def __init__(self, context):
"""! The constructor."""
QPushButton.__init__(self)
self._context = context
self._context.addLanguageEventListner(self.onTranslate)
self._context.addCloseEventListner(self.onDestroy)
self.setCheckable(True)
self.setFocusPolicy(Qt.NoFocus)
self.setStyleSheet(R.values.styles.transparent_background)
self.setIcon(R.getIconById("icon_pause"))
self.setIconSize(QSize(80, 80))
self._button_state = EmergencyStopState.UNLOCKED
self._keep_running = True
self.connect(self, SIGNAL('clicked(bool)'), self._trigger_button)
self._estop_pub = rospy.Publisher(self.EMERGENCY_STOP_TOPIC_NAME,
Bool,
latch=True,
queue_size=1)
self._preempt_move_base_pub = rospy.Publisher("/move_base/cancel",
GoalID,
queue_size=1)
self._estop_pub_thread = threading.Thread(
name='emergency_stop_publisher_loop',
target=self._emergency_stop_publisher_loop)
self._estop_pub_thread.start()
def _trigger_button(self, checked):
"""Called when user click on ermergency stop button.
@param checked: Button status (True/False).
@type checked: bool.
"""
self._context.resquestEmergencyStop(checked)
self._button_state = checked
if checked == EmergencyStopState.LOCKED:
lng = self._context.getLanguage()
self._context.sendAlarm(Alarm.CRITICAL,
R.values.strings.emergency_stop(lng))
self.setIcon(R.getIconById("icon_play"))
else:
self.setIcon(R.getIconById("icon_pause"))
def setupMinimumTools(self):
self.control_mode_widget = ControlModeWidget(self._context)
self.ctrl_layout.addWidget(self.control_mode_widget)
self.user_account = UserAccountsWidget(self._context)
self.user_account.onCreate(None)
self.user_layout.addWidget(self.user_account)
self.timestamp_widget = Timestamp(self._context)
self.timestamp_widget.onCreate(None)
self.user_layout.addWidget(self.timestamp_widget)
self.translator_widget = TranslatorUi(self._context)
self.user_layout.addWidget(self.translator_widget)
self.diagnostic_widget = DiagnosticsWidget(self._context)
self.user_layout.addWidget(self.diagnostic_widget)
self.emergency_stop = EmergencyStopButton(self._context)
self.interruption_layout.addWidget(self.emergency_stop)
self.alarms_manager = AlarmManagerWidget(self._context)
self.alarm_layout.addWidget(self.alarms_manager)
#Display Airbus Group logo
self.logo_label.setPixmap(
R.getPixmapById('logo_airbus_group').scaled(
self.logo_label.width() - 2,
self.logo_label.height() - 2, Qt.KeepAspectRatio,
Qt.SmoothTransformation))
def onCreate(self, param):
# Extend the widget with all attributes and children from UI file
loadUi(R.layouts.account_popup, self)
self.user_icon_label.setPixmap(R.getPixmapById('ico_user'))
user_info = self.getParent().getContext().getUserInfo()
if user_info.privilege < Privilege.EXPERT:
self.accounts_manager_button.setEnabled(False)
else:
self.accounts_manager_button.setEnabled(True)
self.user_id_label.setText(user_info.userid)
privilege = Privilege.TOSTR[user_info.privilege]
self.access_rights_label.setText(privilege[0].upper()+privilege[1:])
self.time_label.setText('2h:38m')
self.connect(self.connection_button, SIGNAL("clicked()"),
self.open_login_dialog)
self.connect(self.accounts_manager_button, SIGNAL("clicked()"),
self.open_accounts_manager_dialog)
self.connect(self.deconnection_button, SIGNAL("clicked()"),
self.disconnect_user_account)
self.deconnection_button.setEnabled(True)
self.adjustSize()
def __init__(self, context):
QWidget.__init__(self)
loadUi(R.layouts.alarm_listview, self)
self.setFixedHeight(self.MINIMUM_HEIGHT)
self.alarm_listview.setSpacing(5)
self._context = context
self._parent = context.getParent()
self._status = self.CLOSED
self._lng = context.getLanguage()
self._incremental = Incremental()
self.connect(self._incremental, SIGNAL('valueChanged(int)'), self.setFixedHeight)
self.connect(self.drawable_button, SIGNAL('clicked()'), self.switchDrawable)
self._parent.alarm_label.setPixmap(R.getPixmapById("ico_alarm").scaled(
75,75,
Qt.KeepAspectRatio,Qt.SmoothTransformation))
self._context.addAlarmEventListner(self.onAppendAlarm)
self._context.addLanguageEventListner(self.onTranslate)
self._parent.alarm_label.setVisible(False)
self.setVisible(False)
def refresh(self):
lng = self.getContext().getLanguage()
self.setPixmap(R.getPixmapById(lng).scaled(
self.width(),
self.height(),
Qt.KeepAspectRatio,
Qt.SmoothTransformation)
)
def __init__(self):
QSplashScreen.__init__(self)
# Extend the widget with all attributes and children from UI file
loadUi(R.layouts.welcome, self)
self.setPixmap(
R.getPixmapById("wellcome_background").scaled(
600, 400, Qt.KeepAspectRatio, Qt.SmoothTransformation))
self.loading_progess.setText("Loading ...")
def __init__(self, parent, country):
"""! The constructor."""
QPushButton.__init__(self, parent)
self._parent = parent
self._country = country
self.setMinimumSize(QSize(40, 40))
self.setMaximumSize(QSize(60, 60))
self.setStyleSheet(R.values.styles.transparent_background)
self.setIcon(R.getIconById(country))
self.setIconSize(QSize(self.width(),self.height()))
def onCreate(self, param):
self._user_icon_label = QLabel()
self._user_icon_label.setStyleSheet(R.values.styles.text)
self._user_icon_label.setFixedSize(QSize(25,25))
self._user_icon_label.setPixmap(R.getPixmapById('ico_user').scaled(
self._user_icon_label.width(),
self._user_icon_label.height(),
Qt.KeepAspectRatio,
Qt.SmoothTransformation))
######
self._user_id_label = QLabel()
self._user_id_label.setStyleSheet(R.values.styles.transparent_background)
######
self.getLayout().addWidget(self._user_icon_label)
self.getLayout().addWidget(self._user_id_label)
def run():
name = 'rqt_gui_py_node_%d' % os.getpid()
rospy.init_node(name, disable_signals=True)
app = GuiApplication(sys.argv)
splash = CobotGuiSplash()
splash.start()
window = QMainWindow()
gui = CobotGuiMain(splash)
config = rospy.get_param("~config", "${cobot_gui}/config/default.conf")
config = get_pkg_dir_from_prefix(config)
gui.setupUserConfig(config)
window.setCentralWidget(gui)
window.setGeometry(gui.geometry())
window.setWindowIcon(R.getIconById('cobot_gui'))
if gui.getDisplayMode() in FULL_SCREEN_ARGS:
window.showFullScreen()
else:
window.show()
splash.close()
#Set the gui signal for cleanup
app.gui = gui
app.connect(app, SIGNAL("aboutToQuit()"), app.cleanGui)
#Set the ctrl+c signal for cleanup
def signal_handler(signal, frame):
app.quit()
signal.signal(signal.SIGINT, signal_handler)
#set the rospy shutdown signal
rospy.on_shutdown(app.quit)
#return of app
sys.exit(app.exec_())
def update_state(self, state, msg):
self.setIcon(R.getIconById(state))
self.setIconSize(QSize(40, 40))
self.setToolTip(msg)