removed double connect
Signed-off-by: Jakub Delicat <delicat.kuba@gmail.com>
This commit is contained in:
Jakub Delicat
parent
b6d3ea76e3
commit
b08d9a4254
@ -14,10 +14,9 @@ from safety_master_plugin.qt_master_wrapper import QtWrapper
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class MasterPlugin(Plugin):
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def __init__(self,context):
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def __init__(self, context):
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super(MasterPlugin, self).__init__(context)
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self.setObjectName('Master Plugin - L1.5 safety system')
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self.setObjectName("Master Plugin - L1.5 safety system")
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self._widget = MasterWidget(context)
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self._ros_wrapper = ROSWrapper()
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@ -35,11 +34,14 @@ class MasterPlugin(Plugin):
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self._qt_wrapper.set_sliders_to_initial_values()
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# Setup functions to get _master_info states from _ros_wrapper
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self._ros_wrapper.setup_get_master_stop_state_function(self._master_info.get_master_stop_state)
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self._ros_wrapper.setup_get_restrictions_function(self._master_info.get_restrictions)
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self._ros_wrapper.setup_get_master_stop_state_function(
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self._master_info.get_master_stop_state
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)
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self._ros_wrapper.setup_get_restrictions_function(
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self._master_info.get_restrictions
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)
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self.set_callback_functions()
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self._qt_wrapper.connect_signals()
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# timer to consecutively send twist messages
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self._update_parameter_timer = QTimer(self)
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@ -54,29 +56,36 @@ class MasterPlugin(Plugin):
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self.set_Qt_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_robots_list_update_callback(
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self.handle_robots_list_update
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)
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self._ros_wrapper.set_robot_info_update_callback(self.handle_robot_info_update)
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def set_Qt_callback_functions(self):
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self._qt_wrapper.set_master_stop_state_updated_callback(self.handle_master_stop_state_updated)
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self._qt_wrapper.set_restrictions_updated_callback(self.handle_restrictions_updated)
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self._qt_wrapper.set_master_stop_state_updated_callback(
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self.handle_master_stop_state_updated
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)
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self._qt_wrapper.set_restrictions_updated_callback(
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self.handle_restrictions_updated
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)
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def handle_robots_list_update(self,robots_id_list):
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def handle_robots_list_update(self, robots_id_list):
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self.update_robots_list(robots_id_list)
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def handle_robot_info_update(self,robot_info):
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def handle_robot_info_update(self, robot_info):
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self.update_robot_info(robot_info)
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def handle_master_stop_state_updated(self):
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"""Handles master stop state when it changes e. g. on button click and confirmed."""
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print("woking!!!")
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if self._master_info.master_stop_state == SS.RUNNING:
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self.master_stopped()
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elif self._master_info.master_stop_state == SS.STOPPED:
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self.master_started()
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else:
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raise ValueError('master_stop_state value undefined')
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raise ValueError("master_stop_state value undefined")
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def handle_restrictions_updated(self,restrictions):
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def handle_restrictions_updated(self, restrictions):
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self.restrictions_changed(restrictions)
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def update_robots_list(self, robots_id_list):
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@ -90,15 +99,15 @@ class MasterPlugin(Plugin):
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self._master_info.robots_id_list = robots_id_list
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def new_robot_registered(self,robot_id):
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def new_robot_registered(self, robot_id):
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self._ros_wrapper.add_robot_subscriber(robot_id)
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self.cbhandler.add_robot_signal.emit(robot_id)
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def robot_unregistered(self,robot_id):
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def robot_unregistered(self, robot_id):
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# self._ros_wrapper.remove_robot_subscriber(robot_id)
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self.cbhandler.remove_robot_signal.emit(robot_id)
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def update_robot_info(self,robot_info):
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def update_robot_info(self, robot_info):
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self.cbhandler.robot_info_signal.emit(robot_info)
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def master_started(self):
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@ -108,9 +117,9 @@ class MasterPlugin(Plugin):
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def master_stopped(self):
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self._master_info.master_stop_state = SS.STOPPED
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# self._ros_wrapper.master_stopped()
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self._ros_wrapper.master_stopped()
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self._qt_wrapper.master_stopped()
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def restrictions_changed(self,restrictions):
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def restrictions_changed(self, restrictions):
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self._master_info.restrictions = restrictions
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self._ros_wrapper.restrictions_changed(restrictions)
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@ -22,21 +22,25 @@ from python_qt_binding.QtCore import Qt
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class QtWrapper:
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def __init__(self,widget):
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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.master_stop_state_updated_callback = None
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self.restrictions_updated_callback = None
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self.master_stop_state = None
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self.init_robots_list()
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# self.disable_sliders_tracking()
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ui_directory_path = '{0}/ui'.format(get_package_share_directory('safety_master_plugin'))
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ui_directory_path = "{0}/ui".format(
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get_package_share_directory("safety_master_plugin")
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)
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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.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)
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self.widget.angularImage.setPixmap(self.angular_pixmap)
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self.widget.linearImage.setPixmap(self.linear_pixmap)
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@ -51,189 +55,216 @@ class QtWrapper:
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self.widget.linearSlider.setValue(100)
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def init_robots_list(self):
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self.stdItemModel = QStandardItemModel( 0, 6, self.widget.robotsList)
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self.stdItemModel.setHeaderData( 0, Qt.Horizontal, 'Robot' )
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self.stdItemModel.setHeaderData( 1, Qt.Horizontal, 'Stan baterii' )
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self.stdItemModel.setHeaderData( 2, Qt.Horizontal, 'Stan robota' )
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self.stdItemModel.setHeaderData( 3, Qt.Horizontal, 'Stan sprzęgła' )
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self.stdItemModel.setHeaderData( 4, Qt.Horizontal, 'Prędk. lin.' )
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self.stdItemModel.setHeaderData( 5, Qt.Horizontal, 'Prędk. obr.' )
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self.stdItemModel = QStandardItemModel(0, 6, self.widget.robotsList)
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self.stdItemModel.setHeaderData(0, Qt.Horizontal, "Robot")
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self.stdItemModel.setHeaderData(1, Qt.Horizontal, "Stan baterii")
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self.stdItemModel.setHeaderData(2, Qt.Horizontal, "Stan robota")
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self.stdItemModel.setHeaderData(3, Qt.Horizontal, "Stan sprzęgła")
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self.stdItemModel.setHeaderData(4, Qt.Horizontal, "Prędk. lin.")
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self.stdItemModel.setHeaderData(5, Qt.Horizontal, "Prędk. obr.")
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self.widget.robotsList.setModel(self.stdItemModel)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(0, QHeaderView.Stretch)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(1, QHeaderView.Stretch)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(2, QHeaderView.Stretch)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(3, QHeaderView.Stretch)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(4, QHeaderView.Stretch)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(5, QHeaderView.Stretch)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(
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0, QHeaderView.Stretch
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)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(
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1, QHeaderView.Stretch
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)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(
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2, QHeaderView.Stretch
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)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(
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3, QHeaderView.Stretch
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)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(
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4, QHeaderView.Stretch
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)
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self.widget.robotsList.horizontalHeader().setSectionResizeMode(
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5, QHeaderView.Stretch
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)
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self.widget.robotsList.horizontalHeader().setSectionsMovable(False)
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# self.widget.robotsList.setSelectionBehavior(QAbstractItemView.SelectRows)
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self.widget.robotsList.setSelectionMode(QAbstractItemView.NoSelection)
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def disable_sliders_tracking(self):
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self.widget.distanceSlider.setTracking(False)
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self.widget.angularSlider.setTracking(False)
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self.widget.linearSlider.setTracking(False)
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def set_master_stop_state_updated_callback(self,callback_function):
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def set_master_stop_state_updated_callback(self, callback_function):
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self.master_stop_state_updated_callback = callback_function
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def set_restrictions_updated_callback(self,callback_function):
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def set_restrictions_updated_callback(self, callback_function):
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self.restrictions_updated_callback = callback_function
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def handle_restrictions_update(self):
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distance = (float(self.widget.distanceSlider.value())/100)
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angular_velocity = (float(self.widget.angularSlider.value())/100)
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linear_velocity = (float(self.widget.linearSlider.value())/100)
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print("double?")
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distance = float(self.widget.distanceSlider.value()) / 100
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angular_velocity = float(self.widget.angularSlider.value()) / 100
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linear_velocity = float(self.widget.linearSlider.value()) / 100
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self.widget.distanceLabel.setText("{:.2f}".format(distance))
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self.widget.angularLabel.setText("{:.2f}".format(angular_velocity))
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self.widget.linearLabel.setText("{:.2f}".format(linear_velocity))
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restrictions = Restrictions(distance,angular_velocity,linear_velocity)
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restrictions = Restrictions(distance, angular_velocity, linear_velocity)
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self.restrictions_updated_callback(restrictions)
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def connect_signals(self):
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self.widget.distanceSlider.valueChanged.connect(self.handle_restrictions_update)
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self.widget.angularSlider.valueChanged.connect(self.handle_restrictions_update)
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self.widget.linearSlider.valueChanged.connect(self.handle_restrictions_update)
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self.widget.masterstopButton.clicked.connect(self.handle_masterstopButton_clicked)
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self.widget.masterstopButton.clicked.connect(
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self.handle_master_stop_button_clicked
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)
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self.set_sliders_to_initial_values()
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def handle_masterstopButton_clicked(self):
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if self.master_stop_state == SS.RUNNING:
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self.master_stop_state_updated_callback()
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else:
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reply = QMessageBox.warning(self.widget,"UWAGA","Na pewno chcesz odblokować wszystkie roboty?",QMessageBox.Yes,QMessageBox.No)
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if reply == QMessageBox.Yes:
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self.master_stop_state_updated_callback()
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def handle_master_stop_button_clicked(self):
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print("CLick\t")
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# self.master_stop_state_updated_callback()
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# if self.master_stop_state == SS.RUNNING:
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# print("Klikam aby zablokować")
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# self.master_stop_state_updated_callback()
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# else:
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# reply = QMessageBox.warning(self.widget,"UWAGA","Na pewno chcesz odblokować wszystkie roboty?",QMessageBox.Yes,QMessageBox.No)
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# if reply == QMessageBox.Yes:
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# self.master_stop_state_updated_callback()
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def display_master_stop_on(self):
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self.widget.masterstopButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
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self.widget.masterstopButton.setText('Zatrzymaj roboty')
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self.widget.masterstopButton.setStyleSheet(
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"QPushButton { color: black; background-color: green; font: bold 20px}"
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)
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self.widget.masterstopButton.setText("Zatrzymaj roboty")
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def display_master_stop_off(self):
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self.widget.masterstopButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
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self.widget.masterstopButton.setText('Odblokuj roboty')
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self.widget.masterstopButton.setStyleSheet(
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"QPushButton { color: black; background-color: red; font: bold 20px}"
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)
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self.widget.masterstopButton.setText("Odblokuj roboty")
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def update_robot_info(self,robot_info):
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def update_robot_info(self, robot_info):
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items_to_add = []
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items_to_add.append(QStandardItem('pioneer{}'.format(robot_info.robot_id)))
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items_to_add.append(QStandardItem('{:.2f}'.format(robot_info.battery_voltage)))
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items_to_add.append(QStandardItem("pioneer{}".format(robot_info.robot_id)))
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items_to_add.append(QStandardItem("{:.2f}".format(robot_info.battery_voltage)))
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if robot_info.state == SS.RUNNING:
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item = QStandardItem('Działa')
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item = QStandardItem("Działa")
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item.setBackground(QBrush(Qt.green))
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items_to_add.append(item)
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elif robot_info.state == SS.STOPPED:
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item = QStandardItem('Zatrzymany')
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item = QStandardItem("Zatrzymany")
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item.setBackground(QBrush(Qt.red))
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items_to_add.append(item)
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else:
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raise ValueError('Undefined value of robot_info.robot_state')
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raise ValueError("Undefined value of robot_info.robot_state")
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if robot_info.clutch == CS.ENGAGED:
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item = QStandardItem('Sprzęgnięte')
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item = QStandardItem("Sprzęgnięte")
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item.setBackground(QBrush(Qt.green))
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items_to_add.append(item)
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elif robot_info.clutch == CS.DISENGAGED:
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item = QStandardItem('Rozprzęgnięte')
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item = QStandardItem("Rozprzęgnięte")
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item.setBackground(QBrush(Qt.red))
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items_to_add.append(item)
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else:
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raise ValueError('Undefined value of robot_info.clutch_state')
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raise ValueError("Undefined value of robot_info.clutch_state")
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linear_vel = math.sqrt(robot_info.linear_velocity[0]**2 + robot_info.linear_velocity[1]**2)
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items_to_add.append(QStandardItem('{:.2f}'.format(linear_vel)))
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linear_vel = math.sqrt(
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robot_info.linear_velocity[0] ** 2 + robot_info.linear_velocity[1] ** 2
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)
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items_to_add.append(QStandardItem("{:.2f}".format(linear_vel)))
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items_to_add.append(
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QStandardItem("{:.2f}".format(robot_info.angular_velocity[2]))
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)
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items_to_add.append(QStandardItem('{:.2f}'.format(robot_info.angular_velocity[2])))
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items_list = self.stdItemModel.findItems('pioneer{0}'.format(robot_info.robot_id),Qt.MatchExactly)
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items_list = self.stdItemModel.findItems(
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"pioneer{0}".format(robot_info.robot_id), Qt.MatchExactly
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)
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if len(items_list) > 0:
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for item in items_list:
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row_number = item.row()
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else:
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row_number = self.stdItemModel.rowCount()
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for i,item in enumerate(items_to_add):
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for i, item in enumerate(items_to_add):
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item.setTextAlignment(Qt.AlignCenter)
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item.setEditable(0)
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self.stdItemModel.setItem(row_number,i,item)
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self.stdItemModel.setItem(row_number, i, item)
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def master_stopped(self):
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self.master_stop_state = SS.STOPPED
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self.display_master_stop_off()
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self.log_info('Przycisk masterSTOP zostal naciśnięty. Zatrzymuję roboty')
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self.log_info("Przycisk masterSTOP zostal naciśnięty. Zatrzymuję roboty")
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def master_started(self):
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self.master_stop_state = SS.RUNNING
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self.display_master_stop_on()
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self.log_info('Przycisk masterSTOP odciśnięty')
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def add_robot(self,robot_id):
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self.log_info("Przycisk masterSTOP odciśnięty")
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def add_robot(self, robot_id):
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if robot_id not in self.displayed_robots_id_list:
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new_robot_info=QStandardItem('pioneer{}'.format(robot_id))
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new_robot_info = QStandardItem("pioneer{}".format(robot_id))
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new_robot_info.setTextAlignment(Qt.AlignCenter)
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new_robot_info.setEditable(0)
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# new_robot_info.setBackground(QBrush(Qt.white))
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self.stdItemModel.setItem(self.stdItemModel.rowCount(),0,new_robot_info)
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self.stdItemModel.setItem(self.stdItemModel.rowCount(), 0, new_robot_info)
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self.displayed_robots_id_list.append(robot_id)
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self.log_info('pioneer{0} połączony'.format(robot_id))
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self.log_info("pioneer{0} połączony".format(robot_id))
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else:
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raise RuntimeError('Adding robot, which is already in master GUI')
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raise RuntimeError("Adding robot, which is already in master GUI")
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def remove_robot(self,robot_id):
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items_list = self.stdItemModel.findItems('pioneer{0}'.format(robot_id),Qt.MatchExactly)
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def remove_robot(self, robot_id):
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items_list = self.stdItemModel.findItems(
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"pioneer{0}".format(robot_id), Qt.MatchExactly
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)
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if len(items_list) > 0:
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for item in items_list:
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row_number = item.row()
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self.stdItemModel.removeRow(row_number)
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self.log_info('pioneer{0} rozłączony'.format(robot_id))
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self.log_info("pioneer{0} rozłączony".format(robot_id))
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self.displayed_robots_id_list.remove(robot_id)
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||||
|
||||
def log_info(self,info_text):
|
||||
time = datetime.datetime.now().strftime('[%H:%M:%S]')
|
||||
def log_info(self, info_text):
|
||||
time = datetime.datetime.now().strftime("[%H:%M:%S]")
|
||||
|
||||
cursor = self.widget.logsBrowser.textCursor()
|
||||
cursor.movePosition(QTextCursor.End)
|
||||
self.widget.logsBrowser.setTextCursor(cursor)
|
||||
# self.widget.logsBrowser.insertHtml('<font color="black">' + str(time) + '. ' + info_text + '</font><br>')
|
||||
self.widget.logsBrowser.insertHtml('<font color="black"> {0} {1}</font><br>'.format(time,info_text))
|
||||
self.widget.logsBrowser.insertHtml(
|
||||
'<font color="black"> {0} {1}</font><br>'.format(time, info_text)
|
||||
)
|
||||
self.scroll_to_bottom()
|
||||
|
||||
def log_warning(self,warning_text):
|
||||
time = datetime.datetime.now().strftime('[%H:%M:%S]')
|
||||
def log_warning(self, warning_text):
|
||||
time = datetime.datetime.now().strftime("[%H:%M:%S]")
|
||||
|
||||
cursor = self.widget.logsBrowser.textCursor()
|
||||
cursor.movePosition(QTextCursor.End)
|
||||
self.widget.logsBrowser.setTextCursor(cursor)
|
||||
self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End)
|
||||
self.widget.logsBrowser.insertHtml('<font color="orange"> {0} {1}</font><br>'.format(time,warning_text))
|
||||
self.widget.logsBrowser.insertHtml(
|
||||
'<font color="orange"> {0} {1}</font><br>'.format(time, warning_text)
|
||||
)
|
||||
self.scroll_to_bottom()
|
||||
|
||||
def log_error(self,error_text):
|
||||
time = datetime.datetime.now().strftime('[%H:%M:%S]')
|
||||
def log_error(self, error_text):
|
||||
time = datetime.datetime.now().strftime("[%H:%M:%S]")
|
||||
|
||||
cursor = self.widget.logsBrowser.textCursor()
|
||||
cursor.movePosition(QTextCursor.End)
|
||||
self.widget.logsBrowser.setTextCursor(cursor)
|
||||
self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End)
|
||||
self.widget.logsBrowser.insertHtml('<font color="red"> {0} {1}</font><br>'.format(time,error_text))
|
||||
self.widget.logsBrowser.insertHtml(
|
||||
'<font color="red"> {0} {1}</font><br>'.format(time, error_text)
|
||||
)
|
||||
self.scroll_to_bottom()
|
||||
|
||||
def scroll_to_bottom(self):
|
||||
|
||||
Loading…
Reference in New Issue
Block a user