From d80f9d34e8585f99215adabff9edf21c17e772fa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= <caguero@openrobotics.org>
Date: Mon, 19 Feb 2024 22:33:09 +0100
Subject: [PATCH] Bar gauge (#32)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
---
 README.md                                     |   6 +-
 img/ThrottleBrakePedal.png                    | Bin 19688 -> 0 bytes
 img/bar.png                                   | Bin 0 -> 11357 bytes
 plugin.xml                                    |   6 +-
 ...{throttle_brake_pedals.ui => bar_gauge.ui} | 456 +-----------------
 setup.py                                      |   2 +-
 src/rqt_gauges/bar_gauge.py                   |  16 +
 src/rqt_gauges/bar_gauge_widget.py            |  93 ++++
 src/rqt_gauges/throttle_brake_pedals.py       |  16 -
 .../throttle_brake_pedals_widget.py           | 147 ------
 10 files changed, 133 insertions(+), 609 deletions(-)
 delete mode 100644 img/ThrottleBrakePedal.png
 create mode 100644 img/bar.png
 rename resource/{throttle_brake_pedals.ui => bar_gauge.ui} (50%)
 create mode 100644 src/rqt_gauges/bar_gauge.py
 create mode 100644 src/rqt_gauges/bar_gauge_widget.py
 delete mode 100644 src/rqt_gauges/throttle_brake_pedals.py
 delete mode 100644 src/rqt_gauges/throttle_brake_pedals_widget.py

diff --git a/README.md b/README.md
index e04fa77..0b832df 100644
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@
 
  - Speedometer
  - Steering wheel position
- - Brake and throttle
+ - Bar
 
 **Note**: This package is still not released in any ros distribution.
 
@@ -50,10 +50,10 @@ Go to the following path on the menu tab: Plugins -> Visualization ->
     <img src="img/steering_wheel.png">
 </center>
 
-### Brake and throttle
+### Bar
 
 <center>
-    <img src="img/ThrottleBrakePedal.png">
+    <img src="img/bar.png">
 </center>
 
 ## Standalone Plugin
diff --git a/img/ThrottleBrakePedal.png b/img/ThrottleBrakePedal.png
deleted file mode 100644
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literal 0
HcmV?d00001

diff --git a/plugin.xml b/plugin.xml
index 3fc2e9e..4184172 100644
--- a/plugin.xml
+++ b/plugin.xml
@@ -29,9 +29,9 @@
       <statustip>Gauges visualization tool.</statustip>
     </qtgui>
   </class>
-  <class name="ThrottleBrakePedals" type="rqt_gauges.throttle_brake_pedals.ThrottleBrakePedals" base_class_type="rqt_gui_py::Plugin">
+  <class name="BarGauge" type="rqt_gauges.bar_gauge.BarGauge" base_class_type="rqt_gui_py::Plugin">
     <description>
-      A Visualization tool that shows how much of the throttle and brake pedals are being pressed (0-1).
+      A bar visualization tool.
     </description>
     <qtgui>
       <group>
@@ -39,7 +39,7 @@
         <icon type="theme">folder</icon>
         <statustip>Plugins related to visualization.</statustip>
       </group>
-      <label>Throttle and Brake Pedals</label>
+      <label>Bar gauge</label>
       <icon type="theme">utilities-system-monitor</icon>
       <statustip>Gauges visualization tool.</statustip>
     </qtgui>
diff --git a/resource/throttle_brake_pedals.ui b/resource/bar_gauge.ui
similarity index 50%
rename from resource/throttle_brake_pedals.ui
rename to resource/bar_gauge.ui
index 7d58483..b4bcd9b 100644
--- a/resource/throttle_brake_pedals.ui
+++ b/resource/bar_gauge.ui
@@ -1,24 +1,24 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>ThrottleBrakePedals</class>
- <widget class="QWidget" name="ThrottleBrakePedals">
+ <class>BarGauge</class>
+ <widget class="QWidget" name="BarGauge">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>500</width>
+    <width>250</width>
     <height>550</height>
    </rect>
   </property>
   <property name="minimumSize">
    <size>
-    <width>500</width>
+    <width>250</width>
     <height>550</height>
    </size>
   </property>
   <property name="maximumSize">
    <size>
-    <width>500</width>
+    <width>250</width>
     <height>550</height>
    </size>
   </property>
@@ -26,9 +26,9 @@
    <bool>true</bool>
   </property>
   <property name="windowTitle">
-   <string>ThrottleBrakePedals</string>
+   <string>BarGauge</string>
   </property>
-  <widget class="QLabel" name="throttle_topic_label">
+  <widget class="QLabel" name="topic_label">
    <property name="geometry">
     <rect>
      <x>10</x>
@@ -43,24 +43,24 @@
     </font>
    </property>
    <property name="text">
-    <string>Throttle:</string>
+    <string>Topic:</string>
    </property>
   </widget>
-  <widget class="TopicQLineEdit" name="throttle_topic_to_subscribe">
+  <widget class="TopicQLineEdit" name="topic_to_subscribe">
    <property name="geometry">
     <rect>
-     <x>80</x>
+     <x>60</x>
      <y>20</y>
-     <width>131</width>
+     <width>170</width>
      <height>31</height>
     </rect>
    </property>
   </widget>
-  <widget class="QPushButton" name="throttle_subscribe">
+  <widget class="QPushButton" name="subscribe">
    <property name="geometry">
     <rect>
-     <x>70</x>
-     <y>70</y>
+     <x>90</x>
+     <y>75</y>
      <width>81</width>
      <height>31</height>
     </rect>
@@ -69,7 +69,7 @@
     <string>Subscribe</string>
    </property>
   </widget>
-  <widget class="QProgressBar" name="throttle_pedal">
+  <widget class="QProgressBar" name="bar_gauge">
    <property name="geometry">
     <rect>
      <x>110</x>
@@ -158,97 +158,7 @@
     <string>%f%</string>
    </property>
   </widget>
-  <widget class="QProgressBar" name="brake_pedal">
-   <property name="geometry">
-    <rect>
-     <x>340</x>
-     <y>126</y>
-     <width>51</width>
-     <height>301</height>
-    </rect>
-   </property>
-   <property name="palette">
-    <palette>
-     <active>
-      <colorrole role="Highlight">
-       <brush brushstyle="SolidPattern">
-        <color alpha="255">
-         <red>239</red>
-         <green>41</green>
-         <blue>41</blue>
-        </color>
-       </brush>
-      </colorrole>
-     </active>
-     <inactive>
-      <colorrole role="Highlight">
-       <brush brushstyle="SolidPattern">
-        <color alpha="255">
-         <red>239</red>
-         <green>41</green>
-         <blue>41</blue>
-        </color>
-       </brush>
-      </colorrole>
-     </inactive>
-     <disabled>
-      <colorrole role="Highlight">
-       <brush brushstyle="SolidPattern">
-        <color alpha="255">
-         <red>145</red>
-         <green>145</green>
-         <blue>145</blue>
-        </color>
-       </brush>
-      </colorrole>
-     </disabled>
-    </palette>
-   </property>
-   <property name="value">
-    <number>0</number>
-   </property>
-   <property name="textVisible">
-    <bool>false</bool>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Vertical</enum>
-   </property>
-   <property name="textDirection">
-    <enum>QProgressBar::TopToBottom</enum>
-   </property>
-  </widget>
-  <widget class="TopicQLineEdit" name="brake_topic_to_subscribe">
-   <property name="geometry">
-    <rect>
-     <x>310</x>
-     <y>20</y>
-     <width>131</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string/>
-   </property>
-  </widget>
-  <widget class="QLabel" name="brake_topic_label">
-   <property name="geometry">
-    <rect>
-     <x>250</x>
-     <y>20</y>
-     <width>61</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="font">
-    <font>
-     <pointsize>12</pointsize>
-    </font>
-   </property>
-   <property name="text">
-    <string>Brake:</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="throttle_label">
+  <widget class="QLabel" name="value_label">
    <property name="geometry">
     <rect>
      <x>0</x>
@@ -269,53 +179,7 @@
     <set>Qt::AlignCenter</set>
    </property>
   </widget>
-  <widget class="QLabel" name="brake_label">
-   <property name="geometry">
-    <rect>
-     <x>230</x>
-     <y>436</y>
-     <width>231</width>
-     <height>61</height>
-    </rect>
-   </property>
-   <property name="font">
-    <font>
-     <pointsize>25</pointsize>
-    </font>
-   </property>
-   <property name="text">
-    <string>0.0</string>
-   </property>
-   <property name="alignment">
-    <set>Qt::AlignCenter</set>
-   </property>
-  </widget>
-  <widget class="QPushButton" name="brake_subscribe">
-   <property name="geometry">
-    <rect>
-     <x>310</x>
-     <y>70</y>
-     <width>81</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>Subscribe</string>
-   </property>
-  </widget>
-  <widget class="Line" name="line">
-   <property name="geometry">
-    <rect>
-     <x>220</x>
-     <y>10</y>
-     <width>20</width>
-     <height>501</height>
-    </rect>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Vertical</enum>
-   </property>
-  </widget>
+
   <widget class="Line" name="line_2">
    <property name="geometry">
     <rect>
@@ -615,292 +479,6 @@
     <enum>Qt::Horizontal</enum>
    </property>
   </widget>
-  <widget class="Line" name="line_14">
-   <property name="geometry">
-    <rect>
-     <x>330</x>
-     <y>390</y>
-     <width>16</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_13">
-   <property name="geometry">
-    <rect>
-     <x>315</x>
-     <y>410</y>
-     <width>21</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>0</string>
-   </property>
-  </widget>
-  <widget class="Line" name="line_15">
-   <property name="geometry">
-    <rect>
-     <x>330</x>
-     <y>290</y>
-     <width>16</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
-  <widget class="Line" name="line_16">
-   <property name="geometry">
-    <rect>
-     <x>330</x>
-     <y>140</y>
-     <width>16</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_14">
-   <property name="geometry">
-    <rect>
-     <x>310</x>
-     <y>200</y>
-     <width>21</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>0.7</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_15">
-   <property name="geometry">
-    <rect>
-     <x>310</x>
-     <y>380</y>
-     <width>21</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>0.1</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_16">
-   <property name="geometry">
-    <rect>
-     <x>310</x>
-     <y>170</y>
-     <width>21</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>0.8</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_17">
-   <property name="geometry">
-    <rect>
-     <x>310</x>
-     <y>260</y>
-     <width>31</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>0.5</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_18">
-   <property name="geometry">
-    <rect>
-     <x>310</x>
-     <y>350</y>
-     <width>21</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>0.2</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_19">
-   <property name="geometry">
-    <rect>
-     <x>310</x>
-     <y>230</y>
-     <width>21</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>0.6</string>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_20">
-   <property name="geometry">
-    <rect>
-     <x>310</x>
-     <y>290</y>
-     <width>21</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>0.4</string>
-   </property>
-  </widget>
-  <widget class="Line" name="line_17">
-   <property name="geometry">
-    <rect>
-     <x>330</x>
-     <y>350</y>
-     <width>16</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
-  <widget class="Line" name="line_18">
-   <property name="geometry">
-    <rect>
-     <x>330</x>
-     <y>170</y>
-     <width>16</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
-  <widget class="Line" name="line_19">
-   <property name="geometry">
-    <rect>
-     <x>330</x>
-     <y>420</y>
-     <width>16</width>
-     <height>16</height>
-    </rect>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_21">
-   <property name="geometry">
-    <rect>
-     <x>310</x>
-     <y>140</y>
-     <width>21</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>0.9</string>
-   </property>
-  </widget>
-  <widget class="Line" name="line_20">
-   <property name="geometry">
-    <rect>
-     <x>330</x>
-     <y>260</y>
-     <width>16</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_22">
-   <property name="geometry">
-    <rect>
-     <x>310</x>
-     <y>320</y>
-     <width>21</width>
-     <height>21</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>0.3</string>
-   </property>
-  </widget>
-  <widget class="Line" name="line_21">
-   <property name="geometry">
-    <rect>
-     <x>330</x>
-     <y>116</y>
-     <width>16</width>
-     <height>20</height>
-    </rect>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
-  <widget class="Line" name="line_22">
-   <property name="geometry">
-    <rect>
-     <x>330</x>
-     <y>230</y>
-     <width>16</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
-  <widget class="Line" name="line_23">
-   <property name="geometry">
-    <rect>
-     <x>330</x>
-     <y>320</y>
-     <width>16</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
-  <widget class="QLabel" name="label_2">
-   <property name="geometry">
-    <rect>
-     <x>316</x>
-     <y>109</y>
-     <width>20</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="text">
-    <string>1</string>
-   </property>
-  </widget>
-  <widget class="Line" name="line_24">
-   <property name="geometry">
-    <rect>
-     <x>330</x>
-     <y>200</y>
-     <width>16</width>
-     <height>31</height>
-    </rect>
-   </property>
-   <property name="orientation">
-    <enum>Qt::Horizontal</enum>
-   </property>
-  </widget>
  </widget>
  <customwidgets>
   <customwidget>
diff --git a/setup.py b/setup.py
index 7d38105..2da88d0 100644
--- a/setup.py
+++ b/setup.py
@@ -15,7 +15,7 @@
         ('share/' + package_name + '/resource',
             ['resource/steering_wheel.ui']),
         ('share/' + package_name + '/resource',
-            ['resource/throttle_brake_pedals.ui']),
+            ['resource/bar_gauge.ui']),
         ('share/' + package_name, ['package.xml']),
         ('share/' + package_name, ['plugin.xml']),
     ],
diff --git a/src/rqt_gauges/bar_gauge.py b/src/rqt_gauges/bar_gauge.py
new file mode 100644
index 0000000..1d395bc
--- /dev/null
+++ b/src/rqt_gauges/bar_gauge.py
@@ -0,0 +1,16 @@
+from qt_gui.plugin import Plugin
+
+from .bar_gauge_widget import BarGaugeWidget
+
+
+class BarGauge(Plugin):
+
+    def __init__(self, context):
+        super().__init__(context)
+        self.setObjectName('BarGauge')
+
+        self._context = context
+        self._node = context.node
+
+        self._widget = BarGaugeWidget(self._node)
+        context.add_widget(self._widget)
diff --git a/src/rqt_gauges/bar_gauge_widget.py b/src/rqt_gauges/bar_gauge_widget.py
new file mode 100644
index 0000000..ce06504
--- /dev/null
+++ b/src/rqt_gauges/bar_gauge_widget.py
@@ -0,0 +1,93 @@
+import os
+
+from ament_index_python.resources import get_resource
+from PyQt5.QtCore import pyqtSignal, pyqtSlot, Qt
+from PyQt5.QtWidgets import QWidget
+from python_qt_binding import loadUi
+from rosidl_runtime_py.utilities import get_message
+from rqt_py_common.topic_completer import TopicCompleter
+
+from .utils import generate_field_evals, get_topic_type
+
+
+class BarGaugeWidget(QWidget):
+
+    updateValueSignal = pyqtSignal(int, int)
+
+    def __init__(self, node):
+        super().__init__()
+        self.setObjectName('BarGauge_widget')
+
+        self.node = node
+        self.sub = None
+
+        _, package_path = get_resource('packages', 'rqt_gauges')
+        ui_file = os.path.join(package_path, 'share',
+                               'rqt_gauges', 'resource', 'bar_gauge.ui')
+        loadUi(ui_file, self)
+
+        # Topic Completer
+        self.topic_to_subscribe.setNode(self.node)
+        self._topic_completer = TopicCompleter(self.topic_to_subscribe)
+        self._topic_completer.update_topics(self.node)
+        self.topic_to_subscribe.setCompleter(self._topic_completer)
+
+        # Signals Connection
+        self.subscribe.pressed.connect(self.updateSubscription)
+        self.updateValueSignal.connect(self.updateValue)
+
+    def dragEnterEvent(self, event):
+        event.accept()
+
+    def dropEvent(self, event):
+        if event.mimeData().hasText():
+            topic_name = str(event.mimeData().text())
+        else:
+            droped_item = event.source().selectedItems()[0]
+            topic_name = str(droped_item.data(0, Qt.UserRole))
+
+        self.topic_to_subscribe.setText(topic_name)
+        self.updateSubscription()
+
+        event.accept()
+
+    @pyqtSlot()
+    def updateSubscription(self):
+        if self.node.destroy_subscription(self.sub):
+            print('Previous subscription deleted')
+        else:
+            print('There was no previous subscription')
+        topic_path = self.topic_to_subscribe.text()
+        topic_type, topic_name, fields = get_topic_type(self.node, topic_path)
+        self.field_evals = generate_field_evals(fields)
+        if topic_type is not None:
+            print('Subscribing to:', topic_name, 'Type:', topic_type, 'Field:', fields)
+            data_class = get_message(topic_type)
+            self.sub = self.node.create_subscription(
+                data_class,
+                topic_name,
+                self.callback,
+                10)
+
+    @pyqtSlot(int, int)
+    def updateValue(self, value, raw_value):
+        self.bar_gauge.setValue(value)
+        self.value_label.setText(str(raw_value / 100.0))
+
+    def callback(self, msg):
+        value = msg
+        for f in self.field_evals:
+            value = f(value)
+        if value is not None and (type(value) == int or type(value) == float
+                                  or type(value) == str):
+            raw_value = int(value*100)
+            if value < 0:
+                value = 0
+                print('The value is not between 0 and 1')
+            elif value > 1:
+                value = 1
+                print('The value is not between 0 and 1')
+
+            self.updateValueSignal.emit(int(value*100), raw_value)
+        else:
+            print('The value is not valid')
diff --git a/src/rqt_gauges/throttle_brake_pedals.py b/src/rqt_gauges/throttle_brake_pedals.py
deleted file mode 100644
index aac4695..0000000
--- a/src/rqt_gauges/throttle_brake_pedals.py
+++ /dev/null
@@ -1,16 +0,0 @@
-from qt_gui.plugin import Plugin
-
-from .throttle_brake_pedals_widget import ThrottleBrakePedalsWidget
-
-
-class ThrottleBrakePedals(Plugin):
-
-    def __init__(self, context):
-        super().__init__(context)
-        self.setObjectName('ThrottleBrakePedals')
-
-        self._context = context
-        self._node = context.node
-
-        self._widget = ThrottleBrakePedalsWidget(self._node)
-        context.add_widget(self._widget)
diff --git a/src/rqt_gauges/throttle_brake_pedals_widget.py b/src/rqt_gauges/throttle_brake_pedals_widget.py
deleted file mode 100644
index c12827c..0000000
--- a/src/rqt_gauges/throttle_brake_pedals_widget.py
+++ /dev/null
@@ -1,147 +0,0 @@
-import os
-
-from ament_index_python.resources import get_resource
-from PyQt5.QtCore import pyqtSignal, pyqtSlot, Qt
-from PyQt5.QtWidgets import QWidget
-from python_qt_binding import loadUi
-from rosidl_runtime_py.utilities import get_message
-from rqt_py_common.topic_completer import TopicCompleter
-
-from .utils import generate_field_evals, get_topic_type
-
-
-class ThrottleBrakePedalsWidget(QWidget):
-
-    updateThrottleValueSignal = pyqtSignal(int, int)
-    updateBrakeValueSignal = pyqtSignal(int, int)
-
-    def __init__(self, node):
-        super().__init__()
-        self.setObjectName('ThrottleBrakePedals_widget')
-
-        self.node = node
-        self.throttle_sub = None
-        self.brake_sub = None
-
-        _, package_path = get_resource('packages', 'rqt_gauges')
-        ui_file = os.path.join(package_path, 'share',
-                               'rqt_gauges', 'resource', 'throttle_brake_pedals.ui')
-        loadUi(ui_file, self)
-
-        # Throttle Topic Completer
-        self.throttle_topic_to_subscribe.setNode(self.node)
-        self._throttle_topic_completer = TopicCompleter(self.throttle_topic_to_subscribe)
-        self._throttle_topic_completer.update_topics(self.node)
-        self.throttle_topic_to_subscribe.setCompleter(self._throttle_topic_completer)
-
-        # Brake Topic Completer
-        self.brake_topic_to_subscribe.setNode(self.node)
-        self._brake_topic_completer = TopicCompleter(self.brake_topic_to_subscribe)
-        self._brake_topic_completer.update_topics(self.node)
-        self.brake_topic_to_subscribe.setCompleter(self._brake_topic_completer)
-
-        # Signals Connection
-        self.throttle_subscribe.pressed.connect(self.throttleUpdateSubscription)
-        self.brake_subscribe.pressed.connect(self.brakeUpdateSubscription)
-        self.updateThrottleValueSignal.connect(self.updateThrottle)
-        self.updateBrakeValueSignal.connect(self.updateBrake)
-
-    def dragEnterEvent(self, event):
-        event.accept()
-
-    def dropEvent(self, event):
-        if event.mimeData().hasText():
-            topic_name = str(event.mimeData().text())
-        else:
-            droped_item = event.source().selectedItems()[0]
-            topic_name = str(droped_item.data(0, Qt.UserRole))
-
-        if (event.pos().x() < self.size().width() / 2):
-            self.throttle_topic_to_subscribe.setText(topic_name)
-            self.throttleUpdateSubscription()
-        else:
-            self.brake_topic_to_subscribe.setText(topic_name)
-            self.brakeUpdateSubscription()
-        event.accept()
-
-    @pyqtSlot()
-    def throttleUpdateSubscription(self):
-        if self.node.destroy_subscription(self.throttle_sub):
-            print('Previous subscription deleted')
-        else:
-            print('There was no previous subscription')
-        topic_path = self.throttle_topic_to_subscribe.text()
-        topic_type, topic_name, fields = get_topic_type(self.node, topic_path)
-        self.throttle_field_evals = generate_field_evals(fields)
-        if topic_type is not None:
-            print('Subscribing to:', topic_name, 'Type:', topic_type, 'Field:', fields)
-            data_class = get_message(topic_type)
-            self.throttle_sub = self.node.create_subscription(
-                data_class,
-                topic_name,
-                self.throttle_callback,
-                10)
-
-    @pyqtSlot(int, int)
-    def updateThrottle(self, value, raw_value):
-        self.throttle_pedal.setValue(value)
-        self.throttle_label.setText(str(raw_value / 100.0))
-
-    @pyqtSlot(int, int)
-    def updateBrake(self, value, raw_value):
-        self.brake_pedal.setValue(value)
-        self.brake_label.setText(str(raw_value / 100.0))
-
-    @pyqtSlot()
-    def brakeUpdateSubscription(self):
-        if self.node.destroy_subscription(self.brake_sub):
-            print('Previous subscription deleted')
-        else:
-            print('There was no previous subscription')
-        topic_path = self.brake_topic_to_subscribe.text()
-        topic_type, topic_name, fields = get_topic_type(self.node, topic_path)
-        self.brake_field_evals = generate_field_evals(fields)
-        if topic_type is not None:
-            print('Subscribing to:', topic_name, 'Type:', topic_type, 'Field:', fields)
-            data_class = get_message(topic_type)
-            self.brake_sub = self.node.create_subscription(
-                data_class,
-                topic_name,
-                self.brake_callback,
-                10)
-
-    def throttle_callback(self, msg):
-        value = msg
-        for f in self.throttle_field_evals:
-            value = f(value)
-        if value is not None and (type(value) == int or type(value) == float
-                                  or type(value) == str):
-            raw_value = int(value*100)
-            if value < 0:
-                value = 0
-                print('The throttle pedal value is not between 0 and 1')
-            elif value > 1:
-                value = 1
-                print('The throttle pedal value is not between 0 and 1')
-
-            self.updateThrottleValueSignal.emit(int(value*100), raw_value)
-        else:
-            print('The throttle pedal value is not valid')
-
-    def brake_callback(self, msg):
-        value = msg
-        for f in self.brake_field_evals:
-            value = f(value)
-        if value is not None and (type(value) == int or type(value) == float
-                                  or type(value) == str):
-            raw_value = int(value*100)
-            if value < 0:
-                value = 0
-                print('The brake pedal value is not between 0 and 1')
-            elif value > 1:
-                value = 1
-                print('The brake pedal value is not between 0 and 1')
-
-            self.updateBrakeValueSignal.emit(int(value*100), raw_value)
-        else:
-            print('The brake pedal value is not valid')