L1.5/l1.5-safety-system
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Some fixes

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This commit is contained in:
Olek Bojda 2018-09-19 21:48:09 +02:00
parent 948c26ce25
commit ade1e31758
3 changed files with 15 additions and 4 deletions
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8
safety_user_plugin/scripts/qt_wrapper.py
View File

@ -136,6 +136,8 @@ class QtWrapper:
self.widget.linearLabel.setText("{:.2f}".format(linear_vel)) self.widget.linearLabel.setText("{:.2f}".format(linear_vel))
self.widget.angularLabel.setText("{:.2f}".format(robot_info.angular_velocity[2])) self.widget.angularLabel.setText("{:.2f}".format(robot_info.angular_velocity[2]))
# self.log_info(str(robot_info.clutch == CS.ENGAGED))
if robot_info.clutch == CS.ENGAGED: if robot_info.clutch == CS.ENGAGED:
self.widget.clutchLabel.setText('1') self.widget.clutchLabel.setText('1')
else: else:
@ -180,9 +182,9 @@ class QtWrapper:
self.log_error('Nie mozna wystartowac robota. MasterSTOP wcisniety!') self.log_error('Nie mozna wystartowac robota. MasterSTOP wcisniety!')
def update_restrictions_gui(self,restrictions): def update_restrictions_gui(self,restrictions):
self.distanceRestrictionLabel.setText("{:.2f}".format(restrictions.distance)) self.widget.distanceRestrictionLabel.setText("{:.2f}".format(restrictions.distance))
self.linearRestrictionLabel.setText("{:.2f}".format(restrictions.linear_velocity)) self.widget.linearRestrictionLabel.setText("{:.2f}".format(restrictions.linear_velocity))
self.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 self.logger_counter += 1

2
safety_user_plugin/scripts/ros_wrapper.py
View File

@ -167,7 +167,7 @@ class ROSWrapper:
def handle_restrictions_update(self,msg): def handle_restrictions_update(self,msg):
restrictions = Restrictions(msg) restrictions = Restrictions(msg)
restrictions_update_callback(restrictions) self.restrictions_update_callback(restrictions)
# UserPlugin Callbacks # UserPlugin Callbacks
def set_robots_list_update_callback(self,callback_function): def set_robots_list_update_callback(self,callback_function):

9
safety_user_plugin/ui/user_view.ui
View File

@ -200,6 +200,9 @@
<property name="text"> <property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;-&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string> <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;-&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item row="1" column="0"> <item row="1" column="0">
@ -232,6 +235,9 @@
<property name="text"> <property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;-&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string> <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;-&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="3" column="1">
@ -245,6 +251,9 @@
<property name="text"> <property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;-&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string> <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p align=&quot;center&quot;&gt;-&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget> </widget>
</item> </item>
<item row="0" column="0" colspan="2"> <item row="0" column="0" colspan="2">