mainguiwindow.cpp 21.1 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
19
#endif

20
#include <string>
21

22
#define N_MAX_CRAZYFLIES           20 // protection number
23

roangel's avatar
roangel committed
24
#ifdef CATKIN_MAKE
25
using namespace d_fall_pps;
roangel's avatar
roangel committed
26
#endif
27

28
29
30
31
MainGUIWindow::MainGUIWindow(int argc, char **argv, QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainGUIWindow)
{
32
33
34
    #ifdef CATKIN_MAKE
    _rosNodeThread = new rosNodeThread(argc, argv, "/ViconDataPublisher/ViconData");
    #endif
35
36
37
    ui->setupUi(this);
    _init();
}
38

39

40
41
42
43
44
MainGUIWindow::~MainGUIWindow()
{
    delete ui;
}

45
46
47
48
49
50
51
52
53
54
55
56
57
58
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;
}
59

roangel's avatar
roangel committed
60
void MainGUIWindow::doNumCrazyFlyZonesChanged(int n)
61
{
roangel's avatar
roangel committed
62
    // tabs number management, maybe do it in a different way so we dont have to remove and add everything?
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
    // 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
81
        #ifdef CATKIN_MAKE
82
83
84
85
        if(cf_linker->isCFZoneLinked(n))
        {
            cf_linker->unlink_cf_zone(n);
        }
roangel's avatar
roangel committed
86
        #endif
87
88
    }
    else if(ui->tabWidget->count() < scene->crazyfly_zones.size())
89
    {
90
        // we added one crazyfly_zone, n means index of the new one. New tab will be labeld index + 1
91
        QString qstr = "CrazyFly ";
92
93
94
        qstr.append(QString::number(n+1));
        crazyFlyZoneTab* widget = new crazyFlyZoneTab(n);
        ui->tabWidget->insertTab(n, widget, qstr);
95
96
        connect(widget, SIGNAL(centerButtonClickedSignal(int)), this, SLOT(centerViewIndex(int)));
    }
97
98
99
100
101
102
103
104
    // 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
105

106
    updateComboBoxesCFZones();
107
108
109
110
}

void MainGUIWindow::_init()
{
111
112
113
114
115
116
117
118
    // 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);

119

120
    ui->graphicsView->setViewportUpdateMode(QGraphicsView::FullViewportUpdate);
121
122
    ui->graphicsView->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
    ui->graphicsView->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
123

124
125
126
127
128
    // error messages
    // ui->err_message_cf->hide();
    // ui->err_message_cf_zone->hide();
    // ui->err_message_student_id->hide();

roangel's avatar
roangel committed
129
130
131
   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; }");
132

roangel's avatar
roangel committed
133
134
135
   ui->err_message_cf->clear();
   ui->err_message_cf_zone->clear();
   ui->err_message_student_id->clear();
136

137
138
    // initialize table_links
    ui->table_links->setColumnCount(3);
139

140
141
142
143
144
    QFont fnt;
    fnt.setPointSize(7);
    ui->table_links->horizontalHeader()->setFont(fnt);

    ui->table_links->horizontalHeader()->setDefaultSectionSize(90);
145
    ui->table_links->verticalHeader()->setDefaultSectionSize(20);
146
147
148
149
150
151
152
153
154
155
156

    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
157
    ui->table_links->setSelectionBehavior(QAbstractItemView::SelectRows);
158
159
160
    QStringList horizontal_header;
    horizontal_header << "Student ID" << "CrazyFly" << "CrazyFly Zone";
    ui->table_links->setHorizontalHeaderLabels(horizontal_header);
161

162
    // scene
163
    scene = new myGraphicsScene(ui->frame_drawing);
164
    scene->setSceneRect(-100 * FROM_METERS_TO_UNITS, -100 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS);
165

166
    ui->graphicsView->setScene(scene);
167

168
    // after scene is created, create CFlinker
169
    #ifdef CATKIN_MAKE
170
    cf_linker = new CFLinker(ui, &crazyflies_vector, &scene->crazyfly_zones);
171
    #endif
172
    // connections
173
    QObject::connect(ui->tabWidget, SIGNAL(tabCloseRequested(int)), this, SLOT(doTabClosed(int)));
roangel's avatar
roangel committed
174
    QObject::connect(scene, SIGNAL(numCrazyFlyZonesChanged(int)), this, SLOT(doNumCrazyFlyZonesChanged(int)));
175
    QObject::connect(scene, SIGNAL(crazyFlyZoneSelected(int)), this, SLOT(setTabIndex(int)));
176
177
    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
178
179

    ui->checkBox_vicon_highlight_markers->setEnabled(false);
180

roangel's avatar
roangel committed
181
    #ifdef CATKIN_MAKE
182
    _rosNodeThread->init();
183
    qRegisterMetaType<ptrToMessage>("ptrToMessage");
184
    QObject::connect(_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
185
    QObject::connect(cf_linker, SIGNAL(updateComboBoxes()), this, SLOT(updateComboBoxes()));
roangel's avatar
roangel committed
186
    #endif
187
}
188

189
190
191
void MainGUIWindow::doTabClosed(int tab_index)
{
    QString name = ui->tabWidget->tabText(tab_index);
roangel's avatar
roangel committed
192
    #ifdef CATKIN_MAKE
roangel's avatar
roangel committed
193
194
    int cf_zone_index = cf_linker->getCFZoneIndexFromName(name);
    scene->removeCrazyFlyZone(cf_zone_index);
roangel's avatar
roangel committed
195
    #endif
196
197
198
199
200
201
202
203
204
}

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

205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
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()))
        {
233
            int cf_zone_index = scene->crazyfly_zones[i]->getIndex();
234
            QString qstr = "CrazyFlyZone ";
235
            qstr.append(QString::number(cf_zone_index + 1));
236
237
238
239
240
241
242
            ui->comboBoxCFZones->addItem(qstr);
        }
    }
    #endif
}


roangel's avatar
roangel committed
243
#ifdef CATKIN_MAKE
244
void MainGUIWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to newViconData, from node
245
{
246

247
248
    // update Markers

249
    if(p_msg->markers.size() < markers_vector.size()) // some markers have dissapeared, received stuff is smaller than what we have
250
251
252
    {
        for(int i = p_msg->markers.size(); i < markers_vector.size(); i++)
        {
253
            scene->removeItem(markers_vector[i]); // remove objects from scene
254
            // ROS_INFO_STREAM("element index: " << i << " removed");
255
        }
256
        markers_vector.erase(markers_vector.begin() + p_msg->markers.size(), markers_vector.end()); //delete them
257
258
    }

259
    // ROS_INFO_STREAM("markers.size: " << p_msg->markers.size());
260

261
262
263
264
    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
        {
265
            // ROS_INFO_STREAM("element index: " << i << " added");
266
            Marker* tmp_p_marker = new Marker(&(p_msg->markers[i]));
267
268
            markers_vector.push_back(tmp_p_marker); // what happens with the new indexes? check if this is correct

269
            if(ui->checkBox_vicon_markers->checkState() == Qt::Checked) //only if markers checkbox info is checked..
270
271
272
273
274
275
276
            {
                scene->addItem(markers_vector[i]);
                if(ui->checkBox_vicon_highlight_markers->checkState() == Qt::Checked)
                {
                    markers_vector[i]->setHighlighted();
                }
            }
277
278
279
        }
        else
        {
280
            // ROS_INFO_STREAM("element index: " << i << " moved, already existed");
281
            markers_vector[i]->updateMarker(&(p_msg->markers[i]));
282
283
        }
    }
284
285

    // update Crazyflies
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
    // 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]));
        }
306
        else                    //name not found, newly arrived, add it to the vector
307
308
        {
            crazyFly* tmp_p_crazyfly = new crazyFly(&(p_msg->crazyflies[i]));
309
310
311
312
313
314
            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
315
            {
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
                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);
                    }
                }
333
            }
334
335
        }
    }
336

337
    // in this loop, clean the ones that are not present anymore. UPDATE: this will apparently only happen when we tick and untick in Vicon
338
    int crazyfly_vector_size_after = crazyflies_vector.size();
339

340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
    for(int j = 0; j < crazyfly_vector_size_after; j++)
    {
        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);
        }
    }
356
}
roangel's avatar
roangel committed
357
#endif
358
359
360
361
362
363
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


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)
{
433

434
435
436
437
438
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
}

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)
{
488
489
    // this index is tab index. Need to go to cf index
    QString name = ui->tabWidget->tabText(index);
roangel's avatar
roangel committed
490
    #ifdef CATKIN_MAKE
491
492
    int cf_index = cf_linker->getCFZoneIndexFromName(name);
    scene->setSelectedCrazyFlyZone(cf_index);
roangel's avatar
roangel committed
493
    #endif
494
495
496
497
498
499
500
501
502
503
504
505
506
507
}

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
}
508
509
510
511
512

void MainGUIWindow::on_checkBox_vicon_markers_toggled(bool checked)
{
    if(checked)
    {
513
        #ifdef CATKIN_MAKE
514
515
516
517
        for(int i = 0; i < markers_vector.size(); i++)
        {
            scene->addItem(markers_vector[i]);
        }
518
        #endif
519
        ui->checkBox_vicon_highlight_markers->setCheckable(true);
roangel's avatar
roangel committed
520
        ui->checkBox_vicon_highlight_markers->setEnabled(true);
521
522
523
    }
    else
    {
524
        #ifdef CATKIN_MAKE
525
526
527
528
        for(int i = 0; i < markers_vector.size(); i++)
        {
            scene->removeItem(markers_vector[i]);
        }
529
        #endif
530
531
        ui->checkBox_vicon_highlight_markers->setChecked(false);
        ui->checkBox_vicon_highlight_markers->setCheckable(false);
roangel's avatar
roangel committed
532
        ui->checkBox_vicon_highlight_markers->setEnabled(false);
533
534
535
536
537
538
539
    }
}

void MainGUIWindow::on_checkBox_vicon_highlight_markers_toggled(bool checked)
{
    if(checked)
    {
540
        #ifdef CATKIN_MAKE
541
542
543
544
        for(int i = 0; i < markers_vector.size(); i++)
        {
            markers_vector[i]->setHighlighted();
        }
545
        #endif
546
547
548
    }
    else
    {
549
        #ifdef CATKIN_MAKE
550
551
552
553
        for(int i = 0; i < markers_vector.size(); i++)
        {
            markers_vector[i]->clearHighlighted();
        }
554
555
556
557
558
559
560
561
562
563
564
        #endif
    }
}

void MainGUIWindow::on_checkBox_vicon_crazyflies_toggled(bool checked)
{
    if(checked)
    {
        #ifdef CATKIN_MAKE
        for(int i = 0; i < crazyflies_vector.size(); i++)
        {
565
566
567
568
569
            if(!crazyflies_vector[i]->isAddedToScene())
            {
                scene->addItem(crazyflies_vector[i]);
                crazyflies_vector[i]->setAddedToScene(true);
            }
570
571
572
573
574
575
576
577
578
        }
        #endif
        ui->scaleSpinBox->setEnabled(true);
    }
    else
    {
        #ifdef CATKIN_MAKE
        for(int i = 0; i < crazyflies_vector.size(); i++)
        {
579
580
581
582
583
            if(crazyflies_vector[i]->isAddedToScene())
            {
                scene->removeItem(crazyflies_vector[i]);
                crazyflies_vector[i]->setAddedToScene(false);
            }
584
585
586
587
588
589
590
591
592
593
594
595
        }
        #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);
596
    }
597
    #endif
598
}
599
600
601

void MainGUIWindow::on_refresh_cfs_button_clicked()
{
602
    updateComboBoxesCFs();
603
604
605
606
607
608
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
}

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
}
640
641
642
643
644
645



void MainGUIWindow::on_link_button_clicked()
{
    #ifdef CATKIN_MAKE
646
647
648
649
650

    bool error = false;
    if(ui->comboBoxCFs->count() == 0)
    {
        // plot error message
651
        ui->err_message_cf->setText("CF box is empty");
652
653
        error = true;
    }
654
655
656
657
    else
    {
        ui->err_message_cf->clear();
    }
658
659
660
    if(ui->comboBoxCFZones->count() == 0)
    {
        // plot error message
661
        ui->err_message_cf_zone->setText("CFZone box is empty");
662
663
        error = true;
    }
664
665
666
667
    else
    {
        ui->err_message_cf_zone->clear();
    }
668

669
    if(cf_linker->isStudentIDLinked(ui->spinBox_student_ids->value()))
670
    {
671
672
673
674
675
676
677
        // plot error message
        ui->err_message_student_id->setText("This StudentID has already been linked");
        error = true;
    }
    else
    {
        ui->err_message_student_id->clear();
678
679
680
681
    }

    if(!error)
    {
682
        cf_linker->link(ui->spinBox_student_ids->value(), cf_linker->getCFZoneIndexFromName(ui->comboBoxCFZones->currentText()), ui->comboBoxCFs->currentText().toStdString());
683
    }
684
685
    #endif
}
686
687
688
689

void MainGUIWindow::on_unlink_button_clicked()
{
    #ifdef CATKIN_MAKE
690
    cf_linker->unlink_selection();
691
692
    #endif
}
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723

void MainGUIWindow::on_save_in_DB_button_clicked()
{
    // we need to update and then save?
}

void MainGUIWindow::on_load_from_DB_button_clicked()
{
    // need to reload and then read?
    CMRead getDBCall;
    _rosNodeThread->m_read_db_client.waitForExistence(ros::Duration(-1));
    if(_rosNodeThread->m_read_db_client.call(getDBCall))
    {
        m_data_base = getDBCall.response.crazyflieDB;
		ROS_INFO_STREAM("database:\n" << m_data_base);
        // TODO: update links table
        cf_linker->clear_all_links();
        for(int i = 0; i < m_data_base.crazyflieEntries.size(); i++)
        {
            std::string cf_name = m_data_base.crazyflieEntries[i].crazyflieContext.crazyflieName;
            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?
            int student_id = m_data_base.crazyflieEntries[i].studentID;
            cf_linker->link(student_id, cf_zone_index, cf_name);
        }
    }
    else
    {
        ROS_ERROR("Failed to read DB");
    }
}