interface_gui.py

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#!/usr/bin/env python
 
from python_qt_binding import QtWidgets, QtCore
from python_qt_binding.QtWidgets import QWidget, QPushButton, QColorDialog
from python_qt_binding.QtCore import Slot
from python_qt_binding.QtGui import QColor
 
from frame_editor.commands import *
 
from frame_editor.interface import Interface
import rospkg
import os
 
class FrameEditor_StyleWidget(Interface):
 
    def __init__(self, frame_editor):
        self.editor = frame_editor
        self.editor.observers.append(self)
 
        self.old_frame = None
 
        self.layout = QtWidgets.QGridLayout()
        self.widget = QWidget()
        self.widget.setLayout(self.layout)
 
        self.mesh_label = QtWidgets.QLineEdit("File:")
        self.mesh_label.setSizePolicy(QtWidgets.QSizePolicy.Ignored, QtWidgets.QSizePolicy.Fixed)
        self.mesh_button = QtWidgets.QPushButton("Open")
        self.mesh_button.clicked.connect(lambda: self.btn_open_mesh_clicked())
 
        self.size_label = QtWidgets.QLabel("Size:")
        self.size_spinbox = QtWidgets.QDoubleSpinBox()
        self.size_spinbox.editingFinished.connect(lambda: self.size_changed())
        self.size_spinbox.setDecimals(4) 
        self.size_spinbox.setMinimum(0.0)
 
        self.diameter_label = QtWidgets.QLabel("Diameter:")
        self.diameter_spinbox = QtWidgets.QDoubleSpinBox()
        self.diameter_spinbox.editingFinished.connect(lambda: self.diameter_changed())
 
        self.length_label = QtWidgets.QLabel("Length:")
        self.length_spinbox = QtWidgets.QDoubleSpinBox()
        self.length_spinbox.editingFinished.connect(lambda: self.length_changed())
 
        self.width_label = QtWidgets.QLabel("Width:")
        self.width_spinbox = QtWidgets.QDoubleSpinBox()
        self.width_spinbox.editingFinished.connect(lambda: self.width_changed())
 
        self.height_label = QtWidgets.QLabel("Height:")
        self.height_spinbox = QtWidgets.QDoubleSpinBox()
        self.height_spinbox.editingFinished.connect(lambda: self.height_changed())
 
        self.color_label = QtWidgets.QLabel()
        self.color_label.setAutoFillBackground(True)
        self.update_color_label(None)
        self.color_button = QtWidgets.QPushButton("Set Color")
        self.color_button.clicked.connect(lambda: self.btn_color_clicked())
 
        self.layout.addWidget(self.mesh_label, 0, 0)
        self.layout.addWidget(self.mesh_button, 0, 1)
        self.layout.addWidget(self.diameter_label, 1, 0)
        self.layout.addWidget(self.diameter_spinbox, 1, 1)
        self.layout.addWidget(self.length_label, 2, 0)
        self.layout.addWidget(self.length_spinbox, 2, 1)
        self.layout.addWidget(self.width_label, 3, 0)
        self.layout.addWidget(self.width_spinbox, 3, 1)
        self.layout.addWidget(self.height_label, 4, 0)
        self.layout.addWidget(self.height_spinbox, 4, 1)
        self.layout.addWidget(self.color_label, 5, 0)
        self.layout.addWidget(self.color_button, 5, 1)
        self.layout.addWidget(self.size_label, 6, 0)
        self.layout.addWidget(self.size_spinbox, 6, 1)
 
 
        self.update_widget(None)
 
    def get_widget(self):
        return self.widget
 
    def update(self, editor, level, elements):
        
        if level & 2:
            
            if self.editor.active_frame is not self.old_frame:
                self.update_widget(self.editor.active_frame)
                self.update_values(self.editor.active_frame)
            self.update_color_label(self.editor.active_frame)
 
        elif level & 4:
            if self.editor.active_frame is not None:
                self.update_values(self.editor.active_frame)
            self.update_color_label(self.editor.active_frame)
    
    def update_widget(self, frame):
        
 
        self.mesh_label.hide()
        self.mesh_button.hide()
        self.diameter_label.hide()
        self.diameter_spinbox.hide()
        self.length_label.hide()
        self.length_spinbox.hide()
        self.width_label.hide()
        self.width_spinbox.hide()
        self.height_label.hide()
        self.height_spinbox.hide()
        self.size_label.hide()
        self.size_spinbox.hide()
 
        if frame is None or frame.style == "none":
            self.widget.setEnabled(False)
            return
 
        if frame.style == "mesh":
            self.mesh_label.show()
            self.mesh_button.show()
            self.size_label.show()
            self.size_spinbox.show()
 
        elif frame.style == "sphere":
            self.diameter_label.show()
            self.diameter_spinbox.show()
        else:
            self.length_label.show()
            self.length_spinbox.show()
            self.width_label.show()
            self.width_spinbox.show()
            if frame.style == "cube":
                self.height_label.show()
                self.height_spinbox.show()
 
        self.widget.setEnabled(True)
 
    def update_values(self, frame):
        if frame is None or frame.style == "none":
            return
 
        if frame.style == "mesh":
            self.mesh_label.setText(frame.path)
            self.size_spinbox.setValue(frame.scale)
        elif frame.style == "sphere":
            self.diameter_spinbox.setValue(frame.diameter)
        else:
            self.length_spinbox.setValue(frame.length)
            self.width_spinbox.setValue(frame.width)
            if frame.style == "cube":
                self.height_spinbox.setValue(frame.height)
 
    def update_color_label(self, frame):
        if frame is None:
            values = "{}, {}, {}, {}".format(200, 200, 200, 255)
        else:
            values = "{}, {}, {}, {}".format(frame.color[0]*255, frame.color[1]*255, frame.color[2]*255, frame.color[3]*255)
        self.color_label.setStyleSheet("QLabel { background-color: rgba("+values+"); }")
 
    @Slot(float)
    def diameter_changed(self):
        if self.editor.active_frame.diameter != self.diameter_spinbox.value():
            self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "diameter", self.diameter_spinbox.value()))
 
    @Slot(float)
    def size_changed(self):
        if self.editor.active_frame.scale != self.diameter_spinbox.value():
            self.editor.command(Command_SetSize(self.editor, self.editor.active_frame, self.size_spinbox.value()))
 
 
    @Slot(float)
    def length_changed(self):
        if self.editor.active_frame.length != self.length_spinbox.value():
            self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "length", self.length_spinbox.value()))
 
    @Slot(float)
    def width_changed(self):
        if self.editor.active_frame.width != self.width_spinbox.value():
            self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "width", self.width_spinbox.value()))
 
    @Slot(float)
    def height_changed(self):
        if self.editor.active_frame.height != self.height_spinbox.value():
            self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "height", self.height_spinbox.value()))
 
    @Slot(bool)
    def btn_open_mesh_clicked(self):
        path = QtWidgets.QFileDialog.getOpenFileName(None, 'Open Mesh', '/home', 'Mesh Files (*.stl)')[0]
        try:
            rospackage = rospkg.get_package_name(path)
            if rospackage is None:
                QtWidgets.QMessageBox.warning(self.widget, "Saving absolute path to mesh",
                "Cannot find rospackage with selected mesh in it!\nSaving absolute path to mesh instead!")
                self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "package", ""))
                self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "path", path))
            else:
                rel_path = os.path.relpath(path , rospkg.RosPack().get_path(rospackage))
                rospy.loginfo("Saving: package: {} + relative path: {}".format(rospackage, rel_path))
                self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "package", rospackage))
                self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "path", rel_path))
        except:
            QtWidgets.QMessageBox.warning(self.widget, "Saving absolute path to mesh",
            "The found rospackage with selected mesh in it is not sourced in your ROS workspace!\n"+
            "Cannot resolve the packagepath\nSaving absolute path to mesh instead!")
            self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "package", ""))
            self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "path", path))
 
    @Slot(bool)
    def btn_color_clicked(self):
        frame = self.editor.active_frame
        color = QtWidgets.QColorDialog.getColor(
            QColor(frame.color[0]*255, 
            frame.color[1]*255,
            frame.color[2]*255,
            frame.color[3]*255),
            None,
            "Select Color",
            options=QtWidgets.QColorDialog.ShowAlphaChannel)
        self.editor.command(Command_SetStyleColor(self.editor, frame, color.getRgbF()))
 
# eof