class ArmCartControlGUIFrame(QtGui.QFrame):
def __init__(self):
super(ArmCartControlGUIFrame, self).__init__()
self.has_set_arm = False
self.move_state_pub = rospy.Publisher("/arm_control_gui/move_state",
String)
self.arm_state_pub = rospy.Publisher("/arm_control_gui/load_arm",
String)
self.init_ui()
#axis, direction = button_data
# self.button_state = PoseStamped()
# exec('self.cmd_msg.pose.%s = %f' % (POSE_PARAMS[], ))
def init_ui(self):
self.ui = QTArmControlGUIFrame()
self.ui.setupUi(self)
self.ui.arm_left.clicked.connect(self.arm_left_clk)
self.ui.arm_right.clicked.connect(self.arm_right_clk)
self.monitor_timer = QtCore.QTimer(self)
QtCore.QObject.connect(self.monitor_timer, QtCore.SIGNAL("timeout()"),
self.monitor_cb)
self.monitor_timer.start(50)
def monitor_cb(self):
if not self.has_set_arm:
return
move_button = ""
for button in MOVE_BUTTONS:
exec("is_down = self.ui.%s.isDown()" % button)
if is_down:
move_button = button
self.move_state_pub.publish(String(move_button))
def arm_left_clk(self):
self.arm_state_pub.publish(String("l"))
self.ui.arm_left.setDisabled(True)
self.ui.arm_right.setEnabled(True)
self.ui.arm_left.setStyleSheet(ARM_STYLESHEET % ("left", "on"))
self.ui.arm_right.setStyleSheet(ARM_STYLESHEET % ("right", "off"))
self.has_set_arm = True
def arm_right_clk(self):
self.arm_state_pub.publish(String("r"))
self.ui.arm_right.setDisabled(True)
self.ui.arm_left.setEnabled(True)
self.ui.arm_left.setStyleSheet(ARM_STYLESHEET % ("left", "off"))
self.ui.arm_right.setStyleSheet(ARM_STYLESHEET % ("right", "on"))
self.has_set_arm = True
class ArmCartControlGUIFrame(QtGui.QFrame):
def __init__(self):
super(ArmCartControlGUIFrame, self).__init__()
self.has_set_arm = False
self.move_state_pub = rospy.Publisher("/arm_control_gui/move_state", String)
self.arm_state_pub = rospy.Publisher("/arm_control_gui/load_arm", String)
self.init_ui()
# axis, direction = button_data
# self.button_state = PoseStamped()
# exec('self.cmd_msg.pose.%s = %f' % (POSE_PARAMS[], ))
def init_ui(self):
self.ui = QTArmControlGUIFrame()
self.ui.setupUi(self)
self.ui.arm_left.clicked.connect(self.arm_left_clk)
self.ui.arm_right.clicked.connect(self.arm_right_clk)
self.monitor_timer = QtCore.QTimer(self)
QtCore.QObject.connect(self.monitor_timer, QtCore.SIGNAL("timeout()"), self.monitor_cb)
self.monitor_timer.start(50)
def monitor_cb(self):
if not self.has_set_arm:
return
move_button = ""
for button in MOVE_BUTTONS:
exec("is_down = self.ui.%s.isDown()" % button)
if is_down:
move_button = button
self.move_state_pub.publish(String(move_button))
def arm_left_clk(self):
self.arm_state_pub.publish(String("l"))
self.ui.arm_left.setDisabled(True)
self.ui.arm_right.setEnabled(True)
self.ui.arm_left.setStyleSheet(ARM_STYLESHEET % ("left", "on"))
self.ui.arm_right.setStyleSheet(ARM_STYLESHEET % ("right", "off"))
self.has_set_arm = True
def arm_right_clk(self):
self.arm_state_pub.publish(String("r"))
self.ui.arm_right.setDisabled(True)
self.ui.arm_left.setEnabled(True)
self.ui.arm_left.setStyleSheet(ARM_STYLESHEET % ("left", "off"))
self.ui.arm_right.setStyleSheet(ARM_STYLESHEET % ("right", "on"))
self.has_set_arm = True
class ArmCartControlGUIFrame(QtGui.QFrame):
def __init__(self):
super(ArmCartControlGUIFrame, self).__init__()
self.move_state_pub = rospy.Publisher(MOVE_STATE_TOPIC, String)
self.arm_state_pub = rospy.Publisher(LOAD_ARM_TOPIC, String)
self.cur_arm = "l"
self.init_ui()
self.arm_left_clk()
def init_ui(self):
self.ui = QTArmControlGUIFrame()
self.ui.setupUi(self)
self.ui.arm_left.clicked.connect(self.arm_left_clk)
self.ui.arm_right.clicked.connect(self.arm_right_clk)
self.monitor_timer = QtCore.QTimer(self)
QtCore.QObject.connect(self.monitor_timer, QtCore.SIGNAL("timeout()"), self.monitor_cb)
self.monitor_timer.start(MONITOR_RATE)
def monitor_cb(self):
move_button = ""
for button in MOVE_BUTTONS:
exec("is_down = self.ui.%s.isDown()" % button)
if is_down:
move_button = button
self.move_state_pub.publish(String(move_button))
self.arm_state_pub.publish(String(self.cur_arm))
def arm_left_clk(self):
self.ui.arm_left.setDisabled(True)
self.ui.arm_right.setEnabled(True)
self.ui.arm_left.setStyleSheet(ARM_STYLESHEET % ("left", "on"))
self.ui.arm_right.setStyleSheet(ARM_STYLESHEET % ("right", "off"))
self.cur_arm = "l"
def arm_right_clk(self):
self.arm_state_pub.publish(String("r"))
self.ui.arm_right.setDisabled(True)
self.ui.arm_left.setEnabled(True)
self.ui.arm_left.setStyleSheet(ARM_STYLESHEET % ("left", "off"))
self.ui.arm_right.setStyleSheet(ARM_STYLESHEET % ("right", "on"))
self.cur_arm = "r"
class ArmCartControlGUIFrame(QtGui.QFrame):
def __init__(self):
super(ArmCartControlGUIFrame, self).__init__()
self.enable_buttons = False
self.disable_buttons = False
self.set_ctrl_name = None
self.set_status = None
self.hide_button = None
self.show_button = None
self.button_clk_pub = rospy.Publisher("/arm_ctrl_gui/button_clk", String)
self.buttons_enable_srv = rospy.Service("/arm_ctrl_gui/buttons_enable", Empty,
self._buttons_enable_cb)
self.buttons_disable_srv = rospy.Service("/arm_ctrl_gui/buttons_disable", Empty,
self._buttons_disable_cb)
self.set_ctrl_name_sub = rospy.Subscriber("/arm_ctrl_gui/set_controller_name", String,
self._set_ctrl_name_cb)
self.set_status_sub = rospy.Subscriber("/arm_ctrl_gui/set_status", String,
self._set_status_cb)
self.hide_button_sub = rospy.Subscriber("/arm_ctrl_gui/hide_button", String,
self._hide_button_cb)
self.show_button_sub = rospy.Subscriber("/arm_ctrl_gui/show_button", String,
self._show_button_cb)
self.init_ui()
def init_ui(self):
self.ui = QTArmControlGUIFrame()
self.ui.setupUi(self)
self.buttons_enabled()
for button in MOVE_BUTTONS + TEXT_BUTTONS:
_publish_button_clk = functools.partial(self._publish_button_clk, button)
exec("self.ui.%s.clicked.connect(_publish_button_clk)" % button)
self.monitor_timer = QtCore.QTimer(self)
QtCore.QObject.connect(self.monitor_timer, QtCore.SIGNAL("timeout()"), self.monitor_cb)
self.monitor_timer.start(MONITOR_RATE)
def _buttons_enable_cb(self, req):
self.enable_buttons = True
return EmptyResponse()
def _buttons_disable_cb(self, req):
self.disable_buttons = True
return EmptyResponse()
def _publish_button_clk(self, button):
self.button_clk_pub.publish(button)
def _set_ctrl_name_cb(self, msg):
self.set_ctrl_name = msg.data
def _set_status_cb(self, msg):
self.set_status = msg.data
def _hide_button_cb(self, msg):
self.hide_button = msg.data
def _show_button_cb(self, msg):
self.show_button = msg.data
def monitor_cb(self):
if self.enable_buttons:
self.buttons_enabled(True)
self.enable_buttons = False
if self.disable_buttons:
self.buttons_enabled(False)
self.disable_buttons = False
if self.set_ctrl_name is not None:
self.ui.controller_name.setText(self.set_ctrl_name)
self.set_ctrl_name = None
if self.set_status is not None:
self.ui.status_text.setText(self.set_status)
self.set_status = None
if self.hide_button is not None:
exec("self.ui.%s.hide()" % self.hide_button)
self.hide_button = None
if self.show_button is not None:
exec("self.ui.%s.show()" % self.show_button)
self.show_button = None
def buttons_enabled(self, enabled=True):
for button in MOVE_BUTTONS:
exec("cur_button = self.ui.%s" % button)
if enabled:
cur_button.setEnabled(True)
cur_button.setStyleSheet(BUTTON_STYLESHEET % (button, 'on'))
else:
cur_button.setDisabled(True)
cur_button.setStyleSheet(BUTTON_STYLESHEET % (button, 'off'))
for button in TEXT_BUTTONS:
exec("cur_button = self.ui.%s" % button)
if enabled:
cur_button.setEnabled(True)
else:
cur_button.setDisabled(True)
class ArmCartControlGUIFrame(QtGui.QFrame):
def __init__(self):
super(ArmCartControlGUIFrame, self).__init__()
self.enable_buttons = False
self.disable_buttons = False
self.set_ctrl_name = None
self.set_status = None
self.hide_button = None
self.show_button = None
self.button_clk_pub = rospy.Publisher("/arm_ctrl_gui/button_clk",
String)
self.buttons_enable_srv = rospy.Service("/arm_ctrl_gui/buttons_enable",
Empty, self._buttons_enable_cb)
self.buttons_disable_srv = rospy.Service(
"/arm_ctrl_gui/buttons_disable", Empty, self._buttons_disable_cb)
self.set_ctrl_name_sub = rospy.Subscriber(
"/arm_ctrl_gui/set_controller_name", String,
self._set_ctrl_name_cb)
self.set_status_sub = rospy.Subscriber("/arm_ctrl_gui/set_status",
String, self._set_status_cb)
self.hide_button_sub = rospy.Subscriber("/arm_ctrl_gui/hide_button",
String, self._hide_button_cb)
self.show_button_sub = rospy.Subscriber("/arm_ctrl_gui/show_button",
String, self._show_button_cb)
self.init_ui()
def init_ui(self):
self.ui = QTArmControlGUIFrame()
self.ui.setupUi(self)
self.buttons_enabled()
for button in MOVE_BUTTONS + TEXT_BUTTONS:
_publish_button_clk = functools.partial(self._publish_button_clk,
button)
exec("self.ui.%s.clicked.connect(_publish_button_clk)" % button)
self.monitor_timer = QtCore.QTimer(self)
QtCore.QObject.connect(self.monitor_timer, QtCore.SIGNAL("timeout()"),
self.monitor_cb)
self.monitor_timer.start(MONITOR_RATE)
def _buttons_enable_cb(self, req):
self.enable_buttons = True
return EmptyResponse()
def _buttons_disable_cb(self, req):
self.disable_buttons = True
return EmptyResponse()
def _publish_button_clk(self, button):
self.button_clk_pub.publish(button)
def _set_ctrl_name_cb(self, msg):
self.set_ctrl_name = msg.data
def _set_status_cb(self, msg):
self.set_status = msg.data
def _hide_button_cb(self, msg):
self.hide_button = msg.data
def _show_button_cb(self, msg):
self.show_button = msg.data
def monitor_cb(self):
if self.enable_buttons:
self.buttons_enabled(True)
self.enable_buttons = False
if self.disable_buttons:
self.buttons_enabled(False)
self.disable_buttons = False
if self.set_ctrl_name is not None:
self.ui.controller_name.setText(self.set_ctrl_name)
self.set_ctrl_name = None
if self.set_status is not None:
self.ui.status_text.setText(self.set_status)
self.set_status = None
if self.hide_button is not None:
exec("self.ui.%s.hide()" % self.hide_button)
self.hide_button = None
if self.show_button is not None:
exec("self.ui.%s.show()" % self.show_button)
self.show_button = None
def buttons_enabled(self, enabled=True):
for button in MOVE_BUTTONS:
exec("cur_button = self.ui.%s" % button)
if enabled:
cur_button.setEnabled(True)
cur_button.setStyleSheet(BUTTON_STYLESHEET % (button, 'on'))
else:
cur_button.setDisabled(True)
cur_button.setStyleSheet(BUTTON_STYLESHEET % (button, 'off'))
for button in TEXT_BUTTONS:
exec("cur_button = self.ui.%s" % button)
if enabled:
cur_button.setEnabled(True)
else:
cur_button.setDisabled(True)