void MyPlugin::initPlugin(qt_gui_cpp::PluginContext& context)
{
// access standalone command line arguments
QStringList argv = context.argv();
// create QWidget
widget_ = new QWidget();
// extend the widget with all attributes and children from UI file
ui_.setupUi(widget_);
// add widget to the user interface
context.addWidget(widget_);
}
void TopicGUI::initPlugin(qt_gui_cpp::PluginContext& ctx)
{
m_w = new DotWidget;
ctx.addWidget(m_w);
qRegisterMetaType<nimbro_topic_transport::SenderStatsConstPtr>();
qRegisterMetaType<nimbro_topic_transport::ReceiverStatsConstPtr>();
connect(
this, SIGNAL(senderStatsReceived(nimbro_topic_transport::SenderStatsConstPtr)),
this, SLOT(handleSenderStats(nimbro_topic_transport::SenderStatsConstPtr)),
Qt::QueuedConnection
);
m_sub_senderStats = getPrivateNodeHandle().subscribe(
"/network/sender_stats", 1, &TopicGUI::senderStatsReceived, this
);
connect(
this, SIGNAL(receiverStatsReceived(nimbro_topic_transport::ReceiverStatsConstPtr)),
this, SLOT(handleReceiverStats(nimbro_topic_transport::ReceiverStatsConstPtr)),
Qt::QueuedConnection
);
m_sub_receiverStats = getPrivateNodeHandle().subscribe(
"/network/receiver_stats", 1, &TopicGUI::receiverStatsReceived, this
);
QTimer* updateTimer = new QTimer(this);
connect(updateTimer, SIGNAL(timeout()), SLOT(update()));
updateTimer->start(2000);
}
void rov_status::initPlugin(qt_gui_cpp::PluginContext& context)
{
widget_ = new QWidget();
ui_.setupUi(widget_);
if (context.serialNumber() > 1)
{
widget_->setWindowTitle(widget_->windowTitle() + " (" + QString::number(context.serialNumber()) + ")");
}
context.addWidget(widget_);
this->subscriber_ = getNodeHandle().subscribe<videoray::Status>("videoray_status", 1, &rov_status::callback_status, this);
ui_.firmware_label->setText("not set");
}
void ControllerManagerPlugin::initPlugin(qt_gui_cpp::PluginContext& context)
{
setupROSComponents_();
// create a main widget named widget_
widget_ = new QWidget();
widget_->setWindowTitle("Controller Manager");
// create layouts
vlayout_outer_ = new QVBoxLayout();
vlayout_outer_->setObjectName("vertical_layout_outer");
hlayout_top_ = new QHBoxLayout();
hlayout_top_->setObjectName("horizontal_layout_top");
vlayout_outer_->addLayout(hlayout_top_);
// create content of horizontal layout
// create a label
ns_label_ = new QLabel();
ns_label_->setObjectName("ns_label_");
ns_label_->setText("Kuka Namespace :");
QSizePolicy fixed_policy(QSizePolicy::Fixed, QSizePolicy::Fixed);
ns_label_->setSizePolicy(fixed_policy);
hlayout_top_->addWidget(ns_label_);
// create a combo box for kuka namespaces
ns_combo_ = new QComboBox();
ns_combo_->setObjectName("ns_combo_");
ns_combo_->addItem("kuka_lwr_left");
ns_combo_->addItem("kuka_lwr_right");
connect(ns_combo_, SIGNAL(currentIndexChanged(int)), this, SLOT(ns_combo_changed(int)));
hlayout_top_->addWidget(ns_combo_);
// create tree/list widget of kuka controllers
tree_controllers_widget_ = new QTreeWidget();
tree_controllers_widget_ ->setObjectName("tree_controllers_widget_");
column_names_list_ << "name" << "state" << "type" << "hw_iface" << "resources";
column_names_pretty_list_ << "Controller Name" << "State" << "Type" << "HW Interface" << "Claimed Resources";
tree_controllers_widget_->setColumnCount(column_names_list_.size());
tree_controllers_widget_->setHeaderLabels(column_names_pretty_list_);
tree_controllers_widget_->sortByColumn(0, Qt::AscendingOrder);
tree_controllers_widget_->setContextMenuPolicy(Qt::CustomContextMenu);
connect(tree_controllers_widget_, SIGNAL( customContextMenuRequested( const QPoint& ) ),
this, SLOT( tree_controllers_widget_ContextMenu( const QPoint& ) ) );
vlayout_outer_->addWidget(tree_controllers_widget_);
// set widget_ to main widget
widget_->setLayout(vlayout_outer_);
context.addWidget(widget_);
updateListControllers_();
}
void ImageView::initPlugin(qt_gui_cpp::PluginContext& context)
{
widget_ = new QWidget();
ui_.setupUi(widget_);
if (context.serialNumber() > 1)
{
widget_->setWindowTitle(widget_->windowTitle() + " (" + QString::number(context.serialNumber()) + ")");
}
context.addWidget(widget_);
ros::NodeHandle nh;
topic = nh.resolveName("image");
connect(ui_.image_topic, SIGNAL(textChanged(QString)), this, SLOT(onTextChanged(QString)));
ui_.image_topic->setText(QString::fromStdString(topic));
}
void ActiveRobots::initPlugin (qt_gui_cpp::PluginContext& context)
{
// access standalone command line arguments
QStringList argv = context.argv();
// create QWidget
widget_ = new QWidget();
// extend the widget with all attributes and children from UI file
ui_.setupUi (widget_);
ui_.table->horizontalHeader()->setResizeMode (QHeaderView::Stretch);
// add widget to the user interface
context.addWidget (widget_);
core_rcv_.start ("/core/to_gui", getNodeHandle());
connect (&update_timer_, SIGNAL (timeout()), this, SLOT (update()));
update_timer_.start (100);
}
void MapViewCustom::initPlugin(qt_gui_cpp::PluginContext& context)
{
context_ = &context;
widget_ = new MapViewWidget();
context.addWidget(widget_);
// trigger deleteLater for plugin when widget or frame is closed
widget_->installEventFilter(this);
}
void CoreStatus::initPlugin (qt_gui_cpp::PluginContext& context)
{
// access standalone command line arguments
QStringList argv = context.argv();
// create QWidget
widget_ = new QWidget();
// extend the widget with all attributes and children from UI file
ui_.setupUi (widget_);
connect (ui_.shutdown, SIGNAL (released()), this, SLOT (exit()));
// add widget to the user interface
context.addWidget (widget_);
core_rcv_.start ("/core/to_gui", getNodeHandle());
connect (&update_timer_, SIGNAL (timeout()), this, SLOT (update()));
update_timer_.start (200);
}
void Autopilot::initPlugin(qt_gui_cpp::PluginContext& context)
{
widget_ = new QWidget();
ui_.setupUi(widget_);
if (context.serialNumber() > 1)
{
widget_->setWindowTitle(widget_->windowTitle() + " (" + QString::number(context.serialNumber()) + ")");
}
context.addWidget(widget_);
// Enable / disable Heading/Depth checkboxes
connect(ui_.desired_heading_checkbox, SIGNAL(toggled(bool)), this, SLOT(onEnableDesiredHeading(bool)));
connect(ui_.desired_depth_checkbox, SIGNAL(toggled(bool)), this, SLOT(onEnableDesiredDepth(bool)));
// Connect change of value in double spin box to function call
connect(ui_.set_heading_button, SIGNAL(clicked(bool)), this, SLOT(onSetHeading(bool)));
connect(ui_.set_depth_button, SIGNAL(clicked(bool)), this, SLOT(onSetDepth(bool)));
// Create publisher
this->desired_pub_ = getNodeHandle().advertise<videoray::DesiredTrajectory>("desired_trajectory", 1000);
}
void Parametertuner::initPlugin(qt_gui_cpp::PluginContext& context)
{
QWidget* w = new QWidget();
m_ui.setupUi(w);
connect(m_ui.joystick_button, SIGNAL(toggled(bool)), this, SLOT(handleJoystickButton()));
connect(m_ui.save_button, SIGNAL(clicked(bool)), this, SLOT(save()));
connect(m_ui.reset_button, SIGNAL(clicked(bool)), this, SLOT(reset()));
m_sub_paramList = getNodeHandle().subscribe("/config_server/parameter_list", 1, &Parametertuner::handleList, this);
m_sub_joystick = getNodeHandle().subscribe("/joy", 1, &Parametertuner::handleJoystickInput, this);
connect(this, SIGNAL(updateRequested()), this, SLOT(update()), Qt::QueuedConnection);
connect(this, SIGNAL(moveSelectionRequested(int)), this, SLOT(moveSelection(int)), Qt::QueuedConnection);
connect(this, SIGNAL(ValueChangeRequested(int)), this, SLOT(ChangeValue(int)), Qt::QueuedConnection);
m_ui.parameter_root_widget->setColumnCount(2);
m_ui.parameter_root_widget->setColumnWidth(0, 200);
context.addWidget(w);
}
void Parametertuner::initPlugin(qt_gui_cpp::PluginContext& context)
{
// Initialize config_server library with the correct node handle.
// We cannot use getPrivateNodeHandle() here, as it returns something like
// /parametertuner/Parametertuner_1 as namespace, which is not unique -.-
// Instead, use the global node handle with the ROS node name, which is
// unique up to the rqt process (which is what we want).
m_nh = ros::NodeHandle(getNodeHandle(), ros::this_node::getName());
config_server::ParameterClient::initialize(m_nh);
QWidget* w = new QWidget();
m_ui.setupUi(w);
qRegisterMetaType<std::string>("std::string");
connect(m_ui.joystick_button, SIGNAL(toggled(bool)), this, SLOT(handleJoystickButton()));
connect(m_ui.reset_button, SIGNAL(clicked(bool)), this, SLOT(reset()));
connect(m_ui.save_button, SIGNAL(clicked(bool)), this, SLOT(save()));
connect(this, SIGNAL(updateRequested()), this, SLOT(update()), Qt::QueuedConnection);
m_sub_paramList = getNodeHandle().subscribe("/config_server/parameter_list", 1, &Parametertuner::handleList, this);
m_sub_joystick = getNodeHandle().subscribe("/joy", 1, &Parametertuner::handleJoystickInput, this);
connect(this, SIGNAL(moveSelectionRequested(int)), this, SLOT(moveSelection(int)), Qt::QueuedConnection);
connect(this, SIGNAL(valueChangeRequested(int)), this, SLOT(changeValue(int)), Qt::QueuedConnection);
connect(this, SIGNAL(expansionRequested(int)), this, SLOT(handleExpansion(int)), Qt::QueuedConnection);
m_ui.parameter_root_widget->setColumnCount(2);
m_ui.parameter_root_widget->setColumnWidth(0, 260);
context.addWidget(w);
m_updateCounter = 0;
m_updateTimer = m_nh.createWallTimer(ros::WallDuration(1.0), boost::bind(&Parametertuner::handleUpdateTimer, this), true, false);
}
void ServiceWidget::initPlugin(qt_gui_cpp::PluginContext& ctx)
{
QWidget* wrapper = new QWidget();
m_view = new QTableView(wrapper);
m_model = new ServiceStatusModel(wrapper);
m_connectionBox = new QComboBox(wrapper);
QVBoxLayout* vbl = new QVBoxLayout(wrapper);
m_view->setModel(m_model);
qRegisterMetaType<nimbro_service_transport::ServiceStatusConstPtr>();
connect(
m_connectionBox, SIGNAL(currentIndexChanged(int)),
m_model, SLOT(clearData())
);
vbl->addWidget(m_view);
vbl->addWidget(m_connectionBox);
wrapper->setLayout(vbl);
ctx.addWidget(wrapper);
m_sub_serviceStatus = getPrivateNodeHandle().subscribe(
"/network/service_status", 1, &ServiceWidget::serviceStatusRecieved, this
);
connect(
this, SIGNAL(serviceStatusRecieved(const nimbro_service_transport::ServiceStatusConstPtr&)),
this, SLOT(handleServiceStatus(const nimbro_service_transport::ServiceStatusConstPtr&))
);
connect(
m_model, SIGNAL(rowsInserted(const QModelIndex&, int, int)),
m_view, SLOT(scrollToBottom())
);
}
void LEDWidget::initPlugin(qt_gui_cpp::PluginContext& context)
{
context.addWidget(view);
}
void LabelToolPlugin::initPlugin(qt_gui_cpp::PluginContext &context)
{
// access standalone command line arguments
QStringList argv = context.argv();
// create QWidget
widget_ = new QWidget();
// extend the widget with all attributes and children from UI file
ui_.setupUi(widget_);
// add widget to the user interface
context.addWidget(widget_);
// getting labels
std::vector<std::string> labels;
QList<QString> labls_qt;
// adding empty string at beginning
QString empty_str = QString("");
labls_qt.push_back(empty_str);
nh_.getParam("labels", labels);
for(auto &label : labels)
{
ROS_INFO_STREAM("label with name " << label << " available");
QString qstr = QString::fromStdString(label);
labls_qt.push_back(qstr);
}
// setting labels to dropdown menu
ui_.comboBox->addItems(labls_qt);
// reading in path to save img
if(!nh_.getParam("path_for_img_destination",path_to_dir_))
{
path_to_dir_ = "~/classification/";
ROS_ERROR_STREAM("path_for_img_destination not specified assuming " << path_to_dir_);
}
// setting up srv
visualize_img_srv_ = nh_.advertiseService("/label_images",&LabelToolPlugin::visualizeImgCb, this);
visualize_img_with_selection_srv_ = nh_.advertiseService("/label_images_with_selection",
&LabelToolPlugin::visualizeImgWithSelectionCb, this);
// setting up my scene to handle click events
scene_ = new label_tool::Scene();
ui_.graphicsView->setScene(scene_);
ui_.graphicsView->show();
// connect GUI elements
connect(scene_, SIGNAL(mousePressed(QGraphicsSceneMouseEvent*)),
this, SLOT(mousePressEventOnGraphicsView(QGraphicsSceneMouseEvent*)), Qt::QueuedConnection);
connect(scene_, SIGNAL(mouseRelease(QGraphicsSceneMouseEvent*)),
this, SLOT(mouseReleaseEventOnGraphicsView(QGraphicsSceneMouseEvent*)), Qt::QueuedConnection);
connect(scene_, SIGNAL(mouseMove(QGraphicsSceneMouseEvent*)),
this, SLOT(mouseMoveEventOnGraphicsView(QGraphicsSceneMouseEvent*)), Qt::QueuedConnection);
connect(ui_.nextButton, SIGNAL(pressed()), this, SLOT(pushNextButton()),Qt::QueuedConnection);
connect(ui_.prevButton, SIGNAL(pressed()), this, SLOT(pushPrevButton()),Qt::QueuedConnection);
connect(ui_.saveCurrentImg, SIGNAL(pressed()), this, SLOT(pushSaveCurrentImgButton()),Qt::QueuedConnection);
connect(ui_.saveSelection, SIGNAL(pressed()), this, SLOT(pushSaveCurrentSelectionButton()),Qt::QueuedConnection);
connect(ui_.deleteSelectionButton, SIGNAL(pressed()), this, SLOT(pushDeleteSelectionButton()),Qt::QueuedConnection);
connect(this, SIGNAL(dataAvailable()), this, SLOT(visualizeSlot()),Qt::QueuedConnection);
reset();
}
void tracker_plugin::initPlugin(qt_gui_cpp::PluginContext& context)
{
widget_ = new QWidget();
ui.setupUi(widget_);
context.addWidget(widget_);
img.create(100, 100, CV_8UC3);
img.setTo(cv::Scalar(0,0,0));
firstrun = true;
//ui.face_choice_method->addItem("Hand Selection Trackings");
// ui.face_choice_method->addItem("Remove on LOST");
// ui.face_choice_method->addItem("Face Recognition Method");
// const QStandardItemModel* model = qobject_cast<const QStandardItemModel*>(ui.face_choice_method->model());
// QStandardItem* item = model->item(2);
//
// item->setFlags(disable ? item->flags() & ~(Qt::ItemIsSelectable|Qt::ItemIsEnabled) : Qt::ItemIsSelectable|Qt::ItemIsEnabled);
// item->setData(disable ? ui.face_choice_method->palette().color(QPalette::Disabled, QPalette::Text)
// : QVariant(), // clear item data in order to use default color
// Qt::TextColorRole);
ui.paramsetters->addItem("Dlib-CMT Method");
ui.paramsetters->addItem("Show Pose(dlib)");
ui.addToTrack->setText("Get Internal State of CMT");
ui.addToTrack->setToolTip("Calls a cerfice to cmt_tracker_node querying the initial image the CMT is tracking");
nh.getParam("camera_topic", subscribe_topic);
nh.getParam("filtered_face_locations",subscribe_face);
face_subscriber = (nh).subscribe(subscribe_face, 1, &rqt_tracker_view::tracker_plugin::list_of_faces_update, this);
image_subscriber = it.subscribe(subscribe_topic, 1, &rqt_tracker_view::tracker_plugin::imageCb, this);
tracked_locations = nh.subscribe("tracker_results", 1 , &rqt_tracker_view::tracker_plugin::tracker_resultsCb, this);
temp_tracked_locations = nh.subscribe("temporary_trackers", 1 , &rqt_tracker_view::tracker_plugin::temp_tracker_resultsCb, this);
tracker_locations_pub = (nh).advertise<cmt_tracker_msgs::Tracker>("tracking_location", 1);
client = nh.serviceClient<cmt_tracker_msgs::Clear>("clear");
image_client = nh.serviceClient<cmt_tracker_msgs::TrackedImages>("get_cmt_rects");
check_update = nh.serviceClient<cmt_tracker_msgs::Update>("update");
viewupdate_service = nh.advertiseService("view_update", &rqt_tracker_view::tracker_plugin::updateTrackerNames,this);
tracker_locations_sub = (nh).subscribe("tracking_location", 1 , &rqt_tracker_view::tracker_plugin::trackerCb, this);
nh.getParam("tracking_method", tracking_method);
ui.removeTracked->setEnabled(false);
connect(ui.addToTrack, SIGNAL(pressed()), this, SLOT(on_updateTracked()));
connect(ui.face_output_list, SIGNAL(itemPressed(QListWidgetItem *)), this, SLOT(on_addToTrack_clicked(QListWidgetItem *)));
connect(ui.removeAllTracked, SIGNAL(pressed()), this, SLOT(on_removeAllTracked_clicked()));
//connect(ui.removeTracked, SIGNAL(pressed()), this, SLOT(on_removeTracked_clicked()));
connect(this, SIGNAL(updatefacelist()), this, SLOT(updateVisibleFaces()));
connect(ui.paramsetters,SIGNAL(currentIndexChanged(int)), this, SLOT(on_ParamChanged(int)));
// if (tracking_method.compare("handtracking") == 0) ui.face_choice_method->setCurrentIndex(0);
// else if (tracking_method.compare("mustbeface") == 0) ui.face_choice_method->setCurrentIndex(1);
// else ui.face_choice_method->setCurrentIndex(2);
}
void Plotter::initPlugin(qt_gui_cpp::PluginContext& context)
{
m_w = new QWidget;
m_ui = new Ui::Plotter;
m_ui->setupUi(m_w);
context.addWidget(m_w);
m_plotModel = new PlotModel(this);
m_plotModel->rootPlot()->setUsedSettings(&m_settings);
m_plotFilter = new PlotFilterModel(this);
m_plotFilter->setSourceModel(m_plotModel);
new JointStatePlot(getNodeHandle(), m_plotModel->rootPlot()); // The created JointStatePlot gets deleted when the root plot does, or all of its child plots
m_ui->plotView->setModel(m_plotFilter);
m_ui->plotView->setDragEnabled(true);
m_ui->plotView->setItemDelegateForColumn(PlotModel::COL_ENABLED, new CheckBoxDelegate);
m_ui->plotView->setItemDelegateForColumn(PlotModel::COL_COLOR, new ColorDelegate);
m_ui->plot->addPlot(m_plotModel->rootPlot());
connect(m_ui->pauseButton, SIGNAL(clicked(bool)), SLOT(handlePaused(bool)));
connect(m_ui->playButton, SIGNAL(clicked(bool)), SLOT(handlePlay(bool)));
connect(m_plotModel, SIGNAL(modelReset()), SLOT(updateTreeGeometry()));
connect(m_ui->searchEdit, SIGNAL(textChanged(QString)), m_plotFilter, SLOT(setFilterRegExp(QString)));
connect(m_ui->hideCheckBox, SIGNAL(clicked(bool)), m_plotFilter, SLOT(setHideDisabledPlots(bool)));
m_sub_plot = getNodeHandle().subscribe("/plot", 100, &Plotter::plotDataReceived, this);
qRegisterMetaType<plot_msgs::PlotConstPtr>("plot_msgs::PlotConstPtr");
connect(this, SIGNAL(plotDataReceived(plot_msgs::PlotConstPtr)), SLOT(handlePlotData(plot_msgs::PlotConstPtr)), Qt::QueuedConnection);
m_sub_timewarpStatus = getNodeHandle().subscribe("/tw/control_status", 1, &Plotter::timewarpStatusReceived, this);
qRegisterMetaType<timewarp::TimeWarpControlConstPtr>("timewarp::TimeWarpControlConstPtr");
connect(this, SIGNAL(timewarpStatusReceived(timewarp::TimeWarpControlConstPtr)), SLOT(handleTimewarpStatus(timewarp::TimeWarpControlConstPtr)), Qt::QueuedConnection);
m_pub_timewarpControl = getNodeHandle().advertise<timewarp::TimeWarpControl>("/tw/control", 1);
m_ui->plotView->installEventFilter(this);
handleSelectionChanged(0.0, 0.0, false);
connect(m_ui->plot, SIGNAL(timeChanged()), SLOT(updateTimeWarp()));
connect(m_ui->plot, SIGNAL(stopPlaying()), SLOT(handleStopPlaying()));
connect(m_ui->plot, SIGNAL(selectionChanged(double,double,bool)), SLOT(handleSelectionChanged(double,double,bool)));
QMenu* menu = new QMenu(m_w); // Standard icon names: https://specifications.freedesktop.org/icon-naming-spec/icon-naming-spec-latest.html#names
m_loadMenuAction = menu->addAction(QIcon::fromTheme("document-open"), "Load data", this, SLOT(load()));
m_saveMenuAction = menu->addAction(QIcon::fromTheme("document-save"), "Save data", this, SLOT(save()));
m_assignColoursAction = menu->addAction(QIcon::fromTheme("applications-graphics"), "Assign colours", this, SLOT(assignColours()));
m_clearMenuAction = menu->addAction(QIcon::fromTheme("edit-delete"), "Clear data", this, SLOT(clear()));
m_clearPlotMenuAction = menu->addAction(QIcon::fromTheme("edit-clear"), "Clear plot", this, SLOT(clearPlot()));
m_refreshMenuAction = menu->addAction(QIcon::fromTheme("view-refresh"), "Refresh", this, SLOT(refresh()));
m_ui->menuButton->setMenu(menu);
connect(m_ui->pauseButton, SIGNAL(clicked(bool)), m_loadMenuAction, SLOT(setEnabled(bool)));
connect(m_ui->pauseButton, SIGNAL(clicked(bool)), m_saveMenuAction, SLOT(setEnabled(bool)));
m_loadMenuAction->setDisabled(true);
m_saveMenuAction->setDisabled(true);
m_io = new PlotIO(getNodeHandle(), m_plotModel->rootPlot(), this);
connect(m_io, SIGNAL(progress(double)), SLOT(ioProgress(double)));
m_progressDialog = new QProgressDialog(m_w);
m_progressDialog->setLabelText(tr("I/O in progress"));
m_progressDialog->setMinimum(0);
m_progressDialog->setMaximum(100);
m_progressDialog->setAutoClose(false);
m_progressDialog->setAutoReset(false);
m_progressDialog->setCancelButton(0);
}
void BandwidthGui::initPlugin(qt_gui_cpp::PluginContext& ctx)
{
m_plot = new QCustomPlot();
m_plot->legend->setVisible(true);
m_plot->legend->setIconBorderPen(Qt::NoPen);
m_plot->yAxis->setLabel("Kb/s");
QWidget* wrapper = new QWidget();
m_connectionBox = new QComboBox(wrapper);
QPushButton* groupBtn = new QPushButton("Group Settings", wrapper);
QGridLayout* gl = new QGridLayout(wrapper);
gl->addWidget(m_plot, 0, 0, 1, 2);
gl->addWidget(m_connectionBox, 1, 0);
gl->addWidget(groupBtn, 1, 1);
wrapper->setLayout(gl);
ctx.addWidget(wrapper);
connect(
m_plot, SIGNAL(legendClick(QCPLegend *, QCPAbstractLegendItem *, QMouseEvent *)),
this, SLOT(handleClickedLegend(QCPLegend*, QCPAbstractLegendItem*, QMouseEvent*))
);
connect(
m_connectionBox, SIGNAL(currentIndexChanged(int)),
this, SLOT(clearPlot())
);
connect(
groupBtn, SIGNAL(pressed()),
this, SLOT(updateGroupInfo())
);
qRegisterMetaType<nimbro_topic_transport::SenderStatsConstPtr>();
connect(
this, SIGNAL(senderStatsReceived(nimbro_topic_transport::SenderStatsConstPtr)),
this, SLOT(handleSenderStats(nimbro_topic_transport::SenderStatsConstPtr)),
Qt::QueuedConnection
);
m_sub_senderStats = getPrivateNodeHandle().subscribe(
"/network/sender_stats", 1, &BandwidthGui::senderStatsReceived, this
);
m_plot->xAxis->setTickLabelType(QCPAxis::ltDateTime);
m_plot->xAxis->setDateTimeFormat("hh:mm:ss");
m_plot->xAxis->setAutoTickStep(true);
m_plot->yAxis->setRangeLower(0);
QCPLayoutGrid* subLayout = new QCPLayoutGrid();
QCPLayoutElement* dummy = new QCPLayoutElement();
m_plot->plotLayout()->addElement(0, 1, subLayout);
subLayout->addElement(0, 0, m_plot->legend);
subLayout->addElement(1, 0, dummy);
subLayout->setRowStretchFactor(0, 0.01);
m_plot->plotLayout()->setColumnStretchFactor(1, 0.01);
connect(
m_plot->xAxis, SIGNAL(rangeChanged(QCPRange)),
m_plot->xAxis2, SLOT(setRange(QCPRange))
);
connect(
m_plot->yAxis, SIGNAL(rangeChanged(QCPRange)),
m_plot->yAxis2, SLOT(setRange(QCPRange))
);
connect(
&m_plotTimer, SIGNAL(timeout()),
this, SLOT(updatePlot())
);
m_plotTimer.start(0);
}
void SkirosGui::initPlugin(qt_gui_cpp::PluginContext& context)
{
///Basic initializations
nh_ptr_.reset(new ros::NodeHandle(""));
widget_ = new QWidget();
ui_.setupUi(widget_);
wm_ptr_.reset(new skiros_wm::WorldModelInterface(*nh_ptr_, true));
if(!wm_ptr_->isConnected()) FWARN("[SkirosGui::initPlugin] World model seems down, waiting...");
if(!wm_ptr_->waitConnection(ros::Duration(3.0)) && ros::ok())
{
FWARN("[SkirosGui::initPlugin] World model seems down, waiting...");
}
if(!ros::ok())
return;
FINFO("[SkirosGui::initPlugin] Connected to world model");
ros::Duration(0.5).sleep();//Wait half second to avoid a weird bug where I don't detect the presence of robots
skill_interface_ptr.reset(new skiros_skill::SkillLayerInterface());
if (context.serialNumber() > 1)
{
widget_->setWindowTitle(widget_->windowTitle() + " (" + QString::number(context.serialNumber()) + ")");
}
context.addWidget(widget_);
///Task manager interfaces
task_exe_pub_ = nh_ptr_->advertise<skiros_msgs::TmTaskExe>(std::string(task_mgr_node_name) + task_exe_tpc_name, 10);
task_monitor_sub_ = nh_ptr_->subscribe(std::string(task_mgr_node_name) + task_monitor_tpc_name, 5, &SkirosGui::tmFeedbackReceived, this);
task_modify_ = nh_ptr_->serviceClient<skiros_msgs::TmModifyTask>(std::string(task_mgr_node_name) + task_modify_srv_name);
task_query_ = nh_ptr_->serviceClient<skiros_msgs::TmQueryTask>(std::string(task_mgr_node_name) + task_query_srv_name);
///General
timer = new QTimer(this);
connect(timer, SIGNAL(timeout()), this, SLOT(refreshTimerCb()));
timer->start(200);
ui_.robot_combo_box->setCurrentIndex(ui_.robot_combo_box->findText(""));
connect(ui_.robot_combo_box, SIGNAL(currentIndexChanged(int)), this, SLOT(robotIndexChanged(int)));
connect(ui_.modality_checkBox, SIGNAL(toggled(bool)), this, SLOT(modalityButtonClicked()));
connect(ui_.exe_task_button, SIGNAL(pressed()), this, SLOT(exeTaskButtonClicked()));
connect(ui_.stop_task_button, SIGNAL(pressed()), this, SLOT(stopTaskButtonClicked()));
connect(this, SIGNAL(robotFeedbackReceived(const skiros_msgs::ModuleStatus &)), this, SLOT(robotMonitorCb(const skiros_msgs::ModuleStatus &)));
connect(this, SIGNAL(tmFeedbackReceived(const skiros_msgs::TmMonitor &)), this, SLOT(taskMonitorCb(const skiros_msgs::TmMonitor &)));
///Goal tab
ui_.goal_table_view->setModel(&goal_model_);
task_plan_ = nh_ptr_->serviceClient<skiros_msgs::TmGoal>(std::string(task_mgr_node_name) + task_plan_srv_name);
connect(ui_.condition_combo_box, SIGNAL(currentIndexChanged(int)), this, SLOT(conditionIndexChanged(int)));
connect(ui_.condition_refresh_button, SIGNAL(pressed()), this, SLOT(refreshButtonClicked()));
connect(ui_.condition_add_button, SIGNAL(pressed()), this, SLOT(addConditionButtonClicked()));
connect(ui_.condition_remove_button, SIGNAL(pressed()), this, SLOT(removeConditionButtonClicked()));
connect(ui_.plan_button, SIGNAL(pressed()), this, SLOT(taskPlanButtonClicked()));
///Task tab
ui_.skills_table_view->setModel(&skill_model_);
ui_.skill_combo_box->setCurrentIndex(ui_.skill_combo_box->findText(""));
connect(ui_.skill_combo_box, SIGNAL(currentIndexChanged(int)), this, SLOT(skillIndexChanged(int)));
//ui_.refresh_topics_push_button->setIcon(QIcon::fromTheme("view-refresh"));
connect(ui_.add_skill_button, SIGNAL(pressed()), this, SLOT(addSkillButtonClicked()));
connect(ui_.remove_skill_button, SIGNAL(pressed()), this, SLOT(removeSkillButtonClicked()));
updateTask();
///Modules tab
ui_.module_combo_box->setCurrentIndex(ui_.module_combo_box->findText(""));
connect(ui_.module_combo_box, SIGNAL(currentIndexChanged(int)), this, SLOT(moduleIndexChanged(int)));
//ui_.refresh_topics_push_button->setIcon(QIcon::fromTheme("view-refresh"));
connect(ui_.exe_module_button, SIGNAL(pressed()), this, SLOT(exeModuleButtonClicked()));
connect(ui_.stop_module_button, SIGNAL(pressed()), this, SLOT(stopModuleButtonClicked()));
///World model tab
wm_model_ptr_ = new TreeModel(wm_ptr_->getElement(0));
ui_.world_model_tree_view->setModel(wm_model_ptr_);
ui_.world_model_tree_view->setModel(wm_model_ptr_);
connect(ui_.world_model_tree_view->selectionModel(), SIGNAL(currentChanged(const QModelIndex &, const QModelIndex &)), this, SLOT(onWmTreeSelectionChanged(const QModelIndex &, const QModelIndex &)));
connect(ui_.remove_object_button, SIGNAL(pressed()), this, SLOT(removeWmElementButtonClicked()));
connect(ui_.add_object_button, SIGNAL(pressed()), this, SLOT(addWmElementButtonClicked()));
connect(ui_.modify_object_button, SIGNAL(pressed()), this, SLOT(modifyWmElementButtonClicked()));
connect(ui_.saveScene_button, SIGNAL(pressed()), this, SLOT(saveSceneButtonClicked()));
connect(ui_.loadScene_button, SIGNAL(pressed()), this, SLOT(loadSceneButtonClicked()));
scene_load_save_ = nh_ptr_->serviceClient<skiros_msgs::WmSceneLoadAndSave>(std::string(world_model_node_name) + wm_scene_load_save_srv_name);
interactive_m_server_.reset( new interactive_markers::InteractiveMarkerServer("skiros_obj_edit") );
///Logging tab
connect(ui_.startstoplog_button, SIGNAL(pressed()), this, SLOT(startLogButtonClicked()));
connect(ui_.logFile_lineEdit, SIGNAL(returnPressed()), this, SLOT(logFileChanged()));
}
void PlaybackController::initPlugin(qt_gui_cpp::PluginContext& context)
{
// access standalone command line arguments
QStringList argv = context.argv();
// create QWidget
widget_ = new QWidget();
ui_.setupUi(widget_);
context.addWidget(widget_);
// create status tree items
status_model_ = new QStandardItemModel(widget_);
statusTreeRoot(status_model_->invisibleRootItem())
.appendRow(createStatusRow("Player", "disconnected")
.appendRow(createStatusRow("Current Record", " - ")
.appendRow(createStatusRow("Duration", "0 s"))
.appendRow(createStatusRow("Vicon Frames", "0"))
.appendRow(createStatusRow("Depth Sensor Frames", "0")))
.appendRow(createStatusRow("Current Time", "0 s"))
.appendRow(createStatusRow("Current Vicon Frame", "0"))
.appendRow(createStatusRow("Current Depth Sensor Frames", "0"))
.appendRow(createStatusRow("Playback", "Stopped"))
);
ui_.statusTreeView->setModel(status_model_);
ui_.statusTreeView->expandAll();
ui_.statusTreeView->resizeColumnToContents(0);
ui_.statusTreeView->setMinimumHeight(20 * (status_tree_container_.size() - 1) - 10);
ui_.statusTreeView->adjustSize();
widget_->adjustSize();
timer_ = new QTimer(widget_);
connect(ui_.openButton, SIGNAL(clicked()), this, SLOT(onOpen()));
connect(ui_.closeButton, SIGNAL(clicked()), this, SLOT(onClose()));
connect(ui_.playButton, SIGNAL(clicked()), this, SLOT(onPlay()));
connect(ui_.pauseButton, SIGNAL(clicked()), this, SLOT(onPause()));
connect(ui_.stopButton, SIGNAL(clicked()), this, SLOT(onStop()));
connect(ui_.selectButton, SIGNAL(clicked()), this, SLOT(onSelectRecordingDirectory()));
connect(ui_.saveTimeOffsetButton, SIGNAL(clicked()), this, SLOT(onSaveOffset()));
connect(ui_.frameSlider, SIGNAL(valueChanged(int)), this, SLOT(onSetFrame(int)));
connect(ui_.playbackSpeedSpinBox, SIGNAL(valueChanged(double)),
this, SLOT(onSetPlaybackSpeed(double)));
connect(ui_.timeOffsetSpinBox, SIGNAL(valueChanged(double)),
this, SLOT(onSetTimeOffset(double)));
connect(ui_.stepsizeSpinBox, SIGNAL(valueChanged(double)),
this, SLOT(onSetStepsize(double)));
connect(timer_, SIGNAL(timeout()), this, SLOT(onUpdateStatus()));
connect(this, SIGNAL(updateOpeningProgress(int,int,double,int,int,double)),
this, SLOT(onUpdateOpeningProgress(int,int,double,int,int,double)));
connect(this, SIGNAL(updatePlayback(double,int,int)),
this, SLOT(onUpdatePlayback(double,int,int)));
// load and render icons
QPixmap empty_map(16, 16);
empty_map.fill(QColor(0,0,0,0));
empty_icon_ = QIcon(empty_map);
ok_icon_ = QIcon(loadPixmap("package://rviz/icons/ok.png"));
warn_icon_ = QIcon(loadPixmap("package://rviz/icons/warning.png"));
failed_icon_ = QIcon(loadPixmap("package://rviz/icons/failed_display.png"));
setActivity("open", false);
setActivity("opening", false);
setActivity("playing", false);
timer_->start(40);
}