Merge pull request #81 from cpaxton/devel

Notifications, instructor plugin refactor, and easy mode switch

Author: cpaxton

costar_instructor/instructor_core/nodes/instructor_gui.py

@@ -19,6 +19,7 @@
 __all__ += ['NamedComboBox']
 __all__ += ['JogDialog']
 __all__ += ['SmartMoveDialog']
+__all__ += ['NotificationDialog']
 __all__ += ['RobotInterface']
 
 # NodeGUI Base Classes
@@ -35,6 +36,7 @@
 from instructor_core_nodes import NodeDecoratorResetGUI
 from instructor_core_nodes import NodeDecoratorIgnoreFailGUI
 from instructor_core_nodes import NodeDecoratorWaitForSuccessGUI
+from instructor_gui_components import NotificationDialog
 
 from smart_move_dialog import *
 from jog_dialog import *

costar_instructor/instructor_core/nodes/instructor_view.py

@@ -157,7 +157,7 @@ def generate(self):
         if all([self.name.full(),self.repeat.full()]):
             return beetree.NodeDecoratorRepeat(self.get_name(),self.get_label(),int(self.repeat.get()))
         else:
-            return 'ERROR: node not properly defined'
+            return 'ERROR: check that all menu items are properly selected for this node'
 
 class NodeDecoratorResetGUI(NodeGUI):
     def __init__(self):
@@ -171,7 +171,7 @@ def generate(self):
         if all([self.name.full(),self.reset.full()]):
             return beetree.NodeDecoratorReset(self.get_name(),self.get_label(),int(self.reset.get()))
         else:
-            return 'ERROR: node not properly defined'
+            return 'ERROR: check that all menu items are properly selected for this node'
 
 class NodeDecoratorIgnoreFailGUI(NodeGUI):
     def __init__(self):
@@ -185,7 +185,7 @@ def generate(self):
         if all([self.name.full()]):
             return beetree.NodeDecoratorIgnoreFail(self.get_name(),self.get_label())
         else:
-            return 'ERROR: node not properly defined'
+            return 'ERROR: check that all menu items are properly selected for this node'
 
 class NodeDecoratorWaitForSuccessGUI(NodeGUI):
     def __init__(self):
@@ -200,6 +200,6 @@ def generate(self):
         if all([self.name.full(),self.timeout.full()]):
             return beetree.NodeDecoratorWaitForSuccess(self.get_name(),self.get_label(),int(self.timeout.get()))
         else:
-            return 'ERROR: node not properly defined'
+            return 'ERROR: check that all menu items are properly selected for this node'
 
 

costar_instructor/instructor_core/src/instructor_core/__init__.py

@@ -42,16 +42,17 @@ def __init__(self, parent=None):
         self.button_layout.addWidget(self.save_cancel_btn,2,0)
 
 class Button(QPushButton):
-    def __init__(self, name, label, txtsz=12, color=Color('#222222','#ffffff'),parent=None):
+    def __init__(self, name, label, txtsz=12, color=Color('#222222','#ffffff'),parent=None, text_color=Color('#ffffff', '#ffffff', '#dddddd')):
         QPushButton.__init__(self, parent)
         self.setMouseTracking(True)
         self.name = name
         self.label = label
         self.setText(self.label)
         # COLOR
         self.color = color
-        self.default_style = 'border: solid 4px #ffffff; background-color:'+self.color.normal+';color:'+'#ffffff'+';border:none;'
-        self.hover_style = 'border: solid 4px #ffffff; background-color:'+self.color.hover+';color:'+'#ffffff'+';border:none;'
+        self.text_color = text_color
+        self.default_style = 'border: solid 4px #ffffff; background-color:'+self.color.normal+';color:'+self.text_color.normal+';border:none;'
+        self.hover_style = 'border: solid 4px #ffffff; background-color:'+self.color.hover+';color:'+self.text_color.normal+';border:none;'
         self.setStyleSheet(self.default_style)
         self.font = QtGui.QFont("Ubuntu", txtsz, QtGui.QFont.Bold)
         self.setFont(self.font)
@@ -127,7 +128,7 @@ def halve_string(s):
 
 class HeadingContainer(QWidget):
     def __init__(self, name, label, color, size='small',parent=None):
-        QWidget.__init__(self,parent)
+        QWidget.__init__(self, parent)
         self.label = label
         self.name = name
         self.color = color
@@ -141,7 +142,7 @@ def __init__(self, name, label, color, size='small',parent=None):
         self.scrollArea.hide()
 
 class Container(QWidget):
-    def __init__(self, name, label, color, size='small',parent=None):
+    def __init__(self, name, label, color, size='small', parent=None):
         QWidget.__init__(self,parent)
         self.label = label
         self.name = name
@@ -164,7 +165,7 @@ def __init__(self, name, label, color, size='small',parent=None):
         self.groups = {}
         self.group_members = {}
 
-    def register_callbacks(self,contract_cb,selected_cb=None):
+    def register_callbacks(self,contract_cb, selected_cb=None):
         self.contract_cb = contract_cb
         self.selected_cb = selected_cb
 
@@ -183,7 +184,7 @@ def contract(self):
         self.button.setStyleSheet(self.button.default_style)
         self.button.current_style = self.button.default_style
 
-    def add_item(self,name):
+    def add_item(self, name):
         pass
 
     def remove_all(self):
@@ -331,6 +332,77 @@ def __init__(self,parent):
         w_path = rp.get_path('instructor_core') + '/ui/drawer_2.ui'
         uic.loadUi(w_path, self)
 
+    def window_resized(self,event):
+        visible = self.drawer.isVisible()
+        self.resize(360,self.container_widget.geometry().height()-100)
+        self.move(self.container_widget.geometry().left()-360,50)
+        if visible:
+            self.show()
+        else:
+            self.hide()
+
+class NotificationDialog(QWidget):
+    def __init__(self, parent=None):
+        QWidget.__init__(self, parent, QtCore.Qt.WindowStaysOnTopHint)
+        # GUI
+        rp = rospkg.RosPack()
+        w_path = rp.get_path('instructor_core') + '/ui/notifications.ui'
+        uic.loadUi(w_path, self)
+        self.show_hide = self.show_hide_slide
+        self.selected_object = None
+        self.selected_move = None
+        self.saved_geom = None
+        self.new_move_name = None
+        
+        self.done_button.clicked.connect(self.done)
+        self.notification_list.itemClicked.connect(self.object_selected)
+        self.notification_list.itemClicked.connect(self.move_selected)        
+        self.hide()
+
+    def notify(self, message, severity='warn'):
+        """Adds a message to the notification dialog, showing it if not visible.
+
+        # Arguments
+
+        message: string message to show in the dialog
+        severity: one of 'info', 'warn', 'error'
+        """
+        self.most_recent_notification = QListWidgetItem(message)
+        self.notification_list.addItem(self.most_recent_notification)
+        self.notification_list.setCurrentItem(self.most_recent_notification)
+        self.notification_list.scrollToItem(self.most_recent_notification)
+        if not self.isVisible():
+             self.show_hide_slide()
+        
+        if severity is 'warn':
+            rospy.logwarn(message)
+        elif severity is 'error':
+            rospy.logerr(message)
+        else:
+            rospy.loginfo(message)
+
+    def show_hide_slide(self):
+        if self.isVisible():
+            self.saved_geom = self.geometry()
+            self.hide()
+        else:
+            if self.saved_geom is not None:
+                self.move(self.saved_geom.x(),self.saved_geom.y())
+            else:
+                self.move(self.geometry().x()+self.geometry().width()/2-self.geometry().width()/2,self.geometry().y()+self.geometry().height()/2)
+            self.show()
+
+    def done(self):
+        self.notification_list.clear()
+        self.show_hide_slide()
+
+    def object_selected(self,item):
+        self.selected_object = str(item.text())
+
+    def move_selected(self,item):
+        self.selected_move = str(item.text())
+
+
 class Popup(QWidget):
     def __init__(self,parent):
         QWidget.__init__(self,parent)

costar_instructor/instructor_core/src/instructor_core/instructor_core_nodes.py

@@ -6,9 +6,10 @@
 from PyQt4.QtCore import *
 
 class Color:
-    def __init__(self,normal,hover):
+    def __init__(self,normal,hover, disabled='#dddddd'):
         self.normal = normal
         self.hover = hover
+        self.disabled = disabled
 
 class ColorOptions:
     def __init__(self):
@@ -58,6 +59,53 @@ def leaveEvent(self, event):
         self.setStyleSheet(self.default_style)
 
 
+class TextEdit(QTextEdit):
+
+    def __init__(self, name, label, txtsz=12, color=Color('#222222','#ffffff'),parent=None):
+        QTextEdit.__init__(self, parent)
+        self.document().contentsChanged.connect(self.sizeChange)
+
+        self.heightMin = 0
+        self.heightMax = 65000
+        # self.setMouseTracking(True)
+        self.name = name
+        self.label = label
+        self.setText(self.label)
+        # COLOR
+        self.color = color
+        self.default_style = 'border: solid 4px #ffffff; background-color:'+self.color.normal+';color:'+'#ffffff'+';border:none;'
+        self.hover_style = 'border: solid 4px #ffffff; background-color:'+self.color.hover+';color:'+'#ffffff'+';border:none;'
+        self.setStyleSheet(self.default_style)
+        # self.font = QtGui.QFont("Ubuntu", txtsz, QtGui.QFont.Bold)
+        # self.setCurrentFont(self.font)
+        self.setFocusPolicy(QtCore.Qt.NoFocus)
+        self.setMinimumHeight(30)
+    def set_color(self,color):
+        self.color = color
+        self.default_style = 'border: solid 4px #ffffff; background-color:'+self.color.normal+';color:'+'#ffffff'+';border:none;'
+        self.hover_style = 'border: solid 4px #ffffff; background-color:'+self.color.hover+';color:'+'#ffffff'+';border:none;'
+        self.setStyleSheet(self.default_style)
+    # def enterEvent(self, event):
+    #     self.setStyleSheet(self.hover_style)
+    # def leaveEvent(self, event):
+    #     self.setStyleSheet(self.default_style)
+    def notify(self, message, severity='info'):
+        self.show()
+        self.setText(message)
+        if severity is 'warn':
+            rospy.logwarn(message)
+        elif severity is 'error':
+            rospy.logerr(message)
+        else:
+            rospy.loginfo(message)
+
+    def sizeChange(self):
+        docHeight = self.document().size().height()
+        if self.heightMin <= docHeight <= self.heightMax:
+            self.setMaximumHeight(docHeight)
+
+
+
 class OverlayDialog(QWidget):
     def __init__(self, parent=None):
         QWidget.__init__(self, parent, QtCore.Qt.WindowStaysOnTopHint)

costar_instructor/instructor_core/src/instructor_core/instructor_gui_components.py

@@ -62,7 +62,7 @@ def update_status(self):
         # self.status_label.setText('ROBOT MODE: ['+self.driver_status.upper()+']')
 
     def teach(self):
-        if self.driver_status == 'IDLE':
+        if self.driver_status == 'IDLE' or self.driver_status == 'SERVO':
             try:
                 rospy.wait_for_service('/costar/SetTeachMode',2)
             except rospy.ROSException as e:
@@ -95,7 +95,7 @@ def teach(self):
             self.toast('Driver is in ['+self.driver_status+'] mode!')
 
     def servo(self):
-        if self.driver_status == 'IDLE':
+        if self.driver_status == 'IDLE' or self.driver_status == 'TEACH':
             try:
                 rospy.wait_for_service('/costar/SetServoMode',2)
             except rospy.ROSException as e:

costar_instructor/instructor_core/src/instructor_core/instructor_qt.py

@@ -9,13 +9,13 @@
 from smart_waypoint_manager import SmartWaypointManager
 
 class SmartMoveDialog(QWidget):
-    def __init__(self, show_hide_fn,parent=None):
+    def __init__(self, parent=None):
         QWidget.__init__(self, parent, QtCore.Qt.WindowStaysOnTopHint)
         # GUI
         rp = rospkg.RosPack()
         w_path = rp.get_path('instructor_core') + '/ui/smart_move.ui'
         uic.loadUi(w_path, self)
-        self.show_hide = show_hide_fn
+        self.show_hide = self.show_hide_slide
         self.selected_object = None
         self.selected_move = None
         self.saved_geom = None
@@ -34,6 +34,19 @@ def __init__(self, show_hide_fn,parent=None):
         self.update_objects()
         self.update_moves()
 
+
+    def show_hide_slide(self):
+        if self.isVisible():
+            self.saved_geom = self.geometry()
+            self.hide()
+        else:
+            if self.saved_geom is not None:
+                self.move(self.saved_geom.x(),self.saved_geom.y())
+            else:
+                self.move(self.geometry().x()+self.geometry().width()/2-self.geometry().width()/2,self.geometry().y()+self.geometry().height()/2-self.geometry().height()/2)
+            self.show()
+            self.update_all()
+
     def update_all(self):
         self.update_objects()
         self.update_moves()