added update qt timer
Signed-off-by: Jakub Delicat <delicat.kuba@gmail.com>
This commit is contained in:
Jakub Delicat
parent
2a755bf328
commit
fc4c829787
14
package.xml
14
package.xml
@ -13,24 +13,24 @@
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>rospy</build_depend>
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<build_depend>rclpy</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_depend>ros2aria_msgs</build_depend>
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<build_export_depend>rclpy</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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<build_export_depend>ros2aria_msgs</build_export_depend>
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<exec_depend>rospy</exec_depend>
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<exec_depend>rclpy</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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<exec_depend>ros2aria_msgs</exec_depend>
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<export>
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<build_type>ament_python</build_type>
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@ -1,5 +1,6 @@
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#!/usr/bin/env python
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import rclpy
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from rclpy.node import Node, NodeNameNonExistentError
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from std_msgs.msg import Bool
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from ros2aria_msgs.msg import RobotInfoMsg
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@ -12,8 +13,11 @@ 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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class ROSWrapper:
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class ROSWrapper(Node):
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def __init__(self):
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# TODO: mogą być problemy z tymi samymi nazwami node'ów, gry różne kompy będą miały odpalony
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# safety user system
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super().__init__("safety_user_plugin")
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self.robots_list_update_callback = None
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self.selected_robot_info_update_callback = None
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self.master_stop_update_callback = None
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@ -33,7 +37,7 @@ class ROSWrapper:
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self.robots_list_timer = None
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self.connection_timer = None
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self.master_connection_timer = None
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# self.hz_update_timer = rospy.Timer(rospy.Duration(0.2), self.update_hz_values)
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self.hz_update_timer = self.create_timer(0.2, self.update_hz_values)
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self.robots_hz_subscribers_dict = {}
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self.rostopics_hz_dict = {}
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@ -118,11 +122,12 @@ class ROSWrapper:
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# else:
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# raise ValueError('clutch_state UNKNOWN when attempting to publish periodic update')
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def update_hz_values(self, event):
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for key in self.rostopics_hz_dict:
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self.robots_hz_value[key] = self.rostopics_hz_dict[key].get_hz(
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"/PIONIER{0}/RosAria/user_stop".format(key)
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)
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def update_hz_values(self):
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print("update_hz_values")
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# for key in self.rostopics_hz_dict:
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# self.robots_hz_value[key] = self.rostopics_hz_dict[key].get_hz(
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# "/PIONIER{0}/RosAria/user_stop".format(key)
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# )
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def handle_robot_connection_lost(self, event):
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self.shutdown_timer(self.connection_timer)
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@ -183,26 +188,29 @@ class ROSWrapper:
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self.get_clutch_state = function
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# ROSWrapper Callbacks
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def get_robots_list(self, event):
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def get_robots_list_and_refresh_subscribers(self):
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robots_id_list = self._get_robots_list()
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self._create_hz_subscribers(robots_id_list)
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self._remove_hz_subscribers(robots_id_list)
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self.robots_list_update_callback(robots_id_list)
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def _get_robots_list(self):
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robots_id_list = []
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# published_topics_list = rospy.get_published_topics(namespace="/")
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published_topics = []
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# for list_ in published_topics_list:
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# published_topics.append(list_[0])
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for topic in published_topics:
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if topic.find("RosAria") == -1 or topic.find("robot_info") == -1:
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# Można to zrobić lepiej np. czekać na publikowaną wiadomość na robot_info
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for pioneer_id in range(6):
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published_topics_list = []
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try:
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published_topics_list = self.get_publisher_names_and_types_by_node(
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"ros2aria", "/pioneer" + str(pioneer_id)
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)
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except NodeNameNonExistentError:
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pass
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else:
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robot_number = topic.split("/")
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robot_number = robot_number[1]
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robot_number = robot_number[7:]
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if len(robot_number) > 0:
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robot_number = int(robot_number)
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robots_id_list.append(robot_number)
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if len(published_topics_list):
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robots_id_list.append(pioneer_id)
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return robots_id_list
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def _create_hz_subscribers(self, robots_id_list):
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# Adding new hz subscribers
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for robot_id in robots_id_list:
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if robot_id not in self.robots_hz_subscribers_dict:
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@ -216,6 +224,7 @@ class ROSWrapper:
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# callback_args="/PIONIER{0}/RosAria/user_stop".format(robot_id),
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# )
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def _remove_hz_subscribers(self, robots_id_list):
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# Removing old hz subscribers
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for robot_key in self.robots_hz_subscribers_dict:
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if robot_key not in robots_id_list:
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@ -224,8 +233,6 @@ class ROSWrapper:
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self.robots_hz_subscribers_dict[robot_id] = None
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self.rostopics_hz_dict[robot_id] = None
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self.robots_list_update_callback(robots_id_list)
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def release_robot(self):
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self.unsubscribe(self.robot_info_subscriber)
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self.shutdown_timer(self.periodic_timer)
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@ -259,7 +266,9 @@ class ROSWrapper:
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# UserPlugin Callbacks
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def set_robots_list_update_callback(self, callback_function):
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self.robots_list_update_callback = callback_function
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# self.robots_list_timer = rospy.Timer(rospy.Duration(0.5), self.get_robots_list)
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self.robots_list_timer = self.create_timer(
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0.5, self.get_robots_list_and_refresh_subscribers
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)
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def set_selected_robot_info_update_callback(self, callback_function):
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self.selected_robot_info_update_callback = callback_function
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@ -295,3 +304,6 @@ class ROSWrapper:
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msg = Bool()
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msg.data = False
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self.user_stop_publisher.publish(msg)
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def qt_timer_callback(self):
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rclpy.spin_once(self, timeout_sec=0.001)
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@ -5,6 +5,7 @@ import os
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from qt_gui.plugin import Plugin
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from python_qt_binding.QtCore import QObject
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from python_qt_binding.QtCore import pyqtSignal
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from python_qt_binding.QtCore import QTimer
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from safety_user_plugin.qt_wrapper import QtWrapper
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from safety_user_plugin.ros_wrapper import ROSWrapper
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@ -66,6 +67,13 @@ class UserPlugin(Plugin):
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self._qt_wrapper.handle_emitted_signal_with_list_argument
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)
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# timer to consecutively send twist messages
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self._update_parameter_timer = QTimer(self)
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self._update_parameter_timer.timeout.connect(
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self._ros_wrapper.qt_timer_callback
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)
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self._update_parameter_timer.start(100)
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def call_qt_wrapper_method(self, method_name):
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self.cbhandler.signal.emit(method_name)
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