def update(self):
if (self.last_known_status):
if (self.last_known_status.current_battery[0] != -2):
self.batteryCurrentLabel.setText( "%2.1fA" % self.last_known_status.current_battery[0])
else:
self.batteryCurrentLabel.setText( "??.?A" )
if (self.last_known_status.current_motor[0] != -2):
self.motorCurrentLabel.setText( "%2.1fA" % self.last_known_status.current_motor[0])
else:
self.motorCurrentLabel.setText( "??.?A" )
if (self.force_estop):
if (not self.last_known_config or self.last_known_config["estop"] != 1):
msg = trigger_t()
msg.utime = time.time()*1000*1000
self.lc.publish(self.estop_channel, msg.encode())
self.estopWidget.setStyleSheet("""
.QWidget {
border: 5px solid gray;
border-radius: 5px;
background-color: rgb(250, 20, 20);
}
""")
else:
self.estopWidget.setStyleSheet("""
.QWidget {
border: 5px solid gray;
border-radius: 5px;
background-color: rgb(230, 150, 20);
}
""")
else:
if (self.last_known_config and self.last_known_config["estop"] == 0):
self.estopWidget.setStyleSheet("""
.QWidget {
border: 5px solid gray;
border-radius: 5px;
background-color: rgb(20, 200, 20);
}
""")
elif (self.last_known_config and self.last_known_config["estop"] == 1):
self.estopWidget.setStyleSheet("""
.QWidget {
border: 5px solid gray;
border-radius: 5px;
background-color: rgb(250, 20, 20);
}
""")
if (self.active_command_mode):
if (time.time() - self.last_sent_command > self.COMMAND_SEND_PERIOD):
msg = adm_config_t()
for attr in msg.__slots__:
setattr(msg, attr, -2)
msg.utime = time.time()*1000*1000
msg.command = self.commandSlider.value()/1000.0
self.lc.publish(self.config_set_channel, msg.encode())
self.last_sent_command = time.time()
def publish_estop(self):
msg = trigger_t()
msg.utime = time.time() * 1000 * 1000
self.lc.publish("_ESTOP", msg.encode())
def throw_estop(lc):
msg = trigger_t()
msg.utime = time.time() * 1000 * 1000
lc.publish("_ESTOP", msg.encode())
def reset_sim(self):
sendTime = time.time()
reset_msg = trigger_t()
reset_msg.utime = 0
self.lc.publish("RESET", reset_msg.encode())
def start_sim(self):
sendTime = time.time()
start_msg = trigger_t()
start_msg.utime = 0
self.lc.publish("START", start_msg.encode())
def sendEStop():
msg = trigger_t()
msg.utime = time.time() * 1000 * 1000
lc.publish("_ESTOP", msg.encode())
def sendNavReset(self):
msg = trigger_t()
msg.utime = time.time() * 1000 * 1000
self.lc.publish("RESET", msg.encode())
def sendTare(self):
msg = trigger_t()
msg.utime = time.time() * 1000 * 1000
self.lc.publish("TARE", msg.encode())
def handleResetButton(self):
sendTime = time.time()
reset_msg = trigger_t()
reset_msg.utime = int((sendTime - self.startTime)* 1000000)
self.lc.publish("SIM_RESET",reset_msg.encode())
def handleReflashButton(self):
msg = trigger_t()
msg.utime = time.time() * 1000 * 1000
self.lc.publish(self.reflash_channel, msg.encode())
def handleEstopButton(self):
self.force_estop = True
msg = trigger_t()
msg.utime = time.time() * 1000 * 1000
self.lc.publish(self.estop_channel, msg.encode())
def sendFaultClear(self):
msg = trigger_t()
msg.utime = time.time() * 1000 * 1000
self.lc.publish("CLEAR_FAULT", msg.encode())
