def _connect(self, masteruri, screen_name, nodename, user=None):
self._masteruri = masteruri
if self.qfile is not None and self.qfile.isOpen():
self.qfile.close()
self.clear_signal.emit()
host = get_hostname(masteruri)
if nm.is_local(host):
self._nodename = nodename
if screen_name:
screen_log = screen.get_logfile(node=nodename)
else:
screen_log = screen.get_ros_logfile(node=nodename)
self.qfile = QFile(screen_log)
self.setWindowTitle(nodename)
if self.qfile.open(QIODevice.ReadOnly):
self._first_fill = True
self.qfile.seek(self.qfile.size() - 1)
# self.lread()
self._info = "END"
self.thread = threading.Thread(target=self._read_log,
kwargs={"filename": screen_log})
self.thread.setDaemon(True)
self.thread.start()
else:
self._valid = False
else:
self._connect_ssh(host, nodename, user)
self.logger_handler = LoggerHandler(
nodename,
masteruri=masteruri,
layout=self.scrollAreaWidgetContents.layout())
self.logger_handler.update()
return False
def focusInEvent(self, event):
# check for file changes
try:
if self.filename and self.file_info:
if self.file_info.lastModified() != QFileInfo(
self.filename).lastModified():
self.file_info = QFileInfo(self.filename)
result = MessageBox.question(self,
"File changed",
"File was changed, reload?",
buttons=MessageBox.Yes
| MessageBox.No)
if result == MessageBox.Yes:
f = QFile(self.filename)
if f.open(QIODevice.ReadOnly | QIODevice.Text):
self.setText(unicode(f.readAll(), "utf-8"))
self.document().setModified(False)
self.textChanged.emit()
else:
MessageBox.critical(
self, "Error",
"Cannot open launch file%s" % self.filename)
except:
pass
QTextEdit.focusInEvent(self, event)
def _included_files(self, path):
'''
Returns all included files in the given file.
'''
result = []
with open(path, 'r') as f:
data = f.read()
reg = QRegExp("=[\s\t]*\".*\"")
reg.setMinimal(True)
pos = reg.indexIn(data)
while pos != -1 and self._isrunning:
try:
pp = interpret_path(reg.cap(0).strip('"'))
f = QFile(pp)
ext = os.path.splitext(pp)
if f.exists() and ext[1] in nm.settings().SEARCH_IN_EXT:
result.append(pp)
except Exception as exp:
parsed_text = pp
try:
parsed_text = reg.cap(0).strip('"')
except:
pass
self.warning_signal.emit("Error while parse '%s': %s" %
(parsed_text, exp))
pos += reg.matchedLength()
pos = reg.indexIn(data, pos)
return result
def includedFiles(self):
'''
Returns all included files in the document.
'''
result = []
b = self.document().begin()
while b != self.document().end():
text = b.text()
index = self.index(text)
if index > -1:
startIndex = text.find('"', index)
if startIndex > -1:
endIndex = text.find('"', startIndex + 1)
fileName = text[startIndex + 1:endIndex]
if len(fileName) > 0:
try:
path = interpret_path(fileName)
f = QFile(path)
ext = os.path.splitext(path)
if f.exists() and ext[1] in nm.settings(
).SEARCH_IN_EXT:
result.append(path)
except:
import traceback
print traceback.format_exc(1)
b = b.next()
return result
def _save_dot(self):
file_name, _ = QFileDialog.getSaveFileName(self._widget, self.tr('Save as DOT'), 'rosgraph.dot', self.tr('DOT graph (*.dot)'))
if file_name is None or file_name == '':
return
handle = QFile(file_name)
if not handle.open(QIODevice.WriteOnly | QIODevice.Text):
return
handle.write(self._current_dotcode)
handle.close()
def included_files(cls, text_or_path, regexp_list=[QRegExp("\\btextfile\\b"),
QRegExp("\\bfile\\b"),
QRegExp("\\bdefault\\b"),
QRegExp("\\bvalue=.*pkg:\/\/\\b"),
QRegExp("\\bvalue=.*package:\/\/\\b"),
QRegExp("\\bvalue=.*\$\(find\\b"),
QRegExp("\\bargs=.*\$\(find\\b")],
recursive=True, unique=True):
result = []
lines = []
pwd = '.'
f = QFile(text_or_path)
if f.exists():
pwd = os.path.dirname(text_or_path)
with open(text_or_path, 'r') as f:
content = f.read()
# remove the comments
comment_pattern = QRegExp("<!--.*?-->")
pos = comment_pattern.indexIn(content)
while pos != -1:
content = content[:pos] + content[pos + comment_pattern.matchedLength():]
pos = comment_pattern.indexIn(content)
lines = content.splitlines()
else:
lines = [text_or_path]
line_index = 0
for line in lines:
index = cls._index(line, regexp_list)
if index > -1:
startIndex = line.find('"', index)
if startIndex > -1:
endIndex = line.find('"', startIndex + 1)
fileName = line[startIndex + 1:endIndex]
if len(fileName) > 0:
try:
path = cls.interpretPath(fileName, pwd)
if os.path.isfile(path):
if not unique:
result.append((line_index, path))
else:
result.append(path)
ext = os.path.splitext(path)
if recursive and ext[1] in nm.settings().SEARCH_IN_EXT:
result += cls.included_files(path, regexp_list)
except Exception:
import traceback
print traceback.format_exc()
line_index += 1
if unique:
return list(set(result))
return result
def __init__(self, filename, parent=None):
self.parent = parent
QTextEdit.__init__(self, parent)
self.setObjectName(' - '.join(['Editor', filename]))
self.setContextMenuPolicy(Qt.CustomContextMenu)
self.customContextMenuRequested.connect(self.show_custom_context_menu)
# self.setFrameStyle(QFrame.StyledPanel | QFrame.Sunken)
self.setAcceptRichText(False)
font = QFont()
font.setFamily("Fixed".decode("utf-8"))
font.setPointSize(12)
self.setFont(font)
self.setLineWrapMode(QTextEdit.NoWrap)
self.setTabStopWidth(25)
self.setAcceptRichText(False)
self.setCursorWidth(2)
self.setFontFamily("courier new")
self.setProperty("backgroundVisible", True)
self.regexp_list = [
QRegExp("\\binclude\\b"),
QRegExp("\\btextfile\\b"),
QRegExp("\\bfile\\b"),
QRegExp("\\bvalue=.*pkg:\/\/\\b"),
QRegExp("\\bvalue=.*package:\/\/\\b"),
QRegExp("\\bvalue=.*\$\(find\\b"),
QRegExp("\\bargs=.*\$\(find\\b"),
QRegExp("\\bdefault=.*\$\(find\\b")
]
self.filename = filename
self.file_info = None
if self.filename:
f = QFile(filename)
if f.open(QIODevice.ReadOnly | QIODevice.Text):
self.file_info = QFileInfo(filename)
self.setText(unicode(f.readAll(), "utf-8"))
self.path = '.'
# enables drop events
self.setAcceptDrops(True)
if filename.endswith('.launch'):
self.hl = XmlHighlighter(self.document())
self.cursorPositionChanged.connect(self._document_position_changed)
else:
self.hl = YamlHighlighter(self.document())
# variables for threaded search
self._search_thread = None
self._stop = False
def mouseReleaseEvent(self, event):
'''
Opens the new editor, if the user clicked on the included file and sets the
default cursor.
'''
if event.modifiers() == Qt.ControlModifier or event.modifiers(
) == Qt.ShiftModifier:
cursor = self.cursorForPosition(event.pos())
index = self.index(cursor.block().text())
if index > -1:
startIndex = cursor.block().text().find('"', index)
if startIndex > -1:
endIndex = cursor.block().text().find('"', startIndex + 1)
fileName = cursor.block().text()[startIndex + 1:endIndex]
if len(fileName) > 0:
try:
qf = QFile(interpret_path(fileName))
if not qf.exists():
# create a new file, if it does not exists
result = QMessageBox.question(
self, "File not found", '\n\n'.join(
["Create a new file?",
qf.fileName()]),
QMessageBox.Yes | QMessageBox.No)
if result == QMessageBox.Yes:
d = os.path.dirname(qf.fileName())
if not os.path.exists(d):
os.makedirs(d)
with open(qf.fileName(), 'w') as f:
if qf.fileName().endswith('.launch'):
f.write('<launch>\n\n</launch>')
event.setAccepted(True)
self.load_request_signal.emit(
qf.fileName())
else:
event.setAccepted(True)
self.load_request_signal.emit(qf.fileName())
except Exception, e:
WarningMessageBox(QMessageBox.Warning,
"File not found %s" % fileName,
str(e)).exec_()
def save(self, force=False):
'''
Saves changes to the file.
:return: saved, errors, msg
:rtype: bool, bool, str
'''
if force or self.document().isModified() or not QFileInfo(
self.filename).exists():
f = QFile(self.filename)
if f.open(QIODevice.WriteOnly | QIODevice.Text):
f.write(self.toPlainText().encode('utf-8'))
self.document().setModified(False)
self.file_info = QFileInfo(self.filename)
ext = os.path.splitext(self.filename)
# validate the xml structure of the launch files
if ext[1] in self.CONTEXT_FILE_EXT:
imported = False
try:
from lxml import etree
imported = True
parser = etree.XMLParser()
etree.fromstring(self.toPlainText().encode('utf-8'),
parser)
except Exception as e:
if imported:
self.markLine(e.position[0])
return True, True, "%s" % e
# validate the yaml structure of yaml files
elif ext[1] in self.YAML_VALIDATION_FILES:
try:
import yaml
yaml.load(self.toPlainText().encode('utf-8'))
except yaml.MarkedYAMLError as e:
return True, True, "%s" % e
return True, False, ''
else:
return False, True, "Cannot write XML file"
return False, False, ''
def mouseReleaseEvent(self, event):
'''
Opens the new editor, if the user clicked on the included file and sets the
default cursor.
'''
if event.modifiers() == Qt.ControlModifier or event.modifiers(
) == Qt.ShiftModifier:
cursor = self.cursorForPosition(event.pos())
inc_files = LaunchConfig.included_files(cursor.block().text(),
recursive=False)
if inc_files:
try:
qf = QFile(inc_files[0])
if not qf.exists():
# create a new file, if it does not exists
result = MessageBox.question(
self,
"File not found",
'\n\n'.join(["Create a new file?",
qf.fileName()]),
buttons=MessageBox.Yes | MessageBox.No)
if result == MessageBox.Yes:
d = os.path.dirname(qf.fileName())
if not os.path.exists(d):
os.makedirs(d)
with open(qf.fileName(), 'w') as f:
if qf.fileName().endswith('.launch'):
f.write('<launch>\n\n</launch>')
event.setAccepted(True)
self.load_request_signal.emit(qf.fileName())
else:
event.setAccepted(True)
self.load_request_signal.emit(qf.fileName())
except Exception, e:
MessageBox.critical(self,
"Error",
"File not found %s" % inc_files[0],
detailed_text=utf8(e))
import sys
from python_qt_binding.QtWidgets import QApplication, QWidget, QVBoxLayout
from python_qt_binding.QtCore import QFile, QIODevice, QObject
from rqt_graph.ros_graph import RosGraph
class FakePluginContext(QObject):
def __init__(self):
super(FakePluginContext, self).__init__()
self.setObjectName('FakePluginContext')
def serial_number(self):
return 0
def add_widget(self, widget):
pass
if __name__ == "__main__":
app = QApplication(sys.argv)
fpc = FakePluginContext()
r = RosGraph(fpc)
handle = QFile(sys.argv[1])
if not handle.open(QIODevice.WriteOnly | QIODevice.Text):
exit(1)
handle.write(r._generate_dotcode())
handle.close()
def _save_dataset(self):
formats = ['CSV', 'PKL', 'H5', 'DLS', 'FANN']
supported_formats = ''
for f in formats:
supported_formats += f + ';;'
self._data_filename, self._data_format = QFileDialog.getSaveFileName(
self._widget, self.tr('Save dataset'), 'dataset_name',
self.tr(supported_formats[:-2]))
if self._data_filename is None or self._data_filename == '':
return
self._data_filename += '.' + self._data_format.lower()
if self._data_format == 'CSV':
# fill up the list of selected data leaves
self._fill_selected_leaves_list()
# create new stream file
data_file = QFile(self._data_filename)
if not data_file.open(QIODevice.WriteOnly | QIODevice.Text):
return
self._file_stream = QTextStream(data_file)
# fill up single line record dictionary with topic keys
self._line_record['timestamp'] = 0
for leaf in self._selected_leaves: #self._get_selected_items_list():
self._line_record[leaf] = 0
# write out header
for key in self._line_record:
self._file_stream << key << ','
self._file_stream << '\n'
# open bag file
bag = rosbag.Bag(self._bag_filename)
# cycle through selected base topics
for topic, message, time in bag.read_messages(
self._get_selected_topics()):
# traverse down the message slots
# print('Traversing: ' + topic)
self._line_record['timestamp'] = str(time)
self._export_leaf_instance(message, '', '', topic, [])
data_file.close()
print('File saved: ' + self._data_filename)
elif self._data_format == 'PKL':
df = rosbag_pandas.bag_to_dataframe(self._bag_filename,
self._get_selected_topics())
df.to_pickle(self._data_filename)
print('File saved: ' + self._data_filename)
elif self._data_format == 'H5':
df = rosbag_pandas.bag_to_dataframe(self._bag_filename,
self._get_selected_topics())
hdf_store = HDFStore(self._data_filename)
hdf_store['df'] = df
hdf_store.close()
print('File saved: ' + self._data_filename)
elif self._data_format == 'DLS':
self._no_support_warning()
elif self._data_format == 'FANN':
self._no_support_warning()
else:
self._no_support_warning()
