def __init__(self, parent=None, logger=Logger()): QWidgetWithLogger.__init__(self, parent, logger) # start widget hbox = QHBoxLayout() hbox.setMargin(0) hbox.setContentsMargins(0, 0, 0, 0) # get system icon icon = QIcon.fromTheme("view-refresh") size = icon.actualSize(QSize(32, 32)) # add combo box self.parameter_set_names_combo_box = QComboBox() self.parameter_set_names_combo_box.currentIndexChanged[str].connect( self.param_changed) hbox.addWidget(self.parameter_set_names_combo_box) # add refresh button self.get_all_parameter_set_names_button = QPushButton() self.get_all_parameter_set_names_button.clicked.connect( self._get_all_parameter_set_names) self.get_all_parameter_set_names_button.setIcon(icon) self.get_all_parameter_set_names_button.setFixedSize( size.width() + 2, size.height() + 2) hbox.addWidget(self.get_all_parameter_set_names_button) # end widget self.setLayout(hbox) # init widget self.reset_parameter_set_selection()
def create_button(self): # self.data is a dictionary name-->array[positions] if self.side == PoseLoader.LEFT: self.data = self.arm_db.getAllLeftPos() else: # self.side == PoseLoader.RIGHT: self.data = self.arm_db.getAllRightPos() combo_box = QComboBox() for key in self.data.keys(): combo_box.addItem(key, self.data.get(key)) return combo_box
def __init__(self, parent=None): QDialog.__init__(self, parent) self.setWindowTitle('Select Binary') self.verticalLayout = QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.content = QWidget() self.contentLayout = QFormLayout(self.content) self.contentLayout.setVerticalSpacing(0) self.verticalLayout.addWidget(self.content) self.packages = None package_label = QLabel("Package:", self.content) self.package_field = QComboBox(self.content) self.package_field.setInsertPolicy(QComboBox.InsertAlphabetically) self.package_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.package_field.setEditable(True) self.contentLayout.addRow(package_label, self.package_field) binary_label = QLabel("Binary:", self.content) self.binary_field = QComboBox(self.content) # self.binary_field.setSizeAdjustPolicy(QComboBox.AdjustToContents) self.binary_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.binary_field.setEditable(True) self.contentLayout.addRow(binary_label, self.binary_field) self.buttonBox = QDialogButtonBox(self) self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel) self.buttonBox.setOrientation(Qt.Horizontal) self.buttonBox.setObjectName("buttonBox") self.verticalLayout.addWidget(self.buttonBox) self.package_field.setFocus(Qt.TabFocusReason) self.package = '' self.binary = '' if self.packages is None: self.package_field.addItems(['packages searching...']) self.package_field.setCurrentIndex(0) self._fill_packages_thread = PackagesThread() self._fill_packages_thread.packages.connect(self._fill_packages) self._fill_packages_thread.start() self.buttonBox.accepted.connect(self.accept) self.buttonBox.rejected.connect(self.reject) QMetaObject.connectSlotsByName(self) self.package_field.activated[str].connect(self.on_package_selected) if hasattr(self.package_field, "textChanged"): # qt compatibility self.package_field.textChanged.connect(self.on_package_selected) self.binary_field.textChanged.connect(self.on_binary_selected) else: self.package_field.editTextChanged.connect(self.on_package_selected) self.binary_field.editTextChanged.connect(self.on_binary_selected)
def __init__(self, host, masteruri=None, parent=None): PackageDialog.__init__(self, parent) self.host = host self.setWindowTitle('Run') ns_name_label = QLabel("NS/Name:", self.content) self.ns_field = QComboBox(self.content) self.ns_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.ns_field.setEditable(True) ns_history = nm.history().cachedParamValues('run_dialog/NS') ns_history.insert(0, '/') self.ns_field.addItems(ns_history) self.name_field = QLineEdit(self.content) self.name_field.setEnabled(False) horizontalLayout = QHBoxLayout() horizontalLayout.addWidget(self.ns_field) horizontalLayout.addWidget(self.name_field) self.contentLayout.addRow(ns_name_label, horizontalLayout) args_label = QLabel("Args:", self.content) self.args_field = QComboBox(self.content) self.args_field.setSizeAdjustPolicy(QComboBox.AdjustToMinimumContentsLength) self.args_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.args_field.setEditable(True) self.contentLayout.addRow(args_label, self.args_field) args_history = nm.history().cachedParamValues('run_dialog/Args') args_history.insert(0, '') self.args_field.addItems(args_history) host_label = QLabel("Host:", self.content) self.host_field = QComboBox(self.content) # self.host_field.setSizeAdjustPolicy(QComboBox.AdjustToContents) self.host_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.host_field.setEditable(True) host_label.setBuddy(self.host_field) self.contentLayout.addRow(host_label, self.host_field) self.host_history = host_history = nm.history().cachedParamValues('/Host') if self.host in host_history: host_history.remove(self.host) host_history.insert(0, self.host) self.host_field.addItems(host_history) master_label = QLabel("ROS Master URI:", self.content) self.master_field = QComboBox(self.content) self.master_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.master_field.setEditable(True) master_label.setBuddy(self.host_field) self.contentLayout.addRow(master_label, self.master_field) self.master_history = master_history = nm.history().cachedParamValues('/Optional Parameter/ROS Master URI') self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri if self.masteruri in master_history: master_history.remove(self.masteruri) master_history.insert(0, self.masteruri) self.master_field.addItems(master_history) # self.package_field.setFocus(QtCore.Qt.TabFocusReason) if hasattr(self.package_field, "textChanged"): # qt compatibility self.package_field.textChanged.connect(self.on_package_selected) else: self.package_field.editTextChanged.connect(self.on_package_selected) self.binary_field.activated[str].connect(self.on_binary_selected)
def _handle_operator_name_change(self, operatorName, combo): self.operatorView.clear() root = self.operatorView.invisibleRootItem() for i in range(len(self._parameter_label_list[operatorName])): # fetch types for combo box cmb = QComboBox() instance_client = rospy.ServiceProxy('/kcl_rosplan/get_current_instances', GetInstanceService) resp = instance_client(self._parameter_type_list[operatorName][i]) for instancename in resp.instances: cmb.addItem(instancename,instancename) # create row item = QTreeWidgetItem(self.operatorView) item.setText(0, self._parameter_label_list[operatorName][i]) item.setText(1, self._parameter_type_list[operatorName][i]) self.operatorView.setItemWidget(item, 2, cmb)
def createEditor(self, parent, option, index): ''' Creates a editor in the TreeView depending on type of the settings data. ''' item = self._itemFromIndex(index) if item.edit_type() == SettingsValueItem.EDIT_TYPE_AUTODETECT: if isinstance(item.value(), bool): box = QCheckBox(parent) box.setFocusPolicy(Qt.StrongFocus) box.setAutoFillBackground(True) box.stateChanged.connect(self.edit_finished) return box elif isinstance(item.value(), int): box = QSpinBox(parent) box.setValue(item.value()) if not item.value_min() is None: box.setMinimum(item.value_min()) if not item.value_max() is None: box.setMaximum(item.value_max()) return box elif item.edit_type() == SettingsValueItem.EDIT_TYPE_FOLDER: editor = PathEditor(item.value(), parent) editor.editing_finished_signal.connect(self.edit_finished) return editor elif item.edit_type() == SettingsValueItem.EDIT_TYPE_LIST: box = QComboBox(parent) box.addItems(item.value_list()) index = box.findText(item.value()) if index >= 0: box.setCurrentIndex(index) box.setEditable(False) return box return QStyledItemDelegate.createEditor(self, parent, option, index)
def __init__(self, parent = None, logger = Logger()): QWidgetWithLogger.__init__(self, parent, logger) # start widget hbox = QHBoxLayout() hbox.setMargin(0) hbox.setContentsMargins(0, 0, 0, 0) # get system icon icon = QIcon.fromTheme("view-refresh") size = icon.actualSize(QSize(32, 32)) # add combo box self.parameter_set_names_combo_box = QComboBox() self.parameter_set_names_combo_box.currentIndexChanged[str].connect(self.param_changed) hbox.addWidget(self.parameter_set_names_combo_box) # add refresh button self.get_all_parameter_set_names_button = QPushButton() self.get_all_parameter_set_names_button.clicked.connect(self._get_all_parameter_set_names) self.get_all_parameter_set_names_button.setIcon(icon) self.get_all_parameter_set_names_button.setFixedSize(size.width()+2, size.height()+2) hbox.addWidget(self.get_all_parameter_set_names_button) # end widget self.setLayout(hbox) # init widget self.reset_parameter_set_selection()
def __init__(self, context): super(RoomDialogPlugin, self).__init__(context) # Give QObjects reasonable names self.setObjectName('RoomDialogPlugin') font_size = rospy.get_param("~font_size", 30) # Create QWidget self._widget = QWidget() self._widget.setFont(QFont("Times", font_size, QFont.Bold)) self._layout = QVBoxLayout(self._widget) self._text_browser = QTextBrowser(self._widget) self._layout.addWidget(self._text_browser) self._button_layout = QGridLayout() self._layout.addLayout(self._button_layout) # rospy.loginfo("Hello world") # Add combobox self._cb_layout = QHBoxLayout() self._cb = QComboBox() self._layout.addLayout(self._cb_layout) #layout = QVBoxLayout(self._widget) #layout.addWidget(self._button) self._widget.setObjectName('RoomDialogPluginUI') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) context.add_widget(self._widget) # Setup service provider self.service = rospy.Service('room_dialog', RoomDialog, self.service_callback) self.response_ready = False self.response = None self.buttons = [] self.text_label = None self.text_input = None # Add combo options self.connect(self._widget, SIGNAL("update"), self.update) self.connect(self._widget, SIGNAL("timeout"), self.timeout)
def __init__(self, parent=None): super(ComboBoxDialog, self).__init__() self.number = 0 vbox = QtGui.QVBoxLayout(self) self.combo_box = QComboBox(self) self.combo_box.activated.connect(self.onActivated) vbox.addWidget(self.combo_box) button = QPushButton() button.setText("Done") button.clicked.connect(self.buttonCallback) vbox.addWidget(button) self.setLayout(vbox)
def __init__(self, parent=None, topic_type=str(), is_action_topic=False): QWidget.__init__(self, parent) if is_action_topic: self.topic_type = topic_type + "Goal" else: self.topic_type = topic_type self.is_action_topic = is_action_topic # start widget hbox = QHBoxLayout() hbox.setMargin(0) hbox.setContentsMargins(0, 0, 0, 0) # topic combo box self.topic_combo_box = QComboBox() self.topic_combo_box.setEnabled(False) self.topic_combo_box.blockSignals(True) self.topic_combo_box.setValidator( QRegExpValidator(QRegExp('((\d|\w|/)(?!//))*'), self)) self.topic_combo_box.currentIndexChanged[str].connect( self.topic_changed) hbox.addWidget(self.topic_combo_box) # get system icon icon = QIcon.fromTheme("view-refresh") size = icon.actualSize(QSize(32, 32)) # add refresh button refresh_topics_button = QPushButton() refresh_topics_button.clicked.connect(self.update_topic_list) refresh_topics_button.setIcon(icon) refresh_topics_button.setFixedSize(size.width() + 2, size.height() + 2) hbox.addWidget(refresh_topics_button) # end widget self.setLayout(hbox) # init widget self.update_topic_list()
def setup(self, context): self.name = 'NAO Dashboard (%s)'%rosenv.get_master_uri() self.max_icon_size = QSize(50, 30) self.message = None self._dashboard_message = None self._last_dashboard_message_time = 0.0 self._raw_byte = None self.digital_outs = [0, 0, 0] icons_path = path.join(roslib.packages.get_pkg_dir('nao_dashboard'), "icons/") self._robot_combobox = QComboBox() self._robot_combobox.setSizeAdjustPolicy(QComboBox.AdjustToContents) self._robot_combobox.setInsertPolicy(QComboBox.InsertAlphabetically) self._robot_combobox.setEditable(True) gobject.threads_init() dbus.glib.threads_init() self.robots = [] self.sys_bus = dbus.SystemBus() self.avahi_server = dbus.Interface(self.sys_bus.get_object(avahi.DBUS_NAME, '/'), avahi.DBUS_INTERFACE_SERVER) self.sbrowser = dbus.Interface(self.sys_bus.get_object(avahi.DBUS_NAME, self.avahi_server.ServiceBrowserNew(avahi.IF_UNSPEC, avahi.PROTO_INET, '_naoqi._tcp', 'local', dbus.UInt32(0))), avahi.DBUS_INTERFACE_SERVICE_BROWSER) self.sbrowser.connect_to_signal("ItemNew", self.avahiNewItem) self.sbrowser.connect_to_signal("ItemRemove", self.avahiItemRemove) # Diagnostics self._monitor = MonitorDashWidget(self.context) # Rosout self._console = ConsoleDashWidget(self.context, minimal=False) ## Joint temperature self._temp_joint_button = StatusControl('Joint temperature', 'temperature_joints') ## CPU temperature self._temp_head_button = StatusControl('CPU temperature', 'temperature_head') ## Motors self._motors_button = Motors(self.context) ## Battery State self._power_state_ctrl = PowerStateControl('NAO Battery') self._agg_sub = rospy.Subscriber('diagnostics_agg', DiagnosticArray, self.new_diagnostic_message) self._last_dashboard_message_time = 0.0
def _update_item(self): widget_layout = self.arg_ver_layout item_list = self.params_list widget_list = widget_layout.parentWidget().children() while len(widget_list) > 2: added_arg_widget = widget_list.pop() widget_layout.removeWidget(added_arg_widget) added_arg_widget.setParent(None) added_arg_widget.deleteLater() #resize dialog_widget = widget_layout.parentWidget().parentWidget() dialog_widget.resize(dialog_widget.minimumSize()) for l in item_list: params_hor_sub_widget = QWidget() params_hor_layout = QHBoxLayout(params_hor_sub_widget) for k in l: param_name = k[0] param_type = k[2] name_widget = QLabel(param_name + ": ") if param_type == 'string' or param_type == 'int': k[1] = QTextEdit() k[1].setSizePolicy(QSizePolicy.MinimumExpanding, QSizePolicy.Ignored) k[1].setMinimumSize(0, 30) k[1].append("") elif param_type == 'bool': k[1] = QTextEdit() k[1] = QComboBox() k[1].setSizePolicy(QSizePolicy.MinimumExpanding, QSizePolicy.Ignored) k[1].setMinimumSize(0, 30) k[1].addItem("True", True) k[1].addItem("False", False) params_hor_layout.addWidget(name_widget) params_hor_layout.addWidget(k[1]) widget_layout.addWidget(params_hor_sub_widget)
def __init__(self, parent = None, topic_type = str(), is_action_topic = False): QWidget.__init__(self, parent) if is_action_topic: self.topic_type = topic_type + "Goal" else: self.topic_type = topic_type self.is_action_topic = is_action_topic # start widget hbox = QHBoxLayout() hbox.setMargin(0) hbox.setContentsMargins(0, 0, 0, 0) # topic combo box self.topic_combo_box = QComboBox() self.topic_combo_box.setEnabled(False) self.topic_combo_box.blockSignals(True) self.topic_combo_box.setValidator(QRegExpValidator(QRegExp('((\d|\w|/)(?!//))*'), self)) self.topic_combo_box.currentIndexChanged[str].connect(self.topic_changed) hbox.addWidget(self.topic_combo_box) # get system icon icon = QIcon.fromTheme("view-refresh") size = icon.actualSize(QSize(32, 32)) # add refresh button refresh_topics_button = QPushButton() refresh_topics_button.clicked.connect(self.update_topic_list) refresh_topics_button.setIcon(icon) refresh_topics_button.setFixedSize(size.width()+2, size.height()+2) hbox.addWidget(refresh_topics_button) # end widget self.setLayout(hbox) # init widget self.update_topic_list()
class RoomDialogPlugin(Plugin): def __init__(self, context): super(RoomDialogPlugin, self).__init__(context) # Give QObjects reasonable names self.setObjectName('RoomDialogPlugin') font_size = rospy.get_param("~font_size", 30) # Create QWidget self._widget = QWidget() self._widget.setFont(QFont("Times", font_size, QFont.Bold)) self._layout = QVBoxLayout(self._widget) self._text_browser = QTextBrowser(self._widget) self._layout.addWidget(self._text_browser) self._button_layout = QGridLayout() self._layout.addLayout(self._button_layout) # rospy.loginfo("Hello world") # Add combobox self._cb_layout = QHBoxLayout() self._cb = QComboBox() self._layout.addLayout(self._cb_layout) #layout = QVBoxLayout(self._widget) #layout.addWidget(self._button) self._widget.setObjectName('RoomDialogPluginUI') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) context.add_widget(self._widget) # Setup service provider self.service = rospy.Service('room_dialog', RoomDialog, self.service_callback) self.response_ready = False self.response = None self.buttons = [] self.text_label = None self.text_input = None # Add combo options self.connect(self._widget, SIGNAL("update"), self.update) self.connect(self._widget, SIGNAL("timeout"), self.timeout) def shutdown_plugin(self): self.service.shutdown() def service_callback(self, req): self.response_ready = False self.request = req self._widget.emit(SIGNAL("update")) # Start timer against wall clock here instead of the ros clock. start_time = time.time() while not self.response_ready: if self.request != req: # The request got preempted by a new request. return RoomDialogResponse(RoomDialogRequest.PREEMPTED, "") if req.timeout != RoomDialogRequest.NO_TIMEOUT: current_time = time.time() if current_time - start_time > req.timeout: self._widget.emit(SIGNAL("timeout")) return RoomDialogResponse(RoomDialogRequest.TIMED_OUT, "") time.sleep(0.2) return self.response def update(self): self.clean() req = self.request self._text_browser.setText(req.message) if req.type == RoomDialogRequest.DISPLAY: # All done, nothing more too see here. self.response = RoomDialogResponse(RoomDialogRequest.NO_RESPONSE, "") self.response_ready = True elif req.type == RoomDialogRequest.CHOICE_QUESTION: for index, options in enumerate(req.options): button = QPushButton(options, self._widget) button.clicked.connect(partial(self.handle_button, index)) row = index / 3 col = index % 3 self._button_layout.addWidget(button, row, col) self.buttons.append(button) elif req.type == RoomDialogRequest.TEXT_QUESTION: self.text_label = QLabel("Enter here: ", self._widget) self._button_layout.addWidget(self.text_label, 0, 0) self.text_input = QLineEdit(self._widget) self.text_input.editingFinished.connect(self.handle_text) self._button_layout.addWidget(self.text_input, 0, 1) # add handling of combobox elif req.type == RoomDialogRequest.COMBOBOX_QUESTION: # self.clean() rospy.loginfo("Combobox selected") #self._cb.duplicatesEnabled = False if self._cb.count() == 0: for index, options in enumerate(req.options): self._cb.addItem(options) rospy.loginfo(options) #self.buttons.append(options) # NOTE COULD INTRODUCE BUG self._cb.currentIndexChanged.connect(self.handle_cb) self._cb_layout.addWidget(self._cb) def timeout(self): self._text_browser.setText("Oh no! The request timed out.") self.clean() def clean(self): while self._button_layout.count(): item = self._button_layout.takeAt(0) item.widget().deleteLater() # while self._cb_layout.count(): # item = self._cb_layout.takeAt(0) # item.widget().deleteLater() self.buttons = [] self.text_input = None self.text_label = None def handle_button(self, index): self.response = RoomDialogResponse(index, "") self.clean() self.response_ready = True def handle_text(self): self.response = RoomDialogResponse(RoomDialogRequest.TEXT_RESPONSE, self.text_input.text()) self.clean() self.response_ready = True def handle_cb(self, index): # This will be the sign format seen around building ex: 3.404 rospy.loginfo("handling cb") roomHuman = self._cb.currentText() # modify string into robot format ex: d3_404 splitHuman = roomHuman.split('.', 1) roomRobot = 'd' + splitHuman[0] + '_' + splitHuman[1] roomRobot = str(roomRobot) self.response = RoomDialogResponse(RoomDialogRequest.CB_RESPONSE, roomRobot) self.clean() self.response_ready = True def save_settings(self, plugin_settings, instance_settings): # TODO save intrinsic configuration, usually using: # instance_settings.set_value(k, v) pass def restore_settings(self, plugin_settings, instance_settings): # TODO restore intrinsic configuration, usually using: # v = instance_settings.value(k) pass
if __name__ == '__main__': import sys from python_qt_binding.QtGui import QApplication, QComboBox, QLineEdit, QMainWindow, QTreeView, QVBoxLayout, QWidget app = QApplication(sys.argv) mw = QMainWindow() widget = QWidget(mw) layout = QVBoxLayout(widget) edit = QLineEdit() edit_completer = TopicCompleter(edit) #edit_completer.setCompletionMode(QCompleter.InlineCompletion) edit.setCompleter(edit_completer) combo = QComboBox() combo.setEditable(True) combo_completer = TopicCompleter(combo) #combo_completer.setCompletionMode(QCompleter.InlineCompletion) combo.lineEdit().setCompleter(combo_completer) model_tree = QTreeView() model_tree.setModel(combo_completer.model()) model_tree.expandAll() for column in range(combo_completer.model().columnCount()): model_tree.resizeColumnToContents(column) completion_tree = QTreeView() completion_tree.setModel(combo_completer.completionModel()) completion_tree.expandAll() for column in range(combo_completer.completionModel().columnCount()):
def __init__(self, masteruri, parent=None): QDialog.__init__(self, parent) self.setWindowTitle('Select Binary') self.verticalLayout = QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.content = QWidget() self.contentLayout = QFormLayout(self.content) self.contentLayout.setVerticalSpacing(0) self.verticalLayout.addWidget(self.content) self.packages = None self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri package_label = QLabel("Package:", self.content) self.package_field = QComboBox(self.content) self.package_field.setInsertPolicy(QComboBox.InsertAlphabetically) self.package_field.setSizePolicy( QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.package_field.setEditable(True) self.contentLayout.addRow(package_label, self.package_field) binary_label = QLabel("Binary:", self.content) self.binary_field = QComboBox(self.content) self.binary_field.setSizePolicy( QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.binary_field.setEditable(True) self.contentLayout.addRow(binary_label, self.binary_field) self.buttonBox = QDialogButtonBox(self) self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel) self.buttonBox.setOrientation(Qt.Horizontal) self.buttonBox.setObjectName("buttonBox") self.verticalLayout.addWidget(self.buttonBox) self.package_field.setFocus(Qt.TabFocusReason) self.package = '' self.binary = '' self._request_bin_thread = None if self.packages is None: self.package_field.addItems(['packages searching...']) self.package_field.setCurrentIndex(0) # fill the input fields self.packages = { name: path for path, name in nm.nmd().file.get_packages( nmdurl.nmduri(masteruri)).items() } packages = self.packages.keys() packages.sort() self.package_field.clear() self.package_field.clearEditText() self.package_field.addItems(packages) self.buttonBox.accepted.connect(self.accept) self.buttonBox.rejected.connect(self.reject) QMetaObject.connectSlotsByName(self) self.package_field.activated[str].connect(self.on_package_selected) if hasattr(self.package_field, "textChanged"): # qt compatibility self.package_field.textChanged.connect(self.on_package_selected) self.binary_field.textChanged.connect(self.on_binary_selected) else: self.package_field.editTextChanged.connect( self.on_package_selected) self.binary_field.editTextChanged.connect(self.on_binary_selected)
class PackageDialog(QDialog): def __init__(self, masteruri, parent=None): QDialog.__init__(self, parent) self.setWindowTitle('Select Binary') self.verticalLayout = QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.content = QWidget() self.contentLayout = QFormLayout(self.content) self.contentLayout.setVerticalSpacing(0) self.verticalLayout.addWidget(self.content) self.packages = None self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri package_label = QLabel("Package:", self.content) self.package_field = QComboBox(self.content) self.package_field.setInsertPolicy(QComboBox.InsertAlphabetically) self.package_field.setSizePolicy( QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.package_field.setEditable(True) self.contentLayout.addRow(package_label, self.package_field) binary_label = QLabel("Binary:", self.content) self.binary_field = QComboBox(self.content) self.binary_field.setSizePolicy( QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.binary_field.setEditable(True) self.contentLayout.addRow(binary_label, self.binary_field) self.buttonBox = QDialogButtonBox(self) self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel) self.buttonBox.setOrientation(Qt.Horizontal) self.buttonBox.setObjectName("buttonBox") self.verticalLayout.addWidget(self.buttonBox) self.package_field.setFocus(Qt.TabFocusReason) self.package = '' self.binary = '' self._request_bin_thread = None if self.packages is None: self.package_field.addItems(['packages searching...']) self.package_field.setCurrentIndex(0) # fill the input fields self.packages = { name: path for path, name in nm.nmd().file.get_packages( nmdurl.nmduri(masteruri)).items() } packages = self.packages.keys() packages.sort() self.package_field.clear() self.package_field.clearEditText() self.package_field.addItems(packages) self.buttonBox.accepted.connect(self.accept) self.buttonBox.rejected.connect(self.reject) QMetaObject.connectSlotsByName(self) self.package_field.activated[str].connect(self.on_package_selected) if hasattr(self.package_field, "textChanged"): # qt compatibility self.package_field.textChanged.connect(self.on_package_selected) self.binary_field.textChanged.connect(self.on_binary_selected) else: self.package_field.editTextChanged.connect( self.on_package_selected) self.binary_field.editTextChanged.connect(self.on_binary_selected) def on_package_selected(self, package): getnew = False if self._request_bin_thread is None: getnew = True else: if self._request_bin_thread.pkgname != package: self._request_bin_thread.cancel() getnew = True if self._request_bin_thread is not None and self._request_bin_thread.pkgname == package: # use already got data self._request_bin_thread.reemit() elif getnew: self.binary_field.clear() if self.packages and package in self.packages: self.binary_field.setEnabled(True) self._request_bin_thread = RequestBinariesThread( package, nmdurl.nmduri(self.masteruri)) self._request_bin_thread.binaries_signal.connect( self._on_new_binaries) self._request_bin_thread.start() def _on_new_binaries(self, pkgname, binaries): # update the binaries binaries = [os.path.basename(item) for item in binaries.keys()] binaries = list(set(binaries)) binaries.sort() self.binary_field.addItems(binaries) self.package = pkgname self.binary = self.binary_field.currentText() def on_binary_selected(self, binary): self.binary = binary
class RunDialog(PackageDialog): ''' A dialog to run a ROS node without configuration ''' def __init__(self, host, masteruri=None, parent=None): PackageDialog.__init__(self, masteruri, parent) self.host = host self.setWindowTitle('Run') ns_name_label = QLabel("NS/Name:", self.content) self.ns_field = QComboBox(self.content) self.ns_field.setSizePolicy( QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.ns_field.setEditable(True) ns_history = nm.history().cachedParamValues('run_dialog/NS') ns_history.insert(0, '/') self.ns_field.addItems(ns_history) self.name_field = QLineEdit(self.content) self.name_field.setEnabled(False) horizontalLayout = QHBoxLayout() horizontalLayout.addWidget(self.ns_field) horizontalLayout.addWidget(self.name_field) self.contentLayout.addRow(ns_name_label, horizontalLayout) args_label = QLabel("Args:", self.content) self.args_field = QComboBox(self.content) self.args_field.setSizeAdjustPolicy( QComboBox.AdjustToMinimumContentsLength) self.args_field.setSizePolicy( QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.args_field.setEditable(True) self.contentLayout.addRow(args_label, self.args_field) args_history = nm.history().cachedParamValues('run_dialog/Args') args_history.insert(0, '') self.args_field.addItems(args_history) host_label = QLabel("Host:", self.content) self.host_field = QComboBox(self.content) self.host_field.setSizePolicy( QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.host_field.setEditable(True) host_label.setBuddy(self.host_field) self.contentLayout.addRow(host_label, self.host_field) self.host_history = host_history = nm.history().cachedParamValues( '/Host') if self.host in host_history: host_history.remove(self.host) host_history.insert(0, self.host) self.host_field.addItems(host_history) master_label = QLabel("ROS Master URI:", self.content) self.master_field = QComboBox(self.content) self.master_field.setSizePolicy( QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.master_field.setEditable(True) master_label.setBuddy(self.host_field) self.contentLayout.addRow(master_label, self.master_field) self.master_history = master_history = nm.history().cachedParamValues( '/Optional Parameter/ROS Master URI') if self.masteruri in master_history: master_history.remove(self.masteruri) master_history.insert(0, self.masteruri) self.master_field.addItems(master_history) self.binary_field.activated[str].connect(self.on_binary_selected) def run_params(self): ''' Runs the selected node, or do nothing. :return: a tuple with host, package, binary, name, args, maseruri or empty tuple on errors ''' self.binary = self.binary_field.currentText() self.host = self.host_field.currentText( ) if self.host_field.currentText() else self.host self.masteruri = self.master_field.currentText( ) if self.master_field.currentText() else self.masteruri if self.host not in self.host_history and self.host != 'localhost' and self.host != '127.0.0.1': nm.history().add2HostHistory(self.host) ns = self.ns_field.currentText() if ns and ns != '/': nm.history().addParamCache('run_dialog/NS', ns) args = self.args_field.currentText() if args: nm.history().addParamCache('run_dialog/Args', args) if self.package and self.binary: nm.history().addParamCache('/Host', self.host) return (self.host, self.package, self.binary, self.name_field.text(), ('__ns:=%s %s' % (ns, args)).split(' '), None if self.masteruri == 'ROS_MASTER_URI' else self.masteruri) return () def on_package_selected(self, package): PackageDialog.on_package_selected(self, package) if self.packages and package in self.packages: self.args_field.setEnabled(True) self.ns_field.setEnabled(True) self.name_field.setEnabled(True) root, _ext = os.path.splitext( os.path.basename(self.binary_field.currentText())) self.name_field.setText(root) def on_binary_selected(self, binary): root, _ext = os.path.splitext(os.path.basename(binary)) self.name_field.setText(root)
class QTopicWidget(QWidget): topic_changed_signal = Signal(str) def __init__(self, parent = None, topic_type = str(), is_action_topic = False): QWidget.__init__(self, parent) if is_action_topic: self.topic_type = topic_type + "Goal" else: self.topic_type = topic_type self.is_action_topic = is_action_topic # start widget hbox = QHBoxLayout() hbox.setMargin(0) hbox.setContentsMargins(0, 0, 0, 0) # topic combo box self.topic_combo_box = QComboBox() self.topic_combo_box.setEnabled(False) self.topic_combo_box.blockSignals(True) self.topic_combo_box.setValidator(QRegExpValidator(QRegExp('((\d|\w|/)(?!//))*'), self)) self.topic_combo_box.currentIndexChanged[str].connect(self.topic_changed) hbox.addWidget(self.topic_combo_box) # get system icon icon = QIcon.fromTheme("view-refresh") size = icon.actualSize(QSize(32, 32)) # add refresh button refresh_topics_button = QPushButton() refresh_topics_button.clicked.connect(self.update_topic_list) refresh_topics_button.setIcon(icon) refresh_topics_button.setFixedSize(size.width()+2, size.height()+2) hbox.addWidget(refresh_topics_button) # end widget self.setLayout(hbox) # init widget self.update_topic_list() def emit_topic_name(self): self.topic_changed_signal.emit(self.current_topic()) def set_editable(self, enable): self.topic_combo_box.setEditable(enable) def current_topic(self): if self.topic_combo_box.isEnabled(): return self.topic_combo_box.currentText() else: return "" @Slot(str) def topic_changed(self, topic_name): self.topic_changed_signal.emit(topic_name) @Slot() def update_topic_list(self): self.topic_combo_box.clear() self.topic_combo_box.setEnabled(False) self.topic_combo_box.blockSignals(True) self.topic_combo_box.addItem('Updating...') # get topic list _, _, topic_type = rospy.get_master().getTopicTypes() topic_dict = dict(topic_type) # filter list topic_dict_filtered = dict() for k, v in topic_dict.items(): if (len(topic_type) == 0) or (v == self.topic_type): if (self.is_action_topic): topic_dict_filtered[k[:-5]] = v else: topic_dict_filtered[k] = v self.topic_combo_box.clear() self.topic_combo_box.addItems(sorted(topic_dict_filtered.keys())) if (self.topic_combo_box.count() > 0): self.topic_combo_box.setEnabled(True) self.topic_combo_box.blockSignals(False) self.topic_changed(self.topic_combo_box.currentText()) else: self.topic_combo_box.addItem('No topics available!')
class PackageDialog(QDialog): def __init__(self, parent=None): QDialog.__init__(self, parent) self.setWindowTitle('Select Binary') self.verticalLayout = QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.content = QWidget() self.contentLayout = QFormLayout(self.content) self.contentLayout.setVerticalSpacing(0) self.verticalLayout.addWidget(self.content) self.packages = None package_label = QLabel("Package:", self.content) self.package_field = QComboBox(self.content) self.package_field.setInsertPolicy(QComboBox.InsertAlphabetically) self.package_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.package_field.setEditable(True) self.contentLayout.addRow(package_label, self.package_field) binary_label = QLabel("Binary:", self.content) self.binary_field = QComboBox(self.content) # self.binary_field.setSizeAdjustPolicy(QComboBox.AdjustToContents) self.binary_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.binary_field.setEditable(True) self.contentLayout.addRow(binary_label, self.binary_field) self.buttonBox = QDialogButtonBox(self) self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel) self.buttonBox.setOrientation(Qt.Horizontal) self.buttonBox.setObjectName("buttonBox") self.verticalLayout.addWidget(self.buttonBox) self.package_field.setFocus(Qt.TabFocusReason) self.package = '' self.binary = '' if self.packages is None: self.package_field.addItems(['packages searching...']) self.package_field.setCurrentIndex(0) self._fill_packages_thread = PackagesThread() self._fill_packages_thread.packages.connect(self._fill_packages) self._fill_packages_thread.start() self.buttonBox.accepted.connect(self.accept) self.buttonBox.rejected.connect(self.reject) QMetaObject.connectSlotsByName(self) self.package_field.activated[str].connect(self.on_package_selected) if hasattr(self.package_field, "textChanged"): # qt compatibility self.package_field.textChanged.connect(self.on_package_selected) self.binary_field.textChanged.connect(self.on_binary_selected) else: self.package_field.editTextChanged.connect(self.on_package_selected) self.binary_field.editTextChanged.connect(self.on_binary_selected) def _fill_packages(self, packages): # fill the input fields self.packages = packages packages = packages.keys() packages.sort() self.package_field.clear() self.package_field.clearEditText() self.package_field.addItems(packages) def _getBinaries(self, path): result = {} if os.path.isdir(path): fileList = os.listdir(path) for f in fileList: if f and f[0] != '.' and f not in ['build'] and not f.endswith('.cfg') and not f.endswith('.so'): ret = self._getBinaries(os.path.join(path, f)) result = dict(ret.items() + result.items()) elif os.path.isfile(path) and os.access(path, os.X_OK): # create a selection for binaries return {os.path.basename(path): path} return result def on_package_selected(self, package): self.binary_field.clear() if self.packages and package in self.packages: self.binary_field.setEnabled(True) path = self.packages[package] binaries = self._getBinaries(path).keys() try: # find binaries in catkin workspace from catkin.find_in_workspaces import find_in_workspaces as catkin_find search_paths = catkin_find(search_dirs=['libexec', 'share'], project=package, first_matching_workspace_only=True) for p in search_paths: binaries += self._getBinaries(p).keys() except: pass binaries = list(set(binaries)) binaries.sort() self.binary_field.addItems(binaries) self.package = package self.binary = self.binary_field.currentText() def on_binary_selected(self, binary): self.binary = binary
class SyncDialog(QDialog): ''' A dialog to set the sync options. ''' def __init__(self, parent=None): QDialog.__init__(self, parent) # self.host = host self.setWindowIcon(QIcon(":/icons/irondevil_sync.png")) self.setWindowTitle('Sync') self.verticalLayout = QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.resize(350, 190) self.toolButton_SyncAll = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(2) sizePolicy.setHeightForWidth(self.toolButton_SyncAll.sizePolicy().hasHeightForWidth()) self.toolButton_SyncAll.setSizePolicy(sizePolicy) self.toolButton_SyncAll.setObjectName("toolButton_SyncAll") self.verticalLayout.addWidget(self.toolButton_SyncAll) self.toolButton_SyncAll.setText(self._translate("Sync All")) self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked) # self.toolButton_SyncAllAnyMsg = QToolButton(self) # sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) # sizePolicy.setHorizontalStretch(0) # sizePolicy.setVerticalStretch(1) # sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth()) # self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy) # self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg") # self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg) # self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)")) # self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked) self.toolButton_SyncTopicOnDemand = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth(self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth()) self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy) self.toolButton_SyncTopicOnDemand.setObjectName("toolButton_SyncTopicOnDemand") self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand) self.toolButton_SyncTopicOnDemand.setText(self._translate("Sync only topics on demand")) self.toolButton_SyncTopicOnDemand.clicked.connect(self._on_sync_topics_on_demand_clicked) self.toolButton_SelectInterface = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth(self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth()) self.toolButton_SelectInterface.setSizePolicy(sizePolicy) self.toolButton_SelectInterface.setObjectName("toolButton_SelectInterface") self.verticalLayout.addWidget(self.toolButton_SelectInterface) self.toolButton_SelectInterface.setText(self._translate("Select an interface")) self.toolButton_SelectInterface.clicked.connect(self._on_select_interface_clicked) self.interface_field = QComboBox(self) self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically) self.interface_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.interface_field.setEditable(True) self.interface_field.setVisible(False) self.interface_field.setObjectName("interface_field") self.verticalLayout.addWidget(self.interface_field) self.interface_field.currentIndexChanged[str].connect(self._on_interface_selected) self.toolButton_EditInterface = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth(self.toolButton_EditInterface.sizePolicy().hasHeightForWidth()) self.toolButton_EditInterface.setSizePolicy(sizePolicy) self.toolButton_EditInterface.setObjectName("toolButton_EditInterface") self.verticalLayout.addWidget(self.toolButton_EditInterface) self.toolButton_EditInterface.setText(self._translate("Edit selected interface")) self.toolButton_EditInterface.clicked.connect(self._on_edit_interface_clicked) self.toolButton_EditInterface.setVisible(False) self.toolButton_CreateInterface = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth(self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth()) self.toolButton_CreateInterface.setSizePolicy(sizePolicy) self.toolButton_CreateInterface.setObjectName("toolButton_CreateInterface") self.verticalLayout.addWidget(self.toolButton_CreateInterface) self.toolButton_CreateInterface.setText(self._translate("Create an interface")) self.toolButton_CreateInterface.clicked.connect(self._on_create_interface_clicked) self.toolButton_CreateInterface.setVisible(False) self.textedit = TextEdit('', self) self.hl = SyncHighlighter(self.textedit.document()) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) self.textedit.setSizePolicy(sizePolicy) self.textedit.setObjectName("syncedit") self.verticalLayout.addWidget(self.textedit) self.textedit.setVisible(False) self._fill_interface_thread = None self._interfaces_files = None self._sync_args = [] self._interface_filename = None self.buttonBox = QDialogButtonBox(self) self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel) self.buttonBox.setOrientation(Qt.Horizontal) self.buttonBox.setObjectName("buttonBox") self.verticalLayout.addWidget(self.buttonBox) self.buttonBox.accepted.connect(self.accept) self.buttonBox.rejected.connect(self.reject) self._new_iface = True def _translate(self, text): if hasattr(QApplication, "UnicodeUTF8"): return QApplication.translate("Form", text, None, QApplication.UnicodeUTF8) else: return QApplication.translate("Form", text, None) @property def sync_args(self): return self._sync_args @property def interface_filename(self): return self._interface_filename def _on_sync_all_clicked(self): self.setResult(QDialog.Accepted) self._sync_args = [] self._sync_args.append(''.join(['_interface_url:=', "'.'"])) self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'False'])) self._sync_args.append(''.join(['_ignore_hosts:=', '[]'])) self._sync_args.append(''.join(['_sync_hosts:=', '[]'])) self._sync_args.append(''.join(['_ignore_nodes:=', '[]'])) self._sync_args.append(''.join(['_sync_nodes:=', '[]'])) self._sync_args.append(''.join(['_ignore_topics:=', '[]'])) self._sync_args.append(''.join(['_ignore_publishers:=', '[]'])) self._sync_args.append(''.join(['_ignore_subscribers:=', '[]'])) self._sync_args.append(''.join(['_sync_topics:=', '[]'])) self._sync_args.append(''.join(['_ignore_services:=', '[]'])) self._sync_args.append(''.join(['_sync_services:=', '[]'])) self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False'])) self._interface_filename = None self.accept() # def _on_sync_all_anymsg_clicked(self): # self._sync_args = [] # self._sync_args.append(''.join(['_interface_url:=', "'.'"])) # self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True'])) # self._sync_args.append(''.join(['_ignore_hosts:=', '[]'])) # self._sync_args.append(''.join(['_sync_hosts:=', '[]'])) # self._sync_args.append(''.join(['_ignore_nodes:=', '[]'])) # self._sync_args.append(''.join(['_sync_nodes:=', '[]'])) # self._sync_args.append(''.join(['_ignore_topics:=', '[]'])) # self._sync_args.append(''.join(['_sync_topics:=', '[/*]'])) # self._sync_args.append(''.join(['_ignore_services:=', '[]'])) # self._sync_args.append(''.join(['_sync_services:=', '[]'])) # self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False'])) # self._interface_filename = None # self.accept() def _on_sync_topics_on_demand_clicked(self): self._sync_args = [] self._sync_args.append(''.join(['_interface_url:=', "'.'"])) self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True'])) self._sync_args.append(''.join(['_ignore_hosts:=', '[]'])) self._sync_args.append(''.join(['_sync_hosts:=', '[]'])) self._sync_args.append(''.join(['_ignore_nodes:=', '[]'])) self._sync_args.append(''.join(['_sync_nodes:=', '[]'])) self._sync_args.append(''.join(['_ignore_topics:=', '[]'])) self._sync_args.append(''.join(['_ignore_publishers:=', '[]'])) self._sync_args.append(''.join(['_ignore_subscribers:=', '[]'])) self._sync_args.append(''.join(['_sync_topics:=', '[/only_on_demand]'])) self._sync_args.append(''.join(['_ignore_services:=', '[/*]'])) self._sync_args.append(''.join(['_sync_services:=', '[]'])) self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False'])) self._interface_filename = None self.accept() def _on_select_interface_clicked(self): self.toolButton_SyncAll.setVisible(False) # self.toolButton_SyncAllAnyMsg.setVisible(False) self.toolButton_SyncTopicOnDemand.setVisible(False) self.toolButton_SelectInterface.setVisible(False) self.interface_field.setVisible(True) self.toolButton_CreateInterface.setVisible(True) self.toolButton_EditInterface.setVisible(True) self.toolButton_EditInterface.setEnabled(False) self.textedit.setVisible(False) # # fill the interfaces if self._interfaces_files is None: self.interface_field.addItems(['interface searching...']) self.interface_field.setCurrentIndex(0) self._fill_interface_thread = InterfacesThread() self._fill_interface_thread.interfaces.connect(self._fill_interfaces) self._fill_interface_thread.start() else: self.toolButton_EditInterface.setEnabled(self.interface_field.currentText() in self._interfaces_files) self.buttonBox.clear() self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel) self.interface_field.setFocus(Qt.TabFocusReason) self.resize(350, 80) def _fill_interfaces(self, interfaces_files): self._interfaces_files = interfaces_files self.interface_field.clear() self.interface_field.clearEditText() self.interface_field.addItems(self._interfaces_files.keys()) def _on_interface_selected(self, interface): if self._interfaces_files and interface in self._interfaces_files: self._sync_args = [] self._sync_args.append(''.join(['_interface_url:=', interface])) self.toolButton_EditInterface.setEnabled(True) else: self.toolButton_EditInterface.setEnabled(False) def accept(self): if self.textedit.isVisible(): try: tmp_file = os.path.join(nm.screen().LOG_PATH, 'tmp_sync_interface.sync') with open(tmp_file, 'w+') as f: f.write(self.textedit.toPlainText()) from master_discovery_fkie.common import read_interface read_interface(tmp_file) if not self._new_iface and self.interface_field.currentText() in self._interfaces_files: fileName = self._interfaces_files[self.interface_field.currentText()] else: fileName, _ = QFileDialog.getSaveFileName(self, 'Save sync interface', '/home', "Sync Files (*.sync)") if fileName: with open(fileName, 'w+') as f: self._interface_filename = fileName f.write(self.textedit.toPlainText()) if self._new_iface: self.interface_field.clear() self._interfaces_files = None self._on_select_interface_clicked() # QDialog.accept(self) # self.resetView() except Exception as e: MessageBox.warning(self, "Create sync interface", "Error while create interface", utf8(e)) elif self.interface_field.isVisible(): interface = self.interface_field.currentText() if self._interfaces_files and interface in self._interfaces_files: self._interface_filename = self._interfaces_files[interface] self._sync_args = [] self._sync_args.append(''.join(['_interface_url:=', interface])) QDialog.accept(self) self.resetView() else: QDialog.accept(self) self.resetView() def reject(self): if self.textedit.isVisible(): self._on_select_interface_clicked() else: QDialog.reject(self) self.resetView() def _on_create_interface_clicked(self): self._new_iface = True self.interface_field.setVisible(False) self.toolButton_CreateInterface.setVisible(False) self.toolButton_EditInterface.setVisible(False) self.textedit.setVisible(True) self.textedit.setText("# The ignore_* lists will be processed first.\n" "# For ignore/sync nodes, topics or services\n" "# use follow declaration:\n" "#{param name}: \n" "# - {ros name}\n" "# or for selected hosts:\n" "# - {host name}:\n" "# - {ros name}\n\n" "# you can use follow wildcard: '*', but not as a first character\n" "ignore_hosts:\n" "sync_hosts:\n\n" "ignore_nodes:\n" "sync_nodes:\n\n" "ignore_topics:\n" "ignore_publishers:\n" "ignore_subscribers:\n" "sync_topics:\n\n" "ignore_services:\n" " - /*get_loggers\n" " - /*set_logger_level\n" "sync_services:\n\n" "# If sync_topics_on_demand is True the local subscribed and published topics\n" "# are synchronized with remote even if they are not in the sync_* list.\n" "sync_topics_on_demand: False\n\n" "# The nodes which are running not at the same host as the ROS master are not\n" "# synchronized by default. Use sync_remote_nodes to sync these nodes also.\n" "sync_remote_nodes: False\n\n" ) self.resize(350, 300) def _on_edit_interface_clicked(self): self._new_iface = False self.interface_field.setVisible(False) self.toolButton_CreateInterface.setVisible(False) self.toolButton_EditInterface.setVisible(False) self.textedit.setVisible(True) if self.interface_field.currentText() in self._interfaces_files: try: with open(self._interfaces_files[self.interface_field.currentText()], 'rw') as f: iface = f.read() self.textedit.setText(iface) except Exception as e: MessageBox.warning(self, "Edit sync interface", "Error while open interface", utf8(e)) self.resize(350, 300) def resetView(self): self.toolButton_SyncAll.setVisible(True) # self.toolButton_SyncAllAnyMsg.setVisible(True) self.toolButton_SyncTopicOnDemand.setVisible(True) self.toolButton_SelectInterface.setVisible(True) self.interface_field.setVisible(False) self.toolButton_CreateInterface.setVisible(False) self.toolButton_EditInterface.setVisible(False) self.textedit.setVisible(False) self.buttonBox.clear() self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel) self.resize(350, 160)
class RunDialog(PackageDialog): ''' A dialog to run a ROS node without configuration ''' def __init__(self, host, masteruri=None, parent=None): PackageDialog.__init__(self, parent) self.host = host self.setWindowTitle('Run') ns_name_label = QLabel("NS/Name:", self.content) self.ns_field = QComboBox(self.content) self.ns_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.ns_field.setEditable(True) ns_history = nm.history().cachedParamValues('run_dialog/NS') ns_history.insert(0, '/') self.ns_field.addItems(ns_history) self.name_field = QLineEdit(self.content) self.name_field.setEnabled(False) horizontalLayout = QHBoxLayout() horizontalLayout.addWidget(self.ns_field) horizontalLayout.addWidget(self.name_field) self.contentLayout.addRow(ns_name_label, horizontalLayout) args_label = QLabel("Args:", self.content) self.args_field = QComboBox(self.content) self.args_field.setSizeAdjustPolicy(QComboBox.AdjustToMinimumContentsLength) self.args_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.args_field.setEditable(True) self.contentLayout.addRow(args_label, self.args_field) args_history = nm.history().cachedParamValues('run_dialog/Args') args_history.insert(0, '') self.args_field.addItems(args_history) host_label = QLabel("Host:", self.content) self.host_field = QComboBox(self.content) # self.host_field.setSizeAdjustPolicy(QComboBox.AdjustToContents) self.host_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.host_field.setEditable(True) host_label.setBuddy(self.host_field) self.contentLayout.addRow(host_label, self.host_field) self.host_history = host_history = nm.history().cachedParamValues('/Host') if self.host in host_history: host_history.remove(self.host) host_history.insert(0, self.host) self.host_field.addItems(host_history) master_label = QLabel("ROS Master URI:", self.content) self.master_field = QComboBox(self.content) self.master_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.master_field.setEditable(True) master_label.setBuddy(self.host_field) self.contentLayout.addRow(master_label, self.master_field) self.master_history = master_history = nm.history().cachedParamValues('/Optional Parameter/ROS Master URI') self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri if self.masteruri in master_history: master_history.remove(self.masteruri) master_history.insert(0, self.masteruri) self.master_field.addItems(master_history) # self.package_field.setFocus(QtCore.Qt.TabFocusReason) if hasattr(self.package_field, "textChanged"): # qt compatibility self.package_field.textChanged.connect(self.on_package_selected) else: self.package_field.editTextChanged.connect(self.on_package_selected) self.binary_field.activated[str].connect(self.on_binary_selected) def run_params(self): ''' Runs the selected node, or do nothing. :return: a tuple with host, package, binary, name, args, maseruri or empty tuple on errors ''' self.binary = self.binary_field.currentText() self.host = self.host_field.currentText() if self.host_field.currentText() else self.host self.masteruri = self.master_field.currentText() if self.master_field.currentText() else self.masteruri if self.host not in self.host_history and self.host != 'localhost' and self.host != '127.0.0.1': nm.history().add2HostHistory(self.host) ns = self.ns_field.currentText() if ns and ns != '/': nm.history().addParamCache('run_dialog/NS', ns) args = self.args_field.currentText() if args: nm.history().addParamCache('run_dialog/Args', args) if self.package and self.binary: nm.history().addParamCache('/Host', self.host) return (self.host, self.package, self.binary, self.name_field.text(), ('__ns:=%s %s' % (ns, args)).split(' '), None if self.masteruri == 'ROS_MASTER_URI' else self.masteruri) return () def on_package_selected(self, package): PackageDialog.on_package_selected(self, package) if self.packages and package in self.packages: self.args_field.setEnabled(True) self.ns_field.setEnabled(True) self.name_field.setEnabled(True) root, _ext = os.path.splitext(os.path.basename(self.binary_field.currentText())) self.name_field.setText(root) def on_binary_selected(self, binary): root, _ext = os.path.splitext(os.path.basename(binary)) self.name_field.setText(root)
def __init__(self, context): self.control_mode = 0 self.mode_pub = rospy.Publisher('/flor/controller/mode_command', VigirControlModeCommand, queue_size=10) self._widget = context self.vbox = QVBoxLayout() #Add input for setting the spindle speed list_label = QLabel("Select Control Mode") self.vbox.addWidget(list_label) # Indexed list of allowed control modes from feedback self.allowed_modes = rospy.get_param("/atlas_controller/allowed_control_modes") self.allowed_modes=rospy.get_param("/atlas_controller/allowed_control_modes") self.mode_ids={} self.mode_ids for ndx,txt in enumerate(self.allowed_modes): self.mode_ids[txt] = ndx # API 2.13 ordering self.bdi_mode_names=['NONE ', 'FREEZE ', 'STAND_PREP ', \ 'STAND ', 'WALK ', 'STEP ', 'MANIPULATE ', \ 'USER ', 'CALIBRATE '] self.list_box = QListWidget(None) self.list_box.addItems(self.allowed_modes) self.list_box.currentItemChanged.connect(self.handle_selection_change) self.vbox.addWidget(self.list_box) self.selection_label = QLabel("Flor Selected: "+self.allowed_modes[0]+"("+str(self.control_mode)+")") self.vbox.addWidget(self.selection_label) self.label = QLabel("Flor Command : "+self.allowed_modes[0]+"("+str(self.control_mode)+")") self.vbox.addWidget(self.label) self.flor_mode = 0 self.bdi_current_mode = 0 self.bdi_desired_mode = 0 self.flor_mode_label = QLabel("Flor Mode : "+self.allowed_modes[self.flor_mode]+"("+str(self.flor_mode)+")"+" BDI:("+str(self.bdi_current_mode)+", "+str(self.bdi_desired_mode)+")") self.vbox.addWidget(self.flor_mode_label) #Add combo box for available settings self.available_modes = QComboBox(); self.available_modes.addItem(""); self.available_modes.addItem("BDI"); self.available_modes.addItem("Enable Upper Body"); self.available_modes.addItem("Enable Whole Body"); self.available_modes.currentIndexChanged.connect(self.handle_avail_modes_changed) self.vbox.addWidget(self.available_modes); self.vbox.addStretch(1) #Add Button for sending the behavior mode command self.push_button = QPushButton("Set Mode") self.push_button.clicked.connect(self.handle_set_mode) self.vbox.addWidget(self.push_button) self.vbox.addStretch(1) hbox = QHBoxLayout() hbox.addStretch(1) self.stop_enable= QCheckBox() self.stop_enable.setChecked(False) hbox.addWidget(self.stop_enable) self.stop_enable.clicked.connect(self.handle_stop_enable) self.stop_button = QPushButton("STOP!") self.stop_button.clicked.connect(self.handle_stop) self.stop_button.setStyleSheet('QPushButton {background-color: gray }') hbox.addWidget(self.stop_button) hbox.addStretch(1) self.vbox.addLayout(hbox) self._widget.setLayout(self.vbox) #add stretch at end so all GUI elements are at top of dialog self.vbox.addStretch(1) self.flor_mode_cmd_sub = rospy.Subscriber("/flor/controller/mode", FlorControlMode, self.florModeCallback)
def __init__(self, topic, msg_type, show_only_rate=False, masteruri=None, use_ssh=False, parent=None): ''' Creates an input dialog. @param topic: the name of the topic @type topic: C{str} @param msg_type: the type of the topic @type msg_type: C{str} @raise Exception: if no topic class was found for the given type ''' QDialog.__init__(self, parent=parent) self._masteruri = masteruri masteruri_str = '' if masteruri is None else '[%s]' % masteruri self.setObjectName(' - '.join(['EchoDialog', topic, masteruri_str])) self.setAttribute(Qt.WA_DeleteOnClose, True) self.setWindowFlags(Qt.Window) self.setWindowTitle('%s %s %s' % ('Echo --- ' if not show_only_rate else 'Hz --- ', topic, masteruri_str)) self.resize(728, 512) self.verticalLayout = QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.verticalLayout.setContentsMargins(1, 1, 1, 1) self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png") self.setWindowIcon(self.mIcon) self.topic = topic self.show_only_rate = show_only_rate self.lock = threading.RLock() self.last_printed_count = 0 self.msg_t0 = -1. self.msg_tn = 0 self.times = [] self.message_count = 0 self._rate_message = '' self._scrapped_msgs = 0 self._scrapped_msgs_sl = 0 self._last_received_ts = 0 self.receiving_hz = self.MESSAGE_HZ_LIMIT self.line_limit = self.MESSAGE_LINE_LIMIT self.field_filter_fn = None options = QWidget(self) if not show_only_rate: hLayout = QHBoxLayout(options) hLayout.setContentsMargins(1, 1, 1, 1) self.no_str_checkbox = no_str_checkbox = QCheckBox('Hide strings') no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled) hLayout.addWidget(no_str_checkbox) self.no_arr_checkbox = no_arr_checkbox = QCheckBox('Hide arrays') no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled) hLayout.addWidget(no_arr_checkbox) self.combobox_reduce_ch = QComboBox(self) self.combobox_reduce_ch.addItems( [str(self.MESSAGE_LINE_LIMIT), '0', '80', '256', '1024']) self.combobox_reduce_ch.activated[str].connect( self.combobox_reduce_ch_activated) self.combobox_reduce_ch.setEditable(True) self.combobox_reduce_ch.setToolTip( "Set maximum line width. 0 disables the limit.") hLayout.addWidget(self.combobox_reduce_ch) # reduce_ch_label = QLabel('ch', self) # hLayout.addWidget(reduce_ch_label) # add spacer spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum) hLayout.addItem(spacerItem) # add combobox for displaying frequency of messages self.combobox_displ_hz = QComboBox(self) self.combobox_displ_hz.addItems([ str(self.MESSAGE_HZ_LIMIT), '0', '0.1', '1', '50', '100', '1000' ]) self.combobox_displ_hz.activated[str].connect( self.on_combobox_hz_activated) self.combobox_displ_hz.setEditable(True) hLayout.addWidget(self.combobox_displ_hz) displ_hz_label = QLabel('Hz', self) hLayout.addWidget(displ_hz_label) # add combobox for count of displayed messages self.combobox_msgs_count = QComboBox(self) self.combobox_msgs_count.addItems( [str(self.MAX_DISPLAY_MSGS), '0', '50', '100']) self.combobox_msgs_count.activated[str].connect( self.on_combobox_count_activated) self.combobox_msgs_count.setEditable(True) self.combobox_msgs_count.setToolTip( "Set maximum displayed message count. 0 disables the limit.") hLayout.addWidget(self.combobox_msgs_count) displ_count_label = QLabel('#', self) hLayout.addWidget(displ_count_label) # add topic control button for unsubscribe and subscribe self.topic_control_button = QToolButton(self) self.topic_control_button.setText('stop') self.topic_control_button.setIcon( QIcon(':/icons/deleket_deviantart_stop.png')) self.topic_control_button.clicked.connect( self.on_topic_control_btn_clicked) hLayout.addWidget(self.topic_control_button) # add clear button clearButton = QToolButton(self) clearButton.setText('clear') clearButton.clicked.connect(self.on_clear_btn_clicked) hLayout.addWidget(clearButton) self.verticalLayout.addWidget(options) self.display = QTextBrowser(self) self.display.setReadOnly(True) self.verticalLayout.addWidget(self.display) self.display.document().setMaximumBlockCount(500) self.max_displayed_msgs = self.MAX_DISPLAY_MSGS self._blocks_in_msg = None self.display.setOpenLinks(False) self.display.anchorClicked.connect(self._on_display_anchorClicked) self.status_label = QLabel('0 messages', self) self.verticalLayout.addWidget(self.status_label) # subscribe to the topic errmsg = '' try: self.__msg_class = message.get_message_class(msg_type) if not self.__msg_class: errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type # raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type) except Exception as e: self.__msg_class = None errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % ( msg_type, e) # raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e)) # variables for Subscriber self.msg_signal.connect(self._append_message) self.sub = None # vairables for SSH connection self.ssh_output_file = None self.ssh_error_file = None self.ssh_input_file = None self.text_signal.connect(self._append_text) self.text_hz_signal.connect(self._append_text_hz) self._current_msg = '' self._current_errmsg = '' self.text_error_signal.connect(self._append_error_text) # decide, which connection to open if use_ssh: self.__msg_class = None self._on_display_anchorClicked(QUrl(self._masteruri)) elif self.__msg_class is None: errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % ( errmsg) self.display.setText('<a href="%s">open using SSH</a>' % (masteruri)) self.display.append(errtxt) else: self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle) self.print_hz_timer = QTimer() self.print_hz_timer.timeout.connect(self._on_calc_hz) self.print_hz_timer.start(1000)
def __init__(self, context): #super(FootstepParamControlDialog, self).__init__(context) #self.setObjectName('FootstepParamControlDialog') super(FootstepParamControlWidget, self).__init__() self.name = 'FootstepParamControlWidget' #self._widget = QWidget() self._widget = context vbox = QVBoxLayout() ### STEP_COST_ESTIMATOR ######## self.step_cost_vbox = QVBoxLayout() self.step_cost_groupbox = QGroupBox( "Step Cost Estimator" ) self.step_cost_groupbox.setCheckable( True ) self.step_cost_groupbox.setChecked(False) self.step_cost_combobox = QComboBox() self.step_cost_combobox.addItem( "Euclidean" ) self.step_cost_combobox.addItem( "GPR" ) self.step_cost_combobox.addItem( "Map" ) self.step_cost_combobox.addItem( "Boundary" ) self.step_cost_combobox.addItem( "Dynamics" ) self.step_cost_vbox.addWidget( self.step_cost_combobox ) self.step_cost_groupbox.setLayout( self.step_cost_vbox ) vbox.addWidget( self.step_cost_groupbox ) # #HARD ### FOOTSTEP_SET ######## # # parameters for discret footstep planning mode # vigir_atlas_control_msgs/VigirBehaviorStepData[] footstep_set # set of footsteps (displacement vectors (in meter / rad)) # float32[] footstep_cost # cost for each footstep given in footstep set # # #HARD ### LOAD_GPR_STEP_COST ######## # # map step cost file # std_msgs/String map_step_cost_file # # #HARD ### LOAD_MAP_STEP_COST ######## # # destination of gpr file # std_msgs/String gpr_step_cost_file ### COLLISION_CHECK_TYPE ######## self.collision_check_groupbox = QGroupBox( "Collision Check Type" ) self.collision_check_groupbox.setCheckable( True ) self.collision_check_groupbox.setChecked( False) self.collision_check_vbox = QVBoxLayout() self.collision_check_feet_checkbox = QCheckBox( "Feet" ) self.collision_check_vbox.addWidget( self.collision_check_feet_checkbox ) self.collision_check_ub_checkbox = QCheckBox( "Upper Body" ) self.collision_check_vbox.addWidget( self.collision_check_ub_checkbox ) self.collision_check_fc_checkbox = QCheckBox( "Foot Contact Support" ) self.collision_check_vbox.addWidget( self.collision_check_fc_checkbox ) self.collision_check_groupbox.setLayout( self.collision_check_vbox ) vbox.addWidget( self.collision_check_groupbox ) ### FOOT_SIZE ######## self.foot_size_vbox = QVBoxLayout() self.foot_size_groupbox = QGroupBox( "Foot Size" ) self.foot_size_groupbox.setCheckable( True ) self.foot_size_groupbox.setChecked( False ) self.foot_size_hbox = QHBoxLayout() self.foot_size_label = QLabel("Foot Size") self.foot_size_hbox.addWidget( self.foot_size_label ) self.foot_size_x = QDoubleSpinBox() self.foot_size_x.setSingleStep(.01) self.foot_size_hbox.addWidget(self.foot_size_x) self.foot_size_y = QDoubleSpinBox() self.foot_size_y.setSingleStep(.01) self.foot_size_hbox.addWidget(self.foot_size_y) self.foot_size_z = QDoubleSpinBox() self.foot_size_z.setSingleStep(.01) self.foot_size_hbox.addWidget(self.foot_size_z) self.foot_size_vbox.addLayout( self.foot_size_hbox ) self.foot_shift_hbox = QHBoxLayout() self.foot_shift_label = QLabel("Foot Origin Shift") self.foot_shift_hbox.addWidget( self.foot_shift_label ) self.foot_shift_x = QDoubleSpinBox() self.foot_shift_x.setRange(-1.0, 1.0) self.foot_shift_x.setSingleStep(.01) self.foot_shift_hbox.addWidget(self.foot_shift_x) self.foot_shift_y = QDoubleSpinBox() self.foot_shift_y.setRange(-1.0, 1.0) self.foot_shift_y.setSingleStep(.01) self.foot_shift_hbox.addWidget(self.foot_shift_y) self.foot_shift_z = QDoubleSpinBox() self.foot_shift_z.setRange(-1.0, 1.0) self.foot_shift_z.setSingleStep(.01) self.foot_shift_hbox.addWidget(self.foot_shift_z) self.foot_size_vbox.addLayout( self.foot_shift_hbox ) self.foot_size_groupbox.setLayout( self.foot_size_vbox ) vbox.addWidget( self.foot_size_groupbox ) ### UPPER_BODY_SIZE ######## self.upper_vbox = QVBoxLayout() self.upper_groupbox = QGroupBox( "Upper Body Size" ) self.upper_groupbox.setCheckable( True ) self.upper_groupbox.setChecked( False ) self.upper_size_hbox = QHBoxLayout() self.upper_size_label = QLabel("Upper Body Size") self.upper_size_hbox.addWidget( self.upper_size_label ) self.upper_size_x = QDoubleSpinBox() self.upper_size_x.setSingleStep(.01) self.upper_size_hbox.addWidget(self.upper_size_x) self.upper_size_y = QDoubleSpinBox() self.upper_size_y.setSingleStep(.01) self.upper_size_hbox.addWidget(self.upper_size_y) self.upper_size_z = QDoubleSpinBox() self.upper_size_z.setSingleStep(.01) self.upper_size_hbox.addWidget(self.upper_size_z) self.upper_vbox.addLayout( self.upper_size_hbox ) self.upper_origin_hbox = QHBoxLayout() self.upper_origin_label = QLabel("Upper Body Origin") self.upper_origin_hbox.addWidget( self.upper_origin_label ) self.upper_origin_x = QDoubleSpinBox() self.upper_origin_x.setRange(-1.0, 1.0) self.upper_origin_x.setSingleStep(.01) self.upper_origin_hbox.addWidget(self.upper_origin_x) self.upper_origin_y = QDoubleSpinBox() self.upper_origin_y.setRange(-1.0, 1.0) self.upper_origin_y.setSingleStep(.01) self.upper_origin_hbox.addWidget(self.upper_origin_y) self.upper_origin_z = QDoubleSpinBox() self.upper_origin_z.setRange(-1.0, 1.0) self.upper_origin_z.setSingleStep(.01) self.upper_origin_hbox.addWidget(self.upper_origin_z) self.upper_vbox.addLayout( self.upper_origin_hbox ) self.upper_groupbox.setLayout( self.upper_vbox ) vbox.addWidget( self.upper_groupbox ) ### TERRAIN_MODEL ######## self.terrain_model_groupbox = QGroupBox( "Terrain Model" ) self.terrain_model_groupbox.setCheckable( True ) self.terrain_model_groupbox.setChecked( False ) self.terrain_model_vbox = QVBoxLayout() self.terrain_model_checkbox = QCheckBox( "Use Terrain Model" ) self.terrain_model_vbox.addWidget( self.terrain_model_checkbox ) self.terrain_min_ssx_hbox = QHBoxLayout() self.terrain_min_ssx_label = QLabel("Min Sampling Steps x") self.terrain_min_ssx_hbox.addWidget( self.terrain_min_ssx_label ) self.terrain_min_ssx_val = QDoubleSpinBox() self.terrain_min_ssx_val.setSingleStep(1) self.terrain_min_ssx_val.setRange(0,100) self.terrain_min_ssx_hbox.addWidget( self.terrain_min_ssx_val ) self.terrain_model_vbox.addLayout( self.terrain_min_ssx_hbox ) self.terrain_min_ssy_hbox = QHBoxLayout() self.terrain_min_ssy_label = QLabel("Min Sampling Steps y") self.terrain_min_ssy_hbox.addWidget( self.terrain_min_ssy_label ) self.terrain_min_ssy_val = QDoubleSpinBox() self.terrain_min_ssy_val.setSingleStep(1) self.terrain_min_ssy_val.setRange(0,100) self.terrain_min_ssy_hbox.addWidget( self.terrain_min_ssy_val ) self.terrain_model_vbox.addLayout( self.terrain_min_ssy_hbox ) self.terrain_max_ssx_hbox = QHBoxLayout() self.terrain_max_ssx_label = QLabel("Max Sampling Steps x") self.terrain_max_ssx_hbox.addWidget( self.terrain_max_ssx_label ) self.terrain_max_ssx_val = QDoubleSpinBox() self.terrain_max_ssx_val.setSingleStep(1) self.terrain_max_ssx_val.setRange(0,100) self.terrain_max_ssx_hbox.addWidget( self.terrain_max_ssx_val ) self.terrain_model_vbox.addLayout( self.terrain_max_ssx_hbox ) self.terrain_max_ssy_hbox = QHBoxLayout() self.terrain_max_ssy_label = QLabel("Max Sampling Steps y") self.terrain_max_ssy_hbox.addWidget( self.terrain_max_ssy_label ) self.terrain_max_ssy_val = QDoubleSpinBox() self.terrain_max_ssy_val.setSingleStep(1) self.terrain_max_ssy_val.setRange(0,100) self.terrain_max_ssy_hbox.addWidget( self.terrain_max_ssy_val ) self.terrain_model_vbox.addLayout( self.terrain_max_ssy_hbox ) self.terrain_max_iz_hbox = QHBoxLayout() self.terrain_max_iz_label = QLabel("Max Intrusion z") self.terrain_max_iz_hbox.addWidget( self.terrain_max_iz_label ) self.terrain_max_iz_val = QDoubleSpinBox() self.terrain_max_iz_val.setDecimals(4) self.terrain_max_iz_val.setSingleStep(.0001) self.terrain_max_iz_val.setRange(0,.25) self.terrain_max_iz_hbox.addWidget( self.terrain_max_iz_val ) self.terrain_model_vbox.addLayout( self.terrain_max_iz_hbox ) self.terrain_max_gc_hbox = QHBoxLayout() self.terrain_max_gc_label = QLabel("Max Ground Clearance") self.terrain_max_gc_hbox.addWidget( self.terrain_max_gc_label ) self.terrain_max_gc_val = QDoubleSpinBox() self.terrain_max_gc_val.setDecimals(4) self.terrain_max_gc_val.setSingleStep(.0001) self.terrain_max_gc_val.setRange(0,.25) self.terrain_max_gc_hbox.addWidget( self.terrain_max_gc_val ) self.terrain_model_vbox.addLayout( self.terrain_max_gc_hbox ) self.terrain_ms_hbox = QHBoxLayout() self.terrain_ms_label = QLabel("Minimal Support") self.terrain_ms_hbox.addWidget( self.terrain_ms_label ) self.terrain_ms_val = QDoubleSpinBox() self.terrain_ms_val.setDecimals(2) self.terrain_ms_val.setSingleStep(.01) self.terrain_ms_val.setRange(0,1) self.terrain_ms_hbox.addWidget( self.terrain_ms_val ) self.terrain_model_vbox.addLayout( self.terrain_ms_hbox ) self.terrain_model_groupbox.setLayout( self.terrain_model_vbox ) vbox.addWidget( self.terrain_model_groupbox ) ### STANDARD_STEP_PARAMS ######## self.std_step_vbox = QVBoxLayout() self.std_step_groupbox = QGroupBox( "Standard Step Parameters" ) self.std_step_groupbox.setCheckable( True ) self.std_step_groupbox.setChecked( False ) self.foot_sep_hbox = QHBoxLayout() self.foot_sep_label = QLabel("Foot Separation") self.foot_sep_hbox.addWidget( self.foot_sep_label ) self.foot_sep_val = QDoubleSpinBox() self.foot_sep_val.setSingleStep(.01) self.foot_sep_hbox.addWidget(self.foot_sep_val) self.std_step_vbox.addLayout( self.foot_sep_hbox ) self.std_step_step_duration_hbox = QHBoxLayout() self.std_step_step_duration_label = QLabel("Step Duration") self.std_step_step_duration_hbox.addWidget( self.std_step_step_duration_label ) self.std_step_step_duration_val = QDoubleSpinBox() self.std_step_step_duration_val.setSingleStep(.01) self.std_step_step_duration_hbox.addWidget( self.std_step_step_duration_val ) self.std_step_vbox.addLayout( self.std_step_step_duration_hbox ) self.std_step_sway_duration_hbox = QHBoxLayout() self.std_step_sway_duration_label = QLabel("Sway Duration") self.std_step_sway_duration_hbox.addWidget( self.std_step_sway_duration_label ) self.std_step_sway_duration_val = QDoubleSpinBox() self.std_step_sway_duration_val.setSingleStep(.01) self.std_step_sway_duration_hbox.addWidget( self.std_step_sway_duration_val ) self.std_step_vbox.addLayout( self.std_step_sway_duration_hbox ) self.std_step_swing_height_hbox = QHBoxLayout() self.std_step_swing_height_label = QLabel("Swing Height") self.std_step_swing_height_hbox.addWidget( self.std_step_swing_height_label ) self.std_step_swing_height_val = QDoubleSpinBox() self.std_step_swing_height_val.setSingleStep(.01) self.std_step_swing_height_hbox.addWidget( self.std_step_swing_height_val ) self.std_step_vbox.addLayout( self.std_step_swing_height_hbox ) self.std_step_lift_height_hbox = QHBoxLayout() self.std_step_lift_height_label = QLabel("Lift Height") self.std_step_lift_height_hbox.addWidget( self.std_step_lift_height_label ) self.std_step_lift_height_val = QDoubleSpinBox() self.std_step_lift_height_val.setSingleStep(.01) self.std_step_lift_height_hbox.addWidget( self.std_step_lift_height_val ) self.std_step_vbox.addLayout( self.std_step_lift_height_hbox ) self.std_step_groupbox.setLayout( self.std_step_vbox ) vbox.addWidget( self.std_step_groupbox ) button_hbox = QHBoxLayout() button_get = QPushButton("Get Current Values") button_hbox.addWidget( button_get ) button_submit = QPushButton("Send Values") button_hbox.addWidget( button_submit) vbox.addLayout( button_hbox ) vbox.addStretch(1) self._widget.setLayout(vbox) #context.add_widget(self._widget) # publishers and subscribers self.param_pub = rospy.Publisher('/flor/footstep_planner/set_params', FootstepPlannerParams, queue_size=10) button_submit.pressed.connect(self.sendParams) self.param_sub = self.stateSubscriber = rospy.Subscriber('/ros_footstep_planner/params', FootstepPlannerParams, self.getParamCallbackFcn) button_get.pressed.connect(self.getParams)
class QTopicWidget(QWidget): topic_changed_signal = Signal(str) def __init__(self, parent=None, topic_type=str(), is_action_topic=False): QWidget.__init__(self, parent) if is_action_topic: self.topic_type = topic_type + "Goal" else: self.topic_type = topic_type self.is_action_topic = is_action_topic # start widget hbox = QHBoxLayout() hbox.setMargin(0) hbox.setContentsMargins(0, 0, 0, 0) # topic combo box self.topic_combo_box = QComboBox() self.topic_combo_box.setEnabled(False) self.topic_combo_box.blockSignals(True) self.topic_combo_box.setValidator( QRegExpValidator(QRegExp('((\d|\w|/)(?!//))*'), self)) self.topic_combo_box.currentIndexChanged[str].connect( self.topic_changed) hbox.addWidget(self.topic_combo_box) # get system icon icon = QIcon.fromTheme("view-refresh") size = icon.actualSize(QSize(32, 32)) # add refresh button refresh_topics_button = QPushButton() refresh_topics_button.clicked.connect(self.update_topic_list) refresh_topics_button.setIcon(icon) refresh_topics_button.setFixedSize(size.width() + 2, size.height() + 2) hbox.addWidget(refresh_topics_button) # end widget self.setLayout(hbox) # init widget self.update_topic_list() def emit_topic_name(self): self.topic_changed_signal.emit(self.current_topic()) def set_editable(self, enable): self.topic_combo_box.setEditable(enable) def current_topic(self): if self.topic_combo_box.isEnabled(): return self.topic_combo_box.currentText() else: return str() @Slot(str) def topic_changed(self, topic_name): self.topic_changed_signal.emit(topic_name) @Slot() def update_topic_list(self): self.topic_combo_box.clear() self.topic_combo_box.setEnabled(False) self.topic_combo_box.blockSignals(True) self.topic_combo_box.addItem('Updating...') # get topic list _, _, topic_type = rospy.get_master().getTopicTypes() topic_dict = dict(topic_type) # filter list topic_dict_filtered = dict() for k, v in topic_dict.items(): if (len(topic_type) == 0) or (v == self.topic_type): if self.is_action_topic: topic_dict_filtered[k[:-5]] = v else: topic_dict_filtered[k] = v self.topic_combo_box.clear() self.topic_combo_box.addItems(sorted(topic_dict_filtered.keys())) if self.topic_combo_box.count() > 0: self.topic_combo_box.setEnabled(True) self.topic_combo_box.blockSignals(False) self.topic_changed(self.topic_combo_box.currentText()) else: self.topic_combo_box.addItem('No topics available!')
class QParameterSetSelectionWidget(QWidgetWithLogger): NO_PARAM_SET_TEXT = "No parameters available!" SELECT_TEXT = "<Select>" param_cleared_signal = Signal() param_changed_signal = Signal(str) def __init__(self, parent = None, logger = Logger()): QWidgetWithLogger.__init__(self, parent, logger) # start widget hbox = QHBoxLayout() hbox.setMargin(0) hbox.setContentsMargins(0, 0, 0, 0) # get system icon icon = QIcon.fromTheme("view-refresh") size = icon.actualSize(QSize(32, 32)) # add combo box self.parameter_set_names_combo_box = QComboBox() self.parameter_set_names_combo_box.currentIndexChanged[str].connect(self.param_changed) hbox.addWidget(self.parameter_set_names_combo_box) # add refresh button self.get_all_parameter_set_names_button = QPushButton() self.get_all_parameter_set_names_button.clicked.connect(self._get_all_parameter_set_names) self.get_all_parameter_set_names_button.setIcon(icon) self.get_all_parameter_set_names_button.setFixedSize(size.width()+2, size.height()+2) hbox.addWidget(self.get_all_parameter_set_names_button) # end widget self.setLayout(hbox) # init widget self.reset_parameter_set_selection() def _init_action_client(self, topic_name): self.get_parameter_set_names_client = actionlib.SimpleActionClient(topic_name, GetParameterSetNamesAction) print "Parameter set topic changed: " + topic_name @Slot(str) def set_topic_name(self, topic_name): if (len(topic_name) > 0): self._init_action_client(topic_name) self._get_all_parameter_set_names() else: self.reset_parameter_set_selection() def reset_parameter_set_selection(self): self.parameter_set_names_combo_box.setEnabled(False) self.parameter_set_names_combo_box.blockSignals(True) self.parameter_set_names_combo_box.clear() self.parameter_set_names_combo_box.addItem(self.NO_PARAM_SET_TEXT) self.get_all_parameter_set_names_button.setEnabled(False) self.param_cleared_signal.emit() def current_parameter_set_name(self): if self.parameter_set_names_combo_box.currentText() == self.NO_PARAM_SET_TEXT: return str() else: return self.parameter_set_names_combo_box.currentText() @Slot(str) def param_changed(self, name): self.param_changed_signal.emit(name) # parameter set names handler def _get_all_parameter_set_names(self): if (self.get_parameter_set_names_client.wait_for_server(rospy.Duration(0.5))): self.logger.log_info("Requesting current list of parameter set names.") goal = GetParameterSetNamesGoal() self.get_parameter_set_names_client.send_goal(goal) # waiting for getting list of parameter set names if (self.get_parameter_set_names_client.wait_for_result(rospy.Duration(1.0))): result = self.get_parameter_set_names_client.get_result() self.logger.log_info("Received " + str(len(result.names)) + " parameter set names.") self.parameter_set_names_combo_box.blockSignals(True) self.parameter_set_names_combo_box.clear() self.parameter_set_names_combo_box.addItem(self.SELECT_TEXT) self.parameter_set_names_combo_box.setItemData(0, 0, Qt.UserRole-1) self.param_cleared_signal.emit() for name in result.names: self.parameter_set_names_combo_box.addItem(name.data) self.parameter_set_names_combo_box.setEnabled(True) self.parameter_set_names_combo_box.blockSignals(False) self.get_all_parameter_set_names_button.setEnabled(True) else: self.logger.log_error("Didn't received any results. Check communcation!") self.reset_parameter_set_selection() else: self.logger.log_error("Can't connect to footstep planner parameter action server!") self.reset_parameter_set_selection()
def __init__(self, topic, msg_type, show_only_rate=False, masteruri=None, use_ssh=False, parent=None): """ Creates an input dialog. @param topic: the name of the topic @type topic: C{str} @param msg_type: the type of the topic @type msg_type: C{str} @raise Exception: if no topic class was found for the given type """ QDialog.__init__(self, parent=parent) self._masteruri = masteruri masteruri_str = "" if masteruri is None else "[%s]" % masteruri self.setObjectName(" - ".join(["EchoDialog", topic, masteruri_str])) self.setAttribute(Qt.WA_DeleteOnClose, True) self.setWindowFlags(Qt.Window) self.setWindowTitle("%s %s %s" % ("Echo --- " if not show_only_rate else "Hz --- ", topic, masteruri_str)) self.resize(728, 512) self.verticalLayout = QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.verticalLayout.setContentsMargins(1, 1, 1, 1) self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png") self.setWindowIcon(self.mIcon) self.topic = topic self.show_only_rate = show_only_rate self.lock = threading.RLock() self.last_printed_count = 0 self.msg_t0 = -1.0 self.msg_tn = 0 self.times = [] self.message_count = 0 self._rate_message = "" self._scrapped_msgs = 0 self._scrapped_msgs_sl = 0 self._last_received_ts = 0 self.receiving_hz = self.MESSAGE_HZ_LIMIT self.line_limit = self.MESSAGE_LINE_LIMIT self.field_filter_fn = None options = QWidget(self) if not show_only_rate: hLayout = QHBoxLayout(options) hLayout.setContentsMargins(1, 1, 1, 1) self.no_str_checkbox = no_str_checkbox = QCheckBox("Hide strings") no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled) hLayout.addWidget(no_str_checkbox) self.no_arr_checkbox = no_arr_checkbox = QCheckBox("Hide arrays") no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled) hLayout.addWidget(no_arr_checkbox) self.combobox_reduce_ch = QComboBox(self) self.combobox_reduce_ch.addItems([str(self.MESSAGE_LINE_LIMIT), "0", "80", "256", "1024"]) self.combobox_reduce_ch.activated[str].connect(self.combobox_reduce_ch_activated) self.combobox_reduce_ch.setEditable(True) self.combobox_reduce_ch.setToolTip("Set maximum line width. 0 disables the limit.") hLayout.addWidget(self.combobox_reduce_ch) # reduce_ch_label = QLabel('ch', self) # hLayout.addWidget(reduce_ch_label) # add spacer spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum) hLayout.addItem(spacerItem) # add combobox for displaying frequency of messages self.combobox_displ_hz = QComboBox(self) self.combobox_displ_hz.addItems([str(self.MESSAGE_HZ_LIMIT), "0", "0.1", "1", "50", "100", "1000"]) self.combobox_displ_hz.activated[str].connect(self.on_combobox_hz_activated) self.combobox_displ_hz.setEditable(True) hLayout.addWidget(self.combobox_displ_hz) displ_hz_label = QLabel("Hz", self) hLayout.addWidget(displ_hz_label) # add combobox for count of displayed messages self.combobox_msgs_count = QComboBox(self) self.combobox_msgs_count.addItems([str(self.MAX_DISPLAY_MSGS), "0", "50", "100"]) self.combobox_msgs_count.activated[str].connect(self.on_combobox_count_activated) self.combobox_msgs_count.setEditable(True) self.combobox_msgs_count.setToolTip("Set maximum displayed message count. 0 disables the limit.") hLayout.addWidget(self.combobox_msgs_count) displ_count_label = QLabel("#", self) hLayout.addWidget(displ_count_label) # add topic control button for unsubscribe and subscribe self.topic_control_button = QToolButton(self) self.topic_control_button.setText("stop") self.topic_control_button.setIcon(QIcon(":/icons/deleket_deviantart_stop.png")) self.topic_control_button.clicked.connect(self.on_topic_control_btn_clicked) hLayout.addWidget(self.topic_control_button) # add clear button clearButton = QToolButton(self) clearButton.setText("clear") clearButton.clicked.connect(self.on_clear_btn_clicked) hLayout.addWidget(clearButton) self.verticalLayout.addWidget(options) self.display = QTextBrowser(self) self.display.setReadOnly(True) self.verticalLayout.addWidget(self.display) self.display.document().setMaximumBlockCount(500) self.max_displayed_msgs = self.MAX_DISPLAY_MSGS self._blocks_in_msg = None self.display.setOpenLinks(False) self.display.anchorClicked.connect(self._on_display_anchorClicked) self.status_label = QLabel("0 messages", self) self.verticalLayout.addWidget(self.status_label) # subscribe to the topic errmsg = "" try: self.__msg_class = message.get_message_class(msg_type) if not self.__msg_class: errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type # raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type) except Exception as e: self.__msg_class = None errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (msg_type, e) # raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e)) # variables for Subscriber self.msg_signal.connect(self._append_message) self.sub = None # vairables for SSH connection self.ssh_output_file = None self.ssh_error_file = None self.ssh_input_file = None self.text_signal.connect(self._append_text) self.text_hz_signal.connect(self._append_text_hz) self._current_msg = "" self._current_errmsg = "" self.text_error_signal.connect(self._append_error_text) # decide, which connection to open if use_ssh: self.__msg_class = None self._on_display_anchorClicked(QUrl(self._masteruri)) elif self.__msg_class is None: errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % ( errmsg ) self.display.setText('<a href="%s">open using SSH</a>' % (masteruri)) self.display.append(errtxt) else: self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle) self.print_hz_timer = QTimer() self.print_hz_timer.timeout.connect(self._on_calc_hz) self.print_hz_timer.start(1000)
class NAODashboard(Dashboard): def setup(self, context): self.name = 'NAO Dashboard (%s)'%rosenv.get_master_uri() self.max_icon_size = QSize(50, 30) self.message = None self._dashboard_message = None self._last_dashboard_message_time = 0.0 self._raw_byte = None self.digital_outs = [0, 0, 0] icons_path = path.join(roslib.packages.get_pkg_dir('nao_dashboard'), "icons/") self._robot_combobox = QComboBox() self._robot_combobox.setSizeAdjustPolicy(QComboBox.AdjustToContents) self._robot_combobox.setInsertPolicy(QComboBox.InsertAlphabetically) self._robot_combobox.setEditable(True) gobject.threads_init() dbus.glib.threads_init() self.robots = [] self.sys_bus = dbus.SystemBus() self.avahi_server = dbus.Interface(self.sys_bus.get_object(avahi.DBUS_NAME, '/'), avahi.DBUS_INTERFACE_SERVER) self.sbrowser = dbus.Interface(self.sys_bus.get_object(avahi.DBUS_NAME, self.avahi_server.ServiceBrowserNew(avahi.IF_UNSPEC, avahi.PROTO_INET, '_naoqi._tcp', 'local', dbus.UInt32(0))), avahi.DBUS_INTERFACE_SERVICE_BROWSER) self.sbrowser.connect_to_signal("ItemNew", self.avahiNewItem) self.sbrowser.connect_to_signal("ItemRemove", self.avahiItemRemove) # Diagnostics self._monitor = MonitorDashWidget(self.context) # Rosout self._console = ConsoleDashWidget(self.context, minimal=False) ## Joint temperature self._temp_joint_button = StatusControl('Joint temperature', 'temperature_joints') ## CPU temperature self._temp_head_button = StatusControl('CPU temperature', 'temperature_head') ## Motors self._motors_button = Motors(self.context) ## Battery State self._power_state_ctrl = PowerStateControl('NAO Battery') self._agg_sub = rospy.Subscriber('diagnostics_agg', DiagnosticArray, self.new_diagnostic_message) self._last_dashboard_message_time = 0.0 def get_widgets(self): return [ [self._robot_combobox], [self._monitor, self._console, self._temp_joint_button, self._temp_head_button, self._motors_button], [self._power_state_ctrl] ] def shutdown_dashboard(self): self._agg_sub.unregister() def new_diagnostic_message(self, msg): """ callback to process dashboard_agg messages :param msg: dashboard_agg DashboardState message :type msg: pr2_msgs.msg.DashboardState """ self._dashboard_message = msg self._last_dashboard_message_time = rospy.get_time() for status in msg.status: if status.name == '/Nao/Joints': highestTemp = "" lowestStiff = -1.0 highestStiff = -1.0 hotJoints = "" for kv in status.values: if kv.key == 'Highest Temperature': highestTemp = " (" + kv.value + "deg C)" elif kv.key == 'Highest Stiffness': highestStiff = float(kv.value) elif kv.key == 'Lowest Stiffness without Hands': lowestStiff = float(kv.value) elif kv.key == 'Hot Joints': hotJoints = str(kv.value) self.set_buttonStatus(self._temp_joint_button, status, "Joints: ", "%s %s"%(highestTemp, hotJoints)) #if(lowestStiff < 0.0 or highestStiff < 0.0): #self._motors_button.set_stale() #self._motors_button.SetToolTip(wx.ToolTip("Stale")) #elif(lowestStiff > 0.9): #self._motors_button.set_error() #self._motors_button.SetToolTip(wx.ToolTip("Stiffness on")) #elif(highestStiff < 0.05): #self._motors_button.set_ok() #self._motors_button.SetToolTip(wx.ToolTip("Stiffness off")) #else: #self._motors_button.set_warn() #self._motors_button.SetToolTip(wx.ToolTip("Stiffness partially on (between %f and %f)" % (lowestStiff, highestStiff))) elif status.name == '/Nao/CPU': self.set_buttonStatus(self._temp_head_button, status, "CPU temperature: ") elif status.name == '/Nao/Battery/Battery': if status.level == 3: self._power_state_ctrl.set_stale() else: self._power_state_ctrl.set_power_state(status.values) def set_buttonStatus(self, button, status, statusPrefix = "", statusSuffix = ""): statusString = "Unknown" if status.level == DiagnosticStatus.OK: button.update_state(0) statusString = "OK" elif status.level == DiagnosticStatus.WARN: button.update_state(1) statusString = "Warn" elif status.level == DiagnosticStatus.ERROR: button.update_state(2) statusString = "Error" elif status.level == 3: button.update_state(3) statusString = "Stale" button.setToolTip(statusPrefix + statusString + statusSuffix) def avahiNewItem(self, interface, protocol, name, stype, domain, flags): self.avahi_server.ResolveService(interface, protocol, name, stype, domain, avahi.PROTO_INET, dbus.UInt32(0), reply_handler=self.service_resolved, error_handler=self.print_error) pass def avahiItemRemove(self, interface, protocol, name, stype, domain, flags): print "Remove" for robot in self.robots: if robot['name'] == str(name) and robot['address'] == str(address) and robot['port'] == int(port): self.robots.remove(robot) updateRobotCombobox(); def service_resolved(self, interface, protocol, name, type, domain, host, aprotocol, address, port, txt, flags): self.robots.append({'name': str(name), 'address': str(address), 'port': int(port)}) self.updateRobotCombobox() def updateRobotCombobox(self): selected = self._robot_combobox.currentText() for i in range(self._robot_combobox.count()): self._robot_combobox.removeItem(i) id = -1 for robot in self.robots: text = str(robot) text = "%s (%s:%d)" % (robot['name'], robot['address'], robot['port']) self._robot_combobox.addItem(text, '%s:%d' % (robot['address'], robot['port'])) if(text == selected): id = self._robot_combobox.count()-1; if(self._robot_combobox.count() == 1): self._robot_combobox.setCurrentIndex(0) elif(id > -1): self._robot_combobox.setCurrentIndex(id) def print_error(self, *args): print 'error_handler' print args def save_settings(self, plugin_settings, instance_settings): self._console.save_settings(plugin_settings, instance_settings) self._monitor.save_settings(plugin_settings, instance_settings) def restore_settings(self, plugin_settings, instance_settings): self._console.restore_settings(plugin_settings, instance_settings) self._monitor.restore_settings(plugin_settings, instance_settings)
def __init__(self, parent=None): QDialog.__init__(self, parent) # self.host = host self.setWindowIcon(QIcon(":/icons/irondevil_sync.png")) self.setWindowTitle('Sync') self.verticalLayout = QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.resize(350, 190) self.toolButton_SyncAll = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(2) sizePolicy.setHeightForWidth(self.toolButton_SyncAll.sizePolicy().hasHeightForWidth()) self.toolButton_SyncAll.setSizePolicy(sizePolicy) self.toolButton_SyncAll.setObjectName("toolButton_SyncAll") self.verticalLayout.addWidget(self.toolButton_SyncAll) self.toolButton_SyncAll.setText(self._translate("Sync All")) self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked) # self.toolButton_SyncAllAnyMsg = QToolButton(self) # sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) # sizePolicy.setHorizontalStretch(0) # sizePolicy.setVerticalStretch(1) # sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth()) # self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy) # self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg") # self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg) # self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)")) # self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked) self.toolButton_SyncTopicOnDemand = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth(self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth()) self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy) self.toolButton_SyncTopicOnDemand.setObjectName("toolButton_SyncTopicOnDemand") self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand) self.toolButton_SyncTopicOnDemand.setText(self._translate("Sync only topics on demand")) self.toolButton_SyncTopicOnDemand.clicked.connect(self._on_sync_topics_on_demand_clicked) self.toolButton_SelectInterface = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth(self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth()) self.toolButton_SelectInterface.setSizePolicy(sizePolicy) self.toolButton_SelectInterface.setObjectName("toolButton_SelectInterface") self.verticalLayout.addWidget(self.toolButton_SelectInterface) self.toolButton_SelectInterface.setText(self._translate("Select an interface")) self.toolButton_SelectInterface.clicked.connect(self._on_select_interface_clicked) self.interface_field = QComboBox(self) self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically) self.interface_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.interface_field.setEditable(True) self.interface_field.setVisible(False) self.interface_field.setObjectName("interface_field") self.verticalLayout.addWidget(self.interface_field) self.interface_field.currentIndexChanged[str].connect(self._on_interface_selected) self.toolButton_EditInterface = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth(self.toolButton_EditInterface.sizePolicy().hasHeightForWidth()) self.toolButton_EditInterface.setSizePolicy(sizePolicy) self.toolButton_EditInterface.setObjectName("toolButton_EditInterface") self.verticalLayout.addWidget(self.toolButton_EditInterface) self.toolButton_EditInterface.setText(self._translate("Edit selected interface")) self.toolButton_EditInterface.clicked.connect(self._on_edit_interface_clicked) self.toolButton_EditInterface.setVisible(False) self.toolButton_CreateInterface = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth(self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth()) self.toolButton_CreateInterface.setSizePolicy(sizePolicy) self.toolButton_CreateInterface.setObjectName("toolButton_CreateInterface") self.verticalLayout.addWidget(self.toolButton_CreateInterface) self.toolButton_CreateInterface.setText(self._translate("Create an interface")) self.toolButton_CreateInterface.clicked.connect(self._on_create_interface_clicked) self.toolButton_CreateInterface.setVisible(False) self.textedit = TextEdit('', self) self.hl = SyncHighlighter(self.textedit.document()) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) self.textedit.setSizePolicy(sizePolicy) self.textedit.setObjectName("syncedit") self.verticalLayout.addWidget(self.textedit) self.textedit.setVisible(False) self._fill_interface_thread = None self._interfaces_files = None self._sync_args = [] self._interface_filename = None self.buttonBox = QDialogButtonBox(self) self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel) self.buttonBox.setOrientation(Qt.Horizontal) self.buttonBox.setObjectName("buttonBox") self.verticalLayout.addWidget(self.buttonBox) self.buttonBox.accepted.connect(self.accept) self.buttonBox.rejected.connect(self.reject) self._new_iface = True
class ControlModeWidget: def __init__(self, context): self.control_mode = 0 self.mode_pub = rospy.Publisher('/flor/controller/mode_command', VigirControlModeCommand, queue_size=10) self._widget = context self.vbox = QVBoxLayout() #Add input for setting the spindle speed list_label = QLabel("Select Control Mode") self.vbox.addWidget(list_label) # Indexed list of allowed control modes from feedback self.allowed_modes = rospy.get_param("/atlas_controller/allowed_control_modes") self.allowed_modes=rospy.get_param("/atlas_controller/allowed_control_modes") self.mode_ids={} self.mode_ids for ndx,txt in enumerate(self.allowed_modes): self.mode_ids[txt] = ndx # API 2.13 ordering self.bdi_mode_names=['NONE ', 'FREEZE ', 'STAND_PREP ', \ 'STAND ', 'WALK ', 'STEP ', 'MANIPULATE ', \ 'USER ', 'CALIBRATE '] self.list_box = QListWidget(None) self.list_box.addItems(self.allowed_modes) self.list_box.currentItemChanged.connect(self.handle_selection_change) self.vbox.addWidget(self.list_box) self.selection_label = QLabel("Flor Selected: "+self.allowed_modes[0]+"("+str(self.control_mode)+")") self.vbox.addWidget(self.selection_label) self.label = QLabel("Flor Command : "+self.allowed_modes[0]+"("+str(self.control_mode)+")") self.vbox.addWidget(self.label) self.flor_mode = 0 self.bdi_current_mode = 0 self.bdi_desired_mode = 0 self.flor_mode_label = QLabel("Flor Mode : "+self.allowed_modes[self.flor_mode]+"("+str(self.flor_mode)+")"+" BDI:("+str(self.bdi_current_mode)+", "+str(self.bdi_desired_mode)+")") self.vbox.addWidget(self.flor_mode_label) #Add combo box for available settings self.available_modes = QComboBox(); self.available_modes.addItem(""); self.available_modes.addItem("BDI"); self.available_modes.addItem("Enable Upper Body"); self.available_modes.addItem("Enable Whole Body"); self.available_modes.currentIndexChanged.connect(self.handle_avail_modes_changed) self.vbox.addWidget(self.available_modes); self.vbox.addStretch(1) #Add Button for sending the behavior mode command self.push_button = QPushButton("Set Mode") self.push_button.clicked.connect(self.handle_set_mode) self.vbox.addWidget(self.push_button) self.vbox.addStretch(1) hbox = QHBoxLayout() hbox.addStretch(1) self.stop_enable= QCheckBox() self.stop_enable.setChecked(False) hbox.addWidget(self.stop_enable) self.stop_enable.clicked.connect(self.handle_stop_enable) self.stop_button = QPushButton("STOP!") self.stop_button.clicked.connect(self.handle_stop) self.stop_button.setStyleSheet('QPushButton {background-color: gray }') hbox.addWidget(self.stop_button) hbox.addStretch(1) self.vbox.addLayout(hbox) self._widget.setLayout(self.vbox) #add stretch at end so all GUI elements are at top of dialog self.vbox.addStretch(1) self.flor_mode_cmd_sub = rospy.Subscriber("/flor/controller/mode", FlorControlMode, self.florModeCallback) def shutdown_plugin(self): print "Shutting down ..." self.flor_mode_cmd_sub.unregister() self.mode_pub.unregister() print "Done!" # Update BDI state def simStateCallback(self, state): if ((self.bdi_current_state != state.current_behavior) or (self.bdi_desired_state != state.desired_behavior) or (self.bdi_error_code != state.error_code) or (self.bdi_behavior_status != state.behavior_feedback.status_flags) ): self.bdi_current_state = state.current_behavior self.bdi_desired_state = state.desired_behavior self.bdi_error_code = state.error_code self.bdi_behavior_status = state.behavior_feedback.status_flags if ((self.bdi_current_state < 0) or (self.bdi_current_state >= length(self.bdi_mode_names))): self.bdi_state_label.setText( " BDI State : "+self.bdi_mode_names[0]+"("+str(self.bdi_current_state)+", " + str(self.bdi_desired_state) + ") EC:("+str(self.bdi_error_code)+", " + str(self.bdi_behavior_status) +")") else: self.bdi_state_label.setText( " BDI State : "+self.bdi_mode_names[self.bdi_current_state]+"("+str(self.bdi_current_state)+", " + str(self.bdi_desired_state) + ") EC:("+str(self.bdi_error_code)+", " + str(self.bdi_behavior_status) +")") def simCommandCallback(self, bdi_cmd): if (self.bdi_behavior != bdi_cmd.behavior) : self.bdi_behavior = bdi_cmd.behavior self.bdi_command_label.setText(" BDI Cmd : "+self.bdi_mode_names[self.bdi_behavior]+"("+str(self.bdi_behavior)+")") def florModeCallback(self, cmd): if ( (self.flor_mode != cmd.control_mode) or (self.bdi_current_mode != cmd.bdi_current_behavior) or (self.bdi_desired_mode != cmd.bdi_desired_behavior) ): if (self.flor_mode != cmd.control_mode) and (self.control_mode != cmd.control_mode): print "Flor mode changed externally - clear selection" self.clearSelections() self.selection_label.setText("Flor Selected : ") self.label.setText("Flor Command : ") self.flor_mode = cmd.control_mode self.bdi_current_mode = cmd.bdi_current_behavior self.bdi_desired_mode = cmd.bdi_desired_behavior print "Flor mode: ", self.flor_mode, " BDI: ",self.bdi_current_mode,", ",self.bdi_desired_mode if (self.flor_mode > 250): print "Invalid control mode " self.flor_mode = 0 #print "Allowed modes:" #print self.allowed_modes self.flor_mode_label.setText(" Flor Mode : "+self.allowed_modes[self.flor_mode]+"("+str(self.flor_mode)+") BDI:("+str(self.bdi_current_mode)+","+str(self.bdi_desired_mode)+")") def clearSelections(self): for i in range(self.list_box.count()): item = self.list_box.item(i) self.list_box.setItemSelected(item, False) self.list_box.setCurrentRow(-1) #Slot for selecting def handle_selection_change(self, curr, prev): if (curr != None): self.control_mode = self.mode_ids[curr.text()] self.selection_label.setText("Flor Selected : "+curr.text()+"("+str(self.control_mode)+")") #else: # print "NULL selection" #self.label.setText(self.allowed_modes[selected]) #self.spindle_speed_pub.publish(data=math.radians(degree_per_sec)) @Slot(bool) def handle_set_mode(self): print "Selected=",self.allowed_modes[self.control_mode], ' id=', self.control_mode self.label.setText("Flor Command : "+self.allowed_modes[self.control_mode]+"("+str(self.control_mode)+")") mode_msg = VigirControlModeCommand() mode_msg.header.stamp = rospy.Time.now() mode_msg.requested_control_mode = self.control_mode print mode_msg self.mode_pub.publish(mode_msg) @Slot(bool) def handle_stop(self): # FLOR_STOP command if (self.stop_enable.isChecked()): self.clearSelections() self.selection_label.setText("Flor Selected : ") self.control_mode = self.mode_ids['stop'] print "Selected=",self.allowed_modes[self.control_mode], ' id=', self.control_mode #self.list_box self.selection_label.setText("Flor Selected : "+self.allowed_modes[self.control_mode]+"("+str(self.control_mode)+")") self.label.setText("Flor Command : "+self.allowed_modes[self.control_mode]+"("+str(self.control_mode)+")") mode_msg = VigirControlModeCommand() mode_msg.header.stamp = rospy.Time.now() mode_msg.requested_control_mode = self.control_mode print mode_msg self.mode_pub.publish(mode_msg) else: print "Stop disabled!" @Slot(bool) def handle_stop_enable(self): if (self.stop_enable.isChecked()): self.stop_button.setStyleSheet('QPushButton {background-color: red }') #self.stop_enable.setChecked(False) else: self.stop_button.setStyleSheet('QPushButton {background-color: gray }') #self.stop_enable.setChecked(True) @Slot(bool) def handle_avail_modes_changed(self, index): print 'no longer mapping allowable modes' return
class EchoDialog(QDialog): MESSAGE_LINE_LIMIT = 128 MESSAGE_HZ_LIMIT = 10 MAX_DISPLAY_MSGS = 25 STATISTIC_QUEUE_LEN = 5000 ''' This dialog shows the output of a topic. ''' finished_signal = Signal(str) ''' finished_signal has as parameter the name of the topic and is emitted, if this dialog was closed. ''' msg_signal = Signal(object, bool) ''' msg_signal is a signal, which is emitted, if a new message was received. ''' text_hz_signal = Signal(str) text_signal = Signal(str) ''' text_signal is a signal, which is emitted, if a new text to display was received. ''' text_error_signal = Signal(str) ''' text_error_signal is a signal, which is emitted, if a new error text to display was received. ''' request_pw = Signal(object) def __init__(self, topic, msg_type, show_only_rate=False, masteruri=None, use_ssh=False, parent=None): ''' Creates an input dialog. @param topic: the name of the topic @type topic: C{str} @param msg_type: the type of the topic @type msg_type: C{str} @raise Exception: if no topic class was found for the given type ''' QDialog.__init__(self, parent=parent) self._masteruri = masteruri masteruri_str = '' if masteruri is None else '[%s]' % masteruri self.setObjectName(' - '.join(['EchoDialog', topic, masteruri_str])) self.setAttribute(Qt.WA_DeleteOnClose, True) self.setWindowFlags(Qt.Window) self.setWindowTitle('%s %s %s' % ('Echo --- ' if not show_only_rate else 'Hz --- ', topic, masteruri_str)) self.resize(728, 512) self.verticalLayout = QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.verticalLayout.setContentsMargins(1, 1, 1, 1) self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png") self.setWindowIcon(self.mIcon) self.topic = topic self.show_only_rate = show_only_rate self.lock = threading.RLock() self.last_printed_count = 0 self.msg_t0 = -1. self.msg_tn = 0 self.times = [] self.message_count = 0 self._rate_message = '' self._scrapped_msgs = 0 self._scrapped_msgs_sl = 0 self._last_received_ts = 0 self.receiving_hz = self.MESSAGE_HZ_LIMIT self.line_limit = self.MESSAGE_LINE_LIMIT self.field_filter_fn = None options = QWidget(self) if not show_only_rate: hLayout = QHBoxLayout(options) hLayout.setContentsMargins(1, 1, 1, 1) self.no_str_checkbox = no_str_checkbox = QCheckBox('Hide strings') no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled) hLayout.addWidget(no_str_checkbox) self.no_arr_checkbox = no_arr_checkbox = QCheckBox('Hide arrays') no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled) hLayout.addWidget(no_arr_checkbox) self.combobox_reduce_ch = QComboBox(self) self.combobox_reduce_ch.addItems( [str(self.MESSAGE_LINE_LIMIT), '0', '80', '256', '1024']) self.combobox_reduce_ch.activated[str].connect( self.combobox_reduce_ch_activated) self.combobox_reduce_ch.setEditable(True) self.combobox_reduce_ch.setToolTip( "Set maximum line width. 0 disables the limit.") hLayout.addWidget(self.combobox_reduce_ch) # reduce_ch_label = QLabel('ch', self) # hLayout.addWidget(reduce_ch_label) # add spacer spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum) hLayout.addItem(spacerItem) # add combobox for displaying frequency of messages self.combobox_displ_hz = QComboBox(self) self.combobox_displ_hz.addItems([ str(self.MESSAGE_HZ_LIMIT), '0', '0.1', '1', '50', '100', '1000' ]) self.combobox_displ_hz.activated[str].connect( self.on_combobox_hz_activated) self.combobox_displ_hz.setEditable(True) hLayout.addWidget(self.combobox_displ_hz) displ_hz_label = QLabel('Hz', self) hLayout.addWidget(displ_hz_label) # add combobox for count of displayed messages self.combobox_msgs_count = QComboBox(self) self.combobox_msgs_count.addItems( [str(self.MAX_DISPLAY_MSGS), '0', '50', '100']) self.combobox_msgs_count.activated[str].connect( self.on_combobox_count_activated) self.combobox_msgs_count.setEditable(True) self.combobox_msgs_count.setToolTip( "Set maximum displayed message count. 0 disables the limit.") hLayout.addWidget(self.combobox_msgs_count) displ_count_label = QLabel('#', self) hLayout.addWidget(displ_count_label) # add topic control button for unsubscribe and subscribe self.topic_control_button = QToolButton(self) self.topic_control_button.setText('stop') self.topic_control_button.setIcon( QIcon(':/icons/deleket_deviantart_stop.png')) self.topic_control_button.clicked.connect( self.on_topic_control_btn_clicked) hLayout.addWidget(self.topic_control_button) # add clear button clearButton = QToolButton(self) clearButton.setText('clear') clearButton.clicked.connect(self.on_clear_btn_clicked) hLayout.addWidget(clearButton) self.verticalLayout.addWidget(options) self.display = QTextBrowser(self) self.display.setReadOnly(True) self.verticalLayout.addWidget(self.display) self.display.document().setMaximumBlockCount(500) self.max_displayed_msgs = self.MAX_DISPLAY_MSGS self._blocks_in_msg = None self.display.setOpenLinks(False) self.display.anchorClicked.connect(self._on_display_anchorClicked) self.status_label = QLabel('0 messages', self) self.verticalLayout.addWidget(self.status_label) # subscribe to the topic errmsg = '' try: self.__msg_class = message.get_message_class(msg_type) if not self.__msg_class: errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type # raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type) except Exception as e: self.__msg_class = None errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % ( msg_type, e) # raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e)) # variables for Subscriber self.msg_signal.connect(self._append_message) self.sub = None # vairables for SSH connection self.ssh_output_file = None self.ssh_error_file = None self.ssh_input_file = None self.text_signal.connect(self._append_text) self.text_hz_signal.connect(self._append_text_hz) self._current_msg = '' self._current_errmsg = '' self.text_error_signal.connect(self._append_error_text) # decide, which connection to open if use_ssh: self.__msg_class = None self._on_display_anchorClicked(QUrl(self._masteruri)) elif self.__msg_class is None: errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % ( errmsg) self.display.setText('<a href="%s">open using SSH</a>' % (masteruri)) self.display.append(errtxt) else: self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle) self.print_hz_timer = QTimer() self.print_hz_timer.timeout.connect(self._on_calc_hz) self.print_hz_timer.start(1000) # print "======== create", self.objectName() # # def __del__(self): # print "******* destroy", self.objectName() # def hideEvent(self, event): # self.close() def closeEvent(self, event): if self.sub is not None: self.sub.unregister() del self.sub try: self.ssh_output_file.close() self.ssh_error_file.close() # send Ctrl+C to remote process self.ssh_input_file.write('%s\n' % chr(3)) self.ssh_input_file.close() except: pass self.finished_signal.emit(self.topic) if self.parent() is None: QApplication.quit() # else: # self.setParent(None) def create_field_filter(self, echo_nostr, echo_noarr): def field_filter(val): try: # fields = val.__slots__ # field_types = val._slot_types for f, t in zip(val.__slots__, val._slot_types): if echo_noarr and '[' in t: continue elif echo_nostr and 'string' in t: continue yield f except: pass return field_filter def on_no_str_checkbox_toggled(self, state): self.field_filter_fn = self.create_field_filter( state, self.no_arr_checkbox.isChecked()) def on_no_arr_checkbox_toggled(self, state): self.field_filter_fn = self.create_field_filter( self.no_str_checkbox.isChecked(), state) def combobox_reduce_ch_activated(self, ch_txt): try: self.line_limit = int(ch_txt) except ValueError: try: self.line_limit = float(ch_txt) except ValueError: self.combobox_reduce_ch.setEditText(str(self.line_limit)) def on_combobox_hz_activated(self, hz_txt): try: self.receiving_hz = int(hz_txt) except ValueError: try: self.receiving_hz = float(hz_txt) except ValueError: self.combobox_displ_hz.setEditText(str(self.receiving_hz)) def on_combobox_count_activated(self, count_txt): try: self.max_displayed_msgs = int(count_txt) self._blocks_in_msg = None except ValueError: self.combobox_msgs_count.setEditText(str(self.max_displayed_msgs)) def on_clear_btn_clicked(self): self.display.clear() with self.lock: self.message_count = 0 self._scrapped_msgs = 0 del self.times[:] def on_topic_control_btn_clicked(self): try: if self.sub is None and self.ssh_output_file is None: if self.__msg_class: self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle) else: self._on_display_anchorClicked(QUrl(self._masteruri)) self.topic_control_button.setText('stop') self.topic_control_button.setIcon( QIcon(':/icons/deleket_deviantart_stop.png')) else: if self.sub is not None: self.sub.unregister() self.sub = None elif self.ssh_output_file is not None: self.ssh_output_file.close() self.ssh_error_file.close() self.ssh_output_file = None self.topic_control_button.setText('play') self.topic_control_button.setIcon( QIcon(':/icons/deleket_deviantart_play.png')) self.no_str_checkbox.setEnabled(True) self.no_arr_checkbox.setEnabled(True) except Exception as e: rospy.logwarn('Error while stop/play echo for topic %s: %s' % (self.topic, e)) def _msg_handle(self, data): self.msg_signal.emit(data, (data._connection_header['latching'] != '0')) def _append_message(self, msg, latched): ''' Adds a label to the dialog's layout and shows the given text. @param msg: the text to add to the dialog @type msg: message object ''' current_time = time.time() self._count_messages(current_time) # skip messages, if they are received often then MESSAGE_HZ_LIMIT if self._last_received_ts != 0 and self.receiving_hz != 0: if not latched and current_time - self._last_received_ts < 1.0 / self.receiving_hz: self._scrapped_msgs += 1 self._scrapped_msgs_sl += 1 return self._last_received_ts = current_time if not self.show_only_rate: # convert message to string and reduce line width to current limit msg = message.strify_message(msg, field_filter=self.field_filter_fn) if isinstance(msg, tuple): msg = msg[0] msg = self._trim_width(msg) msg = msg.replace('<', '<').replace('>', '>') # create a notification about scrapped messages if self._scrapped_msgs_sl > 0: txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">scrapped %s message because of Hz-settings</pre>' % self._scrapped_msgs_sl self.display.append(txt) self._scrapped_msgs_sl = 0 txt = '<pre style="background-color:#FFFCCC; font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>' % ( datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), msg) # set the count of the displayed messages on receiving the first message self._update_max_msg_count(txt) self.display.append(txt) self._print_status() def _count_messages(self, ts=time.time()): ''' Counts the received messages. Call this method only on receive message. ''' current_time = ts with self.lock: # time reset if self.msg_t0 < 0 or self.msg_t0 > current_time: self.msg_t0 = current_time self.msg_tn = current_time self.times = [] else: self.times.append(current_time - self.msg_tn) self.msg_tn = current_time # keep only statistics for the last 5000 messages so as not to run out of memory if len(self.times) > self.STATISTIC_QUEUE_LEN: self.times.pop(0) self.message_count += 1 def _trim_width(self, msg): ''' reduce line width to current limit :param msg: the message :type msg: str :return: trimmed message ''' result = msg if self.line_limit != 0: a = '' for l in msg.splitlines(): a = a + (l if len(l) <= self.line_limit else l[0:self.line_limit - 3] + '...') + '\n' result = a return result def _update_max_msg_count(self, txt): ''' set the count of the displayed messages on receiving the first message :param txt: text of the message, which will be added to the document :type txt: str ''' if self._blocks_in_msg is None: td = QTextDocument(txt) self._blocks_in_msg = td.blockCount() self.display.document().setMaximumBlockCount( self._blocks_in_msg * self.max_displayed_msgs) def _on_calc_hz(self): if rospy.is_shutdown(): self.close() return if self.message_count == self.last_printed_count: return with self.lock: # the code from ROS rostopic n = len(self.times) if n < 2: return mean = sum(self.times) / n rate = 1. / mean if mean > 0. else 0 # std dev std_dev = math.sqrt(sum((x - mean)**2 for x in self.times) / n) # min and max max_delta = max(self.times) min_delta = min(self.times) self.last_printed_count = self.message_count self._rate_message = "average rate: %.3f\tmin: %.3fs max: %.3fs std dev: %.5fs window: %s" % ( rate, min_delta, max_delta, std_dev, n + 1) if self._scrapped_msgs > 0: self._rate_message += " --- scrapped msgs: %s" % self._scrapped_msgs self._print_status() if self.show_only_rate: self.display.append(self._rate_message) def _print_status(self): self.status_label.setText('%s messages %s' % (self.message_count, self._rate_message)) def _append_text(self, text): ''' Append echo text received through the SSH. ''' with self.lock: self._current_msg += text if self._current_msg.find('---') != -1: messages = self._current_msg.split('---') for m in messages[:-1]: current_time = time.time() self._count_messages(current_time) # limit the displayed text width m = self._trim_width(m) txt = '<pre style="background-color:#FFFCCC; font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>' % ( datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), m) # set the count of the displayed messages on receiving the first message self._update_max_msg_count(txt) self.display.append(txt) self._current_msg = messages[-1] self._print_status() def _append_error_text(self, text): ''' Append error text received through the SSH. ''' with self.lock: self._current_errmsg += text if self._current_errmsg.find('\n') != -1: messages = self._current_errmsg.split('\n') for m in messages[:-1]: txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">%s</pre>' % m self.display.append(txt) self._current_errmsg = messages[-1] def _append_text_hz(self, text): ''' Append text received through the SSH for hz view. ''' with self.lock: self._current_msg += text if self._current_msg.find('\n') != -1: messages = self._current_msg.split('\n') for m in messages[:-1]: txt = '<div style="font-family:Fixedsys,Courier;">%s</div>' % ( m) self.display.append(txt) self._current_msg = messages[-1] def _on_display_anchorClicked(self, url, user=None, pw=None): try: ok = False if self.show_only_rate: self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh( ).ssh_exec(url.host(), ['rostopic hz %s' % (self.topic)], user, pw, auto_pw_request=True, get_pty=True) self.status_label.setText('connected to %s over SSH' % url.host()) else: self.combobox_displ_hz.setEnabled(False) nostr = '--nostr' if self.no_str_checkbox.isChecked() else '' noarr = '--noarr' if self.no_arr_checkbox.isChecked() else '' self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh( ).ssh_exec( url.host(), ['rostopic echo %s %s %s' % (nostr, noarr, self.topic)], user, pw, auto_pw_request=True, get_pty=True) if ok: self.display.clear() target = self._read_output_hz if self.show_only_rate else self._read_output thread = threading.Thread(target=target, args=((self.ssh_output_file, ))) thread.setDaemon(True) thread.start() thread = threading.Thread(target=self._read_error, args=((self.ssh_error_file, ))) thread.setDaemon(True) thread.start() elif self.ssh_output_file: self.ssh_output_file.close() self.ssh_error_file.close() except Exception as e: self._append_error_text('%s\n' % e) # import traceback # print traceback.format_exc() def _read_output_hz(self, output_file): try: while not output_file.closed: text = output_file.read(1) if text: self.text_hz_signal.emit(text) except: pass # import traceback # print traceback.format_exc() def _read_output(self, output_file): while not output_file.closed: text = output_file.read(1) if text: self.text_signal.emit(text) def _read_error(self, error_file): try: while not error_file.closed: text = error_file.read(1) if text: self.text_error_signal.emit(text) except: pass
class SyncDialog(QDialog): ''' A dialog to set the sync options. ''' def __init__(self, parent=None): QDialog.__init__(self, parent) # self.host = host self.setWindowIcon(QIcon(":/icons/irondevil_sync.png")) self.setWindowTitle('Sync') self.verticalLayout = QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.resize(350, 190) self.toolButton_SyncAll = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(2) sizePolicy.setHeightForWidth( self.toolButton_SyncAll.sizePolicy().hasHeightForWidth()) self.toolButton_SyncAll.setSizePolicy(sizePolicy) self.toolButton_SyncAll.setObjectName("toolButton_SyncAll") self.verticalLayout.addWidget(self.toolButton_SyncAll) self.toolButton_SyncAll.setText(self._translate("Sync All")) self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked) # self.toolButton_SyncAllAnyMsg = QToolButton(self) # sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) # sizePolicy.setHorizontalStretch(0) # sizePolicy.setVerticalStretch(1) # sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth()) # self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy) # self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg") # self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg) # self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)")) # self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked) self.toolButton_SyncTopicOnDemand = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth( self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth()) self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy) self.toolButton_SyncTopicOnDemand.setObjectName( "toolButton_SyncTopicOnDemand") self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand) self.toolButton_SyncTopicOnDemand.setText( self._translate("Sync only topics on demand")) self.toolButton_SyncTopicOnDemand.clicked.connect( self._on_sync_topics_on_demand_clicked) self.toolButton_SelectInterface = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth( self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth()) self.toolButton_SelectInterface.setSizePolicy(sizePolicy) self.toolButton_SelectInterface.setObjectName( "toolButton_SelectInterface") self.verticalLayout.addWidget(self.toolButton_SelectInterface) self.toolButton_SelectInterface.setText( self._translate("Select an interface")) self.toolButton_SelectInterface.clicked.connect( self._on_select_interface_clicked) self.interface_field = QComboBox(self) self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically) self.interface_field.setSizePolicy( QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.interface_field.setEditable(True) self.interface_field.setVisible(False) self.interface_field.setObjectName("interface_field") self.verticalLayout.addWidget(self.interface_field) self.interface_field.currentIndexChanged[str].connect( self._on_interface_selected) self.toolButton_EditInterface = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth( self.toolButton_EditInterface.sizePolicy().hasHeightForWidth()) self.toolButton_EditInterface.setSizePolicy(sizePolicy) self.toolButton_EditInterface.setObjectName("toolButton_EditInterface") self.verticalLayout.addWidget(self.toolButton_EditInterface) self.toolButton_EditInterface.setText( self._translate("Edit selected interface")) self.toolButton_EditInterface.clicked.connect( self._on_edit_interface_clicked) self.toolButton_EditInterface.setVisible(False) self.toolButton_CreateInterface = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth( self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth()) self.toolButton_CreateInterface.setSizePolicy(sizePolicy) self.toolButton_CreateInterface.setObjectName( "toolButton_CreateInterface") self.verticalLayout.addWidget(self.toolButton_CreateInterface) self.toolButton_CreateInterface.setText( self._translate("Create an interface")) self.toolButton_CreateInterface.clicked.connect( self._on_create_interface_clicked) self.toolButton_CreateInterface.setVisible(False) self.textedit = TextEdit('', self) self.hl = SyncHighlighter(self.textedit.document()) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) self.textedit.setSizePolicy(sizePolicy) self.textedit.setObjectName("syncedit") self.verticalLayout.addWidget(self.textedit) self.textedit.setVisible(False) self._fill_interface_thread = None self._interfaces_files = None self._sync_args = [] self._interface_filename = None self.buttonBox = QDialogButtonBox(self) self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel) self.buttonBox.setOrientation(Qt.Horizontal) self.buttonBox.setObjectName("buttonBox") self.verticalLayout.addWidget(self.buttonBox) self.buttonBox.accepted.connect(self.accept) self.buttonBox.rejected.connect(self.reject) self._new_iface = True def _translate(self, text): if hasattr(QApplication, "UnicodeUTF8"): return QApplication.translate("Form", text, None, QApplication.UnicodeUTF8) else: return QApplication.translate("Form", text, None) @property def sync_args(self): return self._sync_args @property def interface_filename(self): return self._interface_filename def _on_sync_all_clicked(self): self.setResult(QDialog.Accepted) self._sync_args = [] self._sync_args.append(''.join(['_interface_url:=', "'.'"])) self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'False'])) self._sync_args.append(''.join(['_ignore_hosts:=', '[]'])) self._sync_args.append(''.join(['_sync_hosts:=', '[]'])) self._sync_args.append(''.join(['_ignore_nodes:=', '[]'])) self._sync_args.append(''.join(['_sync_nodes:=', '[]'])) self._sync_args.append(''.join(['_ignore_topics:=', '[]'])) self._sync_args.append(''.join(['_ignore_publishers:=', '[]'])) self._sync_args.append(''.join(['_ignore_subscribers:=', '[]'])) self._sync_args.append(''.join(['_sync_topics:=', '[]'])) self._sync_args.append(''.join(['_ignore_services:=', '[]'])) self._sync_args.append(''.join(['_sync_services:=', '[]'])) self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False'])) self._interface_filename = None self.accept() # def _on_sync_all_anymsg_clicked(self): # self._sync_args = [] # self._sync_args.append(''.join(['_interface_url:=', "'.'"])) # self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True'])) # self._sync_args.append(''.join(['_ignore_hosts:=', '[]'])) # self._sync_args.append(''.join(['_sync_hosts:=', '[]'])) # self._sync_args.append(''.join(['_ignore_nodes:=', '[]'])) # self._sync_args.append(''.join(['_sync_nodes:=', '[]'])) # self._sync_args.append(''.join(['_ignore_topics:=', '[]'])) # self._sync_args.append(''.join(['_sync_topics:=', '[/*]'])) # self._sync_args.append(''.join(['_ignore_services:=', '[]'])) # self._sync_args.append(''.join(['_sync_services:=', '[]'])) # self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False'])) # self._interface_filename = None # self.accept() def _on_sync_topics_on_demand_clicked(self): self._sync_args = [] self._sync_args.append(''.join(['_interface_url:=', "'.'"])) self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True'])) self._sync_args.append(''.join(['_ignore_hosts:=', '[]'])) self._sync_args.append(''.join(['_sync_hosts:=', '[]'])) self._sync_args.append(''.join(['_ignore_nodes:=', '[]'])) self._sync_args.append(''.join(['_sync_nodes:=', '[]'])) self._sync_args.append(''.join(['_ignore_topics:=', '[]'])) self._sync_args.append(''.join(['_ignore_publishers:=', '[]'])) self._sync_args.append(''.join(['_ignore_subscribers:=', '[]'])) self._sync_args.append(''.join(['_sync_topics:=', '[/only_on_demand]'])) self._sync_args.append(''.join(['_ignore_services:=', '[/*]'])) self._sync_args.append(''.join(['_sync_services:=', '[]'])) self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False'])) self._interface_filename = None self.accept() def _on_select_interface_clicked(self): self.toolButton_SyncAll.setVisible(False) # self.toolButton_SyncAllAnyMsg.setVisible(False) self.toolButton_SyncTopicOnDemand.setVisible(False) self.toolButton_SelectInterface.setVisible(False) self.interface_field.setVisible(True) self.toolButton_CreateInterface.setVisible(True) self.toolButton_EditInterface.setVisible(True) self.toolButton_EditInterface.setEnabled(False) self.textedit.setVisible(False) # # fill the interfaces if self._interfaces_files is None: self.interface_field.addItems(['interface searching...']) self.interface_field.setCurrentIndex(0) self._fill_interface_thread = InterfacesThread() self._fill_interface_thread.interfaces.connect( self._fill_interfaces) self._fill_interface_thread.start() else: self.toolButton_EditInterface.setEnabled( self.interface_field.currentText() in self._interfaces_files) self.buttonBox.clear() self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel) self.interface_field.setFocus(Qt.TabFocusReason) self.resize(350, 80) def _fill_interfaces(self, interfaces_files): self._interfaces_files = interfaces_files self.interface_field.clear() self.interface_field.clearEditText() self.interface_field.addItems(self._interfaces_files.keys()) def _on_interface_selected(self, interface): if self._interfaces_files and interface in self._interfaces_files: self._sync_args = [] self._sync_args.append(''.join(['_interface_url:=', interface])) self.toolButton_EditInterface.setEnabled(True) else: self.toolButton_EditInterface.setEnabled(False) def accept(self): if self.textedit.isVisible(): try: tmp_file = os.path.join(screen.LOG_PATH, 'tmp_sync_interface.sync') with open(tmp_file, 'w+') as f: f.write(self.textedit.toPlainText()) from fkie_master_discovery.common import read_interface read_interface(tmp_file) if not self._new_iface and self.interface_field.currentText( ) in self._interfaces_files: fileName = self._interfaces_files[ self.interface_field.currentText()] else: fileName, _ = QFileDialog.getSaveFileName( self, 'Save sync interface', '/home', "Sync Files (*.sync)") if fileName: with open(fileName, 'w+') as f: self._interface_filename = fileName f.write(self.textedit.toPlainText()) if self._new_iface: self.interface_field.clear() self._interfaces_files = None self._on_select_interface_clicked() # QDialog.accept(self) # self.resetView() except Exception as e: MessageBox.warning(self, "Create sync interface", "Error while create interface", utf8(e)) elif self.interface_field.isVisible(): interface = self.interface_field.currentText() if self._interfaces_files and interface in self._interfaces_files: self._interface_filename = self._interfaces_files[interface] self._sync_args = [] self._sync_args.append(''.join(['_interface_url:=', interface])) QDialog.accept(self) self.resetView() else: QDialog.accept(self) self.resetView() def reject(self): if self.textedit.isVisible(): self._on_select_interface_clicked() else: QDialog.reject(self) self.resetView() def _on_create_interface_clicked(self): self._new_iface = True self.interface_field.setVisible(False) self.toolButton_CreateInterface.setVisible(False) self.toolButton_EditInterface.setVisible(False) self.textedit.setVisible(True) self.textedit.setText( "# The ignore_* lists will be processed first.\n" "# For ignore/sync nodes, topics or services\n" "# use follow declaration:\n" "#{param name}: \n" "# - {ros name}\n" "# or for selected hosts:\n" "# - {host name}:\n" "# - {ros name}\n\n" "# you can use follow wildcard: '*', but not as a first character\n" "ignore_hosts:\n" "sync_hosts:\n\n" "ignore_nodes:\n" "sync_nodes:\n\n" "ignore_topics:\n" "ignore_publishers:\n" "ignore_subscribers:\n" "sync_topics:\n\n" "ignore_services:\n" " - /*get_loggers\n" " - /*set_logger_level\n" "sync_services:\n\n" "# If sync_topics_on_demand is True the local subscribed and published topics\n" "# are synchronized with remote even if they are not in the sync_* list.\n" "sync_topics_on_demand: False\n\n" "# The nodes which are running not at the same host as the ROS master are not\n" "# synchronized by default. Use sync_remote_nodes to sync these nodes also.\n" "sync_remote_nodes: False\n\n") self.resize(350, 300) def _on_edit_interface_clicked(self): self._new_iface = False self.interface_field.setVisible(False) self.toolButton_CreateInterface.setVisible(False) self.toolButton_EditInterface.setVisible(False) self.textedit.setVisible(True) if self.interface_field.currentText() in self._interfaces_files: try: with open( self._interfaces_files[ self.interface_field.currentText()], 'rw') as f: iface = f.read() self.textedit.setText(iface) except Exception as e: MessageBox.warning(self, "Edit sync interface", "Error while open interface", utf8(e)) self.resize(350, 300) def resetView(self): self.toolButton_SyncAll.setVisible(True) # self.toolButton_SyncAllAnyMsg.setVisible(True) self.toolButton_SyncTopicOnDemand.setVisible(True) self.toolButton_SelectInterface.setVisible(True) self.interface_field.setVisible(False) self.toolButton_CreateInterface.setVisible(False) self.toolButton_EditInterface.setVisible(False) self.textedit.setVisible(False) self.buttonBox.clear() self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel) self.resize(350, 160)
class QParameterSetSelectionWidget(QWidgetWithLogger): NO_PARAM_SET_TEXT = "No parameters available!" SELECT_TEXT = "<Select>" param_cleared_signal = Signal() param_changed_signal = Signal(str) def __init__(self, parent=None, logger=Logger()): QWidgetWithLogger.__init__(self, parent, logger) # start widget hbox = QHBoxLayout() hbox.setMargin(0) hbox.setContentsMargins(0, 0, 0, 0) # get system icon icon = QIcon.fromTheme("view-refresh") size = icon.actualSize(QSize(32, 32)) # add combo box self.parameter_set_names_combo_box = QComboBox() self.parameter_set_names_combo_box.currentIndexChanged[str].connect( self.param_changed) hbox.addWidget(self.parameter_set_names_combo_box) # add refresh button self.get_all_parameter_set_names_button = QPushButton() self.get_all_parameter_set_names_button.clicked.connect( self._get_all_parameter_set_names) self.get_all_parameter_set_names_button.setIcon(icon) self.get_all_parameter_set_names_button.setFixedSize( size.width() + 2, size.height() + 2) hbox.addWidget(self.get_all_parameter_set_names_button) # end widget self.setLayout(hbox) # init widget self.reset_parameter_set_selection() def _init_action_client(self, topic_name): self.get_parameter_set_names_client = actionlib.SimpleActionClient( topic_name, GetParameterSetNamesAction) print "Parameter set topic changed: " + topic_name @Slot(str) def set_topic_name(self, topic_name): if len(topic_name) > 0: self._init_action_client(topic_name) self._get_all_parameter_set_names() else: self.reset_parameter_set_selection() def reset_parameter_set_selection(self): self.parameter_set_names_combo_box.setEnabled(False) self.parameter_set_names_combo_box.blockSignals(True) self.parameter_set_names_combo_box.clear() self.parameter_set_names_combo_box.addItem(self.NO_PARAM_SET_TEXT) self.get_all_parameter_set_names_button.setEnabled(False) self.param_cleared_signal.emit() def current_parameter_set_name(self): if self.parameter_set_names_combo_box.currentText( ) == self.NO_PARAM_SET_TEXT: return str() else: return self.parameter_set_names_combo_box.currentText() @Slot(str) def param_changed(self, name): self.param_changed_signal.emit(name) # parameter set names handler def _get_all_parameter_set_names(self): if self.get_parameter_set_names_client.wait_for_server( rospy.Duration(0.5)): self.logger.log_info( "Requesting current list of parameter set names.") goal = GetParameterSetNamesGoal() self.get_parameter_set_names_client.send_goal(goal) # waiting for getting list of parameter set names if self.get_parameter_set_names_client.wait_for_result( rospy.Duration(1.0)): result = self.get_parameter_set_names_client.get_result() self.logger.log_info("Received " + str(len(result.names)) + " parameter set names.") self.parameter_set_names_combo_box.blockSignals(True) self.parameter_set_names_combo_box.clear() self.parameter_set_names_combo_box.addItem(self.SELECT_TEXT) self.parameter_set_names_combo_box.setItemData( 0, 0, Qt.UserRole - 1) self.param_cleared_signal.emit() for name in result.names: self.parameter_set_names_combo_box.addItem(name.data) self.parameter_set_names_combo_box.setEnabled(True) self.parameter_set_names_combo_box.blockSignals(False) self.get_all_parameter_set_names_button.setEnabled(True) else: self.logger.log_error( "Didn't received any results. Check communcation!") self.reset_parameter_set_selection() else: self.logger.log_error( "Can't connect to footstep planner parameter action server!") self.reset_parameter_set_selection()
def __init__(self, parent=None): QDialog.__init__(self, parent) # self.host = host self.setWindowIcon(QIcon(":/icons/irondevil_sync.png")) self.setWindowTitle('Sync') self.verticalLayout = QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.resize(350, 190) self.toolButton_SyncAll = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(2) sizePolicy.setHeightForWidth( self.toolButton_SyncAll.sizePolicy().hasHeightForWidth()) self.toolButton_SyncAll.setSizePolicy(sizePolicy) self.toolButton_SyncAll.setObjectName("toolButton_SyncAll") self.verticalLayout.addWidget(self.toolButton_SyncAll) self.toolButton_SyncAll.setText(self._translate("Sync All")) self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked) # self.toolButton_SyncAllAnyMsg = QToolButton(self) # sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) # sizePolicy.setHorizontalStretch(0) # sizePolicy.setVerticalStretch(1) # sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth()) # self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy) # self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg") # self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg) # self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)")) # self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked) self.toolButton_SyncTopicOnDemand = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth( self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth()) self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy) self.toolButton_SyncTopicOnDemand.setObjectName( "toolButton_SyncTopicOnDemand") self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand) self.toolButton_SyncTopicOnDemand.setText( self._translate("Sync only topics on demand")) self.toolButton_SyncTopicOnDemand.clicked.connect( self._on_sync_topics_on_demand_clicked) self.toolButton_SelectInterface = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth( self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth()) self.toolButton_SelectInterface.setSizePolicy(sizePolicy) self.toolButton_SelectInterface.setObjectName( "toolButton_SelectInterface") self.verticalLayout.addWidget(self.toolButton_SelectInterface) self.toolButton_SelectInterface.setText( self._translate("Select an interface")) self.toolButton_SelectInterface.clicked.connect( self._on_select_interface_clicked) self.interface_field = QComboBox(self) self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically) self.interface_field.setSizePolicy( QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed)) self.interface_field.setEditable(True) self.interface_field.setVisible(False) self.interface_field.setObjectName("interface_field") self.verticalLayout.addWidget(self.interface_field) self.interface_field.currentIndexChanged[str].connect( self._on_interface_selected) self.toolButton_EditInterface = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth( self.toolButton_EditInterface.sizePolicy().hasHeightForWidth()) self.toolButton_EditInterface.setSizePolicy(sizePolicy) self.toolButton_EditInterface.setObjectName("toolButton_EditInterface") self.verticalLayout.addWidget(self.toolButton_EditInterface) self.toolButton_EditInterface.setText( self._translate("Edit selected interface")) self.toolButton_EditInterface.clicked.connect( self._on_edit_interface_clicked) self.toolButton_EditInterface.setVisible(False) self.toolButton_CreateInterface = QToolButton(self) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) sizePolicy.setHorizontalStretch(0) sizePolicy.setVerticalStretch(1) sizePolicy.setHeightForWidth( self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth()) self.toolButton_CreateInterface.setSizePolicy(sizePolicy) self.toolButton_CreateInterface.setObjectName( "toolButton_CreateInterface") self.verticalLayout.addWidget(self.toolButton_CreateInterface) self.toolButton_CreateInterface.setText( self._translate("Create an interface")) self.toolButton_CreateInterface.clicked.connect( self._on_create_interface_clicked) self.toolButton_CreateInterface.setVisible(False) self.textedit = TextEdit('', self) self.hl = SyncHighlighter(self.textedit.document()) sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding) self.textedit.setSizePolicy(sizePolicy) self.textedit.setObjectName("syncedit") self.verticalLayout.addWidget(self.textedit) self.textedit.setVisible(False) self._fill_interface_thread = None self._interfaces_files = None self._sync_args = [] self._interface_filename = None self.buttonBox = QDialogButtonBox(self) self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel) self.buttonBox.setOrientation(Qt.Horizontal) self.buttonBox.setObjectName("buttonBox") self.verticalLayout.addWidget(self.buttonBox) self.buttonBox.accepted.connect(self.accept) self.buttonBox.rejected.connect(self.reject) self._new_iface = True
if __name__ == '__main__': import sys from python_qt_binding.QtGui import QApplication, QComboBox, QLineEdit, QMainWindow, QTreeView, QVBoxLayout, QWidget app = QApplication(sys.argv) mw = QMainWindow() widget = QWidget(mw) layout = QVBoxLayout(widget) edit = QLineEdit() edit_completer = TopicCompleter(edit) # edit_completer.setCompletionMode(QCompleter.InlineCompletion) edit.setCompleter(edit_completer) combo = QComboBox() combo.setEditable(True) combo_completer = TopicCompleter(combo) # combo_completer.setCompletionMode(QCompleter.InlineCompletion) combo.lineEdit().setCompleter(combo_completer) model_tree = QTreeView() model_tree.setModel(combo_completer.model()) model_tree.expandAll() for column in range(combo_completer.model().columnCount()): model_tree.resizeColumnToContents(column) completion_tree = QTreeView() completion_tree.setModel(combo_completer.completionModel()) completion_tree.expandAll() for column in range(combo_completer.completionModel().columnCount()):
class EchoDialog(QDialog): MESSAGE_LINE_LIMIT = 128 MESSAGE_HZ_LIMIT = 10 MAX_DISPLAY_MSGS = 25 STATISTIC_QUEUE_LEN = 5000 """ This dialog shows the output of a topic. """ finished_signal = Signal(str) """ finished_signal has as parameter the name of the topic and is emitted, if this dialog was closed. """ msg_signal = Signal(object, bool) """ msg_signal is a signal, which is emitted, if a new message was received. """ text_hz_signal = Signal(str) text_signal = Signal(str) """ text_signal is a signal, which is emitted, if a new text to display was received. """ text_error_signal = Signal(str) """ text_error_signal is a signal, which is emitted, if a new error text to display was received. """ request_pw = Signal(object) def __init__(self, topic, msg_type, show_only_rate=False, masteruri=None, use_ssh=False, parent=None): """ Creates an input dialog. @param topic: the name of the topic @type topic: C{str} @param msg_type: the type of the topic @type msg_type: C{str} @raise Exception: if no topic class was found for the given type """ QDialog.__init__(self, parent=parent) self._masteruri = masteruri masteruri_str = "" if masteruri is None else "[%s]" % masteruri self.setObjectName(" - ".join(["EchoDialog", topic, masteruri_str])) self.setAttribute(Qt.WA_DeleteOnClose, True) self.setWindowFlags(Qt.Window) self.setWindowTitle("%s %s %s" % ("Echo --- " if not show_only_rate else "Hz --- ", topic, masteruri_str)) self.resize(728, 512) self.verticalLayout = QVBoxLayout(self) self.verticalLayout.setObjectName("verticalLayout") self.verticalLayout.setContentsMargins(1, 1, 1, 1) self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png") self.setWindowIcon(self.mIcon) self.topic = topic self.show_only_rate = show_only_rate self.lock = threading.RLock() self.last_printed_count = 0 self.msg_t0 = -1.0 self.msg_tn = 0 self.times = [] self.message_count = 0 self._rate_message = "" self._scrapped_msgs = 0 self._scrapped_msgs_sl = 0 self._last_received_ts = 0 self.receiving_hz = self.MESSAGE_HZ_LIMIT self.line_limit = self.MESSAGE_LINE_LIMIT self.field_filter_fn = None options = QWidget(self) if not show_only_rate: hLayout = QHBoxLayout(options) hLayout.setContentsMargins(1, 1, 1, 1) self.no_str_checkbox = no_str_checkbox = QCheckBox("Hide strings") no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled) hLayout.addWidget(no_str_checkbox) self.no_arr_checkbox = no_arr_checkbox = QCheckBox("Hide arrays") no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled) hLayout.addWidget(no_arr_checkbox) self.combobox_reduce_ch = QComboBox(self) self.combobox_reduce_ch.addItems([str(self.MESSAGE_LINE_LIMIT), "0", "80", "256", "1024"]) self.combobox_reduce_ch.activated[str].connect(self.combobox_reduce_ch_activated) self.combobox_reduce_ch.setEditable(True) self.combobox_reduce_ch.setToolTip("Set maximum line width. 0 disables the limit.") hLayout.addWidget(self.combobox_reduce_ch) # reduce_ch_label = QLabel('ch', self) # hLayout.addWidget(reduce_ch_label) # add spacer spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum) hLayout.addItem(spacerItem) # add combobox for displaying frequency of messages self.combobox_displ_hz = QComboBox(self) self.combobox_displ_hz.addItems([str(self.MESSAGE_HZ_LIMIT), "0", "0.1", "1", "50", "100", "1000"]) self.combobox_displ_hz.activated[str].connect(self.on_combobox_hz_activated) self.combobox_displ_hz.setEditable(True) hLayout.addWidget(self.combobox_displ_hz) displ_hz_label = QLabel("Hz", self) hLayout.addWidget(displ_hz_label) # add combobox for count of displayed messages self.combobox_msgs_count = QComboBox(self) self.combobox_msgs_count.addItems([str(self.MAX_DISPLAY_MSGS), "0", "50", "100"]) self.combobox_msgs_count.activated[str].connect(self.on_combobox_count_activated) self.combobox_msgs_count.setEditable(True) self.combobox_msgs_count.setToolTip("Set maximum displayed message count. 0 disables the limit.") hLayout.addWidget(self.combobox_msgs_count) displ_count_label = QLabel("#", self) hLayout.addWidget(displ_count_label) # add topic control button for unsubscribe and subscribe self.topic_control_button = QToolButton(self) self.topic_control_button.setText("stop") self.topic_control_button.setIcon(QIcon(":/icons/deleket_deviantart_stop.png")) self.topic_control_button.clicked.connect(self.on_topic_control_btn_clicked) hLayout.addWidget(self.topic_control_button) # add clear button clearButton = QToolButton(self) clearButton.setText("clear") clearButton.clicked.connect(self.on_clear_btn_clicked) hLayout.addWidget(clearButton) self.verticalLayout.addWidget(options) self.display = QTextBrowser(self) self.display.setReadOnly(True) self.verticalLayout.addWidget(self.display) self.display.document().setMaximumBlockCount(500) self.max_displayed_msgs = self.MAX_DISPLAY_MSGS self._blocks_in_msg = None self.display.setOpenLinks(False) self.display.anchorClicked.connect(self._on_display_anchorClicked) self.status_label = QLabel("0 messages", self) self.verticalLayout.addWidget(self.status_label) # subscribe to the topic errmsg = "" try: self.__msg_class = message.get_message_class(msg_type) if not self.__msg_class: errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type # raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type) except Exception as e: self.__msg_class = None errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (msg_type, e) # raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e)) # variables for Subscriber self.msg_signal.connect(self._append_message) self.sub = None # vairables for SSH connection self.ssh_output_file = None self.ssh_error_file = None self.ssh_input_file = None self.text_signal.connect(self._append_text) self.text_hz_signal.connect(self._append_text_hz) self._current_msg = "" self._current_errmsg = "" self.text_error_signal.connect(self._append_error_text) # decide, which connection to open if use_ssh: self.__msg_class = None self._on_display_anchorClicked(QUrl(self._masteruri)) elif self.__msg_class is None: errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % ( errmsg ) self.display.setText('<a href="%s">open using SSH</a>' % (masteruri)) self.display.append(errtxt) else: self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle) self.print_hz_timer = QTimer() self.print_hz_timer.timeout.connect(self._on_calc_hz) self.print_hz_timer.start(1000) # print "======== create", self.objectName() # # def __del__(self): # print "******* destroy", self.objectName() # def hideEvent(self, event): # self.close() def closeEvent(self, event): if self.sub is not None: self.sub.unregister() del self.sub try: self.ssh_output_file.close() self.ssh_error_file.close() # send Ctrl+C to remote process self.ssh_input_file.write("%s\n" % chr(3)) self.ssh_input_file.close() except: pass self.finished_signal.emit(self.topic) if self.parent() is None: QApplication.quit() # else: # self.setParent(None) def create_field_filter(self, echo_nostr, echo_noarr): def field_filter(val): try: # fields = val.__slots__ # field_types = val._slot_types for f, t in zip(val.__slots__, val._slot_types): if echo_noarr and "[" in t: continue elif echo_nostr and "string" in t: continue yield f except: pass return field_filter def on_no_str_checkbox_toggled(self, state): self.field_filter_fn = self.create_field_filter(state, self.no_arr_checkbox.isChecked()) def on_no_arr_checkbox_toggled(self, state): self.field_filter_fn = self.create_field_filter(self.no_str_checkbox.isChecked(), state) def combobox_reduce_ch_activated(self, ch_txt): try: self.line_limit = int(ch_txt) except ValueError: try: self.line_limit = float(ch_txt) except ValueError: self.combobox_reduce_ch.setEditText(str(self.line_limit)) def on_combobox_hz_activated(self, hz_txt): try: self.receiving_hz = int(hz_txt) except ValueError: try: self.receiving_hz = float(hz_txt) except ValueError: self.combobox_displ_hz.setEditText(str(self.receiving_hz)) def on_combobox_count_activated(self, count_txt): try: self.max_displayed_msgs = int(count_txt) self._blocks_in_msg = None except ValueError: self.combobox_msgs_count.setEditText(str(self.max_displayed_msgs)) def on_clear_btn_clicked(self): self.display.clear() with self.lock: self.message_count = 0 self._scrapped_msgs = 0 del self.times[:] def on_topic_control_btn_clicked(self): try: if self.sub is None and self.ssh_output_file is None: if self.__msg_class: self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle) else: self._on_display_anchorClicked(QUrl(self._masteruri)) self.topic_control_button.setText("stop") self.topic_control_button.setIcon(QIcon(":/icons/deleket_deviantart_stop.png")) else: if self.sub is not None: self.sub.unregister() self.sub = None elif self.ssh_output_file is not None: self.ssh_output_file.close() self.ssh_error_file.close() self.ssh_output_file = None self.topic_control_button.setText("play") self.topic_control_button.setIcon(QIcon(":/icons/deleket_deviantart_play.png")) self.no_str_checkbox.setEnabled(True) self.no_arr_checkbox.setEnabled(True) except Exception as e: rospy.logwarn("Error while stop/play echo for topic %s: %s" % (self.topic, e)) def _msg_handle(self, data): self.msg_signal.emit(data, (data._connection_header["latching"] != "0")) def _append_message(self, msg, latched): """ Adds a label to the dialog's layout and shows the given text. @param msg: the text to add to the dialog @type msg: message object """ current_time = time.time() self._count_messages(current_time) # skip messages, if they are received often then MESSAGE_HZ_LIMIT if self._last_received_ts != 0 and self.receiving_hz != 0: if not latched and current_time - self._last_received_ts < 1.0 / self.receiving_hz: self._scrapped_msgs += 1 self._scrapped_msgs_sl += 1 return self._last_received_ts = current_time if not self.show_only_rate: # convert message to string and reduce line width to current limit msg = message.strify_message(msg, field_filter=self.field_filter_fn) if isinstance(msg, tuple): msg = msg[0] msg = self._trim_width(msg) msg = msg.replace("<", "<").replace(">", ">") # create a notification about scrapped messages if self._scrapped_msgs_sl > 0: txt = ( '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">scrapped %s message because of Hz-settings</pre>' % self._scrapped_msgs_sl ) self.display.append(txt) self._scrapped_msgs_sl = 0 txt = ( '<pre style="background-color:#FFFCCC; font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>' % (datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), msg) ) # set the count of the displayed messages on receiving the first message self._update_max_msg_count(txt) self.display.append(txt) self._print_status() def _count_messages(self, ts=time.time()): """ Counts the received messages. Call this method only on receive message. """ current_time = ts with self.lock: # time reset if self.msg_t0 < 0 or self.msg_t0 > current_time: self.msg_t0 = current_time self.msg_tn = current_time self.times = [] else: self.times.append(current_time - self.msg_tn) self.msg_tn = current_time # keep only statistics for the last 5000 messages so as not to run out of memory if len(self.times) > self.STATISTIC_QUEUE_LEN: self.times.pop(0) self.message_count += 1 def _trim_width(self, msg): """ reduce line width to current limit :param msg: the message :type msg: str :return: trimmed message """ result = msg if self.line_limit != 0: a = "" for l in msg.splitlines(): a = a + (l if len(l) <= self.line_limit else l[0 : self.line_limit - 3] + "...") + "\n" result = a return result def _update_max_msg_count(self, txt): """ set the count of the displayed messages on receiving the first message :param txt: text of the message, which will be added to the document :type txt: str """ if self._blocks_in_msg is None: td = QTextDocument(txt) self._blocks_in_msg = td.blockCount() self.display.document().setMaximumBlockCount(self._blocks_in_msg * self.max_displayed_msgs) def _on_calc_hz(self): if rospy.is_shutdown(): self.close() return if self.message_count == self.last_printed_count: return with self.lock: # the code from ROS rostopic n = len(self.times) if n < 2: return mean = sum(self.times) / n rate = 1.0 / mean if mean > 0.0 else 0 # std dev std_dev = math.sqrt(sum((x - mean) ** 2 for x in self.times) / n) # min and max max_delta = max(self.times) min_delta = min(self.times) self.last_printed_count = self.message_count self._rate_message = "average rate: %.3f\tmin: %.3fs max: %.3fs std dev: %.5fs window: %s" % ( rate, min_delta, max_delta, std_dev, n + 1, ) if self._scrapped_msgs > 0: self._rate_message += " --- scrapped msgs: %s" % self._scrapped_msgs self._print_status() if self.show_only_rate: self.display.append(self._rate_message) def _print_status(self): self.status_label.setText("%s messages %s" % (self.message_count, self._rate_message)) def _append_text(self, text): """ Append echo text received through the SSH. """ with self.lock: self._current_msg += text if self._current_msg.find("---") != -1: messages = self._current_msg.split("---") for m in messages[:-1]: current_time = time.time() self._count_messages(current_time) # limit the displayed text width m = self._trim_width(m) txt = ( '<pre style="background-color:#FFFCCC; font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>' % (datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), m) ) # set the count of the displayed messages on receiving the first message self._update_max_msg_count(txt) self.display.append(txt) self._current_msg = messages[-1] self._print_status() def _append_error_text(self, text): """ Append error text received through the SSH. """ with self.lock: self._current_errmsg += text if self._current_errmsg.find("\n") != -1: messages = self._current_errmsg.split("\n") for m in messages[:-1]: txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">%s</pre>' % m self.display.append(txt) self._current_errmsg = messages[-1] def _append_text_hz(self, text): """ Append text received through the SSH for hz view. """ with self.lock: self._current_msg += text if self._current_msg.find("\n") != -1: messages = self._current_msg.split("\n") for m in messages[:-1]: txt = '<div style="font-family:Fixedsys,Courier;">%s</div>' % (m) self.display.append(txt) self._current_msg = messages[-1] def _on_display_anchorClicked(self, url, user=None, pw=None): try: ok = False if self.show_only_rate: self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh().ssh_exec( url.host(), ["rostopic hz %s" % (self.topic)], user, pw, auto_pw_request=True, get_pty=True ) self.status_label.setText("connected to %s over SSH" % url.host()) else: self.combobox_displ_hz.setEnabled(False) nostr = "--nostr" if self.no_str_checkbox.isChecked() else "" noarr = "--noarr" if self.no_arr_checkbox.isChecked() else "" self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh().ssh_exec( url.host(), ["rostopic echo %s %s %s" % (nostr, noarr, self.topic)], user, pw, auto_pw_request=True, get_pty=True, ) if ok: self.display.clear() target = self._read_output_hz if self.show_only_rate else self._read_output thread = threading.Thread(target=target, args=((self.ssh_output_file,))) thread.setDaemon(True) thread.start() thread = threading.Thread(target=self._read_error, args=((self.ssh_error_file,))) thread.setDaemon(True) thread.start() elif self.ssh_output_file: self.ssh_output_file.close() self.ssh_error_file.close() except Exception as e: self._append_error_text("%s\n" % e) # import traceback # print traceback.format_exc() def _read_output_hz(self, output_file): try: while not output_file.closed: text = output_file.read(1) if text: self.text_hz_signal.emit(text) except: pass # import traceback # print traceback.format_exc() def _read_output(self, output_file): while not output_file.closed: text = output_file.read(1) if text: self.text_signal.emit(text) def _read_error(self, error_file): try: while not error_file.closed: text = error_file.read(1) if text: self.text_error_signal.emit(text) except: pass