mainguiwindow.cpp 26.8 KB
Newer Older
1
#include "mainguiwindow.h"
2
#include "ui_mainguiwindow.h"
3
#include "crazyFlyZoneTab.h"
4
5
#include "myGraphicsScene.h"
#include "myGraphicsView.h"
6
#include "addressLUT.h"
7
8
9
10
11

#include <QObject>
#include <QDoubleSpinBox>
#include <QTextEdit>
#include <QString>
12
#include <QMetaType>
13
#include <QDir>
14
#include <regex>
15

16
17
#ifdef CATKIN_MAKE
#include "d_fall_pps/UnlabeledMarker.h"
18
#include "d_fall_pps/CMRead.h"
19
#include "d_fall_pps/CrazyflieEntry.h"
20
21
22
#include "d_fall_pps/CMUpdate.h"
#include "d_fall_pps/CMCommand.h"
#include "CentralManagerService.h"
23
24
#endif

25
#include <string>
26

27
#define N_MAX_CRAZYFLIES           20 // protection number
28

roangel's avatar
roangel committed
29
#ifdef CATKIN_MAKE
30
using namespace d_fall_pps;
roangel's avatar
roangel committed
31
#endif
32

33
34
35
36
MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainGUIWindow)
{
37
38
39
    #ifdef CATKIN_MAKE
    _rosNodeThread = new rosNodeThread(argc, argv, "/ViconDataPublisher/ViconData");
    #endif
40
41
42
    ui->setupUi(this);
    _init();
}
43

44

45
46
47
48
49
MainGUIWindow::~MainGUIWindow()
{
    delete ui;
}

50
51
52
53
54
55
56
57
58
59
60
61
62
63
int MainGUIWindow::getTabIndexFromName(QString name)
{
    int found_name = -1;
    for(int i = 0; i < ui->tabWidget->count(); i++)
    {
        qDebug("name: %s", name.toStdString().c_str());
        qDebug("tabText: %s", ui->tabWidget->tabText(i).toStdString().c_str());
        if(name == ui->tabWidget->tabText(i))
        {
            found_name = i;
        }
    }
    return found_name;
}
64

roangel's avatar
roangel committed
65
void MainGUIWindow::doNumCrazyFlyZonesChanged(int n)
66
{
roangel's avatar
roangel committed
67
    // tabs number management, maybe do it in a different way so we dont have to remove and add everything?
68
    // first check if size of tabs is greater than size of vector or viceversa. Have we removed or added a zone?
69

70
    qDebug("tabWidgetCount : %d", ui->tabWidget->count());
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
    if(ui->tabWidget->count() > scene->crazyfly_zones.size())
    {
        // we removed one crazyfly_zone, n means index of the one we removed. Look for that index tab and remove it
        QString qstr = "CrazyFly ";
        qstr.append(QString::number(n+1));
        if(scene->crazyfly_zones.size() == 0)
        {
            ui->tabWidget->clear();
        }
        int found_index = getTabIndexFromName(qstr);
        if(found_index != -1)
        {
            ui->tabWidget->widget(found_index)->deleteLater();
            // ui->tabWidget->removeTab(found_index);
        }

        //  now unlink it from table also:
        #ifdef CATKIN_MAKE
        if(cf_linker->isCFZoneLinked(n))
        {
            cf_linker->unlink_cf_zone(n);
        }
        #endif
    }
    else if(ui->tabWidget->count() < scene->crazyfly_zones.size())
    {
        // we added one crazyfly_zone, n means index of the new one. New tab will be labeld index + 1
        QString qstr = "CrazyFly ";
        qstr.append(QString::number(n+1));
        crazyFlyZoneTab* widget = new crazyFlyZoneTab(n);
        ui->tabWidget->insertTab(n, widget, qstr);
        connect(widget, SIGNAL(centerButtonClickedSignal(int)), this, SLOT(centerViewIndex(int)));
    }
104

105
    updateComboBoxesCFZones();
106
107
108
109
}

void MainGUIWindow::_init()
{
110
111
112
113
114
115
116
117
    // initialize checkboxes, spinboxes,....
    ui->scaleSpinBox->setRange(0.1, 100);
    ui->scaleSpinBox->setSingleStep(0.1);
    ui->scaleSpinBox->setValue(1);

    ui->checkBox_vicon_crazyflies->setChecked(false);
    ui->scaleSpinBox->setEnabled(false);

118

119
    ui->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
120
121
    ui->graphicsView->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
    ui->graphicsView->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
122

123
124
125
126
127
    // error messages
    // ui->err_message_cf->hide();
    // ui->err_message_cf_zone->hide();
    // ui->err_message_student_id->hide();

128
129
130
131
132
133
134
    ui->radioAddress_text->setReadOnly(true);

    QPalette *palette = new QPalette();
    palette->setColor(QPalette::Base,Qt::lightGray);
    palette->setColor(QPalette::Text,Qt::darkGray);
    ui->radioAddress_text->setPalette(*palette);

135
136
137
138
    ui->err_message_cf->setStyleSheet("QLabel { color : red; }");
    ui->err_message_cf_zone->setStyleSheet("QLabel { color : red; }");
    ui->err_message_student_id->setStyleSheet("QLabel { color : red; }");
    ui->err_message_radio_address->setStyleSheet("QLabel { color : red; }");
139

140
141
142
143
    ui->err_message_cf->clear();
    ui->err_message_cf_zone->clear();
    ui->err_message_student_id->clear();
    ui->err_message_radio_address->clear();
144

145
    // initialize table_links
146
    ui->table_links->setColumnCount(4);
147

148
149
150
151
152
    QFont fnt;
    fnt.setPointSize(7);
    ui->table_links->horizontalHeader()->setFont(fnt);

    ui->table_links->horizontalHeader()->setDefaultSectionSize(90);
153
    ui->table_links->verticalHeader()->setDefaultSectionSize(20);
154
155
156
157
158
159
160
161
162
163
164

    const int rowCount = ui->table_links->rowCount();
    const int columnCount = ui->table_links->columnCount();
    for(int i = 0; i < rowCount; ++i)
    {
    	for(int j = 0; j < columnCount; ++j)
        {
    		QTableWidgetItem* selectedItem = ui->table_links->item(i, j);
    		selectedItem->setFont(fnt);
    	}
    }
roangel's avatar
roangel committed
165
    ui->table_links->setSelectionBehavior(QAbstractItemView::SelectRows);
166
    QStringList horizontal_header;
167
    horizontal_header << "Student ID" << "CrazyFly" << "CrazyFly Zone" << "Radio Address";
168
    ui->table_links->setHorizontalHeaderLabels(horizontal_header);
169

170
    // scene
171
    scene = new myGraphicsScene(ui->frame_drawing);
172
    scene->setSceneRect(-100 * FROM_METERS_TO_UNITS, -100 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS);
173

174
    ui->graphicsView->setScene(scene);
175

176
    // after scene is created, create CFlinker
177
    #ifdef CATKIN_MAKE
178
    cf_linker = new CFLinker(ui, &crazyflies_vector, &scene->crazyfly_zones);
179
    #endif
180
    // connections
181
    QObject::connect(ui->tabWidget, SIGNAL(tabCloseRequested(int)), this, SLOT(doTabClosed(int)));
roangel's avatar
roangel committed
182
    QObject::connect(scene, SIGNAL(numCrazyFlyZonesChanged(int)), this, SLOT(doNumCrazyFlyZonesChanged(int)));
183
    QObject::connect(scene, SIGNAL(crazyFlyZoneSelected(int)), this, SLOT(setTabIndex(int)));
184
185
    QObject::connect(scene, SIGNAL(modeChanged(int)), this, SLOT(transitionToMode(int)));
    QObject::connect(scene, SIGNAL(numTablePiecesChanged(int)), this, SLOT(handleTablePiecesNumChanged(int)));
roangel's avatar
roangel committed
186
187

    ui->checkBox_vicon_highlight_markers->setEnabled(false);
188

roangel's avatar
roangel committed
189
    #ifdef CATKIN_MAKE
190
    _rosNodeThread->init();
191
    qRegisterMetaType<ptrToMessage>("ptrToMessage");
192
    QObject::connect(_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
193
    QObject::connect(cf_linker, SIGNAL(updateComboBoxes()), this, SLOT(updateComboBoxes()));
roangel's avatar
roangel committed
194
    #endif
195
}
196

197
198
199
void MainGUIWindow::doTabClosed(int tab_index)
{
    QString name = ui->tabWidget->tabText(tab_index);
roangel's avatar
roangel committed
200
    #ifdef CATKIN_MAKE
roangel's avatar
roangel committed
201
202
    int cf_zone_index = cf_linker->getCFZoneIndexFromName(name);
    scene->removeCrazyFlyZone(cf_zone_index);
roangel's avatar
roangel committed
203
    #endif
204
205
206
207
208
209
210
211
212
}

void MainGUIWindow::setTabIndex(int index)
{
    QString qstr = "CrazyFly ";
    qstr.append(QString::number(index + 1));
    ui->tabWidget->setCurrentIndex(getTabIndexFromName(qstr));
}

213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
void MainGUIWindow::updateComboBoxes()
{
    updateComboBoxesCFs();
    updateComboBoxesCFZones();
}
void MainGUIWindow::updateComboBoxesCFs()
{
    #ifdef CATKIN_MAKE
    ui->comboBoxCFs->clear();
    for(int i = 0; i < crazyflies_vector.size(); i++)
    {
        if(!cf_linker->isCFLinked(crazyflies_vector[i]->getName()))
        {
            QString qstr = QString::fromStdString(crazyflies_vector[i]->getName());
            ui->comboBoxCFs->addItem(qstr);
        }
    }
    #endif
}

void MainGUIWindow::updateComboBoxesCFZones()
{
    ui->comboBoxCFZones->clear();
    #ifdef CATKIN_MAKE
    for(int i = 0; i < scene->crazyfly_zones.size(); i++)
    {
        if(!cf_linker->isCFZoneLinked(scene->crazyfly_zones[i]->getIndex()))
        {
241
            int cf_zone_index = scene->crazyfly_zones[i]->getIndex();
242
            QString qstr = "CrazyFlyZone ";
243
            qstr.append(QString::number(cf_zone_index + 1));
244
245
246
247
248
249
250
            ui->comboBoxCFZones->addItem(qstr);
        }
    }
    #endif
}


roangel's avatar
roangel committed
251
#ifdef CATKIN_MAKE
252
void MainGUIWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to newViconData, from node
253
{
254

255
256
    // update Markers

257
    if(p_msg->markers.size() < markers_vector.size()) // some markers have dissapeared, received stuff is smaller than what we have
258
259
260
    {
        for(int i = p_msg->markers.size(); i < markers_vector.size(); i++)
        {
261
            scene->removeItem(markers_vector[i]); // remove objects from scene
262
            // ROS_INFO_STREAM("element index: " << i << " removed");
263
        }
264
        markers_vector.erase(markers_vector.begin() + p_msg->markers.size(), markers_vector.end()); //delete them
265
266
    }

267
    // ROS_INFO_STREAM("markers.size: " << p_msg->markers.size());
268

269
270
271
272
    for(int i = 0; i < p_msg->markers.size(); i++) // here, or new markers message is equal to current messages, or greater (some new markers)
    {
        if(i >= markers_vector.size()) //some new markers coming
        {
273
            // ROS_INFO_STREAM("element index: " << i << " added");
274
            Marker* tmp_p_marker = new Marker(&(p_msg->markers[i]));
275
276
            markers_vector.push_back(tmp_p_marker); // what happens with the new indexes? check if this is correct

277
            if(ui->checkBox_vicon_markers->checkState() == Qt::Checked) //only if markers checkbox info is checked..
278
279
280
281
282
283
284
            {
                scene->addItem(markers_vector[i]);
                if(ui->checkBox_vicon_highlight_markers->checkState() == Qt::Checked)
                {
                    markers_vector[i]->setHighlighted();
                }
            }
285
286
287
        }
        else
        {
288
            // ROS_INFO_STREAM("element index: " << i << " moved, already existed");
289
            markers_vector[i]->updateMarker(&(p_msg->markers[i]));
290
291
        }
    }
292
293

    // update Crazyflies
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
    // also: what happens if we dont go through one of the names? we need to remove that crazyfly
    int crazyfly_vector_size_before = crazyflies_vector.size(); //initial size of vector
    // in this loop, add new ones and update old ones
    for(int i = 0; i < p_msg->crazyflies.size(); i++)
    {
        bool name_found = false; // for each iteration, name_found starts in false
        int index_name_found;
        for(int j = 0; j < crazyfly_vector_size_before; j++)
        {
            if(crazyflies_vector[j]->getName() == p_msg->crazyflies[i].crazyflieName)
            {
                name_found = true; // name found. This can only happen once per i-iteration, names are unique
                index_name_found = j; // index in already existing vector, to update it later (really needed?)
            }
        }

        if(name_found)
        {
            crazyflies_vector[index_name_found]->updateCF(&(p_msg->crazyflies[i]));
        }
314
        else                    //name not found, newly arrived, add it to the vector
315
316
        {
            crazyFly* tmp_p_crazyfly = new crazyFly(&(p_msg->crazyflies[i]));
317
318
319
320
321
322
            crazyflies_vector.push_back(tmp_p_crazyfly);
        }

        if(ui->checkBox_vicon_crazyflies->checkState() == Qt::Checked)
        {
            for(int i = 0; i < crazyflies_vector.size(); i++) //check for occlussion
323
            {
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
                if(crazyflies_vector[i]->isOccluded())
                {
                    ROS_INFO("===================OCCLUDED");
                    if(crazyflies_vector[i]->isAddedToScene())
                    {
                        scene->removeItem(crazyflies_vector[i]);
                        crazyflies_vector[i]->setAddedToScene(false);
                    }
                }
                else
                {
                    if(!crazyflies_vector[i]->isAddedToScene())
                    {
                        scene->addItem(crazyflies_vector[i]);
                        crazyflies_vector[i]->setAddedToScene(true);
                    }
                }
341
            }
342
343
        }
    }
344

345
    // in this loop, clean the ones that are not present anymore. UPDATE: this will apparently only happen when we tick and untick in Vicon
346
    int crazyfly_vector_size_after = crazyflies_vector.size();
347

348
    for(int j = crazyfly_vector_size_after - 1; j >= 0; j--)
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
    {
        bool name_found = false;
        for(int i = 0; i < p_msg->crazyflies.size(); i++)
        {
            if(crazyflies_vector[j]->getName() == p_msg->crazyflies[i].crazyflieName)
            {
                name_found = true;
            }
        }
        if(!name_found)
        {
            scene->removeItem(crazyflies_vector[j]);
            crazyflies_vector.erase(crazyflies_vector.begin() + j);
        }
    }
364
}
roangel's avatar
roangel committed
365
#endif
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440


void MainGUIWindow::on_removeTable_clicked()
{
    if(scene->getMode() == myGraphicsScene::mode_table)
    {
        scene->removeTable();
    }
}

void MainGUIWindow::transitionToMode(int mode)
{
    switch(mode)
    {
        case myGraphicsScene::mode_table:
        {
            ui->removeTable->setDisabled(false);
            break;
        }
        case myGraphicsScene::mode_crazyfly_zones:
        {
            ui->removeTable->setDisabled(true);
            break;
        }
    }
}

void MainGUIWindow::on_radioButton_table_mode_toggled(bool checked)
{
    switch(scene->getMode())
    {
        case myGraphicsScene::mode_table:
        {
            // already in the mode we want, do nothing
            break;
        }
        case myGraphicsScene::mode_crazyfly_zones:
        {
            scene->setMode(myGraphicsScene::mode_table);
            break;
        }
        case myGraphicsScene::mode_locked:
        {
            scene->setMode(myGraphicsScene::mode_table);
            break;
        }
    }

}


void MainGUIWindow::on_radioButton_crazyfly_zones_mode_toggled(bool checked)
{
    switch(scene->getMode())
    {
        case myGraphicsScene::mode_table:
        {
            scene->setMode(myGraphicsScene::mode_crazyfly_zones);
            break;
        }
        case myGraphicsScene::mode_crazyfly_zones:
        {
            // already in the mode we want, do nothing
            break;
        }
        case myGraphicsScene::mode_locked:
        {
            scene->setMode(myGraphicsScene::mode_crazyfly_zones);
            break;
        }
    }
}

void MainGUIWindow::handleTablePiecesNumChanged(int newNum)
{
441

442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
}

void MainGUIWindow::on_radioButton_lock_mode_toggled(bool checked)
{
    switch(scene->getMode())
    {
        case myGraphicsScene::mode_table:
        {
            scene->setMode(myGraphicsScene::mode_locked);
            break;
        }
        case myGraphicsScene::mode_crazyfly_zones:
        {
            scene->setMode(myGraphicsScene::mode_locked);
            break;
        }
        case myGraphicsScene::mode_locked:
        {
            break;
        }
    }
}

void MainGUIWindow::on_checkBox_grid_toggled(bool checked)
{
    scene->setGrid(checked);
}

void MainGUIWindow::on_checkBox_table_toggled(bool checked)
{
    if(checked)
    {
        scene->showTable();
    }
    else
    {
        scene->hideTable();
    }
}

void MainGUIWindow::on_checkBox_crazyfly_zones_toggled(bool checked)
{
    if(checked)
    {
        scene->showCrazyFlyZones();
    }
    else
    {
        scene->hideCrazyFlyZones();
    }
}

void MainGUIWindow::on_tabWidget_currentChanged(int index)
{
496
497
498
499
500
501
    // // this index is tab index. Need to go to cf index
    // QString name = ui->tabWidget->tabText(index);
    // #ifdef CATKIN_MAKE
    // int cf_index = cf_linker->getCFZoneIndexFromName(name);
    // scene->setSelectedCrazyFlyZone(cf_index);
    // #endif
502
503
504
505
506
507
508
509
510
511
512
513
514
515
}

void MainGUIWindow::centerViewIndex(int index)
{
    ui->graphicsView->fitInView(scene->getRectFCrazyFlyZone(index), Qt::KeepAspectRatio);
    ui->graphicsView->scale(0.95, 0.95); // A bit back zoom, so we can see everything better
}


void MainGUIWindow::on_pushButton_fitAll_clicked()
{
    ui->graphicsView->fitInView(scene->itemsBoundingRect(), Qt::KeepAspectRatio);
    ui->graphicsView->scale(0.95, 0.95); // A bit back zoom, so we can see everything better
}
516
517
518
519
520

void MainGUIWindow::on_checkBox_vicon_markers_toggled(bool checked)
{
    if(checked)
    {
521
        #ifdef CATKIN_MAKE
522
523
524
525
        for(int i = 0; i < markers_vector.size(); i++)
        {
            scene->addItem(markers_vector[i]);
        }
526
        #endif
527
        ui->checkBox_vicon_highlight_markers->setCheckable(true);
roangel's avatar
roangel committed
528
        ui->checkBox_vicon_highlight_markers->setEnabled(true);
529
530
531
    }
    else
    {
532
        #ifdef CATKIN_MAKE
533
534
535
536
        for(int i = 0; i < markers_vector.size(); i++)
        {
            scene->removeItem(markers_vector[i]);
        }
537
        #endif
538
539
        ui->checkBox_vicon_highlight_markers->setChecked(false);
        ui->checkBox_vicon_highlight_markers->setCheckable(false);
roangel's avatar
roangel committed
540
        ui->checkBox_vicon_highlight_markers->setEnabled(false);
541
542
543
544
545
546
547
    }
}

void MainGUIWindow::on_checkBox_vicon_highlight_markers_toggled(bool checked)
{
    if(checked)
    {
548
        #ifdef CATKIN_MAKE
549
550
551
552
        for(int i = 0; i < markers_vector.size(); i++)
        {
            markers_vector[i]->setHighlighted();
        }
553
        #endif
554
555
556
    }
    else
    {
557
        #ifdef CATKIN_MAKE
558
559
560
561
        for(int i = 0; i < markers_vector.size(); i++)
        {
            markers_vector[i]->clearHighlighted();
        }
562
563
564
565
566
567
568
569
570
571
572
        #endif
    }
}

void MainGUIWindow::on_checkBox_vicon_crazyflies_toggled(bool checked)
{
    if(checked)
    {
        #ifdef CATKIN_MAKE
        for(int i = 0; i < crazyflies_vector.size(); i++)
        {
573
574
575
576
577
            if(!crazyflies_vector[i]->isAddedToScene())
            {
                scene->addItem(crazyflies_vector[i]);
                crazyflies_vector[i]->setAddedToScene(true);
            }
578
579
580
581
582
583
584
585
586
        }
        #endif
        ui->scaleSpinBox->setEnabled(true);
    }
    else
    {
        #ifdef CATKIN_MAKE
        for(int i = 0; i < crazyflies_vector.size(); i++)
        {
587
588
589
590
591
            if(crazyflies_vector[i]->isAddedToScene())
            {
                scene->removeItem(crazyflies_vector[i]);
                crazyflies_vector[i]->setAddedToScene(false);
            }
592
593
594
595
596
597
598
599
600
601
602
603
        }
        #endif
        ui->scaleSpinBox->setEnabled(false);
    }
}

void MainGUIWindow::on_scaleSpinBox_valueChanged(double arg1)
{
    #ifdef CATKIN_MAKE
    for(int i = 0; i < crazyflies_vector.size(); i++)
    {
        crazyflies_vector[i]->setScaleCFs(arg1);
604
    }
605
    #endif
606
}
607
608
609

void MainGUIWindow::on_refresh_cfs_button_clicked()
{
610
    updateComboBoxesCFs();
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
}

void MainGUIWindow::on_refresh_student_ids_button_clicked()
{
    #ifdef CATKIN_MAKE
    ui->list_discovered_student_ids->clear();

    // \/(\d)\/PPSClient
    ros::V_string v_str;
    ros::master::getNodes(v_str);
    for(int i = 0; i < v_str.size(); i++)
    {
        std::string s = v_str[i];
        std::smatch m;
        std::regex e ("\\/(\\d)\\/PPSClient");

        // std::regex e("\\/PPSClien(.)");

        // while(std::regex_search(s, m, e))
        // {
        //     for (int i = 0; i < m.size(); i++)
        //     {
        //         ROS_INFO("FOUND: %s", m[i].str().c_str());
        //         // std::cout << "FOUND" << m[i] << "\n";
        //     }
        //     s = m.suffix().str();
        // }

        if(std::regex_search(s, m, e))
        {
            // ROS_INFO("===============================================FOUND: %s", m[1].str().c_str()); // one because we are interested ONLY in the first match
            std::string found_string = m[1].str();
            ui->list_discovered_student_ids->addItem(found_string.c_str());
        }
    }
    #endif
}
648
649
650
651
652
653



void MainGUIWindow::on_link_button_clicked()
{
    #ifdef CATKIN_MAKE
654
655
656
657
658

    bool error = false;
    if(ui->comboBoxCFs->count() == 0)
    {
        // plot error message
659
        ui->err_message_cf->setText("CF box is empty");
660
661
        error = true;
    }
662
663
664
665
    else
    {
        ui->err_message_cf->clear();
    }
666

667
668
669
    if(ui->comboBoxCFZones->count() == 0)
    {
        // plot error message
670
        ui->err_message_cf_zone->setText("CFZone box is empty");
671
672
        error = true;
    }
673
674
675
676
    else
    {
        ui->err_message_cf_zone->clear();
    }
677

678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
    if(cf_linker->isRadioAddressLinked(ui->radioAddress_text->text().toStdString()))
    {
        ui->err_message_radio_address->setText("Already in use");
        error = true;
    }
    else if(ui->radioAddress_text->text().toStdString() == "")
    {
        ui->err_message_radio_address->setText("Field is empty");
        error = true;
    }
    else
    {
        ui->err_message_radio_address->clear();
    }

693
    if(cf_linker->isStudentIDLinked(ui->spinBox_student_ids->value()))
694
    {
695
696
697
698
699
700
701
        // plot error message
        ui->err_message_student_id->setText("This StudentID has already been linked");
        error = true;
    }
    else
    {
        ui->err_message_student_id->clear();
702
703
704
705
    }

    if(!error)
    {
706
        cf_linker->link(ui->spinBox_student_ids->value(), cf_linker->getCFZoneIndexFromName(ui->comboBoxCFZones->currentText()), ui->comboBoxCFs->currentText().toStdString(), ui->radioAddress_text->text().toStdString());
707
    }
708
709
    #endif
}
710
711
712
713

void MainGUIWindow::on_unlink_button_clicked()
{
    #ifdef CATKIN_MAKE
714
    cf_linker->unlink_selection();
715
716
    #endif
}
717
718
719
720

void MainGUIWindow::on_save_in_DB_button_clicked()
{
    // we need to update and then save?
721
    CrazyflieDB tmp_db;
722
    for(int i = 0; i < cf_linker->links.size(); i++)
723
    {
724
725
        CrazyflieEntry tmp_entry;
        tmp_entry.crazyflieContext.crazyflieName = cf_linker->links[i].cf_name;
726
        tmp_entry.crazyflieContext.crazyflieAddress = cf_linker->links[i].radio_address;
727
728
        tmp_entry.crazyflieContext.localArea.crazyfly_zone_index = cf_linker->links[i].cf_zone_index;
        tmp_entry.studentID = cf_linker->links[i].student_id;
729

730
731
732
733
        for(int j = 0; j < scene->crazyfly_zones.size(); j++)
        {
            if(cf_linker->links[i].cf_zone_index == scene->crazyfly_zones[j]->getIndex())
            {
734
735
736
737
738
739
740
741
742
743
                double x_min = scene->crazyfly_zones[j]->sceneBoundingRect().bottomLeft().x();
                double y_min = - scene->crazyfly_zones[j]->sceneBoundingRect().bottomLeft().y();

                double x_max = scene->crazyfly_zones[j]->sceneBoundingRect().topRight().x();
                double y_max = -scene->crazyfly_zones[j]->sceneBoundingRect().topRight().y();

                tmp_entry.crazyflieContext.localArea.xmin = x_min * FROM_UNITS_TO_METERS;
                tmp_entry.crazyflieContext.localArea.xmax = x_max * FROM_UNITS_TO_METERS;
                tmp_entry.crazyflieContext.localArea.ymin = y_min * FROM_UNITS_TO_METERS;
                tmp_entry.crazyflieContext.localArea.ymax = y_max * FROM_UNITS_TO_METERS;
744
745
746

                tmp_entry.crazyflieContext.localArea.zmin = -0.2;
                tmp_entry.crazyflieContext.localArea.zmax = 2.0;
747
748
749
            }
        }
        tmp_db.crazyflieEntries.push_back(tmp_entry);
750
    }
751
752
753
754

    m_data_base = tmp_db;

    ROS_INFO_STREAM("database:\n" << m_data_base);
755
756
757
758

    // save the database in the file

    fill_database_file();
759
760
}

761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
void MainGUIWindow::clear_database_file()
{
    CrazyflieDB tmp_db;
    if(read_database_from_file(tmp_db) == 0)
    {
        for(int i = 0; i < tmp_db.crazyflieEntries.size(); i++)
        {
            CMUpdate updateCall;
            updateCall.request.mode = ENTRY_REMOVE;
            updateCall.request.crazyflieEntry.crazyflieContext.crazyflieName = tmp_db.crazyflieEntries[i].crazyflieContext.crazyflieName;
            if(_rosNodeThread->m_update_db_client.call(updateCall))
            {
                ROS_INFO("database changed in central manager service");
            }
            else
            {
                ROS_ERROR("Failed to remove entry in DB");
            }
        }
        save_database_file();
    }
    else
    {
        ROS_INFO("Failed to read DB");
    }
}

void MainGUIWindow::fill_database_file()
{
    clear_database_file();
    ROS_INFO("cleared data base file");
    ROS_INFO_STREAM("database:\n" << m_data_base);
    for(int i = 0; i < m_data_base.crazyflieEntries.size(); i++)
    {
        ROS_INFO("inserted 1 item in DB");
        insert_or_update_entry_database(m_data_base.crazyflieEntries[i]);
    }
    save_database_file();
}

void MainGUIWindow::save_database_file()
{
    CMCommand commandCall;
    commandCall.request.command = CMD_SAVE;
    if(_rosNodeThread->m_command_db_client.call(commandCall))
    {
        ROS_INFO("successfully saved db");
    }
    else
    {
        ROS_ERROR("failed to save db");
    }
}

void MainGUIWindow::insert_or_update_entry_database(CrazyflieEntry entry)
{
    CMUpdate updateCall;
    updateCall.request.mode = ENTRY_INSERT_OR_UPDATE;
    updateCall.request.crazyflieEntry = entry;
    _rosNodeThread->m_update_db_client.call(updateCall);
}

int MainGUIWindow::read_database_from_file(CrazyflieDB &read_db)
824
825
826
827
828
{
    CMRead getDBCall;
    _rosNodeThread->m_read_db_client.waitForExistence(ros::Duration(-1));
    if(_rosNodeThread->m_read_db_client.call(getDBCall))
    {
829
830
831
832
833
834
835
836
837
838
839
840
        read_db = getDBCall.response.crazyflieDB;
        return 0;
    }
    else
    {
        return -1;
    }
}

void MainGUIWindow::on_load_from_DB_button_clicked()
{
    CrazyflieDB tmp_db;
841

842
843
844
845
    if(read_database_from_file(tmp_db) == 0)
    {
		ROS_INFO_STREAM("database:\n" << tmp_db);
        m_data_base = tmp_db;
roangel's avatar
roangel committed
846

847
        cf_linker->clear_all_links();
roangel's avatar
roangel committed
848
        // remove all cf_zones existing
849
        scene->removeAllCFZones();
roangel's avatar
roangel committed
850
851
852
853

        int size = scene->crazyfly_zones.size();
        ROS_INFO("vector_cf_zones_size %d", size);

854
855
856
        for(int i = 0; i < m_data_base.crazyflieEntries.size(); i++)
        {
            std::string cf_name = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieName;
857
            std::string radio_address = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieAddress;
858
            int cf_zone_index = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.crazyfly_zone_index;
859

860
            // we should first create the cf zones that are in the database?
861
862
863
            bool cf_zone_exists;
            qreal width = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmax - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmin;
            qreal height = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymax - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymin;
864
            QRectF tmp_rect(m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmin * FROM_METERS_TO_UNITS,
865
                            - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymax * FROM_METERS_TO_UNITS, // minus sign because qt has y-axis inverted
866
867
                            width * FROM_METERS_TO_UNITS,
                            height * FROM_METERS_TO_UNITS);
868
            int student_id = m_data_base.crazyflieEntries[i].studentID;
roangel's avatar
roangel committed
869
870
871
872
873


            scene->addCFZone(tmp_rect, cf_zone_index);


874
            cf_linker->link(student_id, cf_zone_index, cf_name, radio_address);
roangel's avatar
roangel committed
875

876
877
878
879
880
881
882
        }
    }
    else
    {
        ROS_ERROR("Failed to read DB");
    }
}
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898

void MainGUIWindow::on_comboBoxCFs_currentTextChanged(const QString &arg1)
{
    std::string key = arg1.toStdString();
    auto it = address_LUT.find(key);
    if(it != address_LUT.end())
    {
        std::string found = it->second;
        QString found_qstr = QString::fromStdString(found);
        ui->radioAddress_text->setText(found_qstr);
    }
    else
    {
        ROS_INFO("name not found in LUT");
    }
}