New VisualStates_py tool

[okanasik]

New VisualStates_py tool that is developed using PyQt5 and python2. The tool has two python dependencies python-sysv-ipc (ubuntu package) and python-pyqt5-qsci (ubuntu package). The tool has following improvements compared to previous version:

• ROS integration by using JdeRobot communication framework
• Refactoring using python and PyQt5
• New object-oriented C++ and Python state machine templates
• Unified runtime gui
• QScintilla code editor integration for syntax highlighting

The following videos demos the features of the new tool:

• https://www.youtube.com/watch?v=QHpdiOvy8qQ
• https://www.youtube.com/watch?v=pu8XAhxom28
• https://www.youtube.com/watch?v=nOKi8XuPrms

The latest state of the tool and new c++ and python state machine templates can be seen in the following videos:

• https://www.youtube.com/watch?v=jCPZqOM00rw
• https://www.youtube.com/watch?v=LPbCWf_QUTY
• https://www.youtube.com/watch?v=EbqTGqRngzQ
• https://www.youtube.com/watch?v=MOQVcuWWvTk

[okanasik]

I have merged master. Can we postpone this pull request until I finish ROS Node generation because I work on this pyqt_refactoring branch and this pull request have some of my incomplete commits. Although, it does not break anything, there will be unused codes.

[fqez]

Hi @okanasik
could you also modify your root CMakeLists including "COMPONENT visualStates" in each cmake install directive? If there's already a "COMPONENT tools" overwrite it.
For instance:

INSTALL(TARGETS visualStatesRunTime DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/visualstates_py/)

becomes:

INSTALL(TARGETS visualStatesRunTime DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/visualstates_py/ COMPONENT visualStates)

Thanks a lot an really good job :D

[aitormf]

Hi, @okanasik good job!!!

Can you update update your tool with the new version of JdeRobotComm(Comm) and config library ( #916 )?
you have examples in basic_component_py sample and cameraview tool

regards, Aitor

[okanasik]

Dear @aitormf and @jmplaza,

I think the tool is ready for the merge, but i did not test with install by deb package. Is there anything that I need to check?

[aitormf]

Hi @okanasik, good job.

don't worry, I make those changes

[aitormf]

@okanasik, when I'm using visualStates_py to generate cpp code, I get the followinng error (with python all OK):

Traceback (most recent call last):
  File "/home/kasillas77/git/test/okan/src/tools/visualStates_py/gui/visualstates.py", line 286, in generateCppAction
    generator.generate(self.fileManager.getPath(), self.fileManager.getFileName())
  File "/home/kasillas77/git/test/okan/src/tools/visualStates_py/gui/cppgenerator.py", line 68, in generate
    self.generateHeaders(stringList, projectName)
  File "/home/kasillas77/git/test/okan/src/tools/visualStates_py/gui/cppgenerator.py", line 136, in generateHeaders
    headers.append(self.interfaceHeaders[cfg['proxyName']].strip('\n'))
KeyError: u'pose3d'

This is the XML file

<?xml version="1.0" ?>
<VisualStates>
  <config type="0">
    <interfaces>
      <interface>
        <serverType>ice</serverType>
        <name>pose3d</name>
        <topic></topic>
        <proxyName>pose3d</proxyName>
        <ip>0.0.0.0</ip>
        <port>2345</port>
        <interfaceName>Pose3d</interfaceName>
      </interface>
    </interfaces>
  </config>
  <libraries/>
  <state id="0" initial="True">
    <posx>0.0</posx>
    <posy>0.0</posy>
    <name>root</name>
    <code></code>
    <functions></functions>
    <timestep>100</timestep>
    <state id="1" initial="True">
      <posx>879.0</posx>
      <posy>874.0</posy>
      <name>state 1</name>
      <code>std::cout &lt;&lt; &quot;hola&quot;;</code>
      <functions></functions>
      <timestep>100</timestep>
      <transition id="1">
        <type>0</type>
        <time>5000</time>
        <posx>971.0</posx>
        <posy>915.5</posy>
        <name>transition 1</name>
        <originid>1</originid>
        <destinationid>2</destinationid>
        <code></code>
      </transition>
    </state>
    <state id="2" initial="False">
      <posx>1063.0</posx>
      <posy>957.0</posy>
      <name>state 2</name>
      <code>std::cout &lt;&lt; &quot;adios&quot;;</code>
      <functions></functions>
      <timestep>100</timestep>
    </state>
  </state>
</VisualStates>