def addPlotWidget(self):
del self.ui.placeholder
self.plotWidget = pg.GraphicsLayoutWidget()
self.ui.horizontalLayout.addWidget(self.plotWidget)
self.plotter = Plotter(self.plotWidget)
self.plotter.setup()
def __init__(self):
super(GUI, self).__init__()
# Resize width and height
self.resize(1000, 520)
# Widgets List
self.tabs_list = [] # List of QtGui.Qwigdet
self.states_list = [] # List of Graphwindows for pos and angle
self.signals_list = [] # List of GraphWindows for control signals
# Files
self.control_file = ''
self.launch_file = ''
# Drones
self.drones = DroneList()
self.__num_drones = 0
self.start_signal = False
# Matplots
self.plotter = Plotter()
self.control_period = 5./1000.
self.data_period = 100./1000.
start_roscore()
time.sleep(1)
rospy.init_node('GUI', anonymous=True)
self.controlTimer = rospy.Timer(
rospy.Duration(self.control_period), self.control_law)
self.dataTimer = rospy.Timer(rospy.Duration(self.data_period),
self.set_plot_data)
# First Command Tab
self.tabControl = QtGui.QWidget()
self.form = Ui_Form()
self.addTab(self.tabControl, 'Controls')
self.controlsUI()
self.setupUi()
self.bind_signals()
self.init_plot_data()
class MainWindow(QtGui.QMainWindow):
# signals
start = QtCore.Signal()
stop = QtCore.Signal()
reset = QtCore.Signal()
def __init__(self):
self.app = QtGui.QApplication(sys.argv)
self.app.setApplicationName("Plots! Plots! Plots!")
self.app.setStyleSheet(qdarkstyle.load_stylesheet())
# self.app.setStyle(QtGui.QGtkStyle())
self.plotter = None
self.state = {"started": False, "fullscreen": False}
super().__init__()
self.ui = Ui_MainWindow()
self.ui.setupUi(self)
self.validateUi()
self.addPlotWidget()
self.setupGuiBindings()
def validateUi(self):
"""
Since mainwindow.py is generated from a UI file we run
a few checks to validate the basic UI components are there
"""
assert hasattr(self.ui, "startStopButton")
assert hasattr(self.ui, "resetButton")
def addPlotWidget(self):
del self.ui.placeholder
self.plotWidget = pg.GraphicsLayoutWidget()
self.ui.horizontalLayout.addWidget(self.plotWidget)
self.plotter = Plotter(self.plotWidget)
self.plotter.setup()
def setNbColumns(self, n):
settings.PLOTS_PER_ROw = n
self.plotter.refresh_grid()
def setupGuiBindings(self):
self.ui.startStopButton.clicked.connect(self.startStop)
self.ui.resetButton.clicked.connect(self.plotter.clear)
self.plotter.fpsMessage.connect(self.ui.statusbar.showMessage)
# connect checkboxes with show/hide plots + titles
for i in range(settings.NUMBER_OF_SENSORS):
getattr(self.ui, "show{}".format(i + 1)).setText(settings.plots[i]["title"].format(index=i))
getattr(self.ui, "show{}".format(i + 1)).stateChanged.connect(
lambda state, i=i: self.plotter.set_show_plot(state, i)
)
## menus
self.ui.acqMode = QtGui.QActionGroup(self)
self.ui.acqMode.addAction(self.ui.actionSerial_Acquisition)
self.ui.acqMode.addAction(self.ui.actionFake_Acquisition)
# default
self.ui.actionFake_Acquisition.setChecked(True)
# @todo add a real settings manager
self.ui.columnsSpinBox.valueChanged.connect(self.setNbColumns)
self.ui.showTiming.stateChanged.connect(lambda state: self.plotter.set_show_plot(state, "time"))
self.ui.showMaster.stateChanged.connect(lambda state: self.plotter.set_show_plot(state, "master"))
self.ui.showTitles.stateChanged.connect(self.plotter.set_show_title)
@QtCore.Slot()
def startStop(self):
if self.state["started"]:
self.stop.emit()
self.ui.startStopButton.setText("Start")
else:
self.start.emit()
self.ui.startStopButton.setText("Stop")
self.state["started"] = not self.state["started"]
def show(self):
self.plotter.clear()
super().show()
return self.app.exec_()
def fullscreen(self):
if not "fullscreen" in self.state or not self.state["fullscreen"]:
self.state["fullscreen"] = True
self.ui.menubar.setVisible(False)
self.ui.statusbar.setVisible(False)
self.showFullScreen()
else:
self.state["fullscreen"] = False
self.showNormal()
self.ui.menubar.setVisible(True)
self.ui.statusbar.setVisible(True)
def keyPressEvent(self, e):
if e.key() == QtCore.Qt.Key_F11:
self.fullscreen()
@property
def plots(self):
return self.plotter
