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Viewing changes to shadow_robot/sr_control_gui/src/sr_control_gui/main_window.py

  • Committer: Ugo Cupcic
  • Date: 2011-05-23 15:44:05 UTC
  • mfrom: (119.1.67 sr-ros-interface)
  • Revision ID: ugo@shadowrobot.com-20110523154405-kwvv543sy9wxehzi
Huge merge from trunk. Lots of changes.

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shadow_robot/sr_control_gui/src/sr_control_gui/main_window.py
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#!/usr/bin/env python
 
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#
 
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# Copyright 2011 Shadow Robot Company Ltd.
 
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#
 
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# This program is free software: you can redistribute it and/or modify it
 
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# under the terms of the GNU General Public License as published by the Free
 
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# Software Foundation, either version 2 of the License, or (at your option)
 
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# any later version.
 
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#
 
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# This program is distributed in the hope that it will be useful, but WITHOUT
 
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
 
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# FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
 
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# more details.
 
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#
 
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# You should have received a copy of the GNU General Public License along
 
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# with this program.  If not, see <http://www.gnu.org/licenses/>.
 
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#
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import roslib; roslib.load_manifest('sr_control_gui')
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import rospy
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import subprocess
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import logging
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#enables the logging used by yapsy
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logging.basicConfig(level=logging.ERROR)
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from yapsy.PluginManager import PluginManager
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from PyQt4 import QtCore, QtGui, Qt
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import os, sys
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    using the grasps subscribes to this signal and reload their grasps lists.
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    """
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    reloadGraspSig = QtCore.pyqtSignal(int)
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    def __init__(self, parent=None):
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        super(ReloadGraspSignalWidget, self).__init__(parent)
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    using the grasps subscribes to this signal and reload their grasps lists.
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    """
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    reloadObjectSig = QtCore.pyqtSignal(int)
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    def __init__(self, parent=None):
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        super(ReloadObjectSignalWidget, self).__init__(parent)
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    def __init__(self):
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        QtGui.QMainWindow.__init__(self)
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        rospy.init_node('sr_control_gui')
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        # root path
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        process = subprocess.Popen("rospack find sr_control_gui".split(), stdout=subprocess.PIPE)
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        self.rootPath = process.communicate()[0]
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        self.rootPath = self.rootPath[0]
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        ####
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        # BASIC PARAMETERS
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        ##        
 
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        ##
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        self.setWindowTitle("Shadow Robot Controller")
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        self.resize(1000, 600)
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        self.setWindowIcon(QtGui.QIcon(self.rootPath + '/images/icons/app_icon.png'))
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        ####
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        # TOOLBAR
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        ##
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        self.connect(self.exit, QtCore.SIGNAL('triggered()'), QtCore.SLOT('close()'))
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        self.toolbar = self.addToolBar('Exit')
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        self.toolbar.addAction(self.exit)
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        #Shortcuts
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        self.exit.setShortcut('Ctrl+Q')
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        ####
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        # MENUBAR
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        ##        
 
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        ##
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        self.menubar = self.menuBar()
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        file = self.menubar.addMenu('&File')
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        file.addAction(self.exit)
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        tools = self.menubar.addMenu('&Tools')
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        rxgraph = QtGui.QAction('RxGraph', self)
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        self.connect(rxgraph, QtCore.SIGNAL('triggered()'), self.launch_rxgraph)
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        robot_monitor = QtGui.QAction('Robot Monitor', self)
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        self.connect(robot_monitor, QtCore.SIGNAL('triggered()'), self.launch_robot_monitor)
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        tools.addAction(rxgraph)
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        tools.addAction(robot_monitor)
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        ###
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        # SIGNALS
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        ##
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        self.reload_grasp_signal_widget = ReloadGraspSignalWidget()        
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        self.reload_object_signal_widget = ReloadObjectSignalWidget()           
 
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        self.reload_grasp_signal_widget = ReloadGraspSignalWidget()
 
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        self.reload_object_signal_widget = ReloadObjectSignalWidget()
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        ####
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        # DOCKS
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        self.show_robot_and_libraries = QtGui.QAction('Show Robot / Ros nodes', self)
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        self.show_robot_and_libraries.setIcon(QtGui.QIcon(self.rootPath + '/images/icons/show.png'))
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        self.show_robot_and_libraries.setStatusTip('Robot and libraries')
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        self.robot_and_libraries_backend = RobotAndLibrariesBackend()
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        self.robot_and_libraries_dock = RobotAndLibrariesDockWidget(self, self.robot_and_libraries_backend)
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        self.connect(self.show_robot_and_libraries, QtCore.SIGNAL('triggered()'), self.robot_and_libraries_dock.show_hide)
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        spacer = QtGui.QWidget()
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        spacer.setSizePolicy(Qt.QSizePolicy.Expanding, Qt.QSizePolicy.Expanding)
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        self.toolbar_docks = self.addToolBar('Docks')
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        self.toolbar_docks.addWidget(spacer)
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        self.toolbar_docks.addAction(self.show_robot_and_libraries)
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        self.addDockWidget(QtCore.Qt.TopDockWidgetArea, self.robot_and_libraries_dock)
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        ####
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        # LIBRARIES
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        ##
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        self.libraries = self.robot_and_libraries_backend.libraries
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        ####
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        # MAIN WIDGET
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        ##
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        self.statusBar().showMessage('Ready', 2000)
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        self.connect(my_mdi_area, QtCore.SIGNAL("messageToStatusbar(QString)"),
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                     self.statusBar(), QtCore.SLOT("showMessage(QString)"))
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    def launch_rxgraph(self):
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        subprocess.Popen("rxgraph".split())
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