mainguiwindow.cpp 26.4 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
7
8
9
10

#include <QObject>
#include <QDoubleSpinBox>
#include <QTextEdit>
#include <QString>
11
#include <QMetaType>
12
#include <QDir>
13
#include <regex>
14

15
16
#ifdef CATKIN_MAKE
#include "d_fall_pps/UnlabeledMarker.h"
17
#include "d_fall_pps/CMRead.h"
18
#include "d_fall_pps/CrazyflieEntry.h"
19
20
21
#include "d_fall_pps/CMUpdate.h"
#include "d_fall_pps/CMCommand.h"
#include "CentralManagerService.h"
22
23
#endif

24
#include <string>
25

26
#define N_MAX_CRAZYFLIES           20 // protection number
27

roangel's avatar
roangel committed
28
#ifdef CATKIN_MAKE
29
using namespace d_fall_pps;
roangel's avatar
roangel committed
30
#endif
31

32
33
34
35
MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainGUIWindow)
{
36
37
38
    #ifdef CATKIN_MAKE
    _rosNodeThread = new rosNodeThread(argc, argv, "/ViconDataPublisher/ViconData");
    #endif
39
40
41
    ui->setupUi(this);
    _init();
}
42

43

44
45
46
47
48
MainGUIWindow::~MainGUIWindow()
{
    delete ui;
}

49
50
51
52
53
54
55
56
57
58
59
60
61
62
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;
}
63

roangel's avatar
roangel committed
64
void MainGUIWindow::doNumCrazyFlyZonesChanged(int n)
65
{
roangel's avatar
roangel committed
66
    // tabs number management, maybe do it in a different way so we dont have to remove and add everything?
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
    // first check if size of tabs is greater than size of vector or viceversa. Have we removed or added a zone?
    qDebug("tabWidgetCount : %d", ui->tabWidget->count());
    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->removeTab(found_index);
        }

        //  now unlink it from table also:
roangel's avatar
roangel committed
85
        #ifdef CATKIN_MAKE
86
87
88
89
        if(cf_linker->isCFZoneLinked(n))
        {
            cf_linker->unlink_cf_zone(n);
        }
roangel's avatar
roangel committed
90
        #endif
91
92
    }
    else if(ui->tabWidget->count() < scene->crazyfly_zones.size())
93
    {
94
        // we added one crazyfly_zone, n means index of the new one. New tab will be labeld index + 1
95
        QString qstr = "CrazyFly ";
96
97
98
        qstr.append(QString::number(n+1));
        crazyFlyZoneTab* widget = new crazyFlyZoneTab(n);
        ui->tabWidget->insertTab(n, widget, qstr);
99
100
        connect(widget, SIGNAL(centerButtonClickedSignal(int)), this, SLOT(centerViewIndex(int)));
    }
101
102
103
104
105
106
107
108
    // for (int i = 0; i < n; i++)
    // {
    //     QString qstr = "CrazyFly ";
    //     qstr.append(QString::number(i+1));
    //     crazyFlyZoneTab* widget = new crazyFlyZoneTab(i);
    //     ui->tabWidget->addTab(widget, qstr);
    //     connect(widget, SIGNAL(centerButtonClickedSignal(int)), this, SLOT(centerViewIndex(int)));
    // }
roangel's avatar
roangel committed
109

110
    updateComboBoxesCFZones();
111
112
113
114
}

void MainGUIWindow::_init()
{
115
116
117
118
119
120
121
122
    // 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);

123

124
    ui->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
125
126
    ui->graphicsView->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
    ui->graphicsView->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
127

128
129
130
131
132
    // error messages
    // ui->err_message_cf->hide();
    // ui->err_message_cf_zone->hide();
    // ui->err_message_student_id->hide();

roangel's avatar
roangel committed
133
134
135
   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; }");
136
   ui->err_message_radio_address->setStyleSheet("QLabel { color : red; }");
137

roangel's avatar
roangel committed
138
139
140
   ui->err_message_cf->clear();
   ui->err_message_cf_zone->clear();
   ui->err_message_student_id->clear();
141
   ui->err_message_radio_address->clear();
142

143
    // initialize table_links
144
    ui->table_links->setColumnCount(4);
145

146
147
148
149
150
    QFont fnt;
    fnt.setPointSize(7);
    ui->table_links->horizontalHeader()->setFont(fnt);

    ui->table_links->horizontalHeader()->setDefaultSectionSize(90);
151
    ui->table_links->verticalHeader()->setDefaultSectionSize(20);
152
153
154
155
156
157
158
159
160
161
162

    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
163
    ui->table_links->setSelectionBehavior(QAbstractItemView::SelectRows);
164
    QStringList horizontal_header;
165
    horizontal_header << "Student ID" << "CrazyFly" << "CrazyFly Zone" << "Radio Address";
166
    ui->table_links->setHorizontalHeaderLabels(horizontal_header);
167

168
    // scene
169
    scene = new myGraphicsScene(ui->frame_drawing);
170
    scene->setSceneRect(-100 * FROM_METERS_TO_UNITS, -100 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS);
171

172
    ui->graphicsView->setScene(scene);
173

174
    // after scene is created, create CFlinker
175
    #ifdef CATKIN_MAKE
176
    cf_linker = new CFLinker(ui, &crazyflies_vector, &scene->crazyfly_zones);
177
    #endif
178
    // connections
179
    QObject::connect(ui->tabWidget, SIGNAL(tabCloseRequested(int)), this, SLOT(doTabClosed(int)));
roangel's avatar
roangel committed
180
    QObject::connect(scene, SIGNAL(numCrazyFlyZonesChanged(int)), this, SLOT(doNumCrazyFlyZonesChanged(int)));
181
    QObject::connect(scene, SIGNAL(crazyFlyZoneSelected(int)), this, SLOT(setTabIndex(int)));
182
183
    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
184
185

    ui->checkBox_vicon_highlight_markers->setEnabled(false);
186

roangel's avatar
roangel committed
187
    #ifdef CATKIN_MAKE
188
    _rosNodeThread->init();
189
    qRegisterMetaType<ptrToMessage>("ptrToMessage");
190
    QObject::connect(_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
191
    QObject::connect(cf_linker, SIGNAL(updateComboBoxes()), this, SLOT(updateComboBoxes()));
roangel's avatar
roangel committed
192
    #endif
193
}
194

195
196
197
void MainGUIWindow::doTabClosed(int tab_index)
{
    QString name = ui->tabWidget->tabText(tab_index);
roangel's avatar
roangel committed
198
    #ifdef CATKIN_MAKE
roangel's avatar
roangel committed
199
200
    int cf_zone_index = cf_linker->getCFZoneIndexFromName(name);
    scene->removeCrazyFlyZone(cf_zone_index);
roangel's avatar
roangel committed
201
    #endif
202
203
204
205
206
207
208
209
210
}

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

211
212
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
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()))
        {
239
            int cf_zone_index = scene->crazyfly_zones[i]->getIndex();
240
            QString qstr = "CrazyFlyZone ";
241
            qstr.append(QString::number(cf_zone_index + 1));
242
243
244
245
246
247
248
            ui->comboBoxCFZones->addItem(qstr);
        }
    }
    #endif
}


roangel's avatar
roangel committed
249
#ifdef CATKIN_MAKE
250
void MainGUIWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to newViconData, from node
251
{
252

253
254
    // update Markers

255
    if(p_msg->markers.size() < markers_vector.size()) // some markers have dissapeared, received stuff is smaller than what we have
256
257
258
    {
        for(int i = p_msg->markers.size(); i < markers_vector.size(); i++)
        {
259
            scene->removeItem(markers_vector[i]); // remove objects from scene
260
            // ROS_INFO_STREAM("element index: " << i << " removed");
261
        }
262
        markers_vector.erase(markers_vector.begin() + p_msg->markers.size(), markers_vector.end()); //delete them
263
264
    }

265
    // ROS_INFO_STREAM("markers.size: " << p_msg->markers.size());
266

267
268
269
270
    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
        {
271
            // ROS_INFO_STREAM("element index: " << i << " added");
272
            Marker* tmp_p_marker = new Marker(&(p_msg->markers[i]));
273
274
            markers_vector.push_back(tmp_p_marker); // what happens with the new indexes? check if this is correct

275
            if(ui->checkBox_vicon_markers->checkState() == Qt::Checked) //only if markers checkbox info is checked..
276
277
278
279
280
281
282
            {
                scene->addItem(markers_vector[i]);
                if(ui->checkBox_vicon_highlight_markers->checkState() == Qt::Checked)
                {
                    markers_vector[i]->setHighlighted();
                }
            }
283
284
285
        }
        else
        {
286
            // ROS_INFO_STREAM("element index: " << i << " moved, already existed");
287
            markers_vector[i]->updateMarker(&(p_msg->markers[i]));
288
289
        }
    }
290
291

    // update Crazyflies
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
    // 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]));
        }
312
        else                    //name not found, newly arrived, add it to the vector
313
314
        {
            crazyFly* tmp_p_crazyfly = new crazyFly(&(p_msg->crazyflies[i]));
315
316
317
318
319
320
            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
321
            {
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
                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);
                    }
                }
339
            }
340
341
        }
    }
342

343
    // in this loop, clean the ones that are not present anymore. UPDATE: this will apparently only happen when we tick and untick in Vicon
344
    int crazyfly_vector_size_after = crazyflies_vector.size();
345

346
    for(int j = crazyfly_vector_size_after - 1; j >= 0; j--)
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
    {
        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);
        }
    }
362
}
roangel's avatar
roangel committed
363
#endif
364
365
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


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)
{
439

440
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
}

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)
{
494
495
    // this index is tab index. Need to go to cf index
    QString name = ui->tabWidget->tabText(index);
roangel's avatar
roangel committed
496
    #ifdef CATKIN_MAKE
497
498
    int cf_index = cf_linker->getCFZoneIndexFromName(name);
    scene->setSelectedCrazyFlyZone(cf_index);
roangel's avatar
roangel committed
499
    #endif
500
501
502
503
504
505
506
507
508
509
510
511
512
513
}

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
}
514
515
516
517
518

void MainGUIWindow::on_checkBox_vicon_markers_toggled(bool checked)
{
    if(checked)
    {
519
        #ifdef CATKIN_MAKE
520
521
522
523
        for(int i = 0; i < markers_vector.size(); i++)
        {
            scene->addItem(markers_vector[i]);
        }
524
        #endif
525
        ui->checkBox_vicon_highlight_markers->setCheckable(true);
roangel's avatar
roangel committed
526
        ui->checkBox_vicon_highlight_markers->setEnabled(true);
527
528
529
    }
    else
    {
530
        #ifdef CATKIN_MAKE
531
532
533
534
        for(int i = 0; i < markers_vector.size(); i++)
        {
            scene->removeItem(markers_vector[i]);
        }
535
        #endif
536
537
        ui->checkBox_vicon_highlight_markers->setChecked(false);
        ui->checkBox_vicon_highlight_markers->setCheckable(false);
roangel's avatar
roangel committed
538
        ui->checkBox_vicon_highlight_markers->setEnabled(false);
539
540
541
542
543
544
545
    }
}

void MainGUIWindow::on_checkBox_vicon_highlight_markers_toggled(bool checked)
{
    if(checked)
    {
546
        #ifdef CATKIN_MAKE
547
548
549
550
        for(int i = 0; i < markers_vector.size(); i++)
        {
            markers_vector[i]->setHighlighted();
        }
551
        #endif
552
553
554
    }
    else
    {
555
        #ifdef CATKIN_MAKE
556
557
558
559
        for(int i = 0; i < markers_vector.size(); i++)
        {
            markers_vector[i]->clearHighlighted();
        }
560
561
562
563
564
565
566
567
568
569
570
        #endif
    }
}

void MainGUIWindow::on_checkBox_vicon_crazyflies_toggled(bool checked)
{
    if(checked)
    {
        #ifdef CATKIN_MAKE
        for(int i = 0; i < crazyflies_vector.size(); i++)
        {
571
572
573
574
575
            if(!crazyflies_vector[i]->isAddedToScene())
            {
                scene->addItem(crazyflies_vector[i]);
                crazyflies_vector[i]->setAddedToScene(true);
            }
576
577
578
579
580
581
582
583
584
        }
        #endif
        ui->scaleSpinBox->setEnabled(true);
    }
    else
    {
        #ifdef CATKIN_MAKE
        for(int i = 0; i < crazyflies_vector.size(); i++)
        {
585
586
587
588
589
            if(crazyflies_vector[i]->isAddedToScene())
            {
                scene->removeItem(crazyflies_vector[i]);
                crazyflies_vector[i]->setAddedToScene(false);
            }
590
591
592
593
594
595
596
597
598
599
600
601
        }
        #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);
602
    }
603
    #endif
604
}
605
606
607

void MainGUIWindow::on_refresh_cfs_button_clicked()
{
608
    updateComboBoxesCFs();
609
610
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
}

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
}
646
647
648
649
650
651



void MainGUIWindow::on_link_button_clicked()
{
    #ifdef CATKIN_MAKE
652
653
654
655
656

    bool error = false;
    if(ui->comboBoxCFs->count() == 0)
    {
        // plot error message
657
        ui->err_message_cf->setText("CF box is empty");
658
659
        error = true;
    }
660
661
662
663
    else
    {
        ui->err_message_cf->clear();
    }
664

665
666
667
    if(ui->comboBoxCFZones->count() == 0)
    {
        // plot error message
668
        ui->err_message_cf_zone->setText("CFZone box is empty");
669
670
        error = true;
    }
671
672
673
674
    else
    {
        ui->err_message_cf_zone->clear();
    }
675

676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
    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();
    }

691
    if(cf_linker->isStudentIDLinked(ui->spinBox_student_ids->value()))
692
    {
693
694
695
696
697
698
699
        // plot error message
        ui->err_message_student_id->setText("This StudentID has already been linked");
        error = true;
    }
    else
    {
        ui->err_message_student_id->clear();
700
701
702
703
    }

    if(!error)
    {
704
        cf_linker->link(ui->spinBox_student_ids->value(), cf_linker->getCFZoneIndexFromName(ui->comboBoxCFZones->currentText()), ui->comboBoxCFs->currentText().toStdString(), ui->radioAddress_text->text().toStdString());
705
    }
706
707
    #endif
}
708
709
710
711

void MainGUIWindow::on_unlink_button_clicked()
{
    #ifdef CATKIN_MAKE
712
    cf_linker->unlink_selection();
713
714
    #endif
}
715
716
717
718

void MainGUIWindow::on_save_in_DB_button_clicked()
{
    // we need to update and then save?
719
    CrazyflieDB tmp_db;
720
    for(int i = 0; i < cf_linker->links.size(); i++)
721
    {
722
723
        CrazyflieEntry tmp_entry;
        tmp_entry.crazyflieContext.crazyflieName = cf_linker->links[i].cf_name;
724
        tmp_entry.crazyflieContext.crazyflieAddress = cf_linker->links[i].radio_address;
725
726
        tmp_entry.crazyflieContext.localArea.crazyfly_zone_index = cf_linker->links[i].cf_zone_index;
        tmp_entry.studentID = cf_linker->links[i].student_id;
727

728
729
730
731
        for(int j = 0; j < scene->crazyfly_zones.size(); j++)
        {
            if(cf_linker->links[i].cf_zone_index == scene->crazyfly_zones[j]->getIndex())
            {
732
733
734
735
736
737
738
739
740
741
                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;
742
743
744

                tmp_entry.crazyflieContext.localArea.zmin = -0.2;
                tmp_entry.crazyflieContext.localArea.zmax = 2.0;
745
746
747
            }
        }
        tmp_db.crazyflieEntries.push_back(tmp_entry);
748
    }
749
750
751
752

    m_data_base = tmp_db;

    ROS_INFO_STREAM("database:\n" << m_data_base);
753
754
755
756

    // save the database in the file

    fill_database_file();
757
758
}

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
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)
822
823
824
825
826
{
    CMRead getDBCall;
    _rosNodeThread->m_read_db_client.waitForExistence(ros::Duration(-1));
    if(_rosNodeThread->m_read_db_client.call(getDBCall))
    {
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
        read_db = getDBCall.response.crazyflieDB;
        return 0;
    }
    else
    {
        return -1;
    }
}

void MainGUIWindow::on_load_from_DB_button_clicked()
{
    CrazyflieDB tmp_db;
    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
843

844
        cf_linker->clear_all_links();
roangel's avatar
roangel committed
845
        // remove all cf_zones existing
846
        scene->removeAllCFZones();
roangel's avatar
roangel committed
847
848
849
850

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

851
852
853
        for(int i = 0; i < m_data_base.crazyflieEntries.size(); i++)
        {
            std::string cf_name = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieName;
854
            std::string radio_address = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieAddress;
855
856
            int cf_zone_index = m_data_base.crazyflieEntries[i].crazyflieContext.localArea.crazyfly_zone_index;
            // we should first create the cf zones that are in the database?
857
858
859
            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;
860
            QRectF tmp_rect(m_data_base.crazyflieEntries[i].crazyflieContext.localArea.xmin * FROM_METERS_TO_UNITS,
861
                            - m_data_base.crazyflieEntries[i].crazyflieContext.localArea.ymax * FROM_METERS_TO_UNITS, // minus sign because qt has y-axis inverted
862
863
                            width * FROM_METERS_TO_UNITS,
                            height * FROM_METERS_TO_UNITS);
864
            int student_id = m_data_base.crazyflieEntries[i].studentID;
roangel's avatar
roangel committed
865
866
867
868
869


            scene->addCFZone(tmp_rect, cf_zone_index);


870
            cf_linker->link(student_id, cf_zone_index, cf_name, radio_address);
roangel's avatar
roangel committed
871

872
873
874
875
876
877
878
        }
    }
    else
    {
        ROS_ERROR("Failed to read DB");
    }
}