class Joint(object):
def __init__(self, name, sensor_bias, control_bias, gearing_bias, controller):
self.name = name
self.sensor_bias = sensor_bias
self.control_bias = control_bias
self.controller = controller
self.gearing_bias = gearing_bias
print "Initial data for joint ",self.name, " biases=(",self.sensor_bias,", ",self.control_bias,")"
self.max_sensor_bias = 3.5
self.min_sensor_bias = -3.5
self.range_sensor_bias = self.max_sensor_bias - self.min_sensor_bias
self.max_control_bias = 0.3
self.min_control_bias = -0.3
self.max_gearing_bias = 1.3
self.min_gearing_bias = 0.7
self.range_gearing_bias = self.max_gearing_bias - self.min_gearing_bias
self.range_control_bias = self.max_control_bias - self.min_control_bias
self.sensor_bias_spinbox = QDoubleSpinBox()
self.sensor_bias_spinbox.setDecimals(4);
self.sensor_bias_spinbox.setRange(self.min_sensor_bias, self.max_sensor_bias)
self.sensor_bias_spinbox.setValue(self.sensor_bias)
self.sensor_bias_spinbox.setSingleStep(self.range_sensor_bias/500)
self.sensor_bias_spinbox.valueChanged.connect(self.on_biasChanged)
self.control_bias_spinbox = QDoubleSpinBox()
self.control_bias_spinbox.setDecimals(4);
self.control_bias_spinbox.setRange(self.min_control_bias, self.max_control_bias)
self.control_bias_spinbox.setSingleStep(self.range_control_bias/50)
self.control_bias_spinbox.setValue(self.control_bias)
self.control_bias_spinbox.valueChanged.connect(self.on_biasChanged)
self.gearing_bias_spinbox = QDoubleSpinBox()
self.gearing_bias_spinbox.setDecimals(4);
self.gearing_bias_spinbox.setRange(self.min_gearing_bias, self.max_gearing_bias)
self.gearing_bias_spinbox.setSingleStep(self.range_gearing_bias/50)
self.gearing_bias_spinbox.setValue(self.gearing_bias)
self.gearing_bias_spinbox.valueChanged.connect(self.on_biasChanged)
def on_biasChanged(self, value):
# grab both if either change
self.sensor_bias = self.sensor_bias_spinbox.value()
self.control_bias = self.control_bias_spinbox.value()
self.gearing_bias = self.gearing_bias_spinbox.value()
joint_state = JointState()
joint_state.name = [self.name];
joint_state.position = [self.sensor_bias];
joint_state.effort = [self.control_bias];
joint_state.velocity = [self.gearing_bias];
print "Set biases:\n ",joint_state
self.controller.parent.parent.bias_pub.publish(joint_state)
def saveData(self, saveFilePtr):
saveFilePtr.write(","+self.name+"/"+str(self.sensor_bias)+"/"+str(self.control_bias)+"/"+str(self.gearing_bias))
class FootstepParamControlWidget(QObject):
def __init__(self, context):
#super(FootstepParamControlDialog, self).__init__(context)
#self.setObjectName('FootstepParamControlDialog')
super(FootstepParamControlWidget, self).__init__()
self.name = 'FootstepParamControlWidget'
#self._widget = QWidget()
self._widget = context
vbox = QVBoxLayout()
### STEP_COST_ESTIMATOR ########
self.step_cost_vbox = QVBoxLayout()
self.step_cost_groupbox = QGroupBox( "Step Cost Estimator" )
self.step_cost_groupbox.setCheckable( True )
self.step_cost_groupbox.setChecked(False)
self.step_cost_combobox = QComboBox()
self.step_cost_combobox.addItem( "Euclidean" )
self.step_cost_combobox.addItem( "GPR" )
self.step_cost_combobox.addItem( "Map" )
self.step_cost_combobox.addItem( "Boundary" )
self.step_cost_combobox.addItem( "Dynamics" )
self.step_cost_vbox.addWidget( self.step_cost_combobox )
self.step_cost_groupbox.setLayout( self.step_cost_vbox )
vbox.addWidget( self.step_cost_groupbox )
# #HARD ### FOOTSTEP_SET ########
# # parameters for discret footstep planning mode
# vigir_atlas_control_msgs/VigirBehaviorStepData[] footstep_set # set of footsteps (displacement vectors (in meter / rad))
# float32[] footstep_cost # cost for each footstep given in footstep set
#
# #HARD ### LOAD_GPR_STEP_COST ########
# # map step cost file
# std_msgs/String map_step_cost_file
#
# #HARD ### LOAD_MAP_STEP_COST ########
# # destination of gpr file
# std_msgs/String gpr_step_cost_file
### COLLISION_CHECK_TYPE ########
self.collision_check_groupbox = QGroupBox( "Collision Check Type" )
self.collision_check_groupbox.setCheckable( True )
self.collision_check_groupbox.setChecked( False)
self.collision_check_vbox = QVBoxLayout()
self.collision_check_feet_checkbox = QCheckBox( "Feet" )
self.collision_check_vbox.addWidget( self.collision_check_feet_checkbox )
self.collision_check_ub_checkbox = QCheckBox( "Upper Body" )
self.collision_check_vbox.addWidget( self.collision_check_ub_checkbox )
self.collision_check_fc_checkbox = QCheckBox( "Foot Contact Support" )
self.collision_check_vbox.addWidget( self.collision_check_fc_checkbox )
self.collision_check_groupbox.setLayout( self.collision_check_vbox )
vbox.addWidget( self.collision_check_groupbox )
### FOOT_SIZE ########
self.foot_size_vbox = QVBoxLayout()
self.foot_size_groupbox = QGroupBox( "Foot Size" )
self.foot_size_groupbox.setCheckable( True )
self.foot_size_groupbox.setChecked( False )
self.foot_size_hbox = QHBoxLayout()
self.foot_size_label = QLabel("Foot Size")
self.foot_size_hbox.addWidget( self.foot_size_label )
self.foot_size_x = QDoubleSpinBox()
self.foot_size_x.setSingleStep(.01)
self.foot_size_hbox.addWidget(self.foot_size_x)
self.foot_size_y = QDoubleSpinBox()
self.foot_size_y.setSingleStep(.01)
self.foot_size_hbox.addWidget(self.foot_size_y)
self.foot_size_z = QDoubleSpinBox()
self.foot_size_z.setSingleStep(.01)
self.foot_size_hbox.addWidget(self.foot_size_z)
self.foot_size_vbox.addLayout( self.foot_size_hbox )
self.foot_shift_hbox = QHBoxLayout()
self.foot_shift_label = QLabel("Foot Origin Shift")
self.foot_shift_hbox.addWidget( self.foot_shift_label )
self.foot_shift_x = QDoubleSpinBox()
self.foot_shift_x.setRange(-1.0, 1.0)
self.foot_shift_x.setSingleStep(.01)
self.foot_shift_hbox.addWidget(self.foot_shift_x)
self.foot_shift_y = QDoubleSpinBox()
self.foot_shift_y.setRange(-1.0, 1.0)
self.foot_shift_y.setSingleStep(.01)
self.foot_shift_hbox.addWidget(self.foot_shift_y)
self.foot_shift_z = QDoubleSpinBox()
self.foot_shift_z.setRange(-1.0, 1.0)
self.foot_shift_z.setSingleStep(.01)
self.foot_shift_hbox.addWidget(self.foot_shift_z)
self.foot_size_vbox.addLayout( self.foot_shift_hbox )
self.foot_size_groupbox.setLayout( self.foot_size_vbox )
vbox.addWidget( self.foot_size_groupbox )
### UPPER_BODY_SIZE ########
self.upper_vbox = QVBoxLayout()
self.upper_groupbox = QGroupBox( "Upper Body Size" )
self.upper_groupbox.setCheckable( True )
self.upper_groupbox.setChecked( False )
self.upper_size_hbox = QHBoxLayout()
self.upper_size_label = QLabel("Upper Body Size")
self.upper_size_hbox.addWidget( self.upper_size_label )
self.upper_size_x = QDoubleSpinBox()
self.upper_size_x.setSingleStep(.01)
self.upper_size_hbox.addWidget(self.upper_size_x)
self.upper_size_y = QDoubleSpinBox()
self.upper_size_y.setSingleStep(.01)
self.upper_size_hbox.addWidget(self.upper_size_y)
self.upper_size_z = QDoubleSpinBox()
self.upper_size_z.setSingleStep(.01)
self.upper_size_hbox.addWidget(self.upper_size_z)
self.upper_vbox.addLayout( self.upper_size_hbox )
self.upper_origin_hbox = QHBoxLayout()
self.upper_origin_label = QLabel("Upper Body Origin")
self.upper_origin_hbox.addWidget( self.upper_origin_label )
self.upper_origin_x = QDoubleSpinBox()
self.upper_origin_x.setRange(-1.0, 1.0)
self.upper_origin_x.setSingleStep(.01)
self.upper_origin_hbox.addWidget(self.upper_origin_x)
self.upper_origin_y = QDoubleSpinBox()
self.upper_origin_y.setRange(-1.0, 1.0)
self.upper_origin_y.setSingleStep(.01)
self.upper_origin_hbox.addWidget(self.upper_origin_y)
self.upper_origin_z = QDoubleSpinBox()
self.upper_origin_z.setRange(-1.0, 1.0)
self.upper_origin_z.setSingleStep(.01)
self.upper_origin_hbox.addWidget(self.upper_origin_z)
self.upper_vbox.addLayout( self.upper_origin_hbox )
self.upper_groupbox.setLayout( self.upper_vbox )
vbox.addWidget( self.upper_groupbox )
### TERRAIN_MODEL ########
self.terrain_model_groupbox = QGroupBox( "Terrain Model" )
self.terrain_model_groupbox.setCheckable( True )
self.terrain_model_groupbox.setChecked( False )
self.terrain_model_vbox = QVBoxLayout()
self.terrain_model_checkbox = QCheckBox( "Use Terrain Model" )
self.terrain_model_vbox.addWidget( self.terrain_model_checkbox )
self.terrain_min_ssx_hbox = QHBoxLayout()
self.terrain_min_ssx_label = QLabel("Min Sampling Steps x")
self.terrain_min_ssx_hbox.addWidget( self.terrain_min_ssx_label )
self.terrain_min_ssx_val = QDoubleSpinBox()
self.terrain_min_ssx_val.setSingleStep(1)
self.terrain_min_ssx_val.setRange(0,100)
self.terrain_min_ssx_hbox.addWidget( self.terrain_min_ssx_val )
self.terrain_model_vbox.addLayout( self.terrain_min_ssx_hbox )
self.terrain_min_ssy_hbox = QHBoxLayout()
self.terrain_min_ssy_label = QLabel("Min Sampling Steps y")
self.terrain_min_ssy_hbox.addWidget( self.terrain_min_ssy_label )
self.terrain_min_ssy_val = QDoubleSpinBox()
self.terrain_min_ssy_val.setSingleStep(1)
self.terrain_min_ssy_val.setRange(0,100)
self.terrain_min_ssy_hbox.addWidget( self.terrain_min_ssy_val )
self.terrain_model_vbox.addLayout( self.terrain_min_ssy_hbox )
self.terrain_max_ssx_hbox = QHBoxLayout()
self.terrain_max_ssx_label = QLabel("Max Sampling Steps x")
self.terrain_max_ssx_hbox.addWidget( self.terrain_max_ssx_label )
self.terrain_max_ssx_val = QDoubleSpinBox()
self.terrain_max_ssx_val.setSingleStep(1)
self.terrain_max_ssx_val.setRange(0,100)
self.terrain_max_ssx_hbox.addWidget( self.terrain_max_ssx_val )
self.terrain_model_vbox.addLayout( self.terrain_max_ssx_hbox )
self.terrain_max_ssy_hbox = QHBoxLayout()
self.terrain_max_ssy_label = QLabel("Max Sampling Steps y")
self.terrain_max_ssy_hbox.addWidget( self.terrain_max_ssy_label )
self.terrain_max_ssy_val = QDoubleSpinBox()
self.terrain_max_ssy_val.setSingleStep(1)
self.terrain_max_ssy_val.setRange(0,100)
self.terrain_max_ssy_hbox.addWidget( self.terrain_max_ssy_val )
self.terrain_model_vbox.addLayout( self.terrain_max_ssy_hbox )
self.terrain_max_iz_hbox = QHBoxLayout()
self.terrain_max_iz_label = QLabel("Max Intrusion z")
self.terrain_max_iz_hbox.addWidget( self.terrain_max_iz_label )
self.terrain_max_iz_val = QDoubleSpinBox()
self.terrain_max_iz_val.setDecimals(4)
self.terrain_max_iz_val.setSingleStep(.0001)
self.terrain_max_iz_val.setRange(0,.25)
self.terrain_max_iz_hbox.addWidget( self.terrain_max_iz_val )
self.terrain_model_vbox.addLayout( self.terrain_max_iz_hbox )
self.terrain_max_gc_hbox = QHBoxLayout()
self.terrain_max_gc_label = QLabel("Max Ground Clearance")
self.terrain_max_gc_hbox.addWidget( self.terrain_max_gc_label )
self.terrain_max_gc_val = QDoubleSpinBox()
self.terrain_max_gc_val.setDecimals(4)
self.terrain_max_gc_val.setSingleStep(.0001)
self.terrain_max_gc_val.setRange(0,.25)
self.terrain_max_gc_hbox.addWidget( self.terrain_max_gc_val )
self.terrain_model_vbox.addLayout( self.terrain_max_gc_hbox )
self.terrain_ms_hbox = QHBoxLayout()
self.terrain_ms_label = QLabel("Minimal Support")
self.terrain_ms_hbox.addWidget( self.terrain_ms_label )
self.terrain_ms_val = QDoubleSpinBox()
self.terrain_ms_val.setDecimals(2)
self.terrain_ms_val.setSingleStep(.01)
self.terrain_ms_val.setRange(0,1)
self.terrain_ms_hbox.addWidget( self.terrain_ms_val )
self.terrain_model_vbox.addLayout( self.terrain_ms_hbox )
self.terrain_model_groupbox.setLayout( self.terrain_model_vbox )
vbox.addWidget( self.terrain_model_groupbox )
### STANDARD_STEP_PARAMS ########
self.std_step_vbox = QVBoxLayout()
self.std_step_groupbox = QGroupBox( "Standard Step Parameters" )
self.std_step_groupbox.setCheckable( True )
self.std_step_groupbox.setChecked( False )
self.foot_sep_hbox = QHBoxLayout()
self.foot_sep_label = QLabel("Foot Separation")
self.foot_sep_hbox.addWidget( self.foot_sep_label )
self.foot_sep_val = QDoubleSpinBox()
self.foot_sep_val.setSingleStep(.01)
self.foot_sep_hbox.addWidget(self.foot_sep_val)
self.std_step_vbox.addLayout( self.foot_sep_hbox )
self.std_step_step_duration_hbox = QHBoxLayout()
self.std_step_step_duration_label = QLabel("Step Duration")
self.std_step_step_duration_hbox.addWidget( self.std_step_step_duration_label )
self.std_step_step_duration_val = QDoubleSpinBox()
self.std_step_step_duration_val.setSingleStep(.01)
self.std_step_step_duration_hbox.addWidget( self.std_step_step_duration_val )
self.std_step_vbox.addLayout( self.std_step_step_duration_hbox )
self.std_step_sway_duration_hbox = QHBoxLayout()
self.std_step_sway_duration_label = QLabel("Sway Duration")
self.std_step_sway_duration_hbox.addWidget( self.std_step_sway_duration_label )
self.std_step_sway_duration_val = QDoubleSpinBox()
self.std_step_sway_duration_val.setSingleStep(.01)
self.std_step_sway_duration_hbox.addWidget( self.std_step_sway_duration_val )
self.std_step_vbox.addLayout( self.std_step_sway_duration_hbox )
self.std_step_swing_height_hbox = QHBoxLayout()
self.std_step_swing_height_label = QLabel("Swing Height")
self.std_step_swing_height_hbox.addWidget( self.std_step_swing_height_label )
self.std_step_swing_height_val = QDoubleSpinBox()
self.std_step_swing_height_val.setSingleStep(.01)
self.std_step_swing_height_hbox.addWidget( self.std_step_swing_height_val )
self.std_step_vbox.addLayout( self.std_step_swing_height_hbox )
self.std_step_lift_height_hbox = QHBoxLayout()
self.std_step_lift_height_label = QLabel("Lift Height")
self.std_step_lift_height_hbox.addWidget( self.std_step_lift_height_label )
self.std_step_lift_height_val = QDoubleSpinBox()
self.std_step_lift_height_val.setSingleStep(.01)
self.std_step_lift_height_hbox.addWidget( self.std_step_lift_height_val )
self.std_step_vbox.addLayout( self.std_step_lift_height_hbox )
self.std_step_groupbox.setLayout( self.std_step_vbox )
vbox.addWidget( self.std_step_groupbox )
button_hbox = QHBoxLayout()
button_get = QPushButton("Get Current Values")
button_hbox.addWidget( button_get )
button_submit = QPushButton("Send Values")
button_hbox.addWidget( button_submit)
vbox.addLayout( button_hbox )
vbox.addStretch(1)
self._widget.setLayout(vbox)
#context.add_widget(self._widget)
# publishers and subscribers
self.param_pub = rospy.Publisher('/flor/footstep_planner/set_params', FootstepPlannerParams, queue_size=10)
button_submit.pressed.connect(self.sendParams)
self.param_sub = self.stateSubscriber = rospy.Subscriber('/ros_footstep_planner/params', FootstepPlannerParams, self.getParamCallbackFcn)
button_get.pressed.connect(self.getParams)
def shutdown_plugin(self):
print "Shutdown ..."
self.param_pub.unregister()
print "Done!"
def getParams( self ):
msg = FootstepPlannerParams()
msg.change_mask = 0
self.param_pub.publish( msg )
def sendParams( self ):
msg = FootstepPlannerParams()
msg.change_mask = 0
if self.step_cost_groupbox.isChecked():
msg.change_mask = msg.change_mask | 0x001
if self.collision_check_groupbox.isChecked():
msg.change_mask = msg.change_mask | 0x010
if self.foot_size_groupbox.isChecked():
msg.change_mask = msg.change_mask | 0x020
if self.upper_groupbox.isChecked():
msg.change_mask = msg.change_mask | 0x040
if self.std_step_groupbox.isChecked():
msg.change_mask = msg.change_mask | 0x080
if self.terrain_model_groupbox.isChecked():
msg.change_mask = msg.change_mask | 0x100
### STEP_COST_ESTIMATOR ########
msg.step_cost_type = self.step_cost_combobox.currentIndex()
# #HARD ### FOOTSTEP_SET ########
# # parameters for discret footstep planning mode
# vigir_atlas_control_msgs/VigirBehaviorStepData[] footstep_set # set of footsteps (displacement vectors (in meter / rad))
# float32[] footstep_cost # cost for each footstep given in footstep set
#
# #HARD ### LOAD_GPR_STEP_COST ########
# # map step cost file
# std_msgs/String map_step_cost_file
#
# #HARD ### LOAD_MAP_STEP_COST ########
# # destination of gpr file
# std_msgs/String gpr_step_cost_file
### COLLISION_CHECK_TYPE ########
msg.collision_check_type = 0
if self.collision_check_feet_checkbox.isChecked():
msg.collision_check_type = msg.collision_check_type | 0x01
if self.collision_check_ub_checkbox.isChecked():
msg.collision_check_type = msg.collision_check_type | 0x02
if self.collision_check_fc_checkbox.isChecked():
msg.collision_check_type = msg.collision_check_type | 0x04
### FOOT_SIZE ########
msg.foot_size.x = self.foot_size_x.value()
msg.foot_size.y = self.foot_size_y.value()
msg.foot_size.z = self.foot_size_z.value()
msg.foot_origin_shift.x = self.foot_shift_x.value()
msg.foot_origin_shift.y = self.foot_shift_y.value()
msg.foot_origin_shift.z = self.foot_shift_z.value()
### UPPER_BODY_SIZE ########
msg.upper_body_size.x = self.upper_size_x.value()
msg.upper_body_size.y = self.upper_size_y.value()
msg.upper_body_size.z = self.upper_size_z.value()
msg.upper_body_origin_shift.x = self.upper_origin_x.value()
msg.upper_body_origin_shift.y = self.upper_origin_y.value()
msg.upper_body_origin_shift.z = self.upper_origin_z.value()
### TERRAIN_MODEL ########
msg.use_terrain_model = self.terrain_model_checkbox.isChecked()
msg.min_sampling_steps_x = self.terrain_min_ssx_val.value()
msg.min_sampling_steps_y = self.terrain_min_ssy_val.value()
msg.max_sampling_steps_x = self.terrain_max_ssx_val.value()
msg.max_sampling_steps_y = self.terrain_max_ssy_val.value()
msg.max_intrusion_z = self.terrain_max_iz_val.value()
msg.max_ground_clearance = self.terrain_max_gc_val.value()
msg.minimal_support = self.terrain_ms_val.value()
### STANDARD_STEP_PARAMS ########
msg.foot_seperation = self.foot_sep_val.value()
msg.step_duration = self.std_step_step_duration_val.value()
msg.sway_duration = self.std_step_sway_duration_val.value()
msg.swing_height = self.std_step_swing_height_val.value()
msg.lift_height = self.std_step_lift_height_val.value()
print msg
self.param_pub.publish( msg )
def getParamCallbackFcn(self, msg):
### STEP_COST_ESTIMATOR ########
if msg.change_mask & 0x001:
self.step_cost_combobox.setCurrentIndex( msg.step_cost_type )
# #HARD ### FOOTSTEP_SET ########
# # parameters for discret footstep planning mode
# vigir_atlas_control_msgs/VigirBehaviorStepData[] footstep_set # set of footsteps (displacement vectors (in meter / rad))
# float32[] footstep_cost # cost for each footstep given in footstep set
#
# #HARD ### LOAD_GPR_STEP_COST ########
# # map step cost file
# std_msgs/String map_step_cost_file
#
# #HARD ### LOAD_MAP_STEP_COST ########
# # destination of gpr file
# std_msgs/String gpr_step_cost_file
### COLLISION_CHECK_TYPE ########
if msg.change_mask & 0x010:
self.collision_check_feet_checkbox.setChecked( msg.collision_check_type & 0x01 )
self.collision_check_ub_checkbox.setChecked( msg.collision_check_type & 0x02 )
self.collision_check_fc_checkbox.setChecked( msg.collision_check_type & 0x04 )
### FOOT_SIZE ########
if msg.change_mask & 0x020:
self.foot_size_x.setValue( msg.foot_size.x )
self.foot_size_y.setValue( msg.foot_size.y )
self.foot_size_z.setValue( msg.foot_size.z )
self.foot_shift_x.setValue( msg.foot_origin_shift.x )
self.foot_shift_y.setValue( msg.foot_origin_shift.y )
self.foot_shift_z.setValue( msg.foot_origin_shift.z )
### UPPER_BODY_SIZE ########
if msg.change_mask & 0x040:
self.upper_size_x.setValue( msg.upper_body_size.x )
self.upper_size_y.setValue( msg.upper_body_size.y )
self.upper_size_z.setValue( msg.upper_body_size.z )
self.upper_origin_x.setValue( msg.upper_body_origin_shift.x )
self.upper_origin_y.setValue( msg.upper_body_origin_shift.y )
self.upper_origin_z.setValue( msg.upper_body_origin_shift.z )
### STANDARD_STEP_PARAMS ########
if msg.change_mask & 0x080:
self.foot_sep_val.setValue( msg.foot_seperation )
self.std_step_step_duration_val.setValue( msg.step_duration )
self.std_step_sway_duration_val.setValue( msg.sway_duration )
self.std_step_swing_height_val.setValue( msg.swing_height )
self.std_step_lift_height_val.setValue( msg.lift_height )
### TERRAIN_MODEL ########
if msg.change_mask & 0x100:
self.terrain_model_checkbox.setChecked( msg.use_terrain_model )
self.terrain_min_ssx_val.setValue( msg.min_sampling_steps_x )
self.terrain_min_ssy_val.setValue( msg.min_sampling_steps_y )
self.terrain_max_ssx_val.setValue( msg.max_sampling_steps_x )
self.terrain_max_ssy_val.setValue( msg.max_sampling_steps_y )
self.terrain_max_iz_val.setValue( msg.max_intrusion_z )
self.terrain_max_gc_val.setValue( msg.max_ground_clearance )
self.terrain_ms_val.setValue( msg.minimal_support )
class SpeakEasyGUI(QMainWindow):
'''
One instance of this class builds the entire sound play UI.
Instance variable that hold widgets of interest to controllers:
- C{speechInputFld}
- C{onceOrRepeatDict}
- C{voicesRadioButtonsDict}
- C{recorderDict}
- C{programButtonDict}
- C{soundButtonDict}
'''
# ---------------------- Durations --------------------
# Number of seconds a program button must be pressed to
# go into program mode:
PROGRAM_BUTTON_HOLD_TIME = 3.0;
# Amount of time the program button stays in alternate look
# to indicate that it is changing to programming mode:
PROGRAM_BUTTON_LOOK_CHANGE_DURATION = 0.2; # seconds
# ---------------------- Button and Font Sizes --------------------
# Minimum height of buttons:
BUTTON_MIN_HEIGHT = 30; # pixels
# Pushbutton minimum font size:
BUTTON_LABEL_FONT_SIZE = 16; # pixels
# Radio button minimum font size:
RADIO_BUTTON_LABEL_FONT_SIZE = 16; # pixels
EDIT_FIELD_TEXT_SIZE = 18; # pixels
NUM_OF_PROGRAM_BUTTON_COLUMNS = 4;
NUM_OF_SOUND_BUTTON_COLUMNS = 4;
# ---------------------- Names for Voices ----------------------
# Official names of voices as recognized by the
# underlying text-to-speech engines:
voices = {'VOICE_1': 'voice_kal_diphone', # Festival voice
'VOICE_2': 'David', # Cepstral voices
'VOICE_3': 'Amy',
'VOICE_4': 'Shouty',
'VOICE_5': 'Whispery',
'VOICE_6': 'Lawrence',
'VOICE_7': 'William'
};
# ---------------------- Names for Widgets ----------------------
interactionWidgets = {
'PLAY_ONCE': 'Play once',
'PLAY_REPEATEDLY': 'Play repeatedly',
'PLAY_REPEATEDLY_PERIOD': 'Pause between plays',
'VOICE_1': 'Machine',
'VOICE_2': 'David',
'VOICE_3': 'Amy',
'VOICE_4': 'Shout',
'VOICE_5': 'Whisper',
'VOICE_6': 'Lawrence',
'VOICE_7': 'William',
'PLAY_TEXT': 'Play Text',
'STOP': 'Stop',
'STOP_ALL' : 'Stop All',
'SPEECH_1' : 'Speech 1',
'SPEECH_2' : 'Speech 2',
'SPEECH_3' : 'Speech 3',
'SPEECH_4' : 'Speech 4',
'SPEECH_5' : 'Speech 5',
'SPEECH_6' : 'Speech 6',
'SPEECH_7' : 'Speech 7',
'SPEECH_8' : 'Speech 8',
'SPEECH_9' : 'Speech 9',
'SPEECH_10' : 'Speech 10',
'SPEECH_11' : 'Speech 11',
'SPEECH_12' : 'Speech 12',
'SPEECH_13' : 'Speech 13',
'SPEECH_14' : 'Speech 14',
'SPEECH_15' : 'Speech 15',
'SPEECH_16' : 'Speech 16',
'SPEECH_17' : 'Speech 17',
'SPEECH_18' : 'Speech 18',
'SPEECH_19' : 'Speech 19',
'SPEECH_20' : 'Speech 20',
'SPEECH_21' : 'Speech 21',
'SPEECH_22' : 'Speech 22',
'SPEECH_23' : 'Speech 23',
'SPEECH_24' : 'Speech 24',
'SOUND_1' : 'Rooster',
'SOUND_2' : 'Drill',
'SOUND_3' : 'Bull call',
'SOUND_4' : 'Clown horn',
'SOUND_5' : 'Cash register',
'SOUND_6' : 'Glass breaking',
'SOUND_7' : 'Cell door',
'SOUND_8' : 'Cow',
'SOUND_9' : 'Birds',
'SOUND_10' : 'Big truck',
'SOUND_11' : 'Seagulls',
'SOUND_12' : 'Lift',
'NEW_SPEECH_SET' : 'Save speech set',
'PICK_SPEECH_SET' : 'Pick different speech set',
'PLAY_LOCALLY' : 'Play locally',
'PLAY_AT_ROBOT' : 'Play at robot',
'SPEECH_MODULATION' : 'Speech modulation',
'PASTE' : 'Paste',
'CLEAR' : 'Clear',
}
# ---------------------- Application Background styling --------------------
# Application background:
veryLightBlue = QColor(230, 255,255);
stylesheetAppBG = 'QDialog {background-color: %s}' % veryLightBlue.name();
defaultStylesheet = stylesheetAppBG;
defaultStylesheetName = "Default";
# ---------------------- Edit field styling -----------------
editFieldBGColor = QColor(12,21,109);
editFieldTextColor = QColor(244,244,246);
inputFldStylesheet =\
'TextPanel {background-color: ' + editFieldBGColor.name() +\
'; color: ' + editFieldTextColor.name() +\
'; font-size: ' + str(EDIT_FIELD_TEXT_SIZE) + 'pt' +\
'}';
# ---------------------- Pushbutton styling --------------------
# Button color definitions:
recorderButtonBGColor = QColor(176,220,245); # Light blue
recorderButtonDisabledBGColor = QColor(187,200,208); # Gray-blue
recorderButtonTextColor = QColor(0,0,0); # Black
programButtonBGColor = QColor(117,150,169); # Middle blue
programButtonTextColor = QColor(251,247,247);# Off-white
soundButtonBGColor = QColor(110,134,211); # Dark blue
soundButtonTextColor = QColor(251,247,247); # Off-white
# Button stylesheets:
recorderButtonStylesheet =\
'QPushButton {background-color: ' + recorderButtonBGColor.name() +\
'; color: ' + recorderButtonTextColor.name() +\
'; font-size: ' + str(BUTTON_LABEL_FONT_SIZE) + 'px' +\
'}';
recorderButtonDisabledStylesheet =\
'QPushButton {background-color: ' + recorderButtonDisabledBGColor.name() +\
'; color: ' + recorderButtonTextColor.name() +\
'; font-size: ' + str(BUTTON_LABEL_FONT_SIZE) + 'px' +\
'}';
programButtonStylesheet =\
'QPushButton {background-color: ' + programButtonBGColor.name() +\
'; color: ' + programButtonTextColor.name() +\
'; font-size: ' + str(BUTTON_LABEL_FONT_SIZE) + 'px' +\
'}';
# Stylesheet for when program button look is temporarily
# changed to indicate transition to programming mode:
programButtonModeTransitionStylesheet =\
'QPushButton {background-color: ' + editFieldBGColor.name() +\
'; color: ' + programButtonTextColor.name() +\
'; font-size: ' + str(BUTTON_LABEL_FONT_SIZE) + 'px' +\
'}';
soundButtonStylesheet =\
'QPushButton {background-color: ' + soundButtonBGColor.name() +\
'; color: ' + soundButtonTextColor.name() +\
'; font-size: ' + str(BUTTON_LABEL_FONT_SIZE) + 'px' +\
'}';
# ---------------------- Radiobutton and Play Repeat Delay Spinbox styling -----------------
# Radiobutton color definitions:
playOnceRepeatButtonBGColor = QColor(121,229,230); # Very light cyan
voicesButtonBGColor = QColor(97,164,165); # Darker cyan
playOnceRepeatButtonStylesheet =\
'font-size: ' + str(RADIO_BUTTON_LABEL_FONT_SIZE) + 'px' +\
'; color: ' + soundButtonTextColor.name() +\
'; background-color: ' + voicesButtonBGColor.name();
playRepeatSpinboxStylesheet =\
'font-size: ' + str(RADIO_BUTTON_LABEL_FONT_SIZE) + 'px' +\
'; color: ' + soundButtonTextColor.name() +\
'; background-color: ' + voicesButtonBGColor.name();
# voiceButtonStylesheet =\
# 'font-size: ' + str(RADIO_BUTTON_LABEL_FONT_SIZE) + 'px' +\
# '; background-color: ' + voicesButtonBGColor.name();
voiceButtonStylesheet =\
'font-size: ' + str(RADIO_BUTTON_LABEL_FONT_SIZE) + 'px' +\
'; color: ' + soundButtonTextColor.name() +\
'; background-color: ' + voicesButtonBGColor.name();
# ---------------------- Signals -----------------
hideButtonSignal = pyqtSignal(QPushButton); # hide the given button
showButtonSignal = pyqtSignal(QPushButton); # show the hidden button
#----------------------------------
# Initializer
#--------------
def __init__(self, parent=None, mirrored=True, stand_alone=False, sound_effect_labels=None):
super(SpeakEasyGUI, self).__init__(parent);
self.stand_alone = stand_alone;
self.sound_effect_labels = sound_effect_labels;
if (sound_effect_labels is None):
raise ValueError("Must pass in non-null array of sound effect button labels.");
#self.setMaximumWidth(1360);
#self.setMaximumHeight(760);
# Vertical box to hold all top level widget groups
appLayout = QVBoxLayout();
appWidget = QDialog();
appWidget.setStyleSheet(SpeakEasyGUI.defaultStylesheet);
# Activate the window resize handle in the lower right corner
# of the app window:
appWidget.setSizeGripEnabled(True);
self.setCentralWidget(appWidget);
self.addTitle(appLayout);
self.addTxtInputFld(appLayout);
self.buildTapeRecorderButtons(appLayout);
self.addOnceOrRepeat_And_VoiceRadioButtons(appLayout);
self.buildHorizontalDivider(appLayout);
self.buildProgramButtons(appLayout);
self.buildSoundButtons(appLayout);
self.buildButtonSetControls(appLayout);
self.buildOptionsRadioButtons(appLayout);
appWidget.setLayout(appLayout);
#*******self.connectEvents();
self.show();
#----------------------------------
# programButtonIterator
#--------------
def programButtonIterator(self, gridLayout=None):
if gridLayout is None:
gridLayout = self.programButtonGridLayout;
programButtonArray = [];
# Collect the buttons into a flat array:
for row in range(gridLayout.rowCount()):
for col in range(SpeakEasyGUI.NUM_OF_PROGRAM_BUTTON_COLUMNS):
layoutItem = gridLayout.itemAtPosition(row, col);
if layoutItem is not None:
programButtonArray.append(layoutItem.widget());
return iter(programButtonArray);
#----------------------------------
# replaceProgramButtons
#--------------
def replaceProgramButtons(self, buttonProgramsArray):
programButtonObjIt = self.programButtonIterator();
# Remove the existing program buttons from the application's
# layout, and mark them for deletion:
try:
while True:
programButtonObj = programButtonObjIt.next();
self.programButtonGridLayout.removeWidget(programButtonObj);
programButtonObj.deleteLater();
except StopIteration:
pass
# Make an array of button labels from the ButtonProgram
# instances in buttonProgramsArray:
buttonLabelArr = [];
for buttonProgram in buttonProgramsArray:
buttonLabelArr.append(buttonProgram.getLabel());
# No more program buttons present. Make
# new ones, and add them to the grid layout:
(newProgramButtonGridLayout, self.programButtonDict) =\
SpeakEasyGUI.buildButtonGrid(buttonLabelArr,
SpeakEasyGUI.NUM_OF_PROGRAM_BUTTON_COLUMNS);
for buttonObj in self.programButtonDict.values():
buttonObj.setStyleSheet(SpeakEasyGUI.programButtonStylesheet);
buttonObj.setMinimumHeight(SpeakEasyGUI.BUTTON_MIN_HEIGHT);
# Transfer the buttons from this new gridlayout object to the
# original layout that is embedded in the application Dialog:
newButtonsIt = self.programButtonIterator(gridLayout=newProgramButtonGridLayout);
try:
while True:
self.programButtonGridLayout.addWidget(newButtonsIt.next());
except StopIteration:
pass;
#----------------------------------
# connectEvents
#--------------
def connectEvents(self):
mousePressEvent.connect(self.textAreaMouseClick);
def textAreaMouseClick(self, event):
print('Text area clicked.')
#----------------------------------
# connectSignalsToWidgets
#--------------
# def connectSignalsToWidgets(self):
# self.commChannel = CommChannel();
# self.commChannel.hideButtonSignal.connect(SpeakEasyGUI.hideButtonHandler);
# self.commChannel.showButtonSignal.connect(SpeakEasyGUI.showButtonHandler);
#----------------------------------
# addTitle
#--------------
def addTitle(self,layout):
title = QLabel("<H1>SpeakEasy</H1>");
hbox = QHBoxLayout();
hbox.addStretch(1);
hbox.addWidget(title);
hbox.addStretch(1);
layout.addLayout(hbox);
#----------------------------------
# addTxtInputFld
#--------------
def addTxtInputFld(self, layout):
'''
Creates text input field label and text field
in a horizontal box layout. Adds that hbox layout
to the passed-in layout.
Sets instance variables:
1. C{self.speechInputFld}
@param layout: Layout object to which the label/txt-field C{hbox} is to be added.
@type layout: QLayout
'''
speechControlsLayout = QHBoxLayout();
speechControlsLayout.addStretch(1);
speechInputFldLabel = QLabel("<b>What to say:</b>")
speechControlsLayout.addWidget(speechInputFldLabel);
self.speechInputFld = TextPanel(numLines=5);
self.speechInputFld.setStyleSheet(SpeakEasyGUI.inputFldStylesheet);
self.speechInputFld.setFontPointSize(SpeakEasyGUI.EDIT_FIELD_TEXT_SIZE);
speechControlsLayout.addWidget(self.speechInputFld);
layout.addLayout(speechControlsLayout);
# Create and hide the dialog for adding Cepstral voice modulation
# markup to text in the text input field:
self.speechControls = MarkupManagementUI(textPanel=self.speechInputFld, parent=self);
#----------------------------------
# addVoiceRadioButtons
#--------------
def addOnceOrRepeat_And_VoiceRadioButtons(self, layout):
'''
Creates radio buttons for selecting whether a
sound is to play once, or repeatedly until stopped.
Also adds radio buttons for selecting voices.
Places all in a horizontal box layout. Adds
that hbox layout to the passed-in layout.
Sets instance variables:
1. C{self.onceOrRepeatDict}
2. C{self.voicesRadioButtonsDict}
@param layout: Layout object to which the label/txt-field C{hbox} is to be added.
@type layout: QLayout
'''
hbox = QHBoxLayout();
(self.onceOrRepeatGroup, onceOrRepeatButtonLayout, self.onceOrRepeatDict) =\
self.buildRadioButtons([SpeakEasyGUI.interactionWidgets['PLAY_ONCE'],
SpeakEasyGUI.interactionWidgets['PLAY_REPEATEDLY']
],
Orientation.HORIZONTAL,
Alignment.LEFT,
activeButtons=[SpeakEasyGUI.interactionWidgets['PLAY_ONCE']],
behavior=CheckboxGroupBehavior.RADIO_BUTTONS);
self.replayPeriodSpinBox = QDoubleSpinBox(self);
self.replayPeriodSpinBox.setRange(0.0, 99.9); # seconds
self.replayPeriodSpinBox.setSingleStep(0.5);
self.replayPeriodSpinBox.setDecimals(1);
onceOrRepeatButtonLayout.addWidget(self.replayPeriodSpinBox);
secondsLabel = QLabel("secs delay");
onceOrRepeatButtonLayout.addWidget(secondsLabel);
# Create an array of voice radio button labels:
voiceRadioButtonLabels = [];
for voiceKey in SpeakEasyGUI.voices.keys():
voiceRadioButtonLabels.append(SpeakEasyGUI.interactionWidgets[voiceKey]);
(self.voicesGroup, voicesButtonLayout, self.voicesRadioButtonsDict) =\
self.buildRadioButtons(voiceRadioButtonLabels,
Orientation.HORIZONTAL,
Alignment.RIGHT,
activeButtons=[SpeakEasyGUI.interactionWidgets['VOICE_1']],
behavior=CheckboxGroupBehavior.RADIO_BUTTONS);
# Style all the radio buttons:
for playFreqButton in self.onceOrRepeatDict.values():
playFreqButton.setStyleSheet(SpeakEasyGUI.playOnceRepeatButtonStylesheet);
for playFreqButton in self.voicesRadioButtonsDict.values():
playFreqButton.setStyleSheet(SpeakEasyGUI.voiceButtonStylesheet);
#...and the replay delay spinbox:
self.replayPeriodSpinBox.setStyleSheet(SpeakEasyGUI.playRepeatSpinboxStylesheet);
#****** replayPeriodSpinBox styling
hbox.addLayout(onceOrRepeatButtonLayout);
hbox.addStretch(1);
hbox.addLayout(voicesButtonLayout);
layout.addLayout(hbox);
#----------------------------------
# buildTapeRecorderButtons
#--------------
def buildTapeRecorderButtons(self, layout):
'''
Creates tape recorder buttons (Play Text, Stop,etc.).
Places all in a row, though the layout is a
QGridLayout. Adds QGridLayout to the passed-in
layout.
Sets instance variables:
1. C{self.recorderDict}
@param layout: Layout object to which the label/txt-field C{QGridlayout} is to be added.
@type layout: QLayout
'''
(buttonGridLayout, self.recorderButtonDict) =\
SpeakEasyGUI.buildButtonGrid([SpeakEasyGUI.interactionWidgets['PLAY_TEXT'],
SpeakEasyGUI.interactionWidgets['STOP'],
#SpeakEasyGUI.interactionWidgets['STOP_ALL'] # Stop button already stops all.
],
2); # Two columns
for buttonObj in self.recorderButtonDict.values():
buttonObj.setStyleSheet(SpeakEasyGUI.recorderButtonStylesheet);
buttonObj.setMinimumHeight(SpeakEasyGUI.BUTTON_MIN_HEIGHT);
layout.addLayout(buttonGridLayout);
#----------------------------------
# buildProgramButtons
#--------------
def buildProgramButtons(self, layout):
'''
Creates grid of buttons for saving sounds.
Adds the resulting QGridLayout to the passed-in
layout.
Sets instance variables:
1. C{self.programButtonDict}
@param layout: Layout object to which the label/txt-field C{QGridlayout} is to be added.
@type layout: QLayout
'''
buttonLabelArr = [];
for i in range(NUM_SPEECH_PROGRAM_BUTTONS):
key = "SPEECH_" + str(i+1);
buttonLabelArr.append(SpeakEasyGUI.interactionWidgets[key]);
(self.programButtonGridLayout, self.programButtonDict) =\
SpeakEasyGUI.buildButtonGrid(buttonLabelArr,
SpeakEasyGUI.NUM_OF_PROGRAM_BUTTON_COLUMNS);
for buttonObj in self.programButtonDict.values():
buttonObj.setStyleSheet(SpeakEasyGUI.programButtonStylesheet);
buttonObj.setMinimumHeight(SpeakEasyGUI.BUTTON_MIN_HEIGHT);
layout.addLayout(self.programButtonGridLayout);
#----------------------------------
# buildSoundButtons
#--------------
def buildSoundButtons(self, layout):
'''
Creates grid of buttons for playing canned sounds.
Adds the resulting QGridLayout to the passed-in
layout.
Sets instance variables:
1. C{self.soundButtonDict}
@param layout: Layout object to which the label/txt-field C{QGridlayout} is to be added.
@type layout: QLayout
'''
for i in range(len(self.sound_effect_labels)):
key = "SOUND_" + str(i);
SpeakEasyGUI.interactionWidgets[key] = self.sound_effect_labels[i];
(buttonGridLayout, self.soundButtonDict) =\
SpeakEasyGUI.buildButtonGrid(self.sound_effect_labels, SpeakEasyGUI.NUM_OF_SOUND_BUTTON_COLUMNS);
for buttonObj in self.soundButtonDict.values():
buttonObj.setStyleSheet(SpeakEasyGUI.soundButtonStylesheet);
buttonObj.setMinimumHeight(SpeakEasyGUI.BUTTON_MIN_HEIGHT);
layout.addLayout(buttonGridLayout);
#----------------------------------
# buildButtonSetControls
#--------------
def buildButtonSetControls(self, layout):
buttonLabelArray = [self.interactionWidgets['NEW_SPEECH_SET'], self.interactionWidgets['PICK_SPEECH_SET']];
# Two columns of buttons:
(buttonGridLayout, self.speechSetButtonDict) = SpeakEasyGUI.buildButtonGrid(buttonLabelArray, 2);
for buttonObj in self.speechSetButtonDict.values():
buttonObj.setStyleSheet(SpeakEasyGUI.programButtonStylesheet);
buttonObj.setMinimumHeight(SpeakEasyGUI.BUTTON_MIN_HEIGHT);
layout.addLayout(buttonGridLayout);
#----------------------------------
# buildOptionsRadioButtons
#--------------
def buildOptionsRadioButtons(self, layout):
hbox = QHBoxLayout();
(self.playLocalityGroup, playLocalityButtonLayout, self.playLocalityRadioButtonsDict) =\
self.buildRadioButtons([SpeakEasyGUI.interactionWidgets['PLAY_LOCALLY'],
SpeakEasyGUI.interactionWidgets['PLAY_AT_ROBOT']
],
Orientation.HORIZONTAL,
Alignment.LEFT,
activeButtons=[SpeakEasyGUI.interactionWidgets[DEFAULT_PLAY_LOCATION]],
behavior=CheckboxGroupBehavior.RADIO_BUTTONS);
#behavior=CheckboxGroupBehavior.CHECKBOXES);
# Style all the radio buttons:
for playLocalityButton in self.playLocalityRadioButtonsDict.values():
playLocalityButton.setStyleSheet(SpeakEasyGUI.voiceButtonStylesheet);
hbox.addLayout(playLocalityButtonLayout);
hbox.addStretch(1);
self.buildConvenienceButtons(hbox);
layout.addLayout(hbox);
#----------------------------------
# buildConvenienceButtons
#--------------
def buildConvenienceButtons(self, layout):
'''
Creates buttons meant for accessibility convenience.
Example: Paste.
Places all in a row, though the layout is a
QGridLayout. Adds QGridLayout to the passed-in
layout.
Sets instance variables:
1. C{self.convenienceButtonDict}
@param layout: Layout object to which the label/txt-field C{QGridlayout} is to be added.
@type layout: QLayout
'''
(buttonGridLayout, self.convenienceButtonDict) =\
SpeakEasyGUI.buildButtonGrid([SpeakEasyGUI.interactionWidgets['SPEECH_MODULATION'],
SpeakEasyGUI.interactionWidgets['PASTE'],
SpeakEasyGUI.interactionWidgets['CLEAR'],
],
2); # Two columns
for buttonObj in self.convenienceButtonDict.values():
buttonObj.setStyleSheet(SpeakEasyGUI.recorderButtonStylesheet);
buttonObj.setMinimumHeight(SpeakEasyGUI.BUTTON_MIN_HEIGHT);
layout.addLayout(buttonGridLayout);
#----------------------------------
# buildHorizontalDivider
#--------------
def buildHorizontalDivider(self, layout):
frame = QFrame();
frame.setFrameShape(QFrame.HLine);
#*******frame.setFrameStyle(QFrame.Shadow.Sunken.value());
frame.setLineWidth(3);
frame.setMidLineWidth(3);
layout.addWidget(frame);
#----------------------------------
# buildRadioButtons
#--------------
# Note: Whenever a button is switched on or off it emits the
# PySide.QtGui.QAbstractButton.toggled() signal. Connect to this
# signal if you want to trigger an action each time the button changes state.
def buildRadioButtons(self,
labelTextArray,
orientation,
alignment,
activeButtons=None,
behavior=CheckboxGroupBehavior.RADIO_BUTTONS):
'''
@param labelTextArray: Names of buttons
@type labelTextArray: [string]
@param orientation: Whether to arrange the buttons vertically or horizontally.
@type orientation: Orientation
@param alignment: whether buttons should be aligned Left/Center/Right for horizontal,
Top/Center/Bottom for vertical:/c
@type alignment: Alignment
@param activeButtons: Name of the buttons that is to be checked initially. Or None.
@type activeButtons: [string]
@param behavior: Indicates whether the button group is to behave like Radio Buttons, or like Checkboxes.
@type behavior: CheckboxGroupBehavior
@return
1. The button group that contains the related buttons. Caller: ensure that
this object does not go out of scope.
2. The button layout, which callers will need to add to
their own layouts.
3. and a dictionary mapping button names to button objects that
were created within this method. This dict is needed by the
controller.
@rtype (QButtonGroup, QLayout, dict<string,QRadioButton>).
'''
# Button control management group. It has no visible
# representation. It allows the radio button bahavior, for instance:
buttonGroup = QButtonGroup();
if behavior == CheckboxGroupBehavior.CHECKBOXES:
buttonGroup.setExclusive(False);
else:
buttonGroup.setExclusive(True);
if orientation == Orientation.VERTICAL:
buttonCompLayout = QVBoxLayout();
# Arrange for the alignment (Part 1):
if (alignment == Alignment.CENTER) or\
(alignment == Alignment.BOTTOM):
buttonCompLayout.addStretch(1);
else:
buttonCompLayout = QHBoxLayout();
# Arrange for the alignment (Part 1):
if (alignment == Alignment.CENTER) or\
(alignment == Alignment.RIGHT):
buttonCompLayout.addStretch(1);
# Build the buttons:
buttonDict = {};
for label in labelTextArray:
button = QRadioButton(label);
buttonDict[label] = button;
# Add button to the button management group:
buttonGroup.addButton(button);
# Add the button to the visual group:
buttonCompLayout.addWidget(button);
if label in activeButtons:
button.setChecked(True);
if orientation == Orientation.VERTICAL:
buttonCompLayout = QVBoxLayout();
# Arrange for the alignment (Part 2):
if (alignment == Alignment.CENTER) or\
(alignment == Alignment.TOP):
buttonCompLayout.addStretch(1);
else:
# Arrange for the alignment (Part 2):
if (alignment == Alignment.CENTER) or\
(alignment == Alignment.LEFT):
buttonCompLayout.addStretch(1);
return (buttonGroup, buttonCompLayout, buttonDict);
#----------------------------------
# buildButtonGrid
#--------------
@staticmethod
def buildButtonGrid(labelTextArray,
numColumns):
'''
Creates a grid of QPushButton widgets. They will be
@param labelTextArray: Button labels.
@type labelTextArray: [string]
@param numColumns: The desired width of the button grid.
@type numColumns: int
@return: 1. a grid layout with the button objects inside.
2. a dictionary mapping button labels to button objects.
@rtype: QGridLayout
'''
buttonLayout = QGridLayout();
# Compute number of button rows:
numRows = len(labelTextArray) / numColumns;
# If this number of rows leaves a few buttons left over (< columnNum),
# then add a row for those:
if (len(labelTextArray) % numColumns) > 0:
numRows += 1;
buttonDict = {}
row = 0;
col = 0;
for buttonLabel in labelTextArray:
button = QPushButton(buttonLabel);
buttonDict[buttonLabel] = button;
buttonLayout.addWidget(button, row, col);
col += 1;
if (col > (numColumns - 1)):
col = 0;
row += 1;
return (buttonLayout, buttonDict);
#----------------------------------
# getNewButtonLabel
#--------------
def getNewButtonLabel(self):
'''
Requests a new button label from the user.
Returns None if user canceled out, or a string
with the new button label.
@return: None if user canceled, else string from input field.
@rtype: {None | string}
'''
prompt = "New label for this button:";
dialogBox = QInputDialog(parent=self);
dialogBox.setStyleSheet(SpeakEasyGUI.stylesheetAppBG);
dialogBox.setLabelText(prompt);
dialogBox.setCancelButtonText("Keep existing label");
userChoice = dialogBox.exec_();
if userChoice == QDialog.Accepted:
return dialogBox.textValue();
else:
return None;
#----------------------------------
# playOnceChecked
#--------------
def playOnceChecked(self):
return self.onceOrRepeatDict[SpeakEasyGUI.interactionWidgets['PLAY_ONCE']].isChecked();
#----------------------------------
# setPlayOnceChecked
#--------------
def setPlayOnceChecked(self):
self.onceOrRepeatDict[SpeakEasyGUI.interactionWidgets['PLAY_ONCE']].setChecked(True);
#----------------------------------
# playRepeatedlyChecked
#--------------
def playRepeatedlyChecked(self):
return self.onceOrRepeatDict[SpeakEasyGUI.interactionWidgets['PLAY_REPEATEDLY']].isChecked();
#----------------------------------
# setPlayRepeatedlyChecked
#--------------
def setPlayRepeatedlyChecked(self):
self.onceOrRepeatDict[SpeakEasyGUI.interactionWidgets['PLAY_REPEATEDLY']].setChecked(True);
#----------------------------------
# playRepeatPeriod
#--------------
def getPlayRepeatPeriod(self):
return self.replayPeriodSpinBox.value();
#----------------------------------
# activeVoice
#--------------
def activeVoice(self):
'''
Return the official name of the voice that is currently
checked in the UI. This is the name that will be recognized
by the underlying text-to-speech engine(s).
@return: Name of voice as per the SpeakEasyGUI.voices dict.
@rtype: string
'''
for voiceKey in SpeakEasyGUI.voices.keys():
if self.voicesRadioButtonsDict[SpeakEasyGUI.interactionWidgets[voiceKey]].isChecked():
return SpeakEasyGUI.voices[voiceKey];
#----------------------------------
# whereToPlay
#--------------
def whereToPlay(self):
'''
Returns which of the play location options is selected: Locally or Robot.
@return: Selection of where sound and text-to-speech output is to occur.
@rtype: PlayLocation
'''
if self.playLocalityRadioButtonsDict[SpeakEasyGUI.interactionWidgets['PLAY_LOCALLY']].isChecked():
return PlayLocation.LOCALLY;
else:
return PlayLocation.ROBOT;
#----------------------------------
# setWhereToPlay
#--------------
def setWhereToPlay(self, playLocation):
'''
Set the option radio button that determines where sound is produced,
locally, or at the robot. No action is taken. This method merely sets
the appropriate radio button.
@param playLocation: PlayLocation.LOCALLY, or PlayLocation.ROBOT
@type playLocation: PlayLocation
'''
if playLocation == PlayLocation.LOCALLY:
radioButton = self.playLocalityRadioButtonsDict[SpeakEasyGUI.interactionWidgets['PLAY_LOCALLY']];
else:
radioButton = self.playLocalityRadioButtonsDict[SpeakEasyGUI.interactionWidgets['PLAY_AT_ROBOT']];
radioButton.setChecked(True);
#----------------------------------
# setButtonLabel
#--------------
def setButtonLabel(self, buttonObj, label):
buttonObj.setText(label);
#----------------------------------
# blinkButton
#--------------
def blinkButton(self, buttonObj, turnOn):
'''
Used to make a program button blink in some way to indicate
that it is changing into programming mode. Since this method
is triggered by a timer thread, it cannot make any GUI changes.
Instead, it sends a signal to have the GUI thread place the
button into an alternative look. It then schedules a call
to itself for a short time later. At that point it sends a
signal to the GUI thread to return the button to its usual
look:
@param buttonObj: The button to be blinked
@type buttonObj: QPushButton
@param turnOn: Indicates whether to turn the button back into
its normal state, or whether to make it take on
its alternate look.
@type turnOn: bool
'''
if turnOn:
self.showButtonSignal.emit(buttonObj);
else:
self.hideButtonSignal.emit(buttonObj);
self.buttonBlinkTimer = Timer(SpeakEasyGUI.PROGRAM_BUTTON_LOOK_CHANGE_DURATION, partial(self.blinkButton, buttonObj, True));
self.buttonBlinkTimer.start();
class FootstepTerrainControlDialog(Plugin):
def __init__(self, context):
super(FootstepTerrainControlDialog, self).__init__(context)
self.setObjectName('FootstepTerrainControlDialog')
self.request_seq = 0
self._widget = QWidget()
vbox = QVBoxLayout()
self.cube_vbox = QVBoxLayout()
self.cube_groupbox = QGroupBox( "Terrain Box" )
self.cube_min_hbox = QHBoxLayout()
self.cube_min_label = QLabel("Bottom Left")
self.cube_min_hbox.addWidget( self.cube_min_label )
self.cube_min_x = QDoubleSpinBox()
self.cube_min_x.setSingleStep(.01)
self.cube_min_x.setRange(-10.0, 10.0)
self.cube_min_x.setValue(-3.0)
self.cube_min_hbox.addWidget(self.cube_min_x)
self.cube_min_y = QDoubleSpinBox()
self.cube_min_y.setSingleStep(.01)
self.cube_min_y.setRange(-10.0, 10.0)
self.cube_min_y.setValue(-3.0)
self.cube_min_hbox.addWidget(self.cube_min_y)
self.cube_min_z = QDoubleSpinBox()
self.cube_min_z.setSingleStep(.01)
self.cube_min_z.setRange(-10.0, 10.0)
self.cube_min_z.setValue(-1.0)
self.cube_min_hbox.addWidget(self.cube_min_z)
self.cube_vbox.addLayout( self.cube_min_hbox )
self.cube_max_hbox = QHBoxLayout()
self.cube_max_label = QLabel("Top Right")
self.cube_max_hbox.addWidget( self.cube_max_label )
self.cube_max_x = QDoubleSpinBox()
self.cube_max_x.setSingleStep(.01)
self.cube_max_x.setRange(-10.0, 10.0)
self.cube_max_x.setValue(3.0)
self.cube_max_hbox.addWidget(self.cube_max_x)
self.cube_max_y = QDoubleSpinBox()
self.cube_max_y.setSingleStep(.01)
self.cube_max_y.setRange(-10.0, 10.0)
self.cube_max_y.setValue(3.0)
self.cube_max_hbox.addWidget(self.cube_max_y)
self.cube_max_z = QDoubleSpinBox()
self.cube_max_z.setSingleStep(.01)
self.cube_max_z.setRange(-10.0, 10.0)
self.cube_max_z.setValue(1.0)
self.cube_max_hbox.addWidget(self.cube_max_z)
self.cube_vbox.addLayout( self.cube_max_hbox )
self.cube_groupbox.setLayout( self.cube_vbox )
vbox.addWidget( self.cube_groupbox )
self.type_hbox = QHBoxLayout()
# self.type_label = QLabel( "Type" )
# self.type_hbox.addWidget( self.type_label )
#
# self.type_combobox = QComboBox()
#
# self.type_combobox.addItem( "Type 1" )
# self.type_combobox.addItem( "Type 2" )
# self.type_combobox.addItem( "Type 3" )
#
# self.type_hbox.addWidget( self.type_combobox )
#
# vbox.addLayout( self.type_hbox )
self.scan_number_hbox = QHBoxLayout()
self.scan_number_label = QLabel("Number of Scans Used")
self.scan_number_hbox.addWidget( self.scan_number_label )
self.scan_number_val = QDoubleSpinBox()
self.scan_number_val.setDecimals(0)
self.scan_number_val.setRange(0,10000)
self.scan_number_val.setValue(2000)
self.scan_number_hbox.addWidget(self.scan_number_val)
vbox.addLayout( self.scan_number_hbox )
# self.use_terrain_checkbox = QCheckBox( "Use Terrain" )
# vbox.addWidget( self.use_terrain_checkbox )
button_hbox = QHBoxLayout()
# button_get = QPushButton("Get Current Values")
# button_hbox.addWidget( button_get )
button_submit = QPushButton("Send Values")
button_hbox.addWidget( button_submit)
vbox.addLayout( button_hbox )
vbox.addStretch(1)
self._widget.setLayout(vbox)
context.add_widget(self._widget)
# publishers and subscribers
self.terrain_pub = rospy.Publisher("/flor/terrain_classifier/generate_terrain_model", TerrainModelRequest, queue_size=10 )
button_submit.pressed.connect(self.sendParams)
# self.terrain_sub = self.stateSubscriber = rospy.Subscriber('/ros_footstep_planner/terrains', FootstepPlannerParams, self.getParamCallbackFcn)
# button_submit.pressed.connect(self.getParams)
def shutdown_plugin(self):
print "Shutdown ..."
print "Done!"
# def getParams( self ):
# msg = FootstepPlannerParams()
#
#
# self.terrain_pub.publish( msg )
def sendParams( self ):
msg = TerrainModelRequest()
msg.use_default_region_request = False
rr = EnvironmentRegionRequest()
rr.header.seq = self.request_seq
self.request_seq = self.request_seq+1
rr.header.stamp = rospy.get_rostime()
rr.header.frame_id = "/world"
rr.bounding_box_min.x = self.cube_min_x.value()
rr.bounding_box_min.y = self.cube_min_y.value()
rr.bounding_box_min.z = self.cube_min_z.value()
rr.bounding_box_max.x = self.cube_max_x.value()
rr.bounding_box_max.y = self.cube_max_y.value()
rr.bounding_box_max.z = self.cube_max_z.value()
rr.resolution = 0
rr.request_augment = 0
msg.region_req = rr
msg.aggregation_size = self.scan_number_val.value()
print msg
self.terrain_pub.publish( msg )
def getParamCallbackFcn(self, msg):
print "Not Defined Yet"
class SensorParamControlDialog(Plugin):
def __init__(self, context):
super(SensorParamControlDialog, self).__init__(context)
self.setObjectName('SensorParamControlDialog')
self._widget = QWidget()
vbox = QVBoxLayout()
### Multisense ###
ms_groupbox = QGroupBox( "Multisense" )
ms_vbox = QVBoxLayout()
ms_gain_hbox = QHBoxLayout()
self.ms_gain_label = QLabel("Image Gain [1, 1, 8]")
ms_gain_hbox.addWidget( self.ms_gain_label )
self.ms_gain = QDoubleSpinBox()
self.ms_gain.setSingleStep(.01)
self.ms_gain.setRange(1,8)
ms_gain_hbox.addWidget( self.ms_gain )
ms_vbox.addLayout( ms_gain_hbox )
ms_exp_hbox = QHBoxLayout()
self.ms_exp_auto = QCheckBox("Image Exposure [.03, 0.5]")
ms_exp_hbox.addWidget( self.ms_exp_auto )
self.ms_exp = QDoubleSpinBox()
self.ms_exp.setSingleStep( .001 )
self.ms_exp.setRange( .025,.5 )
ms_exp_hbox.addWidget( self.ms_exp )
ms_vbox.addLayout( ms_exp_hbox )
ms_spindle_hbox = QHBoxLayout()
ms_spindle_label = QLabel("Spindle Speed [0, 5.2]")
ms_spindle_hbox.addWidget( ms_spindle_label )
self.ms_spindle = QDoubleSpinBox()
self.ms_spindle.setSingleStep(.01)
self.ms_spindle.setRange( 0,15.2 )
ms_spindle_hbox.addWidget( self.ms_spindle )
ms_vbox.addLayout( ms_spindle_hbox )
ms_light_hbox = QHBoxLayout()
ms_light_label = QLabel("Light Brightness")
ms_light_hbox.addWidget(ms_light_label)
self.ms_light = QSlider(Qt.Horizontal)
self.ms_light.setRange(0,100)
ms_light_hbox.addWidget( self.ms_light )
ms_vbox.addLayout( ms_light_hbox )
ms_button_hbox = QHBoxLayout()
ms_button_hbox.addStretch(1)
ms_button_get = QPushButton("Get Settings")
ms_button_get.pressed.connect(self.ms_get_callback)
#ms_button_hbox.addWidget( ms_button_get )
ms_button_set = QPushButton("Set Settings")
ms_button_set.pressed.connect(self.ms_set_callback)
ms_button_hbox.addWidget( ms_button_set )
ms_vbox.addLayout( ms_button_hbox )
ms_groupbox.setLayout( ms_vbox )
vbox.addWidget( ms_groupbox )
### Left SA ###
sa_left_groupbox = QGroupBox( "Left SA Camera" )
sa_left_vbox = QVBoxLayout()
sa_left_gain_hbox = QHBoxLayout()
sa_left_gain_label = QLabel("Image Gain [0, 0, 25]")
sa_left_gain_hbox.addWidget( sa_left_gain_label )
self.sa_left_gain = QDoubleSpinBox()
self.sa_left_gain.setSingleStep(.01)
self.sa_left_gain.setRange( 0, 25 )
sa_left_gain_hbox.addWidget( self.sa_left_gain )
sa_left_vbox.addLayout( sa_left_gain_hbox )
sa_left_exp_hbox = QHBoxLayout()
sa_left_exp_label = QLabel("Image Shutter [0, 5.5, 25]")
sa_left_exp_hbox.addWidget( sa_left_exp_label )
self.sa_left_exp = QDoubleSpinBox()
self.sa_left_exp.setSingleStep(.01)
self.sa_left_exp.setRange( 0, 25 )
sa_left_exp_hbox.addWidget( self.sa_left_exp )
sa_left_vbox.addLayout( sa_left_exp_hbox )
sa_left_button_hbox = QHBoxLayout()
sa_left_button_hbox.addStretch(1)
sa_left_button_get = QPushButton("Get Settings")
sa_left_button_get.pressed.connect(self.sa_left_get_callback)
#sa_left_button_hbox.addWidget( sa_left_button_get )
sa_left_button_set = QPushButton("Set Settings")
sa_left_button_set.pressed.connect(self.sa_left_set_callback)
sa_left_button_hbox.addWidget( sa_left_button_set )
sa_left_vbox.addLayout( sa_left_button_hbox )
sa_left_groupbox.setLayout( sa_left_vbox )
vbox.addWidget(sa_left_groupbox)
### Right SA ###
sa_right_groupbox = QGroupBox( "Right SA Camera" )
sa_right_vbox = QVBoxLayout()
sa_right_gain_hbox = QHBoxLayout()
sa_right_gain_label = QLabel("Image Gain [0, 0, 25]")
sa_right_gain_hbox.addWidget( sa_right_gain_label )
self.sa_right_gain = QDoubleSpinBox()
self.sa_right_gain.setSingleStep(.01)
self.sa_right_gain.setRange( 0, 25 )
sa_right_gain_hbox.addWidget( self.sa_right_gain )
sa_right_vbox.addLayout( sa_right_gain_hbox )
sa_right_exp_hbox = QHBoxLayout()
sa_right_exp_label = QLabel("Image Shutter [0, 5.5, 25]")
sa_right_exp_hbox.addWidget( sa_right_exp_label )
self.sa_right_exp = QDoubleSpinBox()
self.sa_right_exp.setSingleStep(.01)
self.sa_right_exp.setRange( 0, 25 )
sa_right_exp_hbox.addWidget( self.sa_right_exp )
sa_right_vbox.addLayout( sa_right_exp_hbox )
sa_right_button_hbox = QHBoxLayout()
sa_right_button_hbox.addStretch(1)
sa_right_button_get = QPushButton("Get Settings")
sa_right_button_get.pressed.connect(self.sa_right_get_callback)
#sa_right_button_hbox.addWidget( sa_right_button_get )
sa_right_button_set = QPushButton("Set Settings")
sa_right_button_set.pressed.connect(self.sa_right_set_callback)
sa_right_button_hbox.addWidget( sa_right_button_set )
sa_right_vbox.addLayout( sa_right_button_hbox )
sa_right_groupbox.setLayout( sa_right_vbox )
vbox.addWidget(sa_right_groupbox)
vbox.addStretch(1)
self._widget.setLayout(vbox)
context.add_widget(self._widget)
# publishers and subscribers
self.ms_cam_pub = rospy.Publisher( '/multisense_sl/set_cam_parameters', Float64MultiArray, queue_size=10)
self.ms_light_pub = rospy.Publisher( '/multisense_sl/set_light_brightness', Float64, queue_size=10)
self.ms_spindle_pub = rospy.Publisher( '/multisense_sl/set_spindle_speed', Float64, queue_size=10)
self.sa_left_cam_pub = rospy.Publisher( '/sa/left/set_cam_parameters', Float64MultiArray, queue_size=10)
self.sa_right_cam_pub = rospy.Publisher( '/sa/right/set_cam_parameters', Float64MultiArray, queue_size=10)
# self.param_sub = self.stateSubscriber = rospy.Subscriber('/ros_footstep_planner/params', FootstepPlannerParams, self.getParamCallbackFcn)
def shutdown_plugin(self):
print "Shutdown ..."
# self.param_pub.unregister()
print "Done!"
def ms_get_callback(self):
print "fill values"
def ms_set_callback(self):
ms_cam = Float64MultiArray()
ms_cam_dim_h = MultiArrayDimension()
ms_cam_dim_h.label = "height"
ms_cam_dim_h.size = 1
ms_cam_dim_h.stride = 2
ms_cam.layout.dim.append( ms_cam_dim_h )
ms_cam_dim_w = MultiArrayDimension()
ms_cam_dim_w.label = "width"
ms_cam_dim_w.size = 2
ms_cam_dim_w.stride = 2
ms_cam.layout.dim.append(ms_cam_dim_w)
ms_cam.data.append( self.ms_gain.value() )
if self.ms_exp_auto.isChecked() :
ms_cam.data.append( 1 )
else:
ms_cam.data.append( self.ms_exp.value() )
self.ms_cam_pub.publish( ms_cam )
light = Float64()
light.data = self.ms_light.value()/100.0
self.ms_light_pub.publish( light )
spindle_speed = Float64()
spindle_speed.data = self.ms_spindle.value()
self.ms_spindle_pub.publish( spindle_speed )
def sa_left_get_callback(self):
print "fill values"
def sa_left_set_callback(self):
sa_left_cam = Float64MultiArray()
sa_left_cam_dim_h = MultiArrayDimension()
sa_left_cam_dim_h.label = "height"
sa_left_cam_dim_h.size = 1
sa_left_cam_dim_h.stride = 2
sa_left_cam.layout.dim.append( sa_left_cam_dim_h )
sa_left_cam_dim_w = MultiArrayDimension()
sa_left_cam_dim_w.label = "width"
sa_left_cam_dim_w.size = 2
sa_left_cam_dim_w.stride = 2
sa_left_cam.layout.dim.append(sa_left_cam_dim_w)
sa_left_cam.data.append( self.sa_left_gain.value() )
sa_left_cam.data.append( self.sa_left_exp.value() )
self.sa_left_cam_pub.publish( sa_left_cam )
def sa_right_get_callback(self):
print "fill values"
def sa_right_set_callback(self):
sa_right_cam = Float64MultiArray()
sa_right_cam_dim_h = MultiArrayDimension()
sa_right_cam_dim_h.label = "height"
sa_right_cam_dim_h.size = 1
sa_right_cam_dim_h.stride = 2
sa_right_cam.layout.dim.append( sa_right_cam_dim_h )
sa_right_cam_dim_w = MultiArrayDimension()
sa_right_cam_dim_w.label = "width"
sa_right_cam_dim_w.size = 2
sa_right_cam_dim_w.stride = 2
sa_right_cam.layout.dim.append(sa_right_cam_dim_w)
sa_right_cam.data.append( self.sa_right_gain.value() )
sa_right_cam.data.append( self.sa_right_exp.value() )
self.sa_right_cam_pub.publish( sa_right_cam )
