def update_gait_duration(self, duration):
rescale_setpoints = self.scale_setpoints_check_box.isChecked()
if self.gait.has_setpoints_after_duration(
duration) and not rescale_setpoints:
if not self.gait.has_multiple_setpoints_before_duration(duration):
QMessageBox.question(
self._widget, 'Could not update gait duration',
'Not all joints have multiple setpoints before duration ' +
str(duration), QMessageBox.Ok)
return
discard_setpoints = QMessageBox.question(
self._widget, 'Gait duration lower than highest time setpoint',
'Do you want to discard any setpoints higher than the given '
'duration?', QMessageBox.Yes | QMessageBox.No)
if discard_setpoints == QMessageBox.No:
self.duration_spin_box.setValue(self.gait.duration)
return
self.gait.set_duration(duration, rescale_setpoints)
self.time_slider.setRange(0, 100 * self.gait.duration)
was_playing = self.time_slider_thread is not None
self.stop_time_slider_thread()
self.create_joint_settings()
if was_playing:
self.start_time_slider_thread()
def open(self):
'''
Deletes all current frames and instead loads an animation from a json file
'''
if len(self._widget.frameList) > 1:
message = "This will discard your current Animation. Continue?"
sure = QMessageBox.question(self._widget, 'Sure?', message, QMessageBox.Yes | QMessageBox.No)
if sure == QMessageBox.No:
return
my_file = QFileDialog.getOpenFileName()[0]
if my_file:
status = self._recorder.load_animation(my_file)
if status == "":
status = "Load successful."
self._widget.statusBar.showMessage(status)
animstate = self._recorder.get_animation_state()
for i in animstate:
try:
self._checkBoxesPower[i['name']] = i['torque']
except KeyError:
self._checkBoxesPower[i['name']] = {}
for key in self.ids:
self._checkBoxesPower[i['name']][key] = 2
self.update_frames()
metadata = self._recorder.get_meta_data()
self._widget.lineAnimationName.setText(metadata[0])
self._widget.lineAuthor.setText(metadata[2])
self._widget.lineVersion.setText(str(metadata[1]))
self._widget.fieldDescription.setPlainText(metadata[3])
def press_save_yaml(self):
ret = QMessageBox.question(
self._widget, "Save YAML",
'Do you want to save changes to current YAML file, overwitting its content?',
QMessageBox.Ok, QMessageBox.Cancel)
if ret == QMessageBox.Ok:
self.save_yaml()
def press_load_yaml(self):
ret = QMessageBox.question(
self._widget, "Load YAML",
'Do you want to load a new YAML and discard current changes?',
QMessageBox.Ok, QMessageBox.Cancel)
if ret == QMessageBox.Ok:
self.load_yaml()
def export_to_file(gait, gait_directory):
if gait_directory is None or gait_directory == '':
return
# Name and version will be empty as it's stored in the filename.
subgait_msg = gait.to_subgait_msg()
output_file_directory = os.path.join(
gait_directory, gait.gait_name.replace(' ', '_'),
gait.subgait_name.replace(' ', '_'))
output_file_path = os.path.join(
output_file_directory,
gait.version.replace(' ', '_') + '.subgait')
file_exists = os.path.isfile(output_file_path)
if file_exists:
overwrite_file = QMessageBox.question(
None, 'File already exists',
'Do you want to overwrite ' + str(output_file_path) + '?',
QMessageBox.Yes | QMessageBox.No)
if overwrite_file == QMessageBox.No:
return
rospy.loginfo('Writing gait to ' + output_file_path)
if not os.path.isdir(output_file_directory):
os.makedirs(output_file_directory)
with open(output_file_path, 'w') as output_file:
output_file.write(str(subgait_msg))
user_interface_controller.notify('Gait Saved', output_file_path)
def question_yn( qmsg='Message', title='Question' ):
msgbox = QMessageBox()
result = msgbox.question( msgbox, title, qmsg, msgbox.Yes | msgbox.No, msgbox.No )
if result == msgbox.Yes:
return True
else:
return False
def new(self):
'''
Deletes all currently recorded frames
'''
if len(self._widget.frameList) > 1:
message = "This will discard your current Animation. Continue?"
sure = QMessageBox.question(self._widget, 'Sure?', message, QMessageBox.Yes | QMessageBox.No)
if sure == QMessageBox.Yes:
self._recorder.clear()
self.update_frames()
def _handle_custom_keypress(self, event, old_keyPressEvent=QTableView.keyPressEvent):
"""
Handles the delete key.
The delete key removes the tableview's selected rows from the datamodel
"""
if event.key() == Qt.Key_Delete and len(self._model._messages) > 0:
delete = QMessageBox.Yes
if len(self.table_view.selectionModel().selectedIndexes()) == 0:
delete = QMessageBox.question(self, self.tr('Message'), self.tr("Are you sure you want to delete all messages?"), QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
if delete == QMessageBox.Yes and event.key() == Qt.Key_Delete and event.modifiers() == Qt.NoModifier:
if self._delete_selected_rows():
event.accept()
return old_keyPressEvent(self.table_view, event)
def _handle_custom_keypress(self, event, old_keyPressEvent=QTableView.keyPressEvent):
"""
Handles the delete key.
The delete key removes the tableview's selected rows from the datamodel
"""
if event.key() == Qt.Key_Delete and len(self._model._messages) > 0:
delete = QMessageBox.Yes
if len(self.table_view.selectionModel().selectedIndexes()) == 0:
delete = QMessageBox.question(
self, self.tr('Message'),
self.tr("Are you sure you want to delete all messages?"),
QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
if delete == QMessageBox.Yes and \
event.key() == Qt.Key_Delete and \
event.modifiers() == Qt.NoModifier:
if self._delete_selected_rows():
event.accept()
return old_keyPressEvent(self.table_view, event)
def question_yn(qmsg='Message', title='Question'):
'''
Asking Yes or No using PyQt QMessgageBox()
Return 'True' only in the case that 'Yes' is chosen.
@type qmsg : str
@param qmsg : Question message for Yes/No answer (Default='Message')
@type title : str
@param title : Title of the message box window (Default='Question')
@rtype : bool
@return : Return when 'Yes' is chosen.
'''
msgbox = QMessageBox()
result = msgbox.question(msgbox, title, qmsg, msgbox.Yes | msgbox.No,
msgbox.No)
if result == msgbox.Yes:
return True
else:
return False
def yes_no_question(self, title: str = None, msg: str = None) -> bool:
answer = QMessageBox.question(self, title, msg,
QMessageBox.Yes | QMessageBox.No)
return answer == QMessageBox.Yes
def message(self, title: str = None, msg: str = None) -> None:
QMessageBox.question(self, title, msg, QMessageBox.Ok)
def yes_no_question(self, title=None, msg=None):
answer = QMessageBox.question(self, title, msg, QMessageBox.Yes | QMessageBox.No)
return answer == QMessageBox.Yes
def message(self, title=None, msg=None):
QMessageBox.question(self, title, msg, QMessageBox.Ok)
