def __init__(self):
QtGui.QWidget.__init__(self)
self._status = "unknown"
self._layout = QtGui.QGridLayout(self)
self._widgets = dict()
self.__logging_cb_signal.connect(self.logging_cb)
self.__start_logging_signal.connect(self.start_logging)
self.__stop_logging_signal.connect(self.stop_logging)
self._add_widget("pid_label", QtGui.QLabel("PID:", self))
self._add_widget("pid", QtGui.QLineEdit(self))
self._widgets["pid"].setMaximumWidth(50)
self._add_widget("label_status", QtGui.QLabel(self))
self._widgets["label_status"].setText("Status: Unknown")
self._widgets["label_status"].setTextFormat(QtCore.Qt.RichText)
self._add_widget("button_start", QtGui.QPushButton("START", self))
self._add_widget("button_stop", QtGui.QPushButton("STOP", self))
self._widgets["button_start"].clicked.connect(
self.__start_logging_signal.emit)
self._widgets["button_stop"].clicked.connect(
self.__stop_logging_signal.emit)
self._widgets["label_warning"] = QtGui.QLabel(self)
self._layout.addWidget(self._widgets["label_warning"], 1, 0, 1, 2)
self._widgets["label_warning"].setTextFormat(QtCore.Qt.RichText)
rospy.Subscriber("/data_logger/status", String,
self.__logging_cb_signal.emit)
self._logging_start = rospy.ServiceProxy('/data_logger/start',
DataLoggerStart)
self._logging_stop = rospy.ServiceProxy('/data_logger/stop',
DataLoggerStop)
def __init__(self, context):
super(PbDGUI, self).__init__(context)
self.setObjectName('PbDGUI')
self._widget = QWidget()
self.speech_cmd_publisher = rospy.Publisher('recognized_command',
Command)
self.gui_cmd_publisher = rospy.Publisher('gui_command', GuiCommand)
rospy.Subscriber('experiment_state', ExperimentState,
self.exp_state_cb)
rospy.Subscriber('robotsound', SoundRequest, self.robotSoundReceived)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.exp_state_sig.connect(self.update_state)
self.commands = dict()
self.commands[Command.TEST_MICROPHONE] = 'Test microphone'
self.commands[Command.NEW_DEMONSTRATION] = 'New demonstration'
self.commands[Command.START_RECORDING] = 'Start recording'
self.commands[Command.STOP_RECORDING] = 'Stop recording'
self.commands[Command.REPLAY_DEMONSTRATION] = 'Replay demonstration'
self.commands[Command.DETECT_SURFACE] = 'Detect surface'
self.commands[Command.TAKE_TOOL] = 'Take tool'
self.commands[Command.RELEASE_TOOL] = 'Release tool'
self.commands[Command.SAVE_ARM_POSE] = 'Save arm pose'
self.currentAction = -1
self.currentStep = -1
allWidgetsBox = QtGui.QVBoxLayout()
actionBox = QGroupBox('Demonstrations', self._widget)
self.actionGrid = QtGui.QGridLayout()
self.actionGrid.setHorizontalSpacing(0)
for i in range(6):
self.actionGrid.addItem(QtGui.QSpacerItem(90, 90), 0, i,
QtCore.Qt.AlignCenter)
self.actionGrid.setColumnStretch(i, 0)
self.actionIcons = dict()
actionBoxLayout = QtGui.QHBoxLayout()
actionBoxLayout.addLayout(self.actionGrid)
actionBox.setLayout(actionBoxLayout)
actionButtonGrid = QtGui.QHBoxLayout()
actionButtonGrid.addWidget(
self.create_button(Command.NEW_DEMONSTRATION))
self.stepsBox = QGroupBox('No demonstrations', self._widget)
self.stepsGrid = QtGui.QGridLayout()
self.l_model = QtGui.QStandardItemModel(self)
self.l_view = self._create_table_view(self.l_model,
self.l_row_clicked_cb)
self.r_model = QtGui.QStandardItemModel(self)
self.r_view = self._create_table_view(self.r_model,
self.r_row_clicked_cb)
self.stepsGrid.addItem(QtGui.QSpacerItem(280, 10), 0, 0, 2, 3)
self.stepsGrid.addItem(QtGui.QSpacerItem(10, 10), 0, 1, 2, 3)
self.stepsGrid.addItem(QtGui.QSpacerItem(280, 10), 0, 2, 2, 3)
self.stepsGrid.addWidget(QtGui.QLabel('Left Arm'), 0, 0)
self.stepsGrid.addWidget(QtGui.QLabel('Right Arm'), 0, 2)
self.stepsGrid.addWidget(self.l_view, 1, 0)
self.stepsGrid.addWidget(self.r_view, 1, 2)
stepsBoxLayout = QtGui.QHBoxLayout()
stepsBoxLayout.addLayout(self.stepsGrid)
self.stepsBox.setLayout(stepsBoxLayout)
stepsButtonGrid = QtGui.QHBoxLayout()
stepsButtonGrid.addWidget(
self.create_button(Command.REPLAY_DEMONSTRATION))
motionButtonGrid = QtGui.QHBoxLayout()
motionButtonGrid.addWidget(self.create_button(Command.START_RECORDING))
motionButtonGrid.addWidget(self.create_button(Command.STOP_RECORDING))
misc_grid = QtGui.QHBoxLayout()
misc_grid.addWidget(self.create_button(Command.TEST_MICROPHONE))
misc_grid.addWidget(self.create_button(Command.DETECT_SURFACE))
misc_grid.addStretch(1)
misc_grid2 = QtGui.QHBoxLayout()
misc_grid2.addWidget(self.create_button(Command.TAKE_TOOL))
misc_grid2.addWidget(self.create_button(Command.RELEASE_TOOL))
misc_grid2.addStretch(1)
misc_grid3 = QtGui.QHBoxLayout()
misc_grid3.addWidget(self.create_button(Command.SAVE_ARM_POSE))
misc_grid3.addStretch(1)
speechGroupBox = QGroupBox('Robot Speech', self._widget)
speechGroupBox.setObjectName('RobotSpeechGroup')
speechBox = QtGui.QHBoxLayout()
self.speechLabel = QtGui.QLabel('Robot has not spoken yet')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue)
self.speechLabel.setPalette(palette)
speechBox.addWidget(self.speechLabel)
speechGroupBox.setLayout(speechBox)
allWidgetsBox.addWidget(actionBox)
allWidgetsBox.addLayout(actionButtonGrid)
allWidgetsBox.addWidget(self.stepsBox)
allWidgetsBox.addLayout(motionButtonGrid)
allWidgetsBox.addLayout(stepsButtonGrid)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid2)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 40))
allWidgetsBox.addLayout(misc_grid3)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addWidget(speechGroupBox)
allWidgetsBox.addStretch(1)
# Fix layout and add main widget to the user interface
QtGui.QApplication.setStyle(QtGui.QStyleFactory.create('plastique'))
vAllBox = QtGui.QVBoxLayout()
vAllBox.addLayout(allWidgetsBox)
vAllBox.addStretch(1)
hAllBox = QtGui.QHBoxLayout()
hAllBox.addLayout(vAllBox)
hAllBox.addStretch(1)
self._widget.setObjectName('PbDGUI')
self._widget.setLayout(hAllBox)
context.add_widget(self._widget)
rospy.loginfo('Will wait for the experiment state service...')
rospy.wait_for_service('get_experiment_state')
exp_state_srv = rospy.ServiceProxy('get_experiment_state',
GetExperimentState)
rospy.loginfo('Got response from the experiment state service...')
response = exp_state_srv()
self.update_state(response.state)
def __init__(self, context):
super(PbDGUI, self).__init__(context)
self.setObjectName('PbDGUI')
self._widget = QWidget()
self.speech_cmd_publisher = rospy.Publisher('recognized_command',
Command)
self.gui_cmd_publisher = rospy.Publisher('gui_command', GuiCommand)
rospy.Subscriber('experiment_state', ExperimentState,
self.exp_state_cb)
rospy.Subscriber('robotsound', SoundRequest, self.robotSoundReceived)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.exp_state_sig.connect(self.update_state)
self.commands = dict()
self.commands[Command.CREATE_NEW_ACTION] = 'New action'
self.commands[Command.TEST_MICROPHONE] = 'Test microphone'
self.commands[Command.NEXT_ACTION] = 'Next action'
self.commands[Command.PREV_ACTION] = 'Previous action'
self.commands[Command.SAVE_POSE] = 'Save pose'
self.commands[Command.RELAX_RIGHT_ARM] = 'Relax right arm'
self.commands[Command.RELAX_LEFT_ARM] = 'Relax left arm'
self.commands[Command.FREEZE_RIGHT_ARM] = 'Freeze right arm'
self.commands[Command.FREEZE_LEFT_ARM] = 'Freeze left arm'
self.commands[Command.OPEN_RIGHT_HAND] = 'Open right hand'
self.commands[Command.OPEN_LEFT_HAND] = 'Open left hand'
self.commands[Command.CLOSE_RIGHT_HAND] = 'Close right hand'
self.commands[Command.CLOSE_LEFT_HAND] = 'Close left hand'
self.commands[Command.CLOSE_LEFT_HAND] = 'Close left hand'
self.commands[Command.EXECUTE_ACTION] = 'Execute action'
self.commands[Command.STOP_EXECUTION] = 'Stop execution'
self.commands[Command.DELETE_ALL_STEPS] = 'Delete all'
self.commands[Command.DELETE_LAST_STEP] = 'Delete last'
self.commands[Command.RECORD_OBJECT_POSE] = 'Record object poses'
self.currentAction = -1
self.currentStep = -1
allWidgetsBox = QtGui.QVBoxLayout()
actionBox = QGroupBox('Actions', self._widget)
self.actionGrid = QtGui.QGridLayout()
self.actionGrid.setHorizontalSpacing(0)
for i in range(6):
self.actionGrid.addItem(QtGui.QSpacerItem(90, 90), 0, i,
QtCore.Qt.AlignCenter)
self.actionGrid.setColumnStretch(i, 0)
self.actionIcons = dict()
actionBoxLayout = QtGui.QHBoxLayout()
actionBoxLayout.addLayout(self.actionGrid)
actionBox.setLayout(actionBoxLayout)
actionButtonGrid = QtGui.QHBoxLayout()
actionButtonGrid.addWidget(
self.create_button(Command.CREATE_NEW_ACTION))
self.stepsBox = QGroupBox('No actions created yet', self._widget)
self.stepsGrid = QtGui.QGridLayout()
self.l_model = QtGui.QStandardItemModel(self)
self.l_view = self._create_table_view(self.l_model,
self.l_row_clicked_cb)
self.r_model = QtGui.QStandardItemModel(self)
self.r_view = self._create_table_view(self.r_model,
self.r_row_clicked_cb)
self.stepsGrid.addItem(QtGui.QSpacerItem(280, 10), 0, 0, 2, 3)
self.stepsGrid.addItem(QtGui.QSpacerItem(10, 10), 0, 1, 2, 3)
self.stepsGrid.addItem(QtGui.QSpacerItem(280, 10), 0, 2, 2, 3)
self.stepsGrid.addWidget(QtGui.QLabel('Left Arm'), 0, 0)
self.stepsGrid.addWidget(QtGui.QLabel('Right Arm'), 0, 2)
self.stepsGrid.addWidget(self.l_view, 1, 0)
self.stepsGrid.addWidget(self.r_view, 1, 2)
stepsBoxLayout = QtGui.QHBoxLayout()
stepsBoxLayout.addLayout(self.stepsGrid)
self.stepsBox.setLayout(stepsBoxLayout)
stepsButtonGrid = QtGui.QHBoxLayout()
stepsButtonGrid.addWidget(self.create_button(Command.SAVE_POSE))
stepsButtonGrid.addWidget(self.create_button(Command.EXECUTE_ACTION))
stepsButtonGrid.addWidget(self.create_button(Command.STOP_EXECUTION))
stepsButtonGrid.addWidget(self.create_button(Command.DELETE_ALL_STEPS))
stepsButtonGrid.addWidget(self.create_button(Command.DELETE_LAST_STEP))
misc_grid = QtGui.QHBoxLayout()
misc_grid.addWidget(self.create_button(Command.TEST_MICROPHONE))
misc_grid.addWidget(self.create_button(Command.RECORD_OBJECT_POSE))
misc_grid.addStretch(1)
misc_grid2 = QtGui.QHBoxLayout()
misc_grid2.addWidget(self.create_button(Command.RELAX_RIGHT_ARM))
misc_grid2.addWidget(self.create_button(Command.RELAX_LEFT_ARM))
misc_grid2.addWidget(self.create_button(Command.FREEZE_RIGHT_ARM))
misc_grid2.addWidget(self.create_button(Command.FREEZE_LEFT_ARM))
misc_grid2.addStretch(1)
misc_grid3 = QtGui.QHBoxLayout()
misc_grid3.addWidget(self.create_button(Command.OPEN_RIGHT_HAND))
misc_grid3.addWidget(self.create_button(Command.OPEN_LEFT_HAND))
misc_grid3.addWidget(self.create_button(Command.CLOSE_RIGHT_HAND))
misc_grid3.addWidget(self.create_button(Command.CLOSE_LEFT_HAND))
misc_grid3.addStretch(1)
misc_grid4 = QtGui.QHBoxLayout()
misc_grid4.addWidget(self.create_button(Command.PREV_ACTION))
misc_grid4.addWidget(self.create_button(Command.NEXT_ACTION))
misc_grid4.addStretch(1)
speechGroupBox = QGroupBox('Robot Speech', self._widget)
speechGroupBox.setObjectName('RobotSpeechGroup')
speechBox = QtGui.QHBoxLayout()
self.speechLabel = QtGui.QLabel('Robot has not spoken yet')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue)
self.speechLabel.setPalette(palette)
speechBox.addWidget(self.speechLabel)
speechGroupBox.setLayout(speechBox)
allWidgetsBox.addWidget(actionBox)
allWidgetsBox.addLayout(actionButtonGrid)
allWidgetsBox.addWidget(self.stepsBox)
allWidgetsBox.addLayout(stepsButtonGrid)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid2)
allWidgetsBox.addLayout(misc_grid3)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid4)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addWidget(speechGroupBox)
allWidgetsBox.addStretch(1)
# Fix layout and add main widget to the user interface
QtGui.QApplication.setStyle(QtGui.QStyleFactory.create('plastique'))
vAllBox = QtGui.QVBoxLayout()
vAllBox.addLayout(allWidgetsBox)
vAllBox.addStretch(1)
hAllBox = QtGui.QHBoxLayout()
hAllBox.addLayout(vAllBox)
hAllBox.addStretch(1)
self._widget.setObjectName('PbDGUI')
self._widget.setLayout(hAllBox)
context.add_widget(self._widget)
rospy.loginfo('Will wait for the experiment state service...')
rospy.wait_for_service('get_experiment_state')
exp_state_srv = rospy.ServiceProxy('get_experiment_state',
GetExperimentState)
rospy.loginfo('Got response from the experiment state service...')
response = exp_state_srv()
self.update_state(response.state)
def __init__(self, grammar_filename=None):
""" Constructor """
super(ContinueGui, self).__init__()
self.resize(640, 480)
self.move(300, 300)
self.setWindowTitle('Continue GUI')
# Add the description box
self.description_label = QtGui.QLabel(self)
self.description_label.setMaximumHeight(100)
# Add the question box
self.spec_label = QtGui.QLabel(self)
self.spec_label.setMaximumHeight(100)
# Add the key box
self.key_label = QtGui.QLabel(self)
self.key_label.setMaximumHeight(100)
# Add the texteditbox
self.textbox = QtGui.QTextEdit(self)
self.textbox.textChanged.connect(self._text_changed)
# Add the submit button
self.submit_button = QtGui.QPushButton(self)
self.submit_button.setText("Submit")
self.submit_button.setEnabled(False)
# Add the clear button
self.clear_button = QtGui.QPushButton(self)
self.clear_button.setText("Clear")
# Submit/clear button layout
self.submit_clear_button_layout = QtGui.QVBoxLayout()
self.submit_clear_button_layout.addWidget(self.submit_button)
self.submit_clear_button_layout.addWidget(self.clear_button)
self.submit_clear_button_widget = QtGui.QWidget()
self.submit_clear_button_widget.setLayout(self.submit_clear_button_layout)
# Add the QButtonGroup
# self.option_buttons = QtGui.QButtonGroup(self) (ToDo: how can I do this nicely???)
# self.button_layout = QtGui.QVBoxLayout()
self.button_layout = QtGui.QGridLayout()
self.button_widget = QtGui.QWidget()
self.button_widget.setLayout(self.button_layout)
self.button_widget.setSizePolicy(2, 2) # Makes sure we don't get enormous buttons
# Top layout
self._top_layout = QtGui.QHBoxLayout(self)
self._top_layout.addWidget(self.textbox)
self._top_layout.addWidget(self.submit_clear_button_widget)
self._top_widget = QtGui.QWidget()
self._top_widget.setLayout(self._top_layout)
self._top_widget.setMaximumHeight(100)
# Main layout
self._main_layout = QtGui.QVBoxLayout(self)
self._main_layout.addWidget(self.description_label)
self._main_layout.addWidget(self.spec_label)
self._main_layout.addWidget(self.key_label)
self._main_layout.addWidget(self._top_widget)
# self._main_layout.addWidget(self.option_buttons)
self._main_layout.addWidget(self.button_widget)
self._main_layout.insertStretch(-1, 0)
# List with ButtonCBs
self._button_cbs = []
# Setup the interface
self.server_interface = HMIServerGUIInterface('continui', grammar_filename)
# Update thread
self.update_thread = UpdateThread(self, self.server_interface)
self.update_thread.buttons.connect(self.buttons_callback)
self.update_thread.description.connect(self.description_callback)
self.update_thread.spec.connect(self.spec_callback)
self.update_thread.key.connect(self.key_callback)
self.update_thread.valid.connect(self.valid_callback)
self.current_text.connect(self.update_thread.set_text)
self.submit_button.clicked.connect(self.update_thread.submit)
self.submit_button.clicked.connect(self.clear_text)
self.clear_button.clicked.connect(self.clear_text)
self.update_thread.start()
self.show()
def init_ui(self):
# type combobox
ui_type_lable = QtGui.QLabel('Robot')
ui_type_lable.setStyleSheet('QLabel {font: bold}')
ui_type_lable.setMaximumWidth(70)
# ui_type_lable.setFont(QtGui.QFont(QtGui.QFont.Bold))
ui_type_lable.setAlignment(QtCore.Qt.AlignCenter)
self.ui_type = QtGui.QComboBox()
self.ui_type.addItem('MTMR')
self.ui_type.addItem('MTML')
self.ui_type.addItem('PSM1')
self.ui_type.addItem('PSM2')
self.ui_type.addItem('PSM3')
# self.ui_type.addItem('ECM')
ui_hbox_type = QtGui.QHBoxLayout()
ui_hbox_type.addWidget(ui_type_lable)
ui_hbox_type.addWidget(self.ui_type)
self.ui_type.currentIndexChanged.connect(self.slot_type_changed)
# control mode
# todo: use a for loop
gbox = QtGui.QGridLayout()
ui_btn_idle = QtGui.QPushButton('Idle')
ui_btn_idle.setCheckable(True)
ui_btn_idle.setChecked(True)
gbox.addWidget(ui_btn_idle, 0, 0)
ui_btn_idle.clicked[bool].connect(self.slot_btn_idle)
ui_btn_home = QtGui.QPushButton('Home')
ui_btn_home.setCheckable(True)
gbox.addWidget(ui_btn_home, 0, 1)
ui_btn_home.clicked[bool].connect(self.slot_btn_home)
ui_btn_grav = QtGui.QPushButton('Gravity')
ui_btn_grav.setCheckable(True)
gbox.addWidget(ui_btn_grav, 1, 0)
ui_btn_grav.clicked[bool].connect(self.slot_btn_grav)
ui_btn_vfix = QtGui.QPushButton('Teleop')
ui_btn_vfix.setCheckable(True)
gbox.addWidget(ui_btn_vfix, 1, 1)
ui_btn_vfix.clicked[bool].connect(self.slot_btn_teleop)
ui_btn_group = QtGui.QButtonGroup(self._widget)
ui_btn_group.addButton(ui_btn_idle)
ui_btn_group.addButton(ui_btn_home)
ui_btn_group.addButton(ui_btn_grav)
ui_btn_group.addButton(ui_btn_vfix)
ui_btn_group.setExclusive(True)
# connect here
self.ui_gbox_control = QtGui.QGroupBox('Control MTM')
self.ui_gbox_control.setLayout(gbox)
# ---- PSM Control Box ----
gbox = QtGui.QGridLayout()
ui_btn_idle = QtGui.QPushButton('Idle')
ui_btn_idle.setCheckable(True)
ui_btn_idle.setChecked(True)
gbox.addWidget(ui_btn_idle, 0, 0)
ui_btn_idle.clicked[bool].connect(self.slot_btn_idle)
ui_btn_home = QtGui.QPushButton('Home')
ui_btn_home.setCheckable(True)
gbox.addWidget(ui_btn_home, 0, 1)
ui_btn_home.clicked[bool].connect(self.slot_btn_home)
ui_btn_grav = QtGui.QPushButton('Teleop')
ui_btn_grav.setCheckable(True)
gbox.addWidget(ui_btn_grav, 1, 0)
ui_btn_grav.clicked[bool].connect(self.slot_btn_teleop)
ui_btn_vfix = QtGui.QPushButton('Manual')
ui_btn_vfix.setCheckable(True)
gbox.addWidget(ui_btn_vfix, 1, 1)
ui_btn_vfix.clicked[bool].connect(self.slot_btn_manual)
ui_btn_group = QtGui.QButtonGroup(self._widget)
ui_btn_group.addButton(ui_btn_idle)
ui_btn_group.addButton(ui_btn_home)
ui_btn_group.addButton(ui_btn_grav)
ui_btn_group.addButton(ui_btn_vfix)
ui_btn_group.setExclusive(True)
# connect here
self.ui_gbox_control_psm = QtGui.QGroupBox('Control PSM')
self.ui_gbox_control_psm.setLayout(gbox)
self.ui_gbox_control_psm.setVisible(False)
# ---- gripper box -----
ui_hbox_gripper = QtGui.QHBoxLayout()
ui_gripper_label = QtGui.QLabel('Gripper Angle:')
ui_hbox_gripper.addWidget(ui_gripper_label)
ui_gbox_gripper = QtGui.QGroupBox('Gripper')
ui_gbox_gripper.setLayout(ui_hbox_gripper)
# ---- joint position group -----
jnt_pos_hbox = QtGui.QHBoxLayout()
jp_widgets = []
jn_widgets = []
for i in range(7):
pos_vbox = QtGui.QVBoxLayout()
ui_ppos = QwtThermo()
ui_ppos.setScalePosition(QwtThermo.NoScale)
ui_ppos.setAutoFillBackground(True)
ui_ppos.setAlarmLevel(0.8)
ui_ppos.setPipeWidth(20)
ui_ppos.setValue(0.0)
ui_ppos.setMinimumSize(0, 40)
ui_ppos.setRange(0.0, 1.0, False)
ui_npos = QwtThermo()
ui_npos.setScalePosition(QwtThermo.NoScale)
ui_npos.setAlarmLevel(0.8)
ui_npos.setPipeWidth(20)
ui_npos.setValue(0.9)
ui_npos.setMinimumSize(0, 40)
ui_npos.setRange(1.0, 0.0, False)
ui_npos.setValue(0.0)
ui_label_jnt = QtGui.QLabel('J' + str(i))
pos_vbox.addWidget(ui_ppos)
pos_vbox.addWidget(ui_npos)
pos_vbox.addWidget(ui_label_jnt)
jnt_pos_hbox.addLayout(pos_vbox)
jp_widgets.append(ui_ppos)
jn_widgets.append(ui_npos)
# ui_btn_jnt_pos = QPushButton('J1')
ui_gbox_jnt_pos = QtGui.QGroupBox('Joint Positions (normalized)')
ui_gbox_jnt_pos.setLayout(jnt_pos_hbox)
self.joint_widgets = zip(jp_widgets, jn_widgets)
# joint torque group
jnt_eff_hbox = QtGui.QHBoxLayout()
tp_widgets = []
tn_widgets = []
for i in range(7):
eff_vbox = QtGui.QVBoxLayout()
ui_peff = QwtThermo()
ui_peff.setScalePosition(QwtThermo.NoScale)
ui_peff.setAutoFillBackground(True)
ui_peff.setAlarmLevel(0.8)
ui_peff.setPipeWidth(20)
ui_peff.setValue(0.0)
ui_peff.setMinimumSize(0, 30)
ui_peff.setRange(0.0, 1.0, False)
ui_neff = QwtThermo()
ui_neff.setScalePosition(QwtThermo.NoScale)
ui_neff.setAlarmLevel(0.8)
ui_neff.setPipeWidth(20)
ui_neff.setValue(0.9)
ui_neff.setMinimumSize(0, 30)
ui_neff.setRange(1.0, 0.0, False)
ui_neff.setValue(0.0)
ui_label_jnt = QtGui.QLabel('J' + str(i))
eff_vbox.addWidget(ui_peff)
eff_vbox.addWidget(ui_neff)
eff_vbox.addWidget(ui_label_jnt)
jnt_eff_hbox.addLayout(eff_vbox)
tp_widgets.append(ui_peff)
tn_widgets.append(ui_neff)
ui_gbox_jnt_eff = QtGui.QGroupBox('Joint Torques (normalized)')
ui_gbox_jnt_eff.setLayout(jnt_eff_hbox)
self.torque_widgets = zip(tp_widgets, tn_widgets)
# make widgets colorful
self.dvrk_green = QColor(87, 186, 142)
self.dvrk_green_dark = self.dvrk_green.darker()
self.dvrk_green_light = self.dvrk_green.lighter()
self.dvrk_blue = QColor(80, 148, 204)
self.dvrk_blue_dark = self.dvrk_blue.darker()
self.dvrk_blue_light = self.dvrk_blue.lighter()
self.dvrk_red = QColor(232, 47, 47)
self.dvrk_red_dark = self.dvrk_red.darker()
self.dvrk_red_light = self.dvrk_red.lighter()
self.dvrk_orange = QColor(255, 103, 43)
self.dvrk_orange_dark = self.dvrk_orange.darker()
# joint_bg_color = self.dvrk_blue_dark.darker()
joint_fill_color = self.dvrk_blue
joint_alarm_color = self.dvrk_blue_light # self.dvrk_blue_light
# torque_bg_color = self.dvrk_green_dark.darker()
torque_fill_color = self.dvrk_green
torque_alarm_color = self.dvrk_orange # self.dvrk_green_light
for w in jp_widgets + jn_widgets:
w.setAlarmLevel(0.80)
w.setFillColor(joint_fill_color)
w.setAlarmColor(joint_alarm_color)
p = w.palette()
# p.setColor(ui_ppos.backgroundRole(), joint_bg_color)
w.setPalette(p)
for w in tp_widgets + tn_widgets:
w.setAlarmLevel(0.66)
w.setFillColor(torque_fill_color)
w.setAlarmColor(torque_alarm_color)
p = w.palette()
# p.setColor(ui_peff.backgroundRole(), torque_bg_color)
w.setPalette(p)
# main layout
main_layout = QtGui.QVBoxLayout()
main_layout.addLayout(ui_hbox_type)
main_layout.addWidget(self.ui_gbox_control)
main_layout.addWidget(self.ui_gbox_control_psm)
main_layout.addWidget(ui_gbox_gripper)
main_layout.addWidget(ui_gbox_jnt_pos)
main_layout.addWidget(ui_gbox_jnt_eff)
self._widget.setLayout(main_layout)
pass
