def __init__(self, updater, config, nodename):
"""
:param config:
:type config: Dictionary? defined in dynamic_reconfigure.client.Client
:type nodename: str
"""
super(GroupWidget, self).__init__()
self.state = config['state']
self.param_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)
logging.debug('Groups node name={}'.format(nodename))
self.nodename_qlabel.setText(nodename)
def _create_cell_push_button(self, text, clicked_cb, icon=None):
widget = QWidget()
button = QPushButton()
button.setText(text)
if icon:
button.setIcon(icon)
button.clicked[bool].connect(clicked_cb)
hlayout = QHBoxLayout(widget)
hlayout.addWidget(button)
hlayout.setAlignment(Qt.AlignCenter)
hlayout.setContentsMargins(0, 0, 0, 0)
widget.setLayout(hlayout)
return widget
def add_widgets(self):
"""
Add groups of widgets to _main_widget. Supports group labels.
This method can be reimplemented in order to customize appearances.
"""
widgets = self.get_widgets()
self._widgets = [
] # stores widgets which may need to be shut down when done
for group in widgets:
# Check for group label
if isinstance(group[0], str):
grouplabel, v = group
box = QGroupBox(grouplabel)
box.setContentsMargins(0, 18, 0, 0) # LTRB
# Apply the center-label directive only for single-icon groups
if len(group[1]) == 1:
box.setAlignment(Qt.AlignHCenter)
else:
box = QGroupBox()
box.setContentsMargins(0, 0, 0, 0) # LTRB
v = group
# Add widgets to QGroupBox
layout = QHBoxLayout()
layout.setSpacing(0)
layout.setContentsMargins(0, 0, 0, 0) # LTRB
for i in v:
try:
try:
i.setIconSize(
self.max_icon_size) # without this, icons are tiny
except AttributeError as e:
# triggers with battery which uses a QLabel instead of a QToolButton-based widget
pass
layout.addWidget(i)
self._widgets.append(i)
except:
raise Exception(
"All widgets must be a subclass of QWidget!")
layout.activate()
box.setLayout(layout)
self._main_widget.addWidget(box)
self._main_widget.addSeparator()
def add_widgets(self):
"""
Add groups of widgets to _main_widget. Supports group labels.
This method can be reimplemented in order to customize appearances.
"""
widgets = self.get_widgets()
self._widgets = [] # stores widgets which may need to be shut down when done
for group in widgets:
# Check for group label
if isinstance(group[0], str):
grouplabel, v = group
box = QGroupBox(grouplabel)
box.setContentsMargins(0, 18, 0, 0) # LTRB
# Apply the center-label directive only for single-icon groups
if len(group[1]) == 1:
box.setAlignment(Qt.AlignHCenter)
else:
box = QGroupBox()
box.setContentsMargins(0, 0, 0, 0) # LTRB
v = group
# Add widgets to QGroupBox
layout = QHBoxLayout()
layout.setSpacing(0)
layout.setContentsMargins(0, 0, 0, 0) # LTRB
for i in v:
try:
try:
i.setIconSize(self.max_icon_size) # without this, icons are tiny
except AttributeError as e:
# triggers with battery which uses a QLabel instead of a QToolButton-based widget
pass
layout.addWidget(i)
self._widgets.append(i)
except:
raise Exception("All widgets must be a subclass of QWidget!")
layout.activate()
box.setLayout(layout)
self._main_widget.addWidget(box)
self._main_widget.addSeparator()
class ParamClientWidget(GroupWidget):
"""
A wrapper of dynamic_reconfigure.client instance.
Represents a widget where users can view and modify ROS params.
"""
def __init__(self, reconf, node_name):
"""
:type reconf: dynamic_reconfigure.client
:type node_name: str
"""
group_desc = reconf.get_group_descriptions()
logging.debug('ParamClientWidget.group_desc=%s', group_desc)
super(ParamClientWidget, self).__init__(ParamUpdater(reconf),
group_desc, node_name)
# Save and load buttons
self.button_widget = QWidget(self)
self.button_header = QHBoxLayout(self.button_widget)
self.button_header.setContentsMargins(QMargins(0, 0, 0, 0))
self.load_button = QPushButton()
self.save_button = QPushButton()
self.load_button.setIcon(QIcon.fromTheme('document-open'))
self.save_button.setIcon(QIcon.fromTheme('document-save'))
self.load_button.clicked[bool].connect(self._handle_load_clicked)
self.save_button.clicked[bool].connect(self._handle_save_clicked)
self.button_header.addWidget(self.save_button)
self.button_header.addWidget(self.load_button)
self.setMinimumWidth(150)
self.reconf = reconf
self.updater.start()
self.reconf.config_callback = self.config_callback
self._node_grn = node_name
def get_node_grn(self):
return self._node_grn
def config_callback(self, config):
# TODO: Think about replacing callback architecture with signals.
if config:
# TODO: should use config.keys but this method doesnt exist
names = [name for name, v in config.items()]
# v isn't used but necessary to get key and put it into dict.
# logging.debug('config_callback name={} v={}'.format(name, v))
for widget in self.editor_widgets:
if isinstance(widget, EditorWidget):
if widget.param_name in names:
logging.debug('EDITOR widget.param_name=%s',
widget.param_name)
widget.update_value(config[widget.param_name])
elif isinstance(widget, GroupWidget):
cfg = find_cfg(config, widget.param_name)
logging.debug('GROUP widget.param_name=%s',
widget.param_name)
widget.update_group(cfg)
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('YAML file {.yaml} (*.yaml)'))
if filename[0] != '':
self.load_param(filename[0])
def _handle_save_clicked(self):
filename = QFileDialog.getSaveFileName(
self, self.tr('Save parameters to file...'), '.',
self.tr('YAML files {.yaml} (*.yaml)'))
if filename[0] != '':
self.save_param(filename[0])
def save_param(self, filename):
configuration = self.reconf.get_configuration()
if configuration is not None:
with open(filename, 'w') as f:
yaml.dump(configuration, f)
def load_param(self, filename):
with open(filename, 'r') as f:
configuration = {}
for doc in yaml.load_all(f.read()):
configuration.update(doc)
try:
self.reconf.update_configuration(configuration)
except ServiceException as e:
logging.warn(
"Call for reconfiguration wasn't successful because: %s",
e.message)
except DynamicReconfigureParameterException as e:
logging.warn("Reconfiguration wasn't successful because: %s",
e.message)
except DynamicReconfigureCallbackException as e:
logging.warn("Reconfiguration wasn't successful because: %s",
e.message)
def close(self):
self.reconf.close()
self.updater.stop()
for w in self.editor_widgets:
w.close()
self.deleteLater()
def filter_param(self, filter_key):
# TODO impl
pass
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)
_hlayout_top.setContentsMargins(QMargins(0, 0, 0, 0))
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)
# Open any clients indicated from command line
self.sig_selected.connect(self._nodesel_widget.node_selected)
for rn in [rospy.resolve_name(c) for c in context.argv()]:
if rn in self._nodesel_widget.get_paramitems():
self.sig_selected.emit(rn)
else:
rospy.logwarn('Could not find a dynamic reconfigure client named \'%s\'', str(rn))
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)
_hlayout_top.setContentsMargins(QMargins(0, 0, 0, 0))
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)
# Open any clients indicated from command line
self.sig_selected.connect(self._nodesel_widget.node_selected)
for rn in [rospy.resolve_name(c) for c in context.argv()]:
if rn in self._nodesel_widget.get_paramitems():
self.sig_selected.emit(rn)
else:
rospy.logwarn(
'Could not find a dynamic reconfigure client named \'%s\'',
str(rn))
class DynreconfClientWidget(GroupWidget):
"""
A wrapper of dynamic_reconfigure.client instance.
Represents a widget where users can view and modify ROS params.
"""
def __init__(self, reconf, node_name):
"""
:type reconf: dynamic_reconfigure.client
:type node_name: str
"""
group_desc = reconf.get_group_descriptions()
rospy.logdebug('DynreconfClientWidget.group_desc=%s', group_desc)
super(DynreconfClientWidget, self).__init__(ParamUpdater(reconf),
group_desc, node_name)
# Save and load buttons
self.button_widget = QWidget(self)
self.button_header = QHBoxLayout(self.button_widget)
self.button_header.setContentsMargins(QMargins(0, 0, 0, 0))
self.load_button = QPushButton()
self.save_button = QPushButton()
self.load_button.setIcon(QIcon.fromTheme('document-open'))
self.save_button.setIcon(QIcon.fromTheme('document-save'))
self.load_button.clicked[bool].connect(self._handle_load_clicked)
self.save_button.clicked[bool].connect(self._handle_save_clicked)
self.button_header.addWidget(self.save_button)
self.button_header.addWidget(self.load_button)
self.setMinimumWidth(150)
self.reconf = reconf
self.updater.start()
self.reconf.config_callback = self.config_callback
self._node_grn = node_name
def get_node_grn(self):
return self._node_grn
def config_callback(self, config):
#TODO: Think about replacing callback architecture with signals.
if config:
# TODO: should use config.keys but this method doesnt exist
names = [name for name, v in config.items()]
# v isn't used but necessary to get key and put it into dict.
rospy.logdebug('config_callback name={} v={}'.format(name, v))
for widget in self.editor_widgets:
if isinstance(widget, EditorWidget):
if widget.param_name in names:
rospy.logdebug('EDITOR widget.param_name=%s',
widget.param_name)
widget.update_value(config[widget.param_name])
elif isinstance(widget, GroupWidget):
cfg = find_cfg(config, widget.param_name)
rospy.logdebug('GROUP widget.param_name=%s',
widget.param_name)
widget.update_group(cfg)
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('YAML file {.yaml} (*.yaml)'))
if filename[0] != '':
self.load_param(filename[0])
def _handle_save_clicked(self):
filename = QFileDialog.getSaveFileName(
self, self.tr('Save parameters to file...'), '.',
self.tr('YAML files {.yaml} (*.yaml)'))
if filename[0] != '':
self.save_param(filename[0])
def save_param(self, filename):
configuration = self.reconf.get_configuration()
if configuration is not None:
with file(filename, 'w') as f:
yaml.dump(configuration, f)
def load_param(self, filename):
with file(filename, 'r') as f:
configuration = {}
for doc in yaml.load_all(f.read()):
configuration.update(doc)
self.reconf.update_configuration(configuration)
def close(self):
self.reconf.close()
self.updater.stop()
for w in self.editor_widgets:
w.close()
self.deleteLater()
def filter_param(self, filter_key):
#TODO impl
pass
def __init__(self, updater, config, nodename):
'''
:param config:
:type config: Dictionary? defined in dynamic_reconfigure.client.Client
:type nodename: str
'''
super(GroupWidget, self).__init__()
self.state = config['state']
self.param_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_name):
"""
Initializaze things.
:type node_name: str
"""
super(ParamClientWidget, self).__init__()
self._node_grn = node_name
self._toplevel_treenode_name = node_name
self._editor_widgets = {}
self._param_client = create_param_client(
context.node, node_name, self._handle_param_event
)
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))
nodename_qlabel = QLabel(self)
font = QFont('Trebuchet MS, Bold')
font.setUnderline(True)
font.setBold(True)
font.setPointSize(10)
nodename_qlabel.setFont(font)
nodename_qlabel.setAlignment(Qt.AlignCenter)
nodename_qlabel.setText(node_name)
h_layout_nodeheader.addWidget(nodename_qlabel)
# 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(bt_disable_node)
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.
param_names = self._param_client.list_parameters()
self.add_editor_widgets(
self._param_client.get_parameters(param_names),
self._param_client.describe_parameters(param_names)
)
# Save and load buttons
button_widget = QWidget(self)
button_header = QHBoxLayout(button_widget)
button_header.setContentsMargins(QMargins(0, 0, 0, 0))
load_button = QPushButton()
save_button = QPushButton()
load_button.setIcon(QIcon.fromTheme('document-open'))
save_button.setIcon(QIcon.fromTheme('document-save'))
load_button.clicked[bool].connect(self._handle_load_clicked)
save_button.clicked[bool].connect(self._handle_save_clicked)
button_header.addWidget(save_button)
button_header.addWidget(load_button)
self.setMinimumWidth(150)
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)
