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command_widget.py
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command_widget.py
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import sys
from typing import List
from PyQt5.QtWidgets import *
from PyQt5.QtCore import *
from time import time
from math import *
class CommandPanel(QListWidget):
def __init__(self, parent: QWidget = None, command_list: list = [], predefined: dict = {}, send_callback=print):
super().__init__(parent=parent)
self.hlist_item = None
self.setDragDropMode(QAbstractItemView.DragDrop)
self.setDefaultDropAction(Qt.MoveAction)
self.setSelectionMode(QAbstractItemView.ExtendedSelection)
if command_list:
self.setup_list_rows(command_list, predefined=predefined, send_callback=send_callback)
def setup_list_rows(self, command_list: list, predefined: dict = {}, send_callback=print):
self.hlist_item = None
self.clear()
for command in command_list:
tokens = command.split()
if len(tokens) == 0:
continue
if len(tokens) == 1 or all([param in predefined for param in tokens[1:]]):
if self.hlist_item is None:
self.hlist_item = QWidget()
self.hlist_item.setSizePolicy(QSizePolicy(QSizePolicy.Maximum, QSizePolicy.Maximum))
self.hlist_layout = QHBoxLayout()
command_widget = CommandWidgetButton(self, command=command, predefined=predefined,
send_callback=send_callback)
self.hlist_layout.addWidget(command_widget)
else:
command_widget = CommandWidgetLine(self, command=command, predefined=predefined,
send_callback=send_callback)
self.addItem(command_widget)
self.setItemWidget(command_widget, command_widget.widget)
if self.hlist_item is not None:
# Add spacer and set layout
space_holder = QSpacerItem(10, 10, QSizePolicy.Expanding)
self.hlist_layout.addSpacerItem(space_holder)
self.hlist_item.setLayout(self.hlist_layout)
# Add to the first of the QListWidgetItem
list_item = QListWidgetItem()
list_item.setSizeHint(self.hlist_item.sizeHint())
self.insertItem(0, list_item)
self.setItemWidget(list_item, self.hlist_item)
def get_elements(self):
current_items = self.selectedItems()
ret = []
for item in current_items:
command_name = item.command_name
params = item.get_params()
ret.append((command_name, params))
return ret
def set_elements(self, elements: List[str]):
elements_dict = {}
for element in elements:
command_name, params = element.split(' ', 1)
elements_dict[command_name] = params
for i in range(self.count()):
command_name = self.item(i).command_name
if command_name in elements_dict:
self.item(i).set_params(elements_dict[command_name].split())
def clear_elements(self):
for item in self.selectedItems():
item.clear_params()
class ParamWidget(QLineEdit):
def __init__(self, param_text, maximum_width=80, parent=None):
super(QLineEdit, self).__init__(parent=parent)
self.setSizePolicy(QSizePolicy(QSizePolicy.Maximum, QSizePolicy.Maximum))
self.setMaximumSize(maximum_width, 25)
self.setPlaceholderText(param_text)
self.setToolTip(param_text)
def get_param(self):
return self.text()
def set_param(self, text: str):
self.setText(text)
class CommandWidgetLine(QListWidgetItem):
def __init__(self, parent: QWidget = None, command: str = '', predefined: dict = {}, send_callback=print):
super().__init__(parent=parent)
self.send_callback = send_callback
items = command.split()
if len(items) <= 1:
command_name, params = command, []
else:
command_name, params = items[0], items[1:]
self.command_name = command_name
command_tokens = []
param_list = []
command_tokens.append(command_name)
for param in params:
if param in predefined:
command_tokens.append(str(predefined[param]))
else:
command_tokens.append('%s')
param_list.append(param)
self.command_str_format = ' '.join(command_tokens)
main_layout = QHBoxLayout()
self.time_param = ParamWidget('t (ms)', maximum_width=50)
self.process_bar = QProgressBar()
self.process_bar.setMaximumSize(80, 25)
self.process_bar.setVisible(False)
self.timer = QTimer()
self.start_time = time()
self.duration = 0
self.timer.timeout.connect(self.__timeout_callback)
self.send_button = QPushButton(command_name)
self.send_button.setSizePolicy(QSizePolicy(QSizePolicy.Maximum, QSizePolicy.Maximum))
main_layout.addWidget(self.time_param)
main_layout.addWidget(self.send_button)
self.widget_list = []
if param_list:
for param_text in param_list:
param_block = ParamWidget(param_text=param_text)
self.widget_list.append(param_block)
main_layout.addWidget(param_block)
main_layout.addWidget(self.process_bar)
main_layout.addStretch()
self.send_button.clicked.connect(self.__send_button_clicked)
self.widget = QWidget()
self.widget.setSizePolicy(QSizePolicy(QSizePolicy.Maximum, QSizePolicy.Maximum))
self.widget.setLayout(main_layout)
self.setSizeHint(self.widget.sizeHint())
left_margin, right_margin = main_layout.contentsMargins().left(), main_layout.contentsMargins().right()
main_layout.setContentsMargins(left_margin, 0, right_margin, 0)
def __timeout_callback(self):
t = (time() - self.start_time) * 1000
step = int(t / self.duration * 100)
if step >= 100:
self.timer.stop()
self.process_bar.setVisible(False)
self.send_button.setEnabled(True)
else:
self.send_callback(self.command_str_format % self.get_params(t))
self.process_bar.setValue(step)
def __send_button_clicked(self):
time_str = self.time_param.get_param()
if time_str == '':
self.send_callback(self.command_str_format % self.get_params())
else:
self.duration = int(time_str)
self.send_button.setEnabled(False)
self.process_bar.setValue(0)
self.process_bar.setVisible(True)
self.start_time = time()
self.timer.start(20)
def get_params(self, t: float = -1):
if t < 0:
params = (widget.get_param() for widget in self.widget_list)
else:
params = []
for widget in self.widget_list:
params.append(str(eval(widget.get_param())))
return tuple(params)
def set_params(self, params: List[str]):
if len(params) != len(self.widget_list):
return
for param, widget in zip(params, self.widget_list):
widget.set_param(param)
def clear_params(self):
for widget in self.widget_list:
widget.set_param('')
class CommandWidgetButton(QPushButton):
def __init__(self, parent: QWidget = None, command: str = '', predefined: dict = {}, send_callback=print):
super(CommandWidgetButton, self).__init__(parent=parent)
items = command.split()
if len(items) <= 1:
command_name, params = command, []
else:
command_name, params = items[0], items[1:]
command_tokens = []
command_tokens.append(command_name)
for param in params:
command_tokens.append(str(predefined[param]))
command_str = ' '.join(command_tokens)
def call_callback():
send_callback(command_str)
self.clicked.connect(call_callback)
self.setText(command_name)
self.setSizePolicy(QSizePolicy(QSizePolicy.Maximum, QSizePolicy.Maximum))
if __name__ == '__main__':
app = QApplication(sys.argv)
demo = CommandPanel(
command_list=['test_command motor_id test', 'test_command_2 test_2 input2', 'single_command motor_id',
'single_command_2 motor_id'], predefined={'motor_id': 41})
demo.show()
sys.exit(app.exec_())