mainguiwindow.h 5.94 KB
Newer Older
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
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
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
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
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
#ifndef MAINGUIWINDOW_H
#define MAINGUIWINDOW_H

#define DEBUG_GUI

#include <QMainWindow>
#include <QTimer>
#include <QGridLayout>
#include <QGraphicsRectItem>

#ifndef DEBUG_GUI
#include "ros/callback_queue.h"
#include "ros/ros.h"
#include "CrazyFlieTypes.h"
#endif
#include "ui_mainguiwindow.h"
#include "myGraphicsScene.h"

namespace Ui {
class MainGUIWindow;
}


#ifndef DEBUG_GUI
struct setpoint
{
    double x;
    double y;
    double z;
    double yaw;

};

class CSetpointQueue
{
public:
    CSetpointQueue();
    void insert(setpoint newElem);
    setpoint getNext();
    void print();

private:
    struct QueueElem
    {
        QueueElem(setpoint newElem) {elem.x=newElem.x; elem.y=newElem.y; elem.z=newElem.z; elem.yaw=newElem.yaw; next=NULL;}
        setpoint elem;
        QueueElem* next;
    };

    QueueElem* startElem;
    QueueElem* currElem;
    QueueElem* lastElem;
};
#endif

class MainGUIWindow : public QMainWindow
{
    Q_OBJECT

public:
    #ifdef DEBUG_GUI
    explicit MainGUIWindow(/*ros::NodeHandle* ,*/ /*ros::CallbackQueue* callbackQueue, ros::Publisher* publisherMotorCommandsGUI,*/ QWidget *parent = 0);
    #else
    explicit MainGUIWindow(ros::NodeHandle* , /*ros::CallbackQueue* callbackQueue, ros::Publisher* publisherMotorCommandsGUI,*/ QWidget *parent = 0);
    #endif
    ~MainGUIWindow();
    #ifndef DEBUG_GUI
    void init();
    #endif

public slots:
    #ifndef DEBUG_GUI
    void runCallbacks();
    #endif
private slots:
    #ifndef DEBUG_GUI
   // void PIDParamTableChanged(double param);

   // void RateParamTableChanged(double param);

   // void positionSetpointChanged(double param);

   // void sampleTimeChanged(double param);

   // void feedforwardCmdChanged(double cmd);

   // void controllerTypeChanged(bool checked);

   // void trajectoryTypeChanged(bool checked);

   // void on_buttonStop_clicked();

   // void on_buttonPrint_clicked();

   // void on_buttonSetpointChange_clicked();

   // void on_buttonPIDDefaultParams_clicked();

   // void on_buttonSetpointCurrPos_clicked();

   // void on_buttonDefaultFeedforward_clicked();

   // void on_buttonResetMissed_clicked();

   // void on_SetpointHome_clicked();

   // void on_setpointZ200_clicked();

   // void on_slideMotorCmdTest_valueChanged(int value);

   // void on_buttonResetControllers_clicked();

   // void on_buttonSetDefaultTs_clicked();

   // void on_buttonSetDefaultRateParams_clicked();

   // void on_slideRollAngleTest_valueChanged(int value);

   // void on_slidePitchAngleTest_valueChanged(int value);

   // void on_slideYawAngleTest_valueChanged(int value);

   // void on_slideRollRateTest_valueChanged(int value);

   // void on_slidePitchRateTest_valueChanged(int value);

   // void on_slideYawRateTest_valueChanged(int value);

   // void on_buttonStop_2_clicked();
   #endif

    void set_tabs(int n);
    void transitionToMode(int mode);
    void on_removeTable_clicked();

    void on_radioButton_table_mode_toggled(bool checked);

    void on_radioButton_crazyfly_zones_mode_toggled(bool checked);
    void handleTablePiecesNumChanged(int newNum);

    void on_radioButton_lock_mode_toggled(bool checked);

    void on_checkBox_grid_toggled(bool checked);

    void on_checkBox_table_toggled(bool checked);

    void on_checkBox_crazyfly_zones_toggled(bool checked);

    void on_tabWidget_currentChanged(int index);

    void centerViewIndex(int index);

    void on_pushButton_fitAll_clicked();

private:

    Ui::MainGUIWindow *ui;
    myGraphicsScene* scene;
    QGraphicsRectItem* item1;

    void _init();

    #ifndef DEBUG_GUI
    // void refreshScreen();

    // callbacks
    // void callbackControllerOutput(const crazypkg::ControllerOutputPackage& msg);
    // void callbackViconData(const crazypkg::ViconData& msg);
    // void callbackCntViconDataMissed(const std_msgs::Int32& msg);

    void readDefaultParameters();
    // void setDefaultPIDParameters();
    // void setDefaultRateParameters();
    // void setDefaultSampleTime();
    // void setDefaultFeedforwardCmd();

    // void initPIDParamsTable();
    // void initRateParamsTable();
    // void initPositionSetpoint();
    // void initSampleTime();
    // void initControllerType();
    // void initFeedforwardCmd();
    // void initSetpointQueues();
    // void initSetpointType();

    // void publishSetpoint();
    // void updateSetpoint();

    // void publishSampleTime(EControllerType controller);

    ros::CallbackQueue m_CallbackQueue;
    ros::NodeHandle* m_pNodeHandle;

    // publishers
    // ros::Publisher* m_pPublisherMotorCommandsGUI;
    ros::Publisher* m_pPublisherControllerParam;
    ros::Publisher* m_pPublisherPositionSetpoint;
    ros::Publisher* m_pPublisherSampleTime;
    ros::Publisher* m_pPublisherControllerType;
    ros::Publisher* m_pPublisherDoSomething;
    ros::Publisher* m_pPublisherFeedforwardCmd;

    crazypkg::ControllerParam m_controllerParam;
    crazypkg::PositionSetpoint m_positionSetpoint;
    crazypkg::MotorCommands m_DummyCommands;
    crazypkg::SampleTimeParam m_sampleTimeParam;
    std_msgs::Int32 m_controllerType;
    std_msgs::Int32 m_DoSomething;
    crazypkg::MotorCommands m_feedforwardCmd;

    //subscribers
    ros::Subscriber* m_pSubscriberControllerOutput;
    ros::Subscriber* m_pSubscriberViconData;
    ros::Subscriber* m_pSubscriberCntViconDataMissed;

    // crazypkg::MotorCommands m_MotorCommands;
    // crazypkg::ViconData m_ViconData;

    // params
    // PIDParams m_PIDParams [countPIDControllers];

    // default params
    PIDParams m_DefaultPIDParams[countPIDControllers];
    PIDParams m_DefaultRateParams[countRateControllers];
    double m_DefaultSampleTime[countSampleTimeTypes];
    crazypkg::MotorCommands m_DefaultFeedforwardCmd;

    CSetpointQueue m_trajCircle;
    CSetpointQueue m_trajSquare;
    setpoint m_currSetpoint;

    bool m_isStopButtonActive;
    bool m_isCalActive;

    enum ETrajectoryType
    {
        eTrajCustom,
        eTrajCircle,
        eTrajSquare
    };

    ETrajectoryType m_trajectoryType;

    #endif
};



#endif // MAINGUIWINDOW_H