class ChatbotGUI(Plugin):
def __init__(self, context):
super(ChatbotGUI, self).__init__(context)
self.setObjectName('ChatbotGUI')
from argparse import ArgumentParser
parser = ArgumentParser()
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
self._widget = QWidget()
ui_file = os.path.join(rospkg.RosPack().get_path('chatbot_gui'),
'resource', 'ChatbotGUI.ui')
loadUi(ui_file, self._widget, {'NavViewWidget': NavViewWidget})
self._widget.setObjectName('ChatbotGUIUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
self._widget.pickDone.clicked[bool].connect(self._handle_pick_clicked)
self._widget.placeDone.clicked[bool].connect(
self._handle_place_clicked)
self._widget.textSay.keyPressEvent = self._handle_custom_keypress
#ros stuff
self.pubPick = rospy.Publisher('picker', String, queue_size=10)
self.pubPlace = rospy.Publisher('placer', String, queue_size=10)
self.pubRecog = rospy.Publisher('recognition/raw_result',
String,
queue_size=10)
self.subRecog = rospy.Subscriber("recognition/raw_result", String,
self._recog_callback)
self.subLog = rospy.Subscriber("chatbot_gui/log", String,
self._log_callback)
self.subStatus = rospy.Subscriber("chatbot_gui/status", String,
self._status_callback)
self.model = QStandardItemModel()
self.model.setColumnCount(2)
headerNames = []
headerNames.append("Timestamp")
headerNames.append("Message")
self.model.setHorizontalHeaderLabels(headerNames)
self._widget.tableLog.setModel(self.model)
self._widget.tableLog.horizontalHeader().setStretchLastSection(True)
self._widget.tableLog.setColumnWidth(0, 170)
self._message_limit = 20000
self._message_count = 0
def _add_log(self, data):
timestamp = QStandardItem(
QDateTime.currentDateTime().toString('d.M.yyyy hh:mm:ss.zzz'))
timestamp.setTextAlignment(Qt.AlignRight)
timestamp.setEditable(False)
message = QStandardItem(data)
message.setEditable(False)
row = []
row.append(timestamp)
row.append(message)
self._message_count = self._message_count + 1
self.model.insertRow(0, row)
if self._message_count > self._message_limit:
self.model.removeRow(self.model.rowCount() - 1)
self._message_count = self._message_count - 1
def _handle_pick_clicked(self):
self.pubPick.publish("[pick done]")
def _handle_place_clicked(self):
self.pubPlace.publish("[place done]")
def _handle_custom_keypress(self, event):
if event.key() == Qt.Key_Return or event.key() == Qt.Key_Enter:
self.pubRecog.publish(self._widget.textSay.toPlainText())
self._widget.textSay.setPlainText("")
else:
QPlainTextEdit.keyPressEvent(self._widget.textSay, event)
def _recog_callback(self, data):
self._add_log("heard: '" + data.data + "'")
def _log_callback(self, data):
self._add_log(data.data)
def _status_callback(self, data):
self._widget.labelStatus.setText(data.data)
def shutdown_plugin(self):
print("shutdown_plugin: clearing ros publishers.")
self.subRecog.unregister()
self.subStatus.unregister()
self.subLog.unregister()
self.pubPick.unregister()
self.pubPlace.unregister()
self.pubRecog.unregister()
pass
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
pass
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
