def __init__(self):
super(QuadWidgetCommon, self).__init__()
# the name widget is separate since we need to access it directly
self._name_widget = QuadNameWidget(self)
if qt_version_below_5:
self._column_1 = QtGui.QVBoxLayout()
self._column_2 = QtGui.QVBoxLayout()
else:
self._column_1 = QtWidgets.QVBoxLayout()
self._column_2 = QtWidgets.QVBoxLayout()
def setup_gui(self, two_columns=True):
if qt_version_below_5:
widget_layout = QtGui.QHBoxLayout()
else:
widget_layout = QtWidgets.QHBoxLayout()
widget_layout.addLayout(self._column_1)
if two_columns:
widget_layout.addLayout(self._column_2)
if qt_version_below_5:
main_layout = QtGui.QHBoxLayout()
else:
main_layout = QtWidgets.QHBoxLayout()
main_layout = QtWidgets.QVBoxLayout()
main_layout.addLayout(widget_layout)
self._column_1.setAlignment(QtCore.Qt.AlignTop)
if two_columns:
self._column_2.setAlignment(QtCore.Qt.AlignTop)
widget_layout.setAlignment(QtCore.Qt.AlignTop)
main_layout.setAlignment(QtCore.Qt.AlignTop)
self.setLayout(main_layout)
self._update_info_timer = QtCore.QTimer(self)
self._update_info_timer.timeout.connect(self.update_gui)
self._update_info_timer.start(100)
def __init__(self, guimgr, launch, parent):
super(AwPluginRemoveWindow, self).__init__(parent)
self.guimgr = guimgr
self.node = launch
settings = QtCore.QSettings("Autoware", "AutowareLauncher")
if settings.contains("geometry"):
self.restoreGeometry(settings.value("geometry"))
# select
self.nodelist = QtWidgets.QListWidget()
for child in self.node.children():
self.nodelist.addItem(child.name())
# footer
cancel = QtWidgets.QPushButton("Cancel")
cancel.clicked.connect(self.close)
remove = QtWidgets.QPushButton("Remove")
remove.clicked.connect(self.remove_launch_node)
footer = QtWidgets.QHBoxLayout()
footer.addStretch()
footer.addWidget(cancel)
footer.addWidget(remove)
# widget
layout = QtWidgets.QVBoxLayout()
layout.addWidget(self.nodelist)
layout.addLayout(footer)
widget = QtWidgets.QWidget()
widget.setLayout(layout)
self.setCentralWidget(widget)
self.setWindowTitle("Remove Launch Node")
def __init__(self, guimgr):
super(AwGazeboSimulatorWidget, self).__init__()
self.gazebo_process = QtCore.QProcess(self)
self.launch_button = QtWidgets.QPushButton("Launch")
self.setup_button = QtWidgets.QPushButton("Initial Setup")
self.world_buttons = []
self.world_buttons.append(
self.__create_radio_button("simple", "simple"))
self.world_buttons.append(self.__create_radio_button("mcity", "mcity"))
self.world_buttons.append(
self.__create_radio_button("city sim", "citysim_gazebo7"))
self.use_gpu_box = QtWidgets.QCheckBox("Use GPU")
self.world_buttons[0].setChecked(True)
self.setup_button.clicked.connect(self.__exec_setup_script)
self.launch_button.setCheckable(True)
self.launch_button.toggled.connect(self.__exec_simulator)
self.gazebo_process.finished.connect(self.__simulator_finished)
world_group = QtWidgets.QGroupBox("World")
world_group.setLayout(QtWidgets.QVBoxLayout())
for world_button in self.world_buttons:
world_group.layout().addWidget(world_button)
world_group.layout().addStretch()
config_group = QtWidgets.QGroupBox("Config")
config_group.setLayout(QtWidgets.QVBoxLayout())
config_group.layout().addWidget(self.use_gpu_box)
config_group.layout().addStretch()
hlayout1 = QtWidgets.QHBoxLayout()
hlayout1.addStretch()
hlayout1.addWidget(self.setup_button)
hlayout2 = QtWidgets.QHBoxLayout()
hlayout2.addWidget(world_group)
hlayout2.addWidget(config_group)
self.setLayout(QtWidgets.QVBoxLayout())
self.layout().addLayout(hlayout1)
self.layout().addLayout(hlayout2)
self.layout().addWidget(self.launch_button)
def __panel_setup(self, widget, spacer):
footer_layout = QtWidgets.QHBoxLayout()
footer_layout.setContentsMargins(2, 2, 2, 2)
footer_layout.setSpacing(2)
footer_layout.addStretch()
widget.footer = QtWidgets.QWidget()
widget.footer.setLayout(footer_layout)
widget_layout = QtWidgets.QVBoxLayout()
widget_layout.setContentsMargins(16, 16, 16, 16)
widget_layout.setSpacing(16)
if not spacer:
widget_layout.addStretch()
else:
widget_layout.addWidget(spacer)
widget_layout.addWidget(widget.footer)
widget.setLayout(widget_layout)
def __setup_widget(self):
self.window().setWindowTitle(self.__class__.__name__)
# Panel Footer
layout = QtWidgets.QHBoxLayout()
layout.setContentsMargins(2, 2, 2, 2)
layout.setSpacing(2)
layout.addStretch()
self.footer = QtWidgets.QWidget()
self.footer.setLayout(layout)
# Panel Layout
layout = QtWidgets.QVBoxLayout()
layout.setContentsMargins(16, 16, 16, 16)
layout.setSpacing(16)
layout.addStretch()
layout.addWidget(self.footer)
self.setLayout(layout)
def __init__(self, parent=None):
super(LineEditDialog, self).__init__()
self.value = None
vbox = QtWidgets.QVBoxLayout(self)
# combo box
model = QtGui.QStandardItemModel(self)
for elm in rospy.get_param_names():
model.setItem(model.rowCount(), 0, QtGui.QStandardItem(elm))
self.combo_box = QtWidgets.QComboBox(self)
self.line_edit = QtWidgets.QLineEdit()
self.combo_box.setLineEdit(self.line_edit)
self.combo_box.setCompleter(QtWidgets.QCompleter())
self.combo_box.setModel(model)
self.combo_box.completer().setModel(model)
self.combo_box.lineEdit().setText('')
vbox.addWidget(self.combo_box)
# button
button = QPushButton()
button.setText("Done")
button.clicked.connect(self.buttonCallback)
vbox.addWidget(button)
self.setLayout(vbox)
def __init__(self, plugin):
super(ConfigDialog, self).__init__()
self._plugin = plugin
self._interval_spin_box = QtWidgets.QSpinBox()
self._interval_spin_box.setMaximum(10000)
self._interval_spin_box.setMinimum(1)
self._interval_spin_box.setValue(
publisher.TopicPublisherWithTimer.publish_interval)
self._interval_spin_box.valueChanged.connect(self.update_interval)
self._vertical_layout = QtWidgets.QVBoxLayout()
self.configurable_checkbox = QtWidgets.QCheckBox()
self.configurable_checkbox.setChecked(plugin.configurable)
configurable_label = QtWidgets.QLabel('Configurable')
self._configurable_horizontal_layout = QtWidgets.QHBoxLayout()
self._configurable_horizontal_layout.addWidget(configurable_label)
self._configurable_horizontal_layout.addWidget(self.configurable_checkbox)
self._vertical_layout.addLayout(self._configurable_horizontal_layout)
self._horizontal_layout = QtWidgets.QHBoxLayout()
spin_label = QtWidgets.QLabel('Publish Interval for repeat [ms]')
self._horizontal_layout.addWidget(spin_label)
self._horizontal_layout.addWidget(self._interval_spin_box)
self._vertical_layout.addLayout(self._horizontal_layout)
save_button = QtWidgets.QPushButton(parent=self)
save_button.setIcon(
self.style().standardIcon(QtWidgets.QStyle.SP_DialogSaveButton))
save_button.setText('Save to file')
save_button.clicked.connect(self.save_to_file)
load_button = QtWidgets.QPushButton(parent=self)
load_button.setIcon(
self.style().standardIcon(QtWidgets.QStyle.SP_DialogOpenButton))
load_button.setText('Load from file')
load_button.clicked.connect(self.load_from_file)
self._vertical_layout.addWidget(save_button)
self._vertical_layout.addWidget(load_button)
self.setLayout(self._vertical_layout)
self.adjustSize()
def show_select_window(self):
# window
window = QtWidgets.QMainWindow(self)
window.setCentralWidget(QtWidgets.QWidget())
window.setAttribute(QtCore.Qt.WA_DeleteOnClose, True)
window.setWindowModality(QtCore.Qt.ApplicationModal)
window.setGeometry(self.window().geometry())
# widget
window.setWindowTitle("Create Node")
widget = window.centralWidget()
widget.setLayout(QtWidgets.QVBoxLayout())
# plugin select
pname_select = QtWidgets.QListWidget()
for pname in self.rule.plugins:
pname_select.addItem(pname)
widget.layout().addWidget(QtWidgets.QLabel("Node Type"))
widget.layout().addWidget(pname_select)
# footer
error_label = QtWidgets.QLabel()
error_label.setSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Preferred)
cancel_button = QtWidgets.QPushButton("Cancel")
select_button = QtWidgets.QPushButton("Select")
cancel_button.clicked.connect(window.close)
select_button.clicked.connect(self.onselected)
footer = QtWidgets.QHBoxLayout()
footer.addWidget(error_label)
footer.addWidget(cancel_button)
footer.addWidget(select_button)
widget.layout().addLayout(footer)
self.ui_window = window
self.ui_error = error_label
self.ui_pname = pname_select
window.show()
def __init__(self, client):
super(AwControlPanel, self).__init__()
self.__client = client
self.__exec_button = QtWidgets.QPushButton("Exec")
self.__term_button = QtWidgets.QPushButton("Term")
self.__exec_button.clicked.connect(self.exec_config)
self.__term_button.clicked.connect(self.term_config)
self.__lpath = QtWidgets.QLabel()
self.setLayout(QtWidgets.QVBoxLayout())
layout = QtWidgets.QHBoxLayout()
layout.addWidget(QtWidgets.QLabel("Path: "))
layout.addWidget(self.__lpath)
self.__lpath.setSizePolicy(QtWidgets.QSizePolicy.Expanding,
QtWidgets.QSizePolicy.Preferred)
self.layout().addLayout(layout)
layout = QtWidgets.QHBoxLayout()
layout.addWidget(self.__exec_button)
layout.addWidget(self.__term_button)
self.layout().addLayout(layout)
def create_frame_entire_vlayout(self):
layout = QtWidgets.QVBoxLayout()
layout.setSpacing(0)
layout.setContentsMargins(0, 0, 0, 0)
return layout
def start(self, profile=None, skin=None):
application = QtWidgets.QApplication(self.__sysarg)
resolution = application.desktop().screenGeometry()
resolution = min(resolution.width(), resolution.height())
skin = skin or "autoware"
with open(myutils.package("resources/skins/{}.css").format(skin)) as fp:
stylesheet = fp.read()
stylesheet += "* { font-size: " + str(resolution/100) + "px; }"
application.setStyleSheet(stylesheet)
self.__treeview = AwTreeViewPanel(self) # ToDo: consider moving to guimgr
self.__control = AwControlPanel(self) # ToDo: consider moving to guimgr
self.__summary = AwSummaryPanel(self) # ToDo: consider moving to guimgr
self.__process = AwProcessPanel(self) # ToDo: consider moving to guimgr
self.__network = AwTcpServerPanel()
self.__quickstart = AwQuickStartPanel(self.__guimgr)
self.__sim_rosbag = AwRosbagSimulatorWidget(self.__guimgr)
self.__sim_lgsvl = AwLgsvlSimulatorWidget (self.__guimgr)
self.__sim_gazebo = AwGazeboSimulatorWidget(self.__guimgr)
tabwidget = QtWidgets.QTabWidget()
tabwidget.setSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Expanding)
tabwidget.addTab(self.__summary, "Summary")
tabwidget.addTab(self.__process, "Process")
#vsplitter = QtWidgets.QSplitter(QtCore.Qt.Vertical)
vsplitter = QtWidgets.QWidget()
vsplitter.setLayout(QtWidgets.QVBoxLayout())
vsplitter.layout().setContentsMargins(0, 0, 0, 0)
vsplitter.layout().setSpacing(0)
vsplitter.layout().addWidget(self.__treeview)
vsplitter.layout().addWidget(self.__control)
self.__develop = QtWidgets.QSplitter(QtCore.Qt.Horizontal)
self.__develop.addWidget(vsplitter)
self.__develop.addWidget(tabwidget)
#mainwidget = QtWidgets.QTabWidget()
#mainwidget.addTab(hsplitter, "Profile Edit")
#mainwidget.addTab(self.__quickstart, "Quick Start")
#mainwidget.addTab(self.__network, "Server Debug")
mainwidget = QtWidgets.QStackedWidget()
mainwidget.addWidget(self.__quickstart)
mainwidget.addWidget(self.__develop)
mainwidget.addWidget(self.__network)
simulations = QtWidgets.QTabWidget()
simulations.addTab(self.__sim_rosbag, "Rosbag")
simulations.addTab(self.__sim_lgsvl, "LGSVL")
simulations.addTab(self.__sim_gazebo, "Gazebo")
mainsplitter = QtWidgets.QSplitter(QtCore.Qt.Vertical)
mainsplitter.addWidget(mainwidget)
mainsplitter.addWidget(simulations)
#dock = QtWidgets.QDockWidget()
#dock.setWidget( )
#window.addDockWidget(QtCore.Qt.RightDockWidgetArea, dock)
window = AwMainWindow(self)
window.setCentralWidget(mainsplitter)
window.show()
simulations.hide()
window.addViewMenu("Simulation", simulations.setVisible)
def switch_develop_mode(checked):
if checked:
mainwidget.setCurrentWidget(self.__develop)
else:
mainwidget.setCurrentWidget(self.__quickstart)
window.addViewMenu("Develop Mode", switch_develop_mode)
# Debug
#mainwidget.setCurrentWidget(self.__develop)
simulations.hide()
self.__sim_rosbag.rosbag_file.path.setText(myutils.userhome(".autoware/log/20150324.bag"))
# connect objects
self.__server.register_runner(self.__process)
self.__process.register_server(self.__server)
self.__server.register_client(self.__network)
self.__network.register_server(self.__server)
self.__panels.append(self.__treeview)
self.__panels.append(self.__summary)
self.__panels.append(self.__process)
self.__panels.append(self.__quickstart)
self.__treeview.register_select_listener(self.__summary)
self.__treeview.register_select_listener(self.__process)
self.__treeview.register_select_listener(self.__control)
if profile:
self.__server.load_profile(profile)
else:
self.__server.make_profile("root/default")
return application.exec_()
def setupButtons(self, yaml_file):
"""
Parse yaml file and setup Buttons. Format of the yaml file should be:
- name: 'button name' (required)
image: 'path to image for icon' (optional)
image_size: 'width and height of icon' (optional)
command: 'command' (required)
column: 'column index' (optional, defaults to 0)
"""
self.buttons = []
with open(yaml_file) as f:
yaml_data = yaml.load(f)
# lookup colum direction
direction = 'vertical'
for d in yaml_data:
if d.has_key('direction'):
if d['direction'] == 'horizontal':
direction = 'horizontal'
else: # d['direction'] == 'vertical':
direction = 'vertical'
yaml_data.remove(d)
break
# lookup column num
column_indices = [d['column'] for d in yaml_data]
max_column_index = max(*column_indices)
if direction == 'vertical':
self.layout = QtWidgets.QHBoxLayout()
self.layout_boxes = [QtWidgets.QVBoxLayout()
for i in range(max_column_index + 1)]
else: # direction == 'horizontal'
self.layout = QtWidgets.QVBoxLayout()
self.layout_boxes = [QtWidgets.QHBoxLayout()
for i in range(max_column_index + 1)]
self.button_groups = [QtWidgets.QGroupBox()
for i in range(max_column_index + 1)]
for button_data in yaml_data:
# check if all the field is available
if not button_data.has_key("name"):
self.showError("name field is missed in yaml")
raise Exception("name field is missed in yaml")
if not button_data.has_key("command"):
self.showError("command field is missed in yaml")
raise Exception("command field is missed in yaml")
if self.button_type == "push":
button = QtWidgets.QToolButton()
else: # self.button_type == "Radio":
button = QtWidgets.QRadioButton()
button.setSizePolicy(QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred))
if button_data.has_key("image"):
image_file = get_filename(button_data["image"])[len("file://"):]
if os.path.exists(image_file):
icon = QtGui.QIcon(image_file)
button.setIcon(icon)
if button_data.has_key("image_size"):
button.setIconSize(QSize(button_data["image_size"][0], button_data["image_size"][1]))
else:
button.setIconSize(QSize(100, 100))
if button_data.has_key("name"):
name = button_data['name']
button.setText(name)
button.clicked.connect(self.buttonCallback(button_data['command']))
if self.button_type == "push":
button.setToolButtonStyle(QtCore.Qt.ToolButtonTextUnderIcon)
else: # self.button_type == "Radio":
if button_data.has_key("default_value") and button_data['default_value']:
button.setChecked(True)
self.layout_boxes[button_data['column']].addWidget(button)
self.buttons.append(button)
for i in range(len(self.button_groups)):
self.button_groups[i].setLayout(self.layout_boxes[i])
for group in self.button_groups:
self.layout.addWidget(group)
self.setLayout(self.layout)
def __init__(self, context):
super(BehaviorTreePlugin, self).__init__(context)
self.setObjectName('BehaviorTreePlugin')
self.tree = None
self.initialized_buttons = False
self.prev_graphviz = ''
self.behavior_tree_graphviz_sub = rospy.Subscriber('behavior_tree_graphviz', String, self.behavior_tree_graphviz_callback)
self.timer = rospy.Timer(rospy.Duration(0.1), self.timer_callback)
self.functions_mutex = Lock()
self.functions = {}
self.last_graphviz_string = ''
self.widget = QWidget()
self.vbox = qt.QVBoxLayout()
self.widget.setLayout(self.vbox)
context.add_widget(self.widget)
#self.widget.setStyleSheet('QWidget{margin-left:-1px;}')
self.top_widget = qt.QWidget()
self.top_layout = qt.QVBoxLayout()
self.top_widget.setLayout(self.top_layout)
self.graph_widget = qt.QWidget()
self.graph_layout = qt.QVBoxLayout()
self.graph_widget.setLayout(self.graph_layout)
self.image_label = qt.QLabel('asdfadsf')
#self.graph_layout.addWidget(self.image_label)
self.xdot_widget = DotWidget()
self.graph_layout.addWidget(self.xdot_widget)
self.top_layout.addWidget(self.graph_widget)
self.graph_widget.setStyleSheet("background-color: rgb(255, 255, 255);")
self.config_widget = qt.QWidget()
self.config_widget.setStyleSheet('QWidget{margin-left:-1px;}')
self.config_layout = qt.QHBoxLayout()
self.config_widget.setLayout(self.config_layout)
self.config_widget.setFixedHeight(50)
self.config_button = qt.QPushButton('Open Config...')
self.config_button.clicked.connect(self.select_config_file)
self.config_layout.addWidget(self.config_button)
self.tree_label = qt.QLabel('tree filename: ')
self.config_layout.addWidget(self.tree_label)
self.debug_checkbox = qt.QCheckBox('Debug Mode')
self.config_layout.addWidget(self.debug_checkbox)
self.debug_checkbox.stateChanged.connect(self.debug_mode_changed)
#self.config_widget.setStyleSheet("background-color: rgb(255, 0, 0);")
self.top_layout.addWidget(self.config_widget)
#self.vbox.addWidget(self.top_widget)
self.button_container_widget = qt.QWidget()
self.button_container_layout = qt.QVBoxLayout()
self.button_container_widget.setLayout(self.button_container_layout)
#self.vbox.addWidget(self.button_container_widget)
self.button_widget = qt.QWidget()
self.button_layout = qt.QHBoxLayout()
self.button_widget.setLayout(self.button_layout)
#self.button_widget.setStyleSheet("background-color: rgb(0, 0, 255);")
self.condition_widget = qt.QWidget()
self.condition_layout = qt.QVBoxLayout()
self.condition_widget.setLayout(self.condition_layout)
self.button_layout.addWidget(self.condition_widget)
self.condition_label = qt.QLabel()
self.condition_label.setText('Conditions')
self.condition_label.setAlignment(Qt.AlignCenter)
self.condition_label.setFont(gui.QFont("SansSerif", 18, gui.QFont.Bold))
self.condition_layout.addWidget(self.condition_label)
self.action_widget = qt.QWidget()
self.action_layout = qt.QVBoxLayout()
self.action_widget.setLayout(self.action_layout)
self.button_layout.addWidget(self.action_widget)
self.action_label = qt.QLabel()
self.action_label.setText('Actions')
self.action_label.setAlignment(Qt.AlignCenter)
self.action_label.setFont(gui.QFont("SansSerif", 18, gui.QFont.Bold))
self.action_layout.addWidget(self.action_label)
self.button_scroll_area = qt.QScrollArea()
self.button_scroll_area.setWidget(self.button_widget)
#self.button_scroll_area.setFixedHeight(200)
#self.button_container_widget.setFixedHeight(200)
self.button_container_layout.addWidget(self.button_scroll_area)
self.button_widget.setMinimumWidth(self.button_scroll_area.sizeHint().width())
self.button_scroll_area.setWidgetResizable(True)
self.horizontal_splitter = qt.QSplitter(core.Qt.Vertical)
self.horizontal_splitter.addWidget(self.top_widget)
self.horizontal_splitter.addWidget(self.button_container_widget)
self.vbox.addWidget(self.horizontal_splitter)
self.button_container_widget.hide()
