def change_input_method():
global manniquin_controllers_loaded
global joint_observer
index = main_window.input_method_comboBox.currentIndex()
input_method = main_window.input_method_comboBox.itemData(index)
print 'change_input_method()', index
manniquin_controllers = ['r_arm_controller_loose', 'l_arm_controller_loose', 'head_traj_controller_loose']
standard_controllers = ['r_arm_controller', 'l_arm_controller', 'head_traj_controller']
if input_method == INPUT_METHOD_ROBOT:
# setup controllers for manniquin mode
if not manniquin_controllers_loaded:
# load controllers once
print 'change_input_method()', 'load manniquin controllers'
manniquin_controllers_loaded = load_controllers(manniquin_controllers)
if not manniquin_controllers_loaded:
QMessageBox.critical(main_window, main_window.tr('Loading controllers failed'), main_window.tr('Could not load manniquin controllers.'))
# switch to manniquin controllers
success = switch_controllers(manniquin_controllers, standard_controllers)
if success:
joint_observer.start()
else:
# restore standard controllers
success = switch_controllers(standard_controllers, manniquin_controllers)
if success:
joint_observer.stop()
if not success:
QMessageBox.critical(main_window, main_window.tr('Switching controllers failed'), main_window.tr('Could not switch controllers.'))
def _handle_start_following(self):
#make sure server is available before sending goal
QApplication.setOverrideCursor(QCursor(Qt.WaitCursor))
if (not self._client.wait_for_server(rospy.Duration.from_sec(10))):
QApplication.restoreOverrideCursor()
msg_box = QMessageBox()
msg_box.setText("Timeout while looking for path following control server.")
msg_box.exec_()
return
QApplication.restoreOverrideCursor()
#get path file to load
filename = QFileDialog.getOpenFileName(self, self.tr('Load Path from File'), '.', self.tr('Path File {.txt} (*.txt)'))
if filename[0] != '':
try:
handle = open(filename[0])
except IOError as e:
qWarning(str(e))
return
# load path from file
path_reader=csv.reader(open(filename[0],'rb'),delimiter=';')
# parse path file and convert to numbers
temp = [row[0].split() for row in path_reader]
lines= [[float(num) for num in row] for row in temp]
# first line of file is radius
radius = lines[0]
# remove radius
del(lines[0])
now = rospy.Time.now()
goal = auxos_messages.msg.PlanThenFollowDubinsPathGoal()
goal.path.header.stamp = now
goal.path.header.frame_id = self.path_frame_id # TODO: fix this!!!
for line in lines:
pose_msg = PoseStamped()
pose_msg.header.stamp = now
pose_msg.header.frame_id = goal.path.header.frame_id
pose_msg.pose.position.x = line[0]
pose_msg.pose.position.y = line[1]
quat = qfe(0, 0, psi2theta(line[2]))
pose_msg.pose.orientation.x = quat[0]
pose_msg.pose.orientation.y = quat[1]
pose_msg.pose.orientation.z = quat[2]
pose_msg.pose.orientation.w = quat[3]
goal.path.poses.append(pose_msg)
self._client.send_goal(goal, self._handle_path_complete, self._handle_active, self._handle_feedback)
print("start following")
def doAddWordButton(self, newWord, rank):
additionResult = self.wordCollection.addToUserDict(newWord, rankInt=rank);
if additionResult:
QMessageBox.information(self, # dialog parent
"Dictionary addition", "Word '%s' has been saved in user dictionary." % newWord,
QMessageBox.Ok,
QMessageBox.NoButton);
else:
QMessageBox.information(self, # dialog parent
"Dictionary addition", "Word '%s' was already in the dictionary. No action taken" % newWord,
QMessageBox.Ok,
QMessageBox.NoButton);
def handleSaveWordButton(self):
# Get content of output panel:
currOutput = self.outputPanel.toPlainText();
# If noth'n there, done:
if len(currOutput) == 0:
QMessageBox.information(self, "Dictionary addition", "Output panel has no content; so there is no word to save.", QMessageBox.Ok, QMessageBox.NoButton);
return;
# Get the last word in the output panel:
newWord = re.split("[.;:?! @()]", currOutput)[-1];
# Ask user about capitalization, and expected word frequency.
# This call will raise a modal dialog box. Signal handlers
# handleAddDictWordCapitalizeStateChanged(), and handleAddDictWordOK_Cancel()
# take it from there:
self.getAddWordUserInfo(newWord);
class DialogService(QWidget):
'''
Provides popup windows for information and error messages
'''
#----------------------------------
# Initializer
#--------------
def __init__(self, parent=None):
super(DialogService, self).__init__(parent);
# All-purpose error popup message:
# Used by self.showErrorMsgByErrorCode(<errorCode>),
# or self.showErrorMsg(<string>). Returns a
# QErrorMessage without parent, but with QWindowFlags set
# properly to be a dialog popup box:
self.errorMsgPopup = QErrorMessage.qtHandler();
# Re-parent the popup, retaining the window flags set
# by the qtHandler:
self.errorMsgPopup.setParent(parent, self.errorMsgPopup.windowFlags());
#self.errorMsgPopup.setStyleSheet(SpeakEasyGUI.stylesheetAppBG);
self.infoMsg = QMessageBox(parent=parent);
#self.infoMsg.setStyleSheet(SpeakEasyGUI.stylesheetAppBG);
#----------------------------------
# showErrorMsg
#--------------
QErrorMessage
def showErrorMsg(self,errMsg):
'''
Given a string, pop up an error dialog on top of the application window.
@param errMsg: The message
@type errMsg: string
'''
self.errorMsgPopup.showMessage(errMsg);
#----------------------------------
# showInfoMsg
#--------------
def showInfoMsg(self, text):
'''
Display a message window with an OK button on top of the application window.
@param text: text to display
@type text: string
'''
self.infoMsg.setText(text);
self.infoMsg.exec_();
def save_screenshot():
path = os.path.expanduser('~')
filename_template = 'robot-%d.png'
serial = 1
while True:
filename = os.path.join(path, filename_template % serial)
if not os.path.exists(filename):
break
serial += 1
widget = robot_view.children()[0]
pixmap = QPixmap.grabWindow(widget.winId())
rc = pixmap.save(filename)
if rc:
QMessageBox.information(main_window, main_window.tr('Saved screenshot'), main_window.tr('Screenshot saved in file: %s') % filename)
else:
QMessageBox.critical(main_window, main_window.tr('Saving screenshot failed'), main_window.tr('Could not save screenshot.'))
def __init__(self, exception, level='critical', fmt=None):
QMessageBox.__init__(self, parent=QApplication.activeWindow())
icon = self._icons.get(level, QMessageBox.NoIcon)
self.setIcon(icon)
title = self._titles.get(level, "")
self.setWindowTitle(title)
okBtn = self.addButton("ok", QMessageBox.AcceptRole)
self.setDefaultButton(okBtn)
if fmt is None:
fmt = u"<nobr>{e}</nobr>"
className, methodName = self.classAndMethodName()
excName, excMsg = type(exception).__name__, str(exception)
text = u"{3}\n[ {2} in {0}.{1} ]".format(className, methodName,
excName, excMsg)
self.setText(fmt.format(e=text.replace("\n", "<br />")))
logfunc = self._logging.get(level, logging.error)
logfunc(traceback.format_exc()) # log exception traceback
self.exec_()
def closeEvent(event):
if not sigint_called:
button = QMessageBox.question(main_window, main_window.tr('Close application'), main_window.tr('Do you really want to close the application?'), QMessageBox.Cancel | QMessageBox.Close)
else:
button = QMessageBox.Close
if button == QMessageBox.Close:
event.accept()
else:
event.ignore()
def on_apply_wrench_clicked_(self):
success = True
apply_body_wrench = rospy.ServiceProxy('/gazebo/apply_body_wrench', ApplyBodyWrench)
body_name = self._widget.comboBoxObjectList.currentText()
wrench = Wrench()
wrench.force.x = float(str(self._widget.lineEdit.text()))
wrench.force.y = float(str(self._widget.lineEdit_2.text()))
wrench.force.z = float(str(self._widget.lineEdit_3.text()))
try:
resp1 = apply_body_wrench(body_name, "", None, wrench, rospy.Time.from_sec(0), rospy.Duration.from_sec(1.0))
except rospy.ServiceException:
success = False
if success:
if not resp1.success:
success = False
if not success:
QMessageBox.warning(self._widget, "Warning", "Could not apply wrench to selected object.")
def save_screenshot():
path = os.path.expanduser('~')
filename_template = 'robot-%d.png'
serial = 1
while True:
filename = os.path.join(path, filename_template % serial)
if not os.path.exists(filename):
break
serial += 1
widget = robot_view.children()[0]
pixmap = QPixmap.grabWindow(widget.winId())
rc = pixmap.save(filename)
if rc:
QMessageBox.information(
main_window, main_window.tr('Saved screenshot'),
main_window.tr('Screenshot saved in file: %s') % filename)
else:
QMessageBox.critical(main_window,
main_window.tr('Saving screenshot failed'),
main_window.tr('Could not save screenshot.'))
def closeEvent(event):
if not sigint_called:
button = QMessageBox.question(
main_window, main_window.tr('Close application'),
main_window.tr('Do you really want to close the application?'),
QMessageBox.Cancel | QMessageBox.Close)
else:
button = QMessageBox.Close
if button == QMessageBox.Close:
event.accept()
else:
event.ignore()
class DialogService(object):
'''
Convenience class for popping up error and information messages
in Qt based applications. Control whether any popup windows are
actually shown by setting the class variable CURRENTLY_TESTING to
True or False. If True, no dialogs will be shown. Used during
automatic testing.
'''
CURRENTLY_TESTING = False;
#----------------------------------
# Initializer
#--------------
def __init__(self, parent=None):
# All-purpose error popup message:
# Used by self.showErrorMsgByErrorCode(<errorCode>),
# or self.showErrorMsg(<string>). Returns a
# QErrorMessage without parent, but with QWindowFlags set
# properly to be a dialog popup box:
self.errorMsgPopup = QErrorMessage.qtHandler();
# Re-parent the popup, retaining the window flags set
# by the qtHandler:
self.errorMsgPopup.setParent(parent, self.errorMsgPopup.windowFlags());
#self.errorMsgPopup.setStyleSheet(SpeakEasyGUI.stylesheetAppBG);
self.infoMsg = QMessageBox(parent=parent);
self.infoMsg.setStyleSheet("background-color : rgb(160,182,191)");
#self.infoMsg.setStyleSheet(SpeakEasyGUI.stylesheetAppBG);
#----------------------------------
# showErrorMsg
#--------------
QErrorMessage
def showErrorMsg(self,errMsg):
'''
Given a string, pop up an error dialog, if DialogService.CURRENTLY_TESTING is False.
Else method returns quietly, because unittesting is under way
@param errMsg: The message
@type errMsg: string
'''
if not DialogService.CURRENTLY_TESTING:
self.errorMsgPopup.showMessage(errMsg);
#----------------------------------
# showInfoMsg
#--------------
def showInfoMessage(self, text):
'''
Given a string, pop up an info message, if DialogService.CURRENTLY_TESTING is False.
Else method returns quietly, because unittesting is under way
@param text: The message
@type text: string
'''
if not DialogService.CURRENTLY_TESTING:
self.infoMsg.setText(text);
self.infoMsg.exec_();
def change_input_method():
global manniquin_controllers_loaded
global joint_observer
index = main_window.input_method_comboBox.currentIndex()
input_method = main_window.input_method_comboBox.itemData(index)
print 'change_input_method()', index
manniquin_controllers = [
'r_arm_controller_loose', 'l_arm_controller_loose',
'head_traj_controller_loose'
]
standard_controllers = [
'r_arm_controller', 'l_arm_controller', 'head_traj_controller'
]
if input_method == INPUT_METHOD_ROBOT:
# setup controllers for manniquin mode
if not manniquin_controllers_loaded:
# load controllers once
print 'change_input_method()', 'load manniquin controllers'
manniquin_controllers_loaded = load_controllers(
manniquin_controllers)
if not manniquin_controllers_loaded:
QMessageBox.critical(
main_window, main_window.tr('Loading controllers failed'),
main_window.tr('Could not load manniquin controllers.'))
# switch to manniquin controllers
success = switch_controllers(manniquin_controllers,
standard_controllers)
if success:
joint_observer.start()
else:
# restore standard controllers
success = switch_controllers(standard_controllers,
manniquin_controllers)
if success:
joint_observer.stop()
if not success:
QMessageBox.critical(main_window,
main_window.tr('Switching controllers failed'),
main_window.tr('Could not switch controllers.'))
def queue_program(username, password, label):
queue = ProgramQueue(username, password)
try:
rc = queue.login()
except:
rc = False
if not rc:
QMessageBox.critical(
main_window, main_window.tr('Login failed'),
main_window.tr('Could not log in to the program queue.'))
return
output = StringIO()
storage = SimpleFormat(output)
serialize(storage)
program_data = output.getvalue()
output.close()
try:
id = queue.upload_program(program_data, label)
except:
id = False
if not id:
QMessageBox.critical(
main_window, main_window.tr('Upload failed'),
main_window.tr('Could not upload program to queue.'))
return
try:
queue.logout()
except:
pass
QMessageBox.information(
main_window, main_window.tr('Uploaded program'),
main_window.tr('Uploaded program (%d) successfully.') % id)
def queue_program(username, password, label):
queue = ProgramQueue(username, password)
try:
rc = queue.login()
except:
rc = False
if not rc:
QMessageBox.critical(main_window, main_window.tr('Login failed'), main_window.tr('Could not log in to the program queue.'))
return
output = StringIO()
storage = SimpleFormat(output)
serialize(storage)
program_data = output.getvalue()
output.close()
try:
id = queue.upload_program(program_data, label)
except:
id = False
if not id:
QMessageBox.critical(main_window, main_window.tr('Upload failed'), main_window.tr('Could not upload program to queue.'))
return
try:
queue.logout()
except:
pass
QMessageBox.information(main_window, main_window.tr('Uploaded program'), main_window.tr('Uploaded program (%d) successfully.') % id)
def clear_all():
global current_name
confirmed = True
if current_name is None:
button = QMessageBox.question(main_window, main_window.tr('Clear all poses'), main_window.tr('Do you really want to delete all poses?'), QMessageBox.No | QMessageBox.Yes)
confirmed = button == QMessageBox.Yes
if confirmed:
print 'clear_all()'
for index in range(main_window.PoseList_tabWidget.count()):
model = models[index]
model.remove_all_actions()
current_name = None
set_tab(0)
main_window.angled_view_radioButton.click()
def __init__(self, parent=None):
super(DialogService, self).__init__(parent);
# All-purpose error popup message:
# Used by self.showErrorMsgByErrorCode(<errorCode>),
# or self.showErrorMsg(<string>). Returns a
# QErrorMessage without parent, but with QWindowFlags set
# properly to be a dialog popup box:
self.errorMsgPopup = QErrorMessage.qtHandler();
# Re-parent the popup, retaining the window flags set
# by the qtHandler:
self.errorMsgPopup.setParent(parent, self.errorMsgPopup.windowFlags());
#self.errorMsgPopup.setStyleSheet(SpeakEasyGUI.stylesheetAppBG);
self.infoMsg = QMessageBox(parent=parent);
def on_set_to_position_clicked_(self):
success = True
set_model_state = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState)
model_state = ModelState()
model_state.model_name = str(self._widget.comboBoxObjectList.currentText()).split('::')[0]
model_state.pose = Pose()
model_state.twist = Twist()
model_state.reference_frame = "world"
model_state.pose.position.x = float(str(self._widget.lineEdit_4.text()))
model_state.pose.position.y = float(str(self._widget.lineEdit_5.text()))
model_state.pose.position.z = float(str(self._widget.lineEdit_6.text()))
try:
resp1 = set_model_state(model_state)
except rospy.ServiceException:
success = False
if success:
if not resp1.success:
success = False
if not success:
QMessageBox.warning(self._widget, "Warning", "Could not set model state.")
def on_refresh_list_clicked_(self):
self._widget.comboBoxObjectList.clear()
success = True
get_world_properties = rospy.ServiceProxy('/gazebo/get_world_properties', GetWorldProperties)
object_list = list()
try:
resp1 = get_world_properties()
except rospy.ServiceException:
success = False
if success:
get_model_properties = rospy.ServiceProxy('/gazebo/get_model_properties', GetModelProperties)
for model in resp1.model_names:
try:
model_properties = get_model_properties(model)
except rospy.ServiceException:
success = False
if success:
for body in model_properties.body_names:
object_list.append(model + '::' + body)
self._widget.comboBoxObjectList.addItems(object_list)
if not success:
QMessageBox.warning(self._widget, "Warning", "Could not load object list from Gazebo.")
def clear_all():
global current_name
confirmed = True
if current_name is None:
button = QMessageBox.question(
main_window, main_window.tr('Clear all poses'),
main_window.tr('Do you really want to delete all poses?'),
QMessageBox.No | QMessageBox.Yes)
confirmed = button == QMessageBox.Yes
if confirmed:
print 'clear_all()'
for index in range(main_window.PoseList_tabWidget.count()):
model = models[index]
model.remove_all_actions()
current_name = None
set_tab(0)
main_window.angled_view_radioButton.click()
def dashinfo(msg, obj, title = 'Info'):
"""Logs a message with ``rospy.loginfo`` and displays a ``QMessageBox`` to the user
:param msg: Message to display.
:type msg: str
:param obj: Parent object for the ``QMessageBox``
:type obj: QObject
:param title: An optional title for the `QMessageBox``
:type title: str
"""
rospy.loginfo(msg)
box = QMessageBox()
box.setText(msg)
box.setWindowTitle(title)
box.show()
obj._message_box = box
