Fix timeout for ss2 deactivation, button layout

source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.cpp

@@ -36,6 +36,7 @@ namespace armarx
         mainWindow(mainWindow),
         iconNormal(QPixmap::fromImage(QImage(QString::fromUtf8(":/icons/emergency-stop.png")))),
         iconDark(QPixmap::fromImage(QImage(QString::fromUtf8(":/icons/emergency-stop-dark.png")))),
+        lastKnownEmergencyStopState(EmergencyStopState::eEmergencyStopInactive),
         timer(new QTimer(this))
     {
         qRegisterMetaType<EmergencyStopState>("EmergencyStopState");
@@ -61,6 +62,8 @@ namespace armarx
                                                   "EmergencyStop is active. Shortcut: Pause Key"));
         button->setVisible(false);
         QGridLayout* l = new QGridLayout(this->getWidget());
+        l->setMargin(0);
+        l->setContentsMargins(0, 0, 0, 0);
         this->getWidget()->setLayout(l);
         this->getWidget()->layout()->addWidget(button);
 
@@ -174,57 +177,43 @@ namespace armarx
                     EmergencyStopState::eEmergencyStopInactive);
             }
         }
-        else
-        {
-            button->setChecked(true);
-        }
     }
 
     void
     EmergencyStopWidget::clicked(bool checked)
     {
-        if (emergencyStopMasterPrx)
+        if (!emergencyStopMasterPrx)
         {
-            EmergencyStopState const state = emergencyStopMasterPrx->getEmergencyStopState();
-            bool success = true;
-            switch (state)
-            {
-                case EmergencyStopState::eEmergencyStopActive:
-                    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:
-                    if (emergencyStopMasterPrx)
+            return;
+        }
+
+        EmergencyStopState const state = emergencyStopMasterPrx->getEmergencyStopState();
+        switch (state)
+        {
+            case EmergencyStopState::eEmergencyStopActive:
+                if (clock_t::now() > timeLastActivated + deactivationWaitPeriod)
+                {
+                    // Only release SS2 if the state we received still is "Active". Fail
+                    // otherwise.
+                    bool const success = emergencyStopMasterPrx->checkAndSetEmergencyStopState(
+                        EmergencyStopState::eEmergencyStopInactive, state);
+                    if (not success)
                     {
-                        // Always enable SS2 without checking.
-                        enableSS2();
+                        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.";
                     }
-                    break;
-            }
-            if (not success)
-            {
-                ARMARX_WARNING << "Releasing SS2 failed.";
-            }
+                }
+                else
+                {
+                    button->setChecked(true);
+                }
+                break;
+            case EmergencyStopState::eEmergencyStopInactive:
+                // Always enable SS2 without checking.
+                enableSS2();
+                break;
         }
     }
 
@@ -243,14 +232,19 @@ namespace armarx
         {
             case EmergencyStopState::eEmergencyStopActive:
                 button->setChecked(true);
+                if (lastKnownEmergencyStopState != EmergencyStopState::eEmergencyStopActive)
+                {
+                    timeLastActivated = clock_t::now();
+                }
                 break;
             case EmergencyStopState::eEmergencyStopInactive:
                 button->setChecked(false);
-                timeLastActivated = clock_t::now();
                 break;
             default:
                 button->setChecked(false);
         }
+
+        lastKnownEmergencyStopState = state;
     }
 
     void

source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.h

@@ -84,6 +84,7 @@ namespace armarx
 
         using clock_t = std::chrono::high_resolution_clock;
         static constexpr std::chrono::milliseconds deactivationWaitPeriod{2500};
+        EmergencyStopState lastKnownEmergencyStopState;
         clock_t::time_point timeLastActivated;
         QTimer* timer;