From fcd44f5bff6c08eef917c8f81f1673e5c49f781f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Wed, 13 Mar 2024 16:32:07 +0100
Subject: [PATCH] Tweak limits.
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Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 resource/rotational.ui             | 42 ++----------------------------
 src/rqt_gauges/base_widget.py      | 30 ++++++++++-----------
 src/rqt_gauges/rotational_gauge.py | 20 +++++---------
 3 files changed, 23 insertions(+), 69 deletions(-)

diff --git a/resource/rotational.ui b/resource/rotational.ui
index 5d1e41c..693c731 100644
--- a/resource/rotational.ui
+++ b/resource/rotational.ui
@@ -28,51 +28,13 @@
   <property name="windowTitle">
    <string>Rotational</string>
   </property>
-  <widget class="QLabel" name="min_value_label">
-   <property name="geometry">
-    <rect>
-     <x>30</x>
-     <y>470</y>
-     <width>81</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="font">
-    <font>
-     <pointsize>12</pointsize>
-    </font>
-   </property>
-   <property name="text">
-    <string>Min Value:</string>
-   </property>
-  </widget>
-  <widget class="QTextEdit" name="min_value">
-   <property name="geometry">
-    <rect>
-     <x>110</x>
-     <y>470</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="QTextEdit" name="max_value">
    <property name="enabled">
     <bool>true</bool>
    </property>
    <property name="geometry">
     <rect>
-     <x>260</x>
+     <x>230</x>
      <y>470</y>
      <width>51</width>
      <height>31</height>
@@ -101,7 +63,7 @@ p, li { white-space: pre-wrap; }
   <widget class="QLabel" name="max_value_label">
    <property name="geometry">
     <rect>
-     <x>170</x>
+     <x>140</x>
      <y>476</y>
      <width>81</width>
      <height>21</height>
diff --git a/src/rqt_gauges/base_widget.py b/src/rqt_gauges/base_widget.py
index 9dd89a1..9e8c01b 100644
--- a/src/rqt_gauges/base_widget.py
+++ b/src/rqt_gauges/base_widget.py
@@ -24,23 +24,21 @@ def __init__(self, node, name, ui_path):
         self._topic_completer.update_topics(self.node)
         self.topic_to_subscribe.setCompleter(self._topic_completer)
 
-        # Objects Properties
-        self.max_value.setAlignment(Qt.AlignCenter)
-        self.min_value.setAlignment(Qt.AlignCenter)
-
         try:
             getattr(self.gauge, 'maxValue')
+            self.max_value.setAlignment(Qt.AlignCenter)
             self.max_value.setPlaceholderText(str(self.gauge.maxValue))
             self.max_value.textChanged.connect(self.updateMaxValue)
         except AttributeError:
-            print("obj does not have attribute 'maxValue'")
+            pass
 
         try:
             getattr(self.gauge, 'minValue')
+            self.min_value.setAlignment(Qt.AlignCenter)
             self.min_value.setPlaceholderText(str(self.gauge.minValue))
             self.min_value.textChanged.connect(self.updateMinValue)
         except AttributeError:
-            print("obj does not have attribute 'minValue'")
+            pass
 
         try:
             getattr(self.gauge, 'units')
@@ -67,19 +65,19 @@ def dropEvent(self, event):
 
     @pyqtSlot()
     def updateMinValue(self):
-        new_min_value = self.min_value.toPlainText()
-        if new_min_value.isnumeric():
-            self.gauge.setMinValue(int(new_min_value))
-        else:
-            self.gauge.setMinValue(0)
+        try:
+            new_min_value = int(self.min_value.toPlainText())
+            self.gauge.setMinValue(new_min_value)
+        except ValueError:
+            pass
 
     @pyqtSlot()
     def updateMaxValue(self):
-        new_max_value = self.max_value.toPlainText()
-        if new_max_value.isnumeric():
-            self.gauge.setMaxValue(int(new_max_value))
-        else:
-            self.gauge.setMaxValue(180)
+        try:
+            new_max_value = int(self.max_value.toPlainText())
+            self.gauge.setMaxValue(new_max_value)
+        except ValueError:
+            pass
 
     @pyqtSlot(float)
     def updateValue(self, value):
diff --git a/src/rqt_gauges/rotational_gauge.py b/src/rqt_gauges/rotational_gauge.py
index cf77401..5c554a4 100644
--- a/src/rqt_gauges/rotational_gauge.py
+++ b/src/rqt_gauges/rotational_gauge.py
@@ -99,29 +99,23 @@ def updateValue(self, value: float):
         self.value = value
         self.repaint()
 
-    def setMinValue(self, min_value):
-        # Modifies the minimum value of the gauge
-        # Args:
-        #   min: Value to update the minimum value of the gauge.
-        if self.value < min_value:
-            self.value = min_value
-        if min_value >= self.maxValue:
-            self.minValue = self.maxValue - 1
-        else:
-            self.minValue = min_value
-
-        self.update()
-
     def setMaxValue(self, max_value):
         # Modifies the maximum value of the gauge
         # Args:
         #   max: Value to update the maximum value of the gauge.
+
+        # Sanity check: We only allow positive max values.
+        if max_value <= 0:
+            return
+
         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()