From b7ade7485f82f82812544aa2f09bc2964b5e4558 Mon Sep 17 00:00:00 2001
From: Olek Bojda <alebojd@gmail.com>
Date: Tue, 25 Sep 2018 15:36:28 +0200
Subject: [PATCH] Added initial code and first idea for GUI setup in .ui file

---
 .../scripts/enums/__init__.py                 |   0
 .../scripts/enums/clutch_state.py             |   6 +
 .../scripts/enums/stop_state.py               |   6 +
 safety_master_plugin/scripts/master_plugin.py |  24 ++-
 safety_master_plugin/scripts/master_widget.py |  18 ++
 safety_master_plugin/ui/master_view.ui        | 201 +++++++++++++++---
 6 files changed, 219 insertions(+), 36 deletions(-)
 create mode 100644 safety_master_plugin/scripts/enums/__init__.py
 create mode 100644 safety_master_plugin/scripts/enums/clutch_state.py
 create mode 100644 safety_master_plugin/scripts/enums/stop_state.py
 create mode 100644 safety_master_plugin/scripts/master_widget.py

diff --git a/safety_master_plugin/scripts/enums/__init__.py b/safety_master_plugin/scripts/enums/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/safety_master_plugin/scripts/enums/clutch_state.py b/safety_master_plugin/scripts/enums/clutch_state.py
new file mode 100644
index 0000000..9479b62
--- /dev/null
+++ b/safety_master_plugin/scripts/enums/clutch_state.py
@@ -0,0 +1,6 @@
+
+
+class ClutchState:
+	ENGAGED = 4
+	DISENGAGED = 5
+	UNKNOWN = 6
\ No newline at end of file
diff --git a/safety_master_plugin/scripts/enums/stop_state.py b/safety_master_plugin/scripts/enums/stop_state.py
new file mode 100644
index 0000000..17d5939
--- /dev/null
+++ b/safety_master_plugin/scripts/enums/stop_state.py
@@ -0,0 +1,6 @@
+
+
+class StopState:
+	STOPPED = 1
+	RUNNING = 2
+	UNKNOWN = 3
\ No newline at end of file
diff --git a/safety_master_plugin/scripts/master_plugin.py b/safety_master_plugin/scripts/master_plugin.py
index 1386ad7..6b23abc 100755
--- a/safety_master_plugin/scripts/master_plugin.py
+++ b/safety_master_plugin/scripts/master_plugin.py
@@ -1,4 +1,22 @@
-class MasterPlugin:
 
-	def __init__(self):
-		pass
\ No newline at end of file
+
+from qt_gui.plugin import Plugin
+
+from master_widget import MasterWidget
+
+class MasterPlugin(Plugin):
+
+    def __init__(self,context):
+        super(MasterPlugin, self).__init__(context)
+        self.setObjectName('Master Plugin - L1.5 safety system')
+
+        self._widget = MasterWidget(context)
+        # self._qt_wrapper = QtWrapper(self._widget)
+        # self._ros_wrapper = ROSWrapper()
+
+        # self.set_callback_functions()
+
+
+
+    def set_callback_functions(self):
+    	raise NotImplementedError
diff --git a/safety_master_plugin/scripts/master_widget.py b/safety_master_plugin/scripts/master_widget.py
new file mode 100644
index 0000000..ffa07f5
--- /dev/null
+++ b/safety_master_plugin/scripts/master_widget.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+import os
+import rospkg
+
+from python_qt_binding.QtWidgets import QWidget
+from python_qt_binding import loadUi
+
+class MasterWidget(QWidget):
+
+    def __init__(self,context):
+        super(MasterWidget, self).__init__()
+        ui_file = os.path.join(rospkg.RosPack().get_path('safety_master_plugin'), 'ui', 'master_view.ui')
+        loadUi(ui_file, self)
+        self.setObjectName('Master Plugin - L1.5 safety system')
+
+        if context.serial_number() > 1:
+            self.setWindowTitle(self.windowTitle() + (' (%d)' % context.serial_number()))
+        context.add_widget(self)
\ No newline at end of file
diff --git a/safety_master_plugin/ui/master_view.ui b/safety_master_plugin/ui/master_view.ui
index 85bbe95..832eef5 100644
--- a/safety_master_plugin/ui/master_view.ui
+++ b/safety_master_plugin/ui/master_view.ui
@@ -13,39 +13,174 @@
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <widget class="QListView" name="listView">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>30</y>
-     <width>601</width>
-     <height>201</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QTextBrowser" name="textBrowser">
-   <property name="geometry">
-    <rect>
-     <x>50</x>
-     <y>451</y>
-     <width>621</width>
-     <height>91</height>
-    </rect>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="pushButton">
-   <property name="geometry">
-    <rect>
-     <x>510</x>
-     <y>270</y>
-     <width>141</width>
-     <height>141</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>STOP</string>
-   </property>
-  </widget>
+  <layout class="QVBoxLayout" name="verticalLayout_5" stretch="2,0,2,0,1">
+   <item>
+    <widget class="QListView" name="robotsList"/>
+   </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>25</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_2" stretch="3,2">
+     <item>
+      <layout class="QVBoxLayout" name="verticalLayout_4">
+       <item>
+        <widget class="QLabel" name="label_4">
+         <property name="text">
+          <string>Ograniczenia robotów</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <layout class="QHBoxLayout" name="horizontalLayout">
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout">
+           <item>
+            <widget class="QLabel" name="label_5">
+             <property name="text">
+              <string>Obrazek1</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item alignment="Qt::AlignHCenter">
+            <widget class="QSlider" name="verticalSlider">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label">
+             <property name="text">
+              <string>0.45</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_2">
+           <item>
+            <widget class="QLabel" name="label_6">
+             <property name="text">
+              <string>Obrazek2</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item alignment="Qt::AlignHCenter">
+            <widget class="QSlider" name="verticalSlider_4">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_2">
+             <property name="text">
+              <string>0.67</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+         <item>
+          <layout class="QVBoxLayout" name="verticalLayout_3">
+           <item>
+            <widget class="QLabel" name="label_7">
+             <property name="text">
+              <string>Obrazek3</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+           <item alignment="Qt::AlignHCenter">
+            <widget class="QSlider" name="verticalSlider_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QLabel" name="label_3">
+             <property name="text">
+              <string>0.45</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </item>
+        </layout>
+       </item>
+      </layout>
+     </item>
+     <item>
+      <widget class="QPushButton" name="masterstopButton">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Expanding">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>80</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>STOP</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <spacer name="verticalSpacer_2">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>25</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <widget class="QTextBrowser" name="logsBrowser"/>
+   </item>
+  </layout>
  </widget>
  <resources/>
  <connections/>