def launchViewer(self):
playButtonFps = 1.0/self.options['Sim']['dt']
print "playButtonFPS", playButtonFps
self.playTimer = TimerCallback(targetFps=playButtonFps)
self.playTimer.callback = self.playTimerCallback
panel = QtGui.QWidget()
l = QtGui.QHBoxLayout(panel)
playButton = QtGui.QPushButton('Play/Pause')
playButton.connect('clicked()', self.onPlayButton)
l.addWidget(playButton)
w = QtGui.QWidget()
l = QtGui.QVBoxLayout(w)
l.addWidget(self.view)
l.addWidget(panel)
w.showMaximized()
self.carFrame.connectFrameModified(self.updateDrawIntersection)
self.updateDrawIntersection(self.carFrame)
applogic.resetCamera(viewDirection=[0.2,0,-1])
self.view.showMaximized()
self.view.raise_()
self.app.start()
def _makeTerrainWizard(self):
terrainWizard = QtGui.QWidget()
self.cinderBlockButton = QtGui.QToolButton()
self.cinderBlock2Button = QtGui.QToolButton()
self.cinderBlockButton.setIcon(QtGui.QIcon(':/images/cinderblock.png'))
self.cinderBlock2Button.setIcon(QtGui.QIcon(':/images/cinderblock_double.png'))
self.cinderBlockButton.setIconSize(QtCore.QSize(60,60))
self.cinderBlock2Button.setIconSize(QtCore.QSize(60,60))
self.cinderBlockButton.connect('clicked()', functools.partial(self.onTerrainCinderblockSelected, self.cinderBlockButton))
self.cinderBlock2Button.connect('clicked()', functools.partial(self.onTerrainCinderblockSelected, self.cinderBlock2Button))
buttons = QtGui.QWidget()
l = QtGui.QHBoxLayout(buttons)
l.setMargin(0)
l.addStretch()
l.addWidget(self.cinderBlockButton)
l.addWidget(self.cinderBlock2Button)
l.addStretch()
l = QtGui.QVBoxLayout(terrainWizard)
l.addWidget(buttons)
l.addWidget(_makeButton('double wide', functools.partial(startInteractiveLineDraw, [0.1905*2, 0.149225])))
l.addStretch()
return terrainWizard
def __init__(self):
self.widget = QtGui.QGroupBox('Drill Planner')
self.deltaSpinBoxes = [QtGui.QSpinBox() for i in xrange(3)]
for spin in self.deltaSpinBoxes:
spin.setMinimum(-100)
spin.setMaximum(100)
spin.setSingleStep(1)
l = QtGui.QVBoxLayout(self.widget)
l.addWidget(_makeButton('refit drill', self.refitDrill))
l.addWidget(_makeButton('button preset posture',
self.gotoButtonPreset))
l.addWidget(_makeButton('button pre-pose plan',
self.buttonPrePosePlan))
l.addWidget(_makeButton('request nominal plan', self.nominalPlan))
l.addWidget(
_makeButton('request arm prepose plan', self.armPreposePlan))
l.addWidget(_makeButton('request walking goal', self.walkingGoal))
l.addWidget(
_makeButton('request nominal fixed plan', self.nominalFixedPlan))
l.addWidget(_makeButton('request pre-drill plan', self.preDrillPlan))
l.addWidget(_makeButton('request drill-in plan', self.drillInPlan))
l.addWidget(QtGui.QLabel(''))
l.addWidget(_makeButton('next drill plan', self.nextDrillPlan))
hw = QtGui.QWidget()
hl = QtGui.QHBoxLayout(hw)
hl.addWidget(_makeButton('set drill depth', self.setDrillDepth))
self.drillDepthSpin = QtGui.QSpinBox()
self.drillDepthSpin.setMinimum(-100)
self.drillDepthSpin.setMaximum(100)
self.drillDepthSpin.setSingleStep(1)
hl.addWidget(self.drillDepthSpin)
hl.addWidget(QtGui.QLabel('cm'))
l.addWidget(hw)
hw = QtGui.QWidget()
hl = QtGui.QHBoxLayout(hw)
self.drillDeltaCombo = QtGui.QComboBox()
self.drillDeltaCombo.addItem('button')
self.drillDeltaCombo.addItem('wall')
self.drillDeltaButton = _makeButton('drill delta', self.drillDelta)
hl.addWidget(self.drillDeltaButton)
hl.addWidget(self.drillDeltaCombo)
for spin in self.deltaSpinBoxes:
hl.addWidget(spin)
hl.addWidget(QtGui.QLabel('cm'))
hl.addWidget(_makeButton('clear', self.clearDrillDelta))
l.addWidget(QtGui.QLabel(''))
l.addWidget(QtGui.QLabel(''))
l.addWidget(hw)
self.keyPressNav = KeyboardNavigation()
self.keyPressNav.callbacks.append(self.onKeyPress)
l.addWidget(self.keyPressNav.widget)
def _makeValveWizard(self):
wizard = QtGui.QWidget()
l = QtGui.QVBoxLayout(wizard)
hw = QtGui.QWidget()
hl = QtGui.QHBoxLayout(hw)
hl.setMargin(0)
self.valveMethodCombo = QtGui.QComboBox()
self.valveMethodCombo.addItem('auto wall')
self.valveMethodCombo.addItem('manual')
hl.addWidget(QtGui.QLabel('method:'))
hl.addWidget(self.valveMethodCombo)
l.addWidget(hw)
l.addWidget(_makeButton('segment large valve', self.segmentLargeValve))
l.addWidget(_makeButton('segment small valve', self.segmentSmallValve))
l.addWidget(_makeButton('segment bar', self.segmentLeverValve))
hw = QtGui.QFrame()
hl = QtGui.QHBoxLayout(hw)
hl.setMargin(0)
hl.addWidget(
_makeButton('segment value radius:',
self.segmentValveCustomRadius))
self.valveRadiusSpin = QtGui.QSpinBox()
self.valveRadiusSpin.setMinimum(0)
self.valveRadiusSpin.setMaximum(99)
self.valveRadiusSpin.setSingleStep(1)
hl.addWidget(self.valveRadiusSpin)
hl.addWidget(QtGui.QLabel('cm'))
l.addWidget(hw)
l.addWidget(QtGui.QLabel(''))
l.addWidget(_makeButton('refit wall', startRefitWall))
hw = QtGui.QFrame()
hl = QtGui.QHBoxLayout(hw)
hl.setMargin(0)
hl.addWidget(
_makeButton('request valve circle plan',
self.requestValveCirclePlan))
self.circlePlanAngle = QtGui.QSpinBox()
self.circlePlanAngle.setMinimum(-360)
self.circlePlanAngle.setMaximum(360)
self.circlePlanAngle.setSingleStep(5)
hl.addWidget(self.circlePlanAngle)
hl.addWidget(QtGui.QLabel('degrees'))
l.addWidget(hw)
l.addStretch()
return wizard
def _makeValveWizard(self):
wizard = QtGui.QWidget()
l = QtGui.QVBoxLayout(wizard)
hw = QtGui.QWidget()
hl = QtGui.QHBoxLayout(hw)
hl.setMargin(0)
self.valveMethodCombo = QtGui.QComboBox()
self.valveMethodCombo.addItem("auto wall")
self.valveMethodCombo.addItem("manual")
hl.addWidget(QtGui.QLabel("method:"))
hl.addWidget(self.valveMethodCombo)
l.addWidget(hw)
l.addWidget(_makeButton("segment large valve", self.segmentLargeValve))
l.addWidget(_makeButton("segment small valve", self.segmentSmallValve))
l.addWidget(_makeButton("segment bar", self.segmentLeverValve))
hw = QtGui.QFrame()
hl = QtGui.QHBoxLayout(hw)
hl.setMargin(0)
hl.addWidget(
_makeButton("segment value radius:",
self.segmentValveCustomRadius))
self.valveRadiusSpin = QtGui.QSpinBox()
self.valveRadiusSpin.setMinimum(0)
self.valveRadiusSpin.setMaximum(99)
self.valveRadiusSpin.setSingleStep(1)
hl.addWidget(self.valveRadiusSpin)
hl.addWidget(QtGui.QLabel("cm"))
l.addWidget(hw)
l.addWidget(QtGui.QLabel(""))
l.addWidget(_makeButton("refit wall", startRefitWall))
hw = QtGui.QFrame()
hl = QtGui.QHBoxLayout(hw)
hl.setMargin(0)
self.circlePlanAngle = QtGui.QSpinBox()
self.circlePlanAngle.setMinimum(-360)
self.circlePlanAngle.setMaximum(360)
self.circlePlanAngle.setSingleStep(5)
hl.addWidget(self.circlePlanAngle)
hl.addWidget(QtGui.QLabel("degrees"))
l.addWidget(hw)
l.addStretch()
return wizard
def __init__(self):
self.forces = ['pelvis']
self.widget = QtGui.QWidget()
self.layout = QtGui.QVBoxLayout(self.widget)
self.rebuild()
self.layout.addStretch()
def __init__(self):
self.panel = QtGui.QWidget()
self.panel.setWindowTitle('Segmentation Tools')
self.taskSelection = PythonQt.dd.ddTaskSelection()
self.taskSelection.connect('taskSelected(int)', self.onTaskSelected)
l = QtGui.QVBoxLayout(self.panel)
self.backButton = self._makeBackButton()
l.addWidget(self.backButton)
l.addWidget(self.taskSelection)
self.backButton.hide()
wizards = {
'driving': self._makeDrivingWizard,
'terrain': self._makeTerrainWizard,
'ladder': self._makeLadderWizard,
'debris': self._makeDebrisWizard,
'door': self._makeDoorWizard,
'drill': self._makeDrillWizard,
'valve': self._makeValveWizard,
'firehose': self._makeFirehoseWizard,
}
self.wizards = {}
for name, func in wizards.iteritems():
widget = func()
self.wizards[name] = widget
l.addWidget(widget)
widget.hide()
def __init__(self, minValue=0.0, maxValue=1.0, resolution=1000):
self._value = 0.0
self.spinbox = QtGui.QDoubleSpinBox()
self.spinbox.setSuffix('s')
self.slider = QtGui.QSlider(QtCore.Qt.Horizontal)
self.playButton = QtGui.QPushButton('Play')
self.setValueRange(minValue, maxValue)
self.setResolution(resolution)
self.slider.connect('valueChanged(int)', self._onSliderValueChanged)
self.spinbox.connect('valueChanged(double)',
self._onSpinboxValueChanged)
self.playButton.connect('clicked()', self._onPlayClicked)
self.widget = QtGui.QWidget()
layout = QtGui.QHBoxLayout(self.widget)
layout.addWidget(self.playButton)
layout.addWidget(self.spinbox)
layout.addWidget(self.slider)
self.animationPrevTime = 0.0
self.animationRate = 1.0
self.animationRateTarget = 1.0
self.animationRateAlpha = 1.0
self.animationTimer = TimerCallback(callback=self._tick, targetFps=60)
self.useRealTime = True
self.callbacks = callbacks.CallbackRegistry(self.events._fields)
self.eventFilter = PythonQt.dd.ddPythonEventFilter()
self.eventFilter.connect('handleEvent(QObject*, QEvent*)',
self._filterEvent)
self.eventFilter.addFilteredEventType(QtCore.QEvent.MouseButtonPress)
self.eventFilter.addFilteredEventType(QtCore.QEvent.MouseMove)
self.slider.installEventFilter(self.eventFilter)
def __init__(self):
self.app = ConsoleApp()
self.view = self.app.createView()
self.robotSystem = robotsystem.create(self.view)
self.config = drcargs.getDirectorConfig()
jointGroups = self.config['teleopJointGroups']
self.jointTeleopPanel = JointTeleopPanel(self.robotSystem, jointGroups)
self.jointCommandPanel = JointCommandPanel(self.robotSystem)
self.jointCommandPanel.ui.speedSpinBox.setEnabled(False)
self.jointCommandPanel.ui.mirrorArmsCheck.setChecked(self.jointTeleopPanel.mirrorArms)
self.jointCommandPanel.ui.mirrorLegsCheck.setChecked(self.jointTeleopPanel.mirrorLegs)
self.jointCommandPanel.ui.resetButton.connect('clicked()', self.resetJointTeleopSliders)
self.jointCommandPanel.ui.mirrorArmsCheck.connect('clicked()', self.mirrorJointsChanged)
self.jointCommandPanel.ui.mirrorLegsCheck.connect('clicked()', self.mirrorJointsChanged)
self.widget = QtGui.QWidget()
gl = QtGui.QGridLayout(self.widget)
gl.addWidget(self.app.showObjectModel(), 0, 0, 4, 1) # row, col, rowspan, colspan
gl.addWidget(self.view, 0, 1, 1, 1)
gl.addWidget(self.jointCommandPanel.widget, 1, 1, 1, 1)
gl.addWidget(self.jointTeleopPanel.widget, 0, 2, -1, 1)
gl.setRowStretch(0,1)
gl.setColumnStretch(1,1)
#self.sub = lcmUtils.addSubscriber('COMMITTED_ROBOT_PLAN', lcmdrc.robot_plan_t, self.onRobotPlan)
lcmUtils.addSubscriber('STEERING_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
lcmUtils.addSubscriber('THROTTLE_COMMAND_POSITION_GOAL', lcmdrc.joint_position_goal_t, self.onSingleJointPositionGoal)
def showToolbarWidget(self):
if app.getMainWindow() is None:
return
if self.toolbarWidget:
self.execButton.setEnabled(True)
return
w = QtGui.QWidget()
l = QtGui.QHBoxLayout(w)
label = QtGui.QLabel('Walk plan:')
execButton = QtGui.QPushButton('')
execButton.setIcon(QtGui.QApplication.style().standardIcon(QtGui.QStyle.SP_MediaPlay))
clearButton = QtGui.QPushButton('')
clearButton.setIcon(QtGui.QApplication.style().standardIcon(QtGui.QStyle.SP_TrashIcon))
stopButton = QtGui.QPushButton('')
stopButton.setIcon(QtGui.QApplication.style().standardIcon(QtGui.QStyle.SP_MediaStop))
l.addWidget(label)
l.addWidget(execButton)
l.addWidget(stopButton)
l.addWidget(clearButton)
l.setContentsMargins(0, 0, 0, 0)
execButton.setShortcut(QtGui.QKeySequence('Ctrl+Return'))
execButton.connect('clicked()', self.onExecClicked)
clearButton.connect('clicked()', self.onClearClicked)
stopButton.connect('clicked()', self.sendStopWalking)
self.execButton = execButton
self.stopButton = stopButton
self.toolbarWidget = app.getMainWindow().toolBar().addWidget(w)
self.execButton.show()
def __init__(self):
self.panel = QtGui.QWidget()
self.panel.setWindowTitle("Segmentation Tools")
self.taskSelection = PythonQt.dd.ddTaskSelection()
self.taskSelection.connect("taskSelected(int)", self.onTaskSelected)
l = QtGui.QVBoxLayout(self.panel)
self.backButton = self._makeBackButton()
l.addWidget(self.backButton)
l.addWidget(self.taskSelection)
self.backButton.hide()
wizards = {
"driving": self._makeDrivingWizard,
"terrain": self._makeTerrainWizard,
"ladder": self._makeLadderWizard,
"debris": self._makeDebrisWizard,
"door": self._makeDoorWizard,
"drill": self._makeDrillWizard,
"valve": self._makeValveWizard,
"firehose": self._makeFirehoseWizard,
}
self.wizards = {}
for name, func in wizards.items():
widget = func()
self.wizards[name] = widget
l.addWidget(widget)
widget.hide()
def __init__(self, logPlayer):
self.logPlayer = logPlayer
w = QtGui.QWidget()
w.windowTitle = 'LCM Log Playback'
playButton = QtGui.QPushButton('Play')
stopButton = QtGui.QPushButton('Stop')
slider = QtGui.QSlider(QtCore.Qt.Horizontal)
slider.maximum = int(logPlayer.getEndTime() * 100)
text = QtGui.QLineEdit()
text.text = '0.0'
playButton.connect('clicked()', self.onPlay)
stopButton.connect('clicked()', self.onStop)
slider.connect('valueChanged(int)', self.onSlider)
text.connect('returnPressed()', self.onText)
l = QtGui.QHBoxLayout(w)
l.addWidget(slider)
l.addWidget(text)
l.addWidget(playButton)
l.addWidget(stopButton)
self.slider = slider
self.text = text
self.widget = w
self.widget.show()
def updateLayout(self):
self.storeButtons = []
self.flyButtons = []
w = QtGui.QWidget()
l = QtGui.QGridLayout(w)
for i in range(self.numberOfBookmarks):
storeButton = QtGui.QPushButton('set')
flyButton = QtGui.QPushButton('fly')
textEdit = QtGui.QLineEdit('camera %d' % i)
storeButton.connect('clicked()', self.storeMapper, 'map()')
flyButton.connect('clicked()', self.flyMapper, 'map()')
self.storeMapper.setMapping(storeButton, storeButton)
self.flyMapper.setMapping(flyButton, flyButton)
self.storeButtons.append(storeButton)
self.flyButtons.append(flyButton)
l.addWidget(storeButton, i, 0)
l.addWidget(flyButton, i, 1)
l.addWidget(textEdit, i, 2)
flyButton.setEnabled(False)
self.flySpeedSpinner = QtGui.QDoubleSpinBox()
self.flySpeedSpinner.setMinimum(0)
self.flySpeedSpinner.setMaximum(60)
self.flySpeedSpinner.setDecimals(1)
self.flySpeedSpinner.setSingleStep(0.5)
self.flySpeedSpinner.setSuffix(' seconds')
self.flySpeedSpinner.setValue(1.0)
l.addWidget(QtGui.QLabel('Fly speed:'), i+1, 0, 2)
l.addWidget(self.flySpeedSpinner, i+1, 2)
self.widget.setWidget(w)
def __init__ (self, parent):
super(_StepByStepSolverTab, self).__init__ (parent)
self.plugin = parent
box = QtGui.QVBoxLayout(self)
b = QtGui.QPushButton(self)
b.text = "Initialize step by step sequence"
box.addWidget(b)
b.connect("clicked()", self.prepareSolveStepByStep)
w = QtGui.QWidget(self)
hl = QtGui.QHBoxLayout(w)
self.stepCount = QtGui.QSpinBox(w)
self.stepCount.setRange(1, 1000)
self.value = 1
hl.addWidget(self.stepCount)
b = QtGui.QPushButton(self)
b.text = "Execute N step"
hl.addWidget(b)
b.connect("clicked()", self.executeOneStep)
box.addWidget(w)
b = QtGui.QPushButton(self)
b.text = "Finalize"
box.addWidget(b)
b.connect("clicked()", self.finishSolveStepByStep)
def setupPlayback(self):
self.timer = TimerCallback(targetFps=30)
self.timer.callback = self.tick
playButtonFps = 1.0 / self.dt
print "playButtonFPS", playButtonFps
self.playTimer = TimerCallback(targetFps=playButtonFps)
self.playTimer.callback = self.playTimerCallback
self.sliderMovedByPlayTimer = False
panel = QtGui.QWidget()
l = QtGui.QHBoxLayout(panel)
playButton = QtGui.QPushButton('Play/Pause')
playButton.connect('clicked()', self.onPlayButton)
slider = QtGui.QSlider(QtCore.Qt.Horizontal)
slider.connect('valueChanged(int)', self.onSliderChanged)
self.sliderMax = self.numTimesteps
slider.setMaximum(self.sliderMax)
self.slider = slider
l.addWidget(playButton)
l.addWidget(slider)
w = QtGui.QWidget()
l = QtGui.QVBoxLayout(w)
l.addWidget(self.view)
l.addWidget(panel)
w.showMaximized()
self.frame.connectFrameModified(self.updateDrawIntersection)
self.updateDrawIntersection(self.frame)
applogic.resetCamera(viewDirection=[0.2, 0, -1])
self.view.showMaximized()
self.view.raise_()
panel = screengrabberpanel.ScreenGrabberPanel(self.view)
panel.widget.show()
elapsed = time.time() - self.startSimTime
simRate = self.counter / elapsed
print "Total run time", elapsed
print "Ticks (Hz)", simRate
print "Number of steps taken", self.counter
self.app.start()
def _makeDoorWizard(self):
wizard = QtGui.QWidget()
l = QtGui.QVBoxLayout(wizard)
l.addWidget(_makeButton('segment door handle - left', functools.partial(startDoorHandleSegmentation, 'door_handle_left')))
l.addWidget(_makeButton('segment door handle - right', functools.partial(startDoorHandleSegmentation, 'door_handle_right')))
l.addWidget(_makeButton('segment door frame', functools.partial(startDoorHandleSegmentation, 'doorframe')))
l.addStretch()
return wizard
def __init__(self):
self.eventFilter = None
self.widget = QtGui.QWidget()
l = QtGui.QVBoxLayout(self.widget)
self.button = _makeButton('enable keyboard navigation', self.clicked)
self.button.setCheckable(True)
l.addWidget(self.button)
self.callbacks = []
def __init__(self, model, jointController, view):
self.model = model
self.jointController = jointController
self.view = view
self.colorNoHighlight = QtGui.QColor(190, 190, 190)
self.colorHighlight = QtCore.Qt.red
self.timer = TimerCallback()
self.timer.callback = self.update
self.timer.targetFps = 60
#self.timer.start()
self.collisionStateIds = []
self.lastRobotStateMessage = None
self.lastPlanMessage = None
self.lastPlanCheckMessage = None
lcmUtils.addSubscriber('EST_ROBOT_STATE', lcmdrc.robot_state_t, self.onRobotState)
lcmUtils.addSubscriber('ROBOT_COLLISIONS', lcmdrc.robot_collision_array_t, self.onPlanCheck)
lcmUtils.addSubscriber('CANDIDATE_MANIP_PLAN', lcmdrc.robot_plan_w_keyframes_t, self.onManipPlan)
w = QtGui.QWidget()
l = QtGui.QHBoxLayout(w)
self.slider = QtGui.QSlider(QtCore.Qt.Horizontal)
self.clearButton = QtGui.QPushButton('clear')
self.zeroButton = QtGui.QPushButton('zero')
l.addWidget(self.clearButton)
l.addWidget(self.zeroButton)
l.addWidget(self.slider)
self.slider.connect(self.slider, 'valueChanged(int)', self.onSlider)
self.slider.connect(self.zeroButton, 'clicked()', self.onZeroButtonClicked)
self.slider.connect(self.clearButton, 'clicked()', self.onClearButtonClicked)
ww = QtGui.QWidget()
ll = QtGui.QVBoxLayout(ww)
ll.addWidget(self.view)
ll.addWidget(w)
ll.setMargin(0)
ww.show()
ww.resize(800, 600)
self.widget = ww
def _makeFirehoseWizard(self):
firehoseWizard = QtGui.QWidget()
segmentButton = QtGui.QToolButton()
segmentButton.setIcon(QtGui.QIcon(':/images/wye.png'))
segmentButton.setIconSize(QtCore.QSize(60,60))
segmentButton.connect('clicked()', self.onSegmentWye)
l = QtGui.QVBoxLayout(firehoseWizard)
l.addWidget(segmentButton)
l.addWidget(_makeButton('segment hose nozzle', startHoseNozzleSegmentation))
l.addStretch()
return firehoseWizard
def _makeBackButton(self):
w = QtGui.QPushButton()
w.setIcon(QtGui.QApplication.style().standardIcon(QtGui.QStyle.SP_ArrowBack))
w.connect('clicked()', self.onBackButton)
frame = QtGui.QWidget()
l = QtGui.QHBoxLayout(frame)
l.setMargin(0)
l.addWidget(w)
l.addStretch()
return frame
def makeForcesWidget(self, force):
w = QtGui.QWidget()
h = QtGui.QHBoxLayout(w)
h.addWidget(QtGui.QLabel(force))
slider = QtGui.QSlider(QtCore.Qt.Horizontal)
h.addWidget(slider)
def onSliderChanged(value):
print value, force
slider.connect('valueChanged(int)', onSliderChanged)
return w
def __init__(self, mainWindow, flags=None):
if flags is None:
super(Plugin, self).__init__("Path graph plugin", mainWindow)
else:
super(Plugin, self).__init__("Path graph plugin", mainWindow,
flags)
self.setObjectName("Path graph plugin")
self.main = mainWindow
self.hppPlugin = self.main.getFromSlot("getHppIIOPurl")
self.pathPlayer = self.main.getFromSlot("getCurrentPath")
self.jointgroupcreator = self.main.getFromSlot(
"requestCreateJointGroup")
self.comgroupcreator = self.main.getFromSlot("requestCreateComGroup")
self.velocities = Velocities(self)
self.jointActions = dict()
self.jointNames = None
self.qcpWidgets = list()
# This avoids having a widget bigger than what it needs. It avoids having
# a big dock widget and a small osg widget when creating the main osg widget.
p = Qt.QSizePolicy.Ignored
self.topWidget = QtGui.QSplitter(Qt.Qt.Horizontal, self)
self.topWidget.setSizePolicy(Qt.QSizePolicy(p, p))
self.setWidget(self.topWidget)
self.leftPane = QtGui.QWidget(self)
l = QtGui.QVBoxLayout()
self.makeLeftPane(l)
self.leftPane.setLayout(l)
self.topWidget.addWidget(self.leftPane)
self.rightPane = QtGui.QWidget(self)
self.rightPaneLayout = QtGui.QVBoxLayout()
self.rightPane.setLayout(self.rightPaneLayout)
self.addPlotBelow()
self.topWidget.addWidget(self.rightPane)
self.topWidget.setStretchFactor(1, 1)
def __init__(self, minValue=0.0, maxValue=1.0, resolution=1000):
self.spinbox = QtGui.QDoubleSpinBox()
self.spinbox.setSuffix('s')
self.slider = QtGui.QSlider(QtCore.Qt.Horizontal)
self.setResolution(resolution)
self.setValueRange(minValue, maxValue)
self.slider.connect('valueChanged(int)', self._onSliderValueChanged)
self.spinbox.connect('valueChanged(double)', self._onSpinboxValueChanged)
self.widget = QtGui.QWidget()
layout = QtGui.QHBoxLayout(self.widget)
layout.addWidget(self.spinbox)
layout.addWidget(self.slider)
self.animationTimer = None
self.callbacks = callbacks.CallbackRegistry(self.events._fields)
def __init__(self, handlers):
# Create widget and layouts
self._widget = QtGui.QWidget()
self._image_widgets = map(ImageWidget, handlers)
self._layout = QtGui.QHBoxLayout(self._widget)
for image_widget in self._image_widgets:
self._layout.addWidget(image_widget.get_widget())
self._layout.setContentsMargins(0, 0, 0, 0)
default_width = 640
default_height = 480
dim = [default_width * len(self._image_widgets), default_height]
self._widget.resize(*dim)
self._widget.show()
def showObjectModel(self):
if not self.objectModelWidget:
w = QtGui.QWidget()
l = QtGui.QVBoxLayout(w)
model = om.getDefaultObjectModel()
l.addWidget(model.getTreeWidget())
l.addWidget(model.getPropertiesPanel())
applogic.addShortcut(w, "Ctrl+Q", self.quit)
self.objectModelWidget = w
self.objectModelWidget.resize(350, 700)
self.objectModelWidget.show()
self.objectModelWidget.raise_()
self.objectModelWidget.activateWindow()
return self.objectModelWidget
def _makeDebrisWizard(self):
debrisWizard = QtGui.QWidget()
lumberSelection = PythonQt.dd.ddLumberSelection()
lumberSelection.connect('lumberSelected(int)', self.onDebrisLumberSelected)
l = QtGui.QVBoxLayout(debrisWizard)
l.addWidget(lumberSelection)
#l.addWidget(_makeButton('segment cinderblock wall', startSegmentDebrisWall))
#l.addWidget(_makeButton('segment cinderblock wall manual', startSegmentDebrisWallManual))
l.addWidget(_makeButton('segment truss', startTrussSegmentation))
self.lockAffordanceButton = _makeButton('lock affordance to hand', self.onLockAffordanceToHand)
self.lockAffordanceButton.checkable = True
l.addWidget(self.lockAffordanceButton)
l.addStretch()
return debrisWizard
def __init__(self, plugin):
super(QCPWidget, self).__init__(plugin)
self.plugin = plugin
layout = QtGui.QVBoxLayout(self)
from PythonQt.QCustomPlot import QCustomPlot, QCP
self.qcpWidget = QCustomPlot()
self.qcpWidget.autoAddPlottableToLegend = True
self.qcpWidget.setInteraction(QCP.iRangeDrag, True) # iRangeDrap
self.qcpWidget.setInteraction(QCP.iRangeZoom, True) # iRangeZoom
self.qcpWidget.setInteraction(QCP.iSelectAxes, True) # iSelectAxes
self.qcpWidget.legend().visible = True
layout.addWidget(self.qcpWidget, 1)
self.qcpWidget.connect(Qt.SIGNAL("mouseDoubleClick(QMouseEvent*)"),
self._mouseDoubleClick)
self.qcpWidget.xAxis().connect(
Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"),
self._axesSelectionChanged)
self.qcpWidget.yAxis().connect(
Qt.SIGNAL("selectionChanged(QCPAxis::SelectableParts)"),
self._axesSelectionChanged)
buttonbar = QtGui.QWidget()
bbLayout = QtGui.QHBoxLayout(buttonbar)
button = QtGui.QPushButton("Replot", buttonbar)
button.connect(QtCore.SIGNAL("clicked()"), self.refreshPlot)
bbLayout.addWidget(button)
button = QtGui.QPushButton("Remove", buttonbar)
button.connect(QtCore.SIGNAL("clicked()"), self.removePlot)
bbLayout.addWidget(button)
button = QtGui.QPushButton("Legend", buttonbar)
button.checkable = True
button.checked = True
button.connect(QtCore.SIGNAL("toggled(bool)"), self.toggleLegend)
bbLayout.addWidget(button)
button = QtGui.QPushButton(QtGui.QIcon.fromTheme("zoom-fit-best"), "",
buttonbar)
button.setToolTip("Zoom fit best")
button.connect(QtCore.SIGNAL("clicked()"), self.qcpWidget.rescaleAxes)
bbLayout.addWidget(button)
self.xselect = QtGui.QComboBox(self)
bbLayout.addWidget(self.xselect, 1)
layout.addWidget(buttonbar)
self.data = DataQCP(plugin, self.qcpWidget)
def refreshJointList(self):
self.jointNames = self.client.robot.getJointNames()
# Left pane
saLayout = QtGui.QVBoxLayout()
self.yselectcb = list()
rank = 0
for n in self.jointNames:
size = self.client.robot.getJointConfigSize(n)
if size == 1:
cb = QtGui.QCheckBox(formats[0] % (n, "q"))
self.yselectcb.append((cb, rank))
saLayout.addWidget(cb)
else:
for i in range(size):
cb = QtGui.QCheckBox(formats[1] % (n, "q", i))
self.yselectcb.append((cb, rank + i))
saLayout.addWidget(cb)
rank = rank + size
for type in ("v", "a"):
saLayout.addSpacing(5)
for n in self.jointNames:
size = self.client.robot.getJointNumberDof(n)
if size == 1:
cb = QtGui.QCheckBox(formats[0] % (n, type))
self.yselectcb.append((cb, rank))
saLayout.addWidget(cb)
else:
for i in range(size):
cb = QtGui.QCheckBox(formats[1] % (n, type, i))
self.yselectcb.append((cb, rank + i))
saLayout.addWidget(cb)
rank = rank + size
saContent = QtGui.QWidget(self)
saContent.setLayout(saLayout)
self.scrollArea.setWidget(saContent)
# Right pane
jointCfgSize = [
self.client.robot.getJointConfigSize(n) for n in self.jointNames
]
jointNbDof = [
self.client.robot.getJointNumberDof(n) for n in self.jointNames
]
for w in self.qcpWidgets:
w.refreshJointList(self.jointNames, jointCfgSize, jointNbDof)
def _makeLadderWizard(self):
wizard = QtGui.QWidget()
l = QtGui.QVBoxLayout(wizard)
l.addWidget(
_makeButton(
'straighten - left',
functools.partial(
drilltaskpanel.sendControlMessage,
drilltaskpanel.drill_control_t.LADDER_STRAIGHTEN_LEFT)))
l.addWidget(
_makeButton(
'straighten - right',
functools.partial(
drilltaskpanel.sendControlMessage,
drilltaskpanel.drill_control_t.LADDER_STRAIGHTEN_RIGHT)))
l.addStretch()
return wizard
def buildTabWidget(self, jointGroups):
self.slidersMap = {}
self.labelMap = {}
for group in jointGroups:
groupName = group['name']
joints = group['joints']
labels = group['labels']
if groupName.lower() == 'base':
continue
if len(labels) != len(joints):
print 'error, joints/labels mismatch for joint group:', name
continue
jointGroupWidget = QtGui.QWidget()
gridLayout = QtGui.QGridLayout(jointGroupWidget)
gridLayout.setColumnStretch(0, 1)
for jointName, labelText in zip(joints, labels):
label = QtGui.QLabel(labelText)
numericLabel = QtGui.QLabel('0.0')
slider = QtGui.QSlider(QtCore.Qt.Vertical)
column = gridLayout.columnCount()
gridLayout.addWidget(label, 0, column)
gridLayout.addWidget(slider, 1, column)
gridLayout.addWidget(numericLabel, 2, column)
self.slidersMap[jointName] = slider
self.labelMap[slider] = numericLabel
gridLayout.setColumnStretch(gridLayout.columnCount(), 1)
self.widget.addTab(jointGroupWidget, groupName)
self.widget.usesScrollButtons = False
self.signalMapper = QtCore.QSignalMapper()
self.sliderMax = 1000.0
for jointName, slider in self.slidersMap.iteritems():
slider.connect('valueChanged(int)', self.signalMapper, 'map()')
self.signalMapper.setMapping(slider, jointName)
slider.setMaximum(self.sliderMax)
self.signalMapper.connect('mapped(const QString&)', self.sliderChanged)
