def btnLoadClicked(self):
self.blockSignals(True)
filename = QtGui.QFileDialog.getOpenFileName(
self, 'Open file', os.path.join(path, 'data'),
'Mesh Files (*.stl)')[0]
print 'Filename:', filename
self.setWindowTitle(filename)
self.robpath.load_mesh(filename)
self.mesh_size = self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1
self.updatePosition(self.robpath.mesh.bpoint1) # Rename to position
self.updateSize(self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1)
self.marker_array = MarkerArray()
#self.marker = MeshMarker(mesh_resource="file://"+filename, frame_id="/workobject")
self.mesh = TriangleListMarker()
self.mesh.set_frame('/workobject')
self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles))
self.mesh.set_color((0.66, 0.66, 0.99, 0.66))
self.marker_array.markers.append(self.mesh.marker)
self.path = LinesMarker()
self.path.set_frame('/workobject')
self.path.set_color((1.0, 0.0, 0.0, 1.0))
self.marker_array.markers.append(self.path.marker)
for id, m in enumerate(self.marker_array.markers):
m.id = id
self.npoints = 0
# #rospy.loginfo()
self.pub_marker_array.publish(self.marker_array)
#TODO: Change bpoints.
#self.lblInfo.setText('Info:\n')
#self.plot.drawMesh(self.robpath.mesh)
#TODO: Add info from velocity estimation module.
self.blockSignals(False)
def btnLoadClicked(self):
self.blockSignals(True)
filename = QtGui.QFileDialog.getOpenFileName(
self, 'Open file', os.path.join(path, 'data'), 'Mesh Files (*.stl)')[0]
print 'Filename:', filename
self.setWindowTitle(filename)
self.robpath.load_mesh(filename)
self.mesh_size = self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1
self.updatePosition(self.robpath.mesh.bpoint1) # Rename to position
self.updateSize(self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1)
self.marker_array = MarkerArray()
#self.marker = MeshMarker(mesh_resource="file://"+filename, frame_id="/workobject")
self.mesh = TriangleListMarker()
self.mesh.set_frame('/workobject')
self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles))
self.mesh.set_color((0.66, 0.66, 0.99, 0.66))
self.marker_array.markers.append(self.mesh.marker)
self.path = LinesMarker()
self.path.set_frame('/workobject')
self.path.set_color((1.0, 0.0, 0.0, 1.0))
self.marker_array.markers.append(self.path.marker)
for id, m in enumerate(self.marker_array.markers):
m.id = id
self.npoints = 0
# #rospy.loginfo()
self.pub_marker_array.publish(self.marker_array)
#TODO: Change bpoints.
#self.lblInfo.setText('Info:\n')
#self.plot.drawMesh(self.robpath.mesh)
#TODO: Add info from velocity estimation module.
self.blockSignals(False)
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
loadUi(os.path.join(path, 'resources', 'path.ui'), self)
try:
rospy.wait_for_service('robot_send_command', timeout=5)
self.send_command = rospy.ServiceProxy('robot_send_command',
SrvRobotCommand)
except:
rospy.loginfo('ERROR connecting to service robot_send_command.')
#self.pub = rospy.Publisher(
# 'robot_command_json', MsgRobotCommand, queue_size=10)
self.btnLoadPath.clicked.connect(self.btnLoadPathClicked)
icon = QtGui.QIcon.fromTheme('document-open')
self.btnLoadPath.setIcon(icon)
self.btnSavePath.clicked.connect(self.btnSavePathClicked)
icon = QtGui.QIcon.fromTheme('document-save')
self.btnSavePath.setIcon(icon)
self.btnRunPath.clicked.connect(self.btnRunPathClicked)
icon = QtGui.QIcon.fromTheme('media-playback-start')
self.btnRunPath.setIcon(icon)
self.btnDelete.clicked.connect(self.btnDeleteClicked)
self.btnLoadPose.clicked.connect(self.btnLoadPoseClicked)
self.btnStep.clicked.connect(self.btnStepClicked)
self.btnCancel.clicked.connect(self.btnCancelClicked)
self.listWidgetPoses.itemSelectionChanged.connect(self.lstPosesClicked)
self.listWidgetPoses.itemDoubleClicked.connect(self.qlistDoubleClicked)
self.jason = Jason()
self.ok_command = "OK"
self.offset_position = 100
self.quat = [0, np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))]
self.quat_inv = [0, -np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))]
self.pub_marker_array = rospy.Publisher('visualization_marker_array',
MarkerArray,
queue_size=10)
self.marker_array = MarkerArray()
self.lines = LinesMarker()
self.lines.set_size(0.005)
self.lines.set_color((1, 0, 0, 1))
self.lines.set_frame('/workobject')
self.marker_array.markers.append(self.lines.marker)
self.arrow = ArrowMarker(0.1)
self.arrow.set_color((0, 0, 1, 1))
self.arrow.set_frame('/workobject')
# self.arrow.set_position((0.2, 0.2, 0.2))
# self.arrow.set_orientation((0, 0, 0, 1))
self.marker_array.markers.append(self.arrow.marker)
for id, m in enumerate(self.marker_array.markers):
m.id = id
self.tmrRunPath = QtCore.QTimer(self)
self.tmrRunPath.timeout.connect(self.timeRunPathEvent)
class QtPath(QtGui.QWidget):
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
loadUi(os.path.join(path, 'resources', 'path.ui'), self)
try:
rospy.wait_for_service('robot_send_command', timeout=5)
self.send_command = rospy.ServiceProxy('robot_send_command',
SrvRobotCommand)
except:
rospy.loginfo('ERROR connecting to service robot_send_command.')
#self.pub = rospy.Publisher(
# 'robot_command_json', MsgRobotCommand, queue_size=10)
self.btnLoadPath.clicked.connect(self.btnLoadPathClicked)
icon = QtGui.QIcon.fromTheme('document-open')
self.btnLoadPath.setIcon(icon)
self.btnSavePath.clicked.connect(self.btnSavePathClicked)
icon = QtGui.QIcon.fromTheme('document-save')
self.btnSavePath.setIcon(icon)
self.btnRunPath.clicked.connect(self.btnRunPathClicked)
icon = QtGui.QIcon.fromTheme('media-playback-start')
self.btnRunPath.setIcon(icon)
self.btnDelete.clicked.connect(self.btnDeleteClicked)
self.btnLoadPose.clicked.connect(self.btnLoadPoseClicked)
self.btnStep.clicked.connect(self.btnStepClicked)
self.btnCancel.clicked.connect(self.btnCancelClicked)
self.listWidgetPoses.itemSelectionChanged.connect(self.lstPosesClicked)
self.listWidgetPoses.itemDoubleClicked.connect(self.qlistDoubleClicked)
self.jason = Jason()
self.ok_command = "OK"
self.offset_position = 100
self.quat = [0, np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))]
self.quat_inv = [0, -np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))]
self.pub_marker_array = rospy.Publisher('visualization_marker_array',
MarkerArray,
queue_size=10)
self.marker_array = MarkerArray()
self.lines = LinesMarker()
self.lines.set_size(0.005)
self.lines.set_color((1, 0, 0, 1))
self.lines.set_frame('/workobject')
self.marker_array.markers.append(self.lines.marker)
self.arrow = ArrowMarker(0.1)
self.arrow.set_color((0, 0, 1, 1))
self.arrow.set_frame('/workobject')
# self.arrow.set_position((0.2, 0.2, 0.2))
# self.arrow.set_orientation((0, 0, 0, 1))
self.marker_array.markers.append(self.arrow.marker)
for id, m in enumerate(self.marker_array.markers):
m.id = id
self.tmrRunPath = QtCore.QTimer(self)
self.tmrRunPath.timeout.connect(self.timeRunPathEvent)
def insertPose(self, pose):
(x, y, z), (qx, qy, qz, qw) = pose
str_pose = '((%.3f, %.3f, %.3f), (%.4f, %.4f, %.4f, %.4f))' % (
x, y, z, qx, qy, qz, qw)
#item = QtGui.QListWidgetItem('item_text')
#self.listWidgetPoses.addItem(item)
self.listWidgetPoses.addItem(str_pose)
#self.listWidgetPoses.insertItem(0, '0, 1, 2')
def insertCommand(self, command, insert=False, position=0):
if not insert:
self.listWidgetPoses.addItem(command)
else:
self.listWidgetPoses.insertItem(position, command)
def removeComamnd(self):
item = self.listWidgetPoses.takeItem(0)
if item:
print item.text()
return item.text()
else:
return None
def btnLoadPathClicked(self):
self.listWidgetPoses.clear()
filename = QtGui.QFileDialog.getOpenFileName(
self, 'Load Path Routine', os.path.join(path, 'routines'),
'Jason Routine Files (*.jas)')[0]
print 'Load routine:', filename
cmds = self.jason.load_commands(filename)
[self.insertCommand(cmd) for cmd in cmds]
self.arr = []
self.getMoveCommands()
def btnSavePathClicked(self):
filename = QtGui.QFileDialog.getSaveFileName(
self, 'Load Path Routine', os.path.join(path, 'routines'),
'Jason Routine Files (*.jas)')[0]
n_row = self.listWidgetPoses.count()
if n_row > 0:
cmds = [
str(self.listWidgetPoses.item(row).text())
for row in range(n_row)
]
self.jason.save_commands(filename, cmds)
print 'Saved routine:', filename
def btnRunPathClicked(self):
"""Start-Stop sending commands to robot from the list of commands."""
if self.tmrRunPath.isActive():
self.tmrRunPath.stop()
self.btnRunPath.setText('Run')
else:
self.btnRunPath.setText('Stop')
self.tmrRunPath.start(100) # time in ms
def btnDeleteClicked(self):
row = self.listWidgetPoses.currentRow()
self.listWidgetPoses.takeItem(row)
#self.listWidgetPoses.clear()
def btnLoadPoseClicked(self):
rob_pose = self.send_command('{"get_pose":1}')
default_command = '{"move":' + rob_pose.response + '}'
str_command = QtGui.QInputDialog.getText(self,
"Load Jason Command",
"Comamnd:",
text=default_command)
row = self.listWidgetPoses.currentRow()
if len(str_command[0]) > 3:
self.insertCommand(str_command[0], insert=True, position=row)
print str_command
def btnStepClicked(self):
n_row = self.listWidgetPoses.count()
if n_row > 0:
row = self.listWidgetPoses.currentRow()
if row == -1:
row = 0
item_text = self.listWidgetPoses.item(row)
#self.pub.publish(item_text.text())
self.sendCommand(item_text.text())
row += 1
if row == n_row:
row = 0
self.listWidgetPoses.setCurrentRow(row)
def lstPosesClicked(self):
row = self.listWidgetPoses.currentRow()
item_text = self.listWidgetPoses.item(row)
str_item = item_text.text()
command = json.loads(str_item)
if 'move' in command:
orientation = np.array([
command["move"][1][1], command["move"][1][2],
command["move"][1][3], command["move"][1][0]
])
position = np.array(command["move"][0]) * 0.001
self.arrow.set_new_position(position)
self.arrow.set_new_orientation(orientation)
self.arrow.set_color((0, 0, 1, 1))
else:
self.arrow.set_color((0, 0, 0, 0))
self.pub_marker_array.publish(self.marker_array)
def qlistDoubleClicked(self):
row = self.listWidgetPoses.currentRow()
item_text = self.listWidgetPoses.item(row)
str_command = QtGui.QInputDialog.getText(self,
"Load Jason Command",
"Comamnd:",
text=item_text.text())
if len(str_command[0]) > 3:
self.listWidgetPoses.takeItem(row)
self.insertCommand(str_command[0], insert=True, position=row)
def btnCancelClicked(self):
self.sendCommand('{"cancel":1}')
def getMoveCommands(self):
n_row = self.listWidgetPoses.count()
# row = self.listWidgetPoses.currentRow()
points = []
for row in range(n_row):
item_text = self.listWidgetPoses.item(row)
str_item = item_text.text()
comando = json.loads(str_item)
if 'move' in comando:
point = comando["move"][0]
points.append(point)
points = np.array(points) * 0.001
print points
self.lines.set_points(points)
self.pub_marker_array.publish(self.marker_array)
def sendCommand(self, command):
rob_response = self.send_command(command)
print 'Sended command:', command
print 'Received response:', rob_response
self.ok_command = rob_response.response
def timeRunPathEvent(self):
"""Sends a command each time event from the list of commands."""
n_row = self.listWidgetPoses.count()
if n_row > 0:
row = self.listWidgetPoses.currentRow()
if row == -1:
row = 0
item_text = self.listWidgetPoses.item(row)
#self.pub.publish(item_text.text())
self.sendCommand(item_text.text())
if self.ok_command == "OK":
row += 1
if row == n_row:
row = 0
self.btnRunPathClicked()
self.listWidgetPoses.setCurrentRow(row)
class QtPart(QtGui.QWidget):
accepted = QtCore.pyqtSignal(list)
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
loadUi(os.path.join(path, 'resources', 'part.ui'), self)
self.pub_marker_array = rospy.Publisher('visualization_marker_array',
MarkerArray,
queue_size=1)
self.btnLoad.clicked.connect(self.btnLoadClicked)
self.btnProcessMesh.clicked.connect(self.btnProcessMeshClicked)
self.btnProcessLayer.clicked.connect(self.btnProcessLayerClicked)
self.btnAcceptPath.clicked.connect(self.btnAcceptPathClicked)
self.sbPositionX.valueChanged.connect(self.changePosition)
self.sbPositionY.valueChanged.connect(self.changePosition)
self.sbPositionZ.valueChanged.connect(self.changePosition)
self.sbSizeX.valueChanged.connect(self.changeSize)
self.sbSizeY.valueChanged.connect(self.changeSize)
self.sbSizeZ.valueChanged.connect(self.changeSize)
self.processing = False
self.timer = QtCore.QTimer(self)
self.timer.timeout.connect(self.updateProcess)
self.robpath = RobPath()
def btnLoadClicked(self):
self.blockSignals(True)
filename = QtGui.QFileDialog.getOpenFileName(
self, 'Open file', os.path.join(path, 'data'),
'Mesh Files (*.stl)')[0]
print 'Filename:', filename
self.setWindowTitle(filename)
self.robpath.load_mesh(filename)
self.mesh_size = self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1
self.updatePosition(self.robpath.mesh.bpoint1) # Rename to position
self.updateSize(self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1)
self.marker_array = MarkerArray()
#self.marker = MeshMarker(mesh_resource="file://"+filename, frame_id="/workobject")
self.mesh = TriangleListMarker()
self.mesh.set_frame('/workobject')
self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles))
self.mesh.set_color((0.66, 0.66, 0.99, 0.66))
self.marker_array.markers.append(self.mesh.marker)
self.path = LinesMarker()
self.path.set_frame('/workobject')
self.path.set_color((1.0, 0.0, 0.0, 1.0))
self.marker_array.markers.append(self.path.marker)
for id, m in enumerate(self.marker_array.markers):
m.id = id
self.npoints = 0
# #rospy.loginfo()
self.pub_marker_array.publish(self.marker_array)
#TODO: Change bpoints.
#self.lblInfo.setText('Info:\n')
#self.plot.drawMesh(self.robpath.mesh)
#TODO: Add info from velocity estimation module.
self.blockSignals(False)
def updateParameters(self):
height = self.sbHeight.value()
width = self.sbWidth.value()
overlap = 0.01 * self.sbOverlap.value()
print height, width, overlap
self.robpath.set_track(height, width, overlap)
def updateProcess(self):
if self.robpath.k < len(self.robpath.levels):
self.robpath.update_process()
#self.plot.drawSlice(self.robpath.slices, self.robpath.path)
points = np.array(
[pose[0] for pose in self.robpath.path[self.npoints:-1]])
self.npoints = self.npoints + len(points)
self.path.set_points(0.001 * points)
print len(points)
self.pub_marker_array.publish(self.marker_array)
#self.plot.progress.setValue(100.0 * self.robpath.k / len(self.robpath.levels))
else:
self.processing = False
self.timer.stop()
def btnProcessMeshClicked(self):
if self.processing:
self.processing = False
self.timer.stop()
else:
self.updateParameters()
self.robpath.init_process()
self.processing = True
self.timer.start(100)
def btnProcessLayerClicked(self):
if self.processing:
self.updateParameters()
self.updateProcess()
else:
self.updateParameters()
self.robpath.init_process()
self.processing = True
def btnAcceptPathClicked(self):
self.accepted.emit(self.robpath.path)
def updatePosition(self, position):
x, y, z = position
self.sbPositionX.setValue(x)
self.sbPositionY.setValue(y)
self.sbPositionZ.setValue(z)
def changePosition(self):
x = self.sbPositionX.value()
y = self.sbPositionY.value()
z = self.sbPositionZ.value()
self.robpath.translate_mesh(np.float32([x, y, z]))
#self.marker.set_position((x, y, z))
self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles))
self.pub_marker_array.publish(self.marker_array)
def updateSize(self, size):
sx, sy, sz = size
self.sbSizeX.setValue(sx)
self.sbSizeY.setValue(sy)
self.sbSizeZ.setValue(sz)
def changeSize(self):
sx = self.sbSizeX.value()
sy = self.sbSizeY.value()
sz = self.sbSizeZ.value()
self.robpath.resize_mesh(np.float32([sx, sy, sz]))
#scale = np.float32([sx, sy, sz]) / self.mesh_size
self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles))
self.pub_marker_array.publish(self.marker_array)
def blockSignals(self, value):
self.sbPositionX.blockSignals(value)
self.sbPositionY.blockSignals(value)
self.sbPositionZ.blockSignals(value)
self.sbSizeX.blockSignals(value)
self.sbSizeY.blockSignals(value)
self.sbSizeZ.blockSignals(value)
class QtPart(QtGui.QWidget):
accepted = QtCore.pyqtSignal(list)
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
loadUi(os.path.join(path, 'resources', 'part.ui'), self)
self.pub_marker_array = rospy.Publisher(
'visualization_marker_array', MarkerArray, queue_size=1)
self.btnLoad.clicked.connect(self.btnLoadClicked)
self.btnProcessMesh.clicked.connect(self.btnProcessMeshClicked)
self.btnProcessLayer.clicked.connect(self.btnProcessLayerClicked)
self.btnAcceptPath.clicked.connect(self.btnAcceptPathClicked)
self.sbPositionX.valueChanged.connect(self.changePosition)
self.sbPositionY.valueChanged.connect(self.changePosition)
self.sbPositionZ.valueChanged.connect(self.changePosition)
self.sbSizeX.valueChanged.connect(self.changeSize)
self.sbSizeY.valueChanged.connect(self.changeSize)
self.sbSizeZ.valueChanged.connect(self.changeSize)
self.processing = False
self.timer = QtCore.QTimer(self)
self.timer.timeout.connect(self.updateProcess)
self.robpath = RobPath()
def btnLoadClicked(self):
self.blockSignals(True)
filename = QtGui.QFileDialog.getOpenFileName(
self, 'Open file', os.path.join(path, 'data'), 'Mesh Files (*.stl)')[0]
print 'Filename:', filename
self.setWindowTitle(filename)
self.robpath.load_mesh(filename)
self.mesh_size = self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1
self.updatePosition(self.robpath.mesh.bpoint1) # Rename to position
self.updateSize(self.robpath.mesh.bpoint2 - self.robpath.mesh.bpoint1)
self.marker_array = MarkerArray()
#self.marker = MeshMarker(mesh_resource="file://"+filename, frame_id="/workobject")
self.mesh = TriangleListMarker()
self.mesh.set_frame('/workobject')
self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles))
self.mesh.set_color((0.66, 0.66, 0.99, 0.66))
self.marker_array.markers.append(self.mesh.marker)
self.path = LinesMarker()
self.path.set_frame('/workobject')
self.path.set_color((1.0, 0.0, 0.0, 1.0))
self.marker_array.markers.append(self.path.marker)
for id, m in enumerate(self.marker_array.markers):
m.id = id
self.npoints = 0
# #rospy.loginfo()
self.pub_marker_array.publish(self.marker_array)
#TODO: Change bpoints.
#self.lblInfo.setText('Info:\n')
#self.plot.drawMesh(self.robpath.mesh)
#TODO: Add info from velocity estimation module.
self.blockSignals(False)
def updateParameters(self):
height = self.sbHeight.value()
width = self.sbWidth.value()
overlap = 0.01 * self.sbOverlap.value()
print height, width, overlap
self.robpath.set_track(height, width, overlap)
def updateProcess(self):
if self.robpath.k < len(self.robpath.levels):
self.robpath.update_process()
#self.plot.drawSlice(self.robpath.slices, self.robpath.path)
points = np.array([pose[0] for pose in self.robpath.path[self.npoints:-1]])
self.npoints = self.npoints + len(points)
self.path.set_points(0.001 * points)
print len(points)
self.pub_marker_array.publish(self.marker_array)
#self.plot.progress.setValue(100.0 * self.robpath.k / len(self.robpath.levels))
else:
self.processing = False
self.timer.stop()
def btnProcessMeshClicked(self):
if self.processing:
self.processing = False
self.timer.stop()
else:
self.updateParameters()
self.robpath.init_process()
self.processing = True
self.timer.start(100)
def btnProcessLayerClicked(self):
if self.processing:
self.updateParameters()
self.updateProcess()
else:
self.updateParameters()
self.robpath.init_process()
self.processing = True
def btnAcceptPathClicked(self):
self.accepted.emit(self.robpath.path)
def updatePosition(self, position):
x, y, z = position
self.sbPositionX.setValue(x)
self.sbPositionY.setValue(y)
self.sbPositionZ.setValue(z)
def changePosition(self):
x = self.sbPositionX.value()
y = self.sbPositionY.value()
z = self.sbPositionZ.value()
self.robpath.translate_mesh(np.float32([x, y, z]))
#self.marker.set_position((x, y, z))
self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles))
self.pub_marker_array.publish(self.marker_array)
def updateSize(self, size):
sx, sy, sz = size
self.sbSizeX.setValue(sx)
self.sbSizeY.setValue(sy)
self.sbSizeZ.setValue(sz)
def changeSize(self):
sx = self.sbSizeX.value()
sy = self.sbSizeY.value()
sz = self.sbSizeZ.value()
self.robpath.resize_mesh(np.float32([sx, sy, sz]))
#scale = np.float32([sx, sy, sz]) / self.mesh_size
self.mesh.set_points(0.001 * np.vstack(self.robpath.mesh.triangles))
self.pub_marker_array.publish(self.marker_array)
def blockSignals(self, value):
self.sbPositionX.blockSignals(value)
self.sbPositionY.blockSignals(value)
self.sbPositionZ.blockSignals(value)
self.sbSizeX.blockSignals(value)
self.sbSizeY.blockSignals(value)
self.sbSizeZ.blockSignals(value)
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
loadUi(os.path.join(path, 'resources', 'path.ui'), self)
try:
rospy.wait_for_service('robot_send_command', timeout=5)
self.send_command = rospy.ServiceProxy(
'robot_send_command', SrvRobotCommand)
except:
rospy.loginfo('ERROR connecting to service robot_send_command.')
#self.pub = rospy.Publisher(
# 'robot_command_json', MsgRobotCommand, queue_size=10)
self.btnLoadPath.clicked.connect(self.btnLoadPathClicked)
icon = QtGui.QIcon.fromTheme('document-open')
self.btnLoadPath.setIcon(icon)
self.btnSavePath.clicked.connect(self.btnSavePathClicked)
icon = QtGui.QIcon.fromTheme('document-save')
self.btnSavePath.setIcon(icon)
self.btnRunPath.clicked.connect(self.btnRunPathClicked)
icon = QtGui.QIcon.fromTheme('media-playback-start')
self.btnRunPath.setIcon(icon)
self.btnDelete.clicked.connect(self.btnDeleteClicked)
self.btnLoadPose.clicked.connect(self.btnLoadPoseClicked)
self.btnStep.clicked.connect(self.btnStepClicked)
self.btnCancel.clicked.connect(self.btnCancelClicked)
self.listWidgetPoses.itemSelectionChanged.connect(self.lstPosesClicked)
self.listWidgetPoses.itemDoubleClicked.connect(self.qlistDoubleClicked)
self.jason = Jason()
self.ok_command = "OK"
self.offset_position = 100
self.quat = [0, np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))]
self.quat_inv = [0, -np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))]
self.pub_marker_array = rospy.Publisher(
'visualization_marker_array', MarkerArray, queue_size=10)
self.marker_array = MarkerArray()
self.lines = LinesMarker()
self.lines.set_size(0.005)
self.lines.set_color((1, 0, 0, 1))
self.lines.set_frame('/workobject')
self.marker_array.markers.append(self.lines.marker)
self.arrow = ArrowMarker(0.1)
self.arrow.set_color((0, 0, 1, 1))
self.arrow.set_frame('/workobject')
# self.arrow.set_position((0.2, 0.2, 0.2))
# self.arrow.set_orientation((0, 0, 0, 1))
self.marker_array.markers.append(self.arrow.marker)
for id, m in enumerate(self.marker_array.markers):
m.id = id
self.tmrRunPath = QtCore.QTimer(self)
self.tmrRunPath.timeout.connect(self.timeRunPathEvent)
class QtPath(QtGui.QWidget):
def __init__(self, parent=None):
QtGui.QWidget.__init__(self, parent)
loadUi(os.path.join(path, 'resources', 'path.ui'), self)
try:
rospy.wait_for_service('robot_send_command', timeout=5)
self.send_command = rospy.ServiceProxy(
'robot_send_command', SrvRobotCommand)
except:
rospy.loginfo('ERROR connecting to service robot_send_command.')
#self.pub = rospy.Publisher(
# 'robot_command_json', MsgRobotCommand, queue_size=10)
self.btnLoadPath.clicked.connect(self.btnLoadPathClicked)
icon = QtGui.QIcon.fromTheme('document-open')
self.btnLoadPath.setIcon(icon)
self.btnSavePath.clicked.connect(self.btnSavePathClicked)
icon = QtGui.QIcon.fromTheme('document-save')
self.btnSavePath.setIcon(icon)
self.btnRunPath.clicked.connect(self.btnRunPathClicked)
icon = QtGui.QIcon.fromTheme('media-playback-start')
self.btnRunPath.setIcon(icon)
self.btnDelete.clicked.connect(self.btnDeleteClicked)
self.btnLoadPose.clicked.connect(self.btnLoadPoseClicked)
self.btnStep.clicked.connect(self.btnStepClicked)
self.btnCancel.clicked.connect(self.btnCancelClicked)
self.listWidgetPoses.itemSelectionChanged.connect(self.lstPosesClicked)
self.listWidgetPoses.itemDoubleClicked.connect(self.qlistDoubleClicked)
self.jason = Jason()
self.ok_command = "OK"
self.offset_position = 100
self.quat = [0, np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))]
self.quat_inv = [0, -np.sin(np.deg2rad(45)), 0, np.cos(np.deg2rad(45))]
self.pub_marker_array = rospy.Publisher(
'visualization_marker_array', MarkerArray, queue_size=10)
self.marker_array = MarkerArray()
self.lines = LinesMarker()
self.lines.set_size(0.005)
self.lines.set_color((1, 0, 0, 1))
self.lines.set_frame('/workobject')
self.marker_array.markers.append(self.lines.marker)
self.arrow = ArrowMarker(0.1)
self.arrow.set_color((0, 0, 1, 1))
self.arrow.set_frame('/workobject')
# self.arrow.set_position((0.2, 0.2, 0.2))
# self.arrow.set_orientation((0, 0, 0, 1))
self.marker_array.markers.append(self.arrow.marker)
for id, m in enumerate(self.marker_array.markers):
m.id = id
self.tmrRunPath = QtCore.QTimer(self)
self.tmrRunPath.timeout.connect(self.timeRunPathEvent)
def insertPose(self, pose):
(x, y, z), (qx, qy, qz, qw) = pose
str_pose = '((%.3f, %.3f, %.3f), (%.4f, %.4f, %.4f, %.4f))' %(x, y, z, qx, qy, qz, qw)
#item = QtGui.QListWidgetItem('item_text')
#self.listWidgetPoses.addItem(item)
self.listWidgetPoses.addItem(str_pose)
#self.listWidgetPoses.insertItem(0, '0, 1, 2')
def insertCommand(self, command, insert=False, position=0):
if not insert:
self.listWidgetPoses.addItem(command)
else:
self.listWidgetPoses.insertItem(position, command)
def removeComamnd(self):
item = self.listWidgetPoses.takeItem(0)
if item:
print item.text()
return item.text()
else:
return None
def btnLoadPathClicked(self):
self.listWidgetPoses.clear()
filename = QtGui.QFileDialog.getOpenFileName(
self, 'Load Path Routine', os.path.join(path, 'routines'),
'Jason Routine Files (*.jas)')[0]
print 'Load routine:', filename
cmds = self.jason.load_commands(filename)
[self.insertCommand(cmd) for cmd in cmds]
self.arr = []
self.getMoveCommands()
def btnSavePathClicked(self):
filename = QtGui.QFileDialog.getSaveFileName(
self, 'Load Path Routine', os.path.join(path, 'routines'),
'Jason Routine Files (*.jas)')[0]
n_row = self.listWidgetPoses.count()
if n_row > 0:
cmds = [str(self.listWidgetPoses.item(row).text()) for row in range(n_row)]
self.jason.save_commands(filename, cmds)
print 'Saved routine:', filename
def btnRunPathClicked(self):
"""Start-Stop sending commands to robot from the list of commands."""
if self.tmrRunPath.isActive():
self.tmrRunPath.stop()
self.btnRunPath.setText('Run')
else:
self.btnRunPath.setText('Stop')
self.tmrRunPath.start(100) # time in ms
def btnDeleteClicked(self):
row = self.listWidgetPoses.currentRow()
self.listWidgetPoses.takeItem(row)
#self.listWidgetPoses.clear()
def btnLoadPoseClicked(self):
rob_pose = self.send_command('{"get_pose":1}')
default_command = '{"move":' + rob_pose.response + '}'
str_command = QtGui.QInputDialog.getText(
self, "Load Jason Command", "Comamnd:", text=default_command)
row = self.listWidgetPoses.currentRow()
if len(str_command[0]) > 3:
self.insertCommand(str_command[0], insert=True, position=row)
print str_command
def btnStepClicked(self):
n_row = self.listWidgetPoses.count()
if n_row > 0:
row = self.listWidgetPoses.currentRow()
if row == -1:
row = 0
item_text = self.listWidgetPoses.item(row)
#self.pub.publish(item_text.text())
self.sendCommand(item_text.text())
row += 1
if row == n_row:
row = 0
self.listWidgetPoses.setCurrentRow(row)
def lstPosesClicked(self):
row = self.listWidgetPoses.currentRow()
item_text = self.listWidgetPoses.item(row)
str_item = item_text.text()
command = json.loads(str_item)
if 'move' in command:
orientation = np.array([command["move"][1][1],
command["move"][1][2],
command["move"][1][3],
command["move"][1][0]])
position = np.array(command["move"][0]) * 0.001
self.arrow.set_new_position(position)
self.arrow.set_new_orientation(orientation)
self.arrow.set_color((0, 0, 1, 1))
else:
self.arrow.set_color((0, 0, 0, 0))
self.pub_marker_array.publish(self.marker_array)
def qlistDoubleClicked(self):
row = self.listWidgetPoses.currentRow()
item_text = self.listWidgetPoses.item(row)
str_command = QtGui.QInputDialog.getText(
self, "Load Jason Command", "Comamnd:", text=item_text.text())
if len(str_command[0]) > 3:
self.listWidgetPoses.takeItem(row)
self.insertCommand(str_command[0], insert=True, position=row)
def btnCancelClicked(self):
self.sendCommand('{"cancel":1}')
def getMoveCommands(self):
n_row = self.listWidgetPoses.count()
# row = self.listWidgetPoses.currentRow()
points = []
for row in range(n_row):
item_text = self.listWidgetPoses.item(row)
str_item = item_text.text()
comando = json.loads(str_item)
if 'move' in comando:
point = comando["move"][0]
points.append(point)
points = np.array(points) * 0.001
print points
self.lines.set_points(points)
self.pub_marker_array.publish(self.marker_array)
def sendCommand(self, command):
rob_response = self.send_command(command)
print 'Sended command:', command
print 'Received response:', rob_response
self.ok_command = rob_response.response
def timeRunPathEvent(self):
"""Sends a command each time event from the list of commands."""
n_row = self.listWidgetPoses.count()
if n_row > 0:
row = self.listWidgetPoses.currentRow()
if row == -1:
row = 0
item_text = self.listWidgetPoses.item(row)
#self.pub.publish(item_text.text())
self.sendCommand(item_text.text())
if self.ok_command == "OK":
row += 1
if row == n_row:
row = 0
self.btnRunPathClicked()
self.listWidgetPoses.setCurrentRow(row)
