def __init__(self,parent=None):
QtGui.QMainWindow.__init__(self,parent)
self.setWindowTitle("QtSimiam")
self.resize(700,700)
self.__create_toolbars()
self.__create_menu()
self.__create_statusbar()
# Set intro message
self.status_label.setText("Welcome to QtSimiam")
# create XML file dialog
self._world_dialog = QtGui.QFileDialog(self,
"Select World File",
"worlds",
"WorldFile (*.xml)")
self._world_dialog.setAcceptMode(QtGui.QFileDialog.AcceptOpen)
self._world_dialog.setFileMode(QtGui.QFileDialog.ExistingFile)
# create supervisor file dialog
self._supervisor_dialog = QtGui.QFileDialog(self,
"Select Supervisor File",
"supervisors",
"Supervisor (*.py)")
self._supervisor_dialog.setAcceptMode(QtGui.QFileDialog.AcceptOpen)
self._supervisor_dialog.setFileMode(QtGui.QFileDialog.ExistingFile)
scrollArea = QtGui.QScrollArea(self)
self.setCentralWidget(scrollArea)
self.__viewer = SimulatorViewer()
scrollArea.setWidget(self.__viewer)
scrollArea.setWidgetResizable(True)
#self.setDockOptions(QtGui.QMainWindow.AllowNestedDocks)
self.setDockOptions(QtGui.QMainWindow.DockOptions())
self.__sim_timer = QtCore.QTimer(self)
self.__sim_timer.setInterval(10)
self.__sim_timer.timeout.connect(self.__update_time)
self.__sim_queue = queue.Queue()
# create the simulator thread
self._simulator_thread = sim.Simulator(self.__viewer.renderer,
self.__sim_queue)
self.__in_queue = self._simulator_thread._out_queue
self.__dockmanager = DockManager(self)
self.__dockmanager.apply_request.connect(self.apply_parameters)
self._simulator_thread.start()
self.__sim_timer.start()
class SimulationWidget(QtGui.QMainWindow):
def __init__(self,parent=None):
QtGui.QMainWindow.__init__(self,parent)
self.setWindowTitle("QtSimiam")
self.resize(700,700)
self.__create_toolbars()
self.__create_menu()
self.__create_statusbar()
# Set intro message
self.status_label.setText("Welcome to QtSimiam")
# create XML file dialog
self._world_dialog = QtGui.QFileDialog(self,
"Select World File",
"worlds",
"WorldFile (*.xml)")
self._world_dialog.setAcceptMode(QtGui.QFileDialog.AcceptOpen)
self._world_dialog.setFileMode(QtGui.QFileDialog.ExistingFile)
# create supervisor file dialog
self._supervisor_dialog = QtGui.QFileDialog(self,
"Select Supervisor File",
"supervisors",
"Supervisor (*.py)")
self._supervisor_dialog.setAcceptMode(QtGui.QFileDialog.AcceptOpen)
self._supervisor_dialog.setFileMode(QtGui.QFileDialog.ExistingFile)
scrollArea = QtGui.QScrollArea(self)
self.setCentralWidget(scrollArea)
self.__viewer = SimulatorViewer()
scrollArea.setWidget(self.__viewer)
scrollArea.setWidgetResizable(True)
#self.setDockOptions(QtGui.QMainWindow.AllowNestedDocks)
self.setDockOptions(QtGui.QMainWindow.DockOptions())
self.__sim_timer = QtCore.QTimer(self)
self.__sim_timer.setInterval(10)
self.__sim_timer.timeout.connect(self.__update_time)
self.__sim_queue = queue.Queue()
# create the simulator thread
self._simulator_thread = sim.Simulator(self.__viewer.renderer,
self.__sim_queue)
self.__in_queue = self._simulator_thread._out_queue
self.__dockmanager = DockManager(self)
self.__dockmanager.apply_request.connect(self.apply_parameters)
self._simulator_thread.start()
self.__sim_timer.start()
def __create_toolbars(self):
tbar = QtGui.QToolBar("Control",self)
tbar.setAllowedAreas(QtCore.Qt.TopToolBarArea | QtCore.Qt.BottomToolBarArea)
#self.__time_label = QtGui.QLabel("00:00.0",self)
#self.__time_label.setToolTip("Elapsed time")
#tbar.addWidget(self.__time_label)
self.revaction = \
tbar.addAction(QtGui.QIcon("./res/image/arrow-left-double.png"),
"Rewind",
self._on_rewind)
self.revaction.setStatusTip("Reset simulation")
self.runaction = \
tbar.addAction(QtGui.QIcon("./res/image/arrow-right.png"),
"Run",
self._on_run)
self.runaction.setStatusTip("Run simulation")
self.pauseaction = \
tbar.addAction(QtGui.QIcon("./res/image/media-playback-pause-7.png"),
"Pause",
self._on_pause)
self.pauseaction.setStatusTip("Pause simulation")
self.revaction.setEnabled(False)
self.runaction.setEnabled(False)
self.pauseaction.setVisible(False)
self.__speed_slider = QtGui.QSlider(QtCore.Qt.Horizontal,self)
self.__speed_slider.setToolTip("Adjust speed")
self.__speed_slider.setStatusTip("Adjust simulation speed")
self.__speed_slider.setTickPosition(QtGui.QSlider.NoTicks)
self.__speed_slider.setMaximumWidth(300)
self.__speed_slider.setRange(-100,0)
self.__speed_slider.setValue(0)
self.__speed_slider.setEnabled(False)
self.__speed_slider.valueChanged[int].connect(self._scale_time)
tbar.addWidget(self.__speed_slider)
self.__speed_label = QtGui.QLabel(" Speed: 1.0x",self)
self.__speed_label.setToolTip("Current speed multiplier")
tbar.addWidget(self.__speed_label)
self.addToolBar(tbar)
tbar = QtGui.QToolBar("View",self)
tbar.setAllowedAreas(QtCore.Qt.TopToolBarArea | QtCore.Qt.BottomToolBarArea)
a = tbar.addAction(QtGui.QIcon("./res/image/grid.png"),
"Show/Hide grid")
a.setStatusTip("Show/hide grid")
a.triggered[bool].connect(self._show_grid)
a.setCheckable(True)
a.setChecked(False)
a = tbar.addAction(QtGui.QIcon("./res/image/robot-sensors.png"),
"Show/Hide sensors")
a.setStatusTip("Show/hide robot sensors")
a.triggered[bool].connect(self._show_sensors)
a.setCheckable(True)
a.setChecked(True)
a = tbar.addAction(QtGui.QIcon("./res/image/robot-tracks.png"),
"Show/Hide robot trajectores")
a.setStatusTip("Show/hide robot trajectores")
a.triggered[bool].connect(self._show_tracks)
a.setCheckable(True)
a.setChecked(True)
zoom_group = QtGui.QActionGroup(tbar)
a = tbar.addAction(QtGui.QIcon("./res/image/zoom-scene.png"),
"Show all",
self._zoom_scene)
a.setStatusTip("Show the whole world in view")
a.setCheckable(True)
a.setChecked(True)
zoom_group.addAction(a)
a = tbar.addAction(QtGui.QIcon("./res/image/zoom-robot.png"),
"Follow robot",
self._zoom_robot)
a.setStatusTip("Center the view on robot")
a.setCheckable(True)
a.setChecked(False)
zoom_group.addAction(a)
self.act_rot_robot = \
tbar.addAction(QtGui.QIcon("./res/image/zoom-robot-rot.png"),
"Follow robot orientation",
self._rot_robot)
self.act_rot_robot.setStatusTip("Rotate the view with the robot")
self.act_rot_robot.setCheckable(True)
self.act_rot_robot.setChecked(False)
self.act_rot_robot.setEnabled(False)
self.__zoom_slider = QtGui.QSlider(QtCore.Qt.Horizontal,self)
self.__zoom_slider.setTickPosition(QtGui.QSlider.NoTicks)
self.__zoom_slider.setToolTip("Adjust zoom")
self.__zoom_slider.setStatusTip("Zoom in/out on robot")
self.__zoom_slider.setMaximumWidth(300)
self.__zoom_slider.setRange(-100,100)
self.__zoom_slider.setValue(0)
self.__zoom_slider.setEnabled(False)
self.__zoom_slider.valueChanged[int].connect(self._scale_zoom)
tbar.addWidget(self.__zoom_slider)
self.__zoom_label = QtGui.QLabel(" Zoom: 1.0x",self)
self.__zoom_label.setToolTip("Current zoom factor")
tbar.addWidget(self.__zoom_label)
self.__zoom_factor = 0
self.addToolBar(tbar)
def __create_menu(self):
menu = QtGui.QMenuBar(self)
self.setMenuBar(menu)
file_menu = menu.addMenu("&File")
a = file_menu.addAction(QtGui.QIcon.fromTheme("document-open"),
"Open XML &World",
self._on_open_world,
QtGui.QKeySequence(QtGui.QKeySequence.Open))
a.setStatusTip("Open a new simulation")
file_menu.addSeparator()
a = file_menu.addAction(QtGui.QIcon.fromTheme("application-exit"),
"E&xit",
self.close,
QtGui.QKeySequence(QtGui.QKeySequence.Quit)
)
a.setToolTip("Quit the Program")
a.setStatusTip("Exit QtSimiam")
def __create_statusbar(self):
self.setStatusBar(QtGui.QStatusBar())
self.status_label = QtGui.QLabel("",self.statusBar())
self.statusBar().addWidget(self.status_label)
def closeEvent(self,event):
self.__sim_timer.stop()
self.__sim_queue.put(('stop',()))
while self._simulator_thread.isAlive():
self.process_events(True)
self._simulator_thread.join(0.1)
super(SimulationWidget,self).closeEvent(event)
def make_param_window(self,robot_id,name,parameters):
# FIXME adding to the right for no reason
self.__dockmanager.add_dock_right(robot_id, name, parameters)
def load_world(self,filename):
if not os.path.exists(filename):
filename = os.path.join('worlds',filename)
if not os.path.exists(filename):
print "Cannot open file {}".format(filename)
return
self.__dockmanager.clear()
#self.revaction.setEnabled(False)
#self.runaction.setEnabled(True)
self.__sim_queue.put(('read_config',(filename,)))
# Slots
@QtCore.pyqtSlot()
def _on_rewind(self): # Start from the beginning
self.pauseaction.setVisible(False)
self.runaction.setVisible(True)
self.pauseaction.setEnabled(False)
self.revaction.setEnabled(False)
self.__speed_slider.setEnabled(False)
#self.__time_label.setText("00:00.0")
self.__sim_queue.put(('reset_simulation',()))
@QtCore.pyqtSlot()
def _on_run(self): # Run/unpause
self.pauseaction.setVisible(True)
self.runaction.setVisible(False)
self.runaction.setEnabled(False)
self.__sim_queue.put(('start_simulation',()))
@QtCore.pyqtSlot()
def _on_pause(self): # Pause
self.pauseaction.setVisible(False)
self.runaction.setVisible(True)
self.pauseaction.setEnabled(False)
self.__speed_slider.setEnabled(False)
self.__sim_queue.put(('pause_simulation',()))
@QtCore.pyqtSlot()
def _on_open_world(self):
self._on_pause()
if self._world_dialog.exec_():
self.load_world(self._world_dialog.selectedFiles()[0])
@QtCore.pyqtSlot(bool)
def _show_grid(self,show):
self.__sim_queue.put(('show_grid',(show,)))
@QtCore.pyqtSlot(bool)
def _show_sensors(self,show):
self.__sim_queue.put(('show_sensors',(show,)))
@QtCore.pyqtSlot(bool)
def _show_tracks(self,show):
self.__sim_queue.put(('show_tracks',(show,)))
@QtCore.pyqtSlot()
def _zoom_scene(self):
self.__zoom_slider.setEnabled(False)
self.act_rot_robot.setEnabled(False)
self.__sim_queue.put(('focus_on_world',()))
@QtCore.pyqtSlot()
def _zoom_robot(self):
self.__zoom_slider.setEnabled(True)
self.act_rot_robot.setEnabled(True)
self.__sim_queue.put(('focus_on_robot',(self.act_rot_robot.isChecked(),)))
self.__sim_queue.put(('adjust_zoom',(5.0**(self.__zoom_slider.value()/100.0),)))
@QtCore.pyqtSlot()
def _rot_robot(self):
self.__sim_queue.put(('focus_on_robot',(self.act_rot_robot.isChecked(),)))
@QtCore.pyqtSlot(int)
def _scale_zoom(self,value):
zoom = 5.0**(value/100.0)
self.__sim_queue.put(('adjust_zoom',(zoom,)))
self.__zoom_label.setText(" Zoom: %.1fx"%(zoom))
@QtCore.pyqtSlot(int)
def _scale_time(self,value):
m = 10.0**((value-self.__zoom_factor)/100.0)
self.__sim_queue.put(('set_time_multiplier',(m,)))
self.__speed_label.setText(" Speed: %.1fx"%m)
@QtCore.pyqtSlot()
def __update_time(self):
if self._simulator_thread.is_running():
t = self._simulator_thread.get_time()
minutes = int(t//60)
#self.__time_label.setText("%02d:%04.1f"%(minutes,t - minutes*60))
self.status_label.setText(
"Simulation running... {:02d}:{:04.1f}".format(minutes,t - minutes*60))
self.process_events(True)
def process_events(self, process_all = False):
while not self.__in_queue.empty():
tpl = self.__in_queue.get()
if isinstance(tpl,tuple) and len(tpl) == 2:
name, args = tpl
if name in self.__class__.__dict__:
try:
self.__class__.__dict__[name](self,*args)
except TypeError:
print "Wrong UI event parameters {}{}".format(name,args)
raise
else:
print "Unknown UI event '{}'".format(name)
else:
print "Wrong UI event format '{}'".format(tpl)
self.__in_queue.task_done()
if not process_all:
return
def apply_parameters(self, robot_id, params):
self.__sim_queue.put(('apply_parameters', (robot_id, params)))
### Queue processing
def simulator_running(self):
self.revaction.setEnabled(True)
self.pauseaction.setEnabled(True)
self.__speed_slider.setEnabled(True)
def simulator_paused(self):
self.runaction.setEnabled(True)
#self.revaction.setEnabled(True)
t = self._simulator_thread.get_time()
minutes = int(t//60)
#self.__time_label.setText("%02d:%04.1f"%(minutes,t - minutes*60))
self.status_label.setText(
"Simulation paused... {:02d}:{:04.1f}".format(minutes,t - minutes*60))
self.__speed_slider.setEnabled(False)
def simulator_reset(self):
self.runaction.setEnabled(True)
self.status_label.setText("Simulation ready")
def simulator_stopped(self):
# FIXME this function isn't necessary
#self.__sim_timer.stop()
self.runaction.setEnabled(False)
self.pauseaction.setEnabled(False)
self.revaction.setEnabled(False)
self.__speed_slider.setEnabled(False)
def update_view(self):
self.__viewer.update_bitmap()