class JointStatePublisherGui(QWidget):
sliderUpdateTrigger = Signal()
def __init__(self, title, jsp, num_rows=0):
super(JointStatePublisherGui, self).__init__()
self.jsp = jsp
self.joint_map = {}
self.vlayout = QVBoxLayout(self)
self.scrollable = QWidget()
self.gridlayout = QGridLayout()
self.scroll = QScrollArea()
self.scroll.setVerticalScrollBarPolicy(Qt.ScrollBarAlwaysOn)
self.scroll.setHorizontalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
self.scroll.setWidgetResizable(True)
font = QFont("Helvetica", 9, QFont.Bold)
### Generate sliders ###
sliders = []
for name in self.jsp.joint_list:
if name not in self.jsp.free_joints:
continue
joint = self.jsp.free_joints[name]
if joint['min'] == joint['max']:
continue
joint_layout = QVBoxLayout()
row_layout = QHBoxLayout()
label = QLabel(name)
label.setFont(font)
row_layout.addWidget(label)
display = QLineEdit("0.00")
display.setAlignment(Qt.AlignRight)
display.setFont(font)
display.setReadOnly(True)
row_layout.addWidget(display)
joint_layout.addLayout(row_layout)
slider = QSlider(Qt.Horizontal)
slider.setFont(font)
slider.setRange(0, RANGE)
slider.setValue(RANGE / 2)
joint_layout.addWidget(slider)
self.joint_map[name] = {
'slidervalue': 0,
'display': display,
'slider': slider,
'joint': joint
}
# Connect to the signal provided by QSignal
slider.valueChanged.connect(self.onValueChanged)
sliders.append(joint_layout)
# Determine number of rows to be used in grid
self.num_rows = num_rows
# if desired num of rows wasn't set, default behaviour is a vertical layout
if self.num_rows == 0:
self.num_rows = len(sliders) # equals VBoxLayout
# Generate positions in grid and place sliders there
self.positions = self.generate_grid_positions(len(sliders),
self.num_rows)
for item, pos in zip(sliders, self.positions):
self.gridlayout.addLayout(item, *pos)
# Set zero positions read from parameters
self.center()
# Synchronize slider and displayed value
self.sliderUpdate(None)
# Set up a signal for updating the sliders based on external joint info
self.sliderUpdateTrigger.connect(self.updateSliders)
self.scrollable.setLayout(self.gridlayout)
self.scroll.setWidget(self.scrollable)
self.vlayout.addWidget(self.scroll)
# Buttons for randomizing and centering sliders and
# Spinbox for on-the-fly selecting number of rows
self.randbutton = QPushButton('Randomize', self)
self.randbutton.clicked.connect(self.randomize_event)
self.vlayout.addWidget(self.randbutton)
self.ctrbutton = QPushButton('Center', self)
self.ctrbutton.clicked.connect(self.center_event)
self.vlayout.addWidget(self.ctrbutton)
self.maxrowsupdown = QSpinBox()
self.maxrowsupdown.setMinimum(1)
self.maxrowsupdown.setMaximum(len(sliders))
self.maxrowsupdown.setValue(self.num_rows)
self.maxrowsupdown.lineEdit().setReadOnly(
True) # don't edit it by hand to avoid weird resizing of window
self.maxrowsupdown.valueChanged.connect(self.reorggrid_event)
self.vlayout.addWidget(self.maxrowsupdown)
self.setLayout(self.vlayout)
@pyqtSlot(int)
def onValueChanged(self, event):
# A slider value was changed, but we need to change the joint_info metadata.
for name, joint_info in self.joint_map.items():
joint_info['slidervalue'] = joint_info['slider'].value()
joint = joint_info['joint']
joint['position'] = self.sliderToValue(joint_info['slidervalue'],
joint)
joint_info['display'].setText("%.2f" % joint['position'])
@pyqtSlot()
def updateSliders(self):
self.update_sliders()
def update_sliders(self):
for name, joint_info in self.joint_map.items():
joint = joint_info['joint']
joint_info['slidervalue'] = self.valueToSlider(
joint['position'], joint)
joint_info['slider'].setValue(joint_info['slidervalue'])
def center_event(self, event):
self.center()
def center(self):
rospy.loginfo("Centering")
for name, joint_info in self.joint_map.items():
joint = joint_info['joint']
joint_info['slider'].setValue(
self.valueToSlider(joint['zero'], joint))
def reorggrid_event(self, event):
self.reorganize_grid(event)
def reorganize_grid(self, number_of_rows):
self.num_rows = number_of_rows
# Remove items from layout (won't destroy them!)
items = []
for pos in self.positions:
item = self.gridlayout.itemAtPosition(*pos)
items.append(item)
self.gridlayout.removeItem(item)
# Generate new positions for sliders and place them in their new spots
self.positions = self.generate_grid_positions(len(items),
self.num_rows)
for item, pos in zip(items, self.positions):
self.gridlayout.addLayout(item, *pos)
def generate_grid_positions(self, num_items, num_rows):
if num_rows == 0:
return []
positions = [
(y, x)
for x in range(int((math.ceil(float(num_items) / num_rows))))
for y in range(num_rows)
]
positions = positions[:num_items]
return positions
def randomize_event(self, event):
self.randomize()
def randomize(self):
rospy.loginfo("Randomizing")
for name, joint_info in self.joint_map.items():
joint = joint_info['joint']
joint_info['slider'].setValue(
self.valueToSlider(random.uniform(joint['min'], joint['max']),
joint))
def sliderUpdate(self, event):
for name, joint_info in self.joint_map.items():
joint_info['slidervalue'] = joint_info['slider'].value()
self.update_sliders()
def valueToSlider(self, value, joint):
return (value - joint['min']) * float(RANGE) / (joint['max'] -
joint['min'])
def sliderToValue(self, slider, joint):
pctvalue = slider / float(RANGE)
return joint['min'] + (joint['max'] - joint['min']) * pctvalue
