Working on GUI functionalities

safety_user_plugin/scripts/qt_wrapper.py

@@ -3,44 +3,56 @@ import os
 import rospy
 import rospkg
 
-from python_qt_binding.QtGui import QPalette
+# from python_qt_binding.QtGui import QPalette
-from python_qt_binding.QtWidgets import QPushButton
+# from python_qt_binding.QtWidgets import QPushButton
 # from python_qt_binding.QtWidgets import QWidget, QDialog
 
 class QtWrapper:
 
     def __init__(self,widget):
-
         self.widget = widget
-        # self.widget.setStyleSheet("background-color:black;")
-        # self.widget.setBackgroundRole(QPalette.Button)
-        # self.widget.setStyleSheet("QPushButton { background-color: yellow }")
         self.widget.logsBrowser.setText('Sukces')
 
+    def connect_robot_signals(self):
+        raise NotImplementedError
+
     def connect_signals(self):
-        # self.widget.openButton.clicked.connect(self.handle_openButton_clicked)
+        self.widget.openButton.clicked.connect(self.handle_openButton_clicked)
-        self.widget.clutchButton.clicked.connect(self.handle_clutchButton_clicked)
+        self.widget.clutchButton.clicked.connect(self.handle_clutchButton_clicked_callback)
+        self.widget.stopButton.clicked.connect(self.handle_stopButton_clicked_callback)
+
+    def get_selected_robot_id(self):
+        raise NotImplementedError
+
+    def handle_openButton_clicked(self):
+        selected_robot_id = self.get_selected_robot_id()
+
+        if selected_robot_id != None:
+            self.handle_openButton_clicked_callback(selected_robot_id)
+        else:
+            # TODO - Log info
+            raise NotImplementedError
 
     def set_robot_selection_callback(self,callback):
-        # self.handle_openButton_clicked = callback
+        self.handle_openButton_clicked_callback = callback
-        pass
 
     def set_user_stop_state_updated_callback(self,callback):
-        # raise NotImplementedError
+        self.handle_stopButton_clicked_callback = callback
-        pass
 
     def set_clutch_switched_callback(self,callback):
-        self.handle_clutchButton_clicked = callback
+        self.handle_clutchButton_clicked_callback = callback
 
     def select_robot(self,robot_id):
-        raise NotImplementedError
+        self.widget.logsBrowser.setText('Sukcesx1')
 
     def release_robot(self):
-        raise NotImplementedError
+        self.widget.logsBrowser.setText('Sukcesx2')
 
     def update_robots_list_gui(self,robots_id_list):
-        # raise NotImplementedError
+        robots_id_list.sort()
-        pass
+        id_strings_list = (('PIONIER'+str(x)) for x in robots_id_list)
+        self.widget.robotsList.addItems(id_strings_list)
+
 
     def update_selected_robot_info(self,robot_info):
         raise NotImplementedError
@@ -58,7 +70,8 @@ class QtWrapper:
         raise NotImplementedError
 
     def engage_clutch(self):
-        raise NotImplementedError
+        # raise NotImplementedError
+        pass
 
     def disengage_clutch(self):
         raise NotImplementedError

safety_user_plugin/scripts/robot_info.py

@@ -2,7 +2,15 @@
 
 class RobotInfo:
 
-    def __init__(self,robot_info_msg):
+    def __init__(self,robot_id):
+        self.robot_id = robot_id
+        self.battery_voltage = None
+        self.linear_velocity = None
+        self.angular_velocity = None
+        self.state = None
+        self.clutch = None
+
+    def update_robot_info(self,robot_info_msg):
         self.robot_id = robot_info_msg.robot_id.data
         self.battery_voltage = robot_info_msg.battery_voltage.data
         self.linear_velocity = [robot_info_msg.twist.linear.x,robot_info_msg.twist.linear.y,robot_info_msg.twist.linear.z]

safety_user_plugin/scripts/ros_wrapper.py

@@ -15,8 +15,6 @@ from enums.stop_state import StopState as SS
 class ROSWrapper:
 
     def __init__(self):
-        # self.setup_node()
-
         self.robots_list_update_callback = None
         self.selected_robot_info_update_callback = None
         self.master_stop_update_callback = None
@@ -54,7 +52,7 @@ class ROSWrapper:
 
     def unsubscribe(self,subscriber):
         if subscriber != None:
-            subscriber.unsubscribe()
+            subscriber.unregister()
 
     def unregister_publisher(self,publisher):
         if publisher != None:
@@ -147,11 +145,17 @@ class ROSWrapper:
 
         self.robots_list_update_callback(robots_id_list)
 
+
+    def release_robot(self):
+        self.unsubscribe(self.robot_info_subscriber)
+        self.shutdown_timer(self.periodic_timer)
+        self.shutdown_timer(self.connection_timer)
+
     def handle_selected_robot_info_update(self,msg):
         # Restarting connection timer to avoid raising robot_connection_lost_callback
         self.restart_connection_timer()
 
-        _robot_info = RobotInfo(msg)
+        _robot_info = RobotInfo(0).update_robot_info(msg)
         self.selected_robot_info_update_callback(_robot_info)
 
     def handle_master_stop_update(self,msg):

safety_user_plugin/scripts/user_plugin.py

@@ -42,6 +42,8 @@ class UserPlugin(Plugin):
         self._qt_wrapper.connect_signals()
         self._ros_wrapper.set_robots_list_update_callback(self.handle_robots_list_update)
 
+        self._qt_wrapper.update_robots_list_gui([5,6,2])
+
     def shutdown_plugin(self):
         self._ros_wrapper.unregister_node()
 
@@ -105,12 +107,12 @@ class UserPlugin(Plugin):
             raise NotImplementedError
 
     def handle_user_stop_state_updated(self):
-        if self._user_info.master_stop_state == CS.STOPPED:
+        if self._user_info.master_stop_state == SS.STOPPED:
             self._qt_wrapper.master_is_stopped_notify()
-        elif self._user_info.master_stop_state == CS.RUNNING:
+        elif self._user_info.master_stop_state == SS.RUNNING:
-            if self._user_info.user_stop_state == CS.RUNNING:
+            if self._user_info.user_stop_state == SS.RUNNING:
                 self.user_stopped()
-            elif self._user_info.user_stop_state == CS.STOPPED:
+            elif self._user_info.user_stop_state == SS.STOPPED:
                 self.user_started()
             else:
                 # TODO - Wrong userstop value exception
@@ -141,19 +143,19 @@ class UserPlugin(Plugin):
     def master_stopped(self):
         self.user_stopped()
         self._qt_wrapper.master_stopped()
-        self._user_info.master_stop_state = CS.STOPPED
+        self._user_info.master_stop_state = SS.STOPPED
 
     def master_started(self):
         self._qt_wrapper.master_started()
-        self._user_info.master_stop_state = CS.RUNNING
+        self._user_info.master_stop_state = SS.RUNNING
 
     def user_stopped(self):
-        self._user_info.user_stop_state = CS.STOPPED
+        self._user_info.user_stop_state = SS.STOPPED
         self._ros_wrapper.user_stopped()
         self._qt_wrapper.user_stopped()
 
     def user_started(self):
-        self._user_info.user_stop_state = CS.RUNNING
+        self._user_info.user_stop_state = SS.RUNNING
         self._ros_wrapper.user_started()
         self._qt_wrapper.user_started()