Merge pull request #187 from CWRUbotix/fancy-manips

Fancy manips

Author: benjaminwp18

src/surface/flight_control/flight_control/mavlink_control_node.py

@@ -90,6 +90,8 @@
 
 CONTROLLER_PROFILE_PARAM = 'controller_profile'
 
+MANIP_TOGGLE_MODE = True
+
 
 @dataclass
 class ManipButton:
@@ -312,11 +314,15 @@ def manip_callback(self, joy_state: JoystickState) -> None:
         buttons = joy_state.buttons
         for button_id, manip_button in self.manip_buttons.items():
             just_pressed = buttons[button_id] == PRESSED
-            if manip_button.last_button_state is False and just_pressed:
+
+            if MANIP_TOGGLE_MODE and manip_button.last_button_state is False and just_pressed:
                 new_manip_state = not manip_button.is_active
                 manip_button.is_active = new_manip_state
-                manip_msg = Manip(manip_id=manip_button.claw, activated=manip_button.is_active)
-                self.manip_publisher.publish(manip_msg)
+            elif not MANIP_TOGGLE_MODE and manip_button.last_button_state != just_pressed:
+                manip_button.is_active = just_pressed
+
+            manip_msg = Manip(manip_id=manip_button.claw, activated=manip_button.is_active)
+            self.manip_publisher.publish(manip_msg)
 
             manip_button.last_button_state = just_pressed
 

src/surface/gui/gui/pilot_app.py

@@ -2,12 +2,13 @@
 
 from PyQt6.QtCore import Qt
 from PyQt6.QtGui import QScreen
-from PyQt6.QtWidgets import QHBoxLayout, QVBoxLayout
+from PyQt6.QtWidgets import QHBoxLayout, QVBoxLayout, QWidget
 
 from gui.app import App
 from gui.widgets.arm import Arm
 from gui.widgets.flood_warning import FloodWarning
 from gui.widgets.livestream_header import LivestreamHeader
+from gui.widgets.manip_status import ManipStatus
 from gui.widgets.timer import TimerDisplay
 from gui.widgets.video_widget import (
     CameraDescription,
@@ -116,17 +117,23 @@ def make_bottom_bar() -> QHBoxLayout:
         """
         bottom_screen_layout = QHBoxLayout()
 
-        timer = TimerDisplay()
-        bottom_screen_layout.addWidget(timer)
+        left_layout = QVBoxLayout()
+        left_layout.addWidget(ManipStatus('left'))
+        left_layout.addWidget(TimerDisplay())
+        bottom_screen_layout.addLayout(left_layout)
 
         flood_widget = FloodWarning()
         bottom_screen_layout.addWidget(
             flood_widget, alignment=Qt.AlignmentFlag.AlignHCenter | Qt.AlignmentFlag.AlignBottom
         )
 
-        arm = Arm()
+        right_layout = QVBoxLayout()
+        right_layout.addWidget(ManipStatus('right'))
+        right_layout.addWidget(Arm())
+        right_container = QWidget()
+        right_container.setLayout(right_layout)
         bottom_screen_layout.addWidget(
-            arm, alignment=Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignBottom
+            right_container, alignment=Qt.AlignmentFlag.AlignRight | Qt.AlignmentFlag.AlignBottom
         )
 
         return bottom_screen_layout

src/surface/gui/gui/widgets/manip_status.py

@@ -0,0 +1,43 @@
+from PyQt6.QtCore import pyqtSignal, pyqtSlot
+from PyQt6.QtGui import QFont
+from PyQt6.QtWidgets import QHBoxLayout, QLabel, QWidget
+
+from gui.gui_node import GUINode
+from gui.styles.custom_styles import WidgetState
+from gui.widgets.circle import CircleIndicator
+from rov_msgs.msg import Manip
+
+
+class ManipStatus(QWidget):
+    signal = pyqtSignal(Manip)
+
+    def __init__(self, manip_name: str) -> None:
+        super().__init__()
+
+        self.manip_id = manip_name
+
+        self.signal.connect(self.manip_callback)
+        GUINode().create_signal_subscription(Manip, 'manipulator_control', self.signal)
+
+        root_layout = QHBoxLayout()
+
+        self.indicator_circle = CircleIndicator(radius=10)
+        root_layout.addWidget(self.indicator_circle)
+
+        self.label = QLabel('')
+        font = QFont('Arial', 14)
+        self.label.setFont(font)
+        root_layout.addWidget(self.label)
+
+        self.setLayout(root_layout)
+
+        self.update_gui(manip_on=False)
+
+    def update_gui(self, *, manip_on: bool) -> None:
+        self.label.setText(f'{self.manip_id.capitalize()} manip {"ON" if manip_on else "OFF"}')
+        self.indicator_circle.set_state(WidgetState.ON if manip_on else WidgetState.OFF)
+
+    @pyqtSlot(Manip)
+    def manip_callback(self, msg: Manip) -> None:
+        if msg.manip_id == self.manip_id:
+            self.update_gui(manip_on=msg.activated)