def initThresh(self):
# Low and Critical decide what colors the boxes take for
# Good (Green), Warning (Yellow), and Critical (Red)
# If the parameter server has not set these values then we use the DEFAULT
# values as of Oct. 2017 which are 26 and 20
# The GUI notifies that it is using defualt values and will continually
# check to see if the params have been set, as symboloized by self.gotParams
self.gotParams = True
self.lowThreshold = 26
self.criticalThreshold = 20
try:
self.lowThreshold = rospy.get_param('battery-voltage/low')
self.criticalThreshold = rospy.get_param(
'battery-voltage/critical')
except:
print("Low and Critical Voltage not set, Low: 26 Critical:20")
self.lowThreshold = 26
self.criticalThreshold = 20
self.gotParams = False
# Thresh is a box in the top right of the GUI that displays Threshold values and box layouts
# self.labelThresh = QLabel(self)
# self.labelThresh.setGeometry(QtCore.QRect((150+2*self.boxWidth), (10), self.boxWidth, self.boxHeight))
threshText = "Low Threshold: {} \nCritical: {}".format(
self.lowThreshold, self.criticalThreshold)
self.labelThresh.setText(threshText)
self.labelThresh.setStyleSheet(
"QLabel { background-color : white; color : black; }")
threshFont = QtGui.QFont("Times", (self.fontSize) / 3,
QtGui.QFont.Bold)
self.labelThresh.setFont(threshFont)
def __init__(self, filename, parent=None):
self.parent = parent
QtGui.QTextEdit.__init__(self, parent)
self.setObjectName(' - '.join(['Editor', filename]))
font = QtGui.QFont()
font.setFamily("Fixed".decode("utf-8"))
font.setPointSize(12)
self.setFont(font)
self.setLineWrapMode(QtGui.QTextEdit.NoWrap)
self.setTabStopWidth(25)
self.setAcceptRichText(False)
self.setCursorWidth(2)
self.setFontFamily("courier new")
self.setProperty("backgroundVisible", True)
self.regexp_list = [QtCore.QRegExp("\\binclude\\b"), QtCore.QRegExp("\\btextfile\\b"),
QtCore.QRegExp("\\bfile\\b"), QtCore.QRegExp("\\bvalue=.*pkg:\/\/\\b"),
QtCore.QRegExp("\\bvalue=.*package:\/\/\\b"),
QtCore.QRegExp("\\bvalue=.*\$\(find\\b")]
self.filename = filename
self.file_info = None
if self.filename:
f = QtCore.QFile(filename);
if f.open(QtCore.QIODevice.ReadOnly | QtCore.QIODevice.Text):
self.file_info = QtCore.QFileInfo(filename)
self.setText(unicode(f.readAll(), "utf-8"))
self.path = '.'
# enables drop events
self.setAcceptDrops(True)
def resizeFont(self):
# gets new window dimensions, the self is needed because we are referencing
# our VoltageWidget class
height = VoltageWidget.frameGeometry(self).height()
# The ratio change in width and height caused by the resize
heightRatio = height / self.height
# update to current
self.height = height
# Fonts like 16, 24 are references to height of letters. So I thought it would
# Make sense to change font size proportionally to changes in window height
self.fontSize = self.fontSize * heightRatio
newfont = QtGui.QFont("Times", self.fontSize, QtGui.QFont.Bold)
self.labelMain.setFont(newfont)
self.labelFL.setFont(newfont)
self.labelFR.setFont(newfont)
self.labelBL.setFont(newfont)
self.labelBR.setFont(newfont)
threshFont = QtGui.QFont("Times", (self.fontSize) / 3,
QtGui.QFont.Bold)
self.labelThresh.setFont(threshFont)
def __init__(self, context):
super(HalloweenGUI, self).__init__(context)
self.setObjectName('HalloweenGUI')
self._widget = QWidget()
self._widget.setFixedSize(525, 300)
self.arm_db = ArmDB()
self._tf_listener = TransformListener()
# Action/service/message clients or servers
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(
switch_srv_name, SwitchController)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
self.all_joint_names = []
self.all_joint_poses = []
self.saved_r_arm_pose = None
self.saved_l_arm_pose = None
self.lock = threading.Lock()
rospy.Subscriber('joint_states', JointState, self.joint_states_cb)
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for RIGHT arm...'
)
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for LEFT arm...'
)
self.l_traj_action_client.wait_for_server()
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.joint_sig.connect(self.joint_sig_cb)
large_box = QtGui.QVBoxLayout()
arm_box = QtGui.QHBoxLayout()
right_arm_box = QtGui.QVBoxLayout()
left_arm_box = QtGui.QVBoxLayout()
left_arm_box.addItem(QtGui.QSpacerItem(50, 50))
right_arm_box.addItem(QtGui.QSpacerItem(50, 50))
right_arm_box.addWidget(self.create_button('Relax right arm'))
right_arm_box.addWidget(self.create_button('Freeze right arm'))
left_arm_box.addWidget(self.create_button('Relax left arm'))
left_arm_box.addWidget(self.create_button('Freeze left arm'))
left_arm_box.addItem(QtGui.QSpacerItem(50, 20))
right_arm_box.addItem(QtGui.QSpacerItem(50, 20))
left_pose_saver = PoseSaver(PoseSaver.LEFT, self)
right_pose_saver = PoseSaver(PoseSaver.RIGHT, self)
left_arm_box.addWidget(
self.create_button("Create left arm pose",
left_pose_saver.create_closure()))
right_arm_box.addWidget(
self.create_button("Create right arm pose",
right_pose_saver.create_closure()))
left_arm_box.addItem(QtGui.QSpacerItem(50, 20))
right_arm_box.addItem(QtGui.QSpacerItem(50, 20))
# Dropdown boxes for saved poses
left_pose_loader = PoseLoader(PoseLoader.LEFT, self)
right_pose_loader = PoseLoader(PoseLoader.RIGHT, self)
self.combo_box_left = left_pose_loader.create_button()
self.combo_box_right = right_pose_loader.create_button()
left_arm_box.addWidget(self.combo_box_left)
right_arm_box.addWidget(self.combo_box_right)
left_pose_option_box = QtGui.QHBoxLayout()
right_pose_option_box = QtGui.QHBoxLayout()
right_pose_option_box.addWidget(self.create_button('Move to pose (R)'))
left_pose_option_box.addWidget(self.create_button('Move to pose (L)'))
# Buttons for deleting poses for left/right arms
left_pose_option_box.addWidget(self.create_button('Delete pose (L)'))
right_pose_option_box.addWidget(self.create_button('Delete pose (R)'))
left_arm_box.addLayout(left_pose_option_box)
right_arm_box.addLayout(right_pose_option_box)
left_arm_box.addItem(QtGui.QSpacerItem(50, 50))
right_arm_box.addItem(QtGui.QSpacerItem(50, 50))
arm_box.addLayout(left_arm_box)
arm_box.addItem(QtGui.QSpacerItem(20, 20))
arm_box.addLayout(right_arm_box)
large_box.addLayout(arm_box)
# Initialize state of saved arm poses for selected dropdowns
self.update_saved_l_arm_pose()
self.update_saved_r_arm_pose()
# Update saved arm pose data on the changing of selected pose
self.combo_box_left.connect(
self.combo_box_left, QtCore.SIGNAL("currentIndexChanged(QString)"),
self.update_saved_l_arm_pose)
self.combo_box_right.connect(
self.combo_box_right,
QtCore.SIGNAL("currentIndexChanged(QString)"),
self.update_saved_r_arm_pose)
self._widget.setObjectName('HalloweenGUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet(
"QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../arm_gui_bg_large.png"))
rospy.loginfo('GUI initialization complete.')
def __init__(self, context):
super(PbDGUI, self).__init__(context)
self.setObjectName('PbDGUI')
self._widget = QWidget()
self.speech_cmd_publisher = rospy.Publisher('recognized_command',
Command)
self.gui_cmd_publisher = rospy.Publisher('gui_command', GuiCommand)
rospy.Subscriber('experiment_state', ExperimentState,
self.exp_state_cb)
rospy.Subscriber('robotsound', SoundRequest, self.robotSoundReceived)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.exp_state_sig.connect(self.update_state)
self.commands = dict()
self.commands[Command.TEST_MICROPHONE] = 'Test microphone'
self.commands[Command.NEW_DEMONSTRATION] = 'New demonstration'
self.commands[Command.START_RECORDING] = 'Start recording'
self.commands[Command.STOP_RECORDING] = 'Stop recording'
self.commands[Command.REPLAY_DEMONSTRATION] = 'Replay demonstration'
self.commands[Command.DETECT_SURFACE] = 'Detect surface'
self.commands[Command.TAKE_TOOL] = 'Take tool'
self.commands[Command.RELEASE_TOOL] = 'Release tool'
self.commands[Command.SAVE_ARM_POSE] = 'Save arm pose'
self.currentAction = -1
self.currentStep = -1
allWidgetsBox = QtGui.QVBoxLayout()
actionBox = QGroupBox('Demonstrations', self._widget)
self.actionGrid = QtGui.QGridLayout()
self.actionGrid.setHorizontalSpacing(0)
for i in range(6):
self.actionGrid.addItem(QtGui.QSpacerItem(90, 90), 0, i,
QtCore.Qt.AlignCenter)
self.actionGrid.setColumnStretch(i, 0)
self.actionIcons = dict()
actionBoxLayout = QtGui.QHBoxLayout()
actionBoxLayout.addLayout(self.actionGrid)
actionBox.setLayout(actionBoxLayout)
actionButtonGrid = QtGui.QHBoxLayout()
actionButtonGrid.addWidget(
self.create_button(Command.NEW_DEMONSTRATION))
self.stepsBox = QGroupBox('No demonstrations', self._widget)
self.stepsGrid = QtGui.QGridLayout()
self.l_model = QtGui.QStandardItemModel(self)
self.l_view = self._create_table_view(self.l_model,
self.l_row_clicked_cb)
self.r_model = QtGui.QStandardItemModel(self)
self.r_view = self._create_table_view(self.r_model,
self.r_row_clicked_cb)
self.stepsGrid.addItem(QtGui.QSpacerItem(280, 10), 0, 0, 2, 3)
self.stepsGrid.addItem(QtGui.QSpacerItem(10, 10), 0, 1, 2, 3)
self.stepsGrid.addItem(QtGui.QSpacerItem(280, 10), 0, 2, 2, 3)
self.stepsGrid.addWidget(QtGui.QLabel('Left Arm'), 0, 0)
self.stepsGrid.addWidget(QtGui.QLabel('Right Arm'), 0, 2)
self.stepsGrid.addWidget(self.l_view, 1, 0)
self.stepsGrid.addWidget(self.r_view, 1, 2)
stepsBoxLayout = QtGui.QHBoxLayout()
stepsBoxLayout.addLayout(self.stepsGrid)
self.stepsBox.setLayout(stepsBoxLayout)
stepsButtonGrid = QtGui.QHBoxLayout()
stepsButtonGrid.addWidget(
self.create_button(Command.REPLAY_DEMONSTRATION))
motionButtonGrid = QtGui.QHBoxLayout()
motionButtonGrid.addWidget(self.create_button(Command.START_RECORDING))
motionButtonGrid.addWidget(self.create_button(Command.STOP_RECORDING))
misc_grid = QtGui.QHBoxLayout()
misc_grid.addWidget(self.create_button(Command.TEST_MICROPHONE))
misc_grid.addWidget(self.create_button(Command.DETECT_SURFACE))
misc_grid.addStretch(1)
misc_grid2 = QtGui.QHBoxLayout()
misc_grid2.addWidget(self.create_button(Command.TAKE_TOOL))
misc_grid2.addWidget(self.create_button(Command.RELEASE_TOOL))
misc_grid2.addStretch(1)
misc_grid3 = QtGui.QHBoxLayout()
misc_grid3.addWidget(self.create_button(Command.SAVE_ARM_POSE))
misc_grid3.addStretch(1)
speechGroupBox = QGroupBox('Robot Speech', self._widget)
speechGroupBox.setObjectName('RobotSpeechGroup')
speechBox = QtGui.QHBoxLayout()
self.speechLabel = QtGui.QLabel('Robot has not spoken yet')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue)
self.speechLabel.setPalette(palette)
speechBox.addWidget(self.speechLabel)
speechGroupBox.setLayout(speechBox)
allWidgetsBox.addWidget(actionBox)
allWidgetsBox.addLayout(actionButtonGrid)
allWidgetsBox.addWidget(self.stepsBox)
allWidgetsBox.addLayout(motionButtonGrid)
allWidgetsBox.addLayout(stepsButtonGrid)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid2)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 40))
allWidgetsBox.addLayout(misc_grid3)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addWidget(speechGroupBox)
allWidgetsBox.addStretch(1)
# Fix layout and add main widget to the user interface
QtGui.QApplication.setStyle(QtGui.QStyleFactory.create('plastique'))
vAllBox = QtGui.QVBoxLayout()
vAllBox.addLayout(allWidgetsBox)
vAllBox.addStretch(1)
hAllBox = QtGui.QHBoxLayout()
hAllBox.addLayout(vAllBox)
hAllBox.addStretch(1)
self._widget.setObjectName('PbDGUI')
self._widget.setLayout(hAllBox)
context.add_widget(self._widget)
rospy.loginfo('Will wait for the experiment state service...')
rospy.wait_for_service('get_experiment_state')
exp_state_srv = rospy.ServiceProxy('get_experiment_state',
GetExperimentState)
rospy.loginfo('Got response from the experiment state service...')
response = exp_state_srv()
self.update_state(response.state)
def __init__(self, context):
super(PbDGUI, self).__init__(context)
self.setObjectName('PbDGUI')
self._widget = QWidget()
self.speech_cmd_publisher = rospy.Publisher('recognized_command',
Command)
self.gui_cmd_publisher = rospy.Publisher('gui_command', GuiCommand)
rospy.Subscriber('experiment_state', ExperimentState,
self.exp_state_cb)
rospy.Subscriber('robotsound', SoundRequest, self.robotSoundReceived)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.exp_state_sig.connect(self.update_state)
self.commands = dict()
self.commands[Command.CREATE_NEW_ACTION] = 'New action'
self.commands[Command.TEST_MICROPHONE] = 'Test microphone'
self.commands[Command.NEXT_ACTION] = 'Next action'
self.commands[Command.PREV_ACTION] = 'Previous action'
self.commands[Command.SAVE_POSE] = 'Save pose'
self.commands[Command.RELAX_RIGHT_ARM] = 'Relax right arm'
self.commands[Command.RELAX_LEFT_ARM] = 'Relax left arm'
self.commands[Command.FREEZE_RIGHT_ARM] = 'Freeze right arm'
self.commands[Command.FREEZE_LEFT_ARM] = 'Freeze left arm'
self.commands[Command.OPEN_RIGHT_HAND] = 'Open right hand'
self.commands[Command.OPEN_LEFT_HAND] = 'Open left hand'
self.commands[Command.CLOSE_RIGHT_HAND] = 'Close right hand'
self.commands[Command.CLOSE_LEFT_HAND] = 'Close left hand'
self.commands[Command.CLOSE_LEFT_HAND] = 'Close left hand'
self.commands[Command.EXECUTE_ACTION] = 'Execute action'
self.commands[Command.STOP_EXECUTION] = 'Stop execution'
self.commands[Command.DELETE_ALL_STEPS] = 'Delete all'
self.commands[Command.DELETE_LAST_STEP] = 'Delete last'
self.commands[Command.RECORD_OBJECT_POSE] = 'Record object poses'
self.currentAction = -1
self.currentStep = -1
allWidgetsBox = QtGui.QVBoxLayout()
actionBox = QGroupBox('Actions', self._widget)
self.actionGrid = QtGui.QGridLayout()
self.actionGrid.setHorizontalSpacing(0)
for i in range(6):
self.actionGrid.addItem(QtGui.QSpacerItem(90, 90), 0, i,
QtCore.Qt.AlignCenter)
self.actionGrid.setColumnStretch(i, 0)
self.actionIcons = dict()
actionBoxLayout = QtGui.QHBoxLayout()
actionBoxLayout.addLayout(self.actionGrid)
actionBox.setLayout(actionBoxLayout)
actionButtonGrid = QtGui.QHBoxLayout()
actionButtonGrid.addWidget(
self.create_button(Command.CREATE_NEW_ACTION))
self.stepsBox = QGroupBox('No actions created yet', self._widget)
self.stepsGrid = QtGui.QGridLayout()
self.l_model = QtGui.QStandardItemModel(self)
self.l_view = self._create_table_view(self.l_model,
self.l_row_clicked_cb)
self.r_model = QtGui.QStandardItemModel(self)
self.r_view = self._create_table_view(self.r_model,
self.r_row_clicked_cb)
self.stepsGrid.addItem(QtGui.QSpacerItem(280, 10), 0, 0, 2, 3)
self.stepsGrid.addItem(QtGui.QSpacerItem(10, 10), 0, 1, 2, 3)
self.stepsGrid.addItem(QtGui.QSpacerItem(280, 10), 0, 2, 2, 3)
self.stepsGrid.addWidget(QtGui.QLabel('Left Arm'), 0, 0)
self.stepsGrid.addWidget(QtGui.QLabel('Right Arm'), 0, 2)
self.stepsGrid.addWidget(self.l_view, 1, 0)
self.stepsGrid.addWidget(self.r_view, 1, 2)
stepsBoxLayout = QtGui.QHBoxLayout()
stepsBoxLayout.addLayout(self.stepsGrid)
self.stepsBox.setLayout(stepsBoxLayout)
stepsButtonGrid = QtGui.QHBoxLayout()
stepsButtonGrid.addWidget(self.create_button(Command.SAVE_POSE))
stepsButtonGrid.addWidget(self.create_button(Command.EXECUTE_ACTION))
stepsButtonGrid.addWidget(self.create_button(Command.STOP_EXECUTION))
stepsButtonGrid.addWidget(self.create_button(Command.DELETE_ALL_STEPS))
stepsButtonGrid.addWidget(self.create_button(Command.DELETE_LAST_STEP))
misc_grid = QtGui.QHBoxLayout()
misc_grid.addWidget(self.create_button(Command.TEST_MICROPHONE))
misc_grid.addWidget(self.create_button(Command.RECORD_OBJECT_POSE))
misc_grid.addStretch(1)
misc_grid2 = QtGui.QHBoxLayout()
misc_grid2.addWidget(self.create_button(Command.RELAX_RIGHT_ARM))
misc_grid2.addWidget(self.create_button(Command.RELAX_LEFT_ARM))
misc_grid2.addWidget(self.create_button(Command.FREEZE_RIGHT_ARM))
misc_grid2.addWidget(self.create_button(Command.FREEZE_LEFT_ARM))
misc_grid2.addStretch(1)
misc_grid3 = QtGui.QHBoxLayout()
misc_grid3.addWidget(self.create_button(Command.OPEN_RIGHT_HAND))
misc_grid3.addWidget(self.create_button(Command.OPEN_LEFT_HAND))
misc_grid3.addWidget(self.create_button(Command.CLOSE_RIGHT_HAND))
misc_grid3.addWidget(self.create_button(Command.CLOSE_LEFT_HAND))
misc_grid3.addStretch(1)
misc_grid4 = QtGui.QHBoxLayout()
misc_grid4.addWidget(self.create_button(Command.PREV_ACTION))
misc_grid4.addWidget(self.create_button(Command.NEXT_ACTION))
misc_grid4.addStretch(1)
speechGroupBox = QGroupBox('Robot Speech', self._widget)
speechGroupBox.setObjectName('RobotSpeechGroup')
speechBox = QtGui.QHBoxLayout()
self.speechLabel = QtGui.QLabel('Robot has not spoken yet')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue)
self.speechLabel.setPalette(palette)
speechBox.addWidget(self.speechLabel)
speechGroupBox.setLayout(speechBox)
allWidgetsBox.addWidget(actionBox)
allWidgetsBox.addLayout(actionButtonGrid)
allWidgetsBox.addWidget(self.stepsBox)
allWidgetsBox.addLayout(stepsButtonGrid)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid2)
allWidgetsBox.addLayout(misc_grid3)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addLayout(misc_grid4)
allWidgetsBox.addItem(QtGui.QSpacerItem(100, 20))
allWidgetsBox.addWidget(speechGroupBox)
allWidgetsBox.addStretch(1)
# Fix layout and add main widget to the user interface
QtGui.QApplication.setStyle(QtGui.QStyleFactory.create('plastique'))
vAllBox = QtGui.QVBoxLayout()
vAllBox.addLayout(allWidgetsBox)
vAllBox.addStretch(1)
hAllBox = QtGui.QHBoxLayout()
hAllBox.addLayout(vAllBox)
hAllBox.addStretch(1)
self._widget.setObjectName('PbDGUI')
self._widget.setLayout(hAllBox)
context.add_widget(self._widget)
rospy.loginfo('Will wait for the experiment state service...')
rospy.wait_for_service('get_experiment_state')
exp_state_srv = rospy.ServiceProxy('get_experiment_state',
GetExperimentState)
rospy.loginfo('Got response from the experiment state service...')
response = exp_state_srv()
self.update_state(response.state)
def __init__(self, context):
super(SimpleGUI, self).__init__(context)
self.setObjectName('SimpleGUI')
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.sound_sig.connect(self.sound_sig_cb)
large_box = QtGui.QVBoxLayout()
#Sound textbox
sound_textbox = QtGui.QLineEdit("Squirtle Squirtle") #Default Text
sound_textbox.setFixedWidth(450)
#Set a handle on the textbox to retrieve the text when button clicked
self.sound_textbox = sound_textbox
button_box = QtGui.QHBoxLayout()
button_box.addItem(QtGui.QSpacerItem(15, 20))
button_box.addWidget(self.create_button('Speak', self.command_cb))
button_box.addWidget(sound_textbox)
button_box.addStretch(1)
large_box.addLayout(button_box)
speech_box = QtGui.QHBoxLayout()
speech_box.addItem(QtGui.QSpacerItem(15, 20))
self.speech_label = QtGui.QLabel('Robot has not spoken yet.')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue)
self.speech_label.setPalette(palette)
speech_box.addWidget(self.speech_label)
large_box.addLayout(speech_box)
large_box.addStretch(1)
#large_box.addItem(QtGui.QSpacerItem(50,20))
up_head = Head(Head.UP)
head_box = QtGui.QVBoxLayout()
up_head_box = QtGui.QHBoxLayout()
up_head_button = self.create_button('^', up_head.create_closure())
#large_box.addWidget(up_head_button)
down_head = Head(Head.DOWN)
down_head_box = QtGui.QHBoxLayout()
down_head_button = self.create_button('v', down_head.create_closure())
#large_box.addWidget(down_head_button)
right_head = Head(Head.RIGHT)
right_head_button = self.create_button('>',
right_head.create_closure())
#large_box.addWidget(right_head_button)
left_head = Head(Head.LEFT)
left_head_button = self.create_button('<', left_head.create_closure())
left_right_head_box = QtGui.QHBoxLayout()
up_head_box.addItem(QtGui.QSpacerItem(235, 20))
up_head_box.addWidget(up_head_button)
up_head_box.addItem(QtGui.QSpacerItem(275, 20))
left_right_head_box.addItem(QtGui.QSpacerItem(160, 20))
left_right_head_box.addWidget(left_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(60, 20))
left_right_head_box.addWidget(right_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(225, 20))
down_head_box.addItem(QtGui.QSpacerItem(235, 20))
down_head_box.addWidget(down_head_button)
down_head_box.addItem(QtGui.QSpacerItem(275, 20))
head_box.addLayout(up_head_box)
head_box.addLayout(left_right_head_box)
head_box.addLayout(down_head_box)
large_box.addLayout(head_box)
#large_box.addItem(QtGui.QSpacerItem(500,20))
#large_box.addWidget(left_head_button)
gripper = Gripper(Gripper.RIGHT, Gripper.OPEN)
right_gripper = self.create_button('Right gripper!',
gripper.create_closure())
gripper = Gripper(Gripper.LEFT, Gripper.OPEN)
left_gripper = self.create_button('Left gripper!',
gripper.create_closure())
large_box.addItem(QtGui.QSpacerItem(100, 250))
gripper_box = QtGui.QHBoxLayout()
gripper_box.addItem(QtGui.QSpacerItem(75, 20))
gripper_box.addWidget(left_gripper)
gripper_box.addItem(QtGui.QSpacerItem(450, 20))
gripper_box.addWidget(right_gripper)
gripper_box.addItem(QtGui.QSpacerItem(75, 20))
large_box.addLayout(gripper_box)
base_box = QtGui.QVBoxLayout()
large_box.addItem(QtGui.QSpacerItem(100, 100))
#forward
forward_base_box = QtGui.QHBoxLayout()
forward_base = Base(Base.FORWARD)
forward_base_button = self.create_button('move forward',
forward_base.create_closure())
forward_base_box.addItem(QtGui.QSpacerItem(400, 20))
forward_base_box.addWidget(forward_base_button)
forward_base_box.addItem(QtGui.QSpacerItem(400, 20))
base_box.addLayout(forward_base_box)
#large_box.addWidget(forward_base_button)
#left
left_right_base_box = QtGui.QHBoxLayout()
left_base = Base(Base.LEFT)
left_base_button = self.create_button('move left',
left_base.create_closure())
#large_box.addWidget(left_base_button)
#right
right_base = Base(Base.RIGHT)
right_base_button = self.create_button('move right',
right_base.create_closure())
left_right_base_box.addItem(QtGui.QSpacerItem(300, 20))
left_right_base_box.addWidget(left_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(50, 20))
left_right_base_box.addWidget(right_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(300, 20))
base_box.addLayout(left_right_base_box)
#large_box.addWidget(right_base_button)
#backward
backward_base_box = QtGui.QHBoxLayout()
backward_base = Base(Base.BACKWARD)
backward_base_button = self.create_button(
'move backward', backward_base.create_closure())
backward_base_box.addItem(QtGui.QSpacerItem(400, 20))
backward_base_box.addWidget(backward_base_button)
backward_base_box.addItem(QtGui.QSpacerItem(400, 20))
base_box.addLayout(backward_base_box)
#large_box.addWidget(backward_base_button)
large_box.addLayout(base_box)
turn_base_box = QtGui.QHBoxLayout()
#turn left
turnleft_base = Base(Base.TURNLEFT)
turnleft_base_button = self.create_button(
' /\n<--', turnleft_base.create_closure())
#large_box.addWidget(turnleft_base_button)
#turn right
turnright_base = Base(Base.TURNRIGHT)
turnright_base_button = self.create_button(
'\\\n -->', turnright_base.create_closure())
turn_base_box.addItem(QtGui.QSpacerItem(75, 20))
turn_base_box.addWidget(turnright_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(225, 20))
turn_base_box.addWidget(turnleft_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(100, 20))
large_box.addLayout(turn_base_box)
#large_box.addWidget(turnright_base_button)
self._widget.setObjectName('SimpleGUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet(
"QWidget { image: url(%s) }" %
"/home/vjampala/catkin_ws/src/cse481/hw1/rqt_simplegui/rosie_background.jpg"
)
def __init__(self):
super(ManualWindow, self).__init__()
self.setAttribute(QtCore.Qt.WA_DeleteOnClose)
self.ui = '../forms/manual.ui'
loadUi(self.ui, self)
self.setWindowFlags(QtCore.Qt.FramelessWindowHint)
self.layout = self.findChild(QtWidgets.QGridLayout, 'layout')
self.mode = JOYSTICK_ONLY_MODE
self.visual_frame = rviz.VisualizationFrame()
self.visual_frame.setSplashPath("")
self.visual_frame.initialize()
self.add_rviz_config()
self.visual_frame.setMenuBar(None)
self.visual_frame.setStatusBar(None)
self.visual_frame.setHideButtonVisibility(False)
self.layout.addWidget(self.visual_frame)
self.visual_frame.hide()
self.manager = self.visual_frame.getManager()
self.grid_display = self.manager.getRootDisplayGroup().getDisplayAt(0)
self.video_frame = QtWidgets.QLabel()
video_frame_font = QtGui.QFont("Verdana", 62, QtGui.QFont.Bold)
self.video_frame.setFont(video_frame_font)
self.video_frame.setText("No video frame")
self.video_frame.setAlignment(QtCore.Qt.AlignCenter)
self.video_frame.hide()
self.layout.addWidget(self.video_frame)
self.joystick_frame = QtWidgets.QLabel()
pixmap = QtGui.QPixmap('../static/img/xbox_controller_grey.png')
pixmap = pixmap.scaledToWidth(800)
self.joystick_frame.setPixmap(pixmap)
self.joystick_frame.setAlignment(QtCore.Qt.AlignCenter)
self.layout.addWidget(self.joystick_frame)
# Buttons
self.change_mode_btn = self.findChild(QtWidgets.QPushButton,
'changeModeBtn')
self.turn_left = self.findChild(QtWidgets.QToolButton, 'turnRobotLeft')
self.turn_right = self.findChild(QtWidgets.QToolButton,
'turnRobotRight')
self.stand_btn = self.findChild(QtWidgets.QPushButton, 'standBtn')
self.walk_btn = self.findChild(QtWidgets.QPushButton, 'walkBtn')
self.stairs_btn = self.findChild(QtWidgets.QPushButton, 'stairsBtn')
self.exit_btn = self.findChild(QtWidgets.QPushButton, 'exitBtn')
self.powerBtn = self.findChild(QtWidgets.QPushButton, 'powerBtn')
self.emergency_btn = self.findChild(QtWidgets.QPushButton,
'emergencyBtn')
# Status indicators
self.signal_btn = self.findChild(QtWidgets.QPushButton, 'signalBtn')
self.controller_battery_btn = self.findChild(QtWidgets.QPushButton,
'controllerBatteryBtn')
self.battery_btn = self.findChild(QtWidgets.QPushButton, 'batteryBtn')
self.health_btn = self.findChild(QtWidgets.QPushButton, 'healthBtn')
# Button connections
self.emergency_btn.clicked.connect(self.turn_robot_off)
self.powerBtn.clicked.connect(self.power_on)
self.exit_btn.clicked.connect(self.close_window)
self.change_mode_btn.clicked.connect(self.change_mode)
# Button shortcuts
self.exit_btn.setShortcut("Ctrl+Q")
# Mode Layouts
#self.video_frame = self.findChild(QtWidgets.QLabel, 'videoFrame')
# self.xbox_controller_frame = self.findChild(
# QtWidgets.QLabel, 'xboxcontrollerFrame')
# self.video_frame.hide()
# Stylesheets
self.powerBtn.setStyleSheet(
"QPushButton#powerBtn:checked {color:black; background-color: red;}"
)
self.signal_btn.setStyleSheet(
"QPushButton#signalBtn:checked {color:black; background-color: green;}"
)
self.video_stream_subscriber = VideoStreamSubscriber(
'camera/image_raw', Image)
self.show()
def __init__(self, context):
self.prompt_width = 170
self.input_width = 250
super(SimpleGUI, self).__init__(context)
self.setObjectName('SimpleGUI')
self._widget = QWidget()
self._sound_client = SoundClient()
#find relative path for files to load
self.local_dir = os.path.dirname(__file__)
self.dir = os.path.join(self.local_dir, './lib/rqt_simplegui/')
if not os.path.isdir(self.dir):
os.makedirs(self.dir)
#need to add any additional subfolders as needed
if not os.path.isdir(self.dir + 'animations/'):
os.makedirs(self.dir + 'animations/')
# Creates a subscriber to the ROS topic, having msg type SoundRequest
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.sound_sig.connect(self.sound_sig_cb)
# Code used for saving/ loading arm poses for the robot
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(
switch_srv_name, SwitchController)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
self.all_joint_names = []
self.all_joint_poses = []
# Hash tables storing the name of the pose and the
# associated positions for that pose, initially empty
self.saved_l_poses = {}
self.saved_r_poses = {}
# Hash tables for storing name of animations and the associated pose list
self.saved_animations = {}
self.lock = threading.Lock()
rospy.Subscriber('joint_states', JointState, self.joint_states_cb)
#parsing for animations
dir = os.path.dirname(__file__)
qWarning(dir)
filename = os.path.join(self.dir, 'animations/')
ani_path = filename
ani_listing = os.listdir(ani_path)
for infile in ani_listing:
pose_left = []
pose_right = []
left_gripper_states = []
right_gripper_states = []
line_num = 1
for line in fileinput.input(ani_path + infile):
if (line_num % 2 == 1):
pose = [float(x) for x in line.split()]
pose_left.append(pose[:len(pose) / 2])
pose_right.append(pose[len(pose) / 2:])
else:
states = line.split()
left_gripper_states.append(states[0])
right_gripper_states.append(states[1])
line_num += 1
self.saved_animations[os.path.splitext(infile)[0]] = Quad(
pose_left, pose_right, left_gripper_states,
right_gripper_states)
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for RIGHT arm...'
)
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for LEFT arm...'
)
self.l_traj_action_client.wait_for_server()
# Navigation functionality initialization
self.roomNav = RoomNavigator()
self._tf_listener = TransformListener()
self.animPlay = AnimationPlayer(None, None, None, None)
# Detection and pickup functionality
self.pap = PickAndPlaceManager(self._tf_listener, self.roomNav,
self.animPlay)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.joint_sig.connect(self.joint_sig_cb)
# Create a large vertical box that is top aligned
large_box = QtGui.QVBoxLayout()
large_box.setAlignment(QtCore.Qt.AlignTop)
large_box.setMargin(0)
large_box.addItem(QtGui.QSpacerItem(10, 0))
# Buttons for controlling the head of the robot
head_box = QtGui.QHBoxLayout()
head_box.addItem(QtGui.QSpacerItem(230, 0))
head_box.addWidget(self.create_pressed_button('Head Up'))
head_box.addStretch(1)
large_box.addLayout(head_box)
button_box = QtGui.QHBoxLayout()
button_box.addItem(QtGui.QSpacerItem(80, 0))
button_box.addWidget(self.create_pressed_button('Head Turn Left'))
button_box.addWidget(self.create_pressed_button('Head Down'))
button_box.addWidget(self.create_pressed_button('Head Turn Right'))
button_box.addStretch(1)
button_box.setMargin(0)
button_box.setSpacing(0)
large_box.addLayout(button_box)
# Shows what the robot says
speech_box = QtGui.QHBoxLayout()
self.speech_label = QtGui.QLabel('Robot has not spoken yet')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue)
self.speech_label.setPalette(palette) #
speech_box.addItem(QtGui.QSpacerItem(100, 0))
#speech_box.addWidget(self.speech_label) #
large_box.addLayout(speech_box)
# Speak button
speak_button_box = QtGui.QHBoxLayout()
speech_prompt = QtGui.QLabel('Enter Speech Text:')
speech_prompt.setFixedWidth(self.prompt_width)
speak_button_box.addWidget(speech_prompt)
robot_says = QtGui.QLineEdit(self._widget)
robot_says.setFixedWidth(self.input_width)
robot_says.textChanged[str].connect(self.onChanged) #
speak_button_box.addWidget(robot_says)
speak_button_box.addWidget(self.create_button('Speak'))
speak_button_box.addStretch(1)
large_box.addLayout(speak_button_box)
large_box.addItem(QtGui.QSpacerItem(0, 50))
# Buttons for arm poses
pose_button_box1 = QtGui.QHBoxLayout()
pose_button_box1.addItem(QtGui.QSpacerItem(150, 0))
pose_button_box1.addWidget(self.create_button('Relax Left Arm'))
pose_button_box1.addWidget(self.create_button('Relax Right Arm'))
pose_button_box1.addStretch(1)
large_box.addLayout(pose_button_box1)
# Buttons for grippers
gripper_button_box = QtGui.QHBoxLayout()
gripper_button_box.addItem(QtGui.QSpacerItem(150, 0))
gripper_button_box.addWidget(self.create_button('Open Left Gripper'))
gripper_button_box.addWidget(self.create_button('Open Right Gripper'))
gripper_button_box.addStretch(1)
large_box.addLayout(gripper_button_box)
large_box.addItem(QtGui.QSpacerItem(0, 25))
# Buttons for animation
animation_box = QtGui.QHBoxLayout()
play_anim_label = QtGui.QLabel('Select Animation:')
play_anim_label.setFixedWidth(self.prompt_width)
animation_box.addWidget(play_anim_label)
self.saved_animations_list = QtGui.QComboBox(self._widget)
animation_box.addWidget(self.saved_animations_list)
pose_time_label = QtGui.QLabel('Duration(sec):')
pose_time_label.setFixedWidth(100)
animation_box.addWidget(pose_time_label)
self.pose_time = QtGui.QLineEdit(self._widget)
self.pose_time.setFixedWidth(50)
self.pose_time.setText('2.0')
animation_box.addWidget(self.pose_time)
animation_box.addWidget(self.create_button('Play Animation'))
animation_box.addStretch(1)
large_box.addLayout(animation_box)
animation_box2 = QtGui.QHBoxLayout()
animation_name_label = QtGui.QLabel('Enter Animation Name:')
animation_name_label.setFixedWidth(self.prompt_width)
animation_box2.addWidget(animation_name_label)
self.animation_name = QtGui.QLineEdit(self._widget)
self.animation_name.setFixedWidth(self.input_width)
animation_box2.addWidget(self.animation_name)
animation_box2.addWidget(self.create_button('Save Animation'))
animation_box2.addStretch(1)
large_box.addLayout(animation_box2)
animation_box3 = QtGui.QHBoxLayout()
pose_name_label = QtGui.QLabel('Enter Pose Name:')
pose_name_label.setFixedWidth(self.prompt_width)
animation_box3.addWidget(pose_name_label)
self.pose_name_temp = QtGui.QLineEdit(self._widget)
self.pose_name_temp.setFixedWidth(self.input_width)
animation_box3.addWidget(self.pose_name_temp)
animation_box3.addWidget(self.create_button('Add Current Pose'))
animation_box3.addStretch(1)
large_box.addLayout(animation_box3)
# Playing around with UI stuff
play_box = QtGui.QHBoxLayout()
pose_sequence_label = QtGui.QLabel('Current Pose Sequence:')
pose_sequence_label.setFixedWidth(self.prompt_width)
pose_sequence_label.setAlignment(QtCore.Qt.AlignTop)
self.list_widget = QListWidget()
self.list_widget.setDragDropMode(QAbstractItemView.InternalMove)
self.list_widget.setMaximumSize(self.input_width, 200)
play_box.addWidget(pose_sequence_label)
play_box.addWidget(self.list_widget)
play_box.addStretch(1)
large_box.addLayout(play_box)
large_box.addItem(QtGui.QSpacerItem(0, 50))
# Buttons for first row of base controls
first_base_button_box = QtGui.QHBoxLayout()
first_base_button_box.addItem(QtGui.QSpacerItem(70, 0))
first_base_button_box.addWidget(
self.create_pressed_button('Rotate Left'))
first_base_button_box.addWidget(self.create_pressed_button('^'))
first_base_button_box.addWidget(
self.create_pressed_button('Rotate Right'))
first_base_button_box.addStretch(1)
large_box.addLayout(first_base_button_box)
# Buttons for second row of base controls
second_base_button_box = QtGui.QHBoxLayout()
second_base_button_box.addItem(QtGui.QSpacerItem(70, 0))
second_base_button_box.addWidget(self.create_pressed_button('<'))
second_base_button_box.addWidget(self.create_pressed_button('v'))
second_base_button_box.addWidget(self.create_pressed_button('>'))
second_base_button_box.addWidget(self.create_button('Move to Bin'))
second_base_button_box.addWidget(self.create_button('Object Detect'))
second_base_button_box.addWidget(self.create_button('Clean Room'))
second_base_button_box.addStretch(1)
large_box.addLayout(second_base_button_box)
# Animation related items to store intermediate pose co-ordinates to save
self.animation_map = {}
self.create_state = False
self._widget.setObjectName('SimpleGUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
# Look straight and down when launched
self.head_x = 1.0
self.head_y = 0.0
self.head_z = 0.5
self.head_action(self.head_x, self.head_y, self.head_z)
# Set grippers to closed on initialization
self.left_gripper_state = ''
self.right_gripper_state = ''
self.gripper_action('l', 0.0)
self.gripper_action('r', 0.0)
# Lab 6
self.marker_publisher = rospy.Publisher('visualization_marker', Marker)
# Saved states for poses
saved_pose_box = QtGui.QHBoxLayout()
self.saved_left_poses = QtGui.QLabel('')
self.saved_right_poses = QtGui.QLabel('')
saved_pose_box.addWidget(self.saved_left_poses)
saved_pose_box.addWidget(self.saved_right_poses)
large_box.addLayout(saved_pose_box)
# Preload the map of animations
self.saved_animations_list.addItems(self.saved_animations.keys())
# Move the torso all the way down
# self.torso_down(True)
# Autonomous navigation stuff
'''
self.locations = [Pose(Point(2.48293590546, 3.90075874329, 0.000), Quaternion(0.000, 0.000, -0.783917630973, 0.620864838632)),
Pose(Point(3.70106744766, 0.304672241211, 0.000), Quaternion(0.000, 0.000, 0.950186880196, -0.311680754463)),
Pose(Point(2.57326722145, 1.51304531097, 0.000), Quaternion(0.000, 0.000, 0.96127194482, -0.275601611212)),
Pose(Point(1.28060531616, 1.52380752563, 0.000), Quaternion(0.000, 0.000, 0.946345258806, -0.323157316388)),
Pose(Point(2.11048603058, 0.420155525208, 0.000), Quaternion(0.000, 0.000, 0.945222393391, -0.326427062346)),
Pose(Point(2.82733058929, -0.739856719971, 0.000), Quaternion(0.000, 0.000, 0.945473998362, -0.325697587373)),
Pose(Point(1.29184818268, -1.90485572815, 0.000), Quaternion(0.000, 0.000, 0.942275557345, -0.334838429739)),
Pose(Point(0.722846984863, -1.0921459198, 0.000), Quaternion(0.000, 0.000, 0.949330143731, -0.314280572424))]
'''
self.locations = [
Pose(Point(2.04748392105, 2.04748010635, 0.000),
Quaternion(0.000, 0.000, -0.776968030817, 0.629540053601)),
Pose(Point(2.34193611145, 1.43208932877, 0),
Quaternion(0, 0, -0.841674385779, 0.539985396398)),
Pose(Point(3.43202018738, -0.258297920227, 0.000),
Quaternion(0.000, 0.000, 0.996656413122, -0.0817067572629)),
Pose(Point(0.931655406952, -1.96435832977, 0.000),
Quaternion(0.000, 0.000, 0.691187586713, 0.722675390458)),
Pose(Point(-0.369112968445, 0.0330476760864, 0.000),
Quaternion(0.000, 0.000, 0.0275340398899, 0.999620866453))
]
self.index = 1
rospy.loginfo("Completed GUI initialization")
def __init__(self, context):
super(SimpleGUI, self).__init__(context)
self.setObjectName('SimpleGUI')
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.sound_sig.connect(self.sound_sig_cb)
large_box = QtGui.QVBoxLayout()
# Textbox to enter words for PR2 to say
sound_textbox = QtGui.QLineEdit("Squirtle Squirtle") # Default Text
sound_textbox.setFixedWidth(450)
self.marker_publisher = rospy.Publisher('visualization_marker', Marker)
# Set a handler on the textbox to retrieve the text when button clicked
self.sound_textbox = sound_textbox
button_box = QtGui.QHBoxLayout()
button_box.addItem(QtGui.QSpacerItem(15, 20))
button_box.addWidget(self.create_button('Speak', self.command_cb))
button_box.addWidget(sound_textbox)
button_box.addStretch(1)
large_box.addLayout(button_box)
speech_box = QtGui.QHBoxLayout()
speech_box.addItem(QtGui.QSpacerItem(15, 20))
self.speech_label = QtGui.QLabel('Robot has not spoken yet')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue)
self.speech_label.setPalette(palette)
speech_box.addWidget(self.speech_label)
large_box.addLayout(speech_box)
large_box.addStretch(1)
#large_box.addItem(QtGui.QSpacerItem(50,20))
# Buttons to move the PR2's head
up_head = Head(Head.UP, self)
head_box = QtGui.QVBoxLayout()
up_head_box = QtGui.QHBoxLayout()
up_head_button = self.create_button('^', up_head.create_closure())
down_head = Head(Head.DOWN, self)
down_head_box = QtGui.QHBoxLayout()
down_head_button = self.create_button('v', down_head.create_closure())
right_head = Head(Head.RIGHT, self)
right_head_button = self.create_button('>',
right_head.create_closure())
left_head = Head(Head.LEFT, self)
left_head_button = self.create_button('<', left_head.create_closure())
left_right_head_box = QtGui.QHBoxLayout()
up_head_box.addItem(QtGui.QSpacerItem(235, 20))
up_head_box.addWidget(up_head_button)
up_head_box.addItem(QtGui.QSpacerItem(275, 20))
left_right_head_box.addItem(QtGui.QSpacerItem(160, 20))
left_right_head_box.addWidget(left_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(60, 20))
left_right_head_box.addWidget(right_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(225, 20))
down_head_box.addItem(QtGui.QSpacerItem(235, 20))
down_head_box.addWidget(down_head_button)
down_head_box.addItem(QtGui.QSpacerItem(275, 20))
head_box.addLayout(up_head_box)
head_box.addLayout(left_right_head_box)
head_box.addLayout(down_head_box)
large_box.addLayout(head_box)
# Buttons to move the grippers
gripper = Gripper(Gripper.RIGHT, Gripper.OPEN, self)
right_gripper = self.create_button('Right gripper',
gripper.create_closure())
gripper = Gripper(Gripper.LEFT, Gripper.OPEN, self)
left_gripper = self.create_button('Left gripper',
gripper.create_closure())
large_box.addItem(QtGui.QSpacerItem(100, 250))
gripper_box = QtGui.QHBoxLayout()
gripper_box.addItem(QtGui.QSpacerItem(75, 20))
gripper_box.addWidget(left_gripper)
gripper_box.addItem(QtGui.QSpacerItem(450, 20))
gripper_box.addWidget(right_gripper)
gripper_box.addItem(QtGui.QSpacerItem(75, 20))
large_box.addLayout(gripper_box)
# Buttons to move the base
base_box = QtGui.QVBoxLayout()
large_box.addItem(QtGui.QSpacerItem(100, 100))
forward_base_box = QtGui.QHBoxLayout()
forward_base = Base(Base.FORWARD, self)
forward_base_button = self.create_button('move forward',
forward_base.create_closure())
forward_base_box.addItem(QtGui.QSpacerItem(400, 20))
forward_base_box.addWidget(forward_base_button)
forward_base_box.addItem(QtGui.QSpacerItem(400, 20))
base_box.addLayout(forward_base_box)
left_right_base_box = QtGui.QHBoxLayout()
left_base = Base(Base.LEFT, self)
left_base_button = self.create_button('move left',
left_base.create_closure())
right_base = Base(Base.RIGHT, self)
right_base_button = self.create_button('move right',
right_base.create_closure())
left_right_base_box.addItem(QtGui.QSpacerItem(300, 20))
left_right_base_box.addWidget(left_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(50, 20))
left_right_base_box.addWidget(right_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(300, 20))
base_box.addLayout(left_right_base_box)
backward_base_box = QtGui.QHBoxLayout()
backward_base = Base(Base.BACKWARD, self)
backward_base_button = self.create_button(
'move backward', backward_base.create_closure())
backward_base_box.addItem(QtGui.QSpacerItem(400, 20))
backward_base_box.addWidget(backward_base_button)
backward_base_box.addItem(QtGui.QSpacerItem(400, 20))
base_box.addLayout(backward_base_box)
large_box.addLayout(base_box)
turn_base_box = QtGui.QHBoxLayout()
counter_base = Base(Base.COUNTER, self)
counter_base_button = self.create_button('\\\n -->',
counter_base.create_closure())
clockwise_base = Base(Base.CLOCKWISE, self)
clockwise_base_button = self.create_button(
' /\n<--', clockwise_base.create_closure())
turn_base_box.addItem(QtGui.QSpacerItem(75, 20))
turn_base_box.addWidget(counter_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(225, 20))
turn_base_box.addWidget(clockwise_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(100, 20))
large_box.addLayout(turn_base_box)
self._widget.setObjectName('SimpleGUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet(
"QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../rosie_background.jpg"))
def __init__(self, context):
super(Milestone1GUI, self).__init__(context)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(
switch_srv_name, SwitchController)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for RIGHT arm...'
)
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for LEFT arm...'
)
self.l_traj_action_client.wait_for_server()
#init torso
self.torso = Torso()
#init gripper
self.l_gripper = Gripper('l')
self.r_gripper = Gripper('r')
#init navigation
self.navigation = Navigation()
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
large_box = QtGui.QVBoxLayout()
#Button for outreaching to recieve book from Human
button_box = QtGui.QVBoxLayout()
box_1 = QtGui.QHBoxLayout()
box_2 = QtGui.QHBoxLayout()
box_3 = QtGui.QHBoxLayout()
box_4 = QtGui.QHBoxLayout()
box_5 = QtGui.QHBoxLayout()
box_6 = QtGui.QHBoxLayout()
box_7 = QtGui.QHBoxLayout()
box_8 = QtGui.QHBoxLayout()
box_9 = QtGui.QHBoxLayout()
box_10 = QtGui.QHBoxLayout()
box_1.addItem(QtGui.QSpacerItem(15, 2))
box_1.addWidget(
self.create_button('Prepare To Take', self.prepare_to_take))
box_1.addItem(QtGui.QSpacerItem(445, 2))
box_2.addItem(QtGui.QSpacerItem(15, 2))
box_2.addWidget(
self.create_button('Take From Human', self.take_from_human))
box_2.addItem(QtGui.QSpacerItem(445, 2))
box_3.addItem(QtGui.QSpacerItem(15, 2))
box_3.addWidget(
self.create_button('Prepare To Navigate',
self.prepare_to_navigate))
box_3.addItem(QtGui.QSpacerItem(445, 2))
# Button to move to shelf
box_5.addItem(QtGui.QSpacerItem(15, 2))
box_5.addWidget(
self.create_button('Navigate To Shelf', self.navigate_to_shelf))
box_5.addItem(QtGui.QSpacerItem(445, 2))
box_4.addItem(QtGui.QSpacerItem(15, 2))
box_4.addWidget(
self.create_button('Place On Shelf', self.place_on_shelf))
box_4.addItem(QtGui.QSpacerItem(445, 2))
box_6.addItem(QtGui.QSpacerItem(15, 2))
box_6.addWidget(
self.create_button('Give Information', self.give_information))
box_6.addItem(QtGui.QSpacerItem(445, 2))
box_7.addItem(QtGui.QSpacerItem(15, 2))
box_7.addWidget(
self.create_button('Navigate To Person', self.navigate_to_person))
box_7.addItem(QtGui.QSpacerItem(445, 2))
self.book_textbox = QtGui.QLineEdit()
self.book_textbox.setFixedWidth(100)
box_8.addItem(QtGui.QSpacerItem(15, 2))
box_8.addWidget(self.book_textbox)
box_8.addWidget(
self.create_button('Pick Up Book', self.pick_up_from_shelf_button))
box_8.addItem(QtGui.QSpacerItem(445, 2))
box_9.addItem(QtGui.QSpacerItem(15, 2))
box_9.addWidget(self.create_button('Localize', self.spin_base))
box_9.addItem(QtGui.QSpacerItem(445, 2))
box_10.addItem(QtGui.QSpacerItem(15, 2))
box_10.addWidget(
self.create_button('Non-nav Pick Up', self.pick_up_from_shelf))
box_10.addItem(QtGui.QSpacerItem(445, 2))
button_box.addItem(QtGui.QSpacerItem(20, 120))
button_box.addLayout(box_1)
button_box.addLayout(box_2)
button_box.addLayout(box_3)
button_box.addLayout(box_5)
button_box.addLayout(box_4)
button_box.addLayout(box_6)
button_box.addLayout(box_7)
button_box.addLayout(box_8)
button_box.addLayout(box_9)
button_box.addLayout(box_10)
button_box.addItem(QtGui.QSpacerItem(20, 240))
large_box.addLayout(button_box)
self.marker_perception = ReadMarkers()
self.speech_recognition = SpeechRecognition(self)
self.bookDB = BookDB()
self.book_map = self.bookDB.getAllBookCodes()
self._widget.setObjectName('Milestone1GUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet(
"QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../librarian_gui_background.jpg"))
def __init__(self, context):
super(WaterPulse, self).__init__(context)
self.setObjectName('WaterPulse')
self._widget = QWidget()
self._widget.setFixedSize(600, 600)
self._sound_client = SoundClient()
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
l_traj_contoller_name = None
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo('Waiting for a response from the trajectory ' +
'action server for LEFT arm...')
self.l_traj_action_client.wait_for_server()
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.sound_sig.connect(self.sound_sig_cb)
large_box = QtGui.QVBoxLayout()
# Textbox to enter words for PR2 to say
sound_textbox = QtGui.QLineEdit("Squirtle Squirtle") # Default Text
sound_textbox.setFixedWidth(450)
self.marker_publisher = rospy.Publisher('visualization_marker', Marker)
# Set a handler on the textbox to retrieve the text when button clicked
self.sound_textbox = sound_textbox
button_box = QtGui.QHBoxLayout()
button_box.addItem(QtGui.QSpacerItem(15, 20))
button_box.addWidget(self.create_button('Speak', self.command_cb))
button_box.addWidget(sound_textbox)
button_box.addStretch(1)
large_box.addLayout(button_box)
# 'Trick or Treat' & 'Thank You' Buttons
halloween_box = QtGui.QHBoxLayout()
halloween_box.addItem(QtGui.QSpacerItem(15, 20))
halloween_box.addWidget(
self.create_button('Trick or Treat', self.command_cb))
halloween_box.addWidget(
self.create_button('Thank You', self.command_cb))
halloween_box.addStretch(1)
large_box.addLayout(halloween_box)
# Buttons to move the PR2's head
up_head = Head(Head.UP, self)
head_box = QtGui.QVBoxLayout()
up_head_box = QtGui.QHBoxLayout()
up_head_button = self.create_button('^', up_head.create_closure())
down_head = Head(Head.DOWN, self)
down_head_box = QtGui.QHBoxLayout()
down_head_button = self.create_button('v', down_head.create_closure())
right_head = Head(Head.RIGHT, self)
right_head_button = self.create_button('>',
right_head.create_closure())
left_head = Head(Head.LEFT, self)
left_head_button = self.create_button('<', left_head.create_closure())
left_right_head_box = QtGui.QHBoxLayout()
head_speed_sld = QtGui.QSlider(QtCore.Qt.Horizontal)
head_speed_sld.setFocusPolicy(QtCore.Qt.NoFocus)
head_speed_sld.setMinimum(1)
head_speed_sld.setMaximum(5)
head_speed_sld.valueChanged[int].connect(Head.set_speed)
up_head_box.addItem(QtGui.QSpacerItem(235, 20))
up_head_box.addWidget(up_head_button)
up_head_box.addItem(QtGui.QSpacerItem(275, 20))
left_right_head_box.addItem(QtGui.QSpacerItem(160, 20))
left_right_head_box.addWidget(left_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(60, 20))
left_right_head_box.addWidget(right_head_button)
left_right_head_box.addItem(QtGui.QSpacerItem(225, 20))
down_head_box.addItem(QtGui.QSpacerItem(235, 20))
down_head_box.addWidget(down_head_button)
down_head_box.addItem(QtGui.QSpacerItem(275, 20))
head_sld_box = QtGui.QHBoxLayout()
head_sld_box.addItem(QtGui.QSpacerItem(225, 20))
head_sld_box.addWidget(head_speed_sld)
head_sld_box.addItem(QtGui.QSpacerItem(225, 20))
head_box.addLayout(up_head_box)
head_box.addLayout(left_right_head_box)
head_box.addLayout(down_head_box)
head_box.addLayout(head_sld_box)
large_box.addLayout(head_box)
# Buttons to move the grippers
gripper = Gripper(Gripper.RIGHT, Gripper.OPEN, self)
right_gripper = self.create_button('Right gripper',
gripper.create_closure())
gripper = Gripper(Gripper.LEFT, Gripper.OPEN, self)
left_gripper = self.create_button('Left gripper',
gripper.create_closure())
knock_button = self.create_button('Knock', self.knock)
large_box.addItem(QtGui.QSpacerItem(100, 250))
gripper_box = QtGui.QHBoxLayout()
gripper_box.addItem(QtGui.QSpacerItem(75, 20))
gripper_box.addWidget(left_gripper)
gripper_box.addWidget(knock_button)
gripper_box.addItem(QtGui.QSpacerItem(450, 20))
gripper_box.addWidget(right_gripper)
gripper_box.addItem(QtGui.QSpacerItem(75, 20))
large_box.addLayout(gripper_box)
# Buttons to move the base
base_box = QtGui.QVBoxLayout()
large_box.addItem(QtGui.QSpacerItem(100, 100))
forward_base_box = QtGui.QHBoxLayout()
forward_base = Base(Base.FORWARD, self)
forward_base_button = self.create_button('move forward',
forward_base.create_closure())
forward_base_box.addItem(QtGui.QSpacerItem(400, 20))
forward_base_box.addWidget(forward_base_button)
forward_base_box.addItem(QtGui.QSpacerItem(400, 20))
base_box.addLayout(forward_base_box)
left_right_base_box = QtGui.QHBoxLayout()
left_base = Base(Base.LEFT, self)
left_base_button = self.create_button('move left',
left_base.create_closure())
right_base = Base(Base.RIGHT, self)
right_base_button = self.create_button('move right',
right_base.create_closure())
left_right_base_box.addItem(QtGui.QSpacerItem(300, 20))
left_right_base_box.addWidget(left_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(50, 20))
left_right_base_box.addWidget(right_base_button)
left_right_base_box.addItem(QtGui.QSpacerItem(300, 20))
base_box.addLayout(left_right_base_box)
backward_base_box = QtGui.QHBoxLayout()
backward_base = Base(Base.BACKWARD, self)
backward_base_button = self.create_button(
'move backward', backward_base.create_closure())
backward_base_box.addItem(QtGui.QSpacerItem(400, 20))
backward_base_box.addWidget(backward_base_button)
backward_base_box.addItem(QtGui.QSpacerItem(400, 20))
base_box.addLayout(backward_base_box)
large_box.addLayout(base_box)
turn_base_box = QtGui.QHBoxLayout()
counter_base = Base(Base.COUNTER, self)
counter_base_button = self.create_button('\\\n -->',
counter_base.create_closure())
clockwise_base = Base(Base.CLOCKWISE, self)
clockwise_base_button = self.create_button(
' /\n<--', clockwise_base.create_closure())
turn_base_box.addItem(QtGui.QSpacerItem(75, 20))
turn_base_box.addWidget(counter_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(225, 20))
turn_base_box.addWidget(clockwise_base_button)
turn_base_box.addItem(QtGui.QSpacerItem(100, 20))
large_box.addLayout(turn_base_box)
self._widget.setObjectName('WaterPulse')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
self._widget.setStyleSheet(
"QWidget { image: url(%s) }" %
(str(os.path.dirname(os.path.realpath(__file__))) +
"/../../rosie_background.jpg"))
def __init__(self, context):
super(BehaviorTreePlugin, self).__init__(context)
self.setObjectName('BehaviorTreePlugin')
self.tree = None
self.initialized_buttons = False
self.prev_graphviz = ''
self.behavior_tree_graphviz_sub = rospy.Subscriber('behavior_tree_graphviz', String, self.behavior_tree_graphviz_callback)
self.timer = rospy.Timer(rospy.Duration(0.1), self.timer_callback)
self.functions_mutex = Lock()
self.functions = {}
self.last_graphviz_string = ''
self.widget = QWidget()
self.vbox = qt.QVBoxLayout()
self.widget.setLayout(self.vbox)
context.add_widget(self.widget)
#self.widget.setStyleSheet('QWidget{margin-left:-1px;}')
self.top_widget = qt.QWidget()
self.top_layout = qt.QVBoxLayout()
self.top_widget.setLayout(self.top_layout)
self.graph_widget = qt.QWidget()
self.graph_layout = qt.QVBoxLayout()
self.graph_widget.setLayout(self.graph_layout)
self.image_label = qt.QLabel('asdfadsf')
#self.graph_layout.addWidget(self.image_label)
self.xdot_widget = DotWidget()
self.graph_layout.addWidget(self.xdot_widget)
self.top_layout.addWidget(self.graph_widget)
self.graph_widget.setStyleSheet("background-color: rgb(255, 255, 255);")
self.config_widget = qt.QWidget()
self.config_widget.setStyleSheet('QWidget{margin-left:-1px;}')
self.config_layout = qt.QHBoxLayout()
self.config_widget.setLayout(self.config_layout)
self.config_widget.setFixedHeight(50)
self.config_button = qt.QPushButton('Open Config...')
self.config_button.clicked.connect(self.select_config_file)
self.config_layout.addWidget(self.config_button)
self.tree_label = qt.QLabel('tree filename: ')
self.config_layout.addWidget(self.tree_label)
self.debug_checkbox = qt.QCheckBox('Debug Mode')
self.config_layout.addWidget(self.debug_checkbox)
self.debug_checkbox.stateChanged.connect(self.debug_mode_changed)
#self.config_widget.setStyleSheet("background-color: rgb(255, 0, 0);")
self.top_layout.addWidget(self.config_widget)
#self.vbox.addWidget(self.top_widget)
self.button_container_widget = qt.QWidget()
self.button_container_layout = qt.QVBoxLayout()
self.button_container_widget.setLayout(self.button_container_layout)
#self.vbox.addWidget(self.button_container_widget)
self.button_widget = qt.QWidget()
self.button_layout = qt.QHBoxLayout()
self.button_widget.setLayout(self.button_layout)
#self.button_widget.setStyleSheet("background-color: rgb(0, 0, 255);")
self.condition_widget = qt.QWidget()
self.condition_layout = qt.QVBoxLayout()
self.condition_widget.setLayout(self.condition_layout)
self.button_layout.addWidget(self.condition_widget)
self.condition_label = qt.QLabel()
self.condition_label.setText('Conditions')
self.condition_label.setAlignment(Qt.AlignCenter)
self.condition_label.setFont(gui.QFont("SansSerif", 18, gui.QFont.Bold))
self.condition_layout.addWidget(self.condition_label)
self.action_widget = qt.QWidget()
self.action_layout = qt.QVBoxLayout()
self.action_widget.setLayout(self.action_layout)
self.button_layout.addWidget(self.action_widget)
self.action_label = qt.QLabel()
self.action_label.setText('Actions')
self.action_label.setAlignment(Qt.AlignCenter)
self.action_label.setFont(gui.QFont("SansSerif", 18, gui.QFont.Bold))
self.action_layout.addWidget(self.action_label)
self.button_scroll_area = qt.QScrollArea()
self.button_scroll_area.setWidget(self.button_widget)
#self.button_scroll_area.setFixedHeight(200)
#self.button_container_widget.setFixedHeight(200)
self.button_container_layout.addWidget(self.button_scroll_area)
self.button_widget.setMinimumWidth(self.button_scroll_area.sizeHint().width())
self.button_scroll_area.setWidgetResizable(True)
self.horizontal_splitter = qt.QSplitter(core.Qt.Vertical)
self.horizontal_splitter.addWidget(self.top_widget)
self.horizontal_splitter.addWidget(self.button_container_widget)
self.vbox.addWidget(self.horizontal_splitter)
self.button_container_widget.hide()
def setupUi(self, MainWindow):
###############################################################################################
self.lock = Lock()
self.talker = Talker('gui')
rospy.Subscriber('bbBackup',bbBackup,self.backupFunction)
rospy.Subscriber('clicked_point',PointStamped,self.clickedPintRviz)
###############################################################################################
MainWindow.setObjectName("MainWindow")
MainWindow.resize(560, 440)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.gBnewTask = QtWidgets.QGroupBox(self.centralwidget)
self.gBnewTask.setGeometry(QtCore.QRect(10, 60, 541, 291))
self.gBnewTask.setObjectName("gBnewTask")
self.gBc = QtWidgets.QGroupBox(self.gBnewTask)
self.gBc.setEnabled(False)
self.gBc.setGeometry(QtCore.QRect(420, 80, 111, 151))
self.gBc.setObjectName("gBc")
self.label_29 = QtWidgets.QLabel(self.gBc)
self.label_29.setGeometry(QtCore.QRect(10, 30, 16, 21))
self.label_29.setObjectName("label_29")
self.label_30 = QtWidgets.QLabel(self.gBc)
self.label_30.setGeometry(QtCore.QRect(10, 90, 21, 21))
self.label_30.setObjectName("label_30")
self.label_31 = QtWidgets.QLabel(self.gBc)
self.label_31.setGeometry(QtCore.QRect(10, 60, 16, 21))
self.label_31.setObjectName("label_31")
self.cx = QtWidgets.QDoubleSpinBox(self.gBc)
self.cx.setGeometry(QtCore.QRect(30, 30, 69, 26))
self.cx.setObjectName("cx")
self.cx.setRange(-100.0,100.0)
self.cy = QtWidgets.QDoubleSpinBox(self.gBc)
self.cy.setGeometry(QtCore.QRect(30, 60, 69, 26))
self.cy.setObjectName("cy")
self.cy.setRange(-100.0,100.0)
self.cz = QtWidgets.QDoubleSpinBox(self.gBc)
self.cz.setGeometry(QtCore.QRect(30, 90, 69, 26))
self.cz.setObjectName("cz")
self.cz.setRange(-100.0,100.0)
self.cw = QtWidgets.QDoubleSpinBox(self.gBc)
self.cw.setGeometry(QtCore.QRect(30, 120, 69, 26))
self.cw.setObjectName("cw")
self.cw.setRange(-100.0,100.0)
self.label_39 = QtWidgets.QLabel(self.gBc)
self.label_39.setGeometry(QtCore.QRect(10, 120, 21, 21))
self.label_39.setObjectName("label_39")
self.gBb = QtWidgets.QGroupBox(self.gBnewTask)
self.gBb.setEnabled(False)
self.gBb.setGeometry(QtCore.QRect(300, 80, 111, 151))
self.gBb.setObjectName("gBb")
self.label_40 = QtWidgets.QLabel(self.gBb)
self.label_40.setGeometry(QtCore.QRect(10, 30, 16, 21))
self.label_40.setObjectName("label_40")
self.label_41 = QtWidgets.QLabel(self.gBb)
self.label_41.setGeometry(QtCore.QRect(10, 90, 21, 21))
self.label_41.setObjectName("label_41")
self.label_42 = QtWidgets.QLabel(self.gBb)
self.label_42.setGeometry(QtCore.QRect(10, 60, 16, 21))
self.label_42.setObjectName("label_42")
self.bx = QtWidgets.QDoubleSpinBox(self.gBb)
self.bx.setGeometry(QtCore.QRect(30, 30, 69, 26))
self.bx.setObjectName("bx")
self.bx.setRange(-100.0,100.0)
self.by = QtWidgets.QDoubleSpinBox(self.gBb)
self.by.setGeometry(QtCore.QRect(30, 60, 69, 26))
self.by.setObjectName("by")
self.by.setRange(-100.0,100.0)
self.bz = QtWidgets.QDoubleSpinBox(self.gBb)
self.bz.setGeometry(QtCore.QRect(30, 90, 69, 26))
self.bz.setObjectName("bz")
self.bz.setRange(-100.0,100.0)
self.bw = QtWidgets.QDoubleSpinBox(self.gBb)
self.bw.setGeometry(QtCore.QRect(30, 120, 69, 26))
self.bw.setObjectName("bw")
self.bw.setRange(-100.0,100.0)
self.label_43 = QtWidgets.QLabel(self.gBb)
self.label_43.setGeometry(QtCore.QRect(10, 120, 21, 21))
self.label_43.setObjectName("label_43")
self.gBtaskType = QtWidgets.QGroupBox(self.gBnewTask)
self.gBtaskType.setGeometry(QtCore.QRect(10, 80, 161, 151))
self.gBtaskType.setObjectName("gBtaskType")
self.radioButton = QtWidgets.QRadioButton(self.gBtaskType)
self.radioButton.setEnabled(True)
self.radioButton.setGeometry(QtCore.QRect(10, 30, 131, 23))
self.radioButton.setChecked(True)
self.radioButton.setObjectName("radioButton")
self.radioButton_2 = QtWidgets.QRadioButton(self.gBtaskType)
self.radioButton_2.setGeometry(QtCore.QRect(10, 60, 101, 23))
self.radioButton_2.setObjectName("radioButton_2")
self.radioButton_3 = QtWidgets.QRadioButton(self.gBtaskType)
self.radioButton_3.setGeometry(QtCore.QRect(10, 90, 131, 23))
self.radioButton_3.setObjectName("radioButton_3")
self.radioButton_4 = QtWidgets.QRadioButton(self.gBtaskType)
self.radioButton_4.setGeometry(QtCore.QRect(10, 120, 141, 23))
self.radioButton_4.setObjectName("radioButton_4")
self.gBa = QtWidgets.QGroupBox(self.gBnewTask)
self.gBa.setEnabled(True)
self.gBa.setGeometry(QtCore.QRect(180, 80, 111, 151))
self.gBa.setObjectName("gBa")
self.label_25 = QtWidgets.QLabel(self.gBa)
self.label_25.setGeometry(QtCore.QRect(10, 30, 16, 21))
self.label_25.setObjectName("label_25")
self.label_26 = QtWidgets.QLabel(self.gBa)
self.label_26.setGeometry(QtCore.QRect(10, 90, 21, 21))
self.label_26.setObjectName("label_26")
self.label_27 = QtWidgets.QLabel(self.gBa)
self.label_27.setGeometry(QtCore.QRect(10, 60, 16, 21))
self.label_27.setObjectName("label_27")
self.ax = QtWidgets.QDoubleSpinBox(self.gBa)
self.ax.setGeometry(QtCore.QRect(30, 30, 69, 26))
self.ax.setObjectName("ax")
self.ax.setRange(-100.0,100.0)
self.ay = QtWidgets.QDoubleSpinBox(self.gBa)
self.ay.setGeometry(QtCore.QRect(30, 60, 69, 26))
self.ay.setObjectName("ay")
self.ay.setRange(-100.0,100.0)
self.az = QtWidgets.QDoubleSpinBox(self.gBa)
self.az.setGeometry(QtCore.QRect(30, 90, 69, 26))
self.az.setObjectName("az")
self.az.setRange(-100.0,100.0)
self.aw = QtWidgets.QDoubleSpinBox(self.gBa)
self.aw.setGeometry(QtCore.QRect(30, 120, 69, 26))
self.aw.setObjectName("aw")
self.aw.setRange(-100.0,100.0)
self.label_28 = QtWidgets.QLabel(self.gBa)
self.label_28.setGeometry(QtCore.QRect(10, 120, 21, 21))
self.label_28.setObjectName("label_28")
self.btnAddTask = QtWidgets.QPushButton(self.gBnewTask)
self.btnAddTask.setEnabled(True)
self.btnAddTask.setGeometry(QtCore.QRect(10, 240, 521, 31))
self.btnAddTask.setObjectName("btnAddTask")
self.widget = QtWidgets.QWidget(self.gBnewTask)
self.widget.setGeometry(QtCore.QRect(10, 30, 521, 28))
self.widget.setObjectName("widget")
self.horizontalLayout = QtWidgets.QHBoxLayout(self.widget)
self.horizontalLayout.setContentsMargins(0, 0, 0, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
self.label_3 = QtWidgets.QLabel(self.widget)
self.label_3.setObjectName("label_3")
self.horizontalLayout.addWidget(self.label_3)
self.sBtaskid = QtWidgets.QSpinBox(self.widget)
self.sBtaskid.setObjectName("sBtaskid")
self.horizontalLayout.addWidget(self.sBtaskid)
self.label_4 = QtWidgets.QLabel(self.widget)
self.label_4.setObjectName("label_4")
self.horizontalLayout.addWidget(self.label_4)
self.sbtaskPriority = QtWidgets.QSpinBox(self.widget)
self.sbtaskPriority.setObjectName("sbtaskPriority")
self.horizontalLayout.addWidget(self.sbtaskPriority)
self.label_5 = QtWidgets.QLabel(self.widget)
self.label_5.setObjectName("label_5")
self.horizontalLayout.addWidget(self.label_5)
self.sbtaskPayload = QtWidgets.QSpinBox(self.widget)
self.sbtaskPayload.setObjectName("sbtaskPayload")
self.horizontalLayout.addWidget(self.sbtaskPayload)
self.gBrobotState = QtWidgets.QGroupBox(self.centralwidget)
self.gBrobotState.setGeometry(QtCore.QRect(10, 360, 541, 71))
self.gBrobotState.setObjectName("gBrobotState")
self.sBrobotId = QtWidgets.QSpinBox(self.gBrobotState)
self.sBrobotId.setGeometry(QtCore.QRect(80, 30, 48, 31))
self.sBrobotId.setObjectName("sBrobotId")
self.radioButton_5 = QtWidgets.QRadioButton(self.gBrobotState)
self.radioButton_5.setGeometry(QtCore.QRect(140, 32, 61, 31))
self.radioButton_5.setChecked(True)
self.radioButton_5.setObjectName("radioButton_5")
self.radioButton_6 = QtWidgets.QRadioButton(self.gBrobotState)
self.radioButton_6.setGeometry(QtCore.QRect(280, 32, 71, 31))
self.radioButton_6.setObjectName("radioButton_6")
self.radioButton_7 = QtWidgets.QRadioButton(self.gBrobotState)
self.radioButton_7.setGeometry(QtCore.QRect(210, 32, 51, 31))
self.radioButton_7.setObjectName("radioButton_7")
self.btnsetRobotState = QtWidgets.QPushButton(self.gBrobotState)
self.btnsetRobotState.setEnabled(True)
self.btnsetRobotState.setGeometry(QtCore.QRect(380, 30, 151, 31))
self.btnsetRobotState.setObjectName("btnsetRobotState")
self.label_32 = QtWidgets.QLabel(self.gBrobotState)
self.label_32.setGeometry(QtCore.QRect(10, 30, 81, 31))
self.label_32.setObjectName("label_32")
self.label = QtWidgets.QLabel(self.centralwidget)
self.label.setGeometry(QtCore.QRect(10, 20, 81, 17))
self.label.setObjectName("label")
self.label_2 = QtWidgets.QLabel(self.centralwidget)
self.label_2.setGeometry(QtCore.QRect(300, 20, 141, 17))
self.label_2.setObjectName("label_2")
self.lblblackBoard = QtWidgets.QLabel(self.centralwidget)
self.lblblackBoard.setGeometry(QtCore.QRect(100, 20, 141, 17))
font = QtGui.QFont()
font.setItalic(True)
self.lblblackBoard.setFont(font)
self.lblblackBoard.setObjectName("lblblackBoard")
self.lblbackupBlackboard = QtWidgets.QLabel(self.centralwidget)
self.lblbackupBlackboard.setGeometry(QtCore.QRect(450, 20, 91, 17))
font = QtGui.QFont()
font.setItalic(True)
self.lblbackupBlackboard.setFont(font)
self.lblbackupBlackboard.setObjectName("lblbackupBlackboard")
MainWindow.setCentralWidget(self.centralwidget)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
self.currentpint = 1
