def _update_status(self, status):
if status == -1:
self._widget.safety_mode.setText('UNKNOWN SAFETY MODE')
self._widget.safety_mode.setToolTip(
'The WAM is in an unknown state. Proceed with caution.')
color = QColor(200, 200, 200)
self._widget.button_set_home.setEnabled(False)
self._widget.button_idle_wam.setEnabled(False)
self._widget.button_run_wam.setEnabled(False)
elif status == 0:
self._widget.safety_mode.setText('E-STOP')
self._widget.safety_mode.setToolTip(
'The WAM is stopped and unpowered. Determine the source of the fault and reset the arm to continue using it.'
)
self._widget.button_set_home.setEnabled(False)
self._widget.button_idle_wam.setEnabled(False)
self._widget.button_run_wam.setEnabled(False)
color = self.barrett_red
else:
if not self.homed:
self._widget.safety_mode.setText('UNCALIBRATED')
self._widget.safety_mode.setToolTip(
'The WAM is not calibrated. Please place it in the calibration posture and click the "Calibrate" button.'
)
self._widget.button_set_home.setEnabled(True)
self._widget.button_idle_wam.setEnabled(False)
self._widget.button_run_wam.setEnabled(False)
color = self.barrett_orange
else:
if status == 1:
self._widget.safety_mode.setText('IDLE')
self._widget.safety_mode.setToolTip(
'The WAM is running but all joints are passive. It is safe to home the arm.'
)
self._widget.button_set_home.setEnabled(True)
self._widget.button_idle_wam.setEnabled(True)
self._widget.button_run_wam.setEnabled(True)
color = self.barrett_blue
elif status == 2:
self._widget.safety_mode.setText('ACTIVE')
self._widget.safety_mode.setToolTip(
'The WAM is running and all joints are active. Proceed with caution.'
)
self._widget.button_set_home.setEnabled(False)
self._widget.button_idle_wam.setEnabled(False)
self._widget.button_run_wam.setEnabled(False)
color = self.barrett_green
darker = color.darker()
lighter = color.lighter()
self._widget.safety_mode.setStyleSheet(
"QLabel { background-color : rgb(%d,%d,%d); color : rgb(%d,%d,%d); }"
% (color.red(), color.green(), color.blue(), lighter.red(),
lighter.green(), lighter.blue()))
def add_curve(self, curve_id, curve_name, x, y):
color = QColor(self._colors[self._color_index % len(self._colors)])
self._color_index += 1
# line = self._canvas.axes.plot(
# [], [], label=curve_name, linewidth=1, picker=5,
# color=color.name())[0]
line = None
self._curves[curve_id] = [[], [], line, [None, None],
(color.red() / 255.0, color.green() / 255.0,
color.blue() / 255.0, 0.6)]
self.update_values(curve_id, x, y)
self._update_legend()
def add_curve(self, curve_id, curve_name, x, y):
color = QColor(self._colors[self._color_index % len(self._colors)])
self._color_index += 1
#line = self._canvas.axes.plot([], [], label=curve_name, linewidth=1, picker=5, color=color.name())[0]
line = None
self._curves[curve_id] = [[], [], line, [None, None],
(color.red() / 255.0,
color.green() / 255.0,
color.blue() / 255.0,
0.6)]
self.update_values(curve_id, x, y)
self._update_legend()
def _update_status(self, status):
if status == -1:
self._widget.safety_mode.setText('UNKNOWN SAFETY MODE')
self._widget.safety_mode.setToolTip('The WAM is in an unknown state. Proceed with caution.')
color = QColor(200,200,200)
self._widget.button_set_home.setEnabled(False)
self._widget.button_idle_wam.setEnabled(False)
self._widget.button_run_wam.setEnabled(False)
elif status == 0:
self._widget.safety_mode.setText('E-STOP')
self._widget.safety_mode.setToolTip('The WAM is stopped and unpowered. Determine the source of the fault and reset the arm to continue using it.')
self._widget.button_set_home.setEnabled(False)
self._widget.button_idle_wam.setEnabled(False)
self._widget.button_run_wam.setEnabled(False)
color = self.barrett_red
else:
if not self.homed:
self._widget.safety_mode.setText('UNCALIBRATED')
self._widget.safety_mode.setToolTip('The WAM is not calibrated. Please place it in the calibration posture and click the "Calibrate" button.')
self._widget.button_set_home.setEnabled(True)
self._widget.button_idle_wam.setEnabled(False)
self._widget.button_run_wam.setEnabled(False)
color = self.barrett_orange
else:
if status == 1:
self._widget.safety_mode.setText('IDLE')
self._widget.safety_mode.setToolTip('The WAM is running but all joints are passive. It is safe to home the arm.')
self._widget.button_set_home.setEnabled(True)
self._widget.button_idle_wam.setEnabled(True)
self._widget.button_run_wam.setEnabled(True)
color = self.barrett_blue
elif status == 2:
self._widget.safety_mode.setText('ACTIVE')
self._widget.safety_mode.setToolTip('The WAM is running and all joints are active. Proceed with caution.')
self._widget.button_set_home.setEnabled(False)
self._widget.button_idle_wam.setEnabled(False)
self._widget.button_run_wam.setEnabled(False)
color = self.barrett_green
darker = color.darker()
lighter = color.lighter()
self._widget.safety_mode.setStyleSheet("QLabel { background-color : rgb(%d,%d,%d); color : rgb(%d,%d,%d); }" % (
color.red(), color.green(), color.blue(), lighter.red(), lighter.green(), lighter.blue()))
