class ParameditWidget(QWidget):
"""
This class represents a pane where parameter editor widgets of multiple
nodes are shown. In rqt_reconfigure, this pane occupies right half of the
entire visible area.
"""
# public signal
sig_node_disabled_selected = Signal(str)
def __init__(self, rospack):
""""""
super(ParameditWidget, self).__init__()
ui_file = os.path.join(rospack.get_path('rqt_reconfigure'),
'resource', 'paramedit_pane.ui')
loadUi(ui_file, self, {'ParameditWidget': ParameditWidget})
self._dynreconf_clients = OrderedDict()
# Adding the list of Items
self.vlayout = QVBoxLayout(self.scrollarea_holder_widget)
#self._set_index_widgets(self.listview, paramitems_dict) # causes error
self.destroyed.connect(self.close)
def _set_index_widgets(self, view, paramitems_dict):
"""
@deprecated: Causes error
"""
i = 0
for p in paramitems_dict:
view.setIndexWidget(i, p)
i += 1
def show_reconf(self, dynreconf_widget):
"""
Callback when user chooses a node.
@param dynreconf_widget:
"""
node_grn = dynreconf_widget.get_node_grn()
rospy.logdebug('ParameditWidget.show str(node_grn)=%s', str(node_grn))
dynreconf_client = None
if not node_grn in self._dynreconf_clients.keys():
# Add dynreconf widget if there hasn't one existed.
#TODO think about sharing dynamic_reconfigure.client instances
# with NodeSelecorWidget...generating 2 instances of the same node
# is nothing but inefficient and bad design.
try:
dynreconf_client = dynamic_reconfigure.client.Client(
str(node_grn), timeout=100.0)
except rospy.exceptions.ROSException:
rospy.logerr("Could not connect to %s" % node_grn)
#TODO(Isaac) Needs to show err msg on GUI too.
return
_dynreconf_client = DynreconfClientWidget(dynreconf_client,
node_grn)
# Client gets renewed every time different node_grn was clicked.
self._dynreconf_clients.__setitem__(node_grn, _dynreconf_client)
self.vlayout.addWidget(_dynreconf_client)
_dynreconf_client.sig_node_disabled_selected.connect(
self._node_disabled)
else: # If there has one already existed, remove it.
self._remove_node(node_grn)
#LayoutUtil.clear_layout(self.vlayout)
# Re-add the rest of existing items to layout.
#for k, v in self._dynreconf_clients.iteritems():
# rospy.loginfo('added to layout k={} v={}'.format(k, v))
# self.vlayout.addWidget(v)
# Add color to alternate the rim of the widget.
LayoutUtil.alternate_color(self._dynreconf_clients.itervalues(),
[Qt.white, Qt.lightGray])
def close(self):
for dc in self._dynreconf_clients:
# Clear out the old widget
dc.close()
dc = None
self._paramedit_scrollarea.deleteLater()
def filter_param(self, filter_key):
"""
:type filter_key:
"""
#TODO Pick nodes that match filter_key.
#TODO For the nodes that are kept in previous step, call
# DynreconfWidget.filter_param for all of its existing
# instances.
pass
def _remove_node(self, node_grn):
try:
i = self._dynreconf_clients.keys().index(node_grn)
except ValueError:
# ValueError occurring here means that the specified key is not
# found, most likely already removed, which is possible in the
# following situation/sequence:
#
# Node widget on ParameditWidget removed by clicking disable button
# --> Node deselected on tree widget gets updated
# --> Tree widget detects deselection
# --> Tree widget emits deselection signal, which is captured by
# ParameditWidget's slot. Thus reaches this method again.
return
item = self.vlayout.itemAt(i)
if isinstance(item, QWidgetItem):
item.widget().close()
w = self._dynreconf_clients.pop(node_grn)
rospy.logdebug('popped={} Len of left clients={}'.format(
w, len(self._dynreconf_clients)))
def _node_disabled(self, node_grn):
rospy.logdebug('paramedit_w _node_disabled grn={}'.format(node_grn))
# Signal to notify other GUI components (eg. nodes tree pane) that
# a node widget is disabled.
self.sig_node_disabled_selected.emit(node_grn)
# Remove the selected node widget from the internal list of nodes.
self._remove_node(node_grn)
class ParameditWidget(QWidget):
"""
This class represents a pane where parameter editor widgets of multiple
nodes are shown. In rqt_reconfigure, this pane occupies right half of the
entire visible area.
"""
# public signal
sig_node_disabled_selected = Signal(str)
def __init__(self, rospack):
""""""
super(ParameditWidget, self).__init__()
ui_file = os.path.join(rospack.get_path('rqt_reconfigure'), 'resource',
'paramedit_pane.ui')
loadUi(ui_file, self, {'ParameditWidget': ParameditWidget})
self._dynreconf_clients = OrderedDict()
# Adding the list of Items
self.vlayout = QVBoxLayout(self.scrollarea_holder_widget)
#self._set_index_widgets(self.listview, paramitems_dict) # causes error
self.destroyed.connect(self.close)
def _set_index_widgets(self, view, paramitems_dict):
"""
@deprecated: Causes error
"""
i = 0
for p in paramitems_dict:
view.setIndexWidget(i, p)
i += 1
def show_reconf(self, dynreconf_widget):
"""
Callback when user chooses a node.
@param dynreconf_widget:
"""
node_grn = dynreconf_widget.get_node_grn()
rospy.logdebug('ParameditWidget.show str(node_grn)=%s', str(node_grn))
dynreconf_client = None
if not node_grn in self._dynreconf_clients.keys():
# Add dynreconf widget if there hasn't one existed.
#TODO think about sharing dynamic_reconfigure.client instances
# with NodeSelecorWidget...generating 2 instances of the same node
# is nothing but inefficient and bad design.
try:
dynreconf_client = dynamic_reconfigure.client.Client(
str(node_grn), timeout=5.0)
except rospy.exceptions.ROSException:
rospy.logerr("Could not connect to %s" % node_grn)
#TODO(Isaac) Needs to show err msg on GUI too.
return
_dynreconf_client = DynreconfClientWidget(dynreconf_client,
node_grn)
# Client gets renewed every time different node_grn was clicked.
self._dynreconf_clients.__setitem__(node_grn, _dynreconf_client)
self.vlayout.addWidget(_dynreconf_client)
_dynreconf_client.sig_node_disabled_selected.connect(
self._node_disabled)
else: # If there has one already existed, remove it.
self._remove_node(node_grn)
#LayoutUtil.clear_layout(self.vlayout)
# Re-add the rest of existing items to layout.
#for k, v in self._dynreconf_clients.iteritems():
# rospy.loginfo('added to layout k={} v={}'.format(k, v))
# self.vlayout.addWidget(v)
# Add color to alternate the rim of the widget.
LayoutUtil.alternate_color(self._dynreconf_clients.itervalues(),
[Qt.white, Qt.lightGray])
def close(self):
for dc in self._dynreconf_clients:
# Clear out the old widget
dc.close()
dc = None
self._paramedit_scrollarea.deleteLater()
def filter_param(self, filter_key):
"""
:type filter_key:
"""
#TODO Pick nodes that match filter_key.
#TODO For the nodes that are kept in previous step, call
# DynreconfWidget.filter_param for all of its existing
# instances.
pass
def _remove_node(self, node_grn):
try:
i = self._dynreconf_clients.keys().index(node_grn)
except ValueError:
# ValueError occurring here means that the specified key is not
# found, most likely already removed, which is possible in the
# following situation/sequence:
#
# Node widget on ParameditWidget removed by clicking disable button
# --> Node deselected on tree widget gets updated
# --> Tree widget detects deselection
# --> Tree widget emits deselection signal, which is captured by
# ParameditWidget's slot. Thus reaches this method again.
return
item = self.vlayout.itemAt(i)
if isinstance(item, QWidgetItem):
item.widget().close()
w = self._dynreconf_clients.pop(node_grn)
rospy.logdebug('popped={} Len of left clients={}'.format(
w, len(self._dynreconf_clients)))
def _node_disabled(self, node_grn):
rospy.logdebug('paramedit_w _node_disabled grn={}'.format(node_grn))
# Signal to notify other GUI components (eg. nodes tree pane) that
# a node widget is disabled.
self.sig_node_disabled_selected.emit(node_grn)
# Remove the selected node widget from the internal list of nodes.
self._remove_node(node_grn)
