def __init__(self, context):
super(QuestionDialogPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('QuestionDialogPlugin')
font_size = rospy.get_param("~font_size", 40)
# Create QWidget
self._widget = QWidget()
self._widget.setFont(QFont("Times", font_size, QFont.Bold))
self._layout = QVBoxLayout(self._widget)
self._text_browser = QTextBrowser(self._widget)
self._layout.addWidget(self._text_browser)
self._button_layout = QGridLayout()
self._layout.addLayout(self._button_layout)
# layout = QVBoxLayout(self._widget)
# layout.addWidget(self.button)
self._widget.setObjectName('QuestionDialogPluginUI')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
# Setup service provider
self.service = rospy.Service('question_dialog', QuestionDialog,
self.service_callback)
self.response_ready = False
self.response = None
self.buttons = []
self.text_label = None
self.text_input = None
self.connect(self._widget, SIGNAL("update"), self.update)
self.connect(self._widget, SIGNAL("timeout"), self.timeout)
class RosMsgView(QGroupBox):
def __init__(self,parent,name,topic_name,topic_type,topic_fields):
super(RosMsgView,self).__init__(name,parent)
self.topic_name = topic_name
self.topic_type = topic_type
self.topic_fields = topic_fields
self.ref_dict = {}
self.layout = QGridLayout()
self.__populate_self()
self.subscriber = RosHelper.create_subscriber_from_type(self.topic_name,self.topic_type,self.onmsg)
def __populate_self(self):
i = 1
if len(self.topic_fields) == 0:
fields = RosHelper.get_all_msg_fields(self.topic_type)
else:
fields = self.topic_fields
for field in fields:
self.ref_dict[field] = QLabel("None",self)
self.layout.addWidget(QLabel(field,self),i,1)
self.layout.addWidget(self.ref_dict[field],i,2)
i+=1
self.setLayout(self.layout)
def onmsg(self,msg):
# loop msg with topic field and
for topic_field in self.topic_fields:
r = msg
lbl = self.ref_dict[topic_field]
for subfields in topic_field.split(".")[1:]:
r = getattr(r,subfields)
lbl.setText(str(r))
class RosMsgView(QGroupBox):
def __init__(self, parent, name, topic_name, topic_type, topic_fields):
super(RosMsgView, self).__init__(name, parent)
self.topic_name = topic_name
self.topic_type = topic_type
self.topic_fields = topic_fields
self.ref_dict = {}
self.layout = QGridLayout()
self.__populate_self()
self.subscriber = RosHelper.create_subscriber_from_type(
self.topic_name, self.topic_type, self.onmsg)
def __populate_self(self):
i = 1
if len(self.topic_fields) == 0:
fields = RosHelper.get_all_msg_fields(self.topic_type)
else:
fields = self.topic_fields
for field in fields:
self.ref_dict[field] = QLabel("None", self)
self.layout.addWidget(QLabel(field, self), i, 1)
self.layout.addWidget(self.ref_dict[field], i, 2)
i += 1
self.setLayout(self.layout)
def onmsg(self, msg):
# loop msg with topic field and
for topic_field in self.topic_fields:
r = msg
lbl = self.ref_dict[topic_field]
for subfields in topic_field.split(".")[1:]:
r = getattr(r, subfields)
lbl.setText(str(r))
def __init__(self, parent, name, topic_name, topic_type, topic_fields):
super(RosMsgView, self).__init__(name, parent)
self.topic_name = topic_name
self.topic_type = topic_type
self.topic_fields = topic_fields
self.ref_dict = {}
self.layout = QGridLayout()
self.__populate_self()
self.subscriber = RosHelper.create_subscriber_from_type(
self.topic_name, self.topic_type, self.onmsg)
def beginRosLabel(self,obj):
pm,lm = self.__get_immediate_parent()
fr = QFrame(pm)
layout = QGridLayout()
nlb = QLabel(obj.label_name + ":",fr)
nlb.setToolTip(obj.topic_name)
layout.addWidget(nlb,1,1)
layout.addWidget(RosLabel(fr,obj.label_name,obj.topic_name,obj.topic_type,obj.topic_field),1,2)
fr.setLayout(layout)
lm.addWidget(fr)
def __init__(self, context, actions):
super(ActionClientContainerWidget, self).__init__()
grid = QGridLayout()
grid.setSpacing(1)
MAX_COLUMNS = 2
self.setObjectName('ActionClientContainerWidget')
self.clear_button = QPushButton("Clear all")
self.clear_button.clicked[bool].connect(self._handle_clear_clicked)
grid.addWidget(self.clear_button, 0, 0)
self.widgets = []
row = 1
column = 0
for k in sorted(actions.keys()):
action_name = k
widget = ActionClientWidget(context, action_name, actions[k])
grid.addWidget(widget, row, column)
self.widgets.append(widget)
column += 1
if column >= MAX_COLUMNS:
row += 1
column = 0
self.setLayout(grid)
def __init__(self,parent,name,topic_name,topic_type,topic_fields):
super(RosMsgView,self).__init__(name,parent)
self.topic_name = topic_name
self.topic_type = topic_type
self.topic_fields = topic_fields
self.ref_dict = {}
self.layout = QGridLayout()
self.__populate_self()
self.subscriber = RosHelper.create_subscriber_from_type(self.topic_name,self.topic_type,self.onmsg)
def beginGroup(self, obj):
parent, layout = self.__get_immediate_parent()
panel = QGroupBox(obj.name, parent)
if obj.layout == "grid":
l = QGridLayout()
elif obj.layout == "vertical":
l = QVBoxLayout()
else:
l = QHBoxLayout()
self.__increase_nesting_level(panel, l)
def onCreate(self, param):
layout = QGridLayout(self)
layout.setContentsMargins(2, 2, 2, 2)
self._rospack = rospkg.RosPack()
self._model = MessageDataModel()
self._proxy_model = MessageProxyModel()
self._proxy_model.setSourceModel(self._model)
self.__widget = ConsoleWidget(self._proxy_model, self._rospack)
layout.addWidget(self.__widget, 0, 0, 0, 0)
# queue to store incoming data which get flushed periodically to the model
# required since QSortProxyModel can not handle a high insert rate
self._message_queue = []
self._mutex = QMutex()
self._timer = QTimer()
self._timer.timeout.connect(self.insert_messages)
self._timer.start(100)
self._subscriber = None
self._topic = '/rosout_agg'
self._subscribe(self._topic)
def __init__(self, updater, config):
"""
:param config: defined in dynamic_reconfigure.client.Client
"""
super(GroupWidget, self).__init__()
self.state = config['state']
self.name = config['name']
self.tab_bar = None # Every group can have one tab bar
self.tab_bar_shown = False
self.grid = QGridLayout()
self.updater = updater
self.editor_widgets = []
self.add_widgets(config)
# Labels should not stretch
self.grid.setColumnStretch(1,1)
self.setLayout(self.grid)
def buildButtonGrid(labelTextArray,
numColumns):
'''
Creates a grid of QPushButton widgets. They will be
@param labelTextArray: Button labels.
@type labelTextArray: [string]
@param numColumns: The desired width of the button grid.
@type numColumns: int
@return: 1. a grid layout with the button objects inside.
2. a dictionary mapping button labels to button objects.
@rtype: QGridLayout
'''
buttonLayout = QGridLayout();
# Compute number of button rows:
numRows = len(labelTextArray) / numColumns;
# If this number of rows leaves a few buttons left over (< columnNum),
# then add a row for those:
if (len(labelTextArray) % numColumns) > 0:
numRows += 1;
buttonDict = {}
row = 0;
col = 0;
for buttonLabel in labelTextArray:
button = QPushButton(buttonLabel);
buttonDict[buttonLabel] = button;
buttonLayout.addWidget(button, row, col);
col += 1;
if (col > (numColumns - 1)):
col = 0;
row += 1;
return (buttonLayout, buttonDict);
def beginRosLabel(self, obj):
pm, lm = self.__get_immediate_parent()
fr = QFrame(pm)
layout = QGridLayout()
nlb = QLabel(obj.label_name + ":", fr)
nlb.setToolTip(obj.topic_name)
layout.addWidget(nlb, 1, 1)
layout.addWidget(
RosLabel(fr, obj.label_name, obj.topic_name, obj.topic_type,
obj.topic_field), 1, 2)
fr.setLayout(layout)
lm.addWidget(fr)
def __init__(self):
super(NodeWidgetsContainer, self).__init__()
yaml_file = rospy.get_param("~config_file")
stream = open(yaml_file, "r")
nodes = yaml.load(stream)
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('mcr_event_gui'), 'ros',
'resources', 'NodeWidgetsContainer.ui')
loadUi(ui_file, self)
grid = QGridLayout()
grid.setSpacing(1)
MAX_COLUMNS = 2
self.setObjectName('NodeWidgetsContainer')
self.clear_button = QPushButton("Clear all")
self.clear_button.clicked[bool].connect(self._handle_clear_clicked)
self.stop_button = QPushButton("Stop all")
self.stop_button.clicked[bool].connect(self._handle_stop_clicked)
grid.addWidget(self.clear_button, 0, 0)
grid.addWidget(self.stop_button, 0, 1)
self.widgets = []
row = 1
column = 0
for k in sorted(nodes.keys()):
node_name = k
widget = NodeEventsWidget(node_name, nodes[k])
width = widget.width()
height = widget.height()
grid.addWidget(widget, row, column)
grid.setColumnMinimumWidth(column, width)
grid.setRowMinimumHeight(row, height)
self.widgets.append(widget)
column += 1
if column >= MAX_COLUMNS:
row += 1
column = 0
self.setLayout(grid)
def setup_group_frame(self, group):
layout = QVBoxLayout()
# grid for buttons for named targets
grid = QGridLayout()
grid.setSpacing(1)
self.button_group = QButtonGroup(self)
row = 0
column = 0
named_targets = self.get_named_targets(group)
for target in named_targets:
button = QPushButton(target)
self.button_group.addButton(button)
grid.addWidget(button, row, column)
column += 1
if column >= self.MAX_COLUMNS:
row += 1
column = 0
self.button_group.buttonClicked.connect(self._handle_button_clicked)
# grid for show joint value and move arm buttons/text field
joint_values_grid = QGridLayout()
joint_values_grid.setSpacing(1)
button_show_joint_values = QPushButton('Current Joint Values')
button_show_joint_values.clicked[bool].connect(
self._handle_show_joint_values_clicked)
line_edit = QLineEdit()
self.text_joint_values.append(line_edit)
button_move_to = QPushButton('Move to')
button_move_to.clicked[bool].connect(self._handle_move_to_clicked)
joint_values_grid.addWidget(button_show_joint_values, 0, 1)
joint_values_grid.addWidget(line_edit, 0, 2)
joint_values_grid.addWidget(button_move_to, 0, 3)
layout.addLayout(grid)
line = QFrame()
line.setFrameShape(QFrame.HLine)
line.setFrameShadow(QFrame.Sunken)
layout.addWidget(line)
layout.addLayout(joint_values_grid)
frame = QFrame()
frame.setLayout(layout)
return frame
def _set_add_rocon_master(self):
if self._connect_dlg_isValid:
console.logdebug("Dialog is live!!")
self._connect_dlg.done(0)
#dialog
self._connect_dlg = QDialog(self._widget_main)
self._connect_dlg.setWindowTitle("Add Ros Master")
self._connect_dlg.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
self._connect_dlg.setMinimumSize(350, 0)
# dlg_rect = self._connect_dlg.geometry()
#dialog layout
ver_layout = QVBoxLayout(self._connect_dlg)
ver_layout.setContentsMargins(9, 9, 9, 9)
#param layout
text_grid_sub_widget = QWidget()
text_grid_layout = QGridLayout(text_grid_sub_widget)
text_grid_layout.setColumnStretch(1, 0)
text_grid_layout.setRowStretch(2, 0)
#param 1
title_widget1 = QLabel("MASTER_URI: ")
context_widget1 = QTextEdit()
context_widget1.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget1.setMinimumSize(0, 30)
context_widget1.append(self.master_uri)
#param 2
title_widget2 = QLabel("HOST_NAME: ")
context_widget2 = QTextEdit()
context_widget2.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget2.setMinimumSize(0, 30)
context_widget2.append(self.host_name)
#add param
text_grid_layout.addWidget(title_widget1)
text_grid_layout.addWidget(context_widget1)
text_grid_layout.addWidget(title_widget2)
text_grid_layout.addWidget(context_widget2)
#add param layout
ver_layout.addWidget(text_grid_sub_widget)
#button layout
button_hor_sub_widget = QWidget()
button_hor_layout = QHBoxLayout(button_hor_sub_widget)
uri_text_widget = context_widget1
host_name_text_widget = context_widget2
#check box
use_env_var_check = QCheckBox("Use environment variables")
use_env_var_check.setCheckState(Qt.Unchecked)
def set_use_env_var(data, text_widget1, text_widget2):
if data == Qt.Unchecked:
text_widget1.setText(self.master_uri)
text_widget2.setText(self.host_name)
elif data == Qt.Checked:
self.master_uri = str(text_widget1.toPlainText())
self.host_name = str(text_widget2.toPlainText())
text_widget1.setText(self.env_master_uri)
text_widget2.setText(self.env_host_name)
def check_event(data):
set_use_env_var(data, context_widget1, context_widget2)
use_env_var_check.stateChanged.connect(check_event)
ver_layout.addWidget(use_env_var_check)
#button
btn_call = QPushButton("Add")
btn_cancel = QPushButton("Cancel")
btn_call.clicked.connect(lambda: self._connect_dlg.done(0))
btn_call.clicked.connect(lambda: self._add_rocon_master(
uri_text_widget, host_name_text_widget))
btn_cancel.clicked.connect(lambda: self._connect_dlg.done(0))
#add button
button_hor_layout.addWidget(btn_call)
button_hor_layout.addWidget(btn_cancel)
#add button layout
ver_layout.addWidget(button_hor_sub_widget)
self._connect_dlg.setVisible(True)
self._connect_dlg.finished.connect(self._destroy_connect_dlg)
self._connect_dlg_isValid = True
class QuestionDialogPlugin(Plugin):
def __init__(self, context):
super(QuestionDialogPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('QuestionDialogPlugin')
font_size = rospy.get_param("~font_size", 40)
# Create QWidget
self._widget = QWidget()
self._widget.setFont(QFont("Times", font_size, QFont.Bold))
self._layout = QVBoxLayout(self._widget)
self._text_browser = QTextBrowser(self._widget)
self._layout.addWidget(self._text_browser)
self._button_layout = QGridLayout()
self._layout.addLayout(self._button_layout)
# layout = QVBoxLayout(self._widget)
# layout.addWidget(self.button)
self._widget.setObjectName('QuestionDialogPluginUI')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
# Setup service provider
self.service = rospy.Service('question_dialog', QuestionDialog,
self.service_callback)
self.response_ready = False
self.response = None
self.buttons = []
self.text_label = None
self.text_input = None
self.connect(self._widget, SIGNAL("update"), self.update)
self.connect(self._widget, SIGNAL("timeout"), self.timeout)
def shutdown_plugin(self):
self.service.shutdown()
def service_callback(self, req):
self.response_ready = False
self.request = req
self._widget.emit(SIGNAL("update"))
# Start timer against wall clock here instead of the ros clock.
start_time = time.time()
while not self.response_ready:
if self.request != req:
# The request got preempted by a new request.
return QuestionDialogResponse(QuestionDialogRequest.PREEMPTED,
"")
if req.timeout != QuestionDialogRequest.NO_TIMEOUT:
current_time = time.time()
if current_time - start_time > req.timeout:
self._widget.emit(SIGNAL("timeout"))
return QuestionDialogResponse(
QuestionDialogRequest.TIMED_OUT, "")
time.sleep(0.2)
return self.response
def update(self):
self.clean()
req = self.request
self._text_browser.setText(req.message)
if req.type == QuestionDialogRequest.DISPLAY:
# All done, nothing more too see here.
self.response = QuestionDialogResponse(
QuestionDialogRequest.NO_RESPONSE, "")
self.response_ready = True
elif req.type == QuestionDialogRequest.CHOICE_QUESTION:
for index, options in enumerate(req.options):
button = QPushButton(options, self._widget)
button.clicked.connect(partial(self.handle_button, index))
row = index / 3
col = index % 3
self._button_layout.addWidget(button, row, col)
self.buttons.append(button)
elif req.type == QuestionDialogRequest.TEXT_QUESTION:
self.text_label = QLabel("Enter here: ", self._widget)
self._button_layout.addWidget(self.text_label, 0, 0)
self.text_input = QLineEdit(self._widget)
self.text_input.editingFinished.connect(self.handle_text)
self._button_layout.addWidget(self.text_input, 0, 1)
def timeout(self):
self._text_browser.setText("Oh no! The request timed out.")
self.clean()
def clean(self):
while self._button_layout.count():
item = self._button_layout.takeAt(0)
item.widget().deleteLater()
self.buttons = []
self.text_input = None
self.text_label = None
def handle_button(self, index):
self.response = QuestionDialogResponse(index, "")
self.clean()
self.response_ready = True
def handle_text(self):
self.response = QuestionDialogResponse(
QuestionDialogRequest.TEXT_RESPONSE, self.text_input.text())
self.clean()
self.response_ready = True
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
pass
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
class GroupWidget(QWidget):
def __init__(self, updater, config):
"""
:param config: defined in dynamic_reconfigure.client.Client
"""
super(GroupWidget, self).__init__()
self.state = config['state']
self.name = config['name']
self.tab_bar = None # Every group can have one tab bar
self.tab_bar_shown = False
self.grid = QGridLayout()
self.updater = updater
self.editor_widgets = []
self.add_widgets(config)
# Labels should not stretch
self.grid.setColumnStretch(1,1)
self.setLayout(self.grid)
def add_widgets(self, descr):
i_debug = 0
for param in descr['parameters']:
if param['edit_method']:
widget = EnumEditor(self.updater, param)
elif param['type'] in EDITOR_TYPES:
widget = eval(EDITOR_TYPES[param['type']])(self.updater, param)
self.editor_widgets.append(widget)
rospy.logdebug('groups.add_widgets i=%d', i_debug)
i_debug += 1
g_debug = 0
for name, group in descr['groups'].items():
if group['type'] == 'tab':
widget = TabGroup(self, self.updater, group)
elif group['type'] in _GROUP_TYPES.keys():
widget = eval(_GROUP_TYPES[group['type']])(self.updater, group)
self.editor_widgets.append(widget)
rospy.logdebug('groups.add_widgets g=%d', g_debug)
g_debug += 1
for i, ed in enumerate(self.editor_widgets):
ed.display(self.grid, i)
def display(self, grid, row):
#groups span across all columns
grid.addWidget(self, row, 0, 1, -1)
def update_group(self, config):
self.state = config['state']
# TODO: should use config.keys but this method doesnt exist
names = [name for name, v in config.items()]
for widget in self.editor_widgets:
if isinstance(widget, EditorWidget):
if widget.name in names:
widget.update_value(config[widget.name])
elif isinstance(widget, GroupWidget):
cfg = find_cfg(config, widget.name)
widget.update_group(cfg)
def close(self):
for w in self.editor_widgets:
w.close()
def _setting_service(self):
if self.is_setting_dlg_live:
print "Dialog is live!!"
self._setting_dlg.done(0)
#dialog
self._setting_dlg = QDialog(self._widget)
self._setting_dlg.setWindowTitle("Seting Configuration")
self._setting_dlg.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
self._setting_dlg.setMinimumSize(500, 0)
dlg_rect = self._setting_dlg.geometry()
#dialog layout
ver_layout = QVBoxLayout(self._setting_dlg)
ver_layout.setContentsMargins(9, 9, 9, 9)
#param layout
text_grid_sub_widget = QWidget()
text_grid_layout = QGridLayout(text_grid_sub_widget)
text_grid_layout.setColumnStretch(1, 0)
text_grid_layout.setRowStretch(2, 0)
#param 1
name = u""
title_widget1 = QLabel("Param1: ")
context_widget1 = QTextEdit()
context_widget1.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget1.setMinimumSize(0, 30)
context_widget1.append("")
#param 2
cancel = False
title_widget2 = QLabel("Param2: ")
context_widget2 = QTextEdit()
context_widget2.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget2.setMinimumSize(0, 30)
context_widget2.append("")
#param 3
cancel = False
title_widget3 = QLabel("Param2: ")
context_widget3 = QTextEdit()
context_widget3.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget3.setMinimumSize(0, 30)
context_widget3.append("")
#add param
text_grid_layout.addWidget(title_widget1)
text_grid_layout.addWidget(context_widget1)
text_grid_layout.addWidget(title_widget2)
text_grid_layout.addWidget(context_widget2)
text_grid_layout.addWidget(title_widget3)
text_grid_layout.addWidget(context_widget3)
#add param layout
ver_layout.addWidget(text_grid_sub_widget)
#button layout
button_hor_sub_widget = QWidget()
button_hor_layout = QHBoxLayout(button_hor_sub_widget)
params = {}
params['param1'] = context_widget1
params['param2'] = context_widget2
params['param3'] = context_widget3
#button
btn_call = QPushButton("Set")
btn_cancel = QPushButton("Cancel")
btn_call.clicked.connect(lambda: self._setting_dlg.done(0))
btn_call.clicked.connect(lambda: self._set_configuration(params))
btn_cancel.clicked.connect(lambda: self._setting_dlg.done(0))
#add button
button_hor_layout.addWidget(btn_call)
button_hor_layout.addWidget(btn_cancel)
#add button layout
ver_layout.addWidget(button_hor_sub_widget)
self._setting_dlg.setVisible(True)
self._setting_dlg.finished.connect(self._destroy_setting_dlg)
self.is_setting_dlg_live = True
pass
def _create_add_rocon_master_dialog(self):
# dialog
connect_dlg = QDialog(self._widget_main)
connect_dlg.setWindowTitle("Add Ros Master")
connect_dlg.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
connect_dlg.setMinimumSize(350, 0)
# dlg_rect = self._connect_dlg.geometry()
# dialog layout
ver_layout = QVBoxLayout(connect_dlg)
ver_layout.setContentsMargins(9, 9, 9, 9)
# param layout
text_grid_sub_widget = QWidget()
text_grid_layout = QGridLayout(text_grid_sub_widget)
text_grid_layout.setColumnStretch(1, 0)
text_grid_layout.setRowStretch(2, 0)
# param 1
title_widget1 = QLabel("MASTER_URI: ")
context_widget1 = QTextEdit()
context_widget1.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget1.setMinimumSize(0, 30)
context_widget1.append(self.master_uri)
# param 2
title_widget2 = QLabel("HOST_NAME: ")
context_widget2 = QTextEdit()
context_widget2.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
context_widget2.setMinimumSize(0, 30)
context_widget2.append(self.host_name)
# add param
text_grid_layout.addWidget(title_widget1)
text_grid_layout.addWidget(context_widget1)
text_grid_layout.addWidget(title_widget2)
text_grid_layout.addWidget(context_widget2)
# add param layout
ver_layout.addWidget(text_grid_sub_widget)
# button layout
button_hor_sub_widget = QWidget()
button_hor_layout = QHBoxLayout(button_hor_sub_widget)
uri_text_widget = context_widget1
host_name_text_widget = context_widget2
# button
btn_call = QPushButton("Add")
btn_cancel = QPushButton("Cancel")
btn_call.clicked.connect(lambda: connect_dlg.done(0))
btn_call.clicked.connect(lambda: self._add_rocon_master(
uri_text_widget, host_name_text_widget))
btn_cancel.clicked.connect(lambda: connect_dlg.done(0))
# add button
button_hor_layout.addWidget(btn_call)
button_hor_layout.addWidget(btn_cancel)
# add button layout
ver_layout.addWidget(button_hor_sub_widget)
return connect_dlg
class RoomDialogPlugin(Plugin):
def __init__(self, context):
super(RoomDialogPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('RoomDialogPlugin')
font_size = rospy.get_param("~font_size", 30)
# Create QWidget
self._widget = QWidget()
self._widget.setFont(QFont("Times", font_size, QFont.Bold))
self._layout = QVBoxLayout(self._widget)
self._text_browser = QTextBrowser(self._widget)
self._layout.addWidget(self._text_browser)
self._button_layout = QGridLayout()
self._layout.addLayout(self._button_layout)
# rospy.loginfo("Hello world")
# Add combobox
self._cb_layout = QHBoxLayout()
self._cb = QComboBox()
self._layout.addLayout(self._cb_layout)
#layout = QVBoxLayout(self._widget)
#layout.addWidget(self._button)
self._widget.setObjectName('RoomDialogPluginUI')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
# Setup service provider
self.service = rospy.Service('room_dialog', RoomDialog,
self.service_callback)
self.response_ready = False
self.response = None
self.buttons = []
self.text_label = None
self.text_input = None
# Add combo options
self.connect(self._widget, SIGNAL("update"), self.update)
self.connect(self._widget, SIGNAL("timeout"), self.timeout)
def shutdown_plugin(self):
self.service.shutdown()
def service_callback(self, req):
self.response_ready = False
self.request = req
self._widget.emit(SIGNAL("update"))
# Start timer against wall clock here instead of the ros clock.
start_time = time.time()
while not self.response_ready:
if self.request != req:
# The request got preempted by a new request.
return RoomDialogResponse(RoomDialogRequest.PREEMPTED, "")
if req.timeout != RoomDialogRequest.NO_TIMEOUT:
current_time = time.time()
if current_time - start_time > req.timeout:
self._widget.emit(SIGNAL("timeout"))
return RoomDialogResponse(RoomDialogRequest.TIMED_OUT, "")
time.sleep(0.2)
return self.response
def update(self):
self.clean()
req = self.request
self._text_browser.setText(req.message)
if req.type == RoomDialogRequest.DISPLAY:
# All done, nothing more too see here.
self.response = RoomDialogResponse(RoomDialogRequest.NO_RESPONSE,
"")
self.response_ready = True
elif req.type == RoomDialogRequest.CHOICE_QUESTION:
for index, options in enumerate(req.options):
button = QPushButton(options, self._widget)
button.clicked.connect(partial(self.handle_button, index))
row = index / 3
col = index % 3
self._button_layout.addWidget(button, row, col)
self.buttons.append(button)
elif req.type == RoomDialogRequest.TEXT_QUESTION:
self.text_label = QLabel("Enter here: ", self._widget)
self._button_layout.addWidget(self.text_label, 0, 0)
self.text_input = QLineEdit(self._widget)
self.text_input.editingFinished.connect(self.handle_text)
self._button_layout.addWidget(self.text_input, 0, 1)
# add handling of combobox
elif req.type == RoomDialogRequest.COMBOBOX_QUESTION:
# self.clean()
rospy.loginfo("Combobox selected")
#self._cb.duplicatesEnabled = False
if self._cb.count() == 0:
for index, options in enumerate(req.options):
self._cb.addItem(options)
rospy.loginfo(options)
#self.buttons.append(options)
# NOTE COULD INTRODUCE BUG
self._cb.currentIndexChanged.connect(self.handle_cb)
self._cb_layout.addWidget(self._cb)
def timeout(self):
self._text_browser.setText("Oh no! The request timed out.")
self.clean()
def clean(self):
while self._button_layout.count():
item = self._button_layout.takeAt(0)
item.widget().deleteLater()
# while self._cb_layout.count():
# item = self._cb_layout.takeAt(0)
# item.widget().deleteLater()
self.buttons = []
self.text_input = None
self.text_label = None
def handle_button(self, index):
self.response = RoomDialogResponse(index, "")
self.clean()
self.response_ready = True
def handle_text(self):
self.response = RoomDialogResponse(RoomDialogRequest.TEXT_RESPONSE,
self.text_input.text())
self.clean()
self.response_ready = True
def handle_cb(self, index):
# This will be the sign format seen around building ex: 3.404
rospy.loginfo("handling cb")
roomHuman = self._cb.currentText()
# modify string into robot format ex: d3_404
splitHuman = roomHuman.split('.', 1)
roomRobot = 'd' + splitHuman[0] + '_' + splitHuman[1]
roomRobot = str(roomRobot)
self.response = RoomDialogResponse(RoomDialogRequest.CB_RESPONSE,
roomRobot)
self.clean()
self.response_ready = True
def save_settings(self, plugin_settings, instance_settings):
# TODO save intrinsic configuration, usually using:
# instance_settings.set_value(k, v)
pass
def restore_settings(self, plugin_settings, instance_settings):
# TODO restore intrinsic configuration, usually using:
# v = instance_settings.value(k)
pass
