Commit aeb03abe7907c6f2b9fdffc9c8fa75889c0a37db
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(): |