142 lines
5.0 KiB
Python
Executable File
142 lines
5.0 KiB
Python
Executable File
#!/usr/bin/env python
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import os
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from qt_gui.plugin import Plugin
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from qt_wrapper import QtWrapper
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from ros_wrapper import ROSWrapper
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from user_widget import UserWidget
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from user_info import UserInfo
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from enums.clutch_state import ClutchState as CS
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from enums.stop_state import StopState as SS
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class UserPlugin(Plugin):
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def __init__(self,context):
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super(UserPlugin, self).__init__(context)
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self.setObjectName('User Plugin - L1.5 safety system')
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self._widget = UserWidget(context)
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self._qt_wrapper = QtWrapper(self._widget)
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self._ros_wrapper = ROSWrapper()
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self._user_info = UserInfo()
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self._user_info.user_stop_state = SS.STOPPED
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self._user_info.master_stop_state = SS.UNKNOWN
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self._user_info.clutch_state = CS.UNKNOWN
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# Setup functions to get _user_info states from _ros_wrapper
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self._ros_wrapper.setup_get_user_stop_state_function(self._user_info.get_user_stop_state)
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self._ros_wrapper.setup_get_clutch_state_function(self._user_info.get_clutch_state)
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# self.set_callback_functions()
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# At the end!
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# self._qt_wrapper.connect_signals()
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# self._ros_wrapper.setup_node()
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def shutdown_plugin(self):
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self._ros_wrapper.unregister_node()
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def set_callback_functions(self):
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self.set_Qt_callback_functions()
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self.set_ROS_callback_functions()
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def set_ROS_callback_functions(self):
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self._ros_wrapper.set_robots_list_update_callback(self.handle_robots_list_update)
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self._ros_wrapper.set_selected_robot_info_update_callback(self.handle_selected_robot_info_update)
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self._ros_wrapper.set_master_stop_update_callback(self.handle_master_stop_update)
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self._ros_wrapper.set_restrictions_update_callback(self.handle_restrictions_update)
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def set_Qt_callback_functions(self):
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raise NotImplementedError
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# ROS callback functions
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def handle_robots_list_update(self,robots_id_list):
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self._user_info.update_robots_id_list(robots_id_list)
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self._qt_wrapper.update_robots_list_gui(robots_id_list)
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def handle_selected_robot_info_update(self,robot_info):
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self._user_info.update_selected_robot_info(robot_info)
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self._qt_wrapper.update_selected_robot_info(robot_info)
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def handle_master_stop_update(self,master_stop_state):
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self._user_info.master_stop_state = master_stop_state
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if master_stop_state == SS.STOPPED:
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self.master_stopped()
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elif master_stop_state == SS.RUNNING:
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self.master_started()
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else:
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# TODO - Wrong masterstop value exception
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raise NotImplementedError
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def handle_restrictions_update(self,restrictions):
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raise NotImplementedError
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# Qt callback functions
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def handle_robot_selection(self,robot_id):
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if self._user_info.selected_robot == None:
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self.select_robot(robot_id)
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else:
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# TODO - raise user already selected robot exception
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raise NotImplementedError
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def handle_user_stop_state_updated(self):
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if self._user_info.master_stop_state == CS.STOPPED:
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self._qt_wrapper.master_is_stopped_notify()
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elif self._user_info.master_stop_state == CS.RUNNING:
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if self._user_info.user_stop_state == CS.RUNNING:
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self.user_stopped()
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elif self._user_info.user_stop_state == CS.STOPPED:
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self.user_started()
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else:
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# TODO - Wrong userstop value exception
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raise NotImplementedError
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else:
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# TODO - raise switching unknown masterstop value exception
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raise NotImplementedError
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def handle_clutch_switched(self):
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if self._user_info.clutch_state == CS.ENGAGED:
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self.disengage_clutch()
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elif self._user_info.clutch_state == CS.DISENGAGED:
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self.engage_clutch()
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else:
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# TODO - raise switching unknown clutch value exception
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raise NotImplementedError
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def master_stopped(self):
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self.user_stopped()
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self._qt_wrapper.master_stopped()
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self._user_info.master_stop_state = CS.STOPPED
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def master_started(self):
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self._qt_wrapper.master_started()
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self._user_info.master_stop_state = CS.RUNNING
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def user_stopped(self):
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self._user_info.user_stop_state = CS.STOPPED
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self._ros_wrapper.user_stopped()
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self._qt_wrapper.user_stopped()
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def user_started(self):
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self._user_info.user_stop_state = CS.RUNNING
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self._ros_wrapper.user_started()
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self._qt_wrapper.user_started()
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def engage_clutch(self):
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self._user_info.clutch_state = CS.ENGAGED
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self._ros_wrapper.engage_clutch()
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def disengage_clutch(self):
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self._user_info.clutch_state = CS.DISENGAGED
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self._ros_wrapper.disengage_clutch()
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def select_robot(self):
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self._ros_wrapper.select_robot(robot_id)
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self._qt_wrapper.select_robot(robot_id)
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self._user_info.select_robot(robot_id) |