170 lines
6.5 KiB
Python
170 lines
6.5 KiB
Python
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#!/usr/bin/env python
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import os
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import rospy
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import rospkg
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import math
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import datetime
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from enums.clutch_state import ClutchState as CS
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from enums.stop_state import StopState as SS
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from python_qt_binding.QtGui import QPixmap
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from python_qt_binding.QtGui import QTextCursor
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from python_qt_binding.QtWidgets import QMessageBox
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class QtWrapper:
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def __init__(self,widget):
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self.widget = widget
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self.displayed_robots_id_list = []
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self.disable_sliders_tracking()
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# self.set_sliders_to_initial_values()
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self.master_stop_state = None
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# self.ok_pixmap = QPixmap('/home/olek/safetysystemL1.5/src/SafetySystem/safety_user_plugin/ui/Ok.jpg')
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# self.cancel_pixmap = QPixmap('/home/olek/safetysystemL1.5/src/SafetySystem/safety_user_plugin/ui/Cancel.jpg')
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def set_sliders_to_initial_values(self):
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raise NotImplementedError
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def disable_sliders_tracking(self):
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self.widget.distanceSlider.setTracking(False)
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self.widget.angularSlider.setTracking(False)
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self.widget.linearSlider.setTracking(False)
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def set_master_stop_state_updated_callback(self,callback_function):
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self.master_stop_state_updated_callback = callback_function
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def set_restrictions_updated_callback(self,callback_function):
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self.restrictions_updated_callback = callback_function
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def handle_restrictions_update(self):
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raise NotImplementedError
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# restrictions = Restrictions()
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# Do something
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# self.restrictions_updated_callback(restrictions)
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def connect_signals(self):
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# self.widget.distanceSlider.valueChanged.connect(self.handle_restrictions_update)
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# self.widget.angularSlider.valueChanged.connect(self.handle_restrictions_update)
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# self.widget.linearSlider.valueChanged.connect(self.handle_restrictions_update)
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self.widget.masterstopButton.clicked.connect(self.handle_masterstopButton_clicked)
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# def handle_emitted_signal(self,method_name):
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# exec('self.{0}()'.format(method_name))
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# def handle_emitted_signal_with_list_argument(self,method_name,argument):
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# if method_name == 'update_selected_robot_info':
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# self.update_selected_robot_info(argument[0])
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# else:
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# method_with_argument = 'self.{0}({1})'.format(method_name,argument[0])
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# exec(method_with_argument)
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def handle_masterstopButton_clicked(self):
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if self.master_stop_state == SS.RUNNING:
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self.master_stop_state_updated_callback()
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else:
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reply = QMessageBox.warning(self.widget,"UWAGA","Na pewno chcesz odblokowac wszystkie roboty?",QMessageBox.Yes,QMessageBox.No)
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if reply == QMessageBox.Yes:
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self.master_stop_state_updated_callback()
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def display_master_stop_on(self):
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self.widget.masterstopButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
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self.widget.masterstopButton.setText('Zatrzymaj roboty')
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def display_master_stop_off(self):
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self.widget.masterstopButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
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self.widget.masterstopButton.setText('Odblokuj roboty')
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def update_robots_list_gui(self,robots_id_list):
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robots_id_list.sort()
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id_strings_list = (('PIONIER'+str(x)) for x in robots_id_list)
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robots_to_add = []
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robots_to_remove = []
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for robot_id in robots_id_list:
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if robot_id not in self.displayed_robots_id_list:
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robots_to_add.append(robot_id)
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for robot_id in self.displayed_robots_id_list:
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if robot_id not in robots_id_list:
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robots_to_remove.append(robot_id)
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for robot_id in robots_to_remove:
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self.remove_robot_from_list(robot_id)
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for robot_id in robots_to_add:
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self.add_robot_to_list(robot_id)
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# def remove_robot_from_list(self,robot_id):
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# count = self.widget.robotsList.count()
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# for i in range(count):
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# if str(robot_id) in self.widget.robotsList.itemText(i):
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# self.widget.robotsList.removeItem(i)
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# self.displayed_robots_id_list.remove(robot_id)
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# return
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# def add_robot_to_list(self,robot_id):
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# self.widget.robotsList.addItem('PIONIER'+str(robot_id))
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# self.displayed_robots_id_list.append(robot_id)
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def master_stopped(self):
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self.master_stop_state = SS.STOPPED
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self.display_master_stop_off()
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self.log_info('Przycisk masterSTOP zostal nacisniety. Zatrzymuje roboty')
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def master_started(self):
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self.master_stop_state = SS.RUNNING
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self.display_master_stop_on()
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self.log_info('Przycisk masterSTOP odcisniety')
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def log_info(self,info_text):
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time = datetime.datetime.now().strftime('[%H:%M:%S]')
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cursor = self.widget.logsBrowser.textCursor()
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cursor.movePosition(QTextCursor.End)
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self.widget.logsBrowser.setTextCursor(cursor)
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self.widget.logsBrowser.insertHtml('<font color="black">' + str(time) + '. ' + info_text + '</font><br>')
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self.scroll_to_bottom()
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# self.widget.logsBrowser.insertHtml(str(self.logger_counter) + '\t[INFO]\t' + info_text)
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def log_warning(self,warning_text):
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time = datetime.datetime.now().strftime('[%H:%M:%S]')
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cursor = self.widget.logsBrowser.textCursor()
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cursor.movePosition(QTextCursor.End)
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self.widget.logsBrowser.setTextCursor(cursor)
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self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End)
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self.widget.logsBrowser.insertHtml('<font color="orange">' + str(time) + '. ' + warning_text + '</font><br> ')
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self.scroll_to_bottom()
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# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[WARN]\t' + warning_text)
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def log_error(self,error_text):
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time = datetime.datetime.now().strftime('[%H:%M:%S]')
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cursor = self.widget.logsBrowser.textCursor()
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cursor.movePosition(QTextCursor.End)
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self.widget.logsBrowser.setTextCursor(cursor)
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self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End)
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self.widget.logsBrowser.insertHtml('<font color="red">' + str(time) + '. ' + error_text + '</font><br>')
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self.scroll_to_bottom()
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# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[ERROR]\t' + error_text)
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def scroll_to_bottom(self):
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scrollbar = self.widget.logsBrowser.verticalScrollBar()
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scrollbar.setValue(scrollbar.maximum())
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