Commit aeb03abe7907c6f2b9fdffc9c8fa75889c0a37db

Authored by Renan
1 parent b50c2ba8
Exists in master

ADD: function to stop and reset motion state

Showing 1 changed file with 6 additions and 3 deletions   Show diff stats
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():