Coverage for /home/travis/build/RobotLocomotion/director/build/src/director-build/lib/python2.7/dist-packages/director/cameracontrolpanel : 0%

import PythonQt 

from PythonQt import QtCore, QtGui, QtUiTools 

from director import objectmodel as om 

from director import visualization as vis 

from director import transformUtils 

from director import vtkAll as vtk 

from director import cameracontrol 

from director import propertyset 

from director import pointpicker 

import numpy as np 

def addWidgetsToDict(widgets, d): 

    for widget in widgets: 

        if widget.objectName: 

            d[str(widget.objectName)] = widget 

        addWidgetsToDict(widget.children(), d) 

class WidgetDict(object): 

    def __init__(self, widgets): 

        addWidgetsToDict(widgets, self.__dict__) 

def clearLayout(w): 

    children = w.findChildren(QtGui.QWidget) 

    for child in children: 

        child.delete() 

class PolyDataFrameConverter(cameracontrol.TargetFrameConverter): 

    def __init__(self, obj): 

        if obj is not None: 

            vis.addChildFrame(obj) 

            self.targetFrame = obj.getChildFrame() 

        else: 

            self.targetFrame = None 

    @classmethod 

    def canConvert(cls, obj): 

        return hasattr(obj, 'getChildFrame') 

class RobotFrameConverter(cameracontrol.TargetFrameConverter): 

    def __init__(self, robotModel): 

        self.robotModel = robotModel 

        self.targetFrame = vis.FrameItem('robot frame', vtk.vtkTransform(), None) 

        self.callbackId = robotModel.connectModelChanged(self.onModelChanged) 

        self.updateTargetFrame() 

    def updateTargetFrame(self): 

        q = self.robotModel.model.getJointPositions() 

        pos = q[:3] 

        rpy = np.degrees(q[3:6]) 

        transform = transformUtils.frameFromPositionAndRPY(pos, rpy) 

        self.targetFrame.copyFrame(transform) 

    def onModelChanged(self, robotModel): 

        self.updateTargetFrame() 

    @classmethod 

    def canConvert(cls, obj): 

        return hasattr(obj, 'connectModelChanged') 

class CameraControlPanel(object): 

    def __init__(self, view): 

        self.view = view 

        self.trackerManager = cameracontrol.CameraTrackerManager() 

        self.trackerManager.setView(view) 

        loader = QtUiTools.QUiLoader() 

        uifile = QtCore.QFile(':/ui/ddCameraControlPanel.ui') 

        assert uifile.open(uifile.ReadOnly) 

        self.widget = loader.load(uifile) 

        self.ui = WidgetDict(self.widget.children()) 

        self.ui.targetNameLabel.setText('None') 

        self.ui.setTargetButton.connect('clicked()', self.onSetTarget) 

        for modeName in self.trackerManager.trackers.keys(): 

            self.ui.trackModeCombo.addItem(modeName) 

        self.ui.trackModeCombo.connect('currentIndexChanged(const QString&)', self.onTrackModeChanged) 

        self.ui.controlFrame.setEnabled(False) 

        l = self.ui.propertiesFrame.layout() 

        self.propertiesPanel = PythonQt.dd.ddPropertiesPanel() 

        self.propertiesPanel.setBrowserModeToWidget() 

        l.addWidget(self.propertiesPanel) 

        self.panelConnector = None 

        self.objectPicker = pointpicker.ObjectPicker(self.view) 

        self.objectPicker.callbackFunc = self.onPickObject 

        self.objectPicker.abortFunc = self.onAbortPick 

        self.picking = False 

        om.getDefaultObjectModel().connectObjectClicked(self.onTreeClicked) 

    def onPickObject(self, objs): 

        if objs: 

            self.setTarget(objs[0]) 

        else: 

            self.onAbortPick() 

    def onTreeClicked(self, tree, obj): 

        if not self.picking: 

            return 

        self.setTarget(obj) 

    def onAbortPick(self): 

        self.ui.selectedObjectNameLabel.setText('') 

        self.ui.setTargetButton.setVisible(True) 

        self.objectPicker.stop() 

        self.picking = False 

    def getSelectedTarget(self): 

        obj = om.getActiveObject() 

        return obj if obj and hasattr(obj, 'actor') else None 

    def getObjectShortName(self, obj): 

        name = obj.getProperty('Name') 

        maxLength = 15 

        if len(name) > maxLength: 

            name = name[:maxLength-3] + '...' 

        return name 

    def onObjectRemoved(self, objectModel, obj): 

        if obj == self.trackerManager.target: 

            self.setTarget(None) 

    def onSetTarget(self): 

        self.ui.setTargetButton.setVisible(False) 

        self.ui.selectedObjectNameLabel.setText('Click an object in the view...') 

        self.objectPicker.start() 

        self.picking = True 

    def setTarget(self, obj): 

        self.onAbortPick() 

        converters = [PolyDataFrameConverter, RobotFrameConverter] 

        for converter in converters: 

            if converter.canConvert(obj): 

                converter = converter(obj) 

                break 

        else: 

            obj = None 

            converter = None 

        if obj is not None: 

            obj.connectRemovedFromObjectModel(self.onObjectRemoved) 

        self.trackerManager.setTarget(converter) 

        name = self.getObjectShortName(obj) if obj else 'None' 

        self.ui.targetNameLabel.setText(name) 

        self.ui.controlFrame.setEnabled(obj is not None) 

        if not obj: 

            self.ui.trackModeCombo.setCurrentIndex(0) 

    def onTrackModeChanged(self): 

        mode = self.ui.trackModeCombo.currentText 

        self.setTrackMode(mode) 

    def setTrackMode(self, mode): 

        self.trackerManager.setTrackerMode(mode) 

        clearLayout(self.ui.actionsFrame) 

        actions = self.trackerManager.getModeActions() 

        for actionName in actions: 

            def newActionButton(actionName): 

                actionButton = QtGui.QPushButton(actionName) 

                def onAction(): 

                    self.trackerManager.onModeAction(actionName) 

                actionButton.connect('clicked()', onAction) 

                return actionButton 

            self.ui.actionsFrame.layout().addWidget(newActionButton(actionName)) 

        self.propertiesPanel.clear() 

        if self.panelConnector: 

            self.panelConnector.cleanup() 

            self.panelConnector = None 

        properties = self.trackerManager.getModeProperties() 

        if properties: 

            self.panelConnector = propertyset.PropertyPanelConnector(properties, self.propertiesPanel)