpoint clicked but field is empty");
#endif
}
}
void TutorialControllerTab::on_x_increment_minus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_x->text().isEmpty())
{
increment_setpoint_by( -(ui->lineEdit_setpoint_increment_x->text()).toFloat() ,0.0,0.0,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[TUTORIAL CONTROLLER GUI] Increment x setpoint clicked but field is empty");
#endif
}
}
void TutorialControllerTab::on_y_increment_plus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_y->text().isEmpty())
{
increment_setpoint_by(0.0, (ui->lineEdit_setpoint_increment_y->text()).toFloat() ,0.0,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[TUTORIAL CONTROLLER GUI] Increment x setpoint clicked but field is empty");
#endif
}
}
void TutorialControllerTab::on_y_increment_minus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_y->text().isEmpty())
{
increment_setpoint_by(0.0, -(ui->lineEdit_setpoint_increment_y->text()).toFloat() ,0.0,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[TUTORIAL CONTROLLER GUI] Increment y setpoint clicked but field is empty");
#endif
}
}
void TutorialControllerTab::on_z_increment_plus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_z->text().isEmpty())
{
increment_setpoint_by(0.0,0.0, (ui->lineEdit_setpoint_increment_z->text()).toFloat() ,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[TUTORIAL CONTROLLER GUI] Increment z setpoint clicked but field is empty");
#endif
}
}
void TutorialControllerTab::on_z_increment_minus_button_clicked()
{
// Only need to do something if the field is not empty
if(!ui->lineEdit_setpoint_increment_z->text().isEmpty())
{
// Call the function to increment the setpoint
increment_setpoint_by(0.0,0.0, -(ui->lineEdit_setpoint_increment_z->text()).toFloat() ,0.0);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[TUTORIAL CONTROLLER GUI] Increment z setpoint clicked but field is empty");
#endif
}
}
void TutorialControllerTab::increment_setpoint_by(float x_inc, float y_inc, float z_inc, float yaw_inc_degrees)
{
if (m_type == TYPE_AGENT)
{
// WHEN GUI IS IN AGENT TYPE MODE:
// APPLY THE INCREMENT FROM THE CURRENT SETPOINT
// Call the function to publish the setpoint
publishSetpoint(
(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,
0.0
);
}
else if (m_type == TYPE_COORDINATOR)
{
// WHEN GUI IS IN COORDINATOR TYPE MODE:
// APPLY THE INCREMENT FROM THE CURRENT SETPOINT
// Initialise local variable for each of (x,y,z,yaw)
float x = 0.0f, y = 0.0f, z = 0.4f, 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();
// > For y
if(!ui->lineEdit_setpoint_new_y->text().isEmpty())
y = (ui->lineEdit_setpoint_new_y->text()).toFloat();
// > For z
if(!ui->lineEdit_setpoint_new_z->text().isEmpty())
z = (ui->lineEdit_setpoint_new_z->text()).toFloat();
// Add the increment to this
float x_new = x + x_inc;
float y_new = y + y_inc;
float z_new = z + z_inc;
float yaw_new = yaw + yaw_inc_degrees;
// INITIALISE A STRING VARIABLE FOR ADDING THE "+"
QString qstr = "";
// Put this back into the new fields
if (x_new < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_setpoint_new_x->setText(qstr + QString::number( x_new, 'f', 3));
if (y_new < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_setpoint_new_y->setText(qstr + QString::number( y_new, 'f', 3));
if (z_new < 0.0f) qstr = ""; else qstr = "+";
ui->lineEdit_setpoint_new_z->setText(qstr + QString::number( z_new, 'f', 3));
// Call the function to publish the setpoint
publishSetpoint(x_new,y_new,z_new,yaw_new);
}
else
{
#ifdef CATKIN_MAKE
// Inform the user that nothing can be done
ROS_INFO_STREAM("[TUTORIAL CONTROLLER GUI] Increment setpoint not possible because m_type is not recognised.");
#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 TutorialControllerTab::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>("TutorialControllerService/GetCurrentSetpoint", false);
dfall_pkg::GetSetpointService getSetpointCall;
getSetpointCall.request.data = 0;
getCurrentSetpointServiceClient.waitForExistence(ros::Duration(0.0));
if(getCurrentSetpointServiceClient.call(getSetpointCall))
{
setpointChangedCallback(getSetpointCall.response.setpointWithHeader);
}
else
{
// Inform the user
ROS_INFO("[TUTORIAL 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("TutorialControllerService/SetpointChanged", 1, &TutorialControllerTab::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");
}
#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 TutorialControllerTab::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("[TUTORIAL CONTROLLER TAB GUI] The 'm_type' variable was not recognised.");
break;
}
}
}
#endif
#ifdef CATKIN_MAKE
// Fill the header for a message
void TutorialControllerTab::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("[TUTORIAL 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 TutorialControllerTab::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("[TUTORIAL 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("[TUTORIAL 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("[TUTORIAL CONTROLLER TAB GUI] Failed to get agentID");
}
else
{
// Inform the user about the type and ID
ROS_INFO_STREAM("[TUTORIAL 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("[TUTORIAL CONTROLLER TAB GUI] Failed to get coordID");
}
else
{
// Inform the user about the type and ID
ROS_INFO_STREAM("[TUTORIAL 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("[TUTORIAL CONTROLLER TAB GUI] The 'm_type' variable was not recognised.");
break;
}
}
// Return
return return_was_successful;
}
#endif
pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.ui → dfall_ws/src/dfall_pkg/GUI_Qt/systemConfigGUI/forms/mainguiwindow.ui
View file @ 9feb9547
......@@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>1176</width>
<height>1180</height>
<width>1339</width>
<height>1619</height>
</rect>
</property>
<property name="windowTitle">
......@@ -30,28 +30,19 @@
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<item row="2" column="1">
<widget class="QPushButton" name="pushButton_fitAll">
<property name="text">
<string>Fit All</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QPushButton" name="removeTable">
<property name="text">
<string>Remove Table</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<pointsize>14</pointsize>
</font>
</property>
<property name="title">
<string>Creation Modes</string>
</property>
......@@ -60,7 +51,7 @@
<widget class="QRadioButton" name="radioButton_table_mode">
<property name="font">
<font>
<pointsize>7</pointsize>
<pointsize>12</pointsize>
</font>
</property>
<property name="text">
......@@ -75,7 +66,7 @@
<widget class="QRadioButton" name="radioButton_crazyfly_zones_mode">
<property name="font">
<font>
<pointsize>7</pointsize>
<pointsize>12</pointsize>
</font>
</property>
<property name="text">
......@@ -90,7 +81,7 @@
<widget class="QRadioButton" name="radioButton_lock_mode">
<property name="font">
<font>
<pointsize>7</pointsize>
<pointsize>12</pointsize>
</font>
</property>
<property name="text">
......@@ -101,20 +92,123 @@
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="removeTable">
<property name="font">
<font>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>Remove Table</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_fitAll">
<property name="font">
<font>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>Fit All</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label_zmin">
<property name="text">
<string>zmin</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_zmin">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<family>Courier</family>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>-0.2</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="label_zmax">
<property name="text">
<string>zmax</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_zmax">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<family>Courier</family>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>1.8</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item row="1" column="1">
<widget class="QGroupBox" name="groupBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<pointsize>14</pointsize>
</font>
</property>
<property name="title">
<string>What to show</string>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<item row="4" column="0">
<item row="5" column="0">
<widget class="QCheckBox" name="checkBox_grid">
<property name="font">
<font>
<pointsize>7</pointsize>
<pointsize>12</pointsize>
</font>
</property>
<property name="text">
......@@ -125,11 +219,11 @@
</property>
</widget>
</item>
<item row="5" column="0">
<item row="6" column="0">
<widget class="QCheckBox" name="checkBox_table">
<property name="font">
<font>
<pointsize>7</pointsize>
<pointsize>12</pointsize>
</font>
</property>
<property name="text">
......@@ -140,11 +234,11 @@
</property>
</widget>
</item>
<item row="8" column="0">
<item row="9" column="0">
<widget class="QCheckBox" name="checkBox_vicon_crazyflies">
<property name="font">
<font>
<pointsize>7</pointsize>
<pointsize>12</pointsize>
</font>
</property>
<property name="text">
......@@ -159,7 +253,7 @@
<widget class="QCheckBox" name="checkBox_crazyfly_zones">
<property name="font">
<font>
<pointsize>7</pointsize>
<pointsize>12</pointsize>
</font>
</property>
<property name="text">
......@@ -174,7 +268,7 @@
<widget class="QCheckBox" name="checkBox_vicon_markers">
<property name="font">
<font>
<pointsize>7</pointsize>
<pointsize>12</pointsize>
</font>
</property>
<property name="text">
......@@ -185,20 +279,20 @@
</property>
</widget>
</item>
<item row="8" column="1">
<item row="10" column="0">
<widget class="QDoubleSpinBox" name="scaleSpinBox">
<property name="font">
<font>
<pointsize>7</pointsize>
<pointsize>12</pointsize>
</font>
</property>
</widget>
</item>
<item row="2" column="1">
<item row="3" column="0">
<widget class="QCheckBox" name="checkBox_vicon_highlight_markers">
<property name="font">
<font>
<pointsize>6</pointsize>
<pointsize>12</pointsize>
</font>
</property>
<property name="text">
......@@ -227,10 +321,8 @@
</item>
</layout>
<zorder>graphicsView</zorder>
<zorder>removeTable</zorder>
<zorder>groupBox</zorder>
<zorder>groupBox_2</zorder>
<zorder>pushButton_fitAll</zorder>
</widget>
</item>
<item row="0" column="1">
......@@ -249,7 +341,7 @@
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QPushButton" name="all_motors_off_button">
<widget class="QPushButton" name="emergency_stop_button">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
......@@ -268,50 +360,81 @@
<height>100</height>
</size>
</property>
<property name="font">
<font>
<pointsize>14</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>All motors OFF</string>
<string>Emergency Stop</string>
</property>
</widget>
</item>
<item>
<widget class="QTabWidget" name="tabWidget_2">
<property name="font">
<font>
<pointsize>14</pointsize>
</font>
</property>
<property name="currentIndex">
<number>1</number>
<number>0</number>
</property>
<widget class="QWidget" name="links_tab">
<attribute name="title">
<string>Links</string>
</attribute>
<layout class="QGridLayout" name="gridLayout">
<item row="6" column="1" colspan="6">
<widget class="QLabel" name="err_message_student_id">
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
<item row="0" column="1">
<widget class="QPushButton" name="refresh_student_ids_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>TextLabel</string>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
</widget>
</item>
<item row="15" column="1" colspan="6">
<widget class="QLabel" name="err_message_cf_zone">
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
<property name="maximumSize">
<size>
<width>600</width>
<height>30</height>
</size>
</property>
<property name="text">
<string>TextLabel</string>
<string>Refresh IDs</string>
</property>
</widget>
</item>
<item row="10" column="1" colspan="6">
<widget class="QLabel" name="err_message_cf">
<item row="13" column="1">
<widget class="QLabel" name="err_message_radio_address">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>10</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>600</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<pointsize>7</pointsize>
<pointsize>10</pointsize>
</font>
</property>
<property name="text">
......@@ -319,121 +442,51 @@
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QSpinBox" name="spinBox_student_ids">
<item row="22" column="1">
<widget class="QPushButton" name="load_from_DB_button">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimum">
<number>1</number>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="maximum">
<number>20</number>
<property name="maximumSize">
<size>
<width>600</width>
<height>30</height>
</size>
</property>
<property name="value">
<number>1</number>
<property name="text">
<string>Load from DB</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QListWidget" name="list_discovered_student_ids">
<item row="12" column="1">
<widget class="QLineEdit" name="radioAddress_text">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Minimum">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
<item row="9" column="1">
<widget class="QComboBox" name="comboBoxCFs"/>
</item>
<item row="14" column="1">
<widget class="QComboBox" name="comboBoxCFZones"/>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Choose Student ID:</string>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Choose CF to link:</string>
</property>
</widget>
</item>
<item row="13" column="1">
<widget class="QLabel" name="label_3">
<property name="text">
<string>Choose CF Zone to link:</string>
</property>
</widget>
</item>
<item row="9" column="6">
<widget class="QPushButton" name="refresh_cfs_button">
<property name="text">
<string>Refresh CFs</string>
</property>
</widget>
</item>
<item row="2" column="6">
<widget class="QPushButton" name="refresh_student_ids_button">
<property name="text">
<string>Refresh IDs</string>
</property>
</widget>
</item>
<item row="16" column="1" colspan="6">
<widget class="QTableWidget" name="table_links">
<property name="minimumSize">
<size>
<width>273</width>
<height>0</height>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="rowCount">
<number>0</number>
</property>
<property name="columnCount">
<number>0</number>
</property>
<attribute name="horizontalHeaderVisible">
<bool>false</bool>
</attribute>
</widget>
</item>
<item row="14" column="6">
<widget class="QPushButton" name="link_button">
<property name="text">
<string>Link!</string>
</property>
</widget>
</item>
<item row="18" column="6">
<widget class="QPushButton" name="unlink_button">
<property name="text">
<string>Unlink!</string>
</property>
</widget>
</item>
<item row="20" column="6">
<widget class="QPushButton" name="save_in_DB_button">
<property name="text">
<string>Save in DB</string>
<property name="maximumSize">
<size>
<width>600</width>
<height>30</height>
</size>
</property>
</widget>
</item>
<item row="11" column="6">
<widget class="QLineEdit" name="radioAddress_text">
<property name="readOnly">
<bool>true</bool>
</property>
......@@ -442,60 +495,61 @@
</property>
</widget>
</item>
<item row="19" column="6">
<widget class="QPushButton" name="load_from_DB_button">
<property name="text">
<string>Load from DB</string>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLabel" name="label">
<property name="text">
<string>Radio Address:</string>
</property>
</widget>
</item>
<item row="12" column="6">
<widget class="QLabel" name="err_message_radio_address">
<property name="font">
<font>
<pointsize>7</pointsize>
</font>
</property>
<property name="text">
<string>TextLabel</string>
<item row="5" column="1">
<widget class="QSpinBox" name="spinBox_student_ids">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab">
<attribute name="title">
<string>Command all</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_2">
<item row="1" column="1">
<widget class="QPushButton" name="all_connect_button">
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
<height>30</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>100</height>
<width>600</width>
<height>30</height>
</size>
</property>
<property name="text">
<string>Reconnect</string>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>20</number>
</property>
<property name="value">
<number>1</number>
</property>
</widget>
</item>
<item row="2" column="0" colspan="2">
<widget class="QLabel" name="all_flying_state_label">
<item row="2" column="1">
<widget class="QListWidget" name="list_discovered_student_ids">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>600</width>
<height>90</height>
</size>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QComboBox" name="comboBoxCFZones">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
......@@ -504,22 +558,16 @@
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>40</height>
<width>600</width>
<height>30</height>
</size>
</property>
<property name="text">
<string>FLYING STATE</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QPushButton" name="all_take_off_button">
<item row="9" column="1">
<widget class="QComboBox" name="comboBoxCFs">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
......@@ -527,136 +575,204 @@
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>100</height>
<width>600</width>
<height>30</height>
</size>
</property>
<property name="text">
<string>Take off</string>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QPushButton" name="all_enable_safe_controller_button">
<item row="4" column="1">
<widget class="QLabel" name="label_4">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
<height>15</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>100</height>
<width>600</width>
<height>25</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Enable Safe</string>
<string>Choose Student ID:</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QPushButton" name="all_land_button">
<item row="7" column="1">
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
<height>15</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>100</height>
<width>600</width>
<height>25</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Land</string>
<string>Choose CF to link:</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="all_disconnect_button">
<item row="14" column="1">
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
<height>15</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>100</height>
<width>600</width>
<height>25</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Disconnect</string>
<string>Choose CF Zone to link:</string>
</property>
</widget>
</item>
<item row="5" column="1">
<widget class="QPushButton" name="all_enable_custom_controller_button">
<item row="11" column="1">
<widget class="QLabel" name="label">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
<height>15</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>100</height>
<width>600</width>
<height>25</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Enable Custom</string>
<string>Radio Address:</string>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QPushButton" name="all_load_safe_controller_yaml_own_agent_button">
<item row="6" column="1">
<widget class="QLabel" name="err_message_student_id">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
<height>10</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>100</height>
<width>600</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
</font>
</property>
<property name="text">
<string>Load Safe YAML</string>
<string>TextLabel</string>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QPushButton" name="all_load_custom_controller_yaml_own_agent_button">
<widget class="QPushButton" name="refresh_cfs_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>100</height>
<width>600</width>
<height>30</height>
</size>
</property>
<property name="text">
<string>Load Custom YAML</string>
<string>Refresh CFs</string>
</property>
</widget>
</item>
<item row="0" column="0" colspan="2">
<widget class="QLabel" name="all_radio_label">
<item row="23" column="1">
<widget class="QPushButton" name="save_in_DB_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
......@@ -665,23 +781,23 @@
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>40</height>
<width>600</width>
<height>30</height>
</size>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="text">
<string>CRAZYRADIO</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
<string>Save in DB</string>
</property>
</widget>
</item>
<item row="6" column="0" colspan="2">
<widget class="QLabel" name="all_yaml_label">
<item row="16" column="1">
<widget class="QPushButton" name="link_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
......@@ -690,96 +806,191 @@
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>40</height>
<width>600</width>
<height>30</height>
</size>
</property>
<property name="text">
<string>LOAD YAML PARAMETERS</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
<string>Link!</string>
</property>
</widget>
</item>
<item row="10" column="0">
<widget class="QPushButton" name="all_load_safe_controller_yaml_coordinator_button">
<item row="19" column="1">
<widget class="QTableWidget" name="table_links">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>100</height>
<width>600</width>
<height>120</height>
</size>
</property>
<property name="text">
<string>Send Safe YAML</string>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="rowCount">
<number>0</number>
</property>
<property name="columnCount">
<number>0</number>
</property>
<attribute name="horizontalHeaderVisible">
<bool>false</bool>
</attribute>
</widget>
</item>
<item row="10" column="1">
<widget class="QPushButton" name="all_load_custom_controller_yaml_coordinator_button">
<item row="21" column="1">
<widget class="QPushButton" name="unlink_button">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>50</height>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>100</height>
<width>600</width>
<height>30</height>
</size>
</property>
<property name="text">
<string>Send Custom YAML</string>
<string>Unlink!</string>
</property>
</widget>
</item>
<item row="7" column="0" colspan="2">
<widget class="QLabel" name="all_yaml_agent_label">
<item row="17" column="1">
<widget class="QLabel" name="err_message_cf_zone">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
<height>10</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>30</height>
<width>600</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
</font>
</property>
<property name="text">
<string>&gt; From agenet's local file</string>
<string>TextLabel</string>
</property>
</widget>
</item>
<item row="9" column="0" colspan="2">
<widget class="QLabel" name="all_yaml_coordinator_label">
<item row="10" column="1">
<widget class="QLabel" name="err_message_cf">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>30</height>
<height>10</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>30</height>
<width>600</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<pointsize>10</pointsize>
</font>
</property>
<property name="text">
<string>&gt; From coordinator's file</string>
<string>TextLabel</string>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab">
<attribute name="title">
<string>Mocap</string>
</attribute>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<layout class="QGridLayout" name="gridLayout_6">
<item row="0" column="0">
<widget class="QLabel" name="all_radio_label">
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>40</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="lineWidth">
<number>1</number>
</property>
<property name="text">
<string>Work in progress.</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="1" column="0">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
......@@ -829,8 +1040,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>1176</width>
<height>37</height>
<width>1339</width>
<height>47</height>
</rect>
</property>
</widget>
......