class ListItem(Item):
def __init__(self, scene, x, y, w, data, item_selected_cb=None, parent=None):
self.w = 100
self.h = 100
self.sp = 0
self.item_selected_cb = item_selected_cb
super(ListItem, self).__init__(scene, x, y, parent)
self.w = self.m2pix(w)
self.h = self.m2pix(0.2)
self.sp = self.m2pix(0.005)
self.items = []
self.middle_item_idx = 0
self.selected_item_idx = None
for d in data:
self.items.append(ButtonItem(self.scene(), 0, 0,
d, self, self.item_clicked_cb, width=w, push_button=True))
rospack = rospkg.RosPack()
icons_path = rospack.get_path('art_projected_gui') + '/icons/'
self.up_btn = ButtonItem(self.scene(), 0, 0, translate(
"ProgramItem", "Up"), self, self.up_btn_cb, width=w, image_path=icons_path + "arrow-up.svg")
self.down_btn = ButtonItem(self.scene(), 0, 0, translate(
"ProgramItem", "Down"), self, self.down_btn_cb, width=w, image_path=icons_path + "arrow-down.svg")
self.up_btn.setPos(0, 0)
self.down_btn.setPos(0, self.h - self.down_btn.boundingRect().height())
self.set_current_idx(min(1, len(self.items) - 1))
self.update()
def item_clicked_cb(self, btn):
if not self.isEnabled():
return
if not btn.pressed:
self.selected_item_idx = None
else:
self.selected_item_idx = self.items.index(btn)
for i in range(0, len(self.items)):
if i != self.selected_item_idx:
self.items[i].set_pressed(False)
self.set_current_idx(self.selected_item_idx)
if self.item_selected_cb is not None:
self.item_selected_cb()
def get_current_idx(self):
return self.middle_item_idx
def set_current_idx(self, idx, select=False):
if select:
self.selected_item_idx = idx
self.middle_item_idx = max(idx, min(1, len(self.items) - 1))
if self.isEnabled():
if self.middle_item_idx == min(1, len(self.items) - 1):
self.up_btn.set_enabled(False)
else:
self.up_btn.set_enabled(True)
if (idx < len(self.items) - 2):
self.down_btn.set_enabled(True)
else:
self.down_btn.set_enabled(False)
for it in self.items:
it.setVisible(False)
if select:
it.set_pressed(False)
# selected item is always vertically centered
self.items[self.middle_item_idx].setPos(
0, (self.h - self.items[self.middle_item_idx].boundingRect().height()) / 2)
self.items[self.middle_item_idx].setVisible(True)
if select:
self.items[self.middle_item_idx].set_pressed(True)
# how much vert. space is used
vspace = self.items[self.middle_item_idx].boundingRect().height()
# fill space above selected item
for idx in range(self.middle_item_idx - 1, -1, -1):
h = self.items[idx].boundingRect().height()
y = self.items[idx + 1].y() - self.sp - h
if y < self.up_btn.y() + self.up_btn.boundingRect().height():
break
self.items[idx].setPos(0, y)
self.items[idx].setVisible(True)
vspace += self.sp + h
# fill space below selected item
for idx in range(self.middle_item_idx + 1, len(self.items)):
h = self.items[idx].boundingRect().height()
y = self.items[idx - 1].y() + self.items[idx -
1].boundingRect().height() + self.sp
if y + h > self.down_btn.y():
break
self.items[idx].setPos(0, y)
self.items[idx].setVisible(True)
vspace += self.sp + h
def up_btn_cb(self, btn):
if self.middle_item_idx > 0:
self.set_current_idx(self.middle_item_idx - 1)
def down_btn_cb(self, btn):
if self.middle_item_idx < len(self.items) - 1:
self.set_current_idx(self.middle_item_idx + 1)
def boundingRect(self):
return QtCore.QRectF(0, 0, self.w, self.h)
def paint(self, painter, option, widget):
pass
class ListItem(Item):
def __init__(self, scene, x, y, w, data, item_selected_cb=None, parent=None):
self.w = 100
self.h = 100
self.sp = 0
self.item_selected_cb = item_selected_cb
super(ListItem, self).__init__(scene, x, y, parent=parent)
self.w = self.m2pix(w)
self.h = self.m2pix(0.2)
self.sp = self.m2pix(0.005)
self.items = []
self.middle_item_idx = 0
self.selected_item_idx = None
for d in data:
self.items.append(ButtonItem(self.scene(), 0, 0,
d, self, self.item_clicked_cb, width=w, push_button=True))
# TODO down_btn is not properly aligned
self.up_btn = ButtonItem(self.scene(), 0, 0, "", self, self.up_btn_cb, width=w / 2 - 0.005 / 2,
image_path=icons_path + "arrow-up.svg")
self.down_btn = ButtonItem(self.scene(), 0, 0, "", self, self.down_btn_cb, width=w / 2 - 0.005 / 2,
image_path=icons_path + "arrow-down.svg")
self.up_btn.setPos(0, self.h - self.down_btn.boundingRect().height())
self.down_btn.setPos(self.up_btn.boundingRect().width() + self.sp,
self.h - self.down_btn.boundingRect().height())
self.set_current_idx(min(1, len(self.items) - 1))
self.update()
def item_clicked_cb(self, btn):
if not self.isEnabled():
return
if not btn.pressed:
self.selected_item_idx = None
else:
self.selected_item_idx = self.items.index(btn)
for i in range(0, len(self.items)):
if i != self.selected_item_idx:
self.items[i].set_pressed(False)
self.set_current_idx(self.selected_item_idx)
if self.item_selected_cb is not None:
self.item_selected_cb()
def get_current_idx(self):
return self.middle_item_idx
def set_current_idx(self, idx, select=False):
if select:
self.selected_item_idx = idx
self.middle_item_idx = max(idx, min(1, len(self.items) - 1))
for it in self.items:
it.setVisible(False)
if select:
it.set_pressed(False)
displayed = [self.middle_item_idx]
# selected item is always vertically centered
self.items[self.middle_item_idx].setPos(
0, (self.h - self.items[self.middle_item_idx].boundingRect().height()) / 2)
self.items[self.middle_item_idx].setVisible(True)
if select:
self.items[self.selected_item_idx].set_pressed(True)
# how much vert. space is used
vspace = self.items[self.middle_item_idx].boundingRect().height()
# fill space above middle item
for idx in range(self.middle_item_idx - 1, -1, -1):
h = self.items[idx].boundingRect().height()
y = self.items[idx + 1].y() - self.sp - h
if y < 0:
break
self.items[idx].setPos(0, y)
self.items[idx].setVisible(True)
displayed.append(idx)
vspace += self.sp + h
displayed.append(idx)
# fill space below middle item
for idx in range(self.middle_item_idx + 1, len(self.items)):
h = self.items[idx].boundingRect().height()
y = self.items[idx - 1].y() + self.items[idx -
1].boundingRect().height() + self.sp
if y + h > self.down_btn.y():
break
self.items[idx].setPos(0, y)
self.items[idx].setVisible(True)
vspace += self.sp + h
displayed.append(idx)
if self.isEnabled():
self.up_btn.set_enabled(min(displayed) > 0)
self.down_btn.set_enabled(max(displayed) < len(self.items) - 1)
def up_btn_cb(self, btn):
if self.middle_item_idx > 0:
self.set_current_idx(self.middle_item_idx - 1)
def down_btn_cb(self, btn):
if self.middle_item_idx < len(self.items) - 1:
self.set_current_idx(self.middle_item_idx + 1)
def boundingRect(self):
return QtCore.QRectF(0, 0, self.w, self.h)
def paint(self, painter, option, widget):
pass
class ProgramItem(Item):
def __init__(self, scene, rpm, x, y, active_item_switched=None, program_state_changed=None):
self.states = ['LEARNING', 'RUNNING', 'PAUSED', 'STOPPED']
self.state = 'LEARNING'
self.w = 180 # TODO spocitat podle rpm
self.h = 20
super(ProgramItem, self).__init__(scene, rpm, x, y)
self.prog = None
self.template = None
self.items = []
self.active_item = None
self.active_item_switched = active_item_switched
self.program_state_changed = program_state_changed
self.fixed = False
self.setZValue(100)
def set_running(self):
self.state = 'RUNNING'
def has_prog(self):
return self.prog is None
def set_active(self, it=None, inst_id=None):
if it is None and inst_id is not None:
it = self.get_item_by_id(inst_id)
if it is None:
return
if self.active_item is not None:
self.active_item.setPos(30, self.active_item.y())
self.active_item.active_item = False
it.active_item = True
self.active_item = it
self.active_item.update()
self.active_item.setPos(10, self.active_item.y())
def is_prog_learned(self):
for it in self.items:
if not it.item_learned():
return False
return True
def get_prog(self):
# TODO deal with more blocks
del self.prog.blocks[0].items[:]
for it in self.items:
self.prog.blocks[0].items.append(it.item)
return self.prog
def set_prog(self, prog, template):
self.prog = prog
self.template = template
self.items = []
self.active_item = None
cnt = 0
max_w = 0
# TODO Handle program groups - create ProgramGroupItem class and allow switching between groups. For now, let's assume that there will always be just one group
for pitem in self.prog.blocks[0].items:
if self.template:
# to make sure that template is 'clear'
pitem.object = ""
del pitem.pick_polygon.polygon.points[:]
pitem.place_pose.pose.position.x = 0
pitem.place_pose.pose.position.y = 0
pitem.place_pose.pose.position.z = 0
# TODO how to place items easily? using some layout??
self.items.append(ProgramItemItem(self.scene(), self.rpm, 0, 0, pitem, self, self.item_selected_cb))
if len(self.items) < 2:
self.items[-1].setPos(30, 20)
else:
self.items[-1].setPos(30, 10 + self.items[-2].y() + self.items[-2].h)
if self.items[-1].w > max_w:
max_w = self.items[-1].w
cnt += 1
# set first item as active
if (self.active_item is None) and self.items[-1].item_req_learning():
self.set_active(self.items[-1])
# if pitem.type in self.items_req_learning:
# if self.active_item is None: self.active_item = pitem
self.btn = ButtonItem(self.scene(), self.rpm, 0, 0, translate("ProgramItem", "Start"), self, self.btn_clicked)
self.btn.setPos(10, 5 + cnt * 50)
self.btn.set_enabled(False)
# TODO najit max. sirku itemu a tomu prizpusobit sirku programu
self.h = 20 + cnt * 50 + 30
self.w = max_w + 40
self.update()
def btn_clicked(self):
if self.state == 'LEARNING':
self.state = 'RUNNING'
self.btn.set_caption(translate("ProgramItem", "Pause"))
elif self.state == 'RUNNING':
self.state = 'PAUSED'
self.btn.set_caption(translate("ProgramItem", "Resume"))
# TODO second button for STOP
if self.program_state_changed is not None:
self.program_state_changed(self.state)
def item_selected_cb(self, it):
if self.state == 'RUNNING':
print "program running - ignoring item selection"
return
self.set_active(it)
if self.active_item_switched is not None:
self.active_item_switched()
def update_size(self):
self.active_item.update_size()
max_w = 0
for it in self.items:
if self.active_item.w + 40 > max_w:
max_w = self.active_item.w + 40
self.w = max_w
self.update()
def program_updated(self):
# TODO consides state
if self.is_prog_learned():
print "enabling start button"
self.btn.set_enabled(True)
def set_object(self, obj):
self.active_item.item.object = obj
self.program_updated()
self.update_size()
def set_place_pose(self, x, y):
self.active_item.item.place_pose.pose.position.x = x
self.active_item.item.place_pose.pose.position.y = y
self.active_item.item.place_pose.pose.orientation.w = 1.0
self.program_updated()
self.update_size()
def set_polygon(self, pts):
del self.active_item.item.pick_polygon.polygon.points[:]
for pt in pts:
self.active_item.item.pick_polygon.polygon.points.append(Point32(pt[0], pt[1], 0))
self.program_updated()
self.update_size()
def boundingRect(self):
return QtCore.QRectF(0, -30, self.w, self.h + 30)
def get_item_by_id(self, id):
for it in self.items:
if it.item.id == id:
return it
return None
def paint(self, painter, option, widget):
if self.prog is None:
return
painter.setClipRect(option.exposedRect)
painter.setRenderHint(QtGui.QPainter.Antialiasing)
font = QtGui.QFont('Arial', 14)
painter.setFont(font)
painter.setPen(QtCore.Qt.white)
painter.drawText(0, -10, translate("ProgramItem", "Program") + " ID=" + str(self.prog.id))
pen = QtGui.QPen()
pen.setStyle(QtCore.Qt.NoPen)
painter.setPen(pen)
painter.setBrush(QtCore.Qt.gray)
painter.setOpacity(0.5)
# TODO projit itemy a zjistit skutecnou velikost (muze byt ruzna)
painter.drawRect(0, 0, self.w, self.h)
