def __init__(self):
QMainWindow.__init__(self)
self.ui = Ui_Form()
self.ui.setupUi(self)
# self.setCentralWidget(self.ui.mdiArea)
self.ui.menuTemplates.setEnabled(False)
self.periodConfig = PeriodConfig(self)
self.period = self.periodConfig.value
self.shortcuts = list()
sc = QShortcut(QKeySequence("Ctrl+W"), self)
self.shortcuts.append(sc)
self.connect(sc, SIGNAL("activated()"), self.triggerExit)
sc = QShortcut(QKeySequence("Ctrl+O"), self)
self.shortcuts.append(sc)
self.connect(sc, SIGNAL("activated()"), self.triggerOpen)
self.connect(self.ui.actionOpen, SIGNAL('triggered()'), self.triggerOpen)
self.connect(self.ui.actionClose, SIGNAL('triggered()'), self.triggerClose)
self.connect(self.ui.actionExit, SIGNAL('triggered()'), self.triggerExit)
self.connect(self.ui.actionPeriod, SIGNAL('triggered()'), self.triggerPeriod)
self.connect(self.ui.actionBase_pose, SIGNAL('triggered()'), self.triggerTemplateBase)
self.connect(self.ui.actionCamera_RGB_Image, SIGNAL('triggered()'), self.triggerTemplateRGBImage)
self.connect(self.ui.actionCamera_Grey_Image, SIGNAL('triggered()'), self.triggerTemplateGreyImage)
self.connect(self.ui.actionCustom, SIGNAL('triggered()'), self.triggerTemplateCustom)
self.connect(self.ui.actionSignal, SIGNAL('triggered()'), self.triggerTemplateSignal)
self.connect(self.periodConfig, SIGNAL('done()'), self.periodChange)
self.statusBar().showMessage('Click on \'Connection->Open\' to establish a new connection.')
self.ticks = 0
if len(sys.argv) > 1:
global force_host
global force_port
try:
print ('Opening configuration file', sys.argv[1])
f = open(sys.argv[1], 'r')
except:
print ('Cannot open configuration file', sys.argv[1])
sys.exit()
argIdx = getParamIdx()
print (argIdx)
for idx in argIdx:
if sys.argv[idx] == '-h':
force_host = sys.argv[idx+1]
elif sys.argv[idx] == '-p':
force_port = sys.argv[idx+1]
self.triggerOpen()
openConfig = [ line.strip() for line in f.readlines() if len(line.strip()) > 0 and line.strip()[0] != '#' and len(line.strip()) > 0]
self.periodConfig.msChanged(int(openConfig.pop(5)))
if force_host != '': openConfig[2] = force_host
if force_port != '': openConfig[4] = force_port
root = os.path.dirname( sys.argv[1] )
print ("FILE: " + sys.argv[1])
print ("ROOT: " + root)
self.openA.loadConfig(openConfig, root)
def __init__(self):
QMainWindow.__init__(self)
self.ui = Ui_Form()
self.ui.setupUi(self)
# self.setCentralWidget(self.ui.mdiArea)
self.ui.menuTemplates.setEnabled(False)
self.periodConfig = PeriodConfig(self)
self.period = self.periodConfig.value
self.shortcuts = list()
sc = QShortcut(QKeySequence("Ctrl+W"), self)
self.shortcuts.append(sc)
self.connect(sc, SIGNAL("activated()"), self.triggerExit)
sc = QShortcut(QKeySequence("Ctrl+O"), self)
self.shortcuts.append(sc)
self.connect(sc, SIGNAL("activated()"), self.triggerOpen)
self.connect(self.ui.actionOpen, SIGNAL('triggered()'), self.triggerOpen)
self.connect(self.ui.actionClose, SIGNAL('triggered()'), self.triggerClose)
self.connect(self.ui.actionExit, SIGNAL('triggered()'), self.triggerExit)
self.connect(self.ui.actionPeriod, SIGNAL('triggered()'), self.triggerPeriod)
self.connect(self.ui.actionBase_pose, SIGNAL('triggered()'), self.triggerTemplateBase)
self.connect(self.ui.actionCamera_RGB_Image, SIGNAL('triggered()'), self.triggerTemplateRGBImage)
self.connect(self.ui.actionCamera_Grey_Image, SIGNAL('triggered()'), self.triggerTemplateGreyImage)
self.connect(self.ui.actionCustom, SIGNAL('triggered()'), self.triggerTemplateCustom)
self.connect(self.ui.actionSignal, SIGNAL('triggered()'), self.triggerTemplateSignal)
self.connect(self.periodConfig, SIGNAL('done()'), self.periodChange)
self.statusBar().showMessage('Click on \'Connection->Open\' to establish a new connection.')
self.ticks = 0
if len(sys.argv) > 1:
global force_host
global force_port
try:
print 'Opening configuration file', sys.argv[1]
f = open(sys.argv[1], 'r')
except:
print 'Cannot open configuration file', sys.argv[1]
sys.exit()
argIdx = getParamIdx()
print argIdx
for idx in argIdx:
if sys.argv[idx] == '-h':
force_host = sys.argv[idx+1]
elif sys.argv[idx] == '-p':
force_port = sys.argv[idx+1]
self.triggerOpen()
openConfig = [ line.strip() for line in f.readlines() if len(line.strip()) > 0 and line.strip()[0] != '#' and len(line.strip()) > 0]
self.periodConfig.msChanged(int(openConfig.pop(5)))
if force_host != '': openConfig[2] = force_host
if force_port != '': openConfig[4] = force_port
root = os.path.dirname( sys.argv[1] )
print ("FILE: " + sys.argv[1])
print ("ROOT: " + root)
self.openA.loadConfig(openConfig, root)
class RCOMPMonitor(QMainWindow):
def __init__(self):
QMainWindow.__init__(self)
self.ui = Ui_Form()
self.ui.setupUi(self)
# self.setCentralWidget(self.ui.mdiArea)
self.ui.menuTemplates.setEnabled(False)
self.periodConfig = PeriodConfig(self)
self.period = self.periodConfig.value
self.shortcuts = list()
sc = QShortcut(QKeySequence("Ctrl+W"), self)
self.shortcuts.append(sc)
self.connect(sc, SIGNAL("activated()"), self.triggerExit)
sc = QShortcut(QKeySequence("Ctrl+O"), self)
self.shortcuts.append(sc)
self.connect(sc, SIGNAL("activated()"), self.triggerOpen)
self.connect(self.ui.actionOpen, SIGNAL('triggered()'), self.triggerOpen)
self.connect(self.ui.actionClose, SIGNAL('triggered()'), self.triggerClose)
self.connect(self.ui.actionExit, SIGNAL('triggered()'), self.triggerExit)
self.connect(self.ui.actionPeriod, SIGNAL('triggered()'), self.triggerPeriod)
self.connect(self.ui.actionBase_pose, SIGNAL('triggered()'), self.triggerTemplateBase)
self.connect(self.ui.actionCamera_RGB_Image, SIGNAL('triggered()'), self.triggerTemplateRGBImage)
self.connect(self.ui.actionCamera_Grey_Image, SIGNAL('triggered()'), self.triggerTemplateGreyImage)
self.connect(self.ui.actionCustom, SIGNAL('triggered()'), self.triggerTemplateCustom)
self.connect(self.ui.actionSignal, SIGNAL('triggered()'), self.triggerTemplateSignal)
self.connect(self.periodConfig, SIGNAL('done()'), self.periodChange)
self.statusBar().showMessage('Click on \'Connection->Open\' to establish a new connection.')
self.ticks = 0
if len(sys.argv) > 1:
global force_host
global force_port
try:
print ('Opening configuration file', sys.argv[1])
f = open(sys.argv[1], 'r')
except:
print ('Cannot open configuration file', sys.argv[1])
sys.exit()
argIdx = getParamIdx()
print (argIdx)
for idx in argIdx:
if sys.argv[idx] == '-h':
force_host = sys.argv[idx+1]
elif sys.argv[idx] == '-p':
force_port = sys.argv[idx+1]
self.triggerOpen()
openConfig = [ line.strip() for line in f.readlines() if len(line.strip()) > 0 and line.strip()[0] != '#' and len(line.strip()) > 0]
self.periodConfig.msChanged(int(openConfig.pop(5)))
if force_host != '': openConfig[2] = force_host
if force_port != '': openConfig[4] = force_port
root = os.path.dirname( sys.argv[1] )
print ("FILE: " + sys.argv[1])
print ("ROOT: " + root)
self.openA.loadConfig(openConfig, root)
def triggerOpen(self):
self.openA = OpenConnection(self)
self.subwindow = self.ui.mdiArea.addSubWindow(self.openA)
self.subwindow.showMaximized()
self.connect(self.openA, SIGNAL('done()'), self.doJob)
self.openA.show()
self.ui.menuTemplates.setEnabled(False)
def triggerClose(self):
if exists(self, 'openA'): self.openA.close()
self.ui.menuTemplates.setEnabled(False)
def triggerExit(self):
self.close()
def triggerPeriod(self):
self.periodConfig.show()
def triggerTemplateBase(self):
if exists(self, 'openA'): self.openA.ui.textEdit.setText(BasePoseCodeTemplate)
def triggerTemplateRGBImage(self):
if exists(self, 'openA'): self.openA.ui.textEdit.setText(CameraRGBCodeTemplate)
def triggerTemplateGreyImage(self):
if exists(self, 'openA'): self.openA.ui.textEdit.setText(CameraGreyCodeTemplate)
def triggerTemplateCustom(self):
if exists(self, 'openA'): self.openA.ui.textEdit.setText(CustomCodeTemplate)
def triggerTemplateSignal(self):
if exists(self, 'openA'): self.openA.ui.textEdit.setText(SignalCodeTemplate)
def startNewConnection(self):
self.triggerClose()
def doJob(self):
print("doJob")
self.subwindow.close()
if exists(self, 'openA') and exists(self.openA.module, 'C'):
self.doer = self.openA.module.C(self.openA.endpoint, self.openA.sr.RoboComps)
self.openA.close()
if issubclass(self.openA.module.C, QWidget):
self.subwindow = self.ui.mdiArea.addSubWindow(self.doer)
self.doer.setParent(self.subwindow)
self.subwindow.showMaximized()
else:
self.drawer = DrawData()
self.subwindow = self.ui.mdiArea.addSubWindow(self.drawer)
self.subwindow.showMaximized()
self.mySlot()
self.timer = QTimer()
self.timer.start(self.period)
self.connect(self.timer, SIGNAL('timeout()'), self.mySlot)
def mySlot(self):
if exists(self.doer, 'job'):
if exists(self, "drawer"):
output = self.doer.job()
if (output != None):
self.drawer.setData(output[0], output[1])
self.drawer.update()
else:
self.doer.job()
self.doer.update()
self.statusBar().showMessage(str('Ticks: ')+str(self.ticks))
self.ticks = self.ticks + 1
def periodChange(self):
print("perdiod change", self.periodConfig.value)
self.period = self.periodConfig.value
if exists(self, 'timer'): self.timer.start(self.period)
class RCOMPMonitor(QMainWindow):
def __init__(self):
QMainWindow.__init__(self)
self.ui = Ui_Form()
self.ui.setupUi(self)
# self.setCentralWidget(self.ui.mdiArea)
self.ui.menuTemplates.setEnabled(False)
self.periodConfig = PeriodConfig(self)
self.period = self.periodConfig.value
self.shortcuts = list()
sc = QShortcut(QKeySequence("Ctrl+W"), self)
self.shortcuts.append(sc)
self.connect(sc, SIGNAL("activated()"), self.triggerExit)
sc = QShortcut(QKeySequence("Ctrl+O"), self)
self.shortcuts.append(sc)
self.connect(sc, SIGNAL("activated()"), self.triggerOpen)
self.connect(self.ui.actionOpen, SIGNAL('triggered()'), self.triggerOpen)
self.connect(self.ui.actionClose, SIGNAL('triggered()'), self.triggerClose)
self.connect(self.ui.actionExit, SIGNAL('triggered()'), self.triggerExit)
self.connect(self.ui.actionPeriod, SIGNAL('triggered()'), self.triggerPeriod)
self.connect(self.ui.actionBase_pose, SIGNAL('triggered()'), self.triggerTemplateBase)
self.connect(self.ui.actionCamera_RGB_Image, SIGNAL('triggered()'), self.triggerTemplateRGBImage)
self.connect(self.ui.actionCamera_Grey_Image, SIGNAL('triggered()'), self.triggerTemplateGreyImage)
self.connect(self.ui.actionCustom, SIGNAL('triggered()'), self.triggerTemplateCustom)
self.connect(self.ui.actionSignal, SIGNAL('triggered()'), self.triggerTemplateSignal)
self.connect(self.periodConfig, SIGNAL('done()'), self.periodChange)
self.statusBar().showMessage('Click on \'Connection->Open\' to establish a new connection.')
self.ticks = 0
if len(sys.argv) > 1:
global force_host
global force_port
try:
print 'Opening configuration file', sys.argv[1]
f = open(sys.argv[1], 'r')
except:
print 'Cannot open configuration file', sys.argv[1]
sys.exit()
argIdx = getParamIdx()
print argIdx
for idx in argIdx:
if sys.argv[idx] == '-h':
force_host = sys.argv[idx+1]
elif sys.argv[idx] == '-p':
force_port = sys.argv[idx+1]
self.triggerOpen()
openConfig = [ line.strip() for line in f.readlines() if len(line.strip()) > 0 and line.strip()[0] != '#' and len(line.strip()) > 0]
self.periodConfig.msChanged(int(openConfig.pop(5)))
if force_host != '': openConfig[2] = force_host
if force_port != '': openConfig[4] = force_port
root = os.path.dirname( sys.argv[1] )
print ("FILE: " + sys.argv[1])
print ("ROOT: " + root)
self.openA.loadConfig(openConfig, root)
def triggerOpen(self):
self.openA = OpenConnection(self)
self.subwindow = self.ui.mdiArea.addSubWindow(self.openA)
self.subwindow.showMaximized()
self.connect(self.openA, SIGNAL('done()'), self.doJob)
self.openA.show()
self.ui.menuTemplates.setEnabled(False)
def triggerClose(self):
if exists(self, 'openA'): self.openA.close()
self.ui.menuTemplates.setEnabled(False)
def triggerExit(self):
self.close()
def triggerPeriod(self):
self.periodConfig.show()
def triggerTemplateBase(self):
if exists(self, 'openA'): self.openA.ui.textEdit.setText(BasePoseCodeTemplate)
def triggerTemplateRGBImage(self):
if exists(self, 'openA'): self.openA.ui.textEdit.setText(CameraRGBCodeTemplate)
def triggerTemplateGreyImage(self):
if exists(self, 'openA'): self.openA.ui.textEdit.setText(CameraGreyCodeTemplate)
def triggerTemplateCustom(self):
if exists(self, 'openA'): self.openA.ui.textEdit.setText(CustomCodeTemplate)
def triggerTemplateSignal(self):
if exists(self, 'openA'): self.openA.ui.textEdit.setText(SignalCodeTemplate)
def startNewConnection(self):
self.triggerClose()
def doJob(self):
self.subwindow.close()
if exists(self, 'openA') and exists(self.openA.module, 'C'):
self.doer = self.openA.module.C(self.openA.endpoint, self.openA.sr.RoboComps)
self.openA.close()
if issubclass(self.openA.module.C, QWidget):
self.subwindow = self.ui.mdiArea.addSubWindow(self.doer)
self.doer.setParent(self.subwindow)
self.subwindow.showMaximized()
else:
self.drawer = DrawData()
self.subwindow = self.ui.mdiArea.addSubWindow(self.drawer)
self.subwindow.showMaximized()
self.mySlot()
self.timer = QTimer()
self.timer.start(self.period)
self.connect(self.timer, SIGNAL('timeout()'), self.mySlot)
def mySlot(self):
if exists(self.doer, 'job'):
if exists(self, "drawer"):
output = self.doer.job()
if (output != None):
self.drawer.setData(output[0], output[1])
self.drawer.update()
else:
self.doer.job()
self.doer.update()
self.statusBar().showMessage(QString('Ticks: ')+QString.number(self.ticks))
self.ticks = self.ticks + 1
def periodChange(self):
self.period = self.periodConfig.value
if exists(self, 'timer'): self.timer.start(self.period)
