def updateView(self):
if self.selected:
pixmap = QtGui.QPixmap(self.selectedIconPath)
else:
pixmap = QtGui.QPixmap(self.notSelectedIconPath)
self.icon.setPixmap(
pixmap.scaledToWidth(self.actionIconWidth,
QtCore.Qt.SmoothTransformation))
def main():
from python_qt_binding import QtGui, QtCore, QT_BINDING
import hyperspyui.info
from hyperspyui.singleapplication import get_app
from hyperspyui.settings import Settings
from hyperspyui.util import dummy_context_manager
# Need to set early to make QSettings accessible
QtCore.QCoreApplication.setApplicationName("HyperSpyUI")
QtCore.QCoreApplication.setOrganizationName("Hyperspy")
QtCore.QCoreApplication.setApplicationVersion(hyperspyui.info.version)
# First, clear all default settings!
# TODO: This will cause a concurrency issue with multiple launch
Settings.clear_defaults()
# Setup default for single/multi-instance
settings = Settings(group="General")
settings.set_default('allow_multiple_instances', False)
if settings['allow_multiple_instances', bool]:
# Using multiple instances, get a new application
app = QtGui.QApplication(sys.argv)
else:
# Make sure we only have a single instance
app = get_app('hyperspyui')
log_file = _get_logfile()
if log_file:
sys.stdout = sys.stderr = log_file
else:
log_file = dummy_context_manager()
with log_file:
# Create and display the splash screen
splash_pix = QtGui.QPixmap(
os.path.dirname(__file__) + './images/splash.png')
splash = QtGui.QSplashScreen(splash_pix,
QtCore.Qt.WindowStaysOnTopHint)
splash.setMask(splash_pix.mask())
splash.show()
app.processEvents()
# Need to have import here, as it can take some time, so should happen
# after displaying splash
from hyperspyui.mainwindow import MainWindow
form = MainWindow()
if not settings['allow_multiple_instances', bool]:
if QT_BINDING == 'pyqt':
app.messageAvailable.connect(form.handleSecondInstance)
elif QT_BINDING == 'pyside':
app.messageReceived.connect(form.handleSecondInstance)
form.showMaximized()
splash.finish(form)
form.load_complete.emit()
# Ensure logging is OK
import hyperspy.api as hs
hs.set_log_level(LOGLEVEL)
app.exec_()
def updateDescription(self, index, cfg, name, displayed_name, robot_type,
description, images):
'''
Sets the values of an existing item to the given items only if the current
value is empty.
'''
if index < len(self._data):
obj = self._data[index]
if not cfg in obj['cfgs']:
obj['cfgs'].append(cfg)
if not obj['name']:
obj['name'] = name
if not obj['displayed_name']:
obj['displayed_name'] = displayed_name
if not obj['type']:
obj['type'] = robot_type
if not obj['description']:
obj['description'] = resolve_paths(description)
if not obj['images']:
for image_path in images:
img = resolve_paths(image_path)
if img and img[0] != os.path.sep:
img = os.path.join(nm.settings().PACKAGE_DIR,
image_path)
if os.path.isfile(img):
obj['images'].append(QtGui.QPixmap(img))
def load_cursor(filename, hotX=-1, hotY=-1):
renderer = QtSvg.QSvgRenderer(filename)
pm = QtGui.QPixmap(16, 16)
pm.fill(QtCore.Qt.transparent)
painter = QtGui.QPainter(pm)
renderer.render(painter)
del painter, renderer
return QtGui.QCursor(pm, hotX, hotY)
def image_callback(self, data):
"""Image callback"""
#rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
rgb_image = CvBridge().imgmsg_to_cv2(data, desired_encoding="rgb8")
height, width, channel = rgb_image.shape
bytesPerLine = 3 * width
qImg = QtGui.QImage(rgb_image.data, width, height, bytesPerLine, QtGui.QImage.Format_RGB888)
self.videoframe.setPixmap(QtGui.QPixmap(qImg))
def __init__(self, guimgr):
super(AwQuickStartPanel, self).__init__()
self.guimgr = guimgr
self.frames = {"root/" + name: None for name in ["map", "vehicle", "sensing", "visualization"]}
self.awlogo = QtWidgets.QLabel()
pixmap = QtGui.QPixmap(myutils.package("resources/autoware_logo.png"))
self.awlogo.setPixmap(pixmap)
self.awlogo.setAlignment(QtCore.Qt.AlignCenter)
self.awlogo.setSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Expanding)
def setImage(self, image_string, x, y, label, l_bearing, scale=True):
if scale == False:
l_bearing -= 90
p_map = QtGui.QPixmap(image_string)
p_map = p_map.scaled(x, y, QtCore.Qt.KeepAspectRatio)
transform = QtGui.QTransform().rotate(l_bearing)
p_map = p_map.transformed(transform, QtCore.Qt.SmoothTransformation)
QtWidgets.QLabel.setPixmap(label , p_map)
label.setAlignment(QtCore.Qt.AlignCenter)
if scale == True:
label.setScaledContents(True)
def __init__(self,
items=list(),
buttons=QtGui.QDialogButtonBox.Cancel
| QtGui.QDialogButtonBox.Ok,
exclusive=False,
preselect_all=False,
title='',
description='',
icon='',
parent=None,
select_if_single=True):
'''
Creates an input dialog.
@param items: a list with strings
@type items: C{list()}
'''
QtGui.QDialog.__init__(self, parent=parent)
self.setObjectName(' - '.join(['SelectDialog', str(items)]))
self.verticalLayout = QtGui.QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
# add filter row
self.filter_frame = QtGui.QFrame(self)
filterLayout = QtGui.QHBoxLayout(self.filter_frame)
filterLayout.setContentsMargins(1, 1, 1, 1)
label = QtGui.QLabel("Filter:", self.filter_frame)
self.filter_field = QtGui.QLineEdit(self.filter_frame)
filterLayout.addWidget(label)
filterLayout.addWidget(self.filter_field)
self.filter_field.textChanged.connect(self._on_filter_changed)
self.verticalLayout.addWidget(self.filter_frame)
if description:
self.description_frame = QtGui.QFrame(self)
descriptionLayout = QtGui.QHBoxLayout(self.description_frame)
# descriptionLayout.setContentsMargins(1, 1, 1, 1)
if icon:
self.icon_label = QtGui.QLabel(self.description_frame)
self.icon_label.setSizePolicy(QtGui.QSizePolicy.Fixed,
QtGui.QSizePolicy.Fixed)
self.icon_label.setPixmap(
QtGui.QPixmap(icon).scaled(30, 30,
QtCore.Qt.KeepAspectRatio))
descriptionLayout.addWidget(self.icon_label)
self.description_label = QtGui.QLabel(self.description_frame)
self.description_label.setWordWrap(True)
self.description_label.setText(description)
descriptionLayout.addWidget(self.description_label)
self.verticalLayout.addWidget(self.description_frame)
# create area for the parameter
self.scrollArea = scrollArea = QtGui.QScrollArea(self)
self.scrollArea.setFocusPolicy(QtCore.Qt.NoFocus)
scrollArea.setObjectName("scrollArea")
scrollArea.setWidgetResizable(True)
self.content = MainBox(self)
scrollArea.setWidget(self.content)
self.verticalLayout.addWidget(scrollArea)
# add select all option
if not exclusive:
self._ignore_next_toggle = False
options = QtGui.QWidget(self)
hLayout = QtGui.QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.select_all_checkbox = QtGui.QCheckBox('all')
self.select_all_checkbox.setTristate(True)
self.select_all_checkbox.stateChanged.connect(
self._on_select_all_checkbox_stateChanged)
hLayout.addWidget(self.select_all_checkbox)
self.content.toggled.connect(self._on_main_toggle)
# add spacer
spacerItem = QtGui.QSpacerItem(515, 20,
QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
self.verticalLayout.addWidget(options)
# create buttons
self.buttonBox = QtGui.QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(QtCore.Qt.Horizontal)
self.buttonBox.setStandardButtons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
# set the input fields
if items:
self.content.createFieldsFromValues(items, exclusive)
if (select_if_single and len(items) == 1) or preselect_all:
self.select_all_checkbox.setCheckState(QtCore.Qt.Checked)
if not items or len(items) < 11:
self.filter_frame.setVisible(False)
def __init__(self, *args, **kwargs):
QtGui.QLabel.__init__(self)
self._pixmap = QtGui.QPixmap(self.pixmap())
def __init__(self, context):
"""Loads up the master.ui GUI file and adds some additional widgets that cannot be added beforehand. Also sets some necessary variables."""
super(HardwareUI, self).__init__(context)
self._widget = QMainWindow()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('bitbots_hardware_rqt'), 'resource',
'master.ui')
loadUi(ui_file, self._widget, {})
self.current_tab = 0
self.current_outer_tab = 0
self.historydict = []
self.colorlist = [
] #Holds information about the graph colors, so we can distinguish between the different motors
self.motornames = [
'HeadPan', 'HeadTilt', 'LAnklePitch', 'LAnkleRoll', 'LElbow',
'LHipPitch', 'LHipRoll', 'LHipYaw', 'LKnee', 'LShoulderPitch',
'LShoulderRoll', 'RAnklePitch', 'RAnkleRoll', 'RElbow',
'RHipPitch', 'RHipRoll', 'RHipYaw', 'RKnee', 'RShoulderPitch',
'RShoulderRoll'
] #We need the motor names in alphabetical order for some gui elements
for i in range(0, 20):
self.colorlist.append(
(random.randrange(50, 255), random.randrange(0, 255),
random.randrange(0, 255)))
self.templist = [[] for i in range(20)]
self.torquelist = [[] for i in range(20)]
self.voltagelist = [[] for i in range(20)]
self.crosshair = QLabel()
self.pixmap = QtGui.QPixmap(
os.path.join(rp.get_path('bitbots_hardware_rqt'), 'resource',
'cross.png'))
self.crosshair.setPixmap(self.pixmap)
self.crosshair.setParent(self._widget.label_4)
self.crosshair.move(187, 187)
self.crosshair2 = QLabel()
self.pixmap = QtGui.QPixmap(
os.path.join(rp.get_path('bitbots_hardware_rqt'), 'resource',
'cross.png'))
self.crosshair2.setPixmap(self.pixmap)
self.crosshair2.setParent(self._widget.label_11)
self.crosshair2.move(87, 87)
self.make_Graphs()
self.votrigger.connect(lambda: self.update_graph(
self.voltageplt, self.voltagelist, self.combobox2, 3))
self.tetrigger.connect(lambda: self.update_graph(
self.tempplt, self.templist, self.combobox3, 1))
self.totrigger.connect(lambda: self.update_graph(
self.torqueplt, self.torquelist, self.combobox, 2))
#self._robot_ip = [l for l in ([ip for ip in socket.gethostbyname_ex(socket.gethostname())[2] if not ip.startswith("127.")][:1], [[(s.connect(('8.8.8.8', 53)), s.getsockname()[0], s.close()) for s in [socket.socket(socket.AF_INET, socket.SOCK_DGRAM)]][0][1]]) if l][0][0]
self._robot, button_pressed = QInputDialog.getText(self._widget, "Robot?", \
"Select your Robot. Example: nuc1", QLineEdit.Normal, "")
self.diagnostics = rospy.Subscriber(
"/{}/diagnostics".format(self._robot), DiagnosticArray,
self.set_motor_diagnostics)
self.joint_states = rospy.Subscriber(
"/{}/joint_states".format(self._robot), JointState,
self.set_motor_joint_states)
self.buttons = rospy.Subscriber("/{}/buttons".format(self._robot),
Buttons, self.set_buttons)
self.imu = rospy.Subscriber("/{}/imu/data".format(self._robot), Imu,
self.emit_imu_trigger)
self.state = rospy.Subscriber("/{}/robot_state".format(self._robot),
RobotControlState, self.set_robot_state)
self.imutrigger.connect(self.set_imu)
#self.rcvthread = ReceiverThread(self._robot_ip, self._robot_port)
#self.rcvthread.start()
self._widget.GraphenView.currentChanged.connect(
self.current_graph_changed)
self._widget.tabWidget.currentChanged.connect(
self.current_outer_tab_changed)
#self._widget.label_14.setText("IP: "+ [l for l in ([ip for ip in socket.gethostbyname_ex(socket.gethostname())[2] if not ip.startswith("127.")][:1], [[(s.connect(('8.8.8.8', 53)), s.getsockname()[0], s.close()) for s in [socket.socket(socket.AF_INET, socket.SOCK_DGRAM)]][0][1]]) if l][0][0])
context.add_widget(self._widget)
self._widget.show()
def __init__(self):
super(ManualWindow, self).__init__()
self.setAttribute(QtCore.Qt.WA_DeleteOnClose)
self.ui = '../forms/manual.ui'
loadUi(self.ui, self)
self.setWindowFlags(QtCore.Qt.FramelessWindowHint)
self.layout = self.findChild(QtWidgets.QGridLayout, 'layout')
self.mode = JOYSTICK_ONLY_MODE
self.visual_frame = rviz.VisualizationFrame()
self.visual_frame.setSplashPath("")
self.visual_frame.initialize()
self.add_rviz_config()
self.visual_frame.setMenuBar(None)
self.visual_frame.setStatusBar(None)
self.visual_frame.setHideButtonVisibility(False)
self.layout.addWidget(self.visual_frame)
self.visual_frame.hide()
self.manager = self.visual_frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
self.video_frame = QtWidgets.QLabel()
video_frame_font = QtGui.QFont("Verdana", 62, QtGui.QFont.Bold)
self.video_frame.setFont(video_frame_font)
self.video_frame.setText("No video frame")
self.video_frame.setAlignment(QtCore.Qt.AlignCenter)
self.video_frame.hide()
self.layout.addWidget(self.video_frame)
self.joystick_frame = QtWidgets.QLabel()
pixmap = QtGui.QPixmap('../static/img/xbox_controller_grey.png')
pixmap = pixmap.scaledToWidth(800)
self.joystick_frame.setPixmap(pixmap)
self.joystick_frame.setAlignment(QtCore.Qt.AlignCenter)
self.layout.addWidget(self.joystick_frame)
# Buttons
self.change_mode_btn = self.findChild(QtWidgets.QPushButton,
'changeModeBtn')
self.turn_left = self.findChild(QtWidgets.QToolButton, 'turnRobotLeft')
self.turn_right = self.findChild(QtWidgets.QToolButton,
'turnRobotRight')
self.stand_btn = self.findChild(QtWidgets.QPushButton, 'standBtn')
self.walk_btn = self.findChild(QtWidgets.QPushButton, 'walkBtn')
self.stairs_btn = self.findChild(QtWidgets.QPushButton, 'stairsBtn')
self.exit_btn = self.findChild(QtWidgets.QPushButton, 'exitBtn')
self.powerBtn = self.findChild(QtWidgets.QPushButton, 'powerBtn')
self.emergency_btn = self.findChild(QtWidgets.QPushButton,
'emergencyBtn')
# Status indicators
self.signal_btn = self.findChild(QtWidgets.QPushButton, 'signalBtn')
self.controller_battery_btn = self.findChild(QtWidgets.QPushButton,
'controllerBatteryBtn')
self.battery_btn = self.findChild(QtWidgets.QPushButton, 'batteryBtn')
self.health_btn = self.findChild(QtWidgets.QPushButton, 'healthBtn')
# Button connections
self.emergency_btn.clicked.connect(self.turn_robot_off)
self.powerBtn.clicked.connect(self.power_on)
self.exit_btn.clicked.connect(self.close_window)
self.change_mode_btn.clicked.connect(self.change_mode)
# Button shortcuts
self.exit_btn.setShortcut("Ctrl+Q")
# Mode Layouts
#self.video_frame = self.findChild(QtWidgets.QLabel, 'videoFrame')
# self.xbox_controller_frame = self.findChild(
# QtWidgets.QLabel, 'xboxcontrollerFrame')
# self.video_frame.hide()
# Stylesheets
self.powerBtn.setStyleSheet(
"QPushButton#powerBtn:checked {color:black; background-color: red;}"
)
self.signal_btn.setStyleSheet(
"QPushButton#signalBtn:checked {color:black; background-color: green;}"
)
self.video_stream_subscriber = VideoStreamSubscriber(
'camera/image_raw', Image)
self.show()
def api_callback(self, data):
"""API callback from cloud"""
print("Robot in position")
self.tableWidget.setItem(self.table_row_tracker, 0, QtWidgets.QTableWidgetItem(str(datetime.datetime.fromtimestamp(rospy.get_time()))))
self.tableWidget.setItem(self.table_row_tracker, 1, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 2, QtWidgets.QTableWidgetItem('Move to new waypoint'))
self.tableWidget.setItem(self.table_row_tracker, 3, QtWidgets.QTableWidgetItem('Sent'))
self.tableWidget.setItem(self.table_row_tracker, 4, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 5, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 6, QtWidgets.QTableWidgetItem('N/A'))
self.runningTaskLabel.setText('Move to new waypoint')
self.table_row_tracker += 1
command = 'python post_goal.py %s' % self.num_goal_reached
_id = rospy.get_caller_id()
_class = self.plan[self.num_goal_reached-1]
print(_class)
if len(_class) > 3:
self.tableWidget.setItem(self.table_row_tracker, 0, QtWidgets.QTableWidgetItem(str(datetime.datetime.fromtimestamp(rospy.get_time()))))
self.tableWidget.setItem(self.table_row_tracker, 1, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 2, QtWidgets.QTableWidgetItem('Move head to position'))
self.tableWidget.setItem(self.table_row_tracker, 3, QtWidgets.QTableWidgetItem('Ongoing'))
self.tableWidget.setItem(self.table_row_tracker, 4, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 5, QtWidgets.QTableWidgetItem('N/A'))
self.tableWidget.setItem(self.table_row_tracker, 6, QtWidgets.QTableWidgetItem('N/A'))
self.runningTaskLabel.setText('Move head to position')
self.table_row_tracker += 1
time.sleep(10)
self.tableWidget.setItem(self.table_row_tracker-1, 3, QtWidgets.QTableWidgetItem('Complete'))
self.post_goal()
print("New goal sent, waiting for database to update")
time.sleep(8)
URL = 'http://dr0nn1.ddns.net:5000/%s/1' % _class
response = requests.get(URL)
content = response.json()
tag = 'N/A'
value = 'N/A'
warning = 'N/A'
alarm = 'N/A'
value = 'N/A'
if _class == 'manometers':
value = float(content['value'])
warning_low = float(content['low_warning_limit'])
warning_high = float(content['high_warning_limit'])
alarm_low = float(content['low_alarm_limit'])
alarm_high = float(content['high_alarm_limit'])
if value > warning_high and value < alarm_high:
warning = 'Warning high'
elif value < warning_low and value > alarm_low:
warning = 'Warning low'
elif value > alarm_high:
alarm = 'Alarm high'
elif value < alarm_low:
alarm = 'Alarm low'
tag = content['tag']
if _class == 'valve':
normal_condition = content['normal_condition']
should_be = content['is_open']
tag = content['tag']
if value is not should_be:
warning = 'Not in position'
IMG = content['img'].encode('latin1')
rgb_image = np.fromstring(IMG, dtype=np.uint8).reshape((480, 640, 3))
height, width, channel = rgb_image.shape
bytesPerLine = 3 * width
qImg = QtGui.QImage(rgb_image.data, width, height, bytesPerLine, QtGui.QImage.Format_RGB888)
self.column_images[self.column_image_counter].setPixmap(QtGui.QPixmap(qImg))
self.tableWidget.setItem(self.table_row_tracker, 0, QtWidgets.QTableWidgetItem(str(datetime.datetime.fromtimestamp(rospy.get_time()))))
self.tableWidget.setItem(self.table_row_tracker, 1, QtWidgets.QTableWidgetItem(tag))
self.tableWidget.setItem(self.table_row_tracker, 2, QtWidgets.QTableWidgetItem('Inspecting equipment'))
self.tableWidget.setItem(self.table_row_tracker, 3, QtWidgets.QTableWidgetItem('Complete'))
self.tableWidget.setItem(self.table_row_tracker, 4, QtWidgets.QTableWidgetItem(value))
self.tableWidget.setItem(self.table_row_tracker, 5, QtWidgets.QTableWidgetItem(warning))
self.tableWidget.setItem(self.table_row_tracker, 6, QtWidgets.QTableWidgetItem(alarm))
self.runningTaskLabel.setText('Inspecting equipment')
self.table_row_tracker += 1
self.column_image_counter += 1
if self.column_image_counter > 2:
self.column_image_counter = 0
else:
time.sleep(2)
self.post_goal()
