Does not compile. Want to construct marker object from message unlabeled...

Does not compile. Want to construct marker object from message unlabeled marker, and CF Object from message CF

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/mainguiwindow.h

@@ -10,8 +10,6 @@
 
 #ifdef CATKIN_MAKE
 #include "rosNodeThread.h"
-#include "d_fall_pps/UnlabeledMarker.h"
-#include "d_fall_pps/UnlabeledMarkersArray.h"
 #endif
 
 #include "ui_mainguiwindow.h"
@@ -100,7 +98,7 @@ private slots:
     void on_checkBox_vicon_highlight_markers_toggled(bool checked);
 
     #ifdef CATKIN_MAKE
-    void setPosMarkers(const ptrToMessage& p_msg);
+    void updateNewViconData(const ptrToMessage& p_msg);
     #endif
 private:
 
@@ -109,8 +107,7 @@ private:
     void _init();
 
     std::vector<Marker*> markers_vector;
-
-    crazyFly* crazyFly_1;
+    std::vector<crazyFly*> crazyflies_vector;
 
     #ifdef CATKIN_MAKE
     rosNodeThread* _rosNodeThread;

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/include/marker.h

@@ -5,6 +5,15 @@
 
 #include <QGraphicsEllipseItem>
 
+#ifdef CATKIN_MAKE
+#include "d_fall_pps/UnlabeledMarker.h"
+#endif
+
+
+#ifdef CATKIN_MAKE
+using namespace d_fall_pps;
+#endif
+
 #define MARKER_DIAMETER        20 * FROM_MILIMETERS_TO_UNITS
 
 #define HIGHLIGHT_DIAMETER     20
@@ -14,7 +23,7 @@
 class Marker : public QGraphicsEllipseItem
 {
 public:
-    explicit Marker(QPointF p, QGraphicsItem *parent = 0);
+    explicit Marker(const UnlabeledMarker::ConstPtr& marker_msg, QGraphicsItem *parent = 0);
     ~Marker();
 
     void setHighlighted(void);
@@ -23,13 +32,17 @@ public:
 
     bool getHighlighted(void);
 
-    void setPosMarker(QPointF new_p);
-
+    void updateMarker(const UnlabeledMarker::ConstPtr& marker_msg);
 private:
+
+    // info to fill by message
+
+    qreal m_x;
+    qreal m_y;
+    qreal m_z;
+
     // properties of marker itself
     qreal _diameter;
-    qreal _x;                   // coordinates of top-left corner of marker
-    qreal _y;
 
     qreal _center_x;              // coordinates of center of marker
     qreal _center_y;

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/mainguiwindow.cpp

@@ -11,6 +11,10 @@
 #include <QMetaType>
 #include <QDir>
 
+#ifdef CATKIN_MAKE
+#include "d_fall_pps/UnlabeledMarker.h"
+#endif
+
 #include <string>
 
 #define N_MAX_CRAZYFLIES           20 // protection number
@@ -69,8 +73,6 @@ void MainGUIWindow::_init()
     scene->setSceneRect(-100 * FROM_METERS_TO_UNITS, -100 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS, 200 * FROM_METERS_TO_UNITS);
 
     ui->graphicsView->setScene(scene);
-    crazyFly_1 = new crazyFly(QPointF(50,50));
-    scene->addItem(crazyFly_1);
 
     QObject::connect(ui->tabWidget, SIGNAL(tabCloseRequested(int)), scene, SLOT(removeCrazyFlyZone(int)));
     QObject::connect(scene, SIGNAL(numCrazyFlyZonesChanged(int)), this, SLOT(set_tabs(int)));
@@ -84,14 +86,16 @@ void MainGUIWindow::_init()
     #ifdef CATKIN_MAKE
     _rosNodeThread->init();
     qRegisterMetaType<ptrToMessage>("ptrToMessage");
-    QObject::connect(_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(setPosMarkers(const ptrToMessage&)));
+    QObject::connect(_rosNodeThread, SIGNAL(newViconData(const ptrToMessage&)), this, SLOT(updateNewViconData(const ptrToMessage&)));
     #endif
 }
 
 #ifdef CATKIN_MAKE
-void MainGUIWindow::setPosMarkers(const ptrToMessage& p_msg) //connected to newViconData, from node
+void MainGUIWindow::updateNewViconData(const ptrToMessage& p_msg) //connected to newViconData, from node
 {
 
+    // update Markers
+
     if(p_msg->markers.size() < markers_vector.size()) // some markers have dissapeared, received stuff is smaller than what we have
     {
         for(int i = p_msg->markers.size(); i < markers_vector.size(); i++)
@@ -110,10 +114,10 @@ void MainGUIWindow::setPosMarkers(const ptrToMessage& p_msg) //connected to newV
         {
             ROS_INFO_STREAM("element index: " << i << " added");
             QPointF p(p_msg->markers[i].x * FROM_MILIMETERS_TO_UNITS, p_msg->markers[i].y * FROM_MILIMETERS_TO_UNITS);
-            Marker* tmp_p_marker = new Marker(scene->mapFromWorldToScene(p));
+            Marker* tmp_p_marker = new Marker(&(p_msg->markers[i]));
             markers_vector.push_back(tmp_p_marker); // what happens with the new indexes? check if this is correct
 
-            if(ui->checkBox_vicon_markers->checkState() == Qt::Checked)                                    //only if markers checkbox info is checked..
+            if(ui->checkBox_vicon_markers->checkState() == Qt::Checked) //only if markers checkbox info is checked..
             {
                 scene->addItem(markers_vector[i]);
                 if(ui->checkBox_vicon_highlight_markers->checkState() == Qt::Checked)
@@ -125,9 +129,16 @@ void MainGUIWindow::setPosMarkers(const ptrToMessage& p_msg) //connected to newV
         else
         {
             ROS_INFO_STREAM("element index: " << i << " moved, already existed");
-            markers_vector[i]->setPosMarker(scene->mapFromWorldToScene(QPointF(p_msg->markers[i].x * FROM_MILIMETERS_TO_UNITS, p_msg->markers[i].y * FROM_MILIMETERS_TO_UNITS)));
+            markers_vector[i]->updateMarker(&(p_msg->markers[i]));
         }
     }
+
+    // update Crazyflies
+
+    // TODO: create a vector of pointers to CFs with all the info inside. Update this vector with new coming data
+    // To access this vector by name, we should maybe create a second array of strings (names), that are located at the
+    // same position as the information of CFs is
+
 }
 #endif
 

pps_ws/src/d_fall_pps/GUI_Qt/CrazyFlyGUI/src/marker.cpp

@@ -4,35 +4,36 @@
 #include <QBrush>
 
 
-Marker::Marker(QPointF p, QGraphicsItem * parent)
+Marker::Marker(const UnlabeledMarker::ConstPtr& marker_msg, QGraphicsItem * parent)
     : QGraphicsEllipseItem(-MARKER_DIAMETER/2, - MARKER_DIAMETER/2, MARKER_DIAMETER, MARKER_DIAMETER, parent)
 {
+    updateMarker(marker_msg);
+
     _highlighted = false;
     _highlight_diameter = HIGHLIGHT_DIAMETER;
 
-    // save original x and y
-    _center_x = p.x();
-    _center_y = p.y();
+
+    QPointF p(m_x, m_y);
 
     _diameter = MARKER_DIAMETER; // x and y are top left coordinates
-    this->setPos(_center_x, _center_y);          //where it is now, it is the center
+    this->setPos(m_x, m_y);          //where it is now, it is the center
 
-    _x_highlight = _center_x - _highlight_diameter/2; // update top-left corner coordinates of highlighing circle
-    _y_highlight = _center_y - _highlight_diameter/2;
+    _x_highlight = m_x - _highlight_diameter/2; // update top-left corner coordinates of highlighing circle
+    _y_highlight = m_y - _highlight_diameter/2;
     this->setPen(Qt::NoPen);
     this->setBrush(QColor(255, 0, 0));
     this->setZValue(10);        // max z value, should always be seen
 }
 
-void Marker::setPosMarker(QPointF new_p)
+void Marker::updateMarker(const UnlabeledMarker::ConstPtr& marker_msg)
 {
-    prepareGeometryChange();
-    this->setPos(_center_x, _center_y);
-
-    _center_x = new_p.x();              // update center coordinates
-    _center_y = new_p.y();
+    m_x = marker_msg->x;
+    m_y = marker_msg->y;
+    m_z = marker_msg->z;
+    this->setPos(m_x * FROM_MILIMETERS_TO_UNITS, -m_y * FROM_MILIMETERS_TO_UNITS);    // - y because of coordinates
 }
 
+
 void Marker::setHighlighted(void)
 {
     if(!_highlighted)