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()))