255 lines
9.8 KiB
Python
Executable File
255 lines
9.8 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 python_qt_binding.QtCore import QObject
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from python_qt_binding.QtCore import pyqtSignal
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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 CallbackHandler(QObject):
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signal = pyqtSignal(str)
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signal_with_list_argument = pyqtSignal(str,list)
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def __init__(self):
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super(CallbackHandler, self).__init__()
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def connect(self,slot):
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self.signal.connect(slot)
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def list_connect(self,slot):
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self.signal_with_list_argument.connect(slot)
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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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# setStyleSheet("background-color:black;")
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self.cbhandler = CallbackHandler()
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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._ros_wrapper.setup_node()
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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.set_robots_list_update_callback(self.handle_robots_list_update)
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self.cbhandler.signal.connect(self._qt_wrapper.handle_emitted_signal)
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self.cbhandler.signal_with_list_argument.connect(self._qt_wrapper.handle_emitted_signal_with_list_argument)
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def call_qt_wrapper_method(self,method_name):
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self.cbhandler.signal.emit(method_name)
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def call_qt_wrapper_method_with_argument(self,method_name,argument):
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self.cbhandler.signal_with_list_argument.emit(method_name,argument)
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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_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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self._ros_wrapper.set_robot_connection_lost_callback(self.handle_robot_connection_lost)
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self._ros_wrapper.set_master_connection_lost_callback(self.handle_master_connection_lost)
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def set_Qt_callback_functions(self):
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self._qt_wrapper.set_robot_selection_callback(self.handle_robot_selection)
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self._qt_wrapper.set_robot_release_callback(self.handle_robot_release)
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self._qt_wrapper.set_user_stop_state_updated_callback(self.handle_user_stop_state_updated)
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self._qt_wrapper.set_clutch_switched_callback(self.handle_clutch_switched)
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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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if robot_info != None:
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self.update_selected_robot_info(robot_info)
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else:
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raise RuntimeError('Updated robot_info is NoneType object')
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def handle_master_stop_update(self,master_stop_state):
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if (master_stop_state != self._user_info.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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raise ValueError('Undefined master_stop_state received')
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def handle_restrictions_update(self,restrictions):
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self._qt_wrapper.update_restrictions_gui(restrictions)
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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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raise RuntimeError('User already selected robot')
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def handle_robot_release(self):
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if self._user_info.selected_robot != None:
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self.release_robot()
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else:
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raise RuntimeError('Cannot release. No robot selected')
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def handle_user_stop_state_updated(self):
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if self._user_info.selected_robot.obstacle_detected == True:
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self._qt_wrapper.obstacle_is_detected_notify()
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else:
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if self._user_info.master_stop_state == SS.STOPPED:
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self._qt_wrapper.master_is_stopped_notify()
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elif self._user_info.master_stop_state == SS.RUNNING:
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if self._user_info.user_stop_state == SS.RUNNING:
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self.user_stopped()
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elif self._user_info.user_stop_state == SS.STOPPED:
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self.user_started()
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else:
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raise ValueError('user_stop_state value undefined')
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else:
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raise ValueError('master_stop_state value undefined')
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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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raise ValueError('clutch_state value undefined')
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def handle_robot_connection_lost(self):
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if self._user_info.selected_robot != None:
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lost_robot_id = self._user_info.selected_robot.robot_id
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self.connection_to_robot_lost(lost_robot_id)
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else:
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raise RuntimeError('Connection lost callback received when no robot was selected')
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def handle_master_connection_lost(self):
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self.connection_to_master_lost()
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# Operations
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def master_stopped(self):
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self._user_info.master_stop_state = SS.STOPPED
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if self._user_info.selected_robot != None:
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self.user_stopped()
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self.call_qt_wrapper_method('master_stopped')
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# self._qt_wrapper.master_stopped()
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def master_started(self):
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self._user_info.master_stop_state = SS.RUNNING
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if self._user_info.selected_robot != None:
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self.call_qt_wrapper_method('master_started')
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# self._qt_wrapper.master_started()
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def user_stopped(self):
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self._user_info.user_stop_state = SS.STOPPED
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self._ros_wrapper.user_stopped()
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self.call_qt_wrapper_method('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 = SS.RUNNING
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self._ros_wrapper.user_started()
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self.call_qt_wrapper_method('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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self.call_qt_wrapper_method('engage_clutch')
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# self._qt_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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self.call_qt_wrapper_method('disengage_clutch')
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# self._qt_wrapper.disengage_clutch()
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def select_robot(self,robot_id):
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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.call_qt_wrapper_method_with_argument('select_robot',[robot_id])
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self._user_info.select_robot(robot_id)
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# Stop robot and engage clutch after taking control over it to put it in starting state
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self.user_stopped()
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self.engage_clutch()
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if self._user_info.master_stop_state == SS.RUNNING:
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self.master_started()
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elif self._user_info.master_stop_state == SS.STOPPED:
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self.master_stopped()
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def release_robot(self):
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self._ros_wrapper.release_robot()
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self.call_qt_wrapper_method('release_robot')
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# self._qt_wrapper.release_robot()
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self._user_info.release_robot()
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self._user_info.master_stop_state = SS.UNKNOWN
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def connection_to_robot_lost(self,lost_robot_id):
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# pass
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self._ros_wrapper.release_robot()
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self._user_info.release_robot()
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self.call_qt_wrapper_method_with_argument('connection_to_robot_lost',[lost_robot_id])
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# self._qt_wrapper.connection_to_robot_lost(lost_robot_id)
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def connection_to_master_lost(self):
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if self._user_info.selected_robot != None:
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self.master_stopped()
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self.call_qt_wrapper_method('connection_to_master_lost')
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def obstacle_detected(self):
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self.call_qt_wrapper_method('obstacle_detected')
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self.user_stopped()
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def obstacle_removed(self):
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self.call_qt_wrapper_method('obstacle_removed')
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def update_selected_robot_info(self,robot_info):
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if self._user_info.selected_robot != None:
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if robot_info.obstacle_detected == True and self._user_info.selected_robot.obstacle_detected == False:
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self.obstacle_detected()
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elif robot_info.obstacle_detected == False and self._user_info.selected_robot.obstacle_detected == True:
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self.obstacle_removed()
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self._user_info.update_selected_robot_info(robot_info)
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self.call_qt_wrapper_method_with_argument('update_selected_robot_info',[robot_info])
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# self._qt_wrapper.update_selected_robot_info(robot_info) |