def init_inspection_test(self):
button = QPushButton("Robot inspection (beta)")
menu = QMenu("Menu")
menu.setStyleSheet("QMenu { menu-scrollable: 1; }");
submenus = []
for i in range(5):
# a component has fields which are either strings or arrays.
s = menu.addMenu(str(i))
for j in range(5):
s.addAction(str(j), partial(self.subscribe_to_field_test, "blubber", j))
button.setMenu(menu)
return button
def init_inspection(self):
button = QPushButton("Robot inspection (beta)")
service_list_comps = '/meka_ros_publisher/list_components'
service_list_fields = '/meka_ros_publisher/list_fields'
service_req_values = '/meka_ros_publisher/request_values'
rospy.loginfo("Waiting for %s, %s and %s", service_list_comps, service_list_fields, service_req_values)
try:
rospy.wait_for_service(service_list_comps, 4.0)
rospy.wait_for_service(service_list_fields, 4.0)
rospy.wait_for_service(service_req_values, 4.0)
except rospy.ROSException:
rospy.logerr("%s and/or %s did not show up. Giving up", service_list_comps, service_list_fields)
return button
self.list_comps_client = rospy.ServiceProxy(service_list_comps, ListComponents)
self.list_fields_client = rospy.ServiceProxy(service_list_fields, ListFields)
self.req_vals_client = rospy.ServiceProxy(service_req_values, RequestValues)
rospy.loginfo("Found %s, %s and %s", service_list_comps, service_list_fields, service_req_values)
# get all the components
try:
resp = self.list_comps_client("")
except rospy.ServiceException:
rospy.logerr("Could not call list_components")
return button
menu = QMenu("Menu")
menu.setStyleSheet("QMenu { menu-scrollable: 1; }");
submenus = []
self.req_action = {}
if(resp):
for component in resp.components:
s = menu.addMenu(component)
self.req_action[component] = s.addAction("request fields", partial(self.request_fields, component, s))
button.setMenu(menu)
return button
def init_stiffness_ctrl(self):
slayout = QVBoxLayout()
prefix = "meka_roscontrol"
suffix = "stiffness_controller/command"
button = QPushButton("Stiffness controller (beta)")
self.stiffness_pub = rospy.Publisher("/" + prefix + "/" + suffix, Float64MultiArray, queue_size=1)
group_names = ["right_arm", "left_arm", "right_hand", "left_hand", "head", "torso", "zlift"]
# slider for each group
joint_names = [ "right_arm_j0",
"right_arm_j1",
"right_arm_j2",
"right_arm_j3",
"right_arm_j4",
"right_arm_j5",
"right_arm_j6",
"left_arm_j0",
"left_arm_j1",
"left_arm_j2",
"left_arm_j3",
"left_arm_j4",
"left_arm_j5",
"left_arm_j6",
"right_hand_j0",
"right_hand_j1",
"right_hand_j2",
"right_hand_j3",
"right_hand_j4",
"left_hand_j0",
"left_hand_j1",
"left_hand_j2",
"left_hand_j3",
"left_hand_j4",
"head_j0",
"head_j1",
"torso_j0",
"torso_j1",
"zlift_j0"]
self._stiffness_dict = OrderedDict((name, 1.0) for name in joint_names)
menu = QMenu("Menu")
menu.setStyleSheet("QMenu { menu-scrollable: 1; }");
self.stiffnessvals = {}
for group in group_names:
glayout = QHBoxLayout()
glayout.addWidget(QLabel(group))
slider = QSlider(Qt.Horizontal)
slider.setRange(0,100)
slider.setValue(100)
slider.setTickPosition(QSlider.TicksBelow)
slider.setTickInterval(10)
slider.setFixedSize(200,15)
slider.setSingleStep(10)
slider.setSizePolicy(QSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed))
val = QLabel("1.0")
btn = QPushButton("apply")
self.stiffnessvals[group] = val
btn.clicked.connect(partial(self.on_stiffness_apply, group))
glayout.addWidget(slider)
glayout.addWidget(val)
glayout.addWidget(btn)
slider.valueChanged.connect(partial(self.on_stiffness_change, slider, val, group))
slayout.addLayout(glayout)
groupm = menu.addMenu(group)
#for joint in joint_names:
#groupm.addAction("set stiffness", partial(self.set_stiffness, groupm))
#if group in joint:
# groupm.addAction(self._stiffness_dict[joint])
# s.addAction(joint, partial(self.request_fields, component, s))
button.setMenu(menu)
return slayout
def contextMenuEvent(self, event):
popup_menu = self.createStandardContextMenu()
#~popup_menu = QMenu()
#~self.setContextMenuPolicy()
RightToLeft = 1
# Select the word under the cursor.
cursor = self.textCursor()
cursor.select(QTextCursor.WordUnderCursor)
self.setTextCursor(cursor)
# Check if the selected word is misspelled and offer spelling
# suggestions if it is.
if self.textCursor().hasSelection():
#~text = (unicode(self.textCursor().selectedText()))
#this is a workaround for QT bug when double click selects Arabic punctuation marks
# plus the word in the text editor see https://bugreports.qt-project.org/browse/QTBUG-42397
#~ originaltext = unicode(self.textCursor().selectedText())
originaltext = self.textCursor().selectedText()
arabicmarks = [u'؟', u'،', u'؛', u'“', u'”', u'‘', u'’']
holder = originaltext[-1]
if holder in arabicmarks:
self.pretxt = holder
else:
self.pretxt = ''
text = originaltext.strip(u'؟،؛“”‘’')
spell_menu = QMenu(u'المزيد...')
spell_menu.setLayoutDirection(RightToLeft)
# the word is aleady analyzed
if self.dict.check(text):
suggests = self.dict.suggest(text)
for word in suggests[:10]:
action = SpellAction(word, spell_menu)
action.correct.connect(self.correctWord)
#~spell_menu.addAction(action)
popup_menu.addAction(action)
#~spell_menu.setStyleSheet("QMenu {font: 32px; margin: 2px;}")
popup_menu.setStyleSheet("QMenu {font: 24px;}")
# Only add the spelling suggests to the menu if there are
# suggestions.
#~if len(spell_menu.actions()) != 0:
#~popup_menu.insertSeparator(popup_menu.actions()[0])
#~popup_menu.insertMenu(popup_menu.actions()[0], spell_menu)
if len(suggests) > 10:
for word in suggests[10:]:
action = SpellAction(word, spell_menu)
action.correct.connect(self.correctWord)
#~spell_menu.addAction(action)
spell_menu.addAction(action)
spell_menu.setStyleSheet("QMenu {font: 24px;}")
popup_menu.addSeparator()
popup_menu.addMenu(spell_menu)
if len(suggests) == 1 and not araby.is_vocalized(suggests[0]):
addtodict_action = popup_menu.addAction(u'أضف للقاموس')
#~addtodict_action.triggered.connect( lambda x = x = originaltext: self.add_to_dict(x))
addtodict_action.triggered.connect(
lambda: self.add_to_dict(originaltext))
# if the word hs no suggestions
# we lookup for customized vocalization
suggests = self.dict.custom_dict.lookup(word)
for word in suggests:
action = SpellAction(word, spell_menu)
action.correct.connect(self.correctWord)
#~spell_menu.addAction(action)
popup_menu.addAction(action)
else:
# redo taskeel for this word
#~pass;
# if the word hs no suggestions
# we lookup for customized vocalization
suggests = self.dict.custom_dict.lookup(text)
for word in suggests:
action = SpellAction(word, spell_menu)
action.correct.connect(self.correctWord)
#~spell_menu.addAction(action)
popup_menu.addAction(action)
popup_menu.exec_(event.globalPos())
