def __init__(self):
super(StatusLightWidget, self).__init__()
self.lock = Lock()
self.status_sub = None
self.status = 0
self._status_topics = []
self._update_topic_timer = QTimer(self)
self._update_topic_timer.timeout.connect(self.updateTopics)
self._update_topic_timer.start(1)
self._active_topic = None
self._dialog = ComboBoxDialog()
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.redraw)
self._update_plot_timer.start(5)
def __init__(self):
super(StringLabelWidget, self).__init__()
self.lock = Lock()
vbox = QtGui.QVBoxLayout(self)
self.label = QLabel()
self.label.setAlignment(Qt.AlignLeft)
self.label.setSizePolicy(
QSizePolicy(QSizePolicy.Ignored, QSizePolicy.Ignored))
font = QFont("Helvetica", 14)
self.label.setFont(font)
self.label.setWordWrap(True)
vbox.addWidget(self.label)
self.string_sub = None
self._string_topics = []
self._update_topic_timer = QTimer(self)
self._update_topic_timer.timeout.connect(self.updateTopics)
self._update_topic_timer.start(1)
self._active_topic = None
self._dialog = ComboBoxDialog()
def __init__(self):
super(StatusLightWidget, self).__init__()
self.lock = Lock()
self.status_sub = None
self.status = 0
self._status_topics = []
self._update_topic_timer = QTimer(self)
self._update_topic_timer.timeout.connect(self.updateTopics)
self._update_topic_timer.start(1000)
self._active_topic = None
self._dialog = ComboBoxDialog()
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.redraw)
self._update_plot_timer.start(1000 / 15)
class StringLabelWidget(QWidget):
def __init__(self):
super(StringLabelWidget, self).__init__()
self.lock = Lock()
vbox = QtGui.QVBoxLayout(self)
self.label = QLabel()
self.label.setAlignment(Qt.AlignLeft)
self.label.setSizePolicy(
QSizePolicy(QSizePolicy.Ignored, QSizePolicy.Ignored))
font = QFont("Helvetica", 14)
self.label.setFont(font)
self.label.setWordWrap(True)
vbox.addWidget(self.label)
self.string_sub = None
self._string_topics = []
self._update_topic_timer = QTimer(self)
self._update_topic_timer.timeout.connect(self.updateTopics)
self._update_topic_timer.start(1)
self._active_topic = None
self._dialog = ComboBoxDialog()
def trigger_configuration(self):
self._dialog.exec_()
self.setupSubscriber(self._string_topics[self._dialog.number])
def updateTopics(self):
need_to_update = False
for (topic, topic_type) in rospy.get_published_topics():
if topic_type == "std_msgs/String":
if not topic in self._string_topics:
self._string_topics.append(topic)
need_to_update = True
if need_to_update:
self._string_topics = sorted(self._string_topics)
self._dialog.combo_box.clear()
for topic in self._string_topics:
self._dialog.combo_box.addItem(topic)
if self._active_topic:
if self._active_topic not in self._string_topics:
self._string_topics.append(self._active_topic)
self._dialog.combo_box.addItem(self._active_topic)
self._dialog.combo_box.setCurrentIndex(
self._string_topics.index(self._active_topic))
def setupSubscriber(self, topic):
if self.string_sub:
self.string_sub.unregister()
self.string_sub = rospy.Subscriber(topic, String, self.stringCallback)
self._active_topic = topic
def onActivated(self, number):
self.setupSubscriber(self._string_topics[number])
def stringCallback(self, msg):
self.string = msg.data
self.label.setText(self.string)
def save_settings(self, plugin_settings, instance_settings):
if self._active_topic:
instance_settings.set_value("active_topic", self._active_topic)
def restore_settings(self, plugin_settings, instance_settings):
if instance_settings.value("active_topic"):
topic = instance_settings.value("active_topic")
self._dialog.combo_box.addItem(topic)
self.setupSubscriber(topic)
class StatusLightWidget(QWidget):
_UNKNOWN_COLOR = QColor("#dddddd")
_SUCCESS_COLOR = QColor("#18FFFF")
_WARN_COLOR = QColor("#FFCA00")
_ERROR_COLOR = QColor("#F44336")
def __init__(self):
super(StatusLightWidget, self).__init__()
self.lock = Lock()
self.status_sub = None
self.status = 0
self._status_topics = []
self._update_topic_timer = QTimer(self)
self._update_topic_timer.timeout.connect(self.updateTopics)
self._update_topic_timer.start(1000)
self._active_topic = None
self._dialog = ComboBoxDialog()
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.redraw)
self._update_plot_timer.start(1000 / 15)
def redraw(self):
self.update()
def paintEvent(self, event):
with self.lock:
if self.status == 1:
color = self._SUCCESS_COLOR
elif self.status == 2:
color = self._WARN_COLOR
else:
color = self._UNKNOWN_COLOR
rect = event.rect()
qp = QPainter()
qp.begin(self)
radius = min(rect.width(), rect.height()) - 100
qp.setFont(QFont('Helvetica', 100))
qp.setPen(QPen(QBrush(color), 50))
qp.setBrush(color)
qp.drawEllipse((rect.width() - radius) / 2, (rect.height() - radius) / 2,
radius, radius)
qp.end()
return
def trigger_configuration(self):
self._dialog.exec_()
self.setupSubscriber(self._status_topics[self._dialog.number])
def updateTopics(self):
need_to_update = False
for (topic, topic_type) in rospy.get_published_topics():
if topic_type == "std_msgs/UInt8":
if not topic in self._status_topics:
self._status_topics.append(topic)
need_to_update = True
if need_to_update:
self._status_topics = sorted(self._status_topics)
self._dialog.combo_box.clear()
for topic in self._status_topics:
self._dialog.combo_box.addItem(topic)
if self._active_topic:
if self._active_topic not in self._status_topics:
self._status_topics.append(self._active_topic)
self._dialog.combo_box.addItem(self._active_topic)
self._dialog.combo_box.setCurrentIndex(self._status_topics.index(self._active_topic))
def setupSubscriber(self, topic):
if self.status_sub:
self.status_sub.unregister()
self.status_sub = rospy.Subscriber(topic, UInt8,
self.statusCallback)
self._active_topic = topic
def onActivated(self, number):
self.setupSubscriber(self._status_topics[number])
def statusCallback(self, msg):
self.status = msg.data
def save_settings(self, plugin_settings, instance_settings):
if self._active_topic:
instance_settings.set_value("active_topic", self._active_topic)
def restore_settings(self, plugin_settings, instance_settings):
if instance_settings.value("active_topic"):
topic = instance_settings.value("active_topic")
self._dialog.combo_box.addItem(topic)
self.setupSubscriber(topic)
class StatusLightWidget(QWidget):
_UNKNOWN_COLOR = QColor("#dddddd")
_SUCCESS_COLOR = QColor("#18FFFF")
_WARN_COLOR = QColor("#FFCA00")
_ERROR_COLOR = QColor("#F44336")
def __init__(self):
super(StatusLightWidget, self).__init__()
self.lock = Lock()
self.status_sub = None
self.status = 0
self._status_topics = []
self._update_topic_timer = QTimer(self)
self._update_topic_timer.timeout.connect(self.updateTopics)
self._update_topic_timer.start(1)
self._active_topic = None
self._dialog = ComboBoxDialog()
self._update_plot_timer = QTimer(self)
self._update_plot_timer.timeout.connect(self.redraw)
self._update_plot_timer.start(5)
def redraw(self):
self.update()
def paintEvent(self, event):
with self.lock:
if self.status == 1:
color = self._SUCCESS_COLOR
elif self.status == 2:
color = self._WARN_COLOR
else:
color = self._UNKNOWN_COLOR
rect = event.rect()
qp = QPainter()
qp.begin(self)
radius = min(rect.width(), rect.height()) - 100
qp.setFont(QFont('Helvetica', 100))
qp.setPen(QPen(QBrush(color), 50))
qp.setBrush(color)
qp.drawEllipse((rect.width() - radius) / 2,
(rect.height() - radius) / 2, radius, radius)
qp.end()
return
def trigger_configuration(self):
self._dialog.exec_()
self.setupSubscriber(self._status_topics[self._dialog.number])
def updateTopics(self):
need_to_update = False
for (topic, topic_type) in rospy.get_published_topics():
if topic_type == "std_msgs/UInt8":
if not topic in self._status_topics:
self._status_topics.append(topic)
need_to_update = True
if need_to_update:
self._status_topics = sorted(self._status_topics)
self._dialog.combo_box.clear()
for topic in self._status_topics:
self._dialog.combo_box.addItem(topic)
if self._active_topic:
if self._active_topic not in self._status_topics:
self._status_topics.append(self._active_topic)
self._dialog.combo_box.addItem(self._active_topic)
self._dialog.combo_box.setCurrentIndex(
self._status_topics.index(self._active_topic))
def setupSubscriber(self, topic):
if self.status_sub:
self.status_sub.unregister()
self.status_sub = rospy.Subscriber(topic, UInt8, self.statusCallback)
self._active_topic = topic
def onActivated(self, number):
self.setupSubscriber(self._status_topics[number])
def statusCallback(self, msg):
self.status = msg.data
def save_settings(self, plugin_settings, instance_settings):
if self._active_topic:
instance_settings.set_value("active_topic", self._active_topic)
def restore_settings(self, plugin_settings, instance_settings):
if instance_settings.value("active_topic"):
topic = instance_settings.value("active_topic")
self._dialog.combo_box.addItem(topic)
self.setupSubscriber(topic)
