def __init__(self, context):
Plugin.__init__(self, context)
self.setObjectName('RqtGraspViewer')
self._widget = QWidget()
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_grasp_viewer'), 'ui', 'RqtGraspViewer.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RqtGraspViewerUi')
context.add_widget(self._widget)
main_layout = QHBoxLayout()
self._default_labels = ["obj_id", "object", "grasp_id", "grasp", "quality"]
self._filemodel = QStandardItemModel(0, 5)
self._filemodel.setHorizontalHeaderLabels(self._default_labels)
self._table_view = QTableView()
self._table_view.setModel(self._filemodel)
self._table_view.resizeColumnsToContents()
main_layout.addWidget(self._table_view)
self._widget.scrollarea.setLayout(main_layout)
self.init_services()
self.init_subscribers()
# self._table_view.clicked.connect(self.on_table_view_clicked)
self._table_view.selectionModel().selectionChanged.connect(self.on_table_view_select)
def __init__(self, context):
Plugin.__init__(self, context)
self.setObjectName('RqtGraspViewer')
self._widget = QWidget()
ui_file = os.path.join(rospkg.RosPack().get_path('rqt_grasp_viewer'),
'ui', 'RqtGraspViewer.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RqtGraspViewerUi')
context.add_widget(self._widget)
main_layout = QHBoxLayout()
self._default_labels = [
"obj_id", "object", "grasp_id", "grasp", "quality"
]
self._filemodel = QStandardItemModel(0, 5)
self._filemodel.setHorizontalHeaderLabels(self._default_labels)
self._table_view = QTableView()
self._table_view.setModel(self._filemodel)
self._table_view.resizeColumnsToContents()
main_layout.addWidget(self._table_view)
self._widget.scrollarea.setLayout(main_layout)
self.init_services()
self.init_subscribers()
# self._table_view.clicked.connect(self.on_table_view_clicked)
self._table_view.selectionModel().selectionChanged.connect(
self.on_table_view_select)
def _createEntries(self):
entryWidget = QWidget(self)
entryLayout = QHBoxLayout(entryWidget)
inputWidgets = (self._createParamBox(), self._createAutoRange(),
self._createLower(), self._createUpper(),
self._createBins(), self._createXScale(),
self._createYWeight())
self._labels = dict()
# assumes same ordering of entryWidgets above and Histogram.displayData
for col, inputWidget in zip(Histogram.displayData, inputWidgets):
fieldWidget = QWidget(self) # combines label + input
fieldLayout = QVBoxLayout(fieldWidget)
fieldLayout.setContentsMargins(QMargins())
# create label, text is set in _selectParam()
self._labels[col] = QLabel(self)
self._labels[col].setAlignment(Qt.AlignHCenter)
# stack label + input
fieldLayout.addWidget(self._labels[col])
fieldLayout.addWidget(inputWidget)
fieldWidget.setLayout(fieldLayout)
# add field to row of inputs
entryLayout.addWidget(fieldWidget)
entryWidget.setLayout(entryLayout)
self.pbox.setCurrentIndex(0)
self.lentry.selectAll() # select the first input by default
return entryWidget
def createWidget(self, parent=None):
hbox = QHBoxLayout();
self.waitYesNoCheckbox = QCheckBox('Await speech done');
hbox.addWidget(self.waitYesNoCheckbox);
hbox.addWidget(QLabel('Text'));
self.speechTextField = QPlainTextEdit();
self.speechTextField.setMaximumWidth(SpeechActionEditor.SPEECH_EDIT_FLD_WIDTH);
hbox.addWidget(self.speechTextField);
self.setLayout(hbox);
self.setMaximumHeight(SpeechActionEditor.SPEECH_EDIT_FLD_HEIGHT + 10);
self.setMaximumWidth(SpeechActionEditor.SPEECH_EDIT_FLD_WIDTH + self.waitYesNoCheckbox.width());
return self
def _createButtons(self):
btnWidget = QWidget(self)
btnLayout = QHBoxLayout(btnWidget)
okBtn = QPushButton("add", self)
okBtn.clicked.connect(self.accept)
cancelBtn = QPushButton("cancel", self)
cancelBtn.clicked.connect(self.reject)
btnLayout.addWidget(okBtn)
btnLayout.addWidget(cancelBtn)
btnWidget.setLayout(btnLayout)
return btnWidget
def _setupStartButton(self):
"""Set up "Start/Stop" - button."""
self.startStopBtn = QPushButton()
self.startStopBtn.setCheckable(True)
self.startStopBtn.clicked[bool].connect(self.onStartStopClick)
btnLayout = QHBoxLayout()
btnLayout.setContentsMargins(0, 0, 0, 0)
self.startStopBtn.setSizePolicy(QSizePolicy.Maximum,
QSizePolicy.Maximum)
btnLayout.addWidget(self.startStopBtn)
btnWidget = QWidget(self)
btnWidget.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Maximum)
btnWidget.setLayout(btnLayout)
return btnWidget
def makeSetting(self, param, activeBtns=False):
"""Creates an input widget for the provided Parameter and configures
it appropriately.
"""
if param is None:
return None
widget = QWidget(self)
layout = QHBoxLayout(widget)
layout.setContentsMargins(0, 0, 0, 0)
layout.addStretch()
try:
suffix = param.suffix()
except AttributeError:
suffix = None
if suffix is None:
layout.addWidget(self._makeLabel(param.displayName()))
else:
layout.addWidget(
self._makeLabel(u"{} ({})".format(param.displayName(),
suffix)))
widget.setLayout(layout)
if isString(param.__doc__):
# word wrapping by rich text: https://stackoverflow.com/a/4796057
txt = "<span>{0}</span>".format(param.__doc__)
# add description as tooltip if available for parameter
widget.setToolTip(txt)
# create scalar value input widget with min/max limits
minmaxValue, widgets = None, []
if isinstance(param, ParameterNumerical):
minmaxValue = param.min(), param.max()
if isinstance(param, ParameterFloat):
minmaxValue = param.displayValueRange()
decimals = None
if hasattr(param, "decimals"):
decimals = param.decimals()
w = self._makeEntry(param.name(),
param.dtype,
param.displayValue(),
decimals=decimals,
minmax=minmaxValue,
parent=widget)
try: # set special value text for lower bound, simple solution
special = param.displayValues(w.minimum())
w.setSpecialValueText(special)
except:
pass
w.setFixedWidth(FIXEDWIDTH)
widgets.insert(old_div(len(widgets), 2), w)
# Special widget settings for active fitting parameters:
activeBtns = activeBtns and isinstance(param, FitParameterBase)
if activeBtns:
# create input boxes for user specified active fitting range
# within default upper/lower from class definition
# minmaxValue = type(param).min(), type(param).max()
activeRange = {
"min": param.displayActiveRange()[0],
"max": param.displayActiveRange()[1]
}
for bound in "min", "max":
w = self._makeEntry(param.name() + bound,
param.dtype,
activeRange[bound],
decimals=decimals,
minmax=minmaxValue,
parent=widget)
w.setPrefix(bound + ": ")
w.setFixedWidth(FIXEDWIDTH)
widgets.append(w)
# create *active* buttons for FitParameters only
w = self._makeEntry(param.name() + "active",
bool,
param.isActive(),
widgetType=QPushButton,
parent=widget)
w.setText("Active")
w.setFixedWidth(FIXEDWIDTH * .5)
widgets.append(w)
# add input widgets to the layout
for w in widgets:
layout.addWidget(w)
# store the parameter name
w.parameterName = param.name()
# configure UI accordingly (hide/show widgets)
# no backend update, ui was just built, data is still in sync
self.updateParam(param, emitBackendUpdated=False)
return widget
