L1.5/l1.5-safety-system
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This commit is contained in:
Olek Bojda 2018-09-18 20:21:30 +02:00
parent 20b5e44d72
commit 4f36a75249
3 changed files with 75 additions and 26 deletions
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82
safety_user_plugin/scripts/qt_wrapper.py
View File

@ -3,15 +3,13 @@ import os
import rospy
import rospkg
# from python_qt_binding.QtGui import QPalette
# from python_qt_binding.QtWidgets import QPushButton
# from python_qt_binding.QtWidgets import QWidget, QDialog
import math
class QtWrapper:
def __init__(self,widget):
self.widget = widget
self.widget.logsBrowser.setText('Sukces')
self.logger_counter = 0
def connect_robot_signals(self):
raise NotImplementedError
@ -22,7 +20,13 @@ class QtWrapper:
self.widget.stopButton.clicked.connect(self.handle_stopButton_clicked_callback)
def get_selected_robot_id(self):
raise NotImplementedError
current_text = self.widget.robotsList.currentText()
if 'PIONIER' in current_text:
return int(current_text[7:])
else:
return None
def handle_openButton_clicked(self):
selected_robot_id = self.get_selected_robot_id()
@ -43,10 +47,10 @@ class QtWrapper:
self.handle_clutchButton_clicked_callback = callback
def select_robot(self,robot_id):
self.widget.logsBrowser.setText('Sukcesx1')
self.log_info('Robot PIONIER' + str(robot_id) + ' wybrany!')
def release_robot(self):
self.widget.logsBrowser.setText('Sukcesx2')
self.log_info('Odlaczam robota')
def update_robots_list_gui(self,robots_id_list):
robots_id_list.sort()
@ -55,35 +59,73 @@ class QtWrapper:
def update_selected_robot_info(self,robot_info):
raise NotImplementedError
linear_vel = math.sqrt(robot_info.linear_velocity[0]**2 + robot_info.linear_velocity[1]**2)
self.widget.idLabel.setText('PIONIER' + str(robot_id))
self.widget.batteryLabel.setText("{:.2f}".format(robot_info.battery_voltage))
self.widget.linearLabel.setText("{:.2f}".format(linear_vel))
self.widget.angularLabel.setText("{:.2f}".format(robot_info.angular_velocity[2]))
if robot_info.clutch == True:
self.engage_clutch()
else:
self.disengage_clutch()
if robot_info.state == True:
self.engage_clutch()
else:
self.disengage_clutch()
def master_stopped(self):
raise NotImplementedError
self.log_info('Przycisk masterSTOP zostal nacisniety. Zatrzymuje roboty')
def master_started(self):
raise NotImplementedError
self.log_info('Przycisk masterSTOP odcisniety. Mozesz uruchomic robota')
def user_stopped(self):
raise NotImplementedError
self.log_info('Zatrzymuje robota')
self.widget.stateLabel.setText('0')
def user_started(self):
raise NotImplementedError
def engage_clutch(self):
# raise NotImplementedError
pass
self.log_info('Robot wystartowal')
self.widget.stateLabel.setText('1')
def disengage_clutch(self):
raise NotImplementedError
self.widget.clutchLabel.setText('0')
def engage_clutch(self):
self.widget.clutchLabel.setText('1')
def master_is_stopped_notify(self):
raise NotImplementedError
self.log_error('Nie mozna wystartowac robota. MasterSTOP wcisniety!')
def update_restrictions_gui(self,restrictions):
raise NotImplementedError
self.distanceRestrictionLabel.setText("{:.2f}".format(restrictions.distance))
self.linearRestrictionLabel.setText("{:.2f}".format(restrictions.linear_velocity))
self.angularRestrictionLabel.setText("{:.2f}".format(restrictions.angular_velocity))
def log_info(self,info_text):
self.logger_counter += 1
self.widget.logsBrowser.insertHtml('<font color="black">' + str(self.logger_counter) + '. ' + info_text + '</font><br>')
self.scroll_to_bottom()
# self.widget.logsBrowser.insertHtml(str(self.logger_counter) + '\t[INFO]\t' + info_text)
def log_warning(self,warning_text):
self.logger_counter += 1
self.widget.logsBrowser.insertHtml('<font color="orange">' + str(self.logger_counter) + '. ' + warning_text + '</font><br> ')
self.scroll_to_bottom()
# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[WARN]\t' + warning_text)
def log_error(self,error_text):
self.logger_counter += 1
self.widget.logsBrowser.insertHtml('<font color="red">' + str(self.logger_counter) + '. ' + error_text + '</font><br>')
self.scroll_to_bottom()
# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[ERROR]\t' + error_text)
def connection_to_robot_lost(self,lost_robot_id):
raise NotImplementedError
self.log_info('Utrata polaczenia z robotem PIONIER' + str(lost_robot_id))
def scroll_to_bottom(self):
scrollbar = self.widget.logsBrowser.verticalScrollBar()
scrollbar.setValue(scrollbar.maximum())

17
safety_user_plugin/scripts/user_plugin.py
View File

@ -71,8 +71,7 @@ class UserPlugin(Plugin):
self._qt_wrapper.update_robots_list_gui(robots_id_list)
def handle_selected_robot_info_update(self,robot_info):
self._user_info.update_selected_robot_info(robot_info)
self._qt_wrapper.update_selected_robot_info(robot_info)
self.update_selected_robot_info(robot_info)
def handle_master_stop_update(self,master_stop_state):
self._user_info.master_stop_state = master_stop_state
@ -133,8 +132,7 @@ class UserPlugin(Plugin):
def handle_robot_connection_lost(self):
if self._user_info.selected_robot != None:
lost_robot_id = self._user_info.selected_robot.robot_id
self.release_robot()
self._qt_wrapper.connection_to_robot_lost(lost_robot_id)
self.connection_to_robot_lost(lost_robot_id)
else:
raise NotImplementedError
@ -177,4 +175,13 @@ class UserPlugin(Plugin):
def release_robot(self):
self._ros_wrapper.release_robot()
self._qt_wrapper.release_robot()
self._user_info.release_robot()
self._user_info.release_robot()
def connection_to_robot_lost(self,lost_robot_id):
self._ros_wrapper.release_robot()
self._user_info.release_robot()
self._qt_wrapper.connection_to_robot_lost(lost_robot_id)
def update_selected_robot_info(self,robot_info):
self._user_info.update_selected_robot_info(robot_info)
self._qt_wrapper.update_selected_robot_info(robot_info)

2
safety_user_plugin/ui/user_view.ui
View File

@ -172,7 +172,7 @@
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1">
<widget class="QLabel" name="distanceLabel">
<widget class="QLabel" name="distanceRestrictionLabel">
<property name="minimumSize">
<size>
<width>100</width>