def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
self._motion = Square('/mobile_base/commands/velocity', '/odom',
self._gyro_topic_name)
self._motion.init(self._ui.speed_spinbox.value(),
self._ui.distance_spinbox.value())
self._motion_thread = WorkerThread(self._motion.execute,
self._run_finished)
self._motion_thread.start()
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
self._motion = Square('/mobile_base/commands/velocity', '/odom', self._gyro_topic_name)
self._motion.init(self._ui.speed_spinbox.value(), self._ui.distance_spinbox.value())
self._motion_thread = WorkerThread(self._motion.execute, self._run_finished)
self._motion_thread.start()
class PayloadFrame(QFrame):
def __init__(self, parent=None):
super(PayloadFrame, self).__init__(parent)
self._gyro_topic_name = '/mobile_base/sensors/imu_data'
self._ui = Ui_payload_frame()
self._motion = None
self._motion_thread = None
def setupUi(self):
self._ui.setupUi(self)
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
def shutdown(self):
'''
Used to terminate the plugin
'''
rospy.loginfo("Kobuki TestSuite: payload frame 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._motion_thread = None
self._motion = None
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)
self._motion = Square('/mobile_base/commands/velocity', '/odom', self._gyro_topic_name)
self._motion.init(self._ui.speed_spinbox.value(), self._ui.distance_spinbox.value())
self._motion_thread = WorkerThread(self._motion.execute, self._run_finished)
self._motion_thread.start()
@Slot()
def on_stop_button_clicked(self):
self._stop()
def _stop(self):
if self._motion:
self._motion.stop()
if self._motion_thread:
self._motion_thread.wait()
self._motion_thread = None
if self._motion:
self._motion = None
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
@pyqtSlot(float)
def on_speed_spinbox_valueChanged(self, value):
if self._motion:
self._motion.init(self._ui.speed_spinbox.value(), self._ui.distance_spinbox.value())
@pyqtSlot(float)
def on_distance_spinbox_valueChanged(self, value):
if self._motion:
self._motion.init(self._ui.speed_spinbox.value(), self._ui.distance_spinbox.value())
class PayloadFrame(QFrame):
def __init__(self, parent=None):
super(PayloadFrame, self).__init__(parent)
self._gyro_topic_name = '/mobile_base/sensors/imu_data'
self._ui = Ui_payload_frame()
self._motion = None
self._motion_thread = None
def setupUi(self):
self._ui.setupUi(self)
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
def shutdown(self):
'''
Used to terminate the plugin
'''
rospy.loginfo("Kobuki TestSuite: payload frame 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._motion_thread = None
self._motion = None
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)
self._motion = Square('/mobile_base/commands/velocity', '/odom',
self._gyro_topic_name)
self._motion.init(self._ui.speed_spinbox.value(),
self._ui.distance_spinbox.value())
self._motion_thread = WorkerThread(self._motion.execute,
self._run_finished)
self._motion_thread.start()
@Slot()
def on_stop_button_clicked(self):
self._stop()
def _stop(self):
if self._motion:
self._motion.stop()
if self._motion_thread:
self._motion_thread.wait()
self._motion_thread = None
if self._motion:
self._motion = None
self._ui.start_button.setEnabled(True)
self._ui.stop_button.setEnabled(False)
@pyqtSlot(float)
def on_speed_spinbox_valueChanged(self, value):
if self._motion:
self._motion.init(self._ui.speed_spinbox.value(),
self._ui.distance_spinbox.value())
@pyqtSlot(float)
def on_distance_spinbox_valueChanged(self, value):
if self._motion:
self._motion.init(self._ui.speed_spinbox.value(),
self._ui.distance_spinbox.value())
