def goal_done_callback(self, terminal_state, result):
if result.result == 0:
self.emit(SIGNAL('goalDone(PyQt_PyObject)'),
"MC finished succesfully")
else:
self.emit(SIGNAL('goalDone(PyQt_PyObject)'),
"MC finished without success!!!")
def __init__(self, *args, **kwargs):
self.id = self.uid
self.uid += 1
kwargs['gui'] = True
self.cancelled = False
super().__init__(*args, **kwargs)
# Initialize the GUI display
if self.disable or not kwargs['gui']:
return
self.mininterval = max(self.mininterval, 0.5)
# assert maxval >= 0
# self.maxval = maxval
self.signal_set = False
global signaler
signaler.connect(signaler, SIGNAL('cancel(int)'),
self.cancel)
self.currval = 0
self.finished = False
self.start_time = None
self.seconds_elapsed = 0
signaler.emit(SIGNAL('created(int, int, QString)'), self.id,
self.total, "")
def on_MC_goal_done(self, msg):
#Show some info in the general info area
self.general_info_area_widget.log_area_TextEdit.appendHtml(
"<font color=\"red\">" + msg + "</font>")
#We'll emit a signal to show all the buttons to start sequence
self.emit(SIGNAL('showStartSequenceButtons(PyQt_PyObject)'), True)
self.first_time = True
def __init__(self, sequence, config):
super(ObjectSelectionControl, self).__init__(sequence, config)
self_dir = os.path.dirname(os.path.realpath(__file__))
self.ui_dir = os.path.join(self_dir, '../../ui')
# info bar UI setup
self.info_bar_widget.step_name_label.setText(self.config_dict['label'])
# info area UI setup
self.info_area_widget = QWidget()
ui_file = os.path.join(self.ui_dir, 'ObjectSelectionInfoArea.ui')
loadUi(ui_file, self.info_area_widget)
self.init_step_info_area()
self.connect(self, SIGNAL('objectSelection(PyQt_PyObject)'),
self.on_object_selection_request)
self.feedback_subscription()
#Setup a server to let the object_selection actionlib server ask for the object to select from a list
srvname = 'decision_services/object_selection'
self.object_selection_server = rospy.Service(
srvname, ObjectSelectionFromList, self.object_selection_callback)
def update(self, n=1):
"""
Updates the progress bar to a new value. Called by the hyperspy side.
Not safe to call from UI.
"""
if self.disable:
return
if self.cancelled is True:
raise ProcessCanceled("User cancelled operation")
if n < 0:
n = 1
self.n += n
delta_it = self.n - self.last_print_n # should be n?
if delta_it >= self.miniters:
# We check the counter first, to reduce the overhead of time()
cur_t = time()
delta_t = cur_t - self.last_print_t
if delta_t >= self.mininterval:
elapsed = cur_t - self.start_t
# EMA (not just overall average)
if self.smoothing and delta_t:
self.avg_time = delta_t / delta_it \
if self.avg_time is None \
else self.smoothing * delta_t / delta_it + \
(1 - self.smoothing) * self.avg_time
txt = self.format_string(
self.n, self.total, elapsed,
1 / self.avg_time if self.avg_time else None)
global signaler
signaler.emit(SIGNAL('progress(int, int, QString)'),
self.id, self.n, txt)
# If no `miniters` was specified, adjust automatically to the
# maximum iteration rate seen so far.
# e.g.: After running `tqdm.update(5)`, subsequent
# calls to `tqdm.update()` will only cause an update after
# at least 5 more iterations.
if self.dynamic_miniters:
if self.maxinterval and delta_t > self.maxinterval:
self.miniters = self.miniters * self.maxinterval \
/ delta_t
elif self.mininterval and delta_t:
self.miniters = self.smoothing * delta_it \
* self.mininterval / delta_t + \
(1 - self.smoothing) * self.miniters
else:
self.miniters = self.smoothing * delta_it + \
(1 - self.smoothing) * self.miniters
# Store old values for next call
self.last_print_n = self.n
self.last_print_t = cur_t
def object_selection_callback(self, req):
self.selected_object_index = None
self.emit(SIGNAL('objectSelection(PyQt_PyObject)'), req.objects)
while not rospy.is_shutdown():
if self.selected_object_index != None:
break
rospy.sleep(0.1)
return ObjectSelectionFromListResponse(self.selected_object_index)
def position_selection_callback(self, req):
self.selected_pose = None
self.emit(SIGNAL('positionSelection(PyQt_PyObject)'), req.initial_pose_of_the_object)
while not rospy.is_shutdown():
if self.selected_pose != None:
break
rospy.sleep(0.1)
return PlacePositionSelectionResponse(self.selected_pose)
def init_step_info_area(self):
self.connect(self.info_area_widget.treeWidget,
SIGNAL('itemDoubleClicked (QTreeWidgetItem *, int)'),
self.double_click)
self.info_area_widget.treeWidget.setHeaderLabels(
["Index", "Object Name", "Maker", "tags"])
self.info_area_widget.treeWidget.resizeColumnToContents(0)
self.info_area_widget.treeWidget.resizeColumnToContents(1)
self.info_area_widget.treeWidget.resizeColumnToContents(2)
self.info_area_widget.treeWidget.resizeColumnToContents(3)
def next_step_selection_callback(self, req):
self.next_step_selected = None
self.emit(SIGNAL('nextStepSelection()'))
while not rospy.is_shutdown():
if self.next_step_selected:
break
rospy.sleep(0.1)
return NextStepSelectionResponse(self.next_step_selected)
def __init__(self, sequence, config):
QObject.__init__(self)
#Will contain the results of the execution of this step
self.results = None
#Will contain the commands given by the user. This will be considered by subsequent steps
self.commands = None
#Dictionary of all the steps. This allows this object to have access to the info (results, user commands) from the other steps
self.sequence_dict = sequence
#Dictionary containing the configuration (name, tag, etc) for this step. This info comes from the yaml file
self.config_dict = config
#Information bar for this step shown in the sequence list. This will be loaded by a subclass
self.info_bar_widget = None
#Information area for this step shown when this step is active or selected. This will be loaded by a subclass
self.info_area_widget = None
#Listener for the feedback topic of this step's actionlib
self.feedback_listener = None
self_dir = os.path.dirname(os.path.realpath(__file__))
self.bar_ui_dir = os.path.join(self_dir, '../../ui')
self.ui_dir = None
# info bar UI setup
self.info_bar_widget = QFrame()
ui_file = os.path.join(self.bar_ui_dir, 'StepBar.ui')
loadUi(ui_file, self.info_bar_widget)
#Connect info bar events
self.info_bar_widget.show_checkBox.stateChanged.connect(
self.on_show_checkbox_state_changed)
self.connect(self, SIGNAL('changeProgressBarValue(int)'),
self.on_change_progress_bar_value)
#Run and start buttons in the bar will be initially disabled as the first time we run the sequence
#it only makes sense to start from the beginning
self.info_bar_widget.btn_start.setEnabled(False)
self.info_bar_widget.btn_run.setEnabled(False)
self.info_bar_widget.btn_start.pressed.connect(
self.on_btn_start_pressed)
self.info_bar_widget.btn_run.pressed.connect(self.on_btn_run_pressed)
def draw(self):
self.frame = QFrame(self)
self.tree = QTreeWidget()
self.connect(self.tree,
SIGNAL('itemDoubleClicked (QTreeWidgetItem *, int)'),
self.double_click)
self.tree.setHeaderLabels(["Object Name", "Maker", "tags"])
self.tree.resizeColumnToContents(0)
self.tree.resizeColumnToContents(1)
self.tree.resizeColumnToContents(2)
self.layout = QVBoxLayout()
self.layout.addWidget(self.title)
self.layout.addWidget(self.tree)
self.frame.setLayout(self.layout)
layout = QVBoxLayout()
layout.addWidget(self.frame)
self.frame.show()
self.setLayout(layout)
self.show()
def action_server_feedback_callback(self, feedback_msg):
self.emit(SIGNAL('currentStepReceived(PyQt_PyObject)'),
feedback_msg.current_step)
def set_progress_bar_value(self, progress):
self.emit(SIGNAL('changeProgressBarValue(int)'), progress)
def __init__(self, context):
super(HipViewerPlugin, self).__init__(context)
self.setObjectName('HipViewer')
self._current_dotcode = None
self._widget = QWidget()
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'hip_viewer.ui')
loadUi(ui_file, self._widget,
{'InteractiveGraphicsView': InteractiveGraphicsView})
self._widget.setObjectName('HipViewerUi')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
self._scene = QGraphicsScene()
self._widget.graphics_view.setScene(self._scene)
self._widget.graph_type_combo_box.insertItem(0, self.tr('infinite'),
-1)
self._widget.graph_type_combo_box.insertItem(1, self.tr('1'), 2)
self._widget.graph_type_combo_box.insertItem(2, self.tr('2'), 3)
self._widget.graph_type_combo_box.insertItem(3, self.tr('3'), 4)
self._widget.graph_type_combo_box.insertItem(4, self.tr('4'), 5)
self._widget.graph_type_combo_box.setCurrentIndex(0)
self._widget.refresh_graph_push_button.setIcon(
QIcon.fromTheme('view-refresh'))
self._widget.highlight_connections_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.auto_fit_graph_check_box.toggled.connect(
self._redraw_graph_view)
self._widget.fit_in_view_push_button.setIcon(
QIcon.fromTheme('zoom-original'))
self._widget.fit_in_view_push_button.pressed.connect(self._fit_in_view)
self._widget.load_dot_push_button.setIcon(
QIcon.fromTheme('document-open'))
self._widget.load_dot_push_button.pressed.connect(self._load_dot)
self._widget.save_dot_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_dot_push_button.pressed.connect(self._save_dot)
self._widget.save_as_svg_push_button.setIcon(
QIcon.fromTheme('document-save-as'))
self._widget.save_as_svg_push_button.pressed.connect(self._save_svg)
self._widget.save_as_image_push_button.setIcon(
QIcon.fromTheme('image'))
self._widget.save_as_image_push_button.pressed.connect(
self._save_image)
self._deferred_fit_in_view.connect(self._fit_in_view,
Qt.QueuedConnection)
self._deferred_fit_in_view.emit()
context.add_widget(self._widget)
self.connect(self, SIGNAL('update_planning_graph'),
self.update_planning_graph_synchronous)
# start the planner in a separate thread
planning_node = HipViewerNode(ex_callback=self.update_planning_graph)
planning_node.start()
def update_planning_graph(self, op, htree):
self.emit(SIGNAL('update_planning_graph'), op, htree)
def on_btn_run_pressed(self):
self.emit(SIGNAL('runStepPressed(PyQt_PyObject)'),
self.config_dict['name'])
def __init__(self, context):
super(SrGuiEventSequence, self).__init__(context)
self.setObjectName('SrGuiEventSequence')
self_dir = os.path.dirname(os.path.realpath(__file__))
self.config_dir = os.path.join(self_dir, '../../config')
self.ui_dir = os.path.join(self_dir, '../../ui')
# UI setup
self._widget = QWidget()
ui_file = os.path.join(self.ui_dir, 'SrGuiEventSequence.ui')
loadUi(ui_file, self._widget)
self._widget.setObjectName('SrGuiEventSequenceUi')
context.add_widget(self._widget)
#Step related
self.current_step = None
#To indicate that the step 0 hasn't been executed yet
self.first_time = True
#this list will be filled using the info in the yaml file
self.step_names_list = []
self.step_index_dict = {}
#Dictionary containing the SequenceStep objects for every step in the sequence
self.sequence_dict = {}
#Dictionary containing the configuration of the steps read from the yaml file
self.config_data = None
#Read steps configuration from yaml file
yaml_file = os.path.join(self.config_dir, 'sequence_config.yaml')
try:
self.config_data = yaml.load(open(yaml_file))
except IOError as err:
QMessageBox.warning(
self._widget, "Warning",
"Failed to load '" + yaml_file + "': " + str(err))
raise
#Autorun
if self._widget.autorun_checkBox.isChecked():
rospy.set_param('/master_controller/autorun', 1)
else:
rospy.set_param('/master_controller/autorun', 0)
#Create the Master controller Client
for (i, step) in enumerate(self.config_data['steps']):
self.step_names_list.append(step['name'])
self.step_index_dict[step['name']] = i
self.master_controller_client = MasterControllerClient(
self.step_names_list)
#connect the signal to notify goal_done (all the steps in the sequence finished somehow)
self.connect(self.master_controller_client,
SIGNAL('goalDone(PyQt_PyObject)'), self.on_MC_goal_done)
#connect the signal to notify goal_done (all the steps in the sequence finished somehow)
self.connect(self.master_controller_client,
SIGNAL('currentStepReceived(PyQt_PyObject)'),
self.on_MC_current_step_received)
#connect the signal that notifies that the user should choose the next step to be run
self.connect(self.master_controller_client,
SIGNAL('nextStepSelection()'),
self.on_MC_select_next_step)
#Import and create an object of the class specified in the yaml for every step
for step in self.config_data['steps']:
roslib.load_manifest(step['package'])
mod = __import__(step['package'] + '.' + step['module'],
fromlist=[step['class']])
klass = getattr(mod, step['class'])
self.sequence_dict[step['name']] = klass(self.sequence_dict, step)
#Load the info bar widget for every step
self._widget.step_list_layout.addWidget(
self.sequence_dict[step['name']].info_bar_widget)
#connect the signal to show the info for that step
self.connect(self.sequence_dict[step['name']],
SIGNAL('showStateChanged(int, PyQt_PyObject)'),
self.on_show_state_changed)
#connect the signal to start the sequence (using this step)
self.connect(self.sequence_dict[step['name']],
SIGNAL('startStepPressed(PyQt_PyObject)'),
self.on_start_sequence_signal)
#connect the signal to tell the MC that this step will be next
self.connect(self.sequence_dict[step['name']],
SIGNAL('runStepPressed(PyQt_PyObject)'),
self.on_run_this_step_signal)
#connect the signal to print a log to the general info area
self.connect(
self.sequence_dict[step['name']],
SIGNAL(
'printGeneralInfoAreaLog(PyQt_PyObject, PyQt_PyObject)'),
self.on_print_general_info_area_log)
#connect the signal to tell the bar to make the run button visible
self.connect(
self, SIGNAL('showRunStepButtons(PyQt_PyObject)'),
self.sequence_dict[step['name']].on_show_run_btn_signal)
#connect the signal to tell the bar to make the run button visible
self.connect(
self, SIGNAL('showStartSequenceButtons(PyQt_PyObject)'),
self.sequence_dict[step['name']].on_show_start_btn_signal)
#Add a vertical spacer after the bars, to hold them together in the beginning of the vertical layout
self._widget.step_list_layout.addStretch(0)
self.general_info_area_widget = QWidget()
ui_file = os.path.join(self.ui_dir, 'GeneralInfoArea.ui')
loadUi(ui_file, self.general_info_area_widget)
self._widget.general_info_area.addWidget(self.general_info_area_widget)
#Load info area for the first step (maybe we shouldn't before it's running, but we'll show it for the time being)
for step in self.config_data['steps']:
if self.sequence_dict[step['name']].info_area_widget != None:
self.current_step = step['name']
self.shown_step_widget = self.sequence_dict[
self.current_step].info_area_widget
self._widget.step_info_area.addWidget(self.shown_step_widget)
break
# Bind button clicks
self._widget.btn_start.pressed.connect(self.on_btn_start_pressed)
self._widget.btn_cancel.pressed.connect(self.on_btn_cancel_pressed)
self._widget.btn_next.pressed.connect(self.on_btn_next_pressed)
#Connect autorun check/uncheck events
self._widget.autorun_checkBox.stateChanged.connect(
self.on_autorun_checkbox_state_changed)
#connect the signal to make the next (run) button visible
self.connect(self, SIGNAL('showRunStepButtons(PyQt_PyObject)'),
self.on_show_next_btn_signal)
#connect the signal to make the start button visible
self.connect(self, SIGNAL('showStartSequenceButtons(PyQt_PyObject)'),
self.on_show_start_btn_signal)
#We'll emit a signal to hide all the buttons to choose the next step
self.emit(SIGNAL('showRunStepButtons(PyQt_PyObject)'), False)
def on_MC_select_next_step(self):
#We'll emit a signal to show all the buttons to choose the next step
self.emit(SIGNAL('showRunStepButtons(PyQt_PyObject)'), True)
def on_show_checkbox_state_changed(self, state):
self.emit(SIGNAL('showStateChanged(int, PyQt_PyObject)'), state,
self.config_dict['name'])
def print_general_info_area_log(self, log_msg):
self.emit(
SIGNAL('printGeneralInfoAreaLog(PyQt_PyObject, PyQt_PyObject)'),
self.config_dict['name'], log_msg)
def on_start_sequence_signal(self, step_name):
self.master_controller_client.on_start_step_signal(step_name)
#We'll emit a signal to hide all the buttons to start sequence
self.emit(SIGNAL('showStartSequenceButtons(PyQt_PyObject)'), False)
def _on_cancel(pid):
signaler.emit(SIGNAL('cancel(int)'), pid)
def finish(self):
"""
Used to tell the progress is finished. Called by hyperspy side.
"""
global signaler
signaler.emit(SIGNAL('finished(int)'), self.id)
def on_run_this_step_signal(self, step_name):
self.master_controller_client.next_step_selected = step_name
#We'll emit a signal to hide all the buttons to choose the next step
self.emit(SIGNAL('showRunStepButtons(PyQt_PyObject)'), False)
def __iter__(self):
iterable = self.iterable
if self.disable:
for obj in iterable:
if self.cancelled is True:
raise ProcessCanceled("User cancelled operation")
yield obj
return
# ncols = self.ncols
mininterval = self.mininterval
maxinterval = self.maxinterval
miniters = self.miniters
dynamic_miniters = self.dynamic_miniters
start_t = self.start_t
last_print_t = self.last_print_t
last_print_n = self.last_print_n
n = self.n
# dynamic_ncols = self.dynamic_ncols
smoothing = self.smoothing
avg_time = self.avg_time
for obj in iterable:
if self.cancelled is True:
raise ProcessCanceled("User cancelled operation")
yield obj
# Update and print the progressbar.
# Note: does not call self.update(1) for speed optimisation.
n += 1
delta_it = n - last_print_n
# check the counter first (avoid calls to time())
if delta_it >= miniters:
cur_t = time()
delta_t = cur_t - last_print_t
if delta_t >= mininterval:
elapsed = cur_t - start_t
# EMA (not just overall average)
if smoothing and delta_t:
avg_time = delta_t / delta_it \
if avg_time is None \
else smoothing * delta_t / delta_it + \
(1 - smoothing) * avg_time
txt = self.format_string(
n, self.total, elapsed,
1 / avg_time if avg_time else None)
global signaler
signaler.emit(SIGNAL('progress(int, int, QString)'),
self.id, n, txt)
# If no `miniters` was specified, adjust automatically
# to the maximum iteration rate seen so far.
if dynamic_miniters:
if maxinterval and delta_t > maxinterval:
# Set miniters to correspond to maxinterval
miniters = delta_it * maxinterval / delta_t
elif mininterval and delta_t:
# EMA-weight miniters to converge
# towards the timeframe of mininterval
miniters = smoothing * delta_it * mininterval \
/ delta_t + (1 - smoothing) * miniters
else:
miniters = smoothing * delta_it + \
(1 - smoothing) * miniters
# Store old values for next call
last_print_n = n
last_print_t = cur_t
# Closing the progress bar.
# Update some internal variables for close().
self.last_print_n = last_print_n
self.n = n
self.close()
