def _requestPW(self, user, host):
'''
Open the dialog to input the user name and password to open an SSH connection.
'''
from python_qt_binding.QtCore import Qt
from python_qt_binding import loadUi
try:
from python_qt_binding.QtGui import QDialog
except:
from python_qt_binding.QtWidgets import QDialog
result = False
pw = None
pwInput = QDialog()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'PasswordInput.ui')
loadUi(ui_file, pwInput)
pwInput.setWindowTitle(''.join(
['Enter the password for user ', user, ' on ', host]))
pwInput.userLine.setText(str(user))
pwInput.pwLine.setText("")
pwInput.pwLine.setFocus(Qt.OtherFocusReason)
if pwInput.exec_():
result = True
user = pwInput.userLine.text()
pw = pwInput.pwLine.text()
return result, user, pw
def _requestPW(self, user, host):
'''
Open the dialog to input the user name and password to open an SSH connection.
'''
from python_qt_binding.QtCore import Qt
from python_qt_binding import loadUi
try:
from python_qt_binding.QtGui import QDialog
except:
from python_qt_binding.QtWidgets import QDialog
result = False
pw = None
pwInput = QDialog()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'PasswordInput.ui')
loadUi(ui_file, pwInput)
pwInput.setWindowTitle(''.join(['Enter the password for user ', user, ' on ', host]))
pwInput.userLine.setText(str(user))
pwInput.pwLine.setText("")
pwInput.pwLine.setFocus(Qt.OtherFocusReason)
if pwInput.exec_():
result = True
user = pwInput.userLine.text()
pw = pwInput.pwLine.text()
return result, user, pw
class VelocityControl(Plugin):
signal_topic = Signal(JointState)
def __init__(self, context):
super(VelocityControl, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('VelocityControl')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
# in this example the .ui and .py file are in the same folder
#ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'MyPlugin.ui')
# Extend the widget with all attributes and children from UI file
#loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('VelocityControlUi')
vLayout = QVBoxLayout(self._widget)
vLayout.setContentsMargins(0, 0, 0, 0)
vLayout.setSpacing(0)
self._widget.setLayout(vLayout)
self._widget.layout().setSpacing(0)
self._widget.setWindowTitle("VelocityControl");
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
self.context = context
self._topic_list = ''
self._topic_commands = {}
self._jointgroups = {}
self.signal_topic.connect( self.signal_callback_list )
rospy.on_shutdown(self.on_ros_shutdown) #handle the ROS shutdown commands
def on_ros_shutdown(self, *args):
from python_qt_binding.QtGui import QApplication
QApplication.exit(0)
def shutdown_plugin(self):
# TODO unregister all publishers here
self.shutdownRosComm()
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
self._topic_commands.clear()
for caller, joint_frame in self._jointgroups.items():
self._topic_commands[caller] = joint_frame.get_command_topic()
instance_settings.set_value('topic_commands', self._topic_commands)
instance_settings.set_value('topic_list', self._topic_list)
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
self.shutdownRosComm()
self._topic_commands = instance_settings.value('topic_commands', {})
self._topic_list = instance_settings.value('topic_list', 'joint_state')
self.fill_widget()
self.reinitRosComm()
def reinitRosComm(self):
# if self._topic_command:
# self._topic_command = rosgraph.names.script_resolve_name('rostopic', self._topic_command)
# if (self._topic_command):
# self._publisher_command = rospy.Publisher(self._topic_command, PowerSwitch, queue_size=1)
if self._topic_list:
self._topic_list = rosgraph.names.script_resolve_name('rostopic', self._topic_list)
if self._topic_list:
self._subscriber_list = rospy.Subscriber(self._topic_list, JointState, self.callback_jointstate)
def clearstuff(self):
pass
# for name,p in self._devices.items():
# self._widget.layout().removeWidget(p)
# p.clearParent()
# self._devices.clear();
def shutdownRosComm(self):
self.clearstuff()
# if self._topic_command:
# self._publisher_command.unregister()
# self._publisher_command = None
if self._topic_list:
self._subscriber_list.unregister()
self._subscriber_list = None
def fill_widget(self):
# for i in range(len(self._topics)):
self._widget.layout().addItem(QSpacerItem(1,1,QSizePolicy.Expanding, QSizePolicy.Expanding))
def callback_jointstate(self, msg):
self.signal_topic.emit(msg)
def signal_callback_list( self, msg ):
# update
caller = msg._connection_header['callerid']
if caller not in self._jointgroups:
stored_topic = None
if caller in self._topic_commands:
stored_topic = self._topic_commands[caller]
group_frame = JointStateGroup(caller, msg, stored_topic=stored_topic)
self._widget.layout().insertWidget(self._widget.layout().count() - 1, group_frame)
self._jointgroups[caller] = group_frame
else:
# update the values
self._jointgroups[caller].update(msg)
def trigger_configuration(self):
# Comment in to signal that the plugin has a way to configure it
# Usually used to open a configuration dialog
self.dialog_config = QDialog()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'iop_rqt_velocity_config.ui')
loadUi(ui_file, self.dialog_config)
self.dialog_config.accepted.connect(self.on_dialog_config_accepted)
# fill configuration dialog
ti = TopicInfo()
ti.fill_published_topics(self.dialog_config.comboBox_listTopic, "sensor_msgs/JointState", self._topic_list)
# ti.fill_subscribed_topics(self.dialog_config.comboBox_commandTopic, "std_msgs/Float64MultiArray", self._topic_command)
# stop on cancel pressed
if not self.dialog_config.exec_():
return
def on_dialog_config_accepted(self):
self.shutdownRosComm()
# self._topic_command = self.dialog_config.comboBox_commandTopic.currentText()
self._topic_list = self.dialog_config.comboBox_listTopic.currentText()
self.reinitRosComm()
def exec_(self):
if self.text in IGNORED_ERRORS:
self.accept()
return self.result()
return QDialog.exec_(self)
def exec_(self):
if self.text in IGNORED_ERRORS:
self.accept()
return self.result()
return QDialog.exec_(self)
