def startPressed(self):
'''
is called when the start button is clicked
calls the function to get the data to plot
dependent on what tab is selected
'''
currentTab = self.tabWidget.currentIndex()
try:
if currentTab == 0: # rawDataTab is active
plotData, plotInfo = self.rawDataTab.getPlotData()
elif currentTab == 1: #
plotData, plotInfo = self.compareTab.getPlotData()
elif currentTab == 2:
plotData, plotInfo = self.diffTab.getPlotData()
# emit signal with data
self.newPlotData.emit(plotData, plotInfo)
# close dialog
self.close()
except Exception as e:
msg_box = QMessageBox(QMessageBox.Critical, 'Error', str(e))
msg_box.exec_()
def resetSDV(self):
indexes = self._widget.EstadosDeConexion.selectedIndexes()
# SI no se ha seleccionado ningun robot SDV arrojar error
if not indexes:
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setText(u"Error de Asignación de Comando:")
msg.setInformativeText(
"Seleccione al menos un robot de la lista de conexiones")
msg.setWindowTitle("Error")
ret = msg.exec_()
else:
for index in indexes:
sdv = index.data()
if sdv == inc.SERVER_USERNAME[0]:
self.sdvs[0].sender.publishResetGoal()
elif sdv == inc.SERVER_USERNAME[1]:
self.sdvs[1].sender.publishResetGoal()
elif sdv == inc.SERVER_USERNAME[2]:
self.sdvs[2].sender.publishResetGoal()
else:
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setText(u"Error de Asignación de Comando:")
msg.setInformativeText("No se ha reconocido el robot SDV")
msg.setWindowTitle("Error")
ret = msg.exec_()
return
def sendCommand(self):
try: # Todas las columnas de la fila seleccionadas
name, instr, place = sorted(
self._widget.TablaInstrucciones.selectedIndexes())
except:
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setText(u"Error de Ejecución de Instrucción:")
msg.setInformativeText(
"No se ha seleccionado toda la fila. Seleccione el índice de la instrucción"
)
msg.setWindowTitle("Error")
ret = msg.exec_()
return
# Selección correcta
name, place = str(name.data()), str(place.data())
i = 0
if name == inc.SERVER_USERNAME[0]:
i = 0 #SDVUN_LAST_COMMAND[0] = self.sender.pose
elif name == inc.SERVER_USERNAME[1]:
i = 1 #SDVUN_LAST_COMMAND[1] = self.sender.pose
elif name == inc.SERVER_USERNAME[2]:
i = 2 #SDVUN_LAST_COMMAND[2] = self.sender.pose
# HOME
if inc.PLACES[place] == 0:
self.sdvs[i].sender.sendSDVtoHome()
# MALLA
elif inc.PLACES[place] == 1:
self.sdvs[i].sender.sendSDVtoCeldaExperimental()
# INDUSTRIAL
elif inc.PLACES[place] == 2:
self.sdvs[i].sender.sendSDVtoCeldaIndustrial()
# MANUFACTURA
elif inc.PLACES[place] == 3:
self.sdvs[i].sender.sendSDVtoCeldaManufactura()
else:
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setText(u"Error de Asignación de Comando:")
msg.setInformativeText("No se ha reconocido el destino del SDV")
msg.setWindowTitle("Error")
ret = msg.exec_()
return
if name == inc.SERVER_USERNAME[0]:
self.sdvs[i].sender.publishPoseStamped()
elif name == inc.SERVER_USERNAME[1]:
self.sdvs[i].sender.publishPoseStamped()
elif name == inc.SERVER_USERNAME[2]:
self.sdvs[i].sender.publishPoseStamped()
else:
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setText(u"Error de Asignación de Comando:")
msg.setInformativeText("No se ha reconocido el robot SDV")
msg.setWindowTitle("Error")
ret = msg.exec_()
return
def show(self):
try:
# append folder of 'qt_gui_cpp/lib' to module search path
qt_gui_cpp_path = os.path.realpath(get_package_path('qt_gui_cpp'))
except Exception:
qt_gui_cpp = None
else:
sys.path.append(os.path.join(qt_gui_cpp_path, 'lib'))
sys.path.append(os.path.join(qt_gui_cpp_path, 'src'))
from qt_gui_cpp.cpp_binding_helper import qt_gui_cpp
logo = os.path.join(self._qtgui_path, 'share', 'qt_gui', 'resource',
'ros_org_vertical.png')
text = '<img src="%s" width="56" height="200" style="float: left;"/>' % logo
text += '<h3 style="margin-top: 1px;">%s</h3>' % self.tr('rqt')
text += '<p>%s %s</p>' % (
self.tr('rqt is a framework for graphical user interfaces.'),
self.
tr('It is extensible with plugins which can be written in either Python or C++.'
))
text += '<p>%s</p>' % (self.tr(
'Please see the <a href="%s">Wiki</a> for more information on rqt and available '
'plugins.' % 'http://wiki.ros.org/rqt'))
text += '<p>%s: ' % self.tr('Utilized libraries:')
text += 'Python %s, ' % platform.python_version()
if QT_BINDING == 'pyside':
text += 'PySide'
elif QT_BINDING == 'pyqt':
text += 'PyQt'
text += ' %s (%s), ' % (QT_BINDING_VERSION, ', '.join(
sorted(QT_BINDING_MODULES)))
text += 'Qt %s, ' % qVersion()
if qt_gui_cpp is not None:
if QT_BINDING == 'pyside':
text += '%s' % (self.tr('%s C++ bindings available') %
'Shiboken')
elif QT_BINDING == 'pyqt':
text += '%s' % (self.tr('%s C++ bindings available') % 'SIP')
else:
text += '%s' % self.tr('C++ bindings available')
else:
text += '%s' % self.tr(
'no C++ bindings found - no C++ plugins available')
text += '.</p>'
mb = QMessageBox(QMessageBox.NoIcon, self.tr('About rqt'), text,
QMessageBox.Ok, self.parent())
mb.exec_()
def loginView(self):
# Login correcto
if self.login.user:
print 'Autenticado usuario: %s' % (self.login.user.display_name)
self.sdvoice = SDVoice(self.mainwindow_file, self.login.user)
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if self.context.serial_number() > 1:
self.login._widget.setWindowTitle(
self.login._widget.windowTitle() +
(' (%d)' % self.context.serial_number()))
self.sdvoice._widget.setWindowTitle(
self.sdvoice._widget.windowTitle() +
(' (%d)' % self.context.serial_number()))
# Agregar widget al panel de rqt
self.context.add_widget(self.sdvoice._widget)
# TODO: CERRAR WIDGET LOGIN
self.login._widget.close()
# Error de datos de usuario
else:
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setText(u"Error de Verificación de Usuario:")
msg.setInformativeText(u"Usuario o contraseña no válidos!")
msg.setWindowTitle("Error")
ret = msg.exec_()
def show_pop_up(self):
msg = QMessageBox()
msg.setWindowTitle('Alternative flight plan received')
msg.setText('Accept alternative flight plan?')
msg.setIcon(QMessageBox.Question)
msg.setStandardButtons(QMessageBox.Yes|QMessageBox.No)
msg.setDefaultButton(QMessageBox.No)
# msg.setInformativeText('Accept new plan?')
msg.setDetailedText('{}'.format(self.alternative_flight_plan))
# msg.buttonClicked.connect(self.handle_message_box) # TODO: do handling here?
pop_up_response = msg.exec_()
ros_response = RPSFlightPlanAccept()
ros_response.icao = self.alternative_flight_plan.icao
ros_response.flight_plan_id = self.alternative_flight_plan.flight_plan_id
if pop_up_response == QMessageBox.Yes:
ros_response.accept = True
# Try to call light_sim service to change flight plan
try:
light_sim_change_flight_plan = rospy.ServiceProxy('/gauss_light_sim/change_flight_plan', ChangeFlightPlan)
light_sim_change_flight_plan(ChangeFlightPlanRequest(alternative=copy.deepcopy(self.alternative_flight_plan)))
except rospy.ServiceException as e:
print("[RQt] Service call failed: %s"%e)
if pop_up_response == QMessageBox.No:
ros_response.accept = False
self.acceptance_pub.publish(ros_response)
self.alternative_flight_plan = None
def connectSSH(self):
i = self._widget.ListaConexiones.currentIndex()
# Let the user know we're connecting to the server
self._widget.statusBar.showMessage("Connecting to server.")
self.sdvs[i].ssh = ssh(inc.SERVER_IP[i], inc.SERVER_USERNAME[i],
inc.SERVER_PASSWORD[i])
# Agregar a EstadosDeConexion lista de hosts conectados
if self.sdvs[i].ssh.client != None:
# Actualizar GUI
item = QtGui.QStandardItem(
self._widget.ListaConexiones.currentText())
self.EstadosDeConexion_model.appendRow(item)
# TODO: Lanzar el proyecto de sdvoice en el robot SDV
#node = roslaunch.core.Node('sdvoice', 'agv_nav.launch')
#launch = roslaunch.scriptapi.ROSLaunch()
#launch.start()
#process = launch.launch(node)
#print process.is_alive()
#self.ssh_clients[i].sendCommand("roslaunch sdvoice agv_nav.launch")
#self.ssh_clients[i].sendCommand("ls")
else:
# QDialog de Warning por error de conexión
# TODO: Cambiar tamaño de la ventana del mensaje
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setText("Error de Conexión:")
msg.setInformativeText(
"No se pudo conectar a %s!" %
(self._widget.ListaConexiones.currentText()))
msg.setWindowTitle("Error")
ret = msg.exec_()
self._widget.statusBar.showMessage("")
def on_qt_delete_btn_clicked(self):
msgbox = QMessageBox(
QMessageBox.Warning, 'Do you want to delete this?',
'Name: {0}\nPath: {1}'.format(self._path_model.cur_bagfilename,
self._path_model.cur_bagpath))
msgbox.addButton('DELETE', QMessageBox.AcceptRole)
msgbox.addButton('cancel', QMessageBox.RejectRole)
if msgbox.exec_() == 0:
self._path_model.delete_file()
class RosPyPluginProvider(CompositePluginProvider):
_master_found_signal = Signal(int)
def __init__(self):
super(RosPyPluginProvider, self).__init__([RospkgPluginProvider('rqt_gui', 'rqt_gui_py::Plugin')])
self.setObjectName('RosPyPluginProvider')
self._node_initialized = False
self._wait_for_master_dialog = None
self._wait_for_master_thread = None
def load(self, plugin_id, plugin_context):
self._check_for_master()
self._init_node()
return super(RosPyPluginProvider, self).load(plugin_id, plugin_context)
def _check_for_master(self):
# check if master is available
try:
rospy.get_master().getSystemState()
return
except Exception:
pass
# spawn thread to detect when master becomes available
self._wait_for_master_thread = threading.Thread(target=self._wait_for_master)
self._wait_for_master_thread.start()
self._wait_for_master_dialog = QMessageBox(QMessageBox.Question, self.tr('Waiting for ROS master'), self.tr("Could not find ROS master. Either start a 'roscore' or abort loading the plugin."), QMessageBox.Abort)
self._master_found_signal.connect(self._wait_for_master_dialog.done, Qt.QueuedConnection)
button = self._wait_for_master_dialog.exec_()
# check if master existence was not detected by background thread
no_master = button != QMessageBox.Ok
self._wait_for_master_dialog.deleteLater()
self._wait_for_master_dialog = None
if no_master:
raise PluginLoadError('RosPyPluginProvider._init_node() could not find ROS master')
def _wait_for_master(self):
while True:
time.sleep(0.1)
if not self._wait_for_master_dialog:
break
try:
rospy.get_master().getSystemState()
except Exception:
continue
self._master_found_signal.emit(QMessageBox.Ok)
break
def _init_node(self):
# initialize node once
if not self._node_initialized:
name = 'rqt_gui_py_node_%d' % os.getpid()
qDebug('RosPyPluginProvider._init_node() initialize ROS node "%s"' % name)
rospy.init_node(name, disable_signals=True)
self._node_initialized = True
def check_client_set_up(self):
'''Checks to see if the client is initialized, if not we check if the server is running before initializing the client.
If server is not yet running we send a popup informing the user and return False.'''
#checks to see if we have connected to service yet
if self.plan_select_client == None:
#we get list of services and see if any match plexil_plan_selection
services = rosservice.get_service_list()
service_running = [i for i in services if "plexil_plan_selection" in i]
#if none exist we send a popup and return
if len(service_running) == 0:
popup = QMessageBox()
popup.setWindowTitle("ow_plexil service not yet connected")
popup.setText("ow_plexil plan selection service not connected yet, please make sure the ow_plexil launch file is running.")
popup.exec_()
return False
else:
#client setup
rospy.wait_for_service('plexil_plan_selection')
self.plan_select_client = rospy.ServiceProxy('plexil_plan_selection', PlanSelection)
return True
else:
return True
def _start_experiment(self):
for i, rb in enumerate(self.radiobuttons):
if rb.isChecked():
self.experiment_type = i
for i, rb in enumerate(self.skipradio):
if rb.isChecked():
self.skip = i
if self.skip != -1:
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setText("Are you sure you want to skip phases?")
msg.setWindowTitle("Careful")
msg.exec_()
if self.skip_check:
self.skip_check = False
return
if self.experiment_type == None:
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setText("Select which experiment to run!")
msg.setWindowTitle("Careful")
msg.exec_()
return
rospy.loginfo('Starting the experiment ' + str(self.experiment_type))
# Create the message
message = ExperimentTrigger()
message.type = self.experiment_type
message.finnish = self._widget.finnish_box.isChecked()
message.skip = self.skip
message.name = self._widget.name_text.text()
self.start_publisher.publish(message)
self._widget.startButton.setEnabled(False)
def registro(self):
email = self._widget.email.text()
user_name = self._widget.userName.text()
phone = self._widget.phone.text()
passw = self._widget.passw.text()
repassw = self._widget.repass.text()
# Error de contraseñas
if passw != repassw:
self.user = None
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setText(u"Error de Contraseña:")
msg.setInformativeText(u"Las contraseñas no coinciden")
msg.setWindowTitle("Error")
ret = msg.exec_()
else:
try:
self.user = firebase.addUser(email, passw, phone, user_name)
firebase.newDataBase(self.user.display_name)
# Error de registro
except:
self.user = None
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setText(u"Error de Registro:")
msg.setInformativeText(
u"No se ha podido registrar usuario: \n Datos erroneos, revisar:\n - Contraseña debe tener más de 6 digitos.\n - Verifique símbolos de los datos personales."
)
msg.setWindowTitle("Error")
ret = msg.exec_()
# Registro exitoso
msg = QMessageBox()
msg.setIcon(QMessageBox.Information)
msg.setText(u"Bienvenido:")
msg.setInformativeText(u"Usuario creado exitosamente!")
msg.setWindowTitle(u"Información")
ret = msg.exec_()
def addManualCommand(self):
indexes = self._widget.EstadosDeConexion.selectedIndexes()
# SI no se ha seleccionado ningun robot SDV arrojar error
if not indexes:
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setText(u"Error de Asignación de Comando:")
msg.setInformativeText(
"Seleccione al menos un robot de la lista de conexiones")
msg.setWindowTitle("Error")
ret = msg.exec_()
else:
for index in indexes:
sdv = index.data()
self._comm = [
QtGui.QStandardItem(str(sdv)),
QtGui.QStandardItem(
str(self._widget.ListaInstrucciones.currentText())),
QtGui.QStandardItem(
str(self._widget.ListaMaquinas.currentText()))
]
self.TablaInstrucciones_model.appendRow(self._comm)
def _import(self):
print "import"
array = pd.read_excel(self.gui.file_path,
index_col=[0]).values.tolist()
if len(self.data_replay) > 0:
msg = QMessageBox()
msg.setIcon(QMessageBox.Warning)
msg.setStandardButtons(QMessageBox.Ok | QMessageBox.Cancel)
msg.setText("Data is not empty!\n Force clear")
retval = msg.exec_()
if retval == QMessageBox.Cancel:
return
else:
self.data_replay = []
self.gui.listVeiw.clear()
if isinstance(array, list):
self.data_replay = array
for i in range(0, len(self.data_replay)):
self.gui.listView_add_item(i)
pass
def errorPopup(self, title, e):
msg_box = QMessageBox()
msg_box.setWindowTitle(title)
msg_box.setIcon(QMessageBox.Warning)
msg_box.setText("%s"%e)
msg_box.exec_()
class RosPyPluginProvider(CompositePluginProvider):
_master_found_signal = Signal(int)
def __init__(self):
super(RosPyPluginProvider, self).__init__(
[RospkgPluginProvider('rqt_gui', 'rqt_gui_py::Plugin')])
self.setObjectName('RosPyPluginProvider')
self._node_initialized = False
self._wait_for_master_dialog = None
self._wait_for_master_thread = None
def load(self, plugin_id, plugin_context):
self._check_for_master()
self._init_node()
return super(RosPyPluginProvider, self).load(plugin_id, plugin_context)
def _check_for_master(self):
# check if master is available
try:
rospy.get_master().getSystemState()
return
except Exception:
pass
# spawn thread to detect when master becomes available
self._wait_for_master_thread = threading.Thread(
target=self._wait_for_master)
self._wait_for_master_thread.start()
self._wait_for_master_dialog = QMessageBox(
QMessageBox.Question, self.tr('Waiting for ROS master'),
self.
tr("Could not find ROS master. Either start a 'roscore' or abort loading the plugin."
), QMessageBox.Abort)
self._master_found_signal.connect(self._wait_for_master_dialog.done,
Qt.QueuedConnection)
button = self._wait_for_master_dialog.exec_()
# check if master existence was not detected by background thread
no_master = button != QMessageBox.Ok
self._wait_for_master_dialog.deleteLater()
self._wait_for_master_dialog = None
if no_master:
raise PluginLoadError(
'RosPyPluginProvider._init_node() could not find ROS master')
def _wait_for_master(self):
while True:
time.sleep(0.1)
if not self._wait_for_master_dialog:
break
try:
rospy.get_master().getSystemState()
except Exception:
continue
self._master_found_signal.emit(QMessageBox.Ok)
break
def _init_node(self):
# initialize node once
if not self._node_initialized:
name = 'rqt_gui_py_node_%d' % os.getpid()
qDebug(
'RosPyPluginProvider._init_node() initialize ROS node "%s"' %
name)
rospy.init_node(name, disable_signals=True)
self._node_initialized = True
def showMessage(msgText):
msgBox = QMessageBox()
msgBox.setText(msgText)
msgBox.exec_()
class AnnotatorWidget(QWidget):
"""
Annotator tool viewer
"""
#name = 'Annotator'
set_status_text = Signal(str)
def __init__(self, context, bag_widget, publish_clock):
super(AnnotatorWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_bag_meri_annotator'),
'resource', 'MeriPlugin.ui')
loadUi(ui_file, self, {'AnnotatorGraphicsView': AnnotatorGraphicsView})
self.setObjectName('AnnotatorWidget')
self.setMouseTracking(True)
self.annotation_data = list()
self.interaction_time = 120.0
self.bag_widget = bag_widget
self.bagtimeline = self.bag_widget._timeline
self._child_index = 0
self.settings = QSettings("UFES", "MERI Annotator Widget")
#self.settings.setValue("Last_child_index",self._child_index)
self.instance = vlc.Instance()
self.mediaplayer = self.instance.media_player_new()
self.isPaused = False
self.msgBox = QMessageBox()
self.msgBox.setIcon(QMessageBox.Information)
self.msgBox.setWindowTitle('Annotator Interface Information')
self.msgBox.setStandardButtons(QMessageBox.Ok)
self.BtnSaveJson.clicked.connect(self.BtnSaveJsonClicked)
self.BtnLoadJson.clicked.connect(self.BtnLoadJsonClicked)
self.BtnNext.clicked.connect(self.BtnNextClicked)
self.BtnSetupBag.clicked.connect(self.BtnSetupBagClicked)
self.BtnPrevious.clicked.connect(self.BtnPreviousClicked)
self.BtnZero.clicked.connect(self.BtnZeroClicked)
self.BtnOne.clicked.connect(self.BtnOneClicked)
self.BtnTwo.clicked.connect(self.BtnTwoClicked)
self.BtnAimLess.clicked.connect(self.BtnAimLessClicked)
self.BtnGoalOriented.clicked.connect(self.BtnGoalOrientedClicked)
self.BtnRobotStarted.clicked.connect(self.BtnRobotStartedClicked)
self.BtnPointing.clicked.connect(self.BtnPointingClicked)
self.BtnFollowLor.clicked.connect(self.BtnFollowLorClicked)
self.BtnAdultSeek.clicked.connect(self.BtnAdultSeekClicked)
self.BtnECTwC.clicked.connect(self.BtnECTwCClicked)
self.BtnECTwR.clicked.connect(self.BtnECTwRClicked)
self.BtnECTwT.clicked.connect(self.BtnECTwTClicked)
self.BtnPlay.clicked.connect(self.BtnPlayClicked)
self.BtnPause.clicked.connect(self.BtnPauseClicked)
self.BtnStop.clicked.connect(self.BtnStopClicked)
self.BtnPlay.setIcon(QIcon.fromTheme('media-playback-start'))
self.BtnPause.setIcon(QIcon.fromTheme('media-playback-pause'))
self.BtnLoadJson.setIcon(QIcon.fromTheme('document-open'))
self.BtnSaveJson.setIcon(QIcon.fromTheme('document-save'))
self.BtnStop.setIcon(QIcon.fromTheme('media-playback-stop'))
self.BtnNext.setIcon(QIcon.fromTheme('go-next'))
self.BtnSetupBag.setIcon(QIcon.fromTheme('document-properties'))
self.BtnPrevious.setIcon(QIcon.fromTheme('go-previous'))
def BtnSaveJsonClicked(self):
if self.SpecialistName.text() == "":
self.msgBox.setText(
'Please register your name in the <html><b> Specialist_Name </b></html> box'
)
retval = self.msgBox.exec_()
else:
if len(self.annotation_data) == 0:
self.msgBox.setText('No annotation has been recorded')
retval = self.msgBox.exec_()
else:
annotationfile = [
self.SpecialistName.text() + "_annotation_" +
self._child_data[self._child_index]['ID'] + ".json"
]
annotationfile_path = os.path.join(os.path.expanduser('~'),
'Documents',
'Annotation_files',
annotationfile[0])
if os.path.exists(annotationfile_path):
self.msgBox.setText(
'<html><b>' + self.SpecialistName.text() +
'</b></html> already recorder annotations for child: <html><b>'
+ self._child_data[self._child_index]['ID'] +
'</b></html>')
retval = self.msgBox.exec_()
else:
with open(annotationfile_path, "w") as write_file:
json.dump(self.annotation_data, write_file)
self.msgBox.setText('Annotation File: <html><b>' +
annotationfile[0] +
'</b></html> Saved!')
retval = self.msgBox.exec_()
def BtnLoadJsonClicked(self):
self._child_data = None
json_path = self.settings.value("Last_path")
if json_path == "":
json_path = os.path.join(os.path.expanduser('~'), 'Documents')
json_file = QFileDialog.getOpenFileName(self, "Open JSON File",
json_path)
self.settings.setValue("Last_path", json_file[0])
with open(json_file[0]) as f:
self._child_data = json.load(f)
if self.settings.value("Last_child_index") is not None:
self._child_index = int(self.settings.value("Last_child_index"))
if self._child_index > len(self._child_data) - 1:
self._child_index = 0
self.LineChildId.setText(self._child_data[self._child_index]['ID'])
self.msgBox.setText('Json Data of <html><b>' +
str(len(self._child_data)) +
'</b></html> Children were loaded')
retval = self.msgBox.exec_()
def BtnNextClicked(self):
if self._child_index < len(self._child_data) - 1:
self._child_index = self._child_index + 1
self.LineChildId.setText(self._child_data[self._child_index]['ID'])
self.settings.setValue("Last_child_index", self._child_index)
def BtnPreviousClicked(self):
if self._child_index > 0:
self._child_index = self._child_index - 1
self.LineChildId.setText(self._child_data[self._child_index]['ID'])
self.settings.setValue("Last_child_index", self._child_index)
def BtnSetupBagClicked(self):
kinect2_a_bag_name = 'image_kinect2_a_' + self._child_data[
self._child_index]['Kinect_a']
kinect2_b_bag_name = 'image_kinect2_b_' + self._child_data[
self._child_index]['Kinect_b']
focus_bag_name = 'focus_data_' + self._child_data[
self._child_index]['Focus']
k2a_bag_file = os.path.join(os.path.expanduser('~'), "Documents",
"hg_rosbag", "test_files",
kinect2_a_bag_name)
k2b_bag_file = os.path.join(os.path.expanduser('~'), "Documents",
"hg_rosbag", "test_files",
kinect2_b_bag_name)
focus_bag_file = os.path.join(os.path.expanduser('~'), "Documents",
"hg_rosbag", "test_files",
focus_bag_name)
self.bag_widget.load_bag(k2a_bag_file)
self.bag_widget.load_bag(k2b_bag_file)
#self.bag_widget.load_bag(focus_bag_file)
audio_file_name = self._child_data[
self._child_index]['Picture(jpg)/Audio(mp3)'] + '.mp3'
audio_media_file = os.path.join(os.path.expanduser('~'), "Documents",
"hg_rosbag", "audios", audio_file_name)
self.OpenAudioMedia(audio_media_file)
if self.checkCutBag.isChecked() == True:
last_path = self.settings.value("Last_path")
acronym_file = last_path[len(last_path) - 9:len(last_path) - 5]
if acronym_file[0] == "s":
config_name = ["cwa" + acronym_file + "_rs.json"]
elif acronym_file[0] == "o":
config_name = ["cw" + acronym_file + "_rs.json"]
config_path = os.path.join(os.path.expanduser('~'), 'Documents',
config_name[0])
with open(config_path) as f:
bag_config = json.load(f)
if float(bag_config[self._child_index]
['Sec']) > self.interaction_time:
self.bagtimeline._timeline_frame._start_stamp = self.bagtimeline._timeline_frame._start_stamp + rospy.Duration.from_sec(
float(bag_config[self._child_index]['Sec']) -
self.interaction_time)
self.annotation_data.append({
'key': 'Robot Started',
'time_stamp': 0,
'Sec': self.interaction_time
})
else:
self.annotation_data.append({
'key':
'Robot Started',
'time_stamp':
0,
'Sec':
float(bag_config[self._child_index]['Sec'])
})
if (self.bagtimeline._timeline_frame._end_stamp -
self.bagtimeline._timeline_frame._start_stamp
) > rospy.Duration.from_sec(self.interaction_time * 2):
self.bagtimeline._timeline_frame._end_stamp = self.bagtimeline._timeline_frame._start_stamp + rospy.Duration.from_sec(
self.interaction_time * 2)
def BtnZeroClicked(self):
task = self.ComBoxTask.currentText() + " 0 pts"
self.AnnotationYamlCreator(task)
def BtnOneClicked(self):
task = self.ComBoxTask.currentText() + " 1 pts"
self.AnnotationYamlCreator(task)
def BtnTwoClicked(self):
task = self.ComBoxTask.currentText() + " 2 pts"
self.AnnotationYamlCreator(task)
def BtnAimLessClicked(self):
self.AnnotationYamlCreator('AimLess')
def BtnGoalOrientedClicked(self):
self.AnnotationYamlCreator('Goal Oriented')
def BtnRobotStartedClicked(self):
self.AnnotationYamlCreator('Robot Started')
def BtnPointingClicked(self):
self.AnnotationYamlCreator('Pointing')
def BtnFollowLorClicked(self):
self.AnnotationYamlCreator('Following LoR')
def BtnAdultSeekClicked(self):
self.AnnotationYamlCreator('AdultSeek')
def BtnECTwCClicked(self):
self.AnnotationYamlCreator('Eye Contact TwC')
def BtnECTwRClicked(self):
self.AnnotationYamlCreator('Eye Contact TwR')
def BtnECTwTClicked(self):
self.AnnotationYamlCreator('Eye Contact TwT')
def BtnPlayClicked(self):
self.bag_widget.play_button.setChecked(True)
self.bag_widget.play_button.setIcon(self.bag_widget.pause_icon)
self.bagtimeline.navigate_play()
self.mediaplayer.play()
def BtnPauseClicked(self):
self.bag_widget.play_button.setChecked(False)
self.bag_widget.play_button.setIcon(self.bag_widget.play_icon)
self.bagtimeline.navigate_stop()
self.mediaplayer.pause()
def BtnStopClicked(self):
self.bag_widget.play_button.setChecked(False)
self.bag_widget.play_button.setIcon(self.bag_widget.play_icon)
self.bagtimeline.navigate_stop()
self.bagtimeline.navigate_start()
self.mediaplayer.stop()
def AnnotationYamlCreator(self, Annotation):
playhead_time = self.bagtimeline._timeline_frame.playhead
self.annotation_data.append({
'key':
Annotation,
'time_stamp':
playhead_time.to_nsec(),
'Sec': (playhead_time -
self.bagtimeline._timeline_frame.start_stamp).to_sec()
})
def OpenAudioMedia(self, filename=None):
"""Open a media file in a MediaPlayer
"""
self.media = self.instance.media_new(filename)
# put the media in the media player
self.mediaplayer.set_media(self.media)
def shutdown_all(self):
self.bagtimeline.handle_close()
self.mediaplayer.stop()
pass
def create_alert(alert_msg):
alert = QMessageBox()
alert.setText(alert_msg)
alert.exec_()
def _no_support_warning(self):
msg = QMessageBox()
msg.setWindowTitle("Saving dataset...")
msg.setIcon(QMessageBox.Critical)
msg.setText("This format is not yet supported.")
x = msg.exec_()
