Пример #1
0
class LifeFrame(QFrame):
    STATE_STOPPED = "stopped"
    STATE_RUN = "running"
    STATE_IDLE = "idle"

    def __init__(self, parent=None):
        super(LifeFrame, self).__init__(parent)
        self._ui = Ui_life_frame()
        self._motion = Rotate('/mobile_base/commands/velocity')
        self._motion_thread = None
        self._timer = QTimer()
        #self._timer.setInterval(60000) #60s
        self._timer.setInterval(250)  #60s
        QObject.connect(self._timer, SIGNAL('timeout()'), self,
                        SLOT('update_progress_callback()'))
        self._state = LifeFrame.STATE_STOPPED
        self._is_alive = False  # Used to indicate whether the frame is alive or not (see hibernate/restore methods)

    def setupUi(self):
        self._ui.setupUi(self)
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)
        self._motion.init(self._ui.angular_speed_spinbox.value())

    def shutdown(self):
        '''
          Used to terminate the plugin
        '''
        rospy.loginfo("Kobuki TestSuite: life frame shutdown")
        self._motion.shutdown()

    ##########################################################################
    # 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.
        '''
        pass

    def restore(self):
        '''
          Restore the frame after a hibernate.
        '''
        pass

    ##########################################################################
    # Motion Callbacks
    ##########################################################################

    def start(self):
        self._state = LifeFrame.STATE_RUN
        self._ui.run_progress.reset()
        self._ui.idle_progress.reset()
        self._motion_thread = WorkerThread(self._motion.execute, None)
        self._motion_thread.start()

    def stop(self):
        self._state = LifeFrame.STATE_STOPPED
        self._motion.stop()
        if self._motion_thread:
            self._motion_thread.wait()

    ##########################################################################
    # Qt Callbacks
    ##########################################################################
    @Slot()
    def on_start_button_clicked(self):
        self._ui.start_button.setEnabled(False)
        self._ui.stop_button.setEnabled(True)
        self._timer.start()
        self.start()

    @Slot()
    def on_stop_button_clicked(self):
        self.stop()
        self._timer.stop()
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)

    @pyqtSlot(float)
    def on_angular_speed_spinbox_valueChanged(self, value):
        self._motion.init(self._ui.angular_speed_spinbox.value())

    ##########################################################################
    # Timer Callbacks
    ##########################################################################

    @Slot()
    def update_progress_callback(self):
        if self._state == LifeFrame.STATE_RUN:
            new_value = self._ui.run_progress.value() + 1
            if new_value == self._ui.run_progress.maximum():
                print("  Switching to idle")
                self._motion.stop()
                self._state = LifeFrame.STATE_IDLE
            else:
                self._ui.run_progress.setValue(new_value)
        if self._state == LifeFrame.STATE_IDLE:
            new_value = self._ui.idle_progress.value() + 1
            if new_value == self._ui.idle_progress.maximum():
                print("  Switching to run")
                self.start()
            else:
                self._ui.idle_progress.setValue(new_value)
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()
Пример #3
0
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()
Пример #4
0
class LifeFrame(QFrame):
    STATE_STOPPED = "stopped"
    STATE_RUN = "running"
    STATE_IDLE = "idle"
    
    def __init__(self, parent=None):
        super(LifeFrame, self).__init__(parent)
        self._ui = Ui_life_frame()
        self._motion = Rotate('/mobile_base/commands/velocity')
        self._motion_thread = None
        self._timer = QTimer()
        #self._timer.setInterval(60000) #60s
        self._timer.setInterval(250) #60s
        QObject.connect(self._timer, SIGNAL('timeout()'), self, SLOT('update_progress_callback()'))
        self._state = LifeFrame.STATE_STOPPED
        self._is_alive = False # Used to indicate whether the frame is alive or not (see hibernate/restore methods)

    def setupUi(self):
        self._ui.setupUi(self)
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)
        self._motion.init(self._ui.angular_speed_spinbox.value())

    def shutdown(self):
        '''
          Used to terminate the plugin
        '''
        rospy.loginfo("Kobuki TestSuite: life frame shutdown")
        self._motion.shutdown()

    ##########################################################################
    # 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.
        '''
        pass
    
    def restore(self):
        '''
          Restore the frame after a hibernate.
        '''
        pass


    ##########################################################################
    # Motion Callbacks
    ##########################################################################

    def start(self):
        self._state = LifeFrame.STATE_RUN
        self._ui.run_progress.reset()
        self._ui.idle_progress.reset()
        self._motion_thread = WorkerThread(self._motion.execute, None)
        self._motion_thread.start()

    def stop(self):
        self._state = LifeFrame.STATE_STOPPED
        self._motion.stop()
        if self._motion_thread:
            self._motion_thread.wait()
        
    ##########################################################################
    # Qt Callbacks
    ##########################################################################
    @Slot()
    def on_start_button_clicked(self):
        self._ui.start_button.setEnabled(False)
        self._ui.stop_button.setEnabled(True)
        self._timer.start()
        self.start()
        
    @Slot()
    def on_stop_button_clicked(self):
        self.stop()
        self._timer.stop()
        self._ui.start_button.setEnabled(True)
        self._ui.stop_button.setEnabled(False)
        
    @pyqtSlot(float)
    def on_angular_speed_spinbox_valueChanged(self, value):
        self._motion.init(self._ui.angular_speed_spinbox.value())

    ##########################################################################
    # Timer Callbacks
    ##########################################################################

    @Slot()
    def update_progress_callback(self):
        if self._state == LifeFrame.STATE_RUN:
            new_value = self._ui.run_progress.value()+1
            if new_value == self._ui.run_progress.maximum():
                print("  Switching to idle")
                self._motion.stop()
                self._state = LifeFrame.STATE_IDLE
            else:
                self._ui.run_progress.setValue(new_value)
        if self._state == LifeFrame.STATE_IDLE:
            new_value = self._ui.idle_progress.value()+1
            if new_value == self._ui.idle_progress.maximum():
                print("  Switching to run")
                self.start()
            else:
                self._ui.idle_progress.setValue(new_value)