Displaying list of robot works for master plugin
This commit is contained in:
Olek Bojda
parent
09d9f6b653
commit
62e7d10641
@ -85,21 +85,14 @@ class MasterPlugin(Plugin):
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self._master_info.robots_id_list = robots_id_list
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def new_robot_registered(self,robot_id):
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# raise NotImplementedError
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self._ros_wrapper.add_robot_subscriber(robot_id)
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self.cbhandler.add_robot_signal.emit(robot_id)
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# self._qt_wrapper.add_robot(robot_id)
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def robot_unregistered(self,robot_id):
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# raise NotImplementedError
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self._ros_wrapper.remove_robot_subscriber(robot_id)
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self.cbhandler.remove_robot_signal.emit(robot_id)
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# self._qt_wrapper.remove_robot(robot_id)
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def update_robot_info(self,robot_info):
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# TODO emit signal to qt_wrapper where it will update info about one of robots
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# self._qt_wrapper.update_robot_info(self,robot_info)
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# raise NotImplementedError
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self.cbhandler.robot_info_signal.emit(robot_info)
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def master_started(self):
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@ -13,7 +13,13 @@ from master_restrictions import Restrictions
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from python_qt_binding.QtGui import QPixmap
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from python_qt_binding.QtGui import QTextCursor
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from python_qt_binding.QtGui import QStandardItem
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from python_qt_binding.QtGui import QStandardItemModel
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from python_qt_binding.QtGui import QBrush
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from python_qt_binding.QtWidgets import QMessageBox
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from python_qt_binding.QtWidgets import QHeaderView
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from python_qt_binding.QtWidgets import QAbstractItemView
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from python_qt_binding.QtCore import Qt
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class QtWrapper:
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@ -23,6 +29,7 @@ class QtWrapper:
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self.displayed_robots_id_list = []
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self.master_stop_state = None
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self.init_robots_list()
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# self.disable_sliders_tracking()
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@ -38,6 +45,28 @@ class QtWrapper:
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self.widget.angularSlider.setValue(100)
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self.widget.linearSlider.setValue(100)
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def init_robots_list(self):
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self.stdItemModel = QStandardItemModel( 0, 6, self.widget.robotsList)
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self.stdItemModel.setHeaderData( 0, Qt.Horizontal, 'Robot' )
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self.stdItemModel.setHeaderData( 1, Qt.Horizontal, 'Stan baterii' )
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self.stdItemModel.setHeaderData( 2, Qt.Horizontal, 'Stan robota' )
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self.stdItemModel.setHeaderData( 3, Qt.Horizontal, 'Stan sprzegla' )
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self.stdItemModel.setHeaderData( 4, Qt.Horizontal, 'Predk. lin.' )
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self.stdItemModel.setHeaderData( 5, Qt.Horizontal, 'Predk. obr.' )
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self.widget.robotsList.setModel(self.stdItemModel)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(0, QHeaderView.Stretch)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(1, QHeaderView.Stretch)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(2, QHeaderView.Stretch)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(3, QHeaderView.Stretch)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(4, QHeaderView.Stretch)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(5, QHeaderView.Stretch)
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self.widget.robotsList.horizontalHeader().setSectionsMovable(False)
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# self.widget.robotsList.setSelectionBehavior(QAbstractItemView.SelectRows)
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self.widget.robotsList.setSelectionMode(QAbstractItemView.NoSelection)
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def disable_sliders_tracking(self):
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self.widget.distanceSlider.setTracking(False)
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@ -73,17 +102,6 @@ class QtWrapper:
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self.set_sliders_to_initial_values()
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# def handle_emitted_signal(self,method_name):
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# exec('self.{0}()'.format(method_name))
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# def handle_emitted_signal_with_list_argument(self,method_name,argument):
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# if method_name == 'update_selected_robot_info':
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# self.update_selected_robot_info(argument[0])
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# else:
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# method_with_argument = 'self.{0}({1})'.format(method_name,argument[0])
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# exec(method_with_argument)
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def handle_masterstopButton_clicked(self):
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if self.master_stop_state == SS.RUNNING:
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self.master_stop_state_updated_callback()
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@ -93,7 +111,6 @@ class QtWrapper:
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if reply == QMessageBox.Yes:
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self.master_stop_state_updated_callback()
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def display_master_stop_on(self):
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self.widget.masterstopButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
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self.widget.masterstopButton.setText('Zatrzymaj roboty')
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@ -103,47 +120,61 @@ class QtWrapper:
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self.widget.masterstopButton.setText('Odblokuj roboty')
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def update_robots_list_gui(self,robots_id_list):
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robots_id_list.sort()
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id_strings_list = (('PIONIER'+str(x)) for x in robots_id_list)
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robots_to_add = []
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robots_to_remove = []
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for robot_id in robots_id_list:
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if robot_id not in self.displayed_robots_id_list:
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robots_to_add.append(robot_id)
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for robot_id in self.displayed_robots_id_list:
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if robot_id not in robots_id_list:
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robots_to_remove.append(robot_id)
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for robot_id in robots_to_remove:
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self.remove_robot_from_list(robot_id)
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for robot_id in robots_to_add:
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self.add_robot_to_list(robot_id)
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def update_robot_info(self,robot_info):
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self.log_info(str(robot_info.robot_id))
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items_to_add = []
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items_to_add.append(QStandardItem('PIONIER{}'.format(robot_info.robot_id)))
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items_to_add.append(QStandardItem('{:.2f}'.format(robot_info.battery_voltage)))
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if robot_info.state == SS.RUNNING:
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item = QStandardItem('Dziala')
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item.setBackground(QBrush(Qt.green))
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items_to_add.append(item)
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elif robot_info.state == SS.STOPPED:
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item = QStandardItem('Zatrzymany')
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item.setBackground(QBrush(Qt.red))
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items_to_add.append(item)
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else:
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raise ValueError('Undefined value of robot_info.robot_state')
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if robot_info.clutch == CS.ENGAGED:
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item = QStandardItem('Sprzegniete')
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item.setBackground(QBrush(Qt.green))
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items_to_add.append(item)
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elif robot_info.clutch == CS.DISENGAGED:
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item = QStandardItem('Rozprzegniete')
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item.setBackground(QBrush(Qt.red))
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items_to_add.append(item)
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else:
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raise ValueError('Undefined value of robot_info.clutch_state')
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linear_vel = math.sqrt(robot_info.linear_velocity[0]**2 + robot_info.linear_velocity[1]**2)
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items_to_add.append(QStandardItem('{:.2f}'.format(linear_vel)))
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items_to_add.append(QStandardItem('{:.2f}'.format(robot_info.angular_velocity[2])))
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items_list = self.stdItemModel.findItems('PIONIER{0}'.format(robot_info.robot_id),Qt.MatchExactly)
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if len(items_list) > 0:
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for item in items_list:
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row_number = item.row()
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else:
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row_number = self.stdItemModel.rowCount()
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for i,item in enumerate(items_to_add):
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item.setTextAlignment(Qt.AlignCenter)
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item.setEditable(0)
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self.stdItemModel.setItem(row_number,i,item)
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# new_robot_info2=QStandardItem('PIONIER'+str(robot_id))
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# new_robot_info3=QStandardItem('PIONIER'+str(robot_id))
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# new_robot_info4=QStandardItem('PIONIER'+str(robot_id))
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# new_robot_info5=QStandardItem('PIONIER'+str(robot_id))
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# new_robot_info6=QStandardItem('PIONIER'+str(robot_id))
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# items_list = [new_robot_info,new_robot_info2,new_robot_info3,new_robot_info4,new_robot_info5,new_robot_info6]
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# self.stdItemModel.insertRow(self.stdItemModel.rowCount(),items_list)
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# raise NotImplementedError
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# def remove_robot_from_list(self,robot_id):
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# count = self.widget.robotsList.count()
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# for i in range(count):
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# if str(robot_id) in self.widget.robotsList.itemText(i):
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# self.widget.robotsList.removeItem(i)
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# self.displayed_robots_id_list.remove(robot_id)
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# return
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# def add_robot_to_list(self,robot_id):
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# self.widget.robotsList.addItem('PIONIER'+str(robot_id))
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# self.displayed_robots_id_list.append(robot_id)
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def master_stopped(self):
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self.master_stop_state = SS.STOPPED
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self.display_master_stop_off()
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@ -156,14 +187,30 @@ class QtWrapper:
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def add_robot(self,robot_id):
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self.log_info('PIONIER{0} polaczony'.format(robot_id))
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if robot_id not in self.displayed_robots_id_list:
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new_robot_info=QStandardItem('PIONIER{}'.format(robot_id))
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new_robot_info.setTextAlignment(Qt.AlignCenter)
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new_robot_info.setEditable(0)
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# new_robot_info.setBackground(QBrush(Qt.white))
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self.stdItemModel.setItem(self.stdItemModel.rowCount(),0,new_robot_info)
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self.displayed_robots_id_list.append(robot_id)
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self.log_info('PIONIER{0} polaczony'.format(robot_id))
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else:
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raise RuntimeError('Adding robot, which is already in master GUI')
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def remove_robot(self,robot_id):
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items_list = self.stdItemModel.findItems('PIONIER{0}'.format(robot_id),Qt.MatchExactly)
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if len(items_list) > 0:
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for item in items_list:
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row_number = item.row()
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self.stdItemModel.removeRow(row_number)
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self.log_info('PIONIER{0} rozlaczony'.format(robot_id))
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self.displayed_robots_id_list.remove(robot_id)
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def log_info(self,info_text):
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time = datetime.datetime.now().strftime('[%H:%M:%S]')
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@ -172,7 +219,6 @@ class QtWrapper:
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self.widget.logsBrowser.setTextCursor(cursor)
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self.widget.logsBrowser.insertHtml('<font color="black">' + str(time) + '. ' + info_text + '</font><br>')
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self.scroll_to_bottom()
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# self.widget.logsBrowser.insertHtml(str(self.logger_counter) + '\t[INFO]\t' + info_text)
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def log_warning(self,warning_text):
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time = datetime.datetime.now().strftime('[%H:%M:%S]')
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@ -183,7 +229,6 @@ class QtWrapper:
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self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End)
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self.widget.logsBrowser.insertHtml('<font color="orange">' + str(time) + '. ' + warning_text + '</font><br> ')
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self.scroll_to_bottom()
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# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[WARN]\t' + warning_text)
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def log_error(self,error_text):
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time = datetime.datetime.now().strftime('[%H:%M:%S]')
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@ -194,7 +239,6 @@ class QtWrapper:
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self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End)
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self.widget.logsBrowser.insertHtml('<font color="red">' + str(time) + '. ' + error_text + '</font><br>')
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self.scroll_to_bottom()
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# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[ERROR]\t' + error_text)
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def scroll_to_bottom(self):
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scrollbar = self.widget.logsBrowser.verticalScrollBar()
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@ -25,8 +25,7 @@ class ROSWrapper:
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self.periodic_timer = None
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self.setup_subscribers_and_publishers()
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# def setup_node(self):
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# rospy.init_node('safety_user_plugin', anonymous=True)
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def setup_subscribers_and_publishers(self):
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self.master_stop_publisher = rospy.Publisher('/RosAria/master_stop',Bool,queue_size = 1)
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@ -13,9 +13,16 @@
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<property name="windowTitle">
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<string>Form</string>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_5" stretch="2,0,2,0,1">
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<layout class="QVBoxLayout" name="verticalLayout_5" stretch="0,0,2,0,1">
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<item>
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<widget class="QListView" name="robotsList"/>
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<widget class="QTableView" name="robotsList">
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<property name="textElideMode">
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<enum>Qt::ElideMiddle</enum>
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</property>
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<property name="sortingEnabled">
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<bool>false</bool>
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</property>
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</widget>
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</item>
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<item>
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<spacer name="verticalSpacer">
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