def onButtonClicked(self):
import inspect, os
filepath = os.path.dirname(
os.path.abspath(inspect.getfile(
inspect.currentframe()))) + "/log/select_history.log"
fd = QFileDialog(self)
wc = "Csv files {.csv} (*.csv)"
self.files = []
current_directory = self.get_current_opened_directory(filepath)
tmp_pathes, filter = fd.getOpenFileNamesAndFilter(
filter=wc, initialFilter=('*.csv'), directory=current_directory)
for path in tmp_pathes:
self.files.append(path.encode("utf-8"))
# print self.files
if len(self.files) != 0:
self.get_min_rows_csv(tmp_pathes)
self.select_path.setText(self.files[0])
with open(filepath, "w") as f:
f.write(self.files[0])
# handler = logging.FileHandler(filepath, mode='w')
# logger_topic.addHandler(handler)
# logger_topic.info(self.files[0])
else:
self.select_path.setText("")
def _handle_load_clicked(self):
# path = QFileDialog.getOpenFileName(self, self.tr('Load from File'), '.', self.tr('Bag files {.bag} (*.bag)'))
# path = str(QFileDialog.getExistingDirectory(self, "Select Directory"))
import inspect
filepath = os.path.dirname(
os.path.abspath(inspect.getfile(
inspect.currentframe()))) + "/log/select_bag.log"
current_directory = self.get_current_opened_directory(filepath)
fd = QFileDialog(self)
wc = "Bag files {.bag} (*.bag)"
path, filter = fd.getOpenFileNamesAndFilter(
filter=wc, initialFilter=('*.bag'), directory=current_directory)
# print path
if len(path) != 0:
with open(filepath, "w") as f:
f.write(path[0])
# if path[0][-4:] == ".bag": # file
# print "True"
# self.load_bag(path[0])
# files = [path[0]]
# else: #dir
# print "Else " + path
# path = path + "/"
# files = self.get_bag_files(path)
# print files
#
# # files = self.get_bag_files("/home/lab/bagfiles/")
if path:
self.get_features_from_bags(path)
def _save_log(self):
dialog = QFileDialog()
dialog.setAcceptMode(QFileDialog.AcceptSave)
dialog.setNameFilter('Text file (*.txt)')
dialog.setDefaultSuffix('.txt')
dialog.setDirectory(os.getenv('HOME'))
if dialog.exec_():
file = open(dialog.selectedFiles()[0], 'w')
file.write(self.logTextEdit.toPlainText())
file.close()
def get_file(self):
file_dlg = QFileDialog()
file_dlg.setFileMode(QFileDialog.AnyFile)
if file_dlg.exec_():
map_file_name = file_dlg.selectedFiles()
rospy.loginfo('Selected files: %s' % map_file_name)
if len(map_file_name) > 0:
self.map_path_name = map_file_name[0]
self._widget.file_path_edit.setText(self.map_path_name)
def get_folder(self):
file_dlg = QFileDialog()
file_dlg.setFileMode(QFileDialog.Directory)
if file_dlg.exec_():
destination_map_file_name = file_dlg.selectedFiles()
rospy.loginfo('Selected files: %s' % destination_map_file_name)
if len(destination_map_file_name) > 0:
self.destination_map_file_name = destination_map_file_name[0]
self._widget.desination_file_name_edit.setText(
self.destination_map_file_name)
def load_FTS(self):
# Start file dialog
directory = os.path.join(rospkg.RosPack().get_path('rqt_simulation'),
'config', 'FTS')
File_dialog = QFileDialog(directory=directory, filter='.yaml')
FTS_file = File_dialog.getOpenFileName()
stream = file(FTS_file[0], 'r')
data = yaml.load(stream)
stream.close()
# Load FTS
self.region_of_interest = {}
self.region_of_interest = data['FTS']
def get_file_map_to_rviz(self):
file_dlg = QFileDialog()
file_dlg.setFileMode(QFileDialog.AnyFile)
# file_dlg.setFilter("Yaml files (*.yaml)")
# print('Hi, you try to get a file')
if file_dlg.exec_():
map_file_name = file_dlg.selectedFiles()
rospy.loginfo(
'Selected files to extract position of the fiducials: %s' %
map_file_name)
if len(map_file_name) > 0:
self.map_forRviz_file_name = map_file_name[0]
self._widget.map_to_rviz_path_edit.setText(
self.map_forRviz_file_name)
def onPlpClicked(self):
import inspect, os
filepath = os.path.dirname(
os.path.abspath(inspect.getfile(
inspect.currentframe()))) + "/log/save_plp.log"
current_directory = self.get_current_opened_directory(filepath)
fd = QFileDialog(self)
wc = "Csv files {.py} (*.py)"
# print current_directory
filename, filter = fd.getOpenFileNamesAndFilter(
filter=wc, initialFilter=('*.py'), directory=current_directory)
if len(filename):
self.plp_filename = filename[0]
with open(filepath, "w") as f:
f.write(self.plp_filename)
self.select_path.setText(self.plp_filename)
def get_file_yaml(self):
file_dlg = QFileDialog()
file_dlg.setFileMode(QFileDialog.AnyFile)
# file_dlg.setFilter("Yaml files (*.yaml)")
# print('Hi, you try to get a file')
# print(self.map_file_name)
if file_dlg.exec_():
destination_map_config_file_name = file_dlg.selectedFiles()
rospy.loginfo('Selected files: %s' %
destination_map_config_file_name)
if len(destination_map_config_file_name) > 0:
self.destination_map_config_file_name = destination_map_config_file_name[
0]
self._widget.config_map_file_name_edit.setText(
self.destination_map_config_file_name)
self.read_map()
def __init__(self, title, jsp, num_rows=0):
super(JointStatePublisherGui, self).__init__()
font = QFont("Helvetica", 9, QFont.Bold)
self.hlayout = QHBoxLayout(self)
vlayout = QVBoxLayout()
glayout = QGridLayout()
right_l_lauout = QVBoxLayout()
self.listVeiw = QListWidget()
self.checkbox = []
self.value_line_edit = []
self.sliders = []
self.positions = []
self.progressbars = []
self.value_last = []
speed_max = enviromnt_conf['joint_speed']
slider_max = speed_max * 1000
position_max = enviromnt_conf['joint_max_position']
progress_max = position_max * 1000
#create joints widget
for i in range(0, num_rows):
if config[i][0]:
g_in_g = QGridLayout()
checkbox = QCheckBox(config[i][1])
checkbox.setFont(font)
self.checkbox.append(checkbox)
value_line_edit = QLineEdit()
value_line_edit.setFont(font)
value_line_edit.setText("0.0")
self.value_line_edit.append(value_line_edit)
display_lable = QLabel()
display_lable.setFont(font)
display_lable.setText("Position:")
position_label = QLabel()
position_label.setFont(font)
position_label.setText("0.0")
self.positions.append(position_label)
position_progress_bar = QProgressBar()
position_progress_bar.setMaximum(progress_max)
position_progress_bar.setMinimum(-progress_max)
position_progress_bar.setValue(0)
self.progressbars.append(position_progress_bar)
slider = QSlider()
slider.setMaximum(slider_max)
slider.setMinimum(-slider_max)
slider.setOrientation(Qt.Horizontal)
slider.valueChanged.connect(self.slider_value_changed)
self.sliders.append(slider)
g_in_g.addWidget(checkbox, 0, 0)
g_in_g.addWidget(value_line_edit, 0, 1)
g_in_g.addWidget(display_lable, 0, 2)
g_in_g.addWidget(position_label, 0, 3)
g_in_g.addWidget(slider, 1, 0, 1, 2)
g_in_g.addWidget(position_progress_bar, 1, 2, 1, 2)
glayout.addLayout(g_in_g, i, 0)
#create v layout
self.import_Btn = QPushButton('Import')
self.import_Btn.setFont(font)
self.import_Btn.clicked.connect(self.import_Btn_clecked)
self.export_Btn = QPushButton('Export')
self.export_Btn.setFont(font)
self.export_Btn.clicked.connect(self.export_Btn_clicked)
self.start_Btn = QPushButton("Start")
self.start_Btn.setFont(font)
self.start_Btn.clicked.connect(self.start_Btn_clicked)
self.reset_Btn = QPushButton('Reset')
self.reset_Btn.setFont(font)
self.reset_Btn.clicked.connect(self.reset_Btn_clicked)
self.record_Btn = QPushButton('Record')
self.record_Btn.setFont(font)
self.record_Btn.clicked.connect(self.record_Btn_clicked)
self.replay_Btn = QPushButton('Repaly')
self.replay_Btn.setFont(font)
self.replay_Btn.clicked.connect(self.replay_Btn_clicked)
self.delete_Btn = QPushButton("Delete")
self.delete_Btn.setFont(font)
self.delete_Btn.clicked.connect(self.delete_Btn_clicked)
self.debug_Btn = QPushButton("Debug")
self.debug_Btn.setFont(font)
self.debug_Btn.clicked.connect(self.debug_Btn_clicked)
vlayout.addWidget(self.import_Btn)
vlayout.addWidget(self.export_Btn)
vlayout.addWidget(self.start_Btn)
vlayout.addWidget(self.reset_Btn)
vlayout.addWidget(self.record_Btn)
vlayout.addWidget(self.delete_Btn)
vlayout.addWidget(self.replay_Btn)
vlayout.addWidget(self.debug_Btn)
self.master_url = QLineEdit("http://192.168.0.91:11311")
self.master_url.setFont(font)
self.master_ip = QLineEdit("192.168.0.91")
self.master_ip.setFont(font)
self.listVeiw.clicked.connect(self.listVeiw_clicked)
self.listVeiw.currentRowChanged.connect(
self.listVeiw_itemSelectionChanged)
self.description = QTextEdit("")
self.description.setFont(font)
#self.description.setGeometry(0,100,100,500)
right_l_lauout.addWidget(self.master_url)
right_l_lauout.addWidget(self.master_ip)
right_l_lauout.addWidget(self.listVeiw)
right_l_lauout.addWidget(self.description)
right_l_lauout.setStretch(0, 1)
right_l_lauout.setStretch(1, 1)
right_l_lauout.setStretch(2, 3)
right_l_lauout.setStretch(3, 1)
self.num_rows = len(self.checkbox)
self.hlayout.addLayout(glayout)
self.hlayout.addLayout(vlayout)
self.hlayout.addLayout(right_l_lauout)
self.setLayout(self.hlayout)
self.callback_start = None
self.callback_pause = None
self.callback_record = None
self.callback_reset = None
self.callback_replay = None
self.callback_replay_stop = None
self.callback_delete = None
self.callback_debug = None
self.callback_import = None
self.callback_export = None
self.callback_list_clicked = None
self.listVeiw_isClicked = False
self.listVeiw_current_item = 0
self.listVeiw_len = 0
self.f = QFileDialog()
def load_scenario(self):
# Start file dialog GUI
directory = os.path.join(rospkg.RosPack().get_path('rqt_simulation'),
'config', 'FTS')
File_dialog = QFileDialog(directory=directory, filter='.yaml')
scenario_file = File_dialog.getOpenFileName()
try:
stream = file(scenario_file[0], 'r')
except:
print('In file ' + self.filename + ' at line ' +
str(self.cf.f_lineno) + ': Error no valid scenario file')
return False
data = yaml.load(stream)
# Remove all robots
for i in range(0, len(self.tab_list) - 1):
self.remove_robot()
# Reset map
self.reset()
# Load map
self.world_comboBox.setCurrentIndex(
self.world_comboBox.findText(data['Map']))
# Load FTS
# Sort the keys is needed for the edge matrix in the map_dialog
self.FTS.region_of_interest = data['FTS']
sorted_keys = self.FTS.region_of_interest.keys()
sorted_keys.sort()
stream.close()
self.scenario_file = scenario_file[0]
self.current_graphicsScene.load_graphic_from_FTS(self.FTS)
# Load robot tabs
robot_tabs = data['Tasks']
for i in range(0, len(self.FTS.region_of_interest)):
self.tab_list[self.num_robots - 1].robot_comboBox_init.addItem(
self.FTS.region_of_interest.keys()[i])
self.tab_list[self.num_robots - 1].robot_comboBox_init.model().sort(0)
for i in range(0, len(robot_tabs)):
if i > 0:
self.add_robot()
self.tab_list[i].robot_name_input.setText(robot_tabs.keys()[i])
self.tab_list[i].robot_comboBox.setCurrentIndex(
self.tab_list[i].robot_comboBox.findText(
robot_tabs[robot_tabs.keys()[i]]['robot_model']))
self.tab_list[i].robot_comboBox_init.setCurrentIndex(
self.tab_list[i].robot_comboBox_init.findText(
robot_tabs[robot_tabs.keys()[i]]['initial_pose']))
self.tab_list[i].initial_pose[
'start_' +
str(i + 1).zfill(2)]['pose'] = self.FTS.region_of_interest[
self.tab_list[i].robot_comboBox_init.currentText()]['pose']
self.tab_list[i].initial_pose['start_' + str(i + 1).zfill(2)][
'label'] = self.tab_list[i].robot_comboBox_init.currentText()
if robot_tabs[robot_tabs.keys()[i]]['use_qualisys']:
self.tab_list[i].robot_localization_checkBox.setCheckState(
Qt.Checked)
self.tab_list[i].robot_hard_task_input.setText(
robot_tabs[robot_tabs.keys()[i]]['tasks']['hard_task'])
self.tab_list[i].robot_soft_task_input.setText(
robot_tabs[robot_tabs.keys()[i]]['tasks']['soft_task'])
self.button_execute_task.setEnabled(True)
