def qt_template(world):
"""Runs a custom Qt frame around a visualization window"""
if not glinit.available('PyQt5'):
print(
"PyQt5 is not available on your system, try sudo apt-get install python-qt5"
)
return
#Qt objects must be explicitly deleted for some reason in PyQt5...
g_mainwindow = None
#All Qt functions must be called in the vis thread.
#To hook into that thread, you will need to pass a window creation function into vis.customUI.
def makefunc(gl_backend):
global g_mainwindow
g_mainwindow = MyQtMainWindow(gl_backend)
return g_mainwindow
vis.customUI(makefunc)
vis.add("world", world)
vis.setWindowTitle("Klamp't Qt test")
vis.spin(float('inf'))
vis.kill()
#Safe cleanup of all Qt objects created in makefunc.
#If you don't have this, PyQt5 complains about object destructors being called from the wrong thread
del g_mainwindow
def main():
print("""
===============================================================================
A program to quickly browse Klamp't objects.
USAGE: %s [item1 item2 ...]
where the given items are world, robot, terrain, object, or geometry files. Run
it without arguments
%s
for an empty reference world. You may add items to the reference world using
the `Add to World` button. If you know what items to use in the reference
world, run it with
%s world.xml
or
%s item1 item2 ...
where the items are world, robot, terrain, object, or geometry files.
===============================================================================
""" % (sys.argv[0], sys.argv[0], sys.argv[0], sys.argv[0]))
#must be explicitly deleted for some reason in PyQt5...
g_browser = None
def makefunc(gl_backend):
global g_browser
browser = ResourceBrowser(gl_backend)
g_browser = browser
dw = QtWidgets.QDesktopWidget()
x = dw.width() * 0.8
y = dw.height() * 0.8
browser.setFixedSize(x, y)
for fn in sys.argv[1:]:
res = browser.world.readFile(fn)
if not res:
print("Unable to load model", fn)
print("Quitting...")
sys.exit(1)
print("Added", fn, "to world")
if len(sys.argv) > 1:
browser.emptyVisPlugin.add("world", browser.world)
return browser
vis.customUI(makefunc)
vis.setWindowTitle("Klamp't Resource Browser")
vis.run()
del g_browser
return
#this code below is incorrect...
app = QtWidgets.QApplication(sys.argv)
browser = ResourceBrowser()
for fn in sys.argv[1:]:
res = browser.world.readFile(fn)
if not res:
print("Unable to load model", fn)
print("Quitting...")
sys.exit(1)
print("Added", fn, "to world")
if len(sys.argv) > 1:
browser.emptyVisPlugin.add("world", browser.world)
dw = QtWidgets.QDesktopWidget()
x = dw.width() * 0.8
y = dw.height() * 0.8
browser.setFixedSize(x, y)
#browser.splitter.setWindowState(QtCore.Qt.WindowMaximized)
browser.setWindowTitle("Klamp't Resource Browser")
browser.show()
# Start the main loop.
res = app.exec_()
return res
