class Dashboard(QWidget):
_scan_button_led = Signal(bool)
_cancel_button_led = Signal(bool)
def __init__(self):
super(Dashboard, self).__init__()
not_latched = False
# latched = True
self.publishers = py_trees_ros.utilities.Publishers([
('scan', "~scan", std_msgs.Empty, not_latched, 1),
('cancel', "~cancel", std_msgs.Empty, not_latched, 1),
])
self.scan_push_button = QPushButton("Scan")
self.scan_push_button.setStyleSheet("QPushButton { font-size: 30pt; }")
self.scan_push_button.setSizePolicy(QSizePolicy.Expanding,
QSizePolicy.Expanding)
self.scan_push_button.pressed.connect(
functools.partial(self.publish_button_message,
self.publishers.scan))
self.cancel_push_button = QPushButton("Cancel")
self.cancel_push_button.setStyleSheet(
"QPushButton { font-size: 30pt; }")
self.cancel_push_button.setSizePolicy(QSizePolicy.Expanding,
QSizePolicy.Expanding)
self.cancel_push_button.pressed.connect(
functools.partial(self.publish_button_message,
self.publishers.cancel))
self.led_strip_flashing = False
self.led_strip_on_count = 1
self.led_strip_colour = "grey"
self.led_strip_lock = threading.Lock()
self.led_strip_timer = QTimer()
self.led_strip_timer.timeout.connect(self.led_strip_timer_callback)
self.led_strip_label = QLabel("LED Strip")
self.led_strip_label.setAlignment(Qt.AlignCenter)
self.led_strip_label.setSizePolicy(QSizePolicy.Expanding,
QSizePolicy.Expanding)
self.led_strip_label.setStyleSheet(
"background-color: %s; font-size: 30pt;" % self.led_strip_colour)
self.hbox_layout = QGridLayout(self)
self.hbox_layout.addWidget(self.scan_push_button)
self.hbox_layout.addWidget(self.cancel_push_button)
self.hbox_layout.addWidget(self.led_strip_label)
self.subscribers = py_trees_ros.utilities.Subscribers([
("report", "/tree/report", std_msgs.String,
self.reality_report_callback),
("led_strip", "/led_strip/display", std_msgs.String,
self.led_strip_display_callback)
])
self.led_strip_timer.start(500) # ms
def publish_button_message(self, publisher):
publisher.publish(std_msgs.Empty())
def reality_report_callback(self, msg):
if msg.data == "cancelling":
self.set_scanning_colour(False)
self.set_cancelling_colour(True)
self.cancel_push_button.setEnabled(True)
elif msg.data == "scanning":
self.set_scanning_colour(True)
self.set_cancelling_colour(False)
self.cancel_push_button.setEnabled(True)
else:
self.set_scanning_colour(False)
self.set_cancelling_colour(False)
self.cancel_push_button.setEnabled(False)
def set_cancelling_colour(self, val):
if val:
self.cancel_push_button.setStyleSheet(
"QPushButton { font-size: 30pt; background-color: red}")
else:
self.cancel_push_button.setStyleSheet(
"QPushButton { font-size: 30pt; }")
def set_scanning_colour(self, val):
if val:
self.scan_push_button.setStyleSheet(
"QPushButton { font-size: 30pt; background-color: green}")
else:
self.scan_push_button.setStyleSheet(
"QPushButton { font-size: 30pt; }")
def led_strip_display_callback(self, msg):
with self.led_strip_lock:
if not msg.data:
self.led_strip_colour = "grey"
self.led_strip_flashing = False
else:
self.led_strip_flashing = True
self.led_strip_colour = None
for colour in ["blue", "red", "green"]:
if colour in msg.data:
self.led_strip_colour = colour
break
if not self.led_strip_colour:
self.led_strip_colour = "pink"
rospy.loginfo(
"Dashboard: received unknown LED colour {0}, setting 'pink'"
.format(msg.data))
@Slot()
def led_strip_timer_callback(self):
with self.led_strip_lock:
if self.led_strip_flashing:
if self.led_strip_on_count > 0:
self.led_strip_on_count = 0
self.led_strip_label.setStyleSheet(
"background-color: none; font-size: 30pt;")
else:
self.led_strip_on_count += 1
self.led_strip_label.setStyleSheet(
"background-color: %s; font-size: 30pt;" %
self.led_strip_colour)
else: # solid
self.led_strip_on_count = 1
self.led_strip_label.setStyleSheet(
"background-color: %s; font-size: 30pt;" %
self.led_strip_colour)
class StringLabelWidget(QWidget):
def __init__(self):
super(StringLabelWidget, self).__init__()
self.lock = Lock()
vbox = QVBoxLayout(self)
self.label = QLabel()
self.label.setAlignment(Qt.AlignLeft)
self.label.setSizePolicy(
QSizePolicy(QSizePolicy.Ignored, QSizePolicy.Ignored))
font = QFont("Helvetica", 14)
self.label.setFont(font)
self.label.setWordWrap(True)
vbox.addWidget(self.label)
self.string_sub = None
self._string_topics = []
self._update_topic_timer = QTimer(self)
self._update_topic_timer.timeout.connect(self.updateTopics)
self._update_topic_timer.start(1000)
self._active_topic = None
# to update label visualization
self._dialog = LineEditDialog()
self._rosdata = None
self._start_time = rospy.get_time()
self._update_label_timer = QTimer(self)
self._update_label_timer.timeout.connect(self.updateLabel)
self._update_label_timer.start(40)
def trigger_configuration(self):
self._dialog.exec_()
self.setupSubscriber(self._dialog.value)
def updateLabel(self):
if not self._rosdata:
return
try:
_, data_y = self._rosdata.next()
except rqt_plot.rosplot.RosPlotException as e:
self._rosdata = None
return
if len(data_y) == 0:
return
latest = data_y[-1] # get latest data
# supports std_msgs/String as well as string data nested in rosmsg
if type(latest) == String:
self.string = latest.data
else:
self.string = latest
try:
self.label.setText(self.string)
except TypeError as e:
rospy.logwarn(e)
def updateTopics(self):
need_to_update = False
for (topic, topic_type) in rospy.get_published_topics():
msg = roslib.message.get_message_class(topic_type)
field_names = get_slot_type_field_names(msg, slot_type='string')
for field in field_names:
string_topic = topic + field
if string_topic not in self._string_topics:
self._string_topics.append(string_topic)
need_to_update = True
if need_to_update:
self._string_topics = sorted(self._string_topics)
self._dialog.combo_box.clear()
for topic in self._string_topics:
self._dialog.combo_box.addItem(topic)
if self._active_topic:
if self._active_topic not in self._string_topics:
self._string_topics.append(self._active_topic)
self._dialog.combo_box.addItem(self._active_topic)
self._dialog.combo_box.setCurrentIndex(
self._string_topics.index(self._active_topic))
def setupSubscriber(self, topic):
if not self._rosdata:
self._rosdata = ROSData(topic, self._start_time)
else:
if self._rosdata != topic:
self._rosdata.close()
self._rosdata = ROSData(topic, self._start_time)
else:
rospy.logwarn("%s is already subscribed", topic)
self._active_topic = topic
def onActivated(self, number):
self.setupSubscriber(self._string_topics[number])
def save_settings(self, plugin_settings, instance_settings):
if self._active_topic:
instance_settings.set_value("active_topic", self._active_topic)
def restore_settings(self, plugin_settings, instance_settings):
if instance_settings.value("active_topic"):
topic = instance_settings.value("active_topic")
self._dialog.combo_box.addItem(topic)
self.setupSubscriber(topic)
