def add_logdock(self):
self.showlog_action.setEnabled(False)
if self.logdock is None:
self.logdock = LogDock(self)
self.addDockWidget(QtCore.Qt.BottomDockWidgetArea, self.logdock)
self.logdock.closed.connect(self.showlog_action.setEnabled)
else:
self.logdock.show()
def add_logdock(self):
self.showlog_action.setEnabled(False)
if self.logdock is None:
self.logdock = LogDock(self)
self.addDockWidget(QtCore.Qt.BottomDockWidgetArea, self.logdock)
self.logdock.closed.connect(self.showlog_action.setEnabled)
else:
self.logdock.show()
class SimulationWidget(SimUI, QtWidgets.QMainWindow):
def __init__(self, parent=None):
QtWidgets.QMainWindow.__init__(self, parent)
self.setWindowTitle("QtSimiam")
self.setWindowIcon(QtGui.QIcon("./res/image/appicon.png"))
self.resize(700, 700)
self.create_actions()
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 = QtWidgets.QFileDialog(self, "Select World File",
"worlds",
"WorldFile (*.xml)")
self.world_dialog.setAcceptMode(QtWidgets.QFileDialog.AcceptOpen)
self.world_dialog.setFileMode(QtWidgets.QFileDialog.ExistingFile)
# create supervisor file dialog
if sys.version_info.major == 3:
formats = [
bytes(fmt).decode('utf-8')
for fmt in QtGui.QImageWriter.supportedImageFormats()
]
else:
formats = [
str(fmt) for fmt in QtGui.QImageWriter.supportedImageFormats()
]
fmtstring = "All supported image formats ({});;{}".format( \
" ".join('*.' + fmt for fmt in formats), \
";;".join( "{} files (*.{})".format(fmt.upper(), fmt) for fmt in formats ))
self.screenshot_dialog = QtWidgets.QFileDialog(self, "Export view",
".", fmtstring)
self.screenshot_dialog.setAcceptMode(QtWidgets.QFileDialog.AcceptSave)
self.screenshot_dialog.setFileMode(QtWidgets.QFileDialog.AnyFile)
scrollArea = QtWidgets.QScrollArea(self)
self.setCentralWidget(scrollArea)
self.viewer = SimulatorViewer()
self.viewer.resized.connect(self.refresh_view)
scrollArea.setWidget(self.viewer)
scrollArea.setWidgetResizable(True)
self.__screenshot_filename = ""
self.__clear_graph_on_start = False
self.plots = []
#self.setDockOptions(QtWidgets.QMainWindow.AllowNestedDocks)
self.setDockOptions(QtWidgets.QMainWindow.DockOptions())
self.coursera_dock = None
self.logdock = None
self.add_logdock()
self.dockmanager = DockManager(self)
self.dockmanager.apply_request.connect(self.apply_parameters)
self.sim_timer = QtCore.QTimer(self)
self.sim_timer.setInterval(10)
self.sim_timer.timeout.connect(self.update_time)
SimUI.__init__(self, self.viewer.renderer, Simulator)
self.sim_timer.start()
def create_actions(self):
self.open_world_action = \
QtWidgets.QAction(QtGui.QIcon.fromTheme("document-open",
QtGui.QIcon("./res/image/open.png")),
"Open XML &World",
self)
self.open_world_action.triggered.connect(self.on_open_world)
self.open_world_action.setShortcut(
QtGui.QKeySequence(QtGui.QKeySequence.Open))
self.open_world_action.setStatusTip("Open a new simulation")
self.screenshot_action = \
QtWidgets.QAction(QtGui.QIcon.fromTheme("camera-photo",
QtGui.QIcon("./res/image/screenshot.png")),
"Export &screenshot",
self)
self.screenshot_action.triggered.connect(self.on_screenshot)
self.screenshot_action.setStatusTip("Export current simulation view")
self.exit_action = \
QtWidgets.QAction(QtGui.QIcon.fromTheme("application-exit"),
"E&xit",
self)
self.exit_action.triggered.connect(self.close)
self.exit_action.setShortcut(
QtGui.QKeySequence(QtGui.QKeySequence.Quit))
self.exit_action.setToolTip("Quit the Program")
self.exit_action.setStatusTip("Exit QtSimiam")
self.rev_action = \
QtWidgets.QAction(QtGui.QIcon.fromTheme("media-seek-backward",
QtGui.QIcon("./res/image/arrow-left-double.png")),
"Rewind", self)
self.rev_action.triggered.connect(self.on_rewind)
self.rev_action.setStatusTip("Reset simulation")
self.run_action = PlayPauseAction(self, self.on_run, self.on_pause)
self.run_action.setEnabled(False)
self.step_action = \
QtWidgets.QAction(QtGui.QIcon.fromTheme("media-skip-forward",
QtGui.QIcon("./res/image/media-skip-forward-7.png")),
"Step", self)
self.step_action.triggered.connect(self.on_step)
self.step_action.setStatusTip("Do one simulation step")
self.step_action.setEnabled(False)
self.grid_action = \
QtWidgets.QAction(QtGui.QIcon("./res/image/grid.png"),
"Show/Hide grid", self)
self.grid_action.setStatusTip("Show/hide grid")
self.grid_action.triggered[bool].connect(self.show_grid)
self.grid_action.setCheckable(True)
self.grid_action.setChecked(False)
self.sens_action = \
QtWidgets.QAction(QtGui.QIcon("./res/image/robot-sensors.png"),
"Show/Hide sensors", self)
self.sens_action.setStatusTip("Show/hide robot sensors")
self.sens_action.triggered[bool].connect(self.show_sensors)
self.sens_action.setCheckable(True)
self.sens_action.setChecked(True)
self.trace_action = \
QtWidgets.QAction(QtGui.QIcon("./res/image/robot-tracks.png"),
"Show/Hide robot trajectores", self)
self.trace_action.setStatusTip("Show/hide robot trajectores")
self.trace_action.triggered[bool].connect(self.show_tracks)
self.trace_action.setCheckable(True)
self.trace_action.setChecked(True)
self.superv_action = \
QtWidgets.QAction(QtGui.QIcon("./res/image/robot-supervisors.png"),
"Show/Hide supervisor information", self)
self.superv_action.setStatusTip("Show/hide supervisor information")
self.superv_action.triggered[bool].connect(self.show_supervisors)
self.superv_action.setCheckable(True)
self.superv_action.setChecked(False)
zoom_group = QtWidgets.QActionGroup(self)
self.zoom_world_action = \
QtWidgets.QAction(QtGui.QIcon("./res/image/zoom-scene.png"),
"Show all", self)
self.zoom_world_action.triggered.connect(self.zoom_scene)
self.zoom_world_action.setStatusTip("Show the whole world in view")
self.zoom_world_action.setCheckable(True)
self.zoom_world_action.setChecked(True)
zoom_group.addAction(self.zoom_world_action)
self.zoom_robot_action = \
QtWidgets.QAction(QtGui.QIcon("./res/image/zoom-robot.png"),
"Follow robot", self)
self.zoom_robot_action.triggered.connect(self.zoom_robot)
self.zoom_robot_action.setStatusTip("Center the view on robot")
self.zoom_robot_action.setCheckable(True)
self.zoom_robot_action.setChecked(False)
zoom_group.addAction(self.zoom_robot_action)
self.rotate_action = \
QtWidgets.QAction(QtGui.QIcon("./res/image/zoom-robot-rot.png"),
"Follow robot orientation", self)
self.rotate_action.triggered.connect(self.rot_robot)
self.rotate_action.setStatusTip("Rotate the view with the robot")
self.rotate_action.setCheckable(True)
self.rotate_action.setChecked(False)
self.rotate_action.setEnabled(False)
self.showlog_action = QtWidgets.QAction("Show log", self)
self.showlog_action.triggered.connect(self.add_logdock)
self.about_action = \
QtWidgets.QAction(QtGui.QIcon.fromTheme("help-about",
self.windowIcon()),
"About",self)
self.about_action.setStatusTip("About QtSimiam")
self.about_action.triggered.connect(self.about)
def create_toolbars(self):
self.simulator_toolbar = QtWidgets.QToolBar("Control", self)
self.simulator_toolbar.setAllowedAreas(QtCore.Qt.TopToolBarArea
| QtCore.Qt.BottomToolBarArea)
self.simulator_toolbar.addAction(self.open_world_action)
self.simulator_toolbar.addAction(self.screenshot_action)
self.simulator_toolbar.addSeparator()
self.simulator_toolbar.addAction(self.rev_action)
self.simulator_toolbar.addAction(self.run_action)
self.simulator_toolbar.addAction(self.step_action)
self.speed_slider = QtWidgets.QSlider(QtCore.Qt.Horizontal, self)
self.speed_slider.setToolTip("Adjust speed")
self.speed_slider.setStatusTip("Adjust simulation speed")
self.speed_slider.setTickPosition(QtWidgets.QSlider.NoTicks)
self.speed_slider.setMaximumWidth(300)
self.speed_slider.setRange(-100, 100)
self.speed_slider.setValue(0)
self.speed_slider.setEnabled(False)
self.speed_slider.valueChanged[int].connect(self.scale_time)
self.simulator_toolbar.addWidget(self.speed_slider)
self.speed_label = QtWidgets.QLabel(" Speed: 1.0x ", self)
self.speed_label.setToolTip("Current speed multiplier")
self.simulator_toolbar.addWidget(self.speed_label)
self.addToolBar(self.simulator_toolbar)
self.view_toolbar = QtWidgets.QToolBar("View", self)
self.view_toolbar.setAllowedAreas(QtCore.Qt.TopToolBarArea
| QtCore.Qt.BottomToolBarArea)
self.view_toolbar.addAction(self.grid_action)
self.view_toolbar.addAction(self.sens_action)
self.view_toolbar.addAction(self.trace_action)
self.view_toolbar.addAction(self.superv_action)
self.view_toolbar.addSeparator()
self.view_toolbar.addAction(self.zoom_world_action)
self.view_toolbar.addAction(self.zoom_robot_action)
self.view_toolbar.addAction(self.rotate_action)
self.zoom_slider = QtWidgets.QSlider(QtCore.Qt.Horizontal, self)
self.zoom_slider.setTickPosition(QtWidgets.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)
self.view_toolbar.addWidget(self.zoom_slider)
self.zoom_label = QtWidgets.QLabel(" Zoom: 1.0x ", self)
self.zoom_label.setToolTip("Current zoom factor")
self.view_toolbar.addWidget(self.zoom_label)
self.zoom_factor = 0
self.addToolBar(self.view_toolbar)
def create_menu(self):
menu = QtWidgets.QMenuBar(self)
self.setMenuBar(menu)
file_menu = menu.addMenu("&File")
file_menu.addAction(self.open_world_action)
file_menu.addAction(self.screenshot_action)
file_menu.addSeparator()
file_menu.addAction(self.exit_action)
view_menu = menu.addMenu("&View")
view_menu.addAction(self.zoom_world_action)
view_menu.addAction(self.zoom_robot_action)
view_menu.addAction(self.rotate_action)
view_menu.addSeparator()
view_menu.addAction(self.grid_action)
view_menu.addAction(self.sens_action)
view_menu.addAction(self.trace_action)
view_menu.addAction(self.superv_action)
run_menu = menu.addMenu("&Simulation")
run_menu.addAction(self.run_action)
run_menu.addAction(self.step_action)
run_menu.addAction(self.rev_action)
self.run_menu = run_menu
help_menu = menu.addMenu("&Help")
help_menu.addAction(self.showlog_action)
help_menu.addSeparator()
help_menu.addAction(self.about_action)
def create_statusbar(self):
self.setStatusBar(QtWidgets.QStatusBar())
self.status_label = QtWidgets.QLabel("", self.statusBar())
self.status_label.setFrameShape(QtWidgets.QFrame.NoFrame)
self.statusBar().addWidget(self.status_label)
def closeEvent(self, event):
self.sim_timer.stop()
self.run_simulator_command('stop')
while self.simulator_thread.isAlive():
self.process_events(True)
self.simulator_thread.join(0.1)
while self.plots:
self.plots.pop().close()
super(SimulationWidget, self).closeEvent(event)
def load_world(self, filename):
self.run_action.setEnabled(False)
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.run_simulator_command('read_config', filename)
def setTestSuite(self, TestClass):
self.menuBar().addSeparator()
self.coursera_action = self.menuBar().addAction("&Submit assignment")
tb = QtWidgets.QToolButton(self)
tb.setDefaultAction(self.coursera_action)
self.coursera_action.setIcon(QtGui.QIcon("./res/image/coursera.png"))
self.simulator_toolbar.insertWidget(self.rev_action, tb)
self.simulator_toolbar.insertSeparator(self.rev_action)
self.coursera_action.triggered.connect(self.create_coursera_widget)
self.tester = TestClass(self)
self.create_coursera_widget()
def create_coursera_widget(self):
self.coursera_action.setEnabled(False)
if self.coursera_dock is None:
self.coursera_dock = CourseraDock(self, self.tester)
self.addDockWidget(QtCore.Qt.LeftDockWidgetArea,
self.coursera_dock)
self.coursera_dock.closed.connect(self.coursera_action.setEnabled)
else:
self.coursera_dock.show()
def add_logdock(self):
self.showlog_action.setEnabled(False)
if self.logdock is None:
self.logdock = LogDock(self)
self.addDockWidget(QtCore.Qt.BottomDockWidgetArea, self.logdock)
self.logdock.closed.connect(self.showlog_action.setEnabled)
else:
self.logdock.show()
# Slots
def about(self):
QtWidgets.QMessageBox.about(
self, "About QtSimiam", """<b>PySimiam (Qt)</b><br>
Robot simulator<br>
© Pysimiam Team
""")
@QtCore.pyqtSlot()
def on_rewind(self): # Start from the beginning
self.speed_slider.setEnabled(False)
#self.time_label.setText("00:00.0")
self.run_simulator_command('reset_simulation')
@QtCore.pyqtSlot()
def on_run(self): # Run/unpause
self.run_simulation()
@QtCore.pyqtSlot()
def on_pause(self): # Pause
self.speed_slider.setEnabled(False)
self.pause_simulation()
@QtCore.pyqtSlot()
def on_step(self): # Pause
#self.speed_slider.setEnabled(False)
self.step_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()
def on_screenshot(self):
if self.screenshot_dialog.exec_():
# Remember, direct access to the renderer is not thread-safe
if self.simulator_thread.is_running():
self.__screenshot_filename = self.screenshot_dialog.selectedFiles(
)[0]
else:
self.viewer.export_bitmap(
self.screenshot_dialog.selectedFiles()[0])
@QtCore.pyqtSlot()
def refresh_view(self):
self.run_simulator_command('refresh')
@QtCore.pyqtSlot(bool)
def show_grid(self, show):
self.run_simulator_command('show_grid', show)
@QtCore.pyqtSlot(bool)
def show_sensors(self, show):
self.run_simulator_command('show_sensors', show)
@QtCore.pyqtSlot(bool)
def show_tracks(self, show):
self.run_simulator_command('show_tracks', show)
@QtCore.pyqtSlot(bool)
def show_supervisors(self, show):
self.run_simulator_command('show_supervisors', show)
@QtCore.pyqtSlot()
def zoom_scene(self):
self.zoom_slider.setEnabled(False)
self.rotate_action.setEnabled(False)
self.run_simulator_command('focus_on_world')
@QtCore.pyqtSlot()
def zoom_robot(self):
self.zoom_slider.setEnabled(True)
self.rotate_action.setEnabled(True)
self.run_simulator_command('focus_on_robot',
self.rotate_action.isChecked())
self.run_simulator_command('adjust_zoom',
5.0**(self.zoom_slider.value() / 100.0))
@QtCore.pyqtSlot()
def rot_robot(self):
self.run_simulator_command('focus_on_robot',
self.rotate_action.isChecked())
@QtCore.pyqtSlot(int)
def scale_zoom(self, value):
zoom = 5.0**(value / 100.0)
self.run_simulator_command('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.run_simulator_command('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))
if not self.screenshot_dialog.isVisible(
): # During screenshot the simulator is paused
self.process_events(True)
def apply_parameters(self, robot_id, params):
self.run_simulator_command('apply_parameters', robot_id, params)
def start_testing(self):
self.open_world_action.setEnabled(False)
self.run_menu.setEnabled(False)
self.simulator_toolbar.setEnabled(False)
def stop_testing(self):
self.open_world_action.setEnabled(True)
self.run_menu.setEnabled(True)
self.simulator_toolbar.setEnabled(True)
def _new_plot(self, exprs, plot):
if exprs:
plot.show()
self.plots.append(plot)
for expr in exprs:
self.run_simulator_command('add_plotable', expr)
def add_graph(self, description):
self._new_plot(*create_predefined_plot_window(description))
### Simulator events
def simulator_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 simulator_running(self):
self.speed_slider.setEnabled(True)
self.step_action.setEnabled(False)
if self.__clear_graph_on_start:
self.__clear_graph_on_start = False
for plot in self.plots:
plot.clear_data()
def simulator_paused(self):
self.speed_slider.setEnabled(False)
self.step_action.setEnabled(True)
t = self.simulator_thread.get_time()
minutes = int(t // 60)
self.status_label.setText(
"Simulation paused... {:02d}:{:04.1f}".format(
minutes, t - minutes * 60))
def simulator_reset(self):
self.run_action.reset()
self.run_action.setEnabled(True)
self.status_label.setText("Simulation ready")
self.__clear_graph_on_start = True
def simulator_stopped(self):
# FIXME this function isn't necessary
self.speed_slider.setEnabled(False)
def simulator_update_view(self):
self.viewer.update_bitmap()
if len(self.__screenshot_filename):
self.viewer.export_bitmap(self.__screenshot_filename)
self.__screenshot_filename = ""
def simulator_exception(self, e_type, e_value, e_traceback):
QtWidgets.QMessageBox.critical(
self, "{}: {}".format(e_type.__name__, e_value),
"\n".join(format_exception(e_type, e_value, e_traceback)))
self.run_action.setEnabled(False)
def simulator_log(self, message, objclass, objcolor):
self.logdock.append(message, objclass, objcolor)
def simulator_plot_update(self, data):
for plot in self.plots:
plot.add_data(data)
class SimulationWidget(SimUI, QtGui.QMainWindow):
def __init__(self, parent=None):
QtGui.QMainWindow.__init__(self, parent)
self.setWindowTitle("QtSimiam")
self.setWindowIcon(QtGui.QIcon("./res/image/appicon.png"))
self.resize(700, 700)
self.create_actions()
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
if sys.version_info.major == 3:
formats = [bytes(fmt).decode("utf-8") for fmt in QtGui.QImageWriter.supportedImageFormats()]
else:
formats = [str(fmt) for fmt in QtGui.QImageWriter.supportedImageFormats()]
fmtstring = "All supported image formats ({});;{}".format(
" ".join("*." + fmt for fmt in formats),
";;".join("{} files (*.{})".format(fmt.upper(), fmt) for fmt in formats),
)
self.screenshot_dialog = QtGui.QFileDialog(self, "Export view", ".", fmtstring)
self.screenshot_dialog.setAcceptMode(QtGui.QFileDialog.AcceptSave)
self.screenshot_dialog.setFileMode(QtGui.QFileDialog.AnyFile)
scrollArea = QtGui.QScrollArea(self)
self.setCentralWidget(scrollArea)
self.viewer = SimulatorViewer()
self.viewer.resized.connect(self.refresh_view)
scrollArea.setWidget(self.viewer)
scrollArea.setWidgetResizable(True)
self.__screenshot_filename = ""
self.__clear_graph_on_start = False
self.plots = []
# self.setDockOptions(QtGui.QMainWindow.AllowNestedDocks)
self.setDockOptions(QtGui.QMainWindow.DockOptions())
self.coursera_dock = None
self.logdock = None
self.add_logdock()
self.dockmanager = DockManager(self)
self.dockmanager.apply_request.connect(self.apply_parameters)
self.sim_timer = QtCore.QTimer(self)
self.sim_timer.setInterval(10)
self.sim_timer.timeout.connect(self.update_time)
SimUI.__init__(self, self.viewer.renderer)
self.sim_timer.start()
def create_actions(self):
self.open_world_action = QtGui.QAction(
QtGui.QIcon.fromTheme("document-open", QtGui.QIcon("./res/image/open.png")), "Open XML &World", self
)
self.open_world_action.triggered.connect(self.on_open_world)
self.open_world_action.setShortcut(QtGui.QKeySequence(QtGui.QKeySequence.Open))
self.open_world_action.setStatusTip("Open a new simulation")
self.screenshot_action = QtGui.QAction(
QtGui.QIcon.fromTheme("camera-photo", QtGui.QIcon("./res/image/screenshot.png")), "Export &screenshot", self
)
self.screenshot_action.triggered.connect(self.on_screenshot)
self.screenshot_action.setStatusTip("Export current simulation view")
self.exit_action = QtGui.QAction(QtGui.QIcon.fromTheme("application-exit"), "E&xit", self)
self.exit_action.triggered.connect(self.close)
self.exit_action.setShortcut(QtGui.QKeySequence(QtGui.QKeySequence.Quit))
self.exit_action.setToolTip("Quit the Program")
self.exit_action.setStatusTip("Exit QtSimiam")
self.rev_action = QtGui.QAction(
QtGui.QIcon.fromTheme("media-seek-backward", QtGui.QIcon("./res/image/arrow-left-double.png")),
"Rewind",
self,
)
self.rev_action.triggered.connect(self.on_rewind)
self.rev_action.setStatusTip("Reset simulation")
self.run_action = PlayPauseAction(self, self.on_run, self.on_pause)
self.run_action.setEnabled(False)
self.step_action = QtGui.QAction(
QtGui.QIcon.fromTheme("media-skip-forward", QtGui.QIcon("./res/image/media-skip-forward-7.png")),
"Step",
self,
)
self.step_action.triggered.connect(self.on_step)
self.step_action.setStatusTip("Do one simulation step")
self.step_action.setEnabled(False)
self.grid_action = QtGui.QAction(QtGui.QIcon("./res/image/grid.png"), "Show/Hide grid", self)
self.grid_action.setStatusTip("Show/hide grid")
self.grid_action.triggered[bool].connect(self.show_grid)
self.grid_action.setCheckable(True)
self.grid_action.setChecked(False)
self.sens_action = QtGui.QAction(QtGui.QIcon("./res/image/robot-sensors.png"), "Show/Hide sensors", self)
self.sens_action.setStatusTip("Show/hide robot sensors")
self.sens_action.triggered[bool].connect(self.show_sensors)
self.sens_action.setCheckable(True)
self.sens_action.setChecked(True)
self.trace_action = QtGui.QAction(
QtGui.QIcon("./res/image/robot-tracks.png"), "Show/Hide robot trajectores", self
)
self.trace_action.setStatusTip("Show/hide robot trajectores")
self.trace_action.triggered[bool].connect(self.show_tracks)
self.trace_action.setCheckable(True)
self.trace_action.setChecked(True)
self.superv_action = QtGui.QAction(
QtGui.QIcon("./res/image/robot-supervisors.png"), "Show/Hide supervisor information", self
)
self.superv_action.setStatusTip("Show/hide supervisor information")
self.superv_action.triggered[bool].connect(self.show_supervisors)
self.superv_action.setCheckable(True)
self.superv_action.setChecked(False)
zoom_group = QtGui.QActionGroup(self)
self.zoom_world_action = QtGui.QAction(QtGui.QIcon("./res/image/zoom-scene.png"), "Show all", self)
self.zoom_world_action.triggered.connect(self.zoom_scene)
self.zoom_world_action.setStatusTip("Show the whole world in view")
self.zoom_world_action.setCheckable(True)
self.zoom_world_action.setChecked(True)
zoom_group.addAction(self.zoom_world_action)
self.zoom_robot_action = QtGui.QAction(QtGui.QIcon("./res/image/zoom-robot.png"), "Follow robot", self)
self.zoom_robot_action.triggered.connect(self.zoom_robot)
self.zoom_robot_action.setStatusTip("Center the view on robot")
self.zoom_robot_action.setCheckable(True)
self.zoom_robot_action.setChecked(False)
zoom_group.addAction(self.zoom_robot_action)
self.rotate_action = QtGui.QAction(
QtGui.QIcon("./res/image/zoom-robot-rot.png"), "Follow robot orientation", self
)
self.rotate_action.triggered.connect(self.rot_robot)
self.rotate_action.setStatusTip("Rotate the view with the robot")
self.rotate_action.setCheckable(True)
self.rotate_action.setChecked(False)
self.rotate_action.setEnabled(False)
self.showlog_action = QtGui.QAction("Show log", self)
self.showlog_action.triggered.connect(self.add_logdock)
self.about_action = QtGui.QAction(QtGui.QIcon.fromTheme("help-about", self.windowIcon()), "About", self)
self.about_action.setStatusTip("About QtSimiam")
self.about_action.triggered.connect(self.about)
def create_toolbars(self):
self.simulator_toolbar = QtGui.QToolBar("Control", self)
self.simulator_toolbar.setAllowedAreas(QtCore.Qt.TopToolBarArea | QtCore.Qt.BottomToolBarArea)
self.simulator_toolbar.addAction(self.open_world_action)
self.simulator_toolbar.addAction(self.screenshot_action)
self.simulator_toolbar.addSeparator()
self.simulator_toolbar.addAction(self.rev_action)
self.simulator_toolbar.addAction(self.run_action)
self.simulator_toolbar.addAction(self.step_action)
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, 100)
self.speed_slider.setValue(0)
self.speed_slider.setEnabled(False)
self.speed_slider.valueChanged[int].connect(self.scale_time)
self.simulator_toolbar.addWidget(self.speed_slider)
self.speed_label = QtGui.QLabel(" Speed: 1.0x ", self)
self.speed_label.setToolTip("Current speed multiplier")
self.simulator_toolbar.addWidget(self.speed_label)
self.addToolBar(self.simulator_toolbar)
self.view_toolbar = QtGui.QToolBar("View", self)
self.view_toolbar.setAllowedAreas(QtCore.Qt.TopToolBarArea | QtCore.Qt.BottomToolBarArea)
self.view_toolbar.addAction(self.grid_action)
self.view_toolbar.addAction(self.sens_action)
self.view_toolbar.addAction(self.trace_action)
self.view_toolbar.addAction(self.superv_action)
self.view_toolbar.addSeparator()
self.view_toolbar.addAction(self.zoom_world_action)
self.view_toolbar.addAction(self.zoom_robot_action)
self.view_toolbar.addAction(self.rotate_action)
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)
self.view_toolbar.addWidget(self.zoom_slider)
self.zoom_label = QtGui.QLabel(" Zoom: 1.0x ", self)
self.zoom_label.setToolTip("Current zoom factor")
self.view_toolbar.addWidget(self.zoom_label)
self.zoom_factor = 0
self.addToolBar(self.view_toolbar)
def create_menu(self):
menu = QtGui.QMenuBar(self)
self.setMenuBar(menu)
file_menu = menu.addMenu("&File")
file_menu.addAction(self.open_world_action)
file_menu.addAction(self.screenshot_action)
file_menu.addSeparator()
file_menu.addAction(self.exit_action)
view_menu = menu.addMenu("&View")
view_menu.addAction(self.zoom_world_action)
view_menu.addAction(self.zoom_robot_action)
view_menu.addAction(self.rotate_action)
view_menu.addSeparator()
view_menu.addAction(self.grid_action)
view_menu.addAction(self.sens_action)
view_menu.addAction(self.trace_action)
view_menu.addAction(self.superv_action)
run_menu = menu.addMenu("&Simulation")
run_menu.addAction(self.run_action)
run_menu.addAction(self.step_action)
run_menu.addAction(self.rev_action)
self.run_menu = run_menu
help_menu = menu.addMenu("&Help")
help_menu.addAction(self.showlog_action)
help_menu.addSeparator()
help_menu.addAction(self.about_action)
def create_statusbar(self):
self.setStatusBar(QtGui.QStatusBar())
self.status_label = QtGui.QLabel("", self.statusBar())
self.status_label.setFrameShape(QtGui.QFrame.NoFrame)
self.statusBar().addWidget(self.status_label)
def closeEvent(self, event):
self.sim_timer.stop()
self.run_simulator_command("stop")
while self.simulator_thread.isAlive():
self.process_events(True)
self.simulator_thread.join(0.1)
while self.plots:
self.plots.pop().close()
super(SimulationWidget, self).closeEvent(event)
def load_world(self, filename):
self.run_action.setEnabled(False)
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.run_simulator_command("read_config", filename)
def setTestSuite(self, TestClass):
self.menuBar().addSeparator()
self.coursera_action = self.menuBar().addAction("&Submit assignment")
tb = QtGui.QToolButton(self)
tb.setDefaultAction(self.coursera_action)
self.coursera_action.setIcon(QtGui.QIcon("./res/image/coursera.png"))
self.simulator_toolbar.insertWidget(self.rev_action, tb)
self.simulator_toolbar.insertSeparator(self.rev_action)
self.coursera_action.triggered.connect(self.create_coursera_widget)
self.tester = TestClass(self)
self.create_coursera_widget()
def create_coursera_widget(self):
self.coursera_action.setEnabled(False)
if self.coursera_dock is None:
self.coursera_dock = CourseraDock(self, self.tester)
self.addDockWidget(QtCore.Qt.LeftDockWidgetArea, self.coursera_dock)
self.coursera_dock.closed.connect(self.coursera_action.setEnabled)
else:
self.coursera_dock.show()
def add_logdock(self):
self.showlog_action.setEnabled(False)
if self.logdock is None:
self.logdock = LogDock(self)
self.addDockWidget(QtCore.Qt.BottomDockWidgetArea, self.logdock)
self.logdock.closed.connect(self.showlog_action.setEnabled)
else:
self.logdock.show()
# Slots
def about(self):
QtGui.QMessageBox.about(
self,
"About QtSimiam",
"""<b>PySimiam (Qt)</b><br>
Robot simulator<br>
© Pysimiam Team
""",
)
@QtCore.pyqtSlot()
def on_rewind(self): # Start from the beginning
self.speed_slider.setEnabled(False)
# self.time_label.setText("00:00.0")
self.run_simulator_command("reset_simulation")
@QtCore.pyqtSlot()
def on_run(self): # Run/unpause
self.run_simulation()
@QtCore.pyqtSlot()
def on_pause(self): # Pause
self.speed_slider.setEnabled(False)
self.pause_simulation()
@QtCore.pyqtSlot()
def on_step(self): # Pause
# self.speed_slider.setEnabled(False)
self.step_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()
def on_screenshot(self):
if self.screenshot_dialog.exec_():
# Remember, direct access to the renderer is not thread-safe
if self.simulator_thread.is_running():
self.__screenshot_filename = self.screenshot_dialog.selectedFiles()[0]
else:
self.viewer.export_bitmap(self.screenshot_dialog.selectedFiles()[0])
@QtCore.pyqtSlot()
def refresh_view(self):
self.run_simulator_command("refresh")
@QtCore.pyqtSlot(bool)
def show_grid(self, show):
self.run_simulator_command("show_grid", show)
@QtCore.pyqtSlot(bool)
def show_sensors(self, show):
self.run_simulator_command("show_sensors", show)
@QtCore.pyqtSlot(bool)
def show_tracks(self, show):
self.run_simulator_command("show_tracks", show)
@QtCore.pyqtSlot(bool)
def show_supervisors(self, show):
self.run_simulator_command("show_supervisors", show)
@QtCore.pyqtSlot()
def zoom_scene(self):
self.zoom_slider.setEnabled(False)
self.rotate_action.setEnabled(False)
self.run_simulator_command("focus_on_world")
@QtCore.pyqtSlot()
def zoom_robot(self):
self.zoom_slider.setEnabled(True)
self.rotate_action.setEnabled(True)
self.run_simulator_command("focus_on_robot", self.rotate_action.isChecked())
self.run_simulator_command("adjust_zoom", 5.0 ** (self.zoom_slider.value() / 100.0))
@QtCore.pyqtSlot()
def rot_robot(self):
self.run_simulator_command("focus_on_robot", self.rotate_action.isChecked())
@QtCore.pyqtSlot(int)
def scale_zoom(self, value):
zoom = 5.0 ** (value / 100.0)
self.run_simulator_command("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.run_simulator_command("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))
if not self.screenshot_dialog.isVisible(): # During screenshot the simulator is paused
self.process_events(True)
def apply_parameters(self, robot_id, params):
self.run_simulator_command("apply_parameters", robot_id, params)
def start_testing(self):
self.open_world_action.setEnabled(False)
self.run_menu.setEnabled(False)
self.simulator_toolbar.setEnabled(False)
def stop_testing(self):
self.open_world_action.setEnabled(True)
self.run_menu.setEnabled(True)
self.simulator_toolbar.setEnabled(True)
def _new_plot(self, exprs, plot):
if exprs:
plot.show()
self.plots.append(plot)
for expr in exprs:
self.run_simulator_command("add_plotable", expr)
def add_graph(self, description):
self._new_plot(*create_predefined_plot_window(description))
### Simulator events
def simulator_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 simulator_running(self):
self.speed_slider.setEnabled(True)
self.step_action.setEnabled(False)
if self.__clear_graph_on_start:
self.__clear_graph_on_start = False
for plot in self.plots:
plot.clear_data()
def simulator_paused(self):
self.speed_slider.setEnabled(False)
self.step_action.setEnabled(True)
t = self.simulator_thread.get_time()
minutes = int(t // 60)
self.status_label.setText("Simulation paused... {:02d}:{:04.1f}".format(minutes, t - minutes * 60))
def simulator_reset(self):
self.run_action.reset()
self.run_action.setEnabled(True)
self.status_label.setText("Simulation ready")
self.__clear_graph_on_start = True
def simulator_stopped(self):
# FIXME this function isn't necessary
self.speed_slider.setEnabled(False)
def simulator_update_view(self):
self.viewer.update_bitmap()
if len(self.__screenshot_filename):
self.viewer.export_bitmap(self.__screenshot_filename)
self.__screenshot_filename = ""
def simulator_exception(self, e_type, e_value, e_traceback):
QtGui.QMessageBox.critical(
self, "{}: {}".format(e_type.__name__, e_value), "\n".join(format_exception(e_type, e_value, e_traceback))
)
self.run_action.setEnabled(False)
def simulator_log(self, message, objclass, objcolor):
self.logdock.append(message, objclass, objcolor)
def simulator_plot_update(self, data):
for plot in self.plots:
plot.add_data(data)