def _load_parameter(self,param_index,param_name, param_type,param_value, param_min, param_max, param_desc):
x_check = 160
x ,y ,w ,h = 4,4 + 40 * param_index,150,20
label = QLabel(param_name,self.parameters)
label.setGeometry(x,y,w,h)
label.setToolTip(param_desc)
label.show()
if param_type == 'Boolean':
checkbox = QCheckBox('',self.parameters)
checkbox.setGeometry(x_check,y,w,h)
checkbox.setChecked(param_value == '1')
checkbox.setToolTip(param_desc)
checkbox.stateChanged.connect(partial(self._handle_bool_param_changed,param_name))
checkbox.show()
elif param_type == 'Integer':
if len(param_min) > 0 and len(param_max) > 0 and int(param_max) < 5:
slider = QSlider(Qt.Horizontal,self.parameters)
slider.setMinimum(int(param_min))
slider.setMaximum(int(param_max))
slider.setValue(int(param_value))
slider.setTickPosition(QSlider.TicksBelow)
slider.setGeometry(x_check,y,w,h)
slider.setToolTip(param_desc)
slider.setTickInterval(1)
slider.setSingleStep(1)
slider.setPageStep(1)
slider.valueChanged.connect(partial(self._handle_param_changed,param_name))
slider.show()
else:
spin = QSpinBox(self.parameters)
if len(param_min) > 0:
spin.setMinimum(int(param_min))
if len(param_max) > 0:
spin.setMaximum(int(param_max))
spin.setValue(int(param_value))
spin.setToolTip(param_desc)
spin.setGeometry(x_check,y,w,h)
spin.valueChanged.connect(partial(self._handle_param_changed,param_name))
spin.show()
elif param_type == 'Double':
spin = QDoubleSpinBox(self.parameters)
if len(param_min) > 0:
spin.setMinimum(float(param_min))
if len(param_max) > 0:
spin.setMaximum(float(param_max))
spin.setValue(float(param_value))
spin.valueChanged.connect(partial(self._handle_param_changed,param_name))
spin.setGeometry(x_check,y,w,h)
spin.show()
elif param_type == 'String':
lineEdit = QLineEdit(self.parameters)
lineEdit.setText(param_value)
lineEdit.setToolTip(param_desc)
lineEdit.setGeometry(x_check,y,w,h)
lineEdit.textChanged.connect(partial(self._handle_param_changed,param_name))
lineEdit.show()
self.parameters.update()
def create_label_checkbox_pair(key, value):
label = QLabel(key)
label.setToolTip(key)
label.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Preferred)
label.setMinimumWidth(400)
label.setMaximumHeight(30)
label.setWordWrap(True)
checkbox = QCheckBox()
checkbox.setChecked(value)
return label, checkbox
def beginRosLabel(self,obj):
pm,lm = self.__get_immediate_parent()
fr = QFrame(pm)
layout = QGridLayout()
nlb = QLabel(obj.label_name + ":",fr)
nlb.setToolTip(obj.topic_name)
layout.addWidget(nlb,1,1)
layout.addWidget(RosLabel(fr,obj.label_name,obj.topic_name,obj.topic_type,obj.topic_field),1,2)
fr.setLayout(layout)
lm.addWidget(fr)
def beginRosLabel(self, obj):
pm, lm = self.__get_immediate_parent()
fr = QFrame(pm)
layout = QGridLayout()
nlb = QLabel(obj.label_name + ":", fr)
nlb.setToolTip(obj.topic_name)
layout.addWidget(nlb, 1, 1)
layout.addWidget(
RosLabel(fr, obj.label_name, obj.topic_name, obj.topic_type,
obj.topic_field), 1, 2)
fr.setLayout(layout)
lm.addWidget(fr)
def create_label_textedit_pair(key, value):
'''
Probabaly there should be better way to lay out param and remappings
'''
name = QLabel(key)
name.setToolTip(key)
name.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Preferred)
name.setMinimumWidth(400)
name.setMaximumHeight(30)
name.setWordWrap(True)
textedit = QTextEdit()
textedit.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Preferred)
textedit.setMinimumWidth(320)
textedit.setMaximumHeight(30)
textedit.append(str(value))
return name, textedit
class CapabilityControlWidget(QFrame):
'''
The control widget contains buttons for control a capability. Currently this
are C{On} and C{Off} buttons. Additionally, the state of the capability is
color coded.
'''
start_nodes_signal = Signal(str, str, list)
'''@ivar: the signal is emitted to start on host(described by masteruri) the nodes described in the list, Parameter(masteruri, config, nodes).'''
stop_nodes_signal = Signal(str, list)
'''@ivar: the signal is emitted to stop on masteruri the nodes described in the list.'''
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 hasConfigs(self):
'''
:return: True, if a configurations for this widget are available.
:rtype: bool
'''
return len(self._nodes) > 0
def nodes(self, cfg=''):
'''
:return: the list with nodes required by this capability. The nodes are
defined by ROS full name.
:rtype: [str]
'''
try:
if cfg:
return [n for l in self._nodes[cfg].values() for n in l]
else:
return [
n for c in self._nodes.values() for l in c.values()
for n in l
]
except Exception:
return []
def setNodeState(self, running_nodes, stopped_nodes, error_nodes):
'''
Sets the state of this capability.
:param running_nodes: a list with running nodes.
:type running_nodes: [str]
:param stopped_nodes: a list with not running nodes.
:type stopped_nodes: [str]
:param error_nodes: a list with nodes having a problem.
:type error_nodes: [str]
'''
self.setAutoFillBackground(True)
self.setBackgroundRole(QPalette.Base)
palette = QPalette()
if error_nodes:
brush = QBrush(QColor(255, 100, 0))
elif running_nodes and stopped_nodes:
brush = QBrush(QColor(140, 185, 255)) # 30, 50, 255
elif running_nodes:
self.on_button.setFlat(True)
self.off_button.setFlat(False)
brush = QBrush(QColor(59, 223, 18)) # 59, 223, 18
else:
brush = QBrush(QColor(255, 255, 255))
self.on_button.setFlat(False)
self.off_button.setFlat(True)
palette.setBrush(QPalette.Active, QPalette.Base, brush)
brush.setStyle(Qt.SolidPattern)
palette.setBrush(QPalette.Inactive, QPalette.Base, brush)
self.setPalette(palette)
def removeCfg(self, cfg):
try:
del self._nodes[cfg]
except Exception:
pass
def updateNodes(self, cfg, ns, nodes):
self._nodes[cfg] = {ns: nodes}
test_nodes = self.nodes()
self.warning_frame.setVisible(len(test_nodes) != len(set(test_nodes)))
def on_on_clicked(self):
started = set() # do not start nodes multiple times
for c in self._nodes.keys():
node2start = set(self.nodes(c)) - started
self.start_nodes_signal.emit(self._masteruri, c, list(node2start))
started.update(node2start)
self.on_button.setFlat(True)
self.off_button.setFlat(False)
def on_off_clicked(self):
self.stop_nodes_signal.emit(self._masteruri, self.nodes())
self.on_button.setFlat(False)
self.off_button.setFlat(True)
class CapabilityControlWidget(QFrame):
'''
The control widget contains buttons for control a capability. Currently this
are C{On} and C{Off} buttons. Additionally, the state of the capability is
color coded.
'''
start_nodes_signal = Signal(str, str, list)
'''@ivar: the signal is emitted to start on host(described by masteruri) the nodes described in the list, Parameter(masteruri, config, nodes).'''
stop_nodes_signal = Signal(str, list)
'''@ivar: the signal is emitted to stop on masteruri the nodes described in the list.'''
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 = QIcon(':/icons/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 hasConfigs(self):
'''
@return: True, if a configurations for this widget are available.
@rtype: bool
'''
return len(self._nodes) > 0
def nodes(self, cfg=''):
'''
@return: the list with nodes required by this capability. The nodes are
defined by ROS full name.
@rtype: C{[str]}
'''
try:
if cfg:
return [n for l in self._nodes[cfg].itervalues() for n in l]
else:
return [n for c in self._nodes.itervalues() for l in c.itervalues() for n in l]
except:
return []
def setNodeState(self, running_nodes, stopped_nodes, error_nodes):
'''
Sets the state of this capability.
@param running_nodes: a list with running nodes.
@type running_nodes: C{[str]}
@param stopped_nodes: a list with not running nodes.
@type stopped_nodes: C{[str]}
@param error_nodes: a list with nodes having a problem.
@type error_nodes: C{[str]}
'''
self.setAutoFillBackground(True)
self.setBackgroundRole(QPalette.Base)
palette = QPalette()
if error_nodes:
brush = QBrush(QColor(255, 100, 0))
elif running_nodes and stopped_nodes:
brush = QBrush(QColor(140, 185, 255)) # 30, 50, 255
elif running_nodes:
self.on_button.setFlat(True)
self.off_button.setFlat(False)
brush = QBrush(QColor(59, 223, 18)) # 59, 223, 18
else:
brush = QBrush(QColor(255, 255, 255))
self.on_button.setFlat(False)
self.off_button.setFlat(True)
palette.setBrush(QPalette.Active, QPalette.Base, brush)
brush.setStyle(Qt.SolidPattern)
palette.setBrush(QPalette.Inactive, QPalette.Base, brush)
self.setPalette(palette)
def removeCfg(self, cfg):
try:
del self._nodes[cfg]
except:
pass
def updateNodes(self, cfg, ns, nodes):
self._nodes[cfg] = {ns: nodes}
test_nodes = self.nodes()
self.warning_frame.setVisible(len(test_nodes) != len(set(test_nodes)))
def on_on_clicked(self):
started = set() # do not start nodes multiple times
for c in self._nodes.iterkeys():
node2start = set(self.nodes(c)) - started
self.start_nodes_signal.emit(self._masteruri, c, list(node2start))
started.update(node2start)
self.on_button.setFlat(True)
self.off_button.setFlat(False)
def on_off_clicked(self):
self.stop_nodes_signal.emit(self._masteruri, self.nodes())
self.on_button.setFlat(False)
self.off_button.setFlat(True)
