def __init__(self):
super(CalibrationMovementsGUI, self).__init__()
move_group_name = rospy.get_param('~move_group', 'manipulator')
self.angle_delta = math.radians(
rospy.get_param('~rotation_delta_degrees', 25))
self.translation_delta = rospy.get_param('~translation_delta_meters',
0.1)
max_velocity_scaling = rospy.get_param('~max_velocity_scaling', 0.5)
max_acceleration_scaling = rospy.get_param('~max_acceleration_scaling',
0.5)
self.local_mover = CalibrationMovements(move_group_name,
max_velocity_scaling,
max_acceleration_scaling)
self.current_pose = -1
self.current_plan = None
self.state = CalibrationMovementsGUI.NOT_INITED_YET
self.layout = QVBoxLayout()
self.labels_layout = QHBoxLayout()
self.buttons_layout = QHBoxLayout()
self.progress_bar = QProgressBar()
self.pose_number_lbl = QLabel('0/8')
self.bad_plan_lbl = QLabel('No plan yet')
self.guide_lbl = QLabel('Hello')
self.guide_lbl.setWordWrap(True)
self.check_start_pose_btn = QPushButton('Check starting pose')
self.check_start_pose_btn.clicked.connect(
self.handle_check_current_state)
self.next_pose_btn = QPushButton('Next Pose')
self.next_pose_btn.clicked.connect(self.handle_next_pose)
self.plan_btn = QPushButton('Plan')
self.plan_btn.clicked.connect(self.handle_plan)
self.execute_btn = QPushButton('Execute')
self.execute_btn.clicked.connect(self.handle_execute)
self.labels_layout.addWidget(self.pose_number_lbl)
self.labels_layout.addWidget(self.bad_plan_lbl)
self.buttons_layout.addWidget(self.check_start_pose_btn)
self.buttons_layout.addWidget(self.next_pose_btn)
self.buttons_layout.addWidget(self.plan_btn)
self.buttons_layout.addWidget(self.execute_btn)
self.layout.addWidget(self.progress_bar)
self.layout.addLayout(self.labels_layout)
self.layout.addWidget(self.guide_lbl)
self.layout.addLayout(self.buttons_layout)
self.setLayout(self.layout)
self.plan_btn.setEnabled(False)
self.execute_btn.setEnabled(False)
self.setWindowTitle('Local Mover')
self.show()
def __init__(self):
super(CalibrationMovementsGUI, self).__init__()
self.handeye_client = HandeyeClient()
self.current_target_pose = -1 # -1 is home
self.target_poses = None
self.plan_was_successful = None
self.state = CalibrationMovementsGUI.NOT_INITED_YET
self.layout = QVBoxLayout()
self.labels_layout = QHBoxLayout()
self.buttons_layout = QHBoxLayout()
self.progress_bar = QProgressBar()
self.pose_number_lbl = QLabel('0/0')
self.bad_plan_lbl = QLabel('No plan yet')
self.bad_plan_lbl.setAlignment(Qt.AlignCenter)
self.guide_lbl = QLabel('Hello')
self.guide_lbl.setWordWrap(True)
self.check_start_pose_btn = QPushButton('Check starting pose')
self.check_start_pose_btn.clicked.connect(
self.handle_check_current_state)
self.next_pose_btn = QPushButton('Next Pose')
self.next_pose_btn.clicked.connect(self.handle_next_pose)
self.plan_btn = QPushButton('Plan')
self.plan_btn.clicked.connect(self.handle_plan)
self.execute_btn = QPushButton('Execute')
self.execute_btn.clicked.connect(self.handle_execute)
self.labels_layout.addWidget(self.pose_number_lbl)
self.labels_layout.addWidget(self.bad_plan_lbl)
self.buttons_layout.addWidget(self.check_start_pose_btn)
self.buttons_layout.addWidget(self.next_pose_btn)
self.buttons_layout.addWidget(self.plan_btn)
self.buttons_layout.addWidget(self.execute_btn)
self.layout.addWidget(self.progress_bar)
self.layout.addLayout(self.labels_layout)
self.layout.addWidget(self.guide_lbl)
self.layout.addLayout(self.buttons_layout)
self.setLayout(self.layout)
self.plan_btn.setEnabled(False)
self.execute_btn.setEnabled(False)
self.setWindowTitle('Local Mover')
self.show()
def restore_settings(self, settings):
serial_number = settings.value('parent', None)
#print 'DockWidget.restore_settings()', 'parent', serial_number, 'settings group', settings._group
if serial_number is not None:
serial_number = int(serial_number)
if self._parent_container_serial_number(
) != serial_number and self._container_manager is not None:
floating = self.isFloating()
pos = self.pos()
new_container = self._container_manager.get_container(
serial_number)
if new_container is not None:
new_parent = new_container.main_window
else:
new_parent = self._container_manager.get_root_main_window()
area = self.parent().dockWidgetArea(self)
new_parent.addDockWidget(area, self)
if floating:
self.setFloating(floating)
self.move(pos)
title_bar = self.titleBarWidget()
title_bar.restore_settings(settings)
if title_bar.hide_title_bar and not self.features() & DockWidget.DockWidgetFloatable and \
not self.features() & DockWidget.DockWidgetMovable:
self._title_bar_backup = title_bar
title_widget = QWidget(self)
layout = QHBoxLayout(title_widget)
layout.setContentsMargins(0, 0, 0, 0)
title_widget.setLayout(layout)
self.setTitleBarWidget(title_widget)
def __init__(self, map_topic='/map',
paths=['/move_base/NavFn/plan', '/move_base/TrajectoryPlannerROS/local_plan'],
polygons=['/move_base/local_costmap/robot_footprint']):
super(NavViewWidget, self).__init__()
self._layout = QVBoxLayout()
self._button_layout = QHBoxLayout()
self.setAcceptDrops(True)
self.setWindowTitle('Navigation Viewer')
self.paths = paths
self.polygons = polygons
self.map = map_topic
self._tf = tf.TransformListener()
self._nav_view = NavView(map_topic, paths, polygons, tf = self._tf, parent = self)
self._set_pose = QPushButton('Set Pose')
self._set_pose.clicked.connect(self._nav_view.pose_mode)
self._set_goal = QPushButton('Set Goal')
self._set_goal.clicked.connect(self._nav_view.goal_mode)
self._button_layout.addWidget(self._set_pose)
self._button_layout.addWidget(self._set_goal)
self._layout.addLayout(self._button_layout)
self._layout.addWidget(self._nav_view)
self.setLayout(self._layout)
def __init__(self, host, masteruri=None, parent=None):
PackageDialog.__init__(self, parent)
self.host = host
self.setWindowTitle('Run')
ns_name_label = QLabel("NS/Name:", self.content)
self.ns_field = QComboBox(self.content)
self.ns_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.ns_field.setEditable(True)
ns_history = nm.history().cachedParamValues('run_dialog/NS')
ns_history.insert(0, '/')
self.ns_field.addItems(ns_history)
self.name_field = QLineEdit(self.content)
self.name_field.setEnabled(False)
horizontalLayout = QHBoxLayout()
horizontalLayout.addWidget(self.ns_field)
horizontalLayout.addWidget(self.name_field)
self.contentLayout.addRow(ns_name_label, horizontalLayout)
args_label = QLabel("Args:", self.content)
self.args_field = QComboBox(self.content)
self.args_field.setSizeAdjustPolicy(QComboBox.AdjustToMinimumContentsLength)
self.args_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.args_field.setEditable(True)
self.contentLayout.addRow(args_label, self.args_field)
args_history = nm.history().cachedParamValues('run_dialog/Args')
args_history.insert(0, '')
self.args_field.addItems(args_history)
host_label = QLabel("Host:", self.content)
self.host_field = QComboBox(self.content)
# self.host_field.setSizeAdjustPolicy(QComboBox.AdjustToContents)
self.host_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.host_field.setEditable(True)
host_label.setBuddy(self.host_field)
self.contentLayout.addRow(host_label, self.host_field)
self.host_history = host_history = nm.history().cachedParamValues('/Host')
if self.host in host_history:
host_history.remove(self.host)
host_history.insert(0, self.host)
self.host_field.addItems(host_history)
master_label = QLabel("ROS Master URI:", self.content)
self.master_field = QComboBox(self.content)
self.master_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.master_field.setEditable(True)
master_label.setBuddy(self.host_field)
self.contentLayout.addRow(master_label, self.master_field)
self.master_history = master_history = nm.history().cachedParamValues('/Optional Parameter/ROS Master URI')
self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri
if self.masteruri in master_history:
master_history.remove(self.masteruri)
master_history.insert(0, self.masteruri)
self.master_field.addItems(master_history)
# self.package_field.setFocus(QtCore.Qt.TabFocusReason)
if hasattr(self.package_field, "textChanged"): # qt compatibility
self.package_field.textChanged.connect(self.on_package_selected)
else:
self.package_field.editTextChanged.connect(self.on_package_selected)
self.binary_field.activated[str].connect(self.on_binary_selected)
def __init__(self, context):
super(SpectrogramPlugin, self).__init__(context)
self.setObjectName('Spectrogram')
self._widget = QWidget()
layout = QVBoxLayout()
self._widget.setLayout(layout)
layout_ = QHBoxLayout()
self.line_edit = QLineEdit()
layout_.addWidget(self.line_edit)
self.apply_btn = QPushButton("Apply")
self.apply_btn.clicked.connect(self.apply_clicked)
layout_.addWidget(self.apply_btn)
layout.addLayout(layout_)
self.fig = Figure((5, 4), dpi=100)
self.canvas = FigureCanvas(self.fig)
self.axes = self.fig.add_subplot(111)
self.fig.tight_layout()
layout.addWidget(self.canvas)
context.add_widget(self._widget)
self.update_signal.connect(self.update_spectrogram)
self.subscriber_signal.connect(self.update_subscriber)
self.subscriber_signal.emit('spec')
def __init__(self,
map_topic='/map',
paths=[
'/move_base/NavfnROS/plan',
'/move_base/DWAPlannerROS/local_plan'
],
polygons=['/move_base/local_costmap/footprint']):
super(NavViewWidget, self).__init__()
self._layout = QVBoxLayout()
self._button_layout = QHBoxLayout()
self.setAcceptDrops(True)
self.setWindowTitle('Navigation Viewer')
self.paths = paths
self.polygons = polygons
self.map = map_topic
self._tf = tf.TransformListener()
self._nav_view = NavView(map_topic,
paths,
polygons,
tf=self._tf,
parent=self)
self._layout.addLayout(self._button_layout)
self._layout.addWidget(self._nav_view)
self.setLayout(self._layout)
def __init__(self, parent=None):
"""Create a new, empty DataPlot
This will raise a RuntimeError if none of the supported plotting
backends can be found
"""
super(DataPlot, self).__init__(parent)
self._plot_index = 0
self._color_index = 0
self._markers_on = False
self._autoscroll = True
self._autoscale_x = True
self._autoscale_y = DataPlot.SCALE_ALL
# the backend widget that we're trying to hide/abstract
self._data_plot_widget = None
self._curves = {}
self._vline = None
self._redraw.connect(self._do_redraw)
self._layout = QHBoxLayout()
self.setLayout(self._layout)
enabled_plot_types = [pt for pt in self.plot_types if pt['enabled']]
if not enabled_plot_types:
version_info = ' and PySide > 1.1.0' if QT_BINDING == 'pyside' else ''
raise RuntimeError('No usable plot type found. Install at least one of: PyQtGraph, MatPlotLib (at least 1.1.0%s) or Python-Qwt5.' % version_info)
self._switch_data_plot_widget(self._plot_index)
self.show()
def __init__(self, context):
super(QuestionDialogPlugin, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('QuestionDialogPlugin')
font_size = rospy.get_param("~font_size", 40)
# Create QWidget
self._widget = QWidget()
self._widget.setFont(QFont("Times", font_size, QFont.Bold))
self._layout = QVBoxLayout(self._widget)
self._text_browser = QTextBrowser(self._widget)
self._layout.addWidget(self._text_browser)
self._button_layout = QHBoxLayout()
self._layout.addLayout(self._button_layout)
# layout = QVBoxLayout(self._widget)
# layout.addWidget(self.button)
self._widget.setObjectName('QuestionDialogPluginUI')
if context.serial_number() > 1:
self._widget.setWindowTitle(self._widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self._widget)
# Setup service provider
self.service = rospy.Service('question_dialog', QuestionDialog,
self.service_callback)
self.response_ready = False
self.response = None
self.buttons = []
self.text_label = None
self.text_input = None
self.connect(self._widget, SIGNAL("update"), self.update)
self.connect(self._widget, SIGNAL("timeout"), self.timeout)
def __init__(self, context, node=None):
"""
This class is intended to be called by rqt plugin framework class.
Currently (12/12/2012) the whole widget is splitted into 2 panes:
one on left allows you to choose the node(s) you work on. Right side
pane lets you work with the parameters associated with the node(s) you
select on the left.
"""
#TODO(Isaac) .ui file needs to replace the GUI components declaration
# below.
super(ParamWidget, self).__init__()
self.setObjectName(self._TITLE_PLUGIN)
_hlayout_top = QHBoxLayout(self)
self._splitter = QSplitter(self)
_hlayout_top.addWidget(self._splitter)
nodesel = NodeSelectorWidget()
reconf_widget = ParameditWidget()
self._splitter.insertWidget(0, nodesel)
self._splitter.insertWidget(1, reconf_widget)
nodesel.sig_node_selected.connect(reconf_widget.show_reconf)
if node is not None:
title = self._TITLE_PLUGIN + ' %s' % node
else:
title = self._TITLE_PLUGIN
self.setObjectName(title)
def __init__(self, parent=None, logger=Logger()):
QWidgetWithLogger.__init__(self, parent, logger)
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add combo box
self.parameter_set_names_combo_box = QComboBox()
self.parameter_set_names_combo_box.currentIndexChanged[str].connect(
self.param_changed)
hbox.addWidget(self.parameter_set_names_combo_box)
# add refresh button
self.get_all_parameter_set_names_button = QPushButton()
self.get_all_parameter_set_names_button.clicked.connect(
self._get_all_parameter_set_names)
self.get_all_parameter_set_names_button.setIcon(icon)
self.get_all_parameter_set_names_button.setFixedSize(
size.width() + 2,
size.height() + 2)
hbox.addWidget(self.get_all_parameter_set_names_button)
# end widget
self.setLayout(hbox)
# init widget
self.reset_parameter_set_selection()
def _create_log_bar(self):
self.log_dock = QDockWidget(self)
self.log_dock.setObjectName('LogFrame')
self.log_dock.setFeatures(QDockWidget.DockWidgetMovable | QDockWidget.DockWidgetFloatable)
self.log_bar = QWidget(self)
self.horizontal_layout_log_bar = QHBoxLayout(self.log_bar)
self.horizontal_layout_log_bar.setContentsMargins(2, 0, 2, 0)
self.horizontal_layout_log_bar.setObjectName("horizontal_layout_log_bar")
# add info label
self._log_warning_count = 0
self.log_browser = QTextEdit()
self.log_browser.setObjectName("log_browser")
self.log_browser.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.log_browser.setLineWrapMode(QTextEdit.NoWrap)
# self.log_browser.setMaximumHeight(120)
color = QColor(255, 255, 235)
bg_style = "QTextEdit#log_browser { background-color: %s;}" % color.name()
self.log_bar.setStyleSheet("%s" % (bg_style))
self.horizontal_layout_log_bar.addWidget(self.log_browser)
# add hide button
self.clear_log_button = QPushButton("clear", self)
self.clear_log_button.setObjectName("clear_log_button")
self.clear_log_button.setSizePolicy(QSizePolicy.Minimum, QSizePolicy.Maximum)
self.clear_log_button.clicked.connect(self.on_clear_log_button_clicked)
self.clear_log_button.setFlat(True)
self.horizontal_layout_log_bar.addWidget(self.clear_log_button)
self.log_dock.setWidget(self.log_bar)
return self.log_dock
def __init__(self, parent=None, current_values=None):
super(BlacklistDialog, self).__init__(parent)
self.setWindowTitle("Blacklist")
vbox = QVBoxLayout()
self.setLayout(vbox)
self._blacklist = Blacklist()
if isinstance(current_values, list):
for val in current_values:
self._blacklist.append(val)
vbox.addWidget(self._blacklist)
controls_layout = QHBoxLayout()
add_button = QPushButton(icon=QIcon.fromTheme('list-add'))
rem_button = QPushButton(icon=QIcon.fromTheme('list-remove'))
ok_button = QPushButton("Ok")
cancel_button = QPushButton("Cancel")
add_button.clicked.connect(self._add_item)
rem_button.clicked.connect(self._remove_item)
ok_button.clicked.connect(self.accept)
cancel_button.clicked.connect(self.reject)
controls_layout.addWidget(add_button)
controls_layout.addWidget(rem_button)
controls_layout.addStretch(0)
controls_layout.addWidget(ok_button)
controls_layout.addWidget(cancel_button)
vbox.addLayout(controls_layout)
def _create_buttons(self):
# create the buttons line
self.buttons = QWidget(self)
self.horizontalLayout = QHBoxLayout(self.buttons)
self.horizontalLayout.setContentsMargins(4, 0, 4, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
# add the search button
self.searchButton = QPushButton(self)
self.searchButton.setObjectName("searchButton")
# self.searchButton.clicked.connect(self.on_shortcut_find)
self.searchButton.toggled.connect(self.on_toggled_find)
self.searchButton.setText(self._translate("&Find"))
self.searchButton.setToolTip('Open a search dialog (Ctrl+F)')
self.searchButton.setFlat(True)
self.searchButton.setCheckable(True)
self.horizontalLayout.addWidget(self.searchButton)
# add the replace button
self.replaceButton = QPushButton(self)
self.replaceButton.setObjectName("replaceButton")
# self.replaceButton.clicked.connect(self.on_shortcut_replace)
self.replaceButton.toggled.connect(self.on_toggled_replace)
self.replaceButton.setText(self._translate("&Replace"))
self.replaceButton.setToolTip('Open a search&replace dialog (Ctrl+R)')
self.replaceButton.setFlat(True)
self.replaceButton.setCheckable(True)
self.horizontalLayout.addWidget(self.replaceButton)
# add the goto button
self.gotoButton = QPushButton(self)
self.gotoButton.setObjectName("gotoButton")
self.gotoButton.clicked.connect(self.on_shortcut_goto)
self.gotoButton.setText(self._translate("&Goto line"))
self.gotoButton.setShortcut("Ctrl+G")
self.gotoButton.setToolTip('Open a goto dialog (Ctrl+G)')
self.gotoButton.setFlat(True)
self.horizontalLayout.addWidget(self.gotoButton)
# add a tag button
self.tagButton = self._create_tag_button(self)
self.horizontalLayout.addWidget(self.tagButton)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding,
QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add line number label
self.pos_label = QLabel()
self.horizontalLayout.addWidget(self.pos_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding,
QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add save button
self.saveButton = QPushButton(self)
self.saveButton.setObjectName("saveButton")
self.saveButton.clicked.connect(self.on_saveButton_clicked)
self.saveButton.setText(self._translate("&Save"))
self.saveButton.setShortcut("Ctrl+S")
self.saveButton.setToolTip('Save the changes to the file (Ctrl+S)')
self.saveButton.setFlat(True)
self.horizontalLayout.addWidget(self.saveButton)
return self.buttons
def __init__(self, masteruri, cfg, ns, nodes, parent=None):
QFrame.__init__(self, parent)
self._masteruri = masteruri
self._nodes = {cfg: {ns: nodes}}
frame_layout = QVBoxLayout(self)
frame_layout.setContentsMargins(0, 0, 0, 0)
# create frame for warning label
self.warning_frame = warning_frame = QFrame(self)
warning_layout = QHBoxLayout(warning_frame)
warning_layout.setContentsMargins(0, 0, 0, 0)
warning_layout.addItem(
QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
self.warning_label = QLabel()
icon = nm.settings().icon('crystal_clear_warning.png')
self.warning_label.setPixmap(icon.pixmap(QSize(40, 40)))
self.warning_label.setToolTip(
'Multiple configuration for same node found!\nA first one will be selected for the start a node!'
)
warning_layout.addWidget(self.warning_label)
warning_layout.addItem(
QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
frame_layout.addItem(
QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
frame_layout.addWidget(warning_frame)
# create frame for start/stop buttons
buttons_frame = QFrame()
buttons_layout = QHBoxLayout(buttons_frame)
buttons_layout.setContentsMargins(0, 0, 0, 0)
buttons_layout.addItem(QSpacerItem(20, 20))
self.on_button = QPushButton()
self.on_button.setFlat(False)
self.on_button.setText("On")
self.on_button.clicked.connect(self.on_on_clicked)
buttons_layout.addWidget(self.on_button)
self.off_button = QPushButton()
self.off_button.setFlat(True)
self.off_button.setText("Off")
self.off_button.clicked.connect(self.on_off_clicked)
buttons_layout.addWidget(self.off_button)
buttons_layout.addItem(QSpacerItem(20, 20))
frame_layout.addWidget(buttons_frame)
frame_layout.addItem(
QSpacerItem(0, 0, QSizePolicy.Expanding, QSizePolicy.Expanding))
self.warning_frame.setVisible(False)
def beginGui(self, obj):
self.parent = QScrollArea()
self.frame = QFrame(self.parent)
if obj.layout == "vertical":
self.tl = QVBoxLayout()
else:
self.tl = QHBoxLayout()
self.__increase_nesting_level(self.frame, self.tl)
def initUI(self):
self.layout = QVBoxLayout()
self.labels_layout = QHBoxLayout()
self.buttons_layout = QHBoxLayout()
self.progress_bar = QProgressBar()
self.pose_number_lbl = QLabel('0/8')
self.bad_plan_lbl = QLabel('No plan yet')
self.guide_lbl = QLabel('Hello')
self.check_start_pose_btn = QPushButton('Check starting pose')
self.check_start_pose_btn.clicked.connect(
self.handle_check_current_state)
self.next_pose_btn = QPushButton('Next Pose')
self.next_pose_btn.clicked.connect(self.handle_next_pose)
self.plan_btn = QPushButton('Plan')
self.plan_btn.clicked.connect(self.handle_plan)
self.execute_btn = QPushButton('Execute')
self.execute_btn.clicked.connect(self.handle_execute)
self.labels_layout.addWidget(self.pose_number_lbl)
self.labels_layout.addWidget(self.bad_plan_lbl)
self.buttons_layout.addWidget(self.check_start_pose_btn)
self.buttons_layout.addWidget(self.next_pose_btn)
self.buttons_layout.addWidget(self.plan_btn)
self.buttons_layout.addWidget(self.execute_btn)
self.layout.addWidget(self.progress_bar)
self.layout.addLayout(self.labels_layout)
self.layout.addWidget(self.guide_lbl)
self.layout.addLayout(self.buttons_layout)
self.setLayout(self.layout)
self.plan_btn.setEnabled(False)
self.execute_btn.setEnabled(False)
self.setWindowTitle('Local Mover')
self.show()
def __init__(self, parent=None, subscribe=False):
QWidget.__init__(self, parent)
# start widget
vbox = QVBoxLayout()
vbox.setMargin(0)
vbox.setContentsMargins(0, 0, 0, 0)
# add error status text edit
self.error_status_text_box = QErrorStatusTextBox()
self.error_status_text_box_layout = QHBoxLayout()
self.error_status_text_box_layout.addWidget(self.error_status_text_box)
vbox.addLayout(self.error_status_text_box_layout)
# add panel
hbox = QHBoxLayout()
# clear push button
self.execute_command = QPushButton("Clear")
self.execute_command.clicked.connect(self.error_status_text_box.clear)
hbox.addWidget(self.execute_command)
hbox.addStretch()
# hide window checkbox
hide_window_check_box = QCheckBox("Hide")
hide_window_check_box.stateChanged.connect(self.state_changed)
hbox.addWidget(hide_window_check_box)
# end panel
vbox.addLayout(hbox)
# end widget
self.setLayout(vbox)
#self.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Minimum)
# subscriber
if subscribe:
self.error_status_sub = rospy.Subscriber("error_status", ErrorStatus, self.error_status_callback)
self.subscribed = subscribe
# connect signal slot internally to prevent crash by subscriber
self.error_status_signal.connect(self.append_error_status)
def beginGroup(self, obj):
parent, layout = self.__get_immediate_parent()
panel = QGroupBox(obj.name, parent)
if obj.layout == "grid":
l = QGridLayout()
elif obj.layout == "vertical":
l = QVBoxLayout()
else:
l = QHBoxLayout()
self.__increase_nesting_level(panel, l)
def add_widget_with_frame(parent, widget, text=""):
box_layout = QHBoxLayout()
box_layout.addWidget(widget)
group_box = QGroupBox()
group_box.setStyleSheet(
"QGroupBox { border: 1px solid gray; border-radius: 4px; margin-top: 0.5em; } QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px; }"
)
group_box.setTitle(text)
group_box.setLayout(box_layout)
parent.addWidget(group_box)
def create_label_textedit_pair(key, value):
param_layout = QHBoxLayout()
name_widget = QLabel(key)
textedit_widget = QTextEdit()
textedit_widget.setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
textedit_widget.setMinimumSize(0, 30)
textedit_widget.append(str(value))
param_layout.addWidget(name_widget)
param_layout.addWidget(textedit_widget)
return param_layout
def __init__(self, path, parent=None):
QWidget.__init__(self, parent)
self.path = path
self._layout = QHBoxLayout(self)
self._layout.setContentsMargins(0, 0, 0, 0)
self._layout.setSpacing(0)
self._button = QPushButton('...')
self._button.setMaximumSize(QSize(24, 20))
self._button.clicked.connect(self._on_path_select_clicked)
self._layout.addWidget(self._button)
self._lineedit = QLineEdit(path)
self._lineedit.returnPressed.connect(self._on_editing_finished)
self._layout.addWidget(self._lineedit)
self.setLayout(self._layout)
self.setFocusProxy(self._button)
self.setAutoFillBackground(True)
def __init__(self,
nodename,
masteruri,
loggername,
level='INFO',
parent=None):
'''
Creates a new item.
'''
QFrame.__init__(self, parent)
self.setObjectName("LoggerItem")
self.nodename = nodename
self.masteruri = masteruri
self.loggername = loggername
self.current_level = None
layout = QHBoxLayout(self)
layout.setContentsMargins(1, 1, 1, 1)
self.debug = QRadioButton()
self.debug.setStyleSheet(
"QRadioButton{ background-color: #39B54A;}") # QColor(57, 181, 74)
self.debug.toggled.connect(self.toggled_debug)
layout.addWidget(self.debug)
self.info = QRadioButton()
self.info.setStyleSheet("QRadioButton{ background-color: #FFFAFA;}")
self.info.toggled.connect(self.toggled_info)
layout.addWidget(self.info)
self.warn = QRadioButton()
self.warn.setStyleSheet(
"QRadioButton{ background-color: #FFC706;}") # QColor(255, 199, 6)
self.warn.toggled.connect(self.toggled_warn)
layout.addWidget(self.warn)
self.error = QRadioButton()
self.error.setStyleSheet(
"QRadioButton{ background-color: #DE382B;}") # QColor(222, 56, 43)
self.error.toggled.connect(self.toggled_error)
layout.addWidget(self.error)
self.fatal = QRadioButton()
self.fatal.setStyleSheet("QRadioButton{ background-color: #FF0000;}")
self.fatal.toggled.connect(self.toggled_fatal)
layout.addWidget(self.fatal)
self.label = QLabel(loggername)
layout.addWidget(self.label)
layout.addStretch()
self._callback = None # used to set all logger
self.success_signal.connect(self.on_succes_update)
self.error_signal.connect(self.on_error_update)
self.set_level(level)
def __init__(self, editor, *args):
QFrame.__init__(self, *args)
self.setFrameStyle(QFrame.StyledPanel | QFrame.Sunken)
self.edit = editor
self.number_bar = self.NumberBar()
self.number_bar.set_text_edit(self.edit)
hbox = QHBoxLayout(self)
hbox.setSpacing(0)
# hbox.setMargin(0) # removed: it is not supported by Qt5
hbox.addWidget(self.number_bar)
hbox.addWidget(self.edit)
self.edit.installEventFilter(self)
self.edit.viewport().installEventFilter(self)
def _create_replace_frame(self):
# create frame with replace row
self.rplc_frame = rplc_frame = QFrame(self)
rplc_hbox_layout = QHBoxLayout(rplc_frame)
rplc_hbox_layout.setContentsMargins(0, 0, 0, 0)
rplc_hbox_layout.setSpacing(1)
self.replace_field = EnchancedLineEdit(rplc_frame)
self.replace_field.setPlaceholderText('replace text')
self.replace_field.returnPressed.connect(self.on_replace)
rplc_hbox_layout.addWidget(self.replace_field)
self.replace_result_label = QLabel(rplc_frame)
self.replace_result_label.setText(' ')
rplc_hbox_layout.addWidget(self.replace_result_label)
self.replace_button = replace_button = QPushButton("> &Replace >")
replace_button.setFixedWidth(90)
replace_button.clicked.connect(self.on_replace_click)
rplc_hbox_layout.addWidget(replace_button)
rplc_frame.setVisible(False)
return rplc_frame
def __init__(self, parent=None, topic_type=str(), is_action_topic=False):
QWidget.__init__(self, parent)
if is_action_topic:
self.topic_type = topic_type + "Goal"
else:
self.topic_type = topic_type
self.is_action_topic = is_action_topic
# start widget
hbox = QHBoxLayout()
hbox.setMargin(0)
hbox.setContentsMargins(0, 0, 0, 0)
# topic combo box
self.topic_combo_box = QComboBox()
self.topic_combo_box.setEnabled(False)
self.topic_combo_box.blockSignals(True)
self.topic_combo_box.setValidator(
QRegExpValidator(QRegExp('((\d|\w|/)(?!//))*'), self))
self.topic_combo_box.currentIndexChanged[str].connect(
self.topic_changed)
hbox.addWidget(self.topic_combo_box)
# get system icon
icon = QIcon.fromTheme("view-refresh")
size = icon.actualSize(QSize(32, 32))
# add refresh button
refresh_topics_button = QPushButton()
refresh_topics_button.clicked.connect(self.update_topic_list)
refresh_topics_button.setIcon(icon)
refresh_topics_button.setFixedSize(size.width() + 2, size.height() + 2)
hbox.addWidget(refresh_topics_button)
# end widget
self.setLayout(hbox)
# init widget
self.update_topic_list()
def _update_item(self):
widget_layout = self.arg_ver_layout
item_list = self.params_list
widget_list = widget_layout.parentWidget().children()
while len(widget_list) > 2:
added_arg_widget = widget_list.pop()
widget_layout.removeWidget(added_arg_widget)
added_arg_widget.setParent(None)
added_arg_widget.deleteLater()
#resize
dialog_widget = widget_layout.parentWidget().parentWidget()
dialog_widget.resize(dialog_widget.minimumSize())
for l in item_list:
params_hor_sub_widget = QWidget()
params_hor_layout = QHBoxLayout(params_hor_sub_widget)
for k in l:
param_name = k[0]
param_type = k[2]
name_widget = QLabel(param_name + ": ")
if param_type == 'string' or param_type == 'int':
k[1] = QTextEdit()
k[1].setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
k[1].setMinimumSize(0, 30)
k[1].append("")
elif param_type == 'bool':
k[1] = QTextEdit()
k[1] = QComboBox()
k[1].setSizePolicy(QSizePolicy.MinimumExpanding,
QSizePolicy.Ignored)
k[1].setMinimumSize(0, 30)
k[1].addItem("True", True)
k[1].addItem("False", False)
params_hor_layout.addWidget(name_widget)
params_hor_layout.addWidget(k[1])
widget_layout.addWidget(params_hor_sub_widget)
def _create_layout(self):
name_hor_sub_widget = QWidget()
name_hor_layout = QHBoxLayout(name_hor_sub_widget)
name_widget = QLabel(self.name + ": ")
name_hor_layout.addWidget(name_widget)
if self.add == True:
btn_add = QPushButton("+", name_hor_sub_widget)
btn_add.clicked.connect(self._push_param)
btn_add.clicked.connect(self._update_item)
name_hor_layout.addWidget(btn_add)
btn_subtract = QPushButton("-", name_hor_sub_widget)
btn_subtract.clicked.connect(self._pop_param)
btn_subtract.clicked.connect(self._update_item)
name_hor_layout.addWidget(btn_subtract)
pass
self.arg_ver_layout.addWidget(name_hor_sub_widget)
self.dlg_layout.addWidget(self.arg_ver_sub_widget)
self._update_item()
def _create_find_frame(self):
find_frame = QFrame(self)
find_hbox_layout = QHBoxLayout(find_frame)
find_hbox_layout.setContentsMargins(0, 0, 0, 0)
find_hbox_layout.setSpacing(1)
self.search_field = EnchancedLineEdit(find_frame)
self.search_field.setPlaceholderText('search text')
self.search_field.textChanged.connect(self.on_search_text_changed)
self.search_field.returnPressed.connect(self.on_search)
find_hbox_layout.addWidget(self.search_field)
self.search_result_label = QLabel(find_frame)
self.search_result_label.setText(' ')
find_hbox_layout.addWidget(self.search_result_label)
self.find_button_back = QPushButton("<")
self.find_button_back.setFixedWidth(44)
self.find_button_back.clicked.connect(self.on_search_back)
find_hbox_layout.addWidget(self.find_button_back)
self.find_button = QPushButton(">")
self.find_button.setDefault(True)
# self.find_button.setFlat(True)
self.find_button.setFixedWidth(44)
self.find_button.clicked.connect(self.on_search)
find_hbox_layout.addWidget(self.find_button)
return find_frame
def __init__(self, parent=None):
super(VisualizerWidget, self).__init__(parent)
self.setWindowTitle('Graph Profiler Visualizer')
vbox = QVBoxLayout()
self.setLayout(vbox)
toolbar_layout = QHBoxLayout()
refresh_button = QPushButton()
refresh_button.setIcon(QIcon.fromTheme('view-refresh'))
auto_refresh_checkbox = QCheckBox("Auto Refresh")
hide_disconnected_topics = QCheckBox("Hide Disconnected Topics")
topic_blacklist_button = QPushButton("Topic Blacklist")
node_blacklist_button = QPushButton("Node Blacklist")
refresh_button.clicked.connect(self._refresh)
topic_blacklist_button.clicked.connect(self._edit_topic_blacklist)
node_blacklist_button.clicked.connect(self._edit_node_blacklist)
auto_refresh_checkbox.setCheckState(2)
auto_refresh_checkbox.stateChanged.connect(self._autorefresh_changed)
hide_disconnected_topics.setCheckState(2)
hide_disconnected_topics.stateChanged.connect(self._hidedisconnectedtopics_changed)
toolbar_layout.addWidget(refresh_button)
toolbar_layout.addWidget(auto_refresh_checkbox)
toolbar_layout.addStretch(0)
toolbar_layout.addWidget(hide_disconnected_topics)
toolbar_layout.addWidget(topic_blacklist_button)
toolbar_layout.addWidget(node_blacklist_button)
vbox.addLayout(toolbar_layout)
# Initialize the Visualizer
self._view = qt_view.QtView()
self._adapter = rosprofiler_adapter.ROSProfileAdapter(self._view)
self._adapter.set_topic_quiet_list(TOPIC_BLACKLIST)
self._adapter.set_node_quiet_list(NODE_BLACKLIST)
vbox.addWidget(self._view)
