biotac.py

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# Copyright (c) 2013, Shadow Robot Company, SynTouch LLC
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#
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import rospy
import rospkg
import os

from qt_gui.plugin import Plugin
from python_qt_binding import loadUi

from QtGui import QMessageBox, QWidget, QIcon, QColor, QPainter, QFont
from QtCore import QRectF, QTimer, SIGNAL, SLOT
from sr_robot_msgs.msg import Biotac, BiotacAll
from sr_utilities.hand_finder import HandFinder


class SrGuiBiotac(Plugin):
    _nb_electrodes_biotac = 19
    _nb_electrodes_biotac_sp = 24

    def define_electrodes(self):
        self.sensing_electrodes_v1_x = \
            rospy.get_param(
                "sr_gui_biotac/sensing_electrodes_x_locations",
                [6.45, 3.65, 3.65, 6.45, 3.65, 6.45, 0.00, 1.95, -1.95,
                 0.00, -6.45, - 3.65, -3.65, -6.45, -3.65, -6.45, 0.00,
                 0.00, 0.00])  # Physical electrode locations on the sensor
        self.sensing_electrodes_v1_y = \
            rospy.get_param(
                "sr_gui_biotac/sensing_electrodes_y_locations",
                [7.58, 11.28, 14.78, 16.58, 19.08, 21.98, 4.38, 6.38, 6.38,
                 8.38, 7.58, 11.28, 14.78, 16.58, 19.08, 21.98, 11.38,
                 18.38, 22.18])

        self.excitation_electrodes_v1_x = \
            rospy.get_param(
                "sr_gui_biotac/excitation_electrodes_x_locations",
                [6.45, 3.75, -3.75, -6.45])
        self.excitation_electrodes_v1_y = \
            rospy.get_param(
                "sr_gui_biotac/excitation_electrodes_y_locations",
                [12.48, 24.48, 24.48, 12.48])

        self.sensing_electrodes_v2_x = \
            rospy.get_param(
                "sr_gui_biotac/sensing_electrodes_x_locations",
                [5.00, 3.65, 6.45, 4.40, 2.70, 6.45, 4.40, 1.50, 4.00, 4.50,
                 -5.00, - 3.65, -6.45, -4.40, -2.70, -6.45, -4.40, -1.50, -4.00, -4.50,
                 0.00, 1.95, -1.95, 0.00])  # Physical electrode locations on the sensor
        self.sensing_electrodes_v2_y = \
            rospy.get_param(
                "sr_gui_biotac/sensing_electrodes_y_locations",
                [4.38, 6.38, 14.78, 15.50, 18.50, 19.08, 20.00, 21.00, 23.00, 25.00,
                 4.38, 6.38, 14.78, 15.50, 18.50, 19.08, 20.00, 21.00, 23.00, 25.00,
                 7.38, 11.50, 11.50, 15.20])

        self.excitation_electrodes_v2_x = \
            rospy.get_param(
                "sr_gui_biotac/excitation_electrodes_x_locations",
                [5.30, 6.00, -5.30, -6.00])
        self.excitation_electrodes_v2_y = \
            rospy.get_param(
                "sr_gui_biotac/excitation_electrodes_y_locations",
                [9.00, 22.00, 9.00, 22.00])

    def assign_electrodes(self, nb_electrodes):
        if nb_electrodes == self._nb_electrodes_biotac:
            self.sensing_electrodes_x = self.sensing_electrodes_v1_x
            self.sensing_electrodes_y = self.sensing_electrodes_v1_y
            self.excitation_electrodes_x = self.excitation_electrodes_v1_x
            self.excitation_electrodes_y = self.excitation_electrodes_v1_y
            self.factor = rospy.get_param(
                "sr_gui_biotac/display_location_scale_factor",
                17.5)  # Sets the multiplier to go from physical electrode
        # location on the sensor in mm to display location in pixels
        elif nb_electrodes == self._nb_electrodes_biotac_sp:
            self.sensing_electrodes_x = self.sensing_electrodes_v2_x
            self.sensing_electrodes_y = self.sensing_electrodes_v2_y
            self.excitation_electrodes_x = self.excitation_electrodes_v2_x
            self.excitation_electrodes_y = self.excitation_electrodes_v2_y
            self.factor = 25.0
        else:
            rospy.logerr("Number of electrodes %d not matching known biotac models. expected: %d or %d",
                         nb_electrodes, self._nb_electrodes_biotac, self._nb_electrodes_biotac_sp)
            return

        for n in range(len(self.sensing_electrodes_x)):
            self.sensing_electrodes_x[n] = (
                self.sensing_electrodes_x[n] * self.factor +
                self.x_display_offset[0])
            self.sensing_electrodes_y[n] = (
                self.sensing_electrodes_y[n] * self.factor +
                self.y_display_offset[0])

        for n in range(len(self.excitation_electrodes_x)):
            self.excitation_electrodes_x[n] = (
                self.excitation_electrodes_x[n] * self.factor +
                self.x_display_offset[0])
            self.excitation_electrodes_y[n] = (
                self.excitation_electrodes_y[n] * self.factor +
                self.y_display_offset[0])

    def tactile_cb(self, msg):
        if len(msg.tactiles[0].electrodes) != self._nb_electrodes:
            self._nb_electrodes = len(msg.tactiles[0].electrodes)
            self.assign_electrodes(self._nb_electrodes)
        self.latest_data = msg

    def get_electrode_colour_from_value(self, value):
        r = 0.0
        g = 0.0
        b = 255.0

        value = float(value)

        threshold = (0.0, 1000.0, 2000.0, 3000.0, 4095.0)

        if value <= threshold[0]:
            pass

        elif value < threshold[1]:

            r = 255
            g = 255 * ((value - threshold[0]) / (threshold[1] - threshold[0]))
            b = 0

        elif value < threshold[2]:

            r = 255 * ((threshold[2] - value) / (threshold[2] - threshold[1]))
            g = 255
            b = 0

        elif value < threshold[3]:

            r = 0
            g = 255
            b = 255 * ((value - threshold[2]) / (threshold[3] - threshold[2]))

        elif value < threshold[4]:

            r = 0
            g = 255 * ((threshold[4] - value) / (threshold[4] - threshold[3]))
            b = 255

        return QColor(r, g, b)

    def biotac_id_from_dropdown(self):
        name = self._widget.btSelect.currentText()
        fingers = ["FF", "MF", "RF", "LF", "TH"]
        return fingers.index(name)

    def draw_electrode(self, painter, elipse_x, elipse_y, text_x, text_y,
                       colour, text):

        rect = QRectF(elipse_x, elipse_y, self.RECTANGLE_WIDTH,
                      self.RECTANGLE_HEIGHT)

        painter.setBrush(colour)
        painter.drawEllipse(rect)

        rect.setX(text_x)
        rect.setY(text_y)

        painter.drawText(rect, text)

    def paintEvent(self, paintEvent):
        painter = QPainter(self._widget.scrollAreaWidgetContents)
        which_tactile = self.biotac_id_from_dropdown()

        painter.setFont(QFont("Arial", self.label_font_size[0]))

        if len(self.sensing_electrodes_x) == len(self.latest_data.tactiles[which_tactile].electrodes):
            for n in range(len(self.sensing_electrodes_x)):
                value = self.latest_data.tactiles[which_tactile].electrodes[n]
                eval("self._widget.lcdE%02d.display(%d)" % (n + 1, value))
                colour = self.get_electrode_colour_from_value(value)

                elipse_x = self.sensing_electrodes_x[n]
                elipse_y = self.sensing_electrodes_y[n]

                if n < 9:
                    text_x = elipse_x + self.x_display_offset[1]
                    text_y = elipse_y + self.y_display_offset[1]

                else:
                    text_x = elipse_x + self.x_display_offset[2]
                    text_y = elipse_y + self.y_display_offset[2]

                self.draw_electrode(painter, elipse_x, elipse_y, text_x, text_y,
                                    colour, str(n + 1))

        painter.setFont(QFont("Arial", self.label_font_size[1]))

        for n in range(len(self.excitation_electrodes_x)):
            elipse_x = self.excitation_electrodes_x[n]
            elipse_y = self.excitation_electrodes_y[n]

            colour = QColor(127, 127, 127)

            text_x = elipse_x + self.x_display_offset[3]
            text_y = elipse_y + self.y_display_offset[3]

            self.draw_electrode(painter, elipse_x, elipse_y, text_x, text_y,
                                colour, "X" + str(n + 1))

        self._widget.update()

    def subscribe_to_topic(self, prefix):
        if prefix:
            rospy.Subscriber(prefix + "tactile", BiotacAll, self.tactile_cb)

    def load_params(self):
        self.RECTANGLE_WIDTH = rospy.get_param(
            "sr_gui_biotac/electrode_display_width",
            45)  # Display sizes for electrodes in pixels
        self.RECTANGLE_HEIGHT = rospy.get_param(
            "sr_gui_biotac/electrode_display_height", 45)

        self.factor = rospy.get_param(
            "sr_gui_biotac/display_location_scale_factor",
            17.5)  # Sets the multiplier to go from physical electrode
        # location on the sensor in mm to display location in pixels
        self.x_display_offset = rospy.get_param(
            "sr_gui_biotac/x_display_offset", [200, 12.5, 4.5,
                                               3.5])  # Pixel offsets for
        # displaying electrodes. offset[0] is applied to each electrode.
        # 1,2 and 3 are the label offsets for displaying electrode number.
        self.y_display_offset = rospy.get_param(
            "sr_gui_biotac/y_display_offset", [-50, 4.0, 4.0, 4.0])
        self.label_font_size = rospy.get_param(
            "sr_gui_biotac/electrode_label_font_sizes", [24,
                                                         22])  # Font sizes
        # for labels on sensing + excitation electrodes

        if self._hand_parameters.mapping:
            self.default_topic = (
                self._hand_parameters.mapping.values()[0] + '/')
        else:
            self.default_topic = ""

    def __init__(self, context):

        super(SrGuiBiotac, self).__init__(context)
        self.setObjectName('SrGuiBiotac')
        self._hand_finder = HandFinder()
        self._hand_parameters = self._hand_finder.get_hand_parameters()
        self.load_params()

        self._publisher = None
        self._widget = QWidget()

        self.latest_data = BiotacAll()

        self.define_electrodes()
        self._nb_electrodes = self._nb_electrodes_biotac
        self.assign_electrodes(self._nb_electrodes)

        ui_file = os.path.join(rospkg.RosPack().get_path('sr_gui_biotac'),
                               'uis', 'SrGuiBiotac.ui')
        loadUi(ui_file, self._widget)
        self._widget.setObjectName('SrBiotacUi')

        self.timer = QTimer(self._widget)
        self._widget.connect(self.timer, SIGNAL("timeout()"),
                             self._widget.scrollAreaWidgetContents.update)
        self._widget.scrollAreaWidgetContents.paintEvent = self.paintEvent

        self.subscribe_to_topic(self.default_topic)

        for hand in self._hand_parameters.mapping:
            self._widget.select_prefix.addItem(
                self._hand_parameters.mapping[hand])
        if not self._hand_parameters.mapping:
            rospy.logerr("No hand detected")
            QMessageBox.warning(
                self._widget, "warning", "No hand is detected")
        else:
            self._widget.select_prefix.setCurrentIndex(0)

        self._widget.connect(self._widget.select_prefix,
                             SIGNAL("activated(QString)"),
                             self.subscribe_to_topic)

        self.timer.start(50)

        context.add_widget(self._widget)