L1.5/l1.5-safety-system
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Fixed missing polish letters

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lab@lab15-4 2018-10-08 20:19:09 +02:00
parent a6ac4c8dfd
commit 511d552eff
2 changed files with 34 additions and 31 deletions
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25
safety_master_plugin/scripts/qt_master_wrapper.py
View File

@ -1,4 +1,5 @@
#!/usr/bin/env python #!/usr/bin/env python
# coding=utf-8
import os import os
import rospy import rospy
import rospkg import rospkg
@ -56,9 +57,9 @@ class QtWrapper:
self.stdItemModel.setHeaderData( 0, Qt.Horizontal, 'Robot' ) self.stdItemModel.setHeaderData( 0, Qt.Horizontal, 'Robot' )
self.stdItemModel.setHeaderData( 1, Qt.Horizontal, 'Stan baterii' ) self.stdItemModel.setHeaderData( 1, Qt.Horizontal, 'Stan baterii' )
self.stdItemModel.setHeaderData( 2, Qt.Horizontal, 'Stan robota' ) self.stdItemModel.setHeaderData( 2, Qt.Horizontal, 'Stan robota' )
self.stdItemModel.setHeaderData( 3, Qt.Horizontal, 'Stan sprzegla' ) self.stdItemModel.setHeaderData( 3, Qt.Horizontal, 'Stan sprzęgła' )
self.stdItemModel.setHeaderData( 4, Qt.Horizontal, 'Predk. lin.' ) self.stdItemModel.setHeaderData( 4, Qt.Horizontal, 'Prędk. lin.' )
self.stdItemModel.setHeaderData( 5, Qt.Horizontal, 'Predk. obr.' ) self.stdItemModel.setHeaderData( 5, Qt.Horizontal, 'Prędk. obr.' )
self.widget.robotsList.setModel(self.stdItemModel) self.widget.robotsList.setModel(self.stdItemModel)
@ -112,7 +113,7 @@ class QtWrapper:
if self.master_stop_state == SS.RUNNING: if self.master_stop_state == SS.RUNNING:
self.master_stop_state_updated_callback() self.master_stop_state_updated_callback()
else: else:
reply = QMessageBox.warning(self.widget,"UWAGA","Na pewno chcesz odblokowac wszystkie roboty?",QMessageBox.Yes,QMessageBox.No) reply = QMessageBox.warning(self.widget,"UWAGA","Na pewno chcesz odblokować wszystkie roboty?",QMessageBox.Yes,QMessageBox.No)
if reply == QMessageBox.Yes: if reply == QMessageBox.Yes:
self.master_stop_state_updated_callback() self.master_stop_state_updated_callback()
@ -132,7 +133,7 @@ class QtWrapper:
items_to_add.append(QStandardItem('{:.2f}'.format(robot_info.battery_voltage))) items_to_add.append(QStandardItem('{:.2f}'.format(robot_info.battery_voltage)))
if robot_info.state == SS.RUNNING: if robot_info.state == SS.RUNNING:
item = QStandardItem('Dziala') item = QStandardItem('Działa')
item.setBackground(QBrush(Qt.green)) item.setBackground(QBrush(Qt.green))
items_to_add.append(item) items_to_add.append(item)
elif robot_info.state == SS.STOPPED: elif robot_info.state == SS.STOPPED:
@ -143,11 +144,11 @@ class QtWrapper:
raise ValueError('Undefined value of robot_info.robot_state') raise ValueError('Undefined value of robot_info.robot_state')
if robot_info.clutch == CS.ENGAGED: if robot_info.clutch == CS.ENGAGED:
item = QStandardItem('Sprzegniete') item = QStandardItem('Sprzęgnięte')
item.setBackground(QBrush(Qt.green)) item.setBackground(QBrush(Qt.green))
items_to_add.append(item) items_to_add.append(item)
elif robot_info.clutch == CS.DISENGAGED: elif robot_info.clutch == CS.DISENGAGED:
item = QStandardItem('Rozprzegniete') item = QStandardItem('Rozprzęgnięte')
item.setBackground(QBrush(Qt.red)) item.setBackground(QBrush(Qt.red))
items_to_add.append(item) items_to_add.append(item)
else: else:
@ -174,12 +175,12 @@ class QtWrapper:
def master_stopped(self): def master_stopped(self):
self.master_stop_state = SS.STOPPED self.master_stop_state = SS.STOPPED
self.display_master_stop_off() self.display_master_stop_off()
self.log_info('Przycisk masterSTOP zostal nacisniety. Zatrzymuje roboty') self.log_info('Przycisk masterSTOP zostal naciśnięty. Zatrzymuję roboty')
def master_started(self): def master_started(self):
self.master_stop_state = SS.RUNNING self.master_stop_state = SS.RUNNING
self.display_master_stop_on() self.display_master_stop_on()
self.log_info('Przycisk masterSTOP odcisniety') self.log_info('Przycisk masterSTOP odciśnięty')
def add_robot(self,robot_id): def add_robot(self,robot_id):
@ -192,7 +193,7 @@ class QtWrapper:
self.stdItemModel.setItem(self.stdItemModel.rowCount(),0,new_robot_info) self.stdItemModel.setItem(self.stdItemModel.rowCount(),0,new_robot_info)
self.displayed_robots_id_list.append(robot_id) self.displayed_robots_id_list.append(robot_id)
self.log_info('PIONIER{0} polaczony'.format(robot_id)) self.log_info('PIONIER{0} połączony'.format(robot_id))
else: else:
raise RuntimeError('Adding robot, which is already in master GUI') raise RuntimeError('Adding robot, which is already in master GUI')
@ -204,7 +205,7 @@ class QtWrapper:
row_number = item.row() row_number = item.row()
self.stdItemModel.removeRow(row_number) self.stdItemModel.removeRow(row_number)
self.log_info('PIONIER{0} rozlaczony'.format(robot_id)) self.log_info('PIONIER{0} rozłączony'.format(robot_id))
self.displayed_robots_id_list.remove(robot_id) self.displayed_robots_id_list.remove(robot_id)
def log_info(self,info_text): def log_info(self,info_text):
@ -239,4 +240,4 @@ class QtWrapper:
def scroll_to_bottom(self): def scroll_to_bottom(self):
scrollbar = self.widget.logsBrowser.verticalScrollBar() scrollbar = self.widget.logsBrowser.verticalScrollBar()
scrollbar.setValue(scrollbar.maximum()) scrollbar.setValue(scrollbar.maximum())

40
safety_user_plugin/scripts/qt_wrapper.py
View File

@ -1,4 +1,6 @@
#!/usr/bin/env python #!/usr/bin/env python
# coding=utf-8
import os import os
import rospy import rospy
import rospkg import rospkg
@ -66,7 +68,7 @@ class QtWrapper:
if self.robot_state == SS.RUNNING: if self.robot_state == SS.RUNNING:
self.handle_stopButton_clicked_callback() self.handle_stopButton_clicked_callback()
else: else:
reply = QMessageBox.warning(self.widget,"UWAGA","Na pewno chcesz odblokowac robota?",QMessageBox.Yes,QMessageBox.No) reply = QMessageBox.warning(self.widget,"UWAGA","Na pewno chcesz odblokować robota?",QMessageBox.Yes,QMessageBox.No)
if reply == QMessageBox.Yes: if reply == QMessageBox.Yes:
self.handle_stopButton_clicked_callback() self.handle_stopButton_clicked_callback()
@ -83,12 +85,12 @@ class QtWrapper:
def display_clutch_on(self): 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.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
self.widget.clutchButton.setText('Rozlacz sprzeglo') self.widget.clutchButton.setText('Rozłącz sprzęgło')
def display_clutch_off(self): 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.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
self.widget.clutchButton.setText('Polacz sprzeglo') self.widget.clutchButton.setText('Połącz sprzęgło')
def display_state_on(self): def display_state_on(self):
self.widget.stateLabel.setPixmap(self.ok_pixmap.scaled(40,40)) self.widget.stateLabel.setPixmap(self.ok_pixmap.scaled(40,40))
@ -103,7 +105,7 @@ class QtWrapper:
self.robot_state = SS.STOPPED self.robot_state = SS.STOPPED
def handle_not_selected_error(self): def handle_not_selected_error(self):
self.log_error('Najpierw wybierz PIONIERA z listy robotow') self.log_error('Najpierw wybierz PIONIERA z listy robotów')
def handle_openButton_clicked(self): def handle_openButton_clicked(self):
selected_robot_id = self.get_selected_robot_id() selected_robot_id = self.get_selected_robot_id()
@ -111,7 +113,7 @@ class QtWrapper:
if selected_robot_id != None: if selected_robot_id != None:
self.handle_openButton_clicked_callback(selected_robot_id) self.handle_openButton_clicked_callback(selected_robot_id)
else: else:
self.log_error('Najpierw wybierz PIONIERA z listy robotow') self.log_error('Najpierw wybierz PIONIERA z listy robotów')
def handle_closeButton_clicked(self): def handle_closeButton_clicked(self):
self.handle_closeButton_clicked_callback() self.handle_closeButton_clicked_callback()
@ -132,14 +134,14 @@ class QtWrapper:
self.disconnect_signals() self.disconnect_signals()
self.connect_robot_signals() self.connect_robot_signals()
self.log_info('PIONIER{0} wybrany!'.format(robot_id)) self.log_info('PIONIER{0} wybrany!'.format(robot_id))
self.log_info('Robot zostanie zatrzymany i sprzegniety') self.log_info('Robot zostanie zatrzymany i sprzęgnięty')
self.widget.choiceButton.setText('Zwolnij robota') self.widget.choiceButton.setText('Zwolnij robota')
def release_robot(self): def release_robot(self):
self.disconnect_signals() self.disconnect_signals()
self.connect_signals() self.connect_signals()
self.log_info('Odlaczam robota') self.log_info('Odłączam robota')
self.clear_robot_info() self.clear_robot_info()
def update_robots_list_gui(self,robots_id_list): def update_robots_list_gui(self,robots_id_list):
@ -206,33 +208,33 @@ class QtWrapper:
def master_stopped(self): def master_stopped(self):
self.widget.masterstopLabel.setPixmap(self.cancel_pixmap.scaled(40,40)) self.widget.masterstopLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
self.log_info('Przycisk masterSTOP zostal nacisniety. Zatrzymuje roboty') self.log_info('Przycisk masterSTOP został naciśnięty. Zatrzymuje roboty')
def master_started(self): def master_started(self):
self.widget.masterstopLabel.setPixmap(self.ok_pixmap.scaled(40,40)) self.widget.masterstopLabel.setPixmap(self.ok_pixmap.scaled(40,40))
self.log_info('Przycisk masterSTOP odcisniety. Mozesz uruchomic robota') self.log_info('Przycisk masterSTOP odciśnięty. Mozesz uruchomić robota')
def user_stopped(self): def user_stopped(self):
self.log_info('Robot zatrzymany') self.log_info('Robot zatrzymany')
self.display_state_off() self.display_state_off()
def user_started(self): def user_started(self):
self.log_info('Robot wystartowal') self.log_info('Robot wystartował')
self.display_state_on() self.display_state_on()
def disengage_clutch(self): def disengage_clutch(self):
self.log_info('Rozprzegam sprzeglo') self.log_info('Rozprzęgam sprzęgło')
self.display_clutch_off() self.display_clutch_off()
def engage_clutch(self): def engage_clutch(self):
self.log_info('Sprzegam sprzeglo') self.log_info('Sprzęgam sprzegło')
self.display_clutch_on() self.display_clutch_on()
def master_is_stopped_notify(self): def master_is_stopped_notify(self):
self.log_error('Nie mozna wystartowac robota. MasterSTOP wcisniety!') self.log_error('Nie można wystartować robota. MasterSTOP wciśnięty!')
def obstacle_is_detected_notify(self): def obstacle_is_detected_notify(self):
self.log_error('Nie mozna wystartowac. Przeszkoda w polu dzialania robota') self.log_error('Nie mozna wystartować. Przeszkoda w polu działania robota')
def update_restrictions_gui(self,restrictions): def update_restrictions_gui(self,restrictions):
self.widget.distanceRestrictionLabel.setText("{:.2f}".format(restrictions.distance)) self.widget.distanceRestrictionLabel.setText("{:.2f}".format(restrictions.distance))
@ -275,17 +277,17 @@ class QtWrapper:
self.clear_robot_info() self.clear_robot_info()
self.disconnect_signals() self.disconnect_signals()
self.connect_signals() self.connect_signals()
self.log_info('Utrata polaczenia z robotem PIONIER{0}'.format(lost_robot_id)) self.log_info('Utrata połączenia z robotem PIONIER{0}'.format(lost_robot_id))
def connection_to_master_lost(self): def connection_to_master_lost(self):
self.log_error('Utrata polaczenia z masterstopem. Popros prowadzacego o jego uruchomienie') self.log_error('Utrata połączenia z masterstopem. Poproś prowadzącego o jego uruchomienie')
def obstacle_detected(self): def obstacle_detected(self):
self.log_error('Przeszkoda wykryta. Zatrzymuje robota') self.log_error('Przeszkoda wykryta. Zatrzymuję robota')
# TODO Zmiana # TODO Zmiana
def obstacle_removed(self): def obstacle_removed(self):
self.log_info('Przeszkoda usunieta') self.log_info('Przeszkoda usunięta')
def scroll_to_bottom(self): def scroll_to_bottom(self):
scrollbar = self.widget.logsBrowser.verticalScrollBar() scrollbar = self.widget.logsBrowser.verticalScrollBar()
@ -307,4 +309,4 @@ class QtWrapper:
self.widget.stopButton.setStyleSheet("") self.widget.stopButton.setStyleSheet("")
self.widget.clutchButton.setText('-') self.widget.clutchButton.setText('-')
self.widget.clutchButton.setStyleSheet("") self.widget.clutchButton.setStyleSheet("")