From ec606731c434dbd130a4dd417feae16f485bee99 Mon Sep 17 00:00:00 2001
From: Olek Bojda <alebojd@gmail.com>
Date: Mon, 17 Sep 2018 19:41:31 +0200
Subject: [PATCH] Working on user ROSWrapper, QtWrapper and UserPlugin methods

---
 safety_user_plugin/launch/user_plugin.launch | 38 ++-------------
 safety_user_plugin/scripts/qt_wrapper.py     | 10 ++++
 safety_user_plugin/scripts/robot_info.py     |  8 ++++
 safety_user_plugin/scripts/ros_wrapper.py    | 14 +++++-
 safety_user_plugin/scripts/user_info.py      | 13 ++++++
 safety_user_plugin/scripts/user_plugin.py    | 49 ++++++++++++++++++--
 6 files changed, 94 insertions(+), 38 deletions(-)
 create mode 100644 safety_user_plugin/scripts/robot_info.py
 create mode 100644 safety_user_plugin/scripts/user_info.py

diff --git a/safety_user_plugin/launch/user_plugin.launch b/safety_user_plugin/launch/user_plugin.launch
index 1f4e185..26fc0cb 100644
--- a/safety_user_plugin/launch/user_plugin.launch
+++ b/safety_user_plugin/launch/user_plugin.launch
@@ -1,35 +1,7 @@
 <launch>
-  <arg name="port" />
-  <arg name="vis"  default="true"/>
-
-
-
-  <group if="$(arg vis)">
-    <!--<param name="robot_description" command="$(find xacro)/xacro &#45;&#45;inorder '$(find tracz_ground_station)/urdf/tracz.xacro'" />-->
-
-    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
-      <param name="publish_frequency" type="double" value="50.0" />
-    </node>
-
-
-    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-      <param name="use_gui" value="FALSE"/>
-    </node>
-
-     <node pkg="rqt_gui"
-          type="rqt_gui"
-          name="rqt_gui"
-          />
-  </group>
-
-  <node pkg="tracz_ground_station"
-        type="tracz_core.py"
-        name="tracz_core"
-        output="screen"
-        required="true"
-  >
-    <param name="port" type="string" value="$(arg port)" />
-  </node>
-
-
+  <node pkg="rqt_gui"
+        type="rqt_gui"
+        name="rqt_gui"
+        args="--standalone safety_user_plugin"
+  />
 </launch>
\ No newline at end of file
diff --git a/safety_user_plugin/scripts/qt_wrapper.py b/safety_user_plugin/scripts/qt_wrapper.py
index d7e27d6..ef962ec 100644
--- a/safety_user_plugin/scripts/qt_wrapper.py
+++ b/safety_user_plugin/scripts/qt_wrapper.py
@@ -13,4 +13,14 @@ class QtWrapper:
 
 		self.widget.textBrowser.setText('Sukces')
 
+	def connect_signals(self):
+		raise NotImplementedError
 
+	def select_robot(self,robot_id):
+		raise NotImplementedError
+
+	def update_robots_list_gui(self,robots_id_list):
+		raise NotImplementedError
+
+	def update_selected_robot_info(self,robot_info):
+		raise NotImplementedError
\ No newline at end of file
diff --git a/safety_user_plugin/scripts/robot_info.py b/safety_user_plugin/scripts/robot_info.py
new file mode 100644
index 0000000..1301632
--- /dev/null
+++ b/safety_user_plugin/scripts/robot_info.py
@@ -0,0 +1,8 @@
+#!/usr/bin/env python
+
+
+
+class RobotInfo:
+
+	def __init__(self):
+		raise(NotImplementedError)
\ No newline at end of file
diff --git a/safety_user_plugin/scripts/ros_wrapper.py b/safety_user_plugin/scripts/ros_wrapper.py
index 8d98723..effa329 100644
--- a/safety_user_plugin/scripts/ros_wrapper.py
+++ b/safety_user_plugin/scripts/ros_wrapper.py
@@ -1,6 +1,16 @@
-
+#!/usr/bin/env python
 
 class ROSWrapper:
 
 	def __init__(self):
-		pass
\ No newline at end of file
+		pass
+
+	def setup_node(self):
+		raise NotImplementedError
+
+	def select_robot(self,robot_id):
+		raise NotImplementedError
+		return False
+
+	def set_robots_list_update_callback(self,callback_function):
+		self.robots_list_update_callback = callback_function
diff --git a/safety_user_plugin/scripts/user_info.py b/safety_user_plugin/scripts/user_info.py
new file mode 100644
index 0000000..fbe87e1
--- /dev/null
+++ b/safety_user_plugin/scripts/user_info.py
@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+
+class UserInfo:
+
+	def __init__(self):
+		self.selected_robot_id = None
+		self.robots_id_list = []
+
+	def select_robot(self,robot_id):
+		self.selected_robot_id = robot_id
+
+	def update_robots_list(self,robots_id_list):
+		self.robots_id_list = robots_id_list
\ No newline at end of file
diff --git a/safety_user_plugin/scripts/user_plugin.py b/safety_user_plugin/scripts/user_plugin.py
index 62aa6f6..aef3ff4 100755
--- a/safety_user_plugin/scripts/user_plugin.py
+++ b/safety_user_plugin/scripts/user_plugin.py
@@ -9,6 +9,7 @@ from qt_gui.plugin import Plugin
 from qt_wrapper import QtWrapper
 from ros_wrapper import ROSWrapper
 from user_widget import UserWidget
+from user_info import UserInfo
 
 class UserPlugin(Plugin):
 
@@ -16,6 +17,48 @@ class UserPlugin(Plugin):
         super(UserPlugin, self).__init__(context)
         self.setObjectName('User Plugin - L1.5 safety system')
 
-        self.widget = UserWidget(context)
-        self.qt_wrapper = QtWrapper(self.widget)
-        self.ros_wrapper = ROSWrapper()
\ No newline at end of file
+        self._widget = UserWidget(context)
+        self._qt_wrapper = QtWrapper(self._widget)
+        self._ros_wrapper = ROSWrapper()
+        self._user_info = UserInfo()
+
+        # self.register_callback_functions()
+
+        # At the end!
+        # self._qt_wrapper.connect_signals()
+        # self._ros_wrapper.setup_node()
+
+    def register_callback_functions(self):
+        raise NotImplementedError
+        # self._ros_wrapper.set_robots_list_update_callback(self.handle_robots_list_update)
+
+
+    # ROS callback functions
+    def handle_robots_list_update(self,robots_id_list):
+        self._user_info.update_robots_list(robots_id_list)
+        self._qt_wrapper.update_robots_list_gui(robots_id_list)
+
+    def handle_selected_robot_info_update(self,robot_info):
+        self._qt_wrapper.update_selected_robot_info(self,robot_info)
+
+    def handle_master_stop_update(self,topic_state):
+        raise(NotImplementedError)
+
+    # Qt callback functions
+    def handle_robot_selection(self,robot_id):
+        if self._user_info.selected_robot_id is None:
+            if self._ros_wrapper.select_robot(robot_id) == True:
+                self._qt_wrapper.select_robot(robot_id)
+                self._user_info.select_robot(robot_id)
+            else:
+                # TODO - raise ROS subscriptions problem exception
+                raise NotImplementedError
+        else:
+            # TODO - raise user already selected robot exception
+            raise NotImplementedError
+
+    def handle_user_stop_button_update(self,button_state):
+        raise NotImplementedError
+
+    def handle_clutch_switch(self,clutch_state):
+        raise NotImplementedError
\ No newline at end of file