From b316a338d5bb9a2b5aea86459f0a17c395a87c16 Mon Sep 17 00:00:00 2001
From: Christian Dreher <c.dreher@kit.edu>
Date: Wed, 17 Jul 2024 17:15:11 +0200
Subject: [PATCH] fix: Improve SS2 resiliancy
---
.../ArmarXGui/Widgets/EmergencyStopWidget.cpp | 81 ++++++++++---------
.../ArmarXGui/Widgets/EmergencyStopWidget.h | 5 +-
2 files changed, 46 insertions(+), 40 deletions(-)
diff --git a/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.cpp b/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.cpp
index 85836e20..59e38f15 100644
--- a/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.cpp
+++ b/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.cpp
@@ -25,6 +25,7 @@
#include <QGridLayout>
#include <QShortcut>
#include <QTimer>
+#include <QToolTip>
#define EMERGENCY_STOP_PROXY "EmergencyStopMaster"
@@ -32,6 +33,13 @@
namespace armarx
{
+
+ static const std::string ss2_active_tooltip =
+ "Release SS2 emergency stop (only possible after a short cooldown period. Shortcut: "
+ "Shift+Pause or Shift+End.";
+ static const std::string ss2_inactive_tooltip =
+ "Enable SS2 emergency stop. Shortcut: Pause or End.";
+
EmergencyStopWidget::EmergencyStopWidget(QWidget* parent, ArmarXMainWindow* mainWindow) :
mainWindow(mainWindow),
iconNormal(QPixmap::fromImage(QImage(QString::fromUtf8(":/icons/emergency-stop.png")))),
@@ -43,7 +51,7 @@ namespace armarx
// 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));
+ timer->setInterval(std::chrono::milliseconds(1'000));
connect(timer, &QTimer::timeout, this, &EmergencyStopWidget::updateEmergencyStopState);
connect(this,
&EmergencyStopWidget::startPeriodicStateUpdate,
@@ -58,8 +66,7 @@ namespace armarx
button->setCheckable(true);
button->setIcon(icon);
button->setIconSize(QSize(68, 28));
- button->setToolTip(QString::fromStdString("Controls the EmergencyStop. When pressed the "
- "EmergencyStop is active. Shortcut: Pause Key"));
+ button->setToolTip(QString::fromStdString(ss2_active_tooltip));
button->setVisible(false);
QGridLayout* l = new QGridLayout(this->getWidget());
l->setMargin(0);
@@ -86,10 +93,6 @@ namespace armarx
connect(releaseSS2Shortcut2, &QShortcut::activated, this, &EmergencyStopWidget::releaseSS2);
connect(button, &QPushButton::clicked, this, &EmergencyStopWidget::clicked);
- std::stringstream str;
- str << "After EmergencyStop was activated, you have to wait "
- << deactivationWaitPeriod.count() << " ms before you can deactivate it.";
- button->setToolTip(QString::fromStdString(str.str()));
}
QWidget*
@@ -163,18 +166,36 @@ namespace armarx
if (emergencyStopMasterPrx)
{
emergencyStopMasterPrx->setEmergencyStopState(EmergencyStopState::eEmergencyStopActive);
+
+ if (lastKnownEmergencyStopState == EmergencyStopState::eEmergencyStopActive)
+ {
+ std::string const message =
+ "SS2 already active. Press Shift+Pause or Shift+End to release SS2.";
+
+ QPoint globalPos =
+ button->mapToGlobal(QPoint(button->width() / 2, button->height() / 2));
+ QToolTip::showText(globalPos, QString::fromStdString(message), button);
+ ARMARX_INFO << message;
+ }
}
}
void
EmergencyStopWidget::releaseSS2()
{
- if (clock_t::now() > timeLastActivated + deactivationWaitPeriod)
+ if (emergencyStopMasterPrx)
{
- if (emergencyStopMasterPrx)
+ lastKnownEmergencyStopState = emergencyStopMasterPrx->trySetEmergencyStopState(
+ EmergencyStopState::eEmergencyStopInactive);
+
+ if (lastKnownEmergencyStopState == EmergencyStopState::eEmergencyStopActive)
{
- emergencyStopMasterPrx->setEmergencyStopState(
- EmergencyStopState::eEmergencyStopInactive);
+ std::string const message = "SS2 cannot be released since it was just activated.";
+
+ QPoint globalPos =
+ button->mapToGlobal(QPoint(button->width() / 2, button->height() / 2));
+ QToolTip::showText(globalPos, QString::fromStdString(message), button);
+ ARMARX_INFO << message;
}
}
}
@@ -182,34 +203,25 @@ namespace armarx
void
EmergencyStopWidget::clicked(bool checked)
{
- if (!emergencyStopMasterPrx)
+ if (not emergencyStopMasterPrx)
{
return;
}
- EmergencyStopState const state = emergencyStopMasterPrx->getEmergencyStopState();
- switch (state)
+ switch (lastKnownEmergencyStopState)
{
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)
- {
- 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
+ {
+ // Only release SS2 if the state we received still is "Active". Fail otherwise.
+ lastKnownEmergencyStopState = emergencyStopMasterPrx->trySetEmergencyStopState(
+ EmergencyStopState::eEmergencyStopInactive);
+ if (lastKnownEmergencyStopState == EmergencyStopState::eEmergencyStopActive)
{
+ ARMARX_INFO << "SS2 cannot be released since it was just activated.";
button->setChecked(true);
}
- break;
+ }
+ break;
case EmergencyStopState::eEmergencyStopInactive:
// Always enable SS2 without checking.
enableSS2();
@@ -230,16 +242,13 @@ namespace armarx
{
case EmergencyStopState::eEmergencyStopActive:
button->setChecked(true);
- if (lastKnownEmergencyStopState != EmergencyStopState::eEmergencyStopActive)
- {
- timeLastActivated = clock_t::now();
- }
+ button->setToolTip(QString::fromStdString(ss2_active_tooltip));
break;
case EmergencyStopState::eEmergencyStopInactive:
- button->setChecked(false);
- break;
default:
button->setChecked(false);
+ button->setToolTip(QString::fromStdString(ss2_inactive_tooltip));
+ break;
}
lastKnownEmergencyStopState = state;
diff --git a/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.h b/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.h
index 1058edfe..4bdf542b 100644
--- a/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.h
+++ b/source/ArmarXGui/applications/ArmarXGui/Widgets/EmergencyStopWidget.h
@@ -77,15 +77,12 @@ namespace armarx
ArmarXMainWindow* mainWindow;
QPixmap iconNormal;
QPixmap iconDark;
+
QToolButton* button;
QAction* emergencyStopAction;
EmergencyStopMasterInterfacePrx emergencyStopMasterPrx;
-
- using clock_t = std::chrono::high_resolution_clock;
- static constexpr std::chrono::milliseconds deactivationWaitPeriod{2500};
EmergencyStopState lastKnownEmergencyStopState;
- clock_t::time_point timeLastActivated;
QTimer* timer;
// ArmarXWidgetController interface
--
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