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Fix animation record ui crash after a non numerical text input #615

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merged 1 commit into from
Nov 6, 2024
Merged

Fix animation record ui crash after a non numerical text input #615

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1 change: 1 addition & 0 deletions .vscode/settings.json
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Original file line number Diff line number Diff line change
Expand Up @@ -112,6 +112,7 @@
"throwin",
"timespec",
"tldr",
"torqueless",
"tqdm",
"unpenalize",
"unpenalized",
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12 changes: 8 additions & 4 deletions bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/record_ui.py
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Original file line number Diff line number Diff line change
Expand Up @@ -194,13 +194,17 @@ def q_joint_state_update(self, joint_states: JointState) -> None:
return
# Update working values of non stiff motors
for motor_name in self.motors:
if self._motor_controller_torque_checkbox[motor_name].checkState(0) != Qt.CheckState.Checked:
# Get the state from the UI checkboxes
motor_active = self._motor_switcher_active_checkbox[motor_name].checkState(0) == Qt.CheckState.Checked
motor_torqueless = self._motor_controller_torque_checkbox[motor_name].checkState(0) != Qt.CheckState.Checked
# Check if the we are currently positioning the motor and want to store the value
if motor_active and motor_torqueless:
# Update textfield
self._motor_controller_text_fields[motor_name].setText(
str(round(math.degrees(joint_states.position[joint_states.name.index(motor_name)]), 2))
)
# React to textfield changes
self.textfield_update()
# Update working values
self._working_angles[motor_name] = joint_states.position[joint_states.name.index(motor_name)]

def create_motor_controller(self) -> None:
"""
Expand Down Expand Up @@ -681,7 +685,7 @@ def textfield_update(self):
"Warning",
f"Please enter a valid number.\n '{text_field.text()}' is not a valid number.",
)
return
continue
# Clip the angle to the maximum and minimum, we do this in degrees,
# because we do not want introduce rounding errors in the textfield
angle = round(max(-180.0, min(angle, 180.0)), 2)
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