def __init__(self, app): #, robot, tf_listener=None): qtg.QMainWindow.__init__(self) self.app = app self.ui = Ui_RCommanderWindow() self.ui.setupUi(self) nbg.NodeBoxGUI.__init__(self, self.ui.graphicsSuperView) self.connect(self.ui.run_button, qtc.SIGNAL('clicked()'), self.run_cb) self.connect(self.ui.add_button, qtc.SIGNAL('clicked()'), self.add_cb) self.connect(self.ui.reset_button, qtc.SIGNAL('clicked()'), self.reset_cb) self.connect(self.ui.save_button, qtc.SIGNAL('clicked()'), self.save_cb) self.connect(self.ui.start_state_button, qtc.SIGNAL('clicked()'), self.start_state_cb) self.connect(self.ui.add_to_library_button, qtc.SIGNAL('clicked()'), self.add_to_library_cb) self.connect(self.ui.delete_button, qtc.SIGNAL('clicked()'), self.delete_cb) self.connect(self.ui.action_Run, qtc.SIGNAL('triggered(bool)'), self.run_sm_cb) self.connect(self.ui.action_stop, qtc.SIGNAL('triggered(bool)'), self.stop_sm_cb) self.connect(self.ui.actionNew, qtc.SIGNAL('triggered(bool)'), self.new_sm_cb) self.connect(self.ui.action_save, qtc.SIGNAL('triggered(bool)'), self.save_sm_cb) self.connect(self.ui.action_save_as, qtc.SIGNAL('triggered(bool)'), self.save_as_sm_cb) self.connect(self.ui.action_open, qtc.SIGNAL('triggered(bool)'), self.open_sm_cb) self.connect(self.ui.action_quit, qtc.SIGNAL('triggered(bool)'), self.quit_cb) self.ui.splitter.setSizes(split(self.width(), .83)) self.empty_container(self.ui.properties_tab) self.empty_container(self.ui.connections_tab) self.add_mode() self.disable_buttons() #create instance variables self.tabs = {} self.tool_dict = {} #name of currently selected tool that operates on graph #self.graph_model = None self.selected_tool = None self.selected_graph_tool = None self.selected_node = None self.selected_edge = None self.fsm_stack = [] #Setup animation timer #self.status_bar_timer = QTimer() #self.connect(self.status_bar_timer, SIGNAL('timeout()'), self.status_bar_check) #self.status_bar_timer.start(100) self.status_bar_msg = ''
def __init__(self): QMainWindow.__init__(self) self.ui = Ui_RCommanderWindow() self.ui.setupUi(self) nbg.NodeBoxGUI.__init__(self, self.ui.graphicsSuperView) self.connect(self.ui.run_button, SIGNAL('clicked()'), self.run_cb) self.connect(self.ui.add_button, SIGNAL('clicked()'), self.add_cb) self.connect(self.ui.reset_button, SIGNAL('clicked()'), self.reset_cb) self.connect(self.ui.save_button, SIGNAL('clicked()'), self.save_cb) self.connect(self.ui.start_state_button, SIGNAL('clicked()'), self.start_state_cb) self.connect(self.ui.delete_button, SIGNAL('clicked()'), self.delete_cb) self.connect(self.ui.action_Run, SIGNAL('triggered(bool)'), self.run_sm_cb) self.connect(self.ui.action_stop, SIGNAL('triggered(bool)'), self.stop_sm_cb) self.connect(self.ui.actionNew, SIGNAL('triggered(bool)'), self.new_sm_cb) self.connect(self.ui.action_save, SIGNAL('triggered(bool)'), self.save_sm_cb) self.connect(self.ui.action_save_as, SIGNAL('triggered(bool)'), self.save_as_sm_cb) self.connect(self.ui.action_open, SIGNAL('triggered(bool)'), self.open_sm_cb) self.ui.splitter.setSizes(split(self.width(), .83)) self.empty_container(self.ui.properties_tab) self.empty_container(self.ui.connections_tab) self.add_mode() self.disable_buttons() #create instance variables self.tabs = {} self.tool_dict = {} #name of currently selected tool that operates on graph #self.graph_model = None self.selected_tool = None self.selected_graph_tool = None self.selected_node = None self.selected_edge = None self.fsm_stack = [] #Setup animation timer self.status_bar_timer = QTimer() self.connect(self.status_bar_timer, SIGNAL('timeout()'), self.status_bar_check) self.status_bar_timer.start(100) #Connect to ROS & PR2 rospy.init_node('rcommander', anonymous=True) self.tf_listener = tf.TransformListener() self.pr2 = pu.PR2(self.tf_listener)