Exemplo n.º 1
0
    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()))
Exemplo n.º 2
0
 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()
Exemplo n.º 3
0
 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()
Exemplo n.º 4
0
    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()))