def showExecuteContextMenu(self, clickPosition):
globalPos = self.ui.executeButton.mapToGlobal(clickPosition)
menu = QtGui.QMenu()
menu.addAction('Visualization Only')
if not self.isPlanFeasible():
menu.addSeparator()
if self.isPlanAPlanWithSupports():
menu.addAction('Execute infeasible plan with supports')
else:
menu.addAction('Execute infeasible plan')
elif self.isPlanAPlanWithSupports():
menu.addSeparator()
menu.addAction('Execute plan with supports')
selectedAction = menu.exec_(globalPos)
if not selectedAction:
return
if selectedAction.text == 'Visualization Only':
self.executePlan(visOnly=True)
elif selectedAction.text == 'Execute infeasible plan':
self.executePlan(overrideInfeasibleCheck=True)
elif selectedAction.text == 'Execute plan with supports':
self.executePlan(overrideSupportsCheck=True)
elif selectedAction.text == 'Execute infeasible plan with supports':
self.executePlan(overrideInfeasibleCheck=True,
overrideSupportsCheck=True)
def showViewTabContextMenu(view, tabBar, menuPosition):
def onPopOut():
getViewManager().popOut(view)
menu = QtGui.QMenu(tabBar)
menu.addAction("Pop out").connect("triggered()", onPopOut)
menu.popup(menuPosition)
def _nodeContextMenu(self, node):
e = node.getAttribute("label")
if self.nodes.has_key(e):
menu = QtGui.QMenu("Entity " + e, self.view)
a = menu.addAction("Show graph backward")
a.connect(Qt.SIGNAL("triggered()"),
lambda: self.createGraphBackwardFromEntity(e))
menu.popup(QtGui.QCursor.pos())
def _signalContextMenu(self, edge):
s = edge.getAttribute("xlabel")
if self.edgesBack.has_key(edge):
e = self.edges[self.edgesBack[edge]][0]
menu = QtGui.QMenu("Signal " + e, self.view)
a = menu.addAction("Toggle display value")
a.connect(Qt.SIGNAL("triggered()"),
lambda: self.plugin.toggleDisplaySignalValue(e, s))
menu.popup(QtGui.QCursor.pos())
else:
print(edge)
def showRightClickMenu(displayPoint, view):
pickedObj, pickedPoint = vis.findPickedObject(displayPoint, view)
if not pickedObj:
return
objectName = pickedObj.getProperty('Name')
if objectName == 'grid':
return
objectName = getShortenedName(objectName)
displayPoint = displayPoint[0], view.height - displayPoint[1]
globalPos = view.mapToGlobal(QtCore.QPoint(*displayPoint))
menu = QtGui.QMenu(view)
widgetAction = QtGui.QWidgetAction(menu)
label = QtGui.QLabel('<b>%s</b>' % objectName)
label.setContentsMargins(9, 9, 6, 6)
widgetAction.setDefaultWidget(label)
menu.addAction(widgetAction)
menu.addSeparator()
propertiesPanel = PythonQt.dd.ddPropertiesPanel()
propertiesPanel.setBrowserModeToWidget()
propertyset.PropertyPanelHelper.addPropertiesToPanel(
pickedObj.properties, propertiesPanel)
def onPropertyChanged(prop):
om.PropertyPanelHelper.setPropertyFromPanel(prop, propertiesPanel,
pickedObj.properties)
propertiesPanel.connect('propertyValueChanged(QtVariantProperty*)',
onPropertyChanged)
propertiesMenu = menu.addMenu('Properties')
propertiesWidgetAction = QtGui.QWidgetAction(propertiesMenu)
propertiesWidgetAction.setDefaultWidget(propertiesPanel)
propertiesMenu.addAction(propertiesWidgetAction)
actions = getContextMenuActions(view, pickedObj, pickedPoint)
for actionName, func in actions:
if not actionName:
menu.addSeparator()
else:
action = menu.addAction(actionName)
action.connect('triggered()', func)
selectedAction = menu.popup(globalPos)
def showRightClickMenu(displayPoint, view):
pickedObj, pickedPoint = vis.findPickedObject(displayPoint, view)
if not pickedObj:
return
objectName = pickedObj.getProperty("Name")
if objectName == "grid":
return
objectName = getShortenedName(objectName)
displayPoint = displayPoint[0], view.height - displayPoint[1]
globalPos = view.mapToGlobal(QtCore.QPoint(*displayPoint))
menu = QtGui.QMenu(view)
widgetAction = QtGui.QWidgetAction(menu)
label = QtGui.QLabel("<b>%s</b>" % objectName)
label.setContentsMargins(9, 9, 6, 6)
widgetAction.setDefaultWidget(label)
menu.addAction(widgetAction)
menu.addSeparator()
propertiesPanel = PythonQt.dd.ddPropertiesPanel()
propertiesPanel.setBrowserModeToWidget()
panelConnector = propertyset.PropertyPanelConnector(
pickedObj.properties, propertiesPanel)
def onMenuHidden():
panelConnector.cleanup()
menu.connect("aboutToHide()", onMenuHidden)
propertiesMenu = menu.addMenu("Properties")
propertiesWidgetAction = QtGui.QWidgetAction(propertiesMenu)
propertiesWidgetAction.setDefaultWidget(propertiesPanel)
propertiesMenu.addAction(propertiesWidgetAction)
actions = getContextMenuActions(view, pickedObj, pickedPoint)
for actionName, func in actions:
if not actionName:
menu.addSeparator()
else:
action = menu.addAction(actionName)
action.connect("triggered()", func)
selectedAction = menu.popup(globalPos)
def _showMenu(self, actions, clickPosition):
if not actions:
return None
globalPos = self.getTreeWidget().viewport().mapToGlobal(clickPosition)
menu = QtGui.QMenu()
for name in actions:
if not name:
menu.addSeparator()
else:
menu.addAction(name)
selectedAction = menu.exec_(globalPos)
if selectedAction is not None:
return selectedAction.text
else:
return None
def showRightClickMenu(displayPoint, view):
pickedObj, pickedPoint = vis.findPickedObject(displayPoint, view)
if not pickedObj:
return
objectName = pickedObj.getProperty('Name')
if objectName == 'grid':
return
displayPoint = displayPoint[0], view.height - displayPoint[1]
globalPos = view.mapToGlobal(QtCore.QPoint(*displayPoint))
menu = QtGui.QMenu(view)
widgetAction = QtGui.QWidgetAction(menu)
label = QtGui.QLabel('<b>%s</b>' % objectName)
label.setContentsMargins(9,9,6,6)
widgetAction.setDefaultWidget(label)
menu.addAction(widgetAction)
menu.addSeparator()
propertiesPanel = PythonQt.dd.ddPropertiesPanel()
propertiesPanel.setBrowserModeToWidget()
propertyset.PropertyPanelHelper.addPropertiesToPanel(pickedObj.properties, propertiesPanel)
def onPropertyChanged(prop):
om.PropertyPanelHelper.setPropertyFromPanel(prop, propertiesPanel, pickedObj.properties)
propertiesPanel.connect('propertyValueChanged(QtVariantProperty*)', onPropertyChanged)
propertiesMenu = menu.addMenu('Properties')
propertiesWidgetAction = QtGui.QWidgetAction(propertiesMenu)
propertiesWidgetAction.setDefaultWidget(propertiesPanel)
propertiesMenu.addAction(propertiesWidgetAction)
def onDelete():
om.removeFromObjectModel(pickedObj)
def onHide():
pickedObj.setProperty('Visible', False)
def onSelect():
om.setActiveObject(pickedObj)
reachFrame = getAsFrame(pickedObj)
collisionParent = getCollisionParent(pickedObj)
def onReachLeft():
reachToFrame(reachFrame, 'left', collisionParent)
def onReachRight():
reachToFrame(reachFrame, 'right', collisionParent)
def flipHandSide():
for obj in [pickedObj] + pickedObj.children():
if not isGraspSeed(obj):
continue
side = 'right' if obj.side == 'left' else 'left'
obj.side = side
color = [1.0, 1.0, 0.0]
if side == 'right':
color = [0.33, 1.0, 0.0]
obj.setProperty('Color', color)
def flipHandThumb():
handFrame = pickedObj.children()[0]
t = transformUtils.copyFrame(handFrame.transform)
t.PreMultiply()
t.RotateY(180)
handFrame.copyFrame(t)
pickedObj._renderAllViews()
def onSplineLeft():
splinewidget.planner.newSpline(pickedObj, 'left')
def onSplineRight():
splinewidget.planner.newSpline(pickedObj, 'right')
def getPointCloud(obj):
try:
obj = obj.model.polyDataObj
except AttributeError:
pass
try:
obj.polyData
except AttributeError:
return None
if obj and obj.polyData.GetNumberOfPoints():# and (obj.polyData.GetNumberOfCells() == obj.polyData.GetNumberOfVerts()):
return obj
pointCloudObj = getPointCloud(pickedObj)
affordanceObj = pickedObj if isinstance(pickedObj, affordanceitems.AffordanceItem) else None
def onSegmentGround():
groundPoints, scenePoints = segmentation.removeGround(pointCloudObj.polyData)
vis.showPolyData(groundPoints, 'ground points', color=[0,1,0], parent='segmentation')
vis.showPolyData(scenePoints, 'scene points', color=[1,0,1], parent='segmentation')
pickedObj.setProperty('Visible', False)
def onCopyPointCloud():
global lastRandomColor
polyData = vtk.vtkPolyData()
polyData.DeepCopy(pointCloudObj.polyData)
if pointCloudObj.getChildFrame():
polyData = segmentation.transformPolyData(polyData, pointCloudObj.getChildFrame().transform)
polyData = segmentation.addCoordArraysToPolyData(polyData)
# generate random color, and average with a common color to make them generally similar
lastRandomColor = lastRandomColor + 0.1 + 0.1*random.random()
rgb = colorsys.hls_to_rgb(lastRandomColor, 0.7, 1.0)
obj = vis.showPolyData(polyData, pointCloudObj.getProperty('Name') + ' copy', color=rgb, parent='point clouds')
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(polyData))
segmentation.makeMovable(obj, t)
om.setActiveObject(obj)
pickedObj.setProperty('Visible', False)
def onMergeIntoPointCloud():
allPointClouds = om.findObjectByName('point clouds')
if allPointClouds:
allPointClouds = [i.getProperty('Name') for i in allPointClouds.children()]
sel = QtGui.QInputDialog.getItem(None, "Point Cloud Merging", "Pick point cloud to merge into:", allPointClouds, current=0, editable=False)
sel = om.findObjectByName(sel)
# Make a copy of each in same frame
polyDataInto = vtk.vtkPolyData()
polyDataInto.ShallowCopy(sel.polyData)
if sel.getChildFrame():
polyDataInto = segmentation.transformPolyData(polyDataInto, sel.getChildFrame().transform)
polyDataFrom = vtk.vtkPolyData()
polyDataFrom.DeepCopy(pointCloudObj.polyData)
if pointCloudObj.getChildFrame():
polyDataFrom = segmentation.transformPolyData(polyDataFrom, pointCloudObj.getChildFrame().transform)
# Actual merge
append = filterUtils.appendPolyData([polyDataFrom, polyDataInto])
if sel.getChildFrame():
polyDataInto = segmentation.transformPolyData(polyDataInto, sel.getChildFrame().transform.GetInverse())
# resample
append = segmentationroutines.applyVoxelGrid(append, 0.01)
append = segmentation.addCoordArraysToPolyData(append)
# Recenter the frame
sel.setPolyData(append)
t = vtk.vtkTransform()
t.PostMultiply()
t.Translate(filterUtils.computeCentroid(append))
segmentation.makeMovable(sel, t)
# Hide the old one
if pointCloudObj.getProperty('Name') in allPointClouds:
pointCloudObj.setProperty('Visible', False)
def onSegmentTableScene():
data = segmentation.segmentTableScene(pointCloudObj.polyData, pickedPoint)
vis.showClusterObjects(data.clusters + [data.table], parent='segmentation')
def onSegmentDrillAlignedWithTable():
segmentation.segmentDrillAlignedWithTable(pickedPoint, pointCloudObj.polyData)
def onCachePickedPoint():
''' Cache the Picked Point for general purpose use'''
global lastCachedPickedPoint
lastCachedPickedPoint = pickedPoint
#data = segmentation.segmentTableScene(pointCloudObj.polyData, pickedPoint)
#vis.showClusterObjects(data.clusters + [data.table], parent='segmentation')
def onLocalPlaneFit():
planePoints, normal = segmentation.applyLocalPlaneFit(pointCloudObj.polyData, pickedPoint, searchRadius=0.1, searchRadiusEnd=0.2)
obj = vis.showPolyData(planePoints, 'local plane fit', color=[0,1,0])
obj.setProperty('Point Size', 7)
fields = segmentation.makePolyDataFields(obj.polyData)
pose = transformUtils.poseFromTransform(fields.frame)
desc = dict(classname='BoxAffordanceItem', Name='local plane', Dimensions=list(fields.dims), pose=pose)
box = segmentation.affordanceManager.newAffordanceFromDescription(desc)
def onOrientToMajorPlane():
polyData, planeFrame = segmentation.orientToMajorPlane(pointCloudObj.polyData, pickedPoint=pickedPoint)
pointCloudObj.setPolyData(polyData)
def onDiskGlyph():
result = segmentation.applyDiskGlyphs(pointCloudObj.polyData)
obj = vis.showPolyData(result, 'disks', color=[0.8,0.8,0.8])
om.setActiveObject(obj)
pickedObj.setProperty('Visible', False)
def onArrowGlyph():
result = segmentation.applyArrowGlyphs(pointCloudObj.polyData)
obj = vis.showPolyData(result, 'disks')
def onSegmentationEditor():
segmentationpanel.activateSegmentationMode(pointCloudObj.polyData)
def addNewFrame():
t = transformUtils.copyFrame(affordanceObj.getChildFrame().transform)
t.PostMultiply()
t.Translate(np.array(pickedPoint) - np.array(t.GetPosition()))
newFrame = vis.showFrame(t, '%s frame %d' % (affordanceObj.getProperty('Name'), len(affordanceObj.children())), scale=0.2, parent=affordanceObj)
affordanceObj.getChildFrame().getFrameSync().addFrame(newFrame, ignoreIncoming=True)
def copyAffordance():
desc = dict(affordanceObj.getDescription())
del desc['uuid']
desc['Name'] = desc['Name'] + ' copy'
aff = robotSystem.affordanceManager.newAffordanceFromDescription(desc)
aff.getChildFrame().setProperty('Edit', True)
def onPromoteToAffordance():
affObj = affordanceitems.MeshAffordanceItem.promotePolyDataItem(pickedObj)
robotSystem.affordanceManager.registerAffordance(affObj)
actions = [
(None, None),
('Hide', onHide),
('Delete', onDelete),
('Select', onSelect)
]
if affordanceObj:
actions.extend([
('Copy affordance', copyAffordance),
('Add new frame', addNewFrame),
])
elif type(pickedObj) == vis.PolyDataItem:
actions.extend([
('Promote to Affordance', onPromoteToAffordance),
])
if isGraspSeed(pickedObj):
actions.extend([
(None, None),
('Flip Side', flipHandSide),
('Flip Thumb', flipHandThumb),
])
if reachFrame is not None:
actions.extend([
(None, None),
('Reach Left', onReachLeft),
('Reach Right', onReachRight),
#('Spline Left', onSplineLeft),
#('Spline Right', onSplineRight),
])
if pointCloudObj:
actions.extend([
(None, None),
('Copy Pointcloud', onCopyPointCloud),
('Merge Pointcloud Into', onMergeIntoPointCloud),
('Segment Ground', onSegmentGround),
('Segment Table', onSegmentTableScene),
('Segment Drill Aligned', onSegmentDrillAlignedWithTable),
('Local Plane Fit', onLocalPlaneFit),
('Orient with Horizontal', onOrientToMajorPlane),
('Arrow Glyph', onArrowGlyph),
('Disk Glyph', onDiskGlyph),
('Cache Pick Point', onCachePickedPoint),
(None, None),
('Open Segmentation Editor', onSegmentationEditor)
])
for actionName, func in actions:
if not actionName:
menu.addSeparator()
else:
action = menu.addAction(actionName)
action.connect('triggered()', func)
selectedAction = menu.popup(globalPos)
def showContextMenu(self, clickPosition):
globalPos = self.button.mapToGlobal(clickPosition)
menu = QtGui.QMenu()
action = menu.addAction('Stop logger')
action.enabled = (self.numProcesses > 0)
action = menu.addAction('Stop and delete log file')
action.enabled = (self.numProcesses > 0 and self.lastActiveLogFile)
action = menu.addAction('Set logger tag')
action.enabled = (self.numProcesses == 0)
action = menu.addAction('Copy log filename')
action.enabled = (self.lastActiveLogFile is not None)
action = menu.addAction('Review log')
action.enabled = (self.lastActiveLogFile is not None)
selectedAction = menu.exec_(globalPos)
if selectedAction is None:
return
if selectedAction.text == 'Copy log filename':
clipboard = QtGui.QApplication.instance().clipboard()
clipboard.setText(self.lastActiveLogFile)
self.showStatusMessage('copy to clipboard: ' +
self.lastActiveLogFile)
elif selectedAction.text == 'Stop logger':
self.manager.killAllLoggingProcesses()
self.showStatusMessage('stopped logger')
self.updateState()
elif selectedAction.text == 'Stop and delete log file':
logFileToRemove = self.lastActiveLogFile
self.manager.killAllLoggingProcesses()
self.updateState()
os.remove(logFileToRemove)
self.showStatusMessage('deleted: ' + logFileToRemove)
elif selectedAction.text == 'Set logger tag':
inputDialog = QtGui.QInputDialog()
inputDialog.setInputMode(inputDialog.TextInput)
inputDialog.setLabelText('Log file tag:')
inputDialog.setWindowTitle('Enter tag')
inputDialog.setTextValue(self.userTag)
result = inputDialog.exec_()
if result:
tag = inputDialog.textValue()
self.userTag = tag
self.showStatusMessage('Set lcm logger tag: ' + self.userTag)
elif selectedAction.text == 'Review log':
newEnv = dict(os.environ)
newEnv['LCM_DEFAULT_URL'] = newEnv['LCM_REVIEW_DEFAULT_URL']
devnull = open(os.devnull, 'w')
# Pass entire command line invocation of director to subprocess including cfg and json paths
subprocess.Popen(sys.argv,
stdout=devnull,
stderr=devnull,
env=newEnv)
subprocess.Popen(['lcm-logplayer-gui', self.lastActiveLogFile],
stdout=devnull,
stderr=devnull,
env=newEnv)
subprocess.Popen(['bot-procman-sheriff', '-o'],
stdout=devnull,
stderr=devnull,
env=newEnv)
def __init__(self):
super(dlg_exportFontsInFolder, self).__init__()
self.export = ExportFontsInFolder()
menu = QtGui.QMenu('MyMenu')
myact = QtGui.QAction('MyAction', self)
menu.addAction(myact)
menubar = main.menuBar()
menubar.addAction(myact)
layoutV = QtGui.QVBoxLayout()
# Source folder
self.lay_src = QtGui.QHBoxLayout()
self.lbl_src = QtGui.QLabel('Source folder:')
self.lbl_src.setFixedWidth(120)
self.lay_src.addWidget(self.lbl_src)
self.edt_srcFolder = QtGui.QLineEdit()
self.edt_srcFolder.setText(self.export.srcFolder)
self.edt_srcFolder.setToolTip(
'<p>Finds fonts to be converted in this <b>Source folder</b>. Defaults to the same folder as the currently active font. Click ... to choose a different folder.</p>'
)
self.lay_src.addWidget(self.edt_srcFolder)
self.btn_pickSrcFolder = QtGui.QPushButton('...')
self.btn_pickSrcFolder.setToolTip(
'<p>Click to choose a different <b>Source folder</b></p>')
self.btn_pickSrcFolder.clicked.connect(self.pickSrcFolder)
self.lay_src.addWidget(self.btn_pickSrcFolder)
layoutV.addLayout(self.lay_src)
# Filtering
self.lay_types = QtGui.QHBoxLayout()
self.lbl_types = QtGui.QLabel('File types:')
self.lbl_types.setFixedWidth(120)
self.lay_types.addWidget(self.lbl_types)
self.edt_types = QtGui.QLineEdit()
self.edt_types.setText(" ".join(self.export.fontTypes))
self.edt_types.setToolTip(
'<p>Finds fonts to be converted that match these space-separated <b>patterns</b> (case-insensitive).</p>'
)
self.lay_types.addWidget(self.edt_types)
self.chk_subfolders = QtGui.QCheckBox('Subfolders')
self.chk_subfolders.setCheckState(QtCore.Qt.Unchecked)
self.chk_subfolders.setToolTip(
'<p>If <b>on</b>, finds fonts to be converted in the Source folder <b>recursively</b> (including subfolders).</p>'
)
self.lay_types.addWidget(self.chk_subfolders)
layoutV.addLayout(self.lay_types)
# Destination folder
self.lay_dest = QtGui.QHBoxLayout()
self.lbl_dest = QtGui.QLabel('Destination folder:')
self.lbl_dest.setFixedWidth(120)
self.lay_dest.addWidget(self.lbl_dest)
self.edt_destFolder = QtGui.QLineEdit()
self.edt_destFolder.setText(self.export.destFolder)
self.edt_destFolder.setToolTip(
'<p>Exports fonts into this folder. Recreates the Source folder <b>structure</b>. If a font exports as a single file, uses the original filename as the new filename. If a font exports as multiple files, uses the original filename as a subfolder name. Click ... to choose a different folder.</p>'
)
self.lay_dest.addWidget(self.edt_destFolder)
self.btn_pickDestFolder = QtGui.QPushButton('...')
self.btn_pickDestFolder.setToolTip(
'<p>Click to choose a different <b>Destination folder</b></p>')
self.btn_pickDestFolder.clicked.connect(self.pickDestFolder)
self.lay_dest.addWidget(self.btn_pickDestFolder)
layoutV.addLayout(self.lay_dest)
# Run layout
self.lay_run = QtGui.QHBoxLayout()
self.lbl_format = QtGui.QLabel(
'<small>Hold your pointer over the UI items for instructions</small>'
)
self.lbl_format.setStyleSheet('color:darkGray;')
self.lay_run.addWidget(self.lbl_format)
self.lay_run.addStretch()
self.btn_cancel = QtGui.QPushButton('&Cancel')
self.btn_cancel.clicked.connect(self.cancel)
self.lay_run.addWidget(self.btn_cancel)
self.btn_run = QtGui.QPushButton('&Export Fonts As')
self.btn_run.setDefault(True)
self.btn_run.setFocus()
self.btn_run.clicked.connect(self.run)
self.btn_run.setToolTip(
'<p>Click this button. In the <i>Export Font</i> dialog, choose <b>Content</b>, choose/customize the <b>Profile</b>, but <b>do not change</b> the <b>Destination</b> settings there. Then click <b>Export</b> to start the conversion.</p>'
)
self.lay_run.addWidget(self.btn_run)
layoutV.addLayout(self.lay_run)
# - Set Widget
self.setLayout(layoutV)
self.setWindowTitle('%s %s' % (app_name, __version__))
self.setGeometry(300, 300, 640, 200)
self.setWindowFlags(QtCore.Qt.WindowStaysOnTopHint) # Always on top!!
self.show()
