def __init__(self, layer_model, parent, update_callback, nao: Nao):
super(Config, self).__init__(parent)
ui_utils.loadUi(__file__, self)
self.layer_model = ui_utils.load_model(
os.path.dirname(__file__) + "/model.json", layer_model)
self.update_callback = update_callback
self.nao = nao
self.identifier = uuid.uuid4()
self.config_to_ui = {
"center_x": (lambda: self.spin_center_x.value(),
lambda value: self.spin_center_x.setValue(value)),
"center_y": (lambda: self.spin_center_y.value(),
lambda value: self.spin_center_y.setValue(value)),
"transformation":
(lambda: {
"key": self.cbx_TransformationKey.currentText(),
"key_lambda": self.edit_TransformationKeyLambda.toPlainText()
}, lambda config: [
self.cbx_TransformationKey.setCurrentText(config["key"]),
self.edit_TransformationKeyLambda.setPlainText(config[
"key_lambda"])
]),
"motionPlan":
(lambda:
{
"key": self.cbx_MotionPlannerKey.currentText(),
"key_lambda": self.edit_MotionPlannerKeyLambda.toPlainText(),
"targetCircleDiameter": self.spin_targetCircleDiameter.value(
),
"targetColor": self.edit_targetColor.text()
}, lambda config: [
self.cbx_MotionPlannerKey.setCurrentText(config["key"]),
self.edit_MotionPlannerKeyLambda.setPlainText(config[
"key_lambda"]),
self.spin_targetCircleDiameter.setValue(config[
"targetCircleDiameter"]),
ui_utils.reset_textField_color(self.edit_targetColor, config[
"targetColor"])
])
}
self.cbx_TransformationKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.cbx_TransformationKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.cbx_MotionPlannerKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.cbx_MotionPlannerKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
ui_utils.init_Color_UI(self.btn_targetColor, self.edit_targetColor)
self.btnAccept.pressed.connect(self.accept)
self.btnDiscard.pressed.connect(self.discard)
self.reset_widgets()
if self.nao.is_connected():
self.connect(self.nao)
def __init__(self, layer_model, parent, update_callback, nao: Nao):
super(Config, self).__init__(parent)
ui_utils.loadUi(__file__, self)
self.nao = nao
self.layer_model = ui_utils.load_model(os.path.dirname(__file__) +
"/model.json", layer_model)
self.update_callback = update_callback
self.identifier = uuid.uuid4()
self.config_to_ui = {
"center_x": (
lambda: self.spin_center_x.value(),
lambda value: self.spin_center_x.setValue(value)),
"center_y": (
lambda: self.spin_center_y.value(),
lambda value: self.spin_center_y.setValue(value)),
"teamPlayers": (
lambda: {
"key":
self.cbx_TeamPlayersKey.currentText(),
"keyLambda":
self.edit_TeamPlayersKeyLambda.toPlainText(),
"showPlayer":
self.playerCheckbox.isChecked(),
"poseCircleDiameter":
self.spin_poseCircleDiameter.value(),
"showTarget":
self.targetCheckbox.isChecked(),
"targetCircleDiameter":
self.spin_targetCircleDiameter.value(),
"showFOV":
self.fovCheckbox.isChecked(),
"maxDistance":
self.spin_maxDistance.value(),
"cameraOpeningAngle":
self.spin_cameraOpeningAngle.value(),
"defaultColor":
self.edit_defaultColor.text(),
"keeperColor":
self.edit_keeperColor.text(),
"defenderLeftColor":
self.edit_defenderLeftColor.text(),
"defenderRightColor":
self.edit_defenderRightColor.text(),
"supporterColor":
self.edit_supporterColor.text(),
"strikerColor":
self.edit_strikerColor.text(),
"bishopColor":
self.edit_bishopColor.text(),
"replacement_keeperColor":
self.edit_replacementKeeperColor.text(),
"showSearchPosition":
self.searchPositionCheckbox.isChecked(),
"searchPositionDiameter":
self.spin_searchPositionDiameter.value()},
lambda config: [
self.cbx_TeamPlayersKey.setCurrentText(
config["key"]),
self.edit_TeamPlayersKeyLambda.setPlainText(
config["keyLambda"]),
self.playerCheckbox.setChecked(
config["showPlayer"]),
self.spin_poseCircleDiameter.setValue(
config["poseCircleDiameter"]),
self.targetCheckbox.setChecked(
config["showTarget"]),
self.spin_targetCircleDiameter.setValue(
config["targetCircleDiameter"]),
self.fovCheckbox.setChecked(
config["showFOV"]),
self.spin_maxDistance.setValue(
config["maxDistance"]),
self.spin_cameraOpeningAngle.setValue(
config["cameraOpeningAngle"]),
ui_utils.reset_textField_color(
self.edit_defaultColor,
config["defaultColor"]),
ui_utils.reset_textField_color(
self.edit_keeperColor,
config["keeperColor"]),
ui_utils.reset_textField_color(
self.edit_defenderLeftColor,
config["defenderLeftColor"]),
ui_utils.reset_textField_color(
self.edit_defenderRightColor,
config["defenderRightColor"]),
ui_utils.reset_textField_color(
self.edit_supporterColor,
config["supporterColor"]),
ui_utils.reset_textField_color(
self.edit_strikerColor,
config["strikerColor"]),
ui_utils.reset_textField_color(
self.edit_bishopColor,
config["bishopColor"]),
ui_utils.reset_textField_color(
self.edit_replacementKeeperColor,
config["replacement_keeperColor"]),
self.searchPositionCheckbox.setChecked(
config["showSearchPosition"]),
self.spin_searchPositionDiameter.setValue(
config["searchPositionDiameter"])])
}
self.cbx_TeamPlayersKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.cbx_TeamPlayersKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.btnAccept.pressed.connect(self.accept)
self.btnDiscard.pressed.connect(self.discard)
ui_utils.init_Color_UI(
self.btn_defaultColor,
self.edit_defaultColor)
ui_utils.init_Color_UI(
self.btn_keeperColor,
self.edit_keeperColor)
ui_utils.init_Color_UI(
self.btn_defenderLeftColor,
self.edit_defenderLeftColor)
ui_utils.init_Color_UI(
self.btn_defenderRightColor,
self.edit_defenderRightColor)
ui_utils.init_Color_UI(
self.btn_supporterColor,
self.edit_supporterColor)
ui_utils.init_Color_UI(
self.btn_strikerColor,
self.edit_strikerColor)
ui_utils.init_Color_UI(
self.btn_bishopColor,
self.edit_bishopColor)
ui_utils.init_Color_UI(
self.btn_replacementKeeperColor,
self.edit_replacementKeeperColor)
self.reset_widgets()
if self.nao.is_connected():
self.connect(self.nao)
def __init__(self, layer_model, parent, update_callback, nao: Nao):
super(Config, self).__init__(parent)
ui_utils.loadUi(__file__, self)
self.nao = nao
self.layer_model = ui_utils.load_model(
os.path.dirname(__file__) + "/model.json", layer_model)
self.update_callback = update_callback
self.identifier = uuid.uuid4()
self.config_to_ui = {
"center_x": (lambda: self.spin_center_x.value(),
lambda value: self.spin_center_x.setValue(value)),
"center_y": (lambda: self.spin_center_y.value(),
lambda value: self.spin_center_y.setValue(value)),
"pose":
(lambda: {
"key": self.cbx_PoseKey.currentText(),
"keyLambda": self.edit_poseKeyLambda.toPlainText(),
"drawPose": self.drawPoseCheckBox.isChecked(),
"positionCircleDiameter": self.spin_positionCircleDiameter.
value(),
"orientationLineLength": self.spin_orientationLineLength.value(
),
"fixedColor": self.edit_fixedColor.text(),
"useFixedColor": self.useFixedColorCheckBox.isChecked(),
"roleKey": self.cbx_RoleKey.currentText(),
"roleKeyLambda": self.edit_roleKeyLambda.toPlainText(),
"defaultColor": self.edit_defaultColor.text(),
"keeperColor": self.edit_keeperColor.text(),
"defenderColor": self.edit_defenderColor.text(),
"supporterColor": self.edit_supporterColor.text(),
"strikerColor": self.edit_strikerColor.text(),
"bishopColor": self.edit_bishopColor.text(),
"replacement_keeperColor": self.edit_replacementKeeperColor.
text(),
"loserColor": self.edit_loserColor.text(),
"searcherColor": self.edit_searcherColor.text()
}, lambda config: [
self.cbx_PoseKey.setCurrentText(config["key"]),
self.edit_poseKeyLambda.setPlainText(config["keyLambda"]),
self.drawPoseCheckBox.setChecked(config["drawPose"]),
self.spin_positionCircleDiameter.setValue(config[
"positionCircleDiameter"]),
self.spin_orientationLineLength.setValue(config[
"orientationLineLength"]),
ui_utils.reset_textField_color(self.edit_fixedColor, config[
"fixedColor"]),
self.useFixedColorCheckBox.setChecked(config["useFixedColor"]),
self.cbx_RoleKey.setCurrentText(config["roleKey"]),
self.edit_roleKeyLambda.setPlainText(config["roleKeyLambda"]),
ui_utils.reset_textField_color(self.edit_defaultColor, config[
"defaultColor"]),
ui_utils.reset_textField_color(self.edit_keeperColor, config[
"keeperColor"]),
ui_utils.reset_textField_color(self.edit_defenderColor, config[
"defenderColor"]),
ui_utils.reset_textField_color(self.edit_supporterColor,
config["supporterColor"]),
ui_utils.reset_textField_color(self.edit_strikerColor, config[
"strikerColor"]),
ui_utils.reset_textField_color(self.edit_bishopColor, config[
"bishopColor"]),
ui_utils.reset_textField_color(
self.edit_replacementKeeperColor, config[
"replacement_keeperColor"]),
ui_utils.reset_textField_color(self.edit_loserColor, config[
"loserColor"]),
ui_utils.reset_textField_color(self.edit_searcherColor, config[
"searcherColor"])
]),
"fov": (lambda: {
"jointSensorDataKey":
self.cbx_JointSensorDataKey.currentText(),
"jointSensorDataKeyLambda":
self.edit_jointSensorDataKeyLambda.toPlainText(),
"drawFOV":
self.drawFOVCheckBox.isChecked(),
"maxDistance":
self.spin_maxDistance.value(),
"cameraOpeningAngle":
self.spin_cameraOpeningAngle.value()
}, lambda config: [
self.cbx_JointSensorDataKey.setCurrentText(config[
"jointSensorDataKey"]),
self.edit_jointSensorDataKeyLambda.setPlainText(config[
"jointSensorDataKeyLambda"]),
self.drawFOVCheckBox.setChecked(config["drawFOV"]),
self.spin_maxDistance.setValue(config["maxDistance"]),
self.spin_cameraOpeningAngle.setValue(config[
"cameraOpeningAngle"])
]),
"motionPlan":
(lambda:
{
"key": self.cbx_MotionPlannerKey.currentText(),
"keyLambda": self.edit_motionPlannerKeyLambda.toPlainText(),
"drawMotionPlan": self.drawMotionPlanCheckBox.isChecked(),
"targetCircleDiameter": self.spin_targetCircleDiameter.value(
),
"drawTranslation": self.drawTranslationCheckBox.isChecked(),
"translationColor": self.edit_translationColor.text()
}, lambda config: [
self.cbx_MotionPlannerKey.setCurrentText(config["key"]),
self.edit_motionPlannerKeyLambda.setPlainText(config[
"keyLambda"]),
self.drawMotionPlanCheckBox.setChecked(config["drawMotionPlan"
]),
self.spin_targetCircleDiameter.setValue(config[
"targetCircleDiameter"]),
self.drawTranslationCheckBox.setChecked(config[
"drawTranslation"]),
ui_utils.reset_textField_color(self.edit_translationColor,
config["translationColor"])
]),
"ballSearch":
(lambda:
{
"key": self.cbx_BallSearchKey.currentText(),
"keyLambda": self.edit_ballSearchKeyLambda.toPlainText(),
"drawSearchTarget": self.drawBallSearchCheckBox.isChecked(),
"searchCircleDiameter": self.spin_searchCircleDiameter.value(
)
}, lambda config: [
self.cbx_BallSearchKey.setCurrentText(config["key"]),
self.edit_ballSearchKeyLambda.setPlainText(config["keyLambda"]
),
self.drawBallSearchCheckBox.setChecked(config[
"drawSearchTarget"]),
self.spin_searchCircleDiameter.setValue(config[
"searchCircleDiameter"])
])
}
self.cbx_PoseKey.completer().setFilterMode(qtc.Qt.MatchContains)
self.cbx_PoseKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.cbx_RoleKey.completer().setFilterMode(qtc.Qt.MatchContains)
self.cbx_RoleKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.cbx_JointSensorDataKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.cbx_JointSensorDataKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.cbx_MotionPlannerKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.cbx_MotionPlannerKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.cbx_BallSearchKey.completer().setFilterMode(qtc.Qt.MatchContains)
self.cbx_BallSearchKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
ui_utils.init_Color_UI(self.btn_fixedColor, self.edit_fixedColor)
ui_utils.init_Color_UI(self.btn_defaultColor, self.edit_defaultColor)
ui_utils.init_Color_UI(self.btn_keeperColor, self.edit_keeperColor)
ui_utils.init_Color_UI(self.btn_defenderColor, self.edit_defenderColor)
ui_utils.init_Color_UI(self.btn_supporterColor,
self.edit_supporterColor)
ui_utils.init_Color_UI(self.btn_strikerColor, self.edit_strikerColor)
ui_utils.init_Color_UI(self.btn_bishopColor, self.edit_bishopColor)
ui_utils.init_Color_UI(self.btn_replacementKeeperColor,
self.edit_replacementKeeperColor)
ui_utils.init_Color_UI(self.btn_loserColor, self.edit_loserColor)
ui_utils.init_Color_UI(self.btn_searcherColor, self.edit_searcherColor)
ui_utils.init_Color_UI(self.btn_translationColor,
self.edit_translationColor)
self.btnAccept.pressed.connect(self.accept)
self.btnDiscard.pressed.connect(self.discard)
self.reset_widgets()
if self.nao.is_connected():
self.connect(self.nao)
def __init__(self, layer, parent, update_callback, nao: nao.Nao):
super(PoseConfig, self).__init__(parent)
self.nao = nao
self.layer = layer
self.update_callback = update_callback
self.identifier = uuid.uuid4()
self.ui = Ui_PoseConfig()
self.ui.setupUi(self)
if self.layer["settings"] is None:
self.layer["settings"] = {
"center_x": 5.2,
"center_y": -3.7,
"transformation": {
"key": "None",
"key_lambda": "output=intput"
},
"pose": {
"key": "Brain.RobotPosition",
"keyLambda": 'output = input["pose"]',
"positionCircleDiameter": 0.35,
"orientationLineLength": 0.35,
"color": "#ffffff"
},
"fov": {
"jointSensorDataKey": "Motion.JointSensorData",
"jointSensorDataKeyLambda": 'output = input["angles"]',
"maxDistance": 2.5,
"cameraOpeningAngle": 60.97
}
}
self.settings_to_ui = {
"center_x": (lambda: self.ui.spin_center_x.value(),
lambda value: self.ui.spin_center_x.setValue(value)),
"center_y": (lambda: self.ui.spin_center_y.value(),
lambda value: self.ui.spin_center_y.setValue(value)),
"transformation":
(lambda: {
"key": self.ui.cbx_TransformationKey.currentText(),
"key_lambda": self.ui.edit_TransformationKeyLambda.toPlainText(
),
}, lambda settings: [
self.ui.cbx_TransformationKey.setCurrentText(settings["key"]),
self.ui.edit_TransformationKeyLambda.setPlainText(settings[
"key_lambda"]),
]),
"pose": (lambda: {
"key":
self.ui.cbx_PoseKey.currentText(),
"keyLambda":
self.ui.edit_poseKeyLambda.toPlainText(),
"positionCircleDiameter":
self.ui.spin_positionCircleDiameter.value(),
"orientationLineLength":
self.ui.spin_orientationLineLength.value(),
"color":
self.ui.edit_poseColor.text()
}, lambda settings: [
self.ui.cbx_PoseKey.setCurrentText(settings["key"]),
self.ui.edit_poseKeyLambda.setPlainText(settings["keyLambda"]),
self.ui.spin_positionCircleDiameter.setValue(settings[
"positionCircleDiameter"]),
self.ui.spin_orientationLineLength.setValue(settings[
"orientationLineLength"]),
ui_utils.reset_textField_color(self.ui.edit_poseColor,
settings["color"])
]),
"fov": (lambda: {
"jointSensorDataKey":
self.ui.cbx_JointSensorDataKey.currentText(),
"jointSensorDataKeyLambda":
self.ui.edit_jointSensorDataKeyLambda.toPlainText(),
"maxDistance":
self.ui.spin_maxDistance.value(),
"cameraOpeningAngle":
self.ui.spin_cameraOpeningAngle.value()
}, lambda settings: [
self.ui.cbx_JointSensorDataKey.setCurrentText(settings[
"jointSensorDataKey"]),
self.ui.edit_jointSensorDataKeyLambda.setPlainText(settings[
"jointSensorDataKeyLambda"]),
self.ui.spin_maxDistance.setValue(settings["maxDistance"]),
self.ui.spin_cameraOpeningAngle.setValue(settings[
"cameraOpeningAngle"])
])
}
self.ui.cbx_PoseKey.completer().setFilterMode(qtc.Qt.MatchContains)
self.ui.cbx_PoseKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.ui.cbx_TransformationKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.ui.cbx_TransformationKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.ui.cbx_JointSensorDataKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.ui.cbx_JointSensorDataKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
ui_utils.init_Color_UI(self.ui.btn_poseColor, self.ui.edit_poseColor)
self.ui.btnAccept.pressed.connect(self.accept)
self.ui.btnDiscard.pressed.connect(self.discard)
self.reset_widgets()
if self.nao.is_connected():
self.connect(self.nao)
def __init__(self, layer, parent, update_callback, nao: nao.Nao):
super(SelfPlayerConfig, self).__init__(parent)
self.nao = nao
self.layer = layer
self.update_callback = update_callback
self.identifier = uuid.uuid4()
self.ui = Ui_SelfPlayerConfig()
self.ui.setupUi(self)
if self.layer["settings"] is None:
self.layer["settings"] = {
"center_x": 5.2,
"center_y": -3.7,
"pose": {
"key": "Brain.RobotPosition",
"keyLambda": 'output = input["pose"]',
"drawPose": True,
"positionCircleDiameter": 0.28,
"orientationLineLength": 0.28,
"drawPlayerNumber": True,
"fixedColor": "#ffffff",
"useFixedColor": False,
"roleKey": "Brain.PlayingRoles",
"roleKeyLambda": 'output = input["role"]',
"defaultColor": "#ffffff",
"keeperColor": "#0000ff",
"defenderColor": "#00ff00",
"supporterColor": "#ff00ff",
"strikerColor": "#ff0000",
"bishopColor": "#ffff00",
"replacement_keeperColor": "#00ffff"
},
"fov": {
"jointSensorDataKey": "Motion.JointSensorData",
"jointSensorDataKeyLambda": 'output = input["angles"]',
"drawFOV": True,
"maxDistance": 2.5,
"cameraOpeningAngle": 60.97
},
"motionPlan": {
"key": "Brain.MotionPlanner",
"keyLambda": "output = input",
"drawMotionPlan": True,
"targetCircleDiameter": 0.28,
"drawTranslation": False,
"translationColor": "#ff0000"
},
"ballSearch": {
"key": "Brain.BallSearchPosition",
"keyLambda": 'output = input["searchPosition"]',
"drawSearchTarget": False,
"searchCircleDiameter": 0.60
}
}
self.settings_to_ui = {
"center_x": (lambda: self.ui.spin_center_x.value(),
lambda value: self.ui.spin_center_x.setValue(value)),
"center_y": (lambda: self.ui.spin_center_y.value(),
lambda value: self.ui.spin_center_y.setValue(value)),
"pose": (lambda: {
"key":
self.ui.cbx_PoseKey.currentText(),
"keyLambda":
self.ui.edit_poseKeyLambda.toPlainText(),
"drawPose":
self.ui.drawPoseCheckBox.isChecked(),
"positionCircleDiameter":
self.ui.spin_positionCircleDiameter.value(),
"orientationLineLength":
self.ui.spin_orientationLineLength.value(),
"fixedColor":
self.ui.edit_fixedColor.text(),
"useFixedColor":
self.ui.useFixedColorCheckBox.isChecked(),
"roleKey":
self.ui.cbx_RoleKey.currentText(),
"roleKeyLambda":
self.ui.edit_roleKeyLambda.toPlainText(),
"defaultColor":
self.ui.edit_defaultColor.text(),
"keeperColor":
self.ui.edit_keeperColor.text(),
"defenderColor":
self.ui.edit_defenderColor.text(),
"supporterColor":
self.ui.edit_supporterColor.text(),
"strikerColor":
self.ui.edit_strikerColor.text(),
"bishopColor":
self.ui.edit_bishopColor.text(),
"replacement_keeperColor":
self.ui.edit_replacementKeeperColor.text()
}, lambda settings: [
self.ui.cbx_PoseKey.setCurrentText(settings["key"]),
self.ui.edit_poseKeyLambda.setPlainText(settings["keyLambda"]),
self.ui.drawPoseCheckBox.setChecked(settings["drawPose"]),
self.ui.spin_positionCircleDiameter.setValue(settings[
"positionCircleDiameter"]),
self.ui.spin_orientationLineLength.setValue(settings[
"orientationLineLength"]),
ui_utils.reset_textField_color(self.ui.edit_fixedColor,
settings["fixedColor"]),
self.ui.useFixedColorCheckBox.setChecked(settings[
"useFixedColor"]),
self.ui.cbx_RoleKey.setCurrentText(settings["roleKey"]),
self.ui.edit_roleKeyLambda.setPlainText(settings[
"roleKeyLambda"]),
ui_utils.reset_textField_color(self.ui.edit_defaultColor,
settings["defaultColor"]),
ui_utils.reset_textField_color(self.ui.edit_keeperColor,
settings["keeperColor"]),
ui_utils.reset_textField_color(self.ui.edit_defenderColor,
settings["defenderColor"]),
ui_utils.reset_textField_color(self.ui.edit_supporterColor,
settings["supporterColor"]),
ui_utils.reset_textField_color(self.ui.edit_strikerColor,
settings["strikerColor"]),
ui_utils.reset_textField_color(self.ui.edit_bishopColor,
settings["bishopColor"]),
ui_utils.reset_textField_color(
self.ui.edit_replacementKeeperColor, settings[
"replacement_keeperColor"])
]),
"fov": (lambda: {
"jointSensorDataKey":
self.ui.cbx_JointSensorDataKey.currentText(),
"jointSensorDataKeyLambda":
self.ui.edit_jointSensorDataKeyLambda.toPlainText(),
"drawFOV":
self.ui.drawFOVCheckBox.isChecked(),
"maxDistance":
self.ui.spin_maxDistance.value(),
"cameraOpeningAngle":
self.ui.spin_cameraOpeningAngle.value()
}, lambda settings: [
self.ui.cbx_JointSensorDataKey.setCurrentText(settings[
"jointSensorDataKey"]),
self.ui.edit_jointSensorDataKeyLambda.setPlainText(settings[
"jointSensorDataKeyLambda"]),
self.ui.drawFOVCheckBox.setChecked(settings["drawFOV"]),
self.ui.spin_maxDistance.setValue(settings["maxDistance"]),
self.ui.spin_cameraOpeningAngle.setValue(settings[
"cameraOpeningAngle"])
]),
"motionPlan":
(lambda:
{
"key": self.ui.cbx_MotionPlannerKey.currentText(),
"keyLambda": self.ui.edit_motionPlannerKeyLambda.toPlainText(
),
"drawMotionPlan": self.ui.drawMotionPlanCheckBox.isChecked(),
"targetCircleDiameter": self.ui.spin_targetCircleDiameter.
value(),
"drawTranslation": self.ui.drawTranslationCheckBox.isChecked(
),
"translationColor": self.ui.edit_translationColor.text()
}, lambda settings: [
self.ui.cbx_MotionPlannerKey.setCurrentText(settings["key"]),
self.ui.edit_motionPlannerKeyLambda.setPlainText(settings[
"keyLambda"]),
self.ui.drawMotionPlanCheckBox.setChecked(settings[
"drawMotionPlan"]),
self.ui.spin_targetCircleDiameter.setValue(settings[
"targetCircleDiameter"]),
self.ui.drawTranslationCheckBox.setChecked(settings[
"drawTranslation"]),
ui_utils.reset_textField_color(self.ui.edit_translationColor,
settings["translationColor"])
]),
"ballSearch":
(lambda:
{
"key": self.ui.cbx_BallSearchKey.currentText(),
"keyLambda": self.ui.edit_ballSearchKeyLambda.toPlainText(),
"drawSearchTarget": self.ui.drawBallSearchCheckBox.isChecked(
),
"searchCircleDiameter": self.ui.spin_searchCircleDiameter.
value()
}, lambda settings: [
self.ui.cbx_BallSearchKey.setCurrentText(settings["key"]),
self.ui.edit_ballSearchKeyLambda.setPlainText(settings[
"keyLambda"]),
self.ui.drawBallSearchCheckBox.setChecked(settings[
"drawSearchTarget"]),
self.ui.spin_searchCircleDiameter.setValue(settings[
"searchCircleDiameter"])
])
}
self.ui.cbx_PoseKey.completer().setFilterMode(qtc.Qt.MatchContains)
self.ui.cbx_PoseKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.ui.cbx_RoleKey.completer().setFilterMode(qtc.Qt.MatchContains)
self.ui.cbx_RoleKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.ui.cbx_JointSensorDataKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.ui.cbx_JointSensorDataKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.ui.cbx_MotionPlannerKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.ui.cbx_MotionPlannerKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.ui.cbx_BallSearchKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.ui.cbx_BallSearchKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
ui_utils.init_Color_UI(self.ui.btn_fixedColor, self.ui.edit_fixedColor)
ui_utils.init_Color_UI(self.ui.btn_defaultColor,
self.ui.edit_defaultColor)
ui_utils.init_Color_UI(self.ui.btn_keeperColor,
self.ui.edit_keeperColor)
ui_utils.init_Color_UI(self.ui.btn_defenderColor,
self.ui.edit_defenderColor)
ui_utils.init_Color_UI(self.ui.btn_supporterColor,
self.ui.edit_supporterColor)
ui_utils.init_Color_UI(self.ui.btn_strikerColor,
self.ui.edit_strikerColor)
ui_utils.init_Color_UI(self.ui.btn_bishopColor,
self.ui.edit_bishopColor)
ui_utils.init_Color_UI(self.ui.btn_translationColor,
self.ui.edit_translationColor)
self.ui.btnAccept.pressed.connect(self.accept)
self.ui.btnDiscard.pressed.connect(self.discard)
self.reset_widgets()
if self.nao.is_connected():
self.connect(self.nao)
def __init__(self, layer, parent, update_callback, nao):
super(LineDataConfig, self).__init__(parent)
self.layer = layer
self.update_callback = update_callback
self.nao = nao
self.identifier = uuid.uuid4()
self.ui = Ui_LineDataConfig()
self.ui.setupUi(self)
if self.layer["settings"] is None:
self.layer["settings"] = {
"center_x": 5.2,
"center_y": -3.7,
"transformation": {
"key": "Brain.RobotPosition",
"key_lambda": 'output = input["pose"]'
},
"lines": {
"key": "Brain.LineData",
"key_lambda": 'output = input["lines"]',
"lineWidth": 0.05,
"lineColor": "#ff0000"
}
}
self.settings_to_ui = {
"center_x": (lambda: self.ui.spin_center_x.value(),
lambda value: self.ui.spin_center_x.setValue(value)),
"center_y": (lambda: self.ui.spin_center_y.value(),
lambda value: self.ui.spin_center_y.setValue(value)),
"transformation":
(lambda: {
"key": self.ui.cbx_TransformationKey.currentText(),
"key_lambda": self.ui.edit_TransformationKeyLambda.toPlainText(
)
}, lambda settings: [
self.ui.cbx_TransformationKey.setCurrentText(settings["key"]),
self.ui.edit_TransformationKeyLambda.setPlainText(settings[
"key_lambda"])
]),
"lines": (lambda: {
"key": self.ui.cbx_LinesKey.currentText(),
"key_lambda": self.ui.edit_LinesKeyLambda.toPlainText(),
"lineWidth": self.ui.spin_lineWidth.value(),
"lineColor": self.ui.edit_lineColor.text()
}, lambda settings: [
self.ui.cbx_LinesKey.setCurrentText(settings["key"]),
self.ui.edit_LinesKeyLambda.setPlainText(settings["key_lambda"]
),
self.ui.spin_lineWidth.setValue(settings["lineWidth"]),
ui_utils.reset_textField_color(self.ui.edit_lineColor,
settings["lineColor"])
])
}
self.ui.cbx_TransformationKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.ui.cbx_TransformationKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.ui.cbx_LinesKey.completer().setFilterMode(qtc.Qt.MatchContains)
self.ui.cbx_LinesKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
ui_utils.init_Color_UI(self.ui.btn_lineColor, self.ui.edit_lineColor)
self.ui.btnAccept.pressed.connect(self.accept)
self.ui.btnDiscard.pressed.connect(self.discard)
self.reset_widgets()
if self.nao.is_connected():
self.connect(self.nao)
def __init__(self, layer, parent, update_callback, nao):
super(ObstacleDataConfig, self).__init__(parent)
self.layer = layer
self.update_callback = update_callback
self.nao = nao
self.identifier = uuid.uuid4()
self.ui = Ui_ObstacleDataConfig()
self.ui.setupUi(self)
if self.layer["settings"] is None:
self.layer["settings"] = {
"center_x": 5.2,
"center_y": -3.7,
"transformation": {
"key": "Brain.RobotPosition",
"key_lambda": 'output = input["pose"]'
},
"obstacles": {
"key": "Brain.TeamObstacleData",
"key_lambda": 'output = input["obstacles"]',
"goalPostColor": "#000000",
"unknownColor": "#ff5500",
"anonymousRobotColor": "#ff00ff",
"hostileRobotColor": "#ff0000",
"teamRobotColor": "#0000ff",
"fallenAnonymousRobotColor": "#7f007f",
"fallenHostileRobotColor": "#7f0000",
"fallenTeamRobotColor": "#00007f",
"ballColor": "#000000",
"freeKickAreaColor": "#ffffff",
"penWidth": 0.03
}
}
self.settings_to_ui = {
"center_x": (lambda: self.ui.spin_center_x.value(),
lambda value: self.ui.spin_center_x.setValue(value)),
"center_y": (lambda: self.ui.spin_center_y.value(),
lambda value: self.ui.spin_center_y.setValue(value)),
"transformation":
(lambda: {
"key": self.ui.cbx_TransformationKey.currentText(),
"key_lambda": self.ui.edit_TransformationKeyLambda.toPlainText(
)
}, lambda settings: [
self.ui.cbx_TransformationKey.setCurrentText(settings["key"]),
self.ui.edit_TransformationKeyLambda.setPlainText(settings[
"key_lambda"])
]),
"obstacles": (lambda: {
"key":
self.ui.cbx_ObstacleDataKey.currentText(),
"key_lambda":
self.ui.edit_ObstacleDataKeyLambda.toPlainText(),
"goalPostColor":
self.ui.edit_goalPostColor.text(),
"unknownColor":
self.ui.edit_unknownColor.text(),
"anonymousRobotColor":
self.ui.edit_anonymousRobotColor.text(),
"hostileRobotColor":
self.ui.edit_hostileRobotColor.text(),
"teamRobotColor":
self.ui.edit_teamRobotColor.text(),
"fallenAnonymousRobotColor":
self.ui.edit_fallenAnonymousRobotColor.text(),
"fallenHostileRobotColor":
self.ui.edit_fallenHostileRobotColor.text(),
"fallenTeamRobotColor":
self.ui.edit_fallenTeamRobotColor.text(),
"ballColor":
self.ui.edit_ballColor.text(),
"freeKickAreaColor":
self.ui.edit_freeKickAreaColor.text(),
"penWidth":
self.ui.spin_penWidth.value()
}, lambda settings: [
self.ui.cbx_ObstacleDataKey.setCurrentText(settings["key"]),
self.ui.edit_ObstacleDataKeyLambda.setPlainText(settings[
"key_lambda"]),
ui_utils.reset_textField_color(self.ui.edit_goalPostColor,
settings["goalPostColor"]),
ui_utils.reset_textField_color(self.ui.edit_unknownColor,
settings["unknownColor"]),
ui_utils.reset_textField_color(
self.ui.edit_anonymousRobotColor, settings[
"anonymousRobotColor"]),
ui_utils.reset_textField_color(self.ui.edit_hostileRobotColor,
settings["hostileRobotColor"]),
ui_utils.reset_textField_color(self.ui.edit_teamRobotColor,
settings["teamRobotColor"]),
ui_utils.reset_textField_color(
self.ui.edit_fallenAnonymousRobotColor, settings[
"fallenAnonymousRobotColor"]),
ui_utils.reset_textField_color(
self.ui.edit_fallenHostileRobotColor, settings[
"fallenHostileRobotColor"]),
ui_utils.reset_textField_color(
self.ui.edit_fallenTeamRobotColor, settings[
"fallenTeamRobotColor"]),
ui_utils.reset_textField_color(self.ui.edit_ballColor,
settings["ballColor"]),
ui_utils.reset_textField_color(self.ui.edit_freeKickAreaColor,
settings["freeKickAreaColor"]),
self.ui.spin_penWidth.setValue(settings["penWidth"])
])
}
self.ui.cbx_TransformationKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.ui.cbx_TransformationKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.ui.cbx_ObstacleDataKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.ui.cbx_ObstacleDataKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
ui_utils.init_Color_UI(self.ui.btn_goalPostColor,
self.ui.edit_goalPostColor)
ui_utils.init_Color_UI(self.ui.btn_unknownColor,
self.ui.edit_unknownColor)
ui_utils.init_Color_UI(self.ui.btn_anonymousRobotColor,
self.ui.edit_anonymousRobotColor)
ui_utils.init_Color_UI(self.ui.btn_hostileRobotColor,
self.ui.edit_hostileRobotColor)
ui_utils.init_Color_UI(self.ui.btn_teamRobotColor,
self.ui.edit_teamRobotColor)
ui_utils.init_Color_UI(self.ui.btn_fallenAnonymousRobotColor,
self.ui.edit_fallenAnonymousRobotColor)
ui_utils.init_Color_UI(self.ui.btn_fallenHostileRobotColor,
self.ui.edit_fallenHostileRobotColor)
ui_utils.init_Color_UI(self.ui.btn_fallenTeamRobotColor,
self.ui.edit_fallenTeamRobotColor)
ui_utils.init_Color_UI(self.ui.btn_ballColor, self.ui.edit_ballColor)
ui_utils.init_Color_UI(self.ui.btn_freeKickAreaColor,
self.ui.edit_freeKickAreaColor)
self.ui.btnAccept.pressed.connect(self.accept)
self.ui.btnDiscard.pressed.connect(self.discard)
self.reset_widgets()
if self.nao.is_connected():
self.connect(self.nao)
def __init__(self, layer_model, parent, update_callback, nao: Nao):
super(Config, self).__init__(parent)
ui_utils.loadUi(__file__, self)
self.layer_model = ui_utils.load_model(
os.path.dirname(__file__) + "/model.json", layer_model)
self.update_callback = update_callback
self.nao = nao
self.identifier = uuid.uuid4()
self.config_to_ui = {
"center_x": (lambda: self.spin_center_x.value(),
lambda value: self.spin_center_x.setValue(value)),
"center_y": (lambda: self.spin_center_y.value(),
lambda value: self.spin_center_y.setValue(value)),
"transformation":
(lambda: {
"key": self.cbx_TransformationKey.currentText(),
"key_lambda": self.edit_TransformationKeyLambda.toPlainText()
}, lambda config: [
self.cbx_TransformationKey.setCurrentText(config["key"]),
self.edit_TransformationKeyLambda.setPlainText(config[
"key_lambda"])
]),
"obstacles": (lambda: {
"key":
self.cbx_ObstacleDataKey.currentText(),
"key_lambda":
self.edit_ObstacleDataKeyLambda.toPlainText(),
"goalPostColor":
self.edit_goalPostColor.text(),
"unknownColor":
self.edit_unknownColor.text(),
"anonymousRobotColor":
self.edit_anonymousRobotColor.text(),
"hostileRobotColor":
self.edit_hostileRobotColor.text(),
"teamRobotColor":
self.edit_teamRobotColor.text(),
"fallenAnonymousRobotColor":
self.edit_fallenAnonymousRobotColor.text(),
"fallenHostileRobotColor":
self.edit_fallenHostileRobotColor.text(),
"fallenTeamRobotColor":
self.edit_fallenTeamRobotColor.text(),
"ballColor":
self.edit_ballColor.text(),
"freeKickAreaColor":
self.edit_freeKickAreaColor.text(),
"penWidth":
self.spin_penWidth.value()
}, lambda config: [
self.cbx_ObstacleDataKey.setCurrentText(config["key"]),
self.edit_ObstacleDataKeyLambda.setPlainText(config[
"key_lambda"]),
ui_utils.reset_textField_color(self.edit_goalPostColor, config[
"goalPostColor"]),
ui_utils.reset_textField_color(self.edit_unknownColor, config[
"unknownColor"]),
ui_utils.reset_textField_color(self.edit_anonymousRobotColor,
config["anonymousRobotColor"]),
ui_utils.reset_textField_color(self.edit_hostileRobotColor,
config["hostileRobotColor"]),
ui_utils.reset_textField_color(self.edit_teamRobotColor,
config["teamRobotColor"]),
ui_utils.reset_textField_color(
self.edit_fallenAnonymousRobotColor, config[
"fallenAnonymousRobotColor"]),
ui_utils.reset_textField_color(
self.edit_fallenHostileRobotColor, config[
"fallenHostileRobotColor"]),
ui_utils.reset_textField_color(self.edit_fallenTeamRobotColor,
config["fallenTeamRobotColor"]),
ui_utils.reset_textField_color(self.edit_ballColor, config[
"ballColor"]),
ui_utils.reset_textField_color(self.edit_freeKickAreaColor,
config["freeKickAreaColor"]),
self.spin_penWidth.setValue(config["penWidth"])
])
}
self.cbx_TransformationKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.cbx_TransformationKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.cbx_ObstacleDataKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.cbx_ObstacleDataKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
ui_utils.init_Color_UI(self.btn_goalPostColor, self.edit_goalPostColor)
ui_utils.init_Color_UI(self.btn_unknownColor, self.edit_unknownColor)
ui_utils.init_Color_UI(self.btn_anonymousRobotColor,
self.edit_anonymousRobotColor)
ui_utils.init_Color_UI(self.btn_hostileRobotColor,
self.edit_hostileRobotColor)
ui_utils.init_Color_UI(self.btn_teamRobotColor,
self.edit_teamRobotColor)
ui_utils.init_Color_UI(self.btn_fallenAnonymousRobotColor,
self.edit_fallenAnonymousRobotColor)
ui_utils.init_Color_UI(self.btn_fallenHostileRobotColor,
self.edit_fallenHostileRobotColor)
ui_utils.init_Color_UI(self.btn_fallenTeamRobotColor,
self.edit_fallenTeamRobotColor)
ui_utils.init_Color_UI(self.btn_ballColor, self.edit_ballColor)
ui_utils.init_Color_UI(self.btn_freeKickAreaColor,
self.edit_freeKickAreaColor)
self.btnAccept.pressed.connect(self.accept)
self.btnDiscard.pressed.connect(self.discard)
self.reset_widgets()
if self.nao.is_connected():
self.connect(self.nao)
def __init__(self, layer, parent, update_callback, nao):
super(CoordinateSystemConfig, self).__init__(parent)
self.layer = layer
self.update_callback = update_callback
self.ui = Ui_CoordinateSystemConfig()
self.ui.setupUi(self)
if self.layer["settings"] is None:
self.layer["settings"] = {
"center_x": 5.2,
"center_y": -3.7,
"coordinateSystem": {
"width": 10.4,
"height": 7.4,
"backgroundColor": "#008000",
"backgroundAlpha": 255,
"lineWidth": 0.01,
"stepSizeY": 1.0,
"stepSizeX": 1.0,
"lineColor": "#808080",
"polar": False,
"polarAngleStepSize": 30.0,
"radialStepSize": 1.0
}
}
self.settings_to_ui = {
"center_x": (
lambda: self.ui.spin_center_x.value(),
lambda value: self.ui.spin_center_x.setValue(value)),
"center_y": (
lambda: self.ui.spin_center_y.value(),
lambda value: self.ui.spin_center_y.setValue(value)),
"coordinateSystem": (
lambda: {
"width":
self.ui.spin_coordinateSystem_width.value(),
"height":
self.ui.spin_coordinateSystem_height.value(),
"backgroundColor":
self.ui.edit_bgColor.text(),
"backgroundAlpha":
self.ui.spin_coordinateSystem_bgAlpha.value(),
"lineWidth":
self.ui.spin_coordinateSystem_lineWidth.value(),
"stepSizeY":
self.ui.spin_coordinateSystem_stepSizeY.value(),
"stepSizeX":
self.ui.spin_coordinateSystem_stepSizeX.value(),
"lineColor":
self.ui.edit_lineColor.text(),
"polar":
self.ui.polarCheckBox.isChecked(),
"polarAngleStepSize":
self.ui.spin_coordinateSystem_angleStepSize.value(),
"radialStepSize":
self.ui.spin_coordinateSystem_radialStepSize.value()},
lambda settings: [
self.ui.spin_coordinateSystem_width.setValue(
settings["width"]),
self.ui.spin_coordinateSystem_height.setValue(
settings["height"]),
ui_utils.reset_textField_color(
self.ui.edit_bgColor,
settings["backgroundColor"]),
self.ui.spin_coordinateSystem_bgAlpha.setValue(
settings["backgroundAlpha"]),
self.ui.spin_coordinateSystem_lineWidth.setValue(
settings["lineWidth"]),
self.ui.spin_coordinateSystem_stepSizeY.setValue(
settings["stepSizeY"]),
self.ui.spin_coordinateSystem_stepSizeX.setValue(
settings["stepSizeX"]),
ui_utils.reset_textField_color(
self.ui.edit_lineColor,
settings["lineColor"]),
self.ui.polarCheckBox.setChecked(
settings["polar"]),
self.ui.spin_coordinateSystem_angleStepSize.setValue(
settings["polarAngleStepSize"]),
self.ui.spin_coordinateSystem_radialStepSize.setValue(
settings["radialStepSize"])])}
ui_utils.init_Color_UI(self.ui.btn_bgColor, self.ui.edit_bgColor)
ui_utils.init_Color_UI(self.ui.btn_lineColor, self.ui.edit_lineColor)
self.ui.btnAccept.pressed.connect(self.accept)
self.ui.btnDiscard.pressed.connect(self.discard)
self.reset_widgets()
def __init__(self, layer_model, parent, update_callback, nao: Nao):
super(Config, self).__init__(parent)
ui_utils.loadUi(__file__, self)
self.layer_model = ui_utils.load_model(
os.path.dirname(__file__) + "/model.json", layer_model)
self.update_callback = update_callback
self.config_to_ui = {
"center_x": (lambda: self.spin_center_x.value(),
lambda value: self.spin_center_x.setValue(value)),
"center_y": (lambda: self.spin_center_y.value(),
lambda value: self.spin_center_y.setValue(value)),
"coordinateSystem": (lambda: {
"width":
self.spin_coordinateSystem_width.value(),
"height":
self.spin_coordinateSystem_height.value(),
"backgroundColor":
self.edit_bgColor.text(),
"backgroundAlpha":
self.spin_coordinateSystem_bgAlpha.value(),
"lineWidth":
self.spin_coordinateSystem_lineWidth.value(),
"stepSizeY":
self.spin_coordinateSystem_stepSizeY.value(),
"stepSizeX":
self.spin_coordinateSystem_stepSizeX.value(),
"lineColor":
self.edit_lineColor.text(),
"polar":
self.polarCheckBox.isChecked(),
"polarAngleStepSize":
self.spin_coordinateSystem_angleStepSize.value(),
"radialStepSize":
self.spin_coordinateSystem_radialStepSize.value()
}, lambda config: [
self.spin_coordinateSystem_width.setValue(config["width"]),
self.spin_coordinateSystem_height.setValue(config["height"]),
ui_utils.reset_textField_color(self.edit_bgColor, config[
"backgroundColor"]),
self.spin_coordinateSystem_bgAlpha.setValue(config[
"backgroundAlpha"]),
self.spin_coordinateSystem_lineWidth.setValue(config[
"lineWidth"]),
self.spin_coordinateSystem_stepSizeY.setValue(config[
"stepSizeY"]),
self.spin_coordinateSystem_stepSizeX.setValue(config[
"stepSizeX"]),
ui_utils.reset_textField_color(self.edit_lineColor, config[
"lineColor"]),
self.polarCheckBox.setChecked(config["polar"]),
self.spin_coordinateSystem_angleStepSize.setValue(config[
"polarAngleStepSize"]),
self.spin_coordinateSystem_radialStepSize.setValue(config[
"radialStepSize"])
])
}
ui_utils.init_Color_UI(self.btn_bgColor, self.edit_bgColor)
ui_utils.init_Color_UI(self.btn_lineColor, self.edit_lineColor)
self.btnAccept.pressed.connect(self.accept)
self.btnDiscard.pressed.connect(self.discard)
self.reset_widgets()
def __init__(self, layer, parent, update_callback, nao: nao.Nao):
super(TeamPlayersConfig, self).__init__(parent)
self.nao = nao
self.layer = layer
self.update_callback = update_callback
self.identifier = uuid.uuid4()
self.ui = Ui_TeamPlayersConfig()
self.ui.setupUi(self)
if self.layer["settings"] is None:
self.layer["settings"] = {
"center_x": 5.2,
"center_y": -3.7,
"teamPlayers": {
"key": "Brain.TeamPlayers",
"keyLambda": 'output = input["players"]',
"showPlayer": True,
"poseCircleDiameter": 0.28,
"showTarget": True,
"targetCircleDiameter": 0.28,
"showFOV": False,
"maxDistance": 2.5,
"cameraOpeningAngle": 60.97,
"defaultColor": "#ffffff",
"keeperColor": "#0000ff",
"defenderColor": "#00ff00",
"supporterColor": "#ff00ff",
"strikerColor": "#ff0000",
"bishopColor": "#ffff00",
"replacement_keeperColor": "#00ffff",
"showSearchPosition": False,
"searchPositionDiameter": 0.6
}
}
self.settings_to_ui = {
"center_x": (lambda: self.ui.spin_center_x.value(),
lambda value: self.ui.spin_center_x.setValue(value)),
"center_y": (lambda: self.ui.spin_center_y.value(),
lambda value: self.ui.spin_center_y.setValue(value)),
"teamPlayers": (lambda: {
"key":
self.ui.cbx_TeamPlayersKey.currentText(),
"keyLambda":
self.ui.edit_TeamPlayersKeyLambda.toPlainText(),
"showPlayer":
self.ui.playerCheckbox.isChecked(),
"poseCircleDiameter":
self.ui.spin_poseCircleDiameter.value(),
"showTarget":
self.ui.targetCheckbox.isChecked(),
"targetCircleDiameter":
self.ui.spin_targetCircleDiameter.value(),
"showFOV":
self.ui.fovCheckbox.isChecked(),
"maxDistance":
self.ui.spin_maxDistance.value(),
"cameraOpeningAngle":
self.ui.spin_cameraOpeningAngle.value(),
"defaultColor":
self.ui.edit_defaultColor.text(),
"keeperColor":
self.ui.edit_keeperColor.text(),
"defenderColor":
self.ui.edit_defenderColor.text(),
"supporterColor":
self.ui.edit_supporterColor.text(),
"strikerColor":
self.ui.edit_strikerColor.text(),
"bishopColor":
self.ui.edit_bishopColor.text(),
"replacement_keeperColor":
self.ui.edit_replacementKeeperColor.text(),
"showSearchPosition":
self.ui.searchPositionCheckbox.isChecked(),
"searchPositionDiameter":
self.ui.spin_searchPositionDiameter.value()
}, lambda settings: [
self.ui.cbx_TeamPlayersKey.setCurrentText(settings["key"]),
self.ui.edit_TeamPlayersKeyLambda.setPlainText(settings[
"keyLambda"]),
self.ui.playerCheckbox.setChecked(settings["showPlayer"]),
self.ui.spin_poseCircleDiameter.setValue(settings[
"poseCircleDiameter"]),
self.ui.targetCheckbox.setChecked(settings["showTarget"]),
self.ui.spin_targetCircleDiameter.setValue(settings[
"targetCircleDiameter"]),
self.ui.fovCheckbox.setChecked(settings["showFOV"]),
self.ui.spin_maxDistance.setValue(settings["maxDistance"]),
self.ui.spin_cameraOpeningAngle.setValue(settings[
"cameraOpeningAngle"]),
ui_utils.reset_textField_color(self.ui.edit_defaultColor,
settings["defaultColor"]),
ui_utils.reset_textField_color(self.ui.edit_keeperColor,
settings["keeperColor"]),
ui_utils.reset_textField_color(self.ui.edit_defenderColor,
settings["defenderColor"]),
ui_utils.reset_textField_color(self.ui.edit_supporterColor,
settings["supporterColor"]),
ui_utils.reset_textField_color(self.ui.edit_strikerColor,
settings["strikerColor"]),
ui_utils.reset_textField_color(self.ui.edit_bishopColor,
settings["bishopColor"]),
ui_utils.reset_textField_color(
self.ui.edit_replacementKeeperColor, settings[
"replacement_keeperColor"]),
self.ui.searchPositionCheckbox.setChecked(settings[
"showSearchPosition"]),
self.ui.spin_searchPositionDiameter.setValue(settings[
"searchPositionDiameter"])
])
}
self.ui.cbx_TeamPlayersKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.ui.cbx_TeamPlayersKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.ui.btnAccept.pressed.connect(self.accept)
self.ui.btnDiscard.pressed.connect(self.discard)
ui_utils.init_Color_UI(self.ui.btn_defaultColor,
self.ui.edit_defaultColor)
ui_utils.init_Color_UI(self.ui.btn_keeperColor,
self.ui.edit_keeperColor)
ui_utils.init_Color_UI(self.ui.btn_defenderColor,
self.ui.edit_defenderColor)
ui_utils.init_Color_UI(self.ui.btn_supporterColor,
self.ui.edit_supporterColor)
ui_utils.init_Color_UI(self.ui.btn_strikerColor,
self.ui.edit_strikerColor)
ui_utils.init_Color_UI(self.ui.btn_bishopColor,
self.ui.edit_bishopColor)
ui_utils.init_Color_UI(self.ui.btn_replacementKeeperColor,
self.ui.edit_replacementKeeperColor)
self.reset_widgets()
if self.nao.is_connected():
self.connect(self.nao)
def __init__(self, layer, parent, update_callback, nao):
super(SonarSensorsConfig, self).__init__(parent)
self.layer = layer
self.update_callback = update_callback
self.nao = nao
self.identifier = uuid.uuid4()
self.ui = Ui_SonarSensorsConfig()
self.ui.setupUi(self)
if self.layer["settings"] is None:
self.layer["settings"] = {
"center_x": 5.2,
"center_y": -3.7,
"transformation": {
"key": "Brain.RobotPosition",
"key_lambda": 'output = input["pose"]'
},
"sonar": {
"rawKey": "Motion.SonarSensorData",
"rawKey_lambda": 'output = input',
"filteredKey": "Motion.SonarData",
"filteredKey_lambda": 'output = input',
"openingAngle": 60.0,
"zAngle": 25.0,
"yOffset": 4.16,
"color": "#ffffff"
}
}
self.settings_to_ui = {
"center_x": (lambda: self.ui.spin_center_x.value(),
lambda value: self.ui.spin_center_x.setValue(value)),
"center_y": (lambda: self.ui.spin_center_y.value(),
lambda value: self.ui.spin_center_y.setValue(value)),
"transformation":
(lambda: {
"key": self.ui.cbx_TransformationKey.currentText(),
"key_lambda": self.ui.edit_TransformationKeyLambda.toPlainText(
)
}, lambda settings: [
self.ui.cbx_TransformationKey.setCurrentText(settings["key"]),
self.ui.edit_TransformationKeyLambda.setPlainText(settings[
"key_lambda"])
]),
"sonar": (lambda: {
"rawKey":
self.ui.cbx_RawSonarKey.currentText(),
"rawKey_lambda":
self.ui.edit_RawSonarKeyLambda.toPlainText(),
"filteredKey":
self.ui.cbx_FilteredSonarKey.currentText(),
"filteredKey_lambda":
self.ui.edit_FilteredSonarKeyLambda.toPlainText(),
"openingAngle":
self.ui.spin_sonarOpeningAngle.value(),
"zAngle":
self.ui.spin_sonarZAngle.value(),
"yOffset":
self.ui.spin_sonarYOffset.value(),
"color":
self.ui.edit_sonarColor.text()
}, lambda settings: [
self.ui.cbx_RawSonarKey.setCurrentText(settings["rawKey"]),
self.ui.edit_RawSonarKeyLambda.setPlainText(settings[
"rawKey_lambda"]),
self.ui.cbx_FilteredSonarKey.setCurrentText(settings[
"filteredKey"]),
self.ui.edit_FilteredSonarKeyLambda.setPlainText(settings[
"filteredKey_lambda"]),
self.ui.spin_sonarOpeningAngle.setValue(settings["openingAngle"
]),
self.ui.spin_sonarZAngle.setValue(settings["zAngle"]),
self.ui.spin_sonarYOffset.setValue(settings["yOffset"]),
ui_utils.reset_textField_color(self.ui.edit_sonarColor,
settings["color"])
])
}
self.ui.cbx_TransformationKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.ui.cbx_TransformationKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.ui.cbx_RawSonarKey.completer().setFilterMode(qtc.Qt.MatchContains)
self.ui.cbx_RawSonarKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.ui.cbx_FilteredSonarKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.ui.cbx_FilteredSonarKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
ui_utils.init_Color_UI(self.ui.btn_sonarColor, self.ui.edit_sonarColor)
self.ui.btnAccept.pressed.connect(self.accept)
self.ui.btnDiscard.pressed.connect(self.discard)
self.reset_widgets()
if self.nao.is_connected():
self.connect(self.nao)
def __init__(self, layer_model, parent, update_callback, nao: Nao):
super(Config, self).__init__(parent)
ui_utils.loadUi(__file__, self)
self.nao = nao
self.layer_model = ui_utils.load_model(
os.path.dirname(__file__) + "/model.json", layer_model)
self.update_callback = update_callback
self.identifier = uuid.uuid4()
self.config_to_ui = {
"center_x": (lambda: self.spin_center_x.value(),
lambda value: self.spin_center_x.setValue(value)),
"center_y": (lambda: self.spin_center_y.value(),
lambda value: self.spin_center_y.setValue(value)),
"transformation":
(lambda: {
"key": self.cbx_TransformationKey.currentText(),
"key_lambda": self.edit_TransformationKeyLambda.toPlainText(),
}, lambda config: [
self.cbx_TransformationKey.setCurrentText(config["key"]),
self.edit_TransformationKeyLambda.setPlainText(config[
"key_lambda"]),
]),
"pose":
(lambda:
{
"key": self.cbx_PoseKey.currentText(),
"keyLambda": self.edit_poseKeyLambda.toPlainText(),
"positionCircleDiameter": self.spin_positionCircleDiameter.
value(),
"orientationLineLength": self.spin_orientationLineLength.
value(),
"color": self.edit_poseColor.text()
}, lambda config: [
self.cbx_PoseKey.setCurrentText(config["key"]),
self.edit_poseKeyLambda.setPlainText(config["keyLambda"]),
self.spin_positionCircleDiameter.setValue(config[
"positionCircleDiameter"]),
self.spin_orientationLineLength.setValue(config[
"orientationLineLength"]),
ui_utils.reset_textField_color(self.edit_poseColor, config[
"color"])
]),
"fov": (lambda: {
"jointSensorDataKey":
self.cbx_JointSensorDataKey.currentText(),
"jointSensorDataKeyLambda":
self.edit_jointSensorDataKeyLambda.toPlainText(),
"maxDistance":
self.spin_maxDistance.value(),
"cameraOpeningAngle":
self.spin_cameraOpeningAngle.value()
}, lambda config: [
self.cbx_JointSensorDataKey.setCurrentText(config[
"jointSensorDataKey"]),
self.edit_jointSensorDataKeyLambda.setPlainText(config[
"jointSensorDataKeyLambda"]),
self.spin_maxDistance.setValue(config["maxDistance"]),
self.spin_cameraOpeningAngle.setValue(config[
"cameraOpeningAngle"])
])
}
self.cbx_PoseKey.completer().setFilterMode(qtc.Qt.MatchContains)
self.cbx_PoseKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.cbx_TransformationKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.cbx_TransformationKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
self.cbx_JointSensorDataKey.completer().setFilterMode(
qtc.Qt.MatchContains)
self.cbx_JointSensorDataKey.completer().setCompletionMode(
qtw.QCompleter.PopupCompletion)
ui_utils.init_Color_UI(self.btn_poseColor, self.edit_poseColor)
self.btnAccept.pressed.connect(self.accept)
self.btnDiscard.pressed.connect(self.discard)
self.reset_widgets()
if self.nao.is_connected():
self.connect(self.nao)
