def findBranch(self, base_class, parent=QtCore.QModelIndex()):
parent_item = self.getItem(parent)
child_item = parent_item.findBranch(base_class)
if child_item:
return self.index(child_item.childNumber(), 0, parent)
else:
return QtCore.QModelIndex()
def parent(self, index=QtCore.QModelIndex()):
if not index.isValid():
return QtCore.QModelIndex()
child_item = self.getItem(index)
parent_item = child_item.parentItem()
if parent_item == self._root_item:
return QtCore.QModelIndex()
return self.createIndex(parent_item.childNumber(), 0, parent_item)
def findChild(self, description, parent=QtCore.QModelIndex()):
parent_item = self.getItem(parent)
if parent_item == self._root_item:
parent = self.findBranch(description.base_class.data, parent)
if not parent.isValid():
return QtCore.QModelIndex()
child_item = parent_item.findChild(description)
if child_item:
return self.index(child_item.childNumber(), 0, parent)
else:
return QtCore.QModelIndex()
def __init__(self, context):
super(CalibrationUI, self).__init__(context)
self.setObjectName('Instructor Calibration UI')
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
rospack = rospkg.RosPack()
ui_path = rospack.get_path('instructor_core') + '/ui/calibration.ui'
# Load the ui attributes into the main widget
loadUi(ui_path, self._widget)
self._widget.setObjectName('InstructorCalibrationUI')
self._widget.setWindowTitle('Instructor Calibration UI')
# 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)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
# Initialize empty set of available markers for each camera
for c in range(self.n_cameras):
self.camera_marker_frame_names[c] = {}
self.cameras_calibrated += [False]
# Add listener to detect AR markers
self.tf_listen = tf.TransformListener()
self.tf_broadcast = tf.TransformBroadcaster()
# Add timer
self.timer = QtCore.QTimer()
self.connect(self.timer, QtCore.SIGNAL("timeout()"), self.update)
self.timer.start(100)
self._widget.done_btn.clicked.connect(self.done_event)
self._widget.recalibrate_btn.clicked.connect(self.recalibrate_event)
### Change Indicator Sample Code --------------------------------------#
self._widget.done_btn.setStyleSheet('color:#999999')
def index(self, row, column, parent=QtCore.QModelIndex()):
if not self.hasIndex(row, column, parent):
return QtCore.QModelIndex()
if parent.isValid() and parent.column() != 0:
return QtCore.QModelIndex()
parent_item = self.getItem(parent)
child_item = parent_item.child(row)
if child_item:
return self.createIndex(row, column, child_item)
else:
return QtCore.QModelIndex()
def loadFile(self, fileName):
file = QtCore.QFile(fileName)
if not file.open(QtCore.QFile.ReadOnly | QtCore.QFile.Text):
QtGui.QMessageBox.warning(
self, "${APP_NAME}", "Cannot read file %s:\n%s." % (
fileName, file.errorString()))
return
inf = QtCore.QTextStream(file)
QtGui.QApplication.setOverrideCursor(QtCore.Qt.WaitCursor)
self.textEdit.setPlainText(inf.readAll())
QtGui.QApplication.restoreOverrideCursor()
self.setCurrentFile(fileName)
self.statusBar().showMessage("File loaded", 2000)
def saveFile(self, fileName):
file = QtCore.QFile(fileName)
if not file.open(QtCore.QFile.WriteOnly | QtCore.QFile.Text):
QtGui.QMessageBox.warning(
self, "${APP_NAME}", "Cannot write file %s:\n%s." % (
fileName, file.errorString()))
return False
outf = QtCore.QTextStream(file)
QtGui.QApplication.setOverrideCursor(QtCore.Qt.WaitCursor)
outf << self.textEdit.toPlainText()
QtGui.QApplication.restoreOverrideCursor()
self.setCurrentFile(fileName)
self.statusBar().showMessage("File saved", 2000)
return True
def insertRows(self, row, count, parent=QtCore.QModelIndex()):
parent_item = self.getItem(parent)
self.beginInsertRows(parent, row, row + count - 1)
success = parent_item.insertChildren(row, count)
self.endInsertRows()
return success
def removeRows(self, row, count, parent=QtCore.QModelIndex()):
parent_item = self.getItem(parent)
self.beginRemoveRows(parent, row, row + count - 1)
success = parent_item.removeChildren(row, count)
self.endRemoveRows()
# remove empty branch
if success and parent_item.parentItem() and not parent_item.childCount():
return self.removeRows(parent_item.childNumber(), 1)
return success
def addBranch(self, base_class):
# check if branch already does exist
branch = self.findBranch(base_class)
if branch.isValid():
return branch
state = PluginState()
state.description.base_class.data = base_class
# add new branch
temp_list = [child.getPluginState().description.base_class.data for child in self._root_item.childs()]
position = bisect.bisect(temp_list, base_class)
if self.insertRows(position, 1):
branch_item = self._root_item.child(position)
branch_item.setData(state)
return self.index(position, 0)
return QtCore.QModelIndex()
def addItem(self, state):
# search for branch with type_class
branch = self.addBranch(state.description.base_class.data)
branch_item = self.getItem(branch)
# check if child already does exist
child = self.findChild(state.description, branch)
if child.isValid():
return child
# add new item to branch
entry = (state.description.type_class.data, state.description.name.data)
temp_list = [(child.getPluginState().description.type_class.data, child.getPluginState().description.name.data) for child in branch_item.childs()]
position = bisect.bisect(temp_list, entry)
if self.insertRows(position, 1, branch):
child_item = branch_item.child(position)
child_item.setData(state)
return self.index(position, 0, branch)
return QtCore.QModelIndex()
def writeSettings(self):
settings = QtCore.QSettings("Trolltech", "${APP_NAME}")
settings.setValue("pos", self.pos())
settings.setValue("size", self.size())
def readSettings(self):
settings = QtCore.QSettings("Trolltech", "${APP_NAME}")
pos = settings.value("pos", QtCore.QPoint(200, 200))
size = settings.value("size", QtCore.QSize(400, 400))
self.resize(size)
self.move(pos)
def __init__(self, context):
super(WorkspaceUI, self).__init__(context)
self.setObjectName('Instructor Workspace UI')
# Create QWidget
self._widget = QWidget()
# Get path to UI file which is a sibling of this file
rospack = rospkg.RosPack()
ui_path = rospack.get_path('instructor_core') + '/ui/workspace.ui'
# Load the ui attributes into the main widget
loadUi(ui_path, self._widget)
self._widget.setObjectName('InstructorWorkspaceUI')
self._widget.setWindowTitle('Instructor Workspace UI')
# 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:
title = self._widget.windowTitle() + (' (%d)' %
context.serial_number())
self._widget.setWindowTitle(title)
# Add widget to the user interface
context.add_widget(self._widget)
palette = QPalette()
palette.setColor(QPalette.Background, Qt.white)
self._widget.setPalette(palette)
# Hide things to start with
self._widget.fiducial_found_widget.hide()
self._widget.add_fiducial_widget.hide()
# Connect things
self._widget.add_ok_btn.clicked.connect(self.add_ok_event)
self._widget.add_cancel_btn.clicked.connect(self.add_cancel_event)
self._widget.fiducial_name_edit.textChanged.connect(
self.name_entered_event)
# Add listener to detect AR markers
self.tf_listen = tf.TransformListener()
# Add predicator publisher
self.pub_predicates = rospy.Publisher('predicator/input',
PredicateList)
# Clean params for landmarks
rospy.loginfo('Cleaning up previous workspace landmark params')
params = rospy.get_param_names()
landmarks = [p for p in params if "instructor_landmark" in p]
rospy.loginfo(landmarks)
for marker in landmarks:
rospy.loginfo('Removed ' + str(marker))
rospy.delete_param(marker)
# Add timer
self.timer = QtCore.QTimer()
self.connect(self.timer, QtCore.SIGNAL("timeout()"), self.update)
self.timer.start(100)
def qInitResources():
QtCore.qRegisterResourceData(0x01, qt_resource_struct, qt_resource_name, qt_resource_data)
def getItem(self, index=QtCore.QModelIndex()):
if index.isValid():
return index.internalPointer()
else:
return self._root_item
def flags(self, index=QtCore.QModelIndex()):
if index.isValid():
return QtCore.Qt.ItemIsEnabled | QtCore.Qt.ItemIsSelectable | super(PluginTreeModel, self).flags(index) #QtCore.Qt.ItemIsEditable
else:
return QtCore.Qt.NoItemFlags
def strippedName(self, fullFileName):
return QtCore.QFileInfo(fullFileName).fileName()
def rowCount(self, parent=QtCore.QModelIndex()):
if parent.isValid():
return parent.internalPointer().childCount()
else:
return self._root_item.childCount()
def qCleanupResources():
QtCore.qUnregisterResourceData(0x01, qt_resource_struct, qt_resource_name, qt_resource_data)
import sys
${PyQT_API_CHECK}from ${QT_LIBRARY} import QtCore
if __name__ == '__main__':
app = QtCore.QCoreApplication(sys.argv)
print "Initializing the main events loop"
sys.exit(app.exec_())
