def add_item_to_conversation_view(self, msg, type=0):
label_msg = QLabel(msg)
label_msg.setWordWrap(True)
label_msg.setStyleSheet('font-size:10pt;')
inner_text_layout = QHBoxLayout()
horizonalSpacer1 = QSpacerItem(0, 0, QSizePolicy.MinimumExpanding,
QSizePolicy.MinimumExpanding)
if type == 0:
inner_text_layout.addWidget(label_msg)
inner_text_layout.addItem(horizonalSpacer1)
elif type == 1:
inner_text_layout.addItem(horizonalSpacer1)
inner_text_layout.addWidget(label_msg)
inner_layout = QVBoxLayout()
time_msg = QLabel(str(time.asctime(time.localtime(time.time()))))
time_msg.setStyleSheet('font-size:8pt;')
inner_layout.addItem(inner_text_layout)
inner_layout.addWidget(time_msg)
inner_layout.setSizeConstraint(QLayout.SetFixedSize)
outer_layout = QHBoxLayout()
horizonalSpacer2 = QSpacerItem(0, 0, QSizePolicy.MinimumExpanding,
QSizePolicy.MinimumExpanding)
if type == 0:
label_msg.setStyleSheet(
'background: #e5e5ea; padding: 6px; border-radius: 8px;')
time_msg.setAlignment(Qt.AlignLeft)
outer_layout.addItem(inner_layout)
outer_layout.addItem(horizonalSpacer2)
elif type == 1:
label_msg.setStyleSheet(
'background: #1d86f4; padding: 6px; border-radius: 8px; color:#fff;'
)
time_msg.setAlignment(Qt.AlignRight)
outer_layout.addItem(horizonalSpacer2)
outer_layout.addItem(inner_layout)
outer_layout.setSizeConstraint(QLayout.SetMinimumSize)
widget = QWidget()
widget.setLayout(outer_layout)
widget.resize(widget.sizeHint())
item = QListWidgetItem()
item.setSizeHint(widget.sizeHint())
self._widget.listWidget.addItem(item)
self._widget.listWidget.setItemWidget(item, widget)
self._widget.listWidget.scrollToBottom()
def __init__(self, context):
#Start client -rosbridge
self.client = roslibpy.Ros(host='localhost', port=5803)
self.client.run()
super(Dashboard, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('Dashboard')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_dashboard'), 'resource', 'Dashboard.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('DashboardUi')
# Set up signal-slot connections
self._widget.set_imu_angle_button.clicked.connect(self.setImuAngle)
self._widget.imu_angle.valueChanged.connect(self.imuAngleChanged)
self._widget.auto_wall_dist_button.clicked.connect(self.setAutoWallDist)
self._widget.auto_wall_dist.valueChanged.connect(self.autoWallDistChanged)
self._widget.ball_reset_button.clicked.connect(self.resetBallCount)
self._widget.ball_reset_count.valueChanged.connect(self.resetBallChanged)
# Add buttons for auto modes
v_layout = self._widget.auto_mode_v_layout #vertical layout storing the buttons
self.auto_mode_button_group = QButtonGroup(self._widget) # needs to be a member variable so the publisher can access it to see which auto mode was selected
# Search for auto_mode config items
for i in range(1,100): # loop will exit when can't find the next auto mode, so really only a while loop needed, but exiting at 100 will prevent infinite looping
if rospy.has_param("/auto/auto_mode_" + str(i)):
auto_sequence = rospy.get_param("/auto/auto_mode_" + str(i))
new_auto_mode = QWidget()
new_h_layout = QHBoxLayout()
new_h_layout.setContentsMargins(0,0,0,0)
new_button = QRadioButton("Mode " + str(i))
new_button.setStyleSheet("font-weight: bold")
self.auto_mode_button_group.addButton(new_button, i) #second arg is the button's id
new_h_layout.addWidget( new_button )
new_h_layout.addWidget( QLabel(", ".join(auto_sequence)) )
hSpacer = QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Minimum)
new_h_layout.addItem(hSpacer)
new_auto_mode.setLayout( new_h_layout )
v_layout.addWidget(new_auto_mode)
else:
print(str(i-1) + " auto modes found.")
# if no auto modes found, inform the user with a label
if (i-1) == 0:
v_layout.addWidget( QLabel("No auto modes found") )
break #break out of for loop searching for auto modes
# auto state stuff
self.autoState = 0
self.displayAutoState() #display initial auto state
# publish thread
publish_thread = Thread(target=self.publish_thread) #args=(self,))
publish_thread.start()
# number balls display
self.zero_balls = QPixmap(":/images/0_balls.png")
self.one_ball = QPixmap(":/images/1_ball.png")
self.two_balls = QPixmap(":/images/2_balls.png")
self.three_balls = QPixmap(":/images/3_balls.png")
self.four_balls = QPixmap(":/images/4_balls.png")
self.five_balls = QPixmap(":/images/5_balls.png")
self.more_than_five_balls = QPixmap(":/images/more_than_5_balls.png")
self.n_balls = -1 #don't know n balls at first
#in range stuff
self.shooter_in_range = False
self.turret_in_range = False
self.in_range_pixmap = QPixmap(":/images/GreenTarget.png")
self.not_in_range_pixmap = QPixmap(":/images/RedTarget.png")
self._widget.in_range_display.setPixmap(self.not_in_range_pixmap)
# 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)
#initialize subscribers last, so that any callbacks they execute won't interfere with init
auto_state_listener = roslibpy.Topic(self.client, '/auto/auto_state', 'behavior_actions/AutoState')
self.auto_state_sub = auto_state_listener.subscribe(self.autoStateCallback)
n_balls_listener = roslibpy.Topic(self.client,'/num_powercells','std_msgs/UInt8')
self.n_balls_sub = n_balls_listener.subscribe(self.nBallsCallback)
shooter_in_range_listener = roslibpy.Topic(self.client, '/shooter/shooter_in_range', std_msgs.msg.Bool)
self.shooter_in_range_sub = shooter_in_range_listener.subscribe(self.shooterInRangeCallback)
turret_in_range_listener = roslibpy.Topic(self.client, '/align_to_shoot/turret_in_range', std_msgs.msg.Bool)
self.turret_in_range_sub = turret_in_range_listener.subscribe(self.turretInRangeCallback)
self.autoStateSignal.connect(self.autoStateSlot)
self.nBallsSignal.connect(self.nBallsSlot)
self.shooterInRangeSignal.connect(self.shooterInRangeSlot)
self.turretInRangeSignal.connect(self.turretInRangeSlot)
