def __init__(self, guimgr):
super(AwLgsvlSimulatorWidget, self).__init__()
self.process = QtCore.QProcess(self)
self.console = AwProcessViewer(self.process)
self.button = QtWidgets.QPushButton("Launch Simulator")
self.button.setCheckable(True)
self.button.toggled.connect(self.launch_lgsvm)
self.server_addr = QtWidgets.QLineEdit()
self.server_port = QtWidgets.QLineEdit()
self.client_addr = QtWidgets.QLineEdit()
self.client_port = QtWidgets.QLineEdit()
self.server_addr.setText("10.100.2.1")
self.server_port.setText("5000")
for host in QtNetwork.QNetworkInterface.allAddresses():
if not host.isLoopback():
if host.protocol() == QtNetwork.QAbstractSocket.IPv4Protocol:
self.client_addr.setText(host.toString())
self.client_port.setText("9090")
layout = QtWidgets.QGridLayout()
layout.addWidget(QtWidgets.QLabel("Server Address"), 0, 0)
layout.addWidget(QtWidgets.QLabel("Server Port"), 1, 0)
layout.addWidget(QtWidgets.QLabel("Client Address"), 2, 0)
layout.addWidget(QtWidgets.QLabel("Client Port"), 3, 0)
layout.addWidget(self.server_addr, 0, 1)
layout.addWidget(self.server_port, 1, 1)
layout.addWidget(self.client_addr, 2, 1)
layout.addWidget(self.client_port, 3, 1)
layout.addWidget(self.button, 4, 0, 1, 2)
layout.addWidget(self.console, 5, 0, 1, 2)
self.setLayout(layout)
def __init__(self, frame_editor):
self.editor = frame_editor
self.editor.observers.append(self)
self.old_frame = None
self.layout = QtWidgets.QGridLayout()
self.widget = QWidget()
self.widget.setLayout(self.layout)
self.mesh_label = QtWidgets.QLineEdit("File:")
self.mesh_label.setSizePolicy(QtWidgets.QSizePolicy.Ignored,
QtWidgets.QSizePolicy.Fixed)
self.mesh_button = QtWidgets.QPushButton("Open")
self.mesh_button.clicked.connect(lambda: self.btn_open_mesh_clicked())
self.diameter_label = QtWidgets.QLabel("Diameter:")
self.diameter_spinbox = QtWidgets.QDoubleSpinBox()
self.diameter_spinbox.editingFinished.connect(
lambda: self.diameter_changed())
self.length_label = QtWidgets.QLabel("Length:")
self.length_spinbox = QtWidgets.QDoubleSpinBox()
self.length_spinbox.editingFinished.connect(
lambda: self.length_changed())
self.width_label = QtWidgets.QLabel("Width:")
self.width_spinbox = QtWidgets.QDoubleSpinBox()
self.width_spinbox.editingFinished.connect(
lambda: self.width_changed())
self.height_label = QtWidgets.QLabel("Height:")
self.height_spinbox = QtWidgets.QDoubleSpinBox()
self.height_spinbox.editingFinished.connect(
lambda: self.height_changed())
self.color_label = QtWidgets.QLabel()
self.color_label.setAutoFillBackground(True)
self.update_color_label(None)
self.color_button = QtWidgets.QPushButton("Set Color")
self.color_button.clicked.connect(lambda: self.btn_color_clicked())
self.layout.addWidget(self.mesh_label, 0, 0)
self.layout.addWidget(self.mesh_button, 0, 1)
self.layout.addWidget(self.diameter_label, 1, 0)
self.layout.addWidget(self.diameter_spinbox, 1, 1)
self.layout.addWidget(self.length_label, 2, 0)
self.layout.addWidget(self.length_spinbox, 2, 1)
self.layout.addWidget(self.width_label, 3, 0)
self.layout.addWidget(self.width_spinbox, 3, 1)
self.layout.addWidget(self.height_label, 4, 0)
self.layout.addWidget(self.height_spinbox, 4, 1)
self.layout.addWidget(self.color_label, 5, 0)
self.layout.addWidget(self.color_button, 5, 1)
print("init")
self.update_widget(None)
def __init__(self,
topic_name,
attributes,
array_index,
publisher,
parent,
label_text=None):
super(ValueWidget, self).__init__(topic_name, publisher, parent=parent)
self._parent = parent
self._attributes = attributes
self._array_index = array_index
self._text = ez_model.make_text(topic_name, attributes, array_index)
self._horizontal_layout = QtWidgets.QHBoxLayout()
if label_text is None:
self._topic_label = QtWidgets.QLabel(self._text)
else:
self._topic_label = QtWidgets.QLabel(label_text)
self.close_button = QtWidgets.QPushButton()
self.close_button.setMaximumWidth(30)
self.close_button.setIcon(self.style().standardIcon(
QtWidgets.QStyle.SP_TitleBarCloseButton))
self.up_button = QtWidgets.QPushButton()
self.up_button.setIcon(self.style().standardIcon(
QtWidgets.QStyle.SP_ArrowUp))
self.up_button.setMaximumWidth(30)
self.down_button = QtWidgets.QPushButton()
self.down_button.setMaximumWidth(30)
self.down_button.setIcon(self.style().standardIcon(
QtWidgets.QStyle.SP_ArrowDown))
repeat_label = QtWidgets.QLabel('repeat')
self._repeat_box = QtWidgets.QCheckBox()
self._repeat_box.stateChanged.connect(self.repeat_changed)
self._repeat_box.setChecked(publisher.is_repeating())
self._publish_button = QtWidgets.QPushButton('Publish')
self._publish_button.clicked.connect(publisher.publish)
self._horizontal_layout.addWidget(self._topic_label)
self._horizontal_layout.addWidget(self.close_button)
self._horizontal_layout.addWidget(self.up_button)
self._horizontal_layout.addWidget(self.down_button)
if self._array_index is not None:
self.add_button = QtWidgets.QPushButton('+')
self.add_button.setMaximumWidth(30)
self._horizontal_layout.addWidget(self.add_button)
else:
self.add_button = None
self.close_button.clicked.connect(
lambda x: self._parent.close_slider(self))
self.up_button.clicked.connect(
lambda x: self._parent.move_up_widget(self))
self.down_button.clicked.connect(
lambda x: self._parent.move_down_widget(self))
self.setup_ui(self._text)
self._horizontal_layout.addWidget(self._publish_button)
self._horizontal_layout.addWidget(repeat_label)
self._horizontal_layout.addWidget(self._repeat_box)
def __init__(self, guimgr):
super(AwRosbagSimulatorWidget, self).__init__()
self.rosbag_mode_proc = QtCore.QProcess(self)
self.rosbag_info_proc = QtCore.QProcess(self)
self.rosbag_play_proc = QtCore.QProcess(self)
self.rosbag_file = widgets.AwFileSelect(self)
self.rosbag_info = QtWidgets.QPushButton("Info")
self.rosbag_text = QtWidgets.QLabel("No information")
self.rosbag_enable = QtWidgets.QCheckBox()
self.rosbag_label = QtWidgets.QLabel("Simulation Mode")
self.rosbag_play = QtWidgets.QPushButton("Play")
self.rosbag_stop = QtWidgets.QPushButton("Stop")
self.rosbag_pause = QtWidgets.QPushButton("Pause")
self.rosbag_state = QtWidgets.QLabel()
#self.rosbag_stime = QtWidgets.QLineEdit()
#start time
#repeat
#rate
self.rosbag_enable.stateChanged.connect(self.simulation_mode_changed)
self.rosbag_info.clicked.connect(self.rosbag_info_requested)
self.rosbag_info_proc.finished.connect(self.rosbag_info_completed)
self.rosbag_play.clicked.connect(self.rosbag_started)
self.rosbag_stop.clicked.connect(self.rosbag_stopped)
self.rosbag_play_proc.finished.connect(self.rosbag_finished)
self.rosbag_play_proc.readyReadStandardOutput.connect(
self.rosbag_output)
self.rosbag_pause.setCheckable(True)
self.rosbag_pause.toggled.connect(self.rosbag_paused)
self.setStyleSheet(
"QCheckBox::indicator { width: 28px; height: 28px; }")
self.rosbag_label.setSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Preferred)
self.rosbag_text.setSizePolicy(QtWidgets.QSizePolicy.Preferred,
QtWidgets.QSizePolicy.Expanding)
layout = QtWidgets.QGridLayout()
layout.addWidget(self.rosbag_enable, 0, 0)
layout.addWidget(self.rosbag_label, 0, 1)
layout.addWidget(self.rosbag_play, 0, 2)
layout.addWidget(self.rosbag_stop, 0, 3)
layout.addWidget(self.rosbag_pause, 0, 4)
layout.addWidget(self.rosbag_state, 1, 0, 1, 5)
layout.addWidget(self.rosbag_file.path, 2, 0, 1, 3)
layout.addWidget(self.rosbag_file.button, 2, 3)
layout.addWidget(self.rosbag_info, 2, 4)
layout.addWidget(self.rosbag_text, 3, 0, 1, 5)
self.setLayout(layout)
self.simulation_mode_disabled()
def update_hosts_status(self):
'''
Updates the text and color of the displayed hosts table elements.
'''
rows = self.hosts["current"].hosts
columns = ["ip", "status"]
for row in range(len(rows)):
column_color = []
# Assigns colors to each item in the row
if (getattr(rows[row], "ip") == "Unknown"):
column_color.append(self.colors["red"])
column_color.append(self.colors["red"])
else:
column_color.append(self.colors["green"])
if (getattr(rows[row], "status") == "Online"):
column_color.append(self.colors["green"])
else:
column_color.append(self.colors["red"])
# Updates the host's IP address and status in the devices table
for column in range(len(columns)):
entry = QtWidgets.QLabel(getattr(rows[row], columns[column]))
entry.setAlignment(QtCore.Qt.AlignCenter)
entry.setStyleSheet(column_color[column])
self.device_table.setCellWidget(row, column, entry)
# Set the cached host data to the host data that was just displayed
self.hosts["displayed"] = copy(self.hosts["current"])
def setupUi(self, MainWindow):
self.lock = Lock()
self.talker = Talker('taskview')
rospy.Subscriber('BbSync', bbsynch, self.taskview)
MainWindow.setObjectName("MainWindow")
MainWindow.resize(800, 600)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.listView = QtWidgets.QListWidget(self.centralwidget)
self.listView.setGeometry(QtCore.QRect(10, 40, 771, 521))
self.listView.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOn)
self.listView.setHorizontalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOn)
self.listView.setObjectName("listView")
self.label = QtWidgets.QLabel(self.centralwidget)
self.label.setGeometry(QtCore.QRect(10, 10, 67, 17))
self.label.setObjectName("label")
MainWindow.setCentralWidget(self.centralwidget)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
self.tasklist = []
self.markers = rviz_tools.RvizMarkers('/map', 'markers')
def __init__(self):
super(PluginEditWidget, self).__init__()
self.fields = collections.OrderedDict()
self.setLayout(QtWidgets.QGridLayout())
for col,text in enumerate(PluginEditWidget.header):
self.layout().addWidget(QtWidgets.QLabel(text), 0, col)
self.export = QtWidgets.QPushButton("Export")
self.export.clicked.connect(self.export_yaml)
def __init__(self, guimgr):
super(AwQuickStartPanel, self).__init__()
self.guimgr = guimgr
self.frames = {"root/" + name: None for name in ["map", "vehicle", "sensing", "visualization"]}
self.awlogo = QtWidgets.QLabel()
pixmap = QtGui.QPixmap(myutils.package("resources/autoware_logo.png"))
self.awlogo.setPixmap(pixmap)
self.awlogo.setAlignment(QtCore.Qt.AlignCenter)
self.awlogo.setSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Expanding)
def __init__(self, client):
super(AwProcessPanel, self).__init__()
self.__client = client
self.__items = {}
self.__server = None
self.__dummy = QtWidgets.QLabel("This is node")
self.addWidget(self.__dummy)
self.__tmpdir = "/tmp/autoware_launcher"
myutils.makedirs(self.__tmpdir, mode=0o700, exist_ok=True)
def __frame_setup(self, widget):
widget.title = QtWidgets.QLabel("No Title")
widget.title.setSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Preferred)
layout = self.create_frame_header_hlayout()
layout.addWidget(widget.title)
widget.header = QtWidgets.QWidget()
widget.header.setObjectName("FrameHeader")
widget.header.setLayout(layout)
layout = self.create_frame_entire_vlayout()
layout.addWidget(widget.header)
widget.setLayout(layout)
def show_select_window(self):
# window
window = QtWidgets.QMainWindow(self)
window.setCentralWidget(QtWidgets.QWidget())
window.setAttribute(QtCore.Qt.WA_DeleteOnClose, True)
window.setWindowModality(QtCore.Qt.ApplicationModal)
window.setGeometry(self.window().geometry())
# widget
window.setWindowTitle("Create Node")
widget = window.centralWidget()
widget.setLayout(QtWidgets.QVBoxLayout())
# plugin select
pname_select = QtWidgets.QListWidget()
for pname in self.rule.plugins:
pname_select.addItem(pname)
widget.layout().addWidget(QtWidgets.QLabel("Node Type"))
widget.layout().addWidget(pname_select)
# footer
error_label = QtWidgets.QLabel()
error_label.setSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Preferred)
cancel_button = QtWidgets.QPushButton("Cancel")
select_button = QtWidgets.QPushButton("Select")
cancel_button.clicked.connect(window.close)
select_button.clicked.connect(self.onselected)
footer = QtWidgets.QHBoxLayout()
footer.addWidget(error_label)
footer.addWidget(cancel_button)
footer.addWidget(select_button)
widget.layout().addLayout(footer)
self.ui_window = window
self.ui_error = error_label
self.ui_pname = pname_select
window.show()
def __init__(self, plugin):
super(ConfigDialog, self).__init__()
self._plugin = plugin
self._interval_spin_box = QtWidgets.QSpinBox()
self._interval_spin_box.setMaximum(10000)
self._interval_spin_box.setMinimum(1)
self._interval_spin_box.setValue(
publisher.TopicPublisherWithTimer.publish_interval)
self._interval_spin_box.valueChanged.connect(self.update_interval)
self._vertical_layout = QtWidgets.QVBoxLayout()
self.configurable_checkbox = QtWidgets.QCheckBox()
self.configurable_checkbox.setChecked(plugin.configurable)
configurable_label = QtWidgets.QLabel('Configurable')
self._configurable_horizontal_layout = QtWidgets.QHBoxLayout()
self._configurable_horizontal_layout.addWidget(configurable_label)
self._configurable_horizontal_layout.addWidget(self.configurable_checkbox)
self._vertical_layout.addLayout(self._configurable_horizontal_layout)
self._horizontal_layout = QtWidgets.QHBoxLayout()
spin_label = QtWidgets.QLabel('Publish Interval for repeat [ms]')
self._horizontal_layout.addWidget(spin_label)
self._horizontal_layout.addWidget(self._interval_spin_box)
self._vertical_layout.addLayout(self._horizontal_layout)
save_button = QtWidgets.QPushButton(parent=self)
save_button.setIcon(
self.style().standardIcon(QtWidgets.QStyle.SP_DialogSaveButton))
save_button.setText('Save to file')
save_button.clicked.connect(self.save_to_file)
load_button = QtWidgets.QPushButton(parent=self)
load_button.setIcon(
self.style().standardIcon(QtWidgets.QStyle.SP_DialogOpenButton))
load_button.setText('Load from file')
load_button.clicked.connect(self.load_from_file)
self._vertical_layout.addWidget(save_button)
self._vertical_layout.addWidget(load_button)
self.setLayout(self._vertical_layout)
self.adjustSize()
def __init__(self, client):
super(AwControlPanel, self).__init__()
self.__client = client
self.__exec_button = QtWidgets.QPushButton("Exec")
self.__term_button = QtWidgets.QPushButton("Term")
self.__exec_button.clicked.connect(self.exec_config)
self.__term_button.clicked.connect(self.term_config)
self.__lpath = QtWidgets.QLabel()
self.setLayout(QtWidgets.QVBoxLayout())
layout = QtWidgets.QHBoxLayout()
layout.addWidget(QtWidgets.QLabel("Path: "))
layout.addWidget(self.__lpath)
self.__lpath.setSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Preferred)
self.layout().addLayout(layout)
layout = QtWidgets.QHBoxLayout()
layout.addWidget(self.__exec_button)
layout.addWidget(self.__term_button)
self.layout().addLayout(layout)
def __init__(self, guimgr, node, view):
super(AwTransformFrame, self).__init__(guimgr, node, view)
super(AwTransformFrame, self).setup_widget()
self.set_title(frame_title(self.view, "Transform"))
widget = QtWidgets.QWidget()
widget.setLayout(QtWidgets.QHBoxLayout())
for idx, txt in enumerate(["Tx", "Ty", "Tz", "Rx", "Ry", "Rz"]):
field = AwRealField(self.node.get_config(self.view.target[idx]))
field.target = self.view.target[idx]
field.value_updated.connect(self.apply)
widget.layout().addWidget(QtWidgets.QLabel(txt + ":"))
widget.layout().addWidget(field)
self.add_widget(widget)
def setup_widget(self):
super(AwDefaultNodePanel, self).setup_widget()
# For Debug
self.debug1 = QtWidgets.QLabel(self.node.tostring())
self.debug1.setVisible(False)
self.add_frame(self.debug1)
self.setFocusPolicy(QtCore.Qt.ClickFocus)
# For Debug
self.debug2 = QtWidgets.QLabel(self.node.generate_launch())
self.debug2.setVisible(False)
self.add_frame(self.debug2)
self.setFocusPolicy(QtCore.Qt.ClickFocus)
# data view
for view in self.node.plugin().panel().frames:
self.add_frame(self.guimgr.create_widget(self.node, view))
# node view
for rule in self.node.plugin().rules():
if rule.unique:
if self.node.haschild(rule.name):
child_node = self.node.getchild(rule.name)
child_view = child_node.plugin().frame()
self.add_frame(self.guimgr.create_widget(child_node, child_view))
else:
self.add_frame(AwNodeCreateButton(self.node, rule, "Create " + rule.name.capitalize()))
else:
rule_names = [name for name in self.node.childnames() if name.startswith(rule.name)]
for rule_name in rule_names:
child_node = self.node.getchild(rule_name)
child_view = child_node.plugin().frame()
self.add_frame(self.guimgr.create_widget(child_node, child_view))
self.add_frame(AwNodeCreateButton(self.node, rule, "Create " + rule.name.capitalize()))
def __setup_widget(self):
# Frame Header
self.title = QtWidgets.QLabel("No Title")
self.title.setSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Preferred)
layout = self.guimgr.create_frame_header_hlayout()
layout.addWidget(self.title)
self.header = QtWidgets.QWidget()
self.header.setObjectName("FrameHeader")
self.header.setLayout(layout)
# Frame Layout
layout = self.guimgr.create_frame_entire_vlayout()
layout.addWidget(self.header)
self.setLayout(layout)
def __init__(self, attr):
self.name = QtWidgets.QLabel()
self.type = QtWidgets.QComboBox()
self.list = QtWidgets.QComboBox()
self.default = QtWidgets.QLineEdit()
self.name.setText(attr["name"])
self.type.addItems(["str", "int", "real", "bool"])
self.list.addItems(["none", "space", "yaml"])
self.default.setText(attr.get("default"))
self.type.setCurrentIndex(-1)
if attr.get("default"):
itype = self.type_inference(attr["default"])
self.type.setCurrentIndex(self.type.findText(itype))
def chained_tasks_drop_cb(self, event):
'''
Called when a task is dropped from the available_tasks_list to the chained_tasks_table,
or when a task is moved (reordered) within the chained_tasks_table.
'''
idx = self.chained_tasks_table.indexAt(event.pos()).row()
if idx == -1: # Handle insertion at end of table
idx = self.chained_tasks_table.rowCount()
# If drop is from itself, do a reorder
if event.source() == self.chained_tasks_table:
# Now swap the two rows
selected_index = self.chained_tasks_table.selectedIndexes()[0].row(
)
if idx == selected_index:
return
self.chained_tasks_table.insertRow(idx)
if selected_index > idx:
selected_index += 1
for i in range(self.chained_tasks_table.columnCount()):
self.chained_tasks_table.setCellWidget(
idx, i,
self.chained_tasks_table.cellWidget(selected_index, i))
self.chained_tasks_table.removeRow(selected_index)
# If drop is from available list, insert it at the dropped row
elif event.source() == self.available_tasks_list:
selected_item = self.available_tasks_list.selectedItems()[0]
task = QtWidgets.QLabel(selected_item.text())
required = CenteredCheckBox()
required.setChecked(True) # Start with default required
timeout = QtWidgets.QDoubleSpinBox()
timeout.setValue(0)
timeout.setMaximum(10000)
timeout.setSuffix('s')
parameters = QtWidgets.QLineEdit('')
self.chained_tasks_table.insertRow(idx)
self.chained_tasks_table.setCellWidget(idx, 0, task)
self.chained_tasks_table.setCellWidget(idx, 1, required)
self.chained_tasks_table.setCellWidget(idx, 2, timeout)
self.chained_tasks_table.setCellWidget(idx, 3, parameters)
def load_chained_missions(self, list_of_missions):
for i in reversed(range(self.chained_missions_table.rowCount())):
self.chained_missions_table.removeRow(i)
for idx, m in enumerate(list_of_missions):
mission = m['mission']
timeout = m['timeout']
required = m['required']
parameters = m['parameters']
mission = QtWidgets.QLabel(m['mission'])
required = CenteredCheckBox()
required.setChecked(m['required']) # Start with default required
timeout = QtWidgets.QDoubleSpinBox()
timeout.setValue(m['timeout'])
timeout.setMaximum(10000)
timeout.setSuffix('s')
parameters = QtWidgets.QLineEdit(m['parameters'])
self.chained_missions_table.insertRow(idx)
self.chained_missions_table.setCellWidget(idx, 0, mission)
self.chained_missions_table.setCellWidget(idx, 1, required)
self.chained_missions_table.setCellWidget(idx, 2, timeout)
self.chained_missions_table.setCellWidget(idx, 3, parameters)
def setupUi(self, MainWindow):
###############################################################################################
self.lock = Lock()
self.talker = Talker('gui')
rospy.Subscriber('bbBackup',bbBackup,self.backupFunction)
rospy.Subscriber('clicked_point',PointStamped,self.clickedPintRviz)
###############################################################################################
MainWindow.setObjectName("MainWindow")
MainWindow.resize(560, 440)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.gBnewTask = QtWidgets.QGroupBox(self.centralwidget)
self.gBnewTask.setGeometry(QtCore.QRect(10, 60, 541, 291))
self.gBnewTask.setObjectName("gBnewTask")
self.gBc = QtWidgets.QGroupBox(self.gBnewTask)
self.gBc.setEnabled(False)
self.gBc.setGeometry(QtCore.QRect(420, 80, 111, 151))
self.gBc.setObjectName("gBc")
self.label_29 = QtWidgets.QLabel(self.gBc)
self.label_29.setGeometry(QtCore.QRect(10, 30, 16, 21))
self.label_29.setObjectName("label_29")
self.label_30 = QtWidgets.QLabel(self.gBc)
self.label_30.setGeometry(QtCore.QRect(10, 90, 21, 21))
self.label_30.setObjectName("label_30")
self.label_31 = QtWidgets.QLabel(self.gBc)
self.label_31.setGeometry(QtCore.QRect(10, 60, 16, 21))
self.label_31.setObjectName("label_31")
self.cx = QtWidgets.QDoubleSpinBox(self.gBc)
self.cx.setGeometry(QtCore.QRect(30, 30, 69, 26))
self.cx.setObjectName("cx")
self.cx.setRange(-100.0,100.0)
self.cy = QtWidgets.QDoubleSpinBox(self.gBc)
self.cy.setGeometry(QtCore.QRect(30, 60, 69, 26))
self.cy.setObjectName("cy")
self.cy.setRange(-100.0,100.0)
self.cz = QtWidgets.QDoubleSpinBox(self.gBc)
self.cz.setGeometry(QtCore.QRect(30, 90, 69, 26))
self.cz.setObjectName("cz")
self.cz.setRange(-100.0,100.0)
self.cw = QtWidgets.QDoubleSpinBox(self.gBc)
self.cw.setGeometry(QtCore.QRect(30, 120, 69, 26))
self.cw.setObjectName("cw")
self.cw.setRange(-100.0,100.0)
self.label_39 = QtWidgets.QLabel(self.gBc)
self.label_39.setGeometry(QtCore.QRect(10, 120, 21, 21))
self.label_39.setObjectName("label_39")
self.gBb = QtWidgets.QGroupBox(self.gBnewTask)
self.gBb.setEnabled(False)
self.gBb.setGeometry(QtCore.QRect(300, 80, 111, 151))
self.gBb.setObjectName("gBb")
self.label_40 = QtWidgets.QLabel(self.gBb)
self.label_40.setGeometry(QtCore.QRect(10, 30, 16, 21))
self.label_40.setObjectName("label_40")
self.label_41 = QtWidgets.QLabel(self.gBb)
self.label_41.setGeometry(QtCore.QRect(10, 90, 21, 21))
self.label_41.setObjectName("label_41")
self.label_42 = QtWidgets.QLabel(self.gBb)
self.label_42.setGeometry(QtCore.QRect(10, 60, 16, 21))
self.label_42.setObjectName("label_42")
self.bx = QtWidgets.QDoubleSpinBox(self.gBb)
self.bx.setGeometry(QtCore.QRect(30, 30, 69, 26))
self.bx.setObjectName("bx")
self.bx.setRange(-100.0,100.0)
self.by = QtWidgets.QDoubleSpinBox(self.gBb)
self.by.setGeometry(QtCore.QRect(30, 60, 69, 26))
self.by.setObjectName("by")
self.by.setRange(-100.0,100.0)
self.bz = QtWidgets.QDoubleSpinBox(self.gBb)
self.bz.setGeometry(QtCore.QRect(30, 90, 69, 26))
self.bz.setObjectName("bz")
self.bz.setRange(-100.0,100.0)
self.bw = QtWidgets.QDoubleSpinBox(self.gBb)
self.bw.setGeometry(QtCore.QRect(30, 120, 69, 26))
self.bw.setObjectName("bw")
self.bw.setRange(-100.0,100.0)
self.label_43 = QtWidgets.QLabel(self.gBb)
self.label_43.setGeometry(QtCore.QRect(10, 120, 21, 21))
self.label_43.setObjectName("label_43")
self.gBtaskType = QtWidgets.QGroupBox(self.gBnewTask)
self.gBtaskType.setGeometry(QtCore.QRect(10, 80, 161, 151))
self.gBtaskType.setObjectName("gBtaskType")
self.radioButton = QtWidgets.QRadioButton(self.gBtaskType)
self.radioButton.setEnabled(True)
self.radioButton.setGeometry(QtCore.QRect(10, 30, 131, 23))
self.radioButton.setChecked(True)
self.radioButton.setObjectName("radioButton")
self.radioButton_2 = QtWidgets.QRadioButton(self.gBtaskType)
self.radioButton_2.setGeometry(QtCore.QRect(10, 60, 101, 23))
self.radioButton_2.setObjectName("radioButton_2")
self.radioButton_3 = QtWidgets.QRadioButton(self.gBtaskType)
self.radioButton_3.setGeometry(QtCore.QRect(10, 90, 131, 23))
self.radioButton_3.setObjectName("radioButton_3")
self.radioButton_4 = QtWidgets.QRadioButton(self.gBtaskType)
self.radioButton_4.setGeometry(QtCore.QRect(10, 120, 141, 23))
self.radioButton_4.setObjectName("radioButton_4")
self.gBa = QtWidgets.QGroupBox(self.gBnewTask)
self.gBa.setEnabled(True)
self.gBa.setGeometry(QtCore.QRect(180, 80, 111, 151))
self.gBa.setObjectName("gBa")
self.label_25 = QtWidgets.QLabel(self.gBa)
self.label_25.setGeometry(QtCore.QRect(10, 30, 16, 21))
self.label_25.setObjectName("label_25")
self.label_26 = QtWidgets.QLabel(self.gBa)
self.label_26.setGeometry(QtCore.QRect(10, 90, 21, 21))
self.label_26.setObjectName("label_26")
self.label_27 = QtWidgets.QLabel(self.gBa)
self.label_27.setGeometry(QtCore.QRect(10, 60, 16, 21))
self.label_27.setObjectName("label_27")
self.ax = QtWidgets.QDoubleSpinBox(self.gBa)
self.ax.setGeometry(QtCore.QRect(30, 30, 69, 26))
self.ax.setObjectName("ax")
self.ax.setRange(-100.0,100.0)
self.ay = QtWidgets.QDoubleSpinBox(self.gBa)
self.ay.setGeometry(QtCore.QRect(30, 60, 69, 26))
self.ay.setObjectName("ay")
self.ay.setRange(-100.0,100.0)
self.az = QtWidgets.QDoubleSpinBox(self.gBa)
self.az.setGeometry(QtCore.QRect(30, 90, 69, 26))
self.az.setObjectName("az")
self.az.setRange(-100.0,100.0)
self.aw = QtWidgets.QDoubleSpinBox(self.gBa)
self.aw.setGeometry(QtCore.QRect(30, 120, 69, 26))
self.aw.setObjectName("aw")
self.aw.setRange(-100.0,100.0)
self.label_28 = QtWidgets.QLabel(self.gBa)
self.label_28.setGeometry(QtCore.QRect(10, 120, 21, 21))
self.label_28.setObjectName("label_28")
self.btnAddTask = QtWidgets.QPushButton(self.gBnewTask)
self.btnAddTask.setEnabled(True)
self.btnAddTask.setGeometry(QtCore.QRect(10, 240, 521, 31))
self.btnAddTask.setObjectName("btnAddTask")
self.widget = QtWidgets.QWidget(self.gBnewTask)
self.widget.setGeometry(QtCore.QRect(10, 30, 521, 28))
self.widget.setObjectName("widget")
self.horizontalLayout = QtWidgets.QHBoxLayout(self.widget)
self.horizontalLayout.setContentsMargins(0, 0, 0, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
self.label_3 = QtWidgets.QLabel(self.widget)
self.label_3.setObjectName("label_3")
self.horizontalLayout.addWidget(self.label_3)
self.sBtaskid = QtWidgets.QSpinBox(self.widget)
self.sBtaskid.setObjectName("sBtaskid")
self.horizontalLayout.addWidget(self.sBtaskid)
self.label_4 = QtWidgets.QLabel(self.widget)
self.label_4.setObjectName("label_4")
self.horizontalLayout.addWidget(self.label_4)
self.sbtaskPriority = QtWidgets.QSpinBox(self.widget)
self.sbtaskPriority.setObjectName("sbtaskPriority")
self.horizontalLayout.addWidget(self.sbtaskPriority)
self.label_5 = QtWidgets.QLabel(self.widget)
self.label_5.setObjectName("label_5")
self.horizontalLayout.addWidget(self.label_5)
self.sbtaskPayload = QtWidgets.QSpinBox(self.widget)
self.sbtaskPayload.setObjectName("sbtaskPayload")
self.horizontalLayout.addWidget(self.sbtaskPayload)
self.gBrobotState = QtWidgets.QGroupBox(self.centralwidget)
self.gBrobotState.setGeometry(QtCore.QRect(10, 360, 541, 71))
self.gBrobotState.setObjectName("gBrobotState")
self.sBrobotId = QtWidgets.QSpinBox(self.gBrobotState)
self.sBrobotId.setGeometry(QtCore.QRect(80, 30, 48, 31))
self.sBrobotId.setObjectName("sBrobotId")
self.radioButton_5 = QtWidgets.QRadioButton(self.gBrobotState)
self.radioButton_5.setGeometry(QtCore.QRect(140, 32, 61, 31))
self.radioButton_5.setChecked(True)
self.radioButton_5.setObjectName("radioButton_5")
self.radioButton_6 = QtWidgets.QRadioButton(self.gBrobotState)
self.radioButton_6.setGeometry(QtCore.QRect(280, 32, 71, 31))
self.radioButton_6.setObjectName("radioButton_6")
self.radioButton_7 = QtWidgets.QRadioButton(self.gBrobotState)
self.radioButton_7.setGeometry(QtCore.QRect(210, 32, 51, 31))
self.radioButton_7.setObjectName("radioButton_7")
self.btnsetRobotState = QtWidgets.QPushButton(self.gBrobotState)
self.btnsetRobotState.setEnabled(True)
self.btnsetRobotState.setGeometry(QtCore.QRect(380, 30, 151, 31))
self.btnsetRobotState.setObjectName("btnsetRobotState")
self.label_32 = QtWidgets.QLabel(self.gBrobotState)
self.label_32.setGeometry(QtCore.QRect(10, 30, 81, 31))
self.label_32.setObjectName("label_32")
self.label = QtWidgets.QLabel(self.centralwidget)
self.label.setGeometry(QtCore.QRect(10, 20, 81, 17))
self.label.setObjectName("label")
self.label_2 = QtWidgets.QLabel(self.centralwidget)
self.label_2.setGeometry(QtCore.QRect(300, 20, 141, 17))
self.label_2.setObjectName("label_2")
self.lblblackBoard = QtWidgets.QLabel(self.centralwidget)
self.lblblackBoard.setGeometry(QtCore.QRect(100, 20, 141, 17))
font = QtGui.QFont()
font.setItalic(True)
self.lblblackBoard.setFont(font)
self.lblblackBoard.setObjectName("lblblackBoard")
self.lblbackupBlackboard = QtWidgets.QLabel(self.centralwidget)
self.lblbackupBlackboard.setGeometry(QtCore.QRect(450, 20, 91, 17))
font = QtGui.QFont()
font.setItalic(True)
self.lblbackupBlackboard.setFont(font)
self.lblbackupBlackboard.setObjectName("lblbackupBlackboard")
MainWindow.setCentralWidget(self.centralwidget)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
self.currentpint = 1
def frame_add_text_widget(self, frame, text):
layout = self.create_frame_header_hlayout()
layout.addWidget(QtWidgets.QLabel(text))
widget = QtWidgets.QWidget()
widget.setLayout(layout)
self.frame_add_widget(frame, widget)
def add_text_widget(self, text):
layout = self.guimgr.create_frame_header_hlayout()
layout.addWidget(QtWidgets.QLabel(text))
widget = QtWidgets.QWidget()
widget.setLayout(layout)
self.add_widget(widget)
def init_buttons(self):
added_node_labels = []
if self.tree != None:
for node in self.tree.nodes:
if node.label in added_node_labels:
continue
added_node_labels.append(node.label)
def get_publish_function(widget, button, other_buttons, node, message_type, message_data):
pub = rospy.Publisher(node.get_subscriber_name(), message_type, queue_size=1)
class IDContainer:
def __init__(self):
self.id = 0
id_container = IDContainer()
def active_callback(msg):
id_container.id = msg.id
if isinstance(message_type(), Status):
print(node.get_publisher_name())
sub = rospy.Subscriber(node.get_publisher_name(), Active, active_callback)
def add_publish_function():
def publish_function():
if message_data != 'NO MESSAGE':
msg = message_type()
if isinstance(msg, Bool):
msg.data = message_data
elif isinstance(msg, Status):
msg.status = message_data
msg.id = id_container.id
pub.publish(msg)
#print(node.label + ' publishing to ' + node.get_subscriber_name() + ' ' + str(message_data))
self.functions_mutex.acquire()
self.functions[node.label] = publish_function
self.functions_mutex.release()
if message_data == Status.SUCCESS or message_data == True:
widget.setStyleSheet("background-color: rgb(0, 255, 0);")
elif message_data == Status.RUNNING:
widget.setStyleSheet("background-color: rgb(0, 0, 255);")
elif message_data == Status.FAILURE or message_data == False:
widget.setStyleSheet("background-color: rgb(255, 0, 0);")
elif message_data == 'NO MESSAGE':
widget.setStyleSheet("background-color: rgb(255, 255, 255);")
button.setStyleSheet("background-color: rgb(0, 255, 0);")
for b in other_buttons:
b.setStyleSheet("background-color: rgb(255, 0, 0);")
return add_publish_function
if isinstance(node, bt.Action):
action_widget = qt.QWidget()
action_layout = qt.QHBoxLayout()
action_widget.setLayout(action_layout)
self.action_layout.addWidget(action_widget)
label = qt.QLabel()
label.setText(node.label)
action_layout.addWidget(label)
success_button = qt.QPushButton('SUCCESS')
success_button.setStyleSheet("background-color: rgb(255, 0, 0);")
action_layout.addWidget(success_button)
running_button = qt.QPushButton('RUNNING')
running_button.setStyleSheet("background-color: rgb(255, 0, 0);")
action_layout.addWidget(running_button)
failure_button = qt.QPushButton('FAILURE')
failure_button.setStyleSheet("background-color: rgb(255, 0, 0);")
action_layout.addWidget(failure_button)
no_message_button = qt.QPushButton('NO MESSAGE')
no_message_button.setStyleSheet("background-color: rgb(0, 255, 0);")
action_layout.addWidget(no_message_button)
success_button.clicked.connect(get_publish_function(action_widget, success_button, [running_button, failure_button, no_message_button], node, Status, Status.SUCCESS))
running_button.clicked.connect(get_publish_function(action_widget, running_button, [success_button, failure_button, no_message_button], node, Status, Status.RUNNING))
failure_button.clicked.connect(get_publish_function(action_widget, failure_button, [success_button, running_button, no_message_button], node, Status, Status.FAILURE))
no_message_button.clicked.connect(get_publish_function(action_widget, no_message_button, [success_button, running_button, failure_button], node, Status, 'NO MESSAGE'))
elif isinstance(node, bt.Condition):
condition_widget = qt.QWidget()
condition_layout = qt.QHBoxLayout()
condition_widget.setLayout(condition_layout)
self.condition_layout.addWidget(condition_widget)
label = qt.QLabel()
label.setText(node.label)
condition_layout.addWidget(label)
success_button = qt.QPushButton('SUCCESS')
success_button.setStyleSheet("background-color: rgb(255, 0, 0);")
condition_layout.addWidget(success_button)
failure_button = qt.QPushButton('FAILURE')
failure_button.setStyleSheet("background-color: rgb(255, 0, 0);")
condition_layout.addWidget(failure_button)
no_message_button = qt.QPushButton('NO MESSAGE')
no_message_button.setStyleSheet("background-color: rgb(0, 255, 0);")
condition_layout.addWidget(no_message_button)
success_button.clicked.connect(get_publish_function(condition_widget, success_button, [failure_button, no_message_button], node, Bool, True))
failure_button.clicked.connect(get_publish_function(condition_widget, failure_button, [success_button, no_message_button], node, Bool, False))
no_message_button.clicked.connect(get_publish_function(condition_widget, no_message_button, [success_button, failure_button], node, Bool, 'NO MESSAGE'))
def __init__(self, input_id):
super(InputWidget, self).__init__()
self._id = input_id
self.setLayout(QtWidgets.QHBoxLayout())
self._id_label = QtWidgets.QLabel("Input " + str(self._id))
self.layout().addWidget(self._id_label)
# ---- Input port input ----
self._input_port_input = QtWidgets.QLineEdit()
self.port_validator = QtGui.QRegExpValidator(QtCore.QRegExp("[a-z]+[0-9]+"))
self._input_port_input.setValidator(self.port_validator)
self.layout().addWidget(self._input_port_input)
self._input_port_input.setText(str(rospy.get_param(self.get_param_base() + "input", "js" + str(self._id))))
self._input_port_input.textChanged.connect(self.change_input_port)
# ---- /Input selector ----
# ---- Type selector ----
self._type_selector = QtWidgets.QComboBox()
self.layout().addWidget(self._type_selector)
self._type_selector.insertItem(0, "xbox ewoud")
self._type_selector.insertItem(0, "xbox vision")
self._type_selector.insertItem(0, "playstation")
self._type_selector.insertItem(0, "gioteck")
currentJoyType = rospy.get_param(self.get_param_base() + "joyType", "gioteck");
self._type_selector.setCurrentIndex(self._type_selector.findText(currentJoyType))
self._type_selector.currentIndexChanged.connect(self.change_input_type)
# ---- /Type selector ----
self._robot_id_label = QtWidgets.QLabel("Robot id")
self.layout().addWidget(self._robot_id_label)
# --- Robot id input ----
self._robot_id_input = QtWidgets.QLineEdit()
self.int_validator = QtGui.QRegExpValidator(QtCore.QRegExp("[0-9]+"))
self._robot_id_input.setValidator(self.int_validator)
self.layout().addWidget(self._robot_id_input)
self._robot_id_input.setText(str(rospy.get_param(self.get_param_base() + "robot", int(self._id))))
self._robot_id_input.textChanged.connect(self.change_bot_id)
# --- /Robot id input ----
# --- Mode selector ----
self._mode_selector = QtWidgets.QComboBox()
self.layout().addWidget(self._mode_selector)
self._mode_selector.insertItem(0, "our keeper")
self._mode_selector.insertItem(0, "normal")
currentMode = rospy.get_param(self.get_param_base() + "mode", "normal");
self._mode_selector.setCurrentIndex(self._mode_selector.findText(currentMode))
self._mode_selector.currentIndexChanged.connect(self.change_input_mode)
def __init__(self, context):
super(BehaviorTreePlugin, self).__init__(context)
self.setObjectName('BehaviorTreePlugin')
self.tree = None
self.initialized_buttons = False
self.prev_graphviz = ''
self.behavior_tree_graphviz_sub = rospy.Subscriber('behavior_tree_graphviz', String, self.behavior_tree_graphviz_callback)
self.timer = rospy.Timer(rospy.Duration(0.1), self.timer_callback)
self.functions_mutex = Lock()
self.functions = {}
self.last_graphviz_string = ''
self.widget = QWidget()
self.vbox = qt.QVBoxLayout()
self.widget.setLayout(self.vbox)
context.add_widget(self.widget)
#self.widget.setStyleSheet('QWidget{margin-left:-1px;}')
self.top_widget = qt.QWidget()
self.top_layout = qt.QVBoxLayout()
self.top_widget.setLayout(self.top_layout)
self.graph_widget = qt.QWidget()
self.graph_layout = qt.QVBoxLayout()
self.graph_widget.setLayout(self.graph_layout)
self.image_label = qt.QLabel('asdfadsf')
#self.graph_layout.addWidget(self.image_label)
self.xdot_widget = DotWidget()
self.graph_layout.addWidget(self.xdot_widget)
self.top_layout.addWidget(self.graph_widget)
self.graph_widget.setStyleSheet("background-color: rgb(255, 255, 255);")
self.config_widget = qt.QWidget()
self.config_widget.setStyleSheet('QWidget{margin-left:-1px;}')
self.config_layout = qt.QHBoxLayout()
self.config_widget.setLayout(self.config_layout)
self.config_widget.setFixedHeight(50)
self.config_button = qt.QPushButton('Open Config...')
self.config_button.clicked.connect(self.select_config_file)
self.config_layout.addWidget(self.config_button)
self.tree_label = qt.QLabel('tree filename: ')
self.config_layout.addWidget(self.tree_label)
self.debug_checkbox = qt.QCheckBox('Debug Mode')
self.config_layout.addWidget(self.debug_checkbox)
self.debug_checkbox.stateChanged.connect(self.debug_mode_changed)
#self.config_widget.setStyleSheet("background-color: rgb(255, 0, 0);")
self.top_layout.addWidget(self.config_widget)
#self.vbox.addWidget(self.top_widget)
self.button_container_widget = qt.QWidget()
self.button_container_layout = qt.QVBoxLayout()
self.button_container_widget.setLayout(self.button_container_layout)
#self.vbox.addWidget(self.button_container_widget)
self.button_widget = qt.QWidget()
self.button_layout = qt.QHBoxLayout()
self.button_widget.setLayout(self.button_layout)
#self.button_widget.setStyleSheet("background-color: rgb(0, 0, 255);")
self.condition_widget = qt.QWidget()
self.condition_layout = qt.QVBoxLayout()
self.condition_widget.setLayout(self.condition_layout)
self.button_layout.addWidget(self.condition_widget)
self.condition_label = qt.QLabel()
self.condition_label.setText('Conditions')
self.condition_label.setAlignment(Qt.AlignCenter)
self.condition_label.setFont(gui.QFont("SansSerif", 18, gui.QFont.Bold))
self.condition_layout.addWidget(self.condition_label)
self.action_widget = qt.QWidget()
self.action_layout = qt.QVBoxLayout()
self.action_widget.setLayout(self.action_layout)
self.button_layout.addWidget(self.action_widget)
self.action_label = qt.QLabel()
self.action_label.setText('Actions')
self.action_label.setAlignment(Qt.AlignCenter)
self.action_label.setFont(gui.QFont("SansSerif", 18, gui.QFont.Bold))
self.action_layout.addWidget(self.action_label)
self.button_scroll_area = qt.QScrollArea()
self.button_scroll_area.setWidget(self.button_widget)
#self.button_scroll_area.setFixedHeight(200)
#self.button_container_widget.setFixedHeight(200)
self.button_container_layout.addWidget(self.button_scroll_area)
self.button_widget.setMinimumWidth(self.button_scroll_area.sizeHint().width())
self.button_scroll_area.setWidgetResizable(True)
self.horizontal_splitter = qt.QSplitter(core.Qt.Vertical)
self.horizontal_splitter.addWidget(self.top_widget)
self.horizontal_splitter.addWidget(self.button_container_widget)
self.vbox.addWidget(self.horizontal_splitter)
self.button_container_widget.hide()
def __init__(self):
super(ManualWindow, self).__init__()
self.setAttribute(QtCore.Qt.WA_DeleteOnClose)
self.ui = '../forms/manual.ui'
loadUi(self.ui, self)
self.setWindowFlags(QtCore.Qt.FramelessWindowHint)
self.layout = self.findChild(QtWidgets.QGridLayout, 'layout')
self.mode = JOYSTICK_ONLY_MODE
self.visual_frame = rviz.VisualizationFrame()
self.visual_frame.setSplashPath("")
self.visual_frame.initialize()
self.add_rviz_config()
self.visual_frame.setMenuBar(None)
self.visual_frame.setStatusBar(None)
self.visual_frame.setHideButtonVisibility(False)
self.layout.addWidget(self.visual_frame)
self.visual_frame.hide()
self.manager = self.visual_frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
self.video_frame = QtWidgets.QLabel()
video_frame_font = QtGui.QFont("Verdana", 62, QtGui.QFont.Bold)
self.video_frame.setFont(video_frame_font)
self.video_frame.setText("No video frame")
self.video_frame.setAlignment(QtCore.Qt.AlignCenter)
self.video_frame.hide()
self.layout.addWidget(self.video_frame)
self.joystick_frame = QtWidgets.QLabel()
pixmap = QtGui.QPixmap('../static/img/xbox_controller_grey.png')
pixmap = pixmap.scaledToWidth(800)
self.joystick_frame.setPixmap(pixmap)
self.joystick_frame.setAlignment(QtCore.Qt.AlignCenter)
self.layout.addWidget(self.joystick_frame)
# Buttons
self.change_mode_btn = self.findChild(QtWidgets.QPushButton,
'changeModeBtn')
self.turn_left = self.findChild(QtWidgets.QToolButton, 'turnRobotLeft')
self.turn_right = self.findChild(QtWidgets.QToolButton,
'turnRobotRight')
self.stand_btn = self.findChild(QtWidgets.QPushButton, 'standBtn')
self.walk_btn = self.findChild(QtWidgets.QPushButton, 'walkBtn')
self.stairs_btn = self.findChild(QtWidgets.QPushButton, 'stairsBtn')
self.exit_btn = self.findChild(QtWidgets.QPushButton, 'exitBtn')
self.powerBtn = self.findChild(QtWidgets.QPushButton, 'powerBtn')
self.emergency_btn = self.findChild(QtWidgets.QPushButton,
'emergencyBtn')
# Status indicators
self.signal_btn = self.findChild(QtWidgets.QPushButton, 'signalBtn')
self.controller_battery_btn = self.findChild(QtWidgets.QPushButton,
'controllerBatteryBtn')
self.battery_btn = self.findChild(QtWidgets.QPushButton, 'batteryBtn')
self.health_btn = self.findChild(QtWidgets.QPushButton, 'healthBtn')
# Button connections
self.emergency_btn.clicked.connect(self.turn_robot_off)
self.powerBtn.clicked.connect(self.power_on)
self.exit_btn.clicked.connect(self.close_window)
self.change_mode_btn.clicked.connect(self.change_mode)
# Button shortcuts
self.exit_btn.setShortcut("Ctrl+Q")
# Mode Layouts
#self.video_frame = self.findChild(QtWidgets.QLabel, 'videoFrame')
# self.xbox_controller_frame = self.findChild(
# QtWidgets.QLabel, 'xboxcontrollerFrame')
# self.video_frame.hide()
# Stylesheets
self.powerBtn.setStyleSheet(
"QPushButton#powerBtn:checked {color:black; background-color: red;}"
)
self.signal_btn.setStyleSheet(
"QPushButton#signalBtn:checked {color:black; background-color: green;}"
)
self.video_stream_subscriber = VideoStreamSubscriber(
'camera/image_raw', Image)
self.show()