def createEditor(self, parent, option, index):
editor = QTextEdit(parent)
highlight = syntax.PythonHighlighter(editor.document())
font = QFont("Courier")
font.setFamily("Courier");
font.setStyleHint(QFont.Monospace);
font.setFixedPitch(True);
font.setPointSize(10);
editor.setFont(font)
tab_stop = 4; # 4 characters
metrics = QFontMetrics(font)
editor.setTabStopWidth(tab_stop * metrics.width(' '));
return editor
class JointStatePublisherGui(QWidget):
def __init__(self, title, jsp, num_rows=0):
super(JointStatePublisherGui, self).__init__()
font = QFont("Helvetica", 9, QFont.Bold)
self.hlayout = QHBoxLayout(self)
vlayout = QVBoxLayout()
glayout = QGridLayout()
right_l_lauout = QVBoxLayout()
self.listVeiw = QListWidget()
self.checkbox = []
self.value_line_edit = []
self.sliders = []
self.positions = []
self.progressbars = []
self.value_last = []
speed_max = enviromnt_conf['joint_speed']
slider_max = speed_max * 1000
position_max = enviromnt_conf['joint_max_position']
progress_max = position_max * 1000
#create joints widget
for i in range(0, num_rows):
if config[i][0]:
g_in_g = QGridLayout()
checkbox = QCheckBox(config[i][1])
checkbox.setFont(font)
self.checkbox.append(checkbox)
value_line_edit = QLineEdit()
value_line_edit.setFont(font)
value_line_edit.setText("0.0")
self.value_line_edit.append(value_line_edit)
display_lable = QLabel()
display_lable.setFont(font)
display_lable.setText("Position:")
position_label = QLabel()
position_label.setFont(font)
position_label.setText("0.0")
self.positions.append(position_label)
position_progress_bar = QProgressBar()
position_progress_bar.setMaximum(progress_max)
position_progress_bar.setMinimum(-progress_max)
position_progress_bar.setValue(0)
self.progressbars.append(position_progress_bar)
slider = QSlider()
slider.setMaximum(slider_max)
slider.setMinimum(-slider_max)
slider.setOrientation(Qt.Horizontal)
slider.valueChanged.connect(self.slider_value_changed)
self.sliders.append(slider)
g_in_g.addWidget(checkbox, 0, 0)
g_in_g.addWidget(value_line_edit, 0, 1)
g_in_g.addWidget(display_lable, 0, 2)
g_in_g.addWidget(position_label, 0, 3)
g_in_g.addWidget(slider, 1, 0, 1, 2)
g_in_g.addWidget(position_progress_bar, 1, 2, 1, 2)
glayout.addLayout(g_in_g, i, 0)
#create v layout
self.import_Btn = QPushButton('Import')
self.import_Btn.setFont(font)
self.import_Btn.clicked.connect(self.import_Btn_clecked)
self.export_Btn = QPushButton('Export')
self.export_Btn.setFont(font)
self.export_Btn.clicked.connect(self.export_Btn_clicked)
self.start_Btn = QPushButton("Start")
self.start_Btn.setFont(font)
self.start_Btn.clicked.connect(self.start_Btn_clicked)
self.reset_Btn = QPushButton('Reset')
self.reset_Btn.setFont(font)
self.reset_Btn.clicked.connect(self.reset_Btn_clicked)
self.record_Btn = QPushButton('Record')
self.record_Btn.setFont(font)
self.record_Btn.clicked.connect(self.record_Btn_clicked)
self.replay_Btn = QPushButton('Repaly')
self.replay_Btn.setFont(font)
self.replay_Btn.clicked.connect(self.replay_Btn_clicked)
self.delete_Btn = QPushButton("Delete")
self.delete_Btn.setFont(font)
self.delete_Btn.clicked.connect(self.delete_Btn_clicked)
self.debug_Btn = QPushButton("Debug")
self.debug_Btn.setFont(font)
self.debug_Btn.clicked.connect(self.debug_Btn_clicked)
vlayout.addWidget(self.import_Btn)
vlayout.addWidget(self.export_Btn)
vlayout.addWidget(self.start_Btn)
vlayout.addWidget(self.reset_Btn)
vlayout.addWidget(self.record_Btn)
vlayout.addWidget(self.delete_Btn)
vlayout.addWidget(self.replay_Btn)
vlayout.addWidget(self.debug_Btn)
self.master_url = QLineEdit("http://192.168.0.91:11311")
self.master_url.setFont(font)
self.master_ip = QLineEdit("192.168.0.91")
self.master_ip.setFont(font)
self.listVeiw.clicked.connect(self.listVeiw_clicked)
self.listVeiw.currentRowChanged.connect(
self.listVeiw_itemSelectionChanged)
self.description = QTextEdit("")
self.description.setFont(font)
#self.description.setGeometry(0,100,100,500)
right_l_lauout.addWidget(self.master_url)
right_l_lauout.addWidget(self.master_ip)
right_l_lauout.addWidget(self.listVeiw)
right_l_lauout.addWidget(self.description)
right_l_lauout.setStretch(0, 1)
right_l_lauout.setStretch(1, 1)
right_l_lauout.setStretch(2, 3)
right_l_lauout.setStretch(3, 1)
self.num_rows = len(self.checkbox)
self.hlayout.addLayout(glayout)
self.hlayout.addLayout(vlayout)
self.hlayout.addLayout(right_l_lauout)
self.setLayout(self.hlayout)
self.callback_start = None
self.callback_pause = None
self.callback_record = None
self.callback_reset = None
self.callback_replay = None
self.callback_replay_stop = None
self.callback_delete = None
self.callback_debug = None
self.callback_import = None
self.callback_export = None
self.callback_list_clicked = None
self.listVeiw_isClicked = False
self.listVeiw_current_item = 0
self.listVeiw_len = 0
self.f = QFileDialog()
def who_data_changed(self):
for i in range(0, self.num_rows):
value_last = self.value_line_edit[i].text()
value_last = float(value_last) * 1000
value = self.sliders[i].value()
if value != value_last:
return i
def change_line_edit(self, change_index):
value = self.sliders[change_index].value()
value = float(value) / 1000
value = str(value)
self.value_line_edit[change_index].setText(value)
def change_position_edit(self, change_index):
value = self.progressbars[change_index].value()
value += self.sliders[change_index].value()
self.progressbars[change_index].setValue(value)
self.positions[change_index].setText(str(float(value) / 1000))
def reset_speed(self, change_index):
self.sliders[change_index].setValue(0)
def reset_speed_all(self):
for i in range(0, self.num_rows):
self.reset_speed(i)
def set_speed(self, index, data):
self.sliders[index].setValue(data)
def import_Btn_clecked(self):
self.file_path = self.f.getOpenFileName(caption='Import excel data',
directory='',
filter='*.xlsx',
initialFilter='')
self.file_path = self.file_path[0]
if self.callback_import:
self.callback_import()
pass
def export_Btn_clicked(self):
self.file_path = self.f.getSaveFileName(caption='Save as excel data',
directory='',
filter='*.xlsx',
initialFilter='')
self.file_path = self.file_path[0]
if self.callback_export:
self.callback_export()
pass
def set_callback_start(self, func):
self.callback_start = func
def start_Btn_clicked(self):
if self.start_Btn.text() == "Start":
if self.callback_start:
self.callback_start()
self.start_Btn.setText("Pause")
else:
if self.callback_pause:
self.callback_pause()
self.start_Btn.setText("Start")
def reset_Btn_clicked(self):
self.reset_speed_all()
self.reset_postion_all()
if self.callback_reset:
self.callback_reset()
def replay_Btn_clicked(self):
if self.replay_Btn.text() == "Replay":
self.replay_Btn.setText("Stop")
if self.callback_replay:
self.callback_replay()
else:
self.replay_Btn.setText("Replay")
if self.callback_replay_stop:
self.callback_replay_stop()
def debug_Btn_clicked(self):
if self.callback_debug:
self.callback_debug()
def record_Btn_clicked(self):
self.set_postion()
self.listVeiw_len += 1
if self.callback_record:
self.callback_record()
self.reset_speed_all()
def listVeiw_itemSelectionChanged(self, index):
self.listVeiw_isClicked = True
self.listVeiw_current_item = index
if self.callback_list_clicked:
self.callback_list_clicked()
def listVeiw_clicked(self, index):
#print "index", index.row()
if self.listVeiw_current_item != index.row():
description_text = self.description.toPlainText()
#self.listVeiw.item(self.listVeiw_current_item).setData(1,"123")
#print self.listVeiw.item(self.listVeiw_current_item).data
self.listVeiw_isClicked = True
self.listVeiw_current_item = index.row()
if self.callback_list_clicked:
self.callback_list_clicked()
def update_listView(self):
print "update", self.listVeiw_len
for i in range(0, self.listVeiw_len):
view = self.listVeiw.item(i)
view.setText(str(i))
def get_listVeiw_current_item(self):
return self.listVeiw_current_item
def delete_Btn_clicked(self):
if self.listVeiw_isClicked:
print self.listVeiw_current_item
self.listVeiw.removeItemWidget(
self.listVeiw.takeItem(self.listVeiw_current_item))
self.listVeiw_len -= 1
if self.listVeiw_current_item != self.listVeiw_len:
self.update_listView()
if self.callback_delete:
self.callback_delete()
if self.listVeiw_current_item == 0:
self.listVeiw_current_item = 0
else:
self.listVeiw_current_item -= 1
self.listVeiw.setCurrentRow(self.listVeiw_current_item)
if self.listVeiw_len == 0:
self.listVeiw_isClicked = False
def listView_add_item(self, index):
self.listVeiw.addItem(str(index))
def listView_inset_item(self, index, label):
self.listVeiw.insertItem(index, str(label))
def slider_value_changed(self, data):
change_index = self.who_data_changed()
self.change_line_edit(change_index)
def get_speed(self):
speed = []
for i in range(0, self.num_rows):
value = self.sliders[i].value()
value = float(value) / 1000
speed.append(value)
return speed
def get_position(self):
position = []
for i in range(0, self.num_rows):
value = self.progressbars[i].value()
value += self.sliders[i].value()
value = float(value) / 1000
position.append(value)
return position
def set_postion(self):
for i in range(0, self.num_rows):
self.change_position_edit(i)
def set_positions(self, data):
print len(data)
for i in range(0, len(data)):
self.progressbars[i].setValue(data[i] * 1000)
self.positions[i].setText(str(data[i]))
def reset_position(self, change_index):
value = 0
self.progressbars[change_index].setValue(value)
self.positions[change_index].setText(str(float(value) / 1000))
def reset_postion_all(self):
for i in range(0, self.num_rows):
self.reset_position(i)