Python Ui_Frame示例

示例#1

文件： servoing_interface.py 项目： wklharry/hrl

class ServoingFrame(QtGui.QFrame):
    def __init__(self):
        super(ServoingFrame, self).__init__()
        self.init_ui()

        rospy.Subscriber("/pr2_servo/smach/container_status",
                         SmachContainerStatus, self.smach_status_cb)
        self.cur_smach_state = None

        self.find_tag_pub = rospy.Publisher("/pr2_ar_servo/find_tag", Bool)
        self.tag_confirm_pub = rospy.Publisher("/pr2_ar_servo/tag_confirm",
                                               Bool)
        self.preempt_pub = rospy.Publisher("/pr2_ar_servo/preempt", Bool)

    def smach_status_cb(self, msg):
        for state in msg.active_states:
            if state == self.cur_smach_state:
                continue
            if state in STATUS_DICT:
                self.ui.state_information.setText(STATUS_DICT[state])
                self.cur_smach_state = state
            if state == "UI_FIND_TAG_WAIT" or state == "FIND_AR_TAG":
                self.enable_button(self.ui.find_ar_tag, self.find_ar_tag_ss)
                self.disable_button(self.ui.begin_servoing)
            if state == "UI_SERVO_WAIT":
                self.enable_button(self.ui.begin_servoing,
                                   self.begin_servoing_ss)
                self.disable_button(self.ui.find_ar_tag)
            if state == "SERVOING":
                self.disable_button(self.ui.find_ar_tag)
                self.disable_button(self.ui.begin_servoing)

    def enable_button(self, button, ss):
        button.setStyleSheet(ss)
        button.setEnabled(True)

    def disable_button(self, button):
        button.setStyleSheet(disabled_button_ss)
        button.setDisabled(True)

    def init_ui(self):
        self.ui = QTServoingFrame()
        self.ui.setupUi(self)
        self.ui.stop_moving.clicked.connect(self.stop_moving_clk)
        self.ui.find_ar_tag.clicked.connect(self.find_ar_tag_clk)
        self.ui.begin_servoing.clicked.connect(self.begin_servoing_clk)
        self.ui.state_information.setText("State Information")
        self.stop_moving_ss = self.ui.stop_moving.styleSheet()
        self.find_ar_tag_ss = self.ui.find_ar_tag.styleSheet()
        self.begin_servoing_ss = self.ui.begin_servoing.styleSheet()

    def stop_moving_clk(self):
        self.preempt_pub.publish(Bool(True))

    def find_ar_tag_clk(self):
        self.find_tag_pub.publish(Bool(True))

    def begin_servoing_clk(self):
        self.tag_confirm_pub.publish(Bool(True))

示例#2

文件： servoing_interface.py 项目： gt-ros-pkg/hrl

class ServoingFrame(QtGui.QFrame):
    def __init__(self):
        super(ServoingFrame, self).__init__()
        self.init_ui()

        rospy.Subscriber("/pr2_servo/smach/container_status", SmachContainerStatus, 
                         self.smach_status_cb)
        self.cur_smach_state = None

        self.find_tag_pub = rospy.Publisher("/pr2_ar_servo/find_tag", Bool)
        self.tag_confirm_pub = rospy.Publisher("/pr2_ar_servo/tag_confirm", Bool)
        self.preempt_pub = rospy.Publisher("/pr2_ar_servo/preempt", Bool)

    def smach_status_cb(self, msg):
        for state in msg.active_states:
            if state == self.cur_smach_state:
                continue
            if state in STATUS_DICT:
                self.ui.state_information.setText(STATUS_DICT[state])
                self.cur_smach_state = state
            if state == "UI_FIND_TAG_WAIT" or state == "FIND_AR_TAG":
                self.enable_button(self.ui.find_ar_tag, self.find_ar_tag_ss)
                self.disable_button(self.ui.begin_servoing)
            if state == "UI_SERVO_WAIT":
                self.enable_button(self.ui.begin_servoing, self.begin_servoing_ss)
                self.disable_button(self.ui.find_ar_tag)
            if state == "SERVOING":
                self.disable_button(self.ui.find_ar_tag)
                self.disable_button(self.ui.begin_servoing)
                
    def enable_button(self, button, ss):
        button.setStyleSheet(ss)
        button.setEnabled(True)
                
    def disable_button(self, button):
        button.setStyleSheet(disabled_button_ss)
        button.setDisabled(True)

    def init_ui(self):
        self.ui = QTServoingFrame()
        self.ui.setupUi(self)
        self.ui.stop_moving.clicked.connect(self.stop_moving_clk)
        self.ui.find_ar_tag.clicked.connect(self.find_ar_tag_clk)
        self.ui.begin_servoing.clicked.connect(self.begin_servoing_clk)
        self.ui.state_information.setText("State Information")
        self.stop_moving_ss = self.ui.stop_moving.styleSheet()
        self.find_ar_tag_ss = self.ui.find_ar_tag.styleSheet()
        self.begin_servoing_ss = self.ui.begin_servoing.styleSheet()

    def stop_moving_clk(self):
        self.preempt_pub.publish(Bool(True))

    def find_ar_tag_clk(self):
        self.find_tag_pub.publish(Bool(True))

    def begin_servoing_clk(self):
        self.tag_confirm_pub.publish(Bool(True))

示例#3

文件： servoing_interface.py 项目： gt-ros-pkg/hrl

 def init_ui(self):
     self.ui = QTServoingFrame()
     self.ui.setupUi(self)
     self.ui.stop_moving.clicked.connect(self.stop_moving_clk)
     self.ui.find_ar_tag.clicked.connect(self.find_ar_tag_clk)
     self.ui.begin_servoing.clicked.connect(self.begin_servoing_clk)
     self.ui.state_information.setText("State Information")
     self.stop_moving_ss = self.ui.stop_moving.styleSheet()
     self.find_ar_tag_ss = self.ui.find_ar_tag.styleSheet()
     self.begin_servoing_ss = self.ui.begin_servoing.styleSheet()

示例#4

文件： servoing_interface.py 项目： rgleichman/berkeley_demos

 def init_ui(self):
     self.ui = QTServoingFrame()
     self.ui.setupUi(self)
     self.ui.stop_moving.clicked.connect(self.stop_moving_clk)
     self.ui.find_ar_tag.clicked.connect(self.find_ar_tag_clk)
     self.ui.begin_servoing.clicked.connect(self.begin_servoing_clk)
     self.ui.state_information.setText("State Information")
     self.stop_moving_ss = self.ui.stop_moving.styleSheet()
     self.find_ar_tag_ss = self.ui.find_ar_tag.styleSheet()
     self.begin_servoing_ss = self.ui.begin_servoing.styleSheet()