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):
super(CenteredCheckBox, self).__init__()
checkbox = QtWidgets.QCheckBox()
layout = QtWidgets.QHBoxLayout(self)
layout.addWidget(checkbox)
layout.setAlignment(QtCore.Qt.AlignCenter)
layout.setContentsMargins(0, 0, 0, 0)
self.setLayout(layout)
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 __init__(self,
topic_name,
attributes,
array_index,
publisher,
parent,
label_text=None):
super(ValueWidget, self).__init__(topic_name, publisher, parent=parent)
self._parent = parent
self._attributes = attributes
self._array_index = array_index
self._text = ez_model.make_text(topic_name, attributes, array_index)
self._horizontal_layout = QtWidgets.QHBoxLayout()
if label_text is None:
self._topic_label = QtWidgets.QLabel(self._text)
else:
self._topic_label = QtWidgets.QLabel(label_text)
self.close_button = QtWidgets.QPushButton()
self.close_button.setMaximumWidth(30)
self.close_button.setIcon(self.style().standardIcon(
QtWidgets.QStyle.SP_TitleBarCloseButton))
self.up_button = QtWidgets.QPushButton()
self.up_button.setIcon(self.style().standardIcon(
QtWidgets.QStyle.SP_ArrowUp))
self.up_button.setMaximumWidth(30)
self.down_button = QtWidgets.QPushButton()
self.down_button.setMaximumWidth(30)
self.down_button.setIcon(self.style().standardIcon(
QtWidgets.QStyle.SP_ArrowDown))
repeat_label = QtWidgets.QLabel('repeat')
self._repeat_box = QtWidgets.QCheckBox()
self._repeat_box.stateChanged.connect(self.repeat_changed)
self._repeat_box.setChecked(publisher.is_repeating())
self._publish_button = QtWidgets.QPushButton('Publish')
self._publish_button.clicked.connect(publisher.publish)
self._horizontal_layout.addWidget(self._topic_label)
self._horizontal_layout.addWidget(self.close_button)
self._horizontal_layout.addWidget(self.up_button)
self._horizontal_layout.addWidget(self.down_button)
if self._array_index is not None:
self.add_button = QtWidgets.QPushButton('+')
self.add_button.setMaximumWidth(30)
self._horizontal_layout.addWidget(self.add_button)
else:
self.add_button = None
self.close_button.clicked.connect(
lambda x: self._parent.close_slider(self))
self.up_button.clicked.connect(
lambda x: self._parent.move_up_widget(self))
self.down_button.clicked.connect(
lambda x: self._parent.move_down_widget(self))
self.setup_ui(self._text)
self._horizontal_layout.addWidget(self._publish_button)
self._horizontal_layout.addWidget(repeat_label)
self._horizontal_layout.addWidget(self._repeat_box)
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 __init__(self, guimgr, node, view):
super(AwTransformFrame, self).__init__(guimgr, node, view)
super(AwTransformFrame, self).setup_widget()
self.set_title(frame_title(self.view, "Transform"))
widget = QtWidgets.QWidget()
widget.setLayout(QtWidgets.QHBoxLayout())
for idx, txt in enumerate(["Tx", "Ty", "Tz", "Rx", "Ry", "Rz"]):
field = AwRealField(self.node.get_config(self.view.target[idx]))
field.target = self.view.target[idx]
field.value_updated.connect(self.apply)
widget.layout().addWidget(QtWidgets.QLabel(txt + ":"))
widget.layout().addWidget(field)
self.add_widget(widget)
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 __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 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 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
def create_frame_header_hlayout(self):
layout = QtWidgets.QHBoxLayout()
layout.setSpacing(0)
layout.setContentsMargins(5, 2, 2, 2)
return layout
def init_buttons(self):
added_node_labels = []
if self.tree != None:
for node in self.tree.nodes:
if node.label in added_node_labels:
continue
added_node_labels.append(node.label)
def get_publish_function(widget, button, other_buttons, node, message_type, message_data):
pub = rospy.Publisher(node.get_subscriber_name(), message_type, queue_size=1)
class IDContainer:
def __init__(self):
self.id = 0
id_container = IDContainer()
def active_callback(msg):
id_container.id = msg.id
if isinstance(message_type(), Status):
print(node.get_publisher_name())
sub = rospy.Subscriber(node.get_publisher_name(), Active, active_callback)
def add_publish_function():
def publish_function():
if message_data != 'NO MESSAGE':
msg = message_type()
if isinstance(msg, Bool):
msg.data = message_data
elif isinstance(msg, Status):
msg.status = message_data
msg.id = id_container.id
pub.publish(msg)
#print(node.label + ' publishing to ' + node.get_subscriber_name() + ' ' + str(message_data))
self.functions_mutex.acquire()
self.functions[node.label] = publish_function
self.functions_mutex.release()
if message_data == Status.SUCCESS or message_data == True:
widget.setStyleSheet("background-color: rgb(0, 255, 0);")
elif message_data == Status.RUNNING:
widget.setStyleSheet("background-color: rgb(0, 0, 255);")
elif message_data == Status.FAILURE or message_data == False:
widget.setStyleSheet("background-color: rgb(255, 0, 0);")
elif message_data == 'NO MESSAGE':
widget.setStyleSheet("background-color: rgb(255, 255, 255);")
button.setStyleSheet("background-color: rgb(0, 255, 0);")
for b in other_buttons:
b.setStyleSheet("background-color: rgb(255, 0, 0);")
return add_publish_function
if isinstance(node, bt.Action):
action_widget = qt.QWidget()
action_layout = qt.QHBoxLayout()
action_widget.setLayout(action_layout)
self.action_layout.addWidget(action_widget)
label = qt.QLabel()
label.setText(node.label)
action_layout.addWidget(label)
success_button = qt.QPushButton('SUCCESS')
success_button.setStyleSheet("background-color: rgb(255, 0, 0);")
action_layout.addWidget(success_button)
running_button = qt.QPushButton('RUNNING')
running_button.setStyleSheet("background-color: rgb(255, 0, 0);")
action_layout.addWidget(running_button)
failure_button = qt.QPushButton('FAILURE')
failure_button.setStyleSheet("background-color: rgb(255, 0, 0);")
action_layout.addWidget(failure_button)
no_message_button = qt.QPushButton('NO MESSAGE')
no_message_button.setStyleSheet("background-color: rgb(0, 255, 0);")
action_layout.addWidget(no_message_button)
success_button.clicked.connect(get_publish_function(action_widget, success_button, [running_button, failure_button, no_message_button], node, Status, Status.SUCCESS))
running_button.clicked.connect(get_publish_function(action_widget, running_button, [success_button, failure_button, no_message_button], node, Status, Status.RUNNING))
failure_button.clicked.connect(get_publish_function(action_widget, failure_button, [success_button, running_button, no_message_button], node, Status, Status.FAILURE))
no_message_button.clicked.connect(get_publish_function(action_widget, no_message_button, [success_button, running_button, failure_button], node, Status, 'NO MESSAGE'))
elif isinstance(node, bt.Condition):
condition_widget = qt.QWidget()
condition_layout = qt.QHBoxLayout()
condition_widget.setLayout(condition_layout)
self.condition_layout.addWidget(condition_widget)
label = qt.QLabel()
label.setText(node.label)
condition_layout.addWidget(label)
success_button = qt.QPushButton('SUCCESS')
success_button.setStyleSheet("background-color: rgb(255, 0, 0);")
condition_layout.addWidget(success_button)
failure_button = qt.QPushButton('FAILURE')
failure_button.setStyleSheet("background-color: rgb(255, 0, 0);")
condition_layout.addWidget(failure_button)
no_message_button = qt.QPushButton('NO MESSAGE')
no_message_button.setStyleSheet("background-color: rgb(0, 255, 0);")
condition_layout.addWidget(no_message_button)
success_button.clicked.connect(get_publish_function(condition_widget, success_button, [failure_button, no_message_button], node, Bool, True))
failure_button.clicked.connect(get_publish_function(condition_widget, failure_button, [success_button, no_message_button], node, Bool, False))
no_message_button.clicked.connect(get_publish_function(condition_widget, no_message_button, [success_button, failure_button], node, Bool, 'NO MESSAGE'))
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()
def __init__(self, input_id):
super(InputWidget, self).__init__()
self._id = input_id
self.setLayout(QtWidgets.QHBoxLayout())
self._id_label = QtWidgets.QLabel("Input " + str(self._id))
self.layout().addWidget(self._id_label)
# ---- Input port input ----
self._input_port_input = QtWidgets.QLineEdit()
self.port_validator = QtGui.QRegExpValidator(QtCore.QRegExp("[a-z]+[0-9]+"))
self._input_port_input.setValidator(self.port_validator)
self.layout().addWidget(self._input_port_input)
self._input_port_input.setText(str(rospy.get_param(self.get_param_base() + "input", "js" + str(self._id))))
self._input_port_input.textChanged.connect(self.change_input_port)
# ---- /Input selector ----
# ---- Type selector ----
self._type_selector = QtWidgets.QComboBox()
self.layout().addWidget(self._type_selector)
self._type_selector.insertItem(0, "xbox ewoud")
self._type_selector.insertItem(0, "xbox vision")
self._type_selector.insertItem(0, "playstation")
self._type_selector.insertItem(0, "gioteck")
currentJoyType = rospy.get_param(self.get_param_base() + "joyType", "gioteck");
self._type_selector.setCurrentIndex(self._type_selector.findText(currentJoyType))
self._type_selector.currentIndexChanged.connect(self.change_input_type)
# ---- /Type selector ----
self._robot_id_label = QtWidgets.QLabel("Robot id")
self.layout().addWidget(self._robot_id_label)
# --- Robot id input ----
self._robot_id_input = QtWidgets.QLineEdit()
self.int_validator = QtGui.QRegExpValidator(QtCore.QRegExp("[0-9]+"))
self._robot_id_input.setValidator(self.int_validator)
self.layout().addWidget(self._robot_id_input)
self._robot_id_input.setText(str(rospy.get_param(self.get_param_base() + "robot", int(self._id))))
self._robot_id_input.textChanged.connect(self.change_bot_id)
# --- /Robot id input ----
# --- Mode selector ----
self._mode_selector = QtWidgets.QComboBox()
self.layout().addWidget(self._mode_selector)
self._mode_selector.insertItem(0, "our keeper")
self._mode_selector.insertItem(0, "normal")
currentMode = rospy.get_param(self.get_param_base() + "mode", "normal");
self._mode_selector.setCurrentIndex(self._mode_selector.findText(currentMode))
self._mode_selector.currentIndexChanged.connect(self.change_input_mode)
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)
