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Commit ab8d72c0 authored by Jeffrey Fisher's avatar Jeffrey Fisher
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WIP rewrite with Python rqt

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CMakeLists.txt deleted 100644 → 0
+ 0
− 85
View file @ e800a3f0
cmake_minimum_required(VERSION 3.8)
project(qubo_gui)
find_package(ament_cmake REQUIRED)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(rclcpp REQUIRED)
find_package(qt_gui_cpp REQUIRED)
find_package(rqt_gui_cpp REQUIRED)
find_package(Qt5Widgets REQUIRED)
set(qubo_gui_SRCS
src/gui.cpp
)
set(qubo_gui_HEADERS
include/qubo_gui/gui.h
)
set(qubo_gui_UIS
src/gui.ui
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
qt5_wrap_cpp(qubo_gui_MOCS ${qubo_gui_HEADERS})
qt5_wrap_ui(qubo_gui_UIS_H ${qubo_gui_UIS})
add_library(${PROJECT_NAME} SHARED
${qubo_gui_SRCS}
${qubo_gui_MOCS}
${qubo_gui_UIS_H}
)
target_include_directories(${PROJECT_NAME} PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)
target_link_libraries(${PROJECT_NAME} PUBLIC
${rclcpp_TARGETS}
${qt_gui_cpp_TARGETS}
${rqt_gui_cpp_TARGETS}
Qt5::Widgets
)
install(
TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}
LIBRARY DESTINATION lib/${PROJECT_NAME}
RUNTIME DESTINATION bin/${PROJECT_NAME}
)
install(
DIRECTORY include/
DESTINATION include/${PROJECT_NAME}
)
install(FILES plugin.xml
DESTINATION share/${PROJECT_NAME}
)
pluginlib_export_plugin_description_file(qubo_gui "plugin.xml")
ament_export_targets(${PROJECT_NAME})
ament_package()
include/qubo_gui/gui.h deleted 100644 → 0
+ 0
− 18
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#if !defined(QUBO_GUI_H)
#define QUBO_GUI_H
#include <rqt_qui_cpp/plugin.h>
#include <QWidget>
class QuboWidget : public rqt_gui_cpp::Plugin
{
Q_OBJECT
public:
QuboWidget();
virtual void initPlugin(qt_gui_cpp::PluginContext& context);
virtual void shutdownPlugin();
// virtual void saveSetttings
}
#endif
package.xml
+ 9
− 16
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......@@ -4,27 +4,20 @@
<name>qubo_gui</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="team@ram.umd.edu">R@M</maintainer>
<maintainer email="jegfish@todo.todo">jegfish</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<build_depend>qtbase5-dev</build_depend>
<build_depend>rqt_gui</build_depend>
<build_depend>rqt_gui_cpp</build_depend>
<build_depend>qt_gui_cpp</build_depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<exec_depend>rqt_gui</exec_depend>
<exec_depend>rqt_gui_cpp</exec_depend>
<exec_depend>qt_gui_cpp</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<exec_depend>rqt_gui_py</exec_depend>
<exec_depend>rqt_py_common</exec_depend>
<export>
<build_type>ament_cmake</build_type>
<rqt_gui plugi="${prefix}/plugin.xml"/>
<build_type>ament_python</build_type>
<rqt_gui plugin="${prefix}/plugin.xml"/>
</export>
</package>
plugin.xml
+ 20
− 8
View file @ ab8d72c0
<library path="qubo_gui">
<class name="qubo_gui/QuboWidget" type="qubo_gui::QuboWidget" base_class_type="rqt_gui_cpp::Plugin">
<class name="ThrustersPlugin" type="qubo_gui.thrusters.Thrusters" base_class_type="rqt_gui_py::Plugin">
<description>
A GUI plugin for Qubo.
An example Python GUI plugin to create a great user interface.
</description>
<qtgui>
<group>
<label>Qubo</label>
<icon type="theme">folder</icon>
<statustip>Plugins related to Qubo.</statustip>
<label>Visualization</label>
</group>
<label>Qubo Widget</label>
<icon type="theme">image-x-generic</icon>
<statustip>A GUI plugin for Qubo.</statustip>
<label>My first Python Plugin</label>
<icon type="theme">system-help</icon>
<statustip>Great user interface to provide real value.</statustip>
</qtgui>
</class>
<class name="ExamplePlugin" type="qubo_gui.plugin2.Plugin2" base_class_type="rqt_gui_py::Plugin">
<description>
An example Python GUI plugin to create a great user interface.
</description>
<qtgui>
<group>
<label>Visualization</label>
</group>
<label>another plugin of mine</label>
<icon type="theme">system-help</icon>
<statustip>Great user interface to provide real value.</statustip>
</qtgui>
</class>
</library>
src/gui.cpp → qubo_gui/__init__.py
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− 0
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File moved
qubo_gui/plugin2.py 0 → 100644
+ 67
− 0
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import random
from qt_gui.plugin import Plugin
from python_qt_binding import QtCore
# from python_qt_binding.QtWidgets import QWidget, QVBoxLayout, QPushButton, QLabel
import python_qt_binding.QtWidgets as QtWidgets
# https://stackoverflow.com/questions/77934193/how-can-i-create-a-simple-gui-using-an-rqt-plugin
class Plugin2(Plugin):
def __init__(self, context):
super(Plugin2, self).__init__(context)
self._context = context
self.setObjectName("ThrustersPlugin")
self._widget = MyWidget()
self._widget.show()
context.add_widget(self._widget)
class MyWidget(QtWidgets.QWidget):
def __init__(self):
super().__init__()
self.hello = ["Hallo Welt", "Hei maailma", "Hola Mundo", "Привет мир"]
self.button = QtWidgets.QPushButton("Click on this button, me!")
self.text = QtWidgets.QLabel("Hello World",
alignment=QtCore.Qt.AlignCenter)
self.layout = QtWidgets.QVBoxLayout(self)
self.layout.addWidget(self.text)
self.layout.addWidget(self.button)
self.button.clicked.connect(self.magic)
@QtCore.Slot()
def magic(self):
self.text.setText(random.choice(self.hello))
# class MyWidget(QWidget):
# def __init__(self):
# super(MyWidget, self).__init__()
# print("MyWidget constructor called...")
# self.setStyleSheet("background-color: white;")
# # Create a layout
# layout = QVBoxLayout(self)
# # Create a button
# self.button = QPushButton('Click Me!', self)
# self.button.clicked.connect(self.on_button_click)
# # Create a label for text display
# self.label = QLabel('Hello, World!', self)
# # Add the button and label to the layout
# layout.addWidget(self.button)
# layout.addWidget(self.label)
# # Set the layout for the widget
# self.setLayout(layout)
# def on_button_click(self):
# self.label.setText('Button Clicked!')
\ No newline at end of file
qubo_gui/qubo_gui.py 0 → 100644
+ 8
− 0
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from .thrusters import Thrusters
def main():
print('Hi from qubo_gui.')
if __name__ == '__main__':
main()
qubo_gui/thrusters.py 0 → 100644
+ 67
− 0
View file @ ab8d72c0
import random
from qt_gui.plugin import Plugin
from python_qt_binding import QtCore
# from python_qt_binding.QtWidgets import QWidget, QVBoxLayout, QPushButton, QLabel
import python_qt_binding.QtWidgets as QtWidgets
# https://stackoverflow.com/questions/77934193/how-can-i-create-a-simple-gui-using-an-rqt-plugin
class Thrusters(Plugin):
def __init__(self, context):
super(Thrusters, self).__init__(context)
self._context = context
self.setObjectName("ThrustersPlugin")
self._widget = MyWidget()
self._widget.show()
context.add_widget(self._widget)
class MyWidget(QtWidgets.QWidget):
def __init__(self):
super().__init__()
self.hello = ["Hallo Welt", "Hei maailma", "Hola Mundo", "Привет мир"]
self.button = QtWidgets.QPushButton("Click me!")
self.text = QtWidgets.QLabel("Hello World",
alignment=QtCore.Qt.AlignCenter)
self.layout = QtWidgets.QVBoxLayout(self)
self.layout.addWidget(self.text)
self.layout.addWidget(self.button)
self.button.clicked.connect(self.magic)
@QtCore.Slot()
def magic(self):
self.text.setText(random.choice(self.hello))
# class MyWidget(QWidget):
# def __init__(self):
# super(MyWidget, self).__init__()
# print("MyWidget constructor called...")
# self.setStyleSheet("background-color: white;")
# # Create a layout
# layout = QVBoxLayout(self)
# # Create a button
# self.button = QPushButton('Click Me!', self)
# self.button.clicked.connect(self.on_button_click)
# # Create a label for text display
# self.label = QLabel('Hello, World!', self)
# # Add the button and label to the layout
# layout.addWidget(self.button)
# layout.addWidget(self.label)
# # Set the layout for the widget
# self.setLayout(layout)
# def on_button_click(self):
# self.label.setText('Button Clicked!')
\ No newline at end of file
resource/qubo_gui 0 → 100644
+ 0
− 0
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setup.cfg 0 → 100644
+ 4
− 0
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[develop]
script-dir=$base/lib/qubo_gui
[install]
install-scripts=$base/lib/qubo_gui
setup.py 0 → 100644
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− 0
View file @ ab8d72c0
from setuptools import setup
package_name = 'qubo_gui'
setup(
name=package_name,
version='0.0.0',
packages=[package_name],
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml', 'plugin.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='jegfish',
maintainer_email='jegfish@todo.todo',
description='TODO: Package description',
license='TODO: License declaration',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'qubo_gui = qubo_gui.qubo_gui:main'
],
},
)
src/gui.ui deleted 100644 → 0
+ 0
− 300
View file @ e800a3f0
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>QuboWidget</class>
<widget class="QWidget" name="QuboWidget">
<property name="enabled">
<bool>true</bool>
</property>
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>425</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Image View</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout" stretch="0,1">
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QWidget" name="toolbar_widget" native="true">
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QComboBox" name="topics_combo_box">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="refresh_topics_push_button">
<property name="toolTip">
<string>Refresh topics</string>
</property>
<property name="icon">
<iconset theme="view-refresh">
<normaloff>.</normaloff>.</iconset>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="zoom_1_push_button">
<property name="toolTip">
<string>Original zoom</string>
</property>
<property name="enabled">
<bool>false</bool>
</property>
<property name="icon">
<iconset theme="zoom-original">
<normaloff>.</normaloff>.</iconset>
</property>
<property name="checkable">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="num_gridlines_spin_box">
<property name="toolTip">
<string># of gridlines to overlay</string>
</property>
<property name="minimum">
<double>0</double>
</property>
<property name="maximum">
<double>20</double>
</property>
<property name="value">
<double>0</double>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="dynamic_range_check_box">
<property name="toolTip">
<string>Dynamic depth range</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<widget class="QDoubleSpinBox" name="max_range_double_spin_box">
<property name="toolTip">
<string>Max depth</string>
</property>
<property name="suffix">
<string>m</string>
</property>
<property name="minimum">
<double>0.010000000000000</double>
</property>
<property name="maximum">
<double>100.000000000000000</double>
</property>
<property name="value">
<double>10.000000000000000</double>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="save_as_image_push_button">
<property name="toolTip">
<string>Save as image</string>
</property>
<property name="icon">
<iconset theme="image-x-generic">
<normaloff>.</normaloff>.</iconset>
</property>
<property name="iconSize">
<size>
<width>16</width>
<height>16</height>
</size>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QCheckBox" name="publish_click_location_check_box">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="publish_click_location_topic_line_edit">
<property name="toolTip">
<string>Click location topic (leave empty for auto-naming)</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="smooth_image_check_box">
<property name="toolTip">
<string>Dynamic depth range</string>
</property>
<property name="text">
<string>Smooth scaling</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="rotate_left_push_button">
<property name="text">
<string/>
</property>
<property name="icon">
<iconset theme="object-rotate-left">
<normaloff/>
</iconset>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="rotate_label">
<property name="text">
<string>0°</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="rotate_right_push_button">
<property name="text">
<string/>
</property>
<property name="icon">
<iconset theme="object-rotate-right">
<normaloff/>
</iconset>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="color_scheme_combo_box">
<property name="sizeAdjustPolicy">
<enum>QComboBox::AdjustToContents</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="image_layout" stretch="1,0">
<property name="spacing">
<number>0</number>
</property>
<item>
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>767</width>
<height>650</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="rqt_image_view::RatioLayoutedFrame" name="image_frame">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>80</width>
<height>60</height>
</size>
</property>
<property name="contextMenuPolicy">
<enum>Qt::ActionsContextMenu</enum>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="lineWidth">
<number>1</number>
</property>
</widget>
</item>
<property name="margin">
<number>1</number>
</property>
</layout>
</widget>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>rqt_image_view::RatioLayoutedFrame</class>
<extends>QFrame</extends>
<header>rqt_image_view/ratio_layouted_frame.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>
test/test_copyright.py 0 → 100644
+ 23
− 0
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# 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.
from ament_copyright.main import main
import pytest
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'
test/test_flake8.py 0 → 100644
+ 25
− 0
View file @ ab8d72c0
# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# 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.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)
test/test_pep257.py 0 → 100644
+ 23
− 0
View file @ ab8d72c0
# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# 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.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'
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