def set_menu(self, menu):
self._menu_manager = MenuManager(menu)
self._perspective_mapper = QSignalMapper(menu)
self._perspective_mapper.mapped[str].connect(self.switch_perspective)
# generate menu
create_action = QAction('&Create perspective...',
self._menu_manager.menu)
create_action.setIcon(QIcon.fromTheme('list-add'))
create_action.triggered.connect(self._on_create_perspective)
self._menu_manager.add_suffix(create_action)
self._remove_action = QAction('&Remove perspective...',
self._menu_manager.menu)
self._remove_action.setEnabled(False)
self._remove_action.setIcon(QIcon.fromTheme('list-remove'))
self._remove_action.triggered.connect(self._on_remove_perspective)
self._menu_manager.add_suffix(self._remove_action)
self._menu_manager.add_suffix(None)
import_action = QAction('&Import...', self._menu_manager.menu)
import_action.setIcon(QIcon.fromTheme('document-open'))
import_action.triggered.connect(self._on_import_perspective)
self._menu_manager.add_suffix(import_action)
export_action = QAction('&Export...', self._menu_manager.menu)
export_action.setIcon(QIcon.fromTheme('document-save-as'))
export_action.triggered.connect(self._on_export_perspective)
self._menu_manager.add_suffix(export_action)
# add perspectives to menu
for name in self.perspectives:
if not name.startswith(self.HIDDEN_PREFIX):
self._add_perspective_action(name)
def main(self,
argv=None,
standalone=None,
plugin_argument_provider=None,
plugin_manager_settings_prefix=''):
if argv is None:
argv = sys.argv
# extract --args and everything behind manually since argparse can not handle that
arguments = argv[1:]
# extract plugin specific args when not being invoked in standalone mode programmatically
if not standalone:
plugin_args = []
if '--args' in arguments:
index = arguments.index('--args')
plugin_args = arguments[index + 1:]
arguments = arguments[0:index + 1]
parser = ArgumentParser(os.path.basename(Main.main_filename),
add_help=False)
self.add_arguments(parser,
standalone=bool(standalone),
plugin_argument_provider=plugin_argument_provider)
self._options = parser.parse_args(arguments)
self._options.multi_process = False # not supported anymore
if standalone:
# rerun parsing to separate common arguments from plugin specific arguments
parser = ArgumentParser(os.path.basename(Main.main_filename),
add_help=False)
self.add_arguments(parser, standalone=bool(standalone))
self._options, plugin_args = parser.parse_known_args(arguments)
self._options.plugin_args = plugin_args
# set default values for options not available in standalone mode
if standalone:
self._options.freeze_layout = False
self._options.lock_perspective = False
self._options.hide_title = False
self._options.perspective = None
self._options.perspective_file = None
self._options.standalone_plugin = standalone
self._options.list_perspectives = False
self._options.list_plugins = False
self._options.command_pid = None
self._options.command_start_plugin = None
self._options.command_switch_perspective = None
self._options.embed_plugin = None
self._options.embed_plugin_serial = None
self._options.embed_plugin_address = None
# check option dependencies
try:
if self._options.plugin_args and not self._options.standalone_plugin and not self._options.command_start_plugin and not self._options.embed_plugin:
raise RuntimeError(
'Option --args can only be used together with either --standalone, --command-start-plugin or --embed-plugin option'
)
if self._options.freeze_layout and not self._options.lock_perspective:
raise RuntimeError(
'Option --freeze_layout can only be used together with the --lock_perspective option'
)
list_options = (self._options.list_perspectives,
self._options.list_plugins)
list_options_set = [
opt for opt in list_options if opt is not False
]
if len(list_options_set) > 1:
raise RuntimeError(
'Only one --list-* option can be used at a time')
command_options = (self._options.command_start_plugin,
self._options.command_switch_perspective)
command_options_set = [
opt for opt in command_options if opt is not None
]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError(
'Without DBus support the --command-* options are not available'
)
if len(command_options_set) > 1:
raise RuntimeError(
'Only one --command-* option can be used at a time (except --command-pid which is optional)'
)
if len(command_options_set
) == 0 and self._options.command_pid is not None:
raise RuntimeError(
'Option --command_pid can only be used together with an other --command-* option'
)
embed_options = (self._options.embed_plugin,
self._options.embed_plugin_serial,
self._options.embed_plugin_address)
embed_options_set = [
opt for opt in embed_options if opt is not None
]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError(
'Without DBus support the --embed-* options are not available'
)
if len(embed_options_set) > 0 and len(embed_options_set) < len(
embed_options):
raise RuntimeError(
'Missing option(s) - all \'--embed-*\' options must be set'
)
if len(embed_options_set) > 0 and self._options.clear_config:
raise RuntimeError(
'Option --clear-config can only be used without any --embed-* option'
)
groups = (list_options_set, command_options_set, embed_options_set)
groups_set = [opt for opt in groups if len(opt) > 0]
if len(groups_set) > 1:
raise RuntimeError(
'Options from different groups (--list, --command, --embed) can not be used together'
)
perspective_options = (self._options.perspective,
self._options.perspective_file)
perspective_options_set = [
opt for opt in perspective_options if opt is not None
]
if len(perspective_options_set) > 1:
raise RuntimeError(
'Only one --perspective-* option can be used at a time')
if self._options.perspective_file is not None and not os.path.isfile(
self._options.perspective_file):
raise RuntimeError(
'Option --perspective-file must reference existing file')
except RuntimeError as e:
print(str(e))
#parser.parse_args(['--help'])
# calling --help will exit
return 1
# set implicit option dependencies
if self._options.standalone_plugin is not None:
self._options.lock_perspective = True
# create application context containing various relevant information
from .application_context import ApplicationContext
context = ApplicationContext()
context.qtgui_path = self._qtgui_path
context.options = self._options
if self._dbus_available:
from dbus import DBusException, Interface, SessionBus
# non-special applications provide various dbus interfaces
if self._dbus_available:
context.provide_app_dbus_interfaces = len(groups_set) == 0
context.dbus_base_bus_name = 'org.ros.qt_gui'
if context.provide_app_dbus_interfaces:
context.dbus_unique_bus_name = context.dbus_base_bus_name + '.pid%d' % os.getpid(
)
# provide pid of application via dbus
from .application_dbus_interface import ApplicationDBusInterface
_dbus_server = ApplicationDBusInterface(
context.dbus_base_bus_name)
# determine host bus name, either based on pid given on command line or via dbus application interface if any other instance is available
if len(command_options_set) > 0 or len(embed_options_set) > 0:
host_pid = None
if self._options.command_pid is not None:
host_pid = self._options.command_pid
else:
try:
remote_object = SessionBus().get_object(
context.dbus_base_bus_name, '/Application')
except DBusException:
pass
else:
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.Application')
host_pid = remote_interface.get_pid()
if host_pid is not None:
context.dbus_host_bus_name = context.dbus_base_bus_name + '.pid%d' % host_pid
# execute command on host application instance
if len(command_options_set) > 0:
if self._options.command_start_plugin is not None:
try:
remote_object = SessionBus().get_object(
context.dbus_host_bus_name, '/PluginManager')
except DBusException:
(rc,
msg) = (1,
'unable to communicate with GUI instance "%s"' %
context.dbus_host_bus_name)
else:
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.PluginManager')
(rc, msg) = remote_interface.start_plugin(
self._options.command_start_plugin,
' '.join(self._options.plugin_args))
if rc == 0:
print('qt_gui_main() started plugin "%s" in GUI "%s"' %
(msg, context.dbus_host_bus_name))
else:
print(
'qt_gui_main() could not start plugin "%s" in GUI "%s": %s'
% (self._options.command_start_plugin,
context.dbus_host_bus_name, msg))
return rc
elif self._options.command_switch_perspective is not None:
remote_object = SessionBus().get_object(
context.dbus_host_bus_name, '/PerspectiveManager')
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.PerspectiveManager')
remote_interface.switch_perspective(
self._options.command_switch_perspective)
print(
'qt_gui_main() switched to perspective "%s" in GUI "%s"' %
(self._options.command_switch_perspective,
context.dbus_host_bus_name))
return 0
raise RuntimeError('Unknown command not handled')
# choose selected or default qt binding
setattr(sys, 'SELECT_QT_BINDING', self._options.qt_binding)
from python_qt_binding import QT_BINDING
from python_qt_binding.QtCore import qDebug, qInstallMessageHandler, QSettings, Qt, QtCriticalMsg, QtDebugMsg, QtFatalMsg, QTimer, QtWarningMsg
from python_qt_binding.QtGui import QIcon
from python_qt_binding.QtWidgets import QAction, QMenuBar
from .about_handler import AboutHandler
from .composite_plugin_provider import CompositePluginProvider
from .container_manager import ContainerManager
from .help_provider import HelpProvider
from .icon_loader import get_icon
from .main_window import MainWindow
from .minimized_dock_widgets_toolbar import MinimizedDockWidgetsToolbar
from .perspective_manager import PerspectiveManager
from .plugin_manager import PluginManager
# TODO PySide2 segfaults when invoking this custom message handler atm
if QT_BINDING != 'pyside':
def message_handler(type_, context, msg):
colored_output = 'TERM' in os.environ and 'ANSI_COLORS_DISABLED' not in os.environ
cyan_color = '\033[36m' if colored_output else ''
red_color = '\033[31m' if colored_output else ''
reset_color = '\033[0m' if colored_output else ''
if type_ == QtDebugMsg and self._options.verbose:
print(msg, file=sys.stderr)
elif type_ == QtWarningMsg:
print(cyan_color + msg + reset_color, file=sys.stderr)
elif type_ == QtCriticalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
elif type_ == QtFatalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
sys.exit(1)
qInstallMessageHandler(message_handler)
app = self.create_application(argv)
self._check_icon_theme_compliance()
settings = QSettings(QSettings.IniFormat, QSettings.UserScope,
'ros.org', self._settings_filename)
if len(embed_options_set) == 0:
if self._options.clear_config:
settings.clear()
main_window = MainWindow()
if self._options.on_top:
main_window.setWindowFlags(Qt.WindowStaysOnTopHint)
main_window.statusBar()
def sigint_handler(*args):
qDebug('\nsigint_handler()')
main_window.close()
signal.signal(signal.SIGINT, sigint_handler)
# the timer enables triggering the sigint_handler
timer = QTimer()
timer.start(500)
timer.timeout.connect(lambda: None)
if not self._options.lock_perspective:
menu_bar = main_window.menuBar()
file_menu = menu_bar.addMenu(menu_bar.tr('&File'))
action = QAction(file_menu.tr('&Quit'), file_menu)
action.setIcon(QIcon.fromTheme('application-exit'))
action.triggered.connect(main_window.close)
file_menu.addAction(action)
else:
menu_bar = None
else:
app.setQuitOnLastWindowClosed(False)
main_window = None
menu_bar = None
self._add_plugin_providers()
# setup plugin manager
plugin_provider = CompositePluginProvider(self.plugin_providers)
plugin_manager = PluginManager(
plugin_provider,
settings,
context,
settings_prefix=plugin_manager_settings_prefix)
if self._options.list_plugins:
# output available plugins
print('\n'.join(sorted(plugin_manager.get_plugins().values())))
return 0
help_provider = HelpProvider()
plugin_manager.plugin_help_signal.connect(
help_provider.plugin_help_request)
# setup perspective manager
if main_window is not None:
perspective_manager = PerspectiveManager(settings, context)
if self._options.list_perspectives:
# output available perspectives
print('\n'.join(sorted(perspective_manager.perspectives)))
return 0
else:
perspective_manager = None
if main_window is not None:
container_manager = ContainerManager(main_window, plugin_manager)
plugin_manager.set_main_window(main_window, menu_bar,
container_manager)
if not self._options.freeze_layout:
minimized_dock_widgets_toolbar = MinimizedDockWidgetsToolbar(
container_manager, main_window)
main_window.addToolBar(Qt.BottomToolBarArea,
minimized_dock_widgets_toolbar)
plugin_manager.set_minimized_dock_widgets_toolbar(
minimized_dock_widgets_toolbar)
if menu_bar is not None:
perspective_menu = menu_bar.addMenu(menu_bar.tr('P&erspectives'))
perspective_manager.set_menu(perspective_menu)
# connect various signals and slots
if perspective_manager is not None and main_window is not None:
# signal changed perspective to update window title
perspective_manager.perspective_changed_signal.connect(
main_window.perspective_changed)
# signal new settings due to changed perspective
perspective_manager.save_settings_signal.connect(
main_window.save_settings)
perspective_manager.restore_settings_signal.connect(
main_window.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(
main_window.restore_settings)
if perspective_manager is not None and plugin_manager is not None:
perspective_manager.save_settings_signal.connect(
plugin_manager.save_settings)
plugin_manager.save_settings_completed_signal.connect(
perspective_manager.save_settings_completed)
perspective_manager.restore_settings_signal.connect(
plugin_manager.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(
plugin_manager.restore_settings_without_plugins)
if plugin_manager is not None and main_window is not None:
# signal before changing plugins to save window state
plugin_manager.plugins_about_to_change_signal.connect(
main_window.save_setup)
# signal changed plugins to restore window state
plugin_manager.plugins_changed_signal.connect(
main_window.restore_state)
# signal save settings to store plugin setup on close
main_window.save_settings_before_close_signal.connect(
plugin_manager.close_application)
# signal save and shutdown called for all plugins, trigger closing main window again
plugin_manager.close_application_signal.connect(
main_window.close, type=Qt.QueuedConnection)
if main_window is not None and menu_bar is not None:
about_handler = AboutHandler(context.qtgui_path, main_window)
help_menu = menu_bar.addMenu(menu_bar.tr('&Help'))
action = QAction(help_menu.tr('&About'), help_menu)
action.setIcon(QIcon.fromTheme('help-about'))
action.triggered.connect(about_handler.show)
help_menu.addAction(action)
# set initial size - only used without saved configuration
if main_window is not None:
main_window.resize(600, 450)
main_window.move(100, 100)
# ensure that qt_gui/src is in sys.path
src_path = os.path.realpath(
os.path.join(os.path.dirname(__file__), '..'))
if src_path not in sys.path:
sys.path.append(src_path)
# load specific plugin
plugin = None
plugin_serial = None
if self._options.embed_plugin is not None:
plugin = self._options.embed_plugin
plugin_serial = self._options.embed_plugin_serial
elif self._options.standalone_plugin is not None:
plugin = self._options.standalone_plugin
plugin_serial = 0
if plugin is not None:
plugins = plugin_manager.find_plugins_by_name(plugin)
if len(plugins) == 0:
print('qt_gui_main() found no plugin matching "%s"' % plugin)
print('try passing the option "--force-discover"')
return 1
elif len(plugins) > 1:
print(
'qt_gui_main() found multiple plugins matching "%s"\n%s' %
(plugin, '\n'.join(plugins.values())))
return 1
plugin = list(plugins.keys())[0]
qDebug('QtBindingHelper using %s' % QT_BINDING)
plugin_manager.discover()
if self._options.reload_import:
qDebug(
'ReloadImporter() automatically reload all subsequent imports')
from .reload_importer import ReloadImporter
_reload_importer = ReloadImporter()
self._add_reload_paths(_reload_importer)
_reload_importer.enable()
# switch perspective
if perspective_manager is not None:
if plugin:
perspective_manager.set_perspective(
plugin, hide_and_without_plugin_changes=True)
elif self._options.perspective_file:
perspective_manager.import_perspective_from_file(
self._options.perspective_file,
perspective_manager.HIDDEN_PREFIX +
os.path.basename(self._options.perspective_file))
else:
perspective_manager.set_perspective(self._options.perspective)
# load specific plugin
if plugin:
plugin_manager.load_plugin(plugin, plugin_serial,
self._options.plugin_args)
running = plugin_manager.is_plugin_running(plugin, plugin_serial)
if not running:
return 1
if self._options.standalone_plugin:
# use icon of standalone plugin (if available) for application
plugin_descriptor = plugin_manager.get_plugin_descriptor(
plugin)
action_attributes = plugin_descriptor.action_attributes()
if 'icon' in action_attributes and action_attributes[
'icon'] is not None:
base_path = plugin_descriptor.attributes().get(
'plugin_path')
try:
icon = get_icon(
action_attributes['icon'],
action_attributes.get('icontype', None), base_path)
except UserWarning:
pass
else:
app.setWindowIcon(icon)
if main_window is not None:
main_window.show()
if sys.platform == 'darwin':
main_window.raise_()
return app.exec_()
class HandEyeCalibration(Plugin):
PLUGIN_TITLE = ' Intel OTC Robotics: Hand-Eye Calibration'
def __init__(self, context):
super(HandEyeCalibration, self).__init__(context)
self.context = context
self.node = context.node
self.widget = QWidget()
self.widget.setObjectName(self.PLUGIN_TITLE)
self.widget.setWindowTitle(self.PLUGIN_TITLE)
# Data
self.Tsamples = []
# Toolbar
_, path_pkg = get_resource('packages', 'handeye_dashboard')
print("{}".format(path_pkg))
self.snapshot_action = QAction(QIcon.fromTheme('camera-photo'),
'Take a snapshot', self.widget)
path = path_pkg + '/share/handeye_dashboard/images/capture.png'
self.calibrate_action = QAction(QIcon(QPixmap.fromImage(QImage(path))),
'Get the camera/robot transform',
self.widget)
self.clear_action = QAction(QIcon.fromTheme('edit-clear'),
'Clear the record data.', self.widget)
path = path_pkg + '/share/handeye_dashboard/images/UR5.png'
self.execut_action = QAction(QIcon(QPixmap.fromImage(QImage(path))),
'Start the publishing the TF.',
self.widget)
self.path_red_icon = path_pkg + '/share/handeye_dashboard/images/red_circle_icon.png'
self.path_green_icon = path_pkg + '/share/handeye_dashboard/images/green_circle_icon.png'
self.parameter_action = QAction(
QIcon(QPixmap.fromImage(QImage(self.path_red_icon))),
'Connect to parameter service.', self.widget)
self.tf_action = QAction(
QIcon(QPixmap.fromImage(QImage(self.path_red_icon))),
'Connect to tf service.', self.widget)
self.toolbar = QToolBar()
self.toolbar.addAction(self.snapshot_action)
self.toolbar.addAction(self.calibrate_action)
self.toolbar.addAction(self.clear_action)
self.toolbar.addAction(self.execut_action)
self.parameter_label = QLabel(self.widget)
self.parameter_label.setText("Parameter service: ")
self.toolbar.addWidget(self.parameter_label)
self.toolbar.addAction(self.parameter_action)
self.tf_label = QLabel(self.widget)
self.tf_label.setText("tf service: ")
self.toolbar.addWidget(self.tf_label)
self.toolbar.addAction(self.tf_action)
# Toolbar0
self.l0 = QLabel(self.widget)
self.l0.setText("Camera-Mount-Type: ")
self.l0.setFixedWidth(150)
self.l0.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.combobox = QComboBox(self.widget)
self.combobox.addItem('attached on robot')
self.combobox.addItem('fixed beside robot')
self.toolbar0 = QToolBar()
self.toolbar0.addWidget(self.l0)
self.toolbar0.addWidget(self.combobox)
# Toolbar1
self.l1 = QLabel(self.widget)
self.l1.setText("Camera-Frame: ")
self.l1.setFixedWidth(150)
self.l1.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.camera_frame = QLineEdit(self.widget)
self.camera_frame.setText("camera_link")
self.toolbar1 = QToolBar()
self.toolbar1.addWidget(self.l1)
self.toolbar1.addWidget(self.camera_frame)
# Toolbar2
self.l2 = QLabel(self.widget)
self.l2.setText("Object-Frame: ")
self.l2.setFixedWidth(150)
self.l2.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.object_frame = QLineEdit(self.widget)
self.object_frame.setText("calib_board")
self.toolbar2 = QToolBar()
self.toolbar2.addWidget(self.l2)
self.toolbar2.addWidget(self.object_frame)
# Toolbar3
self.l3 = QLabel(self.widget)
self.l3.setText("Robot-Base-Frame: ")
self.l3.setFixedWidth(150)
self.l3.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.base_frame = QLineEdit(self.widget)
self.base_frame.setText("base")
self.toolbar3 = QToolBar()
self.toolbar3.addWidget(self.l3)
self.toolbar3.addWidget(self.base_frame)
# Toolbar4
self.l4 = QLabel(self.widget)
self.l4.setText("End-Effector-Frame: ")
self.l4.setFixedWidth(150)
self.l4.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.endeffector_frame = QLineEdit(self.widget)
self.endeffector_frame.setText("tool0")
self.toolbar4 = QToolBar()
self.toolbar4.addWidget(self.l4)
self.toolbar4.addWidget(self.endeffector_frame)
# Toolbar5
self.l5 = QLabel(self.widget)
self.l5.setText("Sample-Number: ")
self.l5.setFixedWidth(150)
self.l5.setAlignment(QtCore.Qt.AlignRight | QtCore.Qt.AlignVCenter)
self.le5 = QLineEdit(self.widget)
self.le5.setValidator(QIntValidator())
self.le5.setText('10')
self.le5.setReadOnly(True)
self.toolbar5 = QToolBar()
self.toolbar5.addWidget(self.l5)
self.toolbar5.addWidget(self.le5)
# TreeView
self.treeview = QTreeView()
self.treeview.setAlternatingRowColors(True)
self.model = QStandardItemModel(self.treeview)
self.treeview.setModel(self.model)
self.treeview.setHeaderHidden(True)
# TextEdit
self.textedit = QTextEdit(self.widget)
self.textedit.setReadOnly(True)
# Layout
self.layout = QVBoxLayout()
self.layout.addWidget(self.toolbar0)
self.layout.addWidget(self.toolbar1)
self.layout.addWidget(self.toolbar2)
self.layout.addWidget(self.toolbar3)
self.layout.addWidget(self.toolbar4)
self.layout.addWidget(self.toolbar5)
self.layout.addWidget(self.toolbar)
self.layoutH = QHBoxLayout()
self.layoutH.addWidget(self.treeview)
self.layoutH.addWidget(self.textedit)
self.layout.addLayout(self.layoutH)
self.widget.setLayout(self.layout)
# Add the widget to the user interface
if context.serial_number() > 1:
self.widget.setWindowTitle(self.widget.windowTitle() +
(' (%d)' % context.serial_number()))
context.add_widget(self.widget)
# Make the connections
self.snapshot_action.triggered.connect(self.take_snapshot)
self.calibrate_action.triggered.connect(self.calibration)
self.clear_action.triggered.connect(self.clear)
self.execut_action.triggered.connect(self.execution)
self.parameter_action.triggered.connect(self.parameter_connect)
self.tf_action.triggered.connect(self.tf_connect)
# Package path
self.path_pkg = path_pkg
# Set up TF service client
self.client_tf = self.node.create_client(HandeyeTF,
'handeye_tf_service')
self.tf_action.setIcon(QIcon(QPixmap.fromImage(QImage(self.path_red_icon))) \
if not self.client_tf.wait_for_service(timeout_sec=0.5) \
else QIcon(QPixmap.fromImage(QImage(self.path_green_icon))))
self.req = HandeyeTF.Request()
# Set up parameter service client
self.client_param = self.node.create_client(
SetParameters, '/grasp_modbus_server/set_parameters')
self.parameter_action.setIcon(QIcon(QPixmap.fromImage(QImage(self.path_red_icon))) \
if not self.client_param.wait_for_service(timeout_sec=0.5) \
else QIcon(QPixmap.fromImage(QImage(self.path_green_icon))))
def tf_connect(self):
self.client_tf = self.node.create_client(HandeyeTF,
'handeye_tf_service')
self.tf_action.setIcon(QIcon(QPixmap.fromImage(QImage(self.path_red_icon))) \
if not self.client_tf.wait_for_service(timeout_sec=0.5) \
else QIcon(QPixmap.fromImage(QImage(self.path_green_icon))))
def parameter_connect(self):
self.client_param = self.node.create_client(
SetParameters, '/grasp_modbus_server/set_parameters')
self.parameter_action.setIcon(QIcon(QPixmap.fromImage(QImage(self.path_red_icon))) \
if not self.client_param.wait_for_service(timeout_sec=0.5) \
else QIcon(QPixmap.fromImage(QImage(self.path_green_icon))))
def clear(self):
# >>> Clear the recorded samples
self.textedit.append('Clearing the recorded data ...')
self.textedit.clear()
self.Tsamples = []
self.model.clear()
def get_tf_transform(self, frame_id, child_frame_id):
self.req.transform.header.frame_id = frame_id
self.req.transform.child_frame_id = child_frame_id
self.req.publish.data = False
future = self.client_tf.call_async(self.req)
rclpy.spin_until_future_complete(self.node, future)
transform = TransformStamped()
try:
result = future.result()
except Exception as e:
self.node.get_logger().info('Service call failed %r' % (e, ))
else:
transform = result.tf_lookup_result
return transform
def publish_tf_transform(self, transform_to_publish):
self.req.publish.data = True
self.req.transform = transform_to_publish
future = self.client_tf.call_async(self.req)
rclpy.spin_until_future_complete(self.node, future)
try:
future.result()
except Exception as e:
self.node.get_logger().info('Service call failed %r' % (e, ))
else:
self.node.get_logger().info(
'Send the camera-robot transform :\n\tfrom `{}` to `{}`.'.
format(self.req.transform.header.frame_id,
self.req.transform.child_frame_id))
def take_snapshot(self):
# >>> Take the snapshot
self.textedit.append('Taking snapshot ...')
# Get the transform from `tool0` to `base_link`
T = self.get_tf_transform(self.base_frame.text(),
self.endeffector_frame.text())
bTe = np.zeros((4, 4))
q = [
T.transform.rotation.w, T.transform.rotation.x,
T.transform.rotation.y, T.transform.rotation.z
]
bTe = br.quaternion.to_transform(q)
bTe[:3, 3] = np.array([
T.transform.translation.x, T.transform.translation.y,
T.transform.translation.z
])
self.textedit.append('Lookup transform: from `{}` to `{}`.'.format(
self.base_frame.text(), self.endeffector_frame.text()))
self.node.get_logger().info(bcolors.OKGREEN + 'bTe:' + bcolors.ENDC +
'\n{}'.format(bTe))
# Get the transform from `calib_board` to `camera_link`
T = self.get_tf_transform(self.camera_frame.text(),
self.object_frame.text())
cTo = np.zeros((4, 4))
q = [
T.transform.rotation.w, T.transform.rotation.x,
T.transform.rotation.y, T.transform.rotation.z
]
cTo = br.quaternion.to_transform(q)
cTo[:3, 3] = np.array([
T.transform.translation.x, T.transform.translation.y,
T.transform.translation.z
])
self.textedit.append('Lookup transform: from `{}` to `{}`.'.format(
self.camera_frame.text(), self.object_frame.text()))
self.node.get_logger().info(bcolors.OKGREEN + 'cTo:' + bcolors.ENDC +
'\n{}'.format(cTo))
parent = QStandardItem('Snapshot {}'.format(len(self.Tsamples)))
child_1 = QStandardItem('bTe:\n{}\n{}\n{}\n{}'.format(
bTe[0, :], bTe[1, :], bTe[2, :], bTe[3, :]))
child_2 = QStandardItem('cTo:\n{}\n{}\n{}\n{}'.format(
cTo[0, :], cTo[1, :], cTo[2, :], cTo[3, :]))
parent.appendRow(child_1)
parent.appendRow(child_2)
self.model.appendRow(parent)
self.Tsamples.append((bTe, cTo))
self.le5.setText(str(len(self.Tsamples)))
def calibration(self):
# >>> Compute the calibration
self.textedit.append('Making the calibration ...')
if len(self.Tsamples) == 0:
self.textedit.append(
'No transform recorded, please take snapshots.')
return
# save samples to `dataset.json` file
save_samples_to_file(self.Tsamples)
import handeye
if self.combobox.currentIndex() == 0:
solver_cri = handeye.calibrator.HandEyeCalibrator(setup='Moving')
if self.combobox.currentIndex() == 1:
solver_cri = handeye.calibrator.HandEyeCalibrator(setup='Fixed')
for sample in self.Tsamples:
solver_cri.add_sample(sample[0], sample[1])
try:
bTc = solver_cri.solve(method=handeye.solver.Daniilidis1999)
# save the calibration result to 'camera-robot.json' file
file_output = '/tmp/' + 'camera-robot.json'
with open(file_output, 'w') as f:
json.dump(bTc.tolist(), f)
except Exception:
self.textedit.append("Failed to solve the hand-eye calibration.")
def execution(self):
# Set calibration state to success
req = SetParameters.Request()
param = Parameter()
param.name = "calibration_state"
param.value.type = ParameterType.PARAMETER_INTEGER
param.value.integer_value = 4
req.parameters.append(param)
future = self.client_param.call_async(req)
rclpy.spin_until_future_complete(self.node, future)
# >>> Publish the camera-robot transform
self.textedit.append('Publishing the camera TF ...')
file_input = '/tmp/' + 'camera-robot.json'
with open(file_input, 'r') as f:
datastore = json.load(f)
to_frame = self.camera_frame.text()
if self.combobox.currentIndex() == 0:
from_frame = self.endeffector_frame.text()
if self.combobox.currentIndex() == 1:
from_frame = self.base_frame.text()
bTc = np.array(datastore)
static_transformStamped = TransformStamped()
static_transformStamped.header.stamp = ROSClock().now().to_msg()
static_transformStamped.header.frame_id = from_frame
static_transformStamped.child_frame_id = to_frame
static_transformStamped.transform.translation.x = bTc[0, 3]
static_transformStamped.transform.translation.y = bTc[1, 3]
static_transformStamped.transform.translation.z = bTc[2, 3]
q = br.transform.to_quaternion(bTc)
static_transformStamped.transform.rotation.x = q[1]
static_transformStamped.transform.rotation.y = q[2]
static_transformStamped.transform.rotation.z = q[3]
static_transformStamped.transform.rotation.w = q[0]
self.publish_tf_transform(static_transformStamped)
output_string = "camera-robot pose:\n"
output_string += " Translation: [{}, {}, {}]\n".format(
bTc[0, 3], bTc[1, 3], bTc[2, 3])
output_string += " Rotation: in Quaternion [{}, {}, {}, {}]".format(
q[0], q[1], q[2], q[3])
file_path = '/tmp/' + 'camera-robot.txt'
with open(file_path, 'w') as f:
f.write(output_string)
def shutdown_plugin(self):
"""
Unregister subscribers when the plugin shutdown
"""
pass
def save_settings(self, plugin_settings, instance_settings):
# Nothing to be done here
pass
def restore_settings(self, plugin_settings, instance_settings):
# Nothing to be done here
pass
class PerspectiveManager(QObject):
"""Manager for perspectives associated with specific sets of `Settings`."""
perspective_changed_signal = Signal(str)
save_settings_signal = Signal(Settings, Settings)
restore_settings_signal = Signal(Settings, Settings)
restore_settings_without_plugin_changes_signal = Signal(Settings, Settings)
HIDDEN_PREFIX = '@'
def __init__(self, settings, application_context):
super(PerspectiveManager, self).__init__()
self.setObjectName('PerspectiveManager')
self._qtgui_path = application_context.qtgui_path
self._settings_proxy = SettingsProxy(settings)
self._global_settings = Settings(self._settings_proxy, 'global')
self._perspective_settings = None
self._create_perspective_dialog = None
self._menu_manager = None
self._perspective_mapper = None
# get perspective list from settings
self.perspectives = self._settings_proxy.value('', 'perspectives', [])
if is_string(self.perspectives):
self.perspectives = [self.perspectives]
self._current_perspective = None
self._remove_action = None
self._callback = None
self._callback_args = []
if application_context.provide_app_dbus_interfaces:
from .perspective_manager_dbus_interface import PerspectiveManagerDBusInterface
self._dbus_server = PerspectiveManagerDBusInterface(
self, application_context)
def set_menu(self, menu):
self._menu_manager = MenuManager(menu)
self._perspective_mapper = QSignalMapper(menu)
self._perspective_mapper.mapped[str].connect(self.switch_perspective)
# generate menu
create_action = QAction('&Create perspective...',
self._menu_manager.menu)
create_action.setIcon(QIcon.fromTheme('list-add'))
create_action.triggered.connect(self._on_create_perspective)
self._menu_manager.add_suffix(create_action)
self._remove_action = QAction('&Remove perspective...',
self._menu_manager.menu)
self._remove_action.setEnabled(False)
self._remove_action.setIcon(QIcon.fromTheme('list-remove'))
self._remove_action.triggered.connect(self._on_remove_perspective)
self._menu_manager.add_suffix(self._remove_action)
self._menu_manager.add_suffix(None)
import_action = QAction('&Import...', self._menu_manager.menu)
import_action.setIcon(QIcon.fromTheme('document-open'))
import_action.triggered.connect(self._on_import_perspective)
self._menu_manager.add_suffix(import_action)
export_action = QAction('&Export...', self._menu_manager.menu)
export_action.setIcon(QIcon.fromTheme('document-save-as'))
export_action.triggered.connect(self._on_export_perspective)
self._menu_manager.add_suffix(export_action)
# add perspectives to menu
for name in self.perspectives:
if not name.startswith(self.HIDDEN_PREFIX):
self._add_perspective_action(name)
def set_perspective(self, name, hide_and_without_plugin_changes=False):
if name is None:
name = self._settings_proxy.value('', 'current-perspective',
'Default')
elif hide_and_without_plugin_changes:
name = self.HIDDEN_PREFIX + name
self.switch_perspective(
name,
save_before=not hide_and_without_plugin_changes,
without_plugin_changes=hide_and_without_plugin_changes)
@Slot(str)
@Slot(str, bool)
@Slot(str, bool, bool)
def switch_perspective(self,
name,
settings_changed=True,
save_before=True,
without_plugin_changes=False):
if save_before and self._global_settings is not None and self._perspective_settings is not None:
self._callback = self._switch_perspective
self._callback_args = [name, settings_changed, save_before]
self.save_settings_signal.emit(self._global_settings,
self._perspective_settings)
else:
self._switch_perspective(name, settings_changed, save_before,
without_plugin_changes)
def _switch_perspective(self,
name,
settings_changed,
save_before,
without_plugin_changes=False):
# convert from unicode
name = str(name.replace('/', '__'))
qDebug(
'PerspectiveManager.switch_perspective() switching to perspective "%s"'
% name)
if self._current_perspective is not None and self._menu_manager is not None:
self._menu_manager.set_item_checked(self._current_perspective,
False)
self._menu_manager.set_item_disabled(self._current_perspective,
False)
# create perspective if necessary
if name not in self.perspectives:
self._create_perspective(name, clone_perspective=False)
# update current perspective
self._current_perspective = name
if self._menu_manager is not None:
self._menu_manager.set_item_checked(self._current_perspective,
True)
self._menu_manager.set_item_disabled(self._current_perspective,
True)
if not self._current_perspective.startswith(self.HIDDEN_PREFIX):
self._settings_proxy.set_value('', 'current-perspective',
self._current_perspective)
self._perspective_settings = self._get_perspective_settings(
self._current_perspective)
# emit signals
self.perspective_changed_signal.emit(
self._current_perspective.lstrip(self.HIDDEN_PREFIX))
if settings_changed:
if not without_plugin_changes:
self.restore_settings_signal.emit(self._global_settings,
self._perspective_settings)
else:
self.restore_settings_without_plugin_changes_signal.emit(
self._global_settings, self._perspective_settings)
def save_settings_completed(self):
if self._callback is not None:
callback = self._callback
callback_args = self._callback_args
self._callback = None
self._callback_args = []
callback(*callback_args)
def _get_perspective_settings(self, perspective_name):
return Settings(self._settings_proxy,
'perspective/%s' % perspective_name)
def _on_create_perspective(self):
name = self._choose_new_perspective_name()
if name is not None:
clone_perspective = self._create_perspective_dialog.clone_checkbox.isChecked(
)
self._create_perspective(name, clone_perspective)
self.switch_perspective(name,
settings_changed=not clone_perspective,
save_before=False)
def _choose_new_perspective_name(self, show_cloning=True):
# input dialog for new perspective name
if self._create_perspective_dialog is None:
ui_file = os.path.join(self._qtgui_path, 'resource',
'perspective_create.ui')
self._create_perspective_dialog = loadUi(ui_file)
# custom validator preventing forward slashs
class CustomValidator(QValidator):
def __init__(self, parent=None):
super(CustomValidator, self).__init__(parent)
def fixup(self, value):
value = value.replace('/', '')
def validate(self, value, pos):
if value.find('/') != -1:
pos = value.find('/')
return (QValidator.Invalid, value, pos)
if value == '':
return (QValidator.Intermediate, value, pos)
return (QValidator.Acceptable, value, pos)
self._create_perspective_dialog.perspective_name_edit.setValidator(
CustomValidator())
# set default values
self._create_perspective_dialog.perspective_name_edit.setText('')
self._create_perspective_dialog.clone_checkbox.setChecked(True)
self._create_perspective_dialog.clone_checkbox.setVisible(show_cloning)
# show dialog and wait for it's return value
return_value = self._create_perspective_dialog.exec_()
if return_value == self._create_perspective_dialog.Rejected:
return
name = str(self._create_perspective_dialog.perspective_name_edit.text(
)).lstrip(self.HIDDEN_PREFIX)
if name == '':
QMessageBox.warning(
self._menu_manager.menu, self.tr('Empty perspective name'),
self.tr('The name of the perspective must be non-empty.'))
return
if name in self.perspectives:
QMessageBox.warning(
self._menu_manager.menu, self.tr('Duplicate perspective name'),
self.tr('A perspective with the same name already exists.'))
return
return name
def _create_perspective(self, name, clone_perspective=True):
# convert from unicode
name = str(name)
if name.find('/') != -1:
raise RuntimeError(
'PerspectiveManager._create_perspective() name must not contain forward slashs (/)'
)
qDebug('PerspectiveManager._create_perspective(%s, %s)' %
(name, clone_perspective))
# add to list of perspectives
self.perspectives.append(name)
self._settings_proxy.set_value('', 'perspectives', self.perspectives)
# save current settings
if self._global_settings is not None and self._perspective_settings is not None:
self._callback = self._create_perspective_continued
self._callback_args = [name, clone_perspective]
self.save_settings_signal.emit(self._global_settings,
self._perspective_settings)
else:
self._create_perspective_continued(name, clone_perspective)
def _create_perspective_continued(self, name, clone_perspective):
# clone settings
if clone_perspective:
new_settings = self._get_perspective_settings(name)
keys = self._perspective_settings.all_keys()
for key in keys:
value = self._perspective_settings.value(key)
new_settings.set_value(key, value)
# add and switch to perspective
if not name.startswith(self.HIDDEN_PREFIX):
self._add_perspective_action(name)
def _add_perspective_action(self, name):
if self._menu_manager is not None:
# create action
action = QAction(name, self._menu_manager.menu)
action.setCheckable(True)
self._perspective_mapper.setMapping(action, name)
action.triggered.connect(self._perspective_mapper.map)
# add action to menu
self._menu_manager.add_item(action)
# enable remove-action
if self._menu_manager.count_items() > 1:
self._remove_action.setEnabled(True)
def _on_remove_perspective(self):
# input dialog to choose perspective to be removed
names = list(self.perspectives)
names.remove(self._current_perspective)
name, return_value = QInputDialog.getItem(
self._menu_manager.menu,
self._menu_manager.tr('Remove perspective'),
self._menu_manager.tr('Select the perspective'), names, 0, False)
# convert from unicode
name = str(name)
if return_value == QInputDialog.Rejected:
return
self._remove_perspective(name)
def _remove_perspective(self, name):
if name not in self.perspectives:
raise UserWarning('unknown perspective: %s' % name)
qDebug('PerspectiveManager._remove_perspective(%s)' % str(name))
# remove from list of perspectives
self.perspectives.remove(name)
self._settings_proxy.set_value('', 'perspectives', self.perspectives)
# remove settings
settings = self._get_perspective_settings(name)
settings.remove('')
# remove from menu
self._menu_manager.remove_item(name)
# disable remove-action
if self._menu_manager.count_items() < 2:
self._remove_action.setEnabled(False)
def _on_import_perspective(self):
file_name, _ = QFileDialog.getOpenFileName(
self._menu_manager.menu, self.tr('Import perspective from file'),
None, self.tr('Perspectives (*.perspective)'))
if file_name is None or file_name == '':
return
perspective_name = os.path.basename(file_name)
suffix = '.perspective'
if perspective_name.endswith(suffix):
perspective_name = perspective_name[:-len(suffix)]
if perspective_name in self.perspectives:
perspective_name = self._choose_new_perspective_name(False)
if perspective_name is None:
return
self.import_perspective_from_file(file_name, perspective_name)
def import_perspective_from_file(self, path, perspective_name):
# create clean perspective
if perspective_name in self.perspectives:
self._remove_perspective(perspective_name)
self._create_perspective(perspective_name, clone_perspective=False)
# read perspective from file
file_handle = open(path, 'r')
#data = eval(file_handle.read())
data = json.loads(file_handle.read())
self._convert_values(data, self._import_value)
new_settings = self._get_perspective_settings(perspective_name)
self._set_dict_on_settings(data, new_settings)
self.switch_perspective(perspective_name,
settings_changed=True,
save_before=True)
def _set_dict_on_settings(self, data, settings):
"""Set dictionary key-value pairs on Settings instance."""
keys = data.get('keys', {})
for key in keys:
settings.set_value(key, keys[key])
groups = data.get('groups', {})
for group in groups:
sub = settings.get_settings(group)
self._set_dict_on_settings(groups[group], sub)
def _on_export_perspective(self):
file_name, _ = QFileDialog.getSaveFileName(
self._menu_manager.menu, self.tr('Export perspective to file'),
self._current_perspective + '.perspective',
self.tr('Perspectives (*.perspective)'))
if file_name is None or file_name == '':
return
# trigger save of perspective before export
self._callback = self._on_export_perspective_continued
self._callback_args = [file_name]
self.save_settings_signal.emit(self._global_settings,
self._perspective_settings)
def _on_export_perspective_continued(self, file_name):
# convert every value
data = self._get_dict_from_settings(self._perspective_settings)
self._convert_values(data, self._export_value)
# write perspective data to file
file_handle = open(file_name, 'w')
file_handle.write(json.dumps(data, indent=2, separators=(',', ': ')))
file_handle.close()
def _get_dict_from_settings(self, settings):
"""Convert data of Settings instance to dictionary."""
keys = {}
for key in settings.child_keys():
keys[str(key)] = settings.value(key)
groups = {}
for group in settings.child_groups():
sub = settings.get_settings(group)
groups[str(group)] = self._get_dict_from_settings(sub)
return {'keys': keys, 'groups': groups}
def _convert_values(self, data, convert_function):
keys = data.get('keys', {})
for key in keys:
keys[key] = convert_function(keys[key])
groups = data.get('groups', {})
for group in groups:
self._convert_values(groups[group], convert_function)
def _import_value(self, value):
import QtCore # @UnusedImport
if value['type'] == 'repr':
return eval(value['repr'])
elif value['type'] == 'repr(QByteArray.hex)':
return QByteArray.fromHex(eval(value['repr(QByteArray.hex)']))
raise RuntimeError(
'PerspectiveManager._import_value() unknown serialization type (%s)'
% value['type'])
def _export_value(self, value):
data = {}
if value.__class__.__name__ == 'QByteArray':
hex_value = value.toHex()
data['repr(QByteArray.hex)'] = self._strip_qt_binding_prefix(
hex_value, repr(hex_value))
data['type'] = 'repr(QByteArray.hex)'
# add pretty print for better readability
characters = ''
for i in range(1, value.size(), 2):
try:
character = value.at(i)
# output all non-control characters
if character >= ' ' and character <= '~':
characters += character
else:
characters += ' '
except UnicodeDecodeError:
characters += ' '
data['pretty-print'] = characters
else:
data['repr'] = self._strip_qt_binding_prefix(value, repr(value))
data['type'] = 'repr'
# verify that serialized data can be deserialized correctly
reimported = self._import_value(data)
if reimported != value:
raise RuntimeError(
'PerspectiveManager._export_value() stored value can not be restored (%s)'
% type(value))
return data
def _strip_qt_binding_prefix(self, obj, data):
"""Strip binding specific prefix from type string."""
parts = obj.__class__.__module__.split('.')
if len(parts) > 1 and parts[1] == 'QtCore':
prefix = '.'.join(parts[:2])
data = data.replace(prefix, 'QtCore', 1)
return data
def main(self, argv=None, standalone=None, plugin_argument_provider=None, plugin_manager_settings_prefix=''):
if argv is None:
argv = sys.argv
# extract --args and everything behind manually since argparse can not handle that
arguments = argv[1:]
# extract plugin specific args when not being invoked in standalone mode programmatically
if not standalone:
plugin_args = []
if '--args' in arguments:
index = arguments.index('--args')
plugin_args = arguments[index + 1:]
arguments = arguments[0:index + 1]
parser = ArgumentParser(os.path.basename(Main.main_filename), add_help=False)
self.add_arguments(parser, standalone=bool(standalone), plugin_argument_provider=plugin_argument_provider)
self._options = parser.parse_args(arguments)
if standalone:
# rerun parsing to separate common arguments from plugin specific arguments
parser = ArgumentParser(os.path.basename(Main.main_filename), add_help=False)
self.add_arguments(parser, standalone=bool(standalone))
self._options, plugin_args = parser.parse_known_args(arguments)
self._options.plugin_args = plugin_args
# set default values for options not available in standalone mode
if standalone:
self._options.freeze_layout = False
self._options.lock_perspective = False
self._options.multi_process = False
self._options.perspective = None
self._options.perspective_file = None
self._options.standalone_plugin = standalone
self._options.list_perspectives = False
self._options.list_plugins = False
self._options.command_pid = None
self._options.command_start_plugin = None
self._options.command_switch_perspective = None
self._options.embed_plugin = None
self._options.embed_plugin_serial = None
self._options.embed_plugin_address = None
# check option dependencies
try:
if self._options.plugin_args and not self._options.standalone_plugin and not self._options.command_start_plugin and not self._options.embed_plugin:
raise RuntimeError('Option --args can only be used together with either --standalone, --command-start-plugin or --embed-plugin option')
if self._options.freeze_layout and not self._options.lock_perspective:
raise RuntimeError('Option --freeze_layout can only be used together with the --lock_perspective option')
list_options = (self._options.list_perspectives, self._options.list_plugins)
list_options_set = [opt for opt in list_options if opt is not False]
if len(list_options_set) > 1:
raise RuntimeError('Only one --list-* option can be used at a time')
command_options = (self._options.command_start_plugin, self._options.command_switch_perspective)
command_options_set = [opt for opt in command_options if opt is not None]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError('Without DBus support the --command-* options are not available')
if len(command_options_set) > 1:
raise RuntimeError('Only one --command-* option can be used at a time (except --command-pid which is optional)')
if len(command_options_set) == 0 and self._options.command_pid is not None:
raise RuntimeError('Option --command_pid can only be used together with an other --command-* option')
embed_options = (self._options.embed_plugin, self._options.embed_plugin_serial, self._options.embed_plugin_address)
embed_options_set = [opt for opt in embed_options if opt is not None]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError('Without DBus support the --embed-* options are not available')
if len(embed_options_set) > 0 and len(embed_options_set) < len(embed_options):
raise RuntimeError('Missing option(s) - all \'--embed-*\' options must be set')
if len(embed_options_set) > 0 and self._options.clear_config:
raise RuntimeError('Option --clear-config can only be used without any --embed-* option')
groups = (list_options_set, command_options_set, embed_options_set)
groups_set = [opt for opt in groups if len(opt) > 0]
if len(groups_set) > 1:
raise RuntimeError('Options from different groups (--list, --command, --embed) can not be used together')
perspective_options = (self._options.perspective, self._options.perspective_file)
perspective_options_set = [opt for opt in perspective_options if opt is not None]
if len(perspective_options_set) > 1:
raise RuntimeError('Only one --perspective-* option can be used at a time')
if self._options.perspective_file is not None and not os.path.isfile(self._options.perspective_file):
raise RuntimeError('Option --perspective-file must reference existing file')
except RuntimeError as e:
print(str(e))
#parser.parse_args(['--help'])
# calling --help will exit
return 1
# set implicit option dependencies
if self._options.standalone_plugin is not None:
self._options.lock_perspective = True
# create application context containing various relevant information
from .application_context import ApplicationContext
context = ApplicationContext()
context.qtgui_path = self._qtgui_path
context.options = self._options
if self._dbus_available:
from dbus import DBusException, Interface, SessionBus
# non-special applications provide various dbus interfaces
if self._dbus_available:
context.provide_app_dbus_interfaces = len(groups_set) == 0
context.dbus_base_bus_name = 'org.ros.qt_gui'
if context.provide_app_dbus_interfaces:
context.dbus_unique_bus_name = context.dbus_base_bus_name + '.pid%d' % os.getpid()
# provide pid of application via dbus
from .application_dbus_interface import ApplicationDBusInterface
_dbus_server = ApplicationDBusInterface(context.dbus_base_bus_name)
# determine host bus name, either based on pid given on command line or via dbus application interface if any other instance is available
if len(command_options_set) > 0 or len(embed_options_set) > 0:
host_pid = None
if self._options.command_pid is not None:
host_pid = self._options.command_pid
else:
try:
remote_object = SessionBus().get_object(context.dbus_base_bus_name, '/Application')
except DBusException:
pass
else:
remote_interface = Interface(remote_object, context.dbus_base_bus_name + '.Application')
host_pid = remote_interface.get_pid()
if host_pid is not None:
context.dbus_host_bus_name = context.dbus_base_bus_name + '.pid%d' % host_pid
# execute command on host application instance
if len(command_options_set) > 0:
if self._options.command_start_plugin is not None:
try:
remote_object = SessionBus().get_object(context.dbus_host_bus_name, '/PluginManager')
except DBusException:
(rc, msg) = (1, 'unable to communicate with GUI instance "%s"' % context.dbus_host_bus_name)
else:
remote_interface = Interface(remote_object, context.dbus_base_bus_name + '.PluginManager')
(rc, msg) = remote_interface.start_plugin(self._options.command_start_plugin, ' '.join(self._options.plugin_args))
if rc == 0:
print('qt_gui_main() started plugin "%s" in GUI "%s"' % (msg, context.dbus_host_bus_name))
else:
print('qt_gui_main() could not start plugin "%s" in GUI "%s": %s' % (self._options.command_start_plugin, context.dbus_host_bus_name, msg))
return rc
elif self._options.command_switch_perspective is not None:
remote_object = SessionBus().get_object(context.dbus_host_bus_name, '/PerspectiveManager')
remote_interface = Interface(remote_object, context.dbus_base_bus_name + '.PerspectiveManager')
remote_interface.switch_perspective(self._options.command_switch_perspective)
print('qt_gui_main() switched to perspective "%s" in GUI "%s"' % (self._options.command_switch_perspective, context.dbus_host_bus_name))
return 0
raise RuntimeError('Unknown command not handled')
# choose selected or default qt binding
setattr(sys, 'SELECT_QT_BINDING', self._options.qt_binding)
from python_qt_binding import QT_BINDING
from python_qt_binding.QtCore import qDebug, qInstallMessageHandler, QSettings, Qt, QtCriticalMsg, QtDebugMsg, QtFatalMsg, QTimer, QtWarningMsg
from python_qt_binding.QtGui import QIcon
from python_qt_binding.QtWidgets import QAction, QMenuBar
from .about_handler import AboutHandler
from .composite_plugin_provider import CompositePluginProvider
from .container_manager import ContainerManager
from .help_provider import HelpProvider
from .icon_loader import get_icon
from .main_window import MainWindow
from .minimized_dock_widgets_toolbar import MinimizedDockWidgetsToolbar
from .perspective_manager import PerspectiveManager
from .plugin_manager import PluginManager
# TODO PySide2 segfaults when invoking this custom message handler atm
if QT_BINDING != 'pyside':
def message_handler(type_, context, msg):
colored_output = 'TERM' in os.environ and 'ANSI_COLORS_DISABLED' not in os.environ
cyan_color = '\033[36m' if colored_output else ''
red_color = '\033[31m' if colored_output else ''
reset_color = '\033[0m' if colored_output else ''
if type_ == QtDebugMsg and self._options.verbose:
print(msg, file=sys.stderr)
elif type_ == QtWarningMsg:
print(cyan_color + msg + reset_color, file=sys.stderr)
elif type_ == QtCriticalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
elif type_ == QtFatalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
sys.exit(1)
qInstallMessageHandler(message_handler)
app = self.create_application(argv)
self._check_icon_theme_compliance()
settings = QSettings(QSettings.IniFormat, QSettings.UserScope, 'ros.org', self._settings_filename)
if len(embed_options_set) == 0:
if self._options.clear_config:
settings.clear()
main_window = MainWindow()
if self._options.on_top:
main_window.setWindowFlags(Qt.WindowStaysOnTopHint)
main_window.statusBar()
def sigint_handler(*args):
qDebug('\nsigint_handler()')
main_window.close()
signal.signal(signal.SIGINT, sigint_handler)
# the timer enables triggering the sigint_handler
timer = QTimer()
timer.start(500)
timer.timeout.connect(lambda: None)
menu_bar = main_window.menuBar()
file_menu = menu_bar.addMenu(menu_bar.tr('&File'))
action = QAction(file_menu.tr('&Quit'), file_menu)
action.setIcon(QIcon.fromTheme('application-exit'))
action.triggered.connect(main_window.close)
file_menu.addAction(action)
else:
app.setQuitOnLastWindowClosed(False)
main_window = None
menu_bar = None
self._add_plugin_providers()
# setup plugin manager
plugin_provider = CompositePluginProvider(self.plugin_providers)
plugin_manager = PluginManager(plugin_provider, settings, context, settings_prefix=plugin_manager_settings_prefix)
if self._options.list_plugins:
# output available plugins
print('\n'.join(sorted(plugin_manager.get_plugins().values())))
return 0
help_provider = HelpProvider()
plugin_manager.plugin_help_signal.connect(help_provider.plugin_help_request)
# setup perspective manager
if main_window is not None:
perspective_manager = PerspectiveManager(settings, context)
if self._options.list_perspectives:
# output available perspectives
print('\n'.join(sorted(perspective_manager.perspectives)))
return 0
else:
perspective_manager = None
if main_window is not None:
container_manager = ContainerManager(main_window, plugin_manager)
plugin_manager.set_main_window(main_window, menu_bar if not self._options.lock_perspective else None, container_manager)
if not self._options.freeze_layout:
minimized_dock_widgets_toolbar = MinimizedDockWidgetsToolbar(container_manager, main_window)
main_window.addToolBar(Qt.BottomToolBarArea, minimized_dock_widgets_toolbar)
plugin_manager.set_minimized_dock_widgets_toolbar(minimized_dock_widgets_toolbar)
if menu_bar is not None and not self._options.lock_perspective:
perspective_menu = menu_bar.addMenu(menu_bar.tr('P&erspectives'))
perspective_manager.set_menu(perspective_menu)
# connect various signals and slots
if perspective_manager is not None and main_window is not None:
# signal changed perspective to update window title
perspective_manager.perspective_changed_signal.connect(main_window.perspective_changed)
# signal new settings due to changed perspective
perspective_manager.save_settings_signal.connect(main_window.save_settings)
perspective_manager.restore_settings_signal.connect(main_window.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(main_window.restore_settings)
if perspective_manager is not None and plugin_manager is not None:
perspective_manager.save_settings_signal.connect(plugin_manager.save_settings)
plugin_manager.save_settings_completed_signal.connect(perspective_manager.save_settings_completed)
perspective_manager.restore_settings_signal.connect(plugin_manager.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(plugin_manager.restore_settings_without_plugins)
if plugin_manager is not None and main_window is not None:
# signal before changing plugins to save window state
plugin_manager.plugins_about_to_change_signal.connect(main_window.save_setup)
# signal changed plugins to restore window state
plugin_manager.plugins_changed_signal.connect(main_window.restore_state)
# signal save settings to store plugin setup on close
main_window.save_settings_before_close_signal.connect(plugin_manager.close_application)
# signal save and shutdown called for all plugins, trigger closing main window again
plugin_manager.close_application_signal.connect(main_window.close, type=Qt.QueuedConnection)
if main_window is not None and menu_bar is not None:
about_handler = AboutHandler(context.qtgui_path, main_window)
help_menu = menu_bar.addMenu(menu_bar.tr('&Help'))
action = QAction(file_menu.tr('&About'), help_menu)
action.setIcon(QIcon.fromTheme('help-about'))
action.triggered.connect(about_handler.show)
help_menu.addAction(action)
# set initial size - only used without saved configuration
if main_window is not None:
main_window.resize(600, 450)
main_window.move(100, 100)
# ensure that qt_gui/src is in sys.path
src_path = os.path.realpath(os.path.join(os.path.dirname(__file__), '..'))
if src_path not in sys.path:
sys.path.append(src_path)
# load specific plugin
plugin = None
plugin_serial = None
if self._options.embed_plugin is not None:
plugin = self._options.embed_plugin
plugin_serial = self._options.embed_plugin_serial
elif self._options.standalone_plugin is not None:
plugin = self._options.standalone_plugin
plugin_serial = 0
if plugin is not None:
plugins = plugin_manager.find_plugins_by_name(plugin)
if len(plugins) == 0:
print('qt_gui_main() found no plugin matching "%s"' % plugin)
return 1
elif len(plugins) > 1:
print('qt_gui_main() found multiple plugins matching "%s"\n%s' % (plugin, '\n'.join(plugins.values())))
return 1
plugin = plugins.keys()[0]
qDebug('QtBindingHelper using %s' % QT_BINDING)
plugin_manager.discover()
if self._options.reload_import:
qDebug('ReloadImporter() automatically reload all subsequent imports')
from .reload_importer import ReloadImporter
_reload_importer = ReloadImporter()
self._add_reload_paths(_reload_importer)
_reload_importer.enable()
# switch perspective
if perspective_manager is not None:
if plugin:
perspective_manager.set_perspective(plugin, hide_and_without_plugin_changes=True)
elif self._options.perspective_file:
perspective_manager.import_perspective_from_file(self._options.perspective_file, perspective_manager.HIDDEN_PREFIX + '__cli_perspective_from_file')
else:
perspective_manager.set_perspective(self._options.perspective)
# load specific plugin
if plugin:
plugin_manager.load_plugin(plugin, plugin_serial, self._options.plugin_args)
running = plugin_manager.is_plugin_running(plugin, plugin_serial)
if not running:
return 1
if self._options.standalone_plugin:
# use icon of standalone plugin (if available) for application
plugin_descriptor = plugin_manager.get_plugin_descriptor(plugin)
action_attributes = plugin_descriptor.action_attributes()
if 'icon' in action_attributes and action_attributes['icon'] is not None:
base_path = plugin_descriptor.attributes().get('plugin_path')
try:
icon = get_icon(action_attributes['icon'], action_attributes.get('icontype', None), base_path)
except UserWarning:
pass
else:
app.setWindowIcon(icon)
if main_window is not None:
main_window.show()
if sys.platform == 'darwin':
main_window.raise_()
return app.exec_()