fixed includes
Signed-off-by: Jakub Delicat <delicat.kuba@gmail.com>
This commit is contained in:
Jakub Delicat
parent
53784eecbe
commit
ce405ab4f1
@ -1,16 +1,16 @@
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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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from safety_user_plugin.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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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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@ -18,35 +18,36 @@ class EnglishTexts(LanguageTexts):
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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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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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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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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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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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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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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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cannot_select_robot_text = (
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"Robot can't be selected. It is already selected by another group"
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)
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connection_to_robot_lost_text = "Connection lost with robot PIONIER{0}"
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connection_to_master_lost_text = (
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"Connection lost with masterSTOP. Ask the teacher to run it"
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)
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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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@ -59,7 +60,5 @@ class EnglishTexts(LanguageTexts):
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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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@ -1,16 +1,16 @@
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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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from safety_user_plugin.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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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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@ -18,35 +18,42 @@ class PolishTexts(LanguageTexts):
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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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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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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'
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master_stop_released_text = 'Przycisk masterSTOP odciśnięty. Mozesz uruchomić robota'
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master_stop_clicked_text = (
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"Przycisk masterSTOP został naciśnięty. Zatrzymuje roboty"
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)
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master_stop_released_text = (
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"Przycisk masterSTOP odciśnięty. Mozesz uruchomić robota"
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)
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robot_stopped_text = 'Robot zatrzymany'
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robot_started_text = 'Robot wystartował'
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robot_stopped_text = "Robot zatrzymany"
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robot_started_text = "Robot wystartował"
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clutch_disengaged_text = 'Rozprzęgam sprzęgło'
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clutch_engaged_text = 'Sprzęgam sprzegło'
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obstacle_detected_text = 'Przeszkoda wykryta. Zatrzymuję robota'
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obstacle_removed_text = 'Przeszkoda usunięta'
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clutch_disengaged_text = "Rozprzęgam sprzęgło"
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clutch_engaged_text = "Sprzęgam sprzegło"
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obstacle_detected_text = "Przeszkoda wykryta. Zatrzymuję robota"
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obstacle_removed_text = "Przeszkoda usunięta"
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# Logger error/problem messages
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selection_error_text = 'Najpierw wybierz PIONIERA z listy robotów'
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cannot_start_masterstop_text = 'Nie można wystartować robota. MasterSTOP wciśnięty!'
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cannot_start_obstacle_text = 'Nie mozna wystartować. Przeszkoda w polu działania robota'
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cannot_select_robot_text = 'Nie mozna wybrać robota. Robot został już wybrany przez inną grupę'
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connection_to_robot_lost_text = 'Utrata połączenia z robotem PIONIER{0}'
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connection_to_master_lost_text = 'Utrata połączenia z masterstopem. Poproś prowadzącego o jego uruchomienie'
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selection_error_text = "Najpierw wybierz PIONIERA z listy robotów"
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cannot_start_masterstop_text = "Nie można wystartować robota. MasterSTOP wciśnięty!"
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cannot_start_obstacle_text = (
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"Nie mozna wystartować. Przeszkoda w polu działania robota"
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)
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cannot_select_robot_text = (
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"Nie mozna wybrać robota. Robot został już wybrany przez inną grupę"
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)
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connection_to_robot_lost_text = "Utrata połączenia z robotem PIONIER{0}"
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connection_to_master_lost_text = (
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"Utrata połączenia z masterstopem. Poproś prowadzącego o jego uruchomienie"
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)
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# Description labels
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linear_text = '<html><head/><body><p align="center"><span style=" font-weight:600;">Prędkość liniowa</span></p></body></html>'
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@ -2,53 +2,56 @@
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# coding=utf-8
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import os
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import rospy
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import rospkg
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import math
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import datetime
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from enums.clutch_state import ClutchState as CS
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from enums.stop_state import StopState as SS
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from 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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from python_qt_binding.QtGui import QPixmap
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from python_qt_binding.QtGui import QTextCursor
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from python_qt_binding.QtWidgets import QMessageBox
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from polish import PolishTexts as PT
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from english import EnglishTexts as ET
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from safety_user_plugin.polish import PolishTexts as PT
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from safety_user_plugin.english import EnglishTexts as ET
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class QtWrapper:
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def __init__(self, widget):
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self.widget = widget
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self.displayed_robots_id_list = []
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lang = rospy.get_param('lang')
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# lang = rospy.get_param('lang')
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lang = "pol"
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if lang == 'eng':
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if lang == "eng":
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self.language = ET
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self.log_info('Started english version of plugin NEW')
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elif lang == 'pol':
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self.log_info("Started english version of plugin NEW")
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elif lang == "pol":
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self.language = PT
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self.log_info('Polska wersja pluginu uruchomiona')
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self.log_info("Polska wersja pluginu uruchomiona")
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else:
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raise ValueError('language parameter has value different than "eng" or "pol"')
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raise ValueError(
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'language parameter has value different than "eng" or "pol"'
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)
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self.clear_robot_info()
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ui_directory_path = '{0}/ui'.format(rospkg.RosPack().get_path('safety_user_plugin'))
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ui_directory_path = "{0}/ui".format(
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rospkg.RosPack().get_path("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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self.angular_pixmap = QPixmap('{0}/Angular.png'.format(ui_directory_path))
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self.linear_pixmap = QPixmap('{0}/Linear.png'.format(ui_directory_path))
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self.distance_pixmap = QPixmap("{0}/Distance.png".format(ui_directory_path))
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self.angular_pixmap = QPixmap("{0}/Angular.png".format(ui_directory_path))
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self.linear_pixmap = QPixmap("{0}/Linear.png".format(ui_directory_path))
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self.widget.distanceImage.setPixmap(self.distance_pixmap.scaled(66, 46))
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self.widget.angularImage.setPixmap(self.angular_pixmap)
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self.widget.linearImage.setPixmap(self.linear_pixmap.scaled(20, 48))
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self.ok_pixmap = QPixmap('{0}/Ok.jpg'.format(ui_directory_path))
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self.cancel_pixmap = QPixmap('{0}/Cancel.jpg'.format(ui_directory_path))
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self.ok_pixmap = QPixmap("{0}/Ok.jpg".format(ui_directory_path))
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self.cancel_pixmap = QPixmap("{0}/Cancel.jpg".format(ui_directory_path))
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def disconnect_signals(self):
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self.widget.clutchButton.clicked.disconnect()
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@ -56,7 +59,9 @@ class QtWrapper:
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self.widget.choiceButton.clicked.disconnect()
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def connect_robot_signals(self):
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self.widget.clutchButton.clicked.connect(self.handle_clutchButton_clicked_callback)
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self.widget.clutchButton.clicked.connect(
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self.handle_clutchButton_clicked_callback
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)
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self.widget.stopButton.clicked.connect(self.handle_stopButton_clicked)
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self.widget.choiceButton.clicked.connect(self.handle_closeButton_clicked)
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@ -65,56 +70,67 @@ class QtWrapper:
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self.widget.stopButton.clicked.connect(self.handle_not_selected_error)
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self.widget.choiceButton.clicked.connect(self.handle_openButton_clicked)
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def handle_emitted_signal(self, method_name):
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exec('self.{0}()'.format(method_name))
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exec("self.{0}()".format(method_name))
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def handle_emitted_signal_with_list_argument(self, method_name, argument):
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if method_name == 'update_selected_robot_info':
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if method_name == "update_selected_robot_info":
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self.update_selected_robot_info(argument[0])
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else:
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method_with_argument = 'self.{0}({1})'.format(method_name,argument[0])
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method_with_argument = "self.{0}({1})".format(method_name, argument[0])
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exec(method_with_argument)
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def handle_stopButton_clicked(self):
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if self.robot_state == SS.RUNNING:
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self.handle_stopButton_clicked_callback()
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else:
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reply = QMessageBox.warning(self.widget,self.language.warning_text_1,self.language.warning_text_2,QMessageBox.Yes,QMessageBox.No)
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reply = QMessageBox.warning(
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self.widget,
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self.language.warning_text_1,
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self.language.warning_text_2,
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QMessageBox.Yes,
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QMessageBox.No,
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)
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if reply == QMessageBox.Yes:
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self.handle_stopButton_clicked_callback()
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def get_selected_robot_id(self):
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current_text = self.widget.robotsList.currentText()
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if 'PIONIER' in current_text:
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if "PIONIER" in current_text:
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return int(current_text[7:])
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else:
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return None
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def display_clutch_on(self):
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# self.widget.clutchLabel.setPixmap(self.ok_pixmap.scaled(40,40))
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self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
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self.widget.clutchButton.setStyleSheet(
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"QPushButton { color: black; background-color: green; font: bold 20px}"
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)
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self.widget.clutchButton.setText(self.language.disengage_clutch_text)
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def display_clutch_off(self):
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# self.widget.clutchLabel.setPixmap(self.cancel_pixmap.scaled(40,40))
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self.widget.clutchButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
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self.widget.clutchButton.setStyleSheet(
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"QPushButton { color: black; background-color: red; font: bold 20px}"
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)
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self.widget.clutchButton.setText(self.language.engage_clutch_text)
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def display_state_on(self):
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self.widget.stateLabel.setPixmap(self.ok_pixmap.scaled(40, 40))
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self.widget.stopButton.setStyleSheet("QPushButton { color: black; background-color: green; font: bold 20px}")
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self.widget.stopButton.setStyleSheet(
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"QPushButton { color: black; background-color: green; font: bold 20px}"
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)
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self.widget.stopButton.setText(self.language.stop_robot_text)
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self.robot_state = SS.RUNNING
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def display_state_off(self):
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self.widget.stateLabel.setPixmap(self.cancel_pixmap.scaled(40, 40))
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self.widget.stopButton.setStyleSheet("QPushButton { color: black; background-color: red; font: bold 20px}")
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self.widget.stopButton.setStyleSheet(
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"QPushButton { color: black; background-color: red; font: bold 20px}"
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)
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self.widget.stopButton.setText(self.language.unlock_robot_text)
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self.robot_state = SS.STOPPED
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@ -160,7 +176,7 @@ class QtWrapper:
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def update_robots_list_gui(self, robots_id_list):
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robots_id_list.sort()
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id_strings_list = (('PIONIER'+str(x)) for x in robots_id_list)
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id_strings_list = (("PIONIER" + str(x)) for x in robots_id_list)
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robots_to_add = []
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robots_to_remove = []
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@ -179,7 +195,6 @@ class QtWrapper:
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for robot_id in robots_to_add:
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self.add_robot_to_list(robot_id)
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def remove_robot_from_list(self, robot_id):
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count = self.widget.robotsList.count()
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@ -189,19 +204,21 @@ class QtWrapper:
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self.displayed_robots_id_list.remove(robot_id)
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return
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def add_robot_to_list(self, robot_id):
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self.widget.robotsList.addItem('PIONIER{0}'.format(robot_id))
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self.widget.robotsList.addItem("PIONIER{0}".format(robot_id))
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self.displayed_robots_id_list.append(robot_id)
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def update_selected_robot_info(self, robot_info):
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linear_vel = math.sqrt(robot_info.linear_velocity[0]**2 + robot_info.linear_velocity[1]**2)
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linear_vel = math.sqrt(
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robot_info.linear_velocity[0] ** 2 + robot_info.linear_velocity[1] ** 2
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)
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self.widget.idLabel.setText('PIONIER{0}'.format(robot_info.robot_id))
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self.widget.idLabel.setText("PIONIER{0}".format(robot_info.robot_id))
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self.widget.batteryLabel.setText("{:.2f}".format(robot_info.battery_voltage))
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self.widget.linearLabel.setText("{:.2f}".format(linear_vel))
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self.widget.angularLabel.setText("{:.2f}".format(robot_info.angular_velocity[2]))
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self.widget.angularLabel.setText(
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"{:.2f}".format(robot_info.angular_velocity[2])
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)
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# self.log_info(str(robot_info.clutch == CS.ENGAGED))
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@ -254,39 +271,51 @@ class QtWrapper:
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self.log_error(self.language.cannot_select_robot_text)
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def update_restrictions_gui(self, restrictions):
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self.widget.distanceRestrictionLabel.setText("{:.2f}".format(restrictions.distance))
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self.widget.linearRestrictionLabel.setText("{:.2f}".format(restrictions.linear_velocity))
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self.widget.angularRestrictionLabel.setText("{:.2f}".format(restrictions.angular_velocity))
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self.widget.distanceRestrictionLabel.setText(
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"{:.2f}".format(restrictions.distance)
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)
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self.widget.linearRestrictionLabel.setText(
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"{:.2f}".format(restrictions.linear_velocity)
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)
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self.widget.angularRestrictionLabel.setText(
|
||||
"{:.2f}".format(restrictions.angular_velocity)
|
||||
)
|
||||
|
||||
def log_info(self, info_text):
|
||||
time = datetime.datetime.now().strftime('[%H:%M:%S]')
|
||||
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.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]')
|
||||
time = datetime.datetime.now().strftime("[%H:%M:%S]")
|
||||
|
||||
cursor = self.widget.logsBrowser.textCursor()
|
||||
cursor.movePosition(QTextCursor.End)
|
||||
self.widget.logsBrowser.setTextCursor(cursor)
|
||||
self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End)
|
||||
self.widget.logsBrowser.insertHtml('<font color="orange"> {0} {1}</font><br>'.format(time,warning_text))
|
||||
self.widget.logsBrowser.insertHtml(
|
||||
'<font color="orange"> {0} {1}</font><br>'.format(time, warning_text)
|
||||
)
|
||||
self.scroll_to_bottom()
|
||||
# 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]')
|
||||
time = datetime.datetime.now().strftime("[%H:%M:%S]")
|
||||
|
||||
cursor = self.widget.logsBrowser.textCursor()
|
||||
cursor.movePosition(QTextCursor.End)
|
||||
self.widget.logsBrowser.setTextCursor(cursor)
|
||||
self.widget.logsBrowser.textCursor().movePosition(QTextCursor.End)
|
||||
self.widget.logsBrowser.insertHtml('<font color="red"> {0} {1}</font><br>'.format(time,error_text))
|
||||
self.widget.logsBrowser.insertHtml(
|
||||
'<font color="red"> {0} {1}</font><br>'.format(time, error_text)
|
||||
)
|
||||
self.scroll_to_bottom()
|
||||
# self.widget.logsBrowser.append(str(self.logger_counter) + '\t[ERROR]\t' + error_text)
|
||||
|
||||
@ -311,20 +340,20 @@ class QtWrapper:
|
||||
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.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.setText("-")
|
||||
self.widget.stopButton.setStyleSheet("")
|
||||
|
||||
self.widget.clutchButton.setText('-')
|
||||
self.widget.clutchButton.setText("-")
|
||||
self.widget.clutchButton.setStyleSheet("")
|
||||
|
||||
self.widget.angularText.setText(self.language.angular_text)
|
||||
|
||||
@ -1,10 +1,10 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
from enums.clutch_state import ClutchState as CS
|
||||
from enums.stop_state import StopState as SS
|
||||
from safety_user_plugin.enums.clutch_state import ClutchState as CS
|
||||
from safety_user_plugin.enums.stop_state import StopState as SS
|
||||
|
||||
|
||||
class RobotInfo:
|
||||
|
||||
def __init__(self, robot_id):
|
||||
self.robot_id = robot_id
|
||||
self.battery_voltage = None
|
||||
@ -17,8 +17,16 @@ class RobotInfo:
|
||||
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.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:
|
||||
|
||||
@ -1,20 +1,18 @@
|
||||
#!/usr/bin/env python
|
||||
import rospy
|
||||
import rospkg
|
||||
import rostopic
|
||||
import rclpy
|
||||
|
||||
from std_msgs.msg import Bool
|
||||
from rosaria_msgs.msg import RobotInfoMsg
|
||||
from rosaria_msgs.msg import RestrictionsMsg
|
||||
from ros2aria_msgs.msg import RobotInfoMsg
|
||||
from ros2aria_msgs.msg import RestrictionsMsg
|
||||
|
||||
from robot_info import RobotInfo
|
||||
from restrictions import Restrictions
|
||||
from safety_user_plugin.robot_info import RobotInfo
|
||||
from safety_user_plugin.restrictions import Restrictions
|
||||
|
||||
from safety_user_plugin.enums.clutch_state import ClutchState as CS
|
||||
from safety_user_plugin.enums.stop_state import StopState as SS
|
||||
|
||||
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
|
||||
@ -45,26 +43,44 @@ class ROSWrapper:
|
||||
# rospy.init_node('safety_user_plugin', anonymous=True)
|
||||
|
||||
def setup_subscribers_and_publishers(self, robot_id):
|
||||
robot_name = 'PIONIER' + str(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.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)
|
||||
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)
|
||||
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)
|
||||
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)
|
||||
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)
|
||||
@ -91,7 +107,9 @@ class ROSWrapper:
|
||||
elif stop_state == SS.STOPPED:
|
||||
self.user_stopped()
|
||||
else:
|
||||
raise ValueError('stop_state UNKNOWN when attempting to publish periodic update')
|
||||
raise ValueError(
|
||||
"stop_state UNKNOWN when attempting to publish periodic update"
|
||||
)
|
||||
|
||||
# if clutch_state == CS.ENGAGED:
|
||||
# self.engage_clutch()
|
||||
@ -102,8 +120,9 @@ class ROSWrapper:
|
||||
|
||||
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))
|
||||
|
||||
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)
|
||||
@ -131,20 +150,28 @@ class ROSWrapper:
|
||||
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)
|
||||
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')
|
||||
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)
|
||||
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')
|
||||
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')
|
||||
rospy.signal_shutdown("Closing safety user plugin")
|
||||
|
||||
def select_robot(self, robot_id):
|
||||
self.setup_subscribers_and_publishers(robot_id)
|
||||
@ -159,31 +186,34 @@ class ROSWrapper:
|
||||
def get_robots_list(self, event):
|
||||
robots_id_list = []
|
||||
|
||||
published_topics_list = rospy.get_published_topics(namespace='/')
|
||||
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:
|
||||
if topic.find("RosAria") == -1 or topic.find("robot_info") == -1:
|
||||
pass
|
||||
else:
|
||||
robot_number = topic.split('/')
|
||||
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))
|
||||
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:
|
||||
@ -193,10 +223,8 @@ class ROSWrapper:
|
||||
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)
|
||||
@ -266,4 +294,3 @@ class ROSWrapper:
|
||||
msg = Bool()
|
||||
msg.data = False
|
||||
self.user_stop_publisher.publish(msg)
|
||||
|
||||
|
||||
@ -1,9 +1,9 @@
|
||||
#!/usr/bin/env python
|
||||
|
||||
from robot_info import RobotInfo
|
||||
from safety_user_plugin.robot_info import RobotInfo
|
||||
|
||||
|
||||
class UserInfo:
|
||||
|
||||
def __init__(self):
|
||||
self.selected_robot = None
|
||||
self.robots_id_list = []
|
||||
|
||||
@ -6,13 +6,13 @@ 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 safety_user_plugin.qt_wrapper import QtWrapper
|
||||
from safety_user_plugin.ros_wrapper import ROSWrapper
|
||||
from safety_user_plugin.user_widget import UserWidget
|
||||
from safety_user_plugin.user_info import UserInfo
|
||||
|
||||
from enums.clutch_state import ClutchState as CS
|
||||
from enums.stop_state import StopState as SS
|
||||
from safety_user_plugin.enums.clutch_state import ClutchState as CS
|
||||
from safety_user_plugin.enums.stop_state import StopState as SS
|
||||
|
||||
|
||||
class CallbackHandler(QObject):
|
||||
@ -30,10 +30,9 @@ class CallbackHandler(QObject):
|
||||
|
||||
|
||||
class UserPlugin(Plugin):
|
||||
|
||||
def __init__(self, context):
|
||||
super(UserPlugin, self).__init__(context)
|
||||
self.setObjectName('User Plugin - L1.5 safety system')
|
||||
self.setObjectName("User Plugin - L1.5 safety system")
|
||||
# setStyleSheet("background-color:black;")
|
||||
self.cbhandler = CallbackHandler()
|
||||
|
||||
@ -47,19 +46,25 @@ class UserPlugin(Plugin):
|
||||
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_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._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)
|
||||
|
||||
|
||||
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)
|
||||
@ -75,21 +80,30 @@ class UserPlugin(Plugin):
|
||||
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)
|
||||
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_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)
|
||||
@ -99,22 +113,21 @@ class UserPlugin(Plugin):
|
||||
if robot_info != None:
|
||||
self.update_selected_robot_info(robot_info)
|
||||
else:
|
||||
raise RuntimeError('Updated robot_info is NoneType object')
|
||||
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):
|
||||
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')
|
||||
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:
|
||||
@ -124,13 +137,13 @@ class UserPlugin(Plugin):
|
||||
self._qt_wrapper.robot_selected_by_another_group_notify()
|
||||
|
||||
else:
|
||||
raise RuntimeError('User already selected robot')
|
||||
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')
|
||||
raise RuntimeError("Cannot release. No robot selected")
|
||||
|
||||
def handle_user_stop_state_updated(self):
|
||||
if self._user_info.selected_robot.obstacle_detected == True:
|
||||
@ -144,9 +157,9 @@ class UserPlugin(Plugin):
|
||||
elif self._user_info.user_stop_state == SS.STOPPED:
|
||||
self.user_started()
|
||||
else:
|
||||
raise ValueError('user_stop_state value undefined')
|
||||
raise ValueError("user_stop_state value undefined")
|
||||
else:
|
||||
raise ValueError('master_stop_state value undefined')
|
||||
raise ValueError("master_stop_state value undefined")
|
||||
|
||||
def handle_clutch_switched(self):
|
||||
if self._user_info.clutch_state == CS.ENGAGED:
|
||||
@ -154,14 +167,16 @@ class UserPlugin(Plugin):
|
||||
elif self._user_info.clutch_state == CS.DISENGAGED:
|
||||
self.engage_clutch()
|
||||
else:
|
||||
raise ValueError('clutch_state value undefined')
|
||||
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')
|
||||
raise RuntimeError(
|
||||
"Connection lost callback received when no robot was selected"
|
||||
)
|
||||
|
||||
def handle_master_connection_lost(self):
|
||||
self.connection_to_master_lost()
|
||||
@ -172,44 +187,44 @@ class UserPlugin(Plugin):
|
||||
|
||||
if self._user_info.selected_robot != None:
|
||||
self.user_stopped()
|
||||
self.call_qt_wrapper_method('master_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.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.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.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.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.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.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
|
||||
@ -223,7 +238,7 @@ class UserPlugin(Plugin):
|
||||
|
||||
def release_robot(self):
|
||||
self._ros_wrapper.release_robot()
|
||||
self.call_qt_wrapper_method('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
|
||||
@ -232,28 +247,38 @@ class UserPlugin(Plugin):
|
||||
# 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.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')
|
||||
self.call_qt_wrapper_method("connection_to_master_lost")
|
||||
|
||||
def obstacle_detected(self):
|
||||
self.call_qt_wrapper_method('obstacle_detected')
|
||||
self.call_qt_wrapper_method("obstacle_detected")
|
||||
self.user_stopped()
|
||||
|
||||
def obstacle_removed(self):
|
||||
self.call_qt_wrapper_method('obstacle_removed')
|
||||
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:
|
||||
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:
|
||||
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.call_qt_wrapper_method_with_argument(
|
||||
"update_selected_robot_info", [robot_info]
|
||||
)
|
||||
# self._qt_wrapper.update_selected_robot_info(robot_info)
|
||||
Loading…
Reference in New Issue
Block a user