EmergencyStopWidget.cpp

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    ArmarXCore::ArmarXObjects::EmergencyStop
 * @author     Stefan Reither ( stef dot reither at web dot de )
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#include "EmergencyStopWidget.h"
 
#include <QGridLayout>
#include <QShortcut>
#include <QTimer>
#include <QToolTip>
 
 
#define EMERGENCY_STOP_PROXY "EmergencyStopMaster"
#define EMERGENCY_STOP_TOPIC_NAME "EmergencyStop"
 
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")))),
        iconDark(QPixmap::fromImage(QImage(QString::fromUtf8(":/icons/emergency-stop-dark.png")))),
        lastKnownEmergencyStopState(EmergencyStopState::eEmergencyStopInactive),
        timer(new QTimer(this))
    {
        qRegisterMetaType<EmergencyStopState>("EmergencyStopState");
 
        // Redundant timer apart from the topic in order to recover from bad states if a topic
        // message was lost.
        timer->setInterval(std::chrono::milliseconds(1'000));
        connect(timer, &QTimer::timeout, this, &EmergencyStopWidget::updateEmergencyStopState);
        connect(this,
                &EmergencyStopWidget::startPeriodicStateUpdate,
                timer,
                qOverload<>(&QTimer::start));
        connect(this, &EmergencyStopWidget::stopPeriodicStateUpdate, timer, &QTimer::stop);
        QIcon icon;
        icon.addPixmap(iconNormal, QIcon::Normal, QIcon::Off);
        icon.addPixmap(iconDark, QIcon::Normal, QIcon::On);
 
        button = new QToolButton();
        button->setCheckable(true);
        button->setIcon(icon);
        button->setIconSize(QSize(68, 28));
        button->setToolTip(QString::fromStdString(ss2_active_tooltip));
        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);
 
        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);
 
        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);
    }
 
    QWidget*
    EmergencyStopWidget::getButtonWidget()
    {
        return this->getWidget();
    }
 
    void
    EmergencyStopWidget::onInitComponent()
    {
        usingProxy(EMERGENCY_STOP_PROXY);
        usingTopic(EMERGENCY_STOP_TOPIC_NAME);
    }
 
    void
    EmergencyStopWidget::onConnectComponent()
    {
        ARMARX_INFO << "SS2 widget connected.";
        emergencyStopMasterPrx = getProxy<EmergencyStopMasterInterfacePrx>(EMERGENCY_STOP_PROXY);
        QMetaObject::invokeMethod(button, "setVisible", Qt::QueuedConnection, Q_ARG(bool, true));
        EmergencyStopState state = EmergencyStopState::eEmergencyStopActive;
 
        try
        {
            state = emergencyStopMasterPrx->getEmergencyStopState();
        }
        catch (Ice::Exception const& e)
        {
            ARMARX_ERROR << "Could not query SS2 state." << deactivateSpam(2);
        }
 
        QMetaObject::invokeMethod(
            this, "setChecked", Qt::QueuedConnection, Q_ARG(EmergencyStopState, state));
 
        emit startPeriodicStateUpdate();
    }
 
    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();
    }
 
    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::enableSS2()
    {
        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 (emergencyStopMasterPrx)
        {
            lastKnownEmergencyStopState = releaseSS2OnMaster();
 
            if (lastKnownEmergencyStopState == EmergencyStopState::eEmergencyStopActive)
            {
                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;
            }
        }
    }
 
    void
    EmergencyStopWidget::clicked(bool checked)
    {
        if (not emergencyStopMasterPrx)
        {
            return;
        }
 
        switch (lastKnownEmergencyStopState)
        {
            case EmergencyStopState::eEmergencyStopActive:
            {
                // Only release SS2 if the state we received still is "Active".  Fail otherwise.
                lastKnownEmergencyStopState = releaseSS2OnMaster();
                if (lastKnownEmergencyStopState == EmergencyStopState::eEmergencyStopActive)
                {
                    ARMARX_INFO << "SS2 cannot be released since it was just activated.";
                    button->setChecked(true);
                }
            }
            break;
            case EmergencyStopState::eEmergencyStopInactive:
                // Always enable SS2 without checking.
                enableSS2();
                break;
        }
    }
 
    std::string
    EmergencyStopWidget::getDefaultName() const
    {
        return "EmergencyStopGuiWidget" + iceNameUUID;
    }
 
    EmergencyStopState
    EmergencyStopWidget::releaseSS2OnMaster() const
    {
        // If emergency stop master is not available, assume that SS2 is still active and cannot
        // be released.
        if (not emergencyStopMasterPrx)
        {
            return EmergencyStopState::eEmergencyStopActive;
        }
 
        try
        {
            return emergencyStopMasterPrx->trySetEmergencyStopState(
                EmergencyStopState::eEmergencyStopInactive);
        }
        // This catch is only required as long as the stable robot workspaces are using the old
        // interface.  The changes for the new interface were done in July 2024.  It can safely be
        // removed after a few months.
        catch (Ice::OperationNotExistException const&)
        {
            ARMARX_WARNING << "Cannot safely release SS2.  This only happens if your ArmarX GUI "
                              "is using a newer version of the emergency stop interface than the "
                              "emergency stop master or the robot unit provides.  Will use a less "
                              "safe fallback interface method now.";
            emergencyStopMasterPrx->setEmergencyStopState(
                EmergencyStopState::eEmergencyStopInactive);
            return emergencyStopMasterPrx->getEmergencyStopState();
        }
    }
 
    void
    EmergencyStopWidget::setChecked(const EmergencyStopState state)
    {
        switch (state)
        {
            case EmergencyStopState::eEmergencyStopActive:
                button->setChecked(true);
                button->setToolTip(QString::fromStdString(ss2_active_tooltip));
                break;
            case EmergencyStopState::eEmergencyStopInactive:
            default:
                button->setChecked(false);
                button->setToolTip(QString::fromStdString(ss2_inactive_tooltip));
                break;
        }
 
        lastKnownEmergencyStopState = state;
    }
 
    void
    EmergencyStopWidget::updateEmergencyStopState()
    {
        try
        {
            if (emergencyStopMasterPrx)
            {
                setChecked(emergencyStopMasterPrx->getEmergencyStopState());
            }
        }
        catch (Ice::Exception const& e)
        {
            ARMARX_INFO << "Could not query SS2 state." << deactivateSpam(60);
            setChecked(EmergencyStopState::eEmergencyStopActive);
        }
    }
 
} // namespace armarx