L1.5/l1.5-safety-system
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Added confirmation MessageBox when starting robot. Also commands logger shows time instead of message counter

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Olek Bojda 2018-09-25 12:51:23 +02:00
parent 630edc000e
commit a3061fa7d3
1 changed files with 25 additions and 12 deletions
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37
safety_user_plugin/scripts/qt_wrapper.py
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@ -4,18 +4,19 @@ import rospy
import rospkg import rospkg
import math import math
import datetime
from enums.clutch_state import ClutchState as CS from enums.clutch_state import ClutchState as CS
from enums.stop_state import StopState as SS from enums.stop_state import StopState as SS
from python_qt_binding.QtGui import QPixmap from python_qt_binding.QtGui import QPixmap
from python_qt_binding.QtWidgets import QMessageBox
class QtWrapper: class QtWrapper:
def __init__(self,widget): def __init__(self,widget):
self.widget = widget self.widget = widget
self.logger_counter = 0
self.displayed_robots_id_list = [] self.displayed_robots_id_list = []
self.clear_robot_info() self.clear_robot_info()
@ -30,7 +31,7 @@ class QtWrapper:
def connect_robot_signals(self): def connect_robot_signals(self):
self.widget.clutchButton.clicked.connect(self.handle_clutchButton_clicked_callback) 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) self.widget.choiceButton.clicked.connect(self.handle_closeButton_clicked)
def connect_signals(self): def connect_signals(self):
@ -50,6 +51,16 @@ class QtWrapper:
method_with_argument = 'self.{0}({1})'.format(method_name,argument[0]) method_with_argument = 'self.{0}({1})'.format(method_name,argument[0])
exec(method_with_argument) 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): def get_selected_robot_id(self):
current_text = self.widget.robotsList.currentText() current_text = self.widget.robotsList.currentText()
@ -60,23 +71,25 @@ 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 24px}") self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
self.widget.clutchButton.setText('Rozlacz sprzeglo') self.widget.clutchButton.setText('Rozlacz sprzeglo')
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 24px}") self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
self.widget.clutchButton.setText('Polacz sprzeglo') self.widget.clutchButton.setText('Polacz sprzeglo')
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))
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.widget.stopButton.setText('Zatrzymaj robota')
self.robot_state = SS.RUNNING
def display_state_off(self): def display_state_off(self):
self.widget.stateLabel.setPixmap(self.cancel_pixmap.scaled(40,40)) 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.widget.stopButton.setText('Odblokuj robota')
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 robotow')
@ -206,20 +219,20 @@ class QtWrapper:
self.widget.angularRestrictionLabel.setText("{:.2f}".format(restrictions.angular_velocity)) self.widget.angularRestrictionLabel.setText("{:.2f}".format(restrictions.angular_velocity))
def log_info(self,info_text): def log_info(self,info_text):
self.logger_counter += 1 time = datetime.datetime.now().strftime('[%H:%M:%S]')
self.widget.logsBrowser.insertHtml('<font color="black">' + str(self.logger_counter) + '. ' + info_text + '</font><br>') self.widget.logsBrowser.insertHtml('<font color="black">' + str(time) + '. ' + info_text + '</font><br>')
self.scroll_to_bottom() self.scroll_to_bottom()
# self.widget.logsBrowser.insertHtml(str(self.logger_counter) + '\t[INFO]\t' + info_text) # self.widget.logsBrowser.insertHtml(str(self.logger_counter) + '\t[INFO]\t' + info_text)
def log_warning(self,warning_text): def log_warning(self,warning_text):
self.logger_counter += 1 time = datetime.datetime.now().strftime('[%H:%M:%S]')
self.widget.logsBrowser.insertHtml('<font color="orange">' + str(self.logger_counter) + '. ' + warning_text + '</font><br> ') self.widget.logsBrowser.insertHtml('<font color="orange">' + str(time) + '. ' + warning_text + '</font><br> ')
self.scroll_to_bottom() self.scroll_to_bottom()
# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[WARN]\t' + warning_text) # self.widget.logsBrowser.append(str(self.logger_counter) + '\t[WARN]\t' + warning_text)
def log_error(self,error_text): def log_error(self,error_text):
self.logger_counter += 1 time = datetime.datetime.now().strftime('[%H:%M:%S]')
self.widget.logsBrowser.insertHtml('<font color="red">' + str(self.logger_counter) + '. ' + error_text + '</font><br>') self.widget.logsBrowser.insertHtml('<font color="red">' + str(time) + '. ' + error_text + '</font><br>')
self.scroll_to_bottom() self.scroll_to_bottom()
# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[ERROR]\t' + error_text) # self.widget.logsBrowser.append(str(self.logger_counter) + '\t[ERROR]\t' + error_text)