class QuestionDialogPlugin(Plugin):
timeout_sig = pyqtSignal()
update_sig = pyqtSignal()
def __init__(self, context):
super(QuestionDialogPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('QuestionDialogPlugin')
font_size = rospy.get_param("~font_size", 40)
# Create QWidget
self._widget = QWidget()
self._widget.setFont(QFont("Times", font_size, QFont.Bold))
self._layout = QVBoxLayout(self._widget)
self._text_browser = QTextBrowser(self._widget)
self._layout.addWidget(self._text_browser)
self._button_layout = QGridLayout()
self._layout.addLayout(self._button_layout)
# layout = QVBoxLayout(self._widget)
# layout.addWidget(self.button)
self._widget.setObjectName('QuestionDialogPluginUI')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
# Setup service provider
self.service = rospy.Service('question_dialog', QuestionDialog,
self.service_callback)
self.request = None
self.response_ready = False
self.response = None
self.buttons = []
self.text_label = None
self.text_input = None
self.update_sig.connect(self.update)
self.timeout_sig.connect(self.timeout)
def shutdown_plugin(self):
self.service.shutdown()
def service_callback(self, req):
self.response_ready = False
self.request = req
self.update_sig.emit()
# Start timer against wall clock here instead of the ros clock.
start_time = time.time()
while not self.response_ready:
if self.request != req:
# The request got preempted by a new request.
return QuestionDialogResponse(QuestionDialogRequest.PREEMPTED, "")
if req.timeout != QuestionDialogRequest.NO_TIMEOUT:
current_time = time.time()
if current_time - start_time > req.timeout:
self.timeout_sig.emit()
return QuestionDialogResponse(
QuestionDialogRequest.TIMED_OUT, "")
time.sleep(0.2)
return self.response
def update(self):
self.clean()
if not self.request:
rospy.logwarn('question dialog: no request, update ignored')
return
req = self.request
self._text_browser.setText(req.message)
if req.type == QuestionDialogRequest.DISPLAY:
# All done, nothing more too see here.
self.response = QuestionDialogResponse(
QuestionDialogRequest.NO_RESPONSE, "")
self.response_ready = True
elif req.type == QuestionDialogRequest.CHOICE_QUESTION:
for index, options in enumerate(req.options):
button = QPushButton(options, self._widget)
button.clicked.connect(partial(self.handle_button, index))
row = index / 3
col = index % 3
self._button_layout.addWidget(button, row, col)
self.buttons.append(button)
elif req.type == QuestionDialogRequest.TEXT_QUESTION:
self.text_label = QLabel("Enter here: ", self._widget)
self._button_layout.addWidget(self.text_label, 0, 0)
self.text_input = QLineEdit(self._widget)
self.text_input.editingFinished.connect(self.handle_text)
self._button_layout.addWidget(self.text_input, 0, 1)
def timeout(self):
self._text_browser.setText("Oh no! The request timed out.")
self.clean()
def clean(self):
while self._button_layout.count():
item = self._button_layout.takeAt(0)
item.widget().deleteLater()
self.buttons = []
self.text_input = None
self.text_label = None
def handle_button(self, index):
self.response = QuestionDialogResponse(index, "")
self.clean()
self.response_ready = True
def handle_text(self):
self.response = QuestionDialogResponse(
QuestionDialogRequest.TEXT_RESPONSE,
self.text_input.text())
self.clean()
self.response_ready = True
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
pass
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
class LevelSelectorPlugin(Plugin):
button_signal = pyqtSignal()
button_status_signal = pyqtSignal()
def __init__(self, context):
super(LevelSelectorPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('LevelSelectorPlugin')
# Create QWidget
self._widget = QWidget()
self._widget.setFont(QFont("Times", 15, QFont.Bold))
self._button_layout = QVBoxLayout(self._widget)
self.buttons = []
self.text_label = QLabel("Waiting for MultiLevelMapData...", self._widget)
self._button_layout.addWidget(self.text_label)
self._widget.setObjectName('LevelSelectorPluginUI')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle()
+ (' (%d)' % context.serial_number()))
context.add_widget(self._widget)
self.button_signal.connect(self.update_buttons)
self.button_status_signal.connect(self.update_button_status)
# Subscribe to the multi level map data to get information about all the maps.
self.multimap_subscriber = rospy.Subscriber("map_metadata", MultiLevelMapData,
self.process_multimap)
self.levels = []
self.current_level = None
rospy.loginfo('level selector: subscribed to maps')
# Subscribe to the current level we are on.
self.status_subscriber = None
# Create a service proxy to change the current level.
self.level_selector_proxy = rospy.ServiceProxy("level_mux/change_current_level",
ChangeCurrentLevel)
self.level_selector_proxy.wait_for_service()
rospy.loginfo('level selector: found "level_mux/change_current_level" service')
def process_multimap(self, msg):
""" Map metadata topic callback. """
rospy.loginfo('level selector: map metadata received.')
self.levels = msg.levels
# update level buttons in the selection window
self.button_signal.emit()
def update_buttons(self):
""" Update buttons in Qt window. """
rospy.loginfo('level selector: update_buttons called')
self.clean()
for index, level in enumerate(self.levels):
button = QPushButton(level.level_id, self._widget)
button.clicked[bool].connect(self.handle_button)
button.setCheckable(True)
self._button_layout.addWidget(button)
self.buttons.append(button)
# Subscribe to the current level we are on.
if self.status_subscriber is None:
self.status_subscriber = rospy.Subscriber("level_mux/current_level",
LevelMetaData,
self.process_level_status)
def update_button_status(self):
""" Update button status Qt push button callback. """
rospy.loginfo('level selector: update_button_status')
if not self.buttons or not self.current_level:
rospy.logwarn('level selector: current level not available')
return
rospy.logdebug('buttons: ' + str(self.buttons))
for index, level in enumerate(self.levels):
rospy.logdebug('level[' + str(index) + ']: ' + str(level.level_id))
if self.current_level == level.level_id:
self.buttons[index].setChecked(True)
else:
self.buttons[index].setChecked(False)
def process_level_status(self, msg):
""" level_mux/current_level topic callback. """
rospy.loginfo('level selector: current_level topic message received')
level_found = False
for level in self.levels:
if msg.level_id == level.level_id:
self.current_level = level.level_id
level_found = True
break
if not level_found:
self.current_level = None
self.button_status_signal.emit()
def handle_button(self):
source = self.sender()
if source.text() == self.current_level:
source.setChecked(True)
return
# Construct a identity pose. The level selector cannot be used
# to choose the initialpose, as it does not have the interface
# for specifying the position. The position should be
# specified via rviz.
origin_pose = PoseWithCovarianceStamped()
origin_pose.header.frame_id = frameIdFromLevelId(source.text())
origin_pose.pose.pose.orientation.w = 1 # Makes the origin quaternion valid.
origin_pose.pose.covariance[0] = 1.0
origin_pose.pose.covariance[7] = 1.0
origin_pose.pose.covariance[14] = 1.0
origin_pose.pose.covariance[21] = 1.0
origin_pose.pose.covariance[28] = 1.0
origin_pose.pose.covariance[35] = 1.0
# Don't actually publish the initial pose via the level
# selector. It doesn't know any better.
self.level_selector_proxy(source.text(), False, origin_pose)
def clean(self):
while self._button_layout.count():
item = self._button_layout.takeAt(0)
item.widget().deleteLater()
def save_settings(self, plugin_settings, instance_settings):
pass
def restore_settings(self, plugin_settings, instance_settings):
pass
