def new_site_click(self):
input_text, ok = QInputDialog.getText(self, "New site name",
"Name of the new site: ")
if ok:
msg = rover_science.srv.NewSiteRequest()
msg.site_name = input_text
self.add_site(msg)
def trigger_configuration(self):
(text, ok) = QInputDialog.getText(
self._widget,
'Settings for %s' % self._widget.windowTitle(),
'Command to edit launch files (vim, gedit, ...), can accept args:',
text=self._widget.editor)
if ok:
self._widget.editor = text
def mergeTracks(self, unused=None):
(track1Id, ok) = QInputDialog.getInteger(self.widget, "Merge two tracks", "Please enter the ID of the 1st person track you want to merge.")
if not ok:
return
(track2Id, ok) = QInputDialog.getInteger(self.widget, "Merge two tracks", "Please enter the ID of the 2nd person track you want to merge.")
if not ok:
return
if track1Id == track2Id:
QMessageBox.critical(self.widget, "Merge two tracks", "Track IDs cannot be identical!")
return
if self.verifyTrackExists(track1Id) and self.verifyTrackExists(track2Id):
self.editor.mergeTracks(track1Id, track2Id)
self.updateTrackCount()
QMessageBox.information(self.widget, "Merge two tracks", "Person tracks %d and %d have been merged!" % (track1Id, track2Id))
def stitch(self):
site, ok = QInputDialog.getItem(self, "Pick a site",
"Pick a site to set the panorama for",
self.sites.keys())
if not ok:
return
s = self.sites[site]
self.science_mark = s
self.panorama.send_goal(rover_panorama.msg.PanoramaGoal(), self.goal,
None, self.feedback)
def rename_clicked(self):
if self.listWidget.currentRow() == -1:
return
else:
input_text, ok = QInputDialog.getText(self, "New site name",
"New name of the site: ")
if ok:
msg = rover_science.srv.SiteNameChangeRequest()
msg.site_name = input_text
msg.site_id = self.listWidget.currentRow()
self.change_site_name(msg)
def _on_remove_perspective(self):
# input dialog to choose perspective to be removed
names = list(self.perspectives)
names.remove(self._current_perspective)
name, return_value = QInputDialog.getItem(
self._menu_manager.menu,
self._menu_manager.tr('Remove perspective'),
self._menu_manager.tr('Select the perspective'), names, 0, False)
# convert from unicode
name = str(name)
if return_value == QInputDialog.Rejected:
return
self._remove_perspective(name)
def trigger_configuration(self):
"""
Callback when the configuration button is clicked
"""
changed = False
map_topics = sorted(rostopic.find_by_type('nav_msgs/OccupancyGrid'))
try:
index = map_topics.index(self.map_topic)
except ValueError:
index = 0
map_topic, ok = QInputDialog.getItem(self, "Select map topic name",
"Topic name", map_topics, index)
if ok:
if map_topic != self.map_topic:
changed = True
self.map_topic = map_topic
# Paths
path_topics = sorted(rostopic.find_by_type('nav_msgs/Path'))
path_topics = [(topic, topic in self.paths) for topic in path_topics]
dialog = ListDialog("Select path topic(s)", path_topics, self)
paths, ok = dialog.exec_()
if ok:
if not paths:
changed = True
diff = set(paths).symmetric_difference(set(self.paths))
if diff:
self.paths = paths
changed = True
# Polygons
polygon_topics = sorted(
rostopic.find_by_type('geometry_msgs/PolygonStamped'))
polygon_topics = [(topic, topic in self.polygons)
for topic in polygon_topics]
dialog = ListDialog("Select polygon topic(s)", polygon_topics, self)
polygons, ok = dialog.exec_()
if ok:
if not polygons:
changed = True
diff = set(polygons).symmetric_difference(set(self.polygons))
if diff:
self.polygons = polygons
changed = True
if changed:
rospy.logdebug(
"New configuration is different, creating a new nav_view")
self.new_nav_view()
def _handle_generate(self, button):
'''
generate a new trial config
'''
trial_config = self.current_benchmark.generate()
names = []
for key in self.trial_configs.keys():
names.append(key)
msg = 'Select a name for this trial configuration'
text = ''
while True:
text, ok = QInputDialog.getText(self, 'Trial name', msg)
if text not in names:
break
QMessageBox.critical(self, "Error", "Name exists already")
if ok:
trial_item = QListWidgetItem(text)
trial_item.setFlags(trial_item.flags() | Qt.ItemIsEditable)
self.trial_list_widget.addItem(trial_item)
self.trial_configs[text] = trial_config
self.trial_list_widget.setCurrentItem(trial_item)
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, context):
super(LiveTool, self).__init__(context)
# Load UI and initialize all Widgets
self.loadUI()
self.assignWidgets()
self._widget.show()
context.add_widget(self._widget)
self.udp_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.udp_port, button_pressed = QInputDialog.getText(self._widget, "Change Port?", \
"Please select the port you want to listen on. Leave blank for port 5006.", QLineEdit.Normal, "")
if button_pressed and self.udp_port == "":
self.udp_port = "5006"
self.udpworker = UdpWorker(self.udp_ip, self.udp_port)
self.udpworker.start()
# Set configuration from "ip_config.yaml"
self.receiveIPconfig()
#TODO: for testing only!!!: This parameter should be set for every Robot individually
rospy.set_param(Name.param_robot_id, "Robot_2")
# a simple list containing current RobotIDs. The order indicates, which robot gets which Index for
# tabs and the 4 fields
self.id_list = []
# initialize time stamps to identify "old" unuseable udp packages
self.lastStamps = {
LiveTool.UDP_POSITION_MSG: {
Name.secs: 0,
Name.nsecs: 0
},
LiveTool.UDP_DETECTION_MSG: {
Name.secs: 0,
Name.nsecs: 0
},
LiveTool.UDP_STATUS_MSG: {
Name.secs: 0,
Name.nsecs: 0
},
LiveTool.UDP_TRAJECTORY_MSG: {
Name.secs: 0,
Name.nsecs: 0
}
}
self._widget.label_13.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])
self.sub = rospy.Subscriber("/live_info", String, self._storeData)
self.sig.connect(self._parseUdpPackage)