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__(self, window, plugin, keystore, device_id):
title = _("{} Settings").format(plugin.device)
super(SettingsDialog, self).__init__(window, title)
self.setMaximumWidth(540)
devmgr = plugin.device_manager()
config = devmgr.config
handler = keystore.handler
thread = keystore.thread
hs_rows, hs_cols = (64, 128)
def invoke_client(method, *args, **kw_args):
unpair_after = kw_args.pop('unpair_after', False)
def task():
client = devmgr.client_by_id(device_id)
if not client:
raise RuntimeError("Device not connected")
if method:
getattr(client, method)(*args, **kw_args)
if unpair_after:
devmgr.unpair_id(device_id)
return client.features
thread.add(task, on_success=update)
def update(features):
self.features = features
set_label_enabled()
if features.bootloader_hash:
bl_hash = bh2u(features.bootloader_hash)
bl_hash = "\n".join([bl_hash[:32], bl_hash[32:]])
else:
bl_hash = "N/A"
noyes = [_("No"), _("Yes")]
endis = [_("Enable Passphrases"), _("Disable Passphrases")]
disen = [_("Disabled"), _("Enabled")]
setchange = [_("Set a PIN"), _("Change PIN")]
version = "%d.%d.%d" % (features.major_version,
features.minor_version,
features.patch_version)
device_label.setText(features.label)
pin_set_label.setText(noyes[features.pin_protection])
passphrases_label.setText(disen[features.passphrase_protection])
bl_hash_label.setText(bl_hash)
label_edit.setText(features.label)
device_id_label.setText(features.device_id)
initialized_label.setText(noyes[features.initialized])
version_label.setText(version)
clear_pin_button.setVisible(features.pin_protection)
clear_pin_warning.setVisible(features.pin_protection)
pin_button.setText(setchange[features.pin_protection])
pin_msg.setVisible(not features.pin_protection)
passphrase_button.setText(endis[features.passphrase_protection])
language_label.setText(features.language)
def set_label_enabled():
label_apply.setEnabled(label_edit.text() != self.features.label)
def rename():
invoke_client('change_label', label_edit.text())
def toggle_passphrase():
title = _("Confirm Toggle Passphrase Protection")
currently_enabled = self.features.passphrase_protection
if currently_enabled:
msg = _("After disabling passphrases, you can only pair this "
"Electrum wallet if it had an empty passphrase. "
"If its passphrase was not empty, you will need to "
"create a new wallet with the install wizard. You "
"can use this wallet again at any time by re-enabling "
"passphrases and entering its passphrase.")
else:
msg = _("Your current Electrum wallet can only be used with "
"an empty passphrase. You must create a separate "
"wallet with the install wizard for other passphrases "
"as each one generates a new set of addresses.")
msg += "\n\n" + _("Are you sure you want to proceed?")
if not self.question(msg, title=title):
return
invoke_client('toggle_passphrase', unpair_after=currently_enabled)
def change_homescreen():
dialog = QFileDialog(self, _("Choose Homescreen"))
filename, __ = dialog.getOpenFileName()
if not filename:
return # user cancelled
if filename.endswith('.toif'):
img = open(filename, 'rb').read()
if img[:8] != b'TOIf\x90\x00\x90\x00':
handler.show_error('File is not a TOIF file with size of \
144x144')
return
else:
from PIL import Image # FIXME
im = Image.open(filename)
if im.size != (128, 64):
handler.show_error('Image must be 128 x 64 pixels')
return
im = im.convert('1')
pix = im.load()
img = bytearray(1024)
for j in range(64):
for i in range(128):
if pix[i, j]:
o = (i + j * 128)
img[o // 8] |= (1 << (7 - o % 8))
img = bytes(img)
invoke_client('change_homescreen', img)
def clear_homescreen():
invoke_client('change_homescreen', b'\x00')
def set_pin():
invoke_client('set_pin', remove=False)
def clear_pin():
invoke_client('set_pin', remove=True)
def wipe_device():
wallet = window.wallet
if wallet and sum(wallet.get_balance()):
title = _("Confirm Device Wipe")
msg = _("Are you SURE you want to wipe the device?\n"
"Your wallet still has bitcoins in it!")
if not self.question(
msg, title=title, icon=QMessageBox.Critical):
return
invoke_client('wipe_device', unpair_after=True)
def slider_moved():
mins = timeout_slider.sliderPosition()
timeout_minutes.setText(_("%2d minutes") % mins)
def slider_released():
config.set_session_timeout(timeout_slider.sliderPosition() * 60)
# Information tab
info_tab = QWidget()
info_layout = QVBoxLayout(info_tab)
info_glayout = QGridLayout()
info_glayout.setColumnStretch(2, 1)
device_label = QLabel()
pin_set_label = QLabel()
passphrases_label = QLabel()
version_label = QLabel()
device_id_label = QLabel()
bl_hash_label = QLabel()
bl_hash_label.setWordWrap(True)
language_label = QLabel()
initialized_label = QLabel()
rows = [
(_("Device Label"), device_label),
(_("PIN set"), pin_set_label),
(_("Passphrases"), passphrases_label),
(_("Firmware Version"), version_label),
(_("Device ID"), device_id_label),
(_("Bootloader Hash"), bl_hash_label),
(_("Language"), language_label),
(_("Initialized"), initialized_label),
]
for row_num, (label, widget) in enumerate(rows):
info_glayout.addWidget(QLabel(label), row_num, 0)
info_glayout.addWidget(widget, row_num, 1)
info_layout.addLayout(info_glayout)
# Settings tab
settings_tab = QWidget()
settings_layout = QVBoxLayout(settings_tab)
settings_glayout = QGridLayout()
# Settings tab - Label
label_msg = QLabel(
_("Name this {}. If you have multiple devices "
"their labels help distinguish them.").format(plugin.device))
label_msg.setWordWrap(True)
label_label = QLabel(_("Device Label"))
label_edit = QLineEdit()
label_edit.setMinimumWidth(150)
label_edit.setMaxLength(plugin.MAX_LABEL_LEN)
label_apply = QPushButton(_("Apply"))
label_apply.clicked.connect(rename)
label_edit.textChanged.connect(set_label_enabled)
settings_glayout.addWidget(label_label, 0, 0)
settings_glayout.addWidget(label_edit, 0, 1, 1, 2)
settings_glayout.addWidget(label_apply, 0, 3)
settings_glayout.addWidget(label_msg, 1, 1, 1, -1)
pin_button = QPushButton()
# Settings tab - PIN
pin_label = QLabel(_("PIN Protection"))
pin_button.clicked.connect(set_pin)
settings_glayout.addWidget(pin_label, 2, 0)
settings_glayout.addWidget(pin_button, 2, 1)
pin_msg = QLabel(
_("PIN protection is strongly recommended. "
"A PIN is your only protection against someone "
"stealing your bitcoins if they obtain physical "
"access to your {}.").format(plugin.device))
pin_msg.setWordWrap(True)
pin_msg.setStyleSheet("color: red")
settings_glayout.addWidget(pin_msg, 3, 1, 1, -1)
# Settings tab - Homescreen
homescreen_label = QLabel(_("Homescreen"))
homescreen_change_button = QPushButton(_("Change..."))
homescreen_clear_button = QPushButton(_("Reset"))
homescreen_change_button.clicked.connect(change_homescreen)
try:
import PIL
except ImportError:
homescreen_change_button.setDisabled(True)
homescreen_change_button.setToolTip(
_("Required package 'PIL' is not available - Please install \
it or use the OctoWallet website instead."))
homescreen_clear_button.clicked.connect(clear_homescreen)
homescreen_msg = QLabel(
_("You can set the homescreen on your "
"device to personalize it. You must "
"choose a {} x {} monochrome black and "
"white image.").format(hs_rows, hs_cols))
homescreen_msg.setWordWrap(True)
settings_glayout.addWidget(homescreen_label, 4, 0)
settings_glayout.addWidget(homescreen_change_button, 4, 1)
settings_glayout.addWidget(homescreen_clear_button, 4, 2)
settings_glayout.addWidget(homescreen_msg, 5, 1, 1, -1)
# Settings tab - Session Timeout
timeout_label = QLabel(_("Session Timeout"))
timeout_minutes = QLabel()
timeout_slider = QSlider(Qt.Horizontal)
timeout_slider.setRange(1, 60)
timeout_slider.setSingleStep(1)
timeout_slider.setTickInterval(5)
timeout_slider.setTickPosition(QSlider.TicksBelow)
timeout_slider.setTracking(True)
timeout_msg = QLabel(
_("Clear the session after the specified period "
"of inactivity. Once a session has timed out, "
"your PIN and passphrase (if enabled) must be "
"re-entered to use the device."))
timeout_msg.setWordWrap(True)
timeout_slider.setSliderPosition(config.get_session_timeout() // 60)
slider_moved()
timeout_slider.valueChanged.connect(slider_moved)
timeout_slider.sliderReleased.connect(slider_released)
settings_glayout.addWidget(timeout_label, 6, 0)
settings_glayout.addWidget(timeout_slider, 6, 1, 1, 3)
settings_glayout.addWidget(timeout_minutes, 6, 4)
settings_glayout.addWidget(timeout_msg, 7, 1, 1, -1)
settings_layout.addLayout(settings_glayout)
settings_layout.addStretch(1)
# Advanced tab
advanced_tab = QWidget()
advanced_layout = QVBoxLayout(advanced_tab)
advanced_glayout = QGridLayout()
# Advanced tab - clear PIN
clear_pin_button = QPushButton(_("Disable PIN"))
clear_pin_button.clicked.connect(clear_pin)
clear_pin_warning = QLabel(
_("If you disable your PIN, anyone with physical access to your "
"{} device can spend your bitcoins.").format(plugin.device))
clear_pin_warning.setWordWrap(True)
clear_pin_warning.setStyleSheet("color: red")
advanced_glayout.addWidget(clear_pin_button, 0, 2)
advanced_glayout.addWidget(clear_pin_warning, 1, 0, 1, 5)
# Advanced tab - toggle passphrase protection
passphrase_button = QPushButton()
passphrase_button.clicked.connect(toggle_passphrase)
passphrase_msg = WWLabel(PASSPHRASE_HELP)
passphrase_warning = WWLabel(PASSPHRASE_NOT_PIN)
passphrase_warning.setStyleSheet("color: red")
advanced_glayout.addWidget(passphrase_button, 3, 2)
advanced_glayout.addWidget(passphrase_msg, 4, 0, 1, 5)
advanced_glayout.addWidget(passphrase_warning, 5, 0, 1, 5)
# Advanced tab - wipe device
wipe_device_button = QPushButton(_("Wipe Device"))
wipe_device_button.clicked.connect(wipe_device)
wipe_device_msg = QLabel(
_("Wipe the device, removing all data from it. The firmware "
"is left unchanged."))
wipe_device_msg.setWordWrap(True)
wipe_device_warning = QLabel(
_("Only wipe a device if you have the recovery seed written down "
"and the device wallet(s) are empty, otherwise the bitcoins "
"will be lost forever."))
wipe_device_warning.setWordWrap(True)
wipe_device_warning.setStyleSheet("color: red")
advanced_glayout.addWidget(wipe_device_button, 6, 2)
advanced_glayout.addWidget(wipe_device_msg, 7, 0, 1, 5)
advanced_glayout.addWidget(wipe_device_warning, 8, 0, 1, 5)
advanced_layout.addLayout(advanced_glayout)
advanced_layout.addStretch(1)
tabs = QTabWidget(self)
tabs.addTab(info_tab, _("Information"))
tabs.addTab(settings_tab, _("Settings"))
tabs.addTab(advanced_tab, _("Advanced"))
dialog_vbox = QVBoxLayout(self)
dialog_vbox.addWidget(tabs)
dialog_vbox.addLayout(Buttons(CloseButton(self)))
# Update information
invoke_client(None)
class Slider(QMainWindow):
def __init__(self, application):
super().__init__()
self._init_ui()
self._initPygame(application)
self.setWindowTitle('Settings')
# allow slider to handle float
def _valueHandler(self, value):
# type of "value" is int so you need to convert it to float
# in order to get float type for "scaledValue"
scaledValue = float(value) / 100
print(scaledValue, type(scaledValue))
def _animate(self):
if self.application.isAnimating:
self.application.isAnimating = False
else:
self.application.isAnimating = True
def _init_ui(self):
self.statusBar().showMessage('Ready')
# ------- FILE MENU
menubar = self.menuBar()
fileMenu = menubar.addMenu('File')
impMenu = QMenu('Import', self)
impAct = QAction('Import obj', self)
impMenu.addAction(impAct)
newAct = QAction('New', self)
fileMenu.addAction(newAct)
fileMenu.addMenu(impMenu)
# ------- Icon exit and animate
exitAct = QAction(
QIcon('models/icon_exit.png'),
'Exit', self)
exitAct.setShortcut('Ctrl+Q')
exitAct.triggered.connect(qApp.quit)
animationButton = QAction(
QIcon('models/icon_play.png'),
'Animate', self)
animationButton.setShortcut('Space')
animationButton.triggered.connect(self._animate)
# self.action.setShortcut("ESC")
# ------- Display slider value
lcdAperture = QLCDNumber(self)
lcdFocalLength = QLCDNumber(self)
# lcdNear = QLCDNumber(self)
lcdFar = QLCDNumber(self)
# ------- Slider creation and connection to lcd
self.sldAperture = QSlider(Qt.Horizontal, self)
self.sldAperture.setTickPosition(QSlider.TicksBothSides)
self.sldFocalLength = QSlider(Qt.Horizontal, self)
self.sldFocalLength.setTickPosition(QSlider.TicksBothSides)
'''
self.sldNear = QSlider(Qt.Horizontal, self)
self.sldNear.setTickPosition(QSlider.TicksBothSides)
'''
self.sldFar = QSlider(Qt.Horizontal, self)
self.sldFar.setTickPosition(QSlider.TicksBothSides)
# ------- Connect slider to lcd
self.sldAperture.valueChanged.connect(lcdAperture.display)
self.sldFocalLength.valueChanged.connect(lcdFocalLength.display)
'''
self.sldNear.valueChanged.connect(lcdNear.display)
'''
self.sldFar.valueChanged.connect(lcdFar.display)
# ------- Slider parameter and specifications
# self.sldAperture.setMinimum(0)
# self.sldAperture.setMaximum(80)
self.sldAperture.setValue(sC.aperture)
self.sldAperture.setRange(10, 100)
self.sldFocalLength.setValue(sC.focalLength)
self.sldFocalLength.setRange(1, 15)
self.sldFocalLength.valueChanged.connect(self._valueHandler)
'''
self.sldNear.setValue(sC.near)
self.sldNear.setRange(0,10)
self.sldNear.valueChanged.connect(self._valueHandler)
'''
self.sldFar.setValue(sC.far)
self.sldFar.setRange(50, 150)
# ------- Show slide bar
self.exitToolbar = self.addToolBar('exit')
self.exitToolbar.addAction(exitAct)
self.exitToolbar.addAction(animationButton)
# ------- Go back to line
self.addToolBarBreak()
self.lcdToolbar = self.addToolBar('lcd')
self.lcdToolbar.addWidget(lcdAperture)
self.apertureToolbar = self.addToolBar('aperture')
self.apertureToolbar.addWidget(self.sldAperture)
self.apertureToolbar.addWidget(QLabel("Aperture"))
self.addToolBarBreak()
self.lcdToolbar2 = self.addToolBar('lcd2')
self.lcdToolbar2.addWidget(lcdFocalLength)
self.focalLengthToolbar = self.addToolBar('focalLength')
self.focalLengthToolbar.addWidget(self.sldFocalLength)
self.focalLengthToolbar.addWidget(QLabel("focalLength *100"))
self.addToolBarBreak()
'''
self.lcdToolbarNear = self.addToolBar('lcd2')
self.lcdToolbarNear.addWidget(lcdNear)
self.nearToolbar = self.addToolBar('near')
self.nearToolbar.addWidget(self.sldNear)
self.nearToolbar.addWidget(QLabel("near(/100)"))
self.addToolBarBreak()
'''
self.lcdToolbarFar = self.addToolBar('lcdFar')
self.lcdToolbarFar.addWidget(lcdFar)
self.farToolbar = self.addToolBar('far')
self.farToolbar.addWidget(self.sldFar)
self.farToolbar.addWidget(QLabel("far"))
# ------- required to display
self.setGeometry(600, 600, 600, 600)
self.show()
def _initPygame(self, application):
# https://stackoverflow.com/questions/46656634/pyqt5-qtimer-count-until-specific-seconds
self.application = application
self.timer = QTimer()
self.timer.timeout.connect(self._pygame_loop)
self.timer.start(0)
def _uiUpdate(self):
sC.aperture = self.sldAperture.value()
sC.focalLength = self.sldFocalLength.value()
# sC.near = self.sldNear.value()
sC.far = self.sldFar.value()
sC.update()
def _pygame_loop(self):
self._uiUpdate()
if self.application._run(self):
self.close()
