def __init__(self, parent=None):
super(LifeFrame, self).__init__(parent)
self._ui = Ui_life_frame()
self._motion = Rotate('/mobile_base/commands/velocity')
self._motion_thread = None
self._timer = QTimer()
#self._timer.setInterval(60000) #60s
self._timer.setInterval(250) #60s
self._timer.timeout.connect(self.update_progress_callback)
self._state = LifeFrame.STATE_STOPPED
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
def __init__(self, parent=None):
super(LifeFrame, self).__init__(parent)
self._ui = Ui_life_frame()
self._motion = Rotate('/mobile_base/commands/velocity')
self._motion_thread = None
self._timer = QTimer()
#self._timer.setInterval(60000) #60s
self._timer.setInterval(250) #60s
QObject.connect(self._timer, SIGNAL('timeout()'), self, SLOT('update_progress_callback()'))
self._state = LifeFrame.STATE_STOPPED
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
class LifeFrame(QFrame):
STATE_STOPPED = "stopped"
STATE_RUN = "running"
STATE_IDLE = "idle"
def __init__(self, parent=None):
super(LifeFrame, self).__init__(parent)
self._ui = Ui_life_frame()
self._motion = Rotate('/mobile_base/commands/velocity')
self._motion_thread = None
self._timer = QTimer()
#self._timer.setInterval(60000) #60s
self._timer.setInterval(250) #60s
QObject.connect(self._timer, SIGNAL('timeout()'), self,
SLOT('update_progress_callback()'))
self._state = LifeFrame.STATE_STOPPED
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
def setupUi(self):
self._ui.setupUi(self)
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
self._motion.init(self._ui.angular_speed_spinbox.value())
def shutdown(self):
'''
Used to terminate the plugin
'''
rospy.loginfo("Kobuki TestSuite: life frame shutdown")
self._motion.shutdown()
##########################################################################
# Widget Management
##########################################################################
def hibernate(self):
'''
This gets called when the frame goes out of focus (tab switch).
Disable everything to avoid running N tabs in parallel when in
reality we are only running one.
'''
pass
def restore(self):
'''
Restore the frame after a hibernate.
'''
pass
##########################################################################
# Motion Callbacks
##########################################################################
def start(self):
self._state = LifeFrame.STATE_RUN
self._ui.run_progress.reset()
self._ui.idle_progress.reset()
self._motion_thread = WorkerThread(self._motion.execute, None)
self._motion_thread.start()
def stop(self):
self._state = LifeFrame.STATE_STOPPED
self._motion.stop()
if self._motion_thread:
self._motion_thread.wait()
##########################################################################
# Qt Callbacks
##########################################################################
@Slot()
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
self._timer.start()
self.start()
@Slot()
def on_stop_button_clicked(self):
self.stop()
self._timer.stop()
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
@pyqtSlot(float)
def on_angular_speed_spinbox_valueChanged(self, value):
self._motion.init(self._ui.angular_speed_spinbox.value())
##########################################################################
# Timer Callbacks
##########################################################################
@Slot()
def update_progress_callback(self):
if self._state == LifeFrame.STATE_RUN:
new_value = self._ui.run_progress.value() + 1
if new_value == self._ui.run_progress.maximum():
print(" Switching to idle")
self._motion.stop()
self._state = LifeFrame.STATE_IDLE
else:
self._ui.run_progress.setValue(new_value)
if self._state == LifeFrame.STATE_IDLE:
new_value = self._ui.idle_progress.value() + 1
if new_value == self._ui.idle_progress.maximum():
print(" Switching to run")
self.start()
else:
self._ui.idle_progress.setValue(new_value)
class LifeFrame(QFrame):
STATE_STOPPED = "stopped"
STATE_RUN = "running"
STATE_IDLE = "idle"
def __init__(self, parent=None):
super(LifeFrame, self).__init__(parent)
self._ui = Ui_life_frame()
self._motion = Rotate('/mobile_base/commands/velocity')
self._motion_thread = None
self._timer = QTimer()
#self._timer.setInterval(60000) #60s
self._timer.setInterval(250) #60s
QObject.connect(self._timer, SIGNAL('timeout()'), self, SLOT('update_progress_callback()'))
self._state = LifeFrame.STATE_STOPPED
self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)
def setupUi(self):
self._ui.setupUi(self)
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
self._motion.init(self._ui.angular_speed_spinbox.value())
def shutdown(self):
'''
Used to terminate the plugin
'''
rospy.loginfo("Kobuki TestSuite: life frame shutdown")
self._motion.shutdown()
##########################################################################
# Widget Management
##########################################################################
def hibernate(self):
'''
This gets called when the frame goes out of focus (tab switch).
Disable everything to avoid running N tabs in parallel when in
reality we are only running one.
'''
pass
def restore(self):
'''
Restore the frame after a hibernate.
'''
pass
##########################################################################
# Motion Callbacks
##########################################################################
def start(self):
self._state = LifeFrame.STATE_RUN
self._ui.run_progress.reset()
self._ui.idle_progress.reset()
self._motion_thread = WorkerThread(self._motion.execute, None)
self._motion_thread.start()
def stop(self):
self._state = LifeFrame.STATE_STOPPED
self._motion.stop()
if self._motion_thread:
self._motion_thread.wait()
##########################################################################
# Qt Callbacks
##########################################################################
@Slot()
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
self._timer.start()
self.start()
@Slot()
def on_stop_button_clicked(self):
self.stop()
self._timer.stop()
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
@pyqtSlot(float)
def on_angular_speed_spinbox_valueChanged(self, value):
self._motion.init(self._ui.angular_speed_spinbox.value())
##########################################################################
# Timer Callbacks
##########################################################################
@Slot()
def update_progress_callback(self):
if self._state == LifeFrame.STATE_RUN:
new_value = self._ui.run_progress.value()+1
if new_value == self._ui.run_progress.maximum():
print(" Switching to idle")
self._motion.stop()
self._state = LifeFrame.STATE_IDLE
else:
self._ui.run_progress.setValue(new_value)
if self._state == LifeFrame.STATE_IDLE:
new_value = self._ui.idle_progress.value()+1
if new_value == self._ui.idle_progress.maximum():
print(" Switching to run")
self.start()
else:
self._ui.idle_progress.setValue(new_value)
