def _post_goal(self):
"""Post new waypoint to subsystem"""
print('Posting new goal to agent')
self.tableWidget.setItem(self.table_row_tracker, 0, QtWidgets.QTableWidgetItem(str(datetime.datetime.fromtimestamp(rospy.get_time()))))
self.tableWidget.setItem(self.table_row_tracker, 1, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 2, QtWidgets.QTableWidgetItem('Move to new waypoint'))
self.tableWidget.setItem(self.table_row_tracker, 3, QtWidgets.QTableWidgetItem('Sent'))
self.tableWidget.setItem(self.table_row_tracker, 4, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 5, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 6, QtWidgets.QTableWidgetItem('N/A'))
self.runningTaskLabel.setText('Move to new waypoint')
self.table_row_tracker += 1
command = 'python post_goal.py %s' % self.num_goal_reached
subprocess.call(command, shell=True)
def result_callback(self, data):
"""Goal reached callback"""
if data.data:
self.runningTaskProgressBar.setValue(self.num_goal_reached)
self.num_goal_reached += 1
print(self.num_goal_reached)
print("Goal Reached, ready for new one")
self.tableWidget.setItem(self.table_row_tracker, 0, QtWidgets.QTableWidgetItem(str(datetime.datetime.fromtimestamp(rospy.get_time()))))
self.tableWidget.setItem(self.table_row_tracker, 1, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 2, QtWidgets.QTableWidgetItem('Reached waypoint'))
self.tableWidget.setItem(self.table_row_tracker, 3, QtWidgets.QTableWidgetItem('Success'))
self.tableWidget.setItem(self.table_row_tracker, 4, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 5, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 6, QtWidgets.QTableWidgetItem('N/A'))
self.runningTaskLabel.setText('Reached waypoint')
self.table_row_tracker += 1
def api_callback(self, data):
"""API callback from cloud"""
print("Robot in position")
self.tableWidget.setItem(self.table_row_tracker, 0, QtWidgets.QTableWidgetItem(str(datetime.datetime.fromtimestamp(rospy.get_time()))))
self.tableWidget.setItem(self.table_row_tracker, 1, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 2, QtWidgets.QTableWidgetItem('Move to new waypoint'))
self.tableWidget.setItem(self.table_row_tracker, 3, QtWidgets.QTableWidgetItem('Sent'))
self.tableWidget.setItem(self.table_row_tracker, 4, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 5, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 6, QtWidgets.QTableWidgetItem('N/A'))
self.runningTaskLabel.setText('Move to new waypoint')
self.table_row_tracker += 1
command = 'python post_goal.py %s' % self.num_goal_reached
_id = rospy.get_caller_id()
_class = self.plan[self.num_goal_reached-1]
print(_class)
if len(_class) > 3:
self.tableWidget.setItem(self.table_row_tracker, 0, QtWidgets.QTableWidgetItem(str(datetime.datetime.fromtimestamp(rospy.get_time()))))
self.tableWidget.setItem(self.table_row_tracker, 1, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 2, QtWidgets.QTableWidgetItem('Move head to position'))
self.tableWidget.setItem(self.table_row_tracker, 3, QtWidgets.QTableWidgetItem('Ongoing'))
self.tableWidget.setItem(self.table_row_tracker, 4, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 5, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 6, QtWidgets.QTableWidgetItem('N/A'))
self.runningTaskLabel.setText('Move head to position')
self.table_row_tracker += 1
time.sleep(10)
self.tableWidget.setItem(self.table_row_tracker-1, 3, QtWidgets.QTableWidgetItem('Complete'))
self.post_goal()
print("New goal sent, waiting for database to update")
time.sleep(8)
URL = 'http://dr0nn1.ddns.net:5000/%s/1' % _class
response = requests.get(URL)
content = response.json()
tag = 'N/A'
value = 'N/A'
warning = 'N/A'
alarm = 'N/A'
value = 'N/A'
if _class == 'manometers':
value = float(content['value'])
warning_low = float(content['low_warning_limit'])
warning_high = float(content['high_warning_limit'])
alarm_low = float(content['low_alarm_limit'])
alarm_high = float(content['high_alarm_limit'])
if value > warning_high and value < alarm_high:
warning = 'Warning high'
elif value < warning_low and value > alarm_low:
warning = 'Warning low'
elif value > alarm_high:
alarm = 'Alarm high'
elif value < alarm_low:
alarm = 'Alarm low'
tag = content['tag']
if _class == 'valve':
normal_condition = content['normal_condition']
should_be = content['is_open']
tag = content['tag']
if value is not should_be:
warning = 'Not in position'
IMG = content['img'].encode('latin1')
rgb_image = np.fromstring(IMG, dtype=np.uint8).reshape((480, 640, 3))
height, width, channel = rgb_image.shape
bytesPerLine = 3 * width
qImg = QtGui.QImage(rgb_image.data, width, height, bytesPerLine, QtGui.QImage.Format_RGB888)
self.column_images[self.column_image_counter].setPixmap(QtGui.QPixmap(qImg))
self.tableWidget.setItem(self.table_row_tracker, 0, QtWidgets.QTableWidgetItem(str(datetime.datetime.fromtimestamp(rospy.get_time()))))
self.tableWidget.setItem(self.table_row_tracker, 1, QtWidgets.QTableWidgetItem(tag))
self.tableWidget.setItem(self.table_row_tracker, 2, QtWidgets.QTableWidgetItem('Inspecting equipment'))
self.tableWidget.setItem(self.table_row_tracker, 3, QtWidgets.QTableWidgetItem('Complete'))
self.tableWidget.setItem(self.table_row_tracker, 4, QtWidgets.QTableWidgetItem(value))
self.tableWidget.setItem(self.table_row_tracker, 5, QtWidgets.QTableWidgetItem(warning))
self.tableWidget.setItem(self.table_row_tracker, 6, QtWidgets.QTableWidgetItem(alarm))
self.runningTaskLabel.setText('Inspecting equipment')
self.table_row_tracker += 1
self.column_image_counter += 1
if self.column_image_counter > 2:
self.column_image_counter = 0
else:
time.sleep(2)
self.post_goal()
def start_mission(self):
"""Start selected mission"""
choice = QtWidgets.QMessageBox.question(self, 'Warning', 'Start new mission?', QtWidgets.QMessageBox.Yes | QtWidgets.QMessageBox.No)
if choice == QtWidgets.QMessageBox.Yes:
self.load_mission()
self.startMissionBtn.setDisabled(True)
self.refreshSelectMissionAreaBtn.setDisabled(True)
self.refreshSelectMissionBtn.setDisabled(True)
self.selectMissionAreaComboBox.setDisabled(True)
self.selectMissionComboBox.setDisabled(True)
self.runninMissionLabel.setText(self.selectMissionComboBox.currentText())
self.currentRunningMissionLabel.setText(self.selectMissionComboBox.currentText())
self.tableWidget.setItem(0,0, QtWidgets.QTableWidgetItem(str(datetime.datetime.fromtimestamp(rospy.get_time()))))
self.tableWidget.setItem(0,1, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(0,2, QtWidgets.QTableWidgetItem('Starting Mission'))
self.tableWidget.setItem(0,3, QtWidgets.QTableWidgetItem('Init'))
self.tableWidget.setItem(0,4, QtWidgets.QTableWidgetItem('Success'))
self.tableWidget.setItem(0,5, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(0,6, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(0,7, QtWidgets.QTableWidgetItem('N/A'))
self.runningTaskLabel.setText('Starting Mission')
self.tableWidget.setItem(1,0, QtWidgets.QTableWidgetItem(str(datetime.datetime.fromtimestamp(rospy.get_time()))))
self.tableWidget.setItem(1,1, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(1,2, QtWidgets.QTableWidgetItem('Move to new waypoint'))
self.tableWidget.setItem(1,3, QtWidgets.QTableWidgetItem('Sent'))
self.tableWidget.setItem(1,4, QtWidgets.QTableWidgetItem('Ongoing'))
self.tableWidget.setItem(1,5, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(1,6, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(1,7, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(2,0, QtWidgets.QTableWidgetItem(''))
self.runningTaskLabel.setText('Move to new waypoint')
self.post_goal()
else:
pass
