class QuestionDialogPlugin(Plugin): def __init__(self, context): super(QuestionDialogPlugin, self).__init__(context) # Give QObjects reasonable names self.setObjectName('QuestionDialogPlugin') font_size = rospy.get_param("~font_size", 40) # Create QWidget self._widget = QWidget() self._widget.setFont(QFont("Times", font_size, QFont.Bold)) self._layout = QVBoxLayout(self._widget) self._text_browser = QTextBrowser(self._widget) self._layout.addWidget(self._text_browser) self._button_layout = QHBoxLayout() self._layout.addLayout(self._button_layout) # layout = QVBoxLayout(self._widget) # layout.addWidget(self.button) self._widget.setObjectName('QuestionDialogPluginUI') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) context.add_widget(self._widget) # Setup service provider self.service = rospy.Service('question_dialog', QuestionDialog, self.service_callback) self.response_ready = False self.response = None self.buttons = [] self.text_label = None self.text_input = None self.connect(self._widget, SIGNAL("update"), self.update) self.connect(self._widget, SIGNAL("timeout"), self.timeout) def shutdown_plugin(self): self.service.shutdown() def service_callback(self, req): self.response_ready = False self.request = req self._widget.emit(SIGNAL("update")) # Start timer against wall clock here instead of the ros clock. start_time = time.time() while not self.response_ready: if self.request != req: # The request got preempted by a new request. return QuestionDialogResponse(QuestionDialogRequest.PREEMPTED, "") if req.timeout != QuestionDialogRequest.NO_TIMEOUT: current_time = time.time() if current_time - start_time > req.timeout: self._widget.emit(SIGNAL("timeout")) return QuestionDialogResponse( QuestionDialogRequest.TIMED_OUT, "") time.sleep(0.2) return self.response def update(self): self.clean() req = self.request self._text_browser.setText(req.message) if req.type == QuestionDialogRequest.DISPLAY: # All done, nothing more too see here. self.response = QuestionDialogResponse( QuestionDialogRequest.NO_RESPONSE, "") self.response_ready = True elif req.type == QuestionDialogRequest.CHOICE_QUESTION: for index, options in enumerate(req.options): button = QPushButton(options, self._widget) button.clicked.connect(partial(self.handle_button, index)) self._button_layout.addWidget(button) self.buttons.append(button) elif req.type == QuestionDialogRequest.TEXT_QUESTION: self.text_label = QLabel("Enter here: ", self._widget) self._button_layout.addWidget(self.text_label) self.text_input = QLineEdit(self._widget) self.text_input.editingFinished.connect(self.handle_text) self._button_layout.addWidget(self.text_input) def timeout(self): self._text_browser.setText("Oh no! The request timed out.") self.clean() def clean(self): while self._button_layout.count(): item = self._button_layout.takeAt(0) item.widget().deleteLater() self.buttons = [] self.text_input = None self.text_label = None def handle_button(self, index): self.response = QuestionDialogResponse(index, "") self.clean() self.response_ready = True def handle_text(self): self.response = QuestionDialogResponse( QuestionDialogRequest.TEXT_RESPONSE, self.text_input.text()) self.clean() self.response_ready = True 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
class QuestionDialogPlugin(Plugin): def __init__(self, context): super(QuestionDialogPlugin, self).__init__(context) # Give QObjects reasonable names self.setObjectName('QuestionDialogPlugin') # Create QWidget self._widget = QWidget() self._widget.setFont(QFont("Times", 14, QFont.Bold)) self._layout = QVBoxLayout(self._widget) self._text_browser = QTextBrowser(self._widget) self._layout.addWidget(self._text_browser) self._button_layout = QHBoxLayout() self._layout.addLayout(self._button_layout) # layout = QVBoxLayout(self._widget) # layout.addWidget(self.button) self._widget.setObjectName('QuestionDialogPluginUI') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) context.add_widget(self._widget) # Setup service provider self.service = rospy.Service('question_dialog', QuestionDialog, self.service_callback) self.response_ready = False self.response = None self.buttons = [] self.text_label = None self.text_input = None self.connect(self._widget, SIGNAL("update"), self.update) self.connect(self._widget, SIGNAL("timeout"), self.timeout) def shutdown_plugin(self): self.service.shutdown() def service_callback(self, req): self.response_ready = False self.request = req self._widget.emit(SIGNAL("update")) # Start timer against wall clock here instead of the ros clock. start_time = time.time() while not self.response_ready: if req.timeout != QuestionDialogRequest.NO_TIMEOUT: current_time = time.time() if current_time - start_time > req.timeout: self._widget.emit(SIGNAL("timeout")) return QuestionDialogResponse( QuestionDialogRequest.TIMED_OUT, "") time.sleep(0.2) return self.response def update(self): self.clean() req = self.request self._text_browser.setText(req.message) if req.type == QuestionDialogRequest.DISPLAY: # All done, nothing more too see here. self.response = QuestionDialogResponse( QuestionDialogRequest.NO_RESPONSE, "") self.response_ready = True elif req.type == QuestionDialogRequest.CHOICE_QUESTION: for index, options in enumerate(req.options): button = QPushButton(options, self._widget) button.clicked.connect(partial(self.handle_button, index)) self._button_layout.addWidget(button) self.buttons.append(button) elif req.type == QuestionDialogRequest.TEXT_QUESTION: self.text_label = QLabel("Enter here: ", self._widget) self._button_layout.addWidget(self.text_label) self.text_input = QLineEdit(self._widget) self.text_input.editingFinished.connect(self.handle_text) self._button_layout.addWidget(self.text_input) def timeout(self): self._text_browser.setText("Oh no! The request timed out.") self.clean() def clean(self): while self._button_layout.count(): item = self._button_layout.takeAt(0) item.widget().deleteLater() self.buttons = [] self.text_input = None self.text_label = None def handle_button(self, index): self.response = QuestionDialogResponse(index, "") self.clean() self.response_ready = True def handle_text(self): self.response = QuestionDialogResponse( QuestionDialogRequest.TEXT_RESPONSE, self.text_input.text()) self.clean() self.response_ready = True 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
class RoomDialogPlugin(Plugin): def __init__(self, context): super(RoomDialogPlugin, self).__init__(context) # Give QObjects reasonable names self.setObjectName('RoomDialogPlugin') font_size = rospy.get_param("~font_size", 30) # Create QWidget self._widget = QWidget() self._widget.setFont(QFont("Times", font_size, QFont.Bold)) self._layout = QVBoxLayout(self._widget) self._text_browser = QTextBrowser(self._widget) self._layout.addWidget(self._text_browser) self._button_layout = QGridLayout() self._layout.addLayout(self._button_layout) # rospy.loginfo("Hello world") # Add combobox self._cb_layout = QHBoxLayout() self._cb = QComboBox() self._layout.addLayout(self._cb_layout) #layout = QVBoxLayout(self._widget) #layout.addWidget(self._button) self._widget.setObjectName('RoomDialogPluginUI') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) context.add_widget(self._widget) # Setup service provider self.service = rospy.Service('room_dialog', RoomDialog, self.service_callback) self.response_ready = False self.response = None self.buttons = [] self.text_label = None self.text_input = None # Add combo options self.connect(self._widget, SIGNAL("update"), self.update) self.connect(self._widget, SIGNAL("timeout"), self.timeout) def shutdown_plugin(self): self.service.shutdown() def service_callback(self, req): self.response_ready = False self.request = req self._widget.emit(SIGNAL("update")) # Start timer against wall clock here instead of the ros clock. start_time = time.time() while not self.response_ready: if self.request != req: # The request got preempted by a new request. return RoomDialogResponse(RoomDialogRequest.PREEMPTED, "") if req.timeout != RoomDialogRequest.NO_TIMEOUT: current_time = time.time() if current_time - start_time > req.timeout: self._widget.emit(SIGNAL("timeout")) return RoomDialogResponse(RoomDialogRequest.TIMED_OUT, "") time.sleep(0.2) return self.response def update(self): self.clean() req = self.request self._text_browser.setText(req.message) if req.type == RoomDialogRequest.DISPLAY: # All done, nothing more too see here. self.response = RoomDialogResponse(RoomDialogRequest.NO_RESPONSE, "") self.response_ready = True elif req.type == RoomDialogRequest.CHOICE_QUESTION: for index, options in enumerate(req.options): button = QPushButton(options, self._widget) button.clicked.connect(partial(self.handle_button, index)) row = index / 3 col = index % 3 self._button_layout.addWidget(button, row, col) self.buttons.append(button) elif req.type == RoomDialogRequest.TEXT_QUESTION: self.text_label = QLabel("Enter here: ", self._widget) self._button_layout.addWidget(self.text_label, 0, 0) self.text_input = QLineEdit(self._widget) self.text_input.editingFinished.connect(self.handle_text) self._button_layout.addWidget(self.text_input, 0, 1) # add handling of combobox elif req.type == RoomDialogRequest.COMBOBOX_QUESTION: # self.clean() rospy.loginfo("Combobox selected") #self._cb.duplicatesEnabled = False if self._cb.count() == 0: for index, options in enumerate(req.options): self._cb.addItem(options) rospy.loginfo(options) #self.buttons.append(options) # NOTE COULD INTRODUCE BUG self._cb.currentIndexChanged.connect(self.handle_cb) self._cb_layout.addWidget(self._cb) def timeout(self): self._text_browser.setText("Oh no! The request timed out.") self.clean() def clean(self): while self._button_layout.count(): item = self._button_layout.takeAt(0) item.widget().deleteLater() # while self._cb_layout.count(): # item = self._cb_layout.takeAt(0) # item.widget().deleteLater() self.buttons = [] self.text_input = None self.text_label = None def handle_button(self, index): self.response = RoomDialogResponse(index, "") self.clean() self.response_ready = True def handle_text(self): self.response = RoomDialogResponse(RoomDialogRequest.TEXT_RESPONSE, self.text_input.text()) self.clean() self.response_ready = True def handle_cb(self, index): # This will be the sign format seen around building ex: 3.404 rospy.loginfo("handling cb") roomHuman = self._cb.currentText() # modify string into robot format ex: d3_404 splitHuman = roomHuman.split('.', 1) roomRobot = 'd' + splitHuman[0] + '_' + splitHuman[1] roomRobot = str(roomRobot) self.response = RoomDialogResponse(RoomDialogRequest.CB_RESPONSE, roomRobot) self.clean() self.response_ready = True 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