class DialogService(object):
'''
Convenience class for popping up error and information messages
in Qt based applications. Control whether any popup windows are
actually shown by setting the class variable CURRENTLY_TESTING to
True or False. If True, no dialogs will be shown. Used during
automatic testing.
'''
CURRENTLY_TESTING = False;
#----------------------------------
# Initializer
#--------------
def __init__(self, parent=None):
# All-purpose error popup message:
# Used by self.showErrorMsgByErrorCode(<errorCode>),
# or self.showErrorMsg(<string>). Returns a
# QErrorMessage without parent, but with QWindowFlags set
# properly to be a dialog popup box:
self.errorMsgPopup = QErrorMessage.qtHandler();
# Re-parent the popup, retaining the window flags set
# by the qtHandler:
self.errorMsgPopup.setParent(parent, self.errorMsgPopup.windowFlags());
#self.errorMsgPopup.setStyleSheet(SpeakEasyGUI.stylesheetAppBG);
self.infoMsg = QMessageBox(parent=parent);
self.infoMsg.setStyleSheet("background-color : rgb(160,182,191)");
#self.infoMsg.setStyleSheet(SpeakEasyGUI.stylesheetAppBG);
#----------------------------------
# showErrorMsg
#--------------
QErrorMessage
def showErrorMsg(self,errMsg):
'''
Given a string, pop up an error dialog, if DialogService.CURRENTLY_TESTING is False.
Else method returns quietly, because unittesting is under way
@param errMsg: The message
@type errMsg: string
'''
if not DialogService.CURRENTLY_TESTING:
self.errorMsgPopup.showMessage(errMsg);
#----------------------------------
# showInfoMsg
#--------------
def showInfoMessage(self, text):
'''
Given a string, pop up an info message, if DialogService.CURRENTLY_TESTING is False.
Else method returns quietly, because unittesting is under way
@param text: The message
@type text: string
'''
if not DialogService.CURRENTLY_TESTING:
self.infoMsg.setText(text);
self.infoMsg.exec_();
def _handle_start_following(self):
#make sure server is available before sending goal
QApplication.setOverrideCursor(QCursor(Qt.WaitCursor))
if (not self._client.wait_for_server(rospy.Duration.from_sec(10))):
QApplication.restoreOverrideCursor()
msg_box = QMessageBox()
msg_box.setText("Timeout while looking for path following control server.")
msg_box.exec_()
return
QApplication.restoreOverrideCursor()
#get path file to load
filename = QFileDialog.getOpenFileName(self, self.tr('Load Path from File'), '.', self.tr('Path File {.txt} (*.txt)'))
if filename[0] != '':
try:
handle = open(filename[0])
except IOError as e:
qWarning(str(e))
return
# load path from file
path_reader=csv.reader(open(filename[0],'rb'),delimiter=';')
# parse path file and convert to numbers
temp = [row[0].split() for row in path_reader]
lines= [[float(num) for num in row] for row in temp]
# first line of file is radius
radius = lines[0]
# remove radius
del(lines[0])
now = rospy.Time.now()
goal = auxos_messages.msg.PlanThenFollowDubinsPathGoal()
goal.path.header.stamp = now
goal.path.header.frame_id = self.path_frame_id # TODO: fix this!!!
for line in lines:
pose_msg = PoseStamped()
pose_msg.header.stamp = now
pose_msg.header.frame_id = goal.path.header.frame_id
pose_msg.pose.position.x = line[0]
pose_msg.pose.position.y = line[1]
quat = qfe(0, 0, psi2theta(line[2]))
pose_msg.pose.orientation.x = quat[0]
pose_msg.pose.orientation.y = quat[1]
pose_msg.pose.orientation.z = quat[2]
pose_msg.pose.orientation.w = quat[3]
goal.path.poses.append(pose_msg)
self._client.send_goal(goal, self._handle_path_complete, self._handle_active, self._handle_feedback)
print("start following")
class DialogService(QWidget):
'''
Provides popup windows for information and error messages
'''
#----------------------------------
# Initializer
#--------------
def __init__(self, parent=None):
super(DialogService, self).__init__(parent);
# All-purpose error popup message:
# Used by self.showErrorMsgByErrorCode(<errorCode>),
# or self.showErrorMsg(<string>). Returns a
# QErrorMessage without parent, but with QWindowFlags set
# properly to be a dialog popup box:
self.errorMsgPopup = QErrorMessage.qtHandler();
# Re-parent the popup, retaining the window flags set
# by the qtHandler:
self.errorMsgPopup.setParent(parent, self.errorMsgPopup.windowFlags());
#self.errorMsgPopup.setStyleSheet(SpeakEasyGUI.stylesheetAppBG);
self.infoMsg = QMessageBox(parent=parent);
#self.infoMsg.setStyleSheet(SpeakEasyGUI.stylesheetAppBG);
#----------------------------------
# showErrorMsg
#--------------
QErrorMessage
def showErrorMsg(self,errMsg):
'''
Given a string, pop up an error dialog on top of the application window.
@param errMsg: The message
@type errMsg: string
'''
self.errorMsgPopup.showMessage(errMsg);
#----------------------------------
# showInfoMsg
#--------------
def showInfoMsg(self, text):
'''
Display a message window with an OK button on top of the application window.
@param text: text to display
@type text: string
'''
self.infoMsg.setText(text);
self.infoMsg.exec_();
def dashinfo(msg, obj, title = 'Info'):
"""Logs a message with ``rospy.loginfo`` and displays a ``QMessageBox`` to the user
:param msg: Message to display.
:type msg: str
:param obj: Parent object for the ``QMessageBox``
:type obj: QObject
:param title: An optional title for the `QMessageBox``
:type title: str
"""
rospy.loginfo(msg)
box = QMessageBox()
box.setText(msg)
box.setWindowTitle(title)
box.show()
obj._message_box = box
