def __init__(self, context):
"""
:param context: plugin context hook to enable adding widgets as a ROS_GUI pane, ''PluginContext''
"""
super(Console, self).__init__(context)
self.setObjectName('Console')
self._rospack = rospkg.RosPack()
self._model = MessageDataModel()
self._proxy_model = MessageProxyModel()
self._proxy_model.setSourceModel(self._model)
self._widget = ConsoleWidget(self._proxy_model, self._rospack)
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
# queue to store incoming data which get flushed periodically to the model
# required since QSortProxyModel can not handle a high insert rate
self._message_queue = []
self._mutex = QMutex()
self._timer = QTimer()
self._timer.timeout.connect(self.insert_messages)
self._timer.start(100)
self._subscriber = None
self._topic = '/rosout_agg'
self._subscribe(self._topic)
def __init__(self, context):
"""
:param context: plugin context hook to enable adding widgets as a ROS_GUI pane, ''PluginContext''
"""
super(Console, self).__init__(context)
self.setObjectName('Console')
self._datamodel = MessageDataModel()
self._proxymodel = MessageProxyModel()
self._proxymodel.setSourceModel(self._datamodel)
self._mainwindow = ConsoleWidget(self._proxymodel)
if context.serial_number() > 1:
self._mainwindow.setWindowTitle(self._mainwindow.windowTitle() +
(' (%d)' %
context.serial_number()))
context.add_widget(self._mainwindow)
self._consolesubscriber = ConsoleSubscriber(self.message_callback)
# Timer and Mutex for flushing recieved messages to datamodel.
# Required since QSortProxyModel can not handle a high insert rate
self._mutex = QMutex()
self._timer = QTimer()
self._timer.timeout.connect(self.insert_messages)
self._timer.start(100)
def onCreate(self, param):
layout = QGridLayout(self)
layout.setContentsMargins(2, 2, 2, 2)
self._rospack = rospkg.RosPack()
self._model = MessageDataModel()
self._proxy_model = MessageProxyModel()
self._proxy_model.setSourceModel(self._model)
self.__widget = ConsoleWidget(self._proxy_model, self._rospack)
layout.addWidget(self.__widget, 0, 0, 0, 0)
# queue to store incoming data which get flushed periodically to the model
# required since QSortProxyModel can not handle a high insert rate
self._message_queue = []
self._mutex = QMutex()
self._timer = QTimer()
self._timer.timeout.connect(self.insert_messages)
self._timer.start(100)
self._subscriber = None
self._topic = '/rosout_agg'
self._subscribe(self._topic)
def __init__(self):
"""
:param context: plugin context hook to enable adding widgets
as a ROS_GUI pane, ''PluginContext''
"""
self._rospack = rospkg.RosPack()
self._model = MessageDataModel()
self._proxy_model = MessageProxyModel()
self._proxy_model.setSourceModel(self._model)
self._widget = ConsoleWidget(self._proxy_model, self._rospack)
# Queue to store incoming data which get flushed periodically
# to the model.
# Required since QSortProxyModel can not handle a high insert rate.
self._message_queue = []
self._mutex = QMutex()
self._timer = QTimer()
self._timer.timeout.connect(self.insert_messages)
self._timer.start(100)
self._subscriber = None
self._topic = '/rosout_agg'
self._subscribe(self._topic)
def __init__(self, context, icon_paths=None, minimal=True):
ok_icon = ['bg-green.svg', 'ic-console.svg']
warn_icon = ['bg-yellow.svg', 'ic-console.svg', 'ol-warn-badge.svg']
err_icon = ['bg-red.svg', 'ic-console.svg', 'ol-err-badge.svg']
stale_icon = ['bg-grey.svg', 'ic-console.svg', 'ol-stale-badge.svg']
icons = [ok_icon, warn_icon, err_icon, stale_icon]
super(ConsoleDashWidget, self).__init__('Console Widget', icons, icon_paths=icon_paths)
self.minimal = minimal
self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
self._datamodel = MessageDataModel()
self._proxymodel = MessageProxyModel()
self._proxymodel.setSourceModel(self._datamodel)
self._mutex = QMutex()
self._subscriber = ConsoleSubscriber(self._message_cb)
self._console = None
self.context = context
self.clicked.connect(self._show_console)
self.update_state(0)
self._timer = QTimer()
self._timer.timeout.connect(self._insert_messages)
self._timer.start(100)
if self._console is None:
self._console = ConsoleWidget(self._proxymodel, self.minimal)
self._console.destroyed.connect(self._console_destroyed)
self._console_shown = False
self.setToolTip("Rosout")
def __init__(self, context, icon_paths=[]):
self._graveyard = []
ok_icon = ['bg-green.svg', 'ic-diagnostics.svg']
warn_icon = [
'bg-yellow.svg', 'ic-diagnostics.svg', 'ol-warn-badge.svg'
]
err_icon = ['bg-red.svg', 'ic-diagnostics.svg', 'ol-err-badge.svg']
stale_icon = [
'bg-grey.svg', 'ic-diagnostics.svg', 'ol-stale-badge.svg'
]
icons = [ok_icon, warn_icon, err_icon, stale_icon]
super(MonitorDashWidget, self).__init__('MonitorWidget',
icons,
icon_paths=icon_paths)
self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
self._monitor = None
self._close_mutex = QMutex()
self._show_mutex = QMutex()
self._last_update = rospy.Time.now()
self.context = context
self.clicked.connect(self._show_monitor)
self._monitor_shown = False
self.setToolTip('Diagnostics')
self._diagnostics_toplevel_state_sub = rospy.Subscriber(
'diagnostics_toplevel_state', DiagnosticStatus,
self.toplevel_state_callback)
self._top_level_state = -1
self._stall_timer = QTimer()
self._stall_timer.timeout.connect(self._stalled)
self._stalled()
self._plugin_settings = None
self._instance_settings = None
def __init__(self, context, camera_topic='/image_raw', name='camera'):
self._icons = [['bg-grey.svg', 'ol-play-badge.svg']]
super(CameraViewDashWidget, self).__init__("View" + name,
icons=self._icons,
icon_paths=None)
self.context = context
self.update_state(0)
self._cam_view = CameraViewWidget(camera_topic, name)
self._cam_view_shown = False
self.clicked.connect(self._show_cam_view)
self._show_mutex = QMutex()
def __init__(self, context, name='NavView', icon_paths=None):
self._icons = [['bg-grey.svg', 'ic-navigation.svg']]
super(NavViewDashWidget, self).__init__(name,
icons=self._icons,
suppress_overlays=True,
icon_paths=icon_paths)
self.context = context
self.update_state(0)
self.setFixedSize(self._icons[0].actualSize(QSize(50, 30)))
self._navview = None
self._navview_shown = False
self.clicked.connect(self._show_navview)
self._show_mutex = QMutex()
def __init__(self, context):
super(View, self).__init__(context)
self.setObjectName('UCTFView')
self._widget = Widget()
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
self._update_queue = []
self._mutex = QMutex()
self.subscribers = {}
self._vehicle_types = {}
self._received_msg_types = []
self._subscribe('blue', GROUND_CONTROL_PORT_BLUE)
self._subscribe('gold', GROUND_CONTROL_PORT_GOLD)
self._timer = QTimer()
self._timer.timeout.connect(self._update_model)
self._timer.start(40)
def __init__(self, qsettings):
super(SettingsProxy, self).__init__()
self.setObjectName('SettingsProxy')
self._qsettings = qsettings
self._mutex = QMutex(QMutex.Recursive)
def __init__(self, context):
super(QueryPlugin, self).__init__(context)
self.learner_list = None
self.finnish_help = None
# Initialize subscriber for experiment starting
self.experiment_subscriber = rospy.Subscriber('start_experiment',\
ExperimentTrigger,\
self._start_experiment)
parameters_available = \
rospy.has_param('/experiment_config') and\
rospy.has_param('/experiment_intro') and\
rospy.has_param('/training_intro') and\
rospy.has_param('/teaching_intro') and\
rospy.has_param('/teaching_continuation') and\
rospy.has_param('/experiment_outro')
if parameters_available:
self.experiment_config = rospy.get_param('/experiment_config')
self.experiment_intro = rospy.get_param('/experiment_intro')
self.training_intro = rospy.get_param('/training_intro')
self.teaching_intro = rospy.get_param('/teaching_intro')
self.teaching_continuation = \
rospy.get_param('/teaching_continuation')
self.experiment_outro = rospy.get_param('/experiment_outro')
else:
rospy.logerr('Parameters needed are not available')
exit(5)
# Synchronization primitives for the Keyboard event
self.keyboard_condition = QWaitCondition()
self.keyboard_lock = QMutex()
self.last_key_pressed = None
# Synchronization primitives for the Phase event
self.phase_condition = QWaitCondition()
self.phase_lock = QMutex()
self.sm = -1 # ID of the state in the State Machine
self.training_counter = -1 # how many learners have been used
# Initialize and start the LearnerThread
self.learner_thread = LearnerThread(self)
self.learner_thread.show_question.connect(self._set_question_text)
self.learner_thread.flash_question.connect\
(self._flash_question_background)
self.learner_thread.flash_label.connect(self._flash_label)
self.learner_thread.show_fixed.connect(self._set_fixed_text)
self.learner_thread.show_tab.connect(self._set_tab)
self.learner_thread.show_score.connect(self._set_score)
self.learner_thread.show_score_outro.connect(self._set_score_outro)
self.learner_thread.start()
# Give QObjects reasonable names
self.setObjectName('Query plugin')
# Create the Widget
self._widget = ResponsiveWidget(self)
self._widget.press_enter.connect(self._step_state_machine)
# Get the UI file
ui_file = os.path.join(rospkg.RosPack().get_path('learner'), \
'resources', 'learner.ui')
loadUi(ui_file, self._widget)
# Get the pictures for the instruction label
picture_paths = list()
neutral_picture_path = os.path.join(rospkg.RosPack().get_path('learner'), \
'resources', 'drawing.png')
picture_paths.append(os.path.join(rospkg.RosPack().get_path('learner'), \
'resources', 'drawing_dunno.png'))
picture_paths.append(os.path.join(rospkg.RosPack().get_path('learner'), \
'resources', 'drawing_no.png'))
picture_paths.append(os.path.join(rospkg.RosPack().get_path('learner'), \
'resources', 'drawing_yes.png'))
self.pictures = list()
self.neutral_picture = QPixmap(neutral_picture_path)
for p in picture_paths:
self.pictures.append(QPixmap(p))
# Give QObjects reasonable names
self._widget.setObjectName('Query widget')
# Add widget to the user interface
context.add_widget(self._widget)
# Create the response buttons
button_size_policy = QSizePolicy(QSizePolicy.Expanding,
QSizePolicy.Expanding)
# Set up the labels
self._widget.fixed_label.setWordWrap(True)
self._widget.fixed_label.setFont(QFont("Sans Serif", 30))
self._widget.question_label.setWordWrap(True)
self._widget.question_label.setFont(QFont("Sans Serif", 30))
self._widget.intro_label.setWordWrap(True)
self._widget.intro_label.setFont(QFont("Sans Serif", 30))
self._widget.score_intro_label.setWordWrap(True)
self._widget.score_intro_label.setFont(QFont("Sans Serif", 20))
self._widget.score_label.setWordWrap(True)
self._widget.score_label.setFont(QFont("Sans Serif", 38))
self._widget.score_outro_label.setWordWrap(True)
self._widget.score_outro_label.setFont(QFont("Sans Serif", 24))
# Clear the first page label
self._widget.intro_label.setText("")
# Activate starting tab
self._widget.tab_manager.setCurrentIndex(1)
# Activate keyboard grabber
self._widget.grabKeyboard()
class QueryPlugin(Plugin):
def __init__(self, context):
super(QueryPlugin, self).__init__(context)
self.learner_list = None
self.finnish_help = None
# Initialize subscriber for experiment starting
self.experiment_subscriber = rospy.Subscriber('start_experiment',\
ExperimentTrigger,\
self._start_experiment)
parameters_available = \
rospy.has_param('/experiment_config') and\
rospy.has_param('/experiment_intro') and\
rospy.has_param('/training_intro') and\
rospy.has_param('/teaching_intro') and\
rospy.has_param('/teaching_continuation') and\
rospy.has_param('/experiment_outro')
if parameters_available:
self.experiment_config = rospy.get_param('/experiment_config')
self.experiment_intro = rospy.get_param('/experiment_intro')
self.training_intro = rospy.get_param('/training_intro')
self.teaching_intro = rospy.get_param('/teaching_intro')
self.teaching_continuation = \
rospy.get_param('/teaching_continuation')
self.experiment_outro = rospy.get_param('/experiment_outro')
else:
rospy.logerr('Parameters needed are not available')
exit(5)
# Synchronization primitives for the Keyboard event
self.keyboard_condition = QWaitCondition()
self.keyboard_lock = QMutex()
self.last_key_pressed = None
# Synchronization primitives for the Phase event
self.phase_condition = QWaitCondition()
self.phase_lock = QMutex()
self.sm = -1 # ID of the state in the State Machine
self.training_counter = -1 # how many learners have been used
# Initialize and start the LearnerThread
self.learner_thread = LearnerThread(self)
self.learner_thread.show_question.connect(self._set_question_text)
self.learner_thread.flash_question.connect\
(self._flash_question_background)
self.learner_thread.flash_label.connect(self._flash_label)
self.learner_thread.show_fixed.connect(self._set_fixed_text)
self.learner_thread.show_tab.connect(self._set_tab)
self.learner_thread.show_score.connect(self._set_score)
self.learner_thread.show_score_outro.connect(self._set_score_outro)
self.learner_thread.start()
# Give QObjects reasonable names
self.setObjectName('Query plugin')
# Create the Widget
self._widget = ResponsiveWidget(self)
self._widget.press_enter.connect(self._step_state_machine)
# Get the UI file
ui_file = os.path.join(rospkg.RosPack().get_path('learner'), \
'resources', 'learner.ui')
loadUi(ui_file, self._widget)
# Get the pictures for the instruction label
picture_paths = list()
neutral_picture_path = os.path.join(rospkg.RosPack().get_path('learner'), \
'resources', 'drawing.png')
picture_paths.append(os.path.join(rospkg.RosPack().get_path('learner'), \
'resources', 'drawing_dunno.png'))
picture_paths.append(os.path.join(rospkg.RosPack().get_path('learner'), \
'resources', 'drawing_no.png'))
picture_paths.append(os.path.join(rospkg.RosPack().get_path('learner'), \
'resources', 'drawing_yes.png'))
self.pictures = list()
self.neutral_picture = QPixmap(neutral_picture_path)
for p in picture_paths:
self.pictures.append(QPixmap(p))
# Give QObjects reasonable names
self._widget.setObjectName('Query widget')
# Add widget to the user interface
context.add_widget(self._widget)
# Create the response buttons
button_size_policy = QSizePolicy(QSizePolicy.Expanding,
QSizePolicy.Expanding)
# Set up the labels
self._widget.fixed_label.setWordWrap(True)
self._widget.fixed_label.setFont(QFont("Sans Serif", 30))
self._widget.question_label.setWordWrap(True)
self._widget.question_label.setFont(QFont("Sans Serif", 30))
self._widget.intro_label.setWordWrap(True)
self._widget.intro_label.setFont(QFont("Sans Serif", 30))
self._widget.score_intro_label.setWordWrap(True)
self._widget.score_intro_label.setFont(QFont("Sans Serif", 20))
self._widget.score_label.setWordWrap(True)
self._widget.score_label.setFont(QFont("Sans Serif", 38))
self._widget.score_outro_label.setWordWrap(True)
self._widget.score_outro_label.setFont(QFont("Sans Serif", 24))
# Clear the first page label
self._widget.intro_label.setText("")
# Activate starting tab
self._widget.tab_manager.setCurrentIndex(1)
# Activate keyboard grabber
self._widget.grabKeyboard()
def _set_question_text(self, string):
self._widget.question_label.setText(string)
def _flash_question_background(self, color_code):
# 0 is yellow, 1 is red, 2 is green
# -1 is the standard gray
if color_code == 0:
self._widget.question_label.setStyleSheet\
('background-color: rgb(254, 229, 0)')
elif color_code == 1:
self._widget.question_label.setStyleSheet\
('background-color: rgb(255, 120, 103)')
elif color_code == 2:
self._widget.question_label.setStyleSheet\
('background-color: rgb(145, 228, 141)')
elif color_code == -1:
self._widget.question_label.setStyleSheet\
('background-color: rgb(236, 236, 236)')
def _flash_label(self, color_code):
# 0 is not sure, 1 is no, 2 is yes
# -1 is the standard label
if color_code == -1:
self._widget.instruction_label.setPixmap(self.neutral_picture)
else:
self._widget.instruction_label.setPixmap(self.pictures[color_code])
if color_code == 0:
self._widget.question_label.setStyleSheet\
('background-color: rgb(254, 229, 0)')
elif color_code == 1:
self._widget.question_label.setStyleSheet\
('background-color: rgb(255, 120, 103)')
elif color_code == 2:
self._widget.question_label.setStyleSheet\
('background-color: rgb(145, 228, 141)')
elif color_code == -1:
self._widget.question_label.setStyleSheet\
('background-color: rgb(236, 236, 236)')
def _set_tab(self, int):
self._widget.tab_manager.setCurrentIndex(int)
def _set_fixed_text(self, string):
self._widget.fixed_label.setText(string)
def _set_score(self, string):
self._widget.score_label.setText(string)
def _set_score_outro(self, string):
self._widget.score_outro_label.setText(string)
def _set_intro_text(self, string):
self._widget.intro_label.setText(string)
def _start_experiment(self, msg):
self.phase_lock.lock()
self.learner_list = self.experiment_config[msg.type]
self.finnish_help = msg.finnish
self.learner_thread.learners = self.learner_list
# Initialize service with NAO
self.nao_talk = rospy.ServiceProxy('nao_speech', speech)
# Need to skip some phases?
if msg.skip == -1:
self.sm = 0
self.training_counter = 0
elif msg.skip == 0:
self.sm = 3
self.training_counter = 0
else:
self.sm = 3
self.training_counter = msg.skip
self.experiment_name = msg.name
rospy.logwarn("Start Interaction '{}': order {} with finnish: {}"\
.format(self.experiment_name, msg.type, msg.finnish))
self.nao_talk(self.experiment_intro, True, True)
self._set_intro_text("Press ENTER to start the training.")
self._set_question_text("")
self._set_fixed_text("")
self.phase_lock.unlock()
def _step_state_machine(self):
try:
rospy.loginfo('State Machine function entered')
self.phase_lock.lock()
if self.sm == 0:
# I am at the beginning of training and I received
# Enter on keyboard --> Start training
self._set_tab(0)
rospy.logwarn("SM: 0 --> 1")
self.sm = 1
self.phase_lock.unlock()
self.phase_condition.wakeAll()
self.nao_talk(self.training_intro, True, True)
return
elif self.sm == 2:
# The training is done and I received an Enter
self._set_tab(1)
rospy.logwarn("SM: 2 --> 3")
self.sm = 3
self.phase_lock.unlock()
self.phase_condition.wakeAll()
self._set_fixed_text("")
self._set_question_text("")
self._set_intro_text("Press Enter to start the experiment")
if self.training_counter == 0:
self.nao_talk(self.teaching_intro, True, True)
else:
self.nao_talk(self.teaching_continuation, True, True)
return
elif self.sm == 3:
# I am in the intro page before exp and I receive an Enter
# --> Start the experiment
self._set_tab(0)
rospy.logwarn("SM: 3 --> 4")
self.sm = 4
self.phase_lock.unlock()
self.phase_condition.wakeAll()
return
elif self.sm == 5:
if self.training_counter < 2:
# one phase of experiment is done, still more to go
self._set_tab(1)
rospy.logwarn("SM: 5 --> 3")
self.sm = 3
self.training_counter += 1
rospy.loginfo('training counter: {}'\
.format(self.training_counter))
self.phase_lock.unlock()
self.phase_condition.wakeAll()
if self.training_counter == 0:
self.nao_talk(self.teaching_intro, True, True)
else:
self.nao_talk(self.teaching_continuation, True, True)
return
else:
# all phases of experiment are done
self._set_tab(1)
rospy.logwarn("SM: 5 --> 6")
self.sm = 6
self.phase_lock.unlock()
self.phase_condition.wakeAll()
self.nao_talk(self.experiment_outro, True, True)
self._set_intro_text("")
return
finally:
self.phase_lock.unlock()
class Console(Plugin):
"""
rqt_console plugin's main class. Handles communication with ros_gui and contains
callbacks to handle incoming message
"""
def __init__(self, context):
"""
:param context: plugin context hook to enable adding widgets as a ROS_GUI pane, ''PluginContext''
"""
super(Console, self).__init__(context)
self.setObjectName('Console')
self._datamodel = MessageDataModel()
self._proxymodel = MessageProxyModel()
self._proxymodel.setSourceModel(self._datamodel)
self._mainwindow = ConsoleWidget(self._proxymodel)
if context.serial_number() > 1:
self._mainwindow.setWindowTitle(self._mainwindow.windowTitle() + (' (%d)' % context.serial_number()))
context.add_widget(self._mainwindow)
self._consolesubscriber = ConsoleSubscriber(self.message_callback)
# Timer and Mutex for flushing recieved messages to datamodel.
# Required since QSortProxyModel can not handle a high insert rate
self._mutex = QMutex()
self._timer = QTimer()
self._timer.timeout.connect(self.insert_messages)
self._timer.start(100)
def insert_messages(self):
"""
Callback for flushing incoming Log messages from the queue to the datamodel
"""
self._mutex.lock()
msgs = self._datamodel._insert_message_queue
self._datamodel._insert_message_queue = []
self._mutex.unlock()
self._datamodel.insert_rows(msgs)
self._mainwindow.update_status()
def message_callback(self, msg):
"""
Callback for adding an incomming message to the queue
"""
if not self._datamodel._paused:
self._mutex.lock()
self._datamodel._insert_message_queue.append(msg)
self._mutex.unlock()
def shutdown_plugin(self):
self._consolesubscriber.unsubscribe_topic()
self._timer.stop()
self._mainwindow.cleanup_browsers_on_close()
def save_settings(self, plugin_settings, instance_settings):
self._mainwindow.save_settings(plugin_settings, instance_settings)
def restore_settings(self, plugin_settings, instance_settings):
self._mainwindow.restore_settings(plugin_settings, instance_settings)
def trigger_configuration(self):
self._consolesubscriber.set_message_limit(self._datamodel._message_limit)
ok = self._consolesubscriber.show_dialog()
if ok:
self._datamodel._message_limit = self._consolesubscriber.get_message_limit()