class NodeMoveToDestinationGUI(NodeGUI):
def __init__(self):
super(NodeMoveToDestinationGUI,self).__init__()
self.robot = NamedComboBox('Robot')
self.layout_.addWidget(self.robot)
self.robots_list = get_params(id="robot").data
self.robot.add_items(self.robots_list)
self.time = NamedField('Time Limit','0.0')
self.tolerance = NamedField('Tolerance','0.1')
self.layout_.addWidget(self.time)
self.layout_.addWidget(self.tolerance)
def generate(self,parent=None):
if len(self.robots_list) < 1:
return 'ERROR: no robots defined!'
elif len(self.locations_list) < 1:
return 'ERROR: no locations defined!'
robot = self.robots_list[int(self.robot.get())]
if all([self.name.full(),self.label.full(), self.time.full(), self.tolerance.full()]):
return NodeMoveToDestination(parent,self.get_name(),self.get_label(),
robot,self.time.get(),self.tolerance.get())
else:
return 'ERROR: node not properly defined'
class SaveParameterGUI(NodeGUI):
def __init__(self):
super(SaveParameterGUI, self).__init__()
self.type_ = NamedComboBox('Item Type')
self.file_ = NamedField('Item Name', '')
self.layout_.addWidget(self.type_)
self.layout_.addWidget(self.file_)
#self.param_ = NamedComboBox('Parameter')
self.param_ = NamedField('ROS Parameter', '')
self.layout_.addWidget(self.param_)
type_list = getList('')
self.type_.add_items(type_list.entries)
#self.param_.add_items(rosparam.get_params(''))
def generate(self):
if len(self.type_list.entries) > 0:
tname = self.type_list.entries[int(self.type_.get())]
else:
return 'ERROR: no types found!'
if all([self.name.full(), self.label.full()], self.file_.full()):
return SaveParameter(self.get_name(), self.get_label(), tname,
self.file_.get(), self.param_.get())
else:
return 'ERROR: node not properly defined'
class NodeActionUpdatePlanningSceneGUI(NodeGUI):
def __init__(self):
super(NodeActionUpdatePlanningSceneGUI, self).__init__(color='purple')
self.title.setText('UPDATE PLANNING SCENE')
self.title.setStyleSheet('background-color:' +
colors['purple'].normal + ';color:#ffffff')
self.wait_finish = NamedField('Wait', '', 'purple')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)', 'purple')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def save_data(self, data):
return data
def load_data(self, data):
pass
def generate(self):
if all([self.name.full(), self.wait_finish.full()]):
return NodeActionUpdatePlanningScene(self.get_name(),
self.get_label(),
int(self.wait_finish.get()))
else:
rospy.logerr(
'check that all menu items are properly selected for this node'
)
return 'ERROR: check that all menu items are properly selected for this node'
def __init__(self):
super(NodeDecoratorWaitForSuccessGUI, self).__init__()
self.title.setText('WAIT FOR SUCCESS LOGIC')
self.title.setStyleSheet('background-color:#00C8FF;color:#ffffff')
self.timeout = NamedField('Timeout', self.get_label())
self.timeout.set_field('-1')
self.layout_.addWidget(self.timeout)
def __init__(self):
super(NodeDecoratorRepeatGUI, self).__init__()
self.title.setText('REPEAT LOGIC')
self.title.setStyleSheet('background-color:#00C8FF;color:#ffffff')
self.repeat = NamedField('Repeat (-1) for infinity', self.get_label())
self.repeat.set_field('-1')
self.layout_.addWidget(self.repeat)
class NodeActionGripperCloseGUI(NodeGUI):
def __init__(self):
super(NodeActionGripperCloseGUI, self).__init__(color='green')
self.title.setText('GRIPPER CLOSE ACTION')
self.title.setStyleSheet('background-color:' + colors['green'].normal +
';color:#ffffff')
self.wait_finish = NamedField('Wait', '', 'green')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)', 'green')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def save_data(self, data):
return data
def load_data(self, data):
pass
def generate(self):
if all([self.name.full(), self.wait_finish.full()]):
return NodeActionGripper(self.get_name(), self.get_label(), False,
int(self.wait_finish.get()))
else:
rospy.logerr(
'check that all menu items are properly selected for this node'
)
return 'ERROR: check that all menu items are properly selected for this node'
class SaveParameterGUI(NodeGUI):
def __init__(self):
super(SaveParameterGUI,self).__init__()
self.type_ = NamedComboBox('Item Type')
self.file_ = NamedField('Item Name','')
self.layout_.addWidget(self.type_)
self.layout_.addWidget(self.file_)
#self.param_ = NamedComboBox('Parameter')
self.param_ = NamedField('ROS Parameter','')
self.layout_.addWidget(self.param_)
type_list = getList('')
self.type_.add_items(type_list.entries)
#self.param_.add_items(rosparam.get_params(''))
def generate(self):
if len(self.type_list.entries) > 0:
tname = self.type_list.entries[int(self.type_.get())]
else:
return 'ERROR: no types found!'
if all([self.name.full(),self.label.full()],self.file_.full()):
return SaveParameter(self.get_name(),self.get_label(),
tname, self.file_.get(), self.param_.get())
else:
return 'ERROR: node not properly defined'
def __init__(self):
super(NodeActionDetectObjectsGUI,self).__init__(color='purple')
self.title.setText('DETECT OBJECTS')
self.title.setStyleSheet('background-color:'+colors['purple'].normal+';color:#ffffff')
self.wait_finish = NamedField('Wait', '','purple')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)','purple')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def __init__(self):
super(NodeActionSGripperWideModeGUI,self).__init__(color='green')
self.title.setText('GRIPPER CLOSE ACTION')
self.title.setStyleSheet('background-color:'+colors['green'].normal+';color:#ffffff')
self.wait_finish = NamedField('Wait', '','green')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)','green')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def __init__(self, color='blue'):
super(NodeGUI, self).__init__()
rospack = rospkg.RosPack()
ui_path = rospack.get_path('instructor_core') + '/ui/node_gui.ui'
uic.loadUi(ui_path, self)
self.name = NamedField('Name', '', color)
self.label = NamedField('Label', '', color)
self.name_layout.addWidget(self.name)
self.name_layout.addWidget(self.label)
def __init__(self):
super(NodeActionRecordDataGUI, self).__init__(color='green')
self.title.setText('RECORD DATA')
self.title.setStyleSheet('background-color:' + colors['green'].normal +
';color:#ffffff')
self.wait_finish = NamedField('Wait', '', 'green')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)', 'green')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def __init__(self):
super(NodeActionUpdatePlanningSceneGUI, self).__init__(color='purple')
self.title.setText('UPDATE PLANNING SCENE')
self.title.setStyleSheet('background-color:' +
colors['purple'].normal + ';color:#ffffff')
self.wait_finish = NamedField('Wait', '', 'purple')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)', 'purple')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def __init__(self):
super(NodePublishMessageGUI, self).__init__(color='purple')
self.title.setText('Publish Message')
self.title.setStyleSheet('background-color:' +
colors['purple'].normal + ';color:#ffffff')
self.wait_finish = NamedField('Wait', '', 'purple')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)', 'purple')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def __init__(self,color='blue'):
super(NodeGUI,self).__init__()
rospack = rospkg.RosPack()
ui_path = rospack.get_path('instructor_core') + '/ui/node_gui.ui'
uic.loadUi(ui_path,self)
self.name = NamedField('Name','',color)
self.label = NamedField('Label','',color)
self.name_layout.addWidget(self.name)
self.name_layout.addWidget(self.label)
def __init__(self):
super(SaveParameterGUI, self).__init__()
self.type_ = NamedComboBox('Item Type')
self.file_ = NamedField('Item Name', '')
self.layout_.addWidget(self.type_)
self.layout_.addWidget(self.file_)
#self.param_ = NamedComboBox('Parameter')
self.param_ = NamedField('ROS Parameter', '')
self.layout_.addWidget(self.param_)
type_list = getList('')
self.type_.add_items(type_list.entries)
def __init__(self):
super(LoadEntryFromFileGUI, self).__init__()
self.type_ = NamedComboBox('Item Type')
self.file_ = NamedComboBox('Item Name')
self.entry_ = NamedField('Item Entry', '')
self.layout_.addWidget(self.type_)
self.layout_.addWidget(self.file_)
self.layout_.addWidget(self.entry_)
self.type_list = getList('')
self.type_.add_items(self.type_list.entries)
self.type_.interface().currentIndexChanged.connect(self.selected)
self.file_list = []
def __init__(self):
super(SaveParameterGUI,self).__init__()
self.type_ = NamedComboBox('Item Type')
self.file_ = NamedField('Item Name','')
self.layout_.addWidget(self.type_)
self.layout_.addWidget(self.file_)
#self.param_ = NamedComboBox('Parameter')
self.param_ = NamedField('ROS Parameter','')
self.layout_.addWidget(self.param_)
type_list = getList('')
self.type_.add_items(type_list.entries)
def __init__(self):
super(NodeMoveToDestinationGUI,self).__init__()
self.robot = NamedComboBox('Robot')
self.layout_.addWidget(self.robot)
self.robots_list = get_params(id="robot").data
self.robot.add_items(self.robots_list)
self.time = NamedField('Time Limit','0.0')
self.tolerance = NamedField('Tolerance','0.1')
self.layout_.addWidget(self.time)
self.layout_.addWidget(self.tolerance)
class NodeDecoratorResetGUI(NodeGUI):
def __init__(self):
super(NodeDecoratorResetGUI,self).__init__()
self.title.setText('RESET LOGIC')
self.title.setStyleSheet('background-color:#00C8FF;color:#ffffff')
self.reset = NamedField('Reset (-1) for infinity',self.get_label())
self.layout_.addWidget(self.reset)
def generate(self):
if all([self.name.full(),self.reset.full()]):
return beetree.NodeDecoratorReset(self.get_name(),self.get_label(),int(self.reset.get()))
else:
return 'ERROR: node not properly defined'
class NodeDecoratorWaitForSuccessGUI(NodeGUI):
def __init__(self):
super(NodeDecoratorWaitForSuccessGUI,self).__init__()
self.title.setText('WAIT FOR SUCCESS LOGIC')
self.title.setStyleSheet('background-color:#00C8FF;color:#ffffff')
self.timeout = NamedField('Timeout',self.get_label())
self.timeout.set_field('-1')
self.layout_.addWidget(self.timeout)
def generate(self):
if all([self.name.full(),self.timeout.full()]):
return beetree.NodeDecoratorWaitForSuccess(self.get_name(),self.get_label(),int(self.timeout.get()))
else:
return 'ERROR: node not properly defined'
class NodeGUI(QWidget):
def __init__(self,color='blue'):
super(NodeGUI,self).__init__()
rospack = rospkg.RosPack()
ui_path = rospack.get_path('instructor_core') + '/ui/node_gui.ui'
uic.loadUi(ui_path,self)
self.name = NamedField('Name','',color)
self.label = NamedField('Label','',color)
self.name_layout.addWidget(self.name)
self.name_layout.addWidget(self.label)
def reset(self):
pass
def generate(self):
pass
def get_name(self):
return self.name.get()
def get_label(self):
return self.label.get()
def save(self):
data = {}
for name, obj in inspect.getmembers(self):
if isinstance(obj, NamedField):
data[name] = {'type':'NamedField','field_name':obj.get_name(), 'value':obj.get()}
if isinstance(obj, NamedComboBox):
data[name] = {'type':'NamedComboBox','field_name':obj.get_name(), 'current_value':obj.get(),'index':obj.get_index(), 'values':obj.get_values()}
pass
data = self.save_data(data)
return data
def save_data(self,data):
raise NotImplementedError('save_data is not implemented in base class NodeGUI')
def load(self,data):
for name, obj in inspect.getmembers(self):
if isinstance(obj, NamedField):
datum = data[name]
obj.set_name(datum['field_name'])
obj.set_field(datum['value'])
if isinstance(obj, NamedComboBox):
datum = data[name]
obj.set_name(datum['field_name'])
obj.add_items(datum['values'])
obj.set_index(datum['index'])
obj.set_value(datum['current_value'])
self.load_data(data)
def load_data(self,data):
raise NotImplementedError('load_data is not implemented in base class NodeGUI')
# raise NotImplementedError('load_data is not implemented in base class NodeGUI')
def refresh_data(self):
pass
class NodeGUI(QWidget):
def __init__(self,color='blue'):
super(NodeGUI,self).__init__()
rospack = rospkg.RosPack()
ui_path = rospack.get_path('instructor_core') + '/ui/node_gui.ui'
uic.loadUi(ui_path,self)
self.name = NamedField('Name','',color)
self.label = NamedField('Label','',color)
self.name_layout.addWidget(self.name)
self.name_layout.addWidget(self.label)
def reset(self):
pass
def generate(self):
pass
def get_name(self):
return self.name.get()
def get_label(self):
return self.label.get()
def save(self):
data = {}
for name, obj in inspect.getmembers(self):
if isinstance(obj, NamedField):
data[name] = {'type':'NamedField','field_name':obj.get_name(), 'value':obj.get()}
if isinstance(obj, NamedComboBox):
data[name] = {'type':'NamedComboBox','field_name':obj.get_name(), 'current_value':obj.get(),'index':obj.get_index(), 'values':obj.get_values()}
pass
data = self.save_data(data)
return data
def save_data(self,data):
return data
def load(self,data):
for name, obj in inspect.getmembers(self):
if isinstance(obj, NamedField):
datum = data[name]
obj.set_name(datum['field_name'])
obj.set_field(datum['value'])
if isinstance(obj, NamedComboBox):
datum = data[name]
obj.set_name(datum['field_name'])
obj.add_items(datum['values'])
obj.set_index(datum['index'])
obj.set_value(datum['current_value'])
self.load_data(data)
def load_data(self,data):
pass
def refresh_data(self):
pass
def __init__(self):
super(NodeDecoratorRepeatGUI,self).__init__()
self.title.setText('REPEAT LOGIC')
self.title.setStyleSheet('background-color:#00C8FF;color:#ffffff')
self.repeat = NamedField('Repeat (-1) for infinity',self.get_label())
self.repeat.set_field('-1')
self.layout_.addWidget(self.repeat)
def __init__(self):
super(NodePublishMessageGUI,self).__init__(color='purple')
self.title.setText('Publish Message')
self.title.setStyleSheet('background-color:'+colors['purple'].normal+';color:#ffffff')
self.wait_finish = NamedField('Wait', '','purple')
self.wait_finish.set_field('1')
self.message_contents = NamedField('message','', 'purple')
self.message_topic = NamedField('Rostopic','', 'purple')
self.message_topic.set_field('info')
self.note = NoteField('(1 = true, 0 = false)\nrostopic has prefix: /costar/messages/','purple')
self.layout_.addWidget(self.message_contents)
self.layout_.addWidget(self.message_topic)
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
class NodeDecoratorRepeatGUI(NodeGUI):
def __init__(self):
super(NodeDecoratorRepeatGUI, self).__init__()
self.title.setText('REPEAT LOGIC')
self.title.setStyleSheet('background-color:#00C8FF;color:#ffffff')
self.repeat = NamedField('Repeat (-1) for infinity', self.get_label())
self.repeat.set_field('-1')
self.layout_.addWidget(self.repeat)
def generate(self):
if all([self.name.full(), self.repeat.full()]):
return beetree.NodeDecoratorRepeat(self.get_name(),
self.get_label(),
int(self.repeat.get()))
else:
return 'ERROR: check that all menu items are properly selected for this node'
class NodeActionDetectObjectsGUI(NodeGUI):
def __init__(self):
super(NodeActionDetectObjectsGUI,self).__init__(color='purple')
self.title.setText('DETECT OBJECTS')
self.title.setStyleSheet('background-color:'+colors['purple'].normal+';color:#ffffff')
self.wait_finish = NamedField('Wait', '','purple')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)','purple')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def generate(self):
if all([self.name.full(),self.wait_finish.full()]):
return NodeActionDetectObjects(self.get_name(),self.get_label(),int(self.wait_finish.get()))
else:
rospy.logerr('check that all menu items are properly selected for this node')
return 'ERROR: check that all menu items are properly selected for this node'
def __init__(self):
super(NodeDecoratorWaitForSuccessGUI,self).__init__()
self.title.setText('WAIT FOR SUCCESS LOGIC')
self.title.setStyleSheet('background-color:#00C8FF;color:#ffffff')
self.timeout = NamedField('Timeout',self.get_label())
self.timeout.set_field('-1')
self.layout_.addWidget(self.timeout)
class NodePublishMessageGUI(NodeGUI):
def __init__(self):
super(NodePublishMessageGUI,self).__init__(color='purple')
self.title.setText('Publish Message')
self.title.setStyleSheet('background-color:'+colors['purple'].normal+';color:#ffffff')
self.wait_finish = NamedField('Wait', '','purple')
self.wait_finish.set_field('1')
self.message_contents = NamedField('message','', 'purple')
self.message_topic = NamedField('Rostopic','', 'purple')
self.message_topic.set_field('info')
self.note = NoteField('(1 = true, 0 = false)\nrostopic has prefix: /costar/messages/','purple')
self.layout_.addWidget(self.message_contents)
self.layout_.addWidget(self.message_topic)
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def save_data(self,data):
return data
def load_data(self,data):
pass
def generate(self):
if all([self.name.full(),self.wait_finish.full()]):
full_topic_name = os.path.join('/costar/messages/',str(self.message_topic.get()))
return NodeActionPublishMessage(self.get_name(),str(self.message_contents.get()), full_topic_name, int(self.wait_finish.get()))
else:
rospy.logerr('check that all menu items are properly selected for this node')
return 'ERROR: check that all menu items are properly selected for this node'
def __init__(self):
super(NodeActionGripperCloseGUI,self).__init__(color='green')
self.title.setText('GRIPPER CLOSE ACTION')
self.title.setStyleSheet('background-color:'+colors['green'].normal+';color:#ffffff')
self.wait_finish = NamedField('Wait', '','green')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)','green')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def __init__(self):
super(NodeActionRecordDataGUI,self).__init__(color='green')
self.title.setText('RECORD DATA')
self.title.setStyleSheet('background-color:'+colors['green'].normal+';color:#ffffff')
self.wait_finish = NamedField('Wait', '','green')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)','green')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def __init__(self):
super(NodeActionUpdatePlanningSceneGUI,self).__init__(color='purple')
self.title.setText('UPDATE PLANNING SCENE')
self.title.setStyleSheet('background-color:'+colors['purple'].normal+';color:#ffffff')
self.wait_finish = NamedField('Wait', '','purple')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)','purple')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
class NodeActionGripperCloseGUI(NodeGUI):
def __init__(self):
super(NodeActionGripperCloseGUI,self).__init__(color='green')
self.title.setText('GRIPPER CLOSE ACTION')
self.title.setStyleSheet('background-color:'+colors['green'].normal+';color:#ffffff')
self.wait_finish = NamedField('Wait', '','green')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)','green')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def save_data(self,data):
return data
def load_data(self,data):
pass
def generate(self):
if all([self.name.full(),self.wait_finish.full()]):
return NodeActionGripper(self.get_name(),self.get_label(),False,int(self.wait_finish.get()))
else:
rospy.logerr('check that all menu items are properly selected for this node')
return 'ERROR: check that all menu items are properly selected for this node'
class NodeDecoratorResetGUI(NodeGUI):
def __init__(self):
super(NodeDecoratorResetGUI,self).__init__()
self.title.setText('RESET LOGIC')
self.title.setStyleSheet('background-color:#00C8FF;color:#ffffff')
self.reset = NamedField('Reset (-1) for infinity',self.get_label())
self.layout_.addWidget(self.reset)
def save_data(self,data):
return data
def load_data(self,data):
# no data to load
pass
def generate(self):
if all([self.name.full(),self.reset.full()]):
return beetree.NodeDecoratorReset(self.get_name(),self.get_label(),int(self.reset.get()))
else:
return 'ERROR: check that all menu items are properly selected for this node'
class NodeActionUpdatePlanningSceneGUI(NodeGUI):
def __init__(self):
super(NodeActionUpdatePlanningSceneGUI,self).__init__(color='purple')
self.title.setText('UPDATE PLANNING SCENE')
self.title.setStyleSheet('background-color:'+colors['purple'].normal+';color:#ffffff')
self.wait_finish = NamedField('Wait', '','purple')
self.wait_finish.set_field('1')
self.note = NoteField('(1 = true, 0 = false)','purple')
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def save_data(self,data):
return data
def load_data(self,data):
pass
def generate(self):
if all([self.name.full(),self.wait_finish.full()]):
return NodeActionUpdatePlanningScene(self.get_name(),self.get_label(),int(self.wait_finish.get()))
else:
rospy.logerr('check that all menu items are properly selected for this node')
return 'ERROR: check that all menu items are properly selected for this node'
def __init__(self):
super(LoadEntryFromFileGUI,self).__init__()
self.type_ = NamedComboBox('Item Type')
self.file_ = NamedComboBox('Item Name')
self.entry_ = NamedField('Item Entry','')
self.layout_.addWidget(self.type_)
self.layout_.addWidget(self.file_)
self.layout_.addWidget(self.entry_)
self.type_list = getList('')
self.type_.add_items(self.type_list.entries)
self.type_.interface().currentIndexChanged.connect(self.selected)
self.file_list = []
class NodeDecoratorWaitForSuccessGUI(NodeGUI):
def __init__(self):
super(NodeDecoratorWaitForSuccessGUI,self).__init__()
self.title.setText('WAIT FOR SUCCESS LOGIC')
self.title.setStyleSheet('background-color:#00C8FF;color:#ffffff')
self.timeout = NamedField('Timeout',self.get_label())
self.timeout.set_field('-1')
self.layout_.addWidget(self.timeout)
def save_data(self,data):
return data
def load_data(self,data):
# no data to load
pass
def generate(self):
if all([self.name.full(),self.timeout.full()]):
return beetree.NodeDecoratorWaitForSuccess(self.get_name(),self.get_label(),int(self.timeout.get()))
else:
return 'ERROR: check that all menu items are properly selected for this node'
class NodeDecoratorWaitForSuccessGUI(NodeGUI):
def __init__(self):
super(NodeDecoratorWaitForSuccessGUI, self).__init__()
self.title.setText('WAIT FOR SUCCESS LOGIC')
self.title.setStyleSheet('background-color:#00C8FF;color:#ffffff')
self.timeout = NamedField('Timeout', self.get_label())
self.timeout.set_field('-1')
self.layout_.addWidget(self.timeout)
def save_data(self, data):
return data
def load_data(self, data):
# no data to load
pass
def generate(self):
if all([self.name.full(), self.timeout.full()]):
return beetree.NodeDecoratorWaitForSuccess(self.get_name(),
self.get_label(),
int(self.timeout.get()))
else:
return 'ERROR: check that all menu items are properly selected for this node'
class LoadEntryFromFileGUI(NodeGUI):
def __init__(self):
super(LoadEntryFromFileGUI, self).__init__()
self.type_ = NamedComboBox('Item Type')
self.file_ = NamedComboBox('Item Name')
self.entry_ = NamedField('Item Entry', '')
self.layout_.addWidget(self.type_)
self.layout_.addWidget(self.file_)
self.layout_.addWidget(self.entry_)
self.type_list = getList('')
self.type_.add_items(self.type_list.entries)
self.type_.interface().currentIndexChanged.connect(self.selected)
self.file_list = []
def selected(self, t):
value = str(t)
self.file_list = getList(self.type_list.entries[int(self.type_.get())])
self.file_.interface().clear()
self.file_.add_items(self.file_list.entries)
def generate(self):
if len(self.file_list.entries) > 0:
fname = self.file_list.entries[int(self.file_.get())]
else:
return 'ERROR: no items found!'
if len(self.type_list.entries) > 0:
tname = self.type_list.entries[int(self.type_.get())]
else:
return 'ERROR: no types found!'
if all([self.name.full(), self.label.full(), self.entry_.full()]):
return LoadEntry(self.get_name(), self.get_label(), tname, fname,
self.entry_.get())
else:
return 'ERROR: node not properly defined'
class LoadEntryFromFileGUI(NodeGUI):
def __init__(self):
super(LoadEntryFromFileGUI,self).__init__()
self.type_ = NamedComboBox('Item Type')
self.file_ = NamedComboBox('Item Name')
self.entry_ = NamedField('Item Entry','')
self.layout_.addWidget(self.type_)
self.layout_.addWidget(self.file_)
self.layout_.addWidget(self.entry_)
self.type_list = getList('')
self.type_.add_items(self.type_list.entries)
self.type_.interface().currentIndexChanged.connect(self.selected)
self.file_list = []
def selected(self,t):
value = str(t)
self.file_list = getList(self.type_list.entries[int(self.type_.get())])
self.file_.interface().clear()
self.file_.add_items(self.file_list.entries)
def generate(self):
if len(self.file_list.entries) > 0:
fname = self.file_list.entries[int(self.file_.get())]
else:
return 'ERROR: no items found!'
if len(self.type_list.entries) > 0:
tname = self.type_list.entries[int(self.type_.get())]
else:
return 'ERROR: no types found!'
if all([self.name.full(),self.label.full(), self.entry_.full()]):
return LoadEntry(self.get_name(),self.get_label(),
tname, fname, self.entry_.get())
else:
return 'ERROR: node not properly defined'
class NodePublishMessageGUI(NodeGUI):
def __init__(self):
super(NodePublishMessageGUI, self).__init__(color='purple')
self.title.setText('Publish Message')
self.title.setStyleSheet('background-color:' +
colors['purple'].normal + ';color:#ffffff')
self.wait_finish = NamedField('Wait', '', 'purple')
self.wait_finish.set_field('1')
self.message_contents = NamedField('message', '', 'purple')
self.message_topic = NamedField('Rostopic', '', 'purple')
self.message_topic.set_field('info')
self.note = NoteField(
'(1 = true, 0 = false)\nrostopic has prefix: /costar/messages/',
'purple')
self.layout_.addWidget(self.message_contents)
self.layout_.addWidget(self.message_topic)
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def save_data(self, data):
return data
def load_data(self, data):
pass
def generate(self):
if all([self.name.full(), self.wait_finish.full()]):
full_topic_name = os.path.join('/costar/messages/',
str(self.message_topic.get()))
return NodeActionPublishMessage(self.get_name(),
str(self.message_contents.get()),
full_topic_name,
int(self.wait_finish.get()))
else:
rospy.logerr(
'check that all menu items are properly selected for this node'
)
return 'ERROR: check that all menu items are properly selected for this node'
def __init__(self):
super(NodePublishMessageGUI, self).__init__(color='purple')
self.title.setText('Publish Message')
self.title.setStyleSheet('background-color:' +
colors['purple'].normal + ';color:#ffffff')
self.wait_finish = NamedField('Wait', '', 'purple')
self.wait_finish.set_field('1')
self.message_contents = NamedField('message', '', 'purple')
self.message_topic = NamedField('Rostopic', '', 'purple')
self.message_topic.set_field('info')
self.note = NoteField(
'(1 = true, 0 = false)\nrostopic has prefix: /costar/messages/',
'purple')
self.layout_.addWidget(self.message_contents)
self.layout_.addWidget(self.message_topic)
self.layout_.addWidget(self.wait_finish)
self.layout_.addWidget(self.note)
def __init__(self):
super(NodeDecoratorIgnoreFailGUI, self).__init__()
self.title.setText('IGNORE FAIL LOGIC')
self.title.setStyleSheet('background-color:#00C8FF;color:#ffffff')
self.repeat = NamedField('Repeat', self.get_label())
self.layout_.addWidget(self.repeat)
