ocs_plugin.py
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00001 #!/usr/bin/env python
00002 
00003 import rospy
00004 
00005 from python_qt_binding.QtCore import Slot, QCoreApplication, QBasicTimer, QSettings
00006 from python_qt_binding.QtGui import QWidget
00007 
00008 from std_msgs.msg import Int8
00009 
00010 
00011 class OCSPlugin(QWidget):
00012 
00013     def __init__(self, widget_class, name, window, *args):
00014         super(OCSPlugin, self).__init__(None)
00015 
00016         if len(args) > 0:
00017             self._widget = widget_class(self, args[0])
00018         else:
00019             self._widget = widget_class(self)
00020 
00021         self._name = name
00022         self._window = window
00023 
00024         self._window_control_sub = rospy.Subscriber("/flor/ocs/window_control", Int8, self.processWindowControl)
00025         self._window_control_pub = rospy.Publisher("/flor/ocs/window_control", Int8, queue_size=10)
00026 
00027         # window visibility configuration variables
00028         self._last_window_control_data = -self._window
00029         self._set_window_visibility = True
00030 
00031         # this is only used to make sure we close window if ros::shutdown has already been called
00032         self._timer = QBasicTimer()
00033         self._timer.start(33, self)
00034 
00035         settings = QSettings("OCS", self._name)
00036         if settings.value("mainWindowGeometry") is not None:
00037             self.restoreGeometry(settings.value("mainWindowGeometry"))
00038         self.geometry_ = self.geometry()
00039 
00040     def processWindowControl(self, visible):
00041         # set window visibility changed flag
00042         self._set_window_visibility = True
00043         self._last_window_control_data = visible.data
00044 
00045     def timerEvent(self, event):
00046         if rospy.is_shutdown():
00047             QCoreApplication.instance().quit()
00048 
00049         # needed to move qt calls out of the ros callback, otherwise qt crashes because of inter-thread communication
00050         if self._set_window_visibility:
00051             self._set_window_visibility = False
00052             if not self.isVisible() and self._last_window_control_data == self._window:
00053                 self.show()
00054                 self.setGeometry(self._geometry)
00055             elif self.isVisible() and (not self._last_window_control_data or self._last_window_control_data == -self._window):
00056                 self._geometry = self.geometry()
00057                 self.hide()
00058 
00059     def closeEvent(self, event):
00060         settings = QSettings("OCS", self._name)
00061         settings.setValue("mainWindowGeometry", self.saveGeometry())
00062         msg = Int8()
00063         msg.data = -self._window
00064         self._window_control_pub.publish(msg)
00065         event.ignore()
00066 
00067     def resizeEvent(self, event):
00068         settings = QSettings("OCS", self._name)
00069         settings.setValue("mainWindowGeometry", self.saveGeometry())
00070 
00071     def moveEvent(self, event):
00072         settings = QSettings("OCS", self._name)
00073         settings.setValue("mainWindowGeometry", self.saveGeometry())


vigir_footstep_planning_lib
Author(s): Alexander Stumpf
autogenerated on Sat Jul 15 2017 02:47:56