def __init__(self):
super(RobPathUI, self).__init__()
loadUi(os.path.join(path, 'resources', 'robviz.ui'), self)
self.boxPlot.addWidget(MyViz())
self.qtParam = QtParam()
self.qtPart = QtPart()
self.qtScan = QtScan()
self.qtPath = QtPath()
self.tabWidget.addTab(self.qtParam, 'Parameters')
self.tabWidget.addTab(self.qtPart, 'Part')
self.tabWidget.addTab(self.qtScan, 'Scan')
self.tabWidget.addTab(self.qtPath, 'Path')
self.qtParam.accepted.connect(self.qtParamAccepted)
self.qtPart.accepted.connect(self.qtPartAccepted)
self.btnQuit.clicked.connect(self.btnQuitClicked)
icon = QtGui.QIcon.fromTheme('application-exit')
self.btnQuit.setIcon(icon)
rospy.Subscriber(
'/velocity', MsgVelocity, self.cb_velocity, queue_size=1)
class RobPathUI(QtGui.QMainWindow):
def __init__(self):
super(RobPathUI, self).__init__()
loadUi(os.path.join(path, 'resources', 'robviz.ui'), self)
self.boxPlot.addWidget(MyViz())
self.qtParam = QtParam()
self.qtPart = QtPart()
self.qtScan = QtScan()
self.qtPath = QtPath()
self.tabWidget.addTab(self.qtParam, 'Parameters')
self.tabWidget.addTab(self.qtPart, 'Part')
self.tabWidget.addTab(self.qtScan, 'Scan')
self.tabWidget.addTab(self.qtPath, 'Path')
self.qtParam.accepted.connect(self.qtParamAccepted)
self.qtPart.accepted.connect(self.qtPartAccepted)
self.btnQuit.clicked.connect(self.btnQuitClicked)
icon = QtGui.QIcon.fromTheme('application-exit')
self.btnQuit.setIcon(icon)
rospy.Subscriber(
'/velocity', MsgVelocity, self.cb_velocity, queue_size=1)
def cb_velocity(self, msg_velocity):
self.lblInfo.setText("Speed: %.1f mm/s" % (1000 * msg_velocity.speed))
def qtParamAccepted(self, params):
[self.qtPath.insertCommand(cmd) for cmd in params]
def qtPartAccepted(self, path):
cmds = self.qtPath.jason.path2cmds(path)
[self.qtPath.insertCommand(cmd) for cmd in cmds]
self.tabWidget.setCurrentWidget(self.qtPath)
def btnQuitClicked(self):
QtCore.QCoreApplication.instance().quit()
def __init__(self):
super(Robviz, self).__init__()
loadUi(os.path.join(path, 'resources', 'robviz.ui'), self)
rospy.Subscriber('/supervisor/status',
MsgStatus,
self.cbStatus,
queue_size=1)
self.boxPlot.addWidget(MyViz())
self.qtData = QtData(self)
self.qtParam = QtParam(self)
self.qtScan = QtScan(self)
self.qtPart = QtPart(self)
self.qtPath = QtPath(self)
self.tabWidget.addTab(self.qtData, 'Data')
self.tabWidget.addTab(self.qtParam, 'Params')
self.tabWidget.addTab(self.qtScan, 'Scan')
self.tabWidget.addTab(self.qtPart, 'Part')
self.tabWidget.addTab(self.qtPath, 'Path')
self.qtData.accepted.connect(self.qtDataAccepted)
self.qtParam.accepted.connect(self.qtParamAccepted)
self.qtScan.accepted.connect(self.qtScanAccepted)
self.qtPart.accepted.connect(self.qtPartAccepted)
self.btnQuit.setIcon(QtGui.QIcon.fromTheme('application-exit'))
self.btnQuit.clicked.connect(self.btnQuitClicked)
self.speed = 0
self.power = 0
self.running = False
self.laser_on = False
tmrInfo = QtCore.QTimer(self)
tmrInfo.timeout.connect(self.updateStatus)
tmrInfo.start(100)
class Robviz(QtGui.QMainWindow):
def __init__(self):
super(Robviz, self).__init__()
loadUi(os.path.join(path, 'resources', 'robviz.ui'), self)
rospy.Subscriber('/supervisor/status',
MsgStatus,
self.cbStatus,
queue_size=1)
self.boxPlot.addWidget(MyViz())
self.qtData = QtData(self)
self.qtParam = QtParam(self)
self.qtScan = QtScan(self)
self.qtPart = QtPart(self)
self.qtPath = QtPath(self)
self.tabWidget.addTab(self.qtData, 'Data')
self.tabWidget.addTab(self.qtParam, 'Params')
self.tabWidget.addTab(self.qtScan, 'Scan')
self.tabWidget.addTab(self.qtPart, 'Part')
self.tabWidget.addTab(self.qtPath, 'Path')
self.qtData.accepted.connect(self.qtDataAccepted)
self.qtParam.accepted.connect(self.qtParamAccepted)
self.qtScan.accepted.connect(self.qtScanAccepted)
self.qtPart.accepted.connect(self.qtPartAccepted)
self.btnQuit.setIcon(QtGui.QIcon.fromTheme('application-exit'))
self.btnQuit.clicked.connect(self.btnQuitClicked)
self.speed = 0
self.power = 0
self.running = False
self.laser_on = False
tmrInfo = QtCore.QTimer(self)
tmrInfo.timeout.connect(self.updateStatus)
tmrInfo.start(100)
def cbStatus(self, msg_status):
self.running = msg_status.running
self.laser_on = msg_status.laser_on
self.speed = msg_status.speed
self.power = msg_status.power
def updateStatus(self):
self.lblSpeed.setText("Speed: %.1f mm/s" % (self.speed))
self.lblPower.setText("Power: %i W" % (self.power))
if self.running:
self.lblStatus.setText('Running')
self.lblStatus.setStyleSheet(
"background-color: rgb(0, 255, 0); color: rgb(0, 0, 0);")
else:
self.lblStatus.setText('Stopped')
self.lblStatus.setStyleSheet(
"background-color: rgb(255, 0, 0); color: rgb(0, 0, 0);")
if self.laser_on:
self.lblLaser.setText('Laser ON')
self.lblLaser.setStyleSheet(
"background-color: rgb(255, 255, 0); color: rgb(0, 0, 0);")
else:
self.lblLaser.setText('Laser OFF')
self.lblLaser.setStyleSheet(
"background-color: rgb(0, 0, 255); color: rgb(0, 0, 0);")
def qtDataAccepted(self):
self.tabWidget.setCurrentWidget(self.qtParam)
def qtParamAccepted(self):
self.tabWidget.setCurrentWidget(self.qtPart)
def qtScanAccepted(self, path):
print 'Path:', path
commands = self.qtPath.jason.path2cmds(path)
print 'Commands:', commands
self.qtPath.loadCommands(commands)
self.tabWidget.setCurrentWidget(self.qtPath)
def qtPartAccepted(self, path):
commands = self.qtPath.jason.path2cmds(path)
self.qtPath.loadCommands(commands)
self.tabWidget.setCurrentWidget(self.qtPath)
def btnQuitClicked(self):
QtCore.QCoreApplication.instance().quit()
