def __multi_msg_dispatcher(self, data_dict):
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None:
module_name = self.msg_id_module_dict.get(msg_id)
if isinstance(module_name, str):
self.send_msg(msg_id, module_name, msg_data, msg_src=data_dict['msg_src'])
def show_box_show_tip(self, data_dict):
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None:
index, tip = Util.get_index_tip_msg_data(msg_data)
if index is not None:
pass
pass
def __subscribe_msg(self, data_dict):
"""
subscribe msg_id with mode_name.
:param data_dict: is a dict . include msg_id, mode_name
Note: ##
data_dict = {
'msg_id' : 'register_msg_id',
'msg_data' :
{
'msg_id' : 'xxxxx_id',
'module_name' : 'xxxxxx'
}
}
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None:
msg_id = msg_data.get('msg_id')
module_name = msg_data.get('module_name')
if isinstance(msg_id, str) and isinstance(module_name, str):
if msg_id == self.msg_id.inner_register_id:
self.__logger.info('register_msg_id ready for service !')
else:
if msg_id in self.msg_id_module_dict:
self.__logger.warning('msg_id : ' + str(msg_id) + ' register again! old module_ is ' +
str(self.msg_id_module_dict[msg_id]) + ' new module is ' +
str(module_name))
else:
self.__logger.info('msg_id : ' + str(msg_id) + ' register to module :' + str(module_name))
self.msg_id_module_dict[msg_id] = module_name
self.send_msg_id_manager_dispatcher(msg_id)
def mode_status_update(self, data_dict):
self.logger.info(str(data_dict))
_, msg_data = Util.get_msg_id_data_dict(data_dict)
if 'status' in msg_data and 'index' in msg_data:
status = msg_data['status']
index = msg_data['index']
if isinstance(status, bool) and index in range(start_status_cnt):
self.list_start_status[index][start_status] = status
def inner_msg_handler(self, data_dict):
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None:
callback = self.__subscriber_dict.get(msg_id)
if callback is not None:
callback(data_dict)
else:
if self.__default_callback is not None:
self.__default_callback(data_dict)
def progress_notify_callback(self, data_dict):
_, msg_data = Util.get_msg_id_data_dict(data_dict)
self.logger.info('receive msg ' + str(data_dict))
if 'progress_percent' in msg_data:
progress_percent = msg_data['progress_percent']
if isinstance(progress_percent, int):
if progress_percent >= 100:
self.progress_percent = 100
else:
self.progress_percent = progress_percent
def position_notify_callback(self, data_dict):
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if 'x' in msg_data and 'y' in msg_data and 'z' in msg_data:
self.position_x = int(msg_data['x'])
self.position_y = int(msg_data['y'])
self.position_z = int(msg_data['z'])
else:
self.logger.warning(str(data_dict) + ' data error !!!')
pass
def interface_ros_send_msg_out(self, data_dict):
_, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_data is not None and isinstance(msg_data, dict):
if self.ros_is_running:
if self.ui_ros_topic_is_sub:
# self.send_msg_ros(msg_data)
self.msg_out_queue.put_nowait(msg_data)
else:
self.logger.info('/ui_ros_topic is not Subscriber')
else:
self.logger.info('ros_master is not run')
return
def set_button_enable_callback(self, data_dict):
"""
{
'msg_id': 'base_frame_set_button_enable',
'msg_data':{
'button_enable': False
}
}
:param data_dict:
:return:
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
self.set_button_enable_msg_data_proc(msg_data)
def update_link_status_callback(self, data_dict):
"""
{
'msg_id' : 'mode_mt_update_link_status',
'msg_data': {
'link_ros': False,
'link_mcu': False
}
}
:param data_dict:
:return:
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
self.update_link_status_proc(msg_data)
def __change_page_callback(self, data_dict):
"""
data_dict =
{
'msg_id' : 'ui_manager_change_page',
'msg_data' : {
'page_mode',1
}
}
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
page_mode = msg_data.get('page_mode')
if page_mode is not None and isinstance(page_mode, int):
self.__logger.info('change mode ' + str(page_mode))
self.__change_page(page_mode)
def control_callback(self, data_dict):
self.__logger.info(str(data_dict))
_, msg_data = Util.get_msg_id_data_dict(data_dict)
if 'ros_start' in msg_data:
if msg_data['ros_start']:
if self.is_start:
self.__logger.warning(' is starting please wait')
else:
self.__logger.info('start launch begin')
Util.add_thread(target=self.start_launch_thread)
else:
if self.is_stop:
self.__logger.warning(' is stopping please wait')
else:
self.__logger.info('stop launch begin')
Util.add_thread(target=self.stop_launch_thread)
def set_odom_callback(self, data_dict):
"""
{
'msg_id' : 'cfg_server_set_odom',
'msg_data': {
'odom': 1.23
}
}
:param data_dict:
:return:
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
self.logger.info('set_odom :' + str(data_dict))
odom = msg_data['odom']
self.database.update_key_value('odom', str(odom))
def __show_box_callback(self, data_dict):
"""
data_dict =
{
'msg_id' : 'ui_manager_show_box',
'msg_data' : {
'index' : 1 ,
'tip' : 'this a tip for show box'
}
}
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None:
index, tip = Util.get_index_tip_msg_data(msg_data)
if index is not None:
self.__show_box(index, tip)
def show_map_callback(self, data_dict):
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if 'map_path' in msg_data and 'map_name' in msg_data:
map_path = msg_data['map_path']
if os.path.isfile(
map_path
) or map_path == ':/mode_map_select/mode_map_select/default.png':
self.map_select_path = map_path
if 'map_name' in msg_data:
self.map_select_name = msg_data['map_name']
return
else:
self.logger.fatal(str(map_path) + ' select path is no existed')
return
self.logger.warning(str(data_dict) + ' data error !!!')
def update_button_status_callback(self, data_dict):
"""
{
'msg_id' : 'base_frame_update_button_status',
'msg_data': {
'page_mode': 1
}
}
:param data_dict:
:return:
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
self.logger.info('get_status :' + str(data_dict))
self.update_button_status_proc(msg_data)
def update_button_status_callback(self, data_dict):
"""
{
'msg_id' : 'mode_mt_update_button_status',
'msg_data': {
'brush_status': 'open', # close
'water_status': 'open',
'direction_status': 'forward' #back
}
}
:param data_dict:
:return:
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
self.update_button_status_proc(msg_data)
def __robot_status_callback(self, data_dict):
"""
{
'msg_id': 'ui_manager_robot_status_notify',
'msg_data':{
'robot_status': 'mt'
}
}
:param data_dict:
:return:
"""
# self.__logger.info('##########' + str(data_dict))
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
status = msg_data.get('robot_status')
if status == 'mt' or status == 'at':
self.robot_status = status
def info_notify_callback(self, data_dict):
"""
{
'msg_id': 'base_frame_info_notify',
'msg_data': {
'voltage_percent': 88,
'yewei2_percent': 88,
'Position_X': '0.3',
'Position_Y': '0.3'
}
}
:param data_dict:
:return:
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
self.info_notify_msg_data_proc(msg_data)
def odom_notify_callback(self, data_dict):
"""
{
'msg_id' : 'base_frame_odom_notify',
'msg_data': {
'odom': '1.23'
}
}
:param data_dict:
:return:
"""
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if msg_id is not None and isinstance(msg_data, dict):
self.logger.info('get_odom :' + str(data_dict))
odom = msg_data['odom']
self.odom_count = float(odom)
self.is_get_odom = True
self.show_time()
def speed_notify_callback(self, data_dict):
msg_id, msg_data = Util.get_msg_id_data_dict(data_dict)
if 'speed' in msg_data:
self.move_speed = msg_data['speed']
else:
self.logger.warning(str(data_dict) + ' data error !!!')