class NodeMoveToDestinationGUI(NodeGUI):
def __init__(self):
super(NodeMoveToDestinationGUI,self).__init__()
self.robot = NamedComboBox('Robot')
self.layout_.addWidget(self.robot)
self.robots_list = get_params(id="robot").data
self.robot.add_items(self.robots_list)
self.time = NamedField('Time Limit','0.0')
self.tolerance = NamedField('Tolerance','0.1')
self.layout_.addWidget(self.time)
self.layout_.addWidget(self.tolerance)
def generate(self,parent=None):
if len(self.robots_list) < 1:
return 'ERROR: no robots defined!'
elif len(self.locations_list) < 1:
return 'ERROR: no locations defined!'
robot = self.robots_list[int(self.robot.get())]
if all([self.name.full(),self.label.full(), self.time.full(), self.tolerance.full()]):
return NodeMoveToDestination(parent,self.get_name(),self.get_label(),
robot,self.time.get(),self.tolerance.get())
else:
return 'ERROR: node not properly defined'
class NodeSetDestinationGUI(NodeGUI):
def __init__(self):
super(NodeSetDestinationGUI,self).__init__()
self.location = NamedComboBox('Destination')
self.robot = NamedComboBox('Robot')
self.layout_.addWidget(self.robot)
self.layout_.addWidget(self.location)
self.robots_list = get_params(id="robot").data
self.locations_list = get_params(id="location").data
self.robot.add_items(self.robots_list)
self.location.add_items(self.locations_list)
def generate(self,parent=None):
if len(self.robots_list) < 1:
return 'ERROR: no robots defined!'
elif len(self.locations_list) < 1:
return 'ERROR: no locations defined!'
robot = self.robots_list[int(self.robot.get())]
location = self.locations_list[int(self.robot.get())]
if all([self.name.full(),self.label.full()]):
return NodeSetDestination(parent,self.get_name(),self.get_label(),
robot, location)
else:
return 'ERROR: node not properly defined'
class SaveParameterGUI(NodeGUI):
def __init__(self):
super(SaveParameterGUI,self).__init__()
self.type_ = NamedComboBox('Item Type')
self.file_ = NamedField('Item Name','')
self.layout_.addWidget(self.type_)
self.layout_.addWidget(self.file_)
#self.param_ = NamedComboBox('Parameter')
self.param_ = NamedField('ROS Parameter','')
self.layout_.addWidget(self.param_)
type_list = getList('')
self.type_.add_items(type_list.entries)
#self.param_.add_items(rosparam.get_params(''))
def generate(self):
if len(self.type_list.entries) > 0:
tname = self.type_list.entries[int(self.type_.get())]
else:
return 'ERROR: no types found!'
if all([self.name.full(),self.label.full()],self.file_.full()):
return SaveParameter(self.get_name(),self.get_label(),
tname, self.file_.get(), self.param_.get())
else:
return 'ERROR: node not properly defined'
class SaveParameterGUI(NodeGUI):
def __init__(self):
super(SaveParameterGUI, self).__init__()
self.type_ = NamedComboBox('Item Type')
self.file_ = NamedField('Item Name', '')
self.layout_.addWidget(self.type_)
self.layout_.addWidget(self.file_)
#self.param_ = NamedComboBox('Parameter')
self.param_ = NamedField('ROS Parameter', '')
self.layout_.addWidget(self.param_)
type_list = getList('')
self.type_.add_items(type_list.entries)
#self.param_.add_items(rosparam.get_params(''))
def generate(self):
if len(self.type_list.entries) > 0:
tname = self.type_list.entries[int(self.type_.get())]
else:
return 'ERROR: no types found!'
if all([self.name.full(), self.label.full()], self.file_.full()):
return SaveParameter(self.get_name(), self.get_label(), tname,
self.file_.get(), self.param_.get())
else:
return 'ERROR: node not properly defined'
class NodeConditionExistsGUI(NodeGUI):
def __init__(self):
super(NodeConditionExistsGUI,self).__init__()
self.predicate = NamedComboBox('Entity Type')
self.param1 = NamedComboBox('Identifier')
self.layout_.addWidget(self.predicate)
self.layout_.addWidget(self.param1)
self.predicate.add_items(entity_types)
def generate(self,parent=None):
idx = int(self.predicate.get())
if all([self.name.full(),self.label.full()]):
return NodeConditionExists(parent,self.get_name(),self.get_label(),self.predicate.get(),
self.param1.get())
else:
return 'ERROR: node not properly defined'
class LoadEntryFromFileGUI(NodeGUI):
def __init__(self):
super(LoadEntryFromFileGUI,self).__init__()
self.type_ = NamedComboBox('Item Type')
self.file_ = NamedComboBox('Item Name')
self.entry_ = NamedField('Item Entry','')
self.layout_.addWidget(self.type_)
self.layout_.addWidget(self.file_)
self.layout_.addWidget(self.entry_)
self.type_list = getList('')
self.type_.add_items(self.type_list.entries)
self.type_.interface().currentIndexChanged.connect(self.selected)
self.file_list = []
def selected(self,t):
value = str(t)
self.file_list = getList(self.type_list.entries[int(self.type_.get())])
self.file_.interface().clear()
self.file_.add_items(self.file_list.entries)
def generate(self):
if len(self.file_list.entries) > 0:
fname = self.file_list.entries[int(self.file_.get())]
else:
return 'ERROR: no items found!'
if len(self.type_list.entries) > 0:
tname = self.type_list.entries[int(self.type_.get())]
else:
return 'ERROR: no types found!'
if all([self.name.full(),self.label.full(), self.entry_.full()]):
return LoadEntry(self.get_name(),self.get_label(),
tname, fname, self.entry_.get())
else:
return 'ERROR: node not properly defined'
class LoadEntryFromFileGUI(NodeGUI):
def __init__(self):
super(LoadEntryFromFileGUI, self).__init__()
self.type_ = NamedComboBox('Item Type')
self.file_ = NamedComboBox('Item Name')
self.entry_ = NamedField('Item Entry', '')
self.layout_.addWidget(self.type_)
self.layout_.addWidget(self.file_)
self.layout_.addWidget(self.entry_)
self.type_list = getList('')
self.type_.add_items(self.type_list.entries)
self.type_.interface().currentIndexChanged.connect(self.selected)
self.file_list = []
def selected(self, t):
value = str(t)
self.file_list = getList(self.type_list.entries[int(self.type_.get())])
self.file_.interface().clear()
self.file_.add_items(self.file_list.entries)
def generate(self):
if len(self.file_list.entries) > 0:
fname = self.file_list.entries[int(self.file_.get())]
else:
return 'ERROR: no items found!'
if len(self.type_list.entries) > 0:
tname = self.type_list.entries[int(self.type_.get())]
else:
return 'ERROR: no types found!'
if all([self.name.full(), self.label.full(), self.entry_.full()]):
return LoadEntry(self.get_name(), self.get_label(), tname, fname,
self.entry_.get())
else:
return 'ERROR: node not properly defined'