opened window | removed ros1 wrappers
Signed-off-by: Jakub Delicat <delicat.kuba@gmail.com>
This commit is contained in:
Jakub Delicat
parent
ce405ab4f1
commit
2a755bf328
@ -1,15 +1,15 @@
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<library path="scripts">
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<class name="safety_user_plugin" type="user_plugin.UserPlugin" base_class_type="rqt_gui_py::Plugin">
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<class name="safety_user_plugin" type="safety_user_plugin.user_plugin.UserPlugin" base_class_type="rqt_gui_py::Plugin">
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<description>
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Safety system user plugin
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</description>
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<qtgui>
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<group>
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<label>Safety system</label>
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<label>L1.5 Safety system</label>
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<icon type="theme">folder</icon>
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</group>
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<label>User</label>
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<icon type="theme">system-help</icon>
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</qtgui>
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</class>
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</library>
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</library>
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@ -6,6 +6,9 @@ import os
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import math
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import datetime
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from ament_index_python.packages import get_package_share_directory
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from safety_user_plugin.enums.clutch_state import ClutchState as CS
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from safety_user_plugin.enums.stop_state import StopState as SS
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@ -39,7 +42,7 @@ class QtWrapper:
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self.clear_robot_info()
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ui_directory_path = "{0}/ui".format(
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rospkg.RosPack().get_path("safety_user_plugin")
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get_package_share_directory("safety_user_plugin")
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)
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self.distance_pixmap = QPixmap("{0}/Distance.png".format(ui_directory_path))
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@ -33,7 +33,7 @@ class ROSWrapper:
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self.robots_list_timer = None
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self.connection_timer = None
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self.master_connection_timer = None
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self.hz_update_timer = rospy.Timer(rospy.Duration(0.2), self.update_hz_values)
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# self.hz_update_timer = rospy.Timer(rospy.Duration(0.2), self.update_hz_values)
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self.robots_hz_subscribers_dict = {}
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self.rostopics_hz_dict = {}
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@ -45,46 +45,46 @@ class ROSWrapper:
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def setup_subscribers_and_publishers(self, robot_id):
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robot_name = "PIONIER" + str(robot_id)
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self.robot_info_subscriber = rospy.Subscriber(
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"/{0}/RosAria/robot_info".format(robot_name),
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RobotInfoMsg,
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self.handle_selected_robot_info_update,
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)
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self.master_stop_subscriber = rospy.Subscriber(
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"/PIONIER/master_stop", Bool, self.handle_master_stop_update
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)
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self.restrictions_subscriber = rospy.Subscriber(
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"/PIONIER/restrictions", RestrictionsMsg, self.handle_restrictions_update
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)
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# self.robot_info_subscriber = rospy.Subscriber(
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# "/{0}/RosAria/robot_info".format(robot_name),
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# RobotInfoMsg,
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# self.handle_selected_robot_info_update,
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# )
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# self.master_stop_subscriber = rospy.Subscriber(
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# "/PIONIER/master_stop", Bool, self.handle_master_stop_update
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# )
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# self.restrictions_subscriber = rospy.Subscriber(
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# "/PIONIER/restrictions", RestrictionsMsg, self.handle_restrictions_update
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# )
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self.user_stop_publisher = rospy.Publisher(
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"/{0}/RosAria/user_stop".format(robot_name), Bool, queue_size=1
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)
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self.clutch_publisher = rospy.Publisher(
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"/{0}/RosAria/clutch".format(robot_name), Bool, queue_size=1
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)
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# self.user_stop_publisher = rospy.Publisher(
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# "/{0}/RosAria/user_stop".format(robot_name), Bool, queue_size=1
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# )
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# self.clutch_publisher = rospy.Publisher(
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# "/{0}/RosAria/clutch".format(robot_name), Bool, queue_size=1
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# )
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if self.periodic_timer != None:
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self.shutdown_timer(self.periodic_timer)
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self.periodic_timer = rospy.Timer(
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rospy.Duration(0.1), self.publish_periodic_update
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)
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print("NEW")
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if self.connection_timer != None:
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self.shutdown_timer(self.connection_timer)
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self.connection_timer = rospy.Timer(
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rospy.Duration(5), self.handle_robot_connection_lost
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)
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# if self.periodic_timer != None:
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# self.shutdown_timer(self.periodic_timer)
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# self.periodic_timer = rospy.Timer(
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# rospy.Duration(0.1), self.publish_periodic_update
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# )
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# print("NEW")
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# if self.connection_timer != None:
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# self.shutdown_timer(self.connection_timer)
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# self.connection_timer = rospy.Timer(
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# rospy.Duration(5), self.handle_robot_connection_lost
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# )
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if self.master_connection_timer != None:
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self.shutdown_timer(self.master_connection_timer)
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self.master_connection_timer = rospy.Timer(
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rospy.Duration(1.5), self.handle_master_connection_lost
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)
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# if self.master_connection_timer != None:
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# self.shutdown_timer(self.master_connection_timer)
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# self.master_connection_timer = rospy.Timer(
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# rospy.Duration(1.5), self.handle_master_connection_lost
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# )
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if self.hz_update_timer != None:
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self.shutdown_timer(self.hz_update_timer)
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self.hz_update_timer = rospy.Timer(rospy.Duration(0.2), self.update_hz_values)
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# if self.hz_update_timer != None:
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# self.shutdown_timer(self.hz_update_timer)
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# self.hz_update_timer = rospy.Timer(rospy.Duration(0.2), self.update_hz_values)
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def unsubscribe(self, subscriber):
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if subscriber != None:
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@ -150,9 +150,9 @@ class ROSWrapper:
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def restart_connection_timer(self):
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if self.connection_timer != None:
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self.connection_timer.shutdown()
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self.connection_timer = rospy.Timer(
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rospy.Duration(1.5), self.handle_robot_connection_lost
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)
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# self.connection_timer = rospy.Timer(
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# rospy.Duration(1.5), self.handle_robot_connection_lost
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# )
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else:
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raise RuntimeError(
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"Attempting to restart connection_timer when it is not initialized"
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@ -161,9 +161,9 @@ class ROSWrapper:
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def restart_master_connection_timer(self):
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if self.master_connection_timer != None:
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self.master_connection_timer.shutdown()
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self.master_connection_timer = rospy.Timer(
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rospy.Duration(1.5), self.handle_master_connection_lost
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)
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# self.master_connection_timer = rospy.Timer(
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# rospy.Duration(1.5), self.handle_master_connection_lost
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# )
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else:
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raise RuntimeError(
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"Attempting to restart master_connection_timer when it is not initialized"
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@ -171,7 +171,7 @@ class ROSWrapper:
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def unregister_node(self):
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self.cancel_subscribers_and_publishers()
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rospy.signal_shutdown("Closing safety user plugin")
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# rospy.signal_shutdown("Closing safety user plugin")
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def select_robot(self, robot_id):
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self.setup_subscribers_and_publishers(robot_id)
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@ -186,11 +186,11 @@ class ROSWrapper:
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def get_robots_list(self, event):
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robots_id_list = []
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published_topics_list = rospy.get_published_topics(namespace="/")
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# published_topics_list = rospy.get_published_topics(namespace="/")
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published_topics = []
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for list_ in published_topics_list:
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published_topics.append(list_[0])
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# for list_ in published_topics_list:
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# published_topics.append(list_[0])
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for topic in published_topics:
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if topic.find("RosAria") == -1 or topic.find("robot_info") == -1:
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@ -207,13 +207,14 @@ class ROSWrapper:
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for robot_id in robots_id_list:
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if robot_id not in self.robots_hz_subscribers_dict:
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# Add hz subscriber
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self.rostopics_hz_dict[robot_id] = rostopic.ROSTopicHz(-1)
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self.robots_hz_subscribers_dict[robot_id] = rospy.Subscriber(
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"/PIONIER{0}/RosAria/user_stop".format(robot_id),
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Bool,
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self.rostopics_hz_dict[robot_id].callback_hz,
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callback_args="/PIONIER{0}/RosAria/user_stop".format(robot_id),
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)
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print("ADDED SUB")
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# self.rostopics_hz_dict[robot_id] = rostopic.ROSTopicHz(-1)
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# self.robots_hz_subscribers_dict[robot_id] = rospy.Subscriber(
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# "/PIONIER{0}/RosAria/user_stop".format(robot_id),
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# Bool,
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# self.rostopics_hz_dict[robot_id].callback_hz,
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# callback_args="/PIONIER{0}/RosAria/user_stop".format(robot_id),
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# )
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# Removing old hz subscribers
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for robot_key in self.robots_hz_subscribers_dict:
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@ -258,7 +259,7 @@ class ROSWrapper:
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# UserPlugin Callbacks
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def set_robots_list_update_callback(self, callback_function):
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self.robots_list_update_callback = callback_function
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self.robots_list_timer = rospy.Timer(rospy.Duration(0.5), self.get_robots_list)
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# self.robots_list_timer = rospy.Timer(rospy.Duration(0.5), self.get_robots_list)
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def set_selected_robot_info_update_callback(self, callback_function):
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self.selected_robot_info_update_callback = callback_function
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@ -1,18 +1,22 @@
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#!/usr/bin/env python
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import os
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import rospkg
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from ament_index_python.packages import get_package_share_directory
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from python_qt_binding.QtWidgets import QWidget
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from python_qt_binding import loadUi
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class UserWidget(QWidget):
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def __init__(self,context):
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class UserWidget(QWidget):
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def __init__(self, context):
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super(UserWidget, self).__init__()
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ui_file = os.path.join(rospkg.RosPack().get_path('safety_user_plugin'), 'ui', 'user_view.ui')
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ui_file = os.path.join(
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get_package_share_directory("safety_user_plugin"), "ui", "user_view.ui"
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)
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loadUi(ui_file, self)
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self.setObjectName('User Plugin - L1.5 safety system')
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self.setObjectName("User Plugin - L1.5 safety system")
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if context.serial_number() > 1:
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self.setWindowTitle(self.windowTitle() + (' (%d)' % context.serial_number()))
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context.add_widget(self)
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self.setWindowTitle(
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self.windowTitle() + (" (%d)" % context.serial_number())
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)
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context.add_widget(self)
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