def _recursive_create_widget_items(self, parent, topic_name, type_name, message, is_editable=True):
item = QTreeWidgetItem(parent)
if is_editable:
item.setFlags(item.flags() | Qt.ItemIsEditable)
else:
item.setFlags(item.flags() & (~Qt.ItemIsEditable))
if parent is None:
# show full topic name with preceding namespace on toplevel item
topic_text = topic_name
else:
topic_text = topic_name.split('/')[-1]
item.setText(self._column_index['service'], topic_text)
item.setText(self._column_index['type'], type_name)
item.setData(0, Qt.UserRole, topic_name)
if hasattr(message, '__slots__') and hasattr(message, '_slot_types'):
for slot_name, type_name in zip(message.__slots__, message._slot_types):
self._recursive_create_widget_items(item, topic_name + '/' + slot_name, type_name, getattr(message, slot_name), is_editable)
elif type(message) in (list, tuple) and (len(message) > 0) and hasattr(message[0], '__slots__'):
type_name = type_name.split('[', 1)[0]
for index, slot in enumerate(message):
self._recursive_create_widget_items(item, topic_name + '[%d]' % index, type_name, slot, is_editable)
else:
item.setText(self._column_index['expression'], repr(message))
return item
def _add_frequently_used_skill(self, s):
self.last_executed_skill = s.name
fu = self.skill_tree_widget.findItems("fu", Qt.MatchRecursive | Qt.MatchFixedString, 1)[0]
for i in range(0, fu.childCount()): # avoid adding same node multiple times
if s.name == fu.child(i).data(1, 0):
return
skill = QTreeWidgetItem(fu, [s.name, s.name])
skill.setData(2, 0, s)
def _add_available_skill(self, s):
stype = self.skill_tree_widget.findItems(s.type, Qt.MatchRecursive | Qt.MatchFixedString, 1)
if not stype: #If it is the first of its type, add the parents hierarchy to the tree
hierarchy = self._wmi.query_ontology('SELECT ?x {{ {} rdfs:subClassOf* ?x }}'.format(s.type))
hierarchy = hierarchy[:hierarchy.index("skiros:Skill")]
hierarchy.reverse()
parent = self.skill_tree_widget.findItems("All", Qt.MatchRecursive | Qt.MatchFixedString, 1)[0]
for c in hierarchy:
child = self.skill_tree_widget.findItems(c, Qt.MatchRecursive | Qt.MatchFixedString, 1)
if child:
parent = child[0]
else:
parent = QTreeWidgetItem(parent, [c.replace("skiros:", ""), c])
parent.setExpanded(True)
else:
parent = stype[0]
skill = QTreeWidgetItem(parent, [s.name, s.name])
skill.setData(2, 0, s)
def _add_msg_object(self, parent, path, name, obj, obj_type):
label = name
if hasattr(obj, '__slots__'):
subobjs = [(slot, getattr(obj, slot)) for slot in obj.__slots__]
elif type(obj) in [list, tuple]:
len_obj = len(obj)
if len_obj == 0:
subobjs = []
else:
w = int(math.ceil(math.log10(len_obj)))
subobjs = [('[%*d]' % (w, i), subobj) for (i, subobj) in enumerate(obj)]
else:
subobjs = []
plotitem = False
if type(obj) in [int, long, float]:
plotitem = True
if type(obj) == float:
obj_repr = '%.6f' % obj
else:
obj_repr = str(obj)
if obj_repr[0] == '-':
label += ': %s' % obj_repr
else:
label += ': %s' % obj_repr
elif type(obj) in [str, bool, int, long, float, complex, rospy.Time]:
# Ignore any binary data
obj_repr = codecs.utf_8_decode(str(obj), 'ignore')[0]
# Truncate long representations
if len(obj_repr) >= 50:
obj_repr = obj_repr[:50] + '...'
label += ': ' + obj_repr
item = QTreeWidgetItem([label])
if name == '':
pass
elif path.find('.') == -1 and path.find('[') == -1:
self.addTopLevelItem(item)
else:
parent.addChild(item)
if plotitem == True:
if path.replace(' ', '') in self._checked_states:
item.setCheckState(0, Qt.Checked)
else:
item.setCheckState(0, Qt.Unchecked)
item.setData(0, Qt.UserRole, (path, obj_type))
for subobj_name, subobj in subobjs:
if subobj is None:
continue
if path == '':
subpath = subobj_name # root field
elif subobj_name.startswith('['):
subpath = '%s%s' % (path, subobj_name) # list, dict, or tuple
else:
subpath = '%s.%s' % (path, subobj_name) # attribute (prefix with '.')
if hasattr(subobj, '_type'):
subobj_type = subobj._type
else:
subobj_type = type(subobj).__name__
self._add_msg_object(item, subpath, subobj_name, subobj, subobj_type)
def _add_msg_object(self, parent, path, name, obj, obj_type):
label = name
if hasattr(obj, '__slots__'):
subobjs = [(slot, getattr(obj, slot)) for slot in obj.__slots__]
elif type(obj) in [list, tuple]:
len_obj = len(obj)
if len_obj == 0:
subobjs = []
else:
w = int(math.ceil(math.log10(len_obj)))
subobjs = [('[%*d]' % (w, i), subobj) for (i, subobj) in enumerate(obj)]
else:
subobjs = []
plotitem=False
if type(obj) in [int, long, float]:
plotitem=True
if type(obj) == float:
obj_repr = '%.6f' % obj
else:
obj_repr = str(obj)
if obj_repr[0] == '-':
label += ': %s' % obj_repr
else:
label += ': %s' % obj_repr
elif type(obj) in [str, bool, int, long, float, complex, rospy.Time]:
# Ignore any binary data
obj_repr = codecs.utf_8_decode(str(obj), 'ignore')[0]
# Truncate long representations
if len(obj_repr) >= 50:
obj_repr = obj_repr[:50] + '...'
label += ': ' + obj_repr
item = QTreeWidgetItem([label])
if name == '':
pass
elif path.find('.') == -1 and path.find('[') == -1:
self.addTopLevelItem(item)
else:
parent.addChild(item)
if plotitem == True:
if path.replace(' ', '') in self._checked_states:
item.setCheckState (0, Qt.Checked)
else:
item.setCheckState (0, Qt.Unchecked)
item.setData(0, Qt.UserRole, (path, obj_type))
for subobj_name, subobj in subobjs:
if subobj is None:
continue
if path == '':
subpath = subobj_name # root field
elif subobj_name.startswith('['):
subpath = '%s%s' % (path, subobj_name) # list, dict, or tuple
else:
subpath = '%s.%s' % (path, subobj_name) # attribute (prefix with '.')
if hasattr(subobj, '_type'):
subobj_type = subobj._type
else:
subobj_type = type(subobj).__name__
self._add_msg_object(item, subpath, subobj_name, subobj, subobj_type)
