def set_active(self, block_id, item_id):
# print "set_active", block_id, item_id
old_block_id = self.block_id
self.block_id = block_id
self.item_id = item_id
if old_block_id != self.block_id and item_id is not None:
# remove old list first
self.scene().removeItem(self.items_list)
self.items_list = None
# init new one
self._init_items_list()
if self.item_id is not None:
self.items_list.set_current_idx(self.items_map_rev[self.item_id],
select=True)
self._handle_item_btns()
group_visible(
(self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn, self.block_on_success_btn,
self.block_visualize_btn, self.program_visualize_btn,
self.block_back_btn, self.blocks_list), False)
else:
self.blocks_list.set_current_idx(
self.blocks_map_rev[self.block_id], select=True)
self._update_title()
def _handle_item_btns(self):
# print ("_handle_item_btns, self.editing_item: " + str(self.editing_item))
if not self.editing_item:
of = self.ph.get_id_on_failure(*self.cid)
os = self.ph.get_id_on_success(*self.cid)
self.item_on_failure_btn.set_enabled(
of[0] != 0
and not (of[0] == self.block_id and of[1] == self.item_id))
self.item_on_success_btn.set_enabled(
os[0] != 0
and not (os[0] == self.block_id and os[1] == self.item_id))
self.item_run_btn.set_enabled(self._item_runnable())
self.item_edit_btn.set_enabled(self._item_editable())
else:
self.item_edit_btn.set_enabled(True)
self.item_edit_btn.set_image(icons_path + "save.svg")
group_enable((self.item_finished_btn, self.items_list), False)
self.item_run_btn.set_enabled(False)
group_visible((self.pr_cancel_btn, self.pr_pause_btn), False)
def vis_back_btn_cb(self, btn):
# callback which notifies HoloLens that visualization ended
if self.vis_back_to_blocks_cb is not None:
self.vis_back_to_blocks_cb()
# go back to blocks view from visualization
group_visible((self.block_visualize_btn, self.program_visualize_btn,
self.block_back_btn, self.blocks_list), True)
self.block_back_btn.set_enabled(True)
self.program_visualize_btn.set_enabled(True)
self.show_visualization_buttons(False)
self.block_selected_cb(
) # TODO extract method to set buttons to proper state
self.blocks_list.setEnabled(True)
self.scene().removeItem(self.items_list)
self.items_list = None
self.item_id = None
if self.item_switched_cb is not None:
self.item_switched_cb(*self.cid)
self.update()
def set_readonly(self, readonly):
self.readonly = readonly
if self.readonly:
if self.items_list is not None:
self.items_list.setVisible(True)
self.items_list.setEnabled(False)
self.blocks_list.set_enabled(False, True)
group_visible((self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn), False)
group_visible(
(self.pr_pause_btn, self.pr_repeat_btn, self.pr_cancel_btn),
True)
else:
# TODO
pass
self.update()
def block_edit_btn_cb(self, btn):
group_visible((self.block_finished_btn, self.block_edit_btn,
self.item_on_success_btn, self.block_on_failure_btn,
self.block_on_success_btn, self.blocks_list), False)
self._init_items_list()
def _handle_item_btns(self):
of = self.ph.get_id_on_failure(self.block_id, self.item_id)
if of[0] == self.block_id and of[1] != 0:
self.item_on_failure_btn.set_enabled(True)
else:
self.item_on_failure_btn.set_enabled(False)
print("_handle_item_btns, self.editing_item: " +
str(self.editing_item))
if not self.editing_item:
if self.ph.item_requires_learning(
self.block_id, self.item_id) and self.ph.item_learned(
self.block_id, self.item_id):
self.item_run_btn.set_enabled(True)
else:
self.item_run_btn.set_enabled(False)
self.item_edit_btn.set_enabled(
self.ph.item_requires_learning(self.block_id, self.item_id))
else:
self.item_edit_btn.set_enabled(True)
self.item_edit_btn.set_caption("Done")
group_enable((self.item_finished_btn, self.items_list), False)
self.item_run_btn.set_enabled(False)
group_visible((self.pr_cancel_btn, self.pr_pause_btn), False)
def block_back_btn_cb(self, btn):
group_visible((self.block_visualize_btn, self.program_visualize_btn,
self.block_back_btn), False)
# callback which notifies HoloLens that visualization ended
if self.v_back_cb is not None:
self.v_back_cb()
def block_visualize_btn_cb(self, btn):
group_visible((self.block_visualize_btn, self.program_visualize_btn,
self.block_back_btn, self.blocks_list), False)
# callback which notifies HoloLens that visualization started
if self.v_visualize_cb is not None:
self.v_visualize_cb(visualize_whole_program=False)
self._init_items_list()
def item_finished_btn_cb(self, btn):
# go back to blocks view
group_visible((self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn, self.blocks_list), True)
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_failure_btn, self.item_edit_btn), False)
self.block_selected_cb(
) # TODO extract method to set buttons to proper state
self.blocks_list.setEnabled(True)
self.block_finished_btn.setEnabled(True)
self.scene().removeItem(self.items_list)
self.items_list = None
self.item_id = None
if self.item_switched_cb is not None:
self.item_switched_cb(self.block_id, self.item_id)
def set_active(self, block_id, item_id):
old_block_id = self.block_id
self.block_id = block_id
self.item_id = item_id
if old_block_id != self.block_id:
self._init_items_list()
self.items_list.set_current_idx(self.items_map_rev[self.item_id],
select=True)
self._handle_item_btns()
if self.item_id is not None:
group_visible((self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn), False)
def _handle_item_btns(self):
# print ("_handle_item_btns, self.editing_item: " + str(self.editing_item))
if not self.editing_item:
of = self.ph.get_id_on_failure(self.block_id, self.item_id)
os = self.ph.get_id_on_success(self.block_id, self.item_id)
self.item_on_failure_btn.set_enabled(
of[0] != 0
and not (of[0] == self.block_id and of[1] == self.item_id))
self.item_on_success_btn.set_enabled(
os[0] != 0
and not (os[0] == self.block_id and os[1] == self.item_id))
if self.ph.item_requires_learning(
self.block_id, self.item_id) and self.ph.item_learned(
self.block_id, self.item_id):
self.item_run_btn.set_enabled(True)
else:
self.item_run_btn.set_enabled(False)
# TODO place pose with object through ref_id - disable Edit when object is not set
self.item_edit_btn.set_enabled(
self.ph.item_requires_learning(self.block_id, self.item_id)
and not self.ph.item_has_nothing_to_set(
self.block_id, self.item_id))
else:
self.item_edit_btn.set_enabled(True)
self.item_edit_btn.set_caption(translate("ProgramItem", "Done"))
group_enable((self.item_finished_btn, self.items_list), False)
self.item_run_btn.set_enabled(False)
group_visible((self.pr_cancel_btn, self.pr_pause_btn), False)
def _init_items_list(self):
idata = []
self.items_map = {} # map from indexes (key) to item_id (value)
self.items_map_rev = {}
bmsg = self.ph.get_block_msg(self.block_id)
for i in range(len(bmsg.items)):
item_id = bmsg.items[i].id
idata.append(self.get_text_for_item(self.block_id, item_id))
self.items_map[i] = item_id
self.items_map_rev[item_id] = i
self.items_list = ListItem(self.scene(),
0,
0,
0.2 - 2 * 0.005,
idata,
self.item_selected_cb,
parent=self)
for k, v in self.items_map.iteritems():
if self.ph.get_item_msg(
self.block_id,
v).type in self.ih.properties.runnable_during_learning:
self._update_item(self.block_id, v)
else:
self.items_list.items[k].set_enabled(False)
y = self.title.mapToParent(
self.title.boundingRect().bottomLeft()).y() + self.sp
self.items_list.setPos(self.sp, y)
y += self.items_list._height() + self.sp
# in running state
if self.readonly:
self.items_list.setEnabled(False)
self._place_childs_horizontally(
y, self.sp, [self.pr_pause_btn, self.pr_cancel_btn])
y += self.pr_pause_btn._height() + 3 * self.sp
pr = (self.pr_pause_btn, self.pr_cancel_btn)
group_enable(pr, True)
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), False)
self.show_visualization_buttons(False)
# going to HoloLens visualization
elif self.visualize:
self.items_list.setEnabled(False)
self._place_childs_horizontally(
y, self.sp,
[self.vis_pause_btn, self.vis_stop_btn, self.vis_replay_btn])
y += self.vis_back_btn._height() + self.sp
self._place_childs_horizontally(y, self.sp, [self.vis_back_btn])
y += self.vis_back_btn._height() + 3 * self.sp
self.show_visualization_buttons(True)
group_enable((self.vis_pause_btn, self.vis_stop_btn), True)
self.vis_back_btn.set_enabled(False)
group_visible((self.pr_pause_btn, self.pr_cancel_btn), False)
group_visible((self.item_run_btn, self.item_on_success_btn,
self.item_on_failure_btn, self.item_edit_btn),
False)
# in learning state
else:
btns = (self.item_edit_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_finished_btn)
self._place_childs_horizontally(y, self.sp, btns)
y += max(btn._height() for btn in btns)
y += self.sp
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), True)
self.item_finished_btn.setEnabled(True)
group_enable((self.item_run_btn, self.item_on_failure_btn,
self.item_on_success_btn, self.item_on_failure_btn),
False)
group_visible((self.pr_pause_btn, self.pr_cancel_btn), False)
self.show_visualization_buttons(False)
self.h = y
self._update_title()
self.update()
if self.item_switched_cb:
self.item_switched_cb(self.block_id, self.item_id, blocks=False)
def _init_items_list(self):
idata = []
self.items_map = {} # map from indexes (key) to item_id (value)
self.items_map_rev = {}
item_id = self.ph.get_first_item_id(self.block_id)
while item_id[0] == self.block_id:
idata.append(self.get_text_for_item(*item_id))
idx = len(idata) - 1
self.items_map[idx] = item_id[1]
self.items_map_rev[item_id[1]] = idx
item_id = self.ph.get_id_on_success(*item_id)
# test for cycle (e.g. jump from the last item to the first one)
if item_id[1] in self.items_map_rev:
break
self.items_list = ListItem(self.scene(),
0,
0,
0.2 - 2 * 0.005,
idata,
self.item_selected_cb,
parent=self)
for k, v in self.items_map.iteritems():
if self.ph.item_requires_learning(self.block_id, v):
self._update_item(self.block_id, v)
else:
self.items_list.items[k].set_enabled(False)
y = 50
self.items_list.setPos(self.sp, y)
y += self.items_list._height() + self.sp
if not self.readonly:
self._place_childs_horizontally(y, self.sp, [
self.item_edit_btn, self.item_run_btn, self.item_on_failure_btn
])
y += self.item_finished_btn._height() + self.sp
self._place_childs_horizontally(y, self.sp,
[self.item_finished_btn])
y += self.item_finished_btn._height() + 3 * self.sp
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_failure_btn, self.item_edit_btn), True)
self.item_finished_btn.setEnabled(True)
group_enable((self.item_run_btn, self.item_on_failure_btn,
self.item_on_failure_btn), False)
group_visible(
(self.pr_pause_btn, self.pr_repeat_btn, self.pr_cancel_btn),
False)
else:
self.items_list.setEnabled(False)
self._place_childs_horizontally(
y, self.sp,
[self.pr_pause_btn, self.pr_repeat_btn, self.pr_cancel_btn])
y += self.pr_pause_btn._height() + 3 * self.sp
pr = (self.pr_pause_btn, self.pr_repeat_btn, self.pr_cancel_btn)
group_visible(pr, True)
group_enable(pr, False)
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_failure_btn, self.item_edit_btn),
False)
self.h = y
self.update()
def __init__(self,
scene,
x,
y,
program_helper,
done_cb=None,
item_switched_cb=None,
learning_request_cb=None):
self.w = 100
self.h = 100
self.done_cb = done_cb
self.item_switched_cb = item_switched_cb
self.learning_request_cb = learning_request_cb
self.readonly = False
super(ProgramItem, self).__init__(scene, x, y)
self.w = self.m2pix(0.2)
self.h = self.m2pix(0.25)
self.sp = self.m2pix(0.005)
self.ph = program_helper
self.block_id = None
self.item_id = None
self.block_learned = False
self.program_learned = False
# block "view"
self.block_finished_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Done"),
self, self.block_finished_btn_cb)
self.block_edit_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Edit"),
self, self.block_edit_btn_cb)
self.block_on_failure_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "On fail"), self,
self.block_on_failure_btn)
bdata = []
self.blocks_map = {} # map from indexes (key) to block_id (value)
self.blocks_map_rev = {}
block_id = self.ph.get_first_block_id()
while block_id != 0:
bmsg = self.ph.get_block_msg(block_id)
bdata.append("Block ID: " + str(block_id) + "\nName: " + bmsg.name)
idx = len(bdata) - 1
self.blocks_map[idx] = block_id
self.blocks_map_rev[block_id] = idx
block_id = self.ph.get_block_on_success(block_id)
# test for cycle
if block_id in self.blocks_map_rev:
break
self.blocks_list = ListItem(self.scene(),
0,
0,
0.2 - 2 * 0.005,
bdata,
self.block_selected_cb,
parent=self)
for k, v in self.blocks_map.iteritems():
self._update_block(v)
y = 50
self.blocks_list.setPos(self.sp, y)
y += self.blocks_list._height() + self.sp
self._place_childs_horizontally(y, self.sp, [
self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn
])
y += self.block_finished_btn._height() + self.sp
group_enable((self.block_edit_btn, self.block_on_failure_btn), False)
self.h = y
self.update()
# items "view"
self.item_edit_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Edit"), self,
self.item_edit_btn_cb)
self.item_run_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Run"), self,
self.item_run_btn_cb)
self.item_on_failure_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "On fail"), self,
self.item_on_failure_btn_cb)
self.item_finished_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "Back to blocks"),
self, self.item_finished_btn_cb)
self.items_list = None
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_failure_btn, self.item_edit_btn), False)
# readonly (program running) "view"
self.pr_pause_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Pause"), self,
self.pr_pause_btn_cb)
self.pr_repeat_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Repeat"),
self, self.pr_repeat_btn_cb)
self.pr_cancel_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Cancel"),
self, self.pr_cancel_btn_cb)
group_visible(
(self.pr_pause_btn, self.pr_repeat_btn, self.pr_cancel_btn), False)
self.fixed = False
self.editing_item = False
self.edit_request = False
self.run_request = False
self.setZValue(100)
def _init_items_list(self):
idata = []
self.items_map = {} # map from indexes (key) to item_id (value)
self.items_map_rev = {}
bmsg = self.ph.get_block_msg(self.block_id)
for i in range(len(bmsg.items)):
item_id = bmsg.items[i].id
idata.append(self.get_text_for_item(self.block_id, item_id))
self.items_map[i] = item_id
self.items_map_rev[item_id] = i
self.items_list = ListItem(self.scene(),
0,
0,
0.2 - 2 * 0.005,
idata,
self.item_selected_cb,
parent=self)
for k, v in self.items_map.iteritems():
if self.ph.item_requires_learning(self.block_id, v):
self._update_item(self.block_id, v)
else:
self.items_list.items[k].set_enabled(False)
y = 50
self.items_list.setPos(self.sp, y)
y += self.items_list._height() + self.sp
if not self.readonly:
self._place_childs_horizontally(y, self.sp, [
self.item_edit_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn
])
y += self.item_finished_btn._height() + self.sp
self._place_childs_horizontally(y, self.sp,
[self.item_finished_btn])
y += self.item_finished_btn._height() + 3 * self.sp
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), True)
self.item_finished_btn.setEnabled(True)
group_enable((self.item_run_btn, self.item_on_failure_btn,
self.item_on_success_btn, self.item_on_failure_btn),
False)
group_visible((self.pr_pause_btn, self.pr_cancel_btn), False)
else:
self.items_list.setEnabled(False)
self._place_childs_horizontally(
y, self.sp, [self.pr_pause_btn, self.pr_cancel_btn])
y += self.pr_pause_btn._height() + 3 * self.sp
pr = (self.pr_pause_btn, self.pr_cancel_btn)
group_enable(pr, True)
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), False)
self.h = y
self.update()
if self.item_switched_cb:
self.item_switched_cb(self.block_id, None, blocks=False)
def __init__(self,
scene,
x,
y,
program_helper,
instruction,
ih,
done_cb=None,
item_switched_cb=None,
learning_request_cb=None,
pause_cb=None,
cancel_cb=None,
stopped=False,
visualize=False,
v_visualize_cb=None,
v_back_cb=None,
vis_pause_cb=None,
vis_stop_cb=None,
vis_replay_cb=None,
vis_back_to_blocks_cb=None):
self.w = 100
self.h = 100
self.instruction = instruction
self.ih = ih
self.done_cb = done_cb
self.item_switched_cb = item_switched_cb
self.learning_request_cb = learning_request_cb
self.pause_cb = pause_cb
self.cancel_cb = cancel_cb
self.readonly = False
self.stopped = stopped
# variables for HoloLens visualization
self.visualize = visualize
self.visualization_paused = False
# callbacks for visualization buttons
self.v_visualize_cb = v_visualize_cb
self.v_back_cb = v_back_cb
self.vis_pause_cb = vis_pause_cb
self.vis_stop_cb = vis_stop_cb
self.vis_replay_cb = vis_replay_cb
self.vis_back_to_blocks_cb = vis_back_to_blocks_cb
super(ProgramItem, self).__init__(scene, x, y)
self.title = DescItem(self.scene(), 0, 0, self)
# TODO it should take coords given to __init__
self.title.setPos(QtCore.QPointF(self.m2pix(0.01), self.m2pix(0.01)))
self.w = self.m2pix(0.2)
self.h = self.m2pix(0.25)
self.sp = self.m2pix(0.005)
self.ph = program_helper
self.block_id = None
self.item_id = None
self.block_learned = False
self.program_learned = False
# block "view"
self.block_finished_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.block_finished_btn_cb,
image_path=icons_path +
"back.svg")
self.block_edit_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.block_edit_btn_cb,
image_path=icons_path + "edit.svg")
self.block_on_success_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.block_on_success_btn_cb,
image_path=icons_path +
"success.svg")
self.block_on_failure_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.block_on_failure_btn_cb,
image_path=icons_path +
"failure.svg")
# block "view" when in visualization
self.program_visualize_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "Visualize Program"),
self, self.program_visualize_btn_cb)
self.block_visualize_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "Visualize Block"),
self, self.block_visualize_btn_cb)
self.block_back_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Back"),
self, self.block_back_btn_cb)
bdata = []
self.blocks_map = {} # map from indexes (key) to block_id (value)
self.blocks_map_rev = {}
for i in range(len(self.ph.get_program().blocks)):
bmsg = self.ph.get_program().blocks[i]
bdata.append(
translate("ProgramItem",
"Block %1\n%2\nSuccess: %3, failure: %4").arg(
bmsg.id).arg(bmsg.name).arg(bmsg.on_success).arg(
bmsg.on_failure))
idx = len(bdata) - 1
self.blocks_map[idx] = bmsg.id
self.blocks_map_rev[bmsg.id] = idx
self.blocks_list = ListItem(self.scene(),
0,
0,
0.2 - 2 * 0.005,
bdata,
self.block_selected_cb,
parent=self)
for k, v in self.blocks_map.iteritems():
self._update_block(v)
y = self.title.mapToParent(self.title.boundingRect().bottomLeft()).y()
self.blocks_list.setPos(self.sp, y)
y += self.blocks_list._height() + self.sp
if visualize:
self._place_childs_horizontally(y, self.sp, [
self.program_visualize_btn, self.block_visualize_btn,
self.block_back_btn
])
y += self.block_visualize_btn._height() + self.sp
self.block_back_btn.set_enabled(True)
self.block_visualize_btn.set_enabled(False)
self.program_visualize_btn.set_enabled(True)
# hide edit block buttons
group_visible(
(self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn, self.block_on_success_btn), False)
else:
self._place_childs_horizontally(y, self.sp, [
self.block_edit_btn, self.block_on_success_btn,
self.block_on_failure_btn, self.block_finished_btn
])
y += self.block_finished_btn._height() + self.sp
group_enable((self.block_edit_btn, self.block_on_failure_btn,
self.block_on_success_btn), False)
# hide visualization block buttons
group_visible((self.block_visualize_btn,
self.program_visualize_btn, self.block_back_btn),
False)
self.h = y
# items "view"
self.item_edit_btn = ButtonItem(self.scene(),
0,
0,
translate("ProgramItem", "Ed"),
self,
self.item_edit_btn_cb,
image_path=icons_path + "edit.svg")
self.item_run_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.item_run_btn_cb,
image_path=icons_path + "run.svg")
self.item_on_success_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.item_on_success_btn_cb,
image_path=icons_path +
"success.svg")
self.item_on_failure_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.item_on_failure_btn_cb,
image_path=icons_path +
"failure.svg")
self.item_finished_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.item_finished_btn_cb,
image_path=icons_path + "back.svg")
self.items_list = None
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), False)
# readonly (program running) "view"
self.pr_pause_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.pr_pause_btn_cb,
image_path=icons_path + "pause.svg")
if self.stopped:
self.pr_pause_btn.set_image(icons_path + "run.svg")
self.pr_cancel_btn = ButtonItem(self.scene(),
0,
0,
"BTN",
self,
self.pr_cancel_btn_cb,
image_path=icons_path + "stop.svg")
group_visible((self.pr_pause_btn, self.pr_cancel_btn), False)
# buttons for HoloLens visualization
self.vis_pause_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Resume"),
self, self.vis_pause_btn_cb)
# quick hack .. init button with 'Resume' caption and switch back to
# 'Pause' to keep the button large enough for text switching
if not self.visualization_paused:
self.vis_pause_btn.set_caption(translate("ProgramItem", "Pause"))
self.vis_stop_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Stop"), self,
self.vis_stop_btn_cb)
self.vis_replay_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Replay"),
self, self.vis_replay_btn_cb)
self.vis_back_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "Back to blocks"),
self, self.vis_back_btn_cb)
group_visible((self.vis_pause_btn, self.vis_stop_btn,
self.vis_replay_btn, self.vis_back_btn), False)
self.fixed = False
self.editing_item = False
self.edit_request = False
self.run_request = False
self.setFlag(QtGui.QGraphicsItem.ItemIsMovable, True)
self.setFlag(QtGui.QGraphicsItem.ItemIsSelectable, True)
self.setZValue(100)
self._update_learned()
self.update()
if self.item_switched_cb:
self.item_switched_cb(None, None, blocks=True)
def show_visualization_buttons(self, buttons_visible):
"""Shows or hides buttons for visualization mode for HoloLens"""
group_visible((self.vis_pause_btn, self.vis_stop_btn,
self.vis_replay_btn, self.vis_back_btn),
buttons_visible)
def __init__(self,
scene,
x,
y,
program_helper,
done_cb=None,
item_switched_cb=None,
learning_request_cb=None,
pause_cb=None,
cancel_cb=None,
stopped=False):
self.w = 100
self.h = 100
self.done_cb = done_cb
self.item_switched_cb = item_switched_cb
self.learning_request_cb = learning_request_cb
self.pause_cb = pause_cb
self.cancel_cb = cancel_cb
self.readonly = False
self.stopped = stopped
super(ProgramItem, self).__init__(scene, x, y)
self.w = self.m2pix(0.2)
self.h = self.m2pix(0.25)
self.sp = self.m2pix(0.005)
self.ph = program_helper
self.block_id = None
self.item_id = None
self.block_learned = False
self.program_learned = False
# block "view"
self.block_finished_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Done"),
self, self.block_finished_btn_cb)
self.block_edit_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Edit"),
self, self.block_edit_btn_cb)
self.block_on_failure_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "On fail"), self,
self.block_on_failure_btn)
bdata = []
self.blocks_map = {} # map from indexes (key) to block_id (value)
self.blocks_map_rev = {}
for i in range(len(self.ph.get_program().blocks)):
bmsg = self.ph.get_program().blocks[i]
bdata.append(
translate("ProgramItem",
"Block %1\n%2").arg(bmsg.id).arg(bmsg.name))
idx = len(bdata) - 1
self.blocks_map[idx] = bmsg.id
self.blocks_map_rev[bmsg.id] = idx
self.blocks_list = ListItem(self.scene(),
0,
0,
0.2 - 2 * 0.005,
bdata,
self.block_selected_cb,
parent=self)
for k, v in self.blocks_map.iteritems():
self._update_block(v)
y = 50
self.blocks_list.setPos(self.sp, y)
y += self.blocks_list._height() + self.sp
self._place_childs_horizontally(y, self.sp, [
self.block_finished_btn, self.block_edit_btn,
self.block_on_failure_btn
])
y += self.block_finished_btn._height() + self.sp
group_enable((self.block_edit_btn, self.block_on_failure_btn), False)
self.h = y
# items "view"
self.item_edit_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Edit"), self,
self.item_edit_btn_cb)
self.item_run_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Run"), self,
self.item_run_btn_cb)
self.item_on_success_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem",
"On S"), self,
self.item_on_success_btn_cb)
self.item_on_failure_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem",
"On F"), self,
self.item_on_failure_btn_cb)
self.item_finished_btn = ButtonItem(
self.scene(), 0, 0, translate("ProgramItem", "Back to blocks"),
self, self.item_finished_btn_cb)
self.items_list = None
group_visible((self.item_finished_btn, self.item_run_btn,
self.item_on_success_btn, self.item_on_failure_btn,
self.item_edit_btn), False)
# readonly (program running) "view"
self.pr_pause_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Pause"), self,
self.pr_pause_btn_cb)
if self.stopped:
self.pr_pause_btn.set_caption(translate("ProgramItem", "Resume"))
self.pr_cancel_btn = ButtonItem(self.scene(), 0, 0,
translate("ProgramItem", "Stop"), self,
self.pr_cancel_btn_cb)
group_visible((self.pr_pause_btn, self.pr_cancel_btn), False)
self.fixed = False
self.editing_item = False
self.edit_request = False
self.run_request = False
self.setFlag(QtGui.QGraphicsItem.ItemIsMovable, True)
self.setFlag(QtGui.QGraphicsItem.ItemIsSelectable, True)
self.setZValue(100)
self._update_learned()
self.update()
if self.item_switched_cb:
self.item_switched_cb(None, None, blocks=True)
