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accepting (min,max,step_size) arguments during creating publishers #33

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accepting (min,max,step_size) arguments during creating publishers #33

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d0b5367
min,max,step_size arguments during creating publishers for numeric me…
HemaZ Aug 23, 2019
de7376e
using global defautls dict
HemaZ Sep 15, 2019
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31 changes: 22 additions & 9 deletions jupyros/ros_widgets.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,9 @@
import numpy as np
import threading
import subprocess, yaml, os
def add_widgets(msg_instance, widget_dict, widget_list, prefix=''):
import warnings
sliders_defaults = {'float':(0,10,0.1), 'int':(0,10,1)}
def add_widgets(msg_instance, widget_dict, widget_list, minval, maxval, step_size, prefix=''):
"""
Adds widgets.

Expand All @@ -33,23 +35,32 @@ def add_widgets(msg_instance, widget_dict, widget_list, prefix=''):
w_box = widgets.HBox([widgets.Label(value='Image path:'), w])
widget_list.append(w_box)
return widget_dict, widget_list

if msg_instance._type in sliders_defaults:
try:
minval, maxval, step_size = sliders_defaults[msg_instance._type]
except ValueError as err:
warnings.warn(err.__str__(), Warning)
warnings.warn("Using the default values instead of The message's Defaults. Make sure you have assigned a 3 valued tuple(min,max,step_size) to the slider_defaults dictionary", Warning)
for idx, slot in enumerate(msg_instance.__slots__):
attr = getattr(msg_instance, slot)
s_t = msg_instance._slot_types[idx]
w = None

if s_t in ['float32', 'float64']:
w = widgets.FloatSlider()
if minval == maxval:
minval, maxval, step_size = sliders_defaults['float']
w = widgets.FloatSlider(min=minval, max=maxval, step=step_size)
if s_t in ['int8', 'uint8', 'int32', 'uint32', 'int64', 'uint64']:
w = widgets.IntSlider()
if minval == maxval:
minval, maxval, step_size = sliders_defaults['int']
w = widgets.IntSlider(min=minval, max=maxval, step=step_size)
if s_t in ['string']:
w = widgets.Text()

if isinstance(attr, Message):
widget_list.append(widgets.Label(value=slot))
widget_dict[slot] = {}
add_widgets(attr, widget_dict[slot], widget_list, slot)
add_widgets(attr, widget_dict[slot], widget_list, minval, maxval, step_size, slot)

if w:
widget_dict[slot] = w
Expand Down Expand Up @@ -81,7 +92,7 @@ def img_to_msg(imgpath):
imgmsg = bridge.cv2_to_imgmsg(img)
return imgmsg

def publish(topic, msg_type):
def publish(topic, msg_type, minval=0, maxval=0, step_size=1):
"""
Create a form widget for message type msg_type.
This function analyzes the fields of msg_type and creates
Expand All @@ -92,7 +103,10 @@ def publish(topic, msg_type):

@param msg_type The message type
@param topic The topic name to publish to

@param minval minimum value for sliders
@param maxval maximum value for sliders
@param step_size steps size value for sliders

@return jupyter widget for display
"""
publisher = rospy.Publisher(topic, msg_type, queue_size=10)
Expand All @@ -108,8 +122,7 @@ def latch_value_change(arg):
publisher.impl.is_latch = arg['new']

latch_check.observe(latch_value_change, 'value')

add_widgets(msg_type(), widget_dict, widget_list)
add_widgets(msg_type(), widget_dict, widget_list, minval=minval, maxval=maxval, step_size=step_size)
send_btn = widgets.Button(description="Send Message")

def send_msg(arg):
Expand Down