Merge branch 'main' into refactor/walk_vizualizer

bit-bots · Nov 23, 2024 · e91429e · e91429e
2 parents 664bd2b + 89c7035
commit e91429e
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Showing 2 changed files with 25 additions and 2 deletions.
diff --git a/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/record_ui.py b/bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/record_ui.py
@@ -659,6 +659,26 @@ def frame_select(self):
             selected_frame_name = self._widget.frameList.currentItem().text()
             selected_frame = self._recorder.get_keyframe(selected_frame_name)
             if selected_frame is not None:
+                # check if unrecorded changes would be lost
+                unrecorded_changes = []
+                current_keyframe_goals = self._recorder.get_keyframe(self._selected_frame)["goals"]
+
+                for motor_name, text_field in self._motor_controller_text_fields.items():
+                    # Get the angle from the textfield
+                    angle = text_field.value()
+                    # compare with angles in current keyframe
+                    if not current_keyframe_goals[motor_name] == math.radians(angle):
+                        unrecorded_changes.append(motor_name)
+
+                # warn user about unrecorded changes
+                if unrecorded_changes:
+                    message = (
+                        f"""This will discard your unrecorded changes for {", ".join(unrecorded_changes)}. Continue?"""
+                    )
+                    sure = QMessageBox.question(self._widget, "Sure?", message, QMessageBox.Yes | QMessageBox.No)
+                    # Cancel the open if the user does not want to discard the changes
+                    if sure == QMessageBox.No:
+                        return
                 # Update state so we have a new selected frame
                 self._selected_frame = selected_frame_name
 

diff --git a/scripts/make_basler.sh b/scripts/make_basler.sh
@@ -5,7 +5,7 @@ set -eEo pipefail
 # The pylon driver can be found in the download section of the following link:
 # https://www.baslerweb.com/en/downloads/software-downloads/
 # Go to the download button and copy the link address.
-PYLON_DOWNLOAD_URL="https://www2.baslerweb.com/media/downloads/software/pylon_software/pylon_7_4_0_14900_linux_x86_64_debs.tar.gz"
+PYLON_DOWNLOAD_URL="https://data.bit-bots.de/pylon_7_4_0_14900_linux_x86_64_debs.tar.gz.gpg"
 PYLON_VERSION="7.4.0"
 
 # Check let the user confirm that they read the license agreement on the basler website and agree with it.
@@ -47,9 +47,12 @@ else
         exit 1
     fi
     # Download the pylon driver to temp folder
-    wget --no-verbose $SHOW_PROGRESS $PYLON_DOWNLOAD_URL -O /tmp/pylon_${PYLON_VERSION}.tar.gz
+    wget --no-verbose $SHOW_PROGRESS $PYLON_DOWNLOAD_URL -O /tmp/pylon_${PYLON_VERSION}.tar.gz.gpg
     # Extract the pylon driver
     mkdir /tmp/pylon
+    # Decrypt the pylon driver
+    gpg --batch --yes --passphrase "12987318371043223" -o /tmp/pylon_${PYLON_VERSION}.tar.gz -d /tmp/pylon_${PYLON_VERSION}.tar.gz.gpg
+    # Extract the pylon driver
     tar -xzf /tmp/pylon_${PYLON_VERSION}.tar.gz -C /tmp/pylon/
     # Install the pylon driver
     sudo apt-get install /tmp/pylon/pylon_${PYLON_VERSION}*.deb -y