def __init__(self, parent=None, info=False):
QFrame.__init__(self, parent=parent)
self.setObjectName('MessageFrame')
self.questionid = self.TYPE_INVALID
self.text = ""
self.data = MessageData(None)
self.IMAGES = {1: QPixmap(),
2: QPixmap(':/icons/crystal_clear_question.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
3: QPixmap(':/icons/crystal_clear_launch_file.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
4: QPixmap(":/icons/default_cfg.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
5: QPixmap(":/icons/crystal_clear_nodelet_q.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
6: QPixmap(":/icons/crystal_clear_launch_file_transfer.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
7: QPixmap(":/icons/crystal_clear_question.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
8: QPixmap(":/icons/crystal_clear_no_io.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation)
}
self._new_request = False
self.frameui = QFrame()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'MessageFrame.ui')
loadUi(ui_file, self.frameui)
color = QColor(255, 207, 121)
self.frameui.setVisible(False)
self.frameui.listLabel.setVisible(False)
self.frameui.questionOkButton.clicked.connect(self._on_question_ok)
self.frameui.questionCancelButton.clicked.connect(self._on_question_cancel)
self.frameui.checkBox_dnaa.stateChanged.connect(self._on_checkbox_state_changed)
self._ask = 'ask'
if info:
color = QColor(232, 104, 80)
self.frameui.questionCancelButton.setVisible(False)
self._ask = 'show'
bg_style = "QFrame#questionFame { background-color: %s;}" % color.name()
self.frameui.setStyleSheet("%s" % (bg_style))
self._queue = MessageQueue()
self._do_not_ask = {}
def __init__(self, tabwidget, parent=None):
QDockWidget.__init__(self, "Find", parent)
self.setObjectName('SearchFrame')
self.setFeatures(QDockWidget.DockWidgetMovable
| QDockWidget.DockWidgetFloatable)
self._dockwidget = QFrame(self)
self.vbox_layout = QVBoxLayout(self._dockwidget)
self.layout().setContentsMargins(0, 0, 0, 0)
self.layout().setSpacing(1)
# frame with two rows for find and replace
find_replace_frame = QFrame(self)
find_replace_vbox_layout = QVBoxLayout(find_replace_frame)
find_replace_vbox_layout.setContentsMargins(0, 0, 0, 0)
find_replace_vbox_layout.setSpacing(1)
# find_replace_vbox_layout.addSpacerItem(QSpacerItem(1, 1, QSizePolicy.Expanding, QSizePolicy.Expanding))
# create frame with find row
find_frame = self._create_find_frame()
find_replace_vbox_layout.addWidget(find_frame)
rplc_frame = self._create_replace_frame()
find_replace_vbox_layout.addWidget(rplc_frame)
# frame for find&replace and search results
self.vbox_layout.addWidget(find_replace_frame)
self.vbox_layout.addWidget(self._create_found_frame())
# self.vbox_layout.addStretch(2024)
self.setWidget(self._dockwidget)
# intern search parameters
self._tabwidget = tabwidget
self.current_search_text = ''
self.search_results = []
self.search_results_fileset = set()
self._search_result_index = -1
self._search_recursive = False
self._search_thread = None
def __init__(self, parent=None, info=False):
QFrame.__init__(self, parent=parent)
self.setObjectName('MessageFrame')
self.questionid = self.TYPE_INVALID
self.text = ""
self.data = MessageData(None)
self.IMAGES = {1: QPixmap(),
2: QPixmap(':/icons/crystal_clear_question.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
3: QPixmap(':/icons/crystal_clear_launch_file.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
4: QPixmap(":/icons/default_cfg.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
5: QPixmap(":/icons/crystal_clear_nodelet_q.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
6: QPixmap(":/icons/crystal_clear_question.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
7: QPixmap(":/icons/crystal_clear_launch_file_transfer.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
8: QPixmap(":/icons/crystal_clear_no_io.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation)
}
self._new_request = False
self.frameui = QFrame()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'MessageFrame.ui')
loadUi(ui_file, self.frameui)
color = QColor(255, 207, 121)
self.frameui.setVisible(False)
self.frameui.scrollArea.setVisible(False)
self.frameui.questionOkButton.clicked.connect(self._on_question_ok)
self.frameui.questionCancelButton.clicked.connect(self._on_question_cancel)
self.frameui.checkBox_dnaa.stateChanged.connect(self._on_checkbox_state_changed)
self._ask = 'ask'
if info:
color = QColor(232, 104, 80)
self.frameui.questionCancelButton.setVisible(False)
self._ask = 'show'
bg_style = "QFrame#questionFame { background-color: %s;}" % color.name()
self.frameui.setStyleSheet("%s" % (bg_style))
self._queue = MessageQueue()
self._do_not_ask = {}
def get_horizontal_line(self):
"""
http://stackoverflow.com/questions/5671354/how-to-programmatically-make-a-horizontal-line-in-qt
"""
hline = QFrame()
hline.setFrameShape(QFrame.HLine)
hline.setFrameShadow(QFrame.Sunken)
return hline
def beginGui(self, obj):
self.parent = QScrollArea()
self.frame = QFrame(self.parent)
if obj.layout == "vertical":
self.tl = QVBoxLayout()
else:
self.tl = QHBoxLayout()
self.__increase_nesting_level(self.frame, self.tl)
def beginRosLabel(self,obj):
pm,lm = self.__get_immediate_parent()
fr = QFrame(pm)
layout = QGridLayout()
nlb = QLabel(obj.label_name + ":",fr)
nlb.setToolTip(obj.topic_name)
layout.addWidget(nlb,1,1)
layout.addWidget(RosLabel(fr,obj.label_name,obj.topic_name,obj.topic_type,obj.topic_field),1,2)
fr.setLayout(layout)
lm.addWidget(fr)
def setup_group_frame(self, group):
layout = QVBoxLayout()
# grid for buttons for named targets
grid = QGridLayout()
grid.setSpacing(1)
self.button_group = QButtonGroup(self)
row = 0
column = 0
named_targets = self.get_named_targets(group)
for target in named_targets:
button = QPushButton(target)
self.button_group.addButton(button)
grid.addWidget(button, row, column)
column += 1
if column >= self.MAX_COLUMNS:
row += 1
column = 0
self.button_group.buttonClicked.connect(self._handle_button_clicked)
# grid for show joint value and move arm buttons/text field
joint_values_grid = QGridLayout()
joint_values_grid.setSpacing(1)
button_show_joint_values = QPushButton('Current Joint Values')
button_show_joint_values.clicked[bool].connect(
self._handle_show_joint_values_clicked)
line_edit = QLineEdit()
self.text_joint_values.append(line_edit)
button_move_to = QPushButton('Move to')
button_move_to.clicked[bool].connect(self._handle_move_to_clicked)
joint_values_grid.addWidget(button_show_joint_values, 0, 1)
joint_values_grid.addWidget(line_edit, 0, 2)
joint_values_grid.addWidget(button_move_to, 0, 3)
layout.addLayout(grid)
line = QFrame()
line.setFrameShape(QFrame.HLine)
line.setFrameShadow(QFrame.Sunken)
layout.addWidget(line)
layout.addLayout(joint_values_grid)
frame = QFrame()
frame.setLayout(layout)
return frame
def beginRosLabel(self, obj):
pm, lm = self.__get_immediate_parent()
fr = QFrame(pm)
layout = QGridLayout()
nlb = QLabel(obj.label_name + ":", fr)
nlb.setToolTip(obj.topic_name)
layout.addWidget(nlb, 1, 1)
layout.addWidget(
RosLabel(fr, obj.label_name, obj.topic_name, obj.topic_type,
obj.topic_field), 1, 2)
fr.setLayout(layout)
lm.addWidget(fr)
def eventFilter(self, obj, event):
# Update the line numbers for all events on the text edit and the viewport.
# This is easier than connecting all necessary signals.
if obj in (self.edit, self.edit.viewport()):
self.number_bar.update()
return False
return QFrame.eventFilter(obj, event)
def __init__(self,
nodename,
masteruri,
loggername,
level='INFO',
parent=None):
'''
Creates a new item.
'''
QFrame.__init__(self, parent)
self.setObjectName("LoggerItem")
self.nodename = nodename
self.masteruri = masteruri
self.loggername = loggername
self.current_level = None
layout = QHBoxLayout(self)
layout.setContentsMargins(1, 1, 1, 1)
self.debug = QRadioButton()
self.debug.setStyleSheet(
"QRadioButton{ background-color: #39B54A;}") # QColor(57, 181, 74)
self.debug.toggled.connect(self.toggled_debug)
layout.addWidget(self.debug)
self.info = QRadioButton()
self.info.setStyleSheet("QRadioButton{ background-color: #FFFAFA;}")
self.info.toggled.connect(self.toggled_info)
layout.addWidget(self.info)
self.warn = QRadioButton()
self.warn.setStyleSheet(
"QRadioButton{ background-color: #FFC706;}") # QColor(255, 199, 6)
self.warn.toggled.connect(self.toggled_warn)
layout.addWidget(self.warn)
self.error = QRadioButton()
self.error.setStyleSheet(
"QRadioButton{ background-color: #DE382B;}") # QColor(222, 56, 43)
self.error.toggled.connect(self.toggled_error)
layout.addWidget(self.error)
self.fatal = QRadioButton()
self.fatal.setStyleSheet("QRadioButton{ background-color: #FF0000;}")
self.fatal.toggled.connect(self.toggled_fatal)
layout.addWidget(self.fatal)
self.label = QLabel(loggername)
layout.addWidget(self.label)
layout.addStretch()
self._callback = None # used to set all logger
self.success_signal.connect(self.on_succes_update)
self.error_signal.connect(self.on_error_update)
self.set_level(level)
def __init__(self, editor, *args):
QFrame.__init__(self, *args)
self.setFrameStyle(QFrame.StyledPanel | QFrame.Sunken)
self.edit = editor
self.number_bar = self.NumberBar()
self.number_bar.set_text_edit(self.edit)
hbox = QHBoxLayout(self)
hbox.setSpacing(0)
# hbox.setMargin(0) # removed: it is not supported by Qt5
hbox.addWidget(self.number_bar)
hbox.addWidget(self.edit)
self.edit.installEventFilter(self)
self.edit.viewport().installEventFilter(self)
def __init__(self, masteruri, cfg, ns, nodes, parent=None):
QFrame.__init__(self, parent)
self._masteruri = masteruri
self._nodes = {cfg: {ns: nodes}}
frame_layout = QVBoxLayout(self)
frame_layout.setContentsMargins(0, 0, 0, 0)
# create frame for warning label
self.warning_frame = warning_frame = QFrame(self)
warning_layout = QHBoxLayout(warning_frame)
warning_layout.setContentsMargins(0, 0, 0, 0)
warning_layout.addItem(
QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
self.warning_label = QLabel()
icon = nm.settings().icon('crystal_clear_warning.png')
self.warning_label.setPixmap(icon.pixmap(QSize(40, 40)))
self.warning_label.setToolTip(
'Multiple configuration for same node found!\nA first one will be selected for the start a node!'
)
warning_layout.addWidget(self.warning_label)
warning_layout.addItem(
QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
frame_layout.addItem(
QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
frame_layout.addWidget(warning_frame)
# create frame for start/stop buttons
buttons_frame = QFrame()
buttons_layout = QHBoxLayout(buttons_frame)
buttons_layout.setContentsMargins(0, 0, 0, 0)
buttons_layout.addItem(QSpacerItem(20, 20))
self.on_button = QPushButton()
self.on_button.setFlat(False)
self.on_button.setText("On")
self.on_button.clicked.connect(self.on_on_clicked)
buttons_layout.addWidget(self.on_button)
self.off_button = QPushButton()
self.off_button.setFlat(True)
self.off_button.setText("Off")
self.off_button.clicked.connect(self.on_off_clicked)
buttons_layout.addWidget(self.off_button)
buttons_layout.addItem(QSpacerItem(20, 20))
frame_layout.addWidget(buttons_frame)
frame_layout.addItem(
QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
self.warning_frame.setVisible(False)
def buildHorizontalDivider(self, layout):
frame = QFrame();
frame.setFrameShape(QFrame.HLine);
#*******frame.setFrameStyle(QFrame.Shadow.Sunken.value());
frame.setLineWidth(3);
frame.setMidLineWidth(3);
layout.addWidget(frame);
def beginGui(self,obj):
self.parent = QScrollArea()
self.frame = QFrame(self.parent)
if obj.layout == "vertical":
self.tl = QVBoxLayout()
else:
self.tl = QHBoxLayout()
self.__increase_nesting_level(self.frame,self.tl)
def __init__(self, parent=None):
QFrame.__init__(self, parent=parent)
self.setObjectName('MessageFrame')
self.questionid = self.QuestionInvalid
self.text = ""
self.iconid = self.IconEmpty
self.data = MessageData(None)
self.IMAGES = {
0:
QPixmap(),
1:
QPixmap(':/icons/crystal_clear_question.png').scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
2:
QPixmap(':/icons/crystal_clear_launch_file.png').scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
3:
QPixmap(":/icons/default_cfg.png").scaled(self.ICON_SIZE,
self.ICON_SIZE,
Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
4:
QPixmap(":/icons/crystal_clear_nodelet_q.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
5:
QPixmap(":/icons/crystal_clear_question.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation)
}
self._new_request = False
self.frameui = QFrame()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'MessageFrame.ui')
loadUi(ui_file, self.frameui)
self.frameui.setVisible(False)
self.frameui.questionOkButton.clicked.connect(self._on_question_ok)
self.frameui.questionCancelButton.clicked.connect(
self._on_question_cancel)
def __init__(self, parent=None, info=False):
QFrame.__init__(self, parent=parent)
self.setObjectName('MessageFrame')
self.questionid = self.TYPE_INVALID
self.text = ""
self.data = MessageData(None)
self.IMAGES = {1: QPixmap(),
2: nm.settings().pixmap('question.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
3: nm.settings().pixmap('crystal_clear_launch_file.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
4: nm.settings().pixmap('default_cfg.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
5: nm.settings().pixmap('crystal_clear_nodelet_q.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
6: nm.settings().pixmap('crystal_clear_launch_file_transfer.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
7: nm.settings().pixmap('crystal_clear_binary.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
8: nm.settings().pixmap('crystal_clear_no_io.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
9: nm.settings().pixmap('crystal_clear_run_zeroconf.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
10: nm.settings().pixmap('sekkyumu_restart.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation)
}
self._new_request = False
self._in_resp_process = False
self.ui = QFrame()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'ui', 'MessageFrame.ui')
loadUi(ui_file, self.ui)
color = QColor(255, 207, 121)
self.ui.questionOkButton.setIcon(nm.settings().icon('crystal_clear_button_apply.png'))
self.ui.questionCancelButton.setIcon(nm.settings().icon('crystal_clear_button_close.png'))
self.ui.listLabel.setTextInteractionFlags(Qt.TextSelectableByMouse)
self.ui.questionLabel.setTextInteractionFlags(Qt.TextSelectableByMouse)
self.ui.setVisible(False)
self.ui.listLabel.setVisible(False)
self.ui.questionOkButton.clicked.connect(self._on_question_ok)
self.ui.questionCancelButton.clicked.connect(self._on_question_cancel)
self.ui.checkBox_dnaa.stateChanged.connect(self._on_checkbox_state_changed)
self._ask = 'ask'
if info:
color = QColor(232, 104, 80)
self.ui.questionCancelButton.setVisible(False)
self._ask = 'show'
bg_style = "QFrame#questionFame { background-color: %s;}" % color.name()
self.ui.setStyleSheet("%s" % (bg_style))
self._queue = MessageQueue()
self._do_not_ask = {}
def __init__(self, masteruri, cfg, ns, nodes, parent=None):
QFrame.__init__(self, parent)
self._masteruri = masteruri
self._nodes = {cfg: {ns: nodes}}
frame_layout = QVBoxLayout(self)
frame_layout.setContentsMargins(0, 0, 0, 0)
# create frame for warning label
self.warning_frame = warning_frame = QFrame(self)
warning_layout = QHBoxLayout(warning_frame)
warning_layout.setContentsMargins(0, 0, 0, 0)
warning_layout.addItem(QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
self.warning_label = QLabel()
icon = QIcon(':/icons/crystal_clear_warning.png')
self.warning_label.setPixmap(icon.pixmap(QSize(40, 40)))
self.warning_label.setToolTip('Multiple configuration for same node found!\nA first one will be selected for the start a node!')
warning_layout.addWidget(self.warning_label)
warning_layout.addItem(QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
frame_layout.addItem(QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
frame_layout.addWidget(warning_frame)
# create frame for start/stop buttons
buttons_frame = QFrame()
buttons_layout = QHBoxLayout(buttons_frame)
buttons_layout.setContentsMargins(0, 0, 0, 0)
buttons_layout.addItem(QSpacerItem(20, 20))
self.on_button = QPushButton()
self.on_button.setFlat(False)
self.on_button.setText("On")
self.on_button.clicked.connect(self.on_on_clicked)
buttons_layout.addWidget(self.on_button)
self.off_button = QPushButton()
self.off_button.setFlat(True)
self.off_button.setText("Off")
self.off_button.clicked.connect(self.on_off_clicked)
buttons_layout.addWidget(self.off_button)
buttons_layout.addItem(QSpacerItem(20, 20))
frame_layout.addWidget(buttons_frame)
frame_layout.addItem(QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
self.warning_frame.setVisible(False)
def get_horizontal_line(self):
"""
http://stackoverflow.com/questions/5671354/how-to-programmatically-make-a-horizontal-line-in-qt
"""
hline = QFrame()
hline.setFrameShape(QFrame.HLine)
hline.setFrameShadow(QFrame.Sunken)
return hline
def joint_widget(self, main_vbox, index):
joint = self.chain[index]
frame = QFrame()
frame.setFrameShape(QFrame.StyledPanel)
frame.setFrameShadow(QFrame.Raised)
hbox = QHBoxLayout()
# hbox.addWidget(frame)
self.prior_time = 0.0
robot_joint = self.robot.joints[self.joint_list[joint.name]]
joint.lower_limit = robot_joint.limit.lower
joint.upper_limit = robot_joint.limit.upper
ramp_range = robot_joint.limit.upper - robot_joint.limit.lower
print " ", joint.name, " limits(", joint.lower_limit, ", ", joint.upper_limit, ") range=", ramp_range
self.cmd_spinbox.append(QDoubleSpinBox())
self.cmd_spinbox[index].setDecimals(5)
self.cmd_spinbox[index].setRange(joint.lower_limit, joint.upper_limit)
self.cmd_spinbox[index].setSingleStep((robot_joint.limit.upper - robot_joint.limit.lower) / 50.0)
self.cmd_spinbox[index].valueChanged.connect(joint.on_cmd_value)
self.ramp_up_spinbox.append(QDoubleSpinBox())
self.ramp_up_spinbox[index].setDecimals(5)
self.ramp_up_spinbox[index].setRange(-ramp_range, ramp_range)
self.ramp_up_spinbox[index].setSingleStep(ramp_range / 50.0)
self.ramp_up_spinbox[index].valueChanged.connect(joint.on_ramp_up_value)
self.ramp_down_spinbox.append(QDoubleSpinBox())
self.ramp_down_spinbox[index].setDecimals(5)
self.ramp_down_spinbox[index].setRange(-ramp_range, ramp_range)
self.ramp_down_spinbox[index].setSingleStep(ramp_range / 50.0)
self.ramp_down_spinbox[index].valueChanged.connect(joint.on_ramp_down_value)
hbox.addWidget(QLabel(joint.name))
hbox.addWidget(self.cmd_spinbox[index])
hbox.addWidget(self.ramp_up_spinbox[index])
hbox.addWidget(self.ramp_down_spinbox[index])
# Add horizontal layout to frame for this joint group
frame.setLayout(hbox)
# Add frame to main vertical layout
main_vbox.addWidget(frame)
def _create_replace_frame(self):
# create frame with replace row
self.rplc_frame = rplc_frame = QFrame(self)
rplc_hbox_layout = QHBoxLayout(rplc_frame)
rplc_hbox_layout.setContentsMargins(0, 0, 0, 0)
rplc_hbox_layout.setSpacing(1)
self.replace_field = EnchancedLineEdit(rplc_frame)
self.replace_field.setPlaceholderText('replace text')
self.replace_field.returnPressed.connect(self.on_replace)
rplc_hbox_layout.addWidget(self.replace_field)
self.replace_result_label = QLabel(rplc_frame)
self.replace_result_label.setText(' ')
rplc_hbox_layout.addWidget(self.replace_result_label)
self.replace_button = replace_button = QPushButton("> &Replace >")
replace_button.setFixedWidth(90)
replace_button.clicked.connect(self.on_replace_click)
rplc_hbox_layout.addWidget(replace_button)
rplc_frame.setVisible(False)
return rplc_frame
def __init__(self, parent, fileName, top_widget_layout):
self.controllers = []
self.parent = parent
self.loadFile(fileName)
print "Initialize controllers..."
for controller in self.controllers:
frame = QFrame()
frame.setFrameShape(QFrame.StyledPanel);
frame.setFrameShadow(QFrame.Raised);
vbox = QVBoxLayout()
label = QLabel()
label.setText(controller.label)
vbox.addWidget(label);
print controller.name
for joint in controller.joints:
label = QLabel()
label.setText(joint.name)
vbox.addWidget(label);
#Add input for setting the biases
widget = QWidget()
hbox = QHBoxLayout()
hbox.addWidget(joint.sensor_bias_spinbox)
hbox.addWidget(joint.control_bias_spinbox)
hbox.addWidget(joint.gearing_bias_spinbox)
widget.setLayout(hbox)
vbox.addWidget(widget)
label = QLabel()
label.setText(" Sensor Control Gearing")
vbox.addWidget(label);
vbox.addStretch()
frame.setLayout(vbox)
top_widget_layout.addWidget(frame)
print "Done loading controllers"
def joint_widget( self, main_vbox, index):
joint = self.chain[index]
frame = QFrame()
frame.setFrameShape(QFrame.StyledPanel);
frame.setFrameShadow(QFrame.Raised);
hbox = QHBoxLayout()
#hbox.addWidget(frame)
self.prior_time = 0.0
robot_joint = self.robot.joints[self.joint_list[joint.name]]
joint.lower_limit = robot_joint.limit.lower
joint.upper_limit = robot_joint.limit.upper
amplitude_range = (robot_joint.limit.upper-robot_joint.limit.lower)
frequency_range = self.frequency_limit
iterations_range = 10000
print " ",joint.name, " limits(", joint.lower_limit,", ",joint.upper_limit,") range=",amplitude_range
self.cur_position_spinbox.append(QDoubleSpinBox())
self.cur_position_spinbox[index].setDecimals(5)
self.cur_position_spinbox[index].setRange(joint.lower_limit, joint.upper_limit)
self.cur_position_spinbox[index].setSingleStep((robot_joint.limit.upper-robot_joint.limit.lower)/50.0)
self.cur_position_spinbox[index].valueChanged.connect(joint.on_position_value)
self.amplitude_spinbox.append(QDoubleSpinBox())
self.amplitude_spinbox[index].setDecimals(5)
self.amplitude_spinbox[index].setRange(-amplitude_range, amplitude_range)
self.amplitude_spinbox[index].setSingleStep(amplitude_range/50.0)
self.amplitude_spinbox[index].valueChanged.connect(joint.on_amplitude_value)
self.amplitude_spinbox[index].setValue(joint.amplitude)
hbox.addWidget(QLabel(joint.name))
hbox.addWidget(self.cur_position_spinbox[index])
hbox.addWidget(self.amplitude_spinbox[index])
# Add horizontal layout to frame for this joint group
frame.setLayout(hbox)
# Add frame to main vertical layout
main_vbox.addWidget(frame)
def __init__(self, caller, jointstate, parent=None, stored_topic=None):
super(JointStateGroup, self).__init__(parent)
ti = TopicInfo()
# create a new group
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'iop_rqt_velocity_joint_group.ui')
loadUi(ui_file, self)
group_layout = QVBoxLayout(self.frame)
group_layout.setContentsMargins(0, 0, 0, 0)
group_layout.setSpacing(0)
self._cmd_type = Float64MultiArray
if len(jointstate.name) == 1:
self._cmd_type = Float64
ti.fill_subscribed_topics(self.comboBox_cmdTopic, self._cmd_type._type, stored_topic)
for joint_name in jointstate.name:
joint_frame = QFrame()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'iop_rqt_velocity_joint.ui')
loadUi(ui_file, joint_frame)
joint_frame.setObjectName(joint_name)
joint_frame.labelJointName.setText(joint_name)
joint_frame.lineEditCurrentValue.setText('0.0')
joint_frame.doubleSpinBoxNewValue.setValue(0.0)
joint_frame.layout().setContentsMargins(0, 0, 0, 0)
joint_frame.layout().setSpacing(0)
group_layout.addWidget(joint_frame)
# self._widget.layout().insertWidget(self._widget.layout().count() - 1, group_frame)
# self._jointgroups[caller] = group_frame
self.setObjectName(caller)
self._caller = caller
self._jointstate = jointstate
self._topic_command = self.comboBox_cmdTopic.currentText()
self.pushButtonSend.clicked.connect(self.on_clicked_send)
self.pushButtonSendZero.clicked.connect(self.on_clicked_send_zero)
self.comboBox_cmdTopic.activated.connect(self.on_activated_topic)
self._cmd_publisher = None
if self._cmd_type and self._topic_command:
self._cmd_publisher = rospy.Publisher(self._topic_command, self._cmd_type, queue_size=1)
def _create_found_frame(self):
ff_frame = QFrame(self)
self.found_files_vbox_layout = QVBoxLayout(ff_frame)
self.found_files_vbox_layout.setContentsMargins(0, 0, 0, 0)
self.recursive_search_box = QCheckBox("recursive search")
self.found_files_vbox_layout.addWidget(self.recursive_search_box)
self.found_files_list = QTreeWidget(ff_frame)
self.found_files_list.setColumnCount(1)
self.found_files_list.setFrameStyle(QFrame.StyledPanel)
self.found_files_list.setHeaderHidden(True)
self.found_files_list.itemActivated.connect(self.on_itemActivated)
self.found_files_list.setStyleSheet("QTreeWidget {"
"background-color:transparent;"
"}"
"QTreeWidget::item {"
"background-color:transparent;"
"}"
"QTreeWidget::item:selected {"
"background-color: darkgray;"
"}")
self.found_files_vbox_layout.addWidget(self.found_files_list)
self.recursive_search_box.setChecked(False)
return ff_frame
def _create_find_frame(self):
find_frame = QFrame(self)
find_hbox_layout = QHBoxLayout(find_frame)
find_hbox_layout.setContentsMargins(0, 0, 0, 0)
find_hbox_layout.setSpacing(1)
self.search_field = EnchancedLineEdit(find_frame)
self.search_field.setPlaceholderText('search text')
self.search_field.textChanged.connect(self.on_search_text_changed)
self.search_field.returnPressed.connect(self.on_search)
find_hbox_layout.addWidget(self.search_field)
self.search_result_label = QLabel(find_frame)
self.search_result_label.setText(' ')
find_hbox_layout.addWidget(self.search_result_label)
self.find_button_back = QPushButton("<")
self.find_button_back.setFixedWidth(44)
self.find_button_back.clicked.connect(self.on_search_back)
find_hbox_layout.addWidget(self.find_button_back)
self.find_button = QPushButton(">")
self.find_button.setDefault(True)
# self.find_button.setFlat(True)
self.find_button.setFixedWidth(44)
self.find_button.clicked.connect(self.on_search)
find_hbox_layout.addWidget(self.find_button)
return find_frame
def __init__(self, main, fileName, main_hbox):
self.main = main
self.chain = []
self.poses = []
self.chain_name = ""
frame = QFrame()
frame.setFrameShape(QFrame.StyledPanel);
frame.setFrameShadow(QFrame.Raised);
vbox = QVBoxLayout()
label = QLabel()
vbox.addWidget(label);
self.load_file(fileName, vbox)
self.trajectoryPublisher = rospy.Publisher('/trajectory_controllers/'+self.chain_name+'_traj_controller/trajectory' ,JointTrajectory, queue_size=10)
self.positionPublisher = rospy.Publisher('/trajectory_controllers/'+self.chain_name+'_traj_controller/joint_states',JointState, queue_size=10)
self.ghostPublisher = rospy.Publisher('/flor/ghost/set_joint_states',JointState, queue_size=10)
label.setText(self.chain_name)
vbox.addStretch(1)
frame.setLayout(vbox)
main_hbox.addWidget(frame)
def __init__(self, context):
super(TrapezoidalTrajectoryDialog, self).__init__(context)
self.setObjectName("TrapezoidalTrajectoryDialog")
# self.updateStateSignal = Signal(object)
self.updateStateSignal.connect(self.on_updateState)
self.robot = URDF.from_parameter_server()
self.joint_list = {}
for ndx, jnt in enumerate(self.robot.joints):
self.joint_list[jnt.name] = ndx
self.chain = []
self.chain_file = rospy.get_param("~chain_file")
self.chain_name = rospy.get_param("~chain_name")
print
print "Define order of splines used to approximate trapezoid"
self.spline_order = rospy.get_param("~spline_order", 5) # 1 # 3 # 5 # linear, cubic, quintic
if (self.spline_order == 1) or (self.spline_order == 3) or (self.spline_order == 5):
print "Spline order=", self.spline_order
else:
print "Invalid spline order! Must be 1, 3, or 5"
print "Spline order=", self.spline_order
sys.exit(-1)
yaml_file = self.chain_file + self.chain_name + "_chain.yaml"
print "Chain definition file:"
print yaml_file
print
# define structures
self.robot_state = JointState()
self.robot_command = JointTrajectory()
stream = open(yaml_file, "r")
jointChain = yaml.load_all(stream)
for ndx, data in enumerate(jointChain):
print ndx, " : ", data
self.delay_time = data["delay_time"]
self.ramp_up_time = data["ramp_up_time"]
self.dwell_time = data["dwell_time"]
self.ramp_down_time = data["ramp_down_time"]
self.hold_time = data["hold_time"]
self.ramp_start_fraction = data["ramp_start_fraction"]
self.ramp_end_fraction = data["ramp_end_fraction"]
self.joint_state_topic = data["joint_state_topic"]
self.trajectory_topic = data["trajectory_topic"]
if rospy.search_param(data["chain_param_name"]):
print "Found ", data["chain_param_name"]
else:
print "Failed to find the ", data["chain_param_name"], " in the parameter server!"
sys.exit(-1)
joint_names = rospy.get_param(data["chain_param_name"])
for joint in joint_names:
print joint
self.robot_state.name.append(joint)
self.chain.append(JointData(self, joint))
self.robot_command.joint_names = self.robot_state.name
stream.close()
self.robot_state.position = [0.0] * len(self.robot_state.name)
self.robot_state.velocity = [0.0] * len(self.robot_state.name)
self.robot_state.effort = [0.0] * len(self.robot_state.name)
self.robot_joint_state = JointState()
print "delay_time =", self.delay_time
print "ramp_up_time =", self.ramp_up_time
print "dwell_time =", self.dwell_time
print "ramp_down_time=", self.ramp_down_time
print "hold_time =", self.hold_time
print "spline order =", self.spline_order
if (
(self.ramp_start_fraction < 0.001)
or (self.ramp_end_fraction > 0.999)
or (self.ramp_start_fraction >= self.ramp_end_fraction)
):
print "Invalid ramp fractions - abort!"
print "0.0 < ", self.ramp_start_fraction, " < ", self.ramp_end_fraction, " < 1.0"
return
print "Robot State Structure", self.robot_state
print "Robot Command Structure", self.robot_command
# initialize structure to hold widget handles
self.cmd_spinbox = []
self.ramp_up_spinbox = []
self.ramp_down_spinbox = []
self._widget = QWidget()
vbox = QVBoxLayout()
# Push buttons
hbox = QHBoxLayout()
snap_command = QPushButton("Snap Position")
snap_command.clicked.connect(self.snap_current_callback)
hbox.addWidget(snap_command)
check_limits = QPushButton("Check Limits Gains")
check_limits.clicked.connect(self.check_limits_callback)
hbox.addWidget(check_limits)
apply_command = QPushButton("Send Trajectory")
apply_command.clicked.connect(self.apply_command_callback)
hbox.addWidget(apply_command)
save_trajectory = QPushButton("Save Trajectory")
save_trajectory.clicked.connect(self.save_trajectory_callback)
hbox.addWidget(save_trajectory)
zero_ramp = QPushButton("Zero Ramps")
zero_ramp.clicked.connect(self.zero_ramp_callback)
hbox.addWidget(zero_ramp)
vbox.addLayout(hbox)
time_hbox = QHBoxLayout()
vbox_delay = QVBoxLayout()
vbox_delay.addWidget(QLabel("Delay"))
self.delay_time_spinbox = QDoubleSpinBox()
self.delay_time_spinbox.setDecimals(5)
self.delay_time_spinbox.setRange(0, 10.0)
self.delay_time_spinbox.setSingleStep(0.1)
self.delay_time_spinbox.valueChanged.connect(self.on_delay_time_value)
self.delay_time_spinbox.setValue(self.delay_time)
vbox_delay.addWidget(self.delay_time_spinbox)
time_hbox.addLayout(vbox_delay)
vbox_ramp_up = QVBoxLayout()
vbox_ramp_up.addWidget(QLabel("Ramp Up"))
self.ramp_up_time_spinbox = QDoubleSpinBox()
self.ramp_up_time_spinbox.setDecimals(5)
self.ramp_up_time_spinbox.setRange(0, 10.0)
self.ramp_up_time_spinbox.setSingleStep(0.1)
self.ramp_up_time_spinbox.valueChanged.connect(self.on_ramp_up_time_value)
self.ramp_up_time_spinbox.setValue(self.ramp_up_time)
vbox_ramp_up.addWidget(self.ramp_up_time_spinbox)
time_hbox.addLayout(vbox_ramp_up)
#
vbox_dwell = QVBoxLayout()
vbox_dwell.addWidget(QLabel("Dwell"))
self.dwell_time_spinbox = QDoubleSpinBox()
self.dwell_time_spinbox.setDecimals(5)
self.dwell_time_spinbox.setRange(0, 10.0)
self.dwell_time_spinbox.setSingleStep(0.1)
self.dwell_time_spinbox.valueChanged.connect(self.on_dwell_time_value)
self.dwell_time_spinbox.setValue(self.dwell_time)
vbox_dwell.addWidget(self.dwell_time_spinbox)
time_hbox.addLayout(vbox_dwell)
vbox_ramp_down = QVBoxLayout()
vbox_ramp_down.addWidget(QLabel("Down"))
self.ramp_down_time_spinbox = QDoubleSpinBox()
self.ramp_down_time_spinbox.setDecimals(5)
self.ramp_down_time_spinbox.setRange(0, 10.0)
self.ramp_down_time_spinbox.setSingleStep(0.1)
self.ramp_down_time_spinbox.valueChanged.connect(self.on_ramp_down_time_value)
self.ramp_down_time_spinbox.setValue(self.ramp_down_time)
vbox_ramp_down.addWidget(self.ramp_down_time_spinbox)
time_hbox.addLayout(vbox_ramp_down)
vbox_hold = QVBoxLayout()
vbox_hold.addWidget(QLabel("Hold"))
self.hold_time_spinbox = QDoubleSpinBox()
self.hold_time_spinbox.setDecimals(5)
self.hold_time_spinbox.setRange(0, 10.0)
self.hold_time_spinbox.setSingleStep(0.1)
self.hold_time_spinbox.valueChanged.connect(self.on_hold_time_value)
self.hold_time_spinbox.setValue(self.hold_time)
vbox_hold.addWidget(self.hold_time_spinbox)
time_hbox.addLayout(vbox_hold)
vbox.addLayout(time_hbox)
# Joints title
title_frame = QFrame()
title_frame.setFrameShape(QFrame.StyledPanel)
title_frame.setFrameShadow(QFrame.Raised)
title_hbox = QHBoxLayout()
title_hbox.addWidget(QLabel("Joints"))
title_hbox.addWidget(QLabel("Start"))
title_hbox.addWidget(QLabel("Ramp Up"))
title_hbox.addWidget(QLabel("Ramp Down"))
title_frame.setLayout(title_hbox)
vbox.addWidget(title_frame)
# Define the widgets for each joint
for i, joint in enumerate(self.chain):
# print i,",",joint
self.joint_widget(vbox, i)
# add stretch at end so all GUI elements are at top of dialog
vbox.addStretch(1)
self._widget.setLayout(vbox)
# Define the connections to the outside world
self.jointSubscriber = rospy.Subscriber(self.joint_state_topic, JointState, self.stateCallbackFnc)
self.commandPublisher = rospy.Publisher(self.trajectory_topic, JointTrajectory, queue_size=10)
# Add the widget
context.add_widget(self._widget)
class MessageFrame(QFrame):
accept_signal = Signal(int, MessageData)
''' @ivar: A signal on accept button clicked (id, data)'''
cancel_signal = Signal(int, MessageData)
''' @ivar: A signal on cancel button clicked (id, data)'''
TYPE_INVALID = 0
TYPE_EMPTY = 1
TYPE_QUESTION = 2
TYPE_LAUNCH_FILE = 3
TYPE_DEFAULT_CFG = 4
TYPE_NODELET = 5
TYPE_TRANSFER = 6
TYPE_BINARY = 7
TYPE_NOSCREEN = 8
TYPE_NMD = 9
TYPE_NODE_CFG = 10
ICON_SIZE = 32
def __init__(self, parent=None, info=False):
QFrame.__init__(self, parent=parent)
self.setObjectName('MessageFrame')
self.questionid = self.TYPE_INVALID
self.text = ""
self.data = MessageData(None)
self.IMAGES = {
1:
QPixmap(),
2:
QPixmap(':/icons/question.png').scaled(self.ICON_SIZE,
self.ICON_SIZE,
Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
3:
QPixmap(':/icons/crystal_clear_launch_file.png').scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
4:
QPixmap(":/icons/default_cfg.png").scaled(self.ICON_SIZE,
self.ICON_SIZE,
Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
5:
QPixmap(":/icons/crystal_clear_nodelet_q.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
6:
QPixmap(":/icons/crystal_clear_launch_file_transfer.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
7:
QPixmap(":/icons/crystal_clear_binary.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
8:
QPixmap(":/icons/crystal_clear_no_io.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
9:
QPixmap(":/icons/crystal_clear_run_zeroconf.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
10:
QPixmap(":/icons/sekkyumu_restart.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation)
}
self._new_request = False
self.frameui = QFrame()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'MessageFrame.ui')
loadUi(ui_file, self.frameui)
color = QColor(255, 207, 121)
self.frameui.listLabel.setTextInteractionFlags(
Qt.TextSelectableByMouse)
self.frameui.questionLabel.setTextInteractionFlags(
Qt.TextSelectableByMouse)
self.frameui.setVisible(False)
self.frameui.listLabel.setVisible(False)
self.frameui.questionOkButton.clicked.connect(self._on_question_ok)
self.frameui.questionCancelButton.clicked.connect(
self._on_question_cancel)
self.frameui.checkBox_dnaa.stateChanged.connect(
self._on_checkbox_state_changed)
self._ask = 'ask'
if info:
color = QColor(232, 104, 80)
self.frameui.questionCancelButton.setVisible(False)
self._ask = 'show'
bg_style = "QFrame#questionFame { background-color: %s;}" % color.name(
)
self.frameui.setStyleSheet("%s" % (bg_style))
self._queue = MessageQueue()
self._do_not_ask = {}
def show_question(self,
questionid,
text,
data=MessageData(None),
color=None):
if questionid == 0:
return
try:
if questionid == self.TYPE_LAUNCH_FILE and nm.settings(
).autoreload_launch:
self.accept_signal.emit(questionid, data)
return
# is it in the list for not ask again?
if self._do_not_ask[questionid] == 1:
self.accept_signal.emit(questionid, data)
elif self._do_not_ask[questionid] == 0:
self.cancel_signal.emit(questionid, data)
return
except Exception:
pass
if self.questionid != questionid or self.text != text or data != self.data:
self._queue.add(questionid, text, data)
elif data.data_list: # same question again
# update the list of files or nodes which causes this question in current question
for dt in data.data_list:
if dt not in self.data.data_list:
self.data.data_list.append(dt)
self._update_list_label(self.data.data_list)
# if no question is active pop first element from the queue
if self.questionid == self.TYPE_INVALID:
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
if self.questionid in [self.TYPE_NODELET, self.TYPE_NOSCREEN]:
self.frameui.checkBox_dnaa.setText("don't %s again, never!" %
self._ask)
else:
self.frameui.checkBox_dnaa.setText(
"don't %s again, for session" % self._ask)
def show_info(self, infoid, text, data=MessageData(None), color=None):
self.show_question(infoid, text=text, data=data, color=color)
def is_do_not_ask(self, questionid):
try:
# is it in the list for not ask again?
return self._do_not_ask[questionid] in [0, 1]
except Exception:
return False
def hide_question(self, questionids):
for qid in questionids:
self._queue.remove(qid)
if self.questionid in questionids:
self._new_request = False
self.frameui.setVisible(False)
self.cancel_signal.emit(self.questionid, self.data)
self.questionid = 0
self._update_list_label([])
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
def _update_list_label(self, items=[]):
'''
Put list elements into the list label in the question frame
'''
if items:
self.frameui.listLabel.setText('')
for item in items:
ltext = self.frameui.listLabel.text()
if ltext:
self.frameui.listLabel.setText(
"%s, %s" % (ltext, HTMLDelegate.toHTML(item)))
else:
self.frameui.listLabel.setText("%s" %
(HTMLDelegate.toHTML(item)))
self.frameui.listLabel.setVisible(True)
else:
self.frameui.listLabel.setText('')
self.frameui.listLabel.setVisible(False)
def _frameui_4_request(self, request):
if request:
self.frameui.checkBox_dnaa.setChecked(False)
self.frameui.setVisible(True)
self.frameui.listLabel.setVisible(True)
else:
self.questionid = 0
self.frameui.setVisible(False)
self.frameui.listLabel.setVisible(False)
def _on_question_ok(self):
self._new_request = False
self.frameui.setVisible(False)
try:
# set action for do not ask again
if self.frameui.checkBox_dnaa.isChecked():
self._do_not_ask[self.questionid] = 1
except Exception:
pass
self.accept_signal.emit(self.questionid, self.data)
self.questionid = 0
self._update_list_label([])
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
def _on_question_cancel(self):
self._new_request = False
self.frameui.setVisible(False)
try:
# set action for do not ask again
if self.frameui.checkBox_dnaa.isChecked():
self._do_not_ask[self.questionid] = 0
except Exception:
pass
self.cancel_signal.emit(self.questionid, self.data)
self.questionid = 0
self._update_list_label([])
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
def _is_launch_data_in_queue(self, newdata):
for _, data, _ in self._queue_launchfile:
if data == newdata:
return True
return False
def _is_transfer_data_in_queue(self, newdata):
for _, data, _ in self._queue_transfer_files:
if data == newdata:
return True
return False
def _is_other_data_in_queue(self, questionid, text, data):
for cqid, ctxt, cd, _ in self._queue_other:
if cqid == questionid and cd == data and ctxt == text:
return True
return False
def _read_next_item(self):
(qid, text, data) = self._queue.get()
if qid != self.TYPE_INVALID:
self.questionid = qid
self.text = text
self.data = data
self.frameui.questionIcon.setPixmap(self.IMAGES[qid])
self.frameui.questionLabel.setText(text)
self._update_list_label(self.data.data_list)
return qid != self.TYPE_INVALID
def _on_checkbox_state_changed(self, state):
if self.questionid == self.TYPE_NODELET:
self.frameui.questionOkButton.setVisible(not state)
nm.settings().check_for_nodelets_at_start = not state
elif self.questionid == self.TYPE_NOSCREEN:
self.frameui.questionCancelButton.setVisible(not state)
nm.settings().show_noscreen_error = not state
def _clear_scroll_area(self):
child = self.frameui.scrollAreaLayout.takeAt(0)
while child:
child.widget().setParent(None)
del child
child = self.frameui.scrollAreaLayout.takeAt(0)
def __init__(self,
items=list(),
buttons=QDialogButtonBox.Cancel | QDialogButtonBox.Ok,
exclusive=False,
preselect_all=False,
title='',
description='',
icon='',
parent=None,
select_if_single=True,
checkitem1='',
checkitem2='',
closein=0):
'''
Creates an input dialog.
@param items: a list with strings
@type items: C{list()}
'''
QDialog.__init__(self, parent=parent)
self.setObjectName(' - '.join(['SelectDialog', utf8(items)]))
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
# add filter row
self.filter_frame = QFrame(self)
filterLayout = QHBoxLayout(self.filter_frame)
filterLayout.setContentsMargins(1, 1, 1, 1)
label = QLabel("Filter:", self.filter_frame)
self.filter_field = EnchancedLineEdit(self.filter_frame)
filterLayout.addWidget(label)
filterLayout.addWidget(self.filter_field)
self.filter_field.textChanged.connect(self._on_filter_changed)
self.verticalLayout.addWidget(self.filter_frame)
if description:
self.description_frame = QFrame(self)
descriptionLayout = QHBoxLayout(self.description_frame)
# descriptionLayout.setContentsMargins(1, 1, 1, 1)
if icon:
self.icon_label = QLabel(self.description_frame)
self.icon_label.setSizePolicy(QSizePolicy.Fixed,
QSizePolicy.Fixed)
self.icon_label.setPixmap(
QPixmap(icon).scaled(30, 30, Qt.KeepAspectRatio))
descriptionLayout.addWidget(self.icon_label)
self.description_label = QLabel(self.description_frame)
self.description_label.setWordWrap(True)
self.description_label.setText(description)
descriptionLayout.addWidget(self.description_label)
self.verticalLayout.addWidget(self.description_frame)
# create area for the parameter
self.content = MainBox(self)
if items:
self.scroll_area = QScrollArea(self)
self.scroll_area.setFocusPolicy(Qt.NoFocus)
self.scroll_area.setObjectName("scroll_area")
self.scroll_area.setWidgetResizable(True)
self.scroll_area.setWidget(self.content)
self.verticalLayout.addWidget(self.scroll_area)
self.checkitem1 = checkitem1
self.checkitem1_result = False
self.checkitem2 = checkitem2
self.checkitem2_result = False
# add select all option
if not exclusive and items:
self._ignore_next_toggle = False
self.select_all_checkbox = QCheckBox('all entries')
self.select_all_checkbox.setTristate(True)
self.select_all_checkbox.stateChanged.connect(
self._on_select_all_checkbox_stateChanged)
self.verticalLayout.addWidget(self.select_all_checkbox)
self.content.toggled.connect(self._on_main_toggle)
if self.checkitem1:
self.checkitem1_checkbox = QCheckBox(self.checkitem1)
self.checkitem1_checkbox.stateChanged.connect(
self._on_select_checkitem1_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem1_checkbox)
if self.checkitem2:
self.checkitem2_checkbox = QCheckBox(self.checkitem2)
self.checkitem2_checkbox.stateChanged.connect(
self._on_select_checkitem2_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem2_checkbox)
if not items:
spacerItem = QSpacerItem(1, 1, QSizePolicy.Expanding,
QSizePolicy.Expanding)
self.verticalLayout.addItem(spacerItem)
self._close_timer = None
self._closein = closein - 1
if closein > 0:
self.closein_label = QLabel("OK in %d sec..." % closein)
self.closein_label.setAlignment(Qt.AlignRight)
self.verticalLayout.addWidget(self.closein_label)
self._close_timer = threading.Timer(1.0, self._on_close_timer)
self._close_timer.start()
# create buttons
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setStandardButtons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
# set the input fields
if items:
self.content.createFieldsFromValues(items, exclusive)
if (select_if_single and len(items) == 1) or preselect_all:
self.select_all_checkbox.setCheckState(Qt.Checked)
if not items or len(items) < 7:
self.filter_frame.setVisible(False)
class SelectDialog(QDialog):
'''
This dialog creates an input mask for a string list and return selected entries.
'''
def __init__(self,
items=list(),
buttons=QDialogButtonBox.Cancel | QDialogButtonBox.Ok,
exclusive=False,
preselect_all=False,
title='',
description='',
icon='',
parent=None,
select_if_single=True,
checkitem1='',
checkitem2='',
closein=0):
'''
Creates an input dialog.
@param items: a list with strings
@type items: C{list()}
'''
QDialog.__init__(self, parent=parent)
self.setObjectName(' - '.join(['SelectDialog', utf8(items)]))
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
# add filter row
self.filter_frame = QFrame(self)
filterLayout = QHBoxLayout(self.filter_frame)
filterLayout.setContentsMargins(1, 1, 1, 1)
label = QLabel("Filter:", self.filter_frame)
self.filter_field = EnchancedLineEdit(self.filter_frame)
filterLayout.addWidget(label)
filterLayout.addWidget(self.filter_field)
self.filter_field.textChanged.connect(self._on_filter_changed)
self.verticalLayout.addWidget(self.filter_frame)
if description:
self.description_frame = QFrame(self)
descriptionLayout = QHBoxLayout(self.description_frame)
# descriptionLayout.setContentsMargins(1, 1, 1, 1)
if icon:
self.icon_label = QLabel(self.description_frame)
self.icon_label.setSizePolicy(QSizePolicy.Fixed,
QSizePolicy.Fixed)
self.icon_label.setPixmap(
QPixmap(icon).scaled(30, 30, Qt.KeepAspectRatio))
descriptionLayout.addWidget(self.icon_label)
self.description_label = QLabel(self.description_frame)
self.description_label.setWordWrap(True)
self.description_label.setText(description)
descriptionLayout.addWidget(self.description_label)
self.verticalLayout.addWidget(self.description_frame)
# create area for the parameter
self.content = MainBox(self)
if items:
self.scroll_area = QScrollArea(self)
self.scroll_area.setFocusPolicy(Qt.NoFocus)
self.scroll_area.setObjectName("scroll_area")
self.scroll_area.setWidgetResizable(True)
self.scroll_area.setWidget(self.content)
self.verticalLayout.addWidget(self.scroll_area)
self.checkitem1 = checkitem1
self.checkitem1_result = False
self.checkitem2 = checkitem2
self.checkitem2_result = False
# add select all option
if not exclusive and items:
self._ignore_next_toggle = False
self.select_all_checkbox = QCheckBox('all entries')
self.select_all_checkbox.setTristate(True)
self.select_all_checkbox.stateChanged.connect(
self._on_select_all_checkbox_stateChanged)
self.verticalLayout.addWidget(self.select_all_checkbox)
self.content.toggled.connect(self._on_main_toggle)
if self.checkitem1:
self.checkitem1_checkbox = QCheckBox(self.checkitem1)
self.checkitem1_checkbox.stateChanged.connect(
self._on_select_checkitem1_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem1_checkbox)
if self.checkitem2:
self.checkitem2_checkbox = QCheckBox(self.checkitem2)
self.checkitem2_checkbox.stateChanged.connect(
self._on_select_checkitem2_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem2_checkbox)
if not items:
spacerItem = QSpacerItem(1, 1, QSizePolicy.Expanding,
QSizePolicy.Expanding)
self.verticalLayout.addItem(spacerItem)
self._close_timer = None
self._closein = closein - 1
if closein > 0:
self.closein_label = QLabel("OK in %d sec..." % closein)
self.closein_label.setAlignment(Qt.AlignRight)
self.verticalLayout.addWidget(self.closein_label)
self._close_timer = threading.Timer(1.0, self._on_close_timer)
self._close_timer.start()
# create buttons
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setStandardButtons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
# set the input fields
if items:
self.content.createFieldsFromValues(items, exclusive)
if (select_if_single and len(items) == 1) or preselect_all:
self.select_all_checkbox.setCheckState(Qt.Checked)
if not items or len(items) < 7:
self.filter_frame.setVisible(False)
# print '=============== create', self.objectName()
#
# def __del__(self):
# print "************ destroy", self.objectName()
def _on_main_toggle(self, state):
self.cancel_autoclose()
self._ignore_next_toggle = state != self.select_all_checkbox.checkState(
)
self.select_all_checkbox.setCheckState(state)
def _on_select_all_checkbox_stateChanged(self, state):
self.cancel_autoclose()
if not self._ignore_next_toggle:
self.content.setState(state)
self._ignore_next_toggle = False
def _on_select_checkitem1_checkbox_stateChanged(self, state):
self.cancel_autoclose()
if state == Qt.Checked:
self.checkitem1_result = True
elif state == Qt.Unchecked:
self.checkitem1_result = False
def _on_select_checkitem2_checkbox_stateChanged(self, state):
self.cancel_autoclose()
if state == Qt.Checked:
self.checkitem2_result = True
elif state == Qt.Unchecked:
self.checkitem2_result = False
def _on_filter_changed(self):
self.content.filter(self.filter_field.text())
def _on_close_timer(self):
self.closein_label.setText("OK in %d sec..." % self._closein)
if self._closein == 0:
self.buttonBox.accepted.emit()
return
self._closein -= 1
self._close_timer = threading.Timer(1.0, self._on_close_timer)
self._close_timer.start()
def cancel_autoclose(self):
if self._close_timer is not None:
self._close_timer.cancel()
self.closein_label.setVisible(False)
def getSelected(self):
return self.content.getSelected()
@staticmethod
def getValue(title,
description='',
items=list(),
exclusive=False,
preselect_all=False,
icon='',
parent=None,
select_if_single=True,
checkitem1='',
checkitem2='',
closein=0):
selectDia = SelectDialog(items,
exclusive=exclusive,
preselect_all=preselect_all,
description=description,
icon=icon,
parent=parent,
select_if_single=select_if_single,
checkitem1=checkitem1,
checkitem2=checkitem2,
closein=closein)
selectDia.setWindowTitle(title)
selectDia.resize(480, 256)
if selectDia.exec_():
if selectDia.checkitem2:
return selectDia.getSelected(
), True, selectDia.checkitem1_result, selectDia.checkitem2_result
if selectDia.checkitem1:
return selectDia.getSelected(
), True, selectDia.checkitem1_result
return selectDia.getSelected(), True
if selectDia.checkitem2:
return list(), False, False, False
if selectDia.checkitem1:
return list(), False, False
return list(), False
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%% close handling %%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
def accept(self):
self.cancel_autoclose()
self.setResult(QDialog.Accepted)
self.hide()
def reject(self):
self.cancel_autoclose()
self.setResult(QDialog.Rejected)
self.hide()
def hideEvent(self, event):
self.close()
def closeEvent(self, event):
'''
Test the open files for changes and save this if needed.
'''
self.cancel_autoclose()
self.setAttribute(Qt.WA_DeleteOnClose, True)
QDialog.closeEvent(self, event)
class pyqtTraverse(Traverser.Traverser):
def __init__(self):
self.parent = None
self.nesting_stack = []
def beginGui(self, obj):
self.parent = QScrollArea()
self.frame = QFrame(self.parent)
if obj.layout == "vertical":
self.tl = QVBoxLayout()
else:
self.tl = QHBoxLayout()
self.__increase_nesting_level(self.frame, self.tl)
def endGui(self, obj):
parent, layout = self.__get_immediate_parent()
self.frame.setLayout(layout)
self.parent.setWidget(self.frame)
self.parent.show()
def beginGroup(self, obj):
parent, layout = self.__get_immediate_parent()
panel = QGroupBox(obj.name, parent)
if obj.layout == "grid":
l = QGridLayout()
elif obj.layout == "vertical":
l = QVBoxLayout()
else:
l = QHBoxLayout()
self.__increase_nesting_level(panel, l)
def endGroup(self, obj):
parent, layout = self.__get_immediate_parent()
parent.setLayout(layout)
self.__decrease_nesting_level()
p1, l1 = self.__get_immediate_parent()
l1.addWidget(parent)
def beginRosLabel(self, obj):
pm, lm = self.__get_immediate_parent()
fr = QFrame(pm)
layout = QGridLayout()
nlb = QLabel(obj.label_name + ":", fr)
nlb.setToolTip(obj.topic_name)
layout.addWidget(nlb, 1, 1)
layout.addWidget(
RosLabel(fr, obj.label_name, obj.topic_name, obj.topic_type,
obj.topic_field), 1, 2)
fr.setLayout(layout)
lm.addWidget(fr)
def endRosLabel(self, obj):
pass
def beginRosToggleButton(self, obj):
pm, lm = self.__get_immediate_parent()
btn = RosToggleButton(pm, obj.btn_name, obj.topic_name, obj.topic_type,
obj.topic_field, obj.toggle_dict)
lm.addWidget(btn)
pass
def endRosToggleButton(self, obj):
pass
def beginRosSlider(self, obj):
pm, lm = self.__get_immediate_parent()
slider = RosSlider(pm, obj.label_name, obj.topic_name, obj.topic_type,
obj.topic_field, obj.min_max_tuple, obj.default)
lm.addWidget(slider)
pass
def endRosSlider(self, obj):
pass
def beginRosPlot(self, obj):
pm, lm = self.__get_immediate_parent()
plot = RosPlot(pm, obj.label_name, obj.topic_name, obj.topic_type,
obj.topic_field, obj.buffer_size)
lm.addWidget(plot)
def endRosPlot(self, obj):
pass
def beginRosMsgView(self, obj):
pm, lm = self.__get_immediate_parent()
fr = RosMsgView(pm, obj.grp_name, obj.topic_name, obj.topic_type,
obj.topic_fields)
lm.addWidget(fr)
pass
def endRosMsgView(self, obj):
pass
def __get_immediate_parent(self):
l = len(self.nesting_stack)
return self.nesting_stack[l - 1]
def __increase_nesting_level(self, parent, container):
self.nesting_stack.append((parent, container))
def __decrease_nesting_level(self):
self.nesting_stack.pop()
def __init__(self, parent, fileName, widget):
self.controllers = []
self.parent = parent
self.loadFile(fileName)
robot = URDF.from_parameter_server()
joint_list = {}
for ndx,jnt in enumerate(robot.joints):
joint_list[jnt.name] = ndx
for controller in self.controllers:
frame = QFrame()
frame.setFrameShape(QFrame.StyledPanel);
frame.setFrameShadow(QFrame.Raised);
vbox = QVBoxLayout()
label = QLabel()
label.setText(controller.label)
vbox.addWidget(label);
print controller.name
controller.snap_to_ghost_button = QPushButton("SnapGhost")
controller.snap_to_ghost_button.pressed.connect(controller.on_snapGhostPressed)
vbox.addWidget(controller.snap_to_ghost_button)
controller.snap_to_current_button = QPushButton("SnapCurrent")
controller.snap_to_current_button.pressed.connect(controller.on_snapCurrentPressed)
vbox.addWidget(controller.snap_to_current_button)
controller.apply_to_robot_button = QPushButton("ApplyRobot")
controller.apply_to_robot_button.pressed.connect(controller.on_applyRobotPressed)
vbox.addWidget(controller.apply_to_robot_button)
controller.save_joints_to_file_button = QPushButton("SaveJoints")
controller.save_joints_to_file_button.pressed.connect(controller.on_saveJointsPressed)
vbox.addWidget(controller.save_joints_to_file_button)
controller.undo_last_action_button = QPushButton("Undo Last")
controller.undo_last_action_button.pressed.connect(controller.on_undoPressed)
vbox.addWidget(controller.undo_last_action_button)
for joint in controller.joints:
label = QLabel()
label.setText(joint.name)
vbox.addWidget(label);
robot_joint = robot.joints[joint_list[joint.name]]
lower = robot_joint.limit.lower - (math.fabs(robot_joint.limit.upper)+math.fabs(robot_joint.limit.lower))*0.2
upper = robot_joint.limit.upper + (math.fabs(robot_joint.limit.upper)+math.fabs(robot_joint.limit.lower))*0.2
print " ",joint.name, " limits(", robot_joint.limit.lower,", ",robot_joint.limit.upper,") num"
joint.slider = QSlider(Qt.Horizontal)
joint.slider.setRange(int(lower*10000.0), int(upper*10000.0))
joint.slider.setValue(int(lower*10000.0))
joint.slider.setSingleStep((upper-lower)/20.0)
joint.slider.valueChanged.connect(joint.on_sliderMoved)
vbox.addWidget(joint.slider)
joint.progress_bar = QProgressBar()
joint.progress_bar.setRange(int(lower*10000.0), int(upper*10000.0))
joint.progress_bar.setValue(int(lower*10000.0))
vbox.addWidget(joint.progress_bar)
vbox.addStretch()
frame.setLayout(vbox)
widget.addWidget(frame)
class SelectDialog(QDialog):
'''
This dialog creates an input mask for a string list and return selected entries.
'''
def __init__(self, items=list(), buttons=QDialogButtonBox.Cancel | QDialogButtonBox.Ok, exclusive=False,
preselect_all=False, title='', description='', icon='', parent=None, select_if_single=True,
checkitem1='', checkitem2=''):
'''
Creates an input dialog.
@param items: a list with strings
@type items: C{list()}
'''
QDialog.__init__(self, parent=parent)
self.setObjectName(' - '.join(['SelectDialog', str(items)]))
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
# add filter row
self.filter_frame = QFrame(self)
filterLayout = QHBoxLayout(self.filter_frame)
filterLayout.setContentsMargins(1, 1, 1, 1)
label = QLabel("Filter:", self.filter_frame)
self.filter_field = EnchancedLineEdit(self.filter_frame)
filterLayout.addWidget(label)
filterLayout.addWidget(self.filter_field)
self.filter_field.textChanged.connect(self._on_filter_changed)
self.verticalLayout.addWidget(self.filter_frame)
if description:
self.description_frame = QFrame(self)
descriptionLayout = QHBoxLayout(self.description_frame)
# descriptionLayout.setContentsMargins(1, 1, 1, 1)
if icon:
self.icon_label = QLabel(self.description_frame)
self.icon_label.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
self.icon_label.setPixmap(QPixmap(icon).scaled(30, 30, Qt.KeepAspectRatio))
descriptionLayout.addWidget(self.icon_label)
self.description_label = QLabel(self.description_frame)
self.description_label.setWordWrap(True)
self.description_label.setText(description)
descriptionLayout.addWidget(self.description_label)
self.verticalLayout.addWidget(self.description_frame)
# create area for the parameter
self.content = MainBox(self)
if items:
self.scroll_area = QScrollArea(self)
self.scroll_area.setFocusPolicy(Qt.NoFocus)
self.scroll_area.setObjectName("scroll_area")
self.scroll_area.setWidgetResizable(True)
self.scroll_area.setWidget(self.content)
self.verticalLayout.addWidget(self.scroll_area)
self.checkitem1 = checkitem1
self.checkitem1_result = False
self.checkitem2 = checkitem2
self.checkitem2_result = False
# add select all option
if not exclusive and items:
self._ignore_next_toggle = False
self.select_all_checkbox = QCheckBox('all entries')
self.select_all_checkbox.setTristate(True)
self.select_all_checkbox.stateChanged.connect(self._on_select_all_checkbox_stateChanged)
self.verticalLayout.addWidget(self.select_all_checkbox)
self.content.toggled.connect(self._on_main_toggle)
if self.checkitem1:
self.checkitem1_checkbox = QCheckBox(self.checkitem1)
self.checkitem1_checkbox.stateChanged.connect(self._on_select_checkitem1_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem1_checkbox)
if self.checkitem2:
self.checkitem2_checkbox = QCheckBox(self.checkitem2)
self.checkitem2_checkbox.stateChanged.connect(self._on_select_checkitem2_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem2_checkbox)
if not items:
spacerItem = QSpacerItem(1, 1, QSizePolicy.Expanding, QSizePolicy.Expanding)
self.verticalLayout.addItem(spacerItem)
# create buttons
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setStandardButtons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
# set the input fields
if items:
self.content.createFieldsFromValues(items, exclusive)
if (select_if_single and len(items) == 1) or preselect_all:
self.select_all_checkbox.setCheckState(Qt.Checked)
if not items or len(items) < 7:
self.filter_frame.setVisible(False)
# print '=============== create', self.objectName()
#
# def __del__(self):
# print "************ destroy", self.objectName()
def _on_main_toggle(self, state):
self._ignore_next_toggle = state != self.select_all_checkbox.checkState()
self.select_all_checkbox.setCheckState(state)
def _on_select_all_checkbox_stateChanged(self, state):
if not self._ignore_next_toggle:
self.content.setState(state)
self._ignore_next_toggle = False
def _on_select_checkitem1_checkbox_stateChanged(self, state):
if state == Qt.Checked:
self.checkitem1_result = True
elif state == Qt.Unchecked:
self.checkitem1_result = False
def _on_select_checkitem2_checkbox_stateChanged(self, state):
if state == Qt.Checked:
self.checkitem2_result = True
elif state == Qt.Unchecked:
self.checkitem2_result = False
def _on_filter_changed(self):
self.content.filter(self.filter_field.text())
def getSelected(self):
return self.content.getSelected()
@staticmethod
def getValue(title, description='', items=list(), exclusive=False, preselect_all=False, icon='', parent=None, select_if_single=True, checkitem1='', checkitem2=''):
selectDia = SelectDialog(items, exclusive=exclusive, preselect_all=preselect_all, description=description, icon=icon, parent=parent, select_if_single=select_if_single, checkitem1=checkitem1, checkitem2=checkitem2)
selectDia.setWindowTitle(title)
selectDia.resize(480, 256)
if selectDia.exec_():
if selectDia.checkitem2:
return selectDia.getSelected(), True, selectDia.checkitem1_result, selectDia.checkitem2_result
if selectDia.checkitem1:
return selectDia.getSelected(), True, selectDia.checkitem1_result
return selectDia.getSelected(), True
if selectDia.checkitem2:
return list(), False, False, False
if selectDia.checkitem1:
return list(), False, False
return list(), False
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%% close handling %%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
def accept(self):
self.setResult(QDialog.Accepted)
self.hide()
def reject(self):
self.setResult(QDialog.Rejected)
self.hide()
def hideEvent(self, event):
self.close()
def closeEvent(self, event):
'''
Test the open files for changes and save this if needed.
'''
self.setAttribute(Qt.WA_DeleteOnClose, True)
QDialog.closeEvent(self, event)
class MessageFrame(QFrame):
accept_signal = Signal(int, MessageData)
''' @ivar: A signal on accept button clicked (id, data)'''
cancel_signal = Signal(int, MessageData)
''' @ivar: A signal on cancel button clicked (id, data)'''
TYPE_INVALID = 0
TYPE_EMPTY = 1
TYPE_QUESTION = 2
TYPE_LAUNCH_FILE = 3
TYPE_DEFAULT_CFG = 4
TYPE_NODELET = 5
TYPE_TRANSFER = 6
TYPE_BINARY = 7
TYPE_NOSCREEN = 8
ICON_SIZE = 32
def __init__(self, parent=None, info=False):
QFrame.__init__(self, parent=parent)
self.setObjectName('MessageFrame')
self.questionid = self.TYPE_INVALID
self.text = ""
self.data = MessageData(None)
self.IMAGES = {1: QPixmap(),
2: QPixmap(':/icons/crystal_clear_question.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
3: QPixmap(':/icons/crystal_clear_launch_file.png').scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
4: QPixmap(":/icons/default_cfg.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
5: QPixmap(":/icons/crystal_clear_nodelet_q.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
6: QPixmap(":/icons/crystal_clear_question.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
7: QPixmap(":/icons/crystal_clear_launch_file_transfer.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation),
8: QPixmap(":/icons/crystal_clear_no_io.png").scaled(self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio, Qt.SmoothTransformation)
}
self._new_request = False
self.frameui = QFrame()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'MessageFrame.ui')
loadUi(ui_file, self.frameui)
color = QColor(255, 207, 121)
self.frameui.setVisible(False)
self.frameui.scrollArea.setVisible(False)
self.frameui.questionOkButton.clicked.connect(self._on_question_ok)
self.frameui.questionCancelButton.clicked.connect(self._on_question_cancel)
self.frameui.checkBox_dnaa.stateChanged.connect(self._on_checkbox_state_changed)
self._ask = 'ask'
if info:
color = QColor(232, 104, 80)
self.frameui.questionCancelButton.setVisible(False)
self._ask = 'show'
bg_style = "QFrame#questionFame { background-color: %s;}" % color.name()
self.frameui.setStyleSheet("%s" % (bg_style))
self._queue = MessageQueue()
self._do_not_ask = {}
def show_question(self, questionid, text, data=MessageData(None), color=None):
if questionid == 0:
return
if color is not None:
bg_style = "QFrame#questionFame { background-color: %s;}" % color.name()
self.frameui.setStyleSheet("%s" % (bg_style))
try:
# is it in the list for not ask again?
if self._do_not_ask[questionid]:
self.accept_signal.emit(questionid, data)
else:
self.cancel_signal.emit(questionid, data)
return
except Exception:
pass
self._queue.add(questionid, text, data)
if self.questionid == self.TYPE_INVALID:
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
if self.questionid == self.TYPE_NODELET:
self.frameui.checkBox_dnaa.setText("don't %s again, never!" % self._ask)
else:
self.frameui.checkBox_dnaa.setText("don't %s again, for session" % self._ask)
def add_info_no_screen(self, nodename):
if self.questionid == self.TYPE_NOSCREEN:
self.data.data.append(nodename)
self.frameui.scrollAreaLayout.addWidget(QLabel(nodename))
else:
self._queue.add(self.TYPE_NOSCREEN, '', MessageData([nodename]))
if self.questionid == self.TYPE_INVALID:
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
def hide_question(self, questionids):
if self.questionid in questionids:
self._new_request = False
self.frameui.setVisible(False)
self.cancel_signal.emit(self.questionid, self.data)
self.questionid = 0
self._clear_scroll_area()
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
def _frameui_4_request(self, request):
if request:
self.frameui.checkBox_dnaa.setChecked(False)
self.frameui.setVisible(True)
self.frameui.scrollArea.setVisible(self.frameui.scrollAreaLayout.count() > 0)
else:
self.questionid = 0
self.frameui.setVisible(False)
self.frameui.scrollArea.setVisible(False)
def _on_question_ok(self):
if self.frameui.checkBox_dnaa.isChecked():
# save the decision
self._do_not_ask[self.questionid] = True
self._new_request = False
self.frameui.setVisible(False)
self.accept_signal.emit(self.questionid, self.data)
self.questionid = 0
self._clear_scroll_area()
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
def _on_question_cancel(self):
if self.frameui.checkBox_dnaa.isChecked():
if self.questionid == self.QuestionNodelet:
nm.settings().check_for_nodelets_at_start = False
else:
# save the decision
self._do_not_ask[self.questionid] = False
self._new_request = False
self.frameui.setVisible(False)
self.cancel_signal.emit(self.questionid, self.data)
self.questionid = 0
self._clear_scroll_area()
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
def _is_launch_data_in_queue(self, newdata):
for _, data, _ in self._queue_launchfile:
if data == newdata:
return True
return False
def _is_transfer_data_in_queue(self, newdata):
for _, data, _ in self._queue_transfer_files:
if data == newdata:
return True
return False
def _is_other_data_in_queue(self, questionid, text, data):
for cqid, ctxt, cd, _ in self._queue_other:
if cqid == questionid and cd == data and ctxt == text:
return True
return False
def _read_next_item(self):
(qid, text, data) = self._queue.get()
if qid == self.TYPE_NOSCREEN:
self.questionid = self.TYPE_NOSCREEN
self.text = 'No screens found! See log for details!<br>The following nodes are affected:'
self.data = data
self.frameui.questionIcon.setPixmap(self.IMAGES[qid])
self.frameui.questionLabel.setText(self.text)
for nodename in data.data:
self.frameui.scrollAreaLayout.addWidget(QLabel(nodename))
self.frameui.scrollArea.setVisible(True)
elif qid != self.TYPE_INVALID:
self.questionid = qid
self.text = text
self.data = data
self.frameui.questionIcon.setPixmap(self.IMAGES[qid])
self.frameui.questionLabel.setText(text)
return qid != self.TYPE_INVALID
def _on_checkbox_state_changed(self, state):
if state:
if self.questionid == self.TYPE_NODELET:
self.frameui.questionOkButton.setVisible(False)
else:
self.frameui.questionOkButton.setVisible(True)
def _clear_scroll_area(self):
child = self.frameui.scrollAreaLayout.takeAt(0)
while child:
child.widget().setParent(None)
del child
child = self.frameui.scrollAreaLayout.takeAt(0)
def __init__(self, context):
super(SinusoidalTrajectoryDialog, self).__init__(context)
self.setObjectName('SinusoidalTrajectoryDialog')
#self.updateStateSignal = Signal(object)
self.updateStateSignal.connect(self.on_updateState)
self.robot = URDF.from_parameter_server()
self.joint_list = {}
for ndx,jnt in enumerate(self.robot.joints):
self.joint_list[jnt.name] = ndx
#print jnt.name, " ",self.joint_list[jnt.name]
self.chain=[]
self.chain_file = rospy.get_param("chain_file")
self.chain_name = rospy.get_param("chain_name")
yaml_file = self.chain_file+self.chain_name+"_chain.yaml"
print yaml_file
#define structures
self.robot_state = JointState()
self.robot_command = JointTrajectory()
stream = open(yaml_file, "r")
jointChain = yaml.load_all(stream)
print '\n\n'
for ndx, data in enumerate(jointChain):
print ndx," : ", data
self.delay_time = data["delay_time"]
self.amplitude = data["amplitude"]
self.frequency = data["frequency"]
self.frequency_limit = data["frequency_limit"]
self.iterations = data["iterations"]
self.joint_state_topic = data["joint_state_topic"]
self.trajectory_topic = data["trajectory_topic"]
joints = rospy.get_param(data["chain_param_name"])
for joint in joints:
print joint
self.robot_state.name.append(joint)
self.chain.append(JointData(self, joint) )
self.robot_command.joint_names = self.robot_state.name
stream.close()
self.robot_state.position = [0.0]*len(self.robot_state.name)
self.robot_state.velocity = [0.0]*len(self.robot_state.name)
self.robot_state.effort = [0.0]*len(self.robot_state.name)
self.robot_joint_state = JointState()
print "delay_time =",self.delay_time
print "amplitude =",self.amplitude
print "frequency =",self.frequency
print "iterations =",self.iterations
print "Robot State Structure",self.robot_state
print "Robot Command Structure",self.robot_command
# initialize structure to hold widget handles
self.cur_position_spinbox=[]
self.amplitude_spinbox=[]
self.frequency_spinbox=[]
self.iterations_spinbox=[]
self._widget = QWidget()
vbox = QVBoxLayout()
# Push buttons
hbox = QHBoxLayout()
snap_command = QPushButton("Snap Position")
snap_command.clicked.connect(self.snap_current_callback)
hbox.addWidget(snap_command)
check_limits = QPushButton("Check Limits Gains")
check_limits.clicked.connect(self.check_limits_callback)
hbox.addWidget(check_limits)
apply_command = QPushButton("Send Trajectory")
apply_command.clicked.connect(self.apply_command_callback)
hbox.addWidget(apply_command)
save_trajectory = QPushButton("Save Trajectory")
save_trajectory.clicked.connect(self.save_trajectory_callback)
hbox.addWidget(save_trajectory)
zero_ramp = QPushButton("Zero Values")
zero_ramp.clicked.connect(self.zero_values_callback)
hbox.addWidget(zero_ramp)
vbox.addLayout(hbox)
time_hbox = QHBoxLayout()
vbox_frequqency = QVBoxLayout()
vbox_frequqency.addWidget(QLabel("Frequency"))
self.frequency_spinbox = QDoubleSpinBox()
self.frequency_spinbox.setDecimals(5)
self.frequency_spinbox.setRange(0, self.frequency_limit)
self.frequency_spinbox.setSingleStep(0.05)
self.frequency_spinbox.valueChanged.connect(self.on_frequency_value)
self.frequency_spinbox.setValue(self.frequency)
vbox_frequqency.addWidget(self.frequency_spinbox)
time_hbox.addLayout(vbox_frequqency)
vbox_iterations = QVBoxLayout()
vbox_iterations.addWidget(QLabel("Iterations"))
self.iterations_spinbox = QDoubleSpinBox()
self.iterations_spinbox.setDecimals(5)
self.iterations_spinbox.setRange(0, 10)
self.iterations_spinbox.setSingleStep(1)
self.iterations_spinbox.valueChanged.connect(self.on_iterations_value)
self.iterations_spinbox.setValue(self.iterations)
vbox_iterations.addWidget(self.iterations_spinbox)
time_hbox.addLayout(vbox_iterations)
vbox.addLayout(time_hbox)
# Joints title
title_frame = QFrame()
title_frame.setFrameShape(QFrame.StyledPanel);
title_frame.setFrameShadow(QFrame.Raised);
title_hbox = QHBoxLayout()
title_hbox.addWidget(QLabel("Joints"))
title_hbox.addWidget(QLabel("Current Position"))
title_hbox.addWidget(QLabel("Amplitude"))
title_frame.setLayout(title_hbox)
vbox.addWidget(title_frame)
# Define the widgets for each joint
for i,joint in enumerate(self.chain):
#print i,",",joint
self.joint_widget( vbox, i)
#add stretch at end so all GUI elements are at top of dialog
vbox.addStretch(1)
self._widget.setLayout(vbox)
# Define the connections to the outside world
self.jointSubscriber = rospy.Subscriber(self.joint_state_topic, JointState, self.stateCallbackFnc)
self.commandPublisher = rospy.Publisher(self.trajectory_topic , JointTrajectory, queue_size=10)
# Add the widget
context.add_widget(self._widget)
class MessageFrame(QFrame):
accept_signal = Signal(int, MessageData)
''' @ivar: A signal on accept button clicked (id, data)'''
cancel_signal = Signal(int, MessageData)
''' @ivar: A signal on cancel button clicked (id, data)'''
TYPE_INVALID = 0
TYPE_EMPTY = 1
TYPE_QUESTION = 2
TYPE_LAUNCH_FILE = 3
TYPE_DEFAULT_CFG = 4
TYPE_NODELET = 5
TYPE_TRANSFER = 6
TYPE_BINARY = 7
TYPE_NOSCREEN = 8
ICON_SIZE = 32
def __init__(self, parent=None, info=False):
QFrame.__init__(self, parent=parent)
self.setObjectName('MessageFrame')
self.questionid = self.TYPE_INVALID
self.text = ""
self.data = MessageData(None)
self.IMAGES = {
1:
QPixmap(),
2:
QPixmap(':/icons/crystal_clear_question.png').scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
3:
QPixmap(':/icons/crystal_clear_launch_file.png').scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
4:
QPixmap(":/icons/default_cfg.png").scaled(self.ICON_SIZE,
self.ICON_SIZE,
Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
5:
QPixmap(":/icons/crystal_clear_nodelet_q.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
6:
QPixmap(":/icons/crystal_clear_question.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
7:
QPixmap(":/icons/crystal_clear_launch_file_transfer.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
8:
QPixmap(":/icons/crystal_clear_no_io.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation)
}
self._new_request = False
self.frameui = QFrame()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'MessageFrame.ui')
loadUi(ui_file, self.frameui)
color = QColor(255, 207, 121)
self.frameui.setVisible(False)
self.frameui.scrollArea.setVisible(False)
self.frameui.questionOkButton.clicked.connect(self._on_question_ok)
self.frameui.questionCancelButton.clicked.connect(
self._on_question_cancel)
self.frameui.checkBox_dnaa.stateChanged.connect(
self._on_checkbox_state_changed)
self._ask = 'ask'
if info:
color = QColor(232, 104, 80)
self.frameui.questionCancelButton.setVisible(False)
self._ask = 'show'
bg_style = "QFrame#questionFame { background-color: %s;}" % color.name(
)
self.frameui.setStyleSheet("%s" % (bg_style))
self._queue = MessageQueue()
self._do_not_ask = {}
def show_question(self,
questionid,
text,
data=MessageData(None),
color=None):
if questionid == 0:
return
if color is not None:
bg_style = "QFrame#questionFame { background-color: %s;}" % color.name(
)
self.frameui.setStyleSheet("%s" % (bg_style))
try:
# is it in the list for not ask again?
if self._do_not_ask[questionid]:
self.accept_signal.emit(questionid, data)
else:
self.cancel_signal.emit(questionid, data)
return
except Exception:
pass
self._queue.add(questionid, text, data)
if self.questionid == self.TYPE_INVALID:
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
if self.questionid == self.TYPE_NODELET:
self.frameui.checkBox_dnaa.setText("don't %s again, never!" %
self._ask)
else:
self.frameui.checkBox_dnaa.setText(
"don't %s again, for session" % self._ask)
def add_info_no_screen(self, nodename):
if self.questionid == self.TYPE_NOSCREEN:
self.data.data.append(nodename)
self.frameui.scrollAreaLayout.addWidget(QLabel(nodename))
else:
self._queue.add(self.TYPE_NOSCREEN, '', MessageData([nodename]))
if self.questionid == self.TYPE_INVALID:
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
def hide_question(self, questionids):
if self.questionid in questionids:
self._new_request = False
self.frameui.setVisible(False)
self.cancel_signal.emit(self.questionid, self.data)
self.questionid = 0
self._clear_scroll_area()
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
def _frameui_4_request(self, request):
if request:
self.frameui.checkBox_dnaa.setChecked(False)
self.frameui.setVisible(True)
self.frameui.scrollArea.setVisible(
self.frameui.scrollAreaLayout.count() > 0)
else:
self.questionid = 0
self.frameui.setVisible(False)
self.frameui.scrollArea.setVisible(False)
def _on_question_ok(self):
if self.frameui.checkBox_dnaa.isChecked():
# save the decision
self._do_not_ask[self.questionid] = True
self._new_request = False
self.frameui.setVisible(False)
self.accept_signal.emit(self.questionid, self.data)
self.questionid = 0
self._clear_scroll_area()
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
def _on_question_cancel(self):
if self.frameui.checkBox_dnaa.isChecked():
if self.questionid == self.QuestionNodelet:
nm.settings().check_for_nodelets_at_start = False
else:
# save the decision
self._do_not_ask[self.questionid] = False
self._new_request = False
self.frameui.setVisible(False)
self.cancel_signal.emit(self.questionid, self.data)
self.questionid = 0
self._clear_scroll_area()
self._new_request = self._read_next_item()
self._frameui_4_request(self._new_request)
def _is_launch_data_in_queue(self, newdata):
for _, data, _ in self._queue_launchfile:
if data == newdata:
return True
return False
def _is_transfer_data_in_queue(self, newdata):
for _, data, _ in self._queue_transfer_files:
if data == newdata:
return True
return False
def _is_other_data_in_queue(self, questionid, text, data):
for cqid, ctxt, cd, _ in self._queue_other:
if cqid == questionid and cd == data and ctxt == text:
return True
return False
def _read_next_item(self):
(qid, text, data) = self._queue.get()
if qid == self.TYPE_NOSCREEN:
self.questionid = self.TYPE_NOSCREEN
self.text = 'No screens found! See log for details!<br>The following nodes are affected:'
self.data = data
self.frameui.questionIcon.setPixmap(self.IMAGES[qid])
self.frameui.questionLabel.setText(self.text)
for nodename in data.data:
self.frameui.scrollAreaLayout.addWidget(QLabel(nodename))
self.frameui.scrollArea.setVisible(True)
elif qid != self.TYPE_INVALID:
self.questionid = qid
self.text = text
self.data = data
self.frameui.questionIcon.setPixmap(self.IMAGES[qid])
self.frameui.questionLabel.setText(text)
return qid != self.TYPE_INVALID
def _on_checkbox_state_changed(self, state):
if state:
if self.questionid == self.TYPE_NODELET:
self.frameui.questionOkButton.setVisible(False)
else:
self.frameui.questionOkButton.setVisible(True)
def _clear_scroll_area(self):
child = self.frameui.scrollAreaLayout.takeAt(0)
while child:
child.widget().setParent(None)
del child
child = self.frameui.scrollAreaLayout.takeAt(0)
def create_controller_ui(self):
self.controllers = []
if not self.load_robot_model():
# if no groups config is on the parameter server, request the list from controller manager
self.load_controllers()
robot = URDF.from_parameter_server()
joint_list = {}
for ndx, jnt in enumerate(robot.joints):
joint_list[jnt.name] = ndx
for controller in self.controllers:
frame = QFrame()
frame.setFrameShape(QFrame.StyledPanel)
frame.setFrameShadow(QFrame.Raised)
vbox = QVBoxLayout()
label = QLabel()
label.setText(controller.label)
vbox.addWidget(label)
controller.snap_to_ghost_button = QPushButton("SnapGhost")
controller.snap_to_ghost_button.pressed.connect(controller.on_snap_ghost_pressed)
vbox.addWidget(controller.snap_to_ghost_button)
controller.snap_to_current_button = QPushButton("SnapCurrent")
controller.snap_to_current_button.pressed.connect(controller.on_snap_current_pressed)
vbox.addWidget(controller.snap_to_current_button)
controller.apply_to_robot_button = QPushButton("ApplyRobot")
controller.apply_to_robot_button.pressed.connect(controller.on_apply_robot_pressed)
vbox.addWidget(controller.apply_to_robot_button)
# Removed because it is hardcoded
# controller.save_joints_to_file_button = QPushButton("SaveJoints")
# controller.save_joints_to_file_button.pressed.connect(controller.on_save_joints_pressed)
# vbox.addWidget(controller.save_joints_to_file_button)
controller.undo_last_action_button = QPushButton("Undo Last")
controller.undo_last_action_button.pressed.connect(controller.on_undo_pressed)
vbox.addWidget(controller.undo_last_action_button)
print 'Loading limits for controller:', controller.topic
for joint in controller.joints:
label = QLabel()
label.setText(joint.name)
vbox.addWidget(label)
try:
robot_joint = robot.joints[joint_list[joint.name]]
except KeyError:
print 'No limits found for', joint.name
limit_lower = -1.0
limit_upper = 1
else:
limit_lower = robot_joint.limit.lower
limit_upper = robot_joint.limit.upper
print " ", joint.name, " limits(", limit_lower, ", ", limit_upper, ") num"
joint.slider = QSlider(Qt.Horizontal)
joint.slider.setRange(int(limit_lower * 10000.0), int(limit_upper * 10000.0))
joint.slider.setValue(int(limit_lower * 10000.0))
joint.slider.setSingleStep((limit_upper - limit_lower) / 20.0)
joint.slider.valueChanged.connect(joint.on_slider_moved)
vbox.addWidget(joint.slider)
joint.progress_bar = QProgressBar()
joint.progress_bar.setRange(int(limit_lower * 10000.0),
int(limit_upper * 10000.0))
joint.progress_bar.setValue(int(limit_lower * 10000.0))
vbox.addWidget(joint.progress_bar)
vbox.addStretch()
frame.setLayout(vbox)
self.widget.addWidget(frame)
class MessageFrame(QFrame):
accept_signal = Signal(int, MessageData)
''' @ivar: A signal on accept button clicked (id, data)'''
cancel_signal = Signal(int, MessageData)
''' @ivar: A signal on cancel button clicked (id, data)'''
IconEmpty = 0
IconQuestion = 1
IconLaunchFile = 2
IconDefaultCfg = 3
IconNodelet = 4
IconBinary = 5
QuestionInvalid = 0
QuestionNoname = 1
QuestionLaunchFile = 2
QuestionDefaultCfg = 3
QuestionNodelet = 4
QuestionBinary = 5
ICON_SIZE = 32
def __init__(self, parent=None):
QFrame.__init__(self, parent=parent)
self.setObjectName('MessageFrame')
self.questionid = self.QuestionInvalid
self.text = ""
self.iconid = self.IconEmpty
self.data = MessageData(None)
self.IMAGES = {
0:
QPixmap(),
1:
QPixmap(':/icons/crystal_clear_question.png').scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
2:
QPixmap(':/icons/crystal_clear_launch_file.png').scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
3:
QPixmap(":/icons/default_cfg.png").scaled(self.ICON_SIZE,
self.ICON_SIZE,
Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
4:
QPixmap(":/icons/crystal_clear_nodelet_q.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation),
5:
QPixmap(":/icons/crystal_clear_question.png").scaled(
self.ICON_SIZE, self.ICON_SIZE, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation)
}
self._new_request = False
self.frameui = QFrame()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'MessageFrame.ui')
loadUi(ui_file, self.frameui)
self.frameui.setVisible(False)
self.frameui.questionOkButton.clicked.connect(self._on_question_ok)
self.frameui.questionCancelButton.clicked.connect(
self._on_question_cancel)
def show_question(self, questionid, text, data=MessageData(None), icon=0):
self._new_request = True
self.questionid = questionid
self.text = text
self.iconid = icon
self.data = data
self.frameui.questionIcon.setPixmap(self.IMAGES[icon])
self.frameui.questionLabel.setText(text)
self.frameui.setVisible(True)
def hide_question(self):
self._new_request = False
self.frameui.setVisible(False)
self.cancel_signal.emit(self.questionid, self.data)
if not self._new_request:
self.questionid = 0
def _on_question_ok(self):
self._new_request = False
self.frameui.setVisible(False)
self.accept_signal.emit(self.questionid, self.data)
if not self._new_request:
self.questionid = 0
def _on_question_cancel(self):
self._new_request = False
self.frameui.setVisible(False)
self.cancel_signal.emit(self.questionid, self.data)
if not self._new_request:
self.questionid = 0
def __init__(self, items=list(), buttons=QDialogButtonBox.Cancel | QDialogButtonBox.Ok, exclusive=False,
preselect_all=False, title='', description='', icon='', parent=None, select_if_single=True,
checkitem1='', checkitem2=''):
'''
Creates an input dialog.
@param items: a list with strings
@type items: C{list()}
'''
QDialog.__init__(self, parent=parent)
self.setObjectName(' - '.join(['SelectDialog', str(items)]))
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
# add filter row
self.filter_frame = QFrame(self)
filterLayout = QHBoxLayout(self.filter_frame)
filterLayout.setContentsMargins(1, 1, 1, 1)
label = QLabel("Filter:", self.filter_frame)
self.filter_field = EnchancedLineEdit(self.filter_frame)
filterLayout.addWidget(label)
filterLayout.addWidget(self.filter_field)
self.filter_field.textChanged.connect(self._on_filter_changed)
self.verticalLayout.addWidget(self.filter_frame)
if description:
self.description_frame = QFrame(self)
descriptionLayout = QHBoxLayout(self.description_frame)
# descriptionLayout.setContentsMargins(1, 1, 1, 1)
if icon:
self.icon_label = QLabel(self.description_frame)
self.icon_label.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
self.icon_label.setPixmap(QPixmap(icon).scaled(30, 30, Qt.KeepAspectRatio))
descriptionLayout.addWidget(self.icon_label)
self.description_label = QLabel(self.description_frame)
self.description_label.setWordWrap(True)
self.description_label.setText(description)
descriptionLayout.addWidget(self.description_label)
self.verticalLayout.addWidget(self.description_frame)
# create area for the parameter
self.content = MainBox(self)
if items:
self.scroll_area = QScrollArea(self)
self.scroll_area.setFocusPolicy(Qt.NoFocus)
self.scroll_area.setObjectName("scroll_area")
self.scroll_area.setWidgetResizable(True)
self.scroll_area.setWidget(self.content)
self.verticalLayout.addWidget(self.scroll_area)
self.checkitem1 = checkitem1
self.checkitem1_result = False
self.checkitem2 = checkitem2
self.checkitem2_result = False
# add select all option
if not exclusive and items:
self._ignore_next_toggle = False
self.select_all_checkbox = QCheckBox('all entries')
self.select_all_checkbox.setTristate(True)
self.select_all_checkbox.stateChanged.connect(self._on_select_all_checkbox_stateChanged)
self.verticalLayout.addWidget(self.select_all_checkbox)
self.content.toggled.connect(self._on_main_toggle)
if self.checkitem1:
self.checkitem1_checkbox = QCheckBox(self.checkitem1)
self.checkitem1_checkbox.stateChanged.connect(self._on_select_checkitem1_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem1_checkbox)
if self.checkitem2:
self.checkitem2_checkbox = QCheckBox(self.checkitem2)
self.checkitem2_checkbox.stateChanged.connect(self._on_select_checkitem2_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem2_checkbox)
if not items:
spacerItem = QSpacerItem(1, 1, QSizePolicy.Expanding, QSizePolicy.Expanding)
self.verticalLayout.addItem(spacerItem)
# create buttons
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setStandardButtons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
# set the input fields
if items:
self.content.createFieldsFromValues(items, exclusive)
if (select_if_single and len(items) == 1) or preselect_all:
self.select_all_checkbox.setCheckState(Qt.Checked)
if not items or len(items) < 7:
self.filter_frame.setVisible(False)
class pyqtTraverse(Traverser.Traverser):
def __init__(self):
self.parent = None
self.nesting_stack = []
def beginGui(self,obj):
self.parent = QScrollArea()
self.frame = QFrame(self.parent)
if obj.layout == "vertical":
self.tl = QVBoxLayout()
else:
self.tl = QHBoxLayout()
self.__increase_nesting_level(self.frame,self.tl)
def endGui(self,obj):
parent,layout = self.__get_immediate_parent()
self.frame.setLayout(layout)
self.parent.setWidget(self.frame)
self.parent.show()
def beginGroup(self,obj):
parent,layout = self.__get_immediate_parent()
panel = QGroupBox(obj.name,parent)
if obj.layout == "grid":
l = QGridLayout()
elif obj.layout == "vertical":
l = QVBoxLayout()
else:
l = QHBoxLayout()
self.__increase_nesting_level(panel, l)
def endGroup(self,obj):
parent,layout = self.__get_immediate_parent()
parent.setLayout(layout)
self.__decrease_nesting_level()
p1,l1 = self.__get_immediate_parent()
l1.addWidget(parent)
def beginRosLabel(self,obj):
pm,lm = self.__get_immediate_parent()
fr = QFrame(pm)
layout = QGridLayout()
nlb = QLabel(obj.label_name + ":",fr)
nlb.setToolTip(obj.topic_name)
layout.addWidget(nlb,1,1)
layout.addWidget(RosLabel(fr,obj.label_name,obj.topic_name,obj.topic_type,obj.topic_field),1,2)
fr.setLayout(layout)
lm.addWidget(fr)
def endRosLabel(self,obj):
pass
def beginRosToggleButton(self,obj):
pm,lm = self.__get_immediate_parent()
btn = RosToggleButton(pm,
obj.btn_name,
obj.topic_name,
obj.topic_type,
obj.topic_field,
obj.toggle_dict)
lm.addWidget(btn)
pass
def endRosToggleButton(self,obj):
pass
def beginRosSlider(self,obj):
pm,lm = self.__get_immediate_parent()
slider = RosSlider(pm,obj.label_name,
obj.topic_name,
obj.topic_type,
obj.topic_field,
obj.min_max_tuple,
obj.default
)
lm.addWidget(slider)
pass
def endRosSlider(self,obj):
pass
def beginRosPlot(self,obj):
pm,lm = self.__get_immediate_parent()
plot = RosPlot(pm,obj.label_name,
obj.topic_name,
obj.topic_type,
obj.topic_field,
obj.buffer_size
)
lm.addWidget(plot)
def endRosPlot(self,obj):
pass
def beginRosMsgView(self,obj):
pm,lm = self.__get_immediate_parent()
fr = RosMsgView(pm, obj.grp_name, obj.topic_name, obj.topic_type, obj.topic_fields)
lm.addWidget(fr)
pass
def endRosMsgView(self,obj):
pass
def __get_immediate_parent(self):
l = len(self.nesting_stack)
return self.nesting_stack[l-1]
def __increase_nesting_level(self,parent,container):
self.nesting_stack.append((parent,container))
def __decrease_nesting_level(self):
self.nesting_stack.pop()
