def _connect_rocon_master(self):
rocon_master_name = str(
self.rocon_masters[self.cur_selected_rocon_master].name)
rocon_master_uri = str(
self.rocon_masters[self.cur_selected_rocon_master].uri)
rocon_master_host_name = str(
self.rocon_masters[self.cur_selected_rocon_master].host_name)
rocon_master_index = str(self.cur_selected_rocon_master)
self.rocon_masters[rocon_master_index].check()
# Todo this use of flags is spanky
if self.rocon_masters[rocon_master_index].flag == '0':
QMessageBox.warning(
self, 'Rocon Master Connection Error',
"Could not find a rocon master at %s" %
self.rocon_masters[rocon_master_index].uri, QMessageBox.Ok)
return
if self.rocon_masters[rocon_master_index].flag == '1':
QMessageBox.warning(
self, 'Rocon Master Communication Error',
"Found a rocon master at %s but cannot communicate with it (are ROS_IP/ROS_MASTER_URI correctly configured locally and remotely?)"
% self.rocon_masters[rocon_master_index].uri, QMessageBox.Ok)
return
self._widget_main.hide()
arguments = ["", rocon_master_uri, rocon_master_host_name]
os.execv(QMasterChooser.rocon_remocon_sub_script, arguments)
console.logdebug("Spawning: %s with args %s" %
(QMasterChooser.rocon_remocon_sub_script, arguments))
def on_save_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No name given to save this motion.')
return
self._motion_data.save(motion_name, self.get_motion_from_timeline())
self.update_motion_name_combo()
def _rightclick_menu(self, event):
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
raw_action = QAction(self.tr('View Raw'), menu)
menu.addAction(raw_action)
action = menu.exec_(event.globalPos())
if action == raw_action or action == text_action:
selected = self.messages_tree.selectedIndexes()
selected_type = selected[1].data()
if selected_type[-2:] == '[]':
selected_type = selected_type[:-2]
browsetext = None
try:
if self._mode == rosmsg.MODE_MSG:
browsetext = rosmsg.get_msg_text(selected_type,
action == raw_action)
elif self._mode == rosmsg.MODE_SRV:
browsetext = rosmsg.get_srv_text(selected_type,
action == raw_action)
else:
raise
except rosmsg.ROSMsgException, e:
QMessageBox.warning(
self, self.tr('Warning'),
self.
tr('The selected item component does not have text to view.'
))
if browsetext is not None:
self._browsers.append(TextBrowseDialog(browsetext))
self._browsers[-1].show()
def on_save_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error',
'No name given to save this motion.')
return
self._motion_data.save(motion_name, self.get_motion_from_timeline())
self.update_motion_name_combo()
def on_move_button_clicked(self):
position_name = str(self.move_name_combo.currentText())
if len(position_name) == 0:
QMessageBox.warning(self, 'Error', 'No position selected to move to.')
return
appendix_name = str(self.move_appendix_combo.currentText())
target_positions = self._position_data[self.robot_config.groups[appendix_name].group_type][position_name]
target_positions = self.robot_config.groups[appendix_name].adapt_to_side(target_positions)
print '[Motion Editor] Moving %s to "%s": %s' % (appendix_name, position_name, target_positions)
self._motion_publisher.move_to_position(appendix_name, target_positions)
def on_delete_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No motion selected to delete.')
return
if motion_name not in self._motion_data:
QMessageBox.warning(self, 'Error', 'Motion "%s" not in motion list.' % motion_name)
return
self._motion_data.delete(motion_name)
self.update_motion_name_combo()
def show_saved_map_message(self, rtn):
(success, message) = rtn
if success:
QMessageBox.warning(self, 'SUCCESS', "SAVE!!!!",
QMessageBox.Ok | QMessageBox.Ok)
else:
QMessageBox.warning(self, 'FAIL',
"FAIURE CAPTURE[%s]" % str(message),
QMessageBox.Ok | QMessageBox.Ok)
self.setDisabled(False)
def on_delete_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No motion selected to delete.')
return
if motion_name not in self._motion_data:
QMessageBox.warning(
self, 'Error', 'Motion "%s" not in motion list.' % motion_name)
return
self._motion_data.delete(motion_name)
self.update_motion_name_combo()
def on_run_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No motion selected to run.')
return
if motion_name not in self._motion_data:
QMessageBox.warning(self, 'Error', 'Motion "%s" not in motion list.' % motion_name)
return
self._clear_playback_marker()
self._motion_publisher.publish_motion(self._motion_data[motion_name], self.time_factor_spin.value())
print '[Motion Editor] Running motion:', motion_name
def _stop_interaction(self):
console.logdebug("Interactions Chooser : stopping interaction %s " % str(self.cur_selected_interaction.name))
(result, message) = self.interactive_client.stop_interaction(self.cur_selected_interaction.hash)
if result:
if self.cur_selected_interaction.is_paired_type():
self._refresh_interactions_list() # make sure the highlight is disabled
self._set_stop_interactions_button()
#self.interactions_widget.stop_interactions_button.setDisabled(True)
else:
QMessageBox.warning(self, 'Stop Interaction Failed', "%s." % message.capitalize(), QMessageBox.Ok)
console.logwarn("Interactions Chooser : stop interaction failed [%s]" % message)
def _send_comand_cb(self):
'''
Sends a mission command
'''
msg = MissionCommand()
msg.command = self._widget.comboBox_command.currentText()
try:
msg.variable = float(self._widget.lineEdit_parameter.text().encode("utf8"))
except ValueError, e:
rospy.logerr('MissionCommanderGUI:_send_command_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Incorrect format of the parameter. A number is expected')
def on_delete_button_clicked(self):
appendix_name = str(self.save_appendix_combo.currentText())
position_name = str(self.save_name_combo.currentText())
if len(position_name) == 0 or \
position_name not in self._position_data[self.robot_config.groups[appendix_name].group_type]:
QMessageBox.warning(self, 'Error', 'Position "%s" not in position list.')
return
self._position_data[self.robot_config.groups[appendix_name].group_type].delete(position_name)
self.position_list_updated.emit(self._position_data)
self.on_save_appendix_combo_currentIndexChanged(appendix_name)
if self.robot_config.groups[self.move_appendix_combo.currentText()].group_type \
== self.robot_config.groups[appendix_name].group_type:
self.on_move_appendix_combo_currentIndexChanged(appendix_name)
def save_map(self):
if self._slam_widget_interface:
self.setDisabled(True)
map_name = str(self.map_name_txt.toPlainText()).lower().replace(
' ', '_')
world_name = str(
self.world_name_txt.toPlainText()).lower().replace(' ', '_')
self.map_name_txt.setPlainText(map_name)
self.world_name_txt.setPlainText(world_name)
self._callback['save_map'](world=world_name, map_name=map_name)
else:
QMessageBox.warning(self, 'FAIL', "No map has created",
QMessageBox.Ok | QMessageBox.Ok)
def on_run_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No motion selected to run.')
return
if motion_name not in self._motion_data:
QMessageBox.warning(
self, 'Error', 'Motion "%s" not in motion list.' % motion_name)
return
self._clear_playback_marker()
self._motion_publisher.publish_motion(self._motion_data[motion_name],
self.time_factor_spin.value())
print '[Motion Editor] Running motion:', motion_name
def on_load_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No motion selected to load.')
return
if motion_name not in self._motion_data:
QMessageBox.warning(self, 'Error', 'Motion "%s" not in motion list.' % motion_name)
return
self.on_clear_motion_button_clicked()
motion = self._motion_data[motion_name]
for group_name, poses in motion.items():
for pose in poses:
data = self.robot_config.groups[group_name].adapt_to_side(pose['positions'])
self._timeline_widget.scene().add_clip(group_name, pose['name'], pose['starttime'], pose['duration'], data)
def _choose_new_perspective_name(self, show_cloning=True):
# input dialog for new perspective name
if self._create_perspective_dialog is None:
ui_file = os.path.join(self._qtgui_path, 'resource',
'perspective_create.ui')
self._create_perspective_dialog = loadUi(ui_file)
# custom validator preventing forward slashs
class CustomValidator(QValidator):
def __init__(self, parent=None):
super(CustomValidator, self).__init__(parent)
def fixup(self, value):
value = value.replace('/', '')
def validate(self, value, pos):
if value.find('/') != -1:
pos = value.find('/')
return (QValidator.Invalid, value, pos)
if value == '':
return (QValidator.Intermediate, value, pos)
return (QValidator.Acceptable, value, pos)
self._create_perspective_dialog.perspective_name_edit.setValidator(
CustomValidator())
# set default values
self._create_perspective_dialog.perspective_name_edit.setText('')
self._create_perspective_dialog.clone_checkbox.setChecked(True)
self._create_perspective_dialog.clone_checkbox.setVisible(show_cloning)
# show dialog and wait for it's return value
return_value = self._create_perspective_dialog.exec_()
if return_value == self._create_perspective_dialog.Rejected:
return
name = str(self._create_perspective_dialog.perspective_name_edit.text(
)).lstrip(self.HIDDEN_PREFIX)
if name == '':
QMessageBox.warning(
self._menu_manager.menu, self.tr('Empty perspective name'),
self.tr('The name of the perspective must be non-empty.'))
return
if name in self.perspectives:
QMessageBox.warning(
self._menu_manager.menu, self.tr('Duplicate perspective name'),
self.tr('A perspective with the same name already exists.'))
return
return name
def on_delete_button_clicked(self):
appendix_name = str(self.save_appendix_combo.currentText())
position_name = str(self.save_name_combo.currentText())
if len(position_name) == 0 or \
position_name not in self._position_data[self.robot_config.groups[appendix_name].group_type]:
QMessageBox.warning(self, 'Error',
'Position "%s" not in position list.')
return
self._position_data[self.robot_config.groups[appendix_name].
group_type].delete(position_name)
self.position_list_updated.emit(self._position_data)
self.on_save_appendix_combo_currentIndexChanged(appendix_name)
if self.robot_config.groups[self.move_appendix_combo.currentText()].group_type \
== self.robot_config.groups[appendix_name].group_type:
self.on_move_appendix_combo_currentIndexChanged(appendix_name)
def on_move_button_clicked(self):
position_name = str(self.move_name_combo.currentText())
if len(position_name) == 0:
QMessageBox.warning(self, 'Error',
'No position selected to move to.')
return
appendix_name = str(self.move_appendix_combo.currentText())
target_positions = self._position_data[
self.robot_config.groups[appendix_name].group_type][position_name]
target_positions = self.robot_config.groups[
appendix_name].adapt_to_side(target_positions)
print '[Motion Editor] Moving %s to "%s": %s' % (
appendix_name, position_name, target_positions)
self._motion_publisher.move_to_position(appendix_name,
target_positions)
def _rightclick_menu(self, event):
"""
:type event: QEvent
"""
# QTreeview.selectedIndexes() returns 0 when no node is selected.
# This can happen when after booting no left-click has been made yet
# (ie. looks like right-click doesn't count). These lines are the
# workaround for that problem.
selected = self._messages_tree.selectedIndexes()
if len(selected) == 0:
return
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
raw_action = QAction(self.tr('View Raw'), menu)
menu.addAction(raw_action)
action = menu.exec_(event.globalPos())
if action == raw_action or action == text_action:
rospy.logdebug('_rightclick_menu selected={}'.format(selected))
selected_type = selected[1].data()
if selected_type[-2:] == '[]':
selected_type = selected_type[:-2]
browsetext = None
try:
if (self._mode == rosmsg.MODE_MSG
or self._mode == rosaction.MODE_ACTION):
browsetext = rosmsg.get_msg_text(selected_type,
action == raw_action)
elif self._mode == rosmsg.MODE_SRV:
browsetext = rosmsg.get_srv_text(selected_type,
action == raw_action)
else:
raise
except rosmsg.ROSMsgException, e:
QMessageBox.warning(
self, self.tr('Warning'),
self.tr('The selected item component ' +
'does not have text to view.'))
if browsetext is not None:
self._browsers.append(
TextBrowseDialog(browsetext, self._rospack))
self._browsers[-1].show()
def _reset_steering_encoder_cb(self):
'''
Resets the steering encoder
'''
msg = Empty()
ret = QMessageBox.question(self._widget, "Reset Encoder", 'Are you sure of resetting the encoder?', QMessageBox.Ok, QMessageBox.Cancel)
if ret == QMessageBox.Ok:
try:
self._reset_steering_encoder_service_client()
except rospy.ROSInterruptException,e:
rospy.logerr('MissionCommanderGUI:_reset_steering_encoder_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
except rospy.ServiceException,e:
rospy.logerr('MissionCommanderGUI:_reset_steering_encoder_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
def on_save_button_clicked(self):
position_name = str(self.save_name_combo.currentText())
if len(position_name) == 0:
QMessageBox.warning(self, 'Error', 'No name given to save this position.')
return
appendix_name = str(self.save_appendix_combo.currentText())
group = self.robot_config.groups[appendix_name]
current_positions = self._motion_publisher.get_current_positions(group)
current_positions = self.robot_config.groups[appendix_name].adapt_to_side(current_positions)
print '[Motion Editor] Saving %s as "%s": %s' % (appendix_name, position_name, current_positions)
self._position_data[self.robot_config.groups[appendix_name].group_type].save(position_name, current_positions)
self.position_list_updated.emit(self._position_data)
self.on_save_appendix_combo_currentIndexChanged(appendix_name)
if self.robot_config.groups[self.move_appendix_combo.currentText()].group_type \
== self.robot_config.groups[appendix_name].group_type:
self.on_move_appendix_combo_currentIndexChanged(appendix_name)
def _rightclick_menu(self, event):
"""
:type event: QEvent
"""
# QTreeview.selectedIndexes() returns 0 when no node is selected.
# This can happen when after booting no left-click has been made yet
# (ie. looks like right-click doesn't count). These lines are the
# workaround for that problem.
selected = self._messages_tree.selectedIndexes()
if len(selected) == 0:
return
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
raw_action = QAction(self.tr('View Raw'), menu)
menu.addAction(raw_action)
action = menu.exec_(event.globalPos())
if action == raw_action or action == text_action:
rospy.logdebug('_rightclick_menu selected={}'.format(selected))
selected_type = selected[1].data()
if selected_type[-2:] == '[]':
selected_type = selected_type[:-2]
browsetext = None
try:
if (self._mode == rosmsg.MODE_MSG or
self._mode == rosaction.MODE_ACTION):
browsetext = rosmsg.get_msg_text(selected_type,
action == raw_action)
elif self._mode == rosmsg.MODE_SRV:
browsetext = rosmsg.get_srv_text(selected_type,
action == raw_action)
else:
raise
except rosmsg.ROSMsgException, e:
QMessageBox.warning(self, self.tr('Warning'),
self.tr('The selected item component ' +
'does not have text to view.'))
if browsetext is not None:
self._browsers.append(TextBrowseDialog(browsetext,
self._rospack))
self._browsers[-1].show()
def _set_pantilt_cb(self):
'''
Sends the setPanTilt command to the platform
'''
msg = PlatformCommand()
msg.command = 'setPanTilt'
msg.variables = [self._widget.doubleSpinBox_set_pan.value(), self._widget.doubleSpinBox_set_tilt.value()]
#msg.variables = [0.0, 0.0]
#print self._widget.doubleSpinBox_set_pan.value()
try:
self._platform_command_service_client(msg)
except rospy.ROSInterruptException,e:
rospy.logerr('MissionCommanderGUI:_set_pantilt_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
def _stop_vehicle_cb(self):
'''
Sends the stopcommand to the platform
'''
msg = PlatformCommand()
msg.command = 'cancel'
ret = QMessageBox.question(self._widget, "Stop Vehicle", 'Do you want to stop the vehicle?', QMessageBox.Ok, QMessageBox.Cancel)
if ret == QMessageBox.Ok:
try:
self._platform_command_service_client(msg)
except rospy.ROSInterruptException,e:
rospy.logerr('MissionCommanderGUI:_stop_vehicle_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
except rospy.ServiceException,e:
rospy.logerr('MissionCommanderGUI:_stop_vehicle_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
def _fold_crane_cb(self):
'''
Sends the foldCrane command to the platform
'''
msg = PlatformCommand()
msg.command = 'foldCrane'
ret = QMessageBox.question(self._widget, "Fold Crane", 'Do you want to fold the crane?', QMessageBox.Ok, QMessageBox.Cancel)
if ret == QMessageBox.Ok:
try:
self._platform_command_service_client(msg)
except rospy.ROSInterruptException,e:
rospy.logerr('MissionCommanderGUI:_fold_crane_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
except rospy.ServiceException,e:
rospy.logerr('MissionCommanderGUI:_fold_crane_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
def _show_release_teleop_message(self, rtn):
if rtn:
QMessageBox.warning(self._widget, 'SUCCESS', "RELEASE!!!!",
QMessageBox.Ok | QMessageBox.Ok)
for k in self.robot_item_list.keys():
if self.robot_item_list[k] == self.current_captured_robot:
k.setBackground(0, QBrush(Qt.NoBrush))
k.setBackgroundColor(0, QColor(0, 0, 0, 0))
robot_name = k.text(0)
k.setText(0, robot_name[:robot_name.find(" (captured)")])
else:
QMessageBox.warning(self._widget, 'FAIL', "FAIURE RELEASE!!!!",
QMessageBox.Ok | QMessageBox.Ok)
self._widget.setDisabled(False)
self._widget.capture_teleop_btn.setEnabled(True)
self._widget.release_teleop_btn.setEnabled(False)
self.current_captured_robot = None
def deleteTrack(self, unused=None):
trackId = self.editor.activeTrackId
reply = QMessageBox.warning(
self.widget, "Delete track %d" % trackId,
"Do you really want to delete the track with ID %d? This cannot be undone."
% trackId, QMessageBox.Yes | QMessageBox.No)
if reply == QMessageBox.Yes:
self.editor.deleteActiveTrack()
self.updateTrackCount()
def shutdown_plugin(self):
self.shutdownRequested = True
if self.database.hasUnsavedChanges:
reply = QMessageBox.warning(
self.widget, "Close track annotation tool",
"You have unsaved changes. Do you want to save these changes before closing?",
QMessageBox.Yes | QMessageBox.No)
if reply == QMessageBox.Yes:
self.uiActions.saveDatabase()
def _initialize_platform_cb(self):
'''
Initialize platform encoders
'''
msg = Empty()
ret = QMessageBox.question(self._widget, "Init platform", 'Are you sure of initializing?', QMessageBox.Ok, QMessageBox.Cancel)
if ret == QMessageBox.Ok:
try:
self._initialize_platform_service_client()
except rospy.ROSInterruptException,e:
rospy.logerr('MissionCommanderGUI:_initialize_platform_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
except rospy.ServiceException,e:
rospy.logerr('MissionCommanderGUI:_initialize_platform_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
def _set_control_mode_cb(self):
'''
Sets the platform control mode
'''
msg = SetControlMode()
msg.mode = self._widget.comboBox_control_mode.currentText()
ret = QMessageBox.question(self._widget, "Set Control Mode", 'Set control mode to %s?'%msg.mode, QMessageBox.Ok, QMessageBox.Cancel)
if ret == QMessageBox.Ok:
try:
self._set_control_mode_service_client(msg.mode)
except rospy.ROSInterruptException,e:
rospy.logerr('MissionCommanderGUI:_set_control_mode_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
except rospy.ServiceException,e:
rospy.logerr('MissionCommanderGUI:_set_control_mode_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
def on_load_motion_button_clicked(self):
motion_name = str(self.motion_name_combo.currentText())
if len(motion_name) == 0:
QMessageBox.warning(self, 'Error', 'No motion selected to load.')
return
if motion_name not in self._motion_data:
QMessageBox.warning(
self, 'Error', 'Motion "%s" not in motion list.' % motion_name)
return
self.on_clear_motion_button_clicked()
motion = self._motion_data[motion_name]
for group_name, poses in motion.items():
for pose in poses:
data = self.robot_config.groups[group_name].adapt_to_side(
pose['positions'])
self._timeline_widget.scene().add_clip(group_name,
pose['name'],
pose['starttime'],
pose['duration'], data)
def _show_release_resource_message(self, rtn):
if rtn:
QMessageBox.warning(self, 'SUCCESS', "RELEASE!!!!", QMessageBox.Ok | QMessageBox.Ok)
else:
QMessageBox.warning(self, 'FAIL', "FAIURE RELEASE!!!!", QMessageBox.Ok | QMessageBox.Ok)
self._lock.acquire()
if rtn:
for k in self.resource_item_list.keys():
if self.resource_item_list[k] == self.current_captured_resource:
k.setBackground(0, QBrush(Qt.NoBrush))
k.setBackgroundColor(0, QColor(0, 0, 0, 0))
resource_name= k.text(0)
k.setText(0, resource_name[:resource_name.find(" (captured)")])
self.setDisabled(False)
self.capture_resource_btn.setEnabled(True)
self.release_resource_btn.setEnabled(False)
self.current_captured_resource= None
self._lock.release()
def _choose_new_perspective_name(self, show_cloning=True):
# input dialog for new perspective name
if self._create_perspective_dialog is None:
ui_file = os.path.join(self._qtgui_path, 'resource', 'perspective_create.ui')
self._create_perspective_dialog = loadUi(ui_file)
# custom validator preventing forward slashs
class CustomValidator(QValidator):
def __init__(self, parent=None):
super(CustomValidator, self).__init__(parent)
def fixup(self, value):
value = value.replace('/', '')
def validate(self, value, pos):
if value.find('/') != -1:
pos = value.find('/')
return (QValidator.Invalid, value, pos)
if value == '':
return (QValidator.Intermediate, value, pos)
return (QValidator.Acceptable, value, pos)
self._create_perspective_dialog.perspective_name_edit.setValidator(CustomValidator())
# set default values
self._create_perspective_dialog.perspective_name_edit.setText('')
self._create_perspective_dialog.clone_checkbox.setChecked(True)
self._create_perspective_dialog.clone_checkbox.setVisible(show_cloning)
# show dialog and wait for it's return value
return_value = self._create_perspective_dialog.exec_()
if return_value == self._create_perspective_dialog.Rejected:
return
name = str(self._create_perspective_dialog.perspective_name_edit.text()).lstrip(self.HIDDEN_PREFIX)
if name == '':
QMessageBox.warning(self._menu_manager.menu, self.tr('Empty perspective name'), self.tr('The name of the perspective must be non-empty.'))
return
if name in self.perspectives:
QMessageBox.warning(self._menu_manager.menu, self.tr('Duplicate perspective name'), self.tr('A perspective with the same name already exists.'))
return
return name
def _show_capture_teleop_message(self, rtn):
if rtn:
QMessageBox.warning(self._widget, 'SUCCESS', "CAPTURE!!!!",
QMessageBox.Ok | QMessageBox.Ok)
for k in self.robot_item_list.keys():
if self.robot_item_list[k] == self.current_robot:
k.setBackground(0, QBrush(Qt.SolidPattern))
k.setBackgroundColor(0, QColor(0, 255, 0, 255))
robot_name = k.text(0)
k.setText(0, str(robot_name) + " (captured)")
else:
k.setBackground(0, QBrush(Qt.NoBrush))
k.setBackgroundColor(0, QColor(0, 0, 0, 0))
robot_name = k.text(0)
self._widget.capture_teleop_btn.setEnabled(False)
self._widget.release_teleop_btn.setEnabled(True)
self.current_captured_robot = self.current_robot
else:
QMessageBox.warning(self._widget, 'FAIL', "FAIURE CAPTURE!!!!",
QMessageBox.Ok | QMessageBox.Ok)
self._widget.setDisabled(False)
def on_save_button_clicked(self):
position_name = str(self.save_name_combo.currentText())
if len(position_name) == 0:
QMessageBox.warning(self, 'Error',
'No name given to save this position.')
return
appendix_name = str(self.save_appendix_combo.currentText())
group = self.robot_config.groups[appendix_name]
current_positions = self._motion_publisher.get_current_positions(group)
current_positions = self.robot_config.groups[
appendix_name].adapt_to_side(current_positions)
print '[Motion Editor] Saving %s as "%s": %s' % (
appendix_name, position_name, current_positions)
self._position_data[
self.robot_config.groups[appendix_name].group_type].save(
position_name, current_positions)
self.position_list_updated.emit(self._position_data)
self.on_save_appendix_combo_currentIndexChanged(appendix_name)
if self.robot_config.groups[self.move_appendix_combo.currentText()].group_type \
== self.robot_config.groups[appendix_name].group_type:
self.on_move_appendix_combo_currentIndexChanged(appendix_name)
def _show_capture_resource_message(self, rtn):
if rtn:
QMessageBox.warning(self, 'SUCCESS', "CAPTURE!!!!", QMessageBox.Ok | QMessageBox.Ok)
else:
QMessageBox.warning(self, 'FAIL', "FAIURE CAPTURE!!!!", QMessageBox.Ok | QMessageBox.Ok)
self._lock.acquire()
if rtn:
for k in self.resource_item_list.keys():
if self.resource_item_list[k] == self.current_resource:
k.setBackground(0, QBrush(Qt.SolidPattern))
k.setBackgroundColor(0, QColor(0, 255, 0, 255))
resource_name = k.text(0)
k.setText(0, str(resource_name) + " (captured)")
else:
k.setBackground(0, QBrush(Qt.NoBrush))
k.setBackgroundColor(0, QColor(0, 0, 0, 0))
resource_name = k.text(0)
self.capture_resource_btn.setEnabled(False)
self.release_resource_btn.setEnabled(True)
self.current_captured_resource = self.current_resource
self.setDisabled(False)
self._lock.release()
def shutdown_plugin(self):
modified = False
for function in self.functions:
if self.functions[function].isModified():
modified = True
if modified:
ret = QMessageBox.warning(self.master_widget, "Save",
"The logical map has been modified.\n"
"Do you want to save your changes?",
QMessageBox.Save | QMessageBox.Discard)
if ret == QMessageBox.Save:
for function in self.functions:
self.functions[function].saveConfiguration()
def _stop_interaction(self):
"""
Stop running interactions when user hits `stop` or 'all stop interactions button` button.
If no interactions is running, buttons are disabled.
"""
console.logdebug("Interactions Chooser : stopping interaction %s " %
str(self.cur_selected_interaction.name))
(result, message) = self.interactive_client_interface.stop_interaction(
self.cur_selected_interaction.hash)
if result:
if self.cur_selected_interaction.is_paired_type():
self.refresh_interactions_list(
) # make sure the highlight is disabled
self._set_stop_interactions_button()
# self.interactions_widget.stop_interactions_button.setDisabled(True)
else:
QMessageBox.warning(self.interactions_widget,
'Stop Interaction Failed',
"%s." % message.capitalize(), QMessageBox.Ok)
console.logwarn(
"Interactions Chooser : stop interaction failed [%s]" %
message)
def _start_interaction(self):
"""
Start selected interactions when user hits start button and does doubleclicking interaction item.
The interactions can be launched in duplicate.
"""
console.logdebug("Interactions Chooser : starting interaction [%s]" %
str(self.cur_selected_interaction.name))
(result,
message) = self.interactive_client_interface.start_interaction(
self.cur_selected_role, self.cur_selected_interaction.hash)
if result:
if self.cur_selected_interaction.is_paired_type():
self.refresh_interactions_list(
) # make sure the highlight is working
self.interactions_widget.stop_interactions_button.setDisabled(
False)
else:
QMessageBox.warning(self.interactions_widget,
'Start Interaction Failed',
"%s." % message.capitalize(), QMessageBox.Ok)
console.logwarn(
"Interactions Chooser : start interaction failed [%s]" %
message)
def show_message(parent, title, message):
QMessageBox.warning(parent, str(title), str(message),
QMessageBox.Ok | QMessageBox.Ok)
def _show_error_teleop_message(self, err):
QMessageBox.warning(self._widget, 'ERROR', err,
QMessageBox.Ok | QMessageBox.Ok)
self._widget.setDisabled(False)
self._widget.capture_teleop_btn.setEnabled(True)
self._widget.release_teleop_btn.setEnabled(True)
def __init__(self, parent, title, application, rocon_master_index="", rocon_master_name="", rocon_master_uri='localhost', host_name='localhost'):
super(QInteractionsChooser, self).__init__(parent)
self.rocon_master_index = rocon_master_index
self.rocon_master_uri = rocon_master_uri
self.rocon_master_name = rocon_master_name
self.host_name = host_name
self.cur_selected_interaction = None
self.cur_selected_role = 0
self.interactions = {}
self.interactive_client = InteractiveClient(stop_interaction_postexec_fn=self.interactions_updated_relay)
self.application = application
rospack = rospkg.RosPack()
icon_file = os.path.join(rospack.get_path('rocon_icons'), 'icons', 'rocon_logo.png')
self.application.setWindowIcon(QIcon(icon_file))
self.interactions_widget = QWidget()
self.roles_widget = QWidget()
path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../ui/interactions_list.ui")
loadUi(path, self.interactions_widget)
path = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../ui/role_list.ui")
loadUi(path, self.roles_widget)
# role list widget
self.roles_widget.role_list_widget.setIconSize(QSize(50, 50))
self.roles_widget.role_list_widget.itemDoubleClicked.connect(self._switch_to_interactions_list)
self.roles_widget.back_btn.pressed.connect(self._switch_to_master_chooser)
self.roles_widget.stop_all_interactions_button.pressed.connect(self._stop_all_interactions)
self.roles_widget.refresh_btn.pressed.connect(self._refresh_role_list)
self.roles_widget.closeEvent = self._close_event
# interactions list widget
self.interactions_widget.interactions_list_widget.setIconSize(QSize(50, 50))
self.interactions_widget.interactions_list_widget.itemDoubleClicked.connect(self._start_interaction)
self.interactions_widget.back_btn.pressed.connect(self._switch_to_role_list)
self.interactions_widget.interactions_list_widget.itemClicked.connect(self._display_interaction_info) # rocon master item click event
self.interactions_widget.stop_interactions_button.pressed.connect(self._stop_interaction)
self.interactions_widget.stop_interactions_button.setDisabled(True)
self.interactions_widget.closeEvent = self._close_event
# signals
self.signal_interactions_updated.connect(self._refresh_interactions_list, Qt.QueuedConnection)
self.signal_interactions_updated.connect(self._set_stop_interactions_button, Qt.QueuedConnection)
# create a few directories for caching icons and ...
utils.setup_home_dirs()
# connect to the ros master
(result, message) = self.interactive_client._connect(self.rocon_master_name, self.rocon_master_uri, self.host_name)
if not result:
QMessageBox.warning(self, 'Connection Failed', "%s." % message.capitalize(), QMessageBox.Ok)
self._switch_to_master_chooser()
return
role_list = self._refresh_role_list()
# Ugly Hack : our window manager is not graying out the button when an interaction closes itself down and the appropriate
# callback (_set_stop_interactions_button) is fired. It does otherwise though so it looks like the window manager
# is getting confused when the original program doesn't have the focus.
#
# Taking control of it ourselves works...
self.interactions_widget.stop_interactions_button.setStyleSheet("QPushButton:disabled { color: gray }")
# show interactions list if there's no choice amongst roles, otherwise show the role list
if len(role_list) == 1:
self.cur_selected_role = role_list[0]
self.interactive_client.select_role(self.cur_selected_role)
self.interactions_widget.show()
self._refresh_interactions_list()
else:
self.roles_widget.show()
def __init__(self,
parent,
title,
application,
rocon_master_uri='localhost',
host_name='localhost',
with_rqt=False):
super(InteractiveClientUI, self).__init__(parent)
self.rocon_master_uri = rocon_master_uri
self.host_name = host_name
self.with_rqt = with_rqt
self.cur_selected_interaction = None
self.cur_selected_role = 0
self.interactions = {}
# desktop taskbar icon
self.application = application
if self.application:
rospack = rospkg.RosPack()
icon_file = os.path.join(rospack.get_path('rocon_icons'), 'icons',
'rocon_logo.png')
self.application.setWindowIcon(QIcon(icon_file))
# create a few directories for caching icons and ...
utils.setup_home_dirs()
# connect to the ros master with init node
self.interactive_client_interface = InteractiveClientInterface(
stop_interaction_postexec_fn=lambda: self.
signal_interactions_updated.emit())
if self.with_rqt:
(result, message) = self.interactive_client_interface._connect(
self.rocon_master_uri, self.host_name)
else:
(result, message
) = self.interactive_client_interface._connect_with_ros_init_node(
self.rocon_master_uri, self.host_name)
if not result:
QMessageBox.warning(self, 'Connection Failed',
"%s." % message.capitalize(), QMessageBox.Ok)
self._switch_to_master_chooser()
return
# interactive_client_ui widget setting
self._interactive_client_ui_widget = QWidget()
self._interactive_client_ui_layout = QVBoxLayout()
self._role_chooser = QRoleChooser(self.interactive_client_interface,
with_rqt)
self._role_chooser.bind_function('shutdown',
self._switch_to_master_chooser)
self._role_chooser.bind_function('back',
self._switch_to_master_chooser)
self._role_chooser.bind_function('select_role',
self._switch_to_interactions_list)
self._interactions_chooser = QInteractionsChooser(
self.interactive_client_interface)
self._interactions_chooser.bind_function(
'shutdown', self._switch_to_master_chooser)
self._interactions_chooser.bind_function('back',
self._switch_to_role_list)
self._interactive_client_ui_layout.addWidget(
self._interactions_chooser.interactions_widget)
self._interactive_client_ui_layout.addWidget(
self._role_chooser.roles_widget)
self._interactive_client_ui_widget.setLayout(
self._interactive_client_ui_layout)
self.signal_interactions_updated.connect(
self.interactions_updated_relay)
self._init()
if len(waypoints) == 0:
QMessageBox.warning(self._widget, 'Error', 'No waypoints to send')
return
msg.points = waypoints
#srv.command = msg
try:
self._command_service_client(msg)
except rospy.ROSInterruptException,e:
rospy.logerr('MissionCommanderGUI:_send_command_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
except rospy.ServiceException,e:
rospy.logerr('MissionCommanderGUI:_send_command_cb: %s',e)
QMessageBox.warning(self._widget, 'Error', 'Error sending the command')
def _fold_crane_cb(self):
'''
Sends the foldCrane command to the platform
'''
msg = PlatformCommand()
msg.command = 'foldCrane'
ret = QMessageBox.question(self._widget, "Fold Crane", 'Do you want to fold the crane?', QMessageBox.Ok, QMessageBox.Cancel)
if ret == QMessageBox.Ok:
try:
self._platform_command_service_client(msg)
except rospy.ROSInterruptException,e:
rospy.logerr('MissionCommanderGUI:_fold_crane_cb: %s',e)
def _show_error_resource_message(self, error_message):
QMessageBox.warning(self, 'ERROR', error_message, QMessageBox.Ok | QMessageBox.Ok)
self.setDisabled(False)
self.capture_resource_btn.setEnabled(True)
self.release_resource_btn.setEnabled(True)