def _run_finished(self):
if self._state == CliffSensorFrame.STATE_STOPPED:
return
elif self._state == CliffSensorFrame.STATE_FORWARD:
self._state = CliffSensorFrame.STATE_BACKWARD
self._motion.init(-self._motion.speed, 0.2)
self._motion_thread = WorkerThread(self._motion.execute,
self._run_finished)
self._motion_thread.start()
else:
self._state = CliffSensorFrame.STATE_FORWARD
self._motion.init(-self._motion.speed, self._distance)
self._motion_thread = WorkerThread(self._motion.execute,
self._run_finished)
self._motion_thread.start()
def __init__(self, parent=None):
super(LaunchWidget, self).__init__(parent)
self._topic_dict = {}
self._update_thread = WorkerThread(self._update_thread_run,
self._update_finished)
self._rospack = rospkg.RosPack()
ui_file = os.path.join(self._rospack.get_path('roslaunch_monitor'),
'resource', 'rqt_monitor_plugin.ui')
loadUi(
ui_file, self, {
'ExtendedComboBox': ExtendedComboBox,
'LaunchTreeWidget': LaunchTreeWidget
})
self.refresh_button.setIcon(QIcon.fromTheme('view-refresh'))
self.refresh_button.clicked.connect(self.refresh_combo_boxes)
self.add_launch_button.setIcon(QIcon.fromTheme('add'))
self.remove_launch_button.setIcon(QIcon.fromTheme('remove'))
self.clear_button.setIcon(QIcon.fromTheme('edit-clear'))
self.refresh_combo_boxes()
self.launch_tree_widget.model().item_value_changed.connect(
self.change_launch)
self.launch_tree_widget.remove_publisher.connect(self.remove_launch)
#self.publisher_tree_widget.publish_once.connect(self.publish_once)
self.remove_launch_button.clicked.connect(
self.launch_tree_widget.remove_selected_publishers)
self.clear_button.clicked.connect(self.clean_up_launches)
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
self._state = CliffSensorFrame.STATE_FORWARD
self._motion_thread = WorkerThread(self._motion.execute,
self._run_finished)
self._motion_thread.start()
def __init__(self, node, parent=None):
super(PublisherWidget, self).__init__(parent)
self._node = node
self._topic_dict = {}
self._update_thread = WorkerThread(self._update_thread_run,
self._update_finished)
package_path = get_package_path('rqt_publisher')
ui_file = os.path.join(package_path, 'share', 'rqt_publisher',
'resource', 'Publisher.ui')
loadUi(
ui_file, self, {
'ExtendedComboBox': ExtendedComboBox,
'PublisherTreeWidget': PublisherTreeWidget
})
self.refresh_button.setIcon(QIcon.fromTheme('view-refresh'))
self.refresh_button.clicked.connect(self.refresh_combo_boxes)
self.add_publisher_button.setIcon(QIcon.fromTheme('list-add'))
self.remove_publisher_button.setIcon(QIcon.fromTheme('list-remove'))
self.clear_button.setIcon(QIcon.fromTheme('edit-clear'))
self.refresh_combo_boxes()
self.publisher_tree_widget.model().item_value_changed.connect(
self.change_publisher)
self.publisher_tree_widget.remove_publisher.connect(
self.remove_publisher)
self.publisher_tree_widget.publish_once.connect(self.publish_once)
self.remove_publisher_button.clicked.connect(
self.publisher_tree_widget.remove_selected_publishers)
self.clear_button.clicked.connect(self.clean_up_publishers)
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
if not self._scan_to_angle:
self._scan_to_angle = ScanToAngle('/scan',self._laser_scan_angle_topic_name)
if not self._motion:
self._motion = DriftEstimation(self._laser_scan_angle_topic_name, self._gyro_scan_angle_topic_name, self._error_scan_angle_topic_name, self._cmd_vel_topic_name,self._gyro_topic_name)
self._motion.init(self._ui.angular_speed_spinbox.value())
rospy.sleep(0.5)
self._plot_widget.data_plot.reset()
self._plot_widget._start_time = rospy.get_time()
self._plot_widget.enable_timer(True)
try:
self._plot_widget.remove_topic(self._error_scan_angle_topic_name+'/scan_angle')
self._plot_widget_live.remove_topic(self._laser_scan_angle_topic_name+'/scan_angle')
self._plot_widget_live.remove_topic(self._gyro_scan_angle_topic_name+'/scan_angle')
self._plot_widget_live.remove_topic(self._cmd_vel_topic_name+'/angular/z')
except KeyError:
pass
self._plot_widget_live.add_topic(self._cmd_vel_topic_name+'/angular/z')
self._plot_widget_live.add_topic(self._laser_scan_angle_topic_name+'/scan_angle')
self._plot_widget_live.add_topic(self._gyro_scan_angle_topic_name+'/scan_angle')
self._plot_widget.add_topic(self._error_scan_angle_topic_name+'/scan_angle')
self._motion_thread = WorkerThread(self._motion.execute, None)
self._motion_thread.start()
def on_start_button_clicked(self):
self.start_button.setEnabled(False)
self.stop_button.setEnabled(True)
self._motion_thread = WorkerThread(self._motion.execute_speed,
self._run_finished)
self._motion_thread.start()
#rospy.loginfo("current:"+self._config.get_cmd_topic())
self._motion.change_topic(self._config.get_cmd_topic())
self._config.run(False, False, False, True)
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
self._motion = Square('/mobile_base/commands/velocity', '/odom',
self._gyro_topic_name)
self._motion.init(self._ui.speed_spinbox.value(),
self._ui.distance_spinbox.value())
self._motion_thread = WorkerThread(self._motion.execute,
self._run_finished)
self._motion_thread.start()
def create_editor(self):
editor = FrameEditor()
editor.observers.append(self)
self.signal_update.connect(self.update_all)
self._update_thread = WorkerThread(self._update_thread_run, self._update_finished)
self.old_frame_list = []
self.old_selected = ""
return editor
def __init__(self, parent=None):
super(MsgEditorWidget, self).__init__(parent)
self._topic_dict = {}
self._update_thread = WorkerThread(self._update_thread_run, self._update_finished)
self._rospack = rospkg.RosPack()
ui_file = os.path.join(self._rospack.get_path('rqt_annotation_data'), 'resource', 'MsgEditor.ui')
loadUi(ui_file, self, {'ExtendedComboBox': ExtendedComboBox, 'MessageTreeWidget': MessageTreeWidget})
self.refresh_combo_boxes()
self.message_tree_widget.model().item_value_changed.connect(self.change_message)
self.clear_button.clicked.connect(self.clean)
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
if not self._motion:
self._motion = Rotate(self._cmd_vel_topic_name)
self._motion.init(self._ui.angular_speed_spinbox.value())
if not self.robot_state_subscriber:
self.robot_state_subscriber = rospy.Subscriber("/mobile_base/events/robot_state", RobotStateEvent, self.robot_state_callback)
rospy.sleep(0.5)
self._plot_widget._start_time = rospy.get_time()
self._plot_widget.enable_timer(True)
try:
self._plot_widget.remove_topic(self._battery_topic_name)
except KeyError:
pass
self._plot_widget.add_topic(self._battery_topic_name)
self._motion_thread = WorkerThread(self._motion.execute, self._run_finished)
self._motion_thread.start()
def start(self):
self._state = LifeFrame.STATE_RUN
self._ui.run_progress.reset()
self._ui.idle_progress.reset()
self._motion_thread = WorkerThread(self._motion.execute, None)
self._motion_thread.start()
def __init__(self, context):
super(Smach, self).__init__(context)
self.initialized = 0
self._dotcode_sub = None
self._topic_dict = {}
self._update_thread = WorkerThread(self._update_thread_run,
self._update_finished)
# Give QObjects reasonable names
self.setObjectName('Smach')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
# in this example the .ui and .py file are in the same folder
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'rqt_smach.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.ns_refresh_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.setObjectName('SmachPluginUi')
# 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 context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
#Connect widgets with corresponding methods
self._widget.namespace_input.currentIndexChanged.connect(
self._handle_ns_changed)
self._widget.ns_refresh_button.clicked.connect(self.refresh_combo_box)
self._widget.restrict_ns.clicked.connect(self.refresh_combo_box)
self._widget.ud_path_input.currentIndexChanged.connect(
self._handle_ud_path)
self._widget.ud_set_initial.clicked.connect(self._handle_ud_set_path)
self._widget.ud_text_browser.setReadOnly(1)
self._widget.show_implicit_button.clicked.connect(
self._handle_show_implicit)
self._widget.help_button.setIcon(QIcon.fromTheme('help-contents'))
self._widget.help_button.clicked.connect(self._handle_help)
self._widget.tree.clicked.connect(self._handle_tree_clicked)
#Depth and width spinners:
self._widget.depth_input.setRange(-1, 1337)
self._widget.depth_input.setValue(-1)
self._widget.depth_input.valueChanged.connect(self._set_depth)
self._widget.label_width_input.setRange(1, 1337)
self._widget.label_width_input.setValue(40)
self._widget.label_width_input.valueChanged.connect(self._set_width)
self._widget.tree.setColumnCount(1)
self._widget.tree.setHeaderLabels(["Containers"])
self._widget.tree.show()
self._ns = ""
self.refresh_combo_box()
# Bind path list
self._widget.path_input.currentIndexChanged.connect(
self._handle_path_changed)
#Keep Combo Boxes sorted
self._widget.namespace_input.setInsertPolicy(6)
self._widget.path_input.setInsertPolicy(6)
self._widget.ud_path_input.setInsertPolicy(6)
#Set up mouse actions for xdot widget
self._widget.xdot_widget.register_select_callback(self.select_cb)
# Create graph data structures
# Containers is a map of (container path) -> container proxy
self._containers = {}
self._top_containers = {}
# smach introspection client
self._client = smach_ros.IntrospectionClient()
self._selected_paths = []
# Message subscribers
self._structure_subs = {}
self._status_subs = {}
# Initialize xdot display state
self._path = '/'
self._needs_zoom = True
self._structure_changed = True
self._max_depth = -1
self._show_all_transitions = False
self._label_wrapper = textwrap.TextWrapper(40, break_long_words=True)
self._graph_needs_refresh = True
self._tree_needs_refresh = True
self._keep_running = True
self._update_server_list()
self._update_graph()
self._update_tree()
# Start a timer to update the server list
self._server_timer = QTimer(self)
self._server_timer.timeout.connect(self._update_server_list)
self._server_timer.start(1000)
# Start a timer to update the graph display
self._graph_timer = QTimer(self)
self._graph_timer.timeout.connect(self._update_graph)
self._graph_timer.start(1093)
# Start a timer to update the._widget.tree display
self._tree_timer = QTimer(self)
self._tree_timer.timeout.connect(self._update_tree)
self._tree_timer.start(1217)
def on_start_button_clicked(self):
self._ui.start_button.setEnabled(False)
self._ui.stop_button.setEnabled(True)
self._motion_thread = WorkerThread(self._motion.execute,
self._run_finished)
self._motion_thread.start()
def __init__(self, context):
super(Conman, self).__init__(context)
self._dotcode_sub = None
self._topic_dict = {}
self._update_thread = WorkerThread(self._update_thread_run,
self._update_finished)
# Give QObjects reasonable names
self.setObjectName('Conman')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
if not args.quiet:
print 'arguments: ', args
print 'unknowns: ', unknowns
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
# in this example the .ui and .py file are in the same folder
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'rqt_conman.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.ns_refresh_button.setIcon(QIcon.fromTheme('view-refresh'))
self._widget.setObjectName('ConmanPluginUi')
# 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 context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
#self._widget.subscribe_button.setCheckable(True)
self._widget.namespace_input.currentIndexChanged.connect(
self._handle_refresh_clicked)
self._widget.ns_refresh_button.clicked.connect(self.refresh_combo_box)
self._widget.refresh_button.clicked[bool].connect(
self._handle_refresh_clicked)
self._widget.commit_button.clicked[bool].connect(
self._handle_commit_clicked)
#self._widget.xdot_widget.connect(
#self._widget.xdot_widget, SIGNAL('_update_graph'), self._widget.xdot_widget.set_dotcode)
self.update_graph_sig.connect(self._update_graph)
self.blocks = {}
self.groups = {}
self._ns = ""
self._actions_connected = False
self.enable_widgets(False)
self.new_dotcode_data = ''
self.update_timer = QTimer(self)
self.update_timer.setInterval(50)
self.update_timer.timeout.connect(self._update_widgets)
#self.update_timer.start()
self._get_blocks = None
self._set_blocks = None
self._blocks_model = QStandardItemModel(0, 4)
self._blocks_model.setHeaderData(0, Qt.Horizontal, "")
self._blocks_model.setHeaderData(1, Qt.Horizontal, "Action")
self._blocks_model.setHeaderData(2, Qt.Horizontal, "State")
self._blocks_model.setHeaderData(3, Qt.Horizontal, "Block")
self._widget.blocks_table.setModel(self._blocks_model)
self._blocks_delegate = BlocksDelegate(self)
self._widget.blocks_table.setItemDelegate(self._blocks_delegate)
self._blocks_model.itemChanged.connect(self.block_changed)
self._groups_model = QStandardItemModel(0, 4)
self._groups_model.setHeaderData(0, Qt.Horizontal, "")
self._groups_model.setHeaderData(1, Qt.Horizontal, "")
self._groups_model.setHeaderData(2, Qt.Horizontal, "")
self._groups_model.setHeaderData(3, Qt.Horizontal, "Group")
self._widget.groups_table.setModel(self._groups_model)
self._groups_delegate = GroupsDelegate(self)
self._widget.groups_table.setItemDelegate(self._groups_delegate)
self.refresh_combo_box()
def __init__(self, context):
super(RosPackGraph, self).__init__(context)
self.initialized = False
self._current_dotcode = None
self._update_thread = WorkerThread(self._update_thread_run,
self._update_finished)
self._nodes = {}
self._edges = {}
self._options = {}
self._options_serialized = ''
self.setObjectName('RosPackGraph')
rospack = rospkg.RosPack()
rosstack = rospkg.RosStack()
# factory builds generic dotcode items
self.dotcode_factory = PydotFactory()
# self.dotcode_factory = PygraphvizFactory()
# generator builds rosgraph
self.dotcode_generator = RosPackageGraphDotcodeGenerator(
rospack, rosstack)
# dot_to_qt transforms into Qt elements using dot layout
self.dot_to_qt = DotToQtGenerator()
self._widget = QWidget()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_dep'), 'resource',
'RosPackGraph.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('RosPackGraphUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._scene.setBackgroundBrush(Qt.white)
self._widget.graphics_view.setScene(self._scene)
self._widget.depth_combo_box.insertItem(0, self.tr('infinite'), -1)
self._widget.depth_combo_box.insertItem(1, self.tr('1'), 2)
self._widget.depth_combo_box.insertItem(2, self.tr('2'), 3)
self._widget.depth_combo_box.insertItem(3, self.tr('3'), 4)
self._widget.depth_combo_box.insertItem(4, self.tr('4'), 5)
self._widget.depth_combo_box.currentIndexChanged.connect(
self._refresh_rospackgraph)
self._widget.directions_combo_box.insertItem(0, self.tr('depends'), 0)
self._widget.directions_combo_box.insertItem(1, self.tr('depends_on'),
1)
self._widget.directions_combo_box.insertItem(2, self.tr('both'), 2)
self._widget.directions_combo_box.currentIndexChanged.connect(
self._refresh_rospackgraph)
self._widget.package_type_combo_box.insertItem(0, self.tr('wet & dry'),
3)
self._widget.package_type_combo_box.insertItem(1, self.tr('wet only'),
2)
self._widget.package_type_combo_box.insertItem(2, self.tr('dry only'),
1)
self._widget.package_type_combo_box.currentIndexChanged.connect(
self._refresh_rospackgraph)
completionmodel = StackageCompletionModel(
self._widget.filter_line_edit, rospack, rosstack)
completer = RepeatedWordCompleter(completionmodel, self)
completer.setCompletionMode(QCompleter.PopupCompletion)
completer.setWrapAround(True)
completer.setCaseSensitivity(Qt.CaseInsensitive)
self._widget.filter_line_edit.editingFinished.connect(
self._refresh_rospackgraph)
self._widget.filter_line_edit.setCompleter(completer)
self._widget.filter_line_edit.selectionChanged.connect(
self._clear_filter)
self._widget.with_stacks_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.mark_check_box.clicked.connect(self._refresh_rospackgraph)
self._widget.colorize_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.hide_transitives_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.show_system_check_box.clicked.connect(
self._refresh_rospackgraph)
self._widget.refresh_graph_push_button.setIcon(
QIcon.fromTheme('view-refresh'))
self._widget.refresh_graph_push_button.pressed.connect(
self._update_rospackgraph)
self._widget.highlight_connections_check_box.toggled.connect(
self._refresh_rospackgraph)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._refresh_rospackgraph)
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
# If in either of following case, this turnes True
# - 1st filtering key is already input by user
# - filtering key is restored
self._filtering_started = False
