diff --git a/safety_master_plugin/scripts/master_plugin.py b/safety_master_plugin/scripts/master_plugin.py index 9464fb8..4b8a28b 100755 --- a/safety_master_plugin/scripts/master_plugin.py +++ b/safety_master_plugin/scripts/master_plugin.py @@ -85,21 +85,14 @@ class MasterPlugin(Plugin): self._master_info.robots_id_list = robots_id_list def new_robot_registered(self,robot_id): - # raise NotImplementedError self._ros_wrapper.add_robot_subscriber(robot_id) self.cbhandler.add_robot_signal.emit(robot_id) - # self._qt_wrapper.add_robot(robot_id) def robot_unregistered(self,robot_id): - # raise NotImplementedError self._ros_wrapper.remove_robot_subscriber(robot_id) self.cbhandler.remove_robot_signal.emit(robot_id) - # self._qt_wrapper.remove_robot(robot_id) def update_robot_info(self,robot_info): - # TODO emit signal to qt_wrapper where it will update info about one of robots - # self._qt_wrapper.update_robot_info(self,robot_info) - # raise NotImplementedError self.cbhandler.robot_info_signal.emit(robot_info) def master_started(self): diff --git a/safety_master_plugin/scripts/qt_master_wrapper.py b/safety_master_plugin/scripts/qt_master_wrapper.py index b9d25ea..1330f1d 100644 --- a/safety_master_plugin/scripts/qt_master_wrapper.py +++ b/safety_master_plugin/scripts/qt_master_wrapper.py @@ -13,7 +13,13 @@ from master_restrictions import Restrictions from python_qt_binding.QtGui import QPixmap from python_qt_binding.QtGui import QTextCursor +from python_qt_binding.QtGui import QStandardItem +from python_qt_binding.QtGui import QStandardItemModel +from python_qt_binding.QtGui import QBrush from python_qt_binding.QtWidgets import QMessageBox +from python_qt_binding.QtWidgets import QHeaderView +from python_qt_binding.QtWidgets import QAbstractItemView +from python_qt_binding.QtCore import Qt class QtWrapper: @@ -23,6 +29,7 @@ class QtWrapper: self.displayed_robots_id_list = [] self.master_stop_state = None + self.init_robots_list() # self.disable_sliders_tracking() @@ -38,6 +45,28 @@ class QtWrapper: self.widget.angularSlider.setValue(100) self.widget.linearSlider.setValue(100) + def init_robots_list(self): + self.stdItemModel = QStandardItemModel( 0, 6, self.widget.robotsList) + self.stdItemModel.setHeaderData( 0, Qt.Horizontal, 'Robot' ) + self.stdItemModel.setHeaderData( 1, Qt.Horizontal, 'Stan baterii' ) + self.stdItemModel.setHeaderData( 2, Qt.Horizontal, 'Stan robota' ) + self.stdItemModel.setHeaderData( 3, Qt.Horizontal, 'Stan sprzegla' ) + self.stdItemModel.setHeaderData( 4, Qt.Horizontal, 'Predk. lin.' ) + self.stdItemModel.setHeaderData( 5, Qt.Horizontal, 'Predk. obr.' ) + + self.widget.robotsList.setModel(self.stdItemModel) + + self.widget.robotsList.horizontalHeader().setSectionResizeMode(0, QHeaderView.Stretch) + self.widget.robotsList.horizontalHeader().setSectionResizeMode(1, QHeaderView.Stretch) + self.widget.robotsList.horizontalHeader().setSectionResizeMode(2, QHeaderView.Stretch) + self.widget.robotsList.horizontalHeader().setSectionResizeMode(3, QHeaderView.Stretch) + self.widget.robotsList.horizontalHeader().setSectionResizeMode(4, QHeaderView.Stretch) + self.widget.robotsList.horizontalHeader().setSectionResizeMode(5, QHeaderView.Stretch) + + self.widget.robotsList.horizontalHeader().setSectionsMovable(False) + # self.widget.robotsList.setSelectionBehavior(QAbstractItemView.SelectRows) + self.widget.robotsList.setSelectionMode(QAbstractItemView.NoSelection) + def disable_sliders_tracking(self): self.widget.distanceSlider.setTracking(False) @@ -73,17 +102,6 @@ class QtWrapper: self.set_sliders_to_initial_values() - # def handle_emitted_signal(self,method_name): - # exec('self.{0}()'.format(method_name)) - - # def handle_emitted_signal_with_list_argument(self,method_name,argument): - # if method_name == 'update_selected_robot_info': - # self.update_selected_robot_info(argument[0]) - - # else: - # method_with_argument = 'self.{0}({1})'.format(method_name,argument[0]) - # exec(method_with_argument) - def handle_masterstopButton_clicked(self): if self.master_stop_state == SS.RUNNING: self.master_stop_state_updated_callback() @@ -93,7 +111,6 @@ class QtWrapper: if reply == QMessageBox.Yes: self.master_stop_state_updated_callback() - def display_master_stop_on(self): self.widget.masterstopButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}") self.widget.masterstopButton.setText('Zatrzymaj roboty') @@ -103,47 +120,61 @@ class QtWrapper: self.widget.masterstopButton.setText('Odblokuj roboty') - def update_robots_list_gui(self,robots_id_list): - robots_id_list.sort() - id_strings_list = (('PIONIER'+str(x)) for x in robots_id_list) - - robots_to_add = [] - robots_to_remove = [] - - for robot_id in robots_id_list: - if robot_id not in self.displayed_robots_id_list: - robots_to_add.append(robot_id) - - for robot_id in self.displayed_robots_id_list: - if robot_id not in robots_id_list: - robots_to_remove.append(robot_id) - - for robot_id in robots_to_remove: - self.remove_robot_from_list(robot_id) - - for robot_id in robots_to_add: - self.add_robot_to_list(robot_id) - - def update_robot_info(self,robot_info): - self.log_info(str(robot_info.robot_id)) + items_to_add = [] + items_to_add.append(QStandardItem('PIONIER{}'.format(robot_info.robot_id))) + items_to_add.append(QStandardItem('{:.2f}'.format(robot_info.battery_voltage))) + + if robot_info.state == SS.RUNNING: + item = QStandardItem('Dziala') + item.setBackground(QBrush(Qt.green)) + items_to_add.append(item) + elif robot_info.state == SS.STOPPED: + item = QStandardItem('Zatrzymany') + item.setBackground(QBrush(Qt.red)) + items_to_add.append(item) + else: + raise ValueError('Undefined value of robot_info.robot_state') + + if robot_info.clutch == CS.ENGAGED: + item = QStandardItem('Sprzegniete') + item.setBackground(QBrush(Qt.green)) + items_to_add.append(item) + elif robot_info.clutch == CS.DISENGAGED: + item = QStandardItem('Rozprzegniete') + item.setBackground(QBrush(Qt.red)) + items_to_add.append(item) + else: + raise ValueError('Undefined value of robot_info.clutch_state') + + linear_vel = math.sqrt(robot_info.linear_velocity[0]**2 + robot_info.linear_velocity[1]**2) + items_to_add.append(QStandardItem('{:.2f}'.format(linear_vel))) + + items_to_add.append(QStandardItem('{:.2f}'.format(robot_info.angular_velocity[2]))) + + + items_list = self.stdItemModel.findItems('PIONIER{0}'.format(robot_info.robot_id),Qt.MatchExactly) + if len(items_list) > 0: + for item in items_list: + row_number = item.row() + else: + row_number = self.stdItemModel.rowCount() + + for i,item in enumerate(items_to_add): + item.setTextAlignment(Qt.AlignCenter) + item.setEditable(0) + self.stdItemModel.setItem(row_number,i,item) + # new_robot_info2=QStandardItem('PIONIER'+str(robot_id)) + # new_robot_info3=QStandardItem('PIONIER'+str(robot_id)) + # new_robot_info4=QStandardItem('PIONIER'+str(robot_id)) + # new_robot_info5=QStandardItem('PIONIER'+str(robot_id)) + # new_robot_info6=QStandardItem('PIONIER'+str(robot_id)) + + # items_list = [new_robot_info,new_robot_info2,new_robot_info3,new_robot_info4,new_robot_info5,new_robot_info6] + + # self.stdItemModel.insertRow(self.stdItemModel.rowCount(),items_list) # raise NotImplementedError - # def remove_robot_from_list(self,robot_id): - # count = self.widget.robotsList.count() - - # for i in range(count): - # if str(robot_id) in self.widget.robotsList.itemText(i): - # self.widget.robotsList.removeItem(i) - # self.displayed_robots_id_list.remove(robot_id) - # return - - - # def add_robot_to_list(self,robot_id): - # self.widget.robotsList.addItem('PIONIER'+str(robot_id)) - # self.displayed_robots_id_list.append(robot_id) - - def master_stopped(self): self.master_stop_state = SS.STOPPED self.display_master_stop_off() @@ -156,14 +187,30 @@ class QtWrapper: def add_robot(self,robot_id): - self.log_info('PIONIER{0} polaczony'.format(robot_id)) - self.displayed_robots_id_list.append(robot_id) + + if robot_id not in self.displayed_robots_id_list: + new_robot_info=QStandardItem('PIONIER{}'.format(robot_id)) + new_robot_info.setTextAlignment(Qt.AlignCenter) + new_robot_info.setEditable(0) + # new_robot_info.setBackground(QBrush(Qt.white)) + self.stdItemModel.setItem(self.stdItemModel.rowCount(),0,new_robot_info) + + self.displayed_robots_id_list.append(robot_id) + self.log_info('PIONIER{0} polaczony'.format(robot_id)) + else: + raise RuntimeError('Adding robot, which is already in master GUI') def remove_robot(self,robot_id): + items_list = self.stdItemModel.findItems('PIONIER{0}'.format(robot_id),Qt.MatchExactly) + + if len(items_list) > 0: + for item in items_list: + row_number = item.row() + self.stdItemModel.removeRow(row_number) + self.log_info('PIONIER{0} rozlaczony'.format(robot_id)) self.displayed_robots_id_list.remove(robot_id) - def log_info(self,info_text): time = datetime.datetime.now().strftime('[%H:%M:%S]') @@ -172,7 +219,6 @@ class QtWrapper: self.widget.logsBrowser.setTextCursor(cursor) self.widget.logsBrowser.insertHtml('' + str(time) + '. ' + info_text + '
') self.scroll_to_bottom() - # self.widget.logsBrowser.insertHtml(str(self.logger_counter) + '\t[INFO]\t' + info_text) def log_warning(self,warning_text): time = datetime.datetime.now().strftime('[%H:%M:%S]') @@ -183,7 +229,6 @@ class QtWrapper: self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End) self.widget.logsBrowser.insertHtml('' + str(time) + '. ' + warning_text + '
') self.scroll_to_bottom() - # self.widget.logsBrowser.append(str(self.logger_counter) + '\t[WARN]\t' + warning_text) def log_error(self,error_text): time = datetime.datetime.now().strftime('[%H:%M:%S]') @@ -194,7 +239,6 @@ class QtWrapper: self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End) self.widget.logsBrowser.insertHtml('' + str(time) + '. ' + error_text + '
') self.scroll_to_bottom() - # self.widget.logsBrowser.append(str(self.logger_counter) + '\t[ERROR]\t' + error_text) def scroll_to_bottom(self): scrollbar = self.widget.logsBrowser.verticalScrollBar() diff --git a/safety_master_plugin/scripts/ros_master_wrapper.py b/safety_master_plugin/scripts/ros_master_wrapper.py index 0e4343a..3c9a7ab 100644 --- a/safety_master_plugin/scripts/ros_master_wrapper.py +++ b/safety_master_plugin/scripts/ros_master_wrapper.py @@ -25,8 +25,7 @@ class ROSWrapper: self.periodic_timer = None self.setup_subscribers_and_publishers() - # def setup_node(self): - # rospy.init_node('safety_user_plugin', anonymous=True) + def setup_subscribers_and_publishers(self): self.master_stop_publisher = rospy.Publisher('/RosAria/master_stop',Bool,queue_size = 1) diff --git a/safety_master_plugin/ui/master_view.ui b/safety_master_plugin/ui/master_view.ui index fcb5bba..40440a5 100644 --- a/safety_master_plugin/ui/master_view.ui +++ b/safety_master_plugin/ui/master_view.ui @@ -13,9 +13,16 @@ Form - + - + + + Qt::ElideMiddle + + + false + +