QTimer initialization fix.

Author: samyarsadat

source_code/ros_ws_remote/src/ros_remote_gui/launch/gui.launch.py

@@ -16,9 +16,9 @@
 #  You should have received a copy of the GNU General Public License
 #  along with this program.  If not, see <https: www.gnu.org/licenses/>.
 
-import launch
-import launch_ros.actions
+from launch_ros.actions import Node
 from launch.actions import RegisterEventHandler, LogInfo, EmitEvent, IncludeLaunchDescription
+from launch import LaunchDescription
 from launch.event_handlers import OnProcessExit
 from launch.events import Shutdown
 from launch.launch_description_sources import PythonLaunchDescriptionSource
@@ -27,15 +27,19 @@
 
 
 def generate_launch_description():
-    launch_gui = launch_ros.actions.Node(package="ros_remote_gui", executable="remote_gui_node", name="remote_gui")
+    launch_gui = Node(
+        package="ros_remote_gui", 
+        executable="remote_gui_node"
+    )
+    
     ros_remote_pui_pkg = FindPackageShare("ros_remote_pui")
     launch_pui_drivers = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
             PathJoinSubstitution([ros_remote_pui_pkg, "launch", "pui.launch.py"])
         )
     )
 
-    return launch.LaunchDescription([
+    return LaunchDescription([
         launch_pui_drivers,
         launch_gui,
         RegisterEventHandler(

source_code/ros_ws_remote/src/ros_remote_gui/ros_remote_gui/main.py

@@ -30,7 +30,9 @@
 
 def main():
     from ros_remote_gui.ros_main import ros_executor_thread, is_ros_node_initialized, get_ros_node
+    from ros_remote_pui.remote_state import init_remote_state
     get_main_window().init_ui_handlers()
+    init_remote_state()
 
     # Start the ROS thread
     stop_ros_thread = False

source_code/ros_ws_remote/src/ros_remote_pui/ros_remote_pui/remote_state.py

@@ -300,10 +300,8 @@ def _enable_mtr_ctrl(self, enable: bool) -> bool:
 
 
 # RemoteState instance
-_remote_state = RemoteState()
-
-def get_remote_state() -> RemoteState:
-    global _remote_state
+_remote_state: RemoteState | None = None
+def get_remote_state() -> RemoteState | None:
     return _remote_state
 
 
@@ -331,6 +329,14 @@ def _set_toggle_c_state(self):
         _remote_state.left_mid_c_sw_en = self.toggle_sw_c.is_active
 
 
-# Encoder nav handler
+# Initialize the remote state and RPi IO handler
 from ros_remote_pui.encoder_handler import EncoderNavHandler
-_encoder_handler = EncoderNavHandler()
+_io_handler: RpiIoHandler | None = None
+_encoder_nav_handler: EncoderNavHandler | None = None
+
+def init_remote_state() -> None:
+    global _remote_state
+    if _remote_state is None:
+        _remote_state = RemoteState()
+        _io_handler = RpiIoHandler()
+        _encoder_nav_handler = EncoderNavHandler()