def __init__(self, context):
super(Builder, self).__init__(context)
self.setObjectName('Instructor GUI')
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
rospack = rospkg.RosPack()
ui_path = rospack.get_path('instructor_core') + '/ui/main.ui'
# Load the ui attributes into the main widget
loadUi(ui_path, self._widget)
self._widget.setObjectName('InstructorPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
# Add custom options
self._widget.node_type_list.addItems(['test1', 'test2'])
def __init__(self, context):
super(Builder, self).__init__(context)
self.setObjectName('BeetreeBuilder')
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
rospack = rospkg.RosPack()
ui_path = rospack.get_path('beetree_builder') + '/ui/main.ui'
# Load the ui attributes into the main widget
loadUi(ui_path, self._widget)
self._widget.setObjectName('BeetreeBuilderPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette ()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
# Add custom options
self._widget.node_type_list.addItems(['test1','test2'])
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 __init__(self, context):
super(WorkspaceUI, self).__init__(context)
self.setObjectName('Instructor Workspace UI')
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
rospack = rospkg.RosPack()
ui_path = rospack.get_path('instructor_core') + '/ui/workspace.ui'
# Load the ui attributes into the main widget
loadUi(ui_path, self._widget)
self._widget.setObjectName('InstructorWorkspaceUI')
self._widget.setWindowTitle('Instructor Workspace UI')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
title = self._widget.windowTitle() + (' (%d)' % context.serial_number())
self._widget.setWindowTitle(title)
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
# Hide things to start with
self._widget.fiducial_found_widget.hide()
self._widget.add_fiducial_widget.hide()
# Connect things
self._widget.add_ok_btn.clicked.connect(self.add_ok_event)
self._widget.add_cancel_btn.clicked.connect(self.add_cancel_event)
self._widget.fiducial_name_edit.textChanged.connect(self.name_entered_event)
# Add listener to detect AR markers
self.tf_listen = tf.TransformListener()
# Add predicator publisher
self.pub_predicates = rospy.Publisher('predicator/input', PredicateList)
# Clean params for landmarks
rospy.loginfo('Cleaning up previous workspace landmark params')
params = rospy.get_param_names()
landmarks = [p for p in params if "instructor_landmark" in p]
rospy.loginfo(landmarks)
for marker in landmarks:
rospy.loginfo('Removed '+str(marker))
rospy.delete_param(marker)
# Add timer
self.timer = QtCore.QTimer()
self.connect(self.timer, QtCore.SIGNAL("timeout()"), self.update)
self.timer.start(100)
def __init__(self, context):
super(BTV, self).__init__(context)
self._dotcode_sub = None
# Give QObjects reasonable names
self.setObjectName("BTV")
# Create QWidget
self._widget = QWidget()
# Get path to UI file
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('behavior_tree_visualizer'),
'resource', 'rqt_dot.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('BTVPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
self._widget.stop_button.setCheckable(True)
self._widget.stop_button.clicked[bool].connect(
self._handle_stop_clicked)
self._widget.all_nodes_button.setCheckable(True)
self._widget.all_nodes_button.clicked[bool].connect(
self._handle_all_nodes_clicked)
self._widget.show_line_edit.returnPressed.connect(
self._handle_show_line_returnPressed)
self._widget.show_button.clicked.connect(self._handle_show_clicked)
self._widget.centering_button.clicked.connect(
self._handle_centering_clicked)
self.draw_all_nodes = False
self.centering = False
self.show_node_name = ""
self.set_subscriber()
def __init__(self, parent=None):
QTextEdit.__init__(self, parent)
self._reader = None
self.setAutoFillBackground(False)
self.setReadOnly(True)
self.setUndoRedoEnabled(False)
self.setAutoFormatting(QTextEdit.AutoNone)
self.setAcceptRichText(False)
# self.textBrowser.document().setMaximumBlockCount(100)
p = QPalette()
p.setColor(QPalette.Base, Qt.black)
p.setColor(QPalette.Text, Qt.white)
self.setPalette(p)
def __init__(self, context):
super(Dot, self).__init__(context)
self._dotcode_sub = None
# Give QObjects reasonable names
self.setObjectName('Dot')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
# in this example the .ui and .py file are in the same folder
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'rqt_dot.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('DotPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
self._widget.subscribe_button.setCheckable(True)
self._widget.subscribe_button.clicked[bool].connect(
self._handle_subscribe_clicked)
def __init__(self, context):
super(CalibrationUI, self).__init__(context)
self.setObjectName('Instructor Calibration UI')
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
rospack = rospkg.RosPack()
ui_path = rospack.get_path('instructor_core') + '/ui/calibration.ui'
# Load the ui attributes into the main widget
loadUi(ui_path, self._widget)
self._widget.setObjectName('InstructorCalibrationUI')
self._widget.setWindowTitle('Instructor Calibration UI')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
# Initialize empty set of available markers for each camera
for c in range(self.n_cameras):
self.camera_marker_frame_names[c] = {}
self.cameras_calibrated += [False]
# Add listener to detect AR markers
self.tf_listen = tf.TransformListener()
self.tf_broadcast = tf.TransformBroadcaster()
# Add timer
self.timer = QtCore.QTimer()
self.connect(self.timer, QtCore.SIGNAL("timeout()"), self.update)
self.timer.start(100)
self._widget.done_btn.clicked.connect(self.done_event)
self._widget.recalibrate_btn.clicked.connect(self.recalibrate_event)
### Change Indicator Sample Code --------------------------------------#
self._widget.done_btn.setStyleSheet('color:#999999')
def __init__(self, name):
super(HiroNXNameLabel, self).__init__()
palette = QPalette()
self.setStyleSheet(
'font-size: larger; font-weight: bold; color: #ffffff; background-color: darkgreen;'
)
self.setText(name)
def __init__(self, context):
super(Dot, self).__init__(context)
self._dotcode_sub = None
# Give QObjects reasonable names
self.setObjectName('Dot')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
# in this example the .ui and .py file are in the same folder
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'rqt_dot.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('DotPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette ()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
self._widget.subscribe_button.setCheckable(True)
self._widget.subscribe_button.clicked[bool].connect(self._handle_subscribe_clicked)
def __init__(self, widget):
super(TopicDataWidget, self).__init__()
rospkgPack = rospkg.RosPack()
uiFile = os.path.join(rospkgPack.get_path('my_topic_viewer'), 'resource', 'TopicViewer.ui')
loadUi(uiFile, self)
self._updateTimer = QTimer(self)
self._updateTimer.timeout.connect(self.timeoutCallback)
self._palette = QPalette()
self._palette.setColor()
self._widget = widget
self._topicName = TOPIC_NAME
self._subscriber = None
self.subscribeTopic(self._topicName)
def __init__(self, context):
super(DotMatViewer, self).__init__(context)
self.context = context
self.maxrate = 10
self.topic = 'dotcode'
self.arrows = False
self.width = 2.0
# Create the figure canvas and attach it to the context
self.widget = MatPlotWidget()
self.widget.setObjectName(self.PLUGIN_TITLE)
self.widget.setWindowTitle(self.PLUGIN_TITLE)
if context.serial_number() > 1:
self.widget.setWindowTitle(self.widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self.widget)
# Set the color palette
palette = QPalette ()
palette.setColor(QPalette.Background, Qt.white)
self.widget.setPalette(palette)
# Subscribe to the specified topic
self.last_update = rospy.get_time()
self.sub = rospy.Subscriber(self.topic, String, self.dot_graph_cb)
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 __init__(self, context):
super(DotMatViewer, self).__init__(context)
self.context = context
self.maxrate = 10
self.topic = 'dotcode'
self.arrows = False
self.width = 2.0
# Create the figure canvas and attach it to the context
self.widget = MatPlotWidget()
self.widget.setObjectName(self.PLUGIN_TITLE)
self.widget.setWindowTitle(self.PLUGIN_TITLE)
if context.serial_number() > 1:
self.widget.setWindowTitle(self.widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self.widget)
# Set the color palette
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self.widget.setPalette(palette)
# Subscribe to the specified topic
self.last_update = rospy.get_time()
self.sub = rospy.Subscriber(self.topic, String, self.dot_graph_cb)
def __init__(self, context):
super(Smach, self).__init__(context)
self.initialized = 0
self._dotcode_sub = None
self._topic_dict = {}
self._update_thread = WorkerThread(self._update_thread_run,
self._update_finished)
# Give QObjects reasonable names
self.setObjectName('Smach')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
# in this example the .ui and .py file are in the same folder
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'rqt_smach.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.ns_refresh_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.setObjectName('SmachPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
#Connect widgets with corresponding methods
self._widget.namespace_input.currentIndexChanged.connect(
self._handle_ns_changed)
self._widget.ns_refresh_button.clicked.connect(self.refresh_combo_box)
self._widget.restrict_ns.clicked.connect(self.refresh_combo_box)
self._widget.ud_path_input.currentIndexChanged.connect(
self._handle_ud_path)
self._widget.ud_set_initial.clicked.connect(self._handle_ud_set_path)
self._widget.ud_text_browser.setReadOnly(1)
self._widget.show_implicit_button.clicked.connect(
self._handle_show_implicit)
self._widget.help_button.setIcon(QIcon.fromTheme('help-contents'))
self._widget.help_button.clicked.connect(self._handle_help)
self._widget.tree.clicked.connect(self._handle_tree_clicked)
#Depth and width spinners:
self._widget.depth_input.setRange(-1, 1337)
self._widget.depth_input.setValue(-1)
self._widget.depth_input.valueChanged.connect(self._set_depth)
self._widget.label_width_input.setRange(1, 1337)
self._widget.label_width_input.setValue(40)
self._widget.label_width_input.valueChanged.connect(self._set_width)
self._widget.tree.setColumnCount(1)
self._widget.tree.setHeaderLabels(["Containers"])
self._widget.tree.show()
self._ns = ""
self.refresh_combo_box()
# Bind path list
self._widget.path_input.currentIndexChanged.connect(
self._handle_path_changed)
#Keep Combo Boxes sorted
self._widget.namespace_input.setInsertPolicy(6)
self._widget.path_input.setInsertPolicy(6)
self._widget.ud_path_input.setInsertPolicy(6)
#Set up mouse actions for xdot widget
self._widget.xdot_widget.register_select_callback(self.select_cb)
# Create graph data structures
# Containers is a map of (container path) -> container proxy
self._containers = {}
self._top_containers = {}
# smach introspection client
self._client = smach_ros.IntrospectionClient()
self._selected_paths = []
# Message subscribers
self._structure_subs = {}
self._status_subs = {}
# Initialize xdot display state
self._path = '/'
self._needs_zoom = True
self._structure_changed = True
self._max_depth = -1
self._show_all_transitions = False
self._label_wrapper = textwrap.TextWrapper(40, break_long_words=True)
self._graph_needs_refresh = True
self._tree_needs_refresh = True
self._keep_running = True
self._update_server_list()
self._update_graph()
self._update_tree()
# Start a timer to update the server list
self._server_timer = QTimer(self)
self._server_timer.timeout.connect(self._update_server_list)
self._server_timer.start(1000)
# Start a timer to update the graph display
self._graph_timer = QTimer(self)
self._graph_timer.timeout.connect(self._update_graph)
self._graph_timer.start(1093)
# Start a timer to update the._widget.tree display
self._tree_timer = QTimer(self)
self._tree_timer.timeout.connect(self._update_tree)
self._tree_timer.start(1217)
def __init__(self, context):
super(Conman, self).__init__(context)
self._dotcode_sub = None
self._topic_dict = {}
self._update_thread = WorkerThread(self._update_thread_run,
self._update_finished)
# Give QObjects reasonable names
self.setObjectName('Conman')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
# in this example the .ui and .py file are in the same folder
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'rqt_conman.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.ns_refresh_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.setObjectName('ConmanPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
#self._widget.subscribe_button.setCheckable(True)
self._widget.namespace_input.currentIndexChanged.connect(
self._handle_refresh_clicked)
self._widget.ns_refresh_button.clicked.connect(self.refresh_combo_box)
self._widget.refresh_button.clicked[bool].connect(
self._handle_refresh_clicked)
self._widget.commit_button.clicked[bool].connect(
self._handle_commit_clicked)
#self._widget.xdot_widget.connect(
#self._widget.xdot_widget, SIGNAL('_update_graph'), self._widget.xdot_widget.set_dotcode)
self.update_graph_sig.connect(self._update_graph)
self.blocks = {}
self.groups = {}
self._ns = ""
self._actions_connected = False
self.enable_widgets(False)
self.new_dotcode_data = ''
self.update_timer = QTimer(self)
self.update_timer.setInterval(50)
self.update_timer.timeout.connect(self._update_widgets)
#self.update_timer.start()
self._get_blocks = None
self._set_blocks = None
self._blocks_model = QStandardItemModel(0, 4)
self._blocks_model.setHeaderData(0, Qt.Horizontal, "")
self._blocks_model.setHeaderData(1, Qt.Horizontal, "Action")
self._blocks_model.setHeaderData(2, Qt.Horizontal, "State")
self._blocks_model.setHeaderData(3, Qt.Horizontal, "Block")
self._widget.blocks_table.setModel(self._blocks_model)
self._blocks_delegate = BlocksDelegate(self)
self._widget.blocks_table.setItemDelegate(self._blocks_delegate)
self._blocks_model.itemChanged.connect(self.block_changed)
self._groups_model = QStandardItemModel(0, 4)
self._groups_model.setHeaderData(0, Qt.Horizontal, "")
self._groups_model.setHeaderData(1, Qt.Horizontal, "")
self._groups_model.setHeaderData(2, Qt.Horizontal, "")
self._groups_model.setHeaderData(3, Qt.Horizontal, "Group")
self._widget.groups_table.setModel(self._groups_model)
self._groups_delegate = GroupsDelegate(self)
self._widget.groups_table.setItemDelegate(self._groups_delegate)
self.refresh_combo_box()
import rospy
import rospkg
from qt_gui.plugin import Plugin
from python_qt_binding import loadUi
from python_qt_binding.QtWidgets import QWidget
from python_qt_binding import QtCore
from python_qt_binding.QtGui import QPalette
RESP_RATE_TOPIC = 'full_resp_rate'
HEART_RATE_TOPIC = 'full_heart_rate'
SKIN_TEMP_TOPIC = 'full_skin_temp'
VALID_DURATION_SEC = 5.0
OLD_PALETTE = QPalette(QtCore.Qt.black)
OFF_NOMINAL_PALETTE = QPalette(QtCore.Qt.red)
NOMINAL_PALETTE = QPalette(QtCore.Qt.green)
from std_msgs.msg import Float32
class VitalsReadout(Plugin):
def __init__(self, context):
super(VitalsReadout, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('VitalsReadout')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
def __init__(self, context):
super(Smach, self).__init__(context)
self.initialized = 0
self._dotcode_sub = None
self._topic_dict = {}
self._update_thread = WorkerThread(self._update_thread_run, self._update_finished)
# Give QObjects reasonable names
self.setObjectName('Smach')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
# in this example the .ui and .py file are in the same folder
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'rqt_smach.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.ns_refresh_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.setObjectName('SmachPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette ()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
#Connect widgets with corresponding methods
self._widget.namespace_input.currentIndexChanged.connect(self._handle_ns_changed)
self._widget.ns_refresh_button.clicked.connect(self.refresh_combo_box)
self._widget.restrict_ns.clicked.connect(self.refresh_combo_box)
self._widget.ud_path_input.currentIndexChanged.connect(self._handle_ud_path)
self._widget.ud_set_initial.clicked.connect(self._handle_ud_set_path)
self._widget.ud_text_browser.setReadOnly(1)
self._widget.show_implicit_button.clicked.connect(self._handle_show_implicit)
self._widget.help_button.setIcon(QIcon.fromTheme('help-contents'))
self._widget.help_button.clicked.connect(self._handle_help)
self._widget.tree.clicked.connect(self._handle_tree_clicked)
#Depth and width spinners:
self._widget.depth_input.setRange(-1, 1337)
self._widget.depth_input.setValue(-1)
self._widget.depth_input.valueChanged.connect(self._set_depth)
self._widget.label_width_input.setRange(1, 1337)
self._widget.label_width_input.setValue(40)
self._widget.label_width_input.valueChanged.connect(self._set_width)
self._widget.tree.setColumnCount(1)
self._widget.tree.setHeaderLabels(["Containers"])
self._widget.tree.show()
self._ns = ""
self.refresh_combo_box()
# Bind path list
self._widget.path_input.currentIndexChanged.connect(
self._handle_path_changed)
#Keep Combo Boxes sorted
self._widget.namespace_input.setInsertPolicy(6)
self._widget.path_input.setInsertPolicy(6)
self._widget.ud_path_input.setInsertPolicy(6)
#Set up mouse actions for xdot widget
self._widget.xdot_widget.register_select_callback(self.select_cb)
# Create graph data structures
# Containers is a map of (container path) -> container proxy
self._containers = {}
self._top_containers = {}
# smach introspection client
self._client = smach_ros.IntrospectionClient()
self._selected_paths = []
# Message subscribers
self._structure_subs = {}
self._status_subs = {}
# Initialize xdot display state
self._path = '/'
self._needs_zoom = True
self._structure_changed = True
self._max_depth = -1
self._show_all_transitions = False
self._label_wrapper = textwrap.TextWrapper(40,break_long_words=True)
self._graph_needs_refresh = True
self._tree_needs_refresh = True
self._keep_running = True
self._update_server_list()
self._update_graph()
self._update_tree()
# Start a timer to update the server list
self._server_timer = QTimer(self)
self._server_timer.timeout.connect(self._update_server_list)
self._server_timer.start(1000)
# Start a timer to update the graph display
self._graph_timer = QTimer(self)
self._graph_timer.timeout.connect(self._update_graph)
self._graph_timer.start(1093)
# Start a timer to update the._widget.tree display
self._tree_timer = QTimer(self)
self._tree_timer.timeout.connect(self._update_tree)
self._tree_timer.start(1217)
class TopicDataWidget(QWidget):
def __init__(self, widget):
super(TopicDataWidget, self).__init__()
rospkgPack = rospkg.RosPack()
uiFile = os.path.join(rospkgPack.get_path('my_topic_viewer'), 'resource', 'TopicViewer.ui')
loadUi(uiFile, self)
self._updateTimer = QTimer(self)
self._updateTimer.timeout.connect(self.timeoutCallback)
self._palette = QPalette()
self._palette.setColor()
self._widget = widget
self._topicName = TOPIC_NAME
self._subscriber = None
self.subscribeTopic(self._topicName)
def start(self):
self._updateTimer.start(1000)
def stop(self):
self._updateTimer.stop()
def timeoutCallback(self):
pass
# print 'time out'
# rqt override
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('topic_name', self._topicName)
def restore_settings(self, plugin_settings, instance_settings):
topicName = instance_settings.value('topic_name')
try:
self._topicName = eval(topicName)
except Exception:
topicName = None
def shutdown_plugin(self):
self.unregisterTopic()
self.stop()
# subscribe topic
def subscribeTopic(self, topicName):
# msgClass, self._topicName, _ = get_topic_class(topicName)
self._subscriber = rospy.Subscriber(TOPIC_NAME, MSG_CLASS, self.messageCallback)
def messageCallback(self, msg):
self.setDisplayedData(msg.data, TOPIC_NAME)
def unregisterTopic(self):
if self._subscriber:
self._subscriber.unregister()
# Qt
def setDisplayedData(self, data, name):
if isinstance(data, dict):
self.displayData(data)
else:
dictData = {}
if name is None:
dictData['unknown'] = data
elif isinstance(data, list):
dictData = dict(zip(name, data))
else:
dictData[name] = data
self.displayData(dictData)
def displayData(self, dictData):
for key in dictData.keys():
self.topicLabel.setText(key+': ')
self.topicDataLine.setText(str(dictData[key]))
self.topicDataLine.setPalette(self._palette)
def __init__(self, context):
super(WorkspaceUI, self).__init__(context)
self.setObjectName('Instructor Workspace UI')
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
rospack = rospkg.RosPack()
ui_path = rospack.get_path('instructor_core') + '/ui/workspace.ui'
# Load the ui attributes into the main widget
loadUi(ui_path, self._widget)
self._widget.setObjectName('InstructorWorkspaceUI')
self._widget.setWindowTitle('Instructor Workspace UI')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
title = self._widget.windowTitle() + (' (%d)' %
context.serial_number())
self._widget.setWindowTitle(title)
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
# Hide things to start with
self._widget.fiducial_found_widget.hide()
self._widget.add_fiducial_widget.hide()
# Connect things
self._widget.add_ok_btn.clicked.connect(self.add_ok_event)
self._widget.add_cancel_btn.clicked.connect(self.add_cancel_event)
self._widget.fiducial_name_edit.textChanged.connect(
self.name_entered_event)
# Add listener to detect AR markers
self.tf_listen = tf.TransformListener()
# Add predicator publisher
self.pub_predicates = rospy.Publisher('predicator/input',
PredicateList)
# Clean params for landmarks
rospy.loginfo('Cleaning up previous workspace landmark params')
params = rospy.get_param_names()
landmarks = [p for p in params if "instructor_landmark" in p]
rospy.loginfo(landmarks)
for marker in landmarks:
rospy.loginfo('Removed ' + str(marker))
rospy.delete_param(marker)
# Add timer
self.timer = QtCore.QTimer()
self.connect(self.timer, QtCore.SIGNAL("timeout()"), self.update)
self.timer.start(100)
def __init__(self, context):
super(Conman, self).__init__(context)
self._dotcode_sub = None
# Give QObjects reasonable names
self.setObjectName('Conman')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
# in this example the .ui and .py file are in the same folder
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'rqt_conman.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('ConmanPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette ()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
#self._widget.subscribe_button.setCheckable(True)
self._widget.refresh_button.clicked[bool].connect(self._handle_refresh_clicked)
self._widget.commit_button.clicked[bool].connect(self._handle_commit_clicked)
#self._widget.xdot_widget.connect(
#self._widget.xdot_widget, SIGNAL('_update_graph'), self._widget.xdot_widget.set_dotcode)
self.update_graph_sig.connect(self._update_graph)
self.blocks = { }
self.groups = { }
self._ns = ""
self._actions_connected = False
self.enable_widgets(False)
self.new_dotcode_data = ''
self.update_timer = QTimer(self)
self.update_timer.setInterval(50)
self.update_timer.timeout.connect(self._update_widgets)
#self.update_timer.start()
self._get_blocks = None
self._set_blocks = None
self._blocks_model = QStandardItemModel(0,4)
self._blocks_model.setHeaderData(0, Qt.Horizontal, "")
self._blocks_model.setHeaderData(1, Qt.Horizontal, "Action")
self._blocks_model.setHeaderData(2, Qt.Horizontal, "State")
self._blocks_model.setHeaderData(3, Qt.Horizontal, "Block")
self._widget.blocks_table.setModel(self._blocks_model)
self._blocks_delegate = BlocksDelegate(self)
self._widget.blocks_table.setItemDelegate(self._blocks_delegate)
self._blocks_model.itemChanged.connect(self.block_changed)
self._groups_model = QStandardItemModel(0,4)
self._groups_model.setHeaderData(0, Qt.Horizontal, "")
self._groups_model.setHeaderData(1, Qt.Horizontal, "")
self._groups_model.setHeaderData(2, Qt.Horizontal, "")
self._groups_model.setHeaderData(3, Qt.Horizontal, "Group")
self._widget.groups_table.setModel(self._groups_model)
self._groups_delegate = GroupsDelegate(self)
self._widget.groups_table.setItemDelegate(self._groups_delegate)
