def paintSection(self, painter, rect, logicalIndex):
'''
The method paint the robot or capability images in the backgroud of the cell.
@see: L{QtGui.QHeaderView.paintSection()}
'''
painter.save()
QtGui.QHeaderView.paintSection(self, painter, rect, logicalIndex)
painter.restore()
if logicalIndex in range(len(
self._data)) and self._data[logicalIndex]['images']:
if len(self._data[logicalIndex]['images']) == 1:
pix = self._data[logicalIndex]['images'][0]
pix = pix.scaled(rect.width(),
rect.height() - 20, QtCore.Qt.KeepAspectRatio,
QtCore.Qt.SmoothTransformation)
self.style().drawItemPixmap(painter, rect, 5, pix)
elif len(self._data[logicalIndex]['images']) > 1:
new_rect = QtCore.QRect(rect.left(), rect.top(), rect.width(),
(rect.height() - 20) / 2.)
pix = self._data[logicalIndex]['images'][0]
pix = pix.scaled(new_rect.width(), new_rect.height(),
QtCore.Qt.KeepAspectRatio,
QtCore.Qt.SmoothTransformation)
self.style().drawItemPixmap(painter, new_rect, 5, pix)
new_rect = QtCore.QRect(rect.left(),
rect.top() + new_rect.height(),
rect.width(), new_rect.height())
pix = self._data[logicalIndex]['images'][1]
pix = pix.scaled(new_rect.width(), new_rect.height(),
QtCore.Qt.KeepAspectRatio,
QtCore.Qt.SmoothTransformation)
self.style().drawItemPixmap(painter, new_rect, 5, pix)
def setupUi(self, MainWindow):
self.lock = Lock()
self.talker = Talker('taskview')
rospy.Subscriber('BbSync', bbsynch, self.taskview)
MainWindow.setObjectName("MainWindow")
MainWindow.resize(800, 600)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.listView = QtWidgets.QListWidget(self.centralwidget)
self.listView.setGeometry(QtCore.QRect(10, 40, 771, 521))
self.listView.setVerticalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOn)
self.listView.setHorizontalScrollBarPolicy(QtCore.Qt.ScrollBarAlwaysOn)
self.listView.setObjectName("listView")
self.label = QtWidgets.QLabel(self.centralwidget)
self.label.setGeometry(QtCore.QRect(10, 10, 67, 17))
self.label.setObjectName("label")
MainWindow.setCentralWidget(self.centralwidget)
self.statusbar = QtWidgets.QStatusBar(MainWindow)
self.statusbar.setObjectName("statusbar")
MainWindow.setStatusBar(self.statusbar)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
self.tasklist = []
self.markers = rviz_tools.RvizMarkers('/map', 'markers')
def _doLayout(self, rect, testOnly):
left, top, right, bottom = self.getContentsMargins()
effectiveRect = rect.adjusted(+left, +top, -right, -bottom)
x = effectiveRect.x()
y = effectiveRect.y()
lineHeight = 0
for item in self._items:
w = item.widget()
spaceX = self.horizontalSpacing()
if spaceX == -1:
spaceX = w.style().layoutSpacing(
QtGui.QSizePolicy.PushButton,
QtGui.QSizePolicy.PushButton,
QtCore.Qt.Horizontal)
spaceY = self.verticalSpacing()
if spaceY == -1:
spaceY = w.style().layoutSpacing(
QtGui.QSizePolicy.PushButton,
QtGui.QSizePolicy.PushButton,
QtCore.Qt.Vertical)
nextX = x + item.sizeHint().width() + spaceX
if (nextX - spaceX > effectiveRect.right() and
lineHeight > 0):
x = effectiveRect.x()
y = y + lineHeight + spaceY
nextX = x + item.sizeHint().width() + spaceX
lineHeight = 0
if not testOnly:
item.setGeometry(QtCore.QRect(
QtCore.QPoint(x, y), item.sizeHint()))
x = nextX
lineHeight = max(lineHeight, item.sizeHint().height())
return y + lineHeight - rect.y() + bottom
def heightForWidth(self, width):
return self._doLayout(
QtCore.QRect(0, 0, width, 0), True)
def setupUi(self, MainWindow):
###############################################################################################
self.lock = Lock()
self.talker = Talker('gui')
rospy.Subscriber('bbBackup',bbBackup,self.backupFunction)
rospy.Subscriber('clicked_point',PointStamped,self.clickedPintRviz)
###############################################################################################
MainWindow.setObjectName("MainWindow")
MainWindow.resize(560, 440)
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.gBnewTask = QtWidgets.QGroupBox(self.centralwidget)
self.gBnewTask.setGeometry(QtCore.QRect(10, 60, 541, 291))
self.gBnewTask.setObjectName("gBnewTask")
self.gBc = QtWidgets.QGroupBox(self.gBnewTask)
self.gBc.setEnabled(False)
self.gBc.setGeometry(QtCore.QRect(420, 80, 111, 151))
self.gBc.setObjectName("gBc")
self.label_29 = QtWidgets.QLabel(self.gBc)
self.label_29.setGeometry(QtCore.QRect(10, 30, 16, 21))
self.label_29.setObjectName("label_29")
self.label_30 = QtWidgets.QLabel(self.gBc)
self.label_30.setGeometry(QtCore.QRect(10, 90, 21, 21))
self.label_30.setObjectName("label_30")
self.label_31 = QtWidgets.QLabel(self.gBc)
self.label_31.setGeometry(QtCore.QRect(10, 60, 16, 21))
self.label_31.setObjectName("label_31")
self.cx = QtWidgets.QDoubleSpinBox(self.gBc)
self.cx.setGeometry(QtCore.QRect(30, 30, 69, 26))
self.cx.setObjectName("cx")
self.cx.setRange(-100.0,100.0)
self.cy = QtWidgets.QDoubleSpinBox(self.gBc)
self.cy.setGeometry(QtCore.QRect(30, 60, 69, 26))
self.cy.setObjectName("cy")
self.cy.setRange(-100.0,100.0)
self.cz = QtWidgets.QDoubleSpinBox(self.gBc)
self.cz.setGeometry(QtCore.QRect(30, 90, 69, 26))
self.cz.setObjectName("cz")
self.cz.setRange(-100.0,100.0)
self.cw = QtWidgets.QDoubleSpinBox(self.gBc)
self.cw.setGeometry(QtCore.QRect(30, 120, 69, 26))
self.cw.setObjectName("cw")
self.cw.setRange(-100.0,100.0)
self.label_39 = QtWidgets.QLabel(self.gBc)
self.label_39.setGeometry(QtCore.QRect(10, 120, 21, 21))
self.label_39.setObjectName("label_39")
self.gBb = QtWidgets.QGroupBox(self.gBnewTask)
self.gBb.setEnabled(False)
self.gBb.setGeometry(QtCore.QRect(300, 80, 111, 151))
self.gBb.setObjectName("gBb")
self.label_40 = QtWidgets.QLabel(self.gBb)
self.label_40.setGeometry(QtCore.QRect(10, 30, 16, 21))
self.label_40.setObjectName("label_40")
self.label_41 = QtWidgets.QLabel(self.gBb)
self.label_41.setGeometry(QtCore.QRect(10, 90, 21, 21))
self.label_41.setObjectName("label_41")
self.label_42 = QtWidgets.QLabel(self.gBb)
self.label_42.setGeometry(QtCore.QRect(10, 60, 16, 21))
self.label_42.setObjectName("label_42")
self.bx = QtWidgets.QDoubleSpinBox(self.gBb)
self.bx.setGeometry(QtCore.QRect(30, 30, 69, 26))
self.bx.setObjectName("bx")
self.bx.setRange(-100.0,100.0)
self.by = QtWidgets.QDoubleSpinBox(self.gBb)
self.by.setGeometry(QtCore.QRect(30, 60, 69, 26))
self.by.setObjectName("by")
self.by.setRange(-100.0,100.0)
self.bz = QtWidgets.QDoubleSpinBox(self.gBb)
self.bz.setGeometry(QtCore.QRect(30, 90, 69, 26))
self.bz.setObjectName("bz")
self.bz.setRange(-100.0,100.0)
self.bw = QtWidgets.QDoubleSpinBox(self.gBb)
self.bw.setGeometry(QtCore.QRect(30, 120, 69, 26))
self.bw.setObjectName("bw")
self.bw.setRange(-100.0,100.0)
self.label_43 = QtWidgets.QLabel(self.gBb)
self.label_43.setGeometry(QtCore.QRect(10, 120, 21, 21))
self.label_43.setObjectName("label_43")
self.gBtaskType = QtWidgets.QGroupBox(self.gBnewTask)
self.gBtaskType.setGeometry(QtCore.QRect(10, 80, 161, 151))
self.gBtaskType.setObjectName("gBtaskType")
self.radioButton = QtWidgets.QRadioButton(self.gBtaskType)
self.radioButton.setEnabled(True)
self.radioButton.setGeometry(QtCore.QRect(10, 30, 131, 23))
self.radioButton.setChecked(True)
self.radioButton.setObjectName("radioButton")
self.radioButton_2 = QtWidgets.QRadioButton(self.gBtaskType)
self.radioButton_2.setGeometry(QtCore.QRect(10, 60, 101, 23))
self.radioButton_2.setObjectName("radioButton_2")
self.radioButton_3 = QtWidgets.QRadioButton(self.gBtaskType)
self.radioButton_3.setGeometry(QtCore.QRect(10, 90, 131, 23))
self.radioButton_3.setObjectName("radioButton_3")
self.radioButton_4 = QtWidgets.QRadioButton(self.gBtaskType)
self.radioButton_4.setGeometry(QtCore.QRect(10, 120, 141, 23))
self.radioButton_4.setObjectName("radioButton_4")
self.gBa = QtWidgets.QGroupBox(self.gBnewTask)
self.gBa.setEnabled(True)
self.gBa.setGeometry(QtCore.QRect(180, 80, 111, 151))
self.gBa.setObjectName("gBa")
self.label_25 = QtWidgets.QLabel(self.gBa)
self.label_25.setGeometry(QtCore.QRect(10, 30, 16, 21))
self.label_25.setObjectName("label_25")
self.label_26 = QtWidgets.QLabel(self.gBa)
self.label_26.setGeometry(QtCore.QRect(10, 90, 21, 21))
self.label_26.setObjectName("label_26")
self.label_27 = QtWidgets.QLabel(self.gBa)
self.label_27.setGeometry(QtCore.QRect(10, 60, 16, 21))
self.label_27.setObjectName("label_27")
self.ax = QtWidgets.QDoubleSpinBox(self.gBa)
self.ax.setGeometry(QtCore.QRect(30, 30, 69, 26))
self.ax.setObjectName("ax")
self.ax.setRange(-100.0,100.0)
self.ay = QtWidgets.QDoubleSpinBox(self.gBa)
self.ay.setGeometry(QtCore.QRect(30, 60, 69, 26))
self.ay.setObjectName("ay")
self.ay.setRange(-100.0,100.0)
self.az = QtWidgets.QDoubleSpinBox(self.gBa)
self.az.setGeometry(QtCore.QRect(30, 90, 69, 26))
self.az.setObjectName("az")
self.az.setRange(-100.0,100.0)
self.aw = QtWidgets.QDoubleSpinBox(self.gBa)
self.aw.setGeometry(QtCore.QRect(30, 120, 69, 26))
self.aw.setObjectName("aw")
self.aw.setRange(-100.0,100.0)
self.label_28 = QtWidgets.QLabel(self.gBa)
self.label_28.setGeometry(QtCore.QRect(10, 120, 21, 21))
self.label_28.setObjectName("label_28")
self.btnAddTask = QtWidgets.QPushButton(self.gBnewTask)
self.btnAddTask.setEnabled(True)
self.btnAddTask.setGeometry(QtCore.QRect(10, 240, 521, 31))
self.btnAddTask.setObjectName("btnAddTask")
self.widget = QtWidgets.QWidget(self.gBnewTask)
self.widget.setGeometry(QtCore.QRect(10, 30, 521, 28))
self.widget.setObjectName("widget")
self.horizontalLayout = QtWidgets.QHBoxLayout(self.widget)
self.horizontalLayout.setContentsMargins(0, 0, 0, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
self.label_3 = QtWidgets.QLabel(self.widget)
self.label_3.setObjectName("label_3")
self.horizontalLayout.addWidget(self.label_3)
self.sBtaskid = QtWidgets.QSpinBox(self.widget)
self.sBtaskid.setObjectName("sBtaskid")
self.horizontalLayout.addWidget(self.sBtaskid)
self.label_4 = QtWidgets.QLabel(self.widget)
self.label_4.setObjectName("label_4")
self.horizontalLayout.addWidget(self.label_4)
self.sbtaskPriority = QtWidgets.QSpinBox(self.widget)
self.sbtaskPriority.setObjectName("sbtaskPriority")
self.horizontalLayout.addWidget(self.sbtaskPriority)
self.label_5 = QtWidgets.QLabel(self.widget)
self.label_5.setObjectName("label_5")
self.horizontalLayout.addWidget(self.label_5)
self.sbtaskPayload = QtWidgets.QSpinBox(self.widget)
self.sbtaskPayload.setObjectName("sbtaskPayload")
self.horizontalLayout.addWidget(self.sbtaskPayload)
self.gBrobotState = QtWidgets.QGroupBox(self.centralwidget)
self.gBrobotState.setGeometry(QtCore.QRect(10, 360, 541, 71))
self.gBrobotState.setObjectName("gBrobotState")
self.sBrobotId = QtWidgets.QSpinBox(self.gBrobotState)
self.sBrobotId.setGeometry(QtCore.QRect(80, 30, 48, 31))
self.sBrobotId.setObjectName("sBrobotId")
self.radioButton_5 = QtWidgets.QRadioButton(self.gBrobotState)
self.radioButton_5.setGeometry(QtCore.QRect(140, 32, 61, 31))
self.radioButton_5.setChecked(True)
self.radioButton_5.setObjectName("radioButton_5")
self.radioButton_6 = QtWidgets.QRadioButton(self.gBrobotState)
self.radioButton_6.setGeometry(QtCore.QRect(280, 32, 71, 31))
self.radioButton_6.setObjectName("radioButton_6")
self.radioButton_7 = QtWidgets.QRadioButton(self.gBrobotState)
self.radioButton_7.setGeometry(QtCore.QRect(210, 32, 51, 31))
self.radioButton_7.setObjectName("radioButton_7")
self.btnsetRobotState = QtWidgets.QPushButton(self.gBrobotState)
self.btnsetRobotState.setEnabled(True)
self.btnsetRobotState.setGeometry(QtCore.QRect(380, 30, 151, 31))
self.btnsetRobotState.setObjectName("btnsetRobotState")
self.label_32 = QtWidgets.QLabel(self.gBrobotState)
self.label_32.setGeometry(QtCore.QRect(10, 30, 81, 31))
self.label_32.setObjectName("label_32")
self.label = QtWidgets.QLabel(self.centralwidget)
self.label.setGeometry(QtCore.QRect(10, 20, 81, 17))
self.label.setObjectName("label")
self.label_2 = QtWidgets.QLabel(self.centralwidget)
self.label_2.setGeometry(QtCore.QRect(300, 20, 141, 17))
self.label_2.setObjectName("label_2")
self.lblblackBoard = QtWidgets.QLabel(self.centralwidget)
self.lblblackBoard.setGeometry(QtCore.QRect(100, 20, 141, 17))
font = QtGui.QFont()
font.setItalic(True)
self.lblblackBoard.setFont(font)
self.lblblackBoard.setObjectName("lblblackBoard")
self.lblbackupBlackboard = QtWidgets.QLabel(self.centralwidget)
self.lblbackupBlackboard.setGeometry(QtCore.QRect(450, 20, 91, 17))
font = QtGui.QFont()
font.setItalic(True)
self.lblbackupBlackboard.setFont(font)
self.lblbackupBlackboard.setObjectName("lblbackupBlackboard")
MainWindow.setCentralWidget(self.centralwidget)
self.retranslateUi(MainWindow)
QtCore.QMetaObject.connectSlotsByName(MainWindow)
self.currentpint = 1
