class RCommander(qtg.QMainWindow, nbg.NodeBoxGUI):
def __init__(self, app, width, height): #, robot, tf_listener=None):
qtg.QMainWindow.__init__(self)
self.size = [width, height]
self.app = app
self.ui = Ui_RCommanderWindow()
self.ui.setupUi(self)
self.resize(width, height)
nbg.NodeBoxGUI.__init__(self, self.ui.graphicsSuperView)
self.connect(self.ui.run_button, qtc.SIGNAL('clicked()'), self.run_cb)
self.connect(self.ui.add_button, qtc.SIGNAL('clicked()'), self.add_cb)
self.connect(self.ui.reset_button, qtc.SIGNAL('clicked()'), self.reset_cb)
self.connect(self.ui.save_button, qtc.SIGNAL('clicked()'), self.save_cb)
self.connect(self.ui.start_state_button, qtc.SIGNAL('clicked()'), self.start_state_cb)
self.connect(self.ui.add_to_library_button, qtc.SIGNAL('clicked()'), self.add_to_library_cb)
self.connect(self.ui.delete_button, qtc.SIGNAL('clicked()'), self.delete_cb)
self.connect(self.ui.action_Run, qtc.SIGNAL('triggered(bool)'), self.run_sm_cb)
self.connect(self.ui.action_stop, qtc.SIGNAL('triggered(bool)'), self.stop_sm_cb)
self.connect(self.ui.actionNew, qtc.SIGNAL('triggered(bool)'), self.new_sm_cb)
self.connect(self.ui.action_save, qtc.SIGNAL('triggered(bool)'), self.save_sm_cb)
self.connect(self.ui.action_save_as, qtc.SIGNAL('triggered(bool)'), self.save_as_sm_cb)
self.connect(self.ui.action_open, qtc.SIGNAL('triggered(bool)'), self.open_sm_cb)
self.connect(self.ui.action_quit, qtc.SIGNAL('triggered(bool)'), self.quit_cb)
self.ui.splitter.setSizes(split(self.width(), .83))
self.empty_container(self.ui.properties_tab)
self.empty_container(self.ui.connections_tab)
self.add_mode()
self.disable_buttons()
#create instance variables
self.tabs = {}
self.tool_dict = {}
#name of currently selected tool that operates on graph
#self.graph_model = None
self.selected_tool = None
self.selected_graph_tool = None
self.selected_node = None
self.selected_edge = None
self.fsm_stack = []
#Setup animation timer
#self.status_bar_timer = QTimer()
#self.connect(self.status_bar_timer, SIGNAL('timeout()'), self.status_bar_check)
#self.status_bar_timer.start(100)
self.status_bar_msg = ''
self.status_bar_exception = None
#Connect to ROS & PR2
#if tf_listener == None:
# tf_listener = tf.TransformListener()
#self.tf_listener = tf_listener
#self.robot = robot
#self.pr2 = pu.PR2(self.tf_listener)
def set_robot(self, robot, tf_listener):
self.robot = robot
self.tf_listener = tf_listener
def status_bar_check(self):
if self.graph_model.sm_thread.has_key('run_sm'):
sm_thread = self.graph_model.sm_thread['run_sm']
if sm_thread.exception != None:
m = sm_thread.exception.message
self.statusBar().showMessage('%s: %s' % (sm_thread.exception.__class__, m), 15000)
self.graph_model.sm_thread.pop('run_sm')
self.graph_model.sm_thread.pop('preempted')
return
if sm_thread.outcome != None:
self.statusBar().showMessage('Finished with outcome: %s' % sm_thread.outcome, 15000)
self.graph_model.sm_thread.pop('run_sm')
self.graph_model.sm_thread.pop('preempted')
return
if not sm_thread.isAlive():
self.statusBar().showMessage('Error: SM thread unexpectedly died.', 15000)
self.graph_model.sm_thread.pop('run_sm')
self.graph_model.sm_thread.pop('preempted')
return
if self.graph_model.sm_thread['preempted'] != None and (time.time() - self.graph_model.sm_thread['preempted'] > 5.):
rospy.loginfo('Thread took too long to terminate. Escallating and using exception exit.')
self.graph_model.sm_thread['run_sm'].except_preempt()
rospy.loginfo('Thread terminated.')
self.graph_model.sm_thread.pop('run_sm')
self.graph_model.sm_thread.pop('preempted')
rstring = 'Running...'
if str(self.statusBar().currentMessage()) != rstring:
self.statusBar().showMessage(rstring, 1000)
####################################################################################################################
# GUI logic
####################################################################################################################
def _create_tab(self, tab_name):
ntab = qtg.QWidget()
ntab.setObjectName(tab_name)
qtg.QHBoxLayout(ntab)
self.ui.tools_box.addTab(ntab, tab_name)
self.ui.tools_box.setTabText(self.ui.tools_box.indexOf(ntab), tab_name)
self.tabs[tab_name] = ntab
##
# Should only be called once during initialization
#
# @param list of [tab-name, tool-object] pairs
def add_tools(self, tools_list):
#add tools to the right tab, creating tabs if needed
self.button_group_tab = qtg.QButtonGroup()
#self.connect(self.button_group_tab, qtc.SIGNAL('clicked(int)'), self.button_group_clicked_cb)
for tab_name, tool in tools_list:
if not self.tabs.has_key(tab_name):
self._create_tab(tab_name)
tab_widget = self.tabs[tab_name]
self.button_group_tab.addButton(tool.create_button(tab_widget))
#self.tool_dict[tool.get_name()] = {'tool_obj': tool}
self.tool_dict[tool.get_smach_class()] = {'tool_obj': tool}
for tname in self.tabs.keys():
self.tabs[tname].update()
#self.tool_dict[outcome_tool.get_name()] = {'tool_obj': outcome_tool}
#Outcome tool is a specialized built in tool
self.button_group_tab.addButton(self.ui.add_outcome_button)
outcome_tool = ot.OutcomeTool(self.ui.add_outcome_button, self)
self.tool_dict[outcome_tool.get_smach_class()] = {'tool_obj': outcome_tool}
self.button_group_tab.addButton(self.ui.library_button)
library_tool = lb.LibraryTool(self.ui.library_button, self)
self.tool_dict[library_tool.get_smach_class()] = {'tool_obj': library_tool}
def empty_container(self, pbox):
layout = pbox.layout()
for i in range(layout.count()):
item = layout.itemAt(0)
layout.removeItem(item)
children = pbox.children()
for c in children[1:]:
try:
layout.removeWidget(c)
c.setParent(None)
except TypeError, e:
pass
layout.invalidate()
pbox.update()
class RCommander(qtg.QMainWindow, nbg.NodeBoxGUI):
def __init__(self, app): #, robot, tf_listener=None):
qtg.QMainWindow.__init__(self)
self.app = app
self.ui = Ui_RCommanderWindow()
self.ui.setupUi(self)
nbg.NodeBoxGUI.__init__(self, self.ui.graphicsSuperView)
self.connect(self.ui.run_button, qtc.SIGNAL('clicked()'), self.run_cb)
self.connect(self.ui.add_button, qtc.SIGNAL('clicked()'), self.add_cb)
self.connect(self.ui.reset_button, qtc.SIGNAL('clicked()'),
self.reset_cb)
self.connect(self.ui.save_button, qtc.SIGNAL('clicked()'),
self.save_cb)
self.connect(self.ui.start_state_button, qtc.SIGNAL('clicked()'),
self.start_state_cb)
self.connect(self.ui.add_to_library_button, qtc.SIGNAL('clicked()'),
self.add_to_library_cb)
self.connect(self.ui.delete_button, qtc.SIGNAL('clicked()'),
self.delete_cb)
self.connect(self.ui.action_Run, qtc.SIGNAL('triggered(bool)'),
self.run_sm_cb)
self.connect(self.ui.action_stop, qtc.SIGNAL('triggered(bool)'),
self.stop_sm_cb)
self.connect(self.ui.actionNew, qtc.SIGNAL('triggered(bool)'),
self.new_sm_cb)
self.connect(self.ui.action_save, qtc.SIGNAL('triggered(bool)'),
self.save_sm_cb)
self.connect(self.ui.action_save_as, qtc.SIGNAL('triggered(bool)'),
self.save_as_sm_cb)
self.connect(self.ui.action_open, qtc.SIGNAL('triggered(bool)'),
self.open_sm_cb)
self.connect(self.ui.action_quit, qtc.SIGNAL('triggered(bool)'),
self.quit_cb)
self.ui.splitter.setSizes(split(self.width(), .83))
self.empty_container(self.ui.properties_tab)
self.empty_container(self.ui.connections_tab)
self.add_mode()
self.disable_buttons()
#create instance variables
self.tabs = {}
self.tool_dict = {}
#name of currently selected tool that operates on graph
#self.graph_model = None
self.selected_tool = None
self.selected_graph_tool = None
self.selected_node = None
self.selected_edge = None
self.fsm_stack = []
#Setup animation timer
#self.status_bar_timer = QTimer()
#self.connect(self.status_bar_timer, SIGNAL('timeout()'), self.status_bar_check)
#self.status_bar_timer.start(100)
self.status_bar_msg = ''
#Connect to ROS & PR2
#if tf_listener == None:
# tf_listener = tf.TransformListener()
#self.tf_listener = tf_listener
#self.robot = robot
#self.pr2 = pu.PR2(self.tf_listener)
def set_robot(self, robot, tf_listener):
self.robot = robot
self.tf_listener = tf_listener
def status_bar_check(self):
if self.graph_model.sm_thread.has_key('run_sm'):
sm_thread = self.graph_model.sm_thread['run_sm']
if sm_thread.exception != None:
m = sm_thread.exception.message
self.statusBar().showMessage(
'%s: %s' % (sm_thread.exception.__class__, m), 15000)
self.graph_model.sm_thread.pop('run_sm')
self.graph_model.sm_thread.pop('preempted')
return
if sm_thread.outcome != None:
self.statusBar().showMessage(
'Finished with outcome: %s' % sm_thread.outcome, 15000)
self.graph_model.sm_thread.pop('run_sm')
self.graph_model.sm_thread.pop('preempted')
return
if not sm_thread.isAlive():
self.statusBar().showMessage(
'Error: SM thread unexpectedly died.', 15000)
self.graph_model.sm_thread.pop('run_sm')
self.graph_model.sm_thread.pop('preempted')
return
if self.graph_model.sm_thread['preempted'] != None and (
time.time() - self.graph_model.sm_thread['preempted'] >
5.):
rospy.loginfo(
'Thread took too long to terminate. Escallating and using exception exit.'
)
self.graph_model.sm_thread['run_sm'].except_preempt()
rospy.loginfo('Thread terminated.')
self.graph_model.sm_thread.pop('run_sm')
self.graph_model.sm_thread.pop('preempted')
rstring = 'Running...'
if str(self.statusBar().currentMessage()) != rstring:
self.statusBar().showMessage(rstring, 1000)
####################################################################################################################
# GUI logic
####################################################################################################################
def _create_tab(self, tab_name):
ntab = qtg.QWidget()
ntab.setObjectName(tab_name)
qtg.QHBoxLayout(ntab)
self.ui.tools_box.addTab(ntab, tab_name)
self.ui.tools_box.setTabText(self.ui.tools_box.indexOf(ntab), tab_name)
self.tabs[tab_name] = ntab
##
# Should only be called once during initialization
#
# @param list of [tab-name, tool-object] pairs
def add_tools(self, tools_list):
#add tools to the right tab, creating tabs if needed
self.button_group_tab = qtg.QButtonGroup()
#self.connect(self.button_group_tab, qtc.SIGNAL('clicked(int)'), self.button_group_clicked_cb)
for tab_name, tool in tools_list:
if not self.tabs.has_key(tab_name):
self._create_tab(tab_name)
tab_widget = self.tabs[tab_name]
self.button_group_tab.addButton(tool.create_button(tab_widget))
#self.tool_dict[tool.get_name()] = {'tool_obj': tool}
self.tool_dict[tool.get_smach_class()] = {'tool_obj': tool}
for tname in self.tabs.keys():
self.tabs[tname].update()
#self.tool_dict[outcome_tool.get_name()] = {'tool_obj': outcome_tool}
#Outcome tool is a specialized built in tool
self.button_group_tab.addButton(self.ui.add_outcome_button)
outcome_tool = ot.OutcomeTool(self.ui.add_outcome_button, self)
self.tool_dict[outcome_tool.get_smach_class()] = {
'tool_obj': outcome_tool
}
self.button_group_tab.addButton(self.ui.library_button)
library_tool = lb.LibraryTool(self.ui.library_button, self)
self.tool_dict[library_tool.get_smach_class()] = {
'tool_obj': library_tool
}
def empty_container(self, pbox):
layout = pbox.layout()
for i in range(layout.count()):
item = layout.itemAt(0)
layout.removeItem(item)
children = pbox.children()
for c in children[1:]:
try:
layout.removeWidget(c)
c.setParent(None)
except TypeError, e:
pass
layout.invalidate()
pbox.update()
class RCommander(QMainWindow, nbg.NodeBoxGUI):
def __init__(self):
QMainWindow.__init__(self)
self.ui = Ui_RCommanderWindow()
self.ui.setupUi(self)
nbg.NodeBoxGUI.__init__(self, self.ui.graphicsSuperView)
self.connect(self.ui.run_button, SIGNAL('clicked()'), self.run_cb)
self.connect(self.ui.add_button, SIGNAL('clicked()'), self.add_cb)
self.connect(self.ui.reset_button, SIGNAL('clicked()'), self.reset_cb)
self.connect(self.ui.save_button, SIGNAL('clicked()'), self.save_cb)
self.connect(self.ui.start_state_button, SIGNAL('clicked()'), self.start_state_cb)
self.connect(self.ui.delete_button, SIGNAL('clicked()'), self.delete_cb)
self.connect(self.ui.action_Run, SIGNAL('triggered(bool)'), self.run_sm_cb)
self.connect(self.ui.action_stop, SIGNAL('triggered(bool)'), self.stop_sm_cb)
self.connect(self.ui.actionNew, SIGNAL('triggered(bool)'), self.new_sm_cb)
self.connect(self.ui.action_save, SIGNAL('triggered(bool)'), self.save_sm_cb)
self.connect(self.ui.action_save_as, SIGNAL('triggered(bool)'), self.save_as_sm_cb)
self.connect(self.ui.action_open, SIGNAL('triggered(bool)'), self.open_sm_cb)
self.ui.splitter.setSizes(split(self.width(), .83))
self.empty_container(self.ui.properties_tab)
self.empty_container(self.ui.connections_tab)
self.add_mode()
self.disable_buttons()
#create instance variables
self.tabs = {}
self.tool_dict = {}
#name of currently selected tool that operates on graph
#self.graph_model = None
self.selected_tool = None
self.selected_graph_tool = None
self.selected_node = None
self.selected_edge = None
self.fsm_stack = []
#Setup animation timer
self.status_bar_timer = QTimer()
self.connect(self.status_bar_timer, SIGNAL('timeout()'), self.status_bar_check)
self.status_bar_timer.start(100)
#Connect to ROS & PR2
rospy.init_node('rcommander', anonymous=True)
self.tf_listener = tf.TransformListener()
self.pr2 = pu.PR2(self.tf_listener)
def status_bar_check(self):
if self.graph_model.sm_thread.has_key('run_sm'):
sm_thread = self.graph_model.sm_thread['run_sm']
if sm_thread.exception != None:
m = sm_thread.exception.message
self.statusBar().showMessage('%s: %s' % (sm_thread.exception.__class__, m), 15000)
self.graph_model.sm_thread.pop('run_sm')
self.graph_model.sm_thread.pop('preempted')
return
if sm_thread.outcome != None:
self.statusBar().showMessage('Finished with outcome: %s' % sm_thread.outcome, 15000)
self.graph_model.sm_thread.pop('run_sm')
self.graph_model.sm_thread.pop('preempted')
return
if not sm_thread.isAlive():
self.statusBar().showMessage('Error: SM thread unexpectedly died.', 15000)
self.graph_model.sm_thread.pop('run_sm')
self.graph_model.sm_thread.pop('preempted')
return
if self.graph_model.sm_thread['preempted'] != None and (time.time() - self.graph_model.sm_thread['preempted'] > 5.):
rospy.loginfo('Thread took too long to terminate. Escallating and using exception exit.')
self.graph_model.sm_thread['run_sm'].except_preempt()
rospy.loginfo('Thread terminated.')
self.graph_model.sm_thread.pop('run_sm')
self.graph_model.sm_thread.pop('preempted')
rstring = 'Running...'
if str(self.statusBar().currentMessage()) != rstring:
self.statusBar().showMessage(rstring, 1000)
####################################################################################################################
# GUI logic
####################################################################################################################
def _create_tab(self, tab_name):
ntab = QWidget()
ntab.setObjectName(tab_name)
QHBoxLayout(ntab)
self.ui.tools_box.addTab(ntab, tab_name)
self.ui.tools_box.setTabText(self.ui.tools_box.indexOf(ntab), tab_name)
self.tabs[tab_name] = ntab
##
# Should only be called once during initialization
#
# @param list of [tab-name, tool-object] pairs
def add_tools(self, tools_list):
#add tools to the right tab, creating tabs if needed
self.button_group_tab = QButtonGroup()
for tab_name, tool in tools_list:
if not self.tabs.has_key(tab_name):
self._create_tab(tab_name)
tab_widget = self.tabs[tab_name]
self.button_group_tab.addButton(tool.create_button(tab_widget))
#self.tool_dict[tool.get_name()] = {'tool_obj': tool}
self.tool_dict[tool.get_smach_class()] = {'tool_obj': tool}
for tname in self.tabs.keys():
self.tabs[tname].update()
#Outcome tool is a specialized built in tool
self.button_group_tab.addButton(self.ui.add_outcome_button)
outcome_tool = ot.OutcomeTool(self.ui.add_outcome_button, self)
#self.tool_dict[outcome_tool.get_name()] = {'tool_obj': outcome_tool}
self.tool_dict[outcome_tool.get_smach_class()] = {'tool_obj': outcome_tool}
def empty_container(self, pbox):
#pbox = self.ui.properties_tab
formlayout = pbox.layout()
for i in range(formlayout.count()):
item = formlayout.itemAt(0)
formlayout.removeItem(item)
children = pbox.children()
for c in children[1:]:
formlayout.removeWidget(c)
c.setParent(None)
formlayout.invalidate()
pbox.update()
def set_selected_tool(self, tool_name):
self.selected_tool = tool_name
def run_state_machine(self, sm):
if self.graph_model.sm_thread.has_key('run_sm'):
raise RuntimeError('Only state machine execution thread maybe be active at a time.')
self.graph_model.run(self.graph_model.document.get_name(), state_machine=sm)
def check_current_document(self):
if self.graph_model.document.modified:
msg_box = QMessageBox()
msg_box.setText('Current state machine has not been saved.')
msg_box.setInformativeText('Do you want to save it first?')
msg_box.setStandardButtons(QMessageBox.Yes | QMessageBox.No | QMessageBox.Cancel)
msg_box.setDefaultButton(QMessageBox.Cancel)
ret = msg_box.exec_()
if ret == QMessageBox.Cancel:
return False
elif ret == QMessageBox.Yes:
return self.save_sm_cb()
return True
def disable_buttons(self):
self.ui.run_button.setDisabled(True)
self.ui.reset_button.setDisabled(True)
self.ui.add_button.setDisabled(True)
self.ui.save_button.setDisabled(True)
def enable_buttons(self):
self.ui.run_button.setDisabled(False)
self.ui.reset_button.setDisabled(False)
self.ui.add_button.setDisabled(False)
self.ui.save_button.setDisabled(False)
def deselect_tool_buttons(self):
self.button_group_tab.setExclusive(False)
button = self.button_group_tab.checkedButton()
#print button
if button != None:
#print 'checked', button.isChecked(), button.isDown(), button.isCheckable(), button.text()
button.setDown(False)
button.setChecked(False)
#print 'checked2', button.isChecked(), button.isDown()
self.button_group_tab.setExclusive(True)
def edit_mode(self):
self.ui.add_button.hide()
self.ui.save_button.show()
def add_mode(self):
self.ui.add_button.show()
self.ui.save_button.hide()
def empty_properties_box(self):
self.empty_container(self.ui.properties_tab)
self.empty_container(self.ui.connections_tab)
####################################################################################################################
# Graph tools
####################################################################################################################
def _reconnect_smach_states(self):
for k in self.graph_model.smach_states:
if hasattr(self.graph_model.smach_states[k], 'set_robot'):
self.graph_model.smach_states[k].set_robot(self.pr2)
def connection_changed(self, node_name, outcome_name, new_outcome):
self.graph_model.connection_changed(node_name, outcome_name, new_outcome)
self.graph_model.document.modified = True
def current_children_of(self, node_name):
return self.graph_model.current_children_of(node_name)
def connectable_nodes(self, node_name, outcome):
return self.graph_model.connectable_nodes(node_name, outcome)
def global_nodes(self, class_filter):
return self.graph_model.global_nodes(class_filter)
def set_selected_node(self, name):
self.selected_node = name
def set_selected_edge(self, n1, n2, label):
if n1 == None:
self.selected_edge = None
else:
self.selected_edge = self.graph_model.edge(n1, n2, label=label)
####################################################################################################################
# All callbacks
####################################################################################################################
def run_cb(self):
if self.selected_tool == None:
return
try:
tool_instance = self.tool_dict[self.selected_tool]['tool_obj']
node = tool_instance.create_node(unique=False)
singleton_sm = self.graph_model.create_singleton_statemachine(node)
self.run_state_machine(singleton_sm)
except RuntimeError, e:
QMessageBox.information(self, str(self.objectName()), 'RuntimeError: ' + e.message)