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Robotics at Maryland
qubo_gui
Commits
e2c5301b
Commit
e2c5301b
authored
6 months ago
by
nic
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added text-based thruster control
parent
79a80b89
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plugin.xml
+14
-0
14 additions, 0 deletions
plugin.xml
qubo_gui/qubo_gui.py
+1
-1
1 addition, 1 deletion
qubo_gui/qubo_gui.py
qubo_gui/thruster_control_text.py
+128
-0
128 additions, 0 deletions
qubo_gui/thruster_control_text.py
with
143 additions
and
1 deletion
plugin.xml
+
14
−
0
View file @
e2c5301b
...
...
@@ -13,6 +13,20 @@
</qtgui>
</class>
<class
name=
"ThrustersPlugin_Text"
type=
"qubo_gui.thruster_control_text.ThrusterControl_Text"
base_class_type=
"rqt_gui_py::Plugin"
>
<description>
An example Python GUI plugin to create a great user interface.
</description>
<qtgui>
<group>
<label>
Qubo Control
</label>
</group>
<label>
Qubo Thruster Control Text
</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.
...
...
This diff is collapsed.
Click to expand it.
qubo_gui/qubo_gui.py
+
1
−
1
View file @
e2c5301b
from
.thruster_control
import
Thruster
s
from
.thruster_control
import
Thruster
Widget
def
main
():
print
(
'
Hi from qubo_gui.
'
)
...
...
This diff is collapsed.
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qubo_gui/thruster_control_text.py
0 → 100644
+
128
−
0
View file @
e2c5301b
"""
This file implements an rqt plugin for controlling individual thrusters on Qubo.
Set
"""
import
random
from
qt_gui.plugin
import
Plugin
from
python_qt_binding
import
QtCore
from
python_qt_binding.QtCore
import
Qt
from
python_qt_binding.QtGui
import
QIntValidator
from
python_qt_binding.QtWidgets
import
QWidget
,
QLabel
,
QSlider
,
QPushButton
,
QHBoxLayout
,
QVBoxLayout
,
QLineEdit
,
QDoubleSpinBox
# https://stackoverflow.com/questions/77934193/how-can-i-create-a-simple-gui-using-an-rqt-plugin
class
ThrusterControl_Text
(
Plugin
):
def
__init__
(
self
,
context
):
super
(
ThrusterControl_Text
,
self
).
__init__
(
context
)
self
.
_context
=
context
self
.
setObjectName
(
"
ThrustersPlugin_Text
"
)
self
.
_widget
=
QWidget
()
front_widget
=
QWidget
()
front
=
QHBoxLayout
(
front_widget
)
front_left
=
ThrusterWidget
(
"
Front Left
"
,
top_topic
=
"
/thruster1
"
,
bottom_topic
=
"
/thruster2
"
)
front_right
=
ThrusterWidget
(
"
Front Right
"
,
""
,
""
)
front
.
addWidget
(
front_left
)
front
.
addWidget
(
front_right
)
back_widget
=
QWidget
()
back
=
QHBoxLayout
(
back_widget
)
back_left
=
ThrusterWidget
(
"
Back Left
"
,
""
,
""
)
back_right
=
ThrusterWidget
(
"
Back Right
"
,
""
,
""
)
back
.
addWidget
(
back_left
)
back
.
addWidget
(
back_right
)
self
.
_stop_button
=
QPushButton
(
"
Global Stop
"
)
# When _stop_button's "clicked" signal is emitted, all thruster control widgets
# will have their stop_top and stop_bottom slots triggered.
for
w
in
[
front_left
,
front_right
,
back_left
,
back_right
]:
self
.
_stop_button
.
clicked
.
connect
(
w
.
stop_top
)
self
.
_stop_button
.
clicked
.
connect
(
w
.
stop_bottom
)
layout
=
QVBoxLayout
(
self
.
_widget
)
layout
.
addWidget
(
self
.
_stop_button
)
layout
.
addWidget
(
front_widget
)
layout
.
addWidget
(
back_widget
)
context
.
add_widget
(
self
.
_widget
)
# Widget to control two thrusters (top and bottom one).
class
ThrusterWidget
(
QWidget
):
PWM_STOP
=
1500
PWM_MIN
=
1400
PWM_MAX
=
1600
def
__init__
(
self
,
title
,
top_topic
,
bottom_topic
):
super
().
__init__
()
self
.
_top_topic
=
top_topic
self
.
_bottom_topic
=
bottom_topic
title_label
=
QLabel
(
title
)
self
.
top_stop_btn
=
QPushButton
(
"
Stop
"
)
self
.
top_pwm_label
=
QLabel
()
self
.
top_entry
=
QDoubleSpinBox
()
self
.
top_entry
.
setMaximum
(
self
.
PWM_MAX
)
self
.
top_entry
.
setMinimum
(
self
.
PWM_MIN
)
self
.
top_entry
.
setValue
(
self
.
PWM_STOP
)
self
.
top_entry
.
setDecimals
(
0
)
self
.
top_entry
.
setSingleStep
(
5
)
self
.
bottom_entry
=
QDoubleSpinBox
()
self
.
bottom_entry
.
setMaximum
(
self
.
PWM_MAX
)
self
.
bottom_entry
.
setMinimum
(
self
.
PWM_MIN
)
self
.
bottom_entry
.
setValue
(
self
.
PWM_STOP
)
self
.
bottom_entry
.
setDecimals
(
0
)
self
.
bottom_entry
.
setSingleStep
(
5
)
self
.
bottom_stop_btn
=
QPushButton
(
"
Stop
"
)
self
.
bottom_pwm_label
=
QLabel
()
top_widget
=
QWidget
()
top_layout
=
QHBoxLayout
(
top_widget
)
top_layout
.
addWidget
(
self
.
top_stop_btn
)
top_layout
.
addWidget
(
self
.
top_pwm_label
)
bottom_widget
=
QWidget
()
bottom_layout
=
QHBoxLayout
(
bottom_widget
)
bottom_layout
.
addWidget
(
self
.
bottom_stop_btn
)
bottom_layout
.
addWidget
(
self
.
bottom_pwm_label
)
self
.
layout
=
QVBoxLayout
(
self
)
self
.
layout
.
addWidget
(
top_widget
)
self
.
layout
.
addWidget
(
self
.
top_entry
)
self
.
layout
.
addWidget
(
self
.
bottom_entry
)
self
.
layout
.
addWidget
(
bottom_widget
)
self
.
top_pwm_label
.
setText
(
f
"
PWM:
{
self
.
PWM_STOP
}
"
)
self
.
top_entry
.
valueChanged
.
connect
(
self
.
on_top_value_changed
)
self
.
bottom_pwm_label
.
setText
(
f
"
PWM:
{
self
.
PWM_STOP
}
"
)
self
.
bottom_entry
.
valueChanged
.
connect
(
self
.
on_bottom_value_changed
)
self
.
top_stop_btn
.
clicked
.
connect
(
self
.
stop_top
)
self
.
bottom_stop_btn
.
clicked
.
connect
(
self
.
stop_bottom
)
@QtCore.Slot
(
float
)
def
on_top_value_changed
(
self
,
value
):
self
.
top_pwm_label
.
setText
(
f
"
PWM:
{
int
(
value
)
}
"
)
# TODO: Publish on ROS to set actual PWM. Make sure we have a controller to prevent PWM from changing too rapidly.
@QtCore.Slot
(
float
)
def
on_bottom_value_changed
(
self
,
value
):
self
.
bottom_pwm_label
.
setText
(
f
"
PWM:
{
int
(
value
)
}
"
)
self
.
bottom_entry
.
clear
()
# TODO: Publish on ROS to set actual PWM.
@QtCore.Slot
()
def
stop_top
(
self
):
self
.
top_pwm_label
.
setText
(
f
"
PWM:
{
self
.
PWM_STOP
}
"
)
self
.
top_entry
.
clear
()
@QtCore.Slot
()
def
stop_bottom
(
self
):
self
.
bottom_pwm_label
.
setText
(
f
"
PWM:
{
self
.
PWM_STOP
}
"
)
self
.
bottom_entry
.
clear
()
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