class ProgramItem(Item):
def __init__(self,
scene,
x,
y,
program_helper,
done_cb=None,
item_switched_cb=None,
learning_request_cb=None):
self.w = 100
self.h = 100
self.done_cb = done_cb
self.item_switched_cb = item_switched_cb
self.learning_request_cb = learning_request_cb
self.readonly = False
super(ProgramItem, self).__init__(scene, x, y)
self.w = self.m2pix(0.2)
self.h = self.m2pix(0.25)
self.sp = self.m2pix(0.005)
self.ph = program_helper
self.block_id = None
self.item_id = None
self.block_learned = False
self.program_learned = False
# block "view"
self.block_finished_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Done"),
self, self.block_finished_btn_cb)
self.block_edit_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Edit"),
self, self.block_edit_btn_cb)
self.block_on_failure_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "On fail"), self,
self.block_on_failure_btn)
bdata = []
self.blocks_map = {} # map from indexes (key) to block_id (value)
self.blocks_map_rev = {}
block_id = self.ph.get_first_block_id()
while block_id != 0:
bmsg = self.ph.get_block_msg(block_id)
bdata.append("Block ID: " + str(block_id) + "\nName: " + bmsg.name)
idx = len(bdata) - 1
self.blocks_map[idx] = block_id
self.blocks_map_rev[block_id] = idx
block_id = self.ph.get_block_on_success(block_id)
# test for cycle
if block_id in self.blocks_map_rev:
break
self.blocks_list = ListItem(self.scene(),
0,
0,
0.2 - 2 * 0.005,
bdata,
self.block_selected_cb,
parent=self)
for k, v in self.blocks_map.iteritems():
self._update_block(v)
y = 50
self.blocks_list.setPos(self.sp, y)
y += self.blocks_list._height() + self.sp
self._place_childs_horizontally(y, self.sp, [
self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn
])
y += self.block_finished_btn._height() + self.sp
group_enable((self.block_edit_btn, self.block_on_failure_btn), False)
self.h = y
self.update()
# items "view"
self.item_edit_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Edit"), self,
self.item_edit_btn_cb)
self.item_run_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Run"), self,
self.item_run_btn_cb)
self.item_on_failure_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "On fail"), self,
self.item_on_failure_btn_cb)
self.item_finished_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "Back to blocks"),
self, self.item_finished_btn_cb)
self.items_list = None
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_failure_btn, self.item_edit_btn), False)
# readonly (program running) "view"
self.pr_pause_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Pause"), self,
self.pr_pause_btn_cb)
self.pr_repeat_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Repeat"),
self, self.pr_repeat_btn_cb)
self.pr_cancel_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Cancel"),
self, self.pr_cancel_btn_cb)
group_visible(
(self.pr_pause_btn, self.pr_repeat_btn, self.pr_cancel_btn), False)
self.fixed = False
self.editing_item = False
self.edit_request = False
self.run_request = False
self.setZValue(100)
def pr_pause_btn_cb(self, btn):
pass
def pr_repeat_btn_cb(self, btn):
pass
def pr_cancel_btn_cb(self, btn):
pass
def _update_learned(self):
self.block_learned = self.ph.block_learned(self.block_id)
self.program_learned = self.ph.program_learned()
def set_readonly(self, readonly):
self.readonly = readonly
if self.readonly:
if self.items_list is not None:
self.items_list.setVisible(True)
self.items_list.setEnabled(False)
self.blocks_list.set_enabled(False, True)
group_visible((self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn), False)
group_visible(
(self.pr_pause_btn, self.pr_repeat_btn, self.pr_cancel_btn),
True)
else:
# TODO
pass
self.update()
def set_active(self, block_id, item_id):
old_block_id = self.block_id
self.block_id = block_id
self.item_id = item_id
if not self.readonly:
self.set_readonly(True)
if old_block_id != self.block_id:
self._init_items_list()
self.items_list.set_current_idx(self.items_map_rev[self.item_id],
select=True)
def get_text_for_item(self, block_id, item_id):
item = self.ph.get_item_msg(block_id, item_id)
text = "(" + str(item.id) + ") "
if item.type == ProgIt.GET_READY:
text += QtCore.QCoreApplication.translate("ProgramItem",
"GET_READY")
elif item.type == ProgIt.WAIT_FOR_USER:
text += QtCore.QCoreApplication.translate("ProgramItem",
"WAIT_FOR_USER")
elif item.type == ProgIt.WAIT_UNTIL_USER_FINISHES:
text += QtCore.QCoreApplication.translate(
"ProgramItem", "WAIT_UNTIL_USER_FINISHES")
elif item.type == ProgIt.PICK_FROM_POLYGON:
text += QtCore.QCoreApplication.translate("ProgramItem",
"PICK_FROM_POLYGON")
if self.ph.is_object_set(block_id, item_id):
text += "\n" + "object type=" + item.object[0]
else:
text += "\n" + "object type=??"
elif item.type == ProgIt.PICK_FROM_FEEDER:
text += QtCore.QCoreApplication.translate("ProgramItem",
"PICK_FROM_FEEDER")
if self.ph.is_pose_set(block_id, item_id):
text += "\n" + "x=" + str(
round(item.pose[0].pose.position.x, 2)) + ", y=" + str(
round(item.pose[0].pose.position.y, 2)) + ", z=" + str(
round(item.pose[0].pose.position.z, 2))
else:
text += "\n" + "x=??, y=??, z=??"
if self.ph.is_object_set(block_id, item_id):
text += "\n" + "object type=" + item.object[0]
else:
text += "\n" + "object type=??"
elif item.type == ProgIt.PICK_OBJECT_ID:
text += QtCore.QCoreApplication.translate("ProgramItem",
"PICK_OBJECT_ID")
if self.ph.is_object_set(block_id, item_id):
text += "\n" + "object ID=" + item.object[0]
else:
text += "\n" + "object ID=??"
elif item.type == ProgIt.PLACE_TO_POSE:
text += QtCore.QCoreApplication.translate("ProgramItem",
"PLACE_TO_POSE")
if self.ph.is_object_set(block_id, item.ref_id[0]):
ref_item = self.ph.get_item_msg(block_id, item.ref_id[0])
text += "\n" + \
"object from (" + \
str(item.ref_id[0]) + ")=" + ref_item.object[0]
else:
text += "\n" + "object from (" + str(item.ref_id[0]) + ")=??"
if self.ph.is_pose_set(block_id, item_id):
text += "\n" + "x=" + str(
round(item.pose[0].pose.position.x, 2)) + ", y=" + str(
round(item.pose[0].pose.position.y, 2))
else:
text += "\n" + "x=??, y=??"
return text
def _init_items_list(self):
idata = []
self.items_map = {} # map from indexes (key) to item_id (value)
self.items_map_rev = {}
item_id = self.ph.get_first_item_id(self.block_id)
while item_id[0] == self.block_id:
idata.append(self.get_text_for_item(*item_id))
idx = len(idata) - 1
self.items_map[idx] = item_id[1]
self.items_map_rev[item_id[1]] = idx
item_id = self.ph.get_id_on_success(*item_id)
# test for cycle (e.g. jump from the last item to the first one)
if item_id[1] in self.items_map_rev:
break
self.items_list = ListItem(self.scene(),
0,
0,
0.2 - 2 * 0.005,
idata,
self.item_selected_cb,
parent=self)
for k, v in self.items_map.iteritems():
if self.ph.item_requires_learning(self.block_id, v):
self._update_item(self.block_id, v)
else:
self.items_list.items[k].set_enabled(False)
y = 50
self.items_list.setPos(self.sp, y)
y += self.items_list._height() + self.sp
if not self.readonly:
self._place_childs_horizontally(y, self.sp, [
self.item_edit_btn, self.item_run_btn, self.item_on_failure_btn
])
y += self.item_finished_btn._height() + self.sp
self._place_childs_horizontally(y, self.sp,
[self.item_finished_btn])
y += self.item_finished_btn._height() + 3 * self.sp
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_failure_btn, self.item_edit_btn), True)
self.item_finished_btn.setEnabled(True)
group_enable((self.item_run_btn, self.item_on_failure_btn,
self.item_on_failure_btn), False)
group_visible(
(self.pr_pause_btn, self.pr_repeat_btn, self.pr_cancel_btn),
False)
else:
self.items_list.setEnabled(False)
self._place_childs_horizontally(
y, self.sp,
[self.pr_pause_btn, self.pr_repeat_btn, self.pr_cancel_btn])
y += self.pr_pause_btn._height() + 3 * self.sp
pr = (self.pr_pause_btn, self.pr_repeat_btn, self.pr_cancel_btn)
group_visible(pr, True)
group_enable(pr, False)
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_failure_btn, self.item_edit_btn),
False)
self.h = y
self.update()
def block_edit_btn_cb(self, btn):
group_visible((self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn, self.blocks_list), False)
self._init_items_list()
def block_selected_cb(self):
if self.blocks_list.selected_item_idx is not None:
self.block_id = self.blocks_map[self.blocks_list.selected_item_idx]
if self.ph.get_block_on_failure(self.block_id) != 0:
self.block_on_failure_btn.set_enabled(True)
else:
self.block_on_failure_btn.set_enabled(False)
self.block_edit_btn.set_enabled(True)
if self.item_switched_cb is not None:
self.item_switched_cb(self.block_id, None)
self._update_learned()
else:
self.block_id = None
self.item_id = None
self.block_edit_btn.set_enabled(False)
self.block_on_failure_btn.set_enabled(False)
def _handle_item_btns(self):
of = self.ph.get_id_on_failure(self.block_id, self.item_id)
if of[0] == self.block_id and of[1] != 0:
self.item_on_failure_btn.set_enabled(True)
else:
self.item_on_failure_btn.set_enabled(False)
if not self.editing_item:
if self.ph.item_requires_learning(
self.block_id, self.item_id) and self.ph.item_learned(
self.block_id, self.item_id):
self.item_run_btn.set_enabled(True)
else:
self.item_run_btn.set_enabled(False)
self.item_edit_btn.set_enabled(
self.ph.item_requires_learning(self.block_id, self.item_id))
else:
self.item_run_btn.set_enabled(False)
def item_selected_cb(self):
if self.items_list.selected_item_idx is not None:
self.item_id = self.items_map[self.items_list.selected_item_idx]
self._handle_item_btns()
if self.item_switched_cb is not None:
self.item_switched_cb(self.block_id, self.item_id)
self._update_learned()
else:
self.item_id = None
group_enable((self.item_run_btn, self.item_on_failure_btn,
self.item_edit_btn), False)
def block_on_failure_btn(self, btn):
# TODO switch to on_failure item
pass
def block_finished_btn_cb(self, btn):
if self.done_cb is not None:
self.done_cb()
def item_finished_btn_cb(self, btn):
# go back to blocks view
group_visible((self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn, self.blocks_list), True)
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_failure_btn, self.item_edit_btn), False)
self.block_selected_cb(
) # TODO extract method to set buttons to proper state
self.blocks_list.setEnabled(True)
self.block_finished_btn.setEnabled(True)
self.scene().removeItem(self.items_list)
self.items_list = None
self.item_id = None
if self.item_switched_cb is not None:
self.item_switched_cb(self.block_id, self.item_id)
def item_on_failure_btn_cb(self, btn):
pass
def item_run_btn_cb(self, btn):
self.run_request = True
self.set_enabled(False)
self.learning_request_cb(LearningRequestGoal.EXECUTE_ITEM)
def item_edit_btn_cb(self, btn):
self.edit_request = True
# call action / disable all, wait for result (callback), enable editing
if not self.editing_item:
self.learning_request_cb(LearningRequestGoal.GET_READY)
else:
self.learning_request_cb(LearningRequestGoal.DONE)
self.set_enabled(False)
def learning_request_result(self, success):
self.set_enabled(True)
# TODO no success, no editing
if self.edit_request:
self.edit_request = False
if not self.editing_item:
self.editing_item = True
self.item_edit_btn.set_caption("Done")
group_enable((self.item_finished_btn, self.items_list), False)
else:
self.editing_item = False
self.item_edit_btn.set_caption("Edit")
group_enable((self.item_finished_btn, self.items_list), True)
self._update_learned()
self._handle_item_btns()
if self.item_switched_cb is not None:
self.item_switched_cb(self.block_id, self.item_id,
not self.editing_item)
elif self.run_request:
self.run_request = False
def boundingRect(self):
return QtCore.QRectF(0, 0, self.w, self.h)
def set_place_pose(self, x, y, yaw):
msg = self.get_current_item()
msg.pose[0].pose.position.x = x
msg.pose[0].pose.position.y = y
msg.pose[0].pose.orientation = conversions.yaw2quaternion(yaw)
self._update_item()
def set_pose(self, ps):
msg = self.get_current_item()
msg.pose[0] = ps
self._update_item()
def set_object(self, obj):
msg = self.get_current_item()
msg.object = [obj]
self._update_item()
def set_polygon(self, pts):
msg = self.get_current_item()
del msg.polygon[0].polygon.points[:]
for pt in pts:
msg.polygon[0].polygon.points.append(Point32(pt[0], pt[1], 0))
self._update_item()
def _update_block(self, block_id):
idx = self.blocks_map_rev[block_id]
if self.ph.block_learned(block_id):
self.blocks_list.items[idx].set_background_color()
else:
self.blocks_list.items[idx].set_background_color(QtCore.Qt.red)
def _update_item(self, block_id=None, item_id=None):
if block_id is None and item_id is None:
block_id = self.block_id
item_id = self.item_id
idx = self.items_map_rev[item_id]
if self.ph.item_learned(block_id, item_id):
self.items_list.items[idx].set_background_color()
else:
self.items_list.items[idx].set_background_color(QtCore.Qt.red)
self.items_list.items[idx].set_caption(
self.get_text_for_item(block_id, item_id))
self._update_block(block_id)
def get_current_item(self):
if (self.block_id is not None and self.item_id is not None):
return self.ph.get_item_msg(self.block_id, self.item_id)
return None
def paint(self, painter, option, widget):
if not self.scene():
return
painter.setClipRect(option.exposedRect)
painter.setRenderHint(QtGui.QPainter.Antialiasing)
font = QtGui.QFont('Arial', 14)
painter.setFont(font)
painter.setPen(QtCore.Qt.white)
# TODO measure text size / use label
sp = self.m2pix(0.01)
if self.block_id is not None:
if not self.block_learned and not self.readonly:
painter.setPen(QtCore.Qt.red)
painter.drawText(
sp, 2 * sp,
translate("ProgramItem", "Block") + " ID: " +
str(self.block_id))
else:
if not self.program_learned and not self.readonly:
painter.setPen(QtCore.Qt.red)
painter.drawText(
sp, 2 * sp,
translate("ProgramItem", "Program") + " ID: " +
str(self.ph.get_program_id()))
pen = QtGui.QPen()
pen.setStyle(QtCore.Qt.NoPen)
painter.setPen(pen)
painter.setBrush(QtCore.Qt.gray)
painter.setOpacity(0.5)
painter.drawRoundedRect(QtCore.QRect(0, 0, self.w, self.h), 5.0, 5.0)
class ProgramListItem(Item):
def __init__(self,
scene,
x,
y,
program_headers,
learned_dict,
selected_program_id=None,
program_selected_cb=None):
self.w = 100
self.h = 100
self.program_headers = program_headers
self.learned_dict = learned_dict
self.program_selected_cb = program_selected_cb
super(ProgramListItem, self).__init__(scene, x, y)
self.w = self.m2pix(0.2)
self.h = self.m2pix(0.25)
self.fixed = False
self.setZValue(100)
data = []
self.map_from_idx_to_program_id = {}
self.map_from_program_id_to_idx = {}
for ph in self.program_headers:
data.append("ID: " + str(ph.id) + "\nName: " + ph.name)
idx = len(data) - 1
self.map_from_idx_to_program_id[idx] = ph.id
self.map_from_program_id_to_idx[ph.id] = idx
self.list = ListItem(scene,
0,
0,
0.2 - 2 * 0.005,
data,
self.item_selected_cb,
parent=self)
for idx in range(0, len(data)):
if not self.learned_dict[self.map_from_idx_to_program_id[idx]]:
self.list.items[idx].set_background_color(QtCore.Qt.red)
self.run_btn = ButtonItem(scene, 0, 0, translate("ProgramItem", "Run"),
self, self.run_btn_cb)
self.edit_btn = ButtonItem(scene, 0, 0,
translate("ProgramItem",
"Edit"), self, self.edit_btn_cb)
self.template_btn = ButtonItem(scene, 0, 0,
translate("ProgramItem", "Template"),
self, self.template_btn_cb)
self.run_btn.set_enabled(False)
self.edit_btn.set_enabled(False)
self.template_btn.set_enabled(False)
if selected_program_id is not None:
self.list.set_current_idx(
self.map_from_program_id_to_idx[selected_program_id])
sp = self.m2pix(0.005)
h = 50
self.list.setPos(sp, h)
h += self.list._height()
h += 2 * sp
self._place_childs_horizontally(
h, sp, [self.run_btn, self.edit_btn, self.template_btn])
h += self.run_btn._height()
h += 3 * sp
self.h = h
self.update()
def item_selected_cb(self):
if self.list.selected_item_idx is None:
self.run_btn.set_enabled(False)
self.edit_btn.set_enabled(False)
self.template_btn.set_enabled(False)
else:
pid = self.map_from_idx_to_program_id[self.list.selected_item_idx]
self.run_btn.setEnabled(self.learned_dict[pid])
self.edit_btn.set_enabled(True)
self.template_btn.set_enabled(True)
def get_current_header(self):
return self.program_headers[self.list.selected_item_idx]
def run_btn_cb(self, btn):
if self.program_selected_cb is not None:
self.program_selected_cb(self.get_current_header().id, run=True)
def edit_btn_cb(self, btn):
if self.program_selected_cb is not None:
self.program_selected_cb(self.get_current_header().id)
def template_btn_cb(self, btn):
if self.program_selected_cb is not None:
self.program_selected_cb(self.get_current_header().id,
template=True)
def boundingRect(self):
return QtCore.QRectF(0, 0, self.w, self.h)
def paint(self, painter, option, widget):
if not self.scene():
return
painter.setClipRect(option.exposedRect)
painter.setRenderHint(QtGui.QPainter.Antialiasing)
font = QtGui.QFont('Arial', 14)
painter.setFont(font)
painter.setPen(QtCore.Qt.white)
sp = self.m2pix(0.01)
painter.drawText(sp, 2 * sp,
translate("ProgramListItem", "Program list"))
pen = QtGui.QPen()
pen.setStyle(QtCore.Qt.NoPen)
painter.setPen(pen)
painter.setBrush(QtCore.Qt.gray)
painter.setOpacity(0.5)
painter.drawRoundedRect(QtCore.QRect(0, 0, self.w, self.h), 5.0, 5.0)
class ProgramListItem(Item):
def __init__(
self,
scene,
x,
y,
program_headers,
learned_dict,
selected_program_id=None,
program_selected_cb=None,
program_selection_changed_cb=None):
self.w = 100
self.h = 100
self.program_headers = program_headers
self.learned_dict = learned_dict
self.program_selected_cb = program_selected_cb
self.program_selection_changed_cb = program_selection_changed_cb
super(ProgramListItem, self).__init__(scene, x, y)
self.w = self.m2pix(0.2)
self.h = self.m2pix(0.25)
self.fixed = False
self.setZValue(100)
title = DescItem(self.scene(), 0, 0, self)
title.set_content(translate("ProgramListItem", "Program list"), 1.2)
title.setPos(QtCore.QPointF(self.m2pix(0.01), self.m2pix(0.01))) # TODO it should take coords given to __init__
data = []
self.map_from_idx_to_program_id = {}
self.map_from_program_id_to_idx = {}
self.program_headers.sort(key=lambda p: p.id)
for ph in self.program_headers:
data.append("Program " + str(ph.id) + "\n" + ph.name)
idx = len(data) - 1
self.map_from_idx_to_program_id[idx] = ph.id
self.map_from_program_id_to_idx[ph.id] = idx
self.list = ListItem(scene, 0, 0, 0.2 - 2 * 0.005, data, self.item_selected_cb, parent=self)
for idx in range(0, len(data)):
if not self.learned_dict[self.map_from_idx_to_program_id[idx]]:
self.list.items[idx].set_background_color(QtCore.Qt.red)
rospack = rospkg.RosPack()
icons_path = rospack.get_path('art_projected_gui') + '/icons/'
self.run_btn = ButtonItem(scene, 0, 0, "BTN", self, self.run_btn_cb, image_path=icons_path + "run.svg")
self.edit_btn = ButtonItem(scene, 0, 0, "BTN", self, self.edit_btn_cb, image_path=icons_path + "edit.svg")
self.template_btn = ButtonItem(scene, 0, 0, "BTN", self, self.template_btn_cb,
image_path=icons_path + "template.svg")
self.visualize_btn = ButtonItem(scene, 0, 0, "BTN", self, self.visualize_btn_cb,
image_path=icons_path + "visualize.svg")
self.run_btn.set_enabled(False)
self.edit_btn.set_enabled(False)
self.template_btn.set_enabled(False)
self.visualize_btn.set_enabled(False)
if selected_program_id is not None:
self.list.set_current_idx(self.map_from_program_id_to_idx[selected_program_id])
sp = self.m2pix(0.005)
# h = title.mapToParent(title.boundingRect().bottomLeft()).y() + sp
h = 0
self.list.setPos(sp, h)
h += self.list._height()
h += 2 * sp
btns = (self.run_btn, self.edit_btn, self.template_btn, self.visualize_btn)
self._place_childs_horizontally(h, sp, btns)
h += self.run_btn._height()
h += 3 * sp
self.h = h
self.setFlag(QtGui.QGraphicsItem.ItemIsMovable, True)
self.setFlag(QtGui.QGraphicsItem.ItemIsSelectable, True)
self.update()
def item_selected_cb(self):
if self.list.selected_item_idx is None:
self.run_btn.set_enabled(False)
self.edit_btn.set_enabled(False)
self.template_btn.set_enabled(False)
self.visualize_btn.set_enabled(False)
if self.program_selection_changed_cb:
self.program_selection_changed_cb(None)
else:
pid = self.map_from_idx_to_program_id[self.list.selected_item_idx]
self.run_btn.setEnabled(self.learned_dict[pid])
for ph in self.program_headers:
if ph.id == pid:
self.edit_btn.set_enabled(not ph.readonly)
break
self.template_btn.set_enabled(True)
self.visualize_btn.set_enabled(True)
if self.program_selection_changed_cb:
self.program_selection_changed_cb(ph.id, ro=ph.readonly, learned=self.learned_dict[ph.id])
def get_current_header(self):
return self.program_headers[self.list.selected_item_idx]
def run_btn_cb(self, btn):
if self.program_selected_cb is not None:
self.program_selected_cb(self.get_current_header().id, run=True)
def edit_btn_cb(self, btn):
if self.program_selected_cb is not None:
self.program_selected_cb(self.get_current_header().id)
def visualize_btn_cb(self, btn):
if self.program_selected_cb is not None:
self.program_selected_cb(self.get_current_header().id, visualize=True)
def template_btn_cb(self, btn):
if self.program_selected_cb is not None:
self.program_selected_cb(self.get_current_header().id, template=True)
def boundingRect(self):
return QtCore.QRectF(0, 0, self.w, self.h)
def paint(self, painter, option, widget):
if not self.scene():
return
painter.setClipRect(option.exposedRect)
painter.setRenderHint(QtGui.QPainter.Antialiasing)
pen = QtGui.QPen()
pen.setStyle(QtCore.Qt.NoPen)
painter.setPen(pen)
painter.setBrush(QtCore.Qt.gray)
painter.setOpacity(0.5)
painter.drawRoundedRect(QtCore.QRect(0, 0, self.w, self.h), 5.0, 5.0)
class ProgramItem(Item):
def __init__(self,
scene,
x,
y,
program_helper,
instruction,
ih,
done_cb=None,
item_switched_cb=None,
learning_request_cb=None,
pause_cb=None,
cancel_cb=None,
stopped=False,
visualize=False,
v_visualize_cb=None,
v_back_cb=None,
vis_pause_cb=None,
vis_stop_cb=None,
vis_replay_cb=None,
vis_back_to_blocks_cb=None):
self.w = 100
self.h = 100
self.instruction = instruction
self.ih = ih
self.done_cb = done_cb
self.item_switched_cb = item_switched_cb
self.learning_request_cb = learning_request_cb
self.pause_cb = pause_cb
self.cancel_cb = cancel_cb
self.readonly = False
self.stopped = stopped
# variables for HoloLens visualization
self.visualize = visualize
self.visualization_paused = False
# callbacks for visualization buttons
self.v_visualize_cb = v_visualize_cb
self.v_back_cb = v_back_cb
self.vis_pause_cb = vis_pause_cb
self.vis_stop_cb = vis_stop_cb
self.vis_replay_cb = vis_replay_cb
self.vis_back_to_blocks_cb = vis_back_to_blocks_cb
super(ProgramItem, self).__init__(scene, x, y)
self.title = DescItem(self.scene(), 0, 0, self)
# TODO it should take coords given to __init__
self.title.setPos(QtCore.QPointF(self.m2pix(0.01), self.m2pix(0.01)))
self.w = self.m2pix(0.2)
self.h = self.m2pix(0.25)
self.sp = self.m2pix(0.005)
self.ph = program_helper
self.block_id = None
self.item_id = None
self.block_learned = False
self.program_learned = False
# block "view"
self.block_finished_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.block_finished_btn_cb,
image_path=icons_path +
"back.svg")
self.block_edit_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.block_edit_btn_cb,
image_path=icons_path + "edit.svg")
self.block_on_success_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.block_on_success_btn_cb,
image_path=icons_path +
"success.svg")
self.block_on_failure_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.block_on_failure_btn_cb,
image_path=icons_path +
"failure.svg")
# block "view" when in visualization
self.program_visualize_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "Visualize Program"),
self, self.program_visualize_btn_cb)
self.block_visualize_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "Visualize Block"),
self, self.block_visualize_btn_cb)
self.block_back_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Back"),
self, self.block_back_btn_cb)
bdata = []
self.blocks_map = {} # map from indexes (key) to block_id (value)
self.blocks_map_rev = {}
for i in range(len(self.ph.get_program().blocks)):
bmsg = self.ph.get_program().blocks[i]
bdata.append(
translate("ProgramItem",
"Block %1\n%2\nSuccess: %3, failure: %4").arg(
bmsg.id).arg(bmsg.name).arg(bmsg.on_success).arg(
bmsg.on_failure))
idx = len(bdata) - 1
self.blocks_map[idx] = bmsg.id
self.blocks_map_rev[bmsg.id] = idx
self.blocks_list = ListItem(self.scene(),
0,
0,
0.2 - 2 * 0.005,
bdata,
self.block_selected_cb,
parent=self)
for k, v in self.blocks_map.iteritems():
self._update_block(v)
y = self.title.mapToParent(self.title.boundingRect().bottomLeft()).y()
self.blocks_list.setPos(self.sp, y)
y += self.blocks_list._height() + self.sp
if visualize:
self._place_childs_horizontally(y, self.sp, [
self.program_visualize_btn, self.block_visualize_btn,
self.block_back_btn
])
y += self.block_visualize_btn._height() + self.sp
self.block_back_btn.set_enabled(True)
self.block_visualize_btn.set_enabled(False)
self.program_visualize_btn.set_enabled(True)
# hide edit block buttons
group_visible(
(self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn, self.block_on_success_btn), False)
else:
self._place_childs_horizontally(y, self.sp, [
self.block_edit_btn, self.block_on_success_btn,
self.block_on_failure_btn, self.block_finished_btn
])
y += self.block_finished_btn._height() + self.sp
group_enable((self.block_edit_btn, self.block_on_failure_btn,
self.block_on_success_btn), False)
# hide visualization block buttons
group_visible((self.block_visualize_btn,
self.program_visualize_btn, self.block_back_btn),
False)
self.h = y
# items "view"
self.item_edit_btn = ButtonItem(self.scene(),
0,
0,
translate("ProgramItem", "Ed"),
self,
self.item_edit_btn_cb,
image_path=icons_path + "edit.svg")
self.item_run_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.item_run_btn_cb,
image_path=icons_path + "run.svg")
self.item_on_success_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.item_on_success_btn_cb,
image_path=icons_path +
"success.svg")
self.item_on_failure_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.item_on_failure_btn_cb,
image_path=icons_path +
"failure.svg")
self.item_finished_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.item_finished_btn_cb,
image_path=icons_path + "back.svg")
self.items_list = None
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), False)
# readonly (program running) "view"
self.pr_pause_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.pr_pause_btn_cb,
image_path=icons_path + "pause.svg")
if self.stopped:
self.pr_pause_btn.set_image(icons_path + "run.svg")
self.pr_cancel_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.pr_cancel_btn_cb,
image_path=icons_path + "stop.svg")
group_visible((self.pr_pause_btn, self.pr_cancel_btn), False)
# buttons for HoloLens visualization
self.vis_pause_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Resume"),
self, self.vis_pause_btn_cb)
# quick hack .. init button with 'Resume' caption and switch back to
# 'Pause' to keep the button large enough for text switching
if not self.visualization_paused:
self.vis_pause_btn.set_caption(translate("ProgramItem", "Pause"))
self.vis_stop_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Stop"), self,
self.vis_stop_btn_cb)
self.vis_replay_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Replay"),
self, self.vis_replay_btn_cb)
self.vis_back_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "Back to blocks"),
self, self.vis_back_btn_cb)
group_visible((self.vis_pause_btn, self.vis_stop_btn,
self.vis_replay_btn, self.vis_back_btn), False)
self.fixed = False
self.editing_item = False
self.edit_request = False
self.run_request = False
self.setFlag(QtGui.QGraphicsItem.ItemIsMovable, True)
self.setFlag(QtGui.QGraphicsItem.ItemIsSelectable, True)
self.setZValue(100)
self._update_learned()
self.update()
if self.item_switched_cb:
self.item_switched_cb(None, None, blocks=True)
def _update_title(self):
color = QtCore.Qt.white
if self.items_list is not None:
if not self.block_learned and not self.readonly:
color = QtCore.Qt.red
self.title.set_content(translate(
"ProgramItem", "Program %1, block %2").arg(
self.ph.get_program_id()).arg(self.block_id),
scale=1.2,
color=color)
else:
if not self.program_learned and not self.readonly:
color = QtCore.Qt.red
self.title.set_content(translate("ProgramItem", "Program %1").arg(
self.ph.get_program_id()),
scale=1.2,
color=color)
def pr_pause_btn_cb(self, btn):
if self.pause_cb is not None:
ret = self.pause_cb()
if ret:
# set disabled and wait for state update
self.set_enabled(False)
def pr_cancel_btn_cb(self, btn):
if self.cancel_cb is not None:
ret = self.cancel_cb()
if ret:
# set disabled and wait for state update
self.set_enabled(False)
def vis_pause_btn_cb(self, btn):
# callback which notifies HoloLens that pause/resume button was hit
if self.vis_pause_cb is not None:
self.vis_pause_cb(self.visualization_paused)
# if visualization is paused .. then resume it - e.g. hit RESUME button
if self.visualization_paused:
self.visualization_paused = False
self.vis_pause_btn.set_caption(translate("ProgramItem", "Pause"))
# or visualization is running .. then pause it - e.g. hit PAUSE button
else:
self.visualization_paused = True
self.vis_pause_btn.set_caption(translate("ProgramItem", "Resume"))
def vis_stop_btn_cb(self, btn):
# callback which notifies HoloLens that stop button was hit
if self.vis_stop_cb is not None:
self.vis_stop_cb()
# make sure that visualization is not paused and handle it's button caption properly
if self.visualization_paused:
self.visualization_paused = False
self.vis_pause_btn.set_caption(translate("ProgramItem", "Pause"))
group_enable((self.vis_stop_btn, self.vis_pause_btn), False)
group_enable((self.vis_replay_btn, self.vis_back_btn), True)
def vis_replay_btn_cb(self, btn):
# callback which notifies HoloLens that replay button was hit
if self.vis_replay_cb is not None:
self.vis_replay_cb()
group_enable((self.vis_stop_btn, self.vis_pause_btn), True)
group_enable((self.vis_replay_btn, self.vis_back_btn), False)
def vis_back_btn_cb(self, btn):
# callback which notifies HoloLens that visualization ended
if self.vis_back_to_blocks_cb is not None:
self.vis_back_to_blocks_cb()
# go back to blocks view from visualization
group_visible((self.block_visualize_btn, self.program_visualize_btn,
self.block_back_btn, self.blocks_list), True)
self.block_back_btn.set_enabled(True)
self.program_visualize_btn.set_enabled(True)
self.show_visualization_buttons(False)
self.block_selected_cb(
) # TODO extract method to set buttons to proper state
self.blocks_list.setEnabled(True)
self.scene().removeItem(self.items_list)
self.items_list = None
self.item_id = None
if self.item_switched_cb is not None:
self.item_switched_cb(*self.cid)
self.update()
def _update_learned(self):
if self.block_id is not None:
self.block_learned = self.ph.block_learned(self.block_id)
self.program_learned = self.ph.program_learned()
self._update_title()
def set_readonly(self, readonly):
self.readonly = readonly
if self.readonly:
if self.items_list is not None:
self.items_list.setVisible(True)
self.items_list.setEnabled(False)
self.blocks_list.set_enabled(False, True)
group_visible(
(self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn, self.block_on_success_btn), False)
group_enable((self.pr_pause_btn, self.pr_cancel_btn), True)
else:
# TODO
pass
self.update()
def set_program_btns_enabled(self, state):
group_enable((self.pr_pause_btn, self.pr_cancel_btn), state)
def set_active(self, block_id, item_id):
# print "set_active", block_id, item_id
old_block_id = self.block_id
self.block_id = block_id
self.item_id = item_id
if old_block_id != self.block_id and item_id is not None:
# remove old list first
self.scene().removeItem(self.items_list)
self.items_list = None
# init new one
self._init_items_list()
if self.item_id is not None:
self.items_list.set_current_idx(self.items_map_rev[self.item_id],
select=True)
self._handle_item_btns()
group_visible(
(self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn, self.block_on_success_btn,
self.block_visualize_btn, self.program_visualize_btn,
self.block_back_btn, self.blocks_list), False)
else:
self.blocks_list.set_current_idx(
self.blocks_map_rev[self.block_id], select=True)
self._update_title()
def get_text_for_item(self, block_id, item_id):
item = self.ph.get_item_msg(block_id, item_id)
text = str(item.id)
text += " | "
# TODO deal with long strings
if item.name:
text += item.name
else:
text += self.ih[item.type].gui.learn.NAME
if len(item.ref_id) > 0:
if self.ph.item_has_nothing_to_set(block_id, item_id):
text += translate("ProgramItem",
" (copy of %1)").arg(item.ref_id[0])
# else:
# text += translate("ProgramItem", " (refers to %1)").arg(', '.join(str(x) for x in item.ref_id))
if item.type in self.ih.properties.using_object:
(obj, ref_id) = self.ph.get_object(block_id, item_id)
text += "\n"
if self.ph.is_object_set(block_id, item_id):
obj_txt = obj[0]
else:
obj_txt = "??"
text += translate("ProgramItem",
" Object type: %1").arg(obj_txt)
if ref_id != item_id:
text += translate("ProgramItem",
" (same as in %1)").arg(ref_id)
# instruction-specific additional text
# TODO it should use different class when running?
text += self.ih[item.type].gui.learn.get_text(self.ph, block_id,
item_id)
text += "\n"
text += translate("ProgramItem", " Success: %1, failure: %2").arg(
item.on_success).arg(item.on_failure)
return text
def show_visualization_buttons(self, buttons_visible):
"""Shows or hides buttons for visualization mode for HoloLens"""
group_visible((self.vis_pause_btn, self.vis_stop_btn,
self.vis_replay_btn, self.vis_back_btn),
buttons_visible)
def _init_items_list(self):
idata = []
self.items_map = {} # map from indexes (key) to item_id (value)
self.items_map_rev = {}
bmsg = self.ph.get_block_msg(self.block_id)
for i in range(len(bmsg.items)):
item_id = bmsg.items[i].id
idata.append(self.get_text_for_item(self.block_id, item_id))
self.items_map[i] = item_id
self.items_map_rev[item_id] = i
self.items_list = ListItem(self.scene(),
0,
0,
0.2 - 2 * 0.005,
idata,
self.item_selected_cb,
parent=self)
for k, v in self.items_map.iteritems():
if self.ph.get_item_msg(
self.block_id,
v).type in self.ih.properties.runnable_during_learning:
self._update_item(self.block_id, v)
else:
self.items_list.items[k].set_enabled(False)
y = self.title.mapToParent(
self.title.boundingRect().bottomLeft()).y() + self.sp
self.items_list.setPos(self.sp, y)
y += self.items_list._height() + self.sp
# in running state
if self.readonly:
self.items_list.setEnabled(False)
self._place_childs_horizontally(
y, self.sp, [self.pr_pause_btn, self.pr_cancel_btn])
y += self.pr_pause_btn._height() + 3 * self.sp
pr = (self.pr_pause_btn, self.pr_cancel_btn)
group_enable(pr, True)
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), False)
self.show_visualization_buttons(False)
# going to HoloLens visualization
elif self.visualize:
self.items_list.setEnabled(False)
self._place_childs_horizontally(
y, self.sp,
[self.vis_pause_btn, self.vis_stop_btn, self.vis_replay_btn])
y += self.vis_back_btn._height() + self.sp
self._place_childs_horizontally(y, self.sp, [self.vis_back_btn])
y += self.vis_back_btn._height() + 3 * self.sp
self.show_visualization_buttons(True)
group_enable((self.vis_pause_btn, self.vis_stop_btn), True)
self.vis_back_btn.set_enabled(False)
group_visible((self.pr_pause_btn, self.pr_cancel_btn), False)
group_visible((self.item_run_btn, self.item_on_success_btn,
self.item_on_failure_btn, self.item_edit_btn),
False)
# in learning state
else:
btns = (self.item_edit_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_finished_btn)
self._place_childs_horizontally(y, self.sp, btns)
y += max(btn._height() for btn in btns)
y += self.sp
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), True)
self.item_finished_btn.setEnabled(True)
group_enable((self.item_run_btn, self.item_on_failure_btn,
self.item_on_success_btn, self.item_on_failure_btn),
False)
group_visible((self.pr_pause_btn, self.pr_cancel_btn), False)
self.show_visualization_buttons(False)
self.h = y
self._update_title()
self.update()
if self.item_switched_cb:
self.item_switched_cb(self.block_id, self.item_id, blocks=False)
def block_edit_btn_cb(self, btn):
group_visible((self.block_finished_btn, self.block_edit_btn,
self.item_on_success_btn, self.block_on_failure_btn,
self.block_on_success_btn, self.blocks_list), False)
self._init_items_list()
def block_visualize_btn_cb(self, btn):
group_visible((self.block_visualize_btn, self.program_visualize_btn,
self.block_back_btn, self.blocks_list), False)
# callback which notifies HoloLens that visualization started
if self.v_visualize_cb is not None:
self.v_visualize_cb(visualize_whole_program=False)
self._init_items_list()
def program_visualize_btn_cb(self, btn):
group_visible((self.block_visualize_btn, self.program_visualize_btn,
self.block_back_btn, self.blocks_list), False)
# callback which notifies HoloLens that visualization started
if self.v_visualize_cb is not None:
self.v_visualize_cb(visualize_whole_program=True)
self.block_id = self.ph.get_first_block_id()
self._init_items_list()
# go back from block view visualization into main menu
def block_back_btn_cb(self, btn):
group_visible((self.block_visualize_btn, self.program_visualize_btn,
self.block_back_btn), False)
# callback which notifies HoloLens that visualization ended
if self.v_back_cb is not None:
self.v_back_cb()
def block_selected_cb(self):
if self.blocks_list.selected_item_idx is not None:
self.block_id = self.blocks_map[self.blocks_list.selected_item_idx]
self.block_on_failure_btn.set_enabled(
self.ph.get_block_on_failure(self.block_id) != 0)
self.block_on_success_btn.set_enabled(
self.ph.get_block_on_success(self.block_id) != 0)
self.block_edit_btn.set_enabled(True)
self.block_visualize_btn.set_enabled(True)
if self.item_switched_cb:
self.item_switched_cb(self.block_id, None, blocks=True)
self._update_learned()
else:
self.block_id = None
self.item_id = None
self.block_edit_btn.set_enabled(False)
self.block_on_failure_btn.set_enabled(False)
self.block_on_success_btn.set_enabled(False)
self.block_visualize_btn.set_enabled(False)
if self.item_switched_cb is not None:
self.item_switched_cb(self.block_id, None, blocks=True)
@property
def cid(self):
"""Shortcut for accessing program item"""
return self.block_id, self.item_id
def _handle_item_btns(self):
# print ("_handle_item_btns, self.editing_item: " + str(self.editing_item))
if not self.editing_item:
of = self.ph.get_id_on_failure(*self.cid)
os = self.ph.get_id_on_success(*self.cid)
self.item_on_failure_btn.set_enabled(
of[0] != 0
and not (of[0] == self.block_id and of[1] == self.item_id))
self.item_on_success_btn.set_enabled(
os[0] != 0
and not (os[0] == self.block_id and os[1] == self.item_id))
self.item_run_btn.set_enabled(self._item_runnable())
self.item_edit_btn.set_enabled(self._item_editable())
else:
self.item_edit_btn.set_enabled(True)
self.item_edit_btn.set_image(icons_path + "save.svg")
group_enable((self.item_finished_btn, self.items_list), False)
self.item_run_btn.set_enabled(False)
group_visible((self.pr_cancel_btn, self.pr_pause_btn), False)
def _item_runnable(self):
if self.ph.item_requires_learning(*self.cid):
return self.ph.item_learned(*self.cid)
return self.ph.get_item_msg(
*self.cid).type in self.ih.properties.runnable_during_learning
def _item_editable(self):
if not self.ph.item_requires_learning(*self.cid):
return False
if self.ph.item_takes_params_from_ref(
*self.cid) and not self.ph.ref_params_learned(*self.cid):
return False
if self.ph.get_item_type(*self.cid) in self.ih.properties.place | self.ih.properties.ref_to_pick and not \
self.ph.ref_pick_learned(*self.cid)[0]:
return False
return True
def item_selected_cb(self):
# print ("self.items_list.selected_item_idx", self.items_list.selected_item_idx)
if self.items_list.selected_item_idx is not None:
self.item_id = self.items_map[self.items_list.selected_item_idx]
self._handle_item_btns()
self._update_learned()
else:
self.item_id = None
group_enable((self.item_run_btn, self.item_on_success_btn,
self.item_on_failure_btn, self.item_edit_btn), False)
if self.item_switched_cb is not None:
self.item_switched_cb(*self.cid)
def block_on_failure_btn_cb(self, btn):
self.set_active(self.ph.get_block_on_failure(self.block_id), None)
def block_on_success_btn_cb(self, btn):
self.set_active(self.ph.get_block_on_success(self.block_id), None)
def block_finished_btn_cb(self, btn):
if self.done_cb is not None:
self.done_cb()
def item_finished_btn_cb(self, btn):
# go back to blocks view
group_visible((self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn, self.block_on_success_btn,
self.blocks_list), True)
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), False)
self.block_selected_cb(
) # TODO extract method to set buttons to proper state
self.blocks_list.setEnabled(True)
self.block_finished_btn.setEnabled(True)
self.scene().removeItem(self.items_list)
self.items_list = None
self.item_id = None
if self.item_switched_cb is not None:
self.item_switched_cb(*self.cid)
self._update_title()
self.update()
def item_on_failure_btn_cb(self, btn):
of = self.ph.get_id_on_failure(*self.cid)
self.set_active(*of)
if self.item_switched_cb is not None:
self.item_switched_cb(*of)
def item_on_success_btn_cb(self, btn):
of = self.ph.get_id_on_success(*self.cid)
self.set_active(*of)
if self.item_switched_cb is not None:
self.item_switched_cb(*of)
def item_run_btn_cb(self, btn):
self.run_request = True
self.set_enabled(False)
self.learning_request_cb(LearningRequestGoal.EXECUTE_ITEM)
def item_edit_btn_cb(self, btn):
self.edit_request = True
# call action / disable all, wait for result (callback), enable editing
if not self.editing_item:
self.learning_request_cb(LearningRequestGoal.GET_READY)
else:
self.learning_request_cb(LearningRequestGoal.DONE)
self.set_enabled(False)
def learning_request_result(self, success):
self.set_enabled(True)
# TODO no success, no editing
if self.edit_request:
self.edit_request = False
if not self.editing_item:
self.editing_item = True
self.item_edit_btn.set_image(icons_path + "save.svg")
group_enable(
(self.item_finished_btn, self.items_list,
self.item_on_failure_btn, self.item_on_success_btn),
False)
else:
self.editing_item = False
self.item_edit_btn.set_image(icons_path + "edit.svg")
group_enable((self.item_finished_btn, self.items_list), True)
self._update_learned()
self._handle_item_btns()
elif self.run_request:
self.run_request = False
if self.item_switched_cb is not None:
self.item_switched_cb(self.block_id, self.item_id,
not self.editing_item)
def boundingRect(self):
return QtCore.QRectF(0, 0, self.w, self.h)
def set_place_pose(self, place):
msg = self.get_current_item()
assert len(msg.pose) > 0
msg.pose[0].pose.position.x = place.position[0]
msg.pose[0].pose.position.y = place.position[1]
msg.pose[0].pose.position.z = place.position[2]
msg.pose[0].pose.orientation = conversions.a2q(place.quaternion)
self._update_item()
'''
Method which saves place poses of all objects (in the grid) into the ProgramItem message.
'''
def set_place_poses(self, poses):
msg = self.get_current_item()
poses_count = len(poses)
msg_poses_count = len(msg.pose)
# TODO nemel by byt pocet objektu v gridu spis fixni (dany strukturou programu)?
if poses_count > msg_poses_count:
for i in range(poses_count - msg_poses_count):
ps = PoseStamped()
msg.pose.append(ps)
elif poses_count < msg_poses_count:
for i in range(msg_poses_count - poses_count):
msg.pose.pop()
for i, pose in enumerate(poses):
pos = pose.get_pos()
msg.pose[i].pose.position.x = pos[0]
msg.pose[i].pose.position.y = pos[1]
msg.pose[i].pose.orientation = conversions.yaw2quaternion(
pose.rotation())
self._update_item()
def set_pose(self, ps):
msg = self.get_current_item()
assert len(msg.pose) > 0
msg.pose[0] = ps
self._update_item()
def update_pose(self, ps, idx):
msg = self.get_current_item()
msg.pose[idx] = ps
self._update_item()
def clear_poses(self):
for ps in self.get_current_item().pose:
ps.pose = Pose()
self._update_item()
def get_poses_count(self):
msg = self.get_current_item()
return len(msg.pose)
def set_object(self, obj):
msg = self.get_current_item()
assert len(msg.object) > 0
msg.object[0] = obj
self._update_item()
def set_polygon(self, pts):
msg = self.get_current_item()
assert len(msg.polygon) > 0
del msg.polygon[0].polygon.points[:]
for pt in pts:
msg.polygon[0].polygon.points.append(Point32(pt[0], pt[1], 0))
self._update_item()
'''
Method which saves 4 points forming a grid into the ProgramItem message.
'''
def set_place_grid(self, pts):
msg = self.get_current_item()
assert len(msg.polygon) > 0
del msg.polygon[0].polygon.points[:]
for pt in pts:
msg.polygon[0].polygon.points.append(Point32(pt[0], pt[1], 0))
self._update_item()
def _update_block(self, block_id):
idx = self.blocks_map_rev[block_id]
if self.ph.block_learned(block_id):
self.blocks_list.items[idx].set_background_color()
else:
self.blocks_list.items[idx].set_background_color(QtCore.Qt.red)
def _update_item(self, block_id=None, item_id=None):
if block_id is None:
block_id = self.block_id
# need to update all items in block as there might be various dependencies (ref_id)
for idx, item_id in self.items_map.iteritems():
if self.ph.item_learned(block_id, item_id) or \
(self.ph.get_item_msg(block_id, item_id).type in self.ih.properties.runnable_during_learning and
not self.ih.requires_learning(self.ph.get_item_msg(block_id, item_id).type)):
self.items_list.items[idx].set_background_color()
else:
self.items_list.items[idx].set_background_color(QtCore.Qt.red)
self.items_list.items[idx].set_caption(
self.get_text_for_item(block_id, item_id))
self._update_block(block_id)
def get_current_item(self):
if self.block_id is not None and self.item_id is not None:
return self.ph.get_item_msg(*self.cid)
return None
def paint(self, painter, option, widget):
if not self.scene():
return
painter.setClipRect(option.exposedRect)
painter.setRenderHint(QtGui.QPainter.Antialiasing)
pen = QtGui.QPen()
pen.setStyle(QtCore.Qt.NoPen)
painter.setPen(pen)
painter.setBrush(QtCore.Qt.gray)
painter.setOpacity(0.5)
painter.drawRoundedRect(QtCore.QRect(0, 0, self.w, self.h), 5.0, 5.0)
class ProgramItem(Item):
def __init__(self,
scene,
x,
y,
program_helper,
done_cb=None,
item_switched_cb=None,
learning_request_cb=None,
pause_cb=None,
cancel_cb=None,
stopped=False):
self.w = 100
self.h = 100
self.done_cb = done_cb
self.item_switched_cb = item_switched_cb
self.learning_request_cb = learning_request_cb
self.pause_cb = pause_cb
self.cancel_cb = cancel_cb
self.readonly = False
self.stopped = stopped
super(ProgramItem, self).__init__(scene, x, y)
self.w = self.m2pix(0.2)
self.h = self.m2pix(0.25)
self.sp = self.m2pix(0.005)
self.ph = program_helper
self.block_id = None
self.item_id = None
self.block_learned = False
self.program_learned = False
# block "view"
self.block_finished_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Done"),
self, self.block_finished_btn_cb)
self.block_edit_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Edit"),
self, self.block_edit_btn_cb)
self.block_on_failure_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "On fail"), self,
self.block_on_failure_btn)
bdata = []
self.blocks_map = {} # map from indexes (key) to block_id (value)
self.blocks_map_rev = {}
for i in range(len(self.ph.get_program().blocks)):
bmsg = self.ph.get_program().blocks[i]
bdata.append(
translate("ProgramItem",
"Block %1\n%2").arg(bmsg.id).arg(bmsg.name))
idx = len(bdata) - 1
self.blocks_map[idx] = bmsg.id
self.blocks_map_rev[bmsg.id] = idx
self.blocks_list = ListItem(self.scene(),
0,
0,
0.2 - 2 * 0.005,
bdata,
self.block_selected_cb,
parent=self)
for k, v in self.blocks_map.iteritems():
self._update_block(v)
y = 50
self.blocks_list.setPos(self.sp, y)
y += self.blocks_list._height() + self.sp
self._place_childs_horizontally(y, self.sp, [
self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn
])
y += self.block_finished_btn._height() + self.sp
group_enable((self.block_edit_btn, self.block_on_failure_btn), False)
self.h = y
# items "view"
self.item_edit_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Edit"), self,
self.item_edit_btn_cb)
self.item_run_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Run"), self,
self.item_run_btn_cb)
self.item_on_success_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem",
"On S"), self,
self.item_on_success_btn_cb)
self.item_on_failure_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem",
"On F"), self,
self.item_on_failure_btn_cb)
self.item_finished_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "Back to blocks"),
self, self.item_finished_btn_cb)
self.items_list = None
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), False)
# readonly (program running) "view"
self.pr_pause_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Pause"), self,
self.pr_pause_btn_cb)
if self.stopped:
self.pr_pause_btn.set_caption(translate("ProgramItem", "Resume"))
self.pr_cancel_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Stop"), self,
self.pr_cancel_btn_cb)
group_visible((self.pr_pause_btn, self.pr_cancel_btn), False)
self.fixed = False
self.editing_item = False
self.edit_request = False
self.run_request = False
self.setFlag(QtGui.QGraphicsItem.ItemIsMovable, True)
self.setFlag(QtGui.QGraphicsItem.ItemIsSelectable, True)
self.setZValue(100)
self._update_learned()
self.update()
if self.item_switched_cb:
self.item_switched_cb(None, None, blocks=True)
def pr_pause_btn_cb(self, btn):
if self.pause_cb is not None:
ret = self.pause_cb()
if ret:
# set disabled and wait for state update
self.set_enabled(False)
def pr_cancel_btn_cb(self, btn):
if self.cancel_cb is not None:
ret = self.cancel_cb()
if ret:
# set disabled and wait for state update
self.set_enabled(False)
def _update_learned(self):
if self.block_id is not None:
self.block_learned = self.ph.block_learned(self.block_id)
self.program_learned = self.ph.program_learned()
def set_readonly(self, readonly):
self.readonly = readonly
if self.readonly:
if self.items_list is not None:
self.items_list.setVisible(True)
self.items_list.setEnabled(False)
self.blocks_list.set_enabled(False, True)
group_visible((self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn), False)
group_enable((self.pr_pause_btn, self.pr_cancel_btn), True)
else:
# TODO
pass
self.update()
def set_program_btns_enabled(self, state):
group_enable((self.pr_pause_btn, self.pr_cancel_btn), state)
def set_active(self, block_id, item_id):
old_block_id = self.block_id
self.block_id = block_id
self.item_id = item_id
if old_block_id != self.block_id:
self._init_items_list()
self.items_list.set_current_idx(self.items_map_rev[self.item_id],
select=True)
self._handle_item_btns()
if self.item_id is not None:
group_visible((self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn), False)
def get_text_for_item(self, block_id, item_id):
item = self.ph.get_item_msg(block_id, item_id)
text = str(item.id)
text += " | "
if item.type == ProgIt.GET_READY:
text += translate("ProgramItem", "GET_READY").toUpper()
elif item.type == ProgIt.WAIT_FOR_USER:
text += translate("ProgramItem", "WAIT_FOR_USER").toUpper()
elif item.type == ProgIt.WAIT_UNTIL_USER_FINISHES:
text += translate("ProgramItem",
"WAIT_UNTIL_USER_FINISHES").toUpper()
elif item.type == ProgIt.PICK_FROM_POLYGON:
text += translate("ProgramItem", "PICK_FROM_POLYGON").toUpper()
elif item.type == ProgIt.PICK_FROM_FEEDER:
text += translate("ProgramItem", "PICK_FROM_FEEDER").toUpper()
elif item.type == ProgIt.PLACE_TO_POSE:
text += translate("ProgramItem", "PLACE_TO_POSE").toUpper()
text += ' ' + translate("ProgramItem",
"object from step %1").toUpper().arg(
item.ref_id[0])
elif item.type == ProgIt.PLACE_TO_GRID:
text += translate("ProgramItem", "PLACE_TO_GRID").toUpper()
elif item.type == ProgIt.DRILL_POINTS:
text += translate("ProgramItem", "DRILL POINTS").toUpper()
if len(item.ref_id) > 0:
if self.ph.item_has_nothing_to_set(block_id, item_id):
text += translate("ProgramItem",
" (copy of %1)").arg(item.ref_id[0])
# else:
# text += translate("ProgramItem", " (refers to %1)").arg(', '.join(str(x) for x in item.ref_id))
if item.type in self.ph.ITEMS_USING_OBJECT:
(obj, ref_id) = self.ph.get_object(block_id, item_id)
text += "\n"
if self.ph.is_object_set(block_id, item_id):
obj_txt = obj[0]
else:
obj_txt = "??"
text += translate("ProgramItem",
" Object type: %1").arg(obj_txt)
if ref_id != item_id:
text += translate("ProgramItem",
" (same as in %1)").arg(ref_id)
if item.type == ProgIt.DRILL_POINTS:
ps, ref_id = self.ph.get_pose(block_id, item_id)
ps_learned = 0.0
for i in range(len(ps)):
if self.ph.is_pose_set(block_id, item_id, i):
ps_learned += 1
text += translate("ProgramItem",
" learned poses: %1/%2").arg(ps_learned).arg(
len(ps))
if item.type == ProgIt.PICK_FROM_FEEDER:
text += "\n"
if self.ph.is_pose_set(block_id, item_id):
text += translate("ProgramItem", " Pose stored.")
else:
text += translate("ProgramItem", " Pose has to be set.")
text += "\n"
text += translate("ProgramItem", " Success: %1, failure: %2").arg(
item.on_success).arg(item.on_failure)
return text
def _init_items_list(self):
idata = []
self.items_map = {} # map from indexes (key) to item_id (value)
self.items_map_rev = {}
bmsg = self.ph.get_block_msg(self.block_id)
for i in range(len(bmsg.items)):
item_id = bmsg.items[i].id
idata.append(self.get_text_for_item(self.block_id, item_id))
self.items_map[i] = item_id
self.items_map_rev[item_id] = i
self.items_list = ListItem(self.scene(),
0,
0,
0.2 - 2 * 0.005,
idata,
self.item_selected_cb,
parent=self)
for k, v in self.items_map.iteritems():
if self.ph.item_requires_learning(self.block_id, v):
self._update_item(self.block_id, v)
else:
self.items_list.items[k].set_enabled(False)
y = 50
self.items_list.setPos(self.sp, y)
y += self.items_list._height() + self.sp
if not self.readonly:
self._place_childs_horizontally(y, self.sp, [
self.item_edit_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn
])
y += self.item_finished_btn._height() + self.sp
self._place_childs_horizontally(y, self.sp,
[self.item_finished_btn])
y += self.item_finished_btn._height() + 3 * self.sp
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), True)
self.item_finished_btn.setEnabled(True)
group_enable((self.item_run_btn, self.item_on_failure_btn,
self.item_on_success_btn, self.item_on_failure_btn),
False)
group_visible((self.pr_pause_btn, self.pr_cancel_btn), False)
else:
self.items_list.setEnabled(False)
self._place_childs_horizontally(
y, self.sp, [self.pr_pause_btn, self.pr_cancel_btn])
y += self.pr_pause_btn._height() + 3 * self.sp
pr = (self.pr_pause_btn, self.pr_cancel_btn)
group_enable(pr, True)
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), False)
self.h = y
self.update()
if self.item_switched_cb:
self.item_switched_cb(self.block_id, None, blocks=False)
def block_edit_btn_cb(self, btn):
group_visible((self.block_finished_btn, self.block_edit_btn,
self.item_on_success_btn, self.block_on_failure_btn,
self.blocks_list), False)
self._init_items_list()
def block_selected_cb(self):
if self.blocks_list.selected_item_idx is not None:
self.block_id = self.blocks_map[self.blocks_list.selected_item_idx]
if self.ph.get_block_on_failure(self.block_id) != 0:
self.block_on_failure_btn.set_enabled(True)
else:
self.block_on_failure_btn.set_enabled(False)
self.block_edit_btn.set_enabled(True)
if self.item_switched_cb:
self.item_switched_cb(self.block_id, None, blocks=True)
self._update_learned()
else:
self.block_id = None
self.item_id = None
self.block_edit_btn.set_enabled(False)
self.block_on_failure_btn.set_enabled(False)
if self.item_switched_cb is not None:
self.item_switched_cb(self.block_id, None, blocks=True)
def _handle_item_btns(self):
# print ("_handle_item_btns, self.editing_item: " + str(self.editing_item))
if not self.editing_item:
of = self.ph.get_id_on_failure(self.block_id, self.item_id)
os = self.ph.get_id_on_success(self.block_id, self.item_id)
self.item_on_failure_btn.set_enabled(
of[0] != 0
and not (of[0] == self.block_id and of[1] == self.item_id))
self.item_on_success_btn.set_enabled(
os[0] != 0
and not (os[0] == self.block_id and os[1] == self.item_id))
if self.ph.item_requires_learning(
self.block_id, self.item_id) and self.ph.item_learned(
self.block_id, self.item_id):
self.item_run_btn.set_enabled(True)
else:
self.item_run_btn.set_enabled(False)
# TODO place pose with object through ref_id - disable Edit when object is not set
self.item_edit_btn.set_enabled(
self.ph.item_requires_learning(self.block_id, self.item_id)
and not self.ph.item_has_nothing_to_set(
self.block_id, self.item_id))
else:
self.item_edit_btn.set_enabled(True)
self.item_edit_btn.set_caption(translate("ProgramItem", "Done"))
group_enable((self.item_finished_btn, self.items_list), False)
self.item_run_btn.set_enabled(False)
group_visible((self.pr_cancel_btn, self.pr_pause_btn), False)
def item_selected_cb(self):
# print ("self.items_list.selected_item_idx", self.items_list.selected_item_idx)
if self.items_list.selected_item_idx is not None:
self.item_id = self.items_map[self.items_list.selected_item_idx]
self._handle_item_btns()
self._update_learned()
else:
self.item_id = None
group_enable((self.item_run_btn, self.item_on_success_btn,
self.item_on_failure_btn, self.item_edit_btn), False)
if self.item_switched_cb is not None:
self.item_switched_cb(self.block_id, self.item_id)
def block_on_failure_btn(self, btn):
self.set_active(
*self.ph.get_id_on_failure(self.block_id, self.item_id))
def block_finished_btn_cb(self, btn):
if self.done_cb is not None:
self.done_cb()
def item_finished_btn_cb(self, btn):
# go back to blocks view
group_visible((self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn, self.blocks_list), True)
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), False)
self.block_selected_cb(
) # TODO extract method to set buttons to proper state
self.blocks_list.setEnabled(True)
self.block_finished_btn.setEnabled(True)
self.scene().removeItem(self.items_list)
self.items_list = None
self.item_id = None
if self.item_switched_cb is not None:
self.item_switched_cb(self.block_id, self.item_id)
self.update()
def item_on_failure_btn_cb(self, btn):
of = self.ph.get_id_on_failure(self.block_id, self.item_id)
self.set_active(*of)
if self.item_switched_cb is not None:
self.item_switched_cb(*of)
def item_on_success_btn_cb(self, btn):
of = self.ph.get_id_on_success(self.block_id, self.item_id)
self.set_active(*of)
if self.item_switched_cb is not None:
self.item_switched_cb(*of)
def item_run_btn_cb(self, btn):
self.run_request = True
self.set_enabled(False)
self.learning_request_cb(LearningRequestGoal.EXECUTE_ITEM)
def item_edit_btn_cb(self, btn):
self.edit_request = True
# call action / disable all, wait for result (callback), enable editing
if not self.editing_item:
self.learning_request_cb(LearningRequestGoal.GET_READY)
else:
self.learning_request_cb(LearningRequestGoal.DONE)
self.set_enabled(False)
def learning_request_result(self, success):
self.set_enabled(True)
# TODO no success, no editing
if self.edit_request:
self.edit_request = False
if not self.editing_item:
self.editing_item = True
self.item_edit_btn.set_caption(translate(
"ProgramItem", "Done"))
group_enable(
(self.item_finished_btn, self.items_list,
self.item_on_failure_btn, self.item_on_success_btn),
False)
else:
self.editing_item = False
self.item_edit_btn.set_caption(translate(
"ProgramItem", "Edit"))
group_enable((self.item_finished_btn, self.items_list), True)
self._update_learned()
self._handle_item_btns()
elif self.run_request:
self.run_request = False
if self.item_switched_cb is not None:
self.item_switched_cb(self.block_id, self.item_id,
not self.editing_item)
def boundingRect(self):
return QtCore.QRectF(0, 0, self.w, self.h)
def set_place_pose(self, place):
msg = self.get_current_item()
assert len(msg.pose) > 0
msg.pose[0].pose.position.x = place.position[0]
msg.pose[0].pose.position.y = place.position[1]
msg.pose[0].pose.position.z = place.position[2]
msg.pose[0].pose.orientation = conversions.a2q(place.quaternion)
self._update_item()
'''
Method which saves place poses of all objects (in the grid) into the ProgramItem message.
'''
def set_place_poses(self, poses):
msg = self.get_current_item()
poses_count = len(poses)
msg_poses_count = len(msg.pose)
# TODO nemel by byt pocet objektu v gridu spis fixni (dany strukturou programu)?
if poses_count > msg_poses_count:
for i in range(poses_count - msg_poses_count):
ps = PoseStamped()
msg.pose.append(ps)
elif poses_count < msg_poses_count:
for i in range(msg_poses_count - poses_count):
msg.pose.pop()
for i, pose in enumerate(poses):
pos = pose.get_pos()
msg.pose[i].pose.position.x = pos[0]
msg.pose[i].pose.position.y = pos[1]
msg.pose[i].pose.orientation = conversions.yaw2quaternion(
pose.rotation())
self._update_item()
def set_pose(self, ps):
msg = self.get_current_item()
assert len(msg.pose) > 0
msg.pose[0] = ps
self._update_item()
def update_pose(self, ps, idx):
msg = self.get_current_item()
msg.pose[idx] = ps
self._update_item()
def clear_poses(self):
for ps in self.get_current_item().pose:
ps.pose = Pose()
self._update_item()
def get_poses_count(self):
msg = self.get_current_item()
return len(msg.pose)
def set_object(self, obj):
msg = self.get_current_item()
assert len(msg.object) > 0
msg.object[0] = obj
self._update_item()
def set_polygon(self, pts):
msg = self.get_current_item()
assert len(msg.polygon) > 0
del msg.polygon[0].polygon.points[:]
for pt in pts:
msg.polygon[0].polygon.points.append(Point32(pt[0], pt[1], 0))
self._update_item()
'''
Method which saves 4 points forming a grid into the ProgramItem message.
'''
def set_place_grid(self, pts):
msg = self.get_current_item()
assert len(msg.polygon) > 0
del msg.polygon[0].polygon.points[:]
for pt in pts:
msg.polygon[0].polygon.points.append(Point32(pt[0], pt[1], 0))
self._update_item()
def _update_block(self, block_id):
idx = self.blocks_map_rev[block_id]
if self.ph.block_learned(block_id):
self.blocks_list.items[idx].set_background_color()
else:
self.blocks_list.items[idx].set_background_color(QtCore.Qt.red)
def _update_item(self, block_id=None, item_id=None):
if block_id is None:
block_id = self.block_id
# need to update all items in block as there might be various dependencies (ref_id)
for idx, item_id in self.items_map.iteritems():
if self.ph.item_learned(block_id, item_id):
self.items_list.items[idx].set_background_color()
else:
self.items_list.items[idx].set_background_color(QtCore.Qt.red)
self.items_list.items[idx].set_caption(
self.get_text_for_item(block_id, item_id))
self._update_block(block_id)
def get_current_item(self):
if self.block_id is not None and self.item_id is not None:
return self.ph.get_item_msg(self.block_id, self.item_id)
return None
def paint(self, painter, option, widget):
if not self.scene():
return
painter.setClipRect(option.exposedRect)
painter.setRenderHint(QtGui.QPainter.Antialiasing)
font = QtGui.QFont('Arial', 14)
painter.setFont(font)
painter.setPen(QtCore.Qt.white)
# TODO measure text size / use label
sp = self.m2pix(0.01)
if self.items_list is not None:
if not self.block_learned and not self.readonly:
painter.setPen(QtCore.Qt.red)
painter.drawText(
sp, 2 * sp,
translate("ProgramItem", "Program %1, block %2").arg(
self.ph.get_program_id()).arg(self.block_id))
else:
if not self.program_learned and not self.readonly:
painter.setPen(QtCore.Qt.red)
painter.drawText(
sp, 2 * sp,
translate("ProgramItem",
"Program %1").arg(self.ph.get_program_id()))
pen = QtGui.QPen()
pen.setStyle(QtCore.Qt.NoPen)
painter.setPen(pen)
painter.setBrush(QtCore.Qt.gray)
painter.setOpacity(0.5)
painter.drawRoundedRect(QtCore.QRect(0, 0, self.w, self.h), 5.0, 5.0)