class DownloadStatus(QScrollArea):
def __init__(self, parent=None):
QScrollArea.__init__(self, parent)
self.setWidgetResizable(True)
self.w = QWidget(self)
self.l = QGridLayout(self.w)
self.setWidget(self.w)
def __call__(self, resources):
self.url_map = {}
self.labels = []
for url in resources:
p = self.url_map[url] = QProgressBar(self.w)
p.setRange(0, 0)
self.l.addWidget(p, self.l.rowCount(), 0)
la = QLabel('\xa0' + url)
self.labels.append(la)
self.l.addWidget(la, self.l.rowCount() - 1, 1)
self.l.addWidget(QLabel(''))
self.l.setRowStretch(self.l.rowCount() - 1, 10)
def progress(self, url, done, total):
p = self.url_map.get(url)
if p is not None:
if total > 0:
p.setRange(0, total)
p.setValue(done)
else:
p.setRange(0, 0)
class DownloadStatus(QScrollArea):
def __init__(self, parent=None):
QScrollArea.__init__(self, parent)
self.setWidgetResizable(True)
self.w = QWidget(self)
self.l = QGridLayout(self.w)
self.setWidget(self.w)
def __call__(self, resources):
self.url_map = {}
self.labels = []
for url in resources:
p = self.url_map[url] = QProgressBar(self.w)
p.setRange(0, 0)
self.l.addWidget(p, self.l.rowCount(), 0)
la = QLabel('\xa0' + url)
self.labels.append(la)
self.l.addWidget(la, self.l.rowCount()-1, 1)
self.l.addWidget(QLabel(''))
self.l.setRowStretch(self.l.rowCount()-1, 10)
def progress(self, url, done, total):
p = self.url_map.get(url)
if p is not None:
if total > 0:
p.setRange(0, total)
p.setValue(done)
else:
p.setRange(0, 0)
def add_declarant(self, var=True, gl=None):
if not gl:
gl = self.dec_layout
dc = {}
gb_l = QGridLayout()
if self.cb.currentIndex() == 0 or gl != self.dec_layout:
# Add Individual
gb = QGroupBox(tr('Физическое лицо *'))
gb_l.addWidget(QLabel(tr('Фамилия <em style="color: red">*</em>')))
w = QLineEdit()
gb_l.addWidget(w, 0, 1, 1, 1)
dc['surname'] = w
gb_l.addWidget(QLabel(tr('Имя <em style="color: red">*</em>')))
w = QLineEdit()
gb_l.addWidget(w)
dc['first_name'] = w
gb_l.addWidget(QLabel(tr('Отчество')))
w = QLineEdit()
gb_l.addWidget(w)
dc['patronymic'] = w
adr = QGroupBox(tr('Адрес регистрации *'))
adr_l = QGridLayout()
dc['address'] = self.__add_address(adr_l)
adr.setLayout(adr_l)
gb_l.addWidget(adr, gb_l.rowCount() + 1, 0, 1, 2)
gb.setLayout(gb_l)
gl.addWidget(gb, gl.rowCount() + 1, 0, 1, 2)
self.individuals.append(dc)
else:
# Add LegalEntity
gb = QGroupBox(
tr('Юридическое лицо/Индивидуальный предприниматель *'))
gb_l.addWidget(
QLabel(
tr('Краткое наименование ЮЛ <em style="color: red">*</em>')
))
w = QLineEdit()
gb_l.addWidget(w, 0, 1, 1, 1)
dc['name'] = w
adr = QGroupBox(tr('Юридический адрес *'))
adr_l = QGridLayout()
dc['address'] = self.__add_address(adr_l)
adr.setLayout(adr_l)
gb_l.addWidget(adr, gb_l.rowCount() + 1, 0, 1, 2)
gb.setLayout(gb_l)
gl.addWidget(gb, gl.rowCount() + 1, 0, 1, 2)
self.entities.append(dc)
def setup_store_checks(self):
first_run = self.config.get('first_run', True)
# Add check boxes for each store so the user
# can disable searching specific stores on a
# per search basis.
existing = {}
for n in self.store_checks:
existing[n] = self.store_checks[n].isChecked()
self.store_checks = {}
stores_check_widget = QWidget()
store_list_layout = QGridLayout()
stores_check_widget.setLayout(store_list_layout)
icon = QIcon(I('donate.png'))
for i, x in enumerate(
sorted(self.gui.istores.keys(), key=lambda x: x.lower())):
cbox = QCheckBox(x)
cbox.setChecked(existing.get(x, first_run))
store_list_layout.addWidget(cbox, i, 0, 1, 1)
if self.gui.istores[x].base_plugin.affiliate:
iw = QLabel(self)
iw.setToolTip('<p>' + _(
'Buying from this store supports the calibre developer: %s</p>'
) % self.gui.istores[x].base_plugin.author + '</p>')
iw.setPixmap(icon.pixmap(16, 16))
store_list_layout.addWidget(iw, i, 1, 1, 1)
self.store_checks[x] = cbox
store_list_layout.setRowStretch(store_list_layout.rowCount(), 10)
self.store_list.setWidget(stores_check_widget)
self.config['first_run'] = False
def setup_store_checks(self):
first_run = self.config.get('first_run', True)
# Add check boxes for each store so the user
# can disable searching specific stores on a
# per search basis.
existing = {}
for n in self.store_checks:
existing[n] = self.store_checks[n].isChecked()
self.store_checks = {}
stores_check_widget = QWidget()
store_list_layout = QGridLayout()
stores_check_widget.setLayout(store_list_layout)
icon = QIcon(I('donate.png'))
for i, x in enumerate(sorted(self.gui.istores.keys(), key=lambda x: x.lower())):
cbox = QCheckBox(x)
cbox.setChecked(existing.get(x, first_run))
store_list_layout.addWidget(cbox, i, 0, 1, 1)
if self.gui.istores[x].base_plugin.affiliate:
iw = QLabel(self)
iw.setToolTip('<p>' + _('Buying from this store supports the calibre developer: %s</p>') % self.gui.istores[x].base_plugin.author + '</p>')
iw.setPixmap(icon.pixmap(16, 16))
store_list_layout.addWidget(iw, i, 1, 1, 1)
self.store_checks[x] = cbox
store_list_layout.setRowStretch(store_list_layout.rowCount(), 10)
self.store_list.setWidget(stores_check_widget)
self.config['first_run'] = False
class Ui(QApplication):
def __init__(self):
super().__init__(argv)
self.w = QMainWindow()
self.w.setMinimumWidth(300)
self.w.setMinimumHeight(300)
# self.w.setWindowTitle(tr("Отправка запросов на ВС АУГО"))
self.cw = QScrollArea()
# self.__create_ui()
self.__showed = False
self.__wgts = {}
self.cb = QComboBox()
self.individuals = []
self.entities = []
self.documents = []
self.doc_files = []
self.__setupUi(self.w)
self.w.showMaximized()
def report_error(self, msg=None):
if not msg:
etype, value, tb = exc_info()
trace = ''.join(format_exception(etype, value, tb))
delim_len = 40
msg = ("*" * delim_len + "\n%s\n" + "*" * delim_len) % trace
error(msg)
mb = QMessageBox(QMessageBox.Critical, tr('Ошибка'),
str(exc_info()[1]))
mb.setDetailedText(msg)
mb.exec()
def __create_ui(self):
self.l = QGridLayout()
self.t = QTableWidget(0, 3)
self.t.setHorizontalHeaderLabels(
('№ дела (обращения)', 'Дата приёма', 'Дата отправки в СМЭВ'))
self.t.resizeColumnsToContents()
self.l.addWidget(self.t, 0, 0, 1, 2)
w = QWidget()
hl = QHBoxLayout(w)
hl.setDirection(QHBoxLayout.LeftToRight)
hl.addWidget(QWidget())
ok_b = QPushButton(tr('Добавить запрос'))
ok_b.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Minimum)
ok_b.clicked.connect(self.__show_form)
hl.addWidget(ok_b)
w.setLayout(hl)
self.l.addWidget(w, 1, 0, 1, 2)
w = QWidget()
w.setLayout(self.l)
self.cw.setWidget(w)
# self.cw.setLayout(self.l)
# self.w.setCentralWidget(self.cw)
w = QWidget()
l = QVBoxLayout()
l.addWidget(self.cw)
w.setLayout(l)
self.w.setCentralWidget(w)
def __setupUi(self, mainWindow):
mainWindow.setObjectName("MainWindow")
self.centralwidget = QWidget(mainWindow)
self.centralwidget.setObjectName("centralwidget")
self.horizontalLayout = QHBoxLayout(self.centralwidget)
self.horizontalLayout.setObjectName("horizontalLayout")
self.scrollArea = QScrollArea(self.centralwidget)
self.scrollArea.setWidgetResizable(True)
self.scrollArea.setObjectName("scrollArea")
self.scrollAreaWidgetContents = QWidget()
self.scrollAreaWidgetContents.setObjectName("scrollAreaWidgetContents")
self.gridLayout = QGridLayout(self.scrollAreaWidgetContents)
self.gridLayout.setObjectName("gridLayout")
self.__show_form()
self.scrollArea.setWidget(self.scrollAreaWidgetContents)
self.horizontalLayout.addWidget(self.scrollArea)
mainWindow.setCentralWidget(self.centralwidget)
self.menubar = QMenuBar(mainWindow)
self.menubar.setObjectName("menubar")
self.menu = QMenu(self.menubar)
self.menu.setObjectName("menu")
mainWindow.setMenuBar(self.menubar)
self.statusbar = QStatusBar(mainWindow)
self.statusbar.setObjectName("statusbar")
mainWindow.setStatusBar(self.statusbar)
self.action_1 = QAction(mainWindow)
self.action_1.setObjectName("action")
self.action_1.triggered.connect(self.send)
self.action = QAction(mainWindow)
self.action.setObjectName("action")
self.action.triggered.connect(self.on_action_triggered)
self.action_2 = QAction(mainWindow)
self.action_2.setObjectName("action_2")
self.action_3 = QAction(mainWindow)
self.action_3.setObjectName("action_3")
self.action_3.triggered.connect(self.get_response)
self.menu.addAction(self.action)
self.menubar.addAction(self.action_1)
self.menubar.addAction(self.action_2)
self.menubar.addAction(self.action_3)
self.menubar.addAction(self.menu.menuAction())
self.__retranslateUi(mainWindow)
QMetaObject.connectSlotsByName(mainWindow)
@pyqtSlot(bool)
def get_response(self):
try:
from dmsic import Integration
i = Integration(self)
res = i.get_response()[0]
if res:
QMessageBox.information(self.w, tr("Получен ответ"), str(res))
except:
self.report_error()
@pyqtSlot(bool)
def send(self):
try:
from dmsic import Integration
i = Integration(self)
declar = {}
for k, v in self.__wgts.items():
if k in ('object_address', 'AppliedDocument', 'legal_entity',
'person'):
a = {}
for key, val in v.items():
if val.metaObject().className() == 'QDateEdit':
a[key] = datetime.strptime(val.text(), '%d.%m.%Y')
else:
a[key] = val.text()
declar[k] = a
else:
if v.metaObject().className() == 'QDateEdit':
declar[k] = datetime.strptime(v.text(), '%d.%m.%Y')
else:
declar[k] = v.text()
a = declar[
'AppliedDocument'] if 'AppliedDocument' in declar else []
for v in self.documents:
d = {}
for key, val in v.items():
if val.metaObject().className() == 'QDateEdit':
d[key] = datetime.strptime(val.text(), '%d.%m.%Y')
else:
d[key] = val.text()
if not self.doc_files:
raise Exception('Добавте файл документа')
d['file_name'] = self.doc_files[self.documents.index(v)]
a.append(d)
declar['AppliedDocument'] = a
a = declar['person'] if 'person' in declar else []
for v in self.individuals:
ind = {}
for key, val in v.items():
if key in ('address', 'fact_address'):
adr = {}
for k, vl in val.items():
adr[k] = vl.text()
ind[key] = adr
else:
if val.metaObject().className() == 'QDateEdit':
ind[key] = datetime.strptime(
val.text(), '%d.%m.%Y')
else:
ind[key] = val.text()
a.append(ind)
declar['person'] = a
a = declar['legal_entity'] if 'legal_entity' in declar else []
for v in self.entities:
ent = {}
for key, val in v.items():
if key == 'address':
adr = {}
for k, vl in val.items():
adr[k] = vl.text()
ent[key] = adr
else:
if val.metaObject().className() == 'QDateEdit':
ent[key] = datetime.strptime(
val.text(), '%d.%m.%Y')
else:
ent[key] = val.text()
a.append(ent)
declar['legal_entity'] = a
i.send(declar)
mb = QMessageBox(self.w)
mb.information(self.w, tr('Готово'), tr('Запрос отправлен'))
except:
self.report_error()
@pyqtSlot(bool)
def on_action_triggered(self):
a = Ui_Dialog()
d = QDialog()
a.setupUi(d)
d.exec()
def __retranslateUi(self, MainWindow):
_translate = QCoreApplication.translate
MainWindow.setWindowTitle(
_translate("MainWindow", "Отправка запросов на ВС АУГО"))
# self.pushButton.setText(_translate("MainWindow", "Добавить"))
self.menu.setTitle(_translate("MainWindow", "Справка"))
self.action_1.setText(_translate("MainWindow", "Отправить"))
self.action_2.setText(_translate("MainWindow", "Настройка"))
self.action.setText(_translate("MainWindow", "О программе"))
self.action_3.setText(_translate("MainWindow", "Получить ответ"))
@pyqtSlot(bool)
def __show_form(self):
if self.__showed:
return
self.gridLayout.addWidget(
QLabel(tr('№ дела (обращения) <em style="color: red">*</em>')))
w = QLineEdit()
self.gridLayout.addWidget(w)
w.setFocus()
self.__wgts['declar_number'] = w
self.gridLayout.addWidget(
QLabel(
tr('Услуга (код или номер, или наименование)<em style="color: red">*</em>'
)))
w = QLineEdit()
self.gridLayout.addWidget(w)
self.__wgts['service'] = w
self.gridLayout.addWidget(
QLabel(
tr('Дата регистрации запроса <em style="color: red">*</em>')))
de = QDateEdit(QDate().currentDate())
de.setCalendarPopup(True)
self.gridLayout.addWidget(de)
self.__wgts['register_date'] = de
self.gridLayout.addWidget(
QLabel(
tr('Плановый срок предоставления услуги <em style="color: red">*</em>'
)))
de = QDateEdit()
self.__wgts['register_date'].dateChanged.connect(de.setMinimumDate)
de.setCalendarPopup(True)
de.setMinimumDate(self.__wgts['register_date'].date())
self.gridLayout.addWidget(de)
self.__wgts['end_date'] = de
gb = QGroupBox(tr('Место нахождения объекта услуги'))
gb_l = QGridLayout()
self.__wgts['object_address'] = self.__add_address(gb_l)
gb.setLayout(gb_l)
self.gridLayout.addWidget(gb, self.gridLayout.rowCount() + 1, 0, 1, 2)
doc = {}
gb = QGroupBox(tr('Приложенный документ *'))
gb_l = QGridLayout()
gb_l.addWidget(
QLabel(tr('Наименование документа <em style="color: red">*</em>')))
w = QLineEdit()
w.setMaxLength(1024)
gb_l.addWidget(w, 0, 1, 1, 1)
doc['title'] = w
gb_l.addWidget(
QLabel(tr('Номер документа <em style="color: red">*</em>')))
w = QLineEdit()
w.setMaxLength(50)
gb_l.addWidget(w)
doc['number'] = w
gb_l.addWidget(
QLabel(tr('Дата документа <em style="color: red">*</em>')))
w = QDateEdit()
w.setCalendarPopup(True)
gb_l.addWidget(w)
doc['date'] = w
gb_l.addWidget(
QLabel(
tr('Прямая ссылка на файл. Поддерживаются только пртоколы '
'HTTP, FTP <em style="color: red">*</em>')))
w = QLineEdit()
gb_l.addWidget(w)
doc['url'] = w
gb.setLayout(gb_l)
self.gridLayout.addWidget(gb, self.gridLayout.rowCount() + 1, 0, 1, 2)
self.documents.append(doc)
gb = QGroupBox(tr('Заявители *'))
self.dec_layout = QGridLayout()
self.cb = QComboBox()
self.cb.addItems(('Физическое лицо',
'Юридическое лицо/Индивидуальный предприниматель'))
self.dec_layout.addWidget(self.cb)
b = QPushButton(tr('Добавить'))
b.clicked.connect(self.add_declarant)
self.dec_layout.addWidget(b, 0, 1, 1, 1)
gb.setLayout(self.dec_layout)
self.gridLayout.addWidget(gb, self.gridLayout.rowCount() + 1, 0, 1, 2)
b = QPushButton(tr('Добавить файл документа'))
b.clicked.connect(self.__add_doc_file)
self.gridLayout.addWidget(b)
self.file_label = QLabel()
self.gridLayout.addWidget(self.file_label)
self.warn_label = QLabel(tr("Не удаляйте файл до отправки запроса"))
self.warn_label.setStyleSheet('color: red')
self.warn_label.setVisible(False)
self.gridLayout.addWidget(self.warn_label,
self.gridLayout.rowCount() + 1, 0, 1, 2)
self.__showed = True
@pyqtSlot(bool)
def __add_doc_file(self):
file_name = QFileDialog.getOpenFileName(
caption=tr('Выбурите файл'),
filter=tr('Файлы pdf (*.pdf);;Все файлы (*.*)'))[0]
self.file_label.setText(file_name)
if self.doc_files:
self.doc_files = []
self.doc_files.append(file_name)
self.warn_label.setVisible(True)
def __add_address(self, gb_l):
wgts = {}
gb_l.addWidget(QLabel(tr('Почтовый индекс')))
w = QLineEdit()
gb_l.addWidget(w, 0, 1, 1, 1)
wgts['Postal_Code'] = w
gb_l.addWidget(QLabel(tr('Регион')))
w = QLineEdit()
gb_l.addWidget(w)
wgts['Region'] = w
gb_l.addWidget(QLabel(tr('Район')))
w = QLineEdit()
gb_l.addWidget(w)
wgts['District'] = w
gb_l.addWidget(QLabel(tr('Муниципальное образование')))
w = QLineEdit()
gb_l.addWidget(w)
wgts['City'] = w
gb_l.addWidget(QLabel(tr('Городской район')))
w = QLineEdit()
gb_l.addWidget(w)
wgts['Urban_District'] = w
gb_l.addWidget(QLabel(tr('Сельсовет')))
w = QLineEdit()
gb_l.addWidget(w)
wgts['Soviet_Village'] = w
gb_l.addWidget(
QLabel(tr('Населенный пункт <em style="color: red">*</em>')))
w = QLineEdit()
gb_l.addWidget(w)
wgts['Locality'] = w
cb = QComboBox()
cb.addItems(('Вариант 1', 'Вариант 2'))
gb_l.addWidget(cb)
st = QStackedWidget()
p1 = QWidget()
l = QGridLayout()
l.setSpacing(3)
l.addWidget(QLabel(tr('Улица <em style="color: red">*</em>')))
w = QLineEdit()
l.addWidget(w, 0, 1, 1, 1)
wgts["Street"] = w
l.addWidget(QLabel(tr('Дом <em style="color: red">*</em>')))
w = QLineEdit()
l.addWidget(w)
wgts["House"] = w
p1.setLayout(l)
st.addWidget(p1)
p2 = QWidget()
l = QGridLayout()
l.setSpacing(3)
l.addWidget(QLabel(tr('Ориентир')))
w = QLineEdit()
l.addWidget(w, 0, 1, 1, 1)
wgts["Reference_point"] = w
p2.setLayout(l)
st.addWidget(p2)
gb_l.addWidget(st, 9, 0, 1, 2)
cb.activated.connect(st.setCurrentIndex)
gb_l.addWidget(QLabel(tr('Корпус')))
w = QLineEdit()
gb_l.addWidget(w)
wgts['Housing'] = w
gb_l.addWidget(QLabel(tr('Строение')))
w = QLineEdit()
gb_l.addWidget(w)
wgts['Building'] = w
gb_l.addWidget(QLabel(tr('Квартира')))
w = QLineEdit()
gb_l.addWidget(w)
wgts['Apartment'] = w
return wgts
@pyqtSlot(bool)
def add_declarant(self, var=True, gl=None):
if not gl:
gl = self.dec_layout
dc = {}
gb_l = QGridLayout()
if self.cb.currentIndex() == 0 or gl != self.dec_layout:
# Add Individual
gb = QGroupBox(tr('Физическое лицо *'))
gb_l.addWidget(QLabel(tr('Фамилия <em style="color: red">*</em>')))
w = QLineEdit()
gb_l.addWidget(w, 0, 1, 1, 1)
dc['surname'] = w
gb_l.addWidget(QLabel(tr('Имя <em style="color: red">*</em>')))
w = QLineEdit()
gb_l.addWidget(w)
dc['first_name'] = w
gb_l.addWidget(QLabel(tr('Отчество')))
w = QLineEdit()
gb_l.addWidget(w)
dc['patronymic'] = w
adr = QGroupBox(tr('Адрес регистрации *'))
adr_l = QGridLayout()
dc['address'] = self.__add_address(adr_l)
adr.setLayout(adr_l)
gb_l.addWidget(adr, gb_l.rowCount() + 1, 0, 1, 2)
gb.setLayout(gb_l)
gl.addWidget(gb, gl.rowCount() + 1, 0, 1, 2)
self.individuals.append(dc)
else:
# Add LegalEntity
gb = QGroupBox(
tr('Юридическое лицо/Индивидуальный предприниматель *'))
gb_l.addWidget(
QLabel(
tr('Краткое наименование ЮЛ <em style="color: red">*</em>')
))
w = QLineEdit()
gb_l.addWidget(w, 0, 1, 1, 1)
dc['name'] = w
adr = QGroupBox(tr('Юридический адрес *'))
adr_l = QGridLayout()
dc['address'] = self.__add_address(adr_l)
adr.setLayout(adr_l)
gb_l.addWidget(adr, gb_l.rowCount() + 1, 0, 1, 2)
gb.setLayout(gb_l)
gl.addWidget(gb, gl.rowCount() + 1, 0, 1, 2)
self.entities.append(dc)
class M3Dashboard(Dashboard):
"""
Dashboard for Mekabot
:param context: the plugin context
:type context: qt_gui.plugin.Plugin
"""
def setup(self, context):
self.name = 'Meka Dashboard'
self.max_icon_size = QSize(50, 30)
self._widget_initialized = False
self._service_ready = True
self._last_dashboard_message_time = rospy.Time.now()
self._path = os.path.join(rospkg.RosPack().get_path('rqt_m3dashboard'), 'images')
self._battery_icons = {}
self._state_buttons = {}
self._dashboard_mekaros_subs = {}
self._m3field_values = {}
self._m3field_plots = {}
NAMESPACE = ''
rospy.loginfo("Starting up...")
# self._state_button = ControlStateButton("default", 9999)
# TODO read this list on the parameters
battery_names = ["m3pwr_pwr038", "m3pwr_pwr042"]
group_names = {"left_hand":"mh26", "left_arm":"ma30", "head":"ms8", "right_arm":"ma29", "right_hand":"mh24", "zlift":"mz7", "torso":"mt6", "base":"mb7"}
# create as many buttons as groups received
for group_name in group_names.keys():
self._state_buttons[group_name] = ControlStateButton(group_name, 0)
battery_widget = self.init_batteries(battery_names)
self._dashboard_agg_sub = rospy.Subscriber("/meka_roscontrol_state_manager/state",
M3ControlStates,
self.state_callback,
queue_size=1)
self._actionclient = actionlib.SimpleActionClient("/meka_state_manager", M3StateChangeAction)
rospy.loginfo("Looking for state manager...")
if self._actionclient.wait_for_server(timeout=rospy.Duration(0.1)) is False:
rospy.logfatal("Failed to connect to state_manager action server in 4 sec")
self._service_ready = False
else:
rospy.loginfo("Found the state manager")
self._state_control = rospy.ServiceProxy('/meka_roscontrol_state_manager/change_state', M3ControlStateChange)
self._main_widget = QWidget()
vlayout = QVBoxLayout()
hlayout = QHBoxLayout()
hlayout2 = QHBoxLayout()
self.chk_all = QCheckBox("enable_all")
self.chk_all.setChecked(False)
self.spin_retries = QSpinBox()
# infinite number of times is -1
self.spin_retries.setMinimum(-1)
self.spin_retries.setMaximum(10)
self.spin_retries.setValue(2)
label_retries = QLabel("trial times")
self.btn_start = QPushButton("start")
self.btn_stop = QPushButton("stop")
self.btn_freeze = QPushButton("freeze")
if not self._service_ready:
self.btn_start.setEnabled(False)
self.btn_stop.setEnabled(False)
self.btn_freeze.setEnabled(False)
inspection_button = self.init_inspection()
self.hz_rate = QSpinBox()
# infinite number of times is -1
self.hz_rate.setMinimum(1)
self.hz_rate.setMaximum(100)
self.hz_rate.setValue(1)
label_hz = QLabel("hz")
hlayout2.addWidget(inspection_button)
hlayout2.addWidget(self.hz_rate)
hlayout2.addWidget(label_hz)
hlayout.addWidget(self.chk_all)
hlayout.addWidget(label_retries)
hlayout.addWidget(self.spin_retries)
self.inspection_layout = QGridLayout()
self.stiffness_layout = self.init_stiffness_ctrl()
#vlayout.addWidget()
vlayout.addWidget(battery_widget)
vlayout.addLayout(hlayout)
vlayout.addWidget(self.btn_start)
vlayout.addWidget(self.btn_freeze)
vlayout.addWidget(self.btn_stop)
vlayout.addLayout(self.stiffness_layout)
vlayout.addLayout(hlayout2)
vlayout.addLayout(self.inspection_layout)
self.btn_start.clicked.connect(self.on_btn_start_clicked)
self.btn_stop.clicked.connect(self.on_btn_stop_clicked)
self.btn_freeze.clicked.connect(self.on_btn_freeze_clicked)
self.chk_all.stateChanged.connect(self.on_enable_all_clicked)
self._main_widget.setLayout(vlayout)
self.context.add_widget(self._main_widget)
# self._main_widget.addLayout(hlayout)
self._widget_initialized = True
def init_batteries(self, battery_names):
widget = QWidget()
layout = QHBoxLayout(widget)
fields = ["motor_enabled", "bus_voltage"]
dt = Floats
for battery_name in battery_names:
self._battery_icons[battery_name] = WrappedBattery(self.context, battery_name)
layout.addWidget(self._battery_icons[battery_name])
self._dashboard_mekaros_subs[(battery_name, fields[0])] = rospy.Subscriber("/meka_ros_pub/"+battery_name+"/"+fields[0], dt, self.battery_pwrd_cb, battery_name)
self._dashboard_mekaros_subs[(battery_name, fields[1])] = rospy.Subscriber("/meka_ros_pub/"+battery_name+"/"+fields[1], dt, self.battery_voltage_cb, battery_name)
layout.addStretch(1)
widget.setFixedHeight(75)
#self.bat_lbb = QLabel("Battery voltage")
#self.bat_txt = QLabel()
#self.bat_txt.setText("0.0")
return widget
def init_stiffness_ctrl(self):
slayout = QVBoxLayout()
prefix = "meka_roscontrol"
suffix = "stiffness_controller/command"
button = QPushButton("Stiffness controller (beta)")
self.stiffness_pub = rospy.Publisher("/" + prefix + "/" + suffix, Float64MultiArray, queue_size=1)
group_names = ["right_arm", "left_arm", "right_hand", "left_hand", "head", "torso", "zlift"]
# slider for each group
joint_names = [ "right_arm_j0",
"right_arm_j1",
"right_arm_j2",
"right_arm_j3",
"right_arm_j4",
"right_arm_j5",
"right_arm_j6",
"left_arm_j0",
"left_arm_j1",
"left_arm_j2",
"left_arm_j3",
"left_arm_j4",
"left_arm_j5",
"left_arm_j6",
"right_hand_j0",
"right_hand_j1",
"right_hand_j2",
"right_hand_j3",
"right_hand_j4",
"left_hand_j0",
"left_hand_j1",
"left_hand_j2",
"left_hand_j3",
"left_hand_j4",
"head_j0",
"head_j1",
"torso_j0",
"torso_j1",
"zlift_j0"]
self._stiffness_dict = OrderedDict((name, 1.0) for name in joint_names)
menu = QMenu("Menu")
menu.setStyleSheet("QMenu { menu-scrollable: 1; }");
self.stiffnessvals = {}
for group in group_names:
glayout = QHBoxLayout()
glayout.addWidget(QLabel(group))
slider = QSlider(Qt.Horizontal)
slider.setRange(0,100)
slider.setValue(100)
slider.setTickPosition(QSlider.TicksBelow)
slider.setTickInterval(10)
slider.setFixedSize(200,15)
slider.setSingleStep(10)
slider.setSizePolicy(QSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed))
val = QLabel("1.0")
btn = QPushButton("apply")
self.stiffnessvals[group] = val
btn.clicked.connect(partial(self.on_stiffness_apply, group))
glayout.addWidget(slider)
glayout.addWidget(val)
glayout.addWidget(btn)
slider.valueChanged.connect(partial(self.on_stiffness_change, slider, val, group))
slayout.addLayout(glayout)
groupm = menu.addMenu(group)
#for joint in joint_names:
#groupm.addAction("set stiffness", partial(self.set_stiffness, groupm))
#if group in joint:
# groupm.addAction(self._stiffness_dict[joint])
# s.addAction(joint, partial(self.request_fields, component, s))
button.setMenu(menu)
return slayout
def init_inspection(self):
button = QPushButton("Robot inspection (beta)")
service_list_comps = '/meka_ros_publisher/list_components'
service_list_fields = '/meka_ros_publisher/list_fields'
service_req_values = '/meka_ros_publisher/request_values'
rospy.loginfo("Waiting for %s, %s and %s", service_list_comps, service_list_fields, service_req_values)
try:
rospy.wait_for_service(service_list_comps, 4.0)
rospy.wait_for_service(service_list_fields, 4.0)
rospy.wait_for_service(service_req_values, 4.0)
except rospy.ROSException:
rospy.logerr("%s and/or %s did not show up. Giving up", service_list_comps, service_list_fields)
return button
self.list_comps_client = rospy.ServiceProxy(service_list_comps, ListComponents)
self.list_fields_client = rospy.ServiceProxy(service_list_fields, ListFields)
self.req_vals_client = rospy.ServiceProxy(service_req_values, RequestValues)
rospy.loginfo("Found %s, %s and %s", service_list_comps, service_list_fields, service_req_values)
# get all the components
try:
resp = self.list_comps_client("")
except rospy.ServiceException:
rospy.logerr("Could not call list_components")
return button
menu = QMenu("Menu")
menu.setStyleSheet("QMenu { menu-scrollable: 1; }");
submenus = []
self.req_action = {}
if(resp):
for component in resp.components:
s = menu.addMenu(component)
self.req_action[component] = s.addAction("request fields", partial(self.request_fields, component, s))
button.setMenu(menu)
return button
def init_inspection_test(self):
button = QPushButton("Robot inspection (beta)")
menu = QMenu("Menu")
menu.setStyleSheet("QMenu { menu-scrollable: 1; }");
submenus = []
for i in range(5):
# a component has fields which are either strings or arrays.
s = menu.addMenu(str(i))
for j in range(5):
s.addAction(str(j), partial(self.subscribe_to_field_test, "blubber", j))
button.setMenu(menu)
return button
def testbaloon(self, name):
name_label = QLabel(name)
lineedit = QLineEdit("random")
name_label.setBuddy(lineedit);
close_btn = QPushButton()
pixmap = QPixmap(self._path + "/close.png")
icon = QIcon(pixmap);
close_btn.setIcon(icon)
close_btn.setIconSize(pixmap.rect().size())
idx = self.inspection_layout.rowCount()
close_btn.clicked.connect(partial(self.remove_row, self.inspection_layout, idx, False))
self.inspection_layout.addWidget(name_label, idx, 0);
self.inspection_layout.addWidget(lineedit, idx, 1);
self.inspection_layout.addWidget(close_btn, idx, 2);
def subscribe_to_field_test(self, component, bla):
field = str(bla)
if (component, field) in self._m3field_values:
rospy.logwarn("Already subscribed to field. Exiting.")
return
dt = Floats
topic = str("/meka_ros_pub/" + component + "/" + field)
self._dashboard_mekaros_subs[(component, field)] = rospy.Subscriber(topic, dt, self.field_callback, (component, field))
self._m3field_values[(component, field)] = []
name_label = QLabel(component + "->" + field + ":")
for val in range(bla):
label = QLabel(str(val)[:5])
label.setStyleSheet("border: 2px solid grey");
self._m3field_values[(component, field)].append(label)
idx = self.inspection_layout.rowCount()
plot_pixmap = QPixmap(self._path + "/plot.png")
plot_icon = QIcon(plot_pixmap);
plot_btn = QPushButton()
plot_btn.setIcon(plot_icon)
plot_btn.setIconSize(plot_pixmap.rect().size())
plot_btn.setFixedWidth(30)
plot_btn.clicked.connect(partial(self.plot_values, component, field))
close_pixmap = QPixmap(self._path + "/close.png")
close_icon = QIcon(close_pixmap);
close_btn = QPushButton()
close_btn.setIcon(close_icon)
close_btn.setIconSize(close_pixmap.rect().size())
close_btn.setFixedWidth(30)
close_btn.clicked.connect(partial(self.remove_row, self.inspection_layout, idx, False, component, field))
self.inspection_layout.addWidget(name_label, idx, 0)
val_layout = QHBoxLayout()
for label in self._m3field_values[(component, field)]:
print label
val_layout.addWidget(label);
self.inspection_layout.addLayout(val_layout, idx, 1)
self.inspection_layout.addWidget(plot_btn, idx, 2)
self.inspection_layout.addWidget(close_btn, idx, 3)
def request_fields(self, component, top_menu):
# a component has fields which are either strings or arrays.
try:
resp2 = self.list_fields_client(component)
except rospy.ServiceException:
rospy.logerr("Could not call list_fields")
return
if(resp2):
for field in resp2.fields:
top_menu.addAction(field, partial(self.subscribe_to_field, component, field))
self.req_action[component].setEnabled(False)
def subscribe_to_field(self, component, field):
if (component, field) in self._m3field_values:
rospy.logwarn("Already subscribed to field. Exiting.")
return
try:
resp = self.req_vals_client(component, field, "", self.hz_rate.value())
except rospy.ServiceException:
rospy.logerr("Could not call request_values")
return
print resp.values
dt = Floats
topic = str("/meka_ros_pub/"+component+"/"+field)
self._dashboard_mekaros_subs[(component, field)] = rospy.Subscriber(topic, dt, self.field_callback, (component, field))
self._m3field_values[(component, field)] = []
name_label = QLabel(component+"->"+field+":")
for val in resp.values:
label = QLabel(str(val)[:5])
label.setStyleSheet("border: 2px solid grey");
self._m3field_values[(component, field)].append(label)
idx = self.inspection_layout.rowCount()
plot_pixmap = QPixmap(self._path + "/plot.png")
plot_icon = QIcon(plot_pixmap);
#plot_btn = QPushButton()
#plot_btn.setIcon(plot_icon)
#plot_btn.setIconSize(plot_pixmap.rect().size())
#plot_btn.setFixedWidth(30)
#plot_btn.clicked.connect(partial(self.plot_values, component, field))
close_pixmap = QPixmap(self._path + "/close.png")
close_icon = QIcon(close_pixmap);
close_btn = QPushButton()
close_btn.setIcon(close_icon)
close_btn.setIconSize(close_pixmap.rect().size())
close_btn.setFixedWidth(30)
close_btn.clicked.connect(partial(self.remove_row, self.inspection_layout, idx, False, component, field))
self.inspection_layout.addWidget(name_label, idx, 0)
val_layout = QHBoxLayout()
for label in self._m3field_values[(component, field)]:
val_layout.addWidget(label);
self.inspection_layout.addLayout(val_layout, idx, 1)
#self.inspection_layout.addWidget(plot_btn, idx, 2)
self.inspection_layout.addWidget(close_btn, idx, 3)
def plot_values(self, component, field):
"""
plot_values create a new plot for the values of the given component and field
:params component, field:
:type component: Identifier of the component, field: Identifier of the field
"""
dialog = PlotDialog()
QObject.connect(dialog, SIGNAL('rejected()'), partial(self.on_plot_close, component, field))
dialog.init_plot(component, field)
dialog.show()
self._m3field_plots[(component, field)] = dialog
#dialog.exec_()
def change_state(self, cmd):
"""
change_state calls the m3rosctrl robot interface to change the
state of one or multiple joint groups (e.g. "head" to "freeze")
:params cmd:
:type cmd: Identifier of the new state
"""
goal = M3StateChangeGoal()
goal.retries = 0
if self.spin_retries.value() == -1:
goal.strategy = M3StateChangeGoal.KEEP_TRYING
if self.spin_retries.value() == 0:
goal.strategy = M3StateChangeGoal.HALT_ON_FAILURE
if self.spin_retries.value() == 1:
goal.strategy = M3StateChangeGoal.BEST_POSSIBLE
if self.spin_retries.value() > 1:
goal.strategy = M3StateChangeGoal.RETRY_N_TIMES
goal.retries = self.spin_retries.value()
# find enabled groups
for group_name in self._state_buttons:
if self._state_buttons[group_name]._enable_menu.isChecked():
goal.command.group_name.append(group_name)
goal.command.state.append(cmd)
try:
if len(goal.command.group_name) > 0:
self._actionclient.send_goal(goal)
except rospy.ROSException:
rospy.logerr("Failed to call change state")
def on_stiffness_apply(self, group):
print "change stiffness"
msg = Float64MultiArray()
for name in self._stiffness_dict:
msg.data.append(self._stiffness_dict[name])
rospy.logdebug(msg)
self.stiffness_pub.publish(msg)
def on_stiffness_change(self, slider, val, group):
newval = float(slider.value())/100.0
for key, value in self._stiffness_dict.iteritems():
if group in key:
self._stiffness_dict[key] = newval
val.setText(str(newval))
def on_enable_all_clicked(self):
"""
enable all
"""
state_cmd = M3ControlStateChangeRequest()
for group_name in self._state_buttons:
state_cmd.command.group_name.append(group_name)
if self.chk_all.isChecked():
self._state_buttons[group_name]._enable_menu.setChecked(True)
self._state_buttons[group_name]._disable_menu.setChecked(False)
self._state_buttons[group_name]._enable_menu.setEnabled(False)
self._state_buttons[group_name]._disable_menu.setEnabled(True)
state_cmd.command.state.append(STATE_CMD_ENABLE)
else:
self._state_buttons[group_name]._enable_menu.setChecked(False)
self._state_buttons[group_name]._disable_menu.setChecked(True)
self._state_buttons[group_name]._enable_menu.setEnabled(True)
self._state_buttons[group_name]._disable_menu.setEnabled(False)
state_cmd.command.state.append(STATE_CMD_DISABLE)
try:
self._state_control(state_cmd)
except rospy.ServiceException, e:
QMessageBox.critical(self, "Error", "Service call failed with error: %s" % (e), "Error")
class _ExecuteTab(QTabWidget):
"""Tab used to execute modules or shell commands on the selected bot."""
def __init__(self, responses_tab: _ResponsesTab, model):
super().__init__()
self._model = model
self._current_layout = None
self._current_bot = None
self._layout = QGridLayout()
self._sub_layout = QVBoxLayout()
self._module_view = ModuleView(responses_tab)
self._layout.setAlignment(Qt.AlignTop)
self.setLayout(self._layout)
self.set_empty_layout()
def set_current_bot(self, bot: Bot):
"""Sets the connected bot this tab will interact with."""
self._current_bot = bot
def _clear_layout(self):
while self._layout.count():
child = self._layout.takeAt(0)
if child.widget():
child.widget().deleteLater()
while self._sub_layout.count():
child = self._sub_layout.takeAt(0)
if child.widget():
child.widget().deleteLater()
def set_empty_layout(self):
"""Default layout shown when the user has not yet selected a row."""
self._current_layout = "Empty"
self._clear_layout()
self._layout.addWidget(
QLabel("Please select a bot in the table above."), 0, 0)
def set_module_layout(self, module_name: str = "screenshot"):
"""Sets the layout which can execute modules."""
self._current_layout = "Module"
self._clear_layout()
command_type_label = QLabel("Command type: ")
command_type_combobox = QComboBox()
command_type_combobox.addItem("Module")
command_type_combobox.addItem("Shell")
module_label = QLabel("Module name: ")
module_combobox = QComboBox()
for module_name in modules.get_names():
module_combobox.addItem(module_name)
module_combobox.currentTextChanged.connect(self._on_module_change)
command_type_combobox.currentTextChanged.connect(
self._on_command_type_change)
self._layout.setColumnStretch(1, 1)
self._layout.addWidget(command_type_label, 0, 0)
self._layout.addWidget(command_type_combobox, 0, 1)
self._layout.addWidget(module_label, 1, 0)
self._layout.addWidget(module_combobox, 1, 1)
# Module layout
cached_module = modules.get_module(module_name)
if not cached_module:
cached_module = modules.load_module(module_name, self._module_view,
self._model)
input_fields = []
for option_name in cached_module.get_setup_messages():
input_field = QLineEdit()
self._sub_layout.addWidget(QLabel(option_name))
self._sub_layout.addWidget(input_field)
input_fields.append(input_field)
run_button = QPushButton("Run")
run_button.setMaximumWidth(250)
run_button.setMinimumHeight(25)
run_button.pressed.connect(lambda: self._on_module_run(
module_combobox.currentText(), input_fields))
self._sub_layout.addWidget(QLabel(""))
self._sub_layout.addWidget(run_button)
self._sub_layout.setContentsMargins(0, 15, 0, 0)
self._layout.addLayout(self._sub_layout,
self._layout.rowCount() + 2, 0, 1, 2)
self._on_module_change(module_combobox.currentText())
def set_shell_layout(self):
"""Sets the layout which can execute shell commands."""
self._current_layout = "Shell"
self._clear_layout()
command_type_label = QLabel("Command type: ")
command_type_combobox = QComboBox()
command_type_combobox.addItem("Shell")
command_type_combobox.addItem("Module")
command_label = QLabel("Command:")
command_input = QLineEdit()
run_button = QPushButton("Run")
run_button.setMaximumWidth(250)
run_button.setMinimumHeight(25)
command_type_combobox.currentTextChanged.connect(
self._on_command_type_change)
run_button.pressed.connect(lambda: self._on_command_run(command_input))
self._layout.addWidget(command_type_label, 0, 0)
self._layout.addWidget(command_type_combobox, 0, 1)
self._layout.addWidget(command_label, 1, 0)
self._layout.addWidget(command_input, 1, 1)
self._sub_layout.addWidget(QLabel(""))
self._sub_layout.addWidget(run_button)
self._sub_layout.setContentsMargins(0, 15, 0, 0)
self._layout.addLayout(self._sub_layout,
self._layout.rowCount() + 2, 0, 1, 2)
def _on_command_type_change(self, text: str):
"""Handles the command type combobox change event."""
if text == "Module":
self.set_module_layout()
else:
self.set_shell_layout()
def _on_module_change(self, module_name: str):
"""Handles module combobox changes."""
while self._sub_layout.count():
child = self._sub_layout.takeAt(0)
if child.widget():
child.widget().deleteLater()
cached_module = modules.get_module(module_name)
if not cached_module:
cached_module = modules.load_module(module_name, self._module_view,
self._model)
input_fields = []
for option_name in cached_module.get_setup_messages():
input_field = QLineEdit()
input_fields.append(input_field)
self._sub_layout.addWidget(QLabel(option_name))
self._sub_layout.addWidget(input_field)
run_button = QPushButton("Run")
run_button.setMaximumWidth(250)
run_button.setMinimumHeight(25)
run_button.pressed.connect(
lambda: self._on_module_run(module_name, input_fields))
self._sub_layout.addWidget(QLabel(""))
self._sub_layout.addWidget(run_button)
self._sub_layout.setContentsMargins(0, 15, 0, 0)
def display_info(self, text: str):
message_box = QMessageBox()
message_box.setIcon(QMessageBox.Information)
message_box.setWindowTitle("Information")
message_box.setText(text)
message_box.setStandardButtons(QMessageBox.Ok)
message_box.exec_()
def _on_module_run(self, module_name: str, input_fields: list):
"""Handles running modules."""
set_options = []
for input_field in input_fields:
set_options.append(input_field.text())
module = modules.get_module(module_name)
if not module:
module = modules.load_module(module_name, self._module_view,
self._model)
successful, options = module.setup(set_options)
if successful:
if module_name == "remove_bot":
code = loaders.get_remove_code(self._current_bot.loader_name)
elif module_name == "update_bot":
code = loaders.get_update_code(self._current_bot.loader_name)
else:
code = modules.get_code(module_name)
if not options:
options = {}
options["module_name"] = module_name
self._model.add_command(self._current_bot.uid,
Command(CommandType.MODULE, code, options))
self.display_info("Module added to the queue of:\n {}@{}".format(
self._current_bot.username, self._current_bot.hostname))
def _on_command_run(self, command_input: QLineEdit):
"""Handles running commands."""
if command_input.text().strip() == "":
return
self._model.add_command(
self._current_bot.uid,
Command(CommandType.SHELL,
command_input.text().encode()))
command_input.clear()
self.display_info("Command added to the queue of:\n {}@{}".format(
self._current_bot.username, self._current_bot.hostname))
class ConfigWidget(QWidget):
def __init__(self, plugin):
QWidget.__init__(self)
self.plugin = plugin
self.overl = l = QVBoxLayout(self)
self.gb = QGroupBox(_('Metadata fields to download'), self)
if plugin.config_help_message:
self.pchm = QLabel(plugin.config_help_message)
self.pchm.setWordWrap(True)
self.pchm.setOpenExternalLinks(True)
l.addWidget(self.pchm, 10)
l.addWidget(self.gb)
self.gb.l = g = QVBoxLayout(self.gb)
g.setContentsMargins(0, 0, 0, 0)
self.fields_view = v = FieldsList(self)
g.addWidget(v)
v.setFlow(QListView.Flow.LeftToRight)
v.setWrapping(True)
v.setResizeMode(QListView.ResizeMode.Adjust)
self.fields_model = FieldsModel(self.plugin)
self.fields_model.initialize()
v.setModel(self.fields_model)
self.memory = []
self.widgets = []
self.l = QGridLayout()
self.l.setContentsMargins(0, 0, 0, 0)
l.addLayout(self.l, 100)
for opt in plugin.options:
self.create_widgets(opt)
def create_widgets(self, opt):
val = self.plugin.prefs[opt.name]
if opt.type == 'number':
c = QSpinBox if isinstance(opt.default,
numbers.Integral) else QDoubleSpinBox
widget = c(self)
widget.setValue(val)
elif opt.type == 'string':
widget = QLineEdit(self)
widget.setText(val if val else '')
elif opt.type == 'bool':
widget = QCheckBox(opt.label, self)
widget.setChecked(bool(val))
elif opt.type == 'choices':
widget = QComboBox(self)
items = list(iteritems(opt.choices))
items.sort(key=lambda k_v: sort_key(k_v[1]))
for key, label in items:
widget.addItem(label, (key))
idx = widget.findData((val))
widget.setCurrentIndex(idx)
widget.opt = opt
widget.setToolTip(textwrap.fill(opt.desc))
self.widgets.append(widget)
r = self.l.rowCount()
if opt.type == 'bool':
self.l.addWidget(widget, r, 0, 1, self.l.columnCount())
else:
l = QLabel(opt.label)
l.setToolTip(widget.toolTip())
self.memory.append(l)
l.setBuddy(widget)
self.l.addWidget(l, r, 0, 1, 1)
self.l.addWidget(widget, r, 1, 1, 1)
def commit(self):
self.fields_model.commit()
for w in self.widgets:
if isinstance(w, (QSpinBox, QDoubleSpinBox)):
val = w.value()
elif isinstance(w, QLineEdit):
val = unicode_type(w.text())
elif isinstance(w, QCheckBox):
val = w.isChecked()
elif isinstance(w, QComboBox):
idx = w.currentIndex()
val = unicode_type(w.itemData(idx) or '')
self.plugin.prefs[w.opt.name] = val
