def create_main_widget(self):
## Main widget
widget = QWidget()
ui_file = os.path.join(rospkg.RosPack().get_path('frame_editor'), 'src/frame_editor', 'FrameEditorGUI.ui')
loadUi(ui_file, widget)
widget.setObjectName('FrameEditorGUIUi')
#if context.serial_number() > 1:
# widget.setWindowTitle(widget.windowTitle() + (' (%d)' % context.serial_number()))
## Undo View
#widget.undo_frame.layout().addWidget(QtWidgets.QUndoView(self.editor.undo_stack))
## Views
self.editor.init_views()
self.interface_style = FrameEditor_StyleWidget(self.editor)
widget.style_frame.layout().addWidget(self.interface_style.get_widget())
## Connections ##
##
widget.btn_add.clicked.connect(self.btn_add_clicked)
widget.btn_delete.clicked.connect(self.btn_delete_clicked)
widget.btn_duplicate.clicked.connect(self.btn_duplicate_clicked)
widget.list_frames.currentTextChanged.connect(self.selected_frame_changed)
widget.btn_refresh.clicked.connect(self.update_tf_list)
widget.btn_set_parent_rel.clicked.connect(self.btn_set_parent_rel_clicked)
widget.btn_set_parent_abs.clicked.connect(self.btn_set_parent_abs_clicked)
widget.btn_set_pose.clicked.connect(self.btn_set_pose_clicked)
widget.btn_set_position.clicked.connect(self.btn_set_position_clicked)
widget.btn_set_orientation.clicked.connect(self.btn_set_orientation_clicked)
widget.btn_set_x.clicked.connect(self.btn_set_x_clicked)
widget.btn_set_y.clicked.connect(self.btn_set_y_clicked)
widget.btn_set_z.clicked.connect(self.btn_set_z_clicked)
widget.btn_set_a.clicked.connect(self.btn_set_a_clicked)
widget.btn_set_b.clicked.connect(self.btn_set_b_clicked)
widget.btn_set_c.clicked.connect(self.btn_set_c_clicked)
widget.btn_reset_position_rel.clicked.connect(self.btn_reset_position_rel_clicked)
widget.btn_reset_position_abs.clicked.connect(self.btn_reset_position_abs_clicked)
widget.btn_reset_orientation_rel.clicked.connect(self.btn_reset_orientation_rel_clicked)
widget.btn_reset_orientation_abs.clicked.connect(self.btn_reset_orientation_abs_clicked)
widget.txt_x.editingFinished.connect(self.x_valueChanged)
widget.txt_y.editingFinished.connect(self.y_valueChanged)
widget.txt_z.editingFinished.connect(self.z_valueChanged)
widget.txt_a.editingFinished.connect(self.a_valueChanged)
widget.txt_b.editingFinished.connect(self.b_valueChanged)
widget.txt_c.editingFinished.connect(self.c_valueChanged)
widget.btn_rad.toggled.connect(self.update_fields)
widget.combo_style.currentIndexChanged.connect(self.frame_style_changed)
return widget
class FrameEditorGUI(ProjectPlugin, Interface):
signal_update = QtCore.Signal(int)
def __init__(self, context):
super(FrameEditorGUI, self).__init__(context)
self.setObjectName('FrameEditorGUI')
self.file_type = "YAML files(*.yaml)"
self.editor.parse_args(context.argv())
# Update filename display
self.update_current_filename()
## Update thread ##
##
self._update_thread.start()
self.update_all(3)
def create_editor(self):
editor = FrameEditor()
editor.observers.append(self)
self.signal_update.connect(self.update_all)
self._update_thread = WorkerThread(self._update_thread_run,
self._update_finished)
self.old_frame_list = []
self.old_selected = ""
return editor
def create_main_widget(self):
## Main widget
widget = QWidget()
ui_file = os.path.join(rospkg.RosPack().get_path('frame_editor'),
'src/frame_editor', 'FrameEditorGUI.ui')
loadUi(ui_file, widget)
widget.setObjectName('FrameEditorGUIUi')
#if context.serial_number() > 1:
# widget.setWindowTitle(widget.windowTitle() + (' (%d)' % context.serial_number()))
widget.setWindowTitle("frame editor")
## Undo View
#widget.undo_frame.layout().addWidget(QtWidgets.QUndoView(self.editor.undo_stack))
## Views
self.editor.init_views()
self.interface_style = FrameEditor_StyleWidget(self.editor)
widget.style_frame.layout().addWidget(
self.interface_style.get_widget())
## Connections ##
##
widget.btn_add.clicked.connect(self.btn_add_clicked)
widget.btn_delete.clicked.connect(self.btn_delete_clicked)
widget.btn_duplicate.clicked.connect(self.btn_duplicate_clicked)
widget.list_frames.currentTextChanged.connect(
self.selected_frame_changed)
widget.btn_refresh.clicked.connect(self.update_tf_list)
widget.btn_set_parent_rel.clicked.connect(
self.btn_set_parent_rel_clicked)
widget.btn_set_parent_abs.clicked.connect(
self.btn_set_parent_abs_clicked)
widget.btn_set_pose.clicked.connect(self.btn_set_pose_clicked)
widget.btn_set_position.clicked.connect(self.btn_set_position_clicked)
widget.btn_set_orientation.clicked.connect(
self.btn_set_orientation_clicked)
widget.btn_set_x.clicked.connect(self.btn_set_x_clicked)
widget.btn_set_y.clicked.connect(self.btn_set_y_clicked)
widget.btn_set_z.clicked.connect(self.btn_set_z_clicked)
widget.btn_set_a.clicked.connect(self.btn_set_a_clicked)
widget.btn_set_b.clicked.connect(self.btn_set_b_clicked)
widget.btn_set_c.clicked.connect(self.btn_set_c_clicked)
widget.btn_reset_position_rel.clicked.connect(
self.btn_reset_position_rel_clicked)
widget.btn_reset_position_abs.clicked.connect(
self.btn_reset_position_abs_clicked)
widget.btn_reset_orientation_rel.clicked.connect(
self.btn_reset_orientation_rel_clicked)
widget.btn_reset_orientation_abs.clicked.connect(
self.btn_reset_orientation_abs_clicked)
widget.txt_x.editingFinished.connect(self.x_valueChanged)
widget.txt_y.editingFinished.connect(self.y_valueChanged)
widget.txt_z.editingFinished.connect(self.z_valueChanged)
widget.txt_a.editingFinished.connect(self.a_valueChanged)
widget.txt_b.editingFinished.connect(self.b_valueChanged)
widget.txt_c.editingFinished.connect(self.c_valueChanged)
widget.btn_rad.toggled.connect(self.update_fields)
widget.combo_style.currentIndexChanged.connect(
self.frame_style_changed)
return widget
def _update_thread_run(self):
self.editor.run()
@Slot()
def _update_finished(self):
print "> Shutting down"
def update(self, editor, level, elements):
self.signal_update.emit(level)
@Slot(int)
def update_all(self, level):
## Update list widgets
if level & 1:
self.update_frame_list()
self.update_tf_list()
self.update_current_filename()
## Update the currently selected frame
if level & 2:
self.update_active_frame()
## Update only text fields, spin boxes,...
if level & 4:
self.update_fields()
@Slot()
def update_tf_list(self):
self.widget.list_tf.clear()
self.widget.list_tf.addItems(
sorted(self.editor.all_frame_ids(include_temp=False)))
def update_frame_list(self):
new_list = self.editor.frames.keys()
## Add missing
items = []
for item in new_list:
if item not in self.old_frame_list:
items.append(item)
self.widget.list_frames.addItems(items)
## Delete removed
for item in self.old_frame_list:
if item not in new_list:
if self.widget.list_frames.currentItem(
) and item == self.widget.list_frames.currentItem().text():
self.widget.list_frames.setCurrentItem(None)
found = self.widget.list_frames.findItems(
item, QtCore.Qt.MatchExactly)
self.widget.list_frames.takeItem(
self.widget.list_frames.row(found[0]))
self.widget.list_frames.sortItems()
self.old_frame_list = new_list
def update_active_frame(self):
if not self.editor.active_frame:
self.old_selected = ""
self.widget.list_frames.setCurrentItem(None)
self.widget.box_edit.setEnabled(False)
return # deselect and quit
self.widget.box_edit.setEnabled(True)
name = self.editor.active_frame.name
if name == self.old_selected:
return # no change
## Select item in list
items = self.widget.list_frames.findItems(name, QtCore.Qt.MatchExactly)
self.widget.list_frames.setCurrentItem(items[0])
self.update_fields()
self.old_selected = name
@Slot()
def update_fields(self):
f = self.editor.active_frame
if not f:
return
w = self.widget
w.txt_name.setText(f.name)
w.txt_parent.setText(f.parent)
## Relative
w.txt_x.setValue(f.position[0])
w.txt_y.setValue(f.position[1])
w.txt_z.setValue(f.position[2])
rot = tf.transformations.euler_from_quaternion(f.orientation)
if self.widget.btn_deg.isChecked():
rot = (180.0 * rot[0] / math.pi, 180.0 * rot[1] / math.pi,
180.0 * rot[2] / math.pi)
w.txt_a.setValue(rot[0])
w.txt_b.setValue(rot[1])
w.txt_c.setValue(rot[2])
txt_abs_pos = (w.txt_abs_x, w.txt_abs_y, w.txt_abs_z)
txt_abs_rot = (w.txt_abs_a, w.txt_abs_b, w.txt_abs_c)
## Absolute
try:
position, orientation = FromTransformStamped(
f.tf_buffer.lookup_transform('world', f.name, rospy.Time(0)))
for txt, p in zip(txt_abs_pos, position):
txt.setEnabled(True)
txt.setValue(p)
rot = tf.transformations.euler_from_quaternion(orientation)
if self.widget.btn_deg.isChecked():
rot = map(math.degrees, rot)
for txt, r in zip(txt_abs_rot, rot):
txt.setEnabled(True)
txt.setValue(r)
except:
for txt in txt_abs_rot + txt_abs_pos:
txt.setEnabled(False)
## Style
self.widget.combo_style.setCurrentIndex(
self.widget.combo_style.findText(f.style))
@Slot(str)
def selected_frame_changed(self, name):
if name == "":
return
if not self.editor.active_frame or (self.editor.active_frame.name !=
name):
self.editor.command(
Command_SelectElement(self.editor, self.editor.frames[name]))
## BUTTONS ##
##
def write_file(self, file_name):
return self.editor.save_file(file_name)
@Slot()
def clear_all(self):
self.editor.command(Command_ClearAll(self.editor))
@Slot(bool)
def btn_add_clicked(self, checked):
# Get a unique frame name
existing_frames = set(self.editor.all_frame_ids())
name, ok = QtWidgets.QInputDialog.getText(self.widget, "Add New Frame",
"Name:",
QtWidgets.QLineEdit.Normal,
"my_frame")
while ok and name in existing_frames:
name, ok = QtWidgets.QInputDialog.getText(
self.widget, "Add New Frame", "Name (must be unique):",
QtWidgets.QLineEdit.Normal, "my_frame")
if not ok:
return
if not existing_frames:
available_parents = ["world"]
else:
available_parents = self.editor.all_frame_ids(include_temp=False)
parent, ok = QtWidgets.QInputDialog.getItem(self.widget,
"Add New Frame",
"Parent Name:",
sorted(available_parents))
if not ok or parent == "":
return
self.editor.command(
Command_AddElement(self.editor, Frame(name, parent=parent)))
@Slot(bool)
def btn_duplicate_clicked(self, checked):
item = self.widget.list_frames.currentItem()
if not item:
return
source_name = item.text()
parent_name = self.editor.frames[source_name].parent
# Get a unique frame name
existing_frames = set(self.editor.all_frame_ids())
name, ok = QtWidgets.QInputDialog.getText(self.widget,
"Duplicate Frame", "Name:",
QtWidgets.QLineEdit.Normal,
source_name)
while ok and name in existing_frames:
name, ok = QtWidgets.QInputDialog.getText(
self.widget, "Duplicate Frame", "Name (must be unique):",
QtWidgets.QLineEdit.Normal, source_name)
if not ok:
return
self.editor.command(
Command_CopyElement(self.editor, name, source_name, parent_name))
@Slot(bool)
def btn_delete_clicked(self, checked):
item = self.widget.list_frames.currentItem()
if not item:
return
self.editor.command(
Command_RemoveElement(self.editor,
self.editor.frames[item.text()]))
## PARENTING ##
##
@Slot(bool)
def btn_set_parent_rel_clicked(self, checked):
self.set_parent(False)
@Slot(bool)
def btn_set_parent_abs_clicked(self, checked):
self.set_parent(True)
def set_parent(self, keep_absolute):
parent = self.widget.list_tf.currentItem()
if not parent:
return # none selected
if parent.text() == self.editor.active_frame.name:
return # you can't be your own parent
self.editor.command(
Command_SetParent(self.editor, self.editor.active_frame,
parent.text(), keep_absolute))
## SET BUTTONS ##
##
@Slot(bool)
def btn_set_pose_clicked(self, checked):
self.set_pose(["x", "y", "z", "a", "b", "c"])
@Slot(bool)
def btn_set_position_clicked(self, checked):
self.set_pose(["x", "y", "z"])
@Slot(bool)
def btn_set_orientation_clicked(self, checked):
self.set_pose(["a", "b", "c"])
@Slot(bool)
def btn_set_x_clicked(self, checked):
self.set_pose(["x"])
@Slot(bool)
def btn_set_y_clicked(self, checked):
self.set_pose(["y"])
@Slot(bool)
def btn_set_z_clicked(self, checked):
self.set_pose(["z"])
@Slot(bool)
def btn_set_a_clicked(self, checked):
self.set_pose(["a"])
@Slot(bool)
def btn_set_b_clicked(self, checked):
self.set_pose(["b"])
@Slot(bool)
def btn_set_c_clicked(self, checked):
self.set_pose(["c"])
def set_pose(self, mode):
source = self.widget.list_tf.currentItem()
if not source:
return # none selected
frame = self.editor.active_frame
self.editor.command(
Command_AlignElement(self.editor, frame, source.text(), mode))
## RESET BUTTONS ##
##
@Slot(bool)
def btn_reset_position_rel_clicked(self, checked):
self.editor.command(
Command_SetPosition(self.editor, self.editor.active_frame,
(0, 0, 0)))
@Slot(bool)
def btn_reset_position_abs_clicked(self, checked):
position, orientation = FromTransformStamped(
self.editor.active_frame.tf_buffer.lookup_transform(
self.editor.active_frame.parent, "world", rospy.Time(0)))
self.editor.command(
Command_SetPosition(self.editor, self.editor.active_frame,
position))
@Slot(bool)
def btn_reset_orientation_rel_clicked(self, checked):
self.editor.command(
Command_SetOrientation(self.editor, self.editor.active_frame,
(0, 0, 0, 1)))
@Slot(bool)
def btn_reset_orientation_abs_clicked(self, checked):
position, orientation = FromTransformStamped(
self.editor.active_frame.listener.lookupTransform(
self.editor.active_frame.parent, "world", rospy.Time(0)))
self.editor.command(
Command_SetOrientation(self.editor, self.editor.active_frame,
orientation))
## Spin Boxes ##
##
def set_value(self, widget, symbol):
frame = self.editor.active_frame
value = widget.value()
## Deg to rad
if self.widget.btn_deg.isChecked() and symbol in ['a', 'b', 'c']:
value = value * math.pi / 180.0
if frame.value(symbol) != value:
self.editor.command(
Command_SetValue(self.editor, self.editor.active_frame, symbol,
value))
@Slot()
def x_valueChanged(self):
self.set_value(self.widget.txt_x, 'x')
@Slot()
def y_valueChanged(self):
self.set_value(self.widget.txt_y, 'y')
@Slot()
def z_valueChanged(self):
self.set_value(self.widget.txt_z, 'z')
@Slot()
def a_valueChanged(self):
self.set_value(self.widget.txt_a, 'a')
@Slot()
def b_valueChanged(self):
self.set_value(self.widget.txt_b, 'b')
@Slot()
def c_valueChanged(self):
self.set_value(self.widget.txt_c, 'c')
## FRAME STYLE ##
##
@Slot(int)
def frame_style_changed(self, id):
style = self.widget.combo_style.currentText().lower()
if self.editor.active_frame.style != style:
self.editor.command(
Command_SetStyle(self.editor, self.editor.active_frame, style))
## PLUGIN ##
##
def shutdown_plugin(self):
super(FrameEditorGUI, self).shutdown_plugin()
self._update_thread.kill()