def load_from_file():
global current_name
file_name, _ = QFileDialog.getOpenFileName(
main_window, main_window.tr('Load program from file'), None,
main_window.tr('Puppet Talk (*.pt)'))
if file_name is None or file_name == '':
return
print 'load_from_file', file_name
handle = open(file_name, 'rb')
storage = SimpleFormat(handle)
count = storage.deserialize_data()
tabs = main_window.PoseList_tabWidget.count()
for index in range(tabs):
model = models[index]
if index < count:
model.action_sequence().deserialize(storage)
model.reset()
else:
model.remove_all_actions()
handle.close()
current_name = os.path.splitext(os.path.basename(file_name))[0]
update_sequence_duration()
def load_from_file():
global current_name
file_name, _ = QFileDialog.getOpenFileName(
main_window, main_window.tr("Load program from file"), None, main_window.tr("Puppet Talk (*.pt)")
)
if file_name is None or file_name == "":
return
print "load_from_file", file_name
handle = open(file_name, "rb")
storage = SimpleFormat(handle)
count = storage.deserialize_data()
tabs = main_window.PoseList_tabWidget.count()
for index in range(tabs):
model = models[index]
if index < count:
model.action_sequence().deserialize(storage)
model.reset()
else:
model.remove_all_actions()
handle.close()
current_name = os.path.splitext(os.path.basename(file_name))[0]
update_sequence_duration()
def _handle_start_following(self):
#make sure server is available before sending goal
QApplication.setOverrideCursor(QCursor(Qt.WaitCursor))
if (not self._client.wait_for_server(rospy.Duration.from_sec(10))):
QApplication.restoreOverrideCursor()
msg_box = QMessageBox()
msg_box.setText("Timeout while looking for path following control server.")
msg_box.exec_()
return
QApplication.restoreOverrideCursor()
#get path file to load
filename = QFileDialog.getOpenFileName(self, self.tr('Load Path from File'), '.', self.tr('Path File {.txt} (*.txt)'))
if filename[0] != '':
try:
handle = open(filename[0])
except IOError as e:
qWarning(str(e))
return
# load path from file
path_reader=csv.reader(open(filename[0],'rb'),delimiter=';')
# parse path file and convert to numbers
temp = [row[0].split() for row in path_reader]
lines= [[float(num) for num in row] for row in temp]
# first line of file is radius
radius = lines[0]
# remove radius
del(lines[0])
now = rospy.Time.now()
goal = auxos_messages.msg.PlanThenFollowDubinsPathGoal()
goal.path.header.stamp = now
goal.path.header.frame_id = self.path_frame_id # TODO: fix this!!!
for line in lines:
pose_msg = PoseStamped()
pose_msg.header.stamp = now
pose_msg.header.frame_id = goal.path.header.frame_id
pose_msg.pose.position.x = line[0]
pose_msg.pose.position.y = line[1]
quat = qfe(0, 0, psi2theta(line[2]))
pose_msg.pose.orientation.x = quat[0]
pose_msg.pose.orientation.y = quat[1]
pose_msg.pose.orientation.z = quat[2]
pose_msg.pose.orientation.w = quat[3]
goal.path.poses.append(pose_msg)
self._client.send_goal(goal, self._handle_path_complete, self._handle_active, self._handle_feedback)
print("start following")
def getOpenFiles(parent, labeltext, path,
filefilter = None, multiple = True):
kwargs = {'options': QFileDialog.ReadOnly,
'caption': labeltext,
'dir': path, # why does pyside have different kwarg keys?
'filter': makeFilter(filefilter)}
if multiple:
res = QFileDialog.getOpenFileNames(parent, **kwargs)
if isList(res) and isList(res[0]):
res = res[0]
elif not isList(res):
res = list(res)
return res
else:
return [QFileDialog.getOpenFileName(parent, **kwargs)]
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(self._widget, self.tr('Open graph from file'), None, self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.quiet_check_box.setEnabled(False)
self._update_graph_view(dotcode)
def _load_dot(self, file_name=None):
if file_name is None:
file_name, _ = QFileDialog.getOpenFileName(
self._widget, self.tr('Open graph from file'), None,
self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
try:
fh = open(file_name, 'rb')
dotcode = fh.read()
fh.close()
except IOError:
return
# disable controls customizing fetched ROS graph
self._widget.graph_type_combo_box.setEnabled(False)
self._widget.filter_line_edit.setEnabled(False)
self._widget.quiet_check_box.setEnabled(False)
self._update_graph_view(dotcode)
