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 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
