def create_item(self, parent, list):
section_header = [] # List of the section headers
for i in range (len(list)):
if (list[i][1] == '' and list[i][0] != ''):
section_header.append(list[i][0])
k = 0
# Iterate through the different sections
for j in range (len(section_header)):
# Child refers to the sections (mechanical, avionics, etc)
child = QTreeWidgetItem(parent)
child.setFlags(child.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
child.setText(0, section_header[j])
while k < len(list):
if list[k][0] in section_header:
# When the while loop encounters the first title, continue the loop
if (list[k][0] == section_header[0]):
k += 1
continue
# When the while loop encounters the next titles, break the loop so that the value of j increases
k += 1
break
# when the list contains empty cells, skip the cell and continue
elif list[k][0] == '':
k += 1
continue
# Add the list items to the treewidgetitem
# Grandchild refers to the items under each section (wing nuts, tail nuts, etc)
grandchild = QTreeWidgetItem(child)
grandchild.setText(0, list[k][0])
grandchild.setText(1, list[k][1])
grandchild.setCheckState(0, Qt.Unchecked) # Set all checkbox to its unchecked state
k += 1
def refresh_tree(self):
self.select_tree.itemChanged.disconnect()
self.select_tree.clear()
for joint_name in self.joint_names:
item = QTreeWidgetItem(self.select_tree)
item.setText(0, joint_name)
item.setCheckState(0, Qt.Unchecked)
item.setFlags(Qt.ItemIsUserCheckable | Qt.ItemIsEnabled)
for traj_name in ['position', 'velocity', 'acceleration', 'effort']:
sub_item = QTreeWidgetItem(item)
sub_item.setText(0, traj_name)
sub_item.setCheckState(0, Qt.Unchecked)
sub_item.setFlags(Qt.ItemIsUserCheckable | Qt.ItemIsEnabled)
self.select_tree.itemChanged.connect(self.update_checkbox)
def motor_switcher(self):
'''
Loads the motors into the tree and adds the checkboxes
'''
self._widget.motorTree.setHeaderLabel("Stiff Motors")
self._motorCheckBody.setText(0, "Body")
self._motorCheckBody.setFlags(self._motorCheckBody.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
self._motorCheckBody.setExpanded(True)
self._motorCheckHead.setText(0, "Head")
self._motorCheckHead.setFlags(self._motorCheckHead.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
self._motorCheckHead.setExpanded(True)
self._motorCheckArms.setText(0, "Arms")
self._motorCheckArms.setFlags(self._motorCheckArms.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
self._motorCheckArms.setExpanded(True)
self._motorCheckLegs.setText(0, "Legs")
self._motorCheckLegs.setFlags(self._motorCheckLegs.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
self._motorCheckLegs.setExpanded(True)
self._motorCheckLArm.setText(0, "Left Arm")
self._motorCheckLArm.setFlags(self._motorCheckLArm.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
self._motorCheckLArm.setExpanded(True)
self._motorCheckRArm.setText(0, "Right Arm")
self._motorCheckRArm.setFlags(self._motorCheckRArm.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
self._motorCheckRArm.setExpanded(True)
self._motorCheckLLeg.setText(0, "Left Leg")
self._motorCheckLLeg.setFlags(self._motorCheckLLeg.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
self._motorCheckLLeg.setExpanded(True)
self._motorCheckRLeg.setText(0, "Right Leg")
self._motorCheckRLeg.setFlags(self._motorCheckRLeg.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
self._motorCheckRLeg.setExpanded(True)
for k, v in self._currentGoals.items():
parent = None
if 'LHip' in k or 'LKnee' in k or 'LAnkle' in k:
parent = self._motorCheckLLeg
elif 'RHip' in k or 'RKnee' in k or 'RAnkle' in k:
parent = self._motorCheckRLeg
elif 'LShoulder' in k or 'LElbow' in k:
parent = self._motorCheckLArm
elif 'RShoulder' in k or 'RElbow' in k:
parent = self._motorCheckRArm
elif 'Head' in k:
parent = self._motorCheckHead
child = QTreeWidgetItem(parent)
child.setText(0, k)
child.setFlags(child.flags() | Qt.ItemIsUserCheckable)
child.setCheckState(0, Qt.Checked)
self._treeItems[k] = child
self._widget.motorTree.itemClicked.connect(self.box_ticked)
def _add_msg_object(self, parent, path, name, obj, obj_type):
label = name
if hasattr(obj, '__slots__'):
subobjs = [(slot, getattr(obj, slot)) for slot in obj.__slots__]
elif type(obj) in [list, tuple]:
len_obj = len(obj)
if len_obj == 0:
subobjs = []
else:
w = int(math.ceil(math.log10(len_obj)))
subobjs = [('[%*d]' % (w, i), subobj) for (i, subobj) in enumerate(obj)]
else:
subobjs = []
plotitem = False
if type(obj) in [int, long, float]:
plotitem = True
if type(obj) == float:
obj_repr = '%.6f' % obj
else:
obj_repr = str(obj)
if obj_repr[0] == '-':
label += ': %s' % obj_repr
else:
label += ': %s' % obj_repr
elif type(obj) in [str, bool, int, long, float, complex, rospy.Time]:
# Ignore any binary data
obj_repr = codecs.utf_8_decode(str(obj), 'ignore')[0]
# Truncate long representations
if len(obj_repr) >= 50:
obj_repr = obj_repr[:50] + '...'
label += ': ' + obj_repr
item = QTreeWidgetItem([label])
if name == '':
pass
elif path.find('.') == -1 and path.find('[') == -1:
self.addTopLevelItem(item)
else:
parent.addChild(item)
if plotitem == True:
if path.replace(' ', '') in self._checked_states:
item.setCheckState(0, Qt.Checked)
else:
item.setCheckState(0, Qt.Unchecked)
item.setData(0, Qt.UserRole, (path, obj_type))
for subobj_name, subobj in subobjs:
if subobj is None:
continue
if path == '':
subpath = subobj_name # root field
elif subobj_name.startswith('['):
subpath = '%s%s' % (path, subobj_name) # list, dict, or tuple
else:
subpath = '%s.%s' % (path, subobj_name) # attribute (prefix with '.')
if hasattr(subobj, '_type'):
subobj_type = subobj._type
else:
subobj_type = type(subobj).__name__
self._add_msg_object(item, subpath, subobj_name, subobj, subobj_type)
class ChecklistWindow(QWidget):
def __init__(self, aircraft_id):
super(ChecklistWindow, self).__init__()
# Set properties of the window
self.setWindowTitle("BTO and BPO Checklist")
self.resize(500, 700)
self.move(200,100)
self.checklist_state = 0
# Relative path for the default BPO and BTO checklist
BPO_checklist_file = os.path.join(rospkg.RosPack().get_path('yonah_rqt'), 'src/yonah_rqt', 'BPO_checklist.csv')
BTO_checklist_file = os.path.join(rospkg.RosPack().get_path('yonah_rqt'), 'src/yonah_rqt', 'BTO_checklist.csv')
# Check whether checklist is present, if not print a error message to terminal
try:
# If checklist is present, parse it and pass it to its respective variable
self.BPO_checklist = self.excel_parser(BPO_checklist_file)
self.BTO_checklist = self.excel_parser(BTO_checklist_file)
except:
rospy.logerr("Checklist files are missing or named wrongly. Please follow the original directory and naming")
exit()
# Create the layout
self.main_layout = QVBoxLayout()
self.buttons_layout = QHBoxLayout()
self.tree_widget_layout = QHBoxLayout()
# Create the widgets
self.create_widget()
self.has_message_opened = 0
# Add the widgets into the layouts
self.main_layout.addLayout(self.tree_widget_layout)
self.main_layout.addLayout(self.buttons_layout)
self.setLayout(self.main_layout)
# Create the main layout of widget
def create_widget(self):
# Create tree structure
self.create_tree()
# Declare buttons and connect each of them to a function
self.load_button = QPushButton('Load')
self.ok_button = QPushButton('OK')
self.cancel_button = QPushButton('Cancel')
self.load_button.pressed.connect(self.load_clicked)
self.ok_button.pressed.connect(self.ok_clicked)
self.cancel_button.pressed.connect(self.cancel_clicked)
# Add buttons into the layout
self.buttons_layout.addWidget(self.load_button)
self.buttons_layout.addWidget(self.cancel_button)
self.buttons_layout.addWidget(self.ok_button)
self.tree_widget_layout.addWidget(self.tree_widget)
# Create the tree layout of widget inside of the main layout
def create_tree(self):
# Set up the main tree widget
self.tree_widget = QTreeWidget()
self.tree_widget.setColumnCount(2)
self.tree_widget.setColumnWidth(0, 250)
self.tree_widget.setHeaderLabels(['Parts', 'Status'])
self.item = QTreeWidgetItem()
# Create the BPO section
self.BPO_header = QTreeWidgetItem(self.tree_widget)
self.BPO_header.setFlags(self.BPO_header.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
self.BPO_header.setText(0, 'BPO Checklist')
self.BPO_header.setExpanded(True)
self.create_item(self.BPO_header, self.BPO_checklist) # Adds the list of items into the section
# Create the BTO section
self.BTO_header = QTreeWidgetItem(self.tree_widget)
self.BTO_header.setFlags(self.BTO_header.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
self.BTO_header.setText(0, 'BTO Checklist')
self.BTO_header.setExpanded(True)
self.create_item(self.BTO_header, self.BTO_checklist) # Adds the list of items into the section
# Populate the tree layout with items
def create_item(self, parent, list):
section_header = [] # List of the section headers
for i in range (len(list)):
if (list[i][1] == '' and list[i][0] != ''):
section_header.append(list[i][0])
k = 0
# Iterate through the different sections
for j in range (len(section_header)):
# Child refers to the sections (mechanical, avionics, etc)
child = QTreeWidgetItem(parent)
child.setFlags(child.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
child.setText(0, section_header[j])
while k < len(list):
if list[k][0] in section_header:
# When the while loop encounters the first title, continue the loop
if (list[k][0] == section_header[0]):
k += 1
continue
# When the while loop encounters the next titles, break the loop so that the value of j increases
k += 1
break
# when the list contains empty cells, skip the cell and continue
elif list[k][0] == '':
k += 1
continue
# Add the list items to the treewidgetitem
# Grandchild refers to the items under each section (wing nuts, tail nuts, etc)
grandchild = QTreeWidgetItem(child)
grandchild.setText(0, list[k][0])
grandchild.setText(1, list[k][1])
grandchild.setCheckState(0, Qt.Unchecked) # Set all checkbox to its unchecked state
k += 1
# Read the excel sheet and parse it as an array
def excel_parser(self, file_name):
with open(file_name, 'r') as file:
checklist = []
reader = csv.reader(file)
for row in reader:
checklist.append(row)
return checklist
# Determines what happens when load button is clicked
def load_clicked(self):
# Use QFileDialog to open the system's file browser
filenames = QFileDialog.getOpenFileNames(
self, self.tr('Load from Files'), '.', self.tr('csv files {.csv} (*.csv)'))
# Iterate through the file names selected
for filename in filenames[0]:
# If the file names has the word BPO or BTO in it, remove current widget, add the loaded one
if (filename.find('BPO') != -1):
self.BPO_checklist = self.excel_parser(filename)
self.remove_widget()
self.create_widget()
elif (filename.find('BTO') != -1):
self.BTO_checklist = self.excel_parser(filename)
self.remove_widget()
self.create_widget()
else:
rospy.logerr('rqt: Checklist name must contain BPO or BTO')
self.close()
# Close all the main_layout
def remove_widget(self):
self.main_layout.removeWidget(self.tree_widget)
self.tree_widget.deleteLater()
self.buttons_layout.removeWidget(self.ok_button)
self.buttons_layout.removeWidget(self.cancel_button)
self.buttons_layout.removeWidget(self.load_button)
self.ok_button.deleteLater()
self.cancel_button.deleteLater()
self.load_button.deleteLater()
# Declare what will happen when ok button is clicked
def ok_clicked(self):
if self.BPO_header.checkState(0) != 2 or self.BTO_header.checkState(0) != 2: # User clicks ok without checking all
self.dialog_window("Some items in the checklist are still unchecked", "Do you still want to continue?", True)
else:
self.checklist_state = 1
self.close()
# Declare what will happen when cancel button is clicked
def cancel_clicked(self):
if self.BPO_header.checkState(0) != 0 or self.BTO_header.checkState(0) != 0: # User clicks cancel with some boxes checked
self.dialog_window('Some of your items are checked. Cancelling will uncheck all your items', 'Do you still want to continue?', False)
else:
self.BTO_header.setCheckState(0, Qt.Unchecked)
self.BPO_header.setCheckState(0, Qt.Unchecked)
self.close()
# Create a pop up window when user pre-emptively cancelled or clicked ok without completing the checklist
def dialog_window(self, message, detail, check):
self.message = QMessageBox()
self.has_message_opened = 1
self.message.setIcon(QMessageBox.Warning)
self.message.setText(message)
self.message.setInformativeText(detail)
self.message.setWindowTitle("Items are unchecked")
self.message.setStandardButtons(QMessageBox.Yes | QMessageBox.No)
self.message.show()
if check == True: # Check == True means it is from ok_clicked
self.message.buttonClicked.connect(self.message_action)
else:
self.message.buttonClicked.connect(self.message_action_uncheck)
# Determines what happens after dialog_window pops up from ok_button
def message_action(self, i):
if i.text() == '&Yes':
self.checklist_state = 1
self.close()
else:
self.message.close()
# Determines what happens after dialog_window pops up from cancel_button
def message_action_uncheck(self, i):
self.response = i.text()
if self.response == '&Yes':
self.checklist_state = 1
self.BTO_header.setCheckState(0, Qt.Unchecked)
self.BPO_header.setCheckState(0, Qt.Unchecked)
self.close()
else:
self.message.close()
# Shutdown function
def shutdown(self):
self.close()
if self.has_message_opened == 1:
self.message.close()
def _add_msg_object(self, parent, path, name, obj, obj_type):
label = name
if hasattr(obj, '__slots__'):
subobjs = [(slot, getattr(obj, slot)) for slot in obj.__slots__]
elif type(obj) in [list, tuple]:
len_obj = len(obj)
if len_obj == 0:
subobjs = []
else:
w = int(math.ceil(math.log10(len_obj)))
subobjs = [('[%*d]' % (w, i), subobj) for (i, subobj) in enumerate(obj)]
else:
subobjs = []
plotitem=False
if type(obj) in [int, long, float]:
plotitem=True
if type(obj) == float:
obj_repr = '%.6f' % obj
else:
obj_repr = str(obj)
if obj_repr[0] == '-':
label += ': %s' % obj_repr
else:
label += ': %s' % obj_repr
elif type(obj) in [str, bool, int, long, float, complex, rospy.Time]:
# Ignore any binary data
obj_repr = codecs.utf_8_decode(str(obj), 'ignore')[0]
# Truncate long representations
if len(obj_repr) >= 50:
obj_repr = obj_repr[:50] + '...'
label += ': ' + obj_repr
item = QTreeWidgetItem([label])
if name == '':
pass
elif path.find('.') == -1 and path.find('[') == -1:
self.addTopLevelItem(item)
else:
parent.addChild(item)
if plotitem == True:
if path.replace(' ', '') in self._checked_states:
item.setCheckState (0, Qt.Checked)
else:
item.setCheckState (0, Qt.Unchecked)
item.setData(0, Qt.UserRole, (path, obj_type))
for subobj_name, subobj in subobjs:
if subobj is None:
continue
if path == '':
subpath = subobj_name # root field
elif subobj_name.startswith('['):
subpath = '%s%s' % (path, subobj_name) # list, dict, or tuple
else:
subpath = '%s.%s' % (path, subobj_name) # attribute (prefix with '.')
if hasattr(subobj, '_type'):
subobj_type = subobj._type
else:
subobj_type = type(subobj).__name__
self._add_msg_object(item, subpath, subobj_name, subobj, subobj_type)
