316 lines
12 KiB
Python
316 lines
12 KiB
Python
#!/usr/bin/env python
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# coding=utf-8
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import os
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import rospy
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import rospkg
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import math
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import datetime
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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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from python_qt_binding.QtGui import QPixmap
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from python_qt_binding.QtGui import QTextCursor
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from python_qt_binding.QtWidgets import QMessageBox
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class QtWrapper:
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def __init__(self,widget):
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self.widget = widget
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self.displayed_robots_id_list = []
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self.clear_robot_info()
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ui_directory_path = '{0}/ui'.format(rospkg.RosPack().get_path('safety_user_plugin'))
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self.distance_pixmap = QPixmap('{0}/Distance.png'.format(ui_directory_path))
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self.angular_pixmap = QPixmap('{0}/Angular.png'.format(ui_directory_path))
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self.linear_pixmap = QPixmap('{0}/Linear.png'.format(ui_directory_path))
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self.widget.distanceImage.setPixmap(self.distance_pixmap.scaled(66,46))
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self.widget.angularImage.setPixmap(self.angular_pixmap)
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self.widget.linearImage.setPixmap(self.linear_pixmap.scaled(20,48))
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self.ok_pixmap = QPixmap('{0}/Ok.jpg'.format(ui_directory_path))
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self.cancel_pixmap = QPixmap('{0}/Cancel.jpg'.format(ui_directory_path))
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def disconnect_signals(self):
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self.widget.clutchButton.clicked.disconnect()
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self.widget.stopButton.clicked.disconnect()
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self.widget.choiceButton.clicked.disconnect()
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def connect_robot_signals(self):
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self.widget.clutchButton.clicked.connect(self.handle_clutchButton_clicked_callback)
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self.widget.stopButton.clicked.connect(self.handle_stopButton_clicked)
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self.widget.choiceButton.clicked.connect(self.handle_closeButton_clicked)
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def connect_signals(self):
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self.widget.clutchButton.clicked.connect(self.handle_not_selected_error)
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self.widget.stopButton.clicked.connect(self.handle_not_selected_error)
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self.widget.choiceButton.clicked.connect(self.handle_openButton_clicked)
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def handle_emitted_signal(self,method_name):
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exec('self.{0}()'.format(method_name))
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def handle_emitted_signal_with_list_argument(self,method_name,argument):
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if method_name == 'update_selected_robot_info':
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self.update_selected_robot_info(argument[0])
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else:
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method_with_argument = 'self.{0}({1})'.format(method_name,argument[0])
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exec(method_with_argument)
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def handle_stopButton_clicked(self):
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if self.robot_state == SS.RUNNING:
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self.handle_stopButton_clicked_callback()
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else:
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reply = QMessageBox.warning(self.widget,"UWAGA","Na pewno chcesz odblokować robota?",QMessageBox.Yes,QMessageBox.No)
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if reply == QMessageBox.Yes:
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self.handle_stopButton_clicked_callback()
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def get_selected_robot_id(self):
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current_text = self.widget.robotsList.currentText()
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if 'PIONIER' in current_text:
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return int(current_text[7:])
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else:
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return None
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def display_clutch_on(self):
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# self.widget.clutchLabel.setPixmap(self.ok_pixmap.scaled(40,40))
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self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
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self.widget.clutchButton.setText('Rozłącz sprzęgło')
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def display_clutch_off(self):
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# self.widget.clutchLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
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self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
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self.widget.clutchButton.setText('Połącz sprzęgło')
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def display_state_on(self):
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self.widget.stateLabel.setPixmap(self.ok_pixmap.scaled(40,40))
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self.widget.stopButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
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self.widget.stopButton.setText('Zatrzymaj robota')
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self.robot_state = SS.RUNNING
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def display_state_off(self):
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self.widget.stateLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
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self.widget.stopButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
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self.widget.stopButton.setText('Odblokuj robota')
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self.robot_state = SS.STOPPED
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def handle_not_selected_error(self):
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self.log_error('Najpierw wybierz PIONIERA z listy robotów')
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def handle_openButton_clicked(self):
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selected_robot_id = self.get_selected_robot_id()
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if selected_robot_id != None:
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self.handle_openButton_clicked_callback(selected_robot_id)
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else:
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self.log_error('Najpierw wybierz PIONIERA z listy robotów')
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def handle_closeButton_clicked(self):
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self.handle_closeButton_clicked_callback()
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def set_robot_selection_callback(self,callback):
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self.handle_openButton_clicked_callback = callback
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def set_robot_release_callback(self,callback):
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self.handle_closeButton_clicked_callback = callback
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def set_user_stop_state_updated_callback(self,callback):
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self.handle_stopButton_clicked_callback = callback
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def set_clutch_switched_callback(self,callback):
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self.handle_clutchButton_clicked_callback = callback
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def select_robot(self,robot_id):
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self.disconnect_signals()
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self.connect_robot_signals()
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self.log_info('PIONIER{0} wybrany!'.format(robot_id))
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self.log_info('Robot zostanie zatrzymany i sprzęgnięty')
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self.widget.choiceButton.setText('Zwolnij robota')
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def release_robot(self):
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self.disconnect_signals()
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self.connect_signals()
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self.log_info('Odłączam robota')
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self.clear_robot_info()
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def update_robots_list_gui(self,robots_id_list):
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robots_id_list.sort()
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id_strings_list = (('PIONIER'+str(x)) for x in robots_id_list)
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robots_to_add = []
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robots_to_remove = []
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for robot_id in robots_id_list:
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if robot_id not in self.displayed_robots_id_list:
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robots_to_add.append(robot_id)
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for robot_id in self.displayed_robots_id_list:
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if robot_id not in robots_id_list:
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robots_to_remove.append(robot_id)
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for robot_id in robots_to_remove:
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self.remove_robot_from_list(robot_id)
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for robot_id in robots_to_add:
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self.add_robot_to_list(robot_id)
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def remove_robot_from_list(self,robot_id):
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count = self.widget.robotsList.count()
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for i in range(count):
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if str(robot_id) in self.widget.robotsList.itemText(i):
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self.widget.robotsList.removeItem(i)
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self.displayed_robots_id_list.remove(robot_id)
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return
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def add_robot_to_list(self,robot_id):
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self.widget.robotsList.addItem('PIONIER{0}'.format(robot_id))
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self.displayed_robots_id_list.append(robot_id)
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def update_selected_robot_info(self,robot_info):
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linear_vel = math.sqrt(robot_info.linear_velocity[0]**2 + robot_info.linear_velocity[1]**2)
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self.widget.idLabel.setText('PIONIER{0}'.format(robot_info.robot_id))
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self.widget.batteryLabel.setText("{:.2f}".format(robot_info.battery_voltage))
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self.widget.linearLabel.setText("{:.2f}".format(linear_vel))
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self.widget.angularLabel.setText("{:.2f}".format(robot_info.angular_velocity[2]))
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# self.log_info(str(robot_info.clutch == CS.ENGAGED))
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if robot_info.clutch == CS.ENGAGED:
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self.display_clutch_on()
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else:
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self.display_clutch_off()
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if robot_info.state == SS.RUNNING:
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self.display_state_on()
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else:
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self.display_state_off()
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if robot_info.obstacle_detected == True:
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self.widget.obstaclestopLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
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else:
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self.widget.obstaclestopLabel.setPixmap(self.ok_pixmap.scaled(40,40))
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def master_stopped(self):
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self.widget.masterstopLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
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self.log_info('Przycisk masterSTOP został naciśnięty. Zatrzymuje roboty')
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def master_started(self):
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self.widget.masterstopLabel.setPixmap(self.ok_pixmap.scaled(40,40))
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self.log_info('Przycisk masterSTOP odciśnięty. Mozesz uruchomić robota')
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def user_stopped(self):
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self.log_info('Robot zatrzymany')
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self.display_state_off()
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def user_started(self):
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self.log_info('Robot wystartował')
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self.display_state_on()
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def disengage_clutch(self):
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self.log_info('Rozprzęgam sprzęgło')
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self.display_clutch_off()
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def engage_clutch(self):
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self.log_info('Sprzęgam sprzegło')
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self.display_clutch_on()
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def master_is_stopped_notify(self):
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self.log_error('Nie można wystartować robota. MasterSTOP wciśnięty!')
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def obstacle_is_detected_notify(self):
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self.log_error('Nie mozna wystartować. Przeszkoda w polu działania robota')
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def robot_selected_by_another_group_notify(self):
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self.log_error('Nie mozna wybrać robota. Robot został już wybrany przez inną grupę')
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def update_restrictions_gui(self,restrictions):
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self.widget.distanceRestrictionLabel.setText("{:.2f}".format(restrictions.distance))
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self.widget.linearRestrictionLabel.setText("{:.2f}".format(restrictions.linear_velocity))
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self.widget.angularRestrictionLabel.setText("{:.2f}".format(restrictions.angular_velocity))
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def log_info(self,info_text):
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time = datetime.datetime.now().strftime('[%H:%M:%S]')
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cursor = self.widget.logsBrowser.textCursor()
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cursor.movePosition(QTextCursor.End)
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self.widget.logsBrowser.setTextCursor(cursor)
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self.widget.logsBrowser.insertHtml('<font color="black"> {0} {1}</font><br>'.format(time,info_text))
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self.scroll_to_bottom()
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# self.widget.logsBrowser.insertHtml(str(self.logger_counter) + '\t[INFO]\t' + info_text)
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def log_warning(self,warning_text):
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time = datetime.datetime.now().strftime('[%H:%M:%S]')
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cursor = self.widget.logsBrowser.textCursor()
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cursor.movePosition(QTextCursor.End)
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self.widget.logsBrowser.setTextCursor(cursor)
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self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End)
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self.widget.logsBrowser.insertHtml('<font color="orange"> {0} {1}</font><br>'.format(time,warning_text))
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self.scroll_to_bottom()
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# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[WARN]\t' + warning_text)
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def log_error(self,error_text):
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time = datetime.datetime.now().strftime('[%H:%M:%S]')
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cursor = self.widget.logsBrowser.textCursor()
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cursor.movePosition(QTextCursor.End)
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self.widget.logsBrowser.setTextCursor(cursor)
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self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End)
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self.widget.logsBrowser.insertHtml('<font color="red"> {0} {1}</font><br>'.format(time,error_text))
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self.scroll_to_bottom()
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# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[ERROR]\t' + error_text)
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def connection_to_robot_lost(self,lost_robot_id):
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self.clear_robot_info()
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self.disconnect_signals()
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self.connect_signals()
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self.log_info('Utrata połączenia z robotem PIONIER{0}'.format(lost_robot_id))
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def connection_to_master_lost(self):
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self.log_error('Utrata połączenia z masterstopem. Poproś prowadzącego o jego uruchomienie')
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def obstacle_detected(self):
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self.log_error('Przeszkoda wykryta. Zatrzymuję robota')
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# TODO Zmiana
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def obstacle_removed(self):
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self.log_info('Przeszkoda usunięta')
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def scroll_to_bottom(self):
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scrollbar = self.widget.logsBrowser.verticalScrollBar()
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scrollbar.setValue(scrollbar.maximum())
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def clear_robot_info(self):
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self.widget.idLabel.setText('-')
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self.widget.batteryLabel.setText('-')
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self.widget.linearLabel.setText('-')
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self.widget.angularLabel.setText('-')
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self.widget.stateLabel.setText('-')
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self.widget.masterstopLabel.setText('-')
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self.widget.obstaclestopLabel.setText('-')
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self.widget.choiceButton.setText('Wybierz')
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self.widget.stopButton.setText('-')
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self.widget.stopButton.setStyleSheet("")
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self.widget.clutchButton.setText('-')
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self.widget.clutchButton.setStyleSheet("")
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