def _trigger_button(self, checked):
"""Called when user click on ermergency stop button.
@param checked: Button status (True/False).
@type checked: bool.
"""
self._context.resquestEmergencyStop(checked)
self._button_state = checked
if checked == EmergencyStopState.LOCKED:
lng = self._context.getLanguage()
self._context.sendAlarm(Alarm.CRITICAL,
R.values.strings.emergency_stop(lng))
self.setIcon(R.getIconById("icon_play"))
else:
self.setIcon(R.getIconById("icon_pause"))
def __init__(self, context):
"""! The constructor."""
QPushButton.__init__(self)
self._context = context
self._context.addLanguageEventListner(self.onTranslate)
self._context.addCloseEventListner(self.onDestroy)
self.setCheckable(True)
self.setFocusPolicy(Qt.NoFocus)
self.setStyleSheet(R.values.styles.transparent_background)
self.setIcon(R.getIconById("icon_pause"))
self.setIconSize(QSize(80, 80))
self._button_state = EmergencyStopState.UNLOCKED
self._keep_running = True
self.connect(self, SIGNAL('clicked(bool)'), self._trigger_button)
self._estop_pub = rospy.Publisher(self.EMERGENCY_STOP_TOPIC_NAME,
Bool,
latch=True,
queue_size=1)
self._preempt_move_base_pub = rospy.Publisher("/move_base/cancel",
GoalID,
queue_size=1)
self._estop_pub_thread = threading.Thread(
name='emergency_stop_publisher_loop',
target=self._emergency_stop_publisher_loop)
self._estop_pub_thread.start()
def __init__(self, parent, country):
"""! The constructor."""
QPushButton.__init__(self, parent)
self._parent = parent
self._country = country
self.setMinimumSize(QSize(40, 40))
self.setMaximumSize(QSize(60, 60))
self.setStyleSheet(R.values.styles.transparent_background)
self.setIcon(R.getIconById(country))
self.setIconSize(QSize(self.width(),self.height()))
def run():
name = 'rqt_gui_py_node_%d' % os.getpid()
rospy.init_node(name, disable_signals=True)
app = GuiApplication(sys.argv)
splash = CobotGuiSplash()
splash.start()
window = QMainWindow()
gui = CobotGuiMain(splash)
config = rospy.get_param("~config", "${cobot_gui}/config/default.conf")
config = get_pkg_dir_from_prefix(config)
gui.setupUserConfig(config)
window.setCentralWidget(gui)
window.setGeometry(gui.geometry())
window.setWindowIcon(R.getIconById('cobot_gui'))
if gui.getDisplayMode() in FULL_SCREEN_ARGS:
window.showFullScreen()
else:
window.show()
splash.close()
#Set the gui signal for cleanup
app.gui = gui
app.connect(app, SIGNAL("aboutToQuit()"), app.cleanGui)
#Set the ctrl+c signal for cleanup
def signal_handler(signal, frame):
app.quit()
signal.signal(signal.SIGINT, signal_handler)
#set the rospy shutdown signal
rospy.on_shutdown(app.quit)
#return of app
sys.exit(app.exec_())
def update_state(self, state, msg):
self.setIcon(R.getIconById(state))
self.setIconSize(QSize(40, 40))
self.setToolTip(msg)