~shadowrobot/sr-visualization/new_gui

#!/usr/bin/env python

#

# Copyright 2011 Shadow Robot Company Ltd.

#

# This program is free software: you can redistribute it and/or modify it

# under the terms of the GNU General Public License as published by the Free

# Software Foundation, either version 2 of the License, or (at your option)

# any later version.

#

# This program is distributed in the hope that it will be useful, but WITHOUT

# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or

# FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for

# more details.

#

# You should have received a copy of the GNU General Public License along

# with this program.  If not, see <http://www.gnu.org/licenses/>.

#

 

from __future__ import division

import os

 

from rosgui.QtBindingHelper import loadUi

from QtCore import QEvent, QObject, Qt, QTimer, Slot

from QtGui import QDockWidget, QShortcut, QColor, QTreeWidgetItem, QFileDialog, QMessageBox

from QtCore import QVariant

 

import roslib

roslib.load_manifest('sr_gui_hand_calibration')

import rospy

 

from sr_hand_calibration_model import HandCalibration

 

class SrHandCalibration(QObject):

 

    def __init__(self, parent, plugin_context):

        super(SrHandCalibration, self).__init__(parent)

        self.setObjectName('SrHandCalibration')

 

        self._publisher = None

        main_window = plugin_context.main_window()

        self._widget = QDockWidget(main_window)

 

        ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), '../uis/SrHandCalibration.ui')

        loadUi(ui_file, self._widget)

        self._widget.setObjectName('SrHandCalibrationUi')

        if plugin_context.serial_number() > 1:

            self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % plugin_context.serial_number()))

        main_window.addDockWidget(Qt.RightDockWidgetArea, self._widget)

 

        # trigger deleteLater for plugin when _widget is closed

        self._widget.installEventFilter(self)

 

        self._widget.tree_calibration.setColumnCount(4)

        self._widget.tree_calibration.setHeaderLabels(["Finger", "Joint", "Raw Value", "Calibrated Value"])

 

        self.hand_model = None

 

        self._widget.btn_save.clicked.connect(self.btn_save_clicked_)

        self._widget.btn_load.clicked.connect(self.btn_load_clicked_)

        self._widget.btn_joint_0s.clicked.connect(self.btn_joint_0s_clicked_)

 

        self.populate_tree()

 

    @Slot(str)

 

    def populate_tree(self):

        self._widget.tree_calibration.clear()

 

        self.hand_model = HandCalibration( tree_widget = self._widget.tree_calibration, progress_bar = self._widget.progress )

        if not self.hand_model.is_active:

            self.close_plugin()

            return

 

        self._widget.tree_calibration.expandAll()

 

        for col in range(0, self._widget.tree_calibration.columnCount()):

            self._widget.tree_calibration.resizeColumnToContents(col)

 

    def btn_save_clicked_(self):

        path_to_config = "~"

        try:

            path_to_config = roslib.packages.get_pkg_dir("sr_robot_lib") + "/config"

        except:

            rospy.logwarn("couldnt find the sr_edc_controller_configuration package")

 

        filter_files = "*.yaml"

        filename, _ = QFileDialog.getOpenFileName(self._widget.tree_calibration, self._widget.tr('Save Controller Settings'),

                                                  self._widget.tr(path_to_config),

                                                  self._widget.tr(filter_files))

 

        if filename == "":

            return

 

        if not self.hand_model.is_calibration_complete():

            btn_pressed = QMessageBox.warning(self._widget.tree_calibration, "Warning", "Are you sure you want to save this incomplete calibration? The uncalibrated values will be saved as a flat map (the calibrated value will always be 0)",

                                              buttons = QMessageBox.Ok |  QMessageBox.Cancel)

 

            if btn_pressed == QMessageBox.Cancel:

                return

        self.hand_model.save( filename )

 

    def btn_load_clicked_(self):

        path_to_config = "~"

        try:

            path_to_config = roslib.packages.get_pkg_dir("sr_robot_lib") + "/config"

        except:

            rospy.logwarn("couldnt find the sr_edc_controller_configuration package")

 

        filter_files = "*.yaml"

        filename, _ = QFileDialog.getOpenFileName(self._widget.tree_calibration, self._widget.tr('Save Controller Settings'),

                                                  self._widget.tr(path_to_config),

                                                  self._widget.tr(filter_files))

 

        if filename == "":

            return

 

        self.hand_model.load( filename )

 

    def btn_joint_0s_clicked_(self):

        self.hand_model.calibrate_joint0s( self._widget.btn_joint_0s )

 

    def _unregisterPublisher(self):

        if self._publisher is not None:

            self._publisher.unregister()

            self._publisher = None

 

        self.hand_model.unregister()

 

    def eventFilter(self, obj, event):

        if obj is self._widget and event.type() == QEvent.Close:

            # TODO: ignore() should not be necessary when returning True

            event.ignore()

            self.deleteLater()

            return True

        return QObject.eventFilter(self, obj, event)

 

    def close_plugin(self):

        self._unregisterPublisher()

        self._widget.close()

        self._widget.deleteLater()

 

    def save_settings(self, global_settings, perspective_settings):

        print "saving settings"

        #topic = self._widget.topic_line_edit.text()

        #perspective_settings.set_value('topic', topic)

 

    def restore_settings(self, global_settings, perspective_settings):

        print "restoring settings"

        #topic = perspective_settings.value('topic', '/cmd_vel')