class NetworkCheck(object):
def __init__(self, timeout=5.0, autonomous_msgs_req=50):
self.timeout = rospy.Duration(timeout)
self.last_time = rospy.Time.now()
self.last_msg = ''
# Make sure we don't accidentally let the sub loose.
# We need auto_msgs_req messages before we go autonomous mode.
self.auto_msgs_req = autonomous_msgs_req
self.auto_msg_count = 0
self.sub = rospy.Subscriber('/keep_alive', String, self.got_network_msg, queue_size=1)
self.auto_service = rospy.ServiceProxy('/go_auto', Empty)
self.kb = KillBroadcaster(id='network', description='Network timeout')
#self.alarm_broadcaster, self.alarm = single_alarm('network-timeout', severity=1)
rospy.Timer(rospy.Duration(0.1), self.check)
def check(self, *args):
if self.need_kill() and self.last_msg != '':
if self.auto_msg_count >= self.auto_msgs_req:
rospy.loginfo("AUTONOMOUS MODE STARTED")
self.auto_service()
# Kill the sub after the mission
self.last_msg = 'keep_alive'
self.auto_msg_count = 0
#self.alarm.raise_alarm()
rospy.logerr("KILLING SUB")
self.kb.send(active=True)
else:
self.kb.send(active=False)
#self.alarm.clear_alarm()
def got_network_msg(self, msg):
self.last_msg = msg.data
self.last_time = rospy.Time.now()
if msg.data == 'auto':
if self.auto_msg_count == self.auto_msgs_req:
rospy.loginfo("AUTONOMOUS MODE ARMED")
self.auto_msg_count += 1
else:
self.auto_msg_count = 0
def need_kill(self):
return ((rospy.Time.now() - self.last_time) > self.timeout)
class Handler(object):
alarm_name = 'kill'
def __init__(self):
# Keep some knowledge of which thrusters we have working
self.kb = KillBroadcaster(id='alarm-kill', description='Kill by alarm')
self.alarms = {}
def handle(self, time_sent, parameters, alarm_name):
self.alarms[alarm_name] = True
self.kb.send(active=True)
def cancel(self, time_sent, parameters, alarm_name):
self.alarms[alarm_name] = False
# Make sure that ALL alarms that caused a kill have been cleared
if not any(self.alarms.values()):
self.kb.send(active=False)
class Joystick(object):
def __init__(self):
self.force_scale = rospy.get_param("~force_scale", 600)
self.torque_scale = rospy.get_param("~torque_scale", 500)
self.wrench_choices = itertools.cycle(['rc', 'autonomous'])
self.current_pose = Odometry()
self.active = False
self.alarm_broadcaster = AlarmBroadcaster()
self.kill_alarm = self.alarm_broadcaster.add_alarm(
name='kill', action_required=True, severity=0)
# self.docking_alarm = self.alarm_broadcaster.add_alarm(
# name='docking',
# action_required=True,
# severity=0
# )
self.wrench_pub = rospy.Publisher("/wrench/rc",
WrenchStamped,
queue_size=1)
self.kb = KillBroadcaster(id='station_hold', description='Resets Pose')
# rospy.wait_for_service('/change_wrench')
self.wrench_changer = rospy.ServiceProxy('/change_wrench',
WrenchSelect)
rospy.Subscriber("joy", Joy, self.joy_cb)
self.reset()
def reset(self):
'''
Used to reset the state of the controller.
Sometimes when it disconnects then comes back online, the settings are all
out of wack.
'''
self.last_change_mode = False
self.last_station_hold_state = False
self.last_kill = False
self.last_rc = False
self.last_auto = False
self.start_count = 0
self.last_joy = None
self.active = False
self.killed = False
# self.docking = False
wrench = WrenchStamped()
wrench.header.frame_id = "/base_link"
wrench.wrench.force.x = 0
wrench.wrench.force.y = 0
wrench.wrench.torque.z = 0
self.wrench_pub.publish(wrench)
def check_for_timeout(self, joy):
if self.last_joy is None:
self.last_joy = joy
return
if joy.axes == self.last_joy.axes and \
joy.buttons == self.last_joy.buttons:
# No change in state
if rospy.Time.now() - self.last_joy.header.stamp > rospy.Duration(
15 * 60):
# The controller times out after 15 minutes
if self.active:
rospy.logwarn(
"Controller Timed out. Hold start to resume.")
self.reset()
else:
joy.header.stamp = rospy.Time.now(
) # In the sim, stamps weren't working right
self.last_joy = joy
def joy_cb(self, joy):
self.check_for_timeout(joy)
# Handle Button presses
start = joy.buttons[7]
change_mode = bool(joy.buttons[3]) # Y
kill = bool(joy.buttons[2]) # X
station_hold = bool(joy.buttons[0]) # A
# docking = bool(joy.buttons[1]) # B
rc_control = bool(joy.buttons[11]) # d-pad left
auto_control = bool(joy.buttons[12]) # d-pad right
# Reset controller state if only start is pressed down for awhile
self.start_count += start
if self.start_count > 10: # About 3 seconds
rospy.loginfo("Resetting controller state.")
self.reset()
self.active = True
self.kill_alarm.clear_alarm()
self.wrench_changer("rc")
if not self.active:
return
# Change vehicle mode
if change_mode == 1 and change_mode != self.last_change_mode:
mode = next(self.wrench_choices)
rospy.loginfo("Changing Control Mode: {}".format(mode))
self.wrench_changer(mode)
if rc_control == 1 and rc_control != self.last_rc:
rospy.loginfo("Changing Control to RC")
self.wrench_changer("rc")
if auto_control == 1 and auto_control != self.last_auto:
rospy.loginfo("Changing Control to Autonomous")
self.wrench_changer("autonomous")
# Station hold
if station_hold == 1 and station_hold != self.last_station_hold_state:
rospy.loginfo("Station Holding")
self.kb.send(active=True)
self.kb.send(
active=False) # Resets c3, this'll change when c3 is replaced
self.wrench_changer("autonomous")
# Turn on full system kill
if kill == 1 and kill != self.last_kill:
rospy.loginfo("Toggling Kill")
if self.killed:
self.kill_alarm.clear_alarm()
else:
self.wrench_changer("rc")
self.kill_alarm.raise_alarm(
problem_description='System kill from location: joystick')
self.killed = not self.killed
# # Turn on docking mode
# if docking == 1 and docking != self.last_docking_state:
# rospy.loginfo("Toggling Docking")
# if self.docking:
# self.docking_alarm.clear_alarm()
# else:
# self.docking_alarm.raise_alarm(
# problem_description='Docking kill from location: joystick'
# )
# self.docking = not self.docking
self.last_start = start
self.last_change_mode = change_mode
self.last_kill = kill
self.last_station_hold_state = station_hold
# self.last_docking_state = docking
self.last_auto_control = auto_control
self.last_rc = rc_control
self.last_auto = auto_control
# Handle joystick commands
left_stick_x = joy.axes[1]
left_stick_y = joy.axes[0]
right_stick_y = joy.axes[3]
wrench = WrenchStamped()
wrench.header.frame_id = "/base_link"
wrench.header.stamp = joy.header.stamp
wrench.wrench.force.x = self.force_scale * left_stick_x
wrench.wrench.force.y = self.force_scale * left_stick_y
wrench.wrench.torque.z = self.torque_scale * right_stick_y
self.wrench_pub.publish(wrench)
class Joystick(object):
# Base class for whatever you are writing
def __init__(self):
self.force_scale = rospy.get_param("~force_scale")
self.torque_scale = rospy.get_param("~torque_scale")
self.last_change_mode = False
self.last_station_hold_state = False
self.last_kill = False
self.last_rc = False
self.last_auto = False
self.killed = False
self.docking = False
self.wrench_choices = itertools.cycle(["rc", "autonomous"])
self.current_pose = Odometry()
self.alarm_broadcaster = AlarmBroadcaster()
self.kill_alarm = self.alarm_broadcaster.add_alarm(name="kill", action_required=True, severity=0)
self.docking_alarm = self.alarm_broadcaster.add_alarm(name="docking", action_required=True, severity=0)
self.wrench_pub = rospy.Publisher("/wrench/rc", WrenchStamped, queue_size=1)
self.kb = KillBroadcaster(id="station_hold", description="Reset Pose")
# rospy.wait_for_service('/change_wrench')
self.wrench_changer = rospy.ServiceProxy("/change_wrench", WrenchSelect)
rospy.Subscriber("joy", Joy, self.joy_cb)
rospy.Subscriber("odom", Odometry, self.odom_cb)
def odom_cb(self, msg):
self.current_pose = msg
def joy_cb(self, joy):
# Handle Button presses
change_mode = bool(joy.buttons[3]) # Y
kill = bool(joy.buttons[2]) # X
station_hold = bool(joy.buttons[0]) # A
docking = bool(joy.buttons[1]) # B
rc_control = bool(joy.buttons[11]) # d-pad left
auto_control = bool(joy.buttons[12]) # d-pad right
# Change vehicle mode
if change_mode == 1 and change_mode != self.last_change_mode:
mode = next(self.wrench_choices)
rospy.loginfo("Changing Control Mode: {}".format(mode))
self.wrench_changer(mode)
if rc_control == 1 and rc_control != self.last_rc:
rospy.loginfo("Changing Control to RC")
self.wrench_changer("rc")
if auto_control == 1 and auto_control != self.last_auto:
rospy.loginfo("Changing Control to Autonomous")
self.wrench_changer("autonomous")
# Station hold
if station_hold == 1 and station_hold != self.last_station_hold_state:
rospy.loginfo("Station Holding")
self.kb.send(active=True)
self.kb.send(active=False) # Resets c3, this'll change when c3 is replaced
self.wrench_changer("autonomous")
# Turn on full system kill
if kill == 1 and kill != self.last_kill:
rospy.loginfo("Toggling Kill")
if self.killed:
self.kill_alarm.clear_alarm()
else:
self.wrench_changer("rc")
self.kill_alarm.raise_alarm(problem_description="System kill from location: joystick")
self.killed = not self.killed
# Turn on docking mode
if docking == 1 and docking != self.last_docking_state:
rospy.loginfo("Toggling Docking")
if self.docking:
self.docking_alarm.clear_alarm()
else:
self.docking_alarm.raise_alarm(problem_description="Docking kill from location: joystick")
self.docking = not self.docking
self.last_change_mode = change_mode
self.last_kill = kill
self.last_station_hold_state = station_hold
self.last_docking_state = docking
self.last_auto_control = auto_control
self.last_rc = rc_control
self.last_auto = auto_control
# Handle joystick commands
left_stick_x = joy.axes[1]
left_stick_y = joy.axes[0]
right_stick_y = joy.axes[3]
wrench = WrenchStamped()
wrench.header.frame_id = "/base_link"
wrench.wrench.force.x = self.force_scale * left_stick_x
wrench.wrench.force.y = self.force_scale * left_stick_y
wrench.wrench.torque.z = self.torque_scale * right_stick_y
self.wrench_pub.publish(wrench)
kill_switch_pub = rospy.Publisher('kill_switch', String, queue_size = 10)
while not rospy.is_shutdown():
global status
status = ReadTerminal()
status = str(status)
if 'O' in status:
msg = "OK"
rospy.loginfo(msg)
kill_switch_pub.publish(msg)
else:
kill_broadcaster.send(True)
msg = "KILL"
rospy.loginfo(msg)
kill_switch_pub.publish(msg)
rospy.spin()
begin = rospy.Publisher("begin", Bool, queue_size = 1)
last_pressed = ''
killed = True
# configure the serial connections (the parameters differs on the device you are connecting to)
ser = serial.Serial(
port='/dev/serial/by-id/usb-Black_Sphere_Technologies_CDC-ACM_Demo_DEMO-if00',
baudrate=9600,
#parity=serial.PARITY_ODD,
#stopbits=serial.STOPBITS_TWO,
#bytesize=serial.SEVENBITS
)
ser.close()
ser.open()
ser.isOpen()
kill_broadcaster.send(killed)
ser.write('B')
print 'Enter your commands below.\r\nInsert "exit" to leave the application.'
input=1
while not rospy.is_shutdown() :
# send the character to the device
# (note that I happend a \r\n carriage return and line feed to the characters - this is requested by my device)
ser.write('?')
out = ''
# let's wait one second before reading output (let's give device time to answer)
while ser.inWaiting() > 0:
out += ser.read(1)
if out == str(4) and str(out) != last_pressed:
print last_pressed
if killed == False:
class KillPlugin(Plugin):
def __init__(self, context):
super(KillPlugin, self).__init__(context)
self.setObjectName('KillPlugin')
self._listener = KillListener()
self._broadcaster = KillBroadcaster(rospy.get_name(),
'Software kill using KillPlugin')
self._kill_active = False
self._widget = QWidget()
loadUi(os.path.join(uipath, 'killplugin.ui'), self._widget)
context.add_widget(self._widget)
self._widget.findChild(QTableWidget,
'killTable').setHorizontalHeaderLabels(
["Name", "Status", "Description"])
self._widget.findChild(QPushButton, 'killButton').clicked.connect(
self._on_kill_clicked)
self._widget.findChild(QPushButton, 'unkillButton').clicked.connect(
self._on_unkill_clicked)
self._widget.findChild(QPushButton, 'runButton').clicked.connect(
self._on_run_clicked)
self._update_timer = QTimer(self._widget)
self._update_timer.timeout.connect(self._on_update)
self._update_timer.start(100)
def _on_update(self):
self._update_kills()
self._update_kill()
def _on_kill_clicked(self):
self._kill_active = True
self._broadcaster.send(True)
self._update_kill()
def _on_unkill_clicked(self):
self._kill_active = False
self._broadcaster.send(False)
self._update_kill()
def _on_run_clicked(self):
self._on_unkill_clicked()
def _update_kills(self):
all_kills = self._listener.get_all_kills()
if all_kills is not None:
new_kills = {
kill.id: kill
for kill in self._listener.get_all_kills()
}
else:
new_kills = {}
table = self._widget.findChild(QTableWidget, 'killTable')
row = 0
while row < table.rowCount():
id = table.item(row, 1)
if id in new_kills:
self._update_kill_entry(row, new_kills[id])
del new_kills[id]
row += 1
else:
table.removeRow(row)
for kill in new_kills.values():
row = table.rowCount()
table.setRowCount(row + 1)
self._update_kill_entry(row, kill)
def _update_kill_entry(self, row, kill):
color = QColor(255, 255, 255) if not kill.active else QColor(
255, 200, 200)
self._update_item(row, 0, color, kill.id)
self._update_item(row, 1, color,
"Killed" if kill.active else "Unkilled")
self._update_item(row, 2, color, kill.description)
def _update_item(self, row, col, color, string):
item = QTableWidgetItem(string)
item.setBackground(color)
self._widget.findChild(QTableWidget,
'killTable').setItem(row, col, item)
def _update_kill(self):
kills = self._listener.get_all_kills()
if kills is not None:
other_kill_count = len([
kill for kill in kills
if kill.id != rospy.get_name() and kill.active
])
self._widget.findChild(
QPushButton, 'runButton').setVisible(other_kill_count == 0)
self._widget.findChild(
QPushButton, 'unkillButton').setVisible(other_kill_count > 0)
status = 'Sub status: '
if not self._listener.get_killed():
status += '<span style="color:green">Running</span>'
else:
status += '<span style="color:red">Killed</span>'
self._widget.findChild(QLabel, 'killStatusLabel').setText(status)
else:
self._widget.findChild(QPushButton, 'runButton').setVisible(False)
self._widget.findChild(QPushButton,
'unkillButton').setVisible(False)
self._widget.findChild(QLabel, 'killStatusLabel').setText(
'<span style="color:red">No kill information</span>')
class PropaGatorGUI(Plugin):
def __init__(self, contex):
super(PropaGatorGUI, self).__init__(contex)
# Initilize variables
self._float_status = False
self.last_odom_msg = Odometry()
self._current_controller = 'Controller: Unknown'
self._controller = ''
self._controllers = []
# Assign a name
self.setObjectName('PropaGatorGUI')
# Create a widget
self._widget = QWidget()
loadUi(os.path.join(cwd, 'propagatorgui.ui'), self._widget)
self._widget.setObjectName('PropaGatorGUI')
contex.add_widget(self._widget)
# Grab all the children from the widget
self._kill_label = self._widget.findChild(QLabel, 'kill_label')
self._float_label = self._widget.findChild(QLabel, 'float_label')
self._controller_label = self._widget.findChild(
QLabel, 'controller_label')
self._odom_x_label = self._widget.findChild(QLabel, 'odom_x_label')
self._odom_y_label = self._widget.findChild(QLabel, 'odom_y_label')
self._odom_yaw_label = self._widget.findChild(QLabel, 'odom_yaw_label')
self._odom_d_x_label = self._widget.findChild(QLabel, 'odom_d_x_label')
self._odom_d_y_label = self._widget.findChild(QLabel, 'odom_d_y_label')
self._odom_d_yaw_label = self._widget.findChild(
QLabel, 'odom_d_yaw_label')
self._placeholder_label = self._widget.findChild(
QLabel, 'placeholder_label')
self._kill_push_btn = self._widget.findChild(QPushButton,
'kill_push_btn')
self._float_push_btn = self._widget.findChild(QPushButton,
'float_push_btn')
self._controller_combo_box = self._widget.findChild(
QComboBox, 'controller_combo_box')
# Load images
self._green_indicator = QPixmap(
os.path.join(cwd, 'green_indicator.png'))
self._red_indicator = QPixmap(os.path.join(cwd, 'red_indicator.png'))
self._placeholder_image = QPixmap(os.path.join(cwd, 'placeholder.png'))
# Set up ROS interfaces
self._kill_listener = KillListener()
self._kill_broadcaster = KillBroadcaster(
id='PropaGator GUI', description='PropaGator GUI kill')
self._odom_sub = rospy.Subscriber('/odom', Odometry, self._odom_cb)
self._float_sub = rospy.Subscriber('/controller/float_status', Bool,
self._float_cb)
self._float_proxy = rospy.ServiceProxy('/controller/float_mode',
FloatMode)
self._current_controller_sub = rospy.Subscriber(
'/controller/current_controller', String,
self._current_controller_cb)
self._get_all_controllers_proxy = rospy.ServiceProxy(
'/controller/get_all_controllers', get_all_controllers)
self._request_controller_proxy = rospy.ServiceProxy(
'/controller/request_controller', request_controller)
# Connect push buttons
self._kill_push_btn.toggled.connect(self._on_kill_push_btn_toggle)
self._float_push_btn.toggled.connect(self._on_float_push_btn_toggle)
# Connect combo boxes
self._controller_combo_box.activated[str].connect(
self._controller_combo_box_cb)
# Set up update timer at 10Hz
# A Qt timer is used instead of a ros timer since Qt components are updated
self.update_timer = QTimer()
self.update_timer.timeout.connect(self._onUpdate)
self.update_timer.start(100)
# Temp
self._placeholder_label.setPixmap(self._placeholder_image)
# Everything needs to be turned off here
def shutdown_plugin(self):
self.update_timer.stop()
self._odom_sub.unregister()
del self._odom_sub
self._float_sub.unregister()
del self._float_sub
# Kill broadcaster is not cleared, the user should unkill before closing the GUI
del self._kill_broadcaster
del self._kill_listener
# Subscriber callbacks
# Since this is in a different thread it is possible and likely that
# the drawing thread will try and draw while the text is being changed
# this causes all kinds of mahem such as segmentation faults, double free, ...
# To prevent this from hapening this thread updates only none QT variables
# described here http://wiki.ros.org/rqt/Tutorials/Writing%20a%20Python%20Plugin
def _odom_cb(self, msg):
self.last_odom_msg = msg
def _float_cb(self, status):
self._float_status = status.data
def _current_controller_cb(self, controller):
self._controller = controller.data
self._current_controller = 'Controller: ' + controller.data
def _odom_update(self):
pos = self.last_odom_msg.pose.pose.position
yaw = quat_to_rotvec(
xyzw_array(self.last_odom_msg.pose.pose.orientation))[2]
vel = self.last_odom_msg.twist.twist.linear
dYaw = self.last_odom_msg.twist.twist.angular.z
self._odom_x_label.setText('X: %3.3f' % pos.x)
self._odom_y_label.setText('Y: %3.3f' % pos.y)
self._odom_yaw_label.setText('Yaw: %3.3f' % yaw)
self._odom_d_x_label.setText('dX: %3.3f' % vel.x)
self._odom_d_y_label.setText('dY: %3.3f' % vel.y)
self._odom_d_yaw_label.setText('dYaw: %3.3f' % dYaw)
# Push btn callbacks
def _on_kill_push_btn_toggle(self, checked):
if checked:
self._kill_broadcaster.send(True)
else:
self._kill_broadcaster.send(False)
def _on_float_push_btn_toggle(self, checked):
# TODO: Check if float service active
try:
if checked:
self._float_proxy(True)
else:
self._float_proxy(False)
except rospy.service.ServiceException:
pass
# Combo box callbacks
def _controller_combo_box_cb(self, text):
self._request_controller_proxy(text)
# Update functions
def _updateStatus(self):
# Check if killed
if self._kill_listener.get_killed():
self._kill_label.setPixmap(self._red_indicator)
else:
self._kill_label.setPixmap(self._green_indicator)
# Check float status
if self._float_status:
self._float_label.setPixmap(self._red_indicator)
else:
self._float_label.setPixmap(self._green_indicator)
# Check if in autonomous or RC
self._controller_label.setText(self._current_controller)
def _updateControl(self):
# Wait until we get the first controller
if self._controller == '':
return
controllers = self._get_all_controllers_proxy().controllers
if controllers != self._controllers:
self._controllers = controllers
self._controller_combo_box.clear()
self._controller_combo_box.addItems(controllers)
index = self._controller_combo_box.findText(self._controller)
if index != -1 and index != self._controller_combo_box.currentIndex():
self._controller_combo_box.setCurrentIndex(index)
def _updateLidar(self):
pass
def _onUpdate(self):
self._updateStatus()
self._updateControl()
self._updateLidar()
self._odom_update()
class KillPlugin(Plugin):
def __init__(self, context):
super(KillPlugin, self).__init__(context)
self.setObjectName('KillPlugin')
self._listener = KillListener()
self._broadcaster = KillBroadcaster(rospy.get_name(), 'Software kill using KillPlugin')
self._kill_active = False
self._widget = QWidget()
loadUi(os.path.join(uipath, 'killplugin.ui'), self._widget)
context.add_widget(self._widget)
self._widget.findChild(QTableWidget, 'killTable').setHorizontalHeaderLabels(["Name", "Status", "Description"])
self._widget.findChild(QPushButton, 'killButton').clicked.connect(self._on_kill_clicked)
self._widget.findChild(QPushButton, 'unkillButton').clicked.connect(self._on_unkill_clicked)
self._widget.findChild(QPushButton, 'runButton').clicked.connect(self._on_run_clicked)
self._update_timer = QTimer(self._widget)
self._update_timer.timeout.connect(self._on_update)
self._update_timer.start(100)
def _on_update(self):
self._update_kills()
self._update_kill()
def _on_kill_clicked(self):
self._kill_active = True
self._broadcaster.send(True)
self._update_kill()
def _on_unkill_clicked(self):
self._kill_active = False
self._broadcaster.send(False)
self._update_kill()
def _on_run_clicked(self):
self._on_unkill_clicked()
def _update_kills(self):
all_kills = self._listener.get_all_kills()
if all_kills is not None:
new_kills = {kill.id: kill for kill in self._listener.get_all_kills()}
else:
new_kills = {}
table = self._widget.findChild(QTableWidget, 'killTable')
row = 0
while row < table.rowCount():
id = table.item(row, 1)
if id in new_kills:
self._update_kill_entry(row, new_kills[id])
del new_kills[id]
row += 1
else:
table.removeRow(row)
for kill in new_kills.values():
row = table.rowCount()
table.setRowCount(row+1)
self._update_kill_entry(row, kill)
def _update_kill_entry(self, row, kill):
color = QColor(255, 255, 255) if not kill.active else QColor(255, 200, 200)
self._update_item(row, 0, color, kill.id)
self._update_item(row, 1, color, "Killed" if kill.active else "Unkilled")
self._update_item(row, 2, color, kill.description)
def _update_item(self, row, col, color, string):
item = QTableWidgetItem(string)
item.setBackground(color)
self._widget.findChild(QTableWidget, 'killTable').setItem(row, col, item)
def _update_kill(self):
kills = self._listener.get_all_kills()
if kills is not None:
other_kill_count = len([kill for kill in kills
if kill.id != rospy.get_name() and kill.active])
self._widget.findChild(QPushButton, 'runButton').setVisible(other_kill_count == 0)
self._widget.findChild(QPushButton, 'unkillButton').setVisible(other_kill_count > 0)
status = 'Sub status: '
if not self._listener.get_killed():
status += '<span style="color:green">Running</span>'
else:
status += '<span style="color:red">Killed</span>'
self._widget.findChild(QLabel, 'killStatusLabel').setText(status)
else:
self._widget.findChild(QPushButton, 'runButton').setVisible(False)
self._widget.findChild(QPushButton, 'unkillButton').setVisible(False)
self._widget.findChild(QLabel, 'killStatusLabel').setText('<span style="color:red">No kill information</span>')
