From a3061fa7d3716019010dea9cc0586eededa98c2a Mon Sep 17 00:00:00 2001
From: Olek Bojda <alebojd@gmail.com>
Date: Tue, 25 Sep 2018 12:51:23 +0200
Subject: [PATCH] Added confirmation MessageBox when starting robot. Also
 commands logger shows time instead of message counter

---
 safety_user_plugin/scripts/qt_wrapper.py | 37 ++++++++++++++++--------
 1 file changed, 25 insertions(+), 12 deletions(-)

diff --git a/safety_user_plugin/scripts/qt_wrapper.py b/safety_user_plugin/scripts/qt_wrapper.py
index b91b801..4b0c71f 100644
--- a/safety_user_plugin/scripts/qt_wrapper.py
+++ b/safety_user_plugin/scripts/qt_wrapper.py
@@ -4,18 +4,19 @@ import rospy
 import rospkg
 
 import math
+import datetime
 
 from enums.clutch_state import ClutchState as CS
 from enums.stop_state import StopState as SS
 
 from python_qt_binding.QtGui import QPixmap
+from python_qt_binding.QtWidgets import QMessageBox
 
 
 class QtWrapper:
 
     def __init__(self,widget):
         self.widget = widget
-        self.logger_counter = 0
         self.displayed_robots_id_list = []
 
         self.clear_robot_info()
@@ -30,7 +31,7 @@ class QtWrapper:
 
     def connect_robot_signals(self):
         self.widget.clutchButton.clicked.connect(self.handle_clutchButton_clicked_callback)
-        self.widget.stopButton.clicked.connect(self.handle_stopButton_clicked_callback)
+        self.widget.stopButton.clicked.connect(self.handle_stopButton_clicked)
         self.widget.choiceButton.clicked.connect(self.handle_closeButton_clicked)
 
     def connect_signals(self):
@@ -50,6 +51,16 @@ class QtWrapper:
             method_with_argument = 'self.{0}({1})'.format(method_name,argument[0])
             exec(method_with_argument)
 
+    def handle_stopButton_clicked(self):
+        if self.robot_state == SS.RUNNING:
+            self.handle_stopButton_clicked_callback()
+        else:
+            reply = QMessageBox.warning(self.widget,"UWAGA","Na pewno chcesz odblokowac robota?",QMessageBox.Yes,QMessageBox.No)
+            
+            if reply == QMessageBox.Yes:
+                self.handle_stopButton_clicked_callback()
+
+
     def get_selected_robot_id(self):
         current_text = self.widget.robotsList.currentText()
 
@@ -60,23 +71,25 @@ class QtWrapper:
 
     def display_clutch_on(self):
         self.widget.clutchLabel.setPixmap(self.ok_pixmap.scaled(40,40))
-        self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 24px}")
+        self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
         self.widget.clutchButton.setText('Rozlacz sprzeglo')
 
     def display_clutch_off(self):
         self.widget.clutchLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
-        self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 24px}")
+        self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
         self.widget.clutchButton.setText('Polacz sprzeglo')
 
     def display_state_on(self):
         self.widget.stateLabel.setPixmap(self.ok_pixmap.scaled(40,40))
-        self.widget.stopButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 24px}")
+        self.widget.stopButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
         self.widget.stopButton.setText('Zatrzymaj robota')
+        self.robot_state = SS.RUNNING
 
     def display_state_off(self):
         self.widget.stateLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
-        self.widget.stopButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 24px}")
+        self.widget.stopButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
         self.widget.stopButton.setText('Odblokuj robota')
+        self.robot_state = SS.STOPPED
 
     def handle_not_selected_error(self):
         self.log_error('Najpierw wybierz PIONIERA z listy robotow')
@@ -206,20 +219,20 @@ class QtWrapper:
         self.widget.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>')
+        time = datetime.datetime.now().strftime('[%H:%M:%S]')
+        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):
-        self.logger_counter += 1
-        self.widget.logsBrowser.insertHtml('<font color="orange">' + str(self.logger_counter) + '. ' + warning_text + '</font><br> ')
+        time = datetime.datetime.now().strftime('[%H:%M:%S]')
+        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):
-        self.logger_counter += 1
-        self.widget.logsBrowser.insertHtml('<font color="red">' + str(self.logger_counter) + '. ' + error_text + '</font><br>')
+        time = datetime.datetime.now().strftime('[%H:%M:%S]')
+        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)