Fixed steering wheel range (#24)

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>
ToyotaResearchInstitute · Dec 27, 2023 · f6d2055 · f6d2055
1 parent 180bd48
commit f6d2055
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Showing 4 changed files with 35 additions and 48 deletions.
diff --git a/img/steering_wheel.png b/img/steering_wheel.png
diff --git a/resource/steering_wheel.ui b/resource/steering_wheel.ui
@@ -27,11 +27,11 @@
   </property>
   <widget class="QTextEdit" name="max_value">
    <property name="enabled">
-    <bool>false</bool>
+    <bool>true</bool>
    </property>
    <property name="geometry">
     <rect>
-     <x>330</x>
+     <x>230</x>
      <y>460</y>
      <width>51</width>
      <height>31</height>
@@ -88,51 +88,10 @@ p, li { white-space: pre-wrap; }
     <string>Topic:</string>
    </property>
   </widget>
-  <widget class="QTextEdit" name="min_value">
-   <property name="enabled">
-    <bool>false</bool>
-   </property>
-   <property name="geometry">
-    <rect>
-     <x>140</x>
-     <y>460</y>
-     <width>51</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="html">
-    <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;-45&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-   </property>
-   <property name="placeholderText">
-    <string/>
-   </property>
-  </widget>
-  <widget class="QLabel" name="min_value_label">
-   <property name="geometry">
-    <rect>
-     <x>60</x>
-     <y>460</y>
-     <width>81</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="font">
-    <font>
-     <pointsize>12</pointsize>
-    </font>
-   </property>
-   <property name="text">
-    <string>Min Angle:</string>
-   </property>
-  </widget>
   <widget class="QLabel" name="max_value_label">
    <property name="geometry">
     <rect>
-     <x>240</x>
+     <x>140</x>
      <y>466</y>
      <width>81</width>
      <height>21</height>
@@ -144,7 +103,7 @@ p, li { white-space: pre-wrap; }
     </font>
    </property>
    <property name="text">
-    <string>Max Angle:</string>
+    <string>Angle:</string>
    </property>
   </widget>
   <widget class="TopicQLineEdit" name="topic_to_subscribe">

diff --git a/src/rqt_gauges_2/steering_wheel_gauge.py b/src/rqt_gauges_2/steering_wheel_gauge.py
@@ -25,7 +25,6 @@ def __init__(self, parent=None):
         self.progress_width = 25
         self.progress_rounded_cap = True
         self.progress_color = 0x39F030
-        self.max_value = 45
         self.circle_max_angle = 135
         self.font_size = 40
         self.scale_font_size = 15
@@ -101,6 +100,21 @@ def updateValue(self, value: float):
         self.value = value
         self.repaint()
 
+    def setMaxValue(self, max_value):
+        # Modifies the maximum value of the gauge
+        # Args:
+        #   max: Value to update the maximum value of the gauge.
+        if self.value > max_value:
+            self.value = max_value
+        if max_value <= self.minValue:
+            self.maxValue = self.minValue + 1
+            self.minValue = -self.maxValue + 1
+        else:
+            self.maxValue = max_value
+            self.minValue = -max_value
+
+        self.update()
+
     def draw_background_circle(self):
         painter = QPainter()
         painter.begin(self)
@@ -115,7 +129,7 @@ def paintEvent(self, event):
         width = self.width - self.progress_width
         height = self.height - self.progress_width
         margin = int(self.progress_width / 2)
-        value = int(self.value * self.circle_max_angle / self.max_value)
+        value = int(self.value * self.circle_max_angle / self.maxValue)
 
         # Draw Circle
         self.draw_background_circle()

diff --git a/src/rqt_gauges_2/steering_wheel_widget.py b/src/rqt_gauges_2/steering_wheel_widget.py
@@ -1,7 +1,7 @@
 import os
 
 from ament_index_python.resources import get_resource
-from PyQt5.QtCore import pyqtSlot
+from PyQt5.QtCore import pyqtSlot, Qt
 from PyQt5.QtWidgets import QWidget
 from python_qt_binding import loadUi
 from rosidl_runtime_py.utilities import get_message
@@ -30,8 +30,22 @@ def __init__(self, node):
         self._topic_completer.update_topics(self.node)
         self.topic_to_subscribe.setCompleter(self._topic_completer)
 
+        # Objects Properties
+        self.max_value.setAlignment(Qt.AlignCenter)
+
+        self.max_value.setPlaceholderText(str(self.steering_wheel_gauge.maxValue))
+
+        self.max_value.textChanged.connect(self.updateMaxValue)
         self.subscribe_button.pressed.connect(self.updateSubscription)
 
+    @pyqtSlot()
+    def updateMaxValue(self):
+        new_max_value = self.max_value.toPlainText()
+        if new_max_value.isnumeric():
+            self.steering_wheel_gauge.setMaxValue(int(new_max_value))
+        else:
+            self.steering_wheel_gauge.setMaxValue(45)
+
     @pyqtSlot()
     def updateSubscription(self):
         if self.node.destroy_subscription(self.sub):