Source Code for Module rqt_joint_trajectory_controller.double_editor

  1  #!/usr/bin/env python 
  2   
  3  # Copyright (C) 2014, PAL Robotics S.L. 
  4  # 
  5  # Redistribution and use in source and binary forms, with or without 
  6  # modification, are permitted provided that the following conditions are met: 
  7  # * Redistributions of source code must retain the above copyright notice, 
  8  # this list of conditions and the following disclaimer. 
  9  # * Redistributions in binary form must reproduce the above copyright 
 10  # notice, this list of conditions and the following disclaimer in the 
 11  # documentation and/or other materials provided with the distribution. 
 12  # * Neither the name of PAL Robotics S.L. nor the names of its 
 13  # contributors may be used to endorse or promote products derived from 
 14  # this software without specific prior written permission. 
 15  # 
 16  # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
 17  # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
 18  # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
 19  # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
 20  # LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
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 23  # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
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 27   
 28  import os 
 29  import rospkg 
 30   
 31  from python_qt_binding import loadUi 
 32  from python_qt_binding.QtCore import Signal 
 33  from python_qt_binding.QtWidgets import QWidget 
 34   
 35   
 36 -class DoubleEditor(QWidget): 
 37      # TODO: 
 38      # - Actually make bounds optional 
 39      # 
 40      # - Support wrapping mode 
 41      # 
 42      # - Support unspecified (+-Inf) lower and upper bounds (both, or one) 
 43      # 
 44      # - Allow to specify the step and page increment sizes 
 45      #   (right-click context menu?) 
 46      # 
 47      # - Use alternative widget to slider for values that wrap, or are 
 48      #   unbounded. 
 49      #   QwtWheel could be a good choice, dials are not so good because they 
 50      #   use lots of vertical (premium) screen space, and are fine for wrapping 
 51      #   values, but not so much for unbounded ones 
 52      # 
 53      # - Merge with existing similar code such as rqt_reconfigure's 
 54      #   DoubleEditor? 
 55      """ 
 56      Widget that allows to edit the value of a floating-point value, optionally 
 57      subject to lower and upper bounds. 
 58      """ 
 59      valueChanged = Signal(float) 
 60   
 61 -    def __init__(self, min_val, max_val): 
 62          super(DoubleEditor, self).__init__() 
 63   
 64          # Preconditions 
 65          assert min_val < max_val 
 66   
 67          # Cache values 
 68          self._min_val = min_val 
 69          self._max_val = max_val 
 70   
 71          # Load editor UI 
 72          rp = rospkg.RosPack() 
 73          ui_file = os.path.join(rp.get_path('rqt_joint_trajectory_controller'), 
 74                                 'resource', 'double_editor.ui') 
 75          loadUi(ui_file, self) 
 76   
 77          # Setup widget ranges and slider scale factor 
 78          self.slider.setRange(0, 100) 
 79          self.slider.setSingleStep(1) 
 80          self._scale = (max_val - min_val) / \ 
 81                        (self.slider.maximum() - self.slider.minimum()) 
 82          self.spin_box.setRange(min_val, max_val) 
 83          self.spin_box.setSingleStep(self._scale) 
 84   
 85          # Couple slider and spin box together 
 86          self.slider.valueChanged.connect(self._on_slider_changed) 
 87          self.spin_box.valueChanged.connect(self._on_spinbox_changed) 
 88   
 89          # Ensure initial sync of slider and spin box 
 90          self._on_spinbox_changed() 
 91   
 92 -    def _slider_to_val(self, sval): 
 93          return self._min_val + self._scale * (sval - self.slider.minimum()) 
 94   
 95 -    def _val_to_slider(self, val): 
 96          return round(self.slider.minimum() + (val - self._min_val) / 
 97                       self._scale) 
 98   
 99 -    def _on_slider_changed(self): 
100          val = self._slider_to_val(self.slider.value()) 
101          self.spin_box.blockSignals(True)  # Prevents updating the command twice 
102          self.spin_box.setValue(val) 
103          self.spin_box.blockSignals(False) 
104          self.valueChanged.emit(val) 
105   
106 -    def _on_spinbox_changed(self): 
107          val = self.spin_box.value() 
108          self.slider.blockSignals(True)  # Prevents updating the command twice 
109          self.slider.setValue(self._val_to_slider(val)) 
110          self.slider.blockSignals(False) 
111          self.valueChanged.emit(val) 
112   
113 -    def setValue(self, val): 
114          if val != self.spin_box.value(): 
115              self.spin_box.blockSignals(True) 
116              self.spin_box.setValue(val)  # Update spin box first 
117              self._on_spinbox_changed()  # Sync slider with spin box 
118              self.spin_box.blockSignals(False) 
119   
120 -    def value(self): 
121          return self.spin_box.value() 
122