diff --git a/consai_ros2/consai_visualizer/resource/visualizer.ui b/consai_ros2/consai_visualizer/resource/visualizer.ui
index a02a3d780..3f50a49ef 100644
--- a/consai_ros2/consai_visualizer/resource/visualizer.ui
+++ b/consai_ros2/consai_visualizer/resource/visualizer.ui
@@ -39,7 +39,7 @@
-
- Connection
+ ping
Qt::AlignCenter
@@ -49,7 +49,7 @@
-
- Battery
+ 電圧
Qt::AlignCenter
@@ -59,7 +59,7 @@
-
- Error
+ リターン
Qt::AlignCenter
@@ -95,24 +95,24 @@
- ConnectionStatus
+ -
Qt::AlignCenter
- -
+
-
- TextLabel
+ -
- -
-
+
-
+
- TextLabel
+ -
@@ -145,21 +145,21 @@
- ConnectionStatus
+ -
- -
+
-
- TextLabel
+ -
- -
-
+
-
+
- TextLabel
+ -
@@ -183,7 +183,7 @@
- -
+
-
@@ -192,21 +192,21 @@
- ConnectionStatus
+ -
- -
+
-
- TextLabel
+ -
- -
-
+
-
+
- TextLabel
+ -
@@ -227,7 +227,7 @@
- -
+
-
@@ -236,21 +236,21 @@
- ConnectionStatus
+ -
- -
+
-
- TextLabel
+ -
- -
-
+
-
+
- TextLabel
+ -
@@ -280,21 +280,21 @@
- ConnectionStatus
+ -
- -
+
-
- TextLabel
+ -
- -
-
+
-
+
- TextLabel
+ -
@@ -324,21 +324,21 @@
- ConnectionStatus
+ -
- -
+
-
- TextLabel
+ -
- -
-
+
-
+
- TextLabel
+ -
@@ -368,21 +368,21 @@
- ConnectionStatus
+ -
- -
+
-
- TextLabel
+ -
- -
-
+
-
+
- TextLabel
+ -
@@ -412,21 +412,21 @@
- ConnectionStatus
+ -
- -
+
-
- TextLabel
+ -
- -
-
+
-
+
- TextLabel
+ -
@@ -456,21 +456,21 @@
- ConnectionStatus
+ -
- -
+
-
- TextLabel
+ -
- -
-
+
-
+
- TextLabel
+ -
@@ -500,21 +500,21 @@
- ConnectionStatus
+ -
- -
+
-
- TextLabel
+ -
- -
-
+
-
+
- TextLabel
+ -
@@ -544,21 +544,21 @@
- ConnectionStatus
+ -
- -
+
-
- TextLabel
+ -
- -
-
+
-
+
- TextLabel
+ -
@@ -588,21 +588,21 @@
- ConnectionStatus
+ -
- -
+
-
- TextLabel
+ -
- -
-
+
-
+
- TextLabel
+ -
diff --git a/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py b/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py
index 844c47798..bab03681e 100644
--- a/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py
+++ b/consai_ros2/consai_visualizer/src/consai_visualizer/visualizer.py
@@ -28,7 +28,7 @@
from crane_visualization_interfaces.msg import ObjectsArray
from python_qt_binding import loadUi
from python_qt_binding.QtCore import QPointF, Qt, QTimer
-from python_qt_binding.QtWidgets import QTreeWidgetItem, QWidget
+from python_qt_binding.QtWidgets import QTreeWidgetItem, QWidget, QFrame
from qt_gui.plugin import Plugin
import rclpy
from robocup_ssl_msgs.msg import BallReplacement, Replacement, RobotReplacement
@@ -125,7 +125,7 @@ def __init__(self, context):
self._reset_timer.timeout.connect(self._update_robot_synthetics)
self._reset_timer.start(1000)
- self.latest_battery_voltage = [0] * 16
+ self.latest_battery_voltage = [-1] * 16
# self._widget.pushButton.clicked.connect(self.publish)
self._widget.session_injection_comboBox.addItem("simple_ai")
@@ -179,6 +179,8 @@ def _session_injection(self):
self._pub_session_injection.publish(msg)
def _callback_feedback(self, msg):
+ self.latest_return_counter = [-1] * 16
+ self.latest_battery_voltage = [-1] * 16
for feedback in msg.feedback:
try:
self.latest_battery_voltage[feedback.robot_id] = feedback.voltage[0]
@@ -186,6 +188,10 @@ def _callback_feedback(self, msg):
except AttributeError:
# 初期化より先にコールバックが呼ばれてしまうことがあるため、エラーを回避する
pass
+ try:
+ self.latest_return_counter[feedback.robot_id] = feedback.counter
+ except AttributeError:
+ pass
# for synthetics
def _callback_ping(self, msg):
@@ -335,12 +341,19 @@ def _update_robot_synthetics(self):
for i in range(16):
# 電圧
try:
- getattr(self._widget, f"robot{i}_voltage").setText(
- "{:.2f}".format(self.latest_battery_voltage[i])
- )
+ label = getattr(self._widget, f"robot{i}_voltage")
+ if self.latest_battery_voltage[i] == -1:
+ label.setText("-")
+ label.setLineWidth(0)
+ else:
+ label.setText("{:.2f}".format(self.latest_battery_voltage[i]))
+ label.setLineWidth(1)
+ label.setFrameStyle(QFrame.Box | QFrame.Plain)
except AttributeError:
try:
- getattr(self._widget, f"robot{i}_voltage").setText(str(0.0))
+ label = getattr(self._widget, f"robot{i}_voltage")
+ label.setText("-")
+ label.setLineWidth(0)
except AttributeError:
pass
pass
@@ -349,14 +362,34 @@ def _update_robot_synthetics(self):
try:
# 一旦全て"-"で埋める
for i in range(12):
- getattr(self._widget, f"robot{i}_connection_status").setText("-")
+ label = getattr(self._widget, f"robot{i}_connection_status")
+ label.setText("-")
+ label.setLineWidth(0)
for ping_status in self.ping.ping:
- getattr(
+ label = getattr(
self._widget, f"robot{ping_status.robot_id}_connection_status"
- ).setText("{:.1f}ms".format(ping_status.ping_ms))
+ )
+ label.setText("{:.1f}ms".format(ping_status.ping_ms))
+ label.setLineWidth(1)
+ label.setFrameStyle(QFrame.Box | QFrame.Plain)
except AttributeError:
try:
- getattr(self._widget, f"robot{i}_connection_status").setText("-")
+ label = getattr(self._widget, f"robot{i}_connection_status")
+ label.setText("-")
+ label.setLineWidth(0)
except AttributeError:
pass
pass
+
+ try:
+ for i in range(12):
+ label = getattr(self._widget, f"robot{i}_counter")
+ if self.latest_return_counter[i] == -1:
+ label.setText("-")
+ label.setLineWidth(0)
+ else:
+ label.setText(str(self.latest_return_counter[i]))
+ label.setLineWidth(1)
+ label.setFrameStyle(QFrame.Box | QFrame.Plain)
+ except AttributeError:
+ pass