def __init__(self, parent, label_name,topic_name,topic_type,topic_field,buffer_size):
self.label_name= label_name
self.topic_type = topic_type
self.topic_name = topic_name
self.topic_field = topic_field
self.buffer_size = buffer_size
self.timer = QTimer()
self.timer.setInterval(100)
self.timer.timeout.connect(self.update_figure)
fig = Figure(figsize=(5, 4), dpi=100)
self.axes = fig.add_subplot(111)
# We want the axes cleared every time plot() is called
self.axes.hold(False)
self.compute_initial_figure()
self.buffer = collections.deque(maxlen=self.buffer_size)
FigureCanvas.__init__(self, fig)
self.setParent(parent)
FigureCanvas.setSizePolicy(self,
QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
FigureCanvas.updateGeometry(self)
self.subscriber = RosHelper.create_subscriber_from_type(self.topic_name,self.topic_type,self.on_message)
self.timer.start()
def __init__(self, parent, label_name, topic_name, topic_type, topic_field,
buffer_size):
self.label_name = label_name
self.topic_type = topic_type
self.topic_name = topic_name
self.topic_field = topic_field
self.buffer_size = buffer_size
self.timer = QTimer()
self.timer.setInterval(100)
self.timer.timeout.connect(self.update_figure)
fig = Figure(figsize=(5, 4), dpi=100)
self.axes = fig.add_subplot(111)
# We want the axes cleared every time plot() is called
self.axes.hold(False)
self.compute_initial_figure()
self.buffer = collections.deque(maxlen=self.buffer_size)
FigureCanvas.__init__(self, fig)
self.setParent(parent)
FigureCanvas.setSizePolicy(self, QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
FigureCanvas.updateGeometry(self)
self.subscriber = RosHelper.create_subscriber_from_type(
self.topic_name, self.topic_type, self.on_message)
self.timer.start()
def __init__(self,parent,label_name,topic_name,topic_type,topic_field):
super(RosLabel,self).__init__(label_name,parent)
self.label_name = label_name
self.topic_name = topic_name
self.topic_type = topic_type
self.topic_field = topic_field
self.subscriber = RosHelper.create_subscriber_from_type(self.topic_name,self.topic_type,self.onmsg)
self.setText("N/A")
def __init__(self,parent,label_name,topic_name,topic_type,topic_field):
super(RosLabel,self).__init__(label_name,parent)
self.label_name = label_name
self.topic_name = topic_name
self.topic_type = topic_type
self.topic_field = topic_field
self.subscriber = RosHelper.create_subscriber_from_type(self.topic_name,self.topic_type,self.onmsg)
self.setText("N/A")
def __init__(self,parent,name,topic_name,topic_type,topic_fields):
super(RosMsgView,self).__init__(name,parent)
self.topic_name = topic_name
self.topic_type = topic_type
self.topic_fields = topic_fields
self.ref_dict = {}
self.layout = QGridLayout()
self.__populate_self()
self.subscriber = RosHelper.create_subscriber_from_type(self.topic_name,self.topic_type,self.onmsg)
def __init__(self,parent,name,topic_name,topic_type,topic_fields):
super(RosMsgView,self).__init__(name,parent)
self.topic_name = topic_name
self.topic_type = topic_type
self.topic_fields = topic_fields
self.ref_dict = {}
self.layout = QGridLayout()
self.__populate_self()
self.subscriber = RosHelper.create_subscriber_from_type(self.topic_name,self.topic_type,self.onmsg)
def onval(self, val):
val = float(val) * self.factor_a + self.factor_b
#print "value:", val, " a: ", self.factor_a, " b: ",self.factor_b
msg = RosHelper.create_msg_from_type(self.topic_type)
# iterate through msg attributes according to topic field and write value
r = msg
fields = self.topic_field.split(".")[1:]
for subfields in fields[:len(fields) - 1]:
r = getattr(r, subfields)
setattr(r, fields[len(fields) - 1], val)
self.publisher.publish(msg)
def __init__(self,parent,btn_name,topic_name,topic_type,topic_field,toggle_dict):
super(RosToggleButton,self).__init__(btn_name,parent)
self.btn_name = btn_name
self.topic_name = topic_name
self.topic_type = topic_type
self.topic_field = topic_field
self.toggle_dict = toggle_dict
self.setText("N/A")
self.publisher = RosHelper.create_publisher_from_type(self.topic_name,self.topic_type)
self.clicked.connect(self.onclick)
self.cur_idx = 0
self.max_idx = len(toggle_dict.keys())-1
def onval(self,val):
val = float(val) * self.factor_a + self.factor_b
#print "value:", val, " a: ", self.factor_a, " b: ",self.factor_b
msg = RosHelper.create_msg_from_type(self.topic_type)
# iterate through msg attributes according to topic field and write value
r = msg
fields =self.topic_field.split(".")[1:]
for subfields in fields[:len(fields)-1]:
r = getattr(r,subfields)
setattr(r, fields[len(fields)-1], val)
self.publisher.publish(msg)
def __populate_self(self):
i = 1
if len(self.topic_fields) == 0:
fields = RosHelper.get_all_msg_fields(self.topic_type)
else:
fields = self.topic_fields
for field in fields:
self.ref_dict[field] = QLabel("None",self)
self.layout.addWidget(QLabel(field,self),i,1)
self.layout.addWidget(self.ref_dict[field],i,2)
i+=1
self.setLayout(self.layout)
def __populate_self(self):
i = 1
if len(self.topic_fields) == 0:
fields = RosHelper.get_all_msg_fields(self.topic_type)
else:
fields = self.topic_fields
for field in fields:
self.ref_dict[field] = QLabel("None", self)
self.layout.addWidget(QLabel(field, self), i, 1)
self.layout.addWidget(self.ref_dict[field], i, 2)
i += 1
self.setLayout(self.layout)
def __init__(self, parent, btn_name, topic_name, topic_type, topic_field,
toggle_dict):
super(RosToggleButton, self).__init__(btn_name, parent)
self.btn_name = btn_name
self.topic_name = topic_name
self.topic_type = topic_type
self.topic_field = topic_field
self.toggle_dict = toggle_dict
self.setText("N/A")
self.publisher = RosHelper.create_publisher_from_type(
self.topic_name, self.topic_type)
self.clicked.connect(self.onclick)
self.cur_idx = 0
self.max_idx = len(toggle_dict.keys()) - 1
def onclick(self, msg):
key = self.toggle_dict.keys()[self.cur_idx]
val = self.toggle_dict[key]
self.setText(str(key))
msg = RosHelper.create_msg_from_type(self.topic_type)
# iterate through msg attributes according to topic field and write value
r = msg
fields = self.topic_field.split(".")[1:]
for subfields in fields[:len(fields) - 1]:
r = getattr(r, subfields)
setattr(r, fields[len(fields) - 1], val)
self.publisher.publish(msg)
if self.cur_idx < self.max_idx:
self.cur_idx += 1
else:
self.cur_idx = 0
def onclick(self,msg):
key = self.toggle_dict.keys()[self.cur_idx]
val = self.toggle_dict[key]
self.setText(str(key))
msg = RosHelper.create_msg_from_type(self.topic_type)
# iterate through msg attributes according to topic field and write value
r = msg
fields =self.topic_field.split(".")[1:]
for subfields in fields[:len(fields)-1]:
r = getattr(r,subfields)
setattr(r, fields[len(fields)-1], val)
self.publisher.publish(msg)
if self.cur_idx < self.max_idx:
self.cur_idx += 1
else:
self.cur_idx = 0
def __init__(self,parent,label_name,topic_name,topic_type,topic_field,min_max_tuple,default):
super(RosSlider,self).__init__(QtCore.Qt.Horizontal,parent)
self.label_name = label_name
self.topic_name = topic_name
self.topic_type = topic_type
self.topic_field = topic_field
self.setMinimum(0)
self.setMaximum(100)
self.min = min_max_tuple[0]
self.max = min_max_tuple[1]
self.factor_a = (self.max - self.min) / 100.0
self.factor_b = self.max - self.factor_a*100.0
self.default = int(( default - self.factor_b ) / self.factor_a)
if self.default is not None:
print "setting default to:", self.default, "%"
self.setValue(self.default )
self.publisher = RosHelper.create_publisher_from_type(self.topic_name,self.topic_type)
self.valueChanged.connect(self.onval)
self.onval(self.default)
