Added callback handler and connected threads using pyqt signals

safety_master_plugin/launch/master_plugin.launch

@@ -1,7 +1,7 @@
 <launch>
   <node pkg="rqt_gui"
         type="rqt_gui"
-        name="rqt_gui"
+        name="master_rqt_gui"
         args="--standalone safety_master_plugin"
   />
 </launch>

safety_master_plugin/scripts/master_callback_handler.py

@@ -0,0 +1,21 @@
+from python_qt_binding.QtCore import QObject
+from python_qt_binding.QtCore import pyqtSignal
+from robot_info import RobotInfo
+
+class CallbackHandler(QObject):
+    robot_info_signal = pyqtSignal(object)
+    add_robot_signal = pyqtSignal(int)
+    remove_robot_signal = pyqtSignal(int)
+    
+
+    def __init__(self):
+        super(CallbackHandler, self).__init__()    
+
+    def connect_robot_info_signal(self,slot):
+        self.robot_info_signal.connect(slot)
+
+    def connect_add_robot_signal(self,slot):
+        self.add_robot_signal.connect(slot)
+
+    def connect_remove_robot_signal(self,slot):
+        self.remove_robot_signal.connect(slot)

safety_master_plugin/scripts/master_plugin.py

@@ -9,6 +9,8 @@ from qt_gui.plugin import Plugin
 
 from enums.stop_state import StopState as SS
 
+from master_callback_handler import CallbackHandler
+
 class MasterPlugin(Plugin):
 
     def __init__(self,context):
@@ -20,6 +22,11 @@ class MasterPlugin(Plugin):
         self._qt_wrapper = QtWrapper(self._widget)
         self._master_info = MasterInfo()
 
+        self.cbhandler = CallbackHandler()
+        self.cbhandler.connect_robot_info_signal(self._qt_wrapper.update_robot_info)
+        self.cbhandler.connect_add_robot_signal(self._qt_wrapper.add_robot)
+        self.cbhandler.connect_remove_robot_signal(self._qt_wrapper.remove_robot)
+
         
         # self._qt_wrapper.connect_signals()
         # self._qt_wrapper.set_sliders_to_initial_values()
@@ -66,24 +73,34 @@ class MasterPlugin(Plugin):
         self.restrictions_changed(restrictions)
     
     def update_robots_list(self,robots_id_list):
+
+        for robot_id in robots_id_list:
+            if robot_id not in self._master_info.robots_id_list:
+                self.new_robot_registered(robot_id)
+
+        for robot_id in self._master_info.robots_id_list:
+            if robot_id not in robots_id_list:
+                self.robot_unregistered(robot_id)
+
         self._master_info.robots_id_list = robots_id_list
-        self._qt_wrapper.update_robots_list_gui(robots_id_list)
-        # raise NotImplementedError
 
     def new_robot_registered(self,robot_id):
-        raise NotImplementedError
-        # self._qt_wrapper.add_robot_subscriber(robot_id)
+        # raise NotImplementedError
         self._ros_wrapper.add_robot_subscriber(robot_id)
+        self.cbhandler.add_robot_signal.emit(robot_id)
+        # self._qt_wrapper.add_robot(robot_id)
 
     def robot_unregistered(self,robot_id):
-        raise NotImplementedError
-        # self._qt_wrapper.remove_robot_subscriber(robot_id)
+        # raise NotImplementedError
         self._ros_wrapper.remove_robot_subscriber(robot_id)
+        self.cbhandler.remove_robot_signal.emit(robot_id)
+        # self._qt_wrapper.remove_robot(robot_id)
 
     def update_robot_info(self,robot_info):
         # TODO emit signal to qt_wrapper where it will update info about one of robots
-        self._qt_wrapper.update_robot_info(self,robot_info)
-        raise NotImplementedError
+        # self._qt_wrapper.update_robot_info(self,robot_info)
+        # raise NotImplementedError
+        self.cbhandler.robot_info_signal.emit(robot_info)
 
     def master_started(self):
         self._master_info.master_stop_state = SS.RUNNING

safety_master_plugin/scripts/qt_master_wrapper.py

@@ -125,6 +125,10 @@ class QtWrapper:
             self.add_robot_to_list(robot_id)
 
 
+    def update_robot_info(self,robot_info):
+        self.log_info(str(robot_info.robot_id))
+        # raise NotImplementedError
+
     # def remove_robot_from_list(self,robot_id):
     #     count = self.widget.robotsList.count()
 
@@ -151,6 +155,15 @@ class QtWrapper:
         self.log_info('Przycisk masterSTOP odcisniety')
 
 
+    def add_robot(self,robot_id):
+        self.log_info('PIONIER{0} polaczony'.format(robot_id))
+        self.displayed_robots_id_list.append(robot_id)
+
+    def remove_robot(self,robot_id):
+        self.log_info('PIONIER{0} rozlaczony'.format(robot_id))
+        self.displayed_robots_id_list.remove(robot_id)
+
+
     def log_info(self,info_text):
         time = datetime.datetime.now().strftime('[%H:%M:%S]')
 

safety_user_plugin/scripts/ros_wrapper.py

@@ -35,8 +35,8 @@ class ROSWrapper:
         self.connection_timer = None
         self.master_connection_timer = None
 
-    def setup_node(self):
-        rospy.init_node('safety_user_plugin', anonymous=True)
+    # def setup_node(self):
+    #     rospy.init_node('safety_user_plugin', anonymous=True)
 
     def setup_subscribers_and_publishers(self,robot_id):
         robot_name = 'PIONIER' + str(robot_id)