def beginGui(self,obj):
self.parent = QScrollArea()
self.frame = QFrame(self.parent)
if obj.layout == "vertical":
self.tl = QVBoxLayout()
else:
self.tl = QHBoxLayout()
self.__increase_nesting_level(self.frame,self.tl)
def beginRosLabel(self,obj):
pm,lm = self.__get_immediate_parent()
fr = QFrame(pm)
layout = QGridLayout()
nlb = QLabel(obj.label_name + ":",fr)
nlb.setToolTip(obj.topic_name)
layout.addWidget(nlb,1,1)
layout.addWidget(RosLabel(fr,obj.label_name,obj.topic_name,obj.topic_type,obj.topic_field),1,2)
fr.setLayout(layout)
lm.addWidget(fr)
def setup_group_frame(self, group):
layout = QVBoxLayout()
# grid for buttons for named targets
grid = QGridLayout()
grid.setSpacing(1)
self.button_group = QButtonGroup(self)
row = 0
column = 0
named_targets = self.get_named_targets(group)
for target in named_targets:
button = QPushButton(target)
self.button_group.addButton(button)
grid.addWidget(button, row, column)
column += 1
if column >= self.MAX_COLUMNS:
row += 1
column = 0
self.button_group.buttonClicked.connect(self._handle_button_clicked)
# grid for show joint value and move arm buttons/text field
joint_values_grid = QGridLayout()
joint_values_grid.setSpacing(1)
button_show_joint_values = QPushButton('Current Joint Values')
button_show_joint_values.clicked[bool].connect(
self._handle_show_joint_values_clicked)
line_edit = QLineEdit()
self.text_joint_values.append(line_edit)
button_move_to = QPushButton('Move to')
button_move_to.clicked[bool].connect(self._handle_move_to_clicked)
joint_values_grid.addWidget(button_show_joint_values, 0, 1)
joint_values_grid.addWidget(line_edit, 0, 2)
joint_values_grid.addWidget(button_move_to, 0, 3)
layout.addLayout(grid)
line = QFrame()
line.setFrameShape(QFrame.HLine)
line.setFrameShadow(QFrame.Sunken)
layout.addWidget(line)
layout.addLayout(joint_values_grid)
frame = QFrame()
frame.setLayout(layout)
return frame
def create_joint_plot_widget(self, joint):
joint_setting_file = os.path.join(rospkg.RosPack().get_path('march_rqt_gait_generator'), 'resource',
'joint_setting.ui')
joint_plot_widget = QFrame()
loadUi(joint_setting_file, joint_plot_widget)
show_velocity_plot = self.velocity_plot_check_box.isChecked()
show_effort_plot = self.effort_plot_check_box.isChecked()
joint_plot = JointPlot(joint, show_velocity_plot, show_effort_plot)
joint_plot_widget.Plot.addItem(joint_plot)
# Disable scrolling horizontally
joint_plot_widget.Table.horizontalScrollBar().setDisabled(True)
joint_plot_widget.Table.horizontalHeader().setSectionResizeMode(QHeaderView.Stretch)
joint_plot_widget.Table.controller = JointTableController(joint_plot_widget.Table, joint)
return joint_plot_widget
def space():
spacer = QFrame()
spacer.setFrameShape(QFrame.HLine)
return spacer
class pyqtTraverse(Traverser.Traverser):
def __init__(self):
self.parent = None
self.nesting_stack = []
def beginGui(self,obj):
self.parent = QScrollArea()
self.frame = QFrame(self.parent)
if obj.layout == "vertical":
self.tl = QVBoxLayout()
else:
self.tl = QHBoxLayout()
self.__increase_nesting_level(self.frame,self.tl)
def endGui(self,obj):
parent,layout = self.__get_immediate_parent()
self.frame.setLayout(layout)
self.parent.setWidget(self.frame)
self.parent.show()
def beginGroup(self,obj):
parent,layout = self.__get_immediate_parent()
panel = QGroupBox(obj.name,parent)
if obj.layout == "grid":
l = QGridLayout()
elif obj.layout == "vertical":
l = QVBoxLayout()
else:
l = QHBoxLayout()
self.__increase_nesting_level(panel, l)
def endGroup(self,obj):
parent,layout = self.__get_immediate_parent()
parent.setLayout(layout)
self.__decrease_nesting_level()
p1,l1 = self.__get_immediate_parent()
l1.addWidget(parent)
def beginRosLabel(self,obj):
pm,lm = self.__get_immediate_parent()
fr = QFrame(pm)
layout = QGridLayout()
nlb = QLabel(obj.label_name + ":",fr)
nlb.setToolTip(obj.topic_name)
layout.addWidget(nlb,1,1)
layout.addWidget(RosLabel(fr,obj.label_name,obj.topic_name,obj.topic_type,obj.topic_field),1,2)
fr.setLayout(layout)
lm.addWidget(fr)
def endRosLabel(self,obj):
pass
def beginRosToggleButton(self,obj):
pm,lm = self.__get_immediate_parent()
btn = RosToggleButton(pm,
obj.btn_name,
obj.topic_name,
obj.topic_type,
obj.topic_field,
obj.toggle_dict)
lm.addWidget(btn)
pass
def endRosToggleButton(self,obj):
pass
def beginRosSlider(self,obj):
pm,lm = self.__get_immediate_parent()
slider = RosSlider(pm,obj.label_name,
obj.topic_name,
obj.topic_type,
obj.topic_field,
obj.min_max_tuple,
obj.default
)
lm.addWidget(slider)
pass
def endRosSlider(self,obj):
pass
def beginRosPlot(self,obj):
pm,lm = self.__get_immediate_parent()
plot = RosPlot(pm,obj.label_name,
obj.topic_name,
obj.topic_type,
obj.topic_field,
obj.buffer_size
)
lm.addWidget(plot)
def endRosPlot(self,obj):
pass
def beginRosMsgView(self,obj):
pm,lm = self.__get_immediate_parent()
fr = RosMsgView(pm, obj.grp_name, obj.topic_name, obj.topic_type, obj.topic_fields)
lm.addWidget(fr)
pass
def endRosMsgView(self,obj):
pass
def __get_immediate_parent(self):
l = len(self.nesting_stack)
return self.nesting_stack[l-1]
def __increase_nesting_level(self,parent,container):
self.nesting_stack.append((parent,container))
def __decrease_nesting_level(self):
self.nesting_stack.pop()
def create_joint_setting(self, joint):
joint_setting_file = os.path.join(
rospkg.RosPack().get_path('march_rqt_gait_generator'), 'resource',
'joint_setting.ui')
joint_setting = QFrame()
loadUi(joint_setting_file, joint_setting)
show_velocity_markers = self.velocity_markers_check_box.isChecked()
joint_setting_plot = JointSettingPlot(joint, self.gait.duration,
show_velocity_markers)
joint_setting.Plot.addItem(joint_setting_plot)
joint_setting.Table = user_interface_controller.update_table(
joint_setting.Table, joint, self.gait.duration)
# Disable scrolling horizontally
joint_setting.Table.horizontalScrollBar().setDisabled(True)
joint_setting.Table.horizontalHeader().setSectionResizeMode(
QHeaderView.Stretch)
def update_joint_ui():
user_interface_controller.update_ui_elements(
joint,
table=joint_setting.Table,
plot=joint_setting_plot,
duration=self.gait.duration,
show_velocity_markers=self.velocity_markers_check_box.
isChecked())
self.publish_preview()
def add_setpoint(joint, time, position, button):
if button == QtCore.Qt.ControlModifier:
joint.add_interpolated_setpoint(time)
else:
joint.add_setpoint(ModifiableSetpoint(time, position, 0))
self.undo_button.clicked.connect(update_joint_ui)
self.redo_button.clicked.connect(update_joint_ui)
self.invert_button.clicked.connect(update_joint_ui)
self.velocity_markers_check_box.stateChanged.connect(lambda: [
joint.set_setpoints(
user_interface_controller.plot_to_setpoints(joint_setting_plot)
),
update_joint_ui(),
])
# Connect a function to update the model and to update the table.
joint_setting_plot.plot_item.sigPlotChanged.connect(lambda: [
joint.set_setpoints(
user_interface_controller.plot_to_setpoints(joint_setting_plot)
),
update_joint_ui(),
])
joint_setting_plot.add_setpoint.connect(
lambda time, position, button: [
add_setpoint(joint, time, position, button),
update_joint_ui(),
])
joint_setting_plot.remove_setpoint.connect(lambda index: [
joint.save_setpoints(),
joint.remove_setpoint(index),
update_joint_ui(),
])
joint_setting.Table.itemChanged.connect(lambda: [
joint.set_setpoints(
user_interface_controller.table_to_setpoints(joint_setting.
Table)),
user_interface_controller.
update_ui_elements(joint,
table=None,
plot=joint_setting_plot,
duration=self.gait.duration,
show_velocity_markers=self.
velocity_markers_check_box.isChecked()),
self.publish_preview(),
])
return joint_setting
def __init__(self, context):
super(FakeMotionRendererPlugin, self).__init__(context)
self.setObjectName('FakeMotionRendererPlugin')
self._widget = QWidget()
if context.serial_number() > 1:
self._widget.setWindowTitle(
self._widget.windowTitle() + (' (%d)' % context.serial_number()))
ui_file = os.path.join(rospkg.RosPack().get_path('motion_renderer'), 'resource', 'fake_motion_renderer.ui')
loadUi(ui_file, self._widget)
self._widget.resizeEvent = self.widget_resized
context.add_widget(self._widget)
self.frame = QFrame()
self.vtkWidget = QVTKRenderWindowInteractor(self.frame)
self._widget.verticalLayout.addWidget(self.vtkWidget)
self._widget.update()
self.ren = vtk.vtkRenderer()
self.vtkWidget.GetRenderWindow().AddRenderer(self.ren)
self.iren = self.vtkWidget.GetRenderWindow().GetInteractor()
self.vtkWidget.GetRenderWindow().SetLineSmoothing(2)
self.vtkWidget.GetRenderWindow().SetPointSmoothing(2)
# self.vtkWidget.GetRenderWindow().SetPolygonSmoothing(2)
self.vtkWidget.GetRenderWindow().AlphaBitPlanesOn()
self.vtkWidget.GetRenderWindow().SetMultiSamples(32)
self.eye_ball = []
self.eye_ball.append(self.add_eye_ball(pose=[-0.8, 0.0, 0.0], orientation=[90, 0, 0]))
self.eye_ball.append(self.add_eye_ball(pose=[0.8, 0.0, 0.0], orientation=[90, 0, 0]))
self.eye_lid = []
self.eye_lid.append(self.add_eye_lid(pose=[-0.8, 0.0, 0.0], orientation=[90, 0, 0]))
self.eye_lid.append(self.add_eye_lid(pose=[0.8, 0.0, 0.0], orientation=[90, 0, 0]))
self.eye_brow = []
self.eye_brow.append(self.add_eye_brow(pose=[-0.8, 0.55, 0.4], orientation=[0, 0, 0]))
self.eye_brow.append(self.add_eye_brow(pose=[0.8, 0.55, 0.4], orientation=[0, 0, 0]))
# Initial Pose and Rotation for Eyeball
self.eye_ball[0].RotateZ(-2.0)
self.eye_ball[1].RotateZ(2.0)
self.eye_lid[0][0].RotateX(-30)
self.eye_lid[0][1].RotateX(30)
self.eye_lid[1][0].RotateX(-30)
self.eye_lid[1][1].RotateX(30)
self.subtitle = vtk.vtkTextActor()
self.subtitle.SetInput('대화가 나타남.')
self.subtitle.GetTextProperty().SetFontFamily(vtk.VTK_FONT_FILE)
self.subtitle.GetTextProperty().SetFontFile('/usr/share/fonts/truetype/nanum/NanumBarunGothic.ttf')
self.subtitle.GetTextProperty().SetColor(1, 1, 1)
self.subtitle.GetTextProperty().SetJustificationToCentered()
self.subtitle.GetTextProperty().SetBackgroundColor(0.5, 0.2, 1)
self.subtitle.GetTextProperty().ShadowOn()
self.subtitle.GetTextProperty().SetFontSize(26)
self.subtitle.GetProperty().SetOpacity(0.5)
self.ren.AddActor2D(self.subtitle)
self.ren.SetBackground(0.1, 0.2, 0.3)
camera = vtk.vtkCamera();
camera.SetPosition(0, 0, 5);
camera.SetFocalPoint(0, 0, 0);
self.iren.RemoveAllObservers()
self.ren.SetActiveCamera(camera);
self.iren.Initialize()
self.iren.Start()
def add_space(row):
spacer = QFrame()
spacer.setFrameShape(QFrame.HLine)
#self._layout.addWidget (spacer, row, 0, 1, 4)
self._layout.addWidget(spacer, row, 1, 1, 2)