def on_progress_update(self, msg):
self._update_progress_table(msg)
self._save_log(msg, "skill")
# Update buttons
if msg.type.find("Root") >= 0:
if not self.skill_stop_button.isEnabled():
self.create_task_tree(msg.id, msg.processor)
self._toggle_task_active()
for manager in self._sli.agents.values():
manager.reset_tick_rate()
if abs(msg.progress_code) == 1:
self._toggle_task_active()
# Update task tree
with self._task_mutex:
items = self.task_tree_widget.findItems(str(msg.id), Qt.MatchRecursive | Qt.MatchFixedString, 1)
#int(msg.progress_period*1000)
if items:
items[0].setData(0, 0, "{}({}) {}".format(msg.label, State(msg.state).name, "! SLOW !" if msg.progress_period>0.04 else ""))
else:
parents = self.task_tree_widget.findItems(str(msg.parent_id), Qt.MatchRecursive | Qt.MatchFixedString, 1)
if not parents:
log.error("No parent found. Debug: {}".format(msg))
return
item = QTreeWidgetItem(parents[0], ["{}({})".format(msg.label, State(msg.state).name), str(msg.id)])
item.setIcon(0, self.get_icon(msg.processor))
item.setExpanded(True)
class RuntimeMonitorWidget(QWidget):
def __init__(self, topic="/diagnostics"):
super(RuntimeMonitorWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_runtime_monitor'), 'resource', 'runtime_monitor_widget.ui')
loadUi(ui_file, self)
self.setObjectName('RuntimeMonitorWidget')
self._mutex = threading.Lock()
self._error_icon = QIcon.fromTheme('dialog-error')
self._warning_icon = QIcon.fromTheme('dialog-warning')
self._ok_icon = QIcon.fromTheme('dialog-information')
self._stale_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Stale (0)'])
self._stale_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._stale_node)
self._error_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Errors (0)'])
self._error_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._error_node)
self._warning_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Warnings (0)'])
self._warning_node.setIcon(0, self._warning_icon)
self.tree_widget.addTopLevelItem(self._warning_node)
self._ok_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Ok (0)'])
self._ok_node.setIcon(0, self._ok_icon)
self.tree_widget.addTopLevelItem(self._ok_node)
self.tree_widget.itemSelectionChanged.connect(self._refresh_selection)
self.keyPressEvent = self._on_key_press
self._name_to_item = {}
self._new_errors_callback = None
self._subscriber = rospy.Subscriber(topic, DiagnosticArray, self._diagnostics_callback)
self._timer = QTimer()
self._timer.timeout.connect(self._on_timer)
self._timer.start(5000)
self._msg_timer = QTimer()
self._msg_timer.timeout.connect(self._update_messages)
self._msg_timer.start(100)
self._messages = []
self._used_items = 0
def __del__(self):
self.shutdown()
def shutdown(self):
"""
Unregisters subscriber and stops timers
"""
self._msg_timer.stop()
self._timer.stop()
if rospy.is_shutdown():
return
if self._subscriber:
self._subscriber.unregister()
self._subscriber = None
def change_diagnostic_topic(self, topic):
"""
Changes diagnostics topic name. Must be of type diagnostic_msgs/DiagnosticArray
"""
if not topic:
self.reset_monitor()
return
if self._subscriber:
self._subscriber.unregister()
self._subscriber = rospy.Subscriber(str(topic), DiagnosticArray, self._diagnostics_callback)
self.reset_monitor()
def reset_monitor(self):
"""
Removes all values from monitor display, resets buffers
"""
self._name_to_item = {} # Reset all stale topics
self._messages = []
self._clear_tree()
def _clear_tree(self):
for index in range(self._stale_node.childCount()):
self._stale_node.removeChild(self._stale_node.child(index))
for index in range(self._error_node.childCount()):
self._error_node.removeChild(self._error_node.child(index))
for index in range(self._warning_node.childCount()):
self._warning_node.removeChild(self._warning_node.child(index))
for index in range(self._ok_node.childCount()):
self._ok_node.removeChild(self._ok_node.child(index))
self._update_root_labels()
# Diagnostics callbacks (subscriber thread)
def _diagnostics_callback(self, message):
with self._mutex:
self._messages.append(message)
# Update display of messages from main thread
def _update_messages(self):
with self._mutex:
messages = self._messages[:]
self._messages = []
had_errors = False
for message in messages:
for status in message.status:
was_selected = False
if (self._name_to_item.has_key(status.name)):
item = self._name_to_item[status.name]
if self.tree_widget.isItemSelected(item.tree_node):
was_selected = True
if (item.status.level == DiagnosticStatus.ERROR and status.level != DiagnosticStatus.ERROR):
had_errors = True
self._update_item(item, status, was_selected)
else:
self._create_item(status, was_selected, True)
if (status.level == DiagnosticStatus.ERROR):
had_errors = True
if (had_errors and self._new_errors_callback != None):
self._new_errors_callback()
self._update_root_labels()
self.update()
self._refresh_selection()
def _update_item(self, item, status, was_selected):
change_parent = False
if (item.status.level != status.level):
change_parent = True
if (change_parent):
if (item.status.level == DiagnosticStatus.OK):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == DiagnosticStatus.WARN):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1):
self._stale_node.removeChild(item.tree_node)
else: # ERROR
self._error_node.removeChild(item.tree_node)
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1):
parent_node = self._stale_node
else: # ERROR
parent_node = self._error_node
item.tree_node.setText(0, status.name + ": " + status.message)
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
# expand errors automatically
if (status.level > 1 or status.level == -1):
parent_node.setExpanded(True)
parent_node.sortChildren(0, Qt.AscendingOrder)
if (was_selected):
self.tree_widget.setCurrentItem(item.tree_node)
else:
item.tree_node.setText(0, status.name + ": " + status.message)
item.status = status
if (was_selected):
self._fillout_info(item.tree_node)
item.mark = True
def _create_item(self, status, select, expand_if_error):
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1):
parent_node = self._stale_node
else: # ERROR
parent_node = self._error_node
item = TreeItem(status, QTreeWidgetItem(parent_node, [status.name + ": " + status.message]))
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
self._name_to_item[status.name] = item
parent_node.sortChildren(0, Qt.AscendingOrder)
if (select):
item.tree_node.setSelected(True)
if (expand_if_error and (status.level > 1 or status.level == -1)):
parent_node.setExpanded(True)
item.mark = True
return item
def _fillout_info(self, node):
item = node.data(0, Qt.UserRole)
if not item:
return
scroll_value = self.html_browser.verticalScrollBar().value()
status = item.status
s = cStringIO.StringIO()
s.write("<html><body>")
s.write("<b>Component</b>: %s<br>\n" % (status.name))
s.write("<b>Message</b>: %s<br>\n" % (status.message))
s.write("<b>Hardware ID</b>: %s<br><br>\n\n" % (status.hardware_id))
s.write('<table border="1" cellpadding="2" cellspacing="0">')
for value in status.values:
value.value = value.value.replace("\n", "<br>")
s.write("<tr><td><b>%s</b></td> <td>%s</td></tr>\n" % (value.key, value.value))
s.write("</table></body></html>")
self.html_browser.setHtml(s.getvalue())
if self.html_browser.verticalScrollBar().maximum() < scroll_value:
scroll_value = self.html_browser.verticalScrollBar().maximum()
self.html_browser.verticalScrollBar().setValue(scroll_value)
def _refresh_selection(self):
current_item = self.tree_widget.selectedItems()
if current_item:
self._fillout_info(current_item[0])
def _on_key_press(self, event):
key = event.key()
if key == Qt.Key_Delete:
nodes = self.tree_widget.selectedItems()
if (nodes != [] and nodes[0] not in (self._ok_node, self._warning_node, self._stale_node, self._error_node)):
item = nodes[0].data(0, Qt.UserRole)
if (item.status.level == 0):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == 1):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1):
self._stale_node.removeChild(item.tree_node)
else:
self._error_node.removeChild(item.tree_node)
del self._name_to_item[item.status.name]
self._update_root_labels()
self.update()
event.accept()
else:
event.ignore()
def _on_timer(self):
for name, item in self._name_to_item.iteritems():
node = item.tree_node
if (item != None):
if (not item.mark):
was_selected = False
selected = self.tree_widget.selectedItems()
if selected != [] and selected[0] == node:
was_selected = True
new_status = copy.deepcopy(item.status)
new_status.level = -1 # mark stale
self._update_item(item, new_status, was_selected)
item.mark = False
self._update_root_labels()
self.update()
def set_new_errors_callback(self, callback):
self._new_errors_callback = callback
def get_num_errors(self):
return self._error_node.childCount() + self._stale_node.childCount()
def get_num_warnings(self):
return self._warning_node.childCount()
def get_num_ok(self):
return self._ok_node.childCount()
def _update_root_labels(self):
self._stale_node.setText(0, "Stale (%s)" % (self._stale_node.childCount()))
self._error_node.setText(0, "Errors (%s)" % (self._error_node.childCount()))
self._warning_node.setText(0, "Warnings (%s)" % (self._warning_node.childCount()))
self._ok_node.setText(0, "Ok (%s)" % (self._ok_node.childCount()))
class RuntimeMonitorWidget(QWidget):
def __init__(self, topic="diagnostics"):
super(RuntimeMonitorWidget, self).__init__()
rp = rospkg.RosPack()
ui_file = os.path.join(rp.get_path('rqt_runtime_monitor'), 'resource', 'runtime_monitor_widget.ui')
loadUi(ui_file, self)
self.setObjectName('RuntimeMonitorWidget')
self._mutex = threading.Lock()
self._error_icon = QIcon.fromTheme('dialog-error')
self._warning_icon = QIcon.fromTheme('dialog-warning')
self._ok_icon = QIcon.fromTheme('dialog-information')
self._stale_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Stale (0)'])
self._stale_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._stale_node)
self._error_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Errors (0)'])
self._error_node.setIcon(0, self._error_icon)
self.tree_widget.addTopLevelItem(self._error_node)
self._warning_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Warnings (0)'])
self._warning_node.setIcon(0, self._warning_icon)
self.tree_widget.addTopLevelItem(self._warning_node)
self._ok_node = QTreeWidgetItem(self.tree_widget.invisibleRootItem(), ['Ok (0)'])
self._ok_node.setIcon(0, self._ok_icon)
self.tree_widget.addTopLevelItem(self._ok_node)
self.tree_widget.itemSelectionChanged.connect(self._refresh_selection)
self.keyPressEvent = self._on_key_press
self._name_to_item = {}
self._new_errors_callback = None
self._subscriber = rospy.Subscriber(topic, DiagnosticArray, self._diagnostics_callback)
self._previous_ros_time = rospy.Time.now()
self._timer = QTimer()
self._timer.timeout.connect(self._on_timer)
self._timer.start(1000)
self._msg_timer = QTimer()
self._msg_timer.timeout.connect(self._update_messages)
self._msg_timer.start(100)
self._messages = []
self._used_items = 0
def __del__(self):
self.shutdown()
def shutdown(self):
"""
Unregisters subscriber and stops timers
"""
self._msg_timer.stop()
self._timer.stop()
if rospy.is_shutdown():
return
if self._subscriber:
self._subscriber.unregister()
self._subscriber = None
def change_diagnostic_topic(self, topic):
"""
Changes diagnostics topic name. Must be of type diagnostic_msgs/DiagnosticArray
"""
if not topic:
self.reset_monitor()
return
if self._subscriber:
self._subscriber.unregister()
self._subscriber = rospy.Subscriber(str(topic), DiagnosticArray, self._diagnostics_callback)
self.reset_monitor()
def reset_monitor(self):
"""
Removes all values from monitor display, resets buffers
"""
self._name_to_item = {} # Reset all stale topics
self._messages = []
self._clear_tree()
def _clear_tree(self):
for index in range(self._stale_node.childCount()):
self._stale_node.removeChild(self._stale_node.child(index))
for index in range(self._error_node.childCount()):
self._error_node.removeChild(self._error_node.child(index))
for index in range(self._warning_node.childCount()):
self._warning_node.removeChild(self._warning_node.child(index))
for index in range(self._ok_node.childCount()):
self._ok_node.removeChild(self._ok_node.child(index))
self._update_root_labels()
# Diagnostics callbacks (subscriber thread)
def _diagnostics_callback(self, message):
with self._mutex:
self._messages.append(message)
# Update display of messages from main thread
def _update_messages(self):
with self._mutex:
messages = self._messages[:]
self._messages = []
had_errors = False
for message in messages:
for status in message.status:
was_selected = False
if (self._name_to_item.has_key(status.name)):
item = self._name_to_item[status.name]
if item.tree_node.isSelected():
was_selected = True
if (item.status.level == DiagnosticStatus.ERROR and status.level != DiagnosticStatus.ERROR):
had_errors = True
self._update_item(item, status, was_selected)
else:
self._create_item(status, was_selected, True)
if (status.level == DiagnosticStatus.ERROR):
had_errors = True
if (had_errors and self._new_errors_callback != None):
self._new_errors_callback()
self._update_root_labels()
self.update()
self._refresh_selection()
def _update_item(self, item, status, was_selected):
change_parent = False
if (item.status.level != status.level):
change_parent = True
if (change_parent):
if (item.status.level == DiagnosticStatus.OK):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == DiagnosticStatus.WARN):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1) or (item.status.level == DiagnosticStatus.STALE):
self._stale_node.removeChild(item.tree_node)
else: # ERROR
self._error_node.removeChild(item.tree_node)
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1) or (status.level == DiagnosticStatus.STALE):
parent_node = self._stale_node
else: # ERROR
parent_node = self._error_node
item.tree_node.setText(0, status.name + ": " + status.message)
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
# expand errors automatically
if (status.level > 1 or status.level == -1):
parent_node.setExpanded(True)
parent_node.sortChildren(0, Qt.AscendingOrder)
if (was_selected):
self.tree_widget.setCurrentItem(item.tree_node)
else:
item.tree_node.setText(0, status.name + ": " + status.message)
item.status = status
if (was_selected):
self._fillout_info(item.tree_node)
item.mark = True
def _create_item(self, status, select, expand_if_error):
if (status.level == DiagnosticStatus.OK):
parent_node = self._ok_node
elif (status.level == DiagnosticStatus.WARN):
parent_node = self._warning_node
elif (status.level == -1) or (status.level == DiagnosticStatus.STALE):
parent_node = self._stale_node
else: # ERROR
parent_node = self._error_node
item = TreeItem(status, QTreeWidgetItem(parent_node, [status.name + ": " + status.message]))
item.tree_node.setData(0, Qt.UserRole, item)
parent_node.addChild(item.tree_node)
self._name_to_item[status.name] = item
parent_node.sortChildren(0, Qt.AscendingOrder)
if (select):
item.tree_node.setSelected(True)
if (expand_if_error and (status.level > 1 or status.level == -1)):
parent_node.setExpanded(True)
item.mark = True
return item
def _fillout_info(self, node):
item = node.data(0, Qt.UserRole)
if not item:
return
scroll_value = self.html_browser.verticalScrollBar().value()
status = item.status
s = cStringIO.StringIO()
s.write("<html><body>")
s.write("<b>Component</b>: %s<br>\n" % (status.name))
s.write("<b>Message</b>: %s<br>\n" % (status.message))
s.write("<b>Hardware ID</b>: %s<br><br>\n\n" % (status.hardware_id))
s.write('<table border="1" cellpadding="2" cellspacing="0">')
for value in status.values:
value.value = value.value.replace("\n", "<br>")
s.write("<tr><td><b>%s</b></td> <td>%s</td></tr>\n" % (value.key, value.value))
s.write("</table></body></html>")
self.html_browser.setHtml(s.getvalue())
if self.html_browser.verticalScrollBar().maximum() < scroll_value:
scroll_value = self.html_browser.verticalScrollBar().maximum()
self.html_browser.verticalScrollBar().setValue(scroll_value)
def _refresh_selection(self):
current_item = self.tree_widget.selectedItems()
if current_item:
self._fillout_info(current_item[0])
def _on_key_press(self, event):
key = event.key()
if key == Qt.Key_Delete:
nodes = self.tree_widget.selectedItems()
if (nodes != [] and nodes[0] not in (self._ok_node, self._warning_node, self._stale_node, self._error_node)):
item = nodes[0].data(0, Qt.UserRole)
if (item.status.level == 0):
self._ok_node.removeChild(item.tree_node)
elif (item.status.level == 1):
self._warning_node.removeChild(item.tree_node)
elif (item.status.level == -1) or (item.status.level == DiagnosticStatus.STALE):
self._stale_node.removeChild(item.tree_node)
else:
self._error_node.removeChild(item.tree_node)
del self._name_to_item[item.status.name]
self._update_root_labels()
self.update()
event.accept()
else:
event.ignore()
def _on_timer(self):
if self._previous_ros_time + rospy.Duration(5) > rospy.Time.now():
return
self._previous_ros_time = rospy.Time.now()
for name, item in self._name_to_item.iteritems():
node = item.tree_node
if (item != None):
if (not item.mark):
was_selected = False
selected = self.tree_widget.selectedItems()
if selected != [] and selected[0] == node:
was_selected = True
new_status = copy.deepcopy(item.status)
new_status.level = -1 # mark stale
self._update_item(item, new_status, was_selected)
item.mark = False
self._update_root_labels()
self.update()
def set_new_errors_callback(self, callback):
self._new_errors_callback = callback
def _update_root_labels(self):
self._stale_node.setText(0, "Stale (%s)" % (self._stale_node.childCount()))
self._error_node.setText(0, "Errors (%s)" % (self._error_node.childCount()))
self._warning_node.setText(0, "Warnings (%s)" % (self._warning_node.childCount()))
self._ok_node.setText(0, "Ok (%s)" % (self._ok_node.childCount()))
