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 _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
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()
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
