class MorseChallenger(QMainWindow):
def __init__(self):
super(MorseChallenger,self).__init__();
self.PIXELS_TO_MOVE_PER_TIMEOUT = 3
self.ABSOLUTE_MAX_NUM_FLOATERS = 10;
self.FLOATER_POINT_SIZE = 20;
self.LETTER_CHECKBOX_NUM_COLS = 6;
# Number of timeout cycles that detonated
# letters stay visible:
self.DETONATION_VISIBLE_CYCLES = 4;
self.maxNumFloaters = 1;
self.lettersToUse = set();
self.floatersAvailable = set();
self.floatersInUse = set();
self.bookeepingAccessLock = threading.Lock();
# Floaters that detonated. Values are number of timeouts
# the detonation was visible:
self.floatersDetonated = {};
# Used to launch new floaters at random times:
self.cyclesSinceLastLaunch = 0;
self.dialogService = DialogService();
self.optionsFilePath = os.path.join(os.getenv('HOME'), '.morser/morseChallenger.cfg');
# Load UI for Morse Challenger:
relPathQtCreatorFileMainWin = "qt_files/morseChallenger/morseChallenger.ui";
qtCreatorXMLFilePath = self.findFile(relPathQtCreatorFileMainWin);
if qtCreatorXMLFilePath is None:
raise ValueError("Can't find QtCreator user interface file %s" % relPathQtCreatorFileMainWin);
# Make QtCreator generated UI a child of this instance:
loadUi(qtCreatorXMLFilePath, self);
self.windowTitle = "Morse Challenger";
self.setWindowTitle(self.windowTitle);
self.iconDir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'icons')
self.explosionPixMap = QPixmap(os.path.join(self.iconDir, 'explosion.png'));
CommChannel.registerSignals(MorseChallengerSignals);
self.connectWidgets();
self.generateLetterCheckBoxes();
self.simultaneousLettersComboBox.addItems(['1', '2', '3', '4', '5', '6', '7', '8', '9', '10']);
self.generateFloaters();
self.setFocusPolicy(Qt.ClickFocus);
self.letterMoveTimer = QTimer();
self.letterMoveTimer.setInterval(self.timerIntervalFromSpeedSlider()); # milliseconds
self.letterMoveTimer.setSingleShot(False);
self.letterMoveTimer.timeout.connect(self.moveLetters);
# Bring options from config file:
self.setOptions();
# Styling:
self.createColors();
self.setStyleSheet("QWidget{background-color: %s}" % self.lightBlueColor.name());
self.show();
def connectWidgets(self):
self.speedHSlider.valueChanged.connect(self.speedChangedAction);
self.startPushButton.clicked.connect(self.startAction);
self.stopPushButton.clicked.connect(self.stopAction);
self.simultaneousLettersComboBox.currentIndexChanged.connect(self.maxNumSimultaneousFloatersAction);
CommChannel.getSignal('MorseChallengerSignals.focusLostInadvertently').connect(self.reassertWindowFocus);
def createColors(self):
self.grayBlueColor = QColor(89,120,137); # Letter buttons
self.lightBlueColor = QColor(206,230,243); # Background
self.darkGray = QColor(65,88,101); # Central buttons
self.wordListFontColor = QColor(62,143,185); # Darkish blue.
self.purple = QColor(147,124,195); # Gesture button pressed
def generateLetterCheckBoxes(self):
self.lettersToCheckBoxes = {};
self.checkBoxesToLetters = {};
letters = sorted(codeKey.values());
numRows = (len(letters) % self.LETTER_CHECKBOX_NUM_COLS) + 1;
col = 0;
row = 0;
letterIndex = 0;
while(True):
letter = letters[letterIndex];
checkbox = QCheckBox();
self.lettersToCheckBoxes[letter] = checkbox;
self.checkBoxesToLetters[checkbox] = letter;
checkbox.setText(str(letter));
checkbox.toggled.connect(partial(self.letterCheckAction, checkbox));
self.letterCheckboxGridLayout.addWidget(checkbox, row, col);
col += 1;
if (col >= self.LETTER_CHECKBOX_NUM_COLS):
col = 0;
row += 1;
letterIndex += 1;
if letterIndex >= len(letters):
break;
def generateFloaters(self):
for i in range(self.ABSOLUTE_MAX_NUM_FLOATERS):
floaterLabel = QLabel();
font = QtGui.QFont()
font.setFamily("Courier")
font.setFixedPitch(True)
font.setPointSize(self.FLOATER_POINT_SIZE);
floaterLabel.setFont(font);
self.floatersAvailable.add(floaterLabel);
def letterCheckAction(self, checkbox, checkedOrNot):
changedLetter = self.checkBoxesToLetters[checkbox];
configedLetters = self.cfgParser.get('Main', 'letters');
if checkedOrNot:
self.lettersToUse.add(self.checkBoxesToLetters[checkbox]);
configedLetters += changedLetter;
else:
self.lettersToUse.discard(self.checkBoxesToLetters[checkbox]);
configedLetters.replace(changedLetter, "");
self.cfgParser.set('Main', 'letters', configedLetters);
self.saveOptions();
def startAction(self):
self.launchFloaters(1);
self.letterMoveTimer.start();
def stopAction(self):
self.letterMoveTimer.stop();
floatersInUseCopy = self.floatersInUse.copy();
for floater in floatersInUseCopy:
self.decommissionFloater(floater);
def maxNumSimultaneousFloatersAction(self, newNum):
# New Combo box picked: 0-based:
self.maxNumFloaters = newNum + 1;
try:
self.cfgParser.set('Main','numLettersTogether', str(newNum));
self.saveOptions();
except AttributeError:
# At startup cfgParser won't exist yet. Ignore:
pass
def speedChangedAction(self, newSpeed):
self.letterMoveTimer.setInterval(self.timerIntervalFromSpeedSlider(newSpeed)); # msec.
self.cfgParser.set('Main','letterSpeed', str(newSpeed));
self.saveOptions();
def keyPressEvent(self, keyEvent):
letter = keyEvent.text();
self.letterLineEdit.setText(letter);
matchingFloaters = {};
# Find all active floaters that have the pressed key's letter:
for floater in self.floatersInUse:
if floater.text() == letter:
floaterY = floater.y();
try:
matchingFloaters[floaterY].append(floater);
except KeyError:
matchingFloaters[floaterY] = [floater];
if len(matchingFloaters) == 0:
self.activateWindow();
self.setFocus();
return;
# Find the lowest ones:
lowestY = self.projectionScreenWidget.y();
yPositions = matchingFloaters.keys();
for floater in matchingFloaters[max(yPositions)]:
self.decommissionFloater(floater);
self.activateWindow();
self.setFocus();
def focusInEvent(self, event):
'''
Ensure that floaters are always on top of the app window,
even if user changes speed slider, checkmarks, etc.:
@param event:
@type event:
'''
self.raiseAllFloaters();
def resizeEvent(self, event):
newWinRect = self.geometry();
self.cfgParser.set('Appearance',
'winGeometry',
str(newWinRect.x()) + ',' +
str(newWinRect.y()) + ',' +
str(newWinRect.width()) + ',' +
str(newWinRect.height()));
self.saveOptions();
def raiseAllFloaters(self):
for floater in self.floatersInUse:
floater.raise_();
for floater in self.floatersDetonated.keys():
floater.raise_();
def decommissionFloater(self, floaterLabel):
floaterLabel.setHidden(True);
# Just in case: protect removal, in case caller
# passes in an already decommissioned floater:
try:
self.floatersInUse.remove(floaterLabel);
except KeyError:
pass
# Adding a floater twice is not an issue,
# b/c floatersAvailable is a set:
self.floatersAvailable.add(floaterLabel);
def timerIntervalFromSpeedSlider(self, newSpeed=None):
if newSpeed is None:
newSpeed = self.speedHSlider.value();
return max(500 - newSpeed, 20); #msec
def randomLetters(self, numLetters):
if len(self.lettersToUse) == 0:
self.dialogService.showErrorMsg("You must turn on a checkmark for at least one letter.");
return None;
lettersToDeploy = [];
for i in range(numLetters):
letter = random.sample(self.lettersToUse, 1);
lettersToDeploy.extend(letter);
return lettersToDeploy;
def moveLetters(self):
self.cyclesSinceLastLaunch += 1;
# Did floater detonate during previous timeout?:
detonatedFloaters = self.floatersDetonated.keys();
for detonatedFloater in detonatedFloaters:
self.floatersDetonated[detonatedFloater] += 1;
if self.floatersDetonated[detonatedFloater] > self.DETONATION_VISIBLE_CYCLES:
self.decommissionFloater(detonatedFloater);
del self.floatersDetonated[detonatedFloater];
remainingFloaters = self.floatersDetonated.keys();
for floaterLabel in self.floatersInUse:
if floaterLabel in remainingFloaters:
continue;
geo = floaterLabel.geometry();
newY = geo.y() + self.PIXELS_TO_MOVE_PER_TIMEOUT;
savedHeight = geo.height();
if newY > self.height():
newY = self.height(); #********
self.detonate(floaterLabel);
geo.setY(newY)
geo.setHeight(savedHeight);
floaterLabel.setGeometry(geo);
# Done advancing each floater. Is it time to start a new floater?
numFloatersToLaunch = self.maxNumFloaters - len(self.floatersInUse) + len(self.floatersDetonated);
if numFloatersToLaunch > 0:
# Use the following commented lines if you want the launching of
# new floaters to be random, e.g. between 2 and 10 timeout intervals:
# if self.cyclesSinceLastLaunch > random.randint(2,10):
# self.launchFloaters(self.maxNumFloaters - len(self.floatersInUse));
self.launchFloaters(numFloatersToLaunch);
# Launching floaters deactivates the main window, thereby losing the keyboard focus.
# We can't seem to reassert that focus within this timer interrupt service routine.
# So, issue a signal that will do it after return:
CommChannel.getSignal('MorseChallengerSignals.focusLostInadvertently').emit();
def launchFloaters(self, numFloaters):
newLetters = self.randomLetters(numFloaters);
if newLetters is None:
return;
for letter in newLetters:
# Pick a random horizontal location, at least 3 pixels in
# from the left edge, and at most 3 pixels back from the right edge:
screenGeo = self.projectionScreenWidget.geometry();
appWinGeo = self.geometry();
appWinX = appWinGeo.x();
# Random number among all the application window's X coordinates:
xLoc = random.randint(appWinX + 3, appWinX + screenGeo.width() - 3);
yLoc = appWinGeo.y();
self.getFloaterLabel(letter, xLoc, yLoc);
self.cyclesSinceLastLaunch = 0;
def getFloaterLabel(self, letter, x, y):
try:
label = self.floatersAvailable.pop();
label.clear();
except KeyError:
return None;
self.floatersInUse.add(label);
label.setText(letter);
label.move(x,y);
label.setHidden(False);
def detonate(self, floaterLabel):
# Floater was detonated zero cycles ago:
self.floatersDetonated[floaterLabel] = 0;
floaterLabel.clear();
floaterLabel.setPixmap(self.explosionPixMap);
def findFile(self, path, matchFunc=os.path.isfile):
if path is None:
return None
for dirname in sys.path:
candidate = os.path.join(dirname, path)
if matchFunc(candidate):
return candidate
return None;
def reassertWindowFocus(self):
self.window().activateWindow();
self.raise_();
self.raiseAllFloaters();
def setOptions(self):
self.optionsDefaultDict = {
'letters' : "",
'letterSpeed' : str(10),
'numLettersTogether' : str(0),
'winGeometry' : '100,100,700,560',
}
self.cfgParser = ConfigParser.SafeConfigParser(self.optionsDefaultDict);
self.cfgParser.add_section('Main');
self.cfgParser.add_section('Appearance');
self.cfgParser.read(self.optionsFilePath);
mainWinGeometry = self.cfgParser.get('Appearance', 'winGeometry');
# Get four ints from the comma-separated string of upperLeftX, upperLeftY,
# Width,Height numbers:
try:
nums = mainWinGeometry.split(',');
self.setGeometry(QRect(int(nums[0].strip()),int(nums[1].strip()),int(nums[2].strip()),int(nums[3].strip())));
except Exception as e:
self.dialogService.showErrorMsg("Could not set window size; config file spec not grammatical: %s. (%s" % (mainWinGeometry, `e`));
letterSpeed = self.cfgParser.getint('Main', 'letterSpeed');
self.speedHSlider.setValue(letterSpeed);
#self.speedChangedAction(letterSpeed);
self.letterMoveTimer.setInterval(self.timerIntervalFromSpeedSlider()); # milliseconds
numLettersTogether = self.cfgParser.getint('Main', 'numLettersTogether');
self.simultaneousLettersComboBox.setCurrentIndex(numLettersTogether);
lettersToUse = self.cfgParser.get('Main', 'letters');
for letter in lettersToUse:
self.lettersToCheckBoxes[letter].setChecked(True);
def saveOptions(self):
try:
# Does the config dir already exist? If not
# create it:
optionsDir = os.path.dirname(self.optionsFilePath);
if not os.path.isdir(optionsDir):
os.makedirs(optionsDir, 0777);
with open(self.optionsFilePath, 'wb') as outFd:
self.cfgParser.write(outFd);
except IOError as e:
self.dialogService.showErrorMsg("Could not save options: %s" % `e`);
def exit(self):
QApplication.quit();
def closeEvent(self, event):
QApplication.quit();
# Bubble event up:
event.ignore();
class Foo(QObject):
current_values_changed = Signal(str)
current_duration_changed = Signal(float)
_update_current_value_signal = Signal()
_show_input_notification_signal = Signal()
_hide_input_notification_signal = Signal()
_show_scene_notification_signal = Signal()
_hide_scene_notification_signal = Signal()
_update_color_of_line_edit_signal = Signal()
def __init__(self):
super(Foo, self).__init__()
self._action_set = None
self._update_current_value_signal.connect(self._update_current_value)
self._scene_notification = QDialog(main_window)
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'..', 'src', 'wrong_scene_dialog.ui')
loadUi(ui_file, self._scene_notification)
self._scene_notification_timer = QTimer(main_window)
self._scene_notification_timer.setInterval(5000)
self._scene_notification_timer.setSingleShot(True)
self._scene_notification_timer.timeout.connect(
self._hide_scene_notification)
self._scene_notification.finished.connect(
self._hide_scene_notification)
self._input_notification = QDialog(main_window)
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'..', 'src', 'wrong_input_method_dialog.ui')
loadUi(ui_file, self._input_notification)
self._input_notification_timer = QTimer(main_window)
self._input_notification_timer.setInterval(5000)
self._input_notification_timer.setSingleShot(True)
self._input_notification_timer.timeout.connect(
self._hide_input_method_notification)
self._input_notification.finished.connect(
self._hide_input_method_notification)
self._show_input_notification_signal.connect(
self._show_input_notification)
self._hide_input_notification_signal.connect(
self._hide_input_method_notification)
self._show_input_notification_signal.connect(
self._show_scene_notification)
self._hide_input_notification_signal.connect(
self._hide_scene_notification)
self._update_color_of_line_edit_signal.connect(
self._update_color_of_line_edit)
def _hide_scene_notification(self, result=None):
self._scene_notification_timer.stop()
self._scene_notification.hide()
def _hide_input_method_notification(self, result=None):
self._input_notification_timer.stop()
self._input_notification.hide()
# this method is call by ROS, all UI interaction is delayed via signals
def update_current_value(self):
global check_collisions
global currently_in_collision
if self._action_set is not None:
self._action_set.stop()
self._action_set = kontrol_subscriber.get_action_set()
if self._action_set is not None:
self.current_duration_changed.emit(self._action_set.get_duration())
if not is_in_slider_mode():
currently_in_collision = False
self._show_input_notification_signal.emit()
return
if self._input_notification_timer.isActive():
self._hide_input_notification_signal.emit()
#print('update_current_value()')
if not kontrol_subscriber.is_valid_action_set():
self._show_scene_notification_signal.emit()
return
if self._scene_notification_timer.isActive():
self._hide_scene_notification_signal.emit()
joint_values = kontrol_subscriber.get_joint_values()
if check_collisions:
in_collision = collision_checker.is_in_collision(joint_values)
else:
in_collision = False
collision_toggled = (currently_in_collision != in_collision)
currently_in_collision = in_collision
if collision_toggled:
self._update_color_of_line_edit_signal.emit()
self._update_current_value_signal.emit()
def _show_input_notification(self):
# open dialog which closes after some s_hide_scene_notification_hide_scene_notificationeconds or when confirmed manually
self._input_notification.show()
self._input_notification_timer.start()
def _show_scene_notification(self):
# open dialog which closes after some seconds or when confirmed manually
self._scene_notification.show()
self._scene_notification_timer.start()
def _update_color_of_line_edit(self):
global currently_in_collision
palette = main_window.lineEdit.palette()
if currently_in_collision:
palette.setColor(QPalette.Text, QColor(255, 0, 0))
else:
palette.setColor(QPalette.Text, default_color)
main_window.lineEdit.setPalette(palette)
def _update_current_value(self):
global currently_in_collision
main_window.append_pushButton.setEnabled(not currently_in_collision)
main_window.insert_before_pushButton.setEnabled(
not currently_in_collision)
value = self._action_set.to_string()
self.current_values_changed.emit(value)
for action in self._action_set._actions:
action._duration = 0.1 if use_sim_time else 0.5
self._action_set.execute()
class Foo(QObject):
current_values_changed = Signal(str)
current_duration_changed = Signal(float)
_update_current_value_signal = Signal()
_show_input_notification_signal = Signal()
_hide_input_notification_signal = Signal()
_show_scene_notification_signal = Signal()
_hide_scene_notification_signal = Signal()
_update_color_of_line_edit_signal = Signal()
def __init__(self):
super(Foo, self).__init__()
self._action_set = None
self._update_current_value_signal.connect(self._update_current_value)
self._scene_notification = QDialog(main_window)
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'src', 'wrong_scene_dialog.ui')
loadUi(ui_file, self._scene_notification)
self._scene_notification_timer = QTimer(main_window)
self._scene_notification_timer.setInterval(5000)
self._scene_notification_timer.setSingleShot(True)
self._scene_notification_timer.timeout.connect(self._hide_scene_notification)
self._scene_notification.finished.connect(self._hide_scene_notification)
self._input_notification = QDialog(main_window)
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), '..', 'src', 'wrong_input_method_dialog.ui')
loadUi(ui_file, self._input_notification)
self._input_notification_timer = QTimer(main_window)
self._input_notification_timer.setInterval(5000)
self._input_notification_timer.setSingleShot(True)
self._input_notification_timer.timeout.connect(self._hide_input_method_notification)
self._input_notification.finished.connect(self._hide_input_method_notification)
self._show_input_notification_signal.connect(self._show_input_notification)
self._hide_input_notification_signal.connect(self._hide_input_method_notification)
self._show_input_notification_signal.connect(self._show_scene_notification)
self._hide_input_notification_signal.connect(self._hide_scene_notification)
self._update_color_of_line_edit_signal.connect(self._update_color_of_line_edit)
def _hide_scene_notification(self, result=None):
self._scene_notification_timer.stop()
self._scene_notification.hide()
def _hide_input_method_notification(self, result=None):
self._input_notification_timer.stop()
self._input_notification.hide()
# this method is call by ROS, all UI interaction is delayed via signals
def update_current_value(self):
global check_collisions
global currently_in_collision
if self._action_set is not None:
self._action_set.stop()
self._action_set = kontrol_subscriber.get_action_set()
if self._action_set is not None:
self.current_duration_changed.emit(self._action_set.get_duration())
if not is_in_slider_mode():
currently_in_collision = False
self._show_input_notification_signal.emit()
return
if self._input_notification_timer.isActive():
self._hide_input_notification_signal.emit()
#print('update_current_value()')
if not kontrol_subscriber.is_valid_action_set():
self._show_scene_notification_signal.emit()
return
if self._scene_notification_timer.isActive():
self._hide_scene_notification_signal.emit()
joint_values = kontrol_subscriber.get_joint_values()
if check_collisions:
in_collision = collision_checker.is_in_collision(joint_values)
else:
in_collision = False
collision_toggled = (currently_in_collision != in_collision)
currently_in_collision = in_collision
if collision_toggled:
self._update_color_of_line_edit_signal.emit()
self._update_current_value_signal.emit()
def _show_input_notification(self):
# open dialog which closes after some s_hide_scene_notification_hide_scene_notificationeconds or when confirmed manually
self._input_notification.show()
self._input_notification_timer.start()
def _show_scene_notification(self):
# open dialog which closes after some seconds or when confirmed manually
self._scene_notification.show()
self._scene_notification_timer.start()
def _update_color_of_line_edit(self):
global currently_in_collision
palette = main_window.lineEdit.palette()
if currently_in_collision:
palette.setColor(QPalette.Text, QColor(255, 0, 0))
else:
palette.setColor(QPalette.Text, default_color)
main_window.lineEdit.setPalette(palette)
def _update_current_value(self):
global currently_in_collision
main_window.append_pushButton.setEnabled(not currently_in_collision)
main_window.insert_before_pushButton.setEnabled(not currently_in_collision)
value = self._action_set.to_string()
self.current_values_changed.emit(value)
for action in self._action_set._actions:
action._duration = 0.1 if use_sim_time else 0.5
self._action_set.execute()
class MonitorDashWidget(IconToolButton):
"""
A widget which brings up the rqt_robot_monitor.
:param context: The plugin context to create the monitor in.
:type context: qt_gui.plugin_context.PluginContext
"""
def __init__(self, context, icon_paths=[]):
self._graveyard = []
ok_icon = ['bg-green.svg', 'ic-diagnostics.svg']
warn_icon = ['bg-yellow.svg', 'ic-diagnostics.svg', 'ol-warn-badge.svg']
err_icon = ['bg-red.svg', 'ic-diagnostics.svg', 'ol-err-badge.svg']
stale_icon = ['bg-grey.svg', 'ic-diagnostics.svg', 'ol-stale-badge.svg']
icons = [ok_icon, warn_icon, err_icon, stale_icon]
super(MonitorDashWidget, self).__init__('MonitorWidget', icons, icon_paths=icon_paths)
self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
self._monitor = None
self._close_mutex = QMutex()
self._show_mutex = QMutex()
self._last_update = rospy.Time.now()
self.context = context
self.clicked.connect(self._show_monitor)
self._monitor_shown = False
self.setToolTip('Diagnostics')
self._diagnostics_toplevel_state_sub = rospy.Subscriber('diagnostics_toplevel_state', DiagnosticStatus, self.toplevel_state_callback)
self._top_level_state = -1
self._stall_timer = QTimer()
self._stall_timer.timeout.connect(self._stalled)
self._stalled()
self._plugin_settings = None
self._instance_settings = None
def toplevel_state_callback(self, msg):
self._is_stale = False
self._stall_timer.start(5000)
if self._top_level_state != msg.level:
if (msg.level >= 2):
self.update_state(2)
self.setToolTip("Diagnostics: Error")
elif (msg.level == 1):
self.update_state(1)
self.setToolTip("Diagnostics: Warning")
else:
self.update_state(0)
self.setToolTip("Diagnostics: OK")
self._top_level_state = msg.level
def _stalled(self):
self._stall_timer.stop()
self._is_stale = True
self.update_state(3)
self.setToolTip("Diagnostics: Stale\nNo message received on dashboard_agg in the last 5 seconds")
def _show_monitor(self):
with QMutexLocker(self._show_mutex):
try:
if self._monitor_shown:
self.context.remove_widget(self._monitor)
self._monitor_close()
self._monitor_shown = False
else:
self._monitor = RobotMonitorWidget(self.context, 'diagnostics_agg')
if self._plugin_settings:
self._monitor.restore_settings(self._plugin_settings, self._instance_settings)
self.context.add_widget(self._monitor)
self._monitor_shown = True
except Exception:
if self._monitor_shown == False:
raise
# TODO when closeEvents is available fix this hack (It ensures the button will toggle correctly)
self._monitor_shown = False
self._show_monitor()
def _monitor_close(self):
if self._monitor_shown:
with QMutexLocker(self._close_mutex):
if self._plugin_settings:
self._monitor.save_settings(self._plugin_settings, self._instance_settings)
self._monitor.shutdown()
self._monitor.close()
self._graveyard.append(self._monitor)
self._monitor = None
def shutdown_widget(self):
if self._monitor:
self._monitor.shutdown()
self._diagnostics_toplevel_state_sub.unregister()
def save_settings(self, plugin_settings, instance_settings):
if self._monitor_shown:
self._monitor.save_settings(self._plugin_settings, self._instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self._plugin_settings = plugin_settings
self._instance_settings = instance_settings
class VideoPlayer(QWidget):
"""Enables playback functions and broadcasting of video stream to UI elements
Subscribers are named individually because they require different images or data
"""
video = None
videoFrame = None
focalFrame = None
corticalFrame = None
focusFrame = None
framePos = 0
maxFrames = 0
retina = None
cortex = None
fixation = None
filetypes = {'mp4': 'mp4v', 'jpg': 'jpeg', 'avi': 'xvid'}
def __init__(self, file, isRetinaEnabled, parent, webcammode=False):
super(QWidget, self).__init__()
self.parent = parent
self.isVideo = False
self.webcam = webcammode
if file:
self.file = file
self.isVideo = isinstance(file, Video)
self.timer = QTimer()
self.timer.timeout.connect(self.nextFrame)
self.frames = parent.currentFrames
# set up video capture dependent on source
if self.isVideo:
self.cap = cv2.VideoCapture(self.file.filepath)
codec = cv2.VideoWriter_fourcc(*self.filetypes[self.file.type])
self.cap.set(cv2.CAP_PROP_FOURCC, codec)
self.maxFrames = self.cap.get(cv2.CAP_PROP_FRAME_COUNT)
# if webcam mode, start immediately
elif self.webcam:
self.cap = cv2.VideoCapture(0)
self.isBGR = True
self.timer.start(1000.0 / 30)
# if still images, no need for video capture
else:
self.maxFrames = len(self.frames) - 1
self.parent.scrubSlider.setRange(0, self.maxFrames)
self.parent.scrubSlider_2.setRange(0, self.maxFrames)
self.framePos = 0
self.videoFrame = parent.label
self.focalFrame = parent.focallabel
self.corticalFrame = parent.corticallabel
self.focusFrame = parent.biglabel
if isRetinaEnabled:
self.retina, self.fixation = ip.prepareLiveRetina(self.cap)
self.cortex = ip.createCortex()
def nextFrame(self):
"""Retrieves next frame for display whether video or image"""
if self.isVideo or self.webcam:
ret, frame = self.cap.read()
if ret:
self.framePos = self.cap.get(cv2.CAP_PROP_POS_FRAMES)
self.updateDisplay(frame)
else:
self.framePos += 1 if self.framePos < self.maxFrames else 0
self.setCurrent()
def start(self):
self.timer.start(1000.0 / 30)
self.parent.startButton.setDisabled(True)
self.parent.startButton_2.setDisabled(True)
self.parent.pauseButton.setDisabled(False)
self.parent.pauseButton_2.setDisabled(False)
def pause(self):
self.timer.stop()
self.parent.pauseButton.setDisabled(True)
self.parent.pauseButton_2.setDisabled(True)
self.parent.startButton.setDisabled(False)
self.parent.startButton_2.setDisabled(False)
def setCurrent(self):
"""Sets the current frame based on user input from playback buttons"""
if self.framePos <= self.maxFrames:
if self.isVideo:
self.cap.set(cv2.CAP_PROP_POS_FRAMES, self.framePos)
else:
self.currentframe = self.frames[self.framePos]
self.updateDisplay(self.currentframe.image)
def skip(self, framePos):
self.framePos = framePos
self.setCurrent()
def skipBck(self):
self.framePos = self.framePos - 1 if self.framePos > 0 else 0
self.setCurrent()
def skipFwd(self):
self.framePos = self.framePos + 1 if self.framePos < self.maxFrames else 0
self.setCurrent()
def updateDisplay(self, frame):
"""Update all subscribed UI elements with images or data"""
self.parent.scrubSlider.setValue(self.framePos)
self.parent.scrubSlider_2.setValue(self.framePos)
self.parent.frameNum.display(self.framePos)
self.parent.frameNum_2.display(self.framePos)
# update the metadata table if we're on the main tab
if self.parent.maintabWidget.currentIndex() == 1:
self.parent.displayMetaData(self.framePos)
if not (self.isVideo or self.webcam):
self.isBGR = self.currentframe.vectortype == 'BGR'
self.videoFrame.setPixmap(
ip.convertToPixmap(frame, 480, 360, self.isBGR))
# if retina is activated display live backprojection and cortical image
if self.retina:
v = self.retina.sample(frame, self.fixation)
tight = self.retina.backproject_last()
cortical = self.cortex.cort_img(v)
self.focalFrame.setPixmap(
ip.convertToPixmap(tight, 480, 360, self.isBGR))
self.corticalFrame.setPixmap(
ip.convertToPixmap(cortical, 480, 360, self.isBGR))
self.focusFrame.setPixmap(
ip.convertToPixmap(cortical, 1280, 720, self.isBGR))
else:
self.focusFrame.setPixmap(
ip.convertToPixmap(frame, 1280, 720, self.isBGR))
class MatPlotWidget(QWidget):
"""The actual Widget """
def __init__(self):
super(MatPlotWidget, self).__init__()
self.setObjectName("MatPlotWidget")
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), "MatPlot.ui")
loadUi(ui_file, self, {"MatDataPlot": MatDataPlot})
self.subscribe_topic_button.setEnabled(False)
self._topic_completer = TopicCompleter(self.topic_edit)
self.topic_edit.setCompleter(self._topic_completer)
self._start_time = rospy.get_time()
self._rosdata = {}
# setup drag 'n drop
self.data_plot.dropEvent = self.dropEvent
self.data_plot.dragEnterEvent = self.dragEnterEvent
# init and start update timer for plot
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.update_plot)
self._update_plot_timer.start(40)
# connect combobox
self.comboBox.currentIndexChanged.connect(self.on_combo_box_changed)
# params (colors)
self.texts = {}
self.data_plot._colors = {}
self.sub_topics = {}
n = 0
for tag in rospy.get_param("/tags"):
self.texts[tag] = rospy.get_param("/" + tag + "_text")
color = [float(i) for i in list(rospy.get_param("/" + tag + "_color").split(","))]
self.data_plot._colors[self.texts[tag]] = color
if n != 0: # dont have a topic for the reference
self.sub_topics[tag] = "/error_mags/" + rospy.get_param("/tags")[0] + "_ref/" + tag + "_tgt/mag_horiz"
else:
n += 1
# start with subscription to filtered
self.add_topic("/error_mags/rtk_ref/flt_tgt/mag_horiz")
def update_plot(self):
for topic_name, rosdata in self._rosdata.items():
data_x, data_y = rosdata.next()
self.data_plot.update_value(topic_name, data_x, data_y)
self.data_plot.draw_plot()
@Slot("QDragEnterEvent*")
def dragEnterEvent(self, event):
if not event.mimeData().hasText():
if not hasattr(event.source(), "selectedItems") or len(event.source().selectedItems()) == 0:
qWarning(
"MatPlot.dragEnterEvent(): not hasattr(event.source(), selectedItems) or len(event.source().selectedItems()) == 0"
)
return
item = event.source().selectedItems()[0]
ros_topic_name = item.data(0, Qt.UserRole)
if ros_topic_name == None:
qWarning("MatPlot.dragEnterEvent(): not hasattr(item, ros_topic_name_)")
return
# get topic name
if event.mimeData().hasText():
topic_name = str(event.mimeData().text())
else:
droped_item = event.source().selectedItems()[0]
topic_name = str(droped_item.data(0, Qt.UserRole))
# check for numeric field type
is_numeric, message = is_slot_numeric(topic_name)
if is_numeric:
event.acceptProposedAction()
else:
qWarning('MatPlot.dragEnterEvent(): rejecting: "%s"' % (message))
@Slot("QDropEvent*")
def dropEvent(self, event):
if event.mimeData().hasText():
topic_name = str(event.mimeData().text())
else:
droped_item = event.source().selectedItems()[0]
topic_name = str(droped_item.data(0, Qt.UserRole))
self.add_topic(topic_name)
@Slot(str)
def on_topic_edit_textChanged(self, topic_name):
# on empty topic name, update topics
if topic_name in ("", "/"):
self._topic_completer.update_topics()
is_numeric, message = is_slot_numeric(topic_name)
self.subscribe_topic_button.setEnabled(is_numeric)
self.subscribe_topic_button.setToolTip(message)
@Slot()
def on_subscribe_topic_button_clicked(self):
self.add_topic(str(self.topic_edit.text()))
def add_topic(self, topic_name):
if topic_name in self._rosdata:
qWarning("MatPlot.add_topic(): topic already subscribed: %s" % topic_name)
return
self._rosdata[topic_name] = ROSData(topic_name, self._start_time)
data_x, data_y = self._rosdata[topic_name].next()
color = self.data_plot._colors[self.comboBox.currentText()]
self.data_plot.add_curve(topic_name, data_x, data_y, color)
@Slot()
def on_clear_button_clicked(self):
self.clean_up_subscribers()
@Slot(bool)
def on_pause_button_clicked(self, checked):
if checked:
self._update_plot_timer.stop()
else:
self._update_plot_timer.start(40)
def clean_up_subscribers(self):
for topic_name, rosdata in self._rosdata.items():
rosdata.close()
self.data_plot.remove_curve(topic_name)
self._rosdata = {}
@Slot(str)
def on_combo_box_changed(self, text):
# print('In on_combo_box_changed')
self.on_clear_button_clicked()
self.data_plot.tgt_name = self.comboBox.currentText()
tag = [tg for tg, txt in self.texts.iteritems() if txt == self.comboBox.currentText()][0]
self.add_topic(self.sub_topics[tag])
window_title = " ".join(
[
"Ground Plane Error Magnitude of Sensor:",
self.comboBox.currentText(),
"for Reference:",
self.data_plot.ref_name,
]
)
self.setWindowTitle(QApplication.translate("MatPlotWidget", window_title, None, QApplication.UnicodeUTF8))
