def __init__(self, title, jsp, num_rows=0):
super(JointStatePublisherGui, self).__init__()
self.jsp = jsp
self.joint_map = {}
self.vlayout = QVBoxLayout(self)
self.gridlayout = QGridLayout()
font = QFont("Helvetica", 9, QFont.Bold)
### Generate sliders ###
sliders = []
for name in self.jsp.joint_list:
if name not in self.jsp.free_joints:
continue
joint = self.jsp.free_joints[name]
if joint['min'] == joint['max']:
continue
joint_layout = QVBoxLayout()
row_layout = QHBoxLayout()
label = QLabel(name)
label.setFont(font)
row_layout.addWidget(label)
display = QLineEdit("0.00")
display.setAlignment(Qt.AlignRight)
display.setFont(font)
display.setReadOnly(True)
row_layout.addWidget(display)
joint_layout.addLayout(row_layout)
slider = QSlider(Qt.Horizontal)
slider.setFont(font)
slider.setRange(0, RANGE)
slider.setValue(RANGE/2)
joint_layout.addWidget(slider)
self.joint_map[name] = {'slidervalue': 0, 'display': display,
'slider': slider, 'joint': joint}
# Connect to the signal provided by QSignal
slider.valueChanged.connect(self.onValueChanged)
sliders.append(joint_layout)
# Determine number of rows to be used in grid
self.num_rows = num_rows
# if desired num of rows wasn't set, default behaviour is a vertical layout
if self.num_rows == 0:
self.num_rows = len(sliders) # equals VBoxLayout
# Generate positions in grid and place sliders there
self.positions = self.generate_grid_positions(len(sliders), self.num_rows)
for item, pos in zip(sliders, self.positions):
self.gridlayout.addLayout(item, *pos)
# Set zero positions read from parameters
self.center()
# Synchronize slider and displayed value
self.sliderUpdate(None)
# Set up a signal for updating the sliders based on external joint info
self.sliderUpdateTrigger.connect(self.updateSliders)
self.vlayout.addLayout(self.gridlayout)
# Buttons for randomizing and centering sliders and
# Spinbox for on-the-fly selecting number of rows
self.randbutton = QPushButton('Randomize', self)
self.randbutton.clicked.connect(self.randomize_event)
self.vlayout.addWidget(self.randbutton)
self.ctrbutton = QPushButton('Center', self)
self.ctrbutton.clicked.connect(self.center_event)
self.vlayout.addWidget(self.ctrbutton)
self.maxrowsupdown = QSpinBox()
self.maxrowsupdown.setMinimum(1)
self.maxrowsupdown.setMaximum(len(sliders))
self.maxrowsupdown.setValue(self.num_rows)
self.maxrowsupdown.lineEdit().setReadOnly(True) # don't edit it by hand to avoid weird resizing of window
self.maxrowsupdown.valueChanged.connect(self.reorggrid_event)
self.vlayout.addWidget(self.maxrowsupdown)
def __init__(self, title, jsp, num_rows=0):
super(JointStatePublisherGui, self).__init__()
self.jsp = jsp
self.joint_map = {}
self.vlayout = QVBoxLayout(self)
self.scrollable = QWidget()
self.gridlayout = QGridLayout()
self.scroll = QScrollArea()
self.scroll.setWidgetResizable(True)
font = QFont("Helvetica", 9, QFont.Bold)
### Generate sliders ###
sliders = []
for name in self.jsp.joint_list:
if name not in self.jsp.free_joints:
continue
joint = self.jsp.free_joints[name]
if joint['min'] == joint['max']:
continue
joint_layout = QVBoxLayout()
row_layout = QHBoxLayout()
label = QLabel(name)
label.setFont(font)
row_layout.addWidget(label)
display = QLineEdit("0.00")
display.setAlignment(Qt.AlignRight)
display.setFont(font)
display.setReadOnly(True)
row_layout.addWidget(display)
joint_layout.addLayout(row_layout)
slider = QSlider(Qt.Horizontal)
slider.setFont(font)
slider.setRange(0, RANGE)
slider.setValue(RANGE / 2)
joint_layout.addWidget(slider)
self.joint_map[name] = {
'slidervalue': 0,
'display': display,
'slider': slider,
'joint': joint
}
# Connect to the signal provided by QSignal
slider.valueChanged.connect(
lambda event, name=name: self.onValueChangedOne(name))
sliders.append(joint_layout)
# Determine number of rows to be used in grid
self.num_rows = num_rows
# if desired num of rows wasn't set, default behaviour is a vertical layout
if self.num_rows == 0:
self.num_rows = len(sliders) # equals VBoxLayout
# Generate positions in grid and place sliders there
self.positions = self.generate_grid_positions(len(sliders),
self.num_rows)
for item, pos in zip(sliders, self.positions):
self.gridlayout.addLayout(item, *pos)
# Set zero positions read from parameters
self.center()
# Synchronize slider and displayed value
self.sliderUpdate(None)
# Set up a signal for updating the sliders based on external joint info
self.sliderUpdateTrigger.connect(self.updateSliders)
self.scrollable.setLayout(self.gridlayout)
self.scroll.setWidget(self.scrollable)
self.vlayout.addWidget(self.scroll)
# Buttons for randomizing and centering sliders and
# Spinbox for on-the-fly selecting number of rows
self.randbutton = QPushButton('Randomize', self)
self.randbutton.clicked.connect(self.randomize_event)
self.vlayout.addWidget(self.randbutton)
self.ctrbutton = QPushButton('Center', self)
self.ctrbutton.clicked.connect(self.center_event)
self.vlayout.addWidget(self.ctrbutton)
self.maxrowsupdown = QSpinBox()
self.maxrowsupdown.setMinimum(1)
self.maxrowsupdown.setMaximum(len(sliders))
self.maxrowsupdown.setValue(self.num_rows)
self.maxrowsupdown.valueChanged.connect(self.reorggrid_event)
self.vlayout.addWidget(self.maxrowsupdown)
self.setLayout(self.vlayout)
def __init__(self, content):
super(SliderPublisher, self).__init__()
content = content.replace('\t', ' ')
# get message types
self.publishers = {}
self.values = {}
pkgs = []
# to keep track of key ordering in the yaml file
order = []
old = []
for topic, info in yaml.load(content).items():
pkg, msg = info['type'].split('/')
pkgs.append(__import__(pkg, globals(), locals(), ['msg']))
self.publishers[topic] = Publisher(topic,
getattr(pkgs[-1].msg,
msg), info)
order.append((topic, []))
for key in info:
self.values[key] = info[key]
order[-1][1].append((content.find(' ' + key + ':'), key))
old.append((content.find(' ' + key + ':'), key))
for bound in ['min', 'max']:
self.values[key][bound] = float(self.values[key][bound])
self.values[key]['val'] = 0
order[-1][1].sort()
order.sort(key=lambda x: x[1][0][0])
# build sliders - thanks joint_state_publisher
sliderUpdateTrigger = Signal()
self.vlayout = QVBoxLayout(self)
self.gridlayout = QGridLayout()
font = QFont("Helvetica", 9, QFont.Bold)
topic_font = QFont("Helvetica", 10, QFont.Bold)
sliders = []
self.key_map = {}
y = 0
for topic, keys in order:
topic_layout = QVBoxLayout()
label = QLabel(topic)
label.setFont(topic_font)
topic_layout.addWidget(label)
self.gridlayout.addLayout(topic_layout, *(y, 0))
y += 1
for idx, key in keys:
key_layout = QVBoxLayout()
row_layout = QHBoxLayout()
label = QLabel(key)
label.setFont(font)
row_layout.addWidget(label)
display = QLineEdit("0.00")
display.setAlignment(Qt.AlignRight)
display.setFont(font)
display.setReadOnly(True)
row_layout.addWidget(display)
key_layout.addLayout(row_layout)
slider = QSlider(Qt.Horizontal)
slider.setFont(font)
slider.setRange(0, RANGE)
slider.setValue(RANGE / 2)
key_layout.addWidget(slider)
self.key_map[key] = {
'slidervalue': 0,
'display': display,
'slider': slider
}
slider.valueChanged.connect(self.onValueChanged)
self.gridlayout.addLayout(key_layout, *(y, 0))
y += 1
#sliders.append(key_layout)
# Generate positions in grid and place sliders there
#self.positions = [(y,0) for y in range(len(sliders))]
#for item, pos in zip(sliders, self.positions):
# self.gridlayout.addLayout(item, *pos)
self.vlayout.addLayout(self.gridlayout)
self.ctrbutton = QPushButton('Center', self)
self.ctrbutton.clicked.connect(self.center)
self.vlayout.addWidget(self.ctrbutton)
self.center(1)
