def __init__(self, masteruri, screen_name, nodename, user=None, parent=None):
'''
Creates the window, connects the signals and init the class.
'''
QWidget.__init__(self, parent)
# load the UI file
screen_dock_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'ui', 'logscreen', 'ScreenWidget.ui')
loadUi(screen_dock_file, self)
self.setObjectName("ScreenWidget")
self.setWindowIcon(nm.settings().icon('crystal_clear_show_io.png'))
# self.setFeatures(QDockWidget.DockWidgetFloatable | QDockWidget.DockWidgetMovable | QDockWidget.DockWidgetClosable)
self.pauseButton.setIcon(nm.settings().icon('sekkyumu_pause.png'))
self._valid = True
self._logpath = ''
self._lock = threading.RLock()
self.finished = False
self.qfile = None
self.thread = None
self._info = ''
self._masteruri = ''
self._nodename = nodename
self._first_fill = True
self._seek_start = -1
self._seek_end = -1
self._pause_read_end = False
self._ssh_output_file = None
self._ssh_error_file = None
self._ssh_input_file = None
self._on_pause = False
self._char_format_end = None
self.logframe.setVisible(False)
self.loglevelButton.toggled.connect(self.on_toggle_loggers)
self.logger_handler = None
# connect to the button signals
self.output.connect(self._on_output)
self.output_prefix.connect(self._on_output_prefix)
self.error_signal.connect(self._on_error)
self.auth_signal.connect(self.on_request_pw)
self.clearCloseButton.clicked.connect(self.clear)
# self.pauseButton.clicked.connect(self.stop)
self.pauseButton.toggled.connect(self.pause)
self.clear_signal.connect(self.clear)
self.loggerFilterInput.textChanged.connect(self.on_logger_filter_changed)
self.textBrowser.verticalScrollBar().valueChanged.connect(self.on_scrollbar_position_changed)
self.textBrowser.verticalScrollBar().rangeChanged.connect(self.on_scrollbar_range_changed)
self.textBrowser.set_reader(self)
self.tf = TerminalFormats()
self.hl = ScreenHighlighter(self.textBrowser.document())
self.searchFrame.setVisible(False)
self.grepFrame.setVisible(False)
self.grepLineEdit.textChanged.connect(self.on_grep_changed)
self._shortcut_search = QShortcut(QKeySequence(self.tr("Ctrl+F", "Activate search")), self)
self._shortcut_search.activated.connect(self.on_search)
self._shortcut_grep = QShortcut(QKeySequence(self.tr("Ctrl+G", "Activate grep")), self)
self._shortcut_grep.activated.connect(self.on_grep)
self.searchLineEdit.editingFinished.connect(self.on_search_prev)
self.searchNextButton.clicked.connect(self.on_search_next)
self.searchPrevButton.clicked.connect(self.on_search_prev)
# self.visibilityChanged.connect(self.stop)
self._connect(masteruri, screen_name, nodename, user)
def __init__(self, model, ui_file):
super(NotesWidget, self).__init__()
self._model = model
loadUi(ui_file, self)
self._model.rowsInserted.connect(self.update_status)
self._model.rowsRemoved.connect(self.update_status)
self.table_view.setModel(self._model)
self.table_view.verticalScrollBar().rangeChanged.connect(self._handle_change_scroll)
self._last_scroll_max = self.table_view.verticalScrollBar().maximum()
self.input_field.returnPressed.connect(self._handle_insert_entry)
self.take_button.clicked.connect(self._handle_start_take)
self.load_button.clicked.connect(self._handle_load)
self.save_button.clicked.connect(self._handle_save)
self._delete_shortcut = QShortcut(QKeySequence('Delete'), self)
self._delete_shortcut.activated.connect(self._delete_selected)
self._load_shortcut = QShortcut(QKeySequence('Ctrl+O'), self)
self._load_shortcut.activated.connect(self._handle_load)
self._save_shortcut = QShortcut(QKeySequence('Ctrl+S'), self)
self._save_shortcut.activated.connect(self._handle_save)
def __init__(self, model: QAbstractTableModel, ui_file: str, node: Node):
"""Initialize the NotesWidget.
:param model
:param ui_file Path to ui file.
:param node Handle to a node, used for logging
"""
super(NotesWidget, self).__init__()
self._model = model
self._can_save = True
self._has_autosave = True
self._autosave_file = None
save_path = f"{Path.home()}{self.SAVE_DIRECTORY_FROM_HOME}"
if not os.path.exists(save_path):
os.makedirs(save_path)
self._last_save_file = (
f"{save_path}/note-taker"
f"-{datetime.now().strftime('%Y-%m-%d-%H:%M')}")
self._node = node
loadUi(ui_file, self)
self._model.rowsInserted.connect(lambda parent, first, last: [
self.update_status(),
self._set_saved(False),
self._autosave(first, last, self.INSERT),
])
self._model.rowsRemoved.connect(lambda parent, first, last: [
self.update_status(),
self._set_saved(False),
self._autosave(first, last, self.REMOVE),
])
self.table_view.setModel(self._model)
self.table_view.verticalScrollBar().rangeChanged.connect(
self._handle_change_scroll)
self._last_scroll_max = self.table_view.verticalScrollBar().maximum()
self.input_field.returnPressed.connect(self._handle_insert_entry)
self.take_button.clicked.connect(self._handle_start_take)
self.load_button.clicked.connect(self._handle_load)
self.save_button.clicked.connect(self._handle_save)
self.autosave_check_box.stateChanged.connect(self._handle_autosave)
self.autosave_check_box.setChecked(self._has_autosave)
self.autosave_check_box.setEnabled(False)
self._delete_shortcut = QShortcut(QKeySequence("Delete"), self)
self._delete_shortcut.activated.connect(self._delete_selected)
self._load_shortcut = QShortcut(QKeySequence("Ctrl+O"), self)
self._load_shortcut.activated.connect(self._handle_load)
self._save_shortcut = QShortcut(QKeySequence("Ctrl+S"), self)
self._save_shortcut.activated.connect(self._handle_save)
def _create_tag_menu(self, parent=None):
# creates a tag menu
tag_menu = QMenu("ROS Tags", parent)
# group tag
add_group_tag_action = QAction("<group>", self, statusTip="", triggered=self._on_add_group_tag)
add_group_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+g"))
tag_menu.addAction(add_group_tag_action)
# node tag
add_node_tag_action = QAction("<node>", self, statusTip="", triggered=self._on_add_node_tag)
add_node_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+n"))
tag_menu.addAction(add_node_tag_action)
# node tag with all attributes
add_node_tag_all_action = QAction("<node all>", self, statusTip="", triggered=self._on_add_node_tag_all)
tag_menu.addAction(add_node_tag_all_action)
# include tag with all attributes
add_include_tag_all_action = QAction("<include>", self, statusTip="", triggered=self._on_add_include_tag_all)
add_include_tag_all_action.setShortcuts(QKeySequence("Ctrl+Shift+i"))
tag_menu.addAction(add_include_tag_all_action)
# remap
add_remap_tag_action = QAction("<remap>", self, statusTip="", triggered=self._on_add_remap_tag)
add_remap_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+r"))
tag_menu.addAction(add_remap_tag_action)
# env tag
add_env_tag_action = QAction("<env>", self, statusTip="", triggered=self._on_add_env_tag)
tag_menu.addAction(add_env_tag_action)
# param tag
add_param_tag_action = QAction("<param>", self, statusTip="", triggered=self._on_add_param_tag)
add_param_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+p"))
tag_menu.addAction(add_param_tag_action)
# param capability group tag
add_param_cap_group_tag_action = QAction("<param capability group>", self, statusTip="", triggered=self._on_add_param_cap_group_tag)
add_param_cap_group_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+p"))
tag_menu.addAction(add_param_cap_group_tag_action)
# param tag with all attributes
add_param_tag_all_action = QAction("<param all>", self, statusTip="", triggered=self._on_add_param_tag_all)
tag_menu.addAction(add_param_tag_all_action)
# rosparam tag with all attributes
add_rosparam_tag_all_action = QAction("<rosparam>", self, statusTip="", triggered=self._on_add_rosparam_tag_all)
tag_menu.addAction(add_rosparam_tag_all_action)
# arg tag with default definition
add_arg_tag_default_action = QAction("<arg default>", self, statusTip="", triggered=self._on_add_arg_tag_default)
add_arg_tag_default_action.setShortcuts(QKeySequence("Ctrl+Shift+a"))
tag_menu.addAction(add_arg_tag_default_action)
# arg tag with value definition
add_arg_tag_value_action = QAction("<arg value>", self, statusTip="", triggered=self._on_add_arg_tag_value)
add_arg_tag_value_action.setShortcuts(QKeySequence("Ctrl+Alt+a"))
tag_menu.addAction(add_arg_tag_value_action)
# test tag
add_test_tag_action = QAction("<test>", self, statusTip="", triggered=self._on_add_test_tag)
add_test_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+t"))
tag_menu.addAction(add_test_tag_action)
# test tag with all attributes
add_test_tag_all_action = QAction("<test all>", self, statusTip="", triggered=self._on_add_test_tag_all)
tag_menu.addAction(add_test_tag_all_action)
return tag_menu
def __init__(self, context):
super(ConversationViewPlugin, self).__init__(context)
self.setObjectName('ConversationViewPlugin')
self._widget = QWidget()
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
ui_file = os.path.join(
rospkg.RosPack().get_path('rqt_conversation_view'), 'resource',
'conversation_view.ui')
loadUi(ui_file, self._widget)
context.add_widget(self._widget)
self.send_shortcut = QShortcut(QKeySequence("Ctrl+Return"),
self._widget, self.handle_button_send)
self._widget.buttonSend.clicked.connect(self.handle_button_send)
self._widget.textInput.setFocus()
self.signalAddItem.connect(self.add_item_to_conversation_view)
self.pub_input = rospy.Publisher('recognized_word',
RecognizedWord,
queue_size=10)
rospy.Subscriber('raising_events', RaisingEvents,
self.handle_raising_events)
rospy.Subscriber('reply', Reply, self.handle_reply)
def show_custom_context_menu(self, pos):
if self.isReadOnly():
return
menu = QTextEdit.createStandardContextMenu(self)
formattext_action = None
if isinstance(self.hl, XmlHighlighter):
formattext_action = QAction("Format XML",
self,
statusTip="",
triggered=self.toprettyxml)
else:
formattext_action = QAction("Format as YAML",
self,
statusTip="",
triggered=self.toprettyyaml)
formattext_action.setShortcuts(QKeySequence("Ctrl+Shift+F"))
menu.addAction(formattext_action)
# if not self.textCursor().selectedText():
# self.setTextCursor(self.cursorForPosition(pos))
submenu = self._create_context_menu_for_tag()
if submenu is not None:
menu.addMenu(submenu)
argmenu = self._create_context_substitution_menu()
if argmenu is not None:
menu.addMenu(argmenu)
menu.exec_(self.mapToGlobal(pos))
def action_connect(self):
'''
Connects the actions in the top bar to the corresponding functions, and sets their shortcuts
:return:
'''
self._widget.actionNew.triggered.connect(self.new)
self._widget.actionOpen.triggered.connect(self.open)
self._widget.actionSave.triggered.connect(self.save)
self._widget.actionSave_as.triggered.connect(self.save_as)
self._widget.actionInit.triggered.connect(self.goto_init)
self._widget.actionCurrent_Frame.triggered.connect(self.goto_frame)
self._widget.actionNext_Frame.triggered.connect(self.goto_next)
self._widget.actionAnimation.triggered.connect(self.play)
self._widget.actionAnimation_until_Frame.triggered.connect(self.play_until)
self._widget.actionDuplicate_Frame.triggered.connect(self.duplicate)
self._widget.actionDelete_Frame.triggered.connect(self.delete)
self._widget.actionLeft.triggered.connect(lambda: self.mirrorFrame("L"))
self._widget.actionRight.triggered.connect(lambda: self.mirrorFrame("R"))
self._widget.actionInvert.triggered.connect(self.invertFrame)
self._widget.actionUndo.triggered.connect(self.undo)
self._widget.actionRedo.triggered.connect(self.redo)
self._widget.actionHelp.triggered.connect(self.help)
self._widget.buttonRecord.clicked.connect(self.record)
self._widget.buttonRecord.shortcut = QShortcut(QKeySequence("Space"), self._widget)
self._widget.buttonRecord.shortcut.activated.connect(self.record)
self._widget.frameList.keyPressed.connect(self.delete)
self._widget.treeModeSelector.currentIndexChanged.connect(self.treeModeChanged)
def __init__(self, model, ui_file):
super(NotesWidget, self).__init__()
self._model = model
self._can_save = True
self._has_autosave = True
self._autosave_file = None
self._last_save_file = None
loadUi(ui_file, self)
self._model.rowsInserted.connect(lambda parent, first, last: [
self.update_status(),
self._set_saved(False),
self._autosave(first, last, self.INSERT)
])
self._model.rowsRemoved.connect(lambda parent, first, last: [
self.update_status(),
self._set_saved(False),
self._autosave(first, last, self.REMOVE)
])
self.table_view.setModel(self._model)
self.table_view.verticalScrollBar().rangeChanged.connect(
self._handle_change_scroll)
self._last_scroll_max = self.table_view.verticalScrollBar().maximum()
self.input_field.returnPressed.connect(self._handle_insert_entry)
self.take_button.clicked.connect(self._handle_start_take)
self.load_button.clicked.connect(self._handle_load)
self.save_button.clicked.connect(self._handle_save)
self.autosave_check_box.stateChanged.connect(self._handle_autosave)
self.autosave_check_box.setChecked(self._has_autosave)
self.autosave_check_box.setEnabled(False)
self._delete_shortcut = QShortcut(QKeySequence('Delete'), self)
self._delete_shortcut.activated.connect(self._delete_selected)
self._load_shortcut = QShortcut(QKeySequence('Ctrl+O'), self)
self._load_shortcut.activated.connect(self._handle_load)
self._save_shortcut = QShortcut(QKeySequence('Ctrl+S'), self)
self._save_shortcut.activated.connect(self._handle_save)
def __init__(self, node):
super(ExamplesWidget, self).__init__()
self.setObjectName('ExamplesWidget')
self.node = node
pkg_name = 'examples_rqt'
ui_filename = 'examples_rqt.ui'
topic_name = 'cmd_vel'
service_name = 'led_control'
_, package_path = get_resource('packages', pkg_name)
ui_file = os.path.join(package_path, 'share', pkg_name, 'resource', ui_filename)
loadUi(ui_file, self)
self.pub_velocity = Twist()
self.pub_velocity.linear.x = 0.0
self.pub_velocity.angular.z = 0.0
self.sub_velocity = Twist()
self.sub_velocity.linear.x = 0.0
self.sub_velocity.angular.z = 0.0
self.slider_x.setValue(0)
self.lcd_number_x.display(0.0)
self.lcd_number_yaw.display(0.0)
qos_profile = 0
qos = self.get_qos(qos_profile)
self.publisher = self.node.create_publisher(Twist, topic_name, qos)
self.subscriber = self.node.create_subscription(Twist, topic_name, self.cmd_callback, qos)
self.service_server = self.node.create_service(SetBool, service_name, self.srv_callback)
self.service_client = self.node.create_client(SetBool, service_name)
update_timer = QTimer(self)
update_timer.timeout.connect(self.update_data)
update_timer.start(self.redraw_interval)
self.push_button_w.pressed.connect(self.on_increase_x_linear_pressed)
self.push_button_x.pressed.connect(self.on_decrease_x_linear_pressed)
self.push_button_a.pressed.connect(self.on_increase_z_angular_pressed)
self.push_button_d.pressed.connect(self.on_decrease_z_angular_pressed)
self.push_button_s.pressed.connect(self.on_stop_pressed)
self.radio_button_led_on.clicked.connect(self.call_led_service)
self.radio_button_led_off.clicked.connect(self.call_led_service)
self.push_button_w.setShortcut('w')
self.push_button_x.setShortcut('x')
self.push_button_a.setShortcut('a')
self.push_button_d.setShortcut('d')
self.push_button_s.setShortcut('s')
self.shortcut_space = QShortcut(QKeySequence(Qt.Key_Space), self)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self.push_button_s.pressed)
self.radio_button_led_on.setShortcut('o')
self.radio_button_led_off.setShortcut('f')
def add_buttons(self, colors):
vbx = QVBoxLayout()
i = 1
for color in colors:
but = QPushButton('Color {} ({})'.format(color, i))
but.clicked.connect(self.clicked(color))
but_short = QShortcut(QKeySequence("Ctrl+" + str(i)), self)
but_short.activated.connect(self.clicked(color))
i += 1
vbx.addWidget(but)
vbx.addStretch(1)
self.color_buttons.setLayout(vbx)
def __init__(self, menu_button):
QMenu.__init__(self)
self.button = menu_button
try:
rqt_icon_path = roslib.packages.find_resource(
'rqt_gui', 'rqt.png').pop()
menu_button.setText('')
menu_button.setIcon(QIcon(rqt_icon_path))
# creates a default config menu
self.action_rqt_console = QAction(
QIcon.fromTheme('mail-message-new'),
"&Console",
self,
statusTip=
'"<p>Starts a python GUI plugin for displaying and filtering '
'ROS log messages that is connected to the selected master.</p>"',
triggered=self.on_show_console_clicked)
self.addAction(self.action_rqt_console)
self.action_rqt_logger_level = QAction(
QIcon.fromTheme('format-indent-more'),
"&Logger Level",
self,
statusTip=
'"<p>Starts a python GUI plugin for configuring the level of '
'ROS loggers that is connected to the selected master.</p>"',
triggered=self.on_show_logger_level_clicked)
self.addAction(self.action_rqt_logger_level)
self.action_rqt_tf_tree = QAction(
QIcon.fromTheme('preferences-system-network'),
"&TF Tree",
self,
statusTip=
'"<p>Starts a python GUI plugin for visualizing the TF tree'
'that is connected to the selected master.</p>"',
triggered=self.on_show_tf_tree_clicked)
self.addAction(self.action_rqt_tf_tree)
self.action_rqt_ros_graph = QAction(
QIcon(":/icons/button_graph.png"),
"Ros &Graph",
self,
statusTip=
'"<p>Starts a python GUI plugin for visualizing the ROS computation graph'
'that is connected to the selected master</p>"',
triggered=self.on_show_ros_graph_clicked)
self.addAction(self.action_rqt_ros_graph)
self.action_rosbag_record = QAction(
QIcon.fromTheme('media-record'),
"rosbag record",
self,
statusTip=
'"<p>Starts the rosbag record with selected topics</p>"',
triggered=self.on_start_rosbag_clicked)
self.addAction(self.action_rosbag_record)
self.action_rqt_rviz = QAction(QIcon.fromTheme('image-x-generic'),
"R&Viz",
self,
statusTip='"<p>Starts RViz</p>"',
triggered=self.on_show_rviz_clicked)
self.addAction(self.action_rqt_rviz)
self.addSeparator()
self.action_rqt = QAction(
QIcon(rqt_icon_path),
"&Rqt GUI",
self,
statusTip='"<p>Start the rqt GUI'
'that is connected to the selected master</p>"',
triggered=self.on_start_rqt_clicked)
self.addAction(self.action_rqt)
self.action_terminal = QAction(
QIcon(":/icons/crystal_clear_show_io.png"),
"&Terminal",
self,
statusTip='"<p>Start terminal on selected host</p>"',
triggered=self.on_start_terminal)
self.action_terminal.setShortcut(QKeySequence("Ctrl+T"))
self.addAction(self.action_terminal)
menu_button.setMenu(self)
except Exception as e:
print('%s' % e)
menu_button.setEnabled(False)
menu_button.setToolTip(
'rqt_gui not found! Please install rqt to use its plugins!')
def __init__(self, context):
super(RobotSteering, self).__init__(context)
self.setObjectName('RobotSteering')
self._publisher = None
self._widget = QWidget()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'RobotSteering.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RobotSteeringUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
self._widget.topic_line_edit.textChanged.connect(
self._on_topic_changed)
self._widget.x_linear_slider.valueChanged.connect(
self._on_parameter_changed)
self._widget.z_angular_slider.valueChanged.connect(
self._on_parameter_changed)
self._widget.increase_x_linear_push_button.pressed.connect(
self._on_increase_x_linear_pressed)
self._widget.decrease_x_linear_push_button.pressed.connect(
self._on_decrease_x_linear_pressed)
self._widget.increase_z_angular_push_button.pressed.connect(
self._on_increase_z_angular_pressed)
self._widget.decrease_z_angular_push_button.pressed.connect(
self._on_decrease_z_angular_pressed)
self._widget.stop_push_button.pressed.connect(self._on_stop_pressed)
self.shortcut_w = QShortcut(QKeySequence(Qt.Key_W), self._widget)
self.shortcut_w.setContext(Qt.ApplicationShortcut)
self.shortcut_w.activated.connect(self._on_increase_x_linear_pressed)
self.shortcut_s = QShortcut(QKeySequence(Qt.Key_S), self._widget)
self.shortcut_s.setContext(Qt.ApplicationShortcut)
self.shortcut_s.activated.connect(self._on_decrease_x_linear_pressed)
self.shortcut_a = QShortcut(QKeySequence(Qt.Key_A), self._widget)
self.shortcut_a.setContext(Qt.ApplicationShortcut)
self.shortcut_a.activated.connect(self._on_increase_z_angular_pressed)
self.shortcut_d = QShortcut(QKeySequence(Qt.Key_D), self._widget)
self.shortcut_d.setContext(Qt.ApplicationShortcut)
self.shortcut_d.activated.connect(self._on_decrease_z_angular_pressed)
self.shortcut_shift_w = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_W),
self._widget)
self.shortcut_shift_w.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_w.activated.connect(
self._on_strong_increase_x_linear_pressed)
self.shortcut_shift_s = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_S),
self._widget)
self.shortcut_shift_s.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_s.activated.connect(
self._on_strong_decrease_x_linear_pressed)
self.shortcut_shift_a = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_A),
self._widget)
self.shortcut_shift_a.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_a.activated.connect(
self._on_strong_increase_z_angular_pressed)
self.shortcut_shift_d = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_D),
self._widget)
self.shortcut_shift_d.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_d.activated.connect(
self._on_strong_decrease_z_angular_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.Key_Space),
self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self._on_stop_pressed)
# timer to consecutively send twist messages
self._update_parameter_timer = QTimer(self)
self._update_parameter_timer.timeout.connect(
self._on_parameter_changed)
self._update_parameter_timer.start(100)
def __init__(self):
super(MyWidget, self).__init__()
self.brd = CvBridge()
self.view = RGB
ui_file = os.path.join(
rospkg.RosPack().get_path('balloon_color_picker'), 'resource',
'ColorPlugin.ui')
rospy.loginfo('uifile {}'.format(ui_file))
# self.log_info('uifile {}'.format(ui_file))
loadUi(ui_file, self)
# Give QObjects reasonable names
self.setObjectName('ColorPluginUi')
self.uav_name = os.environ['UAV_NAME']
self.orig_h = 920
self.orig_w = 1080
self.hist_hsv_orig_h = 180
self.hist_hsv_orig_w = 256
self.hist_lab_orig_h = 256
self.hist_lab_orig_w = 256
self.hist_status = HSV
self.select_status = HIST_SELECTION
self.crop_stat = IMG
self.hist_mask = np.zeros([self.hist_hsv_orig_h, self.hist_hsv_orig_w])
self.hist_mask_lab = np.zeros(
[self.hist_lab_orig_h, self.hist_lab_orig_w])
self.cur_hist_hs = None
self.cur_hist_ab = None
self.selected_count = 0
# ROS services
# #{ ros services
self.sigma_caller = rospy.ServiceProxy('change_sigma', ChangeSigma)
self.sigma_lab_caller = rospy.ServiceProxy('change_sigma_lab',
ChangeSigmaLab)
self.caller = rospy.ServiceProxy('capture', Capture)
self.capture_cropped_srv = rospy.ServiceProxy('capture_cropped',
CaptureCropped)
self.get_count = rospy.ServiceProxy('get_count', GetCount)
self.clear_count = rospy.ServiceProxy('clear_count', ClearCount)
self.get_config = rospy.ServiceProxy('get_config', GetConfig)
self.get_params = rospy.ServiceProxy('get_params', Params)
self.freeze_service = rospy.ServiceProxy('freeze', Freeze)
self.update_service = rospy.ServiceProxy('change_obd', UpdateObd)
self.change_callback = rospy.ServiceProxy('change_callback',
ChangeCallback)
self.capture_hist = rospy.ServiceProxy('capture_hist', CaptureHist)
# #} end of ros services rospy.wait_for_service('capture')
rospy.loginfo(
'waiting for service "get_params" from computation module \n if this is more than 5 secs check for topic remapping'
)
# self.log_info('waiting for service')
rospy.loginfo('uav_name {}'.format(os.environ['UAV_NAME']))
# self.log_info('uav_name {}'.format(os.environ['UAV_NAME']))
rospy.wait_for_service('get_params')
self.config_path, self.save_path, self.circled_param, self.circle_filter_param, self.circle_luv_param, self.object_detect_param, self.save_to_drone = self.set_params(
)
# SUBS
# #{ ros subs
self.balloon_sub = rospy.Subscriber(self.circled_param,
RosImg,
self.img_callback,
queue_size=1)
self.filter_sub = rospy.Subscriber(self.circle_filter_param,
RosImg,
self.filter_callback,
queue_size=1)
self.filter_luv = rospy.Subscriber(self.circle_luv_param,
RosImg,
self.luv_callback,
queue_size=1)
self.obj_det_sb = rospy.Subscriber(self.object_detect_param,
RosImg,
self.obj_det_callback,
queue_size=1)
# self.hsv = message_filters.Subscriber(self.circle_filter_param, RosImg)
# self.luv = message_filters.Subscriber(self.circle_luv_param, RosImg)
# self.ts = message_filters.ApproximateTimeSynchronizer([self.luv, self.hsv], 1, 0.5)
# self.ts.registerCallback(self.both_callback)
# #} end of ros subs
self.colors = self.load_config(self.config_path)
self.add_buttons(self.colors)
# # DEFAULT IMAGE
# img = cv2.imread('/home/mrs/balloon_workspace/src/ros_packages/balloon_color_picker/data/blue.png')
# cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
# h,w,c = img.shape
# q_img = QImage(img.data, w,h,3*w, QImage.Format_RGB888)
# q = QPixmap.fromImage(q_img)
#DIRECTORY
#default
self.directory.setText(self.save_path + "Red.yaml")
self.color_name = "red"
self.save_button.clicked.connect(self.save_config)
#PLOT
self.figure = Figure()
self.figure_luv = Figure()
self.canvas = FigureCanvas(self.figure)
self.canvas_luv = FigureCanvas(self.figure_luv)
self.canvas.setParent(self.inner)
# self.toolbar = NavigationToolbar(self.canvas,self)
# self.toolbar_luv = NavigationToolbar(self.canvas_luv,self)
# self.toolbar.setParent(self.inner)
# self.toolbar_luv.setParent(self.inner_luv)
self.canvas_luv.setParent(self.inner_luv)
self.inner_luv.hide()
self.inner_luv_hist.hide()
#SLIDER CONFIG
# #{ slider config
self.sigma_slider.setRange(0, 100)
self.sigma_slider.setSingleStep(1)
self.sigma_slider.setValue(6)
self.sigma_slider.valueChanged.connect(self.slider_event)
self.sigma_slider_s.setRange(0, 100)
self.sigma_slider_s.setSingleStep(1)
self.sigma_slider_s.setValue(6)
self.sigma_slider_s.valueChanged.connect(self.slider_event)
self.sigma_slider_v.setRange(0, 100)
self.sigma_slider_v.setSingleStep(1)
self.sigma_slider_v.setValue(80)
self.sigma_slider_v.valueChanged.connect(self.slider_event)
self.sigma_slider_lab.setRange(0, 100)
self.sigma_slider_lab.setSingleStep(1)
self.sigma_slider_lab.setValue(80)
self.sigma_slider_lab.valueChanged.connect(self.slider_event_lab)
self.sigma_slider_a.setRange(0, 100)
self.sigma_slider_a.setSingleStep(1)
self.sigma_slider_a.setValue(6)
self.sigma_slider_a.valueChanged.connect(self.slider_event_lab)
self.sigma_slider_b.setRange(0, 100)
self.sigma_slider_b.setSingleStep(1)
self.sigma_slider_b.setValue(6)
self.sigma_slider_b.valueChanged.connect(self.slider_event_lab)
# #} end of slider config
# #{ font configs
#SIGMA TEXT
font = self.font()
font.setPointSize(16)
self.sigma_value.setFont(font)
self.sigma_value_s.setFont(font)
self.sigma_value_v.setFont(font)
self.sigma_value_lab.setFont(font)
self.sigma_value_a.setFont(font)
self.sigma_value_b.setFont(font)
#IMAGE COUNT TEXT
self.image_count.setFont(font)
#BOX FOR BUTTONS font
# self.color_buttons.setFont(font)
font.setPointSize(14)
self.sigma_value.setFont(font)
self.log_text.setFont(font)
#LAB HSV TEXT
font.setPointSize(23)
self.label_lab.setFont(font)
self.label_lab.hide()
self.label_hsv.setFont(font)
self.label_hsv.hide()
# #} end of font configs
# BUTTONS
self.change.clicked.connect(self.switch_view_hsv)
self.change_both.clicked.connect(self.switch_view_both)
self.change_luv.clicked.connect(self.switch_view_luv)
self.change_object.clicked.connect(self.switch_view_object_detect)
self.capture_button.clicked.connect(self.capture)
self.clear_button.clicked.connect(self.clear)
self.freeze_button.clicked.connect(self.freeze)
self.update_button.clicked.connect(self.update_obd)
# self.wdg_img.setPixmap(q)
# self.box_layout.addWidget(self.toolbar)
# self.inner.box_layout.addWidget(self.canvas)
#shortcuts
self.short_capture = QShortcut(QKeySequence("C"), self)
self.short_capture.activated.connect(self.capture)
self.short_hsv = QShortcut(QKeySequence("1"), self)
self.short_hsv.activated.connect(self.switch_view_hsv)
self.short_lab = QShortcut(QKeySequence("2"), self)
self.short_lab.activated.connect(self.switch_view_luv)
self.short_object_detect = QShortcut(QKeySequence("3"), self)
self.short_object_detect.activated.connect(
self.switch_view_object_detect)
self.short_object_detect_update = QShortcut(QKeySequence("U"), self)
self.short_object_detect_update.activated.connect(self.update_obd)
self.short_both = QShortcut(QKeySequence("4"), self)
self.short_both.activated.connect(self.switch_view_both)
self.short_save = QShortcut(QKeySequence("S"), self)
self.short_save.activated.connect(self.save_config)
self.short_clear = QShortcut(QKeySequence("N"), self)
self.short_clear.activated.connect(self.clear)
self.short_freeze = QShortcut(QKeySequence("F"), self)
self.short_freeze.activated.connect(self.freeze)
vbx = QVBoxLayout()
but_hsv = QRadioButton()
but_hsv.setText('HSV')
but_hsv.setChecked(True)
self.color_space = 'HSV'
but_hsv.clicked.connect(self.set_colorspace_hsv)
vbx.addWidget(but_hsv)
but_lab = QRadioButton()
but_lab.setText('LAB')
but_lab.clicked.connect(self.set_colorspace_lab)
vbx.addWidget(but_lab)
vbx.addStretch(1)
self.radio_buttons.setLayout(vbx)
vbx_method = QVBoxLayout()
but_lut = QRadioButton()
but_lut.setText('LUT')
but_lut.setChecked(False)
but_lut.clicked.connect(self.set_method_lut)
vbx_method.addWidget(but_lut)
but_thr = QRadioButton()
but_thr.setText('Threshold')
but_thr.setChecked(True)
but_thr.clicked.connect(self.set_method_thr)
vbx_method.addWidget(but_thr)
vbx.addStretch(1)
self.radio_buttons_method.setLayout(vbx_method)
self.load_method = 'THR'
# self.mousePressEvent.connect(self.mousePressEvent)
self.plotted = False
self._rubber = None
self.frozen = False
def _create_tag_menu(self, parent=None):
# creates a tag menu
tag_menu = QMenu("ROS Tags", parent)
# group tag
add_group_tag_action = QAction("<group>", self, statusTip="", triggered=self._on_add_group_tag)
add_group_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+g"))
tag_menu.addAction(add_group_tag_action)
# node tag
add_node_tag_action = QAction("<node>", self, statusTip="", triggered=self._on_add_node_tag)
add_node_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+n"))
tag_menu.addAction(add_node_tag_action)
# node tag with all attributes
add_node_tag_all_action = QAction("<node all>", self, statusTip="", triggered=self._on_add_node_tag_all)
tag_menu.addAction(add_node_tag_all_action)
# include tag with all attributes
add_include_tag_all_action = QAction("<include>", self, statusTip="", triggered=self._on_add_include_tag_all)
add_include_tag_all_action.setShortcuts(QKeySequence("Ctrl+Shift+i"))
tag_menu.addAction(add_include_tag_all_action)
# remap
add_remap_tag_action = QAction("<remap>", self, statusTip="", triggered=self._on_add_remap_tag)
add_remap_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+r"))
tag_menu.addAction(add_remap_tag_action)
# env tag
add_env_tag_action = QAction("<env>", self, statusTip="", triggered=self._on_add_env_tag)
tag_menu.addAction(add_env_tag_action)
# param tag
add_param_clipboard_tag_action = QAction("<param value>", self, statusTip="add value from clipboard", triggered=self._on_add_param_clipboard_tag)
add_param_clipboard_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+p"))
tag_menu.addAction(add_param_clipboard_tag_action)
add_param_tag_action = QAction("<param>", self, statusTip="", triggered=self._on_add_param_tag)
add_param_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+Alt+p"))
tag_menu.addAction(add_param_tag_action)
# param tag with all attributes
add_param_tag_all_action = QAction("<param all>", self, statusTip="", triggered=self._on_add_param_tag_all)
tag_menu.addAction(add_param_tag_all_action)
# rosparam tag with all attributes
add_rosparam_tag_all_action = QAction("<rosparam>", self, statusTip="", triggered=self._on_add_rosparam_tag_all)
tag_menu.addAction(add_rosparam_tag_all_action)
# arg tag with default definition
add_arg_tag_default_action = QAction("<arg default>", self, statusTip="", triggered=self._on_add_arg_tag_default)
add_arg_tag_default_action.setShortcuts(QKeySequence("Ctrl+Shift+a"))
tag_menu.addAction(add_arg_tag_default_action)
# arg tag with value definition
add_arg_tag_value_action = QAction("<arg value>", self, statusTip="", triggered=self._on_add_arg_tag_value)
add_arg_tag_value_action.setShortcuts(QKeySequence("Ctrl+Alt+a"))
tag_menu.addAction(add_arg_tag_value_action)
# test tag
add_test_tag_action = QAction("<test>", self, statusTip="", triggered=self._on_add_test_tag)
add_test_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+t"))
tag_menu.addAction(add_test_tag_action)
# test tag with all attributes
add_test_tag_all_action = QAction("<test all>", self, statusTip="", triggered=self._on_add_test_tag_all)
tag_menu.addAction(add_test_tag_all_action)
sub_cp_menu = QMenu("Custom parameters", parent)
show_cp_dialog_action = QAction("Show Dialog", self, statusTip="", triggered=self._show_custom_parameter_dialog)
show_cp_dialog_action.setShortcuts(QKeySequence("Ctrl+Shift+d"))
sub_cp_menu.addAction(show_cp_dialog_action)
add_cp_associations_action = QAction("nm/associations", self, statusTip="", triggered=self._on_add_cp_associations)
add_cp_associations_action.setShortcuts(QKeySequence("Ctrl+Alt+a"))
sub_cp_menu.addAction(add_cp_associations_action)
sub_cp_as_menu = QMenu("Autostart", parent)
add_cp_as_delay_action = QAction("delay", self, statusTip="", triggered=self._on_add_cp_as_delay)
sub_cp_as_menu.addAction(add_cp_as_delay_action)
add_cp_as_exclude_action = QAction("exclude", self, statusTip="", triggered=self._on_add_cp_as_exclude)
sub_cp_as_menu.addAction(add_cp_as_exclude_action)
add_cp_as_req_publisher_action = QAction("required publisher", self, statusTip="", triggered=self._on_add_cp_as_req_publisher)
sub_cp_as_menu.addAction(add_cp_as_req_publisher_action)
sub_cp_menu.addMenu(sub_cp_as_menu)
sub_cp_r_menu = QMenu("Respawn", parent)
add_cp_r_max_action = QAction("max", self, statusTip="", triggered=self._on_add_cp_r_max)
sub_cp_r_menu.addAction(add_cp_r_max_action)
add_cp_r_min_runtime_action = QAction("min_runtime", self, statusTip="", triggered=self._on_add_cp_r_min_runtime)
sub_cp_r_menu.addAction(add_cp_r_min_runtime_action)
add_cp_r_delay_action = QAction("delay", self, statusTip="", triggered=self._on_add_cp_r_delay)
sub_cp_r_menu.addAction(add_cp_r_delay_action)
sub_cp_menu.addMenu(sub_cp_r_menu)
add_cp_capability_group_action = QAction("capability_group", self, statusTip="", triggered=self._on_add_cp_capability_group)
add_cp_capability_group_action.setShortcuts(QKeySequence("Ctrl+Alt+p"))
sub_cp_menu.addAction(add_cp_capability_group_action)
add_cp_kill_on_stop_action = QAction("nm/kill_on_stop", self, statusTip="True or time to wait in ms", triggered=self._on_add_cp_kill_on_stop)
add_cp_kill_on_stop_action.setShortcuts(QKeySequence("Ctrl+Shift+k"))
sub_cp_menu.addAction(add_cp_kill_on_stop_action)
tag_menu.addMenu(sub_cp_menu)
return tag_menu
def initialize_shortcuts(self):
self.ctrl_z = QShortcut(QKeySequence(self.tr("Ctrl+Z")), self)
self.ctrl_shift_z = QShortcut(QKeySequence(self.tr("Ctrl+Shift+Z")),
self)
def __init__(self, context):
super(EUFSRobotSteeringGUI, self).__init__(context)
self.setObjectName('EUFSRobotSteeringGUI')
rp = rospkg.RosPack()
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
ui_file = os.path.join(rp.get_path('ros_can_sim'), 'resource',
'EUFSRobotSteeringGUI.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
self._widget.setObjectName('EUFSRobotSteeringGUI')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
self._publisher = None
self.inputs = ["Speed", "Acceleration", "Jerk"]
self._widget.input_select_menu.addItems(self.inputs)
self._widget.input_select_menu.setCurrentIndex(1)
self._widget.topic_line_edit.textChanged.connect(
self._on_topic_changed)
self._widget.stop_push_button.pressed.connect(self._on_stop_pressed)
self._widget.linear_slider.valueChanged.connect(
self._on_linear_slider_changed)
self._widget.angular_slider.valueChanged.connect(
self._on_angular_slider_changed)
self._widget.increase_linear_push_button.pressed.connect(
self._on_strong_increase_linear_pressed)
self._widget.reset_linear_push_button.pressed.connect(
self._on_reset_linear_pressed)
self._widget.decrease_linear_push_button.pressed.connect(
self._on_strong_decrease_linear_pressed)
self._widget.increase_angular_push_button.pressed.connect(
self._on_strong_increase_angular_pressed)
self._widget.reset_angular_push_button.pressed.connect(
self._on_reset_angular_pressed)
self._widget.decrease_angular_push_button.pressed.connect(
self._on_strong_decrease_angular_pressed)
self._widget.max_linear_double_spin_box.valueChanged.connect(
self._on_max_linear_changed)
self._widget.min_linear_double_spin_box.valueChanged.connect(
self._on_min_linear_changed)
self._widget.max_angular_double_spin_box.valueChanged.connect(
self._on_max_angular_changed)
self._widget.min_angular_double_spin_box.valueChanged.connect(
self._on_min_angular_changed)
self.shortcut_w = QShortcut(QKeySequence(Qt.Key_W), self._widget)
self.shortcut_w.setContext(Qt.ApplicationShortcut)
self.shortcut_w.activated.connect(self._on_increase_linear_pressed)
self.shortcut_x = QShortcut(QKeySequence(Qt.Key_X), self._widget)
self.shortcut_x.setContext(Qt.ApplicationShortcut)
self.shortcut_x.activated.connect(self._on_reset_linear_pressed)
self.shortcut_s = QShortcut(QKeySequence(Qt.Key_S), self._widget)
self.shortcut_s.setContext(Qt.ApplicationShortcut)
self.shortcut_s.activated.connect(self._on_decrease_linear_pressed)
self.shortcut_a = QShortcut(QKeySequence(Qt.Key_A), self._widget)
self.shortcut_a.setContext(Qt.ApplicationShortcut)
self.shortcut_a.activated.connect(self._on_increase_angular_pressed)
self.shortcut_z = QShortcut(QKeySequence(Qt.Key_Z), self._widget)
self.shortcut_z.setContext(Qt.ApplicationShortcut)
self.shortcut_z.activated.connect(self._on_reset_angular_pressed)
self.shortcut_d = QShortcut(QKeySequence(Qt.Key_D), self._widget)
self.shortcut_d.setContext(Qt.ApplicationShortcut)
self.shortcut_d.activated.connect(self._on_decrease_angular_pressed)
self.shortcut_shift_w = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_W),
self._widget)
self.shortcut_shift_w.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_w.activated.connect(
self._on_strong_increase_linear_pressed)
self.shortcut_shift_x = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_X),
self._widget)
self.shortcut_shift_x.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_x.activated.connect(self._on_reset_linear_pressed)
self.shortcut_shift_s = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_S),
self._widget)
self.shortcut_shift_s.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_s.activated.connect(
self._on_strong_decrease_linear_pressed)
self.shortcut_shift_a = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_A),
self._widget)
self.shortcut_shift_a.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_a.activated.connect(
self._on_strong_increase_angular_pressed)
self.shortcut_shift_z = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Z),
self._widget)
self.shortcut_shift_z.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_z.activated.connect(self._on_reset_angular_pressed)
self.shortcut_shift_d = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_D),
self._widget)
self.shortcut_shift_d.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_d.activated.connect(
self._on_strong_decrease_angular_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.Key_Space),
self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self._on_stop_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Space),
self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self._on_stop_pressed)
self._widget.stop_push_button.setToolTip(
self._widget.stop_push_button.toolTip() + ' ' +
self.tr('([Shift +] Space)'))
self._widget.increase_linear_push_button.setToolTip(
self._widget.increase_linear_push_button.toolTip() + ' ' +
self.tr('([Shift +] W)'))
self._widget.reset_linear_push_button.setToolTip(
self._widget.reset_linear_push_button.toolTip() + ' ' +
self.tr('([Shift +] X)'))
self._widget.decrease_linear_push_button.setToolTip(
self._widget.decrease_linear_push_button.toolTip() + ' ' +
self.tr('([Shift +] S)'))
self._widget.increase_angular_push_button.setToolTip(
self._widget.increase_angular_push_button.toolTip() + ' ' +
self.tr('([Shift +] A)'))
self._widget.reset_angular_push_button.setToolTip(
self._widget.reset_angular_push_button.toolTip() + ' ' +
self.tr('([Shift +] Z)'))
self._widget.decrease_angular_push_button.setToolTip(
self._widget.decrease_angular_push_button.toolTip() + ' ' +
self.tr('([Shift +] D)'))
# timer to consecutively send AckermannDriveStamped messages
self._update_parameter_timer = QTimer(self)
self._update_parameter_timer.timeout.connect(
self._on_parameter_changed)
self._update_parameter_timer.start(100)
self.zero_cmd_sent = False
def __init__(self, node):
super(ExamplesWidget, self).__init__()
self.setObjectName('ExamplesWidget')
self.node = node
self.REDRAW_INTERVAL = 30
self.PUBLISH_INTERVAL = 100
self.CMD_VEL_X_FACTOR = 1000.0
self.CMD_VEL_YAW_FACTOR = -10.0
pkg_name = 'rqt_example'
ui_filename = 'rqt_example.ui'
topic_name = 'cmd_vel'
service_name = 'led_control'
_, package_path = get_resource('packages', pkg_name)
ui_file = os.path.join(package_path, 'share', pkg_name, 'resource',
ui_filename)
loadUi(ui_file, self)
self.pub_velocity = Twist()
self.pub_velocity.linear.x = 0.0
self.pub_velocity.angular.z = 0.0
self.sub_velocity = Twist()
self.sub_velocity.linear.x = 0.0
self.sub_velocity.angular.z = 0.0
self.slider_x.setValue(0)
self.lcd_number_x.display(0.0)
self.lcd_number_yaw.display(0.0)
qos = QoSProfile(depth=10)
self.publisher = self.node.create_publisher(Twist, topic_name, qos)
self.subscriber = self.node.create_subscription(
Twist, topic_name, self.get_velocity, qos)
self.service_server = self.node.create_service(SetBool, service_name,
self.set_led_status)
self.service_client = self.node.create_client(SetBool, service_name)
self.publish_timer = QTimer(self)
self.publish_timer.timeout.connect(self.send_velocity)
self.publish_timer.start(self.PUBLISH_INTERVAL)
self.update_timer = QTimer(self)
self.update_timer.timeout.connect(self.update_indicators)
self.update_timer.start(self.REDRAW_INTERVAL)
self.push_button_w.pressed.connect(self.increase_linear_x)
self.push_button_x.pressed.connect(self.decrease_linear_x)
self.push_button_a.pressed.connect(self.increase_angular_z)
self.push_button_d.pressed.connect(self.decrease_angular_z)
self.push_button_s.pressed.connect(self.set_stop)
self.push_button_w.setShortcut('w')
self.push_button_x.setShortcut('x')
self.push_button_a.setShortcut('a')
self.push_button_d.setShortcut('d')
self.push_button_s.setShortcut('s')
self.shortcut_space = QShortcut(QKeySequence(Qt.Key_Space), self)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self.push_button_s.pressed)
self.radio_button_led_on.clicked.connect(self.call_led_service)
self.radio_button_led_off.clicked.connect(self.call_led_service)
self.radio_button_led_on.setShortcut('o')
self.radio_button_led_off.setShortcut('f')
def __init__(self, context):
super(RobotSteering, self).__init__(context)
self.setObjectName('RobotSteering')
self._publisher = None
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_robot_steering'), 'resource',
'RobotSteering.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('RobotSteeringUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
self._widget.topic_line_edit.textChanged.connect(
self._on_topic_changed)
self._widget.stop_push_button.pressed.connect(self._on_stop_pressed)
self._widget.x_linear_slider.valueChanged.connect(
self._on_x_linear_slider_changed)
self._widget.z_angular_slider.valueChanged.connect(
self._on_z_angular_slider_changed)
self._widget.increase_x_linear_push_button.pressed.connect(
self._on_strong_increase_x_linear_pressed)
self._widget.reset_x_linear_push_button.pressed.connect(
self._on_reset_x_linear_pressed)
self._widget.decrease_x_linear_push_button.pressed.connect(
self._on_strong_decrease_x_linear_pressed)
self._widget.increase_z_angular_push_button.pressed.connect(
self._on_strong_increase_z_angular_pressed)
self._widget.reset_z_angular_push_button.pressed.connect(
self._on_reset_z_angular_pressed)
self._widget.decrease_z_angular_push_button.pressed.connect(
self._on_strong_decrease_z_angular_pressed)
self._widget.max_x_linear_double_spin_box.valueChanged.connect(
self._on_max_x_linear_changed)
self._widget.min_x_linear_double_spin_box.valueChanged.connect(
self._on_min_x_linear_changed)
self._widget.max_z_angular_double_spin_box.valueChanged.connect(
self._on_max_z_angular_changed)
self._widget.min_z_angular_double_spin_box.valueChanged.connect(
self._on_min_z_angular_changed)
self.shortcut_w = QShortcut(QKeySequence(Qt.Key_W), self._widget)
self.shortcut_w.setContext(Qt.ApplicationShortcut)
self.shortcut_w.activated.connect(self._on_increase_x_linear_pressed)
self.shortcut_x = QShortcut(QKeySequence(Qt.Key_X), self._widget)
self.shortcut_x.setContext(Qt.ApplicationShortcut)
self.shortcut_x.activated.connect(self._on_reset_x_linear_pressed)
self.shortcut_s = QShortcut(QKeySequence(Qt.Key_S), self._widget)
self.shortcut_s.setContext(Qt.ApplicationShortcut)
self.shortcut_s.activated.connect(self._on_decrease_x_linear_pressed)
self.shortcut_a = QShortcut(QKeySequence(Qt.Key_A), self._widget)
self.shortcut_a.setContext(Qt.ApplicationShortcut)
self.shortcut_a.activated.connect(self._on_increase_z_angular_pressed)
self.shortcut_z = QShortcut(QKeySequence(Qt.Key_Z), self._widget)
self.shortcut_z.setContext(Qt.ApplicationShortcut)
self.shortcut_z.activated.connect(self._on_reset_z_angular_pressed)
self.shortcut_d = QShortcut(QKeySequence(Qt.Key_D), self._widget)
self.shortcut_d.setContext(Qt.ApplicationShortcut)
self.shortcut_d.activated.connect(self._on_decrease_z_angular_pressed)
self.shortcut_shift_w = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_W),
self._widget)
self.shortcut_shift_w.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_w.activated.connect(
self._on_strong_increase_x_linear_pressed)
self.shortcut_shift_x = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_X),
self._widget)
self.shortcut_shift_x.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_x.activated.connect(
self._on_reset_x_linear_pressed)
self.shortcut_shift_s = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_S),
self._widget)
self.shortcut_shift_s.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_s.activated.connect(
self._on_strong_decrease_x_linear_pressed)
self.shortcut_shift_a = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_A),
self._widget)
self.shortcut_shift_a.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_a.activated.connect(
self._on_strong_increase_z_angular_pressed)
self.shortcut_shift_z = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Z),
self._widget)
self.shortcut_shift_z.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_z.activated.connect(
self._on_reset_z_angular_pressed)
self.shortcut_shift_d = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_D),
self._widget)
self.shortcut_shift_d.setContext(Qt.ApplicationShortcut)
self.shortcut_shift_d.activated.connect(
self._on_strong_decrease_z_angular_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.Key_Space),
self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self._on_stop_pressed)
self.shortcut_space = QShortcut(QKeySequence(Qt.SHIFT + Qt.Key_Space),
self._widget)
self.shortcut_space.setContext(Qt.ApplicationShortcut)
self.shortcut_space.activated.connect(self._on_stop_pressed)
self._widget.stop_push_button.setToolTip(
self._widget.stop_push_button.toolTip() + ' ' +
self.tr('([Shift +] Space)'))
self._widget.increase_x_linear_push_button.setToolTip(
self._widget.increase_x_linear_push_button.toolTip() + ' ' +
self.tr('([Shift +] W)'))
self._widget.reset_x_linear_push_button.setToolTip(
self._widget.reset_x_linear_push_button.toolTip() + ' ' +
self.tr('([Shift +] X)'))
self._widget.decrease_x_linear_push_button.setToolTip(
self._widget.decrease_x_linear_push_button.toolTip() + ' ' +
self.tr('([Shift +] S)'))
self._widget.increase_z_angular_push_button.setToolTip(
self._widget.increase_z_angular_push_button.toolTip() + ' ' +
self.tr('([Shift +] A)'))
self._widget.reset_z_angular_push_button.setToolTip(
self._widget.reset_z_angular_push_button.toolTip() + ' ' +
self.tr('([Shift +] Z)'))
self._widget.decrease_z_angular_push_button.setToolTip(
self._widget.decrease_z_angular_push_button.toolTip() + ' ' +
self.tr('([Shift +] D)'))
# timer to consecutively send twist messages
self._update_parameter_timer = QTimer(self)
self._update_parameter_timer.timeout.connect(
self._on_parameter_changed)
self._update_parameter_timer.start(100)
self.zero_cmd_sent = False
def __init__(self, context):
super(RosBehaviourTree, self).__init__(context)
self.setObjectName('RosBehaviourTree')
parser = argparse.ArgumentParser()
RosBehaviourTree.add_arguments(parser, False)
# if the context doesn't have an argv attribute then assume we're running with --no-roscore
if not hasattr(context, 'argv'):
args = sys.argv[1:]
# Can run the viewer with or without live updating. Running without is
# intended for viewing of bags only
self.live_update = False
else:
args = context.argv()
self.live_update = True
parsed_args = parser.parse_args(args)
self.context = context
self.initialized = False
self._current_dotcode = None # dotcode for the tree that is currently displayed
self._viewing_bag = False # true if a bag file is loaded
# True if next or previous buttons are pressed. Reset if the tree being
# viewed is the last one in the list.
self._browsing_timeline = False
self._widget = QWidget()
# factory builds generic dotcode items
self.dotcode_factory = PygraphvizFactory() # PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosBehaviourTreeDotcodeGenerator()
self.current_topic = None
self.behaviour_sub = None
self._tip_message = None # message of the tip of the tree
self._saved_settings_topic = None # topic subscribed to by previous instance
self.visibility_level = py_trees.common.VisibilityLevel.DETAIL
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_py_trees'), 'resource',
'RosBehaviourTree.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosBehaviourTreeUi')
if hasattr(context, 'serial_number') and context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.highlight_connections_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_bag_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_bag_push_button.pressed.connect(self._load_bag)
self._widget.load_dot_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
for text in visibility.combo_to_py_trees:
self._widget.visibility_level_combo_box.addItem(text)
self._widget.visibility_level_combo_box.setCurrentIndex(
self.visibility_level)
self._widget.visibility_level_combo_box.currentIndexChanged[
'QString'].connect(self._update_visibility_level)
# set up the function that is called whenever the box is resized -
# ensures that the timeline is correctly drawn.
self._widget.resizeEvent = self._resize_event
self._timeline = None
self._timeline_listener = None
# Connect the message changed function of this object to a corresponding
# signal. This signal will be activated whenever the message being
# viewed changes.
self._message_changed.connect(self.message_changed)
self._message_cleared.connect(self.message_cleared)
# Set up combo box for topic selection
# when the refresh_combo signal happens, update the combo topics available
self._refresh_combo.connect(self._update_combo_topics)
# filter events to catch the event which opens the combo box
self._combo_event_filter = RosBehaviourTree.ComboBoxEventFilter(
self._refresh_combo)
self._widget.topic_combo_box.installEventFilter(
self._combo_event_filter)
self._widget.topic_combo_box.activated.connect(self._choose_topic)
self._update_combo_topics()
# Set up navigation buttons
self._widget.previous_tool_button.pressed.connect(self._previous)
self._widget.previous_tool_button.setIcon(
QIcon.fromTheme('go-previous'))
self._widget.next_tool_button.pressed.connect(self._next)
self._widget.next_tool_button.setIcon(QIcon.fromTheme('go-next'))
self._widget.first_tool_button.pressed.connect(self._first)
self._widget.first_tool_button.setIcon(QIcon.fromTheme('go-first'))
self._widget.last_tool_button.pressed.connect(self._last)
self._widget.last_tool_button.setIcon(QIcon.fromTheme('go-last'))
# play, pause and stop buttons
self._widget.play_tool_button.pressed.connect(self._play)
self._widget.play_tool_button.setIcon(
QIcon.fromTheme('media-playback-start'))
self._widget.stop_tool_button.pressed.connect(self._stop)
self._widget.stop_tool_button.setIcon(
QIcon.fromTheme('media-playback-stop'))
# also connect the navigation buttons so that they stop the timer when
# pressed while the tree is playing.
self._widget.first_tool_button.pressed.connect(self._stop)
self._widget.previous_tool_button.pressed.connect(self._stop)
self._widget.last_tool_button.pressed.connect(self._stop)
self._widget.next_tool_button.pressed.connect(self._stop)
# set up shortcuts for navigation (vim)
next_shortcut_vi = QShortcut(QKeySequence("l"), self._widget)
next_shortcut_vi.activated.connect(
self._widget.next_tool_button.pressed)
previous_shortcut_vi = QShortcut(QKeySequence("h"), self._widget)
previous_shortcut_vi.activated.connect(
self._widget.previous_tool_button.pressed)
first_shortcut_vi = QShortcut(QKeySequence("^"), self._widget)
first_shortcut_vi.activated.connect(
self._widget.first_tool_button.pressed)
last_shortcut_vi = QShortcut(QKeySequence("$"), self._widget)
last_shortcut_vi.activated.connect(
self._widget.last_tool_button.pressed)
# shortcuts for emacs
next_shortcut_emacs = QShortcut(QKeySequence("Ctrl+f"), self._widget)
next_shortcut_emacs.activated.connect(
self._widget.next_tool_button.pressed)
previous_shortcut_emacs = QShortcut(QKeySequence("Ctrl+b"),
self._widget)
previous_shortcut_emacs.activated.connect(
self._widget.previous_tool_button.pressed)
first_shortcut_emacs = QShortcut(QKeySequence("Ctrl+a"), self._widget)
first_shortcut_emacs.activated.connect(
self._widget.first_tool_button.pressed)
last_shortcut_emacs = QShortcut(QKeySequence("Ctrl+e"), self._widget)
last_shortcut_emacs.activated.connect(
self._widget.last_tool_button.pressed)
# set up stuff for dotcode cache
self._dotcode_cache_capacity = 50
self._dotcode_cache = {}
# cache is ordered on timestamps from messages, but earliest timestamp
# isn't necessarily the message that was viewed the longest time ago, so
# need to store keys
self._dotcode_cache_keys = []
# set up stuff for scene cache (dotcode cache doesn't seem to make much difference)
self._scene_cache_capacity = 50
self._scene_cache = {}
self._scene_cache_keys = []
# Update the timeline buttons to correspond with a completely
# uninitialised state.
self._set_timeline_buttons(first_snapshot=False,
previous_snapshot=False,
next_snapshot=False,
last_snapshot=False)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
# This is used to store a timer which controls how fast updates happen when the play button is pressed.
self._play_timer = None
# updates the view
self._refresh_view.connect(self._refresh_tree_graph)
self._force_refresh = False
if self.live_update:
context.add_widget(self._widget)
else:
self.initialized = True # this needs to be set for trees to be displayed
context.setCentralWidget(self._widget)
if parsed_args.bag:
self._load_bag(parsed_args.bag)
elif parsed_args.latest_bag:
# if the latest bag is requested, load it from the default directory, or
# the one specified in the args
bag_dir = parsed_args.bag_dir or os.getenv(
'ROS_HOME', os.path.expanduser('~/.ros')) + '/behaviour_trees'
self.open_latest_bag(bag_dir, parsed_args.by_time)