def touch_calibration_points_evt(self, pts):
# TODO trigger state change?
for it in self.scene_items:
if isinstance(it, LabelItem):
continue
it.set_enabled(False, True)
self.notif(translate("UICoreRos", "Touch table calibration started. Please press the white point."), temp=False)
self.touch_points = TouchPointsItem(self.scene, self.rpm, pts)
class UICoreRos(UICore):
"""The class builds on top of UICore and adds ROS-related stuff and application logic.
Attributes:
user_status (UserStatus): current user tracking status
fsm (FSM): state machine maintaining current state of the interface and proper transitions between states
state_manager (interface_state_manager): synchronization of interfaces within the ARTable system
scene_pub (rospy.Publisher): publisher for scene images
last_scene_update (rospy.Time): time when the last scene image was published
scene_img_deq (Queue.Queue): thread-safe queue for scene images (which are published in separate thread)
projectors (list): array of ProjectorHelper instances
art (ArtApiHelper): easy access to ARTable services
"""
def __init__(self):
origin = rospy.get_param("~scene_origin", [0, 0])
size = rospy.get_param("~scene_size", [1.2, 0.75])
rpm = rospy.get_param("~rpm", 1280)
super(UICoreRos, self).__init__(origin[0], origin[1], size[0], size[1], rpm)
QtCore.QObject.connect(self, QtCore.SIGNAL('objects'), self.object_cb_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('user_status'), self.user_status_cb_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('interface_state'), self.interface_state_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('send_scene'), self.send_to_clients_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('touch_calibration_points_evt'), self.touch_calibration_points_evt)
QtCore.QObject.connect(self, QtCore.SIGNAL('touch_detected_evt'), self.touch_detected_evt)
self.user_status = None
self.program_vis.active_item_switched = self.active_item_switched
self.program_vis.program_state_changed = self.program_state_changed
self.fsm = FSM()
# TODO do this automatically??
# map callbacks from FSM to this instance
self.fsm.cb_start_calibration = self.cb_start_calibration
self.fsm.cb_waiting_for_user = self.cb_waiting_for_user
self.fsm.cb_program_selection = self.cb_program_selection
self.fsm.cb_waiting_for_user_calibration = self.cb_waiting_for_user_calibration
self.fsm.cb_learning = self.cb_learning
self.fsm.cb_running = self.cb_running
self.fsm.is_template = self.is_template
self.state_manager = InterfaceStateManager("PROJECTED UI", cb=self.interface_state_cb)
cursors = rospy.get_param("~cursors", [])
for cur in cursors:
self.scene_items.append(PoseStampedCursorItem(self.scene, self.rpm, cur))
self.scene_items.append(TouchTableItem(self.scene, self.rpm, '/art/interface/touchtable/touch', self.get_scene_items_by_type(PoseStampedCursorItem)))
self.scene_items.append(ButtonItem(self.scene, self.rpm, 0, 0, "STOP", None, self.stop_btn_clicked, 2.0, QtCore.Qt.red))
self.scene_items[-1].setPos(self.scene.width() - self.scene_items[-1].w, self.scene.height() - self.scene_items[-1].h - 60)
self.scene_items[-1].set_enabled(True)
self.port = rospy.get_param("~scene_server_port", 1234)
self.tcpServer = QtNetwork.QTcpServer(self)
if not self.tcpServer.listen(port=self.port):
rospy.logerr('Failed to start scene TCP server on port ' + str(self.port))
self.tcpServer.newConnection.connect(self.newConnection)
self.connections = []
self.last_scene_update = None
self.scene.changed.connect(self.scene_changed)
self.projectors = []
projs = rospy.get_param("~projectors", [])
for proj in projs:
self.add_projector(proj)
self.art = ArtApiHelper()
def touch_calibration_points_evt(self, pts):
# TODO trigger state change?
for it in self.scene_items:
if isinstance(it, LabelItem):
continue
it.set_enabled(False, True)
self.notif(translate("UICoreRos", "Touch table calibration started. Please press the white point."), temp=False)
self.touch_points = TouchPointsItem(self.scene, self.rpm, pts)
def touch_calibration_points_cb(self, req):
resp = TouchCalibrationPointsResponse()
if self.fsm.state not in ['program_selection', 'learning', 'running']:
resp.success = False
rospy.logerr('Cannot start touchtable calibration without a user!')
return resp
pts = []
for pt in req.points:
pts.append((pt.point.x, pt.point.y))
self.emit(QtCore.SIGNAL('touch_calibration_points_evt'), pts)
self.touched_sub = rospy.Subscriber('/art/interface/touchtable/touch_detected', Empty, self.touch_detected_cb, queue_size=10)
resp.success = True
return resp
def touch_detected_evt(self, msg):
if self.touch_points is None:
return
if not self.touch_points.next():
self.notif(translate("UICoreRos", "Touch saved."), temp=True)
for it in self.scene_items:
if isinstance(it, LabelItem):
continue
it.set_enabled(True, True)
self.notif(translate("UICoreRos", "Touch table calibration finished."), temp=False)
self.scene.removeItem(self.touch_points)
self.touch_points = None
self.touched_sub.unregister()
else:
self.notif(translate("UICoreRos", "Touch saved."), temp=True)
self.notif(translate("UICoreRos", "Please press the next point."), temp=False)
def touch_detected_cb(self, msg):
self.emit(QtCore.SIGNAL('touch_detected_evt'), msg)
def newConnection(self):
rospy.loginfo('Some projector node just connected.')
self.connections.append(self.tcpServer.nextPendingConnection())
self.connections[-1].setSocketOption(QtNetwork.QAbstractSocket.LowDelayOption, 1)
self.emit(QtCore.SIGNAL('send_scene'), self.connections[-1])
# TODO deal with disconnected clients!
# self.connections[-1].disconnected.connect(clientConnection.deleteLater)
def send_to_clients_evt(self, client=None):
# if all connections are sending scene image, there is no need to render the new one
if client is None:
for con in self.connections:
if con.bytesToWrite() == 0:
break
else:
return
# TODO try to use Format_RGB16 - BMP is anyway converted to 32bits (send raw data instead)
pix = QtGui.QImage(self.scene.width(), self.scene.height(), QtGui.QImage.Format_ARGB32_Premultiplied)
painter = QtGui.QPainter(pix)
self.scene.render(painter)
painter.end()
block = QtCore.QByteArray()
out = QtCore.QDataStream(block, QtCore.QIODevice.WriteOnly)
out.setVersion(QtCore.QDataStream.Qt_4_0)
out.writeUInt32(0)
img = QtCore.QByteArray()
buffer = QtCore.QBuffer(img)
buffer.open(QtCore.QIODevice.WriteOnly)
pix.save(buffer, "BMP")
out << QtCore.qCompress(img, 1) # this seem to be much faster than using PNG compression
out.device().seek(0)
out.writeUInt32(block.size() - 4)
# print block.size()
if client is None:
for con in self.connections:
if con.bytesToWrite() > 0:
return
con.write(block)
else:
client.write(block)
def start(self):
rospy.loginfo("Waiting for ART services...")
self.art.wait_for_api()
if len(self.projectors) > 0:
rospy.loginfo("Waiting for projector nodes...")
for proj in self.projectors:
proj.wait_until_available()
rospy.loginfo("Ready! Starting state machine.")
# TODO move this to ArtApiHelper ??
self.obj_sub = rospy.Subscriber('/art/object_detector/object_filtered', InstancesArray, self.object_cb, queue_size=1)
self.user_status_sub = rospy.Subscriber('/art/user/status', UserStatus, self.user_status_cb, queue_size=1)
self.touch_points = None
self.touch_calib_srv = rospy.Service('/art/interface/projected_gui/touch_calibration', TouchCalibrationPoints, self.touch_calibration_points_cb)
self.fsm.tr_start()
def add_projector(self, proj_id):
self.projectors.append(ProjectorHelper(proj_id))
def scene_changed(self, rects):
if len(rects) == 0:
return
# TODO Publish only changes? How to accumulate them (to be able to send it only at certain fps)?
now = rospy.Time.now()
if self.last_scene_update is None:
self.last_scene_update = now
else:
if now - self.last_scene_update < rospy.Duration(1.0 / 20):
return
# print 1.0/(now - self.last_scene_update).to_sec()
self.last_scene_update = now
self.emit(QtCore.SIGNAL('send_scene'))
def stop_btn_clicked(self):
# TODO
self.notif(translate("UICoreRos", "Emergency stop pressed"), temp=True)
def interface_state_evt(self, our_state, state, flags):
if state.system_state == InterfaceState.STATE_LEARNING:
# TODO !!
pass
elif state.system_state == InterfaceState.STATE_PROGRAM_RUNNING:
if self.program_vis.prog is None or self.program_vis.prog.id != state.program_id:
program = self.art.load_program(state.program_id)
if program is not None:
self.program_vis.set_prog(program, False)
else:
pass # TODO error
if self.fsm.state != 'running':
self.clear_all()
self.program_vis.set_running()
self.fsm.tr_running()
# TODO updatovat program_vis itemem ze zpravy - pokud se lisi (timestamp) ??
self.program_vis.set_active(inst_id=state.program_current_item.id)
it = state.program_current_item
if our_state.program_current_item.id != state.program_current_item:
self.clear_all()
if it.type == ProgIt.GET_READY:
self.notif(translate("UICoreRos", "Robot is getting ready"))
elif it.type == ProgIt.WAIT:
if it.spec == ProgIt.WAIT_FOR_USER:
self.notif(translate("UICoreRos", "Waiting for user"))
elif it.spec == ProgIt.WAIT_UNTIL_USER_FINISHES:
self.notif(translate("UICoreRos", "Waiting for user to finish"))
# TODO MANIP_PICK, MANIP_PLACE
elif it.type == ProgIt.MANIP_PICK_PLACE:
obj_id = it.object
if it.spec == ProgIt.MANIP_ID:
self.select_object(it.object)
elif it.spec == ProgIt.MANIP_TYPE:
try:
obj_id = flags["SELECTED_OBJECT_ID"]
except KeyError:
rospy.logerr("MANIP_PICK_PLACE/MANIP_TYPE: SELECTED_OBJECT_ID flag not set")
pass
# TODO how to highlight selected object (by brain) ?
self.select_object_type(it.object)
self.add_polygon(translate("UICoreRos", "PICK POLYGON"), poly_points=self.program_vis.active_item.get_pick_polygon_points()) # TODO fixed
self.notif(translate("UICoreRos", "Going to manipulate with object ID=") + obj_id)
self.add_place(translate("UICoreRos", "PLACE POSE"), it.place_pose.pose.position.x, it.place_pose.pose.position.y, fixed=True)
def interface_state_cb(self, our_state, state, flags):
self.emit(QtCore.SIGNAL('interface_state'), our_state, state, flags)
# callback from ProgramItem (button press)
def program_state_changed(self, state):
if state == 'RUNNING':
prog = self.program_vis.get_prog()
prog.id = 1
if not self.art.store_program(prog):
# TODO what to do?
self.notif(translate("UICoreRos", "Failed to store program"), temp=True)
else:
self.notif(translate("UICoreRos", "Program stored. Starting..."), temp=True)
# clear all and wait for state update from brain
self.clear_all()
self.fsm.tr_program_learned()
self.art.start_program(prog.id)
# TODO pause / stop -> fsm
# elif state == ''
# callback from ProgramItem
def active_item_switched(self):
rospy.logdebug("Program ID:" + str(self.program_vis.prog.id) + ", active item ID: " + str(self.program_vis.active_item.item.id))
self.clear_all()
# TODO block_id
self.state_manager.update_program_item(self.program_vis.prog.id, self.program_vis.prog.blocks[0].id, self.program_vis.active_item.item)
if self.program_vis.active_item.item.type in [ProgIt.MANIP_PICK, ProgIt.MANIP_PLACE, ProgIt.MANIP_PICK_PLACE]:
if self.program_vis.active_item.item_learned():
self.notif(translate("UICoreRos", "This program item seems to be done"))
else:
# TODO vypsat jaky je to task?
self.notif(translate("UICoreRos", "Program current manipulation task"))
# TODO loop across program item ids - not indices!!
idx = self.program_vis.items.index(self.program_vis.active_item)
if idx > 0:
for i in range(idx - 1, -1, -1):
it = self.program_vis.items[i]
if it.item.type in [ProgIt.MANIP_PLACE, ProgIt.MANIP_PICK_PLACE] and it.is_place_pose_set():
# TODO add "artif." object instead of place??
self.add_place(translate("UICoreRos", "OBJECT FROM STEP") + " " + str(it.item.id), it.item.place_pose.pose.position.x, it.item.place_pose.pose.position.y, fixed=True)
break
if self.program_vis.active_item.item.spec == ProgIt.MANIP_TYPE:
if not self.program_vis.active_item.is_object_set():
self.notif(translate("UICoreRos", "Select object type to be picked up"), temp=True)
self.select_object_type(self.program_vis.active_item.item.object)
# if program item already contains polygon - let's display it
if self.program_vis.active_item.is_pick_polygon_set():
self.add_polygon(translate("UICoreRos", "PICK POLYGON"), poly_points=self.program_vis.active_item.get_pick_polygon_points(), polygon_changed=self.polygon_changed, fixed=True)
else:
self.notif(translate("UICoreRos", "Select object to be picked up"), temp=True)
self.select_object(self.program_vis.active_item.item.object)
if self.program_vis.active_item.is_object_set():
# TODO kdy misto place pose pouzi place polygon? umoznit zmenit pose na polygon a opacne?
if self.program_vis.active_item.is_place_pose_set():
(x, y) = self.program_vis.active_item.get_place_pose()
self.add_place(translate("UICoreRos", "PLACE POSE"), x, y, self.place_pose_changed)
else:
self.notif(translate("UICoreRos", "Set where to place picked object"))
self.add_place(translate("UICoreRos", "PLACE POSE"), self.width / 2, self.height / 2, self.place_pose_changed)
def place_pose_changed(self, pos):
self.program_vis.set_place_pose(pos[0], pos[1])
# TODO block_id
self.state_manager.update_program_item(self.program_vis.prog.id, self.program_vis.prog.blocks[0].id, self.program_vis.active_item.item)
def is_template(self):
return True
def cb_running(self):
pass
def cb_learning(self):
# TODO zobrazit instrukce k tasku
pass
def calib_done_cb(self, proj):
if proj.is_calibrated():
self.calib_proj_cnt += 1
if self.calib_proj_cnt < len(self.projectors):
self.projectors[self.calib_proj_cnt].calibrate(self.calib_done_cb)
else:
rospy.loginfo('Projectors calibrated.')
self.fsm.tr_calibrated()
else:
# calibration failed - let's try again
rospy.logerr('Calibration failed for projector: ' + proj.proj_id)
proj.calibrate(self.calib_done_cb)
def cb_start_calibration(self):
if len(self.projectors) == 0:
rospy.loginfo('No projectors to calibrate.')
self.fsm.tr_calibrated()
else:
rospy.loginfo('Starting calibration of ' + str(len(self.projectors)) + ' projector(s)')
self.calib_proj_cnt = 0
if not self.projectors[0].calibrate(self.calib_done_cb):
# TODO what to do?
rospy.logerr("Failed to start projector calibration")
def cb_waiting_for_user(self):
self.notif(translate("UICoreRos", "Waiting for user..."))
def cb_waiting_for_user_calibration(self):
self.notif(translate("UICoreRos", "Please do a calibration pose"))
def cb_program_selection(self):
self.notif(translate("UICoreRos", "Please select a program"))
# TODO display list of programs -> let user select -> then load it
program = self.art.load_program(0)
if program is not None:
self.program_vis.set_prog(program, self.is_template())
self.active_item_switched()
self.fsm.tr_program_selected()
else:
self.notif(translate("UICoreRos", "Loading of requested program failed"), temp=True)
def object_cb(self, msg):
self.emit(QtCore.SIGNAL('objects'), msg)
def object_cb_evt(self, msg):
for obj_id in msg.lost_objects:
self.remove_object(obj_id)
self.notif(translate("UICoreRos", "Object") + " ID=" + str(obj_id) + " " + translate("UICoreRos", "disappeared"), temp=True)
for inst in msg.instances:
obj = self.get_object(inst.object_id)
if obj:
obj.set_pos(inst.pose.position.x, inst.pose.position.y)
else:
# TODO get and display bounding box
# obj_type = self.art.get_object_type(inst.object_type)
self.add_object(inst.object_id, inst.object_type, inst.pose.position.x, inst.pose.position.y, self.object_selected)
self.notif(translate("UICoreRos", "New object") + " ID=" + str(inst.object_id), temp=True)
def polygon_changed(self, pts):
self.program_vis.set_polygon(pts)
# TODO block_id
self.state_manager.update_program_item(self.program_vis.prog.id, self.program_vis.prog.blocks[0].id, self.program_vis.active_item.item)
def object_selected(self, id, selected):
if self.fsm.state != 'learning':
return False
# TODO handle un-selected
print "selected object: " + str(id)
obj = self.get_object(id)
# TODO test typu operace
if self.program_vis.active_item.item.spec == ProgIt.MANIP_TYPE:
# this type of object is already set
if obj.object_type == self.program_vis.active_item.item.object:
return
else:
# TODO remove previously inserted polygon, do not insert new place
pass
poly_points = []
self.program_vis.set_object(obj.object_type)
self.select_object_type(obj.object_type)
for obj in self.get_scene_items_by_type(ObjectItem):
poly_points.append(obj.get_pos())
self.add_polygon(translate("UICoreRos", "PICK POLYGON"), poly_points, polygon_changed=self.polygon_changed)
self.notif(translate("UICoreRos", "Check and adjust pick polygon"), temp=True)
self.notif(translate("UICoreRos", "Set where to place picked object"), temp=True)
self.add_place(translate("UICoreRos", "PLACE POSE"), self.width / 2, self.height / 2, self.place_pose_changed)
elif self.program_vis.active_item.item.spec == ProgIt.MANIP_ID:
# TODO
pass
# TODO block_id
self.state_manager.update_program_item(self.program_vis.prog.id, self.program_vis.prog.blocks[0].id, self.program_vis.active_item.item)
return True
def user_status_cb(self, msg):
self.emit(QtCore.SIGNAL('user_status'), msg)
def user_status_cb_evt(self, msg):
self.user_status = msg
try:
if self.user_status.user_state == UserStatus.USER_NOT_CALIBRATED:
self.fsm.tr_user_present()
elif self.user_status.user_state == UserStatus.USER_CALIBRATED:
self.fsm.tr_user_calibrated()
except MachineError:
pass