def create_controls(self):
"""
Create UI controls.
"""
vbox = QtGui.QVBoxLayout()
form = QtGui.QFormLayout()
self.num_sigma = QtGui.QDoubleSpinBox()
self.num_sigma.setValue(1.0)
self.num_sigma.setMinimum(0.0)
self.num_sigma.setSingleStep(0.1)
self.num_sigma.setMaximum(1e3)
self.num_sigma.setDecimals(2)
form.addRow(tr("Sigma:"), self.num_sigma)
vbox.addLayout(form)
self.chk_preview = QtGui.QCheckBox(tr("Preview"))
self.chk_preview.setCheckable(True)
self.chk_preview.setChecked(False)
vbox.addWidget(self.chk_preview)
self.chk_preview.toggled[bool].connect(self.set_preview)
self.gbo_output = QtGui.QGroupBox(tr("Output"))
self.opt_new = QtGui.QRadioButton(tr("New signal"))
self.opt_replace = QtGui.QRadioButton(tr("In place"))
self.opt_new.setChecked(True)
gbo_vbox2 = QtGui.QVBoxLayout()
gbo_vbox2.addWidget(self.opt_new)
gbo_vbox2.addWidget(self.opt_replace)
self.gbo_output.setLayout(gbo_vbox2)
vbox.addWidget(self.gbo_output)
self.btn_ok = QtGui.QPushButton(tr("&OK"))
self.btn_ok.setDefault(True)
self.btn_ok.clicked.connect(self.accept)
self.btn_cancel = QtGui.QPushButton(tr("&Cancel"))
self.btn_cancel.clicked.connect(self.reject)
hbox = QtGui.QHBoxLayout()
hbox.addWidget(self.btn_ok)
hbox.addWidget(self.btn_cancel)
vbox.addLayout(hbox)
vbox.addStretch(1)
self.setLayout(vbox)
def setupButtons(self, yaml_file):
"""
Parse yaml file and setup Buttons. Format of the yaml file should be:
- name: 'button name' (required)
image: 'path to image for icon' (optional)
image_size: 'width and height of icon' (optional)
service: 'service' (required)
column: 'column index' (optional, defaults to 0)
"""
self.buttons = []
with open(yaml_file) as f:
yaml_data = yaml.load(f)
# lookup colum direction
direction = 'vertical'
for d in yaml_data:
if d.has_key('direction'):
if d['direction'] == 'horizontal':
direction = 'horizontal'
else: # d['direction'] == 'vertical':
direction = 'vertical'
yaml_data.remove(d)
break
# lookup column num
column_indices = [d['column'] for d in yaml_data]
max_column_index = max(*column_indices)
if direction == 'vertical':
self.layout = QtGui.QHBoxLayout()
self.layout_boxes = [QtGui.QVBoxLayout()
for i in range(max_column_index + 1)]
else: # direction == 'horizontal'
self.layout = QtGui.QVBoxLayout()
self.layout_boxes = [QtGui.QHBoxLayout()
for i in range(max_column_index + 1)]
self.button_groups = [QtGui.QGroupBox()
for i in range(max_column_index + 1)]
for button_data in yaml_data:
# check if all the field is available
if not button_data.has_key("name"):
self.showError("name field is missed in yaml")
raise Exception("name field is missed in yaml")
if not button_data.has_key("service"):
self.showError("service field is missed in yaml")
raise Exception("service field is missed in yaml")
if self.button_type == "push":
button = QtGui.QToolButton()
else: # self.button_type == "Radio":
button = QtGui.QRadioButton()
button.setSizePolicy(QSizePolicy(QSizePolicy.Preferred, QSizePolicy.Preferred))
if button_data.has_key("image"):
image_file = get_filename(button_data["image"])[len("file://"):]
if os.path.exists(image_file):
icon = QtGui.QIcon(image_file)
button.setIcon(icon)
if button_data.has_key("image_size"):
button.setIconSize(QSize(button_data["image_size"][0], button_data["image_size"][1]))
else:
button.setIconSize(QSize(100, 100))
if button_data.has_key("name"):
name = button_data['name']
button.setText(name)
button.clicked.connect(self.buttonCallback(button_data['service']))
if self.button_type == "push":
button.setToolButtonStyle(QtCore.Qt.ToolButtonTextUnderIcon)
else: # self.button_type == "Radio":
if button_data.has_key("default_value") and button_data['default_value']:
button.setChecked(True)
self.layout_boxes[button_data['column']].addWidget(button)
self.buttons.append(button)
for i in range(len(self.button_groups)):
self.button_groups[i].setLayout(self.layout_boxes[i])
for group in self.button_groups:
self.layout.addWidget(group)
self.setLayout(self.layout)
def init_ui(self):
# type combobox
ui_type_lable = QtGui.QLabel('Robot')
ui_type_lable.setStyleSheet('QLabel {font: bold}')
ui_type_lable.setMaximumWidth(70)
# ui_type_lable.setFont(QtGui.QFont(QtGui.QFont.Bold))
ui_type_lable.setAlignment(QtCore.Qt.AlignCenter)
self.ui_type = QtGui.QComboBox()
self.ui_type.addItem('MTMR')
self.ui_type.addItem('MTML')
self.ui_type.addItem('PSM1')
self.ui_type.addItem('PSM2')
self.ui_type.addItem('PSM3')
# self.ui_type.addItem('ECM')
ui_hbox_type = QtGui.QHBoxLayout()
ui_hbox_type.addWidget(ui_type_lable)
ui_hbox_type.addWidget(self.ui_type)
self.ui_type.currentIndexChanged.connect(self.slot_type_changed)
# control mode
# todo: use a for loop
gbox = QtGui.QGridLayout()
ui_btn_idle = QtGui.QPushButton('Idle')
ui_btn_idle.setCheckable(True)
ui_btn_idle.setChecked(True)
gbox.addWidget(ui_btn_idle, 0, 0)
ui_btn_idle.clicked[bool].connect(self.slot_btn_idle)
ui_btn_home = QtGui.QPushButton('Home')
ui_btn_home.setCheckable(True)
gbox.addWidget(ui_btn_home, 0, 1)
ui_btn_home.clicked[bool].connect(self.slot_btn_home)
ui_btn_grav = QtGui.QPushButton('Gravity')
ui_btn_grav.setCheckable(True)
gbox.addWidget(ui_btn_grav, 1, 0)
ui_btn_grav.clicked[bool].connect(self.slot_btn_grav)
ui_btn_vfix = QtGui.QPushButton('Teleop')
ui_btn_vfix.setCheckable(True)
gbox.addWidget(ui_btn_vfix, 1, 1)
ui_btn_vfix.clicked[bool].connect(self.slot_btn_teleop)
ui_btn_group = QtGui.QButtonGroup(self._widget)
ui_btn_group.addButton(ui_btn_idle)
ui_btn_group.addButton(ui_btn_home)
ui_btn_group.addButton(ui_btn_grav)
ui_btn_group.addButton(ui_btn_vfix)
ui_btn_group.setExclusive(True)
# connect here
self.ui_gbox_control = QtGui.QGroupBox('Control MTM')
self.ui_gbox_control.setLayout(gbox)
# ---- PSM Control Box ----
gbox = QtGui.QGridLayout()
ui_btn_idle = QtGui.QPushButton('Idle')
ui_btn_idle.setCheckable(True)
ui_btn_idle.setChecked(True)
gbox.addWidget(ui_btn_idle, 0, 0)
ui_btn_idle.clicked[bool].connect(self.slot_btn_idle)
ui_btn_home = QtGui.QPushButton('Home')
ui_btn_home.setCheckable(True)
gbox.addWidget(ui_btn_home, 0, 1)
ui_btn_home.clicked[bool].connect(self.slot_btn_home)
ui_btn_grav = QtGui.QPushButton('Teleop')
ui_btn_grav.setCheckable(True)
gbox.addWidget(ui_btn_grav, 1, 0)
ui_btn_grav.clicked[bool].connect(self.slot_btn_teleop)
ui_btn_vfix = QtGui.QPushButton('Manual')
ui_btn_vfix.setCheckable(True)
gbox.addWidget(ui_btn_vfix, 1, 1)
ui_btn_vfix.clicked[bool].connect(self.slot_btn_manual)
ui_btn_group = QtGui.QButtonGroup(self._widget)
ui_btn_group.addButton(ui_btn_idle)
ui_btn_group.addButton(ui_btn_home)
ui_btn_group.addButton(ui_btn_grav)
ui_btn_group.addButton(ui_btn_vfix)
ui_btn_group.setExclusive(True)
# connect here
self.ui_gbox_control_psm = QtGui.QGroupBox('Control PSM')
self.ui_gbox_control_psm.setLayout(gbox)
self.ui_gbox_control_psm.setVisible(False)
# ---- gripper box -----
ui_hbox_gripper = QtGui.QHBoxLayout()
ui_gripper_label = QtGui.QLabel('Gripper Angle:')
ui_hbox_gripper.addWidget(ui_gripper_label)
ui_gbox_gripper = QtGui.QGroupBox('Gripper')
ui_gbox_gripper.setLayout(ui_hbox_gripper)
# ---- joint position group -----
jnt_pos_hbox = QtGui.QHBoxLayout()
jp_widgets = []
jn_widgets = []
for i in range(7):
pos_vbox = QtGui.QVBoxLayout()
ui_ppos = QwtThermo()
ui_ppos.setScalePosition(QwtThermo.NoScale)
ui_ppos.setAutoFillBackground(True)
ui_ppos.setAlarmLevel(0.8)
ui_ppos.setPipeWidth(20)
ui_ppos.setValue(0.0)
ui_ppos.setMinimumSize(0, 40)
ui_ppos.setRange(0.0, 1.0, False)
ui_npos = QwtThermo()
ui_npos.setScalePosition(QwtThermo.NoScale)
ui_npos.setAlarmLevel(0.8)
ui_npos.setPipeWidth(20)
ui_npos.setValue(0.9)
ui_npos.setMinimumSize(0, 40)
ui_npos.setRange(1.0, 0.0, False)
ui_npos.setValue(0.0)
ui_label_jnt = QtGui.QLabel('J' + str(i))
pos_vbox.addWidget(ui_ppos)
pos_vbox.addWidget(ui_npos)
pos_vbox.addWidget(ui_label_jnt)
jnt_pos_hbox.addLayout(pos_vbox)
jp_widgets.append(ui_ppos)
jn_widgets.append(ui_npos)
# ui_btn_jnt_pos = QPushButton('J1')
ui_gbox_jnt_pos = QtGui.QGroupBox('Joint Positions (normalized)')
ui_gbox_jnt_pos.setLayout(jnt_pos_hbox)
self.joint_widgets = zip(jp_widgets, jn_widgets)
# joint torque group
jnt_eff_hbox = QtGui.QHBoxLayout()
tp_widgets = []
tn_widgets = []
for i in range(7):
eff_vbox = QtGui.QVBoxLayout()
ui_peff = QwtThermo()
ui_peff.setScalePosition(QwtThermo.NoScale)
ui_peff.setAutoFillBackground(True)
ui_peff.setAlarmLevel(0.8)
ui_peff.setPipeWidth(20)
ui_peff.setValue(0.0)
ui_peff.setMinimumSize(0, 30)
ui_peff.setRange(0.0, 1.0, False)
ui_neff = QwtThermo()
ui_neff.setScalePosition(QwtThermo.NoScale)
ui_neff.setAlarmLevel(0.8)
ui_neff.setPipeWidth(20)
ui_neff.setValue(0.9)
ui_neff.setMinimumSize(0, 30)
ui_neff.setRange(1.0, 0.0, False)
ui_neff.setValue(0.0)
ui_label_jnt = QtGui.QLabel('J' + str(i))
eff_vbox.addWidget(ui_peff)
eff_vbox.addWidget(ui_neff)
eff_vbox.addWidget(ui_label_jnt)
jnt_eff_hbox.addLayout(eff_vbox)
tp_widgets.append(ui_peff)
tn_widgets.append(ui_neff)
ui_gbox_jnt_eff = QtGui.QGroupBox('Joint Torques (normalized)')
ui_gbox_jnt_eff.setLayout(jnt_eff_hbox)
self.torque_widgets = zip(tp_widgets, tn_widgets)
# make widgets colorful
self.dvrk_green = QColor(87, 186, 142)
self.dvrk_green_dark = self.dvrk_green.darker()
self.dvrk_green_light = self.dvrk_green.lighter()
self.dvrk_blue = QColor(80, 148, 204)
self.dvrk_blue_dark = self.dvrk_blue.darker()
self.dvrk_blue_light = self.dvrk_blue.lighter()
self.dvrk_red = QColor(232, 47, 47)
self.dvrk_red_dark = self.dvrk_red.darker()
self.dvrk_red_light = self.dvrk_red.lighter()
self.dvrk_orange = QColor(255, 103, 43)
self.dvrk_orange_dark = self.dvrk_orange.darker()
# joint_bg_color = self.dvrk_blue_dark.darker()
joint_fill_color = self.dvrk_blue
joint_alarm_color = self.dvrk_blue_light # self.dvrk_blue_light
# torque_bg_color = self.dvrk_green_dark.darker()
torque_fill_color = self.dvrk_green
torque_alarm_color = self.dvrk_orange # self.dvrk_green_light
for w in jp_widgets + jn_widgets:
w.setAlarmLevel(0.80)
w.setFillColor(joint_fill_color)
w.setAlarmColor(joint_alarm_color)
p = w.palette()
# p.setColor(ui_ppos.backgroundRole(), joint_bg_color)
w.setPalette(p)
for w in tp_widgets + tn_widgets:
w.setAlarmLevel(0.66)
w.setFillColor(torque_fill_color)
w.setAlarmColor(torque_alarm_color)
p = w.palette()
# p.setColor(ui_peff.backgroundRole(), torque_bg_color)
w.setPalette(p)
# main layout
main_layout = QtGui.QVBoxLayout()
main_layout.addLayout(ui_hbox_type)
main_layout.addWidget(self.ui_gbox_control)
main_layout.addWidget(self.ui_gbox_control_psm)
main_layout.addWidget(ui_gbox_gripper)
main_layout.addWidget(ui_gbox_jnt_pos)
main_layout.addWidget(ui_gbox_jnt_eff)
self._widget.setLayout(main_layout)
pass
