def closeEvent(self, event):
settings = QSettings("OCS", self._name)
settings.setValue("mainWindowGeometry", self.saveGeometry())
msg = Int8()
msg.data = -self._window
self._window_control_pub.publish(msg)
event.ignore()
def closeEvent(self, event):
settings = QSettings("OCS", "joint_control")
settings.setValue("mainWindowGeometry", self.saveGeometry())
msg = Int8()
msg.data = -self._window
self._window_control_pub.publish(msg)
event.ignore()
def moveEvent(self, event):
settings = QSettings("OCS", "joint_control")
settings.setValue("mainWindowGeometry", self.saveGeometry())
def moveEvent(self, event):
settings = QSettings("OCS", self._name)
settings.setValue("mainWindowGeometry", self.saveGeometry())
class LaunchWidget(QDialog):
# To be connected to PluginContainerWidget
sig_sysmsg = Signal(str)
def __init__(self, parent):
"""
@type parent: LaunchMain
"""
super(LaunchWidget, self).__init__()
self._parent = parent
self._config = None
self._settings = QSettings('ros', 'rqt_launch')
self._settings.sync()
self._package_update = False
self._launchfile_update = False
# TODO: should be configurable from gui
self._port_roscore = 11311
self._run_id = None
self._rospack = rospkg.RosPack()
ui_file = os.path.join(
self._rospack.get_path('rqt_launch'), 'resource', 'launch_widget.ui'
)
loadUi(ui_file, self)
# row=0 allows any number of rows to be added.
self._datamodel = QStandardItemModel(0, 1)
master_uri = rosenv.get_master_uri()
rospy.loginfo('LaunchWidget master_uri={}'.format(master_uri))
self._delegate = NodeDelegate(master_uri, self._rospack)
self._treeview.setModel(self._datamodel)
self._treeview.setItemDelegate(self._delegate)
# NodeController used in controller class for launch operation.
self._node_controllers = []
self._pushbutton_load_params.clicked.connect(self._parent.load_params)
self._pushbutton_start_all.clicked.connect(self._parent.start_all)
self._pushbutton_stop_all.clicked.connect(self._parent.stop_all)
self._pushbutton_refresh.clicked.connect(
self._update_pkgs_contain_launchfiles
)
# Bind package selection with .launch file selection.
self._combobox_pkg.currentIndexChanged[str].connect(
self._refresh_launchfiles
)
# Bind a launch file selection with launch GUI generation.
self._combobox_launchfile_name.currentIndexChanged[str].connect(
self._load_launchfile_slot
)
self._update_pkgs_contain_launchfiles()
def _load_launchfile_slot(self, launchfile_name):
# Not yet sure why, but everytime combobox.currentIndexChanged occurs,
# this method gets called twice with launchfile_name=='' in 1st call.
if (
launchfile_name is None
or launchfile_name == ''
or self._launchfile_update
):
return
self._settings.setValue('launchfile_name', launchfile_name)
self._settings.sync()
_config = None
rospy.logdebug(
'_load_launchfile_slot launchfile_name={}'.format(launchfile_name)
)
try:
_config = self._create_launchconfig(
launchfile_name, self._port_roscore
)
# TODO: folder_name_launchfile should be able to specify arbitrarily
# _create_launchconfig takes 3rd arg for it.
except IndexError as e:
msg = 'IndexError={} launchfile={}'.format(e, launchfile_name)
rospy.logerr(msg)
self.sig_sysmsg.emit(msg)
return
except RLException as e:
msg = 'RLException={} launchfile={}'.format(e, launchfile_name)
rospy.logerr(msg)
self.sig_sysmsg.emit(msg)
return
self._create_widgets_for_launchfile(_config)
def _create_launchconfig(
self, launchfile_name, port_roscore, folder_name_launchfile='launch'
):
"""
@rtype: ROSLaunchConfig
@raises RLException: raised by roslaunch.config.load_config_default.
"""
pkg_name = self._combobox_pkg.currentText()
try:
launchfile = os.path.join(
self._rospack.get_path(pkg_name),
folder_name_launchfile,
launchfile_name,
)
except IndexError as e:
raise RLException('IndexError: {}'.format(e))
try:
launch_config = roslaunch.config.load_config_default(
[launchfile], port_roscore
)
except rospkg.common.ResourceNotFound as e:
raise RLException('ResourceNotFound: {}'.format(e))
except RLException as e:
raise e
return launch_config
def _create_widgets_for_launchfile(self, config):
self._config = config
# Delete old nodes' GUIs.
del self._node_controllers[:]
self._delegate.clear_node_widgets()
# reset the data model
self._datamodel.clear()
self._datamodel.setColumnCount(1)
self._datamodel.setRowCount(len(self._config.nodes))
# Loop per xml element
for i, node in enumerate(self._config.nodes):
proxy = NodeProxy(self._run_id, self._config.master.uri, node)
nodewidget_index = self._datamodel.index(i, 0, QModelIndex())
node_widget = self._delegate.create_node_widget(
nodewidget_index, proxy.config, StatusIndicator()
)
# TODO: use tree view delegates correctly instead of
# empty QStandardItemModel
self._datamodel.setItem(i, QStandardItem())
self._treeview.setIndexWidget(nodewidget_index, node_widget)
node_controller = NodeController(proxy, node_widget)
self._node_controllers.append(node_controller)
rospy.logdebug(
'loop #%d proxy.config.namespace=%s ' + 'proxy.config.name=%s',
i,
proxy.config.namespace,
proxy.config.name,
)
self._parent.set_node_controllers(self._node_controllers)
def _update_pkgs_contain_launchfiles(self):
"""
Inspired by rqt_msg.MessageWidget._update_pkgs_contain_launchfiles
"""
self._package_update = True
packages = sorted(
[
pkg_tuple[0]
for pkg_tuple in RqtRoscommUtil.iterate_packages('launch')
]
)
self._package_list = packages
rospy.logdebug('pkgs={}'.format(self._package_list))
previous_package = self._settings.value('package', '')
self._combobox_pkg.clear()
self._combobox_pkg.addItems(self._package_list)
if previous_package in self._package_list:
index = self._package_list.index(previous_package)
else:
index = 0
self._package_update = False
self._combobox_pkg.setCurrentIndex(index)
def _refresh_launchfiles(self, package=None):
"""
Inspired by rqt_msg.MessageWidget._refresh_msgs
"""
if package is None or len(package) == 0 or self._package_update:
return
self._launchfile_update = True
previous_launchfile = self._settings.value('launchfile_name', '')
self._settings.setValue('package', package)
self._settings.sync()
self._launchfile_instances = [] # Launch[]
# TODO: RqtRoscommUtil.list_files's 2nd arg 'subdir' should NOT be
# hardcoded later.
_launch_instance_list = RqtRoscommUtil.list_files(package, 'launch')
rospy.logdebug(
'_refresh_launches package={} instance_list={}'.format(
package, _launch_instance_list
)
)
self._launchfile_instances = [
x.split('/')[1] for x in _launch_instance_list
]
self._combobox_launchfile_name.clear()
self._combobox_launchfile_name.addItems(self._launchfile_instances)
if previous_launchfile in self._launchfile_instances:
index = self._launchfile_instances.index(previous_launchfile)
else:
index = 0
self._launchfile_update = False
self._combobox_launchfile_name.setCurrentIndex(index)
def load_parameters(self):
"""
Loads all global parameters into roscore.
"""
run_id = (
self._run_id
if self._run_id is not None
else roslaunch.rlutil.get_or_generate_uuid(None, True)
)
runner = roslaunch.ROSLaunchRunner(run_id, self._config)
runner._load_parameters()
msg = 'Loaded %d parameters to parameter server.' % len(
self._config.params
)
self.sig_sysmsg.emit(msg)
rospy.logdebug(msg)
def save_settings(self, plugin_settings, instance_settings):
# instance_settings.set_value('splitter', self._splitter.saveState())
pass
def restore_settings(self, plugin_settings, instance_settings):
# if instance_settings.contains('splitter'):
# self._splitter.restoreState(instance_settings.value('splitter'))
# else:
# self._splitter.setSizes([100, 100, 200])
pass
class AnnotatorWidget(QWidget):
"""
Annotator tool viewer
"""
#name = 'Annotator'
set_status_text = Signal(str)
def __init__(self, context, bag_widget, publish_clock):
super(AnnotatorWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_bag_meri_annotator'),
'resource', 'MeriPlugin.ui')
loadUi(ui_file, self, {'AnnotatorGraphicsView': AnnotatorGraphicsView})
self.setObjectName('AnnotatorWidget')
self.setMouseTracking(True)
self.annotation_data = list()
self.interaction_time = 120.0
self.bag_widget = bag_widget
self.bagtimeline = self.bag_widget._timeline
self._child_index = 0
self.settings = QSettings("UFES", "MERI Annotator Widget")
#self.settings.setValue("Last_child_index",self._child_index)
self.instance = vlc.Instance()
self.mediaplayer = self.instance.media_player_new()
self.isPaused = False
self.msgBox = QMessageBox()
self.msgBox.setIcon(QMessageBox.Information)
self.msgBox.setWindowTitle('Annotator Interface Information')
self.msgBox.setStandardButtons(QMessageBox.Ok)
self.BtnSaveJson.clicked.connect(self.BtnSaveJsonClicked)
self.BtnLoadJson.clicked.connect(self.BtnLoadJsonClicked)
self.BtnNext.clicked.connect(self.BtnNextClicked)
self.BtnSetupBag.clicked.connect(self.BtnSetupBagClicked)
self.BtnPrevious.clicked.connect(self.BtnPreviousClicked)
self.BtnZero.clicked.connect(self.BtnZeroClicked)
self.BtnOne.clicked.connect(self.BtnOneClicked)
self.BtnTwo.clicked.connect(self.BtnTwoClicked)
self.BtnAimLess.clicked.connect(self.BtnAimLessClicked)
self.BtnGoalOriented.clicked.connect(self.BtnGoalOrientedClicked)
self.BtnRobotStarted.clicked.connect(self.BtnRobotStartedClicked)
self.BtnPointing.clicked.connect(self.BtnPointingClicked)
self.BtnFollowLor.clicked.connect(self.BtnFollowLorClicked)
self.BtnAdultSeek.clicked.connect(self.BtnAdultSeekClicked)
self.BtnECTwC.clicked.connect(self.BtnECTwCClicked)
self.BtnECTwR.clicked.connect(self.BtnECTwRClicked)
self.BtnECTwT.clicked.connect(self.BtnECTwTClicked)
self.BtnPlay.clicked.connect(self.BtnPlayClicked)
self.BtnPause.clicked.connect(self.BtnPauseClicked)
self.BtnStop.clicked.connect(self.BtnStopClicked)
self.BtnPlay.setIcon(QIcon.fromTheme('media-playback-start'))
self.BtnPause.setIcon(QIcon.fromTheme('media-playback-pause'))
self.BtnLoadJson.setIcon(QIcon.fromTheme('document-open'))
self.BtnSaveJson.setIcon(QIcon.fromTheme('document-save'))
self.BtnStop.setIcon(QIcon.fromTheme('media-playback-stop'))
self.BtnNext.setIcon(QIcon.fromTheme('go-next'))
self.BtnSetupBag.setIcon(QIcon.fromTheme('document-properties'))
self.BtnPrevious.setIcon(QIcon.fromTheme('go-previous'))
def BtnSaveJsonClicked(self):
if self.SpecialistName.text() == "":
self.msgBox.setText(
'Please register your name in the <html><b> Specialist_Name </b></html> box'
)
retval = self.msgBox.exec_()
else:
if len(self.annotation_data) == 0:
self.msgBox.setText('No annotation has been recorded')
retval = self.msgBox.exec_()
else:
annotationfile = [
self.SpecialistName.text() + "_annotation_" +
self._child_data[self._child_index]['ID'] + ".json"
]
annotationfile_path = os.path.join(os.path.expanduser('~'),
'Documents',
'Annotation_files',
annotationfile[0])
if os.path.exists(annotationfile_path):
self.msgBox.setText(
'<html><b>' + self.SpecialistName.text() +
'</b></html> already recorder annotations for child: <html><b>'
+ self._child_data[self._child_index]['ID'] +
'</b></html>')
retval = self.msgBox.exec_()
else:
with open(annotationfile_path, "w") as write_file:
json.dump(self.annotation_data, write_file)
self.msgBox.setText('Annotation File: <html><b>' +
annotationfile[0] +
'</b></html> Saved!')
retval = self.msgBox.exec_()
def BtnLoadJsonClicked(self):
self._child_data = None
json_path = self.settings.value("Last_path")
if json_path == "":
json_path = os.path.join(os.path.expanduser('~'), 'Documents')
json_file = QFileDialog.getOpenFileName(self, "Open JSON File",
json_path)
self.settings.setValue("Last_path", json_file[0])
with open(json_file[0]) as f:
self._child_data = json.load(f)
if self.settings.value("Last_child_index") is not None:
self._child_index = int(self.settings.value("Last_child_index"))
if self._child_index > len(self._child_data) - 1:
self._child_index = 0
self.LineChildId.setText(self._child_data[self._child_index]['ID'])
self.msgBox.setText('Json Data of <html><b>' +
str(len(self._child_data)) +
'</b></html> Children were loaded')
retval = self.msgBox.exec_()
def BtnNextClicked(self):
if self._child_index < len(self._child_data) - 1:
self._child_index = self._child_index + 1
self.LineChildId.setText(self._child_data[self._child_index]['ID'])
self.settings.setValue("Last_child_index", self._child_index)
def BtnPreviousClicked(self):
if self._child_index > 0:
self._child_index = self._child_index - 1
self.LineChildId.setText(self._child_data[self._child_index]['ID'])
self.settings.setValue("Last_child_index", self._child_index)
def BtnSetupBagClicked(self):
kinect2_a_bag_name = 'image_kinect2_a_' + self._child_data[
self._child_index]['Kinect_a']
kinect2_b_bag_name = 'image_kinect2_b_' + self._child_data[
self._child_index]['Kinect_b']
focus_bag_name = 'focus_data_' + self._child_data[
self._child_index]['Focus']
k2a_bag_file = os.path.join(os.path.expanduser('~'), "Documents",
"hg_rosbag", "test_files",
kinect2_a_bag_name)
k2b_bag_file = os.path.join(os.path.expanduser('~'), "Documents",
"hg_rosbag", "test_files",
kinect2_b_bag_name)
focus_bag_file = os.path.join(os.path.expanduser('~'), "Documents",
"hg_rosbag", "test_files",
focus_bag_name)
self.bag_widget.load_bag(k2a_bag_file)
self.bag_widget.load_bag(k2b_bag_file)
#self.bag_widget.load_bag(focus_bag_file)
audio_file_name = self._child_data[
self._child_index]['Picture(jpg)/Audio(mp3)'] + '.mp3'
audio_media_file = os.path.join(os.path.expanduser('~'), "Documents",
"hg_rosbag", "audios", audio_file_name)
self.OpenAudioMedia(audio_media_file)
if self.checkCutBag.isChecked() == True:
last_path = self.settings.value("Last_path")
acronym_file = last_path[len(last_path) - 9:len(last_path) - 5]
if acronym_file[0] == "s":
config_name = ["cwa" + acronym_file + "_rs.json"]
elif acronym_file[0] == "o":
config_name = ["cw" + acronym_file + "_rs.json"]
config_path = os.path.join(os.path.expanduser('~'), 'Documents',
config_name[0])
with open(config_path) as f:
bag_config = json.load(f)
if float(bag_config[self._child_index]
['Sec']) > self.interaction_time:
self.bagtimeline._timeline_frame._start_stamp = self.bagtimeline._timeline_frame._start_stamp + rospy.Duration.from_sec(
float(bag_config[self._child_index]['Sec']) -
self.interaction_time)
self.annotation_data.append({
'key': 'Robot Started',
'time_stamp': 0,
'Sec': self.interaction_time
})
else:
self.annotation_data.append({
'key':
'Robot Started',
'time_stamp':
0,
'Sec':
float(bag_config[self._child_index]['Sec'])
})
if (self.bagtimeline._timeline_frame._end_stamp -
self.bagtimeline._timeline_frame._start_stamp
) > rospy.Duration.from_sec(self.interaction_time * 2):
self.bagtimeline._timeline_frame._end_stamp = self.bagtimeline._timeline_frame._start_stamp + rospy.Duration.from_sec(
self.interaction_time * 2)
def BtnZeroClicked(self):
task = self.ComBoxTask.currentText() + " 0 pts"
self.AnnotationYamlCreator(task)
def BtnOneClicked(self):
task = self.ComBoxTask.currentText() + " 1 pts"
self.AnnotationYamlCreator(task)
def BtnTwoClicked(self):
task = self.ComBoxTask.currentText() + " 2 pts"
self.AnnotationYamlCreator(task)
def BtnAimLessClicked(self):
self.AnnotationYamlCreator('AimLess')
def BtnGoalOrientedClicked(self):
self.AnnotationYamlCreator('Goal Oriented')
def BtnRobotStartedClicked(self):
self.AnnotationYamlCreator('Robot Started')
def BtnPointingClicked(self):
self.AnnotationYamlCreator('Pointing')
def BtnFollowLorClicked(self):
self.AnnotationYamlCreator('Following LoR')
def BtnAdultSeekClicked(self):
self.AnnotationYamlCreator('AdultSeek')
def BtnECTwCClicked(self):
self.AnnotationYamlCreator('Eye Contact TwC')
def BtnECTwRClicked(self):
self.AnnotationYamlCreator('Eye Contact TwR')
def BtnECTwTClicked(self):
self.AnnotationYamlCreator('Eye Contact TwT')
def BtnPlayClicked(self):
self.bag_widget.play_button.setChecked(True)
self.bag_widget.play_button.setIcon(self.bag_widget.pause_icon)
self.bagtimeline.navigate_play()
self.mediaplayer.play()
def BtnPauseClicked(self):
self.bag_widget.play_button.setChecked(False)
self.bag_widget.play_button.setIcon(self.bag_widget.play_icon)
self.bagtimeline.navigate_stop()
self.mediaplayer.pause()
def BtnStopClicked(self):
self.bag_widget.play_button.setChecked(False)
self.bag_widget.play_button.setIcon(self.bag_widget.play_icon)
self.bagtimeline.navigate_stop()
self.bagtimeline.navigate_start()
self.mediaplayer.stop()
def AnnotationYamlCreator(self, Annotation):
playhead_time = self.bagtimeline._timeline_frame.playhead
self.annotation_data.append({
'key':
Annotation,
'time_stamp':
playhead_time.to_nsec(),
'Sec': (playhead_time -
self.bagtimeline._timeline_frame.start_stamp).to_sec()
})
def OpenAudioMedia(self, filename=None):
"""Open a media file in a MediaPlayer
"""
self.media = self.instance.media_new(filename)
# put the media in the media player
self.mediaplayer.set_media(self.media)
def shutdown_all(self):
self.bagtimeline.handle_close()
self.mediaplayer.stop()
pass
class RqtLgsvlSimulatorConfiguratorPlugin(Plugin):
def __init__(self, context):
super(RqtLgsvlSimulatorConfiguratorPlugin, self).__init__(context)
rospack = rospkg.RosPack()
self.settings = QSettings(
rospack.get_path('lgsvl_simulator_bridge') + "/config/setting.dat",
QSettings.IniFormat)
# Give QObjects reasonable names
self.setObjectName('RqtLgsvlSimulatorConfiguratorPlugin')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print('arguments: ', args)
print('unknowns: ', unknowns)
# Create QWidget
self._widget = QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(
rospkg.RosPack().get_path('lgsvl_simulator_bridge'), 'resource',
'LgsvlSimulatorConfigratorPlugin.ui')
# Extend the widget with all atrributes and children from UI File
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('RqtLgsvlSimulatorConfiguratorPluginUi')
# Show _widget.windowTitle on left-top of each plugin(when it's set in _widget).
# This is useful when you open multiple plugins aat once. Also if you open multiple
# instances of your plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' %d' % context.serial_number()))
# Add widget to the user interface
self.settings.beginGroup("simulator_params")
context.add_widget(self._widget)
ip = self.settings.value('ip')
if ip != None:
self._widget.ip_box.setText(ip)
port = self.settings.value('port')
if port != None:
self._widget.port_box.setText(port)
config_path = self.settings.value('config_path')
if config_path != None:
self._widget.configpath_box.setText(config_path)
self.settings.endGroup()
self.json_dict = {}
self.instance_id = ""
self.is_remote = False
self._widget.button_config_ref.clicked[bool].connect(
self._handle_config_ref_button_clicked)
self._widget.button_config.clicked[bool].connect(
self._handle_config_button_clicked)
self._widget.launch_button.clicked[bool].connect(
self._handle_launch_button_clicked)
self._widget.terminate_button.clicked[bool].connect(
self._handle_terminate_button_clicked)
def shutdown_plugin(self):
# TODO unregister all publishers here
pass
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.get_value(k, v)
pass
def restore_settings(self, pluign_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
def _handle_launch_button_clicked(self):
if str(self._widget.ip_box.text()) == "localhost" or str(
self._widget.ip_box.text()) == "0.0.0.0" or str(
self._widget.ip_box.text()) == "127.0.0.1":
cmd = [
"roslaunch", "lgsvl_simulator_bridge", "lgsvl_simulator.launch"
]
self.proc = subprocess.Popen(cmd, stdout=subprocess.PIPE)
self._widget.launch_button.setStyleSheet(
"background-color: #8fb8e0")
self._widget.terminate_button.setStyleSheet(
"background-color: #FFFFFF")
self.is_remote = False
return
else:
cmd = ["roslaunch", "lgsvl_simulator_bridge", "bridge.launch"]
self.proc = subprocess.Popen(cmd, stdout=subprocess.PIPE)
address = "http://" + self._widget.ip_box.text(
) + ":" + self._widget.port_box.text() + "/simulator/launch"
self.settings.beginGroup("simulator_params")
self.settings.setValue("ip", self._widget.ip_box.text())
self.settings.setValue("port", self._widget.port_box.text())
self.settings.endGroup()
try:
response = requests.post(address, json=self.json_dict)
self.instance_id = response.json()[u'instance_id']
except:
self._widget.launch_button.setStyleSheet(
"background-color: #F5A9A9")
return
self.is_remote = False
self._widget.launch_button.setStyleSheet("background-color: #8fb8e0")
self._widget.terminate_button.setStyleSheet(
"background-color: #FFFFFF")
def _handle_config_ref_button_clicked(self):
rospack = rospkg.RosPack()
fname = QFileDialog.getOpenFileName(
self._widget, 'Open file',
rospack.get_path('lgsvl_simulator_bridge') + '/config')
self._widget.configpath_box.setText(fname[0])
def _handle_config_button_clicked(self):
path = self._widget.configpath_box.text()
try:
f = open(path, "r+")
self.json_dict = json.load(f)
self.settings.beginGroup("simulator_params")
self.settings.setValue("config_path", path)
self.settings.endGroup()
except:
self._widget.button_config.setStyleSheet(
"background-color: #F5A9A9")
return
self._widget.button_config.setStyleSheet("background-color: #8fb8e0")
def _handle_terminate_button_clicked(self):
address = "http://" + self._widget.ip_box.text(
) + ":" + self._widget.port_box.text() + "/simulator/terminate"
self.settings.beginGroup("simulator_params")
self.settings.setValue("ip", self._widget.ip_box.text())
self.settings.setValue("port", self._widget.port_box.text())
self.settings.endGroup()
if self.instance_id == "" and self.is_remote == True:
return
if self.is_remote == True:
try:
response = requests.post(
address, json={u'instance_id': self.instance_id})
except:
self._widget.terminate_button.setStyleSheet(
"background-color: #F5A9A9")
return
try:
self.proc.terminate()
except:
self._widget.terminate_button.setStyleSheet(
"background-color: #F5A9A9")
return
self._widget.terminate_button.setStyleSheet(
"background-color: #8fb8e0")
self._widget.launch_button.setStyleSheet("background-color: #FFFFFF")
class RqtLgsvlSimulatorConfiguratorPlugin(Plugin):
def __init__(self, context):
super(RqtLgsvlSimulatorConfiguratorPlugin, self).__init__(context)
rospack = rospkg.RosPack()
self.settings = QSettings(rospack.get_path('lgsvl_simulator_bridge')+"/config/setting.dat",QSettings.IniFormat)
# Give QObjects reasonable names
self.setObjectName('RqtLgsvlSimulatorConfiguratorPlugin')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('lgsvl_simulator_bridge'), 'resource', 'LgsvlSimulatorConfigratorPlugin.ui')
# Extend the widget with all atrributes and children from UI File
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('RqtLgsvlSimulatorConfiguratorPluginUi')
# Show _widget.windowTitle on left-top of each plugin(when it's set in _widget).
# This is useful when you open multiple plugins aat once. Also if you open multiple
# instances of your plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' %d' % context.serial_number()))
# Add widget to the user interface
self.settings.beginGroup("simulator_params")
context.add_widget(self._widget)
ip = self.settings.value('ip')
if ip != None:
self._widget.ip_box.setText(ip)
port = self.settings.value('port')
if port != None:
self._widget.port_box.setText(port)
config_path = self.settings.value('config_path')
if config_path != None:
self._widget.configpath_box.setText(config_path)
self.settings.endGroup()
self.json_dict = {}
self.instance_id = ""
self.is_remote = False
self._widget.button_config_ref.clicked[bool].connect(self._handle_config_ref_button_clicked)
self._widget.button_config.clicked[bool].connect(self._handle_config_button_clicked)
self._widget.launch_button.clicked[bool].connect(self._handle_launch_button_clicked)
self._widget.terminate_button.clicked[bool].connect(self._handle_terminate_button_clicked)
def shutdown_plugin(self):
# TODO unregister all publishers here
pass
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.get_value(k, v)
pass
def restore_settings(self, pluign_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
def _handle_launch_button_clicked(self):
if str(self._widget.ip_box.text()) == "localhost" or str(self._widget.ip_box.text()) == "0.0.0.0" or str(self._widget.ip_box.text()) == "127.0.0.1":
cmd = ["roslaunch","lgsvl_simulator_bridge","lgsvl_simulator.launch"]
self.proc = subprocess.Popen(cmd, stdout=subprocess.PIPE)
self._widget.launch_button.setStyleSheet("background-color: #8fb8e0")
self._widget.terminate_button.setStyleSheet("background-color: #FFFFFF")
self.is_remote = False
return
else:
cmd = ["roslaunch","lgsvl_simulator_bridge","bridge.launch"]
self.proc = subprocess.Popen(cmd, stdout=subprocess.PIPE)
address = "http://" + self._widget.ip_box.text() + ":" + self._widget.port_box.text()+"/simulator/launch"
self.settings.beginGroup("simulator_params")
self.settings.setValue("ip", self._widget.ip_box.text())
self.settings.setValue("port", self._widget.port_box.text())
self.settings.endGroup()
try:
response = requests.post(address,json=self.json_dict)
self.instance_id = response.json()[u'instance_id']
except:
self._widget.launch_button.setStyleSheet("background-color: #F5A9A9")
return
self.is_remote = False
self._widget.launch_button.setStyleSheet("background-color: #8fb8e0")
self._widget.terminate_button.setStyleSheet("background-color: #FFFFFF")
def _handle_config_ref_button_clicked(self):
rospack = rospkg.RosPack()
fname = QFileDialog.getOpenFileName(self._widget, 'Open file', rospack.get_path('lgsvl_simulator_bridge')+'/config')
self._widget.configpath_box.setText(fname[0])
def _handle_config_button_clicked(self):
path = self._widget.configpath_box.text()
try:
f = open(path, "r+")
self.json_dict = json.load(f)
self.settings.beginGroup("simulator_params")
self.settings.setValue("config_path", path)
self.settings.endGroup()
except:
self._widget.button_config.setStyleSheet("background-color: #F5A9A9")
return
self._widget.button_config.setStyleSheet("background-color: #8fb8e0")
def _handle_terminate_button_clicked(self):
address = "http://" + self._widget.ip_box.text() + ":" + self._widget.port_box.text()+"/simulator/terminate"
self.settings.beginGroup("simulator_params")
self.settings.setValue("ip", self._widget.ip_box.text())
self.settings.setValue("port", self._widget.port_box.text())
self.settings.endGroup()
if self.instance_id == "" and self.is_remote == True:
return
if self.is_remote == True:
try:
response = requests.post(address,json={u'instance_id':self.instance_id})
except:
self._widget.terminate_button.setStyleSheet("background-color: #F5A9A9")
return
try:
self.proc.terminate()
except:
self._widget.terminate_button.setStyleSheet("background-color: #F5A9A9")
return
self._widget.terminate_button.setStyleSheet("background-color: #8fb8e0")
self._widget.launch_button.setStyleSheet("background-color: #FFFFFF")
def moveEvent(self, event):
settings = QSettings("OCS", "position_mode")
settings.setValue("mainWindowGeometry", self.saveGeometry())
def resizeEvent(self, event):
settings = QSettings("OCS", "footstep_param_control")
settings.setValue("mainWindowGeometry", self.saveGeometry())
def resizeEvent(self, event):
settings = QSettings("OCS", "pelvis_pose")
settings.setValue("mainWindowGeometry", self.saveGeometry())
def moveEvent(self, event):
settings = QSettings("OCS", self._name)
settings.setValue("mainWindowGeometry", self.saveGeometry())
