diff --git a/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.cpp b/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.cpp
index db34724ea0c4b0d261d9a3613923a8199dbbf04d..abe4738362edb678486817464b0a673e7b2c7c3a 100644
--- a/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.cpp
+++ b/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.cpp
@@ -40,8 +40,9 @@ namespace armarx
{
qRegisterMetaType<EmergencyStopState>("EmergencyStopState");
-
- timer->setInterval(std::chrono::milliseconds(100));
+ // Redundant timer apart from the topic in order to recover from bad states if a topic
+ // message was lost.
+ timer->setInterval(std::chrono::milliseconds(2'000));
connect(timer, &QTimer::timeout, this, &EmergencyStopWidget::updateEmergencyStopState);
connect(this,
&EmergencyStopWidget::startPeriodicStateUpdate,
@@ -60,18 +61,28 @@ namespace armarx
button->setToolTip(QString::fromStdString("Controls the EmergencyStop. When pressed the "
"EmergencyStop is active. Shortcut: Pause Key"));
button->setVisible(false);
- layout->addWidget(button, 0, 0);
- layout->setMargin(0);
- layout->setContentsMargins(0, 0, 0, 0);
+ gridLayout->addWidget(button, 0, 0);
+ gridLayout->setMargin(0);
+ gridLayout->setContentsMargins(0, 0, 0, 0);
this->getWidget()->setLayout(gridLayout);
- enableSS2Shortcut = new QShortcut(this->getWidget());
- enableSS2Shortcut->setContext(Qt::ApplicationShortcut);
- enableSS2Shortcut->setKey(Qt::Key_Pause);
+ QShortcut* enableSS2Shortcut1 = new QShortcut(this->getWidget());
+ enableSS2Shortcut1->setContext(Qt::ApplicationShortcut);
+ enableSS2Shortcut1->setKey(Qt::Key_Pause);
+ QShortcut* enableSS2Shortcut2 = new QShortcut(this->getWidget());
+ enableSS2Shortcut2->setContext(Qt::ApplicationShortcut);
+ enableSS2Shortcut2->setKey(Qt::Key_End);
+ connect(enableSS2Shortcut1, &QShortcut::activated, this, &EmergencyStopWidget::enableSS2);
+ connect(enableSS2Shortcut2, &QShortcut::activated, this, &EmergencyStopWidget::enableSS2);
- releaseSS2Shortcut = new QShortcut(this->getWidget());
- releaseSS2Shortcut->setContext(Qt::ApplicationShortcut);
- releaseSS2Shortcut->setKey(Qt::SHIFT | Qt::Key_Pause);
+ QShortcut* releaseSS2Shortcut1 = new QShortcut(this->getWidget());
+ releaseSS2Shortcut1->setContext(Qt::ApplicationShortcut);
+ releaseSS2Shortcut1->setKey(Qt::SHIFT | Qt::Key_Pause);
+ QShortcut* releaseSS2Shortcut2 = new QShortcut(this->getWidget());
+ releaseSS2Shortcut2->setContext(Qt::ApplicationShortcut);
+ releaseSS2Shortcut2->setKey(Qt::SHIFT | Qt::Key_End);
+ connect(releaseSS2Shortcut1, &QShortcut::activated, this, &EmergencyStopWidget::releaseSS2);
+ connect(releaseSS2Shortcut2, &QShortcut::activated, this, &EmergencyStopWidget::releaseSS2);
connect(button, &QPushButton::clicked, this, &EmergencyStopWidget::clicked);
std::stringstream str;
@@ -96,17 +107,23 @@ namespace armarx
void
EmergencyStopWidget::onConnectComponent()
{
+ ARMARX_INFO << "SS2 widget connected.";
emergencyStopMasterPrx = getProxy<EmergencyStopMasterInterfacePrx>(EMERGENCY_STOP_PROXY);
QMetaObject::invokeMethod(button, "setVisible", Qt::QueuedConnection, Q_ARG(bool, true));
- connect(enableSS2Shortcut, &QShortcut::activated, this, &EmergencyStopWidget::enableSS2);
- connect(releaseSS2Shortcut, &QShortcut::activated, this, &EmergencyStopWidget::releaseSS2);
-
- QMetaObject::invokeMethod(
- this,
- "setChecked",
- Qt::QueuedConnection,
- Q_ARG(EmergencyStopState, emergencyStopMasterPrx->getEmergencyStopState()));
+ try
+ {
+ QMetaObject::invokeMethod(
+ this,
+ "setChecked",
+ Qt::QueuedConnection,
+ Q_ARG(EmergencyStopState, emergencyStopMasterPrx->getEmergencyStopState()));
+ }
+ catch (Ice::Exception const& e)
+ {
+ ARMARX_ERROR << "Could not query SS2 state." << deactivateSpam(2);
+ setChecked(EmergencyStopState::eEmergencyStopActive);
+ }
emit startPeriodicStateUpdate();
}
@@ -114,6 +131,8 @@ namespace armarx
void
EmergencyStopWidget::onDisconnectComponent()
{
+ ARMARX_IMPORTANT << "SS2 widget disconnected. This is expected if the earlier connected "
+ "robot unit shut down.";
QMetaObject::invokeMethod(button, "setVisible", Qt::QueuedConnection, Q_ARG(bool, false));
emit stopPeriodicStateUpdate();
@@ -122,17 +141,21 @@ namespace armarx
void
EmergencyStopWidget::loadSettings(QSettings* settings)
{
+ ;
}
void
EmergencyStopWidget::saveSettings(QSettings* settings)
{
+ ;
}
- // void EmergencyStopWidget::reportEmergencyStopState(EmergencyStopState state, const Ice::Current&)
- // {
- // QMetaObject::invokeMethod(this, "setChecked", Qt::QueuedConnection, Q_ARG(EmergencyStopState, state));
- // }
+ void
+ EmergencyStopWidget::reportEmergencyStopState(EmergencyStopState state, const Ice::Current&)
+ {
+ QMetaObject::invokeMethod(
+ this, "setChecked", Qt::QueuedConnection, Q_ARG(EmergencyStopState, state));
+ }
void
EmergencyStopWidget::enableSS2()
@@ -165,16 +188,46 @@ namespace armarx
{
if (emergencyStopMasterPrx)
{
- EmergencyStopState state = emergencyStopMasterPrx->getEmergencyStopState();
+ EmergencyStopState const state = emergencyStopMasterPrx->getEmergencyStopState();
+ bool success = true;
switch (state)
{
case EmergencyStopState::eEmergencyStopActive:
- releaseSS2();
+ if (clock_t::now() > timeLastActivated + deactivationWaitPeriod)
+ {
+ if (emergencyStopMasterPrx)
+ {
+ // Only release SS2 if the state we received still is "Active". Fail
+ // otherwise.
+ bool const success =
+ emergencyStopMasterPrx->checkAndSetEmergencyStopState(
+ EmergencyStopState::eEmergencyStopInactive, state);
+ if (not success)
+ {
+ ARMARX_WARNING << "Toggling SS2 failed since it probably has "
+ "already been activated from another session. "
+ "This mechanism is to prevent two simultanous "
+ "toggles of the SS2 to cancel out.";
+ }
+ }
+ }
+ else
+ {
+ button->setChecked(true);
+ }
break;
case EmergencyStopState::eEmergencyStopInactive:
- enableSS2();
+ if (emergencyStopMasterPrx)
+ {
+ // Always enable SS2 without checking.
+ enableSS2();
+ }
break;
}
+ if (not success)
+ {
+ ARMARX_WARNING << "Releasing SS2 failed.";
+ }
}
}
@@ -187,6 +240,8 @@ namespace armarx
void
EmergencyStopWidget::setChecked(const EmergencyStopState state)
{
+ ARMARX_INFO << "STATE IS :"
+ << (state == EmergencyStopState::eEmergencyStopActive ? "active" : "inactive");
switch (state)
{
case EmergencyStopState::eEmergencyStopActive:
@@ -204,6 +259,7 @@ namespace armarx
void
EmergencyStopWidget::updateEmergencyStopState()
{
+ ARMARX_INFO << "UPDATE!";
try
{
if (emergencyStopMasterPrx)
diff --git a/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.h b/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.h
index 64e0111a5510afd132354d5ec812dad04ca62561..82727068ffb4e21657b88fb9eba845e78c0d6d0b 100644
--- a/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.h
+++ b/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.h
@@ -42,7 +42,10 @@ namespace armarx
{
class ArmarXMainWindow;
- class EmergencyStopWidget : public ArmarXComponentWidgetControllerTemplate<EmergencyStopWidget>
+ class EmergencyStopWidget :
+ public ArmarXComponentWidgetControllerTemplate<EmergencyStopWidget>,
+ public armarx::EmergencyStopListener
+
{
Q_OBJECT
public:
@@ -77,8 +80,6 @@ namespace armarx
QPixmap iconDark;
QToolButton* button;
QAction* emergencyStopAction;
- QShortcut* enableSS2Shortcut;
- QShortcut* releaseSS2Shortcut;
EmergencyStopMasterInterfacePrx emergencyStopMasterPrx;
@@ -99,6 +100,8 @@ namespace armarx
void saveSettings(QSettings* settings) override;
std::string iceNameUUID = IceUtil::generateUUID();
// EmergencyStopListener interface
+
+ void reportEmergencyStopState(EmergencyStopState, const Ice::Current&) override;
};
using EmergencyStopWidgetPtr = IceInternal::Handle<EmergencyStopWidget>;