From 34fd379f265d7c0eb0d70e39e404de62ee6ddcfc Mon Sep 17 00:00:00 2001
From: Olek Bojda <alebojd@gmail.com>
Date: Mon, 1 Oct 2018 12:29:24 +0200
Subject: [PATCH] Removed clutch state indicator. Added master_stop and
 obstacle_stop indicators

---
 safety_user_plugin/scripts/qt_wrapper.py | 14 +++++++++---
 safety_user_plugin/ui/user_view.ui       | 29 +++++++++++++++++++-----
 2 files changed, 34 insertions(+), 9 deletions(-)

diff --git a/safety_user_plugin/scripts/qt_wrapper.py b/safety_user_plugin/scripts/qt_wrapper.py
index bab0f79..a83cee2 100644
--- a/safety_user_plugin/scripts/qt_wrapper.py
+++ b/safety_user_plugin/scripts/qt_wrapper.py
@@ -78,12 +78,12 @@ class QtWrapper:
             return None
 
     def display_clutch_on(self):
-        self.widget.clutchLabel.setPixmap(self.ok_pixmap.scaled(40,40))
+        # self.widget.clutchLabel.setPixmap(self.ok_pixmap.scaled(40,40))
         self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
         self.widget.clutchButton.setText('Rozlacz sprzeglo')
 
     def display_clutch_off(self):
-        self.widget.clutchLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
+        # self.widget.clutchLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
         self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
         self.widget.clutchButton.setText('Polacz sprzeglo')
 
@@ -196,10 +196,17 @@ class QtWrapper:
         else:
             self.display_state_off()
 
+        if robot_info.obstacle_detected == True:
+            self.widget.obstaclestopLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
+        else:
+            self.widget.obstaclestopLabel.setPixmap(self.ok_pixmap.scaled(40,40))
+
     def master_stopped(self):
+        self.widget.masterstopLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
         self.log_info('Przycisk masterSTOP zostal nacisniety. Zatrzymuje roboty')
 
     def master_started(self):
+        self.widget.masterstopLabel.setPixmap(self.ok_pixmap.scaled(40,40))
         self.log_info('Przycisk masterSTOP odcisniety. Mozesz uruchomic robota')
 
     def user_stopped(self):
@@ -288,7 +295,8 @@ class QtWrapper:
         self.widget.linearLabel.setText('-')
         self.widget.angularLabel.setText('-')
         self.widget.stateLabel.setText('-')
-        self.widget.clutchLabel.setText('-')
+        self.widget.masterstopLabel.setText('-')
+        self.widget.obstaclestopLabel.setText('-')
 
         self.widget.choiceButton.setText('Wybierz')
 
diff --git a/safety_user_plugin/ui/user_view.ui b/safety_user_plugin/ui/user_view.ui
index 4b62413..a2fa262 100644
--- a/safety_user_plugin/ui/user_view.ui
+++ b/safety_user_plugin/ui/user_view.ui
@@ -75,7 +75,7 @@
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="4,2,3">
      <item>
-      <layout class="QVBoxLayout" name="verticalLayout" stretch="1,1,1,1,2,2">
+      <layout class="QVBoxLayout" name="verticalLayout" stretch="1,1,1,1,2,2,2">
        <property name="sizeConstraint">
         <enum>QLayout::SetDefaultConstraint</enum>
        </property>
@@ -110,21 +110,28 @@
        <item>
         <widget class="QLabel" name="label_9">
          <property name="text">
-          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Stan sprzegla&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Stan robota&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
          </property>
         </widget>
        </item>
        <item>
         <widget class="QLabel" name="label_10">
          <property name="text">
-          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Stan stopu&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Stop mastera&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_2">
+         <property name="text">
+          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;&lt;span style=&quot; font-weight:600;&quot;&gt;Stop przeszkody&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
          </property>
         </widget>
        </item>
       </layout>
      </item>
      <item>
-      <layout class="QVBoxLayout" name="verticalLayout_2" stretch="1,1,1,1,2,2">
+      <layout class="QVBoxLayout" name="verticalLayout_2" stretch="1,1,1,1,2,2,0">
        <item>
         <widget class="QLabel" name="idLabel">
          <property name="text">
@@ -166,7 +173,7 @@
         </widget>
        </item>
        <item>
-        <widget class="QLabel" name="clutchLabel">
+        <widget class="QLabel" name="stateLabel">
          <property name="text">
           <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;-&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
          </property>
@@ -176,7 +183,17 @@
         </widget>
        </item>
        <item>
-        <widget class="QLabel" name="stateLabel">
+        <widget class="QLabel" name="masterstopLabel">
+         <property name="text">
+          <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;-&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="obstaclestopLabel">
          <property name="text">
           <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;-&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
          </property>