def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open graph from file'), None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.depth_combo_box.setEnabled(False)
self._widget.directions_combo_box.setEnabled(False)
self._widget.package_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.with_stacks_check_box.setEnabled(False)
self._widget.mark_check_box.setEnabled(False)
self._widget.colorize_check_box.setEnabled(False)
self._widget.hide_transitives_check_box.setEnabled(False)
self._widget.show_system_check_box.setEnabled(False)
self._update_graph(dotcode)
self._redraw_graph_scene()
def _load_bag(self, file_name=None):
self._topic_list = []
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open bag file'), None,
self.tr('ROSbag file (*.bag)'))
if file_name is None or file_name == '':
return
try:
self._bag_filename = file_name
bag = rosbag.Bag(file_name)
topics = bag.get_type_and_topic_info()[1].keys()
types = []
for i in range(0, len(bag.get_type_and_topic_info()[1].values())):
types.append(
list(bag.get_type_and_topic_info()[1].values())[i][0])
for topic_name, topic_type in zip(topics, types):
topic_item = self._recursive_create_widget_items(
self._widget.topics_tree_widget, topic_name, topic_type,
roslib.message.get_message_class(topic_type), False)
self._widget.topics_tree_widget.header().setSectionResizeMode(
QHeaderView.ResizeToContents)
self._widget.topics_tree_widget.header().setStretchLastSection(
True)
except IOError:
return
def open(self):
'''
Deletes all current frames and instead loads an animation from a json file
'''
if len(self._widget.frameList) > 1:
message = "This will discard your current Animation. Continue?"
sure = QMessageBox.question(self._widget, 'Sure?', message, QMessageBox.Yes | QMessageBox.No)
if sure == QMessageBox.No:
return
my_file = QFileDialog.getOpenFileName()[0]
if my_file:
status = self._recorder.load_animation(my_file)
if status == "":
status = "Load successful."
self._widget.statusBar.showMessage(status)
animstate = self._recorder.get_animation_state()
for i in animstate:
try:
self._checkBoxesPower[i['name']] = i['torque']
except KeyError:
self._checkBoxesPower[i['name']] = {}
for key in self.ids:
self._checkBoxesPower[i['name']][key] = 2
self.update_frames()
metadata = self._recorder.get_meta_data()
self._widget.lineAnimationName.setText(metadata[0])
self._widget.lineAuthor.setText(metadata[2])
self._widget.lineVersion.setText(str(metadata[1]))
self._widget.fieldDescription.setPlainText(metadata[3])
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.depth_combo_box.setEnabled(False)
self._widget.directions_combo_box.setEnabled(False)
self._widget.package_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.with_stacks_check_box.setEnabled(False)
self._widget.mark_check_box.setEnabled(False)
self._widget.colorize_check_box.setEnabled(False)
self._widget.hide_transitives_check_box.setEnabled(False)
self._update_graph(dotcode)
self._redraw_graph_scene()
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open graph from file'), None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.topic_filter_line_edit.setEnabled(False)
self._widget.namespace_cluster_spin_box.setEnabled(False)
self._widget.actionlib_check_box.setEnabled(False)
self._widget.dead_sinks_check_box.setEnabled(False)
self._widget.leaf_topics_check_box.setEnabled(False)
self._widget.quiet_check_box.setEnabled(False)
self._widget.unreachable_check_box.setEnabled(False)
self._widget.group_tf_check_box.setEnabled(False)
self._widget.hide_tf_nodes_check_box.setEnabled(False)
self._widget.group_image_check_box.setEnabled(False)
self._widget.hide_dynamic_reconfigure_check_box.setEnabled(False)
self._update_graph_view(dotcode)
def btnClicked(self):
'''
a slot which is called when the button is clicked
'''
cwd = os.getcwd() # current working directory
fileTupel = QFileDialog.getOpenFileName(self, 'Select file', cwd,
"Bag files (*.bag)")
self.fileName = fileTupel[0]
self.bagEdit.setText(self.fileName) # print filename to lineEdit
def btnClicked(self):
tmp_path = os.path.join(os.path.expanduser('~'), "Documents",
"hg_rosbag", "test_files")
filename = QFileDialog.getOpenFileName(self._annotator_widget,
"Open File", tmp_path)
bag = rosbag.Bag(filename[0])
self._timeline.add_bag(bag)
#self.OpenFile()
print self._message_stamp
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
self.filename = filename[0]
self.load_bag(filename[0])
self._timeline.set_publishing_state(True)
def open_file_dialogue(self, path_to_open: os.path = None):
if path_to_open is None:
path_to_open = os.path.join(self.march_path, "ros2", "src",
"gaits", "march_gait_files")
return QFileDialog.getOpenFileName(
self,
"Select a subgait to import.",
path_to_open,
"March Subgait (*.subgait)",
)
def load_FTS(self):
# Start file dialog
directory = os.path.join(rospkg.RosPack().get_path('rqt_simulation'),
'config', 'FTS')
File_dialog = QFileDialog(directory=directory, filter='.yaml')
FTS_file = File_dialog.getOpenFileName()
stream = file(FTS_file[0], 'r')
data = yaml.load(stream)
stream.close()
# Load FTS
self.region_of_interest = {}
self.region_of_interest = data['FTS']
def _import(self):
file_path, _ = QFileDialog.getOpenFileName(self, self.tr('Import custom graph'),
None, self.tr('DOT graph (*.dot)'))
if file_path is None or file_path == '':
return
custom_graph = Graph(self._dot_processor, file_path, file_path)
self.decision_graphs[custom_graph.source] = custom_graph
self._current_graph = custom_graph
self.decision_graphs_combo_box.addItem(custom_graph.source)
self.decision_graphs_combo_box.setCurrentIndex(self.decision_graphs_combo_box.findText(custom_graph.source))
def button_load_pressed(self): (name,filt) = QFileDialog.getOpenFileName(caption='Open Movement') if name: stream = open(name, 'r') try: with stream: self.loaded_movement = Movement(filename=name, movement=yaml.safe_load(stream)) except yaml.YAMLError as e: rospy.logerr(e) self.update_display()
def load_graph(self):
"""Load a dot graph from a file."""
ret = QFileDialog.getOpenFileName(self._widget, "Load graph",
"untitled.dot",
"Dot files (*.dot *.xdot)")
if ret[0]:
with open(ret[0], "r", encoding="utf8") as dotfile:
self.filename = ret[0]
self.graph = dotfile.read()
self.refresh_graph(True)
if self.subscription is not None:
self.subscription.destroy()
self.subscription = None
def _import(self):
file_path, _ = QFileDialog.getOpenFileName(
self, self.tr('Import custom graph'), None,
self.tr('DOT graph (*.dot)'))
if file_path is None or file_path == '':
return
custom_graph = Graph(self._dot_processor, file_path, file_path)
self.decision_graphs[custom_graph.source] = custom_graph
self._current_graph = custom_graph
self.decision_graphs_combo_box.addItem(custom_graph.source)
self.decision_graphs_combo_box.setCurrentIndex(
self.decision_graphs_combo_box.findText(custom_graph.source))
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open graph from file'), None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fhandle = open(file_name, 'rb')
dotcode = fhandle.read()
fhandle.close()
except IOError:
return
self._update_graph_view(dotcode)
def OpenFile(self, filename=None):
"""Open a media file in a MediaPlayer
"""
if filename is None:
tmp_path = os.path.join(os.path.expanduser('~'), "Documents",
"hg_rosbag", "audios")
filename = QFileDialog.getOpenFileName(self._annotator_widget,
"Open File", tmp_path)
if not filename:
return
# create the media
print filename
self.media = self.instance.media_new(filename[0])
# put the media in the media player
self.mediaplayer.set_media(self.media)
self.mediaplayer.play()
def handle_select(self):
# TODO(lucasw) have a parameter define which kind of dialog to use
file_dir = self.current_line_edit.text()
new_file_dir = None
if self.mode == "file_save":
new_file_dir, tmp = QFileDialog.getSaveFileName(caption="Select a save file",
directory=os.path.dirname(file_dir))
elif self.mode == "file_open":
new_file_dir, tmp = QFileDialog.getOpenFileName(caption="Select a file",
directory=os.path.dirname(file_dir))
else: # elif mode == "dir":
new_file_dir = QFileDialog.getExistingDirectory(caption="Select a directory",
directory=os.path.dirname(file_dir))
if new_file_dir is not None and new_file_dir != "":
self.current_line_edit.setText(new_file_dir)
self.publish()
def _on_import_perspective(self):
file_name, _ = QFileDialog.getOpenFileName(
self._menu_manager.menu, self.tr('Import perspective from file'),
None, self.tr('Perspectives (*.perspective)'))
if file_name is None or file_name == '':
return
perspective_name = os.path.basename(file_name)
suffix = '.perspective'
if perspective_name.endswith(suffix):
perspective_name = perspective_name[:-len(suffix)]
if perspective_name in self.perspectives:
perspective_name = self._choose_new_perspective_name(False)
if perspective_name is None:
return
self.import_perspective_from_file(file_name, perspective_name)
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget,
self.tr('Open graph from file'),
None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fhandle = open(file_name, 'rb')
dotcode = fhandle.read()
fhandle.close()
except IOError:
return
self._update_graph_view(dotcode)
def BtnLoadJsonClicked(self):
self._child_data = None
json_path = self.settings.value("Last_path")
if json_path == "":
json_path = os.path.join(os.path.expanduser('~'), 'Documents')
json_file = QFileDialog.getOpenFileName(self, "Open JSON File",
json_path)
self.settings.setValue("Last_path", json_file[0])
with open(json_file[0]) as f:
self._child_data = json.load(f)
if self.settings.value("Last_child_index") is not None:
self._child_index = int(self.settings.value("Last_child_index"))
if self._child_index > len(self._child_data) - 1:
self._child_index = 0
self.LineChildId.setText(self._child_data[self._child_index]['ID'])
self.msgBox.setText('Json Data of <html><b>' +
str(len(self._child_data)) +
'</b></html> Children were loaded')
retval = self.msgBox.exec_()
def import_gait(self):
file_name, f = QFileDialog.getOpenFileName(
self._widget, 'Open Image',
os.getenv('HOME') + '/march_ws/src/gait-files/march_gait_files',
'March Subgait (*.subgait)')
gait = ModifiableSubgait.from_file(self, self.robot, file_name)
if gait is None:
rospy.logwarn('Could not load gait %s', file_name)
return
self.gait = gait
self.load_gait_into_ui()
self.gait_directory = '/'.join(file_name.split('/')[:-3])
rospy.loginfo('Setting gait directory to %s', str(self.gait_directory))
self.change_gait_directory_button.setText(self.gait_directory)
# Clear undo and redo history
self.joint_changed_history = RingBuffer(capacity=100, dtype=list)
self.joint_changed_redo_list = RingBuffer(capacity=100, dtype=list)
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.topic_filter_line_edit.setEnabled(False)
self._widget.namespace_cluster_check_box.setEnabled(False)
self._widget.actionlib_check_box.setEnabled(False)
self._widget.dead_sinks_check_box.setEnabled(False)
self._widget.leaf_topics_check_box.setEnabled(False)
self._widget.quiet_check_box.setEnabled(False)
self._update_graph_view(dotcode)
def _handle_config_ref_button_clicked(self):
rospack = rospkg.RosPack()
fname = QFileDialog.getOpenFileName(self._widget, 'Open file', rospack.get_path('lgsvl_simulator_bridge')+'/config')
self._widget.configpath_box.setText(fname[0])
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('YAML file {.yaml} (*.yaml)'))
if filename[0] != '':
self.load_param(filename[0])
def _handle_load_clicked(self, checked):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('rqt_console message file {.csv} (*.csv)'))
if filename[0] != '':
try:
with open(filename[0], 'r') as h:
lines = h.read().splitlines()
except IOError as e:
qWarning(str(e))
return False
# extract column header
columns = lines[0].split(';')
if len(lines) < 2:
return True
# join wrapped lines
rows = []
last_wrapped = False
for line in lines[1:]:
# ignore empty lines
if not line:
continue
# check for quotes and remove them
if line == '"':
has_prefix = not last_wrapped
has_suffix = last_wrapped
line = ''
else:
has_prefix = line[0] == '"'
if has_prefix:
line = line[1:]
has_suffix = line[-1] == '"'
if has_suffix:
line = line[:-1]
# ignore line without prefix if previous line was not wrapped
if not has_prefix and not last_wrapped:
continue
# remove wrapped line which is not continued on the next line
if last_wrapped and has_prefix:
rows.pop()
# add/append lines
if last_wrapped:
rows[-1] += line
else:
# add line without quote prefix
rows.append(line)
last_wrapped = not has_suffix
# generate message for each row
messages = []
skipped = []
for row in rows:
data = row.split('";"')
msg = Message()
msg.set_stamp_format('hh:mm:ss.ZZZ (yyyy-MM-dd)')
for i, column in enumerate(columns):
value = data[i]
if column == 'message':
msg.message = value.replace('\\"', '"')
elif column == 'severity':
msg.severity = int(value)
if msg.severity not in Message.SEVERITY_LABELS:
skipped.append('Unknown severity value: %s' %
value)
msg = None
break
elif column == 'stamp':
parts = value.split('.')
if len(parts) != 2:
skipped.append('Unknown timestamp format: %s' %
value)
msg = None
break
msg.stamp = (int(parts[0]), int(parts[1]))
elif column == 'topics':
msg.topics = value.split(',')
elif column == 'node':
msg.node = value
elif column == 'location':
msg.location = value
else:
skipped.append('Unknown column: %s' % column)
msg = None
break
if msg:
messages.append(msg)
if skipped:
qWarning(
'Skipped %d rows since they do not appear to be in rqt_console message file format:\n- %s'
% (len(skipped), '\n- '.join(skipped)))
if messages:
self._model.insert_rows(messages)
self._handle_pause_clicked(True)
return True
else:
qWarning(
'File does not appear to be a rqt_console message file: missing file header.'
)
return False
def _handle_config_ref_button_clicked(self):
rospack = rospkg.RosPack()
fname = QFileDialog.getOpenFileName(
self._widget, 'Open file',
rospack.get_path('lgsvl_simulator_bridge') + '/config')
self._widget.configpath_box.setText(fname[0])
class JointStatePublisherGui(QWidget):
def __init__(self, title, jsp, num_rows=0):
super(JointStatePublisherGui, self).__init__()
font = QFont("Helvetica", 9, QFont.Bold)
self.hlayout = QHBoxLayout(self)
vlayout = QVBoxLayout()
glayout = QGridLayout()
right_l_lauout = QVBoxLayout()
self.listVeiw = QListWidget()
self.checkbox = []
self.value_line_edit = []
self.sliders = []
self.positions = []
self.progressbars = []
self.value_last = []
speed_max = enviromnt_conf['joint_speed']
slider_max = speed_max * 1000
position_max = enviromnt_conf['joint_max_position']
progress_max = position_max * 1000
#create joints widget
for i in range(0, num_rows):
if config[i][0]:
g_in_g = QGridLayout()
checkbox = QCheckBox(config[i][1])
checkbox.setFont(font)
self.checkbox.append(checkbox)
value_line_edit = QLineEdit()
value_line_edit.setFont(font)
value_line_edit.setText("0.0")
self.value_line_edit.append(value_line_edit)
display_lable = QLabel()
display_lable.setFont(font)
display_lable.setText("Position:")
position_label = QLabel()
position_label.setFont(font)
position_label.setText("0.0")
self.positions.append(position_label)
position_progress_bar = QProgressBar()
position_progress_bar.setMaximum(progress_max)
position_progress_bar.setMinimum(-progress_max)
position_progress_bar.setValue(0)
self.progressbars.append(position_progress_bar)
slider = QSlider()
slider.setMaximum(slider_max)
slider.setMinimum(-slider_max)
slider.setOrientation(Qt.Horizontal)
slider.valueChanged.connect(self.slider_value_changed)
self.sliders.append(slider)
g_in_g.addWidget(checkbox, 0, 0)
g_in_g.addWidget(value_line_edit, 0, 1)
g_in_g.addWidget(display_lable, 0, 2)
g_in_g.addWidget(position_label, 0, 3)
g_in_g.addWidget(slider, 1, 0, 1, 2)
g_in_g.addWidget(position_progress_bar, 1, 2, 1, 2)
glayout.addLayout(g_in_g, i, 0)
#create v layout
self.import_Btn = QPushButton('Import')
self.import_Btn.setFont(font)
self.import_Btn.clicked.connect(self.import_Btn_clecked)
self.export_Btn = QPushButton('Export')
self.export_Btn.setFont(font)
self.export_Btn.clicked.connect(self.export_Btn_clicked)
self.start_Btn = QPushButton("Start")
self.start_Btn.setFont(font)
self.start_Btn.clicked.connect(self.start_Btn_clicked)
self.reset_Btn = QPushButton('Reset')
self.reset_Btn.setFont(font)
self.reset_Btn.clicked.connect(self.reset_Btn_clicked)
self.record_Btn = QPushButton('Record')
self.record_Btn.setFont(font)
self.record_Btn.clicked.connect(self.record_Btn_clicked)
self.replay_Btn = QPushButton('Repaly')
self.replay_Btn.setFont(font)
self.replay_Btn.clicked.connect(self.replay_Btn_clicked)
self.delete_Btn = QPushButton("Delete")
self.delete_Btn.setFont(font)
self.delete_Btn.clicked.connect(self.delete_Btn_clicked)
self.debug_Btn = QPushButton("Debug")
self.debug_Btn.setFont(font)
self.debug_Btn.clicked.connect(self.debug_Btn_clicked)
vlayout.addWidget(self.import_Btn)
vlayout.addWidget(self.export_Btn)
vlayout.addWidget(self.start_Btn)
vlayout.addWidget(self.reset_Btn)
vlayout.addWidget(self.record_Btn)
vlayout.addWidget(self.delete_Btn)
vlayout.addWidget(self.replay_Btn)
vlayout.addWidget(self.debug_Btn)
self.master_url = QLineEdit("http://192.168.0.91:11311")
self.master_url.setFont(font)
self.master_ip = QLineEdit("192.168.0.91")
self.master_ip.setFont(font)
self.listVeiw.clicked.connect(self.listVeiw_clicked)
self.listVeiw.currentRowChanged.connect(
self.listVeiw_itemSelectionChanged)
self.description = QTextEdit("")
self.description.setFont(font)
#self.description.setGeometry(0,100,100,500)
right_l_lauout.addWidget(self.master_url)
right_l_lauout.addWidget(self.master_ip)
right_l_lauout.addWidget(self.listVeiw)
right_l_lauout.addWidget(self.description)
right_l_lauout.setStretch(0, 1)
right_l_lauout.setStretch(1, 1)
right_l_lauout.setStretch(2, 3)
right_l_lauout.setStretch(3, 1)
self.num_rows = len(self.checkbox)
self.hlayout.addLayout(glayout)
self.hlayout.addLayout(vlayout)
self.hlayout.addLayout(right_l_lauout)
self.setLayout(self.hlayout)
self.callback_start = None
self.callback_pause = None
self.callback_record = None
self.callback_reset = None
self.callback_replay = None
self.callback_replay_stop = None
self.callback_delete = None
self.callback_debug = None
self.callback_import = None
self.callback_export = None
self.callback_list_clicked = None
self.listVeiw_isClicked = False
self.listVeiw_current_item = 0
self.listVeiw_len = 0
self.f = QFileDialog()
def who_data_changed(self):
for i in range(0, self.num_rows):
value_last = self.value_line_edit[i].text()
value_last = float(value_last) * 1000
value = self.sliders[i].value()
if value != value_last:
return i
def change_line_edit(self, change_index):
value = self.sliders[change_index].value()
value = float(value) / 1000
value = str(value)
self.value_line_edit[change_index].setText(value)
def change_position_edit(self, change_index):
value = self.progressbars[change_index].value()
value += self.sliders[change_index].value()
self.progressbars[change_index].setValue(value)
self.positions[change_index].setText(str(float(value) / 1000))
def reset_speed(self, change_index):
self.sliders[change_index].setValue(0)
def reset_speed_all(self):
for i in range(0, self.num_rows):
self.reset_speed(i)
def set_speed(self, index, data):
self.sliders[index].setValue(data)
def import_Btn_clecked(self):
self.file_path = self.f.getOpenFileName(caption='Import excel data',
directory='',
filter='*.xlsx',
initialFilter='')
self.file_path = self.file_path[0]
if self.callback_import:
self.callback_import()
pass
def export_Btn_clicked(self):
self.file_path = self.f.getSaveFileName(caption='Save as excel data',
directory='',
filter='*.xlsx',
initialFilter='')
self.file_path = self.file_path[0]
if self.callback_export:
self.callback_export()
pass
def set_callback_start(self, func):
self.callback_start = func
def start_Btn_clicked(self):
if self.start_Btn.text() == "Start":
if self.callback_start:
self.callback_start()
self.start_Btn.setText("Pause")
else:
if self.callback_pause:
self.callback_pause()
self.start_Btn.setText("Start")
def reset_Btn_clicked(self):
self.reset_speed_all()
self.reset_postion_all()
if self.callback_reset:
self.callback_reset()
def replay_Btn_clicked(self):
if self.replay_Btn.text() == "Replay":
self.replay_Btn.setText("Stop")
if self.callback_replay:
self.callback_replay()
else:
self.replay_Btn.setText("Replay")
if self.callback_replay_stop:
self.callback_replay_stop()
def debug_Btn_clicked(self):
if self.callback_debug:
self.callback_debug()
def record_Btn_clicked(self):
self.set_postion()
self.listVeiw_len += 1
if self.callback_record:
self.callback_record()
self.reset_speed_all()
def listVeiw_itemSelectionChanged(self, index):
self.listVeiw_isClicked = True
self.listVeiw_current_item = index
if self.callback_list_clicked:
self.callback_list_clicked()
def listVeiw_clicked(self, index):
#print "index", index.row()
if self.listVeiw_current_item != index.row():
description_text = self.description.toPlainText()
#self.listVeiw.item(self.listVeiw_current_item).setData(1,"123")
#print self.listVeiw.item(self.listVeiw_current_item).data
self.listVeiw_isClicked = True
self.listVeiw_current_item = index.row()
if self.callback_list_clicked:
self.callback_list_clicked()
def update_listView(self):
print "update", self.listVeiw_len
for i in range(0, self.listVeiw_len):
view = self.listVeiw.item(i)
view.setText(str(i))
def get_listVeiw_current_item(self):
return self.listVeiw_current_item
def delete_Btn_clicked(self):
if self.listVeiw_isClicked:
print self.listVeiw_current_item
self.listVeiw.removeItemWidget(
self.listVeiw.takeItem(self.listVeiw_current_item))
self.listVeiw_len -= 1
if self.listVeiw_current_item != self.listVeiw_len:
self.update_listView()
if self.callback_delete:
self.callback_delete()
if self.listVeiw_current_item == 0:
self.listVeiw_current_item = 0
else:
self.listVeiw_current_item -= 1
self.listVeiw.setCurrentRow(self.listVeiw_current_item)
if self.listVeiw_len == 0:
self.listVeiw_isClicked = False
def listView_add_item(self, index):
self.listVeiw.addItem(str(index))
def listView_inset_item(self, index, label):
self.listVeiw.insertItem(index, str(label))
def slider_value_changed(self, data):
change_index = self.who_data_changed()
self.change_line_edit(change_index)
def get_speed(self):
speed = []
for i in range(0, self.num_rows):
value = self.sliders[i].value()
value = float(value) / 1000
speed.append(value)
return speed
def get_position(self):
position = []
for i in range(0, self.num_rows):
value = self.progressbars[i].value()
value += self.sliders[i].value()
value = float(value) / 1000
position.append(value)
return position
def set_postion(self):
for i in range(0, self.num_rows):
self.change_position_edit(i)
def set_positions(self, data):
print len(data)
for i in range(0, len(data)):
self.progressbars[i].setValue(data[i] * 1000)
self.positions[i].setText(str(data[i]))
def reset_position(self, change_index):
value = 0
self.progressbars[change_index].setValue(value)
self.positions[change_index].setText(str(float(value) / 1000))
def reset_postion_all(self):
for i in range(0, self.num_rows):
self.reset_position(i)
def open_file_dialogue(self):
return QFileDialog.getOpenFileName(self,
'Open Image',
os.getenv('HOME') + '/march_ws/src/gait-files/march_gait_files',
'March Subgait (*.subgait)')
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(self, self.tr('Load from File'), '.', self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
self.load_bag(filename[0])
def loadDatabase(self, unused=None):
# Load database
filename = QFileDialog.getOpenFileName(self.widget, caption="Load track database", filter="*.tracks", directory=self.defaultDatabaseDirectory)[0]
self.loadGivenDatabase(filename)
def _handle_load_clicked(self, checked):
filename = QFileDialog.getOpenFileName(self, self.tr('Load from File'), '.', self.tr('rqt_console message file {.csv} (*.csv)'))
if filename[0] != '':
try:
with open(filename[0], 'r') as h:
lines = h.read().splitlines()
except IOError as e:
qWarning(str(e))
return False
# extract column header
columns = lines[0].split(';')
if len(lines) < 2:
return True
# join wrapped lines
rows = []
last_wrapped = False
for line in lines[1:]:
# ignore empty lines
if not line:
continue
# check for quotes and remove them
if line == '"':
has_prefix = not last_wrapped
has_suffix = last_wrapped
line = ''
else:
has_prefix = line[0] == '"'
if has_prefix:
line = line[1:]
has_suffix = line[-1] == '"'
if has_suffix:
line = line[:-1]
# ignore line without prefix if previous line was not wrapped
if not has_prefix and not last_wrapped:
continue
# remove wrapped line which is not continued on the next line
if last_wrapped and has_prefix:
rows.pop()
# add/append lines
if last_wrapped:
rows[-1] += line
else:
# add line without quote prefix
rows.append(line)
last_wrapped = not has_suffix
# generate message for each row
messages = []
skipped = []
for row in rows:
data = row.split('";"')
msg = Message()
msg.set_stamp_format('hh:mm:ss.ZZZ (yyyy-MM-dd)')
for i, column in enumerate(columns):
value = data[i]
if column == 'message':
msg.message = value.replace('\\"', '"')
elif column == 'severity':
msg.severity = int(value)
if msg.severity not in Message.SEVERITY_LABELS:
skipped.append('Unknown severity value: %s' % value)
msg = None
break
elif column == 'stamp':
parts = value.split('.')
if len(parts) != 2:
skipped.append('Unknown timestamp format: %s' % value)
msg = None
break
msg.stamp = (int(parts[0]), int(parts[1]))
elif column == 'topics':
msg.topics = value.split(',')
elif column == 'node':
msg.node = value
elif column == 'location':
msg.location = value
else:
skipped.append('Unknown column: %s' % column)
msg = None
break
if msg:
messages.append(msg)
if skipped:
qWarning('Skipped %d rows since they do not appear to be in rqt_console message file format:\n- %s' % (len(skipped), '\n- '.join(skipped)))
if messages:
self._model.insert_rows(messages)
self._handle_pause_clicked(True)
return True
else:
qWarning('File does not appear to be a rqt_console message file: missing file header.')
return False
def load_scenario(self):
# Start file dialog GUI
directory = os.path.join(rospkg.RosPack().get_path('rqt_simulation'),
'config', 'FTS')
File_dialog = QFileDialog(directory=directory, filter='.yaml')
scenario_file = File_dialog.getOpenFileName()
try:
stream = file(scenario_file[0], 'r')
except:
print('In file ' + self.filename + ' at line ' +
str(self.cf.f_lineno) + ': Error no valid scenario file')
return False
data = yaml.load(stream)
# Remove all robots
for i in range(0, len(self.tab_list) - 1):
self.remove_robot()
# Reset map
self.reset()
# Load map
self.world_comboBox.setCurrentIndex(
self.world_comboBox.findText(data['Map']))
# Load FTS
# Sort the keys is needed for the edge matrix in the map_dialog
self.FTS.region_of_interest = data['FTS']
sorted_keys = self.FTS.region_of_interest.keys()
sorted_keys.sort()
stream.close()
self.scenario_file = scenario_file[0]
self.current_graphicsScene.load_graphic_from_FTS(self.FTS)
# Load robot tabs
robot_tabs = data['Tasks']
for i in range(0, len(self.FTS.region_of_interest)):
self.tab_list[self.num_robots - 1].robot_comboBox_init.addItem(
self.FTS.region_of_interest.keys()[i])
self.tab_list[self.num_robots - 1].robot_comboBox_init.model().sort(0)
for i in range(0, len(robot_tabs)):
if i > 0:
self.add_robot()
self.tab_list[i].robot_name_input.setText(robot_tabs.keys()[i])
self.tab_list[i].robot_comboBox.setCurrentIndex(
self.tab_list[i].robot_comboBox.findText(
robot_tabs[robot_tabs.keys()[i]]['robot_model']))
self.tab_list[i].robot_comboBox_init.setCurrentIndex(
self.tab_list[i].robot_comboBox_init.findText(
robot_tabs[robot_tabs.keys()[i]]['initial_pose']))
self.tab_list[i].initial_pose[
'start_' +
str(i + 1).zfill(2)]['pose'] = self.FTS.region_of_interest[
self.tab_list[i].robot_comboBox_init.currentText()]['pose']
self.tab_list[i].initial_pose['start_' + str(i + 1).zfill(2)][
'label'] = self.tab_list[i].robot_comboBox_init.currentText()
if robot_tabs[robot_tabs.keys()[i]]['use_qualisys']:
self.tab_list[i].robot_localization_checkBox.setCheckState(
Qt.Checked)
self.tab_list[i].robot_hard_task_input.setText(
robot_tabs[robot_tabs.keys()[i]]['tasks']['hard_task'])
self.tab_list[i].robot_soft_task_input.setText(
robot_tabs[robot_tabs.keys()[i]]['tasks']['soft_task'])
self.button_execute_task.setEnabled(True)
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('Bag files {.bag} (*.bag)'))
if filename[0] != '':
self.load_bag(filename[0])
def _openfile_clicked(self, checked):
(fname,
ffilter) = QFileDialog.getOpenFileName(self, "Open roboasm", "/tmp",
"roboasm Files (*.roboasm.l)")
print fname
def _handle_load_clicked(self):
filename = QFileDialog.getOpenFileName(
self, self.tr('Load from File'), '.',
self.tr('YAML file {.yaml} (*.yaml)'))
if filename[0] != '':
self.load_param(filename[0])
