def __init__(self):
super(TopicSelection, self).__init__()
master = rosgraph.Master('rqt_bag_recorder')
self.setWindowTitle("Select the topics you want to record")
self.resize(500, 700)
self.topic_list = []
self.selected_topics = []
self.items_list = []
self.area = QScrollArea(self)
self.main_widget = QWidget(self.area)
self.ok_button = QPushButton("Record", self)
self.ok_button.clicked.connect(self.onButtonClicked)
self.ok_button.setEnabled(False)
self.main_vlayout = QVBoxLayout(self)
self.main_vlayout.addWidget(self.area)
self.main_vlayout.addWidget(self.ok_button)
self.setLayout(self.main_vlayout)
self.selection_vlayout = QVBoxLayout(self)
self.item_all = QCheckBox("All", self)
self.item_all.stateChanged.connect(self.updateList)
self.selection_vlayout.addWidget(self.item_all)
topic_data_list = master.getPublishedTopics('')
topic_data_list.sort()
for topic, datatype in topic_data_list:
self.addCheckBox(topic)
self.main_widget.setLayout(self.selection_vlayout)
self.area.setWidget(self.main_widget)
self.show()
def __init__(self, map_topic='/map',
paths=['/move_base/NavFn/plan', '/move_base/TrajectoryPlannerROS/local_plan'],
polygons=['/move_base/local_costmap/robot_footprint']):
super(NavViewWidget, self).__init__()
self._layout = QVBoxLayout()
self._button_layout = QHBoxLayout()
self.setAcceptDrops(True)
self.setWindowTitle('Navigation Viewer')
self.paths = paths
self.polygons = polygons
self.map = map_topic
self._tf = tf.TransformListener()
self._nav_view = NavView(map_topic, paths, polygons, tf = self._tf, parent = self)
self._set_pose = QPushButton('Set Pose')
self._set_pose.clicked.connect(self._nav_view.pose_mode)
self._set_goal = QPushButton('Set Goal')
self._set_goal.clicked.connect(self._nav_view.goal_mode)
self._button_layout.addWidget(self._set_pose)
self._button_layout.addWidget(self._set_goal)
self._layout.addLayout(self._button_layout)
self._layout.addWidget(self._nav_view)
self.setLayout(self._layout)
def _create_log_bar(self):
self.log_dock = QDockWidget(self)
self.log_dock.setObjectName('LogFrame')
self.log_dock.setFeatures(QDockWidget.DockWidgetMovable | QDockWidget.DockWidgetFloatable)
self.log_bar = QWidget(self)
self.horizontal_layout_log_bar = QHBoxLayout(self.log_bar)
self.horizontal_layout_log_bar.setContentsMargins(2, 0, 2, 0)
self.horizontal_layout_log_bar.setObjectName("horizontal_layout_log_bar")
# add info label
self._log_warning_count = 0
self.log_browser = QTextEdit()
self.log_browser.setObjectName("log_browser")
self.log_browser.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.log_browser.setLineWrapMode(QTextEdit.NoWrap)
# self.log_browser.setMaximumHeight(120)
color = QColor(255, 255, 235)
bg_style = "QTextEdit#log_browser { background-color: %s;}" % color.name()
self.log_bar.setStyleSheet("%s" % (bg_style))
self.horizontal_layout_log_bar.addWidget(self.log_browser)
# add hide button
self.clear_log_button = QPushButton("clear", self)
self.clear_log_button.setObjectName("clear_log_button")
self.clear_log_button.setSizePolicy(QSizePolicy.Minimum, QSizePolicy.Maximum)
self.clear_log_button.clicked.connect(self.on_clear_log_button_clicked)
self.clear_log_button.setFlat(True)
self.horizontal_layout_log_bar.addWidget(self.clear_log_button)
self.log_dock.setWidget(self.log_bar)
return self.log_dock
def __init__(self, parent=None, logger=Logger()):
QWidgetWithLogger.__init__(self, parent, logger)
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add combo box
self.parameter_set_names_combo_box = QComboBox()
self.parameter_set_names_combo_box.currentIndexChanged[str].connect(
self.param_changed)
hbox.addWidget(self.parameter_set_names_combo_box)
# add refresh button
self.get_all_parameter_set_names_button = QPushButton()
self.get_all_parameter_set_names_button.clicked.connect(
self._get_all_parameter_set_names)
self.get_all_parameter_set_names_button.setIcon(icon)
self.get_all_parameter_set_names_button.setFixedSize(
size.width() + 2,
size.height() + 2)
hbox.addWidget(self.get_all_parameter_set_names_button)
# end widget
self.setLayout(hbox)
# init widget
self.reset_parameter_set_selection()
def __init__(self, context):
super(MultiRobotPasserGUIPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('MultiRobotPasserGUIPlugin')
# Create QWidget
self.widget = QWidget()
self.master_layout = QVBoxLayout(self.widget)
self.buttons = {}
self.button_layout = QHBoxLayout()
self.master_layout.addLayout(self.button_layout)
for button_text in ["Enable", "Disable"]:
button = QPushButton(button_text, self.widget)
button.clicked[bool].connect(self.handle_button)
button.setCheckable(True)
self.button_layout.addWidget(button)
self.buttons[button_text] = button
self.widget.setObjectName('MultiRobotPasserGUIPluginUI')
if context.serial_number() > 1:
self.widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self.widget)
self.status_subscriber = rospy.Subscriber("status", Bool, self.status_callback)
self.enable = rospy.ServiceProxy("enable", Empty)
self.disable = rospy.ServiceProxy("disable", Empty)
self.enabled = False
self.connect(self.widget, SIGNAL("update"), self.update)
def __init__(self, context):
super(EusGUI, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('EusGUI')
self.msg = None
# Create a container widget and give it a layout
self._toolbar = QToolBar()
self._toolbar.addWidget(QLabel('EusGUI'))
self._container = QWidget()
self._layout = QVBoxLayout()
self._container.setLayout(self._layout)
self._layout.addWidget(self._toolbar)
self._prev_button = QPushButton('PREV')
self._prev_button.clicked.connect(self._prev_cb)
self._layout.addWidget(self._prev_button)
self._refresh_button = QPushButton('DO IT AGAIN')
self._refresh_button.clicked.connect(self._refresh_cb)
self._layout.addWidget(self._refresh_button)
self._next_button = QPushButton('NEXT')
self._next_button.clicked.connect(self._next_cb)
self._layout.addWidget(self._next_button)
context.add_widget(self._container)
def __init__(self,
icon,
title,
text,
detailed_text="",
buttons=QMessageBox.Ok):
QMessageBox.__init__(self, icon, title, text, buttons)
if detailed_text:
self.setDetailedText(detailed_text)
horizontalSpacer = QSpacerItem(480, 0, QSizePolicy.Minimum,
QSizePolicy.Expanding)
layout = self.layout()
layout.addItem(horizontalSpacer, layout.rowCount(), 0, 1,
layout.columnCount())
if QMessageBox.Abort & buttons:
self.setEscapeButton(QMessageBox.Abort)
elif QMessageBox.Ignore & buttons:
self.setEscapeButton(QMessageBox.Ignore)
else:
self.setEscapeButton(buttons)
self.textEdit = textEdit = self.findChild(QTextEdit)
if textEdit is not None:
textEdit.setMinimumHeight(0)
textEdit.setMaximumHeight(600)
textEdit.setMinimumWidth(0)
textEdit.setMaximumWidth(600)
textEdit.setSizePolicy(QSizePolicy.Expanding,
QSizePolicy.Expanding)
self.ignore_all_btn = QPushButton('Don\'t display again')
self.addButton(self.ignore_all_btn, QMessageBox.HelpRole)
def __init__(self, parent=None, current_values=None):
super(BlacklistDialog, self).__init__(parent)
self.setWindowTitle("Blacklist")
vbox = QVBoxLayout()
self.setLayout(vbox)
self._blacklist = Blacklist()
if isinstance(current_values, list):
for val in current_values:
self._blacklist.append(val)
vbox.addWidget(self._blacklist)
controls_layout = QHBoxLayout()
add_button = QPushButton(icon=QIcon.fromTheme('list-add'))
rem_button = QPushButton(icon=QIcon.fromTheme('list-remove'))
ok_button = QPushButton("Ok")
cancel_button = QPushButton("Cancel")
add_button.clicked.connect(self._add_item)
rem_button.clicked.connect(self._remove_item)
ok_button.clicked.connect(self.accept)
cancel_button.clicked.connect(self.reject)
controls_layout.addWidget(add_button)
controls_layout.addWidget(rem_button)
controls_layout.addStretch(0)
controls_layout.addWidget(ok_button)
controls_layout.addWidget(cancel_button)
vbox.addLayout(controls_layout)
class WarningMessageBox(QMessageBox):
def __init__(self, icon, title, text, detailed_text="", buttons=QMessageBox.Ok):
QMessageBox.__init__(self, icon, title, text, buttons)
if detailed_text:
self.setDetailedText(detailed_text)
horizontalSpacer = QSpacerItem(480, 0, QSizePolicy.Minimum, QSizePolicy.Expanding)
layout = self.layout()
layout.addItem(horizontalSpacer, layout.rowCount(), 0, 1, layout.columnCount())
if QMessageBox.Abort & buttons:
self.setEscapeButton(QMessageBox.Abort)
elif QMessageBox.Ignore & buttons:
self.setEscapeButton(QMessageBox.Ignore)
else:
self.setEscapeButton(buttons)
self.textEdit = textEdit = self.findChild(QTextEdit)
if textEdit is not None:
textEdit.setMinimumHeight(0)
textEdit.setMaximumHeight(600)
textEdit.setMinimumWidth(0)
textEdit.setMaximumWidth(600)
textEdit.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.ignore_all_btn = QPushButton('Don\'t display again')
self.addButton(self.ignore_all_btn, QMessageBox.HelpRole)
def paintEvent(self, event):
QMessageBox.paintEvent(self, event)
self.ignore_all_btn.setVisible(self.textEdit.isVisible() if self.textEdit else False)
class MasterSyncButtonHelper(QObject):
'''
This is helper class to which contains a button and can emit signals. The
MasterSyncItem can not emit signals, but is used in QStandardModel.
'''
clicked = Signal(bool, str)
NOT_SYNC = 0
SWITCHED = 1
SYNC = 2
ICON_PREFIX = 'irondevil'
# ICON_PREFIX = 'crystal_clear'
def __init__(self, master):
QObject.__init__(self)
self.name = master.name
self._master = master
self._syncronized = MasterSyncButtonHelper.NOT_SYNC
self.ICONS = {MasterSyncButtonHelper.SYNC: QIcon(":/icons/%s_sync.png" % self.ICON_PREFIX),
MasterSyncButtonHelper.NOT_SYNC: QIcon(":/icons/%s_not_sync.png" % self.ICON_PREFIX),
MasterSyncButtonHelper.SWITCHED: QIcon(":/icons/%s_start_sync.png" % self.ICON_PREFIX)}
self.widget = QPushButton()
# self.widget.setFlat(True)
self.widget.setIcon(self.ICONS[MasterSyncButtonHelper.NOT_SYNC])
self.widget.setMaximumSize(48, 48)
self.widget.setCheckable(True)
self.widget.clicked.connect(self.on_sync_clicked)
def on_sync_clicked(self, checked):
self.set_sync_state(MasterSyncButtonHelper.SWITCHED)
self.clicked.emit(checked, self._master.uri)
def master(self):
return self._master
def get_sync_state(self):
return self._syncronized
def set_sync_state(self, value):
if self._syncronized != value:
self._syncronized = value
if value in self.ICONS:
self.widget.setIcon(self.ICONS[value])
self.widget.setChecked(value == MasterSyncButtonHelper.SYNC)
def __eq__(self, item):
if isinstance(item, str) or isinstance(item, unicode):
return self.master.name.lower() == item.lower()
elif not (item is None):
return self.master.name.lower() == item.master.name.lower()
return False
def __gt__(self, item):
if isinstance(item, str) or isinstance(item, unicode):
return self.master.name.lower() > item.lower()
elif not (item is None):
return self.master.name.lower() > item.master.name.lower()
return False
class MasterSyncButtonHelper(QObject):
'''
This is helper class to which contains a button and can emit signals. The
MasterSyncItem can not emit signals, but is used in QStandardModel.
'''
clicked = Signal(bool, str)
NOT_SYNC = 0
SWITCHED = 1
SYNC = 2
ICON_PREFIX = 'irondevil'
# ICON_PREFIX = 'crystal_clear'
def __init__(self, master):
QObject.__init__(self)
self.name = master.name
self._master = master
self._syncronized = MasterSyncButtonHelper.NOT_SYNC
self.ICONS = {MasterSyncButtonHelper.SYNC: nm.settings().icon("%s_sync.png" % self.ICON_PREFIX),
MasterSyncButtonHelper.NOT_SYNC: nm.settings().icon("%s_not_sync.png" % self.ICON_PREFIX),
MasterSyncButtonHelper.SWITCHED: nm.settings().icon("%s_start_sync.png" % self.ICON_PREFIX)}
self.widget = QPushButton()
# self.widget.setFlat(True)
self.widget.setIcon(self.ICONS[MasterSyncButtonHelper.NOT_SYNC])
self.widget.setMaximumSize(48, 48)
self.widget.setCheckable(True)
self.widget.clicked.connect(self.on_sync_clicked)
def on_sync_clicked(self, checked):
self.set_sync_state(MasterSyncButtonHelper.SWITCHED)
self.clicked.emit(checked, self._master.uri)
def master(self):
return self._master
def get_sync_state(self):
return self._syncronized
def set_sync_state(self, value):
if self._syncronized != value:
self._syncronized = value
if value in self.ICONS:
self.widget.setIcon(self.ICONS[value])
self.widget.setChecked(value == MasterSyncButtonHelper.SYNC)
def __eq__(self, item):
if isstring(item):
return self.master.name.lower() == item.lower()
elif not (item is None):
return self.master.name.lower() == item.master.name.lower()
return False
def __gt__(self, item):
if isstring(item):
return self.master.name.lower() > item.lower()
elif not (item is None):
return self.master.name.lower() > item.master.name.lower()
return False
def _create_buttons(self):
# create the buttons line
self.buttons = QWidget(self)
self.horizontalLayout = QHBoxLayout(self.buttons)
self.horizontalLayout.setContentsMargins(4, 0, 4, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
# add the search button
self.searchButton = QPushButton(self)
self.searchButton.setObjectName("searchButton")
# self.searchButton.clicked.connect(self.on_shortcut_find)
self.searchButton.toggled.connect(self.on_toggled_find)
self.searchButton.setText(self._translate("&Find"))
self.searchButton.setToolTip('Open a search dialog (Ctrl+F)')
self.searchButton.setFlat(True)
self.searchButton.setCheckable(True)
self.horizontalLayout.addWidget(self.searchButton)
# add the replace button
self.replaceButton = QPushButton(self)
self.replaceButton.setObjectName("replaceButton")
# self.replaceButton.clicked.connect(self.on_shortcut_replace)
self.replaceButton.toggled.connect(self.on_toggled_replace)
self.replaceButton.setText(self._translate("&Replace"))
self.replaceButton.setToolTip('Open a search&replace dialog (Ctrl+R)')
self.replaceButton.setFlat(True)
self.replaceButton.setCheckable(True)
self.horizontalLayout.addWidget(self.replaceButton)
# add the goto button
self.gotoButton = QPushButton(self)
self.gotoButton.setObjectName("gotoButton")
self.gotoButton.clicked.connect(self.on_shortcut_goto)
self.gotoButton.setText(self._translate("&Goto line"))
self.gotoButton.setShortcut("Ctrl+G")
self.gotoButton.setToolTip('Open a goto dialog (Ctrl+G)')
self.gotoButton.setFlat(True)
self.horizontalLayout.addWidget(self.gotoButton)
# add a tag button
self.tagButton = self._create_tag_button(self)
self.horizontalLayout.addWidget(self.tagButton)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add line number label
self.pos_label = QLabel()
self.horizontalLayout.addWidget(self.pos_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add save button
self.saveButton = QPushButton(self)
self.saveButton.setObjectName("saveButton")
self.saveButton.clicked.connect(self.on_saveButton_clicked)
self.saveButton.setText(self._translate("&Save"))
self.saveButton.setShortcut("Ctrl+S")
self.saveButton.setToolTip('Save the changes to the file (Ctrl+S)')
self.saveButton.setFlat(True)
self.horizontalLayout.addWidget(self.saveButton)
return self.buttons
def __init__(self, parent = None, logger = Logger(), step_plan_topic = str()):
QWidgetWithLogger.__init__(self, parent, logger)
# start widget
vbox = QVBoxLayout()
vbox.setMargin(0)
vbox.setContentsMargins(0, 0, 0, 0)
# step plan input topic selection
if len(step_plan_topic) == 0:
step_plan_topic_widget = QTopicWidget(topic_type = 'vigir_footstep_planning_msgs/StepPlan')
step_plan_topic_widget.topic_changed_signal.connect(self._init_step_plan_subscriber)
vbox.addWidget(step_plan_topic_widget)
else:
self._init_step_plan_subscriber(step_plan_topic)
# execute action server topic selection
execute_topic_widget = QTopicWidget(topic_type = 'vigir_footstep_planning_msgs/ExecuteStepPlanAction', is_action_topic = True)
execute_topic_widget.topic_changed_signal.connect(self._init_execute_action_client)
vbox.addWidget(execute_topic_widget)
# start button part
buttons_hbox = QHBoxLayout()
buttons_hbox.setMargin(0)
# execute
self.execute_command = QPushButton("Execute (Steps: 0)")
self.execute_command.clicked.connect(self.execute_command_callback)
self.execute_command.setEnabled(False)
buttons_hbox.addWidget(self.execute_command)
# repeat
self.repeat_command = QPushButton("Repeat")
self.repeat_command.clicked.connect(self.execute_command_callback)
self.repeat_command.setEnabled(False)
buttons_hbox.addWidget(self.repeat_command)
# stop
self.stop_command = QPushButton("Stop")
self.stop_command.clicked.connect(self.stop_command_callback)
self.stop_command.setEnabled(False)
buttons_hbox.addWidget(self.stop_command)
# end button part
vbox.addLayout(buttons_hbox)
# end widget
self.setLayout(vbox)
# init widget
if len(step_plan_topic) == 0:
step_plan_topic_widget.emit_topic_name()
execute_topic_widget.emit_topic_name()
def __init__(self, parent=None):
super(ComboBoxDialog, self).__init__()
self.number = 0
vbox = QtGui.QVBoxLayout(self)
self.combo_box = QComboBox(self)
self.combo_box.activated.connect(self.onActivated)
vbox.addWidget(self.combo_box)
button = QPushButton()
button.setText("Done")
button.clicked.connect(self.buttonCallback)
vbox.addWidget(button)
self.setLayout(vbox)
def __init__(self, parent=None):
super(ComboBoxDialog, self).__init__()
self.number = 0
vbox = QtGui.QVBoxLayout(self)
self.combo_box = QComboBox(self)
self.combo_box.activated.connect(self.onActivated)
vbox.addWidget(self.combo_box)
button = QPushButton()
button.setText("Done")
button.clicked.connect(self.buttonCallback)
vbox.addWidget(button)
self.setLayout(vbox)
def update_buttons(self):
self.clean()
for index, level in enumerate(self.levels):
self.text_label.setText("Choose Level: ")
button = QPushButton(level.level_id, self._widget)
button.clicked[bool].connect(self.handle_button)
button.setCheckable(True)
self._button_layout.addWidget(button)
self.buttons.append(button)
# Subscribe to the current level we are on.
if self.status_subscriber is None:
self.status_subscriber = rospy.Subscriber("level_mux/current_level", LevelMetaData, self.process_level_status)
def __init__(self, endpoint, name, parent=None):
self._endpoint = endpoint
self._name = name
if not name:
self._name = Cam.endpoint_type_as_str(endpoint.server_type)
self.name = "%s/%d" % (self._name, endpoint.resource_id)
QPushButton.__init__(self, self.name, parent)
self.setCheckable(True)
self.setFocusPolicy(Qt.NoFocus)
self.setFixedHeight(24)
# self.setFixedSize(57, 24)
self.toggled.connect(self._on_toggled)
self._ignore_next_click = False
def __init__(self, context):
super(ImageSnapShotGUI, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('ImageSnapShotGUI')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
self._toolbar = QToolBar()
self._toolbar.addWidget(QLabel('ImageSnapShot'))
# Create a container widget and give it a layout
self._container = QWidget()
self._layout = QVBoxLayout()
self._container.setLayout(self._layout)
self._layout.addWidget(self._toolbar)
# Add a button for ....
self._go_button = QPushButton('Head')
self._go_button.clicked.connect(self._head)
self._layout.addWidget(self._go_button)
self._clear_button = QPushButton('Larm')
self._clear_button.clicked.connect(self._larm)
self._layout.addWidget(self._clear_button)
self._clear_button = QPushButton('Rarm')
self._clear_button.clicked.connect(self._rarm)
self._layout.addWidget(self._clear_button)
self._clear_button = QPushButton('L FishEye')
self._clear_button.clicked.connect(self._lfisheye)
self._layout.addWidget(self._clear_button)
self._clear_button = QPushButton('R FishEye')
self._clear_button.clicked.connect(self._rfisheye)
self._layout.addWidget(self._clear_button)
# self._step_run_button.setStyleSheet('QPushButton {color: black}')
context.add_widget(self._container)
self._head_pub = rospy.Publisher('/head_snap/snapshot', std_msgs.msg.Empty)
self._lhand_pub = rospy.Publisher('/lhand_snap/snapshot', std_msgs.msg.Empty)
self._rhand_pub = rospy.Publisher('/rhand_snap/snapshot', std_msgs.msg.Empty)
self._lfisheye_pub = rospy.Publisher('/lfisheye_snap/snapshot', std_msgs.msg.Empty)
self._rfisheye_pub = rospy.Publisher('/rfisheye_snap/snapshot', std_msgs.msg.Empty)
def setup_group_frame(self, group):
layout = QVBoxLayout()
# grid for buttons for named targets
grid = QGridLayout()
grid.setSpacing(1)
self.button_group = QButtonGroup(self)
row = 0
column = 0
named_targets = self.get_named_targets(group)
for target in named_targets:
button = QPushButton(target)
self.button_group.addButton(button)
grid.addWidget(button, row, column)
column += 1
if column >= self.MAX_COLUMNS:
row += 1
column = 0
self.button_group.buttonClicked.connect(self._handle_button_clicked)
# grid for show joint value and move arm buttons/text field
joint_values_grid = QGridLayout()
joint_values_grid.setSpacing(1)
button_show_joint_values = QPushButton('Current Joint Values')
button_show_joint_values.clicked[bool].connect(
self._handle_show_joint_values_clicked)
line_edit = QLineEdit()
self.text_joint_values.append(line_edit)
button_move_to = QPushButton('Move to')
button_move_to.clicked[bool].connect(self._handle_move_to_clicked)
joint_values_grid.addWidget(button_show_joint_values, 0, 1)
joint_values_grid.addWidget(line_edit, 0, 2)
joint_values_grid.addWidget(button_move_to, 0, 3)
layout.addLayout(grid)
line = QFrame()
line.setFrameShape(QFrame.HLine)
line.setFrameShadow(QFrame.Sunken)
layout.addWidget(line)
layout.addLayout(joint_values_grid)
frame = QFrame()
frame.setLayout(layout)
return frame
def __init__(self, master):
QObject.__init__(self)
self.name = master.name
self._master = master
self._syncronized = MasterSyncButtonHelper.NOT_SYNC
self.ICONS = {MasterSyncButtonHelper.SYNC: nm.settings().icon("%s_sync.png" % self.ICON_PREFIX),
MasterSyncButtonHelper.NOT_SYNC: nm.settings().icon("%s_not_sync.png" % self.ICON_PREFIX),
MasterSyncButtonHelper.SWITCHED: nm.settings().icon("%s_start_sync.png" % self.ICON_PREFIX)}
self.widget = QPushButton()
# self.widget.setFlat(True)
self.widget.setIcon(self.ICONS[MasterSyncButtonHelper.NOT_SYNC])
self.widget.setMaximumSize(48, 48)
self.widget.setCheckable(True)
self.widget.clicked.connect(self.on_sync_clicked)
def _create_buttons(self):
# create the buttons line
self.buttons = QWidget(self)
self.horizontalLayout = QHBoxLayout(self.buttons)
self.horizontalLayout.setContentsMargins(4, 0, 4, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
# add the search button
self.searchButton = QPushButton(self)
self.searchButton.setObjectName("searchButton")
# self.searchButton.clicked.connect(self.on_shortcut_find)
self.searchButton.toggled.connect(self.on_toggled_find)
self.searchButton.setText(self._translate("&Find"))
self.searchButton.setToolTip('Open a search dialog (Ctrl+F)')
self.searchButton.setFlat(True)
self.searchButton.setCheckable(True)
self.horizontalLayout.addWidget(self.searchButton)
# add the replace button
self.replaceButton = QPushButton(self)
self.replaceButton.setObjectName("replaceButton")
# self.replaceButton.clicked.connect(self.on_shortcut_replace)
self.replaceButton.toggled.connect(self.on_toggled_replace)
self.replaceButton.setText(self._translate("&Replace"))
self.replaceButton.setToolTip('Open a search&replace dialog (Ctrl+R)')
self.replaceButton.setFlat(True)
self.replaceButton.setCheckable(True)
self.horizontalLayout.addWidget(self.replaceButton)
# add the goto button
self.gotoButton = QPushButton(self)
self.gotoButton.setObjectName("gotoButton")
self.gotoButton.clicked.connect(self.on_shortcut_goto)
self.gotoButton.setText(self._translate("&Goto line"))
self.gotoButton.setShortcut("Ctrl+G")
self.gotoButton.setToolTip('Open a goto dialog (Ctrl+G)')
self.gotoButton.setFlat(True)
self.horizontalLayout.addWidget(self.gotoButton)
# add a tag button
self.tagButton = self._create_tag_button(self)
self.horizontalLayout.addWidget(self.tagButton)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding,
QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add line number label
self.pos_label = QLabel()
self.horizontalLayout.addWidget(self.pos_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding,
QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add save button
self.saveButton = QPushButton(self)
self.saveButton.setObjectName("saveButton")
self.saveButton.clicked.connect(self.on_saveButton_clicked)
self.saveButton.setText(self._translate("&Save"))
self.saveButton.setShortcut("Ctrl+S")
self.saveButton.setToolTip('Save the changes to the file (Ctrl+S)')
self.saveButton.setFlat(True)
self.horizontalLayout.addWidget(self.saveButton)
return self.buttons
def update_buttons(self):
self.clean()
for index, level in enumerate(self.levels):
self.text_label.setText("Choose Level: ")
button = QPushButton(level.level_id, self._widget)
button.clicked[bool].connect(self.handle_button)
button.setCheckable(True)
self._button_layout.addWidget(button)
self.buttons.append(button)
# Subscribe to the current level we are on.
if self.status_subscriber is None:
self.status_subscriber = rospy.Subscriber(
"level_mux/current_level", LevelMetaData,
self.process_level_status)
def loadThrusters(self):
# Loop over all of the thruster values found in the params
for i in range(0, len(self.names)):
# Add a button to a list so we can mess with it later
self.thrusterButtons.append(QPushButton(self.names[i]['name']))
# Modify setting of the button
self.thrusterButtons[i].setCheckable(True)
# Save the callbacks in a list
self.thrusterCallbacks[self.names[i]['name']] = \
getattr(self, '_handle_thruster' + str(i))
# Connect the callback to the button's toggle event
self.thrusterButtons[i].toggled[bool].connect(
self.thrusterCallbacks[self.names[i]['name']])
# Add the button to the Ui
self._widget.thrusterButtons.addWidget(self.thrusterButtons[i])
# Get the orientation
self.thrusterScales.append(0)
for v in self.names[i]['orientation'].values():
self.thrusterScales[i] = self.thrusterScales[i] + v
# Append a value to the thruster message for this button
self.thrusterMessage.data.append(0.0)
print self.thrusterScales
def __init__(self, parent):
super(TimelineWidget, self).__init__()
self.parent = parent
self._layout = QHBoxLayout()
#self._view = QGraphicsView()
self._view = TimelineWidget.TimelineView(self)
self._scene = QGraphicsScene()
self._colors = [QColor('green'), QColor('yellow'), QColor('red')]
self._messages = [None for x in range(20)]
self._mq = [1 for x in range(20)]
self._view.setHorizontalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
self._view.setVerticalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
self._view.setScene(self._scene)
self._layout.addWidget(self._view, 1)
self.pause_button = QPushButton('Pause')
self.pause_button.setCheckable(True)
self.pause_button.clicked.connect(self.pause)
self._layout.addWidget(self.pause_button)
self.setLayout(self._layout)
self.update.connect(self.redraw)
def __init__(self, parent = None, logger = Logger()):
QWidgetWithLogger.__init__(self, parent, logger)
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add combo box
self.parameter_set_names_combo_box = QComboBox()
self.parameter_set_names_combo_box.currentIndexChanged[str].connect(self.param_changed)
hbox.addWidget(self.parameter_set_names_combo_box)
# add refresh button
self.get_all_parameter_set_names_button = QPushButton()
self.get_all_parameter_set_names_button.clicked.connect(self._get_all_parameter_set_names)
self.get_all_parameter_set_names_button.setIcon(icon)
self.get_all_parameter_set_names_button.setFixedSize(size.width()+2, size.height()+2)
hbox.addWidget(self.get_all_parameter_set_names_button)
# end widget
self.setLayout(hbox)
# init widget
self.reset_parameter_set_selection()
def __init__(self, context, actions):
super(ActionClientContainerWidget, self).__init__()
grid = QGridLayout()
grid.setSpacing(1)
MAX_COLUMNS = 2
self.setObjectName('ActionClientContainerWidget')
self.clear_button = QPushButton("Clear all")
self.clear_button.clicked[bool].connect(self._handle_clear_clicked)
grid.addWidget(self.clear_button, 0, 0)
self.widgets = []
row = 1
column = 0
for k in sorted(actions.keys()):
action_name = k
widget = ActionClientWidget(context, action_name, actions[k])
grid.addWidget(widget, row, column)
self.widgets.append(widget)
column += 1
if column >= MAX_COLUMNS:
row += 1
column = 0
self.setLayout(grid)
def add_command_button(self, parent, text, command):
button = QPushButton(text)
self.command_mapper.setMapping(button, command)
button.clicked.connect(self.command_mapper.map)
parent.addWidget(button)
self.command_buttons.append(button)
return button
def __init__(self, context):
super(SpectrogramPlugin, self).__init__(context)
self.setObjectName('Spectrogram')
self._widget = QWidget()
layout = QVBoxLayout()
self._widget.setLayout(layout)
layout_ = QHBoxLayout()
self.line_edit = QLineEdit()
layout_.addWidget(self.line_edit)
self.apply_btn = QPushButton("Apply")
self.apply_btn.clicked.connect(self.apply_clicked)
layout_.addWidget(self.apply_btn)
layout.addLayout(layout_)
self.fig = Figure((5, 4), dpi=100)
self.canvas = FigureCanvas(self.fig)
self.axes = self.fig.add_subplot(111)
self.fig.tight_layout()
layout.addWidget(self.canvas)
context.add_widget(self._widget)
self.update_signal.connect(self.update_spectrogram)
self.subscriber_signal.connect(self.update_subscriber)
self.subscriber_signal.emit('spec')
def __init__(self, path, parent=None):
QWidget.__init__(self, parent)
self.path = path
self._layout = QHBoxLayout(self)
self._layout.setContentsMargins(0, 0, 0, 0)
self._layout.setSpacing(0)
self._button = QPushButton('...')
self._button.setMaximumSize(QSize(24, 20))
self._button.clicked.connect(self._on_path_select_clicked)
self._layout.addWidget(self._button)
self._lineedit = QLineEdit(path)
self._lineedit.returnPressed.connect(self._on_editing_finished)
self._layout.addWidget(self._lineedit)
self.setLayout(self._layout)
self.setFocusProxy(self._button)
self.setAutoFillBackground(True)
def startPropertyEdit(self):
self.editing_properties = True
self.edit_existing_location = self.edit_properties_location
self.edit_area_button[LocationFunction.ADD_LOCATION_AREA].setEnabled(True)
self.edit_area_button[LocationFunction.EDIT_EXISTING_AREA].setEnabled(True)
# Construct the configuration layout.
clearLayoutAndFixHeight(self.configuration_layout)
self.update_name_label = QLabel("Location (" + self.edit_properties_location + ") New Name: ", self.widget)
self.configuration_layout.addWidget(self.update_name_label)
self.update_name_textedit = QLineEdit(self.widget)
self.update_name_textedit.setText(self.edit_properties_location)
self.update_name_textedit.textEdited.connect(self.locationNameTextEdited)
self.configuration_layout.addWidget(self.update_name_textedit)
self.update_name_button = QPushButton("Update location Name", self.widget)
self.update_name_button.clicked[bool].connect(self.updateLocationName)
self.update_name_button.setEnabled(False)
self.configuration_layout.addWidget(self.update_name_button)
self.remove_location_button = QPushButton("Remove Location", self.widget)
self.remove_location_button.clicked[bool].connect(self.removeCurrentLocation)
self.configuration_layout.addWidget(self.remove_location_button)
self.configuration_layout.addStretch(1)
self.updateOverlay()
def __init__(self):
super(NodeWidgetsContainer, self).__init__()
yaml_file = rospy.get_param("~config_file")
stream = open(yaml_file, "r")
nodes = yaml.load(stream)
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('mcr_event_gui'), 'ros',
'resources', 'NodeWidgetsContainer.ui')
loadUi(ui_file, self)
grid = QGridLayout()
grid.setSpacing(1)
MAX_COLUMNS = 2
self.setObjectName('NodeWidgetsContainer')
self.clear_button = QPushButton("Clear all")
self.clear_button.clicked[bool].connect(self._handle_clear_clicked)
self.stop_button = QPushButton("Stop all")
self.stop_button.clicked[bool].connect(self._handle_stop_clicked)
grid.addWidget(self.clear_button, 0, 0)
grid.addWidget(self.stop_button, 0, 1)
self.widgets = []
row = 1
column = 0
for k in sorted(nodes.keys()):
node_name = k
widget = NodeEventsWidget(node_name, nodes[k])
width = widget.width()
height = widget.height()
grid.addWidget(widget, row, column)
grid.setColumnMinimumWidth(column, width)
grid.setRowMinimumHeight(row, height)
self.widgets.append(widget)
column += 1
if column >= MAX_COLUMNS:
row += 1
column = 0
self.setLayout(grid)
class PathEditor(QWidget):
'''
This is a path editor used as ItemDeligate in settings view. This editor
provides an additional button for directory selection dialog.
'''
editing_finished_signal = Signal()
def __init__(self, path, parent=None):
QWidget.__init__(self, parent)
self.path = path
self._layout = QHBoxLayout(self)
self._layout.setContentsMargins(0, 0, 0, 0)
self._layout.setSpacing(0)
self._button = QPushButton('...')
self._button.setMaximumSize(QSize(24, 20))
self._button.clicked.connect(self._on_path_select_clicked)
self._layout.addWidget(self._button)
self._lineedit = QLineEdit(path)
self._lineedit.returnPressed.connect(self._on_editing_finished)
self._layout.addWidget(self._lineedit)
self.setLayout(self._layout)
self.setFocusProxy(self._button)
self.setAutoFillBackground(True)
def _on_path_select_clicked(self):
# Workaround for QFileDialog.getExistingDirectory because it do not
# select the configuration folder in the dialog
self.dialog = QFileDialog(self, caption='Select a new settings folder')
self.dialog.setOption(QFileDialog.HideNameFilterDetails, True)
self.dialog.setFileMode(QFileDialog.Directory)
self.dialog.setDirectory(self.path)
if self.dialog.exec_():
fileNames = self.dialog.selectedFiles()
path = fileNames[0]
if os.path.isfile(path):
path = os.path.basename(path)
self._lineedit.setText(path)
self.path = dir
self.editing_finished_signal.emit()
def _on_editing_finished(self):
if self._lineedit.text():
self.path = self._lineedit.text()
self.editing_finished_signal.emit()
class PathEditor(QWidget):
'''
This is a path editor used as ItemDeligate in settings view. This editor
provides an additional button for directory selection dialog.
'''
editing_finished_signal = Signal()
def __init__(self, path, parent=None):
QWidget.__init__(self, parent)
self.path = path
self._layout = QHBoxLayout(self)
self._layout.setContentsMargins(0, 0, 0, 0)
self._layout.setSpacing(0)
self._button = QPushButton('...')
self._button.setMaximumSize(QSize(24, 20))
self._button.clicked.connect(self._on_path_select_clicked)
self._layout.addWidget(self._button)
self._lineedit = QLineEdit(path)
self._lineedit.returnPressed.connect(self._on_editing_finished)
self._layout.addWidget(self._lineedit)
self.setLayout(self._layout)
self.setFocusProxy(self._button)
self.setAutoFillBackground(True)
def _on_path_select_clicked(self):
# Workaround for QFileDialog.getExistingDirectory because it do not
# select the configuration folder in the dialog
self.dialog = QFileDialog(self, caption='Select a new settings folder')
self.dialog.setOption(QFileDialog.HideNameFilterDetails, True)
self.dialog.setFileMode(QFileDialog.Directory)
self.dialog.setDirectory(self.path)
if self.dialog.exec_():
fileNames = self.dialog.selectedFiles()
path = fileNames[0]
if os.path.isfile(path):
path = os.path.basename(path)
self._lineedit.setText(path)
self.path = dir
self.editing_finished_signal.emit()
def _on_editing_finished(self):
if self._lineedit.text():
self.path = self._lineedit.text()
self.editing_finished_signal.emit()
def __init__(self, masteruri, cfg, ns, nodes, parent=None):
QFrame.__init__(self, parent)
self._masteruri = masteruri
self._nodes = {cfg: {ns: nodes}}
frame_layout = QVBoxLayout(self)
frame_layout.setContentsMargins(0, 0, 0, 0)
# create frame for warning label
self.warning_frame = warning_frame = QFrame(self)
warning_layout = QHBoxLayout(warning_frame)
warning_layout.setContentsMargins(0, 0, 0, 0)
warning_layout.addItem(
QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
self.warning_label = QLabel()
icon = nm.settings().icon('crystal_clear_warning.png')
self.warning_label.setPixmap(icon.pixmap(QSize(40, 40)))
self.warning_label.setToolTip(
'Multiple configuration for same node found!\nA first one will be selected for the start a node!'
)
warning_layout.addWidget(self.warning_label)
warning_layout.addItem(
QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
frame_layout.addItem(
QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
frame_layout.addWidget(warning_frame)
# create frame for start/stop buttons
buttons_frame = QFrame()
buttons_layout = QHBoxLayout(buttons_frame)
buttons_layout.setContentsMargins(0, 0, 0, 0)
buttons_layout.addItem(QSpacerItem(20, 20))
self.on_button = QPushButton()
self.on_button.setFlat(False)
self.on_button.setText("On")
self.on_button.clicked.connect(self.on_on_clicked)
buttons_layout.addWidget(self.on_button)
self.off_button = QPushButton()
self.off_button.setFlat(True)
self.off_button.setText("Off")
self.off_button.clicked.connect(self.on_off_clicked)
buttons_layout.addWidget(self.off_button)
buttons_layout.addItem(QSpacerItem(20, 20))
frame_layout.addWidget(buttons_frame)
frame_layout.addItem(
QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
self.warning_frame.setVisible(False)
def __init__(self, updater, config):
self.updater = ApplyGroup.ApplyUpdater(updater)
super(ApplyGroup, self).__init__(self.updater, config)
self.button = QPushButton("Apply %s" % self.name)
self.button.clicked.connect(self.updater.apply_update)
rows = self.grid.rowCount()
self.grid.addWidget(self.button, rows + 1, 1, Qt.AlignRight)
def __init__(self):
super(Tester, self).__init__();
vlayout = QVBoxLayout();
self.testButton = QPushButton("Exactly one row of buttons");
vlayout.addWidget(self.testButton);
self.testButton.clicked.connect(self.exactlyOneRow);
self.setLayout(vlayout);
self.show();
def __init__(self, buttonProgramArrayIterator):
super(ButtonSetPopupSelector, self).__init__();
self.setStyleSheet(SpeakEasyGUI.stylesheetAppBG);
self.programButtonDict = {};
self.buttonProgramArrayIt = buttonProgramArrayIterator;
self.buttonProgramArrays = []; # saved ButtonProgram arrays
self.shownLabelArrays = [];
self.currentlyShowingSetIndex = None;
self.rootLayout = None;
self.cancelButton = QPushButton("Cancel");
self.cancelButton.setStyleSheet(SpeakEasyGUI.recorderButtonStylesheet);
self.cancelButton.setMinimumHeight(SpeakEasyGUI.BUTTON_MIN_HEIGHT);
#self.cancelButton.clicked.connect(partial(QDialog.done, self, 0));
self.cancelButton.clicked.connect(self.clickedCancelButton);
self.OKButton = QPushButton("Pick this One");
self.OKButton.setStyleSheet(SpeakEasyGUI.recorderButtonStylesheet);
self.OKButton.setMinimumHeight(SpeakEasyGUI.BUTTON_MIN_HEIGHT);
self.OKButton.clicked.connect(self.clickedOKButton);
self.currentNextPrevDirection = NextPrev.NEXT;
self.nextButton = QPushButton("Next");
self.nextButton.setStyleSheet(SpeakEasyGUI.recorderButtonStylesheet);
self.nextButton.setMinimumHeight(SpeakEasyGUI.BUTTON_MIN_HEIGHT);
self.nextButton.clicked.connect(self.clickedNextButton);
self.prevButton = QPushButton("Previous");
self.prevButton.setStyleSheet(SpeakEasyGUI.recorderButtonStylesheet);
self.prevButton.setMinimumHeight(SpeakEasyGUI.BUTTON_MIN_HEIGHT);
self.prevButton.clicked.connect(self.clickedPrevButton);
self.setNextPrevButtonsEnabledness();
self.endOfSetsLabel = QLabel("<b>No more button sets.</b>")
self.noSetsLabel = QLabel("<b>No button sets available.</b>")
self.noAvailableSets = False;
self.offerNewButtonSet();
def __init__(self, context):
super(MultiRobotPatrollerPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('MultiRobotPatrollerPlugin')
# Create QWidget
self.widget = QWidget()
self.master_layout = QVBoxLayout(self.widget)
self.buttons = []
self.button_layout = QHBoxLayout()
self.master_layout.addLayout(self.button_layout)
for button_text in ["Play", "Pause"]:
button = QPushButton(button_text, self.widget)
button.clicked[bool].connect(self.handle_button)
button.setCheckable(True)
self.button_layout.addWidget(button)
if button_text == "Pause":
button.setChecked(True)
self.buttons.append(button)
self.text_labels = {}
self.widget.setObjectName('MultiRobotPatrollerPluginUI')
if context.serial_number() > 1:
self.widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self.widget)
self.points = rospy.get_param("points")
self.flip_direction = rospy.get_param("flip_direction")
self.available_robots = []
self.global_start_counter = 0
self.global_forward = True
self.available_robot_subscriber = rospy.Subscriber("/available_robots", AvailableRobotArray,
self.available_robot_callback)
self.robot_goals = {}
self.paused = True
self.connect(self.widget, SIGNAL("update"), self.update)
def activateFunction(self):
# Add all the necessary buttons to the subfunction layout.
clearLayoutAndFixHeight(self.subfunction_layout)
for button_text in [LocationFunction.ADD_LOCATION_AREA,
LocationFunction.EDIT_EXISTING_AREA]:
button = QPushButton(button_text, self.widget)
button.clicked[bool].connect(partial(self.startAreaEdit, button_text))
button.setCheckable(True)
self.subfunction_layout.addWidget(button)
self.edit_area_button[button_text] = button
self.edit_area_button[LocationFunction.EDIT_EXISTING_AREA].setEnabled(False)
self.subfunction_layout.addStretch(1)
# ActivateMouseHooks.
self.image.mousePressEvent = self.mousePressEvent
self.image.mouseMoveEvent = self.mouseMoveEvent
self.image.mouseReleaseEvent = self.mouseReleaseEvent
self.updateOverlay()
def startPropertyEdit(self):
self.editing_properties = True
self.edit_existing_location = self.edit_properties_location
self.edit_area_button[LocationFunction.ADD_LOCATION_AREA].setEnabled(
True)
self.edit_area_button[LocationFunction.EDIT_EXISTING_AREA].setEnabled(
True)
# Construct the configuration layout.
clearLayoutAndFixHeight(self.configuration_layout)
neighbors_str = makeNeighborsString(
self.locations[self.edit_properties_location], self.locations)
self.update_name_label = QLabel(
"Location (" + self.edit_properties_location + " - " +
neighbors_str + ") New Name: ", self.widget)
self.configuration_layout.addWidget(self.update_name_label)
self.update_name_textedit = QLineEdit(self.widget)
self.update_name_textedit.setText(self.edit_properties_location)
self.update_name_textedit.textEdited.connect(
self.locationNameTextEdited)
self.configuration_layout.addWidget(self.update_name_textedit)
self.update_name_button = QPushButton("Update location Name",
self.widget)
self.update_name_button.clicked[bool].connect(self.updateLocationName)
self.update_name_button.setEnabled(False)
self.configuration_layout.addWidget(self.update_name_button)
self.remove_location_button = QPushButton("Remove Location",
self.widget)
self.remove_location_button.clicked[bool].connect(
self.removeCurrentLocation)
self.configuration_layout.addWidget(self.remove_location_button)
self.configuration_layout.addStretch(1)
self.updateOverlay()
def __init__(self, parent=None, logger=Logger()):
QWidgetWithLogger.__init__(self, parent, logger)
# start widget
vbox = QVBoxLayout()
vbox.setMargin(0)
vbox.setContentsMargins(0, 0, 0, 0)
# add layout which is dynamically filled
self.parameter_tree_widget = QParameterTreeWidget(logger=self.logger)
vbox.addWidget(self.parameter_tree_widget)
# button panel
vbox_commands = QVBoxLayout()
hbox = QHBoxLayout()
# upload topic
send_parameter_topic_widget = QTopicWidget(self, 'vigir_footstep_planning_msgs/SetParameterSetAction', True)
send_parameter_topic_widget.topic_changed_signal.connect(self._init_upload_paramater_set_client)
hbox.addWidget(send_parameter_topic_widget)
# upload command
self.upload_command = QPushButton("Upload")
self.upload_command.clicked.connect(self.upload_parameters)
hbox.addWidget(self.upload_command)
vbox_commands.addLayout(hbox)
# reload command
self.reload_command = QPushButton("Reload")
self.reload_command.clicked.connect(self.reload_parameters)
vbox_commands.addWidget(self.reload_command)
# add button panel
vbox.addLayout(vbox_commands)
# end widget
self.setLayout(vbox)
# init
self.clear()
send_parameter_topic_widget.emit_topic_name()
def generate_task_buttons(self, task_list):
# remove existing tasks that aren't in received list
# two steps to avoid modifying the dict while iterating
tasks_to_remove = [name
for name in self._task_map
if name not in task_list]
for name in tasks_to_remove:
self._task_map[name].button.setParent(None)
del self._task_map[name]
# add received tasks that we don't have yet
for name in task_list:
if name not in self._task_map:
button = QPushButton(name, self._widget.scrollAreaWidgetContents)
button.clicked.connect(self.task_buttons_click_slot)
button.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.MinimumExpanding)
self._layout.addWidget(button)
self._task_map[name] = TaskInfo(name, button)
self.refresh_button_highlighting()
def __init__(self):
super(CalibrationMovementsGUI, self).__init__()
move_group_name = rospy.get_param('~move_group', 'manipulator')
self.angle_delta = math.radians(
rospy.get_param('~rotation_delta_degrees', 25))
self.translation_delta = rospy.get_param('~translation_delta_meters',
0.1)
max_velocity_scaling = rospy.get_param('~max_velocity_scaling', 0.5)
max_acceleration_scaling = rospy.get_param('~max_acceleration_scaling',
0.5)
self.local_mover = CalibrationMovements(move_group_name,
max_velocity_scaling,
max_acceleration_scaling)
self.current_pose = -1
self.current_plan = None
self.state = CalibrationMovementsGUI.NOT_INITED_YET
self.layout = QVBoxLayout()
self.labels_layout = QHBoxLayout()
self.buttons_layout = QHBoxLayout()
self.progress_bar = QProgressBar()
self.pose_number_lbl = QLabel('0/8')
self.bad_plan_lbl = QLabel('No plan yet')
self.guide_lbl = QLabel('Hello')
self.guide_lbl.setWordWrap(True)
self.check_start_pose_btn = QPushButton('Check starting pose')
self.check_start_pose_btn.clicked.connect(
self.handle_check_current_state)
self.next_pose_btn = QPushButton('Next Pose')
self.next_pose_btn.clicked.connect(self.handle_next_pose)
self.plan_btn = QPushButton('Plan')
self.plan_btn.clicked.connect(self.handle_plan)
self.execute_btn = QPushButton('Execute')
self.execute_btn.clicked.connect(self.handle_execute)
self.labels_layout.addWidget(self.pose_number_lbl)
self.labels_layout.addWidget(self.bad_plan_lbl)
self.buttons_layout.addWidget(self.check_start_pose_btn)
self.buttons_layout.addWidget(self.next_pose_btn)
self.buttons_layout.addWidget(self.plan_btn)
self.buttons_layout.addWidget(self.execute_btn)
self.layout.addWidget(self.progress_bar)
self.layout.addLayout(self.labels_layout)
self.layout.addWidget(self.guide_lbl)
self.layout.addLayout(self.buttons_layout)
self.setLayout(self.layout)
self.plan_btn.setEnabled(False)
self.execute_btn.setEnabled(False)
self.setWindowTitle('Local Mover')
self.show()
def __init__(self, masteruri, cfg, ns, nodes, parent=None):
QFrame.__init__(self, parent)
self._masteruri = masteruri
self._nodes = {cfg: {ns: nodes}}
frame_layout = QVBoxLayout(self)
frame_layout.setContentsMargins(0, 0, 0, 0)
# create frame for warning label
self.warning_frame = warning_frame = QFrame(self)
warning_layout = QHBoxLayout(warning_frame)
warning_layout.setContentsMargins(0, 0, 0, 0)
warning_layout.addItem(QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
self.warning_label = QLabel()
icon = QIcon(':/icons/crystal_clear_warning.png')
self.warning_label.setPixmap(icon.pixmap(QSize(40, 40)))
self.warning_label.setToolTip('Multiple configuration for same node found!\nA first one will be selected for the start a node!')
warning_layout.addWidget(self.warning_label)
warning_layout.addItem(QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
frame_layout.addItem(QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
frame_layout.addWidget(warning_frame)
# create frame for start/stop buttons
buttons_frame = QFrame()
buttons_layout = QHBoxLayout(buttons_frame)
buttons_layout.setContentsMargins(0, 0, 0, 0)
buttons_layout.addItem(QSpacerItem(20, 20))
self.on_button = QPushButton()
self.on_button.setFlat(False)
self.on_button.setText("On")
self.on_button.clicked.connect(self.on_on_clicked)
buttons_layout.addWidget(self.on_button)
self.off_button = QPushButton()
self.off_button.setFlat(True)
self.off_button.setText("Off")
self.off_button.clicked.connect(self.on_off_clicked)
buttons_layout.addWidget(self.off_button)
buttons_layout.addItem(QSpacerItem(20, 20))
frame_layout.addWidget(buttons_frame)
frame_layout.addItem(QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
self.warning_frame.setVisible(False)
def __init__(self, parent=None):
super(LineEditDialog, self).__init__()
self.value = None
vbox = QtGui.QVBoxLayout(self)
# combo box
model = QtGui.QStandardItemModel(self)
for elm in rospy.get_param_names():
model.setItem(model.rowCount(), 0, QtGui.QStandardItem(elm))
self.combo_box = QtGui.QComboBox(self)
self.line_edit = QtGui.QLineEdit()
self.combo_box.setLineEdit(self.line_edit)
self.combo_box.setCompleter(QtGui.QCompleter())
self.combo_box.setModel(model)
self.combo_box.completer().setModel(model)
self.combo_box.lineEdit().setText('')
vbox.addWidget(self.combo_box)
# button
button = QPushButton()
button.setText("Done")
button.clicked.connect(self.buttonCallback)
vbox.addWidget(button)
self.setLayout(vbox)
def _create_layout(self):
name_hor_sub_widget = QWidget()
name_hor_layout = QHBoxLayout(name_hor_sub_widget)
name_widget = QLabel(self.name + ": ")
name_hor_layout.addWidget(name_widget)
if self.add == True:
btn_add = QPushButton("+", name_hor_sub_widget)
btn_add.clicked.connect(self._push_param)
btn_add.clicked.connect(self._update_item)
name_hor_layout.addWidget(btn_add)
btn_subtract = QPushButton("-", name_hor_sub_widget)
btn_subtract.clicked.connect(self._pop_param)
btn_subtract.clicked.connect(self._update_item)
name_hor_layout.addWidget(btn_subtract)
pass
self.arg_ver_layout.addWidget(name_hor_sub_widget)
self.dlg_layout.addWidget(self.arg_ver_sub_widget)
self._update_item()
class WarningMessageBox(QMessageBox):
def __init__(self,
icon,
title,
text,
detailed_text="",
buttons=QMessageBox.Ok):
QMessageBox.__init__(self, icon, title, text, buttons)
self.textEdit = None
if detailed_text:
self.setDetailedText(detailed_text)
self.textEdit = textEdit = self.findChild(QTextEdit)
if textEdit is not None:
textEdit.setMinimumHeight(0)
textEdit.setMaximumHeight(16777215)
textEdit.setMinimumWidth(0)
textEdit.setMaximumWidth(16777215)
textEdit.setSizePolicy(QSizePolicy.Expanding,
QSizePolicy.Expanding)
# horizontalSpacer = QSpacerItem(480, 0, QSizePolicy.Minimum, QSizePolicy.Expanding)
# layout = self.layout()
# layout.addItem(horizontalSpacer, layout.rowCount(), 0, 1, layout.columnCount())
if QMessageBox.Abort & buttons:
self.setEscapeButton(QMessageBox.Abort)
elif QMessageBox.Ignore & buttons:
self.setEscapeButton(QMessageBox.Ignore)
elif QMessageBox.Cancel & buttons:
self.setEscapeButton(QMessageBox.Cancel)
else:
self.setEscapeButton(buttons)
self.ignore_all_btn = QPushButton('Don\'t display again')
self.addButton(self.ignore_all_btn, QMessageBox.HelpRole)
self.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.ignore_all_btn.setVisible(False)
def paintEvent(self, event):
QMessageBox.paintEvent(self, event)
if self.textEdit is not None:
if self.textEdit.isVisible():
if not self.ignore_all_btn.isVisible():
self.ignore_all_btn.setVisible(True)
self.setSizeGripEnabled(True)
self.setMaximumHeight(16777215)
self.setMaximumWidth(16777215)
elif not self.textEdit.isVisible():
if self.ignore_all_btn.isVisible():
self.ignore_all_btn.setVisible(False)
self.setSizeGripEnabled(False)
def __init__(self, parent = None, topic_type = str(), is_action_topic = False):
QWidget.__init__(self, parent)
if is_action_topic:
self.topic_type = topic_type + "Goal"
else:
self.topic_type = topic_type
self.is_action_topic = is_action_topic
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# topic combo box
self.topic_combo_box = QComboBox()
self.topic_combo_box.setEnabled(False)
self.topic_combo_box.blockSignals(True)
self.topic_combo_box.setValidator(QRegExpValidator(QRegExp('((\d|\w|/)(?!//))*'), self))
self.topic_combo_box.currentIndexChanged[str].connect(self.topic_changed)
hbox.addWidget(self.topic_combo_box)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add refresh button
refresh_topics_button = QPushButton()
refresh_topics_button.clicked.connect(self.update_topic_list)
refresh_topics_button.setIcon(icon)
refresh_topics_button.setFixedSize(size.width()+2, size.height()+2)
hbox.addWidget(refresh_topics_button)
# end widget
self.setLayout(hbox)
# init widget
self.update_topic_list()
def __init__(self, master):
QObject.__init__(self)
self.name = master.name
self._master = master
self._syncronized = MasterSyncButtonHelper.NOT_SYNC
self.ICONS = {MasterSyncButtonHelper.SYNC: QIcon(":/icons/%s_sync.png" % self.ICON_PREFIX),
MasterSyncButtonHelper.NOT_SYNC: QIcon(":/icons/%s_not_sync.png" % self.ICON_PREFIX),
MasterSyncButtonHelper.SWITCHED: QIcon(":/icons/%s_start_sync.png" % self.ICON_PREFIX)}
self.widget = QPushButton()
# self.widget.setFlat(True)
self.widget.setIcon(self.ICONS[MasterSyncButtonHelper.NOT_SYNC])
self.widget.setMaximumSize(48, 48)
self.widget.setCheckable(True)
self.widget.clicked.connect(self.on_sync_clicked)
def _create_find_frame(self):
find_frame = QFrame(self)
find_hbox_layout = QHBoxLayout(find_frame)
find_hbox_layout.setContentsMargins(0, 0, 0, 0)
find_hbox_layout.setSpacing(1)
self.search_field = EnchancedLineEdit(find_frame)
self.search_field.setPlaceholderText('search text')
self.search_field.textChanged.connect(self.on_search_text_changed)
self.search_field.returnPressed.connect(self.on_search)
find_hbox_layout.addWidget(self.search_field)
self.search_result_label = QLabel(find_frame)
self.search_result_label.setText(' ')
find_hbox_layout.addWidget(self.search_result_label)
self.find_button_back = QPushButton("<")
self.find_button_back.setFixedWidth(44)
self.find_button_back.clicked.connect(self.on_search_back)
find_hbox_layout.addWidget(self.find_button_back)
self.find_button = QPushButton(">")
self.find_button.setDefault(True)
# self.find_button.setFlat(True)
self.find_button.setFixedWidth(44)
self.find_button.clicked.connect(self.on_search)
find_hbox_layout.addWidget(self.find_button)
return find_frame
def __init__(self, parent=None):
super(VisualizerWidget, self).__init__(parent)
self.setWindowTitle('Graph Profiler Visualizer')
vbox = QVBoxLayout()
self.setLayout(vbox)
toolbar_layout = QHBoxLayout()
refresh_button = QPushButton()
refresh_button.setIcon(QIcon.fromTheme('view-refresh'))
auto_refresh_checkbox = QCheckBox("Auto Refresh")
hide_disconnected_topics = QCheckBox("Hide Disconnected Topics")
topic_blacklist_button = QPushButton("Topic Blacklist")
node_blacklist_button = QPushButton("Node Blacklist")
refresh_button.clicked.connect(self._refresh)
topic_blacklist_button.clicked.connect(self._edit_topic_blacklist)
node_blacklist_button.clicked.connect(self._edit_node_blacklist)
auto_refresh_checkbox.setCheckState(2)
auto_refresh_checkbox.stateChanged.connect(self._autorefresh_changed)
hide_disconnected_topics.setCheckState(2)
hide_disconnected_topics.stateChanged.connect(self._hidedisconnectedtopics_changed)
toolbar_layout.addWidget(refresh_button)
toolbar_layout.addWidget(auto_refresh_checkbox)
toolbar_layout.addStretch(0)
toolbar_layout.addWidget(hide_disconnected_topics)
toolbar_layout.addWidget(topic_blacklist_button)
toolbar_layout.addWidget(node_blacklist_button)
vbox.addLayout(toolbar_layout)
# Initialize the Visualizer
self._view = qt_view.QtView()
self._adapter = rosprofiler_adapter.ROSProfileAdapter(self._view)
self._adapter.set_topic_quiet_list(TOPIC_BLACKLIST)
self._adapter.set_node_quiet_list(NODE_BLACKLIST)
vbox.addWidget(self._view)
def __init__(self, path, parent=None):
QWidget.__init__(self, parent)
self.path = path
self._layout = QHBoxLayout(self)
self._layout.setContentsMargins(0, 0, 0, 0)
self._layout.setSpacing(0)
self._button = QPushButton('...')
self._button.setMaximumSize(QSize(24, 20))
self._button.clicked.connect(self._on_path_select_clicked)
self._layout.addWidget(self._button)
self._lineedit = QLineEdit(path)
self._lineedit.returnPressed.connect(self._on_editing_finished)
self._layout.addWidget(self._lineedit)
self.setLayout(self._layout)
self.setFocusProxy(self._button)
self.setAutoFillBackground(True)
class TextSearchFrame(QDockWidget):
'''
A frame to find text in the Editor.
'''
search_result_signal = Signal(str, bool, str, int)
''' @ivar: A signal emitted after search_threaded was started.
(search text, found or not, file, position in text)
for each result a signal will be emitted.
'''
replace_signal = Signal(str, str, int, str)
''' @ivar: A signal emitted to replace string at given position.
(search text, file, position in text, replaced by text)
'''
def __init__(self, tabwidget, parent=None):
QDockWidget.__init__(self, "Find", parent)
self.setObjectName('SearchFrame')
self.setFeatures(QDockWidget.DockWidgetMovable | QDockWidget.DockWidgetFloatable)
self._dockwidget = QFrame(self)
self.vbox_layout = QVBoxLayout(self._dockwidget)
self.layout().setContentsMargins(0, 0, 0, 0)
self.layout().setSpacing(1)
# frame with two rows for find and replace
find_replace_frame = QFrame(self)
find_replace_vbox_layout = QVBoxLayout(find_replace_frame)
find_replace_vbox_layout.setContentsMargins(0, 0, 0, 0)
find_replace_vbox_layout.setSpacing(1)
# find_replace_vbox_layout.addSpacerItem(QSpacerItem(1, 1, QSizePolicy.Expanding, QSizePolicy.Expanding))
# create frame with find row
find_frame = self._create_find_frame()
find_replace_vbox_layout.addWidget(find_frame)
rplc_frame = self._create_replace_frame()
find_replace_vbox_layout.addWidget(rplc_frame)
# frame for find&replace and search results
self.vbox_layout.addWidget(find_replace_frame)
self.vbox_layout.addWidget(self._create_found_frame())
# self.vbox_layout.addStretch(2024)
self.setWidget(self._dockwidget)
# intern search parameters
self._tabwidget = tabwidget
self.current_search_text = ''
self.search_results = []
self.search_results_fileset = set()
self._search_result_index = -1
self._search_recursive = False
self._search_thread = None
def _create_find_frame(self):
find_frame = QFrame(self)
find_hbox_layout = QHBoxLayout(find_frame)
find_hbox_layout.setContentsMargins(0, 0, 0, 0)
find_hbox_layout.setSpacing(1)
self.search_field = EnchancedLineEdit(find_frame)
self.search_field.setPlaceholderText('search text')
self.search_field.textChanged.connect(self.on_search_text_changed)
self.search_field.returnPressed.connect(self.on_search)
find_hbox_layout.addWidget(self.search_field)
self.search_result_label = QLabel(find_frame)
self.search_result_label.setText(' ')
find_hbox_layout.addWidget(self.search_result_label)
self.find_button_back = QPushButton("<")
self.find_button_back.setFixedWidth(44)
self.find_button_back.clicked.connect(self.on_search_back)
find_hbox_layout.addWidget(self.find_button_back)
self.find_button = QPushButton(">")
self.find_button.setDefault(True)
# self.find_button.setFlat(True)
self.find_button.setFixedWidth(44)
self.find_button.clicked.connect(self.on_search)
find_hbox_layout.addWidget(self.find_button)
return find_frame
def _create_replace_frame(self):
# create frame with replace row
self.rplc_frame = rplc_frame = QFrame(self)
rplc_hbox_layout = QHBoxLayout(rplc_frame)
rplc_hbox_layout.setContentsMargins(0, 0, 0, 0)
rplc_hbox_layout.setSpacing(1)
self.replace_field = EnchancedLineEdit(rplc_frame)
self.replace_field.setPlaceholderText('replace text')
self.replace_field.returnPressed.connect(self.on_replace)
rplc_hbox_layout.addWidget(self.replace_field)
self.replace_result_label = QLabel(rplc_frame)
self.replace_result_label.setText(' ')
rplc_hbox_layout.addWidget(self.replace_result_label)
self.replace_button = replace_button = QPushButton("> &Replace >")
replace_button.setFixedWidth(90)
replace_button.clicked.connect(self.on_replace_click)
rplc_hbox_layout.addWidget(replace_button)
rplc_frame.setVisible(False)
return rplc_frame
def _create_found_frame(self):
ff_frame = QFrame(self)
self.found_files_vbox_layout = QVBoxLayout(ff_frame)
self.found_files_vbox_layout.setContentsMargins(0, 0, 0, 0)
self.recursive_search_box = QCheckBox("recursive search")
self.found_files_vbox_layout.addWidget(self.recursive_search_box)
self.found_files_list = QTreeWidget(ff_frame)
self.found_files_list.setColumnCount(1)
self.found_files_list.setFrameStyle(QFrame.StyledPanel)
self.found_files_list.setHeaderHidden(True)
self.found_files_list.itemActivated.connect(self.on_itemActivated)
self.found_files_list.setStyleSheet(
"QTreeWidget {"
"background-color:transparent;"
"}"
"QTreeWidget::item {"
"background-color:transparent;"
"}"
"QTreeWidget::item:selected {"
"background-color: darkgray;"
"}")
self.found_files_vbox_layout.addWidget(self.found_files_list)
self.recursive_search_box.setChecked(False)
return ff_frame
def keyPressEvent(self, event):
'''
Enable the shortcats for search and replace
'''
self.parent().keyPressEvent(event)
def on_search(self):
'''
Initiate the new search or request a next search result.
'''
if self.current_search_text != self.search_field.text() or self._search_recursive != self.recursive_search_box.isChecked():
# clear current search results
self._reset()
self.current_search_text = self.search_field.text()
if self.current_search_text:
path_text = {}
self._wait_for_result = True
for i in range(self._tabwidget.count()):
path_text[self._tabwidget.widget(i).filename] = self._tabwidget.widget(i).document().toPlainText()
self._search_recursive = self.recursive_search_box.isChecked()
self._search_thread = TextSearchThread(self.current_search_text, self._tabwidget.currentWidget().filename, path_text=path_text, recursive=self._search_recursive)
self._search_thread.search_result_signal.connect(self.on_search_result)
self._search_thread.warning_signal.connect(self.on_warning_result)
self._search_thread.start()
elif self.search_results:
self._check_position()
if self.search_results:
if self._search_result_index + 1 >= len(self.search_results):
self._search_result_index = -1
self._search_result_index += 1
(id, search_text, found, path, index, linenr, line) = self.search_results[self._search_result_index]
self.search_result_signal.emit(search_text, found, path, index)
self.replace_button.setEnabled(True)
self._update_label()
def on_search_back(self):
'''
Slot to handle the search back function.
'''
self._check_position(False)
if self.search_results:
self._search_result_index -= 1
if self._search_result_index < 0:
self._search_result_index = len(self.search_results) - 1
self._update_label()
(id, search_text, found, path, index, linenr, line) = self.search_results[self._search_result_index]
self.search_result_signal.emit(search_text, found, path, index)
self.replace_button.setEnabled(True)
def _check_position(self, forward=True):
try:
# if the position of the textCursor was changed by the user, move the search index
cur_pos = self._tabwidget.currentWidget().textCursor().position()
id, st, _f, pa, idx, lnr, ltxt = self.search_results[self._search_result_index]
sear_pos = idx + len(st)
if cur_pos != sear_pos:
first_idx = self._get_current_index_for_current_file()
if first_idx != -1:
id, st, _f, pa, idx, lnr, ltxt = self.search_results[first_idx]
sear_pos = idx + len(st)
while cur_pos > sear_pos and self._tabwidget.currentWidget().filename == pa:
first_idx += 1
id, st, _f, pa, idx, lnr, ltxt = self.search_results[first_idx]
sear_pos = idx + len(st)
self._search_result_index = first_idx
if forward:
self._search_result_index -= 1
else:
self._reset(True)
except:
pass
def _get_current_index_for_current_file(self):
for index in range(len(self.search_results)):
id, _st, _f, pa, _idx = self.search_results[index]
if self._tabwidget.currentWidget().filename == pa:
return index
return -1
def on_search_result(self, search_text, found, path, index, linenr, line):
'''
Slot to handle the signals for search result. This signals are forwarded used
search_result_signal.
'''
if found and search_text == self.current_search_text:
id = "%d:%s" % (index, path)
self.search_results_fileset.add(path)
item = (search_text, found, path, index)
if item not in self.search_results:
self.search_results.append((id, search_text, found, path, index, linenr, line))
if self._wait_for_result:
self._search_result_index += 1
if index >= self._tabwidget.currentWidget().textCursor().position() or self._tabwidget.currentWidget().filename != path:
self._wait_for_result = False
self.search_result_signal.emit(search_text, found, path, index)
self.replace_button.setEnabled(True)
pkg, rpath = package_name(os.path.dirname(path))
itemstr = '%s [%s]' % (os.path.basename(path), pkg)
if not self.found_files_list.findItems(itemstr, Qt.MatchExactly):
list_item = QTreeWidgetItem(self.found_files_list)
list_item.setText(0, itemstr)
list_item.setToolTip(0, path)
self.found_files_list.insertTopLevelItem(0, list_item)
self.found_files_list.expandAll()
for i in range(self.found_files_list.topLevelItemCount()):
top_item = self.found_files_list.topLevelItem(i)
if top_item.text(0) == itemstr:
sub_item_str = "%d: %s" % (linenr, line)
list_item2 = QTreeWidgetItem()
list_item2.setText(0, sub_item_str)
list_item2.setWhatsThis(0, id)
top_item.addChild(list_item2)
#self.found_files_list.setVisible(len(self.search_results_fileset) > 0)
self._update_label()
def on_warning_result(self, text):
rospy.logwarn(text)
def on_replace_click(self):
self.on_replace()
self.on_search()
def on_replace(self):
'''
Emits the replace signal, but only if currently selected text is equal to the searched one.
'''
if self.search_results:
try:
id, search_text, _found, path, index, linenr, line_text = self.search_results[self._search_result_index]
cursor = self._tabwidget.currentWidget().textCursor()
if cursor.selectedText() == search_text:
rptxt = self.replace_field.text()
for rindex in range(self._search_result_index + 1, len(self.search_results)):
iid, st, _f, pa, idx, lnr, ltxt = self.search_results[rindex]
if path == pa:
self.search_results.pop(rindex)
self.search_results.insert(rindex, (iid, st, _f, pa, idx + len(rptxt) - len(st), lnr, ltxt))
else:
break
self._remove_search_result(self._search_result_index)
self._search_result_index -= 1
self.replace_signal.emit(search_text, path, index, rptxt)
else:
self.replace_button.setEnabled(False)
except:
import traceback
print traceback.format_exc()
pass
def on_itemActivated(self, item):
'''
Go to the results for the selected file entry in the list.
'''
splits = item.whatsThis(0).split(':')
if len(splits) == 2:
item_index = int(splits[0])
item_path = splits[1]
new_search_index = -1
tmp_index = -1
search_index = -1
tmp_search_text = ''
for id, search_text, found, path, index, linenr, line_text in self.search_results:
new_search_index += 1
if item_path == path and item_index == index:
self._search_result_index = new_search_index
self.search_result_signal.emit(search_text, found, path, index)
self._update_label()
def on_search_text_changed(self, _text):
'''
Clear search result if the text was changed.
'''
self._reset()
def _update_label(self, clear_label=False):
'''
Updates the status label for search results. The info is created from search result lists.
'''
msg = ' '
if self.search_results:
count_files = len(self.search_results_fileset)
msg = '%d/%d' % (self._search_result_index + 1, len(self.search_results))
if count_files > 1:
msg = '%s(%d)' % (msg, count_files)
if self._search_thread is not None and self._search_thread.is_alive():
msg = 'searching..%s' % msg
elif not msg.strip() and self.current_search_text:
msg = '0 found'
self.current_search_text = ''
if clear_label:
msg = ' '
self.search_result_label.setText(msg)
self.find_button_back.setEnabled(len(self.search_results))
self._select_current_item_in_box(self._search_result_index)
def file_changed(self, path):
'''
Clears search results if for changed file are some search results are available
:param path: changed file path
:type path: str
'''
if path in self.search_results_fileset:
self._reset()
def set_replace_visible(self, value):
self.rplc_frame.setVisible(value)
self.raise_()
self.activateWindow()
if value:
self.replace_field.setFocus()
self.replace_field.selectAll()
self.setWindowTitle("Find / Replace")
else:
self.setWindowTitle("Find")
self.search_field.setFocus()
def is_replace_visible(self):
return self.rplc_frame.isVisible()
def _reset(self, force_new_search=False):
# clear current search results
if self._search_thread is not None:
self._search_thread.search_result_signal.disconnect()
self._search_thread.stop()
self._search_thread = None
self.current_search_text = ''
self.search_results = []
self.search_results_fileset = set()
self.found_files_list.clear()
# self.found_files_list.setVisible(False)
self._update_label(True)
self._search_result_index = -1
self.find_button_back.setEnabled(False)
if force_new_search:
self.on_search()
def enable(self):
self.setVisible(True)
# self.show()
self.raise_()
self.activateWindow()
self.search_field.setFocus()
self.search_field.selectAll()
def _select_current_item_in_box(self, index):
try:
(id, search_text, found, path, index, linenr, line) = self.search_results[index]
for topidx in range(self.found_files_list.topLevelItemCount()):
topitem = self.found_files_list.topLevelItem(topidx)
for childdx in range(topitem.childCount()):
child = topitem.child(childdx)
if child.whatsThis(0) == id:
child.setSelected(True)
elif child.isSelected():
child.setSelected(False)
except:
pass
def _remove_search_result(self, index):
try:
(id, search_text, found, path, index, linenr, line) = self.search_results.pop(index)
pkg, rpath = package_name(os.path.dirname(path))
itemstr = '%s [%s]' % (os.path.basename(path), pkg)
found_items = self.found_files_list.findItems(itemstr, Qt.MatchExactly)
for item in found_items:
for chi in range(item.childCount()):
child = item.child(chi)
if child.whatsThis(0) == id:
item.removeChild(child)
break
# delete top level item if it is now empty
for topidx in range(self.found_files_list.topLevelItemCount()):
if self.found_files_list.topLevelItem(topidx).childCount() == 0:
self.found_files_list.takeTopLevelItem(topidx)
break
# create new set with files contain the search text
new_path_set = set(path for _id, _st, _fd, path, _idx, lnr, lntxt in self.search_results)
self.search_results_fileset = new_path_set
# self.found_files_list.setVisible(len(self.search_results_fileset) > 0)
except:
import traceback
print traceback.format_exc()
class QExecuteStepPlanWidget(QWidgetWithLogger):
step_plan_sub = None
execute_step_plan_client = None
step_plan = None
def __init__(self, parent = None, logger = Logger(), step_plan_topic = str()):
QWidgetWithLogger.__init__(self, parent, logger)
# start widget
vbox = QVBoxLayout()
vbox.setMargin(0)
vbox.setContentsMargins(0, 0, 0, 0)
# step plan input topic selection
if len(step_plan_topic) == 0:
step_plan_topic_widget = QTopicWidget(topic_type = 'vigir_footstep_planning_msgs/StepPlan')
step_plan_topic_widget.topic_changed_signal.connect(self._init_step_plan_subscriber)
vbox.addWidget(step_plan_topic_widget)
else:
self._init_step_plan_subscriber(step_plan_topic)
# execute action server topic selection
execute_topic_widget = QTopicWidget(topic_type = 'vigir_footstep_planning_msgs/ExecuteStepPlanAction', is_action_topic = True)
execute_topic_widget.topic_changed_signal.connect(self._init_execute_action_client)
vbox.addWidget(execute_topic_widget)
# start button part
buttons_hbox = QHBoxLayout()
buttons_hbox.setMargin(0)
# execute
self.execute_command = QPushButton("Execute (Steps: 0)")
self.execute_command.clicked.connect(self.execute_command_callback)
self.execute_command.setEnabled(False)
buttons_hbox.addWidget(self.execute_command)
# repeat
self.repeat_command = QPushButton("Repeat")
self.repeat_command.clicked.connect(self.execute_command_callback)
self.repeat_command.setEnabled(False)
buttons_hbox.addWidget(self.repeat_command)
# stop
self.stop_command = QPushButton("Stop")
self.stop_command.clicked.connect(self.stop_command_callback)
self.stop_command.setEnabled(False)
buttons_hbox.addWidget(self.stop_command)
# end button part
vbox.addLayout(buttons_hbox)
# end widget
self.setLayout(vbox)
# init widget
if len(step_plan_topic) == 0:
step_plan_topic_widget.emit_topic_name()
execute_topic_widget.emit_topic_name()
def shutdown_plugin(self):
print "Shutting down ..."
if self.step_plan_sub is None:
self.step_plan_sub.unregister()
print "Done!"
def _init_step_plan_subscriber(self, topic_name):
if len(topic_name) > 0:
if self.step_plan_sub is not None:
self.step_plan_sub.unregister()
self.step_plan_sub = rospy.Subscriber(topic_name, StepPlan, self.step_plan_callback)
print "Step Plan topic changed: " + topic_name
def _init_execute_action_client(self, topic_name):
if len(topic_name) > 0:
self.execute_step_plan_client = actionlib.SimpleActionClient(topic_name, ExecuteStepPlanAction)
self.execute_command.setEnabled(self.step_plan is not None)
self.repeat_command.setEnabled(False)
self.stop_command.setEnabled(False)
print "Execution topic changed: " + topic_name
def step_plan_callback(self, step_plan):
self.step_plan = step_plan
self.execute_command.setText("Execute (Steps: " + str(len(step_plan.steps)) + ")")
if len(step_plan.steps) > 0:
self.execute_command.setEnabled(self.execute_step_plan_client is not None)
self.repeat_command.setEnabled(False)
def execute_command_callback(self):
if (self.execute_step_plan_client.wait_for_server(rospy.Duration(0.5))):
self.execute_command.setEnabled(False)
self.repeat_command.setEnabled(True)
self.stop_command.setEnabled(True)
self.logger.log_info("Executing footstep plan...")
goal = ExecuteStepPlanGoal()
goal.step_plan = self.step_plan
self.execute_step_plan_client.send_goal(goal)
else:
self.logger.log_error("Can't connect to footstep controller action server!")
def stop_command_callback(self):
self.stop_command.setEnabled(False)
self.execute_step_plan_client.cancel_goal()
self.logger.log_info("Preempting step plan.")
class TimelineWidget(QWidget):
class TimelineView(QGraphicsView):
def __init__(self, parent):
super(TimelineWidget.TimelineView, self).__init__()
self.parent = parent
def mouseReleaseEvent(self, event):
self.parent.mouse_release(event)
update = pyqtSignal()
def __init__(self, parent):
super(TimelineWidget, self).__init__()
self.parent = parent
self._layout = QHBoxLayout()
#self._view = QGraphicsView()
self._view = TimelineWidget.TimelineView(self)
self._scene = QGraphicsScene()
self._colors = [QColor('green'), QColor('yellow'), QColor('red')]
self._messages = [None for x in range(20)]
self._mq = [1 for x in range(20)]
self._view.setHorizontalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
self._view.setVerticalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
self._view.setScene(self._scene)
self._layout.addWidget(self._view, 1)
self.pause_button = QPushButton('Pause')
self.pause_button.setCheckable(True)
self.pause_button.clicked.connect(self.pause)
self._layout.addWidget(self.pause_button)
self.setLayout(self._layout)
self.update.connect(self.redraw)
def redraw(self):
self._scene.clear()
self._scene
for i, m in enumerate(self._mq):
w = float(self._view.viewport().width())/len(self._mq)
h = self._view.viewport().height()
rect = self._scene.addRect(w*i, 0, w, h, QColor('black'), self._colors[m])
def mouse_release(self, event):
i = int(floor(event.x()/(float(self._view.viewport().width())/len(self._mq))))
msg = self._messages[i]
if msg:
self.parent.pause(msg)
if not self.pause_button.isChecked():
self.pause_button.toggle()
def resizeEvent(self, event):
self.redraw()
def get_worst(self, msg):
lvl = 0
for status in msg.status:
if status.level > lvl:
lvl = status.level
return lvl
def add_message(self, msg):
self._messages = self._messages[1:]
self._messages.append(msg)
self._mq = self._mq[1:]
try:
lvl = msg.level
except AttributeError:
lvl = self.get_worst(msg)
if lvl > 2:
lvl = 2
self._mq.append(lvl)
self.update.emit()
def pause(self, state):
if state:
self.parent.pause(self._messages[-1])
else:
self.parent.unpause()
class PlotWidget(QWidget):
def __init__(self, timeline, parent, topic):
super(PlotWidget, self).__init__(parent)
self.setObjectName('PlotWidget')
self.timeline = timeline
msg_type = self.timeline.get_datatype(topic)
self.msgtopic = topic
self.start_stamp = self.timeline._get_start_stamp()
self.end_stamp = self.timeline._get_end_stamp()
# the current region-of-interest for our bag file
# all resampling and plotting is done with these limits
self.limits = [0,(self.end_stamp-self.start_stamp).to_sec()]
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_bag_plugins'), 'resource', 'plot.ui')
loadUi(ui_file, self)
self.message_tree = MessageTree(msg_type, self)
self.data_tree_layout.addWidget(self.message_tree)
# TODO: make this a dropdown with choices for "Auto", "Full" and
# "Custom"
# I continue to want a "Full" option here
self.auto_res.stateChanged.connect(self.autoChanged)
self.resolution.editingFinished.connect(self.settingsChanged)
self.resolution.setValidator(QDoubleValidator(0.0,1000.0,6,self.resolution))
self.timeline.selected_region_changed.connect(self.region_changed)
self.recompute_timestep()
self.plot = DataPlot(self)
self.plot.set_autoscale(x=False)
self.plot.set_autoscale(y=DataPlot.SCALE_VISIBLE)
self.plot.autoscroll(False)
self.plot.set_xlim(self.limits)
self.data_plot_layout.addWidget(self.plot)
self._home_button = QPushButton()
self._home_button.setToolTip("Reset View")
self._home_button.setIcon(QIcon.fromTheme('go-home'))
self._home_button.clicked.connect(self.home)
self.plot_toolbar_layout.addWidget(self._home_button)
self._config_button = QPushButton("Configure Plot")
self._config_button.clicked.connect(self.plot.doSettingsDialog)
self.plot_toolbar_layout.addWidget(self._config_button)
self.set_cursor(0)
self.paths_on = set()
self._lines = None
# get bag from timeline
bag = None
start_time = self.start_stamp
while bag is None:
bag,entry = self.timeline.get_entry(start_time, topic)
if bag is None:
start_time = self.timeline.get_entry_after(start_time)[1].time
self.bag = bag
# get first message from bag
msg = bag._read_message(entry.position)
self.message_tree.set_message(msg[1])
# state used by threaded resampling
self.resampling_active = False
self.resample_thread = None
self.resample_fields = set()
def set_cursor(self, position):
self.plot.vline(position, color=DataPlot.RED)
self.plot.redraw()
def add_plot(self, path):
self.resample_data([path])
def update_plot(self):
if len(self.paths_on)>0:
self.resample_data(self.paths_on)
def remove_plot(self, path):
self.plot.remove_curve(path)
self.paths_on.remove(path)
self.plot.redraw()
def load_data(self):
"""get a generator for the specified time range on our bag"""
return self.bag.read_messages(self.msgtopic,
self.start_stamp+rospy.Duration.from_sec(self.limits[0]),
self.start_stamp+rospy.Duration.from_sec(self.limits[1]))
def resample_data(self, fields):
if self.resample_thread:
# cancel existing thread and join
self.resampling_active = False
self.resample_thread.join()
for f in fields:
self.resample_fields.add(f)
# start resampling thread
self.resampling_active = True
self.resample_thread = threading.Thread(target=self._resample_thread)
# explicitly mark our resampling thread as a daemon, because we don't
# want to block program exit on a long resampling operation
self.resample_thread.setDaemon(True)
self.resample_thread.start()
def _resample_thread(self):
# TODO:
# * look into doing partial display updates for long resampling
# operations
# * add a progress bar for resampling operations
x = {}
y = {}
for path in self.resample_fields:
x[path] = []
y[path] = []
msgdata = self.load_data()
for entry in msgdata:
# detect if we're cancelled and return early
if not self.resampling_active:
return
for path in self.resample_fields:
# this resampling method is very unstable, because it picks
# representative points rather than explicitly representing
# the minimum and maximum values present within a sample
# If the data has spikes, this is particularly bad because they
# will be missed entirely at some resolutions and offsets
if x[path]==[] or (entry[2]-self.start_stamp).to_sec()-x[path][-1] >= self.timestep:
y_value = entry[1]
for field in path.split('.'):
index = None
if field.endswith(']'):
field = field[:-1]
field, _, index = field.rpartition('[')
y_value = getattr(y_value, field)
if index:
index = int(index)
y_value = y_value[index]
y[path].append(y_value)
x[path].append((entry[2]-self.start_stamp).to_sec())
# TODO: incremental plot updates would go here...
# we should probably do incremental updates based on time;
# that is, push new data to the plot maybe every .5 or .1
# seconds
# time is a more useful metric than, say, messages loaded or
# percentage, because it will give a reasonable refresh rate
# without overloading the computer
# if we had a progress bar, we could emit a signal to update it here
# update the plot with final resampled data
for path in self.resample_fields:
if len(x[path]) < 1:
qWarning("Resampling resulted in 0 data points for %s" % path)
else:
if path in self.paths_on:
self.plot.clear_values(path)
self.plot.update_values(path, x[path], y[path])
else:
self.plot.add_curve(path, path, x[path], y[path])
self.paths_on.add(path)
self.plot.redraw()
self.resample_fields.clear()
self.resampling_active = False
def recompute_timestep(self):
# this is only called if we think the timestep has changed; either
# by changing the limits or by editing the resolution
limits = self.limits
if self.auto_res.isChecked():
timestep = round((limits[1]-limits[0])/200.0,5)
else:
timestep = float(self.resolution.text())
self.resolution.setText(str(timestep))
self.timestep = timestep
def region_changed(self, start, end):
# this is the only place where self.limits is set
limits = [ (start - self.start_stamp).to_sec(),
(end - self.start_stamp).to_sec() ]
# cap the limits to the start and end of our bag file
if limits[0]<0:
limits = [0.0,limits[1]]
if limits[1]>(self.end_stamp-self.start_stamp).to_sec():
limits = [limits[0],(self.end_stamp-self.start_stamp).to_sec()]
self.limits = limits
self.recompute_timestep()
self.plot.set_xlim(limits)
self.plot.redraw()
self.update_plot()
def settingsChanged(self):
# resolution changed. recompute the timestep and resample
self.recompute_timestep()
self.update_plot()
def autoChanged(self, state):
if state==2:
# auto mode enabled. recompute the timestep and resample
self.resolution.setDisabled(True)
self.recompute_timestep()
self.update_plot()
else:
# auto mode disabled. enable the resolution text box
# no change to resolution yet, so no need to redraw
self.resolution.setDisabled(False)
def home(self):
# TODO: re-add the button for this. It's useful for restoring the
# X and Y limits so that we can see all of the data
# effectively a "zoom all" button
# reset the plot to our current limits
self.plot.set_xlim(self.limits)
# redraw the plot; this forces a Y autoscaling
self.plot.redraw()
def __init__(self, context):
super(LogicalMarkerPlugin, self).__init__(context)
# Create an image for the original map. This will never change.
try:
self.map_yaml_file_str = rospy.get_param("~map_file")
self.data_directory = rospy.get_param("~data_directory")
except KeyError:
rospy.logfatal("~map_file and ~data_directory need to be set to use the logical marker")
return
map_image_location = getImageFileLocation(self.map_yaml_file_str)
map = loadMapFromFile(self.map_yaml_file_str)
locations_file = getLocationsFileLocationFromDataDirectory(self.data_directory)
doors_file = getDoorsFileLocationFromDataDirectory(self.data_directory)
objects_file = getObjectsFileLocationFromDataDirectory(self.data_directory)
# Give QObjects reasonable names
self.setObjectName('LogicalMarkerPlugin')
# Create QWidget
self.master_widget = QWidget()
self.master_layout = QVBoxLayout(self.master_widget)
# Main Functions - Doors, Locations, Objects
self.function_layout = QHBoxLayout()
self.master_layout.addLayout(self.function_layout)
self.function_buttons = []
self.current_function = None
for button_text in ['Locations', 'Doors', 'Objects']:
button = QPushButton(button_text, self.master_widget)
button.clicked[bool].connect(self.handle_function_button)
button.setCheckable(True)
self.function_layout.addWidget(button)
self.function_buttons.append(button)
self.function_layout.addStretch(1)
self.master_layout.addWidget(self.get_horizontal_line())
# Subfunction toolbar
self.subfunction_layout = QHBoxLayout()
clearLayoutAndFixHeight(self.subfunction_layout)
self.master_layout.addLayout(self.subfunction_layout)
self.current_subfunction = None
self.master_layout.addWidget(self.get_horizontal_line())
self.image = MapImage(map_image_location, self.master_widget)
self.master_layout.addWidget(self.image)
self.master_layout.addWidget(self.get_horizontal_line())
# Configuration toolbar
self.configuration_layout = QHBoxLayout()
clearLayoutAndFixHeight(self.configuration_layout)
self.master_layout.addLayout(self.configuration_layout)
# Add a stretch at the bottom.
self.master_layout.addStretch(1)
self.master_widget.setObjectName('LogicalMarkerPluginUI')
if context.serial_number() > 1:
self.master_widget.setWindowTitle(self.master_widget.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self.master_widget)
# Activate the functions
self.functions = {}
self.functions['Locations'] = LocationFunction(locations_file,
map,
self.master_widget,
self.subfunction_layout,
self.configuration_layout,
self.image)
self.functions['Doors'] = DoorFunction(doors_file,
map,
self.functions['Locations'],
self.master_widget,
self.subfunction_layout,
self.configuration_layout,
self.image)
self.functions['Objects'] = ObjectFunction(objects_file,
map,
self.functions['Locations'],
self.master_widget,
self.subfunction_layout,
self.configuration_layout,
self.image)
def __init__(self, timeline, parent, topic):
super(PlotWidget, self).__init__(parent)
self.setObjectName('PlotWidget')
self.timeline = timeline
msg_type = self.timeline.get_datatype(topic)
self.msgtopic = topic
self.start_stamp = self.timeline._get_start_stamp()
self.end_stamp = self.timeline._get_end_stamp()
# the current region-of-interest for our bag file
# all resampling and plotting is done with these limits
self.limits = [0,(self.end_stamp-self.start_stamp).to_sec()]
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_bag_plugins'), 'resource', 'plot.ui')
loadUi(ui_file, self)
self.message_tree = MessageTree(msg_type, self)
self.data_tree_layout.addWidget(self.message_tree)
# TODO: make this a dropdown with choices for "Auto", "Full" and
# "Custom"
# I continue to want a "Full" option here
self.auto_res.stateChanged.connect(self.autoChanged)
self.resolution.editingFinished.connect(self.settingsChanged)
self.resolution.setValidator(QDoubleValidator(0.0,1000.0,6,self.resolution))
self.timeline.selected_region_changed.connect(self.region_changed)
self.recompute_timestep()
self.plot = DataPlot(self)
self.plot.set_autoscale(x=False)
self.plot.set_autoscale(y=DataPlot.SCALE_VISIBLE)
self.plot.autoscroll(False)
self.plot.set_xlim(self.limits)
self.data_plot_layout.addWidget(self.plot)
self._home_button = QPushButton()
self._home_button.setToolTip("Reset View")
self._home_button.setIcon(QIcon.fromTheme('go-home'))
self._home_button.clicked.connect(self.home)
self.plot_toolbar_layout.addWidget(self._home_button)
self._config_button = QPushButton("Configure Plot")
self._config_button.clicked.connect(self.plot.doSettingsDialog)
self.plot_toolbar_layout.addWidget(self._config_button)
self.set_cursor(0)
self.paths_on = set()
self._lines = None
# get bag from timeline
bag = None
start_time = self.start_stamp
while bag is None:
bag,entry = self.timeline.get_entry(start_time, topic)
if bag is None:
start_time = self.timeline.get_entry_after(start_time)[1].time
self.bag = bag
# get first message from bag
msg = bag._read_message(entry.position)
self.message_tree.set_message(msg[1])
# state used by threaded resampling
self.resampling_active = False
self.resample_thread = None
self.resample_fields = set()
