def __init__(self, host, masteruri=None, parent=None):
PackageDialog.__init__(self, parent)
self.host = host
self.setWindowTitle('Run')
ns_name_label = QtGui.QLabel("NS/Name:", self.content)
self.ns_field = QtGui.QComboBox(self.content)
self.ns_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.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 = QtGui.QLineEdit(self.content)
self.name_field.setEnabled(False)
horizontalLayout = QtGui.QHBoxLayout()
horizontalLayout.addWidget(self.ns_field)
horizontalLayout.addWidget(self.name_field)
self.contentLayout.addRow(ns_name_label, horizontalLayout)
args_label = QtGui.QLabel("Args:", self.content)
self.args_field = QtGui.QComboBox(self.content)
self.args_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToMinimumContentsLength)
self.args_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.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 = QtGui.QLabel("Host:", self.content)
self.host_field = QtGui.QComboBox(self.content)
# self.host_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToContents)
self.host_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.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 = QtGui.QLabel("ROS Master URI:", self.content)
self.master_field = QtGui.QComboBox(self.content)
self.master_field.setSizePolicy(QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding, QtGui.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)
self.package_field.textChanged.connect(self.on_package_selected)
self.binary_field.activated[str].connect(self.on_binary_selected)
def __init__(self, parent=None):
QtGui.QDialog.__init__(self, parent)
self.setWindowTitle('Select Binary')
self.verticalLayout = QtGui.QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.content = QtGui.QWidget()
self.contentLayout = QtGui.QFormLayout(self.content)
self.contentLayout.setVerticalSpacing(0)
self.verticalLayout.addWidget(self.content)
self.packages = None
package_label = QtGui.QLabel("Package:", self.content)
self.package_field = QtGui.QComboBox(self.content)
self.package_field.setInsertPolicy(
QtGui.QComboBox.InsertAlphabetically)
self.package_field.setSizePolicy(
QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Fixed))
self.package_field.setEditable(True)
self.contentLayout.addRow(package_label, self.package_field)
binary_label = QtGui.QLabel("Binary:", self.content)
self.binary_field = QtGui.QComboBox(self.content)
# self.binary_field.setSizeAdjustPolicy(QtGui.QComboBox.AdjustToContents)
self.binary_field.setSizePolicy(
QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Fixed))
self.binary_field.setEditable(True)
self.contentLayout.addRow(binary_label, self.binary_field)
self.buttonBox = QtGui.QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QtGui.QDialogButtonBox.Ok
| QtGui.QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(QtCore.Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.package_field.setFocus(QtCore.Qt.TabFocusReason)
self.package = ''
self.binary = ''
if self.packages is None:
self.package_field.addItems(['packages searching...'])
self.package_field.setCurrentIndex(0)
self._fill_packages_thread = PackagesThread()
self._fill_packages_thread.packages.connect(self._fill_packages)
self._fill_packages_thread.start()
QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("accepted()"),
self.accept)
QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("rejected()"),
self.reject)
QtCore.QMetaObject.connectSlotsByName(self)
self.package_field.activated[str].connect(self.on_package_selected)
self.package_field.textChanged.connect(self.on_package_selected)
def createEditor(self, parent, option, index):
'''
Creates a editor in the TreeView depending on type of the settings data.
'''
item = self._itemFromIndex(index)
if item.edit_type() == SettingsValueItem.EDIT_TYPE_AUTODETECT:
if isinstance(item.value(), bool):
box = QtGui.QCheckBox(parent)
box.setFocusPolicy(QtCore.Qt.StrongFocus)
box.setAutoFillBackground(True)
box.stateChanged.connect(self.edit_finished)
return box
elif isinstance(item.value(), int):
box = QtGui.QSpinBox(parent)
box.setValue(item.value())
if not item.value_min() is None:
box.setMinimum(item.value_min())
if not item.value_max() is None:
box.setMaximum(item.value_max())
return box
elif item.edit_type() == SettingsValueItem.EDIT_TYPE_FOLDER:
editor = PathEditor(item.value(), parent)
editor.editing_finished_signal.connect(self.edit_finished)
return editor
elif item.edit_type() == SettingsValueItem.EDIT_TYPE_LIST:
box = QtGui.QComboBox(parent)
box.addItems(item.value_list())
index = box.findText(item.value())
if index >= 0:
box.setCurrentIndex(index)
box.setEditable(False)
return box
return QtGui.QStyledItemDelegate.createEditor(self, parent, option,
index)
def __init__(self, parent=None):
super(LineEditDialog, self).__init__()
self.value = None
vbox = QtGui.QVBoxLayout(self)
# combo box
model = QtGui.QStandardItemModel(self)
for elm in rospy.get_param_names():
model.setItem(model.rowCount(), 0, QtGui.QStandardItem(elm))
self.combo_box = QtGui.QComboBox(self)
self.line_edit = QtGui.QLineEdit()
self.combo_box.setLineEdit(self.line_edit)
self.combo_box.setCompleter(QtGui.QCompleter())
self.combo_box.setModel(model)
self.combo_box.completer().setModel(model)
self.combo_box.lineEdit().setText('')
vbox.addWidget(self.combo_box)
# button
button = QPushButton()
button.setText("Done")
button.clicked.connect(self.buttonCallback)
vbox.addWidget(button)
self.setLayout(vbox)
def setupUi(self, Dialog):
Dialog.setObjectName(_fromUtf8("Dialog"))
Dialog.resize(328, 449)
self.verticalLayout = QtGui.QVBoxLayout(Dialog)
self.verticalLayout.setObjectName(_fromUtf8("verticalLayout"))
self.horizontalLayout = QtGui.QHBoxLayout()
self.horizontalLayout.setContentsMargins(-1, 0, -1, -1)
self.horizontalLayout.setObjectName(_fromUtf8("horizontalLayout"))
self.label = QtGui.QLabel(Dialog)
self.label.setLineWidth(0)
self.label.setObjectName(_fromUtf8("label"))
self.horizontalLayout.addWidget(self.label)
self.cb_guitype = QtGui.QComboBox(Dialog)
self.cb_guitype.setObjectName(_fromUtf8("cb_guitype"))
self.horizontalLayout.addWidget(self.cb_guitype)
self.verticalLayout.addLayout(self.horizontalLayout)
self.treeView = QtGui.QTreeView(Dialog)
self.treeView.setObjectName(_fromUtf8("treeView"))
self.verticalLayout.addWidget(self.treeView)
self.retranslateUi(Dialog)
QtCore.QMetaObject.connectSlotsByName(Dialog)
def setup_ui(self):
horizontal_layout = QtGui.QHBoxLayout()
reload_button = QtGui.QPushButton(parent=self)
reload_button.setMaximumWidth(30)
reload_button.setIcon(self.style().standardIcon(
QtGui.QStyle.SP_BrowserReload))
reload_button.clicked.connect(self.update_combo_items)
topic_label = QtGui.QLabel('topic(+data member) name')
clear_button = QtGui.QPushButton('all clear')
clear_button.setMaximumWidth(200)
clear_button.clicked.connect(self.clear_sliders)
self._combo = QtGui.QComboBox()
self._combo.setEditable(True)
self.update_combo_items()
self._combo.activated.connect(self.add_slider_from_combo)
horizontal_layout.addWidget(reload_button)
horizontal_layout.addWidget(topic_label)
horizontal_layout.addWidget(self._combo)
horizontal_layout.addWidget(clear_button)
self._main_vertical_layout = QtGui.QVBoxLayout()
self._main_vertical_layout.addLayout(horizontal_layout)
self._main_vertical_layout.setAlignment(horizontal_layout,
QtCore.Qt.AlignTop)
self.setLayout(self._main_vertical_layout)
def __init__(self,
topic,
msg_type,
show_only_rate=False,
masteruri=None,
use_ssh=False,
parent=None):
'''
Creates an input dialog.
@param topic: the name of the topic
@type topic: C{str}
@param msg_type: the type of the topic
@type msg_type: C{str}
@raise Exception: if no topic class was found for the given type
'''
QtGui.QDialog.__init__(self, parent=parent)
self._masteruri = masteruri
masteruri_str = '' if masteruri is None else '[%s]' % masteruri
self.setObjectName(' - '.join(['EchoDialog', topic, masteruri_str]))
self.setAttribute(QtCore.Qt.WA_DeleteOnClose, True)
self.setWindowFlags(QtCore.Qt.Window)
self.setWindowTitle('%s %s %s' %
('Echo --- ' if not show_only_rate else 'Hz --- ',
topic, masteruri_str))
self.resize(728, 512)
self.verticalLayout = QtGui.QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.mIcon = QtGui.QIcon(":/icons/crystal_clear_prop_run_echo.png")
self.setWindowIcon(self.mIcon)
self.topic = topic
self.show_only_rate = show_only_rate
self.lock = threading.RLock()
self.last_printed_count = 0
self.msg_t0 = -1.
self.msg_tn = 0
self.times = []
self.message_count = 0
self._rate_message = ''
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.field_filter_fn = None
options = QtGui.QWidget(self)
if not show_only_rate:
hLayout = QtGui.QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.no_str_checkbox = no_str_checkbox = QtGui.QCheckBox(
'Hide strings')
no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled)
hLayout.addWidget(no_str_checkbox)
self.no_arr_checkbox = no_arr_checkbox = QtGui.QCheckBox(
'Hide arrays')
no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled)
hLayout.addWidget(no_arr_checkbox)
self.combobox_reduce_ch = QtGui.QComboBox(self)
self.combobox_reduce_ch.addItems(
[str(self.MESSAGE_LINE_LIMIT), '0', '80', '256', '1024'])
self.combobox_reduce_ch.activated[str].connect(
self.combobox_reduce_ch_activated)
self.combobox_reduce_ch.setEditable(True)
self.combobox_reduce_ch.setToolTip(
"Set maximum line width. 0 disables the limit.")
hLayout.addWidget(self.combobox_reduce_ch)
# reduce_ch_label = QtGui.QLabel('ch', self)
# hLayout.addWidget(reduce_ch_label)
# add spacer
spacerItem = QtGui.QSpacerItem(515, 20,
QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
# add combobox for displaying frequency of messages
self.combobox_displ_hz = QtGui.QComboBox(self)
self.combobox_displ_hz.addItems([
str(self.MESSAGE_HZ_LIMIT), '0', '0.1', '1', '50', '100',
'1000'
])
self.combobox_displ_hz.activated[str].connect(
self.on_combobox_hz_activated)
self.combobox_displ_hz.setEditable(True)
hLayout.addWidget(self.combobox_displ_hz)
displ_hz_label = QtGui.QLabel('Hz', self)
hLayout.addWidget(displ_hz_label)
# add combobox for count of displayed messages
self.combobox_msgs_count = QtGui.QComboBox(self)
self.combobox_msgs_count.addItems(
[str(self.MAX_DISPLAY_MSGS), '0', '50', '100'])
self.combobox_msgs_count.activated[str].connect(
self.on_combobox_count_activated)
self.combobox_msgs_count.setEditable(True)
self.combobox_msgs_count.setToolTip(
"Set maximum displayed message count. 0 disables the limit.")
hLayout.addWidget(self.combobox_msgs_count)
displ_count_label = QtGui.QLabel('#', self)
hLayout.addWidget(displ_count_label)
# add topic control button for unsubscribe and subscribe
self.topic_control_button = QtGui.QToolButton(self)
self.topic_control_button.setText('stop')
self.topic_control_button.setIcon(
QtGui.QIcon(':/icons/deleket_deviantart_stop.png'))
self.topic_control_button.clicked.connect(
self.on_topic_control_btn_clicked)
hLayout.addWidget(self.topic_control_button)
# add clear button
clearButton = QtGui.QToolButton(self)
clearButton.setText('clear')
clearButton.clicked.connect(self.on_clear_btn_clicked)
hLayout.addWidget(clearButton)
self.verticalLayout.addWidget(options)
self.display = QtGui.QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display.document().setMaximumBlockCount(500)
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
self.status_label = QtGui.QLabel('0 messages', self)
self.verticalLayout.addWidget(self.status_label)
# subscribe to the topic
errmsg = ''
try:
self.__msg_class = message.get_message_class(msg_type)
if not self.__msg_class:
errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type
# raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type)
except Exception as e:
self.__msg_class = None
errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (
msg_type, e)
# raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e))
# variables for Subscriber
self.msg_signal.connect(self._append_message)
self.sub = None
# vairables for SSH connection
self.ssh_output_file = None
self.ssh_error_file = None
self.ssh_input_file = None
self.text_signal.connect(self._append_text)
self.text_hz_signal.connect(self._append_text_hz)
self._current_msg = ''
self._current_errmsg = ''
self.text_error_signal.connect(self._append_error_text)
# decide, which connection to open
if use_ssh:
self.__msg_class = None
self._on_display_anchorClicked(QtCore.QUrl(self._masteruri))
elif self.__msg_class is None:
errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % (
errmsg)
self.display.setText('<a href="%s">open using SSH</a>' %
(masteruri))
self.display.append(errtxt)
else:
self.sub = rospy.Subscriber(self.topic, self.__msg_class,
self._msg_handle)
self.print_hz_timer = QtCore.QTimer()
self.print_hz_timer.timeout.connect(self._on_calc_hz)
self.print_hz_timer.start(1000)
def __init__(self, plugin):
super(ControllerManagerWidget, self).__init__()
self._plugin = plugin
self.setWindowTitle('Controller Manager')
# create layouts
vlayout_outer = QtGui.QVBoxLayout(self)
vlayout_outer.setObjectName('vert_layout_outer')
hlayout_top = QtGui.QHBoxLayout(self)
hlayout_top.setObjectName('hori_layout_top')
vlayout_outer.addLayout(hlayout_top)
# create top bar
# controller manager namespace combo box & label
cm_ns_label = QtGui.QLabel(self)
cm_ns_label.setObjectName('cm_ns_label')
cm_ns_label.setText('CM Namespace:')
fixed_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Fixed)
cm_ns_label.setSizePolicy(fixed_policy)
hlayout_top.addWidget(cm_ns_label)
cm_namespace_combo = QtGui.QComboBox(self)
cm_namespace_combo.setObjectName('cm_namespace_combo')
hlayout_top.addWidget(cm_namespace_combo)
self.cm_namespace_combo = cm_namespace_combo
# load controller combo box & label
load_ctrl_label = QtGui.QLabel(self)
load_ctrl_label.setObjectName('load_ctrl_label')
load_ctrl_label.setText('Load Controller:')
fixed_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Fixed)
load_ctrl_label.setSizePolicy(fixed_policy)
hlayout_top.addWidget(load_ctrl_label)
load_ctrl_combo = QtGui.QComboBox(self)
load_ctrl_combo.setObjectName('load_ctrl_combo')
load_ctrl_size_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Fixed)
load_ctrl_combo.setSizePolicy(load_ctrl_size_policy)
hlayout_top.addWidget(load_ctrl_combo)
self.load_ctrl_combo = load_ctrl_combo
# load control button
load_ctrl_button = QtGui.QPushButton(self)
load_ctrl_button.setObjectName('load_ctrl_button')
button_size_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Fixed,
QtGui.QSizePolicy.Fixed)
button_size_policy.setHorizontalStretch(0)
button_size_policy.setVerticalStretch(0)
button_size_policy.setHeightForWidth(
load_ctrl_button.sizePolicy().hasHeightForWidth())
load_ctrl_button.setSizePolicy(button_size_policy)
load_ctrl_button.setBaseSize(QtCore.QSize(30, 30))
load_ctrl_button.setIcon(QIcon.fromTheme('list-add'))
load_ctrl_button.setIconSize(QtCore.QSize(20, 20))
load_ctrl_button.clicked.connect(self.load_cur_ctrl)
hlayout_top.addWidget(load_ctrl_button)
# start control button
start_ctrl_button = QtGui.QPushButton(self)
start_ctrl_button.setObjectName('start_ctrl_button')
button_size_policy = QtGui.QSizePolicy(QtGui.QSizePolicy.Fixed,
QtGui.QSizePolicy.Fixed)
button_size_policy.setHorizontalStretch(0)
button_size_policy.setVerticalStretch(0)
button_size_policy.setHeightForWidth(
start_ctrl_button.sizePolicy().hasHeightForWidth())
start_ctrl_button.setSizePolicy(button_size_policy)
start_ctrl_button.setBaseSize(QtCore.QSize(30, 30))
start_ctrl_button.setIcon(QIcon.fromTheme('media-playback-start'))
start_ctrl_button.setIconSize(QtCore.QSize(20, 20))
start_ctrl_button.clicked.connect(self.start_cur_ctrl)
hlayout_top.addWidget(start_ctrl_button)
# create tree/list widget
ctrl_list_tree_widget = QtGui.QTreeWidget(self)
ctrl_list_tree_widget.setObjectName('ctrl_list_tree_widget')
self.ctrl_list_tree_widget = ctrl_list_tree_widget
ctrl_list_tree_widget.setColumnCount(len(self._column_names))
ctrl_list_tree_widget.setHeaderLabels(self._column_names_pretty)
ctrl_list_tree_widget.sortByColumn(0, Qt.AscendingOrder)
ctrl_list_tree_widget.setContextMenuPolicy(Qt.CustomContextMenu)
ctrl_list_tree_widget.customContextMenuRequested.connect(
self.on_ctrl_list_tree_widget_customContextMenuRequested)
vlayout_outer.addWidget(ctrl_list_tree_widget)
header = self.ctrl_list_tree_widget.header()
header.setResizeMode(QHeaderView.ResizeToContents)
header.customContextMenuRequested.connect(
self.handle_header_view_customContextMenuRequested)
header.setContextMenuPolicy(Qt.CustomContextMenu)
self._ctrlers = {}
self._column_index = {}
for column_name in self._column_names:
self._column_index[column_name] = len(self._column_index)
# controller manager services
self.list_types = {}
self.list_ctrlers = {}
self.load_ctrler = {}
self.unload_ctrler = {}
self.switch_ctrlers = {}
self.ctrlman_ns_cur = ''
self.loadable_params = {}
# init and start update timer
self._timer_refresh_ctrlers = QTimer(self)
self._timer_refresh_ctrlers.timeout.connect(self._refresh_ctrlers_cb)
def __init__(self, parent=None):
QtGui.QDialog.__init__(self, parent)
# self.host = host
self.setWindowIcon(QtGui.QIcon(":/icons/irondevil_sync.png"))
self.setWindowTitle('Sync')
self.verticalLayout = QtGui.QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.resize(350, 190)
self.toolButton_SyncAll = QtGui.QToolButton(self)
sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(2)
sizePolicy.setHeightForWidth(
self.toolButton_SyncAll.sizePolicy().hasHeightForWidth())
self.toolButton_SyncAll.setSizePolicy(sizePolicy)
self.toolButton_SyncAll.setObjectName("toolButton_SyncAll")
self.verticalLayout.addWidget(self.toolButton_SyncAll)
self.toolButton_SyncAll.setText(
QtGui.QApplication.translate("Form", "Sync All", None,
QtGui.QApplication.UnicodeUTF8))
self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked)
self.toolButton_SyncAllAnyMsg = QtGui.QToolButton(self)
sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth())
self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy)
self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg")
self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg)
self.toolButton_SyncAllAnyMsg.setText(
QtGui.QApplication.translate("Form", "Sync all (+AnyMsg)", None,
QtGui.QApplication.UnicodeUTF8))
self.toolButton_SyncAllAnyMsg.clicked.connect(
self._on_sync_all_anymsg_clicked)
self.toolButton_SyncTopicOnDemand = QtGui.QToolButton(self)
sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth())
self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy)
self.toolButton_SyncTopicOnDemand.setObjectName(
"toolButton_SyncTopicOnDemand")
self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand)
self.toolButton_SyncTopicOnDemand.setText(
QtGui.QApplication.translate("Form", "Sync only topics on demand",
None, QtGui.QApplication.UnicodeUTF8))
self.toolButton_SyncTopicOnDemand.clicked.connect(
self._on_sync_topics_on_demand_clicked)
self.toolButton_SelectInterface = QtGui.QToolButton(self)
sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth())
self.toolButton_SelectInterface.setSizePolicy(sizePolicy)
self.toolButton_SelectInterface.setObjectName(
"toolButton_SelectInterface")
self.verticalLayout.addWidget(self.toolButton_SelectInterface)
self.toolButton_SelectInterface.setText(
QtGui.QApplication.translate("Form", "Select an interface", None,
QtGui.QApplication.UnicodeUTF8))
self.toolButton_SelectInterface.clicked.connect(
self._on_select_interface_clicked)
self.interface_field = QtGui.QComboBox(self)
self.interface_field.setInsertPolicy(
QtGui.QComboBox.InsertAlphabetically)
self.interface_field.setSizePolicy(
QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Fixed))
self.interface_field.setEditable(True)
self.interface_field.setVisible(False)
self.interface_field.setObjectName("interface_field")
self.verticalLayout.addWidget(self.interface_field)
self.interface_field.currentIndexChanged[str].connect(
self._on_interface_selected)
self.toolButton_EditInterface = QtGui.QToolButton(self)
sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_EditInterface.sizePolicy().hasHeightForWidth())
self.toolButton_EditInterface.setSizePolicy(sizePolicy)
self.toolButton_EditInterface.setObjectName("toolButton_EditInterface")
self.verticalLayout.addWidget(self.toolButton_EditInterface)
self.toolButton_EditInterface.setText(
QtGui.QApplication.translate("Form", "Edit selected interface",
None, QtGui.QApplication.UnicodeUTF8))
self.toolButton_EditInterface.clicked.connect(
self._on_edit_interface_clicked)
self.toolButton_EditInterface.setVisible(False)
self.toolButton_CreateInterface = QtGui.QToolButton(self)
sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth())
self.toolButton_CreateInterface.setSizePolicy(sizePolicy)
self.toolButton_CreateInterface.setObjectName(
"toolButton_CreateInterface")
self.verticalLayout.addWidget(self.toolButton_CreateInterface)
self.toolButton_CreateInterface.setText(
QtGui.QApplication.translate("Form", "Create an interface", None,
QtGui.QApplication.UnicodeUTF8))
self.toolButton_CreateInterface.clicked.connect(
self._on_create_interface_clicked)
self.toolButton_CreateInterface.setVisible(False)
self.textedit = Editor('', self)
self.hl = SyncHighlighter(self.textedit.document())
sizePolicy = QtGui.QSizePolicy(QtGui.QSizePolicy.Expanding,
QtGui.QSizePolicy.Expanding)
self.textedit.setSizePolicy(sizePolicy)
self.textedit.setObjectName("syncedit")
self.verticalLayout.addWidget(self.textedit)
self.textedit.setVisible(False)
self._fill_interface_thread = None
self._interfaces_files = None
self._sync_args = []
self._interface_filename = None
self.buttonBox = QtGui.QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QtGui.QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(QtCore.Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("accepted()"),
self.accept)
QtCore.QObject.connect(self.buttonBox, QtCore.SIGNAL("rejected()"),
self.reject)
self._new_iface = True
def __init__(self, context):
self.prompt_width = 170
self.input_width = 250
super(SimpleGUI, self).__init__(context)
self.setObjectName('SimpleGUI')
self._widget = QWidget()
self._sound_client = SoundClient()
#find relative path for files to load
self.local_dir = os.path.dirname(__file__)
self.dir = os.path.join(self.local_dir, './lib/rqt_simplegui/')
if not os.path.isdir(self.dir):
os.makedirs(self.dir)
#need to add any additional subfolders as needed
if not os.path.isdir(self.dir + 'animations/'):
os.makedirs(self.dir + 'animations/')
# Creates a subscriber to the ROS topic, having msg type SoundRequest
rospy.Subscriber('robotsound', SoundRequest, self.sound_cb)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.sound_sig.connect(self.sound_sig_cb)
# Code used for saving/ loading arm poses for the robot
switch_srv_name = 'pr2_controller_manager/switch_controller'
rospy.loginfo('Waiting for switch controller service...')
rospy.wait_for_service(switch_srv_name)
self.switch_service_client = rospy.ServiceProxy(
switch_srv_name, SwitchController)
self.r_joint_names = [
'r_shoulder_pan_joint', 'r_shoulder_lift_joint',
'r_upper_arm_roll_joint', 'r_elbow_flex_joint',
'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint'
]
self.l_joint_names = [
'l_shoulder_pan_joint', 'l_shoulder_lift_joint',
'l_upper_arm_roll_joint', 'l_elbow_flex_joint',
'l_forearm_roll_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint'
]
self.all_joint_names = []
self.all_joint_poses = []
# Hash tables storing the name of the pose and the
# associated positions for that pose, initially empty
self.saved_l_poses = {}
self.saved_r_poses = {}
# Hash tables for storing name of animations and the associated pose list
self.saved_animations = {}
self.lock = threading.Lock()
rospy.Subscriber('joint_states', JointState, self.joint_states_cb)
#parsing for animations
dir = os.path.dirname(__file__)
qWarning(dir)
filename = os.path.join(self.dir, 'animations/')
ani_path = filename
ani_listing = os.listdir(ani_path)
for infile in ani_listing:
pose_left = []
pose_right = []
left_gripper_states = []
right_gripper_states = []
line_num = 1
for line in fileinput.input(ani_path + infile):
if (line_num % 2 == 1):
pose = [float(x) for x in line.split()]
pose_left.append(pose[:len(pose) / 2])
pose_right.append(pose[len(pose) / 2:])
else:
states = line.split()
left_gripper_states.append(states[0])
right_gripper_states.append(states[1])
line_num += 1
self.saved_animations[os.path.splitext(infile)[0]] = Quad(
pose_left, pose_right, left_gripper_states,
right_gripper_states)
# Create a trajectory action client
r_traj_controller_name = '/r_arm_controller/joint_trajectory_action'
self.r_traj_action_client = SimpleActionClient(r_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for RIGHT arm...'
)
self.r_traj_action_client.wait_for_server()
l_traj_controller_name = '/l_arm_controller/joint_trajectory_action'
self.l_traj_action_client = SimpleActionClient(l_traj_controller_name,
JointTrajectoryAction)
rospy.loginfo(
'Waiting for a response from the trajectory action server for LEFT arm...'
)
self.l_traj_action_client.wait_for_server()
# Navigation functionality initialization
self.roomNav = RoomNavigator()
self._tf_listener = TransformListener()
self.animPlay = AnimationPlayer(None, None, None, None)
# Detection and pickup functionality
self.pap = PickAndPlaceManager(self._tf_listener, self.roomNav,
self.animPlay)
QtGui.QToolTip.setFont(QtGui.QFont('SansSerif', 10))
self.joint_sig.connect(self.joint_sig_cb)
# Create a large vertical box that is top aligned
large_box = QtGui.QVBoxLayout()
large_box.setAlignment(QtCore.Qt.AlignTop)
large_box.setMargin(0)
large_box.addItem(QtGui.QSpacerItem(10, 0))
# Buttons for controlling the head of the robot
head_box = QtGui.QHBoxLayout()
head_box.addItem(QtGui.QSpacerItem(230, 0))
head_box.addWidget(self.create_pressed_button('Head Up'))
head_box.addStretch(1)
large_box.addLayout(head_box)
button_box = QtGui.QHBoxLayout()
button_box.addItem(QtGui.QSpacerItem(80, 0))
button_box.addWidget(self.create_pressed_button('Head Turn Left'))
button_box.addWidget(self.create_pressed_button('Head Down'))
button_box.addWidget(self.create_pressed_button('Head Turn Right'))
button_box.addStretch(1)
button_box.setMargin(0)
button_box.setSpacing(0)
large_box.addLayout(button_box)
# Shows what the robot says
speech_box = QtGui.QHBoxLayout()
self.speech_label = QtGui.QLabel('Robot has not spoken yet')
palette = QtGui.QPalette()
palette.setColor(QtGui.QPalette.Foreground, QtCore.Qt.blue)
self.speech_label.setPalette(palette) #
speech_box.addItem(QtGui.QSpacerItem(100, 0))
#speech_box.addWidget(self.speech_label) #
large_box.addLayout(speech_box)
# Speak button
speak_button_box = QtGui.QHBoxLayout()
speech_prompt = QtGui.QLabel('Enter Speech Text:')
speech_prompt.setFixedWidth(self.prompt_width)
speak_button_box.addWidget(speech_prompt)
robot_says = QtGui.QLineEdit(self._widget)
robot_says.setFixedWidth(self.input_width)
robot_says.textChanged[str].connect(self.onChanged) #
speak_button_box.addWidget(robot_says)
speak_button_box.addWidget(self.create_button('Speak'))
speak_button_box.addStretch(1)
large_box.addLayout(speak_button_box)
large_box.addItem(QtGui.QSpacerItem(0, 50))
# Buttons for arm poses
pose_button_box1 = QtGui.QHBoxLayout()
pose_button_box1.addItem(QtGui.QSpacerItem(150, 0))
pose_button_box1.addWidget(self.create_button('Relax Left Arm'))
pose_button_box1.addWidget(self.create_button('Relax Right Arm'))
pose_button_box1.addStretch(1)
large_box.addLayout(pose_button_box1)
# Buttons for grippers
gripper_button_box = QtGui.QHBoxLayout()
gripper_button_box.addItem(QtGui.QSpacerItem(150, 0))
gripper_button_box.addWidget(self.create_button('Open Left Gripper'))
gripper_button_box.addWidget(self.create_button('Open Right Gripper'))
gripper_button_box.addStretch(1)
large_box.addLayout(gripper_button_box)
large_box.addItem(QtGui.QSpacerItem(0, 25))
# Buttons for animation
animation_box = QtGui.QHBoxLayout()
play_anim_label = QtGui.QLabel('Select Animation:')
play_anim_label.setFixedWidth(self.prompt_width)
animation_box.addWidget(play_anim_label)
self.saved_animations_list = QtGui.QComboBox(self._widget)
animation_box.addWidget(self.saved_animations_list)
pose_time_label = QtGui.QLabel('Duration(sec):')
pose_time_label.setFixedWidth(100)
animation_box.addWidget(pose_time_label)
self.pose_time = QtGui.QLineEdit(self._widget)
self.pose_time.setFixedWidth(50)
self.pose_time.setText('2.0')
animation_box.addWidget(self.pose_time)
animation_box.addWidget(self.create_button('Play Animation'))
animation_box.addStretch(1)
large_box.addLayout(animation_box)
animation_box2 = QtGui.QHBoxLayout()
animation_name_label = QtGui.QLabel('Enter Animation Name:')
animation_name_label.setFixedWidth(self.prompt_width)
animation_box2.addWidget(animation_name_label)
self.animation_name = QtGui.QLineEdit(self._widget)
self.animation_name.setFixedWidth(self.input_width)
animation_box2.addWidget(self.animation_name)
animation_box2.addWidget(self.create_button('Save Animation'))
animation_box2.addStretch(1)
large_box.addLayout(animation_box2)
animation_box3 = QtGui.QHBoxLayout()
pose_name_label = QtGui.QLabel('Enter Pose Name:')
pose_name_label.setFixedWidth(self.prompt_width)
animation_box3.addWidget(pose_name_label)
self.pose_name_temp = QtGui.QLineEdit(self._widget)
self.pose_name_temp.setFixedWidth(self.input_width)
animation_box3.addWidget(self.pose_name_temp)
animation_box3.addWidget(self.create_button('Add Current Pose'))
animation_box3.addStretch(1)
large_box.addLayout(animation_box3)
# Playing around with UI stuff
play_box = QtGui.QHBoxLayout()
pose_sequence_label = QtGui.QLabel('Current Pose Sequence:')
pose_sequence_label.setFixedWidth(self.prompt_width)
pose_sequence_label.setAlignment(QtCore.Qt.AlignTop)
self.list_widget = QListWidget()
self.list_widget.setDragDropMode(QAbstractItemView.InternalMove)
self.list_widget.setMaximumSize(self.input_width, 200)
play_box.addWidget(pose_sequence_label)
play_box.addWidget(self.list_widget)
play_box.addStretch(1)
large_box.addLayout(play_box)
large_box.addItem(QtGui.QSpacerItem(0, 50))
# Buttons for first row of base controls
first_base_button_box = QtGui.QHBoxLayout()
first_base_button_box.addItem(QtGui.QSpacerItem(70, 0))
first_base_button_box.addWidget(
self.create_pressed_button('Rotate Left'))
first_base_button_box.addWidget(self.create_pressed_button('^'))
first_base_button_box.addWidget(
self.create_pressed_button('Rotate Right'))
first_base_button_box.addStretch(1)
large_box.addLayout(first_base_button_box)
# Buttons for second row of base controls
second_base_button_box = QtGui.QHBoxLayout()
second_base_button_box.addItem(QtGui.QSpacerItem(70, 0))
second_base_button_box.addWidget(self.create_pressed_button('<'))
second_base_button_box.addWidget(self.create_pressed_button('v'))
second_base_button_box.addWidget(self.create_pressed_button('>'))
second_base_button_box.addWidget(self.create_button('Move to Bin'))
second_base_button_box.addWidget(self.create_button('Object Detect'))
second_base_button_box.addWidget(self.create_button('Clean Room'))
second_base_button_box.addStretch(1)
large_box.addLayout(second_base_button_box)
# Animation related items to store intermediate pose co-ordinates to save
self.animation_map = {}
self.create_state = False
self._widget.setObjectName('SimpleGUI')
self._widget.setLayout(large_box)
context.add_widget(self._widget)
# Look straight and down when launched
self.head_x = 1.0
self.head_y = 0.0
self.head_z = 0.5
self.head_action(self.head_x, self.head_y, self.head_z)
# Set grippers to closed on initialization
self.left_gripper_state = ''
self.right_gripper_state = ''
self.gripper_action('l', 0.0)
self.gripper_action('r', 0.0)
# Lab 6
self.marker_publisher = rospy.Publisher('visualization_marker', Marker)
# Saved states for poses
saved_pose_box = QtGui.QHBoxLayout()
self.saved_left_poses = QtGui.QLabel('')
self.saved_right_poses = QtGui.QLabel('')
saved_pose_box.addWidget(self.saved_left_poses)
saved_pose_box.addWidget(self.saved_right_poses)
large_box.addLayout(saved_pose_box)
# Preload the map of animations
self.saved_animations_list.addItems(self.saved_animations.keys())
# Move the torso all the way down
# self.torso_down(True)
# Autonomous navigation stuff
'''
self.locations = [Pose(Point(2.48293590546, 3.90075874329, 0.000), Quaternion(0.000, 0.000, -0.783917630973, 0.620864838632)),
Pose(Point(3.70106744766, 0.304672241211, 0.000), Quaternion(0.000, 0.000, 0.950186880196, -0.311680754463)),
Pose(Point(2.57326722145, 1.51304531097, 0.000), Quaternion(0.000, 0.000, 0.96127194482, -0.275601611212)),
Pose(Point(1.28060531616, 1.52380752563, 0.000), Quaternion(0.000, 0.000, 0.946345258806, -0.323157316388)),
Pose(Point(2.11048603058, 0.420155525208, 0.000), Quaternion(0.000, 0.000, 0.945222393391, -0.326427062346)),
Pose(Point(2.82733058929, -0.739856719971, 0.000), Quaternion(0.000, 0.000, 0.945473998362, -0.325697587373)),
Pose(Point(1.29184818268, -1.90485572815, 0.000), Quaternion(0.000, 0.000, 0.942275557345, -0.334838429739)),
Pose(Point(0.722846984863, -1.0921459198, 0.000), Quaternion(0.000, 0.000, 0.949330143731, -0.314280572424))]
'''
self.locations = [
Pose(Point(2.04748392105, 2.04748010635, 0.000),
Quaternion(0.000, 0.000, -0.776968030817, 0.629540053601)),
Pose(Point(2.34193611145, 1.43208932877, 0),
Quaternion(0, 0, -0.841674385779, 0.539985396398)),
Pose(Point(3.43202018738, -0.258297920227, 0.000),
Quaternion(0.000, 0.000, 0.996656413122, -0.0817067572629)),
Pose(Point(0.931655406952, -1.96435832977, 0.000),
Quaternion(0.000, 0.000, 0.691187586713, 0.722675390458)),
Pose(Point(-0.369112968445, 0.0330476760864, 0.000),
Quaternion(0.000, 0.000, 0.0275340398899, 0.999620866453))
]
self.index = 1
rospy.loginfo("Completed GUI initialization")
def init_ui(self):
# type combobox
ui_type_lable = QtGui.QLabel('Robot')
ui_type_lable.setStyleSheet('QLabel {font: bold}')
ui_type_lable.setMaximumWidth(70)
# ui_type_lable.setFont(QtGui.QFont(QtGui.QFont.Bold))
ui_type_lable.setAlignment(QtCore.Qt.AlignCenter)
self.ui_type = QtGui.QComboBox()
self.ui_type.addItem('MTMR')
self.ui_type.addItem('MTML')
self.ui_type.addItem('PSM1')
self.ui_type.addItem('PSM2')
self.ui_type.addItem('PSM3')
# self.ui_type.addItem('ECM')
ui_hbox_type = QtGui.QHBoxLayout()
ui_hbox_type.addWidget(ui_type_lable)
ui_hbox_type.addWidget(self.ui_type)
self.ui_type.currentIndexChanged.connect(self.slot_type_changed)
# control mode
# todo: use a for loop
gbox = QtGui.QGridLayout()
ui_btn_idle = QtGui.QPushButton('Idle')
ui_btn_idle.setCheckable(True)
ui_btn_idle.setChecked(True)
gbox.addWidget(ui_btn_idle, 0, 0)
ui_btn_idle.clicked[bool].connect(self.slot_btn_idle)
ui_btn_home = QtGui.QPushButton('Home')
ui_btn_home.setCheckable(True)
gbox.addWidget(ui_btn_home, 0, 1)
ui_btn_home.clicked[bool].connect(self.slot_btn_home)
ui_btn_grav = QtGui.QPushButton('Gravity')
ui_btn_grav.setCheckable(True)
gbox.addWidget(ui_btn_grav, 1, 0)
ui_btn_grav.clicked[bool].connect(self.slot_btn_grav)
ui_btn_vfix = QtGui.QPushButton('Teleop')
ui_btn_vfix.setCheckable(True)
gbox.addWidget(ui_btn_vfix, 1, 1)
ui_btn_vfix.clicked[bool].connect(self.slot_btn_teleop)
ui_btn_group = QtGui.QButtonGroup(self._widget)
ui_btn_group.addButton(ui_btn_idle)
ui_btn_group.addButton(ui_btn_home)
ui_btn_group.addButton(ui_btn_grav)
ui_btn_group.addButton(ui_btn_vfix)
ui_btn_group.setExclusive(True)
# connect here
self.ui_gbox_control = QtGui.QGroupBox('Control MTM')
self.ui_gbox_control.setLayout(gbox)
# ---- PSM Control Box ----
gbox = QtGui.QGridLayout()
ui_btn_idle = QtGui.QPushButton('Idle')
ui_btn_idle.setCheckable(True)
ui_btn_idle.setChecked(True)
gbox.addWidget(ui_btn_idle, 0, 0)
ui_btn_idle.clicked[bool].connect(self.slot_btn_idle)
ui_btn_home = QtGui.QPushButton('Home')
ui_btn_home.setCheckable(True)
gbox.addWidget(ui_btn_home, 0, 1)
ui_btn_home.clicked[bool].connect(self.slot_btn_home)
ui_btn_grav = QtGui.QPushButton('Teleop')
ui_btn_grav.setCheckable(True)
gbox.addWidget(ui_btn_grav, 1, 0)
ui_btn_grav.clicked[bool].connect(self.slot_btn_teleop)
ui_btn_vfix = QtGui.QPushButton('Manual')
ui_btn_vfix.setCheckable(True)
gbox.addWidget(ui_btn_vfix, 1, 1)
ui_btn_vfix.clicked[bool].connect(self.slot_btn_manual)
ui_btn_group = QtGui.QButtonGroup(self._widget)
ui_btn_group.addButton(ui_btn_idle)
ui_btn_group.addButton(ui_btn_home)
ui_btn_group.addButton(ui_btn_grav)
ui_btn_group.addButton(ui_btn_vfix)
ui_btn_group.setExclusive(True)
# connect here
self.ui_gbox_control_psm = QtGui.QGroupBox('Control PSM')
self.ui_gbox_control_psm.setLayout(gbox)
self.ui_gbox_control_psm.setVisible(False)
# ---- gripper box -----
ui_hbox_gripper = QtGui.QHBoxLayout()
ui_gripper_label = QtGui.QLabel('Gripper Angle:')
ui_hbox_gripper.addWidget(ui_gripper_label)
ui_gbox_gripper = QtGui.QGroupBox('Gripper')
ui_gbox_gripper.setLayout(ui_hbox_gripper)
# ---- joint position group -----
jnt_pos_hbox = QtGui.QHBoxLayout()
jp_widgets = []
jn_widgets = []
for i in range(7):
pos_vbox = QtGui.QVBoxLayout()
ui_ppos = QwtThermo()
ui_ppos.setScalePosition(QwtThermo.NoScale)
ui_ppos.setAutoFillBackground(True)
ui_ppos.setAlarmLevel(0.8)
ui_ppos.setPipeWidth(20)
ui_ppos.setValue(0.0)
ui_ppos.setMinimumSize(0, 40)
ui_ppos.setRange(0.0, 1.0, False)
ui_npos = QwtThermo()
ui_npos.setScalePosition(QwtThermo.NoScale)
ui_npos.setAlarmLevel(0.8)
ui_npos.setPipeWidth(20)
ui_npos.setValue(0.9)
ui_npos.setMinimumSize(0, 40)
ui_npos.setRange(1.0, 0.0, False)
ui_npos.setValue(0.0)
ui_label_jnt = QtGui.QLabel('J' + str(i))
pos_vbox.addWidget(ui_ppos)
pos_vbox.addWidget(ui_npos)
pos_vbox.addWidget(ui_label_jnt)
jnt_pos_hbox.addLayout(pos_vbox)
jp_widgets.append(ui_ppos)
jn_widgets.append(ui_npos)
# ui_btn_jnt_pos = QPushButton('J1')
ui_gbox_jnt_pos = QtGui.QGroupBox('Joint Positions (normalized)')
ui_gbox_jnt_pos.setLayout(jnt_pos_hbox)
self.joint_widgets = zip(jp_widgets, jn_widgets)
# joint torque group
jnt_eff_hbox = QtGui.QHBoxLayout()
tp_widgets = []
tn_widgets = []
for i in range(7):
eff_vbox = QtGui.QVBoxLayout()
ui_peff = QwtThermo()
ui_peff.setScalePosition(QwtThermo.NoScale)
ui_peff.setAutoFillBackground(True)
ui_peff.setAlarmLevel(0.8)
ui_peff.setPipeWidth(20)
ui_peff.setValue(0.0)
ui_peff.setMinimumSize(0, 30)
ui_peff.setRange(0.0, 1.0, False)
ui_neff = QwtThermo()
ui_neff.setScalePosition(QwtThermo.NoScale)
ui_neff.setAlarmLevel(0.8)
ui_neff.setPipeWidth(20)
ui_neff.setValue(0.9)
ui_neff.setMinimumSize(0, 30)
ui_neff.setRange(1.0, 0.0, False)
ui_neff.setValue(0.0)
ui_label_jnt = QtGui.QLabel('J' + str(i))
eff_vbox.addWidget(ui_peff)
eff_vbox.addWidget(ui_neff)
eff_vbox.addWidget(ui_label_jnt)
jnt_eff_hbox.addLayout(eff_vbox)
tp_widgets.append(ui_peff)
tn_widgets.append(ui_neff)
ui_gbox_jnt_eff = QtGui.QGroupBox('Joint Torques (normalized)')
ui_gbox_jnt_eff.setLayout(jnt_eff_hbox)
self.torque_widgets = zip(tp_widgets, tn_widgets)
# make widgets colorful
self.dvrk_green = QColor(87, 186, 142)
self.dvrk_green_dark = self.dvrk_green.darker()
self.dvrk_green_light = self.dvrk_green.lighter()
self.dvrk_blue = QColor(80, 148, 204)
self.dvrk_blue_dark = self.dvrk_blue.darker()
self.dvrk_blue_light = self.dvrk_blue.lighter()
self.dvrk_red = QColor(232, 47, 47)
self.dvrk_red_dark = self.dvrk_red.darker()
self.dvrk_red_light = self.dvrk_red.lighter()
self.dvrk_orange = QColor(255, 103, 43)
self.dvrk_orange_dark = self.dvrk_orange.darker()
# joint_bg_color = self.dvrk_blue_dark.darker()
joint_fill_color = self.dvrk_blue
joint_alarm_color = self.dvrk_blue_light # self.dvrk_blue_light
# torque_bg_color = self.dvrk_green_dark.darker()
torque_fill_color = self.dvrk_green
torque_alarm_color = self.dvrk_orange # self.dvrk_green_light
for w in jp_widgets + jn_widgets:
w.setAlarmLevel(0.80)
w.setFillColor(joint_fill_color)
w.setAlarmColor(joint_alarm_color)
p = w.palette()
# p.setColor(ui_ppos.backgroundRole(), joint_bg_color)
w.setPalette(p)
for w in tp_widgets + tn_widgets:
w.setAlarmLevel(0.66)
w.setFillColor(torque_fill_color)
w.setAlarmColor(torque_alarm_color)
p = w.palette()
# p.setColor(ui_peff.backgroundRole(), torque_bg_color)
w.setPalette(p)
# main layout
main_layout = QtGui.QVBoxLayout()
main_layout.addLayout(ui_hbox_type)
main_layout.addWidget(self.ui_gbox_control)
main_layout.addWidget(self.ui_gbox_control_psm)
main_layout.addWidget(ui_gbox_gripper)
main_layout.addWidget(ui_gbox_jnt_pos)
main_layout.addWidget(ui_gbox_jnt_eff)
self._widget.setLayout(main_layout)
pass
