244 lines
10 KiB
Python
244 lines
10 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 master_restrictions import Restrictions
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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.QtGui import QStandardItem
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from python_qt_binding.QtGui import QStandardItemModel
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from python_qt_binding.QtGui import QBrush
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from python_qt_binding.QtWidgets import QMessageBox
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from python_qt_binding.QtWidgets import QHeaderView
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from python_qt_binding.QtWidgets import QAbstractItemView
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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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self.widget = widget
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self.displayed_robots_id_list = []
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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(rospkg.RosPack().get_path('safety_master_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)
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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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def set_sliders_to_initial_values(self):
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self.widget.distanceSlider.setMaximum(200)
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self.widget.angularSlider.setMaximum(200)
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self.widget.linearSlider.setMaximum(200)
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self.widget.distanceSlider.setValue(75)
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self.widget.angularSlider.setValue(100)
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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.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().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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self.master_stop_state_updated_callback = 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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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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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.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 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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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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def update_robot_info(self,robot_info):
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items_to_add = []
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items_to_add.append(QStandardItem('PIONIER{}'.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.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.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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if robot_info.clutch == CS.ENGAGED:
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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.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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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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items_to_add.append(QStandardItem('{:.2f}'.format(robot_info.angular_velocity[2])))
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items_list = self.stdItemModel.findItems('PIONIER{0}'.format(robot_info.robot_id),Qt.MatchExactly)
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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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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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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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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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if robot_id not in self.displayed_robots_id_list:
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new_robot_info=QStandardItem('PIONIER{}'.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.displayed_robots_id_list.append(robot_id)
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self.log_info('PIONIER{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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def remove_robot(self,robot_id):
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items_list = self.stdItemModel.findItems('PIONIER{0}'.format(robot_id),Qt.MatchExactly)
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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('PIONIER{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):
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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">' + str(time) + '. ' + info_text + '</font><br>')
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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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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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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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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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