L1.5/l1.5-safety-system
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Working on GUI functionalities

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This commit is contained in:
Olek Bojda 2018-09-18 19:09:59 +02:00
parent 7ab03542d3
commit 20b5e44d72
4 changed files with 58 additions and 31 deletions
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49
safety_user_plugin/scripts/qt_wrapper.py
View File

@ -3,44 +3,56 @@ import os
import rospy
import rospkg
from python_qt_binding.QtGui import QPalette
from python_qt_binding.QtWidgets import QPushButton
# from python_qt_binding.QtGui import QPalette
# 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.clutchButton.clicked.connect(self.handle_clutchButton_clicked)
self.widget.openButton.clicked.connect(self.handle_openButton_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
pass
self.handle_openButton_clicked_callback = callback
def set_user_stop_state_updated_callback(self,callback):
# raise NotImplementedError
pass
self.handle_stopButton_clicked_callback = callback
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
pass
robots_id_list.sort()
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

10
safety_user_plugin/scripts/robot_info.py
View File

@ -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]

12
safety_user_plugin/scripts/ros_wrapper.py
View File

@ -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):

18
safety_user_plugin/scripts/user_plugin.py
View File

@ -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:
if self._user_info.user_stop_state == CS.RUNNING:
elif self._user_info.master_stop_state == SS.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()