Beispiel #1
0
    def restore_settings(self, settings):
        serial_number = settings.value('parent', None)
        #print 'DockWidget.restore_settings()', 'parent', serial_number, 'settings group', settings._group
        if serial_number is not None:
            serial_number = int(serial_number)
        if self._parent_container_serial_number() != serial_number and self._container_manager is not None:
            floating = self.isFloating()
            pos = self.pos()
            new_container = self._container_manager.get_container(serial_number)
            if new_container is not None:
                new_parent = new_container.main_window
            else:
                new_parent = self._container_manager.get_root_main_window()
            area = self.parent().dockWidgetArea(self)
            new_parent.addDockWidget(area, self)
            if floating:
                self.setFloating(floating)
                self.move(pos)

        title_bar = self.titleBarWidget()
        title_bar.restore_settings(settings)
        if title_bar.hide_title_bar and not self.features() & DockWidget.DockWidgetFloatable and \
                not self.features() & DockWidget.DockWidgetMovable:
            self._title_bar_backup = title_bar
            title_widget = QWidget(self)
            layout = QHBoxLayout(title_widget)
            layout.setContentsMargins(0, 0, 0, 0)
            title_widget.setLayout(layout)
            self.setTitleBarWidget(title_widget)
Beispiel #2
0
    def __init__(self, host, masteruri=None, parent=None):
        PackageDialog.__init__(self, parent)
        self.host = host
        self.setWindowTitle('Run')

        ns_name_label = QLabel("NS/Name:", self.content)
        self.ns_field = QComboBox(self.content)
        self.ns_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
        self.ns_field.setEditable(True)
        ns_history = nm.history().cachedParamValues('run_dialog/NS')
        ns_history.insert(0, '/')
        self.ns_field.addItems(ns_history)
        self.name_field = QLineEdit(self.content)
        self.name_field.setEnabled(False)
        horizontalLayout = QHBoxLayout()
        horizontalLayout.addWidget(self.ns_field)
        horizontalLayout.addWidget(self.name_field)
        self.contentLayout.addRow(ns_name_label, horizontalLayout)
        args_label = QLabel("Args:", self.content)
        self.args_field = QComboBox(self.content)
        self.args_field.setSizeAdjustPolicy(QComboBox.AdjustToMinimumContentsLength)
        self.args_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
        self.args_field.setEditable(True)
        self.contentLayout.addRow(args_label, self.args_field)
        args_history = nm.history().cachedParamValues('run_dialog/Args')
        args_history.insert(0, '')
        self.args_field.addItems(args_history)

        host_label = QLabel("Host:", self.content)
        self.host_field = QComboBox(self.content)
#    self.host_field.setSizeAdjustPolicy(QComboBox.AdjustToContents)
        self.host_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
        self.host_field.setEditable(True)
        host_label.setBuddy(self.host_field)
        self.contentLayout.addRow(host_label, self.host_field)
        self.host_history = host_history = nm.history().cachedParamValues('/Host')
        if self.host in host_history:
            host_history.remove(self.host)
        host_history.insert(0, self.host)
        self.host_field.addItems(host_history)

        master_label = QLabel("ROS Master URI:", self.content)
        self.master_field = QComboBox(self.content)
        self.master_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
        self.master_field.setEditable(True)
        master_label.setBuddy(self.host_field)
        self.contentLayout.addRow(master_label, self.master_field)
        self.master_history = master_history = nm.history().cachedParamValues('/Optional Parameter/ROS Master URI')
        self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri
        if self.masteruri in master_history:
            master_history.remove(self.masteruri)
        master_history.insert(0, self.masteruri)
        self.master_field.addItems(master_history)

#    self.package_field.setFocus(QtCore.Qt.TabFocusReason)
        if hasattr(self.package_field, "textChanged"):  # qt compatibility
            self.package_field.textChanged.connect(self.on_package_selected)
        else:
            self.package_field.editTextChanged.connect(self.on_package_selected)
        self.binary_field.activated[str].connect(self.on_binary_selected)
Beispiel #3
0
    def __init__(self, parent=None, current_values=None):
        super(BlacklistDialog, self).__init__(parent)
        self.setWindowTitle("Blacklist")
        vbox = QVBoxLayout()
        self.setLayout(vbox)

        self._blacklist = Blacklist()
        if isinstance(current_values, list):
            for val in current_values:
                self._blacklist.append(val)
        vbox.addWidget(self._blacklist)

        controls_layout = QHBoxLayout()
        add_button = QPushButton(icon=QIcon.fromTheme('list-add'))
        rem_button = QPushButton(icon=QIcon.fromTheme('list-remove'))
        ok_button = QPushButton("Ok")
        cancel_button = QPushButton("Cancel")
        add_button.clicked.connect(self._add_item)
        rem_button.clicked.connect(self._remove_item)
        ok_button.clicked.connect(self.accept)
        cancel_button.clicked.connect(self.reject)

        controls_layout.addWidget(add_button)
        controls_layout.addWidget(rem_button)
        controls_layout.addStretch(0)
        controls_layout.addWidget(ok_button)
        controls_layout.addWidget(cancel_button)
        vbox.addLayout(controls_layout)
    def __init__(self, parent = None, logger = Logger()):
        QWidgetWithLogger.__init__(self, parent, logger)

        # start widget
        hbox = QHBoxLayout()
        hbox.setMargin(0)
        hbox.setContentsMargins(0, 0, 0, 0)

        # get system icon
        icon = QIcon.fromTheme("view-refresh")
        size = icon.actualSize(QSize(32, 32))

        # add combo box
        self.parameter_set_names_combo_box = QComboBox()
        self.parameter_set_names_combo_box.currentIndexChanged[str].connect(self.param_changed)
        hbox.addWidget(self.parameter_set_names_combo_box)

        # add refresh button
        self.get_all_parameter_set_names_button = QPushButton()
        self.get_all_parameter_set_names_button.clicked.connect(self._get_all_parameter_set_names)

        self.get_all_parameter_set_names_button.setIcon(icon)
        self.get_all_parameter_set_names_button.setFixedSize(size.width()+2, size.height()+2)

        hbox.addWidget(self.get_all_parameter_set_names_button)

        # end widget
        self.setLayout(hbox)

        # init widget
        self.reset_parameter_set_selection()
def add_widget_with_frame(parent, widget, text = ""):
    box_layout = QHBoxLayout()
    box_layout.addWidget(widget)

    group_box = QGroupBox()

    group_box.setStyleSheet("QGroupBox { border: 1px solid gray; border-radius: 4px; margin-top: 0.5em; } QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px; }")
    group_box.setTitle(text)
    group_box.setLayout(box_layout)
    
    parent.addWidget(group_box)
    def __init__(self, parent = None, logger = Logger(), step_plan_topic = str()):
        QWidgetWithLogger.__init__(self, parent, logger)

        # start widget
        vbox = QVBoxLayout()
        vbox.setMargin(0)
        vbox.setContentsMargins(0, 0, 0, 0)

        # step plan input topic selection
        if len(step_plan_topic) == 0:
            step_plan_topic_widget = QTopicWidget(topic_type = 'vigir_footstep_planning_msgs/StepPlan')
            step_plan_topic_widget.topic_changed_signal.connect(self._init_step_plan_subscriber)
            vbox.addWidget(step_plan_topic_widget)
        else:
            self._init_step_plan_subscriber(step_plan_topic)

        # execute action server topic selection
        execute_topic_widget = QTopicWidget(topic_type = 'vigir_footstep_planning_msgs/ExecuteStepPlanAction', is_action_topic = True)
        execute_topic_widget.topic_changed_signal.connect(self._init_execute_action_client)
        vbox.addWidget(execute_topic_widget)

        # start button part
        buttons_hbox = QHBoxLayout()
        buttons_hbox.setMargin(0)

        # execute
        self.execute_command = QPushButton("Execute (Steps: 0)")
        self.execute_command.clicked.connect(self.execute_command_callback)
        self.execute_command.setEnabled(False)
        buttons_hbox.addWidget(self.execute_command)

        # repeat
        self.repeat_command = QPushButton("Repeat")
        self.repeat_command.clicked.connect(self.execute_command_callback)
        self.repeat_command.setEnabled(False)
        buttons_hbox.addWidget(self.repeat_command)

        # stop
        self.stop_command = QPushButton("Stop")
        self.stop_command.clicked.connect(self.stop_command_callback)
        self.stop_command.setEnabled(False)
        buttons_hbox.addWidget(self.stop_command)

        # end button part
        vbox.addLayout(buttons_hbox)

        # end widget
        self.setLayout(vbox)

        # init widget
        if len(step_plan_topic) == 0:
            step_plan_topic_widget.emit_topic_name()
        execute_topic_widget.emit_topic_name()
Beispiel #7
0
    def __init__(self, context):
        super(MultiRobotPasserGUIPlugin, self).__init__(context)
        # Give QObjects reasonable names
        self.setObjectName('MultiRobotPasserGUIPlugin')

        # Create QWidget
        self.widget = QWidget()
        self.master_layout = QVBoxLayout(self.widget)

        self.buttons = {}
        self.button_layout = QHBoxLayout()
        self.master_layout.addLayout(self.button_layout)
        for button_text in ["Enable", "Disable"]:
            button = QPushButton(button_text, self.widget)
            button.clicked[bool].connect(self.handle_button)
            button.setCheckable(True)
            self.button_layout.addWidget(button)
            self.buttons[button_text] = button

        self.widget.setObjectName('MultiRobotPasserGUIPluginUI')
        if context.serial_number() > 1:
            self.widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
        context.add_widget(self.widget)

        self.status_subscriber = rospy.Subscriber("status", Bool, self.status_callback)
        self.enable = rospy.ServiceProxy("enable", Empty)
        self.disable = rospy.ServiceProxy("disable", Empty)

        self.enabled = False
        self.connect(self.widget, SIGNAL("update"), self.update)
Beispiel #8
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    def __init__(self, map_topic='/map',
                 paths=['/move_base/NavFn/plan', '/move_base/TrajectoryPlannerROS/local_plan'],
                 polygons=['/move_base/local_costmap/robot_footprint']):
        super(NavViewWidget, self).__init__()
        self._layout = QVBoxLayout()
        self._button_layout = QHBoxLayout()

        self.setAcceptDrops(True)
        self.setWindowTitle('Navigation Viewer')

        self.paths = paths
        self.polygons = polygons
        self.map = map_topic
        self._tf = tf.TransformListener()

        self._nav_view = NavView(map_topic, paths, polygons, tf = self._tf, parent = self)

        self._set_pose = QPushButton('Set Pose')
        self._set_pose.clicked.connect(self._nav_view.pose_mode)
        self._set_goal = QPushButton('Set Goal')
        self._set_goal.clicked.connect(self._nav_view.goal_mode)

        self._button_layout.addWidget(self._set_pose)
        self._button_layout.addWidget(self._set_goal)

        self._layout.addLayout(self._button_layout)

        self._layout.addWidget(self._nav_view)

        self.setLayout(self._layout)
Beispiel #9
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    def __init__(self, parent):
        super(TimelineWidget, self).__init__()
        self.parent = parent

        self._layout = QHBoxLayout()

        #self._view = QGraphicsView()
        self._view = TimelineWidget.TimelineView(self)

        self._scene = QGraphicsScene()
        self._colors = [QColor('green'), QColor('yellow'), QColor('red')]

        self._messages = [None for x in range(20)]
        self._mq = [1 for x in range(20)] 

        self._view.setHorizontalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
        self._view.setVerticalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
        self._view.setScene(self._scene)
        self._layout.addWidget(self._view, 1)

        self.pause_button = QPushButton('Pause')
        self.pause_button.setCheckable(True)
        self.pause_button.clicked.connect(self.pause)
        self._layout.addWidget(self.pause_button)

        self.setLayout(self._layout)

        self.update.connect(self.redraw)
    def __init__(self, parent=None):
        """Create a new, empty DataPlot

        This will raise a RuntimeError if none of the supported plotting
        backends can be found
        """
        super(DataPlot, self).__init__(parent)
        self._plot_index = 0
        self._color_index = 0
        self._markers_on = False
        self._autoscroll = True

        self._autoscale_x = True
        self._autoscale_y = DataPlot.SCALE_ALL

        # the backend widget that we're trying to hide/abstract
        self._data_plot_widget = None
        self._curves = {}
        self._vline = None
        self._redraw.connect(self._do_redraw)

        self._layout = QHBoxLayout()
        self.setLayout(self._layout)

        enabled_plot_types = [pt for pt in self.plot_types if pt['enabled']]
        if not enabled_plot_types:
            version_info = ' and PySide > 1.1.0' if QT_BINDING == 'pyside' else ''
            raise RuntimeError('No usable plot type found. Install at least one of: PyQtGraph, MatPlotLib (at least 1.1.0%s) or Python-Qwt5.' % version_info)

        self._switch_data_plot_widget(self._plot_index)

        self.show()
Beispiel #11
0
    def __init__(self, context):
        super(QuestionDialogPlugin, self).__init__(context)
        # Give QObjects reasonable names
        self.setObjectName('QuestionDialogPlugin')

        # Create QWidget
        self._widget = QWidget()
        self._widget.setFont(QFont("Times", 14, QFont.Bold))
        self._layout = QVBoxLayout(self._widget)
        self._text_browser = QTextBrowser(self._widget)
        self._layout.addWidget(self._text_browser)
        self._button_layout = QHBoxLayout()
        self._layout.addLayout(self._button_layout)

        # layout = QVBoxLayout(self._widget)
        # layout.addWidget(self.button)
        self._widget.setObjectName('QuestionDialogPluginUI')
        if context.serial_number() > 1:
            self._widget.setWindowTitle(self._widget.windowTitle() + 
                                        (' (%d)' % context.serial_number()))
        context.add_widget(self._widget)

        # Setup service provider
        self.service = rospy.Service('question_dialog', QuestionDialog,
                                     self.service_callback)
        self.response_ready = False
        self.response = None
        self.buttons = []
        self.text_label = None
        self.text_input = None

        self.connect(self._widget, SIGNAL("update"), self.update)
        self.connect(self._widget, SIGNAL("timeout"), self.timeout)
    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);
    def __init__(self, parent, fileName, top_widget_layout):

        self.controllers = []
        self.parent      = parent

        self.loadFile(fileName)


        print "Initialize controllers..."
        for controller in self.controllers:
            frame = QFrame()
            frame.setFrameShape(QFrame.StyledPanel);
            frame.setFrameShadow(QFrame.Raised);

            vbox = QVBoxLayout()
            label = QLabel()
            label.setText(controller.label)
            vbox.addWidget(label);

            print controller.name

            for joint in controller.joints:
                label = QLabel()
                label.setText(joint.name)
                vbox.addWidget(label);

                #Add input for setting the biases
                widget = QWidget()
                hbox = QHBoxLayout()

                hbox.addWidget(joint.sensor_bias_spinbox)
                hbox.addWidget(joint.control_bias_spinbox)
                hbox.addWidget(joint.gearing_bias_spinbox)

                widget.setLayout(hbox)
                vbox.addWidget(widget)

            label = QLabel()
            label.setText("      Sensor           Control           Gearing")
            vbox.addWidget(label);
            vbox.addStretch()

            frame.setLayout(vbox)
            top_widget_layout.addWidget(frame)
        print "Done loading controllers"
 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);
Beispiel #15
0
    def _create_buttons(self):
        # create the buttons line
        self.buttons = QWidget(self)
        self.horizontalLayout = QHBoxLayout(self.buttons)
        self.horizontalLayout.setContentsMargins(4, 0, 4, 0)
        self.horizontalLayout.setObjectName("horizontalLayout")
        # add the search button
        self.searchButton = QPushButton(self)
        self.searchButton.setObjectName("searchButton")
#        self.searchButton.clicked.connect(self.on_shortcut_find)
        self.searchButton.toggled.connect(self.on_toggled_find)
        self.searchButton.setText(self._translate("&Find"))
        self.searchButton.setToolTip('Open a search dialog (Ctrl+F)')
        self.searchButton.setFlat(True)
        self.searchButton.setCheckable(True)
        self.horizontalLayout.addWidget(self.searchButton)
        # add the replace button
        self.replaceButton = QPushButton(self)
        self.replaceButton.setObjectName("replaceButton")
#        self.replaceButton.clicked.connect(self.on_shortcut_replace)
        self.replaceButton.toggled.connect(self.on_toggled_replace)
        self.replaceButton.setText(self._translate("&Replace"))
        self.replaceButton.setToolTip('Open a search&replace dialog (Ctrl+R)')
        self.replaceButton.setFlat(True)
        self.replaceButton.setCheckable(True)
        self.horizontalLayout.addWidget(self.replaceButton)
        # add the goto button
        self.gotoButton = QPushButton(self)
        self.gotoButton.setObjectName("gotoButton")
        self.gotoButton.clicked.connect(self.on_shortcut_goto)
        self.gotoButton.setText(self._translate("&Goto line"))
        self.gotoButton.setShortcut("Ctrl+G")
        self.gotoButton.setToolTip('Open a goto dialog (Ctrl+G)')
        self.gotoButton.setFlat(True)
        self.horizontalLayout.addWidget(self.gotoButton)
        # add a tag button
        self.tagButton = self._create_tag_button(self)
        self.horizontalLayout.addWidget(self.tagButton)
        # add spacer
        spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
        self.horizontalLayout.addItem(spacerItem)
        # add line number label
        self.pos_label = QLabel()
        self.horizontalLayout.addWidget(self.pos_label)
        # add spacer
        spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
        self.horizontalLayout.addItem(spacerItem)
        # add save button
        self.saveButton = QPushButton(self)
        self.saveButton.setObjectName("saveButton")
        self.saveButton.clicked.connect(self.on_saveButton_clicked)
        self.saveButton.setText(self._translate("&Save"))
        self.saveButton.setShortcut("Ctrl+S")
        self.saveButton.setToolTip('Save the changes to the file (Ctrl+S)')
        self.saveButton.setFlat(True)
        self.horizontalLayout.addWidget(self.saveButton)
        return self.buttons
 def addTitle(self,layout):
     title = QLabel("<H1>SpeakEasy</H1>");
     hbox = QHBoxLayout();
     hbox.addStretch(1);
     hbox.addWidget(title);
     hbox.addStretch(1);
     
     layout.addLayout(hbox);
 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);
    def joint_widget(self, main_vbox, index):
        joint = self.chain[index]
        frame = QFrame()
        frame.setFrameShape(QFrame.StyledPanel)
        frame.setFrameShadow(QFrame.Raised)

        hbox = QHBoxLayout()
        # hbox.addWidget(frame)

        self.prior_time = 0.0

        robot_joint = self.robot.joints[self.joint_list[joint.name]]
        joint.lower_limit = robot_joint.limit.lower
        joint.upper_limit = robot_joint.limit.upper
        ramp_range = robot_joint.limit.upper - robot_joint.limit.lower

        print "  ", joint.name, "  limits(", joint.lower_limit, ", ", joint.upper_limit, ") range=", ramp_range

        self.cmd_spinbox.append(QDoubleSpinBox())
        self.cmd_spinbox[index].setDecimals(5)
        self.cmd_spinbox[index].setRange(joint.lower_limit, joint.upper_limit)
        self.cmd_spinbox[index].setSingleStep((robot_joint.limit.upper - robot_joint.limit.lower) / 50.0)
        self.cmd_spinbox[index].valueChanged.connect(joint.on_cmd_value)

        self.ramp_up_spinbox.append(QDoubleSpinBox())
        self.ramp_up_spinbox[index].setDecimals(5)
        self.ramp_up_spinbox[index].setRange(-ramp_range, ramp_range)
        self.ramp_up_spinbox[index].setSingleStep(ramp_range / 50.0)
        self.ramp_up_spinbox[index].valueChanged.connect(joint.on_ramp_up_value)

        self.ramp_down_spinbox.append(QDoubleSpinBox())
        self.ramp_down_spinbox[index].setDecimals(5)
        self.ramp_down_spinbox[index].setRange(-ramp_range, ramp_range)
        self.ramp_down_spinbox[index].setSingleStep(ramp_range / 50.0)
        self.ramp_down_spinbox[index].valueChanged.connect(joint.on_ramp_down_value)

        hbox.addWidget(QLabel(joint.name))
        hbox.addWidget(self.cmd_spinbox[index])
        hbox.addWidget(self.ramp_up_spinbox[index])
        hbox.addWidget(self.ramp_down_spinbox[index])

        # Add horizontal layout to frame for this joint group
        frame.setLayout(hbox)

        # Add frame to main vertical layout
        main_vbox.addWidget(frame)
    def __init__(self, editor, *args):
        QFrame.__init__(self, *args)

        self.setFrameStyle(QFrame.StyledPanel | QFrame.Sunken)
        self.edit = editor

        self.number_bar = self.NumberBar()
        self.number_bar.set_text_edit(self.edit)

        hbox = QHBoxLayout(self)
        hbox.setSpacing(0)
        hbox.setMargin(0)
        hbox.addWidget(self.number_bar)
        hbox.addWidget(self.edit)

        self.edit.installEventFilter(self)
        self.edit.viewport().installEventFilter(self)
 def addChoiceButtons(self, layout):
     '''
     Appends the existing Next/Previous/Cancel/OK buttons
     into the passed-in layout.
     @param layout:
     '''
     choiceButtonRowLayout = QHBoxLayout();
     choiceButtonRowLayout.addWidget(self.nextButton);
     choiceButtonRowLayout.addWidget(self.prevButton);
     choiceButtonRowLayout.addWidget(self.cancelButton);
     choiceButtonRowLayout.addWidget(self.OKButton);
     layout.addLayout(choiceButtonRowLayout);
class PathEditor(QWidget):
    '''
    This is a path editor used as ItemDeligate in settings view. This editor
    provides an additional button for directory selection dialog.
    '''

    editing_finished_signal = Signal()

    def __init__(self, path, parent=None):
        QWidget.__init__(self, parent)
        self.path = path
        self._layout = QHBoxLayout(self)
        self._layout.setContentsMargins(0, 0, 0, 0)
        self._layout.setSpacing(0)
        self._button = QPushButton('...')
        self._button.setMaximumSize(QSize(24, 20))
        self._button.clicked.connect(self._on_path_select_clicked)
        self._layout.addWidget(self._button)
        self._lineedit = QLineEdit(path)
        self._lineedit.returnPressed.connect(self._on_editing_finished)
        self._layout.addWidget(self._lineedit)
        self.setLayout(self._layout)
        self.setFocusProxy(self._button)
        self.setAutoFillBackground(True)

    def _on_path_select_clicked(self):
        # Workaround for QFileDialog.getExistingDirectory because it do not
        # select the configuration folder in the dialog
        self.dialog = QFileDialog(self, caption='Select a new settings folder')
        self.dialog.setOption(QFileDialog.HideNameFilterDetails, True)
        self.dialog.setFileMode(QFileDialog.Directory)
        self.dialog.setDirectory(self.path)
        if self.dialog.exec_():
            fileNames = self.dialog.selectedFiles()
            path = fileNames[0]
            if os.path.isfile(path):
                path = os.path.basename(path)
            self._lineedit.setText(path)
            self.path = dir
            self.editing_finished_signal.emit()

    def _on_editing_finished(self):
        if self._lineedit.text():
            self.path = self._lineedit.text()
            self.editing_finished_signal.emit()
 def __init__(self, path, parent=None):
     QWidget.__init__(self, parent)
     self.path = path
     self._layout = QHBoxLayout(self)
     self._layout.setContentsMargins(0, 0, 0, 0)
     self._layout.setSpacing(0)
     self._button = QPushButton('...')
     self._button.setMaximumSize(QSize(24, 20))
     self._button.clicked.connect(self._on_path_select_clicked)
     self._layout.addWidget(self._button)
     self._lineedit = QLineEdit(path)
     self._lineedit.returnPressed.connect(self._on_editing_finished)
     self._layout.addWidget(self._lineedit)
     self.setLayout(self._layout)
     self.setFocusProxy(self._button)
     self.setAutoFillBackground(True)
    def __init__(self, parent = None, subscribe = False):
        QWidget.__init__(self, parent)

        # start widget
        vbox = QVBoxLayout()
        vbox.setMargin(0)
        vbox.setContentsMargins(0, 0, 0, 0)

        # add error status text edit
        self.error_status_text_box = QErrorStatusTextBox()
        self.error_status_text_box_layout = QHBoxLayout()
        self.error_status_text_box_layout.addWidget(self.error_status_text_box)
        vbox.addLayout(self.error_status_text_box_layout)

        # add panel
        hbox = QHBoxLayout()

        # clear push button
        self.execute_command = QPushButton("Clear")
        self.execute_command.clicked.connect(self.error_status_text_box.clear)
        hbox.addWidget(self.execute_command)

        hbox.addStretch()

        # hide window checkbox
        hide_window_check_box = QCheckBox("Hide")
        hide_window_check_box.stateChanged.connect(self.state_changed)
        hbox.addWidget(hide_window_check_box)

        # end panel
        vbox.addLayout(hbox)

        # end widget
        self.setLayout(vbox)
        #self.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Minimum)

        # subscriber
        if (subscribe):
            self.error_status_sub = rospy.Subscriber("error_status", ErrorStatus, self.error_status_callback)
        self.subscribed = subscribe

        # connect signal slot internally to prevent crash by subscriber
        self.error_status_signal.connect(self.append_error_status)
    def __init__(self, parent = None, topic_type = str(), is_action_topic = False):
        QWidget.__init__(self, parent)

        if is_action_topic:
            self.topic_type = topic_type + "Goal"
        else:
            self.topic_type = topic_type
        self.is_action_topic = is_action_topic

        # start widget
        hbox = QHBoxLayout()
        hbox.setMargin(0)
        hbox.setContentsMargins(0, 0, 0, 0)

        # topic combo box
        self.topic_combo_box = QComboBox()
        self.topic_combo_box.setEnabled(False)
        self.topic_combo_box.blockSignals(True)
        self.topic_combo_box.setValidator(QRegExpValidator(QRegExp('((\d|\w|/)(?!//))*'), self))
        self.topic_combo_box.currentIndexChanged[str].connect(self.topic_changed)
        hbox.addWidget(self.topic_combo_box)

        # get system icon
        icon = QIcon.fromTheme("view-refresh")
        size = icon.actualSize(QSize(32, 32))

        # add refresh button
        refresh_topics_button = QPushButton()
        refresh_topics_button.clicked.connect(self.update_topic_list)
        refresh_topics_button.setIcon(icon)
        refresh_topics_button.setFixedSize(size.width()+2, size.height()+2)
        hbox.addWidget(refresh_topics_button)

        # end widget
        self.setLayout(hbox)

        # init widget
        self.update_topic_list()
Beispiel #25
0
    def __init__(self, context):
        super(MultiRobotPatrollerPlugin, self).__init__(context)
        # Give QObjects reasonable names
        self.setObjectName('MultiRobotPatrollerPlugin')

        # Create QWidget
        self.widget = QWidget()
        self.master_layout = QVBoxLayout(self.widget)

        self.buttons = []
        self.button_layout = QHBoxLayout()
        self.master_layout.addLayout(self.button_layout)
        for button_text in ["Play", "Pause"]:
            button = QPushButton(button_text, self.widget)
            button.clicked[bool].connect(self.handle_button)
            button.setCheckable(True)
            self.button_layout.addWidget(button)
            if button_text == "Pause":
                button.setChecked(True)
            self.buttons.append(button)

        self.text_labels = {}

        self.widget.setObjectName('MultiRobotPatrollerPluginUI')
        if context.serial_number() > 1:
            self.widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
        context.add_widget(self.widget)

        self.points = rospy.get_param("points")
        self.flip_direction = rospy.get_param("flip_direction")

        self.available_robots = []
        self.global_start_counter = 0
        self.global_forward = True

        self.available_robot_subscriber = rospy.Subscriber("/available_robots", AvailableRobotArray,
                                                           self.available_robot_callback)

        self.robot_goals = {}
        self.paused = True

        self.connect(self.widget, SIGNAL("update"), self.update)
    def joint_widget( self, main_vbox, index):
        joint = self.chain[index]
        frame = QFrame()
        frame.setFrameShape(QFrame.StyledPanel);
        frame.setFrameShadow(QFrame.Raised);

        hbox = QHBoxLayout()
        #hbox.addWidget(frame)

        self.prior_time = 0.0

        robot_joint = self.robot.joints[self.joint_list[joint.name]]
        joint.lower_limit = robot_joint.limit.lower
        joint.upper_limit = robot_joint.limit.upper
        amplitude_range = (robot_joint.limit.upper-robot_joint.limit.lower)
        frequency_range = self.frequency_limit
        iterations_range = 10000

        print "  ",joint.name, "  limits(", joint.lower_limit,", ",joint.upper_limit,") range=",amplitude_range

        self.cur_position_spinbox.append(QDoubleSpinBox())
        self.cur_position_spinbox[index].setDecimals(5)
        self.cur_position_spinbox[index].setRange(joint.lower_limit, joint.upper_limit)
        self.cur_position_spinbox[index].setSingleStep((robot_joint.limit.upper-robot_joint.limit.lower)/50.0)
        self.cur_position_spinbox[index].valueChanged.connect(joint.on_position_value)

        self.amplitude_spinbox.append(QDoubleSpinBox())
        self.amplitude_spinbox[index].setDecimals(5)
        self.amplitude_spinbox[index].setRange(-amplitude_range, amplitude_range)
        self.amplitude_spinbox[index].setSingleStep(amplitude_range/50.0)
        self.amplitude_spinbox[index].valueChanged.connect(joint.on_amplitude_value)
        self.amplitude_spinbox[index].setValue(joint.amplitude)

        hbox.addWidget(QLabel(joint.name))
        hbox.addWidget(self.cur_position_spinbox[index])
        hbox.addWidget(self.amplitude_spinbox[index])

        # Add horizontal layout to frame for this joint group
        frame.setLayout(hbox)

        # Add frame to main vertical layout
        main_vbox.addWidget(frame)
Beispiel #27
0
class QuestionDialogPlugin(Plugin):

    def __init__(self, context):
        super(QuestionDialogPlugin, self).__init__(context)
        # Give QObjects reasonable names
        self.setObjectName('QuestionDialogPlugin')

        # Create QWidget
        self._widget = QWidget()
        self._widget.setFont(QFont("Times", 14, QFont.Bold))
        self._layout = QVBoxLayout(self._widget)
        self._text_browser = QTextBrowser(self._widget)
        self._layout.addWidget(self._text_browser)
        self._button_layout = QHBoxLayout()
        self._layout.addLayout(self._button_layout)

        # layout = QVBoxLayout(self._widget)
        # layout.addWidget(self.button)
        self._widget.setObjectName('QuestionDialogPluginUI')
        if context.serial_number() > 1:
            self._widget.setWindowTitle(self._widget.windowTitle() + 
                                        (' (%d)' % context.serial_number()))
        context.add_widget(self._widget)

        # Setup service provider
        self.service = rospy.Service('question_dialog', QuestionDialog,
                                     self.service_callback)
        self.response_ready = False
        self.response = None
        self.buttons = []
        self.text_label = None
        self.text_input = None

        self.connect(self._widget, SIGNAL("update"), self.update)
        self.connect(self._widget, SIGNAL("timeout"), self.timeout)

    def shutdown_plugin(self):
        self.service.shutdown()

    def service_callback(self, req):
        self.response_ready = False
        self.request = req
        self._widget.emit(SIGNAL("update"))
        # Start timer against wall clock here instead of the ros clock.
        start_time = time.time()
        while not self.response_ready:
            if req.timeout != QuestionDialogRequest.NO_TIMEOUT:
                current_time = time.time()
                if current_time - start_time > req.timeout:
                    self._widget.emit(SIGNAL("timeout"))
                    return QuestionDialogResponse(
                            QuestionDialogRequest.TIMED_OUT, "")
            time.sleep(0.2)
        return self.response

    def update(self):
        self.clean()
        req = self.request
        self._text_browser.setText(req.message)
        if req.type == QuestionDialogRequest.DISPLAY:
            # All done, nothing more too see here.
            self.response = QuestionDialogResponse(
                    QuestionDialogRequest.NO_RESPONSE, "")
            self.response_ready = True
        elif req.type == QuestionDialogRequest.CHOICE_QUESTION:
            for index, options in enumerate(req.options): 
                button = QPushButton(options, self._widget)
                button.clicked.connect(partial(self.handle_button, index))
                self._button_layout.addWidget(button)
                self.buttons.append(button)
        elif req.type == QuestionDialogRequest.TEXT_QUESTION:
            self.text_label = QLabel("Enter here: ", self._widget)
            self._button_layout.addWidget(self.text_label)
            self.text_input = QLineEdit(self._widget)
            self.text_input.editingFinished.connect(self.handle_text)
            self._button_layout.addWidget(self.text_input)

    def timeout(self):
        self._text_browser.setText("Oh no! The request timed out.")
        self.clean()

    def clean(self):
        while self._button_layout.count():
            item = self._button_layout.takeAt(0)
            item.widget().deleteLater()
        self.buttons = []
        self.text_input = None
        self.text_label = None

    def handle_button(self, index):
        self.response = QuestionDialogResponse(index, "")
        self.clean()
        self.response_ready = True

    def handle_text(self):
        self.response = QuestionDialogResponse(
            QuestionDialogRequest.TEXT_RESPONSE,
            self.text_input.text())
        self.clean()
        self.response_ready = True

    def save_settings(self, plugin_settings, instance_settings):
        # TODO save intrinsic configuration, usually using:
        # instance_settings.set_value(k, v)
        pass

    def restore_settings(self, plugin_settings, instance_settings):
        # TODO restore intrinsic configuration, usually using:
        # v = instance_settings.value(k)
        pass
Beispiel #28
0
class LogicalMarkerPlugin(Plugin):

    def __init__(self, context):
        super(LogicalMarkerPlugin, self).__init__(context)

        # Create an image for the original map. This will never change.
        try:
            self.map_yaml_file_str = rospy.get_param("~map_file")
            self.data_directory = rospy.get_param("~data_directory")
        except KeyError:
            rospy.logfatal("~map_file and ~data_directory need to be set to use the logical marker")
            return

        map_image_location = getImageFileLocation(self.map_yaml_file_str)
        map = loadMapFromFile(self.map_yaml_file_str)
        locations_file = getLocationsFileLocationFromDataDirectory(self.data_directory)
        doors_file = getDoorsFileLocationFromDataDirectory(self.data_directory)
        objects_file = getObjectsFileLocationFromDataDirectory(self.data_directory)

        # Give QObjects reasonable names
        self.setObjectName('LogicalMarkerPlugin')

        # Create QWidget
        self.master_widget = QWidget()
        self.master_layout = QVBoxLayout(self.master_widget)

        # Main Functions - Doors, Locations, Objects
        self.function_layout = QHBoxLayout()
        self.master_layout.addLayout(self.function_layout)
        self.function_buttons = []
        self.current_function = None
        for button_text in ['Locations', 'Doors', 'Objects']:
            button = QPushButton(button_text, self.master_widget)
            button.clicked[bool].connect(self.handle_function_button)
            button.setCheckable(True)
            self.function_layout.addWidget(button)
            self.function_buttons.append(button)
        self.function_layout.addStretch(1)

        self.master_layout.addWidget(self.get_horizontal_line())

        # Subfunction toolbar
        self.subfunction_layout = QHBoxLayout()
        clearLayoutAndFixHeight(self.subfunction_layout)
        self.master_layout.addLayout(self.subfunction_layout)
        self.current_subfunction = None

        self.master_layout.addWidget(self.get_horizontal_line())

        self.image = MapImage(map_image_location, self.master_widget)
        self.master_layout.addWidget(self.image)

        self.master_layout.addWidget(self.get_horizontal_line())

        # Configuration toolbar
        self.configuration_layout = QHBoxLayout()
        clearLayoutAndFixHeight(self.configuration_layout)
        self.master_layout.addLayout(self.configuration_layout)

        # Add a stretch at the bottom.
        self.master_layout.addStretch(1)

        self.master_widget.setObjectName('LogicalMarkerPluginUI')
        if context.serial_number() > 1:
            self.master_widget.setWindowTitle(self.master_widget.windowTitle() + (' (%d)' % context.serial_number()))
        context.add_widget(self.master_widget)


        # Activate the functions
        self.functions = {}
        self.functions['Locations'] = LocationFunction(locations_file,
                                                       map,
                                                       self.master_widget, 
                                                       self.subfunction_layout, 
                                                       self.configuration_layout,
                                                       self.image)
        self.functions['Doors'] = DoorFunction(doors_file,
                                               map,
                                               self.functions['Locations'],
                                               self.master_widget, 
                                               self.subfunction_layout, 
                                               self.configuration_layout,
                                               self.image)
        self.functions['Objects'] = ObjectFunction(objects_file,
                                                   map,
                                                   self.functions['Locations'],
                                                   self.master_widget, 
                                                   self.subfunction_layout, 
                                                   self.configuration_layout,
                                                   self.image)
    def construct_layout(self):
        pass

    def get_horizontal_line(self):
        """
        http://stackoverflow.com/questions/5671354/how-to-programmatically-make-a-horizontal-line-in-qt
        """
        hline = QFrame()
        hline.setFrameShape(QFrame.HLine)
        hline.setFrameShadow(QFrame.Sunken)
        return hline

    def handle_function_button(self):
        source = self.sender()

        if source.text() == self.current_function:
            source.setChecked(True)
            return

        # Depress all other buttons.
        for button in self.function_buttons:
            if button != source:
                button.setChecked(False)

        if self.current_function is not None:
            self.functions[self.current_function].deactivateFunction()
        self.current_function = source.text()

        # Clear all subfunction buttons.
        clearLayoutAndFixHeight(self.subfunction_layout)

        if self.current_function is not None:
            self.functions[self.current_function].activateFunction()

    def shutdown_plugin(self):
        modified = False
        for function in self.functions:
            if self.functions[function].isModified():
                modified = True
        if modified:
            ret = QMessageBox.warning(self.master_widget, "Save",
                        "The logical map has been modified.\n"
                        "Do you want to save your changes?",
                        QMessageBox.Save | QMessageBox.Discard)
            if ret == QMessageBox.Save:
                for function in self.functions:
                    self.functions[function].saveConfiguration()

    def save_settings(self, plugin_settings, instance_settings):
        pass

    def restore_settings(self, plugin_settings, instance_settings):
        pass
    def __init__(self, parent=None):
        super(VisualizerWidget, self).__init__(parent)
        self.setWindowTitle('Graph Profiler Visualizer')
        vbox = QVBoxLayout()
        self.setLayout(vbox)

        toolbar_layout = QHBoxLayout()
        refresh_button = QPushButton()
        refresh_button.setIcon(QIcon.fromTheme('view-refresh'))
        auto_refresh_checkbox = QCheckBox("Auto Refresh")
        hide_disconnected_topics = QCheckBox("Hide Disconnected Topics")
        topic_blacklist_button = QPushButton("Topic Blacklist")
        node_blacklist_button = QPushButton("Node Blacklist")

        refresh_button.clicked.connect(self._refresh)
        topic_blacklist_button.clicked.connect(self._edit_topic_blacklist)
        node_blacklist_button.clicked.connect(self._edit_node_blacklist)
        auto_refresh_checkbox.setCheckState(2)
        auto_refresh_checkbox.stateChanged.connect(self._autorefresh_changed)
        hide_disconnected_topics.setCheckState(2)
        hide_disconnected_topics.stateChanged.connect(self._hidedisconnectedtopics_changed)

        toolbar_layout.addWidget(refresh_button)
        toolbar_layout.addWidget(auto_refresh_checkbox)
        toolbar_layout.addStretch(0)
        toolbar_layout.addWidget(hide_disconnected_topics)
        toolbar_layout.addWidget(topic_blacklist_button)
        toolbar_layout.addWidget(node_blacklist_button)
        vbox.addLayout(toolbar_layout)

        # Initialize the Visualizer
        self._view = qt_view.QtView()
        self._adapter = rosprofiler_adapter.ROSProfileAdapter(self._view)
        self._adapter.set_topic_quiet_list(TOPIC_BLACKLIST)
        self._adapter.set_node_quiet_list(NODE_BLACKLIST)
        vbox.addWidget(self._view)
    def __init__(self, masteruri, cfg, ns, nodes, parent=None):
        QFrame.__init__(self, parent)
        self._masteruri = masteruri
        self._nodes = {cfg: {ns: nodes}}
        frame_layout = QVBoxLayout(self)
        frame_layout.setContentsMargins(0, 0, 0, 0)
        # create frame for warning label
        self.warning_frame = warning_frame = QFrame(self)
        warning_layout = QHBoxLayout(warning_frame)
        warning_layout.setContentsMargins(0, 0, 0, 0)
        warning_layout.addItem(
            QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
        self.warning_label = QLabel()
        icon = nm.settings().icon('crystal_clear_warning.png')
        self.warning_label.setPixmap(icon.pixmap(QSize(40, 40)))
        self.warning_label.setToolTip(
            'Multiple configuration for same node found!\nA first one will be selected for the start a node!'
        )
        warning_layout.addWidget(self.warning_label)
        warning_layout.addItem(
            QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
        frame_layout.addItem(
            QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
        frame_layout.addWidget(warning_frame)
        # create frame for start/stop buttons
        buttons_frame = QFrame()
        buttons_layout = QHBoxLayout(buttons_frame)
        buttons_layout.setContentsMargins(0, 0, 0, 0)
        buttons_layout.addItem(QSpacerItem(20, 20))
        self.on_button = QPushButton()
        self.on_button.setFlat(False)
        self.on_button.setText("On")
        self.on_button.clicked.connect(self.on_on_clicked)
        buttons_layout.addWidget(self.on_button)

        self.off_button = QPushButton()
        self.off_button.setFlat(True)
        self.off_button.setText("Off")
        self.off_button.clicked.connect(self.on_off_clicked)
        buttons_layout.addWidget(self.off_button)
        buttons_layout.addItem(QSpacerItem(20, 20))
        frame_layout.addWidget(buttons_frame)
        frame_layout.addItem(
            QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
        self.warning_frame.setVisible(False)
    def __init__(self, updater, config, nodename):
        '''
        :param config:
        :type config: Dictionary? defined in dynamic_reconfigure.client.Client
        :type nodename: str
        '''

        #TODO figure out what data type 'config' is. It is afterall returned
        #     from dynamic_reconfigure.client.get_parameter_descriptions()
        # ros.org/doc/api/dynamic_reconfigure/html/dynamic_reconfigure.client-pysrc.html#Client

        super(GroupWidget, self).__init__()
        self.state = config['state']
        self.name = config['name']
        self._toplevel_treenode_name = nodename

        # TODO: .ui file needs to be back into usage in later phase.
        #        ui_file = os.path.join(rp.get_path('rqt_reconfigure'),
        #                               'resource', 'singlenode_parameditor.ui')
        #        loadUi(ui_file, self)

        verticalLayout = QVBoxLayout(self)
        verticalLayout.setContentsMargins(QMargins(0, 0, 0, 0))

        _widget_nodeheader = QWidget()
        _h_layout_nodeheader = QHBoxLayout(_widget_nodeheader)
        _h_layout_nodeheader.setContentsMargins(QMargins(0, 0, 0, 0))

        self.nodename_qlabel = QLabel(self)
        font = QFont('Trebuchet MS, Bold')
        font.setUnderline(True)
        font.setBold(True)

        # Button to close a node.
        _icon_disable_node = QIcon.fromTheme('window-close')
        _bt_disable_node = QPushButton(_icon_disable_node, '', self)
        _bt_disable_node.setToolTip('Hide this node')
        _bt_disable_node_size = QSize(36, 24)
        _bt_disable_node.setFixedSize(_bt_disable_node_size)
        _bt_disable_node.pressed.connect(self._node_disable_bt_clicked)

        _h_layout_nodeheader.addWidget(self.nodename_qlabel)
        _h_layout_nodeheader.addWidget(_bt_disable_node)

        self.nodename_qlabel.setAlignment(Qt.AlignCenter)
        font.setPointSize(10)
        self.nodename_qlabel.setFont(font)
        grid_widget = QWidget(self)
        self.grid = QFormLayout(grid_widget)
        verticalLayout.addWidget(_widget_nodeheader)
        verticalLayout.addWidget(grid_widget, 1)
        # Again, these UI operation above needs to happen in .ui file.

        self.tab_bar = None  # Every group can have one tab bar
        self.tab_bar_shown = False

        self.updater = updater

        self.editor_widgets = []
        self._param_names = []

        self._create_node_widgets(config)

        rospy.logdebug('Groups node name={}'.format(nodename))
        self.nodename_qlabel.setText(nodename)
    def __init__(self, context, node=None):
        """
        This class is intended to be called by rqt plugin framework class.
        Currently (12/12/2012) the whole widget is splitted into 2 panes:
        one on left allows you to choose the node(s) you work on. Right side
        pane lets you work with the parameters associated with the node(s) you
        select on the left.

        (12/27/2012) Despite the pkg name is changed to rqt_reconfigure to
        reflect the available functionality, file & class names remain
        'param', expecting all the parameters will become handle-able.
        """

        super(ParamWidget, self).__init__()
        self.setObjectName(self._TITLE_PLUGIN)
        self.setWindowTitle(self._TITLE_PLUGIN)

        rp = rospkg.RosPack()

        #TODO: .ui file needs to replace the GUI components declaration
        #            below. For unknown reason, referring to another .ui files
        #            from a .ui that is used in this class failed. So for now,
        #            I decided not use .ui in this class.
        #            If someone can tackle this I'd appreciate.
        _hlayout_top = QHBoxLayout(self)
        self._splitter = QSplitter(self)
        _hlayout_top.addWidget(self._splitter)

        _vlayout_nodesel_widget = QWidget()
        _vlayout_nodesel_side = QVBoxLayout()
        _hlayout_filter_widget = QWidget(self)
        _hlayout_filter = QHBoxLayout()
        self._text_filter = TextFilter()
        self.filter_lineedit = TextFilterWidget(self._text_filter, rp)
        self.filterkey_label = QLabel("&Filter key:")
        self.filterkey_label.setBuddy(self.filter_lineedit)
        _hlayout_filter.addWidget(self.filterkey_label)
        _hlayout_filter.addWidget(self.filter_lineedit)
        _hlayout_filter_widget.setLayout(_hlayout_filter)
        self._nodesel_widget = NodeSelectorWidget(self, rp, self.sig_sysmsg)
        _vlayout_nodesel_side.addWidget(_hlayout_filter_widget)
        _vlayout_nodesel_side.addWidget(self._nodesel_widget)
        _vlayout_nodesel_side.setSpacing(1)
        _vlayout_nodesel_widget.setLayout(_vlayout_nodesel_side)

        reconf_widget = ParameditWidget(rp)

        self._splitter.insertWidget(0, _vlayout_nodesel_widget)
        self._splitter.insertWidget(1, reconf_widget)
        # 1st column, _vlayout_nodesel_widget, to minimize width.
        # 2nd col to keep the possible max width.
        self._splitter.setStretchFactor(0, 0)
        self._splitter.setStretchFactor(1, 1)

        # Signal from paramedit widget to node selector widget.
        reconf_widget.sig_node_disabled_selected.connect(
            self._nodesel_widget.node_deselected)
        # Pass name of node to editor widget
        self._nodesel_widget.sig_node_selected.connect(
            reconf_widget.show_reconf)

        if not node:
            title = self._TITLE_PLUGIN
        else:
            title = self._TITLE_PLUGIN + ' %s' % node
        self.setObjectName(title)

        #Connect filter signal-slots.
        self._text_filter.filter_changed_signal.connect(
            self._filter_key_changed)
Beispiel #33
0
 def _create_replace_frame(self):
     # create frame with replace row
     self.rplc_frame = rplc_frame = QFrame(self)
     rplc_hbox_layout = QHBoxLayout(rplc_frame)
     rplc_hbox_layout.setContentsMargins(0, 0, 0, 0)
     rplc_hbox_layout.setSpacing(1)
     self.replace_field = EnhancedLineEdit(rplc_frame)
     self.replace_field.setPlaceholderText('replace text')
     self.replace_field.returnPressed.connect(self.on_replace)
     rplc_hbox_layout.addWidget(self.replace_field)
     self.replace_result_label = QLabel(rplc_frame)
     self.replace_result_label.setText(' ')
     rplc_hbox_layout.addWidget(self.replace_result_label)
     self.replace_button = replace_button = QPushButton("> &Replace >")
     replace_button.setFixedWidth(90)
     replace_button.clicked.connect(self.on_replace_click)
     rplc_hbox_layout.addWidget(replace_button)
     rplc_frame.setVisible(False)
     return rplc_frame
Beispiel #34
0
 def __init__(self,
              nodename,
              masteruri,
              loggername,
              level='INFO',
              parent=None):
     '''
     Creates a new item.
     '''
     QFrame.__init__(self, parent)
     self.setObjectName("LoggerItem")
     self.nodename = nodename
     self.masteruri = masteruri
     self.loggername = loggername
     self.current_level = None
     layout = QHBoxLayout(self)
     layout.setContentsMargins(1, 1, 1, 1)
     self.debug = QRadioButton()
     self.debug.setStyleSheet(
         "QRadioButton{ background-color: #39B54A;}")  # QColor(57, 181, 74)
     self.debug.toggled.connect(self.toggled_debug)
     layout.addWidget(self.debug)
     self.info = QRadioButton()
     self.info.setStyleSheet("QRadioButton{ background-color: #FFFAFA;}")
     self.info.toggled.connect(self.toggled_info)
     layout.addWidget(self.info)
     self.warn = QRadioButton()
     self.warn.setStyleSheet(
         "QRadioButton{ background-color: #FFC706;}")  # QColor(255, 199, 6)
     self.warn.toggled.connect(self.toggled_warn)
     layout.addWidget(self.warn)
     self.error = QRadioButton()
     self.error.setStyleSheet(
         "QRadioButton{ background-color: #DE382B;}")  # QColor(222, 56, 43)
     self.error.toggled.connect(self.toggled_error)
     layout.addWidget(self.error)
     self.fatal = QRadioButton()
     self.fatal.setStyleSheet("QRadioButton{ background-color: #FF0000;}")
     self.fatal.toggled.connect(self.toggled_fatal)
     layout.addWidget(self.fatal)
     self.label = QLabel(loggername)
     layout.addWidget(self.label)
     layout.addStretch()
     self._callback = None  # used to set all logger
     self.success_signal.connect(self.on_succes_update)
     self.error_signal.connect(self.on_error_update)
     self.set_level(level)
    def __init__(self,
                 items=list(),
                 buttons=QDialogButtonBox.Cancel | QDialogButtonBox.Ok,
                 exclusive=False,
                 preselect_all=False,
                 title='',
                 description='',
                 icon='',
                 parent=None,
                 select_if_single=True,
                 checkitem1='',
                 checkitem2='',
                 closein=0,
                 store_geometry=''):
        '''
        Creates an input dialog.
        @param items: a list with strings
        @type items: C{list()}
        '''
        QDialog.__init__(self, parent=parent)
        self.setObjectName(' - '.join(['SelectDialog', utf8(items)]))

        self.verticalLayout = QVBoxLayout(self)
        self.verticalLayout.setObjectName("verticalLayout")
        self.verticalLayout.setContentsMargins(3, 3, 3, 3)

        # add filter row
        self.filter_field = EnhancedLineEdit(self)
        self.filter_field.setPlaceholderText("filter")
        self.filter_field.textChanged.connect(self._on_filter_changed)
        self.verticalLayout.addWidget(self.filter_field)

        if description:
            self.description_frame = QFrame(self)
            descriptionLayout = QHBoxLayout(self.description_frame)
            #      descriptionLayout.setContentsMargins(1, 1, 1, 1)
            if icon:
                self.icon_label = QLabel(self.description_frame)
                self.icon_label.setSizePolicy(QSizePolicy.Fixed,
                                              QSizePolicy.Fixed)
                self.icon_label.setPixmap(
                    QPixmap(icon).scaled(30, 30, Qt.KeepAspectRatio))
                descriptionLayout.addWidget(self.icon_label)
            self.description_label = QLabel(self.description_frame)
            self.description_label.setWordWrap(True)
            self.description_label.setText(description)
            descriptionLayout.addWidget(self.description_label)
            self.verticalLayout.addWidget(self.description_frame)

        # create area for the parameter
        self.content = MainBox(self)
        if items:
            self.scroll_area = QScrollArea(self)
            self.scroll_area.setFocusPolicy(Qt.NoFocus)
            self.scroll_area.setObjectName("scroll_area")
            self.scroll_area.setWidgetResizable(True)
            self.scroll_area.setWidget(self.content)
            self.verticalLayout.addWidget(self.scroll_area)

        self.checkitem1 = checkitem1
        self.checkitem1_result = False
        self.checkitem2 = checkitem2
        self.checkitem2_result = False

        # add select all option
        if not exclusive and items:
            self._ignore_next_toggle = False
            self.select_all_checkbox = QCheckBox('all entries')
            self.select_all_checkbox.setTristate(True)
            self.select_all_checkbox.stateChanged.connect(
                self._on_select_all_checkbox_stateChanged)
            self.verticalLayout.addWidget(self.select_all_checkbox)
            self.content.toggled.connect(self._on_main_toggle)
        if self.checkitem1:
            self.checkitem1_checkbox = QCheckBox(self.checkitem1)
            self.checkitem1_checkbox.stateChanged.connect(
                self._on_select_checkitem1_checkbox_stateChanged)
            self.verticalLayout.addWidget(self.checkitem1_checkbox)
        if self.checkitem2:
            self.checkitem2_checkbox = QCheckBox(self.checkitem2)
            self.checkitem2_checkbox.stateChanged.connect(
                self._on_select_checkitem2_checkbox_stateChanged)
            self.verticalLayout.addWidget(self.checkitem2_checkbox)
        if not items:
            spacerItem = QSpacerItem(1, 1, QSizePolicy.Expanding,
                                     QSizePolicy.Expanding)
            self.verticalLayout.addItem(spacerItem)

        self._close_timer = None
        self._closein = closein - 1
        if closein > 0:
            self.closein_label = QLabel("OK in %d sec..." % closein)
            self.closein_label.setAlignment(Qt.AlignRight)
            self.verticalLayout.addWidget(self.closein_label)
            self._close_timer = threading.Timer(1.0, self._on_close_timer)
            self._close_timer.start()

        # create buttons
        self.buttonBox = QDialogButtonBox(self)
        self.buttonBox.setObjectName("buttonBox")
        self.buttonBox.setOrientation(Qt.Horizontal)
        self.buttonBox.setStandardButtons(buttons)
        self.buttonBox.accepted.connect(self.accept)
        self.buttonBox.rejected.connect(self.reject)
        self.verticalLayout.addWidget(self.buttonBox)

        # set the input fields
        if items:
            self.content.createFieldsFromValues(items, exclusive)
            if (select_if_single and len(items) == 1) or preselect_all:
                self.select_all_checkbox.setCheckState(Qt.Checked)

        if not items or len(items) < 7:
            self.filter_field.setVisible(False)

        # restore from configuration file
        self._geometry_name = store_geometry
        if store_geometry and nm.settings().store_geometry:
            settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE)
            settings.beginGroup(store_geometry)
            self.resize(settings.value("size", QSize(480, 320)))
            pos = settings.value("pos", QPoint(0, 0))
            if pos.x() != 0 and pos.y() != 0:
                self.move(pos)
            settings.endGroup()
Beispiel #36
0
    def _create_add_rocon_master_dialog(self):
        # dialog
        connect_dlg = QDialog(self._widget_main)
        connect_dlg.setWindowTitle("Add Ros Master")
        connect_dlg.setSizePolicy(QSizePolicy.MinimumExpanding,
                                  QSizePolicy.Ignored)
        connect_dlg.setMinimumSize(350, 0)
        # dlg_rect = self._connect_dlg.geometry()

        # dialog layout
        ver_layout = QVBoxLayout(connect_dlg)
        ver_layout.setContentsMargins(9, 9, 9, 9)

        # param layout
        text_grid_sub_widget = QWidget()
        text_grid_layout = QGridLayout(text_grid_sub_widget)
        text_grid_layout.setColumnStretch(1, 0)
        text_grid_layout.setRowStretch(2, 0)

        # param 1
        title_widget1 = QLabel("MASTER_URI: ")
        context_widget1 = QTextEdit()
        context_widget1.setSizePolicy(QSizePolicy.MinimumExpanding,
                                      QSizePolicy.Ignored)
        context_widget1.setMinimumSize(0, 30)
        context_widget1.append(self.master_uri)

        # param 2
        title_widget2 = QLabel("HOST_NAME: ")
        context_widget2 = QTextEdit()
        context_widget2.setSizePolicy(QSizePolicy.MinimumExpanding,
                                      QSizePolicy.Ignored)
        context_widget2.setMinimumSize(0, 30)
        context_widget2.append(self.host_name)

        # add param
        text_grid_layout.addWidget(title_widget1)
        text_grid_layout.addWidget(context_widget1)
        text_grid_layout.addWidget(title_widget2)
        text_grid_layout.addWidget(context_widget2)

        # add param layout
        ver_layout.addWidget(text_grid_sub_widget)

        # button layout
        button_hor_sub_widget = QWidget()
        button_hor_layout = QHBoxLayout(button_hor_sub_widget)

        uri_text_widget = context_widget1
        host_name_text_widget = context_widget2

        # button
        btn_call = QPushButton("Add")
        btn_cancel = QPushButton("Cancel")

        btn_call.clicked.connect(lambda: connect_dlg.done(0))
        btn_call.clicked.connect(lambda: self._add_rocon_master(
            uri_text_widget, host_name_text_widget))

        btn_cancel.clicked.connect(lambda: connect_dlg.done(0))

        # add button
        button_hor_layout.addWidget(btn_call)
        button_hor_layout.addWidget(btn_cancel)

        # add button layout
        ver_layout.addWidget(button_hor_sub_widget)

        return connect_dlg
class NavViewWidget(QWidget):

    def __init__(self, map_topic='/map',
                 paths=['/move_base/NavFn/plan', '/move_base/TrajectoryPlannerROS/local_plan'],
                 polygons=['/move_base/local_costmap/robot_footprint']):
        super(NavViewWidget, self).__init__()
        self._layout = QVBoxLayout()
        self._button_layout = QHBoxLayout()

        self.setAcceptDrops(True)
        self.setWindowTitle('Navigation Viewer')

        self.paths = paths
        self.polygons = polygons
        self.map = map_topic
        self._tf = tf.TransformListener()

        self._nav_view = NavView(map_topic, paths, polygons, tf = self._tf, parent = self)

        self._set_pose = QPushButton('Set Pose')
        self._set_pose.clicked.connect(self._nav_view.pose_mode)
        self._set_goal = QPushButton('Set Goal')
        self._set_goal.clicked.connect(self._nav_view.goal_mode)

        self._button_layout.addWidget(self._set_pose)
        self._button_layout.addWidget(self._set_goal)

        self._layout.addLayout(self._button_layout)

        self._layout.addWidget(self._nav_view)

        self.setLayout(self._layout)

    def dragEnterEvent(self, e):
        if not e.mimeData().hasText():
            if not hasattr(e.source(), 'selectedItems') or len(e.source().selectedItems()) == 0:
                qWarning('NavView.dragEnterEvent(): not hasattr(event.source(), selectedItems) or len(event.source().selectedItems()) == 0')
                return
            item = e.source().selectedItems()[0]
            topic_name = item.data(0, Qt.UserRole)
            if topic_name == None:
                qWarning('NavView.dragEnterEvent(): not hasattr(item, ros_topic_name_)')
                return

        else:
            topic_name = str(e.mimeData().text())

        if accepted_topic(topic_name):
            e.accept()
            e.acceptProposedAction()

    def dropEvent(self, e):
        if e.mimeData().hasText():
            topic_name = str(e.mimeData().text())
        else:
            droped_item = e.source().selectedItems()[0]
            topic_name = str(droped_item.data(0, Qt.UserRole))

        topic_type, array = get_field_type(topic_name)
        if not array:
            if topic_type is OccupancyGrid:
                self.map = topic_name

                # Swap out the nav view for one with the new topics
                self._nav_view.close()
                self._nav_view = NavView(self.map, self.paths, self.polygons, self._tf, self)
                self._layout.addWidget(self._nav_view)
            elif topic_type is Path:
                self.paths.append(topic_name)
                self._nav_view.add_path(topic_name)
            elif topic_type is PolygonStamped:
                self.polygons.append(topic_name)
                self._nav_view.add_polygon(topic_name)

    def save_settings(self, plugin_settings, instance_settings):
        self._nav_view.save_settings(plugin_settings, instance_settings)

    def restore_settings(self, plugin_settings, instance_settings):
        self._nav_view.restore_settings(plugin_settings, instance_settings)
Beispiel #38
0
    def __init__(self, items=list(), buttons=QDialogButtonBox.Cancel | QDialogButtonBox.Ok, exclusive=False,
                 preselect_all=False, title='', description='', icon='', parent=None, select_if_single=True,
                 checkitem1='', checkitem2=''):
        '''
        Creates an input dialog.
        @param items: a list with strings
        @type items: C{list()}
        '''
        QDialog.__init__(self, parent=parent)
        self.setObjectName(' - '.join(['SelectDialog', str(items)]))

        self.verticalLayout = QVBoxLayout(self)
        self.verticalLayout.setObjectName("verticalLayout")
        self.verticalLayout.setContentsMargins(1, 1, 1, 1)

        # add filter row
        self.filter_frame = QFrame(self)
        filterLayout = QHBoxLayout(self.filter_frame)
        filterLayout.setContentsMargins(1, 1, 1, 1)
        label = QLabel("Filter:", self.filter_frame)
        self.filter_field = EnchancedLineEdit(self.filter_frame)
        filterLayout.addWidget(label)
        filterLayout.addWidget(self.filter_field)
        self.filter_field.textChanged.connect(self._on_filter_changed)
        self.verticalLayout.addWidget(self.filter_frame)

        if description:
            self.description_frame = QFrame(self)
            descriptionLayout = QHBoxLayout(self.description_frame)
#      descriptionLayout.setContentsMargins(1, 1, 1, 1)
            if icon:
                self.icon_label = QLabel(self.description_frame)
                self.icon_label.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
                self.icon_label.setPixmap(QPixmap(icon).scaled(30, 30, Qt.KeepAspectRatio))
                descriptionLayout.addWidget(self.icon_label)
            self.description_label = QLabel(self.description_frame)
            self.description_label.setWordWrap(True)
            self.description_label.setText(description)
            descriptionLayout.addWidget(self.description_label)
            self.verticalLayout.addWidget(self.description_frame)

        # create area for the parameter
        self.content = MainBox(self)
        if items:
            self.scroll_area = QScrollArea(self)
            self.scroll_area.setFocusPolicy(Qt.NoFocus)
            self.scroll_area.setObjectName("scroll_area")
            self.scroll_area.setWidgetResizable(True)
            self.scroll_area.setWidget(self.content)
            self.verticalLayout.addWidget(self.scroll_area)

        self.checkitem1 = checkitem1
        self.checkitem1_result = False
        self.checkitem2 = checkitem2
        self.checkitem2_result = False

        # add select all option
        if not exclusive and items:
            self._ignore_next_toggle = False
            self.select_all_checkbox = QCheckBox('all entries')
            self.select_all_checkbox.setTristate(True)
            self.select_all_checkbox.stateChanged.connect(self._on_select_all_checkbox_stateChanged)
            self.verticalLayout.addWidget(self.select_all_checkbox)
            self.content.toggled.connect(self._on_main_toggle)
        if self.checkitem1:
            self.checkitem1_checkbox = QCheckBox(self.checkitem1)
            self.checkitem1_checkbox.stateChanged.connect(self._on_select_checkitem1_checkbox_stateChanged)
            self.verticalLayout.addWidget(self.checkitem1_checkbox)
        if self.checkitem2:
            self.checkitem2_checkbox = QCheckBox(self.checkitem2)
            self.checkitem2_checkbox.stateChanged.connect(self._on_select_checkitem2_checkbox_stateChanged)
            self.verticalLayout.addWidget(self.checkitem2_checkbox)
        if not items:
            spacerItem = QSpacerItem(1, 1, QSizePolicy.Expanding, QSizePolicy.Expanding)
            self.verticalLayout.addItem(spacerItem)

        # create buttons
        self.buttonBox = QDialogButtonBox(self)
        self.buttonBox.setObjectName("buttonBox")
        self.buttonBox.setOrientation(Qt.Horizontal)
        self.buttonBox.setStandardButtons(buttons)
        self.buttonBox.accepted.connect(self.accept)
        self.buttonBox.rejected.connect(self.reject)
        self.verticalLayout.addWidget(self.buttonBox)

        # set the input fields
        if items:
            self.content.createFieldsFromValues(items, exclusive)
            if (select_if_single and len(items) == 1) or preselect_all:
                self.select_all_checkbox.setCheckState(Qt.Checked)

        if not items or len(items) < 7:
            self.filter_frame.setVisible(False)
    def __init__(self,
                 icon,
                 title,
                 text,
                 detailed_text="",
                 buttons=Cancel | Ok,
                 parent=None):
        QDialog.__init__(self, parent=parent)
        self.setWindowFlags(self.windowFlags() & ~Qt.WindowTitleHint)
        self.setWindowFlags(self.windowFlags()
                            & ~Qt.WindowContextHelpButtonHint
                            & ~Qt.WindowMinimizeButtonHint)
        self.setObjectName('MessageBox')
        self._use_checkbox = True
        self.text = text
        self.verticalLayout = QVBoxLayout(self)
        self.verticalLayout.setObjectName("verticalLayout")
        self.verticalLayout.setContentsMargins(1, 1, 1, 1)

        self.horizontalLayout = QHBoxLayout()
        self.horizontalLayout.setObjectName("horizontalLayout")
        self.horizontalLayout.setContentsMargins(1, 1, 1, 1)
        # create icon
        pixmap = None
        style_option = QStyleOption()
        if icon == self.NoIcon:
            pass
        elif icon == self.Question:
            pixmap = QApplication.style().standardPixmap(
                QStyle.SP_MessageBoxQuestion, style_option)
        elif icon == self.Information:
            pixmap = QApplication.style().standardPixmap(
                QStyle.SP_MessageBoxInformation, style_option)
        elif icon == self.Warning:
            pixmap = QPixmap(":icons/crystal_clear_warning_56.png")
        elif icon == self.Critical:
            pixmap = QApplication.style().standardPixmap(
                QStyle.SP_MessageBoxCritical, style_option)
        spacerItem = QSpacerItem(10, 60, QSizePolicy.Minimum,
                                 QSizePolicy.Minimum)
        self.horizontalLayout.addItem(spacerItem)
        self.icon_label = QLabel()
        if pixmap is not None:
            self.icon_label.setPixmap(pixmap)
        self.icon_label.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
        self.horizontalLayout.addWidget(self.icon_label)
        spacerItem = QSpacerItem(10, 60, QSizePolicy.Minimum,
                                 QSizePolicy.Minimum)
        self.horizontalLayout.addItem(spacerItem)
        # add message
        self.message_label = QLabel(text)
        self.message_label.setWordWrap(True)
        self.message_label.setScaledContents(True)
        self.message_label.setOpenExternalLinks(True)
        self.horizontalLayout.addWidget(self.message_label)
        self.verticalLayout.addLayout(self.horizontalLayout)

        # create buttons
        self.buttonBox = QDialogButtonBox(self)
        self.buttonBox.setObjectName("buttonBox")
        self.buttonBox.setOrientation(Qt.Horizontal)

        self._accept_button = None
        self._reject_button = None
        self._buttons = buttons
        self._create_buttons(buttons)
        self.buttonBox.accepted.connect(self.accept)
        self.buttonBox.rejected.connect(self.reject)
        self.verticalLayout.addWidget(self.buttonBox)

        if detailed_text:
            self.btn_show_details = QPushButton(self.tr('Details...'))
            self.btn_show_details.setCheckable(True)
            self.btn_show_details.setChecked(True)
            self.btn_show_details.toggled.connect(self.on_toggled_details)
            self.buttonBox.addButton(self.btn_show_details,
                                     QDialogButtonBox.ActionRole)
            # create area for detailed text
            self.textEdit = textEdit = QTextEdit(self)
            textEdit.setObjectName("textEdit")
            textEdit.setReadOnly(True)
            textEdit.setText(detailed_text)
            # textEdit.setVisible(False)
            self.verticalLayout.addWidget(self.textEdit)
        self.resize(480, self.verticalLayout.totalSizeHint().height())
        buttons_in_box = self.buttonBox.buttons()
        if buttons_in_box:
            self.buttonBox.buttons()[0].setFocus()
class CalibrationMovementsGUI(QWidget):
    NOT_INITED_YET = 0
    BAD_PLAN = 1
    GOOD_PLAN = 2
    MOVED_TO_POSE = 3
    BAD_STARTING_POSITION = 4
    GOOD_STARTING_POSITION = 5

    def __init__(self):
        super(CalibrationMovementsGUI, self).__init__()
        move_group_name = rospy.get_param('~move_group', 'manipulator')
        self.angle_delta = math.radians(
            rospy.get_param('~rotation_delta_degrees', 25))
        self.translation_delta = rospy.get_param('~translation_delta_meters',
                                                 0.1)
        max_velocity_scaling = rospy.get_param('~max_velocity_scaling', 0.5)
        max_acceleration_scaling = rospy.get_param('~max_acceleration_scaling',
                                                   0.5)
        self.local_mover = CalibrationMovements(move_group_name,
                                                max_velocity_scaling,
                                                max_acceleration_scaling)
        self.current_pose = -1
        self.current_plan = None
        self.initUI()
        self.state = CalibrationMovementsGUI.NOT_INITED_YET

    def initUI(self):
        self.layout = QVBoxLayout()
        self.labels_layout = QHBoxLayout()
        self.buttons_layout = QHBoxLayout()

        self.progress_bar = QProgressBar()
        self.pose_number_lbl = QLabel('0/8')
        self.bad_plan_lbl = QLabel('No plan yet')
        self.guide_lbl = QLabel('Hello')

        self.check_start_pose_btn = QPushButton('Check starting pose')
        self.check_start_pose_btn.clicked.connect(
            self.handle_check_current_state)

        self.next_pose_btn = QPushButton('Next Pose')
        self.next_pose_btn.clicked.connect(self.handle_next_pose)

        self.plan_btn = QPushButton('Plan')
        self.plan_btn.clicked.connect(self.handle_plan)

        self.execute_btn = QPushButton('Execute')
        self.execute_btn.clicked.connect(self.handle_execute)

        self.labels_layout.addWidget(self.pose_number_lbl)
        self.labels_layout.addWidget(self.bad_plan_lbl)

        self.buttons_layout.addWidget(self.check_start_pose_btn)
        self.buttons_layout.addWidget(self.next_pose_btn)
        self.buttons_layout.addWidget(self.plan_btn)
        self.buttons_layout.addWidget(self.execute_btn)

        self.layout.addWidget(self.progress_bar)
        self.layout.addLayout(self.labels_layout)
        self.layout.addWidget(self.guide_lbl)
        self.layout.addLayout(self.buttons_layout)

        self.setLayout(self.layout)

        self.plan_btn.setEnabled(False)
        self.execute_btn.setEnabled(False)

        self.setWindowTitle('Local Mover')
        self.show()

    def updateUI(self):
        self.progress_bar.setMaximum(len(self.local_mover.poses))
        self.progress_bar.setValue(self.current_pose + 1)
        self.pose_number_lbl.setText('{}/{}'.format(
            self.current_pose + 1, len(self.local_mover.poses)))

        if self.state == CalibrationMovementsGUI.BAD_PLAN:
            self.bad_plan_lbl.setText('BAD plan!! Don\'t do it!!!!')
            self.bad_plan_lbl.setStyleSheet('QLabel { background-color : red}')
        elif self.state == CalibrationMovementsGUI.GOOD_PLAN:
            self.bad_plan_lbl.setText('Good plan')
            self.bad_plan_lbl.setStyleSheet(
                'QLabel { background-color : green}')
        else:
            self.bad_plan_lbl.setText('No plan yet')
            self.bad_plan_lbl.setStyleSheet('')

        if self.state == CalibrationMovementsGUI.NOT_INITED_YET:
            self.guide_lbl.setText(
                'Bring the robot to a plausible position and check if it is a suitable starting pose'
            )
        elif self.state == CalibrationMovementsGUI.BAD_STARTING_POSITION:
            self.guide_lbl.setText('Cannot calibrate from current position')
        elif self.state == CalibrationMovementsGUI.GOOD_STARTING_POSITION:
            self.guide_lbl.setText('Ready to start: click on next pose')
        elif self.state == CalibrationMovementsGUI.GOOD_PLAN:
            self.guide_lbl.setText(
                'The plan seems good: press execute to move the robot')
        elif self.state == CalibrationMovementsGUI.BAD_PLAN:
            self.guide_lbl.setText('Planning failed: try again')
        elif self.state == CalibrationMovementsGUI.MOVED_TO_POSE:
            self.guide_lbl.setText(
                'Pose reached: take a sample and go on to next pose')

        can_plan = self.state == CalibrationMovementsGUI.GOOD_STARTING_POSITION
        self.plan_btn.setEnabled(can_plan)
        can_move = self.state == CalibrationMovementsGUI.GOOD_PLAN
        self.execute_btn.setEnabled(can_move)

    def handle_check_current_state(self):
        self.local_mover.compute_poses_around_current_state(
            self.angle_delta, self.translation_delta)

        joint_limits = [math.radians(90)] * 5 + [math.radians(180)] + [
            math.radians(350)
        ]  # TODO: make param
        if self.local_mover.check_poses(joint_limits):
            self.state = CalibrationMovementsGUI.GOOD_STARTING_POSITION
        else:
            self.state = CalibrationMovementsGUI.BAD_STARTING_POSITION
        self.current_pose = -1

        self.updateUI()

    def handle_next_pose(self):
        self.guide_lbl.setText('Going to center position')
        if self.current_pose != -1:
            plan = self.local_mover.plan_to_start_pose()
            if plan is None:
                self.guide_lbl.setText(
                    'Failed planning to center position: try again')
            else:
                self.local_mover.execute_plan(plan)
        if self.current_pose < len(self.local_mover.poses) - 1:
            self.current_pose += 1
        self.state = CalibrationMovementsGUI.GOOD_STARTING_POSITION
        self.updateUI()

    def handle_plan(self):
        self.guide_lbl.setText(
            'Planning to the next position. Click on execute when a good one was found'
        )
        if self.current_pose >= 0:
            self.current_plan = self.local_mover.plan_to_pose(
                self.local_mover.poses[self.current_pose])
            if CalibrationMovements.is_crazy_plan(
                    self.current_plan, self.local_mover.fallback_joint_limits
            ):  #TODO: sort out this limits story
                self.state = CalibrationMovementsGUI.BAD_PLAN
            else:
                self.state = CalibrationMovementsGUI.GOOD_PLAN
        self.updateUI()

    def handle_execute(self):
        if self.current_plan is not None:
            self.guide_lbl.setText('Going to the selected pose')
            self.local_mover.execute_plan(self.current_plan)
            self.state = CalibrationMovementsGUI.MOVED_TO_POSE
            self.updateUI()
Beispiel #41
0
class Editor(QMainWindow):
    '''
    Creates a dialog to edit a launch file.
    '''
    finished_signal = Signal(list)
    '''
    finished_signal has as parameter the filenames of the initialization and is emitted, if this
    dialog was closed.
    '''

    def __init__(self, filenames, search_text='', master_name='', parent=None):
        '''
        :param filenames: a list with filenames. The last one will be activated.
        :type filenames: [str]
        :param str search_text: if not empty, searches in new document for first occurrence of the given text
        '''
        QMainWindow.__init__(self, parent)
        self.setObjectName('Editor - %s' % utf8(filenames))
        self.setAttribute(Qt.WA_DeleteOnClose, True)
        self.setWindowFlags(Qt.Window)
        self.mIcon = nm.settings().icon('crystal_clear_edit_launch.png')
        self._error_icon = nm.settings().icon('warning.png')
        self._info_icon = nm.settings().icon('info.png')
        self._empty_icon = QIcon()
        self.setWindowIcon(self.mIcon)
        window_title = "ROSLaunch Editor"
        if filenames:
            window_title = self.__getTabName(filenames[0])
        self.setWindowTitle('%s @%s' % (window_title, master_name))
        self.init_filenames = filenames
        self._search_node_count = 0
        self._search_thread = None
        self._last_search_request = None
        # list with all open files
        self.files = []
        # create tabs for files
        self.main_widget = QWidget(self)
        self.main_widget.setObjectName("editorMain")
        self.verticalLayout = QVBoxLayout(self.main_widget)
        self.verticalLayout.setContentsMargins(0, 0, 0, 0)
        self.verticalLayout.setSpacing(1)
        self.verticalLayout.setObjectName("verticalLayout")

        self.tabWidget = EditorTabWidget(self)
        self.tabWidget.setTabPosition(QTabWidget.North)
        self.tabWidget.setDocumentMode(True)
        self.tabWidget.setTabsClosable(True)
        self.tabWidget.setMovable(False)
        self.tabWidget.setObjectName("tabWidget")
        self.tabWidget.tabCloseRequested.connect(self.on_close_tab)
        self.tabWidget.currentChanged.connect(self.on_tab_changed)

        self.verticalLayout.addWidget(self.tabWidget)
        self.log_dock = self._create_log_bar()
        self.addDockWidget(Qt.BottomDockWidgetArea, self.log_dock)
        # self.verticalLayout.addWidget(self.log_bar)
        self.buttons = self._create_buttons()
        self.verticalLayout.addWidget(self.buttons)
        self.setCentralWidget(self.main_widget)

        self.find_dialog = TextSearchFrame(self.tabWidget, self)
        self.find_dialog.found_signal.connect(self.on_search_result)
        self.find_dialog.replace_signal.connect(self.on_replace)
        self.addDockWidget(Qt.RightDockWidgetArea, self.find_dialog)

        self.graph_view = GraphViewWidget(self.tabWidget, self)
        self.graph_view.load_signal.connect(self.on_graph_load_file)
        self.graph_view.goto_signal.connect(self.on_graph_goto)
        self.graph_view.search_signal.connect(self.on_load_request)
        self.graph_view.finished_signal.connect(self.on_graph_finished)
        self.graph_view.info_signal.connect(self.on_graph_info)
        self.addDockWidget(Qt.RightDockWidgetArea, self.graph_view)
        self.readSettings()
        self.find_dialog.setVisible(False)
        self.graph_view.setVisible(False)
        nm.nmd().file.changed_file.connect(self.on_changed_file)
        nm.nmd().file.packages_available.connect(self._on_new_packages)
        # open the files
        for f in filenames:
            if f:
                self.on_load_request(f, search_text, only_launch=True)
        self.log_dock.setVisible(False)
        try:
            pal = self.tabWidget.palette()
            self._default_color = pal.color(QPalette.Window)
            color = QColor.fromRgb(nm.settings().host_color(master_name, self._default_color.rgb()))
            bg_style_launch_dock = "QWidget#editorMain { background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 %s, stop: 0.7 %s);}" % (color.name(), self._default_color.name())
            self.setStyleSheet('%s' % (bg_style_launch_dock))
        except Exception as _:
            pass
            # import traceback
            # print(traceback.format_exc())

#  def __del__(self):
#    print "******** destroy", self.objectName()

    def _create_buttons(self):
        # create the buttons line
        self.buttons = QWidget(self)
        self.horizontalLayout = QHBoxLayout(self.buttons)
        self.horizontalLayout.setContentsMargins(3, 0, 3, 0)
        self.horizontalLayout.setObjectName("horizontalLayout")
        # add open upper launchfile button
        self.upperButton = QPushButton(self)
        self.upperButton.setObjectName("upperButton")
        self.upperButton.clicked.connect(self.on_upperButton_clicked)
        self.upperButton.setIcon(nm.settings().icon('up.png'))
        self.upperButton.setShortcut("Ctrl+U")
        self.upperButton.setToolTip('Open the file which include the current file (Ctrl+U)')
        self.upperButton.setFlat(True)
        self.horizontalLayout.addWidget(self.upperButton)

        # add the goto button
        self.gotoButton = QPushButton(self)
        self.gotoButton.setObjectName("gotoButton")
        self.gotoButton.clicked.connect(self.on_shortcut_goto)
        self.gotoButton.setText(self._translate("&Goto line"))
        self.gotoButton.setShortcut("Ctrl+G")
        self.gotoButton.setToolTip('Open a goto dialog (Ctrl+G)')
        self.gotoButton.setFlat(True)
        self.horizontalLayout.addWidget(self.gotoButton)
        # add a tag button
        self.tagButton = self._create_tag_button(self)
        self.horizontalLayout.addWidget(self.tagButton)
        # add save button
        self.saveButton = QPushButton(self)
        self.saveButton.setObjectName("saveButton")
        self.saveButton.setIcon(QIcon.fromTheme("document-save"))
        self.saveButton.clicked.connect(self.on_saveButton_clicked)
        self.saveButton.setText(self._translate("&Save"))
        self.saveButton.setShortcut("Ctrl+S")
        self.saveButton.setToolTip('Save the changes to the file (Ctrl+S)')
        self.saveButton.setFlat(True)
        self.horizontalLayout.addWidget(self.saveButton)
        # add spacer
        spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
        self.horizontalLayout.addItem(spacerItem)
        # add line number label
        self.pos_label = QLabel()
        self.horizontalLayout.addWidget(self.pos_label)
        # add spacer
        spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
        self.horizontalLayout.addItem(spacerItem)
        # add show log button
        self.show_log_button = QPushButton("Log>>", self)
        self.show_log_button.setObjectName("show_log_button")
        self.show_log_button.clicked.connect(self.on_toggled_log)
        self.show_log_button.setFlat(True)
        self.show_log_button.setCheckable(True)
        self.horizontalLayout.addWidget(self.show_log_button)
        # add graph button
        self.graphButton = QPushButton(self)
        self.graphButton.setObjectName("graphButton")
        self.graphButton.toggled.connect(self.on_toggled_graph)
        self.graphButton.setText("Includ&e Graph >>")
        self.graphButton.setCheckable(True)
        self.graphButton.setShortcut("Ctrl+E")
        self.graphButton.setToolTip('Shows include and include from files (Ctrl+E)')
        self.graphButton.setFlat(True)
        self.horizontalLayout.addWidget(self.graphButton)
        # add the search button
        self.searchButton = QPushButton(self)
        self.searchButton.setObjectName("searchButton")
#        self.searchButton.clicked.connect(self.on_shortcut_find)
        self.searchButton.toggled.connect(self.on_toggled_find)
        self.searchButton.setText(self._translate("&Find >>"))
        self.searchButton.setToolTip('Open a search dialog (Ctrl+F)')
        self.searchButton.setFlat(True)
        self.searchButton.setCheckable(True)
        self.horizontalLayout.addWidget(self.searchButton)
        # add the replace button
        self.replaceButton = QPushButton(self)
        self.replaceButton.setObjectName("replaceButton")
#        self.replaceButton.clicked.connect(self.on_shortcut_replace)
        self.replaceButton.toggled.connect(self.on_toggled_replace)
        self.replaceButton.setText(self._translate("&Replace >>"))
        self.replaceButton.setToolTip('Open a search&replace dialog (Ctrl+R)')
        self.replaceButton.setFlat(True)
        self.replaceButton.setCheckable(True)
        self.horizontalLayout.addWidget(self.replaceButton)
        return self.buttons

    def _create_log_bar(self):
        self.log_dock = QDockWidget(self)
        self.log_dock.setObjectName('LogFrame')
        self.log_dock.setFeatures(QDockWidget.DockWidgetMovable | QDockWidget.DockWidgetFloatable)
        self.log_bar = QWidget(self)
        self.horizontal_layout_log_bar = QHBoxLayout(self.log_bar)
        self.horizontal_layout_log_bar.setContentsMargins(2, 0, 2, 0)
        self.horizontal_layout_log_bar.setObjectName("horizontal_layout_log_bar")
        # add info label
        self._log_warning_count = 0
        self.log_browser = QTextEdit()
        self.log_browser.setObjectName("log_browser")
        self.log_browser.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
        self.log_browser.setLineWrapMode(QTextEdit.NoWrap)
        # self.log_browser.setMaximumHeight(120)
        color = QColor(255, 255, 235)
        bg_style = "QTextEdit#log_browser { background-color: %s;}" % color.name()
        self.log_bar.setStyleSheet("%s" % (bg_style))
        self.horizontal_layout_log_bar.addWidget(self.log_browser)
        # add hide button
        self.clear_log_button = QPushButton("clear", self)
        self.clear_log_button.setObjectName("clear_log_button")
        self.clear_log_button.setSizePolicy(QSizePolicy.Minimum, QSizePolicy.Maximum)
        self.clear_log_button.clicked.connect(self.on_clear_log_button_clicked)
        self.clear_log_button.setFlat(True)
        self.horizontal_layout_log_bar.addWidget(self.clear_log_button)
        self.log_dock.setWidget(self.log_bar)
        return self.log_dock

    def keyPressEvent(self, event):
        '''
        Enable the shortcats for search and replace
        '''
        if event.key() == Qt.Key_Escape:
            self.reject()
        elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_F:
            if self.tabWidget.currentWidget().hasFocus():
                if not self.searchButton.isChecked():
                    self.searchButton.setChecked(True)
                else:
                    self.on_toggled_find(True)
            else:
                self.searchButton.setChecked(not self.searchButton.isChecked())
        elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_R:
            if self.tabWidget.currentWidget().hasFocus():
                if not self.replaceButton.isChecked():
                    self.replaceButton.setChecked(True)
                else:
                    self.on_toggled_replace(True)
            else:
                self.replaceButton.setChecked(not self.replaceButton.isChecked())
        elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_E:
            if self.tabWidget.currentWidget().hasFocus():
                if not self.graphButton.isChecked():
                    self.graphButton.setChecked(True)
                else:
                    self.on_toggled_graph(True)
            else:
                self.graphButton.setChecked(not self.graphButton.isChecked())
        elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_W:
            self.on_close_tab(self.tabWidget.currentIndex())
        elif event.modifiers() in [Qt.ControlModifier, Qt.AltModifier] and event.key() == Qt.Key_Up:
            self.on_upperButton_clicked()
        elif event.modifiers() in [Qt.ControlModifier, Qt.AltModifier] and event.key() == Qt.Key_Down:
            self.on_downButton_clicked()
        else:
            event.accept()
            QMainWindow.keyPressEvent(self, event)

    def _translate(self, text):
        if hasattr(QApplication, "UnicodeUTF8"):
            return QApplication.translate("Editor", text, None, QApplication.UnicodeUTF8)
        else:
            return QApplication.translate("Editor", text, None)

    def readSettings(self):
        if nm.settings().store_geometry:
            settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE)
            settings.beginGroup("editor")
            maximized = settings.value("maximized", 'false') == 'true'
            if maximized:
                self.showMaximized()
            else:
                self.resize(settings.value("size", QSize(800, 640)))
                self.move(settings.value("pos", QPoint(0, 0)))
            try:
                self.restoreState(settings.value("window_state"))
            except Exception:
                import traceback
                print(traceback.format_exc())
            settings.endGroup()

    def storeSetting(self):
        if nm.settings().store_geometry:
            settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE)
            settings.beginGroup("editor")
            settings.setValue("size", self.size())
            settings.setValue("pos", self.pos())
            settings.setValue("maximized", self.isMaximized())
            settings.setValue("window_state", self.saveState())
            settings.endGroup()

    def on_load_request(self, filename, search_text='', insert_index=-1, goto_line=-1, only_launch=False, count_results=0):
        '''
        Loads a file in a new tab or focus the tab, if the file is already open.

        :param str filename: the path to file
        :param str search_text: if not empty, searches in new document for first occurrence of the given text
        '''
        if not filename:
            return
        self.tabWidget.setUpdatesEnabled(False)
        try:
            if filename not in self.files:
                tab_name = self.__getTabName(filename)
                editor = TextEdit(filename, parent=self)
                linenumber_editor = LineNumberWidget(editor)
                tab_index = 0
                if insert_index > -1:
                    tab_index = self.tabWidget.insertTab(insert_index, linenumber_editor, tab_name)
                else:
                    tab_index = self.tabWidget.addTab(linenumber_editor, tab_name)
                self.files.append(filename)
                editor.setCurrentPath(os.path.basename(filename))
                editor.load_request_signal.connect(self.on_load_request)
                editor.document().modificationChanged.connect(self.on_editor_modificationChanged)
                editor.cursorPositionChanged.connect(self.on_editor_positionChanged)
                editor.setFocus(Qt.OtherFocusReason)
#                editor.textChanged.connect(self.on_text_changed)
                editor.undoAvailable.connect(self.on_text_changed)
                self.tabWidget.setCurrentIndex(tab_index)
#                self.find_dialog.set_search_path(filename)
            else:
                for i in range(self.tabWidget.count()):
                    if self.tabWidget.widget(i).filename == filename:
                        self.tabWidget.setCurrentIndex(i)
                        break
            self.tabWidget.setUpdatesEnabled(True)
            if search_text:
                if only_launch:
                    self.find_dialog.found_files_list.clear()
                try:
                    self._search_thread.stop()
                    self._search_thread = None
                except Exception:
                    pass
                # TODO: put all text of all tabs into path_text
                rospy.logdebug("serach for '%s'" % search_text)
                self._search_node_count = 0
                self._search_thread = TextSearchThread(search_text, filename, recursive=True, only_launch=only_launch, count_results=count_results)
                self._search_thread.search_result_signal.connect(self.on_search_result_on_open)
                self._search_thread.warning_signal.connect(self.on_search_result_warning)
                self._last_search_request = (filename, search_text, insert_index, goto_line, only_launch)
                if not self.graph_view.is_loading():
                    self.on_graph_info("search thread: start search for '%s'" % self._search_thread._search_text)
                    self._search_thread.start()
            if goto_line != -1:
                self._goto(goto_line, True)
            self.upperButton.setEnabled(self.tabWidget.count() > 1)
        except Exception as err:
            self.tabWidget.setUpdatesEnabled(True)
            import traceback
            msg = "Error while open %s: %s" % (filename, traceback.format_exc())
            rospy.logwarn(msg)
            MessageBox.critical(self, "Error", utf8(err), msg)
            if self.tabWidget.count() == 0:
                self.close()

    def on_graph_load_file(self, path, insert_after=True):
        insert_index = self.tabWidget.currentIndex() + 1
        if not insert_after and insert_index > 1:
            insert_index = self.tabWidget.currentIndex()
        self.on_load_request(path, insert_index=insert_index)

    def on_graph_goto(self, path, linenr):
        if path == self.tabWidget.currentWidget().filename:
            if linenr != -1:
                self._goto(linenr, True)

    def on_graph_finished(self):
        self.on_graph_info("build tree: finished", False)
        if self.graph_view.has_warnings:
            self.graphButton.setIcon(self._info_icon)
        else:
            self.graphButton.setIcon(self._empty_icon)
        if self._search_thread:
            try:
                self._search_thread.find_args_not_set = True
                self._search_thread.start()
                self.on_graph_info("search thread: start search for '%s'" % self._search_thread._search_text)
            except Exception:
                pass

    def on_graph_info(self, msg, warning=False):
        text_color = "#000000"
        if warning:
            self._log_warning_count += 1
            if self._log_warning_count == 1:
                self.show_log_button.setIcon(self._error_icon)
            text_color = "#FE9A2E"
        text = ('<pre style="padding:10px;"><dt><font color="%s">'
                '%s</font></dt></pre>' % (text_color, msg))
        self.log_browser.append(text)

    def on_text_changed(self, value=""):
        if self.tabWidget.currentWidget().hasFocus():
            self.find_dialog.file_changed(self.tabWidget.currentWidget().filename)
            self._last_search_request = None

    def on_tab_changed(self, index):
        if index > -1:
            self.graph_view.set_file(self.tabWidget.widget(index).filename, self.tabWidget.widget(0).filename)
            self._last_search_request = None

    def on_close_tab(self, tab_index):
        '''
        Signal handling to close single tabs.
        :param int tab_index: tab index to close
        '''
        try:
            doremove = True
            w = self.tabWidget.widget(tab_index)
            if w.document().isModified():
                name = self.__getTabName(w.filename)
                result = MessageBox.question(self, "Unsaved Changes", '\n\n'.join(["Save the file before closing?", name]))
                if result == MessageBox.Yes:
                    self.tabWidget.currentWidget().save()
                elif result == MessageBox.No:
                    pass
                elif rospy.is_shutdown():
                    doremove = False
            if doremove:
                # remove the indexed files
                if w.filename in self.files:
                    self.files.remove(w.filename)
                # close tab
                self.tabWidget.removeTab(tab_index)
                # close editor, if no tabs are open
                if not self.tabWidget.count():
                    self.close()
            self._last_search_request = None
        except Exception:
            import traceback
            rospy.logwarn("Error while close tab %s: %s", str(tab_index), traceback.format_exc(1))
        self.upperButton.setEnabled(self.tabWidget.count() > 1)

    def reject(self):
        if self.find_dialog.isVisible():
            self.searchButton.setChecked(not self.searchButton.isChecked())
        else:
            self.close()

    def on_changed_file(self, grpc_path, mtime):
        if grpc_path in self.files:
            for i in range(self.tabWidget.count()):
                if self.tabWidget.widget(i).filename == grpc_path:
                    self.tabWidget.widget(i).file_changed(mtime)
                    break
        if self._last_search_request is not None:
            self.on_load_request(*self._last_search_request)

    def closeEvent(self, event):
        '''
        Test the open files for changes and save this if needed.
        '''
        changed = []
        # get the names of all changed files
        for i in range(self.tabWidget.count()):
            w = self.tabWidget.widget(i)
            if w.document().isModified():
                changed.append(self.__getTabName(w.filename))
        if changed:
            # ask the user for save changes
            if self.isHidden():
                buttons = MessageBox.Yes | MessageBox.No
            else:
                buttons = MessageBox.Yes | MessageBox.No | MessageBox.Cancel
            result = MessageBox.question(self, "Unsaved Changes", '\n\n'.join(["Save the file before closing?", '\n'.join(changed)]), buttons=buttons)
            if result == MessageBox.Yes:
                for i in range(self.tabWidget.count()):
                    w = self.tabWidget.widget(i).save()
                self.graph_view.clear_cache()
                event.accept()
            elif result == MessageBox.No:
                event.accept()
            elif rospy.is_shutdown():
                event.ignore()
        else:
            event.accept()
        if event.isAccepted():
            self.storeSetting()
            nm.nmd().file.changed_file.disconnect(self.on_changed_file)
            nm.nmd().file.packages_available.connect(self._on_new_packages)
            self.finished_signal.emit(self.init_filenames)

    def on_editor_modificationChanged(self, value=None):
        '''
        If the content was changed, a '*' will be shown in the tab name.
        '''
        tab_name = self.__getTabName(self.tabWidget.currentWidget().filename)
        if (self.tabWidget.currentWidget().document().isModified()):
            tab_name = '*%s' % tab_name
        self.tabWidget.setTabText(self.tabWidget.currentIndex(), tab_name)

    def on_editor_positionChanged(self):
        '''
        Shows the number of the line and column in a label.
        '''
        cursor = self.tabWidget.currentWidget().textCursor()
        self.pos_label.setText(':%s:%s #%s' % (cursor.blockNumber() + 1, cursor.columnNumber(), cursor.position()))

    def __getTabName(self, lfile):
        base = os.path.basename(lfile).replace('.launch', '')
        (package, _) = package_name(os.path.dirname(lfile))
        return '%s [%s]' % (base, package)

    def _on_new_packages(self, url):
        try:
            if nmdurl.nmduri_from_path(url) == nmdurl.nmduri_from_path(self.tabWidget.currentWidget().filename):
                rospy.logdebug("packages updated, rebuild graph")
                if self.graph_view.has_none_packages:
                    self.graph_view.clear_cache()
        except Exception:
            import traceback
            print(traceback.format_exc())

    ##############################################################################
    # HANDLER for buttons
    ##############################################################################

    def on_clear_log_button_clicked(self):
        self._log_warning_count = 0
        self.show_log_button.setIcon(self._empty_icon)
        self.log_browser.clear()
        self.log_dock.setVisible(False)
        self.show_log_button.setChecked(False)
        self.tabWidget.currentWidget().setFocus()

    def on_upperButton_clicked(self):
        '''
        Opens the file which include the current open file
        '''
        if self.tabWidget.currentIndex() != 0:
            self.graph_view.find_parent_file()

    def on_downButton_clicked(self):
        '''
        Select editor right from current.
        '''
        if self.tabWidget.currentIndex() < self.tabWidget.count():
            self.tabWidget.setCurrentIndex(self.tabWidget.currentIndex() + 1)

    def on_saveButton_clicked(self):
        '''
        Saves the current document. This method is called if the C{save button}
        was clicked.
        '''
        saved, errors, msg = self.tabWidget.currentWidget().save()
        if errors:
            if msg:
                rospy.logwarn(msg)
                MessageBox.critical(self, "Error", "Error while save file: %s" % os.path.basename(self.tabWidget.currentWidget().filename), detailed_text=msg)
            self.tabWidget.setTabIcon(self.tabWidget.currentIndex(), self._error_icon)
            self.tabWidget.setTabToolTip(self.tabWidget.currentIndex(), msg)
            self.on_graph_info("saved failed %s: %s" % (self.tabWidget.currentWidget().filename, msg), True)
        elif saved:
            self.on_graph_info("saved %s" % self.tabWidget.currentWidget().filename)
            self.tabWidget.setTabIcon(self.tabWidget.currentIndex(), self._empty_icon)
            self.tabWidget.setTabToolTip(self.tabWidget.currentIndex(), '')
            self.graph_view.clear_cache()

    def on_shortcut_find(self):
        pass

    def on_toggled_log(self, value):
        '''
        Shows the log bar
        '''
        if value:
            self.log_dock.setVisible(True)
        else:
            self.log_dock.setVisible(False)
            self.tabWidget.currentWidget().setFocus()

    def on_toggled_graph(self, value):
        '''
        Shows the search frame
        '''
        if value:
            self.graph_view.enable()
        else:
            # self.replaceButton.setChecked(False)
            self.graph_view.setVisible(False)
            self.tabWidget.currentWidget().setFocus()

    def on_toggled_find(self, value, only_results=False):
        '''
        Shows the search frame
        '''
        if value:
            self.find_dialog.enable()
            self.find_dialog.find_frame.setVisible(not only_results)
            self.find_dialog.recursive_search_box.setVisible(not only_results)
            if not only_results:
                # clear results if not search text exists and we show not only search results
                if not self.find_dialog.search_field.text():
                    self.find_dialog.found_files_list.clear()
        else:
            self.replaceButton.setChecked(False)
            self.find_dialog.setVisible(False)
            self.tabWidget.currentWidget().setFocus()

    def on_toggled_replace(self, value):
        '''
        Shows the replace lineedit in the search frame
        '''
        if value:
            self.searchButton.setChecked(True)
        self.find_dialog.set_replace_visible(value)

    def on_shortcut_goto(self):
        '''
        Opens a C{goto} dialog.
        '''
        value = 1
        ok = False
        try:
            value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
                                                  QLineEdit.Normal, minValue=1, step=1)
        except Exception:
            value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
                                                  QLineEdit.Normal, min=1, step=1)
        if ok:
            self._goto(value)
        self.tabWidget.currentWidget().setFocus(Qt.ActiveWindowFocusReason)

    def _goto(self, linenr, select_line=True):
            if linenr > self.tabWidget.currentWidget().document().blockCount():
                linenr = self.tabWidget.currentWidget().document().blockCount()
            curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1
            while curpos != linenr:
                mov = QTextCursor.NextBlock if curpos < linenr else QTextCursor.PreviousBlock
                self.tabWidget.currentWidget().moveCursor(mov)
                curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1
            self.tabWidget.currentWidget().moveCursor(QTextCursor.EndOfBlock)
            self.tabWidget.currentWidget().moveCursor(QTextCursor.StartOfBlock, QTextCursor.KeepAnchor)

    ##############################################################################
    # SLOTS for search dialog
    ##############################################################################

    def on_search_result(self, search_text, found, path, startpos, endpos, linenr=-1, line_text=''):
        '''
        A slot to handle a found text. It goes to the position in the text and select
        the searched text. On new file it will be open.
        :param search_text: the searched text
        :type search_text: str
        :param found: the text was found or not
        :type found: bool
        :param path: the path of the file the text was found
        :type path: str
        :param startpos: the position in the text
        :type startpos: int
        :param endpos: the end position in the text
        :type endpos: int
        '''
        if found:
            if self.tabWidget.currentWidget().filename != path:
                focus_widget = QApplication.focusWidget()
                self.on_load_request(path)
                focus_widget.setFocus()
            self.tabWidget.currentWidget().select(startpos, endpos, False)

    def on_search_result_on_open(self, search_text, found, path, startpos, endpos, linenr, line_text):
        '''
        Like on_search_result, but skips the text in comments.
        '''
        if found:
            self._search_node_count += 1
            if self._search_node_count > 1:
                self.on_toggled_find(True, only_results=True)
            self.find_dialog.current_search_text = search_text
            self.find_dialog.on_search_result(search_text, found, path, startpos, endpos, linenr, line_text)
            self.on_graph_info("search thread: found %s in '%s:%d'" % (search_text, path, linenr))
            if self.tabWidget.currentWidget().filename != path:
                focus_widget = QApplication.focusWidget()
                self.on_load_request(path)
                if focus_widget is not None:
                    focus_widget.setFocus()
            self.tabWidget.currentWidget().select(startpos, endpos, True)
        # self.on_search_result(search_text, found, path, startpos, endpos, linenr, line_text)

    def on_search_result_warning(self, msg):
        self.on_graph_info("search thread: %s" % (msg), True)

    def on_replace(self, search_text, path, index, replaced_text):
        '''
        A slot to handle a text replacement of the TextSearchFrame.
        :param search_text: the searched text
        :type search_text: str
        :param path: the path of the file the text was found
        :type path: str
        :param index: the position in the text
        :type index: int
        :param replaced_text: the new text
        :type replaced_text: str
        '''
        cursor = self.tabWidget.currentWidget().textCursor()
        if cursor.selectedText() == search_text:
            cursor.insertText(replaced_text)

    ##############################################################################
    # LAUNCH TAG insertion
    ##############################################################################

    def _show_custom_parameter_dialog(self):
        methods = {'nm/associations': self._on_add_cp_associations,
                   'capability_group': self._on_add_cp_capability_group,
                   'nm/kill_on_stop': self._on_add_cp_kill_on_stop,
                   'autostart/delay': self._on_add_cp_as_delay,
                   'autostart/exclude': self._on_add_cp_as_exclude,
                   'autostart/required_publisher': self._on_add_cp_as_req_publisher,
                   'respawn/max': self._on_add_cp_r_max,
                   'respawn/min_runtime': self._on_add_cp_r_min_runtime,
                   'respawn/delay': self._on_add_cp_r_delay,
                   }

        res = SelectDialog.getValue('Insert custom parameter', "Select parameter to insert:",
                                    sorted(methods.keys()), exclusive=True, parent=self,
                                    select_if_single=False,
                                    store_geometry='insert_param')
        tags2insert = res[0]
        for tag in tags2insert:
            methods[tag]()

    def _create_tag_button(self, parent=None):
        btn = QPushButton(parent)
        btn.setObjectName("tagButton")
        btn.setText(self._translate("Add &tag"))
        # btn.setShortcut("Ctrl+T")
        btn.setToolTip('Adds a ROS launch tag to launch file')
        btn.setMenu(self._create_tag_menu(btn))
        btn.setFlat(True)
        return btn

    def _create_tag_menu(self, parent=None):
        # creates a tag menu
        tag_menu = QMenu("ROS Tags", parent)
        # group tag
        add_group_tag_action = QAction("<group>", self, statusTip="", triggered=self._on_add_group_tag)
        add_group_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+g"))
        tag_menu.addAction(add_group_tag_action)
        # node tag
        add_node_tag_action = QAction("<node>", self, statusTip="", triggered=self._on_add_node_tag)
        add_node_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+n"))
        tag_menu.addAction(add_node_tag_action)
        # node tag with all attributes
        add_node_tag_all_action = QAction("<node all>", self, statusTip="", triggered=self._on_add_node_tag_all)
        tag_menu.addAction(add_node_tag_all_action)
        # include tag with all attributes
        add_include_tag_all_action = QAction("<include>", self, statusTip="", triggered=self._on_add_include_tag_all)
        add_include_tag_all_action.setShortcuts(QKeySequence("Ctrl+Shift+i"))
        tag_menu.addAction(add_include_tag_all_action)
        # remap
        add_remap_tag_action = QAction("<remap>", self, statusTip="", triggered=self._on_add_remap_tag)
        add_remap_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+r"))
        tag_menu.addAction(add_remap_tag_action)
        # env tag
        add_env_tag_action = QAction("<env>", self, statusTip="", triggered=self._on_add_env_tag)
        tag_menu.addAction(add_env_tag_action)
        # param tag
        add_param_clipboard_tag_action = QAction("<param value>", self, statusTip="add value from clipboard", triggered=self._on_add_param_clipboard_tag)
        add_param_clipboard_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+p"))
        tag_menu.addAction(add_param_clipboard_tag_action)
        add_param_tag_action = QAction("<param>", self, statusTip="", triggered=self._on_add_param_tag)
        add_param_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+Alt+p"))
        tag_menu.addAction(add_param_tag_action)
        # param tag with all attributes
        add_param_tag_all_action = QAction("<param all>", self, statusTip="", triggered=self._on_add_param_tag_all)
        tag_menu.addAction(add_param_tag_all_action)
        # rosparam tag with all attributes
        add_rosparam_tag_all_action = QAction("<rosparam>", self, statusTip="", triggered=self._on_add_rosparam_tag_all)
        tag_menu.addAction(add_rosparam_tag_all_action)
        # arg tag with default definition
        add_arg_tag_default_action = QAction("<arg default>", self, statusTip="", triggered=self._on_add_arg_tag_default)
        add_arg_tag_default_action.setShortcuts(QKeySequence("Ctrl+Shift+a"))
        tag_menu.addAction(add_arg_tag_default_action)
        # arg tag with value definition
        add_arg_tag_value_action = QAction("<arg value>", self, statusTip="", triggered=self._on_add_arg_tag_value)
        add_arg_tag_value_action.setShortcuts(QKeySequence("Ctrl+Alt+a"))
        tag_menu.addAction(add_arg_tag_value_action)

        # test tag
        add_test_tag_action = QAction("<test>", self, statusTip="", triggered=self._on_add_test_tag)
        add_test_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+t"))
        tag_menu.addAction(add_test_tag_action)
        # test tag with all attributes
        add_test_tag_all_action = QAction("<test all>", self, statusTip="", triggered=self._on_add_test_tag_all)
        tag_menu.addAction(add_test_tag_all_action)
        sub_cp_menu = QMenu("Custom parameters", parent)

        show_cp_dialog_action = QAction("Show Dialog", self, statusTip="", triggered=self._show_custom_parameter_dialog)
        show_cp_dialog_action.setShortcuts(QKeySequence("Ctrl+Shift+d"))
        sub_cp_menu.addAction(show_cp_dialog_action)

        add_cp_associations_action = QAction("nm/associations", self, statusTip="", triggered=self._on_add_cp_associations)
        add_cp_associations_action.setShortcuts(QKeySequence("Ctrl+Alt+a"))
        sub_cp_menu.addAction(add_cp_associations_action)

        sub_cp_as_menu = QMenu("Autostart", parent)
        add_cp_as_delay_action = QAction("delay", self, statusTip="", triggered=self._on_add_cp_as_delay)
        sub_cp_as_menu.addAction(add_cp_as_delay_action)
        add_cp_as_exclude_action = QAction("exclude", self, statusTip="", triggered=self._on_add_cp_as_exclude)
        sub_cp_as_menu.addAction(add_cp_as_exclude_action)
        add_cp_as_req_publisher_action = QAction("required publisher", self, statusTip="", triggered=self._on_add_cp_as_req_publisher)
        sub_cp_as_menu.addAction(add_cp_as_req_publisher_action)
        sub_cp_menu.addMenu(sub_cp_as_menu)

        sub_cp_r_menu = QMenu("Respawn", parent)
        add_cp_r_max_action = QAction("max", self, statusTip="", triggered=self._on_add_cp_r_max)
        sub_cp_r_menu.addAction(add_cp_r_max_action)
        add_cp_r_min_runtime_action = QAction("min_runtime", self, statusTip="", triggered=self._on_add_cp_r_min_runtime)
        sub_cp_r_menu.addAction(add_cp_r_min_runtime_action)
        add_cp_r_delay_action = QAction("delay", self, statusTip="", triggered=self._on_add_cp_r_delay)
        sub_cp_r_menu.addAction(add_cp_r_delay_action)
        sub_cp_menu.addMenu(sub_cp_r_menu)

        add_cp_capability_group_action = QAction("capability_group", self, statusTip="", triggered=self._on_add_cp_capability_group)
        add_cp_capability_group_action.setShortcuts(QKeySequence("Ctrl+Alt+p"))
        sub_cp_menu.addAction(add_cp_capability_group_action)
        add_cp_kill_on_stop_action = QAction("nm/kill_on_stop", self, statusTip="True or time to wait in ms", triggered=self._on_add_cp_kill_on_stop)
        add_cp_kill_on_stop_action.setShortcuts(QKeySequence("Ctrl+Shift+k"))
        sub_cp_menu.addAction(add_cp_kill_on_stop_action)
        tag_menu.addMenu(sub_cp_menu)
        return tag_menu

    def _insert_text(self, text, cursor_pose=None, selection_len=None):
        if self.tabWidget.currentWidget().isReadOnly():
            return
        cursor = self.tabWidget.currentWidget().textCursor()
        if not cursor.isNull():
            cursor.beginEditBlock()
            col = cursor.columnNumber()
            spaces = ''.join([' ' for _ in range(col)])
            curr_cursor_pos = cursor.position()
            cursor.insertText(text.replace('\n', '\n%s' % spaces))
            if cursor_pose is not None:
                cursor.setPosition(curr_cursor_pos + cursor_pose, QTextCursor.MoveAnchor)
                if selection_len is not None:
                    cursor.movePosition(QTextCursor.NextCharacter, QTextCursor.KeepAnchor, selection_len)
            cursor.endEditBlock()
            self.tabWidget.currentWidget().setTextCursor(cursor)
            self.tabWidget.currentWidget().setFocus(Qt.OtherFocusReason)

    def _on_add_group_tag(self):
        self._insert_text('<group ns="namespace" clear_params="true|false">\n'
                          '</group>', 11, 9)

    def _get_package_dialog(self):
        muri = masteruri_from_ros()
        if self.init_filenames:
            muri = nmdurl.masteruri(self.init_filenames[0])
        return PackageDialog(muri)

    def _on_add_node_tag(self):
        dia = self._get_package_dialog()
        if dia.exec_():
            self._insert_text('<node name="%s" pkg="%s" type="%s">\n'
                              '</node>' % (dia.binary, dia.package, dia.binary))

    def _on_add_node_tag_all(self):
        dia = self._get_package_dialog()
        if dia.exec_():
            self._insert_text('<node name="%s" pkg="%s" type="%s"\n'
                              '      args="arg1" machine="machine_name"\n'
                              '      respawn="true" required="true"\n'
                              '      ns="foo" clear_params="true|false"\n'
                              '      output="log|screen" cwd="ROS_HOME|node"\n'
                              '      launch-prefix="prefix arguments">\n'
                              '</node>' % (dia.binary, dia.package, dia.binary))

    def _on_add_include_tag_all(self):
        self._insert_text('<include file="$(find pkg-name)/path/filename.xml"\n'
                          '         ns="foo" clear_params="true|false">\n'
                          '</include>', 22, 27)

    def _on_add_remap_tag(self):
        self._insert_text('<remap from="original" to="new"/>', 13, 8)

    def _on_add_env_tag(self):
        self._insert_text('<env name="variable" value="value"/>', 11, 8)

    def _on_add_param_clipboard_tag(self):
        lines = QApplication.clipboard().mimeData().text().splitlines()
        name = ""
        if len(lines) == 1:
            name = lines[0]
        self._insert_text('<param name="%s" value="value" />' % name, 22 + len(name), 5)

    def _on_add_param_tag(self):
        self._insert_text('<param name="name" value="value" />', 13, 4)

    def _on_add_param_tag_all(self):
        self._insert_text('<param name="name" value="value"\n'
                          '       type="str|int|double|bool"\n'
                          '       textfile="$(find pkg-name)/path/file.txt"\n'
                          '       binfile="$(find pkg-name)/path/file"\n'
                          '       command="$(find pkg-name)/exe \'$(find pkg-name)/arg.txt\'">\n'
                          '</param>', 13, 4)

    def _on_add_rosparam_tag_all(self):
        self._insert_text('<rosparam param="name"\n'
                          '       file="$(find pkg-name)/path/foo.yaml"\n'
                          '       command="load|dump|delete"\n'
                          '       ns="namespace"\n'
                          '       subst_value="true|false">\n'
                          '</rosparam>', 17, 4)

    def _on_add_arg_tag_default(self):
        self._insert_text('<arg name="foo" default="1" />', 11, 3)

    def _on_add_arg_tag_value(self):
        self._insert_text('<arg name="foo" value="bar" />', 11, 3)

    def _on_add_test_tag(self):
        dia = self._get_package_dialog()
        if dia.exec_():
            self._insert_text('<test name="%s" pkg="%s" type="%s" test-name="test_%s">\n'
                              '</test>' % (dia.binary, dia.package, dia.binary, dia.binary))

    def _on_add_test_tag_all(self):
        dia = self._get_package_dialog()
        if dia.exec_():
            self._insert_text('<test name="%s" pkg="%s" type="%s" test-name="test_%s">\n'
                              '      args="arg1" time-limit="60.0"\n'
                              '      ns="foo" clear_params="true|false"\n'
                              '      cwd="ROS_HOME|node" retry="0"\n'
                              '      launch-prefix="prefix arguments">\n'
                              '</test>' % (dia.binary, dia.package, dia.binary, dia.binary))

    def _on_add_cp_capability_group(self):
        self._insert_text('<param name="capability_group" value="demo" />', 38, 4)

    def _on_add_cp_kill_on_stop(self):
        self._insert_text('<param name="nm/kill_on_stop" value="100" hint="[ms]" />', 34, 3)

    def _on_add_cp_associations(self):
        self._insert_text('<param name="nm/associations" value="node1,node2" hint="list of nodes" />', 34, 11)

    def _on_add_cp_as_delay(self):
        self._insert_text('<param name="autostart/delay" value="1" hint="[seconds]" />', 37, 1)

    def _on_add_cp_as_exclude(self):
        self._insert_text('<param name="autostart/exclude" value="True" />', 39, 4)

    def _on_add_cp_as_req_publisher(self):
        self._insert_text('<param name="autostart/required/publisher" value="topic" />', 50, 5)

    def _on_add_cp_r_max(self):
        self._insert_text('<param name="respawn/max" value="10" />', 33, 2)

    def _on_add_cp_r_min_runtime(self):
        self._insert_text('<param name="respawn/min_runtime" value="10" hint="[seconds]" />', 41, 2)

    def _on_add_cp_r_delay(self):
        self._insert_text('<param name="respawn/delay" value="5" hint="[seconds]" />', 31, 2)
Beispiel #42
0
class LogicalMarkerPlugin(Plugin):

    def __init__(self, context):
        super(LogicalMarkerPlugin, self).__init__(context)

        # Create an image for the original map. This will never change.
        try:
            self.map_yaml_file_str = rospy.get_param("~map_file")
            self.data_directory = rospy.get_param("~data_directory")
        except KeyError:
            rospy.logfatal("~map_file and ~data_directory need to be set to use the logical marker")
            return

        map_image_location = getImageFileLocation(self.map_yaml_file_str)
        map = loadMapFromFile(self.map_yaml_file_str)
        locations_file = getLocationsFileLocationFromDataDirectory(self.data_directory)
        connectivity_file = getConnectivityFileLocationFromDataDirectory(self.data_directory)
        doors_file = getDoorsFileLocationFromDataDirectory(self.data_directory)
        objects_file = getObjectsFileLocationFromDataDirectory(self.data_directory)

        # Give QObjects reasonable names
        self.setObjectName('LogicalMarkerPlugin')

        # Create QWidget
        self.master_widget = QWidget()
        self.master_layout = QVBoxLayout(self.master_widget)

        # Main Functions - Doors, Locations, Objects
        self.function_layout = QHBoxLayout()
        self.master_layout.addLayout(self.function_layout)
        self.function_buttons = []
        self.current_function = None
        for button_text in ['Locations', 'Doors', 'Objects']:
            button = QPushButton(button_text, self.master_widget)
            button.clicked[bool].connect(self.handle_function_button)
            button.setCheckable(True)
            self.function_layout.addWidget(button)
            self.function_buttons.append(button)
        self.function_layout.addStretch(1)

        self.master_layout.addWidget(self.get_horizontal_line())

        # Subfunction toolbar
        self.subfunction_layout = QHBoxLayout()
        clearLayoutAndFixHeight(self.subfunction_layout)
        self.master_layout.addLayout(self.subfunction_layout)
        self.current_subfunction = None

        self.master_layout.addWidget(self.get_horizontal_line())

        self.image = MapImage(map_image_location, self.master_widget)
        self.master_layout.addWidget(self.image)

        self.master_layout.addWidget(self.get_horizontal_line())

        # Configuration toolbar
        self.configuration_layout = QHBoxLayout()
        clearLayoutAndFixHeight(self.configuration_layout)
        self.master_layout.addLayout(self.configuration_layout)

        # Add a stretch at the bottom.
        self.master_layout.addStretch(1)

        self.master_widget.setObjectName('LogicalMarkerPluginUI')
        if context.serial_number() > 1:
            self.master_widget.setWindowTitle(self.master_widget.windowTitle() + (' (%d)' % context.serial_number()))
        context.add_widget(self.master_widget)


        # Activate the functions
        self.functions = {}
        self.functions['Locations'] = LocationFunction(locations_file,
                                                       connectivity_file,
                                                       map,
                                                       self.master_widget, 
                                                       self.subfunction_layout, 
                                                       self.configuration_layout,
                                                       self.image)
        self.functions['Doors'] = DoorFunction(doors_file,
                                               map,
                                               self.functions['Locations'],
                                               self.master_widget, 
                                               self.subfunction_layout, 
                                               self.configuration_layout,
                                               self.image)
        self.functions['Objects'] = ObjectFunction(objects_file,
                                                   map,
                                                   self.functions['Locations'],
                                                   self.master_widget, 
                                                   self.subfunction_layout, 
                                                   self.configuration_layout,
                                                   self.image)
    def construct_layout(self):
        pass

    def get_horizontal_line(self):
        """
        http://stackoverflow.com/questions/5671354/how-to-programmatically-make-a-horizontal-line-in-qt
        """
        hline = QFrame()
        hline.setFrameShape(QFrame.HLine)
        hline.setFrameShadow(QFrame.Sunken)
        return hline

    def handle_function_button(self):
        source = self.sender()

        if source.text() == self.current_function:
            source.setChecked(True)
            return

        # Depress all other buttons.
        for button in self.function_buttons:
            if button != source:
                button.setChecked(False)

        if self.current_function is not None:
            self.functions[self.current_function].deactivateFunction()
        self.current_function = source.text()

        # Clear all subfunction buttons.
        clearLayoutAndFixHeight(self.subfunction_layout)

        if self.current_function is not None:
            self.functions[self.current_function].activateFunction()

    def shutdown_plugin(self):
        modified = False
        for function in self.functions:
            if self.functions[function].isModified():
                modified = True
        if modified:
            ret = QMessageBox.warning(self.master_widget, "Save",
                        "The logical map has been modified.\n"
                        "Do you want to save your changes?",
                        QMessageBox.Save | QMessageBox.Discard)
            if ret == QMessageBox.Save:
                for function in self.functions:
                    self.functions[function].saveConfiguration()

    def save_settings(self, plugin_settings, instance_settings):
        pass

    def restore_settings(self, plugin_settings, instance_settings):
        pass
Beispiel #43
0
class RoomDialogPlugin(Plugin):
    def __init__(self, context):
        super(RoomDialogPlugin, self).__init__(context)
        # Give QObjects reasonable names
        self.setObjectName('RoomDialogPlugin')

        font_size = rospy.get_param("~font_size", 30)

        # Create QWidget
        self._widget = QWidget()
        self._widget.setFont(QFont("Times", font_size, QFont.Bold))
        self._layout = QVBoxLayout(self._widget)
        self._text_browser = QTextBrowser(self._widget)
        self._layout.addWidget(self._text_browser)
        self._button_layout = QGridLayout()
        self._layout.addLayout(self._button_layout)
        #        rospy.loginfo("Hello world")

        # Add combobox
        self._cb_layout = QHBoxLayout()
        self._cb = QComboBox()
        self._layout.addLayout(self._cb_layout)

        #layout = QVBoxLayout(self._widget)
        #layout.addWidget(self._button)
        self._widget.setObjectName('RoomDialogPluginUI')
        if context.serial_number() > 1:
            self._widget.setWindowTitle(self._widget.windowTitle() +
                                        (' (%d)' % context.serial_number()))
        context.add_widget(self._widget)

        # Setup service provider
        self.service = rospy.Service('room_dialog', RoomDialog,
                                     self.service_callback)
        self.response_ready = False
        self.response = None
        self.buttons = []
        self.text_label = None
        self.text_input = None

        # Add combo options

        self.connect(self._widget, SIGNAL("update"), self.update)
        self.connect(self._widget, SIGNAL("timeout"), self.timeout)

    def shutdown_plugin(self):
        self.service.shutdown()

    def service_callback(self, req):
        self.response_ready = False
        self.request = req
        self._widget.emit(SIGNAL("update"))
        # Start timer against wall clock here instead of the ros clock.
        start_time = time.time()
        while not self.response_ready:
            if self.request != req:
                # The request got preempted by a new request.
                return RoomDialogResponse(RoomDialogRequest.PREEMPTED, "")
            if req.timeout != RoomDialogRequest.NO_TIMEOUT:
                current_time = time.time()
                if current_time - start_time > req.timeout:
                    self._widget.emit(SIGNAL("timeout"))
                    return RoomDialogResponse(RoomDialogRequest.TIMED_OUT, "")
            time.sleep(0.2)
        return self.response

    def update(self):
        self.clean()
        req = self.request
        self._text_browser.setText(req.message)
        if req.type == RoomDialogRequest.DISPLAY:
            # All done, nothing more too see here.
            self.response = RoomDialogResponse(RoomDialogRequest.NO_RESPONSE,
                                               "")
            self.response_ready = True
        elif req.type == RoomDialogRequest.CHOICE_QUESTION:
            for index, options in enumerate(req.options):
                button = QPushButton(options, self._widget)
                button.clicked.connect(partial(self.handle_button, index))
                row = index / 3
                col = index % 3
                self._button_layout.addWidget(button, row, col)
                self.buttons.append(button)
        elif req.type == RoomDialogRequest.TEXT_QUESTION:
            self.text_label = QLabel("Enter here: ", self._widget)
            self._button_layout.addWidget(self.text_label, 0, 0)
            self.text_input = QLineEdit(self._widget)
            self.text_input.editingFinished.connect(self.handle_text)
            self._button_layout.addWidget(self.text_input, 0, 1)

        # add handling of combobox
        elif req.type == RoomDialogRequest.COMBOBOX_QUESTION:
            #  self.clean()
            rospy.loginfo("Combobox selected")

            #self._cb.duplicatesEnabled = False
            if self._cb.count() == 0:
                for index, options in enumerate(req.options):
                    self._cb.addItem(options)
                    rospy.loginfo(options)
                #self.buttons.append(options)
            # NOTE COULD INTRODUCE BUG
            self._cb.currentIndexChanged.connect(self.handle_cb)
            self._cb_layout.addWidget(self._cb)

    def timeout(self):
        self._text_browser.setText("Oh no! The request timed out.")
        self.clean()

    def clean(self):
        while self._button_layout.count():
            item = self._button_layout.takeAt(0)
            item.widget().deleteLater()

    # while self._cb_layout.count():
    #     item = self._cb_layout.takeAt(0)
    #     item.widget().deleteLater()

        self.buttons = []
        self.text_input = None
        self.text_label = None

    def handle_button(self, index):
        self.response = RoomDialogResponse(index, "")
        self.clean()
        self.response_ready = True

    def handle_text(self):
        self.response = RoomDialogResponse(RoomDialogRequest.TEXT_RESPONSE,
                                           self.text_input.text())
        self.clean()
        self.response_ready = True

    def handle_cb(self, index):
        # This will be the sign format seen around building ex: 3.404
        rospy.loginfo("handling cb")
        roomHuman = self._cb.currentText()
        # modify string into robot format ex: d3_404
        splitHuman = roomHuman.split('.', 1)
        roomRobot = 'd' + splitHuman[0] + '_' + splitHuman[1]
        roomRobot = str(roomRobot)
        self.response = RoomDialogResponse(RoomDialogRequest.CB_RESPONSE,
                                           roomRobot)
        self.clean()
        self.response_ready = True

    def save_settings(self, plugin_settings, instance_settings):
        # TODO save intrinsic configuration, usually using:
        # instance_settings.set_value(k, v)
        pass

    def restore_settings(self, plugin_settings, instance_settings):
        # TODO restore intrinsic configuration, usually using:
        # v = instance_settings.value(k)
        pass
Beispiel #44
0
 def _create_find_frame(self):
     find_frame = QFrame(self)
     find_hbox_layout = QHBoxLayout(find_frame)
     find_hbox_layout.setContentsMargins(0, 0, 0, 0)
     find_hbox_layout.setSpacing(1)
     self.search_field = EnhancedLineEdit(find_frame)
     self.search_field.setPlaceholderText('search text')
     self.search_field.textChanged.connect(self.on_search_text_changed)
     self.search_field.returnPressed.connect(self.on_search)
     find_hbox_layout.addWidget(self.search_field)
     self.search_result_label = QLabel(find_frame)
     self.search_result_label.setText(' ')
     find_hbox_layout.addWidget(self.search_result_label)
     self.find_button_back = QPushButton("<")
     self.find_button_back.setFixedWidth(44)
     self.find_button_back.clicked.connect(self.on_search_back)
     find_hbox_layout.addWidget(self.find_button_back)
     self.find_button = QPushButton(">")
     self.find_button.setDefault(True)
     # self.find_button.setFlat(True)
     self.find_button.setFixedWidth(44)
     self.find_button.clicked.connect(self.on_search)
     find_hbox_layout.addWidget(self.find_button)
     return find_frame
Beispiel #45
0
    def _create_buttons(self):
        # create the buttons line
        self.buttons = QWidget(self)
        self.horizontalLayout = QHBoxLayout(self.buttons)
        self.horizontalLayout.setContentsMargins(4, 0, 4, 0)
        self.horizontalLayout.setObjectName("horizontalLayout")
        # add open upper launchfile button
        self.upperButton = QPushButton(self)
        self.upperButton.setObjectName("upperButton")
        self.upperButton.clicked.connect(self.on_upperButton_clicked)
        self.upperButton.setIcon(QIcon(":/icons/up.png"))
        self.upperButton.setShortcut("Ctrl+U")
        self.upperButton.setToolTip(
            'Open the file which include the current file (Ctrl+U)')
        self.upperButton.setFlat(True)
        self.horizontalLayout.addWidget(self.upperButton)

        # add the goto button
        self.gotoButton = QPushButton(self)
        self.gotoButton.setObjectName("gotoButton")
        self.gotoButton.clicked.connect(self.on_shortcut_goto)
        self.gotoButton.setText(self._translate("&Goto line"))
        self.gotoButton.setShortcut("Ctrl+G")
        self.gotoButton.setToolTip('Open a goto dialog (Ctrl+G)')
        self.gotoButton.setFlat(True)
        self.horizontalLayout.addWidget(self.gotoButton)
        # add a tag button
        self.tagButton = self._create_tag_button(self)
        self.horizontalLayout.addWidget(self.tagButton)
        # add save button
        self.saveButton = QPushButton(self)
        self.saveButton.setObjectName("saveButton")
        self.saveButton.setIcon(QIcon.fromTheme("document-save"))
        self.saveButton.clicked.connect(self.on_saveButton_clicked)
        self.saveButton.setText(self._translate("&Save"))
        self.saveButton.setShortcut("Ctrl+S")
        self.saveButton.setToolTip('Save the changes to the file (Ctrl+S)')
        self.saveButton.setFlat(True)
        self.horizontalLayout.addWidget(self.saveButton)
        # add spacer
        spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding,
                                 QSizePolicy.Minimum)
        self.horizontalLayout.addItem(spacerItem)
        # add line number label
        self.pos_label = QLabel()
        self.horizontalLayout.addWidget(self.pos_label)
        # add spacer
        spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding,
                                 QSizePolicy.Minimum)
        self.horizontalLayout.addItem(spacerItem)
        # add graph button
        self.graphButton = QPushButton(self)
        self.graphButton.setObjectName("graphButton")
        self.graphButton.toggled.connect(self.on_toggled_graph)
        self.graphButton.setText("Includ&e Graph >>")
        self.graphButton.setCheckable(True)
        # self.graphButton.setIcon(QIcon(":/icons/button_graph.png"))
        self.graphButton.setShortcut("Ctrl+E")
        self.graphButton.setToolTip(
            'Shows include and include from files (Ctrl+E)')
        self.graphButton.setFlat(True)
        self.horizontalLayout.addWidget(self.graphButton)
        # add the search button
        self.searchButton = QPushButton(self)
        self.searchButton.setObjectName("searchButton")
        #        self.searchButton.clicked.connect(self.on_shortcut_find)
        self.searchButton.toggled.connect(self.on_toggled_find)
        self.searchButton.setText(self._translate("&Find >>"))
        self.searchButton.setToolTip('Open a search dialog (Ctrl+F)')
        self.searchButton.setFlat(True)
        self.searchButton.setCheckable(True)
        self.horizontalLayout.addWidget(self.searchButton)
        # add the replace button
        self.replaceButton = QPushButton(self)
        self.replaceButton.setObjectName("replaceButton")
        #        self.replaceButton.clicked.connect(self.on_shortcut_replace)
        self.replaceButton.toggled.connect(self.on_toggled_replace)
        self.replaceButton.setText(self._translate("&Replace >>"))
        self.replaceButton.setToolTip('Open a search&replace dialog (Ctrl+R)')
        self.replaceButton.setFlat(True)
        self.replaceButton.setCheckable(True)
        self.horizontalLayout.addWidget(self.replaceButton)
        return self.buttons
    def _set_add_rocon_master(self):

        if self._connect_dlg_isValid:
            console.logdebug("Dialog is live!!")
            self._connect_dlg.done(0)

        #dialog
        self._connect_dlg = QDialog(self._widget_main)
        self._connect_dlg.setWindowTitle("Add Ros Master")
        self._connect_dlg.setSizePolicy(QSizePolicy.MinimumExpanding,
                                        QSizePolicy.Ignored)
        self._connect_dlg.setMinimumSize(350, 0)
        # dlg_rect = self._connect_dlg.geometry()

        #dialog layout
        ver_layout = QVBoxLayout(self._connect_dlg)
        ver_layout.setContentsMargins(9, 9, 9, 9)

        #param layout
        text_grid_sub_widget = QWidget()
        text_grid_layout = QGridLayout(text_grid_sub_widget)
        text_grid_layout.setColumnStretch(1, 0)
        text_grid_layout.setRowStretch(2, 0)

        #param 1
        title_widget1 = QLabel("MASTER_URI: ")
        context_widget1 = QTextEdit()
        context_widget1.setSizePolicy(QSizePolicy.MinimumExpanding,
                                      QSizePolicy.Ignored)
        context_widget1.setMinimumSize(0, 30)
        context_widget1.append(self.master_uri)

        #param 2
        title_widget2 = QLabel("HOST_NAME: ")
        context_widget2 = QTextEdit()
        context_widget2.setSizePolicy(QSizePolicy.MinimumExpanding,
                                      QSizePolicy.Ignored)
        context_widget2.setMinimumSize(0, 30)
        context_widget2.append(self.host_name)

        #add param
        text_grid_layout.addWidget(title_widget1)
        text_grid_layout.addWidget(context_widget1)
        text_grid_layout.addWidget(title_widget2)
        text_grid_layout.addWidget(context_widget2)

        #add param layout
        ver_layout.addWidget(text_grid_sub_widget)

        #button layout
        button_hor_sub_widget = QWidget()
        button_hor_layout = QHBoxLayout(button_hor_sub_widget)

        uri_text_widget = context_widget1
        host_name_text_widget = context_widget2

        #check box
        use_env_var_check = QCheckBox("Use environment variables")
        use_env_var_check.setCheckState(Qt.Unchecked)

        def set_use_env_var(data, text_widget1, text_widget2):
            if data == Qt.Unchecked:
                text_widget1.setText(self.master_uri)
                text_widget2.setText(self.host_name)
            elif data == Qt.Checked:
                self.master_uri = str(text_widget1.toPlainText())
                self.host_name = str(text_widget2.toPlainText())
                text_widget1.setText(self.env_master_uri)
                text_widget2.setText(self.env_host_name)

        def check_event(data):
            set_use_env_var(data, context_widget1, context_widget2)

        use_env_var_check.stateChanged.connect(check_event)
        ver_layout.addWidget(use_env_var_check)

        #button
        btn_call = QPushButton("Add")
        btn_cancel = QPushButton("Cancel")

        btn_call.clicked.connect(lambda: self._connect_dlg.done(0))
        btn_call.clicked.connect(lambda: self._add_rocon_master(
            uri_text_widget, host_name_text_widget))

        btn_cancel.clicked.connect(lambda: self._connect_dlg.done(0))

        #add button
        button_hor_layout.addWidget(btn_call)
        button_hor_layout.addWidget(btn_cancel)

        #add button layout
        ver_layout.addWidget(button_hor_sub_widget)
        self._connect_dlg.setVisible(True)
        self._connect_dlg.finished.connect(self._destroy_connect_dlg)
        self._connect_dlg_isValid = True
Beispiel #47
0
    def _setting_service(self):

        if self.is_setting_dlg_live:
            print "Dialog is live!!"
            self._setting_dlg.done(0)

        #dialog
        self._setting_dlg = QDialog(self._widget)
        self._setting_dlg.setWindowTitle("Seting Configuration")
        self._setting_dlg.setSizePolicy(QSizePolicy.MinimumExpanding,
                                        QSizePolicy.Ignored)
        self._setting_dlg.setMinimumSize(500, 0)
        dlg_rect = self._setting_dlg.geometry()

        #dialog layout
        ver_layout = QVBoxLayout(self._setting_dlg)
        ver_layout.setContentsMargins(9, 9, 9, 9)

        #param layout
        text_grid_sub_widget = QWidget()
        text_grid_layout = QGridLayout(text_grid_sub_widget)
        text_grid_layout.setColumnStretch(1, 0)
        text_grid_layout.setRowStretch(2, 0)

        #param 1
        name = u""
        title_widget1 = QLabel("Param1: ")
        context_widget1 = QTextEdit()
        context_widget1.setSizePolicy(QSizePolicy.MinimumExpanding,
                                      QSizePolicy.Ignored)
        context_widget1.setMinimumSize(0, 30)
        context_widget1.append("")

        #param 2
        cancel = False
        title_widget2 = QLabel("Param2: ")
        context_widget2 = QTextEdit()
        context_widget2.setSizePolicy(QSizePolicy.MinimumExpanding,
                                      QSizePolicy.Ignored)
        context_widget2.setMinimumSize(0, 30)
        context_widget2.append("")

        #param 3
        cancel = False
        title_widget3 = QLabel("Param2: ")
        context_widget3 = QTextEdit()
        context_widget3.setSizePolicy(QSizePolicy.MinimumExpanding,
                                      QSizePolicy.Ignored)
        context_widget3.setMinimumSize(0, 30)
        context_widget3.append("")

        #add param
        text_grid_layout.addWidget(title_widget1)
        text_grid_layout.addWidget(context_widget1)

        text_grid_layout.addWidget(title_widget2)
        text_grid_layout.addWidget(context_widget2)

        text_grid_layout.addWidget(title_widget3)
        text_grid_layout.addWidget(context_widget3)

        #add param layout
        ver_layout.addWidget(text_grid_sub_widget)

        #button layout
        button_hor_sub_widget = QWidget()
        button_hor_layout = QHBoxLayout(button_hor_sub_widget)

        params = {}
        params['param1'] = context_widget1
        params['param2'] = context_widget2
        params['param3'] = context_widget3

        #button
        btn_call = QPushButton("Set")
        btn_cancel = QPushButton("Cancel")

        btn_call.clicked.connect(lambda: self._setting_dlg.done(0))
        btn_call.clicked.connect(lambda: self._set_configuration(params))

        btn_cancel.clicked.connect(lambda: self._setting_dlg.done(0))

        #add button
        button_hor_layout.addWidget(btn_call)
        button_hor_layout.addWidget(btn_cancel)

        #add button layout
        ver_layout.addWidget(button_hor_sub_widget)
        self._setting_dlg.setVisible(True)
        self._setting_dlg.finished.connect(self._destroy_setting_dlg)
        self.is_setting_dlg_live = True

        pass
Beispiel #48
0
    def __init__(self, context):
        super(PatternGeneratorWidget, self).__init__()

        # publisher
        self.pattern_generator_params_pub = rospy.Publisher(
            'pattern_generator/set_params',
            PatternGeneratorParameters,
            queue_size=1)

        # start widget
        widget = context

        # start upper part
        hbox = QHBoxLayout()

        # start left column
        left_vbox = QVBoxLayout()

        # start button
        start_command = QPushButton("Start")
        left_vbox.addWidget(start_command)

        # simulation checkbox
        self.simulation_mode_checkbox = QCheckBox()
        self.simulation_mode_checkbox.setText("Simulation Mode")
        self.simulation_mode_checkbox.setChecked(False)
        left_vbox.addWidget(self.simulation_mode_checkbox)

        # realtime checkbox
        self.realtime_mode_checkbox = QCheckBox()
        self.realtime_mode_checkbox.setText("Realtime Mode")
        self.realtime_mode_checkbox.setChecked(False)
        left_vbox.addWidget(self.realtime_mode_checkbox)

        # joystick checkbox
        self.joystick_mode_checkbox = QCheckBox()
        self.joystick_mode_checkbox.setText("Joystick Mode")
        self.joystick_mode_checkbox.setChecked(False)
        left_vbox.addWidget(self.joystick_mode_checkbox)

        # ignore invalid steps checkbox
        self.ignore_invalid_steps_checkbox = QCheckBox()
        self.ignore_invalid_steps_checkbox.setText("Ignore Invalid Steps")
        self.ignore_invalid_steps_checkbox.setChecked(False)
        left_vbox.addWidget(self.ignore_invalid_steps_checkbox)

        # foot seperation
        self.foot_seperation = generate_q_double_spin_box(
            0.2, 0.15, 0.3, 2, 0.01)
        self.foot_seperation.valueChanged.connect(self.callback_spin_box)
        add_widget_with_frame(left_vbox, self.foot_seperation,
                              "Foot Seperation (m):")

        # delta x
        self.delta_x = generate_q_double_spin_box(0.0, -0.4, 0.4, 2, 0.01)
        self.delta_x.valueChanged.connect(self.callback_spin_box)
        add_widget_with_frame(left_vbox, self.delta_x, "dX (m):")

        # delta y
        self.delta_y = generate_q_double_spin_box(0.0, -2.2, 2.2, 2, 0.01)
        self.delta_y.valueChanged.connect(self.callback_spin_box)
        add_widget_with_frame(left_vbox, self.delta_y, "dY (m):")

        # delta yaw
        self.delta_yaw = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
        self.delta_yaw.valueChanged.connect(self.callback_spin_box)
        add_widget_with_frame(left_vbox, self.delta_yaw, "dYaw (deg):")

        # roll
        self.roll = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
        self.roll.valueChanged.connect(self.callback_spin_box)
        add_widget_with_frame(left_vbox, self.roll, "Roll (deg):")

        # pitch
        self.pitch = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
        self.pitch.valueChanged.connect(self.callback_spin_box)
        add_widget_with_frame(left_vbox, self.pitch, "Pitch (deg):")

        # end left column
        left_vbox.addStretch()
        hbox.addLayout(left_vbox, 1)

        # start right column
        right_vbox = QVBoxLayout()

        # stop button
        stop_command = QPushButton("Stop")
        right_vbox.addWidget(stop_command)

        # ignore collision
        self.collision_checkbox = QCheckBox()
        self.collision_checkbox.setText("Ignore Collision")
        self.collision_checkbox.setChecked(True)
        right_vbox.addWidget(self.collision_checkbox)

        # override 3D
        self.override_checkbox = QCheckBox()
        self.override_checkbox.setText("Override 3D")
        self.override_checkbox.setChecked(False)
        right_vbox.addWidget(self.override_checkbox)

        # end right coloumn
        right_vbox.addStretch()
        hbox.addLayout(right_vbox, 1)

        # add upper part
        hbox.setMargin(0)
        vbox = QVBoxLayout()
        vbox.addLayout(hbox)

        # parameter set selection
        self.parameter_set_widget = QParameterSetWidget()
        add_widget_with_frame(vbox, self.parameter_set_widget,
                              "Parameter Set:")

        # end widget
        widget.setLayout(vbox)
        #context.add_widget(widget)

        # signal connections
        start_command.clicked.connect(self.start_command_callback)
        stop_command.clicked.connect(self.stop_command_callback)
        self.joystick_mode_checkbox.clicked.connect(
            self.joystick_mode_check_callback)
        self.ignore_invalid_steps_checkbox.clicked.connect(
            self._publish_parameters)
Beispiel #49
0
class Editor(QMainWindow):
    '''
    Creates a dialog to edit a launch file.
    '''
    finished_signal = Signal(list)
    '''
    finished_signal has as parameter the filenames of the initialization and is emitted, if this
    dialog was closed.
    '''

    def __init__(self, filenames, search_text='', parent=None):
        '''
        @param filenames: a list with filenames. The last one will be activated.
        @type filenames: C{[str, ...]}
        @param search_text: if not empty, searches in new document for first occurrence of the given text
        @type search_text: C{str} (Default: C{Empty String})
        '''
        QMainWindow.__init__(self, parent)
        self.setObjectName(' - '.join(['Editor', str(filenames)]))
        self.setAttribute(Qt.WA_DeleteOnClose, True)
        self.setWindowFlags(Qt.Window)
        self.mIcon = QIcon(":/icons/crystal_clear_edit_launch.png")
        self._error_icon = QIcon(":/icons/crystal_clear_warning.png")
        self._empty_icon = QIcon()
        self.setWindowIcon(self.mIcon)
        window_title = "ROSLaunch Editor"
        if filenames:
            window_title = self.__getTabName(filenames[0])
        self.setWindowTitle(window_title)
        self.init_filenames = list(filenames)
        self._search_thread = None
        # list with all open files
        self.files = []
        # create tabs for files
        self.main_widget = QWidget(self)
        self.verticalLayout = QVBoxLayout(self.main_widget)
        self.verticalLayout.setContentsMargins(0, 0, 0, 0)
        self.verticalLayout.setSpacing(1)
        self.verticalLayout.setObjectName("verticalLayout")

        self.tabWidget = EditorTabWidget(self)
        self.tabWidget.setTabPosition(QTabWidget.North)
        self.tabWidget.setDocumentMode(True)
        self.tabWidget.setTabsClosable(True)
        self.tabWidget.setMovable(False)
        self.tabWidget.setObjectName("tabWidget")
        self.tabWidget.tabCloseRequested.connect(self.on_close_tab)

        self.verticalLayout.addWidget(self.tabWidget)
        self.buttons = self._create_buttons()
        self.verticalLayout.addWidget(self.buttons)
        self.setCentralWidget(self.main_widget)

        self.find_dialog = TextSearchFrame(self.tabWidget, self)
        self.find_dialog.search_result_signal.connect(self.on_search_result)
        self.find_dialog.replace_signal.connect(self.on_replace)
        self.addDockWidget(Qt.RightDockWidgetArea, self.find_dialog)
        # open the files
        for f in filenames:
            if f:
                self.on_load_request(os.path.normpath(f), search_text)
        self.readSettings()
        self.find_dialog.setVisible(False)

#  def __del__(self):
#    print "******** destroy", self.objectName()

    def _create_buttons(self):
        # create the buttons line
        self.buttons = QWidget(self)
        self.horizontalLayout = QHBoxLayout(self.buttons)
        self.horizontalLayout.setContentsMargins(4, 0, 4, 0)
        self.horizontalLayout.setObjectName("horizontalLayout")
        # add the search button
        self.searchButton = QPushButton(self)
        self.searchButton.setObjectName("searchButton")
#        self.searchButton.clicked.connect(self.on_shortcut_find)
        self.searchButton.toggled.connect(self.on_toggled_find)
        self.searchButton.setText(self._translate("&Find"))
        self.searchButton.setToolTip('Open a search dialog (Ctrl+F)')
        self.searchButton.setFlat(True)
        self.searchButton.setCheckable(True)
        self.horizontalLayout.addWidget(self.searchButton)
        # add the replace button
        self.replaceButton = QPushButton(self)
        self.replaceButton.setObjectName("replaceButton")
#        self.replaceButton.clicked.connect(self.on_shortcut_replace)
        self.replaceButton.toggled.connect(self.on_toggled_replace)
        self.replaceButton.setText(self._translate("&Replace"))
        self.replaceButton.setToolTip('Open a search&replace dialog (Ctrl+R)')
        self.replaceButton.setFlat(True)
        self.replaceButton.setCheckable(True)
        self.horizontalLayout.addWidget(self.replaceButton)
        # add the goto button
        self.gotoButton = QPushButton(self)
        self.gotoButton.setObjectName("gotoButton")
        self.gotoButton.clicked.connect(self.on_shortcut_goto)
        self.gotoButton.setText(self._translate("&Goto line"))
        self.gotoButton.setShortcut("Ctrl+G")
        self.gotoButton.setToolTip('Open a goto dialog (Ctrl+G)')
        self.gotoButton.setFlat(True)
        self.horizontalLayout.addWidget(self.gotoButton)
        # add a tag button
        self.tagButton = self._create_tag_button(self)
        self.horizontalLayout.addWidget(self.tagButton)
        # add spacer
        spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
        self.horizontalLayout.addItem(spacerItem)
        # add line number label
        self.pos_label = QLabel()
        self.horizontalLayout.addWidget(self.pos_label)
        # add spacer
        spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
        self.horizontalLayout.addItem(spacerItem)
        # add save button
        self.saveButton = QPushButton(self)
        self.saveButton.setObjectName("saveButton")
        self.saveButton.clicked.connect(self.on_saveButton_clicked)
        self.saveButton.setText(self._translate("&Save"))
        self.saveButton.setShortcut("Ctrl+S")
        self.saveButton.setToolTip('Save the changes to the file (Ctrl+S)')
        self.saveButton.setFlat(True)
        self.horizontalLayout.addWidget(self.saveButton)
        return self.buttons

    def keyPressEvent(self, event):
        '''
        Enable the shortcats for search and replace
        '''
        if event.key() == Qt.Key_Escape:
            self.reject()
        elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_F:
            if self.tabWidget.currentWidget().hasFocus():
                if not self.searchButton.isChecked():
                    self.searchButton.setChecked(True)
                else:
                    self.on_toggled_find(True)
            else:
                self.searchButton.setChecked(not self.searchButton.isChecked())
        elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_R:
            if self.tabWidget.currentWidget().hasFocus():
                if not self.replaceButton.isChecked():
                    self.replaceButton.setChecked(True)
                else:
                    self.on_toggled_replace(True)
            else:
                self.replaceButton.setChecked(not self.replaceButton.isChecked())
        else:
            event.accept()
            QMainWindow.keyPressEvent(self, event)

    def _translate(self, text):
        if hasattr(QApplication, "UnicodeUTF8"):
            return QApplication.translate("Editor", text, None, QApplication.UnicodeUTF8)
        else:
            return QApplication.translate("Editor", text, None)

    def readSettings(self):
        if nm.settings().store_geometry:
            settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE)
            settings.beginGroup("editor")
            maximized = settings.value("maximized", 'false') == 'true'
            if maximized:
                self.showMaximized()
            else:
                self.resize(settings.value("size", QSize(800, 640)))
                self.move(settings.value("pos", QPoint(0, 0)))
            try:
                self.restoreState(settings.value("window_state"))
            except:
                import traceback
                print traceback.format_exc()
            settings.endGroup()

    def storeSetting(self):
        if nm.settings().store_geometry:
            settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE)
            settings.beginGroup("editor")
            settings.setValue("size", self.size())
            settings.setValue("pos", self.pos())
            settings.setValue("maximized", self.isMaximized())
            settings.setValue("window_state", self.saveState())
            settings.endGroup()

    def on_load_request(self, filename, search_text=''):
        '''
        Loads a file in a new tab or focus the tab, if the file is already open.
        @param filename: the path to file
        @type filename: C{str}
        @param search_text: if not empty, searches in new document for first occurrence of the given text
        @type search_text: C{str} (Default: C{Empty String})
        '''
        if not filename:
            return
        self.tabWidget.setUpdatesEnabled(False)
        try:
            if filename not in self.files:
                tab_name = self.__getTabName(filename)
                editor = TextEdit(filename, self.tabWidget)
                linenumber_editor = LineNumberWidget(editor)
                tab_index = self.tabWidget.addTab(linenumber_editor, tab_name)
                self.files.append(filename)
                editor.setCurrentPath(os.path.basename(filename))
                editor.load_request_signal.connect(self.on_load_request)
                editor.document().modificationChanged.connect(self.on_editor_modificationChanged)
                editor.cursorPositionChanged.connect(self.on_editor_positionChanged)
                editor.setFocus(Qt.OtherFocusReason)
                editor.textChanged.connect(self.on_text_changed)
                self.tabWidget.setCurrentIndex(tab_index)
#                self.find_dialog.set_search_path(filename)
            else:
                for i in range(self.tabWidget.count()):
                    if self.tabWidget.widget(i).filename == filename:
                        self.tabWidget.setCurrentIndex(i)
                        break
        except:
            import traceback
            rospy.logwarn("Error while open %s: %s", filename, traceback.format_exc(1))
        self.tabWidget.setUpdatesEnabled(True)
        if search_text:
            try:
                self._search_thread.stop()
                self._search_thread = None
            except:
                pass
            self._search_thread = TextSearchThread(search_text, filename, path_text=self.tabWidget.widget(0).document().toPlainText(), recursive=True)
            self._search_thread.search_result_signal.connect(self.on_search_result_on_open)
            self._search_thread.start()

    def on_text_changed(self):
        if self.tabWidget.currentWidget().hasFocus():
            self.find_dialog.file_changed(self.tabWidget.currentWidget().filename)

    def on_close_tab(self, tab_index):
        '''
        Signal handling to close single tabs.
        @param tab_index: tab index to close
        @type tab_index: C{int}
        '''
        try:
            doremove = True
            w = self.tabWidget.widget(tab_index)
            if w.document().isModified():
                name = self.__getTabName(w.filename)
                result = QMessageBox.question(self, "Unsaved Changes", '\n\n'.join(["Save the file before closing?", name]), QMessageBox.Yes | QMessageBox.No | QMessageBox.Cancel)
                if result == QMessageBox.Yes:
                    self.tabWidget.currentWidget().save()
                elif result == QMessageBox.No:
                    pass
                else:
                    doremove = False
            if doremove:
                # remove the indexed files
                if w.filename in self.files:
                    self.files.remove(w.filename)
                # close tab
                self.tabWidget.removeTab(tab_index)
                # close editor, if no tabs are open
                if not self.tabWidget.count():
                    self.close()
        except:
            import traceback
            rospy.logwarn("Error while close tab %s: %s", str(tab_index), traceback.format_exc(1))

    def reject(self):
        if self.find_dialog.isVisible():
            self.searchButton.setChecked(not self.searchButton.isChecked())
        else:
            self.close()

    def closeEvent(self, event):
        '''
        Test the open files for changes and save this if needed.
        '''
        changed = []
        # get the names of all changed files
        for i in range(self.tabWidget.count()):
            w = self.tabWidget.widget(i)
            if w.document().isModified():
                changed.append(self.__getTabName(w.filename))
        if changed:
            # ask the user for save changes
            if self.isHidden():
                buttons = QMessageBox.Yes | QMessageBox.No
            else:
                buttons = QMessageBox.Yes | QMessageBox.No | QMessageBox.Cancel
            result = QMessageBox.question(self, "Unsaved Changes", '\n\n'.join(["Save the file before closing?", '\n'.join(changed)]), buttons)
            if result == QMessageBox.Yes:
                for i in range(self.tabWidget.count()):
                    w = self.tabWidget.widget(i).save()
                event.accept()
            elif result == QMessageBox.No:
                event.accept()
            else:
                event.ignore()
        else:
            event.accept()
        if event.isAccepted():
            self.storeSetting()
            self.finished_signal.emit(self.init_filenames)

    def on_editor_modificationChanged(self, value=None):
        '''
        If the content was changed, a '*' will be shown in the tab name.
        '''
        tab_name = self.__getTabName(self.tabWidget.currentWidget().filename)
        if (self.tabWidget.currentWidget().document().isModified()) or not QFileInfo(self.tabWidget.currentWidget().filename).exists():
            tab_name = ''.join(['*', tab_name])
        self.tabWidget.setTabText(self.tabWidget.currentIndex(), tab_name)

    def on_editor_positionChanged(self):
        '''
        Shows the number of the line and column in a label.
        '''
        cursor = self.tabWidget.currentWidget().textCursor()
        self.pos_label.setText(':%s:%s' % (cursor.blockNumber() + 1, cursor.columnNumber()))

    def __getTabName(self, lfile):
        base = os.path.basename(lfile).replace('.launch', '')
        (package, _) = package_name(os.path.dirname(lfile))
        return '%s [%s]' % (base, package)

    ##############################################################################
    # HANDLER for buttons
    ##############################################################################

    def on_saveButton_clicked(self):
        '''
        Saves the current document. This method is called if the C{save button}
        was clicked.
        '''
        saved, errors, msg = self.tabWidget.currentWidget().save(True)
        if errors:
            QMessageBox.critical(self, "Error", msg)
            self.tabWidget.setTabIcon(self.tabWidget.currentIndex(), self._error_icon)
            self.tabWidget.setTabToolTip(self.tabWidget.currentIndex(), msg)
        elif saved:
            self.tabWidget.setTabIcon(self.tabWidget.currentIndex(), self._empty_icon)
            self.tabWidget.setTabToolTip(self.tabWidget.currentIndex(), '')

    def on_shortcut_find(self):
        pass

    def on_toggled_find(self, value):
        '''
        Shows the search frame
        '''
        if value:
            self.find_dialog.enable()
        else:
            self.replaceButton.setChecked(False)
            self.find_dialog.setVisible(False)
            self.tabWidget.currentWidget().setFocus()

    def on_toggled_replace(self, value):
        '''
        Shows the replace lineedit in the search frame
        '''
        if value:
            self.searchButton.setChecked(True)
        self.find_dialog.set_replace_visible(value)

    def on_shortcut_goto(self):
        '''
        Opens a C{goto} dialog.
        '''
        value = 1
        ok = False
        try:
            value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
                                                  QLineEdit.Normal, minValue=1, step=1)
        except:
            value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
                                                  QLineEdit.Normal, min=1, step=1)
        if ok:
            if value > self.tabWidget.currentWidget().document().blockCount():
                value = self.tabWidget.currentWidget().document().blockCount()
            curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1
            while curpos != value:
                mov = QTextCursor.NextBlock if curpos < value else QTextCursor.PreviousBlock
                self.tabWidget.currentWidget().moveCursor(mov)
                curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1
        self.tabWidget.currentWidget().setFocus(Qt.ActiveWindowFocusReason)

    ##############################################################################
    # SLOTS for search dialog
    ##############################################################################

    def on_search_result(self, search_text, found, path, index):
        '''
        A slot to handle a found text. It goes to the position in the text and select
        the searched text. On new file it will be open.
        :param search_text: the searched text
        :type search_text: str
        :param found: the text was found or not
        :type found: bool
        :param path: the path of the file the text was found
        :type path: str
        :param index: the position in the text
        :type index: int
        '''
        if found:
            if self.tabWidget.currentWidget().filename != path:
                focus_widget = QApplication.focusWidget()
                self.on_load_request(path)
                focus_widget.setFocus()
            cursor = self.tabWidget.currentWidget().textCursor()
            cursor.setPosition(index, QTextCursor.MoveAnchor)
            cursor.movePosition(QTextCursor.NextCharacter, QTextCursor.KeepAnchor, len(search_text))
            self.tabWidget.currentWidget().setTextCursor(cursor)

    def on_search_result_on_open(self, search_text, found, path, index):
        '''
        Like on_search_result, but skips the text in comments.
        '''
        if found:
            if self.tabWidget.currentWidget().filename != path:
                focus_widget = QApplication.focusWidget()
                self.on_load_request(path)
                focus_widget.setFocus()
            comment_start = self.tabWidget.currentWidget().document().find('<!--', index, QTextDocument.FindBackward)
            if not comment_start.isNull():
                comment_end = self.tabWidget.currentWidget().document().find('-->', comment_start)
                if not comment_end.isNull() and comment_end.position() > index + len(search_text):
                    # commented -> retrun
                    return
        self.on_search_result(search_text, found, path, index)

    def on_replace(self, search_text, path, index, replaced_text):
        '''
        A slot to handle a text replacement of the TextSearchFrame.
        :param search_text: the searched text
        :type search_text: str
        :param path: the path of the file the text was found
        :type path: str
        :param index: the position in the text
        :type index: int
        :param replaced_text: the new text
        :type replaced_text: str
        '''
        cursor = self.tabWidget.currentWidget().textCursor()
        if cursor.selectedText() == search_text:
            cursor.insertText(replaced_text)

    ##############################################################################
    # LAUNCH TAG insertion
    ##############################################################################

    def _create_tag_button(self, parent=None):
        btn = QPushButton(parent)
        btn.setObjectName("tagButton")
        btn.setText(self._translate("Add &tag"))
        btn.setShortcut("Ctrl+T")
        btn.setToolTip('Adds a ROS launch tag to launch file (Ctrl+T)')
        btn.setMenu(self._create_tag_menu(btn))
        btn.setFlat(True)
        return btn

    def _create_tag_menu(self, parent=None):
        # creates a tag menu
        tag_menu = QMenu("ROS Tags", parent)
        # group tag
        add_group_tag_action = QAction("<group>", self, statusTip="", triggered=self._on_add_group_tag)
        add_group_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+g"))
        tag_menu.addAction(add_group_tag_action)
        # node tag
        add_node_tag_action = QAction("<node>", self, statusTip="", triggered=self._on_add_node_tag)
        add_node_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+n"))
        tag_menu.addAction(add_node_tag_action)
        # node tag with all attributes
        add_node_tag_all_action = QAction("<node all>", self, statusTip="", triggered=self._on_add_node_tag_all)
        tag_menu.addAction(add_node_tag_all_action)
        # include tag with all attributes
        add_include_tag_all_action = QAction("<include>", self, statusTip="", triggered=self._on_add_include_tag_all)
        add_include_tag_all_action.setShortcuts(QKeySequence("Ctrl+Shift+i"))
        tag_menu.addAction(add_include_tag_all_action)
        # remap
        add_remap_tag_action = QAction("<remap>", self, statusTip="", triggered=self._on_add_remap_tag)
        add_remap_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+r"))
        tag_menu.addAction(add_remap_tag_action)
        # env tag
        add_env_tag_action = QAction("<env>", self, statusTip="", triggered=self._on_add_env_tag)
        tag_menu.addAction(add_env_tag_action)
        # param tag
        add_param_tag_action = QAction("<param>", self, statusTip="", triggered=self._on_add_param_tag)
        add_param_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+p"))
        tag_menu.addAction(add_param_tag_action)
        # param capability group tag
        add_param_cap_group_tag_action = QAction("<param capability group>", self, statusTip="", triggered=self._on_add_param_cap_group_tag)
        add_param_cap_group_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+p"))
        tag_menu.addAction(add_param_cap_group_tag_action)
        # param tag with all attributes
        add_param_tag_all_action = QAction("<param all>", self, statusTip="", triggered=self._on_add_param_tag_all)
        tag_menu.addAction(add_param_tag_all_action)
        # rosparam tag with all attributes
        add_rosparam_tag_all_action = QAction("<rosparam>", self, statusTip="", triggered=self._on_add_rosparam_tag_all)
        tag_menu.addAction(add_rosparam_tag_all_action)
        # arg tag with default definition
        add_arg_tag_default_action = QAction("<arg default>", self, statusTip="", triggered=self._on_add_arg_tag_default)
        add_arg_tag_default_action.setShortcuts(QKeySequence("Ctrl+Shift+a"))
        tag_menu.addAction(add_arg_tag_default_action)
        # arg tag with value definition
        add_arg_tag_value_action = QAction("<arg value>", self, statusTip="", triggered=self._on_add_arg_tag_value)
        add_arg_tag_value_action.setShortcuts(QKeySequence("Ctrl+Alt+a"))
        tag_menu.addAction(add_arg_tag_value_action)

        # test tag
        add_test_tag_action = QAction("<test>", self, statusTip="", triggered=self._on_add_test_tag)
        add_test_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+t"))
        tag_menu.addAction(add_test_tag_action)
        # test tag with all attributes
        add_test_tag_all_action = QAction("<test all>", self, statusTip="", triggered=self._on_add_test_tag_all)
        tag_menu.addAction(add_test_tag_all_action)
        return tag_menu

    def _insert_text(self, text):
        cursor = self.tabWidget.currentWidget().textCursor()
        if not cursor.isNull():
            col = cursor.columnNumber()
            spaces = ''.join([' ' for _ in range(col)])
            cursor.insertText(text.replace('\n', '\n%s' % spaces))
            self.tabWidget.currentWidget().setFocus(Qt.OtherFocusReason)

    def _on_add_group_tag(self):
        self._insert_text('<group ns="namespace" clear_params="true|false">\n'
                          '</group>')

    def _on_add_node_tag(self):
        dia = PackageDialog()
        if dia.exec_():
            self._insert_text('<node name="%s" pkg="%s" type="%s">\n'
                              '</node>' % (dia.binary, dia.package, dia.binary))

    def _on_add_node_tag_all(self):
        dia = PackageDialog()
        if dia.exec_():
            self._insert_text('<node name="%s" pkg="%s" type="%s"\n'
                              '      args="arg1" machine="machine-name"\n'
                              '      respawn="true" required="true"\n'
                              '      ns="foo" clear_params="true|false"\n'
                              '      output="log|screen" cwd="ROS_HOME|node"\n'
                              '      launch-prefix="prefix arguments">\n'
                              '</node>' % (dia.binary, dia.package, dia.binary))

    def _on_add_include_tag_all(self):
        self._insert_text('<include file="$(find pkg-name)/path/filename.xml"\n'
                          '         ns="foo" clear_params="true|false">\n'
                          '</include>')

    def _on_add_remap_tag(self):
        self._insert_text('<remap from="original" to="new"/>')

    def _on_add_env_tag(self):
        self._insert_text('<env name="variable" value="value"/>')

    def _on_add_param_tag(self):
        self._insert_text('<param name="ns_name" value="value" />')

    def _on_add_param_cap_group_tag(self):
        self._insert_text('<param name="capability_group" value="demo" />')

    def _on_add_param_tag_all(self):
        self._insert_text('<param name="ns_name" value="value"\n'
                          '       type="str|int|double|bool"\n'
                          '       textfile="$(find pkg-name)/path/file.txt"\n'
                          '       binfile="$(find pkg-name)/path/file"\n'
                          '       command="$(find pkg-name)/exe \'$(find pkg-name)/arg.txt\'">\n'
                          '</param>')

    def _on_add_rosparam_tag_all(self):
        self._insert_text('<rosparam param="param-name"\n'
                          '       file="$(find pkg-name)/path/foo.yaml"\n'
                          '       command="load|dump|delete"\n'
                          '       ns="namespace">\n'
                          '</rosparam>')

    def _on_add_arg_tag_default(self):
        self._insert_text('<arg name="foo" default="1" />')

    def _on_add_arg_tag_value(self):
        self._insert_text('<arg name="foo" value="bar" />')

    def _on_add_test_tag(self):
        dia = PackageDialog()
        if dia.exec_():
            self._insert_text('<test name="%s" pkg="%s" type="%s" test-name="test_%s">\n'
                              '</test>' % (dia.binary, dia.package, dia.binary, dia.binary))

    def _on_add_test_tag_all(self):
        dia = PackageDialog()
        if dia.exec_():
            self._insert_text('<test name="%s" pkg="%s" type="%s" test-name="test_%s">\n'
                              '      args="arg1" time-limit="60.0"\n'
                              '      ns="foo" clear_params="true|false"\n'
                              '      cwd="ROS_HOME|node" retry="0"\n'
                              '      launch-prefix="prefix arguments">\n'
                              '</test>' % (dia.binary, dia.package, dia.binary, dia.binary))
Beispiel #50
0
class MessageBox(QDialog):

    NoIcon = 0
    Information = 1
    Warning = 2
    Critical = 3
    Question = 4

    NoButton = 0
    Ok = 1  # An "OK" button defined with the AcceptRole .
    Open = 2  # A "Open" button defined with the AcceptRole .
    Save = 4  # A "Save" button defined with the AcceptRole .
    Cancel = 8  # A "Cancel" button defined with the RejectRole .
    Close = 16  # A "Close" button defined with the RejectRole .
    Discard = 32  # A "Discard" or "Don't Save" button, depending on the platform, defined with the DestructiveRole .
    Apply = 64  # An "Apply" button defined with the ApplyRole .
    Reset = 128  # A "Reset" button defined with the ResetRole .
    RestoreDefaults = 256  # A "Restore Defaults" button defined with the ResetRole .
    Help = 512  # A "Help" button defined with the HelpRole .
    SaveAll = 1024  # A "Save All" button defined with the AcceptRole .
    Yes = 2048  # A "Yes" button defined with the YesRole .
    YesToAll = 4096  # A "Yes to All" button defined with the YesRole .
    No = 8192  # A "No" button defined with the NoRole .
    NoToAll = 16384  # A "No to All" button defined with the NoRole .
    Abort = 32768  # An "Abort" button defined with the RejectRole .
    Retry = 65536  # A "Retry" button defined with the AcceptRole .
    Ignore = 131072  # An "Ignore" button defined with the AcceptRole .
    Avoid = 262144  # An "'Don't show again'" button defined with the HelpRole, returns a default AcceptButton .

    def __init__(self,
                 icon,
                 title,
                 text,
                 detailed_text="",
                 buttons=Cancel | Ok,
                 parent=None):
        QDialog.__init__(self, parent=parent)
        self.setWindowFlags(self.windowFlags() & ~Qt.WindowTitleHint)
        self.setWindowFlags(self.windowFlags()
                            & ~Qt.WindowContextHelpButtonHint
                            & ~Qt.WindowMinimizeButtonHint)
        self.setObjectName('MessageBox')
        self._use_checkbox = True
        self.text = text
        self.verticalLayout = QVBoxLayout(self)
        self.verticalLayout.setObjectName("verticalLayout")
        self.verticalLayout.setContentsMargins(1, 1, 1, 1)

        self.horizontalLayout = QHBoxLayout()
        self.horizontalLayout.setObjectName("horizontalLayout")
        self.horizontalLayout.setContentsMargins(1, 1, 1, 1)
        # create icon
        pixmap = None
        if icon == self.NoIcon:
            pass
        elif icon == self.Question:
            pixmap = nm.settings().pixmap('question.png').scaled(
                56, 56, Qt.IgnoreAspectRatio, Qt.SmoothTransformation)
        elif icon == self.Information:
            pixmap = nm.settings().pixmap('info.png').scaled(
                56, 56, Qt.IgnoreAspectRatio, Qt.SmoothTransformation)
        elif icon == self.Warning:
            pixmap = nm.settings().pixmap('warning.png').scaled(
                56, 56, Qt.IgnoreAspectRatio, Qt.SmoothTransformation)
        elif icon == self.Critical:
            pixmap = nm.settings().pixmap('critical.png').scaled(
                56, 56, Qt.IgnoreAspectRatio, Qt.SmoothTransformation)
        spacerItem = QSpacerItem(10, 60, QSizePolicy.Minimum,
                                 QSizePolicy.Minimum)
        self.horizontalLayout.addItem(spacerItem)
        self.icon_label = QLabel()
        if pixmap is not None:
            self.icon_label.setPixmap(pixmap)
        self.icon_label.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
        self.horizontalLayout.addWidget(self.icon_label)
        spacerItem = QSpacerItem(10, 60, QSizePolicy.Minimum,
                                 QSizePolicy.Minimum)
        self.horizontalLayout.addItem(spacerItem)
        # add message
        self.message_label = QLabel(text)
        self.message_label.setWordWrap(True)
        self.message_label.setScaledContents(True)
        self.message_label.setOpenExternalLinks(True)
        self.horizontalLayout.addWidget(self.message_label)
        self.verticalLayout.addLayout(self.horizontalLayout)

        # create buttons
        self.buttonBox = QDialogButtonBox(self)
        self.buttonBox.setObjectName("buttonBox")
        self.buttonBox.setOrientation(Qt.Horizontal)

        self._accept_button = None
        self._reject_button = None
        self._buttons = buttons
        self._create_buttons(buttons)
        self.buttonBox.accepted.connect(self.accept)
        self.buttonBox.rejected.connect(self.reject)
        self.verticalLayout.addWidget(self.buttonBox)

        if detailed_text:
            self.btn_show_details = QPushButton(self.tr('Details...'))
            self.btn_show_details.setCheckable(True)
            self.btn_show_details.setChecked(True)
            self.btn_show_details.toggled.connect(self.on_toggled_details)
            self.buttonBox.addButton(self.btn_show_details,
                                     QDialogButtonBox.ActionRole)
            # create area for detailed text
            self.textEdit = textEdit = QTextEdit(self)
            textEdit.setObjectName("textEdit")
            textEdit.setReadOnly(True)
            textEdit.setText(detailed_text)
            # textEdit.setVisible(False)
            self.verticalLayout.addWidget(self.textEdit)
        self.resize(480, self.verticalLayout.totalSizeHint().height())
        buttons_in_box = self.buttonBox.buttons()
        if buttons_in_box:
            self.buttonBox.buttons()[0].setFocus()

    def setAcceptButton(self, button):
        '''
        Sets the button with given ID to accept button if more then one button with AcceptRole was added to this dialog.
        Adds the buttton to the box if is not already in.
        :param int button: button id
        '''
        if not button & self._buttons:
            self._create_buttons(button)
        self._accept_button = button

    def setRejectButton(self, button):
        '''
        Sets the button with given ID to reject button if more then one button with RejectRole was added to this dialog.
        Adds the buttton to the box if is not already in.
        :param int button: button id
        '''
        if not button & self._buttons:
            self._create_buttons(button)
        self._reject_button = button

    def on_toggled_details(self, checked):
        if checked:
            self.verticalLayout.addWidget(self.textEdit)
        else:
            self.verticalLayout.removeWidget(self.textEdit)
        self.textEdit.setVisible(checked)
        if not self.isMaximized():
            self.setMinimumSize(self.verticalLayout.totalMinimumSize())
            self.resize(self._current_size.width(),
                        self.verticalLayout.totalSizeHint().height())

    @staticmethod
    def about(parent, title, text, detailed_text='', buttons=Close):
        box = MessageBox(MessageBox.Information,
                         title,
                         text,
                         detailed_text=detailed_text,
                         buttons=buttons,
                         parent=parent)
        if MessageBox.Yes & buttons:
            box.setAcceptButton(MessageBox.Yes)
        if MessageBox.Cancel & buttons:
            box.setRejectButton(MessageBox.Cancel)
        elif MessageBox.No & buttons:
            box.setRejectButton(MessageBox.No)
        return box.exec_()

    @staticmethod
    def information(parent, title, text, detailed_text='', buttons=Close):
        box = MessageBox(MessageBox.Information,
                         title,
                         text,
                         detailed_text=detailed_text,
                         buttons=buttons,
                         parent=parent)
        if MessageBox.Yes & buttons:
            box.setAcceptButton(MessageBox.Yes)
        if MessageBox.Cancel & buttons:
            box.setRejectButton(MessageBox.Cancel)
        elif MessageBox.No & buttons:
            box.setRejectButton(MessageBox.No)
        return box.exec_()

    @staticmethod
    def question(parent,
                 title,
                 text,
                 detailed_text='',
                 buttons=Yes | No | Cancel):
        box = MessageBox(MessageBox.Question,
                         title,
                         text,
                         detailed_text=detailed_text,
                         buttons=buttons,
                         parent=parent)
        if MessageBox.Yes & buttons:
            box.setAcceptButton(MessageBox.Yes)
        if MessageBox.Cancel & buttons:
            box.setRejectButton(MessageBox.Cancel)
        elif MessageBox.No & buttons:
            box.setRejectButton(MessageBox.No)
        return box.exec_()

    @staticmethod
    def warning(parent, title, text, detailed_text='', buttons=Ok):
        box = MessageBox(MessageBox.Warning,
                         title,
                         text,
                         detailed_text=detailed_text,
                         buttons=buttons,
                         parent=parent)
        if MessageBox.Yes & buttons:
            box.setAcceptButton(MessageBox.Yes)
        if MessageBox.Cancel & buttons:
            box.setRejectButton(MessageBox.Cancel)
        elif MessageBox.No & buttons:
            box.setRejectButton(MessageBox.No)
        return box.exec_()

    @staticmethod
    def critical(parent, title, text, detailed_text='', buttons=Ok):
        box = MessageBox(MessageBox.Critical,
                         title,
                         text,
                         detailed_text=detailed_text,
                         buttons=buttons,
                         parent=parent)
        if MessageBox.Yes & buttons:
            box.setAcceptButton(MessageBox.Yes)
        if MessageBox.Cancel & buttons:
            box.setRejectButton(MessageBox.Cancel)
        elif MessageBox.No & buttons:
            box.setRejectButton(MessageBox.No)
        return box.exec_()

    def resizeEvent(self, event):
        if not self.isMaximized():
            self._current_size = event.size()

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%% close handling                        %%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

    def exec_(self):
        if self.text in IGNORED_ERRORS:
            self.accept()
            return self.result()
        return QDialog.exec_(self)

    def accept(self):
        if self.result() == 0:
            if self._accept_button is not None:
                self.setResult(self._accept_button)
            else:
                self.setResult(1)
        self.accepted.emit()
        if self.isModal():
            self.hide()

    def reject(self):
        if self.result() == 0:
            if self._reject_button is not None:
                self.setResult(self._reject_button)
        self.rejected.emit()
        self.hide()

    def hideEvent(self, event):
        # event.ignore()
        self.close()

    def closeEvent(self, event):
        self.setAttribute(Qt.WA_DeleteOnClose, True)
        QDialog.closeEvent(self, event)

# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%% create buttons                        %%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

    def _create_buttons(self, buttons):
        if MessageBox.Ok & buttons:
            self._accept_button = MessageBox.Ok
            bt = QPushButton(self.tr("&ok"))
            bt.clicked.connect(self._on_ok_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
        if MessageBox.Open & buttons:
            self._accept_button = MessageBox.Open
            bt = QPushButton(self.tr("&Open"))
            bt.clicked.connect(self._on_open_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
        if MessageBox.Save & buttons:
            self._accept_button = MessageBox.Save
            bt = QPushButton(self.tr("&Save"))
            bt.clicked.connect(self._on_save_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
        if MessageBox.Cancel & buttons:
            self._reject_button = MessageBox.Cancel
            bt = QPushButton(self.tr("&Cancel"))
            bt.clicked.connect(self._on_cancel_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.RejectRole)
        if MessageBox.Close & buttons:
            self._reject_button = MessageBox.Close
            bt = QPushButton(self.tr("&Close"))
            bt.clicked.connect(self._on_close_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.RejectRole)
        if MessageBox.Discard & buttons:
            bt = QPushButton(self.tr("&Discard"))
            bt.clicked.connect(self._on_discard_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.DestructiveRole)
        if MessageBox.Apply & buttons:
            bt = QPushButton(self.tr("&Apply"))
            bt.clicked.connect(self._on_apply_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.ApplyRole)
        if MessageBox.Reset & buttons:
            bt = QPushButton(self.tr("&Reset"))
            bt.clicked.connect(self._on_reset_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.ResetRole)
        if MessageBox.RestoreDefaults & buttons:
            bt = QPushButton(self.tr("&RestoreDefaults"))
            bt.clicked.connect(self._on_restore_defaults_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.ResetRole)
        if MessageBox.Help & buttons:
            bt = QPushButton(self.tr("&Help"))
            bt.clicked.connect(self._on_help_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.HelpRole)
        if MessageBox.SaveAll & buttons:
            self._accept_button = MessageBox.SaveAll
            bt = QPushButton(self.tr("&SaveAll"))
            bt.clicked.connect(self._on_saveall_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
        if MessageBox.Yes & buttons:
            bt = QPushButton(self.tr("&Yes"))
            bt.clicked.connect(self._on_yes_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.YesRole)
        if MessageBox.YesToAll & buttons:
            bt = QPushButton(self.tr("&YesToAll"))
            bt.clicked.connect(self._on_yestoall_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.YesRole)
        if MessageBox.No & buttons:
            bt = QPushButton(self.tr("&No"))
            bt.clicked.connect(self._on_no_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.NoRole)
        if MessageBox.NoToAll & buttons:
            bt = QPushButton(self.tr("&NoToAll"))
            bt.clicked.connect(self._on_notoall_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.NoRole)
        if MessageBox.Abort & buttons:
            self._reject_button = MessageBox.Abort
            bt = QPushButton(self.tr("&Abort"))
            bt.clicked.connect(self._on_abort_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.RejectRole)
        if MessageBox.Retry & buttons:
            self._accept_button = MessageBox.Retry
            bt = QPushButton(self.tr("&Retry"))
            bt.clicked.connect(self._on_retry_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
        if MessageBox.Ignore & buttons:
            self._accept_button = MessageBox.Ignore
            bt = QPushButton(self.tr("&Ignore"))
            bt.clicked.connect(self._on_ignore_clicked)
            self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
        if MessageBox.Avoid & buttons:
            if self._use_checkbox:
                checkbox = QCheckBox("&Don't show again", self)
                checkbox.stateChanged.connect(self._check_ignore)
                self.buttonBox.addButton(checkbox, QDialogButtonBox.HelpRole)
            else:
                bt = QPushButton(self.tr("&Don't show again"))
                bt.setMaximumHeight(24)
                bt.clicked.connect(self._add_to_ignore)
                self.buttonBox.addButton(bt, QDialogButtonBox.HelpRole)

    def _on_ok_clicked(self):
        self.done(MessageBox.Ok)

    def _on_open_clicked(self):
        self.done(MessageBox.Open)

    def _on_save_clicked(self):
        self.done(MessageBox.Save)

    def _on_cancel_clicked(self):
        self.done(MessageBox.Cancel)

    def _on_close_clicked(self):
        self.done(MessageBox.Close)

    def _on_discard_clicked(self):
        self.done(MessageBox.Discard)

    def _on_apply_clicked(self):
        self.done(MessageBox.Apply)

    def _on_reset_clicked(self):
        self.done(MessageBox.Reset)

    def _on_restore_defaults_clicked(self):
        self.done(MessageBox.RestoreDefaults)

    def _on_help_clicked(self):
        self.done(MessageBox.Help)

    def _on_saveall_clicked(self):
        self.done(MessageBox.SaveAll)

    def _on_yes_clicked(self):
        self.done(MessageBox.Yes)

    def _on_yestoall_clicked(self):
        self.done(MessageBox.YesToAll)

    def _on_no_clicked(self):
        self.done(MessageBox.No)

    def _on_notoall_clicked(self):
        self.done(MessageBox.NoToAll)

    def _on_abort_clicked(self):
        self.done(MessageBox.Abort)

    def _on_retry_clicked(self):
        self.done(MessageBox.Retry)

    def _on_ignore_clicked(self):
        self.done(MessageBox.Ignore)

    def _add_to_ignore(self):
        IGNORED_ERRORS.append(self.text)
        self.accept()

    def _check_ignore(self, state):
        if state:
            IGNORED_ERRORS.append(self.text)
        else:
            try:
                IGNORED_ERRORS.remove(self.text)
            except Exception:
                pass
Beispiel #51
0
    def __init__(self, context):
        super(LogicalMarkerPlugin, self).__init__(context)

        # Create an image for the original map. This will never change.
        try:
            self.map_yaml_file_str = rospy.get_param("~map_file")
            self.data_directory = rospy.get_param("~data_directory")
        except KeyError:
            rospy.logfatal("~map_file and ~data_directory need to be set to use the logical marker")
            return

        map_image_location = getImageFileLocation(self.map_yaml_file_str)
        map = loadMapFromFile(self.map_yaml_file_str)
        locations_file = getLocationsFileLocationFromDataDirectory(self.data_directory)
        connectivity_file = getConnectivityFileLocationFromDataDirectory(self.data_directory)
        doors_file = getDoorsFileLocationFromDataDirectory(self.data_directory)
        objects_file = getObjectsFileLocationFromDataDirectory(self.data_directory)

        # Give QObjects reasonable names
        self.setObjectName('LogicalMarkerPlugin')

        # Create QWidget
        self.master_widget = QWidget()
        self.master_layout = QVBoxLayout(self.master_widget)

        # Main Functions - Doors, Locations, Objects
        self.function_layout = QHBoxLayout()
        self.master_layout.addLayout(self.function_layout)
        self.function_buttons = []
        self.current_function = None
        for button_text in ['Locations', 'Doors', 'Objects']:
            button = QPushButton(button_text, self.master_widget)
            button.clicked[bool].connect(self.handle_function_button)
            button.setCheckable(True)
            self.function_layout.addWidget(button)
            self.function_buttons.append(button)
        self.function_layout.addStretch(1)

        self.master_layout.addWidget(self.get_horizontal_line())

        # Subfunction toolbar
        self.subfunction_layout = QHBoxLayout()
        clearLayoutAndFixHeight(self.subfunction_layout)
        self.master_layout.addLayout(self.subfunction_layout)
        self.current_subfunction = None

        self.master_layout.addWidget(self.get_horizontal_line())

        self.image = MapImage(map_image_location, self.master_widget)
        self.master_layout.addWidget(self.image)

        self.master_layout.addWidget(self.get_horizontal_line())

        # Configuration toolbar
        self.configuration_layout = QHBoxLayout()
        clearLayoutAndFixHeight(self.configuration_layout)
        self.master_layout.addLayout(self.configuration_layout)

        # Add a stretch at the bottom.
        self.master_layout.addStretch(1)

        self.master_widget.setObjectName('LogicalMarkerPluginUI')
        if context.serial_number() > 1:
            self.master_widget.setWindowTitle(self.master_widget.windowTitle() + (' (%d)' % context.serial_number()))
        context.add_widget(self.master_widget)


        # Activate the functions
        self.functions = {}
        self.functions['Locations'] = LocationFunction(locations_file,
                                                       connectivity_file,
                                                       map,
                                                       self.master_widget, 
                                                       self.subfunction_layout, 
                                                       self.configuration_layout,
                                                       self.image)
        self.functions['Doors'] = DoorFunction(doors_file,
                                               map,
                                               self.functions['Locations'],
                                               self.master_widget, 
                                               self.subfunction_layout, 
                                               self.configuration_layout,
                                               self.image)
        self.functions['Objects'] = ObjectFunction(objects_file,
                                                   map,
                                                   self.functions['Locations'],
                                                   self.master_widget, 
                                                   self.subfunction_layout, 
                                                   self.configuration_layout,
                                                   self.image)
class DataPlot(QWidget):
    """A widget for displaying a plot of data

    The DataPlot widget displays a plot, on one of several plotting backends,
    depending on which backend(s) are available at runtime. It currently 
    supports PyQtGraph, MatPlot and QwtPlot backends.

    The DataPlot widget manages the plot backend internally, and can save
    and restore the internal state using `save_settings` and `restore_settings`
    functions.

    Currently, the user MUST call `restore_settings` before using the widget,
    to cause the creation of the enclosed plotting widget.
    """
    # plot types in order of priority
    plot_types = [
        {
            'title': 'PyQtGraph',
            'widget_class': PyQtGraphDataPlot,
            'description': 'Based on PyQtGraph\n- installer: http://luke.campagnola.me/code/pyqtgraph\n',
            'enabled': PyQtGraphDataPlot is not None,
        },
        {
            'title': 'MatPlot',
            'widget_class': MatDataPlot,
            'description': 'Based on MatPlotLib\n- needs most CPU\n- needs matplotlib >= 1.1.0\n- if using PySide: PySide > 1.1.0\n',
            'enabled': MatDataPlot is not None,
        },
        {
            'title': 'QwtPlot',
            'widget_class': QwtDataPlot,
            'description': 'Based on QwtPlot\n- does not use timestamps\n- uses least CPU\n- needs Python Qwt bindings\n',
            'enabled': QwtDataPlot is not None,
        },
    ]

    # pre-defined colors:
    RED=(255, 0, 0)
    GREEN=(0, 255, 0)
    BLUE=(0, 0, 255)

    SCALE_ALL=1
    SCALE_VISIBLE=2
    SCALE_EXTEND=4

    _colors = [Qt.blue, Qt.red, Qt.cyan, Qt.magenta, Qt.green, Qt.darkYellow, Qt.black, Qt.darkCyan, Qt.darkRed, Qt.gray]

    limits_changed = Signal()
    _redraw = Signal()
    _add_curve = Signal(str, str, 'QColor', bool)

    def __init__(self, parent=None):
        """Create a new, empty DataPlot

        This will raise a RuntimeError if none of the supported plotting
        backends can be found
        """
        super(DataPlot, self).__init__(parent)
        self._plot_index = 0
        self._color_index = 0
        self._markers_on = False
        self._autoscroll = True

        self._autoscale_x = True
        self._autoscale_y = DataPlot.SCALE_ALL

        # the backend widget that we're trying to hide/abstract
        self._data_plot_widget = None
        self._curves = {}
        self._vline = None
        self._redraw.connect(self._do_redraw)

        self._layout = QHBoxLayout()
        self.setLayout(self._layout)

        enabled_plot_types = [pt for pt in self.plot_types if pt['enabled']]
        if not enabled_plot_types:
            version_info = ' and PySide > 1.1.0' if QT_BINDING == 'pyside' else ''
            raise RuntimeError('No usable plot type found. Install at least one of: PyQtGraph, MatPlotLib (at least 1.1.0%s) or Python-Qwt5.' % version_info)

        self._switch_data_plot_widget(self._plot_index)

        self.show()

    def _switch_data_plot_widget(self, plot_index, markers_on=False):
        """Internal method for activating a plotting backend by index"""
        # check if selected plot type is available
        if not self.plot_types[plot_index]['enabled']:
            # find other available plot type
            for index, plot_type in enumerate(self.plot_types):
                if plot_type['enabled']:
                    plot_index = index
                    break

        self._plot_index = plot_index
        self._markers_on = markers_on
        selected_plot = self.plot_types[plot_index]

        if self._data_plot_widget:
            x_limits = self.get_xlim()
            y_limits = self.get_ylim()

            self._layout.removeWidget(self._data_plot_widget)
            self._data_plot_widget.close()
            self._data_plot_widget = None
        else:
            x_limits = [0.0, 10.0]
            y_limits = [-0.001, 0.001]

        self._data_plot_widget = selected_plot['widget_class'](self)
        self._data_plot_widget.limits_changed.connect(self.limits_changed)
        self._add_curve.connect(self._data_plot_widget.add_curve)
        self._layout.addWidget(self._data_plot_widget)

        # restore old data
        for curve_id in self._curves:
            curve = self._curves[curve_id]
            self._data_plot_widget.add_curve(curve_id, curve['name'], curve['color'], markers_on)

        if self._vline:
            self.vline(*self._vline)

        self.set_xlim(x_limits)
        self.set_ylim(y_limits)
        self.redraw()

    def _switch_plot_markers(self, markers_on):
        self._markers_on = markers_on
        self._data_plot_widget._color_index = 0

        for curve_id in self._curves:
            self._data_plot_widget.remove_curve(curve_id)
            curve = self._curves[curve_id]
            self._data_plot_widget.add_curve(curve_id, curve['name'], curve['color'], markers_on)

        self.redraw()

    # interface out to the managing GUI component: get title, save, restore, 
    # etc
    def getTitle(self):
        """get the title of the current plotting backend"""
        return self.plot_types[self._plot_index]['title']

    def save_settings(self, plugin_settings, instance_settings):
        """Save the settings associated with this widget

        Currently, this is just the plot type, but may include more useful
        data in the future"""
        instance_settings.set_value('plot_type', self._plot_index)
        xlim = self.get_xlim()
        ylim = self.get_ylim()
        # convert limits to normal arrays of floats; some backends return numpy
        # arrays
        xlim = [float(x) for x in xlim]
        ylim = [float(y) for y in ylim]
        instance_settings.set_value('x_limits', pack(xlim))
        instance_settings.set_value('y_limits', pack(ylim))

    def restore_settings(self, plugin_settings, instance_settings):
        """Restore the settings for this widget

        Currently, this just restores the plot type."""
        self._switch_data_plot_widget(int(instance_settings.value('plot_type', 0)))
        xlim = unpack(instance_settings.value('x_limits', []))
        ylim = unpack(instance_settings.value('y_limits', []))
        if xlim:
            # convert limits to an array of floats; they're often lists of
            # strings
            try:
                xlim = [float(x) for x in xlim]
                self.set_xlim(xlim)
            except:
                qWarning("Failed to restore X limits")
        if ylim:
            try:
                ylim = [float(y) for y in ylim]
                self.set_ylim(ylim)
            except:
                qWarning("Failed to restore Y limits")


    def doSettingsDialog(self):
        """Present the user with a dialog for choosing the plot backend

        This displays a SimpleSettingsDialog asking the user to choose a
        plot type, gets the result, and updates the plot type as necessary
        
        This method is blocking"""

        marker_settings = [
            {
                'title': 'Show Plot Markers',
                'description': 'Warning: Displaying markers in rqt_plot may cause\n \t high cpu load, especially using PyQtGraph\n',
                'enabled': True,
            }]
        if self._markers_on:
            selected_checkboxes = [0]
        else:
            selected_checkboxes = []

        dialog = SimpleSettingsDialog(title='Plot Options')
        dialog.add_exclusive_option_group(title='Plot Type', options=self.plot_types, selected_index=self._plot_index)
        dialog.add_checkbox_group(title='Plot Markers', options=marker_settings, selected_indexes=selected_checkboxes)
        [plot_type, checkboxes] = dialog.get_settings()
        if plot_type is not None and plot_type['selected_index'] is not None and self._plot_index != plot_type['selected_index']:
            self._switch_data_plot_widget(plot_type['selected_index'], 0 in checkboxes['selected_indexes'])
        else:
            if checkboxes is not None and self._markers_on != (0 in checkboxes['selected_indexes']):
                self._switch_plot_markers(0 in checkboxes['selected_indexes'])

    # interface out to the managing DATA component: load data, update data,
    # etc
    def autoscroll(self, enabled=True):
        """Enable or disable autoscrolling of the plot"""
        self._autoscroll = enabled

    def redraw(self):
        self._redraw.emit()

    def _do_redraw(self):
        """Redraw the underlying plot

        This causes the underlying plot to be redrawn. This is usually used
        after adding or updating the plot data"""
        if self._data_plot_widget:
            self._merged_autoscale()
            for curve_id in self._curves:
                curve = self._curves[curve_id]
                self._data_plot_widget.set_values(curve_id, curve['x'], curve['y'])
            self._data_plot_widget.redraw()

    def _get_curve(self, curve_id):
        if curve_id in self._curves:
            return self._curves[curve_id]
        else:
            raise DataPlotException("No curve named %s in this DataPlot" %
                    ( curve_id) )

    def add_curve(self, curve_id, curve_name, data_x, data_y):
        """Add a new, named curve to this plot

        Add a curve named `curve_name` to the plot, with initial data series
        `data_x` and `data_y`.
        
        Future references to this curve should use the provided `curve_id`

        Note that the plot is not redraw automatically; call `redraw()` to make
        any changes visible to the user.
        """
        curve_color = QColor(self._colors[self._color_index % len(self._colors)])
        self._color_index += 1

        self._curves[curve_id] = { 'x': numpy.array(data_x),
                                   'y': numpy.array(data_y),
                                   'name': curve_name,
                                   'color': curve_color}
        if self._data_plot_widget:
            self._add_curve.emit(curve_id, curve_name, curve_color, self._markers_on)

    def remove_curve(self, curve_id):
        """Remove the specified curve from this plot"""
        # TODO: do on UI thread with signals
        if curve_id in self._curves:
            del self._curves[curve_id]
        if self._data_plot_widget:
            self._data_plot_widget.remove_curve(curve_id)

    def update_values(self, curve_id, values_x, values_y):
        """Append new data to an existing curve
        
        `values_x` and `values_y` will be appended to the existing data for
        `curve_id`

        Note that the plot is not redraw automatically; call `redraw()` to make
        any changes visible to the user.
        """
        curve = self._get_curve(curve_id)
        curve['x'] = numpy.append(curve['x'], values_x)
        curve['y'] = numpy.append(curve['y'], values_y)
        # sort resulting data, so we can slice it later
        sort_order = curve['x'].argsort()
        curve['x'] = curve['x'][sort_order]
        curve['y'] = curve['y'][sort_order]

    def clear_values(self, curve_id=None):
        """Clear the values for the specified curve, or all curves

        This will erase the data series associaed with `curve_id`, or all
        curves if `curve_id` is not present or is None

        Note that the plot is not redraw automatically; call `redraw()` to make
        any changes visible to the user.
        """
        # clear internal curve representation
        if curve_id:
            curve = self._get_curve(curve_id)
            curve['x'] = numpy.array([])
            curve['y'] = numpy.array([])
        else:
            for curve_id in self._curves:
                self._curves[curve_id]['x'] = numpy.array([])
                self._curves[curve_id]['y'] = numpy.array([])


    def vline(self, x, color=RED):
        """Draw a vertical line on the plot

        Draw a line a position X, with the given color
        
        @param x: position of the vertical line to draw
        @param color: optional parameter specifying the color, as tuple of
                      RGB values from 0 to 255
        """
        self._vline = (x, color)
        if self._data_plot_widget:
            self._data_plot_widget.vline(x, color)

    # autoscaling methods
    def set_autoscale(self, x=None, y=None):
        """Change autoscaling of plot axes

        if a parameter is not passed, the autoscaling setting for that axis is
        not changed

        @param x: enable or disable autoscaling for X
        @param y: set autoscaling mode for Y
        """
        if x is not None:
            self._autoscale_x = x
        if y is not None:
            self._autoscale_y = y

    # autoscaling:  adjusting the plot bounds fit the data
    # autoscrollig: move the plot X window to show the most recent data
    #
    # what order do we do these adjustments in?
    #  * assuming the various stages are enabled:
    #  * autoscale X to bring all data into view
    #   * else, autoscale X to determine which data we're looking at
    #  * autoscale Y to fit the data we're viewing
    #
    # * autoscaling of Y might have several modes:
    #  * scale Y to fit the entire dataset
    #  * scale Y to fit the current view
    #  * increase the Y scale to fit the current view
    #
    # TODO: incrmenetal autoscaling: only update the autoscaling bounds
    #       when new data is added
    def _merged_autoscale(self):
        x_limit = [numpy.inf, -numpy.inf]
        if self._autoscale_x:
            for curve_id in self._curves:
                curve = self._curves[curve_id]
                if len(curve['x']) > 0:
                    x_limit[0] = min(x_limit[0], curve['x'].min())
                    x_limit[1] = max(x_limit[1], curve['x'].max())
        elif self._autoscroll:
            # get current width of plot
            x_limit = self.get_xlim()
            x_width = x_limit[1] - x_limit[0]

            # reset the upper x_limit so that we ignore the previous position
            x_limit[1] = -numpy.inf
            
            # get largest X value
            for curve_id in self._curves:
                curve = self._curves[curve_id]
                if len(curve['x']) > 0:
                    x_limit[1] = max(x_limit[1], curve['x'].max())

            # set lower limit based on width
            x_limit[0] = x_limit[1] - x_width
        else:
            # don't modify limit, or get it from plot
            x_limit = self.get_xlim()

        # set sane limits if our limits are infinite
        if numpy.isinf(x_limit[0]):
            x_limit[0] = 0.0
        if numpy.isinf(x_limit[1]):
            x_limit[1] = 1.0


        y_limit = [numpy.inf, -numpy.inf]
        if self._autoscale_y:
            # if we're extending the y limits, initialize them with the
            # current limits
            if self._autoscale_y & DataPlot.SCALE_EXTEND:
                y_limit = self.get_ylim()
            for curve_id in self._curves:
                curve = self._curves[curve_id]
                start_index = 0
                end_index = len(curve['x'])

                # if we're scaling based on the visible window, find the
                # start and end indicies of our window
                if self._autoscale_y & DataPlot.SCALE_VISIBLE:
                    # indexof x_limit[0] in curves['x']
                    start_index = curve['x'].searchsorted(x_limit[0])
                    # indexof x_limit[1] in curves['x']
                    end_index = curve['x'].searchsorted(x_limit[1])

                # region here is cheap because it is a numpy view and not a
                # copy of the underlying data
                region = curve['y'][start_index:end_index]
                if len(region) > 0:
                    y_limit[0] = min(y_limit[0], region.min())
                    y_limit[1] = max(y_limit[1], region.max())

                # TODO: compute padding around new min and max values
                #       ONLY consider data for new values; not
                #       existing limits, or we'll add padding on top of old
                #       padding in SCALE_EXTEND mode
                # 
                # pad the min/max
                # TODO: invert this padding in get_ylim
                #ymin = limits[0]
                #ymax = limits[1]
                #delta = ymax - ymin if ymax != ymin else 0.1
                #ymin -= .05 * delta
                #ymax += .05 * delta
        else:
            y_limit = self.get_ylim()

        # set sane limits if our limits are infinite
        if numpy.isinf(y_limit[0]):
            y_limit[0] = 0.0
        if numpy.isinf(y_limit[1]):
            y_limit[1] = 1.0

        self.set_xlim(x_limit)
        self.set_ylim(y_limit)

    def get_xlim(self):
        """get X limits"""
        if self._data_plot_widget:
            return self._data_plot_widget.get_xlim()
        else:
            qWarning("No plot widget; returning default X limits")
            return [0.0, 1.0]

    def set_xlim(self, limits):
        """set X limits"""
        if self._data_plot_widget:
            self._data_plot_widget.set_xlim(limits)
        else:
            qWarning("No plot widget; can't set X limits")

    def get_ylim(self):
        """get Y limits"""
        if self._data_plot_widget:
            return self._data_plot_widget.get_ylim()
        else:
            qWarning("No plot widget; returning default Y limits")
            return [0.0, 10.0]

    def set_ylim(self, limits):
        """set Y limits"""
        if self._data_plot_widget:
            self._data_plot_widget.set_ylim(limits)
        else:
            qWarning("No plot widget; can't set Y limits")
Beispiel #53
0
    def __init__(self,
                 topic,
                 msg_type,
                 show_only_rate=False,
                 masteruri=None,
                 use_ssh=False,
                 parent=None):
        '''
        Creates an input dialog.
        @param topic: the name of the topic
        @type topic: C{str}
        @param msg_type: the type of the topic
        @type msg_type: C{str}
        @raise Exception: if no topic class was found for the given type
        '''
        QDialog.__init__(self, parent=parent)
        self._masteruri = masteruri
        masteruri_str = '' if masteruri is None else '[%s]' % masteruri
        self.setObjectName(' - '.join(['EchoDialog', topic, masteruri_str]))
        self.setAttribute(Qt.WA_DeleteOnClose, True)
        self.setWindowFlags(Qt.Window)
        self.setWindowTitle('%s %s %s' %
                            ('Echo --- ' if not show_only_rate else 'Hz --- ',
                             topic, masteruri_str))
        self.resize(728, 512)
        self.verticalLayout = QVBoxLayout(self)
        self.verticalLayout.setObjectName("verticalLayout")
        self.verticalLayout.setContentsMargins(1, 1, 1, 1)
        self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png")
        self.setWindowIcon(self.mIcon)

        self.topic = topic
        self.show_only_rate = show_only_rate
        self.lock = threading.RLock()
        self.last_printed_count = 0
        self.msg_t0 = -1.
        self.msg_tn = 0
        self.times = []
        self.bytes = []

        self.message_count = 0
        self._state_message = ''
        self._scrapped_msgs = 0
        self._scrapped_msgs_sl = 0

        self._last_received_ts = 0
        self.chars_limit = self.MESSAGE_CHARS_LIMIT
        self.receiving_hz = self.MESSAGE_HZ_LIMIT
        self.line_limit = self.MESSAGE_LINE_LIMIT

        self.field_filter_fn = None
        self._latched = False
        self._msgs = []

        options = QWidget(self)
        if not show_only_rate:
            hLayout = QHBoxLayout(options)
            hLayout.setContentsMargins(1, 1, 1, 1)
            filter_string_label = QLabel('Strings:', self)
            hLayout.addWidget(filter_string_label)
            self.no_str_checkbox = no_str_checkbox = QCheckBox('hide')
            no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled)
            hLayout.addWidget(no_str_checkbox)
            self.combobox_reduce_ch = QComboBox(self)
            self.combobox_reduce_ch.addItems(
                [str(self.MESSAGE_LINE_LIMIT), '0', '80', '256', '1024'])
            self.combobox_reduce_ch.activated[str].connect(
                self.combobox_reduce_ch_activated)
            self.combobox_reduce_ch.setEditable(True)
            self.combobox_reduce_ch.setToolTip(
                "Set maximum line width. 0 disables the limit.")
            hLayout.addWidget(self.combobox_reduce_ch)
            filter_array_label = QLabel('   Arrays:', self)
            hLayout.addWidget(filter_array_label)
            self.no_arr_checkbox = no_arr_checkbox = QCheckBox('hide')
            no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled)
            hLayout.addWidget(no_arr_checkbox)
            #      reduce_ch_label = QLabel('ch', self)
            #      hLayout.addWidget(reduce_ch_label)
            # add spacer
            spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding,
                                     QSizePolicy.Minimum)
            hLayout.addItem(spacerItem)
            filter_msg_label = QLabel('Msg:', self)
            hLayout.addWidget(filter_msg_label)
            # add combobox for displaying frequency of messages
            self.combobox_chars_hz = QComboBox(self)
            self.combobox_chars_hz.addItems(
                [str(self.MESSAGE_CHARS_LIMIT), '0', '500', '1000', '5000'])
            self.combobox_chars_hz.activated[str].connect(
                self.on_combobox_chars_activated)
            self.combobox_chars_hz.setEditable(True)
            self.combobox_chars_hz.setToolTip(
                "Set maximum displayed chars of a message. 0 disables the limit."
            )
            hLayout.addWidget(self.combobox_chars_hz)
            displ_chars_label = QLabel('chars', self)
            hLayout.addWidget(displ_chars_label)
            # add combobox for displaying frequency of messages
            self.combobox_displ_hz = QComboBox(self)
            self.combobox_displ_hz.addItems([
                str(self.MESSAGE_HZ_LIMIT), '0', '0.1', '1', '50', '100',
                '1000'
            ])
            self.combobox_displ_hz.activated[str].connect(
                self.on_combobox_hz_activated)
            self.combobox_displ_hz.setEditable(True)
            self.combobox_displ_hz.setToolTip(
                "Set maximum displayed message rate in Hz. 0 disables the limit."
            )
            hLayout.addWidget(self.combobox_displ_hz)
            displ_hz_label = QLabel('Hz', self)
            hLayout.addWidget(displ_hz_label)
            # add combobox for count of displayed messages
            self.combobox_msgs_count = QComboBox(self)
            self.combobox_msgs_count.addItems(
                [str(self.MAX_DISPLAY_MSGS), '0', '50', '100'])
            self.combobox_msgs_count.activated[str].connect(
                self.on_combobox_count_activated)
            self.combobox_msgs_count.setEditable(True)
            self.combobox_msgs_count.setToolTip(
                "Set maximum displayed message count. 0 disables the limit.")
            hLayout.addWidget(self.combobox_msgs_count)
            displ_count_label = QLabel('#', self)
            hLayout.addWidget(displ_count_label)
            # add topic control button for unsubscribe and subscribe
            self.topic_control_button = QToolButton(self)
            self.topic_control_button.setText('stop')
            self.topic_control_button.setIcon(
                QIcon(':/icons/deleket_deviantart_stop.png'))
            self.topic_control_button.clicked.connect(
                self.on_topic_control_btn_clicked)
            hLayout.addWidget(self.topic_control_button)
            # add clear button
            clearButton = QToolButton(self)
            clearButton.setText('clear')
            clearButton.clicked.connect(self.on_clear_btn_clicked)
            hLayout.addWidget(clearButton)
            self.verticalLayout.addWidget(options)

        self.display = QTextBrowser(self)
        self.display.setReadOnly(True)
        self.verticalLayout.addWidget(self.display)
        self.display.document().setMaximumBlockCount(500)
        self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
        self._blocks_in_msg = None
        self.display.setOpenLinks(False)
        self.display.anchorClicked.connect(self._on_display_anchorClicked)

        self.status_label = QLabel('0 messages', self)
        self.verticalLayout.addWidget(self.status_label)

        # subscribe to the topic
        errmsg = ''
        try:
            self.__msg_class = message.get_message_class(msg_type)
            if not self.__msg_class:
                errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type
#        raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type)
        except Exception as e:
            self.__msg_class = None
            errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (
                msg_type, e)
#      raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e))
# variables for Subscriber
        self.msg_signal.connect(self._append_message)
        self.sub = None

        # vairables for SSH connection
        self.ssh_output_file = None
        self.ssh_error_file = None
        self.ssh_input_file = None
        self.text_signal.connect(self._append_text)
        self.text_hz_signal.connect(self._append_text_hz)
        self._current_msg = ''
        self._current_errmsg = ''
        self.text_error_signal.connect(self._append_error_text)

        # decide, which connection to open
        if use_ssh:
            self.__msg_class = None
            self._on_display_anchorClicked(QUrl(self._masteruri))
        elif self.__msg_class is None:
            errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % (
                errmsg)
            self.display.setText('<a href="%s">open using SSH</a>' %
                                 (masteruri))
            self.display.append(errtxt)
        else:
            self.sub = rospy.Subscriber(self.topic, self.__msg_class,
                                        self._msg_handle)

        self.print_hz_timer = QTimer()
        self.print_hz_timer.timeout.connect(self._on_calc_hz)
        self.print_hz_timer.start(1000)
        self._start_time = time.time()
Beispiel #54
0
    def __init__(self, context):
        super(LogicalMarkerPlugin, self).__init__(context)

        # Create an image for the original map. This will never change.
        try:
            self.map_yaml_file_str = rospy.get_param("~map_file")
            self.data_directory = rospy.get_param("~data_directory")
        except KeyError:
            rospy.logfatal("~map_file and ~data_directory need to be set to use the logical marker")
            return

        map_image_location = getImageFileLocation(self.map_yaml_file_str)
        map = loadMapFromFile(self.map_yaml_file_str)
        locations_file = getLocationsFileLocationFromDataDirectory(self.data_directory)
        doors_file = getDoorsFileLocationFromDataDirectory(self.data_directory)
        objects_file = getObjectsFileLocationFromDataDirectory(self.data_directory)

        # Give QObjects reasonable names
        self.setObjectName('LogicalMarkerPlugin')

        # Create QWidget
        self.master_widget = QWidget()
        self.master_layout = QVBoxLayout(self.master_widget)

        # Main Functions - Doors, Locations, Objects
        self.function_layout = QHBoxLayout()
        self.master_layout.addLayout(self.function_layout)
        self.function_buttons = []
        self.current_function = None
        for button_text in ['Locations', 'Doors', 'Objects']:
            button = QPushButton(button_text, self.master_widget)
            button.clicked[bool].connect(self.handle_function_button)
            button.setCheckable(True)
            self.function_layout.addWidget(button)
            self.function_buttons.append(button)
        self.function_layout.addStretch(1)

        self.master_layout.addWidget(self.get_horizontal_line())

        # Subfunction toolbar
        self.subfunction_layout = QHBoxLayout()
        clearLayoutAndFixHeight(self.subfunction_layout)
        self.master_layout.addLayout(self.subfunction_layout)
        self.current_subfunction = None

        self.master_layout.addWidget(self.get_horizontal_line())

        self.image = MapImage(map_image_location, self.master_widget)
        self.master_layout.addWidget(self.image)

        self.master_layout.addWidget(self.get_horizontal_line())

        # Configuration toolbar
        self.configuration_layout = QHBoxLayout()
        clearLayoutAndFixHeight(self.configuration_layout)
        self.master_layout.addLayout(self.configuration_layout)

        # Add a stretch at the bottom.
        self.master_layout.addStretch(1)

        self.master_widget.setObjectName('LogicalMarkerPluginUI')
        if context.serial_number() > 1:
            self.master_widget.setWindowTitle(self.master_widget.windowTitle() + (' (%d)' % context.serial_number()))
        context.add_widget(self.master_widget)


        # Activate the functions
        self.functions = {}
        self.functions['Locations'] = LocationFunction(locations_file,
                                                       map,
                                                       self.master_widget, 
                                                       self.subfunction_layout, 
                                                       self.configuration_layout,
                                                       self.image)
        self.functions['Doors'] = DoorFunction(doors_file,
                                               map,
                                               self.functions['Locations'],
                                               self.master_widget, 
                                               self.subfunction_layout, 
                                               self.configuration_layout,
                                               self.image)
        self.functions['Objects'] = ObjectFunction(objects_file,
                                                   map,
                                                   self.functions['Locations'],
                                                   self.master_widget, 
                                                   self.subfunction_layout, 
                                                   self.configuration_layout,
                                                   self.image)
class QErrorStatusWidget(QWidget):

    error_status_signal = Signal(ErrorStatus)

    def __init__(self, parent=None, subscribe=False):
        QWidget.__init__(self, parent)

        # start widget
        vbox = QVBoxLayout()
        vbox.setMargin(0)
        vbox.setContentsMargins(0, 0, 0, 0)

        # add error status text edit
        self.error_status_text_box = QErrorStatusTextBox()
        self.error_status_text_box_layout = QHBoxLayout()
        self.error_status_text_box_layout.addWidget(self.error_status_text_box)
        vbox.addLayout(self.error_status_text_box_layout)

        # add panel
        hbox = QHBoxLayout()

        # clear push button
        self.execute_command = QPushButton("Clear")
        self.execute_command.clicked.connect(self.error_status_text_box.clear)
        hbox.addWidget(self.execute_command)

        hbox.addStretch()

        # hide window checkbox
        hide_window_check_box = QCheckBox("Hide")
        hide_window_check_box.stateChanged.connect(self.state_changed)
        hbox.addWidget(hide_window_check_box)

        # end panel
        vbox.addLayout(hbox)

        # end widget
        self.setLayout(vbox)
        #self.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Minimum)

        # subscriber
        if subscribe:
            self.error_status_sub = rospy.Subscriber("error_status", ErrorStatus, self.error_status_callback)
        self.subscribed = subscribe

        # connect signal slot internally to prevent crash by subscriber
        self.error_status_signal.connect(self.append_error_status)

    def __del__(self):
        if self.subscribed:
            self.error_status_sub.unregister()

    def error_status_callback(self, error_status):
        self.error_status_signal.emit(error_status)

    def get_text_box(self):
        return self.error_status_text_box

    @Slot(str, QColor)
    def set_text(self, msg, color):
        self.error_status_text_box.clear()
        self.append(msg, color)

    @Slot(str, QColor)
    def append(self, msg, color):
        self.error_status_text_box.out_log(msg, color)

    @Slot(ErrorStatus)
    def set_error_status(self, error_status):
        self.error_status_text_box.set_error_status(error_status)

    @Slot(ErrorStatus)
    def append_error_status(self, error_status):
        self.error_status_text_box.append_error_status(error_status)

    @Slot(int)
    def state_changed(self, state):
        if state == Qt.Unchecked:
            self.error_status_text_box_layout.addWidget(self.error_status_text_box)
            self.error_status_text_box.setVisible(True)
        elif state == Qt.Checked:
            self.error_status_text_box_layout.removeWidget(self.error_status_text_box)
            self.error_status_text_box.setVisible(False)
class CalibrationMovementsGUI(QWidget):
    NOT_INITED_YET = 0
    BAD_PLAN = 1
    GOOD_PLAN = 2
    MOVED_TO_POSE = 3
    BAD_STARTING_POSITION = 4
    GOOD_STARTING_POSITION = 5
    CHECKING_STARTING_POSITION = 6
    MOVEMENT_FAILED = 7

    def __init__(self):
        super(CalibrationMovementsGUI, self).__init__()
        self.handeye_client = HandeyeClient()
        self.current_target_pose = -1  # -1 is home
        self.target_poses = None
        self.plan_was_successful = None
        self.state = CalibrationMovementsGUI.NOT_INITED_YET

        self.layout = QVBoxLayout()
        self.labels_layout = QHBoxLayout()
        self.buttons_layout = QHBoxLayout()

        self.progress_bar = QProgressBar()
        self.pose_number_lbl = QLabel('0/0')
        self.bad_plan_lbl = QLabel('No plan yet')
        self.bad_plan_lbl.setAlignment(Qt.AlignCenter)
        self.guide_lbl = QLabel('Hello')
        self.guide_lbl.setWordWrap(True)

        self.check_start_pose_btn = QPushButton('Check starting pose')
        self.check_start_pose_btn.clicked.connect(
            self.handle_check_current_state)

        self.next_pose_btn = QPushButton('Next Pose')
        self.next_pose_btn.clicked.connect(self.handle_next_pose)

        self.plan_btn = QPushButton('Plan')
        self.plan_btn.clicked.connect(self.handle_plan)

        self.execute_btn = QPushButton('Execute')
        self.execute_btn.clicked.connect(self.handle_execute)

        self.labels_layout.addWidget(self.pose_number_lbl)
        self.labels_layout.addWidget(self.bad_plan_lbl)

        self.buttons_layout.addWidget(self.check_start_pose_btn)
        self.buttons_layout.addWidget(self.next_pose_btn)
        self.buttons_layout.addWidget(self.plan_btn)
        self.buttons_layout.addWidget(self.execute_btn)

        self.layout.addWidget(self.progress_bar)
        self.layout.addLayout(self.labels_layout)
        self.layout.addWidget(self.guide_lbl)
        self.layout.addLayout(self.buttons_layout)

        self.setLayout(self.layout)

        self.plan_btn.setEnabled(False)
        self.execute_btn.setEnabled(False)

        self.setWindowTitle('Local Mover')
        self.show()

    def update_ui(self):
        if self.target_poses:
            count_target_poses = len(self.target_poses)
        else:
            count_target_poses = 1
        self.progress_bar.setMaximum(count_target_poses)
        self.progress_bar.setValue(self.current_target_pose + 1)
        self.pose_number_lbl.setText('{}/{}'.format(
            self.current_target_pose + 1, count_target_poses))

        if self.state == CalibrationMovementsGUI.BAD_PLAN:
            self.bad_plan_lbl.setText('BAD plan!! Don\'t do it!!!!')
            self.bad_plan_lbl.setStyleSheet('QLabel { background-color : red}')
        elif self.state == CalibrationMovementsGUI.GOOD_PLAN:
            self.bad_plan_lbl.setText('Good plan')
            self.bad_plan_lbl.setStyleSheet(
                'QLabel { background-color : green}')
        else:
            self.bad_plan_lbl.setText('No plan yet')
            self.bad_plan_lbl.setStyleSheet('')

        if self.state == CalibrationMovementsGUI.NOT_INITED_YET:
            self.guide_lbl.setText(
                'Bring the robot to a plausible position and check if it is a suitable starting pose'
            )
        elif self.state == CalibrationMovementsGUI.CHECKING_STARTING_POSITION:
            self.guide_lbl.setText(
                'Checking if the robot can translate and rotate in all directions from the current pose'
            )
        elif self.state == CalibrationMovementsGUI.BAD_STARTING_POSITION:
            self.guide_lbl.setText('Cannot calibrate from current position')
        elif self.state == CalibrationMovementsGUI.GOOD_STARTING_POSITION:
            self.guide_lbl.setText('Ready to start: click on next pose')
        elif self.state == CalibrationMovementsGUI.GOOD_PLAN:
            self.guide_lbl.setText(
                'The plan seems good: press execute to move the robot')
        elif self.state == CalibrationMovementsGUI.BAD_PLAN:
            self.guide_lbl.setText('Planning failed: try again')
        elif self.state == CalibrationMovementsGUI.MOVED_TO_POSE:
            self.guide_lbl.setText(
                'Pose reached: take a sample and go on to next pose')

        can_plan = self.state == CalibrationMovementsGUI.GOOD_STARTING_POSITION
        self.plan_btn.setEnabled(can_plan)
        can_move = self.state == CalibrationMovementsGUI.GOOD_PLAN
        self.execute_btn.setEnabled(can_move)
        QCoreApplication.processEvents()

    def handle_check_current_state(self):
        self.state = CalibrationMovementsGUI.CHECKING_STARTING_POSITION
        self.update_ui()
        res = self.handeye_client.check_starting_pose()
        if res.can_calibrate:
            self.state = CalibrationMovementsGUI.GOOD_STARTING_POSITION
        else:
            self.state = CalibrationMovementsGUI.BAD_STARTING_POSITION
        self.current_target_pose = res.target_poses.current_target_pose_index
        self.target_poses = res.target_poses.target_poses
        self.plan_was_successful = None

        self.update_ui()

    def handle_next_pose(self):
        res = self.handeye_client.select_target_pose(self.current_target_pose +
                                                     1)
        self.current_target_pose = res.target_poses.current_target_pose_index
        self.target_poses = res.target_poses.target_poses
        self.plan_was_successful = None

        self.state = CalibrationMovementsGUI.GOOD_STARTING_POSITION
        self.update_ui()

    def handle_plan(self):
        self.guide_lbl.setText(
            'Planning to the next position. Click on execute when a good one was found'
        )
        res = self.handeye_client.plan_to_selected_target_pose()
        self.plan_was_successful = res.success
        if self.plan_was_successful:
            self.state = CalibrationMovementsGUI.GOOD_PLAN
        else:
            self.state = CalibrationMovementsGUI.BAD_PLAN
        self.update_ui()

    def handle_execute(self):
        if self.plan_was_successful:
            self.guide_lbl.setText('Going to the selected pose')
            res = self.handeye_client.execute_plan()
            if res.success:
                self.state = CalibrationMovementsGUI.MOVED_TO_POSE
            else:
                self.state = CalibrationMovementsGUI.MOVEMENT_FAILED
            self.update_ui()
Beispiel #57
0
class DataPlot(QWidget):
    """A widget for displaying a plot of data

    The DataPlot widget displays a plot, on one of several plotting backends,
    depending on which backend(s) are available at runtime. It currently 
    supports PyQtGraph, MatPlot and QwtPlot backends.

    The DataPlot widget manages the plot backend internally, and can save
    and restore the internal state using `save_settings` and `restore_settings`
    functions.

    Currently, the user MUST call `restore_settings` before using the widget,
    to cause the creation of the enclosed plotting widget.
    """
    # plot types in order of priority
    plot_types = [
        {
            'title': 'PyQtGraph',
            'widget_class': PyQtGraphDataPlot,
            'description':
            'Based on PyQtGraph\n- installer: http://luke.campagnola.me/code/pyqtgraph\n',
            'enabled': PyQtGraphDataPlot is not None,
        },
        {
            'title': 'MatPlot',
            'widget_class': MatDataPlot,
            'description':
            'Based on MatPlotLib\n- needs most CPU\n- needs matplotlib >= 1.1.0\n- if using PySide: PySide > 1.1.0\n',
            'enabled': MatDataPlot is not None,
        },
        {
            'title': 'QwtPlot',
            'widget_class': QwtDataPlot,
            'description':
            'Based on QwtPlot\n- does not use timestamps\n- uses least CPU\n- needs Python Qwt bindings\n',
            'enabled': QwtDataPlot is not None,
        },
    ]

    # pre-defined colors:
    RED = (255, 0, 0)
    GREEN = (0, 255, 0)
    BLUE = (0, 0, 255)

    SCALE_ALL = 1
    SCALE_VISIBLE = 2
    SCALE_EXTEND = 4

    _colors = [
        Qt.blue, Qt.red, Qt.cyan, Qt.magenta, Qt.green, Qt.darkYellow,
        Qt.black, Qt.darkCyan, Qt.darkRed, Qt.gray
    ]

    limits_changed = Signal()
    _redraw = Signal()
    _add_curve = Signal(str, str, 'QColor', bool)

    def __init__(self, parent=None):
        """Create a new, empty DataPlot

        This will raise a RuntimeError if none of the supported plotting
        backends can be found
        """
        super(DataPlot, self).__init__(parent)
        self._plot_index = 0
        self._color_index = 0
        self._markers_on = False
        self._autoscroll = True

        self._autoscale_x = True
        self._autoscale_y = DataPlot.SCALE_ALL

        # the backend widget that we're trying to hide/abstract
        self._data_plot_widget = None
        self._curves = {}
        self._vline = None
        self._redraw.connect(self._do_redraw)

        self._layout = QHBoxLayout()
        self.setLayout(self._layout)

        enabled_plot_types = [pt for pt in self.plot_types if pt['enabled']]
        if not enabled_plot_types:
            version_info = ' and PySide > 1.1.0' if QT_BINDING == 'pyside' else ''
            raise RuntimeError(
                'No usable plot type found. Install at least one of: PyQtGraph, MatPlotLib (at least 1.1.0%s) or Python-Qwt5.'
                % version_info)

        self._switch_data_plot_widget(self._plot_index)

        self.show()

    def _switch_data_plot_widget(self, plot_index, markers_on=False):
        """Internal method for activating a plotting backend by index"""
        # check if selected plot type is available
        if not self.plot_types[plot_index]['enabled']:
            # find other available plot type
            for index, plot_type in enumerate(self.plot_types):
                if plot_type['enabled']:
                    plot_index = index
                    break

        self._plot_index = plot_index
        self._markers_on = markers_on
        selected_plot = self.plot_types[plot_index]

        if self._data_plot_widget:
            x_limits = self.get_xlim()
            y_limits = self.get_ylim()

            self._layout.removeWidget(self._data_plot_widget)
            self._data_plot_widget.close()
            self._data_plot_widget = None
        else:
            x_limits = [0.0, 10.0]
            y_limits = [-0.001, 0.001]

        self._data_plot_widget = selected_plot['widget_class'](self)
        self._data_plot_widget.limits_changed.connect(self.limits_changed)
        self._add_curve.connect(self._data_plot_widget.add_curve)
        self._layout.addWidget(self._data_plot_widget)

        # restore old data
        for curve_id in self._curves:
            curve = self._curves[curve_id]
            self._data_plot_widget.add_curve(curve_id, curve['name'],
                                             curve['color'], markers_on)

        if self._vline:
            self.vline(*self._vline)

        self.set_xlim(x_limits)
        self.set_ylim(y_limits)
        self.redraw()

    def _switch_plot_markers(self, markers_on):
        self._markers_on = markers_on
        self._data_plot_widget._color_index = 0

        for curve_id in self._curves:
            self._data_plot_widget.remove_curve(curve_id)
            curve = self._curves[curve_id]
            self._data_plot_widget.add_curve(curve_id, curve['name'],
                                             curve['color'], markers_on)

        self.redraw()

    # interface out to the managing GUI component: get title, save, restore,
    # etc
    def getTitle(self):
        """get the title of the current plotting backend"""
        return self.plot_types[self._plot_index]['title']

    def save_settings(self, plugin_settings, instance_settings):
        """Save the settings associated with this widget

        Currently, this is just the plot type, but may include more useful
        data in the future"""
        instance_settings.set_value('plot_type', self._plot_index)
        xlim = self.get_xlim()
        ylim = self.get_ylim()
        # convert limits to normal arrays of floats; some backends return numpy
        # arrays
        xlim = [float(x) for x in xlim]
        ylim = [float(y) for y in ylim]
        instance_settings.set_value('x_limits', pack(xlim))
        instance_settings.set_value('y_limits', pack(ylim))

    def restore_settings(self, plugin_settings, instance_settings):
        """Restore the settings for this widget

        Currently, this just restores the plot type."""
        self._switch_data_plot_widget(
            int(instance_settings.value('plot_type', 0)))
        xlim = unpack(instance_settings.value('x_limits', []))
        ylim = unpack(instance_settings.value('y_limits', []))
        if xlim:
            # convert limits to an array of floats; they're often lists of
            # strings
            try:
                xlim = [float(x) for x in xlim]
                self.set_xlim(xlim)
            except:
                qWarning("Failed to restore X limits")
        if ylim:
            try:
                ylim = [float(y) for y in ylim]
                self.set_ylim(ylim)
            except:
                qWarning("Failed to restore Y limits")

    def doSettingsDialog(self):
        """Present the user with a dialog for choosing the plot backend

        This displays a SimpleSettingsDialog asking the user to choose a
        plot type, gets the result, and updates the plot type as necessary
        
        This method is blocking"""

        marker_settings = [{
            'title': 'Show Plot Markers',
            'description':
            'Warning: Displaying markers in rqt_plot may cause\n \t high cpu load, especially using PyQtGraph\n',
            'enabled': True,
        }]
        if self._markers_on:
            selected_checkboxes = [0]
        else:
            selected_checkboxes = []

        dialog = SimpleSettingsDialog(title='Plot Options')
        dialog.add_exclusive_option_group(title='Plot Type',
                                          options=self.plot_types,
                                          selected_index=self._plot_index)
        dialog.add_checkbox_group(title='Plot Markers',
                                  options=marker_settings,
                                  selected_indexes=selected_checkboxes)
        [plot_type, checkboxes] = dialog.get_settings()
        if plot_type is not None and plot_type[
                'selected_index'] is not None and self._plot_index != plot_type[
                    'selected_index']:
            self._switch_data_plot_widget(plot_type['selected_index'], 0
                                          in checkboxes['selected_indexes'])
        else:
            if checkboxes is not None and self._markers_on != (
                    0 in checkboxes['selected_indexes']):
                self._switch_plot_markers(0 in checkboxes['selected_indexes'])

    # interface out to the managing DATA component: load data, update data,
    # etc
    def autoscroll(self, enabled=True):
        """Enable or disable autoscrolling of the plot"""
        self._autoscroll = enabled

    def redraw(self):
        self._redraw.emit()

    def _do_redraw(self):
        """Redraw the underlying plot

        This causes the underlying plot to be redrawn. This is usually used
        after adding or updating the plot data"""
        if self._data_plot_widget:
            self._merged_autoscale()
            for curve_id in self._curves:
                curve = self._curves[curve_id]
                self._data_plot_widget.set_values(curve_id, curve['x'],
                                                  curve['y'])
            self._data_plot_widget.redraw()

    def _get_curve(self, curve_id):
        if curve_id in self._curves:
            return self._curves[curve_id]
        else:
            raise DataPlotException("No curve named %s in this DataPlot" %
                                    (curve_id))

    def add_curve(self, curve_id, curve_name, data_x, data_y):
        """Add a new, named curve to this plot

        Add a curve named `curve_name` to the plot, with initial data series
        `data_x` and `data_y`.
        
        Future references to this curve should use the provided `curve_id`

        Note that the plot is not redraw automatically; call `redraw()` to make
        any changes visible to the user.
        """
        curve_color = QColor(self._colors[self._color_index %
                                          len(self._colors)])
        self._color_index += 1

        self._curves[curve_id] = {
            'x': numpy.array(data_x),
            'y': numpy.array(data_y),
            'name': curve_name,
            'color': curve_color
        }
        if self._data_plot_widget:
            self._add_curve.emit(curve_id, curve_name, curve_color,
                                 self._markers_on)

    def remove_curve(self, curve_id):
        """Remove the specified curve from this plot"""
        # TODO: do on UI thread with signals
        if curve_id in self._curves:
            del self._curves[curve_id]
        if self._data_plot_widget:
            self._data_plot_widget.remove_curve(curve_id)

    def update_values(self, curve_id, values_x, values_y):
        """Append new data to an existing curve
        
        `values_x` and `values_y` will be appended to the existing data for
        `curve_id`

        Note that the plot is not redraw automatically; call `redraw()` to make
        any changes visible to the user.
        """
        curve = self._get_curve(curve_id)
        curve['x'] = numpy.append(curve['x'], values_x)
        curve['y'] = numpy.append(curve['y'], values_y)
        # sort resulting data, so we can slice it later
        sort_order = curve['x'].argsort()
        curve['x'] = curve['x'][sort_order]
        curve['y'] = curve['y'][sort_order]

    def clear_values(self, curve_id=None):
        """Clear the values for the specified curve, or all curves

        This will erase the data series associaed with `curve_id`, or all
        curves if `curve_id` is not present or is None

        Note that the plot is not redraw automatically; call `redraw()` to make
        any changes visible to the user.
        """
        # clear internal curve representation
        if curve_id:
            curve = self._get_curve(curve_id)
            curve['x'] = numpy.array([])
            curve['y'] = numpy.array([])
        else:
            for curve_id in self._curves:
                self._curves[curve_id]['x'] = numpy.array([])
                self._curves[curve_id]['y'] = numpy.array([])

    def vline(self, x, color=RED):
        """Draw a vertical line on the plot

        Draw a line a position X, with the given color
        
        @param x: position of the vertical line to draw
        @param color: optional parameter specifying the color, as tuple of
                      RGB values from 0 to 255
        """
        self._vline = (x, color)
        if self._data_plot_widget:
            self._data_plot_widget.vline(x, color)

    # autoscaling methods
    def set_autoscale(self, x=None, y=None):
        """Change autoscaling of plot axes

        if a parameter is not passed, the autoscaling setting for that axis is
        not changed

        @param x: enable or disable autoscaling for X
        @param y: set autoscaling mode for Y
        """
        if x is not None:
            self._autoscale_x = x
        if y is not None:
            self._autoscale_y = y

    # autoscaling:  adjusting the plot bounds fit the data
    # autoscrollig: move the plot X window to show the most recent data
    #
    # what order do we do these adjustments in?
    #  * assuming the various stages are enabled:
    #  * autoscale X to bring all data into view
    #   * else, autoscale X to determine which data we're looking at
    #  * autoscale Y to fit the data we're viewing
    #
    # * autoscaling of Y might have several modes:
    #  * scale Y to fit the entire dataset
    #  * scale Y to fit the current view
    #  * increase the Y scale to fit the current view
    #
    # TODO: incrmenetal autoscaling: only update the autoscaling bounds
    #       when new data is added
    def _merged_autoscale(self):
        x_limit = [numpy.inf, -numpy.inf]
        if self._autoscale_x:
            for curve_id in self._curves:
                curve = self._curves[curve_id]
                if len(curve['x']) > 0:
                    x_limit[0] = min(x_limit[0], curve['x'].min())
                    x_limit[1] = max(x_limit[1], curve['x'].max())
        elif self._autoscroll:
            # get current width of plot
            x_limit = self.get_xlim()
            x_width = x_limit[1] - x_limit[0]

            # reset the upper x_limit so that we ignore the previous position
            x_limit[1] = -numpy.inf

            # get largest X value
            for curve_id in self._curves:
                curve = self._curves[curve_id]
                if len(curve['x']) > 0:
                    x_limit[1] = max(x_limit[1], curve['x'].max())

            # set lower limit based on width
            x_limit[0] = x_limit[1] - x_width
        else:
            # don't modify limit, or get it from plot
            x_limit = self.get_xlim()

        # set sane limits if our limits are infinite
        if numpy.isinf(x_limit[0]):
            x_limit[0] = 0.0
        if numpy.isinf(x_limit[1]):
            x_limit[1] = 1.0

        y_limit = [numpy.inf, -numpy.inf]
        if self._autoscale_y:
            # if we're extending the y limits, initialize them with the
            # current limits
            if self._autoscale_y & DataPlot.SCALE_EXTEND:
                y_limit = self.get_ylim()
            for curve_id in self._curves:
                curve = self._curves[curve_id]
                start_index = 0
                end_index = len(curve['x'])

                # if we're scaling based on the visible window, find the
                # start and end indicies of our window
                if self._autoscale_y & DataPlot.SCALE_VISIBLE:
                    # indexof x_limit[0] in curves['x']
                    start_index = curve['x'].searchsorted(x_limit[0])
                    # indexof x_limit[1] in curves['x']
                    end_index = curve['x'].searchsorted(x_limit[1])

                # region here is cheap because it is a numpy view and not a
                # copy of the underlying data
                region = curve['y'][start_index:end_index]
                if len(region) > 0:
                    y_limit[0] = min(y_limit[0], region.min())
                    y_limit[1] = max(y_limit[1], region.max())

                # TODO: compute padding around new min and max values
                #       ONLY consider data for new values; not
                #       existing limits, or we'll add padding on top of old
                #       padding in SCALE_EXTEND mode
                #
                # pad the min/max
                # TODO: invert this padding in get_ylim
                #ymin = limits[0]
                #ymax = limits[1]
                #delta = ymax - ymin if ymax != ymin else 0.1
                #ymin -= .05 * delta
                #ymax += .05 * delta
        else:
            y_limit = self.get_ylim()

        # set sane limits if our limits are infinite
        if numpy.isinf(y_limit[0]):
            y_limit[0] = 0.0
        if numpy.isinf(y_limit[1]):
            y_limit[1] = 1.0

        self.set_xlim(x_limit)
        self.set_ylim(y_limit)

    def get_xlim(self):
        """get X limits"""
        if self._data_plot_widget:
            return self._data_plot_widget.get_xlim()
        else:
            qWarning("No plot widget; returning default X limits")
            return [0.0, 1.0]

    def set_xlim(self, limits):
        """set X limits"""
        if self._data_plot_widget:
            self._data_plot_widget.set_xlim(limits)
        else:
            qWarning("No plot widget; can't set X limits")

    def get_ylim(self):
        """get Y limits"""
        if self._data_plot_widget:
            return self._data_plot_widget.get_ylim()
        else:
            qWarning("No plot widget; returning default Y limits")
            return [0.0, 10.0]

    def set_ylim(self, limits):
        """set Y limits"""
        if self._data_plot_widget:
            self._data_plot_widget.set_ylim(limits)
        else:
            qWarning("No plot widget; can't set Y limits")