Commit aeb03abe7907c6f2b9fdffc9c8fa75889c0a37db
1 parent
b50c2ba8
Exists in
master
ADD: function to stop and reset motion state
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1 changed file
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6 additions
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3 deletions
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invesalius/navigation/robot.py
| @@ -175,6 +175,11 @@ class ControlRobot(threading.Thread): | @@ -175,6 +175,11 @@ class ControlRobot(threading.Thread): | ||
| 175 | 175 | ||
| 176 | return coord_raw, coord_robot_raw, markers_flag | 176 | return coord_raw, coord_robot_raw, markers_flag |
| 177 | 177 | ||
| 178 | + def robot_motion_reset(self): | ||
| 179 | + self.trck_init_robot.StopRobot() | ||
| 180 | + self.arc_motion_flag = False | ||
| 181 | + self.arc_motion_step_flag = const.ROBOT_MOTIONS["normal"] | ||
| 182 | + | ||
| 178 | def robot_move_decision(self, distance_target, new_robot_coordinates, current_robot_coordinates, current_head_filtered): | 183 | def robot_move_decision(self, distance_target, new_robot_coordinates, current_robot_coordinates, current_head_filtered): |
| 179 | """ | 184 | """ |
| 180 | There are two types of robot movements. | 185 | There are two types of robot movements. |
| @@ -277,9 +282,7 @@ class ControlRobot(threading.Thread): | @@ -277,9 +282,7 @@ class ControlRobot(threading.Thread): | ||
| 277 | 282 | ||
| 278 | if not self.robot_target_queue.empty(): | 283 | if not self.robot_target_queue.empty(): |
| 279 | self.robot_tracker_flag, self.m_change_robot_to_head = self.robot_target_queue.get_nowait() | 284 | self.robot_tracker_flag, self.m_change_robot_to_head = self.robot_target_queue.get_nowait() |
| 280 | - self.trck_init_robot.StopRobot() | ||
| 281 | - self.arc_motion_flag = False | ||
| 282 | - self.arc_motion_step_flag = const.ROBOT_MOTIONS["normal"] | 285 | + self.robot_motion_reset() |
| 283 | self.robot_target_queue.task_done() | 286 | self.robot_target_queue.task_done() |
| 284 | 287 | ||
| 285 | if not self.object_at_target_queue.empty(): | 288 | if not self.object_at_target_queue.empty(): |