Commit 2604c40d authored by roangel's avatar roangel
Browse files

added button for turning motors off. Need to try downstairs

parent 8f623786
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......
...@@ -20,7 +20,9 @@ ...@@ -20,7 +20,9 @@
#include <std_msgs/Int32.h> #include <std_msgs/Int32.h>
#define CMD_CRAZYFLY_MOTORS_OFF 5
using namespace d_fall_pps; using namespace d_fall_pps;
#endif #endif
...@@ -132,6 +134,8 @@ private slots: ...@@ -132,6 +134,8 @@ private slots:
void on_comboBoxCFs_currentTextChanged(const QString &arg1); void on_comboBoxCFs_currentTextChanged(const QString &arg1);
void on_all_motors_off_button_clicked();
private: private:
Ui::MainGUIWindow *ui; Ui::MainGUIWindow *ui;
...@@ -146,6 +150,7 @@ private: ...@@ -146,6 +150,7 @@ private:
CFLinker* cf_linker; CFLinker* cf_linker;
ros::Publisher DBChangedPublisher; ros::Publisher DBChangedPublisher;
ros::Publisher emergencyStopPublisher;
#endif #endif
void updateComboBoxesCFs(); void updateComboBoxesCFs();
......
...@@ -23,6 +23,7 @@ ...@@ -23,6 +23,7 @@
#include <ros/ros.h> #include <ros/ros.h>
#include <ros/network.h> #include <ros/network.h>
#include <ros/package.h>
#endif #endif
...@@ -198,6 +199,7 @@ void MainGUIWindow::_init() ...@@ -198,6 +199,7 @@ void MainGUIWindow::_init()
ros::NodeHandle nodeHandle("~"); ros::NodeHandle nodeHandle("~");
DBChangedPublisher = nodeHandle.advertise<std_msgs::Int32>("DBChanged", 1); DBChangedPublisher = nodeHandle.advertise<std_msgs::Int32>("DBChanged", 1);
emergencyStopPublisher = nodeHandle.advertise<std_msgs::Int32>("emergencyStop", 1);
#endif #endif
} }
...@@ -926,3 +928,10 @@ void MainGUIWindow::on_comboBoxCFs_currentTextChanged(const QString &arg1) ...@@ -926,3 +928,10 @@ void MainGUIWindow::on_comboBoxCFs_currentTextChanged(const QString &arg1)
ROS_INFO("name not found in LUT"); ROS_INFO("name not found in LUT");
} }
} }
void MainGUIWindow::on_all_motors_off_button_clicked()
{
std_msgs::Int32 msg;
msg.data = CMD_CRAZYFLY_MOTORS_OFF;
}
...@@ -7,7 +7,7 @@ ...@@ -7,7 +7,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
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...@@ -110,7 +110,7 @@ ...@@ -110,7 +110,7 @@
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...@@ -248,6 +248,13 @@ ...@@ -248,6 +248,13 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
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<item>
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<string>All motors OFF</string>
</property>
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<item> <item>
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<string>Links</string> <string>Links</string>
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</item> </item>
<item row="4" column="1"> <item row="5" column="1">
<widget class="QSpinBox" name="spinBox_student_ids"> <widget class="QSpinBox" name="spinBox_student_ids">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
...@@ -323,34 +330,34 @@ ...@@ -323,34 +330,34 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="13" column="1"> <item row="9" column="1">
<widget class="QComboBox" name="comboBoxCFZones"/>
</item>
<item row="8" column="1">
<widget class="QComboBox" name="comboBoxCFs"/> <widget class="QComboBox" name="comboBoxCFs"/>
</item> </item>
<item row="3" column="1"> <item row="14" column="1">
<widget class="QComboBox" name="comboBoxCFZones"/>
</item>
<item row="4" column="1">
<widget class="QLabel" name="label_4"> <widget class="QLabel" name="label_4">
<property name="text"> <property name="text">
<string>Choose Student ID:</string> <string>Choose Student ID:</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="1"> <item row="7" column="1">
<widget class="QLabel" name="label_2"> <widget class="QLabel" name="label_2">
<property name="text"> <property name="text">
<string>Choose CF to link:</string> <string>Choose CF to link:</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="12" column="1"> <item row="13" column="1">
<widget class="QLabel" name="label_3"> <widget class="QLabel" name="label_3">
<property name="text"> <property name="text">
<string>Choose CF Zone to link:</string> <string>Choose CF Zone to link:</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="6"> <item row="9" column="6">
<widget class="QPushButton" name="refresh_cfs_button"> <widget class="QPushButton" name="refresh_cfs_button">
<property name="text"> <property name="text">
<string>Refresh CFs</string> <string>Refresh CFs</string>
...@@ -364,7 +371,7 @@ ...@@ -364,7 +371,7 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="15" column="1" colspan="6"> <item row="16" column="1" colspan="6">
<widget class="QTableWidget" name="table_links"> <widget class="QTableWidget" name="table_links">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
...@@ -382,56 +389,56 @@ ...@@ -382,56 +389,56 @@
<number>0</number> <number>0</number>
</property> </property>
<attribute name="horizontalHeaderVisible"> <attribute name="horizontalHeaderVisible">
<bool>true</bool> <bool>false</bool>
</attribute> </attribute>
</widget> </widget>
</item> </item>
<item row="13" column="6"> <item row="14" column="6">
<widget class="QPushButton" name="link_button"> <widget class="QPushButton" name="link_button">
<property name="text"> <property name="text">
<string>Link!</string> <string>Link!</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="17" column="6"> <item row="18" column="6">
<widget class="QPushButton" name="unlink_button"> <widget class="QPushButton" name="unlink_button">
<property name="text"> <property name="text">
<string>Unlink!</string> <string>Unlink!</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="19" column="6">