plugin.xml

@@ -13,6 +13,20 @@
     </qtgui>
   </class>
 
+  <class name="ThrustersPlugin_Text" type="qubo_gui.thruster_control_text.ThrusterControl_Text" base_class_type="rqt_gui_py::Plugin">
+    <description>
+      An example Python GUI plugin to create a great user interface.
+    </description>
+    <qtgui>
+      <group>
+        <label>Qubo Control</label>
+      </group>
+      <label>Qubo Thruster Control Text</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 .thruster_control import Thrusters
+from .thruster_control import ThrusterWidget
 
 def main():
     print('Hi from qubo_gui.')

qubo_gui/thruster_control_text.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.QtGui import QIntValidator
+from python_qt_binding.QtWidgets import QWidget, QLabel, QSlider, QPushButton, QHBoxLayout, QVBoxLayout, QLineEdit, QDoubleSpinBox
+
+# https://stackoverflow.com/questions/77934193/how-can-i-create-a-simple-gui-using-an-rqt-plugin
+class ThrusterControl_Text(Plugin):
+    def __init__(self, context):
+        super(ThrusterControl_Text, self).__init__(context)
+
+        self._context = context
+        self.setObjectName("ThrustersPlugin_Text")
+
+        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
+    PWM_MIN = 1400
+    PWM_MAX = 1600
+
+    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_entry = QDoubleSpinBox()
+        self.top_entry.setMaximum(self.PWM_MAX)
+        self.top_entry.setMinimum(self.PWM_MIN)
+        self.top_entry.setValue(self.PWM_STOP)
+        self.top_entry.setDecimals(0)
+        self.top_entry.setSingleStep(5)
+        self.bottom_entry = QDoubleSpinBox()
+        self.bottom_entry.setMaximum(self.PWM_MAX)
+        self.bottom_entry.setMinimum(self.PWM_MIN)
+        self.bottom_entry.setValue(self.PWM_STOP)
+        self.bottom_entry.setDecimals(0)
+        self.bottom_entry.setSingleStep(5)
+        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_entry)
+        self.layout.addWidget(self.bottom_entry)
+        self.layout.addWidget(bottom_widget)
+
+        self.top_pwm_label.setText(f"PWM: {self.PWM_STOP}")
+        self.top_entry.valueChanged.connect(self.on_top_value_changed)
+
+        self.bottom_pwm_label.setText(f"PWM: {self.PWM_STOP}")
+        self.bottom_entry.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(float)
+    def on_top_value_changed(self,value):
+        self.top_pwm_label.setText(f"PWM: {int(value)}")
+        # TODO: Publish on ROS to set actual PWM. Make sure we have a controller to prevent PWM from changing too rapidly.
+
+    @QtCore.Slot(float)
+    def on_bottom_value_changed(self,value):
+        self.bottom_pwm_label.setText(f"PWM: {int(value)}")
+        self.bottom_entry.clear()
+        # TODO: Publish on ROS to set actual PWM.
+
+    @QtCore.Slot()
+    def stop_top(self):
+        self.top_pwm_label.setText(f"PWM: {self.PWM_STOP}")
+        self.top_entry.clear()
+
+    @QtCore.Slot()
+    def stop_bottom(self):
+        self.bottom_pwm_label.setText(f"PWM: {self.PWM_STOP}")
+        self.bottom_entry.clear()