def __init__(self, parent=None):
super(BatteryProfileFrame, self).__init__(parent)
self._cmd_vel_topic_name = '/mobile_base/commands/velocity'
self._battery_topic_name = "/mobile_base/sensors/core/battery"
self._ui = Ui_battery_profile_frame()
self._motion = None
self.robot_state_subscriber = None
self._motion_thread = None
def __init__(self, parent=None):
super(BatteryProfileFrame, self).__init__(parent)
self._cmd_vel_topic_name = "/mobile_base/commands/velocity"
self._battery_topic_name = "/mobile_base/sensors/core/battery"
self._ui = Ui_battery_profile_frame()
self._motion = None
self.robot_state_subscriber = None
self._motion_thread = None
class BatteryProfileFrame(QFrame):
def __init__(self, parent=None):
super(BatteryProfileFrame, self).__init__(parent)
self._cmd_vel_topic_name = '/mobile_base/commands/velocity'
self._battery_topic_name = "/mobile_base/sensors/core/battery"
self._ui = Ui_battery_profile_frame()
self._motion = None
self.robot_state_subscriber = None
self._motion_thread = None
def setupUi(self, cmd_vel_topic_name):
self._ui.setupUi(self)
self._cmd_vel_topic_name = cmd_vel_topic_name
self._plot_layout = QVBoxLayout(self._ui.battery_profile_group_box)
self._plot_widget = PlotWidget()
self._plot_widget.setWindowTitle("Battery Profile")
self._plot_widget.topic_edit.setText(self._battery_topic_name)
self._plot_layout.addWidget(self._plot_widget)
self._data_plot = DataPlot(self._plot_widget)
self._data_plot.set_autoscale(y=False)
self._data_plot.set_ylim([0, 180])
self._plot_widget.switch_data_plot_widget(self._data_plot)
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
def shutdown(self):
'''
Used to terminate the plugin
'''
rospy.loginfo("Kobuki TestSuite: battery test shutdown")
self._stop()
##########################################################################
# 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.
'''
self._stop()
def restore(self):
'''
Restore the frame after a hibernate.
'''
pass
##########################################################################
# Motion Callbacks
##########################################################################
def _run_finished(self):
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
##########################################################################
# Qt Callbacks
##########################################################################
@Slot()
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
if not self._motion:
self._motion = Rotate(self._cmd_vel_topic_name)
self._motion.init(self._ui.angular_speed_spinbox.value())
if not self.robot_state_subscriber:
self.robot_state_subscriber = rospy.Subscriber("/mobile_base/events/robot_state", RobotStateEvent, self.robot_state_callback)
rospy.sleep(0.5)
self._plot_widget._start_time = rospy.get_time()
self._plot_widget.enable_timer(True)
try:
self._plot_widget.remove_topic(self._battery_topic_name)
except KeyError:
pass
self._plot_widget.add_topic(self._battery_topic_name)
self._motion_thread = WorkerThread(self._motion.execute, self._run_finished)
self._motion_thread.start()
@Slot()
def on_stop_button_clicked(self):
'''
Hardcore stoppage - straight to zero.
'''
self._stop()
def _stop(self):
self._plot_widget.enable_timer(False) # pause plot rendering
if self._motion_thread:
self._motion.stop()
self._motion_thread.wait()
self._motion_thread = None
if self._motion:
self._motion.shutdown()
self._motion = None
if self.robot_state_subscriber:
self.robot_state_subscriber.unregister()
self.robot_state_subscriber = None
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
@pyqtSlot(float)
def on_angular_speed_spinbox_valueChanged(self, value):
if self._motion:
self._motion.init(self._ui.angular_speed_spinbox.value())
##########################################################################
# External Slot Callbacks
##########################################################################
@Slot(str)
def on_cmd_vel_topic_combo_box_currentIndexChanged(self, topic_name):
'''
To be connected to the configuration dock combo box (via the main testsuite frame)
'''
self._cmd_vel_topic_name = topic_name
print("DudetteBattery %s" % topic_name)
##########################################################################
# Ros Callbacks
##########################################################################
def robot_state_callback(self, data):
if data.state == RobotStateEvent.OFFLINE:
self.stop()
class BatteryProfileFrame(QFrame):
def __init__(self, parent=None):
super(BatteryProfileFrame, self).__init__(parent)
self._cmd_vel_topic_name = "/mobile_base/commands/velocity"
self._battery_topic_name = "/mobile_base/sensors/core/battery"
self._ui = Ui_battery_profile_frame()
self._motion = None
self.robot_state_subscriber = None
self._motion_thread = None
def setupUi(self, cmd_vel_topic_name):
self._ui.setupUi(self)
self._cmd_vel_topic_name = cmd_vel_topic_name
self._plot_layout = QVBoxLayout(self._ui.battery_profile_group_box)
self._plot_widget = PlotWidget()
self._plot_widget.setWindowTitle("Battery Profile")
self._plot_widget.topic_edit.setText(self._battery_topic_name)
self._plot_layout.addWidget(self._plot_widget)
self._plot_widget.switch_data_plot_widget(FullSizeDataPlot(self._plot_widget))
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
def shutdown(self):
"""
Used to terminate the plugin
"""
rospy.loginfo("Kobuki TestSuite: battery test shutdown")
self._stop()
##########################################################################
# 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.
"""
self._stop()
def restore(self):
"""
Restore the frame after a hibernate.
"""
pass
##########################################################################
# Motion Callbacks
##########################################################################
def _run_finished(self):
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
##########################################################################
# Qt Callbacks
##########################################################################
@Slot()
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
if not self._motion:
self._motion = Rotate(self._cmd_vel_topic_name)
self._motion.init(self._ui.angular_speed_spinbox.value())
if not self.robot_state_subscriber:
self.robot_state_subscriber = rospy.Subscriber(
"/mobile_base/events/robot_state", RobotStateEvent, self.robot_state_callback
)
rospy.sleep(0.5)
self._plot_widget._start_time = rospy.get_time()
self._plot_widget.enable_timer(True)
try:
self._plot_widget.remove_topic(self._battery_topic_name)
except KeyError:
pass
self._plot_widget.add_topic(self._battery_topic_name)
self._motion_thread = WorkerThread(self._motion.execute, self._run_finished)
self._motion_thread.start()
@Slot()
def on_stop_button_clicked(self):
"""
Hardcore stoppage - straight to zero.
"""
self._stop()
def _stop(self):
self._plot_widget.enable_timer(False) # pause plot rendering
if self._motion_thread:
self._motion.stop()
self._motion_thread.wait()
self._motion_thread = None
if self._motion:
self._motion.shutdown()
self._motion = None
if self.robot_state_subscriber:
self.robot_state_subscriber.unregister()
self.robot_state_subscriber = None
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
@pyqtSlot(float)
def on_angular_speed_spinbox_valueChanged(self, value):
if self._motion:
self._motion.init(self._ui.angular_speed_spinbox.value())
##########################################################################
# External Slot Callbacks
##########################################################################
@Slot(str)
def on_cmd_vel_topic_combo_box_currentIndexChanged(self, topic_name):
"""
To be connected to the configuration dock combo box (via the main testsuite frame)
"""
self._cmd_vel_topic_name = topic_name
print("DudetteBattery %s" % topic_name)
##########################################################################
# Ros Callbacks
##########################################################################
def robot_state_callback(self, data):
if data.state == RobotStateEvent.OFFLINE:
self.stop()
