Merge lp:~shadowrobot/sr-visualization/Feature_Edit_only_mode_in_ctrlr_tuner into lp:sr-visualization/fuerte

[Toni Oliver]

The controller tuner plugin allows offline edit-only mode for a more user-friendly and format-safe parameter edition. Added better filters when the user chooses the files to load, now taking into account the control mode to avoid mistakes.

[markpitchless (markpitchless)]

http://reviewboard/r/103/

[Ugo (ugocupcic)]

review: Approve

=== modified file 'sr_gui_controller_tuner/src/sr_gui_controller_tuner/controller_tuner.py'
--- sr_gui_controller_tuner/src/sr_gui_controller_tuner/controller_tuner.py	2012-08-09 09:39:13 +0000
+++ sr_gui_controller_tuner/src/sr_gui_controller_tuner/controller_tuner.py	2012-11-01 16:30:28 +0000
@@ -235,7 +235,18 @@
     def on_changed_controller_type_(self, index = None):
         if index == None:
             return
+        self.reset_file_path()
         self.refresh_controller_tree_( self.controllers_in_dropdown[index] )
+        
+    def reset_file_path(self):
+        self._widget.txt_file_path.setText("")
+
+        self._widget.btn_load.setEnabled(False)
+
+        #disable the save buttons (until a new file has
+        # been chosen by the user)
+        self._widget.btn_save_all.setEnabled(False)
+        self._widget.btn_save_selected.setEnabled(False)
 
     def on_btn_select_file_path_clicked_(self):
         path_to_config = "~"
@@ -245,7 +256,17 @@
             rospy.logwarn("couldnt find the sr_ethercat_hand_config package, do you have the sr_config stack installed?")
 
         subpath = "/controls/host"
-        filter_files = "*.yaml"
+        if self.sr_controller_tuner_app_.edit_only_mode:
+            filter_files = "*.yaml"
+        else:
+            if self.controller_type == "Motor Force":
+                filter_files = "*controllers.yaml"
+            else:
+                if self.sr_controller_tuner_app_.control_mode == "PWM":
+                    filter_files = "*s_PWM.yaml"
+                else:                    
+                    filter_files = "*s.yaml"
+                
         if self.controller_type == "Motor Force":
             filter_files = "Config (*motor"+filter_files+")"
             subpath = "/controls/motors"
@@ -316,6 +337,7 @@
 
     def on_btn_refresh_ctrl_clicked_(self):
         ctrls = self.sr_controller_tuner_app_.get_ctrls()
+        self.sr_controller_tuner_app_.refresh_control_mode()
         self.controllers_in_dropdown = []
         self._widget.dropdown_ctrl.clear()
         for ctrl in ctrls:
@@ -374,6 +396,16 @@
         Get the controller settings and their ranges and display them in
         the tree.
         """
+        #buttons "set all" "set selected" and "stop movements" are disabled in edit_only_mode
+        if self.sr_controller_tuner_app_.edit_only_mode:
+            self._widget.btn_set_selected.setEnabled(False)
+            self._widget.btn_set_all.setEnabled(False)
+            self._widget.btn_stop_mvts.setEnabled(False)
+        else:
+            self._widget.btn_set_selected.setEnabled(True)
+            self._widget.btn_set_all.setEnabled(True)
+            self._widget.btn_stop_mvts.setEnabled(True)
+        
         self.controller_type = controller_type
         ctrl_settings = self.sr_controller_tuner_app_.get_controller_settings( controller_type )
 
@@ -401,23 +433,25 @@
                     #the parameters have been found
                     self.ctrl_widgets[ motor_name ] = {}
 
-                    #add buttons for the automatic procedures (plot / move / ...)
-                    frame_buttons = QFrame()
-                    layout_buttons = QHBoxLayout()
-                    btn_plot = QPushButton("Plot")
-                    self.ctrl_widgets[ motor_name ]["btn_plot"] = btn_plot
-                    self.ctrl_widgets[ motor_name ]["btn_plot"].clicked.connect(partial(self.on_btn_plot_pressed_, motor_name, self.ctrl_widgets[ motor_name ]["btn_plot"]))
-                    layout_buttons.addWidget(btn_plot)
-
-                    if self.controller_type in ["Position", "Mixed Position/Velocity"]:
-                        #only adding Move button for position controllers
-                        btn_move = QPushButton("Move")
-                        self.ctrl_widgets[ motor_name ]["btn_move"] = btn_move
-                        self.ctrl_widgets[ motor_name ]["btn_move"].clicked.connect(partial(self.on_btn_move_pressed_,motor_name, self.ctrl_widgets[ motor_name ]["btn_move"]))
-                        layout_buttons.addWidget(btn_move)
-                        frame_buttons.setLayout(layout_buttons)
-
-                    self._widget.tree_ctrl_settings.setItemWidget(  motor_item, 0, frame_buttons )
+                    #buttons for plot/move are not added in edit_only_mode
+                    if not self.sr_controller_tuner_app_.edit_only_mode:
+                        #add buttons for the automatic procedures (plot / move / ...)
+                        frame_buttons = QFrame()
+                        layout_buttons = QHBoxLayout()
+                        btn_plot = QPushButton("Plot")
+                        self.ctrl_widgets[ motor_name ]["btn_plot"] = btn_plot
+                        self.ctrl_widgets[ motor_name ]["btn_plot"].clicked.connect(partial(self.on_btn_plot_pressed_, motor_name, self.ctrl_widgets[ motor_name ]["btn_plot"]))
+                        layout_buttons.addWidget(btn_plot)
+    
+                        if self.controller_type in ["Position", "Mixed Position/Velocity"]:
+                            #only adding Move button for position controllers
+                            btn_move = QPushButton("Move")
+                            self.ctrl_widgets[ motor_name ]["btn_move"] = btn_move
+                            self.ctrl_widgets[ motor_name ]["btn_move"].clicked.connect(partial(self.on_btn_move_pressed_,motor_name, self.ctrl_widgets[ motor_name ]["btn_move"]))
+                            layout_buttons.addWidget(btn_move)
+                            frame_buttons.setLayout(layout_buttons)
+    
+                        self._widget.tree_ctrl_settings.setItemWidget(  motor_item, 0, frame_buttons )
 
                     for index_item,item in enumerate(ctrl_settings.headers):
                         if item["type"] == "Bool":

=== modified file 'sr_gui_controller_tuner/src/sr_gui_controller_tuner/sr_controller_tuner.py'
--- sr_gui_controller_tuner/src/sr_gui_controller_tuner/sr_controller_tuner.py	2012-08-09 09:39:13 +0000
+++ sr_gui_controller_tuner/src/sr_gui_controller_tuner/sr_controller_tuner.py	2012-11-01 16:30:28 +0000
@@ -86,7 +86,8 @@
 class SrControllerTunerApp(object):
     """
     """
-
+    CONTROLLER_MANAGER_DETECTION_TIMEOUT = 3.0
+    
     def __init__(self, xml_path):
         """
         """
@@ -94,31 +95,56 @@
         self.all_controller_types = ["Motor Force", "Position", "Velocity",
                                      "Mixed Position/Velocity", "Effort"]
         self.pid_loader = PidLoader()
+        
+        self.edit_only_mode = False
+        self.control_mode = "FORCE"
+        
 
     def get_ctrls(self):
         #return ["Motor Force", "Position"]
         #
         running_ctrls = []
 
-        rospy.wait_for_service('/pr2_controller_manager/list_controllers')
-        controllers = rospy.ServiceProxy('/pr2_controller_manager/list_controllers', ListControllers)
-        resp = None
         try:
-            resp = controllers()
-        except rospy.ServiceException, e:
-            rospy.logerr( "Service did not process request: %s"%str(e) )
-
-        running_ctrls.append("Motor Force")
-        if resp != None:
-            for state,controller in zip(resp.state, resp.controllers):
-                if state == "running":
-                    split = controller.split("_")
-                    ctrl_type_tmp = split[2]
-                    for defined_ctrl_type in self.all_controller_types:
-                        if ctrl_type_tmp.lower() in defined_ctrl_type.lower():
-                            running_ctrls.append(defined_ctrl_type)
-                            return running_ctrls
+            rospy.wait_for_service('/pr2_controller_manager/list_controllers', self.CONTROLLER_MANAGER_DETECTION_TIMEOUT)
+        
+            controllers = rospy.ServiceProxy('/pr2_controller_manager/list_controllers', ListControllers)
+            resp = None
+            try:
+                resp = controllers()
+            except rospy.ServiceException, e:
+                rospy.logerr( "Service did not process request: %s"%str(e) )
+            
+            running_ctrls.append("Motor Force")
+            if resp != None:
+                for state,controller in zip(resp.state, resp.controllers):
+                    if state == "running":
+                        split = controller.split("_")
+                        ctrl_type_tmp = split[2]
+                        for defined_ctrl_type in self.all_controller_types:
+                            if ctrl_type_tmp.lower() in defined_ctrl_type.lower():
+                                running_ctrls.append(defined_ctrl_type)
+                                self.edit_only_mode = False
+                                return running_ctrls
+            rospy.loginfo( "No controllers currently running" )
+            rospy.loginfo( "Running controller tuner in edit-only mode" )
+            self.edit_only_mode = True
+            del running_ctrls[:]
+            #In edit_only_mode all the controllers are available for edition
+            for defined_ctrl_type in self.all_controller_types:
+                running_ctrls.append(defined_ctrl_type)
+        except rospy.ROSException, e:
+            rospy.loginfo( "Controller manager not running: %s"%str(e) )
+            rospy.loginfo( "Running controller tuner in edit-only mode" )
+            self.edit_only_mode = True
+            #In edit_only_mode all the controllers are available for edition
+            for defined_ctrl_type in self.all_controller_types:
+                running_ctrls.append(defined_ctrl_type)
+        
         return running_ctrls
+    
+    def refresh_control_mode(self):
+        self.control_mode = rospy.get_param('/realtime_loop/default_control_mode', 'FORCE')
 
     def get_controller_settings( self, controller_type ):
         """