autorun.py

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#!/usr/bin/env python
#
# Copyright 2015 Airbus
# Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
#
# 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 rospy
import sys
import os
import signal

from roslib.packages import get_pkg_dir
from xml.etree import ElementTree

from python_qt_binding.QtGui import *
from python_qt_binding.QtCore import *

from airbus_pyqt_extend.QtAgiCore import get_pkg_dir_from_prefix

from airbus_cobot_gui.airbus_cobot_gui_main import CobotGuiSplash, \
                                     CobotGuiMain
                                     
from airbus_pyqt_extend import QtAgiCore

# Load my generated resources file
from airbus_cobot_gui.res import R
from PyQt4.Qt import QApplication
from PyQt4.uic.Compiler.qtproxies import QtGui

FULL_SCREEN_ARGS = ["full-screen"   ,"full"   ,"f",
                    "-full-screen"  ,"-full"  ,"-f",
                    "--full-screen" ,"--full" ,"--f"]

class GuiApplication(QApplication):
    
    def __init__(self, args):
        QApplication.__init__(self, args)
        self.gui = None
        
    def cleanGui(self):
        self.gui.shutdown()
    
def run():
    
    name = 'rqt_gui_py_node_%d' % os.getpid()
    rospy.init_node(name, disable_signals=True)
    app = GuiApplication(sys.argv)
    
    splash = CobotGuiSplash()
    splash.start()
    
    window = QMainWindow()
    
    gui = CobotGuiMain(splash)
    config = rospy.get_param("~config", "${airbus_cobot_gui}/config/default.conf")
    config = get_pkg_dir_from_prefix(config)
    gui.setupUserConfig(config)
    
    window.setCentralWidget(gui)
    window.setGeometry(gui.geometry())
    window.setWindowIcon(R.getIconById('airbus_cobot_gui'))
    
    if gui.getDisplayMode() in FULL_SCREEN_ARGS:
        window.showFullScreen()
    else:
        window.show()
    
    splash.close()
    #Set the gui signal for cleanup
    app.gui = gui
    app.connect(app, SIGNAL("aboutToQuit()"), app.cleanGui)
    
    #Set the ctrl+c signal for cleanup
    def signal_handler(signal, frame):
        app.quit()
        
    signal.signal(signal.SIGINT, signal_handler)
    
    #set the rospy shutdown signal
    rospy.on_shutdown(app.quit)
    
    #return of app
    sys.exit(app.exec_())


if __name__ == "__main__":
    run()
    
#@endcond