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Collegato bottone per spegnimento graceful nod ROS

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This commit is contained in:
Emanuele
2019-11-18 11:29:48 +01:00
parent 2f59630197
commit 57c2b4ed3a
2 changed files with 10 additions and 2 deletions
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10
gui/roboglue_gui.cpp
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@@ -91,7 +91,6 @@ void RoboGlue_GUI::disableLockAxes(){
//////////////////////////////////////////////// ////////////////////////////////////////////////
void RoboGlue_GUI::on_commonStatusChange() { void RoboGlue_GUI::on_commonStatusChange() {
modlog->trace("on_commonStatusChange Received"); modlog->trace("on_commonStatusChange Received");
// TODO: aggiungere e interpretare le flag per capire se i nodi ros sono tutti vivi dall'heartbeat
this->ui->lbl_relay->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("relay")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.relayTime)))); this->ui->lbl_relay->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("relay")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.relayTime))));
this->ui->lbl_follower->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("follower")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.followerTime)))); this->ui->lbl_follower->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("follower")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.followerTime))));
this->ui->lbl_recorder->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("recorder")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.recorderTime)))); this->ui->lbl_recorder->setText(QString().fromStdString(this->m->comSettings.nodeNames.find("recorder")->second+": "+std::to_string(static_cast<uint>(m->commonStatus.recorderTime))));
@@ -342,6 +341,14 @@ void RoboGlue_GUI::on_btn_setFrame_clicked() {
emit m->commonStatusChange(); emit m->commonStatusChange();
emit sendROScommand("SETFRAME", param); emit sendROScommand("SETFRAME", param);
} }
void RoboGlue_GUI::on_btn_stopRos_clicked() {
QVariantMap param;
modlog->debug("stopRos");
param["action"]=false;
emit m->commonStatusChange();
emit sendROScommand("QUIT", param);
}
//////////////////////////////////////////////// ////////////////////////////////////////////////
////////END INTERNAL PRIVATE SLOTS////////////// ////////END INTERNAL PRIVATE SLOTS//////////////
//////////////////////////////////////////////// ////////////////////////////////////////////////
@@ -387,4 +394,3 @@ void RoboGlue_GUI::on_newRobotData() {
//////// END EXTERNAL PUBLIC SLOTS ///////////// //////// END EXTERNAL PUBLIC SLOTS /////////////
//////////////////////////////////////////////// ////////////////////////////////////////////////
/// ///

2
gui/roboglue_gui.h
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@@ -97,6 +97,8 @@ private slots:
void on_btn_setFrame_clicked(); void on_btn_setFrame_clicked();
void on_btn_stopRos_clicked();
signals: signals:
void robotConnect(QString, uint port, uchar retry); void robotConnect(QString, uint port, uchar retry);
void robotDisconnect(); void robotDisconnect();