def get_pos_str(self):
return conversions.pos2str(self.position)
def get_text_for_item(self, block_id, item_id):
item = self.ph.get_item_msg(block_id, item_id)
text = "(" + str(item.id) + ") "
if item.type == ProgIt.GET_READY:
text += QtCore.QCoreApplication.translate("ProgramItem",
"GET_READY")
elif item.type == ProgIt.WAIT_FOR_USER:
text += QtCore.QCoreApplication.translate("ProgramItem",
"WAIT_FOR_USER")
elif item.type == ProgIt.WAIT_UNTIL_USER_FINISHES:
text += QtCore.QCoreApplication.translate(
"ProgramItem", "WAIT_UNTIL_USER_FINISHES")
elif item.type == ProgIt.PICK_FROM_POLYGON:
text += QtCore.QCoreApplication.translate("ProgramItem",
"PICK_FROM_POLYGON")
if self.ph.is_object_set(block_id, item_id):
text += "\n" + "object type=" + item.object[0]
else:
text += "\n" + "object type=??"
elif item.type == ProgIt.PICK_FROM_FEEDER:
text += QtCore.QCoreApplication.translate("ProgramItem",
"PICK_FROM_FEEDER")
if self.ph.is_pose_set(block_id, item_id):
text += "\n" + conversions.pos2str(
(item.pose[0].pose.position.x,
item.pose[0].pose.position.y,
item.pose[0].pose.position.z))
else:
text += "\n" + "x=??, y=??, z=??"
if self.ph.is_object_set(block_id, item_id):
text += "\n" + "object type=" + item.object[0]
else:
text += "\n" + "object type=??"
elif item.type == ProgIt.PICK_OBJECT_ID:
text += QtCore.QCoreApplication.translate("ProgramItem",
"PICK_OBJECT_ID")
if self.ph.is_object_set(block_id, item_id):
text += "\n" + "object ID=" + item.object[0]
else:
text += "\n" + "object ID=??"
elif item.type == ProgIt.PLACE_TO_POSE:
text += QtCore.QCoreApplication.translate("ProgramItem",
"PLACE_TO_POSE")
if self.ph.is_object_set(block_id, item.ref_id[0]):
ref_item = self.ph.get_item_msg(block_id, item.ref_id[0])
text += "\n" + \
"object from (" + \
str(item.ref_id[0]) + ")=" + ref_item.object[0]
else:
text += "\n" + "object from (" + str(item.ref_id[0]) + ")=??"
if self.ph.is_pose_set(block_id, item_id):
text += "\n" + conversions.pos2str(
(item.pose[0].pose.position.x,
item.pose[0].pose.position.y,
item.pose[0].pose.position.z))
else:
text += "\n" + "X: ??, Y: ??, Z: ??"
elif item.type == ProgIt.PLACE_TO_GRID:
text += QtCore.QCoreApplication.translate("ProgramItem",
"PLACE_TO_GRID")
ref_item = self.ph.get_item_msg(block_id, item.ref_id[0])
if ref_item.type == ProgIt.PICK_OBJECT_ID:
if self.ph.is_object_set(block_id, item_id):
text += "\n" + "object ID=" + item.object[0]
else:
text += "\n" + "object ID=??"
elif ref_item.type == ProgIt.PICK_FROM_POLYGON:
if self.ph.is_object_set(block_id, item_id):
text += "\n" + "object TYPE=" + item.object[0]
else:
text += "\n" + "object TYPE=??"
return text