class NetworkDiscoveryDialog(QDialog, threading.Thread):
TIMEOUT = 0.1
display_clear_signal = Signal()
display_append_signal = Signal(str)
status_text_signal = Signal(str)
network_join_request = Signal(int)
def __init__(self,
default_mcast_group,
default_port,
networks_count,
parent=None):
'''
Creates an input dialog.
@param default_port: the default discovery port
@type default_port: C{int}
@param networks_count: the count of discovering ports
@type networks_count: C{int}
'''
QDialog.__init__(self, parent=parent)
threading.Thread.__init__(self)
self.default_port = default_port
self.setObjectName('NetworkDiscoveryDialog')
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle('Network Discovery')
self.resize(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display_clear_signal.connect(self.display.clear)
self.display_append_signal.connect(self.display.append)
self.display.anchorClicked.connect(self.on_anchorClicked)
self.status_label = QLabel('0 messages', self)
self.verticalLayout.addWidget(self.status_label)
self.status_text_signal.connect(self.status_label.setText)
self._msg_counts = dict()
self._networks_count = networks_count
self._running = True
self._received_msgs = 0
self._discovered = dict()
self._hosts = dict() # resolution for hostname and address
self.mutex = threading.RLock()
self.sockets = []
with self.mutex:
try:
for p in range(networks_count):
msock = DiscoverSocket(default_port + p,
default_mcast_group)
self.sockets.append(msock)
msock.settimeout(self.TIMEOUT)
except Exception as e:
self.display.setText(utf8(e))
self.setDaemon(True)
self.start()
def on_heartbeat_received(self, msg, address, is_multicast):
force_update = False
with self.mutex:
try:
hostname = self._hosts[address[0]]
except Exception:
self.status_text_signal.emit("resolve %s" % address[0])
hostname = nm.nameres().hostname(utf8(address[0]),
resolve=True)
self._hosts[address[0]] = hostname
try:
(_version,
_msg_tuple) = Discoverer.msg2masterState(msg, address)
index = address[1] - self.default_port
if index not in self._discovered:
self._discovered[index] = dict()
self._discovered[index][address] = (hostname, time.time())
if hostname not in self._msg_counts:
self._msg_counts[hostname] = 0
self._msg_counts[hostname] += 1
self._received_msgs += 1
force_update = True
except Exception:
print(traceback.format_exc(1))
if force_update:
self._updateDisplay()
def run(self):
self.parent().masterlist_service.refresh(self.parent().getMasteruri(),
False)
while (not rospy.is_shutdown()) and self._running:
with self.mutex:
for msock in self.sockets:
received = True
while received:
try:
recv_item = msock.receive_queue.get(False)
self._received_msgs += 1
self.on_heartbeat_received(
recv_item.msg, recv_item.sender_addr,
(recv_item.via == QueueReceiveItem.MULTICAST))
except queue.Empty:
received = False
status_text = 'received messages: %d' % (self._received_msgs)
self.status_text_signal.emit(status_text)
# self.parent().masterlist_service.refresh(self.parent().getMasteruri(), False)
time.sleep(3)
def closeEvent(self, event):
self.stop()
QDialog.closeEvent(self, event)
def stop(self):
self._running = False
with self.mutex:
for p in range(len(self.sockets)):
try:
self.sockets[p].close()
except Exception:
pass
def _updateDisplay(self):
self.display_clear_signal.emit()
text = '<div style="font-family:Fixedsys,Courier,monospace; padding:10px;">\n'
for index, addr_dict in self._discovered.items():
text = ''.join([
text, 'Network <b>',
utf8(index), '</b>: <a href="',
utf8(index), '">join</a><dl>'
])
for addr, (hostname, ts) in addr_dict.items():
text = ''.join([
text, '<dt>',
self._getTsStr(ts), ' <b><u>',
utf8(hostname), '</u></b> ',
utf8(addr), ', received messages: ',
str(self._msg_counts[hostname]), '</dt>\n'
])
text = ''.join([text, '</dl><br>'])
text = ''.join([text, '</div>'])
self.display_append_signal.emit(text)
def _getTsStr(self, timestamp):
dt = datetime.fromtimestamp(timestamp)
diff = time.time() - timestamp
diff_dt = datetime.fromtimestamp(diff)
before = '0 sec'
if (diff < 60):
before = diff_dt.strftime('%S sec')
elif (diff < 3600):
before = diff_dt.strftime('%M:%S min')
elif (diff < 86400):
before = diff_dt.strftime('%H:%M:%S std')
else:
before = diff_dt.strftime('%d Day(s) %H:%M:%S')
return ''.join([dt.strftime('%H:%M:%S'), ' (', before, ')'])
def on_anchorClicked(self, url):
self._updateDisplay()
try:
self.network_join_request.emit(int(url.toString()))
except Exception:
print(traceback.format_exc(1))
class SelectDialog(QDialog):
'''
This dialog creates an input mask for a string list and return selected entries.
'''
def __init__(self,
items=list(),
buttons=QDialogButtonBox.Cancel | QDialogButtonBox.Ok,
exclusive=False,
preselect_all=False,
title='',
description='',
icon='',
parent=None,
select_if_single=True,
checkitem1='',
checkitem2='',
closein=0):
'''
Creates an input dialog.
@param items: a list with strings
@type items: C{list()}
'''
QDialog.__init__(self, parent=parent)
self.setObjectName(' - '.join(['SelectDialog', utf8(items)]))
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
# add filter row
self.filter_frame = QFrame(self)
filterLayout = QHBoxLayout(self.filter_frame)
filterLayout.setContentsMargins(1, 1, 1, 1)
label = QLabel("Filter:", self.filter_frame)
self.filter_field = EnchancedLineEdit(self.filter_frame)
filterLayout.addWidget(label)
filterLayout.addWidget(self.filter_field)
self.filter_field.textChanged.connect(self._on_filter_changed)
self.verticalLayout.addWidget(self.filter_frame)
if description:
self.description_frame = QFrame(self)
descriptionLayout = QHBoxLayout(self.description_frame)
# descriptionLayout.setContentsMargins(1, 1, 1, 1)
if icon:
self.icon_label = QLabel(self.description_frame)
self.icon_label.setSizePolicy(QSizePolicy.Fixed,
QSizePolicy.Fixed)
self.icon_label.setPixmap(
QPixmap(icon).scaled(30, 30, Qt.KeepAspectRatio))
descriptionLayout.addWidget(self.icon_label)
self.description_label = QLabel(self.description_frame)
self.description_label.setWordWrap(True)
self.description_label.setText(description)
descriptionLayout.addWidget(self.description_label)
self.verticalLayout.addWidget(self.description_frame)
# create area for the parameter
self.content = MainBox(self)
if items:
self.scroll_area = QScrollArea(self)
self.scroll_area.setFocusPolicy(Qt.NoFocus)
self.scroll_area.setObjectName("scroll_area")
self.scroll_area.setWidgetResizable(True)
self.scroll_area.setWidget(self.content)
self.verticalLayout.addWidget(self.scroll_area)
self.checkitem1 = checkitem1
self.checkitem1_result = False
self.checkitem2 = checkitem2
self.checkitem2_result = False
# add select all option
if not exclusive and items:
self._ignore_next_toggle = False
self.select_all_checkbox = QCheckBox('all entries')
self.select_all_checkbox.setTristate(True)
self.select_all_checkbox.stateChanged.connect(
self._on_select_all_checkbox_stateChanged)
self.verticalLayout.addWidget(self.select_all_checkbox)
self.content.toggled.connect(self._on_main_toggle)
if self.checkitem1:
self.checkitem1_checkbox = QCheckBox(self.checkitem1)
self.checkitem1_checkbox.stateChanged.connect(
self._on_select_checkitem1_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem1_checkbox)
if self.checkitem2:
self.checkitem2_checkbox = QCheckBox(self.checkitem2)
self.checkitem2_checkbox.stateChanged.connect(
self._on_select_checkitem2_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem2_checkbox)
if not items:
spacerItem = QSpacerItem(1, 1, QSizePolicy.Expanding,
QSizePolicy.Expanding)
self.verticalLayout.addItem(spacerItem)
self._close_timer = None
self._closein = closein - 1
if closein > 0:
self.closein_label = QLabel("OK in %d sec..." % closein)
self.closein_label.setAlignment(Qt.AlignRight)
self.verticalLayout.addWidget(self.closein_label)
self._close_timer = threading.Timer(1.0, self._on_close_timer)
self._close_timer.start()
# create buttons
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setStandardButtons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
# set the input fields
if items:
self.content.createFieldsFromValues(items, exclusive)
if (select_if_single and len(items) == 1) or preselect_all:
self.select_all_checkbox.setCheckState(Qt.Checked)
if not items or len(items) < 7:
self.filter_frame.setVisible(False)
# print '=============== create', self.objectName()
#
# def __del__(self):
# print "************ destroy", self.objectName()
def _on_main_toggle(self, state):
self.cancel_autoclose()
self._ignore_next_toggle = state != self.select_all_checkbox.checkState(
)
self.select_all_checkbox.setCheckState(state)
def _on_select_all_checkbox_stateChanged(self, state):
self.cancel_autoclose()
if not self._ignore_next_toggle:
self.content.setState(state)
self._ignore_next_toggle = False
def _on_select_checkitem1_checkbox_stateChanged(self, state):
self.cancel_autoclose()
if state == Qt.Checked:
self.checkitem1_result = True
elif state == Qt.Unchecked:
self.checkitem1_result = False
def _on_select_checkitem2_checkbox_stateChanged(self, state):
self.cancel_autoclose()
if state == Qt.Checked:
self.checkitem2_result = True
elif state == Qt.Unchecked:
self.checkitem2_result = False
def _on_filter_changed(self):
self.content.filter(self.filter_field.text())
def _on_close_timer(self):
self.closein_label.setText("OK in %d sec..." % self._closein)
if self._closein == 0:
self.buttonBox.accepted.emit()
return
self._closein -= 1
self._close_timer = threading.Timer(1.0, self._on_close_timer)
self._close_timer.start()
def cancel_autoclose(self):
if self._close_timer is not None:
self._close_timer.cancel()
self.closein_label.setVisible(False)
def getSelected(self):
return self.content.getSelected()
@staticmethod
def getValue(title,
description='',
items=list(),
exclusive=False,
preselect_all=False,
icon='',
parent=None,
select_if_single=True,
checkitem1='',
checkitem2='',
closein=0):
selectDia = SelectDialog(items,
exclusive=exclusive,
preselect_all=preselect_all,
description=description,
icon=icon,
parent=parent,
select_if_single=select_if_single,
checkitem1=checkitem1,
checkitem2=checkitem2,
closein=closein)
selectDia.setWindowTitle(title)
selectDia.resize(480, 256)
if selectDia.exec_():
if selectDia.checkitem2:
return selectDia.getSelected(
), True, selectDia.checkitem1_result, selectDia.checkitem2_result
if selectDia.checkitem1:
return selectDia.getSelected(
), True, selectDia.checkitem1_result
return selectDia.getSelected(), True
if selectDia.checkitem2:
return list(), False, False, False
if selectDia.checkitem1:
return list(), False, False
return list(), False
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%% close handling %%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
def accept(self):
self.cancel_autoclose()
self.setResult(QDialog.Accepted)
self.hide()
def reject(self):
self.cancel_autoclose()
self.setResult(QDialog.Rejected)
self.hide()
def hideEvent(self, event):
self.close()
def closeEvent(self, event):
'''
Test the open files for changes and save this if needed.
'''
self.cancel_autoclose()
self.setAttribute(Qt.WA_DeleteOnClose, True)
QDialog.closeEvent(self, event)
class MessageBox(QDialog):
NoIcon = 0
Information = 1
Warning = 2
Critical = 3
Question = 4
NoButton = 0
Ok = 1 # An "OK" button defined with the AcceptRole .
Open = 2 # A "Open" button defined with the AcceptRole .
Save = 4 # A "Save" button defined with the AcceptRole .
Cancel = 8 # A "Cancel" button defined with the RejectRole .
Close = 16 # A "Close" button defined with the RejectRole .
Discard = 32 # A "Discard" or "Don't Save" button, depending on the platform, defined with the DestructiveRole .
Apply = 64 # An "Apply" button defined with the ApplyRole .
Reset = 128 # A "Reset" button defined with the ResetRole .
RestoreDefaults = 256 # A "Restore Defaults" button defined with the ResetRole .
Help = 512 # A "Help" button defined with the HelpRole .
SaveAll = 1024 # A "Save All" button defined with the AcceptRole .
Yes = 2048 # A "Yes" button defined with the YesRole .
YesToAll = 4096 # A "Yes to All" button defined with the YesRole .
No = 8192 # A "No" button defined with the NoRole .
NoToAll = 16384 # A "No to All" button defined with the NoRole .
Abort = 32768 # An "Abort" button defined with the RejectRole .
Retry = 65536 # A "Retry" button defined with the AcceptRole .
Ignore = 131072 # An "Ignore" button defined with the AcceptRole .
Avoid = 262144 # An "'Don't show again'" button defined with the HelpRole, returns a default AcceptButton .
def __init__(self,
icon,
title,
text,
detailed_text="",
buttons=Cancel | Ok,
parent=None):
QDialog.__init__(self, parent=parent)
self.setWindowFlags(self.windowFlags() & ~Qt.WindowTitleHint)
self.setWindowFlags(self.windowFlags()
& ~Qt.WindowContextHelpButtonHint
& ~Qt.WindowMinimizeButtonHint)
self.setObjectName('MessageBox')
self._use_checkbox = True
self.text = text
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.horizontalLayout = QHBoxLayout()
self.horizontalLayout.setObjectName("horizontalLayout")
self.horizontalLayout.setContentsMargins(1, 1, 1, 1)
# create icon
pixmap = None
if icon == self.NoIcon:
pass
elif icon == self.Question:
pixmap = QPixmap(
QImage(":icons/question.png").scaled(56, 56,
Qt.IgnoreAspectRatio,
Qt.SmoothTransformation))
elif icon == self.Information:
pixmap = QPixmap(
QImage(":icons/info.png").scaled(56, 56, Qt.IgnoreAspectRatio,
Qt.SmoothTransformation))
elif icon == self.Warning:
pixmap = QPixmap(
QImage(":icons/warning.png").scaled(56, 56,
Qt.IgnoreAspectRatio,
Qt.SmoothTransformation))
elif icon == self.Critical:
pixmap = QPixmap(
QImage(":icons/critical.png").scaled(56, 56,
Qt.IgnoreAspectRatio,
Qt.SmoothTransformation))
spacerItem = QSpacerItem(10, 60, QSizePolicy.Minimum,
QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
self.icon_label = QLabel()
if pixmap is not None:
self.icon_label.setPixmap(pixmap)
self.icon_label.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
self.horizontalLayout.addWidget(self.icon_label)
spacerItem = QSpacerItem(10, 60, QSizePolicy.Minimum,
QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add message
self.message_label = QLabel(text)
self.message_label.setWordWrap(True)
self.message_label.setScaledContents(True)
self.message_label.setOpenExternalLinks(True)
self.horizontalLayout.addWidget(self.message_label)
self.verticalLayout.addLayout(self.horizontalLayout)
# create buttons
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(Qt.Horizontal)
self._accept_button = None
self._reject_button = None
self._buttons = buttons
self._create_buttons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
if detailed_text:
self.btn_show_details = QPushButton(self.tr('Details...'))
self.btn_show_details.setCheckable(True)
self.btn_show_details.setChecked(True)
self.btn_show_details.toggled.connect(self.on_toggled_details)
self.buttonBox.addButton(self.btn_show_details,
QDialogButtonBox.ActionRole)
# create area for detailed text
self.textEdit = textEdit = QTextEdit(self)
textEdit.setObjectName("textEdit")
textEdit.setReadOnly(True)
textEdit.setText(detailed_text)
# textEdit.setVisible(False)
self.verticalLayout.addWidget(self.textEdit)
self.resize(480, self.verticalLayout.totalSizeHint().height())
buttons_in_box = self.buttonBox.buttons()
if buttons_in_box:
self.buttonBox.buttons()[0].setFocus()
def setAcceptButton(self, button):
'''
Sets the button with given ID to accept button if more then one button with AcceptRole was added to this dialog.
Adds the buttton to the box if is not already in.
:param int button: button id
'''
if not button & self._buttons:
self._create_buttons(button)
self._accept_button = button
def setRejectButton(self, button):
'''
Sets the button with given ID to reject button if more then one button with RejectRole was added to this dialog.
Adds the buttton to the box if is not already in.
:param int button: button id
'''
if not button & self._buttons:
self._create_buttons(button)
self._reject_button = button
def on_toggled_details(self, checked):
if checked:
self.verticalLayout.addWidget(self.textEdit)
else:
self.verticalLayout.removeWidget(self.textEdit)
self.textEdit.setVisible(checked)
if not self.isMaximized():
self.setMinimumSize(self.verticalLayout.totalMinimumSize())
self.resize(self._current_size.width(),
self.verticalLayout.totalSizeHint().height())
@staticmethod
def about(parent, title, text, detailed_text='', buttons=Close):
box = MessageBox(MessageBox.Information,
title,
text,
detailed_text=detailed_text,
buttons=buttons,
parent=parent)
if MessageBox.Yes & buttons:
box.setAcceptButton(MessageBox.Yes)
if MessageBox.Cancel & buttons:
box.setRejectButton(MessageBox.Cancel)
elif MessageBox.No & buttons:
box.setRejectButton(MessageBox.No)
return box.exec_()
@staticmethod
def information(parent, title, text, detailed_text='', buttons=Close):
box = MessageBox(MessageBox.Information,
title,
text,
detailed_text=detailed_text,
buttons=buttons,
parent=parent)
if MessageBox.Yes & buttons:
box.setAcceptButton(MessageBox.Yes)
if MessageBox.Cancel & buttons:
box.setRejectButton(MessageBox.Cancel)
elif MessageBox.No & buttons:
box.setRejectButton(MessageBox.No)
return box.exec_()
@staticmethod
def question(parent,
title,
text,
detailed_text='',
buttons=Yes | No | Cancel):
box = MessageBox(MessageBox.Question,
title,
text,
detailed_text=detailed_text,
buttons=buttons,
parent=parent)
if MessageBox.Yes & buttons:
box.setAcceptButton(MessageBox.Yes)
if MessageBox.Cancel & buttons:
box.setRejectButton(MessageBox.Cancel)
elif MessageBox.No & buttons:
box.setRejectButton(MessageBox.No)
return box.exec_()
@staticmethod
def warning(parent, title, text, detailed_text='', buttons=Ok):
box = MessageBox(MessageBox.Warning,
title,
text,
detailed_text=detailed_text,
buttons=buttons,
parent=parent)
if MessageBox.Yes & buttons:
box.setAcceptButton(MessageBox.Yes)
if MessageBox.Cancel & buttons:
box.setRejectButton(MessageBox.Cancel)
elif MessageBox.No & buttons:
box.setRejectButton(MessageBox.No)
return box.exec_()
@staticmethod
def critical(parent, title, text, detailed_text='', buttons=Ok):
box = MessageBox(MessageBox.Critical,
title,
text,
detailed_text=detailed_text,
buttons=buttons,
parent=parent)
if MessageBox.Yes & buttons:
box.setAcceptButton(MessageBox.Yes)
if MessageBox.Cancel & buttons:
box.setRejectButton(MessageBox.Cancel)
elif MessageBox.No & buttons:
box.setRejectButton(MessageBox.No)
return box.exec_()
def resizeEvent(self, event):
if not self.isMaximized():
self._current_size = event.size()
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%% close handling %%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
def exec_(self):
if self.text in IGNORED_ERRORS:
self.accept()
return self.result()
return QDialog.exec_(self)
def accept(self):
if self.result() == 0:
if self._accept_button is not None:
self.setResult(self._accept_button)
else:
self.setResult(1)
self.accepted.emit()
if self.isModal():
self.hide()
def reject(self):
if self.result() == 0:
if self._reject_button is not None:
self.setResult(self._reject_button)
self.rejected.emit()
self.hide()
def hideEvent(self, event):
# event.ignore()
self.close()
def closeEvent(self, event):
self.setAttribute(Qt.WA_DeleteOnClose, True)
QDialog.closeEvent(self, event)
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%% create buttons %%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
def _create_buttons(self, buttons):
if MessageBox.Ok & buttons:
self._accept_button = MessageBox.Ok
bt = QPushButton(self.tr("&ok"))
bt.clicked.connect(self._on_ok_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
if MessageBox.Open & buttons:
self._accept_button = MessageBox.Open
bt = QPushButton(self.tr("&Open"))
bt.clicked.connect(self._on_open_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
if MessageBox.Save & buttons:
self._accept_button = MessageBox.Save
bt = QPushButton(self.tr("&Save"))
bt.clicked.connect(self._on_save_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
if MessageBox.Cancel & buttons:
self._reject_button = MessageBox.Cancel
bt = QPushButton(self.tr("&Cancel"))
bt.clicked.connect(self._on_cancel_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.RejectRole)
if MessageBox.Close & buttons:
self._reject_button = MessageBox.Close
bt = QPushButton(self.tr("&Close"))
bt.clicked.connect(self._on_close_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.RejectRole)
if MessageBox.Discard & buttons:
bt = QPushButton(self.tr("&Discard"))
bt.clicked.connect(self._on_discard_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.DestructiveRole)
if MessageBox.Apply & buttons:
bt = QPushButton(self.tr("&Apply"))
bt.clicked.connect(self._on_apply_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.ApplyRole)
if MessageBox.Reset & buttons:
bt = QPushButton(self.tr("&Reset"))
bt.clicked.connect(self._on_reset_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.ResetRole)
if MessageBox.RestoreDefaults & buttons:
bt = QPushButton(self.tr("&RestoreDefaults"))
bt.clicked.connect(self._on_restore_defaults_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.ResetRole)
if MessageBox.Help & buttons:
bt = QPushButton(self.tr("&Help"))
bt.clicked.connect(self._on_help_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.HelpRole)
if MessageBox.SaveAll & buttons:
self._accept_button = MessageBox.SaveAll
bt = QPushButton(self.tr("&SaveAll"))
bt.clicked.connect(self._on_saveall_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
if MessageBox.Yes & buttons:
bt = QPushButton(self.tr("&Yes"))
bt.clicked.connect(self._on_yes_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.YesRole)
if MessageBox.YesToAll & buttons:
bt = QPushButton(self.tr("&YesToAll"))
bt.clicked.connect(self._on_yestoall_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.YesRole)
if MessageBox.No & buttons:
bt = QPushButton(self.tr("&No"))
bt.clicked.connect(self._on_no_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.NoRole)
if MessageBox.NoToAll & buttons:
bt = QPushButton(self.tr("&NoToAll"))
bt.clicked.connect(self._on_notoall_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.NoRole)
if MessageBox.Abort & buttons:
self._reject_button = MessageBox.Abort
bt = QPushButton(self.tr("&Abort"))
bt.clicked.connect(self._on_abort_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.RejectRole)
if MessageBox.Retry & buttons:
self._accept_button = MessageBox.Retry
bt = QPushButton(self.tr("&Retry"))
bt.clicked.connect(self._on_retry_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
if MessageBox.Ignore & buttons:
self._accept_button = MessageBox.Ignore
bt = QPushButton(self.tr("&Ignore"))
bt.clicked.connect(self._on_ignore_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
if MessageBox.Avoid & buttons:
if self._use_checkbox:
checkbox = QCheckBox("&Don't show again", self)
checkbox.stateChanged.connect(self._check_ignore)
self.buttonBox.addButton(checkbox, QDialogButtonBox.HelpRole)
else:
bt = QPushButton(self.tr("&Don't show again"))
bt.setMaximumHeight(24)
bt.clicked.connect(self._add_to_ignore)
self.buttonBox.addButton(bt, QDialogButtonBox.HelpRole)
def _on_ok_clicked(self):
self.done(MessageBox.Ok)
def _on_open_clicked(self):
self.done(MessageBox.Open)
def _on_save_clicked(self):
self.done(MessageBox.Save)
def _on_cancel_clicked(self):
self.done(MessageBox.Cancel)
def _on_close_clicked(self):
self.done(MessageBox.Close)
def _on_discard_clicked(self):
self.done(MessageBox.Discard)
def _on_apply_clicked(self):
self.done(MessageBox.Apply)
def _on_reset_clicked(self):
self.done(MessageBox.Reset)
def _on_restore_defaults_clicked(self):
self.done(MessageBox.RestoreDefaults)
def _on_help_clicked(self):
self.done(MessageBox.Help)
def _on_saveall_clicked(self):
self.done(MessageBox.SaveAll)
def _on_yes_clicked(self):
self.done(MessageBox.Yes)
def _on_yestoall_clicked(self):
self.done(MessageBox.YesToAll)
def _on_no_clicked(self):
self.done(MessageBox.No)
def _on_notoall_clicked(self):
self.done(MessageBox.NoToAll)
def _on_abort_clicked(self):
self.done(MessageBox.Abort)
def _on_retry_clicked(self):
self.done(MessageBox.Retry)
def _on_ignore_clicked(self):
self.done(MessageBox.Ignore)
def _add_to_ignore(self):
IGNORED_ERRORS.append(self.text)
self.accept()
def _check_ignore(self, state):
if state:
IGNORED_ERRORS.append(self.text)
else:
try:
IGNORED_ERRORS.remove(self.text)
except Exception:
pass
class EchoDialog(QDialog):
MESSAGE_LINE_LIMIT = 128
MESSAGE_HZ_LIMIT = 10
MAX_DISPLAY_MSGS = 25
STATISTIC_QUEUE_LEN = 5000
'''
This dialog shows the output of a topic.
'''
finished_signal = Signal(str)
'''
finished_signal has as parameter the name of the topic and is emitted, if this
dialog was closed.
'''
msg_signal = Signal(object, bool)
'''
msg_signal is a signal, which is emitted, if a new message was received.
'''
text_hz_signal = Signal(str)
text_signal = Signal(str)
'''
text_signal is a signal, which is emitted, if a new text to display was received.
'''
text_error_signal = Signal(str)
'''
text_error_signal is a signal, which is emitted, if a new error text to display was received.
'''
request_pw = Signal(object)
def __init__(self,
topic,
msg_type,
show_only_rate=False,
masteruri=None,
use_ssh=False,
parent=None):
'''
Creates an input dialog.
@param topic: the name of the topic
@type topic: C{str}
@param msg_type: the type of the topic
@type msg_type: C{str}
@raise Exception: if no topic class was found for the given type
'''
QDialog.__init__(self, parent=parent)
self._masteruri = masteruri
masteruri_str = '' if masteruri is None else '[%s]' % masteruri
self.setObjectName(' - '.join(['EchoDialog', topic, masteruri_str]))
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle('%s %s %s' %
('Echo --- ' if not show_only_rate else 'Hz --- ',
topic, masteruri_str))
self.resize(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png")
self.setWindowIcon(self.mIcon)
self.topic = topic
self.show_only_rate = show_only_rate
self.lock = threading.RLock()
self.last_printed_count = 0
self.msg_t0 = -1.
self.msg_tn = 0
self.times = []
self.message_count = 0
self._rate_message = ''
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.field_filter_fn = None
options = QWidget(self)
if not show_only_rate:
hLayout = QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.no_str_checkbox = no_str_checkbox = QCheckBox('Hide strings')
no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled)
hLayout.addWidget(no_str_checkbox)
self.no_arr_checkbox = no_arr_checkbox = QCheckBox('Hide arrays')
no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled)
hLayout.addWidget(no_arr_checkbox)
self.combobox_reduce_ch = QComboBox(self)
self.combobox_reduce_ch.addItems(
[str(self.MESSAGE_LINE_LIMIT), '0', '80', '256', '1024'])
self.combobox_reduce_ch.activated[str].connect(
self.combobox_reduce_ch_activated)
self.combobox_reduce_ch.setEditable(True)
self.combobox_reduce_ch.setToolTip(
"Set maximum line width. 0 disables the limit.")
hLayout.addWidget(self.combobox_reduce_ch)
# reduce_ch_label = QLabel('ch', self)
# hLayout.addWidget(reduce_ch_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding,
QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
# add combobox for displaying frequency of messages
self.combobox_displ_hz = QComboBox(self)
self.combobox_displ_hz.addItems([
str(self.MESSAGE_HZ_LIMIT), '0', '0.1', '1', '50', '100',
'1000'
])
self.combobox_displ_hz.activated[str].connect(
self.on_combobox_hz_activated)
self.combobox_displ_hz.setEditable(True)
hLayout.addWidget(self.combobox_displ_hz)
displ_hz_label = QLabel('Hz', self)
hLayout.addWidget(displ_hz_label)
# add combobox for count of displayed messages
self.combobox_msgs_count = QComboBox(self)
self.combobox_msgs_count.addItems(
[str(self.MAX_DISPLAY_MSGS), '0', '50', '100'])
self.combobox_msgs_count.activated[str].connect(
self.on_combobox_count_activated)
self.combobox_msgs_count.setEditable(True)
self.combobox_msgs_count.setToolTip(
"Set maximum displayed message count. 0 disables the limit.")
hLayout.addWidget(self.combobox_msgs_count)
displ_count_label = QLabel('#', self)
hLayout.addWidget(displ_count_label)
# add topic control button for unsubscribe and subscribe
self.topic_control_button = QToolButton(self)
self.topic_control_button.setText('stop')
self.topic_control_button.setIcon(
QIcon(':/icons/deleket_deviantart_stop.png'))
self.topic_control_button.clicked.connect(
self.on_topic_control_btn_clicked)
hLayout.addWidget(self.topic_control_button)
# add clear button
clearButton = QToolButton(self)
clearButton.setText('clear')
clearButton.clicked.connect(self.on_clear_btn_clicked)
hLayout.addWidget(clearButton)
self.verticalLayout.addWidget(options)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display.document().setMaximumBlockCount(500)
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
self.status_label = QLabel('0 messages', self)
self.verticalLayout.addWidget(self.status_label)
# subscribe to the topic
errmsg = ''
try:
self.__msg_class = message.get_message_class(msg_type)
if not self.__msg_class:
errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type
# raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type)
except Exception as e:
self.__msg_class = None
errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (
msg_type, e)
# raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e))
# variables for Subscriber
self.msg_signal.connect(self._append_message)
self.sub = None
# vairables for SSH connection
self.ssh_output_file = None
self.ssh_error_file = None
self.ssh_input_file = None
self.text_signal.connect(self._append_text)
self.text_hz_signal.connect(self._append_text_hz)
self._current_msg = ''
self._current_errmsg = ''
self.text_error_signal.connect(self._append_error_text)
# decide, which connection to open
if use_ssh:
self.__msg_class = None
self._on_display_anchorClicked(QUrl(self._masteruri))
elif self.__msg_class is None:
errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % (
errmsg)
self.display.setText('<a href="%s">open using SSH</a>' %
(masteruri))
self.display.append(errtxt)
else:
self.sub = rospy.Subscriber(self.topic, self.__msg_class,
self._msg_handle)
self.print_hz_timer = QTimer()
self.print_hz_timer.timeout.connect(self._on_calc_hz)
self.print_hz_timer.start(1000)
# print "======== create", self.objectName()
#
# def __del__(self):
# print "******* destroy", self.objectName()
# def hideEvent(self, event):
# self.close()
def closeEvent(self, event):
if self.sub is not None:
self.sub.unregister()
del self.sub
try:
self.ssh_output_file.close()
self.ssh_error_file.close()
# send Ctrl+C to remote process
self.ssh_input_file.write('%s\n' % chr(3))
self.ssh_input_file.close()
except:
pass
self.finished_signal.emit(self.topic)
if self.parent() is None:
QApplication.quit()
# else:
# self.setParent(None)
def create_field_filter(self, echo_nostr, echo_noarr):
def field_filter(val):
try:
# fields = val.__slots__
# field_types = val._slot_types
for f, t in zip(val.__slots__, val._slot_types):
if echo_noarr and '[' in t:
continue
elif echo_nostr and 'string' in t:
continue
yield f
except:
pass
return field_filter
def on_no_str_checkbox_toggled(self, state):
self.field_filter_fn = self.create_field_filter(
state, self.no_arr_checkbox.isChecked())
def on_no_arr_checkbox_toggled(self, state):
self.field_filter_fn = self.create_field_filter(
self.no_str_checkbox.isChecked(), state)
def combobox_reduce_ch_activated(self, ch_txt):
try:
self.line_limit = int(ch_txt)
except ValueError:
try:
self.line_limit = float(ch_txt)
except ValueError:
self.combobox_reduce_ch.setEditText(str(self.line_limit))
def on_combobox_hz_activated(self, hz_txt):
try:
self.receiving_hz = int(hz_txt)
except ValueError:
try:
self.receiving_hz = float(hz_txt)
except ValueError:
self.combobox_displ_hz.setEditText(str(self.receiving_hz))
def on_combobox_count_activated(self, count_txt):
try:
self.max_displayed_msgs = int(count_txt)
self._blocks_in_msg = None
except ValueError:
self.combobox_msgs_count.setEditText(str(self.max_displayed_msgs))
def on_clear_btn_clicked(self):
self.display.clear()
with self.lock:
self.message_count = 0
self._scrapped_msgs = 0
del self.times[:]
def on_topic_control_btn_clicked(self):
try:
if self.sub is None and self.ssh_output_file is None:
if self.__msg_class:
self.sub = rospy.Subscriber(self.topic, self.__msg_class,
self._msg_handle)
else:
self._on_display_anchorClicked(QUrl(self._masteruri))
self.topic_control_button.setText('stop')
self.topic_control_button.setIcon(
QIcon(':/icons/deleket_deviantart_stop.png'))
else:
if self.sub is not None:
self.sub.unregister()
self.sub = None
elif self.ssh_output_file is not None:
self.ssh_output_file.close()
self.ssh_error_file.close()
self.ssh_output_file = None
self.topic_control_button.setText('play')
self.topic_control_button.setIcon(
QIcon(':/icons/deleket_deviantart_play.png'))
self.no_str_checkbox.setEnabled(True)
self.no_arr_checkbox.setEnabled(True)
except Exception as e:
rospy.logwarn('Error while stop/play echo for topic %s: %s' %
(self.topic, e))
def _msg_handle(self, data):
self.msg_signal.emit(data,
(data._connection_header['latching'] != '0'))
def _append_message(self, msg, latched):
'''
Adds a label to the dialog's layout and shows the given text.
@param msg: the text to add to the dialog
@type msg: message object
'''
current_time = time.time()
self._count_messages(current_time)
# skip messages, if they are received often then MESSAGE_HZ_LIMIT
if self._last_received_ts != 0 and self.receiving_hz != 0:
if not latched and current_time - self._last_received_ts < 1.0 / self.receiving_hz:
self._scrapped_msgs += 1
self._scrapped_msgs_sl += 1
return
self._last_received_ts = current_time
if not self.show_only_rate:
# convert message to string and reduce line width to current limit
msg = message.strify_message(msg,
field_filter=self.field_filter_fn)
if isinstance(msg, tuple):
msg = msg[0]
msg = self._trim_width(msg)
msg = msg.replace('<', '<').replace('>', '>')
# create a notification about scrapped messages
if self._scrapped_msgs_sl > 0:
txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">scrapped %s message because of Hz-settings</pre>' % self._scrapped_msgs_sl
self.display.append(txt)
self._scrapped_msgs_sl = 0
txt = '<pre style="background-color:#FFFCCC; font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>' % (
datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), msg)
# set the count of the displayed messages on receiving the first message
self._update_max_msg_count(txt)
self.display.append(txt)
self._print_status()
def _count_messages(self, ts=time.time()):
'''
Counts the received messages. Call this method only on receive message.
'''
current_time = ts
with self.lock:
# time reset
if self.msg_t0 < 0 or self.msg_t0 > current_time:
self.msg_t0 = current_time
self.msg_tn = current_time
self.times = []
else:
self.times.append(current_time - self.msg_tn)
self.msg_tn = current_time
# keep only statistics for the last 5000 messages so as not to run out of memory
if len(self.times) > self.STATISTIC_QUEUE_LEN:
self.times.pop(0)
self.message_count += 1
def _trim_width(self, msg):
'''
reduce line width to current limit
:param msg: the message
:type msg: str
:return: trimmed message
'''
result = msg
if self.line_limit != 0:
a = ''
for l in msg.splitlines():
a = a + (l if len(l) <= self.line_limit else
l[0:self.line_limit - 3] + '...') + '\n'
result = a
return result
def _update_max_msg_count(self, txt):
'''
set the count of the displayed messages on receiving the first message
:param txt: text of the message, which will be added to the document
:type txt: str
'''
if self._blocks_in_msg is None:
td = QTextDocument(txt)
self._blocks_in_msg = td.blockCount()
self.display.document().setMaximumBlockCount(
self._blocks_in_msg * self.max_displayed_msgs)
def _on_calc_hz(self):
if rospy.is_shutdown():
self.close()
return
if self.message_count == self.last_printed_count:
return
with self.lock:
# the code from ROS rostopic
n = len(self.times)
if n < 2:
return
mean = sum(self.times) / n
rate = 1. / mean if mean > 0. else 0
# std dev
std_dev = math.sqrt(sum((x - mean)**2 for x in self.times) / n)
# min and max
max_delta = max(self.times)
min_delta = min(self.times)
self.last_printed_count = self.message_count
self._rate_message = "average rate: %.3f\tmin: %.3fs max: %.3fs std dev: %.5fs window: %s" % (
rate, min_delta, max_delta, std_dev, n + 1)
if self._scrapped_msgs > 0:
self._rate_message += " --- scrapped msgs: %s" % self._scrapped_msgs
self._print_status()
if self.show_only_rate:
self.display.append(self._rate_message)
def _print_status(self):
self.status_label.setText('%s messages %s' %
(self.message_count, self._rate_message))
def _append_text(self, text):
'''
Append echo text received through the SSH.
'''
with self.lock:
self._current_msg += text
if self._current_msg.find('---') != -1:
messages = self._current_msg.split('---')
for m in messages[:-1]:
current_time = time.time()
self._count_messages(current_time)
# limit the displayed text width
m = self._trim_width(m)
txt = '<pre style="background-color:#FFFCCC; font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>' % (
datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), m)
# set the count of the displayed messages on receiving the first message
self._update_max_msg_count(txt)
self.display.append(txt)
self._current_msg = messages[-1]
self._print_status()
def _append_error_text(self, text):
'''
Append error text received through the SSH.
'''
with self.lock:
self._current_errmsg += text
if self._current_errmsg.find('\n') != -1:
messages = self._current_errmsg.split('\n')
for m in messages[:-1]:
txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">%s</pre>' % m
self.display.append(txt)
self._current_errmsg = messages[-1]
def _append_text_hz(self, text):
'''
Append text received through the SSH for hz view.
'''
with self.lock:
self._current_msg += text
if self._current_msg.find('\n') != -1:
messages = self._current_msg.split('\n')
for m in messages[:-1]:
txt = '<div style="font-family:Fixedsys,Courier;">%s</div>' % (
m)
self.display.append(txt)
self._current_msg = messages[-1]
def _on_display_anchorClicked(self, url, user=None, pw=None):
try:
ok = False
if self.show_only_rate:
self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh(
).ssh_exec(url.host(), ['rostopic hz %s' % (self.topic)],
user,
pw,
auto_pw_request=True,
get_pty=True)
self.status_label.setText('connected to %s over SSH' %
url.host())
else:
self.combobox_displ_hz.setEnabled(False)
nostr = '--nostr' if self.no_str_checkbox.isChecked() else ''
noarr = '--noarr' if self.no_arr_checkbox.isChecked() else ''
self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh(
).ssh_exec(
url.host(),
['rostopic echo %s %s %s' % (nostr, noarr, self.topic)],
user,
pw,
auto_pw_request=True,
get_pty=True)
if ok:
self.display.clear()
target = self._read_output_hz if self.show_only_rate else self._read_output
thread = threading.Thread(target=target,
args=((self.ssh_output_file, )))
thread.setDaemon(True)
thread.start()
thread = threading.Thread(target=self._read_error,
args=((self.ssh_error_file, )))
thread.setDaemon(True)
thread.start()
elif self.ssh_output_file:
self.ssh_output_file.close()
self.ssh_error_file.close()
except Exception as e:
self._append_error_text('%s\n' % e)
# import traceback
# print traceback.format_exc()
def _read_output_hz(self, output_file):
try:
while not output_file.closed:
text = output_file.read(1)
if text:
self.text_hz_signal.emit(text)
except:
pass
# import traceback
# print traceback.format_exc()
def _read_output(self, output_file):
while not output_file.closed:
text = output_file.read(1)
if text:
self.text_signal.emit(text)
def _read_error(self, error_file):
try:
while not error_file.closed:
text = error_file.read(1)
if text:
self.text_error_signal.emit(text)
except:
pass
class Editor(QMainWindow):
'''
Creates a dialog to edit a launch file.
'''
finished_signal = Signal(list)
'''
finished_signal has as parameter the filenames of the initialization and is emitted, if this
dialog was closed.
'''
def __init__(self, filenames, search_text='', parent=None):
'''
@param filenames: a list with filenames. The last one will be activated.
@type filenames: C{[str, ...]}
@param search_text: if not empty, searches in new document for first occurrence of the given text
@type search_text: C{str} (Default: C{Empty String})
'''
QMainWindow.__init__(self, parent)
self.setObjectName(' - '.join(['Editor', str(filenames)]))
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.mIcon = QIcon(":/icons/crystal_clear_edit_launch.png")
self._error_icon = QIcon(":/icons/crystal_clear_warning.png")
self._empty_icon = QIcon()
self.setWindowIcon(self.mIcon)
window_title = "ROSLaunch Editor"
if filenames:
window_title = self.__getTabName(filenames[0])
self.setWindowTitle(window_title)
self.init_filenames = list(filenames)
self._search_thread = None
# list with all open files
self.files = []
# create tabs for files
self.main_widget = QWidget(self)
self.verticalLayout = QVBoxLayout(self.main_widget)
self.verticalLayout.setContentsMargins(0, 0, 0, 0)
self.verticalLayout.setSpacing(1)
self.verticalLayout.setObjectName("verticalLayout")
self.tabWidget = EditorTabWidget(self)
self.tabWidget.setTabPosition(QTabWidget.North)
self.tabWidget.setDocumentMode(True)
self.tabWidget.setTabsClosable(True)
self.tabWidget.setMovable(False)
self.tabWidget.setObjectName("tabWidget")
self.tabWidget.tabCloseRequested.connect(self.on_close_tab)
self.verticalLayout.addWidget(self.tabWidget)
self.buttons = self._create_buttons()
self.verticalLayout.addWidget(self.buttons)
self.setCentralWidget(self.main_widget)
self.find_dialog = TextSearchFrame(self.tabWidget, self)
self.find_dialog.search_result_signal.connect(self.on_search_result)
self.find_dialog.replace_signal.connect(self.on_replace)
self.addDockWidget(Qt.RightDockWidgetArea, self.find_dialog)
# open the files
for f in filenames:
if f:
self.on_load_request(os.path.normpath(f), search_text)
self.readSettings()
self.find_dialog.setVisible(False)
# def __del__(self):
# print "******** destroy", self.objectName()
def _create_buttons(self):
# create the buttons line
self.buttons = QWidget(self)
self.horizontalLayout = QHBoxLayout(self.buttons)
self.horizontalLayout.setContentsMargins(4, 0, 4, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
# add the search button
self.searchButton = QPushButton(self)
self.searchButton.setObjectName("searchButton")
# self.searchButton.clicked.connect(self.on_shortcut_find)
self.searchButton.toggled.connect(self.on_toggled_find)
self.searchButton.setText(self._translate("&Find"))
self.searchButton.setToolTip('Open a search dialog (Ctrl+F)')
self.searchButton.setFlat(True)
self.searchButton.setCheckable(True)
self.horizontalLayout.addWidget(self.searchButton)
# add the replace button
self.replaceButton = QPushButton(self)
self.replaceButton.setObjectName("replaceButton")
# self.replaceButton.clicked.connect(self.on_shortcut_replace)
self.replaceButton.toggled.connect(self.on_toggled_replace)
self.replaceButton.setText(self._translate("&Replace"))
self.replaceButton.setToolTip('Open a search&replace dialog (Ctrl+R)')
self.replaceButton.setFlat(True)
self.replaceButton.setCheckable(True)
self.horizontalLayout.addWidget(self.replaceButton)
# add the goto button
self.gotoButton = QPushButton(self)
self.gotoButton.setObjectName("gotoButton")
self.gotoButton.clicked.connect(self.on_shortcut_goto)
self.gotoButton.setText(self._translate("&Goto line"))
self.gotoButton.setShortcut("Ctrl+G")
self.gotoButton.setToolTip('Open a goto dialog (Ctrl+G)')
self.gotoButton.setFlat(True)
self.horizontalLayout.addWidget(self.gotoButton)
# add a tag button
self.tagButton = self._create_tag_button(self)
self.horizontalLayout.addWidget(self.tagButton)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add line number label
self.pos_label = QLabel()
self.horizontalLayout.addWidget(self.pos_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add save button
self.saveButton = QPushButton(self)
self.saveButton.setObjectName("saveButton")
self.saveButton.clicked.connect(self.on_saveButton_clicked)
self.saveButton.setText(self._translate("&Save"))
self.saveButton.setShortcut("Ctrl+S")
self.saveButton.setToolTip('Save the changes to the file (Ctrl+S)')
self.saveButton.setFlat(True)
self.horizontalLayout.addWidget(self.saveButton)
return self.buttons
def keyPressEvent(self, event):
'''
Enable the shortcats for search and replace
'''
if event.key() == Qt.Key_Escape:
self.reject()
elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_F:
if self.tabWidget.currentWidget().hasFocus():
if not self.searchButton.isChecked():
self.searchButton.setChecked(True)
else:
self.on_toggled_find(True)
else:
self.searchButton.setChecked(not self.searchButton.isChecked())
elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_R:
if self.tabWidget.currentWidget().hasFocus():
if not self.replaceButton.isChecked():
self.replaceButton.setChecked(True)
else:
self.on_toggled_replace(True)
else:
self.replaceButton.setChecked(not self.replaceButton.isChecked())
else:
event.accept()
QMainWindow.keyPressEvent(self, event)
def _translate(self, text):
if hasattr(QApplication, "UnicodeUTF8"):
return QApplication.translate("Editor", text, None, QApplication.UnicodeUTF8)
else:
return QApplication.translate("Editor", text, None)
def readSettings(self):
if nm.settings().store_geometry:
settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE)
settings.beginGroup("editor")
maximized = settings.value("maximized", 'false') == 'true'
if maximized:
self.showMaximized()
else:
self.resize(settings.value("size", QSize(800, 640)))
self.move(settings.value("pos", QPoint(0, 0)))
try:
self.restoreState(settings.value("window_state"))
except:
import traceback
print traceback.format_exc()
settings.endGroup()
def storeSetting(self):
if nm.settings().store_geometry:
settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE)
settings.beginGroup("editor")
settings.setValue("size", self.size())
settings.setValue("pos", self.pos())
settings.setValue("maximized", self.isMaximized())
settings.setValue("window_state", self.saveState())
settings.endGroup()
def on_load_request(self, filename, search_text=''):
'''
Loads a file in a new tab or focus the tab, if the file is already open.
@param filename: the path to file
@type filename: C{str}
@param search_text: if not empty, searches in new document for first occurrence of the given text
@type search_text: C{str} (Default: C{Empty String})
'''
if not filename:
return
self.tabWidget.setUpdatesEnabled(False)
try:
if filename not in self.files:
tab_name = self.__getTabName(filename)
editor = TextEdit(filename, self.tabWidget)
linenumber_editor = LineNumberWidget(editor)
tab_index = self.tabWidget.addTab(linenumber_editor, tab_name)
self.files.append(filename)
editor.setCurrentPath(os.path.basename(filename))
editor.load_request_signal.connect(self.on_load_request)
editor.document().modificationChanged.connect(self.on_editor_modificationChanged)
editor.cursorPositionChanged.connect(self.on_editor_positionChanged)
editor.setFocus(Qt.OtherFocusReason)
editor.textChanged.connect(self.on_text_changed)
self.tabWidget.setCurrentIndex(tab_index)
# self.find_dialog.set_search_path(filename)
else:
for i in range(self.tabWidget.count()):
if self.tabWidget.widget(i).filename == filename:
self.tabWidget.setCurrentIndex(i)
break
except:
import traceback
rospy.logwarn("Error while open %s: %s", filename, traceback.format_exc(1))
self.tabWidget.setUpdatesEnabled(True)
if search_text:
try:
self._search_thread.stop()
self._search_thread = None
except:
pass
self._search_thread = TextSearchThread(search_text, filename, path_text=self.tabWidget.widget(0).document().toPlainText(), recursive=True)
self._search_thread.search_result_signal.connect(self.on_search_result_on_open)
self._search_thread.start()
def on_text_changed(self):
if self.tabWidget.currentWidget().hasFocus():
self.find_dialog.file_changed(self.tabWidget.currentWidget().filename)
def on_close_tab(self, tab_index):
'''
Signal handling to close single tabs.
@param tab_index: tab index to close
@type tab_index: C{int}
'''
try:
doremove = True
w = self.tabWidget.widget(tab_index)
if w.document().isModified():
name = self.__getTabName(w.filename)
result = QMessageBox.question(self, "Unsaved Changes", '\n\n'.join(["Save the file before closing?", name]), QMessageBox.Yes | QMessageBox.No | QMessageBox.Cancel)
if result == QMessageBox.Yes:
self.tabWidget.currentWidget().save()
elif result == QMessageBox.No:
pass
else:
doremove = False
if doremove:
# remove the indexed files
if w.filename in self.files:
self.files.remove(w.filename)
# close tab
self.tabWidget.removeTab(tab_index)
# close editor, if no tabs are open
if not self.tabWidget.count():
self.close()
except:
import traceback
rospy.logwarn("Error while close tab %s: %s", str(tab_index), traceback.format_exc(1))
def reject(self):
if self.find_dialog.isVisible():
self.searchButton.setChecked(not self.searchButton.isChecked())
else:
self.close()
def closeEvent(self, event):
'''
Test the open files for changes and save this if needed.
'''
changed = []
# get the names of all changed files
for i in range(self.tabWidget.count()):
w = self.tabWidget.widget(i)
if w.document().isModified():
changed.append(self.__getTabName(w.filename))
if changed:
# ask the user for save changes
if self.isHidden():
buttons = QMessageBox.Yes | QMessageBox.No
else:
buttons = QMessageBox.Yes | QMessageBox.No | QMessageBox.Cancel
result = QMessageBox.question(self, "Unsaved Changes", '\n\n'.join(["Save the file before closing?", '\n'.join(changed)]), buttons)
if result == QMessageBox.Yes:
for i in range(self.tabWidget.count()):
w = self.tabWidget.widget(i).save()
event.accept()
elif result == QMessageBox.No:
event.accept()
else:
event.ignore()
else:
event.accept()
if event.isAccepted():
self.storeSetting()
self.finished_signal.emit(self.init_filenames)
def on_editor_modificationChanged(self, value=None):
'''
If the content was changed, a '*' will be shown in the tab name.
'''
tab_name = self.__getTabName(self.tabWidget.currentWidget().filename)
if (self.tabWidget.currentWidget().document().isModified()) or not QFileInfo(self.tabWidget.currentWidget().filename).exists():
tab_name = ''.join(['*', tab_name])
self.tabWidget.setTabText(self.tabWidget.currentIndex(), tab_name)
def on_editor_positionChanged(self):
'''
Shows the number of the line and column in a label.
'''
cursor = self.tabWidget.currentWidget().textCursor()
self.pos_label.setText(':%s:%s' % (cursor.blockNumber() + 1, cursor.columnNumber()))
def __getTabName(self, lfile):
base = os.path.basename(lfile).replace('.launch', '')
(package, _) = package_name(os.path.dirname(lfile))
return '%s [%s]' % (base, package)
##############################################################################
# HANDLER for buttons
##############################################################################
def on_saveButton_clicked(self):
'''
Saves the current document. This method is called if the C{save button}
was clicked.
'''
saved, errors, msg = self.tabWidget.currentWidget().save(True)
if errors:
QMessageBox.critical(self, "Error", msg)
self.tabWidget.setTabIcon(self.tabWidget.currentIndex(), self._error_icon)
self.tabWidget.setTabToolTip(self.tabWidget.currentIndex(), msg)
elif saved:
self.tabWidget.setTabIcon(self.tabWidget.currentIndex(), self._empty_icon)
self.tabWidget.setTabToolTip(self.tabWidget.currentIndex(), '')
def on_shortcut_find(self):
pass
def on_toggled_find(self, value):
'''
Shows the search frame
'''
if value:
self.find_dialog.enable()
else:
self.replaceButton.setChecked(False)
self.find_dialog.setVisible(False)
self.tabWidget.currentWidget().setFocus()
def on_toggled_replace(self, value):
'''
Shows the replace lineedit in the search frame
'''
if value:
self.searchButton.setChecked(True)
self.find_dialog.set_replace_visible(value)
def on_shortcut_goto(self):
'''
Opens a C{goto} dialog.
'''
value = 1
ok = False
try:
value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
QLineEdit.Normal, minValue=1, step=1)
except:
value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
QLineEdit.Normal, min=1, step=1)
if ok:
if value > self.tabWidget.currentWidget().document().blockCount():
value = self.tabWidget.currentWidget().document().blockCount()
curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1
while curpos != value:
mov = QTextCursor.NextBlock if curpos < value else QTextCursor.PreviousBlock
self.tabWidget.currentWidget().moveCursor(mov)
curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1
self.tabWidget.currentWidget().setFocus(Qt.ActiveWindowFocusReason)
##############################################################################
# SLOTS for search dialog
##############################################################################
def on_search_result(self, search_text, found, path, index):
'''
A slot to handle a found text. It goes to the position in the text and select
the searched text. On new file it will be open.
:param search_text: the searched text
:type search_text: str
:param found: the text was found or not
:type found: bool
:param path: the path of the file the text was found
:type path: str
:param index: the position in the text
:type index: int
'''
if found:
if self.tabWidget.currentWidget().filename != path:
focus_widget = QApplication.focusWidget()
self.on_load_request(path)
focus_widget.setFocus()
cursor = self.tabWidget.currentWidget().textCursor()
cursor.setPosition(index, QTextCursor.MoveAnchor)
cursor.movePosition(QTextCursor.NextCharacter, QTextCursor.KeepAnchor, len(search_text))
self.tabWidget.currentWidget().setTextCursor(cursor)
def on_search_result_on_open(self, search_text, found, path, index):
'''
Like on_search_result, but skips the text in comments.
'''
if found:
if self.tabWidget.currentWidget().filename != path:
focus_widget = QApplication.focusWidget()
self.on_load_request(path)
focus_widget.setFocus()
comment_start = self.tabWidget.currentWidget().document().find('<!--', index, QTextDocument.FindBackward)
if not comment_start.isNull():
comment_end = self.tabWidget.currentWidget().document().find('-->', comment_start)
if not comment_end.isNull() and comment_end.position() > index + len(search_text):
# commented -> retrun
return
self.on_search_result(search_text, found, path, index)
def on_replace(self, search_text, path, index, replaced_text):
'''
A slot to handle a text replacement of the TextSearchFrame.
:param search_text: the searched text
:type search_text: str
:param path: the path of the file the text was found
:type path: str
:param index: the position in the text
:type index: int
:param replaced_text: the new text
:type replaced_text: str
'''
cursor = self.tabWidget.currentWidget().textCursor()
if cursor.selectedText() == search_text:
cursor.insertText(replaced_text)
##############################################################################
# LAUNCH TAG insertion
##############################################################################
def _create_tag_button(self, parent=None):
btn = QPushButton(parent)
btn.setObjectName("tagButton")
btn.setText(self._translate("Add &tag"))
btn.setShortcut("Ctrl+T")
btn.setToolTip('Adds a ROS launch tag to launch file (Ctrl+T)')
btn.setMenu(self._create_tag_menu(btn))
btn.setFlat(True)
return btn
def _create_tag_menu(self, parent=None):
# creates a tag menu
tag_menu = QMenu("ROS Tags", parent)
# group tag
add_group_tag_action = QAction("<group>", self, statusTip="", triggered=self._on_add_group_tag)
add_group_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+g"))
tag_menu.addAction(add_group_tag_action)
# node tag
add_node_tag_action = QAction("<node>", self, statusTip="", triggered=self._on_add_node_tag)
add_node_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+n"))
tag_menu.addAction(add_node_tag_action)
# node tag with all attributes
add_node_tag_all_action = QAction("<node all>", self, statusTip="", triggered=self._on_add_node_tag_all)
tag_menu.addAction(add_node_tag_all_action)
# include tag with all attributes
add_include_tag_all_action = QAction("<include>", self, statusTip="", triggered=self._on_add_include_tag_all)
add_include_tag_all_action.setShortcuts(QKeySequence("Ctrl+Shift+i"))
tag_menu.addAction(add_include_tag_all_action)
# remap
add_remap_tag_action = QAction("<remap>", self, statusTip="", triggered=self._on_add_remap_tag)
add_remap_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+r"))
tag_menu.addAction(add_remap_tag_action)
# env tag
add_env_tag_action = QAction("<env>", self, statusTip="", triggered=self._on_add_env_tag)
tag_menu.addAction(add_env_tag_action)
# param tag
add_param_tag_action = QAction("<param>", self, statusTip="", triggered=self._on_add_param_tag)
add_param_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+p"))
tag_menu.addAction(add_param_tag_action)
# param capability group tag
add_param_cap_group_tag_action = QAction("<param capability group>", self, statusTip="", triggered=self._on_add_param_cap_group_tag)
add_param_cap_group_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+p"))
tag_menu.addAction(add_param_cap_group_tag_action)
# param tag with all attributes
add_param_tag_all_action = QAction("<param all>", self, statusTip="", triggered=self._on_add_param_tag_all)
tag_menu.addAction(add_param_tag_all_action)
# rosparam tag with all attributes
add_rosparam_tag_all_action = QAction("<rosparam>", self, statusTip="", triggered=self._on_add_rosparam_tag_all)
tag_menu.addAction(add_rosparam_tag_all_action)
# arg tag with default definition
add_arg_tag_default_action = QAction("<arg default>", self, statusTip="", triggered=self._on_add_arg_tag_default)
add_arg_tag_default_action.setShortcuts(QKeySequence("Ctrl+Shift+a"))
tag_menu.addAction(add_arg_tag_default_action)
# arg tag with value definition
add_arg_tag_value_action = QAction("<arg value>", self, statusTip="", triggered=self._on_add_arg_tag_value)
add_arg_tag_value_action.setShortcuts(QKeySequence("Ctrl+Alt+a"))
tag_menu.addAction(add_arg_tag_value_action)
# test tag
add_test_tag_action = QAction("<test>", self, statusTip="", triggered=self._on_add_test_tag)
add_test_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+t"))
tag_menu.addAction(add_test_tag_action)
# test tag with all attributes
add_test_tag_all_action = QAction("<test all>", self, statusTip="", triggered=self._on_add_test_tag_all)
tag_menu.addAction(add_test_tag_all_action)
return tag_menu
def _insert_text(self, text):
cursor = self.tabWidget.currentWidget().textCursor()
if not cursor.isNull():
col = cursor.columnNumber()
spaces = ''.join([' ' for _ in range(col)])
cursor.insertText(text.replace('\n', '\n%s' % spaces))
self.tabWidget.currentWidget().setFocus(Qt.OtherFocusReason)
def _on_add_group_tag(self):
self._insert_text('<group ns="namespace" clear_params="true|false">\n'
'</group>')
def _on_add_node_tag(self):
dia = PackageDialog()
if dia.exec_():
self._insert_text('<node name="%s" pkg="%s" type="%s">\n'
'</node>' % (dia.binary, dia.package, dia.binary))
def _on_add_node_tag_all(self):
dia = PackageDialog()
if dia.exec_():
self._insert_text('<node name="%s" pkg="%s" type="%s"\n'
' args="arg1" machine="machine-name"\n'
' respawn="true" required="true"\n'
' ns="foo" clear_params="true|false"\n'
' output="log|screen" cwd="ROS_HOME|node"\n'
' launch-prefix="prefix arguments">\n'
'</node>' % (dia.binary, dia.package, dia.binary))
def _on_add_include_tag_all(self):
self._insert_text('<include file="$(find pkg-name)/path/filename.xml"\n'
' ns="foo" clear_params="true|false">\n'
'</include>')
def _on_add_remap_tag(self):
self._insert_text('<remap from="original" to="new"/>')
def _on_add_env_tag(self):
self._insert_text('<env name="variable" value="value"/>')
def _on_add_param_tag(self):
self._insert_text('<param name="ns_name" value="value" />')
def _on_add_param_cap_group_tag(self):
self._insert_text('<param name="capability_group" value="demo" />')
def _on_add_param_tag_all(self):
self._insert_text('<param name="ns_name" value="value"\n'
' type="str|int|double|bool"\n'
' textfile="$(find pkg-name)/path/file.txt"\n'
' binfile="$(find pkg-name)/path/file"\n'
' command="$(find pkg-name)/exe \'$(find pkg-name)/arg.txt\'">\n'
'</param>')
def _on_add_rosparam_tag_all(self):
self._insert_text('<rosparam param="param-name"\n'
' file="$(find pkg-name)/path/foo.yaml"\n'
' command="load|dump|delete"\n'
' ns="namespace">\n'
'</rosparam>')
def _on_add_arg_tag_default(self):
self._insert_text('<arg name="foo" default="1" />')
def _on_add_arg_tag_value(self):
self._insert_text('<arg name="foo" value="bar" />')
def _on_add_test_tag(self):
dia = PackageDialog()
if dia.exec_():
self._insert_text('<test name="%s" pkg="%s" type="%s" test-name="test_%s">\n'
'</test>' % (dia.binary, dia.package, dia.binary, dia.binary))
def _on_add_test_tag_all(self):
dia = PackageDialog()
if dia.exec_():
self._insert_text('<test name="%s" pkg="%s" type="%s" test-name="test_%s">\n'
' args="arg1" time-limit="60.0"\n'
' ns="foo" clear_params="true|false"\n'
' cwd="ROS_HOME|node" retry="0"\n'
' launch-prefix="prefix arguments">\n'
'</test>' % (dia.binary, dia.package, dia.binary, dia.binary))
class SyncDialog(QDialog):
'''
A dialog to set the sync options.
'''
def __init__(self, parent=None):
QDialog.__init__(self, parent)
# self.host = host
self.setWindowIcon(QIcon(":/icons/irondevil_sync.png"))
self.setWindowTitle('Sync')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.resize(350, 190)
self.toolButton_SyncAll = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(2)
sizePolicy.setHeightForWidth(self.toolButton_SyncAll.sizePolicy().hasHeightForWidth())
self.toolButton_SyncAll.setSizePolicy(sizePolicy)
self.toolButton_SyncAll.setObjectName("toolButton_SyncAll")
self.verticalLayout.addWidget(self.toolButton_SyncAll)
self.toolButton_SyncAll.setText(self._translate("Sync All"))
self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked)
# self.toolButton_SyncAllAnyMsg = QToolButton(self)
# sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
# sizePolicy.setHorizontalStretch(0)
# sizePolicy.setVerticalStretch(1)
# sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth())
# self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy)
# self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg")
# self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg)
# self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)"))
# self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked)
self.toolButton_SyncTopicOnDemand = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth())
self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy)
self.toolButton_SyncTopicOnDemand.setObjectName("toolButton_SyncTopicOnDemand")
self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand)
self.toolButton_SyncTopicOnDemand.setText(self._translate("Sync only topics on demand"))
self.toolButton_SyncTopicOnDemand.clicked.connect(self._on_sync_topics_on_demand_clicked)
self.toolButton_SelectInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth())
self.toolButton_SelectInterface.setSizePolicy(sizePolicy)
self.toolButton_SelectInterface.setObjectName("toolButton_SelectInterface")
self.verticalLayout.addWidget(self.toolButton_SelectInterface)
self.toolButton_SelectInterface.setText(self._translate("Select an interface"))
self.toolButton_SelectInterface.clicked.connect(self._on_select_interface_clicked)
self.interface_field = QComboBox(self)
self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.interface_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.interface_field.setEditable(True)
self.interface_field.setVisible(False)
self.interface_field.setObjectName("interface_field")
self.verticalLayout.addWidget(self.interface_field)
self.interface_field.currentIndexChanged[str].connect(self._on_interface_selected)
self.toolButton_EditInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_EditInterface.sizePolicy().hasHeightForWidth())
self.toolButton_EditInterface.setSizePolicy(sizePolicy)
self.toolButton_EditInterface.setObjectName("toolButton_EditInterface")
self.verticalLayout.addWidget(self.toolButton_EditInterface)
self.toolButton_EditInterface.setText(self._translate("Edit selected interface"))
self.toolButton_EditInterface.clicked.connect(self._on_edit_interface_clicked)
self.toolButton_EditInterface.setVisible(False)
self.toolButton_CreateInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth())
self.toolButton_CreateInterface.setSizePolicy(sizePolicy)
self.toolButton_CreateInterface.setObjectName("toolButton_CreateInterface")
self.verticalLayout.addWidget(self.toolButton_CreateInterface)
self.toolButton_CreateInterface.setText(self._translate("Create an interface"))
self.toolButton_CreateInterface.clicked.connect(self._on_create_interface_clicked)
self.toolButton_CreateInterface.setVisible(False)
self.textedit = TextEdit('', self)
self.hl = SyncHighlighter(self.textedit.document())
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.textedit.setSizePolicy(sizePolicy)
self.textedit.setObjectName("syncedit")
self.verticalLayout.addWidget(self.textedit)
self.textedit.setVisible(False)
self._fill_interface_thread = None
self._interfaces_files = None
self._sync_args = []
self._interface_filename = None
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self._new_iface = True
def _translate(self, text):
if hasattr(QApplication, "UnicodeUTF8"):
return QApplication.translate("Form", text, None, QApplication.UnicodeUTF8)
else:
return QApplication.translate("Form", text, None)
@property
def sync_args(self):
return self._sync_args
@property
def interface_filename(self):
return self._interface_filename
def _on_sync_all_clicked(self):
self.setResult(QDialog.Accepted)
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', "'.'"]))
self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'False']))
self._sync_args.append(''.join(['_ignore_hosts:=', '[]']))
self._sync_args.append(''.join(['_sync_hosts:=', '[]']))
self._sync_args.append(''.join(['_ignore_nodes:=', '[]']))
self._sync_args.append(''.join(['_sync_nodes:=', '[]']))
self._sync_args.append(''.join(['_ignore_topics:=', '[]']))
self._sync_args.append(''.join(['_ignore_publishers:=', '[]']))
self._sync_args.append(''.join(['_ignore_subscribers:=', '[]']))
self._sync_args.append(''.join(['_sync_topics:=', '[]']))
self._sync_args.append(''.join(['_ignore_services:=', '[]']))
self._sync_args.append(''.join(['_sync_services:=', '[]']))
self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False']))
self._interface_filename = None
self.accept()
# def _on_sync_all_anymsg_clicked(self):
# self._sync_args = []
# self._sync_args.append(''.join(['_interface_url:=', "'.'"]))
# self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True']))
# self._sync_args.append(''.join(['_ignore_hosts:=', '[]']))
# self._sync_args.append(''.join(['_sync_hosts:=', '[]']))
# self._sync_args.append(''.join(['_ignore_nodes:=', '[]']))
# self._sync_args.append(''.join(['_sync_nodes:=', '[]']))
# self._sync_args.append(''.join(['_ignore_topics:=', '[]']))
# self._sync_args.append(''.join(['_sync_topics:=', '[/*]']))
# self._sync_args.append(''.join(['_ignore_services:=', '[]']))
# self._sync_args.append(''.join(['_sync_services:=', '[]']))
# self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False']))
# self._interface_filename = None
# self.accept()
def _on_sync_topics_on_demand_clicked(self):
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', "'.'"]))
self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True']))
self._sync_args.append(''.join(['_ignore_hosts:=', '[]']))
self._sync_args.append(''.join(['_sync_hosts:=', '[]']))
self._sync_args.append(''.join(['_ignore_nodes:=', '[]']))
self._sync_args.append(''.join(['_sync_nodes:=', '[]']))
self._sync_args.append(''.join(['_ignore_topics:=', '[]']))
self._sync_args.append(''.join(['_ignore_publishers:=', '[]']))
self._sync_args.append(''.join(['_ignore_subscribers:=', '[]']))
self._sync_args.append(''.join(['_sync_topics:=', '[/only_on_demand]']))
self._sync_args.append(''.join(['_ignore_services:=', '[/*]']))
self._sync_args.append(''.join(['_sync_services:=', '[]']))
self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False']))
self._interface_filename = None
self.accept()
def _on_select_interface_clicked(self):
self.toolButton_SyncAll.setVisible(False)
# self.toolButton_SyncAllAnyMsg.setVisible(False)
self.toolButton_SyncTopicOnDemand.setVisible(False)
self.toolButton_SelectInterface.setVisible(False)
self.interface_field.setVisible(True)
self.toolButton_CreateInterface.setVisible(True)
self.toolButton_EditInterface.setVisible(True)
self.toolButton_EditInterface.setEnabled(False)
self.textedit.setVisible(False)
# # fill the interfaces
if self._interfaces_files is None:
self.interface_field.addItems(['interface searching...'])
self.interface_field.setCurrentIndex(0)
self._fill_interface_thread = InterfacesThread()
self._fill_interface_thread.interfaces.connect(self._fill_interfaces)
self._fill_interface_thread.start()
else:
self.toolButton_EditInterface.setEnabled(self.interface_field.currentText() in self._interfaces_files)
self.buttonBox.clear()
self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel)
self.interface_field.setFocus(Qt.TabFocusReason)
self.resize(350, 80)
def _fill_interfaces(self, interfaces_files):
self._interfaces_files = interfaces_files
self.interface_field.clear()
self.interface_field.clearEditText()
self.interface_field.addItems(self._interfaces_files.keys())
def _on_interface_selected(self, interface):
if self._interfaces_files and interface in self._interfaces_files:
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', interface]))
self.toolButton_EditInterface.setEnabled(True)
else:
self.toolButton_EditInterface.setEnabled(False)
def accept(self):
if self.textedit.isVisible():
try:
tmp_file = os.path.join(nm.screen().LOG_PATH, 'tmp_sync_interface.sync')
with open(tmp_file, 'w+') as f:
f.write(self.textedit.toPlainText())
from master_discovery_fkie.common import read_interface
read_interface(tmp_file)
if not self._new_iface and self.interface_field.currentText() in self._interfaces_files:
fileName = self._interfaces_files[self.interface_field.currentText()]
else:
fileName, _ = QFileDialog.getSaveFileName(self, 'Save sync interface', '/home', "Sync Files (*.sync)")
if fileName:
with open(fileName, 'w+') as f:
self._interface_filename = fileName
f.write(self.textedit.toPlainText())
if self._new_iface:
self.interface_field.clear()
self._interfaces_files = None
self._on_select_interface_clicked()
# QDialog.accept(self)
# self.resetView()
except Exception as e:
MessageBox.warning(self, "Create sync interface",
"Error while create interface",
utf8(e))
elif self.interface_field.isVisible():
interface = self.interface_field.currentText()
if self._interfaces_files and interface in self._interfaces_files:
self._interface_filename = self._interfaces_files[interface]
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', interface]))
QDialog.accept(self)
self.resetView()
else:
QDialog.accept(self)
self.resetView()
def reject(self):
if self.textedit.isVisible():
self._on_select_interface_clicked()
else:
QDialog.reject(self)
self.resetView()
def _on_create_interface_clicked(self):
self._new_iface = True
self.interface_field.setVisible(False)
self.toolButton_CreateInterface.setVisible(False)
self.toolButton_EditInterface.setVisible(False)
self.textedit.setVisible(True)
self.textedit.setText("# The ignore_* lists will be processed first.\n"
"# For ignore/sync nodes, topics or services\n"
"# use follow declaration:\n"
"#{param name}: \n"
"# - {ros name}\n"
"# or for selected hosts:\n"
"# - {host name}:\n"
"# - {ros name}\n\n"
"# you can use follow wildcard: '*', but not as a first character\n"
"ignore_hosts:\n"
"sync_hosts:\n\n"
"ignore_nodes:\n"
"sync_nodes:\n\n"
"ignore_topics:\n"
"ignore_publishers:\n"
"ignore_subscribers:\n"
"sync_topics:\n\n"
"ignore_services:\n"
" - /*get_loggers\n"
" - /*set_logger_level\n"
"sync_services:\n\n"
"# If sync_topics_on_demand is True the local subscribed and published topics\n"
"# are synchronized with remote even if they are not in the sync_* list.\n"
"sync_topics_on_demand: False\n\n"
"# The nodes which are running not at the same host as the ROS master are not\n"
"# synchronized by default. Use sync_remote_nodes to sync these nodes also.\n"
"sync_remote_nodes: False\n\n"
)
self.resize(350, 300)
def _on_edit_interface_clicked(self):
self._new_iface = False
self.interface_field.setVisible(False)
self.toolButton_CreateInterface.setVisible(False)
self.toolButton_EditInterface.setVisible(False)
self.textedit.setVisible(True)
if self.interface_field.currentText() in self._interfaces_files:
try:
with open(self._interfaces_files[self.interface_field.currentText()], 'rw') as f:
iface = f.read()
self.textedit.setText(iface)
except Exception as e:
MessageBox.warning(self, "Edit sync interface",
"Error while open interface",
utf8(e))
self.resize(350, 300)
def resetView(self):
self.toolButton_SyncAll.setVisible(True)
# self.toolButton_SyncAllAnyMsg.setVisible(True)
self.toolButton_SyncTopicOnDemand.setVisible(True)
self.toolButton_SelectInterface.setVisible(True)
self.interface_field.setVisible(False)
self.toolButton_CreateInterface.setVisible(False)
self.toolButton_EditInterface.setVisible(False)
self.textedit.setVisible(False)
self.buttonBox.clear()
self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel)
self.resize(350, 160)
class SelectDialog(QDialog):
'''
This dialog creates an input mask for a string list and return selected entries.
'''
def __init__(self, items=list(), buttons=QDialogButtonBox.Cancel | QDialogButtonBox.Ok, exclusive=False,
preselect_all=False, title='', description='', icon='', parent=None, select_if_single=True,
checkitem1='', checkitem2=''):
'''
Creates an input dialog.
@param items: a list with strings
@type items: C{list()}
'''
QDialog.__init__(self, parent=parent)
self.setObjectName(' - '.join(['SelectDialog', str(items)]))
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
# add filter row
self.filter_frame = QFrame(self)
filterLayout = QHBoxLayout(self.filter_frame)
filterLayout.setContentsMargins(1, 1, 1, 1)
label = QLabel("Filter:", self.filter_frame)
self.filter_field = EnchancedLineEdit(self.filter_frame)
filterLayout.addWidget(label)
filterLayout.addWidget(self.filter_field)
self.filter_field.textChanged.connect(self._on_filter_changed)
self.verticalLayout.addWidget(self.filter_frame)
if description:
self.description_frame = QFrame(self)
descriptionLayout = QHBoxLayout(self.description_frame)
# descriptionLayout.setContentsMargins(1, 1, 1, 1)
if icon:
self.icon_label = QLabel(self.description_frame)
self.icon_label.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
self.icon_label.setPixmap(QPixmap(icon).scaled(30, 30, Qt.KeepAspectRatio))
descriptionLayout.addWidget(self.icon_label)
self.description_label = QLabel(self.description_frame)
self.description_label.setWordWrap(True)
self.description_label.setText(description)
descriptionLayout.addWidget(self.description_label)
self.verticalLayout.addWidget(self.description_frame)
# create area for the parameter
self.content = MainBox(self)
if items:
self.scroll_area = QScrollArea(self)
self.scroll_area.setFocusPolicy(Qt.NoFocus)
self.scroll_area.setObjectName("scroll_area")
self.scroll_area.setWidgetResizable(True)
self.scroll_area.setWidget(self.content)
self.verticalLayout.addWidget(self.scroll_area)
self.checkitem1 = checkitem1
self.checkitem1_result = False
self.checkitem2 = checkitem2
self.checkitem2_result = False
# add select all option
if not exclusive and items:
self._ignore_next_toggle = False
self.select_all_checkbox = QCheckBox('all entries')
self.select_all_checkbox.setTristate(True)
self.select_all_checkbox.stateChanged.connect(self._on_select_all_checkbox_stateChanged)
self.verticalLayout.addWidget(self.select_all_checkbox)
self.content.toggled.connect(self._on_main_toggle)
if self.checkitem1:
self.checkitem1_checkbox = QCheckBox(self.checkitem1)
self.checkitem1_checkbox.stateChanged.connect(self._on_select_checkitem1_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem1_checkbox)
if self.checkitem2:
self.checkitem2_checkbox = QCheckBox(self.checkitem2)
self.checkitem2_checkbox.stateChanged.connect(self._on_select_checkitem2_checkbox_stateChanged)
self.verticalLayout.addWidget(self.checkitem2_checkbox)
if not items:
spacerItem = QSpacerItem(1, 1, QSizePolicy.Expanding, QSizePolicy.Expanding)
self.verticalLayout.addItem(spacerItem)
# create buttons
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setStandardButtons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
# set the input fields
if items:
self.content.createFieldsFromValues(items, exclusive)
if (select_if_single and len(items) == 1) or preselect_all:
self.select_all_checkbox.setCheckState(Qt.Checked)
if not items or len(items) < 7:
self.filter_frame.setVisible(False)
# print '=============== create', self.objectName()
#
# def __del__(self):
# print "************ destroy", self.objectName()
def _on_main_toggle(self, state):
self._ignore_next_toggle = state != self.select_all_checkbox.checkState()
self.select_all_checkbox.setCheckState(state)
def _on_select_all_checkbox_stateChanged(self, state):
if not self._ignore_next_toggle:
self.content.setState(state)
self._ignore_next_toggle = False
def _on_select_checkitem1_checkbox_stateChanged(self, state):
if state == Qt.Checked:
self.checkitem1_result = True
elif state == Qt.Unchecked:
self.checkitem1_result = False
def _on_select_checkitem2_checkbox_stateChanged(self, state):
if state == Qt.Checked:
self.checkitem2_result = True
elif state == Qt.Unchecked:
self.checkitem2_result = False
def _on_filter_changed(self):
self.content.filter(self.filter_field.text())
def getSelected(self):
return self.content.getSelected()
@staticmethod
def getValue(title, description='', items=list(), exclusive=False, preselect_all=False, icon='', parent=None, select_if_single=True, checkitem1='', checkitem2=''):
selectDia = SelectDialog(items, exclusive=exclusive, preselect_all=preselect_all, description=description, icon=icon, parent=parent, select_if_single=select_if_single, checkitem1=checkitem1, checkitem2=checkitem2)
selectDia.setWindowTitle(title)
selectDia.resize(480, 256)
if selectDia.exec_():
if selectDia.checkitem2:
return selectDia.getSelected(), True, selectDia.checkitem1_result, selectDia.checkitem2_result
if selectDia.checkitem1:
return selectDia.getSelected(), True, selectDia.checkitem1_result
return selectDia.getSelected(), True
if selectDia.checkitem2:
return list(), False, False, False
if selectDia.checkitem1:
return list(), False, False
return list(), False
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%% close handling %%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
def accept(self):
self.setResult(QDialog.Accepted)
self.hide()
def reject(self):
self.setResult(QDialog.Rejected)
self.hide()
def hideEvent(self, event):
self.close()
def closeEvent(self, event):
'''
Test the open files for changes and save this if needed.
'''
self.setAttribute(Qt.WA_DeleteOnClose, True)
QDialog.closeEvent(self, event)
class PackageDialog(QDialog):
def __init__(self, masteruri, parent=None):
QDialog.__init__(self, parent)
self.setWindowTitle('Select Binary')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.content = QWidget()
self.contentLayout = QFormLayout(self.content)
self.contentLayout.setVerticalSpacing(0)
self.verticalLayout.addWidget(self.content)
self.packages = None
self.masteruri = "ROS_MASTER_URI" if masteruri is None else masteruri
package_label = QLabel("Package:", self.content)
self.package_field = QComboBox(self.content)
self.package_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.package_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.package_field.setEditable(True)
self.contentLayout.addRow(package_label, self.package_field)
binary_label = QLabel("Binary:", self.content)
self.binary_field = QComboBox(self.content)
self.binary_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.binary_field.setEditable(True)
self.contentLayout.addRow(binary_label, self.binary_field)
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Ok
| QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.package_field.setFocus(Qt.TabFocusReason)
self.package = ''
self.binary = ''
self._request_bin_thread = None
if self.packages is None:
self.package_field.addItems(['packages searching...'])
self.package_field.setCurrentIndex(0)
# fill the input fields
self.packages = {
name: path
for path, name in nm.nmd().file.get_packages(
nmdurl.nmduri(masteruri)).items()
}
packages = self.packages.keys()
packages.sort()
self.package_field.clear()
self.package_field.clearEditText()
self.package_field.addItems(packages)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
QMetaObject.connectSlotsByName(self)
self.package_field.activated[str].connect(self.on_package_selected)
if hasattr(self.package_field, "textChanged"): # qt compatibility
self.package_field.textChanged.connect(self.on_package_selected)
self.binary_field.textChanged.connect(self.on_binary_selected)
else:
self.package_field.editTextChanged.connect(
self.on_package_selected)
self.binary_field.editTextChanged.connect(self.on_binary_selected)
def on_package_selected(self, package):
getnew = False
if self._request_bin_thread is None:
getnew = True
else:
if self._request_bin_thread.pkgname != package:
self._request_bin_thread.cancel()
getnew = True
if self._request_bin_thread is not None and self._request_bin_thread.pkgname == package:
# use already got data
self._request_bin_thread.reemit()
elif getnew:
self.binary_field.clear()
if self.packages and package in self.packages:
self.binary_field.setEnabled(True)
self._request_bin_thread = RequestBinariesThread(
package, nmdurl.nmduri(self.masteruri))
self._request_bin_thread.binaries_signal.connect(
self._on_new_binaries)
self._request_bin_thread.start()
def _on_new_binaries(self, pkgname, binaries):
# update the binaries
binaries = [os.path.basename(item) for item in binaries.keys()]
binaries = list(set(binaries))
binaries.sort()
self.binary_field.addItems(binaries)
self.package = pkgname
self.binary = self.binary_field.currentText()
def on_binary_selected(self, binary):
self.binary = binary
class SyncDialog(QDialog):
'''
A dialog to set the sync options.
'''
def __init__(self, parent=None):
QDialog.__init__(self, parent)
# self.host = host
self.setWindowIcon(QIcon(":/icons/irondevil_sync.png"))
self.setWindowTitle('Sync')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.resize(350, 190)
self.toolButton_SyncAll = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(2)
sizePolicy.setHeightForWidth(
self.toolButton_SyncAll.sizePolicy().hasHeightForWidth())
self.toolButton_SyncAll.setSizePolicy(sizePolicy)
self.toolButton_SyncAll.setObjectName("toolButton_SyncAll")
self.verticalLayout.addWidget(self.toolButton_SyncAll)
self.toolButton_SyncAll.setText(self._translate("Sync All"))
self.toolButton_SyncAll.clicked.connect(self._on_sync_all_clicked)
# self.toolButton_SyncAllAnyMsg = QToolButton(self)
# sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
# sizePolicy.setHorizontalStretch(0)
# sizePolicy.setVerticalStretch(1)
# sizePolicy.setHeightForWidth(self.toolButton_SyncAllAnyMsg.sizePolicy().hasHeightForWidth())
# self.toolButton_SyncAllAnyMsg.setSizePolicy(sizePolicy)
# self.toolButton_SyncAllAnyMsg.setObjectName("toolButton_SyncAllAnyMsg")
# self.verticalLayout.addWidget(self.toolButton_SyncAllAnyMsg)
# self.toolButton_SyncAllAnyMsg.setText(self._translate("Sync all (+AnyMsg)"))
# self.toolButton_SyncAllAnyMsg.clicked.connect(self._on_sync_all_anymsg_clicked)
self.toolButton_SyncTopicOnDemand = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_SyncTopicOnDemand.sizePolicy().hasHeightForWidth())
self.toolButton_SyncTopicOnDemand.setSizePolicy(sizePolicy)
self.toolButton_SyncTopicOnDemand.setObjectName(
"toolButton_SyncTopicOnDemand")
self.verticalLayout.addWidget(self.toolButton_SyncTopicOnDemand)
self.toolButton_SyncTopicOnDemand.setText(
self._translate("Sync only topics on demand"))
self.toolButton_SyncTopicOnDemand.clicked.connect(
self._on_sync_topics_on_demand_clicked)
self.toolButton_SelectInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_SelectInterface.sizePolicy().hasHeightForWidth())
self.toolButton_SelectInterface.setSizePolicy(sizePolicy)
self.toolButton_SelectInterface.setObjectName(
"toolButton_SelectInterface")
self.verticalLayout.addWidget(self.toolButton_SelectInterface)
self.toolButton_SelectInterface.setText(
self._translate("Select an interface"))
self.toolButton_SelectInterface.clicked.connect(
self._on_select_interface_clicked)
self.interface_field = QComboBox(self)
self.interface_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.interface_field.setSizePolicy(
QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.interface_field.setEditable(True)
self.interface_field.setVisible(False)
self.interface_field.setObjectName("interface_field")
self.verticalLayout.addWidget(self.interface_field)
self.interface_field.currentIndexChanged[str].connect(
self._on_interface_selected)
self.toolButton_EditInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_EditInterface.sizePolicy().hasHeightForWidth())
self.toolButton_EditInterface.setSizePolicy(sizePolicy)
self.toolButton_EditInterface.setObjectName("toolButton_EditInterface")
self.verticalLayout.addWidget(self.toolButton_EditInterface)
self.toolButton_EditInterface.setText(
self._translate("Edit selected interface"))
self.toolButton_EditInterface.clicked.connect(
self._on_edit_interface_clicked)
self.toolButton_EditInterface.setVisible(False)
self.toolButton_CreateInterface = QToolButton(self)
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(1)
sizePolicy.setHeightForWidth(
self.toolButton_CreateInterface.sizePolicy().hasHeightForWidth())
self.toolButton_CreateInterface.setSizePolicy(sizePolicy)
self.toolButton_CreateInterface.setObjectName(
"toolButton_CreateInterface")
self.verticalLayout.addWidget(self.toolButton_CreateInterface)
self.toolButton_CreateInterface.setText(
self._translate("Create an interface"))
self.toolButton_CreateInterface.clicked.connect(
self._on_create_interface_clicked)
self.toolButton_CreateInterface.setVisible(False)
self.textedit = TextEdit('', self)
self.hl = SyncHighlighter(self.textedit.document())
sizePolicy = QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.textedit.setSizePolicy(sizePolicy)
self.textedit.setObjectName("syncedit")
self.verticalLayout.addWidget(self.textedit)
self.textedit.setVisible(False)
self._fill_interface_thread = None
self._interfaces_files = None
self._sync_args = []
self._interface_filename = None
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self._new_iface = True
def _translate(self, text):
if hasattr(QApplication, "UnicodeUTF8"):
return QApplication.translate("Form", text, None,
QApplication.UnicodeUTF8)
else:
return QApplication.translate("Form", text, None)
@property
def sync_args(self):
return self._sync_args
@property
def interface_filename(self):
return self._interface_filename
def _on_sync_all_clicked(self):
self.setResult(QDialog.Accepted)
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', "'.'"]))
self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'False']))
self._sync_args.append(''.join(['_ignore_hosts:=', '[]']))
self._sync_args.append(''.join(['_sync_hosts:=', '[]']))
self._sync_args.append(''.join(['_ignore_nodes:=', '[]']))
self._sync_args.append(''.join(['_sync_nodes:=', '[]']))
self._sync_args.append(''.join(['_ignore_topics:=', '[]']))
self._sync_args.append(''.join(['_ignore_publishers:=', '[]']))
self._sync_args.append(''.join(['_ignore_subscribers:=', '[]']))
self._sync_args.append(''.join(['_sync_topics:=', '[]']))
self._sync_args.append(''.join(['_ignore_services:=', '[]']))
self._sync_args.append(''.join(['_sync_services:=', '[]']))
self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False']))
self._interface_filename = None
self.accept()
# def _on_sync_all_anymsg_clicked(self):
# self._sync_args = []
# self._sync_args.append(''.join(['_interface_url:=', "'.'"]))
# self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True']))
# self._sync_args.append(''.join(['_ignore_hosts:=', '[]']))
# self._sync_args.append(''.join(['_sync_hosts:=', '[]']))
# self._sync_args.append(''.join(['_ignore_nodes:=', '[]']))
# self._sync_args.append(''.join(['_sync_nodes:=', '[]']))
# self._sync_args.append(''.join(['_ignore_topics:=', '[]']))
# self._sync_args.append(''.join(['_sync_topics:=', '[/*]']))
# self._sync_args.append(''.join(['_ignore_services:=', '[]']))
# self._sync_args.append(''.join(['_sync_services:=', '[]']))
# self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False']))
# self._interface_filename = None
# self.accept()
def _on_sync_topics_on_demand_clicked(self):
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', "'.'"]))
self._sync_args.append(''.join(['_sync_topics_on_demand:=', 'True']))
self._sync_args.append(''.join(['_ignore_hosts:=', '[]']))
self._sync_args.append(''.join(['_sync_hosts:=', '[]']))
self._sync_args.append(''.join(['_ignore_nodes:=', '[]']))
self._sync_args.append(''.join(['_sync_nodes:=', '[]']))
self._sync_args.append(''.join(['_ignore_topics:=', '[]']))
self._sync_args.append(''.join(['_ignore_publishers:=', '[]']))
self._sync_args.append(''.join(['_ignore_subscribers:=', '[]']))
self._sync_args.append(''.join(['_sync_topics:=',
'[/only_on_demand]']))
self._sync_args.append(''.join(['_ignore_services:=', '[/*]']))
self._sync_args.append(''.join(['_sync_services:=', '[]']))
self._sync_args.append(''.join(['_sync_remote_nodes:=', 'False']))
self._interface_filename = None
self.accept()
def _on_select_interface_clicked(self):
self.toolButton_SyncAll.setVisible(False)
# self.toolButton_SyncAllAnyMsg.setVisible(False)
self.toolButton_SyncTopicOnDemand.setVisible(False)
self.toolButton_SelectInterface.setVisible(False)
self.interface_field.setVisible(True)
self.toolButton_CreateInterface.setVisible(True)
self.toolButton_EditInterface.setVisible(True)
self.toolButton_EditInterface.setEnabled(False)
self.textedit.setVisible(False)
# # fill the interfaces
if self._interfaces_files is None:
self.interface_field.addItems(['interface searching...'])
self.interface_field.setCurrentIndex(0)
self._fill_interface_thread = InterfacesThread()
self._fill_interface_thread.interfaces.connect(
self._fill_interfaces)
self._fill_interface_thread.start()
else:
self.toolButton_EditInterface.setEnabled(
self.interface_field.currentText() in self._interfaces_files)
self.buttonBox.clear()
self.buttonBox.setStandardButtons(QDialogButtonBox.Ok
| QDialogButtonBox.Cancel)
self.interface_field.setFocus(Qt.TabFocusReason)
self.resize(350, 80)
def _fill_interfaces(self, interfaces_files):
self._interfaces_files = interfaces_files
self.interface_field.clear()
self.interface_field.clearEditText()
self.interface_field.addItems(self._interfaces_files.keys())
def _on_interface_selected(self, interface):
if self._interfaces_files and interface in self._interfaces_files:
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=', interface]))
self.toolButton_EditInterface.setEnabled(True)
else:
self.toolButton_EditInterface.setEnabled(False)
def accept(self):
if self.textedit.isVisible():
try:
tmp_file = os.path.join(screen.LOG_PATH,
'tmp_sync_interface.sync')
with open(tmp_file, 'w+') as f:
f.write(self.textedit.toPlainText())
from fkie_master_discovery.common import read_interface
read_interface(tmp_file)
if not self._new_iface and self.interface_field.currentText(
) in self._interfaces_files:
fileName = self._interfaces_files[
self.interface_field.currentText()]
else:
fileName, _ = QFileDialog.getSaveFileName(
self, 'Save sync interface', '/home',
"Sync Files (*.sync)")
if fileName:
with open(fileName, 'w+') as f:
self._interface_filename = fileName
f.write(self.textedit.toPlainText())
if self._new_iface:
self.interface_field.clear()
self._interfaces_files = None
self._on_select_interface_clicked()
# QDialog.accept(self)
# self.resetView()
except Exception as e:
MessageBox.warning(self, "Create sync interface",
"Error while create interface", utf8(e))
elif self.interface_field.isVisible():
interface = self.interface_field.currentText()
if self._interfaces_files and interface in self._interfaces_files:
self._interface_filename = self._interfaces_files[interface]
self._sync_args = []
self._sync_args.append(''.join(['_interface_url:=',
interface]))
QDialog.accept(self)
self.resetView()
else:
QDialog.accept(self)
self.resetView()
def reject(self):
if self.textedit.isVisible():
self._on_select_interface_clicked()
else:
QDialog.reject(self)
self.resetView()
def _on_create_interface_clicked(self):
self._new_iface = True
self.interface_field.setVisible(False)
self.toolButton_CreateInterface.setVisible(False)
self.toolButton_EditInterface.setVisible(False)
self.textedit.setVisible(True)
self.textedit.setText(
"# The ignore_* lists will be processed first.\n"
"# For ignore/sync nodes, topics or services\n"
"# use follow declaration:\n"
"#{param name}: \n"
"# - {ros name}\n"
"# or for selected hosts:\n"
"# - {host name}:\n"
"# - {ros name}\n\n"
"# you can use follow wildcard: '*', but not as a first character\n"
"ignore_hosts:\n"
"sync_hosts:\n\n"
"ignore_nodes:\n"
"sync_nodes:\n\n"
"ignore_topics:\n"
"ignore_publishers:\n"
"ignore_subscribers:\n"
"sync_topics:\n\n"
"ignore_services:\n"
" - /*get_loggers\n"
" - /*set_logger_level\n"
"sync_services:\n\n"
"# If sync_topics_on_demand is True the local subscribed and published topics\n"
"# are synchronized with remote even if they are not in the sync_* list.\n"
"sync_topics_on_demand: False\n\n"
"# The nodes which are running not at the same host as the ROS master are not\n"
"# synchronized by default. Use sync_remote_nodes to sync these nodes also.\n"
"sync_remote_nodes: False\n\n")
self.resize(350, 300)
def _on_edit_interface_clicked(self):
self._new_iface = False
self.interface_field.setVisible(False)
self.toolButton_CreateInterface.setVisible(False)
self.toolButton_EditInterface.setVisible(False)
self.textedit.setVisible(True)
if self.interface_field.currentText() in self._interfaces_files:
try:
with open(
self._interfaces_files[
self.interface_field.currentText()], 'rw') as f:
iface = f.read()
self.textedit.setText(iface)
except Exception as e:
MessageBox.warning(self, "Edit sync interface",
"Error while open interface", utf8(e))
self.resize(350, 300)
def resetView(self):
self.toolButton_SyncAll.setVisible(True)
# self.toolButton_SyncAllAnyMsg.setVisible(True)
self.toolButton_SyncTopicOnDemand.setVisible(True)
self.toolButton_SelectInterface.setVisible(True)
self.interface_field.setVisible(False)
self.toolButton_CreateInterface.setVisible(False)
self.toolButton_EditInterface.setVisible(False)
self.textedit.setVisible(False)
self.buttonBox.clear()
self.buttonBox.setStandardButtons(QDialogButtonBox.Cancel)
self.resize(350, 160)
class Editor(QMainWindow):
'''
Creates a dialog to edit a launch file.
'''
finished_signal = Signal(list)
'''
finished_signal has as parameter the filenames of the initialization and is emitted, if this
dialog was closed.
'''
def __init__(self, filenames, search_text='', parent=None):
'''
@param filenames: a list with filenames. The last one will be activated.
@type filenames: C{[str, ...]}
@param search_text: if not empty, searches in new document for first occurrence of the given text
@type search_text: C{str} (Default: C{Empty String})
'''
QMainWindow.__init__(self, parent)
self.setObjectName(' - '.join(['Editor', str(filenames)]))
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.mIcon = QIcon(":/icons/crystal_clear_edit_launch.png")
self._error_icon = QIcon(":/icons/crystal_clear_warning.png")
self._empty_icon = QIcon()
self.setWindowIcon(self.mIcon)
window_title = "ROSLaunch Editor"
if filenames:
window_title = self.__getTabName(filenames[0])
self.setWindowTitle(window_title)
self.init_filenames = list(filenames)
self._search_thread = None
# list with all open files
self.files = []
# create tabs for files
self.main_widget = QWidget(self)
self.verticalLayout = QVBoxLayout(self.main_widget)
self.verticalLayout.setContentsMargins(0, 0, 0, 0)
self.verticalLayout.setSpacing(1)
self.verticalLayout.setObjectName("verticalLayout")
self.tabWidget = EditorTabWidget(self)
self.tabWidget.setTabPosition(QTabWidget.North)
self.tabWidget.setDocumentMode(True)
self.tabWidget.setTabsClosable(True)
self.tabWidget.setMovable(False)
self.tabWidget.setObjectName("tabWidget")
self.tabWidget.tabCloseRequested.connect(self.on_close_tab)
self.verticalLayout.addWidget(self.tabWidget)
self.buttons = self._create_buttons()
self.verticalLayout.addWidget(self.buttons)
self.setCentralWidget(self.main_widget)
self.find_dialog = TextSearchFrame(self.tabWidget, self)
self.find_dialog.search_result_signal.connect(self.on_search_result)
self.find_dialog.replace_signal.connect(self.on_replace)
self.addDockWidget(Qt.RightDockWidgetArea, self.find_dialog)
# open the files
for f in filenames:
if f:
self.on_load_request(os.path.normpath(f), search_text)
self.readSettings()
self.find_dialog.setVisible(False)
# def __del__(self):
# print "******** destroy", self.objectName()
def _create_buttons(self):
# create the buttons line
self.buttons = QWidget(self)
self.horizontalLayout = QHBoxLayout(self.buttons)
self.horizontalLayout.setContentsMargins(4, 0, 4, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
# add the search button
self.searchButton = QPushButton(self)
self.searchButton.setObjectName("searchButton")
# self.searchButton.clicked.connect(self.on_shortcut_find)
self.searchButton.toggled.connect(self.on_toggled_find)
self.searchButton.setText(self._translate("&Find"))
self.searchButton.setToolTip('Open a search dialog (Ctrl+F)')
self.searchButton.setFlat(True)
self.searchButton.setCheckable(True)
self.horizontalLayout.addWidget(self.searchButton)
# add the replace button
self.replaceButton = QPushButton(self)
self.replaceButton.setObjectName("replaceButton")
# self.replaceButton.clicked.connect(self.on_shortcut_replace)
self.replaceButton.toggled.connect(self.on_toggled_replace)
self.replaceButton.setText(self._translate("&Replace"))
self.replaceButton.setToolTip('Open a search&replace dialog (Ctrl+R)')
self.replaceButton.setFlat(True)
self.replaceButton.setCheckable(True)
self.horizontalLayout.addWidget(self.replaceButton)
# add the goto button
self.gotoButton = QPushButton(self)
self.gotoButton.setObjectName("gotoButton")
self.gotoButton.clicked.connect(self.on_shortcut_goto)
self.gotoButton.setText(self._translate("&Goto line"))
self.gotoButton.setShortcut("Ctrl+G")
self.gotoButton.setToolTip('Open a goto dialog (Ctrl+G)')
self.gotoButton.setFlat(True)
self.horizontalLayout.addWidget(self.gotoButton)
# add a tag button
self.tagButton = self._create_tag_button(self)
self.horizontalLayout.addWidget(self.tagButton)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add line number label
self.pos_label = QLabel()
self.horizontalLayout.addWidget(self.pos_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add save button
self.saveButton = QPushButton(self)
self.saveButton.setObjectName("saveButton")
self.saveButton.clicked.connect(self.on_saveButton_clicked)
self.saveButton.setText(self._translate("&Save"))
self.saveButton.setShortcut("Ctrl+S")
self.saveButton.setToolTip('Save the changes to the file (Ctrl+S)')
self.saveButton.setFlat(True)
self.horizontalLayout.addWidget(self.saveButton)
return self.buttons
def keyPressEvent(self, event):
'''
Enable the shortcats for search and replace
'''
if event.key() == Qt.Key_Escape:
self.reject()
elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_F:
if self.tabWidget.currentWidget().hasFocus():
if not self.searchButton.isChecked():
self.searchButton.setChecked(True)
else:
self.on_toggled_find(True)
else:
self.searchButton.setChecked(not self.searchButton.isChecked())
elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_R:
if self.tabWidget.currentWidget().hasFocus():
if not self.replaceButton.isChecked():
self.replaceButton.setChecked(True)
else:
self.on_toggled_replace(True)
else:
self.replaceButton.setChecked(not self.replaceButton.isChecked())
else:
event.accept()
QMainWindow.keyPressEvent(self, event)
def _translate(self, text):
if hasattr(QApplication, "UnicodeUTF8"):
return QApplication.translate("Editor", text, None, QApplication.UnicodeUTF8)
else:
return QApplication.translate("Editor", text, None)
def readSettings(self):
if nm.settings().store_geometry:
settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE)
settings.beginGroup("editor")
maximized = settings.value("maximized", 'false') == 'true'
if maximized:
self.showMaximized()
else:
self.resize(settings.value("size", QSize(800, 640)))
self.move(settings.value("pos", QPoint(0, 0)))
try:
self.restoreState(settings.value("window_state"))
except:
import traceback
print traceback.format_exc()
settings.endGroup()
def storeSetting(self):
if nm.settings().store_geometry:
settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE)
settings.beginGroup("editor")
settings.setValue("size", self.size())
settings.setValue("pos", self.pos())
settings.setValue("maximized", self.isMaximized())
settings.setValue("window_state", self.saveState())
settings.endGroup()
def on_load_request(self, filename, search_text=''):
'''
Loads a file in a new tab or focus the tab, if the file is already open.
@param filename: the path to file
@type filename: C{str}
@param search_text: if not empty, searches in new document for first occurrence of the given text
@type search_text: C{str} (Default: C{Empty String})
'''
if not filename:
return
self.tabWidget.setUpdatesEnabled(False)
try:
if filename not in self.files:
tab_name = self.__getTabName(filename)
editor = TextEdit(filename, self.tabWidget)
linenumber_editor = LineNumberWidget(editor)
tab_index = self.tabWidget.addTab(linenumber_editor, tab_name)
self.files.append(filename)
editor.setCurrentPath(os.path.basename(filename))
editor.load_request_signal.connect(self.on_load_request)
editor.document().modificationChanged.connect(self.on_editor_modificationChanged)
editor.cursorPositionChanged.connect(self.on_editor_positionChanged)
editor.setFocus(Qt.OtherFocusReason)
# editor.textChanged.connect(self.on_text_changed)
editor.undoAvailable.connect(self.on_text_changed)
self.tabWidget.setCurrentIndex(tab_index)
# self.find_dialog.set_search_path(filename)
else:
for i in range(self.tabWidget.count()):
if self.tabWidget.widget(i).filename == filename:
self.tabWidget.setCurrentIndex(i)
break
except:
import traceback
rospy.logwarn("Error while open %s: %s", filename, traceback.format_exc(1))
self.tabWidget.setUpdatesEnabled(True)
if search_text:
try:
self._search_thread.stop()
self._search_thread = None
except:
pass
self._search_thread = TextSearchThread(search_text, filename, path_text=self.tabWidget.widget(0).document().toPlainText(), recursive=True)
self._search_thread.search_result_signal.connect(self.on_search_result_on_open)
self._search_thread.start()
def on_text_changed(self, value=""):
if self.tabWidget.currentWidget().hasFocus():
self.find_dialog.file_changed(self.tabWidget.currentWidget().filename)
def on_close_tab(self, tab_index):
'''
Signal handling to close single tabs.
@param tab_index: tab index to close
@type tab_index: C{int}
'''
try:
doremove = True
w = self.tabWidget.widget(tab_index)
if w.document().isModified():
name = self.__getTabName(w.filename)
result = QMessageBox.question(self, "Unsaved Changes", '\n\n'.join(["Save the file before closing?", name]), QMessageBox.Yes | QMessageBox.No | QMessageBox.Cancel)
if result == QMessageBox.Yes:
self.tabWidget.currentWidget().save()
elif result == QMessageBox.No:
pass
else:
doremove = False
if doremove:
# remove the indexed files
if w.filename in self.files:
self.files.remove(w.filename)
# close tab
self.tabWidget.removeTab(tab_index)
# close editor, if no tabs are open
if not self.tabWidget.count():
self.close()
except:
import traceback
rospy.logwarn("Error while close tab %s: %s", str(tab_index), traceback.format_exc(1))
def reject(self):
if self.find_dialog.isVisible():
self.searchButton.setChecked(not self.searchButton.isChecked())
else:
self.close()
def closeEvent(self, event):
'''
Test the open files for changes and save this if needed.
'''
changed = []
# get the names of all changed files
for i in range(self.tabWidget.count()):
w = self.tabWidget.widget(i)
if w.document().isModified():
changed.append(self.__getTabName(w.filename))
if changed:
# ask the user for save changes
if self.isHidden():
buttons = QMessageBox.Yes | QMessageBox.No
else:
buttons = QMessageBox.Yes | QMessageBox.No | QMessageBox.Cancel
result = QMessageBox.question(self, "Unsaved Changes", '\n\n'.join(["Save the file before closing?", '\n'.join(changed)]), buttons)
if result == QMessageBox.Yes:
for i in range(self.tabWidget.count()):
w = self.tabWidget.widget(i).save()
event.accept()
elif result == QMessageBox.No:
event.accept()
else:
event.ignore()
else:
event.accept()
if event.isAccepted():
self.storeSetting()
self.finished_signal.emit(self.init_filenames)
def on_editor_modificationChanged(self, value=None):
'''
If the content was changed, a '*' will be shown in the tab name.
'''
tab_name = self.__getTabName(self.tabWidget.currentWidget().filename)
if (self.tabWidget.currentWidget().document().isModified()) or not QFileInfo(self.tabWidget.currentWidget().filename).exists():
tab_name = ''.join(['*', tab_name])
self.tabWidget.setTabText(self.tabWidget.currentIndex(), tab_name)
def on_editor_positionChanged(self):
'''
Shows the number of the line and column in a label.
'''
cursor = self.tabWidget.currentWidget().textCursor()
self.pos_label.setText(':%s:%s #%s' % (cursor.blockNumber() + 1, cursor.columnNumber(), cursor.position()))
def __getTabName(self, lfile):
base = os.path.basename(lfile).replace('.launch', '')
(package, _) = package_name(os.path.dirname(lfile))
return '%s [%s]' % (base, package)
##############################################################################
# HANDLER for buttons
##############################################################################
def on_saveButton_clicked(self):
'''
Saves the current document. This method is called if the C{save button}
was clicked.
'''
saved, errors, msg = self.tabWidget.currentWidget().save(True)
if errors:
QMessageBox.critical(self, "Error", msg)
self.tabWidget.setTabIcon(self.tabWidget.currentIndex(), self._error_icon)
self.tabWidget.setTabToolTip(self.tabWidget.currentIndex(), msg)
elif saved:
self.tabWidget.setTabIcon(self.tabWidget.currentIndex(), self._empty_icon)
self.tabWidget.setTabToolTip(self.tabWidget.currentIndex(), '')
def on_shortcut_find(self):
pass
def on_toggled_find(self, value):
'''
Shows the search frame
'''
if value:
self.find_dialog.enable()
else:
self.replaceButton.setChecked(False)
self.find_dialog.setVisible(False)
self.tabWidget.currentWidget().setFocus()
def on_toggled_replace(self, value):
'''
Shows the replace lineedit in the search frame
'''
if value:
self.searchButton.setChecked(True)
self.find_dialog.set_replace_visible(value)
def on_shortcut_goto(self):
'''
Opens a C{goto} dialog.
'''
value = 1
ok = False
try:
value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
QLineEdit.Normal, minValue=1, step=1)
except:
value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
QLineEdit.Normal, min=1, step=1)
if ok:
if value > self.tabWidget.currentWidget().document().blockCount():
value = self.tabWidget.currentWidget().document().blockCount()
curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1
while curpos != value:
mov = QTextCursor.NextBlock if curpos < value else QTextCursor.PreviousBlock
self.tabWidget.currentWidget().moveCursor(mov)
curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1
self.tabWidget.currentWidget().setFocus(Qt.ActiveWindowFocusReason)
##############################################################################
# SLOTS for search dialog
##############################################################################
def on_search_result(self, search_text, found, path, index):
'''
A slot to handle a found text. It goes to the position in the text and select
the searched text. On new file it will be open.
:param search_text: the searched text
:type search_text: str
:param found: the text was found or not
:type found: bool
:param path: the path of the file the text was found
:type path: str
:param index: the position in the text
:type index: int
'''
if found:
if self.tabWidget.currentWidget().filename != path:
focus_widget = QApplication.focusWidget()
self.on_load_request(path)
focus_widget.setFocus()
cursor = self.tabWidget.currentWidget().textCursor()
cursor.setPosition(index, QTextCursor.MoveAnchor)
cursor.movePosition(QTextCursor.NextCharacter, QTextCursor.KeepAnchor, len(search_text))
self.tabWidget.currentWidget().setTextCursor(cursor)
def on_search_result_on_open(self, search_text, found, path, index):
'''
Like on_search_result, but skips the text in comments.
'''
if found:
if self.tabWidget.currentWidget().filename != path:
focus_widget = QApplication.focusWidget()
self.on_load_request(path)
focus_widget.setFocus()
comment_start = self.tabWidget.currentWidget().document().find('<!--', index, QTextDocument.FindBackward)
if not comment_start.isNull():
comment_end = self.tabWidget.currentWidget().document().find('-->', comment_start)
if not comment_end.isNull() and comment_end.position() > index + len(search_text):
# commented -> retrun
return
self.on_search_result(search_text, found, path, index)
def on_replace(self, search_text, path, index, replaced_text):
'''
A slot to handle a text replacement of the TextSearchFrame.
:param search_text: the searched text
:type search_text: str
:param path: the path of the file the text was found
:type path: str
:param index: the position in the text
:type index: int
:param replaced_text: the new text
:type replaced_text: str
'''
cursor = self.tabWidget.currentWidget().textCursor()
if cursor.selectedText() == search_text:
cursor.insertText(replaced_text)
##############################################################################
# LAUNCH TAG insertion
##############################################################################
def _create_tag_button(self, parent=None):
btn = QPushButton(parent)
btn.setObjectName("tagButton")
btn.setText(self._translate("Add &tag"))
btn.setShortcut("Ctrl+T")
btn.setToolTip('Adds a ROS launch tag to launch file (Ctrl+T)')
btn.setMenu(self._create_tag_menu(btn))
btn.setFlat(True)
return btn
def _create_tag_menu(self, parent=None):
# creates a tag menu
tag_menu = QMenu("ROS Tags", parent)
# group tag
add_group_tag_action = QAction("<group>", self, statusTip="", triggered=self._on_add_group_tag)
add_group_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+g"))
tag_menu.addAction(add_group_tag_action)
# node tag
add_node_tag_action = QAction("<node>", self, statusTip="", triggered=self._on_add_node_tag)
add_node_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+n"))
tag_menu.addAction(add_node_tag_action)
# node tag with all attributes
add_node_tag_all_action = QAction("<node all>", self, statusTip="", triggered=self._on_add_node_tag_all)
tag_menu.addAction(add_node_tag_all_action)
# include tag with all attributes
add_include_tag_all_action = QAction("<include>", self, statusTip="", triggered=self._on_add_include_tag_all)
add_include_tag_all_action.setShortcuts(QKeySequence("Ctrl+Shift+i"))
tag_menu.addAction(add_include_tag_all_action)
# remap
add_remap_tag_action = QAction("<remap>", self, statusTip="", triggered=self._on_add_remap_tag)
add_remap_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+r"))
tag_menu.addAction(add_remap_tag_action)
# env tag
add_env_tag_action = QAction("<env>", self, statusTip="", triggered=self._on_add_env_tag)
tag_menu.addAction(add_env_tag_action)
# param tag
add_param_tag_action = QAction("<param>", self, statusTip="", triggered=self._on_add_param_tag)
add_param_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+p"))
tag_menu.addAction(add_param_tag_action)
# param capability group tag
add_param_cap_group_tag_action = QAction("<param capability group>", self, statusTip="", triggered=self._on_add_param_cap_group_tag)
add_param_cap_group_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+p"))
tag_menu.addAction(add_param_cap_group_tag_action)
# param tag with all attributes
add_param_tag_all_action = QAction("<param all>", self, statusTip="", triggered=self._on_add_param_tag_all)
tag_menu.addAction(add_param_tag_all_action)
# rosparam tag with all attributes
add_rosparam_tag_all_action = QAction("<rosparam>", self, statusTip="", triggered=self._on_add_rosparam_tag_all)
tag_menu.addAction(add_rosparam_tag_all_action)
# arg tag with default definition
add_arg_tag_default_action = QAction("<arg default>", self, statusTip="", triggered=self._on_add_arg_tag_default)
add_arg_tag_default_action.setShortcuts(QKeySequence("Ctrl+Shift+a"))
tag_menu.addAction(add_arg_tag_default_action)
# arg tag with value definition
add_arg_tag_value_action = QAction("<arg value>", self, statusTip="", triggered=self._on_add_arg_tag_value)
add_arg_tag_value_action.setShortcuts(QKeySequence("Ctrl+Alt+a"))
tag_menu.addAction(add_arg_tag_value_action)
# test tag
add_test_tag_action = QAction("<test>", self, statusTip="", triggered=self._on_add_test_tag)
add_test_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+t"))
tag_menu.addAction(add_test_tag_action)
# test tag with all attributes
add_test_tag_all_action = QAction("<test all>", self, statusTip="", triggered=self._on_add_test_tag_all)
tag_menu.addAction(add_test_tag_all_action)
return tag_menu
def _insert_text(self, text):
cursor = self.tabWidget.currentWidget().textCursor()
if not cursor.isNull():
col = cursor.columnNumber()
spaces = ''.join([' ' for _ in range(col)])
cursor.insertText(text.replace('\n', '\n%s' % spaces))
self.tabWidget.currentWidget().setFocus(Qt.OtherFocusReason)
def _on_add_group_tag(self):
self._insert_text('<group ns="namespace" clear_params="true|false">\n'
'</group>')
def _on_add_node_tag(self):
dia = PackageDialog()
if dia.exec_():
self._insert_text('<node name="%s" pkg="%s" type="%s">\n'
'</node>' % (dia.binary, dia.package, dia.binary))
def _on_add_node_tag_all(self):
dia = PackageDialog()
if dia.exec_():
self._insert_text('<node name="%s" pkg="%s" type="%s"\n'
' args="arg1" machine="machine-name"\n'
' respawn="true" required="true"\n'
' ns="foo" clear_params="true|false"\n'
' output="log|screen" cwd="ROS_HOME|node"\n'
' launch-prefix="prefix arguments">\n'
'</node>' % (dia.binary, dia.package, dia.binary))
def _on_add_include_tag_all(self):
self._insert_text('<include file="$(find pkg-name)/path/filename.xml"\n'
' ns="foo" clear_params="true|false">\n'
'</include>')
def _on_add_remap_tag(self):
self._insert_text('<remap from="original" to="new"/>')
def _on_add_env_tag(self):
self._insert_text('<env name="variable" value="value"/>')
def _on_add_param_tag(self):
self._insert_text('<param name="ns_name" value="value" />')
def _on_add_param_cap_group_tag(self):
self._insert_text('<param name="capability_group" value="demo" />')
def _on_add_param_tag_all(self):
self._insert_text('<param name="ns_name" value="value"\n'
' type="str|int|double|bool"\n'
' textfile="$(find pkg-name)/path/file.txt"\n'
' binfile="$(find pkg-name)/path/file"\n'
' command="$(find pkg-name)/exe \'$(find pkg-name)/arg.txt\'">\n'
'</param>')
def _on_add_rosparam_tag_all(self):
self._insert_text('<rosparam param="param-name"\n'
' file="$(find pkg-name)/path/foo.yaml"\n'
' command="load|dump|delete"\n'
' ns="namespace">\n'
'</rosparam>')
def _on_add_arg_tag_default(self):
self._insert_text('<arg name="foo" default="1" />')
def _on_add_arg_tag_value(self):
self._insert_text('<arg name="foo" value="bar" />')
def _on_add_test_tag(self):
dia = PackageDialog()
if dia.exec_():
self._insert_text('<test name="%s" pkg="%s" type="%s" test-name="test_%s">\n'
'</test>' % (dia.binary, dia.package, dia.binary, dia.binary))
def _on_add_test_tag_all(self):
dia = PackageDialog()
if dia.exec_():
self._insert_text('<test name="%s" pkg="%s" type="%s" test-name="test_%s">\n'
' args="arg1" time-limit="60.0"\n'
' ns="foo" clear_params="true|false"\n'
' cwd="ROS_HOME|node" retry="0"\n'
' launch-prefix="prefix arguments">\n'
'</test>' % (dia.binary, dia.package, dia.binary, dia.binary))
class PackageDialog(QDialog):
def __init__(self, parent=None):
QDialog.__init__(self, parent)
self.setWindowTitle('Select Binary')
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.content = QWidget()
self.contentLayout = QFormLayout(self.content)
self.contentLayout.setVerticalSpacing(0)
self.verticalLayout.addWidget(self.content)
self.packages = None
package_label = QLabel("Package:", self.content)
self.package_field = QComboBox(self.content)
self.package_field.setInsertPolicy(QComboBox.InsertAlphabetically)
self.package_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.package_field.setEditable(True)
self.contentLayout.addRow(package_label, self.package_field)
binary_label = QLabel("Binary:", self.content)
self.binary_field = QComboBox(self.content)
# self.binary_field.setSizeAdjustPolicy(QComboBox.AdjustToContents)
self.binary_field.setSizePolicy(QSizePolicy(QSizePolicy.Expanding, QSizePolicy.Fixed))
self.binary_field.setEditable(True)
self.contentLayout.addRow(binary_label, self.binary_field)
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setStandardButtons(QDialogButtonBox.Ok | QDialogButtonBox.Cancel)
self.buttonBox.setOrientation(Qt.Horizontal)
self.buttonBox.setObjectName("buttonBox")
self.verticalLayout.addWidget(self.buttonBox)
self.package_field.setFocus(Qt.TabFocusReason)
self.package = ''
self.binary = ''
if self.packages is None:
self.package_field.addItems(['packages searching...'])
self.package_field.setCurrentIndex(0)
self._fill_packages_thread = PackagesThread()
self._fill_packages_thread.packages.connect(self._fill_packages)
self._fill_packages_thread.start()
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
QMetaObject.connectSlotsByName(self)
self.package_field.activated[str].connect(self.on_package_selected)
if hasattr(self.package_field, "textChanged"): # qt compatibility
self.package_field.textChanged.connect(self.on_package_selected)
self.binary_field.textChanged.connect(self.on_binary_selected)
else:
self.package_field.editTextChanged.connect(self.on_package_selected)
self.binary_field.editTextChanged.connect(self.on_binary_selected)
def _fill_packages(self, packages):
# fill the input fields
self.packages = packages
packages = packages.keys()
packages.sort()
self.package_field.clear()
self.package_field.clearEditText()
self.package_field.addItems(packages)
def _getBinaries(self, path):
result = {}
if os.path.isdir(path):
fileList = os.listdir(path)
for f in fileList:
if f and f[0] != '.' and f not in ['build'] and not f.endswith('.cfg') and not f.endswith('.so'):
ret = self._getBinaries(os.path.join(path, f))
result = dict(ret.items() + result.items())
elif os.path.isfile(path) and os.access(path, os.X_OK):
# create a selection for binaries
return {os.path.basename(path): path}
return result
def on_package_selected(self, package):
self.binary_field.clear()
if self.packages and package in self.packages:
self.binary_field.setEnabled(True)
path = self.packages[package]
binaries = self._getBinaries(path).keys()
try:
# find binaries in catkin workspace
from catkin.find_in_workspaces import find_in_workspaces as catkin_find
search_paths = catkin_find(search_dirs=['libexec', 'share'], project=package, first_matching_workspace_only=True)
for p in search_paths:
binaries += self._getBinaries(p).keys()
except:
pass
binaries = list(set(binaries))
binaries.sort()
self.binary_field.addItems(binaries)
self.package = package
self.binary = self.binary_field.currentText()
def on_binary_selected(self, binary):
self.binary = binary
class NetworkDiscoveryDialog(QDialog, threading.Thread):
TIMEOUT = 0.1
display_clear_signal = Signal()
display_append_signal = Signal(str)
status_text_signal = Signal(str)
network_join_request = Signal(int)
def __init__(self, default_mcast_group, default_port, networks_count, parent=None):
'''
Creates an input dialog.
@param default_port: the default discovery port
@type default_port: C{int}
@param networks_count: the count of discovering ports
@type networks_count: C{int}
'''
QDialog.__init__(self, parent=parent)
threading.Thread.__init__(self)
self.default_port = default_port
self.setObjectName('NetworkDiscoveryDialog')
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle('Network Discovery')
self.resize(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display_clear_signal.connect(self.display.clear)
self.display_append_signal.connect(self.display.append)
self.display.anchorClicked.connect(self.on_anchorClicked)
self.status_label = QLabel('0 messages', self)
self.verticalLayout.addWidget(self.status_label)
self.status_text_signal.connect(self.status_label.setText)
self._networks_count = networks_count
self._running = True
self._received_msgs = 0
self._discovered = dict()
self._hosts = dict() # resolution for hostname and address
self.mutex = threading.RLock()
self.sockets = []
with self.mutex:
for p in range(networks_count):
msock = DiscoverSocket(default_port + p, default_mcast_group)
self.sockets.append(msock)
msock.settimeout(self.TIMEOUT)
msock.set_message_callback(self.on_heartbeat_received)
self.setDaemon(True)
self.start()
def on_heartbeat_received(self, msg, address, is_multicast):
force_update = False
with self.mutex:
try:
hostname = self._hosts[address[0]]
except:
self.status_text_signal.emit("resolve %s" % address[0])
hostname = nm.nameres().hostname(str(address[0]), resolve=True)
self._hosts[address[0]] = hostname
try:
(_version, _msg_tuple) = Discoverer.msg2masterState(msg, address)
index = address[1] - self.default_port
if index not in self._discovered:
self._discovered[index] = dict()
self._discovered[index][address] = (hostname, time.time())
self._received_msgs += 1
force_update = True
except:
print traceback.format_exc(1)
if force_update:
self._updateDisplay()
def run(self):
self.parent().masterlist_service.refresh(self.parent().getMasteruri(), False)
while (not rospy.is_shutdown()) and self._running:
with self.mutex:
status_text = 'received messages: %d' % (self._received_msgs)
self.status_text_signal.emit(status_text)
# self.parent().masterlist_service.refresh(self.parent().getMasteruri(), False)
time.sleep(3)
def closeEvent(self, event):
self.stop()
QDialog.closeEvent(self, event)
def stop(self):
self._running = False
with self.mutex:
for p in range(len(self.sockets)):
try:
self.sockets[p].close()
except:
pass
def _updateDisplay(self):
self.display_clear_signal.emit()
text = '<div style="font-family:Fixedsys,Courier,monospace; padding:10px;">\n'
for index, addr_dict in self._discovered.items():
text = ''.join([text, 'Network <b>', str(index), '</b>: <a href="', str(index), '">join</a><dl>'])
for addr, (hostname, ts) in addr_dict.items():
text = ''.join([text, '<dt>', self._getTsStr(ts), ' <b><u>', str(hostname), '</u></b> ', str(addr), '</dt>\n'])
text = ''.join([text, '</dl><br>'])
text = ''.join([text, '</div>'])
self.display_append_signal.emit(text)
def _getTsStr(self, timestamp):
dt = datetime.fromtimestamp(timestamp)
diff = time.time() - timestamp
diff_dt = datetime.fromtimestamp(diff)
before = '0 sec'
if (diff < 60):
before = diff_dt.strftime('%S sec')
elif (diff < 3600):
before = diff_dt.strftime('%M:%S min')
elif (diff < 86400):
before = diff_dt.strftime('%H:%M:%S std')
else:
before = diff_dt.strftime('%d Day(s) %H:%M:%S')
return ''.join([dt.strftime('%H:%M:%S'), ' (', before, ')'])
def on_anchorClicked(self, url):
self._updateDisplay()
try:
self.network_join_request.emit(int(url.toString()))
except:
print traceback.format_exc(1)
class Editor(QMainWindow):
'''
Creates a dialog to edit a launch file.
'''
finished_signal = Signal(list)
'''
finished_signal has as parameter the filenames of the initialization and is emitted, if this
dialog was closed.
'''
def __init__(self, filenames, search_text='', master_name='', parent=None):
'''
:param filenames: a list with filenames. The last one will be activated.
:type filenames: [str]
:param str search_text: if not empty, searches in new document for first occurrence of the given text
'''
QMainWindow.__init__(self, parent)
self.setObjectName('Editor - %s' % utf8(filenames))
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.mIcon = nm.settings().icon('crystal_clear_edit_launch.png')
self._error_icon = nm.settings().icon('warning.png')
self._info_icon = nm.settings().icon('info.png')
self._empty_icon = QIcon()
self.setWindowIcon(self.mIcon)
window_title = "ROSLaunch Editor"
if filenames:
window_title = self.__getTabName(filenames[0])
self.setWindowTitle('%s @%s' % (window_title, master_name))
self.init_filenames = filenames
self._search_node_count = 0
self._search_thread = None
self._last_search_request = None
# list with all open files
self.files = []
# create tabs for files
self.main_widget = QWidget(self)
self.main_widget.setObjectName("editorMain")
self.verticalLayout = QVBoxLayout(self.main_widget)
self.verticalLayout.setContentsMargins(0, 0, 0, 0)
self.verticalLayout.setSpacing(1)
self.verticalLayout.setObjectName("verticalLayout")
self.tabWidget = EditorTabWidget(self)
self.tabWidget.setTabPosition(QTabWidget.North)
self.tabWidget.setDocumentMode(True)
self.tabWidget.setTabsClosable(True)
self.tabWidget.setMovable(False)
self.tabWidget.setObjectName("tabWidget")
self.tabWidget.tabCloseRequested.connect(self.on_close_tab)
self.tabWidget.currentChanged.connect(self.on_tab_changed)
self.verticalLayout.addWidget(self.tabWidget)
self.log_dock = self._create_log_bar()
self.addDockWidget(Qt.BottomDockWidgetArea, self.log_dock)
# self.verticalLayout.addWidget(self.log_bar)
self.buttons = self._create_buttons()
self.verticalLayout.addWidget(self.buttons)
self.setCentralWidget(self.main_widget)
self.find_dialog = TextSearchFrame(self.tabWidget, self)
self.find_dialog.found_signal.connect(self.on_search_result)
self.find_dialog.replace_signal.connect(self.on_replace)
self.addDockWidget(Qt.RightDockWidgetArea, self.find_dialog)
self.graph_view = GraphViewWidget(self.tabWidget, self)
self.graph_view.load_signal.connect(self.on_graph_load_file)
self.graph_view.goto_signal.connect(self.on_graph_goto)
self.graph_view.search_signal.connect(self.on_load_request)
self.graph_view.finished_signal.connect(self.on_graph_finished)
self.graph_view.info_signal.connect(self.on_graph_info)
self.addDockWidget(Qt.RightDockWidgetArea, self.graph_view)
self.readSettings()
self.find_dialog.setVisible(False)
self.graph_view.setVisible(False)
nm.nmd().file.changed_file.connect(self.on_changed_file)
nm.nmd().file.packages_available.connect(self._on_new_packages)
# open the files
for f in filenames:
if f:
self.on_load_request(f, search_text, only_launch=True)
self.log_dock.setVisible(False)
try:
pal = self.tabWidget.palette()
self._default_color = pal.color(QPalette.Window)
color = QColor.fromRgb(nm.settings().host_color(master_name, self._default_color.rgb()))
bg_style_launch_dock = "QWidget#editorMain { background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1, stop: 0 %s, stop: 0.7 %s);}" % (color.name(), self._default_color.name())
self.setStyleSheet('%s' % (bg_style_launch_dock))
except Exception as _:
pass
# import traceback
# print(traceback.format_exc())
# def __del__(self):
# print "******** destroy", self.objectName()
def _create_buttons(self):
# create the buttons line
self.buttons = QWidget(self)
self.horizontalLayout = QHBoxLayout(self.buttons)
self.horizontalLayout.setContentsMargins(3, 0, 3, 0)
self.horizontalLayout.setObjectName("horizontalLayout")
# add open upper launchfile button
self.upperButton = QPushButton(self)
self.upperButton.setObjectName("upperButton")
self.upperButton.clicked.connect(self.on_upperButton_clicked)
self.upperButton.setIcon(nm.settings().icon('up.png'))
self.upperButton.setShortcut("Ctrl+U")
self.upperButton.setToolTip('Open the file which include the current file (Ctrl+U)')
self.upperButton.setFlat(True)
self.horizontalLayout.addWidget(self.upperButton)
# add the goto button
self.gotoButton = QPushButton(self)
self.gotoButton.setObjectName("gotoButton")
self.gotoButton.clicked.connect(self.on_shortcut_goto)
self.gotoButton.setText(self._translate("&Goto line"))
self.gotoButton.setShortcut("Ctrl+G")
self.gotoButton.setToolTip('Open a goto dialog (Ctrl+G)')
self.gotoButton.setFlat(True)
self.horizontalLayout.addWidget(self.gotoButton)
# add a tag button
self.tagButton = self._create_tag_button(self)
self.horizontalLayout.addWidget(self.tagButton)
# add save button
self.saveButton = QPushButton(self)
self.saveButton.setObjectName("saveButton")
self.saveButton.setIcon(QIcon.fromTheme("document-save"))
self.saveButton.clicked.connect(self.on_saveButton_clicked)
self.saveButton.setText(self._translate("&Save"))
self.saveButton.setShortcut("Ctrl+S")
self.saveButton.setToolTip('Save the changes to the file (Ctrl+S)')
self.saveButton.setFlat(True)
self.horizontalLayout.addWidget(self.saveButton)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add line number label
self.pos_label = QLabel()
self.horizontalLayout.addWidget(self.pos_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add show log button
self.show_log_button = QPushButton("Log>>", self)
self.show_log_button.setObjectName("show_log_button")
self.show_log_button.clicked.connect(self.on_toggled_log)
self.show_log_button.setFlat(True)
self.show_log_button.setCheckable(True)
self.horizontalLayout.addWidget(self.show_log_button)
# add graph button
self.graphButton = QPushButton(self)
self.graphButton.setObjectName("graphButton")
self.graphButton.toggled.connect(self.on_toggled_graph)
self.graphButton.setText("Includ&e Graph >>")
self.graphButton.setCheckable(True)
self.graphButton.setShortcut("Ctrl+E")
self.graphButton.setToolTip('Shows include and include from files (Ctrl+E)')
self.graphButton.setFlat(True)
self.horizontalLayout.addWidget(self.graphButton)
# add the search button
self.searchButton = QPushButton(self)
self.searchButton.setObjectName("searchButton")
# self.searchButton.clicked.connect(self.on_shortcut_find)
self.searchButton.toggled.connect(self.on_toggled_find)
self.searchButton.setText(self._translate("&Find >>"))
self.searchButton.setToolTip('Open a search dialog (Ctrl+F)')
self.searchButton.setFlat(True)
self.searchButton.setCheckable(True)
self.horizontalLayout.addWidget(self.searchButton)
# add the replace button
self.replaceButton = QPushButton(self)
self.replaceButton.setObjectName("replaceButton")
# self.replaceButton.clicked.connect(self.on_shortcut_replace)
self.replaceButton.toggled.connect(self.on_toggled_replace)
self.replaceButton.setText(self._translate("&Replace >>"))
self.replaceButton.setToolTip('Open a search&replace dialog (Ctrl+R)')
self.replaceButton.setFlat(True)
self.replaceButton.setCheckable(True)
self.horizontalLayout.addWidget(self.replaceButton)
return self.buttons
def _create_log_bar(self):
self.log_dock = QDockWidget(self)
self.log_dock.setObjectName('LogFrame')
self.log_dock.setFeatures(QDockWidget.DockWidgetMovable | QDockWidget.DockWidgetFloatable)
self.log_bar = QWidget(self)
self.horizontal_layout_log_bar = QHBoxLayout(self.log_bar)
self.horizontal_layout_log_bar.setContentsMargins(2, 0, 2, 0)
self.horizontal_layout_log_bar.setObjectName("horizontal_layout_log_bar")
# add info label
self._log_warning_count = 0
self.log_browser = QTextEdit()
self.log_browser.setObjectName("log_browser")
self.log_browser.setSizePolicy(QSizePolicy.Expanding, QSizePolicy.Expanding)
self.log_browser.setLineWrapMode(QTextEdit.NoWrap)
# self.log_browser.setMaximumHeight(120)
color = QColor(255, 255, 235)
bg_style = "QTextEdit#log_browser { background-color: %s;}" % color.name()
self.log_bar.setStyleSheet("%s" % (bg_style))
self.horizontal_layout_log_bar.addWidget(self.log_browser)
# add hide button
self.clear_log_button = QPushButton("clear", self)
self.clear_log_button.setObjectName("clear_log_button")
self.clear_log_button.setSizePolicy(QSizePolicy.Minimum, QSizePolicy.Maximum)
self.clear_log_button.clicked.connect(self.on_clear_log_button_clicked)
self.clear_log_button.setFlat(True)
self.horizontal_layout_log_bar.addWidget(self.clear_log_button)
self.log_dock.setWidget(self.log_bar)
return self.log_dock
def keyPressEvent(self, event):
'''
Enable the shortcats for search and replace
'''
if event.key() == Qt.Key_Escape:
self.reject()
elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_F:
if self.tabWidget.currentWidget().hasFocus():
if not self.searchButton.isChecked():
self.searchButton.setChecked(True)
else:
self.on_toggled_find(True)
else:
self.searchButton.setChecked(not self.searchButton.isChecked())
elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_R:
if self.tabWidget.currentWidget().hasFocus():
if not self.replaceButton.isChecked():
self.replaceButton.setChecked(True)
else:
self.on_toggled_replace(True)
else:
self.replaceButton.setChecked(not self.replaceButton.isChecked())
elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_E:
if self.tabWidget.currentWidget().hasFocus():
if not self.graphButton.isChecked():
self.graphButton.setChecked(True)
else:
self.on_toggled_graph(True)
else:
self.graphButton.setChecked(not self.graphButton.isChecked())
elif event.modifiers() == Qt.ControlModifier and event.key() == Qt.Key_W:
self.on_close_tab(self.tabWidget.currentIndex())
elif event.modifiers() in [Qt.ControlModifier, Qt.AltModifier] and event.key() == Qt.Key_Up:
self.on_upperButton_clicked()
elif event.modifiers() in [Qt.ControlModifier, Qt.AltModifier] and event.key() == Qt.Key_Down:
self.on_downButton_clicked()
else:
event.accept()
QMainWindow.keyPressEvent(self, event)
def _translate(self, text):
if hasattr(QApplication, "UnicodeUTF8"):
return QApplication.translate("Editor", text, None, QApplication.UnicodeUTF8)
else:
return QApplication.translate("Editor", text, None)
def readSettings(self):
if nm.settings().store_geometry:
settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE)
settings.beginGroup("editor")
maximized = settings.value("maximized", 'false') == 'true'
if maximized:
self.showMaximized()
else:
self.resize(settings.value("size", QSize(800, 640)))
self.move(settings.value("pos", QPoint(0, 0)))
try:
self.restoreState(settings.value("window_state"))
except Exception:
import traceback
print(traceback.format_exc())
settings.endGroup()
def storeSetting(self):
if nm.settings().store_geometry:
settings = nm.settings().qsettings(nm.settings().CFG_GUI_FILE)
settings.beginGroup("editor")
settings.setValue("size", self.size())
settings.setValue("pos", self.pos())
settings.setValue("maximized", self.isMaximized())
settings.setValue("window_state", self.saveState())
settings.endGroup()
def on_load_request(self, filename, search_text='', insert_index=-1, goto_line=-1, only_launch=False, count_results=0):
'''
Loads a file in a new tab or focus the tab, if the file is already open.
:param str filename: the path to file
:param str search_text: if not empty, searches in new document for first occurrence of the given text
'''
if not filename:
return
self.tabWidget.setUpdatesEnabled(False)
try:
if filename not in self.files:
tab_name = self.__getTabName(filename)
editor = TextEdit(filename, parent=self)
linenumber_editor = LineNumberWidget(editor)
tab_index = 0
if insert_index > -1:
tab_index = self.tabWidget.insertTab(insert_index, linenumber_editor, tab_name)
else:
tab_index = self.tabWidget.addTab(linenumber_editor, tab_name)
self.files.append(filename)
editor.setCurrentPath(os.path.basename(filename))
editor.load_request_signal.connect(self.on_load_request)
editor.document().modificationChanged.connect(self.on_editor_modificationChanged)
editor.cursorPositionChanged.connect(self.on_editor_positionChanged)
editor.setFocus(Qt.OtherFocusReason)
# editor.textChanged.connect(self.on_text_changed)
editor.undoAvailable.connect(self.on_text_changed)
self.tabWidget.setCurrentIndex(tab_index)
# self.find_dialog.set_search_path(filename)
else:
for i in range(self.tabWidget.count()):
if self.tabWidget.widget(i).filename == filename:
self.tabWidget.setCurrentIndex(i)
break
self.tabWidget.setUpdatesEnabled(True)
if search_text:
if only_launch:
self.find_dialog.found_files_list.clear()
try:
self._search_thread.stop()
self._search_thread = None
except Exception:
pass
# TODO: put all text of all tabs into path_text
rospy.logdebug("serach for '%s'" % search_text)
self._search_node_count = 0
self._search_thread = TextSearchThread(search_text, filename, recursive=True, only_launch=only_launch, count_results=count_results)
self._search_thread.search_result_signal.connect(self.on_search_result_on_open)
self._search_thread.warning_signal.connect(self.on_search_result_warning)
self._last_search_request = (filename, search_text, insert_index, goto_line, only_launch)
if not self.graph_view.is_loading():
self.on_graph_info("search thread: start search for '%s'" % self._search_thread._search_text)
self._search_thread.start()
if goto_line != -1:
self._goto(goto_line, True)
self.upperButton.setEnabled(self.tabWidget.count() > 1)
except Exception as err:
self.tabWidget.setUpdatesEnabled(True)
import traceback
msg = "Error while open %s: %s" % (filename, traceback.format_exc())
rospy.logwarn(msg)
MessageBox.critical(self, "Error", utf8(err), msg)
if self.tabWidget.count() == 0:
self.close()
def on_graph_load_file(self, path, insert_after=True):
insert_index = self.tabWidget.currentIndex() + 1
if not insert_after and insert_index > 1:
insert_index = self.tabWidget.currentIndex()
self.on_load_request(path, insert_index=insert_index)
def on_graph_goto(self, path, linenr):
if path == self.tabWidget.currentWidget().filename:
if linenr != -1:
self._goto(linenr, True)
def on_graph_finished(self):
self.on_graph_info("build tree: finished", False)
if self.graph_view.has_warnings:
self.graphButton.setIcon(self._info_icon)
else:
self.graphButton.setIcon(self._empty_icon)
if self._search_thread:
try:
self._search_thread.find_args_not_set = True
self._search_thread.start()
self.on_graph_info("search thread: start search for '%s'" % self._search_thread._search_text)
except Exception:
pass
def on_graph_info(self, msg, warning=False):
text_color = "#000000"
if warning:
self._log_warning_count += 1
if self._log_warning_count == 1:
self.show_log_button.setIcon(self._error_icon)
text_color = "#FE9A2E"
text = ('<pre style="padding:10px;"><dt><font color="%s">'
'%s</font></dt></pre>' % (text_color, msg))
self.log_browser.append(text)
def on_text_changed(self, value=""):
if self.tabWidget.currentWidget().hasFocus():
self.find_dialog.file_changed(self.tabWidget.currentWidget().filename)
self._last_search_request = None
def on_tab_changed(self, index):
if index > -1:
self.graph_view.set_file(self.tabWidget.widget(index).filename, self.tabWidget.widget(0).filename)
self._last_search_request = None
def on_close_tab(self, tab_index):
'''
Signal handling to close single tabs.
:param int tab_index: tab index to close
'''
try:
doremove = True
w = self.tabWidget.widget(tab_index)
if w.document().isModified():
name = self.__getTabName(w.filename)
result = MessageBox.question(self, "Unsaved Changes", '\n\n'.join(["Save the file before closing?", name]))
if result == MessageBox.Yes:
self.tabWidget.currentWidget().save()
elif result == MessageBox.No:
pass
elif rospy.is_shutdown():
doremove = False
if doremove:
# remove the indexed files
if w.filename in self.files:
self.files.remove(w.filename)
# close tab
self.tabWidget.removeTab(tab_index)
# close editor, if no tabs are open
if not self.tabWidget.count():
self.close()
self._last_search_request = None
except Exception:
import traceback
rospy.logwarn("Error while close tab %s: %s", str(tab_index), traceback.format_exc(1))
self.upperButton.setEnabled(self.tabWidget.count() > 1)
def reject(self):
if self.find_dialog.isVisible():
self.searchButton.setChecked(not self.searchButton.isChecked())
else:
self.close()
def on_changed_file(self, grpc_path, mtime):
if grpc_path in self.files:
for i in range(self.tabWidget.count()):
if self.tabWidget.widget(i).filename == grpc_path:
self.tabWidget.widget(i).file_changed(mtime)
break
if self._last_search_request is not None:
self.on_load_request(*self._last_search_request)
def closeEvent(self, event):
'''
Test the open files for changes and save this if needed.
'''
changed = []
# get the names of all changed files
for i in range(self.tabWidget.count()):
w = self.tabWidget.widget(i)
if w.document().isModified():
changed.append(self.__getTabName(w.filename))
if changed:
# ask the user for save changes
if self.isHidden():
buttons = MessageBox.Yes | MessageBox.No
else:
buttons = MessageBox.Yes | MessageBox.No | MessageBox.Cancel
result = MessageBox.question(self, "Unsaved Changes", '\n\n'.join(["Save the file before closing?", '\n'.join(changed)]), buttons=buttons)
if result == MessageBox.Yes:
for i in range(self.tabWidget.count()):
w = self.tabWidget.widget(i).save()
self.graph_view.clear_cache()
event.accept()
elif result == MessageBox.No:
event.accept()
elif rospy.is_shutdown():
event.ignore()
else:
event.accept()
if event.isAccepted():
self.storeSetting()
nm.nmd().file.changed_file.disconnect(self.on_changed_file)
nm.nmd().file.packages_available.connect(self._on_new_packages)
self.finished_signal.emit(self.init_filenames)
def on_editor_modificationChanged(self, value=None):
'''
If the content was changed, a '*' will be shown in the tab name.
'''
tab_name = self.__getTabName(self.tabWidget.currentWidget().filename)
if (self.tabWidget.currentWidget().document().isModified()):
tab_name = '*%s' % tab_name
self.tabWidget.setTabText(self.tabWidget.currentIndex(), tab_name)
def on_editor_positionChanged(self):
'''
Shows the number of the line and column in a label.
'''
cursor = self.tabWidget.currentWidget().textCursor()
self.pos_label.setText(':%s:%s #%s' % (cursor.blockNumber() + 1, cursor.columnNumber(), cursor.position()))
def __getTabName(self, lfile):
base = os.path.basename(lfile).replace('.launch', '')
(package, _) = package_name(os.path.dirname(lfile))
return '%s [%s]' % (base, package)
def _on_new_packages(self, url):
try:
if nmdurl.nmduri_from_path(url) == nmdurl.nmduri_from_path(self.tabWidget.currentWidget().filename):
rospy.logdebug("packages updated, rebuild graph")
if self.graph_view.has_none_packages:
self.graph_view.clear_cache()
except Exception:
import traceback
print(traceback.format_exc())
##############################################################################
# HANDLER for buttons
##############################################################################
def on_clear_log_button_clicked(self):
self._log_warning_count = 0
self.show_log_button.setIcon(self._empty_icon)
self.log_browser.clear()
self.log_dock.setVisible(False)
self.show_log_button.setChecked(False)
self.tabWidget.currentWidget().setFocus()
def on_upperButton_clicked(self):
'''
Opens the file which include the current open file
'''
if self.tabWidget.currentIndex() != 0:
self.graph_view.find_parent_file()
def on_downButton_clicked(self):
'''
Select editor right from current.
'''
if self.tabWidget.currentIndex() < self.tabWidget.count():
self.tabWidget.setCurrentIndex(self.tabWidget.currentIndex() + 1)
def on_saveButton_clicked(self):
'''
Saves the current document. This method is called if the C{save button}
was clicked.
'''
saved, errors, msg = self.tabWidget.currentWidget().save()
if errors:
if msg:
rospy.logwarn(msg)
MessageBox.critical(self, "Error", "Error while save file: %s" % os.path.basename(self.tabWidget.currentWidget().filename), detailed_text=msg)
self.tabWidget.setTabIcon(self.tabWidget.currentIndex(), self._error_icon)
self.tabWidget.setTabToolTip(self.tabWidget.currentIndex(), msg)
self.on_graph_info("saved failed %s: %s" % (self.tabWidget.currentWidget().filename, msg), True)
elif saved:
self.on_graph_info("saved %s" % self.tabWidget.currentWidget().filename)
self.tabWidget.setTabIcon(self.tabWidget.currentIndex(), self._empty_icon)
self.tabWidget.setTabToolTip(self.tabWidget.currentIndex(), '')
self.graph_view.clear_cache()
def on_shortcut_find(self):
pass
def on_toggled_log(self, value):
'''
Shows the log bar
'''
if value:
self.log_dock.setVisible(True)
else:
self.log_dock.setVisible(False)
self.tabWidget.currentWidget().setFocus()
def on_toggled_graph(self, value):
'''
Shows the search frame
'''
if value:
self.graph_view.enable()
else:
# self.replaceButton.setChecked(False)
self.graph_view.setVisible(False)
self.tabWidget.currentWidget().setFocus()
def on_toggled_find(self, value, only_results=False):
'''
Shows the search frame
'''
if value:
self.find_dialog.enable()
self.find_dialog.find_frame.setVisible(not only_results)
self.find_dialog.recursive_search_box.setVisible(not only_results)
if not only_results:
# clear results if not search text exists and we show not only search results
if not self.find_dialog.search_field.text():
self.find_dialog.found_files_list.clear()
else:
self.replaceButton.setChecked(False)
self.find_dialog.setVisible(False)
self.tabWidget.currentWidget().setFocus()
def on_toggled_replace(self, value):
'''
Shows the replace lineedit in the search frame
'''
if value:
self.searchButton.setChecked(True)
self.find_dialog.set_replace_visible(value)
def on_shortcut_goto(self):
'''
Opens a C{goto} dialog.
'''
value = 1
ok = False
try:
value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
QLineEdit.Normal, minValue=1, step=1)
except Exception:
value, ok = QInputDialog.getInt(self, "Goto", self.tr("Line number:"),
QLineEdit.Normal, min=1, step=1)
if ok:
self._goto(value)
self.tabWidget.currentWidget().setFocus(Qt.ActiveWindowFocusReason)
def _goto(self, linenr, select_line=True):
if linenr > self.tabWidget.currentWidget().document().blockCount():
linenr = self.tabWidget.currentWidget().document().blockCount()
curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1
while curpos != linenr:
mov = QTextCursor.NextBlock if curpos < linenr else QTextCursor.PreviousBlock
self.tabWidget.currentWidget().moveCursor(mov)
curpos = self.tabWidget.currentWidget().textCursor().blockNumber() + 1
self.tabWidget.currentWidget().moveCursor(QTextCursor.EndOfBlock)
self.tabWidget.currentWidget().moveCursor(QTextCursor.StartOfBlock, QTextCursor.KeepAnchor)
##############################################################################
# SLOTS for search dialog
##############################################################################
def on_search_result(self, search_text, found, path, startpos, endpos, linenr=-1, line_text=''):
'''
A slot to handle a found text. It goes to the position in the text and select
the searched text. On new file it will be open.
:param search_text: the searched text
:type search_text: str
:param found: the text was found or not
:type found: bool
:param path: the path of the file the text was found
:type path: str
:param startpos: the position in the text
:type startpos: int
:param endpos: the end position in the text
:type endpos: int
'''
if found:
if self.tabWidget.currentWidget().filename != path:
focus_widget = QApplication.focusWidget()
self.on_load_request(path)
focus_widget.setFocus()
self.tabWidget.currentWidget().select(startpos, endpos, False)
def on_search_result_on_open(self, search_text, found, path, startpos, endpos, linenr, line_text):
'''
Like on_search_result, but skips the text in comments.
'''
if found:
self._search_node_count += 1
if self._search_node_count > 1:
self.on_toggled_find(True, only_results=True)
self.find_dialog.current_search_text = search_text
self.find_dialog.on_search_result(search_text, found, path, startpos, endpos, linenr, line_text)
self.on_graph_info("search thread: found %s in '%s:%d'" % (search_text, path, linenr))
if self.tabWidget.currentWidget().filename != path:
focus_widget = QApplication.focusWidget()
self.on_load_request(path)
if focus_widget is not None:
focus_widget.setFocus()
self.tabWidget.currentWidget().select(startpos, endpos, True)
# self.on_search_result(search_text, found, path, startpos, endpos, linenr, line_text)
def on_search_result_warning(self, msg):
self.on_graph_info("search thread: %s" % (msg), True)
def on_replace(self, search_text, path, index, replaced_text):
'''
A slot to handle a text replacement of the TextSearchFrame.
:param search_text: the searched text
:type search_text: str
:param path: the path of the file the text was found
:type path: str
:param index: the position in the text
:type index: int
:param replaced_text: the new text
:type replaced_text: str
'''
cursor = self.tabWidget.currentWidget().textCursor()
if cursor.selectedText() == search_text:
cursor.insertText(replaced_text)
##############################################################################
# LAUNCH TAG insertion
##############################################################################
def _show_custom_parameter_dialog(self):
methods = {'nm/associations': self._on_add_cp_associations,
'capability_group': self._on_add_cp_capability_group,
'nm/kill_on_stop': self._on_add_cp_kill_on_stop,
'autostart/delay': self._on_add_cp_as_delay,
'autostart/exclude': self._on_add_cp_as_exclude,
'autostart/required_publisher': self._on_add_cp_as_req_publisher,
'respawn/max': self._on_add_cp_r_max,
'respawn/min_runtime': self._on_add_cp_r_min_runtime,
'respawn/delay': self._on_add_cp_r_delay,
}
res = SelectDialog.getValue('Insert custom parameter', "Select parameter to insert:",
sorted(methods.keys()), exclusive=True, parent=self,
select_if_single=False,
store_geometry='insert_param')
tags2insert = res[0]
for tag in tags2insert:
methods[tag]()
def _create_tag_button(self, parent=None):
btn = QPushButton(parent)
btn.setObjectName("tagButton")
btn.setText(self._translate("Add &tag"))
# btn.setShortcut("Ctrl+T")
btn.setToolTip('Adds a ROS launch tag to launch file')
btn.setMenu(self._create_tag_menu(btn))
btn.setFlat(True)
return btn
def _create_tag_menu(self, parent=None):
# creates a tag menu
tag_menu = QMenu("ROS Tags", parent)
# group tag
add_group_tag_action = QAction("<group>", self, statusTip="", triggered=self._on_add_group_tag)
add_group_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+g"))
tag_menu.addAction(add_group_tag_action)
# node tag
add_node_tag_action = QAction("<node>", self, statusTip="", triggered=self._on_add_node_tag)
add_node_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+n"))
tag_menu.addAction(add_node_tag_action)
# node tag with all attributes
add_node_tag_all_action = QAction("<node all>", self, statusTip="", triggered=self._on_add_node_tag_all)
tag_menu.addAction(add_node_tag_all_action)
# include tag with all attributes
add_include_tag_all_action = QAction("<include>", self, statusTip="", triggered=self._on_add_include_tag_all)
add_include_tag_all_action.setShortcuts(QKeySequence("Ctrl+Shift+i"))
tag_menu.addAction(add_include_tag_all_action)
# remap
add_remap_tag_action = QAction("<remap>", self, statusTip="", triggered=self._on_add_remap_tag)
add_remap_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+r"))
tag_menu.addAction(add_remap_tag_action)
# env tag
add_env_tag_action = QAction("<env>", self, statusTip="", triggered=self._on_add_env_tag)
tag_menu.addAction(add_env_tag_action)
# param tag
add_param_clipboard_tag_action = QAction("<param value>", self, statusTip="add value from clipboard", triggered=self._on_add_param_clipboard_tag)
add_param_clipboard_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+p"))
tag_menu.addAction(add_param_clipboard_tag_action)
add_param_tag_action = QAction("<param>", self, statusTip="", triggered=self._on_add_param_tag)
add_param_tag_action.setShortcuts(QKeySequence("Ctrl+Shift+Alt+p"))
tag_menu.addAction(add_param_tag_action)
# param tag with all attributes
add_param_tag_all_action = QAction("<param all>", self, statusTip="", triggered=self._on_add_param_tag_all)
tag_menu.addAction(add_param_tag_all_action)
# rosparam tag with all attributes
add_rosparam_tag_all_action = QAction("<rosparam>", self, statusTip="", triggered=self._on_add_rosparam_tag_all)
tag_menu.addAction(add_rosparam_tag_all_action)
# arg tag with default definition
add_arg_tag_default_action = QAction("<arg default>", self, statusTip="", triggered=self._on_add_arg_tag_default)
add_arg_tag_default_action.setShortcuts(QKeySequence("Ctrl+Shift+a"))
tag_menu.addAction(add_arg_tag_default_action)
# arg tag with value definition
add_arg_tag_value_action = QAction("<arg value>", self, statusTip="", triggered=self._on_add_arg_tag_value)
add_arg_tag_value_action.setShortcuts(QKeySequence("Ctrl+Alt+a"))
tag_menu.addAction(add_arg_tag_value_action)
# test tag
add_test_tag_action = QAction("<test>", self, statusTip="", triggered=self._on_add_test_tag)
add_test_tag_action.setShortcuts(QKeySequence("Ctrl+Alt+t"))
tag_menu.addAction(add_test_tag_action)
# test tag with all attributes
add_test_tag_all_action = QAction("<test all>", self, statusTip="", triggered=self._on_add_test_tag_all)
tag_menu.addAction(add_test_tag_all_action)
sub_cp_menu = QMenu("Custom parameters", parent)
show_cp_dialog_action = QAction("Show Dialog", self, statusTip="", triggered=self._show_custom_parameter_dialog)
show_cp_dialog_action.setShortcuts(QKeySequence("Ctrl+Shift+d"))
sub_cp_menu.addAction(show_cp_dialog_action)
add_cp_associations_action = QAction("nm/associations", self, statusTip="", triggered=self._on_add_cp_associations)
add_cp_associations_action.setShortcuts(QKeySequence("Ctrl+Alt+a"))
sub_cp_menu.addAction(add_cp_associations_action)
sub_cp_as_menu = QMenu("Autostart", parent)
add_cp_as_delay_action = QAction("delay", self, statusTip="", triggered=self._on_add_cp_as_delay)
sub_cp_as_menu.addAction(add_cp_as_delay_action)
add_cp_as_exclude_action = QAction("exclude", self, statusTip="", triggered=self._on_add_cp_as_exclude)
sub_cp_as_menu.addAction(add_cp_as_exclude_action)
add_cp_as_req_publisher_action = QAction("required publisher", self, statusTip="", triggered=self._on_add_cp_as_req_publisher)
sub_cp_as_menu.addAction(add_cp_as_req_publisher_action)
sub_cp_menu.addMenu(sub_cp_as_menu)
sub_cp_r_menu = QMenu("Respawn", parent)
add_cp_r_max_action = QAction("max", self, statusTip="", triggered=self._on_add_cp_r_max)
sub_cp_r_menu.addAction(add_cp_r_max_action)
add_cp_r_min_runtime_action = QAction("min_runtime", self, statusTip="", triggered=self._on_add_cp_r_min_runtime)
sub_cp_r_menu.addAction(add_cp_r_min_runtime_action)
add_cp_r_delay_action = QAction("delay", self, statusTip="", triggered=self._on_add_cp_r_delay)
sub_cp_r_menu.addAction(add_cp_r_delay_action)
sub_cp_menu.addMenu(sub_cp_r_menu)
add_cp_capability_group_action = QAction("capability_group", self, statusTip="", triggered=self._on_add_cp_capability_group)
add_cp_capability_group_action.setShortcuts(QKeySequence("Ctrl+Alt+p"))
sub_cp_menu.addAction(add_cp_capability_group_action)
add_cp_kill_on_stop_action = QAction("nm/kill_on_stop", self, statusTip="True or time to wait in ms", triggered=self._on_add_cp_kill_on_stop)
add_cp_kill_on_stop_action.setShortcuts(QKeySequence("Ctrl+Shift+k"))
sub_cp_menu.addAction(add_cp_kill_on_stop_action)
tag_menu.addMenu(sub_cp_menu)
return tag_menu
def _insert_text(self, text, cursor_pose=None, selection_len=None):
if self.tabWidget.currentWidget().isReadOnly():
return
cursor = self.tabWidget.currentWidget().textCursor()
if not cursor.isNull():
cursor.beginEditBlock()
col = cursor.columnNumber()
spaces = ''.join([' ' for _ in range(col)])
curr_cursor_pos = cursor.position()
cursor.insertText(text.replace('\n', '\n%s' % spaces))
if cursor_pose is not None:
cursor.setPosition(curr_cursor_pos + cursor_pose, QTextCursor.MoveAnchor)
if selection_len is not None:
cursor.movePosition(QTextCursor.NextCharacter, QTextCursor.KeepAnchor, selection_len)
cursor.endEditBlock()
self.tabWidget.currentWidget().setTextCursor(cursor)
self.tabWidget.currentWidget().setFocus(Qt.OtherFocusReason)
def _on_add_group_tag(self):
self._insert_text('<group ns="namespace" clear_params="true|false">\n'
'</group>', 11, 9)
def _get_package_dialog(self):
muri = masteruri_from_ros()
if self.init_filenames:
muri = nmdurl.masteruri(self.init_filenames[0])
return PackageDialog(muri)
def _on_add_node_tag(self):
dia = self._get_package_dialog()
if dia.exec_():
self._insert_text('<node name="%s" pkg="%s" type="%s">\n'
'</node>' % (dia.binary, dia.package, dia.binary))
def _on_add_node_tag_all(self):
dia = self._get_package_dialog()
if dia.exec_():
self._insert_text('<node name="%s" pkg="%s" type="%s"\n'
' args="arg1" machine="machine_name"\n'
' respawn="true" required="true"\n'
' ns="foo" clear_params="true|false"\n'
' output="log|screen" cwd="ROS_HOME|node"\n'
' launch-prefix="prefix arguments">\n'
'</node>' % (dia.binary, dia.package, dia.binary))
def _on_add_include_tag_all(self):
self._insert_text('<include file="$(find pkg-name)/path/filename.xml"\n'
' ns="foo" clear_params="true|false">\n'
'</include>', 22, 27)
def _on_add_remap_tag(self):
self._insert_text('<remap from="original" to="new"/>', 13, 8)
def _on_add_env_tag(self):
self._insert_text('<env name="variable" value="value"/>', 11, 8)
def _on_add_param_clipboard_tag(self):
lines = QApplication.clipboard().mimeData().text().splitlines()
name = ""
if len(lines) == 1:
name = lines[0]
self._insert_text('<param name="%s" value="value" />' % name, 22 + len(name), 5)
def _on_add_param_tag(self):
self._insert_text('<param name="name" value="value" />', 13, 4)
def _on_add_param_tag_all(self):
self._insert_text('<param name="name" value="value"\n'
' type="str|int|double|bool"\n'
' textfile="$(find pkg-name)/path/file.txt"\n'
' binfile="$(find pkg-name)/path/file"\n'
' command="$(find pkg-name)/exe \'$(find pkg-name)/arg.txt\'">\n'
'</param>', 13, 4)
def _on_add_rosparam_tag_all(self):
self._insert_text('<rosparam param="name"\n'
' file="$(find pkg-name)/path/foo.yaml"\n'
' command="load|dump|delete"\n'
' ns="namespace"\n'
' subst_value="true|false">\n'
'</rosparam>', 17, 4)
def _on_add_arg_tag_default(self):
self._insert_text('<arg name="foo" default="1" />', 11, 3)
def _on_add_arg_tag_value(self):
self._insert_text('<arg name="foo" value="bar" />', 11, 3)
def _on_add_test_tag(self):
dia = self._get_package_dialog()
if dia.exec_():
self._insert_text('<test name="%s" pkg="%s" type="%s" test-name="test_%s">\n'
'</test>' % (dia.binary, dia.package, dia.binary, dia.binary))
def _on_add_test_tag_all(self):
dia = self._get_package_dialog()
if dia.exec_():
self._insert_text('<test name="%s" pkg="%s" type="%s" test-name="test_%s">\n'
' args="arg1" time-limit="60.0"\n'
' ns="foo" clear_params="true|false"\n'
' cwd="ROS_HOME|node" retry="0"\n'
' launch-prefix="prefix arguments">\n'
'</test>' % (dia.binary, dia.package, dia.binary, dia.binary))
def _on_add_cp_capability_group(self):
self._insert_text('<param name="capability_group" value="demo" />', 38, 4)
def _on_add_cp_kill_on_stop(self):
self._insert_text('<param name="nm/kill_on_stop" value="100" hint="[ms]" />', 34, 3)
def _on_add_cp_associations(self):
self._insert_text('<param name="nm/associations" value="node1,node2" hint="list of nodes" />', 34, 11)
def _on_add_cp_as_delay(self):
self._insert_text('<param name="autostart/delay" value="1" hint="[seconds]" />', 37, 1)
def _on_add_cp_as_exclude(self):
self._insert_text('<param name="autostart/exclude" value="True" />', 39, 4)
def _on_add_cp_as_req_publisher(self):
self._insert_text('<param name="autostart/required/publisher" value="topic" />', 50, 5)
def _on_add_cp_r_max(self):
self._insert_text('<param name="respawn/max" value="10" />', 33, 2)
def _on_add_cp_r_min_runtime(self):
self._insert_text('<param name="respawn/min_runtime" value="10" hint="[seconds]" />', 41, 2)
def _on_add_cp_r_delay(self):
self._insert_text('<param name="respawn/delay" value="5" hint="[seconds]" />', 31, 2)
class MessageBox(QDialog):
NoIcon = 0
Information = 1
Warning = 2
Critical = 3
Question = 4
NoButton = 0
Ok = 1 # An "OK" button defined with the AcceptRole .
Open = 2 # A "Open" button defined with the AcceptRole .
Save = 4 # A "Save" button defined with the AcceptRole .
Cancel = 8 # A "Cancel" button defined with the RejectRole .
Close = 16 # A "Close" button defined with the RejectRole .
Discard = 32 # A "Discard" or "Don't Save" button, depending on the platform, defined with the DestructiveRole .
Apply = 64 # An "Apply" button defined with the ApplyRole .
Reset = 128 # A "Reset" button defined with the ResetRole .
RestoreDefaults = 256 # A "Restore Defaults" button defined with the ResetRole .
Help = 512 # A "Help" button defined with the HelpRole .
SaveAll = 1024 # A "Save All" button defined with the AcceptRole .
Yes = 2048 # A "Yes" button defined with the YesRole .
YesToAll = 4096 # A "Yes to All" button defined with the YesRole .
No = 8192 # A "No" button defined with the NoRole .
NoToAll = 16384 # A "No to All" button defined with the NoRole .
Abort = 32768 # An "Abort" button defined with the RejectRole .
Retry = 65536 # A "Retry" button defined with the AcceptRole .
Ignore = 131072 # An "Ignore" button defined with the AcceptRole .
Avoid = 262144 # An "'Don't show again'" button defined with the HelpRole, returns a default AcceptButton .
def __init__(self, icon, title, text, detailed_text="", buttons=Cancel | Ok, parent=None):
QDialog.__init__(self, parent=parent)
self.setWindowFlags(self.windowFlags() & ~Qt.WindowTitleHint)
self.setWindowFlags(self.windowFlags() & ~Qt.WindowContextHelpButtonHint & ~Qt.WindowMinimizeButtonHint)
self.setObjectName('MessageBox')
self._use_checkbox = True
self.text = text
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.horizontalLayout = QHBoxLayout()
self.horizontalLayout.setObjectName("horizontalLayout")
self.horizontalLayout.setContentsMargins(1, 1, 1, 1)
# create icon
pixmap = None
if icon == self.NoIcon:
pass
elif icon == self.Question:
pixmap = QApplication.style().standardPixmap(QStyle.SP_MessageBoxQuestion)
elif icon == self.Information:
pixmap = QApplication.style().standardPixmap(QStyle.SP_MessageBoxInformation)
elif icon == self.Warning:
pixmap = QPixmap(":icons/crystal_clear_warning_56.png")
elif icon == self.Critical:
pixmap = QApplication.style().standardPixmap(QStyle.SP_MessageBoxCritical)
spacerItem = QSpacerItem(10, 60, QSizePolicy.Minimum, QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
self.icon_label = QLabel()
if pixmap is not None:
self.icon_label.setPixmap(pixmap)
self.icon_label.setSizePolicy(QSizePolicy.Fixed, QSizePolicy.Fixed)
self.horizontalLayout.addWidget(self.icon_label)
spacerItem = QSpacerItem(10, 60, QSizePolicy.Minimum, QSizePolicy.Minimum)
self.horizontalLayout.addItem(spacerItem)
# add message
self.message_label = QLabel(text)
self.message_label.setWordWrap(True)
self.message_label.setScaledContents(True)
self.message_label.setOpenExternalLinks(True)
self.horizontalLayout.addWidget(self.message_label)
self.verticalLayout.addLayout(self.horizontalLayout)
# create buttons
self.buttonBox = QDialogButtonBox(self)
self.buttonBox.setObjectName("buttonBox")
self.buttonBox.setOrientation(Qt.Horizontal)
self._accept_button = None
self._reject_button = None
self._buttons = buttons
self._create_buttons(buttons)
self.buttonBox.accepted.connect(self.accept)
self.buttonBox.rejected.connect(self.reject)
self.verticalLayout.addWidget(self.buttonBox)
if detailed_text:
self.btn_show_details = QPushButton(self.tr('Details...'))
self.btn_show_details.setCheckable(True)
self.btn_show_details.setChecked(True)
self.btn_show_details.toggled.connect(self.on_toggled_details)
self.buttonBox.addButton(self.btn_show_details, QDialogButtonBox.ActionRole)
# create area for detailed text
self.textEdit = textEdit = QTextEdit(self)
textEdit.setObjectName("textEdit")
textEdit.setReadOnly(True)
textEdit.setText(detailed_text)
# textEdit.setVisible(False)
self.verticalLayout.addWidget(self.textEdit)
self.resize(480, self.verticalLayout.totalSizeHint().height())
buttons_in_box = self.buttonBox.buttons()
if buttons_in_box:
self.buttonBox.buttons()[0].setFocus()
def setAcceptButton(self, button):
'''
Sets the button with given ID to accept button if more then one button with AcceptRole was added to this dialog.
Adds the buttton to the box if is not already in.
:param button: int
'''
if not button & self._buttons:
self._create_buttons(button)
self._accept_button = button
def setRejectButton(self, button):
'''
Sets the button with given ID to reject button if more then one button with RejectRole was added to this dialog.
Adds the buttton to the box if is not already in.
:param button: int
'''
if not button & self._buttons:
self._create_buttons(button)
self._reject_button = button
def on_toggled_details(self, checked):
if checked:
self.verticalLayout.addWidget(self.textEdit)
else:
self.verticalLayout.removeWidget(self.textEdit)
self.textEdit.setVisible(checked)
if not self.isMaximized():
self.setMinimumSize(self.verticalLayout.totalMinimumSize())
self.resize(self._current_size.width(), self.verticalLayout.totalSizeHint().height())
@staticmethod
def about(parent, title, text, detailed_text='', buttons=Close):
box = MessageBox(MessageBox.Information, title, text, detailed_text=detailed_text, buttons=buttons, parent=parent)
if MessageBox.Yes & buttons:
box.setAcceptButton(MessageBox.Yes)
if MessageBox.Cancel & buttons:
box.setRejectButton(MessageBox.Cancel)
elif MessageBox.No & buttons:
box.setRejectButton(MessageBox.No)
return box.exec_()
@staticmethod
def information(parent, title, text, detailed_text='', buttons=Close):
box = MessageBox(MessageBox.Information, title, text, detailed_text=detailed_text, buttons=buttons, parent=parent)
if MessageBox.Yes & buttons:
box.setAcceptButton(MessageBox.Yes)
if MessageBox.Cancel & buttons:
box.setRejectButton(MessageBox.Cancel)
elif MessageBox.No & buttons:
box.setRejectButton(MessageBox.No)
return box.exec_()
@staticmethod
def question(parent, title, text, detailed_text='', buttons=Yes | No | Cancel):
box = MessageBox(MessageBox.Question, title, text, detailed_text=detailed_text, buttons=buttons, parent=parent)
if MessageBox.Yes & buttons:
box.setAcceptButton(MessageBox.Yes)
if MessageBox.Cancel & buttons:
box.setRejectButton(MessageBox.Cancel)
elif MessageBox.No & buttons:
box.setRejectButton(MessageBox.No)
return box.exec_()
@staticmethod
def warning(parent, title, text, detailed_text='', buttons=Ok):
box = MessageBox(MessageBox.Warning, title, text, detailed_text=detailed_text, buttons=buttons, parent=parent)
if MessageBox.Yes & buttons:
box.setAcceptButton(MessageBox.Yes)
if MessageBox.Cancel & buttons:
box.setRejectButton(MessageBox.Cancel)
elif MessageBox.No & buttons:
box.setRejectButton(MessageBox.No)
return box.exec_()
@staticmethod
def critical(parent, title, text, detailed_text='', buttons=Ok):
box = MessageBox(MessageBox.Critical, title, text, detailed_text=detailed_text, buttons=buttons, parent=parent)
if MessageBox.Yes & buttons:
box.setAcceptButton(MessageBox.Yes)
if MessageBox.Cancel & buttons:
box.setRejectButton(MessageBox.Cancel)
elif MessageBox.No & buttons:
box.setRejectButton(MessageBox.No)
return box.exec_()
def resizeEvent(self, event):
if not self.isMaximized():
self._current_size = event.size()
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%% close handling %%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
def exec_(self):
if self.text in IGNORED_ERRORS:
self.accept()
return self.result()
return QDialog.exec_(self)
def accept(self):
if self.result() == 0:
if self._accept_button is not None:
self.setResult(self._accept_button)
else:
self.setResult(1)
self.accepted.emit()
if self.isModal():
self.hide()
def reject(self):
if self.result() == 0:
if self._reject_button is not None:
self.setResult(self._reject_button)
self.rejected.emit()
self.hide()
def hideEvent(self, event):
# event.ignore()
self.close()
def closeEvent(self, event):
self.setAttribute(Qt.WA_DeleteOnClose, True)
QDialog.closeEvent(self, event)
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%% create buttons %%%%%%%%%%%%%%%%%%%%%
# %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
def _create_buttons(self, buttons):
if MessageBox.Ok & buttons:
self._accept_button = MessageBox.Ok
bt = QPushButton(self.tr("&ok"))
bt.clicked.connect(self._on_ok_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
if MessageBox.Open & buttons:
self._accept_button = MessageBox.Open
bt = QPushButton(self.tr("&Open"))
bt.clicked.connect(self._on_open_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
if MessageBox.Save & buttons:
self._accept_button = MessageBox.Save
bt = QPushButton(self.tr("&Save"))
bt.clicked.connect(self._on_save_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
if MessageBox.Cancel & buttons:
self._reject_button = MessageBox.Cancel
bt = QPushButton(self.tr("&Cancel"))
bt.clicked.connect(self._on_cancel_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.RejectRole)
if MessageBox.Close & buttons:
self._reject_button = MessageBox.Close
bt = QPushButton(self.tr("&Close"))
bt.clicked.connect(self._on_close_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.RejectRole)
if MessageBox.Discard & buttons:
bt = QPushButton(self.tr("&Discard"))
bt.clicked.connect(self._on_discard_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.DestructiveRole)
if MessageBox.Apply & buttons:
bt = QPushButton(self.tr("&Apply"))
bt.clicked.connect(self._on_apply_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.ApplyRole)
if MessageBox.Reset & buttons:
bt = QPushButton(self.tr("&Reset"))
bt.clicked.connect(self._on_reset_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.ResetRole)
if MessageBox.RestoreDefaults & buttons:
bt = QPushButton(self.tr("&RestoreDefaults"))
bt.clicked.connect(self._on_restore_defaults_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.ResetRole)
if MessageBox.Help & buttons:
bt = QPushButton(self.tr("&Help"))
bt.clicked.connect(self._on_help_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.HelpRole)
if MessageBox.SaveAll & buttons:
self._accept_button = MessageBox.SaveAll
bt = QPushButton(self.tr("&SaveAll"))
bt.clicked.connect(self._on_saveall_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
if MessageBox.Yes & buttons:
bt = QPushButton(self.tr("&Yes"))
bt.clicked.connect(self._on_yes_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.YesRole)
if MessageBox.YesToAll & buttons:
bt = QPushButton(self.tr("&YesToAll"))
bt.clicked.connect(self._on_yestoall_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.YesRole)
if MessageBox.No & buttons:
bt = QPushButton(self.tr("&No"))
bt.clicked.connect(self._on_no_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.NoRole)
if MessageBox.NoToAll & buttons:
bt = QPushButton(self.tr("&NoToAll"))
bt.clicked.connect(self._on_notoall_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.NoRole)
if MessageBox.Abort & buttons:
self._reject_button = MessageBox.Abort
bt = QPushButton(self.tr("&Abort"))
bt.clicked.connect(self._on_abort_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.RejectRole)
if MessageBox.Retry & buttons:
self._accept_button = MessageBox.Retry
bt = QPushButton(self.tr("&Retry"))
bt.clicked.connect(self._on_retry_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
if MessageBox.Ignore & buttons:
self._accept_button = MessageBox.Ignore
bt = QPushButton(self.tr("&Ignore"))
bt.clicked.connect(self._on_ignore_clicked)
self.buttonBox.addButton(bt, QDialogButtonBox.AcceptRole)
if MessageBox.Avoid & buttons:
if self._use_checkbox:
checkbox = QCheckBox("&Don't show again", self)
checkbox.stateChanged.connect(self._check_ignore)
self.buttonBox.addButton(checkbox, QDialogButtonBox.HelpRole)
else:
bt = QPushButton(self.tr("&Don't show again"))
bt.setMaximumHeight(24)
bt.clicked.connect(self._add_to_ignore)
self.buttonBox.addButton(bt, QDialogButtonBox.HelpRole)
def _on_ok_clicked(self):
self.done(MessageBox.Ok)
def _on_open_clicked(self):
self.done(MessageBox.Open)
def _on_save_clicked(self):
self.done(MessageBox.Save)
def _on_cancel_clicked(self):
self.done(MessageBox.Cancel)
def _on_close_clicked(self):
self.done(MessageBox.Close)
def _on_discard_clicked(self):
self.done(MessageBox.Discard)
def _on_apply_clicked(self):
self.done(MessageBox.Apply)
def _on_reset_clicked(self):
self.done(MessageBox.Reset)
def _on_restore_defaults_clicked(self):
self.done(MessageBox.RestoreDefaults)
def _on_help_clicked(self):
self.done(MessageBox.Help)
def _on_saveall_clicked(self):
self.done(MessageBox.SaveAll)
def _on_yes_clicked(self):
self.done(MessageBox.Yes)
def _on_yestoall_clicked(self):
self.done(MessageBox.YesToAll)
def _on_no_clicked(self):
self.done(MessageBox.No)
def _on_notoall_clicked(self):
self.done(MessageBox.NoToAll)
def _on_abort_clicked(self):
self.done(MessageBox.Abort)
def _on_retry_clicked(self):
self.done(MessageBox.Retry)
def _on_ignore_clicked(self):
self.done(MessageBox.Ignore)
def _add_to_ignore(self):
IGNORED_ERRORS.append(self.text)
self.accept()
def _check_ignore(self, state):
if state:
IGNORED_ERRORS.append(self.text)
else:
try:
IGNORED_ERRORS.remove(self.text)
except Exception:
pass
class EchoDialog(QDialog):
MESSAGE_LINE_LIMIT = 128
MESSAGE_HZ_LIMIT = 10
MAX_DISPLAY_MSGS = 25
STATISTIC_QUEUE_LEN = 5000
"""
This dialog shows the output of a topic.
"""
finished_signal = Signal(str)
"""
finished_signal has as parameter the name of the topic and is emitted, if this
dialog was closed.
"""
msg_signal = Signal(object, bool)
"""
msg_signal is a signal, which is emitted, if a new message was received.
"""
text_hz_signal = Signal(str)
text_signal = Signal(str)
"""
text_signal is a signal, which is emitted, if a new text to display was received.
"""
text_error_signal = Signal(str)
"""
text_error_signal is a signal, which is emitted, if a new error text to display was received.
"""
request_pw = Signal(object)
def __init__(self, topic, msg_type, show_only_rate=False, masteruri=None, use_ssh=False, parent=None):
"""
Creates an input dialog.
@param topic: the name of the topic
@type topic: C{str}
@param msg_type: the type of the topic
@type msg_type: C{str}
@raise Exception: if no topic class was found for the given type
"""
QDialog.__init__(self, parent=parent)
self._masteruri = masteruri
masteruri_str = "" if masteruri is None else "[%s]" % masteruri
self.setObjectName(" - ".join(["EchoDialog", topic, masteruri_str]))
self.setAttribute(Qt.WA_DeleteOnClose, True)
self.setWindowFlags(Qt.Window)
self.setWindowTitle("%s %s %s" % ("Echo --- " if not show_only_rate else "Hz --- ", topic, masteruri_str))
self.resize(728, 512)
self.verticalLayout = QVBoxLayout(self)
self.verticalLayout.setObjectName("verticalLayout")
self.verticalLayout.setContentsMargins(1, 1, 1, 1)
self.mIcon = QIcon(":/icons/crystal_clear_prop_run_echo.png")
self.setWindowIcon(self.mIcon)
self.topic = topic
self.show_only_rate = show_only_rate
self.lock = threading.RLock()
self.last_printed_count = 0
self.msg_t0 = -1.0
self.msg_tn = 0
self.times = []
self.message_count = 0
self._rate_message = ""
self._scrapped_msgs = 0
self._scrapped_msgs_sl = 0
self._last_received_ts = 0
self.receiving_hz = self.MESSAGE_HZ_LIMIT
self.line_limit = self.MESSAGE_LINE_LIMIT
self.field_filter_fn = None
options = QWidget(self)
if not show_only_rate:
hLayout = QHBoxLayout(options)
hLayout.setContentsMargins(1, 1, 1, 1)
self.no_str_checkbox = no_str_checkbox = QCheckBox("Hide strings")
no_str_checkbox.toggled.connect(self.on_no_str_checkbox_toggled)
hLayout.addWidget(no_str_checkbox)
self.no_arr_checkbox = no_arr_checkbox = QCheckBox("Hide arrays")
no_arr_checkbox.toggled.connect(self.on_no_arr_checkbox_toggled)
hLayout.addWidget(no_arr_checkbox)
self.combobox_reduce_ch = QComboBox(self)
self.combobox_reduce_ch.addItems([str(self.MESSAGE_LINE_LIMIT), "0", "80", "256", "1024"])
self.combobox_reduce_ch.activated[str].connect(self.combobox_reduce_ch_activated)
self.combobox_reduce_ch.setEditable(True)
self.combobox_reduce_ch.setToolTip("Set maximum line width. 0 disables the limit.")
hLayout.addWidget(self.combobox_reduce_ch)
# reduce_ch_label = QLabel('ch', self)
# hLayout.addWidget(reduce_ch_label)
# add spacer
spacerItem = QSpacerItem(515, 20, QSizePolicy.Expanding, QSizePolicy.Minimum)
hLayout.addItem(spacerItem)
# add combobox for displaying frequency of messages
self.combobox_displ_hz = QComboBox(self)
self.combobox_displ_hz.addItems([str(self.MESSAGE_HZ_LIMIT), "0", "0.1", "1", "50", "100", "1000"])
self.combobox_displ_hz.activated[str].connect(self.on_combobox_hz_activated)
self.combobox_displ_hz.setEditable(True)
hLayout.addWidget(self.combobox_displ_hz)
displ_hz_label = QLabel("Hz", self)
hLayout.addWidget(displ_hz_label)
# add combobox for count of displayed messages
self.combobox_msgs_count = QComboBox(self)
self.combobox_msgs_count.addItems([str(self.MAX_DISPLAY_MSGS), "0", "50", "100"])
self.combobox_msgs_count.activated[str].connect(self.on_combobox_count_activated)
self.combobox_msgs_count.setEditable(True)
self.combobox_msgs_count.setToolTip("Set maximum displayed message count. 0 disables the limit.")
hLayout.addWidget(self.combobox_msgs_count)
displ_count_label = QLabel("#", self)
hLayout.addWidget(displ_count_label)
# add topic control button for unsubscribe and subscribe
self.topic_control_button = QToolButton(self)
self.topic_control_button.setText("stop")
self.topic_control_button.setIcon(QIcon(":/icons/deleket_deviantart_stop.png"))
self.topic_control_button.clicked.connect(self.on_topic_control_btn_clicked)
hLayout.addWidget(self.topic_control_button)
# add clear button
clearButton = QToolButton(self)
clearButton.setText("clear")
clearButton.clicked.connect(self.on_clear_btn_clicked)
hLayout.addWidget(clearButton)
self.verticalLayout.addWidget(options)
self.display = QTextBrowser(self)
self.display.setReadOnly(True)
self.verticalLayout.addWidget(self.display)
self.display.document().setMaximumBlockCount(500)
self.max_displayed_msgs = self.MAX_DISPLAY_MSGS
self._blocks_in_msg = None
self.display.setOpenLinks(False)
self.display.anchorClicked.connect(self._on_display_anchorClicked)
self.status_label = QLabel("0 messages", self)
self.verticalLayout.addWidget(self.status_label)
# subscribe to the topic
errmsg = ""
try:
self.__msg_class = message.get_message_class(msg_type)
if not self.__msg_class:
errmsg = "Cannot load message class for [%s]. Did you build messages?" % msg_type
# raise Exception("Cannot load message class for [%s]. Did you build messages?"%msg_type)
except Exception as e:
self.__msg_class = None
errmsg = "Cannot load message class for [%s]. Did you build messagest?\nError: %s" % (msg_type, e)
# raise Exception("Cannot load message class for [%s]. Did you build messagest?\nError: %s"%(msg_type, e))
# variables for Subscriber
self.msg_signal.connect(self._append_message)
self.sub = None
# vairables for SSH connection
self.ssh_output_file = None
self.ssh_error_file = None
self.ssh_input_file = None
self.text_signal.connect(self._append_text)
self.text_hz_signal.connect(self._append_text_hz)
self._current_msg = ""
self._current_errmsg = ""
self.text_error_signal.connect(self._append_error_text)
# decide, which connection to open
if use_ssh:
self.__msg_class = None
self._on_display_anchorClicked(QUrl(self._masteruri))
elif self.__msg_class is None:
errtxt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">\n%s</pre>' % (
errmsg
)
self.display.setText('<a href="%s">open using SSH</a>' % (masteruri))
self.display.append(errtxt)
else:
self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle)
self.print_hz_timer = QTimer()
self.print_hz_timer.timeout.connect(self._on_calc_hz)
self.print_hz_timer.start(1000)
# print "======== create", self.objectName()
#
# def __del__(self):
# print "******* destroy", self.objectName()
# def hideEvent(self, event):
# self.close()
def closeEvent(self, event):
if self.sub is not None:
self.sub.unregister()
del self.sub
try:
self.ssh_output_file.close()
self.ssh_error_file.close()
# send Ctrl+C to remote process
self.ssh_input_file.write("%s\n" % chr(3))
self.ssh_input_file.close()
except:
pass
self.finished_signal.emit(self.topic)
if self.parent() is None:
QApplication.quit()
# else:
# self.setParent(None)
def create_field_filter(self, echo_nostr, echo_noarr):
def field_filter(val):
try:
# fields = val.__slots__
# field_types = val._slot_types
for f, t in zip(val.__slots__, val._slot_types):
if echo_noarr and "[" in t:
continue
elif echo_nostr and "string" in t:
continue
yield f
except:
pass
return field_filter
def on_no_str_checkbox_toggled(self, state):
self.field_filter_fn = self.create_field_filter(state, self.no_arr_checkbox.isChecked())
def on_no_arr_checkbox_toggled(self, state):
self.field_filter_fn = self.create_field_filter(self.no_str_checkbox.isChecked(), state)
def combobox_reduce_ch_activated(self, ch_txt):
try:
self.line_limit = int(ch_txt)
except ValueError:
try:
self.line_limit = float(ch_txt)
except ValueError:
self.combobox_reduce_ch.setEditText(str(self.line_limit))
def on_combobox_hz_activated(self, hz_txt):
try:
self.receiving_hz = int(hz_txt)
except ValueError:
try:
self.receiving_hz = float(hz_txt)
except ValueError:
self.combobox_displ_hz.setEditText(str(self.receiving_hz))
def on_combobox_count_activated(self, count_txt):
try:
self.max_displayed_msgs = int(count_txt)
self._blocks_in_msg = None
except ValueError:
self.combobox_msgs_count.setEditText(str(self.max_displayed_msgs))
def on_clear_btn_clicked(self):
self.display.clear()
with self.lock:
self.message_count = 0
self._scrapped_msgs = 0
del self.times[:]
def on_topic_control_btn_clicked(self):
try:
if self.sub is None and self.ssh_output_file is None:
if self.__msg_class:
self.sub = rospy.Subscriber(self.topic, self.__msg_class, self._msg_handle)
else:
self._on_display_anchorClicked(QUrl(self._masteruri))
self.topic_control_button.setText("stop")
self.topic_control_button.setIcon(QIcon(":/icons/deleket_deviantart_stop.png"))
else:
if self.sub is not None:
self.sub.unregister()
self.sub = None
elif self.ssh_output_file is not None:
self.ssh_output_file.close()
self.ssh_error_file.close()
self.ssh_output_file = None
self.topic_control_button.setText("play")
self.topic_control_button.setIcon(QIcon(":/icons/deleket_deviantart_play.png"))
self.no_str_checkbox.setEnabled(True)
self.no_arr_checkbox.setEnabled(True)
except Exception as e:
rospy.logwarn("Error while stop/play echo for topic %s: %s" % (self.topic, e))
def _msg_handle(self, data):
self.msg_signal.emit(data, (data._connection_header["latching"] != "0"))
def _append_message(self, msg, latched):
"""
Adds a label to the dialog's layout and shows the given text.
@param msg: the text to add to the dialog
@type msg: message object
"""
current_time = time.time()
self._count_messages(current_time)
# skip messages, if they are received often then MESSAGE_HZ_LIMIT
if self._last_received_ts != 0 and self.receiving_hz != 0:
if not latched and current_time - self._last_received_ts < 1.0 / self.receiving_hz:
self._scrapped_msgs += 1
self._scrapped_msgs_sl += 1
return
self._last_received_ts = current_time
if not self.show_only_rate:
# convert message to string and reduce line width to current limit
msg = message.strify_message(msg, field_filter=self.field_filter_fn)
if isinstance(msg, tuple):
msg = msg[0]
msg = self._trim_width(msg)
msg = msg.replace("<", "<").replace(">", ">")
# create a notification about scrapped messages
if self._scrapped_msgs_sl > 0:
txt = (
'<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">scrapped %s message because of Hz-settings</pre>'
% self._scrapped_msgs_sl
)
self.display.append(txt)
self._scrapped_msgs_sl = 0
txt = (
'<pre style="background-color:#FFFCCC; font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>'
% (datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), msg)
)
# set the count of the displayed messages on receiving the first message
self._update_max_msg_count(txt)
self.display.append(txt)
self._print_status()
def _count_messages(self, ts=time.time()):
"""
Counts the received messages. Call this method only on receive message.
"""
current_time = ts
with self.lock:
# time reset
if self.msg_t0 < 0 or self.msg_t0 > current_time:
self.msg_t0 = current_time
self.msg_tn = current_time
self.times = []
else:
self.times.append(current_time - self.msg_tn)
self.msg_tn = current_time
# keep only statistics for the last 5000 messages so as not to run out of memory
if len(self.times) > self.STATISTIC_QUEUE_LEN:
self.times.pop(0)
self.message_count += 1
def _trim_width(self, msg):
"""
reduce line width to current limit
:param msg: the message
:type msg: str
:return: trimmed message
"""
result = msg
if self.line_limit != 0:
a = ""
for l in msg.splitlines():
a = a + (l if len(l) <= self.line_limit else l[0 : self.line_limit - 3] + "...") + "\n"
result = a
return result
def _update_max_msg_count(self, txt):
"""
set the count of the displayed messages on receiving the first message
:param txt: text of the message, which will be added to the document
:type txt: str
"""
if self._blocks_in_msg is None:
td = QTextDocument(txt)
self._blocks_in_msg = td.blockCount()
self.display.document().setMaximumBlockCount(self._blocks_in_msg * self.max_displayed_msgs)
def _on_calc_hz(self):
if rospy.is_shutdown():
self.close()
return
if self.message_count == self.last_printed_count:
return
with self.lock:
# the code from ROS rostopic
n = len(self.times)
if n < 2:
return
mean = sum(self.times) / n
rate = 1.0 / mean if mean > 0.0 else 0
# std dev
std_dev = math.sqrt(sum((x - mean) ** 2 for x in self.times) / n)
# min and max
max_delta = max(self.times)
min_delta = min(self.times)
self.last_printed_count = self.message_count
self._rate_message = "average rate: %.3f\tmin: %.3fs max: %.3fs std dev: %.5fs window: %s" % (
rate,
min_delta,
max_delta,
std_dev,
n + 1,
)
if self._scrapped_msgs > 0:
self._rate_message += " --- scrapped msgs: %s" % self._scrapped_msgs
self._print_status()
if self.show_only_rate:
self.display.append(self._rate_message)
def _print_status(self):
self.status_label.setText("%s messages %s" % (self.message_count, self._rate_message))
def _append_text(self, text):
"""
Append echo text received through the SSH.
"""
with self.lock:
self._current_msg += text
if self._current_msg.find("---") != -1:
messages = self._current_msg.split("---")
for m in messages[:-1]:
current_time = time.time()
self._count_messages(current_time)
# limit the displayed text width
m = self._trim_width(m)
txt = (
'<pre style="background-color:#FFFCCC; font-family:Fixedsys,Courier; padding:10px;">---------- %s --------------------\n%s</pre>'
% (datetime.now().strftime("%d.%m.%Y %H:%M:%S.%f"), m)
)
# set the count of the displayed messages on receiving the first message
self._update_max_msg_count(txt)
self.display.append(txt)
self._current_msg = messages[-1]
self._print_status()
def _append_error_text(self, text):
"""
Append error text received through the SSH.
"""
with self.lock:
self._current_errmsg += text
if self._current_errmsg.find("\n") != -1:
messages = self._current_errmsg.split("\n")
for m in messages[:-1]:
txt = '<pre style="color:red; font-family:Fixedsys,Courier,monospace; padding:10px;">%s</pre>' % m
self.display.append(txt)
self._current_errmsg = messages[-1]
def _append_text_hz(self, text):
"""
Append text received through the SSH for hz view.
"""
with self.lock:
self._current_msg += text
if self._current_msg.find("\n") != -1:
messages = self._current_msg.split("\n")
for m in messages[:-1]:
txt = '<div style="font-family:Fixedsys,Courier;">%s</div>' % (m)
self.display.append(txt)
self._current_msg = messages[-1]
def _on_display_anchorClicked(self, url, user=None, pw=None):
try:
ok = False
if self.show_only_rate:
self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh().ssh_exec(
url.host(), ["rostopic hz %s" % (self.topic)], user, pw, auto_pw_request=True, get_pty=True
)
self.status_label.setText("connected to %s over SSH" % url.host())
else:
self.combobox_displ_hz.setEnabled(False)
nostr = "--nostr" if self.no_str_checkbox.isChecked() else ""
noarr = "--noarr" if self.no_arr_checkbox.isChecked() else ""
self.ssh_input_file, self.ssh_output_file, self.ssh_error_file, ok = nm.ssh().ssh_exec(
url.host(),
["rostopic echo %s %s %s" % (nostr, noarr, self.topic)],
user,
pw,
auto_pw_request=True,
get_pty=True,
)
if ok:
self.display.clear()
target = self._read_output_hz if self.show_only_rate else self._read_output
thread = threading.Thread(target=target, args=((self.ssh_output_file,)))
thread.setDaemon(True)
thread.start()
thread = threading.Thread(target=self._read_error, args=((self.ssh_error_file,)))
thread.setDaemon(True)
thread.start()
elif self.ssh_output_file:
self.ssh_output_file.close()
self.ssh_error_file.close()
except Exception as e:
self._append_error_text("%s\n" % e)
# import traceback
# print traceback.format_exc()
def _read_output_hz(self, output_file):
try:
while not output_file.closed:
text = output_file.read(1)
if text:
self.text_hz_signal.emit(text)
except:
pass
# import traceback
# print traceback.format_exc()
def _read_output(self, output_file):
while not output_file.closed:
text = output_file.read(1)
if text:
self.text_signal.emit(text)
def _read_error(self, error_file):
try:
while not error_file.closed:
text = error_file.read(1)
if text:
self.text_error_signal.emit(text)
except:
pass
