sm_interface.py

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"""
   Copyright 2013 Southwest Research Institute

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

     http://www.apache.org/licenses/LICENSE-2.0

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.
"""

import roslib
roslib.load_manifest('mtconnect_example_gui')

import os
import rospy

from qt_gui.plugin import Plugin
from python_qt_binding import loadUi
from python_qt_binding.QtGui import QWidget


from mtconnect_example_msgs.srv import StateMachineCmd
from mtconnect_example_msgs.msg import StateMachineStatus

class SMInterfaceGUI(Plugin):

    def __init__(self, context):
        super(SMInterfaceGUI, self).__init__(context)
        # Give QObjects reasonable names
        self.setObjectName('SMInterfaceGUI')

        # Process standalone plugin command-line arguments
        from argparse import ArgumentParser
        parser = ArgumentParser()
        # Add argument(s) to the parser.
        parser.add_argument("-q", "--quiet", action="store_true",
                      dest="quiet",
                      help="Put plugin in silent mode")
        args, unknowns = parser.parse_known_args(context.argv())
        if not args.quiet:
            print 'arguments: ', args
            print 'unknowns: ', unknowns

        # Create QWidget
        self._widget = QWidget()
        # Get path to UI file which is a sibling of this file
        # in this example the .ui and .py file are in the same folder
        ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'sm_interface.ui')
        # Extend the widget with all attributes and children from UI file
        loadUi(ui_file, self._widget)
        # Give QObjects reasonable names
        self._widget.setObjectName('SMInterfaceUi')
        # Show _widget.windowTitle on left-top of each plugin (when 
        # it's set in _widget). This is useful when you open multiple 
        # plugins at once. Also if you open multiple instances of your 
        # plugin at once, these lines add number to make it easy to 
        # tell from pane to pane.
        if context.serial_number() > 1:
            self._widget.setWindowTitle(self._widget.windowTitle() + (' (%d)' % context.serial_number()))
        # Add widget to the user interface
        context.add_widget(self._widget)
        
        # Custom code begins here
        self._widget.start_button.clicked[bool].connect(self.__handle_start_clicked)
        self._widget.stop_button.clicked[bool].connect(self.__handle_stop_clicked)
        self._widget.reset_button.clicked[bool].connect(self.__handle_reset_clicked)
        
        self.cmd_service = rospy.ServiceProxy('external_command', StateMachineCmd)
        self.sm_status_sub = rospy.Subscriber('state_machine_status', StateMachineStatus, self.__sm_status_callback)

    def shutdown_plugin(self):
        self.sm_status_sub.unregister()
        # TODO unregister all publishers here
        pass

    def save_settings(self, plugin_settings, instance_settings):
        # TODO save intrinsic configuration, usually using:
        # instance_settings.set_value(k, v)
        pass

    def restore_settings(self, plugin_settings, instance_settings):
        # TODO restore intrinsic configuration, usually using:
        # v = instance_settings.value(k)
        pass
        
        
    def __handle_start_clicked(self, checked):
        self.cmd_service(2)
        
    def __handle_stop_clicked(self, checked):
        self.cmd_service(3)
        
    def __handle_reset_clicked(self, checked):
        self.cmd_service(1)

    def __sm_status_callback(self, msg):
        self._widget.state_name.setText(msg.state_name + '(' + str(msg.state) + ')')
        
        
    #def trigger_configuration(self):
        # Comment in to signal that the plugin has a way to configure it
        # Usually used to open a configuration dialog