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Fixed the text input bug #10

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Fixed the text input bug #10

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78 changes: 40 additions & 38 deletions src/state_machine/src/main_gui.py
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Original file line number Diff line number Diff line change
Expand Up @@ -151,44 +151,46 @@ def approachnavigation(self):
def sendtextdata(self):
text = self.textEdit.toPlainText()
print(text, self.which_callback)
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I added this for debugging, can be removed as well

if not text.isnumeric():
print("Invalid input!")
elif int(text) > 100:
print("Invalid input!")
else:
# publish this to the pod server or state machine
if self.which_callback == 0:
#pickup
print('this is what i should be pub')
self.StateUpdate.StateTransitionCond = int(text)
self.StateUpdate.TransState = 0
self.StateUpdate.OperationMode = 1

elif self.which_callback == 1:
#dropoff
self.StateUpdate.StateTransitionCond = int(text)
self.StateUpdate.TransState = 0
self.StateUpdate.OperationMode = 2

elif self.which_callback == 2:
#podunlock
self.StateUpdate.StateTransitionCond = 0
self.StateUpdate.TransState = 0
self.StateUpdate.OperationMode = 2

elif self.which_callback == 3:
#podlocksuccess
self.StateUpdate.StateTransitionCond = 1
self.StateUpdate.TransState = 0
self.StateUpdate.OperationMode = 0

elif self.which_callback == 4:
#approach
self.StateUpdate.StateTransitionCond = int(text)
self.StateUpdate.TransState = 0
self.StateUpdate.OperationMode = 3

self.cmd_pub.publish(self.StateUpdate)
if self.which_callback == 0 or self.which_callback == 1 or self.which_callback == 4:
if not text.isnumeric():
print("Invalid input!")
return
elif int(text) > 100:
print("Invalid input!")
return

# publish this to the pod server or state machine
if self.which_callback == 0:
#pickup
self.StateUpdate.StateTransitionCond = int(text)
self.StateUpdate.TransState = 0
self.StateUpdate.OperationMode = 1

elif self.which_callback == 1:
#dropoff
self.StateUpdate.StateTransitionCond = int(text)
self.StateUpdate.TransState = 0
self.StateUpdate.OperationMode = 2

elif self.which_callback == 2:
#podunlock
self.StateUpdate.StateTransitionCond = 0
self.StateUpdate.TransState = 0
self.StateUpdate.OperationMode = 2

elif self.which_callback == 3:
#podlocksuccess
self.StateUpdate.StateTransitionCond = 1
self.StateUpdate.TransState = 0
self.StateUpdate.OperationMode = 0

elif self.which_callback == 4:
#approach
self.StateUpdate.StateTransitionCond = int(text)
self.StateUpdate.TransState = 0
self.StateUpdate.OperationMode = 3

self.cmd_pub.publish(self.StateUpdate)


if __name__ == '__main__':
Expand Down