WIP Control 8 thruster PWMs with global stop

Right now it is just the UI, it is not hooked up to ROS.

README.md

+# Setup
+
+(1) Clone into your ROS workspace, for example:
+
+```
+cd ~/ros_ws/src
+git clone git@code.umd.edu:robotics-at-maryland/qubo_gui.git
+```
+
+(2) Build your ROS workspace:
+
+```
+cd ~/ros_ws
+colcon build
+```
+
+(3) For now, run `rqt` from the commandline. Then load the plugins you want inside the rqt GUI.
+
+- Click "Plugins" in the menu bar.
+- Find the plugin you want.
+
+## Building and running the code
+
+```
+colcon build
+```
+
+# Development
+
+## Adding or modifying a plugin
+
+- Update `plugin.xml`
+    - You need one `<class>` tag per plugin.
+    - Make sure `type=` attribute has the correct Python import path to refer to your plugin class. 
+
+Suggested naming convention: Organize under a "Qubo" group, so that it is easy to find our custom plugins in rqt. For example:
+
+```xml
+...
+
+<class ...>
+    ...
+    <qtgui>
+      <group>
+        <label>Qubo Control</label>
+      </group>
+      <label>Thruster Control</label>
+      ...
+    </qtgui>
+  </class>
+```
\ No newline at end of file

plugin.xml

 <library path="qubo_gui">
-  <class name="ThrustersPlugin" type="qubo_gui.thrusters.Thrusters" base_class_type="rqt_gui_py::Plugin">
+  <class name="ThrustersPlugin" type="qubo_gui.thruster_control.ThrusterControl" base_class_type="rqt_gui_py::Plugin">
     <description>
       An example Python GUI plugin to create a great user interface.
     </description>
     <qtgui>
       <group>
-        <label>Visualization</label>
+        <label>Qubo Control</label>
       </group>
-      <label>My first Python Plugin</label>
+      <label>Qubo Thruster Control</label>
       <icon type="theme">system-help</icon>
       <statustip>Great user interface to provide real value.</statustip>
     </qtgui>
   </class>
+
   <class name="ExamplePlugin" type="qubo_gui.plugin2.Plugin2" base_class_type="rqt_gui_py::Plugin">
     <description>
       An example Python GUI plugin to create a great user interface.

qubo_gui/qubo_gui.py

-from .thrusters import Thrusters
+from .thruster_control import Thrusters
 
 def main():
     print('Hi from qubo_gui.')

qubo_gui/thruster_control.py

+"""
+This file implements an rqt plugin for controlling individual thrusters on Qubo.
+
+Set
+"""
+
+import random
+
+from qt_gui.plugin import Plugin
+from python_qt_binding import QtCore
+from python_qt_binding.QtCore import Qt
+from python_qt_binding.QtWidgets import QWidget, QLabel, QSlider, QPushButton, QHBoxLayout, QVBoxLayout
+
+# https://stackoverflow.com/questions/77934193/how-can-i-create-a-simple-gui-using-an-rqt-plugin
+class ThrusterControl(Plugin):
+    def __init__(self, context):
+        super(ThrusterControl, self).__init__(context)
+
+        self._context = context
+        self.setObjectName("ThrustersPlugin")
+
+        self._widget = QWidget()
+
+        front_widget = QWidget()
+        front = QHBoxLayout(front_widget)
+        front_left = ThrusterWidget("Front Left", top_topic="/thruster1", bottom_topic="/thruster2")
+        front_right = ThrusterWidget("Front Right", "", "")
+        front.addWidget(front_left)
+        front.addWidget(front_right)
+
+        back_widget = QWidget()
+        back = QHBoxLayout(back_widget)
+        back_left = ThrusterWidget("Back Left", "", "")
+        back_right = ThrusterWidget("Back Right", "", "")
+        back.addWidget(back_left)
+        back.addWidget(back_right)
+
+        self._stop_button = QPushButton("Global Stop")
+        # When _stop_button's "clicked" signal is emitted, all thruster control widgets
+        # will have their stop_top and stop_bottom slots triggered.
+        for w in [front_left, front_right, back_left, back_right]:
+            self._stop_button.clicked.connect(w.stop_top)
+            self._stop_button.clicked.connect(w.stop_bottom)
+
+        layout = QVBoxLayout(self._widget)
+        layout.addWidget(self._stop_button)
+        layout.addWidget(front_widget)
+        layout.addWidget(back_widget)
+
+        context.add_widget(self._widget)
+
+# Widget to control two thrusters (top and bottom one).
+class ThrusterWidget(QWidget):
+    PWM_STOP = 1500
+
+    def __init__(self, title, top_topic, bottom_topic):
+        super().__init__()
+
+        self._top_topic = top_topic
+        self._bottom_topic = bottom_topic
+
+        title_label = QLabel(title)
+
+        self.top_stop_btn = QPushButton("Stop")
+        self.top_pwm_label = QLabel()
+        self.top_slider = QSlider(Qt.Horizontal)
+        self.bottom_slider = QSlider(Qt.Horizontal)
+        self.bottom_stop_btn = QPushButton("Stop")
+        self.bottom_pwm_label = QLabel()
+
+        top_widget = QWidget()
+        top_layout = QHBoxLayout(top_widget)
+        top_layout.addWidget(self.top_stop_btn)
+        top_layout.addWidget(self.top_pwm_label)
+
+        bottom_widget = QWidget()
+        bottom_layout = QHBoxLayout(bottom_widget)
+        bottom_layout.addWidget(self.bottom_stop_btn)
+        bottom_layout.addWidget(self.bottom_pwm_label)
+
+        self.layout = QVBoxLayout(self)
+        self.layout.addWidget(top_widget)
+        self.layout.addWidget(self.top_slider)
+        self.layout.addWidget(self.bottom_slider)
+        self.layout.addWidget(bottom_widget)
+
+        self.top_slider.setTickPosition(QSlider.TicksBothSides)
+        self.top_slider.setTickInterval(20)
+        self.top_slider.setMinimum(1400)
+        self.top_slider.setMaximum(1600)
+        self.top_slider.setValue(1500)
+        self.top_pwm_label.setText(f"PWM: {1500}")
+        self.top_slider.valueChanged.connect(self.on_top_value_changed)
+
+        self.bottom_slider.setTickPosition(QSlider.TicksBothSides)
+        self.bottom_slider.setTickInterval(20)
+        self.bottom_slider.setMinimum(1400)
+        self.bottom_slider.setMaximum(1600)
+        self.bottom_slider.setValue(1500)
+        self.bottom_pwm_label.setText(f"PWM: {1500}")
+        self.bottom_slider.valueChanged.connect(self.on_bottom_value_changed)
+
+        self.top_stop_btn.clicked.connect(self.stop_top)
+        self.bottom_stop_btn.clicked.connect(self.stop_bottom)
+    
+    @QtCore.Slot(int)
+    def on_top_value_changed(self, value):
+        self.top_pwm_label.setText(f"PWM: {value}")
+        # TODO: Publish on ROS to set actual PWM. Make sure we have a controller to prevent PWM from changing too rapidly.
+
+    @QtCore.Slot(int)
+    def on_bottom_value_changed(self, value):
+        self.bottom_pwm_label.setText(f"PWM: {value}")
+        # TODO: Publish on ROS to set actual PWM.
+
+    @QtCore.Slot()
+    def stop_top(self):
+        self.top_slider.setValue(self.PWM_STOP)
+
+    @QtCore.Slot()
+    def stop_bottom(self):
+        self.bottom_slider.setValue(self.PWM_STOP)
\ No newline at end of file

qubo_gui/thrusters.py

-import random
-
-from qt_gui.plugin import Plugin
-from python_qt_binding import QtCore
-# from python_qt_binding.QtWidgets import QWidget, QVBoxLayout, QPushButton, QLabel
-import python_qt_binding.QtWidgets as QtWidgets
-
-# https://stackoverflow.com/questions/77934193/how-can-i-create-a-simple-gui-using-an-rqt-plugin
-class Thrusters(Plugin):
-    def __init__(self, context):
-        super(Thrusters, self).__init__(context)
-
-        self._context = context
-        self.setObjectName("ThrustersPlugin")
-
-        self._widget = MyWidget()
-        self._widget.show()
-
-        context.add_widget(self._widget)
-
-class MyWidget(QtWidgets.QWidget):
-    def __init__(self):
-        super().__init__()
-
-        self.hello = ["Hallo Welt", "Hei maailma", "Hola Mundo", "Привет мир"]
-
-        self.button = QtWidgets.QPushButton("Click me!")
-        self.text = QtWidgets.QLabel("Hello World",
-                                     alignment=QtCore.Qt.AlignCenter)
-
-        self.layout = QtWidgets.QVBoxLayout(self)
-        self.layout.addWidget(self.text)
-        self.layout.addWidget(self.button)
-
-        self.button.clicked.connect(self.magic)
-
-    @QtCore.Slot()
-    def magic(self):
-        self.text.setText(random.choice(self.hello))
-
-# class MyWidget(QWidget):
-#     def __init__(self):
-#         super(MyWidget, self).__init__()
-
-#         print("MyWidget constructor called...")
-
-#         self.setStyleSheet("background-color: white;")
-
-#         # Create a layout
-#         layout = QVBoxLayout(self)
-
-#         # Create a button
-#         self.button = QPushButton('Click Me!', self)
-#         self.button.clicked.connect(self.on_button_click)
-
-#         # Create a label for text display
-#         self.label = QLabel('Hello, World!', self)
-
-#         # Add the button and label to the layout
-#         layout.addWidget(self.button)
-#         layout.addWidget(self.label)
-
-#          # Set the layout for the widget
-#         self.setLayout(layout)
-
-#     def on_button_click(self):
-#         self.label.setText('Button Clicked!')
\ No newline at end of file