25 from roslib.packages
import get_pkg_dir
29 from python_qt_binding
import loadUi
31 from airbus_cobot_gui
import resources_dir, trUtf8
34 from std_msgs.msg
import Bool
44 EMERGENCY_STOP_TOPIC_NAME =
'/emergency_stop/state'
45 EVENT_NAME =
'emergencyStopStatusChanged'
48 """! The constructor."""
49 QPushButton.__init__(self)
51 self.setCheckable(
True)
52 self.setFocusPolicy(Qt.NoFocus)
53 self.setStyleSheet(
"background-color: transparent;")
65 Bool, latch=
True, queue_size=1)
69 self._estop_pub_thread.start()
72 """Called when user click on ermergency stop button.
73 @param checked: Button status (True/False).
80 if checked == EmergencyStopState.LOCKED:
83 msg_box = MessageBox_v2(QMessageBox.Warning,
84 trUtf8(
"System paused",
'!'))
85 msg_box.setStandardButtons(QMessageBox.Ok)
86 msg_box.button(QMessageBox.Ok).setMinimumSize(100,40)
87 msg_box.setMinimumSize(800,600)
93 """Loop to publish the emergency stop status."""
100 self._estop_pub.publish(Bool(
True))
102 self._estop_pub.publish(Bool(
False))
107 """Called when appli closes."""
112 if __name__ ==
"__main__":
114 rospy.init_node(
'unittest_emergency_stop_2')
116 a = QApplication(sys.argv)
117 utt_appli = QMainWindow()
119 estop.setIconSize(QSize(80,80))
120 utt_appli.setCentralWidget(estop)