def paintEvent(self, event):
with self.lock:
self.event = event
rect = event.rect()
qp = QPainter()
qp.begin(self)
radius = min(rect.width(), rect.height()) - 50
qp.setFont(QFont('Helvetica', 100))
qp.setPen(QPen(QBrush(QColor(255, 255, 255)), 20))
if self.is_disabled:
qp.fillRect(rect, self._DISABLED_COLOR)
qp.drawText(rect, QtCore.Qt.AlignCenter, self._FROWN)
elif self.is_blackout:
qp.fillRect(rect, self._BLACKOUT_COLOR)
qp.drawText(rect, QtCore.Qt.AlignCenter, self._FROWN)
time_diff = (self.next_whiteout_time - rospy.Time.now()).to_sec()
if time_diff < 0:
time_diff = 0
time_ratio = time_diff / (self.next_whiteout_time - self.blackout_time).to_sec()
qp.setFont(QFont('Helvetica', 30))
qp.drawText(0, rect.height() - 150, rect.width(), 150, QtCore.Qt.AlignCenter, "%.1f sec" % time_diff)
# 0-360
if time_ratio > 0:
rad = int(math.fmod(time_ratio * 360 + 90*16, 360) * 16)
qp.drawArc((rect.width() - radius) / 2, (rect.height() - radius) / 2, radius, radius, 90*16, rad)
else:
qp.fillRect(rect, self._OK_COLOR)
qp.drawText(rect, QtCore.Qt.AlignCenter, self._SMILEY)
qp.end()
def addCoordinateSystem(self, origin=QPointF(), angle=0.0):
XAxis = QPointF(origin.x() + 100, origin.y())
YAxis = QPointF(origin.x(), origin.y() - 100)
self.addArrow(origin, XAxis)
self.addArrow(origin, YAxis)
XLabel = self.addText('X', QFont())
XLabel.setPos(XAxis)
YLabel = self.addText('Y', QFont())
YLabel.setPos(YAxis)
def __init__(self, updater, config, nodename):
"""
:param config:
:type config: Dictionary? defined in dynamic_reconfigure.client.Client
:type nodename: str
"""
super(GroupWidget, self).__init__()
self.state = config['state']
self.param_name = config['name']
self._toplevel_treenode_name = nodename
# TODO: .ui file needs to be back into usage in later phase.
# ui_file = os.path.join(rp.get_path('rqt_reconfigure'),
# 'resource', 'singlenode_parameditor.ui')
# loadUi(ui_file, self)
verticalLayout = QVBoxLayout(self)
verticalLayout.setContentsMargins(QMargins(0, 0, 0, 0))
_widget_nodeheader = QWidget()
_h_layout_nodeheader = QHBoxLayout(_widget_nodeheader)
_h_layout_nodeheader.setContentsMargins(QMargins(0, 0, 0, 0))
self.nodename_qlabel = QLabel(self)
font = QFont('Trebuchet MS, Bold')
font.setUnderline(True)
font.setBold(True)
# Button to close a node.
_icon_disable_node = QIcon.fromTheme('window-close')
_bt_disable_node = QPushButton(_icon_disable_node, '', self)
_bt_disable_node.setToolTip('Hide this node')
_bt_disable_node_size = QSize(36, 24)
_bt_disable_node.setFixedSize(_bt_disable_node_size)
_bt_disable_node.pressed.connect(self._node_disable_bt_clicked)
_h_layout_nodeheader.addWidget(self.nodename_qlabel)
_h_layout_nodeheader.addWidget(_bt_disable_node)
self.nodename_qlabel.setAlignment(Qt.AlignCenter)
font.setPointSize(10)
self.nodename_qlabel.setFont(font)
grid_widget = QWidget(self)
self.grid = QFormLayout(grid_widget)
verticalLayout.addWidget(_widget_nodeheader)
verticalLayout.addWidget(grid_widget, 1)
# Again, these UI operation above needs to happen in .ui file.
self.tab_bar = None # Every group can have one tab bar
self.tab_bar_shown = False
self.updater = updater
self.editor_widgets = []
self._param_names = []
self._create_node_widgets(config)
logging.debug('Groups node name={}'.format(nodename))
self.nodename_qlabel.setText(nodename)
def sizeHint(self, option, index):
item = self.parent().item(index.row())
doc = QTextDocument()
# highlight = syntax.PythonHighlighter(doc, is_dark = not item.has_script)
font = QFont("Courier")
font.setFamily("Courier");
font.setStyleHint(QFont.Monospace);
font.setFixedPitch(True);
font.setPointSize(self.parent().font().pointSize());
doc.setDefaultFont(font)
# tab_stop = 4; # 4 characters
# metrics = QFontMetrics(font)
text = index.data(Qt.EditRole)
text = text.replace("\t", ''.join([' '] * 4))
# print ":".join("{:02x}".format(ord(c)) for c in text)
doc.setPlainText(text)
doc.setDefaultStyleSheet("background-color: red;")
return QSize(doc.size().width(), doc.size().height())
def add_label(self, text, x, y):
text = self.addSimpleText(text)
text.setBrush(QColor(Qt.blue))
text.setFont(QFont('sans', 12))
text.setPos(x, y)
text.setZValue(self._time_z)
text.setFlag(QGraphicsItem.ItemIgnoresTransformations)
def data(self, index, role):
if not index.isValid():
return None
ctrl = self._data[index.row()]
if role == Qt.DisplayRole:
if index.column() == 0:
return ctrl.name
elif index.column() == 1:
return ctrl.state
if role == Qt.DecorationRole:
if index.column() == 0:
return self._icons[ctrl.state]
if role == Qt.FontRole:
if index.column() == 0:
bf = QFont()
bf.setBold(True)
return bf
if role == Qt.TextAlignmentRole:
if index.column() == 1:
return Qt.AlignCenter
def add_ROI(self, pixel_coords):
self.regionCounter += 1
markerSize = 25
ellipse_item = QGraphicsEllipseItem(
QRectF(
QPointF(pixel_coords.x() - markerSize / 2,
pixel_coords.y() - markerSize / 2),
QSizeF(markerSize, markerSize)))
ellipse_item.setBrush(QBrush(QColor('red')))
self.addItem(ellipse_item)
label_font = QFont()
label_font.setPointSize(15)
region_string = 'r' + str(self.regionCounter).zfill(2)
ellipse_item_label = QGraphicsTextItem(region_string)
ellipse_item_label.setPos(pixel_coords)
ellipse_item_label.setFont(label_font)
self.addItem(ellipse_item_label)
self.items_dict.update({
region_string: {
'ellipse_item': ellipse_item,
'ellipse_item_label': ellipse_item_label,
'pixel_coords': pixel_coords,
'ap_item_label': {}
}
})
def __init__(self, parent=None):
ExternalShellBase.__init__(self,
parent=parent,
fname=None,
wdir='.',
history_filename='.history',
light_background=True,
menu_actions=None,
show_buttons_inside=False,
show_elapsed_time=False)
self.setObjectName('SpyderShellWidget')
# capture tab key
#self.shell._key_tab = self._key_tab
self.shell.set_pythonshell_font(QFont('Mono'))
# Additional python path list
self.path = []
# For compatibility with the other shells that can live in the external console
self.is_ipython_kernel = False
self.connection_file = None
self.create_process()
def add_button_clicked(self, checked = False):
args = self.widget_topic.get_selected()
func = self.func_list.selectedItems()
retvar = self.assign_var.text()
if args and func and retvar != '' and retvar != None:
func = func[0].data(Qt.UserRole)
print "there is items: ", args, func
first = "{0} = {1}( ".format(retvar, func)
spcs = len(first)
joint = ',\n' + ''.join([' '] * spcs)
second = "{0} )".format(joint.join(args))
item = ListBlockItem((first + second),
func = self.functions[func],
args = args,
retvar = retvar,
has_script = False )
font = QFont("Courier")
font.setFamily("Courier");
font.setStyleHint(QFont.Monospace);
font.setFixedPitch(True);
font.setPointSize(10);
item.setFont(font)
self.widget_topic.clear_selection()
self.block_label.setText("")
self.block_list.addItem(item)
self.func_ret.setCurrentText(retvar)
def __init__(self, context=None):
my_locals = {
'context': context
}
super(SpyderConsoleWidget, self).__init__(namespace=my_locals)
self.cache = ""
self._client = rospy.ServiceProxy(
'run_command', dynamic_graph_bridge_msgs.srv.RunCommand, True)
self.setObjectName('SpyderConsoleWidget')
self.set_pythonshell_font(QFont('Mono'))
self.interpreter.restore_stds()
self._multi_line = False
self._multi_line_level = 0
self._command = ''
# open text file for logging
try:
path = os.path.expanduser('~/.rqt_dynamic_graph/');
if(not os.path.exists(path)):
os.mkdir(path)
self.log = open(path+datetime.now().strftime("%y_%m_%d__%H_%M")+'.log', 'a')
self.log_time = time.time()
#print "Log file successfully open"
except Exception as e:
print "ERROR: Could not open log file!"
print e
self.log = None
def __init__(self, context):
super(QuestionDialogPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('QuestionDialogPlugin')
font_size = rospy.get_param("~font_size", 40)
# Create QWidget
self._widget = QWidget()
self._widget.setFont(QFont("Times", font_size, QFont.Bold))
self._layout = QVBoxLayout(self._widget)
self._text_browser = QTextBrowser(self._widget)
self._layout.addWidget(self._text_browser)
self._button_layout = QHBoxLayout()
self._layout.addLayout(self._button_layout)
# layout = QVBoxLayout(self._widget)
# layout.addWidget(self.button)
self._widget.setObjectName('QuestionDialogPluginUI')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
# Setup service provider
self.service = rospy.Service('question_dialog', QuestionDialog,
self.service_callback)
self.response_ready = False
self.response = None
self.buttons = []
self.text_label = None
self.text_input = None
self.connect(self._widget, SIGNAL("update"), self.update)
self.connect(self._widget, SIGNAL("timeout"), self.timeout)
def __init__(self):
super(StringLabelWidget, self).__init__()
self.lock = Lock()
vbox = QVBoxLayout(self)
self.label = QLabel()
self.label.setAlignment(Qt.AlignLeft)
self.label.setSizePolicy(
QSizePolicy(QSizePolicy.Ignored, QSizePolicy.Ignored))
font = QFont("Helvetica", 14)
self.label.setFont(font)
self.label.setWordWrap(True)
vbox.addWidget(self.label)
self.string_sub = None
self._string_topics = []
self._update_topic_timer = QTimer(self)
self._update_topic_timer.timeout.connect(self.updateTopics)
self._update_topic_timer.start(1000)
self._active_topic = None
# to update label visualization
self._dialog = LineEditDialog()
self._rosdata = None
self._start_time = rospy.get_time()
self._update_label_timer = QTimer(self)
self._update_label_timer.timeout.connect(self.updateLabel)
self._update_label_timer.start(40)
def __init__(self, filename, parent=None):
self.parent = parent
QTextEdit.__init__(self, parent)
self.setObjectName('Editor - %s' % filename)
self.setContextMenuPolicy(Qt.CustomContextMenu)
self.customContextMenuRequested.connect(self.show_custom_context_menu)
# self.setFrameStyle(QFrame.StyledPanel | QFrame.Sunken)
self.setAcceptRichText(False)
font = QFont()
font.setFamily("Fixed".decode("utf-8"))
font.setPointSize(12)
self.setFont(font)
self.setLineWrapMode(QTextEdit.NoWrap)
self.setTabStopWidth(25)
self.setAcceptRichText(False)
self.setCursorWidth(2)
self.setFontFamily("courier new")
self.setProperty("backgroundVisible", True)
bg_style = "QTextEdit { background-color: #fffffc;}"
self.setStyleSheet("%s" % (bg_style))
self.setTextColor(QColor(0, 0, 0))
self.regexp_list = [QRegExp("\\binclude\\b"), QRegExp("\\btextfile\\b"),
QRegExp("\\bfile\\b"), QRegExp("\\bvalue=.*pkg:\/\/\\b"),
QRegExp("\\bvalue=.*package:\/\/\\b"),
QRegExp("\\bvalue=.*\$\(find\\b"),
QRegExp("\\bargs=.*\$\(find\\b"),
QRegExp("\\bdefault=.*\$\(find\\b")]
self.filename = filename
self.file_mtime = 0
# f = QFile(filename)
# if f.open(QIODevice.ReadOnly | QIODevice.Text):
# self.file_info = QFileInfo(filename)
# self.setText(unicode(f.readAll(), "utf-8"))
self.path = '.'
# enables drop events
self.setAcceptDrops(True)
# variables for threaded search
self._search_thread = None
self._stop = False
self._internal_args = {}
ext = os.path.splitext(filename)
if self.filename:
self.setText("")
_, self.file_mtime, file_content = nm.nmd().file.get_file_content(filename)
if ext[1] in ['.launch', '.xml']:
self._internal_args = get_internal_args(file_content)
self.setText(file_content)
self._is_launchfile = False
if ext[1] in ['.launch', '.xml', '.xacro', '.srdf', '.urdf']:
if ext[1] in ['.launch']:
self._is_launchfile = True
self.hl = XmlHighlighter(self.document(), is_launch=False)
self.cursorPositionChanged.connect(self._document_position_changed)
else:
self.hl = YamlHighlighter(self.document())
def add_ap(self, region, ap):
label_font = QFont()
label_font.setPointSize(15)
ap_item_label = QGraphicsTextItem(ap)
ap_item_label.setPos(
QPointF(self.items_dict[region]['pixel_coords'].x() - 25,
self.items_dict[region]['pixel_coords'].y()))
ap_item_label.setFont(label_font)
self.addItem(ap_item_label)
self.items_dict[region]['ap_item_label'].update({ap: ap_item_label})
def _add_track_label(self, track_name, background_color=None):
label = QLabel(track_name)
label.setMargin(5)
palette = label.palette()
palette.setColor(label.foregroundRole(), Qt.black)
if background_color is not None:
label.setAutoFillBackground(True)
palette.setColor(label.backgroundRole(), background_color)
label.setPalette(palette)
label.setFont(QFont('sans', 13))
self.track_label_layout.addWidget(label)
def __init__(self, rapp, running):
QStandardItem.__init__(self, rapp['display_name'])
self.setSizeHint(QSize(100,100))
icon = get_qicon(rapp['icon'])
self.setIcon(icon)
f = QFont()
f.setPointSize(10)
self.setFont(f)
self.setToolTip(rapp['description'])
self.setEditable(False)
self.setRapp(rapp)
self.setEnabled(running)
def __init__(self, filename, parent=None):
self.parent = parent
QTextEdit.__init__(self, parent)
self.setObjectName('Editor - %s' % filename)
self.setContextMenuPolicy(Qt.CustomContextMenu)
self.customContextMenuRequested.connect(self.show_custom_context_menu)
# self.setFrameStyle(QFrame.StyledPanel | QFrame.Sunken)
self.setAcceptRichText(False)
font = QFont()
font.setFamily('Fixed')
font.setPointSize(12)
self.setFont(font)
self.setLineWrapMode(QTextEdit.NoWrap)
self.setTabStopWidth(25)
self.setAcceptRichText(False)
self.setCursorWidth(2)
self.setFontFamily("courier new")
self.setProperty("backgroundVisible", True)
bg_style = "QTextEdit { background-color: #fffffc;}"
self.setStyleSheet("%s" % (bg_style))
self.setTextColor(QColor(0, 0, 0))
self.regexp_list = [
QRegExp("\\binclude\\b"),
QRegExp("\\btextfile\\b"),
QRegExp("\\bfile\\b"),
QRegExp("\\bvalue=.*pkg:\/\/\\b"),
QRegExp("\\bvalue=.*package:\/\/\\b"),
QRegExp("\\bvalue=.*\$\(find\\b"),
QRegExp("\\bargs=.*\$\(find\\b"),
QRegExp("\\bdefault=.*\$\(find\\b")
]
self.filename = filename
self.file_mtime = 0
# f = QFile(filename)
# if f.open(QIODevice.ReadOnly | QIODevice.Text):
# self.file_info = QFileInfo(filename)
# self.setText(unicode(f.readAll(), "utf-8"))
self.path = '.'
# variables for threaded search
self._search_thread = None
self._stop = False
self._internal_args = {}
self._ext = os.path.splitext(filename)[1]
self.setText("Loading file content ... press F5 to reload!")
self.setReadOnly(True)
self._to_select = []
nm.nmd().file.file_content.connect(self._apply_file_content)
nm.nmd().file.error.connect(self._on_nmd_error)
if self.filename:
nm.nmd().file.get_file_content_threaded(filename)
def __init__(self, text):
"""
:param text: value to set the text of the widget to, ''str''
"""
super(TextBrowseDialog, self).__init__()
_, package_path = get_resource('packages', 'rqt_console')
ui_file = os.path.join(package_path, 'share', 'rqt_console',
'resource', 'text_browse_dialog.ui')
self.setFont(QFont('Mono'))
loadUi(ui_file, self)
self.text_browser.setText(text)
def __init__(self, parent=None):
super(ConsoleTextEdit, self).__init__(parent)
self.setFont(QFont('Mono'))
self._multi_line = False
self._multi_line_level = 0
self._command = ''
self._history = []
self._history_index = -1
# init colored writers
self._stdout = self.TextEditColoredWriter(self, self._color_stdout)
self._stderr = self.TextEditColoredWriter(self, self._color_stderr)
self._comment_writer = self.TextEditColoredWriter(self, self._color_stdin)
def _handle_add_clicked(self):
name = self.name_edit.text()
if len(name) != 0:
# remove and re-draw it
if name in self.places_dict.keys():
self.places_dict.pop(name)
for item in self._sceneItems[name].keys():
self._scene.removeItem(self._sceneItems[name][item])
try:
# storing the values in the dict
x = self.x_spin.value()
y = self.y_spin.value()
theta = self.theta_spin.value()
q = quaternion_from_euler(0.0, 0.0, theta)
self.places_dict[str(name)] = [
x, y, 0.0,
float(q[0]),
float(q[1]),
float(q[2]),
float(q[3])
]
# drawing the items
self._sceneItems[name] = {"text": QGraphicsTextItem()}
self._sceneItems[name]["text"].setDefaultTextColor(
QColor(0, 0, 255))
self._sceneItems[name]["text"].setFont(QFont("Times", 10))
self._sceneItems[name]["text"].setPlainText(name)
scene_pos = self._gridToScene(x, y, q)
x_c = scene_pos[0] - self._sceneItems[name][
"text"].boundingRect().width() / 2.0
self._sceneItems[name]["text"].setPos(x_c, scene_pos[1])
self._scene.addItem(self._sceneItems[name]["text"])
self._sceneItems[name]["rec"] = self._scene.addRect(
QRectF((scene_pos[0] - 2), (scene_pos[1] - 2), 4, 4))
line = QLineF(
scene_pos[0], scene_pos[1],
(scene_pos[0] - self._mag * cos(radians(scene_pos[3]))),
(scene_pos[1] + self._mag * sin(radians(scene_pos[3]))))
self._sceneItems[name]["line"] = self._scene.addLine(
line, pen=QPen(Qt.red, 2))
except ValueError:
QMessageBox.critical(self, "Error!",
"You must insert a valid value.")
else:
QMessageBox.critical(
self, "Error!",
"You have to insert a name and a valid position.")
class GraphItem(QGraphicsItemGroup):
_COLOR_BLACK = QColor(0, 0, 0)
_COLOR_BLUE = QColor(0, 0, 204)
_COLOR_GREEN = QColor(0, 170, 0)
_COLOR_ORANGE = QColor(255, 165, 0)
_COLOR_RED = QColor(255, 0, 0)
_COLOR_TEAL = QColor(0, 170, 170)
_LABEL_FONT = QFont('sans', weight=QFont.Light)
def __init__(self, highlight_level, parent=None):
super(GraphItem, self).__init__(parent)
self._highlight_level = highlight_level
# use device depended font size to produce
GraphItem._LABEL_FONT.setPixelSize(11)
def createEditor(self, parent, option, index):
editor = QTextEdit(parent)
highlight = syntax.PythonHighlighter(editor.document())
font = QFont("Courier")
font.setFamily("Courier");
font.setStyleHint(QFont.Monospace);
font.setFixedPitch(True);
font.setPointSize(10);
editor.setFont(font)
tab_stop = 4; # 4 characters
metrics = QFontMetrics(font)
editor.setTabStopWidth(tab_stop * metrics.width(' '));
return editor
def __init__(self):
super(SandtrayItem, self).__init__()
self._items = {}
self._zones = {}
self._bg_color = QColor(179, 179, 179, 25)
self._fg_color = QColor(204, 204, 204, 102)
self._item_color = QColor(204, 0, 100, 255)
self._cube_color = QColor(204, 100, 0, 255)
self._border_color = QColor(0, 0, 0, 102)
self._time_font_size = 10.0
self._time_font = QFont("cairo")
self._time_font.setPointSize(self._time_font_size)
self._time_font.setBold(False)
def __init__(self, filename, parent=None):
self.parent = parent
QTextEdit.__init__(self, parent)
self.setObjectName(' - '.join(['Editor', filename]))
self.setContextMenuPolicy(Qt.CustomContextMenu)
self.customContextMenuRequested.connect(self.show_custom_context_menu)
# self.setFrameStyle(QFrame.StyledPanel | QFrame.Sunken)
self.setAcceptRichText(False)
font = QFont()
font.setFamily("Fixed".decode("utf-8"))
font.setPointSize(12)
self.setFont(font)
self.setLineWrapMode(QTextEdit.NoWrap)
self.setTabStopWidth(25)
self.setAcceptRichText(False)
self.setCursorWidth(2)
self.setFontFamily("courier new")
self.setProperty("backgroundVisible", True)
self.regexp_list = [
QRegExp("\\binclude\\b"),
QRegExp("\\btextfile\\b"),
QRegExp("\\bfile\\b"),
QRegExp("\\bvalue=.*pkg:\/\/\\b"),
QRegExp("\\bvalue=.*package:\/\/\\b"),
QRegExp("\\bvalue=.*\$\(find\\b"),
QRegExp("\\bargs=.*\$\(find\\b"),
QRegExp("\\bdefault=.*\$\(find\\b")
]
self.filename = filename
self.file_info = None
if self.filename:
f = QFile(filename)
if f.open(QIODevice.ReadOnly | QIODevice.Text):
self.file_info = QFileInfo(filename)
self.setText(unicode(f.readAll(), "utf-8"))
self.path = '.'
# enables drop events
self.setAcceptDrops(True)
if filename.endswith('.launch'):
self.hl = XmlHighlighter(self.document())
self.cursorPositionChanged.connect(self._document_position_changed)
else:
self.hl = YamlHighlighter(self.document())
# variables for threaded search
self._search_thread = None
self._stop = False
def __init__(self, track, text, starttime, duration):
self._track = track
super(TimelineClip, self).__init__(0.0, 0.0, duration, track.height, None, track.scene())
self.setFlag(QGraphicsItem.ItemSendsScenePositionChanges)
self.setFlag(QGraphicsItem.ItemIsMovable)
self.setZValue(self._z)
self.setBrush(QBrush(self._track._colors['item']))
self.setPen(QPen(self._track._colors['item']))
self._text = QGraphicsSimpleTextItem(text, self)
self._text.setBrush(QColor(Qt.black))
self._text.setFont(QFont('sans', 12))
self._text.setPos(0.05, 0.05)
self._text.setFlag(QGraphicsItem.ItemIgnoresTransformations)
self.set_starttime(starttime)
self.set_data([])
def draw_viz_markers(self, data, key):
old_items = []
if len(self._viz_marker_items[key]):
for item in self._viz_marker_items[key]:
old_items.append(item)
self._viz_marker_items[key] = []
for viz_marker in data:
if viz_marker['type'] is Marker.TEXT_VIEW_FACING:
# text
viz_marker_text = viz_marker['text']
viz_marker_pose_item = self._scene.addSimpleText(
viz_marker_text, font=QFont())
# Everything must be mirrored
viz_marker_pose_item.translate(-viz_marker['x'],
viz_marker['y'])
elif viz_marker['type'] is Marker.CYLINDER:
# # waypoint
# viz_marker_pose_item = self._scene.addEllipse(viz_marker['x'] - viz_marker['scale'][0] / 2, viz_marker['y'] - viz_marker['scale'][1] / 2, viz_marker['scale'][0], viz_marker['scale'][1], pen=QPen(QColor(255, 0, 0)), brush=QBrush(QColor(255, 0, 0)))
# # Everything must be mirrored
# self._mirror(viz_marker_pose_item)
viz_marker_pose = QMatrix().scale(
1, -1).rotate(viz_marker['yaw'] + 180).map(
self._viz_marker_polygon).translated(
-viz_marker['x'], viz_marker['y'])
viz_marker_pose_item = self._scene.addPolygon(
viz_marker_pose,
pen=QPen(QColor(0, 255, 0)),
brush=QBrush(QColor(0, 255, 0)))
elif viz_marker['type'] is Marker.ARROW:
# marker
# Everything must be mirrored
viz_marker_pose = QMatrix().scale(
1, -1).rotate((viz_marker['yaw'] - 90) + 180).map(
self._viz_marker_polygon).translated(
-viz_marker['x'], viz_marker['y'])
viz_marker_pose_item = self._scene.addPolygon(
viz_marker_pose,
pen=QPen(QColor(255, 0, 0)),
brush=QBrush(QColor(255, 0, 0)))
else:
rospy.logerr("Unknown Marker type : %s" % (viz_marker['type']))
viz_marker_pose_item.setZValue(1)
self._viz_marker_items[key].append(viz_marker_pose_item)
if len(old_items):
for item in old_items:
self._scene.removeItem(item)
def sizeHint(self, option, index):
item = self.parent().item(index.row())
doc = QTextDocument()
font = QFont("Courier")
font.setFamily("Courier");
font.setStyleHint(QFont.Monospace);
font.setFixedPitch(True);
font.setPointSize(self.parent().font().pointSize());
doc.setDefaultFont(font)
text = index.data(Qt.EditRole)
text = text.replace("\t", ''.join([' '] * 4))
doc.setPlainText(text)
doc.setDefaultStyleSheet("background-color: red;")
return QSize(doc.size().width(), doc.size().height())
def __init__(self):
super(StringLabelWidget, self).__init__()
self.lock = Lock()
vbox = QtGui.QVBoxLayout(self)
self.label = QLabel()
self.label.setAlignment(Qt.AlignLeft)
self.label.setSizePolicy(
QSizePolicy(QSizePolicy.Ignored, QSizePolicy.Ignored))
font = QFont("Helvetica", 14)
self.label.setFont(font)
self.label.setWordWrap(True)
vbox.addWidget(self.label)
self.string_sub = None
self._string_topics = []
self._update_topic_timer = QTimer(self)
self._update_topic_timer.timeout.connect(self.updateTopics)
self._update_topic_timer.start(1)
self._active_topic = None
self._dialog = ComboBoxDialog()
def paintEvent(self, event):
with self.lock:
if self.status == 1:
color = self._SUCCESS_COLOR
elif self.status == 2:
color = self._WARN_COLOR
else:
color = self._UNKNOWN_COLOR
rect = event.rect()
qp = QPainter()
qp.begin(self)
radius = min(rect.width(), rect.height()) - 100
qp.setFont(QFont('Helvetica', 100))
qp.setPen(QPen(QBrush(color), 50))
qp.setBrush(color)
qp.drawEllipse((rect.width() - radius) / 2,
(rect.height() - radius) / 2, radius, radius)
qp.end()
return
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('YAML files {.yaml} (*.yaml)'))
if filename[0] != '':
with open(filename[0], 'r') as infile:
try:
self.places_dict = yaml.load(infile)
for k in self._sceneItems.keys():
for item in self._sceneItems[k].keys():
self._scene.removeItem(self._sceneItems[k][item])
for name in self.places_dict.keys():
#
q = numpy.asarray(self.places_dict[name][3:7])
scene_pos = self._gridToScene(
self.places_dict[name][0],
self.places_dict[name][1], q)
# drawing the items
self._sceneItems[name] = {"text": QGraphicsTextItem()}
self._sceneItems[name]["text"].setDefaultTextColor(
QColor(0, 0, 255))
self._sceneItems[name]["text"].setFont(
QFont("Times", 10))
self._sceneItems[name]["text"].setPlainText(name)
x_c = scene_pos[0] - self._sceneItems[name][
"text"].boundingRect().width() / 2.0
self._sceneItems[name]["text"].setPos(
x_c, scene_pos[1])
self._scene.addItem(self._sceneItems[name]["text"])
self._sceneItems[name]["rec"] = self._scene.addRect(
QRectF((scene_pos[0] - 2), (scene_pos[1] - 2), 4,
4))
line = QLineF(scene_pos[0], scene_pos[1],
(scene_pos[0] -
self._mag * cos(radians(scene_pos[3]))),
(scene_pos[1] +
self._mag * sin(radians(scene_pos[3]))))
self._sceneItems[name]["line"] = self._scene.addLine(
line, pen=QPen(Qt.red, 2))
except yaml.scanner.ScannerError:
QMessageBox.critical(self, "Error!", "Invalid YAML file.")
