dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/Constants_for_Qt_compile.h

+//    Copyright (C) 2017, 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:
+//    Constants that are used across multiple files
+//
+//    ----------------------------------------------------------------------------------
+
+
+//    ----------------------------------------------------------------------------------
+//    U   U
+//    U   U
+//    U   U
+//    U   U
+//     UUU
+//    ----------------------------------------------------------------------------------
+
+
+// Conversions between degrees and radians
+#define RAD2DEG 180.0/PI
+#define DEG2RAD PI/180.0
+
+// PI
+#define PI 3.141592653589
+
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    
+//    
+//    
+//    
+//    
+//    ----------------------------------------------------------------------------------
+
+
+
+// The types, i.e., agent or coordinator
+#define TYPE_INVALID      -1
+#define TYPE_COORDINATOR   1
+#define TYPE_AGENT         2
+
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    
+//    
+//    
+//    
+//    
+//    ----------------------------------------------------------------------------------
+
+
+
+// These constants define the modes that can be used for controller this is
+// running on-board the Crazyflie 2.0.
+// Therefore, the constants defined here need to be in agreement with those
+// defined in the firmware running on-board the Crazyflie 2.0.
+// The following is a short description about each mode:
+//
+// CF_COMMAND_TYPE_MOTORS
+//     In this mode the Crazyflie will apply the requested 16-bit per motor
+//     command directly to each of the motors
+//
+// CF_COMMAND_TYPE_RATE
+//     In this mode the Crazyflie will apply the requested 16-bit per motor
+//     command directly to each of the motors, and additionally request the
+//     body frame roll, pitch, and yaw angular rates from the PID rate
+//     controllers implemented in the Crazyflie 2.0 firmware.
+//
+// CF_COMMAND_TYPE_ANGLE
+//     In this mode the Crazyflie will apply the requested 16-bit per motor
+//     command directly to each of the motors, and additionally request the
+//     body frame roll, pitch, and yaw angles from the PID attitude
+//     controllers implemented in the Crazyflie 2.0 firmware.
+#define CF_COMMAND_TYPE_MOTORS 6
+#define CF_COMMAND_TYPE_RATE   7
+#define CF_COMMAND_TYPE_ANGLE  8
+
+// Types of controllers being used:
+#define DEFAULT_CONTROLLER      1
+#define DEMO_CONTROLLER      2
+#define STUDENT_CONTROLLER   3
+#define MPC_CONTROLLER       4
+#define REMOTE_CONTROLLER    5
+#define TUNING_CONTROLLER    6
+#define PICKER_CONTROLLER    7
+#define TEMPLATE_CONTROLLER  8
+#define CSONE_CONTROLLER  9
+#define TUTORIAL_CONTROLLER  10
+
+#define TESTMOTORS_CONTROLLER  21
+
+// The constants that "command" changes in the
+// operation state of this agent
+#define CMD_USE_DEFAULT_CONTROLLER      1
+#define CMD_USE_DEMO_CONTROLLER      2
+#define CMD_USE_STUDENT_CONTROLLER   3
+#define CMD_USE_MPC_CONTROLLER       4
+#define CMD_USE_REMOTE_CONTROLLER    5
+#define CMD_USE_TUNING_CONTROLLER    6
+#define CMD_USE_PICKER_CONTROLLER    7
+#define CMD_USE_TEMPLATE_CONTROLLER  8
+#define CMD_USE_CSONE_CONTROLLER  9
+#define CMD_USE_TUTORIAL_CONTROLLER  10
+
+
+#define CMD_CRAZYFLY_TAKE_OFF        11
+#define CMD_CRAZYFLY_LAND            12
+#define CMD_CRAZYFLY_MOTORS_OFF      13
+
+#define CMD_USE_TESTMOTORS_CONTROLLER 21
+
+// Flying states
+#define STATE_MOTORS_OFF     1
+#define STATE_TAKE_OFF       2
+#define STATE_FLYING         3
+#define STATE_LAND           4
+#define STATE_UNAVAILABLE    5
+
+
+// Commands for CrazyRadio
+#define CMD_RECONNECT  0
+#define CMD_DISCONNECT 1
+
+
+// CrazyRadio states:
+#define CRAZY_RADIO_STATE_CONNECTED      0
+#define CRAZY_RADIO_STATE_CONNECTING     1
+#define CRAZY_RADIO_STATE_DISCONNECTED   2
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    BBBB     A    TTTTT  TTTTT  EEEEE  RRRR   Y   Y
+//    B   B   A A     T      T    E      R   R   Y Y
+//    BBBB   A   A    T      T    EEE    RRRR     Y
+//    B   B  AAAAA    T      T    E      R   R    Y
+//    BBBB   A   A    T      T    EEEEE  R   R    Y
+//    ----------------------------------------------------------------------------------
+
+// Battery levels
+#define BATTERY_LEVEL_000            0
+#define BATTERY_LEVEL_010            1
+#define BATTERY_LEVEL_020            2
+#define BATTERY_LEVEL_030            3
+#define BATTERY_LEVEL_040            4
+#define BATTERY_LEVEL_050            5
+#define BATTERY_LEVEL_060            6
+#define BATTERY_LEVEL_070            7
+#define BATTERY_LEVEL_080            8
+#define BATTERY_LEVEL_090            9
+#define BATTERY_LEVEL_100           10
+#define BATTERY_LEVEL_UNAVAILABLE   -1
+
+// Battery states
+#define BATTERY_STATE_NORMAL         0
+#define BATTERY_STATE_LOW            1
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    Y   Y    A    M   M  L
+//     Y Y    A A   MM MM  L
+//      Y    A   A  M M M  L
+//      Y    AAAAA  M   M  L
+//      Y    A   A  M   M  LLLLL
+//    ----------------------------------------------------------------------------------
+
+// For where to load the yaml file from
+#define LOAD_YAML_FROM_AGENT             1
+#define LOAD_YAML_FROM_COORDINATOR       2
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//
+//
+//
+//
+//
+//    ----------------------------------------------------------------------------------
+
+// These constants deine the current and interaction with an intergrator
+#define INTEGRATOR_FLAG_ON       1
+#define INTEGRATOR_FLAG_OFF      2
+#define INTEGRATOR_FLAG_UNKNOWN  3
+#define INTEGRATOR_FLAG_TOGGLE   4
+#define INTEGRATOR_FLAG_RESET    5
+
+
+
+
+
+//    ----------------------------------------------------------------------------------
+//    
+//    
+//    
+//    
+//    
+//    ----------------------------------------------------------------------------------
+
+// For standard buttons in the GUI
+#define REQUEST_DEFAULT_SETPOINT_BUTTON_ID    100

pps_ws/src/d_fall_pps/include/CentralManagerService.h → dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/PickerControllerConstants_for_Qt_compile.h

-//    Copyright (C) 2017, ETH Zurich, D-ITET, Cyrill Burgener, Marco Mueller, Philipp Friedli
+//    Copyright (C) 2019, ETH Zurich, D-ITET, Paul Beuchat
 //
 //    This file is part of D-FaLL-System.
 //    
@@ -25,16 +25,32 @@
 //
 //
 //    DESCRIPTION:
-//    Header for the service that manages the context of the student groups.
+//    Constants that are used across the Picker Controler Service and GUI
 //
 //    ----------------------------------------------------------------------------------
 
 
-//for field command in CMCommand
-#define CMD_SAVE    1
-#define CMD_RELOAD  2
 
-//for field mode in CMUpdate
-#define ENTRY_INSERT_OR_UPDATE  1
-#define ENTRY_REMOVE            2
 
+
+// TO IDENITFY THE STATE OF THE PICKER
+
+#define PICKER_STATE_UNKNOWN      -1
+#define PICKER_STATE_STANDBY       0
+#define PICKER_STATE_GOTO_START    1
+#define PICKER_STATE_ATTACH        2
+#define PICKER_STATE_LIFT_UP       3
+#define PICKER_STATE_GOTO_END      4
+#define PICKER_STATE_PUT_DOWN      5
+#define PICKER_STATE_SQUAT         6
+#define PICKER_STATE_JUMP          7
+
+
+
+// DEFAULT {x,y,z,yaw,mass}
+
+#define PICKER_DEFAULT_X               0
+#define PICKER_DEFAULT_Y               0
+#define PICKER_DEFAULT_Z               0.4
+#define PICKER_DEFAULT_YAW_DEGREES     0
+#define PICKER_DEFAULT_MASS_GRAMS     30
\ No newline at end of file

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/connectstartstopbar.h

+//    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 bar of the GUI for (dis-)connecting (from)to the Crazyradio
+//    and for sending the {take-off,land,motors-off} commands//
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+
+
+#ifndef CONNECTSTARTSTOPBAR_H
+#define CONNECTSTARTSTOPBAR_H
+
+#include <string>
+#include <QWidget>
+#include <QMutex>
+
+#include <QTextStream>
+
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+
+// Include the standard message types
+#include "std_msgs/Int32.h"
+#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/AreaBounds.h"
+#include "dfall_pkg/CrazyflieContext.h"
+#include "dfall_pkg/IntIntService.h"
+#include "dfall_pkg/CMQuery.h"
+
+// Include the shared definitions
+#include "nodes/Constants.h"
+
+// SPECIFY THE PACKAGE NAMESPACE
+//using namespace dfall_pkg;
+
+#else
+// Include the shared definitions
+#include "include/Constants_for_Qt_compile.h"
+
+#endif
+
+// BATTERY LABEL IMAGE INDEX
+#define BATTERY_LABEL_IMAGE_INDEX_UNVAILABLE  -1
+#define BATTERY_LABEL_IMAGE_INDEX_EMPTY        0
+#define BATTERY_LABEL_IMAGE_INDEX_20           1
+#define BATTERY_LABEL_IMAGE_INDEX_40           2
+#define BATTERY_LABEL_IMAGE_INDEX_60           3
+#define BATTERY_LABEL_IMAGE_INDEX_80           4
+#define BATTERY_LABEL_IMAGE_INDEX_FULL         5
+#define BATTERY_LABEL_IMAGE_INDEX_UNKNOWN      6
+
+namespace Ui {
+class ConnectStartStopBar;
+}
+
+class ConnectStartStopBar : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit ConnectStartStopBar(QWidget *parent = 0);
+    ~ConnectStartStopBar();
+
+
+public slots:
+    void setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll);
+
+
+private:
+	// --------------------------------------------------- //
+    // PRIVATE VARIABLES
+    Ui::ConnectStartStopBar *ui;
+
+    // > For the type of this node,
+    //   i.e., an agent or a coordinator
+	int m_type = 0;
+
+	// > For the ID of this node
+	int m_ID = 0;
+
+    // For coordinating multiple agents
+    std::vector<int> m_vector_of_agentIDs_toCoordinate;
+    bool m_shouldCoordinateAll = true;
+    QMutex m_agentIDs_toCoordinate_mutex;
+
+
+
+
+	// > For keeping track of the current battery state
+    int m_battery_state;
+    // > For keeping track of which image is currently displayed
+    int m_battery_status_label_image_current_index;
+
+
+
+    // MUTEX FOR HANDLING ACCESS
+    // > For the "rf_status_label" UI element
+    //QMutex m_rf_status_label_mutex;
+    // > For the "battery_voltage_lineEdit" UI element
+    //QMutex m_battery_voltage_lineEdit_mutex;
+    // > For the "battery_status_label" UI element
+    QMutex m_battery_status_label_mutex;
+
+
+
+    // --------------------------------------------------- //
+    // PRIVATE FUNCTIONS
+
+    // > For making the "enable flight" and "disable flight"
+    //   buttons (un-)available
+    void disableFlyingStateButtons();
+    void enableFlyingStateButtons();
+
+    // > For updating the RF Radio status shown in the UI element
+    //   of "rf_status_label"
+    void setCrazyRadioStatus(int radio_status);
+
+    // > For updating the battery state
+    void setBatteryState(int new_battery_state);
+    // > For updating the battery voltage shown in the UI elements 
+    //   of "battery_voltage_lineEdit" and "battery_status_label"
+    void setBatteryVoltageText(float battery_voltage);
+    void setBatteryImageBasedOnLevel(int battery_level);
+
+    // > For updating the "my_flying_state" variable, and the
+    //   UI element of "flying_state_label"
+    void setFlyingState(int new_flying_state);
+
+
+
+#ifdef CATKIN_MAKE
+    // --------------------------------------------------- //
+    // PRIVATE VARIABLES FOR ROS
+
+
+    // PUBLISHERS AND SUBSRIBERS
+    // > For Crazyradio commands based on button clicks
+    ros::Publisher crazyRadioCommandPublisher;
+    // > For updating the "rf_status_label" picture
+    ros::Subscriber crazyRadioStatusSubscriber;
+
+    // > For updating the current battery voltage
+    ros::Subscriber batteryVoltageSubscriber;
+    // > For updating the current battery state
+    //ros::Subscriber batteryStateSubscriber;
+    // > For updating the current battery level
+    ros::Subscriber batteryLevelSubscriber;
+
+    // > For Flying state commands based on button clicks
+    ros::Publisher flyingStateCommandPublisher;
+    // > For updating the "flying_state_label" picture
+    ros::Subscriber flyingStateSubscriber;
+
+
+    // --------------------------------------------------- //
+    // PRIVATE CALLBACKS IN RESPONSE TO ROS MESSAGES
+
+    // Get the type and ID of this node
+    bool getTypeAndIDParameters();
+	// Fill the head for a message
+    void fillIntMessageHeader( dfall_pkg::IntWithHeader & msg );
+
+    // > For the CrazyRadio status, received on the
+    //   "crazyRadioStatusSubscriber"
+    void crazyRadioStatusCallback(const std_msgs::Int32& msg);
+
+    // > For the Battery Voltage, received on the
+    //   "batteryVoltageSubscriber"
+    void batteryVoltageCallback(const std_msgs::Float32& msg);
+    // > For the Battery State, receieved on the
+    //   "batteryStateSubscriber"
+    void batteryStateChangedCallback(const std_msgs::Int32& msg);
+    // > For the Battery Level, receieved on the
+    //   "batteryLevelSubscriber"
+    void batteryLevelCallback(const std_msgs::Int32& msg);
+
+    // > For the Flying State, received on the
+    //   "flyingStateSubscriber"
+    void flyingStateChangedCallback(const std_msgs::Int32& msg);
+
+#endif
+
+
+
+
+
+private slots:
+
+	// PRIVATE METHODS FOR BUTTON CALLBACKS
+    // > For the RF Crazyradio connect/disconnect buttons
+	void on_rf_connect_button_clicked();
+    void on_rf_disconnect_button_clicked();
+    // > For the enable, disable, motors-off buttons
+    void on_enable_flying_button_clicked();
+    void on_disable_flying_button_clicked();
+    void on_motors_off_button_clicked();
+
+
+};
+
+#endif // CONNECTSTARTSTOPBAR_H

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllerstatusbanner.h

+//    Copyright (C) 2020, 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:
+//    A banner that indicates the status of a controller.
+//    Possible status values are: { OFF , ACTIVE , COORD }
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+
+
+#ifndef CONTROLLERSTATUSBANNER_H
+#define CONTROLLERSTATUSBANNER_H
+
+#include <QWidget>
+#include <QMutex>
+
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+#else
+#include <QTextStream>
+#endif
+
+// STATUS VALUES
+#define CONTROLLER_STATUS_BANNER_OFF     0
+#define CONTROLLER_STATUS_BANNER_ACTIVE  1
+#define CONTROLLER_STATUS_BANNER_COORD   2
+
+
+namespace Ui {
+class ControllerStatusBanner;
+}
+
+class ControllerStatusBanner : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit ControllerStatusBanner(QWidget *parent = 0);
+    ~ControllerStatusBanner();
+
+    // PUBLIC METHODS FOR SETTING PROPERTIES
+    // > Set the state of the checkbox
+    void setStatus(int new_status);
+
+private:
+    // --------------------------------------------------- //
+    // PRIVATE VARIABLES
+    Ui::ControllerStatusBanner *ui;
+
+    // > For the current status
+    int m_current_status;
+
+    // MUTEX FOR HANDLING ACCESS
+    // > For the status variable and UI elements
+    QMutex m_status_mutex;
+
+};
+
+#endif // CONTROLLERSTATUSBANNER_H

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/controllertabs.h

+//    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 tab wdiget that contains and manages the individual tabs used
+//    to interface with each separate controller.
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+
+
+#ifndef CONTROLLERTABS_H
+#define CONTROLLERTABS_H
+
+#include "controllerstatusbanner.h"
+
+#include <QWidget>
+#include <QMutex>
+#include <QVector>
+//#include <QSoundEffect>
+
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+
+// Include the standard message types
+#include "std_msgs/Int32.h"
+//#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+//#include "dfall_pkg/IntWithHeader.h"
+//#include "dfall_pkg/SetpointWithHeader.h"
+#include "dfall_pkg/FlyingVehicleState.h"
+#include "dfall_pkg/ViconData.h"
+#include "dfall_pkg/AreaBounds.h"
+#include "dfall_pkg/CrazyflieContext.h"
+#include "dfall_pkg/CMQuery.h"
+
+// Include the DFALL service types
+#include "dfall_pkg/IntIntService.h"
+
+// Include the shared definitions
+//#include "nodes/Constants.h"
+
+// SPECIFY THE PACKAGE NAMESPACE
+//using namespace dfall_pkg;
+
+#else
+// Include the shared definitions
+//#include "include/Constants_for_Qt_compile.h"
+
+#endif
+
+namespace Ui {
+class ControllerTabs;
+}
+
+class ControllerTabs : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit ControllerTabs(QWidget *parent = 0);
+    ~ControllerTabs();
+
+    // PUBLIC METHODS FOR TOGGLING THE VISISBLE CONTROLLERS
+    void showHideController_toggle(QString qstr_label, QWidget * tab_widget_to_toggle);
+    void showHideController_default_changed();
+    void showHideController_student_changed();
+    void showHideController_picker_changed();
+    void showHideController_tuning_changed();
+    void showHideController_remote_changed();
+    void showHideController_template_changed();
+    void showHideController_csone_changed();
+    void showHideController_tutorial_changed();
+
+
+public slots:
+    void setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll);
+    void setObjectNameForDisplayingPoseData( QString object_name );
+
+
+signals:
+    void agentIDsToCoordinateChanged(QVector<int> agentIDs , bool shouldCoordinateAll);
+    void measuredPoseValueChanged(float x , float y , float z , float roll , float pitch , float yaw , bool isValid);
+    void poseDataUnavailableSignal();
+
+
+private:
+    Ui::ControllerTabs *ui;
+
+    // --------------------------------------------------- //
+    // PRIVATE VARIABLES
+
+    // The type of this node, i.e., agent or a coordinator,
+    // specified as a parameter in the "*.launch" file
+    int m_type = 0;
+
+    // The ID  of this node
+    int m_ID;
+
+    // For coordinating multiple agents
+    std::vector<int> m_vector_of_agentIDs_toCoordinate;
+    bool m_shouldCoordinateAll = true;
+    QMutex m_agentIDs_toCoordinate_mutex;
+
+    // The object name for which motion capture pose data
+    // will be "emitted" using the "measuredPoseValueChanged"
+    // signal
+    std::string m_object_name_for_emitting_pose_data;
+
+    // Flag for whether pose data should be emitted, this is
+    // to save looking through the data when it is unnecessary
+    bool m_should_search_pose_data_for_object_name = false;
+    QMutex m_should_search_pose_data_for_object_name_mutex;
+
+    // Mutex for the highlighting of the active controller
+    QMutex m_change_highlighted_controller_mutex;
+
+    // Sound effect for when the controller changes while flying
+    //QSoundEffect m_soundEffect_controllerChanged;
+
+    // FLAG FOR WHAT DATA TO EMIT
+    // > For "poseDataMocap"
+    bool m_shouldEmitPoseDataMocap = true;
+    // > For "poseDataOnboard"
+    bool m_shouldEmitPoseDataOnboard = false;
+
+
+#ifdef CATKIN_MAKE
+    // --------------------------------------------------- //
+    // PRIVATE VARIABLES FOR ROS
+
+    // > For the "context" of this agent
+    dfall_pkg::CrazyflieContext m_context;
+    dfall_pkg::AreaBounds m_area;
+
+    // SUBSRIBER
+    // > For the pose data from a motion capture system
+    ros::Subscriber m_poseDataMocapSubscriber;
+    // > For the pose data from a onboard state estimate
+    ros::Subscriber m_poseDataOnboardSubscriber;
+    // > For the controller that is currently operating
+    ros::Subscriber controllerUsedSubscriber;
+
+    // > For changes in the database that defines {agentID,cfID,flying zone} links
+    //ros::Subscriber databaseChangedSubscriber;
+    ros::ServiceClient centralManagerDatabaseService;
+#endif
+
+
+#ifdef CATKIN_MAKE
+    // --------------------------------------------------- //
+    // PRIVATE CALLBACKS IN RESPONSE TO ROS MESSAGES
+
+    // > For the data from the motion capture system, received on
+    //   "m_poseDataMocapSubscriber"
+    void poseDataMocapReceivedCallback(const dfall_pkg::ViconData& viconData);
+
+    // > For the data from onboard the flying agent, received on
+    //   "m_poseDataOnboardSubscriber"
+    void poseDataOnboardReceivedCallback(const dfall_pkg::FlyingVehicleState& vehicleState);
+
+    // > For the controller currently operating, received on
+    //   "controllerUsedSubscriber"
+    void controllerUsedChangedCallback(const std_msgs::Int32& msg);
+
+    // Get the paramters that specify the type and ID
+    bool getTypeAndIDParameters();
+#endif
+
+
+    void setControllerEnabled(int new_controller);
+
+    void setTextColourOfTabLabel(QColor color , QWidget * tab_widget);
+
+    void setAllTabLabelsToNormalColouring();
+
+    void setAllBannersToControllerIsOff();
+
+    void setAllBannersToControllerCoordinator();
+
+
+
+};
+
+#endif // CONTROLLERTABS_H

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/coordinator.h

+//    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 coordinator part of the Flying Agent GUI that allows multiple
+//    flying agents to be controller from one place, and keeps track
+//    of which subset of flying agents to control.
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+
+
+#ifndef COORDINATOR_H
+#define COORDINATOR_H
+
+#include "coordinatorrow.h"
+
+#include <QWidget>
+#include <QVector>
+#include <regex>
+
+#include <QTextStream>
+
+namespace Ui {
+class Coordinator;
+}
+
+class Coordinator : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit Coordinator(QWidget *parent = 0);
+    ~Coordinator();
+
+
+public slots:
+    void setShouldCoordinateThisAgent(int agentID , bool shouldCoordinate);
+
+
+signals:
+    void agentIDsToCoordinateChanged(QVector<int> agentIDs , bool shouldCoordinateAll);
+
+
+private:
+    QVector<CoordinatorRow*> vector_of_coordinatorRows;
+
+    QVector<bool> vector_of_shouldCoordinate_perRow;
+
+    QVector<int> vector_of_agentID_perRow;
+
+    int level_of_detail_to_display = 1;
+
+    void remove_all_entries_from_vector_of_coordinatorRows();
+
+    void apply_level_of_detail_to_all_entries(int level);
+
+private slots:
+    void on_refresh_button_clicked();
+
+    void on_toggle_details_button_clicked();
+
+    void on_delete_button_clicked();
+
+    void on_coordinate_all_checkBox_clicked();
+
+    void emit_signal_with_agentIDs_toCoordinate();
+
+private:
+    Ui::Coordinator *ui;
+};
+
+#endif // COORDINATOR_H

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/coordinatorrow.h

+//    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:
+//    An individual row in the coordinator part of the Flying Agent
+//    GUI. This is essentially a condensed version of the
+//    "Connect Start Stop Bar"
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+
+
+#ifndef COORDINATORROW_H
+#define COORDINATORROW_H
+
+#include <string>
+#include <QWidget>
+#include <QMutex>
+
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+
+// Include the standard message types
+#include "std_msgs/Int32.h"
+#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/AreaBounds.h"
+#include "dfall_pkg/CrazyflieContext.h"
+#include "dfall_pkg/CMQuery.h"
+#include "dfall_pkg/IntIntService.h"
+
+// Include the shared definitions
+#include "nodes/Constants.h"
+
+// SPECIFY THE PACKAGE NAMESPACE
+//using namespace dfall_pkg;
+
+#else
+// Include the shared definitions
+#include "include/Constants_for_Qt_compile.h"
+
+#endif
+
+// BATTERY LABEL IMAGE INDEX
+#define BATTERY_LABEL_IMAGE_INDEX_UNVAILABLE  -1
+#define BATTERY_LABEL_IMAGE_INDEX_EMPTY        0
+#define BATTERY_LABEL_IMAGE_INDEX_20           1
+#define BATTERY_LABEL_IMAGE_INDEX_40           2
+#define BATTERY_LABEL_IMAGE_INDEX_60           3
+#define BATTERY_LABEL_IMAGE_INDEX_80           4
+#define BATTERY_LABEL_IMAGE_INDEX_FULL         5
+#define BATTERY_LABEL_IMAGE_INDEX_UNKNOWN      6
+
+
+namespace Ui {
+class CoordinatorRow;
+}
+
+class CoordinatorRow : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit CoordinatorRow(QWidget *parent = 0, int agentID = 0);
+    ~CoordinatorRow();
+
+    // PUBLIC METHODS FOR SETTING PROPERTIES
+    // > Set the state of the checkbox
+    void setShouldCoordinate(bool shouldCoordinate);
+    // > Set the level of detail to display
+    void setLevelOfDetailToDisplay(int level);
+
+
+signals:
+    void shouldCoordinateThisAgentValueChanged(int agentID , bool shouldCoordinate);
+
+
+private:
+    // --------------------------------------------------- //
+    // PRIVATE VARIABLES
+    Ui::CoordinatorRow *ui;
+
+    // > For the ID of which agent this "coordinator row" relates to
+    int m_agentID;
+    // > For using the agent ID in constructing namespaces
+    QString m_agentID_as_string;
+    // > For the name of the allocated Crazyflie
+    QString m_crazyflie_name_as_string;
+
+
+    // > For keeping track of the current battery state
+    int m_battery_state;
+    // > For keeping track of which image is currently displayed
+    int m_battery_status_label_image_current_index;
+
+
+    // MUTEX FOR HANDLING ACCESS
+    // > For the "rf_status_label" UI element
+    //QMutex m_rf_status_label_mutex;
+    // > For the "battery_voltage_lineEdit" UI element
+    //QMutex m_battery_voltage_lineEdit_mutex;
+    // > For the "battery_status_label" UI element
+    QMutex m_battery_status_label_mutex;
+
+
+
+    // --------------------------------------------------- //
+    // PRIVATE FUNCTIONS
+
+    // > For making the "enable flight" and "disable flight" buttons
+    //   (un-)available
+    void disableFlyingStateButtons();
+    void enableFlyingStateButtons();
+
+    // > For updating the RF Radio status shown in the UI element
+    //   of "rf_status_label"
+    void setCrazyRadioStatus(int radio_status);
+
+    // > For updating the battery state
+    void setBatteryState(int new_battery_state);
+    // > For updating the battery voltage shown in the UI elements
+    //   of "battery_voltage_lineEdit" and "battery_status_label"
+    void setBatteryVoltageText(float battery_voltage);
+    void setBatteryImageBasedOnLevel(int battery_level);
+
+    // > For updating the "my_flying_state" variable, and the
+    //   UI element of "flying_state_label"
+    void setFlyingState(int new_flying_state);
+
+    // > For loading the "context" for this agent,
+    //   i.e., the {agentID,cfID,flying zone} tuple
+    void loadCrazyflieContext();
+
+    // > For requesting the current flying state
+    //   i.e., using the service advertised by the Flying Agent Client
+    void getCurrentFlyingState();
+
+    // > For requesting the current state of the Crazy Radio
+    //   i.e., using the service advertised by the Flying Agent Client
+    void getCurrentCrazyRadioState();
+
+    // > For updating the text in the UI element of
+    //   "controller_enabled_label"
+    void setControllerEnabled(int new_controller);
+
+
+
+#ifdef CATKIN_MAKE
+    // --------------------------------------------------- //
+    // PRIVATE VARIABLES FOR ROS
+
+    // > For the "context" of this agent
+    dfall_pkg::CrazyflieContext my_context;
+
+    // PUBLISHERS AND SUBSRIBERS
+    // > For Crazyradio commands based on button clicks
+    ros::Publisher crazyRadioCommandPublisher;
+    // > For updating the "rf_status_label" picture
+    ros::Subscriber crazyRadioStatusSubscriber;
+
+    // > For updating the current battery voltage
+    ros::Subscriber batteryVoltageSubscriber;
+    // > For updating the current battery state
+    //ros::Subscriber batteryStateSubscriber;
+    // > For updating the current battery level
+    ros::Subscriber batteryLevelSubscriber;
+
+    // > For Flying state commands based on button clicks
+    ros::Publisher flyingStateCommandPublisher;
+    // > For updating the "flying_state_label" picture
+    ros::Subscriber flyingStateSubscriber;
+
+    // > For changes in the database that defines {agentID,cfID,flying zone} links
+    ros::Subscriber databaseChangedSubscriber;
+    ros::ServiceClient centralManagerDatabaseService;
+    // > For updating the controller that is currently operating
+    ros::Subscriber controllerUsedSubscriber;
+
+    // > For requesting the current flying state,
+    //   this is used only for initialising the icon
+    ros::ServiceClient getCurrentFlyingStateService;
+
+    // > For requesting the current state of the Crazy Radio,
+    //   this is used only for initialising the icon
+    ros::ServiceClient getCurrentCrazyRadioStateService;
+
+
+    // --------------------------------------------------- //
+    // PRIVATE CALLBACKS IN RESPONSE TO ROS MESSAGES
+
+    // > For the CrazyRadio status, received on the
+    //   "crazyRadioStatusSubscriber"
+    void crazyRadioStatusCallback(const std_msgs::Int32& msg);
+
+    // > For the Battery Voltage, received on the
+    //   "batteryVoltageSubscriber"
+    void batteryVoltageCallback(const std_msgs::Float32& msg);
+    // > For the Battery State, receieved on the
+    //   "batteryStateSubscriber"
+    void batteryStateChangedCallback(const std_msgs::Int32& msg);
+    // > For the Battery Level, receieved on the
+    //   "batteryLevelSubscriber"
+    void batteryLevelCallback(const std_msgs::Int32& msg);
+
+    // > For the Flying State, received on the
+    //   "flyingStateSubscriber"
+    void flyingStateChangedCallback(const std_msgs::Int32& msg);
+
+    // > For the notification that the database was changes,
+    //   received on the "DatabaseChangedSubscriber"
+    void databaseChangedCallback(const std_msgs::Int32& msg);
+
+    // > For the controller currently operating, received on
+    //   "controllerUsedSubscriber"
+    void controllerUsedChangedCallback(const std_msgs::Int32& msg);
+
+
+#endif
+
+
+
+private slots:
+
+    // PRIVATE METHODS FOR BUTTON CALLBACKS
+    // > For the RF Crazyradio connect/disconnect buttons
+    void on_rf_connect_button_clicked();
+    void on_rf_disconnect_button_clicked();
+    // > For the enable, disable, motors-off buttons
+    void on_enable_flying_button_clicked();
+    void on_disable_flying_button_clicked();
+    void on_motors_off_button_clicked();
+
+    // > For the "should coordinate" checkbox
+    void on_shouldCoordinate_checkBox_clicked();
+
+};
+
+#endif // COORDINATORROW_H

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/csonecontrollertab.h

+//    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 Csone Controller for students build from
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+// NOTE: Instructions for how to add a Chart are taken from this stack overflow answer:
+// https://stackoverflow.com/questions/48362864/how-to-insert-qchartview-in-form-with-qt-designer
+//
+// Option 1: Promoted
+// 1) first add QT += charts in the .pro
+// 2) place the QGraphicsView to the design.
+// 3) Right click on the QGraphicsView and select Promote to...
+// 4) When doing the above, a menu appears, in the menu it should be set in QChartView in Promoted
+//    Class Name, and QtCharts in Header file, then press the add button and finally press promote.
+//
+// Option 2: QtChart plugin
+// This option was NOT used, see answer on stack overflow for further details
+
+
+
+
+#ifndef CSONECONTROLLERTAB_H
+#define CSONECONTROLLERTAB_H
+
+#include <QWidget>
+#include <QMutex>
+#include <QVector>
+#include <QLineEdit>
+#include <QTextStream>
+
+// For the chart:
+#include <QChart>
+#include <QLineSeries>
+#include <QList>
+#include <QPointF>
+using namespace QtCharts;
+
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+
+// Include the standard message types
+//#include "std_msgs/Int32.h"
+//#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/SetpointWithHeader.h"
+#include "dfall_pkg/CustomButtonWithHeader.h"
+
+// Include the DFALL service types
+#include "dfall_pkg/IntIntService.h"
+#include "dfall_pkg/GetSetpointService.h"
+
+// Include the shared definitions
+#include "nodes/Constants.h"
+
+// SPECIFY THE PACKAGE NAMESPACE
+//using namespace dfall_pkg;
+
+#else
+// Include the shared definitions
+#include "include/Constants_for_Qt_compile.h"
+
+#endif
+
+
+
+
+
+namespace Ui {
+class CsoneControllerTab;
+}
+
+class CsoneControllerTab : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit CsoneControllerTab(QWidget *parent = 0);
+    ~CsoneControllerTab();
+
+
+
+public slots:
+    void setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll);
+    void setMeasuredPose(float x , float y , float z , float roll , float pitch , float yaw , bool isValid);
+    void poseDataUnavailableSlot();
+
+
+
+private slots:
+
+    float validate_and_get_value_from_lineEdit(QLineEdit * lineEdit, float min, float max, int decimals, float default_value);
+
+    void newDataForPerformingStepAndPlotting(float x, float pitch);
+    void analyseStepResponse();
+    void updateStepAnalysisLineEdit(float value, QLineEdit * lineEdit, int num_dec_places);
+
+
+    void on_perform_step_button_clicked();
+    void on_log_data_button_clicked();
+
+    void on_simulate_step_response_button_clicked();
+    void on_clear_simulation_button_clicked();
+
+    void on_set_lead_compensator_parameters_button_clicked();
+
+    void on_set_lag_compensator_parameters_button_clicked();
+
+    void on_set_time_delay_button_clicked();
+
+    void on_set_pitch_error_button_clicked();
+
+    void on_toggle_integrator_button_clicked();
+    void on_reset_integrator_button_clicked();
+
+    void on_lineEdit_k_returnPressed();
+    void on_lineEdit_T_returnPressed();
+    void on_lineEdit_alpha_returnPressed();
+    void on_lineEdit_T_lag_returnPressed();
+    void on_lineEdit_alpha_lag_returnPressed();
+    void on_lineEdit_kp_returnPressed();
+    void on_lineEdit_kd_returnPressed();
+    void on_lineEdit_time_delay_returnPressed();
+    void on_lineEdit_pitch_error_returnPressed();
+    void on_lineEdit_step_size_returnPressed();
+    void on_lineEdit_step_duration_returnPressed();
+
+    void on_lineEdit_k_editingFinished();
+    void on_lineEdit_T_editingFinished();
+    void on_lineEdit_alpha_editingFinished();
+    void on_lineEdit_T_lag_editingFinished();
+    void on_lineEdit_alpha_lag_editingFinished();
+
+    void on_lineEdit_step_size_editingFinished();
+    void on_lineEdit_step_duration_editingFinished();
+
+
+
+    void simulate_step_response();
+
+
+private:
+    Ui::CsoneControllerTab *ui;
+
+    // --------------------------------------------------- //
+    // PRIVATE VARIABLES
+
+    // The type of this node, i.e., agent or a coordinator,
+    // specified as a parameter in the "*.launch" file
+    int m_type = 0;
+
+    // The ID  of this node
+    int m_ID;
+
+    // For coordinating multiple agents
+    std::vector<int> m_vector_of_agentIDs_toCoordinate;
+    bool m_shouldCoordinateAll = true;
+    QMutex m_agentIDs_toCoordinate_mutex;
+
+    // For the current setpoints
+    float m_current_setpoint_x    = 0.0;
+    float m_current_setpoint_y    = 0.0;
+    float m_current_setpoint_z    = 0.4;
+    float m_current_setpoint_yaw  = 0.0;
+
+    // > Mutex for serialising acess to the controller variables
+    QMutex m_controller_parameter_mutex;
+
+    // > Mutex for serialising acess to the lag controller variables
+    QMutex m_lag_controller_parameter_mutex;
+
+    // FOR PLOTTING DATA ON THE CHART
+    // > Mutex for serialising acess to any charting variable
+    QMutex m_chart_mutex;
+    // > Flag for whether to perform a step
+    bool m_shouldPerformStep = false;
+    // > Flag for whether to store data for plotting
+    bool m_shouldStoreData_for_plotting = false;
+    // > Flag for reseting the zoom level
+    bool m_shouldResetZoom = false;
+    // > Time (as a float) for the horizontal axis
+    float m_time_for_step = 0.0f;
+    // > The duration for which to record the step
+    float m_step_response_data_recording_duration = 20.0f;
+    // > Line Series for the x position data
+    QLineSeries *m_lineSeries_for_setpoint_x;
+    QLineSeries *m_lineSeries_for_measured_x;
+    // > Line Series for the pitch angle data
+    //QLineSeries *m_lineSeries_for_setpoint_pitch;
+    QLineSeries *m_lineSeries_for_measured_pitch;
+
+
+    // FOR SIMULATING THE CONTROLLER
+    // > Mutex for serialising acess to any simulation variables
+    QMutex m_simulation_mutex;
+
+    // Flag for whether a simulation is under way
+    bool m_simulationIsInProgress = false;
+
+    // The state space matrices of lead compensator controller
+    float m_lead_compensator_A=0.987578;
+    float m_lead_compensator_B=0.00496888;
+    float m_lead_compensator_C=-0.36;
+    float m_lead_compensator_D=0.16;
+
+    // The state of lead compensator controller
+    float m_lead_compensator_state = 0.0;
+
+    // The state space matrices of lag compensator controller
+    float m_lag_compensator_A=0.0;
+    float m_lag_compensator_B=0.0;
+    float m_lag_compensator_C=0.0;
+    float m_lag_compensator_D=1.0;
+
+    // The state of lead compensator controller
+    float m_lag_compensator_state = 0.0;
+
+    // Line Series for plotting the simulation results
+    QLineSeries *m_lineSeries_for_sim_setpoint_x;
+    QLineSeries *m_lineSeries_for_sim_measured_x;
+    QLineSeries *m_lineSeries_for_sim_measured_pitch;
+
+
+
+#ifdef CATKIN_MAKE
+    // PUBLISHER
+    // > For requesting the setpoint to be changed
+    ros::Publisher requestSetpointChangePublisher;
+
+    // > For requesting the controller parameters to be changed
+    ros::Publisher requestControllerParameterChangePublisher;
+
+    // > For requesting the lag controller parameters to be changed
+    ros::Publisher requestLagControllerParameterChangePublisher;
+
+    // > For requesting a change in the integrator state
+    ros::Publisher requestIntegratorStateChangePublisher;
+
+    // > For requesting the time delay to be changed
+    ros::Publisher requestTimeDelayChangePublisher;
+
+    // > For requesting the pitch error to be changed
+    ros::Publisher requestPitchErrorChangePublisher;
+
+    // SUBSCRIBER
+    // > For being notified when the setpoint is changed
+    ros::Subscriber setpointChangedSubscriber;
+
+    // > For being notified when the integrator state
+    ros::Subscriber integratorStateChangedSubscriber;
+
+    // PUBLISHER
+    // > For notifying that a custom button is pressed
+    ros::Publisher customButtonPublisher;
+#endif
+
+
+
+    // --------------------------------------------------- //
+    // PRIVATE FUNCTIONS
+
+#ifdef CATKIN_MAKE
+    // For receiving message that the setpoint was changed
+    void setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint);
+
+    // For receiving message that the integrator state changes
+    void integratorStateChangedCallback(const dfall_pkg::IntWithHeader& newIntegratorState);
+
+    // Fill the header for a message
+    void fillIntMessageHeader( dfall_pkg::IntWithHeader & msg );
+    void fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg );
+    void fillCustomButtonMessageHeader( dfall_pkg::CustomButtonWithHeader & msg );
+
+    // Get the paramters that specify the type and ID
+    bool getTypeAndIDParameters();
+#endif
+
+    void publishSetpoint(float x, float y, float z, float yaw_degrees);
+
+    void publishControllerParameters(float k, float T, float alpha);
+
+    void publishLagControllerParameters(float T, float alpha);
+
+    void publishRequestForIntegratorStateChange(int flag_to_publish);
+
+    void publishRequestForTimeDelayChange(int time_delay_to_publish);
+
+    void publishRequestForPitchErrorChange(float pitch_error_to_publish);
+
+    void convertIntoDiscreteTimeParameters(float k, float T, float alpha);
+
+    void convertLagIntoDiscreteTimeParameters(float T, float alpha);
+
+};
+
+#endif // CSONECONTROLLERTAB_H

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/defaultcontrollertab.h

+//    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 Default Controller
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+
+
+#ifndef DEFAULTCONTROLLERTAB_H
+#define DEFAULTCONTROLLERTAB_H
+
+#include <QWidget>
+#include <QMutex>
+#include <QVector>
+#include <QTextStream>
+
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+
+// Include the standard message types
+//#include "std_msgs/Int32.h"
+//#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+//#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/SetpointWithHeader.h"
+
+// Include the DFALL service types
+#include "dfall_pkg/GetSetpointService.h"
+
+// Include the shared definitions
+#include "nodes/Constants.h"
+#include "nodes/DefaultControllerConstants.h"
+
+// SPECIFY THE PACKAGE NAMESPACE
+//using namespace dfall_pkg;
+
+#else
+// Include the shared definitions
+#include "include/Constants_for_Qt_compile.h"
+
+#endif
+
+
+
+namespace Ui {
+class DefaultControllerTab;
+}
+
+class DefaultControllerTab : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit DefaultControllerTab(QWidget *parent = 0);
+    ~DefaultControllerTab();
+
+
+
+public slots:
+    void setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll);
+    void setMeasuredPose(float x , float y , float z , float roll , float pitch , float yaw , bool isValid);
+    void poseDataUnavailableSlot();
+
+
+
+private slots:
+    void on_lineEdit_setpoint_new_x_returnPressed();
+    void on_lineEdit_setpoint_new_y_returnPressed();
+    void on_lineEdit_setpoint_new_z_returnPressed();
+    void on_lineEdit_setpoint_new_yaw_returnPressed();
+
+    void on_set_setpoint_button_clicked();
+
+    void on_default_setpoint_button_clicked();
+
+    void on_x_increment_plus_button_clicked();
+    void on_x_increment_minus_button_clicked();
+    void on_y_increment_plus_button_clicked();
+    void on_y_increment_minus_button_clicked();
+    void on_z_increment_plus_button_clicked();
+    void on_z_increment_minus_button_clicked();
+    void on_yaw_increment_plus_button_clicked();
+    void on_yaw_increment_minus_button_clicked();
+
+
+
+private:
+    Ui::DefaultControllerTab *ui;
+
+    // --------------------------------------------------- //
+    // PRIVATE VARIABLES
+
+    // The type of this node, i.e., agent or a coordinator,
+    // specified as a parameter in the "*.launch" file
+    int m_type = 0;
+
+    // The ID  of this node
+    int m_ID;
+
+    // For coordinating multiple agents
+    std::vector<int> m_vector_of_agentIDs_toCoordinate;
+    bool m_shouldCoordinateAll = true;
+    QMutex m_agentIDs_toCoordinate_mutex;
+
+    // Mutex for the current state label
+    QMutex m_label_current_state_mutex;
+
+
+
+#ifdef CATKIN_MAKE
+    // PUBLISHER
+    // > For requesting the setpoint to be changed
+    ros::Publisher requestSetpointChangePublisher;
+
+    // SUBSCRIBER
+    // > For being notified when the setpoint is changed
+    ros::Subscriber setpointChangedSubscriber;
+#endif
+
+
+
+    // --------------------------------------------------- //
+    // PRIVATE FUNCTIONS
+
+
+#ifdef CATKIN_MAKE
+    // For receiving message that the setpoint was changed
+    void setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint);
+
+    // Fill the header for a message
+    void fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg );
+
+    // Get the paramters that specify the type and ID
+    bool getTypeAndIDParameters();
+#endif
+
+    void publishSetpoint(float x, float y, float z, float yaw);
+
+};
+
+#endif // DEFAULTCONTROLLERTAB_H

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/enablecontrollerloadyamlbar.h

+//    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 bar for selecting which controller is active, and
+//    for request that paramters are loaded from the respective
+//    YAML files.
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+
+
+#ifndef ENABLECONTROLLERLOADYAMLBAR_H
+#define ENABLECONTROLLERLOADYAMLBAR_H
+
+#include <QWidget>
+#include <QMutex>
+
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+
+// Include the standard message types
+#include "std_msgs/Int32.h"
+#include "std_msgs/Float32.h"
+#include <std_msgs/String.h>
+
+// Include the DFALL message types
+#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/StringWithHeader.h"
+
+// Include the DFALL service types
+// #include "dfall_pkg/AreaBounds.h"
+// #include "dfall_pkg/CrazyflieContext.h"
+// #include "dfall_pkg/CMQuery.h"
+
+// Include the shared definitions
+#include "nodes/Constants.h"
+
+// using namespace dfall_pkg;
+
+#else
+// Include the shared definitions
+#include "include/Constants_for_Qt_compile.h"
+
+#endif
+
+
+
+
+
+namespace Ui {
+class EnableControllerLoadYamlBar;
+}
+
+class EnableControllerLoadYamlBar : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit EnableControllerLoadYamlBar(QWidget *parent = 0);
+    ~EnableControllerLoadYamlBar();
+
+    // PUBLIC METHODS FOR TOGGLING THE VISISBLE CONTROLLERS
+    void showHideController_default_changed();
+    void showHideController_student_changed();
+    void showHideController_picker_changed();
+    void showHideController_tuning_changed();
+    void showHideController_remote_changed();
+    void showHideController_template_changed();
+    void showHideController_csone_changed();
+    void showHideController_tutorial_changed();
+
+    // PUBLIC METHOD FOR TOGGLING THE VISIBILITY OF THE YAML BAR
+    bool showHide_loadYamlBar_triggered();
+
+    // PUBLIC METHODS FOR ENABLING THE TEST MOTORS CONTROLLER
+    void testMotors_triggered();
+
+
+
+public slots:
+    void setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll);
+
+
+private slots:
+
+    // ENABLE CONTROLLER BUTTONS ON-CLICK CALLBACK
+    void on_enable_default_button_clicked();
+    void on_enable_student_button_clicked();
+    void on_enable_picker_button_clicked();
+    void on_enable_tuning_button_clicked();
+    void on_enable_remote_button_clicked();
+    void on_enable_template_button_clicked();
+    void on_enable_csone_button_clicked();
+    void on_enable_tutorial_button_clicked();
+
+    // LOAD YAML BUTTONS ON-CLICK CALLBACK
+    void on_load_yaml_default_button_clicked();
+    void on_load_yaml_student_button_clicked();
+    void on_load_yaml_picker_button_clicked();
+    void on_load_yaml_tuning_button_clicked();
+    void on_load_yaml_remote_button_clicked();
+    void on_load_yaml_template_button_clicked();
+    void on_load_yaml_csone_button_clicked();
+    void on_load_yaml_tutorial_button_clicked();
+
+
+private:
+    Ui::EnableControllerLoadYamlBar *ui;
+
+
+    // --------------------------------------------------- //
+    // PRIVATE VARIABLES
+
+    // The type of this node, i.e., agent or a coordinator,
+    // specified as a parameter in the "*.launch" file
+    int m_type = 0;
+
+    // The ID  of this node
+    int m_ID;
+
+    // For coordinating multiple agents
+    std::vector<int> m_vector_of_agentIDs_toCoordinate;
+    bool m_shouldCoordinateAll = true;
+    QMutex m_agentIDs_toCoordinate_mutex;
+
+
+#ifdef CATKIN_MAKE
+    // PUBLISHERS AND SUBSRIBERS
+    // > For {take-off,land,motors-off} and controller selection
+    ros::Publisher commandPublisher;
+    // > For requesting the loading of yaml files
+    ros::Publisher m_requestLoadYamlFilenamePublisher;
+
+#endif
+
+    // --------------------------------------------------- //
+    // PRIVATE FUNCTIONS
+
+#ifdef CATKIN_MAKE
+    // Fill the header for a message
+    void fillIntMessageHeader( dfall_pkg::IntWithHeader & msg );
+    void fillStringMessageHeader( dfall_pkg::StringWithHeader & msg );
+
+    // Get the paramters that specify the type and ID
+    bool getTypeAndIDParameters();
+#endif
+
+
+};
+
+#endif // ENABLECONTROLLERLOADYAMLBAR_H

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/mainwindow.h

+//    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 Flying Agent GUI main window.
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+
+
+#ifndef MAINWINDOW_FLYINGAGENTGUI_H
+#define MAINWINDOW_FLYINGAGENTGUI_H
+
+#include <QMainWindow>
+#include <QShortcut>
+#include <QMutex>
+
+#include <QTextStream>
+
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+#include "rosNodeThread_for_flyingAgentGUI.h"
+
+// Include the standard message types
+#include "std_msgs/Int32.h"
+//#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+#include "dfall_pkg/StringWithHeader.h"
+
+#include "nodes/Constants.h"
+
+// Namespacing the package
+using namespace dfall_pkg;
+//using namespace std;
+
+#else
+// Include the shared definitions
+#include "include/Constants_for_Qt_compile.h"
+
+#endif
+
+
+namespace Ui {
+class MainWindow;
+}
+
+class MainWindow : public QMainWindow
+{
+    Q_OBJECT
+
+public:
+    explicit MainWindow(int argc, char **argv, QWidget *parent = 0);
+    ~MainWindow();
+
+
+
+private:
+    Ui::MainWindow *ui;
+
+    QShortcut* m_close_GUI_shortcut;
+
+    // > For the type of this node,
+    //   i.e., an agent or a coordinator
+    int m_type = 0;
+
+    // > For the ID of this node
+    int m_ID = 0;
+
+    // For coordinating multiple agents
+    std::vector<int> m_vector_of_agentIDs_toCoordinate;
+    bool m_shouldCoordinateAll = true;
+    QMutex m_agentIDs_toCoordinate_mutex;
+    
+
+#ifdef CATKIN_MAKE
+    rosNodeThread* m_rosNodeThread;
+
+	// The namespace into which this parameter service loads yaml parameters
+	std::string m_parameter_service_namespace;
+
+	ros::Publisher m_requestLoadYamlFilenamePublisher;
+#endif
+
+
+    // --------------------------------------------------- //
+    // PRIVATE FUNCTIONS
+#ifdef CATKIN_MAKE
+    bool getTypeAndIDParameters();
+#endif
+
+
+
+
+private slots:
+    // PRIVATE METHODS FOR MENU ITEM CALLBACKS
+    void on_action_showHide_Coordinator_triggered();
+    void on_action_showHide_loadYamlBar_triggered();
+    void on_action_LoadYAML_BatteryMonitor_triggered();
+    void on_action_LoadYAML_FlyingAgentClientConfig_triggered();
+
+    // FOR THE CONTROLLERS MENU
+    void on_action_showHideController_default_changed();
+    void on_action_showHideController_student_changed();
+    void on_action_showHideController_picker_changed();
+    void on_action_showHideController_tuning_changed();
+    void on_action_showHideController_remote_changed();
+    void on_action_showHideController_template_changed();
+    void on_action_showHideController_csone_changed();
+    void on_action_showHideController_tutorial_changed();
+
+    void on_action_testMotors_triggered();
+
+};
+
+#endif // MAINWINDOW_H

dfall_ws/src/dfall_pkg/GUI_Qt/flyingAgentGUI/include/pickercontrollertab.h

+//    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 Picker Controller
+//
+//    ----------------------------------------------------------------------------------
+
+
+
+
+
+#ifndef PICKERCONTROLLERTAB_H
+#define PICKERCONTROLLERTAB_H
+
+#include <QWidget>
+#include <QMutex>
+#include <QTimer>
+#include <QVector>
+#include <QTextStream>
+
+#define DECIMAL_PLACES_POSITION         2
+#define DECIMAL_PLACES_ANGLE_DEGREES    1
+#define DECIMAL_PLACES_MASS_GRAMS       1
+
+#define DEFAULT_INCREMENT_POSITION_XY      0.01
+#define DEFAULT_INCREMENT_POSITION_Z       0.01
+#define DEFAULT_INCREMENT_ANGLE_DEGREES    5
+#define DEFAULT_INCREMENT_MASS_GRAMS       0.5
+
+// #define PICKER_STATE_UNKNOWN      -1
+// #define PICKER_STATE_STANDBY       0
+// #define PICKER_STATE_GOTO_START    1
+// #define PICKER_STATE_ATTACH        2
+// #define PICKER_STATE_LIFT_UP       3
+// #define PICKER_STATE_GOTO_END      4
+// #define PICKER_STATE_PUT_DOWN      5
+// #define PICKER_STATE_SQUAT         6
+// #define PICKER_STATE_JUMP          7
+
+// #define PICKER_DEFAULT_X               0
+// #define PICKER_DEFAULT_Y               0
+// #define PICKER_DEFAULT_Z               0.4
+// #define PICKER_DEFAULT_YAW_DEGREES     0
+// #define PICKER_DEFAULT_MASS_GRAMS     30
+
+#ifdef CATKIN_MAKE
+#include <ros/ros.h>
+#include <ros/network.h>
+#include <ros/package.h>
+
+// Include the standard message types
+//#include "std_msgs/Int32.h"
+//#include "std_msgs/Float32.h"
+//#include <std_msgs/String.h>
+
+// Include the DFALL message types
+//#include "dfall_pkg/IntWithHeader.h"
+#include "dfall_pkg/SetpointWithHeader.h"
+//#include "dfall_pkg/CustomButtonWithHeader.h"
+
+// Include the DFALL service types
+#include "dfall_pkg/GetSetpointService.h"
+
+// Include the shared definitions
+#include "nodes/Constants.h"
+#include "nodes/PickerControllerConstants.h"
+
+// SPECIFY THE PACKAGE NAMESPACE
+//using namespace dfall_pkg;
+
+#else
+// Include the shared definitions
+#include "include/Constants_for_Qt_compile.h"
+#include "include/PickerControllerConstants_for_Qt_compile.h"
+
+#endif
+
+
+
+namespace Ui {
+class PickerControllerTab;
+}
+
+class PickerControllerTab : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit PickerControllerTab(QWidget *parent = 0);
+    ~PickerControllerTab();
+
+
+
+public slots:
+    void setAgentIDsToCoordinate(QVector<int> agentIDs , bool shouldCoordinateAll);
+    void setMeasuredPose(float x , float y , float z , float roll , float pitch , float yaw , bool isValid);
+    void poseDataUnavailableSlot();
+
+
+
+private slots:
+
+    // FOR ALL THE GUI BUTTONS AND FIELDS
+
+    void on_button_goto_start_clicked();
+
+    void on_button_attach_clicked();
+
+    void on_button_lift_up_clicked();
+
+    void on_button_goto_end_clicked();
+
+    void on_button_put_down_clicked();
+
+    void on_button_squat_clicked();
+
+    void on_button_jump_clicked();
+
+    void on_button_standby_clicked();
+
+    void on_checkbox_goto_start_clicked();
+
+    void on_checkbox_attach_clicked();
+
+    void on_checkbox_lift_up_clicked();
+
+    void on_checkbox_goto_end_clicked();
+
+    void on_checkbox_put_down_clicked();
+
+    void on_checkbox_squat_clicked();
+
+    void on_checkbox_jump_clicked();
+
+    void on_checkbox_standby_clicked();
+
+    void on_button_goto_start_inc_minus_x_clicked();
+
+    void on_button_goto_start_inc_plus_x_clicked();
+
+    void on_button_goto_start_inc_minus_y_clicked();
+
+    void on_button_goto_start_inc_plus_y_clicked();
+
+    void on_button_goto_start_inc_minus_z_clicked();
+
+    void on_button_goto_start_inc_plus_z_clicked();
+
+    void on_button_goto_start_inc_minus_yaw_clicked();
+
+    void on_button_goto_start_inc_plus_yaw_clicked();
+
+    void on_button_attach_inc_minus_z_clicked();
+
+    void on_button_attach_inc_plus_z_clicked();
+
+    void on_button_lift_up_inc_minus_z_clicked();
+
+    void on_button_lift_up_inc_plus_z_clicked();
+
+    void on_button_lift_up_inc_minus_mass_clicked();
+
+    void on_button_lift_up_inc_plus_mass_clicked();
+
+    void on_button_goto_end_inc_minus_x_clicked();
+
+    void on_button_goto_end_inc_plus_x_clicked();
+
+    void on_button_goto_end_inc_minus_y_clicked();
+
+    void on_button_goto_end_inc_plus_y_clicked();
+
+    void on_button_goto_end_inc_minus_yaw_clicked();
+
+    void on_button_goto_end_inc_plus_yaw_clicked();
+
+    void on_button_put_down_inc_minus_z_clicked();
+
+    void on_button_put_down_inc_plus_z_clicked();
+
+    void on_button_squat_inc_minus_z_clicked();
+
+    void on_button_squat_inc_plus_z_clicked();
+
+    void on_button_jump_inc_minus_z_clicked();
+
+    void on_button_jump_inc_plus_z_clicked();
+
+    void on_button_stanby_inc_minus_x_clicked();
+
+    void on_button_stanby_inc_plus_x_clicked();
+
+    void on_button_stanby_inc_minus_y_clicked();
+
+    void on_button_stanby_inc_plus_y_clicked();
+
+    void on_button_stanby_inc_minus_z_clicked();
+
+    void on_button_stanby_inc_plus_z_clicked();
+
+    void on_button_stanby_inc_minus_yaw_clicked();
+
+    void on_button_stanby_inc_plus_yaw_clicked();
+
+    void on_button_stanby_inc_minus_mass_clicked();
+
+    void on_button_stanby_inc_plus_mass_clicked();
+
+    void on_lineEdit_goto_start_x_editingFinished();
+
+    void on_lineEdit_goto_start_y_editingFinished();
+
+    void on_lineEdit_goto_start_z_editingFinished();
+
+    void on_lineEdit_goto_start_yaw_editingFinished();
+
+    void on_lineEdit_attach_z_editingFinished();
+
+    void on_lineEdit_lift_up_z_editingFinished();
+
+    void on_lineEdit_lift_up_mass_editingFinished();
+
+    void on_lineEdit_goto_end_x_editingFinished();
+
+    void on_lineEdit_goto_end_y_editingFinished();
+
+    void on_lineEdit_goto_end_yaw_editingFinished();
+
+    void on_lineEdit_put_down_z_editingFinished();
+
+    void on_lineEdit_squat_z_editingFinished();
+
+    void on_lineEdit_jump_z_editingFinished();
+
+    void on_lineEdit_standby_x_editingFinished();
+
+    void on_lineEdit_standby_y_editingFinished();
+
+    void on_lineEdit_standby_z_editingFinished();
+
+    void on_lineEdit_standby_yaw_editingFinished();
+
+    void on_lineEdit_standby_mass_editingFinished();
+
+    void on_lineEdit_increment_x_editingFinished();
+
+    void on_lineEdit_increment_y_editingFinished();
+
+    void on_lineEdit_increment_z_editingFinished();
+
+    void on_lineEdit_increment_yaw_editingFinished();
+
+    void on_lineEdit_increment_mass_editingFinished();
+
+
+
+private:
+    Ui::PickerControllerTab *ui;
+
+    // --------------------------------------------------- //
+    // PRIVATE VARIABLES
+
+    // The type of this node, i.e., agent or a coordinator,
+    // specified as a parameter in the "*.launch" file
+    int m_type = 0;
+
+    // The ID  of this node
+    int m_ID;
+
+    // For coordinating multiple agents
+    std::vector<int> m_vector_of_agentIDs_toCoordinate;
+    bool m_shouldCoordinateAll = true;
+    QMutex m_agentIDs_toCoordinate_mutex;
+
+    // THE CURRENT STATE OF THE PICKER
+    int m_current_picker_state = PICKER_STATE_UNKNOWN;
+    QMutex m_current_picker_state_mutex;
+
+#ifdef CATKIN_MAKE
+    // PUBLISHER
+    // > For requesting the setpoint to be changed
+    ros::Publisher requestSetpointChangePublisher;
+
+    // SUBSCRIBER
+    // > For being notified when the setpoint is changed
+    ros::Subscriber setpointChangedSubscriber;
+#endif
+
+
+
+    // --------------------------------------------------- //
+    // PRIVATE FUNCTIONS
+
+#ifdef CATKIN_MAKE
+    // For receiving message that the setpoint was changed
+    void setpointChangedCallback(const dfall_pkg::SetpointWithHeader& newSetpoint);
+
+    // Fill the header for a message
+    void fillSetpointMessageHeader( dfall_pkg::SetpointWithHeader & msg );
+
+    // Get the paramters that specify the type and ID
+    bool getTypeAndIDParameters();
+#endif
+
+    void publish_setpoint_if_current_state_matches(QVector<int> state_to_match);
+
+    void publish_request_setpoint_change_for_state(int state_to_publish);
+};
+
+#endif // PICKERCONTROLLERTAB_H