Displaying list of robot works for master plugin

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):

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))
+
+        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('<font color="black">' + str(time) + '. ' + 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):
         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('<font color="orange">' + str(time) + '. ' + 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):
         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('<font color="red">' + str(time) + '. ' + error_text + '</font><br>')
         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()

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)

safety_master_plugin/ui/master_view.ui

@@ -13,9 +13,16 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_5" stretch="2,0,2,0,1">
+  <layout class="QVBoxLayout" name="verticalLayout_5" stretch="0,0,2,0,1">
    <item>
-    <widget class="QListView" name="robotsList"/>
+    <widget class="QTableView" name="robotsList">
+     <property name="textElideMode">
+      <enum>Qt::ElideMiddle</enum>
+     </property>
+     <property name="sortingEnabled">
+      <bool>false</bool>
+     </property>
+    </widget>
    </item>
    <item>
     <spacer name="verticalSpacer">