def add_config(self, title, choices, single_choice=True):
'''
create a UI element for selecting options for one variation
and put it in a scrollArea
'''
scroll = QScrollArea()
group_box = QGroupBox(title)
group_box.setFlat(True)
layout = QVBoxLayout()
if len(choices) > 5 and single_choice:
combo_box = QComboBox(group_box)
for obj in choices:
combo_box.addItem(obj)
layout.addWidget(combo_box)
else:
for obj in choices:
if single_choice:
layout.addWidget(QRadioButton(obj, group_box))
else:
layout.addWidget(QCheckBox(obj, group_box))
layout.addStretch(1)
group_box.setLayout(layout)
scroll.setWidget(group_box)
scroll.setWidgetResizable(True)
return group_box, scroll
def motor_controller(self):
'''
Sets up the GUI in the middle of the Screen to control the motors.
Uses self._motorValues to determine which motors are present.
'''
i = 0
for k, v in sorted(self._currentGoals.items()):
group = QGroupBox()
slider = QSlider(Qt.Horizontal)
slider.setTickInterval(1)
slider.setMinimum(-181)
slider.setMaximum(181)
slider.valueChanged.connect(self.slider_update)
self._sliders[k] = slider
textfield = QLineEdit()
textfield.setText('0')
textfield.textEdited.connect(self.textfield_update)
self._textFields[k] = textfield
label = QLabel()
label.setText(k)
layout = QVBoxLayout()
layout.addWidget(label)
layout.addWidget(self._sliders[k])
layout.addWidget(self._textFields[k])
group.setLayout(layout)
self._widget.motorControlLayout.addWidget(group, i / 5, i % 5)
i = i+1
class BoxGroup(GroupWidget):
def __init__(self, updater, config, nodename):
super(BoxGroup, self).__init__(updater, config, nodename)
self.box = QGroupBox(self.param_name)
self.box.setLayout(self.grid)
def display(self, grid):
grid.addRow(self.box)
class BoxGroup(GroupWidget):
def __init__(self, updater, config, nodename):
super(BoxGroup, self).__init__(updater, config, nodename)
self.box = QGroupBox(self.param_name)
self.box.setLayout(self.grid)
def display(self, grid):
grid.addRow(self.box)
class BoxGroup(GroupWidget):
def __init__(self, updater, config):
super(BoxGroup, self).__init__(updater, config)
self.box = QGroupBox(self.name)
self.box.setLayout(self.grid)
def display(self, grid, row):
grid.addWidget(self.box, row, 0, 1, -1)
def create_subgait(self, name, subgait, version_selection):
subgait_group_box = QGroupBox()
subgait_group_box.setLayout(QGridLayout())
subgait_group_box.setObjectName('Subgait')
subgait_group_box.setTitle(name)
try:
version_name = version_selection[name]
except TypeError:
version_name = None
except KeyError:
version_name = None
dropdown = self.create_dropdown(subgait, version_name)
subgait_group_box.layout().addWidget(dropdown, 0, 0)
return subgait_group_box
def create_gait(self, name, gait, selections):
gait_group_box = QGroupBox()
gait_group_box.setObjectName('Gait')
gait_group_box.setLayout(QHBoxLayout())
gait_group_box.setTitle(name)
image = QLabel()
image.setStyleSheet(
'background: url(' + gait['image'] + ') no-repeat center center 100px 100px;')
image.setFixedSize(64, 80)
gait_group_box.layout().addWidget(image)
for subgait_name, subgait in gait['subgaits'].iteritems():
subgait_group_box = self.create_subgait(subgait_name, subgait, selections)
gait_group_box.layout().addWidget(subgait_group_box)
return gait_group_box
def add_widgets(self):
"""
Add groups of widgets to _main_widget. Supports group labels.
This method can be reimplemented in order to customize appearances.
"""
widgets = self.get_widgets()
self._widgets = [
] # stores widgets which may need to be shut down when done
for group in widgets:
# Check for group label
if isinstance(group[0], str):
grouplabel, v = group
box = QGroupBox(grouplabel)
box.setContentsMargins(0, 18, 0, 0) # LTRB
# Apply the center-label directive only for single-icon groups
if len(group[1]) == 1:
box.setAlignment(Qt.AlignHCenter)
else:
box = QGroupBox()
box.setContentsMargins(0, 0, 0, 0) # LTRB
v = group
# Add widgets to QGroupBox
layout = QHBoxLayout()
layout.setSpacing(0)
layout.setContentsMargins(0, 0, 0, 0) # LTRB
for i in v:
try:
try:
i.setIconSize(
self.max_icon_size) # without this, icons are tiny
except AttributeError as e:
# triggers with battery which uses a QLabel instead of a QToolButton-based widget
pass
layout.addWidget(i)
self._widgets.append(i)
except:
raise Exception(
"All widgets must be a subclass of QWidget!")
layout.activate()
box.setLayout(layout)
self._main_widget.addWidget(box)
self._main_widget.addSeparator()
def add_widgets(self):
"""
Add groups of widgets to _main_widget. Supports group labels.
This method can be reimplemented in order to customize appearances.
"""
widgets = self.get_widgets()
self._widgets = [] # stores widgets which may need to be shut down when done
for group in widgets:
# Check for group label
if isinstance(group[0], str):
grouplabel, v = group
box = QGroupBox(grouplabel)
box.setContentsMargins(0, 18, 0, 0) # LTRB
# Apply the center-label directive only for single-icon groups
if len(group[1]) == 1:
box.setAlignment(Qt.AlignHCenter)
else:
box = QGroupBox()
box.setContentsMargins(0, 0, 0, 0) # LTRB
v = group
# Add widgets to QGroupBox
layout = QHBoxLayout()
layout.setSpacing(0)
layout.setContentsMargins(0, 0, 0, 0) # LTRB
for i in v:
try:
try:
i.setIconSize(self.max_icon_size) # without this, icons are tiny
except AttributeError as e:
# triggers with battery which uses a QLabel instead of a QToolButton-based widget
pass
layout.addWidget(i)
self._widgets.append(i)
except:
raise Exception("All widgets must be a subclass of QWidget!")
layout.activate()
box.setLayout(layout)
self._main_widget.addWidget(box)
self._main_widget.addSeparator()
class BenchmarkConfig(object):
def __init__(self, config, config_path, benchmark_name,
benchmark_result_type):
self.config = config
self.config_path = config_path
self.benchmark_name = benchmark_name
self.result_type = benchmark_result_type
self.variation_widgets = {}
self.result_widgets = {}
self.bagfile_name = None
self.notes_widget = None
def setup(self, config_layout, results_layout, config_locked):
'''
set up the layout for selecting options from the different benchmark variations
'''
config_group_box_layout = QHBoxLayout()
self.config_group_box = QGroupBox('Configuration')
self.config_group_box.setCheckable(True)
if (config_locked):
self.config_group_box.setChecked(False)
variations = self.config['variations'].keys()
for var in variations:
single_choice = True
if var in self.config['multiple choice variation']:
single_choice = False
if isinstance(self.config['variations'][var], list):
self.variation_widgets[var], scroll = self.add_config(
var,
self.config['variations'][var],
single_choice=single_choice)
config_group_box_layout.addWidget(scroll)
else:
path = os.path.join(self.config_path,
self.config['variations'][var])
if os.path.exists(path):
with open(path) as f:
options = f.readlines()
options = [x.strip() for x in options]
self.variation_widgets[var], scroll = self.add_config(
var, options, single_choice=single_choice)
config_group_box_layout.addWidget(scroll)
self.config['variations'][var] = options
else:
QMessageBox.critical(None, "Error",
"File %s does not exist" % path)
self.config_group_box.setLayout(config_group_box_layout)
config_layout.addWidget(self.config_group_box)
results_group_box = QGroupBox('Results')
results_group_box_layout = QHBoxLayout()
results = self.config['results'].keys()
for res in results:
single_choice = True
if var in self.config['multiple choice result']:
single_choice = False
if isinstance(self.config['results'][res], list):
self.result_widgets[res], scroll = self.add_config(
res,
self.config['results'][res],
single_choice=single_choice)
results_group_box_layout.addWidget(scroll)
else:
if self.config['results'][res] == 'text_field':
widget = QWidget()
text_field = QLineEdit()
text_field.setReadOnly(True)
txtlayout = QHBoxLayout()
txtlayout.addWidget(QLabel(res))
txtlayout.addWidget(text_field)
widget.setLayout(txtlayout)
self.result_widgets[res] = text_field
results_group_box_layout.addWidget(widget)
results_group_box.setLayout(results_group_box_layout)
results_layout.addWidget(results_group_box)
self.notes_widget = QPlainTextEdit()
self.notes_widget.setMaximumHeight(100)
self.notes_widget.setPlaceholderText('Enter notes about the result...')
results_layout.addWidget(self.notes_widget)
def add_config(self, title, choices, single_choice=True):
'''
create a UI element for selecting options for one variation
and put it in a scrollArea
'''
scroll = QScrollArea()
group_box = QGroupBox(title)
group_box.setFlat(True)
layout = QVBoxLayout()
if len(choices) > 5 and single_choice:
combo_box = QComboBox(group_box)
for obj in choices:
combo_box.addItem(obj)
layout.addWidget(combo_box)
else:
for obj in choices:
if single_choice:
layout.addWidget(QRadioButton(obj, group_box))
else:
layout.addWidget(QCheckBox(obj, group_box))
layout.addStretch(1)
group_box.setLayout(layout)
scroll.setWidget(group_box)
scroll.setWidgetResizable(True)
return group_box, scroll
def get_current_selections(self):
'''
read current selections from the config UI elements
and return it as a dictionary
'''
variations = self.config['variations'].keys()
trial_config = {}
for var in variations:
widget = self.variation_widgets[var]
selections = []
for child in widget.children():
if isinstance(child, QRadioButton) or isinstance(
child, QCheckBox):
if child.isChecked():
selections.append(child.text())
elif isinstance(child, QComboBox):
selections.append(child.currentText())
trial_config[var] = selections
return trial_config
def apply_selections(self, trial_config):
'''
apply selections specified in trial_config to config UI elements
'''
variations = self.config['variations'].keys()
for var in variations:
widget = self.variation_widgets[var]
selections = trial_config[var]
if len(selections) == 0:
return
for child in widget.children():
if isinstance(child, QRadioButton) or isinstance(
child, QCheckBox):
if child.text() in selections:
child.setChecked(True)
else:
child.setChecked(False)
elif isinstance(child, QComboBox):
child.setCurrentText(selections[0])
def clear_selections(self):
'''
remove all selections in config UI elements
(except radio buttons since they cannot be unselected)
'''
variations = self.config['variations'].keys()
for var in variations:
widget = self.variation_widgets[var]
for child in widget.children():
if isinstance(child, QRadioButton) or isinstance(
child, QCheckBox):
child.setChecked(False)
elif isinstance(child, QComboBox):
child.setCurrentIndex(0)
def generate(self):
'''
Generate a set of selections for all config elements
'''
trial_config = {}
variations = self.config['variations'].keys()
for var in variations:
single_choice = True
if var in self.config['multiple choice variation']:
single_choice = False
selected_indices = []
if single_choice:
choices = list(range(len(self.config['variations'][var])))
probabilities = None
if var in self.config['selection likelihood'].keys():
probabilities = self.config['selection likelihood'][var]
choice = np.random.choice(choices, p=probabilities)
selected_indices.append(choice)
else:
num_choices = len(self.config['variations'][var])
# TODO: should this be configurable?
min_selections = 2
max_selections = 5
num_selections = random.randint(min_selections, max_selections)
for idx in range(num_selections):
choice = random.randrange(0, num_choices)
selected_indices.append(choice)
selected_items = np.array(
self.config['variations'][var])[selected_indices].tolist()
trial_config[var] = selected_items
return trial_config
def show_results(self, msg, timeout, stopped):
pass
def clear_results(self):
'''
clear results elements
'''
self.bagfile_name = None
results = self.config['results'].keys()
for res in results:
if isinstance(self.config['results'][res], list):
single_choice = True
if var in self.config['multiple choice result']:
single_choice = False
if not single_choice:
widget = self.result_widgets[res]
for child in widget.children():
if isinstance(child, QRadioButton) or isinstance(
child, QCheckBox):
child.setChecked(False)
elif isinstance(child, QComboBox):
child.setCurrentIndex(0)
else:
self.result_widgets[res].setText('')
self.notes_widget.clear()
def get_trial_result_dict(self, msg, current_trial_name, current_team_name,
timeout, stopped, elapsed_time):
'''
return dictionary with all result fields for this benchmark
'''
results = {}
results['trial_id'] = current_trial_name
results['team_name'] = current_team_name
results['bagfile'] = self.bagfile_name
results['duration'] = elapsed_time
results['timeout'] = timeout
results['stopped'] = stopped
results['config'] = self.get_current_selections()
results['notes'] = self.notes_widget.toPlainText()
if not stopped and not timeout:
results['results'] = self.get_result_dict_from_msg(msg)
else:
results['results'] = {}
return results
def get_result_dict_from_msg(self, msg):
'''
Return benchmark-specific results in the form of a dictionary
Must be overridden by subclasses.
'''
pass
def get_task_info_for_robot(self):
'''
return config information which is required for the robot to perform the task
e.g. object to be detected, grasp pose, navigation poses etc.
'''
return {}
def get_timeout(self):
return self.config["timeout"]
def set_bagfile_name(self, name):
self.bagfile_name = name
def get_bagfile_name(self):
return self.bagfile_name
def lock_config(self):
self.config_group_box.setChecked(False)
def unlock_config(self):
self.config_group_box.setChecked(True)
def setup(self, config_layout, results_layout, config_locked):
'''
set up the layout for selecting options from the different benchmark variations
'''
config_group_box_layout = QHBoxLayout()
self.config_group_box = QGroupBox('Configuration')
self.config_group_box.setCheckable(True)
if (config_locked):
self.config_group_box.setChecked(False)
variations = self.config['variations'].keys()
for var in variations:
single_choice = True
if var in self.config['multiple choice variation']:
single_choice = False
if isinstance(self.config['variations'][var], list):
self.variation_widgets[var], scroll = self.add_config(
var,
self.config['variations'][var],
single_choice=single_choice)
config_group_box_layout.addWidget(scroll)
else:
path = os.path.join(self.config_path,
self.config['variations'][var])
if os.path.exists(path):
with open(path) as f:
options = f.readlines()
options = [x.strip() for x in options]
self.variation_widgets[var], scroll = self.add_config(
var, options, single_choice=single_choice)
config_group_box_layout.addWidget(scroll)
self.config['variations'][var] = options
else:
QMessageBox.critical(None, "Error",
"File %s does not exist" % path)
self.config_group_box.setLayout(config_group_box_layout)
config_layout.addWidget(self.config_group_box)
results_group_box = QGroupBox('Results')
results_group_box_layout = QHBoxLayout()
results = self.config['results'].keys()
for res in results:
single_choice = True
if var in self.config['multiple choice result']:
single_choice = False
if isinstance(self.config['results'][res], list):
self.result_widgets[res], scroll = self.add_config(
res,
self.config['results'][res],
single_choice=single_choice)
results_group_box_layout.addWidget(scroll)
else:
if self.config['results'][res] == 'text_field':
widget = QWidget()
text_field = QLineEdit()
text_field.setReadOnly(True)
txtlayout = QHBoxLayout()
txtlayout.addWidget(QLabel(res))
txtlayout.addWidget(text_field)
widget.setLayout(txtlayout)
self.result_widgets[res] = text_field
results_group_box_layout.addWidget(widget)
results_group_box.setLayout(results_group_box_layout)
results_layout.addWidget(results_group_box)
self.notes_widget = QPlainTextEdit()
self.notes_widget.setMaximumHeight(100)
self.notes_widget.setPlaceholderText('Enter notes about the result...')
results_layout.addWidget(self.notes_widget)
def setup(self):
layout = QGridLayout()
# Sidebar
self.benchmark_combo_box = QComboBox()
for key in self.config['benchmarks'].keys():
self.benchmark_combo_box.addItem(
self.config['benchmarks'][key]['name'])
self.benchmark_combo_box.currentIndexChanged.connect(
self._handle_benchmark_selected)
self.benchmark_combo_box.setMaximumWidth(SIDEBAR_WIDTH)
self.set_current_benchmark()
self.team_combo_box = QComboBox()
for key in self.config['teams']:
self.team_combo_box.addItem(key)
self.team_combo_box.setMaximumWidth(SIDEBAR_WIDTH)
self.test_communication_button = QPushButton('Test communication')
self.test_communication_button.clicked.connect(self._handle_test_comm)
self.trial_list_widget = QListWidget()
self.trial_list_widget.currentItemChanged.connect(
self._handle_trial_change)
self.trial_list_widget.setMaximumWidth(SIDEBAR_WIDTH)
sidebar_layout = QVBoxLayout()
sidebar_layout.addWidget(QLabel("Team"))
sidebar_layout.addWidget(self.team_combo_box)
sidebar_layout.addWidget(self.test_communication_button)
sidebar_layout.addWidget(QLabel("Benchmark"))
sidebar_layout.addWidget(self.benchmark_combo_box)
sidebar_layout.addWidget(QLabel("Trial"))
sidebar_layout.addWidget(self.trial_list_widget)
self.generate_button = QPushButton('Generate')
self.generate_button.clicked.connect(self._handle_generate)
self.delete_button = QPushButton('Delete')
self.delete_button.clicked.connect(self._handle_delete)
self.save_trials_button = QPushButton('Save')
self.save_trials_button.clicked.connect(self._handle_save_trial_config)
self.lock_button = QPushButton('Lock')
if self.config_locked:
self.lock_button.setText('Unlock')
self.lock_button.clicked.connect(self._handle_lock)
sidebar_button_layout = QGridLayout()
sidebar_button_layout.addWidget(self.generate_button, 0, 0)
sidebar_button_layout.addWidget(self.delete_button, 0, 1)
sidebar_button_layout.addWidget(self.save_trials_button, 1, 0)
sidebar_button_layout.addWidget(self.lock_button, 1, 1)
sidebar_layout.addLayout(sidebar_button_layout)
layout.addLayout(sidebar_layout, 0, 0)
# Status box
self.status = QPlainTextEdit()
self.status.setReadOnly(True)
self.status.setMaximumHeight(200)
# row 1, col 0, rowspan 1, colspan 2
layout.addWidget(self.status, 1, 0, 1, 2)
# trial config and results
trial_layout = QVBoxLayout()
self.trial_config_layout = QHBoxLayout()
self.trial_results_layout = QVBoxLayout()
self.setup_trial_config()
# benchmark trial controls
benchmark_controls_group_box = QGroupBox('Controls')
benchmark_controls_layout = QHBoxLayout()
self.start_trial_button = QPushButton('Start')
self.start_trial_button.clicked.connect(self._handle_start_trial)
self.stop_trial_button = QPushButton('Stop')
self.stop_trial_button.clicked.connect(self._handle_stop_trial)
self.prev_trial_button = QPushButton('Previous')
self.prev_trial_button.clicked.connect(self._handle_prev_trial)
self.next_trial_button = QPushButton('Next')
self.next_trial_button.clicked.connect(self._handle_next_trial)
self.start_continuous_recording_button = QPushButton(
'Start continuous recording')
self.start_continuous_recording_button.clicked.connect(
self._handle_continuous_recording)
self.timer_field = QLabel()
font = QFont("Arial", 20, QFont.Bold)
self.timer_field.setFont(font)
self.timer_field.setAutoFillBackground(True)
benchmark_controls_layout.addWidget(self.start_trial_button)
benchmark_controls_layout.addWidget(self.stop_trial_button)
benchmark_controls_layout.addWidget(self.prev_trial_button)
benchmark_controls_layout.addWidget(self.next_trial_button)
benchmark_controls_layout.addWidget(
self.start_continuous_recording_button)
benchmark_controls_layout.addWidget(self.timer_field)
benchmark_controls_group_box.setLayout(benchmark_controls_layout)
trial_layout.addLayout(self.trial_config_layout)
trial_layout.addWidget(benchmark_controls_group_box)
trial_layout.addLayout(self.trial_results_layout)
self.save_results_button = QPushButton('Save results')
self.save_results_button.clicked.connect(self._handle_save_result)
trial_layout.addWidget(self.save_results_button)
layout.addLayout(trial_layout, 0, 1)
self.setLayout(layout)
self.show()
self.show_env_var('ROS_MASTER_URI')
self.show_env_var('ROS_IP')
self.show_env_var('ROS_HOSTNAME')
