Fix issue where the animation record ui crashed after a non numerical value is entered.

Normally this is handled, but a race condition happened, because the text field might be updated by the routine that is responsible for entering the live joint states from the robot if it is in the torqueless mode regardless if the joint is in this mode or not. This somehow prevented the exception from being catched properly and then resulted in a stack overflow of QT.  This commit fixes this by not calling the textfield_update every time a joint state is received. Instead we manually update the working values dict if the joint is in the recoding / torqueless mode.

Author: Flova

.vscode/settings.json

@@ -112,6 +112,7 @@
         "throwin",
         "timespec",
         "tldr",
+        "torqueless",
         "tqdm",
         "unpenalize",
         "unpenalized",

bitbots_motion/bitbots_animation_rqt/bitbots_animation_rqt/record_ui.py

@@ -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:
         """
@@ -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)