Load plugin from lab15-19
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CMakeLists.txt
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204
CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
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project(safety_user_plugin)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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rospy
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rqt_gui
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rqt_gui_py
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std_msgs
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geometry_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# RestrictionsMsg.msg
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# RobotInfoMsg.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs
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# geometry_msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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CATKIN_DEPENDS message_runtime
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# INCLUDE_DIRS include
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# LIBRARIES safety_master_plugin
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# CATKIN_DEPENDS rospy std_msgs
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/safety_master_plugin.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/safety_master_plugin_node.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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install(PROGRAMS
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# scripts/my_python_script
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark executables and/or libraries for installation
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# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_safety_master_plugin.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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15
launch/user_plugin.launch
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15
launch/user_plugin.launch
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<launch>
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<node pkg="rqt_gui"
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type="rqt_gui"
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name="$(anon user_plugin)"
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args="--standalone safety_user_plugin"
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/>
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<arg name="lang" default="eng"/>
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<param
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name="lang"
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type="string"
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value="$(arg lang)"
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/>
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</launch>
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35
package.xml
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35
package.xml
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<?xml version="1.0"?>
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<package format="2">
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<name>safety_user_plugin</name>
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<version>0.0.0</version>
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<description>The safety_user_plugin package</description>
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<maintainer email="aleksander.bojda@pwr.edu.pl">Aleksander Bojda</maintainer>
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<license>MIT</license>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>rospy</build_depend>
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<build_depend>rqt_gui</build_depend>
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<build_depend>rqt_gui_py</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>rosaria_msgs</build_depend>
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<build_export_depend>rospy</build_export_depend>
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<build_export_depend>rqt_gui</build_export_depend>
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<build_export_depend>rqt_gui_py</build_export_depend>
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<build_export_depend>std_msgs</build_export_depend>
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<build_export_depend>rosaria_msgs</build_export_depend>
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<exec_depend>rospy</exec_depend>
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<exec_depend>rqt_gui</exec_depend>
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<exec_depend>rqt_gui_py</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<exec_depend>message_runtime</exec_depend>
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<exec_depend>rosaria_msgs</exec_depend>
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<export>
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<rqt_gui plugin="${prefix}/plugin.xml"/>
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</export>
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</package>
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15
plugin.xml
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15
plugin.xml
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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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<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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<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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65
scripts/english.py
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65
scripts/english.py
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#!/usr/bin/env python
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# coding=utf-8
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from language import LanguageTexts
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class EnglishTexts(LanguageTexts):
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# Warning popup for robot unlocking
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warning_text_1 = "ATTENTION"
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warning_text_2 = "Are You sure You want to unlock the robot?"
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# Button texts
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select_text = 'Select'
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stop_robot_text = "STOP robot"
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unlock_robot_text = "UNLOCK robot"
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disengage_clutch_text = "Disengage clutch"
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engage_clutch_text = "Engage clutch"
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release_robot_text = 'Release robot'
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# Logger info texts
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robot_selected_text = 'PIONIER{0} selected!'
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robot_released_text = 'Robot released'
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stopped_and_engaged_text = "Robot will be stopped and clutch engaged"
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master_stop_clicked_text = 'MasterSTOP button pressed. Stopping the robots'
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master_stop_released_text = 'MasterSTOP button released. Robot can be unlocked'
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robot_stopped_text = 'Robot stopped'
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robot_started_text = 'Robot started'
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clutch_disengaged_text = 'Disengaging the clutch'
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clutch_engaged_text = 'Engaging the clutch'
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obstacle_detected_text = 'Obstacle detected. Robot stopped'
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obstacle_removed_text = 'Obstacle removed'
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# Logger error/problem messages
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selection_error_text = 'Select the PIONEER from robots list first'
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cannot_start_masterstop_text = "Robot can't be started. MasterSTOP pressed!"
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cannot_start_obstacle_text = "Robot can't be started. Obstacle detected!"
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cannot_select_robot_text = "Robot can't be selected. It is already selected by another group"
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connection_to_robot_lost_text = 'Connection lost with robot PIONIER{0}'
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connection_to_master_lost_text = 'Connection lost with masterSTOP. Ask the teacher to run it'
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# Description labels
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linear_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Linear velocity</span></p></body></html>'
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angular_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Angular velocity</span></p></body></html>'
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id_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Robot ID</span></p></body></html>'
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battery_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Battery state</span></p></body></html>'
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masterstop_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Master Stop</span></p></body></html>'
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obstacle_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Obstacle Stop</span></p></body></html>'
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robot_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Robot state</span></p></body></html>'
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restrictions_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Restrictions</span></p></body></html>'
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history_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Message history</span></p></body></html>'
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def __init__(self):
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pass
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0
scripts/enums/__init__.py
Normal file
0
scripts/enums/__init__.py
Normal file
6
scripts/enums/clutch_state.py
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6
scripts/enums/clutch_state.py
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class ClutchState:
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ENGAGED = 4
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DISENGAGED = 5
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UNKNOWN = 6
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6
scripts/enums/stop_state.py
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6
scripts/enums/stop_state.py
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class StopState:
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STOPPED = 1
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RUNNING = 2
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UNKNOWN = 3
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61
scripts/language.py
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61
scripts/language.py
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class LanguageTexts:
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# Warning popup for robot unlocking
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warning_text_1 = "Text not reimplemented!"
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warning_text_2 = "Text not reimplemented!"
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# Button texts
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select_text = "Text not reimplemented!"
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stop_robot_text = "Text not reimplemented!"
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unlock_robot_text = "Text not reimplemented!"
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disengage_clutch_text = "Text not reimplemented!"
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engage_clutch_text = "Text not reimplemented!"
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release_robot_text = "Text not reimplemented!"
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# Logger info texts
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robot_selected_text = "Text not reimplemented!"
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robot_released_text = "Text not reimplemented!"
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stopped_and_engaged_text = "Text not reimplemented!"
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master_stop_clicked_text = "Text not reimplemented!"
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master_stop_released_text = "Text not reimplemented!"
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robot_stopped_text = "Text not reimplemented!"
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robot_started_text = "Text not reimplemented!"
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clutch_disengaged_text = "Text not reimplemented!"
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clutch_engaged_text = "Text not reimplemented!"
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obstacle_detected_text = "Text not reimplemented!"
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obstacle_removed_text = "Text not reimplemented!"
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# Logger error/problem messages
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selection_error_text = "Text not reimplemented!"
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cannot_start_masterstop_text = "Text not reimplemented!"
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cannot_start_obstacle_text = "Text not reimplemented!"
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cannot_select_robot_text = "Text not reimplemented!"
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connection_to_robot_lost_text = "Text not reimplemented!"
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connection_to_master_lost_text = "Text not reimplemented!"
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# Description labels
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angular_text = "Text not reimplemented!"
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linear_text = "Text not reimplemented!"
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id_text = "Text not reimplemented!"
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battery_text = "Text not reimplemented!"
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masterstop_text = "Text not reimplemented!"
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obstacle_text = "Text not reimplemented!"
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robot_text = "Text not reimplemented!"
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restrictions_text = "Text not reimplemented!"
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history_text = "Text not reimplemented!"
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def __init__(self):
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pass
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63
scripts/polish.py
Normal file
63
scripts/polish.py
Normal file
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#!/usr/bin/env python
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# coding=utf-8
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from language import LanguageTexts
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class PolishTexts(LanguageTexts):
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# Warning popup for robot unlocking
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warning_text_1 = "UWAGA"
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warning_text_2 = "Na pewno chcesz odblokować robota?"
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# Button texts
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select_text = 'Wybierz'
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stop_robot_text = "Zatrzymaj robota"
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unlock_robot_text = "Odblokuj robota"
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disengage_clutch_text = "Rozłącz sprzęgło"
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engage_clutch_text = "Połącz sprzęgło"
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release_robot_text = 'Zwolnij robota'
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# Logger info texts
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robot_selected_text = 'PIONIER{0} wybrany!'
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robot_released_text = 'Odłączam robota'
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stopped_and_engaged_text = "Robot zostanie zatrzymany i sprzęgnięty"
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|
||||
master_stop_clicked_text = 'Przycisk masterSTOP został naciśnięty. Zatrzymuje roboty'
|
||||
master_stop_released_text = 'Przycisk masterSTOP odciśnięty. Mozesz uruchomić robota'
|
||||
|
||||
robot_stopped_text = 'Robot zatrzymany'
|
||||
robot_started_text = 'Robot wystartował'
|
||||
|
||||
clutch_disengaged_text = 'Rozprzęgam sprzęgło'
|
||||
clutch_engaged_text = 'Sprzęgam sprzegło'
|
||||
|
||||
obstacle_detected_text = 'Przeszkoda wykryta. Zatrzymuję robota'
|
||||
obstacle_removed_text = 'Przeszkoda usunięta'
|
||||
|
||||
|
||||
# Logger error/problem messages
|
||||
selection_error_text = 'Najpierw wybierz PIONIERA z listy robotów'
|
||||
cannot_start_masterstop_text = 'Nie można wystartować robota. MasterSTOP wciśnięty!'
|
||||
cannot_start_obstacle_text = 'Nie mozna wystartować. Przeszkoda w polu działania robota'
|
||||
cannot_select_robot_text = 'Nie mozna wybrać robota. Robot został już wybrany przez inną grupę'
|
||||
connection_to_robot_lost_text = 'Utrata połączenia z robotem PIONIER{0}'
|
||||
connection_to_master_lost_text = 'Utrata połączenia z masterstopem. Poproś prowadzącego o jego uruchomienie'
|
||||
|
||||
|
||||
# Description labels
|
||||
linear_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Prędkość liniowa</span></p></body></html>'
|
||||
angular_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Prędkość obrotowa</span></p></body></html>'
|
||||
id_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">ID robota</span></p></body></html>'
|
||||
battery_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Stan baterii</span></p></body></html>'
|
||||
masterstop_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Stop mastera</span></p></body></html>'
|
||||
obstacle_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Stop przeszkody</span></p></body></html>'
|
||||
robot_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Stan robota</span></p></body></html>'
|
||||
restrictions_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Ograniczenia</span></p></body></html>'
|
||||
history_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Historia komunikatów</span></p></body></html>'
|
||||
|
||||
def __init__(self):
|
||||
pass
|
||||
338
scripts/qt_wrapper.py
Normal file
338
scripts/qt_wrapper.py
Normal file
@ -0,0 +1,338 @@
|
||||
#!/usr/bin/env python
|
||||
# coding=utf-8
|
||||
|
||||
import os
|
||||
import rospy
|
||||
import rospkg
|
||||
|
||||
import math
|
||||
import datetime
|
||||
|
||||
from enums.clutch_state import ClutchState as CS
|
||||
from enums.stop_state import StopState as SS
|
||||
|
||||
from python_qt_binding.QtGui import QPixmap
|
||||
from python_qt_binding.QtGui import QTextCursor
|
||||
from python_qt_binding.QtWidgets import QMessageBox
|
||||
|
||||
from polish import PolishTexts as PT
|
||||
from english import EnglishTexts as ET
|
||||
|
||||
class QtWrapper:
|
||||
|
||||
def __init__(self,widget):
|
||||
self.widget = widget
|
||||
self.displayed_robots_id_list = []
|
||||
|
||||
lang = rospy.get_param('lang')
|
||||
|
||||
if lang == 'eng':
|
||||
self.language = ET
|
||||
self.log_info('Started english version of plugin NEW')
|
||||
elif lang == 'pol':
|
||||
self.language = PT
|
||||
self.log_info('Polska wersja pluginu uruchomiona')
|
||||
else:
|
||||
raise ValueError('language parameter has value different than "eng" or "pol"')
|
||||
|
||||
self.clear_robot_info()
|
||||
|
||||
ui_directory_path = '{0}/ui'.format(rospkg.RosPack().get_path('safety_user_plugin'))
|
||||
|
||||
self.distance_pixmap = QPixmap('{0}/Distance.png'.format(ui_directory_path))
|
||||
self.angular_pixmap = QPixmap('{0}/Angular.png'.format(ui_directory_path))
|
||||
self.linear_pixmap = QPixmap('{0}/Linear.png'.format(ui_directory_path))
|
||||
|
||||
self.widget.distanceImage.setPixmap(self.distance_pixmap.scaled(66,46))
|
||||
self.widget.angularImage.setPixmap(self.angular_pixmap)
|
||||
self.widget.linearImage.setPixmap(self.linear_pixmap.scaled(20,48))
|
||||
|
||||
self.ok_pixmap = QPixmap('{0}/Ok.jpg'.format(ui_directory_path))
|
||||
self.cancel_pixmap = QPixmap('{0}/Cancel.jpg'.format(ui_directory_path))
|
||||
|
||||
def disconnect_signals(self):
|
||||
self.widget.clutchButton.clicked.disconnect()
|
||||
self.widget.stopButton.clicked.disconnect()
|
||||
self.widget.choiceButton.clicked.disconnect()
|
||||
|
||||
def connect_robot_signals(self):
|
||||
self.widget.clutchButton.clicked.connect(self.handle_clutchButton_clicked_callback)
|
||||
self.widget.stopButton.clicked.connect(self.handle_stopButton_clicked)
|
||||
self.widget.choiceButton.clicked.connect(self.handle_closeButton_clicked)
|
||||
|
||||
def connect_signals(self):
|
||||
self.widget.clutchButton.clicked.connect(self.handle_not_selected_error)
|
||||
self.widget.stopButton.clicked.connect(self.handle_not_selected_error)
|
||||
self.widget.choiceButton.clicked.connect(self.handle_openButton_clicked)
|
||||
|
||||
|
||||
def handle_emitted_signal(self,method_name):
|
||||
exec('self.{0}()'.format(method_name))
|
||||
|
||||
def handle_emitted_signal_with_list_argument(self,method_name,argument):
|
||||
if method_name == 'update_selected_robot_info':
|
||||
self.update_selected_robot_info(argument[0])
|
||||
|
||||
else:
|
||||
method_with_argument = 'self.{0}({1})'.format(method_name,argument[0])
|
||||
exec(method_with_argument)
|
||||
|
||||
|
||||
def handle_stopButton_clicked(self):
|
||||
if self.robot_state == SS.RUNNING:
|
||||
self.handle_stopButton_clicked_callback()
|
||||
else:
|
||||
reply = QMessageBox.warning(self.widget,self.language.warning_text_1,self.language.warning_text_2,QMessageBox.Yes,QMessageBox.No)
|
||||
|
||||
if reply == QMessageBox.Yes:
|
||||
self.handle_stopButton_clicked_callback()
|
||||
|
||||
|
||||
def get_selected_robot_id(self):
|
||||
current_text = self.widget.robotsList.currentText()
|
||||
|
||||
if 'PIONIER' in current_text:
|
||||
return int(current_text[7:])
|
||||
else:
|
||||
return None
|
||||
|
||||
def display_clutch_on(self):
|
||||
# self.widget.clutchLabel.setPixmap(self.ok_pixmap.scaled(40,40))
|
||||
self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
|
||||
self.widget.clutchButton.setText(self.language.disengage_clutch_text)
|
||||
|
||||
def display_clutch_off(self):
|
||||
# self.widget.clutchLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
|
||||
self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
|
||||
self.widget.clutchButton.setText(self.language.engage_clutch_text)
|
||||
|
||||
def display_state_on(self):
|
||||
self.widget.stateLabel.setPixmap(self.ok_pixmap.scaled(40,40))
|
||||
self.widget.stopButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
|
||||
self.widget.stopButton.setText(self.language.stop_robot_text)
|
||||
self.robot_state = SS.RUNNING
|
||||
|
||||
def display_state_off(self):
|
||||
self.widget.stateLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
|
||||
self.widget.stopButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
|
||||
self.widget.stopButton.setText(self.language.unlock_robot_text)
|
||||
self.robot_state = SS.STOPPED
|
||||
|
||||
def handle_not_selected_error(self):
|
||||
self.log_error(self.language.selection_error_text)
|
||||
|
||||
def handle_openButton_clicked(self):
|
||||
selected_robot_id = self.get_selected_robot_id()
|
||||
|
||||
if selected_robot_id != None:
|
||||
self.handle_openButton_clicked_callback(selected_robot_id)
|
||||
else:
|
||||
self.log_error(self.language.selection_error_text)
|
||||
|
||||
def handle_closeButton_clicked(self):
|
||||
self.handle_closeButton_clicked_callback()
|
||||
|
||||
def set_robot_selection_callback(self,callback):
|
||||
self.handle_openButton_clicked_callback = callback
|
||||
|
||||
def set_robot_release_callback(self,callback):
|
||||
self.handle_closeButton_clicked_callback = callback
|
||||
|
||||
def set_user_stop_state_updated_callback(self,callback):
|
||||
self.handle_stopButton_clicked_callback = callback
|
||||
|
||||
def set_clutch_switched_callback(self,callback):
|
||||
self.handle_clutchButton_clicked_callback = callback
|
||||
|
||||
def select_robot(self,robot_id):
|
||||
self.disconnect_signals()
|
||||
self.connect_robot_signals()
|
||||
self.log_info(self.language.robot_selected_text.format(robot_id))
|
||||
self.log_info(self.language.stopped_and_engaged_text)
|
||||
|
||||
self.widget.choiceButton.setText(self.language.release_robot_text)
|
||||
|
||||
def release_robot(self):
|
||||
self.disconnect_signals()
|
||||
self.connect_signals()
|
||||
self.log_info(self.language.robot_released_text)
|
||||
self.clear_robot_info()
|
||||
|
||||
def update_robots_list_gui(self,robots_id_list):
|
||||
robots_id_list.sort()
|
||||
id_strings_list = (('PIONIER'+str(x)) for x in robots_id_list)
|
||||
|
||||
robots_to_add = []
|
||||
robots_to_remove = []
|
||||
|
||||
for robot_id in robots_id_list:
|
||||
if robot_id not in self.displayed_robots_id_list:
|
||||
robots_to_add.append(robot_id)
|
||||
|
||||
for robot_id in self.displayed_robots_id_list:
|
||||
if robot_id not in robots_id_list:
|
||||
robots_to_remove.append(robot_id)
|
||||
|
||||
for robot_id in robots_to_remove:
|
||||
self.remove_robot_from_list(robot_id)
|
||||
|
||||
for robot_id in robots_to_add:
|
||||
self.add_robot_to_list(robot_id)
|
||||
|
||||
|
||||
def remove_robot_from_list(self,robot_id):
|
||||
count = self.widget.robotsList.count()
|
||||
|
||||
for i in range(count):
|
||||
if str(robot_id) in self.widget.robotsList.itemText(i):
|
||||
self.widget.robotsList.removeItem(i)
|
||||
self.displayed_robots_id_list.remove(robot_id)
|
||||
return
|
||||
|
||||
|
||||
def add_robot_to_list(self,robot_id):
|
||||
self.widget.robotsList.addItem('PIONIER{0}'.format(robot_id))
|
||||
self.displayed_robots_id_list.append(robot_id)
|
||||
|
||||
|
||||
def update_selected_robot_info(self,robot_info):
|
||||
linear_vel = math.sqrt(robot_info.linear_velocity[0]**2 + robot_info.linear_velocity[1]**2)
|
||||
|
||||
self.widget.idLabel.setText('PIONIER{0}'.format(robot_info.robot_id))
|
||||
self.widget.batteryLabel.setText("{:.2f}".format(robot_info.battery_voltage))
|
||||
self.widget.linearLabel.setText("{:.2f}".format(linear_vel))
|
||||
self.widget.angularLabel.setText("{:.2f}".format(robot_info.angular_velocity[2]))
|
||||
|
||||
# self.log_info(str(robot_info.clutch == CS.ENGAGED))
|
||||
|
||||
if robot_info.clutch == CS.ENGAGED:
|
||||
self.display_clutch_on()
|
||||
else:
|
||||
self.display_clutch_off()
|
||||
|
||||
if robot_info.state == SS.RUNNING:
|
||||
self.display_state_on()
|
||||
else:
|
||||
self.display_state_off()
|
||||
|
||||
if robot_info.obstacle_detected == True:
|
||||
self.widget.obstaclestopLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
|
||||
else:
|
||||
self.widget.obstaclestopLabel.setPixmap(self.ok_pixmap.scaled(40,40))
|
||||
|
||||
def master_stopped(self):
|
||||
self.widget.masterstopLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
|
||||
self.log_info(self.language.master_stop_clicked_text)
|
||||
|
||||
def master_started(self):
|
||||
self.widget.masterstopLabel.setPixmap(self.ok_pixmap.scaled(40,40))
|
||||
self.log_info(self.language.master_stop_released_text)
|
||||
|
||||
def user_stopped(self):
|
||||
self.log_info(self.language.robot_stopped_text)
|
||||
self.display_state_off()
|
||||
|
||||
def user_started(self):
|
||||
self.log_info(self.language.robot_started_text)
|
||||
self.display_state_on()
|
||||
|
||||
def disengage_clutch(self):
|
||||
self.log_info(self.language.clutch_disengaged_text)
|
||||
self.display_clutch_off()
|
||||
|
||||
def engage_clutch(self):
|
||||
self.log_info(self.language.clutch_engaged_text)
|
||||
self.display_clutch_on()
|
||||
|
||||
def master_is_stopped_notify(self):
|
||||
self.log_error(self.language.cannot_start_masterstop_text)
|
||||
|
||||
def obstacle_is_detected_notify(self):
|
||||
self.log_error(self.language.cannot_start_obstacle_text)
|
||||
|
||||
def robot_selected_by_another_group_notify(self):
|
||||
self.log_error(self.language.cannot_select_robot_text)
|
||||
|
||||
def update_restrictions_gui(self,restrictions):
|
||||
self.widget.distanceRestrictionLabel.setText("{:.2f}".format(restrictions.distance))
|
||||
self.widget.linearRestrictionLabel.setText("{:.2f}".format(restrictions.linear_velocity))
|
||||
self.widget.angularRestrictionLabel.setText("{:.2f}".format(restrictions.angular_velocity))
|
||||
|
||||
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"> {0} {1}</font><br>'.format(time,info_text))
|
||||
self.scroll_to_bottom()
|
||||
# self.widget.logsBrowser.insertHtml(str(self.logger_counter) + '\t[INFO]\t' + info_text)
|
||||
|
||||
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.scroll_to_bottom()
|
||||
# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[WARN]\t' + warning_text)
|
||||
|
||||
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.scroll_to_bottom()
|
||||
# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[ERROR]\t' + error_text)
|
||||
|
||||
def connection_to_robot_lost(self,lost_robot_id):
|
||||
self.clear_robot_info()
|
||||
self.disconnect_signals()
|
||||
self.connect_signals()
|
||||
self.log_info(self.language.connection_to_robot_lost_text.format(lost_robot_id))
|
||||
|
||||
def connection_to_master_lost(self):
|
||||
self.log_error(self.language.connection_to_master_lost_text)
|
||||
|
||||
def obstacle_detected(self):
|
||||
self.log_error(self.language.obstacle_detected_text)
|
||||
# TODO Zmiana
|
||||
|
||||
def obstacle_removed(self):
|
||||
self.log_info(self.language.obstacle_removed_text)
|
||||
|
||||
def scroll_to_bottom(self):
|
||||
scrollbar = self.widget.logsBrowser.verticalScrollBar()
|
||||
scrollbar.setValue(scrollbar.maximum())
|
||||
|
||||
def clear_robot_info(self):
|
||||
self.widget.idLabel.setText('-')
|
||||
self.widget.batteryLabel.setText('-')
|
||||
self.widget.linearLabel.setText('-')
|
||||
self.widget.angularLabel.setText('-')
|
||||
self.widget.stateLabel.setText('-')
|
||||
self.widget.masterstopLabel.setText('-')
|
||||
self.widget.obstaclestopLabel.setText('-')
|
||||
|
||||
self.widget.choiceButton.setText(self.language.select_text)
|
||||
|
||||
self.widget.stopButton.setText('-')
|
||||
self.widget.stopButton.setStyleSheet("")
|
||||
|
||||
self.widget.clutchButton.setText('-')
|
||||
self.widget.clutchButton.setStyleSheet("")
|
||||
|
||||
self.widget.angularText.setText(self.language.angular_text)
|
||||
self.widget.batteryText.setText(self.language.battery_text)
|
||||
self.widget.idText.setText(self.language.id_text)
|
||||
self.widget.linearText.setText(self.language.linear_text)
|
||||
self.widget.masterStopText.setText(self.language.masterstop_text)
|
||||
self.widget.obstacleText.setText(self.language.obstacle_text)
|
||||
self.widget.robotText.setText(self.language.robot_text)
|
||||
self.widget.historyLabel.setText(self.language.history_text)
|
||||
self.widget.restrictionsLabel.setText(self.language.restrictions_text)
|
||||
8
scripts/restrictions.py
Normal file
8
scripts/restrictions.py
Normal file
@ -0,0 +1,8 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
class Restrictions:
|
||||
|
||||
def __init__(self,restrictions_msg):
|
||||
self.distance = restrictions_msg.distance.data
|
||||
self.linear_velocity = restrictions_msg.linear_velocity.data
|
||||
self.angular_velocity = restrictions_msg.angular_velocity.data
|
||||
32
scripts/robot_info.py
Normal file
32
scripts/robot_info.py
Normal file
@ -0,0 +1,32 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
from enums.clutch_state import ClutchState as CS
|
||||
from enums.stop_state import StopState as SS
|
||||
|
||||
class RobotInfo:
|
||||
|
||||
def __init__(self,robot_id):
|
||||
self.robot_id = robot_id
|
||||
self.battery_voltage = None
|
||||
self.linear_velocity = None
|
||||
self.angular_velocity = None
|
||||
self.state = None
|
||||
self.clutch = None
|
||||
self.obstacle_detected = None
|
||||
|
||||
def update_robot_info(self,robot_info_msg):
|
||||
self.robot_id = robot_info_msg.robot_id.data
|
||||
self.battery_voltage = robot_info_msg.battery_voltage.data
|
||||
self.linear_velocity = [robot_info_msg.twist.linear.x,robot_info_msg.twist.linear.y,robot_info_msg.twist.linear.z]
|
||||
self.angular_velocity = [robot_info_msg.twist.angular.x,robot_info_msg.twist.angular.y,robot_info_msg.twist.angular.z]
|
||||
self.obstacle_detected = robot_info_msg.obstacle_detected.data
|
||||
|
||||
if robot_info_msg.state.data == True:
|
||||
self.state = SS.RUNNING
|
||||
else:
|
||||
self.state = SS.STOPPED
|
||||
|
||||
if robot_info_msg.clutch.data == True:
|
||||
self.clutch = CS.ENGAGED
|
||||
else:
|
||||
self.clutch = CS.DISENGAGED
|
||||
269
scripts/ros_wrapper.py
Normal file
269
scripts/ros_wrapper.py
Normal file
@ -0,0 +1,269 @@
|
||||
#!/usr/bin/env python
|
||||
import rospy
|
||||
import rospkg
|
||||
import rostopic
|
||||
|
||||
from std_msgs.msg import Bool
|
||||
from rosaria_msgs.msg import RobotInfoMsg
|
||||
from rosaria_msgs.msg import RestrictionsMsg
|
||||
|
||||
from robot_info import RobotInfo
|
||||
from restrictions import Restrictions
|
||||
|
||||
from enums.clutch_state import ClutchState as CS
|
||||
from enums.stop_state import StopState as SS
|
||||
|
||||
class ROSWrapper:
|
||||
|
||||
def __init__(self):
|
||||
self.robots_list_update_callback = None
|
||||
self.selected_robot_info_update_callback = None
|
||||
self.master_stop_update_callback = None
|
||||
self.restrictions_update_callback = None
|
||||
|
||||
self.get_user_stop_state = None
|
||||
self.get_clutch_state = None
|
||||
|
||||
self.robot_info_subscriber = None
|
||||
self.master_stop_subscriber = None
|
||||
self.restrictions_subscriber = None
|
||||
|
||||
self.user_stop_publisher = None
|
||||
self.clutch_publisher = None
|
||||
|
||||
self.periodic_timer = None
|
||||
self.robots_list_timer = None
|
||||
self.connection_timer = None
|
||||
self.master_connection_timer = None
|
||||
self.hz_update_timer = rospy.Timer(rospy.Duration(0.2),self.update_hz_values)
|
||||
|
||||
self.robots_hz_subscribers_dict = {}
|
||||
self.rostopics_hz_dict = {}
|
||||
self.robots_hz_value = {}
|
||||
|
||||
# def setup_node(self):
|
||||
# rospy.init_node('safety_user_plugin', anonymous=True)
|
||||
|
||||
def setup_subscribers_and_publishers(self,robot_id):
|
||||
robot_name = 'PIONIER' + str(robot_id)
|
||||
|
||||
self.robot_info_subscriber = rospy.Subscriber('/{0}/RosAria/robot_info'.format(robot_name), RobotInfoMsg, self.handle_selected_robot_info_update)
|
||||
self.master_stop_subscriber = rospy.Subscriber('/PIONIER/master_stop', Bool, self.handle_master_stop_update)
|
||||
self.restrictions_subscriber = rospy.Subscriber('/PIONIER/restrictions', RestrictionsMsg, self.handle_restrictions_update)
|
||||
|
||||
self.user_stop_publisher = rospy.Publisher('/{0}/RosAria/user_stop'.format(robot_name),Bool,queue_size = 1)
|
||||
self.clutch_publisher = rospy.Publisher('/{0}/RosAria/clutch'.format(robot_name),Bool,queue_size = 1)
|
||||
|
||||
if self.periodic_timer != None:
|
||||
self.shutdown_timer(self.periodic_timer)
|
||||
self.periodic_timer = rospy.Timer(rospy.Duration(0.1),self.publish_periodic_update)
|
||||
print("NEW")
|
||||
if self.connection_timer != None:
|
||||
self.shutdown_timer(self.connection_timer)
|
||||
self.connection_timer = rospy.Timer(rospy.Duration(5),self.handle_robot_connection_lost)
|
||||
|
||||
if self.master_connection_timer != None:
|
||||
self.shutdown_timer(self.master_connection_timer)
|
||||
self.master_connection_timer = rospy.Timer(rospy.Duration(1.5),self.handle_master_connection_lost)
|
||||
|
||||
if self.hz_update_timer != None:
|
||||
self.shutdown_timer(self.hz_update_timer)
|
||||
self.hz_update_timer = rospy.Timer(rospy.Duration(0.2),self.update_hz_values)
|
||||
|
||||
def unsubscribe(self,subscriber):
|
||||
if subscriber != None:
|
||||
subscriber.unregister()
|
||||
|
||||
def unregister_publisher(self,publisher):
|
||||
if publisher != None:
|
||||
publisher.unregister()
|
||||
|
||||
def shutdown_timer(self,timer):
|
||||
if timer != None:
|
||||
timer.shutdown()
|
||||
|
||||
def publish_periodic_update(self,event):
|
||||
stop_state = self.get_user_stop_state()
|
||||
# clutch_state = self.get_clutch_state()
|
||||
|
||||
if stop_state == SS.RUNNING:
|
||||
self.user_started()
|
||||
elif stop_state == SS.STOPPED:
|
||||
self.user_stopped()
|
||||
else:
|
||||
raise ValueError('stop_state UNKNOWN when attempting to publish periodic update')
|
||||
|
||||
# if clutch_state == CS.ENGAGED:
|
||||
# self.engage_clutch()
|
||||
# elif clutch_state == CS.DISENGAGED:
|
||||
# self.disengage_clutch()
|
||||
# else:
|
||||
# raise ValueError('clutch_state UNKNOWN when attempting to publish periodic update')
|
||||
|
||||
def update_hz_values(self,event):
|
||||
for key in self.rostopics_hz_dict:
|
||||
self.robots_hz_value[key] = self.rostopics_hz_dict[key].get_hz('/PIONIER{0}/RosAria/user_stop'.format(key))
|
||||
|
||||
|
||||
def handle_robot_connection_lost(self,event):
|
||||
self.shutdown_timer(self.connection_timer)
|
||||
self.robot_connection_lost_callback()
|
||||
|
||||
def handle_master_connection_lost(self,event):
|
||||
self.shutdown_timer(self.master_connection_timer)
|
||||
self.master_connection_lost_callback()
|
||||
|
||||
def cancel_subscribers_and_publishers(self):
|
||||
self.shutdown_timer(self.periodic_timer)
|
||||
self.unsubscribe(self.robot_info_subscriber)
|
||||
self.unsubscribe(self.master_stop_subscriber)
|
||||
self.unsubscribe(self.restrictions_subscriber)
|
||||
self.unregister_publisher(self.user_stop_publisher)
|
||||
self.unregister_publisher(self.clutch_publisher)
|
||||
|
||||
self.periodic_timer = None
|
||||
self.robot_info_subscriber = None
|
||||
self.master_stop_subscriber = None
|
||||
self.restrictions_subscriber = None
|
||||
self.user_stop_publisher = None
|
||||
self.clutch_publisher = None
|
||||
|
||||
def restart_connection_timer(self):
|
||||
if self.connection_timer != None:
|
||||
self.connection_timer.shutdown()
|
||||
self.connection_timer = rospy.Timer(rospy.Duration(1.5),self.handle_robot_connection_lost)
|
||||
else:
|
||||
raise RuntimeError('Attempting to restart connection_timer when it is not initialized')
|
||||
|
||||
def restart_master_connection_timer(self):
|
||||
if self.master_connection_timer != None:
|
||||
self.master_connection_timer.shutdown()
|
||||
self.master_connection_timer = rospy.Timer(rospy.Duration(1.5),self.handle_master_connection_lost)
|
||||
else:
|
||||
raise RuntimeError('Attempting to restart master_connection_timer when it is not initialized')
|
||||
|
||||
def unregister_node(self):
|
||||
self.cancel_subscribers_and_publishers()
|
||||
rospy.signal_shutdown('Closing safety user plugin')
|
||||
|
||||
def select_robot(self,robot_id):
|
||||
self.setup_subscribers_and_publishers(robot_id)
|
||||
|
||||
def setup_get_user_stop_state_function(self,function):
|
||||
self.get_user_stop_state = function
|
||||
|
||||
def setup_get_clutch_state_function(self,function):
|
||||
self.get_clutch_state = function
|
||||
|
||||
# ROSWrapper Callbacks
|
||||
def get_robots_list(self,event):
|
||||
robots_id_list = []
|
||||
|
||||
published_topics_list = rospy.get_published_topics(namespace='/')
|
||||
published_topics = []
|
||||
|
||||
for list_ in published_topics_list:
|
||||
published_topics.append(list_[0])
|
||||
|
||||
for topic in published_topics:
|
||||
if topic.find('RosAria') ==-1 or topic.find('robot_info') == -1:
|
||||
pass
|
||||
else:
|
||||
robot_number = topic.split('/')
|
||||
robot_number = robot_number[1]
|
||||
robot_number = robot_number[7:]
|
||||
if len(robot_number) > 0:
|
||||
robot_number = int(robot_number)
|
||||
robots_id_list.append(robot_number)
|
||||
|
||||
|
||||
# Adding new hz subscribers
|
||||
for robot_id in robots_id_list:
|
||||
if robot_id not in self.robots_hz_subscribers_dict:
|
||||
# Add hz subscriber
|
||||
self.rostopics_hz_dict[robot_id] = rostopic.ROSTopicHz(-1)
|
||||
self.robots_hz_subscribers_dict[robot_id] = rospy.Subscriber('/PIONIER{0}/RosAria/user_stop'.format(robot_id),Bool,
|
||||
self.rostopics_hz_dict[robot_id].callback_hz,callback_args='/PIONIER{0}/RosAria/user_stop'.format(robot_id))
|
||||
|
||||
# Removing old hz subscribers
|
||||
for robot_key in self.robots_hz_subscribers_dict:
|
||||
if robot_key not in robots_id_list:
|
||||
# Remove old subscriber
|
||||
self.unsubscribe(self.robots_hz_subscribers_dict[robot_id])
|
||||
self.robots_hz_subscribers_dict[robot_id] = None
|
||||
self.rostopics_hz_dict[robot_id] = None
|
||||
|
||||
|
||||
self.robots_list_update_callback(robots_id_list)
|
||||
|
||||
|
||||
def release_robot(self):
|
||||
self.unsubscribe(self.robot_info_subscriber)
|
||||
self.shutdown_timer(self.periodic_timer)
|
||||
self.shutdown_timer(self.connection_timer)
|
||||
self.shutdown_timer(self.master_connection_timer)
|
||||
|
||||
def handle_selected_robot_info_update(self,msg):
|
||||
# Restarting connection timer to avoid raising robot_connection_lost_callback
|
||||
self.restart_connection_timer()
|
||||
|
||||
_robot_info = RobotInfo(0)
|
||||
_robot_info.update_robot_info(msg)
|
||||
self.selected_robot_info_update_callback(_robot_info)
|
||||
|
||||
def handle_master_stop_update(self,msg):
|
||||
# Restarting master connection timer to avoid raising master_connection_lost_callback
|
||||
self.restart_master_connection_timer()
|
||||
|
||||
master_stop_state = SS.UNKNOWN
|
||||
if msg.data == True:
|
||||
master_stop_state = SS.RUNNING
|
||||
else:
|
||||
master_stop_state = SS.STOPPED
|
||||
|
||||
self.master_stop_update_callback(master_stop_state)
|
||||
|
||||
def handle_restrictions_update(self,msg):
|
||||
restrictions = Restrictions(msg)
|
||||
self.restrictions_update_callback(restrictions)
|
||||
|
||||
# UserPlugin Callbacks
|
||||
def set_robots_list_update_callback(self,callback_function):
|
||||
self.robots_list_update_callback = callback_function
|
||||
self.robots_list_timer = rospy.Timer(rospy.Duration(0.5),self.get_robots_list)
|
||||
|
||||
def set_selected_robot_info_update_callback(self,callback_function):
|
||||
self.selected_robot_info_update_callback = callback_function
|
||||
|
||||
def set_master_stop_update_callback(self,callback_function):
|
||||
self.master_stop_update_callback = callback_function
|
||||
|
||||
def set_restrictions_update_callback(self,callback_function):
|
||||
self.restrictions_update_callback = callback_function
|
||||
|
||||
def set_robot_connection_lost_callback(self,callback_function):
|
||||
self.robot_connection_lost_callback = callback_function
|
||||
|
||||
def set_master_connection_lost_callback(self,callback_function):
|
||||
self.master_connection_lost_callback = callback_function
|
||||
|
||||
def engage_clutch(self):
|
||||
msg = Bool()
|
||||
msg.data = True
|
||||
self.clutch_publisher.publish(msg)
|
||||
|
||||
def disengage_clutch(self):
|
||||
msg = Bool()
|
||||
msg.data = False
|
||||
self.clutch_publisher.publish(msg)
|
||||
|
||||
def user_started(self):
|
||||
msg = Bool()
|
||||
msg.data = True
|
||||
self.user_stop_publisher.publish(msg)
|
||||
|
||||
def user_stopped(self):
|
||||
msg = Bool()
|
||||
msg.data = False
|
||||
self.user_stop_publisher.publish(msg)
|
||||
|
||||
37
scripts/user_info.py
Normal file
37
scripts/user_info.py
Normal file
@ -0,0 +1,37 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
from robot_info import RobotInfo
|
||||
|
||||
class UserInfo:
|
||||
|
||||
def __init__(self):
|
||||
self.selected_robot = None
|
||||
self.robots_id_list = []
|
||||
self.user_stop_state = None
|
||||
self.master_stop_state = None
|
||||
self.clutch_state = None
|
||||
|
||||
def select_robot(self,robot_id):
|
||||
self.selected_robot = RobotInfo(robot_id)
|
||||
|
||||
def release_robot(self):
|
||||
self.selected_robot = None
|
||||
|
||||
def update_robots_id_list(self,robots_id_list):
|
||||
self.robots_id_list = robots_id_list
|
||||
|
||||
def update_selected_robot_info(self,new_robot_info):
|
||||
self.selected_robot.robot_id = new_robot_info.robot_id
|
||||
self.selected_robot.battery_voltage = new_robot_info.battery_voltage
|
||||
self.selected_robot.linear_velocity = new_robot_info.linear_velocity
|
||||
self.selected_robot.angular_velocity = new_robot_info.angular_velocity
|
||||
self.selected_robot.state = new_robot_info.state
|
||||
self.selected_robot.clutch = new_robot_info.clutch
|
||||
self.selected_robot.obstacle_detected = new_robot_info.obstacle_detected
|
||||
self.clutch_state = new_robot_info.clutch
|
||||
|
||||
def get_user_stop_state(self):
|
||||
return self.user_stop_state
|
||||
|
||||
def get_clutch_state(self):
|
||||
return self.clutch_state
|
||||
259
scripts/user_plugin.py
Executable file
259
scripts/user_plugin.py
Executable file
@ -0,0 +1,259 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
import os
|
||||
|
||||
from qt_gui.plugin import Plugin
|
||||
from python_qt_binding.QtCore import QObject
|
||||
from python_qt_binding.QtCore import pyqtSignal
|
||||
|
||||
from qt_wrapper import QtWrapper
|
||||
from ros_wrapper import ROSWrapper
|
||||
from user_widget import UserWidget
|
||||
from user_info import UserInfo
|
||||
|
||||
from enums.clutch_state import ClutchState as CS
|
||||
from enums.stop_state import StopState as SS
|
||||
|
||||
|
||||
class CallbackHandler(QObject):
|
||||
signal = pyqtSignal(str)
|
||||
signal_with_list_argument = pyqtSignal(str,list)
|
||||
|
||||
def __init__(self):
|
||||
super(CallbackHandler, self).__init__()
|
||||
|
||||
def connect(self,slot):
|
||||
self.signal.connect(slot)
|
||||
|
||||
def list_connect(self,slot):
|
||||
self.signal_with_list_argument.connect(slot)
|
||||
|
||||
|
||||
class UserPlugin(Plugin):
|
||||
|
||||
def __init__(self,context):
|
||||
super(UserPlugin, self).__init__(context)
|
||||
self.setObjectName('User Plugin - L1.5 safety system')
|
||||
# setStyleSheet("background-color:black;")
|
||||
self.cbhandler = CallbackHandler()
|
||||
|
||||
self._widget = UserWidget(context)
|
||||
self._qt_wrapper = QtWrapper(self._widget)
|
||||
self._ros_wrapper = ROSWrapper()
|
||||
self._user_info = UserInfo()
|
||||
|
||||
self._user_info.user_stop_state = SS.STOPPED
|
||||
self._user_info.master_stop_state = SS.UNKNOWN
|
||||
self._user_info.clutch_state = CS.UNKNOWN
|
||||
|
||||
# Setup functions to get _user_info states from _ros_wrapper
|
||||
self._ros_wrapper.setup_get_user_stop_state_function(self._user_info.get_user_stop_state)
|
||||
self._ros_wrapper.setup_get_clutch_state_function(self._user_info.get_clutch_state)
|
||||
|
||||
# self._ros_wrapper.setup_node()
|
||||
self.set_callback_functions()
|
||||
|
||||
# At the end!
|
||||
self._qt_wrapper.connect_signals()
|
||||
self._ros_wrapper.set_robots_list_update_callback(self.handle_robots_list_update)
|
||||
self.cbhandler.signal.connect(self._qt_wrapper.handle_emitted_signal)
|
||||
self.cbhandler.signal_with_list_argument.connect(self._qt_wrapper.handle_emitted_signal_with_list_argument)
|
||||
|
||||
|
||||
|
||||
def call_qt_wrapper_method(self,method_name):
|
||||
self.cbhandler.signal.emit(method_name)
|
||||
|
||||
def call_qt_wrapper_method_with_argument(self,method_name,argument):
|
||||
self.cbhandler.signal_with_list_argument.emit(method_name,argument)
|
||||
|
||||
def shutdown_plugin(self):
|
||||
self._ros_wrapper.unregister_node()
|
||||
|
||||
def set_callback_functions(self):
|
||||
self.set_Qt_callback_functions()
|
||||
self.set_ROS_callback_functions()
|
||||
|
||||
def set_ROS_callback_functions(self):
|
||||
self._ros_wrapper.set_selected_robot_info_update_callback(self.handle_selected_robot_info_update)
|
||||
self._ros_wrapper.set_master_stop_update_callback(self.handle_master_stop_update)
|
||||
self._ros_wrapper.set_restrictions_update_callback(self.handle_restrictions_update)
|
||||
self._ros_wrapper.set_robot_connection_lost_callback(self.handle_robot_connection_lost)
|
||||
self._ros_wrapper.set_master_connection_lost_callback(self.handle_master_connection_lost)
|
||||
|
||||
def set_Qt_callback_functions(self):
|
||||
self._qt_wrapper.set_robot_selection_callback(self.handle_robot_selection)
|
||||
self._qt_wrapper.set_robot_release_callback(self.handle_robot_release)
|
||||
self._qt_wrapper.set_user_stop_state_updated_callback(self.handle_user_stop_state_updated)
|
||||
self._qt_wrapper.set_clutch_switched_callback(self.handle_clutch_switched)
|
||||
|
||||
|
||||
|
||||
|
||||
# ROS callback functions
|
||||
def handle_robots_list_update(self,robots_id_list):
|
||||
self._user_info.update_robots_id_list(robots_id_list)
|
||||
self._qt_wrapper.update_robots_list_gui(robots_id_list)
|
||||
|
||||
def handle_selected_robot_info_update(self,robot_info):
|
||||
if robot_info != None:
|
||||
self.update_selected_robot_info(robot_info)
|
||||
else:
|
||||
raise RuntimeError('Updated robot_info is NoneType object')
|
||||
|
||||
def handle_master_stop_update(self,master_stop_state):
|
||||
if (master_stop_state != self._user_info.master_stop_state):
|
||||
self._user_info.master_stop_state = master_stop_state
|
||||
if master_stop_state == SS.STOPPED:
|
||||
self.master_stopped()
|
||||
elif master_stop_state == SS.RUNNING:
|
||||
self.master_started()
|
||||
else:
|
||||
raise ValueError('Undefined master_stop_state received')
|
||||
|
||||
def handle_restrictions_update(self,restrictions):
|
||||
self._qt_wrapper.update_restrictions_gui(restrictions)
|
||||
|
||||
|
||||
# Qt callback functions
|
||||
def handle_robot_selection(self,robot_id):
|
||||
if self._user_info.selected_robot == None:
|
||||
if self._ros_wrapper.robots_hz_value[robot_id] == None:
|
||||
self.select_robot(robot_id)
|
||||
else:
|
||||
self._qt_wrapper.robot_selected_by_another_group_notify()
|
||||
|
||||
else:
|
||||
raise RuntimeError('User already selected robot')
|
||||
|
||||
def handle_robot_release(self):
|
||||
if self._user_info.selected_robot != None:
|
||||
self.release_robot()
|
||||
else:
|
||||
raise RuntimeError('Cannot release. No robot selected')
|
||||
|
||||
def handle_user_stop_state_updated(self):
|
||||
if self._user_info.selected_robot.obstacle_detected == True:
|
||||
self._qt_wrapper.obstacle_is_detected_notify()
|
||||
else:
|
||||
if self._user_info.master_stop_state == SS.STOPPED:
|
||||
self._qt_wrapper.master_is_stopped_notify()
|
||||
elif self._user_info.master_stop_state == SS.RUNNING:
|
||||
if self._user_info.user_stop_state == SS.RUNNING:
|
||||
self.user_stopped()
|
||||
elif self._user_info.user_stop_state == SS.STOPPED:
|
||||
self.user_started()
|
||||
else:
|
||||
raise ValueError('user_stop_state value undefined')
|
||||
else:
|
||||
raise ValueError('master_stop_state value undefined')
|
||||
|
||||
def handle_clutch_switched(self):
|
||||
if self._user_info.clutch_state == CS.ENGAGED:
|
||||
self.disengage_clutch()
|
||||
elif self._user_info.clutch_state == CS.DISENGAGED:
|
||||
self.engage_clutch()
|
||||
else:
|
||||
raise ValueError('clutch_state value undefined')
|
||||
|
||||
def handle_robot_connection_lost(self):
|
||||
if self._user_info.selected_robot != None:
|
||||
lost_robot_id = self._user_info.selected_robot.robot_id
|
||||
self.connection_to_robot_lost(lost_robot_id)
|
||||
else:
|
||||
raise RuntimeError('Connection lost callback received when no robot was selected')
|
||||
|
||||
def handle_master_connection_lost(self):
|
||||
self.connection_to_master_lost()
|
||||
|
||||
# Operations
|
||||
def master_stopped(self):
|
||||
self._user_info.master_stop_state = SS.STOPPED
|
||||
|
||||
if self._user_info.selected_robot != None:
|
||||
self.user_stopped()
|
||||
self.call_qt_wrapper_method('master_stopped')
|
||||
# self._qt_wrapper.master_stopped()
|
||||
|
||||
def master_started(self):
|
||||
self._user_info.master_stop_state = SS.RUNNING
|
||||
|
||||
if self._user_info.selected_robot != None:
|
||||
self.call_qt_wrapper_method('master_started')
|
||||
# self._qt_wrapper.master_started()
|
||||
|
||||
def user_stopped(self):
|
||||
self._user_info.user_stop_state = SS.STOPPED
|
||||
self._ros_wrapper.user_stopped()
|
||||
self.call_qt_wrapper_method('user_stopped')
|
||||
# self._qt_wrapper.user_stopped()
|
||||
|
||||
def user_started(self):
|
||||
self._user_info.user_stop_state = SS.RUNNING
|
||||
self._ros_wrapper.user_started()
|
||||
self.call_qt_wrapper_method('user_started')
|
||||
# self._qt_wrapper.user_started()
|
||||
|
||||
def engage_clutch(self):
|
||||
self._user_info.clutch_state = CS.ENGAGED
|
||||
self._ros_wrapper.engage_clutch()
|
||||
self.call_qt_wrapper_method('engage_clutch')
|
||||
# self._qt_wrapper.engage_clutch()
|
||||
|
||||
def disengage_clutch(self):
|
||||
self._user_info.clutch_state = CS.DISENGAGED
|
||||
self._ros_wrapper.disengage_clutch()
|
||||
self.call_qt_wrapper_method('disengage_clutch')
|
||||
# self._qt_wrapper.disengage_clutch()
|
||||
|
||||
def select_robot(self,robot_id):
|
||||
self._ros_wrapper.select_robot(robot_id)
|
||||
# self._qt_wrapper.select_robot(robot_id)
|
||||
self.call_qt_wrapper_method_with_argument('select_robot',[robot_id])
|
||||
self._user_info.select_robot(robot_id)
|
||||
|
||||
# Stop robot and engage clutch after taking control over it to put it in starting state
|
||||
self.user_stopped()
|
||||
self.engage_clutch()
|
||||
|
||||
if self._user_info.master_stop_state == SS.RUNNING:
|
||||
self.master_started()
|
||||
elif self._user_info.master_stop_state == SS.STOPPED:
|
||||
self.master_stopped()
|
||||
|
||||
def release_robot(self):
|
||||
self._ros_wrapper.release_robot()
|
||||
self.call_qt_wrapper_method('release_robot')
|
||||
# self._qt_wrapper.release_robot()
|
||||
self._user_info.release_robot()
|
||||
self._user_info.master_stop_state = SS.UNKNOWN
|
||||
|
||||
def connection_to_robot_lost(self,lost_robot_id):
|
||||
# pass
|
||||
self._ros_wrapper.release_robot()
|
||||
self._user_info.release_robot()
|
||||
self.call_qt_wrapper_method_with_argument('connection_to_robot_lost',[lost_robot_id])
|
||||
# self._qt_wrapper.connection_to_robot_lost(lost_robot_id)
|
||||
|
||||
def connection_to_master_lost(self):
|
||||
if self._user_info.selected_robot != None:
|
||||
self.master_stopped()
|
||||
self.call_qt_wrapper_method('connection_to_master_lost')
|
||||
|
||||
def obstacle_detected(self):
|
||||
self.call_qt_wrapper_method('obstacle_detected')
|
||||
self.user_stopped()
|
||||
|
||||
def obstacle_removed(self):
|
||||
self.call_qt_wrapper_method('obstacle_removed')
|
||||
|
||||
def update_selected_robot_info(self,robot_info):
|
||||
if self._user_info.selected_robot != None:
|
||||
if robot_info.obstacle_detected == True and self._user_info.selected_robot.obstacle_detected == False:
|
||||
self.obstacle_detected()
|
||||
elif robot_info.obstacle_detected == False and self._user_info.selected_robot.obstacle_detected == True:
|
||||
self.obstacle_removed()
|
||||
|
||||
self._user_info.update_selected_robot_info(robot_info)
|
||||
self.call_qt_wrapper_method_with_argument('update_selected_robot_info',[robot_info])
|
||||
# self._qt_wrapper.update_selected_robot_info(robot_info)
|
||||
18
scripts/user_widget.py
Normal file
18
scripts/user_widget.py
Normal file
@ -0,0 +1,18 @@
|
||||
#!/usr/bin/env python
|
||||
import os
|
||||
import rospkg
|
||||
|
||||
from python_qt_binding.QtWidgets import QWidget
|
||||
from python_qt_binding import loadUi
|
||||
|
||||
class UserWidget(QWidget):
|
||||
|
||||
def __init__(self,context):
|
||||
super(UserWidget, self).__init__()
|
||||
ui_file = os.path.join(rospkg.RosPack().get_path('safety_user_plugin'), 'ui', 'user_view.ui')
|
||||
loadUi(ui_file, self)
|
||||
self.setObjectName('User Plugin - L1.5 safety system')
|
||||
|
||||
if context.serial_number() > 1:
|
||||
self.setWindowTitle(self.windowTitle() + (' (%d)' % context.serial_number()))
|
||||
context.add_widget(self)
|
||||
8
setup.py
Normal file
8
setup.py
Normal file
@ -0,0 +1,8 @@
|
||||
from distutils.core import setup
|
||||
from catkin_pkg.python_setup import generate_distutils_setup
|
||||
|
||||
setup_args = generate_distutils_setup(
|
||||
package_dir={'': 'scripts'}
|
||||
)
|
||||
|
||||
setup(**setup_args)
|
||||
BIN
ui/Angular.png
Normal file
BIN
ui/Angular.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 910 B |
BIN
ui/Cancel.jpg
Normal file
BIN
ui/Cancel.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 17 KiB |
BIN
ui/Distance.png
Normal file
BIN
ui/Distance.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 1.6 KiB |
BIN
ui/Linear.png
Normal file
BIN
ui/Linear.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 488 B |
395
ui/user_view.ui
Normal file
395
ui/user_view.ui
Normal file
@ -0,0 +1,395 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<ui version="4.0">
|
||||
<class>Form</class>
|
||||
<widget class="QWidget" name="Form">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>952</width>
|
||||
<height>817</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
<string>Form</string>
|
||||
</property>
|
||||
<property name="autoFillBackground">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true"/>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3" stretch="3,0,1,0,3,0,0,2">
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout" stretch="2,1">
|
||||
<item>
|
||||
<widget class="QComboBox" name="robotsList">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="choiceButton">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>60</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Wybierz</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_2" stretch="4,2,3">
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout" stretch="1,1,1,1,2,2,2">
|
||||
<property name="sizeConstraint">
|
||||
<enum>QLayout::SetDefaultConstraint</enum>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QLabel" name="idText">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center"><span style=" font-weight:600;">ID robota</span></p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="batteryText">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center"><span style=" font-weight:600;">Stan baterii</span></p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="linearText">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center"><span style=" font-weight:600;">Predkosc liniowa</span></p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="angularText">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center"><span style=" font-weight:600;">Predkosc obrotowa</span></p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="robotText">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center"><span style=" font-weight:600;">Stan robota</span></p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="masterStopText">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center"><span style=" font-weight:600;">Stop mastera</span></p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="obstacleText">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center"><span style=" font-weight:600;">Stop przeszkody</span></p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2" stretch="1,1,1,1,2,2,0">
|
||||
<item>
|
||||
<widget class="QLabel" name="idLabel">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center">-</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="batteryLabel">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center">-</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="linearLabel">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center">-</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="angularLabel">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center">-</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="stateLabel">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center">-</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="masterstopLabel">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center">-</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="obstaclestopLabel">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center">-</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QGridLayout" name="gridLayout" columnstretch="4,0,0">
|
||||
<property name="verticalSpacing">
|
||||
<number>15</number>
|
||||
</property>
|
||||
<item row="1" column="2">
|
||||
<widget class="QLabel" name="distanceRestrictionLabel">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center">-</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="2">
|
||||
<widget class="QLabel" name="angularRestrictionLabel">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center">-</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QLabel" name="linearRestrictionLabel">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>100</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center">-</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1" colspan="2">
|
||||
<widget class="QLabel" name="restrictionsLabel">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center"><span style=" font-weight:600;">Ograniczenia</span></p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QLabel" name="distanceImage">
|
||||
<property name="text">
|
||||
<string>TextLabel</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="1">
|
||||
<widget class="QLabel" name="angularImage">
|
||||
<property name="text">
|
||||
<string>TextLabel</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="linearImage">
|
||||
<property name="text">
|
||||
<string>TextLabel</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<spacer name="horizontalSpacer">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Fixed</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>50</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_2">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_3" stretch="2,1">
|
||||
<item>
|
||||
<widget class="QPushButton" name="stopButton">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QPushButton" name="clutchButton">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Expanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>-</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_3">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="historyLabel">
|
||||
<property name="text">
|
||||
<string><html><head/><body><p align="center"><span style=" font-weight:600;">Histora komunikatów</span></p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QTextBrowser" name="logsBrowser">
|
||||
<property name="html">
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
|
||||
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
Loading…
Reference in New Issue
Block a user