def __init__(self): super(TopicSelection, self).__init__() master = rosgraph.Master('rqt_bag_recorder') self.setWindowTitle("Select the topics you want to record") self.resize(500, 700) self.topic_list = [] self.selected_topics = [] self.items_list = [] self.area = QScrollArea(self) self.main_widget = QWidget(self.area) self.ok_button = QPushButton("Record", self) self.ok_button.clicked.connect(self.onButtonClicked) self.ok_button.setEnabled(False) self.main_vlayout = QVBoxLayout(self) self.main_vlayout.addWidget(self.area) self.main_vlayout.addWidget(self.ok_button) self.setLayout(self.main_vlayout) self.selection_vlayout = QVBoxLayout(self) self.item_all = QCheckBox("All", self) self.item_all.stateChanged.connect(self.updateList) self.selection_vlayout.addWidget(self.item_all) topic_data_list = master.getPublishedTopics('') topic_data_list.sort() for topic, datatype in topic_data_list: self.addCheckBox(topic) self.main_widget.setLayout(self.selection_vlayout) self.area.setWidget(self.main_widget) self.show()
def _add_parameter(self, param): key = QTableWidgetItem(param.key) key.setFlags(key.flags() & ~Qt.ItemIsEditable) row = self.skill_params_table.rowCount() self.skill_params_table.insertRow(row) #row = row-1 self.skill_params_table.setItem(row, 0, key) if param.dataTypeIs(bool): cbox = QCheckBox() if param.hasSpecifiedDefault(): cbox.setChecked(param.default) self.skill_params_table.setCellWidget(row, 1, cbox) elif param.dataTypeIs(Element): combobox = QComboBox() self.skill_params_table.setCellWidget(row, 1, combobox) matches = self._wmi.resolve_elements(param.default) if param.paramTypeIs(ParamTypes.Optional): combobox.addItem("", None) for e in matches: combobox.addItem(e.printState(), e._id) else: lineedit = QLineEdit() if param.isSpecified(): lineedit.setText(str(param.value)) self.skill_params_table.setCellWidget(row, 1, lineedit)
def add_checkbox(self, name, checked, title=""): checkbox = QCheckBox() checkbox.setObjectName(name) checkbox.setCheckState(bool(checked)) checkbox.setTristate(False) checkbox.setText(title) self.group_area.layout().addWidget(checkbox)
def __init__(self, options, title='Checkboxes', selected_indexes=[], parent=None): super(CheckBoxGroup, self).__init__() self.setTitle(title) self.setLayout(QVBoxLayout()) self._button_group = QButtonGroup() self._button_group.setExclusive(False) self._options = options if parent == None: parent = self for (button_id, option) in enumerate(self._options): checkbox = QCheckBox(option.get('title', 'option %d' % button_id)) checkbox.setEnabled(option.get('enabled', True)) checkbox.setChecked(button_id in selected_indexes) checkbox.setToolTip(option.get('tooltip', '')) self._button_group.addButton(checkbox, button_id) parent.layout().addWidget(checkbox) if 'description' in option: parent.layout().addWidget(QLabel(option['description']))
def add_config(self, title, choices, single_choice=True): ''' create a UI element for selecting options for one variation and put it in a scrollArea ''' scroll = QScrollArea() group_box = QGroupBox(title) group_box.setFlat(True) layout = QVBoxLayout() if len(choices) > 5 and single_choice: combo_box = QComboBox(group_box) for obj in choices: combo_box.addItem(obj) layout.addWidget(combo_box) else: for obj in choices: if single_choice: layout.addWidget(QRadioButton(obj, group_box)) else: layout.addWidget(QCheckBox(obj, group_box)) layout.addStretch(1) group_box.setLayout(layout) scroll.setWidget(group_box) scroll.setWidgetResizable(True) return group_box, scroll
def __init__(self, parent=None): super(VisualizerWidget, self).__init__(parent) self.setWindowTitle('Graph Profiler Visualizer') vbox = QVBoxLayout() self.setLayout(vbox) toolbar_layout = QHBoxLayout() refresh_button = QPushButton() refresh_button.setIcon(QIcon.fromTheme('view-refresh')) auto_refresh_checkbox = QCheckBox("Auto Refresh") hide_disconnected_topics = QCheckBox("Hide Disconnected Topics") topic_blacklist_button = QPushButton("Topic Blacklist") node_blacklist_button = QPushButton("Node Blacklist") refresh_button.clicked.connect(self._refresh) topic_blacklist_button.clicked.connect(self._edit_topic_blacklist) node_blacklist_button.clicked.connect(self._edit_node_blacklist) auto_refresh_checkbox.setCheckState(2) auto_refresh_checkbox.stateChanged.connect(self._autorefresh_changed) hide_disconnected_topics.setCheckState(2) hide_disconnected_topics.stateChanged.connect( self._hidedisconnectedtopics_changed) toolbar_layout.addWidget(refresh_button) toolbar_layout.addWidget(auto_refresh_checkbox) toolbar_layout.addStretch(0) toolbar_layout.addWidget(hide_disconnected_topics) toolbar_layout.addWidget(topic_blacklist_button) toolbar_layout.addWidget(node_blacklist_button) vbox.addLayout(toolbar_layout) # Initialize the Visualizer self._view = qt_view.QtView() self._adapter = rosprofiler_adapter.ROSProfileAdapter(self._view) self._adapter.set_topic_quiet_list(TOPIC_BLACKLIST) self._adapter.set_node_quiet_list(NODE_BLACKLIST) vbox.addWidget(self._view)
def addCheckBox(self, node): item = QCheckBox(node, self) item.stateChanged.connect(lambda x: self.updateNode(x, node)) self.selection_vlayout.addWidget(item)
class TopicSelection(QWidget): recordSettingsSelected = Signal(bool, list) def __init__(self): super(TopicSelection, self).__init__() master = rosgraph.Master('rqt_bag_recorder') self.setWindowTitle("Select the topics you want to record") self.resize(500, 700) self.topic_list = [] self.selected_topics = [] self.items_list = [] self.area = QScrollArea(self) self.main_widget = QWidget(self.area) self.ok_button = QPushButton("Record", self) self.ok_button.clicked.connect(self.onButtonClicked) self.ok_button.setEnabled(False) self.from_nodes_button = QPushButton("From Nodes", self) self.from_nodes_button.clicked.connect(self.onFromNodesButtonClicked) self.main_vlayout = QVBoxLayout(self) self.main_vlayout.addWidget(self.area) self.main_vlayout.addWidget(self.ok_button) self.main_vlayout.addWidget(self.from_nodes_button) self.setLayout(self.main_vlayout) self.selection_vlayout = QVBoxLayout(self) self.item_all = QCheckBox("All", self) self.item_monitor = QCheckBox("Monitor", self) self.item_monAge = QCheckBox("Monitor + Agents", self) self.item_all.stateChanged.connect(self.updateList) self.item_monitor.stateChanged.connect(lambda x: self.updateList(x, "Monitor")) self.item_monAge.stateChanged.connect(lambda x: self.updateList(x, "Monitor+")) self.selection_vlayout.addWidget(self.item_all) self.selection_vlayout.addWidget(self.item_monitor) self.selection_vlayout.addWidget(self.item_monAge) topic_data_list = master.getPublishedTopics('') topic_data_list.sort() for topic, datatype in topic_data_list: self.addCheckBox(topic) self.main_widget.setLayout(self.selection_vlayout) self.area.setWidget(self.main_widget) self.show() def addCheckBox(self, topic): self.topic_list.append(topic) item = QCheckBox(topic, self) item.stateChanged.connect(lambda x: self.updateList(x, topic)) self.items_list.append(item) self.selection_vlayout.addWidget(item) def changeTopicCheckState(self, topic, state): for item in self.items_list: if item.text() == topic: item.setCheckState(state) return def updateList(self, state, topic=None, force_update_state=False): if topic is None: # The "All" checkbox was checked / unchecked if state == Qt.Checked: self.item_all.setTristate(False) for item in self.items_list: if item.checkState() == Qt.Unchecked: item.setCheckState(Qt.Checked) elif state == Qt.Unchecked: self.item_all.setTristate(False) for item in self.items_list: if item.checkState() == Qt.Checked: item.setCheckState(Qt.Unchecked) elif topic == "Monitor" or topic == "Monitor+": if state == Qt.Checked: self.item_monitor.setTristate(False) self.selected_topics.append("/world_model") self.selected_topics.append("/draws") self.selected_topics.append("/debugs") self.selected_topics.append("/referee") for item in self.items_list: if item.text() == "/world_model" \ or item.text() == "/debugs" \ or item.text() == "/draws" \ or item.text() =="/referee": item.setCheckState(Qt.Checked) elif state == Qt.Unchecked: self.item_all.setTristate(False) self.selected_topics.remove("/world_model") self.selected_topics.remove("/draws") self.selected_topics.remove("/debugs") self.selected_topics.remove("/referee") for item in self.items_list: if item.text() == "/world_model" \ or item.text() =="/referee" \ or item.text() =="/debugs" \ or item.text()=="/draws": item.setCheckState(Qt.Unchecked) if topic == "Monitor+": if state == Qt.Checked: for item in self.items_list: if item.text().find("agent") >-1: self.selected_topics.append(item) item.setCheckState(Qt.Checked) elif state == Qt.Unchecked: for item in self.items_list: if item.text().find("agent") >-1: self.selected_topics.remove(item) item.setCheckState(Qt.Unchecked) else: if state == Qt.Checked: self.selected_topics.append(topic) else: self.selected_topics.remove(topic) if self.item_all.checkState() == Qt.Checked: self.item_all.setCheckState(Qt.PartiallyChecked) if self.selected_topics == []: self.ok_button.setEnabled(False) else: self.ok_button.setEnabled(True) def onButtonClicked(self): self.close() self.recordSettingsSelected.emit( self.item_all.checkState() == Qt.Checked, self.selected_topics) def onFromNodesButtonClicked(self): self.node_selection = NodeSelection(self)
def addCheckBox(self, topic): self.topic_list.append(topic) item = QCheckBox(topic, self) item.stateChanged.connect(lambda x: self.updateList(x, topic)) self.items_list.append(item) self.selection_vlayout.addWidget(item)
def __init__(self, title, bagParser, selection_vlayout, selected_list): QCheckBox.__init__(self, title, bagParser) self.selection_vlayout = selection_vlayout self.selected_list = selected_list
def __init__(self, title, jsp, num_rows=0): super(JointStatePublisherGui, self).__init__() font = QFont("Helvetica", 9, QFont.Bold) self.hlayout = QHBoxLayout(self) vlayout = QVBoxLayout() glayout = QGridLayout() right_l_lauout = QVBoxLayout() self.listVeiw = QListWidget() self.checkbox = [] self.value_line_edit = [] self.sliders = [] self.positions = [] self.progressbars = [] self.value_last = [] speed_max = enviromnt_conf['joint_speed'] slider_max = speed_max * 1000 position_max = enviromnt_conf['joint_max_position'] progress_max = position_max * 1000 #create joints widget for i in range(0, num_rows): if config[i][0]: g_in_g = QGridLayout() checkbox = QCheckBox(config[i][1]) checkbox.setFont(font) self.checkbox.append(checkbox) value_line_edit = QLineEdit() value_line_edit.setFont(font) value_line_edit.setText("0.0") self.value_line_edit.append(value_line_edit) display_lable = QLabel() display_lable.setFont(font) display_lable.setText("Position:") position_label = QLabel() position_label.setFont(font) position_label.setText("0.0") self.positions.append(position_label) position_progress_bar = QProgressBar() position_progress_bar.setMaximum(progress_max) position_progress_bar.setMinimum(-progress_max) position_progress_bar.setValue(0) self.progressbars.append(position_progress_bar) slider = QSlider() slider.setMaximum(slider_max) slider.setMinimum(-slider_max) slider.setOrientation(Qt.Horizontal) slider.valueChanged.connect(self.slider_value_changed) self.sliders.append(slider) g_in_g.addWidget(checkbox, 0, 0) g_in_g.addWidget(value_line_edit, 0, 1) g_in_g.addWidget(display_lable, 0, 2) g_in_g.addWidget(position_label, 0, 3) g_in_g.addWidget(slider, 1, 0, 1, 2) g_in_g.addWidget(position_progress_bar, 1, 2, 1, 2) glayout.addLayout(g_in_g, i, 0) #create v layout self.import_Btn = QPushButton('Import') self.import_Btn.setFont(font) self.import_Btn.clicked.connect(self.import_Btn_clecked) self.export_Btn = QPushButton('Export') self.export_Btn.setFont(font) self.export_Btn.clicked.connect(self.export_Btn_clicked) self.start_Btn = QPushButton("Start") self.start_Btn.setFont(font) self.start_Btn.clicked.connect(self.start_Btn_clicked) self.reset_Btn = QPushButton('Reset') self.reset_Btn.setFont(font) self.reset_Btn.clicked.connect(self.reset_Btn_clicked) self.record_Btn = QPushButton('Record') self.record_Btn.setFont(font) self.record_Btn.clicked.connect(self.record_Btn_clicked) self.replay_Btn = QPushButton('Repaly') self.replay_Btn.setFont(font) self.replay_Btn.clicked.connect(self.replay_Btn_clicked) self.delete_Btn = QPushButton("Delete") self.delete_Btn.setFont(font) self.delete_Btn.clicked.connect(self.delete_Btn_clicked) self.debug_Btn = QPushButton("Debug") self.debug_Btn.setFont(font) self.debug_Btn.clicked.connect(self.debug_Btn_clicked) vlayout.addWidget(self.import_Btn) vlayout.addWidget(self.export_Btn) vlayout.addWidget(self.start_Btn) vlayout.addWidget(self.reset_Btn) vlayout.addWidget(self.record_Btn) vlayout.addWidget(self.delete_Btn) vlayout.addWidget(self.replay_Btn) vlayout.addWidget(self.debug_Btn) self.master_url = QLineEdit("http://192.168.0.91:11311") self.master_url.setFont(font) self.master_ip = QLineEdit("192.168.0.91") self.master_ip.setFont(font) self.listVeiw.clicked.connect(self.listVeiw_clicked) self.listVeiw.currentRowChanged.connect( self.listVeiw_itemSelectionChanged) self.description = QTextEdit("") self.description.setFont(font) #self.description.setGeometry(0,100,100,500) right_l_lauout.addWidget(self.master_url) right_l_lauout.addWidget(self.master_ip) right_l_lauout.addWidget(self.listVeiw) right_l_lauout.addWidget(self.description) right_l_lauout.setStretch(0, 1) right_l_lauout.setStretch(1, 1) right_l_lauout.setStretch(2, 3) right_l_lauout.setStretch(3, 1) self.num_rows = len(self.checkbox) self.hlayout.addLayout(glayout) self.hlayout.addLayout(vlayout) self.hlayout.addLayout(right_l_lauout) self.setLayout(self.hlayout) self.callback_start = None self.callback_pause = None self.callback_record = None self.callback_reset = None self.callback_replay = None self.callback_replay_stop = None self.callback_delete = None self.callback_debug = None self.callback_import = None self.callback_export = None self.callback_list_clicked = None self.listVeiw_isClicked = False self.listVeiw_current_item = 0 self.listVeiw_len = 0 self.f = QFileDialog()
class Top(Plugin): NODE_FIELDS = [ 'pid', 'get_cpu_percent', 'get_memory_percent', 'get_num_threads' ] OUT_FIELDS = [ 'node_name', 'pid', 'cpu_percent', 'memory_percent', 'num_threads' ] FORMAT_STRS = ['%s', '%s', '%0.2f', '%0.2f', '%s'] NODE_LABELS = ['Node', 'PID', 'CPU %', 'Mem %', 'Num Threads'] SORT_TYPE = [str, str, float, float, float] TOOLTIPS = { 0: ('cmdline', lambda x: '\n'.join(textwrap.wrap(' '.join(x)))), 3: ('memory_info', lambda x: ('Resident: %0.2f MiB, Virtual: %0.2f MiB' % (x[0] / 2**20, x[1] / 2**20))) } _node_info = NodeInfo() name_filter = re.compile('') def __init__(self, context): super(Top, self).__init__(context) # Give QObjects reasonable names self.setObjectName('Top') # Process standalone plugin command-line arguments from argparse import ArgumentParser parser = ArgumentParser() # Add argument(s) to the parser. parser.add_argument("-q", "--quiet", action="store_true", dest="quiet", help="Put plugin in silent mode") args, unknowns = parser.parse_known_args(context.argv()) # if not args.quiet: # print 'arguments: ', args # print 'unknowns: ', unknowns self._selected_node = '' self._selected_node_lock = RLock() # Setup the toolbar self._toolbar = QToolBar() self._filter_box = QLineEdit() self._regex_box = QCheckBox() self._regex_box.setText('regex') self._toolbar.addWidget(QLabel('Filter')) self._toolbar.addWidget(self._filter_box) self._toolbar.addWidget(self._regex_box) self._filter_box.returnPressed.connect(self.update_filter) self._regex_box.stateChanged.connect(self.update_filter) # Create a container widget and give it a layout self._container = QWidget() self._container.setWindowTitle('Process Monitor') self._layout = QVBoxLayout() self._container.setLayout(self._layout) self._layout.addWidget(self._toolbar) # Create the table widget self._table_widget = QTreeWidget() self._table_widget.setObjectName('TopTable') self._table_widget.setColumnCount(len(self.NODE_LABELS)) self._table_widget.setHeaderLabels(self.NODE_LABELS) self._table_widget.itemClicked.connect(self._tableItemClicked) self._table_widget.setSortingEnabled(True) self._table_widget.setAlternatingRowColors(True) self._layout.addWidget(self._table_widget) context.add_widget(self._container) # Add a button for killing nodes self._kill_button = QPushButton('Kill Node') self._layout.addWidget(self._kill_button) self._kill_button.clicked.connect(self._kill_node) # Update twice since the first cpu% lookup will always return 0 self.update_table() self.update_table() self._table_widget.resizeColumnToContents(0) # Start a timer to trigger updates self._update_timer = QTimer() self._update_timer.setInterval(1000) self._update_timer.timeout.connect(self.update_table) self._update_timer.start() def _tableItemClicked(self, item, column): with self._selected_node_lock: self._selected_node = item.text(0) def update_filter(self, *args): if self._regex_box.isChecked(): expr = self._filter_box.text() else: expr = re.escape(self._filter_box.text()) self.name_filter = re.compile(expr) self.update_table() def _kill_node(self): self._node_info.kill_node(self._selected_node) def update_one_item(self, row, info): twi = TopWidgetItem() for col, field in enumerate(self.OUT_FIELDS): val = info[field] twi.setText(col, self.FORMAT_STRS[col] % val) self._table_widget.insertTopLevelItem(row, twi) for col, (key, func) in self.TOOLTIPS.items(): twi.setToolTip(col, func(info[key])) with self._selected_node_lock: if twi.text(0) == self._selected_node: twi.setSelected(True) twi.setHidden(len(self.name_filter.findall(info['node_name'])) == 0) def update_table(self): self._table_widget.clear() infos = self._node_info.get_all_node_fields(self.NODE_FIELDS) for nx, info in enumerate(infos): self.update_one_item(nx, info) def shutdown_plugin(self): self._update_timer.stop() def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value('filter_text', self._filter_box.text()) instance_settings.set_value('is_regex', int(self._regex_box.checkState())) def restore_settings(self, plugin_settings, instance_settings): self._filter_box.setText(instance_settings.value('filter_text')) is_regex_int = instance_settings.value('is_regex') if is_regex_int: self._regex_box.setCheckState(Qt.CheckState(is_regex_int)) else: self._regex_box.setCheckState(Qt.CheckState(0)) self.update_filter()
def __init__(self, context): super(Top, self).__init__(context) # Give QObjects reasonable names self.setObjectName('Top') # Process standalone plugin command-line arguments from argparse import ArgumentParser parser = ArgumentParser() # Add argument(s) to the parser. parser.add_argument("-q", "--quiet", action="store_true", dest="quiet", help="Put plugin in silent mode") args, unknowns = parser.parse_known_args(context.argv()) # if not args.quiet: # print 'arguments: ', args # print 'unknowns: ', unknowns self._selected_node = '' self._selected_node_lock = RLock() # Setup the toolbar self._toolbar = QToolBar() self._filter_box = QLineEdit() self._regex_box = QCheckBox() self._regex_box.setText('regex') self._toolbar.addWidget(QLabel('Filter')) self._toolbar.addWidget(self._filter_box) self._toolbar.addWidget(self._regex_box) self._filter_box.returnPressed.connect(self.update_filter) self._regex_box.stateChanged.connect(self.update_filter) # Create a container widget and give it a layout self._container = QWidget() self._container.setWindowTitle('Process Monitor') self._layout = QVBoxLayout() self._container.setLayout(self._layout) self._layout.addWidget(self._toolbar) # Create the table widget self._table_widget = QTreeWidget() self._table_widget.setObjectName('TopTable') self._table_widget.setColumnCount(len(self.NODE_LABELS)) self._table_widget.setHeaderLabels(self.NODE_LABELS) self._table_widget.itemClicked.connect(self._tableItemClicked) self._table_widget.setSortingEnabled(True) self._table_widget.setAlternatingRowColors(True) self._layout.addWidget(self._table_widget) context.add_widget(self._container) # Add a button for killing nodes self._kill_button = QPushButton('Kill Node') self._layout.addWidget(self._kill_button) self._kill_button.clicked.connect(self._kill_node) # Update twice since the first cpu% lookup will always return 0 self.update_table() self.update_table() self._table_widget.resizeColumnToContents(0) # Start a timer to trigger updates self._update_timer = QTimer() self._update_timer.setInterval(1000) self._update_timer.timeout.connect(self.update_table) self._update_timer.start()
class Top(Plugin): NODE_FIELDS = [ 'pid', 'get_cpu_percent', 'get_memory_percent', 'get_num_threads'] OUT_FIELDS = ['node_name', 'pid', 'cpu_percent', 'memory_percent', 'num_threads' ] FORMAT_STRS = ['%s', '%s', '%0.2f', '%0.2f', '%s' ] NODE_LABELS = ['Node', 'PID', 'CPU %', 'Mem %', 'Num Threads' ] SORT_TYPE = [str, str, float, float, float ] TOOLTIPS = { 0: ('cmdline', lambda x: '\n'.join(textwrap.wrap(' '.join(x)))), 3: ('memory_info', lambda x: ('Resident: %0.2f MiB, Virtual: %0.2f MiB' % (x[0]/2**20, x[1]/2**20))) } _node_info = NodeInfo() name_filter = re.compile('') def __init__(self, context): super(Top, self).__init__(context) # Give QObjects reasonable names self.setObjectName('Top') # Process standalone plugin command-line arguments from argparse import ArgumentParser parser = ArgumentParser() # Add argument(s) to the parser. parser.add_argument("-q", "--quiet", action="store_true", dest="quiet", help="Put plugin in silent mode") args, unknowns = parser.parse_known_args(context.argv()) # if not args.quiet: # print 'arguments: ', args # print 'unknowns: ', unknowns self._selected_node = '' self._selected_node_lock = RLock() # Setup the toolbar self._toolbar = QToolBar() self._filter_box = QLineEdit() self._regex_box = QCheckBox() self._regex_box.setText('regex') self._toolbar.addWidget(QLabel('Filter')) self._toolbar.addWidget(self._filter_box) self._toolbar.addWidget(self._regex_box) self._filter_box.returnPressed.connect(self.update_filter) self._regex_box.stateChanged.connect(self.update_filter) # Create a container widget and give it a layout self._container = QWidget() self._container.setWindowTitle('Process Monitor') self._layout = QVBoxLayout() self._container.setLayout(self._layout) self._layout.addWidget(self._toolbar) # Create the table widget self._table_widget = QTreeWidget() self._table_widget.setObjectName('TopTable') self._table_widget.setColumnCount(len(self.NODE_LABELS)) self._table_widget.setHeaderLabels(self.NODE_LABELS) self._table_widget.itemClicked.connect(self._tableItemClicked) self._table_widget.setSortingEnabled(True) self._table_widget.setAlternatingRowColors(True) self._layout.addWidget(self._table_widget) context.add_widget(self._container) # Add a button for killing nodes self._kill_button = QPushButton('Kill Node') self._layout.addWidget(self._kill_button) self._kill_button.clicked.connect(self._kill_node) # Update twice since the first cpu% lookup will always return 0 self.update_table() self.update_table() self._table_widget.resizeColumnToContents(0) # Start a timer to trigger updates self._update_timer = QTimer() self._update_timer.setInterval(1000) self._update_timer.timeout.connect(self.update_table) self._update_timer.start() def _tableItemClicked(self, item, column): with self._selected_node_lock: self._selected_node = item.text(0) def update_filter(self, *args): if self._regex_box.isChecked(): expr = self._filter_box.text() else: expr = re.escape(self._filter_box.text()) self.name_filter = re.compile(expr) self.update_table() def _kill_node(self): self._node_info.kill_node(self._selected_node) def update_one_item(self, row, info): twi = TopWidgetItem() for col, field in enumerate(self.OUT_FIELDS): val = info[field] twi.setText(col, self.FORMAT_STRS[col] % val) self._table_widget.insertTopLevelItem(row, twi) for col, (key, func) in self.TOOLTIPS.items(): twi.setToolTip(col, func(info[key])) with self._selected_node_lock: if twi.text(0) == self._selected_node: twi.setSelected(True) twi.setHidden(len(self.name_filter.findall(info['node_name'])) == 0) def update_table(self): self._table_widget.clear() infos = self._node_info.get_all_node_fields(self.NODE_FIELDS) for nx, info in enumerate(infos): self.update_one_item(nx, info) def shutdown_plugin(self): self._update_timer.stop() def save_settings(self, plugin_settings, instance_settings): instance_settings.set_value('filter_text', self._filter_box.text()) instance_settings.set_value('is_regex', int(self._regex_box.checkState())) def restore_settings(self, plugin_settings, instance_settings): self._filter_box.setText(instance_settings.value('filter_text')) is_regex_int = instance_settings.value('is_regex') if is_regex_int: self._regex_box.setCheckState(Qt.CheckState(is_regex_int)) else: self._regex_box.setCheckState(Qt.CheckState(0)) self.update_filter()
def __init__(self, context): super(MyPlugin, self).__init__(context) self.setObjectName('MyPlugin') from argparse import ArgumentParser parser = ArgumentParser() parser.add_argument("-q", "--quiet", action="store_true", dest="quiet", help="Put plugin in silent mode") args, unknowns = parser.parse_known_args(context.argv()) if not args.quiet: print 'arguments: ', args print 'unknowns: ', unknowns # Create QWidget self._widget = QWidget() ui_file = os.path.join(rospkg.RosPack().get_path('rqt_mypkg'), 'resource', 'MyPlugin.ui') loadUi(ui_file, self._widget) self._widget.setObjectName('MyPluginUi') if context.serial_number() > 1: self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number())) #There is where icons and logic for buttons are set self._widget.load_algorithm_button.setIcon( QIcon.fromTheme('document-open')) self._widget.add_robot.pressed.connect(self._update_robot_list) self._widget.load_algorithm_button.pressed.connect(self._add_algorithm) self._widget.run_button.pressed.connect(self.run_funct) self._widget.push_button.pressed.connect(self.push_funct) #This loops through robots.txt to populate the robots section path = home + '/deploy/robots.txt' file_object = open(path, 'r') counter = 0 for lines in file_object: values = lines.split() if values[1] is not None: robot_dict[counter] = [values[0], QCheckBox(values[1])] self._widget.robot_check_layout.addWidget( robot_dict.get(counter)[1], int(counter / 3), counter % 3, 1, 1) counter += 1 file_object.close() #This loops through algorithms.txt to populate the algorithms section path = home + '/deploy/algorithms.txt' file_object = open(path, 'r') counter = 0 for lines in file_object: values = lines.split('/') if values[-1] is not None or "": alg_dict[counter] = [ lines, QCheckBox(values[-1]), values[-1].rstrip() ] self._widget.algorithm_radio_layout.addWidget( alg_dict.get(counter)[1], int(counter / 3), counter % 3, 1, 1) counter += 1 file_object.close() # Add widget to the user interface context.add_widget(self._widget)
class TopicSelection(QWidget): recordSettingsSelected = Signal(bool, list) def __init__(self): super(TopicSelection, self).__init__() master = rosgraph.Master('rqt_bag_recorder') self.setWindowTitle("Select the topics you want to record") self.resize(500, 700) self.topic_list = [] self.selected_topics = [] self.items_list = [] self.area = QScrollArea(self) self.main_widget = QWidget(self.area) self.ok_button = QPushButton("Record", self) self.ok_button.clicked.connect(self.onButtonClicked) self.ok_button.setEnabled(False) self.main_vlayout = QVBoxLayout(self) self.main_vlayout.addWidget(self.area) self.main_vlayout.addWidget(self.ok_button) self.setLayout(self.main_vlayout) self.selection_vlayout = QVBoxLayout(self) self.item_all = QCheckBox("All", self) self.item_all.stateChanged.connect(self.updateList) self.selection_vlayout.addWidget(self.item_all) topic_data_list = master.getPublishedTopics('') topic_data_list.sort() for topic, datatype in topic_data_list: self.addCheckBox(topic) self.main_widget.setLayout(self.selection_vlayout) self.area.setWidget(self.main_widget) self.show() def addCheckBox(self, topic): self.topic_list.append(topic) item = QCheckBox(topic, self) item.stateChanged.connect(lambda x: self.updateList(x, topic)) self.items_list.append(item) self.selection_vlayout.addWidget(item) def updateList(self, state, topic=None): if topic is None: # The "All" checkbox was checked / unchecked if state == Qt.Checked: self.item_all.setTristate(False) for item in self.items_list: if item.checkState() == Qt.Unchecked: item.setCheckState(Qt.Checked) elif state == Qt.Unchecked: self.item_all.setTristate(False) for item in self.items_list: if item.checkState() == Qt.Checked: item.setCheckState(Qt.Unchecked) else: if state == Qt.Checked: self.selected_topics.append(topic) else: self.selected_topics.remove(topic) if self.item_all.checkState() == Qt.Checked: self.item_all.setCheckState(Qt.PartiallyChecked) if self.selected_topics == []: self.ok_button.setEnabled(False) else: self.ok_button.setEnabled(True) def onButtonClicked(self): self.close() self.recordSettingsSelected.emit( (self.item_all.checkState() == Qt.Checked), self.selected_topics)
class TopicSelection(QWidget): recordSettingsSelected = Signal(bool, list) def __init__(self): super(TopicSelection, self).__init__() master = rosgraph.Master('rqt_bag_recorder') self.setWindowTitle("Select the topics you want to record") self.resize(500, 700) self.topic_list = [] self.selected_topics = [] self.items_list = [] self.area = QScrollArea(self) self.main_widget = QWidget(self.area) self.ok_button = QPushButton("Record", self) self.ok_button.clicked.connect(self.onButtonClicked) self.ok_button.setEnabled(False) self.main_vlayout = QVBoxLayout(self) self.main_vlayout.addWidget(self.area) self.main_vlayout.addWidget(self.ok_button) self.setLayout(self.main_vlayout) self.selection_vlayout = QVBoxLayout(self) self.item_all = QCheckBox("All", self) self.item_all.stateChanged.connect(self.updateList) self.selection_vlayout.addWidget(self.item_all) topic_data_list = master.getPublishedTopics('') topic_data_list.sort() for topic, datatype in topic_data_list: self.addCheckBox(topic) self.main_widget.setLayout(self.selection_vlayout) self.area.setWidget(self.main_widget) self.show() def addCheckBox(self, topic): self.topic_list.append(topic) item = QCheckBox(topic, self) item.stateChanged.connect(lambda x: self.updateList(x,topic)) self.items_list.append(item) self.selection_vlayout.addWidget(item) def updateList(self, state, topic = None): if topic is None: # The "All" checkbox was checked / unchecked if state == Qt.Checked: self.item_all.setTristate(False) for item in self.items_list: if item.checkState() == Qt.Unchecked: item.setCheckState(Qt.Checked) elif state == Qt.Unchecked: self.item_all.setTristate(False) for item in self.items_list: if item.checkState() == Qt.Checked: item.setCheckState(Qt.Unchecked) else: if state == Qt.Checked: self.selected_topics.append(topic) else: self.selected_topics.remove(topic) if self.item_all.checkState()==Qt.Checked: self.item_all.setCheckState(Qt.PartiallyChecked) if self.selected_topics == []: self.ok_button.setEnabled(False) else: self.ok_button.setEnabled(True) def onButtonClicked(self): self.close() self.recordSettingsSelected.emit((self.item_all.checkState() == Qt.Checked), self.selected_topics)
def __init__(self, num_robots, robots): super(RobotTab, self).__init__() # Available robots from gui_config.yaml self.robots = robots # Set robot type by default to ground self.agent_type = 'ground' # Number of robots self.num_robots = num_robots # Set the robot name by default self.robot_name = 'robot' + str(self.num_robots) # Set layout for tab self.layout = QVBoxLayout() # Robot tab title self.robot_label_name = QLabel(('Robot ' + str(self.num_robots))) font = QFont() font.setPointSize(14) font.setBold(True) self.robot_label_name.setFont(font) self.layout.addWidget(self.robot_label_name) # Robot name label and input line self.robot_label = QLabel('Robot name') self.layout.addWidget(self.robot_label) self.robot_name_input = QLineEdit('robot' + str(self.num_robots)) #self.robot_name_input.editingFinished.connect(self.robot_name_changed) self.layout.addWidget(self.robot_name_input) # Robot model label and comboBox self.robot_model_label = QLabel('Robot model') self.layout.addWidget(self.robot_model_label) self.robot_comboBox = CustomComboBox(self.num_robots - 1) self.robot_comboBox.addItems(self.robots['Models'].keys()) self.layout.addWidget(self.robot_comboBox) self.robot_comboBox.signalIndexChanged.connect(self.set_agent_type) # Initial pose self.robot_label_init = QLabel('Initial pose') self.layout.addWidget(self.robot_label_init) self.robot_comboBox_init = CustomComboBox(self.num_robots) self.layout.addWidget(self.robot_comboBox_init) # Add initial pose text item to graphic initial_pose_textItem = QGraphicsTextItem( 'start_' + str(self.num_robots).zfill(2)) self.initial_pose = { 'start_' + str(self.num_robots).zfill(2): { 'label': 'r01', 'text_item': initial_pose_textItem } } # Use Qualisys self.robot_localization_label = QLabel('Localization') self.layout.addWidget(self.robot_localization_label) self.robot_localization_checkBox = QCheckBox('Use Qualisys') self.layout.addWidget(self.robot_localization_checkBox) # Task specifications self.robot_label_task_title = QLabel('Task robot ' + str(self.num_robots)) self.robot_label_task_title.setFont(font) self.layout.addWidget(self.robot_label_task_title) self.robot_label_hard_task = QLabel('Hard tasks') self.layout.addWidget(self.robot_label_hard_task) self.robot_hard_task_input = QLineEdit('([]<> r01) && ([]<> r02)') self.layout.addWidget(self.robot_hard_task_input) self.robot_label_soft_task = QLabel('Soft tasks') self.layout.addWidget(self.robot_label_soft_task) self.robot_soft_task_input = QLineEdit() self.layout.addWidget(self.robot_soft_task_input) # Plan display self.robot_label_prefix = QLabel('Planner prefix robot ' + str(self.num_robots)) self.layout.addWidget(self.robot_label_prefix) self.robot_prefix_textbox = QTextBrowser() self.layout.addWidget(self.robot_prefix_textbox) self.robot_label_sufix = QLabel('Planner sufix robot ' + str(self.num_robots)) self.layout.addWidget(self.robot_label_sufix) self.robot_sufix_textbox = QTextBrowser() self.layout.addWidget(self.robot_sufix_textbox) # Current goal display self.robot_label_current_goal = QLabel('Current goal robot ' + str(self.num_robots)) self.layout.addWidget(self.robot_label_current_goal) self.robot_current_goal_textbox = QTextBrowser() self.layout.addWidget(self.robot_current_goal_textbox) # Clear costmap button self.robot_resend_goal_button = QPushButton('Clear costmap') self.layout.addWidget(self.robot_resend_goal_button) # Temporary task button self.robot_temporary_task_button = QPushButton('Temporary task') self.layout.addWidget(self.robot_temporary_task_button) self.robot_temporary_task_button.clicked.connect( self.temporary_task_button_pressed) self.setLayout(self.layout) # Messages for publishing pose, soft-task, hard-task and clear_costmap self.init_pose_msg = Pose() self.soft_task_msg = String() self.hard_task_msg = String() self.prefix_string = '' self.sufix_string = '' # Marker displaying robots name self.label_marker_msg = Marker() self.label_marker_msg.pose = self.init_pose_msg self.label_marker_msg.pose.position.z = 1.0 self.label_marker_msg.text = self.robot_name self.label_marker_msg.type = self.label_marker_msg.TEXT_VIEW_FACING self.label_marker_msg.id = self.num_robots self.label_marker_msg.action = self.label_marker_msg.ADD self.label_marker_msg.scale.z = 0.5 self.label_marker_msg.color.a = 1.0 self.label_marker_msg.color.r = 0.0 self.label_marker_msg.color.g = 0.0 self.label_marker_msg.color.b = 0.0 self.label_marker_msg.header.frame_id = '/map' # Pose msg published for planner self.pose_msg = PoseWithCovarianceStamped() # Init pose msg for planner self.pose_msg.pose.pose = self.init_pose_msg # Clear costmap and resend current goal self.robot_resend_goal_button.clicked.connect( self.call_clear_costmap_srvs) self.robot_current_goal = MoveBaseActionGoal()
class RobotTab(QWidget): signalRobotNameChanged = pyqtSignal(int) def __init__(self, num_robots, robots): super(RobotTab, self).__init__() # Available robots from gui_config.yaml self.robots = robots # Set robot type by default to ground self.agent_type = 'ground' # Number of robots self.num_robots = num_robots # Set the robot name by default self.robot_name = 'robot' + str(self.num_robots) # Set layout for tab self.layout = QVBoxLayout() # Robot tab title self.robot_label_name = QLabel(('Robot ' + str(self.num_robots))) font = QFont() font.setPointSize(14) font.setBold(True) self.robot_label_name.setFont(font) self.layout.addWidget(self.robot_label_name) # Robot name label and input line self.robot_label = QLabel('Robot name') self.layout.addWidget(self.robot_label) self.robot_name_input = QLineEdit('robot' + str(self.num_robots)) #self.robot_name_input.editingFinished.connect(self.robot_name_changed) self.layout.addWidget(self.robot_name_input) # Robot model label and comboBox self.robot_model_label = QLabel('Robot model') self.layout.addWidget(self.robot_model_label) self.robot_comboBox = CustomComboBox(self.num_robots - 1) self.robot_comboBox.addItems(self.robots['Models'].keys()) self.layout.addWidget(self.robot_comboBox) self.robot_comboBox.signalIndexChanged.connect(self.set_agent_type) # Initial pose self.robot_label_init = QLabel('Initial pose') self.layout.addWidget(self.robot_label_init) self.robot_comboBox_init = CustomComboBox(self.num_robots) self.layout.addWidget(self.robot_comboBox_init) # Add initial pose text item to graphic initial_pose_textItem = QGraphicsTextItem( 'start_' + str(self.num_robots).zfill(2)) self.initial_pose = { 'start_' + str(self.num_robots).zfill(2): { 'label': 'r01', 'text_item': initial_pose_textItem } } # Use Qualisys self.robot_localization_label = QLabel('Localization') self.layout.addWidget(self.robot_localization_label) self.robot_localization_checkBox = QCheckBox('Use Qualisys') self.layout.addWidget(self.robot_localization_checkBox) # Task specifications self.robot_label_task_title = QLabel('Task robot ' + str(self.num_robots)) self.robot_label_task_title.setFont(font) self.layout.addWidget(self.robot_label_task_title) self.robot_label_hard_task = QLabel('Hard tasks') self.layout.addWidget(self.robot_label_hard_task) self.robot_hard_task_input = QLineEdit('([]<> r01) && ([]<> r02)') self.layout.addWidget(self.robot_hard_task_input) self.robot_label_soft_task = QLabel('Soft tasks') self.layout.addWidget(self.robot_label_soft_task) self.robot_soft_task_input = QLineEdit() self.layout.addWidget(self.robot_soft_task_input) # Plan display self.robot_label_prefix = QLabel('Planner prefix robot ' + str(self.num_robots)) self.layout.addWidget(self.robot_label_prefix) self.robot_prefix_textbox = QTextBrowser() self.layout.addWidget(self.robot_prefix_textbox) self.robot_label_sufix = QLabel('Planner sufix robot ' + str(self.num_robots)) self.layout.addWidget(self.robot_label_sufix) self.robot_sufix_textbox = QTextBrowser() self.layout.addWidget(self.robot_sufix_textbox) # Current goal display self.robot_label_current_goal = QLabel('Current goal robot ' + str(self.num_robots)) self.layout.addWidget(self.robot_label_current_goal) self.robot_current_goal_textbox = QTextBrowser() self.layout.addWidget(self.robot_current_goal_textbox) # Clear costmap button self.robot_resend_goal_button = QPushButton('Clear costmap') self.layout.addWidget(self.robot_resend_goal_button) # Temporary task button self.robot_temporary_task_button = QPushButton('Temporary task') self.layout.addWidget(self.robot_temporary_task_button) self.robot_temporary_task_button.clicked.connect( self.temporary_task_button_pressed) self.setLayout(self.layout) # Messages for publishing pose, soft-task, hard-task and clear_costmap self.init_pose_msg = Pose() self.soft_task_msg = String() self.hard_task_msg = String() self.prefix_string = '' self.sufix_string = '' # Marker displaying robots name self.label_marker_msg = Marker() self.label_marker_msg.pose = self.init_pose_msg self.label_marker_msg.pose.position.z = 1.0 self.label_marker_msg.text = self.robot_name self.label_marker_msg.type = self.label_marker_msg.TEXT_VIEW_FACING self.label_marker_msg.id = self.num_robots self.label_marker_msg.action = self.label_marker_msg.ADD self.label_marker_msg.scale.z = 0.5 self.label_marker_msg.color.a = 1.0 self.label_marker_msg.color.r = 0.0 self.label_marker_msg.color.g = 0.0 self.label_marker_msg.color.b = 0.0 self.label_marker_msg.header.frame_id = '/map' # Pose msg published for planner self.pose_msg = PoseWithCovarianceStamped() # Init pose msg for planner self.pose_msg.pose.pose = self.init_pose_msg # Clear costmap and resend current goal self.robot_resend_goal_button.clicked.connect( self.call_clear_costmap_srvs) self.robot_current_goal = MoveBaseActionGoal() # Start all publisher and Subscriber #self.start_publisher_and_subscriber() # AMCL pose callback def current_pose_amcl_callback(self, msg): if self.robot_localization_checkBox.checkState() != 2: self.pose_msg.pose.pose = deepcopy(msg.pose.pose) self.pose_msg.header = deepcopy(msg.header) self.pose_msg.header.stamp = rospy.Time.now() if self.agent_type == 'ground': self.label_marker_msg.header = msg.header self.label_marker_msg.pose = deepcopy(msg.pose.pose) self.label_marker_msg.pose.position.z = deepcopy( msg.pose.pose.position.z) + 1 # Localization with Qualisys def current_pose_qualisys_callback(self, msg): if self.robot_localization_checkBox.checkState() == 2: self.pose_msg.header = deepcopy(msg.header) self.pose_msg.pose.pose = deepcopy(msg.pose) self.pose_msg.header.stamp = rospy.Time.now() if self.agent_type == 'ground': self.label_marker_msg.header = msg.header self.label_marker_msg.pose = msg.pose self.label_marker_msg.pose.position.z = deepcopy( msg.pose.position.z) + 1 # Localization with Gazebo ground truth def current_pose_gazebo_ground_truth_callback(self, msg): if self.agent_type == 'aerial': self.label_marker_msg.header = msg.header self.label_marker_msg.pose = msg.pose.pose self.label_marker_msg.pose.position.z = deepcopy( msg.pose.pose.position.z) + 1.0 # Sends topic to planner to clear costmap manual @Slot(bool) def call_clear_costmap_srvs(self): if self.agent_type == 'ground': bool = Bool() bool.data = True self.clear_costmap_publisher.publish(bool) # Opens dialog for temporary task @Slot(bool) def temporary_task_button_pressed(self): temporary_task_dialog = TemporaryTask_dialog() temporary_task_dialog.exec_() if temporary_task_dialog.atomic_propositions: temporary_task_msg = TemporaryTask() temporary_task_msg.header.stamp = rospy.Time.now() for i in range(0, len(temporary_task_dialog.atomic_propositions)): string_msg = String() string_msg.data = temporary_task_dialog.atomic_propositions[i] temporary_task_msg.task.append(string_msg) temporary_task_msg.T_des.data = temporary_task_dialog.T_des self.temporary_task_publisher.publish(temporary_task_msg) # If robot name in tab has changed the subscriber and publisher topics are updated def robot_name_changed(self): self.remove_publisher_and_subscriber() self.robot_name = self.robot_name_input.text() self.start_publisher_and_subscriber() self.label_marker_msg.text = self.robot_name self.signalRobotNameChanged.emit(self.num_robots) # Start all publisher and subscriber from robot tab def start_publisher_and_subscriber(self): self.robot_name = self.robot_name_input.text() self.ros_publisher = ROS_Publisher() self.ros_publisher.add_publisher('/' + self.robot_name + '/init_pose', Pose, 1.0, self.init_pose_msg) self.ros_publisher.add_publisher('/' + self.robot_name + '/soft_task', String, 1.0, self.soft_task_msg) self.ros_publisher.add_publisher('/' + self.robot_name + '/hard_task', String, 1.0, self.hard_task_msg) self.ros_publisher.add_publisher( '/' + self.robot_name + '/label_marker', Marker, 5.0, self.label_marker_msg) self.temporary_task_publisher = rospy.Publisher('/' + self.robot_name + '/temporary_task', TemporaryTask, queue_size=1) self.clear_costmap_publisher = rospy.Publisher('/' + self.robot_name + '/clear_costmap', Bool, queue_size=1) self.current_pose_amcl_subscriber = rospy.Subscriber( '/' + self.robot_name + '/amcl_pose', PoseWithCovarianceStamped, self.current_pose_amcl_callback) self.current_pose_qualisys_subscriber = rospy.Subscriber( '/' + self.robot_name + '/qualisys_pose_map', PoseStamped, self.current_pose_qualisys_callback) self.current_pose_gazebo_ground_truth_subscriber = rospy.Subscriber( '/' + self.robot_name + '/ground_truth/pose_with_covariance', PoseWithCovarianceStamped, self.current_pose_gazebo_ground_truth_callback) self.ros_publisher.add_publisher('/' + self.robot_name + '/pose_gui', PoseWithCovarianceStamped, 15.0, self.pose_msg) self.label_marker_msg.text = self.robot_name # Remove all publisher and subcriber from robot tab def remove_publisher_and_subscriber(self): del self.ros_publisher del self.clear_costmap_publisher del self.temporary_task_publisher del self.current_pose_amcl_subscriber del self.current_pose_qualisys_subscriber del self.current_pose_gazebo_ground_truth_subscriber # ADD FUNCTION THAT JUST CHANGES SOFT AND HARD TASK!!!! # DELETE OLD ONE, AND ADD NEW ONE! pass as argument the planner or previous class such that I call it here # Updates robot type if model checkbox was changed def set_agent_type(self): if self.robot_comboBox.currentText( ) in self.robots['robot_types']['aerial']: self.agent_type = 'aerial' else: self.agent_type = 'ground' def build_init_pose_msg(self, id): self.init_pose_msg.position.x = self.initial_pose[ 'start_' + str(id).zfill(2)]['pose']['position'][0] self.init_pose_msg.position.y = self.initial_pose[ 'start_' + str(id).zfill(2)]['pose']['position'][1] self.init_pose_msg.position.z = self.initial_pose[ 'start_' + str(id).zfill(2)]['pose']['position'][2] self.init_pose_msg.orientation.w = self.initial_pose[ 'start_' + str(id).zfill(2)]['pose']['orientation'][0] self.init_pose_msg.orientation.x = self.initial_pose[ 'start_' + str(id).zfill(2)]['pose']['orientation'][1] self.init_pose_msg.orientation.y = self.initial_pose[ 'start_' + str(id).zfill(2)]['pose']['orientation'][2] self.init_pose_msg.orientation.z = self.initial_pose[ 'start_' + str(id).zfill(2)]['pose']['orientation'][3]