L1.5/l1.5-safety-system
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Further work. Opening robot works

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This commit is contained in:
Olek Bojda 2018-09-18 21:47:49 +02:00
parent fde26247f3
commit daebe414e8
4 changed files with 27 additions and 3 deletions
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2
safety_user_plugin/scripts/qt_wrapper.py
View File

@ -93,7 +93,7 @@ class QtWrapper:
def update_selected_robot_info(self,robot_info):
linear_vel = math.sqrt(robot_info.linear_velocity[0]**2 + robot_info.linear_velocity[1]**2)
self.widget.idLabel.setText('PIONIER' + str(robot_id))
self.widget.idLabel.setText('PIONIER' + str(robot_info.robot_id))
self.widget.batteryLabel.setText("{:.2f}".format(robot_info.battery_voltage))
self.widget.linearLabel.setText("{:.2f}".format(linear_vel))
self.widget.angularLabel.setText("{:.2f}".format(robot_info.angular_velocity[2]))

3
safety_user_plugin/scripts/ros_wrapper.py
View File

@ -155,7 +155,8 @@ class ROSWrapper:
# Restarting connection timer to avoid raising robot_connection_lost_callback
self.restart_connection_timer()
_robot_info = RobotInfo(0).update_robot_info(msg)
_robot_info = RobotInfo(0)
_robot_info.update_robot_info(msg)
self.selected_robot_info_update_callback(_robot_info)
def handle_master_stop_update(self,msg):

7
safety_user_plugin/scripts/user_info.py
View File

@ -21,7 +21,12 @@ class UserInfo:
self.robots_id_list = robots_id_list
def update_selected_robot_info(self,new_robot_info):
raise NotImplementedError
self.selected_robot.robot_id = new_robot_info.robot_id
self.selected_robot.battery_voltage = new_robot_info.battery_voltage
self.selected_robot.linear_velocity = new_robot_info.linear_velocity
self.selected_robot.angular_velocity = new_robot_info.angular_velocity
self.selected_robot.state = new_robot_info.state
self.selected_robot.clutch = new_robot_info.clutch
def get_user_stop_state(self):
return self.user_stop_state

18
safety_user_plugin/ui/user_view.ui
View File

@ -130,6 +130,9 @@
<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>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
@ -137,6 +140,9 @@
<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>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
@ -144,6 +150,9 @@
<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>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
@ -151,6 +160,9 @@
<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>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
@ -158,6 +170,9 @@
<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>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
@ -165,6 +180,9 @@
<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>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>