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174 | def main_opt(
url: str = typer.Argument(
"http://localhost:8091",
envvar="COGIP_SOCKETIO_SERVER_URL",
help="Socket.IO Server URL",
),
) -> None:
"""
Launch COGIP Monitor.
"""
if os.getenv("QT_QPA_PLATFORM") is None:
os.environ["QT_QPA_PLATFORM"] = "xcb"
QCoreApplication.setOrganizationName("cogip")
QCoreApplication.setOrganizationDomain("cogip.tools")
QCoreApplication.setApplicationName("COGIP Monitor")
sio_client = SocketioClient(url)
app = QGuiApplication(sys.argv)
app.setFont(QFont("Ubuntu", 11))
QQuickStyle.setStyle("Fusion")
palette = app.palette()
palette.setColor(QPalette.ColorRole.Window, "#2a2a2a")
palette.setColor(QPalette.ColorRole.WindowText, "#ffffff")
palette.setColor(QPalette.ColorRole.Base, "#2a2a2a")
palette.setColor(QPalette.ColorRole.AlternateBase, "#272727")
palette.setColor(QPalette.ColorRole.ToolTipBase, "#ffffdc")
palette.setColor(QPalette.ColorRole.ToolTipText, "#000000")
palette.setColor(QPalette.ColorRole.Text, "#ffffff")
palette.setColor(QPalette.ColorRole.Button, "#2a2a2a")
palette.setColor(QPalette.ColorRole.ButtonText, "#ffffff")
palette.setColor(QPalette.ColorRole.BrightText, "#ffffff")
palette.setColor(QPalette.ColorRole.Highlight, "#e95420")
palette.setColor(QPalette.ColorRole.HighlightedText, "#ffffff")
palette.setColor(QPalette.ColorRole.Light, "#343434")
palette.setColor(QPalette.ColorRole.Midlight, "#2f2f2f")
palette.setColor(QPalette.ColorRole.Dark, "#252525")
palette.setColor(QPalette.ColorRole.Mid, "#2f2f2f")
palette.setColor(QPalette.ColorRole.Shadow, "#020202")
palette.setColor(QPalette.ColorRole.Link, "#308cc6")
palette.setColor(QPalette.ColorRole.LinkVisited, "#ff00ff")
palette.setColor(QPalette.ColorRole.NoRole, "#000000")
palette.setColor(QPalette.ColorRole.PlaceholderText, "#9b9b9b")
palette.setColor(QPalette.ColorRole.Accent, "#308cc6")
app.setPalette(palette)
qmlRegisterType(View3DBackend, "View3DBackend", 1, 0, "View3DBackend")
engine = QQmlApplicationEngine()
# Add PySide6's QML import path
engine.addImportPath(PySide6.__path__[0])
qml_file = Path(__file__).parent / "main.qml"
engine.load(QUrl.fromLocalFile(str(qml_file)))
if not engine.rootObjects():
logger.error("No root objects loaded, exiting.")
sys.exit(-1)
root: QWindow = engine.rootObjects()[0]
scene_qml = root.findChild(QObject, "Scene")
view3d_backend = View3DBackend(scene_qml)
view3d_qml = scene_qml.findChild(QObject, "view")
view3d_qml.setProperty("view3DBackend", view3d_backend)
root.setProperty("isConnected", False)
root.setProperty("starterChecked", False)
root.setProperty("socketClient", sio_client)
root.setProperty("toolMenu", {"name": "", "entries": []})
obstacle_storage = ObstacleStorage()
root.setProperty("obstacleStorage", obstacle_storage)
table = Table(view3d_qml.findChild(QObject, "table"))
root.setProperty("table", table)
def request_quit() -> None:
QtCore.QTimer.singleShot(0, app.quit)
def handle_connected(connected: bool) -> None:
def update_state() -> None:
root.setProperty("isConnected", connected)
if not connected:
root.setProperty("toolMenu", {"name": "", "entries": []})
root.setProperty("starterChecked", False)
QtCore.QMetaObject.invokeMethod(
root,
"closeAllConfigWindows",
QtCore.Qt.ConnectionType.QueuedConnection,
)
QtCore.QMetaObject.invokeMethod(
root,
"closeWizardWindow",
QtCore.Qt.ConnectionType.QueuedConnection,
)
QtCore.QTimer.singleShot(0, update_state)
def handle_tool_menu(menu: models.ShellMenu) -> None:
filtered_entries: list[dict[str, str]] = []
for entry in menu.entries:
if entry.cmd.startswith("_"):
continue
entry_dict = {"cmd": entry.cmd, "desc": entry.desc}
if entry.cmd == "exit":
filtered_entries.insert(0, entry_dict)
else:
filtered_entries.append(entry_dict)
payload = {
"name": menu.name,
"entries": filtered_entries,
}
QtCore.QTimer.singleShot(0, lambda: root.setProperty("toolMenu", payload))
def handle_wizard_request(data: dict[str, Any]) -> None:
QtCore.QMetaObject.invokeMethod(
root,
"openWizardWindow",
QtCore.Qt.ConnectionType.QueuedConnection,
QtCore.Q_ARG("QVariant", data),
)
def handle_close_wizard() -> None:
QtCore.QMetaObject.invokeMethod(
root,
"closeWizardWindow",
QtCore.Qt.ConnectionType.QueuedConnection,
)
def handle_starter_changed(pushed: bool) -> None:
QtCore.QTimer.singleShot(0, lambda: root.setProperty("starterChecked", pushed))
sio_client.signal_connected.connect(handle_connected)
sio_client.signal_exit.connect(request_quit)
sio_client.signal_add_robot.connect(view3d_backend.handle_add_robot)
sio_client.signal_del_robot.connect(view3d_backend.handle_del_robot)
sio_client.signal_pose_current.connect(view3d_backend.handle_pose_current)
sio_client.signal_robot_path.connect(view3d_backend.handle_robot_path)
sio_client.signal_tool_menu.connect(handle_tool_menu)
sio_client.signal_wizard_request.connect(handle_wizard_request)
sio_client.signal_close_wizard.connect(handle_close_wizard)
sio_client.signal_starter_changed.connect(handle_starter_changed)
sio_client.start()
ret = app.exec()
sio_client.stop()
sys.exit(ret)
|