def start(self, profile=None, skin=None):
application = QtWidgets.QApplication(self.__sysarg)
resolution = application.desktop().screenGeometry()
resolution = min(resolution.width(), resolution.height())
skin = skin or "autoware"
with open(myutils.package("resources/skins/{}.css").format(skin)) as fp:
stylesheet = fp.read()
stylesheet += "* { font-size: " + str(resolution/100) + "px; }"
application.setStyleSheet(stylesheet)
self.__treeview = AwTreeViewPanel(self) # ToDo: consider moving to guimgr
self.__control = AwControlPanel(self) # ToDo: consider moving to guimgr
self.__summary = AwSummaryPanel(self) # ToDo: consider moving to guimgr
self.__process = AwProcessPanel(self) # ToDo: consider moving to guimgr
self.__network = AwTcpServerPanel()
self.__quickstart = AwQuickStartPanel(self.__guimgr)
self.__sim_rosbag = AwRosbagSimulatorWidget(self.__guimgr)
self.__sim_lgsvl = AwLgsvlSimulatorWidget (self.__guimgr)
self.__sim_gazebo = AwGazeboSimulatorWidget(self.__guimgr)
tabwidget = QtWidgets.QTabWidget()
tabwidget.setSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Expanding)
tabwidget.addTab(self.__summary, "Summary")
tabwidget.addTab(self.__process, "Process")
#vsplitter = QtWidgets.QSplitter(QtCore.Qt.Vertical)
vsplitter = QtWidgets.QWidget()
vsplitter.setLayout(QtWidgets.QVBoxLayout())
vsplitter.layout().setContentsMargins(0, 0, 0, 0)
vsplitter.layout().setSpacing(0)
vsplitter.layout().addWidget(self.__treeview)
vsplitter.layout().addWidget(self.__control)
self.__develop = QtWidgets.QSplitter(QtCore.Qt.Horizontal)
self.__develop.addWidget(vsplitter)
self.__develop.addWidget(tabwidget)
#mainwidget = QtWidgets.QTabWidget()
#mainwidget.addTab(hsplitter, "Profile Edit")
#mainwidget.addTab(self.__quickstart, "Quick Start")
#mainwidget.addTab(self.__network, "Server Debug")
mainwidget = QtWidgets.QStackedWidget()
mainwidget.addWidget(self.__quickstart)
mainwidget.addWidget(self.__develop)
mainwidget.addWidget(self.__network)
simulations = QtWidgets.QTabWidget()
simulations.addTab(self.__sim_rosbag, "Rosbag")
simulations.addTab(self.__sim_lgsvl, "LGSVL")
simulations.addTab(self.__sim_gazebo, "Gazebo")
mainsplitter = QtWidgets.QSplitter(QtCore.Qt.Vertical)
mainsplitter.addWidget(mainwidget)
mainsplitter.addWidget(simulations)
#dock = QtWidgets.QDockWidget()
#dock.setWidget( )
#window.addDockWidget(QtCore.Qt.RightDockWidgetArea, dock)
window = AwMainWindow(self)
window.setCentralWidget(mainsplitter)
window.show()
simulations.hide()
window.addViewMenu("Simulation", simulations.setVisible)
def switch_develop_mode(checked):
if checked:
mainwidget.setCurrentWidget(self.__develop)
else:
mainwidget.setCurrentWidget(self.__quickstart)
window.addViewMenu("Develop Mode", switch_develop_mode)
# Debug
#mainwidget.setCurrentWidget(self.__develop)
simulations.hide()
self.__sim_rosbag.rosbag_file.path.setText(myutils.userhome(".autoware/log/20150324.bag"))
# connect objects
self.__server.register_runner(self.__process)
self.__process.register_server(self.__server)
self.__server.register_client(self.__network)
self.__network.register_server(self.__server)
self.__panels.append(self.__treeview)
self.__panels.append(self.__summary)
self.__panels.append(self.__process)
self.__panels.append(self.__quickstart)
self.__treeview.register_select_listener(self.__summary)
self.__treeview.register_select_listener(self.__process)
self.__treeview.register_select_listener(self.__control)
if profile:
self.__server.load_profile(profile)
else:
self.__server.make_profile("root/default")
return application.exec_()
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()
