class DBusAdaptor(QDBusAbstractAdaptor):
Q_CLASSINFO("D-Bus Interface", "com.troshchinskiy.Heimdall")
Q_CLASSINFO(
"D-Bus Introspection",
'<interface name="com.troshchinskiy.Heimdall">\n'
' <property name="Version" type="s" access="read"/>\n'
' <method name="Connect"/>\n'
' <method name="Disconnect"/>\n'
' <method name="Reset"/>\n'
' <method name="ContextualAction">\n'
' <arg direction="in" type="a{ss}" name="environment"/>\n'
' <arg direction="in" type="s" name="path"/>\n'
' <arg direction="in" type="s" name="command"/>\n'
' </method>\n'
' <method name="echo">\n'
' <arg direction="in" type="s" name="text"/>\n'
' <arg direction="out" type="s" name="return"/>\n'
' </method>\n'
'</interface>\n')
def __init__(self, parent):
super().__init__(parent)
@pyqtSlot(str, result=str, name="echo")
def echo(self, text):
print("Echo called!")
return self.parent().echo(text)
@pyqtProperty(str)
def Version(self):
print("Version called!")
return self.parent().version()
@pyqtSlot(name="Connect")
def Connect(self):
print("Connect called!")
self.parent().start_tunnel()
@pyqtSlot(name="Disconnect")
def Disconnect(self):
print("Disconnect called!")
self.parent().stop_tunnel()
@pyqtSlot('QVariantMap', str, str)
def ContextualAction(self, environment, path, command):
print("ContextualAction called!")
self.parent().contextual_action(environment, path, command)
@pyqtSlot(name="Reset")
def Reset(self):
print("Reset called!")
self.parent().stop_tunnel()
self.parent().start_tunnel()
class Ros(QQuickItem, QQmlParserStatus):
Q_CLASSINFO('DefaultProperty', 'objects')
def __init__(self, parent=None):
super(Ros, self).__init__(parent)
self._publishers = []
self._subscribers = []
@pyqtProperty(QQmlListProperty)
def objects(self):
return QQmlListProperty(QQuickItem, self, append=self.append_object)
@pyqtProperty(bool)
def isInitialized(self):
return rospy.core.is_initialized()
def append_object(self, node, object):
if isinstance(object, Subscriber):
self._subscribers.append(object)
elif isinstance(object, Publisher):
self._publishers.append(object)
def componentComplete(self):
for s in self._subscribers:
s.subscribe()
rospy.logdebug('Subscribed to: ' + s.topic.name)
for p in self._publishers:
rospy.logdebug('Will publish to: ' + p.topic.name)
if not rospy.core.is_initialized():
rospy.init_node("ros_qml", disable_signals=True)
@pyqtSlot(name='now', result='QVariantMap')
def now(self):
now = rospy.Time.now()
return {'secs': now.secs, 'nsecs': now.nsecs}
@pyqtSlot(str, name='logdebug')
def logdebug(self, s):
rospy.logdebug(s)
@pyqtSlot(str, name='loginfo')
def loginfo(self, s):
rospy.loginfo(s)
@pyqtSlot(str, name='logwarn')
def logwarn(self, s):
rospy.logwarn(s)
@pyqtSlot(str, name='logerr')
def logerr(self, s):
rospy.logerr(s)
@pyqtSlot(str, name='logfatal')
def logfatal(self, s):
rospy.logfatal(s)