def add_plugin(self, plugin_descriptor):
base_path = plugin_descriptor.attributes().get('plugin_path')
menu_manager = self._plugin_menu_manager
# create submenus
for group in plugin_descriptor.groups():
label = group['label']
if menu_manager.contains_menu(label):
submenu = menu_manager.get_menu(label)
else:
submenu = QMenu(label, menu_manager.menu)
menu_action = submenu.menuAction()
self._enrich_action(menu_action, group, base_path)
menu_manager.add_item(submenu)
menu_manager = MenuManager(submenu)
# create action
action_attributes = plugin_descriptor.action_attributes()
action = QAction(action_attributes['label'], menu_manager.menu)
self._enrich_action(action, action_attributes, base_path)
self._plugin_mapper.setMapping(action, plugin_descriptor.plugin_id())
action.triggered.connect(self._plugin_mapper.map)
not_available = plugin_descriptor.attributes().get('not_available')
if not_available:
action.setEnabled(False)
action.setStatusTip(self.tr('Plugin is not available: %s') % not_available)
# add action to menu
menu_manager.add_item(action)
def _rightclick_menu(self, event):
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
raw_action = QAction(self.tr('View Raw'), menu)
menu.addAction(raw_action)
action = menu.exec_(event.globalPos())
if action == raw_action or action == text_action:
selected = self.messages_tree.selectedIndexes()
selected_type = selected[1].data()
if selected_type[-2:] == '[]':
selected_type = selected_type[:-2]
browsetext = None
try:
if self._mode == rosmsg.MODE_MSG:
browsetext = rosmsg.get_msg_text(selected_type,
action == raw_action)
elif self._mode == rosmsg.MODE_SRV:
browsetext = rosmsg.get_srv_text(selected_type,
action == raw_action)
else:
raise
except rosmsg.ROSMsgException, e:
QMessageBox.warning(
self, self.tr('Warning'),
self.
tr('The selected item component does not have text to view.'
))
if browsetext is not None:
self._browsers.append(TextBrowseDialog(browsetext))
self._browsers[-1].show()
def __init__(self, timeline, parent, topic):
MessageView.__init__(self, timeline, topic)
self._parent = parent
self._stamp = None
self._name = parent.objectName()
self.toolbar = QToolBar()
self._first_action = QAction(QIcon.fromTheme('go-first'), '',
self.toolbar)
self._first_action.triggered.connect(self.navigate_first)
self.toolbar.addAction(self._first_action)
self._prev_action = QAction(QIcon.fromTheme('go-previous'), '',
self.toolbar)
self._prev_action.triggered.connect(self.navigate_previous)
self.toolbar.addAction(self._prev_action)
self._next_action = QAction(QIcon.fromTheme('go-next'), '',
self.toolbar)
self._next_action.triggered.connect(self.navigate_next)
self.toolbar.addAction(self._next_action)
self._last_action = QAction(QIcon.fromTheme('go-last'), '',
self.toolbar)
self._last_action.triggered.connect(self.navigate_last)
self.toolbar.addAction(self._last_action)
parent.layout().addWidget(self.toolbar)
def set_menu(self, menu):
self._menu_manager = MenuManager(menu)
self._perspective_mapper = QSignalMapper(menu)
self._perspective_mapper.mapped[str].connect(self.switch_perspective)
# generate menu
create_action = QAction('&Create perspective...', self._menu_manager.menu)
create_action.setIcon(QIcon.fromTheme('list-add'))
create_action.triggered.connect(self._on_create_perspective)
self._menu_manager.add_suffix(create_action)
self._remove_action = QAction('&Remove perspective...', self._menu_manager.menu)
self._remove_action.setEnabled(False)
self._remove_action.setIcon(QIcon.fromTheme('list-remove'))
self._remove_action.triggered.connect(self._on_remove_perspective)
self._menu_manager.add_suffix(self._remove_action)
self._menu_manager.add_suffix(None)
import_action = QAction('&Import...', self._menu_manager.menu)
import_action.setIcon(QIcon.fromTheme('document-open'))
import_action.triggered.connect(self._on_import_perspective)
self._menu_manager.add_suffix(import_action)
export_action = QAction('&Export...', self._menu_manager.menu)
export_action.setIcon(QIcon.fromTheme('document-save-as'))
export_action.triggered.connect(self._on_export_perspective)
self._menu_manager.add_suffix(export_action)
# add perspectives to menu
for name in self.perspectives:
if not name.startswith(self.HIDDEN_PREFIX):
self._add_perspective_action(name)
def __init__(self, parent=None):
super(PublisherTreeWidget, self).__init__(parent)
self.setModel(PublisherTreeModel(self))
self._action_remove_publisher = QAction(QIcon.fromTheme('remove'), 'Remove Selected', self)
self._action_remove_publisher.triggered[bool].connect(self._handle_action_remove_publisher)
self._action_publish_once = QAction(QIcon.fromTheme('media-playback-start'), 'Publish Selected Once', self)
self._action_publish_once.triggered[bool].connect(self._handle_action_publish_once)
self.setItemDelegateForColumn(self.model()._column_index['rate'], SpinBoxDelegate(min_value=0, max_value=1000000, decimals=2))
def _add_perspective_action(self, name):
if self._menu_manager is not None:
# create action
action = QAction(name, self._menu_manager.menu)
action.setCheckable(True)
self._perspective_mapper.setMapping(action, name)
action.triggered.connect(self._perspective_mapper.map)
# add action to menu
self._menu_manager.add_item(action)
# enable remove-action
if self._menu_manager.count_items() > 1:
self._remove_action.setEnabled(True)
def _add_perspective_action(self, name):
if self._menu_manager is not None:
# create action
action = QAction(name, self._menu_manager.menu)
action.setCheckable(True)
self._perspective_mapper.setMapping(action, name)
action.triggered.connect(self._perspective_mapper.map)
# add action to menu
self._menu_manager.add_item(action)
# enable remove-action
if self._menu_manager.count_items() > 1:
self._remove_action.setEnabled(True)
def _rightclick_menu(self, event):
"""
:type event: QEvent
"""
# QTreeview.selectedIndexes() returns 0 when no node is selected.
# This can happen when after booting no left-click has been made yet
# (ie. looks like right-click doesn't count). These lines are the
# workaround for that problem.
selected = self._messages_tree.selectedIndexes()
if len(selected) == 0:
return
menu = QMenu()
text_action = QAction(self.tr('View Text'), menu)
menu.addAction(text_action)
raw_action = QAction(self.tr('View Raw'), menu)
menu.addAction(raw_action)
action = menu.exec_(event.globalPos())
if action == raw_action or action == text_action:
rospy.logdebug('_rightclick_menu selected={}'.format(selected))
selected_type = selected[1].data()
if selected_type[-2:] == '[]':
selected_type = selected_type[:-2]
browsetext = None
try:
if (self._mode == rosmsg.MODE_MSG
or self._mode == rosaction.MODE_ACTION):
browsetext = rosmsg.get_msg_text(selected_type,
action == raw_action)
elif self._mode == rosmsg.MODE_SRV:
browsetext = rosmsg.get_srv_text(selected_type,
action == raw_action)
else:
raise
except rosmsg.ROSMsgException, e:
QMessageBox.warning(
self, self.tr('Warning'),
self.tr('The selected item component ' +
'does not have text to view.'))
if browsetext is not None:
self._browsers.append(
TextBrowseDialog(browsetext, self._rospack))
self._browsers[-1].show()
def _update_remove_topic_menu(self):
def make_remove_topic_function(x):
return lambda: self.remove_topic(x)
self._remove_topic_menu.clear()
for topic_name in sorted(self._rosdata.keys()):
action = QAction(topic_name, self._remove_topic_menu)
action.triggered.connect(make_remove_topic_function(topic_name))
self._remove_topic_menu.addAction(action)
if len(self._rosdata) > 1:
all_action = QAction('All', self._remove_topic_menu)
all_action.triggered.connect(self.clean_up_subscribers)
self._remove_topic_menu.addAction(all_action)
self.remove_topic_button.setMenu(self._remove_topic_menu)
def _gl_view_mouseReleaseEvent(self, event):
if event.button() == Qt.RightButton:
menu = QMenu(self._gl_view)
action = QAction(self._gl_view.tr("Reset view"), self._gl_view)
menu.addAction(action)
action.triggered.connect(self._set_default_view)
menu.exec_(self._gl_view.mapToGlobal(event.pos()))
def add_plugin_prefix(self, plugin_descriptor):
action_attributes = plugin_descriptor.action_attributes()
action = QAction(action_attributes['label'],
self._plugin_menu_manager.menu)
self._enrich_action(action, action_attributes)
self._plugin_mapper.setMapping(action, plugin_descriptor.plugin_id())
action.triggered.connect(self._plugin_mapper.map)
self._plugin_menu_manager.add_prefix(action)
def __contextual_menu(self, point):
index = self.item_tree_view.indexAt(point)
src_index = index.model().mapToSource(index)
self.selected_item = src_index.internalPointer()
global_pos = self.item_tree_view.header().mapToGlobal(point)
action = QAction(self)
action.setText("Mark for Recording")
action.setCheckable(True)
if self.selected_item.marked:
action.setChecked(True)
else:
action.setChecked(False)
action.triggered.connect(self.__item_marked)
menu = QMenu()
menu.addAction(action)
menu.exec_(global_pos)
def __init__(self, parent=None):
super(MessageTreeWidget, self).__init__(parent)
self.setDragEnabled(True)
self.sortByColumn(0, Qt.AscendingOrder)
self.header().setResizeMode(QHeaderView.ResizeToContents)
self.header().setContextMenuPolicy(Qt.CustomContextMenu)
self.header().customContextMenuRequested.connect(
self.handle_header_view_customContextMenuRequested)
self._action_item_expand = QAction(QIcon.fromTheme('zoom-in'),
'Expand Selected', self)
self._action_item_expand.triggered.connect(
self._handle_action_item_expand)
self._action_item_collapse = QAction(QIcon.fromTheme('zoom-out'),
'Collapse Selected', self)
self._action_item_collapse.triggered.connect(
self._handle_action_item_collapse)
self.customContextMenuRequested.connect(
self.handle_customContextMenuRequested)
def _update_remove_topic_menu(self):
def make_remove_topic_function(x):
return lambda: self.remove_topic(x)
self._remove_topic_menu.clear()
for topic_name in sorted(self._rosdata.keys()):
action = QAction(topic_name, self._remove_topic_menu)
action.triggered.connect(make_remove_topic_function(topic_name))
self._remove_topic_menu.addAction(action)
self.remove_topic_button.setMenu(self._remove_topic_menu)
def add_instance(self, plugin_descriptor, instance_id):
action_attributes = plugin_descriptor.action_attributes()
action = QAction(self._get_instance_label(str(instance_id)),
self._running_menu_manager.menu)
base_path = plugin_descriptor.attributes().get('plugin_path')
self._enrich_action(action, action_attributes, base_path)
self._running_mapper.setMapping(action, str(instance_id))
action.triggered.connect(self._running_mapper.map)
self._running_menu_manager.add_item(action)
self._instances[instance_id] = action
def add_plugin(self, plugin_descriptor):
base_path = plugin_descriptor.attributes().get('plugin_path')
menu_manager = self._plugin_menu_manager
# create submenus
for group in plugin_descriptor.groups():
label = group['label']
if menu_manager.contains_menu(label):
submenu = menu_manager.get_menu(label)
else:
submenu = QMenu(label, menu_manager.menu)
menu_action = submenu.menuAction()
self._enrich_action(menu_action, group, base_path)
menu_manager.add_item(submenu)
menu_manager = MenuManager(submenu)
# create action
action_attributes = plugin_descriptor.action_attributes()
action = QAction(action_attributes['label'], menu_manager.menu)
self._enrich_action(action, action_attributes, base_path)
self._plugin_mapper.setMapping(action, plugin_descriptor.plugin_id())
action.triggered.connect(self._plugin_mapper.map)
not_available = plugin_descriptor.attributes().get('not_available')
if not_available:
action.setEnabled(False)
action.setStatusTip(
self.tr('Plugin is not available: %s') % not_available)
# add action to menu
menu_manager.add_item(action)
def show_custom_context_menu(self, pos):
if self.isReadOnly():
return
menu = QTextEdit.createStandardContextMenu(self)
formattext_action = None
if isinstance(self.hl, XmlHighlighter):
formattext_action = QAction("Format XML",
self,
statusTip="",
triggered=self.toprettyxml)
else:
formattext_action = QAction("Format as YAML",
self,
statusTip="",
triggered=self.toprettyyaml)
formattext_action.setShortcuts(QKeySequence("Ctrl+Shift+F"))
menu.addAction(formattext_action)
# if not self.textCursor().selectedText():
# self.setTextCursor(self.cursorForPosition(pos))
submenu = self._create_context_menu_for_tag()
if submenu is not None:
menu.addMenu(submenu)
argmenu = self._create_context_substitution_menu()
if argmenu is not None:
menu.addMenu(argmenu)
menu.exec_(self.mapToGlobal(pos))
def __init__(self, parent=None, logger=Logger()):
QTreeWidget.__init__(self, parent)
self.set_logger(logger)
# init tree
self.setHeaderLabels(["Name", "Type", "Value"])
self.sortItems(0, Qt.AscendingOrder)
#self.setSelectionMode(QAbstractItemView.NoSelection)
self.setContextMenuPolicy(Qt.CustomContextMenu)
self.itemActivated.connect(self.edit_item)
self.currentItemChanged.connect(self.current_item_changed)
# context menu
self.customContextMenuRequested.connect(self.context_menu_request)
self._action_item_expand = QAction(QIcon.fromTheme('zoom-in'),
'Expand Selected', self)
self._action_item_expand.triggered.connect(
self._handle_action_item_expand)
self._action_item_collapse = QAction(QIcon.fromTheme('zoom-out'),
'Collapse Selected', self)
self._action_item_collapse.triggered.connect(
self._handle_action_item_collapse)
self._action_item_add = QAction(QIcon.fromTheme('list-add'), 'Add',
self)
self._action_item_add.setEnabled(False) # TODO
self._action_item_remove = QAction(QIcon.fromTheme('list-remove'),
'Remove', self)
self._action_item_remove.setEnabled(False) # TODO
def __contextual_menu(self, point):
index = self.item_tree_view.indexAt(point)
src_index = index.model().mapToSource(index)
self.selected_item = src_index.internalPointer()
global_pos = self.item_tree_view.header().mapToGlobal(point)
action = QAction(self)
action.setText("Mark for Recording")
action.setCheckable(True)
if self.selected_item.marked:
action.setChecked(True)
else:
action.setChecked(False)
action.triggered.connect(self.__item_marked)
menu = QMenu()
menu.addAction(action)
menu.exec_(global_pos)
def add_instance(self, plugin_descriptor, instance_id):
action_attributes = plugin_descriptor.action_attributes()
# create action
label = self.tr('Close:') + ' ' + action_attributes['label']
if instance_id.serial_number != 1:
label = label + ' (%s)' % str(instance_id.serial_number)
action = QAction(label, self._running_menu_manager.menu)
base_path = plugin_descriptor.attributes().get('plugin_path')
self._enrich_action(action, action_attributes, base_path)
self._running_mapper.setMapping(action, str(instance_id))
action.triggered.connect(self._running_mapper.map)
self._running_menu_manager.add_item(action)
self._instances[instance_id] = action
def eventFilter(self, obj, event):
if event.type() in self._event_callbacks:
ret_val = self._event_callbacks[event.type()](obj, event)
if ret_val is not None:
return ret_val
if event.type() == event.ContextMenu and obj == self.title_label:
menu = QMenu(self)
rename_action = menu.addAction(self.tr('Rename dock widget'))
hide_action = QAction("Hide title bar", self)
hide_action.setCheckable(True)
hide_action.setChecked(self.hide_title_bar)
if self._dock_widget.features() & QDockWidget.DockWidgetFloatable and \
self._dock_widget.features() & QDockWidget.DockWidgetMovable:
menu.addAction(hide_action)
action = menu.exec_(self.mapToGlobal(event.pos()))
if action == rename_action:
self.title_label.hide()
self.title_edit.setText(self.title_label.text())
self.title_edit.show()
self.title_edit.setFocus()
if action == hide_action:
self.hide_title_bar = not self.hide_title_bar
return True
return QObject.eventFilter(self, obj, event)
def _open_context_menu(self, position):
indexes = self.plugin_manager_widget.plugin_tree_view.selectedIndexes()
level = -1
if len(indexes) > 0:
level = 0
index = indexes[0]
while index.parent().isValid():
index = index.parent()
level += 1
menu = QMenu()
if level == 0:
expand_action = QAction(self.tr('Expand'), None)
expand_action.triggered.connect(
self.plugin_manager_widget.plugin_tree_view.expandAll)
menu.addAction(expand_action)
if level == 0 or level == 1:
remove_action = QAction(self.tr('Remove'), None)
remove_action.triggered.connect(self.remove_plugins)
menu.addAction(remove_action)
menu.exec_(
self.plugin_manager_widget.plugin_tree_view.viewport().mapToGlobal(
position))
def __init__(self, parent=None):
'''
Creates the window, connects the signals and init the class.
'''
QDockWidget.__init__(self, parent)
# initialize parameter
self.__current_path = os.path.expanduser('~')
# load the UI file
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'LaunchFilesDockWidget.ui')
loadUi(ui_file, self)
# initialize the view for the launch files
self.launchlist_model = LaunchListModel()
self.launchlist_proxyModel = QSortFilterProxyModel(self)
self.launchlist_proxyModel.setSourceModel(self.launchlist_model)
self.xmlFileView.setModel(self.launchlist_proxyModel)
self.xmlFileView.setAlternatingRowColors(True)
self.xmlFileView.activated.connect(self.on_launch_selection_activated)
self.xmlFileView.setDragDropMode(QAbstractItemView.DragOnly)
self.xmlFileView.setDragEnabled(True)
sm = self.xmlFileView.selectionModel()
sm.selectionChanged.connect(self.on_xmlFileView_selection_changed)
# self.searchPackageLine.setVisible(False)
self.searchPackageLine.textChanged.connect(self.set_package_filter)
self.searchPackageLine.focusInEvent = self._searchline_focusInEvent
# connect to the button signals
self.refreshXmlButton.clicked.connect(self.on_refresh_xml_clicked)
self.editXmlButton.clicked.connect(self.on_edit_xml_clicked)
self.newXmlButton.clicked.connect(self.on_new_xml_clicked)
self.openXmlButton.clicked.connect(self.on_open_xml_clicked)
self.transferButton.clicked.connect(self.on_transfer_file_clicked)
self.loadXmlButton.clicked.connect(self.on_load_xml_clicked)
self.loadXmlAsDefaultButton.clicked.connect(self.on_load_as_default)
# creates a default config menu
start_menu = QMenu(self)
self.loadDeafaultAtHostAct = QAction(
"&Load default config on host",
self,
statusTip="Loads the default config at given host",
triggered=self.on_load_as_default_at_host)
start_menu.addAction(self.loadDeafaultAtHostAct)
self.loadXmlAsDefaultButton.setMenu(start_menu)
# initialize the progress queue
self.progress_queue = ProgressQueue(self.progressFrame_cfg,
self.progressBar_cfg,
self.progressCancelButton_cfg,
'Launch File')
def addDockWidget(self, dock_widget):
# remove action for same dock widget if exists
self.removeDockWidget(dock_widget)
icon = dock_widget.windowIcon()
if icon.isNull():
icon = QIcon.fromTheme('folder')
title = dock_widget.windowTitle()
action = QAction(icon, title, self)
# truncate label if necessary
if len(title) > MinimizedDockWidgetsToolbar.max_label_length:
action.setToolTip(title)
action.setIconText(title[0:MinimizedDockWidgetsToolbar.max_label_length] + '...')
self._signal_mapper.setMapping(action, dock_widget)
action.triggered.connect(self._signal_mapper.map)
self._dock_widgets[dock_widget] = action
self.addAction(action)
self.show()
def eventFilter(self, obj, event):
if event.type() in self._event_callbacks:
ret_val = self._event_callbacks[event.type()](obj, event)
if ret_val is not None:
return ret_val
if event.type() == event.ContextMenu and obj == self.title_label:
menu = QMenu(self)
rename_action = menu.addAction(self.tr('Rename dock widget'))
hide_action = QAction("Hide title bar", self)
hide_action.setCheckable(True)
hide_action.setChecked(self.hide_title_bar)
if self._dock_widget.features() & QDockWidget.DockWidgetFloatable and \
self._dock_widget.features() & QDockWidget.DockWidgetMovable:
menu.addAction(hide_action)
action = menu.exec_(self.mapToGlobal(event.pos()))
if action == rename_action:
self.title_label.hide()
self.title_edit.setText(self.title_label.text())
self.title_edit.show()
self.title_edit.setFocus()
if action == hide_action:
self.hide_title_bar = not self.hide_title_bar
return True
return QObject.eventFilter(self, obj, event)
class PerspectiveManager(QObject):
"""Manager for perspectives associated with specific sets of `Settings`."""
perspective_changed_signal = Signal(basestring)
save_settings_signal = Signal(Settings, Settings)
restore_settings_signal = Signal(Settings, Settings)
restore_settings_without_plugin_changes_signal = Signal(Settings, Settings)
HIDDEN_PREFIX = '@'
def __init__(self, settings, application_context):
super(PerspectiveManager, self).__init__()
self.setObjectName('PerspectiveManager')
self._qtgui_path = application_context.qtgui_path
self._settings_proxy = SettingsProxy(settings)
self._global_settings = Settings(self._settings_proxy, 'global')
self._perspective_settings = None
self._create_perspective_dialog = None
self._menu_manager = None
self._perspective_mapper = None
# get perspective list from settings
self.perspectives = self._settings_proxy.value('', 'perspectives', [])
if isinstance(self.perspectives, basestring):
self.perspectives = [self.perspectives]
self._current_perspective = None
self._remove_action = None
self._callback = None
self._callback_args = []
if application_context.provide_app_dbus_interfaces:
from .perspective_manager_dbus_interface import PerspectiveManagerDBusInterface
self._dbus_server = PerspectiveManagerDBusInterface(self, application_context)
def set_menu(self, menu):
self._menu_manager = MenuManager(menu)
self._perspective_mapper = QSignalMapper(menu)
self._perspective_mapper.mapped[str].connect(self.switch_perspective)
# generate menu
create_action = QAction('&Create perspective...', self._menu_manager.menu)
create_action.setIcon(QIcon.fromTheme('list-add'))
create_action.triggered.connect(self._on_create_perspective)
self._menu_manager.add_suffix(create_action)
self._remove_action = QAction('&Remove perspective...', self._menu_manager.menu)
self._remove_action.setEnabled(False)
self._remove_action.setIcon(QIcon.fromTheme('list-remove'))
self._remove_action.triggered.connect(self._on_remove_perspective)
self._menu_manager.add_suffix(self._remove_action)
self._menu_manager.add_suffix(None)
import_action = QAction('&Import...', self._menu_manager.menu)
import_action.setIcon(QIcon.fromTheme('document-open'))
import_action.triggered.connect(self._on_import_perspective)
self._menu_manager.add_suffix(import_action)
export_action = QAction('&Export...', self._menu_manager.menu)
export_action.setIcon(QIcon.fromTheme('document-save-as'))
export_action.triggered.connect(self._on_export_perspective)
self._menu_manager.add_suffix(export_action)
# add perspectives to menu
for name in self.perspectives:
if not name.startswith(self.HIDDEN_PREFIX):
self._add_perspective_action(name)
def set_perspective(self, name, hide_and_without_plugin_changes=False):
if name is None:
name = self._settings_proxy.value('', 'current-perspective', 'Default')
elif hide_and_without_plugin_changes:
name = self.HIDDEN_PREFIX + name
self.switch_perspective(name, save_before=not hide_and_without_plugin_changes, without_plugin_changes=hide_and_without_plugin_changes)
@Slot(str)
@Slot(str, bool)
@Slot(str, bool, bool)
def switch_perspective(self, name, settings_changed=True, save_before=True, without_plugin_changes=False):
if save_before and self._global_settings is not None and self._perspective_settings is not None:
self._callback = self._switch_perspective
self._callback_args = [name, settings_changed, save_before]
self.save_settings_signal.emit(self._global_settings, self._perspective_settings)
else:
self._switch_perspective(name, settings_changed, save_before, without_plugin_changes)
def _switch_perspective(self, name, settings_changed, save_before, without_plugin_changes=False):
# convert from unicode
name = str(name.replace('/', '__'))
qDebug('PerspectiveManager.switch_perspective() switching to perspective "%s"' % name)
if self._current_perspective is not None and self._menu_manager is not None:
self._menu_manager.set_item_checked(self._current_perspective, False)
self._menu_manager.set_item_disabled(self._current_perspective, False)
# create perspective if necessary
if name not in self.perspectives:
self._create_perspective(name, clone_perspective=False)
# update current perspective
self._current_perspective = name
if self._menu_manager is not None:
self._menu_manager.set_item_checked(self._current_perspective, True)
self._menu_manager.set_item_disabled(self._current_perspective, True)
if not self._current_perspective.startswith(self.HIDDEN_PREFIX):
self._settings_proxy.set_value('', 'current-perspective', self._current_perspective)
self._perspective_settings = self._get_perspective_settings(self._current_perspective)
# emit signals
self.perspective_changed_signal.emit(self._current_perspective.lstrip(self.HIDDEN_PREFIX))
if settings_changed:
if not without_plugin_changes:
self.restore_settings_signal.emit(self._global_settings, self._perspective_settings)
else:
self.restore_settings_without_plugin_changes_signal.emit(self._global_settings, self._perspective_settings)
def save_settings_completed(self):
if self._callback is not None:
callback = self._callback
callback_args = self._callback_args
self._callback = None
self._callback_args = []
callback(*callback_args)
def _get_perspective_settings(self, perspective_name):
return Settings(self._settings_proxy, 'perspective/%s' % perspective_name)
def _on_create_perspective(self):
name = self._choose_new_perspective_name()
if name is not None:
clone_perspective = self._create_perspective_dialog.clone_checkbox.isChecked()
self._create_perspective(name, clone_perspective)
self.switch_perspective(name, settings_changed=not clone_perspective, save_before=False)
def _choose_new_perspective_name(self, show_cloning=True):
# input dialog for new perspective name
if self._create_perspective_dialog is None:
ui_file = os.path.join(self._qtgui_path, 'resource', 'perspective_create.ui')
self._create_perspective_dialog = loadUi(ui_file)
# custom validator preventing forward slashs
class CustomValidator(QValidator):
def __init__(self, parent=None):
super(CustomValidator, self).__init__(parent)
def fixup(self, value):
value = value.replace('/', '')
def validate(self, value, pos):
if value.find('/') != -1:
pos = value.find('/')
return (QValidator.Invalid, value, pos)
if value == '':
return (QValidator.Intermediate, value, pos)
return (QValidator.Acceptable, value, pos)
self._create_perspective_dialog.perspective_name_edit.setValidator(CustomValidator())
# set default values
self._create_perspective_dialog.perspective_name_edit.setText('')
self._create_perspective_dialog.clone_checkbox.setChecked(True)
self._create_perspective_dialog.clone_checkbox.setVisible(show_cloning)
# show dialog and wait for it's return value
return_value = self._create_perspective_dialog.exec_()
if return_value == self._create_perspective_dialog.Rejected:
return
name = str(self._create_perspective_dialog.perspective_name_edit.text()).lstrip(self.HIDDEN_PREFIX)
if name == '':
QMessageBox.warning(self._menu_manager.menu, self.tr('Empty perspective name'), self.tr('The name of the perspective must be non-empty.'))
return
if name in self.perspectives:
QMessageBox.warning(self._menu_manager.menu, self.tr('Duplicate perspective name'), self.tr('A perspective with the same name already exists.'))
return
return name
def _create_perspective(self, name, clone_perspective=True):
# convert from unicode
name = str(name)
if name.find('/') != -1:
raise RuntimeError('PerspectiveManager._create_perspective() name must not contain forward slashs (/)')
qDebug('PerspectiveManager._create_perspective(%s, %s)' % (name, clone_perspective))
# add to list of perspectives
self.perspectives.append(name)
self._settings_proxy.set_value('', 'perspectives', self.perspectives)
# save current settings
if self._global_settings is not None and self._perspective_settings is not None:
self._callback = self._create_perspective_continued
self._callback_args = [name, clone_perspective]
self.save_settings_signal.emit(self._global_settings, self._perspective_settings)
else:
self._create_perspective_continued(name, clone_perspective)
def _create_perspective_continued(self, name, clone_perspective):
# clone settings
if clone_perspective:
new_settings = self._get_perspective_settings(name)
keys = self._perspective_settings.all_keys()
for key in keys:
value = self._perspective_settings.value(key)
new_settings.set_value(key, value)
# add and switch to perspective
if not name.startswith(self.HIDDEN_PREFIX):
self._add_perspective_action(name)
def _add_perspective_action(self, name):
if self._menu_manager is not None:
# create action
action = QAction(name, self._menu_manager.menu)
action.setCheckable(True)
self._perspective_mapper.setMapping(action, name)
action.triggered.connect(self._perspective_mapper.map)
# add action to menu
self._menu_manager.add_item(action)
# enable remove-action
if self._menu_manager.count_items() > 1:
self._remove_action.setEnabled(True)
def _on_remove_perspective(self):
# input dialog to choose perspective to be removed
names = list(self.perspectives)
names.remove(self._current_perspective)
name, return_value = QInputDialog.getItem(self._menu_manager.menu, self._menu_manager.tr('Remove perspective'), self._menu_manager.tr('Select the perspective'), names, 0, False)
# convert from unicode
name = str(name)
if return_value == QInputDialog.Rejected:
return
self._remove_perspective(name)
def _remove_perspective(self, name):
if name not in self.perspectives:
raise UserWarning('unknown perspective: %s' % name)
qDebug('PerspectiveManager._remove_perspective(%s)' % str(name))
# remove from list of perspectives
self.perspectives.remove(name)
self._settings_proxy.set_value('', 'perspectives', self.perspectives)
# remove settings
settings = self._get_perspective_settings(name)
settings.remove('')
# remove from menu
self._menu_manager.remove_item(name)
# disable remove-action
if self._menu_manager.count_items() < 2:
self._remove_action.setEnabled(False)
def _on_import_perspective(self):
file_name, _ = QFileDialog.getOpenFileName(self._menu_manager.menu, self.tr('Import perspective from file'), None, self.tr('Perspectives (*.perspective)'))
if file_name is None or file_name == '':
return
perspective_name = os.path.basename(file_name)
suffix = '.perspective'
if perspective_name.endswith(suffix):
perspective_name = perspective_name[:-len(suffix)]
if perspective_name in self.perspectives:
perspective_name = self._choose_new_perspective_name(False)
if perspective_name is None:
return
self.import_perspective_from_file(file_name, perspective_name)
def import_perspective_from_file(self, path, perspective_name):
# create clean perspective
if perspective_name in self.perspectives:
self._remove_perspective(perspective_name)
self._create_perspective(perspective_name, clone_perspective=False)
# read perspective from file
file_handle = open(path, 'r')
#data = eval(file_handle.read())
data = json.loads(file_handle.read())
self._convert_values(data, self._import_value)
new_settings = self._get_perspective_settings(perspective_name)
self._set_dict_on_settings(data, new_settings)
self.switch_perspective(perspective_name, settings_changed=True, save_before=True)
def _set_dict_on_settings(self, data, settings):
"""Set dictionary key-value pairs on Settings instance."""
keys = data.get('keys', {})
for key in keys:
settings.set_value(key, keys[key])
groups = data.get('groups', {})
for group in groups:
sub = settings.get_settings(group)
self._set_dict_on_settings(groups[group], sub)
def _on_export_perspective(self):
file_name, _ = QFileDialog.getSaveFileName(self._menu_manager.menu, self.tr('Export perspective to file'), self._current_perspective + '.perspective', self.tr('Perspectives (*.perspective)'))
if file_name is None or file_name == '':
return
# trigger save of perspective before export
self._callback = self._on_export_perspective_continued
self._callback_args = [file_name]
self.save_settings_signal.emit(self._global_settings, self._perspective_settings)
def _on_export_perspective_continued(self, file_name):
# convert every value
data = self._get_dict_from_settings(self._perspective_settings)
self._convert_values(data, self._export_value)
# write perspective data to file
file_handle = open(file_name, 'w')
file_handle.write(json.dumps(data, indent=2))
file_handle.close()
def _get_dict_from_settings(self, settings):
"""Convert data of Settings instance to dictionary."""
keys = {}
for key in settings.child_keys():
keys[str(key)] = settings.value(key)
groups = {}
for group in settings.child_groups():
sub = settings.get_settings(group)
groups[str(group)] = self._get_dict_from_settings(sub)
return {'keys': keys, 'groups': groups}
def _convert_values(self, data, convert_function):
keys = data.get('keys', {})
for key in keys:
keys[key] = convert_function(keys[key])
groups = data.get('groups', {})
for group in groups:
self._convert_values(groups[group], convert_function)
def _import_value(self, value):
import QtCore # @UnusedImport
if value['type'] == 'repr':
return eval(value['repr'])
elif value['type'] == 'repr(QByteArray.hex)':
return QByteArray.fromHex(eval(value['repr(QByteArray.hex)']))
raise RuntimeError('PerspectiveManager._import_value() unknown serialization type (%s)' % value['type'])
def _export_value(self, value):
data = {}
if value.__class__.__name__ == 'QByteArray':
hex_value = value.toHex()
data['repr(QByteArray.hex)'] = self._strip_qt_binding_prefix(hex_value, repr(hex_value))
data['type'] = 'repr(QByteArray.hex)'
# add pretty print for better readability
characters = ''
for i in range(1, value.size(), 2):
character = value.at(i)
# output all non-control characters
if character >= ' ' and character <= '~':
characters += character
else:
characters += ' '
data['pretty-print'] = characters
else:
data['repr'] = self._strip_qt_binding_prefix(value, repr(value))
data['type'] = 'repr'
# verify that serialized data can be deserialized correctly
reimported = self._import_value(data)
if reimported != value:
raise RuntimeError('PerspectiveManager._export_value() stored value can not be restored (%s)' % type(value))
return data
def _strip_qt_binding_prefix(self, obj, data):
"""Strip binding specific prefix from type string."""
parts = obj.__class__.__module__.split('.')
if len(parts) > 1 and parts[1] == 'QtCore':
prefix = '.'.join(parts[:2])
data = data.replace(prefix, 'QtCore', 1)
return data
def main(self, argv=None, standalone=None, plugin_argument_provider=None, plugin_manager_settings_prefix=''):
if argv is None:
argv = sys.argv
# extract --args and everything behind manually since argparse can not handle that
arguments = argv[1:]
# extract plugin specific args when not being invoked in standalone mode programmatically
if not standalone:
plugin_args = []
if '--args' in arguments:
index = arguments.index('--args')
plugin_args = arguments[index + 1:]
arguments = arguments[0:index + 1]
parser = ArgumentParser(os.path.basename(Main.main_filename), add_help=False)
self.add_arguments(parser, standalone=bool(standalone), plugin_argument_provider=plugin_argument_provider)
self._options = parser.parse_args(arguments)
if standalone:
# rerun parsing to separate common arguments from plugin specific arguments
parser = ArgumentParser(os.path.basename(Main.main_filename), add_help=False)
self.add_arguments(parser, standalone=bool(standalone))
self._options, plugin_args = parser.parse_known_args(arguments)
self._options.plugin_args = plugin_args
# set default values for options not available in standalone mode
if standalone:
self._options.freeze_layout = False
self._options.lock_perspective = False
self._options.multi_process = False
self._options.perspective = None
self._options.perspective_file = None
self._options.standalone_plugin = standalone
self._options.list_perspectives = False
self._options.list_plugins = False
self._options.command_pid = None
self._options.command_start_plugin = None
self._options.command_switch_perspective = None
self._options.embed_plugin = None
self._options.embed_plugin_serial = None
self._options.embed_plugin_address = None
# check option dependencies
try:
if self._options.plugin_args and not self._options.standalone_plugin and not self._options.command_start_plugin and not self._options.embed_plugin:
raise RuntimeError('Option --args can only be used together with either --standalone, --command-start-plugin or --embed-plugin option')
if self._options.freeze_layout and not self._options.lock_perspective:
raise RuntimeError('Option --freeze_layout can only be used together with the --lock_perspective option')
list_options = (self._options.list_perspectives, self._options.list_plugins)
list_options_set = [opt for opt in list_options if opt is not False]
if len(list_options_set) > 1:
raise RuntimeError('Only one --list-* option can be used at a time')
command_options = (self._options.command_start_plugin, self._options.command_switch_perspective)
command_options_set = [opt for opt in command_options if opt is not None]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError('Without DBus support the --command-* options are not available')
if len(command_options_set) > 1:
raise RuntimeError('Only one --command-* option can be used at a time (except --command-pid which is optional)')
if len(command_options_set) == 0 and self._options.command_pid is not None:
raise RuntimeError('Option --command_pid can only be used together with an other --command-* option')
embed_options = (self._options.embed_plugin, self._options.embed_plugin_serial, self._options.embed_plugin_address)
embed_options_set = [opt for opt in embed_options if opt is not None]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError('Without DBus support the --embed-* options are not available')
if len(embed_options_set) > 0 and len(embed_options_set) < len(embed_options):
raise RuntimeError('Missing option(s) - all \'--embed-*\' options must be set')
if len(embed_options_set) > 0 and self._options.clear_config:
raise RuntimeError('Option --clear-config can only be used without any --embed-* option')
groups = (list_options_set, command_options_set, embed_options_set)
groups_set = [opt for opt in groups if len(opt) > 0]
if len(groups_set) > 1:
raise RuntimeError('Options from different groups (--list, --command, --embed) can not be used together')
perspective_options = (self._options.perspective, self._options.perspective_file)
perspective_options_set = [opt for opt in perspective_options if opt is not None]
if len(perspective_options_set) > 1:
raise RuntimeError('Only one --perspective-* option can be used at a time')
if self._options.perspective_file is not None and not os.path.isfile(self._options.perspective_file):
raise RuntimeError('Option --perspective-file must reference existing file')
except RuntimeError as e:
print(str(e))
#parser.parse_args(['--help'])
# calling --help will exit
return 1
# set implicit option dependencies
if self._options.standalone_plugin is not None:
self._options.lock_perspective = True
# create application context containing various relevant information
from .application_context import ApplicationContext
context = ApplicationContext()
context.qtgui_path = self._qtgui_path
context.options = self._options
if self._dbus_available:
from dbus import DBusException, Interface, SessionBus
# non-special applications provide various dbus interfaces
if self._dbus_available:
context.provide_app_dbus_interfaces = len(groups_set) == 0
context.dbus_base_bus_name = 'org.ros.qt_gui'
if context.provide_app_dbus_interfaces:
context.dbus_unique_bus_name = context.dbus_base_bus_name + '.pid%d' % os.getpid()
# provide pid of application via dbus
from .application_dbus_interface import ApplicationDBusInterface
_dbus_server = ApplicationDBusInterface(context.dbus_base_bus_name)
# determine host bus name, either based on pid given on command line or via dbus application interface if any other instance is available
if len(command_options_set) > 0 or len(embed_options_set) > 0:
host_pid = None
if self._options.command_pid is not None:
host_pid = self._options.command_pid
else:
try:
remote_object = SessionBus().get_object(context.dbus_base_bus_name, '/Application')
except DBusException:
pass
else:
remote_interface = Interface(remote_object, context.dbus_base_bus_name + '.Application')
host_pid = remote_interface.get_pid()
if host_pid is not None:
context.dbus_host_bus_name = context.dbus_base_bus_name + '.pid%d' % host_pid
# execute command on host application instance
if len(command_options_set) > 0:
if self._options.command_start_plugin is not None:
try:
remote_object = SessionBus().get_object(context.dbus_host_bus_name, '/PluginManager')
except DBusException:
(rc, msg) = (1, 'unable to communicate with GUI instance "%s"' % context.dbus_host_bus_name)
else:
remote_interface = Interface(remote_object, context.dbus_base_bus_name + '.PluginManager')
(rc, msg) = remote_interface.start_plugin(self._options.command_start_plugin, ' '.join(self._options.plugin_args))
if rc == 0:
print('qt_gui_main() started plugin "%s" in GUI "%s"' % (msg, context.dbus_host_bus_name))
else:
print('qt_gui_main() could not start plugin "%s" in GUI "%s": %s' % (self._options.command_start_plugin, context.dbus_host_bus_name, msg))
return rc
elif self._options.command_switch_perspective is not None:
remote_object = SessionBus().get_object(context.dbus_host_bus_name, '/PerspectiveManager')
remote_interface = Interface(remote_object, context.dbus_base_bus_name + '.PerspectiveManager')
remote_interface.switch_perspective(self._options.command_switch_perspective)
print('qt_gui_main() switched to perspective "%s" in GUI "%s"' % (self._options.command_switch_perspective, context.dbus_host_bus_name))
return 0
raise RuntimeError('Unknown command not handled')
# choose selected or default qt binding
setattr(sys, 'SELECT_QT_BINDING', self._options.qt_binding)
from python_qt_binding import QT_BINDING
from python_qt_binding.QtCore import qDebug, qInstallMsgHandler, QSettings, Qt, QtCriticalMsg, QtDebugMsg, QtFatalMsg, QTimer, QtWarningMsg
from python_qt_binding.QtGui import QAction, QIcon, QMenuBar
from .about_handler import AboutHandler
from .composite_plugin_provider import CompositePluginProvider
from .container_manager import ContainerManager
from .help_provider import HelpProvider
from .icon_loader import get_icon
from .main_window import MainWindow
from .minimized_dock_widgets_toolbar import MinimizedDockWidgetsToolbar
from .perspective_manager import PerspectiveManager
from .plugin_manager import PluginManager
def message_handler(type_, msg):
colored_output = 'TERM' in os.environ and 'ANSI_COLORS_DISABLED' not in os.environ
cyan_color = '\033[36m' if colored_output else ''
red_color = '\033[31m' if colored_output else ''
reset_color = '\033[0m' if colored_output else ''
if type_ == QtDebugMsg and self._options.verbose:
print(msg, file=sys.stderr)
elif type_ == QtWarningMsg:
print(cyan_color + msg + reset_color, file=sys.stderr)
elif type_ == QtCriticalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
elif type_ == QtFatalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
sys.exit(1)
qInstallMsgHandler(message_handler)
app = self.create_application(argv)
self._check_icon_theme_compliance()
settings = QSettings(QSettings.IniFormat, QSettings.UserScope, 'ros.org', self._settings_filename)
if len(embed_options_set) == 0:
if self._options.clear_config:
settings.clear()
main_window = MainWindow()
if self._options.on_top:
main_window.setWindowFlags(Qt.WindowStaysOnTopHint)
main_window.statusBar()
def sigint_handler(*args):
qDebug('\nsigint_handler()')
main_window.close()
signal.signal(signal.SIGINT, sigint_handler)
# the timer enables triggering the sigint_handler
timer = QTimer()
timer.start(500)
timer.timeout.connect(lambda: None)
# create own menu bar to share one menu bar on Mac
menu_bar = QMenuBar()
if 'darwin' in platform.platform().lower():
menu_bar.setNativeMenuBar(True)
else:
menu_bar.setNativeMenuBar(False)
if not self._options.lock_perspective:
main_window.setMenuBar(menu_bar)
file_menu = menu_bar.addMenu(menu_bar.tr('&File'))
action = QAction(file_menu.tr('&Quit'), file_menu)
action.setIcon(QIcon.fromTheme('application-exit'))
action.triggered.connect(main_window.close)
file_menu.addAction(action)
else:
app.setQuitOnLastWindowClosed(False)
main_window = None
menu_bar = None
self._add_plugin_providers()
# setup plugin manager
plugin_provider = CompositePluginProvider(self.plugin_providers)
plugin_manager = PluginManager(plugin_provider, settings, context, settings_prefix=plugin_manager_settings_prefix)
if self._options.list_plugins:
# output available plugins
print('\n'.join(sorted(plugin_manager.get_plugins().values())))
return 0
help_provider = HelpProvider()
plugin_manager.plugin_help_signal.connect(help_provider.plugin_help_request)
# setup perspective manager
if main_window is not None:
perspective_manager = PerspectiveManager(settings, context)
if self._options.list_perspectives:
# output available perspectives
print('\n'.join(sorted(perspective_manager.perspectives)))
return 0
else:
perspective_manager = None
if main_window is not None:
container_manager = ContainerManager(main_window, plugin_manager)
plugin_manager.set_main_window(main_window, menu_bar, container_manager)
if not self._options.freeze_layout:
minimized_dock_widgets_toolbar = MinimizedDockWidgetsToolbar(container_manager, main_window)
main_window.addToolBar(Qt.BottomToolBarArea, minimized_dock_widgets_toolbar)
plugin_manager.set_minimized_dock_widgets_toolbar(minimized_dock_widgets_toolbar)
if menu_bar is not None:
perspective_menu = menu_bar.addMenu(menu_bar.tr('P&erspectives'))
perspective_manager.set_menu(perspective_menu)
# connect various signals and slots
if perspective_manager is not None and main_window is not None:
# signal changed perspective to update window title
perspective_manager.perspective_changed_signal.connect(main_window.perspective_changed)
# signal new settings due to changed perspective
perspective_manager.save_settings_signal.connect(main_window.save_settings)
perspective_manager.restore_settings_signal.connect(main_window.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(main_window.restore_settings)
if perspective_manager is not None and plugin_manager is not None:
perspective_manager.save_settings_signal.connect(plugin_manager.save_settings)
plugin_manager.save_settings_completed_signal.connect(perspective_manager.save_settings_completed)
perspective_manager.restore_settings_signal.connect(plugin_manager.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(plugin_manager.restore_settings_without_plugins)
if plugin_manager is not None and main_window is not None:
# signal before changing plugins to save window state
plugin_manager.plugins_about_to_change_signal.connect(main_window.save_setup)
# signal changed plugins to restore window state
plugin_manager.plugins_changed_signal.connect(main_window.restore_state)
# signal save settings to store plugin setup on close
main_window.save_settings_before_close_signal.connect(plugin_manager.close_application)
# signal save and shutdown called for all plugins, trigger closing main window again
plugin_manager.close_application_signal.connect(main_window.close, type=Qt.QueuedConnection)
if main_window is not None and menu_bar is not None:
about_handler = AboutHandler(context.qtgui_path, main_window)
help_menu = menu_bar.addMenu(menu_bar.tr('&Help'))
action = QAction(file_menu.tr('&About'), help_menu)
action.setIcon(QIcon.fromTheme('help-about'))
action.triggered.connect(about_handler.show)
help_menu.addAction(action)
# set initial size - only used without saved configuration
if main_window is not None:
main_window.resize(600, 450)
main_window.move(100, 100)
# ensure that qt_gui/src is in sys.path
src_path = os.path.realpath(os.path.join(os.path.dirname(__file__), '..'))
if src_path not in sys.path:
sys.path.append(src_path)
# load specific plugin
plugin = None
plugin_serial = None
if self._options.embed_plugin is not None:
plugin = self._options.embed_plugin
plugin_serial = self._options.embed_plugin_serial
elif self._options.standalone_plugin is not None:
plugin = self._options.standalone_plugin
plugin_serial = 0
if plugin is not None:
plugins = plugin_manager.find_plugins_by_name(plugin)
if len(plugins) == 0:
print('qt_gui_main() found no plugin matching "%s"' % plugin)
return 1
elif len(plugins) > 1:
print('qt_gui_main() found multiple plugins matching "%s"\n%s' % (plugin, '\n'.join(plugins.values())))
return 1
plugin = plugins.keys()[0]
qDebug('QtBindingHelper using %s' % QT_BINDING)
plugin_manager.discover()
if self._options.reload_import:
qDebug('ReloadImporter() automatically reload all subsequent imports')
from .reload_importer import ReloadImporter
_reload_importer = ReloadImporter()
self._add_reload_paths(_reload_importer)
_reload_importer.enable()
# switch perspective
if perspective_manager is not None:
if plugin:
perspective_manager.set_perspective(plugin, hide_and_without_plugin_changes=True)
elif self._options.perspective_file:
perspective_manager.import_perspective_from_file(self._options.perspective_file, perspective_manager.HIDDEN_PREFIX + '__cli_perspective_from_file')
else:
perspective_manager.set_perspective(self._options.perspective)
# load specific plugin
if plugin:
plugin_manager.load_plugin(plugin, plugin_serial, self._options.plugin_args)
running = plugin_manager.is_plugin_running(plugin, plugin_serial)
if not running:
return 1
if self._options.standalone_plugin:
# use icon of standalone plugin (if available) for application
plugin_descriptor = plugin_manager.get_plugin_descriptor(plugin)
action_attributes = plugin_descriptor.action_attributes()
if 'icon' in action_attributes and action_attributes['icon'] is not None:
base_path = plugin_descriptor.attributes().get('plugin_path')
try:
icon = get_icon(action_attributes['icon'], action_attributes.get('icontype', None), base_path)
except UserWarning:
pass
else:
app.setWindowIcon(icon)
if main_window is not None:
main_window.show()
if sys.platform == 'darwin':
main_window.raise_()
return app.exec_()
def main(self,
argv=None,
standalone=None,
plugin_argument_provider=None,
plugin_manager_settings_prefix=''):
if argv is None:
argv = sys.argv
# extract --args and everything behind manually since argparse can not handle that
arguments = argv[1:]
# extract plugin specific args when not being invoked in standalone mode programmatically
if not standalone:
plugin_args = []
if '--args' in arguments:
index = arguments.index('--args')
plugin_args = arguments[index + 1:]
arguments = arguments[0:index + 1]
parser = ArgumentParser(os.path.basename(Main.main_filename),
add_help=False)
self.add_arguments(parser,
standalone=bool(standalone),
plugin_argument_provider=plugin_argument_provider)
self._options = parser.parse_args(arguments)
if standalone:
# rerun parsing to separate common arguments from plugin specific arguments
parser = ArgumentParser(os.path.basename(Main.main_filename),
add_help=False)
self.add_arguments(parser, standalone=bool(standalone))
self._options, plugin_args = parser.parse_known_args(arguments)
self._options.plugin_args = plugin_args
# set default values for options not available in standalone mode
if standalone:
self._options.freeze_layout = False
self._options.lock_perspective = False
self._options.multi_process = False
self._options.perspective = None
self._options.perspective_file = None
self._options.standalone_plugin = standalone
self._options.list_perspectives = False
self._options.list_plugins = False
self._options.command_pid = None
self._options.command_start_plugin = None
self._options.command_switch_perspective = None
self._options.embed_plugin = None
self._options.embed_plugin_serial = None
self._options.embed_plugin_address = None
# check option dependencies
try:
if self._options.plugin_args and not self._options.standalone_plugin and not self._options.command_start_plugin and not self._options.embed_plugin:
raise RuntimeError(
'Option --args can only be used together with either --standalone, --command-start-plugin or --embed-plugin option'
)
if self._options.freeze_layout and not self._options.lock_perspective:
raise RuntimeError(
'Option --freeze_layout can only be used together with the --lock_perspective option'
)
list_options = (self._options.list_perspectives,
self._options.list_plugins)
list_options_set = [
opt for opt in list_options if opt is not False
]
if len(list_options_set) > 1:
raise RuntimeError(
'Only one --list-* option can be used at a time')
command_options = (self._options.command_start_plugin,
self._options.command_switch_perspective)
command_options_set = [
opt for opt in command_options if opt is not None
]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError(
'Without DBus support the --command-* options are not available'
)
if len(command_options_set) > 1:
raise RuntimeError(
'Only one --command-* option can be used at a time (except --command-pid which is optional)'
)
if len(command_options_set
) == 0 and self._options.command_pid is not None:
raise RuntimeError(
'Option --command_pid can only be used together with an other --command-* option'
)
embed_options = (self._options.embed_plugin,
self._options.embed_plugin_serial,
self._options.embed_plugin_address)
embed_options_set = [
opt for opt in embed_options if opt is not None
]
if len(command_options_set) > 0 and not self._dbus_available:
raise RuntimeError(
'Without DBus support the --embed-* options are not available'
)
if len(embed_options_set) > 0 and len(embed_options_set) < len(
embed_options):
raise RuntimeError(
'Missing option(s) - all \'--embed-*\' options must be set'
)
if len(embed_options_set) > 0 and self._options.clear_config:
raise RuntimeError(
'Option --clear-config can only be used without any --embed-* option'
)
groups = (list_options_set, command_options_set, embed_options_set)
groups_set = [opt for opt in groups if len(opt) > 0]
if len(groups_set) > 1:
raise RuntimeError(
'Options from different groups (--list, --command, --embed) can not be used together'
)
perspective_options = (self._options.perspective,
self._options.perspective_file)
perspective_options_set = [
opt for opt in perspective_options if opt is not None
]
if len(perspective_options_set) > 1:
raise RuntimeError(
'Only one --perspective-* option can be used at a time')
if self._options.perspective_file is not None and not os.path.isfile(
self._options.perspective_file):
raise RuntimeError(
'Option --perspective-file must reference existing file')
except RuntimeError as e:
print(str(e))
#parser.parse_args(['--help'])
# calling --help will exit
return 1
# set implicit option dependencies
if self._options.standalone_plugin is not None:
self._options.lock_perspective = True
# create application context containing various relevant information
from .application_context import ApplicationContext
context = ApplicationContext()
context.qtgui_path = self._qtgui_path
context.options = self._options
if self._dbus_available:
from dbus import DBusException, Interface, SessionBus
# non-special applications provide various dbus interfaces
if self._dbus_available:
context.provide_app_dbus_interfaces = len(groups_set) == 0
context.dbus_base_bus_name = 'org.ros.qt_gui'
if context.provide_app_dbus_interfaces:
context.dbus_unique_bus_name = context.dbus_base_bus_name + '.pid%d' % os.getpid(
)
# provide pid of application via dbus
from .application_dbus_interface import ApplicationDBusInterface
_dbus_server = ApplicationDBusInterface(
context.dbus_base_bus_name)
# determine host bus name, either based on pid given on command line or via dbus application interface if any other instance is available
if len(command_options_set) > 0 or len(embed_options_set) > 0:
host_pid = None
if self._options.command_pid is not None:
host_pid = self._options.command_pid
else:
try:
remote_object = SessionBus().get_object(
context.dbus_base_bus_name, '/Application')
except DBusException:
pass
else:
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.Application')
host_pid = remote_interface.get_pid()
if host_pid is not None:
context.dbus_host_bus_name = context.dbus_base_bus_name + '.pid%d' % host_pid
# execute command on host application instance
if len(command_options_set) > 0:
if self._options.command_start_plugin is not None:
try:
remote_object = SessionBus().get_object(
context.dbus_host_bus_name, '/PluginManager')
except DBusException:
(rc,
msg) = (1,
'unable to communicate with GUI instance "%s"' %
context.dbus_host_bus_name)
else:
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.PluginManager')
(rc, msg) = remote_interface.start_plugin(
self._options.command_start_plugin,
' '.join(self._options.plugin_args))
if rc == 0:
print('qt_gui_main() started plugin "%s" in GUI "%s"' %
(msg, context.dbus_host_bus_name))
else:
print(
'qt_gui_main() could not start plugin "%s" in GUI "%s": %s'
% (self._options.command_start_plugin,
context.dbus_host_bus_name, msg))
return rc
elif self._options.command_switch_perspective is not None:
remote_object = SessionBus().get_object(
context.dbus_host_bus_name, '/PerspectiveManager')
remote_interface = Interface(
remote_object,
context.dbus_base_bus_name + '.PerspectiveManager')
remote_interface.switch_perspective(
self._options.command_switch_perspective)
print(
'qt_gui_main() switched to perspective "%s" in GUI "%s"' %
(self._options.command_switch_perspective,
context.dbus_host_bus_name))
return 0
raise RuntimeError('Unknown command not handled')
# choose selected or default qt binding
setattr(sys, 'SELECT_QT_BINDING', self._options.qt_binding)
from python_qt_binding import QT_BINDING
from python_qt_binding.QtCore import qDebug, qInstallMsgHandler, QSettings, Qt, QtCriticalMsg, QtDebugMsg, QtFatalMsg, QTimer, QtWarningMsg
from python_qt_binding.QtGui import QAction, QIcon, QMenuBar
from .about_handler import AboutHandler
from .composite_plugin_provider import CompositePluginProvider
from .container_manager import ContainerManager
from .help_provider import HelpProvider
from .main_window import MainWindow
from .minimized_dock_widgets_toolbar import MinimizedDockWidgetsToolbar
from .perspective_manager import PerspectiveManager
from .plugin_manager import PluginManager
def message_handler(type_, msg):
colored_output = 'TERM' in os.environ and 'ANSI_COLORS_DISABLED' not in os.environ
cyan_color = '\033[36m' if colored_output else ''
red_color = '\033[31m' if colored_output else ''
reset_color = '\033[0m' if colored_output else ''
if type_ == QtDebugMsg and self._options.verbose:
print(msg, file=sys.stderr)
elif type_ == QtWarningMsg:
print(cyan_color + msg + reset_color, file=sys.stderr)
elif type_ == QtCriticalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
elif type_ == QtFatalMsg:
print(red_color + msg + reset_color, file=sys.stderr)
sys.exit(1)
qInstallMsgHandler(message_handler)
app = self.create_application(argv)
self._check_icon_theme_compliance()
settings = QSettings(QSettings.IniFormat, QSettings.UserScope,
'ros.org', self._settings_filename)
if len(embed_options_set) == 0:
if self._options.clear_config:
settings.clear()
main_window = MainWindow()
if self._options.on_top:
main_window.setWindowFlags(Qt.WindowStaysOnTopHint)
main_window.statusBar()
def sigint_handler(*args):
qDebug('\nsigint_handler()')
main_window.close()
signal.signal(signal.SIGINT, sigint_handler)
# the timer enables triggering the sigint_handler
timer = QTimer()
timer.start(500)
timer.timeout.connect(lambda: None)
# create own menu bar to share one menu bar on Mac
menu_bar = QMenuBar()
if 'darwin' in platform.platform().lower():
menu_bar.setNativeMenuBar(True)
else:
menu_bar.setNativeMenuBar(False)
if not self._options.lock_perspective:
main_window.setMenuBar(menu_bar)
file_menu = menu_bar.addMenu(menu_bar.tr('&File'))
action = QAction(file_menu.tr('&Quit'), file_menu)
action.setIcon(QIcon.fromTheme('application-exit'))
action.triggered.connect(main_window.close)
file_menu.addAction(action)
else:
app.setQuitOnLastWindowClosed(False)
main_window = None
menu_bar = None
self._add_plugin_providers()
# setup plugin manager
plugin_provider = CompositePluginProvider(self.plugin_providers)
plugin_manager = PluginManager(
plugin_provider,
settings,
context,
settings_prefix=plugin_manager_settings_prefix)
if self._options.list_plugins:
# output available plugins
print('\n'.join(sorted(plugin_manager.get_plugins().values())))
return 0
help_provider = HelpProvider()
plugin_manager.plugin_help_signal.connect(
help_provider.plugin_help_request)
# setup perspective manager
if main_window is not None:
perspective_manager = PerspectiveManager(settings, context)
if self._options.list_perspectives:
# output available perspectives
print('\n'.join(sorted(perspective_manager.perspectives)))
return 0
else:
perspective_manager = None
if main_window is not None:
container_manager = ContainerManager(main_window, plugin_manager)
plugin_manager.set_main_window(main_window, menu_bar,
container_manager)
if not self._options.freeze_layout:
minimized_dock_widgets_toolbar = MinimizedDockWidgetsToolbar(
container_manager, main_window)
main_window.addToolBar(Qt.BottomToolBarArea,
minimized_dock_widgets_toolbar)
plugin_manager.set_minimized_dock_widgets_toolbar(
minimized_dock_widgets_toolbar)
if menu_bar is not None:
perspective_menu = menu_bar.addMenu(menu_bar.tr('P&erspectives'))
perspective_manager.set_menu(perspective_menu)
# connect various signals and slots
if perspective_manager is not None and main_window is not None:
# signal changed perspective to update window title
perspective_manager.perspective_changed_signal.connect(
main_window.perspective_changed)
# signal new settings due to changed perspective
perspective_manager.save_settings_signal.connect(
main_window.save_settings)
perspective_manager.restore_settings_signal.connect(
main_window.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(
main_window.restore_settings)
if perspective_manager is not None and plugin_manager is not None:
perspective_manager.save_settings_signal.connect(
plugin_manager.save_settings)
plugin_manager.save_settings_completed_signal.connect(
perspective_manager.save_settings_completed)
perspective_manager.restore_settings_signal.connect(
plugin_manager.restore_settings)
perspective_manager.restore_settings_without_plugin_changes_signal.connect(
plugin_manager.restore_settings_without_plugins)
if plugin_manager is not None and main_window is not None:
# signal before changing plugins to save window state
plugin_manager.plugins_about_to_change_signal.connect(
main_window.save_setup)
# signal changed plugins to restore window state
plugin_manager.plugins_changed_signal.connect(
main_window.restore_state)
# signal save settings to store plugin setup on close
main_window.save_settings_before_close_signal.connect(
plugin_manager.close_application)
# signal save and shutdown called for all plugins, trigger closing main window again
plugin_manager.close_application_signal.connect(
main_window.close, type=Qt.QueuedConnection)
if main_window is not None and menu_bar is not None:
about_handler = AboutHandler(context.qtgui_path, main_window)
help_menu = menu_bar.addMenu(menu_bar.tr('&Help'))
action = QAction(file_menu.tr('&About'), help_menu)
action.setIcon(QIcon.fromTheme('help-about'))
action.triggered.connect(about_handler.show)
help_menu.addAction(action)
# set initial size - only used without saved configuration
if main_window is not None:
main_window.resize(600, 450)
main_window.move(100, 100)
# ensure that qt_gui/src is in sys.path
src_path = os.path.realpath(
os.path.join(os.path.dirname(__file__), '..'))
if src_path not in sys.path:
sys.path.append(src_path)
# load specific plugin
plugin = None
plugin_serial = None
if self._options.embed_plugin is not None:
plugin = self._options.embed_plugin
plugin_serial = self._options.embed_plugin_serial
elif self._options.standalone_plugin is not None:
plugin = self._options.standalone_plugin
plugin_serial = 0
if plugin is not None:
plugins = plugin_manager.find_plugins_by_name(plugin)
if len(plugins) == 0:
print('qt_gui_main() found no plugin matching "%s"' % plugin)
return 1
elif len(plugins) > 1:
print(
'qt_gui_main() found multiple plugins matching "%s"\n%s' %
(plugin, '\n'.join(plugins.values())))
return 1
plugin = plugins.keys()[0]
qDebug('QtBindingHelper using %s' % QT_BINDING)
plugin_manager.discover()
if self._options.reload_import:
qDebug(
'ReloadImporter() automatically reload all subsequent imports')
from .reload_importer import ReloadImporter
_reload_importer = ReloadImporter()
self._add_reload_paths(_reload_importer)
_reload_importer.enable()
# switch perspective
if perspective_manager is not None:
if plugin:
perspective_manager.set_perspective(
plugin, hide_and_without_plugin_changes=True)
elif self._options.perspective_file:
perspective_manager.import_perspective_from_file(
self._options.perspective_file,
perspective_manager.HIDDEN_PREFIX +
'__cli_perspective_from_file')
else:
perspective_manager.set_perspective(self._options.perspective)
# load specific plugin
if plugin:
plugin_manager.load_plugin(plugin, plugin_serial,
self._options.plugin_args)
running = plugin_manager.is_plugin_running(plugin, plugin_serial)
if not running:
return 1
if main_window is not None:
main_window.show()
if sys.platform == 'darwin':
main_window.raise_()
return app.exec_()
count_dock_widgets = 0
def add_dock_widget(orientation):
global count_dock_widgets
count_dock_widgets += 1
dw = QDockWidget('dockwidget%d' % count_dock_widgets, mw)
dw.setObjectName('dockwidget%d' % count_dock_widgets)
mw.addDockWidget(Qt.BottomDockWidgetArea, dw, orientation)
def add_horizontal(self):
add_dock_widget(Qt.Horizontal)
def add_vertical(self):
add_dock_widget(Qt.Vertical)
a1 = QAction('add h', tb)
a1.do = add_horizontal
a1.triggered.connect(a1.do)
tb.addAction(a1)
a2 = QAction('add v', tb)
a2.do = add_vertical
a2.triggered.connect(a2.do)
tb.addAction(a2)
def save(self):
global mw, settings
settings.setValue('state', mw.saveState())
print('saved')
def restore(self):
class PerspectiveManager(QObject):
"""Manager for perspectives associated with specific sets of `Settings`."""
perspective_changed_signal = Signal(basestring)
save_settings_signal = Signal(Settings, Settings)
restore_settings_signal = Signal(Settings, Settings)
restore_settings_without_plugin_changes_signal = Signal(Settings, Settings)
HIDDEN_PREFIX = '@'
def __init__(self, settings, application_context):
super(PerspectiveManager, self).__init__()
self.setObjectName('PerspectiveManager')
self._qtgui_path = application_context.qtgui_path
self._settings_proxy = SettingsProxy(settings)
self._global_settings = Settings(self._settings_proxy, 'global')
self._perspective_settings = None
self._create_perspective_dialog = None
self._menu_manager = None
self._perspective_mapper = None
# get perspective list from settings
self.perspectives = self._settings_proxy.value('', 'perspectives', [])
if isinstance(self.perspectives, basestring):
self.perspectives = [self.perspectives]
self._current_perspective = None
self._remove_action = None
self._callback = None
self._callback_args = []
if application_context.provide_app_dbus_interfaces:
from .perspective_manager_dbus_interface import PerspectiveManagerDBusInterface
self._dbus_server = PerspectiveManagerDBusInterface(
self, application_context)
def set_menu(self, menu):
self._menu_manager = MenuManager(menu)
self._perspective_mapper = QSignalMapper(menu)
self._perspective_mapper.mapped[str].connect(self.switch_perspective)
# generate menu
create_action = QAction('&Create perspective...',
self._menu_manager.menu)
create_action.setIcon(QIcon.fromTheme('list-add'))
create_action.triggered.connect(self._on_create_perspective)
self._menu_manager.add_suffix(create_action)
self._remove_action = QAction('&Remove perspective...',
self._menu_manager.menu)
self._remove_action.setEnabled(False)
self._remove_action.setIcon(QIcon.fromTheme('list-remove'))
self._remove_action.triggered.connect(self._on_remove_perspective)
self._menu_manager.add_suffix(self._remove_action)
self._menu_manager.add_suffix(None)
import_action = QAction('&Import...', self._menu_manager.menu)
import_action.setIcon(QIcon.fromTheme('document-open'))
import_action.triggered.connect(self._on_import_perspective)
self._menu_manager.add_suffix(import_action)
export_action = QAction('&Export...', self._menu_manager.menu)
export_action.setIcon(QIcon.fromTheme('document-save-as'))
export_action.triggered.connect(self._on_export_perspective)
self._menu_manager.add_suffix(export_action)
# add perspectives to menu
for name in self.perspectives:
if not name.startswith(self.HIDDEN_PREFIX):
self._add_perspective_action(name)
def set_perspective(self, name, hide_and_without_plugin_changes=False):
if name is None:
name = self._settings_proxy.value('', 'current-perspective',
'Default')
elif hide_and_without_plugin_changes:
name = self.HIDDEN_PREFIX + name
self.switch_perspective(
name,
save_before=not hide_and_without_plugin_changes,
without_plugin_changes=hide_and_without_plugin_changes)
@Slot(str)
@Slot(str, bool)
@Slot(str, bool, bool)
def switch_perspective(self,
name,
settings_changed=True,
save_before=True,
without_plugin_changes=False):
if save_before and self._global_settings is not None and self._perspective_settings is not None:
self._callback = self._switch_perspective
self._callback_args = [name, settings_changed, save_before]
self.save_settings_signal.emit(self._global_settings,
self._perspective_settings)
else:
self._switch_perspective(name, settings_changed, save_before,
without_plugin_changes)
def _switch_perspective(self,
name,
settings_changed,
save_before,
without_plugin_changes=False):
# convert from unicode
name = str(name.replace('/', '__'))
qDebug(
'PerspectiveManager.switch_perspective() switching to perspective "%s"'
% name)
if self._current_perspective is not None and self._menu_manager is not None:
self._menu_manager.set_item_checked(self._current_perspective,
False)
self._menu_manager.set_item_disabled(self._current_perspective,
False)
# create perspective if necessary
if name not in self.perspectives:
self._create_perspective(name, clone_perspective=False)
# update current perspective
self._current_perspective = name
if self._menu_manager is not None:
self._menu_manager.set_item_checked(self._current_perspective,
True)
self._menu_manager.set_item_disabled(self._current_perspective,
True)
if not self._current_perspective.startswith(self.HIDDEN_PREFIX):
self._settings_proxy.set_value('', 'current-perspective',
self._current_perspective)
self._perspective_settings = self._get_perspective_settings(
self._current_perspective)
# emit signals
self.perspective_changed_signal.emit(
self._current_perspective.lstrip(self.HIDDEN_PREFIX))
if settings_changed:
if not without_plugin_changes:
self.restore_settings_signal.emit(self._global_settings,
self._perspective_settings)
else:
self.restore_settings_without_plugin_changes_signal.emit(
self._global_settings, self._perspective_settings)
def save_settings_completed(self):
if self._callback is not None:
callback = self._callback
callback_args = self._callback_args
self._callback = None
self._callback_args = []
callback(*callback_args)
def _get_perspective_settings(self, perspective_name):
return Settings(self._settings_proxy,
'perspective/%s' % perspective_name)
def _on_create_perspective(self):
name = self._choose_new_perspective_name()
if name is not None:
clone_perspective = self._create_perspective_dialog.clone_checkbox.isChecked(
)
self._create_perspective(name, clone_perspective)
self.switch_perspective(name,
settings_changed=not clone_perspective,
save_before=False)
def _choose_new_perspective_name(self, show_cloning=True):
# input dialog for new perspective name
if self._create_perspective_dialog is None:
ui_file = os.path.join(self._qtgui_path, 'resource',
'perspective_create.ui')
self._create_perspective_dialog = loadUi(ui_file)
# custom validator preventing forward slashs
class CustomValidator(QValidator):
def __init__(self, parent=None):
super(CustomValidator, self).__init__(parent)
def fixup(self, value):
value = value.replace('/', '')
def validate(self, value, pos):
if value.find('/') != -1:
pos = value.find('/')
return (QValidator.Invalid, value, pos)
if value == '':
return (QValidator.Intermediate, value, pos)
return (QValidator.Acceptable, value, pos)
self._create_perspective_dialog.perspective_name_edit.setValidator(
CustomValidator())
# set default values
self._create_perspective_dialog.perspective_name_edit.setText('')
self._create_perspective_dialog.clone_checkbox.setChecked(True)
self._create_perspective_dialog.clone_checkbox.setVisible(show_cloning)
# show dialog and wait for it's return value
return_value = self._create_perspective_dialog.exec_()
if return_value == self._create_perspective_dialog.Rejected:
return
name = str(self._create_perspective_dialog.perspective_name_edit.text(
)).lstrip(self.HIDDEN_PREFIX)
if name == '':
QMessageBox.warning(
self._menu_manager.menu, self.tr('Empty perspective name'),
self.tr('The name of the perspective must be non-empty.'))
return
if name in self.perspectives:
QMessageBox.warning(
self._menu_manager.menu, self.tr('Duplicate perspective name'),
self.tr('A perspective with the same name already exists.'))
return
return name
def _create_perspective(self, name, clone_perspective=True):
# convert from unicode
name = str(name)
if name.find('/') != -1:
raise RuntimeError(
'PerspectiveManager._create_perspective() name must not contain forward slashs (/)'
)
qDebug('PerspectiveManager._create_perspective(%s, %s)' %
(name, clone_perspective))
# add to list of perspectives
self.perspectives.append(name)
self._settings_proxy.set_value('', 'perspectives', self.perspectives)
# save current settings
if self._global_settings is not None and self._perspective_settings is not None:
self._callback = self._create_perspective_continued
self._callback_args = [name, clone_perspective]
self.save_settings_signal.emit(self._global_settings,
self._perspective_settings)
else:
self._create_perspective_continued(name, clone_perspective)
def _create_perspective_continued(self, name, clone_perspective):
# clone settings
if clone_perspective:
new_settings = self._get_perspective_settings(name)
keys = self._perspective_settings.all_keys()
for key in keys:
value = self._perspective_settings.value(key)
new_settings.set_value(key, value)
# add and switch to perspective
if not name.startswith(self.HIDDEN_PREFIX):
self._add_perspective_action(name)
def _add_perspective_action(self, name):
if self._menu_manager is not None:
# create action
action = QAction(name, self._menu_manager.menu)
action.setCheckable(True)
self._perspective_mapper.setMapping(action, name)
action.triggered.connect(self._perspective_mapper.map)
# add action to menu
self._menu_manager.add_item(action)
# enable remove-action
if self._menu_manager.count_items() > 1:
self._remove_action.setEnabled(True)
def _on_remove_perspective(self):
# input dialog to choose perspective to be removed
names = list(self.perspectives)
names.remove(self._current_perspective)
name, return_value = QInputDialog.getItem(
self._menu_manager.menu,
self._menu_manager.tr('Remove perspective'),
self._menu_manager.tr('Select the perspective'), names, 0, False)
# convert from unicode
name = str(name)
if return_value == QInputDialog.Rejected:
return
self._remove_perspective(name)
def _remove_perspective(self, name):
if name not in self.perspectives:
raise UserWarning('unknown perspective: %s' % name)
qDebug('PerspectiveManager._remove_perspective(%s)' % str(name))
# remove from list of perspectives
self.perspectives.remove(name)
self._settings_proxy.set_value('', 'perspectives', self.perspectives)
# remove settings
settings = self._get_perspective_settings(name)
settings.remove('')
# remove from menu
self._menu_manager.remove_item(name)
# disable remove-action
if self._menu_manager.count_items() < 2:
self._remove_action.setEnabled(False)
def _on_import_perspective(self):
file_name, _ = QFileDialog.getOpenFileName(
self._menu_manager.menu, self.tr('Import perspective from file'),
None, self.tr('Perspectives (*.perspective)'))
if file_name is None or file_name == '':
return
perspective_name = os.path.basename(file_name)
suffix = '.perspective'
if perspective_name.endswith(suffix):
perspective_name = perspective_name[:-len(suffix)]
if perspective_name in self.perspectives:
perspective_name = self._choose_new_perspective_name(False)
if perspective_name is None:
return
self.import_perspective_from_file(file_name, perspective_name)
def import_perspective_from_file(self, path, perspective_name):
# create clean perspective
if perspective_name in self.perspectives:
self._remove_perspective(perspective_name)
self._create_perspective(perspective_name, clone_perspective=False)
# read perspective from file
file_handle = open(path, 'r')
#data = eval(file_handle.read())
data = json.loads(file_handle.read())
self._convert_values(data, self._import_value)
new_settings = self._get_perspective_settings(perspective_name)
self._set_dict_on_settings(data, new_settings)
self.switch_perspective(perspective_name,
settings_changed=True,
save_before=True)
def _set_dict_on_settings(self, data, settings):
"""Set dictionary key-value pairs on Settings instance."""
keys = data.get('keys', {})
for key in keys:
settings.set_value(key, keys[key])
groups = data.get('groups', {})
for group in groups:
sub = settings.get_settings(group)
self._set_dict_on_settings(groups[group], sub)
def _on_export_perspective(self):
file_name, _ = QFileDialog.getSaveFileName(
self._menu_manager.menu, self.tr('Export perspective to file'),
self._current_perspective + '.perspective',
self.tr('Perspectives (*.perspective)'))
if file_name is None or file_name == '':
return
# trigger save of perspective before export
self._callback = self._on_export_perspective_continued
self._callback_args = [file_name]
self.save_settings_signal.emit(self._global_settings,
self._perspective_settings)
def _on_export_perspective_continued(self, file_name):
# convert every value
data = self._get_dict_from_settings(self._perspective_settings)
self._convert_values(data, self._export_value)
# write perspective data to file
file_handle = open(file_name, 'w')
file_handle.write(json.dumps(data, indent=2))
file_handle.close()
def _get_dict_from_settings(self, settings):
"""Convert data of Settings instance to dictionary."""
keys = {}
for key in settings.child_keys():
keys[str(key)] = settings.value(key)
groups = {}
for group in settings.child_groups():
sub = settings.get_settings(group)
groups[str(group)] = self._get_dict_from_settings(sub)
return {'keys': keys, 'groups': groups}
def _convert_values(self, data, convert_function):
keys = data.get('keys', {})
for key in keys:
keys[key] = convert_function(keys[key])
groups = data.get('groups', {})
for group in groups:
self._convert_values(groups[group], convert_function)
def _import_value(self, value):
import QtCore # @UnusedImport
if value['type'] == 'repr':
return eval(value['repr'])
elif value['type'] == 'repr(QByteArray.hex)':
return QByteArray.fromHex(eval(value['repr(QByteArray.hex)']))
raise RuntimeError(
'PerspectiveManager._import_value() unknown serialization type (%s)'
% value['type'])
def _export_value(self, value):
data = {}
if value.__class__.__name__ == 'QByteArray':
hex_value = value.toHex()
data['repr(QByteArray.hex)'] = self._strip_qt_binding_prefix(
hex_value, repr(hex_value))
data['type'] = 'repr(QByteArray.hex)'
# add pretty print for better readability
characters = ''
for i in range(1, value.size(), 2):
character = value.at(i)
# output all non-control characters
if character >= ' ' and character <= '~':
characters += character
else:
characters += ' '
data['pretty-print'] = characters
else:
data['repr'] = self._strip_qt_binding_prefix(value, repr(value))
data['type'] = 'repr'
# verify that serialized data can be deserialized correctly
reimported = self._import_value(data)
if reimported != value:
raise RuntimeError(
'PerspectiveManager._export_value() stored value can not be restored (%s)'
% type(value))
return data
def _strip_qt_binding_prefix(self, obj, data):
"""Strip binding specific prefix from type string."""
parts = obj.__class__.__module__.split('.')
if len(parts) > 1 and parts[1] == 'QtCore':
prefix = '.'.join(parts[:2])
data = data.replace(prefix, 'QtCore', 1)
return data
def set_menu(self, menu):
self._menu_manager = MenuManager(menu)
self._perspective_mapper = QSignalMapper(menu)
self._perspective_mapper.mapped[str].connect(self.switch_perspective)
# generate menu
create_action = QAction('&Create perspective...',
self._menu_manager.menu)
create_action.setIcon(QIcon.fromTheme('list-add'))
create_action.triggered.connect(self._on_create_perspective)
self._menu_manager.add_suffix(create_action)
self._remove_action = QAction('&Remove perspective...',
self._menu_manager.menu)
self._remove_action.setEnabled(False)
self._remove_action.setIcon(QIcon.fromTheme('list-remove'))
self._remove_action.triggered.connect(self._on_remove_perspective)
self._menu_manager.add_suffix(self._remove_action)
self._menu_manager.add_suffix(None)
import_action = QAction('&Import...', self._menu_manager.menu)
import_action.setIcon(QIcon.fromTheme('document-open'))
import_action.triggered.connect(self._on_import_perspective)
self._menu_manager.add_suffix(import_action)
export_action = QAction('&Export...', self._menu_manager.menu)
export_action.setIcon(QIcon.fromTheme('document-save-as'))
export_action.triggered.connect(self._on_export_perspective)
self._menu_manager.add_suffix(export_action)
# add perspectives to menu
for name in self.perspectives:
if not name.startswith(self.HIDDEN_PREFIX):
self._add_perspective_action(name)
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 _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 _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 __init__(self, menu_button):
QMenu.__init__(self)
self.button = menu_button
try:
rqt_icon_path = roslib.packages.find_resource(
'rqt_gui', 'rqt.png').pop()
menu_button.setText('')
menu_button.setIcon(QIcon(rqt_icon_path))
# creates a default config menu
self.action_rqt_console = QAction(
QIcon.fromTheme('mail-message-new'),
"&Console",
self,
statusTip=
'"<p>Starts a python GUI plugin for displaying and filtering '
'ROS log messages that is connected to the selected master.</p>"',
triggered=self.on_show_console_clicked)
self.addAction(self.action_rqt_console)
self.action_rqt_logger_level = QAction(
QIcon.fromTheme('format-indent-more'),
"&Logger Level",
self,
statusTip=
'"<p>Starts a python GUI plugin for configuring the level of '
'ROS loggers that is connected to the selected master.</p>"',
triggered=self.on_show_logger_level_clicked)
self.addAction(self.action_rqt_logger_level)
self.action_rqt_tf_tree = QAction(
QIcon.fromTheme('preferences-system-network'),
"&TF Tree",
self,
statusTip=
'"<p>Starts a python GUI plugin for visualizing the TF tree'
'that is connected to the selected master.</p>"',
triggered=self.on_show_tf_tree_clicked)
self.addAction(self.action_rqt_tf_tree)
self.action_rqt_ros_graph = QAction(
QIcon(":/icons/button_graph.png"),
"Ros &Graph",
self,
statusTip=
'"<p>Starts a python GUI plugin for visualizing the ROS computation graph'
'that is connected to the selected master</p>"',
triggered=self.on_show_ros_graph_clicked)
self.addAction(self.action_rqt_ros_graph)
self.action_rosbag_record = QAction(
QIcon.fromTheme('media-record'),
"rosbag record",
self,
statusTip=
'"<p>Starts the rosbag record with selected topics</p>"',
triggered=self.on_start_rosbag_clicked)
self.addAction(self.action_rosbag_record)
self.action_rqt_rviz = QAction(QIcon.fromTheme('image-x-generic'),
"R&Viz",
self,
statusTip='"<p>Starts RViz</p>"',
triggered=self.on_show_rviz_clicked)
self.addAction(self.action_rqt_rviz)
self.addSeparator()
self.action_rqt = QAction(
QIcon(rqt_icon_path),
"&Rqt GUI",
self,
statusTip='"<p>Start the rqt GUI'
'that is connected to the selected master</p>"',
triggered=self.on_start_rqt_clicked)
self.addAction(self.action_rqt)
self.action_terminal = QAction(
QIcon(":/icons/crystal_clear_show_io.png"),
"&Terminal",
self,
statusTip='"<p>Start terminal on selected host</p>"',
triggered=self.on_start_terminal)
self.action_terminal.setShortcut(QKeySequence("Ctrl+T"))
self.addAction(self.action_terminal)
menu_button.setMenu(self)
except Exception as e:
print('%s' % e)
menu_button.setEnabled(False)
menu_button.setToolTip(
'rqt_gui not found! Please install rqt to use its plugins!')
def __init__(self, parent=None):
'''
Creates the window, connects the signals and init the class.
'''
QDockWidget.__init__(self, parent)
# initialize parameter
self.__current_path = os.path.expanduser('~')
# load the UI file
ui_file = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'ui', 'LaunchFilesDockWidget.ui')
loadUi(ui_file,
self,
custom_widgets={'EnhancedLineEdit': EnhancedLineEdit})
self.ui_button_progress_cancel_cfg.setIcon(
nm.settings().icon('crystal_clear_button_close.png'))
self.ui_button_reload.setIcon(
nm.settings().icon('oxygen_view_refresh.png'))
self.ui_button_edit.setIcon(
nm.settings().icon('crystal_clear_edit_launch.png'))
self.ui_button_new.setIcon(nm.settings().icon('crystal_clear_add.png'))
self.ui_button_transfer.setIcon(
nm.settings().icon('crystal_clear_launch_file_transfer.png'))
self.ui_button_save_profile.setIcon(
nm.settings().icon('crystal_clear_profile_new.png'))
self.ui_button_load.setIcon(
nm.settings().icon('crystal_clear_launch_file.png'))
self._current_search = ''
pal = self.palette()
self._default_color = pal.color(QPalette.Window)
# initialize the progress queue
self.progress_queue = ProgressQueue(self.ui_frame_progress_cfg,
self.ui_bar_progress_cfg,
self.ui_button_progress_cancel_cfg,
'Launch File')
# initialize the view for the launch files
self.launchlist_model = LaunchListModel(
progress_queue=self.progress_queue, viewobj=self.ui_file_view)
self.launchlist_proxy_model = QSortFilterProxyModel(self)
self.launchlist_proxy_model.setSourceModel(self.launchlist_model)
self.name_delegate = HTMLDelegate(check_for_ros_names=False,
palette=self.palette())
self.ui_file_view.setItemDelegateForColumn(0, self.name_delegate)
self.ui_file_view.setModel(self.launchlist_proxy_model)
self.ui_file_view.setAlternatingRowColors(True)
self.ui_file_view.activated.connect(self.on_launch_selection_activated)
self.ui_file_view.setDragDropMode(QAbstractItemView.DragOnly)
self.ui_file_view.setDragEnabled(True)
sm = self.ui_file_view.selectionModel()
sm.selectionChanged.connect(self.on_ui_file_view_selection_changed)
self.launchlist_model.pathlist_handled.connect(
self.on_pathlist_handled)
self.launchlist_model.error_on_path.connect(self.on_error_on_path)
self.ui_search_line.refresh_signal.connect(self.set_package_filter)
self.ui_search_line.stop_signal.connect(self.stop)
# connect to the button signals
self.ui_button_reload.clicked.connect(self.on_reload_clicked)
self.ui_button_edit.clicked.connect(self.on_edit_xml_clicked)
#self.ui_button_new.clicked.connect(self.on_new_xml_clicked)
self.ui_button_transfer.clicked.connect(self.on_transfer_file_clicked)
self.ui_button_save_profile.clicked.connect(
self.on_save_profile_clicked)
self.ui_button_load.clicked.connect(self.on_load_xml_clicked)
# add menu to create fiel or directory
self._menu_add = QMenu()
create_file_action = QAction(
nm.settings().icon('crystal_clear_launch_file_new.png'),
"create file",
self,
statusTip="",
triggered=self.on_new_xml_clicked)
create_dir_action = QAction(
nm.settings().icon('crystal_clear_folder.png'),
"create directory",
self,
statusTip="",
triggered=self.on_new_dir_clicked)
self._menu_add.addAction(create_file_action)
self._menu_add.addAction(create_dir_action)
self.ui_button_new.setMenu(self._menu_add)
self._masteruri2name = {}
self._reload_timer = None
class QParameterTreeWidget(QTreeWidget):
logger = Logger()
def __init__(self, parent=None, logger=Logger()):
QTreeWidget.__init__(self, parent)
self.set_logger(logger)
# init tree
self.setHeaderLabels(["Name", "Type", "Value"])
self.sortItems(0, Qt.AscendingOrder)
#self.setSelectionMode(QAbstractItemView.NoSelection)
self.setContextMenuPolicy(Qt.CustomContextMenu)
self.itemActivated.connect(self.edit_item)
self.currentItemChanged.connect(self.current_item_changed)
# context menu
self.customContextMenuRequested.connect(self.context_menu_request)
self._action_item_expand = QAction(QIcon.fromTheme('zoom-in'),
'Expand Selected', self)
self._action_item_expand.triggered.connect(
self._handle_action_item_expand)
self._action_item_collapse = QAction(QIcon.fromTheme('zoom-out'),
'Collapse Selected', self)
self._action_item_collapse.triggered.connect(
self._handle_action_item_collapse)
self._action_item_add = QAction(QIcon.fromTheme('list-add'), 'Add',
self)
self._action_item_add.setEnabled(False) # TODO
self._action_item_remove = QAction(QIcon.fromTheme('list-remove'),
'Remove', self)
self._action_item_remove.setEnabled(False) # TODO
def set_logger(self, logger):
self.logger = logger
@Slot(QPoint)
def context_menu_request(self, point):
if self.selectionModel().hasSelection():
menu = QMenu(self)
menu.addAction(self._action_item_add)
menu.addAction(self._action_item_remove)
menu.addSeparator()
menu.addAction(self._action_item_expand)
menu.addAction(self._action_item_collapse)
menu.exec_(self.mapToGlobal(point))
@Slot()
def _handle_action_item_collapse(self):
self._handle_action_set_expanded(False)
@Slot()
def _handle_action_item_expand(self):
self._handle_action_set_expanded(True)
@Slot(bool)
def _handle_action_set_expanded(self, expanded):
def recursive_set_expanded(index):
if (index != QModelIndex()) and (index.column() == 0):
self.setExpanded(index, expanded)
#for i in range(index.model().childCount()):
# index.model().child(i).setExpanded(expanded)
#for i in range(index.model().rowCount()):
# recursive_set_expanded(index.child(i, 0))
for index in self.selectedIndexes():
recursive_set_expanded(index)
@Slot(QTreeWidgetItem, int)
def edit_item(self, item, column):
if (column == 0) or (item.is_leaf() and (column == 2)):
item.setFlags(item.flags() | Qt.ItemIsEditable)
self.editItem(item, column)
item.setFlags(item.flags() & ~Qt.ItemIsEditable)
@Slot(QTreeWidgetItem, QTreeWidgetItem)
def current_item_changed(self, prev, current):
if prev is not None:
if not prev.update_value():
self.logger.log_error("Couldn't update value for '" +
prev.get_name() + "' in '" +
prev.get_namespace() +
"'. Check input syntax!")
if current is not None:
if not current.update_value():
self.logger.log_error("Couldn't update value for '" +
current.get_name() + "' in '" +
current.get_namespace() +
"'. Check input syntax!")
# set parameter set from msg
def set_parameter_set(self, param_set_msg):
self.clear()
self.root = QParameterTreeWidgetItem(self,
self.logger,
name=param_set_msg.name.data)
self.root.setExpanded(True)
for p in param_set_msg.params:
self.root.add_param(Parameter(msg=p))
# get parameter set as msg
def get_parameter_set(self):
params = self.root.get_params()
# remove top-level namespace
top_len = len(self.root.get_name()) + 2
for p in params:
p.set_name(p.get_name()[top_len:])
# generate msg
param_set_msg = ParameterSet()
param_set_msg.name.data = self.root.get_name()
for p in params:
param_set_msg.parameters.append(p.to_msg())
return param_set_msg
class MenuRqt(QMenu):
'''
This creates a menu to start a several rqt plugins.
'''
start_rqt_plugin_signal = Signal(str, str)
'''
The start_rqt_plugin_signal is emitted to start a rqt plugin (Name, Plugin).
The Plugin can be empty, in this case the RQT itself will be start.
'''
def __init__(self, menu_button):
QMenu.__init__(self)
self.button = menu_button
try:
rqt_icon_path = roslib.packages.find_resource('rqt_gui', 'rqt.png').pop()
menu_button.setText('')
menu_button.setIcon(QIcon(rqt_icon_path))
# creates a default config menu
self.action_rqt_console = QAction(QIcon.fromTheme('mail-message-new'),
"&Console", self,
statusTip='"<p>Starts a python GUI plugin for displaying and filtering '
'ROS log messages that is connected to the selected master.</p>"',
triggered=self.on_show_console_clicked)
self.addAction(self.action_rqt_console)
self.action_rqt_logger_level = QAction(QIcon.fromTheme('format-indent-more'),
"&Logger Level", self,
statusTip='"<p>Starts a python GUI plugin for configuring the level of '
'ROS loggers that is connected to the selected master.</p>"',
triggered=self.on_show_logger_level_clicked)
self.addAction(self.action_rqt_logger_level)
self.action_rqt_tf_tree = QAction(QIcon.fromTheme('preferences-system-network'),
"&TF Tree", self,
statusTip='"<p>Starts a python GUI plugin for visualizing the TF tree'
'that is connected to the selected master.</p>"',
triggered=self.on_show_tf_tree_clicked)
self.addAction(self.action_rqt_tf_tree)
self.action_rqt_ros_graph = QAction(nm.settings().icon('button_graph.png'),
"Ros &Graph", self,
statusTip='"<p>Starts a python GUI plugin for visualizing the ROS computation graph'
'that is connected to the selected master</p>"',
triggered=self.on_show_ros_graph_clicked)
self.addAction(self.action_rqt_ros_graph)
self.action_rosbag_record = QAction(QIcon.fromTheme('media-record'),
"rosbag record", self,
statusTip='"<p>Starts the rosbag record with selected topics</p>"',
triggered=self.on_start_rosbag_clicked)
self.addAction(self.action_rosbag_record)
self.action_rqt_rviz = QAction(QIcon.fromTheme('image-x-generic'),
"R&Viz", self,
statusTip='"<p>Starts RViz</p>"',
triggered=self.on_show_rviz_clicked)
self.addAction(self.action_rqt_rviz)
self.addSeparator()
self.action_rqt = QAction(QIcon(rqt_icon_path),
"&Rqt GUI", self,
statusTip='"<p>Start the rqt GUI'
'that is connected to the selected master</p>"',
triggered=self.on_start_rqt_clicked)
self.addAction(self.action_rqt)
self.action_terminal = QAction(nm.settings().icon('crystal_clear_show_io.png'),
"&Terminal", self,
statusTip='"<p>Start terminal on selected host</p>"',
triggered=self.on_start_terminal)
self.action_terminal.setShortcut(QKeySequence("Ctrl+T"))
self.addAction(self.action_terminal)
menu_button.setMenu(self)
except Exception as _e:
import traceback
print(traceback.format_exc())
menu_button.setEnabled(False)
menu_button.setToolTip('rqt_gui not found! Please install rqt to use its plugins!')
def on_show_console_clicked(self):
self.start_rqt_plugin_signal.emit('Console', 'rqt_console.console.Console')
def on_show_logger_level_clicked(self):
self.start_rqt_plugin_signal.emit('Logger Level', 'rqt_logger_level.logger_level.LoggerLevel')
def on_show_tf_tree_clicked(self):
self.start_rqt_plugin_signal.emit('TF Tree', 'rqt_tf_tree.tf_tree.RosTfTree')
def on_show_ros_graph_clicked(self):
self.start_rqt_plugin_signal.emit('Ros Graph', 'rqt_graph.ros_graph.RosGraph')
def on_start_rosbag_clicked(self):
self.start_rqt_plugin_signal.emit('rosbag record', '')
def on_show_rviz_clicked(self):
self.start_rqt_plugin_signal.emit('RViz', 'rqt_rviz/RViz')
def on_start_rqt_clicked(self):
self.start_rqt_plugin_signal.emit('Rqt GUI', '')
def on_start_terminal(self):
self.start_rqt_plugin_signal.emit('Terminal', '')
