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 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 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 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 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 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_()
class ChecklistWindow(QWidget):
def __init__(self, aircraft_id):
super(ChecklistWindow, self).__init__()
# Set properties of the window
self.setWindowTitle("BTO and BPO Checklist")
self.resize(500, 700)
self.move(200,100)
self.checklist_state = 0
# Relative path for the default BPO and BTO checklist
BPO_checklist_file = os.path.join(rospkg.RosPack().get_path('yonah_rqt'), 'src/yonah_rqt', 'BPO_checklist.csv')
BTO_checklist_file = os.path.join(rospkg.RosPack().get_path('yonah_rqt'), 'src/yonah_rqt', 'BTO_checklist.csv')
# Check whether checklist is present, if not print a error message to terminal
try:
# If checklist is present, parse it and pass it to its respective variable
self.BPO_checklist = self.excel_parser(BPO_checklist_file)
self.BTO_checklist = self.excel_parser(BTO_checklist_file)
except:
rospy.logerr("Checklist files are missing or named wrongly. Please follow the original directory and naming")
exit()
# Create the layout
self.main_layout = QVBoxLayout()
self.buttons_layout = QHBoxLayout()
self.tree_widget_layout = QHBoxLayout()
# Create the widgets
self.create_widget()
self.has_message_opened = 0
# Add the widgets into the layouts
self.main_layout.addLayout(self.tree_widget_layout)
self.main_layout.addLayout(self.buttons_layout)
self.setLayout(self.main_layout)
# Create the main layout of widget
def create_widget(self):
# Create tree structure
self.create_tree()
# Declare buttons and connect each of them to a function
self.load_button = QPushButton('Load')
self.ok_button = QPushButton('OK')
self.cancel_button = QPushButton('Cancel')
self.load_button.pressed.connect(self.load_clicked)
self.ok_button.pressed.connect(self.ok_clicked)
self.cancel_button.pressed.connect(self.cancel_clicked)
# Add buttons into the layout
self.buttons_layout.addWidget(self.load_button)
self.buttons_layout.addWidget(self.cancel_button)
self.buttons_layout.addWidget(self.ok_button)
self.tree_widget_layout.addWidget(self.tree_widget)
# Create the tree layout of widget inside of the main layout
def create_tree(self):
# Set up the main tree widget
self.tree_widget = QTreeWidget()
self.tree_widget.setColumnCount(2)
self.tree_widget.setColumnWidth(0, 250)
self.tree_widget.setHeaderLabels(['Parts', 'Status'])
self.item = QTreeWidgetItem()
# Create the BPO section
self.BPO_header = QTreeWidgetItem(self.tree_widget)
self.BPO_header.setFlags(self.BPO_header.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
self.BPO_header.setText(0, 'BPO Checklist')
self.BPO_header.setExpanded(True)
self.create_item(self.BPO_header, self.BPO_checklist) # Adds the list of items into the section
# Create the BTO section
self.BTO_header = QTreeWidgetItem(self.tree_widget)
self.BTO_header.setFlags(self.BTO_header.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
self.BTO_header.setText(0, 'BTO Checklist')
self.BTO_header.setExpanded(True)
self.create_item(self.BTO_header, self.BTO_checklist) # Adds the list of items into the section
# Populate the tree layout with items
def create_item(self, parent, list):
section_header = [] # List of the section headers
for i in range (len(list)):
if (list[i][1] == '' and list[i][0] != ''):
section_header.append(list[i][0])
k = 0
# Iterate through the different sections
for j in range (len(section_header)):
# Child refers to the sections (mechanical, avionics, etc)
child = QTreeWidgetItem(parent)
child.setFlags(child.flags() | Qt.ItemIsTristate | Qt.ItemIsUserCheckable)
child.setText(0, section_header[j])
while k < len(list):
if list[k][0] in section_header:
# When the while loop encounters the first title, continue the loop
if (list[k][0] == section_header[0]):
k += 1
continue
# When the while loop encounters the next titles, break the loop so that the value of j increases
k += 1
break
# when the list contains empty cells, skip the cell and continue
elif list[k][0] == '':
k += 1
continue
# Add the list items to the treewidgetitem
# Grandchild refers to the items under each section (wing nuts, tail nuts, etc)
grandchild = QTreeWidgetItem(child)
grandchild.setText(0, list[k][0])
grandchild.setText(1, list[k][1])
grandchild.setCheckState(0, Qt.Unchecked) # Set all checkbox to its unchecked state
k += 1
# Read the excel sheet and parse it as an array
def excel_parser(self, file_name):
with open(file_name, 'r') as file:
checklist = []
reader = csv.reader(file)
for row in reader:
checklist.append(row)
return checklist
# Determines what happens when load button is clicked
def load_clicked(self):
# Use QFileDialog to open the system's file browser
filenames = QFileDialog.getOpenFileNames(
self, self.tr('Load from Files'), '.', self.tr('csv files {.csv} (*.csv)'))
# Iterate through the file names selected
for filename in filenames[0]:
# If the file names has the word BPO or BTO in it, remove current widget, add the loaded one
if (filename.find('BPO') != -1):
self.BPO_checklist = self.excel_parser(filename)
self.remove_widget()
self.create_widget()
elif (filename.find('BTO') != -1):
self.BTO_checklist = self.excel_parser(filename)
self.remove_widget()
self.create_widget()
else:
rospy.logerr('rqt: Checklist name must contain BPO or BTO')
self.close()
# Close all the main_layout
def remove_widget(self):
self.main_layout.removeWidget(self.tree_widget)
self.tree_widget.deleteLater()
self.buttons_layout.removeWidget(self.ok_button)
self.buttons_layout.removeWidget(self.cancel_button)
self.buttons_layout.removeWidget(self.load_button)
self.ok_button.deleteLater()
self.cancel_button.deleteLater()
self.load_button.deleteLater()
# Declare what will happen when ok button is clicked
def ok_clicked(self):
if self.BPO_header.checkState(0) != 2 or self.BTO_header.checkState(0) != 2: # User clicks ok without checking all
self.dialog_window("Some items in the checklist are still unchecked", "Do you still want to continue?", True)
else:
self.checklist_state = 1
self.close()
# Declare what will happen when cancel button is clicked
def cancel_clicked(self):
if self.BPO_header.checkState(0) != 0 or self.BTO_header.checkState(0) != 0: # User clicks cancel with some boxes checked
self.dialog_window('Some of your items are checked. Cancelling will uncheck all your items', 'Do you still want to continue?', False)
else:
self.BTO_header.setCheckState(0, Qt.Unchecked)
self.BPO_header.setCheckState(0, Qt.Unchecked)
self.close()
# Create a pop up window when user pre-emptively cancelled or clicked ok without completing the checklist
def dialog_window(self, message, detail, check):
self.message = QMessageBox()
self.has_message_opened = 1
self.message.setIcon(QMessageBox.Warning)
self.message.setText(message)
self.message.setInformativeText(detail)
self.message.setWindowTitle("Items are unchecked")
self.message.setStandardButtons(QMessageBox.Yes | QMessageBox.No)
self.message.show()
if check == True: # Check == True means it is from ok_clicked
self.message.buttonClicked.connect(self.message_action)
else:
self.message.buttonClicked.connect(self.message_action_uncheck)
# Determines what happens after dialog_window pops up from ok_button
def message_action(self, i):
if i.text() == '&Yes':
self.checklist_state = 1
self.close()
else:
self.message.close()
# Determines what happens after dialog_window pops up from cancel_button
def message_action_uncheck(self, i):
self.response = i.text()
if self.response == '&Yes':
self.checklist_state = 1
self.BTO_header.setCheckState(0, Qt.Unchecked)
self.BPO_header.setCheckState(0, Qt.Unchecked)
self.close()
else:
self.message.close()
# Shutdown function
def shutdown(self):
self.close()
if self.has_message_opened == 1:
self.message.close()
