def __init__(self, parent):
super(QWidget, self).__init__(parent)
self.layout = QGridLayout(self)
# init tabs
self.tabs = QTabWidget()
self.tab1 = QWidget()
self.tab2 = QWidget()
self.tabs.resize(300,200)
# add tabs
self.tabs.addTab(self.tab1, "Feedbacks")
self.tabs.addTab(self.tab2, "Network Status")
# init buttons
self.pushButton = []
tform.set_zeros(self.pushButton, 10) # max 10 buttons now
# Create Motion tab
self.tab1.layout = QVBoxLayout(self)
self.tab1.setLayout(self.tab1.layout)
# Add tabs to widget
self.layout.addWidget(self.tabs)
self.setLayout(self.layout)
def __init__(self, parent):
super(QWidget, self).__init__(parent)
self.layout = QGridLayout(self)
# init tabs
self.tabs = QTabWidget()
self.tab1 = QWidget()
self.tab2 = QWidget()
self.tabs.resize(300,200)
# add tabs
self.tabs.addTab(self.tab1, "Motion")
self.tabs.addTab(self.tab2, "State")
# init buttons
self.pushButton = []
tform.set_zeros(self.pushButton, 10) # max 10 buttons now
# Create Motion tab
self.tab1.layout = QVBoxLayout(self)
# Buttons
self.pushButton[0] = QPushButton("Reset")
self.pushButton[1] = QPushButton("Look around")
self.pushButton[2] = QPushButton("Wave Hand")
for index in range(3,10):
self.pushButton[index] = QPushButton("Motion"+str(index))
for index in range(0,10):
self.tab1.layout.addWidget(self.pushButton[index])
self.tab1.setLayout(self.tab1.layout)
# Add tabs to widget
self.layout.addWidget(self.tabs)
self.setLayout(self.layout)
def joint_to_where(self):
tform.set_zeros(self._margin_to_target)
self._lastmotion = self._payload # current motion
for i in range(len(self._motionlist)):
if (i == 0):
pass
else:
# save lastmotion
self._margin_to_target = self._lastmotion # image the motion
self._margin_to_target = np.array(
self._motionlist[i]) - np.array(
self._lastmotion) # compare margin
lines_nb = int(self._timelist[i] /
_RES) #times of given res frequency
step_to_target = _KDC * self._margin_to_target / lines_nb # for each frequency, linear subposition
# add process
for lines in range(0, lines_nb):
self._payload_float = self._payload_float + step_to_target
self._payload = list(
np.array(self._payload_float, dtype='int32'))
self.make_msg_and_pub(3, 2, self._payload, self.pub)
#print(self._payload)
time.sleep(_RES)
#print(self._payload_float)
self._lastmotion = self._motionlist[i]
return None
def __init__(self):
# number of driveunits
# global variables
self._rel = []
self._bias = []
self._payload = []
self._default = []
# messages
self._default_rec = Evans()
self._pub_msg = Evans()
self._intention = Evans()
# publishers
self.pub = rospy.Publisher('/silva/joint_local/idle',
Evans,
queue_size=10)
# subscribers
self.sub_int = rospy.Subscriber('/silva/idle_local/intention', Evans,
self.intention_cb)
self.sub_default = rospy.Subscriber('/silva/joint_local/default',
Evans, self.default_cb)
tform.set_zeros(self._default)
tform.set_zeros(self._rel)
def load_default(self, _which = 'ibuki'):
# open the .map
rospack = rospkg.RosPack()
mappath = rospack.get_path('silva_beta')+'/src/defaults/'+_which+'.map'
f = open(mappath)
lines = f.readlines()
f.close()
# get serial, name and value
for index in range(4, len(lines)):
# delete \n
string_lines = lines[index][0:-1]
# delete tabs
params_list = string_lines.split('\t')
# print params_list
# get lists
self._params_serial.append(int(params_list[0]))
self._params_name.append(params_list[1])
self._params_value.append(int(params_list[2]))
# get param length
self._params_length = len(self._params_value)
# # get dicts
# self._dict_name_value[params_list[1]] = params_list[2]
# self._dict_serial_name[params_list[0]] = params_list[1]
# self._dict_serial_value[params_list[0]] = params_list[2]
# zip the lists
self._dict_name_value = dict(zip(self._params_name, self._params_value))
self._dict_serial_name = dict(zip(self._params_serial, self._params_name))
self._dict_serial_value = dict(zip(self._params_serial, self._params_value))
# initialize attributes
self._default = self._params_value
# set to zeros
tform.set_zeros(self._initlist, self._params_length)
self._initlist = np.array(self._initlist)
# set init values all to zeros
self.joint_idle = self._initlist
self.joint_reflex = self._initlist
self.joint_slave = self._initlist
self.joint_auto = self._initlist
self.joint_balance = self._initlist
# make default message
self._default_msg.name = 'default'
self._default_msg.seq = 0
self._default_msg.msgid = 0
self._default_msg.payload = self._params_value
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
# decoration
rospack = rospkg.RosPack()
self.picpath = rospack.get_path('silva_beta')+'/src/assets/logo.png'
# object init
self.sld = []
self.sldh = [] #high: highest limit
self.sldl = [] #low: lowest limit
self.sldn = [] #now: current value
self.labels = []
tform.set_zeros(self.sld)
tform.set_zeros(self.sldh)
tform.set_zeros(self.sldl)
tform.set_zeros(self.sldn)
tform.set_zeros(self.labels)
self.progress = [0,0,0,0,0]
self.index =0
# speech
self._contents = ''
# inner publishers
self.pub_s = rospy.Publisher('/silva/speech_global/jp', String, queue_size=10)
# GUI
self.title = 'silva'
self.left = 300
self.top = 50
self.width = 1366
self.height = 768
# param
self.state = [0.0, 0.0, 0.5, 0.0]
# yaml params
self.param_config = tform.read_param('gui_config')
self.table_widget = MyTableWidget(self)
self.table_widget.setGeometry(10,295,300,450)
#self.setCentralWidget(self.table_widget)
self.table_widget_b = ButtomWidget(self)
self.table_widget_b.setGeometry(300,460,850,265)
self.initUI()
def __init__(self, parent):
super(QWidget, self).__init__(parent)
self.layout = QGridLayout(self)
# init tabs
self.tabs = QTabWidget()
self.tab1 = QWidget()
self.tab2 = QWidget()
self.tabs.resize(300, 200)
# add tabs
self.tabs.addTab(self.tab1, "Motion")
self.tabs.addTab(self.tab2, "State")
# init buttons
self.pushButton = []
tform.set_zeros(self.pushButton, 10) # max 10 buttons now
# Create Motion tab
self.tab1.layout = QVBoxLayout(self)
# Buttons
self.pushButton[0] = QPushButton("Reset")
self.pushButton[1] = QPushButton("Look around")
self.pushButton[2] = QPushButton("Wave Hand")
self.pushButton[3] = QPushButton("Hapiness")
self.pushButton[4] = QPushButton("Sadness")
self.pushButton[5] = QPushButton("Surprise")
self.pushButton[6] = QPushButton("Fear")
self.pushButton[7] = QPushButton("Anger")
self.pushButton[8] = QPushButton("Disgust")
self.pushButton[9] = QPushButton("Contempt")
# StatusTip
self.pushButton[0].setStatusTip(
'Reset Operation Inputs of the User to 0.')
self.pushButton[1].setStatusTip('Ibuki looks around motion preset.')
self.pushButton[2].setStatusTip('Ibuki waves his left hand preset.')
self.pushButton[3].setStatusTip('Ibuki show hapiness.')
self.pushButton[4].setStatusTip('Ibuki show sadness.')
self.pushButton[5].setStatusTip('Ibuki show surprise.')
self.pushButton[6].setStatusTip('Ibuki show fear.')
self.pushButton[7].setStatusTip('Ibuki show anger.')
self.pushButton[8].setStatusTip('Ibuki show disgust.')
self.pushButton[9].setStatusTip('Ibuki show contempt.')
for index in range(0, 10):
self.tab1.layout.addWidget(self.pushButton[index])
self.tab1.setLayout(self.tab1.layout)
# Add tabs to widget
self.layout.addWidget(self.tabs)
self.setLayout(self.layout)
def __init__(self):
self._payload = []
# zero
tform.set_zeros(self._payload)
# message
self.msg = Evans()
# publisher
self.pub = rospy.Publisher('/silva/reflex_local/ch2',
Evans,
queue_size=10)
# subs
self.sub = rospy.Subscriber('/silva/reflex_local/feedback', Evans,
self.callback)
def __init__(self):
self._forward = 0.0
self._steering = 0.0
self._speed_right = 0.0
self._speed_left = 0.0
self._break = 1
self._payload = []
tform.set_zeros(self._payload, 5)
# message
self._pub_msg = Evans()
# publishers
self.pub = rospy.Publisher('/silva/slave_local/walking',
Evans,
queue_size=10)
self.sub = rospy.Subscriber('/joy', Joy, self.joy_cb)
def load_default(self, _which = 'ibuki'):
# open the .map
rospack = rospkg.RosPack()
mappath = rospack.get_path('silva_beta')+'/src/defaults/'+_which+'.map'
f = open(mappath)
lines = f.readlines()
f.close()
# get serial, name and value
for index in range(4, len(lines)):
# delete \n
string_lines = lines[index][0:-1]
# delete tabs
params_list = string_lines.split('\t')
# print params_list
# get lists
self._params_serial.append(int(params_list[0]))
self._params_name.append(params_list[1])
self._params_value.append(int(params_list[2]))
# get param length
self._params_length = len(self._params_value)
# # get dicts
# self._dict_name_value[params_list[1]] = params_list[2]
# self._dict_serial_name[params_list[0]] = params_list[1]
# self._dict_serial_value[params_list[0]] = params_list[2]
# zip the lists
self._dict_name_value = dict(zip(self._params_name, self._params_value))
self._dict_serial_name = dict(zip(self._params_serial, self._params_name))
self._dict_serial_value = dict(zip(self._params_serial, self._params_value))
# initialize attributes
tform.set_zeros(self._default)
tform.set_zeros(self._payload)
self._pub_msg.payload = self._default
def __init__(self):
_filename = sys.argv[1]
#_filename = 'lookaround'
# open the .csv
rospack = rospkg.RosPack()
csvpath = rospack.get_path(
'silva_beta') + '/src/csv/' + _filename + '.csv'
df = pd.read_csv(csvpath, delimiter=',')
# csv
self._df = df
self._timelist = []
self._motionlist = []
self._lastmotion = []
self._payload = []
self._payload_float = []
self._margin_to_target = []
self._time_interval = 0.0
#initilization
tform.set_zeros(self._payload)
tform.set_zeros(self._payload_float)
tform.set_zeros(self._lastmotion)
# messages
self._pub_msg = Evans()
# publishers
self.pub = rospy.Publisher('/silva/slave_local/hsm',
Evans,
queue_size=10)
def __init__(self, parent):
super(QWidget, self).__init__(parent)
self.layout = QGridLayout(self)
# init tabs
self.tabs = QTabWidget()
self.tab1 = QWidget()
self.tab2 = QWidget()
self.tabs.resize(300, 200)
# add tabs
self.tabs.addTab(self.tab1, "Feedbacks")
self.tabs.addTab(self.tab2, "Network Status")
# init buttons
self.pushButton = []
tform.set_zeros(self.pushButton, 10) # max 10 buttons now
# init labels
self.current_labels = []
self.current_values = []
self.cur_value = [] # current value feedback
tform.set_zeros(self.cur_value)
tform.set_zeros(self.current_labels)
tform.set_zeros(self.current_values)
# Create Motion tab
self.tab1.layout = QGridLayout(self)
self.initUI()
self.tab1.setLayout(self.tab1.layout)
# Add tabs to widget
self.layout.addWidget(self.tabs)
self.setLayout(self.layout)
# rospy subscriber
sub_cur = rospy.Subscriber('/silva/reflex_local/ch1', Evans,
self.cur_cb)
def __init__(self):
# global variables
self._rel = []
self._payload = []
self._default = []
self._content = 'ss'
self._data = {}
tform.set_zeros(self._default)
tform.set_zeros(self._rel, 5)
tform.set_zeros(self._rel)
tform.set_zeros(self._payload)
self.sock = ''
self.addr = ''
self.sockmot = ''
self.addrmot = ''
self.moveaxis = ''
self._data = [[] for row in range(_driveunits)]
# set zeros
print self._payload
self._tmp = np.array(self._payload)
# messages
self._default_rec = Evans()
self._pub_msg = Evans()
# publishers
self.pub = rospy.Publisher('/silva/slave_local/decision',
Evans,
queue_size=10)
# subscribers
self.sub_default = rospy.Subscriber('/silva/joint_local/default',
Evans, self.default_cb)
self.sub_speech = rospy.Subscriber('/silva/speech_global/jp', String,
self.speech_cb)
def __init__(self):
# global variables
self._rel = []
self._bias = [[], [], [], [], [], []]
self._payload = []
self._default = []
self._gain = 1.0
# messages
self._default_rec = Evans()
self._pub_msg = Evans()
self._intention = Evans()
# publishers
self.pub = rospy.Publisher('/silva/joint_local/slave',
Evans,
queue_size=10)
# subscribers
self.sub_int = rospy.Subscriber('/silva/slave_local/intention', Evans,
self.intention_cb)
self.sub_opt = rospy.Subscriber('/silva/slave_local/operation', Evans,
self.operation_cb)
self.sub_dec = rospy.Subscriber('/silva/slave_local/decision', Evans,
self.decision_cb)
self.sub_wlk = rospy.Subscriber('/silva/slave_local/walking', Evans,
self.walking_cb)
self.sub_hsm = rospy.Subscriber('/silva/slave_local/hsm', Evans,
self.hsm_cb)
self.sub_dem = rospy.Subscriber('/silva/slave_local/demo', Evans,
self.demo_cb)
self.sub_default = rospy.Subscriber('/silva/joint_local/default',
Evans, self.default_cb)
self.sub_gain = rospy.Subscriber('/joy', Joy, self.joy_cb)
tform.set_zeros(self._default)
tform.set_zeros(self._rel)
for i in range(len(self._bias)):
tform.set_zeros(self._bias[i])
def __init__(self):
# global variables
self._rel = []
self._bias = [[], [], []]
self._payload = []
self._default = []
self._neck = [0.0, 0.0, 0.0, 0.0, 0.0]
self._armr = [0.0, 0.0, 0.0, 0.0, 0.0]
self._arml = [0.0, 0.0, 0.0, 0.0, 0.0]
self._hip = [0.0, 0.0, 0.0, 0.0, 0.0]
# messages
self._default_rec = Evans()
self._pub_msg = Evans()
self._intention = Evans()
# publishers
self.pub = rospy.Publisher('/silva/joint_local/reflex',
Evans,
queue_size=10)
# subscribers
self.sub_int = rospy.Subscriber('/silva/reflex_local/feedback', Evans,
self.intention_cb)
self.sub_default = rospy.Subscriber('/silva/joint_local/default',
Evans, self.default_cb)
# 2 channels
self.sub_ch0 = rospy.Subscriber('/silva/reflex_local/ch0', Evans,
self.ch0_cb)
self.sub_ch1 = rospy.Subscriber('/silva/reflex_local/ch1', Evans,
self.ch1_cb)
self.sub_ch2 = rospy.Subscriber('/silva/reflex_local/ch2', Evans,
self.ch2_cb)
tform.set_zeros(self._default)
tform.set_zeros(self._rel)
for i in range(len(self._bias)):
tform.set_zeros(self._bias[i]) # set zeros of bias
def __init__(self, _df):
# csv
self._df =df
self._timelist = []
self._motionlist = []
self._lastmotion = []
self._payload = []
self._payload_float = []
self._margin_to_target = []
self._time_interval = 0.0
#initilization
tform.set_zeros(self._payload)
tform.set_zeros(self._payload_float)
tform.set_zeros(self._lastmotion)
# messages
self._pub_msg = Evans()
# publishers
self.pub = rospy.Publisher('/silva/slave_local/hsm', Evans, queue_size = 10)
def __init__(self):
# global variables
self._rel = [] # relative value
self._bias = [[], [], [], []] # bias value for subposition
self._payload = [] # final payload
self._default = [] # origin default
# messages
self._default_rec = Evans()
self._pub_msg = Evans()
self._intention = Evans()
# publishers
self.pub = rospy.Publisher('/silva/joint_local/auto',
Evans,
queue_size=10)
# subscribers
self.sub_ch0 = rospy.Subscriber(
'/silva/auto_local/ch0', Evans,
self.ch0_cb) # ch0 for blink message (headl)
self.sub_ch1 = rospy.Subscriber(
'/silva/auto_local/ch1', Evans,
self.ch1_cb) # ch1 for realsense (neck)
self.sub_ch2 = rospy.Subscriber(
'/silva/auto_local/ch2', Evans,
self.ch2_cb) # ch2 for respeaker (neck)
self.sub_ch3 = rospy.Subscriber('/silva/auto_local/ch3', Evans,
self.ch3_cb) # ch3 for rplidar (hip?)
self.sub_default = rospy.Subscriber('/silva/joint_local/default',
Evans, self.default_cb)
#init the default message
tform.set_zeros(self._default)
tform.set_zeros(self._rel) # set zeros of rel
for i in range(len(self._bias)):
tform.set_zeros(self._bias[i]) # set zeros of bias
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent)
# decoration
rospack = rospkg.RosPack()
self.picpath = rospack.get_path('silva_beta') + '/src/assets/logo.png'
# object init
self.sld = []
self.sldh = [] #high: highest limit
self.sldl = [] #low: lowest limit
self.sldn = [] #now: current operation value
self.sldr = [] #real: feedback value label from ibuki
self.labels = []
# init labels
self.fb_value = [] # feedback value buffer
tform.set_zeros(self.sld)
tform.set_zeros(self.sldh)
tform.set_zeros(self.sldl)
tform.set_zeros(self.sldn)
tform.set_zeros(self.sldr)
tform.set_zeros(self.labels)
tform.set_zeros(self.fb_value)
self.progress = [0, 0, 0, 0]
# expressions
self.expression = []
# obtain expressions
param_config = tform.read_param('momentary_motion', 'ibuki_extra')
self.expression = param_config['Expression']
self.index = 0
# speech
self._contents = ''
# inner publishers
self.pub_s = rospy.Publisher('/silva/speech_global/jp',
String,
queue_size=10)
# get minimum, maximum, and default
self.default, blank = tform.load_map('ibuki')
min_v, max_v = tform.load_map('limit')
self.min_rel = []
self.max_rel = []
# get rel minimum and maximum
for i in range(len(min_v)):
if (min_v[i] != -1 or max_v[i] != -1):
self.min_rel.append(self.default[i] - min_v[i])
self.max_rel.append(max_v[i] - self.default[i])
else:
self.min_rel.append(100)
self.max_rel.append(100)
# GUI
self.title = 'silva'
self.left = 300
self.top = 50
self.width = 1366
self.height = 768
# param
self.state = [0.0, 0.0, 1.0, 0.0]
# yaml params
self.param_config = tform.read_param('gui_config')
self.table_widget = MyTableWidget(self)
self.table_widget.setGeometry(10, 295, 300, 450)
#self.setCentralWidget(self.table_widget)
self.table_widget_b = ButtomWidget(self)
self.table_widget_b.setGeometry(300, 460, 850, 265)
self.initUI()
time.sleep(2) # load delay for stable
# subscribers
sub_states = rospy.Subscriber('/silva/states', Float32MultiArray,
self.states_cb)
sub_fbs = rospy.Subscriber('/silva/reflex_local/ch0', Evans,
self.fb_cb)
def __init__(self):
### Initialization Varialbes ###
self.window = []
self.canvas = [[],[],[],[]]
self.msg = []
self.state = [0.0, 0.0, 0.0, 0.0]
self.statetag = ['I', 'R', 'S', 'A']
# speech
self._contents = ''
tform.set_zeros(self.window)
tform.set_zeros(self.msg)
#inner publishers
pub_s = rospy.Publisher('/silva/speech_global/jp', String, queue_size=10)
# inner subscribers
sub_cov = rospy.Subscriber('/silva/states', Float32MultiArray, self.state_cb)
# get minimum, maximum, and default
default, blank = tform.load_map('ibuki')
min_v, max_v = tform.load_map('limit')
min_rel = []
max_rel = []
# get rel minimum and maximum
for i in range (len(min_v)):
if (min_v[i]!=-1 or max_v[i]!=-1):
min_rel.append(default[i] - min_v[i])
max_rel.append(max_v[i]- default[i])
else:
min_rel.append(100)
max_rel.append(100)
### function definition ###
def show_entry_fields():
self._contents = self.textbox.get()
print(self._contents)
self.textbox.delete(0,END)
pub_s.publish(self._contents)
### GUI initialization ###
self.master = Tk()
self.master.title("Ibuki System Configuration ver 2.0")
## First frame ##
# 50 slider bars
for idx in range(0, 5):
# label in row 0,3,6,9,12
self.label = Label(self.master, text = \
list(seq_of_jointname.keys())[list(seq_of_jointname.values()).index(idx)])
self.label.grid(row=idx*3, column = 0, columnspan = 5)
# slier in row 4,7,10,13,16, column in 0,1,2,3,4
for i in range(idx*5, idx*5+5):
self.window[i] = Scale(self.master, from_=-min_rel[i], to=max_rel[i], length = 100)
self.window[i].set(0)
self.window[i].grid(row=idx*3+1,column = i-5*idx, rowspan =2)
## Middle line##
## Second Frame ##
for idx in range(0, 5):
# label in row 0,3,6,9,12, column in 6
self.label = Label(self.master, text = \
list(seq_of_jointname.keys())[list(seq_of_jointname.values()).index(idx+5)])
self.label.grid(row=idx*3, column = 6, columnspan = 4)
# slier in row 4,7,10,13,16, column in 6,7,8,9,10
for i in range((idx+5)*5, (idx+5)*5+5):
self.window[i] = Scale(self.master, from_=-min_rel[i], to=max_rel[i], length = 100)
self.window[i].set(0)
self.window[i].grid(row=idx*3+1,column = i-5*idx-19, rowspan=2)
## Third frame ##
self.line = Canvas(self.master, width = 5, height = 100, bg = "pink")
self.line.grid(row = 5 ,column = 5, rowspan = 11)
# dialogue texboxes
# label in row0, column 11
self.label = Label(self.master, text = 'speech interface')
self.label.grid(row = 0, column = 11, columnspan = 4)
self.textbox = Entry(self.master)
self.textbox.insert(10,"対話内容")
self.textbox.grid(row = 1, column = 11, columnspan = 4)
self.button = Button(self.master, text = "send speech", command = show_entry_fields)
self.button.grid(row = 2, column = 11, rowspan = 2, columnspan =4)
# state canvas
# label in row3, column 11
self.label = Label(self.master, text = 'state')
self.label.grid(row = 3, column =11, columnspan = 4)
for idx in range(0, len(self.canvas)):
self.canvas[idx] = Canvas(self.master, width = 20, height = 60, bg = "white")
self.canvas[idx].grid(row = 4 ,column = idx+11)
for idx in range(0, len(self.statetag)):
self.label = Label(self.master, text = self.statetag[idx])
self.label.grid(row = 5, column = idx+11)
# update canvas
for idx in range(0, len(self.canvas)):
self.canvas[idx].create_rectangle(0,58,20,60, fill = 'red', tag= 'bar')
# label in row16, column 11
self.label = Label(self.master, text = 'state')
self.label.grid(row = 15, column =11, columnspan = 4)
