def getOpenFiles(parent, labeltext, path,
filefilter = None, multiple = True):
kwargs = {'options': QFileDialog.ReadOnly,
'caption': labeltext,
'dir': path, # why does pyside have different kwarg keys?
'filter': makeFilter(filefilter)}
if multiple:
res = QFileDialog.getOpenFileNames(parent, **kwargs)
if isList(res) and isList(res[0]):
res = res[0]
elif not isList(res):
res = list(res)
return res
else:
return [QFileDialog.getOpenFileName(parent, **kwargs)]
def load_from_file():
global current_name
file_name, _ = QFileDialog.getOpenFileName(
main_window, main_window.tr('Load program from file'), None,
main_window.tr('Puppet Talk (*.pt)'))
if file_name is None or file_name == '':
return
print 'load_from_file', file_name
handle = open(file_name, 'rb')
storage = SimpleFormat(handle)
count = storage.deserialize_data()
tabs = main_window.PoseList_tabWidget.count()
for index in range(tabs):
model = models[index]
if index < count:
model.action_sequence().deserialize(storage)
model.reset()
else:
model.remove_all_actions()
handle.close()
current_name = os.path.splitext(os.path.basename(file_name))[0]
update_sequence_duration()
def save_to_file():
file_name, _ = QFileDialog.getSaveFileName(main_window, main_window.tr('Save program to file'), 'example.pt', main_window.tr('Puppet Talk (*.pt)'))
if file_name is None or file_name == '':
return False
save_to_filename(file_name)
return True
def load_from_file():
global current_name
file_name, _ = QFileDialog.getOpenFileName(
main_window, main_window.tr("Load program from file"), None, main_window.tr("Puppet Talk (*.pt)")
)
if file_name is None or file_name == "":
return
print "load_from_file", file_name
handle = open(file_name, "rb")
storage = SimpleFormat(handle)
count = storage.deserialize_data()
tabs = main_window.PoseList_tabWidget.count()
for index in range(tabs):
model = models[index]
if index < count:
model.action_sequence().deserialize(storage)
model.reset()
else:
model.remove_all_actions()
handle.close()
current_name = os.path.splitext(os.path.basename(file_name))[0]
update_sequence_duration()
def getSaveFile(parent, labeltext, path, filefilter):
fileList = QFileDialog.getSaveFileName(
parent,
caption = labeltext,
directory = path,
filter = makeFilter(filefilter))
return fileList
def getSaveDirectory(parent, labeltext, path):
if not os.path.isdir(path):
path = os.path.dirname(path)
dirList = QFileDialog.getExistingDirectory(
parent,
caption = labeltext,
directory = path)
return dirList
def save_to_file():
file_name, _ = QFileDialog.getSaveFileName(
main_window, main_window.tr('Save program to file'), 'example.pt',
main_window.tr('Puppet Talk (*.pt)'))
if file_name is None or file_name == '':
return False
save_to_filename(file_name)
return True
def save_to_file():
file_name, _ = QFileDialog.getSaveFileName(
main_window, main_window.tr("Save program to file"), "example.pt", main_window.tr("Puppet Talk (*.pt)")
)
if file_name is None or file_name == "":
return False
save_to_filename(file_name)
return True
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as image'), 'rospackgraph.png', self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(), QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as DOT'), 'rospackgraph.dot', self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
file = QFile(file_name)
if not file.open(QIODevice.WriteOnly | QIODevice.Text):
return
file.write(self._current_dotcode)
file.close()
def _handle_start_following(self):
#make sure server is available before sending goal
QApplication.setOverrideCursor(QCursor(Qt.WaitCursor))
if (not self._client.wait_for_server(rospy.Duration.from_sec(10))):
QApplication.restoreOverrideCursor()
msg_box = QMessageBox()
msg_box.setText("Timeout while looking for path following control server.")
msg_box.exec_()
return
QApplication.restoreOverrideCursor()
#get path file to load
filename = QFileDialog.getOpenFileName(self, self.tr('Load Path from File'), '.', self.tr('Path File {.txt} (*.txt)'))
if filename[0] != '':
try:
handle = open(filename[0])
except IOError as e:
qWarning(str(e))
return
# load path from file
path_reader=csv.reader(open(filename[0],'rb'),delimiter=';')
# parse path file and convert to numbers
temp = [row[0].split() for row in path_reader]
lines= [[float(num) for num in row] for row in temp]
# first line of file is radius
radius = lines[0]
# remove radius
del(lines[0])
now = rospy.Time.now()
goal = auxos_messages.msg.PlanThenFollowDubinsPathGoal()
goal.path.header.stamp = now
goal.path.header.frame_id = self.path_frame_id # TODO: fix this!!!
for line in lines:
pose_msg = PoseStamped()
pose_msg.header.stamp = now
pose_msg.header.frame_id = goal.path.header.frame_id
pose_msg.pose.position.x = line[0]
pose_msg.pose.position.y = line[1]
quat = qfe(0, 0, psi2theta(line[2]))
pose_msg.pose.orientation.x = quat[0]
pose_msg.pose.orientation.y = quat[1]
pose_msg.pose.orientation.z = quat[2]
pose_msg.pose.orientation.w = quat[3]
goal.path.poses.append(pose_msg)
self._client.send_goal(goal, self._handle_path_complete, self._handle_active, self._handle_feedback)
print("start following")
def fileDialog(parent, labeltext, path, directory = False,
readOnly = True):
"""
Opens a dialog to select one or more files for reading.
Alternative to native file dialogs.
"""
if directory and not os.path.isdir(path):
path = os.path.dirname(path)
dialog = QFileDialog(parent, labeltext, path)
options = dialog.options() | QFileDialog.ReadOnly
mode = dialog.fileMode()
if directory:
mode = QFileDialog.Directory
options |= QFileDialog.ShowDirsOnly
if not readOnly:
options &= ~QFileDialog.ReadOnly
dialog.setFileMode(mode)
dialog.setOptions(options)
dialog.setViewMode(QFileDialog.Detail)
return dialog
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as DOT'), 'rospackgraph.dot',
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
file = QFile(file_name)
if not file.open(QIODevice.WriteOnly | QIODevice.Text):
return
file.write(self._current_dotcode)
file.close()
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as SVG'), 'rospackgraph.svg', self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _save_image(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as image'), 'rospackgraph.png',
self.tr('Image (*.bmp *.jpg *.png *.tiff)'))
if file_name is None or file_name == '':
return
img = QImage((self._scene.sceneRect().size() * 2.0).toSize(),
QImage.Format_ARGB32_Premultiplied)
painter = QPainter(img)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
img.save(file_name)
def _save_svg(self):
file_name, _ = QFileDialog.getSaveFileName(
self._widget, self.tr('Save as SVG'), 'rospackgraph.svg',
self.tr('Scalable Vector Graphic (*.svg)'))
if file_name is None or file_name == '':
return
generator = QSvgGenerator()
generator.setFileName(file_name)
generator.setSize((self._scene.sceneRect().size() * 2.0).toSize())
painter = QPainter(generator)
painter.setRenderHint(QPainter.Antialiasing)
self._scene.render(painter)
painter.end()
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.quiet_check_box.setEnabled(False)
self._update_graph_view(dotcode)
def saveAsAction(self):
'''
Bound to the 'Save as' button of the translation window. Provides user
with a file browser window for locating a desired destination directory
and file name. Warns if file of same name already exists. Remembers the
most recent Save-as directory, and initializes the subsequent file browser
popups to begin with the latest saved-to directory.
'''
# getSaveFileName() returns a tuple: (fileNames, selectedFilter).
# We only allow selection of one file name, so only one filename is
# returned. And we don't set filters, so we ignore the second part of
# the returned couple:
targetFile = QFileDialog.getSaveFileName(directory=self.recentDirSavedTo)[0];
# Did they cancel out of the dialog?
if len(targetFile) == 0:
return;
with open(targetFile, 'w') as fd:
fd.write(self.pythonDisplay.toPlainText());
# Next 'Save as' should open in the same directory:
self.recentDirSavedTo = os.path.dirname(targetFile);
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open graph from file'), None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.quiet_check_box.setEnabled(False)
self._update_graph_view(dotcode)
