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Merge remote-tracking branch 'origin/main' into ahcorde/rename
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@ahcorde
ahcorde committed Dec 27, 2023
2 parents cf27811 + f6d2055 commit 42711aa
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Showing 10 changed files with 187 additions and 245 deletions.
Binary file modified img/steering_wheel.png
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16 changes: 14 additions & 2 deletions resource/speedometer.ui
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Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,22 @@
<rect>
<x>0</x>
<y>0</y>
<width>479</width>
<height>509</height>
<width>500</width>
<height>550</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>500</width>
<height>550</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>500</width>
<height>500</height>
</size>
</property>
<property name="windowTitle">
<string>Speedometer</string>
</property>
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71 changes: 24 additions & 47 deletions resource/steering_wheel.ui
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Expand Up @@ -6,20 +6,32 @@
<rect>
<x>0</x>
<y>0</y>
<width>448</width>
<height>510</height>
<width>500</width>
<height>550</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>500</width>
<height>550</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>500</width>
<height>550</height>
</size>
</property>
<property name="windowTitle">
<string>SteeringWheel</string>
</property>
<widget class="QTextEdit" name="max_value">
<property name="enabled">
<bool>false</bool>
<bool>true</bool>
</property>
<property name="geometry">
<rect>
<x>330</x>
<x>230</x>
<y>460</y>
<width>51</width>
<height>31</height>
Expand Down Expand Up @@ -76,51 +88,10 @@ p, li { white-space: pre-wrap; }
<string>Topic:</string>
</property>
</widget>
<widget class="QTextEdit" name="min_value">
<property name="enabled">
<bool>false</bool>
</property>
<property name="geometry">
<rect>
<x>140</x>
<y>460</y>
<width>51</width>
<height>31</height>
</rect>
</property>
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;-45&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="placeholderText">
<string/>
</property>
</widget>
<widget class="QLabel" name="min_value_label">
<property name="geometry">
<rect>
<x>60</x>
<y>460</y>
<width>81</width>
<height>31</height>
</rect>
</property>
<property name="font">
<font>
<pointsize>12</pointsize>
</font>
</property>
<property name="text">
<string>Min Angle:</string>
</property>
</widget>
<widget class="QLabel" name="max_value_label">
<property name="geometry">
<rect>
<x>240</x>
<x>140</x>
<y>466</y>
<width>81</width>
<height>21</height>
Expand All @@ -132,7 +103,7 @@ p, li { white-space: pre-wrap; }
</font>
</property>
<property name="text">
<string>Max Angle:</string>
<string>Angle:</string>
</property>
</widget>
<widget class="TopicQLineEdit" name="topic_to_subscribe">
Expand All @@ -154,6 +125,12 @@ p, li { white-space: pre-wrap; }
<height>401</height>
</rect>
</property>
<property name="maximumSize">
<size>
<width>500</width>
<height>550</height>
</size>
</property>
</widget>
</widget>
<customwidgets>
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16 changes: 14 additions & 2 deletions resource/throttle_brake_pedals.ui
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Expand Up @@ -6,10 +6,22 @@
<rect>
<x>0</x>
<y>0</y>
<width>452</width>
<height>510</height>
<width>500</width>
<height>550</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>500</width>
<height>550</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>500</width>
<height>550</height>
</size>
</property>
<property name="windowTitle">
<string>ThrottleBrakePedals</string>
</property>
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12 changes: 6 additions & 6 deletions src/rqt_gauges/speedometer_gauge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -149,9 +149,9 @@ def setMinValue(self, min_value):
# Modifies the minimum value of the gauge
# Args:
# min: Value to update the minimum value of the gauge.
if self.value < min:
self.value = min
if min >= self.maxValue:
if self.value < min_value:
self.value = min_value
if min_value >= self.maxValue:
self.minValue = self.maxValue - 1
else:
self.minValue = min_value
Expand All @@ -162,9 +162,9 @@ def setMaxValue(self, max_value):
# Modifies the maximum value of the gauge
# Args:
# max: Value to update the maximum value of the gauge.
if self.value > max:
self.value = max
if max <= self.minValue:
if self.value > max_value:
self.value = max_value
if max_value <= self.minValue:
self.maxValue = self.minValue + 1
else:
self.maxValue = max_value
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69 changes: 9 additions & 60 deletions src/rqt_gauges/speedometer_widget.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,64 +7,7 @@
from rosidl_runtime_py.utilities import get_message
from rqt_py_common.topic_completer import TopicCompleter


def get_topic_type(node, topic):
"""
Subroutine for getting the topic type.
(nearly identical to rostopic._get_topic_type, except it returns rest of name instead of fn)
:returns: topic type, real topic name, and rest of name referenced
if the topic points to a field within a topic, e.g. /rosout/msg, ``str, str, str``
"""
val = node.get_topic_names_and_types()
matches = [(t, t_types) for t, t_types in val if t == topic or topic.startswith(t + '/')]
for t, t_types in matches:
for t_type in t_types:
if t_type == topic:
return t_type, None, None
for t_type in t_types:
if t_type != '*':
return t_type, t, topic[len(t):]
return None, None, None


def _array_eval(field_name, slot_num):
"""
Array evaluation.
:param field_name: name of field to index into, ``str``
:param slot_num: index of slot to return, ``str``
:returns: fn(msg_field)->msg_field[slot_num]
"""
def fn(f):
return getattr(f, field_name).__getitem__(slot_num)
return fn


def _field_eval(field_name):
"""
Field evaluation.
:param field_name: name of field to return, ``str``
:returns: fn(msg_field)->msg_field.field_name
"""
def fn(f):
return getattr(f, field_name)
return fn


def generate_field_evals(fields):
evals = []
fields = [f for f in fields.split('/') if f]
for f in fields:
if '[' in f:
field_name, rest = f.split('[')
slot_num = int(rest[:rest.find(']')])
evals.append(_array_eval(field_name, slot_num))
else:
evals.append(_field_eval(f))
return evals
from .utils import generate_field_evals, get_topic_type


class SpeedometerWidget(QWidget):
Expand Down Expand Up @@ -129,7 +72,7 @@ def updateSubscription(self):
topic_path = self.topic_to_subscribe.text()
topic_type, topic_name, fields = get_topic_type(self.node, topic_path)
self.field_evals = generate_field_evals(fields)
if topic_type is not None:
if topic_type is not None and self.field_evals is not None:
print('Subscribing to:', topic_name, 'Type:', topic_type, 'Field:', fields)
data_class = get_message(topic_type)
self.sub = self.node.create_subscription(
Expand All @@ -142,4 +85,10 @@ def speedometer_callback(self, msg):
value = msg
for f in self.field_evals:
value = f(value)
self.speedometer_gauge.updateValue(float(value))
if value is not None:
if type(value) == int or type(value) == float or type(value) == str:
self.speedometer_gauge.updateValue(float(value))
else:
self.speedometer_gauge.updateValue(self.speedometer_gauge.minValue)
else:
self.speedometer_gauge.updateValue(self.speedometer_gauge.minValue)
19 changes: 17 additions & 2 deletions src/rqt_gauges/steering_wheel_gauge.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,6 @@ def __init__(self, parent=None):
self.progress_width = 25
self.progress_rounded_cap = True
self.progress_color = 0x39F030
self.max_value = 45
self.circle_max_angle = 135
self.font_size = 40
self.scale_font_size = 15
Expand Down Expand Up @@ -98,8 +97,24 @@ def updateValue(self, value: float):
# value: Value to update the gauge with.
value = max(value, self.minValue)
value = min(value, self.maxValue)
self.value = value
self.repaint()

def setMaxValue(self, max_value):
# Modifies the maximum value of the gauge
# Args:
# max: Value to update the maximum value of the gauge.
if self.value > max_value:
self.value = max_value
if max_value <= self.minValue:
self.maxValue = self.minValue + 1
self.minValue = -self.maxValue + 1
else:
self.maxValue = max_value
self.minValue = -max_value

self.update()

def draw_background_circle(self):
painter = QPainter()
painter.begin(self)
Expand All @@ -114,7 +129,7 @@ def paintEvent(self, event):
width = self.width - self.progress_width
height = self.height - self.progress_width
margin = int(self.progress_width / 2)
value = int(self.value * self.circle_max_angle / self.max_value)
value = int(self.value * self.circle_max_angle / self.maxValue)

# Draw Circle
self.draw_background_circle()
Expand Down
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