def __init__(self):
# Create a component checker
self.componentChecker = {}
self.configFile = os.path.expanduser('~/rcmanager.xml')
# Gui config
global dict
QtGui.QDialog.__init__(self)
self.root = '/opt/robocomp/'
self.ui = Ui_Form()
self.ui.setupUi(self)
self.canvas = GraphView(self.ui.graphTab)
self.canvas.setGeometry(0, 0, 531, 581)
self.canvas.show()
self.canvasTimer = QtCore.QTimer()
self.canvasFastTimer = QtCore.QTimer()
self.connect(self.canvas, QtCore.SIGNAL("nodeReleased()"), self.setFastState)
self.setFastState(True)
self.connect(self.canvasTimer, QtCore.SIGNAL("timeout()"), self.graphUpdate)
self.connect(self.canvasFastTimer, QtCore.SIGNAL("timeout()"), self.graphFastEnds)
if dict['dock'] == 'true':
self.changeDock()
# Variables needed to switch the state of components when double-clicking over them.
self.clickTimes = 0
self.lastClickTime = QtCore.QTime()
self.clickNumber = -1
# Component config containter
self.compConfig = []
# Init component sets
self.back_comps = set()
self.requests = set()
# Icon and system's tray stuff
self.iconOK = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_red.png'))
self.iconFULL = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_green.png'))
self.iconChange1 = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_right.png'))
self.iconChange2 = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_left.png'))
self.setWindowIcon(self.iconOK)
self.state = 0
self.doExit = False
self.systray = None
self.blinkTimer = QtCore.QTimer()
self.doDock = False
# Set the fixed timeout for component checking
self.timer = QtCore.QTimer()
self.timer.start(dict['fixed'])
self.menu = QtGui.QMenuBar(None)
self.ui.verticalLayout_3.insertWidget(0, self.menu)
self.menuFile = self.menu.addMenu('File')
self.menuSim = self.menu.addMenu('Simulation')
self.menuActions = self.menu.addMenu('Actions')
self.actionKillAll = self.menuActions.addAction('kill all')
self.connect(self.actionKillAll, QtCore.SIGNAL("triggered(bool)"), self.killall)
#self.actionRunAll = self.menuActions.addAction('run all')
#self.connect(self.actionRunAll, QtCore.SIGNAL("triggered(bool)"), self.runall)
self.actionOpen = self.menuFile.addAction('Open')
self.connect(self.actionOpen, QtCore.SIGNAL("triggered(bool)"), self.openFile)
self.actionSave = self.menuFile.addAction('Save')
self.connect(self.actionSave, QtCore.SIGNAL("triggered(bool)"), self.saveFile)
self.actionEdit = self.menuFile.addAction('Edit')
self.connect(self.actionEdit, QtCore.SIGNAL("triggered(bool)"), self.runEditor)
self.actionDock = self.menuFile.addAction('Dock')
self.connect(self.actionDock, QtCore.SIGNAL("triggered(bool)"), self.changeDock)
self.actionExit = self.menuFile.addAction('Exit')
self.connect(self.actionExit, QtCore.SIGNAL("triggered(bool)"), self.forceExit)
# Do we want the eye-candy graph simulation?
if (dict['active'] == "true"):
self.doSimulation = True
else:
self.doSimulation = False
if self.doSimulation == True:
self.actionSS = self.menuSim.addAction('Stop')
else:
self.actionSS = self.menuSim.addAction('Start')
# Set connections
self.connect(self.ui.checkList, QtCore.SIGNAL("itemClicked(QListWidgetItem *)"), self.selectCheck)
self.connect(self.ui.upButton, QtCore.SIGNAL("clicked()"), self.up)
self.connect(self.ui.downButton, QtCore.SIGNAL("clicked()"), self.down)
self.connect(self.ui.tabWidget, QtCore.SIGNAL("currentChanged(int)"), self.tabChanged)
self.connect(self.timer, QtCore.SIGNAL("timeout()"), self.checkAll)
self.connect(self.canvas, QtCore.SIGNAL('upRequest()'), self.manageGraphUp)
self.connect(self.canvas, QtCore.SIGNAL('downRequest()'), self.manageGraphDown)
self.connect(self.canvas, QtCore.SIGNAL('configRequest()'), self.manageGraphConfig)
self.connect(self.actionSS, QtCore.SIGNAL("triggered(bool)"), self.sSimulation)
# Draw the graph
self.canvas.update()
# Get settings
settings = QtCore.QSettings("RoboComp", "rcmanager")
value = settings.value("geometry").toByteArray()
if value != None:
self.restoreGeometry(value)
value = settings.value("page").toInt()
if value != None:
if value[1] == True:
self.ui.tabWidget.setCurrentIndex(value[0])
value = settings.value("docking").toBool()
if value != None:
if value == True:
self.changeDock()
def __init__(self):
# Create a component checker
self.componentChecker = ComponentChecker()
self.configFile = os.path.expanduser('~/rcmanager.xml')
# Gui config
global dict
QtGui.QDialog.__init__(self)
self.root = '/opt/robocomp/'
self.ui = Ui_Form()
self.ui.setupUi(self)
self.canvas = GraphView(self.ui.graphTab)
self.canvas.setGeometry(0, 0, 531, 581)
self.connect(self.canvas, QtCore.SIGNAL("nodeReleased()"), self.setFastState)
self.canvas.show()
self.canvasTimer = QtCore.QTimer()
self.canvasFastTimer = QtCore.QTimer()
self.connect(self.canvasTimer, QtCore.SIGNAL("timeout()"), self.graphUpdate)
self.connect(self.canvasFastTimer, QtCore.SIGNAL("timeout()"), self.graphFastEnds)
if dict['dock'] == 'true':
self.changeDock()
# Variables needed to switch the state of components when double-clicking over them.
self.clickTimes = 0
self.lastClickTime = QtCore.QTime()
self.clickNumber = -1
# Component config containter
self.compConfig = []
# Init component sets
self.back_comps = set()
self.requests = set()
# Icon and system's tray stuff
self.iconOK = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_red.png'))
self.iconFULL = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_green.png'))
self.iconChange1 = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_right.png'))
self.iconChange2 = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_left.png'))
self.setWindowIcon(self.iconOK)
self.state = 0
self.doExit = False
self.systray = None
self.blinkTimer = QtCore.QTimer()
self.doDock = False
# Make an initial check
self.checkAll(initial=True)
# Set the fixed timeout for component checking
self.timer = QtCore.QTimer()
self.timer.start(dict['fixed'])
self.menu = QtGui.QMenuBar(self)
self.menu.setFixedWidth(300);
self.menuFile = self.menu.addMenu('File')
self.menuSim = self.menu.addMenu('Simulation')
self.actionOpen = self.menuFile.addAction('Open')
self.connect(self.actionOpen, QtCore.SIGNAL("triggered(bool)"), self.openFile)
self.actionSave = self.menuFile.addAction('Save')
self.connect(self.actionSave, QtCore.SIGNAL("triggered(bool)"), self.saveFile)
self.actionEdit = self.menuFile.addAction('Edit')
self.connect(self.actionEdit, QtCore.SIGNAL("triggered(bool)"), self.runEditor)
self.actionDock = self.menuFile.addAction('Dock')
self.connect(self.actionDock, QtCore.SIGNAL("triggered(bool)"), self.changeDock)
self.actionExit = self.menuFile.addAction('Exit')
self.connect(self.actionExit, QtCore.SIGNAL("triggered(bool)"), self.forceExit)
# Do we want the eye-candy graph simulation?
if (dict['active'] == "true"):
self.doSimulation = True
else:
self.doSimulation = False
if self.doSimulation == True:
self.actionSS = self.menuSim.addAction('Stop')
else:
self.actionSS = self.menuSim.addAction('Start')
# Set connections
self.connect(self.ui.checkList, QtCore.SIGNAL("itemClicked(QListWidgetItem *)"), self.selectCheck)
self.connect(self.ui.upButton, QtCore.SIGNAL("clicked()"), self.up)
self.connect(self.ui.downButton, QtCore.SIGNAL("clicked()"), self.down)
self.connect(self.ui.tabWidget, QtCore.SIGNAL("currentChanged(int)"), self.tabChanged)
self.connect(self.timer, QtCore.SIGNAL("timeout()"), self.checkAll)
self.connect(self.canvas, QtCore.SIGNAL('upRequest()'), self.manageGraphUp)
self.connect(self.canvas, QtCore.SIGNAL('downRequest()'), self.manageGraphDown)
self.connect(self.canvas, QtCore.SIGNAL('configRequest()'), self.manageGraphConfig)
self.connect(self.actionSS, QtCore.SIGNAL("triggered(bool)"), self.sSimulation)
# Draw the graph
self.canvas.update()
# Get settings
settings = QtCore.QSettings("RoboComp", "rcmanager")
value = settings.value("geometry").toByteArray()
if value != None:
self.restoreGeometry(value)
value = settings.value("page").toInt()
if value != None:
if value[1] == True:
self.ui.tabWidget.setCurrentIndex(value[0])
value = settings.value("docking").toBool()
if value != None:
if value == True:
self.changeDock()
class TheThing(QtGui.QDialog):
def __init__(self):
# Create a component checker
self.componentChecker = {}
self.configFile = os.path.expanduser('~/rcmanager.xml')
# Gui config
global dict
QtGui.QDialog.__init__(self)
self.root = '/opt/robocomp/'
self.ui = Ui_Form()
self.ui.setupUi(self)
self.canvas = GraphView(self.ui.graphTab)
self.canvas.setGeometry(0, 0, 531, 581)
self.canvas.show()
self.canvasTimer = QtCore.QTimer()
self.canvasFastTimer = QtCore.QTimer()
self.connect(self.canvas, QtCore.SIGNAL("nodeReleased()"), self.setFastState)
self.setFastState(True)
self.connect(self.canvasTimer, QtCore.SIGNAL("timeout()"), self.graphUpdate)
self.connect(self.canvasFastTimer, QtCore.SIGNAL("timeout()"), self.graphFastEnds)
if dict['dock'] == 'true':
self.changeDock()
# Variables needed to switch the state of components when double-clicking over them.
self.clickTimes = 0
self.lastClickTime = QtCore.QTime()
self.clickNumber = -1
# Component config containter
self.compConfig = []
# Init component sets
self.back_comps = set()
self.requests = set()
# Icon and system's tray stuff
self.iconOK = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_red.png'))
self.iconFULL = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_green.png'))
self.iconChange1 = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_right.png'))
self.iconChange2 = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_left.png'))
self.setWindowIcon(self.iconOK)
self.state = 0
self.doExit = False
self.systray = None
self.blinkTimer = QtCore.QTimer()
self.doDock = False
# Set the fixed timeout for component checking
self.timer = QtCore.QTimer()
self.timer.start(dict['fixed'])
self.menu = QtGui.QMenuBar(None)
self.ui.verticalLayout_3.insertWidget(0, self.menu)
self.menuFile = self.menu.addMenu('File')
self.menuSim = self.menu.addMenu('Simulation')
self.menuActions = self.menu.addMenu('Actions')
self.actionKillAll = self.menuActions.addAction('kill all')
self.connect(self.actionKillAll, QtCore.SIGNAL("triggered(bool)"), self.killall)
#self.actionRunAll = self.menuActions.addAction('run all')
#self.connect(self.actionRunAll, QtCore.SIGNAL("triggered(bool)"), self.runall)
self.actionOpen = self.menuFile.addAction('Open')
self.connect(self.actionOpen, QtCore.SIGNAL("triggered(bool)"), self.openFile)
self.actionSave = self.menuFile.addAction('Save')
self.connect(self.actionSave, QtCore.SIGNAL("triggered(bool)"), self.saveFile)
self.actionEdit = self.menuFile.addAction('Edit')
self.connect(self.actionEdit, QtCore.SIGNAL("triggered(bool)"), self.runEditor)
self.actionDock = self.menuFile.addAction('Dock')
self.connect(self.actionDock, QtCore.SIGNAL("triggered(bool)"), self.changeDock)
self.actionExit = self.menuFile.addAction('Exit')
self.connect(self.actionExit, QtCore.SIGNAL("triggered(bool)"), self.forceExit)
# Do we want the eye-candy graph simulation?
if (dict['active'] == "true"):
self.doSimulation = True
else:
self.doSimulation = False
if self.doSimulation == True:
self.actionSS = self.menuSim.addAction('Stop')
else:
self.actionSS = self.menuSim.addAction('Start')
# Set connections
self.connect(self.ui.checkList, QtCore.SIGNAL("itemClicked(QListWidgetItem *)"), self.selectCheck)
self.connect(self.ui.upButton, QtCore.SIGNAL("clicked()"), self.up)
self.connect(self.ui.downButton, QtCore.SIGNAL("clicked()"), self.down)
self.connect(self.ui.tabWidget, QtCore.SIGNAL("currentChanged(int)"), self.tabChanged)
self.connect(self.timer, QtCore.SIGNAL("timeout()"), self.checkAll)
self.connect(self.canvas, QtCore.SIGNAL('upRequest()'), self.manageGraphUp)
self.connect(self.canvas, QtCore.SIGNAL('downRequest()'), self.manageGraphDown)
self.connect(self.canvas, QtCore.SIGNAL('configRequest()'), self.manageGraphConfig)
self.connect(self.actionSS, QtCore.SIGNAL("triggered(bool)"), self.sSimulation)
# Draw the graph
self.canvas.update()
# Get settings
settings = QtCore.QSettings("RoboComp", "rcmanager")
value = settings.value("geometry").toByteArray()
if value != None:
self.restoreGeometry(value)
value = settings.value("page").toInt()
if value != None:
if value[1] == True:
self.ui.tabWidget.setCurrentIndex(value[0])
value = settings.value("docking").toBool()
if value != None:
if value == True:
self.changeDock()
# Select a new rcmanager configuration file
def openFile(self, p=None):
if p==None:
self.configFile = QtGui.QFileDialog.getOpenFileName (self, "Select file", initDir, "*.xml")
else:
self.configFile = p
if len(self.configFile) > 0:
if self.canvas.ui != None: self.canvas.ui.close()
self.readConfig()
else:
print 'len(cfgFile) == 0'
# Save the current configuration to a new file
def saveFile(self):
global dict
if self.canvas.ui != None: self.canvas.ui.close()
s = QtGui.QFileDialog.getSaveFileName (self, "Select output file", os.environ['HOME'], "*.xml")
if len(s) > 0:
for c1 in self.compConfig:
for c2 in self.canvas.compList:
if c1.alias == c2.name:
c1.x = c2.x
c1.y = c2.y
c1.r = c2.r
rcmanagerConfig.writeConfigToFile(dict, self.compConfig, s)
# Dock icon blinking method.
def changeDock(self):
global dict
if self.canvas.ui != None: self.canvas.ui.close()
if self.doDock == False:
self.systray = QtGui.QSystemTrayIcon(self)
self.systray.setIcon(self.iconOK)
self.systray.setVisible(True)
self.connect(self.systray, QtCore.SIGNAL("activated (QSystemTrayIcon::ActivationReason)"), self.toggle)
self.connect(self.blinkTimer, QtCore.SIGNAL("timeout()"), self.changeIcon)
self.iconNumber = 0
self.doDock = True
dict['dock'] = 'true'
self.actionDock.setText('Undock')
else:
self.systray.deleteLater()
self.disconnect(self.blinkTimer, QtCore.SIGNAL("timeout()"), self.changeIcon)
self.iconNumber = 0
self.doDock = False
dict['dock'] = 'false'
self.actionDock.setText('Dock')
# Stop graph simulation if its running or vice versa.
def sSimulation(self):
global dict
self.doSimulation = not self.doSimulation
if self.doSimulation == False:
self.actionSS.setText('Start')
if self.fastState == False:
self.canvasTimer.start(dict['focustime'])
dict['active'] = 'false'
else:
self.actionSS.setText('Stop')
self.setFastState()
if self.fastState == False:
self.canvasTimer.start(dict['idletime'])
dict['active'] = 'true'
# When doing simulation calling this method will make the simulation go fast
def setFastState(self, fast=True):
global dict
self.fastState = fast
if fast:
self.canvasTimer.start(dict['fasttime'])
self.canvasFastTimer.start(dict['fastperiod'])
else:
self.canvasFastTimer.stop()
if self.ui.tabWidget.currentIndex() == 1 and self.doSimulation == True:
self.canvasTimer.start(dict['focustime'])
else:
self.canvasTimer.start(dict['idletime'])
# Opposite of the previous method
def graphFastEnds(self):
self.setFastState(False)
# Run component simulator
def runEditor(self):
if self.canvas.ui != None: self.canvas.ui.close()
self.editor = rcmanagerEditor.rcmanagerEditorWidget()
self.editor.setModal(True)
self.editor.show()
self.editor.readConfig(self.configFile)
self.connect(self.editor, QtCore.SIGNAL('finished()'), self.readConfig)
# Add the ui-selected component to the requests set by calling the 'up()' method.
def manageGraphUp(self):
for idx in range(self.ui.checkList.count()):
if self.ui.checkList.item(idx).text() == self.canvas.request:
self.ui.checkList.setCurrentRow(idx)
self.selectCheck()
self.up()
break
# Add the ui-selected component to the down set by calling the 'down()' method.
def manageGraphDown(self):
for idx in range(self.ui.checkList.count()):
if self.ui.checkList.item(idx).text() == self.canvas.request:
self.ui.checkList.setCurrentRow(idx)
self.selectCheck()
self.down()
break
# Edit a component's configuration
def manageGraphConfig(self):
for idx in range(self.ui.checkList.count()):
if self.ui.checkList.item(idx).text() == self.canvas.request:
self.ui.checkList.setCurrentRow(idx)
self.selectCheck()
self.config()
break
# Update the UI graph
def graphUpdate(self):
global dict
self.canvas.checkForNewComponents(self)
self.canvas.center()
if self.doSimulation:
self.canvas.step(self)
self.canvas.update()
# Current tab changed
@QtCore.pyqtSignature("int")
def tabChanged(self, num):
if self.fastState == False:
if num == 0: self.canvasTimer.start(dict['idletime'])
elif num == 1 and self.doSimulation == True: self.canvasTimer.start(dict['focustime'])
# Retuns True if the specified component is up, otherwise returns False
def itsUp(self, compNumber):
if self.compConfig[compNumber].alias in self.componentChecker:
return self.componentChecker[self.compConfig[compNumber]].isalive()
return False
# Queues the user's request to change the state of a given component, turning it off if it's on and viceversa.
def switchComponent(self, compNumber):
if self.itsUp(compNumber) == True: self.down()
else: self.up()
# Queues the user request to turn on a component
def up(self):
itsconfig = self.compConfig[self.ui.checkList.currentRow()]
self.requests = self.requests | set([itsconfig.alias])
self.clearFocus()
# Queues the user request to turn off a component
def down(self):
self.bg_exec(str(self.ui.downEdit.text()), self.ui.wdEdit.text())
self.clearFocus()
def killall(self):
for info in self.compConfig:
self.bg_exec(str(info.compdown), str(info.workingdir))
# Run the configured file editor
def config(self):
global dict
self.bg_exec(self.compConfig[self.ui.checkList.currentRow()].configFile, self.ui.wdEdit.text())
self.clearFocus()
# Reads new configuration from file
def readConfig(self):
self.canvas.initialize()
self.ui.checkList.clear()
self.compConfig = []
self.back_comps = set()
self.requests = set()
newList, newDict = rcmanagerConfig.getConfigFromFile(self.configFile)
for k, v in newDict.iteritems():
dict[k] = v
self.componentChecker.clear()
for listItem in newList:
item = QtGui.QListWidgetItem()
item.setText(listItem.alias)
self.ui.checkList.insertItem(0, item)
self.compConfig.insert(0, listItem)
self.componentChecker[listItem.alias] = ComponentChecker(listItem.endpoint)
self.componentChecker[listItem.alias].runrun()
self.log('Configuration loaded')
n = rcmanagerConfig.unconnectedGroups(newList)
if n > 1:
msg = 'WARNING: ' + str(n) + ' unconnected component groups'
self.log(msg)
QtGui.QMessageBox.warning(self, 'Warning', msg)
self.setFastState()
# Call-back when
#
def selectCheck(self):
# Check if it's a consecutive click
notTheLastOneAtTime = 0
if self.clickNumber != self.ui.checkList.currentRow():
notTheLastOneAtTime = 1
if self.lastClickTime.elapsed() > dict['interval']:
notTheLastOneAtTime = 1
if notTheLastOneAtTime == 0: # It's not
self.clickTimes = self.clickTimes + 1
else: # It is
self.clickTimes = 1
self.clickNumber = self.ui.checkList.currentRow()
self.lastClickTime = self.lastClickTime.currentTime()
# If it's a N-ary click: swap its state
if self.clickTimes >= dict['switch']:
self.switchComponent(self.clickNumber)
# Show information of the last clicked component
info = self.compConfig[self.ui.checkList.currentRow()]
self.ui.checkEdit.setText(info.endpoint)
self.ui.wdEdit.setText(info.workingdir)
self.ui.upEdit.setText(info.compup)
self.ui.downEdit.setText(info.compdown)
self.ui.cfgEdit.setText(info.configFile)
def checkAll(self, initial=False):
allOk = True
workingComponents = set()
for numItem in range(0, len(self.compConfig)):
ok = True
itemConfig = self.compConfig[numItem]
item = self.ui.checkList.item(numItem)
if (itemConfig.alias in self.componentChecker) and (self.componentChecker[itemConfig.alias].isalive()):
item.setTextColor(QtGui.QColor(0, 255, 0))
workingComponents.add(itemConfig.alias)
else:
item.setTextColor(QtGui.QColor(255, 0, 0))
allOk = False
if workingComponents != self.back_comps:
if allOk == False:
self.blinkTimer.stop()
self.blinkTimer.start(dict['blink'])
for comp in workingComponents.difference(self.back_comps):
self.log('Now \"' + comp + '\" is up.')
for comp in self.back_comps.difference(workingComponents):
self.log('Now \"' + comp + '\" is down.')
if self.wantsDocking():
if allOk and len(self.compConfig) > 0:
self.systray.setIcon(self.iconFULL)
elif workingComponents != self.back_comps:
self.systray.setIcon(self.iconOK)
self.back_comps = workingComponents.copy()
self.upRequests()
def upRequests(self):
future_requests = self.requests
for alias in self.requests:
itsconfig = self.getConfigByAlias(alias)
unavailableDependences = []
for dep in itsconfig.dependences:
if (not dep in self.componentChecker) or (not self.componentChecker[dep].isalive()):
unavailableDependences.append(dep)
if len(unavailableDependences) == 0:
print 'rcmanager:', alias, 'is now ready to run.'
self.upConfig(itsconfig)
future_requests = future_requests - set([alias])
else:
print 'rcmanager:', alias, 'has unavailable dependences:', unavailableDependences
future_requests = future_requests | set(unavailableDependences)
self.requests = future_requests
# Tries to execute a component
def upConfig(self, conf):
self.bg_exec(conf.compup, conf.workingdir)
# Executes a command in the background
def bg_exec(self, command, workDir):
# Get command argument list
argument_list = command.split(' ')
# Set program as argument_list[0]
program = argument_list[0]
# Set args as argument_list[1, -1]
args = argument_list[1:]
currentWorkDir = os.getcwd()
os.chdir(workDir)
proc = QtCore.QProcess()
print '\nQProcess::startDetached( ' + program + ' , ' + str(args) + ' ) @ ' + os.getcwd() + '\n'
proc.startDetached(program, args)
os.chdir(currentWorkDir)
#
# Changes the icon of the program properly, skipping if docking is not active
def changeIcon(self):
if self.isActiveWindow() == True:
self.blinkTimer.stop()
self.systray.setIcon(self.iconOK)
else:
if self.iconNumber == 0:
self.systray.setIcon(self.iconChange1)
self.iconNumber = 1
elif self.iconNumber == 1:
self.systray.setIcon(self.iconChange2)
self.iconNumber = 2
else:
self.systray.setIcon(self.iconChange1)
self.iconNumber = 1
#
# (Un)hide the main window
def toggle(self):
if self.isVisible(): self.hide()
else: self.show()
#
# Manages close events
def closeEvent(self, closeevent):
settings = QtCore.QSettings("RoboComp", "rcmanager");
g = self.saveGeometry()
settings.setValue("geometry", QtCore.QVariant(g))
settings.setValue("page", QtCore.QVariant(self.ui.tabWidget.currentIndex()))
settings.setValue("docking", QtCore.QVariant(self.wantsDocking()))
if self.doExit != 1 and self.doDock == True:
closeevent.ignore()
self.hide()
elif self.wantsDocking():
closeevent.accept()
for key, checker in self.componentChecker.iteritems():
checker.stop()
# else:
# closeevent.accept()
# self.forceExit()
# sys.exit(0)
#
# Forces the program to exit
def forceExit(self):
self.doExit = 1
self.close()
#
# Clears the interface selection when the user presses 'Esc'
def keyPressEvent(self, keyevent):
if keyevent.key() == 16777216:#0x01000000
self.ui.checkList.clearSelection()
if self.canvas.ui != None: self.canvas.ui.close()
#
# Interface stuff:
def uiChange(self):
self.ui.checkList.setCurrentRow(0)
self.selectCheck()
self.clearFocus()
def clearFocus(self):
self.ui.checkList.clearSelection()
def log(self, text):
self.ui.outputText.append(' * ' + QtCore.QTime.currentTime().toString() + ': ' + text)
def getConfigByAlias(self, alias):
for config in self.compConfig:
if config.alias == alias:
return config
return None
#
# Return 1 if docking is selected, 0 otherwise.
def wantsDocking(self):
if self.doDock == True: return 1
else: return 0
def resizeEvent(self, e):
old = e.oldSize()
new = e.size()
inc = new - old
if (inc.width != 0 or inc.height!=0):
self.canvas.resize(self.canvas.size()+inc)
e.accept()
class TheThing(QtGui.QDialog):
def __init__(self):
# Create a component checker
self.componentChecker = ComponentChecker()
self.configFile = os.path.expanduser('~/rcmanager.xml')
# Gui config
global dict
QtGui.QDialog.__init__(self)
self.root = '/opt/robocomp/'
self.ui = Ui_Form()
self.ui.setupUi(self)
self.canvas = GraphView(self.ui.graphTab)
self.canvas.setGeometry(0, 0, 531, 581)
self.connect(self.canvas, QtCore.SIGNAL("nodeReleased()"), self.setFastState)
self.canvas.show()
self.canvasTimer = QtCore.QTimer()
self.canvasFastTimer = QtCore.QTimer()
self.connect(self.canvasTimer, QtCore.SIGNAL("timeout()"), self.graphUpdate)
self.connect(self.canvasFastTimer, QtCore.SIGNAL("timeout()"), self.graphFastEnds)
if dict['dock'] == 'true':
self.changeDock()
# Variables needed to switch the state of components when double-clicking over them.
self.clickTimes = 0
self.lastClickTime = QtCore.QTime()
self.clickNumber = -1
# Component config containter
self.compConfig = []
# Init component sets
self.back_comps = set()
self.requests = set()
# Icon and system's tray stuff
self.iconOK = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_red.png'))
self.iconFULL = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_green.png'))
self.iconChange1 = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_right.png'))
self.iconChange2 = QtGui.QIcon(QtGui.QPixmap('/opt/robocomp/share/rcmanager/drawing_left.png'))
self.setWindowIcon(self.iconOK)
self.state = 0
self.doExit = False
self.systray = None
self.blinkTimer = QtCore.QTimer()
self.doDock = False
# Make an initial check
self.checkAll(initial=True)
# Set the fixed timeout for component checking
self.timer = QtCore.QTimer()
self.timer.start(dict['fixed'])
self.menu = QtGui.QMenuBar(self)
self.menu.setFixedWidth(300);
self.menuFile = self.menu.addMenu('File')
self.menuSim = self.menu.addMenu('Simulation')
self.actionOpen = self.menuFile.addAction('Open')
self.connect(self.actionOpen, QtCore.SIGNAL("triggered(bool)"), self.openFile)
self.actionSave = self.menuFile.addAction('Save')
self.connect(self.actionSave, QtCore.SIGNAL("triggered(bool)"), self.saveFile)
self.actionEdit = self.menuFile.addAction('Edit')
self.connect(self.actionEdit, QtCore.SIGNAL("triggered(bool)"), self.runEditor)
self.actionDock = self.menuFile.addAction('Dock')
self.connect(self.actionDock, QtCore.SIGNAL("triggered(bool)"), self.changeDock)
self.actionExit = self.menuFile.addAction('Exit')
self.connect(self.actionExit, QtCore.SIGNAL("triggered(bool)"), self.forceExit)
# Do we want the eye-candy graph simulation?
if (dict['active'] == "true"):
self.doSimulation = True
else:
self.doSimulation = False
if self.doSimulation == True:
self.actionSS = self.menuSim.addAction('Stop')
else:
self.actionSS = self.menuSim.addAction('Start')
# Set connections
self.connect(self.ui.checkList, QtCore.SIGNAL("itemClicked(QListWidgetItem *)"), self.selectCheck)
self.connect(self.ui.upButton, QtCore.SIGNAL("clicked()"), self.up)
self.connect(self.ui.downButton, QtCore.SIGNAL("clicked()"), self.down)
self.connect(self.ui.tabWidget, QtCore.SIGNAL("currentChanged(int)"), self.tabChanged)
self.connect(self.timer, QtCore.SIGNAL("timeout()"), self.checkAll)
self.connect(self.canvas, QtCore.SIGNAL('upRequest()'), self.manageGraphUp)
self.connect(self.canvas, QtCore.SIGNAL('downRequest()'), self.manageGraphDown)
self.connect(self.canvas, QtCore.SIGNAL('configRequest()'), self.manageGraphConfig)
self.connect(self.actionSS, QtCore.SIGNAL("triggered(bool)"), self.sSimulation)
# Draw the graph
self.canvas.update()
# Get settings
settings = QtCore.QSettings("RoboComp", "rcmanager")
value = settings.value("geometry").toByteArray()
if value != None:
self.restoreGeometry(value)
value = settings.value("page").toInt()
if value != None:
if value[1] == True:
self.ui.tabWidget.setCurrentIndex(value[0])
value = settings.value("docking").toBool()
if value != None:
if value == True:
self.changeDock()
# Select a new rcmanager configuration file
def openFile(self, p=None):
if p==None:
self.configFile = QtGui.QFileDialog.getOpenFileName (self, "Select file", initDir, "*.xml")
else:
self.configFile = p
if len(self.configFile) > 0:
if self.canvas.ui != None: self.canvas.ui.close()
self.readConfig()
else:
print 'len(cfgFile) == 0'
# Save the current configuration to a new file
def saveFile(self):
global dict
if self.canvas.ui != None: self.canvas.ui.close()
s = QtGui.QFileDialog.getSaveFileName (self, "Select output file", os.environ['HOME'], "*.xml")
if len(s) > 0:
for c1 in self.compConfig:
for c2 in self.canvas.compList:
if c1.alias == c2.name:
c1.x = c2.x
c1.y = c2.y
c1.r = c2.r
rcmanagerConfig.writeConfigToFile(dict, self.compConfig, s)
# Dock icon blinking method.
def changeDock(self):
global dict
if self.canvas.ui != None: self.canvas.ui.close()
if self.doDock == False:
self.systray = QtGui.QSystemTrayIcon(self)
self.systray.setIcon(self.iconOK)
self.systray.setVisible(True)
self.connect(self.systray, QtCore.SIGNAL("activated (QSystemTrayIcon::ActivationReason)"), self.toggle)
self.connect(self.blinkTimer, QtCore.SIGNAL("timeout()"), self.changeIcon)
self.iconNumber = 0
self.doDock = True
dict['dock'] = 'true'
self.actionDock.setText('Undock')
else:
self.systray.deleteLater()
self.disconnect(self.blinkTimer, QtCore.SIGNAL("timeout()"), self.changeIcon)
self.iconNumber = 0
self.doDock = False
dict['dock'] = 'false'
self.actionDock.setText('Dock')
# Stop graph simulation if its running or vice versa.
def sSimulation(self):
global dict
self.doSimulation = not self.doSimulation
if self.doSimulation == False:
self.actionSS.setText('Start')
if self.fastState == False:
self.canvasTimer.start(dict['focustime'])
dict['active'] = 'false'
else:
self.actionSS.setText('Stop')
self.setFastState()
if self.fastState == False:
self.canvasTimer.start(dict['idletime'])
dict['active'] = 'true'
# When doing simulation calling this method will make the simulation go fast
def setFastState(self, fast=True):
global dict
self.fastState = fast
if fast:
self.canvasTimer.start(dict['fasttime'])
self.canvasFastTimer.start(dict['fastperiod'])
else:
self.canvasFastTimer.stop()
if self.ui.tabWidget.currentIndex() == 1 and self.doSimulation == True:
self.canvasTimer.start(dict['focustime'])
else:
self.canvasTimer.start(dict['idletime'])
# Opposite of the previous method
def graphFastEnds(self):
self.setFastState(False)
# Run component simulator
def runEditor(self):
if self.canvas.ui != None: self.canvas.ui.close()
self.editor = rcmanagerEditor.rcmanagerEditorWidget()
self.editor.setModal(True)
self.editor.show()
self.editor.readConfig(self.configFile)
self.connect(self.editor, QtCore.SIGNAL('finished()'), self.readConfig)
# Add the ui-selected component to the requests set by calling the 'up()' method.
def manageGraphUp(self):
for idx in range(self.ui.checkList.count()):
if self.ui.checkList.item(idx).text() == self.canvas.request:
self.ui.checkList.setCurrentRow(idx)
self.selectCheck()
self.up()
break
# Add the ui-selected component to the down set by calling the 'down()' method.
def manageGraphDown(self):
for idx in range(self.ui.checkList.count()):
if self.ui.checkList.item(idx).text() == self.canvas.request:
self.ui.checkList.setCurrentRow(idx)
self.selectCheck()
self.down()
break
# Edit a component's configuration
def manageGraphConfig(self):
for idx in range(self.ui.checkList.count()):
if self.ui.checkList.item(idx).text() == self.canvas.request:
self.ui.checkList.setCurrentRow(idx)
self.selectCheck()
self.config()
break
# Update the UI graph
def graphUpdate(self):
global dict
self.canvas.checkForNewComponents(self)
self.canvas.center()
if self.doSimulation:
self.canvas.step(self)
self.canvas.update()
# Current tab changed
@QtCore.pyqtSignature("int")
def tabChanged(self, num):
if self.fastState == False:
if num == 0: self.canvasTimer.start(dict['idletime'])
elif num == 1 and self.doSimulation == True: self.canvasTimer.start(dict['focustime'])
# Retuns True if the specified component is up, otherwise returns False
def itsUp(self, compNumber):
if self.componentChecker.workingComponents.__contains__(self.compConfig[compNumber].alias): return True
return False
# Queues the user's request to change the state of a given component, turning it off if it's on and viceversa.
def switchComponent(self, compNumber):
if self.itsUp(compNumber) == True: self.down()
else: self.up()
# Queues the user request to turn on a component
def up(self):
itsconfig = self.compConfig[self.ui.checkList.currentRow()]
self.requests = self.requests | set([itsconfig.alias])
self.clearFocus()
# Queues the user request to turn off a component
def down(self):
self.bg_exec(str(self.ui.downEdit.text()), self.ui.wdEdit.text())
self.clearFocus()
# Run the configured file editor
def config(self):
global dict
self.bg_exec(self.compConfig[self.ui.checkList.currentRow()].configFile, self.ui.wdEdit.text())
self.clearFocus()
# Reads new configuration from file
def readConfig(self):
self.canvas.initialize()
self.ui.checkList.clear()
self.compConfig = []
self.back_comps = set()
self.requests = set()
newList, newDict = rcmanagerConfig.getConfigFromFile(self.configFile)
for k, v in newDict.iteritems():
dict[k] = v
self.componentChecker.reset()
for listItem in newList:
item = QtGui.QListWidgetItem()
item.setText(listItem.alias)
self.ui.checkList.insertItem(0, item)
self.compConfig.insert(0, listItem)
self.componentChecker.componentsToCheck[listItem.alias] = listItem.endpoint
self.componentChecker.runrun()
self.log('Configuration loaded')
n = rcmanagerConfig.unconnectedGroups(newList)
if n > 1:
msg = 'WARNING: ' + str(n) + ' unconnected component groups'
self.log(msg)
QtGui.QMessageBox.warning(self, 'Warning', msg)
self.setFastState()
# Call-back when
#
def selectCheck(self):
# Check if it's a consecutive click
notTheLastOneAtTime = 0
if self.clickNumber != self.ui.checkList.currentRow():
notTheLastOneAtTime = 1
if self.lastClickTime.elapsed() > dict['interval']:
notTheLastOneAtTime = 1
if notTheLastOneAtTime == 0: # It's not
self.clickTimes = self.clickTimes + 1
else: # It is
self.clickTimes = 1
self.clickNumber = self.ui.checkList.currentRow()
self.lastClickTime = self.lastClickTime.currentTime()
# If it's a N-ary click: swap its state
if self.clickTimes >= dict['switch']:
self.switchComponent(self.clickNumber)
# Show information of the last clicked component
info = self.compConfig[self.ui.checkList.currentRow()]
self.ui.checkEdit.setText(info.endpoint)
self.ui.wdEdit.setText(info.workingdir)
self.ui.upEdit.setText(info.compup)
self.ui.downEdit.setText(info.compdown)
self.ui.cfgEdit.setText(info.configFile)
def checkAll(self, initial=False):
allOk = True
for numItem in range(0, len(self.compConfig)):
ok = True
itemConfig = self.compConfig[numItem]
item = self.ui.checkList.item(numItem)
if self.componentChecker.workingComponents.__contains__(itemConfig.alias):
item.setTextColor(QtGui.QColor(0, 255, 0))
else:
item.setTextColor(QtGui.QColor(255, 0, 0))
allOk = False
if self.componentChecker.workingComponents != self.back_comps:
if allOk == False:
self.blinkTimer.stop()
self.blinkTimer.start(dict['blink'])
for comp in self.componentChecker.workingComponents.difference(self.back_comps):
self.log('Now \"' + comp + '\" is up.')
for comp in self.back_comps.difference(self.componentChecker.workingComponents):
self.log('Now \"' + comp + '\" is down.')
if self.wantsDocking():
if allOk and len(self.compConfig) > 0:
self.systray.setIcon(self.iconFULL)
elif self.componentChecker.workingComponents != self.back_comps:
self.systray.setIcon(self.iconOK)
self.back_comps = self.componentChecker.workingComponents.copy()
self.upRequests()
def upRequests(self):
future_requests = self.requests
for alias in self.requests:
itsconfig = self.getConfigByAlias(alias)
unavailableDependences = []
for dep in itsconfig.dependences:
if not self.componentChecker.workingComponents.__contains__(dep):
unavailableDependences.append(dep)
if len(unavailableDependences) == 0:
print 'rcmanager:', alias, 'is now ready to run.'
self.upConfig(itsconfig)
future_requests = future_requests - set([alias])
else:
print 'rcmanager:', alias, 'has unavailable dependences:', unavailableDependences
future_requests = future_requests | set(unavailableDependences)
self.requests = future_requests
# Tries to execute a component
def upConfig(self, conf):
self.bg_exec(conf.compup, conf.workingdir)
# Executes a command in the background
def bg_exec(self, command, workDir):
# Get command argument list
argument_list = command.split(' ')
# Set program as argument_list[0]
program = argument_list[0]
# Set args as argument_list[1, -1]
args = argument_list[1:]
currentWorkDir = os.getcwd()
os.chdir(workDir)
proc = QtCore.QProcess()
print '\nQProcess::startDetached( ' + program + ' , ' + str(args) + ' ) @ ' + os.getcwd() + '\n'
proc.startDetached(program, args)
os.chdir(currentWorkDir)
#
# Changes the icon of the program properly, skipping if docking is not active
def changeIcon(self):
if self.isActiveWindow() == True:
self.blinkTimer.stop()
self.systray.setIcon(self.iconOK)
else:
if self.iconNumber == 0:
self.systray.setIcon(self.iconChange1)
self.iconNumber = 1
elif self.iconNumber == 1:
self.systray.setIcon(self.iconChange2)
self.iconNumber = 2
else:
self.systray.setIcon(self.iconChange1)
self.iconNumber = 1
#
# (Un)hide the main window
def toggle(self):
if self.isVisible(): self.hide()
else: self.show()
#
# Manages close events
def closeEvent(self, closeevent):
settings = QtCore.QSettings("RoboComp", "rcmanager");
g = self.saveGeometry()
settings.setValue("geometry", QtCore.QVariant(g))
settings.setValue("page", QtCore.QVariant(self.ui.tabWidget.currentIndex()))
settings.setValue("docking", QtCore.QVariant(self.wantsDocking()))
if self.doExit != 1 and self.doDock == True:
closeevent.ignore()
self.hide()
elif self.wantsDocking():
closeevent.accept()
self.componentChecker.stop()
# else:
# closeevent.accept()
# self.forceExit()
# sys.exit(0)
self.componentChecker.exit = True
#
# Forces the program to exit
def forceExit(self):
self.doExit = 1
self.close()
#
# Clears the interface selection when the user presses 'Esc'
def keyPressEvent(self, keyevent):
if keyevent.key() == 16777216:#0x01000000
self.ui.checkList.clearSelection()
if self.canvas.ui != None: self.canvas.ui.close()
#
# Interface stuff:
def uiChange(self):
self.ui.checkList.setCurrentRow(0)
self.selectCheck()
self.clearFocus()
def clearFocus(self):
self.ui.checkList.clearSelection()
def log(self, text):
self.ui.outputText.append(' * ' + QtCore.QTime.currentTime().toString() + ': ' + text)
def getConfigByAlias(self, alias):
for config in self.compConfig:
if config.alias == alias:
return config
return None
#
# Return 1 if docking is selected, 0 otherwise.
def wantsDocking(self):
if self.doDock == True: return 1
else: return 0
def resizeEvent(self, e):
old = e.oldSize()
new = e.size()
inc = new - old
if (inc.width != 0 or inc.height!=0):
self.canvas.resize(self.canvas.size()+inc)
e.accept()