def createTreeView(self):
dockWidget = QDockWidget()
dockWidget.setAllowedAreas(Qt.LeftDockWidgetArea)
dockWidget.setFeatures(QDockWidget.NoDockWidgetFeatures)
dockWidget.setTitleBarWidget(QWidget())
self.treeView = QTreeView()
self.treeView.clicked.connect(self.treeItemClicked)
self.treeModel = TreeModel()
self.treeView.setModel(self.treeModel)
self.logo = QLabel()
logoPixmap = QPixmap(CMAKE_INSTALL_PREFIX + '/share/jderobot/resources/jderobot.png')
self.logo.setPixmap(logoPixmap)
self.upButton = QPushButton()
self.upButton.setText('Up')
self.upButton.clicked.connect(self.upButtonClicked)
leftContainer = QWidget()
leftLayout = QVBoxLayout()
leftLayout.addWidget(self.treeView)
leftLayout.addWidget(self.upButton)
leftLayout.addWidget(self.logo)
leftContainer.setLayout(leftLayout)
dockWidget.setWidget(leftContainer)
self.addDockWidget(Qt.LeftDockWidgetArea, dockWidget)
def __init__(self, parent=None):
super().__init__(parent)
# initialize class attributes
self._INPUTS_FIXED_WIDTH = 180
self._BUTTON_MIN_WIDTH = 80
self._OXYGEN_PATH_32 = os.path.join("resources", "icons", "oxygen", "32")
# locale and language settings
self.language = self.locale().name()[:2]
self.qtTl = QTranslator()
self.appTl = QTranslator()
self.switchTranslator(self.qtTl, "qtbase", self.language)
self.switchTranslator(self.appTl, "wuchshuellenrechner", self.language)
# TODO(th)
self.model = TreeModel()
# setup gui
self.setMinimumSize(1200, 760)
self.createActions()
self.createMainMenu()
# plot widget
self.plotWidget = VariantPlotView()
self.plotWidget.setModel(self.model)
# create vertical splitter
splitter = QSplitter(Qt.Vertical)
splitter.setContentsMargins(11, 11, 11, 11)
splitter.addWidget(self.createEditBox())
splitter.addWidget(self.plotWidget)
self.setCentralWidget(splitter)
self.dataWidget.setModel(self.model)
selectionModel = QItemSelectionModel(self.model)
self.dataWidget.setSelectionModel(selectionModel)
self.plotWidget.setSelectionModel(selectionModel)
self.retranslateUi()
self.model.dataChanged.connect(self.updateInputs)
self.model.itemsInserted.connect(self.taxInput.setDisabled)
self.model.allItemsRemoved.connect(self.taxInput.setEnabled)
self.operationInput.textChanged.connect(self.updateOperation)
self.districtInput.textChanged.connect(self.updateDistrict)
self.managerInput.textChanged.connect(self.updateManager)
self.locationInput.textChanged.connect(self.updateLocation)
self.taxInput.stateChanged.connect(self.updateTax)
class RunTimeGui(QMainWindow):
activeStateChanged = pyqtSignal(int)
runningStateChanged = pyqtSignal(int)
loadFromRoot = pyqtSignal(int)
def __init__(self, parent=None):
super(QMainWindow, self).__init__()
self.setWindowTitle("VisualStates RunTime GUI")
self.rootState = None
# create status bar
self.statusBar()
self.createTreeView()
self.createStateCanvas()
self.setGeometry(0, 0, 800, 600)
self.show()
self.states = {}
self.transitions = {}
self.activeState = None
self.activeStateChanged.connect(self.activeStateChangedHandle)
self.runningStateChanged.connect(self.runningStateChangedHandle)
self.loadFromRoot.connect(self.loadFromRootHandle)
self.memory = None
self.ipcThread = None
def createTreeView(self):
dockWidget = QDockWidget()
dockWidget.setAllowedAreas(Qt.LeftDockWidgetArea)
dockWidget.setFeatures(QDockWidget.NoDockWidgetFeatures)
dockWidget.setTitleBarWidget(QWidget())
self.treeView = QTreeView()
self.treeView.clicked.connect(self.treeItemClicked)
self.treeModel = TreeModel()
self.treeView.setModel(self.treeModel)
self.logo = QLabel()
logoPixmap = QPixmap(CMAKE_INSTALL_PREFIX + '/share/jderobot/resources/jderobot.png')
self.logo.setPixmap(logoPixmap)
self.upButton = QPushButton()
self.upButton.setText('Up')
self.upButton.clicked.connect(self.upButtonClicked)
leftContainer = QWidget()
leftLayout = QVBoxLayout()
leftLayout.addWidget(self.treeView)
leftLayout.addWidget(self.upButton)
leftLayout.addWidget(self.logo)
leftContainer.setLayout(leftLayout)
dockWidget.setWidget(leftContainer)
self.addDockWidget(Qt.LeftDockWidgetArea, dockWidget)
def createStateCanvas(self):
self.stateCanvas = QGraphicsView()
self.scene = QGraphicsScene()
self.scene.setSceneRect(0, 0, 2000, 2000)
self.setCentralWidget(self.stateCanvas)
self.stateCanvas.setScene(self.scene)
self.stateCanvas.setRenderHint(QPainter.Antialiasing)
def addState(self, id, name, initial, x, y, parentId):
if parentId is not None:
self.states[id] = State(id, name, initial, self.states[parentId])
self.states[parentId].addChild(self.states[id])
parentItem = self.treeModel.getByDataId(parentId)
# print('parent:' + str(parentItem))
else:
self.states[id] = State(id, name, initial, None)
if id == 0:
self.rootState = self.states[id]
self.states[id].setPos(x, y)
def addTransition(self, id, name, originId, destinationId, x, y):
self.transitions[id] = Transition(id, name, self.states[originId], self.states[destinationId])
self.transitions[id].setPos(x, y)
def emitRunningStateById(self, id):
# print('emit running state:' + str(id))
self.runningStateChanged.emit(id)
def runningStateChangedHandle(self, id):
# print('running state:' + str(id))
if id not in self.states:
return
runningState = self.states[id]
parentId = None
if runningState.parent is not None:
for child in runningState.parent.getChildren():
child.setRunning(False)
runningState.setRunning(True)
parentId = runningState.parent.id
self.treeModel.setAllBackgroundByParentId(Qt.white, parentId)
self.treeModel.setBackgroundById(runningState.id, Qt.green)
def emitActiveStateById(self, id):
self.activeStateChanged.emit(id)
def activeStateChangedHandle(self, id):
if self.activeState is not None:
for child in self.activeState.getChildren():
child.resetGraphicsItem()
for tran in child.getOriginTransitions():
tran.resetGraphicsItem()
self.activeState = self.states[id]
# print('set active state:' + str(id))
self.scene.clear()
for childState in self.activeState.getChildren():
# print('add child to scene:' + str(childState.id))
qitem = childState.getGraphicsItem()
qitem.setAcceptHoverEvents(False)
qitem.setFlag(QGraphicsItem.ItemIsMovable, False)
qitem.doubleClicked.connect(self.stateDoubleClicked)
self.setAcceptDrops(False)
self.scene.addItem(qitem)
for tran in childState.getOriginTransitions():
# print('add transition:' + str(tran.id))
qitem = tran.getGraphicsItem()
qitem.disableInteraction()
self.scene.addItem(qitem)
def emitLoadFromRoot(self):
self.loadFromRoot.emit(0)
def loadFromRootHandle(self, id):
self.treeModel.loadFromRoot(self.states[id])
def stateDoubleClicked(self, stateItem):
if len(stateItem.stateData.getChildren()) > 0:
self.emitActiveStateById(stateItem.stateData.id)
def upButtonClicked(self):
if self.activeState is not None:
if self.activeState.parent is not None:
self.emitActiveStateById(self.activeState.parent.id)
def getStateById(self,state, id):
if state.id == id:
return state
else:
result = None
for child in state.getChildren():
result = self.getStateById(child, id)
if result is not None:
return result
return result
def treeItemClicked(self, index):
# print('clicked item.id:' + str(index.internalPointer().id))
pass
def getStateList(self, state, stateList):
if len(state.getChildren()) > 0:
stateList.append(state)
for s in state.getChildren():
self.getStateList(s, stateList)
def loopIPC(self):
while True:
msg = self.getIPCMessage()
if msg is not None:
# print('msg received:' + msg)
methodName = msg.split(' ')[0]
id = int(msg.split(' ')[1])
if methodName == 'emitRunningStateById':
self.emitRunningStateById(id)
else:
print('unknown method name')
time.sleep(1.0/1000)
def activateIPC(self):
try:
self.memory = sysv_ipc.SharedMemory(123456, sysv_ipc.IPC_CREX)
except:
# if memory exists just open shared memory
self.memory = sysv_ipc.SharedMemory(123456)
self.ipcThread = Thread(target=self.loopIPC)
self.ipcThread.start()
def getIPCMessage(self):
if self.memory is not None:
data = self.memory.read().decode()
if data[0] != '0':
self.memory.write('0'.encode())
i = data.find('\0')
if i != -1:
data = data[:i]
return data
return None
class MainWindow(QMainWindow):
def __init__(self, parent=None):
super().__init__(parent)
# initialize class attributes
self._INPUTS_FIXED_WIDTH = 180
self._BUTTON_MIN_WIDTH = 80
self._OXYGEN_PATH_32 = os.path.join("resources", "icons", "oxygen", "32")
# locale and language settings
self.language = self.locale().name()[:2]
self.qtTl = QTranslator()
self.appTl = QTranslator()
self.switchTranslator(self.qtTl, "qtbase", self.language)
self.switchTranslator(self.appTl, "wuchshuellenrechner", self.language)
# TODO(th)
self.model = TreeModel()
# setup gui
self.setMinimumSize(1200, 760)
self.createActions()
self.createMainMenu()
# plot widget
self.plotWidget = VariantPlotView()
self.plotWidget.setModel(self.model)
# create vertical splitter
splitter = QSplitter(Qt.Vertical)
splitter.setContentsMargins(11, 11, 11, 11)
splitter.addWidget(self.createEditBox())
splitter.addWidget(self.plotWidget)
self.setCentralWidget(splitter)
self.dataWidget.setModel(self.model)
selectionModel = QItemSelectionModel(self.model)
self.dataWidget.setSelectionModel(selectionModel)
self.plotWidget.setSelectionModel(selectionModel)
self.retranslateUi()
self.model.dataChanged.connect(self.updateInputs)
self.model.itemsInserted.connect(self.taxInput.setDisabled)
self.model.allItemsRemoved.connect(self.taxInput.setEnabled)
self.operationInput.textChanged.connect(self.updateOperation)
self.districtInput.textChanged.connect(self.updateDistrict)
self.managerInput.textChanged.connect(self.updateManager)
self.locationInput.textChanged.connect(self.updateLocation)
self.taxInput.stateChanged.connect(self.updateTax)
def updateOperation(self, value):
self.model.setProjectData("operation", value)
def updateDistrict(self, value):
self.model.setProjectData("district", value)
def updateManager(self, value):
self.model.setProjectData("manager", value)
def updateLocation(self, value):
self.model.setProjectData("location", value)
def updateTax(self):
self.model.setProjectData("tax", self.taxInput.isChecked())
self.dataWidget.tax = self.taxInput.isChecked()
def updateInputs(self):
self.operationInput.setText(self.model.projectData("operation"))
self.districtInput.setText(self.model.projectData("district"))
self.managerInput.setText(self.model.projectData("manager"))
self.locationInput.setText(self.model.projectData("location"))
self.taxInput.setChecked(self.model.projectData("tax"))
def loadLanguage(self, language):
if not self.language == language:
self.language = language
locale = QLocale(language)
QLocale.setDefault(locale)
self.switchTranslator(self.qtTl, "qtbase", language)
self.switchTranslator(self.appTl, "wuchshuellenrechner", language)
# update gui
self.retranslateUi()
self.dataWidget.retranslateUi()
def switchTranslator(self, translator, filename, language):
app = QApplication.instance()
# remove the old translator and
# try to load a new language file
app.removeTranslator(translator)
if translator.load(QLocale(), filename, "_", "language"):
app.installTranslator(translator)
def setTaxEnabled(self, enable):
# enable buttons and the view element
self.removeButton.setEnabled(enable)
self.modifyButton.setEnabled(enable)
self.view.setEnabled(enable)
def setDisabled(self, disable):
# internaly call the setEnabled function
# therefore negate the boolean value
self.setEnabled(not disable)
def aboutAction(self):
aboutDialog = AboutDialog()
aboutDialog.exec()
def clear(self):
# first clear the model
self.model.clear()
# update fields with model's default values
self.operationInput.setText(self.model.projectData("operation"))
self.districtInput.setText(self.model.projectData("district"))
self.managerInput.setText(self.model.projectData("manager"))
self.locationInput.setText(self.model.projectData("location"))
self.taxInput.setEnabled(True)
self.taxInput.setChecked(self.model.projectData("tax"))
# reset the tree view
self.dataWidget.clear()
# reset the chart and result view
# actually this is necassary
self.plotWidget.clear()
def closeAction(self):
if self.model.changed:
question = QMessageBox()
question.setIcon(QMessageBox.Question)
question.setWindowTitle("Berechnung speichern? - Wuchshüllenrechner")
question.setText("Möchten Sie die Änderungen an dieser Berechnung speichern?")
question.setInformativeText("Die Änderungen gehen verloren, wenn Sie nicht speichern.")
question.setStandardButtons(QMessageBox.Save|QMessageBox.Discard|QMessageBox.Cancel)
question.setDefaultButton(QMessageBox.Save)
reply = question.exec()
if not reply == QMessageBox.Cancel:
if reply == QMessageBox.Save:
if self.saveAction():
self.close()
else:
self.close()
else:
self.close()
def newAction(self):
if self.model.changed:
question = QMessageBox()
question.setIcon(QMessageBox.Question)
question.setWindowTitle("Berechnung speichern? - Wuchshüllenrechner")
question.setText("Möchten Sie die Änderungen an dieser Berechnung speichern?")
question.setInformativeText("Die Änderungen gehen verloren, wenn Sie nicht speichern.")
question.setStandardButtons(QMessageBox.Save|QMessageBox.Discard|QMessageBox.Cancel)
question.setDefaultButton(QMessageBox.Save)
reply = question.exec()
if not reply == QMessageBox.Cancel:
if reply == QMessageBox.Save:
if self.saveAction():
# clear all
self.clear()
else:
# clear all
self.clear()
def checkSaveState(self):
if self.model.changed:
question = QMessageBox(self)
question.setWindowModality(Qt.WindowModal) # check for mac only
question.setIcon(QMessageBox.Warning)
question.setStandardButtons(QMessageBox.Save|QMessageBox.Discard|QMessageBox.Cancel)
question.setDefaultButton(QMessageBox.Save)
question.setWindowTitle(QApplication.translate("MainWindow", "Wuchshüllenrechner"))
question.setText("<b>" + QApplication.translate("MainWindow",
"Do you want to save the changes you made<br>"
"to the current calculation?") + "</b>")
question.setInformativeText(QApplication.translate("MainWindow",
"Your changes will be lost if you don't save them."))
reply = question.exec()
if reply == QMessageBox.Save:
if self.saveAction():
#self.model.clear()
self.clear()
return True
else:
return False
elif reply == QMessageBox.Discard:
#self.model.clear()
self.clear()
return True
else:
return False
# always clear
self.clear()
return True
def loadExample(self, example=""):
# create the path
exampleFile = os.path.join("examples", example.strip() + ".xml")
# if all is save, open the example file
if self.checkSaveState():
self.model.readFile(exampleFile)
def mapleAction(self):
self.loadExample("great_maple")
def douglasAction(self):
self.loadExample("douglas_fir")
def openAction(self):
# first check save state of the current calculation
if self.checkSaveState():
dialog = QFileDialog(self)
dialog.setWindowModality(Qt.WindowModal) # check for mac only
dialog.setWindowTitle(QApplication.translate("MainWindow", "Open Calculation"))
dialog.setDirectory(os.path.expanduser("~"))
dialog.setNameFilter(QApplication.translate("MainWindow",
"XML files (*.xml);;All Files (*)"))
dialog.exec()
filename = dialog.selectedFiles()
if filename:
self.model.readFile(filename.pop())
def saveAction(self):
if self.model.file:
return self.model.saveFile()
else:
return self.saveAsAction()
def saveAsAction(self):
dialog = QFileDialog(self)
dialog.setWindowModality(Qt.WindowModal) # check for mac only
dialog.setAcceptMode(QFileDialog.AcceptSave)
dialog.setWindowTitle(QApplication.translate("MainWindow", "Save Calculation"))
dialog.setDirectory(os.path.expanduser("~"))
dialog.setNameFilter(QApplication.translate("MainWindow",
"XML files (*.xml);;All Files (*)"))
dialog.exec()
filename = dialog.selectedFiles()
if filename:
self.model.saveFile(filename.pop())
return True
else:
return False
def exportAction(self):
dialog = QFileDialog(self)
dialog.setWindowModality(Qt.WindowModal) # check for mac only
dialog.setAcceptMode(QFileDialog.AcceptSave)
dialog.setWindowTitle(QApplication.translate("MainWindow", "Export Calculation"))
dialog.setDirectory(os.path.expanduser("~"))
dialog.setNameFilter(QApplication.translate("MainWindow",
"PNG files (*.png);;JPG files (*.jpg);;TIFF files (*.tif)"))
if dialog.exec():
filename = dialog.selectedFiles()
self.plotWidget.plotWidget.plotWidget.export(filename.pop())
def helpAction(self):
# create the documentation path with
# the current locale settings
docFile = os.path.join("doc", "documentation_" + self.language + ".pdf")
# on every platfrom a different
# start operation is needed
if sys.platform == "win32":
os.startfile(docFile)
elif sys.platform == "darwin":
subprocess.call(("open", docFile))
elif sys.platform.startswith("linux"):
subprocess.call(("xdg-open", docFile))
def scientificAction(self):
scientificDialog = ScientificBasisDialog()
scientificDialog.exec()
def germanAction(self):
# update language menu
self.languageEnglish.setChecked(False)
self.languageGerman.setChecked(True)
# update gui
self.loadLanguage("de")
def englishAction(self):
# update language menu
self.languageGerman.setChecked(False)
self.languageEnglish.setChecked(True)
# update gui
self.loadLanguage("en")
def createActions(self):
# all actions for the calculation menu
# create the new calculation action
self.calculationNew = QAction(self, icon=QIcon(os.path.join(self._OXYGEN_PATH_32, "document-new.png")),
shortcut=QKeySequence.New, triggered=self.newAction)
# create the open calculation action
self.calculationOpen = QAction(self, icon=QIcon(os.path.join(self._OXYGEN_PATH_32, "document-open.png")),
shortcut=QKeySequence.Open, triggered=self.openAction)
# create the open calculation example actions
# for great maple and douglas fir
self.examplesMaple = QAction(self, triggered=self.mapleAction)
self.examplesDouglas = QAction(self, triggered=self.douglasAction)
# create the save calculation action
self.calculationSave = QAction(self, icon=QIcon(os.path.join(self._OXYGEN_PATH_32, "document-save.png")),
shortcut=QKeySequence.Save, triggered=self.saveAction)
# create the save as action
self.calculationSaveAs = QAction(self, icon=QIcon(os.path.join(self._OXYGEN_PATH_32, "document-save-as.png")),
shortcut=QKeySequence.SaveAs, triggered=self.saveAsAction)
# create the print calculation action
#self.calculationPrint = QAction(self, icon=QIcon(os.path.join(self._OXYGEN_PATH_32, "document-print.png")),
# shortcut=QKeySequence.Print, triggered=self.printAction)
# create the export calculation action
self.calculationExport = QAction(self, icon=QIcon(os.path.join(self._OXYGEN_PATH_32, "document-export.png")),
shortcut=QKeySequence(Qt.CTRL + Qt.Key_E), triggered=self.exportAction)
# create the quit calculation action
self.calculationQuit = QAction(self, icon=QIcon(os.path.join(self._OXYGEN_PATH_32, "application-exit.png")),
shortcut=QKeySequence.Quit, triggered=self.closeAction)
# all actions for the language menu
# create the german and the english language actions
self.languageGerman = QAction(self, checkable=True, triggered=self.germanAction)
self.languageEnglish = QAction(self, checkable=True, triggered=self.englishAction)
# update the language menu
if self.language == "de":
self.languageGerman.setChecked(True)
elif self.language == "en":
self.languageEnglish.setChecked(True)
# create the help contents action
self.helpContents = QAction(self, icon=QIcon(os.path.join(self._OXYGEN_PATH_32, "help-contents.png")),
triggered=self.helpAction)
# create the scientific basis action
self.scientificBasis = QAction(self, icon=QIcon(os.path.join(self._OXYGEN_PATH_32, "applications-science.png")),
triggered=self.scientificAction)
# create the help about action
self.helpAbout = QAction(self, icon=QIcon(os.path.join(self._OXYGEN_PATH_32, "dialog-information.png")),
triggered=self.aboutAction)
def createMainMenu(self):
# create main menu bar
self.menu = self.menuBar()
# create file menu
self.calculationMenu = QMenu(self)
self.calculationMenu.addAction(self.calculationNew)
self.calculationMenu.addAction(self.calculationOpen)
self.examplesMenu = QMenu(self, icon=QIcon(os.path.join(self._OXYGEN_PATH_32, "folder-documents.png")))
self.examplesMenu.addAction(self.examplesMaple)
self.examplesMenu.addAction(self.examplesDouglas)
self.calculationMenu.addMenu(self.examplesMenu)
self.calculationMenu.addSeparator()
self.calculationMenu.addAction(self.calculationSave)
self.calculationMenu.addAction(self.calculationSaveAs)
self.calculationMenu.addAction(self.calculationExport)
self.calculationMenu.addSeparator()
#self.calculationMenu.addAction(self.calculationPrint)
#self.calculationMenu.addSeparator()
self.calculationMenu.addAction(self.calculationQuit)
self.menu.addMenu(self.calculationMenu)
# create language menu
self.languageMenu = QMenu(self)
self.languageMenu.addAction(self.languageGerman)
self.languageMenu.addAction(self.languageEnglish)
self.menu.addMenu(self.languageMenu)
# create help menu
self.helpMenu = QMenu(self)
self.helpMenu.addAction(self.helpContents)
self.helpMenu.addAction(self.scientificBasis)
self.helpMenu.addSeparator()
self.helpMenu.addAction(self.helpAbout)
self.menu.addMenu(self.helpMenu)
def createEditBox(self):
# create group box
self.editBox = QGroupBox()
self.editBox.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Maximum)
gridLayout = QGridLayout(self.editBox)
# create input fields
self.operationInput = QLineEdit(self.model.projectData("operation"))
self.operationInput.setFixedWidth(self._INPUTS_FIXED_WIDTH)
self.operationInput.setClearButtonEnabled(True)
self.operationLabel = QLabel()
self.operationLabel.setBuddy(self.operationInput)
gridLayout.addWidget(self.operationLabel, 0, 0)
gridLayout.addWidget(self.operationInput, 0, 1)
self.districtInput = QLineEdit(self.model.projectData("district"))
self.districtInput.setFixedWidth(self._INPUTS_FIXED_WIDTH)
self.districtInput.setClearButtonEnabled(True)
self.districtLabel = QLabel()
self.districtLabel.setBuddy(self.districtInput)
gridLayout.addWidget(self.districtLabel, 0, 2)
gridLayout.addWidget(self.districtInput, 0, 3)
self.managerInput = QLineEdit(self.model.projectData("manager"))
self.managerInput.setFixedWidth(self._INPUTS_FIXED_WIDTH)
self.managerInput.setClearButtonEnabled(True)
self.managerLabel = QLabel()
self.managerLabel.setBuddy(self.managerInput)
gridLayout.addWidget(self.managerLabel, 1, 0)
gridLayout.addWidget(self.managerInput, 1, 1)
self.locationInput = QLineEdit(self.model.projectData("location"))
self.locationInput.setFixedWidth(self._INPUTS_FIXED_WIDTH)
self.locationInput.setClearButtonEnabled(True)
self.locationLabel = QLabel()
self.locationLabel.setBuddy(self.locationInput)
gridLayout.addWidget(self.locationLabel, 1, 2)
gridLayout.addWidget(self.locationInput, 1, 3)
lineFrame = QFrame(frameShadow=QFrame.Sunken, frameShape=QFrame.VLine)
gridLayout.addWidget(lineFrame, 0, 4, 2, 1)
self.taxInput = QCheckBox()
self.taxInput.setChecked(self.model.projectData("tax"))
self.taxLabel = QLabel()
self.taxLabel.setBuddy(self.taxInput)
self.taxHint = ToolTipLabel()
gridLayout.addWidget(self.taxLabel, 0, 5)
gridLayout.addWidget(self.taxInput, 0, 6)
gridLayout.addWidget(self.taxHint, 0, 7, Qt.AlignRight)
gridLayout.setColumnMinimumWidth(7, 40)
rightSpacer = QSpacerItem(20, 0, QSizePolicy.Expanding, QSizePolicy.Fixed)
gridLayout.addItem(rightSpacer, 0, 8, 2, 1)
self.dataWidget = EnhancedTreeWidget()
gridLayout.addWidget(self.dataWidget, 2, 0, 1, 9)
return self.editBox
def retranslateUi(self):
# main window title
self.setWindowTitle(QApplication.translate("MainWindow", "Wuchshüllenrechner")) # Wuchshüllenrechner
# all menu actions
# first the calculation menu
self.calculationMenu.setTitle(QApplication.translate("MainWindow", "&Calculation")) # Kalkulation
self.calculationNew.setText(QApplication.translate("MainWindow", "&New")) # &Neu
self.calculationOpen.setText(QApplication.translate("MainWindow", "&Open")) # Ö&ffnen
self.calculationSave.setText(QApplication.translate("MainWindow", "&Save")) # &Speichern
self.calculationSaveAs.setText(QApplication.translate("MainWindow", "&Save as")) # &Speichern unter
#self.calculationPrint.setText(QApplication.translate("MainWindow", "&Print")) # &Drucken
self.calculationExport.setText(QApplication.translate("MainWindow", "&Export")) # &Exportieren
self.calculationQuit.setText(QApplication.translate("MainWindow", "E&xit")) # &Beenden
# now the examples menu
self.examplesMenu.setTitle(QApplication.translate("MainWindow", "E&xamples")) # &Beispiele
self.examplesMaple.setText(QApplication.translate("MainWindow",
"&Calculation example for great &maple")) # Berechnungsbeispiel für Berg-&Ahorn
self.examplesDouglas.setText(QApplication.translate("MainWindow",
"&Calculation example for &douglas fir")) # Berechnungsbeispiel für Küsten-Douglasie
# the language menu
self.languageMenu.setTitle(QApplication.translate("MainWindow", "&Language")) # &Sprache
self.languageGerman.setText(QApplication.translate("MainWindow", "&German")) # &Deutsch
self.languageEnglish.setText(QApplication.translate("MainWindow", "&English")) # &Englisch
# the help menu
self.helpMenu.setTitle(QApplication.translate("MainWindow", "&Help")) # &Hilfe
self.helpContents.setText(QApplication.translate("MainWindow", "Help &Contents")) # &Hilfe anzeigen
self.scientificBasis.setText(QApplication.translate("MainWindow", "Specialist &articles")) # &Fachbeiträge
self.helpAbout.setText(QApplication.translate("MainWindow",
"&About Wuchshüllenrechner")) # Über &Wuchshüllenrechner
# the edit box for data collection
self.editBox.setTitle(QApplication.translate("MainWindow", "Data collection")) # Datenerfassung
self.operationLabel.setText(QApplication.translate("MainWindow",
"Forestry &operation") + ":") # Forst&betrieb
self.districtLabel.setText(QApplication.translate("MainWindow",
"Forest &district") + ":") # Forst&revier
self.managerLabel.setText(QApplication.translate("MainWindow",
"&District manager") + ":") # &Revierleiter
self.locationLabel.setText(QApplication.translate("MainWindow",
"&Location") + ":") # &Waldort
self.taxLabel.setText(QApplication.translate("MainWindow",
"&Sales tax") + ":") # Mehrwert&steuer
self.taxHint.setToolTip(QApplication.translate("MainWindow",
"Wirkt sich auf Vorgabewerte aus und kann nach\nAnlegen einer "
"Variante nicht geändert werden."))
# update the data widget
self.dataWidget.retranslateUi()
# update the chart and result view
self.plotWidget.retranslateUi()
class RunTimeGui(QMainWindow):
activeStateChanged = pyqtSignal(int)
runningStateChanged = pyqtSignal(int)
loadFromRoot = pyqtSignal(int)
def __init__(self, parent=None):
super(QMainWindow, self).__init__()
self.setWindowTitle("VisualStates RunTime GUI")
self.rootState = None
# create status bar
self.statusBar()
self.createTreeView()
self.createStateCanvas()
self.setGeometry(0, 0, 800, 600)
self.show()
self.states = {}
self.transitions = {}
self.activeState = None
self.activeStateChanged.connect(self.activeStateChangedHandle)
self.runningStateChanged.connect(self.runningStateChangedHandle)
self.loadFromRoot.connect(self.loadFromRootHandle)
self.memory = None
self.ipcThread = None
self.semaphore = None
def createTreeView(self):
dockWidget = QDockWidget()
dockWidget.setAllowedAreas(Qt.LeftDockWidgetArea)
dockWidget.setFeatures(QDockWidget.NoDockWidgetFeatures)
dockWidget.setTitleBarWidget(QWidget())
self.treeView = QTreeView()
self.treeView.clicked.connect(self.treeItemClicked)
self.treeModel = TreeModel()
self.treeView.setModel(self.treeModel)
self.logo = QLabel()
logoPixmap = QPixmap(CMAKE_INSTALL_PREFIX +
'/share/jderobot/resources/jderobot.png')
self.logo.setPixmap(logoPixmap)
self.upButton = QPushButton()
self.upButton.setText('Up')
self.upButton.clicked.connect(self.upButtonClicked)
leftContainer = QWidget()
leftLayout = QVBoxLayout()
leftLayout.addWidget(self.treeView)
leftLayout.addWidget(self.upButton)
leftLayout.addWidget(self.logo)
leftContainer.setLayout(leftLayout)
dockWidget.setWidget(leftContainer)
self.addDockWidget(Qt.LeftDockWidgetArea, dockWidget)
def createStateCanvas(self):
self.stateCanvas = QGraphicsView()
self.scene = QGraphicsScene()
self.scene.setSceneRect(0, 0, 2000, 2000)
self.setCentralWidget(self.stateCanvas)
self.stateCanvas.setScene(self.scene)
self.stateCanvas.setRenderHint(QPainter.Antialiasing)
def addState(self, id, name, initial, x, y, parentId):
if parentId is not None:
self.states[id] = State(id, name, initial, self.states[parentId])
self.states[parentId].addChild(self.states[id])
parentItem = self.treeModel.getByDataId(parentId)
# print('parent:' + str(parentItem))
else:
self.states[id] = State(id, name, initial, None)
if id == 0:
self.rootState = self.states[id]
self.states[id].setPos(x, y)
def addTransition(self, id, name, originId, destinationId, x, y):
self.transitions[id] = Transition(id, name, self.states[originId],
self.states[destinationId])
self.transitions[id].setPos(x, y)
def emitRunningStateById(self, id):
# print('emit running state:' + str(id))
self.runningStateChanged.emit(id)
def runningStateChangedHandle(self, id):
# print('running state:' + str(id))
if id not in self.states:
return
runningState = self.states[id]
parentId = None
if runningState.parent is not None:
for child in runningState.parent.getChildren():
child.setRunning(False)
runningState.setRunning(True)
parentId = runningState.parent.id
self.treeModel.setAllBackgroundByParentId(Qt.white, parentId)
self.treeModel.setBackgroundById(runningState.id, Qt.green)
def emitActiveStateById(self, id):
self.activeStateChanged.emit(id)
def activeStateChangedHandle(self, id):
if self.activeState is not None:
for child in self.activeState.getChildren():
child.resetGraphicsItem()
for tran in child.getOriginTransitions():
tran.resetGraphicsItem()
self.activeState = self.states[id]
# print('set active state:' + str(id))
self.scene.clear()
for childState in self.activeState.getChildren():
# print('add child to scene:' + str(childState.id))
qitem = childState.getGraphicsItem()
qitem.setAcceptHoverEvents(False)
qitem.setFlag(QGraphicsItem.ItemIsMovable, False)
qitem.doubleClicked.connect(self.stateDoubleClicked)
self.setAcceptDrops(False)
self.scene.addItem(qitem)
for tran in childState.getOriginTransitions():
# print('add transition:' + str(tran.id))
qitem = tran.getGraphicsItem()
qitem.disableInteraction()
self.scene.addItem(qitem)
def emitLoadFromRoot(self):
self.loadFromRoot.emit(0)
def loadFromRootHandle(self, id):
self.treeModel.loadFromRoot(self.states[id])
def stateDoubleClicked(self, stateItem):
if len(stateItem.stateData.getChildren()) > 0:
self.emitActiveStateById(stateItem.stateData.id)
def upButtonClicked(self):
if self.activeState is not None:
if self.activeState.parent is not None:
self.emitActiveStateById(self.activeState.parent.id)
def getStateById(self, state, id):
if state.id == id:
return state
else:
result = None
for child in state.getChildren():
result = self.getStateById(child, id)
if result is not None:
return result
return result
def treeItemClicked(self, index):
# print('clicked item.id:' + str(index.internalPointer().id))
pass
def getStateList(self, state, stateList):
if len(state.getChildren()) > 0:
stateList.append(state)
for s in state.getChildren():
self.getStateList(s, stateList)
def loopIPC(self):
while True:
msg = self.getIPCMessage()
if msg is not None:
if len(msg) > 0:
msg = msg.strip()
methodName = msg.split(' ')[0]
id = int(msg.split(' ')[1])
if methodName == 'emitRunningStateById':
self.emitRunningStateById(id)
else:
print('unknown method name')
# time.sleep(1.0/1000)
def activateIPC(self):
try:
self.memory = sysv_ipc.SharedMemory(123456,
flags=sysv_ipc.IPC_CREAT,
size=1024)
except:
print('cannot create or open share mem with id 123456')
return
# create sempahore
try:
self.semaphore = sysv_ipc.Semaphore(9,
flags=sysv_ipc.IPC_CREAT,
initial_value=0)
except:
print('cannot create or open semaphore with id 9')
self.memory.remove()
return
self.ipcThread = Thread(target=self.loopIPC)
self.ipcThread.start()
def getIPCMessage(self):
self.semaphore.acquire()
data = self.memory.read().decode()
return data
class VisualStates(QMainWindow):
def __init__(self, parent=None):
super(QMainWindow, self).__init__()
self.setWindowTitle("VisualStates")
self.configDialog = None
# root state
self.rootState = State(0, "root", True)
self.activeState = self.rootState
# create status bar
self.statusBar()
self.createMenu()
self.createTreeView()
self.createStateCanvas()
self.setGeometry(0, 0, 800, 600)
self.show()
self.fileManager = FileManager()
self.libraries = []
self.config = None
self.interfaceHeaderMap = Interfaces.getInterfaces()
def createMenu(self):
# create actions
newAction = QAction('&New', self)
newAction.setShortcut('Ctrl+N')
newAction.setStatusTip('Create New Visual States')
newAction.triggered.connect(self.newAction)
openAction = QAction('&Open', self)
openAction.setShortcut('Ctrl+O')
openAction.setStatusTip('Open Visual States')
openAction.triggered.connect(self.openAction)
saveAction = QAction('&Save', self)
saveAction.setShortcut('Ctrl+S')
saveAction.setStatusTip('Save Visual States')
saveAction.triggered.connect(self.saveAction)
saveAsAction = QAction('&Save As', self)
saveAsAction.setShortcut('Ctrl+S')
saveAsAction.setStatusTip('Save Visual States as New One')
saveAsAction.triggered.connect(self.saveAsAction)
quitAction = QAction('&Quit', self)
quitAction.setShortcut('Ctrl+Q')
quitAction.setStatusTip('Quit Visual States')
quitAction.triggered.connect(self.quitAction)
# figures menu
stateAction = QAction('&State', self)
stateAction.setStatusTip('Create a state')
stateAction.triggered.connect(self.stateAction)
transitionAction = QAction('&Transition', self)
transitionAction.setStatusTip('Create a transition')
transitionAction.triggered.connect(self.transitionAction)
# data menu
timerAction = QAction('&Timer', self)
timerAction.setShortcut('Ctrl+M')
timerAction.setStatusTip('Set timing of states')
timerAction.triggered.connect(self.timerAction)
variablesAction = QAction('&Variables', self)
variablesAction.setShortcut('Ctrl+V')
variablesAction.setStatusTip('Define state variables')
variablesAction.triggered.connect(self.variablesAction)
functionsAction = QAction('&Functions', self)
functionsAction.setShortcut('Ctrl+F')
functionsAction.setStatusTip('Define functions')
functionsAction.triggered.connect(self.functionsAction)
# actions menu
librariesAction = QAction('&Libraries', self)
librariesAction.setShortcut('Ctrl+L')
librariesAction.setStatusTip('Add additional libraries')
librariesAction.triggered.connect(self.librariesAction)
configFileAction = QAction('&Config File', self)
configFileAction.setShortcut('Ctrl+C')
configFileAction.setStatusTip('Edit configuration file')
configFileAction.triggered.connect(self.configFileAction)
generateCppAction = QAction('&Generate C++', self)
generateCppAction.setShortcut('Ctrl+G')
generateCppAction.setStatusTip('Generate C++ code')
generateCppAction.triggered.connect(self.generateCppAction)
compileCppAction = QAction('&Compile C++', self)
compileCppAction.setShortcut('Ctrl+P')
compileCppAction.setStatusTip('Compile generated C++ code')
compileCppAction.triggered.connect(self.compileCppAction)
generatePythonAction = QAction('&Generate Python', self)
generatePythonAction.setShortcut('Ctrl+Y')
generatePythonAction.setStatusTip('Generate Python code')
generatePythonAction.triggered.connect(self.generatePythonAction)
# help menu
aboutAction = QAction('&About', self)
aboutAction.setShortcut('F1')
aboutAction.setStatusTip('Information about VisualStates')
aboutAction.triggered.connect(self.aboutAction)
# create main menu
menubar = self.menuBar()
archieveMenu = menubar.addMenu('&File')
archieveMenu.addAction(newAction)
archieveMenu.addAction(openAction)
archieveMenu.addAction(saveAction)
archieveMenu.addAction(saveAsAction)
archieveMenu.addAction(quitAction)
figuresMenu = menubar.addMenu('&Figures')
figuresMenu.addAction(stateAction)
figuresMenu.addAction(transitionAction)
dataMenu = menubar.addMenu('&Data')
dataMenu.addAction(timerAction)
dataMenu.addAction(variablesAction)
dataMenu.addAction(functionsAction)
actionsMenu = menubar.addMenu('&Actions')
actionsMenu.addAction(librariesAction)
actionsMenu.addAction(configFileAction)
actionsMenu.addAction(generateCppAction)
actionsMenu.addAction(compileCppAction)
actionsMenu.addAction(generatePythonAction)
helpMenu = menubar.addMenu('&Help')
helpMenu.addAction(aboutAction)
def newAction(self):
self.automataScene.clearScene()
self.treeModel.removeAll()
# create new root state
self.rootState = State(0, 'root', True)
self.automataScene.setActiveState(self.rootState)
self.automataScene.resetIndexes()
def openAction(self):
fileDialog = QFileDialog(self)
fileDialog.setWindowTitle("Open VisualStates File")
fileDialog.setViewMode(QFileDialog.Detail)
fileDialog.setNameFilters(['VisualStates File (*.xml)'])
fileDialog.setDefaultSuffix('.xml')
fileDialog.setAcceptMode(QFileDialog.AcceptOpen)
if fileDialog.exec_():
(self.rootState, self.config,
self.libraries) = self.fileManager.open(
fileDialog.selectedFiles()[0])
self.treeModel.removeAll()
self.treeModel.loadFromRoot(self.rootState)
# set the active state as the loaded state
self.automataScene.setActiveState(self.rootState)
self.automataScene.setLastIndexes(self.rootState)
# print(str(self.config))
# else:
# print('open is canceled')
def saveAction(self):
if len(self.fileManager.getFileName()) == 0:
self.saveAsAction()
else:
self.fileManager.save(self.rootState, self.config, self.libraries)
def saveAsAction(self):
fileDialog = QFileDialog(self)
fileDialog.setWindowTitle("Save VisualStates Project")
fileDialog.setViewMode(QFileDialog.Detail)
fileDialog.setNameFilters(['VisualStates File (*.xml)'])
fileDialog.setAcceptMode(QFileDialog.AcceptSave)
if fileDialog.exec_():
self.fileManager.setFullPath(fileDialog.selectedFiles()[0])
self.fileManager.save(self.rootState, self.config, self.libraries)
# else:
# print('file dialog canceled')
def quitAction(self):
# print('Quit')
self.close()
def stateAction(self):
self.automataScene.setOperationType(OpType.ADDSTATE)
def transitionAction(self):
self.automataScene.setOperationType(OpType.ADDTRANSITION)
def timerAction(self):
if self.activeState is not None:
timerDialog = TimerDialog('Time Step Duration',
str(self.activeState.getTimeStep()))
timerDialog.timeChanged.connect(self.timeStepDurationChanged)
timerDialog.exec_()
def variablesAction(self):
if self.activeState is not None:
variablesDialog = CodeDialog('Variables',
self.activeState.getVariables())
variablesDialog.codeChanged.connect(self.variablesChanged)
variablesDialog.exec_()
else:
self.showWarning(
'Choose a state',
'You can create variables only for a selected state')
def functionsAction(self):
if self.activeState is not None:
functionsDialog = CodeDialog('Functions',
self.activeState.getFunctions())
functionsDialog.codeChanged.connect(self.functionsChanged)
functionsDialog.exec_()
else:
self.showWarning(
'Choose a state',
'You can create functions only for a selected state')
def librariesAction(self):
librariesDialog = LibrariesDialog('Libraries', self.libraries)
librariesDialog.librariesChanged.connect(self.librariesChanged)
librariesDialog.exec_()
def configFileAction(self):
self.configDialog = ConfigDialog('Config', self.config)
self.configDialog.configChanged.connect(self.configChanged)
self.configDialog.exec_()
def showWarning(self, title, msg):
QMessageBox.warning(self, title, msg)
def showInfo(self, title, msg):
QMessageBox.information(self, title, msg)
def generateCppAction(self):
stateList = []
if self.fileManager.hasFile():
self.getStateList(self.rootState, stateList)
if self.config.type == ROS:
generator = CppRosGenerator(self.libraries, self.config,
self.interfaceHeaderMap, stateList)
elif self.config.type == JDEROBOTCOMM:
generator = CppGenerator(self.libraries, self.config,
self.interfaceHeaderMap, stateList)
generator.generate(self.fileManager.getPath(),
self.fileManager.getFileName())
self.showInfo('C++ Code Generation',
'C++ code generation is successful.')
else:
self.showWarning(
'C++ Generation',
'Please save the project before code generation.')
def compileCppAction(self):
# print('compile cpp action')
pass
def generatePythonAction(self):
stateList = []
if self.fileManager.hasFile():
self.getStateList(self.rootState, stateList)
if self.config.type == ROS:
generator = PythonRosGenerator(self.libraries, self.config,
stateList)
elif self.config.type == JDEROBOTCOMM:
generator = PythonGenerator(self.libraries, self.config,
self.interfaceHeaderMap, stateList)
generator.generate(self.fileManager.getPath(),
self.fileManager.getFileName())
self.showInfo('Python Code Generation',
'Python code generation is successful.')
else:
self.showWarning(
'Python Generation',
'Please save the project before code generation.')
def aboutAction(self):
pass
# print('about action')
def createTreeView(self):
dockWidget = QDockWidget()
dockWidget.setAllowedAreas(Qt.LeftDockWidgetArea)
dockWidget.setFeatures(QDockWidget.NoDockWidgetFeatures)
dockWidget.setTitleBarWidget(QWidget())
self.treeView = QTreeView()
self.treeView.clicked.connect(self.treeItemClicked)
self.treeModel = TreeModel()
self.treeView.setModel(self.treeModel)
self.logo = QLabel()
logoPixmap = QPixmap(CMAKE_INSTALL_PREFIX +
'/share/jderobot/resources/jderobot.png')
self.logo.setPixmap(logoPixmap)
self.upButton = QPushButton()
self.upButton.setText('Up')
self.upButton.clicked.connect(self.upButtonClicked)
leftContainer = QWidget()
leftLayout = QVBoxLayout()
leftLayout.addWidget(self.treeView)
leftLayout.addWidget(self.upButton)
leftLayout.addWidget(self.logo)
leftContainer.setLayout(leftLayout)
dockWidget.setWidget(leftContainer)
self.addDockWidget(Qt.LeftDockWidgetArea, dockWidget)
def createStateCanvas(self):
self.stateCanvas = QGraphicsView()
self.automataScene = AutomataScene()
self.automataScene.setSceneRect(0, 0, 2000, 2000)
self.automataScene.activeStateChanged.connect(self.activeStateChanged)
self.automataScene.stateInserted.connect(self.stateInserted)
self.automataScene.stateRemoved.connect(self.stateRemoved)
self.automataScene.transitionInserted.connect(self.transitionInserted)
self.automataScene.stateNameChangedSignal.connect(
self.stateNameChanged)
self.automataScene.setActiveState(self.rootState)
self.setCentralWidget(self.stateCanvas)
self.stateCanvas.setScene(self.automataScene)
self.stateCanvas.setRenderHint(QPainter.Antialiasing)
self.stateCanvas.setAcceptDrops(True)
def stateInserted(self, state):
if self.activeState != self.rootState:
parent = self.treeModel.getByDataId(self.activeState.id)
self.treeModel.insertState(state, QColor(Qt.white), parent)
else:
self.treeModel.insertState(state, QColor(Qt.white))
def stateRemoved(self, state):
if self.activeState != self.rootState:
self.treeModel.removeState(state.stateData, self.activeState)
else:
self.treeModel.removeState(state.stateData)
def transitionInserted(self, tran):
# print('transition inserted:' + tran.transitionData.name)
pass
def stateNameChanged(self, state):
dataItem = self.treeModel.getByDataId(state.stateData.id)
if dataItem != None:
dataItem.name = state.stateData.name
self.treeModel.layoutChanged.emit()
def activeStateChanged(self):
if self.automataScene.activeState != self.activeState:
# print('visual states active state changed:' + self.automataScene.activeState.name)
self.activeState = self.automataScene.activeState
if self.activeState == self.rootState:
self.treeView.selectionModel().clearSelection()
else:
self.treeView.setCurrentIndex(
self.treeModel.indexOf(
self.treeModel.getByDataId(self.activeState.id)))
def upButtonClicked(self):
if self.activeState != None:
if self.activeState.parent != None:
# print('parent name:' + self.activeState.parent.name)
self.automataScene.setActiveState(self.activeState.parent)
def getStateById(self, state, id):
if state.id == id:
return state
else:
result = None
for child in state.getChildren():
result = self.getStateById(child, id)
if result is not None:
return result
return result
def treeItemClicked(self, index):
# print('clicked item.id:' + str(index.internalPointer().id))
state = self.getStateById(self.rootState, index.internalPointer().id)
if state is not None:
# set the active state as the loaded state
self.automataScene.setActiveState(state)
def timeStepDurationChanged(self, duration):
if self.activeState is not None:
self.activeState.setTimeStep(duration)
def variablesChanged(self, variables):
if self.activeState is not None:
self.activeState.setVariables(variables)
def functionsChanged(self, functions):
if self.activeState is not None:
self.activeState.setFunctions(functions)
def librariesChanged(self, libraries):
self.libraries = libraries
def configChanged(self):
if self.configDialog is not None:
self.config = self.configDialog.getConfig()
def getStateList(self, state, stateList):
if len(state.getChildren()) > 0:
stateList.append(state)
for s in state.getChildren():
self.getStateList(s, stateList)
class VisualStates(QMainWindow):
def __init__(self, parent=None):
super(QMainWindow, self).__init__()
self.setWindowTitle("VisualStates")
self.configDialog = None
# root state
self.rootState = State(0, "root", True)
self.activeState = self.rootState
# create status bar
self.statusBar()
self.createMenu()
self.createTreeView()
self.createStateCanvas()
self.setGeometry(0, 0, 800, 600)
self.show()
self.fileManager = FileManager()
self.libraries = []
self.config = None
self.interfaceHeaderMap = Interfaces.getInterfaces()
def createMenu(self):
# create actions
newAction = QAction('&New', self)
newAction.setShortcut('Ctrl+N')
newAction.setStatusTip('Create New Visual States')
newAction.triggered.connect(self.newAction)
openAction = QAction('&Open', self)
openAction.setShortcut('Ctrl+O')
openAction.setStatusTip('Open Visual States')
openAction.triggered.connect(self.openAction)
saveAction = QAction('&Save', self)
saveAction.setShortcut('Ctrl+S')
saveAction.setStatusTip('Save Visual States')
saveAction.triggered.connect(self.saveAction)
saveAsAction = QAction('&Save As', self)
saveAsAction.setShortcut('Ctrl+S')
saveAsAction.setStatusTip('Save Visual States as New One')
saveAsAction.triggered.connect(self.saveAsAction)
quitAction = QAction('&Quit', self)
quitAction.setShortcut('Ctrl+Q')
quitAction.setStatusTip('Quit Visual States')
quitAction.triggered.connect(self.quitAction)
# figures menu
stateAction = QAction('&State', self)
stateAction.setStatusTip('Create a state')
stateAction.triggered.connect(self.stateAction)
transitionAction = QAction('&Transition', self)
transitionAction.setStatusTip('Create a transition')
transitionAction.triggered.connect(self.transitionAction)
# data menu
timerAction = QAction('&Timer', self)
timerAction.setShortcut('Ctrl+M')
timerAction.setStatusTip('Set timing of states')
timerAction.triggered.connect(self.timerAction)
variablesAction = QAction('&Variables', self)
variablesAction.setShortcut('Ctrl+V')
variablesAction.setStatusTip('Define state variables')
variablesAction.triggered.connect(self.variablesAction)
functionsAction = QAction('&Functions', self)
functionsAction.setShortcut('Ctrl+F')
functionsAction.setStatusTip('Define functions')
functionsAction.triggered.connect(self.functionsAction)
# actions menu
librariesAction = QAction('&Libraries', self)
librariesAction.setShortcut('Ctrl+L')
librariesAction.setStatusTip('Add additional libraries')
librariesAction.triggered.connect(self.librariesAction)
configFileAction = QAction('&Config File', self)
configFileAction.setShortcut('Ctrl+C')
configFileAction.setStatusTip('Edit configuration file')
configFileAction.triggered.connect(self.configFileAction)
generateCppAction = QAction('&Generate C++', self)
generateCppAction.setShortcut('Ctrl+G')
generateCppAction.setStatusTip('Generate C++ code')
generateCppAction.triggered.connect(self.generateCppAction)
compileCppAction = QAction('&Compile C++', self)
compileCppAction.setShortcut('Ctrl+P')
compileCppAction.setStatusTip('Compile generated C++ code')
compileCppAction.triggered.connect(self.compileCppAction)
generatePythonAction = QAction('&Generate Python', self)
generatePythonAction.setShortcut('Ctrl+Y')
generatePythonAction.setStatusTip('Generate Python code')
generatePythonAction.triggered.connect(self.generatePythonAction)
# help menu
aboutAction = QAction('&About', self)
aboutAction.setShortcut('F1')
aboutAction.setStatusTip('Information about VisualStates')
aboutAction.triggered.connect(self.aboutAction)
# create main menu
menubar = self.menuBar()
archieveMenu = menubar.addMenu('&File')
archieveMenu.addAction(newAction)
archieveMenu.addAction(openAction)
archieveMenu.addAction(saveAction)
archieveMenu.addAction(saveAsAction)
archieveMenu.addAction(quitAction)
figuresMenu = menubar.addMenu('&Figures')
figuresMenu.addAction(stateAction)
figuresMenu.addAction(transitionAction)
dataMenu = menubar.addMenu('&Data')
dataMenu.addAction(timerAction)
dataMenu.addAction(variablesAction)
dataMenu.addAction(functionsAction)
actionsMenu = menubar.addMenu('&Actions')
actionsMenu.addAction(librariesAction)
actionsMenu.addAction(configFileAction)
actionsMenu.addAction(generateCppAction)
actionsMenu.addAction(compileCppAction)
actionsMenu.addAction(generatePythonAction)
helpMenu = menubar.addMenu('&Help')
helpMenu.addAction(aboutAction)
def newAction(self):
self.automataScene.clearScene()
# create new root state
self.rootState = State(0, 'root', True)
self.automataScene.setActiveState(self.rootState)
self.automataScene.resetIndexes()
def openAction(self):
fileDialog = QFileDialog(self)
fileDialog.setWindowTitle("Open VisualStates File")
fileDialog.setViewMode(QFileDialog.Detail)
fileDialog.setNameFilters(['VisualStates File (*.xml)'])
fileDialog.setDefaultSuffix('.xml')
fileDialog.setAcceptMode(QFileDialog.AcceptOpen)
if fileDialog.exec_():
(self.rootState, self.config, self.libraries) = self.fileManager.open(fileDialog.selectedFiles()[0])
self.treeModel.removeAll()
self.treeModel.loadFromRoot(self.rootState)
# set the active state as the loaded state
self.automataScene.setActiveState(self.rootState)
self.automataScene.setLastIndexes(self.rootState)
# print(str(self.config))
# else:
# print('open is canceled')
def saveAction(self):
if len(self.fileManager.getFileName()) == 0:
self.saveAsAction()
else:
self.fileManager.save(self.rootState, self.config, self.libraries)
def saveAsAction(self):
fileDialog = QFileDialog(self)
fileDialog.setWindowTitle("Save VisualStates Project")
fileDialog.setViewMode(QFileDialog.Detail)
fileDialog.setNameFilters(['VisualStates File (*.xml)'])
fileDialog.setAcceptMode(QFileDialog.AcceptSave)
if fileDialog.exec_():
self.fileManager.setFullPath(fileDialog.selectedFiles()[0])
self.fileManager.save(self.rootState, self.config, self.libraries)
# else:
# print('file dialog canceled')
def quitAction(self):
# print('Quit')
self.close()
def stateAction(self):
self.automataScene.setOperationType(OpType.ADDSTATE)
def transitionAction(self):
self.automataScene.setOperationType(OpType.ADDTRANSITION)
def timerAction(self):
if self.activeState is not None:
timerDialog = TimerDialog('Time Step Duration', str(self.activeState.getTimeStep()))
timerDialog.timeChanged.connect(self.timeStepDurationChanged)
timerDialog.exec_()
def variablesAction(self):
if self.activeState is not None:
variablesDialog = CodeDialog('Variables', self.activeState.getVariables())
variablesDialog.codeChanged.connect(self.variablesChanged)
variablesDialog.exec_()
else:
self.showWarning('Choose a state', 'You can create variables only for a selected state')
def functionsAction(self):
if self.activeState is not None:
functionsDialog = CodeDialog('Functions', self.activeState.getFunctions())
functionsDialog.codeChanged.connect(self.functionsChanged)
functionsDialog.exec_()
else:
self.showWarning('Choose a state', 'You can create functions only for a selected state')
def librariesAction(self):
librariesDialog = LibrariesDialog('Libraries', self.libraries)
librariesDialog.librariesChanged.connect(self.librariesChanged)
librariesDialog.exec_()
def configFileAction(self):
self.configDialog = ConfigDialog('Config', self.config)
self.configDialog.configChanged.connect(self.configChanged)
self.configDialog.exec_()
def showWarning(self, title, msg):
QMessageBox.warning(self, title, msg)
def showInfo(self, title, msg):
QMessageBox.information(self, title, msg)
def generateCppAction(self):
stateList = []
if self.fileManager.hasFile():
self.getStateList(self.rootState, stateList)
if self.config.type == ROS:
generator = CppRosGenerator(self.libraries, self.config, self.interfaceHeaderMap, stateList)
elif self.config.type == JDEROBOTCOMM:
generator = CppGenerator(self.libraries, self.config, self.interfaceHeaderMap, stateList)
generator.generate(self.fileManager.getPath(), self.fileManager.getFileName())
self.showInfo('C++ Code Generation', 'C++ code generation is successful.')
else:
self.showWarning('C++ Generation', 'Please save the project before code generation.')
def compileCppAction(self):
# print('compile cpp action')
pass
def generatePythonAction(self):
stateList = []
if self.fileManager.hasFile():
self.getStateList(self.rootState, stateList)
if self.config.type == ROS:
generator = PythonRosGenerator(self.libraries, self.config, stateList)
elif self.config.type == JDEROBOTCOMM:
generator = PythonGenerator(self.libraries, self.config, self.interfaceHeaderMap, stateList)
generator.generate(self.fileManager.getPath(), self.fileManager.getFileName())
self.showInfo('Python Code Generation', 'Python code generation is successful.')
else:
self.showWarning('Python Generation', 'Please save the project before code generation.')
def aboutAction(self):
pass
# print('about action')
def createTreeView(self):
dockWidget = QDockWidget()
dockWidget.setAllowedAreas(Qt.LeftDockWidgetArea)
dockWidget.setFeatures(QDockWidget.NoDockWidgetFeatures)
dockWidget.setTitleBarWidget(QWidget())
self.treeView = QTreeView()
self.treeView.clicked.connect(self.treeItemClicked)
self.treeModel = TreeModel()
self.treeView.setModel(self.treeModel)
self.logo = QLabel()
logoPixmap = QPixmap(CMAKE_INSTALL_PREFIX + '/share/jderobot/resources/jderobot.png')
self.logo.setPixmap(logoPixmap)
self.upButton = QPushButton()
self.upButton.setText('Up')
self.upButton.clicked.connect(self.upButtonClicked)
leftContainer = QWidget()
leftLayout = QVBoxLayout()
leftLayout.addWidget(self.treeView)
leftLayout.addWidget(self.upButton)
leftLayout.addWidget(self.logo)
leftContainer.setLayout(leftLayout)
dockWidget.setWidget(leftContainer)
self.addDockWidget(Qt.LeftDockWidgetArea, dockWidget)
def createStateCanvas(self):
self.stateCanvas = QGraphicsView()
self.automataScene = AutomataScene()
self.automataScene.setSceneRect(0, 0, 2000, 2000)
self.automataScene.activeStateChanged.connect(self.activeStateChanged)
self.automataScene.stateInserted.connect(self.stateInserted)
self.automataScene.stateRemoved.connect(self.stateRemoved)
self.automataScene.transitionInserted.connect(self.transitionInserted)
self.automataScene.stateNameChangedSignal.connect(self.stateNameChanged)
self.automataScene.setActiveState(self.rootState)
self.setCentralWidget(self.stateCanvas)
self.stateCanvas.setScene(self.automataScene)
self.stateCanvas.setRenderHint(QPainter.Antialiasing)
self.stateCanvas.setAcceptDrops(True)
def stateInserted(self, state):
if self.activeState != self.rootState:
parent = self.treeModel.getByDataId(self.activeState.id)
self.treeModel.insertState(state, QColor(Qt.white), parent)
else:
self.treeModel.insertState(state, QColor(Qt.white))
def stateRemoved(self, state):
if self.activeState != self.rootState:
self.treeModel.removeState(state.stateData, self.activeState)
else:
self.treeModel.removeState(state.stateData)
def transitionInserted(self, tran):
# print('transition inserted:' + tran.transitionData.name)
pass
def stateNameChanged(self, state):
dataItem = self.treeModel.getByDataId(state.stateData.id)
if dataItem != None:
dataItem.name = state.stateData.name
self.treeModel.layoutChanged.emit()
def activeStateChanged(self):
if self.automataScene.activeState != self.activeState:
# print('visual states active state changed:' + self.automataScene.activeState.name)
self.activeState = self.automataScene.activeState
if self.activeState == self.rootState:
self.treeView.selectionModel().clearSelection()
else:
self.treeView.setCurrentIndex(self.treeModel.indexOf(self.treeModel.getByDataId(self.activeState.id)))
def upButtonClicked(self):
if self.activeState != None:
if self.activeState.parent != None:
# print('parent name:' + self.activeState.parent.name)
self.automataScene.setActiveState(self.activeState.parent)
def getStateById(self,state, id):
if state.id == id:
return state
else:
result = None
for child in state.getChildren():
result = self.getStateById(child, id)
if result is not None:
return result
return result
def treeItemClicked(self, index):
# print('clicked item.id:' + str(index.internalPointer().id))
state = self.getStateById(self.rootState, index.internalPointer().id)
if state is not None:
# set the active state as the loaded state
self.automataScene.setActiveState(state)
def timeStepDurationChanged(self, duration):
if self.activeState is not None:
self.activeState.setTimeStep(duration)
def variablesChanged(self, variables):
if self.activeState is not None:
self.activeState.setVariables(variables)
def functionsChanged(self, functions):
if self.activeState is not None:
self.activeState.setFunctions(functions)
def librariesChanged(self, libraries):
self.libraries = libraries
def configChanged(self):
if self.configDialog is not None:
self.config = self.configDialog.getConfig()
def getStateList(self, state, stateList):
if len(state.getChildren()) > 0:
stateList.append(state)
for s in state.getChildren():
self.getStateList(s, stateList)
