def setupUi(self, MainWindow):
self.lock = Lock()
self.talker = Talker('taskview')
rospy.Subscriber('BbSync', bbsynch, self.taskview)
MainWindow.setObjectName("MainWindow")
MainWindow.resize(800, 600)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.listView = QtWidgets.QListWidget(self.centralwidget)
self.listView.setGeometry(QtCore.QRect(10, 40, 771, 521))
self.listView.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOn)
self.listView.setHorizontalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOn)
self.listView.setObjectName("listView")
self.label = QtWidgets.QLabel(self.centralwidget)
self.label.setGeometry(QtCore.QRect(10, 10, 67, 17))
self.label.setObjectName("label")
MainWindow.setCentralWidget(self.centralwidget)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
self.tasklist = []
self.markers = rviz_tools.RvizMarkers('/map', 'markers')
def __init__(self, context):
super(Shooter, self).__init__(context)
# Create the widget and name it
self._widget = QtWidgets.QWidget()
self._widget.setObjectName("Shooter")
self.setObjectName("Shooter")
# Extend the widget with all attributes and children in the UI file
ui_file = os.path.join(rospkg.RosPack().get_path("navigator_gui"),
"resource", "shooter.ui")
loadUi(ui_file, self._widget)
self.remote = RemoteControl("shooter gui")
self.remote.is_timed_out = True
self.shooter_status = {
"received": "Unknown",
"stamp": rospy.Time.now(),
"cached": "Unknown"
}
self.disc_speed_setting = 0
self.connect_ui()
rospy.Subscriber("/shooter/status", String, self.cache_shooter_status)
# Deals with problem of multiple instances of same plugin
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(" (%d)" % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
def __init__(self, guimgr, launch, parent):
super(AwPluginRemoveWindow, self).__init__(parent)
self.guimgr = guimgr
self.node = launch
settings = QtCore.QSettings("Autoware", "AutowareLauncher")
if settings.contains("geometry"):
self.restoreGeometry(settings.value("geometry"))
# select
self.nodelist = QtWidgets.QListWidget()
for child in self.node.children():
self.nodelist.addItem(child.name())
# footer
cancel = QtWidgets.QPushButton("Cancel")
cancel.clicked.connect(self.close)
remove = QtWidgets.QPushButton("Remove")
remove.clicked.connect(self.remove_launch_node)
footer = QtWidgets.QHBoxLayout()
footer.addStretch()
footer.addWidget(cancel)
footer.addWidget(remove)
# widget
layout = QtWidgets.QVBoxLayout()
layout.addWidget(self.nodelist)
layout.addLayout(footer)
widget = QtWidgets.QWidget()
widget.setLayout(layout)
self.setCentralWidget(widget)
self.setWindowTitle("Remove Launch Node")
def __init__(self, context):
super(MyPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('MyPlugin')
# 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
# Create QWidget
self._widget = QtWidgets.QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('robot_rqt_plugin'), 'resource', 'MyPlugin.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('MyPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
# Sets up the functions to be called on clicking on buttons
self._widget.hard_stop.clicked[bool].connect(self._hardstop)
self._widget.soft_stop.clicked[bool].connect(self._softstop)
self._widget.control.clicked[bool].connect(self._switchmode)
# Sets up the variables and the text label
self.mode_val = False
self.soft_stop = False
self.decide_text()
# Sets the topics and the publishing rate
self.control_publisher = rospy.Publisher("control_mode", Bool, queue_size=0)
self.stop_publisher = rospy.Publisher("soft_stop", Bool, queue_size=0)
self.rate = rospy.Rate(10)
# Starts a thread to run in parallel publishing messages
threading.Thread(target=self.publish_manually).start()
def __frame_setup(self, widget):
widget.title = QtWidgets.QLabel("No Title")
widget.title.setSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Preferred)
layout = self.create_frame_header_hlayout()
layout.addWidget(widget.title)
widget.header = QtWidgets.QWidget()
widget.header.setObjectName("FrameHeader")
widget.header.setLayout(layout)
layout = self.create_frame_entire_vlayout()
layout.addWidget(widget.header)
widget.setLayout(layout)
def __init__(self, guimgr, node, view):
super(AwTransformFrame, self).__init__(guimgr, node, view)
super(AwTransformFrame, self).setup_widget()
self.set_title(frame_title(self.view, "Transform"))
widget = QtWidgets.QWidget()
widget.setLayout(QtWidgets.QHBoxLayout())
for idx, txt in enumerate(["Tx", "Ty", "Tz", "Rx", "Ry", "Rz"]):
field = AwRealField(self.node.get_config(self.view.target[idx]))
field.target = self.view.target[idx]
field.value_updated.connect(self.apply)
widget.layout().addWidget(QtWidgets.QLabel(txt + ":"))
widget.layout().addWidget(field)
self.add_widget(widget)
def __setup_widget(self):
# Frame Header
self.title = QtWidgets.QLabel("No Title")
self.title.setSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Preferred)
layout = self.guimgr.create_frame_header_hlayout()
layout.addWidget(self.title)
self.header = QtWidgets.QWidget()
self.header.setObjectName("FrameHeader")
self.header.setLayout(layout)
# Frame Layout
layout = self.guimgr.create_frame_entire_vlayout()
layout.addWidget(self.header)
self.setLayout(layout)
def __init__(self, context):
super(InputPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('InputPlugin')
# 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
# Create QWidget
self._widget = QtWidgets.QWidget()
# Get path to UI file which should be in the "resource" folder of this package
ui_file = os.path.join(rospkg.RosPack().get_path('roboteam_input'),
'resource', 'InputPlugin.ui')
# Extend the widget with all attributes and children from UI file
loadUi(ui_file, self._widget)
# Give QObjects reasonable names
self._widget.setObjectName('InputPluginUi')
# Show _widget.windowTitle on left-top of each plugin (when
# it's set in _widget). This is useful when you open multiple
# plugins at once. Also if you open multiple instances of your
# plugin at once, these lines add number to make it easy to
# tell from pane to pane.
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._input_widgets = []
for i in range(0, 4):
new_input = input_widget.InputWidget(i)
self._input_widgets.append(new_input)
self._widget.layout().addWidget(new_input)
# Add widget to the user interface
context.add_widget(self._widget)
def __panel_setup(self, widget, spacer):
footer_layout = QtWidgets.QHBoxLayout()
footer_layout.setContentsMargins(2, 2, 2, 2)
footer_layout.setSpacing(2)
footer_layout.addStretch()
widget.footer = QtWidgets.QWidget()
widget.footer.setLayout(footer_layout)
widget_layout = QtWidgets.QVBoxLayout()
widget_layout.setContentsMargins(16, 16, 16, 16)
widget_layout.setSpacing(16)
if not spacer:
widget_layout.addStretch()
else:
widget_layout.addWidget(spacer)
widget_layout.addWidget(widget.footer)
widget.setLayout(widget_layout)
def __setup_widget(self):
self.window().setWindowTitle(self.__class__.__name__)
# Panel Footer
layout = QtWidgets.QHBoxLayout()
layout.setContentsMargins(2, 2, 2, 2)
layout.setSpacing(2)
layout.addStretch()
self.footer = QtWidgets.QWidget()
self.footer.setLayout(layout)
# Panel Layout
layout = QtWidgets.QVBoxLayout()
layout.setContentsMargins(16, 16, 16, 16)
layout.setSpacing(16)
layout.addStretch()
layout.addWidget(self.footer)
self.setLayout(layout)
def __init__(self, context):
super(Dashboard, self).__init__(context)
# Create the widget and name it
self._widget = QtWidgets.QWidget()
self._widget.setObjectName("Dashboard")
self.setObjectName("Dashboard")
# Extend the widget with all attributes and children in the UI file
ui_file = os.path.join(rospkg.RosPack().get_path("navigator_gui"),
"resource", "dashboard.ui")
loadUi(ui_file, self._widget)
self.remote = RemoteControl("dashboard")
# Creates dictionaries that are used by the monitor functions to keep track of their node or service
node_monitor_template = {
"current": "Unknown",
"displayed": "Unknown",
}
self.operating_mode = copy(node_monitor_template)
self.battery_voltage = copy(node_monitor_template)
self.kill_status = copy(node_monitor_template)
self.kill_status["current"] = True
self.system_time = copy(node_monitor_template)
self.hosts = node_monitor_template.copy()
self.clear_hosts()
self.connect_ui()
self.connect_ros()
# Deals with problem when they're multiple instances of Dashboard plugin
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(" (%d)" % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
# Creates monitors that update data on the GUI periodically
self.update_gui()
def __init__(self, context):
super(Dashboard, self).__init__(context)
# Lock used to ensure ROS callbacks are synced with Qt
self.lock = threading.Lock()
# Create the widget and name it
self._widget = QtWidgets.QWidget()
self._widget.setObjectName("Dashboard")
self.setObjectName("Dashboard")
# Extend the widget with all attributes and children in the UI file
ui_file = os.path.join(rospkg.RosPack().get_path("mil_missions"),
"resource", "dashboard.ui")
loadUi(ui_file, self._widget)
self.mission_runner_client = ObserveActionClient(
'/mission', DoMissionAction)
self.mission_runner_client.register_observer_transition_cb(
self.transition_cb)
self.mission_runner_client.register_observer_feedback_cb(
self.feedback_cb)
self.current_mission = None
self.current_mission_status = ''
self.current_mission_mission = ''
self.current_mission_result = ''
self.connect_ui()
self.reload_available_missions(None)
# Deals with problem when they're multiple instances of Dashboard plugin
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(" (%d)" % context.serial_number()))
# Add widget to the user interface
context.add_widget(self._widget)
def show_select_window(self):
# window
window = QtWidgets.QMainWindow(self)
window.setCentralWidget(QtWidgets.QWidget())
window.setAttribute(QtCore.Qt.WA_DeleteOnClose, True)
window.setWindowModality(QtCore.Qt.ApplicationModal)
window.setGeometry(self.window().geometry())
# widget
window.setWindowTitle("Create Node")
widget = window.centralWidget()
widget.setLayout(QtWidgets.QVBoxLayout())
# plugin select
pname_select = QtWidgets.QListWidget()
for pname in self.rule.plugins:
pname_select.addItem(pname)
widget.layout().addWidget(QtWidgets.QLabel("Node Type"))
widget.layout().addWidget(pname_select)
# footer
error_label = QtWidgets.QLabel()
error_label.setSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Preferred)
cancel_button = QtWidgets.QPushButton("Cancel")
select_button = QtWidgets.QPushButton("Select")
cancel_button.clicked.connect(window.close)
select_button.clicked.connect(self.onselected)
footer = QtWidgets.QHBoxLayout()
footer.addWidget(error_label)
footer.addWidget(cancel_button)
footer.addWidget(select_button)
widget.layout().addLayout(footer)
self.ui_window = window
self.ui_error = error_label
self.ui_pname = pname_select
window.show()
def frame_add_text_widget(self, frame, text):
layout = self.create_frame_header_hlayout()
layout.addWidget(QtWidgets.QLabel(text))
widget = QtWidgets.QWidget()
widget.setLayout(layout)
self.frame_add_widget(frame, widget)
def add_text_widget(self, text):
layout = self.guimgr.create_frame_header_hlayout()
layout.addWidget(QtWidgets.QLabel(text))
widget = QtWidgets.QWidget()
widget.setLayout(layout)
self.add_widget(widget)
def start(self, profile=None, skin=None):
application = QtWidgets.QApplication(self.__sysarg)
resolution = application.desktop().screenGeometry()
resolution = min(resolution.width(), resolution.height())
skin = skin or "autoware"
with open(myutils.package("resources/skins/{}.css").format(skin)) as fp:
stylesheet = fp.read()
stylesheet += "* { font-size: " + str(resolution/100) + "px; }"
application.setStyleSheet(stylesheet)
self.__treeview = AwTreeViewPanel(self) # ToDo: consider moving to guimgr
self.__control = AwControlPanel(self) # ToDo: consider moving to guimgr
self.__summary = AwSummaryPanel(self) # ToDo: consider moving to guimgr
self.__process = AwProcessPanel(self) # ToDo: consider moving to guimgr
self.__network = AwTcpServerPanel()
self.__quickstart = AwQuickStartPanel(self.__guimgr)
self.__sim_rosbag = AwRosbagSimulatorWidget(self.__guimgr)
self.__sim_lgsvl = AwLgsvlSimulatorWidget (self.__guimgr)
self.__sim_gazebo = AwGazeboSimulatorWidget(self.__guimgr)
tabwidget = QtWidgets.QTabWidget()
tabwidget.setSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Expanding)
tabwidget.addTab(self.__summary, "Summary")
tabwidget.addTab(self.__process, "Process")
#vsplitter = QtWidgets.QSplitter(QtCore.Qt.Vertical)
vsplitter = QtWidgets.QWidget()
vsplitter.setLayout(QtWidgets.QVBoxLayout())
vsplitter.layout().setContentsMargins(0, 0, 0, 0)
vsplitter.layout().setSpacing(0)
vsplitter.layout().addWidget(self.__treeview)
vsplitter.layout().addWidget(self.__control)
self.__develop = QtWidgets.QSplitter(QtCore.Qt.Horizontal)
self.__develop.addWidget(vsplitter)
self.__develop.addWidget(tabwidget)
#mainwidget = QtWidgets.QTabWidget()
#mainwidget.addTab(hsplitter, "Profile Edit")
#mainwidget.addTab(self.__quickstart, "Quick Start")
#mainwidget.addTab(self.__network, "Server Debug")
mainwidget = QtWidgets.QStackedWidget()
mainwidget.addWidget(self.__quickstart)
mainwidget.addWidget(self.__develop)
mainwidget.addWidget(self.__network)
simulations = QtWidgets.QTabWidget()
simulations.addTab(self.__sim_rosbag, "Rosbag")
simulations.addTab(self.__sim_lgsvl, "LGSVL")
simulations.addTab(self.__sim_gazebo, "Gazebo")
mainsplitter = QtWidgets.QSplitter(QtCore.Qt.Vertical)
mainsplitter.addWidget(mainwidget)
mainsplitter.addWidget(simulations)
#dock = QtWidgets.QDockWidget()
#dock.setWidget( )
#window.addDockWidget(QtCore.Qt.RightDockWidgetArea, dock)
window = AwMainWindow(self)
window.setCentralWidget(mainsplitter)
window.show()
simulations.hide()
window.addViewMenu("Simulation", simulations.setVisible)
def switch_develop_mode(checked):
if checked:
mainwidget.setCurrentWidget(self.__develop)
else:
mainwidget.setCurrentWidget(self.__quickstart)
window.addViewMenu("Develop Mode", switch_develop_mode)
# Debug
#mainwidget.setCurrentWidget(self.__develop)
simulations.hide()
self.__sim_rosbag.rosbag_file.path.setText(myutils.userhome(".autoware/log/20150324.bag"))
# connect objects
self.__server.register_runner(self.__process)
self.__process.register_server(self.__server)
self.__server.register_client(self.__network)
self.__network.register_server(self.__server)
self.__panels.append(self.__treeview)
self.__panels.append(self.__summary)
self.__panels.append(self.__process)
self.__panels.append(self.__quickstart)
self.__treeview.register_select_listener(self.__summary)
self.__treeview.register_select_listener(self.__process)
self.__treeview.register_select_listener(self.__control)
if profile:
self.__server.load_profile(profile)
else:
self.__server.make_profile("root/default")
return application.exec_()
def init_buttons(self):
added_node_labels = []
if self.tree != None:
for node in self.tree.nodes:
if node.label in added_node_labels:
continue
added_node_labels.append(node.label)
def get_publish_function(widget, button, other_buttons, node, message_type, message_data):
pub = rospy.Publisher(node.get_subscriber_name(), message_type, queue_size=1)
class IDContainer:
def __init__(self):
self.id = 0
id_container = IDContainer()
def active_callback(msg):
id_container.id = msg.id
if isinstance(message_type(), Status):
print(node.get_publisher_name())
sub = rospy.Subscriber(node.get_publisher_name(), Active, active_callback)
def add_publish_function():
def publish_function():
if message_data != 'NO MESSAGE':
msg = message_type()
if isinstance(msg, Bool):
msg.data = message_data
elif isinstance(msg, Status):
msg.status = message_data
msg.id = id_container.id
pub.publish(msg)
#print(node.label + ' publishing to ' + node.get_subscriber_name() + ' ' + str(message_data))
self.functions_mutex.acquire()
self.functions[node.label] = publish_function
self.functions_mutex.release()
if message_data == Status.SUCCESS or message_data == True:
widget.setStyleSheet("background-color: rgb(0, 255, 0);")
elif message_data == Status.RUNNING:
widget.setStyleSheet("background-color: rgb(0, 0, 255);")
elif message_data == Status.FAILURE or message_data == False:
widget.setStyleSheet("background-color: rgb(255, 0, 0);")
elif message_data == 'NO MESSAGE':
widget.setStyleSheet("background-color: rgb(255, 255, 255);")
button.setStyleSheet("background-color: rgb(0, 255, 0);")
for b in other_buttons:
b.setStyleSheet("background-color: rgb(255, 0, 0);")
return add_publish_function
if isinstance(node, bt.Action):
action_widget = qt.QWidget()
action_layout = qt.QHBoxLayout()
action_widget.setLayout(action_layout)
self.action_layout.addWidget(action_widget)
label = qt.QLabel()
label.setText(node.label)
action_layout.addWidget(label)
success_button = qt.QPushButton('SUCCESS')
success_button.setStyleSheet("background-color: rgb(255, 0, 0);")
action_layout.addWidget(success_button)
running_button = qt.QPushButton('RUNNING')
running_button.setStyleSheet("background-color: rgb(255, 0, 0);")
action_layout.addWidget(running_button)
failure_button = qt.QPushButton('FAILURE')
failure_button.setStyleSheet("background-color: rgb(255, 0, 0);")
action_layout.addWidget(failure_button)
no_message_button = qt.QPushButton('NO MESSAGE')
no_message_button.setStyleSheet("background-color: rgb(0, 255, 0);")
action_layout.addWidget(no_message_button)
success_button.clicked.connect(get_publish_function(action_widget, success_button, [running_button, failure_button, no_message_button], node, Status, Status.SUCCESS))
running_button.clicked.connect(get_publish_function(action_widget, running_button, [success_button, failure_button, no_message_button], node, Status, Status.RUNNING))
failure_button.clicked.connect(get_publish_function(action_widget, failure_button, [success_button, running_button, no_message_button], node, Status, Status.FAILURE))
no_message_button.clicked.connect(get_publish_function(action_widget, no_message_button, [success_button, running_button, failure_button], node, Status, 'NO MESSAGE'))
elif isinstance(node, bt.Condition):
condition_widget = qt.QWidget()
condition_layout = qt.QHBoxLayout()
condition_widget.setLayout(condition_layout)
self.condition_layout.addWidget(condition_widget)
label = qt.QLabel()
label.setText(node.label)
condition_layout.addWidget(label)
success_button = qt.QPushButton('SUCCESS')
success_button.setStyleSheet("background-color: rgb(255, 0, 0);")
condition_layout.addWidget(success_button)
failure_button = qt.QPushButton('FAILURE')
failure_button.setStyleSheet("background-color: rgb(255, 0, 0);")
condition_layout.addWidget(failure_button)
no_message_button = qt.QPushButton('NO MESSAGE')
no_message_button.setStyleSheet("background-color: rgb(0, 255, 0);")
condition_layout.addWidget(no_message_button)
success_button.clicked.connect(get_publish_function(condition_widget, success_button, [failure_button, no_message_button], node, Bool, True))
failure_button.clicked.connect(get_publish_function(condition_widget, failure_button, [success_button, no_message_button], node, Bool, False))
no_message_button.clicked.connect(get_publish_function(condition_widget, no_message_button, [success_button, failure_button], node, Bool, 'NO MESSAGE'))
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()
#!/usr/bin/env python
import os
import sys
import rospy
import rospkg
# binding provider is PyQt5, using its own specific stuff
from python_qt_binding import QtWidgets, QtGui, QtCore
rospy.init_node("test_qt_binding")
app = QtWidgets.QApplication(sys.argv)
w = QtWidgets.QWidget()
w.resize(250, 150)
w.move(300, 300)
w.setWindowTitle("test_qt_binding")
w.show()
sys.exit(app.exec_())
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
