class Top(Plugin):
NODE_FIELDS = [ 'pid', 'get_cpu_percent', 'get_memory_percent', 'get_num_threads']
OUT_FIELDS = ['node_name', 'pid', 'cpu_percent', 'memory_percent', 'num_threads' ]
FORMAT_STRS = ['%s', '%s', '%0.2f', '%0.2f', '%s' ]
NODE_LABELS = ['Node', 'PID', 'CPU %', 'Mem %', 'Num Threads' ]
SORT_TYPE = [str, str, float, float, float ]
TOOLTIPS = {
0: ('cmdline', lambda x: '\n'.join(textwrap.wrap(' '.join(x)))),
3: ('memory_info', lambda x: ('Resident: %0.2f MiB, Virtual: %0.2f MiB' % (x[0]/2**20, x[1]/2**20)))
}
_node_info = NodeInfo()
name_filter = re.compile('')
def __init__(self, context):
super(Top, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('Top')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q", "--quiet", action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
# if not args.quiet:
# print 'arguments: ', args
# print 'unknowns: ', unknowns
self._selected_node = ''
self._selected_node_lock = RLock()
# Setup the toolbar
self._toolbar = QToolBar()
self._filter_box = QLineEdit()
self._regex_box = QCheckBox()
self._regex_box.setText('regex')
self._toolbar.addWidget(QLabel('Filter'))
self._toolbar.addWidget(self._filter_box)
self._toolbar.addWidget(self._regex_box)
self._filter_box.returnPressed.connect(self.update_filter)
self._regex_box.stateChanged.connect(self.update_filter)
# Create a container widget and give it a layout
self._container = QWidget()
self._container.setWindowTitle('Process Monitor')
self._layout = QVBoxLayout()
self._container.setLayout(self._layout)
self._layout.addWidget(self._toolbar)
# Create the table widget
self._table_widget = QTreeWidget()
self._table_widget.setObjectName('TopTable')
self._table_widget.setColumnCount(len(self.NODE_LABELS))
self._table_widget.setHeaderLabels(self.NODE_LABELS)
self._table_widget.itemClicked.connect(self._tableItemClicked)
self._table_widget.setSortingEnabled(True)
self._table_widget.setAlternatingRowColors(True)
self._layout.addWidget(self._table_widget)
context.add_widget(self._container)
# Add a button for killing nodes
self._kill_button = QPushButton('Kill Node')
self._layout.addWidget(self._kill_button)
self._kill_button.clicked.connect(self._kill_node)
# Update twice since the first cpu% lookup will always return 0
self.update_table()
self.update_table()
self._table_widget.resizeColumnToContents(0)
# Start a timer to trigger updates
self._update_timer = QTimer()
self._update_timer.setInterval(1000)
self._update_timer.timeout.connect(self.update_table)
self._update_timer.start()
def _tableItemClicked(self, item, column):
with self._selected_node_lock:
self._selected_node = item.text(0)
def update_filter(self, *args):
if self._regex_box.isChecked():
expr = self._filter_box.text()
else:
expr = re.escape(self._filter_box.text())
self.name_filter = re.compile(expr)
self.update_table()
def _kill_node(self):
self._node_info.kill_node(self._selected_node)
def update_one_item(self, row, info):
twi = TopWidgetItem()
for col, field in enumerate(self.OUT_FIELDS):
val = info[field]
twi.setText(col, self.FORMAT_STRS[col] % val)
self._table_widget.insertTopLevelItem(row, twi)
for col, (key, func) in self.TOOLTIPS.iteritems():
twi.setToolTip(col, func(info[key]))
with self._selected_node_lock:
if twi.text(0) == self._selected_node:
twi.setSelected(True)
self._table_widget.setItemHidden(twi, len(self.name_filter.findall(info['node_name'])) == 0)
def update_table(self):
self._table_widget.clear()
infos = self._node_info.get_all_node_fields(self.NODE_FIELDS)
for nx, info in enumerate(infos):
self.update_one_item(nx, info)
def shutdown_plugin(self):
self._update_timer.stop()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('filter_text', self._filter_box.text())
instance_settings.set_value('is_regex', int(self._regex_box.checkState()))
def restore_settings(self, plugin_settings, instance_settings):
self._filter_box.setText(instance_settings.value('filter_text'))
is_regex_int = instance_settings.value('is_regex')
if is_regex_int:
self._regex_box.setCheckState(Qt.CheckState(is_regex_int))
else:
self._regex_box.setCheckState(Qt.CheckState(0))
self.update_filter()
class StepInterfaceWidget(QObject):
command_buttons = []
start_feet = Feet()
def __init__(self, context, add_execute_widget=True):
super(StepInterfaceWidget, self).__init__()
# init signal mapper
self.command_mapper = QSignalMapper(self)
self.command_mapper.mapped.connect(self._publish_step_plan_request)
# start widget
widget = context
error_status_widget = QErrorStatusWidget()
self.logger = Logger(error_status_widget)
vbox = QVBoxLayout()
# start control box
controls_hbox = QHBoxLayout()
# left coloumn
left_controls_vbox = QVBoxLayout()
left_controls_vbox.setMargin(0)
self.add_command_button(left_controls_vbox, "Rotate Left",
PatternParameters.ROTATE_LEFT)
self.add_command_button(left_controls_vbox, "Strafe Left",
PatternParameters.STRAFE_LEFT)
self.add_command_button(left_controls_vbox, "Step Up",
PatternParameters.STEP_UP)
self.add_command_button(left_controls_vbox, "Center on Left",
PatternParameters.FEET_REALIGN_ON_LEFT)
left_controls_vbox.addStretch()
controls_hbox.addLayout(left_controls_vbox, 1)
# center coloumn
center_controls_vbox = QVBoxLayout()
center_controls_vbox.setMargin(0)
self.add_command_button(center_controls_vbox, "Forward",
PatternParameters.FORWARD)
self.add_command_button(center_controls_vbox, "Backward",
PatternParameters.BACKWARD)
self.add_command_button(center_controls_vbox, "Step Over",
PatternParameters.STEP_OVER)
self.add_command_button(center_controls_vbox, "Center Feet",
PatternParameters.FEET_REALIGN_ON_CENTER)
self.add_command_button(center_controls_vbox, "Wide Stance",
PatternParameters.WIDE_STANCE)
center_controls_vbox.addStretch()
controls_hbox.addLayout(center_controls_vbox, 1)
# right coloumn
right_controls_vbox = QVBoxLayout()
right_controls_vbox.setMargin(0)
self.add_command_button(right_controls_vbox, "Rotate Right",
PatternParameters.ROTATE_RIGHT)
self.add_command_button(right_controls_vbox, "Strafe Right",
PatternParameters.STRAFE_RIGHT)
self.add_command_button(right_controls_vbox, "Step Down",
PatternParameters.STEP_DOWN)
self.add_command_button(right_controls_vbox, "Center on Right",
PatternParameters.FEET_REALIGN_ON_RIGHT)
right_controls_vbox.addStretch()
controls_hbox.addLayout(right_controls_vbox, 1)
# end control box
add_layout_with_frame(vbox, controls_hbox, "Commands:")
# start settings
settings_hbox = QHBoxLayout()
settings_hbox.setMargin(0)
# start left column
left_settings_vbox = QVBoxLayout()
left_settings_vbox.setMargin(0)
# frame id
self.frame_id_line_edit = QLineEdit("/world")
add_widget_with_frame(left_settings_vbox, self.frame_id_line_edit,
"Frame ID:")
# do closing step
self.close_step_checkbox = QCheckBox()
self.close_step_checkbox.setText("Do closing step")
self.close_step_checkbox.setChecked(True)
left_settings_vbox.addWidget(self.close_step_checkbox)
# extra seperation
self.extra_seperation_checkbox = QCheckBox()
self.extra_seperation_checkbox.setText("Extra Seperation")
self.extra_seperation_checkbox.setChecked(False)
left_settings_vbox.addWidget(self.extra_seperation_checkbox)
left_settings_vbox.addStretch()
# number of steps
self.step_number = generate_q_double_spin_box(1, 1, 50, 0, 1.0)
add_widget_with_frame(left_settings_vbox, self.step_number,
"Number Steps:")
# start step index
self.start_step_index = generate_q_double_spin_box(0, 0, 1000, 0, 1.0)
add_widget_with_frame(left_settings_vbox, self.start_step_index,
"Start Step Index:")
# end left column
settings_hbox.addLayout(left_settings_vbox, 1)
# start center column
center_settings_vbox = QVBoxLayout()
center_settings_vbox.setMargin(0)
# start foot selection
self.start_foot_selection_combo_box = QComboBox()
self.start_foot_selection_combo_box.addItem("AUTO")
self.start_foot_selection_combo_box.addItem("LEFT")
self.start_foot_selection_combo_box.addItem("RIGHT")
add_widget_with_frame(center_settings_vbox,
self.start_foot_selection_combo_box,
"Start foot selection:")
center_settings_vbox.addStretch()
# step Distance
self.step_distance = generate_q_double_spin_box(0.0, 0.0, 0.5, 2, 0.01)
add_widget_with_frame(center_settings_vbox, self.step_distance,
"Step Distance (m):")
# side step distance
self.side_step = generate_q_double_spin_box(0.0, 0.0, 0.2, 2, 0.01)
add_widget_with_frame(center_settings_vbox, self.side_step,
"Side Step (m):")
# rotation per step
self.step_rotation = generate_q_double_spin_box(
0.0, -30.0, 30.0, 0, 1.0)
add_widget_with_frame(center_settings_vbox, self.step_rotation,
"Step Rotation (deg):")
# end center column
settings_hbox.addLayout(center_settings_vbox, 1)
# start right column
right_settings_vbox = QVBoxLayout()
right_settings_vbox.setMargin(0)
# roll
self.roll = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
add_widget_with_frame(right_settings_vbox, self.roll, "Roll (deg):")
# pitch
self.pitch = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
add_widget_with_frame(right_settings_vbox, self.pitch, "Pitch (deg):")
# use terrain model
self.use_terrain_model_checkbox = QCheckBox()
self.use_terrain_model_checkbox.setText("Use Terrain Model")
self.use_terrain_model_checkbox.setChecked(False)
self.use_terrain_model_checkbox.stateChanged.connect(
self.use_terrain_model_changed)
right_settings_vbox.addWidget(self.use_terrain_model_checkbox)
# override mode
self.override_checkbox = QCheckBox()
self.override_checkbox.setText("Override 3D")
self.override_checkbox.setChecked(False)
right_settings_vbox.addWidget(self.override_checkbox)
right_settings_vbox.addStretch()
# delta z
self.dz = generate_q_double_spin_box(0.0, -0.5, 0.5, 2, 0.01)
add_widget_with_frame(right_settings_vbox, self.dz,
"delta z per step (m):")
# end right column
settings_hbox.addLayout(right_settings_vbox, 1)
# end settings
add_layout_with_frame(vbox, settings_hbox, "Settings:")
# parameter set selection
self.parameter_set_widget = QParameterSetWidget(logger=self.logger)
add_widget_with_frame(vbox, self.parameter_set_widget,
"Parameter Set:")
# execute option
if add_execute_widget:
add_widget_with_frame(
vbox,
QExecuteStepPlanWidget(logger=self.logger,
step_plan_topic="step_plan"),
"Execute:")
# add error status widget
add_widget_with_frame(vbox, error_status_widget, "Status:")
# end widget
widget.setLayout(vbox)
#context.add_widget(widget)
# init widget
self.parameter_set_widget.param_cleared_signal.connect(
self.param_cleared)
self.parameter_set_widget.param_changed_signal.connect(
self.param_selected)
self.commands_set_enabled(False)
# subscriber
self.start_feet_sub = rospy.Subscriber("set_start_feet", Feet,
self.set_start_feet_callback)
# publisher
self.step_plan_pub = rospy.Publisher("step_plan",
StepPlan,
queue_size=1)
# action clients
self.step_plan_request_client = actionlib.SimpleActionClient(
"step_plan_request", StepPlanRequestAction)
def shutdown_plugin(self):
print "Shutting down ..."
print "Done!"
def add_command_button(self, parent, text, command):
button = QPushButton(text)
self.command_mapper.setMapping(button, command)
button.clicked.connect(self.command_mapper.map)
parent.addWidget(button)
self.command_buttons.append(button)
return button
def set_start_feet_callback(self, feet):
self.start_feet = feet
# message publisher
def _publish_step_plan_request(self, walk_command):
params = PatternParameters()
params.steps = self.step_number.value()
params.mode = walk_command
params.close_step = self.close_step_checkbox.isChecked()
params.extra_seperation = self.extra_seperation_checkbox.isChecked()
params.use_terrain_model = self.use_terrain_model_checkbox.isChecked()
params.override = self.override_checkbox.isChecked(
) and not self.use_terrain_model_checkbox.isChecked()
params.roll = math.radians(self.roll.value())
params.pitch = math.radians(self.pitch.value())
params.dz = self.dz.value()
params.step_distance_forward = self.step_distance.value()
params.step_distance_sideward = self.side_step.value()
params.turn_angle = math.radians(self.step_rotation.value())
request = StepPlanRequest()
request.header = std_msgs.msg.Header()
request.header.stamp = rospy.Time.now()
request.header.frame_id = self.frame_id_line_edit.text()
request.start = self.start_feet
request.start_step_index = self.start_step_index.value()
if self.start_foot_selection_combo_box.currentText() == "AUTO":
request.start_foot_selection = StepPlanRequest.AUTO
elif self.start_foot_selection_combo_box.currentText() == "LEFT":
request.start_foot_selection = StepPlanRequest.LEFT
elif self.start_foot_selection_combo_box.currentText() == "RIGHT":
request.start_foot_selection = StepPlanRequest.RIGHT
else:
self.logger.log_error(
"Unknown start foot selection mode ('" +
self.start_foot_selection_combo_box.currentText() + "')!")
return
if walk_command == PatternParameters.FORWARD:
params.mode = PatternParameters.SAMPLING
elif walk_command == PatternParameters.BACKWARD:
params.mode = PatternParameters.SAMPLING
params.step_distance_forward *= -1
params.step_distance_sideward *= -1
params.turn_angle *= -1
request.pattern_parameters = params
request.planning_mode = StepPlanRequest.PLANNING_MODE_PATTERN
request.parameter_set_name.data = self.parameter_set_widget.current_parameter_set_name(
)
print "Send request = ", request
# send request
if self.step_plan_request_client.wait_for_server(rospy.Duration(0.5)):
self.logger.log_info("Sending footstep plan request...")
goal = StepPlanRequestGoal()
goal.plan_request = request
self.step_plan_request_client.send_goal(goal)
if self.step_plan_request_client.wait_for_result(
rospy.Duration(5.0)):
self.logger.log_info("Received footstep plan!")
self.logger.log(
self.step_plan_request_client.get_result().status)
self.step_plan_pub.publish(
self.step_plan_request_client.get_result().step_plan)
else:
self.logger.log_error(
"Didn't received any results. Check communcation!")
else:
self.logger.log_error(
"Can't connect to footstep planner action server!")
def commands_set_enabled(self, enable):
for button in self.command_buttons:
button.setEnabled(enable)
@Slot()
def param_cleared(self):
self.commands_set_enabled(False)
@Slot(str)
def param_selected(self, name):
self.commands_set_enabled(True)
@Slot(int)
def use_terrain_model_changed(self, state):
enable_override = True
if state == Qt.Checked:
enable_override = False
self.roll.setEnabled(enable_override)
self.pitch.setEnabled(enable_override)
self.override_checkbox.setEnabled(enable_override)
self.dz.setEnabled(enable_override)
class PatternGeneratorWidget(QObject):
enable_pattern_generator = False
def __init__(self, context):
super(PatternGeneratorWidget, self).__init__()
# publisher
self.pattern_generator_params_pub = rospy.Publisher(
'pattern_generator/set_params',
PatternGeneratorParameters,
queue_size=1)
# start widget
widget = context
# start upper part
hbox = QHBoxLayout()
# start left column
left_vbox = QVBoxLayout()
# start button
start_command = QPushButton("Start")
left_vbox.addWidget(start_command)
# simulation checkbox
self.simulation_mode_checkbox = QCheckBox()
self.simulation_mode_checkbox.setText("Simulation Mode")
self.simulation_mode_checkbox.setChecked(False)
left_vbox.addWidget(self.simulation_mode_checkbox)
# realtime checkbox
self.realtime_mode_checkbox = QCheckBox()
self.realtime_mode_checkbox.setText("Realtime Mode")
self.realtime_mode_checkbox.setChecked(False)
left_vbox.addWidget(self.realtime_mode_checkbox)
# joystick checkbox
self.joystick_mode_checkbox = QCheckBox()
self.joystick_mode_checkbox.setText("Joystick Mode")
self.joystick_mode_checkbox.setChecked(False)
left_vbox.addWidget(self.joystick_mode_checkbox)
# ignore invalid steps checkbox
self.ignore_invalid_steps_checkbox = QCheckBox()
self.ignore_invalid_steps_checkbox.setText("Ignore Invalid Steps")
self.ignore_invalid_steps_checkbox.setChecked(False)
left_vbox.addWidget(self.ignore_invalid_steps_checkbox)
# foot seperation
self.foot_seperation = generate_q_double_spin_box(
0.2, 0.15, 0.3, 2, 0.01)
self.foot_seperation.valueChanged.connect(self.callback_spin_box)
add_widget_with_frame(left_vbox, self.foot_seperation,
"Foot Seperation (m):")
# delta x
self.delta_x = generate_q_double_spin_box(0.0, -0.4, 0.4, 2, 0.01)
self.delta_x.valueChanged.connect(self.callback_spin_box)
add_widget_with_frame(left_vbox, self.delta_x, "dX (m):")
# delta y
self.delta_y = generate_q_double_spin_box(0.0, -2.2, 2.2, 2, 0.01)
self.delta_y.valueChanged.connect(self.callback_spin_box)
add_widget_with_frame(left_vbox, self.delta_y, "dY (m):")
# delta yaw
self.delta_yaw = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
self.delta_yaw.valueChanged.connect(self.callback_spin_box)
add_widget_with_frame(left_vbox, self.delta_yaw, "dYaw (deg):")
# roll
self.roll = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
self.roll.valueChanged.connect(self.callback_spin_box)
add_widget_with_frame(left_vbox, self.roll, "Roll (deg):")
# pitch
self.pitch = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
self.pitch.valueChanged.connect(self.callback_spin_box)
add_widget_with_frame(left_vbox, self.pitch, "Pitch (deg):")
# end left column
left_vbox.addStretch()
hbox.addLayout(left_vbox, 1)
# start right column
right_vbox = QVBoxLayout()
# stop button
stop_command = QPushButton("Stop")
right_vbox.addWidget(stop_command)
# ignore collision
self.collision_checkbox = QCheckBox()
self.collision_checkbox.setText("Ignore Collision")
self.collision_checkbox.setChecked(True)
right_vbox.addWidget(self.collision_checkbox)
# override 3D
self.override_checkbox = QCheckBox()
self.override_checkbox.setText("Override 3D")
self.override_checkbox.setChecked(False)
right_vbox.addWidget(self.override_checkbox)
# end right coloumn
right_vbox.addStretch()
hbox.addLayout(right_vbox, 1)
# add upper part
hbox.setMargin(0)
vbox = QVBoxLayout()
vbox.addLayout(hbox)
# parameter set selection
self.parameter_set_widget = QParameterSetWidget()
add_widget_with_frame(vbox, self.parameter_set_widget,
"Parameter Set:")
# end widget
widget.setLayout(vbox)
#context.add_widget(widget)
# signal connections
start_command.clicked.connect(self.start_command_callback)
stop_command.clicked.connect(self.stop_command_callback)
self.joystick_mode_checkbox.clicked.connect(
self.joystick_mode_check_callback)
self.ignore_invalid_steps_checkbox.clicked.connect(
self._publish_parameters)
def shutdown_plugin(self):
print "Shutting down ..."
self.pattern_generator_params_pub.unregister()
print "Done!"
# message publisher
def _publish_parameters(self):
params = PatternGeneratorParameters()
params.enable = self.enable_pattern_generator
params.simulation_mode = self.simulation_mode_checkbox.isChecked()
params.joystick_mode = self.joystick_mode_checkbox.isChecked()
params.ignore_invalid_steps = self.ignore_invalid_steps_checkbox.isChecked(
)
params.d_step.position.x = self.delta_x.value()
params.d_step.position.y = self.delta_y.value()
params.d_step.position.z = 0
q = tf.transformations.quaternion_from_euler(
math.radians(self.roll.value()), math.radians(self.pitch.value()),
math.radians(self.delta_yaw.value()))
params.d_step.orientation.x = q[0]
params.d_step.orientation.y = q[1]
params.d_step.orientation.z = q[2]
params.d_step.orientation.w = q[3]
params.foot_seperation = self.foot_seperation.value()
params.parameter_set_name.data = self.parameter_set_widget.current_parameter_set_name(
)
print "Send stepping command = \n", params
self.pattern_generator_params_pub.publish(params)
# Define system command strings
def start_command_callback(self):
self.enable_pattern_generator = True
self._publish_parameters()
def stop_command_callback(self):
self.enable_pattern_generator = False
self._publish_parameters()
def callback_spin_box(self, value_as_int):
if self.realtime_mode_checkbox.isChecked():
self._publish_parameters()
def joystick_mode_check_callback(self):
self.enable_pattern_generator = False
self._publish_parameters()
class PatternGeneratorWidget(QObject):
enable_pattern_generator = False
def __init__(self, context):
super(PatternGeneratorWidget, self).__init__()
# publisher
self.pattern_generator_params_pub = rospy.Publisher('pattern_generator/set_params', PatternGeneratorParameters, queue_size = 1)
# start widget
widget = context
# start upper part
hbox = QHBoxLayout()
# start left column
left_vbox = QVBoxLayout()
# start button
start_command = QPushButton("Start")
start_command.clicked.connect(self.start_command_callback)
left_vbox.addWidget(start_command)
# simulation checkbox
self.simulation_mode_checkbox = QCheckBox()
self.simulation_mode_checkbox.setText("Simulation Mode")
self.simulation_mode_checkbox.setChecked(False)
left_vbox.addWidget(self.simulation_mode_checkbox)
# realtime checkbox
self.realtime_mode_checkbox = QCheckBox()
self.realtime_mode_checkbox.setText("Realtime Mode")
self.realtime_mode_checkbox.setChecked(False)
left_vbox.addWidget(self.realtime_mode_checkbox)
# joystick checkbox
self.joystick_mode_checkbox = QCheckBox()
self.joystick_mode_checkbox.setText("Joystick Mode")
self.joystick_mode_checkbox.setChecked(False)
self.joystick_mode_checkbox.clicked.connect(self.joystick_mode_check_callback)
left_vbox.addWidget(self.joystick_mode_checkbox)
# foot seperation
self.foot_seperation = generate_q_double_spin_box(0.2, 0.15, 0.3, 2, 0.01)
self.foot_seperation.valueChanged.connect(self.callback_spin_box)
add_widget_with_frame(left_vbox, self.foot_seperation, "Foot Seperation (m):")
# delta x
self.delta_x = generate_q_double_spin_box(0.0, -0.4, 0.4, 2, 0.01)
self.delta_x.valueChanged.connect(self.callback_spin_box)
add_widget_with_frame(left_vbox, self.delta_x, "dX (m):")
# delta y
self.delta_y = generate_q_double_spin_box(0.0, -2.2, 2.2, 2, 0.01)
self.delta_y.valueChanged.connect(self.callback_spin_box)
add_widget_with_frame(left_vbox, self.delta_y, "dY (m):")
# delta yaw
self.delta_yaw = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
self.delta_yaw.valueChanged.connect(self.callback_spin_box)
add_widget_with_frame(left_vbox, self.delta_yaw, "dYaw (deg):")
# roll
self.roll = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
self.roll.valueChanged.connect(self.callback_spin_box)
add_widget_with_frame(left_vbox, self.roll, "Roll (deg):")
# pitch
self.pitch = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
self.pitch.valueChanged.connect(self.callback_spin_box)
add_widget_with_frame(left_vbox, self.pitch, "Pitch (deg):")
# end left column
left_vbox.addStretch()
hbox.addLayout(left_vbox, 1)
# start right column
right_vbox = QVBoxLayout()
# stop button
stop_command = QPushButton("Stop")
stop_command.clicked.connect(self.stop_command_callback)
right_vbox.addWidget(stop_command)
# ignore collision
self.collision_checkbox = QCheckBox()
self.collision_checkbox.setText("Ignore Collision")
self.collision_checkbox.setChecked(True)
right_vbox.addWidget(self.collision_checkbox)
# override 3D
self.override_checkbox = QCheckBox()
self.override_checkbox.setText("Override 3D")
self.override_checkbox.setChecked(False)
right_vbox.addWidget(self.override_checkbox)
# end right coloumn
right_vbox.addStretch()
hbox.addLayout(right_vbox, 1)
# add upper part
hbox.setMargin(0)
vbox = QVBoxLayout()
vbox.addLayout(hbox)
# parameter set selection
self.parameter_set_widget = QParameterSetWidget()
add_widget_with_frame(vbox, self.parameter_set_widget, "Parameter Set:")
# end widget
widget.setLayout(vbox)
#context.add_widget(widget)
def shutdown_plugin(self):
print "Shutting down ..."
self.pattern_generator_params_pub.unregister()
print "Done!"
# message publisher
def _publish_parameters(self):
params = PatternGeneratorParameters()
params.enable = self.enable_pattern_generator
params.simulation_mode = self.simulation_mode_checkbox.isChecked()
params.joystick_mode = self.joystick_mode_checkbox.isChecked()
params.d_step.position.x = self.delta_x.value()
params.d_step.position.y = self.delta_y.value()
params.d_step.position.z = 0
q = tf.transformations.quaternion_from_euler(math.radians(self.roll.value()), math.radians(self.pitch.value()), math.radians(self.delta_yaw.value()))
params.d_step.orientation.x = q[0]
params.d_step.orientation.y = q[1]
params.d_step.orientation.z = q[2]
params.d_step.orientation.w = q[3]
params.foot_seperation = self.foot_seperation.value()
params.parameter_set_name.data = self.parameter_set_widget.current_parameter_set_name()
print "Send stepping command = \n",params
self.pattern_generator_params_pub.publish(params)
# Define system command strings
def start_command_callback(self):
self.enable_pattern_generator = True
self._publish_parameters()
def stop_command_callback(self):
self.enable_pattern_generator = False
self._publish_parameters()
def callback_spin_box(self, value_as_int):
if (self.realtime_mode_checkbox.isChecked()):
self._publish_parameters()
def joystick_mode_check_callback(self):
self.enable_pattern_generator = False
self._publish_parameters()
class StepInterfaceWidget(QObject):
command_buttons = []
start_feet = Feet()
def __init__(self, context, add_execute_widget = True):
super(StepInterfaceWidget, self).__init__()
# init signal mapper
self.command_mapper = QSignalMapper(self)
self.command_mapper.mapped.connect(self._publish_step_plan_request)
# start widget
widget = context
error_status_widget = QErrorStatusWidget()
self.logger = Logger(error_status_widget)
vbox = QVBoxLayout()
# start control box
controls_hbox = QHBoxLayout()
# left coloumn
left_controls_vbox = QVBoxLayout()
left_controls_vbox.setMargin(0)
self.add_command_button(left_controls_vbox, "Rotate Left", PatternParameters.ROTATE_LEFT)
self.add_command_button(left_controls_vbox, "Strafe Left", PatternParameters.STRAFE_LEFT)
self.add_command_button(left_controls_vbox, "Step Up", PatternParameters.STEP_UP)
self.add_command_button(left_controls_vbox, "Center on Left", PatternParameters.FEET_REALIGN_ON_LEFT)
left_controls_vbox.addStretch()
controls_hbox.addLayout(left_controls_vbox, 1)
# center coloumn
center_controls_vbox = QVBoxLayout()
center_controls_vbox.setMargin(0)
self.add_command_button(center_controls_vbox, "Forward", PatternParameters.FORWARD)
self.add_command_button(center_controls_vbox, "Backward", PatternParameters.BACKWARD)
self.add_command_button(center_controls_vbox, "Step Over", PatternParameters.STEP_OVER)
self.add_command_button(center_controls_vbox, "Center Feet", PatternParameters.FEET_REALIGN_ON_CENTER)
self.add_command_button(center_controls_vbox, "Wide Stance", PatternParameters.WIDE_STANCE)
center_controls_vbox.addStretch()
controls_hbox.addLayout(center_controls_vbox, 1)
# right coloumn
right_controls_vbox = QVBoxLayout()
right_controls_vbox.setMargin(0)
self.add_command_button(right_controls_vbox, "Rotate Right", PatternParameters.ROTATE_RIGHT)
self.add_command_button(right_controls_vbox, "Strafe Right", PatternParameters.STRAFE_RIGHT)
self.add_command_button(right_controls_vbox, "Step Down", PatternParameters.STEP_DOWN)
self.add_command_button(right_controls_vbox, "Center on Right", PatternParameters.FEET_REALIGN_ON_RIGHT)
right_controls_vbox.addStretch()
controls_hbox.addLayout(right_controls_vbox, 1)
# end control box
add_layout_with_frame(vbox, controls_hbox, "Commands:")
# start settings
settings_hbox = QHBoxLayout()
settings_hbox.setMargin(0)
# start left column
left_settings_vbox = QVBoxLayout()
left_settings_vbox.setMargin(0)
# frame id
self.frame_id_line_edit = QLineEdit("/world")
add_widget_with_frame(left_settings_vbox, self.frame_id_line_edit, "Frame ID:")
# do closing step
self.close_step_checkbox = QCheckBox()
self.close_step_checkbox.setText("Do closing step")
self.close_step_checkbox.setChecked(True)
left_settings_vbox.addWidget(self.close_step_checkbox)
# extra seperation
self.extra_seperation_checkbox = QCheckBox()
self.extra_seperation_checkbox.setText("Extra Seperation")
self.extra_seperation_checkbox.setChecked(False)
left_settings_vbox.addWidget(self.extra_seperation_checkbox)
left_settings_vbox.addStretch()
# number of steps
self.step_number = generate_q_double_spin_box(1, 1, 50, 0, 1.0)
add_widget_with_frame(left_settings_vbox, self.step_number, "Number Steps:")
# start step index
self.start_step_index = generate_q_double_spin_box(0, 0, 1000, 0, 1.0)
add_widget_with_frame(left_settings_vbox, self.start_step_index, "Start Step Index:")
# end left column
settings_hbox.addLayout(left_settings_vbox, 1)
# start center column
center_settings_vbox = QVBoxLayout()
center_settings_vbox.setMargin(0)
# start foot selection
self.start_foot_selection_combo_box = QComboBox()
self.start_foot_selection_combo_box.addItem("AUTO")
self.start_foot_selection_combo_box.addItem("LEFT")
self.start_foot_selection_combo_box.addItem("RIGHT")
add_widget_with_frame(center_settings_vbox, self.start_foot_selection_combo_box, "Start foot selection:")
center_settings_vbox.addStretch()
# step Distance
self.step_distance = generate_q_double_spin_box(0.20, 0.0, 0.5, 2, 0.01)
add_widget_with_frame(center_settings_vbox, self.step_distance, "Step Distance (m):")
# side step distance
self.side_step = generate_q_double_spin_box(0.0, 0.0, 0.2, 2, 0.01)
add_widget_with_frame(center_settings_vbox, self.side_step, "Side Step (m):")
# rotation per step
self.step_rotation = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
add_widget_with_frame(center_settings_vbox, self.step_rotation, "Step Rotation (deg):")
# end center column
settings_hbox.addLayout(center_settings_vbox, 1)
# start right column
right_settings_vbox = QVBoxLayout()
right_settings_vbox.setMargin(0)
# roll
self.roll = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
add_widget_with_frame(right_settings_vbox, self.roll, "Roll (deg):")
# pitch
self.pitch = generate_q_double_spin_box(0.0, -30.0, 30.0, 0, 1.0)
add_widget_with_frame(right_settings_vbox, self.pitch, "Pitch (deg):")
# use terrain model
self.use_terrain_model_checkbox = QCheckBox()
self.use_terrain_model_checkbox.setText("Use Terrain Model")
self.use_terrain_model_checkbox.setChecked(False)
self.use_terrain_model_checkbox.stateChanged.connect(self.use_terrain_model_changed)
right_settings_vbox.addWidget(self.use_terrain_model_checkbox)
# override mode
self.override_checkbox = QCheckBox()
self.override_checkbox.setText("Override 3D")
self.override_checkbox.setChecked(False)
right_settings_vbox.addWidget(self.override_checkbox)
right_settings_vbox.addStretch()
# delta z
self.dz = generate_q_double_spin_box(0.0, -0.5, 0.5, 2, 0.01)
add_widget_with_frame(right_settings_vbox, self.dz, "delta z per step (m):")
# end right column
settings_hbox.addLayout(right_settings_vbox, 1)
# end settings
add_layout_with_frame(vbox, settings_hbox, "Settings:")
# parameter set selection
self.parameter_set_widget = QParameterSetWidget(logger = self.logger)
add_widget_with_frame(vbox, self.parameter_set_widget, "Parameter Set:")
# execute option
if add_execute_widget:
add_widget_with_frame(vbox, QExecuteStepPlanWidget(logger = self.logger, step_plan_topic = "step_plan"), "Execute:")
# add error status widget
add_widget_with_frame(vbox, error_status_widget, "Status:")
# end widget
widget.setLayout(vbox)
#context.add_widget(widget)
# init widget
self.parameter_set_widget.param_cleared_signal.connect(self.param_cleared)
self.parameter_set_widget.param_changed_signal.connect(self.param_selected)
self.commands_set_enabled(False)
# subscriber
self.start_feet_sub = rospy.Subscriber("set_start_feet", Feet, self.set_start_feet_callback)
# publisher
self.step_plan_pub = rospy.Publisher("step_plan", StepPlan, queue_size=1)
# action clients
self.step_plan_request_client = actionlib.SimpleActionClient("step_plan_request", StepPlanRequestAction)
def shutdown_plugin(self):
print "Shutting down ..."
print "Done!"
def add_command_button(self, parent, text, command):
button = QPushButton(text)
self.command_mapper.setMapping(button, command)
button.clicked.connect(self.command_mapper.map)
parent.addWidget(button)
self.command_buttons.append(button)
return button
def set_start_feet_callback(self, feet):
self.start_feet = feet
# message publisher
def _publish_step_plan_request(self, walk_command):
params = PatternParameters()
params.steps = self.step_number.value()
params.mode = walk_command
params.close_step = self.close_step_checkbox.isChecked()
params.extra_seperation = self.extra_seperation_checkbox.isChecked()
params.use_terrain_model = self.use_terrain_model_checkbox.isChecked()
params.override = self.override_checkbox.isChecked() and not self.use_terrain_model_checkbox.isChecked()
params.roll = math.radians(self.roll.value())
params.pitch = math.radians(self.pitch.value())
params.dz = self.dz.value()
params.step_distance_forward = self.step_distance.value()
params.step_distance_sideward = self.side_step.value()
params.turn_angle = math.radians(self.step_rotation.value())
request = StepPlanRequest()
request.header = std_msgs.msg.Header()
request.header.stamp = rospy.Time.now()
request.header.frame_id = self.frame_id_line_edit.text()
request.start = self.start_feet
request.start_step_index = self.start_step_index.value()
if (self.start_foot_selection_combo_box.currentText() == "AUTO"):
request.start_foot_selection = StepPlanRequest.AUTO
elif (self.start_foot_selection_combo_box.currentText() == "LEFT"):
request.start_foot_selection = StepPlanRequest.LEFT
elif (self.start_foot_selection_combo_box.currentText() == "RIGHT"):
request.start_foot_selection = StepPlanRequest.RIGHT
else:
self.logger.log_error("Unknown start foot selection mode ('" + self.start_foot_selection_combo_box.currentText() + "')!")
return;
if (walk_command == PatternParameters.FORWARD):
params.mode = PatternParameters.SAMPLING
elif (walk_command == PatternParameters.BACKWARD):
params.mode = PatternParameters.SAMPLING
params.step_distance_forward *= -1;
params.step_distance_sideward *= -1;
params.turn_angle *= -1;
request.pattern_parameters = params
request.planning_mode = StepPlanRequest.PLANNING_MODE_PATTERN
request.parameter_set_name.data = self.parameter_set_widget.current_parameter_set_name()
print "Send request = ", request
# send request
if (self.step_plan_request_client.wait_for_server(rospy.Duration(0.5))):
self.logger.log_info("Sending footstep plan request...")
goal = StepPlanRequestGoal()
goal.plan_request = request;
self.step_plan_request_client.send_goal(goal)
if (self.step_plan_request_client.wait_for_result(rospy.Duration(5.0))):
self.logger.log_info("Received footstep plan!")
self.logger.log(self.step_plan_request_client.get_result().status)
self.step_plan_pub.publish(self.step_plan_request_client.get_result().step_plan)
else:
self.logger.log_error("Didn't received any results. Check communcation!")
else:
self.logger.log_error("Can't connect to footstep planner action server!")
def commands_set_enabled(self, enable):
for button in self.command_buttons:
button.setEnabled(enable)
@Slot()
def param_cleared(self):
self.commands_set_enabled(False)
@Slot(str)
def param_selected(self, name):
self.commands_set_enabled(True)
@Slot(int)
def use_terrain_model_changed(self, state):
enable_override = True
if state == Qt.Checked:
enable_override = False
self.roll.setEnabled(enable_override)
self.pitch.setEnabled(enable_override)
self.override_checkbox.setEnabled(enable_override)
self.dz.setEnabled(enable_override)
class Top(Plugin):
NODE_FIELDS = [
'pid', 'get_cpu_percent', 'get_memory_percent', 'get_num_threads'
]
OUT_FIELDS = [
'node_name', 'pid', 'cpu_percent', 'memory_percent', 'num_threads'
]
FORMAT_STRS = ['%s', '%s', '%0.2f', '%0.2f', '%s']
NODE_LABELS = ['Node', 'PID', 'CPU %', 'Mem %', 'Num Threads']
SORT_TYPE = [str, str, float, float, float]
TOOLTIPS = {
0: ('cmdline', lambda x: '\n'.join(textwrap.wrap(' '.join(x)))),
3: ('memory_info', lambda x:
('Resident: %0.2f MiB, Virtual: %0.2f MiB' %
(x[0] / 2**20, x[1] / 2**20)))
}
_node_info = NodeInfo()
name_filter = re.compile('')
def __init__(self, context):
super(Top, self).__init__(context)
# Give QObjects reasonable names
self.setObjectName('Top')
# Process standalone plugin command-line arguments
from argparse import ArgumentParser
parser = ArgumentParser()
# Add argument(s) to the parser.
parser.add_argument("-q",
"--quiet",
action="store_true",
dest="quiet",
help="Put plugin in silent mode")
args, unknowns = parser.parse_known_args(context.argv())
# if not args.quiet:
# print 'arguments: ', args
# print 'unknowns: ', unknowns
self._selected_node = ''
self._selected_node_lock = RLock()
# Setup the toolbar
self._toolbar = QToolBar()
self._filter_box = QLineEdit()
self._regex_box = QCheckBox()
self._regex_box.setText('regex')
self._toolbar.addWidget(QLabel('Filter'))
self._toolbar.addWidget(self._filter_box)
self._toolbar.addWidget(self._regex_box)
self._filter_box.returnPressed.connect(self.update_filter)
self._regex_box.stateChanged.connect(self.update_filter)
# Create a container widget and give it a layout
self._container = QWidget()
self._container.setWindowTitle('Process Monitor')
self._layout = QVBoxLayout()
self._container.setLayout(self._layout)
self._layout.addWidget(self._toolbar)
# Create the table widget
self._table_widget = QTreeWidget()
self._table_widget.setObjectName('TopTable')
self._table_widget.setColumnCount(len(self.NODE_LABELS))
self._table_widget.setHeaderLabels(self.NODE_LABELS)
self._table_widget.itemClicked.connect(self._tableItemClicked)
self._table_widget.setSortingEnabled(True)
self._table_widget.setAlternatingRowColors(True)
self._layout.addWidget(self._table_widget)
context.add_widget(self._container)
# Add a button for killing nodes
self._kill_button = QPushButton('Kill Node')
self._layout.addWidget(self._kill_button)
self._kill_button.clicked.connect(self._kill_node)
# Update twice since the first cpu% lookup will always return 0
self.update_table()
self.update_table()
self._table_widget.resizeColumnToContents(0)
# Start a timer to trigger updates
self._update_timer = QTimer()
self._update_timer.setInterval(1000)
self._update_timer.timeout.connect(self.update_table)
self._update_timer.start()
def _tableItemClicked(self, item, column):
with self._selected_node_lock:
self._selected_node = item.text(0)
def update_filter(self, *args):
if self._regex_box.isChecked():
expr = self._filter_box.text()
else:
expr = re.escape(self._filter_box.text())
self.name_filter = re.compile(expr)
self.update_table()
def _kill_node(self):
self._node_info.kill_node(self._selected_node)
def update_one_item(self, row, info):
twi = TopWidgetItem()
for col, field in enumerate(self.OUT_FIELDS):
val = info[field]
twi.setText(col, self.FORMAT_STRS[col] % val)
self._table_widget.insertTopLevelItem(row, twi)
for col, (key, func) in self.TOOLTIPS.iteritems():
twi.setToolTip(col, func(info[key]))
with self._selected_node_lock:
if twi.text(0) == self._selected_node:
twi.setSelected(True)
self._table_widget.setItemHidden(
twi,
len(self.name_filter.findall(info['node_name'])) == 0)
def update_table(self):
self._table_widget.clear()
infos = self._node_info.get_all_node_fields(self.NODE_FIELDS)
for nx, info in enumerate(infos):
self.update_one_item(nx, info)
def shutdown_plugin(self):
self._update_timer.stop()
def save_settings(self, plugin_settings, instance_settings):
instance_settings.set_value('filter_text', self._filter_box.text())
instance_settings.set_value('is_regex',
int(self._regex_box.checkState()))
def restore_settings(self, plugin_settings, instance_settings):
self._filter_box.setText(instance_settings.value('filter_text'))
is_regex_int = instance_settings.value('is_regex')
if is_regex_int:
self._regex_box.setCheckState(Qt.CheckState(is_regex_int))
else:
self._regex_box.setCheckState(Qt.CheckState(0))
self.update_filter()
